+ python -m lidar_slam --no-model /working/2ebe2e34-2dd4-4ae1-892e-b7f820598c99 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/2ebe2e34-2dd4-4ae1-892e-b7f820598c99 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 0.001346184 Adjusted end_distance from 9.223372036854776e+18 to 231.381346184 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001346184 meters 0.14868433661606345 Centerline is valid? [0, False] SLAMing on 0.061346184 meters 0.15712910025269541 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99993943e-01 -3.41516279e-03 -6.70642921e-04 1.63590382e-03] [ 3.41292983e-03 9.99988721e-01 -3.30296195e-03 -2.62091307e-03] [ 6.81915509e-04 3.30065309e-03 9.99994320e-01 -1.29275178e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.121346184 meters 0.164653034955765 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99997811e-01 -2.02572275e-03 -5.24793386e-04 2.32959918e-03] [ 2.02517335e-03 9.99997403e-01 -1.04530730e-03 -9.84776876e-03] [ 5.26909526e-04 1.04424221e-03 9.99999316e-01 -1.82053705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.181346184 meters 0.17385252905718718 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:-0.00 [[ 9.99988395e-01 -4.75574935e-03 -7.69722434e-04 3.23553229e-03] [ 4.75318255e-03 9.99983249e-01 -3.30287432e-03 -1.74943752e-02] [ 7.85417183e-04 3.29917736e-03 9.99994249e-01 -2.24371950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.241346184 meters 0.1758038798501894 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:-0.00 [[ 9.99971661e-01 -7.48467955e-03 -8.10068906e-04 3.97960308e-03] [ 7.48007113e-03 9.99956623e-01 -5.54981516e-03 -2.49415307e-02] [ 8.51572356e-04 5.54359851e-03 9.99984272e-01 -3.15857594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30134618399999996 meters 0.17569314183046822 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.00 [[ 9.99983978e-01 -5.59915374e-03 -8.33153376e-04 5.27185735e-03] [ 5.59647933e-03 9.99979288e-01 -3.17842424e-03 -3.36964828e-02] [ 8.50932606e-04 3.17371058e-03 9.99994602e-01 -4.71490229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36134618399999996 meters 0.17444891462657597 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.04, Z:-0.00 [[ 9.99992582e-01 -3.84002616e-03 -2.99279124e-04 4.20652006e-03] [ 3.83964716e-03 9.99991839e-01 -1.25683855e-03 -4.49379583e-02] [ 3.04102975e-04 1.25568010e-03 9.99999165e-01 -4.49134081e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42134618399999996 meters 0.1715498345268375 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.05, Z:-0.00 [[ 9.99996194e-01 -2.75600344e-03 1.25974381e-04 3.15441272e-03] [ 2.75598543e-03 9.99996192e-01 1.42854690e-04 -5.30779668e-02] [-1.26367609e-04 -1.42506963e-04 9.99999982e-01 -4.22746788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48134618399999995 meters 0.16997994212429496 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.06, Z:-0.00 [[ 9.99985967e-01 -5.29608747e-03 1.30176731e-04 3.26539015e-03] [ 5.29634483e-03 9.99983846e-01 -2.06329736e-03 -6.30863458e-02] [-1.19247225e-04 2.06395787e-03 9.99997863e-01 -4.24733340e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.541346184 meters 0.1676877938205055 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.07, Z:-0.00 [[ 9.99991038e-01 -4.20616898e-03 4.80928414e-04 2.61434493e-03] [ 4.20623886e-03 9.99991143e-01 -1.44384238e-04 -7.19548829e-02] [-4.80316850e-04 1.46405843e-04 9.99999874e-01 -4.62450376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.601346184 meters 0.15896254242783892 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:-0.00 [[ 9.99973780e-01 -7.22124019e-03 5.42124471e-04 1.77025181e-03] [ 7.22255477e-03 9.99970883e-01 -2.46338913e-03 -8.12564986e-02] [-5.24319962e-04 2.46724006e-03 9.99996819e-01 -3.94208021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6613461839999999 meters 0.15640425543855652 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.09, Z:-0.00 [[ 9.99949788e-01 -1.00201736e-02 1.32839207e-04 2.68704397e-03] [ 1.00206476e-02 9.99940765e-01 -4.24896563e-03 -8.95318987e-02] [-9.02559650e-05 4.25008342e-03 9.99990964e-01 -4.37704297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.721346184 meters 0.15467507834104577 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.10, Z:-0.01 [[ 9.99959310e-01 -9.01957114e-03 1.57798728e-04 3.33307653e-03] [ 9.01991462e-03 9.99956602e-01 -2.33140147e-03 -9.59119213e-02] [-1.36763639e-04 2.33272993e-03 9.99997270e-01 -5.59348774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.781346184 meters 0.1513984149164612 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.10, Z:-0.01 [[ 9.99963798e-01 -8.50708971e-03 1.78240322e-04 3.64148091e-03] [ 8.50732731e-03 9.99962863e-01 -1.37757427e-03 -9.90493878e-02] [-1.66514555e-04 1.37904074e-03 9.99999035e-01 -6.14780824e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8413461839999999 meters 0.14238885476791704 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.11, Z:-0.01 [[ 9.99930863e-01 -1.17586940e-02 4.64455270e-05 3.88182313e-03] [ 1.17587857e-02 9.99923214e-01 -3.91119800e-03 -1.05451784e-01] [-4.51380270e-07 3.91147374e-03 9.99992350e-01 -6.13589276e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9013461839999999 meters 0.13900243422285785 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.11, Z:-0.01 [[ 9.99937734e-01 -1.11563352e-02 2.55406240e-04 4.22935379e-03] [ 1.11568453e-02 9.99935573e-01 -2.09144503e-03 -1.12989684e-01] [-2.32056923e-04 2.09416433e-03 9.99997780e-01 -7.54565870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9613461839999999 meters 0.13233853897435424 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.12, Z:-0.01 [[ 9.99938289e-01 -1.10686471e-02 9.50413838e-04 2.39508760e-03] [ 1.10693179e-02 9.99938486e-01 -7.03514653e-04 -1.19238662e-01] [-9.42568419e-04 7.13991671e-04 9.99999301e-01 -7.17346656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.021346184 meters 0.12808303012840852 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.12, Z:-0.01 [[ 9.99944830e-01 -1.04550847e-02 1.01446406e-03 2.80598135e-03] [ 1.04543895e-02 9.99945115e-01 6.88213218e-04 -1.23588084e-01] [-1.02160371e-03 -6.77569647e-04 9.99999249e-01 -8.00182838e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.081346184 meters 0.1220262892520815 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.13, Z:-0.01 [[ 0.99995029 -0.00989333 0.00123828 0.00246692] [ 0.00989055 0.99994859 0.00223288 -0.12956507] [-0.00126031 -0.00222052 0.99999674 -0.0082116 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1413461839999999 meters 0.11511570735266276 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.13, Z:-0.01 [[ 0.99996333 -0.00378957 0.00768 -0.00674897] [ 0.00378059 0.99999215 0.00118357 -0.13371758] [-0.00768442 -0.00115449 0.99996981 -0.01204984] [ 0. 0. 0. 1. ]] SLAMing on 1.201346184 meters 0.11031831899206898 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.14, Z:-0.01 [[ 0.99996278 -0.00346437 0.00790166 -0.00754513] [ 0.00344526 0.99999111 0.00243034 -0.13964348] [-0.00791001 -0.00240302 0.99996583 -0.0115578 ] [ 0. 0. 0. 1. ]] SLAMing on 1.261346184 meters 0.10540636649660468 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.14, Z:-0.01 [[ 0.99996312 -0.00313308 0.0079963 -0.00774933] [ 0.00310572 0.99998929 0.0034322 -0.14375985] [-0.00800697 -0.00340724 0.99996214 -0.01155248] [ 0. 0. 0. 1. ]] SLAMing on 1.3213461839999998 meters 0.09995503947240635 Centerline is valid? [False, True] Translation: X:-0.01, Y:-0.15, Z:-0.01 [[ 0.99996188 -0.00275905 0.00828404 -0.00860807] [ 0.00271762 0.99998377 0.00500794 -0.15066883] [-0.00829772 -0.00498524 0.99995315 -0.01097065] [ 0. 0. 0. 1. ]] SLAMing on 1.3813461839999999 meters 0.0953063831196843 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.16, Z:-0.01 [[ 9.99965687e-01 -2.94991567e-03 7.74100235e-03 5.53055610e-02] [ 2.94830321e-03 9.99995630e-01 2.19703354e-04 -1.59722878e-01] [-7.74161662e-03 -1.96872993e-04 9.99970014e-01 -6.70838547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.441346184 meters 0.08899662314655991 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.18, Z:-0.01 [[ 9.99929654e-01 -6.31992422e-03 1.00371996e-02 1.17896514e-01] [ 6.31749904e-03 9.99980007e-01 2.73307198e-04 -1.79190842e-01] [-1.00387262e-02 -2.09877973e-04 9.99949589e-01 -5.89348476e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.501346184 meters 0.08521622943611584 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.20, Z:-0.00 [[ 9.99892452e-01 -8.10617579e-03 1.22218777e-02 1.80553708e-01] [ 8.10272065e-03 9.99967117e-01 3.32192879e-04 -1.96900446e-01] [-1.22241686e-02 -2.33126692e-04 9.99925255e-01 -2.50231219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.561346184 meters 0.08119491363536326 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.21, Z:-0.00 [[ 9.99807509e-01 -1.07065984e-02 1.64412323e-02 2.41566281e-01] [ 1.07007422e-02 9.99942647e-01 4.44119591e-04 -2.08097894e-01] [-1.64450443e-02 -2.68100713e-04 9.99864735e-01 -2.96248229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6213461839999999 meters 0.07990777244422737 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.22, Z:-0.01 [[ 9.99805131e-01 -1.17598008e-02 1.58558079e-02 3.03986425e-01] [ 1.17544842e-02 9.99930822e-01 4.28464870e-04 -2.23008263e-01] [-1.58597497e-02 -2.42004531e-04 9.99874197e-01 -5.42747412e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.681346184 meters 0.07583543245611364 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.24, Z:-0.00 [[ 9.99682668e-01 -1.21003844e-02 2.20940032e-02 3.66201719e-01] [ 1.20902112e-02 9.99926734e-01 5.93971538e-04 -2.41944383e-01] [-2.20995717e-02 -3.26661886e-04 9.99755721e-01 -4.21454796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.741346184 meters 0.07546950735744037 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.25, Z:-0.01 [[ 9.99705836e-01 -1.03161671e-02 2.19503700e-02 4.27639608e-01] [ 1.03056583e-02 9.99946720e-01 5.91820766e-04 -2.54623986e-01] [-2.19553058e-02 -3.65433660e-04 9.99758886e-01 -6.33970098e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8013461839999998 meters 0.0731774663740815 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.28, Z:-0.01 [[ 9.99607990e-01 -1.34676545e-02 2.45456457e-02 4.90747099e-01] [ 1.34556531e-02 9.99909255e-01 6.54047199e-04 -2.80762109e-01] [-2.45522268e-02 -3.23513112e-04 9.99698496e-01 -9.38295101e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8613461839999998 meters 0.07066441251155803 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.30, Z:-0.01 [[ 9.99223766e-01 -1.71851223e-02 3.54476797e-02 5.54024838e-01] [ 1.71626840e-02 9.99852271e-01 9.37206397e-04 -3.01295810e-01] [-3.54585491e-02 -3.28101579e-04 9.99371094e-01 -7.58306590e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.921346184 meters 0.07041382466417867 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.33, Z:-0.01 [[ 9.99153654e-01 -2.15697897e-02 3.50245528e-02 6.16265700e-01] [ 2.15507002e-02 9.99767331e-01 9.22502489e-04 -3.33859677e-01] [-3.50363018e-02 -1.66918098e-04 9.99386026e-01 -1.26427128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.981346184 meters 0.07016623997819675 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.36, Z:-0.02 [[ 9.99073210e-01 -2.60248070e-02 3.42845401e-02 6.78902175e-01] [ 2.60094291e-02 9.99661297e-01 8.94528388e-04 -3.58418319e-01] [-3.42962077e-02 -1.97803563e-06 9.99411712e-01 -1.81596787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.041346184 meters 0.07001037361010594 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.40, Z:-0.03 [[ 9.98949583e-01 -3.36127310e-02 3.11434667e-02 7.41111410e-01] [ 3.36039665e-02 9.99434903e-01 8.04929231e-04 -3.96458906e-01] [-3.11529235e-02 2.42460290e-04 9.99514600e-01 -2.75411119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.101346184 meters 0.06940535535379877 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.42, Z:-0.03 [[ 9.98513623e-01 -4.07254574e-02 3.62212899e-02 8.03794272e-01] [ 4.07186548e-02 9.99170223e-01 9.25777378e-04 -4.21020182e-01] [-3.62289370e-02 5.50480875e-04 9.99343365e-01 -3.10848277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.161346184 meters 0.07199512255538673 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.46, Z:-0.04 [[ 9.98359628e-01 -5.00838085e-02 2.77428591e-02 8.64420958e-01] [ 5.00836080e-02 9.98744782e-01 7.02531571e-04 -4.58946841e-01] [-2.77432212e-02 6.88083322e-04 9.99614846e-01 -4.36735237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2213461839999997 meters 0.07436757529563452 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.48, Z:-0.06 [[ 9.98268898e-01 -5.55425620e-02 1.93450677e-02 9.25075475e-01] [ 5.55435195e-02 9.98456148e-01 4.88211908e-04 -4.79581418e-01] [-1.93423183e-02 5.87126383e-04 9.99812747e-01 -5.52277365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2813461839999998 meters 0.07486510562412038 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.50, Z:-0.06 [[ 9.97846061e-01 -6.33230492e-02 1.71297966e-02 9.86205040e-01] [ 6.33249476e-02 9.97992868e-01 4.32111124e-04 -4.97513295e-01] [-1.71227774e-02 6.53563086e-04 9.99853181e-01 -6.41071411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.341346184 meters 0.07729375512310724 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.51, Z:-0.07 [[ 9.97718685e-01 -6.67755921e-02 9.92203683e-03 1.04701933e+00] [ 6.67763991e-02 9.97767934e-01 2.50297762e-04 -5.10317302e-01] [-9.91660397e-03 4.12831138e-04 9.99950744e-01 -7.45698149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.401346184 meters 0.08163372002556736 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.53, Z:-0.09 [[ 9.97117623e-01 -7.56584535e-02 5.67838307e-03 1.10671801e+00] [ 7.56588647e-02 9.97133750e-01 1.42667276e-04 -5.31878266e-01] [-5.67290139e-03 2.87363961e-04 9.99983868e-01 -8.50854933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.461346184 meters 0.08438751914333617 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.54, Z:-0.09 [[ 9.96809482e-01 -7.97679767e-02 2.81550779e-03 1.16715062e+00] [ 7.97680930e-02 9.96813446e-01 7.11416533e-05 -5.40337704e-01] [-2.81221085e-03 1.53673013e-04 9.99996034e-01 -9.12344879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.521346184 meters 0.08959847724826468 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.55, Z:-0.10 [[ 9.96111638e-01 -8.80650251e-02 -2.48130851e-03 1.22771610e+00] [ 8.80651411e-02 9.96114716e-01 -6.27021500e-05 -5.51259625e-01] [ 2.47718978e-03 -1.56058442e-04 9.99996920e-01 -1.01181810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.581346184 meters 0.09277227066244838 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.56, Z:-0.11 [[ 9.95727572e-01 -9.22680076e-02 -3.63542964e-03 1.28765798e+00] [ 9.22682841e-02 9.95734179e-01 -9.19392831e-05 -5.56538744e-01] [ 3.62840461e-03 -2.43888376e-04 9.99993388e-01 -1.07212580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6413461839999997 meters 0.1003344866124176 Centerline is valid? [True, False] Translation: X:1.28, Y:-0.56, Z:-0.11 [[ 9.95455731e-01 -9.52237617e-02 5.68352093e-04 1.28449411e+00] [ 9.52253759e-02 9.95444974e-01 -4.62946333e-03 -5.59376645e-01] [-1.24928321e-04 4.66254734e-03 9.99989122e-01 -1.12107870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7013461839999997 meters 0.10312602945076892 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.56, Z:-0.11 [[ 0.9962638 -0.08632253 -0.00262012 1.28792987] [ 0.08627782 0.99617272 -0.01400151 -0.55832237] [ 0.00381873 0.01372314 0.99989854 -0.11462238] [ 0. 0. 0. 1. ]] SLAMing on 2.7613461839999998 meters 0.10750804806979224 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.56, Z:-0.12 [[ 9.96466855e-01 -8.39503624e-02 2.47863999e-03 1.28306814e+00] [ 8.39810469e-02 9.96312625e-01 -1.75595050e-02 -5.57695458e-01] [-9.95373512e-04 1.77056235e-02 9.99842748e-01 -1.22316280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.821346184 meters 0.11500980955558272 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.56, Z:-0.12 [[ 9.96472560e-01 -8.38784935e-02 2.61429290e-03 1.28385741e+00] [ 8.39112650e-02 9.96323498e-01 -1.72738732e-02 -5.57915637e-01] [-1.15577498e-03 1.74323093e-02 9.99847378e-01 -1.24322596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.881346184 meters 0.11931950114648521 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.56, Z:-0.13 [[ 0.99652955 -0.08299884 0.00632816 1.28085692] [ 0.08310778 0.99634942 -0.01951726 -0.55615092] [-0.00468515 0.01997544 0.99978949 -0.12975346] [ 0. 0. 0. 1. ]] SLAMing on 2.941346184 meters 0.12368219203928371 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.55, Z:-0.13 [[ 0.99678596 -0.07991416 0.00560956 1.28468652] [ 0.07999778 0.99665464 -0.01672997 -0.55252417] [-0.00425383 0.01712496 0.99984431 -0.13449828] [ 0. 0. 0. 1. ]] SLAMing on 3.001346184 meters 0.12381415738724062 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.55, Z:-0.14 [[ 0.99704492 -0.0766118 0.00566197 1.28581319] [ 0.07668555 0.99695393 -0.01421922 -0.54788377] [-0.00455536 0.01461139 0.99988287 -0.13696112] [ 0. 0. 0. 1. ]] SLAMing on 3.061346184 meters 0.12571183923657658 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.54, Z:-0.15 [[ 0.99787157 -0.06429403 0.01089053 1.29204529] [ 0.06450824 0.9977042 -0.02061589 -0.53954898] [-0.00954005 0.02127454 0.99972815 -0.14549981] [ 0. 0. 0. 1. ]] SLAMing on 3.121346184 meters 0.12446152750352374 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.53, Z:-0.15 [[ 0.99834225 -0.05747254 -0.00310732 1.29203177] [ 0.05741791 0.99823019 -0.01548114 -0.53016108] [ 0.00399156 0.01527706 0.99987533 -0.14656105] [ 0. 0. 0. 1. ]] SLAMing on 3.1813461839999997 meters 0.1268836340756011 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.52, Z:-0.15 [[ 0.99895169 -0.04557103 0.00433716 1.29635243] [ 0.04565243 0.99873636 -0.02101284 -0.52388263] [-0.00337411 0.02118881 0.9997698 -0.15421424] [ 0. 0. 0. 1. ]] SLAMing on 3.2413461839999997 meters 0.13121364067385552 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.52, Z:-0.16 [[ 0.99928465 -0.03766184 0.00343149 1.29985347] [ 0.03770444 0.99919998 -0.01333317 -0.52073399] [-0.0029266 0.01345301 0.99990522 -0.15823047] [ 0. 0. 0. 1. ]] SLAMing on 3.301346184 meters 0.1352479515698804 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.52, Z:-0.16 [[ 0.99944322 -0.03321551 0.00315826 1.3009282 ] [ 0.03324172 0.99940995 -0.00864493 -0.52129917] [-0.00286925 0.0087451 0.99995764 -0.15989874] [ 0. 0. 0. 1. ]] SLAMing on 3.361346184 meters 0.11902045919778081 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.52, Z:-0.17 [[ 0.99964613 -0.02571099 0.00682324 1.2946864 ] [ 0.02578867 0.99960065 -0.01155317 -0.52099038] [-0.00652347 0.01172504 0.99990998 -0.16771752] [ 0. 0. 0. 1. ]] SLAMing on 3.421346184 meters 0.11927866057429898 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.52, Z:-0.17 [[ 0.99983459 -0.01691936 0.00667228 1.29493225] [ 0.01693128 0.99985515 -0.00173413 -0.52479065] [-0.00664198 0.00184681 0.99997624 -0.16859489] [ 0. 0. 0. 1. ]] SLAMing on 3.481346184 meters 0.1187613938826765 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.52, Z:-0.17 [[ 9.99963263e-01 -8.57024571e-03 1.52832786e-04 1.29026845e+00] [ 8.57098962e-03 9.99946360e-01 -5.81510811e-03 -5.23335263e-01] [-1.02987682e-04 5.81620441e-03 9.99983080e-01 -1.68925863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.541346184 meters 0.11669328789110156 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.52, Z:-0.17 [[ 9.99992000e-01 -3.98526626e-03 -3.42978330e-04 1.29143185e+00] [ 3.98479729e-03 9.99991139e-01 -1.35732639e-03 -5.23066064e-01] [ 3.48384599e-04 1.35594883e-03 9.99999020e-01 -1.69384075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6013461839999996 meters 0.11346402906194121 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.52, Z:-0.16 [[ 9.99996870e-01 -2.43121820e-03 5.90832484e-04 1.28575130e+00] [ 2.43140749e-03 9.99996993e-01 -3.19885523e-04 -5.23212203e-01] [-5.90052996e-04 3.21321076e-04 9.99999774e-01 -1.62759097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6613461839999997 meters 0.1114709862990994 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.53, Z:-0.16 [[ 9.99997856e-01 -1.99562359e-03 5.52333756e-04 1.28485603e+00] [ 1.99521562e-03 9.99997737e-01 7.38201586e-04 -5.26758480e-01] [-5.53805678e-04 -7.37097979e-04 9.99999575e-01 -1.61064943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7213461839999997 meters 0.1065364654661284 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.53, Z:-0.16 [[ 9.99998057e-01 -1.59381189e-03 1.16013145e-03 1.28007083e+00] [ 1.59275925e-03 9.99998320e-01 9.07697029e-04 -5.27279563e-01] [-1.16157620e-03 -9.05847455e-04 9.99998915e-01 -1.55348398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7813461839999998 meters 0.1038924587677244 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.53, Z:-0.15 [[ 9.99997586e-01 -1.94679416e-03 1.01897844e-03 1.27956036e+00] [ 1.94657824e-03 9.99998083e-01 2.12851680e-04 -5.25606516e-01] [-1.01939087e-03 -2.10867645e-04 9.99999458e-01 -1.53890617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.841346184 meters 0.10392957561561054 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.52, Z:-0.15 [[ 9.99996185e-01 -2.50159057e-03 1.17159745e-03 1.27801514e+00] [ 2.50218836e-03 9.99996740e-01 -5.09045399e-04 -5.24701390e-01] [-1.17032021e-03 5.11975014e-04 9.99999184e-01 -1.51806617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.901346184 meters 0.10442301819854442 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.52, Z:-0.15 [[ 9.99995464e-01 -2.79182624e-03 1.13049505e-03 1.27745765e+00] [ 2.79299055e-03 9.99995570e-01 -1.02964521e-03 -5.23581824e-01] [-1.12761546e-03 1.03279800e-03 9.99998831e-01 -1.50660727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.961346184 meters 0.10371004456342613 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.52, Z:-0.15 [[ 0.99999143 -0.00392242 0.00132126 1.2753037 ] [ 0.00392599 0.99998863 -0.00270661 -0.52057202] [-0.00131063 0.00271177 0.99999546 -0.147555 ] [ 0. 0. 0. 1. ]] SLAMing on 4.0213461839999995 meters 0.10747311813494793 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.52, Z:-0.15 [[ 9.99997736e-01 -8.42717250e-04 1.95397768e-03 1.27303961e+00] [ 8.42439340e-04 9.99999635e-01 1.43046780e-04 -5.18387037e-01] [-1.95409751e-03 -1.41400349e-04 9.99998081e-01 -1.45525146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.081346184 meters 0.10781174503218825 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.51, Z:-0.14 [[ 0.99999676 -0.00158884 0.00198637 1.27254499] [ 0.00159139 0.99999791 -0.00128242 -0.51473305] [-0.00198433 0.00128558 0.9999972 -0.14464723] [ 0. 0. 0. 1. ]] SLAMing on 4.141346184 meters 0.11517501702187342 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.52, Z:-0.14 [[ 9.99995548e-01 -1.86247312e-03 2.33143668e-03 1.27150012e+00] [ 1.86506072e-03 9.99997647e-01 -1.10819185e-03 -5.16182159e-01] [-2.32936722e-03 1.11253519e-03 9.99996668e-01 -1.43690331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.201346184 meters 0.11845215791461908 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.51, Z:-0.14 [[ 0.9999926 -0.00275242 0.00268834 1.26984539] [ 0.00275877 0.99999341 -0.00236185 -0.51412031] [-0.00268182 0.00236925 0.9999936 -0.14207672] [ 0. 0. 0. 1. ]] SLAMing on 4.261346184 meters 0.11508605645902695 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.51, Z:-0.14 [[ 9.99995422e-01 1.06701754e-03 2.83151425e-03 1.26903171e+00] [-1.07036420e-03 9.99998730e-01 1.18067970e-03 -5.12654950e-01] [-2.83025085e-03 -1.18370505e-03 9.99995294e-01 -1.41112471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.321346184 meters 0.11293941491136217 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.51, Z:-0.14 [[ 9.99996933e-01 8.08877952e-04 2.34096491e-03 1.27000059e+00] [-8.09058117e-04 9.99999670e-01 7.60156084e-05 -5.09148417e-01] [-2.34090265e-03 -7.79093519e-05 9.99997257e-01 -1.41090378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.381346184 meters 0.11690015596959817 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.51, Z:-0.14 [[ 9.99997543e-01 5.75508221e-04 2.14091841e-03 1.27010854e+00] [-5.74594857e-04 9.99999744e-01 -4.27213356e-04 -5.07909020e-01] [-2.14116372e-03 4.25982146e-04 9.99997617e-01 -1.40584653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4413461839999995 meters 0.11444805539046579 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.51, Z:-0.14 [[ 9.99997751e-01 5.13753738e-04 2.05783609e-03 1.26981963e+00] [-5.12844038e-04 9.99999771e-01 -4.42569165e-04 -5.08200656e-01] [-2.05806298e-03 4.41512820e-04 9.99997785e-01 -1.39885896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.501346184 meters 0.0956774436572201 Centerline is valid? [False, True] Translation: X:1.27, Y:-0.51, Z:-0.14 [[ 9.99997993e-01 4.36404408e-04 1.95555202e-03 1.26952851e+00] [-4.35535895e-04 9.99999806e-01 -4.44530488e-04 -5.08607202e-01] [-1.95574564e-03 4.43677882e-04 9.99997989e-01 -1.39112516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.561346184 meters 0.09522237365000744 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.51, Z:-0.14 [[ 9.99991442e-01 1.58514501e-03 3.82133615e-03 1.32995174e+00] [-1.58409669e-03 9.99998707e-01 -2.77345505e-04 -5.13056055e-01] [-3.82177084e-03 2.71289766e-04 9.99992660e-01 -1.40751324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.621346184 meters 0.09496861012624082 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.52, Z:-0.14 [[ 9.99978268e-01 5.33911812e-04 6.57107194e-03 1.39223513e+00] [-5.30893890e-04 9.99999753e-01 -4.61009595e-04 -5.20166999e-01] [-6.57131646e-03 4.57511034e-04 9.99978304e-01 -1.40836368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.681346184 meters 0.09596131450928538 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.53, Z:-0.14 [[ 9.99959146e-01 -5.73005039e-03 6.99087973e-03 1.45233093e+00] [ 5.73373312e-03 9.99983434e-01 -5.06861688e-04 -5.30887366e-01] [-6.98785957e-03 5.46924820e-04 9.99975435e-01 -1.40071958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.741346184 meters 0.09702476338744705 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.54, Z:-0.14 [[ 9.99927081e-01 -9.28176635e-03 7.72533236e-03 1.51335176e+00] [ 9.28637431e-03 9.99956723e-01 -5.60817022e-04 -5.37747809e-01] [-7.71979266e-03 6.32516456e-04 9.99970002e-01 -1.41825681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.801346184 meters 0.1001436427679298 Centerline is valid? [True, False] Translation: X:1.51, Y:-0.54, Z:-0.14 [[ 0.99994411 -0.00626745 0.00851467 1.51046642] [ 0.00624397 0.99997664 0.00278196 -0.53901552] [-0.0085319 -0.00272864 0.99995988 -0.1396492 ] [ 0. 0. 0. 1. ]] SLAMing on 4.861346183999999 meters 0.09993659820586866 Centerline is valid? [False, True] Translation: X:1.51, Y:-0.53, Z:-0.14 [[ 0.99994825 -0.00643531 0.00787924 1.51192342] [ 0.00642265 0.99997804 0.00163076 -0.53465049] [-0.00788956 -0.00158007 0.99996763 -0.14006858] [ 0. 0. 0. 1. ]] SLAMing on 4.921346184 meters 0.09241282369562825 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.52, Z:-0.13 [[ 9.99935086e-01 -2.43695111e-03 1.11303860e-02 1.57470807e+00] [ 2.44639660e-03 9.99996659e-01 -8.35086096e-04 -5.20488843e-01] [-1.11283138e-02 8.62261226e-04 9.99937707e-01 -1.32324560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9813461839999995 meters 0.09141825276116404 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.52, Z:-0.13 [[ 9.99904451e-01 -1.81327758e-03 1.37040751e-02 1.63585751e+00] [ 1.82755820e-03 9.99997800e-01 -1.02961963e-03 -5.17010888e-01] [-1.37021780e-02 1.05456625e-03 9.99905565e-01 -1.32402203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.041346184 meters 0.09018019277512701 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.52, Z:-0.13 [[ 9.99885639e-01 -3.89813385e-03 1.46120782e-02 1.69773556e+00] [ 3.91439058e-03 9.99991751e-01 -1.08411853e-03 -5.20015784e-01] [-1.46077317e-02 1.14119193e-03 9.99892650e-01 -1.34086248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.101346184 meters 0.09554345214446014 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.53, Z:-0.14 [[ 9.99827304e-01 -8.53823515e-03 1.65063564e-02 1.75615471e+00] [ 8.55991446e-03 9.99962590e-01 -1.24318530e-03 -5.32017625e-01] [-1.64951243e-02 1.38426360e-03 9.99862988e-01 -1.40181654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.161346184 meters 0.0959953185653908 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.54, Z:-0.14 [[ 9.99760582e-01 -1.09986309e-02 1.89158147e-02 1.81795970e+00] [ 1.10273461e-02 9.99938197e-01 -1.41441258e-03 -5.35223923e-01] [-1.88990890e-02 1.62266518e-03 9.99820080e-01 -1.41006872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.221346184 meters 0.10438428532074358 Centerline is valid? [True, False] Translation: X:1.82, Y:-0.53, Z:-0.14 [[ 0.99992083 -0.01201425 0.00374079 1.81795748] [ 0.01202158 0.99992585 -0.00194376 -0.53401287] [-0.00371716 0.00198858 0.99999111 -0.13551434] [ 0. 0. 0. 1. ]] SLAMing on 5.281346183999999 meters 0.10035447480371763 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.54, Z:-0.14 [[ 9.99924202e-01 -1.17061371e-02 3.81544079e-03 1.81802433e+00] [ 1.17112248e-02 9.99930558e-01 -1.31384734e-03 -5.35523239e-01] [-3.79979576e-03 1.35843124e-03 9.99991858e-01 -1.35839025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.341346184 meters 0.10445073674647173 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.53, Z:-0.14 [[ 9.99921930e-01 -1.18732604e-02 3.89351502e-03 1.81786026e+00] [ 1.18795821e-02 9.99928148e-01 -1.60455777e-03 -5.34725627e-01] [-3.87418393e-03 1.65068583e-03 9.99991133e-01 -1.35718821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.401346183999999 meters 0.09938061746974522 Centerline is valid? [False, True] Translation: X:1.82, Y:-0.53, Z:-0.14 [[ 0.99996195 -0.00777896 0.00394909 1.81761409] [ 0.00776987 0.99996714 0.00231265 -0.5336688 ] [-0.00396695 -0.00228188 0.99998953 -0.13555381] [ 0. 0. 0. 1. ]] SLAMing on 5.461346184 meters 0.09762300646422158 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.53, Z:-0.14 [[ 9.99963779e-01 -3.92981083e-03 7.54959324e-03 1.87872788e+00] [ 3.93492049e-03 9.99992039e-01 -6.62078576e-04 -5.33686827e-01] [-7.54693129e-03 6.91761644e-04 9.99971282e-01 -1.35212127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5213461839999995 meters 0.09297049793245682 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.53, Z:-0.14 [[ 9.99974344e-01 9.51179188e-04 7.09982827e-03 1.94001116e+00] [-9.46779542e-04 9.99999358e-01 -6.23018713e-04 -5.28278776e-01] [-7.10041631e-03 6.16280756e-04 9.99974602e-01 -1.37415776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.581346184 meters 0.09039114598421513 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.52, Z:-0.14 [[ 9.99957125e-01 8.16098295e-03 4.37560182e-03 2.00119894e+00] [-8.15937884e-03 9.99966638e-01 -3.84330587e-04 -5.20461789e-01] [-4.37859235e-03 3.48611916e-04 9.99990353e-01 -1.41339024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.641346184 meters 0.08981665565981962 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.52, Z:-0.15 [[ 9.99901453e-01 1.27048690e-02 5.97249920e-03 2.06107825e+00] [-1.27019565e-02 9.99919189e-01 -5.25329487e-04 -5.19160581e-01] [-5.97869080e-03 4.49415292e-04 9.99982026e-01 -1.45197683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.701346184 meters 0.08984152598235488 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.52, Z:-0.15 [[ 9.99913530e-01 1.12839731e-02 6.75309357e-03 2.12194916e+00] [-1.12802249e-02 9.99936200e-01 -5.92868808e-04 -5.19585136e-01] [-6.75935264e-03 5.16641128e-04 9.99977022e-01 -1.46421864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.761346184 meters 0.09165344552922365 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.52, Z:-0.15 [[ 9.99946075e-01 6.76691345e-03 7.87750725e-03 2.18249048e+00] [-6.76167496e-03 9.99976901e-01 -6.91436005e-04 -5.19165269e-01] [-7.88200417e-03 6.38133576e-04 9.99968733e-01 -1.47949987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.821346183999999 meters 0.09725780114701073 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.53, Z:-0.16 [[ 9.99963150e-01 3.54814116e-03 7.81719908e-03 2.24106003e+00] [-3.54287871e-03 9.99993488e-01 -6.86934780e-04 -5.28869703e-01] [-7.81958552e-03 6.59214078e-04 9.99969209e-01 -1.55384062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.881346184 meters 0.10049622679527309 Centerline is valid? [True, False] Translation: X:2.24, Y:-0.52, Z:-0.16 [[ 0.99996918 0.00265946 0.00738625 2.24416921] [-0.00263758 0.99999211 -0.00297035 -0.52125326] [-0.00739409 0.00295078 0.99996831 -0.15834706] [ 0. 0. 0. 1. ]] SLAMing on 5.9413461839999995 meters 0.09229962154933724 Centerline is valid? [False, True] Translation: X:2.24, Y:-0.52, Z:-0.16 [[ 9.99954007e-01 5.98348723e-03 7.49541578e-03 2.24404998e+00] [-5.97897186e-03 9.99981931e-01 -6.24680258e-04 -5.15992382e-01] [-7.49901810e-03 5.79836647e-04 9.99971714e-01 -1.58195806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.001346184 meters 0.09479098872301041 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.52, Z:-0.17 [[ 9.99912243e-01 1.05206786e-02 8.05117195e-03 2.30376737e+00] [-1.05151089e-02 9.99944445e-01 -7.33805008e-04 -5.16297628e-01] [-8.05844480e-03 6.49081661e-04 9.99967320e-01 -1.65996443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.061346184 meters 0.08808691172264228 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.50, Z:-0.17 [[ 9.99850942e-01 1.57624575e-02 7.04545130e-03 2.36587586e+00] [-1.57583245e-02 9.99875624e-01 -6.41758933e-04 -5.01520251e-01] [-7.05469071e-03 5.30638767e-04 9.99974975e-01 -1.66552488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.121346184 meters 0.08828015897568647 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.50, Z:-0.17 [[ 9.99822742e-01 1.74273730e-02 7.12541913e-03 2.42571457e+00] [-1.74231727e-02 9.99847993e-01 -6.51133165e-04 -5.01306761e-01] [-7.13568356e-03 5.26870338e-04 9.99974402e-01 -1.71209683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.181346184 meters 0.08680075305850156 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.50, Z:-0.17 [[ 9.99802570e-01 1.73074233e-02 9.76085590e-03 2.48633739e+00] [-1.72995541e-02 9.99849955e-01 -8.90070401e-04 -4.99844013e-01] [-9.77479616e-03 7.21036220e-04 9.99951966e-01 -1.71907037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.241346184 meters 0.08881055312975214 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.50, Z:-0.18 [[ 9.99873313e-01 1.39279642e-02 7.70513114e-03 2.54632927e+00] [-1.39229680e-02 9.99902825e-01 -7.01682155e-04 -5.04918444e-01] [-7.71415540e-03 5.94314967e-04 9.99970069e-01 -1.76767309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.301346184 meters 0.09278867209774 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.51, Z:-0.19 [[ 9.99926073e-01 1.04004455e-02 6.29912266e-03 2.60455934e+00] [-1.03970260e-02 9.99945784e-01 -5.75354185e-04 -5.13177070e-01] [-6.30476509e-03 5.09819509e-04 9.99979995e-01 -1.85057486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.361346183999999 meters 0.09518738589028239 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.52, Z:-0.19 [[ 9.99893573e-01 1.23204093e-02 7.81347879e-03 2.66373619e+00] [-1.23152236e-02 9.99923912e-01 -7.11445187e-04 -5.20072244e-01] [-7.82164957e-03 6.15144731e-04 9.99969221e-01 -1.90345769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.421346184 meters 0.09106124647618646 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.51, Z:-0.19 [[ 9.99765048e-01 1.95336563e-02 9.39602279e-03 2.72578649e+00] [-1.95264803e-02 9.99808975e-01 -8.54867065e-04 -5.10142121e-01] [-9.41092659e-03 6.71194959e-04 9.99955491e-01 -1.90720346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4813461839999995 meters 0.084203850168432 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.50, Z:-0.19 [[ 9.99706879e-01 2.25784555e-02 8.73898067e-03 2.78755981e+00] [-2.25723499e-02 9.99744895e-01 -7.96683623e-04 -5.00037558e-01] [-8.75473919e-03 5.99190769e-04 9.99961497e-01 -1.87805380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.541346184 meters 0.07963998639215338 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.49, Z:-0.19 [[ 9.99525660e-01 3.01584506e-02 6.23889021e-03 2.84938333e+00] [-3.01554893e-02 9.99545058e-01 -5.68200156e-04 -4.85253420e-01] [-6.25318791e-03 3.79793849e-04 9.99980377e-01 -1.90491630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.601346184 meters 0.07822262859062848 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.48, Z:-0.20 [[ 9.99405562e-01 3.42889512e-02 3.57645822e-03 2.90875477e+00] [-3.42879910e-02 9.99411940e-01 -3.29460900e-04 -4.75590544e-01] [-3.58565192e-03 2.06635488e-04 9.99993550e-01 -1.96599684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.661346184 meters 0.0789650198972163 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.48, Z:-0.20 [[ 9.99416828e-01 3.40359676e-02 2.74910605e-03 2.96755182e+00] [-3.40353975e-02 9.99420596e-01 -2.53933881e-04 -4.75411727e-01] [-2.75615609e-03 1.60218877e-04 9.99996189e-01 -2.03008239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.721346184 meters 0.07901936868338581 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.47, Z:-0.21 [[ 9.99420697e-01 3.34721986e-02 6.15479664e-03 3.02848401e+00] [-3.34693807e-02 9.99439586e-01 -5.60310145e-04 -4.67928303e-01] [-6.17010222e-03 3.53988325e-04 9.99980902e-01 -2.05049828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.781346183999999 meters 0.07947322400949794 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.46, Z:-0.21 [[ 9.99380643e-01 3.45787288e-02 6.53014952e-03 3.08677735e+00] [-3.45755588e-02 9.99401908e-01 -5.97749995e-04 -4.64575329e-01] [-6.54691333e-03 3.71596205e-04 9.99978500e-01 -2.09537921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.841346184 meters 0.07988483176535165 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.46, Z:-0.21 [[ 9.99319795e-01 3.60001570e-02 7.99602080e-03 3.14620524e+00] [-3.59954844e-02 9.99351688e-01 -7.27557890e-04 -4.57392541e-01] [-8.01702908e-03 4.39242360e-04 9.99967767e-01 -2.13117381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.901346183999999 meters 0.08058106429663062 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.46, Z:-0.22 [[ 9.99341470e-01 3.52384817e-02 8.65312075e-03 3.20472593e+00] [-3.52329721e-02 9.99378815e-01 -7.88390115e-04 -4.57409326e-01] [-8.67552723e-03 4.82995775e-04 9.99962250e-01 -2.17655278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.961346184 meters 0.07831801808526617 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.45, Z:-0.21 [[ 9.99380980e-01 3.35833464e-02 1.04793414e-02 3.26519338e+00] [-3.35751898e-02 9.99435740e-01 -9.53363314e-04 -4.49165035e-01] [-1.05054455e-02 6.00927285e-04 9.99944636e-01 -2.14343683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0213461839999995 meters 0.0783648958571391 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.45, Z:-0.21 [[ 9.99389944e-01 3.12687824e-02 1.55564335e-02 3.32419670e+00] [-3.12505758e-02 9.99510584e-01 -1.41213494e-03 -4.46657567e-01] [-1.55929756e-02 9.25125958e-04 9.99877994e-01 -2.13897474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.081346184 meters 0.07936387889479435 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.45, Z:-0.22 [[ 9.99415735e-01 2.98923523e-02 1.65721657e-02 3.38304287e+00] [-2.98715275e-02 9.99552617e-01 -1.50278293e-03 -4.47853328e-01] [-1.66096733e-02 1.00686900e-03 9.99861543e-01 -2.16229865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.141346184 meters 0.08066589546368015 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.45, Z:-0.22 [[ 9.99494426e-01 2.83273451e-02 1.44379356e-02 3.44274780e+00] [-2.83114161e-02 9.99598298e-01 -1.30651201e-03 -4.50698594e-01] [-1.44691459e-02 8.97093068e-04 9.99894914e-01 -2.24203506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.201346183999999 meters 0.08415719980977308 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.46, Z:-0.23 [[ 9.99556688e-01 2.65660245e-02 1.34415036e-02 3.50022700e+00] [-2.65520487e-02 9.99646691e-01 -1.21717159e-03 -4.57937542e-01] [-1.34690900e-02 8.59732542e-04 9.99908918e-01 -2.30861176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.261346184 meters 0.08494691859915382 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.46, Z:-0.24 [[ 9.99618390e-01 2.47574166e-02 1.22533880e-02 3.55990194e+00] [-2.47456844e-02 9.99693164e-01 -1.10817382e-03 -4.59720216e-01] [-1.22770637e-02 8.04532458e-04 9.99924310e-01 -2.35376979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.321346183999999 meters 0.08581407629000046 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.46, Z:-0.24 [[ 9.99659150e-01 2.30746319e-02 1.22125055e-02 3.61963454e+00] [-2.30628466e-02 9.99733407e-01 -1.10498785e-03 -4.62766974e-01] [-1.22347469e-02 8.22956069e-04 9.99924814e-01 -2.38203201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.381346184 meters 0.08628113326822093 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.46, Z:-0.24 [[ 9.99686630e-01 2.21910107e-02 1.15845332e-02 3.67867160e+00] [-2.21803425e-02 9.99753436e-01 -1.04858544e-03 -4.64306500e-01] [-1.16049461e-02 7.91307931e-04 9.99932347e-01 -2.42063386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4413461839999995 meters 0.08269334463168157 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.46, Z:-0.24 [[ 9.99647979e-01 2.42318603e-02 1.08043558e-02 3.73825205e+00] [-2.42226940e-02 9.99706109e-01 -9.78465441e-04 -4.57402465e-01] [-1.08248906e-02 7.16410395e-04 9.99941153e-01 -2.42260581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.501346184 meters 0.08473246066893445 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.47, Z:-0.25 [[ 9.99634956e-01 2.52505199e-02 9.61073011e-03 3.79528279e+00] [-2.52433078e-02 9.99680957e-01 -8.71009128e-04 -4.65070491e-01] [-9.62965732e-03 6.28084553e-04 9.99953437e-01 -2.51026076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.561346184 meters 0.08588277287962956 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.47, Z:-0.26 [[ 9.99594552e-01 2.66118239e-02 1.01262982e-02 3.85326934e+00] [-2.66039058e-02 9.99645634e-01 -9.15856771e-04 -4.65759139e-01] [-1.01470824e-02 6.46086355e-04 9.99948308e-01 -2.55169274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.621346184 meters 0.08537150862366197 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.47, Z:-0.26 [[ 9.99546361e-01 2.88154658e-02 8.76023462e-03 3.91266432e+00] [-2.88096368e-02 9.99584603e-01 -7.90883537e-04 -4.66150793e-01] [-8.77938533e-03 5.38145583e-04 9.99961316e-01 -2.59921994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.681346184 meters 0.08425686428216367 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.46, Z:-0.26 [[ 9.99416516e-01 3.29692279e-02 8.92508014e-03 3.97356478e+00] [-3.29633662e-02 9.99456238e-01 -8.03120061e-04 -4.63908451e-01] [-8.94670526e-03 5.08450769e-04 9.99959848e-01 -2.63528018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.741346183999999 meters 0.08008602186738163 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.46, Z:-0.26 [[ 9.99263602e-01 3.68535862e-02 1.06801851e-02 4.03493539e+00] [-3.68454143e-02 9.99320515e-01 -9.60967899e-04 -4.55287308e-01] [-1.07083431e-02 5.66744401e-04 9.99942503e-01 -2.62338347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.801346184 meters 0.08041543095768255 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.46, Z:-0.27 [[ 9.99247299e-01 3.73613038e-02 1.04388082e-02 4.09360637e+00] [-3.73534952e-02 9.99301671e-01 -9.42075268e-04 -4.55805626e-01] [-1.04667156e-02 5.51440196e-04 9.99945070e-01 -2.66068630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.861346183999999 meters 0.0815999721503503 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.46, Z:-0.27 [[ 9.99325075e-01 3.57827917e-02 8.30585706e-03 4.15367084e+00] [-3.57778111e-02 9.99359490e-01 -7.47511910e-04 -4.57800527e-01] [-8.32728513e-03 4.49842010e-04 9.99965226e-01 -2.72069441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.921346184 meters 0.07873686352898789 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.45, Z:-0.27 [[ 9.99329211e-01 3.55986921e-02 8.59421430e-03 4.21311143e+00] [-3.55933339e-02 9.99366056e-01 -7.75659367e-04 -4.54431126e-01] [-8.61637851e-03 4.69242325e-04 9.99962768e-01 -2.70525341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9813461839999995 meters 0.08053041527737913 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.46, Z:-0.27 [[ 9.99244259e-01 3.72474551e-02 1.11147747e-02 4.27243793e+00] [-3.72386344e-02 9.99305902e-01 -9.99576972e-04 -4.56878937e-01] [-1.11442917e-02 5.84922517e-04 9.99937729e-01 -2.74476823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.041346184 meters 0.08075329932313748 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.46, Z:-0.28 [[ 9.99178837e-01 3.83541668e-02 1.30617573e-02 4.33162935e+00] [-3.83420909e-02 9.99263982e-01 -1.17378181e-03 -4.57169255e-01] [-1.30971631e-02 6.72002862e-04 9.99914003e-01 -2.77124227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.101346184 meters 0.07900662258778256 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.46, Z:-0.28 [[ 9.99145108e-01 3.82008944e-02 1.58033379e-02 4.39068853e+00] [-3.81831909e-02 9.99269746e-01 -1.42056595e-03 -4.58065933e-01] [-1.58460643e-02 8.15929648e-04 9.99874110e-01 -2.75170358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.161346184000001 meters 0.0768783251301287 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.46, Z:-0.27 [[ 9.99145939e-01 3.77810266e-02 1.67328279e-02 4.44998087e+00] [-3.77611420e-02 9.99285664e-01 -1.50283132e-03 -4.57038617e-01] [-1.67776536e-02 8.69697118e-04 9.99858867e-01 -2.74048537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.221346184 meters 0.07767401052539977 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.46, Z:-0.28 [[ 9.99162219e-01 3.72854744e-02 1.68716856e-02 4.50743503e+00] [-3.72651994e-02 9.99304263e-01 -1.51462207e-03 -4.59865324e-01] [-1.69164207e-02 8.84626421e-04 9.99856516e-01 -2.75985008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.281346184 meters 0.07978287749103846 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.47, Z:-0.28 [[ 9.99253976e-01 3.42615275e-02 1.78224541e-02 4.56464282e+00] [-3.42384704e-02 9.99412415e-01 -1.59732385e-03 -4.69960293e-01] [-1.78667087e-02 9.85918642e-04 9.99839892e-01 -2.79456612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.341346184 meters 0.081890807222577 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.48, Z:-0.28 [[ 9.99353011e-01 3.12585527e-02 1.77893751e-02 4.62430642e+00] [-3.12351748e-02 9.99510797e-01 -1.59055581e-03 -4.79675934e-01] [-1.78303909e-02 1.03387250e-03 9.99840491e-01 -2.84458877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.401346184000001 meters 0.08263468308457313 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.49, Z:-0.29 [[ 9.99396909e-01 3.03679810e-02 1.68405492e-02 4.68324682e+00] [-3.03468833e-02 9.99538291e-01 -1.50698582e-03 -4.86118779e-01] [-1.68785379e-02 9.95018785e-04 9.99857052e-01 -2.89781383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.461346184 meters 0.0836856420230269 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.49, Z:-0.30 [[ 9.99497034e-01 2.81660153e-02 1.45723931e-02 4.74228347e+00] [-2.81499989e-02 9.99602861e-01 -1.30308740e-03 -4.94413818e-01] [-1.46033086e-02 8.92219142e-04 9.99892968e-01 -2.96777682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.521346184 meters 0.08237105676174791 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.50, Z:-0.30 [[ 9.99502845e-01 2.87519824e-02 1.29378024e-02 4.80132127e+00] [-2.87393801e-02 9.99586267e-01 -1.15897353e-03 -4.97502063e-01] [-1.29657723e-02 7.86572921e-04 9.99915631e-01 -2.99606942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.581346184000001 meters 0.08492612839252572 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.51, Z:-0.30 [[ 9.99489492e-01 2.94401100e-02 1.24110685e-02 4.85794787e+00] [-2.94285670e-02 9.99566268e-01 -1.11169788e-03 -5.05996456e-01] [-1.24384139e-02 7.45890386e-04 9.99922362e-01 -3.04222080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.641346184000001 meters 0.07961949009527336 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.50, Z:-0.30 [[ 9.99418440e-01 3.10281027e-02 1.41435211e-02 4.91885374e+00] [-3.10133359e-02 9.99518174e-01 -1.26226056e-03 -5.01824372e-01] [-1.41758719e-02 8.22888714e-04 9.99899179e-01 -3.00021610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.701346184 meters 0.07825864333351279 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.51, Z:-0.30 [[ 9.99340370e-01 3.28694717e-02 1.54409272e-02 4.97836391e+00] [-3.28520852e-02 9.99459274e-01 -1.37837314e-03 -5.05158124e-01] [-1.54778843e-02 8.70197273e-04 9.99879832e-01 -3.02528509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.761346184 meters 0.07621704956883352 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.50, Z:-0.30 [[ 9.99137005e-01 3.86953262e-02 1.50969158e-02 5.03933897e+00] [-3.86793958e-02 9.99250766e-01 -1.34588046e-03 -5.02015646e-01] [-1.51376840e-02 7.60779387e-04 9.99885129e-01 -3.04319776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.821346184000001 meters 0.07521514600117875 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.50, Z:-0.31 [[ 9.98984123e-01 4.27958653e-02 1.41150879e-02 5.09907292e+00] [-4.27823403e-02 9.99083623e-01 -1.25890154e-03 -5.03183469e-01] [-1.41560289e-02 6.53746162e-04 9.99899585e-01 -3.10207528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.881346184 meters 0.07386588984670714 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.50, Z:-0.32 [[ 9.98827785e-01 4.70663857e-02 1.13053457e-02 5.15755517e+00] [-4.70579567e-02 9.98891649e-01 -1.01058242e-03 -5.02851597e-01] [-1.13403799e-02 4.77391327e-04 9.99935582e-01 -3.15801776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.941346184 meters 0.07355822425318251 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.50, Z:-0.32 [[ 9.98758509e-01 4.86980594e-02 1.04851779e-02 5.21632959e+00] [-4.86909042e-02 9.98813455e-01 -9.36761079e-04 -5.04922431e-01] [-1.05183552e-02 4.25065307e-04 9.99944590e-01 -3.18069147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.001346184 meters 0.0728907526842431 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.51, Z:-0.32 [[ 9.98681635e-01 4.94900140e-02 1.36282922e-02 5.27641713e+00] [-4.94780580e-02 9.98774474e-01 -1.21327158e-03 -5.07587795e-01] [-1.36716352e-02 5.37370613e-04 9.99906394e-01 -3.17502326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.061346184000001 meters 0.07321656470035279 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.51, Z:-0.32 [[ 9.98619084e-01 5.10347638e-02 1.24650587e-02 5.33360978e+00] [-5.10248476e-02 9.98696764e-01 -1.11246578e-03 -5.13435322e-01] [-1.25055882e-02 4.74901836e-04 9.99921689e-01 -3.23806262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.121346184 meters 0.07377841105095928 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.52, Z:-0.33 [[ 9.98672291e-01 5.02236005e-02 1.14561934e-02 5.39238533e+00] [-5.02151878e-02 9.98737900e-01 -1.02098451e-03 -5.18313679e-01] [-1.14930121e-02 4.44354036e-04 9.99933854e-01 -3.28170396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.181346184 meters 0.07487918652470796 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.53, Z:-0.33 [[ 9.98823614e-01 4.71104745e-02 1.14887857e-02 5.45132614e+00] [-4.71018347e-02 9.98889570e-01 -1.02159083e-03 -5.27310365e-01] [-1.15241558e-02 4.79246156e-04 9.99933480e-01 -3.32022601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.241346184000001 meters 0.07396283831158967 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.53, Z:-0.33 [[ 9.98919759e-01 4.49275938e-02 1.18669909e-02 5.50956568e+00] [-4.49181188e-02 9.98990105e-01 -1.06389288e-03 -5.32275571e-01] [-1.19028047e-02 5.29700711e-04 9.99929019e-01 -3.32123031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.301346184 meters 0.0737950737838251 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.53, Z:-0.33 [[ 9.98917742e-01 4.49706603e-02 1.18736608e-02 5.56887684e+00] [-4.49613047e-02 9.98988173e-01 -1.05383597e-03 -5.33671801e-01] [-1.19090385e-02 5.18840169e-04 9.99928950e-01 -3.32898555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.361346184 meters 0.07374230086577917 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.54, Z:-0.34 [[ 9.98855478e-01 4.61754480e-02 1.24724414e-02 5.62773663e+00] [-4.61652333e-02 9.98933205e-01 -1.10580398e-03 -5.35601092e-01] [-1.25101969e-02 5.28745200e-04 9.99921605e-01 -3.35925193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.421346184 meters 0.07504914626755442 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.55, Z:-0.34 [[ 9.98948569e-01 4.42987750e-02 1.18056919e-02 5.68656572e+00] [-4.42895180e-02 9.99018192e-01 -1.04453322e-03 -5.47375105e-01] [-1.18403726e-02 5.20566555e-04 9.99929765e-01 -3.42266586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.481346184000001 meters 0.07452025897652878 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.55, Z:-0.34 [[ 9.99048351e-01 4.18509788e-02 1.22836159e-02 5.74588545e+00] [-4.18407691e-02 9.99123700e-01 -1.08709424e-03 -5.50133557e-01] [-1.23183477e-02 5.72103772e-04 9.99923963e-01 -3.40844392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.541346184 meters 0.08280477833224177 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.57, Z:-0.36 [[ 9.99186156e-01 3.85653761e-02 1.18210977e-02 5.80304112e+00] [-3.85557160e-02 9.99255906e-01 -1.04408645e-03 -5.70754286e-01] [-1.18525673e-02 5.87465838e-04 9.99929583e-01 -3.56972902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.601346184 meters 0.07655022073700035 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.56, Z:-0.35 [[ 9.99170325e-01 3.86826336e-02 1.27402908e-02 5.86358278e+00] [-3.86713987e-02 9.99251346e-01 -1.12711473e-03 -5.62983675e-01] [-1.27743525e-02 6.33494723e-04 9.99918204e-01 -3.49605053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.661346184000001 meters 0.07731047761283685 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.57, Z:-0.35 [[ 9.99188390e-01 3.84340382e-02 1.20575968e-02 5.92078558e+00] [-3.84239568e-02 9.99260958e-01 -1.06673874e-03 -5.66753238e-01] [-1.20896848e-02 6.02572389e-04 9.99926736e-01 -3.54453973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.721346184 meters 0.07719647130447727 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.57, Z:-0.36 [[ 9.99145291e-01 3.95427877e-02 1.20439240e-02 5.97981879e+00] [-3.95328315e-02 9.99217706e-01 -1.06370341e-03 -5.66780913e-01] [-1.20765640e-02 5.86663828e-04 9.99926904e-01 -3.57603570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.781346184 meters 0.07501233137028664 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.56, Z:-0.36 [[ 9.99159525e-01 3.94142145e-02 1.12588766e-02 6.03878248e+00] [-3.94055103e-02 9.99222807e-01 -9.93981690e-04 -5.64424529e-01] [-1.12893033e-02 5.49484495e-04 9.99936123e-01 -3.58264440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.841346184 meters 0.08004166678781235 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.58, Z:-0.37 [[ 9.99236480e-01 3.69994291e-02 1.25499014e-02 6.09516985e+00] [-3.69884326e-02 9.99315080e-01 -1.10728200e-03 -5.76966399e-01] [-1.25822746e-02 6.42235383e-04 9.99920634e-01 -3.67433805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.901346184000001 meters 0.07738948034045436 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.57, Z:-0.36 [[ 9.99361259e-01 3.35734417e-02 1.22432960e-02 6.15670740e+00] [-3.35627766e-02 9.99436033e-01 -1.07558456e-03 -5.73025754e-01] [-1.22725022e-02 6.63978530e-04 9.99924470e-01 -3.63263618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.961346184 meters 0.08009676256300097 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.58, Z:-0.37 [[ 9.99514677e-01 2.90834902e-02 1.11607204e-02 6.21663180e+00] [-2.90743464e-02 9.99576771e-01 -9.80701225e-04 -5.77788649e-01] [-1.11845191e-02 6.55734617e-04 9.99937236e-01 -3.68507892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.021346184 meters 0.08180474592960446 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.58, Z:-0.37 [[ 9.99586834e-01 2.60910703e-02 1.20589391e-02 6.27557475e+00] [-2.60801645e-02 9.99659292e-01 -1.06078173e-03 -5.84664013e-01] [-1.20825075e-02 7.45844336e-04 9.99926726e-01 -3.73719200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.081346184000001 meters 0.0844642417939307 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.59, Z:-0.38 [[ 9.99667106e-01 2.23880273e-02 1.28239678e-02 6.33536081e+00] [-2.23754044e-02 9.99749004e-01 -1.12697736e-03 -5.89321598e-01] [-1.28459798e-02 8.39660727e-04 9.99917134e-01 -3.76567665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.141346184 meters 0.0859243080079298 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.59, Z:-0.38 [[ 9.99667965e-01 2.17320797e-02 1.38447342e-02 6.39282043e+00] [-2.17172756e-02 9.99763409e-01 -1.21876316e-03 -5.92166592e-01] [-1.38679449e-02 9.17688585e-04 9.99903414e-01 -3.78707937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.201346184 meters 0.0856578847114421 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.59, Z:-0.38 [[ 9.99673266e-01 2.09830922e-02 1.45969484e-02 6.45206856e+00] [-2.09665876e-02 9.99779354e-01 -1.28282059e-03 -5.92496803e-01] [-1.46206451e-02 9.76353257e-04 9.99892636e-01 -3.81436945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.261346184 meters 0.08783202013839624 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.60, Z:-0.39 [[ 9.99648693e-01 2.15906627e-02 1.53731402e-02 6.51029208e+00] [-2.15724741e-02 9.99766378e-01 -1.34800560e-03 -5.98228695e-01] [-1.53986530e-02 1.01589536e-03 9.99880918e-01 -3.87672739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.321346184000001 meters 0.08337914434745566 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.59, Z:-0.39 [[ 9.99660455e-01 2.17650006e-02 1.43268801e-02 6.56999637e+00] [-2.17491979e-02 9.99762667e-01 -1.25791258e-03 -5.93044798e-01] [-1.43508583e-02 9.45887317e-04 9.99896574e-01 -3.87399274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.381346184 meters 0.08228481283979365 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.59, Z:-0.39 [[ 9.99594086e-01 2.54833712e-02 1.27381548e-02 6.62970746e+00] [-2.54712046e-02 9.99674933e-01 -1.11648192e-03 -5.92927028e-01] [-1.27624658e-02 7.91572576e-04 9.99918243e-01 -3.92866364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.441346184 meters 0.08105240111688221 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.59, Z:-0.40 [[ 9.99526240e-01 2.78577124e-02 1.30859664e-02 6.68951625e+00] [-2.78450911e-02 9.99611594e-01 -1.14573715e-03 -5.93987495e-01] [-1.31128013e-02 7.80814419e-04 9.99913719e-01 -3.97140312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.501346184 meters 0.08281192933672114 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.60, Z:-0.40 [[ 9.99379457e-01 3.23823905e-02 1.38593777e-02 6.74857361e+00] [-3.23686693e-02 9.99475261e-01 -1.21326073e-03 -5.97558868e-01] [-1.38913934e-02 7.63898233e-04 9.99903218e-01 -4.04300375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.561346184 meters 0.07692794150688707 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.59, Z:-0.40 [[ 9.99290533e-01 3.49081193e-02 1.41369771e-02 6.80992271e+00] [-3.48941006e-02 9.99390250e-01 -1.23715487e-03 -5.89455245e-01] [-1.41715438e-02 7.42980043e-04 9.99899303e-01 -4.00481790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.621346184 meters 0.07906106942053787 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.60, Z:-0.41 [[ 9.99153790e-01 3.78140918e-02 1.61802045e-02 6.86857437e+00] [-3.77961044e-02 9.99284469e-01 -1.41615662e-03 -5.95122217e-01] [-1.62221777e-02 8.03409552e-04 9.99868089e-01 -4.06124970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.681346184 meters 0.07583109538796015 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.59, Z:-0.40 [[ 9.99132867e-01 3.81529879e-02 1.66692451e-02 6.92839054e+00] [-3.81338939e-02 9.99271569e-01 -1.46192982e-03 -5.92018190e-01] [-1.67128797e-02 8.24998907e-04 9.99859990e-01 -4.04668019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.741346184000001 meters 0.07632362782201767 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.60, Z:-0.41 [[ 9.99134215e-01 3.78392979e-02 1.72918203e-02 6.98742831e+00] [-3.78187885e-02 9.99283470e-01 -1.51165454e-03 -5.96112353e-01] [-1.73366301e-02 8.56390078e-04 9.99849343e-01 -4.07936441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.801346184 meters 0.07585981380890114 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.60, Z:-0.41 [[ 9.99145525e-01 3.62850882e-02 1.97891934e-02 7.04662399e+00] [-3.62579604e-02 9.99340970e-01 -1.72803613e-03 -5.96419776e-01] [-1.98388537e-02 1.00904378e-03 9.99802681e-01 -4.05616052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.861346184 meters 0.07784020945106794 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.60, Z:-0.41 [[ 9.99134132e-01 3.56434292e-02 2.14599958e-02 7.10344898e+00] [-3.56114082e-02 9.99363958e-01 -1.87255522e-03 -6.03971743e-01] [-2.15130907e-02 1.10671316e-03 9.99767954e-01 -4.10490518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.921346184 meters 0.07849934652527282 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.61, Z:-0.41 [[ 9.99129887e-01 3.46450450e-02 2.32204802e-02 7.16243663e+00] [-3.46073566e-02 9.99398938e-01 -2.02308051e-03 -6.08611190e-01] [-2.32766130e-02 1.21772076e-03 9.99728321e-01 -4.12694655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.981346184000001 meters 0.07755786067712116 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.61, Z:-0.41 [[ 9.99120596e-01 3.27698921e-02 2.61566134e-02 7.22191708e+00] [-3.27214847e-02 9.99461916e-01 -2.27666695e-03 -6.09098235e-01] [-2.62171451e-02 1.41878162e-03 9.99655265e-01 -4.11090382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.041346184 meters 0.07810734289954942 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.61, Z:-0.41 [[ 9.99085514e-01 3.26286960e-02 2.76315892e-02 7.28038746e+00] [-3.25746815e-02 9.99466416e-01 -2.40281084e-03 -6.14236553e-01] [-2.76952460e-02 1.50052328e-03 9.99615287e-01 -4.13414054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.101346184 meters 0.07859529720874955 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.62, Z:-0.41 [[ 9.99009243e-01 3.24772469e-02 3.04263340e-02 7.33820919e+00] [-3.24117450e-02 9.99471105e-01 -2.64366324e-03 -6.17344959e-01] [-3.04961005e-02 1.65487344e-03 9.99533516e-01 -4.14528241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.161346184000001 meters 0.08032077777207026 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.63, Z:-0.42 [[ 9.98978844e-01 3.28394804e-02 3.10296222e-02 7.39630650e+00] [-3.27716397e-02 9.99459239e-01 -2.69250398e-03 -6.25526405e-01] [-3.11012630e-02 1.67286291e-03 9.99514839e-01 -4.19035092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.221346184 meters 0.0797520083979862 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.63, Z:-0.42 [[ 9.98999494e-01 3.22773103e-02 3.09545796e-02 7.45569127e+00] [-3.22095892e-02 9.99477533e-01 -2.68403162e-03 -6.30693858e-01] [-3.10250402e-02 1.68431194e-03 9.99517188e-01 -4.22053543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.281346184 meters 0.07781128633878437 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.63, Z:-0.43 [[ 9.99052742e-01 3.29496600e-02 2.84242625e-02 7.51463629e+00] [-3.28928310e-02 9.99455845e-01 -2.46469984e-03 -6.32312013e-01] [-2.84900063e-02 1.52741066e-03 9.99592910e-01 -4.25524703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.341346184 meters 0.07679076482521721 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.63, Z:-0.43 [[ 9.99012689e-01 3.45614461e-02 2.79133258e-02 7.57333919e+00] [-3.45073231e-02 9.99401519e-01 -2.41848946e-03 -6.34989279e-01] [-2.79802067e-02 1.45288751e-03 9.99607422e-01 -4.28397968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.401346184000001 meters 0.07664279185884974 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.64, Z:-0.43 [[ 9.98946793e-01 3.70155910e-02 2.71136606e-02 7.63038698e+00] [-3.69654653e-02 9.99313786e-01 -2.34779632e-03 -6.41689278e-01] [-2.71819598e-02 1.34305453e-03 9.99629600e-01 -4.33918710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.461346184 meters 0.07651911929741272 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.65, Z:-0.44 [[ 9.98891398e-01 3.79245090e-02 2.78873835e-02 7.68915991e+00] [-3.78719189e-02 9.99279691e-01 -2.41175983e-03 -6.47021645e-01] [-2.79587607e-02 1.35293742e-03 9.99608162e-01 -4.37136862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.521346184 meters 0.07666225722024245 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.65, Z:-0.44 [[ 9.98777055e-01 4.02735345e-02 2.86781587e-02 7.74798923e+00] [-4.02189690e-02 9.99187819e-01 -2.47720478e-03 -6.51119365e-01] [-2.87546327e-02 1.32076932e-03 9.99585627e-01 -4.39418346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.581346184000001 meters 0.07410725871967618 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.65, Z:-0.44 [[ 9.98680797e-01 4.28835385e-02 2.82430297e-02 7.80707895e+00] [-4.28316596e-02 9.99079325e-01 -2.43956697e-03 -6.50500890e-01] [-2.83216443e-02 1.22665285e-03 9.99598109e-01 -4.41817726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.641346184 meters 0.07460598078820299 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.66, Z:-0.45 [[ 9.98721060e-01 4.30595498e-02 2.64975321e-02 7.86425342e+00] [-4.30139810e-02 9.99071851e-01 -2.28758857e-03 -6.57180314e-01] [-2.65714410e-02 1.14489854e-03 9.99646261e-01 -4.48476335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.701346184 meters 0.07483542600546823 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.66, Z:-0.45 [[ 9.98920188e-01 4.02596791e-02 2.31865701e-02 7.92448611e+00] [-4.02241292e-02 9.99188685e-01 -1.99775453e-03 -6.62108824e-01] [-2.32481875e-02 1.06293773e-03 9.99729159e-01 -4.51012648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.761346184 meters 0.07547270895931595 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.67, Z:-0.45 [[ 9.99009636e-01 3.78403883e-02 2.34062467e-02 7.98331476e+00] [-3.78034740e-02 9.99283156e-01 -2.01774190e-03 -6.70650877e-01] [-2.34658202e-02 1.13090617e-03 9.99724000e-01 -4.54988207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.821346184000001 meters 0.07665330768139228 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.68, Z:-0.46 [[ 9.99013250e-01 3.73114809e-02 2.40910802e-02 8.03918328e+00] [-3.72721824e-02 9.99302989e-01 -2.07837492e-03 -6.79122597e-01] [-2.41518357e-02 1.17839695e-03 9.99707607e-01 -4.58958302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.881346184 meters 0.07544072450368572 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.68, Z:-0.46 [[ 9.98902271e-01 3.96446607e-02 2.49510383e-02 8.09876389e+00] [-3.96033768e-02 9.99213172e-01 -2.14677224e-03 -6.80084544e-01] [-2.50165142e-02 1.15627029e-03 9.99686369e-01 -4.59644603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.941346184 meters 0.07307898258271639 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.68, Z:-0.46 [[ 9.98649587e-01 4.47035082e-02 2.64688372e-02 8.15991561e+00] [-4.46588700e-02 9.98999703e-01 -2.27547987e-03 -6.77857182e-01] [-2.65440824e-02 1.09033867e-03 9.99647049e-01 -4.58984279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.001346184 meters 0.07268134348362877 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.68, Z:-0.46 [[ 9.98618925e-01 4.52479194e-02 2.66995941e-02 8.21861493e+00] [-4.52026485e-02 9.98975197e-01 -2.29699751e-03 -6.83106815e-01] [-2.67761666e-02 1.08693281e-03 9.99640863e-01 -4.61387808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.061346184 meters 0.07401672063176595 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.69, Z:-0.47 [[ 9.98715808e-01 4.39003621e-02 2.52881890e-02 8.27610560e+00] [-4.38593747e-02 9.99035350e-01 -2.17345307e-03 -6.94492644e-01] [-2.53592102e-02 1.06153778e-03 9.99677840e-01 -4.67897225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.121346184 meters 0.0755651279091607 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.71, Z:-0.47 [[ 9.98808875e-01 4.22075377e-02 2.44817118e-02 8.33354345e+00] [-4.21686461e-02 9.99108294e-01 -2.10291690e-03 -7.06361251e-01] [-2.45486403e-02 1.06805142e-03 9.99698066e-01 -4.74478908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.181346184 meters 0.076808168966088 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.72, Z:-0.48 [[ 9.98988457e-01 3.84429554e-02 2.33281305e-02 8.39274796e+00] [-3.84066680e-02 9.99260187e-01 -2.00173650e-03 -7.18964468e-01] [-2.33878247e-02 1.10375590e-03 9.99725858e-01 -4.78120017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.241346184000001 meters 0.0768827378224536 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.73, Z:-0.48 [[ 9.99022756e-01 3.75316078e-02 2.33433474e-02 8.45143633e+00] [-3.74949984e-02 9.99294806e-01 -2.00417339e-03 -7.25823191e-01] [-2.34021057e-02 1.12695605e-03 9.99725498e-01 -4.80608281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.301346184 meters 0.0758017562516884 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.73, Z:-0.48 [[ 9.99018733e-01 3.62237906e-02 2.54834791e-02 8.50893849e+00] [-3.61797615e-02 9.99342905e-01 -2.18685405e-03 -7.32849851e-01] [-2.55459502e-02 1.26272197e-03 9.99672851e-01 -4.79183347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.361346184 meters 0.07495033756025744 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.74, Z:-0.48 [[ 9.98997962e-01 3.70426878e-02 2.51179518e-02 8.56695722e+00] [-3.70002615e-02 9.99312939e-01 -2.15190428e-03 -7.38592386e-01] [-2.51804065e-02 1.22037721e-03 9.99682178e-01 -4.81717578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.421346184 meters 0.07535619052070994 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.75, Z:-0.49 [[ 9.98991639e-01 3.81467355e-02 2.36755462e-02 8.62421105e+00] [-3.81093762e-02 9.99271517e-01 -2.02732657e-03 -7.48044862e-01] [-2.37356349e-02 1.12302200e-03 9.99717639e-01 -4.87916033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.481346184000001 meters 0.07599671148932183 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.76, Z:-0.49 [[ 9.98958806e-01 3.90248961e-02 2.36296664e-02 8.68221550e+00] [-3.89879894e-02 9.99237636e-01 -2.02074839e-03 -7.57243186e-01] [-2.36905115e-02 1.09737122e-03 9.99718738e-01 -4.93958199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.541346184 meters 0.07604419346442513 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.77, Z:-0.50 [[ 9.98955539e-01 3.94469963e-02 2.30600609e-02 8.73929173e+00] [-3.94119839e-02 9.99221102e-01 -1.97100495e-03 -7.65165759e-01] [-2.31198497e-02 1.06010356e-03 9.99732138e-01 -4.96639945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.601346184 meters 0.07697227589658359 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.77, Z:-0.50 [[ 9.99001053e-01 3.98635913e-02 2.01938206e-02 8.79652970e+00] [-3.98368365e-02 9.99204708e-01 -1.72560256e-03 -7.72581591e-01] [-2.02465493e-02 9.19420842e-04 9.99794595e-01 -5.01967132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.661346184000001 meters 0.07713118278638659 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.78, Z:-0.51 [[ 9.98991358e-01 4.04120483e-02 1.95737632e-02 8.85467366e+00] [-4.03870839e-02 9.99182715e-01 -1.66918805e-03 -7.83125854e-01] [-1.96252211e-02 8.76977223e-04 9.99807022e-01 -5.08575049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.721346184 meters 0.07562792381818119 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.79, Z:-0.51 [[ 9.98770780e-01 4.52427632e-02 2.02489996e-02 8.91398399e+00] [-4.52170971e-02 9.98975697e-01 -1.72381458e-03 -7.87771124e-01] [-2.03062486e-02 8.06094656e-04 9.99793482e-01 -5.11677711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.781346184 meters 0.07369438297537584 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.79, Z:-0.51 [[ 9.98493564e-01 5.08950904e-02 2.05010285e-02 8.97386102e+00] [-5.08699790e-02 9.98703760e-01 -1.74486272e-03 -7.86981424e-01] [-2.05632592e-02 6.99347308e-04 9.99788309e-01 -5.14305229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.841346184 meters 0.07078910466280942 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.79, Z:-0.51 [[ 9.98073020e-01 5.78066736e-02 2.25529237e-02 9.03514680e+00] [-5.77780827e-02 9.98327609e-01 -1.91782970e-03 -7.85771966e-01] [-2.26260697e-02 6.11069390e-04 9.99743811e-01 -5.14973275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.901346184000001 meters 0.06802550221860644 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.78, Z:-0.51 [[ 9.97986131e-01 5.91866865e-02 2.28170773e-02 9.09446113e+00] [-5.91577173e-02 9.98246757e-01 -1.94312924e-03 -7.82919756e-01] [-2.28920808e-02 5.89409819e-04 9.99737768e-01 -5.09660687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.961346184 meters 0.06964989525236476 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.79, Z:-0.52 [[ 9.98190265e-01 5.67530876e-02 1.98816944e-02 9.15220259e+00] [-5.67306426e-02 9.98388087e-01 -1.69157515e-03 -7.92500541e-01] [-1.99456490e-02 5.60612546e-04 9.99800909e-01 -5.17431365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.021346184 meters 0.07046331094337384 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.81, Z:-0.52 [[ 9.98465980e-01 5.18245828e-02 1.94909940e-02 9.21045856e+00] [-5.18021041e-02 9.98655995e-01 -1.65674731e-03 -8.08221061e-01] [-1.95506582e-02 6.44531332e-04 9.99808660e-01 -5.22199987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.081346184000001 meters 0.0711205536739792 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.82, Z:-0.52 [[ 9.98624647e-01 4.85521398e-02 1.97864413e-02 9.26963924e+00] [-4.85283461e-02 9.98820391e-01 -1.68118742e-03 -8.15273285e-01] [-1.98447262e-02 7.18671925e-04 9.99802816e-01 -5.23406253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.141346184 meters 0.07198789059727674 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.82, Z:-0.53 [[ 9.98655224e-01 4.78720597e-02 1.99000056e-02 9.32651540e+00] [-4.78478088e-02 9.98853202e-01 -1.69326523e-03 -8.24481747e-01] [-1.99582445e-02 7.38816500e-04 9.99800541e-01 -5.27872040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.201346184 meters 0.0711129621043061 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.83, Z:-0.53 [[ 9.98605625e-01 4.89893455e-02 1.96684919e-02 9.38520340e+00] [-4.89658546e-02 9.98799050e-01 -1.67444392e-03 -8.31282984e-01] [-1.97269009e-02 7.09024601e-04 9.99805154e-01 -5.31061730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.261346184 meters 0.07084148355556144 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.84, Z:-0.53 [[ 9.98469635e-01 5.15055726e-02 2.01385973e-02 9.44259235e+00] [-5.14816544e-02 9.98672486e-01 -1.70466267e-03 -8.35680016e-01] [-2.01996627e-02 6.65285607e-04 9.99795745e-01 -5.33829584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.321346184000001 meters 0.06948772198190843 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.83, Z:-0.53 [[ 9.98363575e-01 5.39170077e-02 1.90559400e-02 9.50184955e+00] [-5.38960689e-02 9.98545251e-01 -1.61104632e-03 -8.34298841e-01] [-1.91150812e-02 5.81369713e-04 9.99817121e-01 -5.33345220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.381346184 meters 0.06819879165191066 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.84, Z:-0.54 [[ 9.97993680e-01 5.92600991e-02 2.22902677e-02 9.56100690e+00] [-5.92328632e-02 9.98242421e-01 -1.88071551e-03 -8.40697048e-01] [-2.23625421e-02 5.56625816e-04 9.99749772e-01 -5.37495405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.441346184 meters 0.06699827200536344 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.84, Z:-0.54 [[ 9.97763131e-01 6.31821473e-02 2.18346382e-02 9.62024606e+00] [-6.31569292e-02 9.98001906e-01 -1.84331209e-03 -8.42173530e-01] [-2.19074749e-02 4.60180142e-04 9.99759897e-01 -5.38433603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.501346184 meters 0.06564088064309735 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.85, Z:-0.54 [[ 9.97283280e-01 6.96319566e-02 2.40301884e-02 9.67994670e+00] [-6.96033708e-02 9.97572689e-01 -2.02496475e-03 -8.46994574e-01] [-2.41128619e-02 3.46881380e-04 9.99709182e-01 -5.40978132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.561346184 meters 0.06528003493869283 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.85, Z:-0.55 [[ 9.97132387e-01 7.23084908e-02 2.23267599e-02 9.73805126e+00] [-7.22843316e-02 9.97382279e-01 -1.88828022e-03 -8.52503485e-01] [-2.24048534e-02 2.68990450e-04 9.99748944e-01 -5.45177163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.621346184 meters 0.06505041713593716 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.86, Z:-0.55 [[ 9.96933306e-01 7.50163429e-02 2.22829982e-02 9.79571164e+00] [-7.49930815e-02 9.97182284e-01 -1.87889625e-03 -8.62791603e-01] [-2.23611589e-02 2.02063556e-04 9.99749938e-01 -5.49782455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.681346184 meters 0.06480099014088957 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.87, Z:-0.55 [[ 9.96832009e-01 7.63210128e-02 2.23841280e-02 9.85248704e+00] [-7.62981091e-02 9.97083285e-01 -1.87672327e-03 -8.72580021e-01] [-2.24620733e-02 1.62911186e-04 9.99747683e-01 -5.51799306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.741346184000001 meters 0.06483340285508768 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.88, Z:-0.56 [[ 9.96782246e-01 7.70170178e-02 2.22155897e-02 9.90916989e+00] [-7.69945436e-02 9.97029767e-01 -1.86649164e-03 -8.82405061e-01] [-2.22933558e-02 1.50006542e-04 9.99751461e-01 -5.55447532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.801346184 meters 0.06511943485556301 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.89, Z:-0.56 [[ 9.96735268e-01 7.79845823e-02 2.09095971e-02 9.96543389e+00] [-7.79650765e-02 9.96954559e-01 -1.74768433e-03 -8.92476775e-01] [-2.09822106e-02 1.11760266e-04 9.99779843e-01 -5.62316378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.861346184 meters 0.06496260033861896 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.90, Z:-0.56 [[ 9.96656963e-01 7.96279736e-02 1.82834531e-02 1.00236007e+01] [-7.96133028e-02 9.96824649e-01 -1.53003489e-03 -9.01835548e-01] [-1.83472303e-02 6.93138331e-05 9.99831673e-01 -5.64570988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.921346184 meters 0.06586756180463293 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.91, Z:-0.57 [[ 9.96577973e-01 8.08002757e-02 1.74258157e-02 1.00801988e+01] [-8.07872971e-02 9.96730312e-01 -1.44860549e-03 -9.09918696e-01] [-1.74858865e-02 3.58637671e-05 9.99847110e-01 -5.74289112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.981346184 meters 0.06505263138322874 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.92, Z:-0.57 [[ 9.96741202e-01 7.89160910e-02 1.67100577e-02 1.01377433e+01] [-7.89038135e-02 9.96881260e-01 -1.39378402e-03 -9.24928012e-01] [-1.67679353e-02 7.07546829e-05 9.99859406e-01 -5.71090958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.041346184 meters 0.06544618461066326 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.94, Z:-0.58 [[ 9.96963761e-01 7.60692710e-02 1.66350497e-02 1.01944332e+01] [-7.60568499e-02 9.97102529e-01 -1.37897933e-03 -9.36874821e-01] [-1.66917481e-02 1.09582943e-04 9.99860677e-01 -5.75351397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.101346184 meters 0.06532748574538491 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.96, Z:-0.58 [[ 9.97467057e-01 6.86816026e-02 1.85015708e-02 1.02510078e+01] [-6.86649258e-02 9.97638596e-01 -1.53587553e-03 -9.58523105e-01] [-1.85633675e-02 2.61576256e-04 9.99827652e-01 -5.75274930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.161346184000001 meters 0.0656191557688451 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.97, Z:-0.58 [[ 9.97649816e-01 6.57920986e-02 1.91375066e-02 1.03085049e+01] [-6.57738665e-02 9.97833302e-01 -1.58124886e-03 -9.70061916e-01] [-1.92000750e-02 3.18784829e-04 9.99815611e-01 -5.78887209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.221346184 meters 0.06625184142511938 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.99, Z:-0.58 [[ 9.98017240e-01 5.99018745e-02 1.93223910e-02 1.03663021e+01] [-5.98824118e-02 9.98204180e-01 -1.58480297e-03 -9.88821132e-01] [-1.93826241e-02 4.24589305e-04 9.99812049e-01 -5.82199405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.281346184 meters 0.06710022376932104 Centerline is valid? [True, True] Translation: X:10.42, Y:-1.00, Z:-0.59 [[ 9.98218411e-01 5.65311618e-02 1.90848321e-02 1.04234777e+01] [-5.65115674e-02 9.98400718e-01 -1.56488156e-03 -1.00062158e+00] [-1.91427746e-02 4.83579814e-04 9.99816643e-01 -5.85857034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.341346184 meters 0.06892685294493035 Centerline is valid? [True, True] Translation: X:10.48, Y:-1.02, Z:-0.59 [[ 9.98576950e-01 5.00275682e-02 1.84748005e-02 1.04819293e+01] [-5.00081518e-02 9.98747666e-01 -1.51175018e-03 -1.01966299e+00] [-1.85272931e-02 5.85708251e-04 9.99828183e-01 -5.91452659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.401346184 meters 0.0721551383384865 Centerline is valid? [True, True] Translation: X:10.54, Y:-1.04, Z:-0.59 [[ 9.98961156e-01 4.10090460e-02 1.98712618e-02 1.05393063e+01] [-4.09848547e-02 9.99158449e-01 -1.62329700e-03 -1.04103366e+00] [-1.99211090e-02 8.07189871e-04 9.99801229e-01 -5.94757178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.461346184 meters 0.07480065383956887 Centerline is valid? [True, True] Translation: X:10.60, Y:-1.05, Z:-0.60 [[ 9.99182386e-01 3.45728848e-02 2.09589123e-02 1.05991641e+01] [-3.45444903e-02 9.99401689e-01 -1.71541234e-03 -1.05349186e+00] [-2.10056791e-02 9.89994844e-04 9.99778866e-01 -5.95275623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.521346184 meters 0.0749052424202226 Centerline is valid? [True, True] Translation: X:10.66, Y:-1.07, Z:-0.60 [[ 9.99401883e-01 2.72107706e-02 2.13412575e-02 1.06591168e+01] [-2.71796705e-02 9.99629040e-01 -1.74603924e-03 -1.06581620e+00] [-2.13808518e-02 1.16494656e-03 9.99770725e-01 -5.95448654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.581346184000001 meters 0.07504210813630426 Centerline is valid? [True, True] Translation: X:10.72, Y:-1.07, Z:-0.60 [[ 9.99447985e-01 2.55300068e-02 2.12589639e-02 1.07191846e+01] [-2.54987664e-02 9.99673340e-01 -1.73933694e-03 -1.07374346e+00] [-2.12964247e-02 1.19629944e-03 9.99772490e-01 -5.99612470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.641346184 meters 0.07752381653576859 Centerline is valid? [True, True] Translation: X:10.78, Y:-1.08, Z:-0.61 [[ 9.99294905e-01 3.11071202e-02 2.10247652e-02 1.07775806e+01] [-3.10777838e-02 9.99515488e-01 -1.72070351e-03 -1.08126770e+00] [-2.10681046e-02 1.06608715e-03 9.99777474e-01 -6.07562164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.701346184 meters 0.07227493649471112 Centerline is valid? [True, True] Translation: X:10.84, Y:-1.07, Z:-0.61 [[ 9.99167348e-01 3.60373466e-02 1.91290578e-02 1.08384306e+01] [-3.60139674e-02 9.99350061e-01 -1.56538048e-03 -1.07292988e+00] [-1.91730372e-02 8.75163801e-04 9.99815797e-01 -6.08283118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.761346184 meters 0.07209214563636118 Centerline is valid? [True, True] Translation: X:10.90, Y:-1.08, Z:-0.61 [[ 9.99015612e-01 3.95962686e-02 1.99985470e-02 1.08968543e+01] [-3.95714234e-02 9.99215404e-01 -1.63670552e-03 -1.07732605e+00] [-2.00476637e-02 8.43723394e-04 9.99798669e-01 -6.13441046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.821346184000001 meters 0.07286015303240204 Centerline is valid? [True, True] Translation: X:10.96, Y:-1.08, Z:-0.62 [[ 9.99083069e-01 3.85859769e-02 1.85511072e-02 1.09557334e+01] [-3.85644352e-02 9.99254963e-01 -1.51768164e-03 -1.08459531e+00] [-1.85958472e-02 8.00877055e-04 9.99826762e-01 -6.18498391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.881346184 meters 0.07299389788754827 Centerline is valid? [True, True] Translation: X:11.02, Y:-1.10, Z:-0.62 [[ 9.99328477e-01 3.34606358e-02 1.49325665e-02 1.10153730e+01] [-3.34461309e-02 9.99439777e-01 -1.22011049e-03 -1.09515631e+00] [-1.49650266e-02 7.19854580e-04 9.99887759e-01 -6.22800014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.941346184 meters 0.07793067838616391 Centerline is valid? [True, True] Translation: X:11.07, Y:-1.11, Z:-0.63 [[ 9.99489153e-01 2.94719221e-02 1.23627832e-02 1.10733014e+01] [-2.94616653e-02 9.99565400e-01 -1.01098876e-03 -1.11168361e+00] [-1.23872061e-02 6.46244123e-04 9.99923067e-01 -6.32370360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.001346184 meters 0.07561647425396874 Centerline is valid? [True, True] Translation: X:11.13, Y:-1.11, Z:-0.63 [[ 9.99582954e-01 2.60603051e-02 1.24410193e-02 1.11343587e+01] [-2.60496681e-02 9.99660133e-01 -1.01630618e-03 -1.11234859e+00] [-1.24632763e-02 6.91797911e-04 9.99922091e-01 -6.27637720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.061346184 meters 0.07768574486424888 Centerline is valid? [True, True] Translation: X:11.19, Y:-1.12, Z:-0.63 [[ 9.99517721e-01 2.75077945e-02 1.44099255e-02 1.11923178e+01] [-2.74936428e-02 9.99621283e-01 -1.17929293e-03 -1.12194229e+00] [-1.44369080e-02 7.82542832e-04 9.99895476e-01 -6.33528558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.121346184 meters 0.07444837660910208 Centerline is valid? [True, True] Translation: X:11.25, Y:-1.11, Z:-0.63 [[ 9.99470588e-01 2.93120565e-02 1.41190294e-02 1.12518632e+01] [-2.92986499e-02 9.99570035e-01 -1.15549347e-03 -1.11449328e+00] [-1.41468286e-02 7.41213241e-04 9.99899654e-01 -6.31136630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.181346184 meters 0.07390983245966887 Centerline is valid? [True, True] Translation: X:11.31, Y:-1.12, Z:-0.63 [[ 9.99468843e-01 2.86754502e-02 1.54838817e-02 1.13108677e+01] [-2.86592729e-02 9.99588437e-01 -1.26571005e-03 -1.11518572e+00] [-1.55138039e-02 8.21280969e-04 9.99879316e-01 -6.32793675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.241346184000001 meters 0.07494065860194289 Centerline is valid? [True, True] Translation: X:11.37, Y:-1.12, Z:-0.64 [[ 9.99497757e-01 2.84802929e-02 1.38962501e-02 1.13687866e+01] [-2.84672688e-02 9.99594082e-01 -1.13418301e-03 -1.12020396e+00] [-1.39229112e-02 7.38025086e-04 9.99902799e-01 -6.39148660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.301346184 meters 0.07599124626117751 Centerline is valid? [True, True] Translation: X:11.43, Y:-1.12, Z:-0.64 [[ 9.99500561e-01 2.74270874e-02 1.56966202e-02 1.14269251e+01] [-2.74103313e-02 9.99623445e-01 -1.28167978e-03 -1.12281393e+00] [-1.57258623e-02 8.50790104e-04 9.99875979e-01 -6.41749850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.361346184 meters 0.07688588651354919 Centerline is valid? [True, True] Translation: X:11.49, Y:-1.13, Z:-0.64 [[ 9.99507390e-01 2.54598627e-02 1.83513658e-02 1.14857952e+01] [-2.54366870e-02 9.99675317e-01 -1.49523926e-03 -1.12585379e+00] [-1.83834760e-02 1.02770475e-03 9.99830481e-01 -6.42404760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.421346184 meters 0.07741980278683987 Centerline is valid? [True, True] Translation: X:11.54, Y:-1.13, Z:-0.64 [[ 9.99511063e-01 2.34324562e-02 2.07015759e-02 1.15447645e+01] [-2.34025954e-02 9.99724704e-01 -1.68356179e-03 -1.13179171e+00] [-2.07353269e-02 1.19826803e-03 9.99784282e-01 -6.44025571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.481346184 meters 0.07814834604578194 Centerline is valid? [True, True] Translation: X:11.61, Y:-1.14, Z:-0.65 [[ 9.99509415e-01 2.35831652e-02 2.06097742e-02 1.16057290e+01] [-2.35536642e-02 9.99721174e-01 -1.67301816e-03 -1.13626305e+00] [-2.06434828e-02 1.18676170e-03 9.99786196e-01 -6.48739662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.541346184 meters 0.08073414348538237 Centerline is valid? [True, True] Translation: X:11.67, Y:-1.14, Z:-0.66 [[ 9.99530008e-01 2.38408698e-02 1.92711093e-02 1.16657332e+01] [-2.38151022e-02 9.99715154e-01 -1.56552835e-03 -1.14237710e+00] [-1.93029436e-02 1.10584913e-03 9.99813069e-01 -6.55041155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.601346184 meters 0.07740200249667045 Centerline is valid? [True, True] Translation: X:11.73, Y:-1.14, Z:-0.65 [[ 9.99583918e-01 2.21381893e-02 1.84902820e-02 1.17265025e+01] [-2.21141605e-02 9.99754322e-01 -1.50301962e-03 -1.13957767e+00] [-1.85190135e-02 1.09349718e-03 9.99827910e-01 -6.54554309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.661346184000001 meters 0.07942131227449065 Centerline is valid? [True, True] Translation: X:11.79, Y:-1.15, Z:-0.66 [[ 9.99712140e-01 1.92617509e-02 1.43046403e-02 1.17868244e+01] [-1.92470779e-02 9.99814082e-01 -1.16272458e-03 -1.14637371e+00] [-1.43243769e-02 8.87067347e-04 9.99897007e-01 -6.61391208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.721346184 meters 0.0816787784258759 Centerline is valid? [True, True] Translation: X:11.85, Y:-1.15, Z:-0.67 [[ 9.99735608e-01 1.78619213e-02 1.44798312e-02 1.18461003e+01] [-1.78467299e-02 9.99840041e-01 -1.17768962e-03 -1.15350937e+00] [-1.44985509e-02 9.18960614e-04 9.99894468e-01 -6.66014693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.781346184 meters 0.08296845585329073 Centerline is valid? [True, True] Translation: X:11.91, Y:-1.16, Z:-0.67 [[ 9.99752126e-01 1.78888914e-02 1.32541797e-02 1.19063908e+01] [-1.78761861e-02 9.99839629e-01 -1.07644805e-03 -1.16073586e+00] [-1.32713105e-02 8.39247046e-04 9.99911580e-01 -6.72505567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.841346184 meters 0.07861734221476382 Centerline is valid? [True, True] Translation: X:11.97, Y:-1.16, Z:-0.67 [[ 9.99718882e-01 1.93714331e-02 1.36713035e-02 1.19670749e+01] [-1.93580306e-02 9.99811997e-01 -1.11199577e-03 -1.15728961e+00] [-1.36902742e-02 8.47033653e-04 9.99905925e-01 -6.70641076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.901346184 meters 0.08146672607559459 Centerline is valid? [True, True] Translation: X:12.03, Y:-1.16, Z:-0.68 [[ 9.99669794e-01 2.23141762e-02 1.27428252e-02 1.20253205e+01] [-2.23027545e-02 9.99750724e-01 -1.03774837e-03 -1.16195408e+00] [-1.27628052e-02 7.53205602e-04 9.99918268e-01 -6.77651009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.961346184 meters 0.07752653965841745 Centerline is valid? [True, True] Translation: X:12.09, Y:-1.16, Z:-0.68 [[ 9.99613573e-01 2.43649074e-02 1.33811501e-02 1.20855447e+01] [-2.43525170e-02 9.99702841e-01 -1.08814238e-03 -1.15800336e+00] [-1.34036862e-02 7.61857208e-04 9.99909876e-01 -6.76678922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.021346184 meters 0.0761008522325108 Centerline is valid? [True, True] Translation: X:12.15, Y:-1.16, Z:-0.68 [[ 9.99593016e-01 2.47413961e-02 1.42008973e-02 1.21450493e+01] [-2.47274772e-02 9.99693562e-01 -1.15491729e-03 -1.15964014e+00] [-1.42251199e-02 8.03294890e-04 9.99898495e-01 -6.77056028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.081346183999997 meters 0.07690153424270123 Centerline is valid? [True, True] Translation: X:12.20, Y:-1.16, Z:-0.68 [[ 9.99591425e-01 2.36822818e-02 1.60041427e-02 1.22039431e+01] [-2.36644777e-02 9.99719111e-01 -1.30095736e-03 -1.16316302e+00] [-1.60304570e-02 9.21696142e-04 9.99871079e-01 -6.79654514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.141346184 meters 0.07806472551052512 Centerline is valid? [True, True] Translation: X:12.26, Y:-1.17, Z:-0.68 [[ 9.99616370e-01 2.18463754e-02 1.70249717e-02 1.22625625e+01] [-2.18260010e-02 9.99760830e-01 -1.38164836e-03 -1.17025049e+00] [-1.70510838e-02 1.00953127e-03 9.99854110e-01 -6.83636213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.201346184 meters 0.07755383844240578 Centerline is valid? [True, True] Translation: X:12.32, Y:-1.17, Z:-0.69 [[ 9.99650999e-01 2.05236011e-02 1.66331819e-02 1.23227619e+01] [-2.05040151e-02 9.99788863e-01 -1.34722789e-03 -1.17401226e+00] [-1.66573199e-02 1.00571069e-03 9.99860751e-01 -6.86981554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.261346183999997 meters 0.07826263834737816 Centerline is valid? [True, True] Translation: X:12.38, Y:-1.18, Z:-0.69 [[ 9.99673687e-01 2.06764021e-02 1.50001811e-02 1.23831266e+01] [-2.06604906e-02 9.99785811e-01 -1.21496070e-03 -1.17900422e+00] [-1.50220892e-02 9.04653142e-04 9.99886753e-01 -6.92431348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.321346184 meters 0.07711154083331669 Centerline is valid? [True, True] Translation: X:12.44, Y:-1.18, Z:-0.69 [[ 9.99657222e-01 2.15717931e-02 1.48356661e-02 1.24425220e+01] [-2.15563059e-02 9.99766912e-01 -1.20305422e-03 -1.17889603e+00] [-1.48581601e-02 8.82839688e-04 9.99889222e-01 -6.94913824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.381346183999998 meters 0.07853417869652037 Centerline is valid? [True, True] Translation: X:12.50, Y:-1.19, Z:-0.70 [[ 9.99599248e-01 2.29402373e-02 1.65857748e-02 1.24999412e+01] [-2.29210715e-02 9.99736373e-01 -1.34475555e-03 -1.19100699e+00] [-1.66122514e-02 9.64052903e-04 9.99861542e-01 -7.01199812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.441346183999997 meters 0.07903424197964645 Centerline is valid? [True, True] Translation: X:12.56, Y:-1.20, Z:-0.71 [[ 9.99597761e-01 2.33106179e-02 1.61533878e-02 1.25582837e+01] [-2.32925010e-02 9.99727836e-01 -1.30881180e-03 -1.19849874e+00] [-1.61795006e-02 9.32032540e-04 9.99868669e-01 -7.05007428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.501346184 meters 0.07739635997337418 Centerline is valid? [True, True] Translation: X:12.62, Y:-1.20, Z:-0.70 [[ 9.99545427e-01 2.51625985e-02 1.66067199e-02 1.26184856e+01] [-2.51437312e-02 9.99682943e-01 -1.34396979e-03 -1.19790385e+00] [-1.66352724e-02 9.25803956e-04 9.99861196e-01 -7.04634256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.561346183999998 meters 0.07757568267609352 Centerline is valid? [True, True] Translation: X:12.68, Y:-1.20, Z:-0.71 [[ 9.99453716e-01 2.75956682e-02 1.81864846e-02 1.26778792e+01] [-2.75734570e-02 9.99618698e-01 -1.47097465e-03 -1.19958043e+00] [-1.82201426e-02 9.68706831e-04 9.99833530e-01 -7.06098336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.621346184 meters 0.07519190747171618 Centerline is valid? [True, True] Translation: X:12.74, Y:-1.20, Z:-0.71 [[ 9.99436173e-01 2.82761859e-02 1.81050606e-02 1.27367504e+01] [-2.82542723e-02 9.99599695e-01 -1.46505883e-03 -1.19879016e+00] [-1.81392393e-02 9.52687475e-04 9.99835017e-01 -7.07928844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.681346184 meters 0.07957918986149444 Centerline is valid? [True, True] Translation: X:12.79, Y:-1.21, Z:-0.72 [[ 9.99472239e-01 2.66400459e-02 1.85890146e-02 1.27947045e+01] [-2.66167021e-02 9.99644584e-01 -1.50211304e-03 -1.20954779e+00] [-1.86224242e-02 1.00654201e-03 9.99826081e-01 -7.15592402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.741346183999998 meters 0.07868024744985998 Centerline is valid? [True, True] Translation: X:12.86, Y:-1.21, Z:-0.72 [[ 9.99571391e-01 2.35636588e-02 1.73720266e-02 1.28550284e+01] [-2.35428438e-02 9.99721846e-01 -1.40175704e-03 -1.21124901e+00] [-1.74002250e-02 9.92169325e-04 9.99848112e-01 -7.17700584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.801346184 meters 0.07889350022222952 Centerline is valid? [True, True] Translation: X:12.92, Y:-1.21, Z:-0.72 [[ 9.99635847e-01 1.97402236e-02 1.83983071e-02 1.29155718e+01] [-1.97162492e-02 9.99804515e-01 -1.48357494e-03 -1.21315736e+00] [-1.84239966e-02 1.12028908e-03 9.99829636e-01 -7.17639389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.861346184 meters 0.08359455196957323 Centerline is valid? [True, True] Translation: X:12.98, Y:-1.22, Z:-0.72 [[ 9.99608680e-01 1.82684195e-02 2.11837525e-02 1.29752808e+01] [-1.82363174e-02 9.99832246e-01 -1.70761640e-03 -1.22199109e+00] [-2.12113943e-02 1.32063454e-03 9.99774141e-01 -7.21191802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.921346183999997 meters 0.07966452398200656 Centerline is valid? [True, True] Translation: X:13.04, Y:-1.22, Z:-0.72 [[ 9.99558748e-01 1.80697800e-02 2.35752411e-02 1.30387341e+01] [-1.80301143e-02 9.99835650e-01 -1.89401217e-03 -1.21748832e+00] [-2.36055909e-02 1.46811214e-03 9.99720271e-01 -7.18371925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.981346184 meters 0.08018327049738465 Centerline is valid? [True, True] Translation: X:13.10, Y:-1.22, Z:-0.72 [[ 9.99578793e-01 1.69415227e-02 2.35631280e-02 1.31003442e+01] [-1.69014320e-02 9.99855356e-01 -1.89954666e-03 -1.22126910e+00] [-2.35919010e-02 1.50049595e-03 9.99720546e-01 -7.23498042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.041346184 meters 0.08014018278719266 Centerline is valid? [True, True] Translation: X:13.16, Y:-1.22, Z:-0.73 [[ 9.99601265e-01 1.75448632e-02 2.21243980e-02 1.31630023e+01] [-1.75095794e-02 9.99845098e-01 -1.78751582e-03 -1.22256220e+00] [-2.21523326e-02 1.39941417e-03 9.99753628e-01 -7.27586191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.101346183999997 meters 0.08141846612571811 Centerline is valid? [True, True] Translation: X:13.22, Y:-1.23, Z:-0.74 [[ 9.99614741e-01 1.93696169e-02 1.98793163e-02 1.32236446e+01] [-1.93413458e-02 9.99811637e-01 -1.61343384e-03 -1.22582732e+00] [-1.99068234e-02 1.22831952e-03 9.99801085e-01 -7.35323503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.161346184 meters 0.07889205222227844 Centerline is valid? [True, True] Translation: X:13.29, Y:-1.23, Z:-0.74 [[ 9.99561559e-01 2.13668859e-02 2.04974732e-02 1.32856032e+01] [-2.13371242e-02 9.99770944e-01 -1.66959681e-03 -1.22503073e+00] [-2.05284522e-02 1.23150766e-03 9.99788511e-01 -7.36847701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.221346183999998 meters 0.0797486553124258 Centerline is valid? [True, True] Translation: X:13.35, Y:-1.22, Z:-0.74 [[ 9.99470797e-01 2.29537809e-02 2.30488454e-02 1.33451819e+01] [-2.29164803e-02 9.99735613e-01 -1.88119605e-03 -1.22471083e+00] [-2.30859322e-02 1.35200210e-03 9.99732570e-01 -7.36593612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.281346184 meters 0.07907449964531334 Centerline is valid? [True, True] Translation: X:13.41, Y:-1.23, Z:-0.74 [[ 9.99376768e-01 2.59289141e-02 2.39534237e-02 1.34065068e+01] [-2.58895146e-02 9.99662902e-01 -1.95354456e-03 -1.22542626e+00] [-2.39960023e-02 1.33218454e-03 9.99711167e-01 -7.38911173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.341346184 meters 0.07516009391039644 Centerline is valid? [True, True] Translation: X:13.47, Y:-1.22, Z:-0.74 [[ 9.99218958e-01 3.10413200e-02 2.44522090e-02 1.34673257e+01] [-3.10017637e-02 9.99517338e-01 -1.99521751e-03 -1.21762518e+00] [-2.45023411e-02 1.23559755e-03 9.99699009e-01 -7.41909947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.401346183999998 meters 0.07527033134273571 Centerline is valid? [True, True] Translation: X:13.53, Y:-1.21, Z:-0.75 [[ 9.99274187e-01 3.21163307e-02 2.04851047e-02 1.35273247e+01] [-3.20887739e-02 9.99483623e-01 -1.67258596e-03 -1.21429718e+00] [-2.05282440e-02 1.01403008e-03 9.99788759e-01 -7.47395309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.461346184 meters 0.07636924420592917 Centerline is valid? [True, True] Translation: X:13.59, Y:-1.22, Z:-0.75 [[ 9.99323403e-01 2.99509584e-02 2.13465747e-02 1.35855871e+01] [-2.99205361e-02 9.99550760e-01 -1.74319843e-03 -1.21789271e+00] [-2.13891954e-02 1.10331803e-03 9.99770616e-01 -7.51257323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.521346184 meters 0.07758475199340818 Centerline is valid? [True, True] Translation: X:13.65, Y:-1.22, Z:-0.75 [[ 9.99371830e-01 2.60583669e-02 2.40188889e-02 1.36453914e+01] [-2.60188053e-02 9.99659536e-01 -1.95820514e-03 -1.21930491e+00] [-2.40617390e-02 1.33203226e-03 9.99709587e-01 -7.49452052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.581346183999997 meters 0.07768236867848237 Centerline is valid? [True, True] Translation: X:13.71, Y:-1.22, Z:-0.75 [[ 9.99340374e-01 2.42623821e-02 2.70213547e-02 1.37054506e+01] [-2.42116863e-02 9.99704430e-01 -2.20178183e-03 -1.21957831e+00] [-2.70667885e-02 1.54609691e-03 9.99632432e-01 -7.49017709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.641346184 meters 0.07977575359929417 Centerline is valid? [True, True] Translation: X:13.77, Y:-1.22, Z:-0.75 [[ 9.99396554e-01 2.17296007e-02 2.70989421e-02 1.37659129e+01] [-2.16777499e-02 9.99762577e-01 -2.20573393e-03 -1.22323013e+00] [-2.71404379e-02 1.61695880e-03 9.99630323e-01 -7.54183301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.701346184 meters 0.08232781798800648 Centerline is valid? [True, True] Translation: X:13.83, Y:-1.23, Z:-0.76 [[ 9.99451213e-01 1.95667384e-02 2.67285476e-02 1.38251027e+01] [-1.95155004e-02 9.99807185e-01 -2.17651182e-03 -1.22977428e+00] [-2.67659811e-02 1.65369639e-03 9.99640359e-01 -7.59889452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.761346183999997 meters 0.08317981198130017 Centerline is valid? [True, True] Translation: X:13.89, Y:-1.23, Z:-0.76 [[ 9.99524874e-01 1.72371939e-02 2.55520213e-02 1.38860753e+01] [-1.71896229e-02 9.99850084e-01 -2.08022980e-03 -1.23076819e+00] [-2.55840480e-02 1.64001182e-03 9.99671329e-01 -7.64255575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.821346184 meters 0.08284377816189878 Centerline is valid? [True, True] Translation: X:13.95, Y:-1.23, Z:-0.77 [[ 9.99538765e-01 1.68523279e-02 2.52637228e-02 1.39480863e+01] [-1.68058517e-02 9.99856668e-01 -2.05085226e-03 -1.23226547e+00] [-2.52946633e-02 1.62532795e-03 9.99678718e-01 -7.67972049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.881346183999998 meters 0.0821950607307422 Centerline is valid? [True, True] Translation: X:14.01, Y:-1.23, Z:-0.77 [[ 9.99531997e-01 1.83922417e-02 2.44440614e-02 1.40109312e+01] [-1.83490553e-02 9.99829662e-01 -1.98988920e-03 -1.23131867e+00] [-2.44764961e-02 1.54043249e-03 9.99699219e-01 -7.72035888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.941346183999997 meters 0.0812826102853195 Centerline is valid? [True, True] Translation: X:14.07, Y:-1.23, Z:-0.78 [[ 9.99530525e-01 1.95222150e-02 2.36138036e-02 1.40730666e+01] [-1.94820993e-02 9.99808348e-01 -1.92771178e-03 -1.23207395e+00] [-2.36469112e-02 1.46676030e-03 9.99719297e-01 -7.75448768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.001346184 meters 0.0807758821032336 Centerline is valid? [True, True] Translation: X:14.13, Y:-1.23, Z:-0.78 [[ 9.99461470e-01 2.29627754e-02 2.34410017e-02 1.41341843e+01] [-2.29238916e-02 9.99735357e-01 -1.92620199e-03 -1.23039522e+00] [-2.34790292e-02 1.38780569e-03 9.99723366e-01 -7.81227018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.061346183999998 meters 0.07872317452530703 Centerline is valid? [True, True] Translation: X:14.20, Y:-1.23, Z:-0.78 [[ 9.99370025e-01 2.57525530e-02 2.44204698e-02 1.41954718e+01] [-2.57111696e-02 9.99667398e-01 -2.00714618e-03 -1.22718271e+00] [-2.44640367e-02 1.37800288e-03 9.99699761e-01 -7.82367571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.121346184 meters 0.08074164411869725 Centerline is valid? [True, True] Translation: X:14.25, Y:-1.23, Z:-0.79 [[ 9.99303265e-01 2.93170574e-02 2.30974839e-02 1.42547425e+01] [-2.92809417e-02 9.99569415e-01 -1.90034765e-03 -1.22637145e+00] [-2.31432510e-02 1.22270754e-03 9.99731411e-01 -7.88885227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.181346184 meters 0.07702806550942756 Centerline is valid? [True, True] Translation: X:14.32, Y:-1.22, Z:-0.79 [[ 9.99221353e-01 3.16735017e-02 2.35260832e-02 1.43158884e+01] [-3.16367167e-02 9.99497562e-01 -1.93423405e-03 -1.21939252e+00] [-2.35755267e-02 1.18843994e-03 9.99721352e-01 -7.89600011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.241346183999998 meters 0.07882697298573467 Centerline is valid? [True, True] Translation: X:14.37, Y:-1.22, Z:-0.80 [[ 9.99172755e-01 3.20070527e-02 2.50869443e-02 1.43735387e+01] [-3.19652946e-02 9.99486848e-01 -2.06389138e-03 -1.22338261e+00] [-2.51401300e-02 1.26027247e-03 9.99683143e-01 -7.95656358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.301346184 meters 0.07887915766736787 Centerline is valid? [True, True] Translation: X:14.43, Y:-1.22, Z:-0.80 [[ 9.99211473e-01 3.12616540e-02 2.44773534e-02 1.44320691e+01] [-3.12217365e-02 9.99510459e-01 -2.01136477e-03 -1.22364795e+00] [-2.45282493e-02 1.24555328e-03 9.99698361e-01 -7.98214307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.361346184 meters 0.079646394628984 Centerline is valid? [True, True] Translation: X:14.49, Y:-1.22, Z:-0.80 [[ 9.99257360e-01 3.15657161e-02 2.20982702e-02 1.44911721e+01] [-3.15332830e-02 9.99501055e-01 -1.81468652e-03 -1.22119937e+00] [-2.21445263e-02 1.11650786e-03 9.99754156e-01 -8.04976837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.421346183999997 meters 0.07728779415280511 Centerline is valid? [True, True] Translation: X:14.55, Y:-1.22, Z:-0.81 [[ 9.99241978e-01 3.30502863e-02 2.05705731e-02 1.45502084e+01] [-3.30225188e-02 9.99453182e-01 -1.68818379e-03 -1.21561340e+00] [-2.06151197e-02 1.00761198e-03 9.99786978e-01 -8.06984642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.481346184 meters 0.07631169791904946 Centerline is valid? [True, True] Translation: X:14.61, Y:-1.21, Z:-0.81 [[ 9.99116648e-01 3.62739776e-02 2.12160805e-02 1.46110676e+01] [-3.62452346e-02 9.99341415e-01 -1.73786874e-03 -1.21044570e+00] [-2.12651473e-02 9.67351781e-04 9.99773403e-01 -8.11615626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.541346184 meters 0.07588658414373432 Centerline is valid? [True, True] Translation: X:14.67, Y:-1.21, Z:-0.82 [[ 9.99022083e-01 3.85023784e-02 2.17357919e-02 1.46707379e+01] [-3.84727332e-02 9.99258064e-01 -1.78057025e-03 -1.20940604e+00] [-2.17882215e-02 9.42593682e-04 9.99762164e-01 -8.16447890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.601346183999997 meters 0.07626925398752436 Centerline is valid? [True, True] Translation: X:14.73, Y:-1.21, Z:-0.82 [[ 9.99013635e-01 3.71449580e-02 2.43312419e-02 1.47300615e+01] [-3.71073657e-02 9.99309293e-01 -1.99486369e-03 -1.21143705e+00] [-2.43885353e-02 1.09002773e-03 9.99701961e-01 -8.17315196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.661346184 meters 0.07510349088085455 Centerline is valid? [True, True] Translation: X:14.79, Y:-1.21, Z:-0.82 [[ 9.99082949e-01 3.53703782e-02 2.41287513e-02 1.47902068e+01] [-3.53330332e-02 9.99373647e-01 -1.97245258e-03 -1.21043899e+00] [-2.41834045e-02 1.11810177e-03 9.99706913e-01 -8.16498130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.721346183999998 meters 0.07664140205483755 Centerline is valid? [True, True] Translation: X:14.85, Y:-1.22, Z:-0.82 [[ 9.99090777e-01 3.56194502e-02 2.34280538e-02 1.48473116e+01] [-3.55842938e-02 9.99364842e-01 -1.91592785e-03 -1.21585882e+00] [-2.34814176e-02 1.08051510e-03 9.99723690e-01 -8.22089248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.781346183999997 meters 0.07662702444370749 Centerline is valid? [True, True] Translation: X:14.91, Y:-1.22, Z:-0.83 [[ 9.98994743e-01 3.90256672e-02 2.20567401e-02 1.49050686e+01] [-3.89953865e-02 9.99237767e-01 -1.80146207e-03 -1.22099132e+00] [-2.21102310e-02 9.39540034e-04 9.99755097e-01 -8.30985618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.841346184 meters 0.07352381039790863 Centerline is valid? [True, True] Translation: X:14.97, Y:-1.22, Z:-0.83 [[ 9.98745546e-01 4.47786828e-02 2.24099110e-02 1.49661906e+01] [-4.47489486e-02 9.98996594e-01 -1.82680068e-03 -1.21767645e+00] [-2.24692265e-02 8.21689083e-04 9.99747197e-01 -8.33191313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.901346183999998 meters 0.06928170828084525 Centerline is valid? [True, True] Translation: X:15.03, Y:-1.20, Z:-0.83 [[ 9.98069864e-01 5.77191984e-02 2.29137796e-02 1.50273168e+01] [-5.76915010e-02 9.98332710e-01 -1.86853424e-03 -1.20421904e+00] [-2.29834260e-02 5.42997377e-04 9.99735699e-01 -8.33278745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.961346184 meters 0.06642075289896697 Centerline is valid? [True, True] Translation: X:15.09, Y:-1.19, Z:-0.83 [[ 9.97167931e-01 7.14768009e-02 2.33919501e-02 1.50892343e+01] [-7.14517468e-02 9.97442236e-01 -1.90619232e-03 -1.18920654e+00] [-2.34683676e-02 2.29398159e-04 9.99724554e-01 -8.32252164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.021346184 meters 0.06648745864145061 Centerline is valid? [True, True] Translation: X:15.15, Y:-1.19, Z:-0.84 [[ 9.96903191e-01 7.54428369e-02 2.21902437e-02 1.51470576e+01] [-7.54212227e-02 9.97150120e-01 -1.81053570e-03 -1.19018653e+00] [-2.22635961e-02 1.31313506e-04 9.99752127e-01 -8.38571121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.081346183999997 meters 0.06678946959365395 Centerline is valid? [True, True] Translation: X:15.20, Y:-1.20, Z:-0.84 [[ 9.97150843e-01 7.23854200e-02 2.12260906e-02 1.52044994e+01] [-7.23648753e-02 9.97376716e-01 -1.73541080e-03 -1.20142754e+00] [-2.12960270e-02 1.94442939e-04 9.99773195e-01 -8.44040812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.141346184 meters 0.06736036222438459 Centerline is valid? [True, True] Translation: X:15.26, Y:-1.21, Z:-0.85 [[ 9.97449920e-01 6.83303526e-02 2.06063125e-02 1.52621272e+01] [-6.83102262e-02 9.97662714e-01 -1.67984349e-03 -1.21058771e+00] [-2.06729339e-02 2.67937891e-04 9.99786256e-01 -8.47592099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.201346184 meters 0.06883792987014499 Centerline is valid? [True, True] Translation: X:15.32, Y:-1.22, Z:-0.85 [[ 9.97949137e-01 6.08489069e-02 1.98728346e-02 1.53203766e+01] [-6.08289216e-02 9.98146909e-01 -1.60915374e-03 -1.22378369e+00] [-1.99339237e-02 3.97010486e-04 9.99801221e-01 -8.51176970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.261346183999997 meters 0.07001979444466609 Centerline is valid? [True, True] Translation: X:15.38, Y:-1.24, Z:-0.85 [[ 9.98336829e-01 5.45653901e-02 1.86062947e-02 1.53803087e+01] [-5.45468287e-02 9.98510081e-01 -1.50401327e-03 -1.23564479e+00] [-1.86606399e-02 4.86597465e-04 9.99825757e-01 -8.52980602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.321346184 meters 0.07272506435672708 Centerline is valid? [True, True] Translation: X:15.44, Y:-1.25, Z:-0.86 [[ 9.98750035e-01 4.62315189e-02 1.90003839e-02 1.54390997e+01] [-4.62106446e-02 9.98930536e-01 -1.53644571e-03 -1.25396760e+00] [-1.90510959e-02 6.56505217e-04 9.99818296e-01 -8.60379205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.381346183999998 meters 0.07462405879801418 Centerline is valid? [True, True] Translation: X:15.50, Y:-1.27, Z:-0.86 [[ 9.98965623e-01 4.04986325e-02 2.06771505e-02 1.54979991e+01] [-4.04726814e-02 9.99179246e-01 -1.67216935e-03 -1.26542395e+00] [-2.07279002e-02 8.33579975e-04 9.99784806e-01 -8.62324046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.441346183999997 meters 0.07664452407214863 Centerline is valid? [True, True] Translation: X:15.56, Y:-1.28, Z:-0.86 [[ 9.99102104e-01 3.60175665e-02 2.23096339e-02 1.55563748e+01] [-3.59862331e-02 9.99350657e-01 -1.80448823e-03 -1.27562281e+00] [-2.23601405e-02 1.00002830e-03 9.99749481e-01 -8.63204322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.501346184 meters 0.07902217452840976 Centerline is valid? [True, True] Translation: X:15.62, Y:-1.29, Z:-0.87 [[ 9.99214983e-01 3.14615381e-02 2.40746756e-02 1.56156817e+01] [-3.14238206e-02 9.99504260e-01 -1.94349529e-03 -1.28956346e+00] [-2.41238862e-02 1.18545132e-03 9.99708274e-01 -8.66392637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.561346183999998 meters 0.07824760028961165 Centerline is valid? [True, True] Translation: X:15.67, Y:-1.29, Z:-0.87 [[ 9.99238336e-01 3.11772475e-02 2.34675586e-02 1.56745342e+01] [-3.11413033e-02 9.99513194e-01 -1.89564371e-03 -1.29398792e+00] [-2.35152355e-02 1.16338951e-03 9.99722802e-01 -8.67675710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.621346184 meters 0.07586560755506853 Centerline is valid? [True, True] Translation: X:15.73, Y:-1.29, Z:-0.87 [[ 9.99101100e-01 3.55014541e-02 2.31654528e-02 1.57344920e+01] [-3.54676489e-02 9.99369078e-01 -1.86866192e-03 -1.29301260e+00] [-2.32171774e-02 1.04535803e-03 9.99729898e-01 -8.69296565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.681346184 meters 0.07567861209830033 Centerline is valid? [True, True] Translation: X:15.79, Y:-1.30, Z:-0.88 [[ 9.98969945e-01 3.93634477e-02 2.25735939e-02 1.57926015e+01] [-3.93323493e-02 9.99224526e-01 -1.82015556e-03 -1.30080784e+00] [-2.26277363e-02 9.30408215e-04 9.99743527e-01 -8.78064577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.741346183999998 meters 0.07505582520207715 Centerline is valid? [True, True] Translation: X:15.85, Y:-1.30, Z:-0.88 [[ 9.98881859e-01 4.30642874e-02 1.95063961e-02 1.58496891e+01] [-4.30417234e-02 9.99072034e-01 -1.57530182e-03 -1.30389111e+00] [-1.95561340e-02 7.33951504e-04 9.99808491e-01 -8.83694418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.801346184 meters 0.0748569126453851 Centerline is valid? [True, True] Translation: X:15.91, Y:-1.31, Z:-0.89 [[ 9.98857259e-01 4.42814492e-02 1.79813697e-02 1.59086003e+01] [-4.42625369e-02 9.99018883e-01 -1.44859504e-03 -1.30680361e+00] [-1.80278738e-02 6.51038628e-04 9.99837273e-01 -8.87890534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.861346184 meters 0.07380836200959147 Centerline is valid? [True, True] Translation: X:15.97, Y:-1.31, Z:-0.89 [[ 9.98918121e-01 4.37235375e-02 1.58378928e-02 1.59671501e+01] [-4.37088144e-02 9.99043500e-01 -1.27473455e-03 -1.31387745e+00] [-1.58784797e-02 5.81099922e-04 9.99873760e-01 -8.91389129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.921346183999997 meters 0.07435958400558533 Centerline is valid? [True, True] Translation: X:16.03, Y:-1.32, Z:-0.89 [[ 9.98950375e-01 4.28609038e-02 1.61583131e-02 1.60256397e+01] [-4.28454711e-02 9.99080865e-01 -1.30022145e-03 -1.32342783e+00] [-1.61991901e-02 6.06546171e-04 9.99868601e-01 -8.93871694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.981346184 meters 0.07429742985887083 Centerline is valid? [True, True] Translation: X:16.08, Y:-1.33, Z:-0.90 [[ 9.98832446e-01 4.48808975e-02 1.78731622e-02 1.60842131e+01] [-4.48623900e-02 9.98992145e-01 -1.43529915e-03 -1.33120592e+00] [-1.79195662e-02 6.31790587e-04 9.99839232e-01 -8.96154776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.041346184 meters 0.07134272452627179 Centerline is valid? [True, True] Translation: X:16.15, Y:-1.33, Z:-0.90 [[ 9.98448999e-01 5.17878173e-02 2.04356940e-02 1.61450398e+01] [-5.17651067e-02 9.98657943e-01 -1.63909903e-03 -1.33325842e+00] [-2.04931535e-02 5.78700904e-04 9.99789826e-01 -8.96476903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.101346183999997 meters 0.06938179927401746 Centerline is valid? [True, True] Translation: X:16.21, Y:-1.33, Z:-0.90 [[ 9.98073240e-01 5.79423308e-02 2.21922148e-02 1.62055144e+01] [-5.79170596e-02 9.98319811e-01 -1.78032730e-03 -1.33316593e+00] [-2.22580840e-02 4.91589211e-04 9.99752137e-01 -8.97613373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.161346184 meters 0.06837142409136525 Centerline is valid? [True, True] Translation: X:16.26, Y:-1.33, Z:-0.90 [[ 9.97650659e-01 6.43319891e-02 2.35490698e-02 1.62642667e+01] [-6.43052982e-02 9.97928483e-01 -1.88972354e-03 -1.33160438e+00] [-2.36218571e-02 3.70953979e-04 9.99720896e-01 -8.99117214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.221346183999998 meters 0.06761117084338257 Centerline is valid? [True, True] Translation: X:16.32, Y:-1.34, Z:-0.90 [[ 9.97299261e-01 6.95439347e-02 2.36183221e-02 1.63225164e+01] [-6.95184533e-02 9.97578858e-01 -1.89923927e-03 -1.33572838e+00] [-2.36932193e-02 2.52200701e-04 9.99719244e-01 -9.01916992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.281346183999997 meters 0.06757701127918601 Centerline is valid? [True, True] Translation: X:16.38, Y:-1.35, Z:-0.91 [[ 9.97299619e-01 6.97792476e-02 2.28981698e-02 1.63803347e+01] [-6.97554659e-02 9.97562430e-01 -1.83666150e-03 -1.34621158e+00] [-2.29705148e-02 2.34429307e-04 9.99736115e-01 -9.05142554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.341346184 meters 0.0670157561086899 Centerline is valid? [True, True] Translation: X:16.44, Y:-1.36, Z:-0.90 [[ 9.97287641e-01 6.95733046e-02 2.40190747e-02 1.64382040e+01] [-6.95472194e-02 9.97576812e-01 -1.92068101e-03 -1.35592353e+00] [-2.40945000e-02 2.45011576e-04 9.99709655e-01 -9.02321785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.401346183999998 meters 0.06735170776593916 Centerline is valid? [True, True] Translation: X:16.49, Y:-1.38, Z:-0.91 [[ 9.97470104e-01 6.70481943e-02 2.36205764e-02 1.64945738e+01] [-6.70224005e-02 9.97749694e-01 -1.88287313e-03 -1.37897617e+00] [-2.36936661e-02 2.95001927e-04 9.99719222e-01 -9.10013899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.461346184 meters 0.06850686020213884 Centerline is valid? [True, True] Translation: X:16.55, Y:-1.40, Z:-0.92 [[ 9.97926428e-01 6.03953681e-02 2.22540928e-02 1.65511474e+01] [-6.03710512e-02 9.98174447e-01 -1.76352902e-03 -1.40059177e+00] [-2.23199758e-02 4.16369234e-04 9.99750792e-01 -9.15159882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.521346184 meters 0.07033796457927044 Centerline is valid? [True, True] Translation: X:16.61, Y:-1.43, Z:-0.91 [[ 9.98619158e-01 4.72050881e-02 2.30533714e-02 1.66092626e+01] [-4.71755649e-02 9.98884949e-01 -1.82312155e-03 -1.42908841e+00] [-2.31137263e-02 7.33048287e-04 9.99732573e-01 -9.14346043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.581346183999997 meters 0.07472399389790346 Centerline is valid? [True, True] Translation: X:16.67, Y:-1.46, Z:-0.92 [[ 9.99022737e-01 3.81558869e-02 2.23091670e-02 1.66657714e+01] [-3.81259667e-02 9.99271382e-01 -1.76511281e-03 -1.45936316e+00] [-2.23602616e-02 9.12829275e-04 9.99749561e-01 -9.22074413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.641346184 meters 0.07585588193543305 Centerline is valid? [True, True] Translation: X:16.72, Y:-1.48, Z:-0.92 [[ 9.99323456e-01 2.92920253e-02 2.22397951e-02 1.67243412e+01] [-2.92601354e-02 9.99570285e-01 -1.75804119e-03 -1.48327743e+00] [-2.22817349e-02 1.10611238e-03 9.99751119e-01 -9.21893573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.701346184 meters 0.07616649878554875 Centerline is valid? [True, True] Translation: X:16.78, Y:-1.50, Z:-0.92 [[ 9.99370766e-01 2.75756885e-02 2.23081371e-02 1.67832347e+01] [-2.75431626e-02 9.99619059e-01 -1.76403254e-03 -1.49831565e+00] [-2.23482834e-02 1.14848590e-03 9.99749586e-01 -9.23692105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.761346183999997 meters 0.07471023454586503 Centerline is valid? [True, True] Translation: X:16.84, Y:-1.50, Z:-0.93 [[ 9.99266401e-01 3.10011415e-02 2.24853058e-02 1.68429739e+01] [-3.09689930e-02 9.99518767e-01 -1.77665073e-03 -1.50374962e+00] [-2.25295633e-02 1.07900010e-03 9.99745595e-01 -9.26344077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.821346184 meters 0.07137491752234601 Centerline is valid? [True, True] Translation: X:16.90, Y:-1.50, Z:-0.93 [[ 9.98977409e-01 3.94393007e-02 2.21060445e-02 1.69039932e+01] [-3.94103078e-02 9.99221587e-01 -1.74583144e-03 -1.50258135e+00] [-2.21576912e-02 8.72840150e-04 9.99754107e-01 -9.28528007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.881346183999998 meters 0.07130722458130881 Centerline is valid? [True, True] Translation: X:16.96, Y:-1.51, Z:-0.94 [[ 9.98847159e-01 4.39435850e-02 1.93213580e-02 1.69611732e+01] [-4.39222212e-02 9.99033784e-01 -1.52888534e-03 -1.50712806e+00] [-1.93698741e-02 6.78485820e-04 9.99812156e-01 -9.36283425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.941346183999997 meters 0.07082948601548789 Centerline is valid? [True, True] Translation: X:17.02, Y:-1.51, Z:-0.94 [[ 9.98721058e-01 4.68969286e-02 1.88924721e-02 1.70199441e+01] [-4.68770443e-02 9.98899550e-01 -1.49422180e-03 -1.51145261e+00] [-1.89417563e-02 6.06687523e-04 9.99820405e-01 -9.40794092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.001346184 meters 0.07090397045368617 Centerline is valid? [True, True] Translation: X:17.08, Y:-1.52, Z:-0.94 [[ 9.98719678e-01 4.72545696e-02 1.80557642e-02 1.70778819e+01] [-4.72365312e-02 9.98882716e-01 -1.42445195e-03 -1.51847115e+00] [-1.81029026e-02 5.69736524e-04 9.99835967e-01 -9.43182108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.061346183999998 meters 0.07049405889036221 Centerline is valid? [True, True] Translation: X:17.14, Y:-1.53, Z:-0.95 [[ 9.98842899e-01 4.58448965e-02 1.45295676e-02 1.71364442e+01] [-4.58330656e-02 9.98948455e-01 -1.14638221e-03 -1.52935444e+00] [-1.45668449e-02 4.79121106e-04 9.99893783e-01 -9.48442699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.121346183999997 meters 0.07098737823751841 Centerline is valid? [True, True] Translation: X:17.20, Y:-1.54, Z:-0.95 [[ 9.98919147e-01 4.45841690e-02 1.31449290e-02 1.71954091e+01] [-4.45744089e-02 9.99005531e-01 -1.03468897e-03 -1.53696218e+00] [-1.31779875e-02 4.47643181e-04 9.99913066e-01 -9.52695179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.181346184 meters 0.07172850551980252 Centerline is valid? [True, True] Translation: X:17.25, Y:-1.54, Z:-0.96 [[ 9.98943497e-01 4.45895390e-02 1.11204211e-02 1.72523867e+01] [-4.45825299e-02 9.99005319e-01 -8.77512227e-04 -1.54315707e+00] [-1.11484877e-02 3.80808625e-04 9.99937781e-01 -9.59200403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.241346183999998 meters 0.07244967038749829 Centerline is valid? [True, True] Translation: X:17.31, Y:-1.55, Z:-0.96 [[ 9.99012729e-01 4.34336063e-02 9.33217198e-03 1.73117449e+01] [-4.34286434e-02 9.99056262e-01 -7.33894779e-04 -1.55008295e+00] [-9.35524055e-03 3.27886656e-04 9.99956185e-01 -9.64858974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.301346184 meters 0.07317543293307525 Centerline is valid? [True, True] Translation: X:17.37, Y:-1.55, Z:-0.97 [[ 9.99085292e-01 4.14632633e-02 1.04583392e-02 1.73706670e+01] [-4.14569130e-02 9.99139953e-01 -8.23352228e-04 -1.55345191e+00] [-1.04834834e-02 3.89028642e-04 9.99944971e-01 -9.67900631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.361346184 meters 0.0733116306483547 Centerline is valid? [True, True] Translation: X:17.43, Y:-1.55, Z:-0.97 [[ 9.99210902e-01 3.80119478e-02 1.15180333e-02 1.74302002e+01] [-3.80040473e-02 9.99277176e-01 -9.04102309e-04 -1.55422755e+00] [-1.15440745e-02 4.65657000e-04 9.99933257e-01 -9.69633985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.421346183999997 meters 0.07425150941675368 Centerline is valid? [True, True] Translation: X:17.49, Y:-1.56, Z:-0.97 [[ 9.99278343e-01 3.59721162e-02 1.21983685e-02 1.74886986e+01] [-3.59630920e-02 9.99352659e-01 -9.58405648e-04 -1.55664321e+00] [-1.22249479e-02 5.19022958e-04 9.99925138e-01 -9.71045581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.481346184 meters 0.07420861442671622 Centerline is valid? [True, True] Translation: X:17.55, Y:-1.55, Z:-0.97 [[ 9.99324164e-01 3.41673722e-02 1.35574822e-02 1.75482603e+01] [-3.41560779e-02 9.99415945e-01 -1.06381115e-03 -1.55497645e+00] [-1.35859115e-02 6.00021767e-04 9.99907527e-01 -9.72705285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.541346184 meters 0.07874024286308615 Centerline is valid? [True, True] Translation: X:17.61, Y:-1.56, Z:-0.98 [[ 9.99436976e-01 3.09977347e-02 1.28402018e-02 1.76063372e+01] [-3.09873721e-02 9.99519271e-01 -1.00525436e-03 -1.56145130e+00] [-1.28651897e-02 6.06804266e-04 9.99917056e-01 -9.84524433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.601346183999997 meters 0.07737843452161745 Centerline is valid? [True, True] Translation: X:17.67, Y:-1.56, Z:-0.99 [[ 9.99519902e-01 2.87292229e-02 1.16016021e-02 1.76665089e+01] [-2.87206136e-02 9.99587066e-01 -9.08034367e-04 -1.56005411e+00] [-1.16228986e-02 5.74393289e-04 9.99932287e-01 -9.86104759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.661346184 meters 0.08450513116441832 Centerline is valid? [True, True] Translation: X:17.72, Y:-1.57, Z:-1.00 [[ 9.99625318e-01 2.44404294e-02 1.23242986e-02 1.77244671e+01] [-2.44303964e-02 9.99701069e-01 -9.63996572e-04 -1.57201670e+00] [-1.23441750e-02 6.62547880e-04 9.99923588e-01 -9.95754757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.721346183999998 meters 0.08005615789598253 Centerline is valid? [True, True] Translation: X:17.79, Y:-1.57, Z:-0.99 [[ 9.99664982e-01 2.29077767e-02 1.20481215e-02 1.77851207e+01] [-2.28980818e-02 9.99737361e-01 -9.42030651e-04 -1.56601318e+00] [-1.20665370e-02 6.65836182e-04 9.99926975e-01 -9.90869096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.781346183999997 meters 0.0816532902122124 Centerline is valid? [True, True] Translation: X:17.84, Y:-1.57, Z:-0.99 [[ 9.99710399e-01 1.99668443e-02 1.34329444e-02 1.78443375e+01] [-1.99545373e-02 9.99800337e-01 -1.04959459e-03 -1.57231736e+00] [-1.34512194e-02 7.81242438e-04 9.99909223e-01 -9.93657211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.841346184 meters 0.0824931390429996 Centerline is valid? [True, True] Translation: X:17.90, Y:-1.57, Z:-1.00 [[ 9.99748755e-01 1.73232599e-02 1.42243219e-02 1.79042549e+01] [-1.73092021e-02 9.99849567e-01 -1.11081740e-03 -1.57465846e+00] [-1.42414251e-02 8.64326649e-04 9.99898212e-01 -9.95586076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.901346183999998 meters 0.08286269405892488 Centerline is valid? [True, True] Translation: X:17.96, Y:-1.57, Z:-1.00 [[ 9.99732324e-01 1.86859593e-02 1.36423912e-02 1.79642888e+01] [-1.86731607e-02 9.99825074e-01 -1.06493923e-03 -1.57412595e+00] [-1.36599042e-02 8.09907607e-04 9.99906371e-01 -1.00077156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.961346184 meters 0.08209520683092207 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.57, Z:-1.01 [[ 9.99702598e-01 2.07675137e-02 1.27838096e-02 1.80243997e+01] [-2.07564494e-02 9.99784064e-01 -9.97580052e-04 -1.57256315e+00] [-1.28017663e-02 7.31936874e-04 9.99917786e-01 -1.00501379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.021346184 meters 0.08118897296426142 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.57, Z:-1.01 [[ 9.99623999e-01 2.27781730e-02 1.52648163e-02 1.80845836e+01] [-2.27626545e-02 9.99740189e-01 -1.18961411e-03 -1.57304765e+00] [-1.52879476e-02 8.41699075e-04 9.99882778e-01 -1.00767257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.081346183999997 meters 0.08013277092459181 Centerline is valid? [True, True] Translation: X:18.15, Y:-1.57, Z:-1.01 [[ 9.99563495e-01 2.46193774e-02 1.63311286e-02 1.81451164e+01] [-2.46018656e-02 9.99696519e-01 -1.27236174e-03 -1.56812463e+00] [-1.63574971e-02 8.70030117e-04 9.99865829e-01 -1.00772732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.141346184 meters 0.07916881643512286 Centerline is valid? [True, True] Translation: X:18.21, Y:-1.56, Z:-1.01 [[ 9.99603622e-01 2.34870278e-02 1.55228478e-02 1.82050268e+01] [-2.34710632e-02 9.99723785e-01 -1.20986518e-03 -1.56481004e+00] [-1.55469763e-02 8.45047873e-04 9.99878781e-01 -1.01057717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.201346184 meters 0.08233720699234633 Centerline is valid? [True, True] Translation: X:18.26, Y:-1.57, Z:-1.02 [[ 9.99692541e-01 2.09064364e-02 1.33321027e-02 1.82633958e+01] [-2.08944348e-02 9.99781148e-01 -1.03887454e-03 -1.57186471e+00] [-1.33509041e-02 7.59988382e-04 9.99910584e-01 -1.01924692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.261346183999997 meters 0.08572236493696678 Centerline is valid? [True, True] Translation: X:18.32, Y:-1.58, Z:-1.03 [[ 9.99774129e-01 1.51768886e-02 1.48779646e-02 1.83217596e+01] [-1.51613308e-02 9.99884390e-01 -1.15793937e-03 -1.58384174e+00] [-1.48938185e-02 9.32108087e-04 9.99888646e-01 -1.02570034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.321346184 meters 0.08547037063300758 Centerline is valid? [True, True] Translation: X:18.38, Y:-1.58, Z:-1.02 [[ 9.99812096e-01 1.23568498e-02 1.49358881e-02 1.83831349e+01] [-1.23408826e-02 9.99923175e-01 -1.16075028e-03 -1.58435482e+00] [-1.49490839e-02 9.76210131e-04 9.99887780e-01 -1.02481424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.381346183999998 meters 0.08493982453383873 Centerline is valid? [True, True] Translation: X:18.45, Y:-1.59, Z:-1.02 [[ 9.99783244e-01 1.23431987e-02 1.67663786e-02 1.84457476e+01] [-1.23232100e-02 9.99923228e-01 -1.29498582e-03 -1.58658358e+00] [-1.67810757e-02 1.08808952e-03 9.99858596e-01 -1.02475099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.441346183999997 meters 0.08591306071538608 Centerline is valid? [True, True] Translation: X:18.51, Y:-1.59, Z:-1.03 [[ 9.99824243e-01 1.31040767e-02 1.34077236e-02 1.85074280e+01] [-1.30913416e-02 9.99913767e-01 -1.03716163e-03 -1.58802774e+00] [-1.34201585e-02 8.61454252e-04 9.99909575e-01 -1.03009081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.501346184 meters 0.08587447243079686 Centerline is valid? [True, True] Translation: X:18.57, Y:-1.59, Z:-1.03 [[ 9.99804269e-01 1.44470216e-02 1.35168899e-02 1.85682118e+01] [-1.44340444e-02 9.99895265e-01 -1.05714835e-03 -1.59007349e+00] [-1.35307469e-02 8.61838047e-04 9.99908084e-01 -1.03459168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.561346183999998 meters 0.08490978159020633 Centerline is valid? [True, True] Translation: X:18.63, Y:-1.59, Z:-1.04 [[ 9.99740584e-01 1.65020909e-02 1.56985751e-02 1.86290581e+01] [-1.64848330e-02 9.99863362e-01 -1.22810946e-03 -1.59229989e+00] [-1.57166965e-02 9.69002475e-04 9.99876016e-01 -1.03707926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.621346183999997 meters 0.08616819112712144 Centerline is valid? [True, True] Translation: X:18.69, Y:-1.60, Z:-1.04 [[ 9.99711832e-01 1.57414617e-02 1.81234710e-02 1.86882314e+01] [-1.57183021e-02 9.99875452e-01 -1.41962939e-03 -1.60036583e+00] [-1.81435608e-02 1.13435010e-03 9.99834749e-01 -1.03845118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.681346184 meters 0.08185072636342289 Centerline is valid? [True, True] Translation: X:18.75, Y:-1.59, Z:-1.03 [[ 9.99594255e-01 1.77606266e-02 2.22684694e-02 1.87504763e+01] [-1.77261892e-02 9.99841360e-01 -1.74291814e-03 -1.59190122e+00] [-2.22958921e-02 1.34747586e-03 9.99750508e-01 -1.03035895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.741346183999998 meters 0.0803345280534931 Centerline is valid? [True, True] Translation: X:18.81, Y:-1.60, Z:-1.03 [[ 9.99475094e-01 2.17222361e-02 2.40350058e-02 1.88109746e+01] [-2.16832470e-02 9.99763120e-01 -1.88164006e-03 -1.59644862e+00] [-2.40701859e-02 1.35949541e-03 9.99709347e-01 -1.03447533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.801346184 meters 0.07956857390732694 Centerline is valid? [True, True] Translation: X:18.87, Y:-1.60, Z:-1.04 [[ 9.99410000e-01 2.57018016e-02 2.27831095e-02 1.88710771e+01] [-2.56677978e-02 9.99668936e-01 -1.78373009e-03 -1.59771101e+00] [-2.28214119e-02 1.19788544e-03 9.99738840e-01 -1.04011209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.861346184 meters 0.08008625589373437 Centerline is valid? [True, True] Translation: X:18.93, Y:-1.60, Z:-1.04 [[ 9.99403072e-01 2.65915877e-02 2.20542079e-02 1.89296594e+01] [-2.65599060e-02 9.99645729e-01 -1.72826266e-03 -1.60263696e+00] [-2.20923519e-02 1.14147333e-03 9.99755283e-01 -1.04414671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.921346183999997 meters 0.07871052297030619 Centerline is valid? [True, True] Translation: X:18.99, Y:-1.61, Z:-1.05 [[ 9.99445707e-01 2.57419302e-02 2.11099801e-02 1.89891863e+01] [-2.57127462e-02 9.99668006e-01 -1.65278231e-03 -1.60952241e+00] [-2.11455175e-02 1.10907062e-03 9.99775793e-01 -1.04681321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.981346184 meters 0.08025215006091624 Centerline is valid? [True, True] Translation: X:19.05, Y:-1.62, Z:-1.05 [[ 9.99516202e-01 2.19342274e-02 2.20511331e-02 1.90490915e+01] [-2.19015026e-02 9.99758646e-01 -1.72448328e-03 -1.62140471e+00] [-2.20836362e-02 1.24069603e-03 9.99755357e-01 -1.04911725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.041346184 meters 0.07994572831183022 Centerline is valid? [True, True] Translation: X:19.11, Y:-1.63, Z:-1.05 [[ 9.99525177e-01 2.29942060e-02 2.05106425e-02 1.91092526e+01] [-2.29661171e-02 9.99734957e-01 -1.60401100e-03 -1.62672202e+00] [-2.05420892e-02 1.13219956e-03 9.99788348e-01 -1.05181447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.101346183999997 meters 0.07774398801276554 Centerline is valid? [True, True] Translation: X:19.17, Y:-1.62, Z:-1.06 [[ 9.99375286e-01 2.94485180e-02 1.95403015e-02 1.91703834e+01] [-2.94242642e-02 9.99565845e-01 -1.52763215e-03 -1.62467664e+00] [-1.95768045e-02 9.51718818e-04 9.99807903e-01 -1.05591500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.161346184 meters 0.07549679234758612 Centerline is valid? [True, True] Translation: X:19.23, Y:-1.62, Z:-1.06 [[ 9.99220151e-01 3.36732963e-02 2.06203453e-02 1.92307283e+01] [-3.36471612e-02 9.99432472e-01 -1.61318096e-03 -1.62499989e+00] [-2.06629638e-02 9.18106845e-04 9.99786077e-01 -1.05894649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.221346183999998 meters 0.07442251386547927 Centerline is valid? [True, True] Translation: X:19.29, Y:-1.63, Z:-1.06 [[ 9.99005959e-01 3.72957484e-02 2.44156063e-02 1.92900876e+01] [-3.72601830e-02 9.99303773e-01 -1.91014077e-03 -1.62744801e+00] [-2.44698477e-02 9.98512048e-04 9.99700070e-01 -1.05859900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.281346183999997 meters 0.07508886195241424 Centerline is valid? [True, True] Translation: X:19.35, Y:-1.64, Z:-1.06 [[ 9.99030161e-01 3.53155545e-02 2.62973361e-02 1.93483109e+01] [-3.52735922e-02 9.99375574e-01 -2.05800677e-03 -1.63886086e+00] [-2.63535950e-02 1.12840932e-03 9.99652047e-01 -1.06115127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.341346184 meters 0.07592394666230794 Centerline is valid? [True, True] Translation: X:19.41, Y:-1.65, Z:-1.06 [[ 9.99035226e-01 3.34300268e-02 2.84789556e-02 1.94052808e+01] [-3.33800884e-02 9.99440248e-01 -2.22726100e-03 -1.64669904e+00] [-2.85374718e-02 1.27448214e-03 9.99591911e-01 -1.06052530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.401346183999998 meters 0.07423885603426787 Centerline is valid? [True, True] Translation: X:19.46, Y:-1.65, Z:-1.06 [[ 9.98975868e-01 3.37275876e-02 3.01606682e-02 1.94642775e+01] [-3.36718361e-02 9.99430169e-01 -2.35462133e-03 -1.64812606e+00] [-3.02228974e-02 1.33664481e-03 9.99542290e-01 -1.05960626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.461346184 meters 0.07131745411235027 Centerline is valid? [True, True] Translation: X:19.52, Y:-1.65, Z:-1.06 [[ 9.98690980e-01 3.90443010e-02 3.30434275e-02 1.95249785e+01] [-3.89804148e-02 9.99236655e-01 -2.57564229e-03 -1.64862638e+00] [-3.31187682e-02 1.28422421e-03 9.99450598e-01 -1.06185309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.521346184 meters 0.07018990427571463 Centerline is valid? [True, True] Translation: X:19.58, Y:-1.65, Z:-1.06 [[ 9.98570587e-01 4.20375841e-02 3.30094576e-02 1.95848548e+01] [-4.19754559e-02 9.99115329e-01 -2.57317184e-03 -1.65136195e+00] [-3.30884250e-02 1.18390669e-03 9.99451727e-01 -1.06460619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.581346183999997 meters 0.07092859919711897 Centerline is valid? [True, True] Translation: X:19.64, Y:-1.66, Z:-1.07 [[ 9.98646578e-01 4.07831024e-02 3.22761609e-02 1.96432728e+01] [-4.07230337e-02 9.99167304e-01 -2.51653941e-03 -1.65874545e+00] [-3.23519170e-02 1.19875029e-03 9.99475821e-01 -1.06832731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.641346184 meters 0.07302204920761281 Centerline is valid? [True, True] Translation: X:19.70, Y:-1.67, Z:-1.07 [[ 9.98912268e-01 3.55802139e-02 3.01385083e-02 1.97025108e+01] [-3.55255757e-02 9.99366012e-01 -2.34660199e-03 -1.67239409e+00] [-3.02028934e-02 1.27336166e-03 9.99542977e-01 -1.07435336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.701346184 meters 0.07640847831052605 Centerline is valid? [True, True] Translation: X:19.76, Y:-1.69, Z:-1.08 [[ 9.99177153e-01 2.96062698e-02 2.77215913e-02 1.97603162e+01] [-2.95577647e-02 9.99560744e-01 -2.15795232e-03 -1.69016173e+00] [-2.77733033e-02 1.33678838e-03 9.99613354e-01 -1.08288958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.761346183999997 meters 0.07741470860911767 Centerline is valid? [True, True] Translation: X:19.82, Y:-1.70, Z:-1.09 [[ 9.99429867e-01 2.19661326e-02 2.56403954e-02 1.98199466e+01] [-2.19221253e-02 9.99757688e-01 -1.99619322e-03 -1.69927329e+00] [-2.56780311e-02 1.43296316e-03 9.99669238e-01 -1.08540959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.821346184 meters 0.08223989413026518 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.71, Z:-1.09 [[ 9.99427303e-01 2.09523562e-02 2.65718697e-02 1.98801563e+01] [-2.09049133e-02 9.99779342e-01 -2.06202097e-03 -1.71387910e+00] [-2.66092106e-02 1.50535742e-03 9.99644779e-01 -1.09021029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.881346183999998 meters 0.0770992512920607 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.71, Z:-1.09 [[ 9.99329760e-01 2.43277466e-02 2.73530913e-02 1.99415311e+01] [-2.42783992e-02 9.99702957e-01 -2.13480029e-03 -1.70903647e+00] [-2.73969011e-02 1.46928019e-03 9.99623555e-01 -1.08866871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.941346183999997 meters 0.07613234888725481 Centerline is valid? [True, True] Translation: X:20.00, Y:-1.71, Z:-1.09 [[ 9.99245785e-01 2.78141677e-02 2.70967341e-02 2.00023203e+01] [-2.77669941e-02 9.99612184e-01 -2.11572207e-03 -1.70829630e+00] [-2.71450726e-02 1.36173150e-03 9.99630577e-01 -1.08969386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.001346184 meters 0.07550197484165919 Centerline is valid? [True, True] Translation: X:20.06, Y:-1.71, Z:-1.09 [[ 9.99261238e-01 2.75943064e-02 2.67494514e-02 2.00623451e+01] [-2.75482560e-02 9.99618293e-01 -2.08860612e-03 -1.71155293e+00] [-2.67968746e-02 1.35016240e-03 9.99639987e-01 -1.09245496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.061346183999998 meters 0.07725628887755819 Centerline is valid? [True, True] Translation: X:20.12, Y:-1.72, Z:-1.10 [[ 9.99180903e-01 2.81680307e-02 2.90531393e-02 2.01205912e+01] [-2.81139334e-02 9.99602150e-01 -2.26889854e-03 -1.72336066e+00] [-2.91054910e-02 1.45024207e-03 9.99575293e-01 -1.09820224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.121346183999997 meters 0.0729697129958679 Centerline is valid? [True, True] Translation: X:20.18, Y:-1.72, Z:-1.09 [[ 9.98996432e-01 3.10145424e-02 3.23144936e-02 2.01821750e+01] [-3.09491431e-02 9.99517778e-01 -2.52218110e-03 -1.71701456e+00] [-3.23771351e-02 1.51954403e-03 9.99474568e-01 -1.09383962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.181346184 meters 0.0718174576988462 Centerline is valid? [True, True] Translation: X:20.24, Y:-1.71, Z:-1.10 [[ 9.98846220e-01 3.65346314e-02 3.11680694e-02 2.02427212e+01] [-3.64764440e-02 9.99331550e-01 -2.43363333e-03 -1.71344008e+00] [-3.12361470e-02 1.29392512e-03 9.99511195e-01 -1.09587726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.241346183999998 meters 0.07115135893866366 Centerline is valid? [True, True] Translation: X:20.30, Y:-1.71, Z:-1.10 [[ 9.98840974e-01 3.92942843e-02 2.77969145e-02 2.03013812e+01] [-3.92490235e-02 9.99227099e-01 -2.17221458e-03 -1.71451242e+00] [-2.78607859e-02 1.07869518e-03 9.99611231e-01 -1.10299693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.301346184 meters 0.07049157270946214 Centerline is valid? [True, True] Translation: X:20.36, Y:-1.72, Z:-1.11 [[ 9.98896753e-01 3.90885615e-02 2.60261759e-02 2.03597251e+01] [-3.90488561e-02 9.99235236e-01 -2.03227814e-03 -1.71676796e+00] [-2.60857108e-02 1.01374364e-03 9.99659196e-01 -1.10705362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.361346184 meters 0.07217891080902479 Centerline is valid? [True, True] Translation: X:20.42, Y:-1.72, Z:-1.11 [[ 9.99014285e-01 3.76207343e-02 2.35613861e-02 2.04174563e+01] [-3.75878339e-02 9.99291638e-01 -1.83784778e-03 -1.72438514e+00] [-2.36138373e-02 9.50414722e-04 9.99720703e-01 -1.11497773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.421346183999997 meters 0.07237648487624965 Centerline is valid? [True, True] Translation: X:20.48, Y:-1.73, Z:-1.12 [[ 9.99047200e-01 3.72402531e-02 2.27564288e-02 2.04761897e+01] [-3.72094783e-02 9.99305912e-01 -1.77444054e-03 -1.72612715e+00] [-2.28067145e-02 9.25995008e-04 9.99739464e-01 -1.11849074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.481346184 meters 0.07247623289745678 Centerline is valid? [True, True] Translation: X:20.54, Y:-1.73, Z:-1.12 [[ 9.98981363e-01 3.76358551e-02 2.48953416e-02 2.05351974e+01] [-3.75991994e-02 9.99291019e-01 -1.93901891e-03 -1.72746060e+00] [-2.49506679e-02 1.00099884e-03 9.99688182e-01 -1.11971853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.541346184 meters 0.07337562444704997 Centerline is valid? [True, True] Translation: X:20.59, Y:-1.74, Z:-1.12 [[ 9.98974629e-01 3.63374728e-02 2.70051679e-02 2.05918624e+01] [-3.62939106e-02 9.99338949e-01 -2.10167235e-03 -1.73646472e+00] [-2.70636856e-02 1.11939420e-03 9.99633085e-01 -1.12344330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.601346183999997 meters 0.07245870704491751 Centerline is valid? [True, True] Translation: X:20.65, Y:-1.74, Z:-1.12 [[ 9.99036562e-01 3.38386434e-02 2.79444922e-02 2.06512815e+01] [-3.37911135e-02 9.99426558e-01 -2.17148455e-03 -1.73577566e+00] [-2.80019477e-02 1.22511695e-03 9.99607118e-01 -1.12098679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.661346184 meters 0.07559015838361613 Centerline is valid? [True, True] Translation: X:20.71, Y:-1.75, Z:-1.13 [[ 9.99220769e-01 2.79717834e-02 2.78466048e-02 2.07097377e+01] [-2.79224059e-02 9.99607759e-01 -2.16054439e-03 -1.74950383e+00] [-2.78961165e-02 1.38131662e-03 9.99609873e-01 -1.12626250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.721346183999998 meters 0.0768348214647876 Centerline is valid? [True, True] Translation: X:20.77, Y:-1.76, Z:-1.13 [[ 9.99351326e-01 2.44487691e-02 2.64421058e-02 2.07694976e+01] [-2.44030625e-02 9.99700099e-01 -2.04991294e-03 -1.76425633e+00] [-2.64842937e-02 1.40331485e-03 9.99648245e-01 -1.13470805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.781346183999997 meters 0.08036785728507627 Centerline is valid? [True, True] Translation: X:20.83, Y:-1.78, Z:-1.14 [[ 9.99510629e-01 2.18699371e-02 2.23653598e-02 2.08282343e+01] [-2.18365648e-02 9.99760048e-01 -1.73530942e-03 -1.77757747e+00] [-2.23979443e-02 1.24607758e-03 9.99748358e-01 -1.14317950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.841346184 meters 0.07774160414518223 Centerline is valid? [True, True] Translation: X:20.89, Y:-1.77, Z:-1.14 [[ 9.99455514e-01 2.48495456e-02 2.17065794e-02 2.08895713e+01] [-2.48188273e-02 9.99690548e-01 -1.68345623e-03 -1.77168708e+00] [-2.17416953e-02 1.14380777e-03 9.99762967e-01 -1.14229462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.901346183999998 meters 0.07355986563854142 Centerline is valid? [True, True] Translation: X:20.95, Y:-1.77, Z:-1.14 [[ 9.99209110e-01 3.02825756e-02 2.57705097e-02 2.09496230e+01] [-3.02410567e-02 9.99540635e-01 -1.99939518e-03 -1.77104090e+00] [-2.58192184e-02 1.21848644e-03 9.99665886e-01 -1.14171303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.961346184 meters 0.07212028884129447 Centerline is valid? [True, True] Translation: X:21.01, Y:-1.77, Z:-1.14 [[ 9.99030518e-01 3.51460800e-02 2.65099544e-02 2.10103893e+01] [-3.51038877e-02 9.99381555e-01 -2.05541635e-03 -1.76617753e+00] [-2.65657993e-02 1.12282119e-03 9.99646436e-01 -1.14224034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.021346184 meters 0.07305026357586002 Centerline is valid? [True, True] Translation: X:21.07, Y:-1.77, Z:-1.15 [[ 9.99092791e-01 3.49960778e-02 2.42666211e-02 2.10676475e+01] [-3.49606276e-02 9.99386915e-01 -1.88370896e-03 -1.76575882e+00] [-2.43176660e-02 1.03362374e-03 9.99703747e-01 -1.14762694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.081346183999997 meters 0.07490685788674431 Centerline is valid? [True, True] Translation: X:21.13, Y:-1.78, Z:-1.16 [[ 9.99221367e-01 3.17769478e-02 2.33855882e-02 2.11267915e+01] [-3.17432402e-02 9.99494415e-01 -1.81128691e-03 -1.77677097e+00] [-2.34313220e-02 1.06754224e-03 9.99724879e-01 -1.15558000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.141346184 meters 0.0773952775867731 Centerline is valid? [True, True] Translation: X:21.19, Y:-1.79, Z:-1.16 [[ 9.99338027e-01 2.56417152e-02 2.58071698e-02 2.11862221e+01] [-2.55986367e-02 9.99670304e-01 -1.99828943e-03 -1.78657863e+00] [-2.58499008e-02 1.33633825e-03 9.99664942e-01 -1.15622303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.201346184 meters 0.07791141799658928 Centerline is valid? [True, True] Translation: X:21.25, Y:-1.79, Z:-1.16 [[ 9.99433953e-01 2.12556226e-02 2.60762797e-02 2.12471936e+01] [-2.12101967e-02 9.99773003e-01 -2.01742187e-03 -1.78992383e+00] [-2.61132420e-02 1.46319689e-03 9.99657920e-01 -1.15547770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.261346183999997 meters 0.07915798005827836 Centerline is valid? [True, True] Translation: X:21.31, Y:-1.80, Z:-1.16 [[ 9.99462488e-01 1.81702086e-02 2.72869636e-02 2.13074646e+01] [-1.81193104e-02 9.99833602e-01 -2.11141464e-03 -1.79971746e+00] [-2.73207879e-02 1.61585877e-03 9.99625412e-01 -1.15824573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.321346184 meters 0.080041550682932 Centerline is valid? [True, True] Translation: X:21.37, Y:-1.81, Z:-1.16 [[ 9.99467714e-01 1.72470426e-02 2.76916708e-02 2.13693574e+01] [-1.71943704e-02 9.99849878e-01 -2.13910393e-03 -1.80557639e+00] [-2.77244069e-02 1.66182447e-03 9.99614223e-01 -1.16085657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.381346183999998 meters 0.07986776494705863 Centerline is valid? [True, True] Translation: X:21.43, Y:-1.81, Z:-1.17 [[ 9.99491247e-01 1.60986362e-02 2.75332625e-02 2.14312136e+01] [-1.60458197e-02 9.99868971e-01 -2.13815561e-03 -1.81314801e+00] [-2.75640763e-02 1.69527405e-03 9.99618601e-01 -1.16654317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.441346183999997 meters 0.08330644994566283 Centerline is valid? [True, True] Translation: X:21.49, Y:-1.82, Z:-1.17 [[ 9.99630074e-01 1.20150540e-02 2.43998688e-02 2.14904488e+01] [-1.19723120e-02 9.99926530e-01 -1.89706720e-03 -1.82437881e+00] [-2.44208695e-02 1.60424259e-03 9.99700479e-01 -1.17241773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.501346184 meters 0.08446524917549127 Centerline is valid? [True, True] Translation: X:21.55, Y:-1.83, Z:-1.17 [[ 9.99648775e-01 1.05339104e-02 2.43179777e-02 2.15522741e+01] [-1.04910155e-02 9.99943180e-01 -1.89082704e-03 -1.83053697e+00] [-2.43365138e-02 1.63504265e-03 9.99702486e-01 -1.17422696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.561346183999998 meters 0.08384772226034247 Centerline is valid? [True, True] Translation: X:21.61, Y:-1.84, Z:-1.18 [[ 9.99640407e-01 1.15715295e-02 2.41899957e-02 2.16138083e+01] [-1.15294695e-02 9.99931771e-01 -1.87748701e-03 -1.83635156e+00] [-2.42100707e-02 1.59791406e-03 9.99705616e-01 -1.17817205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.621346183999997 meters 0.08124268577563534 Centerline is valid? [True, True] Translation: X:21.67, Y:-1.84, Z:-1.18 [[ 9.99528608e-01 1.55713590e-02 2.64592881e-02 2.16749670e+01] [-1.55220630e-02 9.99877388e-01 -2.06746763e-03 -1.83700601e+00] [-2.64882372e-02 1.65579031e-03 9.99647754e-01 -1.17827340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.681346184 meters 0.07977067141799042 Centerline is valid? [True, True] Translation: X:21.74, Y:-1.83, Z:-1.18 [[ 9.99470017e-01 2.04614675e-02 2.53182462e-02 2.17363546e+01] [-2.04178752e-02 9.99789575e-01 -1.97911701e-03 -1.83229754e+00] [-2.53534143e-02 1.46112332e-03 9.99677483e-01 -1.17996972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.741346183999998 meters 0.07885611212083724 Centerline is valid? [True, True] Translation: X:21.80, Y:-1.83, Z:-1.19 [[ 9.99458979e-01 2.29707207e-02 2.35392307e-02 2.17974432e+01] [-2.29337548e-02 9.99735295e-01 -1.83918680e-03 -1.83425446e+00] [-2.35752472e-02 1.29834882e-03 9.99721222e-01 -1.18708347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.801346184 meters 0.07809601156544058 Centerline is valid? [True, True] Translation: X:21.86, Y:-1.84, Z:-1.19 [[ 9.99406906e-01 2.36948666e-02 2.49877909e-02 2.18581585e+01] [-2.36533982e-02 9.99718310e-01 -1.95385303e-03 -1.83754325e+00] [-2.50270484e-02 1.36164804e-03 9.99685847e-01 -1.18999733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.861346184 meters 0.07800376800678253 Centerline is valid? [True, True] Translation: X:21.92, Y:-1.84, Z:-1.19 [[ 9.99429790e-01 2.25602251e-02 2.51223037e-02 2.19191504e+01] [-2.25179405e-02 9.99744508e-01 -1.96481224e-03 -1.83984964e+00] [-2.51602118e-02 1.39798935e-03 9.99682454e-01 -1.19047832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.921346183999997 meters 0.08130803397051964 Centerline is valid? [True, True] Translation: X:21.98, Y:-1.85, Z:-1.19 [[ 9.99548461e-01 1.98762874e-02 2.25345786e-02 2.19784268e+01] [-1.98415940e-02 9.99801583e-01 -1.76213158e-03 -1.84732723e+00] [-2.25651320e-02 1.31421395e-03 9.99744511e-01 -1.19499411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.981346184 meters 0.08242100692337072 Centerline is valid? [True, True] Translation: X:22.04, Y:-1.86, Z:-1.20 [[ 9.99582759e-01 1.87113472e-02 2.20043793e-02 2.20394096e+01] [-1.86780222e-02 9.99824073e-01 -1.71904204e-03 -1.85623156e+00] [-2.20326737e-02 1.30732650e-03 9.99756396e-01 -1.20215606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.041346184 meters 0.08018900356940475 Centerline is valid? [True, True] Translation: X:22.10, Y:-1.86, Z:-1.21 [[ 9.99606033e-01 1.81258069e-02 2.14297220e-02 2.21012456e+01] [-1.80940949e-02 9.99834889e-01 -1.67280066e-03 -1.85739424e+00] [-2.14565046e-02 1.28439021e-03 9.99768958e-01 -1.20529008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.101346183999997 meters 0.08201720688386616 Centerline is valid? [True, True] Translation: X:22.16, Y:-1.86, Z:-1.21 [[ 9.99520758e-01 1.93685397e-02 2.41477528e-02 2.21613408e+01] [-1.93283703e-02 9.99811392e-01 -1.89579849e-03 -1.86479570e+00] [-2.41799172e-02 1.42815324e-03 9.99706603e-01 -1.20517682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.161346184 meters 0.07851438339412771 Centerline is valid? [True, True] Translation: X:22.22, Y:-1.86, Z:-1.20 [[ 9.99432312e-01 2.09674723e-02 2.63707782e-02 2.22230170e+01] [-2.09199825e-02 9.99778999e-01 -2.07547943e-03 -1.86264220e+00] [-2.64084678e-02 1.52262499e-03 9.99650076e-01 -1.20307315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.221346183999998 meters 0.0795482403520501 Centerline is valid? [True, True] Translation: X:22.28, Y:-1.87, Z:-1.21 [[ 9.99490650e-01 2.04946590e-02 2.44624198e-02 2.22843563e+01] [-2.04536606e-02 9.99788949e-01 -1.92503775e-03 -1.87427857e+00] [-2.44967100e-02 1.42371120e-03 9.99698897e-01 -1.21086668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.281346183999997 meters 0.0793785396558346 Centerline is valid? [True, True] Translation: X:22.35, Y:-1.88, Z:-1.22 [[ 9.99526320e-01 2.13105731e-02 2.22035012e-02 2.23468077e+01] [-2.12770928e-02 9.99772098e-01 -1.74306545e-03 -1.87673610e+00] [-2.22355867e-02 1.26981384e-03 9.99751952e-01 -1.21528059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.341346184 meters 0.07737296866950912 Centerline is valid? [True, True] Translation: X:22.41, Y:-1.88, Z:-1.22 [[ 9.99412220e-01 2.49312520e-02 2.35297248e-02 2.24080476e+01] [-2.48943401e-02 9.99688357e-01 -1.86039626e-03 -1.87738893e+00] [-2.35687739e-02 1.27354578e-03 9.99721407e-01 -1.21781361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.401346183999998 meters 0.07313079965511798 Centerline is valid? [True, True] Translation: X:22.47, Y:-1.87, Z:-1.21 [[ 9.98947791e-01 3.45616033e-02 3.01464001e-02 2.24693420e+01] [-3.45053251e-02 9.99401668e-01 -2.38521594e-03 -1.87123726e+00] [-3.02107995e-02 1.34249485e-03 9.99542648e-01 -1.21466981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.461346183999996 meters 0.0708465358108043 Centerline is valid? [True, True] Translation: X:22.53, Y:-1.86, Z:-1.21 [[ 9.98647738e-01 4.15900972e-02 3.11922989e-02 2.25309174e+01] [-4.15332710e-02 9.99134074e-01 -2.46779290e-03 -1.86236832e+00] [-3.12679244e-02 1.16893759e-03 9.99510355e-01 -1.21354468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.521346184 meters 0.07002136242953176 Centerline is valid? [True, True] Translation: X:22.59, Y:-1.86, Z:-1.22 [[ 9.98567245e-01 4.53490150e-02 2.84064075e-02 2.25895471e+01] [-4.53033629e-02 9.98970744e-01 -2.24896364e-03 -1.86003250e+00] [-2.84791583e-02 9.58835640e-04 9.99593927e-01 -1.22130552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.581346183999997 meters 0.07152503191394287 Centerline is valid? [True, True] Translation: X:22.65, Y:-1.87, Z:-1.23 [[ 9.98850454e-01 3.97235419e-02 2.68292716e-02 2.26485842e+01] [-3.96808760e-02 9.99210153e-01 -2.12101938e-03 -1.86828369e+00] [-2.68923350e-02 1.05397218e-03 9.99637780e-01 -1.22746998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.641346184 meters 0.07351156667725524 Centerline is valid? [True, True] Translation: X:22.71, Y:-1.88, Z:-1.23 [[ 9.99006606e-01 3.57724252e-02 2.65732082e-02 2.27074721e+01] [-3.57291866e-02 9.99359302e-01 -2.10032672e-03 -1.87584466e+00] [-2.66313166e-02 1.14880115e-03 9.99644663e-01 -1.23122962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.701346184 meters 0.07432134902611878 Centerline is valid? [True, True] Translation: X:22.77, Y:-1.88, Z:-1.24 [[ 9.99088183e-01 3.30911165e-02 2.69774180e-02 2.27667473e+01] [-3.30455775e-02 9.99451571e-01 -2.13223985e-03 -1.88187941e+00] [-2.70331810e-02 1.23881128e-03 9.99633769e-01 -1.23523795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.761346183999997 meters 0.07374834720200338 Centerline is valid? [True, True] Translation: X:22.83, Y:-1.88, Z:-1.24 [[ 9.99100424e-01 3.29719497e-02 2.66682254e-02 2.28258588e+01] [-3.29274059e-02 9.99455523e-01 -2.10783014e-03 -1.88192692e+00] [-2.67232045e-02 1.22781850e-03 9.99642117e-01 -1.23602563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.821346184 meters 0.07321303262850841 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.88, Z:-1.24 [[ 9.98931095e-01 3.60206983e-02 2.89685355e-02 2.28858352e+01] [-3.59695111e-02 9.99350272e-01 -2.28632588e-03 -1.87844470e+00] [-2.90320689e-02 1.24189796e-03 9.99577709e-01 -1.23838917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.881346183999998 meters 0.07320366361215315 Centerline is valid? [True, True] Translation: X:22.94, Y:-1.88, Z:-1.25 [[ 9.98929976e-01 3.83238157e-02 2.58879838e-02 2.29437233e+01] [-3.82836933e-02 9.99264820e-01 -2.04388335e-03 -1.87906762e+00] [-2.59472809e-02 1.05060871e-03 9.99662761e-01 -1.24635489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.941346183999997 meters 0.07353218736599991 Centerline is valid? [True, True] Translation: X:23.00, Y:-1.88, Z:-1.25 [[ 9.99004919e-01 3.66356507e-02 2.54361939e-02 2.30025944e+01] [-3.65964379e-02 9.99328113e-01 -2.00557883e-03 -1.88187802e+00] [-2.54925793e-02 1.07270903e-03 9.99674436e-01 -1.25022248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.001346184 meters 0.07650999593383094 Centerline is valid? [True, True] Translation: X:23.06, Y:-1.89, Z:-1.26 [[ 9.99183896e-01 3.25049465e-02 2.39785303e-02 2.30608825e+01] [-3.24689867e-02 9.99470961e-01 -1.88758275e-03 -1.88992626e+00] [-2.40272005e-02 1.10748370e-03 9.99710692e-01 -1.25611841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.061346183999998 meters 0.0778195867891901 Centerline is valid? [True, True] Translation: X:23.12, Y:-1.90, Z:-1.26 [[ 9.99271385e-01 2.98167486e-02 2.38256415e-02 2.31197310e+01] [-2.97804698e-02 9.99554703e-01 -1.87612953e-03 -1.89712369e+00] [-2.38709721e-02 1.16522376e-03 9.99714369e-01 -1.26094936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.121346183999997 meters 0.07783464809414337 Centerline is valid? [True, True] Translation: X:23.18, Y:-1.90, Z:-1.26 [[ 9.99246789e-01 3.08806005e-02 2.34998738e-02 2.31780275e+01] [-3.08456175e-02 9.99522449e-01 -1.84976156e-03 -1.89921852e+00] [-2.35457732e-02 1.12350018e-03 9.99722129e-01 -1.26480722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.181346184 meters 0.07495591600311696 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.89, Z:-1.26 [[ 9.99121300e-01 3.47534595e-02 2.34269970e-02 2.32393210e+01] [-3.47198275e-02 9.99395389e-01 -1.84095033e-03 -1.89194795e+00] [-2.34768122e-02 1.02595139e-03 9.99723855e-01 -1.26395950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.241346183999998 meters 0.07362969131005404 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.89, Z:-1.27 [[ 9.98868798e-01 4.14185316e-02 2.33587160e-02 2.32995396e+01] [-4.13869217e-02 9.99141509e-01 -1.83526610e-03 -1.88501433e+00] [-2.34146768e-02 8.66444689e-04 9.99725463e-01 -1.26911166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.301346184 meters 0.0732284629087487 Centerline is valid? [True, True] Translation: X:23.36, Y:-1.88, Z:-1.27 [[ 9.98734279e-01 4.40152844e-02 2.43411938e-02 2.33601565e+01] [-4.39817450e-02 9.99030506e-01 -1.91179962e-03 -1.88083272e+00] [-2.44017436e-02 8.38811633e-04 9.99701881e-01 -1.27436031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.361346184 meters 0.07323629376255072 Centerline is valid? [True, True] Translation: X:23.42, Y:-1.88, Z:-1.28 [[ 9.98691590e-01 4.43208957e-02 2.55101238e-02 2.34184304e+01] [-4.42841332e-02 9.99016966e-01 -2.00451384e-03 -1.88290033e+00] [-2.55738883e-02 8.72197398e-04 9.99672554e-01 -1.27806768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.421346183999997 meters 0.07256180812442477 Centerline is valid? [True, True] Translation: X:23.48, Y:-1.89, Z:-1.28 [[ 9.98698983e-01 4.39341523e-02 2.58869108e-02 2.34761721e+01] [-4.38961869e-02 9.99034029e-01 -2.03330344e-03 -1.88590061e+00] [-2.59512363e-02 8.94321403e-04 9.99662810e-01 -1.28099871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.481346184 meters 0.07406608619750674 Centerline is valid? [True, True] Translation: X:23.53, Y:-1.89, Z:-1.29 [[ 9.98832668e-01 4.15664205e-02 2.46075993e-02 2.35341598e+01] [-4.15314915e-02 9.99135333e-01 -1.92903658e-03 -1.89129602e+00] [-2.46665051e-02 9.04794452e-04 9.99695326e-01 -1.28572030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.541346184 meters 0.07383190173047594 Centerline is valid? [True, True] Translation: X:23.59, Y:-1.89, Z:-1.29 [[ 9.98845942e-01 4.09501280e-02 2.50972331e-02 2.35935482e+01] [-4.09136219e-02 9.99160752e-01 -1.96656972e-03 -1.89222085e+00] [-2.51567016e-02 9.37481482e-04 9.99683081e-01 -1.28565322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.601346183999997 meters 0.07347083969087076 Centerline is valid? [True, True] Translation: X:23.65, Y:-1.89, Z:-1.29 [[ 9.98734881e-01 4.27654683e-02 2.64528399e-02 2.36512117e+01] [-4.27255892e-02 9.99084698e-01 -2.07118696e-03 -1.89443734e+00] [-2.65172028e-02 9.38353496e-04 9.99647917e-01 -1.28850860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.661346184 meters 0.07228785676032169 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.89, Z:-1.29 [[ 9.98663494e-01 4.34622379e-02 2.79689098e-02 2.37100370e+01] [-4.34180122e-02 9.99054600e-01 -2.18689068e-03 -1.89419126e+00] [-2.80375152e-02 9.69613424e-04 9.99606401e-01 -1.28893744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.721346183999998 meters 0.07149369065782506 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.90, Z:-1.30 [[ 9.98601627e-01 4.59426227e-02 2.61546452e-02 2.37683663e+01] [-4.59048405e-02 9.98943727e-01 -2.04347307e-03 -1.89785129e+00] [-2.62209013e-02 8.39990713e-04 9.99655820e-01 -1.29707099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.781346183999997 meters 0.07279363614349867 Centerline is valid? [True, True] Translation: X:23.83, Y:-1.90, Z:-1.30 [[ 9.98653634e-01 4.57636143e-02 2.44256006e-02 2.38258993e+01] [-4.57306350e-02 9.98951986e-01 -1.90736295e-03 -1.90232821e+00] [-2.44872900e-02 7.87796718e-04 9.99699831e-01 -1.30253931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.841346184 meters 0.0727624609381298 Centerline is valid? [True, True] Translation: X:23.88, Y:-1.91, Z:-1.30 [[ 9.98793649e-01 4.24243013e-02 2.47270083e-02 2.38849710e+01] [-4.23895606e-02 9.99099299e-01 -1.92767863e-03 -1.90789200e+00] [-2.47865171e-02 8.77186157e-04 9.99692382e-01 -1.30229486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.901346183999998 meters 0.07471908121622385 Centerline is valid? [True, True] Translation: X:23.94, Y:-1.92, Z:-1.31 [[ 9.98916283e-01 3.87130294e-02 2.58371899e-02 2.39427422e+01] [-3.86738982e-02 9.99249858e-01 -2.01270233e-03 -1.91903138e+00] [-2.58957261e-02 1.01129628e-03 9.99664138e-01 -1.30593904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.961346183999996 meters 0.07653769532308609 Centerline is valid? [True, True] Translation: X:24.00, Y:-1.93, Z:-1.31 [[ 9.99080205e-01 3.37747914e-02 2.64198288e-02 2.40020154e+01] [-3.37322106e-02 9.99428793e-01 -2.05584654e-03 -1.92911123e+00] [-2.64741734e-02 1.16275636e-03 9.99648821e-01 -1.31005099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.021346184 meters 0.07689367759126137 Centerline is valid? [True, True] Translation: X:24.06, Y:-1.94, Z:-1.31 [[ 9.99215700e-01 2.97294149e-02 2.61562091e-02 2.40617932e+01] [-2.96863145e-02 9.99557193e-01 -2.03466226e-03 -1.93515134e+00] [-2.62051162e-02 1.25658503e-03 9.99655797e-01 -1.31093252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.081346183999997 meters 0.07890071290611893 Centerline is valid? [True, True] Translation: X:24.12, Y:-1.94, Z:-1.31 [[ 9.99299007e-01 2.40181578e-02 2.87162435e-02 2.41213860e+01] [-2.39638697e-02 9.99710331e-01 -2.23320279e-03 -1.94391678e+00] [-2.87615628e-02 1.54348501e-03 9.99585109e-01 -1.30893785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.141346184 meters 0.08101263051904599 Centerline is valid? [True, True] Translation: X:24.18, Y:-1.95, Z:-1.32 [[ 9.99372567e-01 2.21829806e-02 2.76113784e-02 2.41807997e+01] [-2.21321300e-02 9.99752751e-01 -2.14593699e-03 -1.95434270e+00] [-2.76521548e-02 1.53349194e-03 9.99616430e-01 -1.31605139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.201346184 meters 0.07895807027535502 Centerline is valid? [True, True] Translation: X:24.24, Y:-1.96, Z:-1.32 [[ 9.99370832e-01 2.35202918e-02 2.65468642e-02 2.42425529e+01] [-2.34737596e-02 9.99722324e-01 -2.06314661e-03 -1.95537366e+00] [-2.65880186e-02 1.43869383e-03 9.99645441e-01 -1.31900543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.261346183999997 meters 0.07746066027730304 Centerline is valid? [True, True] Translation: X:24.30, Y:-1.95, Z:-1.32 [[ 9.99180327e-01 2.98185891e-02 2.73774733e-02 2.43021207e+01] [-2.97713894e-02 9.99554464e-01 -2.13011734e-03 -1.95380667e+00] [-2.74287928e-02 1.31330592e-03 9.99622897e-01 -1.32283690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.321346184 meters 0.07516182844768399 Centerline is valid? [True, True] Translation: X:24.36, Y:-1.95, Z:-1.32 [[ 9.99056417e-01 3.30191330e-02 2.82137101e-02 2.43623803e+01] [-3.29702811e-02 9.99453922e-01 -2.19507132e-03 -1.94977972e+00] [-2.82707826e-02 1.26278614e-03 9.99599504e-01 -1.32224202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.381346183999998 meters 0.07379084407623668 Centerline is valid? [True, True] Translation: X:24.42, Y:-1.95, Z:-1.32 [[ 9.98811402e-01 3.63455539e-02 3.24774374e-02 2.44225866e+01] [-3.62826309e-02 9.99338379e-01 -2.52487645e-03 -1.95183419e+00] [-3.25477176e-02 1.34350851e-03 9.99469280e-01 -1.32225226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.441346183999997 meters 0.07435072503142408 Centerline is valid? [True, True] Translation: X:24.48, Y:-1.96, Z:-1.33 [[ 9.98917738e-01 3.63480628e-02 2.90201955e-02 2.44805181e+01] [-3.62977974e-02 9.99338469e-01 -2.25717900e-03 -1.96044365e+00] [-2.90830418e-02 1.20136697e-03 9.99576277e-01 -1.33320228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.501346184 meters 0.07434730738926952 Centerline is valid? [True, True] Translation: X:24.54, Y:-1.96, Z:-1.34 [[ 9.98997346e-01 3.55890417e-02 2.71610495e-02 2.45385698e+01] [-3.55447652e-02 9.99365855e-01 -2.11136711e-03 -1.96461162e+00] [-2.72189670e-02 1.14381701e-03 9.99628841e-01 -1.33676797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.561346183999998 meters 0.07526488057402582 Centerline is valid? [True, True] Translation: X:24.60, Y:-1.97, Z:-1.34 [[ 9.98971782e-01 3.61361890e-02 2.73779801e-02 2.45960683e+01] [-3.60914768e-02 9.99346230e-01 -2.12569816e-03 -1.96898866e+00] [-2.74368959e-02 1.13540074e-03 9.99622893e-01 -1.33777074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.621346183999997 meters 0.0739354089238846 Centerline is valid? [True, True] Translation: X:24.66, Y:-1.97, Z:-1.34 [[ 9.98907679e-01 3.65916097e-02 2.90603187e-02 2.46550321e+01] [-3.65415191e-02 9.99329596e-01 -2.25305463e-03 -1.97194822e+00] [-2.91232795e-02 1.18868538e-03 9.99575121e-01 -1.33807369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.681346184 meters 0.07482544357440894 Centerline is valid? [True, True] Translation: X:24.71, Y:-1.98, Z:-1.34 [[ 9.98917571e-01 3.72691137e-02 2.78334369e-02 2.47117460e+01] [-3.72234667e-02 9.99304640e-01 -2.15651721e-03 -1.97912379e+00] [-2.78944541e-02 1.11812592e-03 9.99610249e-01 -1.34489808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.741346183999998 meters 0.07518405822425743 Centerline is valid? [True, True] Translation: X:24.77, Y:-1.99, Z:-1.35 [[ 9.98963643e-01 3.73375021e-02 2.60298033e-02 2.47693445e+01] [-3.72976692e-02 9.99302170e-01 -2.01428497e-03 -1.99259493e+00] [-2.60868473e-02 1.04134646e-03 9.99659138e-01 -1.35432759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.801346183999996 meters 0.07417801229486205 Centerline is valid? [True, True] Translation: X:24.83, Y:-1.99, Z:-1.35 [[ 9.98951615e-01 3.71116443e-02 2.68029083e-02 2.48287292e+01] [-3.70693793e-02 9.99310546e-01 -2.07220871e-03 -1.99411361e+00] [-2.68613320e-02 1.07646907e-03 9.99638590e-01 -1.35249374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.861346184 meters 0.07423110735916084 Centerline is valid? [True, True] Translation: X:24.89, Y:-2.00, Z:-1.35 [[ 9.98849467e-01 3.86069284e-02 2.84472696e-02 2.48862317e+01] [-3.85599746e-02 9.99253871e-01 -2.19749149e-03 -2.00076882e+00] [-2.85108827e-02 1.09803721e-03 9.99592879e-01 -1.35311318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.921346183999997 meters 0.0740134198160888 Centerline is valid? [True, True] Translation: X:24.94, Y:-2.01, Z:-1.36 [[ 9.98777749e-01 3.93740182e-02 2.98780021e-02 2.49442051e+01] [-3.93226612e-02 9.99223907e-01 -2.30474728e-03 -2.01004183e+00] [-2.99455612e-02 1.12704775e-03 9.99550896e-01 -1.35784188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.981346184 meters 0.07403425883526216 Centerline is valid? [True, True] Translation: X:25.00, Y:-2.02, Z:-1.36 [[ 9.98909022e-01 3.78099171e-02 2.74075996e-02 2.50027405e+01] [-3.77661711e-02 9.99284371e-01 -2.11219561e-03 -2.01718275e+00] [-2.74678479e-02 1.07481115e-03 9.99622110e-01 -1.36131298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.041346184 meters 0.07361850888882099 Centerline is valid? [True, True] Translation: X:25.06, Y:-2.02, Z:-1.36 [[ 9.98861656e-01 3.86879858e-02 2.79039838e-02 2.50612325e+01] [-3.86430125e-02 9.99250768e-01 -2.14937494e-03 -2.02203835e+00] [-2.79662322e-02 1.06863422e-03 9.99608297e-01 -1.36317379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.101346183999997 meters 0.07262525288405995 Centerline is valid? [True, True] Translation: X:25.12, Y:-2.03, Z:-1.36 [[ 9.98772910e-01 3.93699146e-02 3.00446857e-02 2.51196427e+01] [-3.93181527e-02 9.99224068e-01 -2.31190261e-03 -2.02634210e+00] [-3.01123924e-02 1.12776416e-03 9.99545883e-01 -1.36262413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.161346184 meters 0.07385190862022195 Centerline is valid? [True, True] Translation: X:25.18, Y:-2.03, Z:-1.37 [[ 9.98756799e-01 3.88398372e-02 3.12461616e-02 2.51773501e+01] [-3.87836555e-02 9.99244743e-01 -2.40232743e-03 -2.03375536e+00] [-3.13158687e-02 1.18750049e-03 9.99508832e-01 -1.36529775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.221346183999998 meters 0.0733566267145909 Centerline is valid? [True, True] Translation: X:25.24, Y:-2.04, Z:-1.37 [[ 9.98680015e-01 4.01329057e-02 3.20558377e-02 2.52359719e+01] [-4.00745458e-02 9.99193661e-01 -2.46123661e-03 -2.04098234e+00] [-3.21287664e-02 1.17336469e-03 9.99483049e-01 -1.36876279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.281346183999997 meters 0.07217856848220044 Centerline is valid? [True, True] Translation: X:25.29, Y:-2.05, Z:-1.37 [[ 9.98655346e-01 4.06863164e-02 3.21266922e-02 2.52943269e+01] [-4.06280535e-02 9.99171300e-01 -2.46452014e-03 -2.04511739e+00] [-3.22003411e-02 1.15596124e-03 9.99480766e-01 -1.37132964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.341346184 meters 0.07255208511839996 Centerline is valid? [True, True] Translation: X:25.35, Y:-2.05, Z:-1.37 [[ 9.98688718e-01 4.08199163e-02 3.08962600e-02 2.53528521e+01] [-4.07661601e-02 9.99165908e-01 -2.36807175e-03 -2.04985509e+00] [-3.09671542e-02 1.10544466e-03 9.99519791e-01 -1.37486308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.401346183999998 meters 0.07277269961362165 Centerline is valid? [True, True] Translation: X:25.41, Y:-2.05, Z:-1.38 [[ 9.98711218e-01 4.12876512e-02 2.95166565e-02 2.54113109e+01] [-4.12388508e-02 9.99146760e-01 -2.26041781e-03 -2.05495994e+00] [-2.95847990e-02 1.04027163e-03 9.99561733e-01 -1.37917753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.461346183999996 meters 0.07164839893512229 Centerline is valid? [True, True] Translation: X:25.47, Y:-2.06, Z:-1.38 [[ 9.98652231e-01 4.06826811e-02 3.22279419e-02 2.54700543e+01] [-4.06242661e-02 9.99171452e-01 -2.46555008e-03 -2.06276770e+00] [-3.23015447e-02 1.15299060e-03 9.99477504e-01 -1.37880324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.521346184 meters 0.07174470947882744 Centerline is valid? [True, True] Translation: X:25.53, Y:-2.07, Z:-1.38 [[ 9.98603456e-01 4.12066663e-02 3.30627838e-02 2.55278260e+01] [-4.11455397e-02 9.99149967e-01 -2.52734903e-03 -2.06937159e+00] [-3.31388229e-02 1.16343340e-03 9.99450081e-01 -1.37888222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.581346183999997 meters 0.07171445822799291 Centerline is valid? [True, True] Translation: X:25.59, Y:-2.07, Z:-1.38 [[ 9.98708519e-01 4.11751285e-02 2.97641106e-02 2.55859229e+01] [-4.11256636e-02 9.99151398e-01 -2.27242160e-03 -2.07381927e+00] [-2.98324199e-02 1.04541802e-03 9.99554368e-01 -1.38418120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.641346184 meters 0.07227233315546043 Centerline is valid? [True, True] Translation: X:25.64, Y:-2.09, Z:-1.40 [[ 9.98966435e-01 3.79922490e-02 2.49529766e-02 2.56448734e+01] [-3.79565609e-02 9.99277579e-01 -1.90247169e-03 -2.08940639e+00] [-2.50072292e-02 9.53376186e-04 9.99686816e-01 -1.39552619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.701346184 meters 0.07443639593316508 Centerline is valid? [True, True] Translation: X:25.70, Y:-2.10, Z:-1.40 [[ 9.99024055e-01 3.52089231e-02 2.66696504e-02 2.57011751e+01] [-3.51671153e-02 9.99379373e-01 -2.03517144e-03 -2.10232229e+00] [-2.67247547e-02 1.09529055e-03 9.99642230e-01 -1.39858346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.761346183999997 meters 0.07360100407186865 Centerline is valid? [True, True] Translation: X:25.76, Y:-2.10, Z:-1.40 [[ 9.99087728e-01 3.27121402e-02 2.74522940e-02 2.57596843e+01] [-3.26670009e-02 9.99464103e-01 -2.09127003e-03 -2.10453217e+00] [-2.75059923e-02 1.19257811e-03 9.99620927e-01 -1.39510959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.821346184 meters 0.07622434637849339 Centerline is valid? [True, True] Translation: X:25.82, Y:-2.12, Z:-1.40 [[ 9.99152900e-01 3.11425624e-02 2.69002366e-02 2.58170653e+01] [-3.10987425e-02 9.99514223e-01 -2.04590409e-03 -2.11747599e+00] [-2.69508837e-02 1.20760747e-03 9.99636030e-01 -1.40398402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.881346183999998 meters 0.07765140515580245 Centerline is valid? [True, True] Translation: X:25.88, Y:-2.13, Z:-1.41 [[ 9.99389035e-01 2.66600801e-02 2.26008017e-02 2.58763583e+01] [-2.66280616e-02 9.99643937e-01 -1.71651579e-03 -2.12703147e+00] [-2.26385168e-02 1.11365152e-03 9.99743096e-01 -1.41337575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.941346183999997 meters 0.07773908819713853 Centerline is valid? [True, True] Translation: X:25.94, Y:-2.13, Z:-1.41 [[ 9.99526282e-01 2.11874706e-02 2.23227098e-02 2.59372672e+01] [-2.11548726e-02 9.99774773e-01 -1.69546944e-03 -2.12919250e+00] [-2.23536048e-02 1.22243218e-03 9.99749380e-01 -1.41103919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.001346184 meters 0.07847823228560138 Centerline is valid? [True, True] Translation: X:26.00, Y:-2.14, Z:-1.41 [[ 9.99461600e-01 2.09573605e-02 2.52447970e-02 2.59977908e+01] [-2.09155960e-02 9.99779407e-01 -1.91732287e-03 -2.13570537e+00] [-2.52794102e-02 1.38828061e-03 9.99679461e-01 -1.41217016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.061346183999998 meters 0.07874153527082646 Centerline is valid? [True, True] Translation: X:26.06, Y:-2.14, Z:-1.41 [[ 9.99403777e-01 2.20212850e-02 2.65923726e-02 2.60583005e+01] [-2.19753417e-02 9.99756475e-01 -2.01872834e-03 -2.13998574e+00] [-2.66303517e-02 1.43314825e-03 9.99644322e-01 -1.41474891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.121346183999997 meters 0.0781293115983263 Centerline is valid? [True, True] Translation: X:26.12, Y:-2.14, Z:-1.42 [[ 9.99406779e-01 2.29721067e-02 2.56587497e-02 2.61204659e+01] [-2.29297745e-02 9.99735190e-01 -1.94286229e-03 -2.14002690e+00] [-2.56965866e-02 1.35336040e-03 9.99668872e-01 -1.41869028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.181346184 meters 0.07753067367567994 Centerline is valid? [True, True] Translation: X:26.18, Y:-2.14, Z:-1.43 [[ 9.99392227e-01 2.49575609e-02 2.43371559e-02 2.61811000e+01] [-2.49197712e-02 9.99687734e-01 -1.85485505e-03 -2.14353217e+00] [-2.43758488e-02 1.24725136e-03 9.99702087e-01 -1.42632664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.241346183999998 meters 0.07727260885967087 Centerline is valid? [True, True] Translation: X:26.24, Y:-2.15, Z:-1.43 [[ 9.99358390e-01 2.61170054e-02 2.45093831e-02 2.62406850e+01] [-2.60789783e-02 9.99658137e-01 -1.86994211e-03 -2.14721348e+00] [-2.45498415e-02 1.22956267e-03 9.99697851e-01 -1.42942935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.301346183999996 meters 0.07660512138945033 Centerline is valid? [True, True] Translation: X:26.30, Y:-2.15, Z:-1.43 [[ 9.99392812e-01 2.60032949e-02 2.31912947e-02 2.63001253e+01] [-2.59692348e-02 9.99661178e-01 -1.76867356e-03 -2.14849516e+00] [-2.32294284e-02 1.16533947e-03 9.99729481e-01 -1.43148507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.361346184 meters 0.0791852543146098 Centerline is valid? [True, True] Translation: X:26.36, Y:-2.16, Z:-1.44 [[ 9.99486892e-01 2.46866046e-02 2.04089088e-02 2.63584783e+01] [-2.46599655e-02 9.99694686e-01 -1.55594635e-03 -2.15588080e+00] [-2.04410887e-02 1.05186499e-03 9.99790506e-01 -1.43901838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.421346183999997 meters 0.08057192505227162 Centerline is valid? [True, True] Translation: X:26.42, Y:-2.16, Z:-1.45 [[ 9.99591860e-01 2.17656002e-02 1.85033073e-02 2.64181629e+01] [-2.17432369e-02 9.99762595e-01 -1.40895521e-03 -2.16417912e+00] [-1.85295813e-02 1.00605837e-03 9.99827806e-01 -1.44711816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.481346184 meters 0.08154415209949188 Centerline is valid? [True, True] Translation: X:26.48, Y:-2.17, Z:-1.45 [[ 9.99578719e-01 2.20615404e-02 1.88592925e-02 2.64766870e+01] [-2.20383273e-02 9.99756093e-01 -1.43782816e-03 -2.17027646e+00] [-1.88864133e-02 1.02159517e-03 9.99821114e-01 -1.45234521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.541346184 meters 0.07965683207095672 Centerline is valid? [True, True] Translation: X:26.54, Y:-2.16, Z:-1.45 [[ 9.99522624e-01 2.39388790e-02 1.95308290e-02 2.65376180e+01] [-2.39143847e-02 9.99712905e-01 -1.48676316e-03 -2.16456551e+00] [-1.95608132e-02 1.01898566e-03 9.99808150e-01 -1.45115475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.601346183999997 meters 0.0786565314800761 Centerline is valid? [True, True] Translation: X:26.60, Y:-2.15, Z:-1.45 [[ 9.99410365e-01 2.73666416e-02 2.07362053e-02 2.65986684e+01] [-2.73397748e-02 9.99624953e-01 -1.57808952e-03 -2.15435497e+00] [-2.07716152e-02 1.01023584e-03 9.99783736e-01 -1.45066398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.661346184 meters 0.07648291028203574 Centerline is valid? [True, True] Translation: X:26.66, Y:-2.16, Z:-1.46 [[ 9.99323406e-01 2.90515489e-02 2.25551953e-02 2.66579146e+01] [-2.90201864e-02 9.99577352e-01 -1.71662537e-03 -2.15584141e+00] [-2.25955330e-02 1.06090794e-03 9.99744125e-01 -1.45590868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.721346183999998 meters 0.07781080455387214 Centerline is valid? [True, True] Translation: X:26.72, Y:-2.16, Z:-1.46 [[ 9.99389160e-01 2.62839664e-02 2.30317109e-02 2.67173029e+01] [-2.62505514e-02 9.99653860e-01 -1.75201725e-03 -2.15842724e+00] [-2.30697886e-02 1.14635194e-03 9.99733200e-01 -1.45985114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.781346183999997 meters 0.08036477060147762 Centerline is valid? [True, True] Translation: X:26.78, Y:-2.16, Z:-1.46 [[ 9.99576279e-01 1.99795943e-02 2.11678802e-02 2.67770750e+01] [-1.99499903e-02 9.99799685e-01 -1.60880725e-03 -2.16396369e+00] [-2.11957833e-02 1.18582655e-03 9.99774641e-01 -1.46319450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.841346184 meters 0.08370551482716014 Centerline is valid? [True, True] Translation: X:26.84, Y:-2.17, Z:-1.47 [[ 9.99610378e-01 1.74110947e-02 2.18161879e-02 2.68360761e+01] [-1.73790505e-02 9.99847599e-01 -1.65757475e-03 -2.17473437e+00] [-2.18417233e-02 1.27778429e-03 9.99760625e-01 -1.46724791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.901346183999998 meters 0.08049030436559423 Centerline is valid? [True, True] Translation: X:26.90, Y:-2.17, Z:-1.47 [[ 9.99440814e-01 2.14210683e-02 2.56748370e-02 2.68971006e+01] [-2.13780059e-02 9.99769562e-01 -1.95056312e-03 -2.17014770e+00] [-2.57107037e-02 1.40059558e-03 9.99668444e-01 -1.46571716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.961346183999996 meters 0.07619830477227062 Centerline is valid? [True, True] Translation: X:26.96, Y:-2.16, Z:-1.47 [[ 9.99279426e-01 2.86610676e-02 2.48831786e-02 2.69587367e+01] [-2.86228570e-02 9.99588494e-01 -1.89048607e-03 -2.16236027e+00] [-2.49271224e-02 1.17689617e-03 9.99688578e-01 -1.47065488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.021346184 meters 0.07329507474352605 Centerline is valid? [True, True] Translation: X:27.02, Y:-2.15, Z:-1.48 [[ 9.99013956e-01 3.86652622e-02 2.18199967e-02 2.70198433e+01] [-3.86382504e-02 9.99251888e-01 -1.65833195e-03 -2.15331306e+00] [-2.18677927e-02 8.13610263e-04 9.99760540e-01 -1.47852678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.081346183999997 meters 0.07297450178636576 Centerline is valid? [True, True] Translation: X:27.08, Y:-2.15, Z:-1.48 [[ 9.98936167e-01 4.11462926e-02 2.08210541e-02 2.70778748e+01] [-4.11221804e-02 9.99152868e-01 -1.58507866e-03 -2.15122922e+00] [-2.08686361e-02 7.27185256e-04 9.99781962e-01 -1.48078095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.141346184 meters 0.07216313025281965 Centerline is valid? [True, True] Translation: X:27.14, Y:-2.15, Z:-1.48 [[ 9.98860164e-01 4.21648424e-02 2.23718526e-02 2.71375035e+01] [-4.21373347e-02 9.99110382e-01 -1.69976394e-03 -2.15070901e+00] [-2.24236205e-02 7.55136251e-04 9.99748274e-01 -1.48165018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.201346184 meters 0.07195977005967813 Centerline is valid? [True, True] Translation: X:27.20, Y:-2.16, Z:-1.49 [[ 9.98747616e-01 4.42632741e-02 2.33229842e-02 2.71962555e+01] [-4.42339808e-02 9.99019629e-01 -1.77065025e-03 -2.15611720e+00] [-2.33784938e-02 7.36764279e-04 9.99726414e-01 -1.49006859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.261346183999997 meters 0.07231914485330439 Centerline is valid? [True, True] Translation: X:27.25, Y:-2.16, Z:-1.49 [[ 9.98741035e-01 4.41280561e-02 2.38549613e-02 2.72541237e+01] [-4.40973803e-02 9.99025596e-01 -1.81070606e-03 -2.15987061e+00] [-2.39116199e-02 7.56485150e-04 9.99713790e-01 -1.49380393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.321346184 meters 0.07207124859535802 Centerline is valid? [True, True] Translation: X:27.31, Y:-2.16, Z:-1.49 [[ 9.98809679e-01 4.25487809e-02 2.38500924e-02 2.73130155e+01] [-4.25177278e-02 9.99094077e-01 -1.80782798e-03 -2.15983281e+00] [-2.39054069e-02 7.91624344e-04 9.99713912e-01 -1.49323064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.381346183999998 meters 0.07542022532677918 Centerline is valid? [True, True] Translation: X:27.37, Y:-2.17, Z:-1.49 [[ 9.99177830e-01 3.34489928e-02 2.29091411e-02 2.73724813e+01] [-3.34180361e-02 9.99439959e-01 -1.73289579e-03 -2.17287725e+00] [-2.29542747e-02 9.65892550e-04 9.99736049e-01 -1.49478409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.441346183999997 meters 0.07862366268453087 Centerline is valid? [True, True] Translation: X:27.43, Y:-2.19, Z:-1.50 [[ 9.99440312e-01 2.30864866e-02 2.42090370e-02 2.74309865e+01] [-2.30488699e-02 9.99732661e-01 -1.83175309e-03 -2.19056089e+00] [-2.42448537e-02 1.27273693e-03 9.99705240e-01 -1.49788670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.501346184 meters 0.08085075607882224 Centerline is valid? [True, True] Translation: X:27.49, Y:-2.20, Z:-1.51 [[ 9.99451239e-01 2.49491438e-02 2.17890332e-02 2.74898082e+01] [-2.49191478e-02 9.99688113e-01 -1.64713281e-03 -2.19809192e+00] [-2.18233320e-02 1.10326479e-03 9.99761234e-01 -1.50693087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.561346183999998 meters 0.0799562169443967 Centerline is valid? [True, True] Translation: X:27.55, Y:-2.20, Z:-1.51 [[ 9.99503031e-01 2.44618545e-02 1.98823551e-02 2.75490207e+01] [-2.44367381e-02 9.99700245e-01 -1.50526210e-03 -2.20051290e+00] [-1.99132168e-02 1.01865413e-03 9.99801193e-01 -1.51107802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.621346183999997 meters 0.0793762106622366 Centerline is valid? [True, True] Translation: X:27.61, Y:-2.20, Z:-1.51 [[ 9.99507953e-01 2.44373936e-02 1.96638343e-02 2.76077436e+01] [-2.44128117e-02 9.99700854e-01 -1.48922407e-03 -2.20116893e+00] [-1.96943447e-02 1.00844182e-03 9.99805539e-01 -1.51134400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.681346184 meters 0.07877331992852764 Centerline is valid? [True, True] Translation: X:27.67, Y:-2.20, Z:-1.51 [[ 9.99436694e-01 2.67470181e-02 2.02704458e-02 2.76680255e+01] [-2.67214171e-02 9.99641744e-01 -1.53282859e-03 -2.20156584e+00] [-2.03041824e-02 9.90310103e-04 9.99793358e-01 -1.51277084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.741346183999998 meters 0.07773811384807368 Centerline is valid? [True, True] Translation: X:27.73, Y:-2.20, Z:-1.51 [[ 9.99264173e-01 3.07685103e-02 2.29000226e-02 2.77275480e+01] [-3.07369353e-02 9.99526012e-01 -1.72961229e-03 -2.20216822e+00] [-2.29423859e-02 1.02446308e-03 9.99736264e-01 -1.51482600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.801346183999996 meters 0.07594626336223805 Centerline is valid? [True, True] Translation: X:27.79, Y:-2.20, Z:-1.52 [[ 9.99112702e-01 3.46851637e-02 2.38903497e-02 2.77879039e+01] [-3.46519304e-02 9.99397814e-01 -1.80378116e-03 -2.20312627e+00] [-2.39385278e-02 9.74333929e-04 9.99712958e-01 -1.51874741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.861346184 meters 0.07558584729790431 Centerline is valid? [True, True] Translation: X:27.85, Y:-2.21, Z:-1.52 [[ 9.99080957e-01 3.49280054e-02 2.48450375e-02 2.78470167e+01] [-3.48920743e-02 9.99389321e-01 -1.87838765e-03 -2.20738631e+00] [-2.48954735e-02 1.00976644e-03 9.99689550e-01 -1.52052596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.921346183999997 meters 0.07602752313890183 Centerline is valid? [True, True] Translation: X:27.91, Y:-2.21, Z:-1.52 [[ 9.99193498e-01 3.37053768e-02 2.18243423e-02 2.79057188e+01] [-3.36774526e-02 9.99431398e-01 -1.64587860e-03 -2.21210219e+00] [-2.18674079e-02 9.09562938e-04 9.99760466e-01 -1.52350770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.981346184 meters 0.07738088905387056 Centerline is valid? [True, True] Translation: X:27.96, Y:-2.22, Z:-1.53 [[ 9.99290881e-01 3.10321996e-02 2.13245779e-02 2.79640133e+01] [-3.10049546e-02 9.99517939e-01 -1.60714649e-03 -2.22199558e+00] [-2.13641715e-02 9.44839264e-04 9.99771314e-01 -1.52690754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.041346184 meters 0.07811866046413404 Centerline is valid? [True, True] Translation: X:28.02, Y:-2.23, Z:-1.53 [[ 9.99317776e-01 2.96342708e-02 2.20407142e-02 2.80216564e+01] [-2.96048295e-02 9.99560301e-01 -1.66093722e-03 -2.23167229e+00] [-2.20802436e-02 1.00729250e-03 9.99755694e-01 -1.53121278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.101346184 meters 0.07877245488603712 Centerline is valid? [True, True] Translation: X:28.08, Y:-2.24, Z:-1.53 [[ 9.99368520e-01 2.79197196e-02 2.19784173e-02 2.80806707e+01] [-2.78901063e-02 9.99609629e-01 -1.65281444e-03 -2.24135621e+00] [-2.20159837e-02 1.03879032e-03 9.99757079e-01 -1.53449802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.161346183999996 meters 0.07908157161524049 Centerline is valid? [True, True] Translation: X:28.14, Y:-2.25, Z:-1.53 [[ 9.99415434e-01 2.46616440e-02 2.36768770e-02 2.81396262e+01] [-2.46263740e-02 9.99695140e-01 -1.78010981e-03 -2.24962680e+00] [-2.37135593e-02 1.19599359e-03 9.99718079e-01 -1.53299892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.221346184 meters 0.0785040683885512 Centerline is valid? [True, True] Translation: X:28.20, Y:-2.25, Z:-1.53 [[ 9.99455665e-01 2.21013926e-02 2.44928880e-02 2.81986713e+01] [-2.20629145e-02 9.99754891e-01 -1.84014428e-03 -2.25347919e+00] [-2.45275543e-02 1.29875813e-03 9.99698311e-01 -1.53170051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.281346184 meters 0.08154374841678448 Centerline is valid? [True, True] Translation: X:28.26, Y:-2.27, Z:-1.54 [[ 9.99513619e-01 1.87743109e-02 2.49008309e-02 2.82573800e+01] [-1.87336425e-02 9.99822770e-01 -1.86550922e-03 -2.27193761e+00] [-2.49314414e-02 1.39811861e-03 9.99688186e-01 -1.53986068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.341346183999995 meters 0.08109883392323382 Centerline is valid? [True, True] Translation: X:28.32, Y:-2.28, Z:-1.54 [[ 9.99534322e-01 1.67260427e-02 2.55221277e-02 2.83187892e+01] [-1.66826963e-02 9.99859009e-01 -1.91037730e-03 -2.28012396e+00] [-2.55504824e-02 1.48370977e-03 9.99672432e-01 -1.54188098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.401346184 meters 0.0845342521086811 Centerline is valid? [True, True] Translation: X:28.38, Y:-2.29, Z:-1.55 [[ 9.99594246e-01 1.41310969e-02 2.47316707e-02 2.83779847e+01] [-1.40893597e-02 9.99899008e-01 -1.86104874e-03 -2.29467225e+00] [-2.47554717e-02 1.51184020e-03 9.99692393e-01 -1.54572002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.461346184 meters 0.08351929495030505 Centerline is valid? [True, True] Translation: X:28.44, Y:-2.30, Z:-1.55 [[ 9.99600217e-01 1.59673393e-02 2.33334469e-02 2.84404193e+01] [-1.59307691e-02 9.99871562e-01 -1.75234262e-03 -2.29846907e+00] [-2.33584302e-02 1.37992231e-03 9.99726202e-01 -1.54714065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.521346183999995 meters 0.084567911075845 Centerline is valid? [True, True] Translation: X:28.50, Y:-2.31, Z:-1.56 [[ 9.99450180e-01 2.26951523e-02 2.41716504e-02 2.84986630e+01] [-2.26575375e-02 9.99741612e-01 -1.82892808e-03 -2.31196866e+00] [-2.42069125e-02 1.28025242e-03 9.99706150e-01 -1.55634407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.581346184 meters 0.07666015114032854 Centerline is valid? [True, True] Translation: X:28.56, Y:-2.30, Z:-1.55 [[ 9.99106635e-01 3.23686715e-02 2.71698447e-02 2.85599508e+01] [-3.23247371e-02 9.99475307e-01 -2.05479722e-03 -2.30235669e+00] [-2.72221000e-02 1.17470345e-03 9.99628720e-01 -1.55177650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.641346184 meters 0.0735792930374582 Centerline is valid? [True, True] Translation: X:28.62, Y:-2.30, Z:-1.55 [[ 9.98887919e-01 3.80010357e-02 2.79078365e-02 2.86201255e+01] [-3.79568759e-02 9.99277149e-01 -2.11058575e-03 -2.30399730e+00] [-2.79678678e-02 1.04894432e-03 9.99608272e-01 -1.55350458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.701346183999995 meters 0.07264736131423047 Centerline is valid? [True, True] Translation: X:28.68, Y:-2.32, Z:-1.56 [[ 9.98813943e-01 4.18942090e-02 2.48109478e-02 2.86777401e+01] [-4.18604694e-02 9.99121702e-01 -1.87791868e-03 -2.31818632e+00] [-2.48678303e-02 8.37093442e-04 9.99690397e-01 -1.56153635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.761346184 meters 0.0714117326707476 Centerline is valid? [True, True] Translation: X:28.74, Y:-2.33, Z:-1.57 [[ 9.98794142e-01 4.41649657e-02 2.14410286e-02 2.87360587e+01] [-4.41403120e-02 9.99024025e-01 -1.62197034e-03 -2.32733301e+00] [-2.14917370e-02 6.73600786e-04 9.99768799e-01 -1.56660391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.821346184 meters 0.0701441022729848 Centerline is valid? [True, True] Translation: X:28.79, Y:-2.34, Z:-1.57 [[ 9.98588574e-01 4.93801526e-02 1.95565927e-02 2.87942167e+01] [-4.93606626e-02 9.98779925e-01 -1.47835128e-03 -2.33705624e+00] [-1.96057334e-02 5.10938317e-04 9.99807659e-01 -1.57119634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.881346183999995 meters 0.06829852180066674 Centerline is valid? [True, True] Translation: X:28.85, Y:-2.35, Z:-1.57 [[ 9.98463803e-01 5.17896196e-02 1.96944231e-02 2.88525202e+01] [-5.17703466e-02 9.98657909e-01 -1.48752696e-03 -2.34691747e+00] [-1.97450298e-02 4.65654715e-04 9.99804939e-01 -1.57000666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.941346184 meters 0.06802908899302851 Centerline is valid? [True, True] Translation: X:28.91, Y:-2.37, Z:-1.57 [[ 9.98441746e-01 5.21521670e-02 1.98552536e-02 2.89096767e+01] [-5.21326801e-02 9.98639044e-01 -1.49814227e-03 -2.36722836e+00] [-1.99063628e-02 4.60700196e-04 9.99801743e-01 -1.57333474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.001346184 meters 0.06697163005744769 Centerline is valid? [True, True] Translation: X:28.97, Y:-2.38, Z:-1.57 [[ 9.98398367e-01 5.16441404e-02 2.30994208e-02 2.89675555e+01] [-5.16176806e-02 9.98665402e-01 -1.74065929e-03 -2.38308882e+00] [-2.31584872e-02 5.45532865e-04 9.99731657e-01 -1.56978346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.061346184 meters 0.06684158634444426 Centerline is valid? [True, True] Translation: X:29.03, Y:-2.39, Z:-1.57 [[ 9.98347938e-01 5.18098985e-02 2.48421020e-02 2.90258801e+01] [-5.17793994e-02 9.98656797e-01 -1.86983429e-03 -2.39205386e+00] [-2.49056099e-02 5.80436085e-04 9.99689639e-01 -1.56908720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.121346184 meters 0.0679344179059454 Centerline is valid? [True, True] Translation: X:29.08, Y:-2.41, Z:-1.57 [[ 9.98687699e-01 4.60238455e-02 2.24651996e-02 2.90849313e+01] [-4.59975201e-02 9.98940129e-01 -1.68743932e-03 -2.41403699e+00] [-2.25190519e-02 6.51881420e-04 9.99746201e-01 -1.57308837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.181346184 meters 0.06971961815511568 Centerline is valid? [True, True] Translation: X:29.14, Y:-2.43, Z:-1.58 [[ 9.98885690e-01 4.19279827e-02 2.16661615e-02 2.91419044e+01] [-4.19024844e-02 9.99120376e-01 -1.62971917e-03 -2.43005794e+00] [-2.17154342e-02 7.20037161e-04 9.99763933e-01 -1.58030694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.241346184 meters 0.07438535142072886 Centerline is valid? [True, True] Translation: X:29.20, Y:-2.45, Z:-1.59 [[ 9.99394632e-01 3.10500930e-02 1.56927134e-02 2.92006253e+01] [-3.10354235e-02 9.99517592e-01 -1.17752631e-03 -2.45462805e+00] [-1.57217054e-02 6.89783464e-04 9.99876168e-01 -1.58899698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.301346183999996 meters 0.07745949402720333 Centerline is valid? [True, True] Translation: X:29.26, Y:-2.47, Z:-1.59 [[ 9.99565368e-01 2.50723618e-02 1.55065221e-02 2.92600437e+01] [-2.50573169e-02 9.99685339e-01 -1.16378561e-03 -2.47242237e+00] [-1.55308216e-02 7.74727950e-04 9.99879089e-01 -1.59415019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.361346184 meters 0.07752959139483045 Centerline is valid? [True, True] Translation: X:29.32, Y:-2.49, Z:-1.59 [[ 9.99643729e-01 2.04282350e-02 1.71785283e-02 2.93198105e+01] [-2.04090907e-02 9.99790882e-01 -1.28902391e-03 -2.48754282e+00] [-1.72012685e-02 9.37966526e-04 9.99851607e-01 -1.59321309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.421346184 meters 0.07761748170727191 Centerline is valid? [True, True] Translation: X:29.38, Y:-2.50, Z:-1.60 [[ 9.99641307e-01 2.02396725e-02 1.75388892e-02 2.93793565e+01] [-2.02196876e-02 9.99794695e-01 -1.31606428e-03 -2.49635616e+00] [-1.75619251e-02 9.60961357e-04 9.99845316e-01 -1.59587561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.481346183999996 meters 0.07793495566782875 Centerline is valid? [True, True] Translation: X:29.44, Y:-2.50, Z:-1.60 [[ 9.99629823e-01 2.21874546e-02 1.57459048e-02 2.94394205e+01] [-2.21715986e-02 9.99753483e-01 -1.18086664e-03 -2.50170378e+00] [-1.57682236e-02 8.31317635e-04 9.99875328e-01 -1.59991784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.541346184 meters 0.07401545680042178 Centerline is valid? [True, True] Translation: X:29.50, Y:-2.50, Z:-1.60 [[ 9.99600395e-01 2.40037649e-02 1.49288331e-02 2.94997978e+01] [-2.39896899e-02 9.99711577e-01 -1.12120259e-03 -2.50196318e+00] [-1.49514404e-02 7.62616472e-04 9.99887930e-01 -1.60047686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.601346184 meters 0.07739566834053854 Centerline is valid? [True, True] Translation: X:29.56, Y:-2.52, Z:-1.61 [[ 9.99529221e-01 2.52550653e-02 1.74217834e-02 2.95575535e+01] [-2.52360832e-02 9.99680663e-01 -1.30858047e-03 -2.51616702e+00] [-1.74492683e-02 8.68306842e-04 9.99847373e-01 -1.60851251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.661346183999996 meters 0.07675324032980488 Centerline is valid? [True, True] Translation: X:29.62, Y:-2.52, Z:-1.61 [[ 9.99444113e-01 2.87854984e-02 1.68184601e-02 2.96159842e+01] [-2.87683185e-02 9.99585309e-01 -1.26258800e-03 -2.52255059e+00] [-1.68478298e-02 7.78047326e-04 9.99857763e-01 -1.61326114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.721346184 meters 0.0758522867381193 Centerline is valid? [True, True] Translation: X:29.68, Y:-2.52, Z:-1.62 [[ 9.99367277e-01 3.18350766e-02 1.58610856e-02 2.96754312e+01] [-3.18201878e-02 9.99492901e-01 -1.19025206e-03 -2.52296676e+00] [-1.58909343e-02 6.84796239e-04 9.99873497e-01 -1.61585650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.781346184 meters 0.07512108929693255 Centerline is valid? [True, True] Translation: X:29.73, Y:-2.52, Z:-1.62 [[ 9.99249716e-01 3.61086783e-02 1.40060037e-02 2.97336198e+01] [-3.60974738e-02 9.99347720e-01 -1.05204091e-03 -2.52349294e+00] [-1.40348557e-02 5.45670223e-04 9.99901358e-01 -1.62088844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.841346183999995 meters 0.07478499311394524 Centerline is valid? [True, True] Translation: X:29.79, Y:-2.53, Z:-1.63 [[ 9.99208720e-01 3.79048434e-02 1.20480830e-02 2.97925895e+01] [-3.78966871e-02 9.99281253e-01 -9.04642957e-04 -2.52511372e+00] [-1.20737138e-02 4.47344701e-04 9.99927010e-01 -1.62808585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.901346184 meters 0.071388873880829 Centerline is valid? [True, True] Translation: X:29.85, Y:-2.52, Z:-1.62 [[ 9.99229004e-01 3.76338215e-02 1.11844936e-02 2.98518264e+01] [-3.76267775e-02 9.99291509e-01 -8.39637206e-04 -2.52055910e+00] [-1.12081682e-02 4.18153398e-04 9.99937099e-01 -1.62487196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.961346184 meters 0.07191169140744225 Centerline is valid? [True, True] Translation: X:29.91, Y:-2.52, Z:-1.63 [[ 9.99284677e-01 3.63716793e-02 1.03554163e-02 2.99101330e+01] [-3.63655701e-02 9.99338251e-01 -7.77698533e-04 -2.52074087e+00] [-1.03768498e-02 4.00561609e-04 9.99946079e-01 -1.62858223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.021346183999995 meters 0.07253129620666038 Centerline is valid? [True, True] Translation: X:29.97, Y:-2.52, Z:-1.63 [[ 9.99322036e-01 3.51522231e-02 1.09448873e-02 2.99685936e+01] [-3.51453483e-02 9.99381875e-01 -8.19888690e-04 -2.52247619e+00] [-1.09669429e-02 4.34670958e-04 9.99939767e-01 -1.63346994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.081346184 meters 0.07369267323030448 Centerline is valid? [True, True] Translation: X:30.03, Y:-2.53, Z:-1.64 [[ 9.99429255e-01 3.24172980e-02 9.50179032e-03 3.00284300e+01] [-3.24120175e-02 9.99474341e-01 -7.09244109e-04 -2.52532916e+00] [-9.51978740e-03 4.00867117e-04 9.99954605e-01 -1.63692187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.141346184 meters 0.07297392617651006 Centerline is valid? [True, True] Translation: X:30.09, Y:-2.52, Z:-1.64 [[ 9.99530633e-01 2.85362757e-02 1.11442385e-02 3.00887069e+01] [-2.85287657e-02 9.99592625e-01 -8.32311346e-04 -2.52217727e+00] [-1.11634497e-02 5.13989317e-04 9.99937555e-01 -1.63519439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.201346183999995 meters 0.07659661514011826 Centerline is valid? [True, True] Translation: X:30.15, Y:-2.53, Z:-1.64 [[ 9.99604397e-01 2.52195857e-02 1.24507895e-02 3.01462727e+01] [-2.52099548e-02 9.99681746e-01 -9.29887292e-04 -2.52896292e+00] [-1.24702784e-02 6.15635585e-04 9.99922054e-01 -1.64073949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.261346184 meters 0.07979870727196484 Centerline is valid? [True, True] Translation: X:30.20, Y:-2.54, Z:-1.64 [[ 9.99691008e-01 1.96254186e-02 1.52555167e-02 3.02046359e+01] [-1.96103448e-02 9.99807052e-01 -1.13706840e-03 -2.53777382e+00] [-1.52748886e-02 8.37551110e-04 9.99882981e-01 -1.64481179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.321346184 meters 0.08073930774681864 Centerline is valid? [True, True] Translation: X:30.26, Y:-2.54, Z:-1.65 [[ 9.99772973e-01 1.44309718e-02 1.56763853e-02 3.02648201e+01] [-1.44144496e-02 9.99895426e-01 -1.16643966e-03 -2.54020244e+00] [-1.56915788e-02 9.40208384e-04 9.99876438e-01 -1.64661697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.381346183999995 meters 0.08169951002920477 Centerline is valid? [True, True] Translation: X:30.33, Y:-2.54, Z:-1.65 [[ 9.99787996e-01 1.25980879e-02 1.62865446e-02 3.03266025e+01] [-1.25801473e-02 9.99920142e-01 -1.20354656e-03 -2.54404725e+00] [-1.63004063e-02 9.98404277e-04 9.99866641e-01 -1.64762475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.441346184 meters 0.08226130407688097 Centerline is valid? [True, True] Translation: X:30.39, Y:-2.55, Z:-1.65 [[ 9.99737928e-01 1.26890526e-02 1.90542372e-02 3.03879083e+01] [-1.26642618e-02 9.99918795e-01 -1.42117373e-03 -2.54683557e+00] [-1.90707233e-02 1.17949343e-03 9.99817441e-01 -1.64832897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.501346184 meters 0.07980894088421109 Centerline is valid? [True, True] Translation: X:30.45, Y:-2.55, Z:-1.65 [[ 9.99646736e-01 1.54732906e-02 2.16097286e-02 3.04489985e+01] [-1.54420120e-02 9.99879463e-01 -1.61355854e-03 -2.54809412e+00] [-2.16320909e-02 1.27929084e-03 9.99765180e-01 -1.64827946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.561346184 meters 0.07747387320893358 Centerline is valid? [True, True] Translation: X:30.51, Y:-2.54, Z:-1.65 [[ 9.99607326e-01 2.06344742e-02 1.89581826e-02 3.05103977e+01] [-2.06113291e-02 9.99786562e-01 -1.41545348e-03 -2.54308625e+00] [-1.89833433e-02 1.02414432e-03 9.99819276e-01 -1.65394994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.621346184 meters 0.07605683715069508 Centerline is valid? [True, True] Translation: X:30.57, Y:-2.54, Z:-1.66 [[ 9.99506998e-01 2.62359126e-02 1.72463972e-02 3.05711220e+01] [-2.62175757e-02 9.99655430e-01 -1.28850384e-03 -2.53838181e+00] [-1.72742597e-02 8.35709885e-04 9.99850440e-01 -1.66067567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.681346184 meters 0.07482753454581316 Centerline is valid? [True, True] Translation: X:30.63, Y:-2.54, Z:-1.67 [[ 9.99474506e-01 2.82461367e-02 1.59018369e-02 3.06295635e+01] [-2.82307594e-02 9.99600724e-01 -1.19070625e-03 -2.53766978e+00] [-1.59291205e-02 7.41159607e-04 9.99872849e-01 -1.66567976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.741346184 meters 0.07560389247565076 Centerline is valid? [True, True] Translation: X:30.69, Y:-2.54, Z:-1.67 [[ 9.99557937e-01 2.43747937e-02 1.70234962e-02 3.06890586e+01] [-2.43566399e-02 9.99702523e-01 -1.27294743e-03 -2.53927687e+00] [-1.70494599e-02 8.57749538e-04 9.99854279e-01 -1.66625581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.801346183999996 meters 0.07853138066836911 Centerline is valid? [True, True] Translation: X:30.75, Y:-2.55, Z:-1.67 [[ 9.99634182e-01 2.09031264e-02 1.71628026e-02 3.07480848e+01] [-2.08842124e-02 9.99781081e-01 -1.28054524e-03 -2.54672377e+00] [-1.71858127e-02 9.21645175e-04 9.99851888e-01 -1.67036703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.861346184 meters 0.082659119327508 Centerline is valid? [True, True] Translation: X:30.81, Y:-2.56, Z:-1.67 [[ 9.99780796e-01 1.28733309e-02 1.65117077e-02 3.08079956e+01] [-1.28547515e-02 9.99916617e-01 -1.23086908e-03 -2.55754845e+00] [-1.65261763e-02 1.01834537e-03 9.99862915e-01 -1.67451725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.921346184 meters 0.0847838743340617 Centerline is valid? [True, True] Translation: X:30.87, Y:-2.56, Z:-1.68 [[ 9.99810326e-01 1.06209743e-02 1.63250567e-02 3.08689889e+01] [-1.06025296e-02 9.99943052e-01 -1.21597577e-03 -2.56328528e+00] [-1.63370419e-02 1.04265823e-03 9.99865998e-01 -1.67821005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.981346183999996 meters 0.08293574394280899 Centerline is valid? [True, True] Translation: X:30.93, Y:-2.56, Z:-1.68 [[ 9.99766737e-01 9.82483971e-03 1.92339565e-02 3.09316102e+01] [-9.79920832e-03 9.99950969e-01 -1.42640805e-03 -2.55872716e+00] [-1.92470277e-02 1.23759778e-03 9.99813993e-01 -1.67643163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.041346184 meters 0.08372756891529202 Centerline is valid? [True, True] Translation: X:30.99, Y:-2.56, Z:-1.68 [[ 9.99746630e-01 9.68514688e-03 2.03192896e-02 3.09932611e+01] [-9.65639085e-03 9.99952232e-01 -1.51284928e-03 -2.56486954e+00] [-2.03329712e-02 1.31625497e-03 9.99792397e-01 -1.67943660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.101346184 meters 0.0865460836846685 Centerline is valid? [True, True] Translation: X:31.05, Y:-2.57, Z:-1.68 [[ 9.99712298e-01 7.88154709e-03 2.26539714e-02 3.10537309e+01] [-7.84516658e-03 9.99967791e-01 -1.69434830e-03 -2.57352207e+00] [-2.26665958e-02 1.51613665e-03 9.99741930e-01 -1.68234314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.161346183999996 meters 0.0878500594072175 Centerline is valid? [True, True] Translation: X:31.11, Y:-2.58, Z:-1.69 [[ 9.99709032e-01 5.87635458e-03 2.33948552e-02 3.11146501e+01] [-5.83674522e-03 9.99981415e-01 -1.76100486e-03 -2.58075463e+00] [-2.34047687e-02 1.62394265e-03 9.99724752e-01 -1.68520543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.221346184 meters 0.08406732919685195 Centerline is valid? [True, True] Translation: X:31.18, Y:-2.58, Z:-1.69 [[ 9.99733226e-01 5.83189538e-03 2.23487142e-02 3.11775566e+01] [-5.79587157e-03 9.99981799e-01 -1.67633113e-03 -2.57600121e+00] [-2.23580836e-02 1.54635365e-03 9.99748831e-01 -1.68543928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.281346184 meters 0.08626495822627098 Centerline is valid? [True, True] Translation: X:31.24, Y:-2.58, Z:-1.69 [[ 9.99726309e-01 8.62824857e-03 2.17453471e-02 3.12371084e+01] [-8.59452243e-03 9.99961715e-01 -1.64394010e-03 -2.58402943e+00] [-2.17586989e-02 1.45659929e-03 9.99762190e-01 -1.69161307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.341346183999995 meters 0.08234883460799823 Centerline is valid? [True, True] Translation: X:31.30, Y:-2.58, Z:-1.69 [[ 9.99677158e-01 1.29806898e-02 2.18421937e-02 3.12983129e+01] [-1.29476978e-02 9.99914812e-01 -1.65121652e-03 -2.58051004e+00] [-2.18617669e-02 1.36787732e-03 9.99760067e-01 -1.69267219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.401346184 meters 0.08027978174108771 Centerline is valid? [True, True] Translation: X:31.36, Y:-2.58, Z:-1.70 [[ 9.99663535e-01 1.72227755e-02 1.93956675e-02 3.13597948e+01] [-1.71975672e-02 9.99851037e-01 -1.46574843e-03 -2.57752565e+00] [-1.94180226e-02 1.13169696e-03 9.99810812e-01 -1.69755753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.461346184 meters 0.08076109154894168 Centerline is valid? [True, True] Translation: X:31.42, Y:-2.58, Z:-1.70 [[ 9.99658071e-01 1.84450036e-02 1.85343673e-02 3.14211170e+01] [-1.84221996e-02 9.99829316e-01 -1.40035740e-03 -2.57942309e+00] [-1.85570334e-02 1.05843476e-03 9.99827243e-01 -1.70129657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.521346183999995 meters 0.0781529437824993 Centerline is valid? [True, True] Translation: X:31.48, Y:-2.58, Z:-1.70 [[ 9.99625024e-01 1.92556033e-02 1.94687611e-02 3.14817596e+01] [-1.92305576e-02 9.99813991e-01 -1.47287232e-03 -2.57984056e+00] [-1.94935008e-02 1.09792490e-03 9.99809381e-01 -1.70172121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.581346184 meters 0.07720025467940525 Centerline is valid? [True, True] Translation: X:31.54, Y:-2.58, Z:-1.70 [[ 9.99526304e-01 2.12519588e-02 2.22603108e-02 3.15421635e+01] [-2.12197074e-02 9.99773418e-01 -1.68406174e-03 -2.58170893e+00] [-2.22910567e-02 1.21090672e-03 9.99750790e-01 -1.70225532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.641346184 meters 0.0796077057185098 Centerline is valid? [True, True] Translation: X:31.60, Y:-2.58, Z:-1.71 [[ 9.99400151e-01 2.42336072e-02 2.47400746e-02 3.16015897e+01] [-2.41946787e-02 9.99705514e-01 -1.87166781e-03 -2.58456267e+00] [-2.47781463e-02 1.27196694e-03 9.99692165e-01 -1.70504717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.701346183999995 meters 0.0782848054000379 Centerline is valid? [True, True] Translation: X:31.66, Y:-2.58, Z:-1.71 [[ 9.99366122e-01 2.54602228e-02 2.48823331e-02 3.16623421e+01] [-2.54212246e-02 9.99675056e-01 -1.88242213e-03 -2.58365563e+00] [-2.49221747e-02 1.24868953e-03 9.99688615e-01 -1.70643711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.761346184 meters 0.07748358614610941 Centerline is valid? [True, True] Translation: X:31.72, Y:-2.59, Z:-1.71 [[ 9.99397032e-01 2.39407118e-02 2.51478634e-02 3.17220174e+01] [-2.39003846e-02 9.99712534e-01 -1.90299103e-03 -2.58873198e+00] [-2.51861932e-02 1.30079998e-03 9.99681931e-01 -1.70974748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.821346184 meters 0.07698617997041114 Centerline is valid? [True, True] Translation: X:31.78, Y:-2.59, Z:-1.71 [[ 9.99517998e-01 1.88273407e-02 2.46840822e-02 3.17824399e+01] [-1.87869575e-02 9.99821767e-01 -1.86690557e-03 -2.59258244e+00] [-2.47148315e-02 1.40226692e-03 9.99693558e-01 -1.71074362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.881346183999995 meters 0.07929214211328595 Centerline is valid? [True, True] Translation: X:31.84, Y:-2.60, Z:-1.72 [[ 9.99558645e-01 1.72200160e-02 2.42071447e-02 3.18431670e+01] [-1.71808662e-02 9.99850734e-01 -1.82434677e-03 -2.60198544e+00] [-2.42349467e-02 1.40764187e-03 9.99705300e-01 -1.71507365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.941346184 meters 0.07930493841010353 Centerline is valid? [True, True] Translation: X:31.90, Y:-2.61, Z:-1.72 [[ 9.99531118e-01 1.86292612e-02 2.43000955e-02 3.19044397e+01] [-1.85900961e-02 9.99825502e-01 -1.83665310e-03 -2.60821701e+00] [-2.43300707e-02 1.38405082e-03 9.99703022e-01 -1.71891802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.001346184 meters 0.07519340857254399 Centerline is valid? [True, True] Translation: X:31.97, Y:-2.60, Z:-1.72 [[ 9.99421047e-01 2.35495356e-02 2.45558431e-02 3.19663788e+01] [-2.35107026e-02 9.99721838e-01 -1.86896270e-03 -2.60157589e+00] [-2.45930258e-02 1.29055553e-03 9.99696713e-01 -1.71677674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.061346183999994 meters 0.0743366402799851 Centerline is valid? [True, True] Translation: X:32.03, Y:-2.61, Z:-1.72 [[ 9.99394379e-01 2.51023342e-02 2.40987250e-02 3.20267578e+01] [-2.50653773e-02 9.99684131e-01 -1.83445096e-03 -2.60648940e+00] [-2.41371620e-02 1.22929634e-03 9.99707900e-01 -1.72075992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.121346184 meters 0.07459981364806366 Centerline is valid? [True, True] Translation: X:32.09, Y:-2.62, Z:-1.72 [[ 9.99369855e-01 2.57804278e-02 2.43980166e-02 3.20857477e+01] [-2.57427689e-02 9.99666876e-01 -1.85640166e-03 -2.61561515e+00] [-2.44377479e-02 1.22715935e-03 9.99700600e-01 -1.72467585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.181346184 meters 0.07419467080854963 Centerline is valid? [True, True] Translation: X:32.14, Y:-2.62, Z:-1.73 [[ 9.99326774e-01 2.78450753e-02 2.38882782e-02 3.21448315e+01] [-2.78095014e-02 9.99611584e-01 -1.82016026e-03 -2.62238548e+00] [-2.39296821e-02 1.15461378e-03 9.99712977e-01 -1.73043765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.241346184 meters 0.07328032641505577 Centerline is valid? [True, True] Translation: X:32.21, Y:-2.62, Z:-1.73 [[ 9.99254942e-01 3.09119501e-02 2.31087239e-02 3.22051292e+01] [-3.08795087e-02 9.99521566e-01 -1.75946897e-03 -2.62383358e+00] [-2.31520566e-02 1.04457202e-03 9.99731410e-01 -1.73365447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.301346183999996 meters 0.07111502858225735 Centerline is valid? [True, True] Translation: X:32.27, Y:-2.62, Z:-1.73 [[ 9.99055929e-01 3.56493437e-02 2.48268818e-02 3.22662725e+01] [-3.56133795e-02 9.99363856e-01 -1.88938781e-03 -2.62081426e+00] [-2.48784438e-02 1.00343493e-03 9.99689980e-01 -1.73335506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.361346184 meters 0.06906913671472287 Centerline is valid? [True, True] Translation: X:32.33, Y:-2.62, Z:-1.73 [[ 9.98940210e-01 3.91096702e-02 2.42670662e-02 3.23260733e+01] [-3.90762964e-02 9.99234521e-01 -1.84813795e-03 -2.61898552e+00] [-2.43207704e-02 8.97912243e-04 9.99703803e-01 -1.73431124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.421346184 meters 0.07018328125215613 Centerline is valid? [True, True] Translation: X:32.38, Y:-2.63, Z:-1.74 [[ 9.99001794e-01 3.83557920e-02 2.28964671e-02 3.23827619e+01] [-3.83258720e-02 9.99263771e-01 -1.74430711e-03 -2.62624743e+00] [-2.29465144e-02 8.65038858e-04 9.99736320e-01 -1.74042022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.481346183999996 meters 0.0718418164422529 Centerline is valid? [True, True] Translation: X:32.44, Y:-2.63, Z:-1.75 [[ 9.99172081e-01 3.42347226e-02 2.19803652e-02 3.24423549e+01] [-3.42062629e-02 9.99413400e-01 -1.66956625e-03 -2.63356062e+00] [-2.20246286e-02 9.16317839e-04 9.99757009e-01 -1.74515147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.541346184 meters 0.0722755254527736 Centerline is valid? [True, True] Translation: X:32.50, Y:-2.64, Z:-1.75 [[ 9.99281800e-01 3.04754308e-02 2.25196016e-02 3.25015352e+01] [-3.04445889e-02 9.99534991e-01 -1.71121254e-03 -2.63829439e+00] [-2.25612797e-02 1.02438353e-03 9.99744937e-01 -1.74701260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.601346184 meters 0.07486066699998858 Centerline is valid? [True, True] Translation: X:32.56, Y:-2.65, Z:-1.75 [[ 9.99401280e-01 2.39587375e-02 2.49611817e-02 3.25607889e+01] [-2.39188851e-02 9.99712108e-01 -1.89396667e-03 -2.65223830e+00] [-2.49993726e-02 1.29578908e-03 9.99686627e-01 -1.74964742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.661346183999996 meters 0.07942881146534453 Centerline is valid? [True, True] Translation: X:32.62, Y:-2.66, Z:-1.75 [[ 9.99581670e-01 1.62613489e-02 2.39176328e-02 3.26194356e+01] [-1.62225627e-02 9.99866759e-01 -1.81480669e-03 -2.66368122e+00] [-2.39439572e-02 1.42604220e-03 9.99712285e-01 -1.75394810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.721346184 meters 0.08114741231488366 Centerline is valid? [True, True] Translation: X:32.68, Y:-2.67, Z:-1.76 [[ 9.99606374e-01 1.21016281e-02 2.53110228e-02 3.26800599e+01] [-1.20569237e-02 9.99925473e-01 -1.91807435e-03 -2.67440679e+00] [-2.53323482e-02 1.61214627e-03 9.99677785e-01 -1.75834237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.781346184 meters 0.08142567168729568 Centerline is valid? [True, True] Translation: X:32.74, Y:-2.68, Z:-1.76 [[ 9.99684501e-01 7.57634930e-03 2.39478230e-02 3.27407647e+01] [-7.53499950e-03 9.99969962e-01 -1.81642878e-03 -2.67744265e+00] [-2.39608656e-02 1.63540886e-03 9.99711560e-01 -1.75994852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.841346183999995 meters 0.08198732268765387 Centerline is valid? [True, True] Translation: X:32.80, Y:-2.68, Z:-1.76 [[ 9.99656890e-01 7.95433335e-03 2.49565990e-02 3.28032097e+01] [-7.90971320e-03 9.99966939e-01 -1.88611748e-03 -2.68034918e+00] [-2.49707767e-02 1.68807079e-03 9.99686756e-01 -1.76176185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.901346184 meters 0.08288491957239956 Centerline is valid? [True, True] Translation: X:32.87, Y:-2.69, Z:-1.77 [[ 9.99658813e-01 6.68036243e-03 2.52513623e-02 3.28653454e+01] [-6.63398838e-03 9.99976152e-01 -1.91982424e-03 -2.68598367e+00] [-2.52635853e-02 1.75165197e-03 9.99679290e-01 -1.76522376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.961346184 meters 0.08331363817952239 Centerline is valid? [True, True] Translation: X:32.93, Y:-2.69, Z:-1.77 [[ 9.99648828e-01 6.00673840e-03 2.58096654e-02 3.29271580e+01] [-5.95814131e-03 9.99980330e-01 -1.95939288e-03 -2.69219267e+00] [-2.58209273e-02 1.80492716e-03 9.99664955e-01 -1.76850503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.021346183999995 meters 0.08578417236318207 Centerline is valid? [True, True] Translation: X:32.99, Y:-2.70, Z:-1.77 [[ 9.99627954e-01 4.49340970e-03 2.69028555e-02 3.29875271e+01] [-4.43984987e-03 9.99988042e-01 -2.05026304e-03 -2.70112613e+00] [-2.69117464e-02 1.93005561e-03 9.99635950e-01 -1.77280508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.081346184 meters 0.09011599883919919 Centerline is valid? [True, True] Translation: X:33.05, Y:-2.71, Z:-1.78 [[ 9.99616682e-01 5.79595597e-03 2.70720499e-02 3.30477866e+01] [-5.74202406e-03 9.99981373e-01 -2.06947643e-03 -2.71438803e+00] [-2.70835402e-02 1.91323480e-03 9.99631343e-01 -1.78059508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.141346184 meters 0.08215015651633628 Centerline is valid? [True, True] Translation: X:33.11, Y:-2.70, Z:-1.78 [[ 9.99641293e-01 9.20367766e-03 2.51510960e-02 3.31104214e+01] [-9.15793811e-03 9.99956197e-01 -1.93317303e-03 -2.70084287e+00] [-2.51677866e-02 1.70214741e-03 9.99681792e-01 -1.77902877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.201346183999995 meters 0.0821475327474466 Centerline is valid? [True, True] Translation: X:33.17, Y:-2.70, Z:-1.79 [[ 9.99620836e-01 1.43592835e-02 2.34945925e-02 3.31697186e+01] [-1.43207576e-02 9.99895820e-01 -1.80721876e-03 -2.70331053e+00] [-2.35180952e-02 1.47007316e-03 9.99722330e-01 -1.78546684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.261346184 meters 0.07887595706175042 Centerline is valid? [True, True] Translation: X:33.23, Y:-2.70, Z:-1.79 [[ 9.99601651e-01 1.81337337e-02 2.16265215e-02 3.32310532e+01] [-1.81020013e-02 9.99834764e-01 -1.66216704e-03 -2.70005354e+00] [-2.16530893e-02 1.27002160e-03 9.99764738e-01 -1.78873513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.321346184 meters 0.07757302778792186 Centerline is valid? [True, True] Translation: X:33.29, Y:-2.70, Z:-1.79 [[ 9.99590638e-01 2.05200249e-02 1.99370461e-02 3.32931655e+01] [-2.04936781e-02 9.99788820e-01 -1.52493635e-03 -2.70061616e+00] [-1.99641275e-02 1.11572870e-03 9.99800074e-01 -1.79465101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.381346183999995 meters 0.07889563607269166 Centerline is valid? [True, True] Translation: X:33.35, Y:-2.71, Z:-1.80 [[ 9.99555386e-01 2.26911663e-02 1.93427257e-02 3.33518847e+01] [-2.26665121e-02 9.99741967e-01 -1.49291251e-03 -2.70841524e+00] [-1.93716105e-02 1.05381661e-03 9.99811797e-01 -1.80217912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.441346184 meters 0.07658903485056155 Centerline is valid? [True, True] Translation: X:33.41, Y:-2.70, Z:-1.80 [[ 9.99565042e-01 2.17555340e-02 1.99104099e-02 3.34120925e+01] [-2.17292215e-02 9.99762711e-01 -1.53695388e-03 -2.70494979e+00] [-1.99391227e-02 1.10364766e-03 9.99800587e-01 -1.79894628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.501346184 meters 0.07882129543663266 Centerline is valid? [True, True] Translation: X:33.47, Y:-2.71, Z:-1.80 [[ 9.99515985e-01 1.96290257e-02 2.41349598e-02 3.34700265e+01] [-1.95897605e-02 9.99806368e-01 -1.86227990e-03 -2.71444856e+00] [-2.41668412e-02 1.38858044e-03 9.99706975e-01 -1.80046806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.561346183999994 meters 0.07872052644380888 Centerline is valid? [True, True] Translation: X:33.53, Y:-2.72, Z:-1.80 [[ 9.99518424e-01 1.88543045e-02 2.46461870e-02 3.35320429e+01] [-1.88133654e-02 9.99821223e-01 -1.89191431e-03 -2.72030040e+00] [-2.46774515e-02 1.42732549e-03 9.99694446e-01 -1.80315056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.621346184 meters 0.07830188646458736 Centerline is valid? [True, True] Translation: X:33.59, Y:-2.72, Z:-1.80 [[ 9.99474644e-01 1.96720195e-02 2.57574842e-02 3.35946875e+01] [-1.96273958e-02 9.99805395e-01 -1.98415341e-03 -2.72274668e+00] [-2.57915040e-02 1.47755869e-03 9.99666252e-01 -1.80481269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.681346184 meters 0.07714508432618122 Centerline is valid? [True, True] Translation: X:33.66, Y:-2.72, Z:-1.81 [[ 9.99440183e-01 2.15335650e-02 2.56051861e-02 3.36562361e+01] [-2.14897691e-02 9.99767099e-01 -1.98440518e-03 -2.72116350e+00] [-2.56419540e-02 1.43304474e-03 9.99670164e-01 -1.80529460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.741346184 meters 0.07623720134708183 Centerline is valid? [True, True] Translation: X:33.72, Y:-2.73, Z:-1.81 [[ 9.99348620e-01 2.27092332e-02 2.80468717e-02 3.37171958e+01] [-2.26571115e-02 9.99740929e-01 -2.17481524e-03 -2.72538231e+00] [-2.80889940e-02 1.53793751e-03 9.99604243e-01 -1.80803503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.801346183999996 meters 0.07444749330805761 Centerline is valid? [True, True] Translation: X:33.78, Y:-2.72, Z:-1.81 [[ 9.99182749e-01 2.66686788e-02 3.03745885e-02 3.37776556e+01] [-2.66093070e-02 9.99643130e-01 -2.35726506e-03 -2.72425779e+00] [-3.04266139e-02 1.54709183e-03 9.99535806e-01 -1.80806559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.861346184 meters 0.07265320510675069 Centerline is valid? [True, True] Translation: X:33.84, Y:-2.72, Z:-1.81 [[ 9.99159605e-01 2.99329132e-02 2.80018539e-02 3.38389771e+01] [-2.98837436e-02 9.99551019e-01 -2.17287133e-03 -2.72193308e+00] [-2.80543220e-02 1.33424504e-03 9.99605510e-01 -1.81309634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.921346184 meters 0.071786740002503 Centerline is valid? [True, True] Translation: X:33.90, Y:-2.73, Z:-1.83 [[ 9.99140931e-01 3.41018762e-02 2.35470316e-02 3.38981168e+01] [-3.40682217e-02 9.99417836e-01 -1.82904430e-03 -2.72650363e+00] [-2.35956972e-02 1.02526753e-03 9.99721057e-01 -1.82543224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.981346183999996 meters 0.07116120483565816 Centerline is valid? [True, True] Translation: X:33.96, Y:-2.72, Z:-1.83 [[ 9.99110822e-01 3.57759408e-02 2.23080201e-02 3.39568865e+01] [-3.57461430e-02 9.99359399e-01 -1.73320698e-03 -2.72415695e+00] [-2.23557367e-02 9.34240170e-04 9.99749643e-01 -1.82627238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.041346184 meters 0.07033638107269143 Centerline is valid? [True, True] Translation: X:34.02, Y:-2.73, Z:-1.83 [[ 9.99048794e-01 3.71215486e-02 2.28800821e-02 3.40162881e+01] [-3.70906072e-02 9.99310330e-01 -1.77536935e-03 -2.72555623e+00] [-2.29302069e-02 9.25044471e-04 9.99736640e-01 -1.82743892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.101346184 meters 0.07071297834974537 Centerline is valid? [True, True] Translation: X:34.07, Y:-2.73, Z:-1.83 [[ 9.99011023e-01 3.77704292e-02 2.34599741e-02 3.40732401e+01] [-3.77380856e-02 9.99286007e-01 -1.82003421e-03 -2.73141981e+00] [-2.35119673e-02 9.32899732e-04 9.99723120e-01 -1.83188186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.161346183999996 meters 0.07068222840097262 Centerline is valid? [True, True] Translation: X:34.13, Y:-2.74, Z:-1.84 [[ 9.98995628e-01 3.77539908e-02 2.41323791e-02 3.41313611e+01] [-3.77198293e-02 9.99286605e-01 -1.86938886e-03 -2.73682766e+00] [-2.41857401e-02 9.57242073e-04 9.99707024e-01 -1.83680612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.221346184 meters 0.07190086107717042 Centerline is valid? [True, True] Translation: X:34.19, Y:-2.74, Z:-1.84 [[ 9.98989367e-01 3.64221635e-02 2.63376270e-02 3.41886120e+01] [-3.63810564e-02 9.99335911e-01 -2.03843359e-03 -2.74244098e+00] [-2.63943807e-02 1.07818278e-03 9.99651026e-01 -1.83580897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.281346184 meters 0.07176643966763603 Centerline is valid? [True, True] Translation: X:34.25, Y:-2.75, Z:-1.84 [[ 9.99125249e-01 3.13920943e-02 2.76274022e-02 3.42488210e+01] [-3.13450760e-02 9.99506346e-01 -2.13341247e-03 -2.74878382e+00] [-2.76807361e-02 1.26556325e-03 9.99616014e-01 -1.83552847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.341346183999995 meters 0.07456888054299048 Centerline is valid? [True, True] Translation: X:34.31, Y:-2.76, Z:-1.84 [[ 9.99290387e-01 2.61359341e-02 2.71226150e-02 3.43071965e+01] [-2.60886717e-02 9.99657437e-01 -2.09500646e-03 -2.76359161e+00] [-2.71680788e-02 1.38592682e-03 9.99629919e-01 -1.84189211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.401346184 meters 0.07829120577921117 Centerline is valid? [True, True] Translation: X:34.37, Y:-2.78, Z:-1.85 [[ 9.99466490e-01 2.09330390e-02 2.50707622e-02 3.43659386e+01] [-2.08910572e-02 9.99779885e-01 -1.93531040e-03 -2.77677917e+00] [-2.51057556e-02 1.41052317e-03 9.99683806e-01 -1.84725994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.461346184 meters 0.07988390956458782 Centerline is valid? [True, True] Translation: X:34.43, Y:-2.79, Z:-1.85 [[ 9.99500265e-01 2.17714550e-02 2.29177538e-02 3.44262856e+01] [-2.17367437e-02 9.99762175e-01 -1.76265397e-03 -2.78519137e+00] [-2.29506789e-02 1.26361577e-03 9.99735800e-01 -1.85309013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.521346183999995 meters 0.07722597651617294 Centerline is valid? [True, True] Translation: X:34.49, Y:-2.78, Z:-1.85 [[ 9.99438351e-01 2.35384236e-02 2.38521507e-02 3.44872333e+01] [-2.35010326e-02 9.99722107e-01 -1.84676035e-03 -2.78452305e+00] [-2.38889922e-02 1.28517295e-03 9.99713791e-01 -1.85294966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.581346184 meters 0.07678303897921403 Centerline is valid? [True, True] Translation: X:34.55, Y:-2.79, Z:-1.85 [[ 9.99262398e-01 2.65289962e-02 2.77645817e-02 3.45466688e+01] [-2.64794674e-02 9.99647045e-01 -2.15009881e-03 -2.78848606e+00] [-2.78118220e-02 1.41332156e-03 9.99612177e-01 -1.85223274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.641346184 meters 0.07579538622728037 Centerline is valid? [True, True] Translation: X:34.61, Y:-2.79, Z:-1.86 [[ 9.99190038e-01 2.98258018e-02 2.70127641e-02 3.46071690e+01] [-2.97801564e-02 9.99554287e-01 -2.09058584e-03 -2.79271210e+00] [-2.70630776e-02 1.28444821e-03 9.99632903e-01 -1.85822547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.701346183999995 meters 0.07191685880919221 Centerline is valid? [True, True] Translation: X:34.67, Y:-2.79, Z:-1.87 [[ 9.99161316e-01 3.49148054e-02 2.13920708e-02 3.46668216e+01] [-3.48872673e-02 9.99389877e-01 -1.65926509e-03 -2.78746640e+00] [-2.14369519e-02 9.11562597e-04 9.99769787e-01 -1.86552384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.761346184 meters 0.06994632926303221 Centerline is valid? [True, True] Translation: X:34.73, Y:-2.78, Z:-1.87 [[ 9.98915787e-01 4.15700103e-02 2.09567231e-02 3.47279563e+01] [-4.15451437e-02 9.99135313e-01 -1.62074053e-03 -2.78158045e+00] [-2.10059763e-02 7.48333228e-04 9.99779070e-01 -1.86781707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.821346184 meters 0.0680443676702902 Centerline is valid? [True, True] Translation: X:34.79, Y:-2.78, Z:-1.87 [[ 9.98652894e-01 4.51704702e-02 2.55347827e-02 3.47882747e+01] [-4.51347289e-02 9.98978957e-01 -1.97462538e-03 -2.78369275e+00] [-2.55979053e-02 8.19459857e-04 9.99671984e-01 -1.86582446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.881346183999995 meters 0.06802519769468234 Centerline is valid? [True, True] Translation: X:34.85, Y:-2.79, Z:-1.87 [[ 9.98641322e-01 4.46739321e-02 2.68281506e-02 3.48469312e+01] [-4.46342527e-02 9.99001237e-01 -2.07633684e-03 -2.79162496e+00] [-2.68941138e-02 8.76061316e-04 9.99637904e-01 -1.86850321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.941346184 meters 0.06904754306678038 Centerline is valid? [True, True] Translation: X:34.91, Y:-2.80, Z:-1.87 [[ 9.98825672e-01 4.20522167e-02 2.40601005e-02 3.49055734e+01] [-4.20195911e-02 9.99115055e-01 -1.86019523e-03 -2.79876013e+00] [-2.41170340e-02 8.47015164e-04 9.99708783e-01 -1.87311666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.001346184 meters 0.07299218146284801 Centerline is valid? [True, True] Translation: X:34.96, Y:-2.81, Z:-1.88 [[ 9.99259753e-01 3.37600224e-02 1.84447145e-02 3.49639557e+01] [-3.37394715e-02 9.99429647e-01 -1.42432767e-03 -2.81384971e+00] [-1.84822798e-02 8.00958394e-04 9.99828867e-01 -1.88315406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.061346183999994 meters 0.07386375481583957 Centerline is valid? [True, True] Translation: X:35.02, Y:-2.83, Z:-1.88 [[ 9.99421737e-01 2.58962986e-02 2.20357178e-02 3.50230362e+01] [-2.58650607e-02 9.99663995e-01 -1.70148064e-03 -2.82944416e+00] [-2.20723758e-02 1.13054155e-03 9.99755736e-01 -1.88277211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.121346184 meters 0.07612230339063357 Centerline is valid? [True, True] Translation: X:35.08, Y:-2.84, Z:-1.88 [[ 9.99442222e-01 2.10258427e-02 2.59452980e-02 3.50821667e+01] [-2.09809207e-02 9.99777871e-01 -2.00245533e-03 -2.83731055e+00] [-2.59816381e-02 1.45698216e-03 9.99661359e-01 -1.88116939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.181346184 meters 0.07765664444804257 Centerline is valid? [True, True] Translation: X:35.14, Y:-2.85, Z:-1.88 [[ 9.99541545e-01 1.80168597e-02 2.43329361e-02 3.51423448e+01] [-1.79764949e-02 9.99836649e-01 -1.87659740e-03 -2.84539714e+00] [-2.43627716e-02 1.43831616e-03 9.99702149e-01 -1.88410352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.241346184 meters 0.07851500486100021 Centerline is valid? [True, True] Translation: X:35.20, Y:-2.86, Z:-1.89 [[ 9.99548846e-01 1.84606173e-02 2.36919867e-02 3.52045665e+01] [-1.84226512e-02 9.99828632e-01 -1.81977219e-03 -2.85520624e+00] [-2.37215207e-02 1.38248198e-03 9.99717649e-01 -1.89065229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.301346183999996 meters 0.07822951314116393 Centerline is valid? [True, True] Translation: X:35.27, Y:-2.86, Z:-1.90 [[ 9.99545510e-01 2.15189452e-02 2.11117861e-02 3.52664034e+01] [-2.14893611e-02 9.99767753e-01 -1.62720359e-03 -2.85664058e+00] [-2.11418986e-02 1.17278525e-03 9.99775797e-01 -1.89650604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.361346184 meters 0.07615621725741122 Centerline is valid? [True, True] Translation: X:35.33, Y:-2.85, Z:-1.90 [[ 9.99487077e-01 2.54773827e-02 1.94032597e-02 3.53268019e+01] [-2.54528930e-02 9.99674885e-01 -1.50810041e-03 -2.85461085e+00] [-1.94353739e-02 1.01345778e-03 9.99810602e-01 -1.90001888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.421346184 meters 0.07343523482799041 Centerline is valid? [True, True] Translation: X:35.39, Y:-2.86, Z:-1.90 [[ 9.99241689e-01 3.24951731e-02 2.14502020e-02 3.53869108e+01] [-3.24668529e-02 9.99471422e-01 -1.66730383e-03 -2.85587908e+00] [-2.14930432e-02 9.69618940e-04 9.99768528e-01 -1.90382323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.481346183999996 meters 0.0698107617796235 Centerline is valid? [True, True] Translation: X:35.45, Y:-2.85, Z:-1.90 [[ 9.98951568e-01 3.78652301e-02 2.57291462e-02 3.54480589e+01] [-3.78263155e-02 9.99282332e-01 -1.99766516e-03 -2.84965866e+00] [-2.57863233e-02 1.02233194e-03 9.99666955e-01 -1.89717151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.541346184 meters 0.06981835638879334 Centerline is valid? [True, True] Translation: X:35.51, Y:-2.85, Z:-1.90 [[ 9.98928600e-01 3.97720776e-02 2.36607955e-02 3.55055866e+01] [-3.97396444e-02 9.99208375e-01 -1.83956818e-03 -2.85357386e+00] [-2.37152285e-02 8.97325664e-04 9.99718352e-01 -1.90229699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.601346184 meters 0.06988527613044562 Centerline is valid? [True, True] Translation: X:35.56, Y:-2.86, Z:-1.91 [[ 9.98937472e-01 4.08758804e-02 2.12858787e-02 3.55634171e+01] [-4.08499262e-02 9.99163926e-01 -1.65288695e-03 -2.85902557e+00] [-2.13356454e-02 7.81604139e-04 9.99772064e-01 -1.91075533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.661346183999996 meters 0.07023060923812585 Centerline is valid? [True, True] Translation: X:35.62, Y:-2.86, Z:-1.92 [[ 9.98908152e-01 4.17081536e-02 2.10459740e-02 3.56220085e+01] [-4.16829972e-02 9.99129552e-01 -1.63276476e-03 -2.86294058e+00] [-2.10957542e-02 7.53722758e-04 9.99777176e-01 -1.91578275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.721346184 meters 0.06961666030355522 Centerline is valid? [True, True] Translation: X:35.68, Y:-2.87, Z:-1.92 [[ 9.98908258e-01 4.17982060e-02 2.08614826e-02 3.56795746e+01] [-4.17735134e-02 9.99125795e-01 -1.61821259e-03 -2.86608692e+00] [-2.09108837e-02 7.44988497e-04 9.99781066e-01 -1.91761281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.781346184 meters 0.07037935750459651 Centerline is valid? [True, True] Translation: X:35.74, Y:-2.87, Z:-1.92 [[ 9.98922612e-01 4.05026353e-02 2.26528591e-02 3.57371575e+01] [-4.04732666e-02 9.99179083e-01 -1.75363325e-03 -2.87019767e+00] [-2.27052897e-02 8.34908701e-04 9.99741853e-01 -1.91705389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.841346183999995 meters 0.07028914626494065 Centerline is valid? [True, True] Translation: X:35.80, Y:-2.88, Z:-1.92 [[ 9.98972393e-01 3.85061613e-02 2.39046851e-02 3.57956479e+01] [-3.84729542e-02 9.99257934e-01 -1.84767301e-03 -2.87623912e+00] [-2.39580930e-02 9.26090475e-04 9.99712535e-01 -1.91772762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.901346184 meters 0.07256933787585818 Centerline is valid? [True, True] Translation: X:35.85, Y:-2.89, Z:-1.92 [[ 9.99028596e-01 3.62977690e-02 2.49867147e-02 3.58519959e+01] [-3.62608189e-02 9.99340496e-01 -1.93044390e-03 -2.88925155e+00] [-2.50403066e-02 1.02252992e-03 9.99685919e-01 -1.92367943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.961346184 meters 0.07129456177619647 Centerline is valid? [True, True] Translation: X:35.91, Y:-2.89, Z:-1.92 [[ 9.99005310e-01 3.54449350e-02 2.70563840e-02 3.59113748e+01] [-3.54014201e-02 9.99370997e-01 -2.08576953e-03 -2.89146661e+00] [-2.71132954e-02 1.12586042e-03 9.99631733e-01 -1.92256042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.021346183999995 meters 0.07588797182275386 Centerline is valid? [True, True] Translation: X:35.97, Y:-2.91, Z:-1.94 [[ 9.99205816e-01 3.24929989e-02 2.30638786e-02 3.59692488e+01] [-3.24606619e-02 9.99471437e-01 -1.77516227e-03 -2.90909696e+00] [-2.31093683e-02 1.02508369e-03 9.99732417e-01 -1.93541059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.081346184 meters 0.07304799915524225 Centerline is valid? [True, True] Translation: X:36.03, Y:-2.91, Z:-1.93 [[ 9.99212420e-01 3.23582469e-02 2.29669975e-02 3.60281501e+01] [-3.23261121e-02 9.99475809e-01 -1.76915910e-03 -2.91019506e+00] [-2.30122053e-02 1.02533201e-03 9.99734658e-01 -1.93438761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.141346184 meters 0.07129215807180836 Centerline is valid? [True, True] Translation: X:36.09, Y:-2.91, Z:-1.93 [[ 9.99068644e-01 3.38827931e-02 2.67170571e-02 3.60888511e+01] [-3.38399346e-02 9.99425153e-01 -2.05479792e-03 -2.91211231e+00] [-2.67713212e-02 1.14878071e-03 9.99640924e-01 -1.93067212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.201346183999995 meters 0.07068148881440635 Centerline is valid? [True, True] Translation: X:36.15, Y:-2.92, Z:-1.93 [[ 9.99018607e-01 3.54422853e-02 2.65644004e-02 3.61477271e+01] [-3.54004874e-02 9.99371120e-01 -2.04223257e-03 -2.91866212e+00] [-2.66200760e-02 1.09983562e-03 9.99645018e-01 -1.93465878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.261346184 meters 0.0709889100664661 Centerline is valid? [True, True] Translation: X:36.20, Y:-2.93, Z:-1.94 [[ 9.99032679e-01 3.77185212e-02 2.26057202e-02 3.62046000e+01] [-3.76888241e-02 9.99288012e-01 -1.73846140e-03 -2.92646914e+00] [-2.26551974e-02 8.84796733e-04 9.99742947e-01 -1.94418652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.321346184 meters 0.07054174289503921 Centerline is valid? [True, True] Translation: X:36.26, Y:-2.93, Z:-1.95 [[ 9.98993983e-01 3.99328860e-02 2.04055293e-02 3.62629248e+01] [-3.99092006e-02 9.99202082e-01 -1.56680589e-03 -2.93062618e+00] [-2.04518144e-02 7.50861301e-04 9.99790558e-01 -1.94993660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.381346183999995 meters 0.07041916508438743 Centerline is valid? [True, True] Translation: X:36.32, Y:-2.94, Z:-1.95 [[ 9.98966708e-01 4.02326213e-02 2.11388867e-02 3.63212074e+01] [-4.02073038e-02 9.99190044e-01 -1.62150044e-03 -2.93823476e+00] [-2.11870023e-02 7.69887317e-04 9.99775234e-01 -1.95298284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.441346184 meters 0.06844915102943332 Centerline is valid? [True, True] Translation: X:36.38, Y:-2.94, Z:-1.95 [[ 9.98917221e-01 4.06126950e-02 2.26935069e-02 3.63800157e+01] [-4.05836526e-02 9.99174631e-01 -1.73904608e-03 -2.94402380e+00] [-2.27454037e-02 8.16177677e-04 9.99740957e-01 -1.95317415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.501346184 meters 0.06761271235013096 Centerline is valid? [True, True] Translation: X:36.44, Y:-2.95, Z:-1.96 [[ 9.98807355e-01 4.23925642e-02 2.42226597e-02 3.64391226e+01] [-4.23600597e-02 9.99100690e-01 -1.85367758e-03 -2.94936921e+00] [-2.42794581e-02 8.25393497e-04 9.99704870e-01 -1.95575162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.561346183999994 meters 0.06675547448836007 Centerline is valid? [True, True] Translation: X:36.50, Y:-2.95, Z:-1.96 [[ 9.98704480e-01 4.52250199e-02 2.33250958e-02 3.64977474e+01] [-4.51956665e-02 9.98976560e-01 -1.78435431e-03 -2.95072154e+00] [-2.33819214e-02 7.27849389e-04 9.99726341e-01 -1.95657530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.621346184 meters 0.06538222765296302 Centerline is valid? [True, True] Translation: X:36.56, Y:-2.96, Z:-1.96 [[ 9.98579420e-01 4.76214609e-02 2.39026915e-02 3.65563923e+01] [-4.75913623e-02 9.98865219e-01 -1.82682266e-03 -2.95711535e+00] [-2.39625631e-02 6.86665861e-04 9.99712621e-01 -1.95862801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.681346184 meters 0.06526154097575555 Centerline is valid? [True, True] Translation: X:36.61, Y:-2.97, Z:-1.96 [[ 9.98557752e-01 4.76843725e-02 2.46701512e-02 3.66147213e+01] [-4.76523785e-02 9.98862204e-01 -1.88346905e-03 -2.96802571e+00] [-2.47318936e-02 7.05161237e-04 9.99693871e-01 -1.96234778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.741346184 meters 0.06679637680256512 Centerline is valid? [True, True] Translation: X:36.67, Y:-2.98, Z:-1.97 [[ 9.98641404e-01 4.69188674e-02 2.26708007e-02 3.66711830e+01] [-4.68916599e-02 9.98898482e-01 -1.73052227e-03 -2.97777502e+00] [-2.27270225e-02 6.65099713e-04 9.99741487e-01 -1.96838927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.801346183999996 meters 0.06588929555392735 Centerline is valid? [True, True] Translation: X:36.73, Y:-2.98, Z:-1.97 [[ 9.98656511e-01 4.64885441e-02 2.28908057e-02 3.67298952e+01] [-4.64607764e-02 9.98918593e-01 -1.74367909e-03 -2.98146112e+00] [-2.29471125e-02 6.77811868e-04 9.99736451e-01 -1.96885943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.861346184 meters 0.06654496440465496 Centerline is valid? [True, True] Translation: X:36.79, Y:-3.00, Z:-1.98 [[ 9.98789353e-01 4.44133479e-02 2.11490746e-02 3.67881796e+01] [-4.43892320e-02 9.99013017e-01 -1.60859789e-03 -2.99827476e+00] [-2.11996441e-02 6.67859269e-04 9.99775039e-01 -1.97571046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.921346184 meters 0.0671864383859392 Centerline is valid? [True, True] Translation: X:36.85, Y:-3.01, Z:-1.98 [[ 9.98827164e-01 4.24841823e-02 2.32247828e-02 3.68455268e+01] [-4.24545658e-02 9.99096836e-01 -1.76701752e-03 -3.00969067e+00] [-2.32788773e-02 7.78947032e-04 9.99728707e-01 -1.97714026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.981346183999996 meters 0.06460608206572033 Centerline is valid? [True, True] Translation: X:36.91, Y:-3.01, Z:-1.97 [[ 9.98556483e-01 4.56261554e-02 2.83408401e-02 3.69059142e+01] [-4.55834644e-02 9.98958218e-01 -2.15092510e-03 -3.01052786e+00] [-2.84094535e-02 8.55946528e-04 9.99596004e-01 -1.96842109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.041346184 meters 0.0644717817269095 Centerline is valid? [True, True] Translation: X:36.96, Y:-3.02, Z:-1.98 [[ 9.98493571e-01 4.80847637e-02 2.64280999e-02 3.69633248e+01] [-4.80484742e-02 9.98842989e-01 -2.00682245e-03 -3.02066140e+00] [-2.64940198e-02 7.33969445e-04 9.99648702e-01 -1.97595225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.101346184 meters 0.06505142647305207 Centerline is valid? [True, True] Translation: X:37.02, Y:-3.03, Z:-1.98 [[ 9.98557758e-01 4.74844765e-02 2.50525224e-02 3.70195395e+01] [-4.74516878e-02 9.98871723e-01 -1.90199701e-03 -3.03236547e+00] [-2.51145716e-02 7.10469395e-04 9.99684327e-01 -1.98318180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.161346183999996 meters 0.0658875163448103 Centerline is valid? [True, True] Translation: X:37.08, Y:-3.04, Z:-1.98 [[ 9.98677651e-01 4.41531234e-02 2.63334617e-02 3.70782885e+01] [-4.41158632e-02 9.99024430e-01 -1.99451095e-03 -3.03842100e+00] [-2.63958355e-02 8.30150112e-04 9.99651225e-01 -1.98160096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.221346184 meters 0.0680354058516901 Centerline is valid? [True, True] Translation: X:37.14, Y:-3.06, Z:-1.99 [[ 9.98882523e-01 3.78506286e-02 2.83025676e-02 3.71365952e+01] [-3.78051622e-02 9.99282838e-01 -2.14001014e-03 -3.06094812e+00] [-2.83632708e-02 1.06763557e-03 9.99597111e-01 -1.98660528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.281346184 meters 0.06730597959744512 Centerline is valid? [True, True] Translation: X:37.20, Y:-3.07, Z:-1.99 [[ 9.99055307e-01 3.34515854e-02 2.77395798e-02 3.71965362e+01] [-3.34062299e-02 9.99439656e-01 -2.09699727e-03 -3.06675173e+00] [-2.77941840e-02 1.16834147e-03 9.99612984e-01 -1.98568281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.341346183999995 meters 0.07033134318471874 Centerline is valid? [True, True] Translation: X:37.25, Y:-3.08, Z:-1.99 [[ 9.99350009e-01 2.86244974e-02 2.19134355e-02 3.72547270e+01] [-2.85950324e-02 9.99589705e-01 -1.65684289e-03 -3.07682902e+00] [-2.19518708e-02 1.02915056e-03 9.99758499e-01 -1.99301760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.401346184 meters 0.0724696009364248 Centerline is valid? [True, True] Translation: X:37.31, Y:-3.09, Z:-2.00 [[ 9.99445160e-01 2.60594026e-02 2.07432003e-02 3.73124579e+01] [-2.60324968e-02 9.99659870e-01 -1.56610923e-03 -3.08947496e+00] [-2.07769568e-02 1.02524299e-03 9.99783610e-01 -2.00010119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.461346184 meters 0.07475672222485828 Centerline is valid? [True, True] Translation: X:37.37, Y:-3.10, Z:-2.00 [[ 9.99557036e-01 2.13664127e-02 2.07173610e-02 3.73717129e+01] [-2.13385458e-02 9.99771082e-01 -1.56525701e-03 -3.10336474e+00] [-2.07460623e-02 1.12248530e-03 9.99784147e-01 -2.00488846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.521346183999995 meters 0.07611929561564082 Centerline is valid? [True, True] Translation: X:37.43, Y:-3.11, Z:-2.00 [[ 9.99533731e-01 1.97124157e-02 2.33182673e-02 3.74336910e+01] [-1.96766966e-02 9.99804845e-01 -1.76028222e-03 -3.10594088e+00] [-2.33484160e-02 1.30063498e-03 9.99726543e-01 -2.00304700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.581346184 meters 0.07413878030131402 Centerline is valid? [True, True] Translation: X:37.50, Y:-3.11, Z:-2.00 [[ 9.99509890e-01 1.93851619e-02 2.45803737e-02 3.74964409e+01] [-1.93455280e-02 9.99811148e-01 -1.84921195e-03 -3.10799857e+00] [-2.46115789e-02 1.37278532e-03 9.99696147e-01 -2.00456919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.641346184 meters 0.07750458464983564 Centerline is valid? [True, True] Translation: X:37.56, Y:-3.12, Z:-2.01 [[ 9.99672538e-01 1.42111471e-02 2.12805223e-02 3.75566033e+01] [-1.41800081e-02 9.99898157e-01 -1.61345610e-03 -3.12291539e+00] [-2.13012841e-02 1.31116978e-03 9.99772242e-01 -2.01276958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.701346183999995 meters 0.08980570334500472 Centerline is valid? [True, True] Translation: X:37.61, Y:-3.14, Z:-2.02 [[ 9.99732594e-01 1.02700559e-02 2.07187326e-02 3.76146026e+01] [-1.02396766e-02 9.99946338e-01 -1.57183195e-03 -3.14207594e+00] [-2.07337636e-02 1.35925851e-03 9.99784108e-01 -2.02180015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.761346184 meters 0.08315365477183496 Centerline is valid? [True, True] Translation: X:37.68, Y:-3.14, Z:-2.02 [[ 9.99765132e-01 7.36383019e-03 2.03827261e-02 3.76763464e+01] [-7.33382009e-03 9.99971911e-01 -1.54668945e-03 -3.13690998e+00] [-2.03935431e-02 1.39684293e-03 9.99791054e-01 -2.02038461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.821346184 meters 0.08423546457159346 Centerline is valid? [True, True] Translation: X:37.74, Y:-3.15, Z:-2.02 [[ 9.99707638e-01 6.62387676e-03 2.32543019e-02 3.77380612e+01] [-6.58475516e-03 9.99976774e-01 -1.75850828e-03 -3.14583845e+00] [-2.32654100e-02 1.60487027e-03 9.99728036e-01 -2.02248698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.881346183999995 meters 0.08886519346486697 Centerline is valid? [True, True] Translation: X:37.80, Y:-3.15, Z:-2.03 [[ 9.99790514e-01 1.75572731e-03 2.03923065e-02 3.77984649e+01] [-1.72441633e-03 9.99997307e-01 -1.55291403e-03 -3.15157700e+00] [-2.03949780e-02 1.51742389e-03 9.99790849e-01 -2.02737637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.941346184 meters 0.09232944328849288 Centerline is valid? [True, True] Translation: X:37.86, Y:-3.16, Z:-2.03 [[ 9.99831286e-01 -1.86257567e-03 1.82737813e-02 3.78586325e+01] [ 1.88831083e-03 9.99997249e-01 -1.39115695e-03 -3.16224954e+00] [-1.82711399e-02 1.42542882e-03 9.99832053e-01 -2.03376796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.001346184 meters 0.09608043993227584 Centerline is valid? [True, True] Translation: X:37.92, Y:-3.17, Z:-2.04 [[ 9.99859741e-01 -4.71599272e-03 1.60704104e-02 3.79171875e+01] [ 4.73628918e-03 9.99988033e-01 -1.22514497e-03 -3.17024800e+00] [-1.60644404e-02 1.30108724e-03 9.99870112e-01 -2.03967350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.061346183999994 meters 0.09740898137914107 Centerline is valid? [True, True] Translation: X:37.98, Y:-3.18, Z:-2.04 [[ 9.99815292e-01 -4.43596473e-03 1.87003636e-02 3.79782324e+01] [ 4.46336415e-03 9.99989026e-01 -1.42369877e-03 -3.17525429e+00] [-1.86938429e-02 1.50690233e-03 9.99824119e-01 -2.04247278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.121346184 meters 0.09650112639211789 Centerline is valid? [True, True] Translation: X:38.04, Y:-3.17, Z:-2.04 [[ 9.99779864e-01 -2.04944945e-03 2.08811884e-02 3.80396568e+01] [ 2.08312487e-03 9.99996565e-01 -1.59109204e-03 -3.17302121e+00] [-2.08778558e-02 1.63423990e-03 9.99780698e-01 -2.04352136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.181346184 meters 0.08770791156655205 Centerline is valid? [True, True] Translation: X:38.10, Y:-3.16, Z:-2.04 [[ 9.99762052e-01 -1.55434320e-03 2.17583146e-02 3.81038559e+01] [ 1.59072210e-03 9.99997366e-01 -1.65474629e-03 -3.15875507e+00] [-2.17556852e-02 1.68896398e-03 9.99761890e-01 -2.03950095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.241346183999994 meters 0.09992784613809312 Centerline is valid? [True, True] Translation: X:38.16, Y:-3.18, Z:-2.05 [[ 9.99775359e-01 -1.67958834e-03 2.11284281e-02 3.81627734e+01] [ 1.71391254e-03 9.99997241e-01 -1.60654707e-03 -3.18150208e+00] [-2.11256715e-02 1.64239845e-03 9.99775479e-01 -2.05119888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.301346183999996 meters 0.09086716552263621 Centerline is valid? [True, True] Translation: X:38.23, Y:-3.17, Z:-2.05 [[ 9.99790766e-01 -2.31487347e-03 2.03239985e-02 3.82263556e+01] [ 2.34691785e-03 9.99996040e-01 -1.55296669e-03 -3.16524263e+00] [-2.03203231e-02 1.60034051e-03 9.99792240e-01 -2.04626174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.361346184 meters 0.08741737040538555 Centerline is valid? [True, True] Translation: X:38.29, Y:-3.17, Z:-2.05 [[ 9.99769416e-01 -3.19077676e-03 2.12352092e-02 3.82883163e+01] [ 3.22593814e-03 9.99993482e-01 -1.62175601e-03 -3.16520468e+00] [-2.12298961e-02 1.68988553e-03 9.99773192e-01 -2.04873667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.421346184 meters 0.08683351516707727 Centerline is valid? [True, True] Translation: X:38.35, Y:-3.17, Z:-2.05 [[ 9.99781308e-01 -3.11134983e-03 2.06798329e-02 3.83505996e+01] [ 3.14475797e-03 9.99993802e-01 -1.58317010e-03 -3.16659609e+00] [-2.06747790e-02 1.64785694e-03 9.99784896e-01 -2.05210117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.481346183999996 meters 0.08982277414572605 Centerline is valid? [True, True] Translation: X:38.41, Y:-3.17, Z:-2.06 [[ 9.99788637e-01 -1.76688011e-03 2.04831603e-02 3.84116382e+01] [ 1.79949245e-03 9.99997142e-01 -1.57383142e-03 -3.17160763e+00] [-2.04803210e-02 1.61035806e-03 9.99788959e-01 -2.05726307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.541346184 meters 0.08412484336559319 Centerline is valid? [True, True] Translation: X:38.47, Y:-3.17, Z:-2.06 [[ 9.99744770e-01 1.88742243e-03 2.25129217e-02 3.84724077e+01] [-1.84864348e-03 9.99996772e-01 -1.74320719e-03 -3.16717033e+00] [-2.25161392e-02 1.70114391e-03 9.99745032e-01 -2.05591381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.601346184 meters 0.08737895731107911 Centerline is valid? [True, True] Translation: X:38.53, Y:-3.17, Z:-2.06 [[ 9.99745564e-01 6.14570897e-03 2.17034032e-02 3.85318009e+01] [-6.11065714e-03 9.99979917e-01 -1.68098863e-03 -3.17156427e+00] [-2.17132982e-02 1.54793887e-03 9.99763040e-01 -2.06132458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.661346183999996 meters 0.08969686112640242 Centerline is valid? [True, True] Translation: X:38.59, Y:-3.18, Z:-2.07 [[ 9.99749036e-01 8.16310603e-03 2.08621456e-02 3.85912743e+01] [-8.13124048e-03 9.99965642e-01 -1.61180647e-03 -3.17903706e+00] [-2.08745862e-02 1.44176684e-03 9.99781063e-01 -2.06743706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.721346184 meters 0.08005133905413579 Centerline is valid? [True, True] Translation: X:38.65, Y:-3.17, Z:-2.07 [[ 9.99747494e-01 1.11760427e-02 1.94947277e-02 3.86539350e+01] [-1.11487277e-02 9.99936712e-01 -1.50926907e-03 -3.16868171e+00] [-1.95103616e-02 1.29154656e-03 9.99808821e-01 -2.06852010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.781346184 meters 0.07822453116666457 Centerline is valid? [True, True] Translation: X:38.71, Y:-3.17, Z:-2.07 [[ 9.99673175e-01 1.76384146e-02 1.85048580e-02 3.87142099e+01] [-1.76148547e-02 9.99843816e-01 -1.43541020e-03 -3.16726757e+00] [-1.85272862e-02 1.10898069e-03 9.99827740e-01 -2.07422756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.841346183999995 meters 0.07426606053345178 Centerline is valid? [True, True] Translation: X:38.78, Y:-3.16, Z:-2.07 [[ 9.99494296e-01 2.50262285e-02 1.96173616e-02 3.87758631e+01] [-2.50011857e-02 9.99686265e-01 -1.52081657e-03 -3.15895471e+00] [-1.96492673e-02 1.02959018e-03 9.99806404e-01 -2.07159852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.901346184 meters 0.07162933212603793 Centerline is valid? [True, True] Translation: X:38.84, Y:-3.16, Z:-2.08 [[ 9.99232120e-01 3.40762609e-02 1.93385102e-02 3.88364541e+01] [-3.40535668e-02 9.99418881e-01 -1.50170366e-03 -3.15538464e+00] [-1.93784447e-02 8.42005277e-04 9.99811866e-01 -2.07622310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.961346184 meters 0.06887489709633855 Centerline is valid? [True, True] Translation: X:38.90, Y:-3.15, Z:-2.08 [[ 9.98966254e-01 4.16464905e-02 1.82206876e-02 3.88970807e+01] [-4.16276314e-02 9.99132195e-01 -1.41325070e-03 -3.14923694e+00] [-1.82637325e-02 6.53305690e-04 9.99832991e-01 -2.07796142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.021346183999995 meters 0.06783340517641717 Centerline is valid? [True, True] Translation: X:38.96, Y:-3.15, Z:-2.08 [[ 9.98760625e-01 4.62220967e-02 1.84589183e-02 3.89564726e+01] [-4.62035020e-02 9.98931020e-01 -1.43278296e-03 -3.14943849e+00] [-1.85054123e-02 5.78140535e-04 9.99828593e-01 -2.08313214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.081346184 meters 0.06530216706454747 Centerline is valid? [True, True] Translation: X:39.02, Y:-3.14, Z:-2.08 [[ 9.98270984e-01 5.49390114e-02 2.08984889e-02 3.90176544e+01] [-5.49171278e-02 9.98489602e-01 -1.62003908e-03 -3.14356422e+00] [-2.09559272e-02 4.69553021e-04 9.99780290e-01 -2.08448777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.141346184 meters 0.06452151440803056 Centerline is valid? [True, True] Translation: X:39.08, Y:-3.14, Z:-2.09 [[ 9.97996407e-01 5.93037752e-02 2.20507039e-02 3.90776095e+01] [-5.92804540e-02 9.98239902e-01 -1.71036079e-03 -3.14055636e+00] [-2.21133234e-02 3.99758187e-04 9.99755391e-01 -2.08509345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.201346183999995 meters 0.06376420354115404 Centerline is valid? [True, True] Translation: X:39.14, Y:-3.15, Z:-2.08 [[ 9.97783201e-01 6.13559265e-02 2.57708157e-02 3.91378224e+01] [-6.13247786e-02 9.98115865e-01 -1.99798702e-03 -3.14592212e+00] [-2.58448483e-02 4.13168313e-04 9.99665881e-01 -2.08401489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.261346184 meters 0.06383200852815421 Centerline is valid? [True, True] Translation: X:39.20, Y:-3.15, Z:-2.09 [[ 9.97830265e-01 6.05300579e-02 2.59012596e-02 3.91956414e+01] [-6.04983313e-02 9.98166280e-01 -2.00749866e-03 -3.15362595e+00] [-2.59752780e-02 4.36159934e-04 9.99662490e-01 -2.08839201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.321346184 meters 0.06450057936868966 Centerline is valid? [True, True] Translation: X:39.25, Y:-3.16, Z:-2.09 [[ 9.98100757e-01 5.71484432e-02 2.29985924e-02 3.92545489e+01] [-5.71225852e-02 9.98365585e-01 -1.78025721e-03 -3.16212082e+00] [-2.30627421e-02 4.63137009e-04 9.99733912e-01 -2.09377085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.381346183999995 meters 0.06589450375672792 Centerline is valid? [True, True] Translation: X:39.31, Y:-3.18, Z:-2.10 [[ 9.98459645e-01 5.15310383e-02 2.05642535e-02 3.93120145e+01] [-5.15091862e-02 9.98671253e-01 -1.59124835e-03 -3.17792276e+00] [-2.06189275e-02 5.29549297e-04 9.99787267e-01 -2.09995680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.441346184 meters 0.06661506217025337 Centerline is valid? [True, True] Translation: X:39.37, Y:-3.19, Z:-2.11 [[ 9.98566514e-01 4.96742837e-02 1.99344688e-02 3.93699621e+01] [-4.96533700e-02 9.98765319e-01 -1.54301581e-03 -3.18873078e+00] [-1.99865043e-02 5.50990362e-04 9.99800098e-01 -2.10516266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.501346184 meters 0.0656690251971656 Centerline is valid? [True, True] Translation: X:39.43, Y:-3.19, Z:-2.10 [[ 9.98482925e-01 5.07468604e-02 2.13682952e-02 3.94294925e+01] [-5.07231127e-02 9.98711388e-01 -1.65223373e-03 -3.18826200e+00] [-2.14246054e-02 5.65860721e-04 9.99770307e-01 -2.10223923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.561346183999994 meters 0.06591464084180167 Centerline is valid? [True, True] Translation: X:39.49, Y:-3.19, Z:-2.11 [[ 9.98486765e-01 5.11435348e-02 2.02118362e-02 3.94874302e+01] [-5.11223957e-02 9.98691175e-01 -1.56152981e-03 -3.19473949e+00] [-2.02652446e-02 5.25889361e-04 9.99794501e-01 -2.10781795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.621346184 meters 0.06695400794691468 Centerline is valid? [True, True] Translation: X:39.54, Y:-3.21, Z:-2.11 [[ 9.98634538e-01 4.77215230e-02 2.12535824e-02 3.95434699e+01] [-4.76973999e-02 9.98860484e-01 -1.64078836e-03 -3.21299834e+00] [-2.13076646e-02 6.24807306e-04 9.99772771e-01 -2.11398562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.681346184 meters 0.06742651150706168 Centerline is valid? [True, True] Translation: X:39.60, Y:-3.22, Z:-2.11 [[ 9.98733656e-01 4.52840515e-02 2.19189181e-02 3.96019784e+01] [-4.52578545e-02 9.98973909e-01 -1.69002063e-03 -3.21523956e+00] [-2.19729582e-02 6.95877274e-04 9.99758323e-01 -2.11246127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.741346183999994 meters 0.06833897892963911 Centerline is valid? [True, True] Translation: X:39.66, Y:-3.23, Z:-2.12 [[ 9.98899557e-01 4.20155265e-02 2.08415794e-02 3.96604856e+01] [-4.19911889e-02 9.99116693e-01 -1.60419416e-03 -3.22521165e+00] [-2.08905709e-02 7.27266142e-04 9.99781504e-01 -2.11617713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.801346183999996 meters 0.06945672030966468 Centerline is valid? [True, True] Translation: X:39.72, Y:-3.24, Z:-2.12 [[ 9.98991335e-01 3.88973694e-02 2.24345305e-02 3.97173410e+01] [-3.88683913e-02 9.99242847e-01 -1.72644701e-03 -3.24271090e+00] [-2.24846983e-02 8.52711496e-04 9.99746824e-01 -2.12449071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.861346184 meters 0.07020104233558173 Centerline is valid? [True, True] Translation: X:39.78, Y:-3.24, Z:-2.12 [[ 9.99125920e-01 3.54441268e-02 2.21609803e-02 3.97771063e+01] [-3.54150710e-02 9.99371240e-01 -1.70234094e-03 -3.24327880e+00] [-2.22073844e-02 9.16020272e-04 9.99752966e-01 -2.12020803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.921346184 meters 0.07223495305992933 Centerline is valid? [True, True] Translation: X:39.84, Y:-3.26, Z:-2.13 [[ 9.99349469e-01 3.00933242e-02 1.98753805e-02 3.98358010e+01] [-3.00689363e-02 9.99546664e-01 -1.52481858e-03 -3.25927204e+00] [-1.99122571e-02 9.26195094e-04 9.99801302e-01 -2.12636259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.981346183999996 meters 0.07714687265463906 Centerline is valid? [True, True] Translation: X:39.89, Y:-3.28, Z:-2.14 [[ 9.99562221e-01 2.25757790e-02 1.91232881e-02 3.98934441e+01] [-2.25518377e-02 9.99744599e-01 -1.46670495e-03 -3.28209823e+00] [-1.91515160e-02 1.03479757e-03 9.99816057e-01 -2.13511471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.041346184 meters 0.08280501491201395 Centerline is valid? [True, True] Translation: X:39.95, Y:-3.30, Z:-2.13 [[ 9.99703984e-01 1.18545703e-02 2.12465052e-02 3.99529154e+01] [-1.18226272e-02 9.99928784e-01 -1.62843733e-03 -3.29802923e+00] [-2.12642965e-02 1.37676577e-03 9.99772941e-01 -2.13323266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.101346184 meters 0.08281728399466753 Centerline is valid? [True, True] Translation: X:40.01, Y:-3.30, Z:-2.13 [[ 9.99763900e-01 6.95816928e-03 2.05846403e-02 4.00137953e+01] [-6.92716555e-03 9.99974763e-01 -1.57708027e-03 -3.30431827e+00] [-2.05950944e-02 1.43411471e-03 9.99786870e-01 -2.13498338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.161346183999996 meters 0.08558240666447794 Centerline is valid? [True, True] Translation: X:40.07, Y:-3.32, Z:-2.14 [[ 9.99825686e-01 4.07986585e-03 1.82195512e-02 4.00728525e+01] [-4.05508246e-03 9.99990802e-01 -1.39700058e-03 -3.31745468e+00] [-1.82250832e-02 1.32287528e-03 9.99833034e-01 -2.14247355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.221346184 meters 0.08705833625970183 Centerline is valid? [True, True] Translation: X:40.13, Y:-3.32, Z:-2.14 [[ 9.99790485e-01 3.80317018e-03 2.01127528e-02 4.01347520e+01] [-3.77306832e-03 9.99991705e-01 -1.53439061e-03 -3.32009642e+00] [-2.01184215e-02 1.45818234e-03 9.99796541e-01 -2.14095980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.281346184 meters 0.09116233069774077 Centerline is valid? [True, True] Translation: X:40.19, Y:-3.33, Z:-2.15 [[ 9.99771121e-01 2.64547278e-03 2.12298707e-02 4.01942171e+01] [-2.61140898e-03 9.99995258e-01 -1.63208490e-03 -3.33460421e+00] [-2.12340876e-02 1.57627148e-03 9.99773289e-01 -2.14862455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.341346183999995 meters 0.09231584654020826 Centerline is valid? [True, True] Translation: X:40.25, Y:-3.34, Z:-2.15 [[ 9.99814490e-01 -2.28216806e-03 1.91253010e-02 4.02545890e+01] [ 2.31073307e-03 9.99996247e-01 -1.47160629e-03 -3.34139069e+00] [-1.91218707e-02 1.51552676e-03 9.99816012e-01 -2.15329821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.401346184 meters 0.09548295875690464 Centerline is valid? [True, True] Translation: X:40.32, Y:-3.35, Z:-2.16 [[ 9.99826558e-01 -4.40066225e-03 1.80966353e-02 4.03150224e+01] [ 4.42657972e-03 9.99989233e-01 -1.39236349e-03 -3.34890111e+00] [-1.80903131e-02 1.47222820e-03 9.99835273e-01 -2.15731373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.461346184 meters 0.09454755997817726 Centerline is valid? [True, True] Translation: X:40.38, Y:-3.35, Z:-2.16 [[ 9.99794042e-01 -7.67642803e-03 1.87868489e-02 4.03757103e+01] [ 7.70494951e-03 9.99969271e-01 -1.44625007e-03 -3.35485491e+00] [-1.87751696e-02 1.59070393e-03 9.99822466e-01 -2.15905297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.521346183999995 meters 0.0894276170381 Centerline is valid? [True, True] Translation: X:40.44, Y:-3.35, Z:-2.15 [[ 9.99726851e-01 -8.99498755e-03 2.15711238e-02 4.04385425e+01] [ 9.03280890e-03 9.99957831e-01 -1.65653665e-03 -3.34945342e+00] [-2.15553136e-02 1.85093200e-03 9.99765944e-01 -2.15265292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.581346184 meters 0.08835502233566514 Centerline is valid? [True, True] Translation: X:40.50, Y:-3.35, Z:-2.16 [[ 9.99738455e-01 -8.87433562e-03 2.10776815e-02 4.05004046e+01] [ 8.91039716e-03 9.99958993e-01 -1.61758646e-03 -3.35188758e+00] [-2.10624621e-02 1.80497390e-03 9.99776532e-01 -2.15511199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.641346184 meters 0.09059556922729432 Centerline is valid? [True, True] Translation: X:40.56, Y:-3.36, Z:-2.16 [[ 9.99767384e-01 -7.38138272e-03 2.02655546e-02 4.05610630e+01] [ 7.41451057e-03 9.99971295e-01 -1.56003623e-03 -3.36217320e+00] [-2.02534576e-02 1.70993251e-03 9.99793415e-01 -2.16366921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.701346183999995 meters 0.0973904560556037 Centerline is valid? [True, True] Translation: X:40.62, Y:-3.38, Z:-2.18 [[ 9.99818177e-01 -8.14776006e-03 1.72402758e-02 4.06191055e+01] [ 8.17204154e-03 9.99965713e-01 -1.33843461e-03 -3.37888255e+00] [-1.72287794e-02 1.47907950e-03 9.99850480e-01 -2.17543996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.761346184 meters 0.09215269194862007 Centerline is valid? [True, True] Translation: X:40.68, Y:-3.38, Z:-2.17 [[ 9.99824381e-01 -9.02709700e-03 1.64231366e-02 4.06814724e+01] [ 9.04918033e-03 9.99958248e-01 -1.27083041e-03 -3.37556643e+00] [-1.64109790e-02 1.41922316e-03 9.99864324e-01 -2.17486922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.821346184 meters 0.09609352733237092 Centerline is valid? [True, True] Translation: X:40.74, Y:-3.39, Z:-2.17 [[ 9.99700337e-01 -9.86313556e-03 2.24043614e-02 4.07419233e+01] [ 9.90460744e-03 9.99949433e-01 -1.74084781e-03 -3.38544348e+00] [-2.23860583e-02 1.96223254e-03 9.99747475e-01 -2.17162991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.881346183999995 meters 0.09563659351658292 Centerline is valid? [True, True] Translation: X:40.80, Y:-3.39, Z:-2.17 [[ 9.99632735e-01 -1.09789226e-02 2.47761839e-02 4.08033225e+01] [ 1.10298661e-02 9.99937325e-01 -1.92042015e-03 -3.39414588e+00] [-2.47535469e-02 2.19299283e-03 9.99691179e-01 -2.17367514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.941346184 meters 0.09857451447463456 Centerline is valid? [True, True] Translation: X:40.86, Y:-3.41, Z:-2.18 [[ 9.99681991e-01 -1.26575058e-02 2.18106493e-02 4.08628634e+01] [ 1.26976179e-02 9.99917934e-01 -1.70159737e-03 -3.40656826e+00] [-2.17873214e-02 1.97799954e-03 9.99760671e-01 -2.18183369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.001346184 meters 0.1040437972772506 Centerline is valid? [True, False] Translation: X:40.87, Y:-3.41, Z:-2.18 [[ 9.99892590e-01 -1.37851091e-02 4.97781303e-03 4.08668617e+01] [ 1.37996114e-02 9.99900602e-01 -2.89089242e-03 -3.40765595e+00] [-4.93746698e-03 2.95927380e-03 9.99983432e-01 -2.17670123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.061346183999994 meters 0.10365000811146927 Centerline is valid? [False, False] Translation: X:40.87, Y:-3.41, Z:-2.18 [[ 9.99897131e-01 -1.33692857e-02 5.19508060e-03 4.08662808e+01] [ 1.33784966e-02 9.99908986e-01 -1.74231498e-03 -3.41177054e+00] [-5.17131427e-03 1.81163812e-03 9.99984988e-01 -2.17648017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.121346184 meters 0.10422282987959522 Centerline is valid? [False, False] Translation: X:40.87, Y:-3.42, Z:-2.18 [[ 9.99902161e-01 -1.28626379e-02 5.49730684e-03 4.08650574e+01] [ 1.28646802e-02 9.99917190e-01 -3.36305145e-04 -3.41786689e+00] [-5.49252584e-03 4.06993335e-04 9.99984833e-01 -2.17563761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.181346184 meters 0.09281243976698143 Centerline is valid? [False, True] Translation: X:40.87, Y:-3.42, Z:-2.18 [[ 9.99910025e-01 -1.23877180e-02 5.14645232e-03 4.08661406e+01] [ 1.23862076e-02 9.99923235e-01 3.25254994e-04 -3.41886810e+00] [-5.15008642e-03 -2.61480702e-04 9.99986704e-01 -2.17620523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.241346183999994 meters 0.1027117470217376 Centerline is valid? [True, False] Translation: X:40.86, Y:-3.42, Z:-2.18 [[ 9.99971755e-01 -6.71663361e-03 -3.37291514e-03 4.08640821e+01] [ 6.69543745e-03 9.99958012e-01 -6.25667918e-03 -3.42175216e+00] [ 3.41479734e-03 6.23391932e-03 9.99974738e-01 -2.17641498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.301346183999996 meters 0.10355132180205742 Centerline is valid? [False, False] Translation: X:40.87, Y:-3.43, Z:-2.18 [[ 9.99980208e-01 -5.27881090e-03 -3.42307668e-03 4.08654705e+01] [ 5.26656468e-03 9.99979735e-01 -3.57674721e-03 -3.42812754e+00] [ 3.44188828e-03 3.55864857e-03 9.99987745e-01 -2.17877059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.361346184 meters 0.10487561561031733 Centerline is valid? [False, False] Translation: X:40.87, Y:-3.43, Z:-2.18 [[ 9.99983526e-01 -4.64935707e-03 -3.36617366e-03 4.08654306e+01] [ 4.64197161e-03 9.99986809e-01 -2.19852036e-03 -3.43216708e+00] [ 3.37635096e-03 2.18285846e-03 9.99991918e-01 -2.17901994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.421346184 meters 0.09764826576062803 Centerline is valid? [False, True] Translation: X:40.86, Y:-3.44, Z:-2.18 [[ 9.99988255e-01 -3.82810540e-03 -2.97255832e-03 4.08647527e+01] [ 3.82827832e-03 9.99992671e-01 5.24865699e-05 -3.43956788e+00] [ 2.97233561e-03 -6.38657340e-05 9.99995581e-01 -2.17940879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.481346183999996 meters 0.09843509410931786 Centerline is valid? [True, True] Translation: X:40.93, Y:-3.45, Z:-2.18 [[ 9.99984257e-01 -2.98762944e-03 -4.74961946e-03 4.09250242e+01] [ 2.98948291e-03 9.99995458e-01 3.83183023e-04 -3.44563679e+00] [ 4.74845308e-03 -3.97375897e-04 9.99988647e-01 -2.18145580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.541346184 meters 0.09834522872346559 Centerline is valid? [True, True] Translation: X:40.98, Y:-3.45, Z:-2.19 [[ 9.99969734e-01 4.57031003e-04 -7.76671157e-03 4.09831477e+01] [-4.52190049e-04 9.99999702e-01 6.25039792e-04 -3.45177110e+00] [ 7.76699492e-03 -6.21508845e-04 9.99969643e-01 -2.18868569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.601346184 meters 0.09895811298221079 Centerline is valid? [True, True] Translation: X:41.04, Y:-3.46, Z:-2.19 [[ 9.99967601e-01 1.99281848e-03 -7.79905145e-03 4.10414624e+01] [-1.98798230e-03 9.99997827e-01 6.27801365e-04 -3.46053500e+00] [ 7.80028560e-03 -6.12276648e-04 9.99969390e-01 -2.19088594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.661346183999996 meters 0.08989996759570404 Centerline is valid? [True, True] Translation: X:41.10, Y:-3.45, Z:-2.18 [[ 9.99968305e-01 1.35380864e-03 -7.84577732e-03 4.11012780e+01] [-1.34890630e-03 9.99998892e-01 6.30095119e-04 -3.44887821e+00] [ 7.84662166e-03 -6.19491929e-04 9.99969023e-01 -2.18397540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.721346184 meters 0.09242272935502777 Centerline is valid? [True, True] Translation: X:41.16, Y:-3.46, Z:-2.18 [[ 9.99978685e-01 -5.04375824e-04 -6.50967844e-03 4.11600413e+01] [ 5.07791949e-04 9.99999734e-01 5.23134129e-04 -3.46048922e+00] [ 6.50941286e-03 -5.26428540e-04 9.99978675e-01 -2.18475150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.781346184 meters 0.08627513410217859 Centerline is valid? [True, True] Translation: X:41.22, Y:-3.45, Z:-2.18 [[ 9.99963070e-01 -7.01629250e-04 -8.56540328e-03 4.12198489e+01] [ 7.07539549e-04 9.99999514e-01 6.87009213e-04 -3.45399239e+00] [ 8.56491709e-03 -6.93044204e-04 9.99963080e-01 -2.18200770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.841346183999995 meters 0.09718444839063019 Centerline is valid? [True, True] Translation: X:41.28, Y:-3.48, Z:-2.19 [[ 9.99950859e-01 -1.53859879e-03 -9.79346453e-03 4.12766258e+01] [ 1.54636722e-03 9.99998496e-01 7.85702154e-04 -3.47549991e+00] [ 9.79224092e-03 -8.00807836e-04 9.99951734e-01 -2.19184631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.901346184 meters 0.08877980997929824 Centerline is valid? [True, True] Translation: X:41.34, Y:-3.47, Z:-2.19 [[ 9.99957276e-01 -3.82251286e-03 -8.41632742e-03 4.13362422e+01] [ 3.82832474e-03 9.99992444e-01 6.74545903e-04 -3.47120342e+00] [ 8.41368537e-03 -7.06737518e-04 9.99964355e-01 -2.18740703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.961346184 meters 0.08870165823467716 Centerline is valid? [True, True] Translation: X:41.40, Y:-3.47, Z:-2.18 [[ 9.99959767e-01 -5.94877806e-03 -6.71396966e-03 4.13955722e+01] [ 5.95251967e-03 9.99982139e-01 5.37441658e-04 -3.47130900e+00] [ 6.71065262e-03 -5.77385071e-04 9.99977317e-01 -2.18348950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.021346183999995 meters 0.09162142372617257 Centerline is valid? [True, True] Translation: X:41.45, Y:-3.48, Z:-2.19 [[ 9.99954186e-01 -6.63867185e-03 -6.89597200e-03 4.14541257e+01] [ 6.64265082e-03 9.99977784e-01 5.54254999e-04 -3.47782877e+00] [ 6.89213928e-03 -6.00037140e-04 9.99976069e-01 -2.18507399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.081346184 meters 0.0928618687373341 Centerline is valid? [True, True] Translation: X:41.51, Y:-3.49, Z:-2.19 [[ 9.99932584e-01 -7.80833411e-03 -8.59404509e-03 4.15132012e+01] [ 7.81454469e-03 9.99969228e-01 6.89318026e-04 -3.48842615e+00] [ 8.58839821e-03 -7.56430104e-04 9.99962833e-01 -2.19119711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.141346184 meters 0.0957584161062552 Centerline is valid? [True, True] Translation: X:41.57, Y:-3.50, Z:-2.20 [[ 9.99871772e-01 -1.04767589e-02 -1.21109933e-02 4.15731044e+01] [ 1.04892917e-02 9.99944514e-01 9.71774513e-04 -3.49508028e+00] [ 1.21001402e-02 -1.09868565e-03 9.99926187e-01 -2.19558146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.201346183999995 meters 0.09777769153462094 Centerline is valid? [True, True] Translation: X:41.63, Y:-3.50, Z:-2.20 [[ 9.99855911e-01 -1.16435206e-02 -1.23525921e-02 4.16323367e+01] [ 1.16566329e-02 9.99931569e-01 9.90039982e-04 -3.50109304e+00] [ 1.23402192e-02 -1.13388696e-03 9.99923214e-01 -2.19618295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.261346184 meters 0.10041598311491522 Centerline is valid? [True, False] Translation: X:41.62, Y:-3.50, Z:-2.20 [[ 9.99953384e-01 -7.74275934e-03 5.76883292e-03 4.16247175e+01] [ 7.76940643e-03 9.99959186e-01 -4.61114511e-03 -3.50294403e+00] [-5.73289448e-03 4.65575056e-03 9.99972729e-01 -2.20258381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.321346184 meters 0.10277855322307132 Centerline is valid? [False, False] Translation: X:41.62, Y:-3.50, Z:-2.20 [[ 9.99971540e-01 -4.03245596e-03 6.37645712e-03 4.16226669e+01] [ 4.03518146e-03 9.99991773e-01 -4.14623974e-04 -3.50492685e+00] [-6.37473271e-03 4.40342335e-04 9.99979584e-01 -2.20139489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.381346183999995 meters 0.10613999803264136 Centerline is valid? [False, False] Translation: X:41.62, Y:-3.51, Z:-2.20 [[ 9.99973012e-01 -3.37093703e-03 6.52782108e-03 4.16231831e+01] [ 3.36514499e-03 9.99993935e-01 8.98066554e-04 -3.50809752e+00] [-6.53080881e-03 -8.76075252e-04 9.99978290e-01 -2.20268565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.441346184 meters 0.10732814797654003 Centerline is valid? [False, False] Translation: X:41.62, Y:-3.51, Z:-2.20 [[ 9.99974345e-01 -3.09214174e-03 6.46125503e-03 4.16232642e+01] [ 3.08343482e-03 9.99994325e-01 1.35708576e-03 -3.50941447e+00] [-6.46541467e-03 -1.33712809e-03 9.99978205e-01 -2.20256086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.501346184 meters 0.10878070984182185 Centerline is valid? [False, False] Translation: X:41.62, Y:-3.51, Z:-2.20 [[ 9.99976152e-01 -2.80836453e-03 6.30935845e-03 4.16239669e+01] [ 2.79755654e-03 9.99994606e-01 1.72118164e-03 -3.50980888e+00] [-6.31415812e-03 -1.70348981e-03 9.99978615e-01 -2.20313100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.561346183999994 meters 0.10716786227692712 Centerline is valid? [False, False] Translation: X:41.62, Y:-3.51, Z:-2.20 [[ 9.99976470e-01 -2.54843116e-03 6.36902714e-03 4.16235414e+01] [ 2.53391800e-03 9.99994177e-01 2.28574194e-03 -3.51227420e+00] [-6.37481511e-03 -2.26954957e-03 9.99977105e-01 -2.20274252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.621346184 meters 0.09562643055574681 Centerline is valid? [False, True] Translation: X:41.62, Y:-3.51, Z:-2.20 [[ 9.99978124e-01 -2.02215131e-03 6.29788033e-03 4.16240089e+01] [ 2.00262856e-03 9.99993175e-01 3.10465836e-03 -3.51433744e+00] [-6.30411543e-03 -3.09197813e-03 9.99975349e-01 -2.20320500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.681346184 meters 0.09697817253058416 Centerline is valid? [True, True] Translation: X:41.68, Y:-3.51, Z:-2.20 [[ 9.99983865e-01 1.05093915e-05 5.68058499e-03 4.16838697e+01] [-7.44560696e-06 9.99999855e-01 -5.39364011e-04 -3.51498438e+00] [-5.68058983e-03 5.39313014e-04 9.99983720e-01 -2.20422964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.741346183999994 meters 0.0981264521990954 Centerline is valid? [True, True] Translation: X:41.74, Y:-3.53, Z:-2.21 [[ 9.99988964e-01 1.59334981e-03 4.41961682e-03 4.17431224e+01] [-1.59151331e-03 9.99998646e-01 -4.19017460e-04 -3.52602383e+00] [-4.42027848e-03 4.11978956e-04 9.99990146e-01 -2.21236821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.801346183999996 meters 0.10107664014151668 Centerline is valid? [True, False] Translation: X:41.74, Y:-3.53, Z:-2.21 [[ 9.99987086e-01 2.20454202e-03 4.57904109e-03 4.17437726e+01] [-2.20808080e-03 9.99997267e-01 7.67908991e-04 -3.52898642e+00] [-4.57733569e-03 -7.78009967e-04 9.99989221e-01 -2.21393166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.861346184 meters 0.09143948743361448 Centerline is valid? [False, True] Translation: X:41.75, Y:-3.52, Z:-2.21 [[ 9.99989273e-01 2.55220177e-03 3.86520933e-03 4.17450424e+01] [-2.55194516e-03 9.99996741e-01 -7.13214230e-05 -3.52083228e+00] [-3.86537877e-03 6.14568557e-05 9.99992528e-01 -2.21343673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.921346184 meters 0.09720245625369821 Centerline is valid? [True, True] Translation: X:41.80, Y:-3.54, Z:-2.22 [[ 9.99975050e-01 1.90246202e-03 6.80296962e-03 4.18042579e+01] [-1.89803283e-03 9.99997983e-01 -6.57463979e-04 -3.53623413e+00] [-6.80420670e-03 6.44535316e-04 9.99976643e-01 -2.21743602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.981346183999996 meters 0.10183001114999751 Centerline is valid? [True, False] Translation: X:41.81, Y:-3.54, Z:-2.22 [[ 9.99975487e-01 -1.11293068e-03 6.91277339e-03 4.18051636e+01] [ 1.13065951e-03 9.99996081e-01 -2.56126936e-03 -3.54301199e+00] [-6.90989578e-03 2.56902257e-03 9.99972826e-01 -2.21932609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.041346184 meters 0.10116806814699261 Centerline is valid? [False, False] Translation: X:41.81, Y:-3.54, Z:-2.22 [[ 9.99975133e-01 -1.30154730e-03 6.93108725e-03 4.18056589e+01] [ 1.32236988e-03 9.99994624e-01 -3.00049419e-03 -3.54062570e+00] [-6.92714471e-03 3.00958503e-03 9.99971478e-01 -2.21989133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.101346184 meters 0.10342631335963916 Centerline is valid? [False, False] Translation: X:41.81, Y:-3.54, Z:-2.22 [[ 9.99975523e-01 -1.04040865e-03 6.91894455e-03 4.18060284e+01] [ 1.05856566e-03 9.99996005e-01 -2.62110149e-03 -3.54110481e+00] [-6.91618989e-03 2.62836149e-03 9.99972629e-01 -2.22034353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.161346183999996 meters 0.10371975443147041 Centerline is valid? [False, False] Translation: X:41.80, Y:-3.55, Z:-2.22 [[ 9.99972467e-01 -6.12332924e-04 7.39531923e-03 4.18045304e+01] [ 6.21651001e-04 9.99999016e-01 -1.25776359e-03 -3.54816311e+00] [-7.39454178e-03 1.26232627e-03 9.99971863e-01 -2.21967347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.221346184 meters 0.10282960719405776 Centerline is valid? [False, False] Translation: X:41.81, Y:-3.55, Z:-2.22 [[ 9.99974556e-01 -2.07201043e-04 7.13052338e-03 4.18061365e+01] [ 2.13459389e-04 9.99999593e-01 -8.76934080e-04 -3.54733674e+00] [-7.13033877e-03 8.78433845e-04 9.99974193e-01 -2.22118028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.281346184 meters 0.10000619071048289 Centerline is valid? [False, False] Translation: X:41.81, Y:-3.55, Z:-2.22 [[ 9.99976502e-01 3.09255665e-05 6.85523447e-03 4.18073414e+01] [-2.58666891e-05 9.99999727e-01 -7.38045762e-04 -3.54636911e+00] [-6.85525543e-03 7.37851097e-04 9.99976230e-01 -2.22204138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.341346183999995 meters 0.1004728141651665 Centerline is valid? [False, False] Translation: X:41.81, Y:-3.55, Z:-2.22 [[ 9.99970812e-01 -3.23289153e-03 6.92274202e-03 4.18078172e+01] [ 3.25417360e-03 9.99990007e-01 -3.06517102e-03 -3.55175110e+00] [-6.91276348e-03 3.08760935e-03 9.99971340e-01 -2.22317826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.401346184 meters 0.10004739037639503 Centerline is valid? [False, False] Translation: X:41.81, Y:-3.55, Z:-2.22 [[ 9.99968992e-01 -2.89319753e-03 7.32424442e-03 4.18072944e+01] [ 2.90840801e-03 9.99993634e-01 -2.06693181e-03 -3.55485096e+00] [-7.31821775e-03 2.08816961e-03 9.99971041e-01 -2.22361135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.461346184 meters 0.10047858594903807 Centerline is valid? [False, False] Translation: X:41.81, Y:-3.55, Z:-2.22 [[ 9.99970163e-01 -3.19215796e-03 7.03446729e-03 4.18079451e+01] [ 3.21303297e-03 9.99990463e-01 -2.95823308e-03 -3.55118832e+00] [-7.02495705e-03 2.98074679e-03 9.99970882e-01 -2.22347063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.521346183999995 meters 0.10886300911356579 Centerline is valid? [False, False] Translation: X:41.81, Y:-3.55, Z:-2.23 [[ 9.99974135e-01 -2.14297786e-03 6.86570426e-03 4.18095632e+01] [ 2.15185481e-03 9.99996858e-01 -1.28581527e-03 -3.55437728e+00] [-6.86292721e-03 1.30055601e-03 9.99975604e-01 -2.22554982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.581346184 meters 0.10397810640272115 Centerline is valid? [False, False] Translation: X:41.81, Y:-3.56, Z:-2.23 [[ 9.99973010e-01 -1.89304708e-03 7.09895883e-03 4.18089916e+01] [ 1.89615055e-03 9.99998110e-01 -4.30467886e-04 -3.55792810e+00] [-7.09813051e-03 4.43916963e-04 9.99974709e-01 -2.22561886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.641346184 meters 0.10532727134740347 Centerline is valid? [False, False] Translation: X:41.81, Y:-3.56, Z:-2.23 [[ 9.99976295e-01 -1.56278536e-03 6.70578598e-03 4.18099104e+01] [ 1.56369458e-03 9.99998769e-01 -1.30346207e-04 -3.55772461e+00] [-6.70557402e-03 1.40828919e-04 9.99977507e-01 -2.22577790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.701346183999995 meters 0.10342788181879684 Centerline is valid? [False, False] Translation: X:41.81, Y:-3.56, Z:-2.23 [[ 9.99977508e-01 -1.06833101e-03 6.62136184e-03 4.18103362e+01] [ 1.06334265e-03 9.99999148e-01 7.56849073e-04 -3.55989863e+00] [-6.62216477e-03 -7.49791273e-04 9.99977792e-01 -2.22622288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.761346184 meters 0.10582102075945377 Centerline is valid? [False, False] Translation: X:41.81, Y:-3.56, Z:-2.23 [[ 9.99978643e-01 -2.13834530e-04 6.53210606e-03 4.18108128e+01] [ 1.98512229e-04 9.99997228e-01 2.34624904e-03 -3.56471696e+00] [-6.53258966e-03 -2.34490223e-03 9.99975913e-01 -2.22687657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.821346184 meters 0.09851737803485884 Centerline is valid? [False, True] Translation: X:41.81, Y:-3.56, Z:-2.23 [[ 9.99982653e-01 2.45337228e-04 5.88508526e-03 4.18125835e+01] [-2.61150870e-04 9.99996357e-01 2.68645310e-03 -3.56419650e+00] [-5.88440474e-03 -2.68794340e-03 9.99979074e-01 -2.22771156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.881346183999995 meters 0.0958344393653073 Centerline is valid? [True, True] Translation: X:41.87, Y:-3.57, Z:-2.23 [[ 9.99958086e-01 3.91519895e-03 8.27636017e-03 4.18728022e+01] [-3.90841003e-03 9.99992012e-01 -8.36292498e-04 -3.56903113e+00] [-8.27956831e-03 8.03910036e-04 9.99965401e-01 -2.22748845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.941346184 meters 0.09638970035186352 Centerline is valid? [True, True] Translation: X:41.93, Y:-3.58, Z:-2.23 [[ 9.99909656e-01 8.75175203e-03 1.02023113e-02 4.19317722e+01] [-8.74168350e-03 9.99961259e-01 -1.03106417e-03 -3.57894039e+00] [-1.02109397e-02 9.41785642e-04 9.99947423e-01 -2.22878950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.001346184 meters 0.09141562840538103 Centerline is valid? [True, True] Translation: X:41.99, Y:-3.57, Z:-2.23 [[ 9.99894339e-01 1.07194967e-02 9.81850307e-03 4.19939135e+01] [-1.07102730e-02 9.99942152e-01 -9.91517390e-04 -3.57346152e+00] [-9.82856366e-03 8.86253777e-04 9.99951306e-01 -2.22544992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.061346183999994 meters 0.0946762312846924 Centerline is valid? [True, True] Translation: X:42.05, Y:-3.59, Z:-2.23 [[ 9.99821661e-01 1.60666761e-02 9.92509376e-03 4.20522113e+01] [-1.60575015e-02 9.99870567e-01 -1.00338696e-03 -3.58627648e+00] [-9.93993022e-03 8.43835807e-04 9.99950242e-01 -2.23167087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.121346184 meters 0.08890738348351925 Centerline is valid? [True, True] Translation: X:42.11, Y:-3.59, Z:-2.24 [[ 9.99787138e-01 1.82132917e-02 9.69306060e-03 4.21122610e+01] [-1.82046434e-02 9.99833802e-01 -9.79705696e-04 -3.58696856e+00] [-9.70929329e-03 8.03038442e-04 9.99952541e-01 -2.23507947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.181346184 meters 0.0895257455270129 Centerline is valid? [True, True] Translation: X:42.17, Y:-3.59, Z:-2.23 [[ 9.99798694e-01 1.77712842e-02 9.31412108e-03 4.21721118e+01] [-1.77632771e-02 9.99841777e-01 -9.41702409e-04 -3.58611825e+00] [-9.32938263e-03 7.76063525e-04 9.99956179e-01 -2.23233358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.241346183999994 meters 0.09379344934929379 Centerline is valid? [True, True] Translation: X:42.23, Y:-3.60, Z:-2.23 [[ 9.99868277e-01 1.36918509e-02 8.71560612e-03 4.22311088e+01] [-1.36846968e-02 9.99905973e-01 -8.79954692e-04 -3.60078494e+00] [-8.72683482e-03 7.60568355e-04 9.99961631e-01 -2.23495068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.301346183999996 meters 0.09954049250813675 Centerline is valid? [True, True] Translation: X:42.29, Y:-3.62, Z:-2.24 [[ 9.99922914e-01 8.46007262e-03 9.08807062e-03 4.22888092e+01] [-8.45207987e-03 9.99963860e-01 -9.17526279e-04 -3.62443944e+00] [-9.09550452e-03 8.40642452e-04 9.99958282e-01 -2.24114300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.361346184 meters 0.08971560681462251 Centerline is valid? [True, True] Translation: X:42.35, Y:-3.61, Z:-2.24 [[ 9.99934925e-01 8.14939597e-03 7.98325249e-03 4.23521396e+01] [-8.14322491e-03 9.99966519e-01 -8.05202222e-04 -3.60810860e+00] [-7.98954712e-03 7.40140404e-04 9.99967809e-01 -2.23647023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.421346184 meters 0.09067004550185652 Centerline is valid? [True, True] Translation: X:42.41, Y:-3.61, Z:-2.24 [[ 9.99937845e-01 8.06477463e-03 7.69837641e-03 4.24136819e+01] [-8.05903169e-03 9.99967224e-01 -7.76723768e-04 -3.61208636e+00] [-7.70438819e-03 7.14634031e-04 9.99970065e-01 -2.23711575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.481346183999996 meters 0.09343094905861113 Centerline is valid? [True, True] Translation: X:42.47, Y:-3.62, Z:-2.24 [[ 9.99966906e-01 6.16770551e-03 5.30526727e-03 4.24729805e+01] [-6.16494882e-03 9.99980853e-01 -5.35811434e-04 -3.62476961e+00] [-5.30847042e-03 5.03087001e-04 9.99985783e-01 -2.24387979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.541346184 meters 0.09783466006774784 Centerline is valid? [True, True] Translation: X:42.53, Y:-3.64, Z:-2.25 [[ 9.99983112e-01 1.42820110e-03 5.63351645e-03 4.25311232e+01] [-1.42501353e-03 9.99998822e-01 -5.69795240e-04 -3.64110156e+00] [-5.63432360e-03 5.61757780e-04 9.99983969e-01 -2.24697672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.601346184 meters 0.1024557760918103 Centerline is valid? [True, False] Translation: X:42.53, Y:-3.64, Z:-2.25 [[ 9.99983846e-01 5.22737625e-04 5.65990792e-03 4.25305886e+01] [-5.10751816e-04 9.99997625e-01 -2.11890695e-03 -3.63569617e+00] [-5.66100210e-03 2.11598191e-03 9.99981738e-01 -2.24597794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.661346183999996 meters 0.10477456296146115 Centerline is valid? [False, False] Translation: X:42.53, Y:-3.64, Z:-2.25 [[ 9.99983499e-01 1.33326567e-03 5.58784731e-03 4.25322922e+01] [-1.32815929e-03 9.99998697e-01 -9.17446851e-04 -3.63716875e+00] [-5.58906323e-03 9.10010161e-04 9.99983967e-01 -2.24824569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.721346184 meters 0.10708740113583347 Centerline is valid? [False, False] Translation: X:42.53, Y:-3.64, Z:-2.25 [[ 9.99982375e-01 2.13897577e-03 5.53849818e-03 4.25337484e+01] [-2.14092340e-03 9.99997648e-01 3.45747909e-04 -3.63948289e+00] [-5.53774561e-03 -3.57599315e-04 9.99984603e-01 -2.25029837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.781346184 meters 0.09521960052841899 Centerline is valid? [False, True] Translation: X:42.54, Y:-3.64, Z:-2.25 [[ 9.99983945e-01 2.67598990e-03 4.99494909e-03 4.25360843e+01] [-2.67903440e-03 9.99996230e-01 6.02924500e-04 -3.63747721e+00] [-4.99331684e-03 -6.16296461e-04 9.99987343e-01 -2.25196609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.841346183999995 meters 0.0990941734871439 Centerline is valid? [True, True] Translation: X:42.60, Y:-3.64, Z:-2.25 [[ 9.99947603e-01 7.63439039e-03 6.81963725e-03 4.25952388e+01] [-7.62966584e-03 9.99970636e-01 -7.18533432e-04 -3.64308957e+00] [-6.82492256e-03 6.66464230e-04 9.99976488e-01 -2.25224142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.901346184 meters 0.09414927820960542 Centerline is valid? [True, True] Translation: X:42.66, Y:-3.64, Z:-2.26 [[ 9.99914890e-01 1.03976135e-02 7.88044553e-03 4.26558796e+01] [-1.03913952e-02 9.99945664e-01 -8.29609450e-04 -3.64099596e+00] [-7.88864329e-03 7.47650018e-04 9.99968605e-01 -2.25543538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.961346184 meters 0.09737560743406136 Centerline is valid? [True, True] Translation: X:42.72, Y:-3.65, Z:-2.26 [[ 9.99917454e-01 1.08374570e-02 6.90186297e-03 4.27152933e+01] [-1.08327010e-02 9.99941061e-01 -7.26098648e-04 -3.65198740e+00] [-6.90932524e-03 6.51272894e-04 9.99975918e-01 -2.26039052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.021346183999995 meters 0.09193626712144506 Centerline is valid? [True, True] Translation: X:42.78, Y:-3.65, Z:-2.26 [[ 9.99944818e-01 8.65196188e-03 5.95858976e-03 4.27768953e+01] [-8.64837320e-03 9.99962405e-01 -6.27773457e-04 -3.64524941e+00] [-5.96379722e-03 5.76206707e-04 9.99982050e-01 -2.25785611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.081346184 meters 0.09445418693398555 Centerline is valid? [True, True] Translation: X:42.84, Y:-3.65, Z:-2.26 [[ 9.99936585e-01 8.50729549e-03 7.37917168e-03 4.28357793e+01] [-8.50179702e-03 9.99963558e-01 -7.76184338e-04 -3.65054545e+00] [-7.38550600e-03 7.13398897e-04 9.99972472e-01 -2.25751849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.141346184 meters 0.09628126006728006 Centerline is valid? [True, True] Translation: X:42.90, Y:-3.66, Z:-2.26 [[ 9.99929488e-01 8.68256293e-03 8.10142724e-03 4.28952162e+01] [-8.67593696e-03 9.99962000e-01 -8.52664358e-04 -3.65898813e+00] [-8.10852270e-03 7.82316762e-04 9.99966819e-01 -2.26251806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.201346183999995 meters 0.09686668635269323 Centerline is valid? [True, True] Translation: X:42.96, Y:-3.67, Z:-2.27 [[ 9.99968915e-01 5.84412577e-03 5.29302519e-03 4.29558285e+01] [-5.84126044e-03 9.99982785e-01 -5.56637534e-04 -3.66723587e+00] [-5.29618713e-03 5.25702292e-04 9.99985837e-01 -2.27136052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.261346184 meters 0.10143579620318308 Centerline is valid? [True, False] Translation: X:42.96, Y:-3.66, Z:-2.27 [[ 9.99975457e-01 4.91234155e-03 4.99550698e-03 4.29557763e+01] [-4.90045104e-03 9.99985137e-01 -2.38970205e-03 -3.66126606e+00] [-5.00717177e-03 2.36516317e-03 9.99984667e-01 -2.27015201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.321346184 meters 0.09278322625278054 Centerline is valid? [False, True] Translation: X:42.96, Y:-3.66, Z:-2.27 [[ 9.99979304e-01 4.53520047e-03 4.56330762e-03 4.29559215e+01] [-4.51920022e-03 9.99983626e-01 -3.51050808e-03 -3.65697286e+00] [-4.57915376e-03 3.48981293e-03 9.99983426e-01 -2.26887732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.381346183999995 meters 0.09885475936755972 Centerline is valid? [True, True] Translation: X:43.01, Y:-3.68, Z:-2.28 [[ 9.99996002e-01 1.27589923e-03 2.52348471e-03 4.30134897e+01] [-1.27524763e-03 9.99999153e-01 -2.59804324e-04 -3.67942899e+00] [-2.52381405e-03 2.56585218e-04 9.99996782e-01 -2.28149707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.441346184 meters 0.09739998940910094 Centerline is valid? [True, True] Translation: X:43.08, Y:-3.67, Z:-2.28 [[ 9.99996653e-01 -4.22538490e-04 2.55255974e-03 4.30751450e+01] [ 4.23213873e-04 9.99999876e-01 -2.64056148e-04 -3.67484770e+00] [-2.55244785e-03 2.65135543e-04 9.99996707e-01 -2.27795916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.501346184 meters 0.10065687241749156 Centerline is valid? [True, False] Translation: X:43.08, Y:-3.67, Z:-2.28 [[ 9.99998619e-01 4.41384280e-04 1.60212728e-03 4.30780616e+01] [-4.41346864e-04 9.99999902e-01 -2.37075166e-05 -3.67151418e+00] [-1.60213759e-03 2.30003900e-05 9.99998716e-01 -2.27937010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.561346183999994 meters 0.09337060283455952 Centerline is valid? [False, True] Translation: X:43.08, Y:-3.67, Z:-2.28 [[ 9.99998535e-01 7.39129163e-04 1.54387121e-03 4.30783981e+01] [-7.39785413e-04 9.99999636e-01 4.24540052e-04 -3.67356766e+00] [-1.54355685e-03 -4.25681564e-04 9.99998718e-01 -2.27985756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.621346184 meters 0.10234808706035484 Centerline is valid? [True, False] Translation: X:43.08, Y:-3.67, Z:-2.28 [[ 9.99988360e-01 4.59086186e-03 1.48432387e-03 4.30795276e+01] [-4.59634982e-03 9.99982535e-01 3.71524952e-03 -3.66820559e+00] [-1.46724175e-03 -3.72202875e-03 9.99991997e-01 -2.28101791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.681346184 meters 0.09578471444917595 Centerline is valid? [False, True] Translation: X:43.08, Y:-3.67, Z:-2.28 [[ 9.99990046e-01 4.28019405e-03 1.26025017e-03 4.30799497e+01] [-4.28384796e-03 9.99986587e-01 2.91106741e-03 -3.66503877e+00] [-1.24777333e-03 -2.91643716e-03 9.99994969e-01 -2.28083772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.741346183999994 meters 0.09350241050163861 Centerline is valid? [True, True] Translation: X:43.14, Y:-3.67, Z:-2.28 [[ 9.99992503e-01 1.92816588e-03 3.35794228e-03 4.31399456e+01] [-1.92703862e-03 9.99998086e-01 -3.38904277e-04 -3.67100192e+00] [-3.35858931e-03 3.32430852e-04 9.99994305e-01 -2.28108731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.801346183999996 meters 0.10005871441374675 Centerline is valid? [True, False] Translation: X:43.14, Y:-3.67, Z:-2.28 [[ 9.99993707e-01 1.38171435e-03 3.26756329e-03 4.31402123e+01] [-1.37676247e-03 9.99997901e-01 -1.51723006e-03 -3.66617297e+00] [-3.26965281e-03 1.51272185e-03 9.99993511e-01 -2.28102031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.861346184 meters 0.09583890926722911 Centerline is valid? [False, True] Translation: X:43.14, Y:-3.66, Z:-2.28 [[ 9.99995026e-01 1.98074206e-03 2.45446082e-03 4.31431979e+01] [-1.97692746e-03 9.99996836e-01 -1.55559925e-03 -3.66171382e+00] [-2.45753429e-03 1.55073922e-03 9.99995778e-01 -2.28295558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.921346184 meters 0.09589566511603138 Centerline is valid? [True, True] Translation: X:43.20, Y:-3.67, Z:-2.29 [[ 9.99996748e-01 1.46976157e-03 2.08409074e-03 4.32040239e+01] [-1.46932820e-03 9.99998899e-01 -2.09459089e-04 -3.66971542e+00] [-2.08439629e-03 2.06396195e-04 9.99997806e-01 -2.28852484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.981346183999996 meters 0.09953910923001824 Centerline is valid? [True, True] Translation: X:43.26, Y:-3.68, Z:-2.29 [[ 9.99986591e-01 -9.63197280e-04 5.08828439e-03 4.32634706e+01] [ 9.65818507e-04 9.99999402e-01 -5.12717364e-04 -3.68127974e+00] [-5.08778750e-03 5.17624848e-04 9.99986923e-01 -2.28832597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.041346184 meters 0.10067559371769151 Centerline is valid? [True, False] Translation: X:43.26, Y:-3.68, Z:-2.29 [[ 9.99986115e-01 -6.46971514e-04 5.22990446e-03 4.32638157e+01] [ 6.46042227e-04 9.99999775e-01 1.79374676e-04 -3.68245797e+00] [-5.23001934e-03 -1.75993446e-04 9.99986308e-01 -2.28929201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.101346184 meters 0.10360067042443603 Centerline is valid? [False, False] Translation: X:43.26, Y:-3.69, Z:-2.29 [[ 9.99983630e-01 -7.31932913e-04 5.67477580e-03 4.32627549e+01] [ 7.28502082e-04 9.99999551e-01 6.06619203e-04 -3.68511786e+00] [-5.67521726e-03 -6.02475187e-04 9.99983714e-01 -2.28908399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.161346183999996 meters 0.10254223553577553 Centerline is valid? [False, False] Translation: X:43.26, Y:-3.69, Z:-2.29 [[ 9.99984850e-01 -2.85665828e-04 5.49711932e-03 4.32637905e+01] [ 2.78651163e-04 9.99999146e-01 1.27678549e-03 -3.68585429e+00] [-5.49747936e-03 -1.27523436e-03 9.99984076e-01 -2.29013218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.221346184 meters 0.10782987078315726 Centerline is valid? [False, False] Translation: X:43.26, Y:-3.69, Z:-2.29 [[ 9.99984909e-01 1.27080221e-04 5.49226130e-03 4.32640945e+01] [-1.38676263e-04 9.99997762e-01 2.11101280e-03 -3.68799688e+00] [-5.49198074e-03 -2.11174259e-03 9.99982689e-01 -2.29063669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.281346184 meters 0.10211894593772368 Centerline is valid? [False, False] Translation: X:43.26, Y:-3.69, Z:-2.29 [[ 9.99984739e-01 1.13861415e-04 5.52352382e-03 4.32637964e+01] [-1.25999666e-04 9.99997578e-01 2.19725753e-03 -3.68873692e+00] [-5.52326026e-03 -2.19791995e-03 9.99982331e-01 -2.29030972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.341346183999995 meters 0.10904936848208135 Centerline is valid? [False, False] Translation: X:43.26, Y:-3.69, Z:-2.29 [[ 9.99984662e-01 4.25066931e-04 5.52219487e-03 4.32640361e+01] [-4.40590596e-04 9.99995954e-01 2.81022799e-03 -3.69018608e+00] [-5.52097799e-03 -2.81261792e-03 9.99980804e-01 -2.29066596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.401346184 meters 0.09861662861155741 Centerline is valid? [False, True] Translation: X:43.26, Y:-3.69, Z:-2.29 [[ 9.99985017e-01 6.89693246e-04 5.43050104e-03 4.32642203e+01] [-7.07624908e-04 9.99994302e-01 3.30079844e-03 -3.69171172e+00] [-5.42819356e-03 -3.30459175e-03 9.99979807e-01 -2.29074209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.461346184 meters 0.10104816924615982 Centerline is valid? [True, False] Translation: X:43.27, Y:-3.69, Z:-2.29 [[ 9.99985879e-01 -2.66503584e-03 4.59785086e-03 4.32665386e+01] [ 2.66495570e-03 9.99996449e-01 2.35545813e-05 -3.69256623e+00] [-4.59789731e-03 -1.13011798e-05 9.99989430e-01 -2.29196722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.521346183999995 meters 0.10369589512789483 Centerline is valid? [False, False] Translation: X:43.27, Y:-3.69, Z:-2.29 [[ 9.99987177e-01 -2.78099102e-03 4.23213439e-03 4.32668549e+01] [ 2.78261703e-03 9.99996057e-01 -3.78365916e-04 -3.69095676e+00] [-4.23106547e-03 3.90137473e-04 9.99990973e-01 -2.29120865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.581346184 meters 0.10255678846721007 Centerline is valid? [False, False] Translation: X:43.27, Y:-3.69, Z:-2.29 [[ 9.99988998e-01 -2.09578966e-03 4.19666900e-03 4.32674701e+01] [ 2.09226124e-03 9.99997454e-01 8.44980116e-04 -3.69391359e+00] [-4.19842922e-03 -8.36190291e-04 9.99990837e-01 -2.29214604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.641346184 meters 0.10636059696904443 Centerline is valid? [False, False] Translation: X:43.27, Y:-3.70, Z:-2.29 [[ 9.99988528e-01 -1.36826974e-03 4.59035187e-03 4.32674595e+01] [ 1.35648311e-03 9.99995778e-01 2.56982802e-03 -3.69892903e+00] [-4.59384870e-03 -2.56357180e-03 9.99986162e-01 -2.29354607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.701346183999995 meters 0.1060926581626411 Centerline is valid? [False, False] Translation: X:43.27, Y:-3.69, Z:-2.29 [[ 9.99989542e-01 2.05600941e-03 4.08506450e-03 4.32675806e+01] [-2.07604159e-03 9.99985813e-01 4.90558645e-03 -3.69268286e+00] [-4.07492061e-03 -4.91401591e-03 9.99979624e-01 -2.29194397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.761346184 meters 0.09713910091343866 Centerline is valid? [False, True] Translation: X:43.27, Y:-3.69, Z:-2.29 [[ 9.99994304e-01 -1.28413632e-03 3.12121242e-03 4.32700657e+01] [ 1.27977254e-03 9.99998202e-01 1.39969711e-03 -3.69335430e+00] [-3.12300421e-03 -1.39569470e-03 9.99994149e-01 -2.29306331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.821346184 meters 0.10554754623537548 Centerline is valid? [True, False] Translation: X:43.27, Y:-3.69, Z:-2.29 [[ 9.99996544e-01 -4.83590733e-04 2.58434455e-03 4.32721513e+01] [ 4.77662093e-04 9.99997254e-01 2.29418430e-03 -3.69447221e+00] [-2.58544690e-03 -2.29294193e-03 9.99994029e-01 -2.29477926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.881346183999995 meters 0.09250606692853548 Centerline is valid? [False, True] Translation: X:43.27, Y:-3.69, Z:-2.29 [[ 9.99992728e-01 2.94145417e-03 2.42735840e-03 4.32722910e+01] [-2.95309441e-03 9.99984091e-01 4.80586613e-03 -3.68803412e+00] [-2.41318355e-03 -4.81299940e-03 9.99985506e-01 -2.29426368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.941346184 meters 0.09287711521575773 Centerline is valid? [True, True] Translation: X:43.33, Y:-3.70, Z:-2.30 [[ 9.99975057e-01 4.03195195e-03 5.79894862e-03 4.33315457e+01] [-4.02864746e-03 9.99991716e-01 -5.81412566e-04 -3.69807553e+00] [-5.80124481e-03 5.58036144e-04 9.99983017e-01 -2.29548283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.001346184 meters 0.10867635073853313 Centerline is valid? [True, False] Translation: X:43.33, Y:-3.70, Z:-2.30 [[ 9.99984486e-01 6.77872459e-04 5.52878836e-03 4.33328641e+01] [-6.58363993e-04 9.99993554e-01 -3.52958158e-03 -3.70110477e+00] [-5.53114533e-03 3.52588686e-03 9.99978487e-01 -2.29677677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.061346183999994 meters 0.09113359141784291 Centerline is valid? [False, True] Translation: X:43.33, Y:-3.69, Z:-2.30 [[ 9.99976800e-01 4.03540067e-03 5.48768938e-03 4.33332804e+01] [-4.03034397e-03 9.99991444e-01 -9.32209617e-04 -3.69378861e+00] [-5.49140426e-03 9.10070714e-04 9.99984508e-01 -2.29706534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.121346184 meters 0.10081707798761134 Centerline is valid? [True, False] Translation: X:43.34, Y:-3.70, Z:-2.30 [[ 9.99986845e-01 1.53949168e-03 4.89288111e-03 4.33367513e+01] [-1.52655872e-03 9.99995335e-01 -2.64585538e-03 -3.69797367e+00] [-4.89693155e-03 2.63835130e-03 9.99984529e-01 -2.30085142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.181346184 meters 0.10487762350767156 Centerline is valid? [False, False] Translation: X:43.34, Y:-3.70, Z:-2.30 [[ 9.99985340e-01 -1.76737095e-03 5.11815908e-03 4.33372431e+01] [ 1.79330355e-03 9.99985557e-01 -5.06663486e-03 -3.70319968e+00] [-5.10913053e-03 5.07573900e-03 9.99974066e-01 -2.30244842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.241346183999994 meters 0.09781031324892112 Centerline is valid? [False, True] Translation: X:43.35, Y:-3.70, Z:-2.29 [[ 9.99984408e-01 -4.84529513e-03 -2.77628802e-03 4.33461241e+01] [ 4.84753928e-03 9.99987929e-01 8.02169161e-04 -3.69549858e+00] [ 2.77236777e-03 -8.15614819e-04 9.99995824e-01 -2.29328950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.301346183999996 meters 0.10181399618525025 Centerline is valid? [True, False] Translation: X:43.35, Y:-3.70, Z:-2.29 [[ 9.99985926e-01 -4.44339678e-03 -2.89884738e-03 4.33467193e+01] [ 4.44736546e-03 9.99989180e-01 1.36404730e-03 -3.69647454e+00] [ 2.89275502e-03 -1.37692034e-03 9.99994868e-01 -2.29379665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.361346184 meters 0.10247864193846692 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.70, Z:-2.29 [[ 9.99988866e-01 -4.05597536e-03 -2.41190363e-03 4.33461653e+01] [ 4.06237429e-03 9.99988226e-01 2.65410853e-03 -3.70271249e+00] [ 2.40111024e-03 -2.66387704e-03 9.99993569e-01 -2.29477531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.421346183999994 meters 0.1052108052432403 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.70, Z:-2.29 [[ 9.99986000e-01 -4.49423289e-03 -2.79306163e-03 4.33467430e+01] [ 4.49848963e-03 9.99988727e-01 1.51963391e-03 -3.69765711e+00] [ 2.78620056e-03 -1.53217719e-03 9.99994945e-01 -2.29421265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.481346183999996 meters 0.1064374496913265 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.70, Z:-2.30 [[ 9.99989575e-01 -3.70966554e-03 -2.66235776e-03 4.33473034e+01] [ 3.71747884e-03 9.99988781e-01 2.93580826e-03 -3.70121324e+00] [ 2.65143703e-03 -2.94567491e-03 9.99992146e-01 -2.29551970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.541346184 meters 0.10890111367089751 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.70, Z:-2.30 [[ 9.99970462e-01 -7.03298970e-03 -3.10029808e-03 4.33498103e+01] [ 7.03264823e-03 9.99975263e-01 -1.21028410e-04 -3.70218031e+00] [ 3.10107258e-03 9.92215296e-05 9.99995187e-01 -2.29784971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.601346184 meters 0.10052981431453822 Centerline is valid? [False, False] Translation: X:43.35, Y:-3.70, Z:-2.30 [[ 9.99991522e-01 -2.80417102e-03 -3.01553700e-03 4.33498775e+01] [ 2.81615829e-03 9.99988121e-01 3.97829592e-03 -3.70094760e+00] [ 3.00434536e-03 -3.98675442e-03 9.99987540e-01 -2.29811320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.661346183999996 meters 0.09601463906681426 Centerline is valid? [False, True] Translation: X:43.35, Y:-3.70, Z:-2.30 [[ 9.99990976e-01 -2.60552677e-03 -3.35559562e-03 4.33506079e+01] [ 2.61876403e-03 9.99988784e-01 3.94649799e-03 -3.70061185e+00] [ 3.34527528e-03 -3.95524989e-03 9.99986582e-01 -2.29825155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.721346184 meters 0.09693954294073191 Centerline is valid? [True, True] Translation: X:43.41, Y:-3.71, Z:-2.30 [[ 9.99997011e-01 -2.32853926e-04 -2.43401486e-03 4.34094283e+01] [ 2.33454138e-04 9.99999942e-01 2.46312192e-04 -3.70647953e+00] [ 2.43395736e-03 -2.46879687e-04 9.99997007e-01 -2.29810825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.781346184 meters 0.09703459346977902 Centerline is valid? [True, True] Translation: X:43.47, Y:-3.71, Z:-2.30 [[ 9.99992337e-01 2.38683282e-03 -3.10311308e-03 4.34703032e+01] [-2.38586788e-03 9.99997104e-01 3.14620898e-04 -3.70849423e+00] [ 3.10385504e-03 -3.07214869e-04 9.99995136e-01 -2.29765176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.841346183999995 meters 0.09871250930126904 Centerline is valid? [True, True] Translation: X:43.53, Y:-3.72, Z:-2.30 [[ 9.99989094e-01 2.49584354e-03 -3.94751061e-03 4.35269745e+01] [-2.49429294e-03 9.99996810e-01 3.97679608e-04 -3.71668816e+00] [ 3.94849056e-03 -3.87829023e-04 9.99992129e-01 -2.30187873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.901346184 meters 0.09361488479590999 Centerline is valid? [True, True] Translation: X:43.59, Y:-3.72, Z:-2.31 [[ 9.99994556e-01 3.06777826e-03 -1.21526527e-03 4.35866183e+01] [-3.06763146e-03 9.99995287e-01 1.22642135e-04 -3.72319140e+00] [ 1.21563578e-03 -1.18913481e-04 9.99999254e-01 -2.30531685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.961346184 meters 0.10103650978359471 Centerline is valid? [True, False] Translation: X:43.59, Y:-3.72, Z:-2.31 [[ 9.99993839e-01 3.18170746e-03 -1.48292249e-03 4.35876462e+01] [-3.18162738e-03 9.99994937e-01 5.63546918e-05 -3.72177901e+00] [ 1.48309429e-03 -5.16362378e-05 9.99998899e-01 -2.30595882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.021346183999995 meters 0.08869017042564442 Centerline is valid? [False, True] Translation: X:43.59, Y:-3.72, Z:-2.31 [[ 9.99990387e-01 3.88781103e-03 -2.02756405e-03 4.35893460e+01] [-3.88831530e-03 9.99992411e-01 -2.44820886e-04 -3.71589310e+00] [ 2.02659685e-03 2.52702341e-04 9.99997915e-01 -2.30612091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.081346184 meters 0.09572732934477268 Centerline is valid? [True, True] Translation: X:43.64, Y:-3.74, Z:-2.32 [[ 9.99990418e-01 4.04187986e-03 -1.68115407e-03 4.36445593e+01] [-4.04161856e-03 9.99991820e-01 1.58796591e-04 -3.73979974e+00] [ 1.68178215e-03 -1.52000486e-04 9.99998574e-01 -2.31503548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.141346184 meters 0.09500489861402647 Centerline is valid? [True, True] Translation: X:43.70, Y:-3.75, Z:-2.31 [[ 9.99995778e-01 2.90574106e-03 -5.14351008e-06 4.37033644e+01] [-2.90574107e-03 9.99995778e-01 -1.48470640e-06 -3.74742930e+00] [ 5.13917419e-06 1.49964584e-06 1.00000000e+00 -2.31398877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.201346183999995 meters 0.09533614607797547 Centerline is valid? [True, True] Translation: X:43.76, Y:-3.75, Z:-2.31 [[ 9.99997175e-01 2.34484907e-03 -3.88471623e-04 4.37626094e+01] [-2.34483535e-03 9.99997250e-01 3.57634889e-05 -3.75058307e+00] [ 3.88554415e-04 -3.48524858e-05 9.99999924e-01 -2.31432995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.261346184 meters 0.09104230839577186 Centerline is valid? [True, True] Translation: X:43.82, Y:-3.75, Z:-2.31 [[ 9.99996092e-01 2.79582389e-03 -1.31280187e-05 4.38228400e+01] [-2.79582389e-03 9.99996092e-01 2.29610358e-07 -3.74941475e+00] [ 1.31286093e-05 -1.92905833e-07 1.00000000e+00 -2.31368154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.321346184 meters 0.0967972075995856 Centerline is valid? [True, True] Translation: X:43.88, Y:-3.78, Z:-2.32 [[ 9.99997432e-01 -1.63326016e-03 -1.57087504e-03 4.38795297e+01] [ 1.63349923e-03 9.99998654e-01 1.50918039e-04 -3.77502019e+00] [ 1.57062644e-03 -1.53483675e-04 9.99998755e-01 -2.32283936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.381346183999995 meters 0.09697704338517892 Centerline is valid? [True, True] Translation: X:43.94, Y:-3.78, Z:-2.32 [[ 9.99992956e-01 -3.74100792e-03 -3.03436659e-04 4.39404534e+01] [ 3.74101691e-03 9.99993002e-01 2.90818438e-05 -3.77538985e+00] [ 3.03325740e-04 -3.02168007e-05 9.99999954e-01 -2.31748391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.441346184 meters 0.09842153243343886 Centerline is valid? [True, True] Translation: X:44.00, Y:-3.78, Z:-2.31 [[ 9.99982344e-01 -1.76061587e-03 5.67560494e-03 4.39991654e+01] [ 1.76373370e-03 9.99998296e-01 -5.44378733e-04 -3.78371855e+00] [-5.67463683e-03 5.54379377e-04 9.99983745e-01 -2.31455015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.501346184 meters 0.09755184635841142 Centerline is valid? [True, True] Translation: X:44.06, Y:-3.80, Z:-2.32 [[ 9.99999846e-01 3.22862524e-04 4.51928192e-04 4.40599053e+01] [-3.22843860e-04 9.99999947e-01 -4.13722299e-05 -3.79799853e+00] [-4.51941525e-04 4.12263213e-05 9.99999897e-01 -2.32489323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.561346183999994 meters 0.09762409347375053 Centerline is valid? [True, True] Translation: X:44.12, Y:-3.80, Z:-2.33 [[ 9.99996490e-01 1.30443520e-03 -2.30627485e-03 4.41201907e+01] [-1.30392859e-03 9.99999125e-01 2.21155742e-04 -3.79965000e+00] [ 2.30656132e-03 -2.18147748e-04 9.99997316e-01 -2.32630607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.621346184 meters 0.09101220560491245 Centerline is valid? [True, True] Translation: X:44.18, Y:-3.80, Z:-2.32 [[ 9.99999560e-01 -7.18524334e-04 -6.03745612e-04 4.41795794e+01] [ 7.18558443e-04 9.99999740e-01 5.62820614e-05 -3.80032013e+00] [ 6.03705016e-04 -5.67158632e-05 9.99999816e-01 -2.32251547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.681346184 meters 0.09676298085224842 Centerline is valid? [True, True] Translation: X:44.24, Y:-3.82, Z:-2.33 [[ 9.99993222e-01 -2.04330954e-03 3.06279988e-03 4.42373600e+01] [ 2.04421101e-03 9.99997868e-01 -2.91225523e-04 -3.82400108e+00] [-3.06219828e-03 2.97484559e-04 9.99995267e-01 -2.32537203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.741346183999994 meters 0.09496375961755475 Centerline is valid? [True, True] Translation: X:44.30, Y:-3.83, Z:-2.32 [[ 9.99991511e-01 -2.03995482e-03 3.58008803e-03 4.42997070e+01] [ 2.04119096e-03 9.99997858e-01 -3.41662956e-04 -3.82550936e+00] [-3.57938338e-03 3.48967698e-04 9.99993533e-01 -2.32093676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.801346183999996 meters 0.09631859388541106 Centerline is valid? [True, True] Translation: X:44.36, Y:-3.84, Z:-2.33 [[ 9.99997531e-01 -1.14034243e-03 -1.90736973e-03 4.43607960e+01] [ 1.14069785e-03 9.99999332e-01 1.85263139e-04 -3.83979645e+00] [ 1.90715720e-03 -1.87438414e-04 9.99998164e-01 -2.33127433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.861346184 meters 0.09908112715246281 Centerline is valid? [True, True] Translation: X:44.42, Y:-3.85, Z:-2.34 [[ 9.99988714e-01 -2.64092694e-03 -3.94937978e-03 4.44182895e+01] [ 2.64244140e-03 9.99996437e-01 3.78298149e-04 -3.85447144e+00] [ 3.94836665e-03 -3.88729885e-04 9.99992130e-01 -2.33596818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.921346183999994 meters 0.09703097978959353 Centerline is valid? [True, True] Translation: X:44.48, Y:-3.86, Z:-2.33 [[ 9.99990894e-01 -4.22847904e-03 -5.75481726e-04 4.44781426e+01] [ 4.22851094e-03 9.99991058e-01 5.42402444e-05 -3.85834923e+00] [ 5.75247227e-04 -5.66731813e-05 9.99999833e-01 -2.32994768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.981346183999996 meters 0.10250948589954129 Centerline is valid? [True, False] Translation: X:44.48, Y:-3.86, Z:-2.33 [[ 9.99993742e-01 -3.52206863e-03 -3.33496473e-04 4.44780096e+01] [ 3.52260702e-03 9.99992471e-01 1.62780638e-03 -3.86274716e+00] [ 3.27760716e-04 -1.62897097e-03 9.99998620e-01 -2.33055065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.041346184 meters 0.09842658751645893 Centerline is valid? [False, True] Translation: X:44.48, Y:-3.87, Z:-2.33 [[ 9.99996384e-01 -2.67168095e-03 -3.06527608e-04 4.44784929e+01] [ 2.67266063e-03 9.99991175e-01 3.24144996e-03 -3.86730520e+00] [ 2.97864783e-04 -3.24225749e-03 9.99994700e-01 -2.33151246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.101346184 meters 0.10020668369839311 Centerline is valid? [True, False] Translation: X:44.48, Y:-3.87, Z:-2.33 [[ 9.99997813e-01 -2.04595863e-03 -4.34602872e-04 4.44792787e+01] [ 2.04782629e-03 9.99988480e-01 4.34132733e-03 -3.86955829e+00] [ 4.25715689e-04 -4.34220783e-03 9.99990482e-01 -2.33238285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.161346183999996 meters 0.1059428953036447 Centerline is valid? [False, False] Translation: X:44.48, Y:-3.87, Z:-2.33 [[ 9.99996802e-01 -2.51126704e-03 2.97953389e-04 4.44765027e+01] [ 2.50987554e-03 9.99986352e-01 4.58209123e-03 -3.87389497e+00] [-3.09456177e-04 -4.58132875e-03 9.99989458e-01 -2.33042184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.221346184 meters 0.09997789095349692 Centerline is valid? [False, True] Translation: X:44.47, Y:-3.88, Z:-2.33 [[ 9.99996074e-01 -2.71519681e-03 6.92208986e-04 4.44749847e+01] [ 2.71186525e-03 9.99984950e-01 4.76927861e-03 -3.87615105e+00] [-7.05148098e-04 -4.76738271e-03 9.99988387e-01 -2.32935167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.281346184 meters 0.1032470845108714 Centerline is valid? [True, False] Translation: X:44.48, Y:-3.88, Z:-2.33 [[ 9.99983111e-01 -5.81174153e-03 3.23651350e-05 4.44772022e+01] [ 5.81166026e-03 9.99980884e-01 2.11106613e-03 -3.87863977e+00] [-4.46334870e-05 -2.11084238e-03 9.99997771e-01 -2.33083147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.341346183999995 meters 0.10302771497315501 Centerline is valid? [False, False] Translation: X:44.47, Y:-3.88, Z:-2.33 [[ 9.99997217e-01 -2.24922932e-03 7.12207751e-04 4.44748799e+01] [ 2.24500493e-03 9.99980206e-01 5.87766461e-03 -3.87998520e+00] [-7.25413869e-04 -5.87604934e-03 9.99982473e-01 -2.32935891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.401346184 meters 0.10324459578493933 Centerline is valid? [False, False] Translation: X:44.48, Y:-3.88, Z:-2.33 [[ 9.99987132e-01 -5.05741446e-03 -3.98734425e-04 4.44784944e+01] [ 5.05850963e-03 9.99983299e-01 2.79517635e-03 -3.87899909e+00] [ 3.84591400e-04 -2.79715738e-03 9.99996014e-01 -2.33164729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.461346184 meters 0.09824664778230607 Centerline is valid? [False, True] Translation: X:44.48, Y:-3.88, Z:-2.33 [[ 9.99989352e-01 -4.60056111e-03 -3.60834709e-04 4.44789790e+01] [ 4.60182003e-03 9.99983041e-01 3.56934554e-03 -3.88093159e+00] [ 3.44407597e-04 -3.57096803e-03 9.99993565e-01 -2.33263305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.521346183999995 meters 0.09719192015415822 Centerline is valid? [True, True] Translation: X:44.54, Y:-3.88, Z:-2.33 [[ 9.99996485e-01 -2.61611034e-03 -4.31301360e-04 4.45403021e+01] [ 2.61612859e-03 9.99996577e-01 4.17634829e-05 -3.88107961e+00] [ 4.31190626e-04 -4.28916760e-05 9.99999906e-01 -2.33181721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.581346184 meters 0.09830764951736942 Centerline is valid? [True, True] Translation: X:44.60, Y:-3.88, Z:-2.33 [[ 9.99999763e-01 -6.87521386e-04 3.69785766e-05 4.46001628e+01] [ 6.87521517e-04 9.99999764e-01 -3.53919463e-06 -3.88346188e+00] [-3.69761346e-05 3.56461736e-06 9.99999999e-01 -2.33171073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.641346184 meters 0.09769191106714574 Centerline is valid? [True, True] Translation: X:44.66, Y:-3.89, Z:-2.33 [[ 9.99998427e-01 7.36864598e-04 1.61361382e-03 4.46609349e+01] [-7.36616835e-04 9.99999717e-01 -1.54133962e-04 -3.88863239e+00] [-1.61372694e-03 1.52945104e-04 9.99998686e-01 -2.33367328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.701346183999995 meters 0.10027809789898677 Centerline is valid? [True, False] Translation: X:44.66, Y:-3.89, Z:-2.34 [[ 9.99998574e-01 1.13330586e-03 1.25239679e-03 4.46627465e+01] [-1.13340612e-03 9.99999355e-01 7.93494896e-05 -3.88739562e+00] [-1.25230605e-03 -8.07688506e-05 9.99999213e-01 -2.33529262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.761346184 meters 0.10013161505458398 Centerline is valid? [False, False] Translation: X:44.66, Y:-3.88, Z:-2.34 [[ 9.99999096e-01 9.72684488e-04 9.28735711e-04 4.46639676e+01] [-9.72093645e-04 9.99999325e-01 -6.36419194e-04 -3.88375759e+00] [-9.29354119e-04 6.35515800e-04 9.99999366e-01 -2.33599212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.821346184 meters 0.09252512640902504 Centerline is valid? [False, True] Translation: X:44.67, Y:-3.88, Z:-2.34 [[ 9.99999432e-01 1.00367543e-03 3.59959210e-04 4.46656979e+01] [-1.00317027e-03 9.99998516e-01 -1.40083524e-03 -3.87846485e+00] [-3.61364660e-04 1.40047335e-03 9.99998954e-01 -2.33673332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.881346183999995 meters 0.09427398837146765 Centerline is valid? [True, True] Translation: X:44.72, Y:-3.89, Z:-2.34 [[ 9.99995096e-01 9.35277384e-04 2.98901735e-03 4.47249443e+01] [-9.34436826e-04 9.99999523e-01 -2.82599388e-04 -3.88555264e+00] [-2.98928023e-03 2.79804954e-04 9.99995493e-01 -2.33844387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.941346184 meters 0.08790220850242145 Centerline is valid? [True, True] Translation: X:44.79, Y:-3.87, Z:-2.34 [[ 9.99999542e-01 8.09154941e-04 5.12067616e-04 4.47879023e+01] [-8.09133299e-04 9.99999672e-01 -4.24708347e-05 -3.87499876e+00] [-5.12101814e-04 4.20564843e-05 9.99999868e-01 -2.33931765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.001346184 meters 0.0980641563014405 Centerline is valid? [True, True] Translation: X:44.85, Y:-3.89, Z:-2.35 [[ 9.99994608e-01 -2.22345024e-04 -3.27630234e-03 4.48462891e+01] [ 2.23362152e-04 9.99999927e-01 3.10087380e-04 -3.88898708e+00] [ 3.27623315e-03 -3.10817510e-04 9.99994585e-01 -2.34605457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.061346183999994 meters 0.09370440769686732 Centerline is valid? [True, True] Translation: X:44.91, Y:-3.89, Z:-2.35 [[ 9.99993372e-01 -2.56676348e-03 -2.58230897e-03 4.49070530e+01] [ 2.56740182e-03 9.99996674e-01 2.43909319e-04 -3.88535342e+00] [ 2.58167432e-03 -2.50537527e-04 9.99996636e-01 -2.34803760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.121346184 meters 0.09442163675274708 Centerline is valid? [True, True] Translation: X:44.97, Y:-3.89, Z:-2.35 [[ 9.99994244e-01 -3.13392374e-03 -1.30054624e-03 4.49668228e+01] [ 3.13408642e-03 9.99995081e-01 1.23067020e-04 -3.89270227e+00] [ 1.30015416e-03 -1.27142336e-04 9.99999147e-01 -2.34940715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.181346184 meters 0.09754598846267476 Centerline is valid? [True, True] Translation: X:45.03, Y:-3.89, Z:-2.35 [[ 9.99982545e-01 -5.49847521e-03 2.16272899e-03 4.50276641e+01] [ 5.49893055e-03 9.99984860e-01 -2.04652941e-04 -3.89474999e+00] [-2.16157097e-03 2.16542065e-04 9.99997640e-01 -2.34557734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.241346183999994 meters 0.09964631460622198 Centerline is valid? [True, True] Translation: X:45.09, Y:-3.90, Z:-2.34 [[ 9.99978585e-01 -5.90622326e-03 2.81883049e-03 4.50897542e+01] [ 5.90699410e-03 9.99982518e-01 -2.65213891e-04 -3.89797565e+00] [-2.81721480e-03 2.81859026e-04 9.99995992e-01 -2.34479458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.301346183999996 meters 0.10177169043593792 Centerline is valid? [True, False] Translation: X:45.09, Y:-3.90, Z:-2.35 [[ 9.99983612e-01 -4.97824317e-03 2.82732636e-03 4.50914820e+01] [ 4.97431237e-03 9.99986654e-01 1.39562257e-03 -3.90079058e+00] [-2.83423637e-03 -1.38153569e-03 9.99995029e-01 -2.34781999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.361346184 meters 0.104393837710402 Centerline is valid? [False, False] Translation: X:45.09, Y:-3.90, Z:-2.35 [[ 9.99983678e-01 -5.03285350e-03 2.70431067e-03 4.50922380e+01] [ 5.02985953e-03 9.99986731e-01 1.11277146e-03 -3.89906693e+00] [-2.70987521e-03 -1.09915100e-03 9.99995724e-01 -2.34852560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.421346183999994 meters 0.09924730358573 Centerline is valid? [False, True] Translation: X:45.09, Y:-3.89, Z:-2.35 [[ 9.99994457e-01 -1.72155394e-03 2.85008801e-03 4.50914161e+01] [ 1.71097094e-03 9.99991649e-01 3.71150399e-03 -3.89418330e+00] [-2.85645377e-03 -3.70660700e-03 9.99989051e-01 -2.34751946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.481346183999996 meters 0.10928706995996858 Centerline is valid? [True, False] Translation: X:45.09, Y:-3.90, Z:-2.35 [[ 9.99995293e-01 -1.20220030e-03 2.82292150e-03 4.50923178e+01] [ 1.18966467e-03 9.99989444e-01 4.43814646e-03 -3.89547051e+00] [-2.82822724e-03 -4.43476724e-03 9.99986167e-01 -2.34883720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.541346184 meters 0.09673834542241382 Centerline is valid? [False, True] Translation: X:45.09, Y:-3.89, Z:-2.35 [[ 9.99997387e-01 -1.20801999e-03 1.94103737e-03 4.50943825e+01] [ 1.20110308e-03 9.99992939e-01 3.56073596e-03 -3.89051598e+00] [-1.94532511e-03 -3.55839526e-03 9.99991777e-01 -2.34928775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.601346184 meters 0.09843577159345075 Centerline is valid? [True, True] Translation: X:45.15, Y:-3.89, Z:-2.35 [[ 9.99996281e-01 1.41390349e-03 -2.33223658e-03 4.51542886e+01] [-1.41334814e-03 9.99998972e-01 2.39749392e-04 -3.89210211e+00] [ 2.33257316e-03 -2.36452238e-04 9.99997252e-01 -2.35171754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.661346183999996 meters 0.09813159189970166 Centerline is valid? [True, True] Translation: X:45.21, Y:-3.90, Z:-2.35 [[ 9.99997465e-01 4.71818679e-04 -2.20146219e-03 4.52132920e+01] [-4.71323812e-04 9.99999864e-01 2.25303649e-04 -3.89833228e+00] [ 2.20156819e-03 -2.24265476e-04 9.99997551e-01 -2.35420532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.721346184 meters 0.10926750547969856 Centerline is valid? [True, False] Translation: X:45.21, Y:-3.90, Z:-2.35 [[ 9.99990750e-01 -3.56257599e-03 -2.40983553e-03 4.52142067e+01] [ 3.55348581e-03 9.99986595e-01 -3.76593924e-03 -3.89838530e+00] [ 2.42321967e-03 3.75734109e-03 9.99990005e-01 -2.35490941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.781346184 meters 0.10332535274253105 Centerline is valid? [False, False] Translation: X:45.21, Y:-3.90, Z:-2.36 [[ 9.99991837e-01 -3.29542080e-03 -2.33788719e-03 4.52144801e+01] [ 3.28785844e-03 9.99989375e-01 -3.23120246e-03 -3.89925852e+00] [ 2.34851052e-03 3.22348945e-03 9.99992047e-01 -2.35554376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.841346183999995 meters 0.10241230260687362 Centerline is valid? [False, False] Translation: X:45.21, Y:-3.90, Z:-2.36 [[ 9.99993477e-01 -2.73050222e-03 -2.36427273e-03 4.52149424e+01] [ 2.72536442e-03 9.99993924e-01 -2.17359853e-03 -3.90179598e+00] [ 2.37019338e-03 2.16714085e-03 9.99994843e-01 -2.35626330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.901346184 meters 0.09602196627370414 Centerline is valid? [False, True] Translation: X:45.22, Y:-3.90, Z:-2.36 [[ 9.99991823e-01 -2.91489687e-03 -2.80325677e-03 4.52155511e+01] [ 2.90713290e-03 9.99991939e-01 -2.76972183e-03 -3.89926396e+00] [ 2.81130763e-03 2.76154974e-03 9.99992235e-01 -2.35571572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.961346184 meters 0.09782205111290444 Centerline is valid? [True, True] Translation: X:45.27, Y:-3.91, Z:-2.36 [[ 9.99987863e-01 -2.53083135e-03 -4.22705114e-03 4.52740008e+01] [ 2.53271315e-03 9.99996696e-01 4.39885200e-04 -3.90922227e+00] [ 4.22592390e-03 -4.50585769e-04 9.99990969e-01 -2.35980748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.021346183999995 meters 0.10255234925462958 Centerline is valid? [True, False] Translation: X:45.28, Y:-3.91, Z:-2.36 [[ 9.99989624e-01 -1.04952068e-03 -4.43281917e-03 4.52768504e+01] [ 1.06150739e-03 9.99995785e-01 2.70259518e-03 -3.91317729e+00] [ 4.42996405e-03 -2.70727261e-03 9.99986523e-01 -2.36365605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.081346184 meters 0.10133383230114351 Centerline is valid? [False, False] Translation: X:45.28, Y:-3.91, Z:-2.36 [[ 9.99986520e-01 -1.29939658e-03 -5.02708297e-03 4.52776130e+01] [ 1.30735356e-03 9.99997897e-01 1.57985923e-03 -3.90827375e+00] [ 5.02501954e-03 -1.58641011e-03 9.99986116e-01 -2.36283457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.141346184 meters 0.0938997356730939 Centerline is valid? [False, True] Translation: X:45.28, Y:-3.91, Z:-2.36 [[ 9.99983947e-01 -1.40524115e-03 -5.48923500e-03 4.52781263e+01] [ 1.41121114e-03 9.99998417e-01 1.08385941e-03 -3.90628915e+00] [ 5.48770323e-03 -1.09158848e-03 9.99984347e-01 -2.36208275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.201346183999995 meters 0.09814871589201019 Centerline is valid? [True, True] Translation: X:45.33, Y:-3.93, Z:-2.37 [[ 9.99982580e-01 -2.80956240e-03 -5.19088272e-03 4.53347691e+01] [ 2.81222768e-03 9.99995918e-01 5.06227032e-04 -3.92567557e+00] [ 5.18943925e-03 -5.20816158e-04 9.99986399e-01 -2.36718499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.261346184 meters 0.09978964300091692 Centerline is valid? [True, True] Translation: X:45.40, Y:-3.93, Z:-2.37 [[ 9.99958578e-01 -4.91251208e-03 -7.66217315e-03 4.53950507e+01] [ 4.91839717e-03 9.99987624e-01 7.49416657e-04 -3.93172201e+00] [ 7.65839680e-03 -7.87071225e-04 9.99970364e-01 -2.36863817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.321346184 meters 0.10038655480568309 Centerline is valid? [True, False] Translation: X:45.40, Y:-3.93, Z:-2.37 [[ 9.99958825e-01 -4.73186362e-03 -7.74317579e-03 4.53958919e+01] [ 4.73954493e-03 9.99988294e-01 9.73961029e-04 -3.93119498e+00] [ 7.73847650e-03 -1.01062006e-03 9.99969547e-01 -2.36957801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.381346183999995 meters 0.10224133711590937 Centerline is valid? [False, False] Translation: X:45.39, Y:-3.94, Z:-2.37 [[ 9.99965037e-01 -5.25456202e-03 -6.50489955e-03 4.53928993e+01] [ 5.26409067e-03 9.99985095e-01 1.44858674e-03 -3.93659923e+00] [ 6.49719091e-03 -1.48277848e-03 9.99977794e-01 -2.36873621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.441346184 meters 0.10481390915483267 Centerline is valid? [False, False] Translation: X:45.39, Y:-3.93, Z:-2.37 [[ 9.99925622e-01 -9.85862841e-03 -7.18033406e-03 4.53936227e+01] [ 9.83223635e-03 9.99944811e-01 -3.70167634e-03 -3.93314307e+00] [ 7.21643124e-03 3.63080228e-03 9.99967370e-01 -2.36750822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.501346184 meters 0.10613617729585283 Centerline is valid? [False, False] Translation: X:45.39, Y:-3.94, Z:-2.37 [[ 9.99963935e-01 -5.53161560e-03 -6.44431966e-03 4.53925523e+01] [ 5.53939542e-03 9.99983949e-01 1.19001344e-03 -3.93554914e+00] [ 6.43763353e-03 -1.22566815e-03 9.99978527e-01 -2.36820676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.561346183999994 meters 0.11720349858264797 Centerline is valid? [False, False] Translation: X:45.40, Y:-3.94, Z:-2.37 [[ 9.99938309e-01 -8.65996349e-03 -6.95581912e-03 4.53951219e+01] [ 8.64901258e-03 9.99961312e-01 -1.60289496e-03 -3.93795945e+00] [ 6.96943103e-03 1.54263511e-03 9.99974523e-01 -2.37044225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.621346184 meters 0.11054768720979817 Centerline is valid? [False, False] Translation: X:45.40, Y:-3.94, Z:-2.37 [[ 9.99934534e-01 -8.76454937e-03 -7.35593433e-03 4.53961044e+01] [ 8.74951525e-03 9.99959572e-01 -2.07350817e-03 -3.93560227e+00] [ 7.37381031e-03 2.00901157e-03 9.99970795e-01 -2.37057575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.681346184 meters 0.11232892939776394 Centerline is valid? [False, False] Translation: X:45.40, Y:-3.94, Z:-2.37 [[ 9.99938984e-01 -8.20984578e-03 -7.39104422e-03 4.53963810e+01] [ 8.20208229e-03 9.99965779e-01 -1.08009156e-03 -3.93819806e+00] [ 7.39965867e-03 1.01940370e-03 9.99972103e-01 -2.37095545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.741346183999994 meters 0.10950871502741595 Centerline is valid? [False, False] Translation: X:45.40, Y:-3.94, Z:-2.37 [[ 9.99946276e-01 -7.24766494e-03 -7.41061771e-03 4.53972544e+01] [ 7.25174633e-03 9.99973568e-01 5.24026736e-04 -3.94209084e+00] [ 7.40662386e-03 -5.77738503e-04 9.99972404e-01 -2.37229816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.801346183999996 meters 0.10838198813332182 Centerline is valid? [False, False] Translation: X:45.40, Y:-3.94, Z:-2.37 [[ 9.99968335e-01 -2.93356765e-03 -7.39757294e-03 4.53974197e+01] [ 2.96938994e-03 9.99983897e-01 4.83611277e-03 -3.94155788e+00] [ 7.38326675e-03 -4.85792591e-03 9.99960943e-01 -2.37257816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.861346184 meters 0.100092059688909 Centerline is valid? [False, False] Translation: X:45.40, Y:-3.94, Z:-2.37 [[ 9.99966754e-01 -2.71450779e-03 -7.68907398e-03 4.53981786e+01] [ 2.75278570e-03 9.99983850e-01 4.97201986e-03 -3.94145467e+00] [ 7.67545322e-03 -4.99302093e-03 9.99958078e-01 -2.37285807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.921346183999994 meters 0.10460561083937381 Centerline is valid? [False, False] Translation: X:45.40, Y:-3.94, Z:-2.37 [[ 9.99948371e-01 -6.25304985e-03 -8.00961345e-03 4.53993623e+01] [ 6.26749503e-03 9.99978775e-01 1.77965069e-03 -3.94388224e+00] [ 7.99831520e-03 -1.82975902e-03 9.99966339e-01 -2.37374259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.981346183999996 meters 0.09651392336681981 Centerline is valid? [False, True] Translation: X:45.40, Y:-3.94, Z:-2.37 [[ 9.99943767e-01 -6.50756095e-03 -8.37342041e-03 4.53996928e+01] [ 6.51737657e-03 9.99978106e-01 1.14548336e-03 -3.94122315e+00] [ 8.36578277e-03 -1.19999168e-03 9.99964286e-01 -2.37301881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.041346184 meters 0.1039486820130374 Centerline is valid? [True, False] Translation: X:45.40, Y:-3.94, Z:-2.37 [[ 9.99943581e-01 -6.15307574e-03 -8.65876648e-03 4.54009534e+01] [ 6.16621177e-03 9.99979877e-01 1.49120148e-03 -3.94088510e+00] [ 8.64941676e-03 -1.54450914e-03 9.99961400e-01 -2.37399880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.101346184 meters 0.10816865641998862 Centerline is valid? [False, False] Translation: X:45.39, Y:-3.95, Z:-2.38 [[ 9.99997657e-01 -1.54265902e-03 -1.51876263e-03 4.53932886e+01] [ 1.54322325e-03 9.99998741e-01 3.70407636e-04 -3.94660913e+00] [ 1.51818930e-03 -3.72750558e-04 9.99998778e-01 -2.38121888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.161346183999996 meters 0.100129849005624 Centerline is valid? [False, False] Translation: X:45.39, Y:-3.95, Z:-2.38 [[ 9.99997899e-01 -1.16163252e-03 -1.68884323e-03 4.53941937e+01] [ 1.16319954e-03 9.99998894e-01 9.27180417e-04 -3.94725900e+00] [ 1.68776431e-03 -9.29142931e-04 9.99998144e-01 -2.38208756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.221346184 meters 0.09593574708699741 Centerline is valid? [False, True] Translation: X:45.39, Y:-3.95, Z:-2.38 [[ 9.99997424e-01 -1.55744688e-03 -1.65122639e-03 4.53934620e+01] [ 1.55793311e-03 9.99998743e-01 2.93222201e-04 -3.94561290e+00] [ 1.65076763e-03 -2.95793945e-04 9.99998594e-01 -2.38100202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.281346184 meters 0.09538154627167358 Centerline is valid? [True, True] Translation: X:45.45, Y:-3.95, Z:-2.38 [[ 9.99997045e-01 -1.91040290e-03 1.50351151e-03 4.54531248e+01] [ 1.91063714e-03 9.99998163e-01 -1.54377325e-04 -3.95294489e+00] [-1.50321382e-03 1.57249533e-04 9.99998858e-01 -2.38108196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.341346183999995 meters 0.10704190518850856 Centerline is valid? [True, False] Translation: X:45.45, Y:-3.96, Z:-2.38 [[ 9.99997201e-01 -1.53954208e-03 1.79654308e-03 4.54528485e+01] [ 1.53804821e-03 9.99998471e-01 8.32609641e-04 -3.95577502e+00] [-1.79782217e-03 -8.29844141e-04 9.99998040e-01 -2.38163167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.401346184 meters 0.10523640239544547 Centerline is valid? [False, False] Translation: X:45.45, Y:-3.95, Z:-2.38 [[ 9.99997504e-01 -1.61428738e-03 1.54484646e-03 4.54536414e+01] [ 1.61356187e-03 9.99998587e-01 4.70767879e-04 -3.95372963e+00] [-1.54560423e-03 -4.68273998e-04 9.99998696e-01 -2.38198426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.461346184 meters 0.10537557233692277 Centerline is valid? [False, False] Translation: X:45.45, Y:-3.96, Z:-2.38 [[ 9.99998213e-01 -9.68161799e-04 1.62372671e-03 4.54545446e+01] [ 9.65625551e-04 9.99998314e-01 1.56204943e-03 -3.95555822e+00] [-1.62523629e-03 -1.56047873e-03 9.99997462e-01 -2.38366704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.521346183999995 meters 0.10229074302178538 Centerline is valid? [False, False] Translation: X:45.45, Y:-3.96, Z:-2.38 [[ 9.99997195e-01 -8.20115721e-04 2.22182481e-03 4.54537626e+01] [ 8.14361650e-04 9.99996316e-01 2.58946326e-03 -3.95992652e+00] [-2.22394028e-03 -2.58764663e-03 9.99994179e-01 -2.38449423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.581346184 meters 0.11729492653744392 Centerline is valid? [False, False] Translation: X:45.45, Y:-3.96, Z:-2.38 [[ 9.99996428e-01 -1.61120944e-03 2.13268565e-03 4.54532003e+01] [ 1.60869227e-03 9.99998008e-01 1.18146930e-03 -3.95584769e+00] [-2.13458500e-03 -1.17803425e-03 9.99997028e-01 -2.38318959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.641346184 meters 0.10750078336256576 Centerline is valid? [False, False] Translation: X:45.45, Y:-3.95, Z:-2.38 [[ 9.99996732e-01 -1.73245820e-03 1.87990774e-03 4.54533909e+01] [ 1.73099216e-03 9.99998197e-01 7.81190419e-04 -3.95449844e+00] [-1.88125773e-03 -7.77933761e-04 9.99997928e-01 -2.38263269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.701346183999995 meters 0.1072502510875965 Centerline is valid? [False, False] Translation: X:45.46, Y:-3.96, Z:-2.38 [[ 9.99998688e-01 -8.00492107e-04 1.40854786e-03 4.54555699e+01] [ 7.97908694e-04 9.99998000e-01 1.83370367e-03 -3.95565816e+00] [-1.41001291e-03 -1.83257738e-03 9.99997327e-01 -2.38459039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.761346184 meters 0.09637389964030874 Centerline is valid? [False, True] Translation: X:45.46, Y:-3.95, Z:-2.38 [[ 9.99998580e-01 -1.23678042e-03 1.14452222e-03 4.54558411e+01] [ 1.23583081e-03 9.99998892e-01 8.30036024e-04 -3.95271724e+00] [-1.14554752e-03 -8.28620410e-04 9.99999001e-01 -2.38415040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.821346184 meters 0.10947258031038813 Centerline is valid? [True, False] Translation: X:45.46, Y:-3.95, Z:-2.39 [[ 9.99999838e-01 -5.37475480e-04 1.86088275e-04 4.54587621e+01] [ 5.37300107e-04 9.99999413e-01 9.41188669e-04 -3.94987356e+00] [-1.86594032e-04 -9.41088532e-04 9.99999540e-01 -2.38574517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.881346183999995 meters 0.10125552797077866 Centerline is valid? [False, False] Translation: X:45.46, Y:-3.95, Z:-2.39 [[ 9.99999890e-01 -3.65513512e-04 2.92254583e-04 4.54584959e+01] [ 3.65128655e-04 9.99999068e-01 1.31582801e-03 -3.95152739e+00] [-2.92735263e-04 -1.31572115e-03 9.99999092e-01 -2.38572120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.941346184 meters 0.11074134020805618 Centerline is valid? [False, False] Translation: X:45.46, Y:-3.95, Z:-2.39 [[ 9.99999914e-01 -3.70768098e-04 1.87205927e-04 4.54586776e+01] [ 3.70539494e-04 9.99999188e-01 1.21969705e-03 -3.95098963e+00] [-1.87657999e-04 -1.21962757e-03 9.99999239e-01 -2.38562725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.001346184 meters 0.09811605091303505 Centerline is valid? [False, True] Translation: X:45.46, Y:-3.95, Z:-2.38 [[ 9.99999527e-01 -8.74511998e-04 4.26582488e-04 4.54573386e+01] [ 8.74217421e-04 9.99999380e-01 6.90248851e-04 -3.95076893e+00] [-4.27185854e-04 -6.89875599e-04 9.99999671e-01 -2.38428369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.061346183999994 meters 0.10228474974728712 Centerline is valid? [True, False] Translation: X:45.46, Y:-3.95, Z:-2.39 [[ 9.99999894e-01 -1.26616566e-04 4.41847485e-04 4.54583218e+01] [ 1.25727073e-04 9.99997967e-01 2.01256781e-03 -3.95344414e+00] [-4.42101411e-04 -2.01251204e-03 9.99997877e-01 -2.38592652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.121346184 meters 0.10565362201930076 Centerline is valid? [False, False] Translation: X:45.46, Y:-3.96, Z:-2.39 [[ 9.99992432e-01 -3.87610311e-03 3.35156802e-04 4.54587508e+01] [ 3.87653267e-03 9.99991653e-01 -1.29065745e-03 -3.95595273e+00] [-3.30151283e-04 1.29194692e-03 9.99999111e-01 -2.38631818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.181346184 meters 0.10671502996371053 Centerline is valid? [False, False] Translation: X:45.46, Y:-3.96, Z:-2.39 [[ 9.99992361e-01 -3.87158971e-03 5.36760056e-04 4.54580540e+01] [ 3.87211809e-03 9.99992016e-01 -9.86868324e-04 -3.95735812e+00] [-5.32935021e-04 9.88939184e-04 9.99999369e-01 -2.38583621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.241346183999994 meters 0.1039668938630335 Centerline is valid? [False, False] Translation: X:45.46, Y:-3.96, Z:-2.39 [[ 9.99992414e-01 -3.89460989e-03 6.93644396e-05 4.54588585e+01] [ 3.89470290e-03 9.99991442e-01 -1.39546539e-03 -3.95537792e+00] [-6.39290527e-05 1.39572495e-03 9.99999024e-01 -2.38553439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.301346183999996 meters 0.10670229147670549 Centerline is valid? [False, False] Translation: X:45.46, Y:-3.96, Z:-2.39 [[ 9.99994768e-01 -3.23216371e-03 1.28601247e-04 4.54592301e+01] [ 3.23218181e-03 9.99994767e-01 -1.40745973e-04 -3.95893053e+00] [-1.28145660e-04 1.41160899e-04 9.99999982e-01 -2.38644410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.361346184 meters 0.10338533381336351 Centerline is valid? [False, False] Translation: X:45.46, Y:-3.96, Z:-2.39 [[ 9.99978081e-01 -6.57565415e-03 -7.73641732e-04 4.54619827e+01] [ 6.57277861e-03 9.99971692e-01 -3.66249861e-03 -3.95837575e+00] [ 7.97703156e-04 3.65733336e-03 9.99992994e-01 -2.38789465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.421346183999994 meters 0.09838623007644068 Centerline is valid? [False, True] Translation: X:45.46, Y:-3.96, Z:-2.39 [[ 9.99997598e-01 -2.04971718e-03 -7.76309604e-04 4.54624892e+01] [ 2.05047950e-03 9.99997415e-01 9.82454964e-04 -3.95843839e+00] [ 7.74293843e-04 -9.84044411e-04 9.99999216e-01 -2.38872121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.481346183999996 meters 0.10076496049214884 Centerline is valid? [True, False] Translation: X:45.46, Y:-3.96, Z:-2.39 [[ 9.99998220e-01 -1.49630053e-03 -1.14915806e-03 4.54635464e+01] [ 1.49818771e-03 9.99997528e-01 1.64312094e-03 -3.95976534e+00] [ 1.14669662e-03 -1.64483967e-03 9.99997990e-01 -2.38925160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.541346184 meters 0.09591533204214238 Centerline is valid? [False, True] Translation: X:45.46, Y:-3.96, Z:-2.39 [[ 9.99998391e-01 -1.33189212e-03 -1.20156130e-03 4.54636148e+01] [ 1.33420773e-03 9.99997251e-01 1.92842705e-03 -3.96091442e+00] [ 1.19898954e-03 -1.93002707e-03 9.99997419e-01 -2.38925072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60134618399999 meters 0.10075541064280169 Centerline is valid? [True, False] Translation: X:45.46, Y:-3.96, Z:-2.39 [[ 9.99998399e-01 -1.21374636e-03 -1.31492310e-03 4.54638262e+01] [ 1.21655936e-03 9.99996969e-01 2.14060222e-03 -3.96098717e+00] [ 1.31232097e-03 -2.14219848e-03 9.99996844e-01 -2.38919089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.661346183999996 meters 0.09910578904221803 Centerline is valid? [False, True] Translation: X:45.46, Y:-3.96, Z:-2.39 [[ 9.99998471e-01 -1.50525937e-03 -8.90611793e-04 4.54623369e+01] [ 1.50725583e-03 9.99996343e-01 2.24525965e-03 -3.96301345e+00] [ 8.87228838e-04 -2.24659859e-03 9.99997083e-01 -2.38825321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.721346184 meters 0.10257388436793662 Centerline is valid? [True, False] Translation: X:45.46, Y:-3.97, Z:-2.39 [[ 9.99987882e-01 -4.75721671e-03 -1.26713030e-03 4.54641614e+01] [ 4.75668394e-03 9.99988597e-01 -4.23135060e-04 -3.96609866e+00] [ 1.26912879e-03 4.17102594e-04 9.99999108e-01 -2.39002859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.781346184 meters 0.1046811865828555 Centerline is valid? [False, False] Translation: X:45.46, Y:-3.97, Z:-2.39 [[ 9.99988232e-01 -4.64819782e-03 -1.38941044e-03 4.54644819e+01] [ 4.64790764e-03 9.99989176e-01 -2.12007361e-04 -3.96622872e+00] [ 1.39038085e-03 2.05547015e-04 9.99999012e-01 -2.39011888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.841346183999995 meters 0.10415046132196536 Centerline is valid? [False, False] Translation: X:45.47, Y:-3.97, Z:-2.39 [[ 9.99988838e-01 -4.35205232e-03 -1.83969532e-03 4.54656078e+01] [ 4.35212020e-03 9.99990529e-01 3.28951608e-05 -3.96588769e+00] [ 1.83953473e-03 -4.09013688e-05 9.99998307e-01 -2.39049829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.901346184 meters 0.10432560530935524 Centerline is valid? [False, False] Translation: X:45.47, Y:-3.97, Z:-2.39 [[ 9.99991343e-01 -3.54692317e-03 -2.17574301e-03 4.54671330e+01] [ 3.54939812e-03 9.99993057e-01 1.13471329e-03 -3.96761116e+00] [ 2.17170316e-03 -1.14242604e-03 9.99996989e-01 -2.39189332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.961346184 meters 0.10048250887435531 Centerline is valid? [False, False] Translation: X:45.47, Y:-3.97, Z:-2.39 [[ 9.99993006e-01 -2.85105817e-03 -2.42073876e-03 4.54684409e+01] [ 2.85618203e-03 9.99993683e-01 2.11583523e-03 -3.96940478e+00] [ 2.41469109e-03 -2.12273450e-03 9.99994832e-01 -2.39325502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.021346183999995 meters 0.08803470401568969 Centerline is valid? [False, True] Translation: X:45.47, Y:-3.96, Z:-2.39 [[ 9.99995426e-01 7.03151836e-04 -2.94177734e-03 4.54682732e+01] [-6.92629165e-04 9.99993365e-01 3.57646808e-03 -3.96212385e+00] [ 2.94427262e-03 -3.57441416e-03 9.99989277e-01 -2.39073444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.081346184 meters 0.08277779996089997 Centerline is valid? [True, True] Translation: X:45.53, Y:-3.95, Z:-2.39 [[ 9.99939085e-01 1.09517226e-02 -1.37334777e-03 4.55298517e+01] [-1.09515673e-02 9.99940023e-01 1.20569568e-04 -3.95168078e+00] [ 1.37458584e-03 -1.05521913e-04 9.99999050e-01 -2.38812907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.141346184 meters 0.0797890234329357 Centerline is valid? [True, True] Translation: X:45.59, Y:-3.95, Z:-2.39 [[ 9.99810126e-01 1.93940416e-02 -1.89276303e-03 4.55901108e+01] [-1.93937615e-02 9.99811910e-01 1.66233965e-04 -3.95338498e+00] [ 1.89563097e-03 -1.29494607e-04 9.99998195e-01 -2.39408780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.201346183999995 meters 0.08010409155500793 Centerline is valid? [True, True] Translation: X:45.65, Y:-3.95, Z:-2.40 [[ 9.99725934e-01 2.31414678e-02 -3.53965674e-03 4.56490678e+01] [-2.31405146e-02 9.99732174e-01 3.09990276e-04 -3.95329999e+00] [ 3.54588236e-03 -2.27995840e-04 9.99993687e-01 -2.39627376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.261346184 meters 0.07687984526359376 Centerline is valid? [True, True] Translation: X:45.71, Y:-3.95, Z:-2.39 [[ 9.99715199e-01 2.37676048e-02 -2.14990461e-03 4.57087538e+01] [-2.37672578e-02 9.99717501e-01 1.86817671e-04 -3.94997368e+00] [ 2.15373747e-03 -1.35667128e-04 9.99997672e-01 -2.39262040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.321346184 meters 0.08208416007185694 Centerline is valid? [True, True] Translation: X:45.76, Y:-3.97, Z:-2.40 [[ 9.99729390e-01 2.30397252e-02 -3.21206037e-03 4.57649921e+01] [-2.30389462e-02 9.99734529e-01 2.79305839e-04 -3.96738204e+00] [ 3.21764279e-03 -2.05227769e-04 9.99994802e-01 -2.40215315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.381346183999995 meters 0.0791193069135317 Centerline is valid? [True, True] Translation: X:45.83, Y:-3.96, Z:-2.40 [[ 9.99801759e-01 1.95684717e-02 -3.67665100e-03 4.58255673e+01] [-1.95674201e-02 9.99808488e-01 3.21776778e-04 -3.96147288e+00] [ 3.68224355e-03 -2.49770414e-04 9.99993189e-01 -2.39741642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.441346184 meters 0.08270888023881141 Centerline is valid? [True, True] Translation: X:45.88, Y:-3.97, Z:-2.40 [[ 9.99856279e-01 1.68553610e-02 -1.82139636e-03 4.58827720e+01] [-1.68551016e-02 9.99857930e-01 1.57692295e-04 -3.97334914e+00] [ 1.82379555e-03 -1.26969811e-04 9.99998329e-01 -2.39848692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.501346184 meters 0.08100158883840176 Centerline is valid? [True, True] Translation: X:45.94, Y:-3.98, Z:-2.40 [[ 9.99874937e-01 1.57853565e-02 -9.66164512e-04 4.59415589e+01] [-1.57852839e-02 9.99875401e-01 8.27070856e-05 -3.97580468e+00] [ 9.67349690e-04 -6.74455608e-05 9.99999530e-01 -2.39788284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.561346183999994 meters 0.08171777841396152 Centerline is valid? [True, True] Translation: X:46.00, Y:-3.98, Z:-2.40 [[ 9.99832253e-01 1.81745279e-02 -2.26972325e-03 4.59998623e+01] [-1.81741270e-02 9.99834817e-01 1.97113746e-04 -3.97882812e+00] [ 2.27293078e-03 -1.55830442e-04 9.99997405e-01 -2.40192132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.621346184 meters 0.08097632810572443 Centerline is valid? [True, True] Translation: X:46.06, Y:-3.98, Z:-2.41 [[ 9.99742872e-01 2.20702890e-02 -5.20507796e-03 4.60596807e+01] [-2.20682228e-02 9.99756364e-01 4.54066838e-04 -3.97845070e+00] [ 5.21383120e-03 -3.39083264e-04 9.99986350e-01 -2.40713991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.681346184 meters 0.08027096186480348 Centerline is valid? [True, True] Translation: X:46.12, Y:-3.98, Z:-2.41 [[ 9.99663027e-01 2.54859464e-02 -4.92936529e-03 4.61191256e+01] [-2.54841356e-02 9.99675134e-01 4.29821521e-04 -3.97768039e+00] [ 4.93871832e-03 -3.04056069e-04 9.99987758e-01 -2.40764569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.741346183999994 meters 0.08086985110579553 Centerline is valid? [True, True] Translation: X:46.18, Y:-3.98, Z:-2.40 [[ 9.99707212e-01 2.41959903e-02 2.11822694e-04 4.61781325e+01] [-2.41959866e-02 9.99707234e-01 -2.02003816e-05 -3.98200898e+00] [-2.12249447e-04 1.50692082e-05 9.99999977e-01 -2.40329626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.801346183999996 meters 0.08528189962381622 Centerline is valid? [True, True] Translation: X:46.24, Y:-3.99, Z:-2.41 [[ 9.99792191e-01 2.03103137e-02 1.75124276e-03 4.62362486e+01] [-2.03100762e-02 9.99793717e-01 -1.53278155e-04 -3.99369303e+00] [-1.75399464e-03 1.17678429e-04 9.99998455e-01 -2.40693176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.861346184 meters 0.08326748187631156 Centerline is valid? [True, True] Translation: X:46.30, Y:-3.99, Z:-2.41 [[ 9.99843523e-01 1.70997661e-02 -4.53076311e-03 4.62974580e+01] [-1.70981487e-02 9.99853738e-01 3.95484999e-04 -3.99093823e+00] [ 4.53686314e-03 -3.17955453e-04 9.99989658e-01 -2.41071822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.921346183999994 meters 0.08699406113812148 Centerline is valid? [True, True] Translation: X:46.36, Y:-4.00, Z:-2.42 [[ 9.99853539e-01 1.53719029e-02 -7.52368417e-03 4.63561672e+01] [-1.53674029e-02 9.99881700e-01 6.55562216e-04 -3.99821226e+00] [ 7.53287135e-03 -5.39846716e-04 9.99971482e-01 -2.41778811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.981346183999996 meters 0.08826351190322528 Centerline is valid? [True, True] Translation: X:46.42, Y:-4.00, Z:-2.41 [[ 9.99935459e-01 1.10590581e-02 -2.60280091e-03 4.64164721e+01] [-1.10585054e-02 9.99938827e-01 2.26615532e-04 -4.00017193e+00] [ 2.60514784e-03 -1.97817818e-04 9.99996587e-01 -2.41193590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.041346184 meters 0.08584960075156846 Centerline is valid? [True, True] Translation: X:46.48, Y:-4.00, Z:-2.41 [[ 9.99971485e-01 7.06192494e-03 2.67570240e-03 4.64776773e+01] [-7.06132553e-03 9.99975041e-01 -2.33401267e-04 -3.99858023e+00] [-2.67728388e-03 2.14500605e-04 9.99996393e-01 -2.40723888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10134618399999 meters 0.08961795971134472 Centerline is valid? [True, True] Translation: X:46.54, Y:-4.00, Z:-2.42 [[ 9.99988016e-01 3.51755553e-03 -3.40500622e-03 4.65379238e+01] [-3.51656425e-03 9.99993773e-01 2.97068842e-04 -4.00423615e+00] [ 3.40602997e-03 -2.85091359e-04 9.99994159e-01 -2.41613059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.161346183999996 meters 0.09277969456217317 Centerline is valid? [True, True] Translation: X:46.60, Y:-4.00, Z:-2.42 [[ 9.99985684e-01 2.75387077e-03 -4.58773838e-03 4.65965151e+01] [-2.75207301e-03 9.99996134e-01 3.98129477e-04 -4.00039297e+00] [ 4.58881704e-03 -3.85497987e-04 9.99989397e-01 -2.41675347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.221346184 meters 0.08773473313050277 Centerline is valid? [True, True] Translation: X:46.66, Y:-3.99, Z:-2.41 [[ 9.99983043e-01 5.24226666e-03 -2.53628899e-03 4.66586626e+01] [-5.24172298e-03 9.99986238e-01 2.20961324e-04 -3.98945639e+00] [ 2.53741242e-03 -2.07663053e-04 9.99996759e-01 -2.41407168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.281346184 meters 0.09913601036723049 Centerline is valid? [True, True] Translation: X:46.71, Y:-4.00, Z:-2.42 [[ 9.99986917e-01 4.90970473e-03 1.43574727e-03 4.67149646e+01] [-4.90952713e-03 9.99987940e-01 -1.27199075e-04 -4.00355581e+00] [-1.43635446e-03 1.20148570e-04 9.99998961e-01 -2.42028571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.341346183999995 meters 0.09319464618260982 Centerline is valid? [True, True] Translation: X:46.78, Y:-3.99, Z:-2.42 [[ 9.99992254e-01 3.72424887e-03 1.27356530e-03 4.67758915e+01] [-3.72410911e-03 9.99993059e-01 -1.12087827e-04 -3.98685198e+00] [-1.27397390e-03 1.07344063e-04 9.99999183e-01 -2.41683209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.401346184 meters 0.08959337022480868 Centerline is valid? [True, True] Translation: X:46.84, Y:-3.98, Z:-2.42 [[ 9.99994229e-01 3.26263536e-03 9.47003348e-04 4.68365197e+01] [-3.26255797e-03 9.99994674e-01 -8.32499888e-05 -3.97538563e+00] [-9.47269919e-04 8.01598550e-05 9.99999548e-01 -2.41643411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.461346184 meters 0.09765880923610808 Centerline is valid? [True, True] Translation: X:46.90, Y:-3.98, Z:-2.42 [[ 9.99999231e-01 1.18665328e-03 3.60645998e-04 4.68956497e+01] [-1.18664189e-03 9.99999295e-01 -3.17939237e-05 -3.98063300e+00] [-3.60683472e-04 3.13659416e-05 9.99999934e-01 -2.42240008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.521346183999995 meters 0.09177736417832344 Centerline is valid? [True, True] Translation: X:46.96, Y:-3.97, Z:-2.42 [[ 9.99997718e-01 -3.80708095e-04 -2.10199396e-03 4.69572211e+01] [ 3.81092156e-04 9.99999911e-01 1.82315001e-04 -3.96632362e+00] [ 2.10192436e-03 -1.83115639e-04 9.99997774e-01 -2.42182638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.581346184 meters 0.09270685719530951 Centerline is valid? [True, True] Translation: X:47.02, Y:-3.96, Z:-2.43 [[ 9.99998403e-01 8.63324475e-04 -1.56465139e-03 4.70167851e+01] [-8.63114110e-04 9.99999618e-01 1.35118857e-04 -3.96175363e+00] [ 1.56476745e-03 -1.33768169e-04 9.99998767e-01 -2.42666086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.641346184 meters 0.09375791832089596 Centerline is valid? [True, True] Translation: X:47.08, Y:-3.96, Z:-2.43 [[ 9.99997032e-01 1.92413288e-03 1.49461749e-03 4.70760197e+01] [-1.92393969e-03 9.99998141e-01 -1.30688067e-04 -3.95973185e+00] [-1.49486618e-03 1.27812126e-04 9.99998875e-01 -2.42519552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.701346183999995 meters 0.09390254763804606 Centerline is valid? [True, True] Translation: X:47.14, Y:-3.95, Z:-2.42 [[ 9.99988736e-01 3.59286811e-03 3.10137601e-03 4.71377726e+01] [-3.59204671e-03 9.99993512e-01 -2.70376875e-04 -3.94770293e+00] [-3.10232731e-03 2.59233542e-04 9.99995154e-01 -2.42301011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.761346184 meters 0.09576681461045317 Centerline is valid? [True, True] Translation: X:47.20, Y:-3.94, Z:-2.43 [[ 9.99991247e-01 4.12205263e-03 7.17119977e-04 4.71981869e+01] [-4.12200875e-03 9.99991503e-01 -6.26637150e-05 -3.94337777e+00] [-7.17372187e-04 5.97071917e-05 9.99999741e-01 -2.42939213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.821346184 meters 0.09665778310979108 Centerline is valid? [True, True] Translation: X:47.26, Y:-3.95, Z:-2.43 [[ 9.99992017e-01 3.41101347e-03 2.08127742e-03 4.72574161e+01] [-3.41064244e-03 9.99994167e-01 -1.81795090e-04 -3.94500654e+00] [-2.08188538e-03 1.74695146e-04 9.99997818e-01 -2.43003925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.881346183999995 meters 0.09744747979484707 Centerline is valid? [True, True] Translation: X:47.32, Y:-3.94, Z:-2.43 [[ 9.99987872e-01 4.39876114e-03 2.21506891e-03 4.73175518e+01] [-4.39834454e-03 9.99990309e-01 -1.92908354e-04 -3.93522384e+00] [-2.21589600e-03 1.83163379e-04 9.99997528e-01 -2.43092727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.941346184 meters 0.09319784664369798 Centerline is valid? [True, True] Translation: X:47.38, Y:-3.92, Z:-2.43 [[ 9.99921192e-01 1.23766360e-02 2.10430690e-03 4.73797439e+01] [-1.23762798e-02 9.99923394e-01 -1.82240627e-04 -3.92361790e+00] [-2.10640123e-03 1.56182774e-04 9.99997769e-01 -2.43353926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.001346184 meters 0.0811007318030285 Centerline is valid? [True, True] Translation: X:47.44, Y:-3.89, Z:-2.43 [[ 9.99660477e-01 2.59132387e-02 2.72652109e-03 4.74429196e+01] [-2.59126896e-02 9.99664182e-01 -2.36539639e-04 -3.89453380e+00] [-2.73173499e-03 1.65807834e-04 9.99996255e-01 -2.43127293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.061346183999994 meters 0.07947860482577729 Centerline is valid? [True, True] Translation: X:47.50, Y:-3.89, Z:-2.43 [[ 9.99558710e-01 2.95988762e-02 2.50853802e-03 4.75034893e+01] [-2.95984221e-02 9.99561847e-01 -2.17949369e-04 -3.88978200e+00] [-2.51388995e-03 1.43604423e-04 9.99996830e-01 -2.43298957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.121346184 meters 0.07444129000122542 Centerline is valid? [True, True] Translation: X:47.57, Y:-3.88, Z:-2.43 [[ 9.99283638e-01 3.76575603e-02 3.75743268e-03 4.75650380e+01] [-3.76565995e-02 9.99290686e-01 -3.26154697e-04 -3.87595839e+00] [-3.76704967e-03 1.84428915e-04 9.99992888e-01 -2.43287686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.181346184 meters 0.07266226442676621 Centerline is valid? [True, True] Translation: X:47.63, Y:-3.87, Z:-2.44 [[ 9.99101556e-01 4.23337642e-02 1.98306800e-03 4.76251623e+01] [-4.23335046e-02 9.99103520e-01 -1.72723523e-04 -3.87144226e+00] [-1.98860226e-03 8.86181227e-05 9.99998019e-01 -2.43586934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.241346183999994 meters 0.0698890769945983 Centerline is valid? [True, True] Translation: X:47.69, Y:-3.87, Z:-2.43 [[ 9.98871819e-01 4.72549524e-02 4.69670457e-03 4.76861447e+01] [-4.72535593e-02 9.98882844e-01 -4.07199570e-04 -3.86542783e+00] [-4.71069981e-03 1.84804167e-04 9.99988888e-01 -2.43483408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.301346183999996 meters 0.06887282288774776 Centerline is valid? [True, True] Translation: X:47.75, Y:-3.86, Z:-2.43 [[ 9.98675047e-01 5.09616351e-02 7.14580286e-03 4.77453003e+01] [-5.09585024e-02 9.98700579e-01 -6.19911291e-04 -3.86489859e+00] [-7.16810915e-03 2.54950526e-04 9.99974276e-01 -2.43421469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.361346184 meters 0.06861736929757499 Centerline is valid? [True, True] Translation: X:47.80, Y:-3.87, Z:-2.44 [[ 9.98647508e-01 5.18002511e-02 4.45966153e-03 4.78045670e+01] [-5.17990203e-02 9.98657453e-01 -3.91126140e-04 -3.86529442e+00] [-4.47393466e-03 1.59591047e-04 9.99989979e-01 -2.43659036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.421346183999994 meters 0.06854561585401224 Centerline is valid? [True, True] Translation: X:47.86, Y:-3.87, Z:-2.44 [[ 9.98595392e-01 5.29367019e-02 2.22460014e-03 4.78620471e+01] [-5.29363915e-02 9.98597867e-01 -1.98232837e-04 -3.87021162e+00] [-2.23197474e-03 8.01920935e-05 9.99997506e-01 -2.44206489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.481346183999996 meters 0.0671017770623852 Centerline is valid? [True, True] Translation: X:47.92, Y:-3.87, Z:-2.44 [[ 9.98539316e-01 5.39434921e-02 3.05533201e-03 4.79208593e+01] [-5.39429231e-02 9.98543985e-01 -2.68374583e-04 -3.87241360e+00] [-3.06536046e-03 1.03169032e-04 9.99995296e-01 -2.44238206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.541346184 meters 0.0671663355979726 Centerline is valid? [True, True] Translation: X:47.98, Y:-3.88, Z:-2.44 [[ 9.98575203e-01 5.30670702e-02 5.60811779e-03 4.79791862e+01] [-5.30651756e-02 9.98590933e-01 -4.86197738e-04 -3.87914251e+00] [-5.62601667e-03 1.87909249e-04 9.99984156e-01 -2.44046752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60134618399999 meters 0.06828146086045529 Centerline is valid? [True, True] Translation: X:48.04, Y:-3.89, Z:-2.44 [[ 9.98719105e-01 5.03667531e-02 4.83117835e-03 4.80381460e+01] [-5.03653371e-02 9.98730775e-01 -4.14393742e-04 -3.88915853e+00] [-4.84591816e-03 1.70539021e-04 9.99988244e-01 -2.44104504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.661346183999996 meters 0.06988383334301439 Centerline is valid? [True, True] Translation: X:48.10, Y:-3.90, Z:-2.44 [[ 9.98861300e-01 4.72538042e-02 6.57126721e-03 4.80955556e+01] [-4.72511187e-02 9.98882883e-01 -5.63412765e-04 -3.90378668e+00] [-6.59054973e-03 2.52271481e-04 9.99978250e-01 -2.44411997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.721346184 meters 0.06952786806078023 Centerline is valid? [True, True] Translation: X:48.15, Y:-3.91, Z:-2.44 [[ 9.98878892e-01 4.66898455e-02 7.81131703e-03 4.81527304e+01] [-4.66860096e-02 9.98909387e-01 -6.72793222e-04 -3.90937146e+00] [-7.83421052e-03 3.07359726e-04 9.99969265e-01 -2.44323211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.781346184 meters 0.0702709901660886 Centerline is valid? [True, True] Translation: X:48.21, Y:-3.92, Z:-2.44 [[ 9.98998302e-01 4.38147122e-02 9.09191338e-03 4.82117961e+01] [-4.38094601e-02 9.99039603e-01 -7.76116925e-04 -3.91561610e+00] [-9.11718688e-03 3.77027674e-04 9.99958367e-01 -2.43728868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.841346183999995 meters 0.07084710612783376 Centerline is valid? [True, True] Translation: X:48.27, Y:-3.92, Z:-2.44 [[ 9.99070241e-01 4.22202923e-02 8.72359490e-03 4.82698649e+01] [-4.22153741e-02 9.99108254e-01 -7.47235794e-04 -3.92444993e+00] [-8.74736418e-03 3.78271222e-04 9.99961670e-01 -2.43996738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.901346184 meters 0.0705090104870322 Centerline is valid? [True, True] Translation: X:48.33, Y:-3.93, Z:-2.45 [[ 9.99029021e-01 4.27782791e-02 1.05372321e-02 4.83279474e+01] [-4.27711739e-02 9.99084490e-01 -8.98834402e-04 -3.93261195e+00] [-1.05660357e-02 4.47271868e-04 9.99944078e-01 -2.44599403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.961346184 meters 0.07161999112201804 Centerline is valid? [True, True] Translation: X:48.39, Y:-3.94, Z:-2.44 [[ 9.99046231e-01 4.18547517e-02 1.24421620e-02 4.83856734e+01] [-4.18448473e-02 9.99123563e-01 -1.05542189e-03 -3.93775691e+00] [-1.24754317e-02 5.33774894e-04 9.99922036e-01 -2.44310123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.021346183999995 meters 0.07084958799133691 Centerline is valid? [True, True] Translation: X:48.44, Y:-3.94, Z:-2.44 [[ 9.99075155e-01 4.07410337e-02 1.37478008e-02 4.84441835e+01] [-4.07288319e-02 9.99169556e-01 -1.16648341e-03 -3.93906933e+00] [-1.37839077e-02 6.05472725e-04 9.99904814e-01 -2.44110614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.081346184 meters 0.0702625482159407 Centerline is valid? [True, True] Translation: X:48.50, Y:-3.94, Z:-2.45 [[ 9.98930816e-01 4.37860432e-02 1.48326372e-02 4.85023458e+01] [-4.37722620e-02 9.99040750e-01 -1.25264826e-03 -3.94347729e+00] [-1.48732575e-02 6.02050865e-04 9.99889206e-01 -2.44637621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.141346184 meters 0.06861660388414884 Centerline is valid? [True, True] Translation: X:48.56, Y:-3.94, Z:-2.45 [[ 9.98872610e-01 4.55727534e-02 1.32903645e-02 4.85619723e+01] [-4.55618283e-02 9.98960889e-01 -1.12381711e-03 -3.94079842e+00] [-1.33277698e-02 5.17016829e-04 9.99911048e-01 -2.44898969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.201346183999995 meters 0.06789588257419014 Centerline is valid? [True, True] Translation: X:48.62, Y:-3.94, Z:-2.45 [[ 9.98777684e-01 4.79169765e-02 1.21285426e-02 4.86211896e+01] [-4.79081018e-02 9.98851225e-01 -1.02136905e-03 -3.94109676e+00] [-1.21635506e-02 4.39065165e-04 9.99925925e-01 -2.45084776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.261346184 meters 0.06652796018713672 Centerline is valid? [True, True] Translation: X:48.68, Y:-3.94, Z:-2.45 [[ 9.98597285e-01 5.08663120e-02 1.46996497e-02 4.86812403e+01] [-5.08536199e-02 9.98705353e-01 -1.23616799e-03 -3.93947176e+00] [-1.47434981e-02 4.86903606e-04 9.99891190e-01 -2.44987857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.321346184 meters 0.06583791763015967 Centerline is valid? [True, True] Translation: X:48.74, Y:-3.94, Z:-2.45 [[ 9.98373956e-01 5.40269469e-02 1.81805713e-02 4.87404791e+01] [-5.40080701e-02 9.98539330e-01 -1.52805007e-03 -3.94063893e+00] [-1.82365714e-02 5.43667827e-04 9.99833552e-01 -2.44811100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.381346183999995 meters 0.06535780502494243 Centerline is valid? [True, True] Translation: X:48.80, Y:-3.94, Z:-2.45 [[ 9.98223766e-01 5.55676483e-02 2.14836884e-02 4.87996633e+01] [-5.55416516e-02 9.98454739e-01 -1.80532817e-03 -3.94286729e+00] [-2.15508084e-02 6.08881948e-04 9.99767569e-01 -2.44877723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.441346184 meters 0.06487324049420849 Centerline is valid? [True, True] Translation: X:48.86, Y:-3.94, Z:-2.45 [[ 9.98156913e-01 5.69960766e-02 2.08380493e-02 4.88583888e+01] [-5.69720219e-02 9.98374247e-01 -1.74668938e-03 -3.94282190e+00] [-2.09037262e-02 5.56284281e-04 9.99781338e-01 -2.44951064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.501346184 meters 0.06433725630670985 Centerline is valid? [True, True] Translation: X:48.92, Y:-3.94, Z:-2.45 [[ 9.98084985e-01 5.78759006e-02 2.18344509e-02 4.89173852e+01] [-5.78498207e-02 9.98323629e-01 -1.82472005e-03 -3.94418851e+00] [-2.19034555e-02 5.58106618e-04 9.99759935e-01 -2.45099777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.561346183999994 meters 0.06360401834991067 Centerline is valid? [True, True] Translation: X:48.98, Y:-3.95, Z:-2.45 [[ 9.97846745e-01 6.15218588e-02 2.27361741e-02 4.89761021e+01] [-6.14946638e-02 9.98105615e-01 -1.89401424e-03 -3.94607174e+00] [-2.28096263e-02 4.91782563e-04 9.99739706e-01 -2.45413496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.621346184 meters 0.06314864527464915 Centerline is valid? [True, True] Translation: X:49.03, Y:-3.95, Z:-2.46 [[ 9.97784663e-01 6.27846719e-02 2.19966230e-02 4.90344140e+01] [-6.27595468e-02 9.98026996e-01 -1.83138358e-03 -3.94822269e+00] [-2.20682064e-02 4.46828356e-04 9.99756368e-01 -2.45915270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.681346184 meters 0.06306373333712069 Centerline is valid? [True, True] Translation: X:49.09, Y:-3.95, Z:-2.46 [[ 9.97705438e-01 6.30363352e-02 2.47038417e-02 4.90919403e+01] [-6.30048886e-02 9.98011113e-01 -2.05000704e-03 -3.95086729e+00] [-2.47839335e-02 4.88840372e-04 9.99692712e-01 -2.45750108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.741346183999994 meters 0.0629006076978545 Centerline is valid? [True, True] Translation: X:49.15, Y:-3.95, Z:-2.46 [[ 9.97671297e-01 6.31353568e-02 2.58052405e-02 4.91498333e+01] [-6.31011431e-02 9.98004845e-01 -2.13881756e-03 -3.95346947e+00] [-2.58887901e-02 5.05496711e-04 9.99664701e-01 -2.45668954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.801346183999996 meters 0.06287655406885043 Centerline is valid? [True, True] Translation: X:49.21, Y:-3.96, Z:-2.46 [[ 9.97588205e-01 6.44108193e-02 2.58654158e-02 4.92074263e+01] [-6.43770540e-02 9.97923358e-01 -2.13688011e-03 -3.95810627e+00] [-2.59493408e-02 4.66587121e-04 9.99663150e-01 -2.46102752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.861346184 meters 0.06276728033192262 Centerline is valid? [True, True] Translation: X:49.27, Y:-3.96, Z:-2.46 [[ 9.97568961e-01 6.53644470e-02 2.41590043e-02 4.92663367e+01] [-6.53353159e-02 9.97861373e-01 -1.99402568e-03 -3.96077317e+00] [-2.42376756e-02 4.10741946e-04 9.99706140e-01 -2.46489223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.921346183999994 meters 0.06278338156655158 Centerline is valid? [True, True] Translation: X:49.32, Y:-3.97, Z:-2.47 [[ 9.97507121e-01 6.61798883e-02 2.44901238e-02 4.93249144e+01] [-6.61503429e-02 9.97807632e-01 -2.01548731e-03 -3.96581480e+00] [-2.45698171e-02 3.90432860e-04 9.99698040e-01 -2.46902082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.981346183999996 meters 0.06245841542365117 Centerline is valid? [True, True] Translation: X:49.38, Y:-3.97, Z:-2.47 [[ 9.97433258e-01 6.67434547e-02 2.59269753e-02 4.93830788e+01] [-6.67106988e-02 9.97770092e-01 -2.12725760e-03 -3.96835619e+00] [-2.60111410e-02 3.92190835e-04 9.99661576e-01 -2.46947342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.041346184 meters 0.0631465932599765 Centerline is valid? [True, True] Translation: X:49.44, Y:-3.98, Z:-2.47 [[ 9.97416298e-01 6.64055104e-02 2.74050467e-02 4.94404463e+01] [-6.63689682e-02 9.97792631e-01 -2.24186034e-03 -3.97683353e+00] [-2.74934255e-02 4.17223369e-04 9.99621897e-01 -2.46958973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10134618399999 meters 0.06295615206793265 Centerline is valid? [True, True] Translation: X:49.50, Y:-3.98, Z:-2.47 [[ 9.97446786e-01 6.57625350e-02 2.78423892e-02 4.94985063e+01] [-6.57246351e-02 9.97835205e-01 -2.27518428e-03 -3.98104872e+00] [-2.79317381e-02 4.39444378e-04 9.99609736e-01 -2.47228227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.161346183999996 meters 0.06358599140192468 Centerline is valid? [True, True] Translation: X:49.56, Y:-3.99, Z:-2.48 [[ 9.97702863e-01 6.25526969e-02 2.60030137e-02 4.95561923e+01] [-6.25186111e-02 9.98041541e-01 -2.12255083e-03 -3.99284541e+00] [-2.60848591e-02 4.92002738e-04 9.99659611e-01 -2.47979564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.221346184 meters 0.06404018192601503 Centerline is valid? [True, True] Translation: X:49.61, Y:-4.00, Z:-2.49 [[ 9.97920789e-01 6.01618723e-02 2.31224665e-02 4.96140354e+01] [-6.01343950e-02 9.98188515e-01 -1.88245972e-03 -4.00211663e+00] [-2.31938328e-02 4.88090160e-04 9.99730868e-01 -2.48573750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.281346184 meters 0.06493829694130351 Centerline is valid? [True, True] Translation: X:49.67, Y:-4.01, Z:-2.49 [[ 9.98167606e-01 5.75840388e-02 1.85878822e-02 4.96707852e+01] [-5.75659167e-02 9.98340567e-01 -1.50898089e-03 -4.01291478e+00] [-1.86439301e-02 4.36187364e-04 9.99826092e-01 -2.49115308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.341346183999995 meters 0.06576808584250893 Centerline is valid? [True, True] Translation: X:49.73, Y:-4.03, Z:-2.50 [[ 9.98297715e-01 5.60070628e-02 1.62751611e-02 4.97286394e+01] [-5.59929590e-02 9.98430289e-01 -1.32133033e-03 -4.02553543e+00] [-1.63236177e-02 4.07786618e-04 9.99866678e-01 -2.49752611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.401346184 meters 0.06514342584073499 Centerline is valid? [True, True] Translation: X:49.79, Y:-4.03, Z:-2.50 [[ 9.98273729e-01 5.70607228e-02 1.39153284e-02 4.97864500e+01] [-5.70505423e-02 9.98370654e-01 -1.12778755e-03 -4.03093486e+00] [-1.39570079e-02 3.31963655e-04 9.99902541e-01 -2.50162454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.461346184 meters 0.06551026058212313 Centerline is valid? [True, True] Translation: X:49.84, Y:-4.04, Z:-2.51 [[ 9.98334884e-01 5.64444522e-02 1.18946410e-02 4.98443452e+01] [-5.64370045e-02 9.98405699e-01 -9.61140862e-04 -4.04216861e+00] [-1.19299284e-02 2.88242546e-04 9.99928794e-01 -2.50529500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.521346183999995 meters 0.06594116188897996 Centerline is valid? [True, True] Translation: X:49.90, Y:-4.05, Z:-2.51 [[ 9.98382205e-01 5.59781846e-02 9.97069229e-03 4.99019087e+01] [-5.59729662e-02 9.98431963e-01 -8.01882199e-04 -4.05203616e+00] [-9.99994579e-03 2.42495695e-04 9.99949970e-01 -2.50817276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.581346184 meters 0.06849917290053419 Centerline is valid? [True, True] Translation: X:49.96, Y:-4.08, Z:-2.52 [[ 9.98700886e-01 5.07026666e-02 5.07733679e-03 4.99587853e+01] [-5.07012474e-02 9.98713781e-01 -4.07919490e-04 -4.07604148e+00] [-5.09148883e-03 1.49962247e-04 9.99987027e-01 -2.51948216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.641346184 meters 0.07051561729091646 Centerline is valid? [True, True] Translation: X:50.02, Y:-4.09, Z:-2.52 [[ 9.98943922e-01 4.58720148e-02 2.60732738e-03 5.00176468e+01] [-4.58716242e-02 9.98947321e-01 -2.09416670e-04 -4.09470691e+00] [-2.61418906e-03 8.95931677e-05 9.99996579e-01 -2.52092155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.701346183999995 meters 0.07132622349363471 Centerline is valid? [True, True] Translation: X:50.08, Y:-4.11, Z:-2.52 [[ 9.99156472e-01 4.10399929e-02 1.43654820e-03 5.00762250e+01] [-4.10398691e-02 9.99157503e-01 -1.15559461e-04 -4.11166155e+00] [-1.44008047e-03 5.65062335e-05 9.99998961e-01 -2.52198207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.761346184 meters 0.07561815736861364 Centerline is valid? [True, True] Translation: X:50.13, Y:-4.14, Z:-2.53 [[ 9.99500559e-01 3.15934034e-02 -6.99047406e-04 5.01341808e+01] [-3.15933719e-02 9.99500803e-01 5.60659130e-05 -4.14418306e+00] [ 7.00469756e-04 -3.39526468e-05 9.99999754e-01 -2.52880144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.821346184 meters 0.07937351379863129 Centerline is valid? [True, True] Translation: X:50.19, Y:-4.17, Z:-2.53 [[ 9.99663863e-01 2.58167458e-02 -2.37840481e-03 5.01915073e+01] [-2.58163661e-02 9.99666684e-01 1.90181534e-04 -4.17160097e+00] [ 2.38252192e-03 -1.28715837e-04 9.99997154e-01 -2.53241838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.881346183999995 meters 0.08232735894126834 Centerline is valid? [True, True] Translation: X:50.25, Y:-4.19, Z:-2.54 [[ 9.99720780e-01 2.28441533e-02 -6.04210150e-03 5.02494954e+01] [-2.28416465e-02 9.99738979e-01 4.83577243e-04 -4.19158939e+00] [ 6.05157130e-03 -3.45430672e-04 9.99981629e-01 -2.53834263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.941346184 meters 0.08267792344896514 Centerline is valid? [True, True] Translation: X:50.31, Y:-4.21, Z:-2.54 [[ 9.99762345e-01 1.88957883e-02 -1.08721366e-02 5.03084143e+01] [-1.88874293e-02 9.99821237e-01 8.71021710e-04 -4.21258079e+00] [ 1.08866517e-02 -6.65467996e-04 9.99940517e-01 -2.54117415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.001346184 meters 0.08457265727184196 Centerline is valid? [True, True] Translation: X:50.37, Y:-4.23, Z:-2.55 [[ 9.99706177e-01 1.79938242e-02 -1.62413535e-02 5.03672706e+01] [-1.79750534e-02 9.99837589e-01 1.30098963e-03 -4.23292394e+00] [ 1.62621255e-02 -1.00866817e-03 9.99867254e-01 -2.55115158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.061346183999994 meters 0.080235584962057 Centerline is valid? [True, True] Translation: X:50.43, Y:-4.24, Z:-2.55 [[ 9.99677940e-01 1.80891875e-02 -1.77987940e-02 5.04251195e+01] [-1.80668493e-02 9.99835780e-01 1.41504914e-03 -4.24198936e+00] [ 1.78214681e-02 -1.09302528e-03 9.99840588e-01 -2.54782999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.121346184 meters 0.08286400138300687 Centerline is valid? [True, True] Translation: X:50.48, Y:-4.26, Z:-2.55 [[ 9.99696686e-01 1.75959733e-02 -1.72313175e-02 5.04809614e+01] [-1.75750013e-02 9.99844612e-01 1.36777273e-03 -4.25875392e+00] [ 1.72527073e-02 -1.06451744e-03 9.99850594e-01 -2.55003896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.181346184 meters 0.08209823906251904 Centerline is valid? [True, True] Translation: X:50.54, Y:-4.28, Z:-2.55 [[ 9.99776619e-01 1.51263382e-02 -1.47616643e-02 5.05382429e+01] [-1.51106602e-02 9.99885139e-01 1.17304018e-03 -4.28161503e+00] [ 1.47777125e-02 -9.49719653e-04 9.99890353e-01 -2.54797626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.241346183999994 meters 0.08585005166368459 Centerline is valid? [True, True] Translation: X:50.60, Y:-4.31, Z:-2.55 [[ 9.99864146e-01 7.65583948e-03 -1.45971892e-02 5.05964233e+01] [-7.63969905e-03 9.99970143e-01 1.16116447e-03 -4.30616928e+00] [ 1.46056430e-02 -1.04948859e-03 9.99892781e-01 -2.54605941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.301346183999996 meters 0.08891414962525888 Centerline is valid? [True, True] Translation: X:50.66, Y:-4.33, Z:-2.55 [[ 9.99864394e-01 2.60322896e-03 -1.62608863e-02 5.06554233e+01] [-2.58252740e-03 9.99995828e-01 1.29395835e-03 -4.32780173e+00] [ 1.62641869e-02 -1.25178870e-03 9.99866946e-01 -2.55037404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.361346184 meters 0.08959980962807662 Centerline is valid? [True, True] Translation: X:50.71, Y:-4.35, Z:-2.55 [[ 9.99826002e-01 -3.32749141e-03 -1.83546483e-02 5.07143482e+01] [ 3.35485851e-03 9.99993306e-01 1.46042793e-03 -4.34920680e+00] [ 1.83496659e-02 -1.52175107e-03 9.99830473e-01 -2.55180937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.421346183999994 meters 0.09683778685743652 Centerline is valid? [True, True] Translation: X:50.77, Y:-4.37, Z:-2.55 [[ 9.99859523e-01 -4.65714358e-03 -1.61010821e-02 5.07707116e+01] [ 4.67831572e-03 9.99988241e-01 1.27753633e-03 -4.37239057e+00] [ 1.60949431e-02 -1.35268281e-03 9.99869553e-01 -2.55459724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.481346183999996 meters 0.09680988874151344 Centerline is valid? [True, True] Translation: X:50.83, Y:-4.39, Z:-2.55 [[ 9.99889035e-01 -2.17299394e-03 -1.47375576e-02 5.08290972e+01] [ 2.19048149e-03 9.99996916e-01 1.17055968e-03 -4.38695237e+00] [ 1.47349686e-02 -1.20271213e-03 9.99890711e-01 -2.55494747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.541346184 meters 0.08208361773601773 Centerline is valid? [True, True] Translation: X:50.89, Y:-4.37, Z:-2.54 [[ 9.99892156e-01 4.89964040e-03 -1.38445190e-02 5.08913703e+01] [-4.88487819e-03 9.99987464e-01 1.09990053e-03 -4.37389738e+00] [ 1.38497346e-02 -1.03215312e-03 9.99903555e-01 -2.54442451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60134618399999 meters 0.07954610856200851 Centerline is valid? [True, True] Translation: X:50.95, Y:-4.38, Z:-2.54 [[ 9.99853162e-01 9.00398409e-03 -1.45802196e-02 5.09516460e+01] [-8.98804554e-03 9.99958936e-01 1.15832200e-03 -4.37787975e+00] [ 1.45900504e-02 -1.02710424e-03 9.99893032e-01 -2.54414210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.661346183999996 meters 0.08370637542459182 Centerline is valid? [True, True] Translation: X:51.01, Y:-4.39, Z:-2.55 [[ 9.99820151e-01 1.10301944e-02 -1.54272577e-02 5.10089859e+01] [-1.10126343e-02 9.99938612e-01 1.22273978e-03 -4.39113689e+00] [ 1.54397977e-02 -1.05262513e-03 9.99880245e-01 -2.55017814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.721346184 meters 0.08211407724943542 Centerline is valid? [True, True] Translation: X:51.07, Y:-4.40, Z:-2.55 [[ 9.99754228e-01 1.64132465e-02 -1.49026468e-02 5.10674597e+01] [-1.63974564e-02 9.99864855e-01 1.18112906e-03 -4.39891957e+00] [ 1.49200190e-02 -9.36473270e-04 9.99888252e-01 -2.55170912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.781346184 meters 0.07513941805055847 Centerline is valid? [True, True] Translation: X:51.13, Y:-4.39, Z:-2.55 [[ 9.99692967e-01 2.03628813e-02 -1.41182424e-02 5.11283025e+01] [-2.03490923e-02 9.99792309e-01 1.11966516e-03 -4.39227477e+00] [ 1.41381098e-02 -8.32027968e-04 9.99899706e-01 -2.54568007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.841346183999995 meters 0.07450353891528362 Centerline is valid? [True, True] Translation: X:51.19, Y:-4.40, Z:-2.55 [[ 9.99565878e-01 2.64590321e-02 -1.29605161e-02 5.11871487e+01] [-2.64479363e-02 9.99649665e-01 1.02680574e-03 -4.39752234e+00] [ 1.29831438e-02 -6.83581081e-04 9.99915482e-01 -2.54967343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.901346184 meters 0.07413159239627444 Centerline is valid? [True, True] Translation: X:51.25, Y:-4.40, Z:-2.55 [[ 9.99503957e-01 2.71126159e-02 -1.60232987e-02 5.12456824e+01] [-2.70958891e-02 9.99632045e-01 1.26012433e-03 -4.40070557e+00] [ 1.60515681e-02 -8.25333730e-04 9.99870825e-01 -2.55177222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.961346184 meters 0.07345819396216724 Centerline is valid? [True, True] Translation: X:51.30, Y:-4.41, Z:-2.55 [[ 9.99627383e-01 2.35569686e-02 -1.37899921e-02 5.13039974e+01] [-2.35443092e-02 9.99722211e-01 1.07966025e-03 -4.40787966e+00] [ 1.38115949e-02 -7.54582110e-04 9.99904331e-01 -2.54979551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.021346184 meters 0.07988538008171667 Centerline is valid? [True, True] Translation: X:51.36, Y:-4.43, Z:-2.55 [[ 9.99856575e-01 1.28639857e-02 -1.10157858e-02 5.13618822e+01] [-1.28552140e-02 9.99916993e-01 8.66728400e-04 -4.42908432e+00] [ 1.10260210e-02 -7.24993806e-04 9.99938949e-01 -2.55014299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.081346184 meters 0.08528281275850923 Centerline is valid? [True, True] Translation: X:51.42, Y:-4.44, Z:-2.55 [[ 9.99931978e-01 3.40889684e-03 -1.11543595e-02 5.14215597e+01] [-3.39930942e-03 9.99993837e-01 8.78368679e-04 -4.44158831e+00] [ 1.11572850e-02 -8.40391811e-04 9.99937402e-01 -2.55115979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.141346184 meters 0.08858805412255208 Centerline is valid? [True, True] Translation: X:51.48, Y:-4.45, Z:-2.55 [[ 9.99891036e-01 -9.06757216e-03 -1.16488650e-02 5.14813402e+01] [ 9.07886308e-03 9.99958366e-01 9.16756309e-04 -4.45092464e+00] [ 1.16400673e-02 -1.02241487e-03 9.99931729e-01 -2.55034678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.201346184 meters 0.09212439710624182 Centerline is valid? [True, True] Translation: X:51.54, Y:-4.46, Z:-2.55 [[ 9.99883923e-01 -1.28009610e-02 -8.26288355e-03 5.15402275e+01] [ 1.28067652e-02 9.99917779e-01 6.49920025e-04 -4.46116240e+00] [ 8.25388456e-03 -7.55665395e-04 9.99965651e-01 -2.55111996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26134618399999 meters 0.09243352025780366 Centerline is valid? [True, True] Translation: X:51.60, Y:-4.46, Z:-2.55 [[ 9.99890586e-01 -1.33125450e-02 -6.44925882e-03 5.16020448e+01] [ 1.33161009e-02 9.99911207e-01 5.08742366e-04 -4.45636290e+00] [ 6.44191352e-03 -5.94565684e-04 9.99979074e-01 -2.54651673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32134618399999 meters 0.09051182207836912 Centerline is valid? [True, True] Translation: X:51.66, Y:-4.45, Z:-2.55 [[ 9.99882344e-01 -1.14675352e-02 -1.01879073e-02 5.16633634e+01] [ 1.14763128e-02 9.99933822e-01 8.03528252e-04 -4.45324502e+00] [ 1.01780186e-02 -9.20353323e-04 9.99947779e-01 -2.55220508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.381346184 meters 0.09092263469904861 Centerline is valid? [True, True] Translation: X:51.72, Y:-4.46, Z:-2.56 [[ 9.99859391e-01 -1.26445400e-02 -1.10142589e-02 5.17230516e+01] [ 1.26548451e-02 9.99919549e-01 8.66425381e-04 -4.45762605e+00] [ 1.10024172e-02 -1.00568729e-03 9.99938966e-01 -2.55573363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.441346184 meters 0.10032459198104804 Centerline is valid? [True, False] Translation: X:51.72, Y:-4.45, Z:-2.56 [[ 9.99852606e-01 -1.31258646e-02 -1.10669362e-02 5.17233092e+01] [ 1.31254659e-02 9.99913851e-01 -1.08658987e-04 -4.45356747e+00] [ 1.10674090e-02 -3.66157222e-05 9.99938754e-01 -2.55580635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.501346184 meters 0.09484392887245492 Centerline is valid? [False, True] Translation: X:51.72, Y:-4.45, Z:-2.56 [[ 9.99904471e-01 -1.31743315e-02 4.18153291e-03 5.17230567e+01] [ 1.31821657e-02 9.99911397e-01 -1.85151325e-03 -4.45195887e+00] [-4.15676996e-03 1.90645804e-03 9.99989543e-01 -2.56298549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.561346184 meters 0.09726270094974081 Centerline is valid? [True, True] Translation: X:51.78, Y:-4.46, Z:-2.57 [[ 9.99921085e-01 -1.20797578e-02 3.45018488e-03 5.17836017e+01] [ 1.20807784e-02 9.99926987e-01 -2.75110836e-04 -4.45773664e+00] [-3.44660970e-03 3.16770045e-04 9.99994010e-01 -2.56701701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.621346184 meters 0.09822662245046705 Centerline is valid? [True, True] Translation: X:51.85, Y:-4.46, Z:-2.57 [[ 9.99916979e-01 -1.25795285e-02 2.79126936e-03 5.18456229e+01] [ 1.25802055e-02 9.99920841e-01 -2.25124187e-04 -4.45573117e+00] [-2.78821645e-03 2.60220239e-04 9.99996079e-01 -2.56649131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68134618399999 meters 0.10020490055376705 Centerline is valid? [True, False] Translation: X:51.84, Y:-4.46, Z:-2.57 [[ 9.99957966e-01 -8.54999126e-03 3.31132052e-03 5.18447953e+01] [ 8.53686769e-03 9.99955730e-01 3.95730197e-03 -4.45556764e+00] [-3.34500882e-03 -3.92886732e-03 9.99986687e-01 -2.56681258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.741346184 meters 0.10415253993245696 Centerline is valid? [False, False] Translation: X:51.85, Y:-4.45, Z:-2.57 [[ 9.99955133e-01 -8.80941880e-03 3.48222142e-03 5.18450303e+01] [ 8.79746094e-03 9.99955403e-01 3.43450264e-03 -4.45310354e+00] [-3.51232210e-03 -3.40371384e-03 9.99988039e-01 -2.56754544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.801346184 meters 0.10607792368926373 Centerline is valid? [False, False] Translation: X:51.85, Y:-4.45, Z:-2.57 [[ 9.99959100e-01 -8.50673094e-03 3.07129627e-03 5.18475383e+01] [ 8.49653829e-03 9.99958404e-01 3.31661642e-03 -4.44913931e+00] [-3.09938208e-03 -3.29038539e-03 9.99989784e-01 -2.56999113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.861346184 meters 0.10515172663383755 Centerline is valid? [False, False] Translation: X:51.85, Y:-4.44, Z:-2.57 [[ 9.99963022e-01 -8.29274799e-03 2.27718258e-03 5.18498879e+01] [ 8.28672512e-03 9.99962175e-01 2.64169701e-03 -4.44384393e+00] [-2.29900338e-03 -2.62272894e-03 9.99993918e-01 -2.57101064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.921346184 meters 0.10551862855861278 Centerline is valid? [False, False] Translation: X:51.85, Y:-4.44, Z:-2.57 [[ 9.99987669e-01 -4.37210004e-03 2.35526938e-03 5.18493846e+01] [ 4.35736331e-03 9.99971124e-01 6.22612632e-03 -4.44197696e+00] [-2.38242261e-03 -6.21578678e-03 9.99977844e-01 -2.57053777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.981346184 meters 0.09339966331372528 Centerline is valid? [False, True] Translation: X:51.85, Y:-4.44, Z:-2.57 [[ 9.99989678e-01 -4.00002383e-03 2.15515658e-03 5.18507348e+01] [ 3.98581552e-03 9.99970558e-01 6.55714593e-03 -4.44131603e+00] [-2.18132187e-03 -6.54848819e-03 9.99976179e-01 -2.57189702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04134618399999 meters 0.09941319886930511 Centerline is valid? [True, True] Translation: X:51.91, Y:-4.45, Z:-2.57 [[ 9.99977094e-01 -6.68702201e-03 1.04634767e-03 5.19093889e+01] [ 6.68712330e-03 9.99977637e-01 -9.33322057e-05 -4.45025698e+00] [-1.04570016e-03 1.00327124e-04 9.99999448e-01 -2.57410537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.101346184 meters 0.09816827572855609 Centerline is valid? [True, True] Translation: X:51.97, Y:-4.45, Z:-2.57 [[ 9.99971196e-01 -6.15660838e-03 4.43889471e-03 5.19705287e+01] [ 6.15843150e-03 9.99980958e-01 -3.97164967e-04 -4.45037476e+00] [-4.43636500e-03 4.24490156e-04 9.99990069e-01 -2.57212780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.161346184 meters 0.10038398446847599 Centerline is valid? [True, False] Translation: X:51.97, Y:-4.45, Z:-2.57 [[ 9.99971517e-01 -6.07539973e-03 4.47814851e-03 5.19705683e+01] [ 6.07669032e-03 9.99981499e-01 -2.74647287e-04 -4.45053529e+00] [-4.47639707e-03 3.01851786e-04 9.99989935e-01 -2.57228560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.221346184 meters 0.10711219274538034 Centerline is valid? [False, False] Translation: X:51.97, Y:-4.46, Z:-2.57 [[ 9.99965682e-01 -6.77168389e-03 4.77280216e-03 5.19697532e+01] [ 6.76894947e-03 9.99976917e-01 5.88839614e-04 -4.45627375e+00] [-4.77667943e-03 -5.56512549e-04 9.99988437e-01 -2.57316692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.281346184 meters 0.11140274560172515 Centerline is valid? [False, False] Translation: X:51.97, Y:-4.46, Z:-2.57 [[ 9.99966781e-01 -6.31378747e-03 5.15485152e-03 5.19700087e+01] [ 6.30473896e-03 9.99978559e-01 1.76970497e-03 -4.45910031e+00] [-5.16591453e-03 -1.73714619e-03 9.99985148e-01 -2.57478528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.341346184 meters 0.10965980211695227 Centerline is valid? [False, False] Translation: X:51.97, Y:-4.46, Z:-2.57 [[ 9.99963429e-01 -6.71894281e-03 5.29109548e-03 5.19693463e+01] [ 6.71251148e-03 9.99976712e-01 1.23232251e-03 -4.45741943e+00] [-5.29925216e-03 -1.19676091e-03 9.99985243e-01 -2.57412378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40134618399999 meters 0.10609776837484035 Centerline is valid? [False, False] Translation: X:51.97, Y:-4.46, Z:-2.57 [[ 9.99968129e-01 -6.19721311e-03 5.03335977e-03 5.19702632e+01] [ 6.18795079e-03 9.99979136e-01 1.85368007e-03 -4.45837815e+00] [-5.04474241e-03 -1.82247481e-03 9.99985614e-01 -2.57473827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46134618399999 meters 0.10517197869113862 Centerline is valid? [False, False] Translation: X:51.97, Y:-4.46, Z:-2.58 [[ 9.99974539e-01 -5.51492445e-03 4.52851471e-03 5.19716322e+01] [ 5.50361364e-03 9.99981714e-01 2.50636029e-03 -4.45957862e+00] [-4.54225429e-03 -2.48137328e-03 9.99986605e-01 -2.57532304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.521346184 meters 0.1028806034039036 Centerline is valid? [False, False] Translation: X:51.97, Y:-4.46, Z:-2.58 [[ 9.99977921e-01 -5.24010278e-03 4.08649386e-03 5.19731222e+01] [ 5.22981342e-03 9.99983138e-01 2.52452901e-03 -4.45798473e+00] [-4.09965375e-03 -2.50310167e-03 9.99988464e-01 -2.57613160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.581346184 meters 0.10256975313924847 Centerline is valid? [False, False] Translation: X:51.98, Y:-4.45, Z:-2.58 [[ 9.99985494e-01 -4.50718751e-03 2.94917761e-03 5.19757966e+01] [ 4.49973934e-03 9.99986682e-01 2.52728636e-03 -4.45460413e+00] [-2.96052929e-03 -2.51397916e-03 9.99992458e-01 -2.57661577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.641346184 meters 0.10493322206580703 Centerline is valid? [False, False] Translation: X:51.98, Y:-4.46, Z:-2.58 [[ 9.99989922e-01 -3.51497340e-03 2.79313199e-03 5.19770527e+01] [ 3.50367399e-03 9.99985701e-01 4.04007284e-03 -4.45838330e+00] [-2.80729280e-03 -4.03024590e-03 9.99987938e-01 -2.57809063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.701346184 meters 0.10661676386657452 Centerline is valid? [False, False] Translation: X:51.98, Y:-4.46, Z:-2.58 [[ 9.99990629e-01 -3.51429400e-03 2.52823879e-03 5.19774377e+01] [ 3.50465053e-03 9.99986606e-01 3.80867270e-03 -4.45741117e+00] [-2.54158972e-03 -3.79977641e-03 9.99989551e-01 -2.57782223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76134618399999 meters 0.10219381146817091 Centerline is valid? [False, False] Translation: X:51.98, Y:-4.46, Z:-2.58 [[ 9.99991541e-01 -3.33870099e-03 2.40222356e-03 5.19777124e+01] [ 3.32896019e-03 9.99986268e-01 4.04754521e-03 -4.45808552e+00] [-2.41570411e-03 -4.03951406e-03 9.99988923e-01 -2.57786228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82134618399999 meters 0.09787373860719316 Centerline is valid? [False, True] Translation: X:51.98, Y:-4.46, Z:-2.58 [[ 9.99992820e-01 -2.77760577e-03 2.57777418e-03 5.19779401e+01] [ 2.76454644e-03 9.99983397e-01 5.05593619e-03 -4.46149855e+00] [-2.59177478e-03 -5.04877351e-03 9.99983896e-01 -2.57878756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.881346184 meters 0.10255081403511755 Centerline is valid? [True, False] Translation: X:51.98, Y:-4.46, Z:-2.58 [[ 9.99993476e-01 -2.82455559e-03 2.25159109e-03 5.19782822e+01] [ 2.81366888e-03 9.99984407e-01 4.82371441e-03 -4.46044528e+00] [-2.26518083e-03 -4.81734771e-03 9.99985831e-01 -2.57828584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.941346184 meters 0.1003704117309595 Centerline is valid? [False, False] Translation: X:51.98, Y:-4.46, Z:-2.58 [[ 9.99992298e-01 -2.97913104e-03 2.55509873e-03 5.19766511e+01] [ 2.96596442e-03 9.99982384e-01 5.14147784e-03 -4.46368490e+00] [-2.57037086e-03 -5.13385991e-03 9.99983518e-01 -2.57674313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.001346184 meters 0.10263996118961986 Centerline is valid? [False, False] Translation: X:51.98, Y:-4.46, Z:-2.58 [[ 9.99976569e-01 -6.53823598e-03 2.02794199e-03 5.19784950e+01] [ 6.53481682e-03 9.99977223e-01 1.68809205e-03 -4.46468689e+00] [-2.03893294e-03 -1.67480027e-03 9.99996519e-01 -2.57787209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.061346184 meters 0.09810578199288988 Centerline is valid? [False, True] Translation: X:51.98, Y:-4.47, Z:-2.58 [[ 9.99980963e-01 -5.84845676e-03 1.96714886e-03 5.19796578e+01] [ 5.84298588e-03 9.99979078e-01 2.77546648e-03 -4.46661533e+00] [-1.98333990e-03 -2.76391962e-03 9.99994214e-01 -2.57952886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.121346184 meters 0.10569153739588294 Centerline is valid? [True, False] Translation: X:51.98, Y:-4.47, Z:-2.58 [[ 9.99983688e-01 -5.49476955e-03 1.55930999e-03 5.19810326e+01] [ 5.49021369e-03 9.99980691e-01 2.91110568e-03 -4.46533759e+00] [-1.57527574e-03 -2.90249725e-03 9.99994547e-01 -2.58035127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18134618399999 meters 0.09557343910133263 Centerline is valid? [False, True] Translation: X:51.98, Y:-4.46, Z:-2.58 [[ 9.99984758e-01 -5.40775319e-03 1.11357191e-03 5.19815309e+01] [ 5.40480667e-03 9.99981930e-01 2.63223655e-03 -4.46438949e+00] [-1.12778627e-03 -2.62617778e-03 9.99995916e-01 -2.57972184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.241346184 meters 0.09891003796202148 Centerline is valid? [True, True] Translation: X:52.04, Y:-4.47, Z:-2.58 [[ 9.99987494e-01 -4.86923158e-03 1.14157218e-03 5.20423710e+01] [ 4.86934697e-03 9.99988140e-01 -9.83263478e-05 -4.47262788e+00] [-1.14107986e-03 1.03883829e-04 9.99999344e-01 -2.58015453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.301346184 meters 0.10033748355150836 Centerline is valid? [True, False] Translation: X:52.04, Y:-4.47, Z:-2.58 [[ 9.99987732e-01 -4.82553345e-03 1.11762764e-03 5.20429305e+01] [ 4.82551340e-03 9.99988357e-01 2.06386798e-05 -4.47189461e+00] [-1.11771422e-03 -1.52452995e-05 9.99999375e-01 -2.58093594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.361346184 meters 0.10389012285193026 Centerline is valid? [False, False] Translation: X:52.04, Y:-4.48, Z:-2.58 [[ 9.99967495e-01 -7.91682405e-03 1.52734658e-03 5.20437678e+01] [ 7.91940399e-03 9.99967212e-01 -1.69057830e-03 -4.47835932e+00] [-1.51391249e-03 1.70261902e-03 9.99997405e-01 -2.58379970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.421346184 meters 0.10976082395329499 Centerline is valid? [False, False] Translation: X:52.04, Y:-4.48, Z:-2.58 [[ 9.99986847e-01 -4.43326007e-03 2.57924128e-03 5.20410967e+01] [ 4.42697437e-03 9.99987230e-01 2.43766390e-03 -4.48119976e+00] [-2.59001514e-03 -2.42621361e-03 9.99993703e-01 -2.58283844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.481346184 meters 0.10109280108303598 Centerline is valid? [False, False] Translation: X:52.04, Y:-4.48, Z:-2.58 [[ 9.99997054e-01 -1.06978270e-03 2.17899597e-03 5.20406901e+01] [ 1.05919925e-03 9.99987666e-01 4.85240729e-03 -4.47528745e+00] [-2.18416012e-03 -4.85008501e-03 9.99985853e-01 -2.58085994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54134618399999 meters 0.10159955252597638 Centerline is valid? [False, False] Translation: X:52.04, Y:-4.47, Z:-2.58 [[ 9.99997742e-01 -7.85844424e-04 1.97455908e-03 5.20415032e+01] [ 7.75906802e-04 9.99987056e-01 5.02856649e-03 -4.47484054e+00] [-1.97848519e-03 -5.02702306e-03 9.99985407e-01 -2.58145155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.601346184 meters 0.09594898285412909 Centerline is valid? [False, True] Translation: X:52.04, Y:-4.47, Z:-2.58 [[ 9.99996414e-01 -1.25151779e-03 2.36762819e-03 5.20405647e+01] [ 1.24111981e-03 9.99989602e-01 4.38810848e-03 -4.47383039e+00] [-2.37309536e-03 -4.38515424e-03 9.99987569e-01 -2.58121306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.661346184 meters 0.10369189212623997 Centerline is valid? [True, False] Translation: X:52.04, Y:-4.47, Z:-2.58 [[ 9.99997247e-01 -1.24895442e-03 1.98670081e-03 5.20422127e+01] [ 1.24117038e-03 9.99991568e-01 3.91449508e-03 -4.47010699e+00] [-1.99157308e-03 -3.91201847e-03 9.99990365e-01 -2.58249840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.721346184 meters 0.10476173604048088 Centerline is valid? [False, False] Translation: X:52.04, Y:-4.47, Z:-2.58 [[ 9.99998023e-01 -1.02818687e-03 1.70220418e-03 5.20435204e+01] [ 1.02150415e-03 9.99991787e-01 3.92214752e-03 -4.46847831e+00] [-1.70622290e-03 -3.92040095e-03 9.99990860e-01 -2.58353583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.781346184 meters 0.10214933933055882 Centerline is valid? [False, False] Translation: X:52.04, Y:-4.46, Z:-2.58 [[ 9.99995953e-01 2.21472746e-03 1.78552677e-03 5.20428105e+01] [-2.22605596e-03 9.99977248e-01 6.36780397e-03 -4.46292123e+00] [-1.77138320e-03 -6.37175289e-03 9.99978131e-01 -2.58251853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.841346184 meters 0.10056870556381751 Centerline is valid? [False, False] Translation: X:52.04, Y:-4.46, Z:-2.58 [[ 9.99995833e-01 2.18825830e-03 1.88313835e-03 5.20430250e+01] [-2.19994866e-03 9.99978183e-01 6.22839544e-03 -4.46218213e+00] [-1.86946793e-03 -6.23251229e-03 9.99978830e-01 -2.58317545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90134618399999 meters 0.1054746524210492 Centerline is valid? [False, False] Translation: X:52.04, Y:-4.46, Z:-2.58 [[ 9.99996550e-01 -2.15280206e-03 1.50530511e-03 5.20443498e+01] [ 2.15062195e-03 9.99996638e-01 1.44840456e-03 -4.45895161e+00] [-1.50841817e-03 -1.44516222e-03 9.99997818e-01 -2.58395395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96134618399999 meters 0.10112416323296106 Centerline is valid? [False, False] Translation: X:52.04, Y:-4.45, Z:-2.58 [[ 9.99992698e-01 -3.56336006e-03 1.38058214e-03 5.20432097e+01] [ 3.56457835e-03 9.99993259e-01 -8.80994779e-04 -4.45111694e+00] [-1.37743353e-03 8.85909539e-04 9.99998659e-01 -2.58189034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.021346184 meters 0.10646743028067024 Centerline is valid? [False, False] Translation: X:52.04, Y:-4.46, Z:-2.58 [[ 9.99993918e-01 -2.86599005e-03 1.98750693e-03 5.20435604e+01] [ 2.86445125e-03 9.99995596e-01 7.76651947e-04 -4.45501577e+00] [-1.98972406e-03 -7.70954107e-04 9.99997723e-01 -2.58447414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.081346184 meters 0.10954698466647145 Centerline is valid? [False, False] Translation: X:52.04, Y:-4.45, Z:-2.59 [[ 9.99994596e-01 -2.52798330e-03 2.10172618e-03 5.20446014e+01] [ 2.52518425e-03 9.99995923e-01 1.33337560e-03 -4.45493362e+00] [-2.10508837e-03 -1.32806115e-03 9.99996902e-01 -2.58649224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.141346184 meters 0.10920662545833108 Centerline is valid? [False, False] Translation: X:52.05, Y:-4.45, Z:-2.59 [[ 9.99998873e-01 -6.02268917e-04 1.37536773e-03 5.20480014e+01] [ 5.98186581e-04 9.99995421e-01 2.96666231e-03 -4.45042142e+00] [-1.37714816e-03 -2.96583624e-03 9.99994654e-01 -2.58909424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.201346184 meters 0.1098968238037242 Centerline is valid? [False, False] Translation: X:52.05, Y:-4.45, Z:-2.59 [[ 9.99999109e-01 -5.97059410e-04 1.19359592e-03 5.20480345e+01] [ 5.93687679e-04 9.99995838e-01 2.82321244e-03 -4.45026990e+00] [-1.19527658e-03 -2.82250130e-03 9.99995302e-01 -2.58853493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26134618399999 meters 0.1085281890619233 Centerline is valid? [False, False] Translation: X:52.05, Y:-4.45, Z:-2.59 [[ 9.99999013e-01 -4.60080891e-04 1.32788682e-03 5.20478052e+01] [ 4.55858959e-04 9.99994846e-01 3.17798956e-03 -4.45146796e+00] [-1.32934211e-03 -3.17738109e-03 9.99994069e-01 -2.58859993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32134618399999 meters 0.11314962086149326 Centerline is valid? [False, False] Translation: X:52.05, Y:-4.45, Z:-2.59 [[ 9.99999293e-01 -3.78735347e-04 1.12716340e-03 5.20484869e+01] [ 3.75185887e-04 9.99994976e-01 3.14756738e-03 -4.45090834e+00] [-1.12834983e-03 -3.14714226e-03 9.99994411e-01 -2.58901412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.381346184 meters 0.11296520686188985 Centerline is valid? [False, False] Translation: X:52.05, Y:-4.45, Z:-2.59 [[ 9.99999841e-01 -2.25464223e-05 5.63352852e-04 5.20502056e+01] [ 2.07956972e-05 9.99995171e-01 3.10750101e-03 -4.44940177e+00] [-5.63420195e-04 -3.10748880e-03 9.99995013e-01 -2.58987189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.441346184 meters 0.10769441693624293 Centerline is valid? [False, False] Translation: X:52.05, Y:-4.45, Z:-2.59 [[ 9.99999964e-01 6.20136386e-05 2.61792635e-04 5.20508607e+01] [-6.27919861e-05 9.99995575e-01 2.97418472e-03 -4.44883983e+00] [-2.61607037e-04 -2.97420105e-03 9.99995543e-01 -2.58987071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.501346184 meters 0.10778624332908857 Centerline is valid? [False, False] Translation: X:52.05, Y:-4.45, Z:-2.59 [[ 9.99999585e-01 5.37041965e-04 -7.36256362e-04 5.20531346e+01] [-5.35046278e-04 9.99996190e-01 2.70811052e-03 -4.44586327e+00] [ 7.37707926e-04 -2.70771546e-03 9.99996062e-01 -2.59029130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.561346184 meters 0.10527212782450637 Centerline is valid? [False, False] Translation: X:52.06, Y:-4.44, Z:-2.59 [[ 9.99998164e-01 8.98887634e-04 -1.69228924e-03 5.20553521e+01] [-8.94926491e-04 9.99996862e-01 2.34000496e-03 -4.44255175e+00] [ 1.69438733e-03 -2.33848618e-03 9.99995830e-01 -2.59066620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.621346184 meters 0.09600911155539936 Centerline is valid? [False, True] Translation: X:52.06, Y:-4.44, Z:-2.59 [[ 9.99996123e-01 1.31232133e-03 -2.45585603e-03 5.20573145e+01] [-1.30714709e-03 9.99996925e-01 2.10732123e-03 -4.44052755e+00] [ 2.45861396e-03 -2.10410290e-03 9.99994764e-01 -2.59126649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68134618399999 meters 0.1021058779805388 Centerline is valid? [True, False] Translation: X:52.06, Y:-4.44, Z:-2.59 [[ 9.99995201e-01 1.07534793e-03 -2.90544485e-03 5.20576056e+01] [-1.07197004e-03 9.99998748e-01 1.16391267e-03 -4.43810296e+00] [ 2.90669282e-03 -1.16079254e-03 9.99995102e-01 -2.59016806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.741346184 meters 0.10069225732435028 Centerline is valid? [False, False] Translation: X:52.06, Y:-4.44, Z:-2.59 [[ 9.99993057e-01 1.22030090e-03 -3.52105289e-03 5.20588718e+01] [-1.21765762e-03 9.99998975e-01 7.52754057e-04 -4.43607145e+00] [ 3.52196787e-03 -7.48461394e-04 9.99993518e-01 -2.59012423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.801346184 meters 0.08860253474592919 Centerline is valid? [False, True] Translation: X:52.06, Y:-4.44, Z:-2.59 [[ 9.99993701e-01 1.37207183e-03 -3.27336470e-03 5.20588747e+01] [-1.36783179e-03 9.99998223e-01 1.29720262e-03 -4.43725166e+00] [ 3.27513874e-03 -1.29271704e-03 9.99993801e-01 -2.59101181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.861346184 meters 0.0934649026430913 Centerline is valid? [True, True] Translation: X:52.12, Y:-4.45, Z:-2.59 [[ 9.99996887e-01 -2.42001876e-03 -6.07464155e-04 5.21167195e+01] [ 2.42004992e-03 9.99997070e-01 5.05739968e-05 -4.45093774e+00] [ 6.07339985e-04 -5.20439329e-05 9.99999814e-01 -2.59028594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.921346184 meters 0.0962037883663807 Centerline is valid? [True, True] Translation: X:52.18, Y:-4.47, Z:-2.59 [[ 9.99972796e-01 -7.37097104e-03 -2.77467572e-04 5.21752372e+01] [ 7.37097777e-03 9.99972834e-01 2.32394747e-05 -4.46933539e+00] [ 2.77288737e-04 -2.52840497e-05 9.99999961e-01 -2.59272748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.981346184 meters 0.09641209461255587 Centerline is valid? [True, True] Translation: X:52.24, Y:-4.48, Z:-2.59 [[ 9.99946997e-01 -9.76820000e-03 -3.25338340e-03 5.22351126e+01] [ 9.76914833e-03 9.99952243e-01 2.75724273e-04 -4.47544776e+00] [ 3.25053470e-03 -3.07492444e-04 9.99994670e-01 -2.59404939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04134618399999 meters 0.09731479337728635 Centerline is valid? [True, True] Translation: X:52.30, Y:-4.48, Z:-2.59 [[ 9.99950401e-01 -9.41336665e-03 -3.25334131e-03 5.22967657e+01] [ 9.41431957e-03 9.99955646e-01 2.77717126e-04 -4.48232580e+00] [ 3.25058276e-03 -3.08331347e-04 9.99994669e-01 -2.59456340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.101346184 meters 0.09753844773255652 Centerline is valid? [True, True] Translation: X:52.36, Y:-4.50, Z:-2.60 [[ 9.99963093e-01 -8.52246753e-03 -1.08673272e-03 5.23568308e+01] [ 8.52257371e-03 9.99963678e-01 9.31132809e-05 -4.49619586e+00] [ 1.08589969e-03 -1.02371604e-04 9.99999405e-01 -2.59863649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.161346184 meters 0.09664425746905007 Centerline is valid? [True, True] Translation: X:52.42, Y:-4.50, Z:-2.60 [[ 9.99983365e-01 -5.22431231e-03 -2.44464476e-03 5.24164941e+01] [ 5.22483505e-03 9.99986329e-01 2.07491977e-04 -4.50411082e+00] [ 2.44352734e-03 -2.20261391e-04 9.99996990e-01 -2.60016103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.221346184 meters 0.08808019570310165 Centerline is valid? [True, True] Translation: X:52.48, Y:-4.49, Z:-2.59 [[ 9.99977694e-01 5.96279472e-03 -3.00947268e-03 5.24786996e+01] [-5.96205340e-03 9.99982194e-01 2.55238434e-04 -4.48832629e+00] [ 3.01094103e-03 -2.37290103e-04 9.99995439e-01 -2.59420178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.281346184 meters 0.08539572658235461 Centerline is valid? [True, True] Translation: X:52.54, Y:-4.49, Z:-2.60 [[ 9.99901660e-01 1.38583672e-02 -2.14871462e-03 5.25374497e+01] [-1.38580087e-02 9.99903957e-01 1.81662629e-04 -4.49311906e+00] [ 2.15102580e-03 -1.51867858e-04 9.99997675e-01 -2.60032862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.341346184 meters 0.07976320758263165 Centerline is valid? [True, True] Translation: X:52.60, Y:-4.49, Z:-2.60 [[ 9.99788920e-01 2.03091829e-02 -3.10693209e-03 5.25977209e+01] [-2.03084644e-02 9.99793727e-01 2.62621649e-04 -4.48917342e+00] [ 3.11162485e-03 -1.99469194e-04 9.99995139e-01 -2.60275107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40134618399999 meters 0.07860298798987167 Centerline is valid? [True, True] Translation: X:52.66, Y:-4.49, Z:-2.61 [[ 9.99704281e-01 2.33694515e-02 -6.72447265e-03 5.26564902e+01] [-2.33661592e-02 9.99726813e-01 5.67758268e-04 -4.48773641e+00] [ 6.73590381e-03 -4.10465273e-04 9.99977229e-01 -2.60562160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46134618399999 meters 0.07773405800899762 Centerline is valid? [True, True] Translation: X:52.71, Y:-4.50, Z:-2.61 [[ 9.99723542e-01 2.28155239e-02 -5.68254900e-03 5.27149629e+01] [-2.28131681e-02 9.99739631e-01 4.79052084e-04 -4.49596702e+00] [ 5.69199926e-03 -3.49282701e-04 9.99983739e-01 -2.60758905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.521346184 meters 0.08338070758723676 Centerline is valid? [True, True] Translation: X:52.77, Y:-4.51, Z:-2.61 [[ 9.99812802e-01 1.86970925e-02 -4.97792839e-03 5.27725408e+01] [-1.86952311e-02 9.99825141e-01 4.20206035e-04 -4.51353277e+00] [ 4.98491459e-03 -3.27063852e-04 9.99987522e-01 -2.60989612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.581346184 meters 0.08175064371166056 Centerline is valid? [True, True] Translation: X:52.83, Y:-4.52, Z:-2.61 [[ 9.99878882e-01 1.43423861e-02 -6.04294213e-03 5.28332700e+01] [-1.43395570e-02 9.99897053e-01 5.11237359e-04 -4.51671990e+00] [ 6.04965239e-03 -4.24522326e-04 9.99981611e-01 -2.60836978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.641346184 meters 0.08572274642758777 Centerline is valid? [True, True] Translation: X:52.89, Y:-4.54, Z:-2.61 [[ 9.99959799e-01 7.54543472e-03 -4.84416802e-03 5.28921413e+01] [-7.54353988e-03 9.99971463e-01 4.09310783e-04 -4.53511850e+00] [ 4.84711821e-03 -3.72752154e-04 9.99988183e-01 -2.61182822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.701346184 meters 0.08898132001190737 Centerline is valid? [True, True] Translation: X:52.95, Y:-4.55, Z:-2.61 [[ 9.99993552e-01 3.16386795e-03 -1.69862134e-03 5.29520911e+01] [-3.16362791e-03 9.99994985e-01 1.43984198e-04 -4.54944995e+00] [ 1.69906837e-03 -1.38609464e-04 9.99998547e-01 -2.60897612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76134618399999 meters 0.0911296108827438 Centerline is valid? [True, True] Translation: X:53.01, Y:-4.56, Z:-2.61 [[ 9.99995087e-01 2.33340244e-03 -2.09306566e-03 5.30100027e+01] [-2.33303998e-03 9.99997263e-01 1.75599711e-04 -4.55673241e+00] [ 2.09346967e-03 -1.70715643e-04 9.99997794e-01 -2.61016201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82134618399999 meters 0.08812155273837884 Centerline is valid? [True, True] Translation: X:53.07, Y:-4.56, Z:-2.61 [[ 9.99976594e-01 -1.47352261e-03 -6.68137356e-03 5.30705042e+01] [ 1.47732979e-03 9.99998749e-01 5.64920736e-04 -4.56155209e+00] [ 6.68053278e-03 -5.74778106e-04 9.99977520e-01 -2.61404450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.881346184 meters 0.09417814733770703 Centerline is valid? [True, True] Translation: X:53.13, Y:-4.58, Z:-2.62 [[ 9.99961392e-01 -5.16922754e-03 -7.10582513e-03 5.31284473e+01] [ 5.17362180e-03 9.99986437e-01 6.00159961e-04 -4.58115171e+00] [ 7.10262638e-03 -6.36899642e-04 9.99974573e-01 -2.62030037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.941346184 meters 0.09481850128786226 Centerline is valid? [True, True] Translation: X:53.19, Y:-4.59, Z:-2.61 [[ 9.99973892e-01 -7.19108719e-03 7.10131473e-04 5.31880074e+01] [ 7.19113224e-03 9.99974142e-01 -6.09167468e-05 -4.58701071e+00] [-7.09675052e-04 6.60218057e-05 9.99999746e-01 -2.61127236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.001346184 meters 0.09099579969847495 Centerline is valid? [True, True] Translation: X:53.25, Y:-4.59, Z:-2.61 [[ 9.99995640e-01 -2.38992622e-03 1.73455894e-03 5.32485978e+01] [ 2.39018346e-03 9.99997133e-01 -1.46246809e-04 -4.58711607e+00] [-1.73420445e-03 1.50392086e-04 9.99998485e-01 -2.61252272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.061346184 meters 0.0898776841182683 Centerline is valid? [True, True] Translation: X:53.31, Y:-4.59, Z:-2.62 [[ 9.99997991e-01 6.87299346e-05 -2.00349722e-03 5.33103838e+01] [-6.83878621e-05 9.99999983e-01 1.70805721e-04 -4.59021732e+00] [ 2.00350893e-03 -1.70668363e-04 9.99997978e-01 -2.61893595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.121346184 meters 0.09178429698743301 Centerline is valid? [True, True] Translation: X:53.37, Y:-4.60, Z:-2.62 [[ 9.99986277e-01 2.92505566e-04 -5.23078381e-03 5.33690619e+01] [-2.90207578e-04 9.99999861e-01 4.40073595e-04 -4.59513131e+00] [ 5.23091181e-03 -4.38549543e-04 9.99986223e-01 -2.62458962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18134618399999 meters 0.09213537130204812 Centerline is valid? [True, True] Translation: X:53.43, Y:-4.60, Z:-2.62 [[ 9.99996955e-01 -1.11492799e-03 -2.20145407e-03 5.34275069e+01] [ 1.11533576e-03 9.99999361e-01 1.84004502e-04 -4.60149940e+00] [ 2.20124751e-03 -1.86459303e-04 9.99997560e-01 -2.62291255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.241346184 meters 0.09167948887594604 Centerline is valid? [True, True] Translation: X:53.49, Y:-4.61, Z:-2.62 [[ 9.99998470e-01 -1.72333419e-03 -2.99489390e-04 5.34868355e+01] [ 1.72334156e-03 9.99998515e-01 2.43523303e-05 -4.60764042e+00] [ 2.99446978e-04 -2.48684155e-05 9.99999955e-01 -2.62392181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.301346184 meters 0.09120116362691295 Centerline is valid? [True, True] Translation: X:53.55, Y:-4.61, Z:-2.63 [[ 9.99994206e-01 1.06544722e-03 -3.23293829e-03 5.35474463e+01] [-1.06457083e-03 9.99999396e-01 2.72791472e-04 -4.60725664e+00] [ 3.23322699e-03 -2.69348200e-04 9.99994737e-01 -2.62803625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.361346184 meters 0.09456667462235632 Centerline is valid? [True, True] Translation: X:53.60, Y:-4.62, Z:-2.63 [[ 9.99996007e-01 1.66074079e-03 -2.28634681e-03 5.36047992e+01] [-1.66030962e-03 9.99998604e-01 1.90471782e-04 -4.61715669e+00] [ 2.28665994e-03 -1.86674977e-04 9.99997368e-01 -2.63111845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.421346184 meters 0.09054802754294726 Centerline is valid? [True, True] Translation: X:53.66, Y:-4.62, Z:-2.63 [[ 9.99994084e-01 3.12075042e-03 1.44673950e-03 5.36643600e+01] [-3.12057663e-03 9.99995124e-01 -1.22365569e-04 -4.62196766e+00] [-1.44711432e-03 1.17850184e-04 9.99998946e-01 -2.63179189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.481346184 meters 0.08479108104740588 Centerline is valid? [True, True] Translation: X:53.73, Y:-4.61, Z:-2.63 [[ 9.99994475e-01 2.75569778e-03 1.85895943e-03 5.37252615e+01] [-2.75540962e-03 9.99996191e-01 -1.57556315e-04 -4.61484718e+00] [-1.85938652e-03 1.52433250e-04 9.99998260e-01 -2.62714707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54134618399999 meters 0.08673330987263903 Centerline is valid? [True, True] Translation: X:53.78, Y:-4.62, Z:-2.63 [[ 9.99983089e-01 5.77182743e-03 -7.12208633e-04 5.37843663e+01] [-5.77178650e-03 9.99983341e-01 5.95092500e-05 -4.61834540e+00] [ 7.12540245e-04 -5.53975274e-05 9.99999745e-01 -2.63100709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.601346184 meters 0.0845482472687507 Centerline is valid? [True, True] Translation: X:53.84, Y:-4.62, Z:-2.64 [[ 9.99961477e-01 8.20957591e-03 -3.10617087e-03 5.38436622e+01] [-8.20880597e-03 9.99966273e-01 2.60541044e-04 -4.62242473e+00] [ 3.10820504e-03 -2.35033053e-04 9.99995142e-01 -2.63834572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.661346184 meters 0.08134239911491038 Centerline is valid? [True, True] Translation: X:53.91, Y:-4.62, Z:-2.63 [[ 9.99937584e-01 1.11030374e-02 1.24539333e-03 5.39055119e+01] [-1.11029158e-02 9.99938355e-01 -1.04455895e-04 -4.61642421e+00] [-1.24647634e-03 9.06218783e-05 9.99999219e-01 -2.63228144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.721346184 meters 0.08131389703806494 Centerline is valid? [True, True] Translation: X:53.97, Y:-4.62, Z:-2.63 [[ 9.99882825e-01 1.37251544e-02 6.77915484e-03 5.39655464e+01] [-1.37215955e-02 9.99905691e-01 -5.71203436e-04 -4.61613723e+00] [-6.78635536e-03 4.78115684e-04 9.99976858e-01 -2.62749346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.781346184 meters 0.08088587364801111 Centerline is valid? [True, True] Translation: X:54.02, Y:-4.62, Z:-2.63 [[ 9.99879040e-01 1.47612422e-02 4.90013555e-03 5.40243833e+01] [-1.47593897e-02 9.99890989e-01 -4.13994970e-04 -4.62032014e+00] [-4.90571246e-03 3.41621883e-04 9.99987909e-01 -2.63293684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.841346184 meters 0.08137483655256947 Centerline is valid? [True, True] Translation: X:54.08, Y:-4.62, Z:-2.64 [[ 9.99864130e-01 1.62314765e-02 -2.87403043e-03 5.40840603e+01] [-1.62308514e-02 9.99868242e-01 2.40681807e-04 -4.62115369e+00] [ 2.87755837e-03 -1.94001145e-04 9.99995841e-01 -2.64138510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90134618399999 meters 0.07954700905903365 Centerline is valid? [True, True] Translation: X:54.14, Y:-4.62, Z:-2.64 [[ 9.99824053e-01 1.78763651e-02 -5.68318174e-03 5.41437476e+01] [-1.78739619e-02 9.99840136e-01 4.73377673e-04 -4.61884161e+00] [ 5.69073547e-03 -3.71713410e-04 9.99983739e-01 -2.64275269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96134618399999 meters 0.07862670229780115 Centerline is valid? [True, True] Translation: X:54.20, Y:-4.62, Z:-2.64 [[ 9.99732902e-01 2.28206620e-02 -3.65260623e-03 5.42028719e+01] [-2.28196968e-02 9.99739550e-01 3.05721770e-04 -4.62237186e+00] [ 3.65863168e-03 -2.22288746e-04 9.99993282e-01 -2.64341092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.021346184 meters 0.0756015255278962 Centerline is valid? [True, True] Translation: X:54.26, Y:-4.62, Z:-2.64 [[ 9.99693875e-01 2.47048118e-02 -1.35253111e-03 5.42634314e+01] [-2.47046815e-02 9.99694786e-01 1.12964600e-04 -4.62072716e+00] [ 1.35490907e-03 -7.95161684e-05 9.99999079e-01 -2.63907533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.081346184 meters 0.07660255624793431 Centerline is valid? [True, True] Translation: X:54.32, Y:-4.62, Z:-2.63 [[ 9.99725347e-01 2.34280570e-02 5.97530032e-04 5.43217927e+01] [-2.34280292e-02 9.99725525e-01 -5.35696928e-05 -4.62386258e+00] [-5.98621059e-04 3.95560287e-05 9.99999820e-01 -2.63444597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.141346184 meters 0.07837179714556804 Centerline is valid? [True, True] Translation: X:54.38, Y:-4.64, Z:-2.64 [[ 9.99752704e-01 2.22028108e-02 -1.25157461e-03 5.43787120e+01] [-2.22026996e-02 9.99753484e-01 1.02656026e-04 -4.64067322e+00] [ 1.25354533e-03 -7.48423047e-05 9.99999212e-01 -2.64348507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.201346184 meters 0.07742206094414773 Centerline is valid? [True, True] Translation: X:54.44, Y:-4.64, Z:-2.65 [[ 9.99674395e-01 2.52741069e-02 -3.51040592e-03 5.44382597e+01] [-2.52732346e-02 9.99680538e-01 2.92642728e-04 -4.64141365e+00] [ 3.51668076e-03 -2.03828130e-04 9.99993796e-01 -2.64521424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26134618399999 meters 0.07169566241108084 Centerline is valid? [True, True] Translation: X:54.50, Y:-4.62, Z:-2.64 [[ 9.99292161e-01 3.71911695e-02 -5.65634013e-03 5.45000803e+01] [-3.71890875e-02 9.99308135e-01 4.72847662e-04 -4.62388691e+00] [ 5.67001246e-03 -2.62158834e-04 9.99983891e-01 -2.64044675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32134618399999 meters 0.06840878974186997 Centerline is valid? [True, True] Translation: X:54.56, Y:-4.62, Z:-2.65 [[ 9.99039045e-01 4.27482869e-02 -9.67322171e-03 5.45590883e+01] [-4.27424814e-02 9.99085797e-01 8.06197193e-04 -4.62482203e+00] [ 9.69884197e-03 -3.91964975e-04 9.99952888e-01 -2.64582601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.381346184 meters 0.06848653216413478 Centerline is valid? [True, True] Translation: X:54.62, Y:-4.63, Z:-2.65 [[ 9.99050273e-01 4.25889935e-02 -9.20492156e-03 5.46173916e+01] [-4.25837983e-02 9.99092610e-01 7.59742783e-04 -4.63024843e+00] [ 9.22892578e-03 -3.67040711e-04 9.99957345e-01 -2.64789184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.441346184 meters 0.06796392010856521 Centerline is valid? [True, True] Translation: X:54.68, Y:-4.63, Z:-2.64 [[ 9.99055717e-01 4.32919592e-02 -3.67169103e-03 5.46772157e+01] [-4.32911293e-02 9.99062453e-01 3.05229615e-04 -4.63455781e+00] [ 3.68146263e-03 -1.45989741e-04 9.99993213e-01 -2.64235354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.501346184 meters 0.06616665401660995 Centerline is valid? [True, True] Translation: X:54.74, Y:-4.64, Z:-2.64 [[ 9.98882761e-01 4.70732030e-02 -4.16452563e-03 5.47369424e+01] [-4.70721707e-02 9.98891431e-01 3.45615633e-04 -4.63661675e+00] [ 4.17617820e-03 -1.49196236e-04 9.99991269e-01 -2.64176607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.561346184 meters 0.06498426895390137 Centerline is valid? [True, True] Translation: X:54.79, Y:-4.64, Z:-2.65 [[ 9.98501863e-01 5.42413537e-02 -7.20448108e-03 5.47949971e+01] [-5.42384515e-02 9.98527833e-01 5.97750168e-04 -4.64199508e+00] [ 7.22629766e-03 -2.06094758e-04 9.99973869e-01 -2.64902391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62134618399999 meters 0.06272136785720069 Centerline is valid? [True, True] Translation: X:54.86, Y:-4.64, Z:-2.65 [[ 9.98021402e-01 6.22913522e-02 -8.54800337e-03 5.48554802e+01] [-6.22875610e-02 9.98057993e-01 7.09285712e-04 -4.63841032e+00] [ 8.57558545e-03 -1.75448039e-04 9.99963214e-01 -2.64765868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68134618399999 meters 0.06175243377561688 Centerline is valid? [True, True] Translation: X:54.91, Y:-4.64, Z:-2.65 [[ 9.97611707e-01 6.84333543e-02 -9.36792662e-03 5.49142644e+01] [-6.84290829e-02 9.97655681e-01 7.76100151e-04 -4.64114057e+00] [ 9.39907635e-03 -1.33207969e-04 9.99955819e-01 -2.65026224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.741346184 meters 0.060617812761234006 Centerline is valid? [True, True] Translation: X:54.97, Y:-4.64, Z:-2.65 [[ 9.96910320e-01 7.80374814e-02 -8.94233762e-03 5.49731483e+01] [-7.80339822e-02 9.96950425e-01 7.40083569e-04 -4.64296932e+00] [ 8.97282155e-03 -3.99907325e-05 9.99959743e-01 -2.65128384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.801346184 meters 0.06027653703490876 Centerline is valid? [True, True] Translation: X:55.03, Y:-4.64, Z:-2.65 [[ 9.96273953e-01 8.58945656e-02 -7.76746232e-03 5.50323609e+01] [-8.58922192e-02 9.96304232e-01 6.35785534e-04 -4.64273189e+00] [ 7.79336610e-03 3.37480085e-05 9.99969631e-01 -2.64865455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.861346184 meters 0.060254953871671714 Centerline is valid? [True, True] Translation: X:55.09, Y:-4.65, Z:-2.65 [[ 9.96213525e-01 8.66827539e-02 -6.68674129e-03 5.50905881e+01] [-8.66810501e-02 9.96235965e-01 5.44738263e-04 -4.65310281e+00] [ 6.70879158e-03 3.69381312e-05 9.99977495e-01 -2.65074182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.921346184 meters 0.05931852902322913 Centerline is valid? [True, True] Translation: X:55.15, Y:-4.67, Z:-2.65 [[ 9.96590815e-01 8.24606316e-02 -2.64402026e-03 5.51489220e+01] [-8.24603463e-02 9.96594323e-01 2.16925833e-04 -4.67485280e+00] [ 2.65290343e-03 1.84053346e-06 9.99996481e-01 -2.64834715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.981346184 meters 0.06001304081841058 Centerline is valid? [True, True] Translation: X:55.20, Y:-4.70, Z:-2.65 [[ 9.97231872e-01 7.42344284e-02 -4.22404552e-03 5.52048572e+01] [-7.42336317e-02 9.97240818e-01 3.45305335e-04 -4.69837473e+00] [ 4.23802416e-03 -3.07832463e-05 9.99991019e-01 -2.65353531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04134618399999 meters 0.06019311910200234 Centerline is valid? [True, True] Translation: X:55.26, Y:-4.72, Z:-2.65 [[ 9.97694511e-01 6.76482024e-02 -5.42069847e-03 5.52631668e+01] [-6.76467827e-02 9.97709234e-01 4.45047840e-04 -4.71590730e+00] [ 5.43838761e-03 -7.73289755e-05 9.99985209e-01 -2.65316660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.101346184 meters 0.06198708067878013 Centerline is valid? [True, True] Translation: X:55.32, Y:-4.75, Z:-2.66 [[ 9.98289573e-01 5.79955709e-02 -7.37847761e-03 5.53198141e+01] [-5.79926719e-02 9.98316825e-01 6.06419502e-04 -4.74838679e+00] [ 7.40122799e-03 -1.77484634e-04 9.99972595e-01 -2.65921571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.161346184 meters 0.06297906226255298 Centerline is valid? [True, True] Translation: X:55.38, Y:-4.77, Z:-2.66 [[ 9.98587372e-01 5.24455830e-02 -8.52762655e-03 5.53783144e+01] [-5.24415085e-02 9.98623751e-01 7.00858490e-04 -4.76778071e+00] [ 8.55264735e-03 -2.52666838e-04 9.99963394e-01 -2.66132602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.221346184 meters 0.06363924588144086 Centerline is valid? [True, True] Translation: X:55.43, Y:-4.79, Z:-2.66 [[ 9.98810788e-01 4.84914832e-02 -5.05814673e-03 5.54348456e+01] [-4.84900452e-02 9.98823583e-01 4.06610102e-04 -4.78937460e+00] [ 5.07191337e-03 -1.60856793e-04 9.99987125e-01 -2.65902843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.281346184 meters 0.06339182988911082 Centerline is valid? [True, True] Translation: X:55.49, Y:-4.80, Z:-2.66 [[ 9.98803667e-01 4.87796634e-02 -3.43195282e-03 5.54931845e+01] [-4.87790116e-02 9.98809558e-01 2.73419873e-04 -4.79743983e+00] [ 3.44120461e-03 -1.05685505e-04 9.99994073e-01 -2.65762079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.341346184 meters 0.0625752401348513 Centerline is valid? [True, True] Translation: X:55.55, Y:-4.81, Z:-2.66 [[ 9.98619569e-01 5.24875917e-02 -2.00228728e-03 5.55519232e+01] [-5.24873713e-02 9.98621575e-01 1.62484862e-04 -4.80955596e+00] [ 2.00805572e-03 -5.71657670e-05 9.99997982e-01 -2.65661018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40134618399999 meters 0.06187357701258242 Centerline is valid? [True, True] Translation: X:55.61, Y:-4.82, Z:-2.66 [[ 9.98484741e-01 5.49972835e-02 -1.87662660e-03 5.56104140e+01] [-5.49971064e-02 9.98486503e-01 1.45887251e-04 -4.81782735e+00] [ 1.88180973e-03 -4.24571617e-05 9.99998228e-01 -2.65708549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46134618399999 meters 0.06283982118571697 Centerline is valid? [True, True] Translation: X:55.67, Y:-4.83, Z:-2.66 [[ 9.98643865e-01 5.19391039e-02 -3.57222884e-03 5.56689488e+01] [-5.19384001e-02 9.98650248e-01 2.89564502e-04 -4.83466847e+00] [ 3.58244693e-03 -1.03635963e-04 9.99993578e-01 -2.65991282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.521346184 meters 0.06477151153333463 Centerline is valid? [True, True] Translation: X:55.73, Y:-4.85, Z:-2.67 [[ 9.98939938e-01 4.55987111e-02 -6.30542652e-03 5.57274775e+01] [-4.55963826e-02 9.98959813e-01 5.12614313e-04 -4.85451583e+00] [ 6.32224225e-03 -2.24566270e-04 9.99979989e-01 -2.66613707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.581346184 meters 0.0675366945615015 Centerline is valid? [True, True] Translation: X:55.79, Y:-4.87, Z:-2.67 [[ 9.99344000e-01 3.55570379e-02 -6.87513515e-03 5.57860234e+01] [-3.55540335e-02 9.99367599e-01 5.58763140e-04 -4.87498161e+00] [ 6.89065528e-03 -3.13957806e-04 9.99976210e-01 -2.66614133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.641346184 meters 0.07249857586421432 Centerline is valid? [True, True] Translation: X:55.84, Y:-4.90, Z:-2.66 [[ 9.99553611e-01 2.98739668e-02 -3.52719205e-04 5.58419579e+01] [-2.98739596e-02 9.99553673e-01 2.57141588e-05 -4.89699925e+00] [ 3.53329961e-04 -1.51655610e-05 9.99999937e-01 -2.66312299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.701346184 meters 0.07214325045148447 Centerline is valid? [True, True] Translation: X:55.90, Y:-4.90, Z:-2.66 [[ 9.99572538e-01 2.92241491e-02 8.30932250e-04 5.58996152e+01] [-2.92241008e-02 9.99572882e-01 -7.01652774e-05 -4.90132283e+00] [-8.32627865e-04 4.58520365e-05 9.99999652e-01 -2.66269748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76134618399999 meters 0.07096013486762762 Centerline is valid? [True, True] Translation: X:55.96, Y:-4.90, Z:-2.66 [[ 9.99593060e-01 2.85254928e-02 -1.00963292e-04 5.59587700e+01] [-2.85254923e-02 9.99593065e-01 6.25554318e-06 -4.90292508e+00] [ 1.01100649e-04 -3.37296993e-06 9.99999995e-01 -2.66435296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82134618399999 meters 0.07298615512452607 Centerline is valid? [True, True] Translation: X:56.02, Y:-4.91, Z:-2.67 [[ 9.99701409e-01 2.44340693e-02 2.64503967e-04 5.60187007e+01] [-2.44340645e-02 9.99701443e-01 -2.14298409e-05 -4.91300640e+00] [-2.64948616e-04 1.49605352e-05 9.99999965e-01 -2.66718812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.881346184 meters 0.07660714350754598 Centerline is valid? [True, True] Translation: X:56.08, Y:-4.92, Z:-2.67 [[ 9.99818193e-01 1.89815419e-02 -1.81159588e-03 5.60782212e+01] [-1.89813070e-02 9.99819828e-01 1.46801951e-04 -4.92486271e+00] [ 1.81405601e-03 -1.12388804e-04 9.99998348e-01 -2.67171843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.941346184 meters 0.08097050132288132 Centerline is valid? [True, True] Translation: X:56.14, Y:-4.94, Z:-2.67 [[ 9.99899089e-01 1.41495127e-02 -1.26627542e-03 5.61365099e+01] [-1.41493947e-02 9.99899887e-01 1.02054907e-04 -4.93639687e+00] [ 1.26759268e-03 -8.41275779e-05 9.99999193e-01 -2.67292388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.001346184 meters 0.08088670766891327 Centerline is valid? [True, True] Translation: X:56.20, Y:-4.94, Z:-2.67 [[ 9.99973304e-01 7.29624333e-03 3.94765138e-04 5.61968191e+01] [-7.29623110e-03 9.99973382e-01 -3.24133968e-05 -4.93941792e+00] [-3.94991126e-04 2.95322339e-05 9.99999922e-01 -2.66990058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.061346184 meters 0.08517223133691584 Centerline is valid? [True, True] Translation: X:56.26, Y:-4.95, Z:-2.68 [[ 9.99993977e-01 3.16298932e-03 -1.42864836e-03 5.62552725e+01] [-3.16282793e-03 9.99994992e-01 1.15212905e-04 -4.94907911e+00] [ 1.42900562e-03 -1.10693642e-04 9.99998973e-01 -2.67677940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12134618399999 meters 0.09011310521218928 Centerline is valid? [True, True] Translation: X:56.31, Y:-4.96, Z:-2.68 [[ 9.99993974e-01 -1.96732801e-03 -2.86017913e-03 5.63134254e+01] [ 1.96799953e-03 9.99998037e-01 2.31986117e-04 -4.96052895e+00] [ 2.85971712e-03 -2.37613550e-04 9.99995883e-01 -2.68282369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18134618399999 meters 0.09549039273529966 Centerline is valid? [True, True] Translation: X:56.37, Y:-4.96, Z:-2.68 [[ 9.99957113e-01 -8.80243896e-03 -2.87921097e-03 5.63724727e+01] [ 8.80314389e-03 9.99961225e-01 2.32252556e-04 -4.96392529e+00] [ 2.87705494e-03 -2.57588704e-04 9.99995828e-01 -2.67998586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.241346184 meters 0.09303014191976201 Centerline is valid? [True, True] Translation: X:56.43, Y:-4.96, Z:-2.68 [[ 9.99948243e-01 -9.76967321e-03 -2.83968590e-03 5.64335339e+01] [ 9.77036828e-03 9.99952242e-01 2.31002562e-04 -4.96397052e+00] [ 2.83729346e-03 -2.58735383e-04 9.99995941e-01 -2.68279811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.301346184 meters 0.08519252767886273 Centerline is valid? [True, True] Translation: X:56.50, Y:-4.95, Z:-2.68 [[ 9.99976965e-01 -6.28573485e-03 2.56093467e-03 5.64952750e+01] [ 6.28628658e-03 9.99980220e-01 -2.07447242e-04 -4.95058494e+00] [-2.55958006e-03 2.23541233e-04 9.99996699e-01 -2.67913098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.361346184 meters 0.08272504557834844 Centerline is valid? [True, True] Translation: X:56.56, Y:-4.94, Z:-2.68 [[ 9.99994862e-01 1.23609835e-04 3.20330007e-03 5.65564536e+01] [-1.22778601e-04 9.99999959e-01 -2.59688195e-04 -4.94035606e+00] [-3.20333204e-03 2.59293564e-04 9.99994836e-01 -2.67960236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.421346184 meters 0.08173063304298103 Centerline is valid? [True, True] Translation: X:56.62, Y:-4.93, Z:-2.68 [[ 9.99925715e-01 1.11723765e-02 4.87258815e-03 5.66162996e+01] [-1.11705858e-02 9.99937529e-01 -3.94563755e-04 -4.93420016e+00] [-4.87669197e-03 3.40104781e-04 9.99988051e-01 -2.68271809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.481346184 meters 0.07810215237114272 Centerline is valid? [True, True] Translation: X:56.68, Y:-4.93, Z:-2.68 [[ 9.99864716e-01 1.60117097e-02 3.76502215e-03 5.66776726e+01] [-1.60106745e-02 9.99871774e-01 -3.04937308e-04 -4.92652487e+00] [-3.76942195e-03 2.44615511e-04 9.99992866e-01 -2.68340373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54134618399999 meters 0.07715883154403333 Centerline is valid? [True, True] Translation: X:56.74, Y:-4.92, Z:-2.69 [[ 9.99805226e-01 1.96954275e-02 1.26528865e-03 5.67377336e+01] [-1.96953129e-02 9.99806023e-01 -1.02895448e-04 -4.92480837e+00] [-1.26706978e-03 7.79551508e-05 9.99999194e-01 -2.68858382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.601346184 meters 0.07453540369485775 Centerline is valid? [True, True] Translation: X:56.80, Y:-4.91, Z:-2.70 [[ 9.99637889e-01 2.68544623e-02 -1.71114824e-03 5.67979034e+01] [-2.68542654e-02 9.99639350e-01 1.37944936e-04 -4.91473442e+00] [ 1.71423555e-03 -9.19433558e-05 9.99998526e-01 -2.69666956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.661346184 meters 0.07197291337408378 Centerline is valid? [True, True] Translation: X:56.86, Y:-4.91, Z:-2.70 [[ 9.99415972e-01 3.40863223e-02 -2.41596967e-03 5.68574608e+01] [-3.40859520e-02 9.99418886e-01 1.94297725e-04 -4.90815281e+00] [ 2.42118861e-03 -1.11833623e-04 9.99997063e-01 -2.69974881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.721346184 meters 0.06873047374273615 Centerline is valid? [True, True] Translation: X:56.92, Y:-4.90, Z:-2.70 [[ 9.99057149e-01 4.34140103e-02 1.89339303e-04 5.69180734e+01] [-4.34140080e-02 9.99057167e-01 -1.58361373e-05 -4.90095011e+00] [-1.89848298e-04 7.60122821e-06 9.99999982e-01 -2.69697764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.781346184 meters 0.06538698153865345 Centerline is valid? [True, True] Translation: X:56.98, Y:-4.89, Z:-2.69 [[ 9.98919896e-01 4.63591791e-02 3.14118328e-03 5.69792811e+01] [-4.63586079e-02 9.98924829e-01 -2.54440039e-04 -4.89165576e+00] [-3.14960160e-03 1.08544333e-04 9.99995034e-01 -2.68953945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.841346184 meters 0.06782357913082432 Centerline is valid? [True, True] Translation: X:57.04, Y:-4.90, Z:-2.70 [[ 9.98976882e-01 4.51960957e-02 1.58157902e-03 5.70362208e+01] [-4.51959463e-02 9.98978133e-01 -1.30082713e-04 -4.90371364e+00] [-1.58584208e-03 5.84686624e-05 9.99998741e-01 -2.69832643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90134618399999 meters 0.06756413870058818 Centerline is valid? [True, True] Translation: X:57.09, Y:-4.91, Z:-2.70 [[ 9.98976772e-01 4.52221597e-02 -6.05203605e-04 5.70947296e+01] [-4.52221423e-02 9.98976955e-01 4.23647156e-05 -4.90870273e+00] [ 6.06500279e-04 -1.49527632e-05 9.99999816e-01 -2.70349114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96134618399999 meters 0.0652537153260306 Centerline is valid? [True, True] Translation: X:57.15, Y:-4.90, Z:-2.70 [[ 9.98820431e-01 4.85304388e-02 -1.59489570e-03 5.71542939e+01] [-4.85302989e-02 9.98821703e-01 1.26337990e-04 -4.90456926e+00] [ 1.59914767e-03 -4.87882004e-05 9.99998720e-01 -2.70097131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.021346184 meters 0.06436104932728025 Centerline is valid? [True, True] Translation: X:57.21, Y:-4.91, Z:-2.70 [[ 9.98646750e-01 5.19701176e-02 1.94311609e-03 5.72140880e+01] [-5.19699101e-02 9.98648639e-01 -1.57191701e-04 -4.90658293e+00] [-1.94865951e-03 5.59954126e-05 9.99998100e-01 -2.69699424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.081346184 meters 0.06419758639991939 Centerline is valid? [True, True] Translation: X:57.27, Y:-4.91, Z:-2.70 [[ 9.98656089e-01 5.17573579e-02 2.68157698e-03 5.72727695e+01] [-5.17569490e-02 9.98659686e-01 -2.21738885e-04 -4.91212699e+00] [-2.68945945e-03 8.26506446e-05 9.99996380e-01 -2.69722980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.141346184 meters 0.06511823415568248 Centerline is valid? [True, True] Translation: X:57.33, Y:-4.92, Z:-2.70 [[ 9.98757400e-01 4.98362333e-02 -7.43590730e-05 5.73312135e+01] [-4.98362331e-02 9.98757403e-01 4.50075327e-06 -4.92198655e+00] [ 7.44909752e-05 -7.89384534e-07 9.99999997e-01 -2.70327295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.201346184 meters 0.06650454422291902 Centerline is valid? [True, True] Translation: X:57.39, Y:-4.94, Z:-2.71 [[ 9.98883427e-01 4.71779861e-02 -2.47731736e-03 5.73896771e+01] [-4.71776416e-02 9.98886496e-01 1.97326827e-04 -4.93538929e+00] [ 2.48386834e-03 -8.02325068e-05 9.99996912e-01 -2.70991381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26134618399999 meters 0.06689582351280465 Centerline is valid? [True, True] Translation: X:57.45, Y:-4.95, Z:-2.71 [[ 9.99008147e-01 4.45221711e-02 -7.05818076e-04 5.74480787e+01] [-4.45221471e-02 9.99008396e-01 4.96613288e-05 -4.94757084e+00] [ 7.07329214e-04 -1.81875359e-05 9.99999750e-01 -2.70865769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32134618399999 meters 0.06726428283198181 Centerline is valid? [True, True] Translation: X:57.51, Y:-4.96, Z:-2.71 [[ 9.99047968e-01 4.35441914e-02 2.65724350e-03 5.75061135e+01] [-4.35437768e-02 9.99051497e-01 -2.13681582e-04 -4.95561027e+00] [-2.66402769e-03 9.77717323e-05 9.99996447e-01 -2.70591345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.381346184 meters 0.06815583869409353 Centerline is valid? [True, True] Translation: X:57.56, Y:-4.97, Z:-2.71 [[ 9.99074060e-01 4.27793550e-02 4.57704821e-03 5.75631169e+01] [-4.27781232e-02 9.99084530e-01 -3.66726648e-04 -4.97221373e+00] [-4.58854639e-03 1.70589549e-04 9.99989458e-01 -2.70860255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.441346184 meters 0.06888318307867587 Centerline is valid? [True, True] Translation: X:57.62, Y:-4.98, Z:-2.71 [[ 9.99119219e-01 4.19565969e-02 6.56035298e-04 5.76218143e+01] [-4.19565707e-02 9.99119434e-01 -5.35637864e-05 -4.97999521e+00] [-6.57704970e-04 2.59916171e-05 9.99999783e-01 -2.71383702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.501346184 meters 0.06737535319828206 Centerline is valid? [True, True] Translation: X:57.68, Y:-4.98, Z:-2.72 [[ 9.99114900e-01 4.20481510e-02 -1.17020144e-03 5.76802710e+01] [-4.20480732e-02 9.99115585e-01 9.10643172e-05 -4.98469392e+00] [ 1.17299558e-03 -4.17790005e-05 9.99999311e-01 -2.71679108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.561346184 meters 0.06766654062812817 Centerline is valid? [True, True] Translation: X:57.74, Y:-4.99, Z:-2.71 [[ 9.99217663e-01 3.95353618e-02 1.00817899e-03 5.77388454e+01] [-3.95352991e-02 9.99218171e-01 -8.20365512e-05 -4.99438974e+00] [-1.01063411e-03 4.21137133e-05 9.99999488e-01 -2.71480307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62134618399999 meters 0.06744156506661628 Centerline is valid? [True, True] Translation: X:57.80, Y:-5.00, Z:-2.71 [[ 9.99220640e-01 3.89755718e-02 6.24634719e-03 5.77972247e+01] [-3.89732218e-02 9.99240132e-01 -4.97546719e-04 -5.00264819e+00] [-6.26099296e-03 2.53718676e-04 9.99980368e-01 -2.70800667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68134618399999 meters 0.06789131530078052 Centerline is valid? [True, True] Translation: X:57.85, Y:-5.01, Z:-2.71 [[ 9.99223517e-01 3.92178556e-02 3.78444682e-03 5.78548842e+01] [-3.92169913e-02 9.99230672e-01 -3.02337460e-04 -5.01125680e+00] [-3.79339237e-03 1.53688082e-04 9.99992793e-01 -2.71320939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.741346184 meters 0.06904431971877797 Centerline is valid? [True, True] Translation: X:57.91, Y:-5.02, Z:-2.72 [[ 9.99303239e-01 3.71688997e-02 -3.39259610e-03 5.79146314e+01] [-3.71682022e-02 9.99308988e-01 2.68440311e-04 -5.02250430e+00] [ 3.40022941e-03 -1.42156575e-04 9.99994209e-01 -2.72284817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.801346184 meters 0.06997441594555685 Centerline is valid? [True, True] Translation: X:57.97, Y:-5.03, Z:-2.72 [[ 9.99380839e-01 3.51782448e-02 -6.56022866e-04 5.79727514e+01] [-3.51782199e-02 9.99381054e-01 4.94892065e-05 -5.02801378e+00] [ 6.57357767e-04 -2.63808480e-05 9.99999784e-01 -2.72063227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.861346184 meters 0.06979503635886002 Centerline is valid? [True, True] Translation: X:58.03, Y:-5.03, Z:-2.72 [[ 9.99407864e-01 3.37675801e-02 6.60843717e-03 5.80313334e+01] [-3.37648493e-02 9.99429667e-01 -5.24406561e-04 -5.03425500e+00] [-6.62237610e-03 3.00963156e-04 9.99978027e-01 -2.71502143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.921346184 meters 0.07119791204811225 Centerline is valid? [True, True] Translation: X:58.09, Y:-5.04, Z:-2.72 [[ 9.99410753e-01 3.31831219e-02 8.77654629e-03 5.80886775e+01] [-3.31782916e-02 9.99449207e-01 -6.95436239e-04 -5.04336761e+00] [-8.79478897e-03 4.03835643e-04 9.99961244e-01 -2.71625692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.981346184 meters 0.07240389129037311 Centerline is valid? [True, True] Translation: X:58.15, Y:-5.05, Z:-2.73 [[ 9.99534541e-01 3.03762068e-02 2.82609417e-03 5.81486450e+01] [-3.03756953e-02 9.99538527e-01 -2.23760100e-04 -5.04874715e+00] [-2.83158699e-03 1.37811373e-04 9.99995982e-01 -2.72503220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04134618399999 meters 0.07352842636800438 Centerline is valid? [True, True] Translation: X:58.21, Y:-5.05, Z:-2.73 [[ 9.99558048e-01 2.97270787e-02 9.74004599e-05 5.82066345e+01] [-2.97270780e-02 9.99558053e-01 -9.44965461e-06 -5.05350249e+00] [-9.76383247e-05 6.55004725e-06 9.99999995e-01 -2.73031120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.101346184 meters 0.07392969390517788 Centerline is valid? [True, True] Translation: X:58.26, Y:-5.06, Z:-2.73 [[ 9.99604826e-01 2.80953960e-02 9.17000073e-04 5.82649872e+01] [-2.80953398e-02 9.99605245e-01 -7.41446146e-05 -5.05771035e+00] [-9.18721205e-04 4.83518859e-05 9.99999577e-01 -2.73074714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.161346184 meters 0.07591062462323786 Centerline is valid? [True, True] Translation: X:58.32, Y:-5.06, Z:-2.73 [[ 9.99655362e-01 2.60516550e-02 3.23556687e-03 5.83219285e+01] [-2.60509578e-02 9.99660583e-01 -2.57438598e-04 -5.06337248e+00] [-3.24117536e-03 1.73060259e-04 9.99994732e-01 -2.73266660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.221346184 meters 0.07711850261341566 Centerline is valid? [True, True] Translation: X:58.38, Y:-5.07, Z:-2.73 [[ 9.99707138e-01 2.38868555e-02 3.88035756e-03 5.83813834e+01] [-2.38858468e-02 9.99714646e-01 -3.06104513e-04 -5.06755686e+00] [-3.88656216e-03 2.13329241e-04 9.99992425e-01 -2.73297067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.281346184 meters 0.08317986688336336 Centerline is valid? [True, True] Translation: X:58.44, Y:-5.08, Z:-2.74 [[ 9.99878015e-01 1.55806196e-02 1.09504328e-03 5.84391260e+01] [-1.55805360e-02 9.99878612e-01 -8.48351637e-05 -5.08418129e+00] [-1.09623214e-03 6.77634538e-05 9.99999397e-01 -2.73887971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.341346184 meters 0.08747399515679831 Centerline is valid? [True, True] Translation: X:58.50, Y:-5.10, Z:-2.74 [[ 9.99944338e-01 1.04049201e-02 1.74880853e-03 5.84974302e+01] [-1.04046968e-02 9.99945860e-01 -1.36747863e-04 -5.09640454e+00] [-1.75013671e-03 1.18544429e-04 9.99998461e-01 -2.74166721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40134618399999 meters 0.08606964062513645 Centerline is valid? [True, True] Translation: X:58.56, Y:-5.09, Z:-2.74 [[ 9.99942119e-01 9.74978971e-03 4.54985589e-03 5.85567744e+01] [-9.74825331e-03 9.99952420e-01 -3.59736456e-04 -5.09487204e+00] [-4.55314676e-03 3.15362486e-04 9.99989585e-01 -2.73957676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46134618399999 meters 0.09022869331298893 Centerline is valid? [True, True] Translation: X:58.62, Y:-5.10, Z:-2.74 [[ 9.99941635e-01 9.84434527e-03 4.45145665e-03 5.86151918e+01] [-9.84287853e-03 9.99951496e-01 -3.51285958e-04 -5.09835155e+00] [-4.45469892e-03 3.07450308e-04 9.99990031e-01 -2.74289021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.521346184 meters 0.09354572556165226 Centerline is valid? [True, True] Translation: X:58.68, Y:-5.11, Z:-2.75 [[ 9.99975130e-01 6.33419750e-03 3.10108311e-03 5.86750364e+01] [-6.33347172e-03 9.99979914e-01 -2.43805289e-04 -5.10777926e+00] [-3.10256514e-03 2.24158604e-04 9.99995162e-01 -2.74937185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.581346184 meters 0.09508641691605121 Centerline is valid? [True, True] Translation: X:58.74, Y:-5.11, Z:-2.75 [[ 9.99987154e-01 -3.69808548e-03 3.46639701e-03 5.87351897e+01] [ 3.69905172e-03 9.99993121e-01 -2.72373984e-04 -5.11296008e+00] [-3.46536590e-03 2.85192867e-04 9.99993955e-01 -2.74913461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.641346184 meters 0.0943003415060287 Centerline is valid? [True, True] Translation: X:58.80, Y:-5.11, Z:-2.75 [[ 9.99974451e-01 -6.41479834e-03 3.15408984e-03 5.87962072e+01] [ 6.41561172e-03 9.99979389e-01 -2.47829680e-04 -5.10839587e+00] [-3.15243506e-03 2.68058764e-04 9.99994995e-01 -2.74854718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.701346184 meters 0.09559112175952568 Centerline is valid? [True, True] Translation: X:58.86, Y:-5.11, Z:-2.75 [[ 9.99973660e-01 -5.00836903e-03 5.25311670e-03 5.88582309e+01] [ 5.01060009e-03 9.99987362e-01 -4.11637599e-04 -5.10943601e+00] [-5.25098868e-03 4.37948024e-04 9.99986118e-01 -2.75207037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76134618399999 meters 0.08787879947405557 Centerline is valid? [True, True] Translation: X:58.92, Y:-5.09, Z:-2.75 [[ 9.99979912e-01 -7.01611924e-04 6.29941504e-03 5.89201429e+01] [ 7.04748743e-04 9.99999629e-01 -4.95748113e-04 -5.09418355e+00] [-6.29906488e-03 5.00177660e-04 9.99980036e-01 -2.75128881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82134618399999 meters 0.08878528483174006 Centerline is valid? [True, True] Translation: X:58.98, Y:-5.09, Z:-2.75 [[ 9.99972595e-01 1.15960341e-03 7.31197599e-03 5.89815608e+01] [-1.15543175e-03 9.99999167e-01 -5.74722480e-04 -5.09339374e+00] [-7.31263635e-03 5.66258240e-04 9.99973102e-01 -2.75031473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.881346184 meters 0.08761288116557756 Centerline is valid? [True, True] Translation: X:59.04, Y:-5.09, Z:-2.75 [[ 9.99941324e-01 7.82018425e-04 1.08044478e-02 5.90447727e+01] [-7.72921318e-04 9.99999343e-01 -8.46127867e-04 -5.09307709e+00] [-1.08051024e-02 8.37727232e-04 9.99941272e-01 -2.75101404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.941346184 meters 0.08981074900907153 Centerline is valid? [True, True] Translation: X:59.11, Y:-5.10, Z:-2.76 [[ 9.99962703e-01 -1.26877213e-03 8.54302154e-03 5.91052077e+01] [ 1.27458347e-03 9.99998960e-01 -6.74833842e-04 -5.10053850e+00] [-8.54215644e-03 6.85697467e-04 9.99963280e-01 -2.75757040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.001346184 meters 0.08886093504365933 Centerline is valid? [True, True] Translation: X:59.17, Y:-5.09, Z:-2.76 [[ 9.99992389e-01 -3.45634380e-03 1.80979047e-03 5.91670775e+01] [ 3.45660819e-03 9.99994016e-01 -1.42978686e-04 -5.08947180e+00] [-1.80928545e-03 1.49233335e-04 9.99998352e-01 -2.76188279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.061346184 meters 0.09200643057775919 Centerline is valid? [True, True] Translation: X:59.23, Y:-5.10, Z:-2.77 [[ 9.99992997e-01 -3.02392035e-03 2.20477421e-03 5.92274645e+01] [ 3.02430903e-03 9.99995412e-01 -1.72977270e-04 -5.09783398e+00] [-2.20424103e-03 1.79643977e-04 9.99997555e-01 -2.76599900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12134618399999 meters 0.09087258459500423 Centerline is valid? [True, True] Translation: X:59.29, Y:-5.10, Z:-2.77 [[ 9.99976188e-01 -3.24635103e-03 6.08973051e-03 5.92893635e+01] [ 3.24933571e-03 9.99994606e-01 -4.80286682e-04 -5.09991817e+00] [-6.08813848e-03 5.00062824e-04 9.99981342e-01 -2.76781538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18134618399999 meters 0.09451416688273351 Centerline is valid? [True, True] Translation: X:59.35, Y:-5.10, Z:-2.76 [[ 9.99912212e-01 -7.42426102e-03 1.09749195e-02 5.93506621e+01] [ 7.43424233e-03 9.99971988e-01 -8.68948747e-04 -5.09862703e+00] [-1.09681608e-02 9.50462675e-04 9.99939396e-01 -2.76202066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.241346184 meters 0.09270628878913101 Centerline is valid? [True, True] Translation: X:59.41, Y:-5.10, Z:-2.77 [[ 9.99869588e-01 -1.20513324e-02 1.07504533e-02 5.94114024e+01] [ 1.20611692e-02 9.99926900e-01 -8.50651500e-04 -5.09954574e+00] [-1.07394159e-02 9.80203601e-04 9.99941850e-01 -2.76544195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.301346184 meters 0.09568212915438778 Centerline is valid? [True, True] Translation: X:59.47, Y:-5.10, Z:-2.77 [[ 9.99837534e-01 -1.68620212e-02 6.37005597e-03 5.94718040e+01] [ 1.68655753e-02 9.99857639e-01 -5.04623716e-04 -5.10269111e+00] [-6.36064014e-03 6.11976390e-04 9.99979584e-01 -2.77267473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.361346184 meters 0.10106736946248003 Centerline is valid? [True, False] Translation: X:59.47, Y:-5.10, Z:-2.77 [[ 9.99891683e-01 -1.33136679e-02 6.27444201e-03 5.94722380e+01] [ 1.32999714e-02 9.99909088e-01 2.21959579e-03 -5.09634009e+00] [-6.30342255e-03 -2.13590547e-03 9.99977852e-01 -2.77320192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.421346184 meters 0.10219583489278679 Centerline is valid? [False, False] Translation: X:59.47, Y:-5.09, Z:-2.77 [[ 9.99936082e-01 -9.45342923e-03 6.20201511e-03 5.94729767e+01] [ 9.42183877e-03 9.99942592e-01 5.10317669e-03 -5.09044324e+00] [-6.24990158e-03 -5.04441612e-03 9.99967746e-01 -2.77421021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.481346184 meters 0.09791801211351846 Centerline is valid? [False, True] Translation: X:59.47, Y:-5.09, Z:-2.77 [[ 9.99934939e-01 -9.77287460e-03 5.88284285e-03 5.94739115e+01] [ 9.74976336e-03 9.99944690e-01 3.94452532e-03 -5.08520971e+00] [-5.92106682e-03 -3.88691236e-03 9.99974916e-01 -2.77466406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54134618399999 meters 0.09750683134834998 Centerline is valid? [True, True] Translation: X:59.54, Y:-5.08, Z:-2.77 [[ 9.99926113e-01 -1.00405147e-02 6.85242538e-03 5.95371225e+01] [ 1.00444641e-02 9.99949406e-01 -5.42180689e-04 -5.07988337e+00] [-6.84663491e-03 6.10969571e-04 9.99976375e-01 -2.77293566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.601346184 meters 0.09649665861461383 Centerline is valid? [True, True] Translation: X:59.60, Y:-5.08, Z:-2.78 [[ 9.99927890e-01 -1.02523618e-02 6.25326796e-03 5.95999634e+01] [ 1.02556568e-02 9.99947287e-01 -4.95089473e-04 -5.07864823e+00] [-6.24786250e-03 5.59185142e-04 9.99980326e-01 -2.77518366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.661346184 meters 0.09826823904774358 Centerline is valid? [True, True] Translation: X:59.66, Y:-5.08, Z:-2.78 [[ 9.99963182e-01 -7.96678090e-03 3.18819144e-03 5.96594564e+01] [ 7.96762901e-03 9.99968226e-01 -2.53401359e-04 -5.08154557e+00] [-3.18607134e-03 2.78794356e-04 9.99994886e-01 -2.78082361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.721346184 meters 0.09380687298199444 Centerline is valid? [True, True] Translation: X:59.72, Y:-5.07, Z:-2.79 [[ 9.99987323e-01 -4.27380527e-03 -2.66230502e-03 5.97213946e+01] [ 4.27438427e-03 9.99990842e-01 2.11827280e-04 -5.07144207e+00] [ 2.66137533e-03 -2.23204309e-04 9.99996434e-01 -2.78835226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.781346184 meters 0.09436195661035275 Centerline is valid? [True, True] Translation: X:59.78, Y:-5.07, Z:-2.79 [[ 9.99997273e-01 -1.33094750e-03 -1.91887511e-03 5.97810662e+01] [ 1.33124173e-03 9.99999102e-01 1.52065372e-04 -5.07142258e+00] [ 1.91867099e-03 -1.54619444e-04 9.99998147e-01 -2.78941831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.841346184 meters 0.09087819485066356 Centerline is valid? [True, True] Translation: X:59.84, Y:-5.07, Z:-2.78 [[ 9.99993070e-01 -7.32571839e-04 3.65009838e-03 5.98416652e+01] [ 7.33635381e-04 9.99999689e-01 -2.90043172e-04 -5.06673972e+00] [-3.64988476e-03 2.92719003e-04 9.99993296e-01 -2.78372262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90134618399999 meters 0.08673961129204467 Centerline is valid? [True, True] Translation: X:59.90, Y:-5.06, Z:-2.78 [[ 9.99979496e-01 1.36649220e-03 6.25624649e-03 5.99038743e+01] [-1.36341376e-03 9.99998947e-01 -4.96296963e-04 -5.05605685e+00] [-6.25691809e-03 4.87756934e-04 9.99980306e-01 -2.77960924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96134618399999 meters 0.09510378096696567 Centerline is valid? [True, True] Translation: X:59.96, Y:-5.07, Z:-2.79 [[ 9.99977912e-01 2.27145358e-03 6.24633558e-03 5.99635397e+01] [-2.26840473e-03 9.99997305e-01 -4.95144250e-04 -5.07337005e+00] [-6.24744344e-03 4.80964096e-04 9.99980369e-01 -2.78537778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.021346184 meters 0.09151670616893816 Centerline is valid? [True, True] Translation: X:60.03, Y:-5.07, Z:-2.79 [[ 9.99988778e-01 3.39603085e-03 3.30321355e-03 6.00262502e+01] [-3.39519525e-03 9.99994203e-01 -2.58540565e-04 -5.06798582e+00] [-3.30407241e-03 2.47322609e-04 9.99994511e-01 -2.79022122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.081346184 meters 0.08700064112305071 Centerline is valid? [True, True] Translation: X:60.09, Y:-5.06, Z:-2.79 [[ 9.99991648e-01 3.90391830e-03 1.20971544e-03 6.00875017e+01] [-3.90380453e-03 9.99992375e-01 -9.63900001e-05 -5.05937907e+00] [-1.21008252e-03 9.16667024e-05 9.99999264e-01 -2.79095591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.141346184 meters 0.0896513345535638 Centerline is valid? [True, True] Translation: X:60.15, Y:-5.07, Z:-2.79 [[ 9.99999179e-01 1.12155654e-03 6.19272798e-04 6.01458974e+01] [-1.12152618e-03 9.99999370e-01 -4.93688090e-05 -5.06517496e+00] [-6.19327777e-04 4.86742378e-05 9.99999807e-01 -2.79334446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.201346184 meters 0.09182803593632737 Centerline is valid? [True, True] Translation: X:60.21, Y:-5.07, Z:-2.79 [[ 9.99991295e-01 -1.67575730e-03 3.82119139e-03 6.02062176e+01] [ 1.67693289e-03 9.99998548e-01 -3.04467014e-04 -5.07099906e+00] [-3.82067563e-03 3.10872245e-04 9.99992653e-01 -2.79256545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26134618399999 meters 0.09464164761562203 Centerline is valid? [True, True] Translation: X:60.27, Y:-5.07, Z:-2.79 [[ 9.99966436e-01 -4.14216466e-03 7.06889539e-03 6.02667325e+01] [ 4.14624754e-03 9.99991246e-01 -5.63026788e-04 -5.07459936e+00] [-7.06650135e-03 5.92317280e-04 9.99974857e-01 -2.78967987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32134618399999 meters 0.09143157358972244 Centerline is valid? [True, True] Translation: X:60.33, Y:-5.07, Z:-2.80 [[ 9.99984940e-01 -3.86539642e-03 3.89583494e-03 6.03297523e+01] [ 3.86663084e-03 9.99992477e-01 -3.09374903e-04 -5.06861644e+00] [-3.89460978e-03 3.24433999e-04 9.99992363e-01 -2.79574171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.381346184 meters 0.09194054967842519 Centerline is valid? [True, True] Translation: X:60.39, Y:-5.07, Z:-2.80 [[ 9.99979464e-01 -5.43938675e-03 3.38895563e-03 6.03904350e+01] [ 5.44033293e-03 9.99985165e-01 -2.70039991e-04 -5.07060680e+00] [-3.38743650e-03 2.88471492e-04 9.99994221e-01 -2.79731068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.441346184 meters 0.09276573901448128 Centerline is valid? [True, True] Translation: X:60.45, Y:-5.07, Z:-2.80 [[ 9.99977066e-01 -6.07776662e-03 2.98804641e-03 6.04529016e+01] [ 6.07850243e-03 9.99981498e-01 -2.37230230e-04 -5.07060933e+00] [-2.98654929e-03 2.55387636e-04 9.99995508e-01 -2.79975724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.501346184 meters 0.09357787358240227 Centerline is valid? [True, True] Translation: X:60.51, Y:-5.07, Z:-2.80 [[ 9.99971462e-01 -6.78195447e-03 3.32883586e-03 6.05145900e+01] [ 6.78287383e-03 9.99976961e-01 -2.64970280e-04 -5.07376688e+00] [-3.32696215e-03 2.87541792e-04 9.99994424e-01 -2.80310988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.561346184 meters 0.09479564591001956 Centerline is valid? [True, True] Translation: X:60.57, Y:-5.08, Z:-2.80 [[ 9.99950621e-01 -9.38385319e-03 3.27089423e-03 6.05749408e+01] [ 9.38475758e-03 9.99955928e-01 -2.61256357e-04 -5.07799756e+00] [-3.26829849e-03 2.91940006e-04 9.99994616e-01 -2.80362130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62134618399999 meters 0.09680805551719282 Centerline is valid? [True, True] Translation: X:60.64, Y:-5.08, Z:-2.81 [[ 9.99910270e-01 -1.33217591e-02 1.40813066e-03 6.06359826e+01] [ 1.33219299e-02 9.99911253e-01 -1.12001070e-04 -5.08005999e+00] [-1.40651364e-03 1.30750038e-04 9.99999002e-01 -2.80522966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68134618399999 meters 0.09979967235257207 Centerline is valid? [True, True] Translation: X:60.70, Y:-5.09, Z:-2.81 [[ 9.99917030e-01 -1.26315664e-02 2.52526091e-03 6.06957477e+01] [ 1.26321154e-02 9.99920191e-01 -2.01591679e-04 -5.08858675e+00] [-2.52251295e-03 2.33474340e-04 9.99996791e-01 -2.80845656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.741346184 meters 0.09567686388056261 Centerline is valid? [True, True] Translation: X:60.76, Y:-5.08, Z:-2.81 [[ 9.99957341e-01 -8.18699143e-03 4.27659673e-03 6.07566173e+01] [ 8.18852835e-03 9.99966415e-01 -3.41994683e-04 -5.08296114e+00] [-4.27365319e-03 3.76999128e-04 9.99990797e-01 -2.80936584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.801346184 meters 0.09331810872423807 Centerline is valid? [True, True] Translation: X:60.82, Y:-5.08, Z:-2.81 [[ 9.99979952e-01 -5.51307747e-03 3.11477148e-03 6.08177464e+01] [ 5.51387980e-03 9.99984767e-01 -2.49060245e-04 -5.07658071e+00] [-3.11335095e-03 2.66229728e-04 9.99995118e-01 -2.80854729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.861346184 meters 0.09739839131918385 Centerline is valid? [True, True] Translation: X:60.88, Y:-5.09, Z:-2.81 [[ 9.99975215e-01 -6.74644301e-03 2.01387921e-03 6.08771859e+01] [ 6.74678029e-03 9.99977227e-01 -1.60732576e-04 -5.09181795e+00] [-2.01274897e-03 1.74315792e-04 9.99997959e-01 -2.81406283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.921346184 meters 0.09993875382826915 Centerline is valid? [True, True] Translation: X:60.94, Y:-5.10, Z:-2.81 [[ 9.99974964e-01 -6.79010746e-03 1.99138972e-03 6.09384945e+01] [ 6.79043422e-03 9.99976932e-01 -1.57370323e-04 -5.09901107e+00] [-1.99027523e-03 1.70888784e-04 9.99998005e-01 -2.81421277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.981346184 meters 0.09245530261254721 Centerline is valid? [True, True] Translation: X:61.00, Y:-5.09, Z:-2.81 [[ 9.99982301e-01 -5.83043489e-03 1.18489713e-03 6.10017621e+01] [ 5.83054986e-03 9.99982998e-01 -9.35957931e-05 -5.09040999e+00] [-1.18433128e-03 1.00502738e-04 9.99999294e-01 -2.81349950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04134618399999 meters 0.09777563180625368 Centerline is valid? [True, True] Translation: X:61.06, Y:-5.10, Z:-2.82 [[ 9.99991890e-01 -4.00897192e-03 3.85798653e-04 6.10607901e+01] [ 4.00898402e-03 9.99991964e-01 -3.05895710e-05 -5.10490763e+00] [-3.85672920e-04 3.21359835e-05 9.99999925e-01 -2.81875309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.101346184 meters 0.09906413432516512 Centerline is valid? [True, True] Translation: X:61.12, Y:-5.11, Z:-2.82 [[ 9.99993241e-01 -2.96912135e-03 2.16860479e-03 6.11212349e+01] [ 2.96950411e-03 9.99995576e-01 -1.73302718e-04 -5.11156474e+00] [-2.16808064e-03 1.79741227e-04 9.99997634e-01 -2.82007524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.161346184 meters 0.09561028311176747 Centerline is valid? [True, True] Translation: X:61.18, Y:-5.11, Z:-2.82 [[ 9.99995696e-01 -2.76459011e-03 9.81957507e-04 6.11831554e+01] [ 2.76466756e-03 9.99996175e-01 -7.75145828e-05 -5.11273990e+00] [-9.81739456e-04 8.02290353e-05 9.99999515e-01 -2.82261264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.221346184 meters 0.09210711181733279 Centerline is valid? [True, True] Translation: X:61.25, Y:-5.11, Z:-2.82 [[ 9.99995449e-01 -2.58975634e-03 1.54768547e-03 6.12461654e+01] [ 2.58994978e-03 9.99996639e-01 -1.22991138e-04 -5.10999813e+00] [-1.54736175e-03 1.26999006e-04 9.99998795e-01 -2.82042256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.281346184 meters 0.09115925640856898 Centerline is valid? [True, True] Translation: X:61.31, Y:-5.11, Z:-2.82 [[ 9.99983944e-01 -4.61787107e-03 3.28437967e-03 6.13069638e+01] [ 4.61876157e-03 9.99989299e-01 -2.63598072e-04 -5.11412889e+00] [-3.28312726e-03 2.78763606e-04 9.99994572e-01 -2.81882298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.341346184 meters 0.09314840415869842 Centerline is valid? [True, True] Translation: X:61.37, Y:-5.13, Z:-2.82 [[ 9.99969599e-01 -6.96651568e-03 3.50269976e-03 6.13669036e+01] [ 6.96754312e-03 9.99975687e-01 -2.81208311e-04 -5.12738403e+00] [-3.50065555e-03 3.05604974e-04 9.99993826e-01 -2.82127963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40134618399999 meters 0.09795255524885253 Centerline is valid? [True, True] Translation: X:61.43, Y:-5.14, Z:-2.83 [[ 9.99975628e-01 -6.10568279e-03 -3.38580317e-03 6.14277626e+01] [ 6.10664303e-03 9.99981317e-01 2.73343687e-04 -5.13665732e+00] [ 3.38407096e-03 -2.94012916e-04 9.99994231e-01 -2.82906853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46134618399999 meters 0.09324382830519055 Centerline is valid? [True, True] Translation: X:61.49, Y:-5.13, Z:-2.83 [[ 9.99986120e-01 -3.17931125e-03 -4.20139050e-03 6.14890047e+01] [ 3.18076061e-03 9.99994884e-01 3.38335699e-04 -5.13314256e+00] [ 4.20029333e-03 -3.51694620e-04 9.99991117e-01 -2.83243524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.521346184 meters 0.09552672028263776 Centerline is valid? [True, True] Translation: X:61.55, Y:-5.15, Z:-2.83 [[ 9.99994940e-01 -2.63097985e-03 1.78817654e-03 6.15476486e+01] [ 2.63124127e-03 9.99996528e-01 -1.43859148e-04 -5.14909805e+00] [-1.78779184e-03 1.48563544e-04 9.99998391e-01 -2.83311178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.581346184 meters 0.09645972420026677 Centerline is valid? [True, True] Translation: X:61.61, Y:-5.15, Z:-2.83 [[ 9.99982593e-01 -5.15026154e-03 2.87910099e-03 6.16089773e+01] [ 5.15094881e-03 9.99986707e-01 -2.31344712e-04 -5.14768917e+00] [-2.87787123e-03 2.46170787e-04 9.99995829e-01 -2.82502509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.641346184 meters 0.09789742971814082 Centerline is valid? [True, True] Translation: X:61.67, Y:-5.16, Z:-2.83 [[ 9.99976630e-01 -3.77690991e-03 5.69854702e-03 6.16675979e+01] [ 3.77958520e-03 9.99992752e-01 -4.58773826e-04 -5.15941549e+00] [-5.69677297e-03 4.80301249e-04 9.99983658e-01 -2.82767473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.701346184 meters 0.09794559981401532 Centerline is valid? [True, True] Translation: X:61.73, Y:-5.17, Z:-2.84 [[ 9.99987893e-01 -4.53204178e-03 1.91683947e-03 6.17276366e+01] [ 4.53234510e-03 9.99989717e-01 -1.53921481e-04 -5.16903517e+00] [-1.91612218e-03 1.62607396e-04 9.99998151e-01 -2.83635087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76134618399999 meters 0.09835677942340945 Centerline is valid? [True, True] Translation: X:61.79, Y:-5.17, Z:-2.84 [[ 9.99985195e-01 -5.32029318e-03 -1.14196030e-03 6.17882219e+01] [ 5.32040195e-03 9.99985842e-01 9.22299596e-05 -5.17372728e+00] [ 1.14145344e-03 -9.83042820e-05 9.99999344e-01 -2.84031208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82134618399999 meters 0.09615454599565429 Centerline is valid? [True, True] Translation: X:61.85, Y:-5.18, Z:-2.84 [[ 9.99997718e-01 -1.76133826e-03 -1.20930357e-03 6.18491805e+01] [ 1.76145724e-03 9.99998444e-01 9.73289115e-05 -5.17552283e+00] [ 1.20913026e-03 -9.94588259e-05 9.99999264e-01 -2.83820010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.881346184 meters 0.0889275112608203 Centerline is valid? [True, True] Translation: X:61.91, Y:-5.17, Z:-2.83 [[ 9.99998639e-01 5.32539356e-04 1.56149605e-03 6.19105076e+01] [-5.32343685e-04 9.99999850e-01 -1.25722843e-04 -5.16672578e+00] [-1.56156277e-03 1.24891419e-04 9.99998773e-01 -2.83337237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.941346184 meters 0.08961651267738695 Centerline is valid? [True, True] Translation: X:61.97, Y:-5.18, Z:-2.84 [[ 9.99998284e-01 1.18611034e-03 1.42337592e-03 6.19704860e+01] [-1.18594848e-03 9.99999290e-01 -1.14554350e-04 -5.17734642e+00] [-1.42351078e-03 1.12866103e-04 9.99998980e-01 -2.83824596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.001346184 meters 0.08905077819579979 Centerline is valid? [True, True] Translation: X:62.03, Y:-5.18, Z:-2.84 [[ 9.99998345e-01 -1.18192584e-03 -1.38284624e-03 6.20312897e+01] [ 1.18208108e-03 9.99999295e-01 1.11447027e-04 -5.17938650e+00] [ 1.38271354e-03 -1.13081479e-04 9.99999038e-01 -2.83713567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.061346184 meters 0.09088568284380802 Centerline is valid? [True, True] Translation: X:62.09, Y:-5.19, Z:-2.84 [[ 9.99993481e-01 -3.47454953e-03 -9.83026143e-04 6.20909919e+01] [ 3.47462862e-03 9.99993960e-01 7.87626975e-05 -5.18766376e+00] [ 9.82746541e-04 -8.21778348e-05 9.99999514e-01 -2.83827343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12134618399999 meters 0.09116388784296471 Centerline is valid? [True, True] Translation: X:62.15, Y:-5.20, Z:-2.84 [[ 9.99983466e-01 -4.84628627e-03 3.09548146e-03 6.21516213e+01] [ 4.84707862e-03 9.99988222e-01 -2.48518429e-04 -5.19710148e+00] [-3.09424061e-03 2.63518362e-04 9.99995178e-01 -2.83885852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18134618399999 meters 0.09062299364152218 Centerline is valid? [True, True] Translation: X:62.21, Y:-5.20, Z:-2.84 [[ 9.99986459e-01 -3.17513620e-03 4.12308447e-03 6.22132706e+01] [ 3.17652939e-03 9.99994900e-01 -3.31395855e-04 -5.19608811e+00] [-4.12201122e-03 3.44488467e-04 9.99991445e-01 -2.83586818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.241346184 meters 0.0918770586137261 Centerline is valid? [True, True] Translation: X:62.27, Y:-5.20, Z:-2.84 [[ 9.99986440e-01 -3.48148845e-03 3.87287583e-03 6.22748122e+01] [ 3.48271824e-03 9.99993887e-01 -3.10838824e-04 -5.20487793e+00] [-3.87176998e-03 3.24322744e-04 9.99992452e-01 -2.83807480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.301346184 meters 0.09741238209390979 Centerline is valid? [True, True] Translation: X:62.33, Y:-5.22, Z:-2.84 [[ 9.99964804e-01 -7.67288441e-03 3.39383930e-03 6.23339423e+01] [ 7.67385619e-03 9.99970518e-01 -2.73408060e-04 -5.21993597e+00] [-3.39164142e-03 2.99442272e-04 9.99994204e-01 -2.83918504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.361346184 meters 0.09892878482454243 Centerline is valid? [True, True] Translation: X:62.39, Y:-5.23, Z:-2.85 [[ 9.99960788e-01 -8.79729255e-03 -1.01512951e-03 6.23943155e+01] [ 8.79738047e-03 9.99961299e-01 8.21835366e-05 -5.22785311e+00] [ 1.01436723e-03 -9.11107945e-05 9.99999481e-01 -2.84601694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.421346184 meters 0.10216925653633768 Centerline is valid? [True, False] Translation: X:62.40, Y:-5.23, Z:-2.85 [[ 9.99969776e-01 -7.66832896e-03 -1.28247828e-03 6.23965853e+01] [ 7.67061988e-03 9.99968976e-01 1.79104608e-03 -5.23081672e+00] [ 1.26870417e-03 -1.80082935e-03 9.99997574e-01 -2.84873858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.481346184 meters 0.10198436912680317 Centerline is valid? [False, False] Translation: X:62.40, Y:-5.23, Z:-2.85 [[ 9.99972044e-01 -7.37108822e-03 -1.25661191e-03 6.23961287e+01] [ 7.37407517e-03 9.99969957e-01 2.38915563e-03 -5.23383661e+00] [ 1.23896348e-03 -2.39835519e-03 9.99996356e-01 -2.84804720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54134618399999 meters 0.09553170576413944 Centerline is valid? [False, True] Translation: X:62.40, Y:-5.23, Z:-2.85 [[ 9.99973998e-01 -7.01877568e-03 -1.65534191e-03 6.23967603e+01] [ 7.02318649e-03 9.99971762e-01 2.67400423e-03 -5.23497044e+00] [ 1.63652693e-03 -2.68556048e-03 9.99995055e-01 -2.84758568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.601346184 meters 0.0899089099056727 Centerline is valid? [True, True] Translation: X:62.46, Y:-5.23, Z:-2.85 [[ 9.99978404e-01 -2.57919627e-03 -6.04477416e-03 6.24581102e+01] [ 2.58214366e-03 9.99996551e-01 4.79840297e-04 -5.22616090e+00] [ 6.04351571e-03 -4.95438410e-04 9.99981615e-01 -2.84601322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.661346184 meters 0.09238991649685069 Centerline is valid? [True, True] Translation: X:62.52, Y:-5.24, Z:-2.85 [[ 9.99977264e-01 -6.44919914e-04 -6.71234652e-03 6.25156749e+01] [ 6.48503398e-04 9.99999648e-01 5.31701800e-04 -5.23939827e+00] [ 6.71200126e-03 -5.36042690e-04 9.99977331e-01 -2.85206869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.721346184 meters 0.08570540071985573 Centerline is valid? [True, True] Translation: X:62.58, Y:-5.23, Z:-2.85 [[ 9.99984919e-01 1.62540228e-03 -5.24590467e-03 6.25761120e+01] [-1.62324335e-03 9.99998596e-01 4.15777969e-04 -5.23428059e+00] [ 5.24657312e-03 -4.07256319e-04 9.99986154e-01 -2.84916782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.781346184 meters 0.08460170115163138 Centerline is valid? [True, True] Translation: X:62.64, Y:-5.23, Z:-2.85 [[ 9.99975872e-01 6.12481488e-03 -3.27745017e-03 6.26358728e+01] [-6.12399736e-03 9.99981215e-01 2.59413920e-04 -5.23173315e+00] [ 3.27897747e-03 -2.39336565e-04 9.99994595e-01 -2.84740712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.841346184 meters 0.08563267808510899 Centerline is valid? [True, True] Translation: X:62.69, Y:-5.25, Z:-2.85 [[ 9.99975523e-01 6.35593347e-03 -2.92483323e-03 6.26939056e+01] [-6.35528592e-03 9.99979778e-01 2.30638907e-04 -5.24538169e+00] [ 2.92624001e-03 -2.12045110e-04 9.99995696e-01 -2.85266859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90134618399999 meters 0.0876807473568045 Centerline is valid? [True, True] Translation: X:62.75, Y:-5.26, Z:-2.86 [[ 9.99976877e-01 5.24327558e-03 -4.33045969e-03 6.27511459e+01] [-5.24184338e-03 9.99986203e-01 3.42009416e-04 -5.25672153e+00] [ 4.33219319e-03 -3.19301916e-04 9.99990565e-01 -2.85606725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96134618399999 meters 0.09449999311414099 Centerline is valid? [True, True] Translation: X:62.81, Y:-5.27, Z:-2.85 [[ 9.99972249e-01 -1.32277823e-03 -7.33156698e-03 6.28101588e+01] [ 1.32706834e-03 9.99998951e-01 5.80321958e-04 -5.26950906e+00] [ 7.33079165e-03 -5.90035343e-04 9.99972955e-01 -2.85406498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.021346184 meters 0.09793290506402168 Centerline is valid? [True, True] Translation: X:62.87, Y:-5.28, Z:-2.86 [[ 9.99983914e-01 -2.60489302e-03 -5.03849540e-03 6.28673920e+01] [ 2.60692720e-03 9.99996523e-01 3.97202487e-04 -5.28356674e+00] [ 5.03744321e-03 -4.10331089e-04 9.99987228e-01 -2.85507276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.081346184 meters 0.08985214961981032 Centerline is valid? [True, True] Translation: X:62.93, Y:-5.28, Z:-2.86 [[ 9.99982784e-01 -1.83209942e-03 -5.57457655e-03 6.29275400e+01] [ 1.83458105e-03 9.99998220e-01 4.40088848e-04 -5.28270100e+00] [ 5.57376035e-03 -4.50308283e-04 9.99984365e-01 -2.85795489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.141346184 meters 0.09191878616629681 Centerline is valid? [True, True] Translation: X:62.99, Y:-5.28, Z:-2.85 [[ 9.99983407e-01 2.93781589e-05 -5.76057472e-03 6.29864951e+01] [-2.67598567e-05 9.99999896e-01 4.54597566e-04 -5.28458611e+00] [ 5.76058748e-03 -4.54435871e-04 9.99983304e-01 -2.85496227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.201346184 meters 0.08744566706442372 Centerline is valid? [True, True] Translation: X:63.05, Y:-5.29, Z:-2.86 [[ 9.99983563e-01 2.12319685e-03 -5.32586639e-03 6.30467662e+01] [-2.12098768e-03 9.99997662e-01 4.20412822e-04 -5.28715241e+00] [ 5.32674656e-03 -4.09109815e-04 9.99985729e-01 -2.85687779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26134618399999 meters 0.08867879051388287 Centerline is valid? [True, True] Translation: X:63.10, Y:-5.30, Z:-2.86 [[ 9.99982524e-01 2.42058495e-03 -5.39375429e-03 6.31042303e+01] [-2.41833145e-03 9.99996986e-01 4.24280649e-04 -5.29683552e+00] [ 5.39476504e-03 -4.11229348e-04 9.99985364e-01 -2.85867861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32134618399999 meters 0.08549382243348 Centerline is valid? [True, True] Translation: X:63.16, Y:-5.29, Z:-2.85 [[ 9.99977237e-01 2.97758087e-03 -6.05471890e-03 6.31634568e+01] [-2.97475172e-03 9.99995462e-01 4.76216308e-04 -5.29112332e+00] [ 6.05610939e-03 -4.58194183e-04 9.99981557e-01 -2.85458631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.381346184 meters 0.08796244781184032 Centerline is valid? [True, True] Translation: X:63.22, Y:-5.30, Z:-2.86 [[ 9.99963253e-01 4.91258790e-03 -7.02563059e-03 6.32213613e+01] [-4.90882287e-03 9.99987799e-01 5.53042575e-04 -5.30455697e+00] [ 7.02826173e-03 -5.18534676e-04 9.99975167e-01 -2.86206682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.441346184 meters 0.08998081289747327 Centerline is valid? [True, True] Translation: X:63.28, Y:-5.31, Z:-2.86 [[ 9.99981317e-01 4.54073154e-03 -4.09233715e-03 6.32790791e+01] [-4.53945633e-03 9.99989645e-01 3.20845274e-04 -5.31155490e+00] [ 4.09375165e-03 -3.02262294e-04 9.99991575e-01 -2.86035086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.501346184 meters 0.09046430238949306 Centerline is valid? [True, True] Translation: X:63.34, Y:-5.32, Z:-2.86 [[ 9.99993429e-01 3.17679775e-03 -1.74663675e-03 6.33373130e+01] [-3.17656488e-03 9.99994945e-01 1.36081162e-04 -5.31604323e+00] [ 1.74706023e-03 -1.30531963e-04 9.99998465e-01 -2.85922743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.561346184 meters 0.0876547431583138 Centerline is valid? [True, True] Translation: X:63.40, Y:-5.32, Z:-2.86 [[ 9.99987926e-01 -1.40311026e-03 -4.70956502e-03 6.33977956e+01] [ 1.40486871e-03 9.99998945e-01 3.70091580e-04 -5.31913122e+00] [ 4.70904077e-03 -3.76703432e-04 9.99988841e-01 -2.86231899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62134618399999 meters 0.09384119876928587 Centerline is valid? [True, True] Translation: X:63.46, Y:-5.33, Z:-2.87 [[ 9.99954152e-01 -6.04207953e-03 -7.42875832e-03 6.34555273e+01] [ 6.04657815e-03 9.99981549e-01 5.83257455e-04 -5.33402297e+00] [ 7.42509716e-03 -6.28149281e-04 9.99972236e-01 -2.86668269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68134618399999 meters 0.10152003286442393 Centerline is valid? [True, False] Translation: X:63.45, Y:-5.34, Z:-2.87 [[ 9.99959484e-01 -5.92727245e-03 -6.77474410e-03 6.34545953e+01] [ 5.93851238e-03 9.99981022e-01 1.64018331e-03 -5.33744226e+00] [ 6.76489372e-03 -1.68034876e-03 9.99975706e-01 -2.86750984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.741346184 meters 0.09227440162960929 Centerline is valid? [False, True] Translation: X:63.45, Y:-5.34, Z:-2.87 [[ 9.99964663e-01 -5.30467325e-03 -6.52172085e-03 6.34548220e+01] [ 5.32303240e-03 9.99981910e-01 2.80094902e-03 -5.34089777e+00] [ 6.50674475e-03 -2.83556538e-03 9.99974811e-01 -2.86862178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.801346184 meters 0.10475683491287564 Centerline is valid? [True, False] Translation: X:63.46, Y:-5.34, Z:-2.87 [[ 9.99962632e-01 -5.32831639e-03 -6.80767702e-03 6.34555109e+01] [ 5.34615822e-03 9.99982315e-01 2.60533668e-03 -5.33950917e+00] [ 6.79367457e-03 -2.64163424e-03 9.99973434e-01 -2.86873946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.861346184 meters 0.10466436738639356 Centerline is valid? [False, False] Translation: X:63.45, Y:-5.34, Z:-2.87 [[ 9.99977278e-01 -1.28249082e-03 -6.61809896e-03 6.34548302e+01] [ 1.32576505e-03 9.99977745e-01 6.53853103e-03 -5.33892117e+00] [ 6.60956607e-03 -6.54715650e-03 9.99956723e-01 -2.86838526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.921346184 meters 0.10581002720843101 Centerline is valid? [False, False] Translation: X:63.46, Y:-5.34, Z:-2.87 [[ 9.99976792e-01 -1.21990018e-03 -6.70282295e-03 6.34550580e+01] [ 1.26326850e-03 9.99978273e-01 6.46973783e-03 -5.33863504e+00] [ 6.69478488e-03 -6.47805514e-03 9.99956606e-01 -2.86839805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.981346184 meters 0.09120891236319753 Centerline is valid? [False, True] Translation: X:63.45, Y:-5.33, Z:-2.87 [[ 9.99972469e-01 -2.31743632e-03 -7.04919936e-03 6.34542010e+01] [ 2.34654988e-03 9.99988741e-01 4.12458824e-03 -5.33272422e+00] [ 7.03956152e-03 -4.14101598e-03 9.99966648e-01 -2.86568326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04134618399999 meters 0.09362024135374358 Centerline is valid? [True, True] Translation: X:63.51, Y:-5.34, Z:-2.87 [[ 9.99944306e-01 -2.04692421e-04 -1.05519406e-02 6.35125389e+01] [ 2.13730028e-04 9.99999611e-01 8.55367107e-04 -5.34145328e+00] [ 1.05517614e-02 -8.57574735e-04 9.99943961e-01 -2.87338942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.101346184 meters 0.09303047458069522 Centerline is valid? [True, True] Translation: X:63.57, Y:-5.34, Z:-2.88 [[ 9.99897985e-01 -7.61334113e-05 -1.42833511e-02 6.35710931e+01] [ 9.26587766e-05 9.99999327e-01 1.15630876e-03 -5.34158267e+00] [ 1.42832534e-02 -1.15751428e-03 9.99897319e-01 -2.87638278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.161346184 meters 0.0955150432494494 Centerline is valid? [True, True] Translation: X:63.63, Y:-5.35, Z:-2.88 [[ 9.99920098e-01 -1.78552094e-03 -1.25143728e-02 6.36288141e+01] [ 1.79832882e-03 9.99997871e-01 1.01227575e-03 -5.34927537e+00] [ 1.25125387e-02 -1.03469982e-03 9.99921180e-01 -2.87594940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.221346184 meters 0.09624826493199813 Centerline is valid? [True, True] Translation: X:63.69, Y:-5.36, Z:-2.87 [[ 9.99954522e-01 -2.72091719e-03 -9.14059211e-03 6.36872232e+01] [ 2.72778187e-03 9.99996007e-01 7.38627345e-04 -5.35762315e+00] [ 9.13854587e-03 -7.63527295e-04 9.99957951e-01 -2.87411549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.281346184 meters 0.09875798029960518 Centerline is valid? [True, True] Translation: X:63.75, Y:-5.36, Z:-2.87 [[ 9.99942407e-01 -3.70356867e-03 -1.00730432e-02 6.37454992e+01] [ 3.71195193e-03 9.99992780e-01 8.13677678e-04 -5.36342713e+00] [ 1.00699569e-02 -8.51021468e-04 9.99948935e-01 -2.87434115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.341346184 meters 0.09568609421921286 Centerline is valid? [True, True] Translation: X:63.81, Y:-5.36, Z:-2.88 [[ 9.99894528e-01 -7.42797663e-03 -1.24802736e-02 6.38061748e+01] [ 7.44114042e-03 9.99971806e-01 1.00866285e-03 -5.36235431e+00] [ 1.24724294e-02 -1.10142394e-03 9.99921610e-01 -2.87632521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40134618399999 meters 0.09955940735848873 Centerline is valid? [True, True] Translation: X:63.86, Y:-5.38, Z:-2.88 [[ 9.99887782e-01 -1.04865658e-02 -1.06983840e-02 6.38646094e+01] [ 1.04964066e-02 9.99944538e-01 8.64106208e-04 -5.37538437e+00] [ 1.06887291e-02 -9.76303827e-04 9.99942397e-01 -2.87925596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46134618399999 meters 0.09870022622138162 Centerline is valid? [True, True] Translation: X:63.93, Y:-5.38, Z:-2.88 [[ 9.99853893e-01 -1.30305252e-02 -1.10633313e-02 6.39251382e+01] [ 1.30412080e-02 9.99914560e-01 8.94005717e-04 -5.38099275e+00] [ 1.10507367e-02 -1.03815430e-03 9.99938400e-01 -2.87964176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.521346184 meters 0.1025473566928593 Centerline is valid? [True, False] Translation: X:63.93, Y:-5.38, Z:-2.88 [[ 9.99838498e-01 -1.36211689e-02 -1.17235695e-02 6.39254878e+01] [ 1.36141842e-02 9.99907095e-01 -6.75385052e-04 -5.37661741e+00] [ 1.17316798e-02 5.15669142e-04 9.99931049e-01 -2.87788078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.581346184 meters 0.09353103994561618 Centerline is valid? [False, True] Translation: X:63.92, Y:-5.38, Z:-2.88 [[ 9.99986302e-01 -4.90723450e-03 1.82052116e-03 6.39238003e+01] [ 4.91568920e-03 9.99977018e-01 -4.66907252e-03 -5.37556657e+00] [-1.79756709e-03 4.67795768e-03 9.99987443e-01 -2.88278793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.641346184 meters 0.09348862591329334 Centerline is valid? [True, True] Translation: X:63.98, Y:-5.38, Z:-2.89 [[ 9.99980661e-01 -4.42415524e-03 4.37081628e-03 6.39842324e+01] [ 4.42579555e-03 9.99990139e-01 -3.65685914e-04 -5.38492575e+00] [-4.36915533e-03 3.85023181e-04 9.99990381e-01 -2.88663777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.701346184 meters 0.1005744392264775 Centerline is valid? [True, False] Translation: X:63.99, Y:-5.38, Z:-2.89 [[ 9.99984179e-01 -4.21575706e-03 3.72407112e-03 6.39859757e+01] [ 4.21824090e-03 9.99990886e-01 -6.59365739e-04 -5.38239764e+00] [-3.72125745e-03 6.75064336e-04 9.99992848e-01 -2.88713794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76134618399999 meters 0.0928318869004229 Centerline is valid? [False, True] Translation: X:63.99, Y:-5.38, Z:-2.89 [[ 9.99991975e-01 -8.52977410e-05 4.00525445e-03 6.39854138e+01] [ 7.09117748e-05 9.99993547e-01 3.59177801e-03 -5.38238173e+00] [-4.00553498e-03 -3.59146517e-03 9.99985528e-01 -2.88726720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82134618399999 meters 0.09165918844005792 Centerline is valid? [True, True] Translation: X:64.05, Y:-5.38, Z:-2.89 [[ 9.99983146e-01 1.32045387e-03 5.65367589e-03 6.40475402e+01] [-1.31775440e-03 9.99999016e-01 -4.81169938e-04 -5.38322673e+00] [-5.65430569e-03 4.73711672e-04 9.99983902e-01 -2.88624676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.881346184 meters 0.09130573445323947 Centerline is valid? [True, True] Translation: X:64.11, Y:-5.39, Z:-2.89 [[ 9.99979299e-01 1.90835329e-03 6.14489474e-03 6.41094470e+01] [-1.90517456e-03 9.99998048e-01 -5.23107325e-04 -5.38840019e+00] [-6.14588102e-03 5.11389399e-04 9.99980983e-01 -2.88878498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.941346184 meters 0.09168315867203213 Centerline is valid? [True, True] Translation: X:64.17, Y:-5.39, Z:-2.89 [[ 9.99983183e-01 3.38982993e-03 4.70566624e-03 6.41700404e+01] [-3.38797774e-03 9.99994180e-01 -4.01524589e-04 -5.38966813e+00] [-4.70699995e-03 3.85575144e-04 9.99988848e-01 -2.89045150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.001346184 meters 0.09368717304007164 Centerline is valid? [True, True] Translation: X:64.23, Y:-5.40, Z:-2.90 [[ 9.99991556e-01 3.12125975e-03 2.67311552e-03 6.42305151e+01] [-3.12066236e-03 9.99995105e-01 -2.27621457e-04 -5.39849272e+00] [-2.67381290e-03 2.19277644e-04 9.99996401e-01 -2.89573937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.061346184 meters 0.09486026134929719 Centerline is valid? [True, True] Translation: X:64.29, Y:-5.40, Z:-2.90 [[ 9.99992054e-01 2.33684705e-03 3.22984188e-03 6.42909789e+01] [-2.33596776e-03 9.99997234e-01 -2.75983099e-04 -5.40336125e+00] [-3.23047788e-03 2.68436099e-04 9.99994746e-01 -2.89520080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12134618399999 meters 0.09626674099360569 Centerline is valid? [True, True] Translation: X:64.35, Y:-5.41, Z:-2.90 [[ 9.99991629e-01 -2.02153614e-03 3.55738482e-03 6.43514713e+01] [ 2.02263033e-03 9.99997908e-01 -3.04012283e-04 -5.40801303e+00] [-3.55676281e-03 3.11205012e-04 9.99993626e-01 -2.89679260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18134618399999 meters 0.1043439458979802 Centerline is valid? [True, False] Translation: X:64.35, Y:-5.41, Z:-2.90 [[ 9.99990605e-01 -1.75829429e-03 3.96212668e-03 6.43514891e+01] [ 1.75652924e-03 9.99998357e-01 4.48918022e-04 -5.40954237e+00] [-3.96290950e-03 -4.41954213e-04 9.99992050e-01 -2.89824423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.241346184 meters 0.10248776713984116 Centerline is valid? [False, False] Translation: X:64.35, Y:-5.41, Z:-2.90 [[ 9.99989685e-01 -2.09747682e-03 4.02870392e-03 6.43515700e+01] [ 2.09822458e-03 9.99997782e-01 -1.81390694e-04 -5.40677454e+00] [-4.02831452e-03 1.89841948e-04 9.99991868e-01 -2.89854868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.301346184 meters 0.10340206439194842 Centerline is valid? [False, False] Translation: X:64.35, Y:-5.41, Z:-2.90 [[ 9.99989932e-01 -2.15363191e-03 3.93665147e-03 6.43519980e+01] [ 2.15510061e-03 9.99997610e-01 -3.68880139e-04 -5.40528400e+00] [-3.93584762e-03 3.77360305e-04 9.99992183e-01 -2.89888954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.361346184 meters 0.10582089542470258 Centerline is valid? [False, False] Translation: X:64.35, Y:-5.40, Z:-2.90 [[ 9.99991015e-01 -2.27045022e-03 3.57992096e-03 6.43529455e+01] [ 2.27379083e-03 9.99996983e-01 -9.29359835e-04 -5.40228189e+00] [-3.57780010e-03 9.37491476e-04 9.99993160e-01 -2.89911552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.421346184 meters 0.10913152494939861 Centerline is valid? [False, False] Translation: X:64.35, Y:-5.40, Z:-2.90 [[ 9.99991639e-01 -2.25291809e-03 3.41267206e-03 6.43538380e+01] [ 2.25673888e-03 9.99996831e-01 -1.11615064e-03 -5.40007162e+00] [-3.41014665e-03 1.12384282e-03 9.99993554e-01 -2.89994374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.481346184 meters 0.10903355808612276 Centerline is valid? [False, False] Translation: X:64.35, Y:-5.40, Z:-2.90 [[ 9.99992941e-01 -1.79452179e-03 3.30128818e-03 6.43548014e+01] [ 1.79639940e-03 9.99998226e-01 -5.65872693e-04 -5.40101738e+00] [-3.30026686e-03 5.71799130e-04 9.99994391e-01 -2.90102659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54134618399999 meters 0.09907220612648009 Centerline is valid? [False, True] Translation: X:64.35, Y:-5.40, Z:-2.90 [[ 9.99992350e-01 1.93533234e-03 3.39916923e-03 6.43546111e+01] [-1.94499895e-03 9.99994068e-01 2.84281625e-03 -5.39726409e+00] [-3.39364727e-03 -2.84940588e-03 9.99990182e-01 -2.90108482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.601346184 meters 0.09984628332676813 Centerline is valid? [True, True] Translation: X:64.42, Y:-5.40, Z:-2.90 [[ 9.99993292e-01 2.26559814e-03 2.87817813e-03 6.44154030e+01] [-2.26485353e-03 9.99997401e-01 -2.61942370e-04 -5.40370537e+00] [-2.87876411e-03 2.55421961e-04 9.99995824e-01 -2.90431636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.661346184 meters 0.09468748819770031 Centerline is valid? [True, True] Translation: X:64.48, Y:-5.40, Z:-2.90 [[ 9.99988774e-01 1.67528891e-03 4.43225871e-03 6.44764660e+01] [-1.67351239e-03 9.99998518e-01 -4.04494353e-04 -5.40052361e+00] [-4.43292978e-03 3.97072373e-04 9.99990096e-01 -2.90256646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.721346184 meters 0.09417902283971068 Centerline is valid? [True, True] Translation: X:64.54, Y:-5.40, Z:-2.90 [[ 9.99980758e-01 1.10742581e-03 6.10380054e-03 6.45375810e+01] [-1.10404951e-03 9.99999236e-01 -5.56488116e-04 -5.40237151e+00] [-6.10441215e-03 5.49738511e-04 9.99981217e-01 -2.90036751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.781346184 meters 0.09658887952680567 Centerline is valid? [True, True] Translation: X:64.60, Y:-5.41, Z:-2.90 [[ 9.99978276e-01 1.29023787e-03 6.46400998e-03 6.45987577e+01] [-1.28647570e-03 9.99999001e-01 -5.86143156e-04 -5.41416720e+00] [-6.46475978e-03 5.77814631e-04 9.99978936e-01 -2.90243549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.841346184 meters 0.1026286895969407 Centerline is valid? [True, False] Translation: X:64.60, Y:-5.42, Z:-2.90 [[ 9.99976707e-01 1.73204286e-03 6.60200218e-03 6.45995061e+01] [-1.73396358e-03 9.99998456e-01 2.85217608e-04 -5.41570915e+00] [-6.60149798e-03 -2.96658596e-04 9.99978166e-01 -2.90412876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90134618399999 meters 0.09793827482077283 Centerline is valid? [False, True] Translation: X:64.60, Y:-5.42, Z:-2.91 [[ 9.99974801e-01 2.03088066e-03 6.80241124e-03 6.45996395e+01] [-2.03755497e-03 9.99997449e-01 9.74382024e-04 -5.41791068e+00] [-6.80041503e-03 -9.88217758e-04 9.99976389e-01 -2.90501284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96134618399999 meters 0.0984796448395636 Centerline is valid? [True, True] Translation: X:64.66, Y:-5.43, Z:-2.91 [[ 9.99973527e-01 2.07382645e-03 6.97463509e-03 6.46613856e+01] [-2.06921157e-03 9.99997636e-01 -6.68817304e-04 -5.42628330e+00] [-6.97600561e-03 6.54367603e-04 9.99975453e-01 -2.90708004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.021346184 meters 0.09867728840327908 Centerline is valid? [True, True] Translation: X:64.72, Y:-5.43, Z:-2.90 [[ 9.99955922e-01 3.62544767e-03 8.66079133e-03 6.47226841e+01] [-3.61831948e-03 9.99993102e-01 -8.38568827e-04 -5.42819149e+00] [-8.66377178e-03 8.07194355e-04 9.99962143e-01 -2.90441029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.081346184 meters 0.1033591468810029 Centerline is valid? [True, False] Translation: X:64.72, Y:-5.43, Z:-2.90 [[ 9.99968784e-01 1.18363013e-04 7.90042866e-03 6.47244078e+01] [-8.22425816e-05 9.99989544e-01 -4.57212672e-03 -5.42938562e+00] [-7.90088723e-03 4.57133425e-03 9.99958339e-01 -2.90442369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.141346184 meters 0.10095924848619764 Centerline is valid? [False, False] Translation: X:64.72, Y:-5.44, Z:-2.91 [[ 9.99964185e-01 1.09859778e-03 8.39173890e-03 6.47245625e+01] [-1.07847758e-03 9.99996534e-01 -2.40176914e-03 -5.43626648e+00] [-8.39434839e-03 2.39263282e-03 9.99961904e-01 -2.90648675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.201346184 meters 0.09912481086037556 Centerline is valid? [False, True] Translation: X:64.72, Y:-5.43, Z:-2.91 [[ 9.99953266e-01 5.05534879e-03 8.24070578e-03 6.47246934e+01] [-5.06632701e-03 9.99986306e-01 1.31186280e-03 -5.43386265e+00] [-8.23396101e-03 -1.35355160e-03 9.99965184e-01 -2.90610091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26134618399999 meters 0.0939336358890064 Centerline is valid? [True, True] Translation: X:64.79, Y:-5.44, Z:-2.91 [[ 9.99917764e-01 9.99147560e-03 8.03965309e-03 6.47856039e+01] [-9.98560060e-03 9.99949846e-01 -7.70563140e-04 -5.43764372e+00] [-8.04694893e-03 6.90219007e-04 9.99967385e-01 -2.91135676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32134618399999 meters 0.08917561151226926 Centerline is valid? [True, True] Translation: X:64.85, Y:-5.43, Z:-2.91 [[ 9.99829294e-01 1.62859265e-02 8.72651584e-03 6.48468086e+01] [-1.62792387e-02 9.99867134e-01 -8.36862234e-04 -5.43304095e+00] [-8.73898546e-03 6.94658343e-04 9.99961573e-01 -2.90998490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.381346184 meters 0.08664754664121178 Centerline is valid? [True, True] Translation: X:64.91, Y:-5.43, Z:-2.91 [[ 9.99710228e-01 2.32341282e-02 6.29565218e-03 6.49074786e+01] [-2.32307839e-02 9.99729947e-01 -6.03826347e-04 -5.42996063e+00] [-6.30798140e-03 4.57398440e-04 9.99980000e-01 -2.91353513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.441346184 meters 0.08571859158887417 Centerline is valid? [True, True] Translation: X:64.97, Y:-5.44, Z:-2.92 [[ 9.99568155e-01 2.91188438e-02 3.94923888e-03 6.49653349e+01] [-2.91175704e-02 9.99575922e-01 -3.79566818e-04 -5.43822745e+00] [-3.95861664e-03 2.64410663e-04 9.99992130e-01 -2.92227262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.501346184 meters 0.08379997125389486 Centerline is valid? [True, True] Translation: X:65.02, Y:-5.44, Z:-2.92 [[ 9.99568600e-01 2.87849075e-02 5.83455574e-03 6.50248940e+01] [-2.87821242e-02 9.99585552e-01 -5.60471464e-04 -5.43761248e+00] [-5.84827074e-03 3.92298769e-04 9.99982822e-01 -2.91831341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.561346184 meters 0.08359684953270884 Centerline is valid? [True, True] Translation: X:65.08, Y:-5.44, Z:-2.92 [[ 9.99549657e-01 2.90401377e-02 7.55995565e-03 6.50836339e+01] [-2.90354799e-02 9.99578119e-01 -7.25163663e-04 -5.44260776e+00] [-7.57782510e-03 5.05330151e-04 9.99971160e-01 -2.91759882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62134618399999 meters 0.08383036792190457 Centerline is valid? [True, True] Translation: X:65.14, Y:-5.45, Z:-2.92 [[ 9.99525601e-01 2.94765298e-02 8.92786118e-03 6.51425340e+01] [-2.94700521e-02 9.99565297e-01 -8.56271370e-04 -5.44883555e+00] [-8.94922012e-03 5.92760622e-04 9.99959779e-01 -2.91928561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68134618399999 meters 0.085051151499285 Centerline is valid? [True, True] Translation: X:65.20, Y:-5.45, Z:-2.92 [[ 9.99554078e-01 2.85815116e-02 8.64538688e-03 6.52007592e+01] [-2.85754206e-02 9.99591297e-01 -8.27271217e-04 -5.45463906e+00] [-8.66549815e-03 5.79856752e-04 9.99962286e-01 -2.92131491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.741346184 meters 0.08722549859375349 Centerline is valid? [True, True] Translation: X:65.26, Y:-5.46, Z:-2.93 [[ 9.99649265e-01 2.56872714e-02 6.44285143e-03 6.52605399e+01] [-2.56838350e-02 9.99669926e-01 -6.15548854e-04 -5.46408312e+00] [-6.45653659e-03 4.49855827e-04 9.99979055e-01 -2.92623343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.801346184 meters 0.08809583887850166 Centerline is valid? [True, True] Translation: X:65.32, Y:-5.47, Z:-2.93 [[ 9.99710333e-01 2.25012504e-02 8.54068663e-03 6.53197195e+01] [-2.24950984e-02 9.99746620e-01 -8.15706494e-04 -5.47309736e+00] [-8.55687701e-03 6.23346624e-04 9.99963195e-01 -2.92627780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.861346184 meters 0.08846444565988226 Centerline is valid? [True, True] Translation: X:65.38, Y:-5.48, Z:-2.92 [[ 9.99788512e-01 1.88978108e-02 8.11199706e-03 6.53798603e+01] [-1.88921459e-02 9.99821228e-01 -7.74402020e-04 -5.47571665e+00] [-8.12518136e-03 6.20985211e-04 9.99966797e-01 -2.92380588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.921346184 meters 0.09576667645435721 Centerline is valid? [True, True] Translation: X:65.44, Y:-5.50, Z:-2.93 [[ 9.99833727e-01 1.74795990e-02 5.19447256e-03 6.54361706e+01] [-1.74772513e-02 9.99847138e-01 -4.97008723e-04 -5.49583159e+00] [-5.20236604e-03 4.06140981e-04 9.99986385e-01 -2.93231407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.981346184 meters 0.09631652832550312 Centerline is valid? [True, True] Translation: X:65.49, Y:-5.50, Z:-2.93 [[ 9.99832783e-01 1.75796168e-02 5.03617257e-03 6.54946980e+01] [-1.75774123e-02 9.99845389e-01 -4.81677342e-04 -5.49866328e+00] [-5.04386162e-03 3.93073915e-04 9.99987202e-01 -2.93181080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04134618399999 meters 0.09163056568314769 Centerline is valid? [True, True] Translation: X:65.56, Y:-5.49, Z:-2.93 [[ 9.99762834e-01 2.08023301e-02 6.44508528e-03 6.55558108e+01] [-2.07987989e-02 9.99783493e-01 -6.14446536e-04 -5.49305568e+00] [-6.45647179e-03 4.80250778e-04 9.99979041e-01 -2.93268782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.101346184 meters 0.0889690132638472 Centerline is valid? [True, True] Translation: X:65.61, Y:-5.49, Z:-2.93 [[ 9.99732993e-01 2.15725477e-02 8.28053233e-03 6.56146820e+01] [-2.15667366e-02 9.99767098e-01 -7.90443880e-04 -5.49492410e+00] [-8.29565567e-03 6.11648767e-04 9.99965403e-01 -2.93290168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.161346184 meters 0.09965778598075219 Centerline is valid? [True, True] Translation: X:65.67, Y:-5.51, Z:-2.94 [[ 9.99783700e-01 1.97587992e-02 6.49175236e-03 6.56719765e+01] [-1.97551974e-02 9.99804656e-01 -6.18487762e-04 -5.51378641e+00] [-6.50270481e-03 4.90108134e-04 9.99978737e-01 -2.93714723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.221346184 meters 0.10307385517137198 Centerline is valid? [True, False] Translation: X:65.68, Y:-5.52, Z:-2.93 [[ 9.99902970e-01 1.37310911e-02 -2.34695535e-03 6.56837992e+01] [-1.37208988e-02 9.99896596e-01 4.30509895e-03 -5.51554463e+00] [ 2.40582637e-03 -4.27247889e-03 9.99987979e-01 -2.93441189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.281346184 meters 0.09295158557381589 Centerline is valid? [False, True] Translation: X:65.68, Y:-5.52, Z:-2.93 [[ 9.99951986e-01 9.44145333e-03 -2.62396500e-03 6.56843096e+01] [-9.44178309e-03 9.99955419e-01 -1.13311685e-04 -5.51518168e+00] [ 2.62277820e-03 1.38081152e-04 9.99996551e-01 -2.93442162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.341346184 meters 0.09501389190997325 Centerline is valid? [True, True] Translation: X:65.74, Y:-5.52, Z:-2.94 [[ 9.99952760e-01 8.19879052e-03 -5.22085798e-03 6.57435072e+01] [-8.19643776e-03 9.99966297e-01 4.71882646e-04 -5.51671814e+00] [ 5.22455089e-03 -4.29067916e-04 9.99986260e-01 -2.93596124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40134618399999 meters 0.09797573662982867 Centerline is valid? [True, True] Translation: X:65.80, Y:-5.53, Z:-2.94 [[ 9.99958907e-01 8.64568180e-03 -2.72684973e-03 6.58004210e+01] [-8.64504477e-03 9.99962601e-01 2.45315866e-04 -5.53135481e+00] [ 2.72886867e-03 -2.21732048e-04 9.99996252e-01 -2.94010814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46134618399999 meters 0.09496082021131934 Centerline is valid? [True, True] Translation: X:65.86, Y:-5.53, Z:-2.94 [[ 9.99974845e-01 6.88252167e-03 -1.71470951e-03 6.58599165e+01] [-6.88226731e-03 9.99976305e-01 1.54192686e-04 -5.52997841e+00] [ 1.71573011e-03 -1.42387718e-04 9.99998518e-01 -2.93750601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.521346184 meters 0.09822001792628857 Centerline is valid? [True, True] Translation: X:65.92, Y:-5.54, Z:-2.93 [[ 9.99986755e-01 4.73855905e-03 2.00881207e-03 6.59178983e+01] [-4.73820231e-03 9.99988758e-01 -1.82308181e-04 -5.53995946e+00] [-2.00965337e-03 1.72787609e-04 9.99997966e-01 -2.93286676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.581346184 meters 0.10560507973220647 Centerline is valid? [True, False] Translation: X:65.92, Y:-5.54, Z:-2.93 [[ 9.99997777e-01 1.45512050e-03 1.52623704e-03 6.59201930e+01] [-1.45009580e-03 9.99993543e-01 -3.28817123e-03 -5.54206535e+00] [-1.53101187e-03 3.28595073e-03 9.99993429e-01 -2.93460491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.641346184 meters 0.10368699592897475 Centerline is valid? [False, False] Translation: X:65.92, Y:-5.54, Z:-2.94 [[ 9.99996128e-01 1.77245149e-03 2.14546412e-03 6.59201681e+01] [-1.76854630e-03 9.99996779e-01 -1.82073665e-03 -5.54499949e+00] [-2.14868438e-03 1.81693524e-03 9.99996041e-01 -2.93716788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.701346184 meters 0.10243975833247286 Centerline is valid? [False, False] Translation: X:65.92, Y:-5.55, Z:-2.94 [[ 9.99995045e-01 2.25765411e-03 2.19383096e-03 6.59205465e+01] [-2.25560720e-03 9.99997019e-01 -9.35055745e-04 -5.54748683e+00] [-2.19593545e-03 9.30102690e-04 9.99997156e-01 -2.93793189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76134618399999 meters 0.09759018790686422 Centerline is valid? [False, True] Translation: X:65.92, Y:-5.55, Z:-2.94 [[ 9.99996387e-01 1.93500853e-03 1.86585975e-03 6.59200449e+01] [-1.93165026e-03 9.99996514e-01 -1.79997669e-03 -5.54591546e+00] [-1.86933622e-03 1.79636600e-03 9.99996639e-01 -2.93594129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82134618399999 meters 0.09708713445245734 Centerline is valid? [True, True] Translation: X:65.98, Y:-5.55, Z:-2.94 [[ 9.99994084e-01 3.34837142e-03 7.88254601e-04 6.59805362e+01] [-3.34831597e-03 9.99994392e-01 -7.16608052e-05 -5.55340141e+00] [-7.88490127e-04 6.90210557e-05 9.99999687e-01 -2.94154859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.881346184 meters 0.09664341939664535 Centerline is valid? [True, True] Translation: X:66.04, Y:-5.56, Z:-2.94 [[ 9.99984914e-01 3.63647342e-03 -4.11679566e-03 6.60398681e+01] [-3.63495989e-03 9.99993323e-01 3.75069070e-04 -5.55671423e+00] [ 4.11813210e-03 -3.60099025e-04 9.99991456e-01 -2.94489624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.941346184 meters 0.0978249181256362 Centerline is valid? [True, True] Translation: X:66.10, Y:-5.57, Z:-2.95 [[ 9.99994748e-01 3.19118604e-03 5.66595416e-04 6.60975249e+01] [-3.19115661e-03 9.99994907e-01 -5.28438511e-05 -5.56886341e+00] [-5.66761165e-04 5.10354788e-05 9.99999838e-01 -2.94524189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.001346184 meters 0.09768962660393876 Centerline is valid? [True, True] Translation: X:66.16, Y:-5.58, Z:-2.95 [[ 9.99995801e-01 2.68245175e-03 1.09625359e-03 6.61562219e+01] [-2.68234297e-03 9.99996397e-01 -1.00693659e-04 -5.57707619e+00] [-1.09651974e-03 9.77527081e-05 9.99999394e-01 -2.94573771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.061346184 meters 0.09520705272876515 Centerline is valid? [True, True] Translation: X:66.22, Y:-5.57, Z:-2.94 [[ 9.99981384e-01 6.09955327e-03 1.66896134e-04 6.62167300e+01] [-6.09955081e-03 9.99981397e-01 -1.52632781e-05 -5.57450374e+00] [-1.66986129e-04 1.42450025e-05 9.99999986e-01 -2.94476992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12134618399999 meters 0.09296202266669644 Centerline is valid? [True, True] Translation: X:66.28, Y:-5.58, Z:-2.95 [[ 9.99942465e-01 1.06971880e-02 7.97507347e-04 6.62761936e+01] [-1.06971331e-02 9.99942781e-01 -7.31537902e-05 -5.57758334e+00] [-7.98244255e-04 6.46185391e-05 9.99999679e-01 -2.94812746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18134618399999 meters 0.091967452368975 Centerline is valid? [True, True] Translation: X:66.34, Y:-5.58, Z:-2.95 [[ 9.99882661e-01 1.53187195e-02 3.35811426e-05 6.63355404e+01] [-1.53187194e-02 9.99882662e-01 -3.58047221e-06 -5.58146724e+00] [-3.36320505e-05 3.06563198e-06 9.99999999e-01 -2.95015398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.241346184 meters 0.09555278759599907 Centerline is valid? [True, True] Translation: X:66.39, Y:-5.59, Z:-2.95 [[ 9.99924091e-01 1.21882471e-02 1.80518524e-03 6.63938556e+01] [-1.21879691e-02 9.99925710e-01 -1.64918182e-04 -5.59389265e+00] [-1.80706120e-03 1.42904122e-04 9.99998357e-01 -2.94977109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.301346184 meters 0.09899502464662274 Centerline is valid? [True, True] Translation: X:66.45, Y:-5.61, Z:-2.95 [[ 9.99968175e-01 7.96694480e-03 4.20423371e-04 6.64530417e+01] [-7.96692935e-03 9.99968263e-01 -3.84066560e-05 -5.60845989e+00] [-4.20716011e-04 3.50559504e-05 9.99999911e-01 -2.95305529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.361346184 meters 0.10077434816772059 Centerline is valid? [True, False] Translation: X:66.45, Y:-5.61, Z:-2.95 [[ 9.99993600e-01 3.53906955e-03 5.23668648e-04 6.64528279e+01] [-3.53677127e-03 9.99984386e-01 -4.32649159e-03 -5.60841203e+00] [-5.38972226e-04 4.32461180e-03 9.99990504e-01 -2.95319807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.421346184 meters 0.10286213328348472 Centerline is valid? [False, False] Translation: X:66.45, Y:-5.61, Z:-2.95 [[ 9.99991611e-01 4.04970727e-03 6.14833242e-04 6.64536008e+01] [-4.04760784e-03 9.99986102e-01 -3.37831571e-03 -5.61010875e+00] [-6.28505887e-04 3.37579877e-03 9.99994104e-01 -2.95477440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48134618399999 meters 0.09755495729472051 Centerline is valid? [False, True] Translation: X:66.45, Y:-5.61, Z:-2.95 [[ 9.99991518e-01 4.04206857e-03 7.91303928e-04 6.64530279e+01] [-4.03952525e-03 9.99986754e-01 -3.18972788e-03 -5.61143381e+00] [-8.04186545e-04 3.18650433e-03 9.99994600e-01 -2.95453357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54134618399999 meters 0.09710165905493275 Centerline is valid? [True, True] Translation: X:66.51, Y:-5.61, Z:-2.95 [[ 9.99993970e-01 3.07379665e-03 1.61636824e-03 6.65129854e+01] [-3.07355640e-03 9.99995265e-01 -1.51096579e-04 -5.61377199e+00] [-1.61682503e-03 1.46127669e-04 9.99998682e-01 -2.95134074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.601346184 meters 0.09870867624279926 Centerline is valid? [True, True] Translation: X:66.57, Y:-5.62, Z:-2.95 [[ 9.99994499e-01 2.83314300e-03 1.72465019e-03 6.65722230e+01] [-2.83286932e-03 9.99995974e-01 -1.61111920e-04 -5.62235286e+00] [-1.72509970e-03 1.56225326e-04 9.99998500e-01 -2.95361388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.661346184 meters 0.10008399627610297 Centerline is valid? [True, False] Translation: X:66.57, Y:-5.63, Z:-2.96 [[ 9.99999075e-01 -1.06926732e-05 1.35983072e-03 6.65748640e+01] [ 1.40422629e-05 9.99996966e-01 -2.46325450e-03 -5.62668176e+00] [-1.35980025e-03 2.46327131e-03 9.99996042e-01 -2.95637328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.721346184 meters 0.10387187497543375 Centerline is valid? [False, False] Translation: X:66.58, Y:-5.63, Z:-2.96 [[ 9.99999337e-01 1.58538740e-04 1.14031162e-03 6.65759612e+01] [-1.55909500e-04 9.99997330e-01 -2.30544052e-03 -5.62569373e+00] [-1.14067408e-03 2.30526121e-03 9.99996692e-01 -2.95739924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.781346184 meters 0.10286944903158186 Centerline is valid? [False, False] Translation: X:66.58, Y:-5.62, Z:-2.96 [[ 9.99999912e-01 2.37254154e-04 3.46909298e-04 6.65775393e+01] [-2.36235276e-04 9.99995668e-01 -2.93411198e-03 -5.62231651e+00] [-3.47603925e-04 2.93402977e-03 9.99995635e-01 -2.95703096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.841346184 meters 0.10242180862404163 Centerline is valid? [False, False] Translation: X:66.58, Y:-5.62, Z:-2.96 [[ 9.99999935e-01 3.52334815e-04 7.69106770e-05 6.65778656e+01] [-3.52095876e-04 9.99995180e-01 -3.08493006e-03 -5.62189444e+00] [-7.79972345e-05 3.08490278e-03 9.99995239e-01 -2.95652525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90134618399999 meters 0.10492245673962795 Centerline is valid? [False, False] Translation: X:66.58, Y:-5.62, Z:-2.96 [[ 9.99999602e-01 8.88282475e-04 8.84257026e-05 6.65789524e+01] [-8.88075934e-04 9.99996940e-01 -2.30901787e-03 -5.62293146e+00] [-9.04764921e-05 2.30893842e-03 9.99997330e-01 -2.95822292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96134618399999 meters 0.09577203656460638 Centerline is valid? [False, True] Translation: X:66.58, Y:-5.62, Z:-2.96 [[ 9.99998746e-01 1.58076621e-03 -9.59623274e-05 6.65807641e+01] [-1.58089444e-03 9.99997837e-01 -1.35122689e-03 -5.62386857e+00] [ 9.38261461e-05 1.35137690e-03 9.99999082e-01 -2.96047908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.021346184 meters 0.10989395207203259 Centerline is valid? [True, False] Translation: X:66.58, Y:-5.62, Z:-2.96 [[ 9.99999132e-01 1.30817847e-03 -1.55862731e-04 6.65804180e+01] [-1.30844255e-03 9.99997688e-01 -1.70642294e-03 -5.62289635e+00] [ 1.53630065e-04 1.70662540e-03 9.99998532e-01 -2.95975609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.081346184 meters 0.0973967418714283 Centerline is valid? [False, True] Translation: X:66.58, Y:-5.62, Z:-2.96 [[ 9.99999170e-01 1.28607961e-03 8.10305198e-05 6.65796642e+01] [-1.28596635e-03 9.99998217e-01 -1.38265964e-03 -5.62454400e+00] [-8.28085857e-05 1.38255429e-03 9.99999041e-01 -2.95936638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.141346184 meters 0.10331410752151722 Centerline is valid? [True, False] Translation: X:66.58, Y:-5.62, Z:-2.96 [[ 9.99996731e-01 -2.48726829e-03 -5.92584782e-04 6.65817552e+01] [ 2.48398865e-03 9.99981941e-01 -5.47236288e-03 -5.62352639e+00] [ 6.06185316e-04 5.47087302e-03 9.99984851e-01 -2.96022757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.201346184 meters 0.10097147552441456 Centerline is valid? [False, False] Translation: X:66.58, Y:-5.63, Z:-2.96 [[ 9.99998757e-01 -1.48985874e-03 -5.16638756e-04 6.65830877e+01] [ 1.48791727e-03 9.99991906e-01 -3.73812546e-03 -5.62730211e+00] [ 5.22203853e-04 3.73735210e-03 9.99992880e-01 -2.96266720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26134618399999 meters 0.0979640382491677 Centerline is valid? [False, True] Translation: X:66.58, Y:-5.63, Z:-2.96 [[ 9.99998519e-01 -1.28103773e-03 -1.14898588e-03 6.65842127e+01] [ 1.27658451e-03 9.99991704e-01 -3.86817472e-03 -5.62653415e+00] [ 1.15393163e-03 3.86670221e-03 9.99991858e-01 -2.96221495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32134618399999 meters 0.0940418193025635 Centerline is valid? [True, True] Translation: X:66.65, Y:-5.62, Z:-2.96 [[ 9.99996715e-01 2.52744367e-03 -4.25971223e-04 6.66453754e+01] [-2.52742800e-03 9.99996805e-01 3.73183595e-05 -5.62158274e+00] [ 4.26064183e-04 -3.62416253e-05 9.99999909e-01 -2.96048845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.381346184 meters 0.09184466778927641 Centerline is valid? [True, True] Translation: X:66.70, Y:-5.63, Z:-2.97 [[ 9.99989168e-01 4.47538836e-03 1.27850586e-03 6.67042181e+01] [-4.47524791e-03 9.99989980e-01 -1.12697565e-04 -5.63152967e+00] [-1.27899742e-03 1.06974714e-04 9.99999176e-01 -2.96541966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.441346184 meters 0.09314525542939558 Centerline is valid? [True, True] Translation: X:66.76, Y:-5.64, Z:-2.97 [[ 9.99987196e-01 4.83160837e-03 -1.50454263e-03 6.67627519e+01] [-4.83141645e-03 9.99988320e-01 1.31170504e-04 -5.63734989e+00] [ 1.50515882e-03 -1.23899752e-04 9.99998860e-01 -2.96785829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.501346184 meters 0.09586528862021197 Centerline is valid? [True, True] Translation: X:66.82, Y:-5.65, Z:-2.97 [[ 9.99991567e-01 3.12556680e-03 -2.66386993e-03 6.68207630e+01] [-3.12495786e-03 9.99995090e-01 2.32725342e-04 -5.64951976e+00] [ 2.66458425e-03 -2.24398898e-04 9.99996425e-01 -2.97103539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.561346184 meters 0.09467601553006495 Centerline is valid? [True, True] Translation: X:66.88, Y:-5.66, Z:-2.97 [[ 9.99995695e-01 2.21205945e-03 -1.92782728e-03 6.68787887e+01] [-2.21174061e-03 9.99997540e-01 1.67502009e-04 -5.65789616e+00] [ 1.92819306e-03 -1.63237434e-04 9.99998128e-01 -2.97143718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62134618399999 meters 0.09415652511198157 Centerline is valid? [True, True] Translation: X:66.94, Y:-5.66, Z:-2.97 [[ 9.99993900e-01 3.34350724e-03 1.01079353e-03 6.69386229e+01] [-3.34341894e-03 9.99994407e-01 -8.90330235e-05 -5.65925653e+00] [-1.01108556e-03 8.56529742e-05 9.99999485e-01 -2.96642342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68134618399999 meters 0.09521110226358397 Centerline is valid? [True, True] Translation: X:67.00, Y:-5.67, Z:-2.98 [[ 9.99977485e-01 5.37634591e-03 -4.01540920e-03 6.69973008e+01] [-5.37498133e-03 9.99985493e-01 3.50549811e-04 -5.67188009e+00] [ 4.01723562e-03 -3.28959169e-04 9.99991877e-01 -2.97644657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.741346184 meters 0.09615595030286216 Centerline is valid? [True, True] Translation: X:67.06, Y:-5.68, Z:-2.98 [[ 9.99974258e-01 3.60834750e-03 -6.20182214e-03 6.70574719e+01] [-3.60505601e-03 9.99993355e-01 5.41827029e-04 -5.67614761e+00] [ 6.20373603e-03 -5.19455165e-04 9.99980622e-01 -2.97652810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.801346184 meters 0.10179549445408329 Centerline is valid? [True, False] Translation: X:67.06, Y:-5.68, Z:-2.98 [[ 9.99976757e-01 3.51284910e-03 -5.84339320e-03 6.70561038e+01] [-3.50731241e-03 9.99993391e-01 9.57490499e-04 -5.67879919e+00] [ 5.84671810e-03 -9.36973639e-04 9.99982469e-01 -2.97555751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.861346184 meters 0.10140598881180696 Centerline is valid? [False, False] Translation: X:67.06, Y:-5.68, Z:-2.98 [[ 9.99982456e-01 2.12619408e-04 -5.91963129e-03 6.70568319e+01] [-2.22422936e-04 9.99998605e-01 -1.65549545e-03 -5.68415802e+00] [ 5.91927104e-03 1.65678307e-03 9.99981108e-01 -2.97645124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.921346184 meters 0.09512630663864763 Centerline is valid? [False, True] Translation: X:67.05, Y:-5.68, Z:-2.97 [[ 9.99979749e-01 3.53135017e-03 -5.29440031e-03 6.70542313e+01] [-3.52235454e-03 9.99992339e-01 1.70744690e-03 -5.68334635e+00] [ 5.30038934e-03 -1.68876356e-03 9.99984527e-01 -2.97455336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98134618399999 meters 0.09313303000598837 Centerline is valid? [True, True] Translation: X:67.11, Y:-5.68, Z:-2.98 [[ 9.99950672e-01 6.77886600e-03 -7.25957166e-03 6.71148697e+01] [-6.77418270e-03 9.99976831e-01 6.69516221e-04 -5.68464379e+00] [ 7.26394203e-03 -6.20305531e-04 9.99973425e-01 -2.97509765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04134618399999 meters 0.09031874942730571 Centerline is valid? [True, True] Translation: X:67.18, Y:-5.69, Z:-2.98 [[ 9.99896499e-01 1.25123226e-02 -7.10156096e-03 6.71753446e+01] [-1.25079847e-02 9.99921558e-01 6.54926813e-04 -5.68974915e+00] [ 7.10919855e-03 -5.66032812e-04 9.99974569e-01 -2.97746873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.101346184 meters 0.09000469371736472 Centerline is valid? [True, True] Translation: X:67.24, Y:-5.69, Z:-2.98 [[ 9.99863421e-01 1.49438112e-02 -7.05850044e-03 6.72356466e+01] [-1.49395877e-02 9.99888186e-01 6.50697107e-04 -5.69219624e+00] [ 7.06743510e-03 -5.45157149e-04 9.99974877e-01 -2.97693378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.161346184 meters 0.08757887408732366 Centerline is valid? [True, True] Translation: X:67.30, Y:-5.70, Z:-2.99 [[ 9.99761681e-01 1.92821700e-02 -1.02361509e-02 6.72953308e+01] [-1.92735115e-02 9.99813803e-01 9.43863952e-04 -5.69984815e+00] [ 1.02524447e-02 -7.46352439e-04 9.99947164e-01 -2.98504809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.221346184 meters 0.09221833132184858 Centerline is valid? [True, True] Translation: X:67.35, Y:-5.71, Z:-2.99 [[ 9.99708147e-01 2.12732063e-02 -1.14486633e-02 6.73537438e+01] [-2.12625135e-02 9.99773371e-01 1.05490213e-03 -5.71039948e+00] [ 1.14685099e-02 -8.11166896e-04 9.99933905e-01 -2.98762490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.281346184 meters 0.08443707381077227 Centerline is valid? [True, True] Translation: X:67.41, Y:-5.70, Z:-2.98 [[ 9.99674767e-01 2.29628319e-02 -1.10936356e-02 6.74149233e+01] [-2.29529003e-02 9.99736025e-01 1.02176065e-03 -5.69505201e+00] [ 1.11141697e-02 -7.66797223e-04 9.99937942e-01 -2.97968457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.341346184 meters 0.08674192296855837 Centerline is valid? [True, True] Translation: X:67.47, Y:-5.71, Z:-2.98 [[ 9.99755980e-01 2.15311093e-02 -4.93890154e-03 6.74714809e+01] [-2.15291300e-02 9.99768119e-01 4.53569471e-04 -5.71399352e+00] [ 4.94752216e-03 -3.47128538e-04 9.99987701e-01 -2.98378796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40134618399999 meters 0.08712406318323697 Centerline is valid? [True, True] Translation: X:67.53, Y:-5.72, Z:-2.98 [[ 9.99814689e-01 1.86005639e-02 -4.96060308e-03 6.75315895e+01] [-1.85985274e-02 9.99826928e-01 4.56340829e-04 -5.71793188e+00] [ 4.96823274e-03 -3.63996351e-04 9.99987592e-01 -2.98301605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46134618399999 meters 0.09028856306856434 Centerline is valid? [True, True] Translation: X:67.59, Y:-5.73, Z:-2.99 [[ 9.99881034e-01 1.14762288e-02 -1.03060296e-02 6.75908285e+01] [-1.14670595e-02 9.99933801e-01 9.48359813e-04 -5.72710612e+00] [ 1.03162310e-02 -8.30067136e-04 9.99946442e-01 -2.98696369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.521346184 meters 0.09641016894657085 Centerline is valid? [True, True] Translation: X:67.65, Y:-5.75, Z:-2.99 [[ 9.99902353e-01 9.16949377e-03 -1.05453936e-02 6.76480721e+01] [-9.15977351e-03 9.99957578e-01 9.69684378e-04 -5.74614445e+00] [ 1.05538378e-02 -8.72996274e-04 9.99943926e-01 -2.99177905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.581346184 meters 0.10009404033076048 Centerline is valid? [True, False] Translation: X:67.65, Y:-5.75, Z:-2.99 [[ 9.99941361e-01 4.06339394e-03 -1.00381167e-02 6.76455402e+01] [-4.10279739e-03 9.99983948e-01 -3.90791422e-03 -5.74682790e+00] [ 1.00220761e-02 3.94886942e-03 9.99941981e-01 -2.98981736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.641346184 meters 0.1036244821578248 Centerline is valid? [False, False] Translation: X:67.64, Y:-5.75, Z:-3.00 [[ 9.99975320e-01 3.55966915e-03 6.05711279e-03 6.76437169e+01] [-3.57086777e-03 9.99991933e-01 1.83902863e-03 -5.74706646e+00] [-6.05051760e-03 -1.86061240e-03 9.99979964e-01 -2.99954964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.701346184 meters 0.10326576614615669 Centerline is valid? [False, False] Translation: X:67.64, Y:-5.75, Z:-3.00 [[ 9.99976656e-01 3.67121466e-03 5.76272115e-03 6.76445946e+01] [-3.68041017e-03 9.99991970e-01 1.58589661e-03 -5.74585192e+00] [-5.75685271e-03 -1.60706876e-03 9.99982138e-01 -2.99990574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76134618399999 meters 0.09256096647828857 Centerline is valid? [False, True] Translation: X:67.65, Y:-5.74, Z:-3.00 [[ 9.99981793e-01 3.24562846e-03 5.08715939e-03 6.76451530e+01] [-3.24490929e-03 9.99994724e-01 -1.49617525e-04 -5.74071341e+00] [-5.08761815e-03 1.33107431e-04 9.99987049e-01 -2.99817175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82134618399999 meters 0.0918370228315361 Centerline is valid? [True, True] Translation: X:67.71, Y:-5.74, Z:-3.00 [[ 9.99969179e-01 5.52880582e-03 5.57438101e-03 6.77055120e+01] [-5.52623576e-03 9.99984617e-01 -4.76346300e-04 -5.74287460e+00] [-5.57692888e-03 4.45526275e-04 9.99984350e-01 -2.99960118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.881346184 meters 0.10263183904976159 Centerline is valid? [True, False] Translation: X:67.71, Y:-5.74, Z:-3.00 [[ 9.99971721e-01 5.46524753e-03 5.16611014e-03 6.77069994e+01] [-5.45918923e-03 9.99984395e-01 -1.18607560e-03 -5.73899203e+00] [-5.17251172e-03 1.15783928e-03 9.99985952e-01 -3.00057773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.941346184 meters 0.09280494195165818 Centerline is valid? [False, True] Translation: X:67.71, Y:-5.74, Z:-3.00 [[ 9.99972422e-01 5.76011912e-03 4.68795878e-03 6.77083888e+01] [-5.75375466e-03 9.99982509e-01 -1.36997498e-03 -5.73729446e+00] [-4.69576800e-03 1.34296384e-03 9.99988073e-01 -3.00100809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.001346184 meters 0.09188595311049645 Centerline is valid? [True, True] Translation: X:67.77, Y:-5.74, Z:-3.00 [[ 9.99952695e-01 8.17001929e-03 5.27809328e-03 6.77687076e+01] [-8.16788560e-03 9.99966552e-01 -4.25683036e-04 -5.73912813e+00] [-5.28139458e-03 3.82552037e-04 9.99985980e-01 -3.00294185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.061346184 meters 0.08678990119027574 Centerline is valid? [True, True] Translation: X:67.83, Y:-5.73, Z:-3.01 [[ 9.99967076e-01 8.05716850e-03 9.63900198e-04 6.78290628e+01] [-8.05709661e-03 9.99967538e-01 -7.84457274e-05 -5.72849154e+00] [-9.64500958e-04 7.06769077e-05 9.99999532e-01 -3.00582511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12134618399999 meters 0.08692348438091664 Centerline is valid? [True, True] Translation: X:67.89, Y:-5.74, Z:-3.01 [[ 9.99987794e-01 4.90790977e-03 -5.69466097e-04 6.78885454e+01] [-4.90788451e-03 9.99987955e-01 4.57499416e-05 -5.73558511e+00] [ 5.69683774e-04 -4.29545093e-05 9.99999837e-01 -3.01061831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18134618399999 meters 0.09201434224312513 Centerline is valid? [True, True] Translation: X:67.95, Y:-5.75, Z:-3.01 [[ 9.99998104e-01 -4.11938837e-04 1.90313444e-03 6.79475212e+01] [ 4.12231953e-04 9.99999903e-01 -1.53627839e-04 -5.74655003e+00] [-1.90307097e-03 1.54412081e-04 9.99998177e-01 -3.00903772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.241346184 meters 0.09811737151595717 Centerline is valid? [True, True] Translation: X:68.01, Y:-5.76, Z:-3.01 [[ 9.99982900e-01 -2.66868496e-03 5.20355122e-03 6.80067309e+01] [ 2.67090118e-03 9.99996345e-01 -4.19002056e-04 -5.75840228e+00] [-5.20241402e-03 4.32893062e-04 9.99986374e-01 -3.00955878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.301346184 meters 0.09421652940665187 Centerline is valid? [True, True] Translation: X:68.07, Y:-5.76, Z:-3.02 [[ 9.99982695e-01 -4.34785558e-03 3.96316302e-03 6.80674385e+01] [ 4.34915293e-03 9.99990492e-01 -3.18792583e-04 -5.76101813e+00] [-3.96173927e-03 3.36023468e-04 9.99992096e-01 -3.01527521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.361346184 meters 0.09799281225371426 Centerline is valid? [True, True] Translation: X:68.13, Y:-5.77, Z:-3.02 [[ 9.99981608e-01 -5.91473064e-03 1.34128582e-03 6.81267350e+01] [ 5.91487891e-03 9.99982501e-01 -1.06603478e-04 -5.76706910e+00] [-1.34063182e-03 1.14535061e-04 9.99999095e-01 -3.01713595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.421346184 meters 0.09662661453434702 Centerline is valid? [True, True] Translation: X:68.19, Y:-5.76, Z:-3.02 [[ 9.99990380e-01 -4.34470120e-03 6.02782948e-04 6.81889558e+01] [ 4.34473041e-03 9.99990561e-01 -4.71546035e-05 -5.76480022e+00] [-6.02572386e-04 4.97730793e-05 9.99999817e-01 -3.01578965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48134618399999 meters 0.09209990807249559 Centerline is valid? [True, True] Translation: X:68.25, Y:-5.76, Z:-3.02 [[ 9.99982765e-01 2.48666064e-03 5.31843998e-03 6.82499075e+01] [-2.48441453e-03 9.99996822e-01 -4.28890460e-04 -5.76121656e+00] [-5.31948959e-03 4.15669859e-04 9.99985765e-01 -3.01551745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54134618399999 meters 0.09252514712856985 Centerline is valid? [True, True] Translation: X:68.31, Y:-5.76, Z:-3.02 [[ 9.99956051e-01 6.69033508e-03 6.56769973e-03 6.83091608e+01] [-6.68699643e-03 9.99977501e-01 -5.30171640e-04 -5.76496382e+00] [-6.57109900e-03 4.86230155e-04 9.99978292e-01 -3.02014120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.601346184 meters 0.08805192474730283 Centerline is valid? [True, True] Translation: X:68.37, Y:-5.75, Z:-3.02 [[ 9.99946370e-01 9.96800901e-03 2.80980458e-03 6.83705881e+01] [-9.96741131e-03 9.99950298e-01 -2.26643376e-04 -5.75356007e+00] [-2.81192412e-03 1.98624743e-04 9.99996027e-01 -3.02220946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.661346184 meters 0.08860745735105394 Centerline is valid? [True, True] Translation: X:68.43, Y:-5.76, Z:-3.02 [[ 9.99940052e-01 1.00640664e-02 4.31351642e-03 6.84296308e+01] [-1.00626532e-02 9.99949309e-01 -3.49199828e-04 -5.75659084e+00] [-4.31681213e-03 3.05773474e-04 9.99990636e-01 -3.02204417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.721346184 meters 0.08981038058166867 Centerline is valid? [True, True] Translation: X:68.49, Y:-5.76, Z:-3.02 [[ 9.99977390e-01 5.17057501e-03 4.29946092e-03 6.84899417e+01] [-5.16913278e-03 9.99986580e-01 -3.46489418e-04 -5.76442586e+00] [-4.30119477e-03 3.24257099e-04 9.99990697e-01 -3.02473737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.781346184 meters 0.09111352806978595 Centerline is valid? [True, True] Translation: X:68.55, Y:-5.77, Z:-3.03 [[ 9.99996101e-01 2.01717471e-03 -1.93080378e-03 6.85503909e+01] [-2.01687793e-03 9.99997954e-01 1.55644081e-04 -5.76905292e+00] [ 1.93111379e-03 -1.51749279e-04 9.99998124e-01 -3.03315227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.841346184 meters 0.09178520705444244 Centerline is valid? [True, True] Translation: X:68.61, Y:-5.77, Z:-3.04 [[ 9.99992546e-01 5.82525225e-04 -3.81679067e-03 6.86098908e+01] [-5.81358840e-04 9.99999784e-01 3.06695556e-04 -5.77304021e+00] [ 3.81696851e-03 -3.04474345e-04 9.99992669e-01 -3.03708141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90134618399999 meters 0.09543964607218675 Centerline is valid? [True, True] Translation: X:68.67, Y:-5.78, Z:-3.03 [[ 9.99999929e-01 6.23484287e-05 3.72876735e-04 6.86671726e+01] [-6.23365037e-05 9.99999998e-01 -3.19927018e-05 -5.77947878e+00] [-3.72878729e-04 3.19694556e-05 9.99999930e-01 -3.03430503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96134618399999 meters 0.09644057777131049 Centerline is valid? [True, True] Translation: X:68.73, Y:-5.78, Z:-3.03 [[ 9.99991143e-01 7.90016062e-04 4.13405571e-03 6.87269376e+01] [-7.88647429e-04 9.99999634e-01 -3.32682735e-04 -5.78458825e+00] [-4.13431702e-03 3.29419476e-04 9.99991399e-01 -3.03356769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.021346184 meters 0.09341407022214676 Centerline is valid? [True, True] Translation: X:68.79, Y:-5.78, Z:-3.04 [[ 9.99987571e-01 2.61657393e-03 4.24395702e-03 6.87891847e+01] [-2.61515195e-03 9.99996522e-01 -3.40575288e-04 -5.78398987e+00] [-4.24483340e-03 3.29472462e-04 9.99990936e-01 -3.03672718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.081346184 meters 0.09455733264025164 Centerline is valid? [True, True] Translation: X:68.85, Y:-5.79, Z:-3.04 [[ 9.99978589e-01 6.29458558e-03 1.78883101e-03 6.88486300e+01] [-6.29433769e-03 9.99980180e-01 -1.44173441e-04 -5.78529076e+00] [-1.78970307e-03 1.32910847e-04 9.99998390e-01 -3.04123061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.141346184 meters 0.09152809437389807 Centerline is valid? [True, True] Translation: X:68.91, Y:-5.78, Z:-3.04 [[ 9.99916437e-01 1.20648057e-02 4.64314922e-03 6.89102592e+01] [-1.20631990e-02 9.99927167e-01 -3.73894844e-04 -5.77869231e+00] [-4.64732202e-03 3.17852367e-04 9.99989151e-01 -3.03803785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.201346184 meters 0.08581168611506573 Centerline is valid? [True, True] Translation: X:68.97, Y:-5.77, Z:-3.04 [[ 9.99784836e-01 1.85153605e-02 9.35220721e-03 6.89717942e+01] [-1.85091233e-02 9.99828408e-01 -7.53052745e-04 -5.76923447e+00] [-9.36454549e-03 5.79789559e-04 9.99955984e-01 -3.03624270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26134618399999 meters 0.0844653886500758 Centerline is valid? [True, True] Translation: X:69.03, Y:-5.77, Z:-3.04 [[ 9.99814444e-01 1.84000493e-02 5.70227416e-03 6.90306979e+01] [-1.83977221e-02 9.99830642e-01 -4.60293165e-04 -5.76960900e+00] [-5.70977785e-03 3.55298899e-04 9.99983636e-01 -3.04235274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32134618399999 meters 0.09262140044058892 Centerline is valid? [True, True] Translation: X:69.09, Y:-5.79, Z:-3.05 [[ 9.99876871e-01 1.56416535e-02 1.25749863e-03 6.90882036e+01] [-1.56415380e-02 9.99877659e-01 -1.01591965e-04 -5.78723048e+00] [-1.25893386e-03 8.19102434e-05 9.99999204e-01 -3.05197380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.381346184 meters 0.08656541844483968 Centerline is valid? [True, True] Translation: X:69.15, Y:-5.78, Z:-3.05 [[ 9.99925115e-01 1.21584343e-02 1.39167705e-03 6.91491265e+01] [-1.21582897e-02 9.99926079e-01 -1.12302262e-04 -5.78130087e+00] [-1.39293960e-03 9.53734397e-05 9.99999025e-01 -3.04829479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.441346184 meters 0.08759970174202317 Centerline is valid? [True, True] Translation: X:69.21, Y:-5.79, Z:-3.05 [[ 9.99948155e-01 9.90972290e-03 2.34182471e-03 6.92088131e+01] [-9.90930727e-03 9.99950884e-01 -1.89019810e-04 -5.78692869e+00] [-2.34358282e-03 1.65804150e-04 9.99997240e-01 -3.04697108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.501346184 meters 0.08605097093309269 Centerline is valid? [True, True] Translation: X:69.27, Y:-5.79, Z:-3.05 [[ 9.99895893e-01 1.32634788e-02 5.68178549e-03 6.92698028e+01] [-1.32610968e-02 9.99911963e-01 -4.56698338e-04 -5.78680421e+00] [-5.68734270e-03 3.81304085e-04 9.99983754e-01 -3.04683258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.561346184 meters 0.08504106200882018 Centerline is valid? [True, True] Translation: X:69.33, Y:-5.79, Z:-3.05 [[ 9.99846153e-01 1.64639201e-02 6.05061110e-03 6.93299045e+01] [-1.64612758e-02 9.99864386e-01 -4.86571880e-04 -5.78889827e+00] [-6.05780143e-03 3.86896244e-04 9.99981577e-01 -3.04844509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62134618399999 meters 0.08677676209770785 Centerline is valid? [True, True] Translation: X:69.39, Y:-5.80, Z:-3.05 [[ 9.99850669e-01 1.64216105e-02 5.38242156e-03 6.93870642e+01] [-1.64195113e-02 9.99865097e-01 -4.33983694e-04 -5.79693045e+00] [-5.38882216e-03 3.45542155e-04 9.99985420e-01 -3.05206696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68134618399999 meters 0.0857567721197811 Centerline is valid? [True, True] Translation: X:69.45, Y:-5.80, Z:-3.05 [[ 9.99866951e-01 1.47151262e-02 7.03879302e-03 6.94456578e+01] [-1.47115042e-02 9.99891620e-01 -5.66078706e-04 -5.79991373e+00] [-7.04636008e-03 4.62452157e-04 9.99975067e-01 -3.04981813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.741346184 meters 0.08437747974489086 Centerline is valid? [True, True] Translation: X:69.50, Y:-5.80, Z:-3.05 [[ 9.99841257e-01 1.45566250e-02 1.02745290e-02 6.95047014e+01] [-1.45489136e-02 9.99893819e-01 -8.24884555e-04 -5.80053285e+00] [-1.02854456e-02 6.75270374e-04 9.99946875e-01 -3.04747719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.801346184 meters 0.08549284750714786 Centerline is valid? [True, True] Translation: X:69.56, Y:-5.81, Z:-3.05 [[ 9.99834656e-01 1.41566411e-02 1.14127410e-02 6.95631636e+01] [-1.41471119e-02 9.99899506e-01 -9.15258211e-04 -5.80947181e+00] [-1.14245511e-02 7.53649554e-04 9.99934454e-01 -3.05111802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.861346184 meters 0.0873552081713124 Centerline is valid? [True, True] Translation: X:69.62, Y:-5.82, Z:-3.06 [[ 9.99897054e-01 1.07025551e-02 9.55707248e-03 6.96230702e+01] [-1.06957281e-02 9.99942506e-01 -7.65164962e-04 -5.81986878e+00] [-9.56471223e-03 6.62866342e-04 9.99954037e-01 -3.05550595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.921346184 meters 0.0871790629625557 Centerline is valid? [True, True] Translation: X:69.68, Y:-5.83, Z:-3.06 [[ 9.99934539e-01 8.38468983e-03 7.78552425e-03 6.96831455e+01] [-8.38008809e-03 9.99964692e-01 -6.23498379e-04 -5.82568801e+00] [-7.79047720e-03 5.58214185e-04 9.99969498e-01 -3.05604839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98134618399999 meters 0.09144235479215053 Centerline is valid? [True, True] Translation: X:69.74, Y:-5.84, Z:-3.06 [[ 9.99940576e-01 8.95684001e-03 6.21440604e-03 6.97415055e+01] [-8.95391937e-03 9.99959789e-01 -4.97642787e-04 -5.84166976e+00] [-6.21861346e-03 4.41969924e-04 9.99980567e-01 -3.06332504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04134618399999 meters 0.0925516448268195 Centerline is valid? [True, True] Translation: X:69.80, Y:-5.85, Z:-3.07 [[ 9.99960184e-01 7.31485852e-03 5.11117957e-03 6.98007948e+01] [-7.31286014e-03 9.99973177e-01 -4.09562023e-04 -5.85112767e+00] [-5.11403836e-03 3.72168374e-04 9.99986854e-01 -3.06591522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.101346184 meters 0.09342071109073183 Centerline is valid? [True, True] Translation: X:69.86, Y:-5.86, Z:-3.06 [[ 9.99931643e-01 8.41271837e-03 8.12008845e-03 6.98592218e+01] [-8.40771445e-03 9.99964443e-01 -6.50179527e-04 -5.85901686e+00] [-8.12526950e-03 5.81863698e-04 9.99966820e-01 -3.06391065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.161346184 meters 0.08849768365184617 Centerline is valid? [True, True] Translation: X:69.92, Y:-5.86, Z:-3.06 [[ 9.99937607e-01 9.03904051e-03 6.56329741e-03 6.99193747e+01] [-9.03578713e-03 9.99959039e-01 -5.25177109e-04 -5.85523894e+00] [-6.56777566e-03 4.65839783e-04 9.99978323e-01 -3.06470265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.221346184 meters 0.08984624662765431 Centerline is valid? [True, True] Translation: X:69.98, Y:-5.87, Z:-3.07 [[ 9.99950810e-01 8.85594861e-03 4.46658842e-03 6.99777281e+01] [-8.85443966e-03 9.99960735e-01 -3.57493159e-04 -5.86786173e+00] [-4.46957898e-03 3.17926436e-04 9.99989961e-01 -3.07218766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.281346184 meters 0.09208824603572463 Centerline is valid? [True, True] Translation: X:70.04, Y:-5.88, Z:-3.07 [[ 9.99942601e-01 7.50932724e-03 7.64232033e-03 7.00355493e+01] [-7.50487491e-03 9.99971651e-01 -6.11099590e-04 -5.87852628e+00] [-7.64669262e-03 5.53709855e-04 9.99970610e-01 -3.06911033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.341346184 meters 0.09127409726218327 Centerline is valid? [True, True] Translation: X:70.10, Y:-5.88, Z:-3.07 [[ 9.99898021e-01 8.35076713e-03 1.15850346e-02 7.00957604e+01] [-8.34060982e-03 9.99964789e-01 -9.24800682e-04 -5.88334000e+00] [-1.15923495e-02 8.28080118e-04 9.99932464e-01 -3.06532550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40134618399999 meters 0.09617926240858804 Centerline is valid? [True, True] Translation: X:70.15, Y:-5.90, Z:-3.07 [[ 9.99857046e-01 1.03275549e-02 1.33876562e-02 7.01547385e+01] [-1.03141851e-02 9.99946238e-01 -1.06733061e-03 -5.90035805e+00] [-1.33979593e-02 9.29095263e-04 9.99909812e-01 -3.06810199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46134618399999 meters 0.09117870575069657 Centerline is valid? [True, True] Translation: X:70.22, Y:-5.90, Z:-3.07 [[ 9.99854015e-01 1.15211570e-02 1.26178848e-02 7.02168060e+01] [-1.15093549e-02 9.99933258e-01 -1.00756634e-03 -5.89941514e+00] [-1.26286510e-02 8.62195533e-04 9.99919884e-01 -3.06904038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.521346184 meters 0.09064258860546372 Centerline is valid? [True, True] Translation: X:70.28, Y:-5.90, Z:-3.07 [[ 9.99885222e-01 1.20024702e-02 9.24575792e-03 7.02771501e+01] [-1.19961464e-02 9.99927770e-01 -7.39124050e-04 -5.90225800e+00] [-9.25396142e-03 6.28125749e-04 9.99956984e-01 -3.07266149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.581346184 meters 0.09189350934461783 Centerline is valid? [True, True] Translation: X:70.34, Y:-5.92, Z:-3.08 [[ 9.99926979e-01 7.72235869e-03 9.29526661e-03 7.03369691e+01] [-7.71578296e-03 9.99969957e-01 -7.43080769e-04 -5.91529268e+00] [-9.30072569e-03 6.71306249e-04 9.99956522e-01 -3.07690515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.641346184 meters 0.09693110272861459 Centerline is valid? [True, True] Translation: X:70.40, Y:-5.93, Z:-3.08 [[ 9.99965388e-01 2.90422457e-03 7.79668555e-03 7.03953541e+01] [-2.89945196e-03 9.99995602e-01 -6.23367528e-04 -5.93434873e+00] [-7.79846166e-03 6.00739837e-04 9.99969411e-01 -3.08154636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.701346184 meters 0.09904268881351241 Centerline is valid? [True, True] Translation: X:70.45, Y:-5.94, Z:-3.08 [[ 9.99974148e-01 8.33542078e-05 7.19006577e-03 7.04549495e+01] [-7.92241528e-05 9.99999832e-01 -5.74694213e-04 -5.94396321e+00] [-7.19011246e-03 5.74109729e-04 9.99973986e-01 -3.08145444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76134618399999 meters 0.09576891476983401 Centerline is valid? [True, True] Translation: X:70.52, Y:-5.94, Z:-3.08 [[ 9.99972547e-01 2.95234448e-03 6.79626324e-03 7.05163535e+01] [-2.94872159e-03 9.99995505e-01 -5.43029265e-04 -5.94483378e+00] [-6.79783590e-03 5.22974069e-04 9.99976758e-01 -3.08288519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82134618399999 meters 0.09975251352222261 Centerline is valid? [True, True] Translation: X:70.57, Y:-5.96, Z:-3.09 [[ 9.99955502e-01 5.67424271e-03 7.53643028e-03 7.05748793e+01] [-5.66985949e-03 9.99983745e-01 -6.02843215e-04 -5.95796689e+00] [-7.53972845e-03 5.60085889e-04 9.99971419e-01 -3.08605724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.881346184 meters 0.0884076056528811 Centerline is valid? [True, True] Translation: X:70.64, Y:-5.94, Z:-3.08 [[ 9.99940695e-01 7.03569466e-03 8.31299909e-03 7.06380890e+01] [-7.03041619e-03 9.99975066e-01 -6.64017778e-04 -5.94072120e+00] [-8.31746364e-03 6.05534555e-04 9.99965226e-01 -3.08008546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.941346184 meters 0.08915349052460858 Centerline is valid? [True, True] Translation: X:70.70, Y:-5.95, Z:-3.08 [[ 9.99933946e-01 8.07363505e-03 8.18044176e-03 7.06981349e+01] [-8.06855366e-03 9.99967235e-01 -6.53977068e-04 -5.94894361e+00] [-8.18545370e-03 5.87929537e-04 9.99966326e-01 -3.08342599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.001346184 meters 0.08844547149208641 Centerline is valid? [True, True] Translation: X:70.76, Y:-5.95, Z:-3.08 [[ 9.99923726e-01 7.49389604e-03 9.81749789e-03 7.07584695e+01] [-7.48654479e-03 9.99971667e-01 -7.85327692e-04 -5.95490378e+00] [-9.82310489e-03 7.11768655e-04 9.99951499e-01 -3.08256438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.061346184 meters 0.09068767987615105 Centerline is valid? [True, True] Translation: X:70.82, Y:-5.96, Z:-3.08 [[ 9.99945510e-01 5.43334039e-03 8.91384124e-03 7.08180277e+01] [-5.42719878e-03 9.99985018e-01 -7.13041801e-04 -5.96369845e+00] [-8.91758190e-03 6.64625759e-04 9.99960017e-01 -3.08415237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12134618399999 meters 0.09070875672040547 Centerline is valid? [True, True] Translation: X:70.88, Y:-5.97, Z:-3.09 [[ 9.99950183e-01 5.06658436e-03 8.60002193e-03 7.08795849e+01] [-5.06088391e-03 9.99986959e-01 -6.84473908e-04 -5.97198339e+00] [-8.60337772e-03 6.40916097e-04 9.99962785e-01 -3.08732065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18134618399999 meters 0.0910484084649391 Centerline is valid? [True, True] Translation: X:70.94, Y:-5.98, Z:-3.09 [[ 9.99961498e-01 2.99523076e-03 8.24805185e-03 7.09397740e+01] [-2.98987541e-03 9.99995311e-01 -6.61541287e-04 -5.98186449e+00] [-8.24999465e-03 6.36855169e-04 9.99965765e-01 -3.09005447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.241346184 meters 0.09627705993494123 Centerline is valid? [True, True] Translation: X:71.00, Y:-6.00, Z:-3.09 [[ 9.99988050e-01 -2.04225059e-03 4.44178142e-03 7.09981671e+01] [ 2.04385191e-03 9.99997848e-01 -3.56003469e-04 -5.99642768e+00] [-4.44104481e-03 3.65077558e-04 9.99990072e-01 -3.09346906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.301346184 meters 0.09827688708437705 Centerline is valid? [True, True] Translation: X:71.06, Y:-6.00, Z:-3.10 [[ 9.99988463e-01 -3.45538266e-03 3.33694091e-03 7.10583125e+01] [ 3.45629460e-03 9.99993991e-01 -2.67560330e-04 -6.00452021e+00] [-3.33599634e-03 2.79090693e-04 9.99994397e-01 -3.09639374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.361346184 meters 0.09924764614064405 Centerline is valid? [True, True] Translation: X:71.12, Y:-6.01, Z:-3.10 [[ 9.99992396e-01 -2.65303188e-03 2.85831210e-03 7.11186782e+01] [ 2.65369579e-03 9.99996453e-01 -2.28507565e-04 -6.01221109e+00] [-2.85769573e-03 2.36090918e-04 9.99995889e-01 -3.09951414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.421346184 meters 0.09857822355547032 Centerline is valid? [True, True] Translation: X:71.18, Y:-6.02, Z:-3.10 [[ 9.99993226e-01 9.66835661e-05 3.67941133e-03 7.11788821e+01] [-9.55969829e-05 9.99999952e-01 -2.95489149e-04 -6.01715549e+00] [-3.67943972e-03 2.95135407e-04 9.99993187e-01 -3.10376981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48134618399999 meters 0.09132375007942092 Centerline is valid? [True, True] Translation: X:71.24, Y:-6.00, Z:-3.10 [[ 9.99991135e-01 3.02138782e-03 2.93275262e-03 7.12412717e+01] [-3.02071062e-03 9.99995410e-01 -2.35310546e-04 -6.00059429e+00] [-2.93345013e-03 2.26449463e-04 9.99995672e-01 -3.09863724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54134618399999 meters 0.09471347527146316 Centerline is valid? [True, True] Translation: X:71.30, Y:-6.01, Z:-3.10 [[ 9.99982388e-01 3.97849908e-03 4.40397813e-03 7.13000377e+01] [-3.97697717e-03 9.99992029e-01 -3.54278072e-04 -6.00890703e+00] [-4.40535252e-03 3.36757312e-04 9.99990240e-01 -3.09864963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.601346184 meters 0.09299260281366895 Centerline is valid? [True, True] Translation: X:71.36, Y:-6.01, Z:-3.10 [[ 9.99981213e-01 1.09307396e-03 6.03150676e-03 7.13605031e+01] [-1.09017218e-03 9.99999288e-01 -4.84369738e-04 -6.01383390e+00] [-6.03203192e-03 4.77785258e-04 9.99981693e-01 -3.10040055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.661346184 meters 0.10039223311723007 Centerline is valid? [True, False] Translation: X:71.36, Y:-6.02, Z:-3.10 [[ 9.99977316e-01 1.24180187e-03 6.62002319e-03 7.13603179e+01] [-1.24563310e-03 9.99999059e-01 5.74640695e-04 -6.01589974e+00] [-6.61930337e-03 -5.82873780e-04 9.99977922e-01 -3.10244625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.721346184 meters 0.10105317512688637 Centerline is valid? [False, False] Translation: X:71.36, Y:-6.02, Z:-3.10 [[ 9.99977792e-01 1.28522177e-03 6.53932793e-03 7.13606631e+01] [-1.28941813e-03 9.99998965e-01 6.37535141e-04 -6.01555517e+00] [-6.53850179e-03 -6.45952911e-04 9.99978415e-01 -3.10272168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.781346184 meters 0.10127184143624558 Centerline is valid? [False, False] Translation: X:71.36, Y:-6.01, Z:-3.10 [[ 9.99980672e-01 1.32979213e-03 6.07355793e-03 7.13618210e+01] [-1.33064426e-03 9.99999105e-01 1.36262823e-04 -6.01324541e+00] [-6.07337129e-03 -1.44341935e-04 9.99981546e-01 -3.10282289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.841346184 meters 0.09924172978743856 Centerline is valid? [False, True] Translation: X:71.36, Y:-6.01, Z:-3.10 [[ 9.99983352e-01 1.73669020e-03 5.50262509e-03 7.13635467e+01] [-1.73718827e-03 9.99998487e-01 8.57376592e-05 -6.01211740e+00] [-5.50246787e-03 -9.52953276e-05 9.99984857e-01 -3.10357531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90134618399999 meters 0.09137504861835992 Centerline is valid? [True, True] Translation: X:71.43, Y:-6.00, Z:-3.10 [[ 9.99981980e-01 5.58258433e-03 2.20793902e-03 7.14258113e+01] [-5.58219125e-03 9.99984402e-01 -1.84155183e-04 -5.99866015e+00] [-2.20893264e-03 1.71826726e-04 9.99997546e-01 -3.10344793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96134618399999 meters 0.09012830679286447 Centerline is valid? [True, True] Translation: X:71.49, Y:-6.00, Z:-3.10 [[ 9.99961399e-01 7.92602434e-03 3.79190127e-03 7.14860146e+01] [-7.92487591e-03 9.99968547e-01 -3.17793864e-04 -5.99518690e+00] [-3.79430085e-03 2.87731250e-04 9.99992760e-01 -3.10068138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.021346184 meters 0.0891784073464582 Centerline is valid? [True, True] Translation: X:71.54, Y:-6.00, Z:-3.10 [[ 9.99947331e-01 8.52774246e-03 5.71070910e-03 7.15449716e+01] [-8.52514910e-03 9.99963546e-01 -4.78310841e-04 -6.00051621e+00] [-5.71457984e-03 4.29601002e-04 9.99983579e-01 -3.10305937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.081346184 meters 0.08817005578468358 Centerline is valid? [True, True] Translation: X:71.60, Y:-6.00, Z:-3.11 [[ 9.99919618e-01 1.15534509e-02 5.22250110e-03 7.16046869e+01] [-1.15513277e-02 9.99933186e-01 -4.36536050e-04 -6.00240911e+00] [-5.22719566e-03 3.76174139e-04 9.99986267e-01 -3.10880168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.141346184 meters 0.08856108167944426 Centerline is valid? [True, True] Translation: X:71.66, Y:-6.00, Z:-3.11 [[ 9.99908474e-01 1.24207680e-02 5.36368163e-03 7.16636148e+01] [-1.24185358e-02 9.99922786e-01 -4.49274325e-04 -6.00261163e+00] [-5.36884781e-03 3.82624132e-04 9.99985514e-01 -3.10842967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.201346184 meters 0.09048382328372821 Centerline is valid? [True, True] Translation: X:71.72, Y:-6.01, Z:-3.11 [[ 9.99934492e-01 1.01133672e-02 5.36018775e-03 7.17226197e+01] [-1.01111124e-02 9.99948781e-01 -4.47579149e-04 -6.01365493e+00] [-5.36443974e-03 3.93352368e-04 9.99985534e-01 -3.11030487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26134618399999 meters 0.09323638665946525 Centerline is valid? [True, True] Translation: X:71.78, Y:-6.03, Z:-3.11 [[ 9.99977122e-01 3.92024167e-03 5.51247515e-03 7.17818563e+01] [-3.91776412e-03 9.99992220e-01 -4.60169735e-04 -6.02523355e+00] [-5.51423624e-03 4.38562630e-04 9.99984700e-01 -3.11071548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32134618399999 meters 0.09755185457184595 Centerline is valid? [True, True] Translation: X:71.84, Y:-6.04, Z:-3.12 [[ 9.99992431e-01 1.79390390e-03 3.45252379e-03 7.18411581e+01] [-1.79292171e-03 9.99998351e-01 -2.87559767e-04 -6.03963953e+00] [-3.45303395e-03 2.81367486e-04 9.99993999e-01 -3.11769677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.381346184 meters 0.09189560472082141 Centerline is valid? [True, True] Translation: X:71.90, Y:-6.04, Z:-3.12 [[ 9.99983495e-01 5.44897438e-03 1.82191559e-03 7.19012943e+01] [-5.44870675e-03 9.99985144e-01 -1.51825426e-04 -6.04144470e+00] [-1.82271581e-03 1.41895836e-04 9.99998329e-01 -3.12314252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.441346184 meters 0.09015804152793215 Centerline is valid? [True, True] Translation: X:71.96, Y:-6.04, Z:-3.12 [[ 9.99946181e-01 9.91508472e-03 3.05396443e-03 7.19623766e+01] [-9.91435001e-03 9.99950819e-01 -2.55621272e-04 -6.03752271e+00] [-3.05634874e-03 2.25329442e-04 9.99995304e-01 -3.11972208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.501346184 meters 0.08800335056063964 Centerline is valid? [True, True] Translation: X:72.02, Y:-6.03, Z:-3.12 [[ 9.99866958e-01 1.61164383e-02 2.51524664e-03 7.20235366e+01] [-1.61159619e-02 9.99870107e-01 -2.09574341e-04 -6.03433051e+00] [-2.51829752e-03 1.69010840e-04 9.99996815e-01 -3.11913445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.561346184 meters 0.08600383569694135 Centerline is valid? [True, True] Translation: X:72.08, Y:-6.04, Z:-3.12 [[ 9.99822896e-01 1.72456705e-02 7.53413928e-03 7.20830384e+01] [-1.72414217e-02 9.99851158e-01 -6.28536001e-04 -6.04097800e+00] [-7.54385741e-03 4.98525412e-04 9.99971420e-01 -3.11905064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62134618399999 meters 0.08920665106708987 Centerline is valid? [True, True] Translation: X:72.14, Y:-6.05, Z:-3.12 [[ 9.99830402e-01 1.68926766e-02 7.33518849e-03 7.21401484e+01] [-1.68886315e-02 9.99857189e-01 -6.13054883e-04 -6.04913986e+00] [-7.34449708e-03 4.89069615e-04 9.99972909e-01 -3.12192514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68134618399999 meters 0.08678484909893307 Centerline is valid? [True, True] Translation: X:72.20, Y:-6.05, Z:-3.13 [[ 9.99851170e-01 1.57073473e-02 7.13568328e-03 7.21985899e+01] [-1.57034953e-02 9.99876515e-01 -5.95532753e-04 -6.05265961e+00] [-7.14415637e-03 4.83388951e-04 9.99974363e-01 -3.12520535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.741346184 meters 0.08585770077319407 Centerline is valid? [True, True] Translation: X:72.26, Y:-6.06, Z:-3.13 [[ 9.99871729e-01 1.39083492e-02 7.94253992e-03 7.22576996e+01] [-1.39035310e-02 9.99903122e-01 -6.61520756e-04 -6.06044192e+00] [-7.95097113e-03 5.51006551e-04 9.99968239e-01 -3.12660605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.801346184 meters 0.09300261662213039 Centerline is valid? [True, True] Translation: X:72.32, Y:-6.08, Z:-3.12 [[ 9.99902081e-01 1.13842514e-02 8.13805131e-03 7.23157278e+01] [-1.13791126e-02 9.99935026e-01 -6.77478681e-04 -6.07624180e+00] [-8.14523513e-03 5.84808541e-04 9.99966656e-01 -3.12497343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.861346184 meters 0.09594778734735218 Centerline is valid? [True, True] Translation: X:72.37, Y:-6.09, Z:-3.13 [[ 9.99937471e-01 9.43122348e-03 6.00881959e-03 7.23741461e+01] [-9.42838901e-03 9.99955427e-01 -4.99871239e-04 -6.09188660e+00] [-6.01326616e-03 4.43186494e-04 9.99981822e-01 -3.13132398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.921346184 meters 0.09913849640672592 Centerline is valid? [True, True] Translation: X:72.43, Y:-6.11, Z:-3.14 [[ 9.99963724e-01 7.56318206e-03 3.91774234e-03 7.24317775e+01] [-7.56196124e-03 9.99971355e-01 -3.26331095e-04 -6.10718432e+00] [-3.92009821e-03 2.96693441e-04 9.99992272e-01 -3.13942467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98134618399999 meters 0.10208187641179514 Centerline is valid? [True, False] Translation: X:72.43, Y:-6.11, Z:-3.14 [[ 9.99965513e-01 7.18777046e-03 4.16039373e-03 7.24309196e+01] [-7.18506781e-03 9.99973966e-01 -6.64195909e-04 -6.10681210e+00] [-4.16505950e-03 6.34280291e-04 9.99991125e-01 -3.13894487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04134618399999 meters 0.10181731762254555 Centerline is valid? [False, False] Translation: X:72.43, Y:-6.11, Z:-3.14 [[ 9.99987097e-01 3.86599579e-03 3.29542795e-03 7.24335578e+01] [-3.85221977e-03 9.99983859e-01 -4.17648898e-03 -6.10765604e+00] [-3.31152104e-03 4.16374037e-03 9.99985848e-01 -3.14014868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.101346184 meters 0.09435250521704099 Centerline is valid? [False, True] Translation: X:72.43, Y:-6.11, Z:-3.14 [[ 9.99985104e-01 4.34330818e-03 3.30555700e-03 7.24333962e+01] [-4.33254178e-03 9.99985309e-01 -3.25728082e-03 -6.11160055e+00] [-3.31965582e-03 3.24291084e-03 9.99989232e-01 -3.13996851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.161346184 meters 0.09117306498342101 Centerline is valid? [True, True] Translation: X:72.49, Y:-6.11, Z:-3.14 [[ 9.99996101e-01 2.48086615e-03 1.28161132e-03 7.24942327e+01] [-2.48073928e-03 9.99996918e-01 -1.00574411e-04 -6.11017275e+00] [-1.28185688e-03 9.73946757e-05 9.99999174e-01 -3.13966994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.221346184 meters 0.09406771815149796 Centerline is valid? [True, True] Translation: X:72.55, Y:-6.12, Z:-3.14 [[ 9.99998084e-01 7.89844498e-04 1.79097742e-03 7.25525545e+01] [-7.89592599e-04 9.99999678e-01 -1.41351540e-04 -6.12065930e+00] [-1.79108849e-03 1.39937127e-04 9.99998386e-01 -3.14003489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.281346184 meters 0.09124451655403212 Centerline is valid? [True, True] Translation: X:72.61, Y:-6.13, Z:-3.14 [[ 9.99993285e-01 1.62942998e-03 3.28241022e-03 7.26125014e+01] [-1.62859356e-03 9.99998641e-01 -2.57473510e-04 -6.12674023e+00] [-3.28282530e-03 2.52126069e-04 9.99994580e-01 -3.14166107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.341346184 meters 0.09071136689381255 Centerline is valid? [True, True] Translation: X:72.67, Y:-6.14, Z:-3.14 [[ 9.99983883e-01 3.40688137e-03 4.54159859e-03 7.26725880e+01] [-3.40529836e-03 9.99994138e-01 -3.56244725e-04 -6.13513723e+00] [-4.54278565e-03 3.40773485e-04 9.99989623e-01 -3.14487419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40134618399999 meters 0.08915746898081209 Centerline is valid? [True, True] Translation: X:72.73, Y:-6.13, Z:-3.15 [[ 9.99973436e-01 6.00432484e-03 4.13233757e-03 7.27335977e+01] [-6.00303786e-03 9.99981929e-01 -3.23773854e-04 -6.13403021e+00] [-4.13420694e-03 2.98958674e-04 9.99991409e-01 -3.14619353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46134618399999 meters 0.08868047471782643 Centerline is valid? [True, True] Translation: X:72.79, Y:-6.14, Z:-3.15 [[ 9.99974265e-01 7.15101356e-03 5.75854941e-04 7.27923498e+01] [-7.15098822e-03 9.99974430e-01 -4.60431982e-05 -6.14158520e+00] [-5.76169472e-04 4.19240813e-05 9.99999833e-01 -3.15262714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.521346184 meters 0.09483405130286214 Centerline is valid? [True, True] Translation: X:72.85, Y:-6.16, Z:-3.15 [[ 9.99989191e-01 3.62433888e-03 2.91238756e-03 7.28498335e+01] [-3.62368673e-03 9.99993408e-01 -2.29167623e-04 -6.16080910e+00] [-2.91319894e-03 2.18611566e-04 9.99995733e-01 -3.15324326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.581346184 meters 0.09458716622255874 Centerline is valid? [True, True] Translation: X:72.91, Y:-6.16, Z:-3.15 [[ 9.99984934e-01 3.33861240e-03 4.35725539e-03 7.29100145e+01] [-3.33715564e-03 9.99994373e-01 -3.41556310e-04 -6.16317587e+00] [-4.35837119e-03 3.27010325e-04 9.99990449e-01 -3.15042406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.641346184 meters 0.0887958005190768 Centerline is valid? [True, True] Translation: X:72.97, Y:-6.16, Z:-3.15 [[ 9.99969873e-01 5.06872307e-03 5.87880814e-03 7.29710558e+01] [-5.06610299e-03 9.99987061e-01 -4.60488971e-04 -6.16109441e+00] [-5.88106617e-03 4.30692451e-04 9.99982614e-01 -3.15278687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.701346184 meters 0.09027468156284273 Centerline is valid? [True, True] Translation: X:73.03, Y:-6.17, Z:-3.16 [[ 9.99983126e-01 5.69278682e-03 1.15747410e-03 7.30314880e+01] [-5.69268653e-03 9.99983792e-01 -8.99197203e-05 -6.17135515e+00] [-1.15796723e-03 8.33290658e-05 9.99999326e-01 -3.16361186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76134618399999 meters 0.08928574129752337 Centerline is valid? [True, True] Translation: X:73.09, Y:-6.17, Z:-3.17 [[ 9.99979212e-01 6.25115565e-03 -1.58096389e-03 7.30906049e+01] [-6.25097034e-03 9.99980455e-01 1.22128135e-04 -6.17082670e+00] [ 1.58169644e-03 -1.12243038e-04 9.99998743e-01 -3.16510258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82134618399999 meters 0.08848429241466792 Centerline is valid? [True, True] Translation: X:73.15, Y:-6.17, Z:-3.17 [[ 9.99970834e-01 6.94875975e-03 -3.16952845e-03 7.31495475e+01] [-6.94801352e-03 9.99975832e-01 2.46389540e-04 -6.17247498e+00] [ 3.17116395e-03 -2.24360427e-04 9.99994947e-01 -3.16700384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.881346184 meters 0.08898437142594062 Centerline is valid? [True, True] Translation: X:73.21, Y:-6.18, Z:-3.17 [[ 9.99971111e-01 7.19194245e-03 -2.46021673e-03 7.32081730e+01] [-7.19149495e-03 9.99974123e-01 1.90694597e-04 -6.17798552e+00] [ 2.46152453e-03 -1.72996452e-04 9.99996955e-01 -3.16813244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.941346184 meters 0.08996675229049299 Centerline is valid? [True, True] Translation: X:73.27, Y:-6.18, Z:-3.17 [[ 9.99952076e-01 9.54802944e-03 -2.16342043e-03 7.32664486e+01] [-9.54768708e-03 9.99954406e-01 1.68523010e-04 -6.18253924e+00] [ 2.16493085e-03 -1.47859272e-04 9.99997646e-01 -3.17282900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.001346184 meters 0.08983443672713512 Centerline is valid? [True, True] Translation: X:73.33, Y:-6.18, Z:-3.18 [[ 9.99912357e-01 1.31087288e-02 -1.85476901e-03 7.33254711e+01] [-1.31084832e-02 9.99914070e-01 1.44488521e-04 -6.18476927e+00] [ 1.85650369e-03 -1.20162649e-04 9.99998269e-01 -3.17658910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.061346184 meters 0.08967843247117413 Centerline is valid? [True, True] Translation: X:73.38, Y:-6.19, Z:-3.18 [[ 9.99904853e-01 1.36762794e-02 -1.80128381e-03 7.33849322e+01] [-1.36760502e-02 9.99906469e-01 1.39492488e-04 -6.18575986e+00] [ 1.80302307e-03 -1.14844768e-04 9.99998368e-01 -3.17663103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12134618399999 meters 0.08600804939389436 Centerline is valid? [True, True] Translation: X:73.44, Y:-6.18, Z:-3.17 [[ 9.99917940e-01 1.27637023e-02 1.09565220e-03 7.34446439e+01] [-1.27636143e-02 9.99918538e-01 -8.72961548e-05 -6.18066591e+00] [-1.09667717e-03 7.33045092e-05 9.99999396e-01 -3.17097126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18134618399999 meters 0.09109801088608434 Centerline is valid? [True, True] Translation: X:73.50, Y:-6.19, Z:-3.17 [[ 9.99952396e-01 9.49092991e-03 2.26456134e-03 7.35027676e+01] [-9.49055311e-03 9.99954948e-01 -1.77077753e-04 -6.19231011e+00] [-2.26613995e-03 1.55577384e-04 9.99997420e-01 -3.17294959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.241346184 meters 0.09051827650216462 Centerline is valid? [True, True] Translation: X:73.56, Y:-6.20, Z:-3.18 [[ 9.99988593e-01 3.87409043e-03 2.79391406e-03 7.35626231e+01] [-3.87349521e-03 9.99992474e-01 -2.18418911e-04 -6.19582608e+00] [-2.79473921e-03 2.07594206e-04 9.99996073e-01 -3.17526668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.301346184 meters 0.09492914482618424 Centerline is valid? [True, True] Translation: X:73.62, Y:-6.21, Z:-3.18 [[ 9.99992437e-01 9.98642371e-05 3.88782879e-03 7.36210395e+01] [-9.86843708e-05 9.99999949e-01 -3.03667560e-04 -6.21085287e+00] [-3.88785891e-03 3.03281595e-04 9.99992396e-01 -3.18147501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.361346184 meters 0.09653476027866507 Centerline is valid? [True, True] Translation: X:73.68, Y:-6.21, Z:-3.18 [[ 9.99988077e-01 -2.55777784e-03 4.15966796e-03 7.36820708e+01] [ 2.55914828e-03 9.99996673e-01 -3.24170487e-04 -6.21230248e+00] [-4.15882497e-03 3.34811829e-04 9.99991296e-01 -3.17824562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.421346184 meters 0.09669214975841904 Centerline is valid? [True, True] Translation: X:73.74, Y:-6.22, Z:-3.18 [[ 9.99991037e-01 -3.06116734e-03 2.92498866e-03 7.37435962e+01] [ 3.06184466e-03 9.99995287e-01 -2.27114842e-04 -6.21553756e+00] [-2.92427964e-03 2.36068667e-04 9.99995696e-01 -3.17944322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48134618399999 meters 0.10233270519603845 Centerline is valid? [True, False] Translation: X:73.74, Y:-6.22, Z:-3.18 [[ 9.99991108e-01 -2.34407231e-03 3.50545950e-03 7.37435385e+01] [ 2.33878716e-03 9.99996123e-01 1.51103204e-03 -6.22099572e+00] [-3.50898788e-03 -1.50282008e-03 9.99992714e-01 -3.18144044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54134618399999 meters 0.10412603653348673 Centerline is valid? [False, False] Translation: X:73.74, Y:-6.22, Z:-3.18 [[ 9.99990651e-01 -2.39571633e-03 3.59991995e-03 7.37433843e+01] [ 2.39016219e-03 9.99995948e-01 1.54636119e-03 -6.22100352e+00] [-3.60361000e-03 -1.53774234e-03 9.99992325e-01 -3.18153030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.601346184 meters 0.09923358776602616 Centerline is valid? [False, True] Translation: X:73.74, Y:-6.21, Z:-3.18 [[ 9.99995474e-01 9.05186264e-04 2.86922863e-03 7.37434151e+01] [-9.13312686e-04 9.99995572e-01 2.83222317e-03 -6.21334431e+00] [-2.86665224e-03 -2.83483085e-03 9.99991873e-01 -3.17804500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.661346184 meters 0.08952007325147866 Centerline is valid? [True, True] Translation: X:73.80, Y:-6.21, Z:-3.18 [[ 9.99973824e-01 6.59700429e-03 2.97168698e-03 7.38042039e+01] [-6.59631920e-03 9.99978215e-01 -2.40281880e-04 -6.20875335e+00] [-2.97320738e-03 2.20673394e-04 9.99995556e-01 -3.18093950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.721346184 meters 0.08810502798396264 Centerline is valid? [True, True] Translation: X:73.86, Y:-6.21, Z:-3.18 [[ 9.99967455e-01 7.63561064e-03 2.60502649e-03 7.38630092e+01] [-7.63508407e-03 9.99970830e-01 -2.12020119e-04 -6.21083339e+00] [-2.60656940e-03 1.92123622e-04 9.99996584e-01 -3.18169605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.781346184 meters 0.08830986791638974 Centerline is valid? [True, True] Translation: X:73.92, Y:-6.21, Z:-3.18 [[ 9.99958373e-01 9.08974677e-03 7.93076973e-04 7.39227348e+01] [-9.08969790e-03 9.99958686e-01 -6.52065236e-05 -6.20879409e+00] [-7.93636918e-04 5.79949792e-05 9.99999683e-01 -3.18013298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.841346184 meters 0.08681309344860248 Centerline is valid? [True, True] Translation: X:73.98, Y:-6.22, Z:-3.18 [[ 9.99935778e-01 1.13322930e-02 1.39116296e-04 7.39819477e+01] [-1.13322915e-02 9.99935787e-01 -1.20254424e-05 -6.21608452e+00] [-1.39243638e-04 1.04481637e-05 9.99999990e-01 -3.18454542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90134618399999 meters 0.08607082882744738 Centerline is valid? [True, True] Translation: X:74.04, Y:-6.23, Z:-3.19 [[ 9.99941624e-01 1.06045410e-02 2.07165328e-03 7.40397446e+01] [-1.06042128e-02 9.99943759e-01 -1.69345507e-04 -6.22530112e+00] [-2.07333260e-03 1.47367369e-04 9.99997840e-01 -3.18502200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96134618399999 meters 0.08763199822286025 Centerline is valid? [True, True] Translation: X:74.10, Y:-6.22, Z:-3.18 [[ 9.99958857e-01 9.07078843e-03 7.03482010e-05 7.40993329e+01] [-9.07078797e-03 9.99958860e-01 -6.85615343e-06 -6.22363107e+00] [-7.04074975e-05 6.21775773e-06 9.99999998e-01 -3.18154364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.021346184 meters 0.08934669055987263 Centerline is valid? [True, True] Translation: X:74.16, Y:-6.23, Z:-3.19 [[ 9.99944104e-01 9.67355013e-03 -4.26749950e-03 7.41559261e+01] [-9.67218122e-03 9.99953165e-01 3.41299845e-04 -6.23423576e+00] [ 4.27060122e-03 -3.00004739e-04 9.99990836e-01 -3.19267588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.081346184 meters 0.08731794056047523 Centerline is valid? [True, True] Translation: X:74.21, Y:-6.24, Z:-3.20 [[ 9.99934422e-01 9.43978356e-03 -6.48397090e-03 7.42146138e+01] [-9.43661265e-03 9.99955339e-01 5.19457951e-04 -6.23811915e+00] [ 6.48858489e-03 -4.58237164e-04 9.99978844e-01 -3.19611521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.141346184 meters 0.0883941437749594 Centerline is valid? [True, True] Translation: X:74.27, Y:-6.24, Z:-3.19 [[ 9.99939205e-01 7.81642455e-03 -7.77758081e-03 7.42737923e+01] [-7.81181085e-03 9.99969293e-01 6.23406781e-04 -6.23875251e+00] [ 7.78221479e-03 -5.62611891e-04 9.99969560e-01 -3.19478173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.201346184 meters 0.08855285540640002 Centerline is valid? [True, True] Translation: X:74.33, Y:-6.24, Z:-3.19 [[ 9.99941069e-01 8.41560250e-03 -6.85830011e-03 7.43325345e+01] [-8.41203594e-03 9.99964468e-01 5.48716855e-04 -6.23938014e+00] [ 6.86267420e-03 -4.90992251e-04 9.99976331e-01 -3.19377100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26134618399999 meters 0.08894062098642774 Centerline is valid? [True, True] Translation: X:74.39, Y:-6.25, Z:-3.20 [[ 9.99926130e-01 9.56572366e-03 -7.49872451e-03 7.43908902e+01] [-9.56149480e-03 9.99954108e-01 5.99591927e-04 -6.24857265e+00] [ 7.50411591e-03 -5.27848620e-04 9.99971704e-01 -3.20138708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32134618399999 meters 0.09106542074104736 Centerline is valid? [True, True] Translation: X:74.45, Y:-6.25, Z:-3.20 [[ 9.99936157e-01 7.11249087e-03 -8.78034625e-03 7.44507131e+01] [-7.10658741e-03 9.99974501e-01 7.03366833e-04 -6.25239196e+00] [ 8.78512505e-03 -6.40923630e-04 9.99961205e-01 -3.20209805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.381346184 meters 0.09318727376981911 Centerline is valid? [True, True] Translation: X:74.51, Y:-6.26, Z:-3.20 [[ 9.99931341e-01 6.02661506e-03 -1.00495666e-02 7.45086622e+01] [-6.01884461e-03 9.99981564e-01 8.03278116e-04 -6.25619100e+00] [ 1.00542224e-02 -7.42736183e-04 9.99949179e-01 -3.20251708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.441346184 meters 0.09441440713173914 Centerline is valid? [True, True] Translation: X:74.57, Y:-6.26, Z:-3.20 [[ 9.99946441e-01 4.61720602e-03 -9.26265755e-03 7.45670209e+01] [-4.61055146e-03 9.99989098e-01 7.39653025e-04 -6.26462799e+00] [ 9.26597170e-03 -6.96907450e-04 9.99956827e-01 -3.20310878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.501346184 meters 0.09722543960182718 Centerline is valid? [True, True] Translation: X:74.62, Y:-6.28, Z:-3.21 [[ 9.99958466e-01 2.67739916e-03 -8.71197515e-03 7.46245467e+01] [-2.67144476e-03 9.99996190e-01 6.95037563e-04 -6.27684467e+00] [ 8.71380286e-03 -6.71735135e-04 9.99961808e-01 -3.20655794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.561346184 meters 0.09816720947113532 Centerline is valid? [True, True] Translation: X:74.68, Y:-6.28, Z:-3.21 [[ 9.99962874e-01 2.56961977e-03 -8.22487927e-03 7.46833185e+01] [-2.56431388e-03 9.99996497e-01 6.55582936e-04 -6.28353955e+00] [ 8.22653506e-03 -6.34467424e-04 9.99965960e-01 -3.20759047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62134618399999 meters 0.09920916900359349 Centerline is valid? [True, True] Translation: X:74.74, Y:-6.29, Z:-3.21 [[ 9.99942147e-01 3.70581976e-03 -1.00980359e-02 7.47412668e+01] [-3.69788760e-03 9.99992840e-01 8.04072723e-04 -6.28580921e+00] [ 1.01009434e-02 -7.66684803e-04 9.99948690e-01 -3.20862504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68134618399999 meters 0.10009286629915 Centerline is valid? [True, False] Translation: X:74.74, Y:-6.29, Z:-3.21 [[ 9.99942714e-01 -1.18157365e-04 -1.07030215e-02 7.47427657e+01] [ 8.53704663e-05 9.99995303e-01 -3.06373614e-03 -6.28648714e+00] [ 1.07033332e-02 3.06264691e-03 9.99938028e-01 -3.20881474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.741346184 meters 0.10381890238448892 Centerline is valid? [False, False] Translation: X:74.74, Y:-6.29, Z:-3.21 [[ 9.99936420e-01 -3.64374401e-03 -1.06714499e-02 7.47429486e+01] [ 3.58230278e-03 9.99976931e-01 -5.77100006e-03 -6.29224518e+00] [ 1.06922317e-02 5.73240478e-03 9.99926405e-01 -3.20932441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.801346184 meters 0.091606966241454 Centerline is valid? [False, True] Translation: X:74.74, Y:-6.29, Z:-3.21 [[ 9.99935485e-01 -3.37652427e-03 -1.08454939e-02 7.47435311e+01] [ 3.31919171e-03 9.99980447e-01 -5.29995891e-03 -6.29316490e+00] [ 1.08631773e-02 5.26361871e-03 9.99927140e-01 -3.20965637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.861346184 meters 0.09469953263567515 Centerline is valid? [True, True] Translation: X:74.80, Y:-6.31, Z:-3.23 [[ 9.99894010e-01 3.52267121e-03 -1.41265751e-02 7.48012482e+01] [-3.50787854e-03 9.99993273e-01 1.07179342e-03 -6.30539758e+00] [ 1.41302556e-02 -1.02212551e-03 9.99899641e-01 -3.22525398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.921346184 meters 0.09380440769243736 Centerline is valid? [True, True] Translation: X:74.86, Y:-6.31, Z:-3.23 [[ 9.99826388e-01 8.84599658e-03 -1.63994785e-02 7.48605362e+01] [-8.82676464e-03 9.99960269e-01 1.24472987e-03 -6.31081630e+00] [ 1.64098378e-02 -1.09975943e-03 9.99864745e-01 -3.23297845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98134618399999 meters 0.0931879561678945 Centerline is valid? [True, True] Translation: X:74.92, Y:-6.31, Z:-3.23 [[ 9.99792648e-01 1.15944328e-02 -1.67400874e-02 7.49210717e+01] [-1.15747802e-02 9.99932203e-01 1.27039939e-03 -6.30814547e+00] [ 1.67536820e-02 -1.07637314e-03 9.99859068e-01 -3.23111349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04134618399999 meters 0.08744335402426083 Centerline is valid? [True, True] Translation: X:74.98, Y:-6.31, Z:-3.23 [[ 9.99791968e-01 1.21416405e-02 -1.63890379e-02 7.49802907e+01] [-1.21229148e-02 9.99925744e-01 1.24144399e-03 -6.30514565e+00] [ 1.64028941e-02 -1.04250282e-03 9.99864920e-01 -3.22850314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.101346184 meters 0.0952950959509751 Centerline is valid? [True, True] Translation: X:75.04, Y:-6.32, Z:-3.24 [[ 9.99787989e-01 1.21427573e-02 -1.66291959e-02 7.50356746e+01] [-1.21235298e-02 9.99925718e-01 1.25657329e-03 -6.32401071e+00] [ 1.66432189e-02 -1.05470233e-03 9.99860936e-01 -3.23983674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.161346184 meters 0.0841231269872236 Centerline is valid? [True, True] Translation: X:75.10, Y:-6.31, Z:-3.23 [[ 9.99788588e-01 1.30110914e-02 -1.59213985e-02 7.50962756e+01] [-1.29936772e-02 9.99914862e-01 1.19672160e-03 -6.30849871e+00] [ 1.59356137e-02 -9.89591084e-04 9.99872530e-01 -3.22893815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.221346184 meters 0.08497452063063632 Centerline is valid? [True, True] Translation: X:75.16, Y:-6.31, Z:-3.23 [[ 9.99816765e-01 1.38166545e-02 -1.32490364e-02 7.51552786e+01] [-1.38046254e-02 9.99904213e-01 9.98950506e-04 -6.31238775e+00] [ 1.32615694e-02 -8.15869479e-04 9.99911729e-01 -3.22865398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.281346184 meters 0.08561912784048896 Centerline is valid? [True, True] Translation: X:75.21, Y:-6.32, Z:-3.23 [[ 9.99850450e-01 1.33946267e-02 -1.09390168e-02 7.52135796e+01] [-1.33864198e-02 9.99910059e-01 8.23121290e-04 -6.31826660e+00] [ 1.09490583e-02 -6.76563921e-04 9.99939828e-01 -3.22839750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.341346184 meters 0.08708462641539355 Centerline is valid? [True, True] Translation: X:75.27, Y:-6.33, Z:-3.23 [[ 9.99865829e-01 1.15959177e-02 -1.15697201e-02 7.52724958e+01] [-1.15866183e-02 9.99932494e-01 8.70475803e-04 -6.32504812e+00] [ 1.15790330e-02 -7.36305080e-04 9.99932690e-01 -3.23084686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40134618399999 meters 0.08999769825301146 Centerline is valid? [True, True] Translation: X:75.33, Y:-6.34, Z:-3.24 [[ 9.99886184e-01 7.06953708e-03 -1.33281727e-02 7.53320092e+01] [-7.05677726e-03 9.99974596e-01 1.00414328e-03 -6.34142159e+00] [ 1.33349330e-02 -9.09975050e-04 9.99910672e-01 -3.24077698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46134618399999 meters 0.0896219410587918 Centerline is valid? [True, True] Translation: X:75.39, Y:-6.35, Z:-3.24 [[ 9.99823695e-01 4.38741042e-03 -1.82573262e-02 7.53920694e+01] [-4.36302032e-03 9.99989536e-01 1.37552520e-03 -6.34579949e+00] [ 1.82631701e-02 -1.29562561e-03 9.99832375e-01 -3.24473111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.521346184 meters 0.08976239285904981 Centerline is valid? [True, True] Translation: X:75.45, Y:-6.34, Z:-3.24 [[ 9.99796858e-01 2.05611232e-03 -2.00503273e-02 7.54525046e+01] [-2.02624237e-03 9.99996807e-01 1.50995050e-03 -6.34471069e+00] [ 2.00533679e-02 -1.46901694e-03 9.99797832e-01 -3.24378121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.581346184 meters 0.09497190650787471 Centerline is valid? [True, True] Translation: X:75.51, Y:-6.36, Z:-3.25 [[ 9.99804920e-01 3.35252532e-04 -1.97486389e-02 7.55099254e+01] [-3.05978699e-04 9.99998850e-01 1.48532452e-03 -6.36314260e+00] [ 1.97491142e-02 -1.47899210e-03 9.99803873e-01 -3.24958987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.641346184 meters 0.09220987117938938 Centerline is valid? [True, True] Translation: X:75.57, Y:-6.36, Z:-3.24 [[ 9.99808036e-01 -2.30015405e-03 -1.94576723e-02 7.55701597e+01] [ 2.32907381e-03 9.99996216e-01 1.46376019e-03 -6.36200260e+00] [ 1.94542318e-02 -1.50879755e-03 9.99809610e-01 -3.24482377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.701346184 meters 0.1004129543576626 Centerline is valid? [True, False] Translation: X:75.56, Y:-6.36, Z:-3.25 [[ 9.99993167e-01 -3.13168852e-03 -1.96418848e-03 7.55649597e+01] [ 3.13842454e-03 9.99989173e-01 3.43576425e-03 -6.36319522e+00] [ 1.95340747e-03 -3.44190523e-03 9.99992169e-01 -3.25177094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76134618399999 meters 0.0925903482120357 Centerline is valid? [False, True] Translation: X:75.57, Y:-6.37, Z:-3.25 [[ 9.99995757e-01 -2.10747819e-03 -2.01113794e-03 7.55668028e+01] [ 2.11742848e-03 9.99985466e-01 4.95835232e-03 -6.36647154e+00] [ 2.00065909e-03 -4.96258973e-03 9.99985685e-01 -3.25449488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82134618399999 meters 0.0949887044907762 Centerline is valid? [True, True] Translation: X:75.63, Y:-6.37, Z:-3.26 [[ 9.99996856e-01 2.50550063e-03 1.03613044e-04 7.56265801e+01] [-2.50549985e-03 9.99996861e-01 -7.71844761e-06 -6.36909918e+00] [-1.03632057e-04 7.45882087e-06 9.99999995e-01 -3.25509348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.881346184 meters 0.09930213205823127 Centerline is valid? [True, True] Translation: X:75.69, Y:-6.38, Z:-3.26 [[ 9.99988148e-01 4.49129534e-03 1.87926679e-03 7.56854393e+01] [-4.49102725e-03 9.99989905e-01 -1.46850168e-04 -6.37641890e+00] [-1.87990737e-03 1.38408589e-04 9.99998223e-01 -3.25709159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.941346184 meters 0.09532945263603042 Centerline is valid? [True, True] Translation: X:75.75, Y:-6.38, Z:-3.26 [[ 9.99998294e-01 1.11527614e-03 1.47245606e-03 7.57458673e+01] [-1.11510917e-03 9.99999372e-01 -1.14211181e-04 -6.38038172e+00] [-1.47258251e-03 1.12569037e-04 9.99998909e-01 -3.25807351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.001346184 meters 0.09525067312943293 Centerline is valid? [True, True] Translation: X:75.81, Y:-6.39, Z:-3.26 [[ 9.99996341e-01 -7.87292331e-04 2.58803449e-03 7.58063160e+01] [ 7.87814194e-04 9.99999670e-01 -2.00631204e-04 -6.38711764e+00] [-2.58787568e-03 2.02669361e-04 9.99996631e-01 -3.25826532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.061346184 meters 0.1006638767764259 Centerline is valid? [True, False] Translation: X:75.80, Y:-6.39, Z:-3.26 [[ 9.99994249e-01 -9.60016475e-04 3.25283251e-03 7.58046188e+01] [ 9.58691600e-04 9.99999457e-01 4.08833515e-04 -6.39043146e+00] [-3.25322323e-03 -4.05712700e-04 9.99994626e-01 -3.25784621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12134618399999 meters 0.10612490501183382 Centerline is valid? [False, False] Translation: X:75.80, Y:-6.39, Z:-3.26 [[ 9.99982671e-01 -4.79081750e-03 3.42132294e-03 7.58047064e+01] [ 4.79968412e-03 9.99985132e-01 -2.58808324e-03 -6.39394076e+00] [-3.40887304e-03 2.60445966e-03 9.99990798e-01 -3.25876632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18134618399999 meters 0.10841956033545845 Centerline is valid? [False, False] Translation: X:75.80, Y:-6.40, Z:-3.26 [[ 9.99980628e-01 -4.34978269e-03 4.45238857e-03 7.58031823e+01] [ 4.34986309e-03 9.99990539e-01 -8.37371999e-06 -6.40270197e+00] [-4.45231003e-03 2.77408385e-05 9.99990088e-01 -3.26060206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.241346184 meters 0.11304365317868681 Centerline is valid? [False, False] Translation: X:75.80, Y:-6.41, Z:-3.26 [[ 9.99981383e-01 -4.12449021e-03 4.49687993e-03 7.58030011e+01] [ 4.12126274e-03 9.99991243e-01 7.26742522e-04 -6.40504618e+00] [-4.49983799e-03 -7.08196169e-04 9.99989625e-01 -3.26054701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.301346184 meters 0.10056279828666935 Centerline is valid? [False, False] Translation: X:75.80, Y:-6.41, Z:-3.26 [[ 9.99981270e-01 -3.86911116e-03 4.74224132e-03 7.58021776e+01] [ 3.86185559e-03 9.99991360e-01 1.53819106e-03 -6.40896606e+00] [-4.74815178e-03 -1.51984840e-03 9.99987572e-01 -3.26022251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.361346184 meters 0.1011112631075368 Centerline is valid? [False, False] Translation: X:75.80, Y:-6.41, Z:-3.26 [[ 9.99986419e-01 -2.65300950e-03 4.48596483e-03 7.58038094e+01] [ 2.63752559e-03 9.99990557e-01 3.45403388e-03 -6.41388067e+00] [-4.49508605e-03 -3.44215513e-03 9.99983973e-01 -3.26200911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.421346184 meters 0.11236763040664285 Centerline is valid? [False, False] Translation: X:75.80, Y:-6.41, Z:-3.26 [[ 9.99989237e-01 -2.45967472e-03 3.93399392e-03 7.58049793e+01] [ 2.44675201e-03 9.99991607e-01 3.28632846e-03 -6.41298354e+00] [-3.94204420e-03 -3.27666758e-03 9.99986862e-01 -3.26199631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48134618399999 meters 0.09790540290042393 Centerline is valid? [False, True] Translation: X:75.81, Y:-6.41, Z:-3.26 [[ 9.99990682e-01 -2.53192701e-03 3.49633722e-03 7.58056012e+01] [ 2.52247481e-03 9.99993159e-01 2.70522748e-03 -6.41127731e+00] [-3.50316274e-03 -2.69638285e-03 9.99990229e-01 -3.26143746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54134618399999 meters 0.09615811104401892 Centerline is valid? [True, True] Translation: X:75.87, Y:-6.41, Z:-3.26 [[ 9.99983139e-01 3.28207815e-03 4.79064917e-03 7.58653995e+01] [-3.28020535e-03 9.99994541e-01 -3.98732053e-04 -6.41151622e+00] [-4.79193169e-03 3.83011017e-04 9.99988445e-01 -3.26023131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.601346184 meters 0.08838765426725671 Centerline is valid? [True, True] Translation: X:75.93, Y:-6.40, Z:-3.26 [[ 9.99955038e-01 6.27775087e-03 7.10714680e-03 7.59265723e+01] [-6.27370442e-03 9.99980145e-01 -5.91500518e-04 -6.40328749e+00] [-7.11071898e-03 5.46885785e-04 9.99974569e-01 -3.25718725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.661346184 meters 0.09075822707396299 Centerline is valid? [True, True] Translation: X:75.99, Y:-6.41, Z:-3.26 [[ 9.99950591e-01 6.13737060e-03 7.81969408e-03 7.59863235e+01] [-6.13247192e-03 9.99980985e-01 -6.50277896e-04 -6.40857645e+00] [-7.82353638e-03 6.02291712e-04 9.99969214e-01 -3.25799985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.721346184 meters 0.09078172510097662 Centerline is valid? [True, True] Translation: X:76.05, Y:-6.41, Z:-3.26 [[ 9.99959210e-01 6.49187312e-03 6.27958331e-03 7.60471866e+01] [-6.48872471e-03 9.99978812e-01 -5.21616622e-04 -6.41370939e+00] [-6.28283653e-03 4.80848858e-04 9.99980147e-01 -3.26450937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.781346184 meters 0.09003502201915987 Centerline is valid? [True, True] Translation: X:76.11, Y:-6.42, Z:-3.27 [[ 9.99966736e-01 5.50966559e-03 6.01415677e-03 7.61075631e+01] [-5.50675571e-03 9.99984713e-01 -5.00290067e-04 -6.41955661e+00] [-6.01682126e-03 4.67154934e-04 9.99981790e-01 -3.26936296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.841346184 meters 0.09521140509000899 Centerline is valid? [True, True] Translation: X:76.17, Y:-6.42, Z:-3.27 [[ 9.99977718e-01 3.11316169e-03 5.90515546e-03 7.61673166e+01] [-3.11032428e-03 9.99995043e-01 -4.89619301e-04 -6.42382841e+00] [-5.90665045e-03 4.71241443e-04 9.99982445e-01 -3.27078952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90134618399999 meters 0.09518250804329756 Centerline is valid? [True, True] Translation: X:76.23, Y:-6.43, Z:-3.27 [[ 9.99959579e-01 3.18928887e-03 8.40642525e-03 7.62289524e+01] [-3.18352217e-03 9.99994688e-01 -6.99279373e-04 -6.42828670e+00] [-8.40861080e-03 6.72489066e-04 9.99964421e-01 -3.27149445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96134618399999 meters 0.0907921163506664 Centerline is valid? [True, True] Translation: X:76.29, Y:-6.43, Z:-3.27 [[ 9.99902303e-01 5.28774505e-03 1.29392780e-02 7.62900379e+01] [-5.27421715e-03 9.99985509e-01 -1.07939151e-03 -6.42574145e+00] [-1.29447981e-02 1.01104149e-03 9.99915701e-01 -3.26800741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.021346184 meters 0.08950559492889577 Centerline is valid? [True, True] Translation: X:76.35, Y:-6.42, Z:-3.27 [[ 9.99874854e-01 6.30937347e-03 1.45075521e-02 7.63522062e+01] [-6.29250135e-03 9.99979472e-01 -1.20834205e-03 -6.42361487e+00] [-1.45148782e-02 1.11690204e-03 9.99894030e-01 -3.26678136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.081346184 meters 0.09365647618309264 Centerline is valid? [True, True] Translation: X:76.41, Y:-6.44, Z:-3.27 [[ 9.99843623e-01 7.91046381e-03 1.58162711e-02 7.64116574e+01] [-7.89056309e-03 9.99967997e-01 -1.32025253e-03 -6.43516709e+00] [-1.58262087e-02 1.19524678e-03 9.99874043e-01 -3.27419396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.141346184 meters 0.08983394529124034 Centerline is valid? [True, True] Translation: X:76.47, Y:-6.43, Z:-3.28 [[ 9.99902584e-01 8.23245447e-03 1.12715989e-02 7.64735192e+01] [-8.22243418e-03 9.99965758e-01 -9.35040165e-04 -6.43495580e+00] [-1.12789106e-02 8.42269097e-04 9.99936036e-01 -3.28023601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.201346184 meters 0.09328352655217377 Centerline is valid? [True, True] Translation: X:76.53, Y:-6.44, Z:-3.28 [[ 9.99907377e-01 7.77381343e-03 1.11715904e-02 7.65347258e+01] [-7.76391290e-03 9.99969429e-01 -9.29320974e-04 -6.43654697e+00] [-1.11784732e-02 8.42499643e-04 9.99937164e-01 -3.27942701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26134618399999 meters 0.08907301530141842 Centerline is valid? [True, True] Translation: X:76.60, Y:-6.44, Z:-3.28 [[ 9.99886274e-01 7.38219659e-03 1.31507719e-02 7.65975536e+01] [-7.36839141e-03 9.99972250e-01 -1.09790599e-03 -6.43937027e+00] [-1.31585119e-02 1.00088110e-03 9.99912922e-01 -3.27975621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32134618399999 meters 0.09043099410443185 Centerline is valid? [True, True] Translation: X:76.66, Y:-6.45, Z:-3.28 [[ 9.99856663e-01 6.65982112e-03 1.55659871e-02 7.66584884e+01] [-6.64030170e-03 9.99977101e-01 -1.30532790e-03 -6.45239915e+00] [-1.55743239e-02 1.20177795e-03 9.99877991e-01 -3.28370232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.381346184 meters 0.09201480375490426 Centerline is valid? [True, True] Translation: X:76.72, Y:-6.46, Z:-3.28 [[ 9.99834743e-01 4.50398112e-03 1.76125030e-02 7.67197970e+01] [-4.47847974e-03 9.99988866e-01 -1.48708739e-03 -6.45536683e+00] [-1.76190047e-02 1.40796440e-03 9.99843782e-01 -3.28190150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.441346184 meters 0.09501755190183547 Centerline is valid? [True, True] Translation: X:76.78, Y:-6.47, Z:-3.29 [[ 9.99887980e-01 6.59844923e-03 1.34346054e-02 7.67794801e+01] [-6.58383368e-03 9.99977686e-01 -1.13184078e-03 -6.46931597e+00] [-1.34417740e-02 1.04326278e-03 9.99909111e-01 -3.29404536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.501346184 meters 0.08980705696685175 Centerline is valid? [True, True] Translation: X:76.84, Y:-6.47, Z:-3.30 [[ 9.99906503e-01 7.79468245e-03 1.12351382e-02 7.68415839e+01] [-7.78456278e-03 9.99969254e-01 -9.44167139e-04 -6.47227827e+00] [-1.12421522e-02 8.56618223e-04 9.99936438e-01 -3.29890468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.561346184 meters 0.09521496893768332 Centerline is valid? [True, True] Translation: X:76.90, Y:-6.48, Z:-3.30 [[ 9.99914360e-01 7.83457431e-03 1.04829910e-02 7.69023147e+01] [-7.82573952e-03 9.99968988e-01 -8.83528922e-04 -6.48385457e+00] [-1.04895880e-02 8.01416099e-04 9.99944662e-01 -3.29922636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62134618399999 meters 0.09702284960589717 Centerline is valid? [True, True] Translation: X:76.96, Y:-6.49, Z:-3.30 [[ 9.99899202e-01 5.19698836e-03 1.32127943e-02 7.69633407e+01] [-5.18258711e-03 9.99985939e-01 -1.12395385e-03 -6.49189881e+00] [-1.32184497e-02 1.05536410e-03 9.99912076e-01 -3.29821256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68134618399999 meters 0.09808524233668774 Centerline is valid? [True, True] Translation: X:77.02, Y:-6.51, Z:-3.31 [[ 9.99934648e-01 2.94030459e-03 1.10478265e-02 7.70224733e+01] [-2.93008851e-03 9.99995265e-01 -9.40785962e-04 -6.51136678e+00] [-1.10505404e-02 9.08353370e-04 9.99938528e-01 -3.31063739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.741346184 meters 0.09480942066705081 Centerline is valid? [True, True] Translation: X:77.08, Y:-6.51, Z:-3.31 [[ 9.99953542e-01 4.69516888e-03 8.41836060e-03 7.70848644e+01] [-4.68931584e-03 9.99988750e-01 -7.14874090e-04 -6.50713172e+00] [-8.42162234e-03 6.75364526e-04 9.99964309e-01 -3.31272089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.801346184 meters 0.09033616978293382 Centerline is valid? [True, True] Translation: X:77.15, Y:-6.50, Z:-3.31 [[ 9.99933001e-01 9.98402756e-03 5.85776098e-03 7.71465221e+01] [-9.98127287e-03 9.99950061e-01 -4.99310148e-04 -6.49799728e+00] [-5.86245357e-03 4.40808784e-04 9.99982719e-01 -3.31430116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.861346184 meters 0.09183452950018337 Centerline is valid? [True, True] Translation: X:77.20, Y:-6.51, Z:-3.32 [[ 9.99891298e-01 1.30619651e-02 6.83940473e-03 7.72045546e+01] [-1.30582770e-02 9.99914567e-01 -5.83629441e-04 -6.50854139e+00] [-6.84644376e-03 4.94255158e-04 9.99976441e-01 -3.32070900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.921346184 meters 0.08973183131864161 Centerline is valid? [True, True] Translation: X:77.26, Y:-6.51, Z:-3.32 [[ 9.99864250e-01 1.41316797e-02 8.47210768e-03 7.72647103e+01] [-1.41260628e-02 9.99899961e-01 -7.22471768e-04 -6.51100610e+00] [-8.48146988e-03 6.02696167e-04 9.99963850e-01 -3.32047258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98134618399999 meters 0.08946550904241349 Centerline is valid? [True, True] Translation: X:77.32, Y:-6.51, Z:-3.32 [[ 9.99884801e-01 1.22502525e-02 8.96189171e-03 7.73239150e+01] [-1.22438842e-02 9.99924748e-01 -7.65120278e-04 -6.51354868e+00] [-8.97059023e-03 6.55303773e-04 9.99959549e-01 -3.31899021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04134618399999 meters 0.09012150929014111 Centerline is valid? [True, True] Translation: X:77.38, Y:-6.52, Z:-3.32 [[ 9.99928398e-01 8.34383360e-03 8.57787331e-03 7.73849039e+01] [-8.33787338e-03 9.99964973e-01 -7.30362993e-04 -6.51585100e+00] [-8.58366688e-03 6.58789476e-04 9.99962943e-01 -3.31859515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.101346184 meters 0.09244016904518383 Centerline is valid? [True, True] Translation: X:77.44, Y:-6.53, Z:-3.33 [[ 9.99954411e-01 3.19241894e-03 8.99918526e-03 7.74446662e+01] [-3.18565954e-03 9.99994633e-01 -7.65347104e-04 -6.53051142e+00] [-9.00158027e-03 7.36643872e-04 9.99959214e-01 -3.32516029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.161346184 meters 0.09433054198449502 Centerline is valid? [True, True] Translation: X:77.50, Y:-6.54, Z:-3.33 [[ 9.99957459e-01 2.42634845e-03 8.89899811e-03 7.75048814e+01] [-2.41973135e-03 9.99996788e-01 -7.54268672e-04 -6.53768436e+00] [-8.90079965e-03 7.32703401e-04 9.99960119e-01 -3.32874871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.221346184 meters 0.09502207592106954 Centerline is valid? [True, True] Translation: X:77.57, Y:-6.54, Z:-3.33 [[ 9.99960483e-01 2.56354458e-03 8.51240936e-03 7.75671267e+01] [-2.55751917e-03 9.99996471e-01 -7.18648965e-04 -6.54307374e+00] [-8.51422161e-03 6.96849916e-04 9.99963511e-01 -3.33202956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.281346184 meters 0.09913730816412311 Centerline is valid? [True, True] Translation: X:77.63, Y:-6.55, Z:-3.34 [[ 9.99956017e-01 2.52471992e-03 9.03266136e-03 7.76279160e+01] [-2.51791261e-03 9.99996537e-01 -7.64925716e-04 -6.55488272e+00] [-9.03456131e-03 7.42148621e-04 9.99958912e-01 -3.33583153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.341346184 meters 0.09838689863599377 Centerline is valid? [True, True] Translation: X:77.69, Y:-6.56, Z:-3.34 [[ 9.99961058e-01 2.62699932e-03 8.42504691e-03 7.76893302e+01] [-2.62105772e-03 9.99996309e-01 -7.16194345e-04 -6.56165542e+00] [-8.42689725e-03 6.94083921e-04 9.99964252e-01 -3.33870482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40134618399999 meters 0.10240859466107169 Centerline is valid? [True, False] Translation: X:77.69, Y:-6.56, Z:-3.34 [[ 9.99959765e-01 2.77247280e-03 8.53122725e-03 7.76890058e+01] [-2.77171197e-03 9.99996154e-01 -1.01003789e-04 -6.56368100e+00] [-8.53147447e-03 7.73536203e-05 9.99963603e-01 -3.33860623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46134618399999 meters 0.10191073493358753 Centerline is valid? [False, False] Translation: X:77.69, Y:-6.57, Z:-3.34 [[ 9.99955482e-01 2.99770785e-03 8.94697054e-03 7.76880369e+01] [-3.00554480e-03 9.99995111e-01 8.62616016e-04 -6.56770128e+00] [-8.94434093e-03 -8.89468135e-04 9.99959603e-01 -3.33869272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.521346184 meters 0.10419038094220388 Centerline is valid? [False, False] Translation: X:77.69, Y:-6.57, Z:-3.34 [[ 9.99952095e-01 3.10361619e-03 9.28301592e-03 7.76870012e+01] [-3.11768590e-03 9.99994013e-01 1.50155340e-03 -6.57097439e+00] [-9.27830010e-03 -1.53042300e-03 9.99955784e-01 -3.33833886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.581346184 meters 0.09673972465859808 Centerline is valid? [False, True] Translation: X:77.69, Y:-6.57, Z:-3.34 [[ 9.99962578e-01 -6.36793729e-04 8.62770256e-03 7.76887571e+01] [ 6.57571962e-04 9.99996890e-01 -2.40569327e-03 -6.57087733e+00] [-8.62614380e-03 2.41127658e-03 9.99959887e-01 -3.33888323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.641346184 meters 0.0961111888533613 Centerline is valid? [True, True] Translation: X:77.75, Y:-6.58, Z:-3.34 [[ 9.99984757e-01 -7.06019107e-04 5.47614206e-03 7.77502143e+01] [ 7.08645932e-04 9.99999635e-01 -4.77759844e-04 -6.57568985e+00] [-5.47580276e-03 4.81633207e-04 9.99984892e-01 -3.34391009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.701346184 meters 0.10182299136825035 Centerline is valid? [True, False] Translation: X:77.75, Y:-6.58, Z:-3.35 [[ 9.99981205e-01 -2.92195105e-04 6.12409657e-03 7.77495110e+01] [ 2.85858629e-04 9.99999423e-01 1.03552908e-03 -6.58101187e+00] [-6.12439561e-03 -1.03375899e-03 9.99980711e-01 -3.34522567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76134618399999 meters 0.10124241571301358 Centerline is valid? [False, False] Translation: X:77.75, Y:-6.58, Z:-3.35 [[ 9.99979362e-01 -4.96247692e-05 6.42448779e-03 7.77488646e+01] [ 3.72203560e-05 9.99998135e-01 1.93090707e-03 -6.58455405e+00] [-6.42457163e-03 -1.93062810e-03 9.99977499e-01 -3.34539739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82134618399999 meters 0.10079444758023191 Centerline is valid? [False, False] Translation: X:77.75, Y:-6.59, Z:-3.34 [[ 9.99979490e-01 8.07438775e-05 6.40408736e-03 7.77484860e+01] [-9.57459824e-05 9.99997252e-01 2.34231081e-03 -6.58654393e+00] [-6.40388063e-03 -2.34287594e-03 9.99976750e-01 -3.34482869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.881346184 meters 0.09483653644107636 Centerline is valid? [False, True] Translation: X:77.75, Y:-6.58, Z:-3.34 [[ 9.99986450e-01 1.94528642e-04 5.20218171e-03 7.77504481e+01] [-2.01102672e-04 9.99999182e-01 1.26321311e-03 -6.58159511e+00] [-5.20193172e-03 -1.26424216e-03 9.99985671e-01 -3.34383603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.941346184 meters 0.09781365498892888 Centerline is valid? [True, True] Translation: X:77.81, Y:-6.59, Z:-3.35 [[ 9.99985331e-01 3.69378462e-03 3.96146349e-03 7.78083786e+01] [-3.69243829e-03 9.99993123e-01 -3.47117755e-04 -6.59443892e+00] [-3.96271842e-03 3.32485203e-04 9.99992093e-01 -3.35213049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.001346184 meters 0.09443330894445191 Centerline is valid? [True, True] Translation: X:77.87, Y:-6.60, Z:-3.35 [[ 9.99982620e-01 5.07892220e-03 2.99396555e-03 7.78697879e+01] [-5.07816618e-03 9.99987072e-01 -2.60062445e-04 -6.59671124e+00] [-2.99524768e-03 2.44854071e-04 9.99995484e-01 -3.35403800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.061346184 meters 0.09531602294319413 Centerline is valid? [True, True] Translation: X:77.93, Y:-6.60, Z:-3.36 [[ 9.99992413e-01 2.42255776e-03 3.05052135e-03 7.79296666e+01] [-2.42175395e-03 9.99997032e-01 -2.67166417e-04 -6.60176356e+00] [-3.05115952e-03 2.59776778e-04 9.99995311e-01 -3.35573638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12134618399999 meters 0.09732920411349102 Centerline is valid? [True, True] Translation: X:77.99, Y:-6.61, Z:-3.36 [[ 9.99993764e-01 9.22997185e-04 3.40875078e-03 7.79897343e+01] [-9.21989964e-04 9.99999531e-01 -2.97040669e-04 -6.61304045e+00] [-3.40902335e-03 2.93895983e-04 9.99994146e-01 -3.36052415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18134618399999 meters 0.09984211408849121 Centerline is valid? [True, True] Translation: X:78.05, Y:-6.63, Z:-3.37 [[ 9.99997239e-01 -4.62897712e-04 2.30398414e-03 7.80489897e+01] [ 4.63361077e-04 9.99999873e-01 -2.00585079e-04 -6.62519765e+00] [-2.30389099e-03 2.01652102e-04 9.99997326e-01 -3.36598618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.241346184 meters 0.09939617580633185 Centerline is valid? [True, True] Translation: X:78.11, Y:-6.62, Z:-3.37 [[ 9.99999644e-01 3.28395053e-06 8.44297885e-04 7.81118856e+01] [-3.22405397e-06 9.99999997e-01 -7.09437984e-05 -6.62348529e+00] [-8.44298116e-04 7.09410511e-05 9.99999641e-01 -3.36658752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.301346184 meters 0.09909289487547994 Centerline is valid? [True, True] Translation: X:78.17, Y:-6.63, Z:-3.37 [[ 9.99998883e-01 5.76517133e-04 1.37919404e-03 7.81727342e+01] [-5.76352304e-04 9.99999827e-01 -1.19905091e-04 -6.62643160e+00] [-1.37926293e-03 1.19110056e-04 9.99999042e-01 -3.36874898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.361346184 meters 0.10074041381334181 Centerline is valid? [True, False] Translation: X:78.17, Y:-6.63, Z:-3.37 [[ 9.99998633e-01 1.14107913e-03 1.19661033e-03 7.81741522e+01] [-1.14173133e-03 9.99999200e-01 5.44501820e-04 -6.62695623e+00] [-1.19598806e-03 -5.45867283e-04 9.99999136e-01 -3.37040805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.421346184 meters 0.10119549523642138 Centerline is valid? [False, False] Translation: X:78.18, Y:-6.62, Z:-3.37 [[ 9.99999118e-01 1.12892613e-03 6.99845213e-04 7.81754880e+01] [-1.12876760e-03 9.99999337e-01 -2.26875643e-04 -6.62310226e+00] [-7.00100875e-04 2.26085480e-04 9.99999729e-01 -3.37063807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48134618399999 meters 0.09527033382493852 Centerline is valid? [False, True] Translation: X:78.18, Y:-6.62, Z:-3.37 [[ 9.99999568e-01 9.21143082e-04 1.27283823e-04 7.81768384e+01] [-9.20969552e-04 9.99998656e-01 -1.35672987e-03 -6.61791650e+00] [-1.28533394e-04 1.35661206e-03 9.99999072e-01 -3.37063567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54134618399999 meters 0.09724071195112585 Centerline is valid? [True, True] Translation: X:78.24, Y:-6.63, Z:-3.38 [[ 9.99991068e-01 3.58611492e-03 2.23698475e-03 7.82360164e+01] [-3.58570880e-03 9.99993554e-01 -1.85532858e-04 -6.62664094e+00] [-2.23763567e-03 1.77510025e-04 9.99997481e-01 -3.37670518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.601346184 meters 0.09578770102202323 Centerline is valid? [True, True] Translation: X:78.30, Y:-6.63, Z:-3.38 [[ 9.99962574e-01 7.76854087e-03 3.80783035e-03 7.82962736e+01] [-7.76739454e-03 9.99969783e-01 -3.15740042e-04 -6.62502997e+00] [-3.81016813e-03 2.86151304e-04 9.99992700e-01 -3.37763712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.661346184 meters 0.09151055770832126 Centerline is valid? [True, True] Translation: X:78.36, Y:-6.62, Z:-3.38 [[ 9.99958683e-01 8.13418469e-03 4.05792643e-03 7.83559234e+01] [-8.13287681e-03 9.99966870e-01 -3.38699545e-04 -6.61726371e+00] [-4.06054703e-03 3.05682935e-04 9.99991709e-01 -3.37513156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.721346184 meters 0.08850770338248277 Centerline is valid? [True, True] Translation: X:78.42, Y:-6.62, Z:-3.37 [[ 9.99938127e-01 9.94010641e-03 4.99357477e-03 7.84157885e+01] [-9.93815856e-03 9.99950529e-01 -4.14732595e-04 -6.61620158e+00] [-4.99745022e-03 3.65079996e-04 9.99987446e-01 -3.37466805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.781346184 meters 0.09930902442568076 Centerline is valid? [True, True] Translation: X:78.47, Y:-6.64, Z:-3.39 [[ 9.99954168e-01 8.64073697e-03 4.12297614e-03 7.84713447e+01] [-8.63939303e-03 9.99962621e-01 -3.43663622e-04 -6.64204614e+00] [-4.12579153e-03 3.08027861e-04 9.99991441e-01 -3.38734640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.841346184 meters 0.10109164273263936 Centerline is valid? [True, False] Translation: X:78.47, Y:-6.64, Z:-3.39 [[ 9.99957268e-01 8.26450373e-03 4.14247530e-03 7.84710469e+01] [-8.26061561e-03 9.99965425e-01 -9.54831142e-04 -6.64009911e+00] [-4.15022327e-03 9.20570944e-04 9.99990964e-01 -3.38686572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90134618399999 meters 0.09677746152639305 Centerline is valid? [False, True] Translation: X:78.48, Y:-6.64, Z:-3.38 [[ 9.99990510e-01 2.72694671e-03 -3.39752086e-03 7.84819915e+01] [-2.72377982e-03 9.99995852e-01 9.36397324e-04 -6.63816980e+00] [ 3.40006027e-03 -9.27134339e-04 9.99993790e-01 -3.38373505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96134618399999 meters 0.09940906967460862 Centerline is valid? [True, True] Translation: X:78.54, Y:-6.65, Z:-3.39 [[ 9.99996012e-01 9.04776286e-05 -2.82289314e-03 7.85411262e+01] [-8.98209720e-05 9.99999969e-01 2.32744220e-04 -6.64868083e+00] [ 2.82291411e-03 -2.32489737e-04 9.99995989e-01 -3.38630882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.021346184 meters 0.0933566641797412 Centerline is valid? [True, True] Translation: X:78.60, Y:-6.64, Z:-3.38 [[ 9.99998627e-01 1.43509268e-03 -8.28277058e-04 7.86021582e+01] [-1.43503697e-03 9.99998968e-01 6.78516435e-05 -6.64182525e+00] [ 8.28373576e-04 -6.66629422e-05 9.99999655e-01 -3.38234339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.081346184 meters 0.09139291128459706 Centerline is valid? [True, True] Translation: X:78.66, Y:-6.64, Z:-3.38 [[ 9.99989642e-01 4.54174878e-03 -2.96792165e-04 7.86628345e+01] [-4.54174174e-03 9.99989686e-01 2.44081006e-05 -6.64259504e+00] [ 2.96899959e-04 -2.30598944e-05 9.99999956e-01 -3.38451548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.141346184 meters 0.09207813597676935 Centerline is valid? [True, True] Translation: X:78.72, Y:-6.65, Z:-3.39 [[ 9.99960835e-01 8.84770189e-03 -2.17506491e-04 7.87220440e+01] [-8.84769834e-03 9.99960858e-01 1.72794715e-05 -6.64567648e+00] [ 2.17650861e-04 -1.53543629e-05 9.99999976e-01 -3.38785595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.201346184 meters 0.0881394742891554 Centerline is valid? [True, True] Translation: X:78.78, Y:-6.64, Z:-3.39 [[ 9.99912695e-01 1.32137010e-02 3.64687800e-05 7.87834951e+01] [-1.32137009e-02 9.99912695e-01 -3.10352866e-06 -6.64070618e+00] [-3.65066052e-05 2.62137015e-06 9.99999999e-01 -3.38654659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26134618399999 meters 0.09045964159224301 Centerline is valid? [True, True] Translation: X:78.84, Y:-6.65, Z:-3.39 [[ 9.99879323e-01 1.52378437e-02 3.02433018e-03 7.88420453e+01] [-1.52371554e-02 9.99883876e-01 -2.50488171e-04 -6.64831514e+00] [-3.02779589e-03 2.04375754e-04 9.99995395e-01 -3.38669658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32134618399999 meters 0.09057960065349831 Centerline is valid? [True, True] Translation: X:78.90, Y:-6.65, Z:-3.39 [[ 9.99874069e-01 1.50748765e-02 4.95934732e-03 7.89006458e+01] [-1.50730206e-02 9.99886311e-01 -4.11404384e-04 -6.64960335e+00] [-4.96498537e-03 3.36600232e-04 9.99987618e-01 -3.38615174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.381346184 meters 0.09356955556499073 Centerline is valid? [True, True] Translation: X:78.96, Y:-6.66, Z:-3.39 [[ 9.99881263e-01 1.32568106e-02 7.85598225e-03 7.89577923e+01] [-1.32521087e-02 9.99911976e-01 -6.50274350e-04 -6.66241093e+00] [-7.86391130e-03 5.46088808e-04 9.99968930e-01 -3.38995028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.441346184 meters 0.09092842258295257 Centerline is valid? [True, True] Translation: X:79.02, Y:-6.66, Z:-3.39 [[ 9.99919918e-01 1.08274861e-02 6.55161920e-03 7.90178156e+01] [-1.08241759e-02 9.99941271e-01 -5.40494807e-04 -6.66143156e+00] [-6.55708663e-03 4.69535644e-04 9.99978392e-01 -3.38959540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.501346184 meters 0.0897063094544134 Centerline is valid? [True, True] Translation: X:79.08, Y:-6.66, Z:-3.39 [[ 9.99937109e-01 9.49923390e-03 5.96182932e-03 7.90770928e+01] [-9.49646395e-03 9.99954786e-01 -4.92749874e-04 -6.66183197e+00] [-5.96624051e-03 4.36102587e-04 9.99982107e-01 -3.39000673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.561346184 meters 0.08934120973928253 Centerline is valid? [True, True] Translation: X:79.14, Y:-6.67, Z:-3.39 [[ 9.99939276e-01 7.99313272e-03 7.58641371e-03 7.91362588e+01] [-7.98861426e-03 9.99967895e-01 -6.25716269e-04 -6.67127964e+00] [-7.59117158e-03 5.65073340e-04 9.99971027e-01 -3.39299292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62134618399999 meters 0.09265082215102786 Centerline is valid? [True, True] Translation: X:79.20, Y:-6.68, Z:-3.40 [[ 9.99956608e-01 7.50764381e-03 5.51514069e-03 7.91961775e+01] [-7.50525588e-03 9.99971732e-01 -4.53547200e-04 -6.68139340e+00] [-5.51838986e-03 4.12134978e-04 9.99984689e-01 -3.39607104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68134618399999 meters 0.0959920559157457 Centerline is valid? [True, True] Translation: X:79.26, Y:-6.70, Z:-3.40 [[ 9.99989964e-01 3.93877805e-03 2.13500826e-03 7.92556637e+01] [-3.93841151e-03 9.99992229e-01 -1.75855429e-04 -6.69566189e+00] [-2.13568433e-03 1.67445123e-04 9.99997705e-01 -3.40324647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.741346184 meters 0.09842598281721598 Centerline is valid? [True, True] Translation: X:79.31, Y:-6.71, Z:-3.41 [[ 9.99995608e-01 2.74384881e-03 -1.12019696e-03 7.93133868e+01] [-2.74374746e-03 9.99996232e-01 9.19991763e-05 -6.70892619e+00] [ 1.12044517e-03 -8.89252347e-05 9.99999368e-01 -3.41044989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.801346184 meters 0.09175515230945182 Centerline is valid? [True, True] Translation: X:79.37, Y:-6.70, Z:-3.41 [[ 9.99983620e-01 5.72367444e-03 -6.40454439e-07 7.93743391e+01] [-5.72367444e-03 9.99983620e-01 -6.39722291e-08 -6.70207922e+00] [ 6.40077791e-07 6.76369337e-08 1.00000000e+00 -3.40692667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.861346184 meters 0.09008981413158129 Centerline is valid? [True, True] Translation: X:79.43, Y:-6.70, Z:-3.41 [[ 9.99955707e-01 9.38579808e-03 -7.01218182e-04 7.94346886e+01] [-9.38576010e-03 9.99955951e-01 5.74414639e-05 -6.70286593e+00] [ 7.01726428e-04 -5.08574540e-05 9.99999752e-01 -3.40883232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.921346184 meters 0.08692425647779714 Centerline is valid? [True, True] Translation: X:79.49, Y:-6.70, Z:-3.41 [[ 9.99906884e-01 1.35931800e-02 1.20340441e-03 7.94946272e+01] [-1.35930696e-02 9.99907605e-01 -9.99234326e-05 -6.70498668e+00] [-1.20465150e-03 8.35561684e-05 9.99999271e-01 -3.41219012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98134618399999 meters 0.09053129717947213 Centerline is valid? [True, True] Translation: X:79.55, Y:-6.72, Z:-3.42 [[ 9.99878808e-01 1.53814010e-02 2.40449061e-03 7.95528799e+01] [-1.53809669e-02 9.99881686e-01 -1.98947920e-04 -6.71751991e+00] [-2.40726622e-03 1.61940419e-04 9.99997089e-01 -3.41641462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04134618399999 meters 0.08930250308325446 Centerline is valid? [True, True] Translation: X:79.61, Y:-6.72, Z:-3.41 [[ 9.99891372e-01 1.40215629e-02 4.54313500e-03 7.96118137e+01] [-1.40200001e-02 9.99901644e-01 -3.75662059e-04 -6.71601750e+00] [-4.54795552e-03 3.11926498e-04 9.99989609e-01 -3.41022153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.101346184 meters 0.08874861404722587 Centerline is valid? [True, True] Translation: X:79.67, Y:-6.72, Z:-3.41 [[ 9.99911495e-01 1.28339352e-02 3.50603831e-03 7.96706091e+01] [-1.28329979e-02 9.99917612e-01 -2.89703533e-04 -6.72243699e+00] [-3.50946749e-03 2.44684910e-04 9.99993812e-01 -3.41357772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.161346184 meters 0.0945846560511795 Centerline is valid? [True, True] Translation: X:79.73, Y:-6.74, Z:-3.42 [[ 9.99975303e-01 7.00928104e-03 5.14037878e-04 7.97284641e+01] [-7.00926029e-03 9.99975434e-01 -4.21467018e-05 -6.73968905e+00] [-5.14320669e-04 3.85426356e-05 9.99999867e-01 -3.42256139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.221346184 meters 0.09963133647643418 Centerline is valid? [True, True] Translation: X:79.79, Y:-6.75, Z:-3.42 [[ 9.99994978e-01 2.81835860e-04 3.15681333e-03 7.97878865e+01] [-2.81017292e-04 9.99999927e-01 -2.59742768e-04 -6.75126498e+00] [-3.15688631e-03 2.58854345e-04 9.99994984e-01 -3.42136157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.281346184 meters 0.10171998653516634 Centerline is valid? [True, False] Translation: X:79.79, Y:-6.75, Z:-3.42 [[ 9.99993705e-01 7.50021329e-04 3.46818497e-03 7.97878112e+01] [-7.53276426e-04 9.99999277e-01 9.37348236e-04 -6.75491820e+00] [-3.46747943e-03 -9.39954837e-04 9.99993547e-01 -3.42240132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34134618399999 meters 0.10349406109794931 Centerline is valid? [False, False] Translation: X:79.79, Y:-6.76, Z:-3.42 [[ 9.99992176e-01 7.92297795e-04 3.87548014e-03 7.97869738e+01] [-7.97987922e-04 9.99998606e-01 1.46691192e-03 -6.75748709e+00] [-3.87431250e-03 -1.46999303e-03 9.99991414e-01 -3.42259452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40134618399999 meters 0.09846131949244888 Centerline is valid? [False, True] Translation: X:79.79, Y:-6.76, Z:-3.42 [[ 9.99993558e-01 7.58910694e-04 3.50830321e-03 7.97878161e+01] [-7.62642039e-04 9.99999145e-01 1.06236013e-03 -6.75528811e+00] [-3.50749397e-03 -1.06502887e-03 9.99993282e-01 -3.42259378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46134618399999 meters 0.09776941520302602 Centerline is valid? [True, True] Translation: X:79.85, Y:-6.76, Z:-3.42 [[ 9.99990190e-01 2.27694541e-03 3.79952866e-03 7.98488491e+01] [-2.27572746e-03 9.99997358e-01 -3.24845791e-04 -6.76087448e+00] [-3.80025828e-03 3.16195912e-04 9.99992729e-01 -3.42360046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.521346184 meters 0.09394358091766855 Centerline is valid? [True, True] Translation: X:79.91, Y:-6.77, Z:-3.42 [[ 9.99988638e-01 2.03945253e-03 4.30875256e-03 7.99104384e+01] [-2.03788290e-03 9.99997856e-01 -3.68647373e-04 -6.76577386e+00] [-4.30949516e-03 3.59862451e-04 9.99990649e-01 -3.42450425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.581346184 meters 0.09527512879569636 Centerline is valid? [True, True] Translation: X:79.97, Y:-6.78, Z:-3.42 [[ 9.99981403e-01 7.78993444e-04 6.04862507e-03 7.99713935e+01] [-7.75872989e-04 9.99999565e-01 -5.18224275e-04 -6.77760954e+00] [-6.04902613e-03 5.13521673e-04 9.99981573e-01 -3.42425165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.641346184 meters 0.09790171632077793 Centerline is valid? [True, True] Translation: X:80.03, Y:-6.79, Z:-3.42 [[ 9.99976965e-01 2.08707326e-03 6.45858754e-03 8.00315210e+01] [-2.08354047e-03 9.99997676e-01 -5.53670824e-04 -6.78621311e+00] [-6.45972808e-03 5.40201342e-04 9.99978990e-01 -3.42478508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.701346184 meters 0.09272737040194505 Centerline is valid? [True, True] Translation: X:80.09, Y:-6.79, Z:-3.43 [[ 9.99950415e-01 6.48687637e-03 7.55571073e-03 8.00922499e+01] [-6.48215776e-03 9.99978780e-01 -6.48831734e-04 -6.79090835e+00] [-7.55975929e-03 5.99822253e-04 9.99971245e-01 -3.42818553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76134618399999 meters 0.09472370769643566 Centerline is valid? [True, True] Translation: X:80.15, Y:-6.80, Z:-3.43 [[ 9.99949435e-01 7.12195412e-03 7.09972673e-03 8.01524794e+01] [-7.11784429e-03 9.99974485e-01 -6.03972721e-04 -6.80189533e+00] [-7.10384705e-03 5.53407431e-04 9.99974614e-01 -3.43277107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82134618399999 meters 0.09665715736501854 Centerline is valid? [True, True] Translation: X:80.21, Y:-6.81, Z:-3.43 [[ 9.99945513e-01 7.88135045e-03 6.84502715e-03 8.02128720e+01] [-7.87750061e-03 9.99968798e-01 -5.89208114e-04 -6.80802018e+00] [-6.84945733e-03 5.35254304e-04 9.99976399e-01 -3.43186702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.881346184 meters 0.08984865835488795 Centerline is valid? [True, True] Translation: X:80.27, Y:-6.80, Z:-3.43 [[ 9.99938729e-01 9.20470859e-03 6.14903776e-03 8.02743386e+01] [-9.20162357e-03 9.99957524e-01 -5.29811683e-04 -6.80098717e+00] [-6.15365334e-03 4.73198090e-04 9.99980954e-01 -3.42950218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.941346184 meters 0.09011464097413335 Centerline is valid? [True, True] Translation: X:80.33, Y:-6.82, Z:-3.44 [[ 9.99924417e-01 1.08557117e-02 5.77175573e-03 8.03328479e+01] [-1.08530152e-02 9.99940980e-01 -4.98294595e-04 -6.81641834e+00] [-5.77682443e-03 4.35615980e-04 9.99983219e-01 -3.43721071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.001346184 meters 0.08993265288468992 Centerline is valid? [True, True] Translation: X:80.39, Y:-6.82, Z:-3.44 [[ 9.99930918e-01 1.06401847e-02 4.99449413e-03 8.03929846e+01] [-1.06381630e-02 9.99943320e-01 -4.31177412e-04 -6.81897156e+00] [-4.99879885e-03 3.78015383e-04 9.99987434e-01 -3.43618727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.061346184 meters 0.09349894189334511 Centerline is valid? [True, True] Translation: X:80.45, Y:-6.83, Z:-3.44 [[ 9.99951757e-01 8.74186226e-03 4.47923334e-03 8.04520657e+01] [-8.74021977e-03 9.99961729e-01 -3.86134265e-04 -6.82576952e+00] [-4.48243745e-03 3.46966153e-04 9.99989894e-01 -3.43790902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12134618399999 meters 0.09803560374512728 Centerline is valid? [True, True] Translation: X:80.51, Y:-6.85, Z:-3.44 [[ 9.99972585e-01 3.90605962e-03 6.29062482e-03 8.05097607e+01] [-3.90273054e-03 9.99992238e-01 -5.41401745e-04 -6.84783351e+00] [-6.29269074e-03 5.16836288e-04 9.99980067e-01 -3.44322966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18134618399999 meters 0.09734098912048357 Centerline is valid? [True, True] Translation: X:80.57, Y:-6.86, Z:-3.44 [[ 9.99977105e-01 -7.66866696e-04 6.72314792e-03 8.05704269e+01] [ 7.70769441e-04 9.99999536e-01 -5.77921855e-04 -6.85771639e+00] [-6.72270161e-03 5.83090620e-04 9.99977232e-01 -3.44485500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.241346184 meters 0.09779233083097286 Centerline is valid? [True, True] Translation: X:80.63, Y:-6.86, Z:-3.44 [[ 9.99978888e-01 -4.28686122e-03 4.88331201e-03 8.06319371e+01] [ 4.28896133e-03 9.99990714e-01 -4.19669046e-04 -6.86005727e+00] [-4.88146760e-03 4.40604523e-04 9.99987988e-01 -3.44491652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.301346184 meters 0.09818826226859483 Centerline is valid? [True, True] Translation: X:80.69, Y:-6.87, Z:-3.45 [[ 9.99985848e-01 -3.45597541e-03 4.04480899e-03 8.06936001e+01] [ 3.45740418e-03 9.99993963e-01 -3.46298311e-04 -6.86733500e+00] [-4.04358778e-03 3.60277950e-04 9.99991760e-01 -3.44899971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.361346184 meters 0.09706414370533087 Centerline is valid? [True, True] Translation: X:80.76, Y:-6.87, Z:-3.45 [[ 9.99995398e-01 -2.54365496e-03 1.65329245e-03 8.07551843e+01] [ 2.54389026e-03 9.99996754e-01 -1.40237586e-04 -6.87128369e+00] [-1.65293037e-03 1.44442736e-04 9.99998623e-01 -3.45272006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.421346184 meters 0.10300418455703261 Centerline is valid? [True, False] Translation: X:80.76, Y:-6.87, Z:-3.45 [[ 9.99996433e-01 -2.24970760e-03 1.43998063e-03 8.07561580e+01] [ 2.24952891e-03 9.99997462e-01 1.25695271e-04 -6.87112150e+00] [-1.44025975e-03 -1.22455544e-04 9.99998955e-01 -3.45352008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48134618399999 meters 0.1017824250775617 Centerline is valid? [False, False] Translation: X:80.76, Y:-6.87, Z:-3.46 [[ 9.99998303e-01 -1.51125430e-03 1.05341807e-03 8.07581022e+01] [ 1.51024179e-03 9.99998398e-01 9.61299157e-04 -6.87205311e+00] [-1.05486915e-03 -9.59706610e-04 9.99998983e-01 -3.45539219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54134618399999 meters 0.10116518255969759 Centerline is valid? [False, False] Translation: X:80.76, Y:-6.87, Z:-3.46 [[ 9.99999069e-01 -1.30303514e-03 4.05102002e-04 8.07601794e+01] [ 1.30283032e-03 9.99999024e-01 5.05444394e-04 -6.86836770e+00] [-4.05760218e-04 -5.04916144e-04 9.99999790e-01 -3.45642893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.601346184 meters 0.0987311563987769 Centerline is valid? [False, True] Translation: X:80.76, Y:-6.86, Z:-3.45 [[ 9.99998181e-01 1.83829438e-03 5.08300084e-04 8.07587378e+01] [-1.83965969e-03 9.99994666e-01 2.69874351e-03 -6.86306481e+00] [-5.03336288e-04 -2.69967370e-03 9.99996229e-01 -3.45427070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.661346184 meters 0.09166855757683101 Centerline is valid? [True, True] Translation: X:80.82, Y:-6.86, Z:-3.45 [[ 9.99993550e-01 2.83531476e-03 2.20483397e-03 8.08190637e+01] [-2.83491054e-03 9.99995964e-01 -1.86437745e-04 -6.85622147e+00] [-2.20535368e-03 1.80186036e-04 9.99997552e-01 -3.45050971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.721346184 meters 0.10318297178804307 Centerline is valid? [True, False] Translation: X:80.82, Y:-6.86, Z:-3.45 [[ 9.99997629e-01 -1.04676680e-03 1.90937487e-03 8.08199604e+01] [ 1.05444122e-03 9.99991353e-01 -4.02276480e-03 -6.85721750e+00] [-1.90514746e-03 4.02476859e-03 9.99990086e-01 -3.45095676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.781346184 meters 0.0931314018073047 Centerline is valid? [False, True] Translation: X:80.82, Y:-6.86, Z:-3.45 [[ 9.99998491e-01 -7.84037269e-04 1.54993562e-03 8.08213540e+01] [ 7.90118005e-04 9.99991979e-01 -3.92650704e-03 -6.85620502e+00] [-1.54684466e-03 3.92772575e-03 9.99991090e-01 -3.45191607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84134618399999 meters 0.09133477598888735 Centerline is valid? [True, True] Translation: X:80.88, Y:-6.85, Z:-3.46 [[ 9.99981953e-01 4.72542318e-03 -3.71008470e-03 8.08822684e+01] [-4.72433946e-03 9.99988795e-01 3.00811009e-04 -6.85240668e+00] [ 3.71146459e-03 -2.83277881e-04 9.99993072e-01 -3.46140943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90134618399999 meters 0.09016164324749493 Centerline is valid? [True, True] Translation: X:80.94, Y:-6.85, Z:-3.47 [[ 9.99936688e-01 1.03632843e-02 -4.38427059e-03 8.09410149e+01] [-1.03618338e-02 9.99946252e-01 3.53410119e-04 -6.85411701e+00] [ 4.38769744e-03 -3.07958660e-04 9.99990327e-01 -3.46748515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96134618399999 meters 0.09140536161126032 Centerline is valid? [True, True] Translation: X:81.00, Y:-6.86, Z:-3.47 [[ 9.99927142e-01 1.13567288e-02 -4.09082130e-03 8.09993240e+01] [-1.13554789e-02 9.99935470e-01 3.28630048e-04 -6.85638063e+00] [ 4.09428948e-03 -2.82152870e-04 9.99991579e-01 -3.46956897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.021346184 meters 0.08859181768893223 Centerline is valid? [True, True] Translation: X:81.06, Y:-6.85, Z:-3.47 [[ 9.99950660e-01 9.20935797e-03 -3.72353565e-03 8.10598779e+01] [-9.20830479e-03 9.99957558e-01 2.99890061e-04 -6.85084109e+00] [ 3.72613941e-03 -2.65587813e-04 9.99993023e-01 -3.46503143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.081346184 meters 0.09621506627961664 Centerline is valid? [True, True] Translation: X:81.12, Y:-6.87, Z:-3.48 [[ 9.99970988e-01 6.12561213e-03 -4.52770878e-03 8.11181909e+01] [-6.12402081e-03 9.99981181e-01 3.65242181e-04 -6.86677455e+00] [ 4.52986091e-03 -3.37503802e-04 9.99989683e-01 -3.47558683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.141346184 meters 0.09200061263763434 Centerline is valid? [True, True] Translation: X:81.18, Y:-6.87, Z:-3.48 [[ 9.99969083e-01 5.11941499e-03 -5.96856071e-03 8.11779033e+01] [-5.11663419e-03 9.99986794e-01 4.81085130e-04 -6.86592638e+00] [ 5.97094477e-03 -4.50531315e-04 9.99982072e-01 -3.47752449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.201346184 meters 0.09275664216816303 Centerline is valid? [True, True] Translation: X:81.24, Y:-6.86, Z:-3.48 [[ 9.99979838e-01 3.98959146e-03 -4.94028453e-03 8.12371055e+01] [-3.98768121e-03 9.99991971e-01 3.96457953e-04 -6.86442032e+00] [ 4.94182656e-03 -3.76749680e-04 9.99987718e-01 -3.47580933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26134618399999 meters 0.10313005876185417 Centerline is valid? [True, False] Translation: X:81.24, Y:-6.86, Z:-3.47 [[ 9.99978768e-01 3.19467113e-03 -5.67965192e-03 8.12373408e+01] [-3.20479463e-03 9.99993291e-01 -1.77421012e-03 -6.85782589e+00] [ 5.67394579e-03 1.79237457e-03 9.99982297e-01 -3.47318072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32134618399999 meters 0.10286942372348662 Centerline is valid? [False, False] Translation: X:81.24, Y:-6.86, Z:-3.47 [[ 9.99981956e-01 -7.75308135e-04 -5.95706335e-03 8.12381060e+01] [ 7.41420535e-04 9.99983544e-01 -5.68874595e-03 -6.85893158e+00] [ 5.96137585e-03 5.68422662e-03 9.99966075e-01 -3.47345005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.381346184 meters 0.09726348391334202 Centerline is valid? [False, True] Translation: X:81.24, Y:-6.86, Z:-3.48 [[ 9.99982750e-01 -3.11304763e-04 -5.86539103e-03 8.12390015e+01] [ 2.82723657e-04 9.99988087e-01 -4.87303826e-03 -6.85999186e+00] [ 5.86683816e-03 4.87129592e-03 9.99970925e-01 -3.47530889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.441346184 meters 0.0987822458268294 Centerline is valid? [True, True] Translation: X:81.30, Y:-6.86, Z:-3.48 [[ 9.99972206e-01 -8.66304239e-04 -7.40516725e-03 8.12980537e+01] [ 8.70559419e-04 9.99999458e-01 5.71418999e-04 -6.86417053e+00] [ 7.40466821e-03 -5.77849755e-04 9.99972418e-01 -3.48044842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.501346184 meters 0.09725989934305264 Centerline is valid? [True, True] Translation: X:81.36, Y:-6.87, Z:-3.49 [[ 9.99959398e-01 -2.97181139e-04 -9.00634330e-03 8.13558379e+01] [ 3.03446496e-04 9.99999713e-01 6.94301931e-04 -6.87083439e+00] [ 9.00613438e-03 -6.97006685e-04 9.99959201e-01 -3.48678634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.561346184 meters 0.0952268742263471 Centerline is valid? [True, True] Translation: X:81.41, Y:-6.87, Z:-3.48 [[ 9.99972849e-01 -1.22215267e-03 -7.26688739e-03 8.14144410e+01] [ 1.22624285e-03 9.99999092e-01 5.58423062e-04 -6.86859708e+00] [ 7.26619832e-03 -5.67318869e-04 9.99973440e-01 -3.48089396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62134618399999 meters 0.09475235066154122 Centerline is valid? [True, True] Translation: X:81.47, Y:-6.87, Z:-3.48 [[ 9.99971052e-01 -1.95524326e-03 -7.35336940e-03 8.14731961e+01] [ 1.95945481e-03 9.99997920e-01 5.65576742e-04 -6.87016974e+00] [ 7.35224827e-03 -5.79968964e-04 9.99972804e-01 -3.47878407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68134618399999 meters 0.10021889266038067 Centerline is valid? [True, False] Translation: X:81.47, Y:-6.87, Z:-3.48 [[ 9.99972909e-01 -1.66766926e-03 -7.16940898e-03 8.14729642e+01] [ 1.67736439e-03 9.99997687e-01 1.34649087e-03 -6.87259970e+00] [ 7.16714690e-03 -1.35848010e-03 9.99973393e-01 -3.47913214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.741346184 meters 0.09972030901862873 Centerline is valid? [False, True] Translation: X:81.47, Y:-6.88, Z:-3.48 [[ 9.99964551e-01 -4.61492646e-03 -7.04271712e-03 8.14742478e+01] [ 4.61398427e-03 9.99989344e-01 -1.50023641e-04 -6.88015928e+00] [ 7.04333442e-03 1.17523337e-04 9.99975189e-01 -3.48206288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.801346184 meters 0.10028903485757264 Centerline is valid? [True, False] Translation: X:81.48, Y:-6.88, Z:-3.48 [[ 9.99964287e-01 -4.35544130e-03 -7.24263461e-03 8.14755006e+01] [ 4.35664279e-03 9.99990499e-01 1.50123070e-04 -6.87946937e+00] [ 7.24191194e-03 -1.81671280e-04 9.99973761e-01 -3.48335727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.861346184 meters 0.09339645021005648 Centerline is valid? [False, True] Translation: X:81.48, Y:-6.88, Z:-3.48 [[ 9.99973076e-01 -3.03812299e-04 -7.33176880e-03 8.14755459e+01] [ 3.32490811e-04 9.99992298e-01 3.91063879e-03 -6.87721380e+00] [ 7.33052423e-03 -3.91297125e-03 9.99965475e-01 -3.48307354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.921346184 meters 0.09254119342007892 Centerline is valid? [True, True] Translation: X:81.53, Y:-6.89, Z:-3.49 [[ 9.99967977e-01 1.85901747e-03 -7.78388662e-03 8.15345451e+01] [-1.85424659e-03 9.99998089e-01 6.20088947e-04 -6.88621276e+00] [ 7.78502450e-03 -6.05635844e-04 9.99969513e-01 -3.48774088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98134618399999 meters 0.09919542762622419 Centerline is valid? [True, True] Translation: X:81.59, Y:-6.90, Z:-3.50 [[ 9.99957760e-01 1.97181631e-03 -8.97724985e-03 8.15910034e+01] [-1.96550614e-03 9.99997815e-01 7.11674147e-04 -6.90196042e+00] [ 8.97863353e-03 -6.93999246e-04 9.99959450e-01 -3.49551556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04134618399999 meters 0.09236231813351149 Centerline is valid? [True, True] Translation: X:81.65, Y:-6.89, Z:-3.49 [[ 9.99954978e-01 2.63145091e-03 -9.11688269e-03 8.16509232e+01] [-2.62496227e-03 9.99996293e-01 7.23609033e-04 -6.88795470e+00] [ 9.11875304e-03 -6.99644981e-04 9.99958179e-01 -3.48889811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.101346184 meters 0.09279402138285023 Centerline is valid? [True, True] Translation: X:81.71, Y:-6.89, Z:-3.49 [[ 9.99935647e-01 3.95809545e-03 -1.06317751e-02 8.17091758e+01] [-3.94934939e-03 9.99991846e-01 8.43503640e-04 -6.89374271e+00] [ 1.06350270e-02 -8.01460764e-04 9.99943125e-01 -3.49367734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.161346184 meters 0.09277678384892857 Centerline is valid? [True, True] Translation: X:81.77, Y:-6.90, Z:-3.50 [[ 9.99961099e-01 4.21958057e-03 -7.74572854e-03 8.17686198e+01] [-4.21493884e-03 9.99990928e-01 6.15489512e-04 -6.90416866e+00] [ 7.74825537e-03 -5.82817796e-04 9.99969812e-01 -3.49580924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.221346184 meters 0.09334342598047703 Centerline is valid? [True, True] Translation: X:81.83, Y:-6.91, Z:-3.49 [[ 9.99958439e-01 7.45884290e-03 -5.24260847e-03 8.18275241e+01] [-7.45676715e-03 9.99972112e-01 4.15374114e-04 -6.90524717e+00] [ 5.24556047e-03 -3.76263940e-04 9.99986171e-01 -3.49400710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.281346184 meters 0.09267403680418397 Centerline is valid? [True, True] Translation: X:81.89, Y:-6.91, Z:-3.50 [[ 9.99949750e-01 8.69534202e-03 -4.98885775e-03 8.18859169e+01] [-8.69348378e-03 9.99962133e-01 3.94042480e-04 -6.90983446e+00] [ 4.99209518e-03 -3.50652125e-04 9.99987478e-01 -3.49672915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34134618399999 meters 0.09464283715150971 Centerline is valid? [True, True] Translation: X:81.95, Y:-6.92, Z:-3.50 [[ 9.99957169e-01 7.21109601e-03 -5.80181886e-03 8.19450794e+01] [-7.20855053e-03 9.99973912e-01 4.59530224e-04 -6.91676811e+00] [ 5.80498122e-03 -4.17687837e-04 9.99983064e-01 -3.49961928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40134618399999 meters 0.09684629345005805 Centerline is valid? [True, True] Translation: X:82.00, Y:-6.93, Z:-3.50 [[ 9.99972400e-01 5.44216378e-03 -5.05788414e-03 8.20040588e+01] [-5.44020821e-03 9.99985122e-01 4.00315925e-04 -6.92584058e+00] [ 5.05998747e-03 -3.72788934e-04 9.99987129e-01 -3.50108915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46134618399999 meters 0.09707190264874187 Centerline is valid? [True, True] Translation: X:82.06, Y:-6.93, Z:-3.50 [[ 9.99978977e-01 5.06311801e-03 -4.05107243e-03 8.20622314e+01] [-5.06186664e-03 9.99987138e-01 3.19091977e-04 -6.93234323e+00] [ 4.05263593e-03 -2.98579280e-04 9.99991743e-01 -3.50406929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.521346184 meters 0.09296728609320454 Centerline is valid? [True, True] Translation: X:82.12, Y:-6.93, Z:-3.50 [[ 9.99969520e-01 5.76787731e-03 -5.26219468e-03 8.21213096e+01] [-5.76577465e-03 9.99983292e-01 4.14660787e-04 -6.92738915e+00] [ 5.26449847e-03 -3.84307520e-04 9.99986069e-01 -3.50337268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.581346184 meters 0.09470796110495508 Centerline is valid? [True, True] Translation: X:82.18, Y:-6.94, Z:-3.51 [[ 9.99956666e-01 8.38501359e-03 -4.04452388e-03 8.21796887e+01] [-8.38378900e-03 9.99964804e-01 3.19636508e-04 -6.93529342e+00] [ 4.04706169e-03 -2.85714222e-04 9.99991770e-01 -3.50939163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.641346184 meters 0.08776981646560143 Centerline is valid? [True, True] Translation: X:82.24, Y:-6.92, Z:-3.50 [[ 9.99944879e-01 9.87674841e-03 -3.56218445e-03 8.22408721e+01] [-9.87581217e-03 9.99951194e-01 2.80321898e-04 -6.92472651e+00] [ 3.56477926e-03 -2.45126982e-04 9.99993616e-01 -3.50270606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.701346184 meters 0.08942255233782158 Centerline is valid? [True, True] Translation: X:82.30, Y:-6.93, Z:-3.51 [[ 9.99947523e-01 8.92999265e-03 -5.02057999e-03 8.22994445e+01] [-8.92811938e-03 9.99960065e-01 3.95406662e-04 -6.93185949e+00] [ 5.02391047e-03 -3.50561574e-04 9.99987319e-01 -3.50776322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76134618399999 meters 0.08960600711109754 Centerline is valid? [True, True] Translation: X:82.36, Y:-6.94, Z:-3.51 [[ 9.99970063e-01 7.17917846e-03 -2.88670592e-03 8.23578247e+01] [-7.17855629e-03 9.99974208e-01 2.25833155e-04 -6.93971218e+00] [ 2.88825276e-03 -2.05104013e-04 9.99995808e-01 -3.50831433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82134618399999 meters 0.09182809008732322 Centerline is valid? [True, True] Translation: X:82.42, Y:-6.95, Z:-3.51 [[ 9.99991692e-01 4.07625283e-03 3.05973359e-05 8.24168176e+01] [-4.07625272e-03 9.99991692e-01 -3.54813725e-06 -6.94925646e+00] [-3.06115448e-05 3.42338530e-06 1.00000000e+00 -3.50821578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.881346184 meters 0.0937606666097127 Centerline is valid? [True, True] Translation: X:82.47, Y:-6.96, Z:-3.52 [[ 9.99977122e-01 5.66940442e-03 -3.68966118e-03 8.24742981e+01] [-5.66837884e-03 9.99983893e-01 2.88358195e-04 -6.95602274e+00] [ 3.69123657e-03 -2.67437201e-04 9.99993152e-01 -3.51567654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.941346184 meters 0.08865132161211563 Centerline is valid? [True, True] Translation: X:82.54, Y:-6.95, Z:-3.51 [[ 9.99953004e-01 8.98643239e-03 -3.63770716e-03 8.25357276e+01] [-8.98544802e-03 9.99959589e-01 2.86855078e-04 -6.95100179e+00] [ 3.64013796e-03 -2.54155168e-04 9.99993342e-01 -3.51480077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.001346184 meters 0.08736294191719989 Centerline is valid? [True, True] Translation: X:82.60, Y:-6.95, Z:-3.51 [[ 9.99873899e-01 1.57224595e-02 -2.23407735e-03 8.25961314e+01] [-1.57221062e-02 9.99876385e-01 1.75585633e-04 -6.94658950e+00] [ 2.23656182e-03 -1.40439090e-04 9.99997489e-01 -3.51461453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.061346184 meters 0.08483145220773404 Centerline is valid? [True, True] Translation: X:82.66, Y:-6.95, Z:-3.51 [[ 9.99848531e-01 1.73911276e-02 6.81396879e-04 8.26561537e+01] [-1.73910946e-02 9.99848762e-01 -5.43083963e-05 -6.94796605e+00] [-6.82238310e-04 4.24499327e-05 9.99999766e-01 -3.51388312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12134618399999 meters 0.08414924245482291 Centerline is valid? [True, True] Translation: X:82.72, Y:-6.95, Z:-3.51 [[ 9.99850335e-01 1.70823048e-02 2.73917165e-03 8.27153415e+01] [-1.70817726e-02 9.99854072e-01 -2.17601694e-04 -6.95242222e+00] [-2.74248906e-03 1.70779220e-04 9.99996225e-01 -3.51458495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18134618399999 meters 0.08544143697477881 Centerline is valid? [True, True] Translation: X:82.78, Y:-6.96, Z:-3.52 [[ 9.99895852e-01 1.44302033e-02 2.32177603e-04 8.27753272e+01] [-1.44301994e-02 9.99895879e-01 -1.86948248e-05 -6.95762011e+00] [-2.32423198e-04 1.53425087e-05 9.99999973e-01 -3.51843104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.241346184 meters 0.08693062591494105 Centerline is valid? [True, True] Translation: X:82.83, Y:-6.97, Z:-3.52 [[ 9.99926840e-01 1.20934382e-02 2.51041327e-04 8.28341880e+01] [-1.20934334e-02 9.99926872e-01 -2.09119429e-05 -6.97003433e+00] [-2.51275866e-04 1.78744614e-05 9.99999968e-01 -3.52369059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.301346184 meters 0.09257064637737938 Centerline is valid? [True, True] Translation: X:82.89, Y:-6.99, Z:-3.53 [[ 9.99981643e-01 5.93663700e-03 -1.21280418e-03 8.28917221e+01] [-5.93652588e-03 9.99982374e-01 9.52029900e-05 -6.98649372e+00] [ 1.21334799e-03 -8.80013989e-05 9.99999260e-01 -3.52832881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.361346184 meters 0.09592301857624759 Centerline is valid? [True, True] Translation: X:82.95, Y:-6.99, Z:-3.53 [[ 9.99993402e-01 4.81957304e-04 -3.60042493e-03 8.29519857e+01] [-4.80940456e-04 9.99999844e-01 2.83285130e-04 -6.99399293e+00] [ 3.60056090e-03 -2.81551671e-04 9.99993478e-01 -3.53161439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.421346184 meters 0.10270976533108658 Centerline is valid? [True, False] Translation: X:82.95, Y:-7.00, Z:-3.53 [[ 9.99988903e-01 -3.44913467e-03 -3.20899434e-03 8.29518269e+01] [ 3.44010805e-03 9.99990123e-01 -2.81419365e-03 -6.99768436e+00] [ 3.21866918e-03 2.80312314e-03 9.99990891e-01 -3.53297273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48134618399999 meters 0.09953476214962735 Centerline is valid? [False, True] Translation: X:82.95, Y:-7.00, Z:-3.53 [[ 9.99988368e-01 -3.69337358e-03 -3.10199901e-03 8.29518013e+01] [ 3.68323984e-03 9.99987883e-01 -3.26622875e-03 -6.99577804e+00] [ 3.11402483e-03 3.25476536e-03 9.99989855e-01 -3.53322440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54134618399999 meters 0.09697436537056733 Centerline is valid? [True, True] Translation: X:83.01, Y:-7.00, Z:-3.53 [[ 9.99993589e-01 -3.56350243e-03 -3.50434536e-04 8.30123052e+01] [ 3.56351280e-03 9.99993650e-01 2.89728829e-05 -6.99706225e+00] [ 3.50329066e-04 -3.02214751e-05 9.99999938e-01 -3.53198709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.601346184 meters 0.09513389291301635 Centerline is valid? [True, True] Translation: X:83.07, Y:-7.00, Z:-3.53 [[ 9.99997553e-01 -5.18541582e-04 2.15083852e-03 8.30736611e+01] [ 5.18925008e-04 9.99999850e-01 -1.77713909e-04 -6.99700873e+00] [-2.15074605e-03 1.78829598e-04 9.99997671e-01 -3.53038236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.661346184 meters 0.09588141978144014 Centerline is valid? [True, True] Translation: X:83.13, Y:-7.00, Z:-3.54 [[ 9.99997436e-01 2.09382099e-03 8.62690957e-04 8.31332261e+01] [-2.09376023e-03 9.99997806e-01 -7.13277199e-05 -7.00166329e+00] [-8.62838411e-04 6.95212690e-05 9.99999625e-01 -3.53517332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.721346184 meters 0.09271181231805152 Centerline is valid? [True, True] Translation: X:83.19, Y:-7.00, Z:-3.53 [[ 9.99984628e-01 5.31977543e-03 1.56301582e-03 8.31944583e+01] [-5.31957974e-03 9.99985843e-01 -1.29326611e-04 -6.99806686e+00] [-1.56368168e-03 1.21010036e-04 9.99998770e-01 -3.53462051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.781346184 meters 0.09332171692971195 Centerline is valid? [True, True] Translation: X:83.25, Y:-7.00, Z:-3.54 [[ 9.99929925e-01 1.07267220e-02 5.00816926e-03 8.32540548e+01] [-1.07247790e-02 9.99942402e-01 -4.14647870e-04 -7.00228524e+00] [-5.01232861e-03 3.60907305e-04 9.99987373e-01 -3.53561737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84134618399999 meters 0.09264691405554683 Centerline is valid? [True, True] Translation: X:83.31, Y:-7.00, Z:-3.54 [[ 9.99893796e-01 1.32919294e-02 5.97678382e-03 8.33139053e+01] [-1.32892103e-02 9.99911572e-01 -4.94425980e-04 -7.00334653e+00] [-5.98282719e-03 4.14946732e-04 9.99982017e-01 -3.53660277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90134618399999 meters 0.08602185638944626 Centerline is valid? [True, True] Translation: X:83.38, Y:-7.00, Z:-3.54 [[ 9.99825585e-01 1.76675247e-02 6.05452842e-03 8.33752877e+01] [-1.76648168e-02 9.99843840e-01 -5.00444898e-04 -6.99819472e+00] [-6.06242456e-03 3.93405478e-04 9.99981546e-01 -3.53810060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96134618399999 meters 0.08466800027738486 Centerline is valid? [True, True] Translation: X:83.44, Y:-7.00, Z:-3.54 [[ 9.99772784e-01 2.09447306e-02 3.96214193e-03 8.34355123e+01] [-2.09435947e-02 9.99780605e-01 -3.27960510e-04 -6.99643926e+00] [-3.96814170e-03 2.44904497e-04 9.99992097e-01 -3.54009441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.021346184 meters 0.083004152637664 Centerline is valid? [True, True] Translation: X:83.50, Y:-7.00, Z:-3.54 [[ 9.99652676e-01 2.59159908e-02 4.78412007e-03 8.34962881e+01] [-2.59143945e-02 9.99664088e-01 -3.95369634e-04 -6.99695339e+00] [-4.79275942e-03 2.71254738e-04 9.99988478e-01 -3.54250886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.081346184 meters 0.08064861732869702 Centerline is valid? [True, True] Translation: X:83.56, Y:-7.00, Z:-3.54 [[ 9.99601602e-01 2.77803953e-02 4.98866911e-03 8.35550249e+01] [-2.77786728e-02 9.99614012e-01 -4.14246490e-04 -6.99986390e+00] [-4.99825148e-03 2.75502848e-04 9.99987471e-01 -3.54262550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.141346184 meters 0.08415736431515641 Centerline is valid? [True, True] Translation: X:83.61, Y:-7.01, Z:-3.55 [[ 9.99608956e-01 2.73434282e-02 5.85431551e-03 8.36118743e+01] [-2.73410507e-02 9.99626046e-01 -4.85763304e-04 -7.01279040e+00] [-5.86540869e-03 3.25510212e-04 9.99982745e-01 -3.54812792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.201346184 meters 0.08653852699401285 Centerline is valid? [True, True] Translation: X:83.67, Y:-7.02, Z:-3.55 [[ 9.99683372e-01 2.48282830e-02 4.08808074e-03 8.36703381e+01] [-2.48271073e-02 9.99691703e-01 -3.38088248e-04 -7.02354714e+00] [-4.09521455e-03 2.36485981e-04 9.99991587e-01 -3.55459037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26134618399999 meters 0.08337211678201582 Centerline is valid? [True, True] Translation: X:83.73, Y:-7.02, Z:-3.55 [[ 9.99734898e-01 2.28754176e-02 2.61699125e-03 8.37298752e+01] [-2.28749266e-02 9.99738311e-01 -2.17387231e-04 -7.02013736e+00] [-2.62127924e-03 1.57466118e-04 9.99996552e-01 -3.55322878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32134618399999 meters 0.08622909686116993 Centerline is valid? [True, True] Translation: X:83.79, Y:-7.03, Z:-3.56 [[ 9.99823307e-01 1.87602978e-02 1.18535358e-03 8.37897596e+01] [-1.87601950e-02 9.99824007e-01 -9.77885092e-05 -7.03248106e+00] [-1.18697951e-03 7.55337664e-05 9.99999293e-01 -3.55830713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.381346184 meters 0.08795162494425902 Centerline is valid? [True, True] Translation: X:83.85, Y:-7.04, Z:-3.56 [[ 9.99897041e-01 1.43045507e-02 1.13485281e-03 8.38490959e+01] [-1.43044536e-02 9.99897682e-01 -9.36331711e-05 -7.04378916e+00] [-1.13607607e-03 7.73900813e-05 9.99999352e-01 -3.56028366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.441346184 meters 0.08930984326711978 Centerline is valid? [True, True] Translation: X:83.91, Y:-7.05, Z:-3.56 [[ 9.99904203e-01 1.37713886e-02 1.39082988e-03 8.39065715e+01] [-1.37712376e-02 9.99905165e-01 -1.18147341e-04 -7.04777008e+00] [-1.39232504e-03 9.89825737e-05 9.99999026e-01 -3.56141419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.501346184 meters 0.08698304014791955 Centerline is valid? [True, True] Translation: X:83.97, Y:-7.05, Z:-3.56 [[ 9.99858683e-01 1.65155844e-02 3.13831567e-03 8.39672118e+01] [-1.65148547e-02 9.99863587e-01 -2.58280069e-04 -7.05074362e+00] [-3.14215321e-03 2.06414742e-04 9.99995042e-01 -3.56326668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.561346184 meters 0.08794056259118818 Centerline is valid? [True, True] Translation: X:84.02, Y:-7.06, Z:-3.57 [[ 9.99846168e-01 1.72171252e-02 3.34818479e-03 8.40242286e+01] [-1.72162902e-02 9.99851750e-01 -2.78044552e-04 -7.06021316e+00] [-3.35247555e-03 2.20358459e-04 9.99994356e-01 -3.56740290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62134618399999 meters 0.08653456290619953 Centerline is valid? [True, True] Translation: X:84.08, Y:-7.06, Z:-3.57 [[ 9.99859666e-01 1.66645097e-02 1.71543850e-03 8.40835921e+01] [-1.66642904e-02 9.99861131e-01 -1.42086024e-04 -7.06358801e+00] [-1.71756807e-03 1.13479519e-04 9.99998519e-01 -3.56765374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68134618399999 meters 0.08710031256348198 Centerline is valid? [True, True] Translation: X:84.14, Y:-7.07, Z:-3.57 [[ 9.99869735e-01 1.61389899e-02 2.15939364e-04 8.41427923e+01] [-1.61389862e-02 9.99869758e-01 -1.89260640e-05 -7.07144297e+00] [-2.16216687e-04 1.54385562e-05 9.99999977e-01 -3.57109563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.741346184 meters 0.08869036196417104 Centerline is valid? [True, True] Translation: X:84.20, Y:-7.08, Z:-3.57 [[ 9.99876033e-01 1.56359017e-02 1.85375651e-03 8.41996620e+01] [-1.56356412e-02 9.99877744e-01 -1.54971440e-04 -7.07973792e+00] [-1.85595299e-03 1.25967557e-04 9.99998270e-01 -3.57095289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.801346184 meters 0.08923668577972693 Centerline is valid? [True, True] Translation: X:84.26, Y:-7.09, Z:-3.58 [[ 9.99903146e-01 1.36906816e-02 2.50257444e-03 8.42583655e+01] [-1.36902079e-02 9.99906263e-01 -2.06321288e-04 -7.09205844e+00] [-2.50516453e-03 1.72040540e-04 9.99996847e-01 -3.57589213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.861346184 meters 0.0890786836850599 Centerline is valid? [True, True] Translation: X:84.32, Y:-7.10, Z:-3.58 [[ 9.99909449e-01 1.34099159e-02 -1.12603883e-03 8.43174099e+01] [-1.34098218e-02 9.99910080e-01 9.10714505e-05 -7.10052659e+00] [ 1.12715884e-03 -7.59632238e-05 9.99999362e-01 -3.58145503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.921346184 meters 0.09064386396405988 Centerline is valid? [True, True] Translation: X:84.37, Y:-7.11, Z:-3.59 [[ 9.99895781e-01 1.39897737e-02 -3.56571365e-03 8.43746862e+01] [-1.39888319e-02 9.99902110e-01 2.88925681e-04 -7.10527249e+00] [ 3.56940660e-03 -2.39015400e-04 9.99993601e-01 -3.58578546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98134618399999 meters 0.09168593711501252 Centerline is valid? [True, True] Translation: X:84.43, Y:-7.11, Z:-3.59 [[ 9.99892711e-01 1.41215657e-02 -3.89212861e-03 8.44319930e+01] [-1.41204471e-02 9.99900252e-01 3.14752546e-04 -7.11175283e+00] [ 3.89618517e-03 -2.59760181e-04 9.99992376e-01 -3.58793856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04134618399999 meters 0.09296392019972449 Centerline is valid? [True, True] Translation: X:84.49, Y:-7.12, Z:-3.59 [[ 9.99899173e-01 1.34965340e-02 -4.41453935e-03 8.44897261e+01] [-1.34950829e-02 9.99908873e-01 3.58320910e-04 -7.12489648e+00] [ 4.41897315e-03 -2.98710207e-04 9.99990192e-01 -3.59193765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.101346184 meters 0.09561975882750755 Centerline is valid? [True, True] Translation: X:84.55, Y:-7.13, Z:-3.59 [[ 9.99934009e-01 1.03519695e-02 -4.98141204e-03 8.45485458e+01] [-1.03500702e-02 9.99946354e-01 4.06919929e-04 -7.13178582e+00] [ 4.98535723e-03 -3.55335111e-04 9.99987510e-01 -3.59269385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.161346184 meters 0.09951975535367362 Centerline is valid? [True, True] Translation: X:84.61, Y:-7.15, Z:-3.60 [[ 9.99966812e-01 6.61463483e-03 -4.75614019e-03 8.46069226e+01] [-6.61286466e-03 9.99978060e-01 3.87815623e-04 -7.15061328e+00] [ 4.75860109e-03 -3.56351041e-04 9.99988614e-01 -3.59876303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.221346184 meters 0.09658576909307102 Centerline is valid? [True, True] Translation: X:84.67, Y:-7.16, Z:-3.60 [[ 9.99950379e-01 4.35743587e-03 -8.95832381e-03 8.46671779e+01] [-4.35105519e-03 9.99990266e-01 7.31628604e-04 -7.15565567e+00] [ 8.96142464e-03 -6.92614139e-04 9.99959606e-01 -3.60355845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.281346184 meters 0.10151395378064952 Centerline is valid? [True, False] Translation: X:84.67, Y:-7.15, Z:-3.60 [[ 9.99939151e-01 4.66102588e-03 -9.99846813e-03 8.46702138e+01] [-4.66011333e-03 9.99989135e-01 1.14564698e-04 -7.14980973e+00] [ 9.99889349e-03 -6.79637327e-05 9.99950008e-01 -3.60451874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34134618399999 meters 0.09027778151483955 Centerline is valid? [False, True] Translation: X:84.67, Y:-7.15, Z:-3.60 [[ 9.99933400e-01 5.07922891e-03 -1.03632171e-02 8.46712759e+01] [-5.07481323e-03 9.99987021e-01 4.52344117e-04 -7.15067024e+00] [ 1.03653801e-02 -3.99722600e-04 9.99946198e-01 -3.60490311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40134618399999 meters 0.08810054320508683 Centerline is valid? [True, True] Translation: X:84.73, Y:-7.15, Z:-3.60 [[ 9.99906011e-01 7.84437676e-03 -1.12443034e-02 8.47319702e+01] [-7.83531465e-03 9.99968942e-01 8.49755540e-04 -7.14958701e+00] [ 1.12506200e-02 -7.61573017e-04 9.99936420e-01 -3.60457866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46134618399999 meters 0.0881020192772749 Centerline is valid? [True, True] Translation: X:84.79, Y:-7.15, Z:-3.61 [[ 9.99909212e-01 8.86124660e-03 -1.01512051e-02 8.47916924e+01] [-8.85392389e-03 9.99960510e-01 7.66077605e-04 -7.15249636e+00] [ 1.01575927e-02 -6.76130057e-04 9.99948182e-01 -3.60623863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.521346184 meters 0.08731738004606424 Centerline is valid? [True, True] Translation: X:84.85, Y:-7.15, Z:-3.61 [[ 9.99876542e-01 1.15747676e-02 -1.06266251e-02 8.48518387e+01] [-1.15669033e-02 9.99932780e-01 8.01215850e-04 -7.15248395e+00] [ 1.06351846e-02 -6.78199789e-04 9.99943215e-01 -3.60881820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.581346184 meters 0.08717860271927051 Centerline is valid? [True, True] Translation: X:84.91, Y:-7.15, Z:-3.61 [[ 9.99840846e-01 1.35193958e-02 -1.16408035e-02 8.49109097e+01] [-1.35101966e-02 9.99908356e-01 8.68534618e-04 -7.15303964e+00] [ 1.16514787e-02 -7.11126844e-04 9.99931866e-01 -3.61283411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.641346184 meters 0.0861637079380878 Centerline is valid? [True, True] Translation: X:84.97, Y:-7.15, Z:-3.61 [[ 9.99852303e-01 1.28472598e-02 -1.14157471e-02 8.49703532e+01] [-1.28383154e-02 9.99917219e-01 8.56457255e-04 -7.15095126e+00] [ 1.14258052e-02 -7.09771797e-04 9.99934471e-01 -3.61183445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.701346184 meters 0.09146917194676213 Centerline is valid? [True, True] Translation: X:85.03, Y:-7.16, Z:-3.62 [[ 9.99865297e-01 1.11212169e-02 -1.20709201e-02 8.50281096e+01] [-1.11110886e-02 9.99937860e-01 9.05805671e-04 -7.16296333e+00] [ 1.20802437e-02 -7.71562593e-04 9.99926734e-01 -3.61930551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76134618399999 meters 0.09347760330174903 Centerline is valid? [True, True] Translation: X:85.09, Y:-7.17, Z:-3.62 [[ 9.99926942e-01 8.14517741e-03 -8.93122703e-03 8.50861449e+01] [-8.13953556e-03 9.99966650e-01 6.67866965e-04 -7.16919372e+00] [ 8.93636907e-03 -5.95122132e-04 9.99959893e-01 -3.61824694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82134618399999 meters 0.09274538840439114 Centerline is valid? [True, True] Translation: X:85.15, Y:-7.17, Z:-3.62 [[ 9.99933543e-01 7.31156826e-03 -8.91347913e-03 8.51450362e+01] [-7.30591625e-03 9.99973089e-01 6.66494044e-04 -7.16900729e+00] [ 8.91811238e-03 -6.01328619e-04 9.99960052e-01 -3.61856570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.881346184 meters 0.08969567674486997 Centerline is valid? [True, True] Translation: X:85.20, Y:-7.17, Z:-3.62 [[ 9.99913839e-01 8.69046674e-03 -9.83824463e-03 8.52041039e+01] [-8.68365255e-03 9.99962026e-01 7.35129446e-04 -7.17076004e+00] [ 9.84425966e-03 -6.49634209e-04 9.99951333e-01 -3.62194620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.941346184 meters 0.08684841850870555 Centerline is valid? [True, True] Translation: X:85.26, Y:-7.16, Z:-3.62 [[ 9.99841445e-01 1.23636890e-02 -1.28149740e-02 8.52643148e+01] [-1.23525305e-02 9.99923254e-01 9.49531052e-04 -7.16111937e+00] [ 1.28257302e-02 -7.91083143e-04 9.99917434e-01 -3.62172403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.001346184 meters 0.08774504189722732 Centerline is valid? [True, True] Translation: X:85.32, Y:-7.16, Z:-3.62 [[ 9.99816101e-01 1.59738739e-02 -1.06113187e-02 8.53242594e+01] [-1.59663540e-02 9.99872215e-01 7.93010979e-04 -7.16315963e+00] [ 1.06226302e-02 -6.23441073e-04 9.99943384e-01 -3.62422945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.061346184 meters 0.08459048884661877 Centerline is valid? [True, True] Translation: X:85.38, Y:-7.16, Z:-3.62 [[ 9.99818604e-01 1.77919910e-02 -6.79741824e-03 8.53845393e+01] [-1.77889474e-02 9.99841635e-01 5.07957377e-04 -7.16461308e+00] [ 6.80537934e-03 -3.86946320e-04 9.99976768e-01 -3.62023461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12134618399999 meters 0.08261477275949958 Centerline is valid? [True, True] Translation: X:85.45, Y:-7.16, Z:-3.62 [[ 9.99844825e-01 1.73074511e-02 -3.28312580e-03 8.54451267e+01] [-1.73067406e-02 9.99850197e-01 2.44679921e-04 -7.16150058e+00] [ 3.28686877e-03 -1.87821746e-04 9.99994581e-01 -3.61524557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18134618399999 meters 0.08236437195261823 Centerline is valid? [True, True] Translation: X:85.50, Y:-7.16, Z:-3.62 [[ 9.99822927e-01 1.80063279e-02 -5.46694357e-03 8.55040548e+01] [-1.80043832e-02 9.99837826e-01 4.04740583e-04 -7.15525195e+00] [ 5.47334487e-03 -3.06239968e-04 9.99984974e-01 -3.61680012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.241346184 meters 0.08356129825792266 Centerline is valid? [True, True] Translation: X:85.56, Y:-7.16, Z:-3.63 [[ 9.99799355e-01 1.86117384e-02 -7.40628255e-03 8.55609858e+01] [-1.86081960e-02 9.99826703e-01 5.46937383e-04 -7.16330712e+00] [ 7.41517852e-03 -4.09010085e-04 9.99972424e-01 -3.62873971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.301346184 meters 0.08362390474090793 Centerline is valid? [True, True] Translation: X:85.62, Y:-7.16, Z:-3.63 [[ 9.99805840e-01 1.81976317e-02 -7.55840377e-03 8.56198496e+01] [-1.81939166e-02 9.99834320e-01 5.60001397e-04 -7.16049352e+00] [ 7.56734220e-03 -4.22375699e-04 9.99971278e-01 -3.62720426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.361346184 meters 0.08518188258304696 Centerline is valid? [True, True] Translation: X:85.68, Y:-7.16, Z:-3.63 [[ 9.99814659e-01 1.82592864e-02 -6.10297984e-03 8.56775496e+01] [-1.82568753e-02 9.99833228e-01 4.50546772e-04 -7.15912365e+00] [ 6.11018870e-03 -3.39041924e-04 9.99981275e-01 -3.62718223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.421346184 meters 0.0854782676640378 Centerline is valid? [True, True] Translation: X:85.74, Y:-7.17, Z:-3.63 [[ 9.99801864e-01 1.90096049e-02 -5.90490889e-03 8.57358493e+01] [-1.90073597e-02 9.99819249e-01 4.36116763e-04 -7.16549340e+00] [ 5.91213198e-03 -3.23793625e-04 9.99982471e-01 -3.63397370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48134618399999 meters 0.08435896851970758 Centerline is valid? [True, True] Translation: X:85.80, Y:-7.16, Z:-3.63 [[ 9.99820641e-01 1.85255187e-02 -3.93592702e-03 8.57951370e+01] [-1.85245219e-02 9.99828364e-01 2.89557838e-04 -7.16044952e+00] [ 3.94061569e-03 -2.16594736e-04 9.99992212e-01 -3.62957831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54134618399999 meters 0.08136786507533406 Centerline is valid? [True, True] Translation: X:85.86, Y:-7.16, Z:-3.63 [[ 9.99796791e-01 2.00396928e-02 -2.18798190e-03 8.58562098e+01] [-2.00393868e-02 9.99799178e-01 1.61675253e-04 -7.15512870e+00] [ 2.19078243e-03 -1.17796584e-04 9.99997593e-01 -3.62535581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.601346184 meters 0.08065841562705177 Centerline is valid? [True, True] Translation: X:85.92, Y:-7.16, Z:-3.63 [[ 9.99765742e-01 2.16394118e-02 -4.44945869e-04 8.59160621e+01] [-2.16394000e-02 9.99765840e-01 3.13094790e-05 -7.16043011e+00] [ 4.45519200e-04 -2.16737828e-05 9.99999901e-01 -3.62839501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.661346184 meters 0.08027715478542077 Centerline is valid? [True, True] Translation: X:85.97, Y:-7.16, Z:-3.63 [[ 9.99718530e-01 2.37072704e-02 -9.09232951e-04 8.59748159e+01] [-2.37072212e-02 9.99718942e-01 6.47614213e-05 -7.16015859e+00] [ 9.10512720e-04 -4.31878061e-05 9.99999585e-01 -3.63179802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.721346184 meters 0.07856212737972902 Centerline is valid? [True, True] Translation: X:86.03, Y:-7.16, Z:-3.63 [[ 9.99657906e-01 2.61344315e-02 1.03121659e-03 8.60347904e+01] [-2.61343652e-02 9.99658436e-01 -7.76664620e-05 -7.15955543e+00] [-1.03289413e-03 5.06897017e-05 9.99999465e-01 -3.63010492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.781346184 meters 0.08010890699501416 Centerline is valid? [True, True] Translation: X:86.09, Y:-7.17, Z:-3.63 [[ 9.99621469e-01 2.74552213e-02 1.76917642e-03 8.60925690e+01] [-2.74550280e-02 9.99623031e-01 -1.33454125e-04 -7.16815125e+00] [-1.77217351e-03 8.48308201e-05 9.99998426e-01 -3.63362924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84134618399999 meters 0.0792546407483931 Centerline is valid? [True, True] Translation: X:86.15, Y:-7.17, Z:-3.63 [[ 9.99634322e-01 2.70053615e-02 1.39042418e-03 8.61510002e+01] [-2.70052411e-02 9.99635286e-01 -1.05294158e-04 -7.17182436e+00] [-1.39276058e-03 6.77069139e-05 9.99999028e-01 -3.63404812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90134618399999 meters 0.07959035501590696 Centerline is valid? [True, True] Translation: X:86.21, Y:-7.17, Z:-3.63 [[ 9.99642397e-01 2.64881355e-02 3.66823826e-03 8.62099995e+01] [-2.64873104e-02 9.99649112e-01 -2.73339080e-04 -7.17418434e+00] [-3.67419136e-03 1.76079568e-04 9.99993235e-01 -3.63221490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96134618399999 meters 0.07903944345665506 Centerline is valid? [True, True] Translation: X:86.27, Y:-7.18, Z:-3.63 [[ 9.99646353e-01 2.57766033e-02 6.53725602e-03 8.62680922e+01] [-2.57739832e-02 9.99667678e-01 -4.84739490e-04 -7.18200948e+00] [-6.54757848e-03 3.16076936e-04 9.99978514e-01 -3.63330307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.021346184 meters 0.07714121470905014 Centerline is valid? [True, True] Translation: X:86.33, Y:-7.18, Z:-3.63 [[ 9.99625308e-01 2.63649450e-02 7.35748065e-03 8.63276140e+01] [-2.63616515e-02 9.99652323e-01 -5.44274421e-04 -7.18160653e+00] [-7.36927239e-03 3.50115146e-04 9.99972785e-01 -3.63077283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.081346184 meters 0.07736630026216045 Centerline is valid? [True, True] Translation: X:86.39, Y:-7.18, Z:-3.63 [[ 9.99583893e-01 2.80945610e-02 6.53730616e-03 8.63852183e+01] [-2.80919919e-02 9.99605225e-01 -4.84512008e-04 -7.18498953e+00] [-6.54833754e-03 3.00664448e-04 9.99978514e-01 -3.63472000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.141346184 meters 0.07795193049534616 Centerline is valid? [True, True] Translation: X:86.44, Y:-7.19, Z:-3.64 [[ 9.99557117e-01 2.91661558e-02 5.90803356e-03 8.64431554e+01] [-2.91640809e-02 9.99574542e-01 -4.37072262e-04 -7.18913395e+00] [-5.91826766e-03 2.64576321e-04 9.99982452e-01 -3.64005756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.201346184 meters 0.07647012897730651 Centerline is valid? [True, True] Translation: X:86.50, Y:-7.19, Z:-3.64 [[ 9.99509378e-01 2.98728563e-02 9.41356497e-03 8.65033179e+01] [-2.98676532e-02 9.99553622e-01 -6.92856910e-04 -7.19083750e+00] [-9.43006057e-03 4.11355886e-04 9.99955451e-01 -3.63711487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26134618399999 meters 0.07674996830409928 Centerline is valid? [True, True] Translation: X:86.56, Y:-7.20, Z:-3.64 [[ 9.99497571e-01 2.95386403e-02 1.14923174e-02 8.65619676e+01] [-2.95308522e-02 9.99563511e-01 -8.46817942e-04 -7.19655840e+00] [-1.15123150e-02 5.07014549e-04 9.99933603e-01 -3.63716277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32134618399999 meters 0.07783138826534915 Centerline is valid? [True, True] Translation: X:86.62, Y:-7.20, Z:-3.64 [[ 9.99498392e-01 2.92198740e-02 1.22132835e-02 8.66195107e+01] [-2.92110618e-02 9.99572861e-01 -8.99330180e-04 -7.20350632e+00] [-1.22343451e-02 5.42116089e-04 9.99925011e-01 -3.63767256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.381346184 meters 0.07731438034517403 Centerline is valid? [True, True] Translation: X:86.68, Y:-7.21, Z:-3.64 [[ 9.99499073e-01 2.92610002e-02 1.20580390e-02 8.66768573e+01] [-2.92524203e-02 9.99571663e-01 -8.87345149e-04 -7.20825514e+00] [-1.20788387e-02 5.34173830e-04 9.99926905e-01 -3.64016312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.441346184 meters 0.07527747008678536 Centerline is valid? [True, True] Translation: X:86.74, Y:-7.21, Z:-3.64 [[ 9.99424575e-01 3.17229956e-02 1.20070693e-02 8.67357194e+01] [-3.17146948e-02 9.99496574e-01 -8.81153630e-04 -7.21460925e+00] [-1.20289775e-02 4.99846055e-04 9.99927524e-01 -3.64385192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.501346184 meters 0.07388104849575687 Centerline is valid? [True, True] Translation: X:86.79, Y:-7.22, Z:-3.64 [[ 9.99395381e-01 3.28001931e-02 1.15334473e-02 8.67943897e+01] [-3.27926065e-02 9.99461820e-01 -8.46343207e-04 -7.21532717e+00] [-1.15550004e-02 4.67619694e-04 9.99933129e-01 -3.64087037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.561346184 meters 0.07332682642547941 Centerline is valid? [True, True] Translation: X:86.85, Y:-7.22, Z:-3.64 [[ 9.99336455e-01 3.40098964e-02 1.30375341e-02 8.68532759e+01] [-3.40003270e-02 9.99421365e-01 -9.54999192e-04 -7.22345819e+00] [-1.30624696e-02 5.11085084e-04 9.99914552e-01 -3.64299493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62134618399999 meters 0.07360087044577109 Centerline is valid? [True, True] Translation: X:86.91, Y:-7.23, Z:-3.64 [[ 9.99313751e-01 3.44599507e-02 1.35844784e-02 8.69101562e+01] [-3.44496033e-02 9.99405941e-01 -9.95046648e-04 -7.23412711e+00] [-1.36106977e-02 5.26383907e-04 9.99907232e-01 -3.64476047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68134618399999 meters 0.07429611868254121 Centerline is valid? [True, True] Translation: X:86.97, Y:-7.25, Z:-3.65 [[ 9.99343417e-01 3.33610997e-02 1.41340952e-02 8.69673874e+01] [-3.33497959e-02 9.99443205e-01 -1.03476336e-03 -7.24502162e+00] [-1.41607463e-02 5.62714764e-04 9.99899573e-01 -3.64714073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.741346184 meters 0.07348140744507908 Centerline is valid? [True, True] Translation: X:87.03, Y:-7.25, Z:-3.65 [[ 9.99413068e-01 3.22875577e-02 1.14469348e-02 8.70269820e+01] [-3.22801063e-02 9.99478513e-01 -8.35163662e-04 -7.25103754e+00] [-1.14679308e-02 4.65165205e-04 9.99934133e-01 -3.65020023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.801346184 meters 0.07480274866812459 Centerline is valid? [True, True] Translation: X:87.09, Y:-7.26, Z:-3.65 [[ 9.99513664e-01 2.91435874e-02 1.10944689e-02 8.70861687e+01] [-2.91363986e-02 9.99575118e-01 -8.09076450e-04 -7.26090612e+00] [-1.11133344e-02 4.85430099e-04 9.99938127e-01 -3.65273067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.861346184 meters 0.07512473252914496 Centerline is valid? [True, True] Translation: X:87.14, Y:-7.27, Z:-3.65 [[ 9.99527194e-01 2.77366420e-02 1.32690503e-02 8.71444817e+01] [-2.77262337e-02 9.99615086e-01 -9.67754751e-04 -7.26725874e+00] [-1.32907852e-02 5.99396400e-04 9.99911494e-01 -3.65297967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.921346184 meters 0.07562221448769468 Centerline is valid? [True, True] Translation: X:87.20, Y:-7.28, Z:-3.66 [[ 9.99507621e-01 2.74768127e-02 1.51506054e-02 8.72021866e+01] [-2.74632359e-02 9.99622205e-01 -1.10349139e-03 -7.27620464e+00] [-1.51752020e-02 6.86863407e-04 9.99884614e-01 -3.65533822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98134618399999 meters 0.07716534523104211 Centerline is valid? [True, True] Translation: X:87.26, Y:-7.29, Z:-3.66 [[ 9.99554979e-01 2.55141046e-02 1.54555816e-02 8.72601705e+01] [-2.54997653e-02 9.99674196e-01 -1.12416956e-03 -7.28512545e+00] [-1.54792283e-02 7.29555581e-04 9.99879923e-01 -3.65761217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04134618399999 meters 0.07552013902585479 Centerline is valid? [True, True] Translation: X:87.32, Y:-7.28, Z:-3.66 [[ 9.99585848e-01 2.58904328e-02 1.25625307e-02 8.73195100e+01] [-2.58809869e-02 9.99664613e-01 -9.13933086e-04 -7.28434275e+00] [-1.25819795e-02 5.88423887e-04 9.99920671e-01 -3.66082513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.101346184 meters 0.07573426552710359 Centerline is valid? [True, True] Translation: X:87.38, Y:-7.29, Z:-3.66 [[ 9.99594182e-01 2.59271092e-02 1.18006626e-02 8.73782228e+01] [-2.59187851e-02 9.99663684e-01 -8.57804997e-04 -7.29119024e+00] [-1.18189342e-02 5.51598047e-04 9.99930002e-01 -3.66419851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.161346184 meters 0.07628818400526256 Centerline is valid? [True, True] Translation: X:87.44, Y:-7.30, Z:-3.67 [[ 9.99603784e-01 2.42424939e-02 1.43029906e-02 8.74365218e+01] [-2.42301158e-02 9.99705869e-01 -1.03810553e-03 -7.30182394e+00] [-1.43239499e-02 6.91131103e-04 9.99897168e-01 -3.66570599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.221346184 meters 0.0764903663348642 Centerline is valid? [True, True] Translation: X:87.50, Y:-7.31, Z:-3.67 [[ 9.99617695e-01 2.34681549e-02 1.46188361e-02 8.74951597e+01] [-2.34551576e-02 9.99724328e-01 -1.05992189e-03 -7.30894867e+00] [-1.46396805e-02 7.16629572e-04 9.99892577e-01 -3.66649798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.281346184 meters 0.07491956918540096 Centerline is valid? [True, True] Translation: X:87.55, Y:-7.31, Z:-3.67 [[ 9.99584845e-01 2.55363420e-02 1.33429007e-02 8.75538083e+01] [-2.55257076e-02 9.99673699e-01 -9.66727929e-04 -7.31267723e+00] [-1.33632336e-02 6.25739604e-04 9.99910512e-01 -3.67169961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34134618399999 meters 0.074547206735557 Centerline is valid? [True, True] Translation: X:87.61, Y:-7.32, Z:-3.68 [[ 9.99542061e-01 2.81574107e-02 1.10828014e-02 8.76123443e+01] [-2.81502390e-02 9.99603381e-01 -8.02597940e-04 -7.31535426e+00] [-1.11010048e-02 4.90246892e-04 9.99938262e-01 -3.67505369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40134618399999 meters 0.07401262172966183 Centerline is valid? [True, True] Translation: X:87.67, Y:-7.32, Z:-3.68 [[ 9.99496543e-01 2.99039855e-02 1.06024422e-02 8.76705074e+01] [-2.98975270e-02 9.99552675e-01 -7.67169876e-04 -7.32035782e+00] [-1.06206409e-02 4.49796838e-04 9.99943498e-01 -3.67907589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46134618399999 meters 0.07294773839340911 Centerline is valid? [True, True] Translation: X:87.73, Y:-7.32, Z:-3.68 [[ 9.99447430e-01 3.21454437e-02 8.45601819e-03 8.77291089e+01] [-3.21414160e-02 9.99483144e-01 -6.11811720e-04 -7.32083545e+00] [-8.47131460e-03 3.39685254e-04 9.99964060e-01 -3.68338898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.521346184 meters 0.07290576473952859 Centerline is valid? [True, True] Translation: X:87.79, Y:-7.32, Z:-3.69 [[ 9.99424859e-01 3.29173612e-02 8.14847180e-03 8.77877361e+01] [-3.29136509e-02 9.99458025e-01 -5.89057182e-04 -7.32260425e+00] [-8.16344575e-03 3.20522435e-04 9.99966627e-01 -3.68551685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.581346184 meters 0.07272411690393592 Centerline is valid? [True, True] Translation: X:87.85, Y:-7.32, Z:-3.69 [[ 9.99390304e-01 3.42643838e-02 6.70619160e-03 8.78470856e+01] [-3.42619047e-02 9.99412771e-01 -4.84243216e-04 -7.32259942e+00] [-6.71884582e-03 2.54181077e-04 9.99977396e-01 -3.68925706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.641346184 meters 0.07222836529154528 Centerline is valid? [True, True] Translation: X:87.91, Y:-7.33, Z:-3.69 [[ 9.99353230e-01 3.46828802e-02 9.49835373e-03 8.79053590e+01] [-3.46779336e-02 9.99398305e-01 -6.85038167e-04 -7.33006412e+00] [-9.51639771e-03 3.55211825e-04 9.99954655e-01 -3.69189210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.701346184 meters 0.07328468900940899 Centerline is valid? [True, True] Translation: X:87.97, Y:-7.33, Z:-3.69 [[ 9.99457984e-01 3.17186629e-02 8.81272594e-03 8.79652656e+01] [-3.17143026e-02 9.99496774e-01 -6.34117235e-04 -7.33262753e+00] [-8.82840449e-03 3.54284077e-04 9.99960966e-01 -3.69070712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76134618399999 meters 0.07365674829188888 Centerline is valid? [True, True] Translation: X:88.02, Y:-7.34, Z:-3.69 [[ 9.99524182e-01 2.89138304e-02 1.07424806e-02 8.80237848e+01] [-2.89071864e-02 9.99581801e-01 -7.73270543e-04 -7.33980975e+00] [-1.07603463e-02 4.62367718e-04 9.99941999e-01 -3.69190704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82134618399999 meters 0.07446125961040499 Centerline is valid? [True, True] Translation: X:88.08, Y:-7.35, Z:-3.70 [[ 9.99558650e-01 2.75758268e-02 1.10489039e-02 8.80820175e+01] [-2.75687268e-02 9.99619595e-01 -7.94411767e-04 -7.35037786e+00] [-1.10666074e-02 4.89456942e-04 9.99938643e-01 -3.69575487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.881346184 meters 0.07580981740093237 Centerline is valid? [True, True] Translation: X:88.14, Y:-7.36, Z:-3.70 [[ 9.99628968e-01 2.59833397e-02 8.17262642e-03 8.81413432e+01] [-2.59794098e-02 9.99662306e-01 -5.86670293e-04 -7.35546998e+00] [-8.18511022e-03 3.74132609e-04 9.99966431e-01 -3.69928347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.941346184 meters 0.0762198653338354 Centerline is valid? [True, True] Translation: X:88.20, Y:-7.36, Z:-3.70 [[ 9.99626162e-01 2.66401365e-02 6.15131295e-03 8.81997836e+01] [-2.66379155e-02 9.99645050e-01 -4.42727265e-04 -7.35979827e+00] [-6.16092385e-03 2.78703602e-04 9.99980982e-01 -3.70445960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.001346184 meters 0.07496280024923538 Centerline is valid? [True, True] Translation: X:88.26, Y:-7.36, Z:-3.71 [[ 9.99478058e-01 3.17145195e-02 6.14823478e-03 8.82580442e+01] [-3.17124026e-02 9.99496938e-01 -4.41508622e-04 -7.36436256e+00] [-6.15914407e-03 2.46302883e-04 9.99981002e-01 -3.70946264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.061346184 meters 0.07415038251365998 Centerline is valid? [True, True] Translation: X:88.32, Y:-7.36, Z:-3.71 [[ 9.99396327e-01 3.40298792e-02 6.99639317e-03 8.83180524e+01] [-3.40272026e-02 9.99420781e-01 -5.01286129e-04 -7.36409098e+00] [-7.00939943e-03 2.62915828e-04 9.99975399e-01 -3.70909841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12134618399999 meters 0.07192175467503246 Centerline is valid? [True, True] Translation: X:88.38, Y:-7.36, Z:-3.71 [[ 9.99322266e-01 3.61897829e-02 6.73111787e-03 8.83767204e+01] [-3.61873478e-02 9.99344907e-01 -4.83253289e-04 -7.36376990e+00] [-6.74419720e-03 2.39344469e-04 9.99977229e-01 -3.70854862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18134618399999 meters 0.07400198628336259 Centerline is valid? [True, True] Translation: X:88.43, Y:-7.37, Z:-3.71 [[ 9.99304703e-01 3.63961318e-02 8.08901067e-03 8.84342498e+01] [-3.63926311e-02 9.99337401e-01 -5.79592886e-04 -7.37417314e+00] [-8.10474584e-03 2.84809516e-04 9.99967115e-01 -3.71494175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.241346184 meters 0.0741325564490569 Centerline is valid? [True, True] Translation: X:88.49, Y:-7.38, Z:-3.72 [[ 9.99291549e-01 3.64890052e-02 9.21700688e-03 8.84933780e+01] [-3.64844751e-02 9.99334002e-01 -6.59218000e-04 -7.37724532e+00] [-9.23492259e-03 3.22473319e-04 9.99957305e-01 -3.71551478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.301346184 meters 0.07150191329363313 Centerline is valid? [True, True] Translation: X:88.55, Y:-7.38, Z:-3.71 [[ 9.99327061e-01 3.48156674e-02 1.15453573e-02 8.85526296e+01] [-3.48084614e-02 9.99393662e-01 -8.24568196e-04 -7.37601015e+00] [-1.15670648e-02 4.22137188e-04 9.99933010e-01 -3.71071115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.361346184 meters 0.07324914202959337 Centerline is valid? [True, True] Translation: X:88.61, Y:-7.38, Z:-3.72 [[ 9.99428082e-01 3.26754867e-02 8.70752492e-03 8.86104103e+01] [-3.26713069e-02 9.99465957e-01 -6.21873723e-04 -7.38273232e+00] [-8.72319476e-03 3.37031843e-04 9.99961895e-01 -3.71607698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.421346184 meters 0.07371705553398475 Centerline is valid? [True, True] Translation: X:88.67, Y:-7.39, Z:-3.72 [[ 9.99557968e-01 2.87183221e-02 7.68938516e-03 8.86699224e+01] [-2.87149595e-02 9.99587491e-01 -5.47378489e-04 -7.38972289e+00] [-7.70193301e-03 3.26336147e-04 9.99970286e-01 -3.72050653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48134618399999 meters 0.07552356876876021 Centerline is valid? [True, True] Translation: X:88.73, Y:-7.40, Z:-3.72 [[ 9.99665048e-01 2.48752845e-02 7.14228303e-03 8.87297093e+01] [-2.48722856e-02 9.99690508e-01 -5.08421236e-04 -7.39707890e+00] [-7.15271967e-03 3.30606036e-04 9.99974364e-01 -3.72319467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54134618399999 meters 0.07771457757129796 Centerline is valid? [True, True] Translation: X:88.79, Y:-7.40, Z:-3.73 [[ 9.99765608e-01 2.06818770e-02 6.40232344e-03 8.87893937e+01] [-2.06793823e-02 9.99786055e-01 -4.55606573e-04 -7.40306788e+00] [-6.41037649e-03 3.23103688e-04 9.99979401e-01 -3.72633706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.601346184 meters 0.07842802308267914 Centerline is valid? [True, True] Translation: X:88.85, Y:-7.41, Z:-3.73 [[ 9.99791317e-01 1.98142564e-02 4.97171590e-03 8.88482286e+01] [-1.98127384e-02 9.99803646e-01 -3.54413593e-04 -7.41129600e+00] [-4.97776212e-03 2.55836327e-04 9.99987578e-01 -3.73258629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.661346184 meters 0.0790015758809008 Centerline is valid? [True, True] Translation: X:88.91, Y:-7.41, Z:-3.74 [[ 9.99756567e-01 2.14523156e-02 5.15807957e-03 8.89062111e+01] [-2.14506962e-02 9.99769839e-01 -3.69087325e-04 -7.41279376e+00] [-5.16481016e-03 2.58353079e-04 9.99986629e-01 -3.73585321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.721346184 meters 0.07684505285335108 Centerline is valid? [True, True] Translation: X:88.97, Y:-7.41, Z:-3.74 [[ 9.99587467e-01 2.82382444e-02 5.24377593e-03 8.89668365e+01] [-2.82366803e-02 9.99601196e-01 -3.72075734e-04 -7.40578612e+00] [-5.25219145e-03 2.23855416e-04 9.99986182e-01 -3.73776455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.781346184 meters 0.07363687161135644 Centerline is valid? [True, True] Translation: X:89.03, Y:-7.40, Z:-3.74 [[ 9.99513493e-01 3.09614052e-02 3.76410091e-03 8.90265104e+01] [-3.09606099e-02 9.99520569e-01 -2.69391922e-04 -7.40030857e+00] [-3.77063704e-03 1.52722001e-04 9.99992879e-01 -3.73865026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84134618399999 meters 0.07464932582174809 Centerline is valid? [True, True] Translation: X:89.08, Y:-7.40, Z:-3.74 [[ 9.99527908e-01 3.05578338e-02 3.19052851e-03 8.90841369e+01] [-3.05572580e-02 9.99532992e-01 -2.29088228e-04 -7.40371231e+00] [-3.19603895e-03 1.31486275e-04 9.99994884e-01 -3.74293411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90134618399999 meters 0.07575535467982965 Centerline is valid? [True, True] Translation: X:89.14, Y:-7.40, Z:-3.74 [[ 9.99597723e-01 2.82421991e-02 2.60195036e-03 8.91438699e+01] [-2.82418121e-02 9.99601103e-01 -1.85359170e-04 -7.40389274e+00] [-2.60614740e-03 1.11800811e-04 9.99996598e-01 -3.74469617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96134618399999 meters 0.0761044301911895 Centerline is valid? [True, True] Translation: X:89.20, Y:-7.41, Z:-3.75 [[ 9.99634439e-01 2.70107901e-02 1.18594342e-03 8.92026079e+01] [-2.70107073e-02 9.99635141e-01 -8.57952285e-05 -7.40891020e+00] [-1.18782811e-03 5.37306946e-05 9.99999293e-01 -3.75068206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.021346184 meters 0.0774640641423041 Centerline is valid? [True, True] Translation: X:89.26, Y:-7.41, Z:-3.75 [[ 9.99658921e-01 2.59586638e-02 2.86163362e-03 8.92607044e+01] [-2.59581824e-02 9.99663009e-01 -2.05250621e-04 -7.41039883e+00] [-2.86599730e-03 1.30897807e-04 9.99995884e-01 -3.75418626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.081346184 meters 0.07666619332019393 Centerline is valid? [True, True] Translation: X:89.32, Y:-7.41, Z:-3.75 [[ 9.99648518e-01 2.63496474e-02 2.92184639e-03 8.93203144e+01] [-2.63491498e-02 9.99652779e-01 -2.08668572e-04 -7.40670361e+00] [-2.92633021e-03 1.31607060e-04 9.99995710e-01 -3.75374043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.141346184 meters 0.07640944152881482 Centerline is valid? [True, True] Translation: X:89.38, Y:-7.41, Z:-3.75 [[ 9.99664036e-01 2.56368797e-02 3.81641673e-03 8.93784680e+01] [-2.56360251e-02 9.99671306e-01 -2.72686561e-04 -7.40604354e+00] [-3.82215313e-03 1.74757194e-04 9.99992680e-01 -3.75451178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.201346184 meters 0.07714770189494671 Centerline is valid? [True, True] Translation: X:89.44, Y:-7.40, Z:-3.75 [[ 9.99699540e-01 2.42151426e-02 3.80229017e-03 8.94372782e+01] [-2.42142878e-02 9.99706755e-01 -2.70686463e-04 -7.40160836e+00] [-3.80772988e-03 1.78535384e-04 9.99992735e-01 -3.75437318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26134618399999 meters 0.07788673468280849 Centerline is valid? [True, True] Translation: X:89.50, Y:-7.40, Z:-3.76 [[ 9.99695689e-01 2.40181817e-02 5.62639399e-03 8.94957677e+01] [-2.40163219e-02 9.99711487e-01 -3.97885153e-04 -7.40380039e+00] [-5.63432718e-03 2.62638783e-04 9.99984093e-01 -3.75900146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32134618399999 meters 0.07873049807088067 Centerline is valid? [True, True] Translation: X:89.55, Y:-7.41, Z:-3.76 [[ 9.99697039e-01 2.40574332e-02 5.20291941e-03 8.95530856e+01] [-2.40558416e-02 9.99710549e-01 -3.68275470e-04 -7.40617287e+00] [-5.21027318e-03 2.43003292e-04 9.99986397e-01 -3.76446853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.381346184 meters 0.07917081214027522 Centerline is valid? [True, True] Translation: X:89.61, Y:-7.40, Z:-3.76 [[ 9.99702189e-01 2.36234777e-02 6.12091421e-03 8.96124783e+01] [-2.36212769e-02 9.99720886e-01 -4.31614180e-04 -7.40247115e+00] [-6.12940200e-03 2.86901831e-04 9.99981174e-01 -3.76464306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.441346184 meters 0.07938049754457639 Centerline is valid? [True, True] Translation: X:89.67, Y:-7.40, Z:-3.77 [[ 9.99687684e-01 2.39787874e-02 7.03937095e-03 8.96709492e+01] [-2.39758915e-02 9.99712414e-01 -4.95498390e-04 -7.40341236e+00] [-7.04922798e-03 3.26568443e-04 9.99975101e-01 -3.76543602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.501346184 meters 0.07823749395200791 Centerline is valid? [True, True] Translation: X:89.73, Y:-7.41, Z:-3.77 [[ 9.99618380e-01 2.59830443e-02 9.37950402e-03 8.97307237e+01] [-2.59780114e-02 9.99662298e-01 -6.58036692e-04 -7.40511549e+00] [-9.39343434e-03 4.14124710e-04 9.99955795e-01 -3.76741922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.561346184 meters 0.07647524102024805 Centerline is valid? [True, True] Translation: X:89.79, Y:-7.40, Z:-3.77 [[ 9.99606158e-01 2.66928456e-02 8.66144630e-03 8.97898455e+01] [-2.66885753e-02 9.99643611e-01 -6.08254241e-04 -7.40098385e+00] [-8.67459550e-03 3.76853023e-04 9.99962304e-01 -3.76634219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62134618399999 meters 0.07648420575647485 Centerline is valid? [True, True] Translation: X:89.85, Y:-7.40, Z:-3.77 [[ 9.99529616e-01 3.01606568e-02 5.55712661e-03 8.98471871e+01] [-3.01589468e-02 9.99545039e-01 -3.91287200e-04 -7.40169108e+00] [-5.56639981e-03 2.23506059e-04 9.99984482e-01 -3.77431682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68134618399999 meters 0.0776703325462642 Centerline is valid? [True, True] Translation: X:89.90, Y:-7.41, Z:-3.78 [[ 9.99464281e-01 3.22395399e-02 5.63587640e-03 8.99040152e+01] [-3.22378172e-02 9.99480148e-01 -3.96258852e-04 -7.41031153e+00] [-5.64572178e-03 2.14358215e-04 9.99984040e-01 -3.78278398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.741346184 meters 0.07452290153897215 Centerline is valid? [True, True] Translation: X:89.96, Y:-7.40, Z:-3.78 [[ 9.99276037e-01 3.75674025e-02 6.00768782e-03 8.99649001e+01] [-3.75655550e-02 9.99294077e-01 -4.20106134e-04 -7.39839419e+00] [-6.01922915e-03 1.94119866e-04 9.99981865e-01 -3.77692174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.801346184 meters 0.07346216939747574 Centerline is valid? [True, True] Translation: X:90.03, Y:-7.40, Z:-3.78 [[ 9.99116318e-01 4.13588456e-02 7.48528023e-03 9.00253093e+01] [-4.13560863e-02 9.99144334e-01 -5.23103534e-04 -7.39668586e+00] [-7.50051029e-03 2.13079381e-04 9.99971848e-01 -3.77946401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.861346184 meters 0.07313998018790537 Centerline is valid? [True, True] Translation: X:90.08, Y:-7.40, Z:-3.78 [[ 9.99056230e-01 4.24485176e-02 9.20715836e-03 9.00835684e+01] [-4.24443894e-02 9.99098624e-01 -6.43403540e-04 -7.40336891e+00] [-9.22617077e-03 2.52004102e-04 9.99957406e-01 -3.78367081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.921346184 meters 0.07343691013888073 Centerline is valid? [True, True] Translation: X:90.14, Y:-7.40, Z:-3.78 [[ 9.99172885e-01 3.96431263e-02 9.05367161e-03 9.01429463e+01] [-3.96390245e-02 9.99213865e-01 -6.32116980e-04 -7.40302145e+00] [-9.07161330e-03 2.72715435e-04 9.99958815e-01 -3.78191688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98134618399999 meters 0.07416309385898912 Centerline is valid? [True, True] Translation: X:90.20, Y:-7.41, Z:-3.78 [[ 9.99236245e-01 3.80062998e-02 9.08005681e-03 9.02012215e+01] [-3.80020692e-02 9.99277457e-01 -6.38069490e-04 -7.40916357e+00] [-9.09774674e-03 2.92521214e-04 9.99958572e-01 -3.78438052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04134618399999 meters 0.07517748009054562 Centerline is valid? [True, True] Translation: X:90.26, Y:-7.42, Z:-3.79 [[ 9.99334701e-01 3.52418513e-02 9.38970042e-03 9.02594167e+01] [-3.52372289e-02 9.99378760e-01 -6.57309758e-04 -7.41813155e+00] [-9.40703197e-03 3.26005428e-04 9.99955700e-01 -3.78752756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.101346184 meters 0.07633712742450842 Centerline is valid? [True, True] Translation: X:90.32, Y:-7.42, Z:-3.79 [[ 9.99419901e-01 3.28634140e-02 8.93629358e-03 9.03190605e+01] [-3.28591986e-02 9.99459800e-01 -6.18174873e-04 -7.42232437e+00] [-8.95178153e-03 3.24176825e-04 9.99959879e-01 -3.78756742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.161346184 meters 0.07599273380572782 Centerline is valid? [True, True] Translation: X:90.38, Y:-7.43, Z:-3.79 [[ 9.99405274e-01 3.33697516e-02 8.69243230e-03 9.03781397e+01] [-3.33657394e-02 9.99443025e-01 -6.06228034e-04 -7.42518234e+00] [-8.70782051e-03 3.15838063e-04 9.99962036e-01 -3.79048034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.221346184 meters 0.07580956470760214 Centerline is valid? [True, True] Translation: X:90.44, Y:-7.43, Z:-3.79 [[ 9.99361247e-01 3.47001465e-02 8.54387717e-03 9.04372018e+01] [-3.46963341e-02 9.99397724e-01 -5.94071561e-04 -7.42864322e+00] [-8.55934577e-03 2.97250879e-04 9.99963324e-01 -3.79422190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.281346184 meters 0.07502545810647752 Centerline is valid? [True, True] Translation: X:90.50, Y:-7.43, Z:-3.79 [[ 9.99263686e-01 3.69450548e-02 1.03512460e-02 9.04974677e+01] [-3.69396663e-02 9.99317244e-01 -7.11343330e-04 -7.42839845e+00] [-1.03704592e-02 3.28447986e-04 9.99946171e-01 -3.79486976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34134618399999 meters 0.07469072587403332 Centerline is valid? [True, True] Translation: X:90.56, Y:-7.43, Z:-3.80 [[ 9.99201176e-01 3.86367251e-02 1.02085094e-02 9.05564390e+01] [-3.86315576e-02 9.99253275e-01 -7.02969628e-04 -7.43208229e+00] [-1.02280469e-02 3.08037459e-04 9.99947645e-01 -3.79919683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40134618399999 meters 0.07448087846891363 Centerline is valid? [True, True] Translation: X:90.61, Y:-7.44, Z:-3.80 [[ 9.99129092e-01 4.01948707e-02 1.11995364e-02 9.06145726e+01] [-4.01887837e-02 9.99191809e-01 -7.68126500e-04 -7.43664191e+00] [-1.12213598e-02 3.17361787e-04 9.99936988e-01 -3.80291288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46134618399999 meters 0.07207867072324588 Centerline is valid? [True, True] Translation: X:90.67, Y:-7.43, Z:-3.80 [[ 9.99112730e-01 4.05130550e-02 1.15085019e-02 9.06737426e+01] [-4.05066557e-02 9.99178957e-01 -7.88694418e-04 -7.43420307e+00] [-1.15310053e-02 3.21823709e-04 9.99933464e-01 -3.79625868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.521346184 meters 0.07303238592996569 Centerline is valid? [True, True] Translation: X:90.73, Y:-7.44, Z:-3.80 [[ 9.99156204e-01 3.92468774e-02 1.21062765e-02 9.07310627e+01] [-3.92397103e-02 9.99229482e-01 -8.29069217e-04 -7.44321678e+00] [-1.21294867e-02 3.53322871e-04 9.99926373e-01 -3.79917391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.581346184 meters 0.07450323428149959 Centerline is valid? [True, True] Translation: X:90.79, Y:-7.46, Z:-3.81 [[ 9.99261147e-01 3.72533901e-02 9.45224664e-03 9.07894903e+01] [-3.72489470e-02 9.99305809e-01 -6.45732358e-04 -7.45767833e+00] [-9.46974069e-03 2.93169023e-04 9.99955118e-01 -3.80717913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.641346184 meters 0.07418000464816725 Centerline is valid? [True, True] Translation: X:90.85, Y:-7.47, Z:-3.81 [[ 9.99304335e-01 3.59648863e-02 9.86775210e-03 9.08481137e+01] [-3.59599758e-02 9.99353003e-01 -6.74661442e-04 -7.46577293e+00] [-9.88563182e-03 3.19347978e-04 9.99951085e-01 -3.80951394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.701346184 meters 0.07498915817990376 Centerline is valid? [True, True] Translation: X:90.91, Y:-7.47, Z:-3.81 [[ 9.99360119e-01 3.44112455e-02 9.75803118e-03 9.09064871e+01] [-3.44063760e-02 9.99407703e-01 -6.66509242e-04 -7.47215378e+00] [-9.77518694e-03 3.30344265e-04 9.99952167e-01 -3.80721190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76134618399999 meters 0.07481312238059572 Centerline is valid? [True, True] Translation: X:90.96, Y:-7.48, Z:-3.81 [[ 9.99440845e-01 3.16958311e-02 1.06475650e-02 9.09644344e+01] [-3.16898715e-02 9.99497485e-01 -7.28005108e-04 -7.47869839e+00] [-1.06652892e-02 3.90178073e-04 9.99943048e-01 -3.80531059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82134618399999 meters 0.07789088589605443 Centerline is valid? [True, True] Translation: X:91.02, Y:-7.50, Z:-3.81 [[ 9.99590106e-01 2.61332146e-02 1.16908078e-02 9.10227642e+01] [-2.61257072e-02 9.99658350e-01 -7.94448730e-04 -7.49763777e+00] [-1.17075751e-02 4.88692469e-04 9.99931345e-01 -3.80924966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.881346184 meters 0.07653358671132961 Centerline is valid? [True, True] Translation: X:91.08, Y:-7.51, Z:-3.81 [[ 9.99656395e-01 2.35383290e-02 1.15342510e-02 9.10823363e+01] [-2.35308456e-02 9.99722804e-01 -7.84093711e-04 -7.50516824e+00] [-1.15495100e-02 5.12413612e-04 9.99933171e-01 -3.81052741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.941346184 meters 0.07875702033096613 Centerline is valid? [True, True] Translation: X:91.14, Y:-7.51, Z:-3.81 [[ 9.99724108e-01 2.19769871e-02 8.28972463e-03 9.11401090e+01] [-2.19730598e-02 9.99758404e-01 -5.64542005e-04 -7.51462450e+00] [-8.30012879e-03 3.82235637e-04 9.99965480e-01 -3.81488076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.001346184 meters 0.07906963666296293 Centerline is valid? [True, True] Translation: X:91.20, Y:-7.52, Z:-3.82 [[ 9.99764943e-01 2.05997158e-02 6.76098181e-03 9.11997842e+01] [-2.05970790e-02 9.99787752e-01 -4.59404521e-04 -7.51908908e+00] [-6.76901041e-03 3.20040058e-04 9.99977039e-01 -3.81734304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.061346184 meters 0.08014385676902695 Centerline is valid? [True, True] Translation: X:91.26, Y:-7.53, Z:-3.82 [[ 9.99767889e-01 1.98535748e-02 8.36682065e-03 9.12573314e+01] [-1.98495076e-02 9.99802817e-01 -5.68884962e-04 -7.53490606e+00] [-8.37646526e-03 4.02675647e-04 9.99964836e-01 -3.82330274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12134618399999 meters 0.07822311376601315 Centerline is valid? [True, True] Translation: X:91.32, Y:-7.53, Z:-3.82 [[ 9.99775392e-01 1.94832987e-02 8.34066155e-03 9.13163925e+01] [-1.94792479e-02 9.99810101e-01 -5.66633382e-04 -7.53461457e+00] [-8.35011755e-03 4.04036297e-04 9.99965056e-01 -3.82079456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18134618399999 meters 0.08174844553069179 Centerline is valid? [True, True] Translation: X:91.37, Y:-7.55, Z:-3.83 [[ 9.99724198e-01 2.22912628e-02 7.39104052e-03 9.13739220e+01] [-2.22881606e-02 9.99751462e-01 -5.01847841e-04 -7.54509588e+00] [-7.40039039e-03 3.36976733e-04 9.99972560e-01 -3.82671824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.241346184 meters 0.07772590386426487 Centerline is valid? [True, True] Translation: X:91.43, Y:-7.54, Z:-3.82 [[ 9.99650566e-01 2.52015425e-02 7.97669667e-03 9.14339440e+01] [-2.51980359e-02 9.99682333e-01 -5.39807866e-04 -7.54355360e+00] [-7.98776673e-03 3.38622150e-04 9.99968040e-01 -3.82462916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.301346184 meters 0.07572755102396642 Centerline is valid? [True, True] Translation: X:91.49, Y:-7.54, Z:-3.82 [[ 9.99610271e-01 2.64348447e-02 8.97242173e-03 9.14925556e+01] [-2.64304525e-02 9.99650470e-01 -6.07758262e-04 -7.54451646e+00] [-8.98535159e-03 3.70376234e-04 9.99959562e-01 -3.82351509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.361346184 meters 0.07594388211974439 Centerline is valid? [True, True] Translation: X:91.55, Y:-7.55, Z:-3.82 [[ 9.99645661e-01 2.51480289e-02 8.72524306e-03 9.15509590e+01] [-2.51438310e-02 9.99683670e-01 -5.90494799e-04 -7.54942885e+00] [-8.73733278e-03 3.70899526e-04 9.99961760e-01 -3.82449924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.421346184 meters 0.07631397659764194 Centerline is valid? [True, True] Translation: X:91.61, Y:-7.56, Z:-3.83 [[ 9.99699003e-01 2.31918736e-02 8.00257108e-03 9.16095394e+01] [-2.31882829e-02 9.99730969e-01 -5.41201860e-04 -7.55848015e+00] [-8.01296963e-03 3.55473077e-04 9.99967832e-01 -3.82868239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48134618399999 meters 0.07850318171221063 Centerline is valid? [True, True] Translation: X:91.67, Y:-7.56, Z:-3.83 [[ 9.99796412e-01 1.90819120e-02 6.55862951e-03 9.16686447e+01] [-1.90794222e-02 9.99817874e-01 -4.41988161e-04 -7.56345290e+00] [-6.56586899e-03 3.16763316e-04 9.99978394e-01 -3.82868815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54134618399999 meters 0.07850317443286627 Centerline is valid? [True, True] Translation: X:91.73, Y:-7.57, Z:-3.83 [[ 9.99830369e-01 1.71161050e-02 6.80232781e-03 9.17274891e+01] [-1.71133754e-02 9.99853450e-01 -4.59283014e-04 -7.56873820e+00] [-6.80919207e-03 3.42794316e-04 9.99976758e-01 -3.83135921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.601346184 meters 0.08015174651378557 Centerline is valid? [True, True] Translation: X:91.79, Y:-7.58, Z:-3.83 [[ 9.99832504e-01 1.67287878e-02 7.42368138e-03 9.17850373e+01] [-1.67255229e-02 9.99859993e-01 -5.01665219e-04 -7.57552441e+00] [-7.43103426e-03 3.77416239e-04 9.99972318e-01 -3.83464270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.661346184 meters 0.07800895118786302 Centerline is valid? [True, True] Translation: X:91.84, Y:-7.57, Z:-3.84 [[ 9.99793173e-01 1.91628025e-02 6.81157551e-03 9.18442034e+01] [-1.91601159e-02 9.99816323e-01 -4.59454328e-04 -7.57116452e+00] [-6.81912881e-03 3.28848724e-04 9.99976695e-01 -3.83683420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.721346184 meters 0.07595132208930301 Centerline is valid? [True, True] Translation: X:91.90, Y:-7.57, Z:-3.84 [[ 9.99737611e-01 2.20870898e-02 6.07209156e-03 9.19031131e+01] [-2.20850093e-02 9.99756013e-01 -4.09484785e-04 -7.56716020e+00] [-6.07965437e-03 2.75275142e-04 9.99981481e-01 -3.83762707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.781346184 meters 0.07581711090250433 Centerline is valid? [True, True] Translation: X:91.96, Y:-7.56, Z:-3.84 [[ 9.99631202e-01 2.66873507e-02 5.02444011e-03 9.19622923e+01] [-2.66859896e-02 9.99643809e-01 -3.37757282e-04 -7.56466659e+00] [-5.03166429e-03 2.03550562e-04 9.99987320e-01 -3.84151704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84134618399999 meters 0.07632698290251032 Centerline is valid? [True, True] Translation: X:92.02, Y:-7.57, Z:-3.84 [[ 9.99576992e-01 2.83756580e-02 6.37640844e-03 9.20205975e+01] [-2.83734973e-02 9.99597299e-01 -4.29080379e-04 -7.56501271e+00] [-6.38601609e-03 2.47977866e-04 9.99979578e-01 -3.84414118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90134618399999 meters 0.07493268757017689 Centerline is valid? [True, True] Translation: X:92.08, Y:-7.56, Z:-3.85 [[ 9.99456510e-01 3.20136099e-02 7.86214839e-03 9.20808651e+01] [-3.20104585e-02 9.99487395e-01 -5.26377827e-04 -7.56309726e+00] [-7.87496947e-03 2.74420771e-04 9.99968954e-01 -3.84566137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96134618399999 meters 0.0738669509337985 Centerline is valid? [True, True] Translation: X:92.14, Y:-7.56, Z:-3.85 [[ 9.99271805e-01 3.68785893e-02 9.78925680e-03 9.21396743e+01] [-3.68739311e-02 9.99319710e-01 -6.55967465e-04 -7.56020617e+00] [-9.80678842e-03 2.94521412e-04 9.99951869e-01 -3.84754909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.021346184 meters 0.07122158793885774 Centerline is valid? [True, True] Translation: X:92.20, Y:-7.55, Z:-3.85 [[ 9.99026469e-01 4.32713385e-02 8.58521170e-03 9.22007742e+01] [-4.32680013e-02 9.99063337e-01 -5.74163233e-04 -7.55005416e+00] [-8.60201506e-03 2.02139316e-04 9.99962982e-01 -3.84953441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.081346184 meters 0.07216602076263468 Centerline is valid? [True, True] Translation: X:92.26, Y:-7.55, Z:-3.86 [[ 9.98980877e-01 4.45026329e-02 7.53143034e-03 9.22570920e+01] [-4.45000774e-02 9.99009252e-01 -5.06622585e-04 -7.55436914e+00] [-7.54651463e-03 1.70957041e-04 9.99971510e-01 -3.85684482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.141346184 meters 0.07174518607032115 Centerline is valid? [True, True] Translation: X:92.32, Y:-7.55, Z:-3.86 [[ 9.99025725e-01 4.35793530e-02 6.96000016e-03 9.23162777e+01] [-4.35771271e-02 9.99049955e-01 -4.71220580e-04 -7.55357097e+00] [-6.97392333e-03 1.67464670e-04 9.99975668e-01 -3.85634696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20134618399999 meters 0.07235862702908408 Centerline is valid? [True, True] Translation: X:92.37, Y:-7.56, Z:-3.86 [[ 9.99084414e-01 4.20764910e-02 7.73967475e-03 9.23740117e+01] [-4.20737500e-02 9.99114374e-01 -5.16701011e-04 -7.55907503e+00] [-7.75456126e-03 1.90590786e-04 9.99969915e-01 -3.85688493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26134618399999 meters 0.07279588564348974 Centerline is valid? [True, True] Translation: X:92.43, Y:-7.56, Z:-3.86 [[ 9.99159239e-01 4.03749837e-02 7.11864204e-03 9.24325079e+01] [-4.03725930e-02 9.99184580e-01 -4.79280045e-04 -7.56295751e+00] [-7.13218828e-03 1.91479048e-04 9.99974547e-01 -3.85998204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32134618399999 meters 0.07427479589232933 Centerline is valid? [True, True] Translation: X:92.49, Y:-7.57, Z:-3.87 [[ 9.99218242e-01 3.94292835e-02 2.86994638e-03 9.24910913e+01] [-3.94288977e-02 9.99222360e-01 -1.90892965e-04 -7.57043764e+00] [-2.87524137e-03 7.75849105e-05 9.99995863e-01 -3.87095526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.381346184 meters 0.0742530887729993 Centerline is valid? [True, True] Translation: X:92.55, Y:-7.57, Z:-3.87 [[ 9.99205941e-01 3.96305782e-02 4.11153904e-03 9.25485975e+01] [-3.96297844e-02 9.99214394e-01 -2.74380604e-04 -7.57089334e+00] [-4.11918285e-03 1.11223324e-04 9.99991510e-01 -3.87241464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.441346184 meters 0.07336200087255354 Centerline is valid? [True, True] Translation: X:92.61, Y:-7.57, Z:-3.87 [[ 9.99210925e-01 3.95330326e-02 3.82973318e-03 9.26070577e+01] [-3.95323202e-02 9.99218258e-01 -2.61586160e-04 -7.57100237e+00] [-3.83708061e-03 1.09981510e-04 9.99992632e-01 -3.87082855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.501346184 meters 0.07274223517424544 Centerline is valid? [True, True] Translation: X:92.67, Y:-7.57, Z:-3.87 [[ 9.99240992e-01 3.82282768e-02 7.48588618e-03 9.26661779e+01] [-3.82256128e-02 9.99269010e-01 -4.98665891e-04 -7.57462539e+00] [-7.49947721e-03 2.12134812e-04 9.99971856e-01 -3.86807053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.561346184 meters 0.07382950050776908 Centerline is valid? [True, True] Translation: X:92.72, Y:-7.58, Z:-3.87 [[ 9.99239403e-01 3.84521843e-02 6.48424319e-03 9.27238463e+01] [-3.84502115e-02 9.99260425e-01 -4.28675625e-04 -7.57970085e+00] [-6.49593112e-03 1.79029053e-04 9.99978885e-01 -3.87272043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62134618399999 meters 0.07360677094347189 Centerline is valid? [True, True] Translation: X:92.78, Y:-7.58, Z:-3.88 [[ 9.99173684e-01 4.01377349e-02 6.39615882e-03 9.27811985e+01] [-4.01358636e-02 9.99194143e-01 -4.20722288e-04 -7.58313122e+00] [-6.40789127e-03 1.63659281e-04 9.99979456e-01 -3.87783410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68134618399999 meters 0.07362598159659409 Centerline is valid? [True, True] Translation: X:92.84, Y:-7.59, Z:-3.88 [[ 9.99167090e-01 4.01006871e-02 7.55386411e-03 9.28385282e+01] [-4.00980846e-02 9.99195625e-01 -4.95713749e-04 -7.58639792e+00] [-7.56766644e-03 1.92405382e-04 9.99971346e-01 -3.87671262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.741346184 meters 0.07182020833492123 Centerline is valid? [True, True] Translation: X:92.90, Y:-7.59, Z:-3.87 [[ 9.99193921e-01 3.91906059e-02 8.69513150e-03 9.28977846e+01] [-3.91870932e-02 9.99231726e-01 -5.74060046e-04 -7.58654426e+00] [-8.71094902e-03 2.32860379e-04 9.99962032e-01 -3.87230320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.801346184 meters 0.07143249184690635 Centerline is valid? [True, True] Translation: X:92.96, Y:-7.59, Z:-3.87 [[ 9.99197402e-01 3.91413092e-02 8.51529527e-03 9.29554918e+01] [-3.91379452e-02 9.99233659e-01 -5.61402966e-04 -7.59222418e+00] [-8.53074370e-03 2.27681225e-04 9.99963587e-01 -3.87324718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.861346184 meters 0.07083432903248585 Centerline is valid? [True, True] Translation: X:93.01, Y:-7.60, Z:-3.88 [[ 9.99165009e-01 4.01135110e-02 7.75833899e-03 9.30128714e+01] [-4.01107562e-02 9.99195109e-01 -5.10410457e-04 -7.59665867e+00] [-7.77256873e-03 1.98791426e-04 9.99969773e-01 -3.87595787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.921346184 meters 0.07100116387561628 Centerline is valid? [True, True] Translation: X:93.07, Y:-7.60, Z:-3.88 [[ 9.99102657e-01 4.18094276e-02 6.77146948e-03 9.30699105e+01] [-4.18074119e-02 9.99125591e-01 -4.39001652e-04 -7.60252706e+00] [-6.78390286e-03 1.55510103e-04 9.99976977e-01 -3.88125590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98134618399999 meters 0.07008911625773223 Centerline is valid? [True, True] Translation: X:93.13, Y:-7.61, Z:-3.88 [[ 9.99076138e-01 4.25784864e-02 5.82602062e-03 9.31273593e+01] [-4.25769716e-02 9.99093116e-01 -3.83844603e-04 -7.60635796e+00] [-5.83708062e-03 1.35435669e-04 9.99982955e-01 -3.88046339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04134618399999 meters 0.06970239055486822 Centerline is valid? [True, True] Translation: X:93.19, Y:-7.61, Z:-3.88 [[ 9.98920042e-01 4.59995783e-02 6.54133208e-03 9.31859259e+01] [-4.59978057e-02 9.98941452e-01 -4.21244665e-04 -7.60575927e+00] [-6.55378484e-03 1.19902817e-04 9.99978517e-01 -3.88041989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.101346184 meters 0.06885461140826558 Centerline is valid? [True, True] Translation: X:93.24, Y:-7.61, Z:-3.88 [[ 9.98678163e-01 5.08057931e-02 7.79096429e-03 9.32445354e+01] [-5.08034331e-02 9.98708546e-01 -5.00647121e-04 -7.60845342e+00] [-7.80633840e-03 1.04177613e-04 9.99969525e-01 -3.88434997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.161346184 meters 0.06872298010313413 Centerline is valid? [True, True] Translation: X:93.30, Y:-7.61, Z:-3.89 [[ 9.98630674e-01 5.19689074e-02 6.00083931e-03 9.33027393e+01] [-5.19674949e-02 9.98648700e-01 -3.91168268e-04 -7.61410271e+00] [-6.01305897e-03 7.87840443e-05 9.99981918e-01 -3.89058180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.221346184 meters 0.06905005941706811 Centerline is valid? [True, True] Translation: X:93.36, Y:-7.62, Z:-3.89 [[ 9.98754886e-01 4.95952870e-02 5.38374855e-03 9.33599015e+01] [-4.95941337e-02 9.98769393e-01 -3.47591246e-04 -7.61856137e+00] [-5.39436216e-03 8.01561104e-05 9.99985447e-01 -3.89122980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.281346184 meters 0.0687229717593033 Centerline is valid? [True, True] Translation: X:93.42, Y:-7.62, Z:-3.89 [[ 9.98778748e-01 4.90730685e-02 5.73123531e-03 9.34178529e+01] [-4.90717360e-02 9.98795187e-01 -3.72978036e-04 -7.62461743e+00] [-5.74263342e-03 9.12808704e-05 9.99983507e-01 -3.89139590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34134618399999 meters 0.0691055332143344 Centerline is valid? [True, True] Translation: X:93.48, Y:-7.63, Z:-3.90 [[ 9.98854937e-01 4.75933324e-02 4.86714349e-03 9.34754657e+01] [-4.75923768e-02 9.98866792e-01 -3.12037499e-04 -7.63480932e+00] [-4.87647891e-03 8.00412696e-05 9.99988107e-01 -3.89747747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40134618399999 meters 0.06945176537332386 Centerline is valid? [True, True] Translation: X:93.53, Y:-7.64, Z:-3.90 [[ 9.98902963e-01 4.65305833e-02 5.27031646e-03 9.35326238e+01] [-4.65294556e-02 9.98916862e-01 -3.36452998e-04 -7.63889335e+00] [-5.28026333e-03 9.08589408e-05 9.99986055e-01 -3.89953859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46134618399999 meters 0.06911363518539061 Centerline is valid? [True, True] Translation: X:93.59, Y:-7.64, Z:-3.90 [[ 9.98857018e-01 4.77079644e-02 2.93381577e-03 9.35916753e+01] [-4.77076028e-02 9.98861325e-01 -1.93168508e-04 -7.63914322e+00] [-2.93969079e-03 5.29824027e-05 9.99995678e-01 -3.89999115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.521346184 meters 0.06891533231430783 Centerline is valid? [True, True] Translation: X:93.65, Y:-7.64, Z:-3.90 [[ 9.98756563e-01 4.96387673e-02 4.61732488e-03 9.36492544e+01] [-4.96379403e-02 9.98767234e-01 -2.93604839e-04 -7.64368178e+00] [-4.62620698e-03 6.40452631e-05 9.99989297e-01 -3.90449688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.581346184 meters 0.06867062975118488 Centerline is valid? [True, True] Translation: X:93.71, Y:-7.65, Z:-3.91 [[ 9.98784066e-01 4.91355505e-02 4.01081399e-03 9.37074865e+01] [-4.91349056e-02 9.98792117e-01 -2.59239888e-04 -7.64662008e+00] [-4.01870729e-03 6.18537024e-05 9.99991923e-01 -3.90517641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.641346184 meters 0.06843434751430656 Centerline is valid? [True, True] Translation: X:93.77, Y:-7.65, Z:-3.90 [[ 9.98750600e-01 4.96853538e-02 5.34826171e-03 9.37664593e+01] [-4.96842373e-02 9.98764917e-01 -3.41493535e-04 -7.64621180e+00] [-5.35862339e-03 7.53425694e-05 9.99985640e-01 -3.90492475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70134618399999 meters 0.0683163150634271 Centerline is valid? [True, True] Translation: X:93.82, Y:-7.66, Z:-3.91 [[ 9.98758463e-01 4.90642484e-02 8.61578763e-03 9.38234739e+01] [-4.90614345e-02 9.98795618e-01 -5.37784990e-04 -7.65616467e+00] [-8.63179695e-03 1.14414410e-04 9.99962739e-01 -3.91063965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76134618399999 meters 0.06838548370677605 Centerline is valid? [True, True] Translation: X:93.88, Y:-7.66, Z:-3.91 [[ 9.98887703e-01 4.64514487e-02 8.10057207e-03 9.38822038e+01] [-4.64488420e-02 9.98920540e-01 -5.09727138e-04 -7.66038210e+00] [-8.11550539e-03 1.32897978e-04 9.99967060e-01 -3.91093160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82134618399999 meters 0.0687117163079025 Centerline is valid? [True, True] Translation: X:93.94, Y:-7.66, Z:-3.91 [[ 9.98939400e-01 4.55029311e-02 7.03973541e-03 9.39394108e+01] [-4.55009629e-02 9.98964198e-01 -4.39573519e-04 -7.66213089e+00] [-7.05244552e-03 1.18792568e-04 9.99975124e-01 -3.91301212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.881346184 meters 0.0686626847651723 Centerline is valid? [True, True] Translation: X:94.00, Y:-7.67, Z:-3.92 [[ 9.98946335e-01 4.52214599e-02 7.82550222e-03 9.39976257e+01] [-4.52190126e-02 9.98976977e-01 -4.89471480e-04 -7.66778221e+00] [-7.83963117e-03 1.35094258e-04 9.99969260e-01 -3.91624188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.941346184 meters 0.06840792167130101 Centerline is valid? [True, True] Translation: X:94.06, Y:-7.67, Z:-3.92 [[ 9.98956710e-01 4.48969508e-02 8.35192005e-03 9.40559518e+01] [-4.48941726e-02 9.98991613e-01 -5.19914615e-04 -7.67217886e+00] [-8.36684066e-03 1.44419653e-04 9.99964987e-01 -3.91722998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.001346184 meters 0.06848920839451637 Centerline is valid? [True, True] Translation: X:94.11, Y:-7.67, Z:-3.92 [[ 9.98947132e-01 4.52508624e-02 7.54896807e-03 9.41149341e+01] [-4.52486107e-02 9.98975647e-01 -4.68898117e-04 -7.67469447e+00] [-7.56245330e-03 1.26824112e-04 9.99971396e-01 -3.91948541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.061346184 meters 0.06887219157275733 Centerline is valid? [True, True] Translation: X:94.17, Y:-7.68, Z:-3.92 [[ 9.98947950e-01 4.55023586e-02 5.70341525e-03 9.41731434e+01] [-4.55010734e-02 9.98964227e-01 -3.54966227e-04 -7.67685984e+00] [-5.71365961e-03 9.50812684e-05 9.99983672e-01 -3.92437677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12134618399999 meters 0.06812557362025261 Centerline is valid? [True, True] Translation: X:94.23, Y:-7.68, Z:-3.92 [[ 9.98805019e-01 4.82893906e-02 7.52792558e-03 9.42321530e+01] [-4.82872697e-02 9.98833382e-01 -4.63343767e-04 -7.67899498e+00] [-7.54151796e-03 9.92871066e-05 9.99971557e-01 -3.92454267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18134618399999 meters 0.06801179737162254 Centerline is valid? [True, True] Translation: X:94.29, Y:-7.68, Z:-3.92 [[ 9.98802792e-01 4.76811925e-02 1.09309667e-02 9.42895046e+01] [-4.76767954e-02 9.98862595e-01 -6.62636885e-04 -7.68266910e+00] [-1.09501291e-02 1.40690109e-04 9.99940036e-01 -3.92463258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.241346184 meters 0.0690264050745888 Centerline is valid? [True, True] Translation: X:94.35, Y:-7.69, Z:-3.93 [[ 9.99055876e-01 4.18532415e-02 1.16474795e-02 9.43469556e+01] [-4.18478682e-02 9.99123746e-01 -7.04769305e-04 -7.69363866e+00] [-1.16667702e-02 2.16681728e-04 9.99931917e-01 -3.92556685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.301346184 meters 0.07054456176595367 Centerline is valid? [True, True] Translation: X:94.41, Y:-7.71, Z:-3.93 [[ 9.99320347e-01 3.51697984e-02 1.10421540e-02 9.44061457e+01] [-3.51645890e-02 9.99381313e-01 -6.65633700e-04 -7.70712304e+00] [-1.10587326e-02 2.76888492e-04 9.99938812e-01 -3.92921290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.361346184 meters 0.07116530269378864 Centerline is valid? [True, True] Translation: X:94.46, Y:-7.72, Z:-3.93 [[ 9.99438403e-01 3.12211288e-02 1.21704171e-02 9.44638555e+01] [-3.12144906e-02 9.99512439e-01 -7.35056824e-04 -7.71644085e+00] [-1.21874326e-02 3.54750649e-04 9.99925668e-01 -3.93194637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.421346184 meters 0.0723287178095784 Centerline is valid? [True, True] Translation: X:94.52, Y:-7.73, Z:-3.93 [[ 9.99577521e-01 2.55498222e-02 1.38559281e-02 9.45224331e+01] [-2.55407076e-02 9.99673435e-01 -8.34401352e-04 -7.72957190e+00] [-1.38727221e-02 4.80158627e-04 9.99903654e-01 -3.93180621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48134618399999 meters 0.07376694523791413 Centerline is valid? [True, True] Translation: X:94.58, Y:-7.74, Z:-3.93 [[ 9.99665801e-01 2.17677965e-02 1.39444929e-02 9.45816710e+01] [-2.17582136e-02 9.99762910e-01 -8.38579341e-04 -7.73615706e+00] [-1.39594409e-02 5.34891834e-04 9.99902419e-01 -3.93107426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54134618399999 meters 0.07606370833882051 Centerline is valid? [True, True] Translation: X:94.64, Y:-7.75, Z:-3.93 [[ 9.99742348e-01 1.68737606e-02 1.51827038e-02 9.46403327e+01] [-1.68618557e-02 9.99857413e-01 -9.11791925e-04 -7.74949490e+00] [-1.51959243e-02 6.55548439e-04 9.99884320e-01 -3.93161123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.601346184 meters 0.07704161278422555 Centerline is valid? [True, True] Translation: X:94.70, Y:-7.76, Z:-3.94 [[ 9.99769640e-01 1.58076124e-02 1.45184533e-02 9.46993547e+01] [-1.57966123e-02 9.99874845e-01 -8.72035871e-04 -7.76272540e+00] [-1.45304210e-02 6.42492612e-04 9.99894221e-01 -3.93987964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.661346184 meters 0.07533222037018467 Centerline is valid? [True, True] Translation: X:94.76, Y:-7.76, Z:-3.94 [[ 9.99812868e-01 1.60764635e-02 1.07599205e-02 9.47588296e+01] [-1.60704325e-02 9.99870653e-01 -6.46743433e-04 -7.76302725e+00] [-1.07689261e-02 4.73705831e-04 9.99941901e-01 -3.94345553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.721346184 meters 0.07386138479067464 Centerline is valid? [True, True] Translation: X:94.82, Y:-7.76, Z:-3.94 [[ 9.99748183e-01 2.01990740e-02 9.77591652e-03 9.48190423e+01] [-2.01942993e-02 9.99795902e-01 -5.86890715e-04 -7.76252289e+00] [-9.78577593e-03 3.89325142e-04 9.99952042e-01 -3.94382759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.781346184 meters 0.07212826841031589 Centerline is valid? [True, True] Translation: X:94.88, Y:-7.76, Z:-3.94 [[ 9.99630938e-01 2.47865049e-02 1.11183232e-02 9.48793324e+01] [-2.47806152e-02 9.99692691e-01 -6.67203586e-04 -7.76374950e+00] [-1.11314441e-02 3.91438458e-04 9.99937967e-01 -3.94352340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84134618399999 meters 0.07121112792871162 Centerline is valid? [True, True] Translation: X:94.94, Y:-7.76, Z:-3.94 [[ 9.99549557e-01 2.78077386e-02 1.12877523e-02 9.49380253e+01] [-2.78018474e-02 9.99613224e-01 -6.78521437e-04 -7.76387176e+00] [-1.13022546e-02 3.64395433e-04 9.99936061e-01 -3.94465205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90134618399999 meters 0.07066071905470396 Centerline is valid? [True, True] Translation: X:95.00, Y:-7.76, Z:-3.95 [[ 9.99485707e-01 3.03879483e-02 1.02417500e-02 9.49964137e+01] [-3.03832388e-02 9.99538134e-01 -6.15158504e-04 -7.76359738e+00] [-1.02557131e-02 3.03664596e-04 9.99947363e-01 -3.94894061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96134618399999 meters 0.06989143293553864 Centerline is valid? [True, True] Translation: X:95.05, Y:-7.76, Z:-3.96 [[ 9.99296319e-01 3.69811212e-02 6.26600148e-03 9.50537728e+01] [-3.69794735e-02 9.99315954e-01 -3.78654160e-04 -7.76457181e+00] [-6.27571830e-03 1.46674273e-04 9.99980297e-01 -3.95808732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.021346184 meters 0.06902370610348019 Centerline is valid? [True, True] Translation: X:95.11, Y:-7.76, Z:-3.96 [[ 9.99120163e-01 4.15262010e-02 5.87144572e-03 9.51129559e+01] [-4.15248460e-02 9.99137409e-01 -3.52557803e-04 -7.76129750e+00] [-5.88102145e-03 1.08436731e-04 9.99982701e-01 -3.96045525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.081346184 meters 0.0679142134111985 Centerline is valid? [True, True] Translation: X:95.17, Y:-7.75, Z:-3.95 [[ 9.98814674e-01 4.75846064e-02 1.02446477e-02 9.51723536e+01] [-4.75808315e-02 9.98867203e-01 -6.12031787e-04 -7.75480371e+00] [-1.02621659e-02 1.23857473e-04 9.99947335e-01 -3.95471020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.141346184 meters 0.06808174853227493 Centerline is valid? [True, True] Translation: X:95.23, Y:-7.76, Z:-3.96 [[ 9.98838714e-01 4.73336643e-02 8.98596187e-03 9.52302831e+01] [-4.73307045e-02 9.98879127e-01 -5.41874033e-04 -7.76135194e+00] [-9.00153863e-03 1.15932856e-04 9.99959479e-01 -3.95715248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20134618399999 meters 0.06853557917190294 Centerline is valid? [True, True] Translation: X:95.29, Y:-7.77, Z:-3.96 [[ 9.98941517e-01 4.53974494e-02 7.41056239e-03 9.52885021e+01] [-4.53953857e-02 9.98968998e-01 -4.46537151e-04 -7.76754362e+00] [-7.42319374e-03 1.09659161e-04 9.99972442e-01 -3.96175843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26134618399999 meters 0.06851865846900583 Centerline is valid? [True, True] Translation: X:95.35, Y:-7.77, Z:-3.97 [[ 9.98955021e-01 4.54671242e-02 4.64824963e-03 9.53469135e+01] [-4.54663013e-02 9.98965833e-01 -2.82622508e-04 -7.77117804e+00] [-4.65629260e-03 7.09884552e-05 9.99989157e-01 -3.96516313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32134618399999 meters 0.06873419562292223 Centerline is valid? [True, True] Translation: X:95.41, Y:-7.78, Z:-3.97 [[ 9.98880217e-01 4.72962888e-02 1.17195758e-03 9.54052786e+01] [-4.72962382e-02 9.98880904e-01 -7.08146553e-05 -7.77527489e+00] [-1.17399531e-03 1.53061735e-05 9.99999311e-01 -3.97107383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.381346184 meters 0.06827531650908518 Centerline is valid? [True, True] Translation: X:95.46, Y:-7.77, Z:-3.97 [[ 9.98791554e-01 4.91255986e-02 1.45139510e-03 9.54648216e+01] [-4.91255197e-02 9.98792609e-01 -8.99811667e-05 -7.77472915e+00] [-1.45406308e-03 1.85718906e-05 9.99998943e-01 -3.96680580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.441346184 meters 0.0679459399840006 Centerline is valid? [True, True] Translation: X:95.52, Y:-7.78, Z:-3.97 [[ 9.98878222e-01 4.73111497e-02 1.98795179e-03 9.55227269e+01] [-4.73109916e-02 9.98880200e-01 -1.26463822e-04 -7.78301487e+00] [-1.99170883e-03 3.22699872e-05 9.99998016e-01 -3.96540531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.501346184 meters 0.06823259459971731 Centerline is valid? [True, True] Translation: X:95.58, Y:-7.79, Z:-3.97 [[ 9.99002223e-01 4.46270729e-02 1.72727898e-03 9.55804893e+01] [-4.46269504e-02 9.99003715e-01 -1.09441849e-04 -7.79256989e+00] [-1.73044219e-03 3.22494575e-05 9.99998502e-01 -3.96854842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.561346184 meters 0.06871848936514433 Centerline is valid? [True, True] Translation: X:95.64, Y:-7.81, Z:-3.97 [[ 9.99183874e-01 4.03906492e-02 -4.26470204e-04 9.56387015e+01] [-4.03906431e-02 9.99183965e-01 2.27825439e-05 -7.80503583e+00] [ 4.27042391e-04 -5.53854462e-06 9.99999909e-01 -3.97287517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62134618399999 meters 0.06942636685155641 Centerline is valid? [True, True] Translation: X:95.70, Y:-7.81, Z:-3.98 [[ 9.99230238e-01 3.90853975e-02 -3.35614424e-03 9.56964036e+01] [-3.90849747e-02 9.99235872e-01 1.91513775e-04 -7.81409960e+00] [ 3.36106511e-03 -6.01915422e-05 9.99994350e-01 -3.97974334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68134618399999 meters 0.06910310522471401 Centerline is valid? [True, True] Translation: X:95.76, Y:-7.82, Z:-3.98 [[ 9.99258866e-01 3.81666938e-02 -5.00230283e-03 9.57555607e+01] [-3.81657313e-02 9.99271382e-01 2.87747387e-04 -7.81904466e+00] [ 5.00964043e-03 -9.66175821e-05 9.99987447e-01 -3.97863479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.741346184 meters 0.07055397431069976 Centerline is valid? [True, True] Translation: X:95.81, Y:-7.83, Z:-3.98 [[ 9.99424931e-01 3.33326880e-02 -6.22400959e-03 9.58130684e+01] [-3.33311119e-02 9.99444300e-01 3.56817706e-04 -7.83368490e+00] [ 6.23244460e-03 -1.49159351e-04 9.99980567e-01 -3.98485788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.801346184 meters 0.07055214356527527 Centerline is valid? [True, True] Translation: X:95.87, Y:-7.84, Z:-3.98 [[ 9.99551459e-01 2.95532922e-02 -4.84599051e-03 9.58712409e+01] [-2.95523317e-02 9.99563198e-01 2.69712326e-04 -7.84274396e+00] [ 4.85184466e-03 -1.26381030e-04 9.99988222e-01 -3.98221565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.861346184 meters 0.0706751976641354 Centerline is valid? [True, True] Translation: X:95.93, Y:-7.85, Z:-3.98 [[ 9.99596423e-01 2.82275280e-02 -3.19347670e-03 9.59301371e+01] [-2.82270936e-02 9.99601520e-01 1.81011935e-04 -7.84829506e+00] [ 3.19731368e-03 -9.07963165e-05 9.99994884e-01 -3.98199417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.921346184 meters 0.07196840933202335 Centerline is valid? [True, True] Translation: X:95.99, Y:-7.86, Z:-3.99 [[ 9.99605139e-01 2.77379290e-02 -4.49145837e-03 9.59868778e+01] [-2.77370678e-02 9.99615221e-01 2.53923385e-04 -7.85594218e+00] [ 4.49677346e-03 -1.29243235e-04 9.99989881e-01 -3.98989642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98134618399999 meters 0.07014120369964602 Centerline is valid? [True, True] Translation: X:96.05, Y:-7.85, Z:-3.99 [[ 9.99477572e-01 3.15069292e-02 -7.20386633e-03 9.60459105e+01] [-3.15047892e-02 9.99503517e-01 4.10371697e-04 -7.85485446e+00] [ 7.21321928e-03 -1.83201018e-04 9.99973968e-01 -3.98913323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04134618399999 meters 0.06921021507495435 Centerline is valid? [True, True] Translation: X:96.10, Y:-7.86, Z:-3.99 [[ 9.99429029e-01 3.32681901e-02 -5.90276333e-03 9.61049866e+01] [-3.32668311e-02 9.99446452e-01 3.28300141e-04 -7.85600230e+00] [ 5.91041782e-03 -1.31746460e-04 9.99982525e-01 -3.98835715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.101346184 meters 0.06862819082609739 Centerline is valid? [True, True] Translation: X:96.16, Y:-7.86, Z:-3.99 [[ 9.99273231e-01 3.76507294e-02 -5.95253111e-03 9.61629286e+01] [-3.76493954e-02 9.99290954e-01 3.36031030e-04 -7.85618135e+00] [ 5.96096231e-03 -1.11677616e-04 9.99982227e-01 -3.99190463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.161346184 meters 0.06845464224433123 Centerline is valid? [True, True] Translation: X:96.22, Y:-7.86, Z:-4.00 [[ 9.99218373e-01 3.90712063e-02 -6.00702137e-03 9.62210159e+01] [-3.90698761e-02 9.99236424e-01 3.38664194e-04 -7.85723772e+00] [ 6.01566657e-03 -1.03705904e-04 9.99981900e-01 -3.99501971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.221346184 meters 0.06774626047862989 Centerline is valid? [True, True] Translation: X:96.28, Y:-7.86, Z:-4.00 [[ 9.99030347e-01 4.35572492e-02 -6.41343613e-03 9.62796337e+01] [-4.35558720e-02 9.99050930e-01 3.54315024e-04 -7.85694054e+00] [ 6.42278232e-03 -7.46286580e-05 9.99979371e-01 -3.99746356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.281346184 meters 0.06741349190995108 Centerline is valid? [True, True] Translation: X:96.34, Y:-7.85, Z:-4.00 [[ 9.98847477e-01 4.73805891e-02 -7.66796753e-03 9.63381705e+01] [-4.73787333e-02 9.98876907e-01 4.23593579e-04 -7.85470944e+00] [ 7.67942581e-03 -5.98067890e-05 9.99970511e-01 -4.00078396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34134618399999 meters 0.06669605171606623 Centerline is valid? [True, True] Translation: X:96.40, Y:-7.85, Z:-4.00 [[ 9.98756134e-01 4.94174864e-02 -6.64053305e-03 9.63976055e+01] [-4.94161597e-02 9.98778209e-01 3.63811024e-04 -7.85059932e+00] [ 6.65039834e-03 -3.52088495e-05 9.99977885e-01 -3.99719633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40134618399999 meters 0.06674473230608682 Centerline is valid? [True, True] Translation: X:96.46, Y:-7.86, Z:-4.00 [[ 9.98748038e-01 4.97485960e-02 -5.23771519e-03 9.64556499e+01] [-4.97477922e-02 9.98761772e-01 2.83727254e-04 -7.85862285e+00] [ 5.24534474e-03 -2.28072711e-05 9.99986243e-01 -4.00142225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46134618399999 meters 0.06727807875575698 Centerline is valid? [True, True] Translation: X:96.51, Y:-7.87, Z:-4.01 [[ 9.98938176e-01 4.54068213e-02 -7.79369176e-03 9.65144047e+01] [-4.54048153e-02 9.98968575e-01 4.34230885e-04 -7.86954030e+00] [ 7.80537019e-03 -7.98986732e-05 9.99969534e-01 -4.00780056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.521346184 meters 0.06943458538455446 Centerline is valid? [True, True] Translation: X:96.57, Y:-7.88, Z:-4.01 [[ 9.99428118e-01 3.28227895e-02 -8.13027516e-03 9.65733371e+01] [-3.28201852e-02 9.99461170e-01 4.53567222e-04 -7.88294272e+00] [ 8.14078166e-03 -1.86470698e-04 9.99966846e-01 -4.01140810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.581346184 meters 0.07234288168787145 Centerline is valid? [True, True] Translation: X:96.63, Y:-7.90, Z:-4.01 [[ 9.99746152e-01 2.19534984e-02 -5.06704965e-03 9.66319055e+01] [-2.19523474e-02 9.99758978e-01 2.82671756e-04 -7.89936356e+00] [ 5.07203402e-03 -1.71366367e-04 9.99987122e-01 -4.01183669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.641346184 meters 0.0731376946878035 Centerline is valid? [True, True] Translation: X:96.69, Y:-7.91, Z:-4.01 [[ 9.99896500e-01 1.43672009e-02 -7.56724564e-04 9.66910869e+01] [-1.43671746e-02 9.99896786e-01 4.02535075e-05 -7.90816986e+00] [ 7.57224790e-04 -2.93773474e-05 9.99999713e-01 -4.00680543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70134618399999 meters 0.07445678657251785 Centerline is valid? [True, True] Translation: X:96.75, Y:-7.91, Z:-4.01 [[ 9.99946571e-01 1.02853481e-02 1.03296791e-03 9.67502137e+01] [-1.02852920e-02 9.99947103e-01 -5.95587616e-05 -7.91209524e+00] [-1.03352585e-03 4.89312028e-05 9.99999465e-01 -4.00630356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76134618399999 meters 0.0755831986021654 Centerline is valid? [True, True] Translation: X:96.81, Y:-7.92, Z:-4.01 [[ 9.99956758e-01 9.26464981e-03 8.04640008e-04 9.68082287e+01] [-9.26461467e-03 9.99957081e-01 -4.73862046e-05 -7.91879678e+00] [-8.05044490e-04 3.99294760e-05 9.99999675e-01 -4.01441226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82134618399999 meters 0.07546825478311321 Centerline is valid? [True, True] Translation: X:96.87, Y:-7.92, Z:-4.02 [[ 9.99949641e-01 9.80197249e-03 2.15314491e-03 9.68670053e+01] [-9.80173185e-03 9.99951954e-01 -1.22283264e-04 -7.92060543e+00] [-2.15424008e-03 1.01172556e-04 9.99997675e-01 -4.01593490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.881346184 meters 0.07374128763379072 Centerline is valid? [True, True] Translation: X:96.93, Y:-7.92, Z:-4.01 [[ 9.99924541e-01 1.09911223e-02 5.48704560e-03 9.69279973e+01] [-1.09896100e-02 9.99939566e-01 -3.05689070e-04 -7.91566942e+00] [-5.49007386e-03 2.45365512e-04 9.99984899e-01 -4.00983914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.941346184 meters 0.07266966359148488 Centerline is valid? [True, True] Translation: X:96.99, Y:-7.92, Z:-4.01 [[ 9.99911182e-01 1.14877226e-02 6.75726405e-03 9.69866310e+01] [-1.14854311e-02 9.99933969e-01 -3.77826546e-04 -7.91586594e+00] [-6.76115823e-03 3.00182897e-04 9.99977098e-01 -4.00935372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.001346184 meters 0.07473357723326966 Centerline is valid? [True, True] Translation: X:97.04, Y:-7.92, Z:-4.02 [[ 9.99915855e-01 1.20586327e-02 4.78257748e-03 9.70441438e+01] [-1.20574856e-02 9.99927270e-01 -2.68593484e-04 -7.92483730e+00] [-4.78546852e-03 2.10905023e-04 9.99988527e-01 -4.01827422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.061346184 meters 0.07326047603916498 Centerline is valid? [True, True] Translation: X:97.10, Y:-7.92, Z:-4.02 [[ 9.99894621e-01 1.44486590e-02 1.40829845e-03 9.71032344e+01] [-1.44485598e-02 9.99895611e-01 -8.05800972e-05 -7.92307588e+00] [-1.40931571e-03 6.02237214e-05 9.99999005e-01 -4.02392448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12134618399999 meters 0.07227970073369759 Centerline is valid? [True, True] Translation: X:97.16, Y:-7.92, Z:-4.03 [[ 9.99848472e-01 1.74034222e-02 -3.91556920e-04 9.71621608e+01] [-1.74034161e-02 9.99848549e-01 1.89957110e-05 -7.91960994e+00] [ 3.91828208e-04 -1.21784046e-05 9.99999923e-01 -4.02691452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18134618399999 meters 0.07081426853089794 Centerline is valid? [True, True] Translation: X:97.22, Y:-7.92, Z:-4.02 [[ 9.99771206e-01 2.13683518e-02 9.64431759e-04 9.72225628e+01] [-2.13683097e-02 9.99771670e-01 -5.39669645e-05 -7.91555937e+00] [-9.65364736e-04 3.33463406e-05 9.99999533e-01 -4.02428849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.241346184 meters 0.07100613990600735 Centerline is valid? [True, True] Translation: X:97.28, Y:-7.91, Z:-4.02 [[ 9.99770644e-01 2.13286829e-02 1.93577696e-03 9.72814327e+01] [-2.13285108e-02 9.99772515e-01 -1.09507913e-04 -7.91454413e+00] [-1.93767226e-03 6.81955572e-05 9.99998120e-01 -4.02423170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.301346184 meters 0.07153994732880915 Centerline is valid? [True, True] Translation: X:97.34, Y:-7.92, Z:-4.03 [[ 9.99821368e-01 1.87494725e-02 2.38522176e-03 9.73403749e+01] [-1.87492057e-02 9.99824209e-01 -1.34152226e-04 -7.91806589e+00] [-2.38731775e-03 8.94072492e-05 9.99997146e-01 -4.02766424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.361346184 meters 0.07260224797417593 Centerline is valid? [True, True] Translation: X:97.40, Y:-7.92, Z:-4.03 [[ 9.99853818e-01 1.69423521e-02 2.30213210e-03 9.73990678e+01] [-1.69420991e-02 9.99856464e-01 -1.29358212e-04 -7.92146224e+00] [-2.30399330e-03 9.03363524e-05 9.99997342e-01 -4.03149318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.421346184 meters 0.07348078699209877 Centerline is valid? [True, True] Translation: X:97.46, Y:-7.93, Z:-4.03 [[ 9.99897924e-01 1.33411197e-02 5.11427633e-03 9.74579699e+01] [-1.33398424e-02 9.99910980e-01 -2.83785785e-04 -7.92773043e+00] [-5.11760708e-03 2.15533177e-04 9.99986882e-01 -4.03135637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48134618399999 meters 0.07402037402400008 Centerline is valid? [True, True] Translation: X:97.52, Y:-7.93, Z:-4.03 [[ 9.99925887e-01 1.02881537e-02 6.50960800e-03 9.75174509e+01] [-1.02860345e-02 9.99947033e-01 -3.58957889e-04 -7.92978372e+00] [-6.51295622e-03 2.91973233e-04 9.99978748e-01 -4.02915891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54134618399999 meters 0.0770284955222688 Centerline is valid? [True, True] Translation: X:97.58, Y:-7.94, Z:-4.03 [[ 9.99943423e-01 4.35763259e-03 9.70372295e-03 9.75763017e+01] [-4.35265455e-03 9.99990385e-01 -5.34062994e-04 -7.93715848e+00] [-9.70595689e-03 4.91795825e-04 9.99952775e-01 -4.02748142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.601346184 meters 0.07931019502861056 Centerline is valid? [True, True] Translation: X:97.64, Y:-7.95, Z:-4.03 [[ 9.99938730e-01 2.03566721e-03 1.08808413e-02 9.76362111e+01] [-2.02929684e-03 9.99997763e-01 -5.96474970e-04 -7.95056243e+00] [-1.08820312e-02 5.74357967e-04 9.99940624e-01 -4.03363387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.661346184 meters 0.08022688199597915 Centerline is valid? [True, True] Translation: X:97.70, Y:-7.95, Z:-4.04 [[ 9.99938723e-01 2.88614601e-03 1.06873720e-02 9.76969413e+01] [-2.88009620e-03 9.99995683e-01 -5.81418513e-04 -7.95418594e+00] [-1.06890039e-02 5.50602226e-04 9.99942719e-01 -4.03747598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.721346184 meters 0.07660238572156498 Centerline is valid? [True, True] Translation: X:97.76, Y:-7.95, Z:-4.04 [[ 9.99933531e-01 4.91115666e-03 1.04314163e-02 9.77586646e+01] [-4.90543098e-03 9.99987803e-01 -5.74403767e-04 -7.94717143e+00] [-1.04341100e-02 5.23194995e-04 9.99945426e-01 -4.03649513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.781346184 meters 0.07556409571976365 Centerline is valid? [True, True] Translation: X:97.82, Y:-7.95, Z:-4.04 [[ 9.99920816e-01 6.49391489e-03 1.07792028e-02 9.78213666e+01] [-6.48790313e-03 9.99978778e-01 -5.92592478e-04 -7.94821706e+00] [-1.07828223e-02 5.22611131e-04 9.99941727e-01 -4.03868212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84134618399999 meters 0.07463271068808826 Centerline is valid? [True, True] Translation: X:97.88, Y:-7.95, Z:-4.04 [[ 9.99935142e-01 8.04781231e-03 8.05884787e-03 9.78834400e+01] [-8.04454184e-03 9.99967546e-01 -4.38156985e-04 -7.95108347e+00] [-8.06211254e-03 3.73298828e-04 9.99967431e-01 -4.04227945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90134618399999 meters 0.0746732212407937 Centerline is valid? [True, True] Translation: X:97.94, Y:-7.95, Z:-4.04 [[ 9.99907116e-01 9.86174825e-03 9.40772854e-03 9.79437776e+01] [-9.85726815e-03 9.99951279e-01 -5.22465336e-04 -7.94854184e+00] [-9.41242261e-03 4.29682304e-04 9.99955610e-01 -4.04236982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96134618399999 meters 0.07353791286863871 Centerline is valid? [True, True] Translation: X:98.00, Y:-7.95, Z:-4.05 [[ 9.99862079e-01 1.35358864e-02 9.62305960e-03 9.80038537e+01] [-1.35313641e-02 9.99908304e-01 -5.34903238e-04 -7.94941598e+00] [-9.62941759e-03 4.04616340e-04 9.99953554e-01 -4.04748427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.021346184 meters 0.07693674453258138 Centerline is valid? [True, True] Translation: X:98.06, Y:-7.96, Z:-4.06 [[ 9.99836960e-01 1.55477232e-02 9.18263351e-03 9.80615180e+01] [-1.55436825e-02 9.99879059e-01 -5.11241376e-04 -7.96174014e+00] [-9.18947159e-03 3.68426084e-04 9.99957708e-01 -4.05929282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.081346184 meters 0.07205719553551497 Centerline is valid? [True, True] Translation: X:98.12, Y:-7.94, Z:-4.05 [[ 9.99822662e-01 1.67527326e-02 8.60177564e-03 9.81219154e+01] [-1.67492295e-02 9.99859607e-01 -4.79133120e-04 -7.94417493e+00] [-8.60859480e-03 3.34975037e-04 9.99962889e-01 -4.04916158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.141346184 meters 0.07246835270273504 Centerline is valid? [True, True] Translation: X:98.18, Y:-7.95, Z:-4.05 [[ 9.99808414e-01 1.61905202e-02 1.10000914e-02 9.81805099e+01] [-1.61847743e-02 9.99868831e-01 -6.11178715e-04 -7.94900272e+00] [-1.10085439e-02 4.33027624e-04 9.99939310e-01 -4.05061108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20134618399999 meters 0.07221842503253231 Centerline is valid? [True, True] Translation: X:98.24, Y:-7.95, Z:-4.05 [[ 9.99805837e-01 1.40593381e-02 1.38066093e-02 9.82392887e+01] [-1.40501055e-02 9.99900999e-01 -7.65483772e-04 -7.95387387e+00] [-1.38160046e-02 5.71350827e-04 9.99904391e-01 -4.04969099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26134618399999 meters 0.07358620525313397 Centerline is valid? [True, True] Translation: X:98.30, Y:-7.96, Z:-4.05 [[ 9.99817135e-01 1.22393502e-02 1.46933495e-02 9.82986004e+01] [-1.22287334e-02 9.99924896e-01 -8.12192333e-04 -7.95939113e+00] [-1.47021867e-02 6.32362757e-04 9.99891717e-01 -4.05141392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32134618399999 meters 0.07393377070596027 Centerline is valid? [True, True] Translation: X:98.36, Y:-7.96, Z:-4.06 [[ 9.99859381e-01 1.18082645e-02 1.19072635e-02 9.83600875e+01] [-1.18013360e-02 9.99930149e-01 -6.51963495e-04 -7.96430125e+00] [-1.19141303e-02 5.11350199e-04 9.99928893e-01 -4.05778108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.381346184 meters 0.07638481940179213 Centerline is valid? [True, True] Translation: X:98.42, Y:-7.97, Z:-4.06 [[ 9.99911137e-01 9.50362252e-03 9.34880822e-03 9.84191135e+01] [-9.49918931e-03 9.99954747e-01 -5.18490788e-04 -7.97312461e+00] [-9.35331270e-03 4.29638614e-04 9.99956165e-01 -4.06389600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.441346184 meters 0.07412546597251024 Centerline is valid? [True, True] Translation: X:98.48, Y:-7.97, Z:-4.06 [[ 9.99900454e-01 8.74379347e-03 1.10738018e-02 9.84797487e+01] [-8.73752674e-03 9.99961638e-01 -6.14160018e-04 -7.97201326e+00] [-1.10787471e-02 5.17341241e-04 9.99938495e-01 -4.05998135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.501346184 meters 0.07549207196785011 Centerline is valid? [True, True] Translation: X:98.54, Y:-7.98, Z:-4.06 [[ 9.99872239e-01 9.81812741e-03 1.26139213e-02 9.85394352e+01] [-9.81008697e-03 9.99951636e-01 -6.99143109e-04 -7.98107571e+00] [-1.26201755e-02 5.75310120e-04 9.99920197e-01 -4.06317944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.561346184 meters 0.07274596896011248 Centerline is valid? [True, True] Translation: X:98.60, Y:-7.97, Z:-4.06 [[ 9.99878712e-01 1.21158606e-02 9.78604533e-03 9.86011258e+01] [-1.21111356e-02 9.99926511e-01 -5.41948676e-04 -7.97474188e+00] [-9.79189233e-03 4.23362822e-04 9.99951969e-01 -4.06337528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62134618399999 meters 0.07275712316724538 Centerline is valid? [True, True] Translation: X:98.66, Y:-7.98, Z:-4.07 [[ 9.99832423e-01 1.55895464e-02 9.59647815e-03 9.86602186e+01] [-1.55851408e-02 9.99878402e-01 -5.33705646e-04 -7.97515227e+00] [-9.60363147e-03 3.84053746e-04 9.99953810e-01 -4.06721288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68134618399999 meters 0.07025627703534026 Centerline is valid? [True, True] Translation: X:98.72, Y:-7.98, Z:-4.07 [[ 9.99744138e-01 2.02820351e-02 1.00148397e-02 9.87200727e+01] [-2.02774746e-02 9.99794236e-01 -5.56718831e-04 -7.97625690e+00] [-1.00240704e-02 3.53500732e-04 9.99949695e-01 -4.07209412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.741346184 meters 0.07063683785621984 Centerline is valid? [True, True] Translation: X:98.78, Y:-7.98, Z:-4.07 [[ 9.99664472e-01 2.27165375e-02 1.24459623e-02 9.87789311e+01] [-2.27096951e-02 9.99741863e-01 -6.90840407e-04 -7.97955907e+00] [-1.24584431e-02 4.07964601e-04 9.99922307e-01 -4.07311282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.801346184 meters 0.06958048908914705 Centerline is valid? [True, True] Translation: X:98.84, Y:-7.98, Z:-4.07 [[ 9.99563612e-01 2.70184275e-02 1.19411350e-02 9.88383226e+01] [-2.70124407e-02 9.99634878e-01 -6.62389517e-04 -7.97653731e+00] [-1.19546718e-02 3.39541257e-04 9.99928483e-01 -4.07366012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.861346184 meters 0.06782513067951501 Centerline is valid? [True, True] Translation: X:98.90, Y:-7.97, Z:-4.08 [[ 9.99495008e-01 3.04336454e-02 9.13909734e-03 9.88969426e+01] [-3.04302721e-02 9.99536763e-01 -5.07971583e-04 -7.97362912e+00] [-9.15032320e-03 2.29609842e-04 9.99958109e-01 -4.07715676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.921346184 meters 0.06808195846007034 Centerline is valid? [True, True] Translation: X:98.95, Y:-7.98, Z:-4.08 [[ 9.99517698e-01 3.03962664e-02 6.35918749e-03 9.89549427e+01] [-3.03946266e-02 9.99537914e-01 -3.54357543e-04 -7.97851347e+00] [-6.36702014e-03 1.60901506e-04 9.99979717e-01 -4.08251154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98134618399999 meters 0.0691480698772771 Centerline is valid? [True, True] Translation: X:99.01, Y:-7.99, Z:-4.09 [[ 9.99572056e-01 2.78878921e-02 8.83011474e-03 9.90124096e+01] [-2.78846411e-02 9.99611027e-01 -4.91085591e-04 -7.98808663e+00] [-8.84037541e-03 2.44650853e-04 9.99960893e-01 -4.08712952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04134618399999 meters 0.06811848434384087 Centerline is valid? [True, True] Translation: X:99.07, Y:-7.99, Z:-4.08 [[ 9.99618653e-01 2.63757401e-02 8.17733251e-03 9.90708964e+01] [-2.63729069e-02 9.99652071e-01 -4.54128140e-04 -7.98900449e+00] [-8.18646535e-03 2.38294931e-04 9.99966462e-01 -4.08363503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.101346184 meters 0.06946665474905603 Centerline is valid? [True, True] Translation: X:99.13, Y:-8.00, Z:-4.09 [[ 9.99633321e-01 2.47909269e-02 1.08919367e-02 9.91277936e+01] [-2.47858505e-02 9.99692603e-01 -6.00827102e-04 -8.00067675e+00] [-1.09034836e-02 3.30640877e-04 9.99940501e-01 -4.08918565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.161346184 meters 0.06970953179169091 Centerline is valid? [True, True] Translation: X:99.19, Y:-8.00, Z:-4.09 [[ 9.99708060e-01 2.13300787e-02 1.13500237e-02 9.91874660e+01] [-2.13243723e-02 9.99772415e-01 -6.23564143e-04 -8.00469930e+00] [-1.13607413e-02 3.81349968e-04 9.99935392e-01 -4.08719941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.221346184 meters 0.07108253279768473 Centerline is valid? [True, True] Translation: X:99.25, Y:-8.02, Z:-4.09 [[ 9.99765377e-01 1.79068759e-02 1.21874563e-02 9.92464202e+01] [-1.79000487e-02 9.99839557e-01 -6.69040248e-04 -8.01555417e+00] [-1.21974813e-02 4.50727215e-04 9.99925506e-01 -4.09097432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.281346184 meters 0.07305356765643094 Centerline is valid? [True, True] Translation: X:99.30, Y:-8.03, Z:-4.09 [[ 9.99815130e-01 1.42543123e-02 1.29042813e-02 9.93045423e+01] [-1.42463562e-02 9.99898265e-01 -7.08263246e-04 -8.02982237e+00] [-1.29130643e-02 5.24293322e-04 9.99916485e-01 -4.09381172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34134618399999 meters 0.07164635076395409 Centerline is valid? [True, True] Translation: X:99.36, Y:-8.03, Z:-4.10 [[ 9.99837130e-01 1.50215279e-02 1.00033978e-02 9.93647864e+01] [-1.50167953e-02 9.99887091e-01 -5.48049936e-04 -8.02719748e+00] [-1.00105008e-02 3.97741698e-04 9.99949815e-01 -4.09588062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40134618399999 meters 0.07033807990617663 Centerline is valid? [True, True] Translation: X:99.42, Y:-8.03, Z:-4.10 [[ 9.99804839e-01 1.73335588e-02 9.47791792e-03 9.94239182e+01] [-1.73294011e-02 9.99849699e-01 -5.20625654e-04 -8.02786781e+00] [-9.48551768e-03 3.56277408e-04 9.99954948e-01 -4.09790108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46134618399999 meters 0.06981719440438629 Centerline is valid? [True, True] Translation: X:99.48, Y:-8.03, Z:-4.10 [[ 9.99740477e-01 1.99981689e-02 1.09110779e-02 9.94830741e+01] [-1.99928407e-02 9.99799945e-01 -5.97198410e-04 -8.02887915e+00] [-1.09208380e-02 3.78899980e-04 9.99940294e-01 -4.09893168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.521346184 meters 0.06936700025865575 Centerline is valid? [True, True] Translation: X:99.54, Y:-8.03, Z:-4.10 [[ 9.99678573e-01 2.16358193e-02 1.32152002e-02 9.95424057e+01] [-2.16281507e-02 9.99765823e-01 -7.22948197e-04 -8.02983058e+00] [-1.32277471e-02 4.36895482e-04 9.99912414e-01 -4.09925744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.581346184 meters 0.0687835662556476 Centerline is valid? [True, True] Translation: X:99.60, Y:-8.04, Z:-4.10 [[ 9.99655606e-01 2.23869227e-02 1.36929145e-02 9.96011780e+01] [-2.23787701e-02 9.99749284e-01 -7.48344308e-04 -8.03764689e+00] [-1.37062346e-02 4.41655998e-04 9.99905968e-01 -4.10404686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.641346184 meters 0.06887523114063715 Centerline is valid? [True, True] Translation: X:99.66, Y:-8.04, Z:-4.11 [[ 9.99659429e-01 2.21885422e-02 1.37366393e-02 9.96600983e+01] [-2.21803234e-02 9.99753705e-01 -7.50390425e-04 -8.04171326e+00] [-1.37499061e-02 4.45451763e-04 9.99905366e-01 -4.10611822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70134618399999 meters 0.06910414711177144 Centerline is valid? [True, True] Translation: X:99.72, Y:-8.04, Z:-4.11 [[ 9.99700399e-01 2.13300401e-02 1.20059117e-02 9.97184627e+01] [-2.13237065e-02 9.99772409e-01 -6.55316602e-04 -8.04426729e+00] [-1.20171572e-02 3.99109730e-04 9.99927712e-01 -4.10793221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76134618399999 meters 0.0695273067229308 Centerline is valid? [True, True] Translation: X:99.78, Y:-8.05, Z:-4.11 [[ 9.99725546e-01 2.08150752e-02 1.07501523e-02 9.97768237e+01] [-2.08099733e-02 9.99783277e-01 -5.86242145e-04 -8.04769060e+00] [-1.07600251e-02 3.62370867e-04 9.99942044e-01 -4.11046530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82134618399999 meters 0.0702257268099362 Centerline is valid? [True, True] Translation: X:99.83, Y:-8.06, Z:-4.12 [[ 9.99717912e-01 2.03734130e-02 1.22073766e-02 9.98334982e+01] [-2.03668112e-02 9.99792354e-01 -6.64890997e-04 -8.06117408e+00] [-1.22183879e-02 4.16078104e-04 9.99925266e-01 -4.11705723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.881346184 meters 0.06881023138273558 Centerline is valid? [True, True] Translation: X:99.89, Y:-8.06, Z:-4.11 [[ 9.99679951e-01 2.10822975e-02 1.39833182e-02 9.98927277e+01] [-2.10737328e-02 9.99777636e-01 -7.59578243e-04 -8.05980653e+00] [-1.39962224e-02 4.64654431e-04 9.99901940e-01 -4.11409928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.941346184 meters 0.06892022357054206 Centerline is valid? [True, True] Translation: X:99.95, Y:-8.06, Z:-4.12 [[ 9.99692988e-01 2.18058992e-02 1.17657458e-02 9.99510124e+01] [-2.17998911e-02 9.99762150e-01 -6.38670165e-04 -8.06110048e+00] [-1.17768741e-02 3.81982110e-04 9.99930577e-01 -4.11741510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.001346184 meters 0.06921745018843059 Centerline is valid? [True, True] Translation: X:100.01, Y:-8.07, Z:-4.13 [[ 9.99669774e-01 2.34488188e-02 1.05116600e-02 1.00008411e+02] [-2.34441144e-02 9.99724986e-01 -5.70557809e-04 -8.07005068e+00] [-1.05221481e-02 3.23932836e-04 9.99944588e-01 -4.12507651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.061346184 meters 0.06866295105162747 Centerline is valid? [True, True] Translation: X:100.07, Y:-8.07, Z:-4.13 [[ 9.99660172e-01 2.38054705e-02 1.06226411e-02 1.00066750e+02] [-2.38007016e-02 9.99716558e-01 -5.75149317e-04 -8.07170910e+00] [-1.06333219e-02 3.22127554e-04 9.99943413e-01 -4.12533665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12134618399999 meters 0.06800869284047638 Centerline is valid? [True, True] Translation: X:100.13, Y:-8.07, Z:-4.12 [[ 9.99650001e-01 2.38304933e-02 1.14883529e-02 1.00126165e+02] [-2.38249284e-02 9.99715953e-01 -6.21028986e-04 -8.06952704e+00] [-1.14998891e-02 3.47102442e-04 9.99933814e-01 -4.12062156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18134618399999 meters 0.06818767523710512 Centerline is valid? [True, True] Translation: X:100.18, Y:-8.08, Z:-4.13 [[ 9.99636425e-01 2.50047646e-02 1.00886052e-02 1.00183117e+02] [-2.50005276e-02 9.99687289e-01 -5.45896044e-04 -8.08000827e+00] [-1.00991004e-02 2.93477117e-04 9.99948960e-01 -4.12982018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.241346184 meters 0.06804089943134663 Centerline is valid? [True, True] Translation: X:100.24, Y:-8.08, Z:-4.13 [[ 9.99601124e-01 2.71860221e-02 7.64943412e-03 1.00241830e+02] [-2.71836574e-02 9.99630371e-01 -4.12957354e-04 -8.07911323e+00] [-7.65783334e-03 2.04853039e-04 9.99970657e-01 -4.13413419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.301346184 meters 0.0668710909684765 Centerline is valid? [True, True] Translation: X:100.30, Y:-8.07, Z:-4.13 [[ 9.99445918e-01 3.19463299e-02 9.34285021e-03 1.00302245e+02] [-3.19430355e-02 9.99489565e-01 -5.01662889e-04 -8.07168095e+00] [-9.35410758e-03 2.02945931e-04 9.99956229e-01 -4.13260777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.361346184 meters 0.06654939791926924 Centerline is valid? [True, True] Translation: X:100.36, Y:-8.08, Z:-4.14 [[ 9.99327784e-01 3.49570009e-02 1.10448237e-02 1.00360042e+02] [-3.49525691e-02 9.99388796e-01 -5.94080346e-04 -8.07718567e+00] [-1.10588403e-02 2.07636031e-04 9.99938828e-01 -4.13778934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.421346184 meters 0.06606605825745636 Centerline is valid? [True, True] Translation: X:100.42, Y:-8.08, Z:-4.14 [[ 9.99347196e-01 3.42896877e-02 1.13753458e-02 1.00418099e+02] [-3.42849431e-02 9.99411911e-01 -6.11903462e-04 -8.07901515e+00] [-1.13896381e-02 2.21500925e-04 9.99935111e-01 -4.13536425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48134618399999 meters 0.06651815814301837 Centerline is valid? [True, True] Translation: X:100.48, Y:-8.08, Z:-4.14 [[ 9.99392644e-01 3.35230362e-02 9.51574993e-03 1.00476339e+02] [-3.35196787e-02 9.99437926e-01 -5.12152262e-04 -8.08114338e+00] [-9.52757028e-03 1.92876323e-04 9.99954593e-01 -4.13888024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54134618399999 meters 0.06664481915349905 Centerline is valid? [True, True] Translation: X:100.53, Y:-8.09, Z:-4.15 [[ 9.99340299e-01 3.48085791e-02 1.03599851e-02 1.00533208e+02] [-3.48046987e-02 9.99393979e-01 -5.54665796e-04 -8.08930803e+00] [-1.03730138e-02 1.93723723e-04 9.99946180e-01 -4.14580894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.601346184 meters 0.06639577634425017 Centerline is valid? [True, True] Translation: X:100.59, Y:-8.09, Z:-4.14 [[ 9.99368946e-01 3.43101554e-02 9.19363642e-03 1.00591512e+02] [-3.43070827e-02 9.99411218e-01 -4.91766799e-04 -8.09299046e+00] [-9.20509597e-03 1.76049623e-04 9.99957617e-01 -4.14481992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.661346184 meters 0.0658191368158565 Centerline is valid? [True, True] Translation: X:100.65, Y:-8.09, Z:-4.14 [[ 9.99349816e-01 3.44614682e-02 1.05996123e-02 1.00650877e+02] [-3.44574164e-02 9.99406007e-01 -5.64704771e-04 -8.09487969e+00] [-1.06127767e-02 1.99102356e-04 9.99943663e-01 -4.14229449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.721346184 meters 0.06560819893676142 Centerline is valid? [True, True] Translation: X:100.71, Y:-8.10, Z:-4.15 [[ 9.99276942e-01 3.66507888e-02 1.01149461e-02 1.00707933e+02] [-3.66472064e-02 9.99328120e-01 -5.39348346e-04 -8.10016028e+00] [-1.01279177e-02 1.68273846e-04 9.99948697e-01 -4.14581252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.781346184 meters 0.06552968453383624 Centerline is valid? [True, True] Translation: X:100.77, Y:-8.10, Z:-4.15 [[ 9.99150559e-01 4.00718332e-02 9.61295673e-03 1.00765574e+02] [-4.00687630e-02 9.99196794e-01 -5.11836442e-04 -8.10454809e+00] [-9.62574577e-03 1.26222382e-04 9.99953663e-01 -4.15268995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84134618399999 meters 0.06454301689282174 Centerline is valid? [True, True] Translation: X:100.82, Y:-8.11, Z:-4.15 [[ 9.99062372e-01 4.22495817e-02 9.45253694e-03 1.00824664e+02] [-4.22467220e-02 9.99107083e-01 -5.02095244e-04 -8.10717659e+00] [-9.46530992e-03 1.02285765e-04 9.99955198e-01 -4.15085817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90134618399999 meters 0.06472891320342021 Centerline is valid? [True, True] Translation: X:100.88, Y:-8.11, Z:-4.15 [[ 9.99078464e-01 4.22080962e-02 7.79099259e-03 1.00882545e+02] [-4.22061491e-02 9.99108838e-01 -4.14239493e-04 -8.11385505e+00] [-7.80153381e-03 8.50299618e-05 9.99969564e-01 -4.15457934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96134618399999 meters 0.06436924778987076 Centerline is valid? [True, True] Translation: X:100.94, Y:-8.12, Z:-4.15 [[ 9.99151667e-01 4.00760372e-02 9.47929261e-03 1.00941097e+02] [-4.00730774e-02 9.99196626e-01 -5.02044931e-04 -8.12256995e+00] [-9.49179716e-03 1.21754603e-04 9.99954944e-01 -4.15383386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.021346184 meters 0.06516767687280878 Centerline is valid? [True, True] Translation: X:101.00, Y:-8.14, Z:-4.16 [[ 9.99368178e-01 3.40546812e-02 1.01746682e-02 1.00998441e+02] [-3.40509639e-02 9.99419953e-01 -5.38409412e-04 -8.14116905e+00] [-1.01871017e-02 1.91611976e-04 9.99948092e-01 -4.15609123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.081346184 meters 0.06568006212045893 Centerline is valid? [True, True] Translation: X:101.06, Y:-8.15, Z:-4.16 [[ 9.99542565e-01 2.88182971e-02 9.17423161e-03 1.01057742e+02] [-2.88150720e-02 9.99584643e-01 -4.83552702e-04 -8.15345568e+00] [-9.18435619e-03 2.18975364e-04 9.99957799e-01 -4.15716253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.141346184 meters 0.06619481887244827 Centerline is valid? [True, True] Translation: X:101.12, Y:-8.16, Z:-4.16 [[ 9.99633177e-01 2.53339027e-02 9.57631285e-03 1.01116382e+02] [-2.53302234e-02 9.99679011e-01 -5.05318209e-04 -8.16226835e+00] [-9.58604064e-03 2.62562703e-04 9.99954018e-01 -4.15687903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20134618399999 meters 0.06588971277038913 Centerline is valid? [True, True] Translation: X:101.17, Y:-8.17, Z:-4.16 [[ 9.99563728e-01 2.76192218e-02 1.04657821e-02 1.01174021e+02] [-2.76149574e-02 9.99618482e-01 -5.51783734e-04 -8.17003649e+00] [-1.04770291e-02 2.62530880e-04 9.99945080e-01 -4.16128838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26134618399999 meters 0.06487416744075376 Centerline is valid? [True, True] Translation: X:101.23, Y:-8.17, Z:-4.16 [[ 9.99524020e-01 2.84233319e-02 1.19936513e-02 1.01232602e+02] [-2.84178140e-02 9.99595934e-01 -6.30273926e-04 -8.17425301e+00] [-1.20067196e-02 2.89140576e-04 9.99927875e-01 -4.16064754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32134618399999 meters 0.06573490301509453 Centerline is valid? [True, True] Translation: X:101.29, Y:-8.18, Z:-4.16 [[ 9.99522423e-01 2.77883164e-02 1.35179948e-02 1.01290283e+02] [-2.77812618e-02 9.99613775e-01 -7.09404198e-04 -8.17982226e+00] [-1.35324869e-02 3.33518451e-04 9.99908376e-01 -4.16125882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.381346184 meters 0.06517455762675642 Centerline is valid? [True, True] Translation: X:101.35, Y:-8.18, Z:-4.16 [[ 9.99531523e-01 2.73932374e-02 1.36508563e-02 1.01349124e+02] [-2.73860305e-02 9.99624677e-01 -7.14628977e-04 -8.18387320e+00] [-1.36653088e-02 3.40451423e-04 9.99906567e-01 -4.16154956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.441346184 meters 0.06697377014397685 Centerline is valid? [True, True] Translation: X:101.41, Y:-8.20, Z:-4.17 [[ 9.99707465e-01 2.21769195e-02 9.65240173e-03 1.01407355e+02] [-2.21730869e-02 9.99754020e-01 -5.03902322e-04 -8.20195491e+00] [-9.66120243e-03 2.89731371e-04 9.99953288e-01 -4.17081636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.501346184 meters 0.06834533591828397 Centerline is valid? [True, True] Translation: X:101.47, Y:-8.21, Z:-4.17 [[ 9.99820090e-01 1.77571895e-02 6.66857871e-03 1.01467362e+02] [-1.77552602e-02 9.99842302e-01 -3.48398024e-04 -8.20954751e+00] [-6.67371366e-03 2.29932993e-04 9.99977704e-01 -4.17347115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.561346184 meters 0.06885353806492013 Centerline is valid? [True, True] Translation: X:101.52, Y:-8.22, Z:-4.18 [[ 9.99835679e-01 1.61597851e-02 8.21441463e-03 1.01524694e+02] [-1.61567924e-02 9.99869378e-01 -4.30561872e-04 -8.21848266e+00] [-8.22029943e-03 2.97772530e-04 9.99966168e-01 -4.17511314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62134618399999 meters 0.06777389643077852 Centerline is valid? [True, True] Translation: X:101.58, Y:-8.22, Z:-4.18 [[ 9.99833529e-01 1.61888146e-02 8.41640249e-03 1.01583441e+02] [-1.61856843e-02 9.99868906e-01 -4.39904535e-04 -8.22015996e+00] [-8.42242069e-03 3.03606070e-04 9.99964485e-01 -4.17519553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68134618399999 meters 0.06991360626884749 Centerline is valid? [True, True] Translation: X:101.64, Y:-8.23, Z:-4.18 [[ 9.99863516e-01 1.52303641e-02 6.40194205e-03 1.01641470e+02] [-1.52285366e-02 9.99883983e-01 -3.34119857e-04 -8.23048775e+00] [-6.40628808e-03 2.36582047e-04 9.99979452e-01 -4.18306669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.741346184 meters 0.0718126119289498 Centerline is valid? [True, True] Translation: X:101.70, Y:-8.24, Z:-4.19 [[ 9.99923324e-01 1.18222524e-02 3.68530231e-03 1.01700767e+02] [-1.18216256e-02 9.99930104e-01 -1.91811252e-04 -8.23796038e+00] [-3.68731236e-03 1.48230280e-04 9.99993191e-01 -4.18763933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.801346184 meters 0.06945375826443362 Centerline is valid? [True, True] Translation: X:101.76, Y:-8.24, Z:-4.19 [[ 9.99941287e-01 9.98325437e-03 4.21395718e-03 1.01760183e+02] [-9.98241143e-03 9.99950150e-01 -2.21022363e-04 -8.23759361e+00] [-4.21595363e-03 1.78943932e-04 9.99991097e-01 -4.18521855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.861346184 meters 0.07124370548256155 Centerline is valid? [True, True] Translation: X:101.82, Y:-8.25, Z:-4.19 [[ 9.99964386e-01 5.38814941e-03 6.49579856e-03 1.01818712e+02] [-5.38606614e-03 9.99985438e-01 -3.38161628e-04 -8.24561274e+00] [-6.49752603e-03 3.03162784e-04 9.99978845e-01 -4.18634669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.921346184 meters 0.07427269635702992 Centerline is valid? [True, True] Translation: X:101.88, Y:-8.25, Z:-4.19 [[ 9.99974508e-01 -1.59917634e-03 6.95883421e-03 1.01878240e+02] [ 1.60172412e-03 9.99998652e-01 -3.60563732e-04 -8.25486201e+00] [-6.95824823e-03 3.71700674e-04 9.99975722e-01 -4.18887303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98134618399999 meters 0.07607139398419378 Centerline is valid? [True, True] Translation: X:101.94, Y:-8.26, Z:-4.19 [[ 9.99968635e-01 -5.52943103e-03 5.67053518e-03 1.01938170e+02] [ 5.53118261e-03 9.99984660e-01 -2.93255634e-04 -8.26054162e+00] [-5.66882665e-03 3.24611202e-04 9.99983879e-01 -4.19118227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04134618399999 meters 0.07790510327615204 Centerline is valid? [True, True] Translation: X:102.00, Y:-8.27, Z:-4.19 [[ 9.99931411e-01 -9.61701656e-03 6.68472961e-03 1.01999148e+02] [ 9.61953568e-03 9.99953672e-01 -3.44795937e-04 -8.26766800e+00] [-6.68110401e-03 4.09076283e-04 9.99977598e-01 -4.19435228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.101346184 meters 0.08095054363861076 Centerline is valid? [True, True] Translation: X:102.06, Y:-8.27, Z:-4.20 [[ 9.99915296e-01 -1.11573373e-02 6.70179349e-03 1.02059635e+02] [ 1.11598879e-02 9.99937668e-01 -3.43303014e-04 -8.27497629e+00] [-6.69754541e-03 4.18065199e-04 9.99977484e-01 -4.19786770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.161346184 meters 0.08139871940541969 Centerline is valid? [True, True] Translation: X:102.12, Y:-8.27, Z:-4.20 [[ 9.99904113e-01 -1.05384871e-02 8.98363140e-03 1.02121168e+02] [ 1.05430911e-02 9.99944312e-01 -4.65278949e-04 -8.27234316e+00] [-8.97822778e-03 5.59949579e-04 9.99959538e-01 -4.19911804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.221346184 meters 0.07726156984065916 Centerline is valid? [True, True] Translation: X:102.18, Y:-8.27, Z:-4.20 [[ 9.99916795e-01 -9.40640651e-03 8.82740458e-03 1.02183971e+02] [ 9.41080083e-03 9.99955613e-01 -4.56397752e-04 -8.26617310e+00] [-8.82271969e-03 5.39432723e-04 9.99960934e-01 -4.19990764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.281346184 meters 0.0753908741896769 Centerline is valid? [True, True] Translation: X:102.25, Y:-8.26, Z:-4.20 [[ 9.99941421e-01 -6.97619902e-03 8.27571010e-03 1.02246257e+02] [ 6.97998586e-03 9.99975548e-01 -4.28790651e-04 -8.26080571e+00] [-8.27251641e-03 4.86529873e-04 9.99965664e-01 -4.20106457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34134618399999 meters 0.08162646426320566 Centerline is valid? [True, True] Translation: X:102.31, Y:-8.27, Z:-4.21 [[ 9.99938707e-01 -5.11924421e-03 9.81707146e-03 1.02306299e+02] [ 5.12450279e-03 9.99986739e-01 -5.10577264e-04 -8.26803913e+00] [-9.81432751e-03 5.60853579e-04 9.99951681e-01 -4.20675427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40134618399999 meters 0.07910856916453561 Centerline is valid? [True, True] Translation: X:102.37, Y:-8.27, Z:-4.21 [[ 9.99939918e-01 -4.23746392e-03 1.01095758e-02 1.02368510e+02] [ 4.24298451e-03 9.99990861e-01 -5.24689848e-04 -8.26602983e+00] [-1.01072601e-02 5.67553097e-04 9.99948759e-01 -4.20786611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46134618399999 meters 0.07497595084120101 Centerline is valid? [True, True] Translation: X:102.43, Y:-8.26, Z:-4.21 [[ 9.99921937e-01 -5.59011054e-04 1.24822916e-02 1.02429676e+02] [ 5.67178380e-04 9.99999627e-01 -6.50782646e-04 -8.25851310e+00] [-1.24819231e-02 6.57811529e-04 9.99921881e-01 -4.20840060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.521346184 meters 0.0733996574465206 Centerline is valid? [True, True] Translation: X:102.49, Y:-8.25, Z:-4.21 [[ 9.99930548e-01 3.07614903e-03 1.13769915e-02 1.02491160e+02] [-3.06960734e-03 9.99995113e-01 -5.92410305e-04 -8.25317936e+00] [-1.13787583e-02 5.57446265e-04 9.99935104e-01 -4.21095706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.581346184 meters 0.07046596157100357 Centerline is valid? [True, True] Translation: X:102.55, Y:-8.24, Z:-4.21 [[ 9.99862372e-01 1.13556346e-02 1.20948629e-02 1.02552805e+02] [-1.13488336e-02 9.99935401e-01 -6.30787229e-04 -8.24254675e+00] [-1.21012446e-02 4.93437829e-04 9.99926656e-01 -4.21335636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.641346184 meters 0.06877702724205573 Centerline is valid? [True, True] Translation: X:102.61, Y:-8.24, Z:-4.21 [[ 9.99723393e-01 1.81695874e-02 1.49333097e-02 1.02613069e+02] [-1.81599672e-02 9.99834790e-01 -7.79574341e-04 -8.23956301e+00] [-1.49450071e-02 5.08170291e-04 9.99888188e-01 -4.21413758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70134618399999 meters 0.06794685490042458 Centerline is valid? [True, True] Translation: X:102.67, Y:-8.24, Z:-4.22 [[ 9.99640285e-01 2.10819651e-02 1.65786374e-02 1.02672871e+02] [-2.10704966e-02 9.99777617e-01 -8.66149169e-04 -8.24032090e+00] [-1.65932108e-02 5.16517478e-04 9.99862190e-01 -4.21630611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76134618399999 meters 0.06770039450181825 Centerline is valid? [True, True] Translation: X:102.73, Y:-8.24, Z:-4.22 [[ 9.99733126e-01 1.91173786e-02 1.29693274e-02 1.02732525e+02] [-1.91101970e-02 9.99817154e-01 -6.77453786e-04 -8.23800039e+00] [-1.29799071e-02 4.29426590e-04 9.99915665e-01 -4.21882745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82134618399999 meters 0.06957320342079545 Centerline is valid? [True, True] Translation: X:102.79, Y:-8.25, Z:-4.22 [[ 9.99811474e-01 1.48856860e-02 1.24672408e-02 1.02791711e+02] [-1.48787318e-02 9.99889094e-01 -6.50370615e-04 -8.24749073e+00] [-1.24755394e-02 4.64751270e-04 9.99922069e-01 -4.22474457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.881346184 meters 0.06996550516140286 Centerline is valid? [True, True] Translation: X:102.85, Y:-8.26, Z:-4.23 [[ 9.99816640e-01 1.26631966e-02 1.43641850e-02 1.02851020e+02] [-1.26537352e-02 9.99919657e-01 -7.49375717e-04 -8.25567988e+00] [-1.43725205e-02 5.67477717e-04 9.99896549e-01 -4.22747440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.941346184 meters 0.07110373806101493 Centerline is valid? [True, True] Translation: X:102.91, Y:-8.26, Z:-4.23 [[ 9.99820229e-01 9.78681487e-03 1.62397186e-02 1.02912295e+02] [-9.77437881e-03 9.99951873e-01 -8.44977076e-04 -8.26052565e+00] [-1.62472066e-02 6.86092012e-04 9.99867770e-01 -4.22661578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001346184 meters 0.07092591447289259 Centerline is valid? [True, True] Translation: X:102.97, Y:-8.26, Z:-4.23 [[ 9.99835322e-01 9.36286595e-03 1.55455987e-02 1.02974794e+02] [-9.35148401e-03 9.99955950e-01 -8.04696400e-04 -8.25900185e+00] [-1.55524482e-02 6.59189467e-04 9.99878836e-01 -4.22834992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.061346184 meters 0.07177815118142468 Centerline is valid? [True, True] Translation: X:103.04, Y:-8.27, Z:-4.24 [[ 9.99851929e-01 7.60074706e-03 1.54385694e-02 1.03036192e+02] [-7.58919149e-03 9.99970876e-01 -8.06936312e-04 -8.27105917e+00] [-1.54442531e-02 6.89650568e-04 9.99880493e-01 -4.23689656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12134618399999 meters 0.07233886392811197 Centerline is valid? [True, True] Translation: X:103.10, Y:-8.27, Z:-4.23 [[ 9.99827934e-01 6.87162722e-03 1.72302969e-02 1.03099099e+02] [-6.85717081e-03 9.99976086e-01 -8.97951954e-04 -8.27223945e+00] [-1.72360553e-02 7.79646358e-04 9.99851144e-01 -4.23388725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18134618399999 meters 0.07179299233181241 Centerline is valid? [True, True] Translation: X:103.16, Y:-8.27, Z:-4.23 [[ 9.99770751e-01 7.36256158e-03 2.01056889e-02 1.03161379e+02] [-7.34281199e-03 9.99972484e-01 -1.05593680e-03 -8.27407513e+00] [-2.01129101e-02 9.08062433e-04 9.99797303e-01 -4.23297342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.241346184 meters 0.07038037413563673 Centerline is valid? [True, True] Translation: X:103.22, Y:-8.28, Z:-4.24 [[ 9.99760156e-01 9.55913730e-03 1.97041339e-02 1.03223093e+02] [-9.54043360e-03 9.99953945e-01 -1.04301290e-03 -8.27684328e+00] [-1.97131968e-02 8.54776759e-04 9.99805311e-01 -4.23681919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.301346184 meters 0.07122593271876242 Centerline is valid? [True, True] Translation: X:103.28, Y:-8.28, Z:-4.24 [[ 9.99777276e-01 1.14124681e-02 1.77525991e-02 1.03284303e+02] [-1.13976255e-02 9.99934606e-01 -9.37039133e-04 -8.27902153e+00] [-1.77621321e-02 7.34492955e-04 9.99841971e-01 -4.24161879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.361346184 meters 0.06990109055290601 Centerline is valid? [True, True] Translation: X:103.35, Y:-8.28, Z:-4.25 [[ 9.99728854e-01 1.59492387e-02 1.69658772e-02 1.03345288e+02] [-1.59361988e-02 9.99872602e-01 -9.03520581e-04 -8.27899744e+00] [-1.69781263e-02 6.32904002e-04 9.99855661e-01 -4.24726258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.421346184 meters 0.0691521694545179 Centerline is valid? [True, True] Translation: X:103.41, Y:-8.28, Z:-4.25 [[ 9.99702229e-01 1.85417394e-02 1.58637124e-02 1.03407066e+02] [-1.85306729e-02 9.99827936e-01 -8.44316358e-04 -8.28199004e+00] [-1.58766379e-02 5.50099679e-04 9.99873807e-01 -4.24964909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48134618399999 meters 0.06849829651096614 Centerline is valid? [True, True] Translation: X:103.47, Y:-8.28, Z:-4.25 [[ 9.99684920e-01 1.85267977e-02 1.69357161e-02 1.03466667e+02] [-1.85141349e-02 9.99828190e-01 -9.04194582e-04 -8.28141179e+00] [-1.69495582e-02 5.90359556e-04 9.99856172e-01 -4.24849937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54134618399999 meters 0.06798714210111394 Centerline is valid? [True, True] Translation: X:103.53, Y:-8.28, Z:-4.25 [[ 9.99609254e-01 2.03706732e-02 1.91409195e-02 1.03526474e+02] [-2.03548518e-02 9.99792297e-01 -1.02105705e-03 -8.28164290e+00] [-1.91577435e-02 6.31047495e-04 9.99816274e-01 -4.24735899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.601346184 meters 0.06793903129047296 Centerline is valid? [True, True] Translation: X:103.59, Y:-8.29, Z:-4.26 [[ 9.99615527e-01 2.19893343e-02 1.68898774e-02 1.03586183e+02] [-2.19772666e-02 9.99758066e-01 -8.99795515e-04 -8.28709968e+00] [-1.69055770e-02 5.28256230e-04 9.99856951e-01 -4.25529097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.661346184 meters 0.06894420257302322 Centerline is valid? [True, True] Translation: X:103.65, Y:-8.29, Z:-4.26 [[ 9.99699777e-01 2.03418536e-02 1.36589000e-02 1.03645398e+02] [-2.03337967e-02 9.99792982e-01 -7.28491591e-04 -8.29155955e+00] [-1.36708912e-02 4.50535585e-04 9.99906447e-01 -4.26103107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.721346184 meters 0.0703309246011638 Centerline is valid? [True, True] Translation: X:103.70, Y:-8.30, Z:-4.26 [[ 9.99775224e-01 1.70934395e-02 1.25425771e-02 1.03703996e+02] [-1.70863878e-02 9.99853793e-01 -6.69177871e-04 -8.29624467e+00] [-1.25521819e-02 4.54720119e-04 9.99921115e-01 -4.26420898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.781346184 meters 0.07148214039073247 Centerline is valid? [True, True] Translation: X:103.76, Y:-8.30, Z:-4.27 [[ 9.99774066e-01 1.48522735e-02 1.52061556e-02 1.03763013e+02] [-1.48416781e-02 9.99889529e-01 -8.09400983e-04 -8.30315278e+00] [-1.52164972e-02 5.83533244e-04 9.99884052e-01 -4.26516443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84134618399999 meters 0.07275694924520643 Centerline is valid? [True, True] Translation: X:103.82, Y:-8.31, Z:-4.27 [[ 9.99791396e-01 1.32674749e-02 1.55286680e-02 1.03823159e+02] [-1.32562602e-02 9.99911792e-01 -8.24909692e-04 -8.30808015e+00] [-1.55382427e-02 6.18885548e-04 9.99879083e-01 -4.26707704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90134618399999 meters 0.07115285236362417 Centerline is valid? [True, True] Translation: X:103.89, Y:-8.31, Z:-4.27 [[ 9.99824426e-01 1.09563362e-02 1.52011714e-02 1.03885553e+02] [-1.09453377e-02 9.99939773e-01 -8.06542184e-04 -8.30713448e+00] [-1.52090927e-02 6.40018621e-04 9.99884130e-01 -4.26584120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96134618399999 meters 0.07219419464675356 Centerline is valid? [True, True] Translation: X:103.95, Y:-8.31, Z:-4.27 [[ 9.99902749e-01 8.17292257e-03 1.13002403e-02 1.03946093e+02] [-8.16665015e-03 9.99966472e-01 -6.01103294e-04 -8.30970290e+00] [-1.13047741e-02 5.08759727e-04 9.99935970e-01 -4.27025192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.021346184 meters 0.07324878990961729 Centerline is valid? [True, True] Translation: X:104.01, Y:-8.31, Z:-4.27 [[ 9.99894179e-01 8.04312896e-03 1.21218616e-02 1.04007558e+02] [-8.03593562e-03 9.99967505e-01 -6.42010142e-04 -8.31423953e+00] [-1.21266315e-02 5.44531704e-04 9.99926321e-01 -4.27356269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.081346184 meters 0.07216342931106766 Centerline is valid? [True, True] Translation: X:104.07, Y:-8.31, Z:-4.27 [[ 9.99868508e-01 9.14290832e-03 1.33930511e-02 1.04070176e+02] [-9.13422693e-03 9.99958031e-01 -7.09229209e-04 -8.31203111e+00] [-1.33989734e-02 5.86800783e-04 9.99910058e-01 -4.27294367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.141346184 meters 0.07250538773694425 Centerline is valid? [True, True] Translation: X:104.13, Y:-8.31, Z:-4.28 [[ 9.99874330e-01 9.31991735e-03 1.28243541e-02 1.04132620e+02] [-9.31193564e-03 9.99956410e-01 -6.81959630e-04 -8.31365240e+00] [-1.28301509e-02 5.62454368e-04 9.99917532e-01 -4.27702630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20134618399999 meters 0.07337355444627867 Centerline is valid? [True, True] Translation: X:104.19, Y:-8.31, Z:-4.28 [[ 9.99909561e-01 9.44574932e-03 9.57327128e-03 1.04193744e+02] [-9.44130141e-03 9.99955300e-01 -5.09704880e-04 -8.31399158e+00] [-9.57765790e-03 4.19274643e-04 9.99954045e-01 -4.28134467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26134618399999 meters 0.07357563253623665 Centerline is valid? [True, True] Translation: X:104.25, Y:-8.31, Z:-4.29 [[ 9.99918568e-01 1.03927693e-02 7.40586182e-03 1.04253809e+02] [-1.03900843e-02 9.99945941e-01 -4.00931488e-04 -8.31412862e+00] [-7.40962825e-03 3.23951311e-04 9.99972496e-01 -4.28701659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32134618399999 meters 0.07278851247304181 Centerline is valid? [True, True] Translation: X:104.31, Y:-8.31, Z:-4.29 [[ 9.99890396e-01 1.13030810e-02 9.56223254e-03 1.04313477e+02] [-1.12986370e-02 9.99936034e-01 -5.18639360e-04 -8.31319768e+00] [-9.56748310e-03 4.10542320e-04 9.99954146e-01 -4.28680501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.381346184 meters 0.07131117897963235 Centerline is valid? [True, True] Translation: X:104.37, Y:-8.31, Z:-4.29 [[ 9.99838034e-01 1.45435404e-02 1.06014356e-02 1.04373575e+02] [-1.45382653e-02 9.99894149e-01 -5.74490040e-04 -8.30781191e+00] [-1.06086685e-02 4.20270510e-04 9.99943638e-01 -4.28678786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.441346184 meters 0.07130006911579037 Centerline is valid? [True, True] Translation: X:104.43, Y:-8.31, Z:-4.29 [[ 9.99830795e-01 1.56875929e-02 9.60629083e-03 1.04432368e+02] [-1.56833072e-02 9.99876873e-01 -5.21311882e-04 -8.30728447e+00] [-9.61328617e-03 3.70565263e-04 9.99953723e-01 -4.28919995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.501346184 meters 0.07283623591674114 Centerline is valid? [True, True] Translation: X:104.49, Y:-8.31, Z:-4.30 [[ 9.99880129e-01 1.36039091e-02 7.39332022e-03 1.04490485e+02] [-1.36013171e-02 9.99907418e-01 -4.00747895e-04 -8.31192653e+00] [-7.39808747e-03 3.00140964e-04 9.99972589e-01 -4.29626494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.561346184 meters 0.07429891027410676 Centerline is valid? [True, True] Translation: X:104.55, Y:-8.32, Z:-4.30 [[ 9.99919467e-01 1.04959477e-02 7.13400857e-03 1.04549649e+02] [-1.04934614e-02 9.99944868e-01 -3.85850342e-04 -8.31911507e+00] [-7.13766512e-03 3.10958825e-04 9.99974478e-01 -4.30015813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62134618399999 meters 0.07423886785452695 Centerline is valid? [True, True] Translation: X:104.61, Y:-8.32, Z:-4.30 [[ 9.99936723e-01 7.29002881e-03 8.56764996e-03 1.04609368e+02] [-7.28632991e-03 9.99973347e-01 -4.62863274e-04 -8.31875812e+00] [-8.57079590e-03 4.00407262e-04 9.99963190e-01 -4.29787700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68134618399999 meters 0.07559825769691363 Centerline is valid? [True, True] Translation: X:104.67, Y:-8.33, Z:-4.30 [[ 9.99947461e-01 6.92304718e-03 7.55955634e-03 1.04669459e+02] [-6.92016980e-03 9.99975973e-01 -4.06719532e-04 -8.32696667e+00] [-7.56219044e-03 3.54384749e-04 9.99971343e-01 -4.30330862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.741346184 meters 0.07708417991908526 Centerline is valid? [True, True] Translation: X:104.73, Y:-8.33, Z:-4.31 [[ 9.99941096e-01 7.77479573e-03 7.57343094e-03 1.04729711e+02] [-7.77193108e-03 9.99969715e-01 -4.07607435e-04 -8.33089194e+00] [-7.57637065e-03 3.48723242e-04 9.99971238e-01 -4.30613188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.801346184 meters 0.07529834823290157 Centerline is valid? [True, True] Translation: X:104.79, Y:-8.33, Z:-4.31 [[ 9.99929151e-01 9.00914875e-03 7.77995924e-03 1.04790636e+02] [-9.00615789e-03 9.99959356e-01 -4.19380294e-04 -8.32905534e+00] [-7.78342129e-03 3.49283040e-04 9.99969648e-01 -4.30587897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.861346184 meters 0.07509028784697386 Centerline is valid? [True, True] Translation: X:104.85, Y:-8.33, Z:-4.31 [[ 9.99891270e-01 1.09737160e-02 9.85013555e-03 1.04849895e+02] [-1.09690122e-02 9.99939697e-01 -5.31432911e-04 -8.33257731e+00] [-9.85537336e-03 4.23328871e-04 9.99951345e-01 -4.30814420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.921346184 meters 0.07312262317371303 Centerline is valid? [True, True] Translation: X:104.91, Y:-8.33, Z:-4.31 [[ 9.99867086e-01 1.44751442e-02 7.50197098e-03 1.04909651e+02] [-1.44725101e-02 9.99895186e-01 -4.05284385e-04 -8.32863911e+00] [-7.50705121e-03 2.96658166e-04 9.99971778e-01 -4.31088795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98134618399999 meters 0.07201502698537295 Centerline is valid? [True, True] Translation: X:104.97, Y:-8.33, Z:-4.32 [[ 9.99800993e-01 1.88272880e-02 6.59609269e-03 1.04969590e+02] [-1.88253503e-02 9.99822724e-01 -3.55743525e-04 -8.32793803e+00] [-6.60162105e-03 2.31498975e-04 9.99978182e-01 -4.31572507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.041346184 meters 0.07215779084227988 Centerline is valid? [True, True] Translation: X:105.03, Y:-8.33, Z:-4.32 [[ 9.99781601e-01 1.98144920e-02 6.64344456e-03 1.05027505e+02] [-1.98125345e-02 9.99803648e-01 -3.60340182e-04 -8.33143933e+00] [-6.64928006e-03 2.28638009e-04 9.99977867e-01 -4.31873139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.101346184 meters 0.0716914408506507 Centerline is valid? [True, True] Translation: X:105.09, Y:-8.33, Z:-4.32 [[ 9.99780581e-01 1.92559975e-02 8.24595129e-03 1.05085979e+02] [-1.92529797e-02 9.99814545e-01 -4.45198029e-04 -8.33323689e+00] [-8.25299477e-03 2.86341211e-04 9.99965902e-01 -4.31690634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.161346184 meters 0.07121475014881012 Centerline is valid? [True, True] Translation: X:105.14, Y:-8.34, Z:-4.32 [[ 9.99768502e-01 1.82008581e-02 1.14747651e-02 1.05144046e+02] [-1.81949655e-02 9.99834267e-01 -6.17722035e-04 -8.34168678e+00] [-1.14841064e-02 4.08796078e-04 9.99933972e-01 -4.31777634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.221346184 meters 0.07147269065367527 Centerline is valid? [True, True] Translation: X:105.20, Y:-8.34, Z:-4.32 [[ 9.99776704e-01 1.92001517e-02 8.82584148e-03 1.05201173e+02] [-1.91967030e-02 9.99815613e-01 -4.75309211e-04 -8.34380726e+00] [-8.83334012e-03 3.05776018e-04 9.99960939e-01 -4.32171642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.281346184 meters 0.06989707551244777 Centerline is valid? [True, True] Translation: X:105.26, Y:-8.34, Z:-4.32 [[ 9.99685825e-01 2.32192495e-02 9.44022604e-03 1.05261221e+02] [-2.32155075e-02 9.99730356e-01 -5.05788293e-04 -8.34152713e+00] [-9.44942456e-03 2.86469748e-04 9.99955312e-01 -4.32351830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.341346184 meters 0.06946338792042306 Centerline is valid? [True, True] Translation: X:105.32, Y:-8.35, Z:-4.33 [[ 9.99621834e-01 2.57553689e-02 9.63590876e-03 1.05319606e+02] [-2.57515759e-02 9.99668239e-01 -5.17516760e-04 -8.34529569e+00] [-9.64604078e-03 2.69181217e-04 9.99953440e-01 -4.32747799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.401346184 meters 0.06974880109108783 Centerline is valid? [True, True] Translation: X:105.38, Y:-8.35, Z:-4.33 [[ 9.99605884e-01 2.58577415e-02 1.09294992e-02 1.05377597e+02] [-2.58528803e-02 9.99665587e-01 -5.85849815e-04 -8.35037912e+00] [-1.09409930e-02 3.03059887e-04 9.99940100e-01 -4.33039967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.461346184 meters 0.06991755671131408 Centerline is valid? [True, True] Translation: X:105.44, Y:-8.36, Z:-4.33 [[ 9.99602505e-01 2.55752786e-02 1.18632618e-02 1.05436100e+02] [-2.55695443e-02 9.99672844e-01 -6.34817004e-04 -8.35548253e+00] [-1.18756163e-02 3.31226468e-04 9.99929428e-01 -4.33325825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52134618399998 meters 0.07055387926337738 Centerline is valid? [True, True] Translation: X:105.49, Y:-8.36, Z:-4.34 [[ 9.99640390e-01 2.53069750e-02 8.86831491e-03 1.05494728e+02] [-2.53037602e-02 9.99679696e-01 -4.74533507e-04 -8.36092951e+00] [-8.87748336e-03 2.49961146e-04 9.99960563e-01 -4.33740629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58134618399998 meters 0.0696503687597142 Centerline is valid? [True, True] Translation: X:105.55, Y:-8.36, Z:-4.34 [[ 9.99606008e-01 2.61690883e-02 1.01492956e-02 1.05553784e+02] [-2.61649319e-02 9.99657493e-01 -5.42114252e-04 -8.36402065e+00] [-1.01600060e-02 2.76345036e-04 9.99948348e-01 -4.33822418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64134618399999 meters 0.06878168289346262 Centerline is valid? [True, True] Translation: X:105.61, Y:-8.37, Z:-4.34 [[ 9.99602444e-01 2.72586838e-02 7.20546408e-03 1.05612042e+02] [-2.72566110e-02 9.99628395e-01 -3.85739363e-04 -8.36560197e+00] [-7.21330124e-03 1.89189478e-04 9.99973966e-01 -4.34135948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.701346184 meters 0.06971891850619066 Centerline is valid? [True, True] Translation: X:105.67, Y:-8.37, Z:-4.35 [[ 9.99549284e-01 2.95770812e-02 5.14051104e-03 1.05669978e+02] [-2.95760546e-02 9.99562495e-01 -2.75634759e-04 -8.36865438e+00] [-5.14641451e-03 1.23474492e-04 9.99986749e-01 -4.34921706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.761346184 meters 0.06949796758175589 Centerline is valid? [True, True] Translation: X:105.73, Y:-8.37, Z:-4.35 [[ 9.99484240e-01 3.17807814e-02 4.60821142e-03 1.05727463e+02] [-3.17799811e-02 9.99494858e-01 -2.46807557e-04 -8.36667798e+00] [-4.61372736e-03 1.00231392e-04 9.99989352e-01 -4.35326749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.821346184 meters 0.06841166932790597 Centerline is valid? [True, True] Translation: X:105.79, Y:-8.37, Z:-4.35 [[ 9.99444583e-01 3.30793443e-02 4.03513919e-03 1.05786125e+02] [-3.30787429e-02 9.99452725e-01 -2.15721063e-04 -8.36584625e+00] [-4.04006678e-03 8.21239163e-05 9.99991836e-01 -4.35352584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.881346184 meters 0.06753867489073129 Centerline is valid? [True, True] Translation: X:105.84, Y:-8.37, Z:-4.35 [[ 9.99375871e-01 3.51681332e-02 3.32723151e-03 1.05844828e+02] [-3.51677347e-02 9.99381408e-01 -1.78194318e-04 -8.36542795e+00] [-3.33144007e-03 6.10719063e-05 9.99994449e-01 -4.35333470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.941346184 meters 0.06711974278524792 Centerline is valid? [True, True] Translation: X:105.90, Y:-8.36, Z:-4.35 [[ 9.99241638e-01 3.87709135e-02 3.60069165e-03 1.05902863e+02] [-3.87704700e-02 9.99248124e-01 -1.92911120e-04 -8.36007022e+00] [-3.60546372e-03 5.31643161e-05 9.99993499e-01 -4.35440362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.001346184 meters 0.06667276321852783 Centerline is valid? [True, True] Translation: X:105.96, Y:-8.36, Z:-4.36 [[ 9.99106026e-01 4.19619922e-02 5.13221655e-03 1.05960581e+02] [-4.19611429e-02 9.99119206e-01 -2.73099698e-04 -8.35988561e+00] [-5.13915593e-03 5.75018820e-05 9.99986793e-01 -4.35650713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.061346184 meters 0.06648960580253567 Centerline is valid? [True, True] Translation: X:106.02, Y:-8.36, Z:-4.36 [[ 9.99034278e-01 4.35386235e-02 5.90761701e-03 1.06018970e+02] [-4.35375039e-02 9.99051743e-01 -3.18057016e-04 -8.35975022e+00] [-5.91586283e-03 6.05469625e-05 9.99982499e-01 -4.35727347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.121346184 meters 0.06601919925469774 Centerline is valid? [True, True] Translation: X:106.08, Y:-8.36, Z:-4.35 [[ 9.99106795e-01 4.15232615e-02 7.83783336e-03 1.06077375e+02] [-4.15212629e-02 9.99137533e-01 -4.17612696e-04 -8.36292083e+00] [-7.84841413e-03 9.18029431e-05 9.99969197e-01 -4.35491541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.181346184 meters 0.065926732418255 Centerline is valid? [True, True] Translation: X:106.13, Y:-8.37, Z:-4.36 [[ 9.99137431e-01 4.08016979e-02 7.72107508e-03 1.06134733e+02] [-4.07997419e-02 9.99167259e-01 -4.10744595e-04 -8.36679631e+00] [-7.73140450e-03 9.53724289e-05 9.99970108e-01 -4.35521402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.241346184 meters 0.06619748434207856 Centerline is valid? [True, True] Translation: X:106.19, Y:-8.37, Z:-4.36 [[ 9.99158615e-01 4.02719613e-02 7.76094066e-03 1.06192402e+02] [-4.02700323e-02 9.99188751e-01 -4.04724834e-04 -8.37236978e+00] [-7.77094367e-03 9.18509732e-05 9.99969802e-01 -4.36067489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30134618399998 meters 0.06720494412801876 Centerline is valid? [True, True] Translation: X:106.25, Y:-8.38, Z:-4.37 [[ 9.99156823e-01 4.08276118e-02 4.33008394e-03 1.06250068e+02] [-4.08270147e-02 9.99166204e-01 -2.26226851e-04 -8.37537761e+00] [-4.33570983e-03 4.92517007e-05 9.99990600e-01 -4.36848725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36134618399998 meters 0.06640164501135935 Centerline is valid? [True, True] Translation: X:106.31, Y:-8.38, Z:-4.37 [[ 9.99098780e-01 4.21755451e-02 4.78024957e-03 1.06308418e+02] [-4.21748085e-02 9.99110214e-01 -2.54835614e-04 -8.37981092e+00] [-4.78674400e-03 5.29998409e-05 9.99988542e-01 -4.36819488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.421346184 meters 0.06611553891695082 Centerline is valid? [True, True] Translation: X:106.37, Y:-8.38, Z:-4.37 [[ 9.99129873e-01 4.14307319e-02 4.79486824e-03 1.06366598e+02] [-4.14299817e-02 9.99141377e-01 -2.55724861e-04 -8.38329406e+00] [-4.80134612e-03 5.68510450e-05 9.99988472e-01 -4.36669619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.481346184 meters 0.06599860221648833 Centerline is valid? [True, True] Translation: X:106.42, Y:-8.39, Z:-4.37 [[ 9.99155101e-01 4.05185921e-02 6.87953756e-03 1.06424728e+02] [-4.05170792e-02 9.99178781e-01 -3.59203313e-04 -8.38846985e+00] [-6.88844237e-03 8.01610545e-05 9.99976271e-01 -4.36693308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.541346184 meters 0.06659127792291071 Centerline is valid? [True, True] Translation: X:106.48, Y:-8.40, Z:-4.38 [[ 9.99216018e-01 3.93625890e-02 4.23518302e-03 1.06482752e+02] [-3.93620220e-02 9.99224992e-01 -2.17168775e-04 -8.40044680e+00] [-4.24044904e-03 5.02931513e-05 9.99991008e-01 -4.37546032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.601346184 meters 0.066714947952849 Centerline is valid? [True, True] Translation: X:106.54, Y:-8.41, Z:-4.38 [[ 9.99260031e-01 3.84022316e-02 2.15832460e-03 1.06541196e+02] [-3.84020653e-02 9.99262362e-01 -1.18438509e-04 -8.40639897e+00] [-2.16128084e-03 3.54667463e-05 9.99997664e-01 -4.37691138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.661346184 meters 0.06657293147770608 Centerline is valid? [True, True] Translation: X:106.60, Y:-8.41, Z:-4.38 [[ 9.99294694e-01 3.72972697e-02 4.36220530e-03 1.06598545e+02] [-3.72966496e-02 9.99304213e-01 -2.23450881e-04 -8.41373354e+00] [-4.36750424e-03 6.05976369e-05 9.99990461e-01 -4.37799918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.721346184 meters 0.0661609023354382 Centerline is valid? [True, True] Translation: X:106.66, Y:-8.42, Z:-4.38 [[ 9.99338777e-01 3.53068409e-02 8.68533981e-03 1.06657085e+02] [-3.53043466e-02 9.99376510e-01 -4.40385925e-04 -8.42450269e+00] [-8.69547323e-03 1.33464485e-04 9.99962185e-01 -4.37624776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.781346184 meters 0.06608519906340354 Centerline is valid? [True, True] Translation: X:106.72, Y:-8.43, Z:-4.38 [[ 9.99361509e-01 3.41963969e-02 1.03528514e-02 1.06715561e+02] [-3.41928057e-02 9.99415118e-01 -5.23738906e-04 -8.43204131e+00] [-1.03647062e-02 1.69411466e-04 9.99946271e-01 -4.37638446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.841346184 meters 0.06608699425583917 Centerline is valid? [True, True] Translation: X:106.77, Y:-8.44, Z:-4.38 [[ 9.99358545e-01 3.44617313e-02 9.74104944e-03 1.06774494e+02] [-3.44585699e-02 9.99406006e-01 -4.92240759e-04 -8.43859365e+00] [-9.75222679e-03 1.56262375e-04 9.99952434e-01 -4.37802644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.901346184 meters 0.06605329399634732 Centerline is valid? [True, True] Translation: X:106.83, Y:-8.45, Z:-4.38 [[ 9.99283477e-01 3.65152465e-02 9.95841472e-03 1.06833442e+02] [-3.65120572e-02 9.99333086e-01 -5.01945209e-04 -8.44548061e+00] [-9.97010198e-03 1.37983346e-04 9.99950288e-01 -4.38150966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.961346184 meters 0.06591813768291835 Centerline is valid? [True, True] Translation: X:106.89, Y:-8.45, Z:-4.38 [[ 9.99215029e-01 3.82659425e-02 1.02490231e-02 1.06891274e+02] [-3.82626533e-02 9.99267583e-01 -5.16892187e-04 -8.45021757e+00] [-1.02612959e-02 1.24331626e-04 9.99947344e-01 -4.38230941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02134618399998 meters 0.06574343022643404 Centerline is valid? [True, True] Translation: X:106.95, Y:-8.46, Z:-4.38 [[ 9.99255376e-01 3.72523928e-02 1.00475424e-02 1.06949361e+02] [-3.72491928e-02 9.99305880e-01 -5.05496079e-04 -8.46020328e+00] [-1.00593991e-02 1.30856832e-04 9.99949394e-01 -4.38250117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08134618399998 meters 0.06623797022009316 Centerline is valid? [True, True] Translation: X:107.01, Y:-8.47, Z:-4.38 [[ 9.99363061e-01 3.37340261e-02 1.16399127e-02 1.07006947e+02] [-3.37295025e-02 9.99430827e-01 -5.84775833e-04 -8.47118304e+00] [-1.16530144e-02 1.91794902e-04 9.99932083e-01 -4.38417012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14134618399999 meters 0.06612665983389528 Centerline is valid? [True, True] Translation: X:107.07, Y:-8.48, Z:-4.38 [[ 9.99445081e-01 3.11176617e-02 1.18836700e-02 1.07065502e+02] [-3.11127788e-02 9.99515703e-01 -5.95586601e-04 -8.48198803e+00] [-1.18964481e-02 2.25522101e-04 9.99929209e-01 -4.38409631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.201346184 meters 0.0662148613980452 Centerline is valid? [True, True] Translation: X:107.12, Y:-8.49, Z:-4.39 [[ 9.99418502e-01 3.19102106e-02 1.20165123e-02 1.07123098e+02] [-3.19052813e-02 9.99490716e-01 -6.01740477e-04 -8.48906433e+00] [-1.20295941e-02 2.18000363e-04 9.99927618e-01 -4.38762700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.261346184 meters 0.06612891516774906 Centerline is valid? [True, True] Translation: X:107.18, Y:-8.49, Z:-4.39 [[ 9.99393786e-01 3.31851862e-02 1.05263226e-02 1.07181473e+02] [-3.31814852e-02 9.99449204e-01 -5.26097135e-04 -8.49139911e+00] [-1.05379834e-02 1.76499191e-04 9.99944458e-01 -4.38864343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.321346184 meters 0.06624256685456242 Centerline is valid? [True, True] Translation: X:107.24, Y:-8.49, Z:-4.39 [[ 9.99377976e-01 3.38727244e-02 9.81327075e-03 1.07240450e+02] [-3.38695463e-02 9.99426142e-01 -4.89922463e-04 -8.49448247e+00] [-9.82423433e-03 1.57246692e-04 9.99951729e-01 -4.39099473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.381346184 meters 0.06630565047124967 Centerline is valid? [True, True] Translation: X:107.30, Y:-8.50, Z:-4.39 [[ 9.99316261e-01 3.55077472e-02 1.03058367e-02 1.07297795e+02] [-3.55043335e-02 9.99369390e-01 -5.14064866e-04 -8.49871446e+00] [-1.03175910e-02 1.47811517e-04 9.99946761e-01 -4.39272191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.441346184 meters 0.06653846783472142 Centerline is valid? [True, True] Translation: X:107.36, Y:-8.51, Z:-4.39 [[ 9.99342363e-01 3.44597264e-02 1.12857480e-02 1.07356369e+02] [-3.44555864e-02 9.99406072e-01 -5.61118332e-04 -8.50551000e+00] [-1.12983811e-02 1.71892254e-04 9.99936156e-01 -4.39498777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.501346184 meters 0.06761887940089548 Centerline is valid? [True, True] Translation: X:107.41, Y:-8.52, Z:-4.40 [[ 9.99505380e-01 2.99153570e-02 9.69878597e-03 1.07414376e+02] [-2.99120936e-02 9.99552417e-01 -4.81386188e-04 -8.51719817e+00] [-9.70884580e-03 1.91037091e-04 9.99952850e-01 -4.39870213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.561346184 meters 0.06777545687779306 Centerline is valid? [True, True] Translation: X:107.47, Y:-8.52, Z:-4.40 [[ 9.99590233e-01 2.71256049e-02 9.14156483e-03 1.07472993e+02] [-2.71225872e-02 9.99632012e-01 -4.53938595e-04 -8.52392186e+00] [-9.15051421e-03 2.05809696e-04 9.99958112e-01 -4.40012704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.621346184 meters 0.06955466143173769 Centerline is valid? [True, True] Translation: X:107.53, Y:-8.53, Z:-4.41 [[ 9.99641588e-01 2.62534691e-02 5.23928132e-03 1.07530297e+02] [-2.62524621e-02 9.99655311e-01 -2.60893201e-04 -8.53294161e+00] [-5.24432475e-03 1.23255660e-04 9.99986241e-01 -4.40912609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.681346184 meters 0.06884667421846008 Centerline is valid? [True, True] Translation: X:107.59, Y:-8.54, Z:-4.41 [[ 9.99672345e-01 2.49427813e-02 5.74978443e-03 1.07588538e+02] [-2.49415507e-02 9.99688870e-01 -2.85632890e-04 -8.53990940e+00] [-5.75511998e-03 1.42130760e-04 9.99983429e-01 -4.40854853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.741346184 meters 0.06814476602975392 Centerline is valid? [True, True] Translation: X:107.65, Y:-8.55, Z:-4.41 [[ 9.99673741e-01 2.46535450e-02 6.67935372e-03 1.07646962e+02] [-2.46518834e-02 9.99696041e-01 -3.30992882e-04 -8.54532271e+00] [-6.68548362e-03 1.66226243e-04 9.99977638e-01 -4.40826379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80134618399998 meters 0.06785004931998902 Centerline is valid? [True, True] Translation: X:107.71, Y:-8.54, Z:-4.41 [[ 9.99624257e-01 2.64995486e-02 7.00853222e-03 1.07705646e+02] [-2.64977695e-02 9.99648812e-01 -3.46598943e-04 -8.54405835e+00] [-7.01525563e-03 1.60758239e-04 9.99975380e-01 -4.40796865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86134618399998 meters 0.06834615574264538 Centerline is valid? [True, True] Translation: X:107.76, Y:-8.55, Z:-4.42 [[ 9.99627599e-01 2.70026602e-02 3.93954566e-03 1.07764119e+02] [-2.70020986e-02 9.99635358e-01 -1.95692194e-04 -8.54998552e+00] [-3.94339335e-03 8.92433177e-05 9.99992221e-01 -4.41521392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.921346184 meters 0.06879958054587469 Centerline is valid? [True, True] Translation: X:107.82, Y:-8.56, Z:-4.42 [[ 9.99623376e-01 2.73306794e-02 2.47801144e-03 1.07820715e+02] [-2.73304508e-02 9.99626446e-01 -1.26046318e-04 -8.56040864e+00] [-2.48053070e-03 5.82736761e-05 9.99996922e-01 -4.42342546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.981346184 meters 0.06794155310483799 Centerline is valid? [True, True] Translation: X:107.88, Y:-8.56, Z:-4.42 [[ 9.99597930e-01 2.78888718e-02 5.11753849e-03 1.07879861e+02] [-2.78879453e-02 9.99611024e-01 -2.52320974e-04 -8.55819944e+00] [-5.12258484e-03 1.09501890e-04 9.99986873e-01 -4.41883919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.041346184 meters 0.06796759099372823 Centerline is valid? [True, True] Translation: X:107.94, Y:-8.56, Z:-4.42 [[ 9.99564531e-01 2.89912746e-02 5.50048501e-03 1.07938337e+02] [-2.89902245e-02 9.99579658e-01 -2.70568368e-04 -8.56178941e+00] [-5.50601705e-03 1.10990249e-04 9.99984836e-01 -4.42216863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.101346184 meters 0.06763685008004422 Centerline is valid? [True, True] Translation: X:108.00, Y:-8.57, Z:-4.42 [[ 9.99574583e-01 2.87536711e-02 4.88655772e-03 1.07996465e+02] [-2.87528394e-02 9.99586523e-01 -2.40390202e-04 -8.56976353e+00] [-4.89144934e-03 9.97855267e-05 9.99988032e-01 -4.42391142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.161346184 meters 0.06869099101964331 Centerline is valid? [True, True] Translation: X:108.05, Y:-8.58, Z:-4.43 [[ 9.99663175e-01 2.57486127e-02 3.24751861e-03 1.08054164e+02] [-2.57482273e-02 9.99668447e-01 -1.60454720e-04 -8.57902100e+00] [-3.25057337e-03 7.67828279e-05 9.99994714e-01 -4.42975183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.221346184 meters 0.06956942457953615 Centerline is valid? [True, True] Translation: X:108.11, Y:-8.59, Z:-4.43 [[ 9.99714919e-01 2.38681098e-02 -6.27274602e-04 1.08113673e+02] [-2.38680958e-02 9.99715116e-01 2.96898567e-05 -8.58600359e+00] [ 6.27804543e-04 -1.47095423e-05 9.99999803e-01 -4.43394341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.281346184 meters 0.06946404836600588 Centerline is valid? [True, True] Translation: X:108.17, Y:-8.59, Z:-4.44 [[ 9.99692795e-01 2.47694381e-02 8.89224951e-04 1.08171512e+02] [-2.47694067e-02 9.99693190e-01 -4.63342045e-05 -8.59175570e+00] [-8.90099800e-04 2.42943960e-05 9.99999604e-01 -4.43539091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.341346184 meters 0.06788189845021268 Centerline is valid? [True, True] Translation: X:108.23, Y:-8.59, Z:-4.43 [[ 9.99598508e-01 2.81071745e-02 3.57914621e-03 1.08231738e+02] [-2.81067281e-02 9.99604913e-01 -1.74978604e-04 -8.58969889e+00] [-3.58265029e-03 7.43102624e-05 9.99993580e-01 -4.43029870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.401346184 meters 0.06815270471576461 Centerline is valid? [True, True] Translation: X:108.29, Y:-8.59, Z:-4.43 [[ 9.99503463e-01 3.13302504e-02 3.35312861e-03 1.08289940e+02] [-3.13298740e-02 9.99509085e-01 -1.64743081e-04 -8.58980298e+00] [-3.35664395e-03 5.96081831e-05 9.99994365e-01 -4.43458828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.461346184 meters 0.0681125244328339 Centerline is valid? [True, True] Translation: X:108.35, Y:-8.60, Z:-4.44 [[ 9.99520821e-01 3.09217614e-02 1.40473873e-03 1.08348622e+02] [-3.09216929e-02 9.99521808e-01 -7.04829098e-05 -8.59580228e+00] [-1.40624645e-03 2.70122362e-05 9.99999011e-01 -4.43729133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52134618399998 meters 0.06917386768748288 Centerline is valid? [True, True] Translation: X:108.41, Y:-8.61, Z:-4.44 [[ 9.99692293e-01 2.48052634e-02 1.32399871e-04 1.08408400e+02] [-2.48052628e-02 9.99692302e-01 -6.38954301e-06 -8.60903858e+00] [-1.32517626e-04 3.10336332e-06 9.99999991e-01 -4.44091066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58134618399998 meters 0.06993954546302815 Centerline is valid? [True, True] Translation: X:108.47, Y:-8.61, Z:-4.44 [[ 9.99748607e-01 2.24210004e-02 -1.49760805e-04 1.08465897e+02] [-2.24210001e-02 9.99748618e-01 3.92806336e-06 -8.61415269e+00] [ 1.49811229e-04 -5.69288844e-07 9.99999989e-01 -4.44105626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64134618399999 meters 0.069849004503974 Centerline is valid? [True, True] Translation: X:108.52, Y:-8.62, Z:-4.44 [[ 9.99750475e-01 2.23313255e-02 5.47035529e-04 1.08524074e+02] [-2.23313130e-02 9.99750625e-01 -2.89648237e-05 -8.62174060e+00] [-5.47545935e-04 1.67415746e-05 9.99999850e-01 -4.44353324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.701346184 meters 0.07064015991360102 Centerline is valid? [True, True] Translation: X:108.58, Y:-8.63, Z:-4.45 [[ 9.99816786e-01 1.90827727e-02 1.49773434e-03 1.08581691e+02] [-1.90826815e-02 9.99817906e-01 -7.51639790e-05 -8.63291359e+00] [-1.49889595e-03 4.65694204e-05 9.99998876e-01 -4.44585499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.761346184 meters 0.06997227430669592 Centerline is valid? [True, True] Translation: X:108.64, Y:-8.63, Z:-4.44 [[ 9.99863137e-01 1.63179273e-02 2.72635257e-03 1.08641096e+02] [-1.63176240e-02 9.99866850e-01 -1.33422436e-04 -8.63326446e+00] [-2.72816674e-03 8.89165786e-05 9.99996275e-01 -4.44018610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.821346184 meters 0.07184148051755916 Centerline is valid? [True, True] Translation: X:108.70, Y:-8.65, Z:-4.45 [[ 9.99898128e-01 1.34506638e-02 4.77636456e-03 1.08698341e+02] [-1.34497094e-02 9.99909522e-01 -2.31880409e-04 -8.64596201e+00] [-4.77905135e-03 1.67616071e-04 9.99988566e-01 -4.44683715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.881346184 meters 0.07355358047687094 Centerline is valid? [True, True] Translation: X:108.76, Y:-8.66, Z:-4.45 [[ 9.99973072e-01 7.00852971e-03 2.17635130e-03 1.08757672e+02] [-7.00831951e-03 9.99975436e-01 -1.04193348e-04 -8.65695874e+00] [-2.17702808e-03 8.89379765e-05 9.99997626e-01 -4.45170982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.941346184 meters 0.07525178034689106 Centerline is valid? [True, True] Translation: X:108.82, Y:-8.66, Z:-4.45 [[ 9.99990529e-01 2.93814933e-03 3.21092252e-03 1.08817492e+02] [-2.93766738e-03 9.99995673e-01 -1.54803251e-04 -8.65917452e+00] [-3.21136346e-03 1.45369163e-04 9.99994833e-01 -4.45140291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.001346184 meters 0.07613131077992552 Centerline is valid? [True, True] Translation: X:108.88, Y:-8.66, Z:-4.45 [[ 9.99993098e-01 1.46769993e-03 3.41319265e-03 1.08878931e+02] [-1.46715554e-03 9.99998911e-01 -1.61994520e-04 -8.66467419e+00] [-3.41342669e-03 1.56985717e-04 9.99994162e-01 -4.45483099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.061346184 meters 0.07646622620647354 Centerline is valid? [True, True] Translation: X:108.94, Y:-8.67, Z:-4.46 [[ 9.99994271e-01 -1.88737509e-03 2.81009812e-03 1.08940183e+02] [ 1.88775685e-03 9.99998209e-01 -1.33207509e-04 -8.67096522e+00] [-2.80984167e-03 1.38511528e-04 9.99996043e-01 -4.45815790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.121346184 meters 0.07749769442862266 Centerline is valid? [True, True] Translation: X:109.00, Y:-8.67, Z:-4.46 [[ 9.99987826e-01 -3.17378450e-03 3.77832644e-03 1.09002846e+02] [ 3.17445935e-03 9.99994946e-01 -1.72627698e-04 -8.67153710e+00] [-3.77775946e-03 1.84619740e-04 9.99992847e-01 -4.45839549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.181346184 meters 0.07837329300039658 Centerline is valid? [True, True] Translation: X:109.06, Y:-8.67, Z:-4.46 [[ 9.99992567e-01 -2.90487801e-03 2.53545620e-03 1.09064174e+02] [ 2.90519212e-03 9.99995773e-01 -1.20214694e-04 -8.67191932e+00] [-2.53509627e-03 1.27579788e-04 9.99996778e-01 -4.46294208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.241346184 meters 0.07827569639084284 Centerline is valid? [True, True] Translation: X:109.13, Y:-8.67, Z:-4.47 [[ 9.99993405e-01 -2.14718116e-03 2.92921316e-03 1.09126383e+02] [ 2.14759681e-03 9.99997684e-01 -1.38760787e-04 -8.67475716e+00] [-2.92890843e-03 1.45050641e-04 9.99995700e-01 -4.46588660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30134618399998 meters 0.07837174778973106 Centerline is valid? [True, True] Translation: X:109.19, Y:-8.67, Z:-4.47 [[ 9.99979313e-01 -1.59899455e-03 6.23027471e-03 1.09186891e+02] [ 1.60089516e-03 9.99998674e-01 -3.00085794e-04 -8.67287539e+00] [-6.22978661e-03 3.10053602e-04 9.99980547e-01 -4.46658584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36134618399998 meters 0.07914416992329944 Centerline is valid? [True, True] Translation: X:109.25, Y:-8.67, Z:-4.47 [[ 9.99980519e-01 -1.69219177e-03 6.00816110e-03 1.09249330e+02] [ 1.69395212e-03 9.99998524e-01 -2.87915923e-04 -8.67436559e+00] [-6.00766502e-03 2.98087851e-04 9.99981909e-01 -4.47041632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.421346184 meters 0.07980390550734082 Centerline is valid? [True, True] Translation: X:109.31, Y:-8.68, Z:-4.47 [[ 9.99975503e-01 -1.09440182e-03 6.91339747e-03 1.09310747e+02] [ 1.09672783e-03 9.99999343e-01 -3.32667209e-04 -8.67512989e+00] [-6.91302885e-03 3.40241175e-04 9.99976047e-01 -4.47367632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.481346184 meters 0.07580140625194731 Centerline is valid? [True, True] Translation: X:109.37, Y:-8.67, Z:-4.47 [[ 9.99981334e-01 -1.66562105e-04 6.10767078e-03 1.09373099e+02] [ 1.68356654e-04 9.99999943e-01 -2.93306027e-04 -8.66659858e+00] [-6.10762158e-03 2.94328819e-04 9.99981305e-01 -4.47159151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.541346184 meters 0.07505955771178269 Centerline is valid? [True, True] Translation: X:109.44, Y:-8.66, Z:-4.47 [[ 9.99981361e-01 3.34333375e-04 6.09632097e-03 1.09435260e+02] [-3.32552313e-04 9.99999902e-01 -2.93164936e-04 -8.66157133e+00] [-6.09641839e-03 2.91132127e-04 9.99981374e-01 -4.47272054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.601346184 meters 0.0814591930884656 Centerline is valid? [True, True] Translation: X:109.50, Y:-8.68, Z:-4.49 [[ 9.99978527e-01 3.94057342e-04 6.54147787e-03 1.09495804e+02] [-3.92017065e-04 9.99999874e-01 -3.13177630e-04 -8.67529348e+00] [-6.54160046e-03 3.10606534e-04 9.99978555e-01 -4.48507384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.661346184 meters 0.0759670657092811 Centerline is valid? [True, True] Translation: X:109.56, Y:-8.66, Z:-4.48 [[ 9.99978404e-01 -9.83461367e-05 6.57128336e-03 1.09558983e+02] [ 1.00400211e-04 9.99999946e-01 -3.12254221e-04 -8.66435150e+00] [-6.57125230e-03 3.12907235e-04 9.99978360e-01 -4.48003326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.721346184 meters 0.07597860652308358 Centerline is valid? [True, True] Translation: X:109.62, Y:-8.66, Z:-4.48 [[ 9.99983138e-01 7.74007415e-04 5.75535070e-03 1.09621333e+02] [-7.72412198e-04 9.99999663e-01 -2.79388626e-04 -8.65969604e+00] [-5.75556501e-03 2.74938412e-04 9.99983399e-01 -4.48293761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.781346184 meters 0.07646804293175553 Centerline is valid? [True, True] Translation: X:109.68, Y:-8.66, Z:-4.49 [[ 9.99965824e-01 3.96111767e-03 7.25680589e-03 1.09681365e+02] [-3.95864138e-03 9.99992101e-01 -3.55568868e-04 -8.66015259e+00] [-7.25815703e-03 3.26829624e-04 9.99973606e-01 -4.48737683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.841346184 meters 0.07361195621223092 Centerline is valid? [True, True] Translation: X:109.74, Y:-8.65, Z:-4.49 [[ 9.99959269e-01 5.14082746e-03 7.41842897e-03 1.09744101e+02] [-5.13832715e-03 9.99986735e-01 -3.56060943e-04 -8.65058139e+00] [-7.42016101e-03 3.17928125e-04 9.99972420e-01 -4.48583462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.901346184 meters 0.07778344082061586 Centerline is valid? [True, True] Translation: X:109.80, Y:-8.66, Z:-4.49 [[ 9.99978690e-01 3.14605333e-03 5.72028244e-03 1.09803484e+02] [-3.14449308e-03 9.99995016e-01 -2.81730733e-04 -8.65662606e+00] [-5.72114027e-03 2.63737341e-04 9.99983599e-01 -4.49304818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.961346184 meters 0.07579677443571847 Centerline is valid? [True, True] Translation: X:109.86, Y:-8.65, Z:-4.49 [[ 9.99987640e-01 4.00168115e-04 4.95584018e-03 1.09864480e+02] [-3.98966198e-04 9.99999891e-01 -2.43511757e-04 -8.65301332e+00] [-4.95593708e-03 2.41531534e-04 9.99987690e-01 -4.49480313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02134618399998 meters 0.07569881832689447 Centerline is valid? [True, True] Translation: X:109.93, Y:-8.65, Z:-4.50 [[ 9.99981205e-01 2.54829830e-03 5.57644357e-03 1.09925102e+02] [-2.54680879e-03 9.99996719e-01 -2.74192232e-04 -8.64916126e+00] [-5.57712400e-03 2.59984943e-04 9.99984414e-01 -4.49670454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08134618399998 meters 0.07497120258217067 Centerline is valid? [True, True] Translation: X:109.99, Y:-8.64, Z:-4.50 [[ 9.99960754e-01 5.00416776e-03 7.31090904e-03 1.09986479e+02] [-5.00167051e-03 9.99987427e-01 -3.59822422e-04 -8.64346358e+00] [-7.31261773e-03 3.23241542e-04 9.99973210e-01 -4.49667086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14134618399999 meters 0.07135408879845234 Centerline is valid? [True, True] Translation: X:110.05, Y:-8.63, Z:-4.50 [[ 9.99939080e-01 8.36949758e-03 7.19635083e-03 1.10048570e+02] [-8.36716850e-03 9.99964932e-01 -3.53694969e-04 -8.63134729e+00] [-7.19905872e-03 2.93460342e-04 9.99974043e-01 -4.49556377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.201346184 meters 0.07475221785918533 Centerline is valid? [True, True] Translation: X:110.11, Y:-8.64, Z:-4.50 [[ 9.99936875e-01 9.07486723e-03 6.62521846e-03 1.10107950e+02] [-9.07289648e-03 9.99958787e-01 -3.27457249e-04 -8.63747431e+00] [-6.62791704e-03 2.67326657e-04 9.99977999e-01 -4.50377110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.261346184 meters 0.07168162067019569 Centerline is valid? [True, True] Translation: X:110.17, Y:-8.63, Z:-4.50 [[ 9.99912888e-01 9.50444734e-03 9.15867148e-03 1.10168672e+02] [-9.50069840e-03 9.99954765e-01 -4.52754724e-04 -8.62726172e+00] [-9.16256037e-03 3.65701509e-04 9.99957956e-01 -4.49812508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.321346184 meters 0.07227270131571419 Centerline is valid? [True, True] Translation: X:110.23, Y:-8.63, Z:-4.50 [[ 9.99899298e-01 9.94564919e-03 1.01231487e-02 1.10229794e+02] [-9.94111167e-03 9.99950462e-01 -4.98453159e-04 -8.62613795e+00] [-1.01276047e-02 3.97767611e-04 9.99948635e-01 -4.50090273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.381346184 meters 0.07173697616103047 Centerline is valid? [True, True] Translation: X:110.29, Y:-8.63, Z:-4.50 [[ 9.99882192e-01 1.11029878e-02 1.05983430e-02 1.10290326e+02] [-1.10980718e-02 9.99938278e-01 -5.22547963e-04 -8.62549208e+00] [-1.06034907e-02 4.04865232e-04 9.99943699e-01 -4.50308682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.441346184 meters 0.07113893890319081 Centerline is valid? [True, True] Translation: X:110.35, Y:-8.62, Z:-4.50 [[ 9.99846045e-01 1.45434206e-02 9.81710905e-03 1.10350916e+02] [-1.45393635e-02 9.99894180e-01 -4.84508493e-04 -8.61711074e+00] [-9.82311662e-03 3.41699383e-04 9.99951694e-01 -4.50443225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.501346184 meters 0.06968998206696966 Centerline is valid? [True, True] Translation: X:110.41, Y:-8.61, Z:-4.50 [[ 9.99813849e-01 1.64192037e-02 1.01329497e-02 1.10410521e+02] [-1.64149694e-02 9.99865140e-01 -5.00911416e-04 -8.61120131e+00] [-1.01398077e-02 3.34486112e-04 9.99948535e-01 -4.50338528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.561346184 meters 0.06961187008394401 Centerline is valid? [True, True] Translation: X:110.47, Y:-8.61, Z:-4.51 [[ 9.99754753e-01 1.87704649e-02 1.17517174e-02 1.10469514e+02] [-1.87649490e-02 9.99823755e-01 -5.79467501e-04 -8.61150340e+00] [-1.17605231e-02 3.58805011e-04 9.99930778e-01 -4.50638211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.621346184 meters 0.06970676667366525 Centerline is valid? [True, True] Translation: X:110.53, Y:-8.61, Z:-4.51 [[ 9.99744666e-01 1.92460143e-02 1.18403658e-02 1.10528093e+02] [-1.92404428e-02 9.99814715e-01 -5.84286524e-04 -8.61118498e+00] [-1.18494171e-02 3.56323455e-04 9.99929730e-01 -4.50744975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.681346184 meters 0.07028067885937828 Centerline is valid? [True, True] Translation: X:110.59, Y:-8.61, Z:-4.51 [[ 9.99773492e-01 1.84084538e-02 1.06814553e-02 1.10587040e+02] [-1.84038777e-02 9.99830496e-01 -5.26553800e-04 -8.61128726e+00] [-1.06893378e-02 3.29854334e-04 9.99942813e-01 -4.50903164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.741346184 meters 0.07022096819657817 Centerline is valid? [True, True] Translation: X:110.65, Y:-8.61, Z:-4.51 [[ 9.99739191e-01 2.09481442e-02 9.09533427e-03 1.10645631e+02] [-2.09449339e-02 9.99780530e-01 -4.48077458e-04 -8.61459655e+00] [-9.10272451e-03 2.57459420e-04 9.99958536e-01 -4.51483343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80134618399998 meters 0.06949815204875207 Centerline is valid? [True, True] Translation: X:110.70, Y:-8.62, Z:-4.52 [[ 9.99682887e-01 2.33048381e-02 9.53994777e-03 1.10703955e+02] [-2.33014211e-02 9.99728375e-01 -4.69183195e-04 -8.61613229e+00] [-9.54829072e-03 2.46740071e-04 9.99954384e-01 -4.51864885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86134618399998 meters 0.06862506258655439 Centerline is valid? [True, True] Translation: X:110.76, Y:-8.61, Z:-4.52 [[ 9.99544143e-01 2.81274091e-02 1.09706658e-02 1.10763590e+02] [-2.81232035e-02 9.99604320e-01 -5.37459083e-04 -8.61001078e+00] [-1.09814423e-02 2.28683811e-04 9.99939676e-01 -4.51880075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.921346184 meters 0.06798926010772403 Centerline is valid? [True, True] Translation: X:110.82, Y:-8.61, Z:-4.52 [[ 9.99477138e-01 3.05921734e-02 1.04675192e-02 1.10822070e+02] [-3.05884741e-02 9.99531931e-01 -5.13357900e-04 -8.60907177e+00] [-1.04783245e-02 1.92904044e-04 9.99945082e-01 -4.52148305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.981346184 meters 0.06747142373920055 Centerline is valid? [True, True] Translation: X:110.88, Y:-8.61, Z:-4.52 [[ 9.99481923e-01 3.07290542e-02 9.57133530e-03 1.10880893e+02] [-3.07259706e-02 9.99527736e-01 -4.69083683e-04 -8.61335401e+00] [-9.58122960e-03 1.74752095e-04 9.99954084e-01 -4.52298579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.041346184 meters 0.06818806079039158 Centerline is valid? [True, True] Translation: X:110.94, Y:-8.62, Z:-4.52 [[ 9.99613889e-01 2.66013885e-02 8.02739490e-03 1.10939855e+02] [-2.65990916e-02 9.99646104e-01 -3.92775411e-04 -8.61914818e+00] [-8.03500242e-03 1.79102343e-04 9.99967703e-01 -4.52417591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.101346184 meters 0.0688419766332475 Centerline is valid? [True, True] Translation: X:111.00, Y:-8.63, Z:-4.53 [[ 9.99654741e-01 2.46282167e-02 9.15693497e-03 1.10996997e+02] [-2.46251435e-02 9.99696655e-01 -4.48223144e-04 -8.62584553e+00] [-9.16519619e-03 2.22577553e-04 9.99957974e-01 -4.52795698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.161346184 meters 0.06977013136861308 Centerline is valid? [True, True] Translation: X:111.06, Y:-8.64, Z:-4.53 [[ 9.99758963e-01 1.87935187e-02 1.13498677e-02 1.11056198e+02] [-1.87884571e-02 9.99823329e-01 -5.52432968e-04 -8.63811853e+00] [-1.13582446e-02 3.39053309e-04 9.99935436e-01 -4.52878508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.221346184 meters 0.07021359622090292 Centerline is valid? [True, True] Translation: X:111.11, Y:-8.64, Z:-4.53 [[ 9.99797430e-01 1.71975484e-02 1.04567117e-02 1.11114326e+02] [-1.71931485e-02 9.99852057e-01 -5.10531934e-04 -8.64168144e+00] [-1.04639446e-02 3.30644720e-04 9.99945197e-01 -4.53099818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.281346184 meters 0.06995099748394244 Centerline is valid? [True, True] Translation: X:111.17, Y:-8.64, Z:-4.53 [[ 9.99767798e-01 1.89954803e-02 1.01746145e-02 1.11172673e+02] [-1.89914268e-02 9.99819524e-01 -4.94868655e-04 -8.64269512e+00] [-1.01821785e-02 3.01523299e-04 9.99948115e-01 -4.53404574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.341346184 meters 0.06967279815273814 Centerline is valid? [True, True] Translation: X:111.23, Y:-8.64, Z:-4.54 [[ 9.99731396e-01 2.08323081e-02 1.01563452e-02 1.11231569e+02] [-2.08283711e-02 9.99782944e-01 -4.93263705e-04 -8.64320552e+00] [-1.01644165e-02 2.81591086e-04 9.99948301e-01 -4.53664836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.401346184 meters 0.06924020387797039 Centerline is valid? [True, True] Translation: X:111.29, Y:-8.64, Z:-4.54 [[ 9.99701031e-01 2.15390532e-02 1.15722652e-02 1.11290930e+02] [-2.15340083e-02 9.99767959e-01 -5.60382025e-04 -8.64357646e+00] [-1.15816501e-02 3.11017232e-04 9.99932882e-01 -4.53798891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.461346184 meters 0.06973930888907952 Centerline is valid? [True, True] Translation: X:111.35, Y:-8.65, Z:-4.54 [[ 9.99709811e-01 2.12143535e-02 1.14124689e-02 1.11349867e+02] [-2.12094278e-02 9.99774902e-01 -5.52478713e-04 -8.64620292e+00] [-1.14216205e-02 3.10266454e-04 9.99934723e-01 -4.54080983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52134618399998 meters 0.069706455949925 Centerline is valid? [True, True] Translation: X:111.41, Y:-8.65, Z:-4.54 [[ 9.99677910e-01 2.15382157e-02 1.34231780e-02 1.11408247e+02] [-2.15314492e-02 9.99767961e-01 -6.48418156e-04 -8.65018371e+00] [-1.34340290e-02 3.59188832e-04 9.99909695e-01 -4.54289041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58134618399998 meters 0.06889945474340743 Centerline is valid? [True, True] Translation: X:111.47, Y:-8.65, Z:-4.54 [[ 9.99640714e-01 2.26605765e-02 1.43157522e-02 1.11467056e+02] [-2.26530113e-02 9.99743149e-01 -6.90409131e-04 -8.64863781e+00] [-1.43277203e-02 3.65866179e-04 9.99897286e-01 -4.54217611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64134618399999 meters 0.06932795242087235 Centerline is valid? [True, True] Translation: X:111.53, Y:-8.65, Z:-4.55 [[ 9.99652599e-01 2.24903854e-02 1.37428069e-02 1.11525197e+02] [-2.24834102e-02 9.99746997e-01 -6.61858246e-04 -8.65490309e+00] [-1.37542153e-02 3.52643152e-04 9.99905344e-01 -4.54757789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.701346184 meters 0.06988026695213327 Centerline is valid? [True, True] Translation: X:111.58, Y:-8.66, Z:-4.55 [[ 9.99707289e-01 2.15906607e-02 1.09169002e-02 1.11584077e+02] [-2.15862135e-02 9.99766853e-01 -5.25049553e-04 -8.65984671e+00] [-1.09256912e-02 2.89241326e-04 9.99940271e-01 -4.55257038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.761346184 meters 0.06961339258428897 Centerline is valid? [True, True] Translation: X:111.64, Y:-8.66, Z:-4.55 [[ 9.99710344e-01 2.08725096e-02 1.19818930e-02 1.11642682e+02] [-2.08671053e-02 9.99782092e-01 -5.75896335e-04 -8.65926339e+00] [-1.19913025e-02 3.25702099e-04 9.99928049e-01 -4.55150932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.821346184 meters 0.06984686999952808 Centerline is valid? [True, True] Translation: X:111.70, Y:-8.67, Z:-4.56 [[ 9.99664639e-01 2.19414902e-02 1.37543095e-02 1.11700385e+02] [-2.19344891e-02 9.99759193e-01 -6.59676226e-04 -8.66852657e+00] [-1.37654717e-02 3.57761244e-04 9.99905187e-01 -4.55847585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881346184 meters 0.0691342802608104 Centerline is valid? [True, True] Translation: X:111.76, Y:-8.67, Z:-4.56 [[ 9.99669344e-01 2.25261143e-02 1.24006543e-02 1.11758955e+02] [-2.25204703e-02 9.99746205e-01 -5.94605429e-04 -8.66563124e+00] [-1.24109012e-02 3.15140253e-04 9.99922932e-01 -4.55747730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.941346184 meters 0.06904665469978055 Centerline is valid? [True, True] Translation: X:111.82, Y:-8.67, Z:-4.56 [[ 9.99654794e-01 2.30185848e-02 1.26663761e-02 1.11817698e+02] [-2.30127570e-02 9.99734988e-01 -6.05672686e-04 -8.66556710e+00] [-1.26769611e-02 3.13975369e-04 9.99919595e-01 -4.55852864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.001346184 meters 0.07045680126381695 Centerline is valid? [True, True] Translation: X:111.87, Y:-8.68, Z:-4.57 [[ 9.99711743e-01 2.03707999e-02 1.27067527e-02 1.11874649e+02] [-2.03647220e-02 9.99792433e-01 -6.07543099e-04 -8.67951903e+00] [-1.27164913e-02 3.48598485e-04 9.99919081e-01 -4.56678733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.061346184 meters 0.06996151504513037 Centerline is valid? [True, True] Translation: X:111.93, Y:-8.68, Z:-4.56 [[ 9.99753728e-01 1.68710040e-02 1.44170836e-02 1.11934277e+02] [-1.68628692e-02 9.99857577e-01 -6.85632431e-04 -8.68289141e+00] [-1.44265976e-02 4.42350184e-04 9.99895833e-01 -4.56326494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.121346184 meters 0.06967245677697118 Centerline is valid? [True, True] Translation: X:111.99, Y:-8.68, Z:-4.56 [[ 9.99745000e-01 1.68694200e-02 1.50119255e-02 1.11993863e+02] [-1.68606087e-02 9.99857595e-01 -7.13334909e-04 -8.68349744e+00] [-1.50218213e-02 4.60042807e-04 9.99887060e-01 -4.56294863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.181346184 meters 0.06902561526658182 Centerline is valid? [True, True] Translation: X:112.05, Y:-8.68, Z:-4.57 [[ 9.99669097e-01 2.16333636e-02 1.39174253e-02 1.12053310e+02] [-2.16262575e-02 9.99765907e-01 -6.60901851e-04 -8.68431640e+00] [-1.39284648e-02 3.59701334e-04 9.99902930e-01 -4.56914695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.241346184 meters 0.06867206867116031 Centerline is valid? [True, True] Translation: X:112.11, Y:-8.68, Z:-4.57 [[ 9.99643716e-01 2.28147959e-02 1.38537625e-02 1.12111908e+02] [-2.28078636e-02 9.99739650e-01 -6.58197426e-04 -8.68421810e+00] [-1.38651723e-02 3.41988194e-04 9.99903815e-01 -4.57112588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30134618399998 meters 0.06935027147464913 Centerline is valid? [True, True] Translation: X:112.17, Y:-8.69, Z:-4.57 [[ 9.99641271e-01 2.19918870e-02 1.52867772e-02 1.12169498e+02] [-2.19833657e-02 9.99758074e-01 -7.25265845e-04 -8.68900895e+00] [-1.52990288e-02 3.88950859e-04 9.99882887e-01 -4.57335347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36134618399998 meters 0.06880551803776803 Centerline is valid? [True, True] Translation: X:112.23, Y:-8.69, Z:-4.57 [[ 9.99700058e-01 1.96302020e-02 1.46441140e-02 1.12229019e+02] [-1.96221625e-02 9.99807227e-01 -6.92481448e-04 -8.69274754e+00] [-1.46548846e-02 4.04924558e-04 9.99892529e-01 -4.57472928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.421346184 meters 0.06926129530876465 Centerline is valid? [True, True] Translation: X:112.29, Y:-8.70, Z:-4.58 [[ 9.99753180e-01 1.67525768e-02 1.45921539e-02 1.12288582e+02] [-1.67442958e-02 9.99859567e-01 -6.89495367e-04 -8.70031103e+00] [-1.46016555e-02 4.44989844e-04 9.99893291e-01 -4.57878477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.481346184 meters 0.0699923046744931 Centerline is valid? [True, True] Translation: X:112.35, Y:-8.70, Z:-4.58 [[ 9.99790101e-01 1.64654296e-02 1.21919718e-02 1.12347670e+02] [-1.64596360e-02 9.99864365e-01 -5.75395687e-04 -8.70292628e+00] [-1.21997923e-02 3.74599493e-04 9.99925510e-01 -4.58317374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.541346184 meters 0.06996112862335843 Centerline is valid? [True, True] Translation: X:112.41, Y:-8.70, Z:-4.59 [[ 9.99775836e-01 1.82176702e-02 1.07886069e-02 1.12405147e+02] [-1.82132173e-02 9.99833995e-01 -5.10862673e-04 -8.70451327e+00] [-1.07961227e-02 3.14252914e-04 9.99941671e-01 -4.58686925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.601346184 meters 0.06897332856676136 Centerline is valid? [True, True] Translation: X:112.46, Y:-8.70, Z:-4.59 [[ 9.99722099e-01 2.01189889e-02 1.22861887e-02 1.12464122e+02] [-2.01133810e-02 9.99797537e-01 -5.79846974e-04 -8.70376297e+00] [-1.22953671e-02 3.32569041e-04 9.99924354e-01 -4.58711856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.661346184 meters 0.06890010909687529 Centerline is valid? [True, True] Translation: X:112.52, Y:-8.71, Z:-4.59 [[ 9.99687449e-01 2.15578935e-02 1.26594151e-02 1.12521381e+02] [-2.15520624e-02 9.99767549e-01 -5.96866214e-04 -8.70621318e+00] [-1.26693396e-02 3.23843158e-04 9.99919688e-01 -4.58956956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.721346184 meters 0.06928021965076017 Centerline is valid? [True, True] Translation: X:112.58, Y:-8.71, Z:-4.59 [[ 9.99701988e-01 2.17999032e-02 1.09863696e-02 1.12580294e+02] [-2.17955376e-02 9.99762315e-01 -5.16952497e-04 -8.70777138e+00] [-1.09950279e-02 2.77344606e-04 9.99939514e-01 -4.59296865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.781346184 meters 0.06954095527840985 Centerline is valid? [True, True] Translation: X:112.64, Y:-8.71, Z:-4.60 [[ 9.99684963e-01 2.35285213e-02 8.73980865e-03 1.12637315e+02] [-2.35258172e-02 9.99723145e-01 -4.12090528e-04 -8.70919021e+00] [-8.74708487e-03 2.06349564e-04 9.99961722e-01 -4.60016704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.841346184 meters 0.06831049800052655 Centerline is valid? [True, True] Translation: X:112.70, Y:-8.71, Z:-4.60 [[ 9.99607013e-01 2.52264583e-02 1.22247594e-02 1.12697797e+02] [-2.52213441e-02 9.99681727e-01 -5.72359139e-04 -8.70632087e+00] [-1.22353072e-02 2.63809347e-04 9.99925111e-01 -4.59561998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.901346184 meters 0.0683845561134249 Centerline is valid? [True, True] Translation: X:112.76, Y:-8.71, Z:-4.60 [[ 9.99637994e-01 2.38878126e-02 1.23795818e-02 1.12756139e+02] [-2.38824672e-02 9.99714605e-01 -5.79464444e-04 -8.71032087e+00] [-1.23898909e-02 2.83599717e-04 9.99923202e-01 -4.59719701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.961346184 meters 0.0695509931132625 Centerline is valid? [True, True] Translation: X:112.82, Y:-8.72, Z:-4.60 [[ 9.99746166e-01 1.92576418e-02 1.16938672e-02 1.12815178e+02] [-1.92525693e-02 9.99814503e-01 -5.46201210e-04 -8.71800468e+00] [-1.17022165e-02 3.20925578e-04 9.99931475e-01 -4.59948816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02134618399998 meters 0.06951845739312801 Centerline is valid? [True, True] Translation: X:112.87, Y:-8.72, Z:-4.60 [[ 9.99778390e-01 1.78023717e-02 1.12359744e-02 1.12873416e+02] [-1.77975919e-02 9.99841472e-01 -5.25258423e-04 -8.71972605e+00] [-1.12435440e-02 3.25168733e-04 9.99936736e-01 -4.60077606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08134618399998 meters 0.07040512271837115 Centerline is valid? [True, True] Translation: X:112.93, Y:-8.73, Z:-4.61 [[ 9.99805059e-01 1.59470421e-02 1.16419804e-02 1.12931797e+02] [-1.59418098e-02 9.99872774e-01 -5.42106681e-04 -8.72769079e+00] [-1.16491443e-02 3.56406765e-04 9.99932083e-01 -4.60539397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14134618399999 meters 0.07062393456543838 Centerline is valid? [True, True] Translation: X:112.99, Y:-8.73, Z:-4.61 [[ 9.99784457e-01 1.63102930e-02 1.28457995e-02 1.12990473e+02] [-1.63039644e-02 9.99866903e-01 -5.97236469e-04 -8.73171534e+00] [-1.28538308e-02 3.87670281e-04 9.99917311e-01 -4.60821440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.201346184 meters 0.06982402123389185 Centerline is valid? [True, True] Translation: X:113.05, Y:-8.73, Z:-4.60 [[ 9.99775809e-01 1.54144435e-02 1.45164066e-02 1.13050764e+02] [-1.54062875e-02 9.99881089e-01 -6.73518004e-04 -8.72984830e+00] [-1.45250623e-02 4.49723075e-04 9.99894405e-01 -4.60419565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.261346184 meters 0.07036593852168792 Centerline is valid? [True, True] Translation: X:113.11, Y:-8.74, Z:-4.61 [[ 9.99787936e-01 1.43583853e-02 1.47621139e-02 1.13111335e+02] [-1.43498560e-02 9.99896802e-01 -6.83548890e-04 -8.73660599e+00] [-1.47704051e-02 4.71569725e-04 9.99890800e-01 -4.60810620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.321346184 meters 0.07114117345147837 Centerline is valid? [True, True] Translation: X:113.17, Y:-8.75, Z:-4.61 [[ 9.99821480e-01 1.29043949e-02 1.38015973e-02 1.13170777e+02] [-1.28968292e-02 9.99916630e-01 -6.37040541e-04 -8.74648202e+00] [-1.38086673e-02 4.58929974e-04 9.99904550e-01 -4.61238999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.381346184 meters 0.07148645893781223 Centerline is valid? [True, True] Translation: X:113.23, Y:-8.75, Z:-4.61 [[ 9.99837877e-01 1.11950185e-02 1.41028682e-02 1.13232052e+02] [-1.11869136e-02 9.99937211e-01 -6.53462830e-04 -8.75034404e+00] [-1.41092982e-02 4.95589322e-04 9.99900336e-01 -4.61294758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.441346184 meters 0.07182625764222153 Centerline is valid? [True, True] Translation: X:113.29, Y:-8.75, Z:-4.61 [[ 9.99850498e-01 1.10852043e-02 1.32702527e-02 1.13294762e+02] [-1.10780795e-02 9.99938450e-01 -6.10284789e-04 -8.75266756e+00] [-1.32762011e-02 4.63184635e-04 9.99911760e-01 -4.61396569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.501346184 meters 0.07190639614091607 Centerline is valid? [True, True] Translation: X:113.36, Y:-8.76, Z:-4.62 [[ 9.99860420e-01 1.22143078e-02 1.13995930e-02 1.13356401e+02] [-1.22091063e-02 9.99925328e-01 -5.25770866e-04 -8.75802014e+00] [-1.14051637e-02 3.86518636e-04 9.99934884e-01 -4.62067798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.561346184 meters 0.07171575124987269 Centerline is valid? [True, True] Translation: X:113.42, Y:-8.76, Z:-4.62 [[ 9.99827838e-01 1.41263715e-02 1.20308041e-02 1.13416017e+02] [-1.41205946e-02 9.99900140e-01 -5.64994580e-04 -8.75846294e+00] [-1.20375841e-02 3.95015201e-04 9.99927468e-01 -4.62387869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.621346184 meters 0.07160764495999135 Centerline is valid? [True, True] Translation: X:113.48, Y:-8.76, Z:-4.63 [[ 9.99851990e-01 1.33530484e-02 1.08487303e-02 1.13475493e+02] [-1.33483018e-02 9.99910777e-01 -5.09817543e-04 -8.75969836e+00] [-1.08545700e-02 3.64929958e-04 9.99941021e-01 -4.62591988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.681346184 meters 0.07236181070921997 Centerline is valid? [True, True] Translation: X:113.53, Y:-8.77, Z:-4.63 [[ 9.99876322e-01 1.16432084e-02 1.05723987e-02 1.13534920e+02] [-1.16386087e-02 9.99932146e-01 -4.96485636e-04 -8.76518873e+00] [-1.05774620e-02 3.73376220e-04 9.99943987e-01 -4.62900900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.741346184 meters 0.07364447350061967 Centerline is valid? [True, True] Translation: X:113.59, Y:-8.77, Z:-4.63 [[ 9.99901484e-01 9.61327389e-03 1.02277354e-02 1.13594121e+02] [-9.60887637e-03 9.99953719e-01 -4.79014016e-04 -8.77241454e+00] [-1.02318669e-02 3.80689781e-04 9.99947581e-01 -4.63128573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80134618399998 meters 0.07364807471599799 Centerline is valid? [True, True] Translation: X:113.66, Y:-8.78, Z:-4.63 [[ 9.99896296e-01 9.08442932e-03 1.11745805e-02 1.13655546e+02] [-9.07915625e-03 9.99958647e-01 -5.22521197e-04 -8.77596276e+00] [-1.11788652e-02 4.21011247e-04 9.99937426e-01 -4.63267353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86134618399998 meters 0.07511129854663928 Centerline is valid? [True, True] Translation: X:113.72, Y:-8.78, Z:-4.64 [[ 9.99909370e-01 8.23772272e-03 1.06485648e-02 1.13716385e+02] [-8.23293515e-03 9.99965987e-01 -4.93356391e-04 -8.78401904e+00] [-1.06522667e-02 4.05642735e-04 9.99943181e-01 -4.63800332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.921346184 meters 0.07505484586349341 Centerline is valid? [True, True] Translation: X:113.78, Y:-8.79, Z:-4.64 [[ 9.99918777e-01 9.35790076e-03 8.65273560e-03 1.13778086e+02] [-9.35478139e-03 9.99956163e-01 -4.00910577e-04 -8.78820878e+00] [-8.65610797e-03 3.19933563e-04 9.99962484e-01 -4.64221058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.981346184 meters 0.07324440528086976 Centerline is valid? [True, True] Translation: X:113.84, Y:-8.78, Z:-4.64 [[ 9.99835189e-01 1.49671609e-02 1.02751458e-02 1.13838010e+02] [-1.49629494e-02 9.99887930e-01 -4.86629564e-04 -8.78410275e+00] [-1.02812777e-02 3.32802875e-04 9.99947091e-01 -4.64219610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.041346184 meters 0.07188607256892139 Centerline is valid? [True, True] Translation: X:113.90, Y:-8.78, Z:-4.64 [[ 9.99743544e-01 1.96281659e-02 1.12951907e-02 1.13897937e+02] [-1.96233699e-02 9.99807300e-01 -5.35293687e-04 -8.78014278e+00] [-1.13035209e-02 3.13506703e-04 9.99936064e-01 -4.64306713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.101346184 meters 0.07198423636794238 Centerline is valid? [True, True] Translation: X:113.96, Y:-8.78, Z:-4.65 [[ 9.99726972e-01 2.08932509e-02 1.04619940e-02 1.13955368e+02] [-2.08891951e-02 9.99781674e-01 -4.96812212e-04 -8.78358831e+00] [-1.04700899e-02 2.78133935e-04 9.99945148e-01 -4.64876203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.161346184 meters 0.0733676214520615 Centerline is valid? [True, True] Translation: X:114.01, Y:-8.79, Z:-4.65 [[ 9.99799101e-01 1.80713743e-02 8.67083485e-03 1.14014110e+02] [-1.80684920e-02 9.99836667e-01 -4.10642726e-04 -8.78862951e+00] [-8.67683950e-03 2.53891319e-04 9.99962323e-01 -4.65267166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.221346184 meters 0.07563220380669623 Centerline is valid? [True, True] Translation: X:114.07, Y:-8.80, Z:-4.66 [[ 9.99863950e-01 1.40396337e-02 8.65851927e-03 1.14071752e+02] [-1.40366084e-02 9.99901398e-01 -4.10070826e-04 -8.79940383e+00] [-8.66342277e-03 2.88478791e-04 9.99962430e-01 -4.65741604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.281346184 meters 0.07383096457188147 Centerline is valid? [True, True] Translation: X:114.13, Y:-8.80, Z:-4.66 [[ 9.99932088e-01 9.78536396e-03 6.32979845e-03 1.14131649e+02] [-9.78366931e-03 9.99952094e-01 -2.98635390e-04 -8.80019790e+00] [-6.33241748e-03 2.36686454e-04 9.99979922e-01 -4.65525456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.341346184 meters 0.07856994010928751 Centerline is valid? [True, True] Translation: X:114.19, Y:-8.81, Z:-4.66 [[ 9.99926936e-01 9.86071781e-03 6.99199111e-03 1.14189306e+02] [-9.85864607e-03 9.99951348e-01 -3.30706566e-04 -8.80959853e+00] [-6.99491194e-03 2.61750838e-04 9.99975501e-01 -4.66315168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.401346184 meters 0.07185577274944834 Centerline is valid? [True, True] Translation: X:114.25, Y:-8.80, Z:-4.65 [[ 9.99885276e-01 1.17974062e-02 9.50029230e-03 1.14250200e+02] [-1.17936885e-02 9.99930352e-01 -4.47253462e-04 -8.79767663e+00] [-9.50490706e-03 3.35158663e-04 9.99954771e-01 -4.65394501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.461346184 meters 0.07194710684747228 Centerline is valid? [True, True] Translation: X:114.31, Y:-8.80, Z:-4.66 [[ 9.99876905e-01 1.25275478e-02 9.44649555e-03 1.14309776e+02] [-1.25239017e-02 9.99921474e-01 -4.45034945e-04 -8.80212336e+00] [-9.45132895e-03 3.26673182e-04 9.99955282e-01 -4.65776361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52134618399998 meters 0.0715193109077431 Centerline is valid? [True, True] Translation: X:114.37, Y:-8.80, Z:-4.66 [[ 9.99871690e-01 1.21884983e-02 1.03944452e-02 1.14369261e+02] [-1.21840604e-02 9.99925651e-01 -4.90167086e-04 -8.79745559e+00] [-1.03996468e-02 3.63457644e-04 9.99945856e-01 -4.65628710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58134618399998 meters 0.0711873612693813 Centerline is valid? [True, True] Translation: X:114.43, Y:-8.80, Z:-4.66 [[ 9.99867671e-01 1.34964613e-02 9.08219211e-03 1.14428264e+02] [-1.34931392e-02 9.99908872e-01 -4.26955246e-04 -8.80253468e+00] [-9.08712685e-03 3.04351465e-04 9.99958665e-01 -4.66175414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64134618399999 meters 0.07166699251915974 Centerline is valid? [True, True] Translation: X:114.49, Y:-8.81, Z:-4.67 [[ 9.99851369e-01 1.45627254e-02 9.22859874e-03 1.14485580e+02] [-1.45593304e-02 9.99893913e-01 -4.34957231e-04 -8.80681723e+00] [-9.23395386e-03 3.00530365e-04 9.99957321e-01 -4.66517152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.701346184 meters 0.07047559871566951 Centerline is valid? [True, True] Translation: X:114.54, Y:-8.81, Z:-4.66 [[ 9.99842520e-01 1.52734946e-02 9.03631167e-03 1.14544712e+02] [-1.52702796e-02 9.99883312e-01 -4.24677849e-04 -8.80564198e+00] [-9.04174356e-03 2.86623965e-04 9.99959082e-01 -4.66370906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.761346184 meters 0.07117457920257189 Centerline is valid? [True, True] Translation: X:114.60, Y:-8.81, Z:-4.67 [[ 9.99865388e-01 1.39502919e-02 8.63680778e-03 1.14603235e+02] [-1.39473148e-02 9.99902650e-01 -4.04837669e-04 -8.81277000e+00] [-8.64161458e-03 2.84322897e-04 9.99962620e-01 -4.66726340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.821346184 meters 0.07140529011076492 Centerline is valid? [True, True] Translation: X:114.66, Y:-8.82, Z:-4.67 [[ 9.99884938e-01 1.27318419e-02 8.24681665e-03 1.14661767e+02] [-1.27290848e-02 9.99918907e-01 -3.86718409e-04 -8.81984485e+00] [-8.25107153e-03 2.81699484e-04 9.99965920e-01 -4.67090550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.881346184 meters 0.07149516485004591 Centerline is valid? [True, True] Translation: X:114.72, Y:-8.83, Z:-4.67 [[ 9.99901314e-01 1.26052664e-02 6.20238535e-03 1.14720599e+02] [-1.26037066e-02 9.99920528e-01 -2.90504692e-04 -8.82511496e+00] [-6.20555432e-03 2.12302978e-04 9.99980723e-01 -4.67393689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.941346184 meters 0.07161155245887076 Centerline is valid? [True, True] Translation: X:114.78, Y:-8.83, Z:-4.68 [[ 9.99896677e-01 1.34349815e-02 5.11238702e-03 1.14779123e+02] [-1.34339294e-02 9.99909732e-01 -2.40078132e-04 -8.82639235e+00] [-5.11515098e-03 1.71373881e-04 9.99986903e-01 -4.67680358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.001346184 meters 0.0717324115724311 Centerline is valid? [True, True] Translation: X:114.84, Y:-8.83, Z:-4.68 [[ 9.99903109e-01 1.34753540e-02 3.49094967e-03 1.14837580e+02] [-1.34748617e-02 9.99909196e-01 -1.64503379e-04 -8.82933528e+00] [-3.49284942e-03 1.17447376e-04 9.99993893e-01 -4.68074916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.061346184 meters 0.07123669258778463 Centerline is valid? [True, True] Translation: X:114.90, Y:-8.84, Z:-4.68 [[ 9.99891196e-01 1.29340637e-02 7.09269219e-03 1.14896469e+02] [-1.29320405e-02 9.99916323e-01 -3.31047585e-04 -8.83534895e+00] [-7.09638048e-03 2.39288583e-04 9.99974792e-01 -4.68012253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.121346184 meters 0.07125148500528247 Centerline is valid? [True, True] Translation: X:114.96, Y:-8.84, Z:-4.68 [[ 9.99910149e-01 1.00467118e-02 8.87450445e-03 1.14955544e+02] [-1.00434420e-02 9.99949478e-01 -4.12936691e-04 -8.83687384e+00] [-8.87820475e-03 3.23769018e-04 9.99960536e-01 -4.67649101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.181346184 meters 0.07240598218450682 Centerline is valid? [True, True] Translation: X:115.02, Y:-8.84, Z:-4.68 [[ 9.99943995e-01 7.02804388e-03 7.91281901e-03 1.15015619e+02] [-7.02536895e-03 9.99975255e-01 -3.65795755e-04 -8.84441921e+00] [-7.91519404e-03 3.10184795e-04 9.99968626e-01 -4.68082972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.241346184 meters 0.0727400997110605 Centerline is valid? [True, True] Translation: X:115.08, Y:-8.85, Z:-4.69 [[ 9.99963410e-01 5.27798621e-03 6.73209724e-03 1.15076213e+02] [-5.27601790e-03 9.99986034e-01 -3.10103048e-04 -8.85492759e+00] [-6.73363993e-03 2.74573036e-04 9.99977291e-01 -4.68777759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30134618399998 meters 0.07373438679186929 Centerline is valid? [True, True] Translation: X:115.14, Y:-8.86, Z:-4.69 [[ 9.99961136e-01 4.69839350e-03 7.46003995e-03 1.15137894e+02] [-4.69600079e-03 9.99988917e-01 -3.38220431e-04 -8.85967250e+00] [-7.46154636e-03 3.03174933e-04 9.99972116e-01 -4.68651466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36134618399998 meters 0.07297262745919025 Centerline is valid? [True, True] Translation: X:115.20, Y:-8.86, Z:-4.68 [[ 9.99947113e-01 6.34415161e-03 8.09465927e-03 1.15200132e+02] [-6.34137045e-03 9.99979825e-01 -3.69199195e-04 -8.85859908e+00] [-8.09683822e-03 3.17848436e-04 9.99967170e-01 -4.68444784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.421346184 meters 0.0728861019085127 Centerline is valid? [True, True] Translation: X:115.26, Y:-8.87, Z:-4.69 [[ 9.99931780e-01 8.80862795e-03 7.67098076e-03 1.15260292e+02] [-8.80614340e-03 9.99961161e-01 -3.57606227e-04 -8.86709437e+00] [-7.67383285e-03 2.90030074e-04 9.99970514e-01 -4.69271955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.481346184 meters 0.0726025152774882 Centerline is valid? [True, True] Translation: X:115.32, Y:-8.87, Z:-4.70 [[ 9.99920164e-01 1.06430510e-02 6.81112063e-03 1.15320784e+02] [-1.06411269e-02 9.99943331e-01 -3.18683910e-04 -8.86728687e+00] [-6.81412641e-03 2.46180469e-04 9.99976753e-01 -4.69650783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.541346184 meters 0.07343369212990002 Centerline is valid? [True, True] Translation: X:115.38, Y:-8.87, Z:-4.70 [[ 9.99936998e-01 9.84726343e-03 5.38817210e-03 1.15379301e+02] [-9.84603963e-03 9.99951494e-01 -2.53607689e-04 -8.86833794e+00] [-5.39040809e-03 2.00539555e-04 9.99985452e-01 -4.70030884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.601346184 meters 0.07415798832935719 Centerline is valid? [True, True] Translation: X:115.44, Y:-8.88, Z:-4.71 [[ 9.99943982e-01 9.34389444e-03 4.97236559e-03 1.15438849e+02] [-9.34284870e-03 9.99956327e-01 -2.33497446e-04 -8.87647941e+00] [-4.97433021e-03 1.87028307e-04 9.99987610e-01 -4.70524795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.661346184 meters 0.07239464601513633 Centerline is valid? [True, True] Translation: X:115.50, Y:-8.87, Z:-4.70 [[ 9.99947013e-01 8.08569512e-03 6.37121549e-03 1.15497593e+02] [-8.08394892e-03 9.99967279e-01 -2.99781032e-04 -8.87438750e+00] [-6.37343096e-03 2.48260566e-04 9.99979659e-01 -4.70060456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.721346184 meters 0.07192183154476321 Centerline is valid? [True, True] Translation: X:115.56, Y:-8.87, Z:-4.70 [[ 9.99939589e-01 8.11210132e-03 7.41704206e-03 1.15557733e+02] [-8.10975056e-03 9.99967055e-01 -3.46962246e-04 -8.87381122e+00] [-7.41961230e-03 2.86790925e-04 9.99972433e-01 -4.69962624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.781346184 meters 0.07241150284440587 Centerline is valid? [True, True] Translation: X:115.62, Y:-8.88, Z:-4.71 [[ 9.99919105e-01 9.91797043e-03 7.96344674e-03 1.15617016e+02] [-9.91532511e-03 9.99950773e-01 -3.71595880e-04 -8.87906237e+00] [-7.96674020e-03 2.92605657e-04 9.99968222e-01 -4.70534502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.841346184 meters 0.07086893144986757 Centerline is valid? [True, True] Translation: X:115.68, Y:-8.88, Z:-4.70 [[ 9.99885405e-01 1.21267171e-02 9.06194257e-03 1.15677344e+02] [-1.21233845e-02 9.99926420e-01 -4.22606285e-04 -8.87749692e+00] [-9.06640062e-03 3.12696443e-04 9.99958850e-01 -4.70479129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.901346184 meters 0.07096156451985546 Centerline is valid? [True, True] Translation: X:115.74, Y:-8.88, Z:-4.71 [[ 9.99871188e-01 1.31585804e-02 9.19015173e-03 1.15735775e+02] [-1.31551889e-02 9.99913375e-01 -4.29392561e-04 -8.87771668e+00] [-9.19500582e-03 3.08439068e-04 9.99957677e-01 -4.70649821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.961346184 meters 0.07148826397651445 Centerline is valid? [True, True] Translation: X:115.79, Y:-8.88, Z:-4.71 [[ 9.99878346e-01 1.38233767e-02 7.22553821e-03 1.15794211e+02] [-1.38212976e-02 9.99904424e-01 -3.37601627e-04 -8.88318809e+00] [-7.22951442e-03 2.37694243e-04 9.99973838e-01 -4.71386115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02134618399998 meters 0.07071913000253921 Centerline is valid? [True, True] Translation: X:115.85, Y:-8.88, Z:-4.71 [[ 9.99886999e-01 1.32072711e-02 7.18033399e-03 1.15853135e+02] [-1.32052004e-02 9.99912751e-01 -3.35714063e-04 -8.88312229e+00] [-7.18414138e-03 2.40858378e-04 9.99974165e-01 -4.71370397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08134618399998 meters 0.07260208239553444 Centerline is valid? [True, True] Translation: X:115.91, Y:-8.89, Z:-4.72 [[ 9.99891249e-01 1.06709558e-02 1.01794479e-02 1.15911835e+02] [-1.06666868e-02 9.99942997e-01 -4.73570589e-04 -8.88982289e+00] [-1.01839211e-02 3.64938105e-04 9.99948076e-01 -4.71661254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14134618399999 meters 0.07218840454537516 Centerline is valid? [True, True] Translation: X:115.97, Y:-8.89, Z:-4.72 [[ 9.99902828e-01 6.18997233e-03 1.24907577e-02 1.15972624e+02] [-6.18324458e-03 9.99980717e-01 -5.77164390e-04 -8.89248003e+00] [-1.24940894e-02 4.99874896e-04 9.99921821e-01 -4.71506261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.201346184 meters 0.07362454679305828 Centerline is valid? [True, True] Translation: X:116.03, Y:-8.90, Z:-4.72 [[ 9.99938970e-01 2.12944564e-03 1.08407689e-02 1.16033172e+02] [-2.12412875e-03 9.99997618e-01 -5.01943525e-04 -8.89923967e+00] [-1.08418120e-02 4.78885703e-04 9.99941111e-01 -4.71834125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.261346184 meters 0.07487943804812003 Centerline is valid? [True, True] Translation: X:116.09, Y:-8.90, Z:-4.72 [[ 9.99920988e-01 4.18536143e-04 1.25635471e-02 1.16094712e+02] [-4.11310579e-04 9.99999749e-01 -5.77699718e-04 -8.90288095e+00] [-1.25637857e-02 5.72486553e-04 9.99920909e-01 -4.72002241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.321346184 meters 0.07368733495735923 Centerline is valid? [True, True] Translation: X:116.16, Y:-8.90, Z:-4.72 [[ 9.99912123e-01 8.69683441e-04 1.32284008e-02 1.16157429e+02] [-8.61616534e-04 9.99999439e-01 -6.15504121e-04 -8.90220501e+00] [-1.32289286e-02 6.04052223e-04 9.99912311e-01 -4.72169027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.381346184 meters 0.0736505870412558 Centerline is valid? [True, True] Translation: X:116.22, Y:-8.90, Z:-4.72 [[ 9.99893955e-01 3.78263970e-03 1.40631010e-02 1.16218266e+02] [-3.77378139e-03 9.99992664e-01 -6.56381422e-04 -8.89901704e+00] [-1.40654807e-02 6.03240747e-04 9.99900894e-01 -4.72298220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.441346184 meters 0.07241622389281477 Centerline is valid? [True, True] Translation: X:116.28, Y:-8.90, Z:-4.72 [[ 9.99864550e-01 6.82412138e-03 1.49770638e-02 1.16279984e+02] [-6.81441087e-03 9.99976537e-01 -6.99296358e-04 -8.89709355e+00] [-1.49814845e-02 5.97141772e-04 9.99887593e-01 -4.72435029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.501346184 meters 0.07085605062334592 Centerline is valid? [True, True] Translation: X:116.34, Y:-8.89, Z:-4.73 [[ 9.99832739e-01 1.02460227e-02 1.51496747e-02 1.16341357e+02] [-1.02364612e-02 9.99947355e-01 -7.08544220e-04 -8.89433755e+00] [-1.51561369e-02 5.53346651e-04 9.99884986e-01 -4.72803217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.561346184 meters 0.07045805570019383 Centerline is valid? [True, True] Translation: X:116.40, Y:-8.89, Z:-4.73 [[ 9.99859747e-01 1.15037844e-02 1.21716685e-02 1.16403823e+02] [-1.14977689e-02 9.99933739e-01 -5.64083417e-04 -8.89225130e+00] [-1.21773511e-02 4.24057271e-04 9.99925763e-01 -4.73085441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.621346184 meters 0.07138050789571514 Centerline is valid? [True, True] Translation: X:116.46, Y:-8.90, Z:-4.74 [[ 9.99847768e-01 1.13807976e-02 1.32256661e-02 1.16463716e+02] [-1.13735557e-02 9.99935125e-01 -6.22655769e-04 -8.89787915e+00] [-1.32318944e-02 4.72138132e-04 9.99912343e-01 -4.73518849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.681346184 meters 0.07109884004217108 Centerline is valid? [True, True] Translation: X:116.53, Y:-8.90, Z:-4.74 [[ 9.99866465e-01 9.94089736e-03 1.29703447e-02 1.16525014e+02] [-9.93381413e-03 9.99950472e-01 -6.10422157e-04 -8.89887057e+00] [-1.29757704e-02 4.81495652e-04 9.99915695e-01 -4.73581395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74134618399998 meters 0.07192257120137413 Centerline is valid? [True, True] Translation: X:116.59, Y:-8.90, Z:-4.74 [[ 9.99899821e-01 8.09316901e-03 1.16124261e-02 1.16586610e+02] [-8.08738980e-03 9.99967148e-01 -5.44547631e-04 -8.90380908e+00] [-1.16164517e-02 4.50578863e-04 9.99932425e-01 -4.74085777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80134618399998 meters 0.07375659014492705 Centerline is valid? [True, True] Translation: X:116.65, Y:-8.91, Z:-4.75 [[ 9.99923327e-01 7.38560446e-03 9.93941872e-03 1.16646928e+02] [-7.38132940e-03 9.99972649e-01 -4.66727062e-04 -8.90876370e+00] [-9.94259393e-03 3.93325153e-04 9.99950494e-01 -4.74761311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86134618399998 meters 0.07358252786461468 Centerline is valid? [True, True] Translation: X:116.71, Y:-8.91, Z:-4.75 [[ 9.99942937e-01 6.68091298e-03 8.33591302e-03 1.16708969e+02] [-6.67786657e-03 9.99977625e-01 -3.93236476e-04 -8.91075285e+00] [-8.33835369e-03 3.37547922e-04 9.99965178e-01 -4.75101407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.921346184 meters 0.07258391699880655 Centerline is valid? [True, True] Translation: X:116.77, Y:-8.91, Z:-4.75 [[ 9.99931072e-01 7.88420848e-03 8.70001601e-03 1.16770361e+02] [-7.88092081e-03 9.99968860e-01 -4.12110231e-04 -8.90924862e+00] [-8.70299426e-03 3.43517688e-04 9.99962069e-01 -4.75107168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.981346184 meters 0.07291585532454975 Centerline is valid? [True, True] Translation: X:116.83, Y:-8.91, Z:-4.75 [[ 9.99904778e-01 7.87115612e-03 1.13349078e-02 1.16831398e+02] [-7.86556015e-03 9.99968921e-01 -5.38188894e-04 -8.91050133e+00] [-1.13387917e-02 4.48982247e-04 9.99935613e-01 -4.75158008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.041346184 meters 0.07274276244996516 Centerline is valid? [True, True] Translation: X:116.89, Y:-8.91, Z:-4.75 [[ 9.99915975e-01 7.57956087e-03 1.05163749e-02 1.16893729e+02] [-7.57479088e-03 9.99971189e-01 -4.93335361e-04 -8.91033852e+00] [-1.05198112e-02 4.13634568e-04 9.99944580e-01 -4.75352159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.101346184 meters 0.07269296685482929 Centerline is valid? [True, True] Translation: X:116.96, Y:-8.91, Z:-4.76 [[ 9.99906990e-01 9.55418388e-03 9.73284208e-03 1.16956130e+02] [-9.55017411e-03 9.99954291e-01 -4.58377578e-04 -8.91340537e+00] [-9.73677663e-03 3.65384608e-04 9.99952530e-01 -4.75880799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.161346184 meters 0.07235364637984219 Centerline is valid? [True, True] Translation: X:117.02, Y:-8.91, Z:-4.76 [[ 9.99880451e-01 1.19733022e-02 9.78390204e-03 1.17016555e+02] [-1.19692755e-02 9.99928255e-01 -4.70007517e-04 -8.91335231e+00] [-9.78882764e-03 3.52845109e-04 9.99952026e-01 -4.76172678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.221346184 meters 0.07148774921148364 Centerline is valid? [True, True] Translation: X:117.08, Y:-8.91, Z:-4.76 [[ 9.99826258e-01 1.63277567e-02 8.99211200e-03 1.17077068e+02] [-1.63245270e-02 9.99866653e-01 -4.32454213e-04 -8.90585879e+00] [-8.99797394e-03 2.85587102e-04 9.99959477e-01 -4.76256951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.281346184 meters 0.07153348379574494 Centerline is valid? [True, True] Translation: X:117.14, Y:-8.91, Z:-4.77 [[ 9.99818971e-01 1.75038986e-02 7.45911597e-03 1.17135428e+02] [-1.75016978e-02 9.99846769e-01 -3.60229260e-04 -8.90752330e+00] [-7.46427841e-03 2.29616855e-04 9.99972116e-01 -4.76738342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.341346184 meters 0.07216231566580507 Centerline is valid? [True, True] Translation: X:117.19, Y:-8.91, Z:-4.77 [[ 9.99835736e-01 1.74158755e-02 5.01876348e-03 1.17193776e+02] [-1.74148758e-02 9.99848320e-01 -2.42839927e-04 -8.90836933e+00] [-5.02223150e-03 1.55398894e-04 9.99987376e-01 -4.77340264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.401346184 meters 0.07261765821952638 Centerline is valid? [True, True] Translation: X:117.25, Y:-8.91, Z:-4.77 [[ 9.99836656e-01 1.65419879e-02 7.28181631e-03 1.17251674e+02] [-1.65398686e-02 9.99863145e-01 -3.51170949e-04 -8.90598251e+00] [-7.28662882e-03 2.30673302e-04 9.99973426e-01 -4.77423887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.461346184 meters 0.07295343307037838 Centerline is valid? [True, True] Translation: X:117.31, Y:-8.91, Z:-4.78 [[ 9.99859062e-01 1.51297790e-02 7.27644832e-03 1.17309781e+02] [-1.51276301e-02 9.99885510e-01 -3.50281689e-04 -8.90947998e+00] [-7.28091492e-03 2.40156902e-04 9.99973465e-01 -4.77798552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52134618399998 meters 0.07304158941376257 Centerline is valid? [True, True] Translation: X:117.37, Y:-8.91, Z:-4.78 [[ 9.99915998e-01 1.11465191e-02 6.61458594e-03 1.17369461e+02] [-1.11446678e-02 9.99937846e-01 -3.16678707e-04 -8.90875484e+00] [-6.61770469e-03 2.42934742e-04 9.99978073e-01 -4.77863034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58134618399998 meters 0.0738326781270813 Centerline is valid? [True, True] Translation: X:117.43, Y:-8.91, Z:-4.78 [[ 9.99929906e-01 8.26344505e-03 8.47925638e-03 1.17429401e+02] [-8.26030489e-03 9.99965801e-01 -4.05289009e-04 -8.91186645e+00] [-8.48231548e-03 3.35219358e-04 9.99963968e-01 -4.77857697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64134618399999 meters 0.07459596697222269 Centerline is valid? [True, True] Translation: X:117.49, Y:-8.91, Z:-4.78 [[ 9.99948830e-01 4.98919500e-03 8.80029444e-03 1.17490173e+02] [-4.98569787e-03 9.99987483e-01 -4.19281335e-04 -8.91311969e+00] [-8.80227617e-03 3.75384271e-04 9.99961189e-01 -4.77848377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.701346184 meters 0.07509718608356925 Centerline is valid? [True, True] Translation: X:117.55, Y:-8.91, Z:-4.78 [[ 9.99952904e-01 3.41390080e-03 9.08486112e-03 1.17552923e+02] [-3.41017173e-03 9.99994095e-01 -4.25930673e-04 -8.91250536e+00] [-9.08626156e-03 3.94929677e-04 9.99958641e-01 -4.78113220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.761346184 meters 0.07463706950041417 Centerline is valid? [True, True] Translation: X:117.61, Y:-8.91, Z:-4.78 [[ 9.99928576e-01 4.35775600e-03 1.11288880e-02 1.17614108e+02] [-4.35210353e-03 9.99990388e-01 -5.32077818e-04 -8.91195270e+00] [-1.11310997e-02 4.83605742e-04 9.99937930e-01 -4.78371223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.821346184 meters 0.07374237606331215 Centerline is valid? [True, True] Translation: X:117.68, Y:-8.91, Z:-4.78 [[ 9.99891996e-01 6.78708534e-03 1.30357785e-02 1.17676054e+02] [-6.77953218e-03 9.99976824e-01 -6.23520981e-04 -8.91023724e+00] [-1.30397082e-02 5.35077159e-04 9.99914836e-01 -4.78461132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.881346184 meters 0.07236170306233178 Centerline is valid? [True, True] Translation: X:117.74, Y:-8.91, Z:-4.78 [[ 9.99880980e-01 8.39254088e-03 1.29457229e-02 1.17738874e+02] [-8.38528030e-03 9.99964654e-01 -6.15026477e-04 -8.90716108e+00] [-1.29504270e-02 5.06399761e-04 9.99916011e-01 -4.78488875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.941346184 meters 0.07343839930548977 Centerline is valid? [True, True] Translation: X:117.80, Y:-8.91, Z:-4.79 [[ 9.99876596e-01 1.13312801e-02 1.08809343e-02 1.17800267e+02] [-1.13263045e-02 9.99935721e-01 -5.18787294e-04 -8.90863158e+00] [-1.08861134e-02 3.95482499e-04 9.99940666e-01 -4.79080884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.001346184 meters 0.07290542009475594 Centerline is valid? [True, True] Translation: X:117.86, Y:-8.91, Z:-4.79 [[ 9.99837889e-01 1.45469817e-02 1.06104181e-02 1.17859262e+02] [-1.45423316e-02 9.99894122e-01 -5.15282297e-04 -8.90825717e+00] [-1.06167905e-02 3.60898546e-04 9.99943575e-01 -4.79466009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.061346184 meters 0.07101142398991259 Centerline is valid? [True, True] Translation: X:117.92, Y:-8.90, Z:-4.80 [[ 9.99804841e-01 1.70525113e-02 9.97452581e-03 1.17918264e+02] [-1.70485192e-02 9.99854546e-01 -4.85119860e-04 -8.90235705e+00] [-9.98134749e-03 3.14974289e-04 9.99950136e-01 -4.79543306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.121346184 meters 0.07148595036596288 Centerline is valid? [True, True] Translation: X:117.98, Y:-8.90, Z:-4.80 [[ 9.99761143e-01 1.87691830e-02 1.11971122e-02 1.17976204e+02] [-1.87642727e-02 9.99823788e-01 -5.43441205e-04 -8.90385165e+00] [-1.12053390e-02 3.33205733e-04 9.99937163e-01 -4.80070224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.181346184 meters 0.07123411167337212 Centerline is valid? [True, True] Translation: X:118.03, Y:-8.91, Z:-4.80 [[ 9.99798123e-01 1.73980368e-02 1.00509268e-02 1.18034424e+02] [-1.73940107e-02 9.99848594e-01 -4.87851611e-04 -8.90502517e+00] [-1.00578927e-02 3.12927197e-04 9.99949369e-01 -4.80255661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24134618399998 meters 0.07195038752505767 Centerline is valid? [True, True] Translation: X:118.09, Y:-8.91, Z:-4.80 [[ 9.99815388e-01 1.66327810e-02 9.61976302e-03 1.18092543e+02] [-1.66290647e-02 9.99861619e-01 -4.66177765e-04 -8.90659384e+00] [-9.62618565e-03 3.06124042e-04 9.99953620e-01 -4.80441012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30134618399998 meters 0.07222744226385877 Centerline is valid? [True, True] Translation: X:118.15, Y:-8.91, Z:-4.81 [[ 9.99813512e-01 1.63024345e-02 1.03524117e-02 1.18151026e+02] [-1.62981296e-02 9.99867052e-01 -5.00067190e-04 -8.90796766e+00] [-1.03591877e-02 3.31248985e-04 9.99946287e-01 -4.80500956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36134618399998 meters 0.07255915528614232 Centerline is valid? [True, True] Translation: X:118.21, Y:-8.91, Z:-4.81 [[ 9.99842214e-01 1.42503882e-02 1.06053837e-02 1.18209073e+02] [-1.42457582e-02 9.99898393e-01 -5.11988627e-04 -8.91247837e+00] [-1.06116021e-02 3.60826110e-04 9.99943630e-01 -4.80877596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.421346184 meters 0.07345594208068983 Centerline is valid? [True, True] Translation: X:118.27, Y:-8.92, Z:-4.81 [[ 9.99880685e-01 1.26998758e-02 8.79364435e-03 1.18268316e+02] [-1.26966476e-02 9.99919305e-01 -4.22841619e-04 -8.91646234e+00] [-8.79830478e-03 3.11141365e-04 9.99961246e-01 -4.81278844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.481346184 meters 0.07323009033221692 Centerline is valid? [True, True] Translation: X:118.33, Y:-8.92, Z:-4.81 [[ 9.99839488e-01 1.44333857e-02 1.06148512e-02 1.18326781e+02] [-1.44287814e-02 9.99895770e-01 -5.10221623e-04 -8.91546069e+00] [-1.06211090e-02 3.56980360e-04 9.99943531e-01 -4.81421324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.541346184 meters 0.07208912719217202 Centerline is valid? [True, True] Translation: X:118.39, Y:-8.91, Z:-4.82 [[ 9.99774172e-01 1.77368790e-02 1.17050160e-02 1.18386846e+02] [-1.77315258e-02 9.99842627e-01 -5.60973050e-04 -8.91275312e+00] [-1.17131239e-02 3.53298574e-04 9.99931337e-01 -4.81534473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.601346184 meters 0.07111061976083632 Centerline is valid? [True, True] Translation: X:118.45, Y:-8.91, Z:-4.82 [[ 9.99747027e-01 1.87631193e-02 1.24027532e-02 1.18445731e+02] [-1.87571748e-02 9.99823891e-01 -5.95449088e-04 -8.91235616e+00] [-1.24117414e-02 3.62657846e-04 9.99922906e-01 -4.81648220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.661346184 meters 0.07185734225876565 Centerline is valid? [True, True] Translation: X:118.50, Y:-8.91, Z:-4.82 [[ 9.99774492e-01 1.76823310e-02 1.17601189e-02 1.18503809e+02] [-1.76769153e-02 9.99843592e-01 -5.64312181e-04 -8.91426628e+00] [-1.17682579e-02 3.56302298e-04 9.99930688e-01 -4.81937575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.721346184 meters 0.07223283040250475 Centerline is valid? [True, True] Translation: X:118.56, Y:-8.92, Z:-4.82 [[ 9.99792393e-01 1.70390893e-02 1.11732023e-02 1.18562286e+02] [-1.70341746e-02 9.99854765e-01 -5.34895508e-04 -8.91707613e+00] [-1.11806937e-02 3.44458182e-04 9.99937435e-01 -4.82284235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.781346184 meters 0.07194135231473772 Centerline is valid? [True, True] Translation: X:118.62, Y:-8.92, Z:-4.82 [[ 9.99791521e-01 1.62722688e-02 1.23339838e-02 1.18620854e+02] [-1.62662346e-02 9.99867522e-01 -5.89403613e-04 -8.91950411e+00] [-1.23419407e-02 3.88653262e-04 9.99923760e-01 -4.82472214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.841346184 meters 0.07280930951802717 Centerline is valid? [True, True] Translation: X:118.68, Y:-8.92, Z:-4.83 [[ 9.99807708e-01 1.52073697e-02 1.23807085e-02 1.18678729e+02] [-1.52012191e-02 9.99884280e-01 -5.90746257e-04 -8.92355083e+00] [-1.23882595e-02 4.02430799e-04 9.99923182e-01 -4.82792921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.901346184 meters 0.07201200372643592 Centerline is valid? [True, True] Translation: X:118.74, Y:-8.92, Z:-4.83 [[ 9.99797050e-01 1.48364967e-02 1.36285300e-02 1.18738176e+02] [-1.48290134e-02 9.99889833e-01 -6.49985944e-04 -8.92202766e+00] [-1.36366721e-02 4.47756375e-04 9.99906916e-01 -4.82712117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.961346184 meters 0.07409413789891514 Centerline is valid? [True, True] Translation: X:118.80, Y:-8.93, Z:-4.83 [[ 9.99827344e-01 1.33887556e-02 1.28849776e-02 1.18795996e+02] [-1.33819780e-02 9.99910270e-01 -6.12079142e-04 -8.93099358e+00] [-1.28920164e-02 4.39546977e-04 9.99916798e-01 -4.83263427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02134618399998 meters 0.07338734802981357 Centerline is valid? [True, True] Translation: X:118.86, Y:-8.93, Z:-4.83 [[ 9.99824367e-01 1.38443071e-02 1.26321126e-02 1.18856147e+02] [-1.38378427e-02 9.99904073e-01 -5.99010466e-04 -8.92974029e+00] [-1.26391938e-02 4.24104072e-04 9.99920032e-01 -4.83412508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08134618399998 meters 0.07351479401729441 Centerline is valid? [True, True] Translation: X:118.92, Y:-8.93, Z:-4.84 [[ 9.99779307e-01 1.65546720e-02 1.29336618e-02 1.18915320e+02] [-1.65481279e-02 9.99862883e-01 -6.12834656e-04 -8.92966076e+00] [-1.29420336e-02 3.98671518e-04 9.99916169e-01 -4.83938899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14134618399999 meters 0.07112999907881185 Centerline is valid? [True, True] Translation: X:118.98, Y:-8.92, Z:-4.84 [[ 9.99707463e-01 2.00930206e-02 1.34632805e-02 1.18975093e+02] [-2.00862565e-02 9.99798048e-01 -6.37455949e-04 -8.92403513e+00] [-1.34733700e-02 3.66842564e-04 9.99909163e-01 -4.84051142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.201346184 meters 0.07036147447870876 Centerline is valid? [True, True] Translation: X:119.04, Y:-8.92, Z:-4.84 [[ 9.99611307e-01 2.33049368e-02 1.53008282e-02 1.19035677e+02] [-2.32965922e-02 9.99728336e-01 -7.23402812e-04 -8.91970670e+00] [-1.53135304e-02 3.66664474e-04 9.99882674e-01 -4.84031661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.261346184 meters 0.06989429427760213 Centerline is valid? [True, True] Translation: X:119.09, Y:-8.92, Z:-4.84 [[ 9.99619418e-01 2.30682605e-02 1.51286116e-02 1.19094869e+02] [-2.30600621e-02 9.99733825e-01 -7.16161533e-04 -8.91808351e+00] [-1.51411054e-02 3.67022252e-04 9.99885300e-01 -4.83900164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.321346184 meters 0.07056742086062961 Centerline is valid? [True, True] Translation: X:119.15, Y:-8.92, Z:-4.84 [[ 9.99663383e-01 2.16860803e-02 1.42419889e-02 1.19153437e+02] [-2.16786869e-02 9.99764763e-01 -6.73321910e-04 -8.92317014e+00] [-1.42532404e-02 3.64347640e-04 9.99898351e-01 -4.84297255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.381346184 meters 0.07179460695543739 Centerline is valid? [True, True] Translation: X:119.21, Y:-8.93, Z:-4.85 [[ 9.99730983e-01 1.87504482e-02 1.36522093e-02 1.19212655e+02] [-1.87434033e-02 9.99824120e-01 -6.43808789e-04 -8.93070482e+00] [-1.36618798e-02 3.87746730e-04 9.99906597e-01 -4.84938268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.441346184 meters 0.07127025276280903 Centerline is valid? [True, True] Translation: X:119.27, Y:-8.93, Z:-4.85 [[ 9.99739950e-01 1.82238461e-02 1.37085051e-02 1.19271637e+02] [-1.82166885e-02 9.99833853e-01 -6.46824612e-04 -8.93373162e+00] [-1.37180151e-02 3.96932838e-04 9.99905825e-01 -4.85120343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.501346184 meters 0.0713319789984066 Centerline is valid? [True, True] Translation: X:119.33, Y:-8.94, Z:-4.85 [[ 9.99736781e-01 1.85212687e-02 1.35400073e-02 1.19329972e+02] [-1.85143260e-02 9.99828392e-01 -6.37932085e-04 -8.93507774e+00] [-1.35494990e-02 3.87080060e-04 9.99908126e-01 -4.85314513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.561346184 meters 0.07176953046598981 Centerline is valid? [True, True] Translation: X:119.39, Y:-8.94, Z:-4.86 [[ 9.99766375e-01 1.85202908e-02 1.11442586e-02 1.19388629e+02] [-1.85155912e-02 9.99828434e-01 -5.24736012e-04 -8.93590618e+00] [-1.11520649e-02 3.18270884e-04 9.99937763e-01 -4.85612476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.621346184 meters 0.07232512668858064 Centerline is valid? [True, True] Translation: X:119.45, Y:-8.94, Z:-4.86 [[ 9.99767479e-01 1.79211755e-02 1.19924343e-02 1.19445899e+02] [-1.79156979e-02 9.99839342e-01 -5.64037955e-04 -8.94364909e+00] [-1.20006158e-02 3.49053975e-04 9.99927929e-01 -4.86186471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.681346184 meters 0.07152107895897303 Centerline is valid? [True, True] Translation: X:119.51, Y:-8.94, Z:-4.86 [[ 9.99758963e-01 1.91180144e-02 1.07943347e-02 1.19505259e+02] [-1.91136622e-02 9.99817189e-01 -5.06216607e-04 -8.94321166e+00] [-1.08020392e-02 2.99775323e-04 9.99941611e-01 -4.86368859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74134618399998 meters 0.07089424875102225 Centerline is valid? [True, True] Translation: X:119.56, Y:-8.94, Z:-4.87 [[ 9.99695501e-01 2.13419202e-02 1.23865799e-02 1.19564291e+02] [-2.13363660e-02 9.99772185e-01 -5.80393212e-04 -8.94318302e+00] [-1.23961447e-02 3.15931881e-04 9.99923115e-01 -4.86611557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80134618399998 meters 0.07099603967726129 Centerline is valid? [True, True] Translation: X:119.62, Y:-8.94, Z:-4.87 [[ 9.99656745e-01 2.35711202e-02 1.14365769e-02 1.19621825e+02] [-2.35665333e-02 9.99722127e-01 -5.35691915e-04 -8.94370318e+00] [-1.14460258e-02 2.65987566e-04 9.99934457e-01 -4.86837070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86134618399998 meters 0.07095767438735046 Centerline is valid? [True, True] Translation: X:119.68, Y:-8.95, Z:-4.87 [[ 9.99665524e-01 2.33357971e-02 1.11481559e-02 1.19680976e+02] [-2.33314393e-02 9.99727649e-01 -5.20812321e-04 -8.94622152e+00] [-1.11572733e-02 2.60535599e-04 9.99937722e-01 -4.87053776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.921346184 meters 0.07251753892410709 Centerline is valid? [True, True] Translation: X:119.74, Y:-8.95, Z:-4.88 [[ 9.99753636e-01 2.03383815e-02 8.88921782e-03 1.19738449e+02] [-2.03354939e-02 9.99793126e-01 -4.15117577e-04 -8.95453929e+00] [-8.89582169e-03 2.34248672e-04 9.99960404e-01 -4.87533199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.981346184 meters 0.07188147130230281 Centerline is valid? [True, True] Translation: X:119.80, Y:-8.96, Z:-4.88 [[ 9.99780927e-01 1.85537698e-02 9.68795389e-03 1.19796861e+02] [-1.85502631e-02 9.99827827e-01 -4.51707527e-04 -8.95721472e+00] [-9.69466676e-03 2.71894476e-04 9.99952969e-01 -4.87563358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.041346184 meters 0.07285254340474254 Centerline is valid? [True, True] Translation: X:119.86, Y:-8.96, Z:-4.88 [[ 9.99841873e-01 1.55144773e-02 8.69082035e-03 1.19855494e+02] [-1.55115481e-02 9.99879607e-01 -4.04351251e-04 -8.96453886e+00] [-8.69604733e-03 2.69479234e-04 9.99962152e-01 -4.87925649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.101346184 meters 0.07412291696773492 Centerline is valid? [True, True] Translation: X:119.91, Y:-8.97, Z:-4.88 [[ 9.99881254e-01 1.36140874e-02 7.22041096e-03 1.19913293e+02] [-1.36120190e-02 9.99907296e-01 -3.35534709e-04 -8.97096211e+00] [-7.22430960e-03 2.37210495e-04 9.99973876e-01 -4.88392654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.161346184 meters 0.07469806390518328 Centerline is valid? [True, True] Translation: X:119.97, Y:-8.97, Z:-4.89 [[ 9.99889536e-01 1.35739744e-02 6.05496505e-03 1.19970610e+02] [-1.35725110e-02 9.99907849e-01 -2.82707305e-04 -8.97465497e+00] [-6.05824454e-03 2.00494996e-04 9.99981629e-01 -4.88743978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.221346184 meters 0.07380781518899258 Centerline is valid? [True, True] Translation: X:120.03, Y:-8.97, Z:-4.89 [[ 9.99866105e-01 1.48281015e-02 6.92094490e-03 1.20029563e+02] [-1.48262301e-02 9.99890034e-01 -3.21632783e-04 -8.97397271e+00] [-6.92495303e-03 2.18978196e-04 9.99975998e-01 -4.88830537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.281346184 meters 0.07429020142741559 Centerline is valid? [True, True] Translation: X:120.09, Y:-8.98, Z:-4.89 [[ 9.99857055e-01 1.58036049e-02 6.00965855e-03 1.20087344e+02] [-1.58022090e-02 9.99875098e-01 -2.79691576e-04 -8.97613305e+00] [-6.01332806e-03 1.84685715e-04 9.99981903e-01 -4.89162415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.341346184 meters 0.07305645818551584 Centerline is valid? [True, True] Translation: X:120.15, Y:-8.97, Z:-4.89 [[ 9.99838633e-01 1.71327356e-02 5.40155220e-03 1.20146349e+02] [-1.71316306e-02 9.99853211e-01 -2.50781276e-04 -8.97209124e+00] [-5.40505588e-03 1.58203411e-04 9.99985380e-01 -4.89209780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.401346184 meters 0.07349356951305114 Centerline is valid? [True, True] Translation: X:120.20, Y:-8.97, Z:-4.90 [[ 9.99826303e-01 1.81285255e-02 4.32676340e-03 1.20204106e+02] [-1.81278226e-02 9.99835657e-01 -2.01608025e-04 -8.97473217e+00] [-4.32970718e-03 1.23138207e-04 9.99990619e-01 -4.89751931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.461346184 meters 0.073460479911753 Centerline is valid? [True, True] Translation: X:120.26, Y:-8.97, Z:-4.90 [[ 9.99813749e-01 1.89985555e-02 3.39430712e-03 1.20263351e+02] [-1.89981287e-02 9.99819507e-01 -1.57953702e-04 -8.97402327e+00] [-3.39669536e-03 9.34387993e-05 9.99994227e-01 -4.90175859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52134618399998 meters 0.07413431097024432 Centerline is valid? [True, True] Translation: X:120.32, Y:-8.97, Z:-4.91 [[ 9.99815979e-01 1.88919732e-02 3.33174190e-03 1.20320031e+02] [-1.88915515e-02 9.99821526e-01 -1.58009365e-04 -8.97464053e+00] [-3.33413238e-03 9.50385142e-05 9.99994437e-01 -4.90527982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58134618399998 meters 0.07317852792371489 Centerline is valid? [True, True] Translation: X:120.38, Y:-8.97, Z:-4.90 [[ 9.99840362e-01 1.75060645e-02 3.57611129e-03 1.20378492e+02] [-1.75055822e-02 9.99846752e-01 -1.66116294e-04 -8.97399846e+00] [-3.57847130e-03 1.03487866e-04 9.99993592e-01 -4.90277781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64134618399999 meters 0.07322792935568624 Centerline is valid? [True, True] Translation: X:120.44, Y:-8.98, Z:-4.90 [[ 9.99846258e-01 1.71704065e-02 3.55494280e-03 1.20437415e+02] [-1.71699309e-02 9.99852572e-01 -1.64271250e-04 -8.97619219e+00] [-3.55723931e-03 1.03207872e-04 9.99993668e-01 -4.90420713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.701346184 meters 0.07437518713667854 Centerline is valid? [True, True] Translation: X:120.50, Y:-8.98, Z:-4.91 [[ 9.99883564e-01 1.50622325e-02 2.44680515e-03 1.20495625e+02] [-1.50620008e-02 9.99886555e-01 -1.13068534e-04 -8.98104176e+00] [-2.44823064e-03 7.62015880e-05 9.99997000e-01 -4.90846098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.761346184 meters 0.07470297079006775 Centerline is valid? [True, True] Translation: X:120.55, Y:-8.98, Z:-4.91 [[ 9.99889805e-01 1.46697472e-02 2.27500738e-03 1.20553737e+02] [-1.46695433e-02 9.99892391e-01 -1.06268804e-04 -8.98386862e+00] [-2.27632150e-03 7.28837745e-05 9.99997407e-01 -4.91165599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.821346184 meters 0.0748273563313857 Centerline is valid? [True, True] Translation: X:120.61, Y:-8.98, Z:-4.91 [[ 9.99882619e-01 1.52493771e-02 1.48506922e-03 1.20612449e+02] [-1.52492904e-02 9.99883720e-01 -6.96985613e-05 -8.98363630e+00] [-1.48595940e-03 4.70441281e-05 9.99998895e-01 -4.91407826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.881346184 meters 0.07294938456123157 Centerline is valid? [True, True] Translation: X:120.67, Y:-8.98, Z:-4.91 [[ 9.99850931e-01 1.69106843e-02 3.48492821e-03 1.20672428e+02] [-1.69102329e-02 9.99856999e-01 -1.58954875e-04 -8.98087806e+00] [-3.48711789e-03 1.00000232e-04 9.99993915e-01 -4.91056655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.941346184 meters 0.07361567993348592 Centerline is valid? [True, True] Translation: X:120.73, Y:-8.98, Z:-4.91 [[ 9.99845406e-01 1.70137891e-02 4.43780189e-03 1.20730236e+02] [-1.70130492e-02 9.99855247e-01 -2.04410900e-04 -8.98423220e+00] [-4.44063731e-03 1.28878757e-04 9.99990132e-01 -4.91305627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.001346184 meters 0.07339078510758278 Centerline is valid? [True, True] Translation: X:120.79, Y:-8.99, Z:-4.92 [[ 9.99869757e-01 1.58878296e-02 2.83662523e-03 1.20789872e+02] [-1.58875270e-02 9.99873777e-01 -1.29185353e-04 -8.98803883e+00] [-2.83831966e-03 8.41015673e-05 9.99995968e-01 -4.91629421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061346184 meters 0.07270743702270877 Centerline is valid? [True, True] Translation: X:120.85, Y:-8.99, Z:-4.91 [[ 9.99884162e-01 1.49001737e-02 3.10617582e-03 1.20849166e+02] [-1.48998029e-02 9.99888982e-01 -1.42476439e-04 -8.98944187e+00] [-3.10795390e-03 9.61785272e-05 9.99995166e-01 -4.91429259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.121346184 meters 0.07231174996775354 Centerline is valid? [True, True] Translation: X:120.91, Y:-8.99, Z:-4.91 [[ 9.99867785e-01 1.60511889e-02 2.60242715e-03 1.20907854e+02] [-1.60509320e-02 9.99871168e-01 -1.19588055e-04 -8.98906380e+00] [-2.60401140e-03 7.78008626e-05 9.99996607e-01 -4.91384784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.181346184 meters 0.07187935843824622 Centerline is valid? [True, True] Translation: X:120.97, Y:-8.99, Z:-4.92 [[ 9.99834625e-01 1.75865482e-02 4.63000625e-03 1.20966220e+02] [-1.75857624e-02 9.99845336e-01 -2.10371547e-04 -8.99320023e+00] [-4.63298986e-03 1.28914567e-04 9.99989259e-01 -4.91545840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24134618399998 meters 0.07201198620521686 Centerline is valid? [True, True] Translation: X:121.03, Y:-9.00, Z:-4.92 [[ 9.99849582e-01 1.70459648e-02 3.20134651e-03 1.21025101e+02] [-1.70455845e-02 9.99854703e-01 -1.46036586e-04 -8.99763522e+00] [-3.20337069e-03 9.14457968e-05 9.99994865e-01 -4.91900561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30134618399998 meters 0.07304390760389691 Centerline is valid? [True, True] Translation: X:121.08, Y:-9.00, Z:-4.92 [[ 9.99847679e-01 1.74414974e-02 6.42326777e-04 1.21082481e+02] [-1.74414805e-02 9.99847885e-01 -3.18856240e-05 -9.00161500e+00] [-6.42785203e-04 2.06776372e-05 9.99999793e-01 -4.92433348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36134618399998 meters 0.07147324931192349 Centerline is valid? [True, True] Translation: X:121.14, Y:-9.00, Z:-4.92 [[ 9.99825920e-01 1.82898408e-02 3.68942900e-03 1.21142851e+02] [-1.82893502e-02 9.99832722e-01 -1.66683531e-04 -9.00424718e+00] [-3.69186046e-03 9.91772556e-05 9.99993180e-01 -4.92025176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.421346184 meters 0.0714427143416405 Centerline is valid? [True, True] Translation: X:121.20, Y:-9.01, Z:-4.92 [[ 9.99834672e-01 1.79760334e-02 2.73712081e-03 1.21201469e+02] [-1.79757594e-02 9.99838415e-01 -1.24679697e-04 -9.00969316e+00] [-2.73891978e-03 7.54572584e-05 9.99996246e-01 -4.92314742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.481346184 meters 0.07217000575895668 Centerline is valid? [True, True] Translation: X:121.26, Y:-9.02, Z:-4.93 [[ 9.99857908e-01 1.67634764e-02 1.77471585e-03 1.21258568e+02] [-1.67633569e-02 9.99859482e-01 -8.21776024e-05 -9.01814725e+00] [-1.77584405e-03 5.24157305e-05 9.99998422e-01 -4.92769161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.541346184 meters 0.07188277097622485 Centerline is valid? [True, True] Translation: X:121.32, Y:-9.02, Z:-4.93 [[ 9.99854505e-01 1.70320685e-02 9.36435355e-04 1.21317144e+02] [-1.70320346e-02 9.99854943e-01 -4.41702696e-05 -9.02296701e+00] [-9.37051830e-04 2.82144437e-05 9.99999561e-01 -4.92912868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.601346184 meters 0.07091889711356504 Centerline is valid? [True, True] Translation: X:121.38, Y:-9.03, Z:-4.93 [[ 9.99793890e-01 2.01710933e-02 2.30309333e-03 1.21376529e+02] [-2.01709082e-02 9.99796541e-01 -1.03571639e-04 -9.02699026e+00] [-2.30471390e-03 5.70948074e-05 9.99997343e-01 -4.92860963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661346184 meters 0.07041757202565556 Centerline is valid? [True, True] Translation: X:121.44, Y:-9.03, Z:-4.93 [[ 9.99767597e-01 2.12516205e-02 3.62218741e-03 1.21435262e+02] [-2.12511688e-02 9.99774155e-01 -1.63154388e-04 -9.03061433e+00] [-3.62483665e-03 8.61407549e-05 9.99993427e-01 -4.92968578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.721346184 meters 0.07078997684627471 Centerline is valid? [True, True] Translation: X:121.49, Y:-9.04, Z:-4.93 [[ 9.99765145e-01 2.14891280e-02 2.80580956e-03 1.21494004e+02] [-2.14888570e-02 9.99769080e-01 -1.26721103e-04 -9.04080467e+00] [-2.80788477e-03 6.63977015e-05 9.99996056e-01 -4.93336890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.781346184 meters 0.07056439316997645 Centerline is valid? [True, True] Translation: X:121.55, Y:-9.05, Z:-4.93 [[ 9.99804557e-01 1.94804970e-02 3.37028324e-03 1.21552473e+02] [-1.94800967e-02 9.99810233e-01 -1.51560607e-04 -9.04635120e+00] [-3.37259615e-03 8.58775422e-05 9.99994309e-01 -4.93166273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.841346184 meters 0.07116218556954917 Centerline is valid? [True, True] Translation: X:121.61, Y:-9.06, Z:-4.93 [[ 9.99849372e-01 1.67561059e-02 4.52390032e-03 1.21610428e+02] [-1.67553622e-02 9.99859599e-01 -2.02260451e-04 -9.05823013e+00] [-4.52665425e-03 1.26430397e-04 9.99989747e-01 -4.93315072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.901346184 meters 0.07063727142964293 Centerline is valid? [True, True] Translation: X:121.67, Y:-9.07, Z:-4.93 [[ 9.99865510e-01 1.54362151e-02 5.53938707e-03 1.21668536e+02] [-1.54350845e-02 9.99880842e-01 -2.46785901e-04 -9.06568397e+00] [-5.54253644e-03 1.61251803e-04 9.99984627e-01 -4.93312963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.961346184 meters 0.07138297397532894 Centerline is valid? [True, True] Translation: X:121.73, Y:-9.08, Z:-4.93 [[ 9.99862530e-01 1.46593433e-02 7.74758012e-03 1.21726200e+02] [-1.46571170e-02 9.99892519e-01 -3.44058068e-04 -9.07530315e+00] [-7.75179107e-03 2.30453582e-04 9.99969928e-01 -4.93263109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02134618399998 meters 0.07074107827091108 Centerline is valid? [True, True] Translation: X:121.78, Y:-9.08, Z:-4.93 [[ 9.99856543e-01 1.52072782e-02 7.45868058e-03 1.21784158e+02] [-1.52052381e-02 9.99884339e-01 -3.30159247e-04 -9.08387268e+00] [-7.46283872e-03 2.16700870e-04 9.99972129e-01 -4.93436537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08134618399998 meters 0.07039704328980659 Centerline is valid? [True, True] Translation: X:121.84, Y:-9.09, Z:-4.94 [[ 9.99833177e-01 1.62174275e-02 8.40317076e-03 1.21842468e+02] [-1.62148813e-02 9.99868461e-01 -3.71049238e-04 -9.09245314e+00] [-8.40808288e-03 2.34730922e-04 9.99964624e-01 -4.93787542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14134618399999 meters 0.06917384997263158 Centerline is valid? [True, True] Translation: X:121.90, Y:-9.10, Z:-4.94 [[ 9.99776708e-01 1.94637142e-02 8.22786489e-03 1.21900984e+02] [-1.94613869e-02 9.99810543e-01 -3.62837543e-04 -9.09668362e+00] [-8.23336824e-03 2.02630863e-04 9.99966085e-01 -4.93812374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.201346184 meters 0.06936700704053225 Centerline is valid? [True, True] Translation: X:121.96, Y:-9.10, Z:-4.94 [[ 9.99724751e-01 2.19566517e-02 8.26600577e-03 1.21958953e+02] [-2.19543929e-02 9.99758907e-01 -3.63915292e-04 -9.10251814e+00] [-8.27200325e-03 1.82339987e-04 9.99965770e-01 -4.94202968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.261346184 meters 0.06734366225529005 Centerline is valid? [True, True] Translation: X:122.02, Y:-9.11, Z:-4.94 [[ 9.99628168e-01 2.58630562e-02 8.63876659e-03 1.22018208e+02] [-2.58607447e-02 9.99665483e-01 -3.79187951e-04 -9.10528114e+00] [-8.64568373e-03 1.55642020e-04 9.99962613e-01 -4.94002465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.321346184 meters 0.06671614961014298 Centerline is valid? [True, True] Translation: X:122.08, Y:-9.11, Z:-4.94 [[ 9.99565271e-01 2.77496286e-02 9.96127266e-03 1.22077414e+02] [-2.77466570e-02 9.99614892e-01 -4.36419198e-04 -9.10759391e+00] [-9.96954697e-03 1.59837459e-04 9.99950290e-01 -4.93938300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.381346184 meters 0.06637264031086311 Centerline is valid? [True, True] Translation: X:122.14, Y:-9.12, Z:-4.94 [[ 9.99515950e-01 2.89819290e-02 1.13099073e-02 1.22135140e+02] [-2.89781771e-02 9.99579922e-01 -4.95505912e-04 -9.11657685e+00] [-1.13195170e-02 1.67525566e-04 9.99935918e-01 -4.94251877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.441346184 meters 0.06672719629463078 Centerline is valid? [True, True] Translation: X:122.19, Y:-9.13, Z:-4.95 [[ 9.99597268e-01 2.64039838e-02 1.03985876e-02 1.22192914e+02] [-2.64006792e-02 9.99651338e-01 -4.54954200e-04 -9.12909313e+00] [-1.04069746e-02 1.80241201e-04 9.99945830e-01 -4.94582144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.501346184 meters 0.06628050277392167 Centerline is valid? [True, True] Translation: X:122.25, Y:-9.13, Z:-4.94 [[ 9.99638655e-01 2.45720064e-02 1.08984243e-02 1.22251962e+02] [-2.45682829e-02 9.99698041e-01 -4.75429086e-04 -9.13419611e+00] [-1.09068157e-02 2.07501721e-04 9.99940497e-01 -4.94393293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.561346184 meters 0.0662802339028142 Centerline is valid? [True, True] Translation: X:122.31, Y:-9.14, Z:-4.95 [[ 9.99647322e-01 2.39645775e-02 1.14425084e-02 1.22310672e+02] [-2.39604442e-02 9.99712783e-01 -4.98197407e-04 -9.13916421e+00] [-1.14511610e-02 2.23854121e-04 9.99934408e-01 -4.94576753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.621346184 meters 0.06709591544584836 Centerline is valid? [True, True] Translation: X:122.37, Y:-9.15, Z:-4.95 [[ 9.99708273e-01 2.07294122e-02 1.23959571e-02 1.22368022e+02] [-2.07243213e-02 9.99785083e-01 -5.39011904e-04 -9.15307797e+00] [-1.24044664e-02 2.81956861e-04 9.99923022e-01 -4.94803907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.681346184 meters 0.06738931378161381 Centerline is valid? [True, True] Translation: X:122.43, Y:-9.16, Z:-4.95 [[ 9.99787958e-01 1.66970037e-02 1.20519146e-02 1.22426895e+02] [-1.66919202e-02 9.99860544e-01 -5.22275067e-04 -9.16363906e+00] [-1.20589543e-02 3.20994727e-04 9.99927237e-01 -4.95001859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74134618399998 meters 0.07273983869953514 Centerline is valid? [True, True] Translation: X:122.48, Y:-9.19, Z:-4.96 [[ 9.99887791e-01 8.40193894e-03 1.24021686e-02 1.22484878e+02] [-8.39593457e-03 9.99964610e-01 -5.36126085e-04 -9.19001309e+00] [-1.24062342e-02 4.31938131e-04 9.99922946e-01 -4.95716370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80134618399998 meters 0.07231785074085106 Centerline is valid? [True, True] Translation: X:122.55, Y:-9.20, Z:-4.96 [[ 9.99911298e-01 3.67924898e-03 1.28007533e-02 1.22545558e+02] [-3.67248595e-03 9.99993104e-01 -5.51796591e-04 -9.20178875e+00] [-1.28026953e-02 5.04737058e-04 9.99917915e-01 -4.95513898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86134618399998 meters 0.0716303881938495 Centerline is valid? [True, True] Translation: X:122.61, Y:-9.21, Z:-4.96 [[ 9.99932011e-01 2.03227873e-03 1.14822811e-02 1.22607879e+02] [-2.02674320e-03 9.99997824e-01 -4.93709125e-04 -9.20889881e+00] [-1.14832594e-02 4.70403923e-04 9.99933955e-01 -4.95529867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.921346184 meters 0.06994917030742671 Centerline is valid? [True, True] Translation: X:122.67, Y:-9.21, Z:-4.96 [[ 9.99925651e-01 3.97995396e-03 1.15261748e-02 1.22670571e+02] [-3.97450169e-03 9.99991979e-01 -4.95901378e-04 -9.20997401e+00] [-1.15280560e-02 4.50053707e-04 9.99933448e-01 -4.95504669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.981346184 meters 0.06783538318146452 Centerline is valid? [True, True] Translation: X:122.73, Y:-9.21, Z:-4.96 [[ 9.99846938e-01 1.05464861e-02 1.39596882e-02 1.22731594e+02] [-1.05390765e-02 9.99944280e-01 -6.04247530e-04 -9.21286424e+00] [-1.39652831e-02 4.57032820e-04 9.99902376e-01 -4.95609700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.041346184 meters 0.06800530714986189 Centerline is valid? [True, True] Translation: X:122.79, Y:-9.22, Z:-4.96 [[ 9.99809257e-01 1.45713354e-02 1.30048697e-02 1.22791870e+02] [-1.45652468e-02 9.99893763e-01 -5.62775865e-04 -9.21953004e+00] [-1.30116885e-02 3.73249383e-04 9.99915275e-01 -4.96121898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.101346184 meters 0.0667386707039604 Centerline is valid? [True, True] Translation: X:122.85, Y:-9.22, Z:-4.96 [[ 9.99765383e-01 1.86207145e-02 1.10655805e-02 1.22852835e+02] [-1.86165413e-02 9.99826582e-01 -4.80029369e-04 -9.21734979e+00] [-1.10726000e-02 2.73913910e-04 9.99938659e-01 -4.96107529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.161346184 meters 0.06628174389136084 Centerline is valid? [True, True] Translation: X:122.91, Y:-9.22, Z:-4.96 [[ 9.99698319e-01 2.08892298e-02 1.29194296e-02 1.22911700e+02] [-2.08837079e-02 9.99781754e-01 -5.62187485e-04 -9.22169881e+00] [-1.29283536e-02 2.92212291e-04 9.99916383e-01 -4.96250964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.221346184 meters 0.06654898444428467 Centerline is valid? [True, True] Translation: X:122.97, Y:-9.23, Z:-4.97 [[ 9.99732897e-01 2.00806892e-02 1.14412050e-02 1.22970718e+02] [-2.00763223e-02 9.99798327e-01 -4.96419924e-04 -9.23199233e+00] [-1.14488661e-02 2.66590009e-04 9.99934424e-01 -4.96721119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.281346184 meters 0.06757316087285913 Centerline is valid? [True, True] Translation: X:123.03, Y:-9.24, Z:-4.97 [[ 9.99802262e-01 1.63665251e-02 1.12948888e-02 1.23028753e+02] [-1.63620318e-02 9.99866013e-01 -4.90119096e-04 -9.24309320e+00] [-1.13013970e-02 3.05214850e-04 9.99936091e-01 -4.97167037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.341346184 meters 0.06825244952525981 Centerline is valid? [True, True] Translation: X:123.09, Y:-9.25, Z:-4.97 [[ 9.99847954e-01 1.29838207e-02 1.16399569e-02 1.23088231e+02] [-1.29788328e-02 9.99915644e-01 -5.03950385e-04 -9.24873520e+00] [-1.16455182e-02 3.52800707e-04 9.99932126e-01 -4.97161684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.401346184 meters 0.07070386362915336 Centerline is valid? [True, True] Translation: X:123.15, Y:-9.27, Z:-4.98 [[ 9.99911451e-01 7.65216605e-03 1.08873101e-02 1.23147531e+02] [-7.64750531e-03 9.99970647e-01 -4.69657459e-04 -9.26707071e+00] [-1.08905844e-02 3.86355110e-04 9.99940621e-01 -4.97953260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.461346184 meters 0.07184844610171641 Centerline is valid? [True, True] Translation: X:123.21, Y:-9.28, Z:-4.98 [[ 9.99939369e-01 3.33823286e-03 1.04935408e-02 1.23208466e+02] [-3.33366911e-03 9.99994341e-01 -4.52372146e-04 -9.27525680e+00] [-1.04949915e-02 4.17362726e-04 9.99944839e-01 -4.98168984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52134618399998 meters 0.07199096780518192 Centerline is valid? [True, True] Translation: X:123.27, Y:-9.28, Z:-4.98 [[ 9.99926491e-01 -1.77884577e-03 1.19936612e-02 1.23269994e+02] [ 1.78518200e-03 9.99998273e-01 -5.17613586e-04 -9.27631085e+00] [-1.19927197e-02 5.38986405e-04 9.99927939e-01 -4.97984246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58134618399998 meters 0.07418448069462585 Centerline is valid? [True, True] Translation: X:123.33, Y:-9.29, Z:-4.99 [[ 9.99918008e-01 -5.15222226e-03 1.17231143e-02 1.23330009e+02] [ 5.15851744e-03 9.99986566e-01 -5.06813262e-04 -9.28603851e+00] [-1.17203457e-02 5.67245598e-04 9.99931153e-01 -4.98524854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64134618399999 meters 0.07650286924916563 Centerline is valid? [True, True] Translation: X:123.39, Y:-9.30, Z:-4.99 [[ 9.99846662e-01 -9.90664119e-03 1.44398759e-02 1.23390389e+02] [ 9.91669320e-03 9.99950633e-01 -6.24691164e-04 -9.29509707e+00] [-1.44329744e-02 7.67791194e-04 9.99895544e-01 -4.98572466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.701346184 meters 0.07611310583952959 Centerline is valid? [True, True] Translation: X:123.45, Y:-9.30, Z:-4.99 [[ 9.99814546e-01 -1.17596667e-02 1.52507125e-02 1.23452121e+02] [ 1.17710275e-02 9.99930504e-01 -6.55382696e-04 -9.29702921e+00] [-1.52419455e-02 8.34777707e-04 9.99883486e-01 -4.98551744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.761346184 meters 0.07659726931141407 Centerline is valid? [True, True] Translation: X:123.51, Y:-9.30, Z:-4.99 [[ 9.99805931e-01 -1.16932180e-02 1.58546286e-02 1.23514043e+02] [ 1.17056073e-02 9.99931250e-01 -6.88847714e-04 -9.29966270e+00] [-1.58454838e-02 8.74302085e-04 9.99874070e-01 -4.98753656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.821346184 meters 0.07576019285112534 Centerline is valid? [True, True] Translation: X:123.57, Y:-9.30, Z:-4.99 [[ 9.99820360e-01 -8.88751731e-03 1.67409581e-02 1.23574459e+02] [ 8.90098510e-03 9.99960119e-01 -7.30140816e-04 -9.30130905e+00] [-1.67338013e-02 8.79020672e-04 9.99859594e-01 -4.99107856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.881346184 meters 0.07433799385885234 Centerline is valid? [True, True] Translation: X:123.63, Y:-9.30, Z:-5.00 [[ 9.99870318e-01 -2.45712332e-03 1.59157026e-02 1.23634466e+02] [ 2.46848884e-03 9.99996712e-01 -6.94501843e-04 -9.29643312e+00] [-1.59139438e-02 7.33699513e-04 9.99873096e-01 -4.99538317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.941346184 meters 0.07164559446055938 Centerline is valid? [True, True] Translation: X:123.70, Y:-9.29, Z:-5.00 [[ 9.99885303e-01 2.14152480e-03 1.49931355e-02 1.23695900e+02] [-2.13196949e-03 9.99997514e-01 -6.53266890e-04 -9.28978550e+00] [-1.49944972e-02 6.21227055e-04 9.99887383e-01 -4.99715438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.001346184 meters 0.07075608344387832 Centerline is valid? [True, True] Translation: X:123.76, Y:-9.29, Z:-5.00 [[ 9.99889628e-01 4.37884743e-03 1.41970810e-02 1.23757809e+02] [-4.37051985e-03 9.99990259e-01 -6.17542947e-04 -9.28886329e+00] [-1.41996469e-02 5.55426163e-04 9.99899026e-01 -5.00157518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.061346184 meters 0.07109291041196347 Centerline is valid? [True, True] Translation: X:123.82, Y:-9.29, Z:-5.01 [[ 9.99899354e-01 4.34424387e-03 1.35059301e-02 1.23819751e+02] [-4.33674965e-03 9.99990426e-01 -5.84121538e-04 -9.29153953e+00] [-1.35083384e-02 5.25490911e-04 9.99908620e-01 -5.00536511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.121346184 meters 0.07218432487976804 Centerline is valid? [True, True] Translation: X:123.88, Y:-9.29, Z:-5.01 [[ 9.99918730e-01 2.61715674e-03 1.24773100e-02 1.23881408e+02] [-2.61055529e-03 9.99996444e-01 -5.45333654e-04 -9.29394161e+00] [-1.24786929e-02 5.12716627e-04 9.99922007e-01 -5.00895216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.181346184 meters 0.07194866361068467 Centerline is valid? [True, True] Translation: X:123.94, Y:-9.30, Z:-5.01 [[ 9.99919091e-01 2.30179046e-03 1.25105111e-02 1.23944124e+02] [-2.29515065e-03 9.99997218e-01 -5.45070427e-04 -9.29510804e+00] [-1.25117309e-02 5.16312818e-04 9.99921592e-01 -5.01185806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24134618399998 meters 0.07276412629359835 Centerline is valid? [True, True] Translation: X:124.01, Y:-9.30, Z:-5.02 [[ 9.99954168e-01 1.64014315e-03 9.43250028e-03 1.24006027e+02] [-1.63629103e-03 9.99998575e-01 -4.16090862e-04 -9.29944997e+00] [-9.43316928e-03 4.00637476e-04 9.99955426e-01 -5.01904299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30134618399998 meters 0.07414841329948663 Centerline is valid? [True, True] Translation: X:124.07, Y:-9.30, Z:-5.02 [[ 9.99951783e-01 -6.67055307e-05 9.81971347e-03 1.24067322e+02] [ 7.09287599e-05 9.99999905e-01 -4.29728989e-04 -9.30275601e+00] [-9.81968387e-03 4.30404769e-04 9.99951693e-01 -5.02092038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36134618399998 meters 0.07261184793013697 Centerline is valid? [True, True] Translation: X:124.13, Y:-9.30, Z:-5.02 [[ 9.99935555e-01 -3.83739763e-04 1.13462816e-02 1.24130448e+02] [ 3.89482921e-04 9.99999797e-01 -5.03965647e-04 -9.29769560e+00] [-1.13460859e-02 5.08352351e-04 9.99935502e-01 -5.01804575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.421346184 meters 0.07343086264348817 Centerline is valid? [True, True] Translation: X:124.19, Y:-9.30, Z:-5.02 [[ 9.99915991e-01 -1.02904774e-03 1.29210244e-02 1.24192479e+02] [ 1.03651541e-03 9.99999300e-01 -5.71264142e-04 -9.30238603e+00] [-1.29204275e-02 5.84608991e-04 9.99916357e-01 -5.02105991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.481346184 meters 0.07436220218394365 Centerline is valid? [True, True] Translation: X:124.25, Y:-9.31, Z:-5.03 [[ 9.99921370e-01 -1.80339842e-03 1.24097677e-02 1.24254028e+02] [ 1.81039064e-03 9.99998209e-01 -5.52234403e-04 -9.30925229e+00] [-1.24087496e-02 5.74657508e-04 9.99922843e-01 -5.02611901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.541346184 meters 0.07472819112843523 Centerline is valid? [True, True] Translation: X:124.32, Y:-9.31, Z:-5.03 [[ 9.99929417e-01 -2.48148803e-03 1.16191223e-02 1.24315955e+02] [ 2.48774277e-03 9.99996768e-01 -5.23892101e-04 -9.30976493e+00] [-1.16177847e-02 5.52760510e-04 9.99932358e-01 -5.02887496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.601346184 meters 0.073244740533736 Centerline is valid? [True, True] Translation: X:124.38, Y:-9.30, Z:-5.03 [[ 9.99937011e-01 -1.81753815e-03 1.10756821e-02 1.24378012e+02] [ 1.82318745e-03 9.99998213e-01 -4.99987488e-04 -9.30466641e+00] [-1.10747536e-02 5.20149039e-04 9.99938538e-01 -5.02984920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.661346184 meters 0.07440751313659413 Centerline is valid? [True, True] Translation: X:124.44, Y:-9.31, Z:-5.03 [[ 9.99939730e-01 -1.10241709e-03 1.09234249e-02 1.24439261e+02] [ 1.10788355e-03 9.99999264e-01 -4.94395912e-04 -9.30697389e+00] [-1.09228718e-02 5.06467998e-04 9.99940215e-01 -5.03480610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.721346184 meters 0.07340060326139289 Centerline is valid? [True, True] Translation: X:124.50, Y:-9.31, Z:-5.04 [[ 9.99939947e-01 8.08495237e-04 1.09292442e-02 1.24501972e+02] [-8.03140389e-04 9.99999555e-01 -4.94336035e-04 -9.30751469e+00] [-1.09296390e-02 4.85528631e-04 9.99940152e-01 -5.03717800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.781346184 meters 0.07292929607163749 Centerline is valid? [True, True] Translation: X:124.56, Y:-9.31, Z:-5.04 [[ 9.99946797e-01 2.89957605e-03 9.89926051e-03 1.24564892e+02] [-2.89527936e-03 9.99995708e-01 -4.48344410e-04 -9.30549983e+00] [-9.90051803e-03 4.19659432e-04 9.99950901e-01 -5.03908905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841346184 meters 0.07338819708736795 Centerline is valid? [True, True] Translation: X:124.63, Y:-9.30, Z:-5.04 [[ 9.99951584e-01 3.90238060e-03 9.03329924e-03 1.24626850e+02] [-3.89888313e-03 9.99992317e-01 -4.04753419e-04 -9.30372794e+00] [-9.03480934e-03 3.69514045e-04 9.99959117e-01 -5.04200329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.901346184 meters 0.07438872295668217 Centerline is valid? [True, True] Translation: X:124.69, Y:-9.30, Z:-5.05 [[ 9.99985693e-01 3.78801315e-03 3.77680636e-03 1.24687427e+02] [-3.78739069e-03 9.99992813e-01 -1.71949308e-04 -9.30442949e+00] [-3.77743056e-03 1.57642607e-04 9.99992853e-01 -5.05192546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.961346184 meters 0.07367085120875029 Centerline is valid? [True, True] Translation: X:124.75, Y:-9.30, Z:-5.06 [[ 9.99985705e-01 4.38481180e-03 3.05989853e-03 1.24748174e+02] [-4.38440219e-03 9.99990379e-01 -1.40558075e-04 -9.30372437e+00] [-3.06048541e-03 1.27140240e-04 9.99995309e-01 -5.05501149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02134618399998 meters 0.07285918781471712 Centerline is valid? [True, True] Translation: X:124.81, Y:-9.29, Z:-5.05 [[ 9.99960940e-01 7.95645698e-03 3.84883372e-03 1.24809065e+02] [-7.95583308e-03 9.99968336e-01 -1.77384789e-04 -9.29391916e+00] [-3.85012321e-03 1.46757181e-04 9.99992577e-01 -5.05479751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08134618399998 meters 0.07171419711146636 Centerline is valid? [True, True] Translation: X:124.87, Y:-9.29, Z:-5.06 [[ 9.99930922e-01 9.82862508e-03 6.44589869e-03 1.24869042e+02] [-9.82691397e-03 9.99951671e-01 -2.97075645e-04 -9.29038268e+00] [-6.44850701e-03 2.33711832e-04 9.99979181e-01 -5.05534715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14134618399999 meters 0.07203937164205876 Centerline is valid? [True, True] Translation: X:124.93, Y:-9.29, Z:-5.06 [[ 9.99906277e-01 1.11004441e-02 8.01352980e-03 1.24927825e+02] [-1.10978496e-02 9.99938349e-01 -3.68160467e-04 -9.28727574e+00] [-8.01712251e-03 2.79193014e-04 9.99967823e-01 -5.05562000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.201346184 meters 0.07205388665710456 Centerline is valid? [True, True] Translation: X:124.99, Y:-9.29, Z:-5.06 [[ 9.99905840e-01 1.13032439e-02 7.78126177e-03 1.24987640e+02] [-1.13008005e-02 9.99936080e-01 -3.57908308e-04 -9.28746416e+00] [-7.78480991e-03 2.69940121e-04 9.99969661e-01 -5.06000595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.261346184 meters 0.07325907973114404 Centerline is valid? [True, True] Translation: X:125.05, Y:-9.29, Z:-5.07 [[ 9.99950336e-01 9.51951293e-03 2.95044929e-03 1.25047534e+02] [-9.51915358e-03 9.99954683e-01 -1.35814112e-04 -9.28627687e+00] [-2.95160846e-03 1.07721587e-04 9.99995638e-01 -5.06748360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.321346184 meters 0.07479954614684556 Centerline is valid? [True, True] Translation: X:125.11, Y:-9.29, Z:-5.07 [[ 9.99953846e-01 8.94493936e-03 3.50619241e-03 1.25105131e+02] [-8.94442091e-03 9.99959984e-01 -1.63519299e-04 -9.28742387e+00] [-3.50751478e-03 1.32150891e-04 9.99993840e-01 -5.07209521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.381346184 meters 0.07274769285892747 Centerline is valid? [True, True] Translation: X:125.17, Y:-9.28, Z:-5.07 [[ 9.99917343e-01 1.20035916e-02 4.60669266e-03 1.25165224e+02] [-1.20027432e-02 9.99927942e-01 -2.11764589e-04 -9.27823949e+00] [-4.60890264e-03 1.56454137e-04 9.99989367e-01 -5.07191337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.441346184 meters 0.07237069635190103 Centerline is valid? [True, True] Translation: X:125.22, Y:-9.28, Z:-5.08 [[ 9.99882901e-01 1.46596036e-02 4.39089964e-03 1.25223958e+02] [-1.46588540e-02 9.99892533e-01 -2.02847655e-04 -9.27667859e+00] [-4.39340143e-03 1.38458345e-04 9.99990339e-01 -5.07706646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.501346184 meters 0.07164175619807385 Centerline is valid? [True, True] Translation: X:125.28, Y:-9.26, Z:-5.08 [[ 9.99840182e-01 1.77538814e-02 2.10024927e-03 1.25283132e+02] [-1.77537142e-02 9.99842386e-01 -9.82337037e-05 -9.26397604e+00] [-2.10166227e-03 6.09307789e-05 9.99997790e-01 -5.07726394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.561346184 meters 0.0712772327126148 Centerline is valid? [True, True] Translation: X:125.34, Y:-9.26, Z:-5.08 [[ 9.99810248e-01 1.94703322e-02 6.11810106e-04 1.25342509e+02] [-1.94703172e-02 9.99810435e-01 -3.04516535e-05 -9.25983239e+00] [-6.12287032e-04 1.85337384e-05 9.99999812e-01 -5.07950472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.621346184 meters 0.07216828238155494 Centerline is valid? [True, True] Translation: X:125.40, Y:-9.26, Z:-5.09 [[ 9.99825334e-01 1.86408309e-02 -1.34947783e-03 1.25400250e+02] [-1.86407687e-02 9.99826244e-01 5.86927171e-05 -9.26195114e+00] [ 1.35033743e-03 -3.35271615e-05 9.99999088e-01 -5.08697133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.681346184 meters 0.07216597179441096 Centerline is valid? [True, True] Translation: X:125.46, Y:-9.26, Z:-5.09 [[ 9.99823675e-01 1.87678711e-02 -6.21803687e-04 1.25459318e+02] [-1.87678588e-02 9.99823868e-01 2.56464538e-05 -9.25833057e+00] [ 6.22175497e-04 -1.39720079e-05 9.99999806e-01 -5.08718427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74134618399998 meters 0.07115346174017415 Centerline is valid? [True, True] Translation: X:125.52, Y:-9.25, Z:-5.09 [[ 9.99758461e-01 2.15867541e-02 4.12696023e-03 1.25520517e+02] [-2.15861649e-02 9.99766974e-01 -1.87248976e-04 -9.25251178e+00] [-4.13004064e-03 9.81185039e-05 9.99991467e-01 -5.08595450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80134618399998 meters 0.07155067372343654 Centerline is valid? [True, True] Translation: X:125.58, Y:-9.25, Z:-5.09 [[ 9.99753338e-01 2.19447070e-02 3.41943742e-03 1.25578182e+02] [-2.19442955e-02 9.99759182e-01 -1.57823211e-04 -9.25338390e+00] [-3.42207735e-03 8.27471369e-05 9.99994141e-01 -5.09176188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86134618399998 meters 0.07111953516917738 Centerline is valid? [True, True] Translation: X:125.64, Y:-9.25, Z:-5.09 [[ 9.99781103e-01 2.07023087e-02 3.02670099e-03 1.25637153e+02] [-2.07019818e-02 9.99785681e-01 -1.39303738e-04 -9.24965034e+00] [-3.02893622e-03 7.66145365e-05 9.99995410e-01 -5.08991608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.921346184 meters 0.07123627128180504 Centerline is valid? [True, True] Translation: X:125.70, Y:-9.25, Z:-5.09 [[ 9.99766632e-01 2.13555799e-02 3.25888190e-03 1.25696246e+02] [-2.13551992e-02 9.99771940e-01 -1.51579280e-04 -9.25091751e+00] [-3.26137574e-03 8.19498343e-05 9.99994678e-01 -5.09489747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.981346184 meters 0.07103708450577202 Centerline is valid? [True, True] Translation: X:125.75, Y:-9.25, Z:-5.10 [[ 9.99740972e-01 2.23841167e-02 4.11585191e-03 1.25754952e+02] [-2.23835338e-02 9.99749440e-01 -1.87640321e-04 -9.25170133e+00] [-4.11902081e-03 9.54644062e-05 9.99991512e-01 -5.09768666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.041346184 meters 0.07042087079003277 Centerline is valid? [True, True] Translation: X:125.81, Y:-9.25, Z:-5.10 [[ 9.99727366e-01 2.28533031e-02 4.78745538e-03 1.25814383e+02] [-2.28525231e-02 9.99738823e-01 -2.17574846e-04 -9.24755495e+00] [-4.79117731e-03 1.08110094e-04 9.99988516e-01 -5.09536493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.101346184 meters 0.07040891303575299 Centerline is valid? [True, True] Translation: X:125.87, Y:-9.25, Z:-5.10 [[ 9.99708717e-01 2.36008354e-02 5.04794990e-03 1.25873129e+02] [-2.35999804e-02 9.99721455e-01 -2.28893890e-04 -9.25063422e+00] [-5.05194591e-03 1.09695699e-04 9.99987233e-01 -5.09968068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.161346184 meters 0.07126052567415758 Centerline is valid? [True, True] Translation: X:125.93, Y:-9.26, Z:-5.11 [[ 9.99711236e-01 2.34918355e-02 5.05753014e-03 1.25929811e+02] [-2.34909696e-02 9.99724023e-01 -2.30549050e-04 -9.25927887e+00] [-5.06155040e-03 1.11676189e-04 9.99987184e-01 -5.10697660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.221346184 meters 0.0709774223522198 Centerline is valid? [True, True] Translation: X:125.99, Y:-9.26, Z:-5.11 [[ 9.99688830e-01 2.44696543e-02 4.84556993e-03 1.25989289e+02] [-2.44688837e-02 9.99700568e-01 -2.18266511e-04 -9.25710901e+00] [-4.84945992e-03 9.96329062e-05 9.99988236e-01 -5.10738419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.281346184 meters 0.06948044964161128 Centerline is valid? [True, True] Translation: X:126.05, Y:-9.26, Z:-5.11 [[ 9.99574777e-01 2.88175870e-02 4.45116288e-03 1.26048701e+02] [-2.88169797e-02 9.99584684e-01 -2.00524159e-04 -9.25613755e+00] [-4.45509287e-03 7.21698217e-05 9.99990073e-01 -5.10826593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.341346184 meters 0.07042898148774442 Centerline is valid? [True, True] Translation: X:126.11, Y:-9.26, Z:-5.12 [[ 9.99567058e-01 2.91466313e-02 4.02119293e-03 1.26105871e+02] [-2.91461341e-02 9.99575145e-01 -1.82195973e-04 -9.26152486e+00] [-4.02479491e-03 6.49148648e-05 9.99991898e-01 -5.11632178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.401346184 meters 0.068217208814767 Centerline is valid? [True, True] Translation: X:126.17, Y:-9.26, Z:-5.11 [[ 9.99516737e-01 3.02488107e-02 7.16248797e-03 1.26165810e+02] [-3.02472519e-02 9.99542394e-01 -3.25877640e-04 -9.25790210e+00] [-7.16906778e-03 1.09074577e-04 9.99974296e-01 -5.10603082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.461346184 meters 0.06797471789578162 Centerline is valid? [True, True] Translation: X:126.22, Y:-9.26, Z:-5.11 [[ 9.99500308e-01 3.04070752e-02 8.63390454e-03 1.26224843e+02] [-3.04048868e-02 9.99537591e-01 -3.84649432e-04 -9.26040905e+00] [-8.64160820e-03 1.21944335e-04 9.99962653e-01 -5.10512438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52134618399998 meters 0.06843249248944429 Centerline is valid? [True, True] Translation: X:126.28, Y:-9.27, Z:-5.11 [[ 9.99525408e-01 2.94926654e-02 8.89616584e-03 1.26282514e+02] [-2.94903080e-02 9.99564988e-01 -3.96077511e-04 -9.26903056e+00] [-8.90397728e-03 1.33538864e-04 9.99960350e-01 -5.11161996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58134618399998 meters 0.068744761170049 Centerline is valid? [True, True] Translation: X:126.34, Y:-9.28, Z:-5.12 [[ 9.99572337e-01 2.82179618e-02 7.67391399e-03 1.26341026e+02] [-2.82161761e-02 9.99601786e-01 -3.40884186e-04 -9.27512233e+00] [-7.68047719e-03 1.24209894e-04 9.99970497e-01 -5.11554147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64134618399999 meters 0.06882573958368214 Centerline is valid? [True, True] Translation: X:126.40, Y:-9.28, Z:-5.11 [[ 9.99655997e-01 2.49267159e-02 8.15757913e-03 1.26400075e+02] [-2.49245937e-02 9.99689269e-01 -3.61722909e-04 -9.27973181e+00] [-8.16406088e-03 1.58274130e-04 9.99966661e-01 -5.11497648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.701346184 meters 0.06933387720285963 Centerline is valid? [True, True] Translation: X:126.46, Y:-9.29, Z:-5.12 [[ 9.99708157e-01 2.27266830e-02 8.19139308e-03 1.26458768e+02] [-2.27244744e-02 9.99741700e-01 -3.62606539e-04 -9.28862309e+00] [-8.19751808e-03 1.76355612e-04 9.99966384e-01 -5.11808190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.761346184 meters 0.06972786919616143 Centerline is valid? [True, True] Translation: X:126.52, Y:-9.30, Z:-5.12 [[ 9.99716245e-01 2.10976655e-02 1.10597308e-02 1.26516334e+02] [-2.10935539e-02 9.99777387e-01 -4.88299473e-04 -9.29610534e+00] [-1.10675708e-02 2.54871888e-04 9.99938720e-01 -5.11868845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.821346184 meters 0.06982605728120192 Centerline is valid? [True, True] Translation: X:126.58, Y:-9.30, Z:-5.12 [[ 9.99719923e-01 2.14721112e-02 9.95110326e-03 1.26575088e+02] [-2.14688118e-02 9.99769422e-01 -4.38275720e-04 -9.29972568e+00] [-9.95821946e-03 2.24514606e-04 9.99950390e-01 -5.12291951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.881346184 meters 0.0697707211635374 Centerline is valid? [True, True] Translation: X:126.63, Y:-9.30, Z:-5.13 [[ 9.99721788e-01 2.18795491e-02 8.81094926e-03 1.26633862e+02] [-2.18769808e-02 9.99760595e-01 -3.87773004e-04 -9.30432863e+00] [-8.81732418e-03 1.94908152e-04 9.99961108e-01 -5.12698448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.941346184 meters 0.06906318844788786 Centerline is valid? [True, True] Translation: X:126.69, Y:-9.31, Z:-5.13 [[ 9.99678938e-01 2.33744592e-02 9.78037959e-03 1.26692797e+02] [-2.33713752e-02 9.99726760e-01 -4.29519063e-04 -9.30673710e+00] [-9.78774697e-03 2.00800240e-04 9.99952079e-01 -5.12772174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.001346184 meters 0.06816107659146602 Centerline is valid? [True, True] Translation: X:126.75, Y:-9.31, Z:-5.13 [[ 9.99617696e-01 2.53189813e-02 1.11090730e-02 1.26752016e+02] [-2.53151393e-02 9.99679402e-01 -4.86340787e-04 -9.30876727e+00] [-1.11178251e-02 2.04927127e-04 9.99938174e-01 -5.12837185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.061346184 meters 0.06752601656441626 Centerline is valid? [True, True] Translation: X:126.81, Y:-9.31, Z:-5.13 [[ 9.99470821e-01 3.00797513e-02 1.23808931e-02 1.26810542e+02] [-3.00753504e-02 9.99547488e-01 -5.41537680e-04 -9.30733539e+00] [-1.23915799e-02 1.68891413e-04 9.99923207e-01 -5.12923934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.121346184 meters 0.06711422293795884 Centerline is valid? [True, True] Translation: X:126.87, Y:-9.31, Z:-5.13 [[ 9.99443080e-01 3.13635760e-02 1.13954585e-02 1.26869176e+02] [-3.13599385e-02 9.99508032e-01 -4.97803206e-04 -9.31003898e+00] [-1.14054652e-02 1.40165093e-04 9.99934946e-01 -5.13137720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.181346184 meters 0.06685939653192664 Centerline is valid? [True, True] Translation: X:126.93, Y:-9.32, Z:-5.13 [[ 9.99430624e-01 3.14649027e-02 1.21814720e-02 1.26927887e+02] [-3.14607652e-02 9.99504846e-01 -5.31175490e-04 -9.31716149e+00] [-1.21921537e-02 1.47634620e-04 9.99925662e-01 -5.13293322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24134618399998 meters 0.06723658655859512 Centerline is valid? [True, True] Translation: X:126.99, Y:-9.32, Z:-5.14 [[ 9.99448989e-01 3.11624415e-02 1.14289541e-02 1.26985466e+02] [-3.11587825e-02 9.99514323e-01 -4.98121092e-04 -9.32438155e+00] [-1.14389260e-02 1.41734327e-04 9.99934563e-01 -5.13783684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30134618399998 meters 0.06719881635977754 Centerline is valid? [True, True] Translation: X:127.04, Y:-9.33, Z:-5.14 [[ 9.99437366e-01 3.15859689e-02 1.12817739e-02 1.27042500e+02] [-3.15824330e-02 9.99501030e-01 -4.91479356e-04 -9.32912190e+00] [-1.12916684e-02 1.34896966e-04 9.99936238e-01 -5.14090613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36134618399998 meters 0.06675109445033038 Centerline is valid? [True, True] Translation: X:127.10, Y:-9.33, Z:-5.14 [[ 9.99415738e-01 3.23990801e-02 1.08849643e-02 1.27100437e+02] [-3.23958529e-02 9.99475005e-01 -4.72722046e-04 -9.33059581e+00] [-1.08945655e-02 1.19818152e-04 9.99940645e-01 -5.14026908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.421346184 meters 0.0665076488267466 Centerline is valid? [True, True] Translation: X:127.16, Y:-9.33, Z:-5.14 [[ 9.99426872e-01 3.17954601e-02 1.16179408e-02 1.27158902e+02] [-3.17917684e-02 9.99494388e-01 -5.02350726e-04 -9.33403862e+00] [-1.16280391e-02 1.32707933e-04 9.99932383e-01 -5.13975487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.481346184 meters 0.06683092758262171 Centerline is valid? [True, True] Translation: X:127.22, Y:-9.34, Z:-5.14 [[ 9.99486791e-01 2.94533280e-02 1.25958958e-02 1.27217244e+02] [-2.94488173e-02 9.99566142e-01 -5.43469632e-04 -9.34337870e+00] [-1.26064380e-02 1.72256483e-04 9.99920521e-01 -5.14336941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.541346184 meters 0.06730803260993153 Centerline is valid? [True, True] Translation: X:127.28, Y:-9.35, Z:-5.14 [[ 9.99581549e-01 2.64577730e-02 1.16924356e-02 1.27275330e+02] [-2.64536838e-02 9.99649913e-01 -5.04282846e-04 -9.34822394e+00] [-1.17016844e-02 1.94763835e-04 9.99931514e-01 -5.14485813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.601346184 meters 0.0676645174868793 Centerline is valid? [True, True] Translation: X:127.33, Y:-9.36, Z:-5.15 [[ 9.99674670e-01 2.22159103e-02 1.25303003e-02 1.27333995e+02] [-2.22109026e-02 9.99753162e-01 -5.38680281e-04 -9.35678813e+00] [-1.25391746e-02 2.60195752e-04 9.99921348e-01 -5.14540195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.661346184 meters 0.06795705677197139 Centerline is valid? [True, True] Translation: X:127.39, Y:-9.36, Z:-5.15 [[ 9.99715180e-01 2.06601731e-02 1.19463761e-02 1.27392575e+02] [-2.06555194e-02 9.99786520e-01 -5.12819053e-04 -9.36359534e+00] [-1.19544207e-02 2.65914389e-04 9.99928508e-01 -5.14914680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.721346184 meters 0.0684203244948833 Centerline is valid? [True, True] Translation: X:127.45, Y:-9.36, Z:-5.15 [[ 9.99746120e-01 1.99998603e-02 1.03779136e-02 1.27450575e+02] [-1.99963124e-02 9.99799954e-01 -4.45527931e-04 -9.36395896e+00] [-1.03847480e-02 2.37894817e-04 9.99946049e-01 -5.14970214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.781346184 meters 0.06805709017387591 Centerline is valid? [True, True] Translation: X:127.51, Y:-9.37, Z:-5.15 [[ 9.99723955e-01 2.04088667e-02 1.16400626e-02 1.27509356e+02] [-2.04044535e-02 9.99791684e-01 -4.97780779e-04 -9.36658378e+00] [-1.16477969e-02 2.60134253e-04 9.99932128e-01 -5.15056132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.841346184 meters 0.06836736647804785 Centerline is valid? [True, True] Translation: X:127.57, Y:-9.38, Z:-5.16 [[ 9.99710201e-01 2.04915449e-02 1.26337336e-02 1.27566587e+02] [-2.04863621e-02 9.99789987e-01 -5.39530508e-04 -9.37563595e+00] [-1.26421361e-02 2.80554913e-04 9.99920046e-01 -5.15534342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.901346184 meters 0.06834334163815617 Centerline is valid? [True, True] Translation: X:127.62, Y:-9.38, Z:-5.16 [[ 9.99718265e-01 1.96007698e-02 1.33865821e-02 1.27624872e+02] [-1.95948954e-02 9.99807839e-01 -5.69859924e-04 -9.37832051e+00] [-1.33951794e-02 3.07390698e-04 9.99910233e-01 -5.15566819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.961346184 meters 0.06795156150843809 Centerline is valid? [True, True] Translation: X:127.68, Y:-9.38, Z:-5.16 [[ 9.99733992e-01 1.95405913e-02 1.22519509e-02 1.27683544e+02] [-1.95356732e-02 9.99809025e-01 -5.20977911e-04 -9.38088727e+00] [-1.22597913e-02 2.81489219e-04 9.99924806e-01 -5.15564432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02134618399998 meters 0.06826137421951836 Centerline is valid? [True, True] Translation: X:127.74, Y:-9.39, Z:-5.16 [[ 9.99699161e-01 2.17503864e-02 1.13361018e-02 1.27740479e+02] [-2.17463194e-02 9.99763405e-01 -4.81919347e-04 -9.38824362e+00] [-1.13439017e-02 2.35255876e-04 9.99935628e-01 -5.16240101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08134618399998 meters 0.06713625727401658 Centerline is valid? [True, True] Translation: X:127.80, Y:-9.39, Z:-5.16 [[ 9.99635153e-01 2.41359008e-02 1.21251522e-02 1.27799608e+02] [-2.41314466e-02 9.99708662e-01 -5.13542337e-04 -9.38654503e+00] [-1.21340145e-02 2.20757511e-04 9.99926356e-01 -5.15997106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14134618399999 meters 0.0668804209203239 Centerline is valid? [True, True] Translation: X:127.86, Y:-9.39, Z:-5.16 [[ 9.99610436e-01 2.48500927e-02 1.27062895e-02 1.27858436e+02] [-2.48452725e-02 9.99691164e-01 -5.37094020e-04 -9.39137816e+00] [-1.27157121e-02 2.21193564e-04 9.99919128e-01 -5.16162014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.201346184 meters 0.06693950140943074 Centerline is valid? [True, True] Translation: X:127.92, Y:-9.40, Z:-5.17 [[ 9.99638611e-01 2.41439584e-02 1.18201777e-02 1.27916984e+02] [-2.41397451e-02 9.99708469e-01 -4.99016470e-04 -9.39803318e+00] [-1.18287800e-02 2.13500056e-04 9.99930015e-01 -5.16560476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.261346184 meters 0.0668017009883357 Centerline is valid? [True, True] Translation: X:127.98, Y:-9.40, Z:-5.17 [[ 9.99642968e-01 2.40550994e-02 1.16313863e-02 1.27975337e+02] [-2.40510231e-02 9.99710612e-01 -4.90226537e-04 -9.40182532e+00] [-1.16398128e-02 2.10304770e-04 9.99932233e-01 -5.16736047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.321346184 meters 0.06696533052887602 Centerline is valid? [True, True] Translation: X:128.03, Y:-9.40, Z:-5.17 [[ 9.99664819e-01 2.36924361e-02 1.04363463e-02 1.28034157e+02] [-2.36891395e-02 9.99719276e-01 -4.39391977e-04 -9.40462313e+00] [-1.04438268e-02 1.92016638e-04 9.99945443e-01 -5.16928967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.381346184 meters 0.06719982031324119 Centerline is valid? [True, True] Translation: X:128.09, Y:-9.41, Z:-5.17 [[ 9.99698520e-01 2.23406255e-02 1.01865119e-02 1.28092818e+02] [-2.23374217e-02 9.99750397e-01 -4.28197035e-04 -9.41173860e+00] [-1.01935355e-02 2.00527530e-04 9.99948024e-01 -5.17273615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.441346184 meters 0.06745493543331652 Centerline is valid? [True, True] Translation: X:128.15, Y:-9.42, Z:-5.18 [[ 9.99707290e-01 2.18110780e-02 1.04695380e-02 1.28151274e+02] [-2.18076736e-02 9.99762088e-01 -4.39238679e-04 -9.41829809e+00] [-1.04766274e-02 2.10793843e-04 9.99945096e-01 -5.17534876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.501346184 meters 0.06684479956812824 Centerline is valid? [True, True] Translation: X:128.21, Y:-9.42, Z:-5.17 [[ 9.99691733e-01 2.20597239e-02 1.13933322e-02 1.28210509e+02] [-2.20557195e-02 9.99756629e-01 -4.77013356e-04 -9.41920721e+00] [-1.14010821e-02 2.25578170e-04 9.99934980e-01 -5.17413827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.561346184 meters 0.0669286771873703 Centerline is valid? [True, True] Translation: X:128.27, Y:-9.43, Z:-5.18 [[ 9.99705082e-01 2.20806521e-02 1.01090898e-02 1.28268762e+02] [-2.20775048e-02 9.99756173e-01 -4.22835360e-04 -9.42658023e+00] [-1.01159615e-02 1.99527179e-04 9.99948812e-01 -5.17815633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.621346184 meters 0.06752408505148252 Centerline is valid? [True, True] Translation: X:128.33, Y:-9.43, Z:-5.18 [[ 9.99725745e-01 2.20125525e-02 7.99260152e-03 1.28326491e+02] [-2.20105793e-02 9.99757682e-01 -3.34778898e-04 -9.43212227e+00] [-7.99803410e-03 1.58765295e-04 9.99968003e-01 -5.18362007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.681346184 meters 0.06744528305419778 Centerline is valid? [True, True] Translation: X:128.39, Y:-9.43, Z:-5.19 [[ 9.99711445e-01 2.29437239e-02 7.11426563e-03 1.28385072e+02] [-2.29421903e-02 9.99736749e-01 -2.97103268e-04 -9.43225326e+00] [-7.11920945e-03 1.33800701e-04 9.99974649e-01 -5.18522592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74134618399998 meters 0.06730417368181806 Centerline is valid? [True, True] Translation: X:128.44, Y:-9.44, Z:-5.19 [[ 9.99674308e-01 2.41595878e-02 8.22142225e-03 1.28443469e+02] [-2.41575892e-02 9.99708104e-01 -3.42322129e-04 -9.43855463e+00] [-8.22729282e-03 1.43600896e-04 9.99966145e-01 -5.18798532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80134618399998 meters 0.06694201249233996 Centerline is valid? [True, True] Translation: X:128.50, Y:-9.44, Z:-5.19 [[ 9.99612058e-01 2.59959238e-02 9.99725904e-03 1.28501717e+02] [-2.59930733e-02 9.99662037e-01 -4.14979329e-04 -9.44358911e+00] [-1.00046681e-02 1.54958853e-04 9.99949940e-01 -5.18969184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86134618399998 meters 0.06596731727536738 Centerline is valid? [True, True] Translation: X:128.56, Y:-9.44, Z:-5.19 [[ 9.99496016e-01 2.96661121e-02 1.12976293e-02 1.28560952e+02] [-2.96627181e-02 9.99559855e-01 -4.67898774e-04 -9.44249766e+00] [-1.13065374e-02 1.32544567e-04 9.99936070e-01 -5.18697027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.921346184 meters 0.06639108055154279 Centerline is valid? [True, True] Translation: X:128.62, Y:-9.45, Z:-5.19 [[ 9.99467398e-01 3.10004275e-02 1.01928764e-02 1.28618539e+02] [-3.09977346e-02 9.99519366e-01 -4.22106031e-04 -9.44872531e+00] [-1.02010628e-02 1.05925139e-04 9.99947962e-01 -5.19248383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.981346184 meters 0.06607615402931591 Centerline is valid? [True, True] Translation: X:128.68, Y:-9.46, Z:-5.19 [[ 9.99521933e-01 2.93122527e-02 9.83351679e-03 1.28676544e+02] [-2.93096715e-02 9.99570297e-01 -4.06528314e-04 -9.45676472e+00] [-9.84120756e-03 1.18116819e-04 9.99951567e-01 -5.19258159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.041346184 meters 0.06625099747101906 Centerline is valid? [True, True] Translation: X:128.73, Y:-9.46, Z:-5.19 [[ 9.99584437e-01 2.70407946e-02 9.98741001e-03 1.28734228e+02] [-2.70380286e-02 9.99634321e-01 -4.11889031e-04 -9.46300269e+00] [-9.99489563e-03 1.41677987e-04 9.99950040e-01 -5.19360343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.101346184 meters 0.06647183914890563 Centerline is valid? [True, True] Translation: X:128.79, Y:-9.47, Z:-5.20 [[ 9.99595878e-01 2.61665461e-02 1.11082386e-02 1.28792702e+02] [-2.61630912e-02 9.99657584e-01 -4.56249857e-04 -9.47060862e+00] [-1.11163735e-02 1.65439616e-04 9.99938198e-01 -5.19769645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.161346184 meters 0.06702412032459337 Centerline is valid? [True, True] Translation: X:128.85, Y:-9.48, Z:-5.20 [[ 9.99663758e-01 2.43123127e-02 9.01565042e-03 1.28850936e+02] [-2.43099674e-02 9.99704401e-01 -3.69650592e-04 -9.47950716e+00] [-9.02197246e-03 1.50356133e-04 9.99959290e-01 -5.20230925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.221346184 meters 0.06722226922278397 Centerline is valid? [True, True] Translation: X:128.91, Y:-9.48, Z:-5.21 [[ 9.99656011e-01 2.49310893e-02 8.14256975e-03 1.28908208e+02] [-2.49291911e-02 9.99689163e-01 -3.34550142e-04 -9.48466348e+00] [-8.14837944e-03 1.31447383e-04 9.99966793e-01 -5.20669615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.281346184 meters 0.06595248935375289 Centerline is valid? [True, True] Translation: X:128.97, Y:-9.49, Z:-5.20 [[ 9.99598707e-01 2.73397804e-02 7.41361938e-03 1.28967390e+02] [-2.73382774e-02 9.99626193e-01 -3.04012573e-04 -9.48593827e+00] [-7.41915975e-03 1.01214991e-04 9.99972473e-01 -5.20260470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.341346184 meters 0.06640848147649232 Centerline is valid? [True, True] Translation: X:129.02, Y:-9.49, Z:-5.21 [[ 9.99538226e-01 2.95791866e-02 6.95751713e-03 1.29024397e+02] [-2.95779160e-02 9.99562437e-01 -2.85467416e-04 -9.49233242e+00] [-6.96291667e-03 7.95467368e-05 9.99975755e-01 -5.20950540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.401346184 meters 0.0662640219680142 Centerline is valid? [True, True] Translation: X:129.08, Y:-9.49, Z:-5.21 [[ 9.99501605e-01 3.07817094e-02 7.00195916e-03 1.29083487e+02] [-3.07804614e-02 9.99526128e-01 -2.85948515e-04 -9.49302345e+00] [-7.00744311e-03 7.02824654e-05 9.99975445e-01 -5.20866061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.461346184 meters 0.0665265817959189 Centerline is valid? [True, True] Translation: X:129.14, Y:-9.50, Z:-5.21 [[ 9.99541473e-01 2.94990955e-02 6.82985472e-03 1.29141467e+02] [-2.94978809e-02 9.99564804e-01 -2.78515082e-04 -9.50330205e+00] [-6.83509834e-03 7.69211344e-05 9.99976637e-01 -5.21378873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52134618399998 meters 0.0659789104541975 Centerline is valid? [True, True] Translation: X:129.20, Y:-9.51, Z:-5.21 [[ 9.99569147e-01 2.84744750e-02 7.12209576e-03 1.29199683e+02] [-2.84731239e-02 9.99594516e-01 -2.91039600e-04 -9.50994644e+00] [-7.12749506e-03 8.81258894e-05 9.99974595e-01 -5.21396882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58134618399998 meters 0.06619991639709638 Centerline is valid? [True, True] Translation: X:129.26, Y:-9.52, Z:-5.21 [[ 9.99596588e-01 2.72263334e-02 8.08628105e-03 1.29257449e+02] [-2.72245675e-02 9.99629289e-01 -3.28391396e-04 -9.51548283e+00] [-8.09222427e-03 1.08113414e-04 9.99967252e-01 -5.21486278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64134618399999 meters 0.06631733815527821 Centerline is valid? [True, True] Translation: X:129.32, Y:-9.52, Z:-5.22 [[ 9.99611055e-01 2.71309860e-02 6.45361216e-03 1.29315483e+02] [-2.71298588e-02 9.99631883e-01 -2.62149542e-04 -9.52260024e+00] [-6.45834885e-03 8.69619937e-05 9.99979141e-01 -5.21791747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.701346184 meters 0.0662842879206782 Centerline is valid? [True, True] Translation: X:129.37, Y:-9.53, Z:-5.22 [[ 9.99582008e-01 2.82266289e-02 6.25041331e-03 1.29374380e+02] [-2.82255993e-02 9.99601546e-01 -2.52905844e-04 -9.52777837e+00] [-6.25506149e-03 7.63784696e-05 9.99980434e-01 -5.21997789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.761346184 meters 0.06629245824399292 Centerline is valid? [True, True] Translation: X:129.43, Y:-9.53, Z:-5.22 [[ 9.99562757e-01 2.89870223e-02 5.83497077e-03 1.29433433e+02] [-2.89861393e-02 9.99579786e-01 -2.35848270e-04 -9.53248180e+00] [-5.83935537e-03 6.66118712e-05 9.99982949e-01 -5.22216123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.821346184 meters 0.06622326951043254 Centerline is valid? [True, True] Translation: X:129.49, Y:-9.54, Z:-5.22 [[ 9.99586022e-01 2.83893752e-02 4.67211206e-03 1.29492115e+02] [-2.83888015e-02 9.99596939e-01 -1.89068614e-04 -9.53733655e+00] [-4.67559645e-03 5.63546817e-05 9.99989068e-01 -5.22413584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.881346184 meters 0.06618086530673764 Centerline is valid? [True, True] Translation: X:129.55, Y:-9.54, Z:-5.23 [[ 9.99626923e-01 2.69215062e-02 4.60937506e-03 1.29550965e+02] [-2.69209336e-02 9.99637549e-01 -1.86247908e-04 -9.54373240e+00] [-4.61271846e-03 6.20897437e-05 9.99989359e-01 -5.22627905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.941346184 meters 0.06624183007765189 Centerline is valid? [True, True] Translation: X:129.61, Y:-9.55, Z:-5.23 [[ 9.99600209e-01 2.79331264e-02 4.37759943e-03 1.29608239e+02] [-2.79326179e-02 9.99609793e-01 -1.77255262e-04 -9.54778139e+00] [-4.38084256e-03 5.49065845e-05 9.99990403e-01 -5.22928593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.001346184 meters 0.06605664573351162 Centerline is valid? [True, True] Translation: X:129.67, Y:-9.55, Z:-5.23 [[ 9.99633132e-01 2.68185047e-02 3.79058092e-03 1.29666865e+02] [-2.68181172e-02 9.99640318e-01 -1.53042974e-04 -9.55286311e+00] [-3.79332190e-03 5.13305848e-05 9.99992804e-01 -5.23082954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.061346184 meters 0.06645351848415411 Centerline is valid? [True, True] Translation: X:129.73, Y:-9.56, Z:-5.23 [[ 9.99695961e-01 2.44366198e-02 3.29183821e-03 1.29725016e+02] [-2.44363143e-02 9.99701380e-01 -1.32989177e-04 -9.56077961e+00] [-3.29410501e-03 5.25083497e-05 9.99994573e-01 -5.23393076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.121346184 meters 0.06769083604446478 Centerline is valid? [True, True] Translation: X:129.78, Y:-9.57, Z:-5.24 [[ 9.99719102e-01 2.36712504e-02 1.17854859e-03 1.29782132e+02] [-2.36712080e-02 9.99719796e-01 -4.99301454e-05 -9.56842096e+00] [-1.17940027e-03 2.20184513e-05 9.99999304e-01 -5.24312048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.181346184 meters 0.06706407940722042 Centerline is valid? [True, True] Translation: X:129.84, Y:-9.57, Z:-5.24 [[ 9.99724684e-01 2.33918729e-02 1.83734857e-03 1.29840820e+02] [-2.33917745e-02 9.99726372e-01 -7.50229671e-05 -9.57098955e+00] [-1.83860075e-03 3.20234687e-05 9.99998309e-01 -5.24155547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24134618399998 meters 0.0667377505289681 Centerline is valid? [True, True] Translation: X:129.90, Y:-9.57, Z:-5.24 [[ 9.99685836e-01 2.49438330e-02 2.45657933e-03 1.29899919e+02] [-2.49436642e-02 9.99688853e-01 -9.93180263e-05 -9.57332516e+00] [-2.45829235e-03 3.80107342e-05 9.99996978e-01 -5.24173499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30134618399998 meters 0.0666766073030784 Centerline is valid? [True, True] Translation: X:129.96, Y:-9.58, Z:-5.24 [[ 9.99636716e-01 2.69048082e-02 1.60225557e-03 1.29958036e+02] [-2.69047355e-02 9.99638000e-01 -6.68978374e-05 -9.57615135e+00] [-1.60347543e-03 2.37652720e-05 9.99998714e-01 -5.24332607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36134618399998 meters 0.06717256537074066 Centerline is valid? [True, True] Translation: X:130.02, Y:-9.58, Z:-5.25 [[ 9.99597827e-01 2.83545137e-02 4.54380251e-04 1.30015572e+02] [-2.83545070e-02 9.99597930e-01 -2.11211403e-05 -9.57965781e+00] [-4.54796438e-04 8.22891792e-06 9.99999897e-01 -5.24727281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.421346184 meters 0.06657175964470476 Centerline is valid? [True, True] Translation: X:130.07, Y:-9.58, Z:-5.24 [[ 9.99602652e-01 2.81231667e-02 1.90433294e-03 1.30074955e+02] [-2.81230667e-02 9.99604465e-01 -7.93175731e-05 -9.58251634e+00] [-1.90581037e-03 2.57303740e-05 9.99998184e-01 -5.24440793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.481346184 meters 0.06775379657197368 Centerline is valid? [True, True] Translation: X:130.13, Y:-9.59, Z:-5.25 [[ 9.99653749e-01 2.63034418e-02 7.14789628e-04 1.30131577e+02] [-2.63034257e-02 9.99654005e-01 -3.18747909e-05 -9.59433117e+00] [-7.15380731e-04 1.30623384e-05 9.99999744e-01 -5.25424127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.541346184 meters 0.0668593467269203 Centerline is valid? [True, True] Translation: X:130.19, Y:-9.60, Z:-5.25 [[ 9.99629937e-01 2.70654224e-02 2.72990259e-03 1.30190094e+02] [-2.70652267e-02 9.99633664e-01 -1.08583607e-04 -9.59927636e+00] [-2.73184139e-03 3.46579914e-05 9.99996268e-01 -5.25061061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.601346184 meters 0.06659376794035396 Centerline is valid? [True, True] Translation: X:130.25, Y:-9.60, Z:-5.25 [[ 9.99573595e-01 2.90749591e-02 2.69725484e-03 1.30249095e+02] [-2.90747758e-02 9.99577234e-01 -1.07153384e-04 -9.60158719e+00] [-2.69923001e-03 2.86856136e-05 9.99996357e-01 -5.24892461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.661346184 meters 0.06690429984776135 Centerline is valid? [True, True] Translation: X:130.31, Y:-9.61, Z:-5.25 [[ 9.99549028e-01 3.00123754e-02 9.99276558e-04 1.30307579e+02] [-3.00123491e-02 9.99549527e-01 -4.13146326e-05 -9.60684186e+00] [-1.00006636e-03 1.13053640e-05 9.99999500e-01 -5.25206515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.721346184 meters 0.06719225238049065 Centerline is valid? [True, True] Translation: X:130.36, Y:-9.62, Z:-5.26 [[ 9.99531758e-01 3.05541664e-02 1.64575059e-03 1.30364913e+02] [-3.05540979e-02 9.99533112e-01 -6.67666480e-05 -9.61801785e+00] [-1.64702220e-03 1.64509605e-05 9.99998644e-01 -5.25624805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.781346184 meters 0.06650638716658602 Centerline is valid? [True, True] Translation: X:130.42, Y:-9.63, Z:-5.25 [[ 9.99561561e-01 2.94464278e-02 3.09735369e-03 1.30424051e+02] [-2.94461913e-02 9.99566359e-01 -1.21948611e-04 -9.62702437e+00] [-3.09960150e-03 3.06898752e-05 9.99995196e-01 -5.25068066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.841346184 meters 0.06709642026446057 Centerline is valid? [True, True] Translation: X:130.48, Y:-9.64, Z:-5.25 [[ 9.99590056e-01 2.83955449e-02 3.66248430e-03 1.30480972e+02] [-2.83952033e-02 9.99596764e-01 -1.45240071e-04 -9.63615871e+00] [-3.66513163e-03 4.11835442e-05 9.99993283e-01 -5.25443425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.901346184 meters 0.06762889512077454 Centerline is valid? [True, True] Translation: X:130.54, Y:-9.65, Z:-5.26 [[ 9.99581397e-01 2.88259803e-02 2.46861805e-03 1.30539093e+02] [-2.88258297e-02 9.99584445e-01 -9.65700611e-05 -9.64888979e+00] [-2.47037593e-03 2.53696730e-05 9.99996948e-01 -5.25936680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.961346184 meters 0.06744501539043768 Centerline is valid? [True, True] Translation: X:130.60, Y:-9.65, Z:-5.26 [[ 9.99554423e-01 2.97374198e-02 2.57701451e-03 1.30598280e+02] [-2.97372592e-02 9.99557745e-01 -1.00620275e-04 -9.65467396e+00] [-2.57886700e-03 2.39420928e-05 9.99996674e-01 -5.25858240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02134618399998 meters 0.06749090540809684 Centerline is valid? [True, True] Translation: X:130.66, Y:-9.66, Z:-5.26 [[ 9.99556898e-01 2.95349184e-02 3.70097074e-03 1.30656918e+02] [-2.95345876e-02 9.99563749e-01 -1.44010836e-04 -9.66114527e+00] [-3.70360953e-03 3.46403800e-05 9.99993141e-01 -5.25998389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08134618399998 meters 0.06760556578013911 Centerline is valid? [True, True] Translation: X:130.71, Y:-9.68, Z:-5.26 [[ 9.99624449e-01 2.71743720e-02 3.53771764e-03 1.30714813e+02] [-2.71740554e-02 9.99630708e-01 -1.37540693e-04 -9.67580394e+00] [-3.54014877e-03 4.13549041e-05 9.99993733e-01 -5.26392160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14134618399999 meters 0.06772060994770028 Centerline is valid? [True, True] Translation: X:130.77, Y:-9.69, Z:-5.26 [[ 9.99698900e-01 2.38818617e-02 5.63611984e-03 1.30772325e+02] [-2.38810146e-02 9.99714784e-01 -2.17560167e-04 -9.68806824e+00] [-5.63970808e-03 8.28983993e-05 9.99984093e-01 -5.26430606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.201346184 meters 0.06750264884134716 Centerline is valid? [True, True] Translation: X:130.83, Y:-9.69, Z:-5.26 [[ 9.99653202e-01 2.49559241e-02 8.40700243e-03 1.30831517e+02] [-2.49541077e-02 9.99688546e-01 -3.20892029e-04 -9.69390498e+00] [-8.41239220e-03 1.10991500e-04 9.99964609e-01 -5.26323749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.261346184 meters 0.06744504231286082 Centerline is valid? [True, True] Translation: X:130.89, Y:-9.70, Z:-5.26 [[ 9.99649967e-01 2.45975178e-02 9.74196277e-03 1.30890567e+02] [-2.45950702e-02 9.99697427e-01 -3.70992629e-04 -9.70193837e+00] [-9.74814061e-03 1.31258511e-04 9.99952477e-01 -5.26492437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.321346184 meters 0.06751587114397196 Centerline is valid? [True, True] Translation: X:130.95, Y:-9.71, Z:-5.27 [[ 9.99631977e-01 2.48552123e-02 1.08686841e-02 1.30948570e+02] [-2.48521854e-02 9.99691051e-01 -4.13493987e-04 -9.71205296e+00] [-1.08756037e-02 1.43231259e-04 9.99940849e-01 -5.26962951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.381346184 meters 0.06721137112711557 Centerline is valid? [True, True] Translation: X:131.01, Y:-9.71, Z:-5.27 [[ 9.99527468e-01 2.77102249e-02 1.33035728e-02 1.31007319e+02] [-2.77059700e-02 9.99615989e-01 -5.04060329e-04 -9.71294869e+00] [-1.33124317e-02 1.35233754e-04 9.99911377e-01 -5.27040533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.441346184 meters 0.06734992894667116 Centerline is valid? [True, True] Translation: X:131.07, Y:-9.72, Z:-5.27 [[ 9.99540982e-01 2.72775739e-02 1.31817689e-02 1.31065551e+02] [-2.72733628e-02 9.99627888e-01 -4.99157778e-04 -9.71983603e+00] [-1.31904796e-02 1.39417490e-04 9.99912992e-01 -5.27377028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.501346184 meters 0.06812074160489627 Centerline is valid? [True, True] Translation: X:131.12, Y:-9.73, Z:-5.28 [[ 9.99658019e-01 2.21600631e-02 1.38844001e-02 1.31123717e+02] [-2.21549197e-02 9.99754412e-01 -5.24159728e-04 -9.73247890e+00] [-1.38926057e-02 2.16372704e-04 9.99903470e-01 -5.27718950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.561346184 meters 0.06845242286358875 Centerline is valid? [True, True] Translation: X:131.18, Y:-9.74, Z:-5.28 [[ 9.99694392e-01 1.94016641e-02 1.53198572e-02 1.31184312e+02] [-1.93951116e-02 9.99811731e-01 -5.76185417e-04 -9.74241033e+00] [-1.53281519e-02 2.78878989e-04 9.99882478e-01 -5.27889236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.621346184 meters 0.06832194184740367 Centerline is valid? [True, True] Translation: X:131.25, Y:-9.75, Z:-5.28 [[ 9.99738067e-01 1.75968160e-02 1.46338638e-02 1.31246042e+02] [-1.75907300e-02 9.99845123e-01 -5.44508842e-04 -9.74912269e+00] [-1.46411790e-02 2.86945871e-04 9.99892771e-01 -5.28047410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.681346184 meters 0.06955952355958296 Centerline is valid? [True, True] Translation: X:131.31, Y:-9.75, Z:-5.29 [[ 9.99760897e-01 1.80911621e-02 1.22824819e-02 1.31306478e+02] [-1.80868228e-02 9.99836312e-01 -4.64288218e-04 -9.75325766e+00] [-1.22888710e-02 2.42026131e-04 9.99924460e-01 -5.28738330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74134618399998 meters 0.07037402844185874 Centerline is valid? [True, True] Translation: X:131.37, Y:-9.76, Z:-5.29 [[ 9.99788522e-01 1.77942607e-02 1.03089975e-02 1.31367053e+02] [-1.77912359e-02 9.99841649e-01 -3.85050208e-04 -9.76053393e+00] [-1.03142167e-02 2.01558973e-04 9.99946787e-01 -5.29425852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80134618399998 meters 0.06980480675447617 Centerline is valid? [True, True] Translation: X:131.43, Y:-9.76, Z:-5.29 [[ 9.99824691e-01 1.61868665e-02 9.41125226e-03 1.31427552e+02] [-1.61842052e-02 9.99868963e-01 -3.58873892e-04 -9.76493591e+00] [-9.41582808e-03 2.06497340e-04 9.99955649e-01 -5.29387267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86134618399998 meters 0.06948838776105895 Centerline is valid? [True, True] Translation: X:131.49, Y:-9.76, Z:-5.29 [[ 9.99835316e-01 1.59784652e-02 8.60402074e-03 1.31488332e+02] [-1.59762332e-02 9.99872318e-01 -3.28092195e-04 -9.76316554e+00] [-8.60816457e-03 1.90578322e-04 9.99962931e-01 -5.29398598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.921346184 meters 0.06977165003041993 Centerline is valid? [True, True] Translation: X:131.55, Y:-9.76, Z:-5.30 [[ 9.99844627e-01 1.67902275e-02 5.36745715e-03 1.31548787e+02] [-1.67893706e-02 9.99859028e-01 -2.04674169e-04 -9.76368770e+00] [-5.37013701e-03 1.14526141e-04 9.99985574e-01 -5.29926579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.981346184 meters 0.07000760489180285 Centerline is valid? [True, True] Translation: X:131.61, Y:-9.76, Z:-5.30 [[ 9.99862318e-01 1.64459324e-02 2.20842376e-03 1.31608094e+02] [-1.64457821e-02 9.99864755e-01 -8.62227461e-05 -9.76432794e+00] [-2.20954310e-03 4.98916188e-05 9.99997558e-01 -5.30204511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.041346184 meters 0.0702455099952579 Centerline is valid? [True, True] Translation: X:131.67, Y:-9.77, Z:-5.31 [[ 9.99861269e-01 1.65635814e-02 1.75794105e-03 1.31666900e+02] [-1.65634845e-02 9.99862814e-01 -6.96621993e-05 -9.76528161e+00] [-1.75885374e-03 4.05349058e-05 9.99998452e-01 -5.30502037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.101346184 meters 0.07020065852965429 Centerline is valid? [True, True] Translation: X:131.73, Y:-9.77, Z:-5.31 [[ 9.99850238e-01 1.71435681e-02 2.36618802e-03 1.31726199e+02] [-1.71433985e-02 9.99853037e-01 -9.19320301e-05 -9.76689807e+00] [-2.36741632e-03 5.13537580e-05 9.99997196e-01 -5.30658689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.161346184 meters 0.07024061260661592 Centerline is valid? [True, True] Translation: X:131.78, Y:-9.77, Z:-5.31 [[ 9.99843478e-01 1.74071356e-02 3.16402391e-03 1.31783698e+02] [-1.74068326e-02 9.99848482e-01 -1.23256318e-04 -9.76677921e+00] [-3.16569004e-03 6.81613916e-05 9.99994987e-01 -5.30967363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.221346184 meters 0.07042153486215734 Centerline is valid? [True, True] Translation: X:131.84, Y:-9.77, Z:-5.31 [[ 9.99855464e-01 1.68198380e-02 2.47864585e-03 1.31842650e+02] [-1.68196506e-02 9.99858535e-01 -9.64317048e-05 -9.76560149e+00] [-2.47991717e-03 5.47278097e-05 9.99996924e-01 -5.31136784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.281346184 meters 0.07010319022971802 Centerline is valid? [True, True] Translation: X:131.90, Y:-9.77, Z:-5.31 [[ 9.99838331e-01 1.76036410e-02 3.66393841e-03 1.31901589e+02] [-1.76032428e-02 9.99845041e-01 -1.40904748e-04 -9.76666434e+00] [-3.66585109e-03 7.63847708e-05 9.99993278e-01 -5.31356176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.341346184 meters 0.06971472367825707 Centerline is valid? [True, True] Translation: X:131.96, Y:-9.76, Z:-5.31 [[ 9.99777279e-01 2.06279142e-02 4.45889721e-03 1.31960763e+02] [-2.06273588e-02 9.99787219e-01 -1.70498252e-04 -9.75931581e+00] [-4.46146546e-03 7.84850060e-05 9.99990045e-01 -5.31487466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.401346184 meters 0.06916224288063261 Centerline is valid? [True, True] Translation: X:132.02, Y:-9.76, Z:-5.32 [[ 9.99707478e-01 2.34250464e-02 6.01881441e-03 1.32020171e+02] [-2.34240975e-02 9.99725592e-01 -2.28110461e-04 -9.75588939e+00] [-6.02250630e-03 8.70584377e-05 9.99981861e-01 -5.31726616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.461346184 meters 0.06941675615311779 Centerline is valid? [True, True] Translation: X:132.08, Y:-9.76, Z:-5.32 [[ 9.99729337e-01 2.28355563e-02 4.44868404e-03 1.32078375e+02] [-2.28350249e-02 9.99739232e-01 -1.70208558e-04 -9.75705675e+00] [-4.45141078e-03 6.85766779e-05 9.99990090e-01 -5.32086546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52134618399998 meters 0.0697700659611931 Centerline is valid? [True, True] Translation: X:132.14, Y:-9.76, Z:-5.32 [[ 9.99782801e-01 2.04866924e-02 3.82712579e-03 1.32136577e+02] [-2.04862803e-02 9.99790123e-01 -1.46864596e-04 -9.75945637e+00] [-3.82933133e-03 6.84291252e-05 9.99992666e-01 -5.32342923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58134618399998 meters 0.06990282038247819 Centerline is valid? [True, True] Translation: X:132.20, Y:-9.76, Z:-5.33 [[ 9.99823968e-01 1.83622260e-02 3.85511304e-03 1.32195555e+02] [-1.83617975e-02 9.99831397e-01 -1.46525243e-04 -9.76332840e+00] [-3.85715359e-03 7.57126447e-05 9.99992558e-01 -5.32620195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64134618399999 meters 0.06977221266922261 Centerline is valid? [True, True] Translation: X:132.25, Y:-9.76, Z:-5.33 [[ 9.99793287e-01 1.95189007e-02 5.69173391e-03 1.32253069e+02] [-1.95179923e-02 9.99809483e-01 -2.15090154e-04 -9.76284068e+00] [-5.69484786e-03 1.03954473e-04 9.99983779e-01 -5.32769857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.701346184 meters 0.07000145017296817 Centerline is valid? [True, True] Translation: X:132.31, Y:-9.77, Z:-5.33 [[ 9.99796521e-01 1.95334068e-02 5.03619374e-03 1.32311521e+02] [-1.95326996e-02 9.99809201e-01 -1.89579125e-04 -9.76531919e+00] [-5.03893596e-03 9.11700898e-05 9.99987300e-01 -5.33181409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.761346184 meters 0.07057014150027761 Centerline is valid? [True, True] Translation: X:132.37, Y:-9.77, Z:-5.33 [[ 9.99860686e-01 1.62043263e-02 4.00349732e-03 1.32371024e+02] [-1.62038564e-02 9.99868698e-01 -1.49774754e-04 -9.76986511e+00] [-4.00539865e-03 8.48817927e-05 9.99991975e-01 -5.33429991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.821346184 meters 0.0707598928076835 Centerline is valid? [True, True] Translation: X:132.43, Y:-9.77, Z:-5.34 [[ 9.99921252e-01 1.19325015e-02 3.88666241e-03 1.32430177e+02] [-1.19320241e-02 9.99928800e-01 -1.45980864e-04 -9.77476368e+00] [-3.88812759e-03 9.95936184e-05 9.99992436e-01 -5.33559551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.881346184 meters 0.07211091330890276 Centerline is valid? [True, True] Translation: X:132.49, Y:-9.78, Z:-5.34 [[ 9.99968665e-01 7.38736166e-03 2.84516897e-03 1.32488789e+02] [-7.38708825e-03 9.99972709e-01 -1.06593279e-04 -9.78038933e+00] [-2.84587876e-03 8.55724243e-05 9.99995947e-01 -5.34009625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.941346184 meters 0.07309736041191517 Centerline is valid? [True, True] Translation: X:132.55, Y:-9.78, Z:-5.34 [[ 9.99985392e-01 4.36933761e-03 3.18185595e-03 1.32547495e+02] [-4.36898141e-03 9.99990449e-01 -1.18890789e-04 -9.78430599e+00] [-3.18234503e-03 1.04987582e-04 9.99994931e-01 -5.34278556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.001346184 meters 0.07327697959194142 Centerline is valid? [True, True] Translation: X:132.61, Y:-9.79, Z:-5.35 [[ 9.99993761e-01 2.23084333e-03 2.73875244e-03 1.32607729e+02] [-2.23057462e-03 9.99997507e-01 -1.01165139e-04 -9.78543633e+00] [-2.73897129e-03 9.50555162e-05 9.99996244e-01 -5.34539418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.061346184 meters 0.07390051724688734 Centerline is valid? [True, True] Translation: X:132.67, Y:-9.79, Z:-5.35 [[ 9.99997517e-01 1.99600626e-03 9.91323046e-04 1.32668316e+02] [-1.99597546e-03 9.99998008e-01 -3.20558017e-05 -9.78505912e+00] [-9.91385055e-04 3.00770656e-05 9.99999508e-01 -5.34976765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.121346184 meters 0.0737685640087193 Centerline is valid? [True, True] Translation: X:132.73, Y:-9.78, Z:-5.35 [[ 9.99997103e-01 1.28590477e-03 2.03496022e-03 1.32729322e+02] [-1.28575394e-03 9.99999171e-01 -7.54277132e-05 -9.78329518e+00] [-2.03505553e-03 7.28110365e-05 9.99997927e-01 -5.35142023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.181346184 meters 0.07376888445756107 Centerline is valid? [True, True] Translation: X:132.79, Y:-9.78, Z:-5.35 [[ 9.99995386e-01 6.08452383e-04 2.97603877e-03 1.32791211e+02] [-6.08130467e-04 9.99999809e-01 -1.09072921e-04 -9.77793720e+00] [-2.97610456e-03 1.07262598e-04 9.99995566e-01 -5.35084847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24134618399998 meters 0.07487703409946413 Centerline is valid? [True, True] Translation: X:132.85, Y:-9.78, Z:-5.35 [[ 9.99992292e-01 2.18292467e-04 3.92017368e-03 1.32852410e+02] [-2.17754137e-04 9.99999967e-01 -1.37749172e-04 -9.78205793e+00] [-3.92020362e-03 1.36894476e-04 9.99992307e-01 -5.35476168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30134618399998 meters 0.07368486736880073 Centerline is valid? [True, True] Translation: X:132.91, Y:-9.78, Z:-5.36 [[ 9.99988455e-01 7.43025599e-04 4.74737548e-03 1.32914697e+02] [-7.42203164e-04 9.99999709e-01 -1.74999463e-04 -9.77832860e+00] [-4.74750412e-03 1.71473925e-04 9.99988716e-01 -5.35513483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36134618399998 meters 0.073190795261589 Centerline is valid? [True, True] Translation: X:132.98, Y:-9.77, Z:-5.36 [[ 9.99983310e-01 2.59046549e-03 5.16418530e-03 1.32976784e+02] [-2.58951098e-03 9.99996629e-01 -1.91510959e-04 -9.77019963e+00] [-5.16466399e-03 1.78135048e-04 9.99986647e-01 -5.35552462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.421346184 meters 0.070993063278025 Centerline is valid? [True, True] Translation: X:133.04, Y:-9.76, Z:-5.35 [[ 9.99979308e-01 4.08270387e-03 4.97146655e-03 1.33039219e+02] [-4.08184050e-03 9.99991652e-01 -1.83799783e-04 -9.76050963e+00] [-4.97217545e-03 1.63503247e-04 9.99987625e-01 -5.35287289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.481346184 meters 0.07119825395504131 Centerline is valid? [True, True] Translation: X:133.10, Y:-9.76, Z:-5.36 [[ 9.99964065e-01 5.11880588e-03 6.75765869e-03 1.33100319e+02] [-5.11725745e-03 9.99986876e-01 -2.46408109e-04 -9.76061256e+00] [-6.75883132e-03 2.11818575e-04 9.99977136e-01 -5.35579929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.541346184 meters 0.07078557569251062 Centerline is valid? [True, True] Translation: X:133.16, Y:-9.76, Z:-5.35 [[ 9.99955325e-01 5.35504214e-03 7.78923137e-03 1.33162412e+02] [-5.35292465e-03 9.99985630e-01 -2.92670065e-04 -9.75619579e+00] [-7.79068670e-03 2.50961821e-04 9.99969621e-01 -5.35472200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.601346184 meters 0.07099151060228863 Centerline is valid? [True, True] Translation: X:133.22, Y:-9.75, Z:-5.36 [[ 9.99956990e-01 6.19154783e-03 6.90531771e-03 1.33224622e+02] [-6.18994715e-03 9.99980810e-01 -2.53151468e-04 -9.75242271e+00] [-6.90675259e-03 2.10397028e-04 9.99976126e-01 -5.35745406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.661346184 meters 0.07034800574631697 Centerline is valid? [True, True] Translation: X:133.29, Y:-9.75, Z:-5.36 [[ 9.99947093e-01 6.74549623e-03 7.76587529e-03 1.33285585e+02] [-6.74340963e-03 9.99977219e-01 -2.94841508e-04 -9.75216501e+00] [-7.76768723e-03 2.42457431e-04 9.99969802e-01 -5.36043161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.721346184 meters 0.07042875872305851 Centerline is valid? [True, True] Translation: X:133.35, Y:-9.75, Z:-5.36 [[ 9.99946293e-01 8.68287865e-03 5.65857275e-03 1.33347339e+02] [-8.68183789e-03 9.99962290e-01 -2.08465274e-04 -9.74764800e+00] [-5.66016945e-03 1.59327267e-04 9.99983968e-01 -5.36443591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.781346184 meters 0.07019882472116103 Centerline is valid? [True, True] Translation: X:133.41, Y:-9.74, Z:-5.37 [[ 9.99917781e-01 1.13143274e-02 6.03462040e-03 1.33407334e+02] [-1.13131356e-02 9.99935978e-01 -2.31596201e-04 -9.74314739e+00] [-6.03685440e-03 1.63306681e-04 9.99981765e-01 -5.36741051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.841346184 meters 0.06932813674341358 Centerline is valid? [True, True] Translation: X:133.47, Y:-9.74, Z:-5.37 [[ 9.99882559e-01 1.47400263e-02 4.19528935e-03 1.33466959e+02] [-1.47394755e-02 9.99891355e-01 -1.62176296e-04 -9.73600132e+00] [-4.19722403e-03 1.00320885e-04 9.99991187e-01 -5.37119117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.901346184 meters 0.06855582530566909 Centerline is valid? [True, True] Translation: X:133.53, Y:-9.73, Z:-5.37 [[ 9.99834824e-01 1.75861607e-02 4.58814530e-03 1.33526118e+02] [-1.75855278e-02 9.99845347e-01 -1.78253566e-04 -9.73088005e+00] [-4.59057053e-03 9.75391665e-05 9.99989459e-01 -5.37341197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.961346184 meters 0.06805254622964235 Centerline is valid? [True, True] Translation: X:133.58, Y:-9.73, Z:-5.37 [[ 9.99811419e-01 1.89162659e-02 4.39340418e-03 1.33584879e+02] [-1.89156993e-02 9.99821068e-01 -1.70503799e-04 -9.72597702e+00] [-4.39584335e-03 8.73673327e-05 9.99990334e-01 -5.37311820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02134618399998 meters 0.06838464771833842 Centerline is valid? [True, True] Translation: X:133.64, Y:-9.73, Z:-5.38 [[ 9.99801972e-01 1.94354874e-02 4.27525872e-03 1.33642428e+02] [-1.94349542e-02 9.99811110e-01 -1.66224034e-04 -9.72653880e+00] [-4.27768181e-03 8.31016596e-05 9.99990847e-01 -5.37726930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08134618399998 meters 0.06804206832713292 Centerline is valid? [True, True] Translation: X:133.70, Y:-9.72, Z:-5.38 [[ 9.99787803e-01 2.03681218e-02 3.08038096e-03 1.33701744e+02] [-2.03678493e-02 9.99792547e-01 -1.19819929e-04 -9.72397957e+00] [-3.08218244e-03 5.70537683e-05 9.99995248e-01 -5.37884289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14134618399999 meters 0.06857784576053641 Centerline is valid? [True, True] Translation: X:133.76, Y:-9.73, Z:-5.39 [[ 9.99799744e-01 1.99602050e-02 1.43616929e-03 1.33759609e+02] [-1.99601426e-02 9.99800775e-01 -5.77660973e-05 -9.72585999e+00] [-1.43703619e-03 2.90883855e-05 9.99998967e-01 -5.38577122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.201346184 meters 0.06858247886984187 Centerline is valid? [True, True] Translation: X:133.82, Y:-9.72, Z:-5.39 [[ 9.99799347e-01 2.00030197e-02 1.07038210e-03 1.33818010e+02] [-2.00029843e-02 9.99799919e-01 -4.37569866e-05 -9.72406777e+00] [-1.07104321e-03 2.23373703e-05 9.99999426e-01 -5.38665232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.261346184 meters 0.06759556950584518 Centerline is valid? [True, True] Translation: X:133.88, Y:-9.72, Z:-5.39 [[ 9.99771214e-01 2.12811772e-02 2.15197157e-03 1.33877577e+02] [-2.12810470e-02 9.99773529e-01 -8.33782421e-05 -9.72129286e+00] [-2.15325859e-03 3.75629583e-05 9.99997681e-01 -5.38565364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.321346184 meters 0.06691344350280147 Centerline is valid? [True, True] Translation: X:133.94, Y:-9.72, Z:-5.38 [[ 9.99727350e-01 2.32286709e-02 2.37788746e-03 1.33936466e+02] [-2.32285167e-02 9.99730177e-01 -9.24512697e-05 -9.71569031e+00] [-2.37939337e-03 3.71912644e-05 9.99997169e-01 -5.38414424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.381346184 meters 0.06693500655840473 Centerline is valid? [True, True] Translation: X:134.00, Y:-9.71, Z:-5.39 [[ 9.99703951e-01 2.41968039e-02 2.55454545e-03 1.33995504e+02] [-2.41966301e-02 9.99707214e-01 -9.89172647e-05 -9.71434069e+00] [-2.55619100e-03 3.70765890e-05 9.99996732e-01 -5.38731599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.441346184 meters 0.06680726577692601 Centerline is valid? [True, True] Translation: X:134.05, Y:-9.71, Z:-5.39 [[ 9.99672329e-01 2.53622512e-02 3.46265509e-03 1.34053622e+02] [-2.53619412e-02 9.99678325e-01 -1.33419978e-04 -9.71387460e+00] [-3.46492508e-03 4.55566058e-05 9.99993996e-01 -5.39102608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.501346184 meters 0.06670162713035004 Centerline is valid? [True, True] Translation: X:134.11, Y:-9.71, Z:-5.39 [[ 9.99691346e-01 2.43926188e-02 4.71312069e-03 1.34112693e+02] [-2.43920440e-02 9.99702454e-01 -1.79409235e-04 -9.71209708e+00] [-4.71609458e-03 6.43912125e-05 9.99988877e-01 -5.38827136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.561346184 meters 0.06773377558156128 Centerline is valid? [True, True] Translation: X:134.17, Y:-9.72, Z:-5.40 [[ 9.99761124e-01 2.12551608e-02 5.09055759e-03 1.34170365e+02] [-2.12544498e-02 9.99774080e-01 -1.93723364e-04 -9.71895200e+00] [-5.09352516e-03 8.54800875e-05 9.99987024e-01 -5.39687363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.621346184 meters 0.06724923251054811 Centerline is valid? [True, True] Translation: X:134.23, Y:-9.72, Z:-5.39 [[ 9.99849748e-01 1.65439930e-02 5.17465478e-03 1.34229269e+02] [-1.65432006e-02 9.99863133e-01 -1.95896099e-04 -9.72277783e+00] [-5.17718744e-03 1.10261313e-04 9.99986592e-01 -5.39456442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.681346184 meters 0.06761784656813623 Centerline is valid? [True, True] Translation: X:134.29, Y:-9.73, Z:-5.40 [[ 9.99874652e-01 1.45335812e-02 6.28139879e-03 1.34287413e+02] [-1.45323773e-02 9.99894371e-01 -2.37255534e-04 -9.72551661e+00] [-6.28418347e-03 1.45942137e-04 9.99980244e-01 -5.39654323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74134618399998 meters 0.06822650217824508 Centerline is valid? [True, True] Translation: X:134.35, Y:-9.73, Z:-5.40 [[ 9.99902746e-01 1.26569431e-02 5.85666862e-03 1.34346735e+02] [-1.26558765e-02 9.99919887e-01 -2.19155689e-04 -9.73010483e+00] [-5.85897327e-03 1.45013100e-04 9.99982826e-01 -5.40158629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80134618399998 meters 0.06855986806022692 Centerline is valid? [True, True] Translation: X:134.40, Y:-9.73, Z:-5.41 [[ 9.99908906e-01 1.28655828e-02 4.08131395e-03 1.34404892e+02] [-1.28650631e-02 9.99917230e-01 -1.53547887e-04 -9.73430952e+00] [-4.08295162e-03 1.01027538e-04 9.99991660e-01 -5.40646758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86134618399998 meters 0.06737675769433239 Centerline is valid? [True, True] Translation: X:134.46, Y:-9.73, Z:-5.40 [[ 9.99885904e-01 1.42983218e-02 4.87207952e-03 1.34464264e+02] [-1.42976012e-02 9.99897767e-01 -1.82711275e-04 -9.73305546e+00] [-4.87419390e-03 1.13031379e-04 9.99988115e-01 -5.40498665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.921346184 meters 0.06773107785664621 Centerline is valid? [True, True] Translation: X:134.52, Y:-9.73, Z:-5.41 [[ 9.99878713e-01 1.42241063e-02 6.34308844e-03 1.34521935e+02] [-1.42228826e-02 9.99898821e-01 -2.37989177e-04 -9.73344804e+00] [-6.34583184e-03 1.47743311e-04 9.99979854e-01 -5.40588416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.981346184 meters 0.06778877818119186 Centerline is valid? [True, True] Translation: X:134.58, Y:-9.74, Z:-5.41 [[ 9.99883565e-01 1.40221642e-02 6.01958582e-03 1.34580370e+02] [-1.40210644e-02 9.99901675e-01 -2.24870552e-04 -9.73835463e+00] [-6.02214711e-03 1.40443369e-04 9.99981857e-01 -5.41020691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.041346184 meters 0.0680294924331329 Centerline is valid? [True, True] Translation: X:134.64, Y:-9.74, Z:-5.41 [[ 9.99903409e-01 1.27216867e-02 5.59736167e-03 1.34638608e+02] [-1.27207166e-02 9.99919067e-01 -2.08880015e-04 -9.74207847e+00] [-5.59956596e-03 1.37657388e-04 9.99984313e-01 -5.41392952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.101346184 meters 0.06967920782388518 Centerline is valid? [True, True] Translation: X:134.70, Y:-9.75, Z:-5.42 [[ 9.99954350e-01 7.82520737e-03 5.48315457e-03 1.34697465e+02] [-7.82421899e-03 9.99969370e-01 -2.01686893e-04 -9.75064149e+00] [-5.48456486e-03 1.58776283e-04 9.99984947e-01 -5.41827884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.161346184 meters 0.07121732507204256 Centerline is valid? [True, True] Translation: X:134.76, Y:-9.76, Z:-5.42 [[ 9.99979397e-01 3.61321292e-03 5.30570734e-03 1.34756725e+02] [-3.61222327e-03 9.99993457e-01 -1.96097384e-04 -9.75707472e+00] [-5.30638116e-03 1.76927944e-04 9.99985905e-01 -5.42283610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.221346184 meters 0.07012178637199491 Centerline is valid? [True, True] Translation: X:134.82, Y:-9.76, Z:-5.42 [[ 9.99977782e-01 2.22864995e-03 6.28235969e-03 1.34817860e+02] [-2.22724679e-03 9.99997493e-01 -2.30336820e-04 -9.75618338e+00] [-6.28285728e-03 2.16339337e-04 9.99980239e-01 -5.42208303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.281346184 meters 0.07046708120842632 Centerline is valid? [True, True] Translation: X:134.88, Y:-9.76, Z:-5.42 [[ 9.99978567e-01 1.77526538e-03 6.30190813e-03 1.34880270e+02] [-1.77388460e-03 9.99998401e-01 -2.24687271e-04 -9.75612476e+00] [-6.30229693e-03 2.13503598e-04 9.99980118e-01 -5.42455950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.341346184 meters 0.07133495018369625 Centerline is valid? [True, True] Translation: X:134.94, Y:-9.76, Z:-5.43 [[ 9.99983423e-01 1.01106803e-03 5.66849603e-03 1.34942687e+02] [-1.00993519e-03 9.99999469e-01 -2.02708141e-04 -9.75883289e+00] [-5.66869797e-03 1.96979967e-04 9.99983913e-01 -5.42896149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.401346184 meters 0.07202199918596798 Centerline is valid? [True, True] Translation: X:135.00, Y:-9.76, Z:-5.43 [[ 9.99982089e-01 3.62772177e-04 5.97414109e-03 1.35004729e+02] [-3.61489966e-04 9.99999911e-01 -2.15705180e-04 -9.76159734e+00] [-5.97421882e-03 2.13541725e-04 9.99982131e-01 -5.43213522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.461346184 meters 0.07259336322417861 Centerline is valid? [True, True] Translation: X:135.07, Y:-9.76, Z:-5.44 [[ 9.99984116e-01 -1.41052412e-03 5.45700145e-03 1.35067118e+02] [ 1.41165337e-03 9.99998983e-01 -2.03090358e-04 -9.75852659e+00] [-5.45670943e-03 2.10790526e-04 9.99985090e-01 -5.43591696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52134618399998 meters 0.07212045635050572 Centerline is valid? [True, True] Translation: X:135.13, Y:-9.76, Z:-5.44 [[ 9.99975434e-01 -2.51570588e-03 6.54235417e-03 1.35129297e+02] [ 2.51732217e-03 9.99996803e-01 -2.38827173e-04 -9.75576616e+00] [-6.54173244e-03 2.55290519e-04 9.99978570e-01 -5.43568419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58134618399998 meters 0.07352611811861838 Centerline is valid? [True, True] Translation: X:135.19, Y:-9.76, Z:-5.44 [[ 9.99967313e-01 -4.33229747e-03 6.82672572e-03 1.35189981e+02] [ 4.33411900e-03 9.99990576e-01 -2.52051879e-04 -9.76012593e+00] [-6.82556942e-03 2.81631482e-04 9.99976666e-01 -5.44173580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64134618399999 meters 0.07435060685727798 Centerline is valid? [True, True] Translation: X:135.25, Y:-9.75, Z:-5.44 [[ 9.99977524e-01 -3.80793093e-03 5.51820915e-03 1.35251503e+02] [ 3.80914258e-03 9.99992723e-01 -2.09078818e-04 -9.75264500e+00] [-5.51737284e-03 2.30093765e-04 9.99984753e-01 -5.44389828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.701346184 meters 0.0733922763459586 Centerline is valid? [True, True] Translation: X:135.31, Y:-9.75, Z:-5.44 [[ 9.99979599e-01 -2.00177556e-03 6.06584887e-03 1.35313566e+02] [ 2.00320953e-03 9.99997967e-01 -2.30334352e-04 -9.74683761e+00] [-6.06537546e-03 2.42480819e-04 9.99981576e-01 -5.44493393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.761346184 meters 0.07222810106945962 Centerline is valid? [True, True] Translation: X:135.38, Y:-9.74, Z:-5.45 [[ 9.99980255e-01 1.36659633e-03 6.13372969e-03 1.35375491e+02] [-1.36519126e-03 9.99999041e-01 -2.33253668e-04 -9.74081629e+00] [-6.13404257e-03 2.24875348e-04 9.99981161e-01 -5.44790231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.821346184 meters 0.07262121171583492 Centerline is valid? [True, True] Translation: X:135.44, Y:-9.74, Z:-5.45 [[ 9.99972906e-01 3.14131488e-03 6.65734134e-03 1.35436468e+02] [-3.13969526e-03 9.99995039e-01 -2.53720251e-04 -9.74004572e+00] [-6.65810533e-03 2.32811354e-04 9.99977807e-01 -5.45277272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.881346184 meters 0.0717815256252882 Centerline is valid? [True, True] Translation: X:135.50, Y:-9.74, Z:-5.46 [[ 9.99965878e-01 4.68797609e-03 6.80189954e-03 1.35499087e+02] [-4.68632191e-03 9.99988986e-01 -2.59111854e-04 -9.73643646e+00] [-6.80303933e-03 2.27227122e-04 9.99976833e-01 -5.45507983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.941346184 meters 0.0717737028091721 Centerline is valid? [True, True] Translation: X:135.56, Y:-9.73, Z:-5.46 [[ 9.99960060e-01 6.49825895e-03 6.13611029e-03 1.35561403e+02] [-6.49697843e-03 9.99978868e-01 -2.28596131e-04 -9.73328185e+00] [-6.13746610e-03 1.88720824e-04 9.99981148e-01 -5.45754062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.001346184 meters 0.07179166927849404 Centerline is valid? [True, True] Translation: X:135.62, Y:-9.73, Z:-5.46 [[ 9.99940826e-01 9.22311910e-03 5.76867617e-03 1.35621846e+02] [-9.22200137e-03 9.99957452e-01 -2.20329112e-04 -9.72753538e+00] [-5.77046285e-03 1.67117335e-04 9.99983337e-01 -5.46285606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.061346184 meters 0.07179949240659053 Centerline is valid? [True, True] Translation: X:135.68, Y:-9.73, Z:-5.47 [[ 9.99931819e-01 1.05529510e-02 4.99925642e-03 1.35680965e+02] [-1.05521070e-02 9.99944306e-01 -1.95170946e-04 -9.72717406e+00] [-5.00103762e-03 1.42404951e-04 9.99987485e-01 -5.46847334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.121346184 meters 0.07314938057678991 Centerline is valid? [True, True] Translation: X:135.74, Y:-9.73, Z:-5.47 [[ 9.99955724e-01 8.60927286e-03 3.79881827e-03 1.35739075e+02] [-8.60877255e-03 9.99962933e-01 -1.48035816e-04 -9.72697949e+00] [-3.79995194e-03 1.15326099e-04 9.99992774e-01 -5.47346452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.181346184 meters 0.07341032441475115 Centerline is valid? [True, True] Translation: X:135.80, Y:-9.73, Z:-5.48 [[ 9.99952297e-01 8.76771734e-03 4.30465778e-03 1.35797803e+02] [-8.76707086e-03 9.99961554e-01 -1.69029605e-04 -9.72774299e+00] [-4.30597429e-03 1.31282302e-04 9.99990721e-01 -5.47624825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24134618399998 meters 0.0732035920988381 Centerline is valid? [True, True] Translation: X:135.86, Y:-9.72, Z:-5.48 [[ 9.99935762e-01 1.04083251e-02 4.48757519e-03 1.35856109e+02] [-1.04076386e-02 9.99945824e-01 -1.76307003e-04 -9.72096055e+00] [-4.48916713e-03 1.29590616e-04 9.99989915e-01 -5.47718778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30134618399998 meters 0.07269244546007993 Centerline is valid? [True, True] Translation: X:135.92, Y:-9.72, Z:-5.48 [[ 9.99909048e-01 1.23504094e-02 5.41881234e-03 1.35915479e+02] [-1.23494426e-02 9.99923720e-01 -2.11854727e-04 -9.71877114e+00] [-5.42101548e-03 1.44916146e-04 9.99985296e-01 -5.47985385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36134618399998 meters 0.06952677176850576 Centerline is valid? [True, True] Translation: X:135.98, Y:-9.71, Z:-5.47 [[ 9.99857143e-01 1.49980689e-02 7.79436490e-03 1.35975728e+02] [-1.49961744e-02 9.99887506e-01 -3.01456464e-04 -9.70794877e+00] [-7.79800935e-03 1.84527743e-04 9.99969578e-01 -5.47400543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.421346184 meters 0.07055221927426432 Centerline is valid? [True, True] Translation: X:136.03, Y:-9.71, Z:-5.48 [[ 9.99834490e-01 1.65810675e-02 7.48739956e-03 1.36033100e+02] [-1.65793535e-02 9.99862511e-01 -2.90926298e-04 -9.70956362e+00] [-7.49119399e-03 1.66741903e-04 9.99971927e-01 -5.48141476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.481346184 meters 0.07172231502888772 Centerline is valid? [True, True] Translation: X:136.09, Y:-9.71, Z:-5.49 [[ 9.99811793e-01 1.75599337e-02 8.24783673e-03 1.36090362e+02] [-1.75578979e-02 9.99845797e-01 -3.19180935e-04 -9.71212075e+00] [-8.25216969e-03 1.74306187e-04 9.99965935e-01 -5.48991946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.541346184 meters 0.06978719828653072 Centerline is valid? [True, True] Translation: X:136.15, Y:-9.71, Z:-5.48 [[ 9.99814651e-01 1.71155121e-02 8.81601893e-03 1.36149657e+02] [-1.71131802e-02 9.99853501e-01 -3.39887209e-04 -9.70906101e+00] [-8.82054474e-03 1.88954091e-04 9.99961080e-01 -5.48483473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.601346184 meters 0.07027910409431004 Centerline is valid? [True, True] Translation: X:136.21, Y:-9.71, Z:-5.49 [[ 9.99846938e-01 1.59483787e-02 7.19370354e-03 1.36208796e+02] [-1.59467999e-02 9.99872803e-01 -2.76779081e-04 -9.71064158e+00] [-7.19720270e-03 1.62020166e-04 9.99974087e-01 -5.48840686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.661346184 meters 0.07131698653772764 Centerline is valid? [True, True] Translation: X:136.27, Y:-9.72, Z:-5.49 [[ 9.99891119e-01 1.33145789e-02 6.36178877e-03 1.36267882e+02] [-1.33132950e-02 9.99911344e-01 -2.44119969e-04 -9.71921787e+00] [-6.36447512e-03 1.59397018e-04 9.99979734e-01 -5.49365039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.721346184 meters 0.07051234672503065 Centerline is valid? [True, True] Translation: X:136.33, Y:-9.72, Z:-5.49 [[ 9.99908309e-01 1.16081540e-02 6.97312872e-03 1.36326516e+02] [-1.16065644e-02 9.99932606e-01 -2.68386705e-04 -9.71978280e+00] [-6.97577424e-03 1.87428029e-04 9.99975651e-01 -5.49206053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.781346184 meters 0.07229303339661727 Centerline is valid? [True, True] Translation: X:136.38, Y:-9.73, Z:-5.50 [[ 9.99913248e-01 1.07217533e-02 7.65117287e-03 1.36383791e+02] [-1.07198162e-02 9.99942498e-01 -2.94144537e-04 -9.72910290e+00] [-7.65388666e-03 2.12099852e-04 9.99970686e-01 -5.49931150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.841346184 meters 0.07120787082988558 Centerline is valid? [True, True] Translation: X:136.44, Y:-9.73, Z:-5.50 [[ 9.99916222e-01 1.05985539e-02 7.43096494e-03 1.36443174e+02] [-1.05967357e-02 9.99943813e-01 -2.84001844e-04 -9.72679643e+00] [-7.43355743e-03 2.05234079e-04 9.99972350e-01 -5.49749479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.901346184 meters 0.07063372917464497 Centerline is valid? [True, True] Translation: X:136.50, Y:-9.73, Z:-5.50 [[ 9.99899882e-01 1.07657149e-02 9.18285542e-03 1.36503080e+02] [-1.07629583e-02 9.99942017e-01 -3.49553900e-04 -9.72822180e+00] [-9.18608617e-03 2.50684213e-04 9.99957776e-01 -5.49674103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.961346184 meters 0.07062720795999308 Centerline is valid? [True, True] Translation: X:136.56, Y:-9.73, Z:-5.50 [[ 9.99883099e-01 1.04241412e-02 1.11859919e-02 1.36562287e+02] [-1.04200424e-02 9.99945620e-01 -4.24646214e-04 -9.73485240e+00] [-1.11898102e-02 3.08038063e-04 9.99937345e-01 -5.50054097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02134618399998 meters 0.07049470983536218 Centerline is valid? [True, True] Translation: X:136.62, Y:-9.74, Z:-5.50 [[ 9.99891729e-01 1.02350885e-02 1.05722463e-02 1.36623918e+02] [-1.02314330e-02 9.99947578e-01 -3.99799750e-04 -9.73748303e+00] [-1.05757841e-02 2.91587234e-04 9.99944032e-01 -5.50311679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08134618399998 meters 0.07063413624269547 Centerline is valid? [True, True] Translation: X:136.68, Y:-9.74, Z:-5.51 [[ 9.99885181e-01 1.10851119e-02 1.03317502e-02 1.36684272e+02] [-1.10816577e-02 9.99938520e-01 -3.91518278e-04 -9.74103489e+00] [-1.03354550e-02 2.76980405e-04 9.99946549e-01 -5.50656045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14134618399999 meters 0.06967078270128411 Centerline is valid? [True, True] Translation: X:136.74, Y:-9.74, Z:-5.51 [[ 9.99847979e-01 1.24589414e-02 1.21980882e-02 1.36744878e+02] [-1.24542194e-02 9.99922336e-01 -4.63002978e-04 -9.74235646e+00] [-1.22029094e-02 3.11014926e-04 9.99925493e-01 -5.50743351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.201346184 meters 0.06871572020700512 Centerline is valid? [True, True] Translation: X:136.81, Y:-9.74, Z:-5.51 [[ 9.99782628e-01 1.66334854e-02 1.25707400e-02 1.36805599e+02] [-1.66288054e-02 9.99861618e-01 -4.76730246e-04 -9.74442324e+00] [-1.25769302e-02 2.67590229e-04 9.99920871e-01 -5.50978167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.261346184 meters 0.06843366619920462 Centerline is valid? [True, True] Translation: X:136.86, Y:-9.74, Z:-5.51 [[ 9.99765930e-01 1.85062510e-02 1.12073171e-02 1.36863863e+02] [-1.85026227e-02 9.99828720e-01 -4.27351129e-04 -9.74434885e+00] [-1.12133062e-02 2.19886339e-04 9.99937105e-01 -5.51321079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.321346184 meters 0.06943895810251875 Centerline is valid? [True, True] Translation: X:136.92, Y:-9.75, Z:-5.52 [[ 9.99750333e-01 2.03795884e-02 9.16205607e-03 1.36920721e+02] [-2.03772354e-02 9.99792301e-01 -3.50101670e-04 -9.74887396e+00] [-9.16728805e-03 1.63316888e-04 9.99957966e-01 -5.52160093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.381346184 meters 0.0681818684807986 Centerline is valid? [True, True] Translation: X:136.98, Y:-9.75, Z:-5.52 [[ 9.99729792e-01 2.10184120e-02 9.92818811e-03 1.36979771e+02] [-2.10157020e-02 9.99779075e-01 -3.77223778e-04 -9.74926015e+00] [-9.93392336e-03 1.68474006e-04 9.99950643e-01 -5.51859792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.441346184 meters 0.06900310073851165 Centerline is valid? [True, True] Translation: X:137.04, Y:-9.75, Z:-5.53 [[ 9.99744404e-01 2.10870892e-02 8.15242368e-03 1.37037283e+02] [-2.10852613e-02 9.99777633e-01 -3.10108288e-04 -9.75331344e+00] [-8.15715013e-03 1.38133042e-04 9.99966720e-01 -5.52553694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.501346184 meters 0.06871738499646765 Centerline is valid? [True, True] Translation: X:137.10, Y:-9.76, Z:-5.52 [[ 9.99797312e-01 1.90807851e-02 6.42333845e-03 1.37096876e+02] [-1.90796181e-02 9.99817938e-01 -2.42914395e-04 -9.75592802e+00] [-6.42680401e-03 1.20310314e-04 9.99979341e-01 -5.52484560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.561346184 meters 0.06945327253314293 Centerline is valid? [True, True] Translation: X:137.16, Y:-9.76, Z:-5.53 [[ 9.99866566e-01 1.59073016e-02 3.71603652e-03 1.37155736e+02] [-1.59068853e-02 9.99873467e-01 -1.41554937e-04 -9.76100113e+00] [-3.71781808e-03 8.24254815e-05 9.99993085e-01 -5.52796133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.621346184 meters 0.06994323072553524 Centerline is valid? [True, True] Translation: X:137.21, Y:-9.76, Z:-5.53 [[ 9.99885036e-01 1.49903020e-02 2.28177025e-03 1.37212912e+02] [-1.49901370e-02 9.99887638e-01 -8.93877832e-05 -9.76339718e+00] [-2.28285381e-03 5.51734582e-05 9.99997393e-01 -5.53163668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.681346184 meters 0.0702047852941386 Centerline is valid? [True, True] Translation: X:137.27, Y:-9.77, Z:-5.53 [[ 9.99898706e-01 1.40188284e-02 2.45976151e-03 1.37270640e+02] [-1.40186358e-02 9.99901730e-01 -9.55083638e-05 -9.76628018e+00] [-2.46085870e-03 6.10161886e-05 9.99996970e-01 -5.53470214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74134618399998 meters 0.06953817421531262 Centerline is valid? [True, True] Translation: X:137.33, Y:-9.77, Z:-5.53 [[ 9.99914308e-01 1.27905085e-02 2.78924194e-03 1.37329624e+02] [-1.27902606e-02 9.99918196e-01 -1.06711186e-04 -9.76545956e+00] [-2.79037866e-03 7.10269104e-05 9.99996104e-01 -5.53253571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80134618399998 meters 0.0697201134157581 Centerline is valid? [True, True] Translation: X:137.39, Y:-9.77, Z:-5.54 [[ 9.99933637e-01 1.12991004e-02 2.24782803e-03 1.37387926e+02] [-1.12989347e-02 9.99936161e-01 -8.63823759e-05 -9.76971374e+00] [-2.24866058e-03 6.09785811e-05 9.99997470e-01 -5.53637414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86134618399998 meters 0.07032300874739289 Centerline is valid? [True, True] Translation: X:137.45, Y:-9.77, Z:-5.54 [[ 9.99948755e-01 9.98157533e-03 1.69003815e-03 1.37445339e+02] [-9.98147784e-03 9.99950182e-01 -6.61122561e-05 -9.77350049e+00] [-1.69061386e-03 4.92397898e-05 9.99998570e-01 -5.54038356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.921346184 meters 0.07081076206409224 Centerline is valid? [True, True] Translation: X:137.50, Y:-9.78, Z:-5.54 [[ 9.99955147e-01 9.44189716e-03 -7.44232710e-04 1.37504262e+02] [-9.44188076e-03 9.99955424e-01 2.55593395e-05 -9.77613041e+00] [ 7.44440864e-04 -1.85312366e-05 9.99999723e-01 -5.54468517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.981346184 meters 0.0713878974343345 Centerline is valid? [True, True] Translation: X:137.56, Y:-9.78, Z:-5.55 [[ 9.99955254e-01 9.30568392e-03 -1.70144522e-03 1.37561991e+02] [-9.30559601e-03 9.99956700e-01 5.95809840e-05 -9.78114336e+00] [ 1.70192599e-03 -4.37453561e-05 9.99998551e-01 -5.54985936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.041346184 meters 0.07207116945824822 Centerline is valid? [True, True] Translation: X:137.62, Y:-9.78, Z:-5.55 [[ 9.99960016e-01 8.00127209e-03 -3.99335985e-03 1.37621683e+02] [-8.00075217e-03 9.99967983e-01 1.46153435e-04 -9.78331874e+00] [ 3.99440141e-03 -1.14197709e-04 9.99992016e-01 -5.55217285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.101346184 meters 0.07262078531385638 Centerline is valid? [True, True] Translation: X:137.68, Y:-9.79, Z:-5.55 [[ 9.99972213e-01 6.16495205e-03 -4.19128628e-03 1.37680373e+02] [-6.16436952e-03 9.99980989e-01 1.51890473e-04 -9.78742531e+00] [ 4.19214300e-03 -1.26049615e-04 9.99991205e-01 -5.55468032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.161346184 meters 0.07280505975182192 Centerline is valid? [True, True] Translation: X:137.74, Y:-9.79, Z:-5.56 [[ 9.99967130e-01 6.77556080e-03 -4.45309964e-03 1.37738551e+02] [-6.77490979e-03 9.99977037e-01 1.61260304e-04 -9.79007393e+00] [ 4.45409001e-03 -1.31085655e-04 9.99990072e-01 -5.55821417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.221346184 meters 0.07298016685701204 Centerline is valid? [True, True] Translation: X:137.80, Y:-9.79, Z:-5.56 [[ 9.99965024e-01 5.71568112e-03 -6.10581814e-03 1.37797960e+02] [-5.71442525e-03 9.99983648e-01 2.23110003e-04 -9.79315410e+00] [ 6.10699352e-03 -1.88210958e-04 9.99981334e-01 -5.56188190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.281346184 meters 0.07257216229873056 Centerline is valid? [True, True] Translation: X:137.86, Y:-9.79, Z:-5.56 [[ 9.99944460e-01 6.53299351e-03 -8.27024636e-03 1.37857332e+02] [-6.53072959e-03 9.99978629e-01 3.00718592e-04 -9.78831879e+00] [ 8.27203421e-03 -2.46691147e-04 9.99965756e-01 -5.56157030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.341346184 meters 0.0718453599341384 Centerline is valid? [True, True] Translation: X:137.92, Y:-9.79, Z:-5.56 [[ 9.99940393e-01 7.92407116e-03 -7.51135355e-03 1.37916120e+02] [-7.92224877e-03 9.99968581e-01 2.72340569e-04 -9.78808313e+00] [ 7.51327560e-03 -2.12817524e-04 9.99971752e-01 -5.56273435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.401346184 meters 0.07105523494418133 Centerline is valid? [True, True] Translation: X:137.98, Y:-9.78, Z:-5.56 [[ 9.99910285e-01 1.11329504e-02 -7.44849936e-03 1.37975579e+02] [-1.11312669e-02 9.99938010e-01 2.67438830e-04 -9.78122407e+00] [ 7.45101501e-03 -1.84503601e-04 9.99972224e-01 -5.56282796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.461346184 meters 0.07063660215573711 Centerline is valid? [True, True] Translation: X:138.04, Y:-9.78, Z:-5.56 [[ 9.99900326e-01 1.30101743e-02 -5.48400211e-03 1.38036005e+02] [-1.30092838e-02 9.99915356e-01 1.98022834e-04 -9.77684382e+00] [ 5.48611423e-03 -1.26660156e-04 9.99984943e-01 -5.56455912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52134618399998 meters 0.07115216617587743 Centerline is valid? [True, True] Translation: X:138.09, Y:-9.78, Z:-5.57 [[ 9.99914029e-01 1.21890161e-02 -4.83349803e-03 1.38093767e+02] [-1.21883322e-02 9.99925705e-01 1.70918816e-04 -9.77800737e+00] [ 4.83522226e-03 -1.11991842e-04 9.99988304e-01 -5.56854319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58134618399998 meters 0.07203875873176126 Centerline is valid? [True, True] Translation: X:138.15, Y:-9.78, Z:-5.57 [[ 9.99920413e-01 1.03240366e-02 -7.25136259e-03 1.38152253e+02] [-1.03224143e-02 9.99946688e-01 2.61108123e-04 -9.77859584e+00] [ 7.25367170e-03 -1.86235773e-04 9.99973674e-01 -5.57209174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64134618399999 meters 0.07224006342030849 Centerline is valid? [True, True] Translation: X:138.21, Y:-9.78, Z:-5.57 [[ 9.99944600e-01 8.87962338e-03 -5.65232034e-03 1.38210911e+02] [-8.87862270e-03 9.99960564e-01 2.02106237e-04 -9.78116520e+00] [ 5.65389206e-03 -1.51910221e-04 9.99984005e-01 -5.57395536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.701346184 meters 0.07093392089178249 Centerline is valid? [True, True] Translation: X:138.27, Y:-9.78, Z:-5.57 [[ 9.99957335e-01 8.29767872e-03 -4.05916235e-03 1.38269956e+02] [-8.29716233e-03 9.99965568e-01 1.44037923e-04 -9.77883719e+00] [ 4.06021776e-03 -1.10352248e-04 9.99991751e-01 -5.56956051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.761346184 meters 0.070683369992344 Centerline is valid? [True, True] Translation: X:138.33, Y:-9.78, Z:-5.57 [[ 9.99932596e-01 1.08566775e-02 -4.11540523e-03 1.38327521e+02] [-1.08561721e-02 9.99941059e-01 1.45109535e-04 -9.77673649e+00] [ 4.11673807e-03 -1.00422206e-04 9.99991521e-01 -5.57123531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.821346184 meters 0.07006049020824094 Centerline is valid? [True, True] Translation: X:138.39, Y:-9.78, Z:-5.57 [[ 9.99929667e-01 1.06823400e-02 -5.15250987e-03 1.38386647e+02] [-1.06815405e-02 9.99942934e-01 1.82678703e-04 -9.77911197e+00] [ 5.15416727e-03 -1.27629112e-04 9.99986709e-01 -5.57145515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.881346184 meters 0.07038961923259246 Centerline is valid? [True, True] Translation: X:138.45, Y:-9.78, Z:-5.57 [[ 9.99933639e-01 9.71517574e-03 -6.19142244e-03 1.38445329e+02] [-9.71400199e-03 9.99952794e-01 2.19620343e-04 -9.78421391e+00] [ 6.19326382e-03 -1.59462279e-04 9.99980809e-01 -5.57450331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.941346184 meters 0.07053912906113415 Centerline is valid? [True, True] Translation: X:138.50, Y:-9.79, Z:-5.58 [[ 9.99938554e-01 8.84838683e-03 -6.67796316e-03 1.38503383e+02] [-8.84700900e-03 9.99960837e-01 2.35836556e-04 -9.78913379e+00] [ 6.67978840e-03 -1.76742065e-04 9.99977674e-01 -5.57742947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.001346184 meters 0.07079165171885322 Centerline is valid? [True, True] Translation: X:138.56, Y:-9.79, Z:-5.58 [[ 9.99933766e-01 8.41601939e-03 -7.85071236e-03 1.38561993e+02] [-8.41409656e-03 9.99964562e-01 2.77920980e-04 -9.79359343e+00] [ 7.85277314e-03 -2.11845921e-04 9.99969144e-01 -5.58051141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.061346184 meters 0.07129787576153712 Centerline is valid? [True, True] Translation: X:138.62, Y:-9.80, Z:-5.58 [[ 9.99940346e-01 7.33476310e-03 -8.09351953e-03 1.38619062e+02] [-7.33270049e-03 9.99973075e-01 2.84492535e-04 -9.79966803e+00] [ 8.09538829e-03 -2.25128210e-04 9.99967206e-01 -5.58400995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.121346184 meters 0.0698985909883555 Centerline is valid? [True, True] Translation: X:138.68, Y:-9.80, Z:-5.58 [[ 9.99944905e-01 8.52810658e-03 -6.12034092e-03 1.38678567e+02] [-8.52694098e-03 9.99963622e-01 2.16516678e-04 -9.80269876e+00] [ 6.12196475e-03 -1.64316963e-04 9.99981247e-01 -5.58164840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.181346184 meters 0.069737684243467 Centerline is valid? [True, True] Translation: X:138.74, Y:-9.81, Z:-5.58 [[ 9.99961446e-01 8.22942832e-03 -3.06326338e-03 1.38737157e+02] [-8.22913939e-03 9.99966134e-01 1.06911663e-04 -9.80557544e+00] [ 3.06403947e-03 -8.16995195e-05 9.99995302e-01 -5.58023282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24134618399998 meters 0.06913442626540678 Centerline is valid? [True, True] Translation: X:138.80, Y:-9.81, Z:-5.58 [[ 9.99957703e-01 9.14290316e-03 -9.99421484e-04 1.38796399e+02] [-9.14287422e-03 9.99958202e-01 3.35187519e-05 -9.80806925e+00] [ 9.99686169e-04 -2.43797492e-05 9.99999500e-01 -5.58127546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30134618399998 meters 0.06914569897540217 Centerline is valid? [True, True] Translation: X:138.86, Y:-9.81, Z:-5.58 [[ 9.99957690e-01 9.19681244e-03 -1.93118936e-04 1.38855158e+02] [-9.19681178e-03 9.99957708e-01 4.27576479e-06 -9.81066183e+00] [ 1.93150092e-04 -2.49950537e-06 9.99999981e-01 -5.58247916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36134618399998 meters 0.06923273032027677 Centerline is valid? [True, True] Translation: X:138.91, Y:-9.81, Z:-5.58 [[ 9.99962457e-01 8.33717700e-03 2.36116957e-03 1.38914121e+02] [-8.33699717e-03 9.99965243e-01 -8.59934065e-05 -9.81437387e+00] [-2.36180444e-03 6.63051141e-05 9.99997209e-01 -5.58349519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.421346184 meters 0.06953036610400139 Centerline is valid? [True, True] Translation: X:138.97, Y:-9.82, Z:-5.58 [[ 9.99967400e-01 7.44823130e-03 3.11814171e-03 1.38971369e+02] [-7.44791489e-03 9.99972258e-01 -1.13073459e-04 -9.81761224e+00] [-3.11889740e-03 8.98461187e-05 9.99995132e-01 -5.58416805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.481346184 meters 0.06952825687918178 Centerline is valid? [True, True] Translation: X:139.03, Y:-9.82, Z:-5.59 [[ 9.99959402e-01 7.36278949e-03 5.19449531e-03 1.39030498e+02] [-7.36192269e-03 9.99972883e-01 -1.85970477e-04 -9.82332365e+00] [-5.19572372e-03 1.47721454e-04 9.99986491e-01 -5.58576119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.541346184 meters 0.07064156494840966 Centerline is valid? [True, True] Translation: X:139.09, Y:-9.83, Z:-5.59 [[ 9.99980428e-01 4.84460582e-03 3.95901741e-03 1.39089719e+02] [-4.84409028e-03 9.99988258e-01 -1.39798171e-04 -9.82999683e+00] [-3.95964819e-03 1.20617597e-04 9.99992153e-01 -5.58702816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.601346184 meters 0.06924313120286847 Centerline is valid? [True, True] Translation: X:139.15, Y:-9.83, Z:-5.58 [[ 9.99990809e-01 1.12256147e-03 4.13778377e-03 1.39150020e+02] [-1.12196922e-03 9.99999360e-01 -1.45450285e-04 -9.83391967e+00] [-4.13794440e-03 1.40806482e-04 9.99991429e-01 -5.58295386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.661346184 meters 0.06965386217868409 Centerline is valid? [True, True] Translation: X:139.21, Y:-9.84, Z:-5.59 [[ 9.99990825e-01 -8.84197981e-04 4.19150167e-03 1.39211816e+02] [ 8.84789160e-04 9.99999599e-01 -1.39190027e-04 -9.84339448e+00] [-4.19137692e-03 1.42897346e-04 9.99991206e-01 -5.58719587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.721346184 meters 0.07001207413871828 Centerline is valid? [True, True] Translation: X:139.27, Y:-9.85, Z:-5.59 [[ 9.99994393e-01 -1.54561536e-03 2.97069933e-03 1.39273915e+02] [ 1.54592739e-03 9.99998800e-01 -1.02742956e-04 -9.84794003e+00] [-2.97053696e-03 1.07334865e-04 9.99995582e-01 -5.58998264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.781346184 meters 0.06946828128080362 Centerline is valid? [True, True] Translation: X:139.34, Y:-9.85, Z:-5.59 [[ 9.99995314e-01 -8.21085780e-04 2.94911863e-03 1.39336450e+02] [ 8.21390644e-04 9.99999657e-01 -1.02165078e-04 -9.84816133e+00] [-2.94903373e-03 1.04586977e-04 9.99995646e-01 -5.58976470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.841346184 meters 0.0694141213883148 Centerline is valid? [True, True] Translation: X:139.40, Y:-9.85, Z:-5.60 [[ 9.99999444e-01 9.63110811e-04 4.30575556e-04 1.39398161e+02] [-9.63105451e-04 9.99999536e-01 -1.26553236e-05 -9.85448727e+00] [-4.30587545e-04 1.22406269e-05 9.99999907e-01 -5.59503855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.901346184 meters 0.06968772351459457 Centerline is valid? [True, True] Translation: X:139.46, Y:-9.86, Z:-5.60 [[ 9.99999746e-01 4.69438988e-04 5.37181004e-04 1.39458923e+02] [-4.69428774e-04 9.99999890e-01 -1.91397348e-05 -9.85871883e+00] [-5.37189930e-04 1.88875617e-05 9.99999856e-01 -5.59818231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.961346184 meters 0.07028943462706387 Centerline is valid? [True, True] Translation: X:139.52, Y:-9.86, Z:-5.60 [[ 9.99997850e-01 -1.13368268e-03 1.73651140e-03 1.39518950e+02] [ 1.13379183e-03 9.99999355e-01 -6.18718225e-05 -9.86271502e+00] [-1.73644014e-03 6.38405318e-05 9.99998490e-01 -5.59883580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02134618399998 meters 0.07055039081158239 Centerline is valid? [True, True] Translation: X:139.58, Y:-9.87, Z:-5.60 [[ 9.99993608e-01 -1.84836299e-03 3.06056546e-03 1.39580768e+02] [ 1.84869810e-03 9.99998285e-01 -1.06665499e-04 -9.86657323e+00] [-3.06036306e-03 1.12322879e-04 9.99995311e-01 -5.60167528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08134618399998 meters 0.06981764728758212 Centerline is valid? [True, True] Translation: X:139.64, Y:-9.87, Z:-5.60 [[ 9.99992249e-01 -1.62662066e-03 3.58547194e-03 1.39643222e+02] [ 1.62708139e-03 9.99998668e-01 -1.25585691e-04 -9.86702366e+00] [-3.58526289e-03 1.31418573e-04 9.99993564e-01 -5.60346558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14134618399999 meters 0.06955277101707623 Centerline is valid? [True, True] Translation: X:139.71, Y:-9.87, Z:-5.61 [[ 9.99988942e-01 -1.26793334e-03 4.52862036e-03 1.39705708e+02] [ 1.26866936e-03 9.99999182e-01 -1.59655329e-04 -9.86517395e+00] [-4.52841422e-03 1.65398886e-04 9.99989733e-01 -5.60622458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.201346184 meters 0.0708874986032428 Centerline is valid? [True, True] Translation: X:139.77, Y:-9.87, Z:-5.61 [[ 9.99990127e-01 -7.56336455e-04 4.37868587e-03 1.39766394e+02] [ 7.57023371e-04 9.99999701e-01 -1.55222051e-04 -9.86673124e+00] [-4.37856717e-03 1.58535286e-04 9.99990401e-01 -5.61102849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.261346184 meters 0.0695945673013712 Centerline is valid? [True, True] Translation: X:139.83, Y:-9.86, Z:-5.61 [[ 9.99987809e-01 -2.10003881e-06 4.93772122e-03 1.39828634e+02] [ 2.96400323e-06 9.99999985e-01 -1.74964983e-04 -9.86018018e+00] [-4.93772077e-03 1.74977486e-04 9.99987794e-01 -5.61128735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.321346184 meters 0.06859436725173197 Centerline is valid? [True, True] Translation: X:139.89, Y:-9.85, Z:-5.61 [[ 9.99974386e-01 2.38131954e-03 6.74955144e-03 1.39890256e+02] [-2.37974235e-03 9.99997139e-01 -2.41694284e-04 -9.85334171e+00] [-6.75010768e-03 2.25625900e-04 9.99977192e-01 -5.61043385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.381346184 meters 0.06839659440117178 Centerline is valid? [True, True] Translation: X:139.95, Y:-9.85, Z:-5.61 [[ 9.99966001e-01 5.12594946e-03 6.45916515e-03 1.39951997e+02] [-5.12456103e-03 9.99986843e-01 -2.31486111e-04 -9.84722175e+00] [-6.46026675e-03 1.98377855e-04 9.99979113e-01 -5.61355834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.441346184 meters 0.0672774744934882 Centerline is valid? [True, True] Translation: X:140.01, Y:-9.84, Z:-5.62 [[ 9.99896630e-01 1.19908524e-02 7.93407721e-03 1.40012399e+02] [-1.19889604e-02 9.99928089e-01 -2.85986594e-04 -9.83678791e+00] [-7.93693589e-03 1.90835695e-04 9.99968484e-01 -5.61803474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.501346184 meters 0.06694687581973406 Centerline is valid? [True, True] Translation: X:140.07, Y:-9.83, Z:-5.62 [[ 9.99855907e-01 1.52891911e-02 7.37609248e-03 1.40071285e+02] [-1.52876303e-02 9.99883101e-01 -2.67932268e-04 -9.82979748e+00] [-7.37932669e-03 1.55130686e-04 9.99972760e-01 -5.62041247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.561346184 meters 0.0670742423959943 Centerline is valid? [True, True] Translation: X:140.13, Y:-9.82, Z:-5.62 [[ 9.99830360e-01 1.70429765e-02 6.98480216e-03 1.40129215e+02] [-1.70416189e-02 9.99854749e-01 -2.53847092e-04 -9.82167851e+00] [-6.98811392e-03 1.34771693e-04 9.99975574e-01 -5.62313887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.621346184 meters 0.06782458261913835 Centerline is valid? [True, True] Translation: X:140.19, Y:-9.82, Z:-5.63 [[ 9.99857702e-01 1.54261918e-02 6.82700627e-03 1.40187186e+02] [-1.54248610e-02 9.99880999e-01 -2.47545762e-04 -9.82053845e+00] [-6.83001253e-03 1.42204914e-04 9.99976665e-01 -5.62815428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.681346184 meters 0.06875061991640294 Centerline is valid? [True, True] Translation: X:140.25, Y:-9.82, Z:-5.63 [[ 9.99890069e-01 1.35232978e-02 6.08026383e-03 1.40246214e+02] [-1.35222114e-02 9.99908547e-01 -2.19741058e-04 -9.82155533e+00] [-6.08267939e-03 1.37498289e-04 9.99981491e-01 -5.63291846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74134618399998 meters 0.06942379929504637 Centerline is valid? [True, True] Translation: X:140.30, Y:-9.82, Z:-5.64 [[ 9.99889707e-01 1.36311989e-02 5.89605559e-03 1.40304300e+02] [-1.36301784e-02 9.99907082e-01 -2.13242819e-04 -9.81889332e+00] [-5.89841450e-03 1.32855011e-04 9.99982595e-01 -5.63785411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80134618399998 meters 0.06904526854235336 Centerline is valid? [True, True] Translation: X:140.36, Y:-9.81, Z:-5.64 [[ 9.99852193e-01 1.56431628e-02 7.13329083e-03 1.40363076e+02] [-1.56417325e-02 9.99877628e-01 -2.56261368e-04 -9.81435980e+00] [-7.13642665e-03 1.44646464e-04 9.99974525e-01 -5.64070324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86134618399998 meters 0.06897120464449014 Centerline is valid? [True, True] Translation: X:140.42, Y:-9.81, Z:-5.64 [[ 9.99824653e-01 1.60775710e-02 9.60077727e-03 1.40421877e+02] [-1.60750141e-02 9.99870730e-01 -3.43437666e-04 -9.80624102e+00] [-9.60505782e-03 1.89044816e-04 9.99953852e-01 -5.63894324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.921346184 meters 0.06978863996475321 Centerline is valid? [True, True] Translation: X:140.48, Y:-9.81, Z:-5.64 [[ 9.99845378e-01 1.23802404e-02 1.24880017e-02 1.40480626e+02] [-1.23756449e-02 9.99923320e-01 -4.45207390e-04 -9.80840722e+00] [-1.24925559e-02 2.90591476e-04 9.99921923e-01 -5.63830462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.981346184 meters 0.07114837678696408 Centerline is valid? [True, True] Translation: X:140.54, Y:-9.81, Z:-5.64 [[ 9.99867090e-01 8.83925982e-03 1.36992645e-02 1.40540757e+02] [-8.83343226e-03 9.99960866e-01 -4.85843563e-04 -9.81403303e+00] [-1.37030229e-02 3.64767464e-04 9.99906043e-01 -5.63976898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.041346184 meters 0.0702821159203374 Centerline is valid? [True, True] Translation: X:140.60, Y:-9.81, Z:-5.64 [[ 9.99917711e-01 4.20238599e-03 1.21207065e-02 1.40602047e+02] [-4.19748910e-03 9.99991098e-01 -4.29421281e-04 -9.81023863e+00] [-1.21224032e-02 3.78509411e-04 9.99926449e-01 -5.63814209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.101346184 meters 0.0706207544483444 Centerline is valid? [True, True] Translation: X:140.66, Y:-9.81, Z:-5.64 [[ 9.99920181e-01 5.84831342e-03 1.11995356e-02 1.40662900e+02] [-5.84429417e-03 9.99982845e-01 -3.91570426e-04 -9.81053343e+00] [-1.12016335e-02 3.26085791e-04 9.99937207e-01 -5.64328122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.161346184 meters 0.06943820853320369 Centerline is valid? [True, True] Translation: X:140.72, Y:-9.81, Z:-5.65 [[ 9.99871163e-01 1.02469423e-02 1.23555056e-02 1.40724928e+02] [-1.02422877e-02 9.99947450e-01 -4.39939940e-04 -9.80759514e+00] [-1.23593643e-02 3.13334617e-04 9.99923571e-01 -5.64554803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.221346184 meters 0.06823375649977391 Centerline is valid? [True, True] Translation: X:140.78, Y:-9.80, Z:-5.64 [[ 9.99768623e-01 1.64481398e-02 1.38621807e-02 1.40784822e+02] [-1.64428410e-02 9.99864684e-01 -4.96140891e-04 -9.79773391e+00] [-1.38684656e-02 2.68092460e-04 9.99903792e-01 -5.64393546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.281346184 meters 0.06761638002897347 Centerline is valid? [True, True] Translation: X:140.84, Y:-9.79, Z:-5.65 [[ 9.99705670e-01 1.92763725e-02 1.47307359e-02 1.40844252e+02] [-1.92706744e-02 9.99814164e-01 -5.28680366e-04 -9.79350864e+00] [-1.47381895e-02 2.44653544e-04 9.99891357e-01 -5.64550525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.341346184 meters 0.06780642509678371 Centerline is valid? [True, True] Translation: X:140.90, Y:-9.80, Z:-5.65 [[ 9.99717624e-01 1.93515360e-02 1.37909568e-02 1.40902302e+02] [-1.93465677e-02 9.99812716e-01 -4.93587723e-04 -9.79681275e+00] [-1.37979257e-02 2.26640666e-04 9.99904778e-01 -5.65071994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.401346184 meters 0.06801127427967897 Centerline is valid? [True, True] Translation: X:140.96, Y:-9.80, Z:-5.66 [[ 9.99706316e-01 2.08248082e-02 1.23939049e-02 1.40960087e+02] [-2.08209183e-02 9.99783123e-01 -4.42818923e-04 -9.79931864e+00] [-1.24004386e-02 1.84636392e-04 9.99923095e-01 -5.65645089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.461346184 meters 0.06721415010583161 Centerline is valid? [True, True] Translation: X:141.02, Y:-9.79, Z:-5.66 [[ 9.99658228e-01 2.32763618e-02 1.19011448e-02 1.41018932e+02] [-2.32729630e-02 9.99729058e-01 -4.24019021e-04 -9.79466513e+00] [-1.19077899e-02 1.46899201e-04 9.99929089e-01 -5.65554896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52134618399998 meters 0.06708709763118985 Centerline is valid? [True, True] Translation: X:141.08, Y:-9.79, Z:-5.66 [[ 9.99561985e-01 2.64669444e-02 1.32415461e-02 1.41076540e+02] [-2.64630279e-02 9.99649682e-01 -4.70930426e-04 -9.79340993e+00] [-1.32493714e-02 1.20312747e-04 9.99912216e-01 -5.65726713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58134618399998 meters 0.06692818122091383 Centerline is valid? [True, True] Translation: X:141.13, Y:-9.80, Z:-5.66 [[ 9.99561162e-01 2.65609445e-02 1.31148698e-02 1.41133994e+02] [-2.65571201e-02 9.99647189e-01 -4.65707939e-04 -9.79576696e+00] [-1.31226124e-02 1.17210396e-04 9.99913888e-01 -5.65833133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64134618399999 meters 0.06719466096223366 Centerline is valid? [True, True] Translation: X:141.19, Y:-9.80, Z:-5.66 [[ 9.99601409e-01 2.43021801e-02 1.43675886e-02 1.41192539e+02] [-2.42973948e-02 9.99704646e-01 -5.07546963e-04 -9.80428240e+00] [-1.43756795e-02 1.58249688e-04 9.99896652e-01 -5.66142430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.701346184 meters 0.06773429648237506 Centerline is valid? [True, True] Translation: X:141.25, Y:-9.81, Z:-5.66 [[ 9.99663952e-01 2.22063427e-02 1.33738973e-02 1.41250701e+02] [-2.22020138e-02 9.99753393e-01 -4.72082120e-04 -9.80905475e+00] [-1.33810824e-02 1.74996026e-04 9.99910454e-01 -5.66428011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.761346184 meters 0.06774117991614712 Centerline is valid? [True, True] Translation: X:141.31, Y:-9.81, Z:-5.67 [[ 9.99628855e-01 2.40060304e-02 1.28787843e-02 1.41308795e+02] [-2.40021833e-02 9.99711803e-01 -4.53219250e-04 -9.81344726e+00] [-1.28859527e-02 1.43932099e-04 9.99916962e-01 -5.66915013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.821346184 meters 0.06738977528731811 Centerline is valid? [True, True] Translation: X:141.37, Y:-9.81, Z:-5.67 [[ 9.99545366e-01 2.74873557e-02 1.23897810e-02 1.41367604e+02] [-2.74840713e-02 9.99622147e-01 -4.35308296e-04 -9.81043371e+00] [-1.23970650e-02 9.45887635e-05 9.99923149e-01 -5.66928820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.881346184 meters 0.06724551287544435 Centerline is valid? [True, True] Translation: X:141.43, Y:-9.81, Z:-5.67 [[ 9.99499280e-01 2.87513898e-02 1.32115975e-02 1.41426112e+02] [-2.87477798e-02 9.99586590e-01 -4.63114599e-04 -9.81318923e+00] [-1.32194509e-02 8.30786139e-05 9.99912616e-01 -5.67163118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.941346184 meters 0.06699800430844614 Centerline is valid? [True, True] Translation: X:141.48, Y:-9.82, Z:-5.67 [[ 9.99496606e-01 2.93888705e-02 1.19511407e-02 1.41484920e+02] [-2.93859672e-02 9.99568052e-01 -4.18498442e-04 -9.81735279e+00] [-1.19582776e-02 6.70919448e-05 9.99928495e-01 -5.67195220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.001346184 meters 0.06719629735482985 Centerline is valid? [True, True] Translation: X:141.54, Y:-9.82, Z:-5.67 [[ 9.99460583e-01 3.08634644e-02 1.12245238e-02 1.41543673e+02] [-3.08610040e-02 9.99523609e-01 -3.92378941e-04 -9.81929536e+00] [-1.12312868e-02 4.57672102e-05 9.99936926e-01 -5.67486166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.061346184 meters 0.06750055557397787 Centerline is valid? [True, True] Translation: X:141.60, Y:-9.83, Z:-5.68 [[ 9.99431025e-01 3.24455246e-02 9.21489496e-03 1.41602289e+02] [-3.24439353e-02 9.99473505e-01 -3.21947957e-04 -9.82547564e+00] [-9.22048913e-03 2.27973214e-05 9.99957490e-01 -5.67996166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.121346184 meters 0.06805972559237417 Centerline is valid? [True, True] Translation: X:141.66, Y:-9.83, Z:-5.69 [[ 9.99449430e-01 3.26264666e-02 6.02914954e-03 1.41661333e+02] [-3.26257933e-02 9.99467615e-01 -2.10009451e-04 -9.83354028e+00] [-6.03279158e-03 1.31880392e-05 9.99981802e-01 -5.68621554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.181346184 meters 0.06818273450809519 Centerline is valid? [True, True] Translation: X:141.72, Y:-9.84, Z:-5.69 [[ 9.99440782e-01 3.28696873e-02 6.14053967e-03 1.41719877e+02] [-3.28689885e-02 9.99459646e-01 -2.14700802e-04 -9.83699365e+00] [-6.14427875e-03 1.27474096e-05 9.99981124e-01 -5.68818709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24134618399998 meters 0.06800237066170825 Centerline is valid? [True, True] Translation: X:141.78, Y:-9.84, Z:-5.69 [[ 9.99364278e-01 3.48583234e-02 7.47917082e-03 1.41778262e+02] [-3.48573508e-02 9.99392264e-01 -2.60395776e-04 -9.84242568e+00] [-7.48370241e-03 -4.73844816e-07 9.99971997e-01 -5.68983153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30134618399998 meters 0.06794418375175752 Centerline is valid? [True, True] Translation: X:141.84, Y:-9.85, Z:-5.69 [[ 9.99345617e-01 3.51457433e-02 8.55068863e-03 1.41836684e+02] [-3.51444909e-02 9.99382198e-01 -2.96738490e-04 -9.84734057e+00] [-8.55583509e-03 -3.96528883e-06 9.99963398e-01 -5.69175234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36134618399998 meters 0.06798704027559004 Centerline is valid? [True, True] Translation: X:141.90, Y:-9.85, Z:-5.69 [[ 9.99385763e-01 3.40220201e-02 8.40232771e-03 1.41895877e+02] [-3.40207755e-02 9.99421083e-01 -2.91051553e-04 -9.85011637e+00] [-8.40736562e-03 5.01907309e-06 9.99964657e-01 -5.69134246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.421346184 meters 0.06815066945346838 Centerline is valid? [True, True] Translation: X:141.95, Y:-9.86, Z:-5.70 [[ 9.99442504e-01 3.23797528e-02 8.13838749e-03 1.41954021e+02] [-3.23785348e-02 9.99475638e-01 -2.81417297e-04 -9.85873754e+00] [-8.14323225e-03 1.77513457e-05 9.99966843e-01 -5.69577982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.481346184 meters 0.06845423862170336 Centerline is valid? [True, True] Translation: X:142.01, Y:-9.87, Z:-5.70 [[ 9.99596291e-01 2.78377694e-02 5.68455868e-03 1.42012970e+02] [-2.78371022e-02 9.99612453e-01 -1.96468711e-04 -9.87010794e+00] [-5.68782490e-03 3.81477538e-05 9.99983823e-01 -5.69750017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.541346184 meters 0.06832616419056002 Centerline is valid? [True, True] Translation: X:142.07, Y:-9.88, Z:-5.70 [[ 9.99655820e-01 2.54655410e-02 6.30453167e-03 1.42070637e+02] [-2.54646661e-02 9.99675699e-01 -2.19026463e-04 -9.87771018e+00] [-6.30806473e-03 5.84082846e-05 9.99980102e-01 -5.69774803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.601346184 meters 0.06864015882734302 Centerline is valid? [True, True] Translation: X:142.13, Y:-9.89, Z:-5.70 [[ 9.99695833e-01 2.34505204e-02 7.63642744e-03 1.42127873e+02] [-2.34491949e-02 9.99724995e-01 -2.63080604e-04 -9.88895532e+00] [-7.64049676e-03 8.39325078e-05 9.99970807e-01 -5.70120734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.661346184 meters 0.06819187329683905 Centerline is valid? [True, True] Translation: X:142.19, Y:-9.89, Z:-5.70 [[ 9.99675158e-01 2.46438836e-02 6.50056329e-03 1.42186399e+02] [-2.46429523e-02 9.99696291e-01 -2.23331860e-04 -9.89449933e+00] [-6.50409278e-03 6.30662418e-05 9.99978846e-01 -5.70109272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.721346184 meters 0.06823497419323091 Centerline is valid? [True, True] Translation: X:142.25, Y:-9.89, Z:-5.70 [[ 9.99631124e-01 2.66715802e-02 5.12274645e-03 1.42245428e+02] [-2.66710276e-02 9.99644249e-01 -1.76182335e-04 -9.89496662e+00] [-5.12562309e-03 3.94884343e-05 9.99986863e-01 -5.70322794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.781346184 meters 0.06822939050396062 Centerline is valid? [True, True] Translation: X:142.30, Y:-9.90, Z:-5.71 [[ 9.99583721e-01 2.83966304e-02 5.10066968e-03 1.42302533e+02] [-2.83960974e-02 9.99596734e-01 -1.76911503e-04 -9.90127132e+00] [-5.10363644e-03 3.19987457e-05 9.99986976e-01 -5.70932110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.841346184 meters 0.06780188537546081 Centerline is valid? [True, True] Translation: X:142.36, Y:-9.91, Z:-5.71 [[ 9.99587373e-01 2.79441375e-02 6.64898033e-03 1.42361463e+02] [-2.79432487e-02 9.99609486e-01 -2.26556465e-04 -9.90562013e+00] [-6.65271473e-03 4.06688701e-05 9.99977870e-01 -5.70921570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.901346184 meters 0.06763110679345029 Centerline is valid? [True, True] Translation: X:142.42, Y:-9.91, Z:-5.71 [[ 9.99644064e-01 2.56057042e-02 7.48960343e-03 1.42420024e+02] [-2.56045169e-02 9.99672118e-01 -2.54382583e-04 -9.91251152e+00] [-7.49366137e-03 6.25243618e-05 9.99971920e-01 -5.71006503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.961346184 meters 0.06832473228170166 Centerline is valid? [True, True] Translation: X:142.48, Y:-9.92, Z:-5.72 [[ 9.99662456e-01 2.49833538e-02 7.12783166e-03 1.42477823e+02] [-2.49822619e-02 9.99687865e-01 -2.42201511e-04 -9.91887830e+00] [-7.13165782e-03 6.40504001e-05 9.99974567e-01 -5.71845925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02134618399998 meters 0.06765476384761338 Centerline is valid? [True, True] Translation: X:142.54, Y:-9.93, Z:-5.72 [[ 9.99671112e-01 2.43493212e-02 8.04849613e-03 1.42536926e+02] [-2.43479217e-02 9.99703508e-01 -2.71835931e-04 -9.92634215e+00] [-8.05272883e-03 7.57823737e-05 9.99967573e-01 -5.71620911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08134618399998 meters 0.06742604011024866 Centerline is valid? [True, True] Translation: X:142.60, Y:-9.93, Z:-5.72 [[ 9.99673068e-01 2.40977344e-02 8.54727771e-03 1.42595563e+02] [-2.40961533e-02 9.99709604e-01 -2.87925371e-04 -9.92988544e+00] [-8.55173396e-03 8.18747252e-05 9.99963430e-01 -5.71606472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14134618399999 meters 0.0674350222047862 Centerline is valid? [True, True] Translation: X:142.65, Y:-9.94, Z:-5.72 [[ 9.99670153e-01 2.37346702e-02 9.81076323e-03 1.42654195e+02] [-2.37325803e-02 9.99718288e-01 -3.29398245e-04 -9.93820060e+00] [-9.81581758e-03 9.64548678e-05 9.99951819e-01 -5.71980669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.201346184 meters 0.06796310021415283 Centerline is valid? [True, True] Translation: X:142.71, Y:-9.95, Z:-5.73 [[ 9.99738945e-01 2.07929397e-02 9.47074160e-03 1.42711388e+02] [-2.07908614e-02 9.99783796e-01 -3.17849524e-04 -9.94970670e+00] [-9.47530301e-03 1.20861671e-04 9.99955101e-01 -5.72551179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.261346184 meters 0.06789116185851089 Centerline is valid? [True, True] Translation: X:142.77, Y:-9.96, Z:-5.73 [[ 9.99762779e-01 1.91733969e-02 1.03327550e-02 1.42770363e+02] [-1.91708534e-02 9.99816163e-01 -3.45163118e-04 -9.95509340e+00] [-1.03374734e-02 1.46993506e-04 9.99946556e-01 -5.72574155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.321346184 meters 0.06749721757797192 Centerline is valid? [True, True] Translation: X:142.83, Y:-9.96, Z:-5.73 [[ 9.99753250e-01 1.91940973e-02 1.11814501e-02 1.42828929e+02] [-1.91911304e-02 9.99815764e-01 -3.72585280e-04 -9.96014636e+00] [-1.11865415e-02 1.57908677e-04 9.99937416e-01 -5.72517532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.381346184 meters 0.06678844596106896 Centerline is valid? [True, True] Translation: X:142.89, Y:-9.96, Z:-5.73 [[ 9.99682347e-01 2.14371015e-02 1.32535426e-02 1.42887554e+02] [-2.14331485e-02 9.99770187e-01 -4.40245028e-04 -9.96446775e+00] [-1.32599343e-02 1.56040036e-04 9.99912071e-01 -5.72535041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.441346184 meters 0.06686304174927413 Centerline is valid? [True, True] Translation: X:142.95, Y:-9.97, Z:-5.73 [[ 9.99669401e-01 2.18132532e-02 1.36113961e-02 1.42945850e+02] [-2.18091335e-02 9.99762051e-01 -4.51039118e-04 -9.96834121e+00] [-1.36179959e-02 1.54037249e-04 9.99907259e-01 -5.72802339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.501346184 meters 0.06684459558194779 Centerline is valid? [True, True] Translation: X:143.00, Y:-9.97, Z:-5.73 [[ 9.99617451e-01 2.34199902e-02 1.47124171e-02 1.43004125e+02] [-2.34153698e-02 9.99725704e-01 -4.86245535e-04 -9.97205559e+00] [-1.47197694e-02 1.41562834e-04 9.99891648e-01 -5.72971869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.561346184 meters 0.06686388585152117 Centerline is valid? [True, True] Translation: X:143.06, Y:-9.98, Z:-5.73 [[ 9.99594817e-01 2.35459227e-02 1.59935082e-02 1.43062369e+02] [-2.35405017e-02 9.99722745e-01 -5.27147776e-04 -9.97750859e+00] [-1.60014861e-02 1.50438978e-04 9.99871957e-01 -5.73209312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.621346184 meters 0.06689619564554093 Centerline is valid? [True, True] Translation: X:143.12, Y:-9.98, Z:-5.73 [[ 9.99547045e-01 2.41178741e-02 1.80009181e-02 1.43120522e+02] [-2.41111297e-02 9.99709109e-01 -5.91635710e-04 -9.98325237e+00] [-1.80099508e-02 1.57345256e-04 9.99837795e-01 -5.73299191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.681346184 meters 0.06686134501008734 Centerline is valid? [True, True] Translation: X:143.18, Y:-9.99, Z:-5.73 [[ 9.99536222e-01 2.36106721e-02 1.92322126e-02 1.43179929e+02] [-2.36029218e-02 9.99721214e-01 -6.29905933e-04 -9.98822515e+00] [-1.92417234e-02 1.75677385e-04 9.99814845e-01 -5.73308883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74134618399998 meters 0.06712253920576251 Centerline is valid? [True, True] Translation: X:143.24, Y:-10.00, Z:-5.74 [[ 9.99561899e-01 2.21780554e-02 1.95995724e-02 1.43237978e+02] [-2.21697392e-02 9.99754015e-01 -6.41505387e-04 -9.99830434e+00] [-1.96089785e-02 2.06706934e-04 9.99807704e-01 -5.73641352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80134618399998 meters 0.06727651707873472 Centerline is valid? [True, True] Translation: X:143.30, Y:-10.01, Z:-5.74 [[ 9.99557191e-01 2.22469315e-02 1.97609518e-02 1.43296975e+02] [-2.22385241e-02 9.99752485e-01 -6.45129229e-04 -1.00059620e+01] [-1.97704128e-02 2.05389158e-04 9.99804525e-01 -5.73945206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86134618399998 meters 0.06729887687353402 Centerline is valid? [True, True] Translation: X:143.36, Y:-10.01, Z:-5.74 [[ 9.99555458e-01 2.12181059e-02 2.09446505e-02 1.43357787e+02] [-2.12084492e-02 9.99774842e-01 -6.83102173e-04 -1.00116333e+01] [-2.09544287e-02 2.38594951e-04 9.99780403e-01 -5.73999226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.921346184 meters 0.06742116542200774 Centerline is valid? [True, True] Translation: X:143.42, Y:-10.02, Z:-5.74 [[ 9.99621675e-01 1.81171794e-02 2.06948096e-02 1.43419441e+02] [-1.81071735e-02 9.99835827e-01 -6.70792025e-04 -1.00216179e+01] [-2.07035649e-02 2.95813739e-04 9.99785614e-01 -5.74276832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.981346184 meters 0.06786445617370811 Centerline is valid? [True, True] Translation: X:143.48, Y:-10.03, Z:-5.75 [[ 9.99627554e-01 1.76057785e-02 2.08516227e-02 1.43481224e+02] [-1.75954000e-02 9.99844957e-01 -6.81103014e-04 -1.00302359e+01] [-2.08603812e-02 3.13956696e-04 9.99782349e-01 -5.74764062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.041346184 meters 0.06895075490385982 Centerline is valid? [True, True] Translation: X:143.54, Y:-10.04, Z:-5.75 [[ 9.99733828e-01 1.20141820e-02 1.96960027e-02 1.43541923e+02] [-1.20036620e-02 9.99927741e-01 -6.52258411e-04 -1.00445198e+01] [-1.97024159e-02 4.15660639e-04 9.99805802e-01 -5.75188940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.101346184 meters 0.07079031294168217 Centerline is valid? [True, True] Translation: X:143.60, Y:-10.06, Z:-5.76 [[ 9.99826095e-01 6.95141267e-03 1.73048551e-02 1.43601291e+02] [-6.94254125e-03 9.99975736e-01 -5.72677346e-04 -1.00563771e+01] [-1.73084162e-02 4.52438084e-04 9.99850096e-01 -5.75645025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.161346184 meters 0.07120310362522193 Centerline is valid? [True, True] Translation: X:143.66, Y:-10.06, Z:-5.76 [[ 9.99808847e-01 5.68709548e-03 1.87063276e-02 1.43663458e+02] [-5.67652990e-03 9.99983697e-01 -6.17863020e-04 -1.00648879e+01] [-1.87095365e-02 5.11557885e-04 9.99824830e-01 -5.75969727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.221346184 meters 0.06973121770066885 Centerline is valid? [True, True] Translation: X:143.73, Y:-10.07, Z:-5.76 [[ 9.99788218e-01 6.83386604e-03 1.94117916e-02 1.43726241e+02] [-6.82261459e-03 9.99976517e-01 -6.45786788e-04 -1.00657465e+01] [-1.94157490e-02 5.13210849e-04 9.99811365e-01 -5.75916786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.281346184 meters 0.06999760929701053 Centerline is valid? [True, True] Translation: X:143.79, Y:-10.07, Z:-5.76 [[ 9.99817030e-01 8.99642471e-03 1.68810598e-02 1.43788527e+02] [-8.98817615e-03 9.99959446e-01 -5.64436355e-04 -1.00663513e+01] [-1.68854531e-02 4.12603141e-04 9.99857345e-01 -5.76462273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.341346184 meters 0.06968705218419818 Centerline is valid? [True, True] Translation: X:143.85, Y:-10.07, Z:-5.77 [[ 9.99816310e-01 9.74863735e-03 1.65018116e-02 1.43851764e+02] [-9.74079454e-03 9.99952403e-01 -5.55581099e-04 -1.00680419e+01] [-1.65064423e-02 3.94738288e-04 9.99863681e-01 -5.76782470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.401346184 meters 0.07002473869814313 Centerline is valid? [True, True] Translation: X:143.91, Y:-10.07, Z:-5.77 [[ 9.99803433e-01 9.19541424e-03 1.75652758e-02 1.43914396e+02] [-9.18633741e-03 9.99957626e-01 -5.97366771e-04 -1.00724202e+01] [-1.75700245e-02 4.35888798e-04 9.99845540e-01 -5.77036461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.461346184 meters 0.07052743289986307 Centerline is valid? [True, True] Translation: X:143.98, Y:-10.08, Z:-5.78 [[ 9.99821586e-01 1.02214529e-02 1.58845445e-02 1.43975298e+02] [-1.02140830e-02 9.99947686e-01 -5.45026173e-04 -1.00763911e+01] [-1.58892845e-02 3.82682877e-04 9.99873684e-01 -5.77600964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52134618399998 meters 0.0702486800808297 Centerline is valid? [True, True] Translation: X:144.04, Y:-10.08, Z:-5.78 [[ 9.99839023e-01 1.19358133e-02 1.33964603e-02 1.44037171e+02] [-1.19307081e-02 9.99928720e-01 -4.60941593e-04 -1.00792528e+01] [-1.34010071e-02 3.01038133e-04 9.99910157e-01 -5.78068253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58134618399998 meters 0.0698099364852339 Centerline is valid? [True, True] Translation: X:144.10, Y:-10.08, Z:-5.78 [[ 9.99814008e-01 1.28278310e-02 1.44012579e-02 1.44099774e+02] [-1.28219093e-02 9.99917669e-01 -5.03451842e-04 -1.00816271e+01] [-1.44065304e-02 3.18706582e-04 9.99896170e-01 -5.78221176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64134618399999 meters 0.07003382468386346 Centerline is valid? [True, True] Translation: X:144.16, Y:-10.09, Z:-5.78 [[ 9.99856719e-01 1.12154962e-02 1.26789242e-02 1.44161386e+02] [-1.12108136e-02 9.99937060e-01 -4.40337466e-04 -1.00861160e+01] [-1.26830648e-02 2.98133319e-04 9.99919522e-01 -5.78452789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.701346184 meters 0.07179036702816069 Centerline is valid? [True, True] Translation: X:144.22, Y:-10.10, Z:-5.79 [[ 9.99919135e-01 7.72396702e-03 1.01026536e-02 1.44220593e+02] [-7.72074343e-03 9.99970131e-01 -3.58046617e-04 -1.00974704e+01] [-1.01051174e-02 2.80017668e-04 9.99948903e-01 -5.79260444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.761346184 meters 0.07229744867704642 Centerline is valid? [True, True] Translation: X:144.28, Y:-10.10, Z:-5.80 [[ 9.99950312e-01 5.49130346e-03 8.31984296e-03 1.44281930e+02] [-5.48909572e-03 9.99984893e-01 -2.88169311e-04 -1.01045754e+01] [-8.32129970e-03 2.42486578e-04 9.99965348e-01 -5.79705200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.821346184 meters 0.07350798333425948 Centerline is valid? [True, True] Translation: X:144.34, Y:-10.11, Z:-5.80 [[ 9.99976902e-01 2.58669623e-03 6.28527186e-03 1.44342968e+02] [-2.58534474e-03 9.99996633e-01 -2.23141132e-04 -1.01111680e+01] [-6.28582790e-03 2.06886384e-04 9.99980223e-01 -5.80158681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.881346184 meters 0.07304380847413877 Centerline is valid? [True, True] Translation: X:144.41, Y:-10.11, Z:-5.80 [[ 9.99980126e-01 2.58773399e-03 5.74899587e-03 1.44405229e+02] [-2.58664234e-03 9.99996635e-01 -1.97313350e-04 -1.01101278e+01] [-5.74948712e-03 1.82438832e-04 9.99983455e-01 -5.80273938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.941346184 meters 0.07290759739085825 Centerline is valid? [True, True] Translation: X:144.47, Y:-10.11, Z:-5.81 [[ 9.99975667e-01 2.58532711e-03 6.47932003e-03 1.44467740e+02] [-2.58392251e-03 9.99996636e-01 -2.25143125e-04 -1.01127719e+01] [-6.47988030e-03 2.08395586e-04 9.99978984e-01 -5.80587532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.001346184 meters 0.07343376501256346 Centerline is valid? [True, True] Translation: X:144.53, Y:-10.12, Z:-5.81 [[ 9.99973116e-01 1.70420415e-03 7.13180985e-03 1.44529131e+02] [-1.70245502e-03 9.99998519e-01 -2.51320396e-04 -1.01165682e+01] [-7.13222759e-03 2.39172054e-04 9.99974537e-01 -5.80837147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.061346184 meters 0.07439776873787293 Centerline is valid? [True, True] Translation: X:144.59, Y:-10.12, Z:-5.81 [[ 9.99981369e-01 4.24750868e-05 6.10401920e-03 1.44590934e+02] [-4.11612701e-05 9.99999976e-01 -2.15363432e-04 -1.01201427e+01] [-6.10402820e-03 2.15108170e-04 9.99981347e-01 -5.81104969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.121346184 meters 0.07392408314463007 Centerline is valid? [True, True] Translation: X:144.65, Y:-10.12, Z:-5.81 [[ 9.99985204e-01 -4.15477649e-04 5.42397393e-03 1.44653252e+02] [ 4.16519324e-04 9.99999895e-01 -1.90921961e-04 -1.01204848e+01] [-5.42389404e-03 1.93178326e-04 9.99985272e-01 -5.81218996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.181346184 meters 0.07443476158371123 Centerline is valid? [True, True] Translation: X:144.71, Y:-10.13, Z:-5.82 [[ 9.99978080e-01 4.67859927e-04 6.60452580e-03 1.44714074e+02] [-4.66286578e-04 9.99999863e-01 -2.39760533e-04 -1.01257148e+01] [-6.60463706e-03 2.36675675e-04 9.99978161e-01 -5.81588581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24134618399998 meters 0.0736302882526394 Centerline is valid? [True, True] Translation: X:144.78, Y:-10.13, Z:-5.81 [[ 9.99970289e-01 2.61526747e-04 7.70401105e-03 1.44776897e+02] [-2.59352770e-04 9.99999926e-01 -2.83185457e-04 -1.01264291e+01] [-7.70408455e-03 2.81178986e-04 9.99970284e-01 -5.81477015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30134618399998 meters 0.0736306185663054 Centerline is valid? [True, True] Translation: X:144.84, Y:-10.13, Z:-5.82 [[ 9.99953198e-01 8.94520474e-04 9.63333516e-03 1.44839598e+02] [-8.91133201e-04 9.99999540e-01 -3.55906566e-04 -1.01283281e+01] [-9.63364909e-03 3.47305324e-04 9.99953535e-01 -5.81705861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36134618399998 meters 0.07355523056908134 Centerline is valid? [True, True] Translation: X:144.90, Y:-10.13, Z:-5.82 [[ 9.99933509e-01 1.88583201e-03 1.13763085e-02 1.44900658e+02] [-1.88116855e-03 9.99998142e-01 -4.20614134e-04 -1.01283408e+01] [-1.13770805e-02 3.99185413e-04 9.99935199e-01 -5.81964234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.421346184 meters 0.07358786357137068 Centerline is valid? [True, True] Translation: X:144.96, Y:-10.13, Z:-5.82 [[ 9.99933610e-01 2.81809658e-03 1.11728793e-02 1.44962654e+02] [-2.81366952e-03 9.99995957e-01 -4.11931978e-04 -1.01299480e+01] [-1.11739950e-02 3.80467840e-04 9.99937497e-01 -5.82266450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.481346184 meters 0.07377498306154288 Centerline is valid? [True, True] Translation: X:145.03, Y:-10.13, Z:-5.83 [[ 9.99934930e-01 3.07388840e-03 1.09857440e-02 1.45025458e+02] [-3.06960448e-03 9.99995206e-01 -4.06792721e-04 -1.01316247e+01] [-1.09869418e-02 3.73044362e-04 9.99939572e-01 -5.82593043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.541346184 meters 0.07292740002687353 Centerline is valid? [True, True] Translation: X:145.09, Y:-10.13, Z:-5.83 [[ 9.99948763e-01 2.98171639e-03 9.67374215e-03 1.45087461e+02] [-2.97837008e-03 9.99995500e-01 -3.60305380e-04 -1.01310684e+01] [-9.67477295e-03 3.31474935e-04 9.99953143e-01 -5.82735444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.601346184 meters 0.07266487240240044 Centerline is valid? [True, True] Translation: X:145.15, Y:-10.13, Z:-5.83 [[ 9.99957967e-01 4.14160097e-03 8.17991791e-03 1.45150620e+02] [-4.13925165e-03 9.99991387e-01 -3.04115191e-04 -1.01314459e+01] [-8.18110698e-03 2.70243669e-04 9.99966498e-01 -5.82978815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.661346184 meters 0.07321999969592617 Centerline is valid? [True, True] Translation: X:145.21, Y:-10.13, Z:-5.84 [[ 9.99963408e-01 6.04516758e-03 6.05304302e-03 1.45212933e+02] [-6.04391809e-03 9.99981710e-01 -2.24695427e-04 -1.01343654e+01] [-6.05429063e-03 1.88103109e-04 9.99981655e-01 -5.83525543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.721346184 meters 0.07336657334896628 Centerline is valid? [True, True] Translation: X:145.27, Y:-10.14, Z:-5.84 [[ 9.99952412e-01 6.19857719e-03 7.53337456e-03 1.45273678e+02] [-6.19655734e-03 9.99980759e-01 -2.91432090e-04 -1.01362063e+01] [-7.53503607e-03 2.44737234e-04 9.99971581e-01 -5.83853257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.781346184 meters 0.07267396152882766 Centerline is valid? [True, True] Translation: X:145.34, Y:-10.13, Z:-5.84 [[ 9.99965501e-01 4.91199189e-03 6.69838209e-03 1.45336419e+02] [-4.91041161e-03 9.99987912e-01 -2.52344008e-04 -1.01345245e+01] [-6.69954063e-03 2.19443489e-04 9.99977534e-01 -5.83832748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.841346184 meters 0.07427517329505733 Centerline is valid? [True, True] Translation: X:145.40, Y:-10.14, Z:-5.85 [[ 9.99979104e-01 3.70355490e-03 5.29856586e-03 1.45397404e+02] [-3.70254862e-03 9.99993126e-01 -1.99711839e-04 -1.01420241e+01] [-5.29926908e-03 1.80089468e-04 9.99985943e-01 -5.84680615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.901346184 meters 0.07364380180627762 Centerline is valid? [True, True] Translation: X:145.46, Y:-10.14, Z:-5.85 [[ 9.99971827e-01 4.82904105e-03 5.74672720e-03 1.45460000e+02] [-4.82786595e-03 9.99988322e-01 -2.18337462e-04 -1.01403817e+01] [-5.74771445e-03 1.90586883e-04 9.99983464e-01 -5.84790455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96134618399998 meters 0.07342316603082936 Centerline is valid? [True, True] Translation: X:145.52, Y:-10.14, Z:-5.85 [[ 9.99956817e-01 7.52508752e-03 5.45314786e-03 1.45521095e+02] [-7.52402720e-03 9.99971671e-01 -2.14932239e-04 -1.01367096e+01] [-5.45461076e-03 1.73893325e-04 9.99985108e-01 -5.84911863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02134618399998 meters 0.0722467321672332 Centerline is valid? [True, True] Translation: X:145.58, Y:-10.13, Z:-5.85 [[ 9.99951887e-01 7.80989866e-03 5.93539530e-03 1.45582210e+02] [-7.80863895e-03 9.99969484e-01 -2.35381290e-04 -1.01344539e+01] [-5.93705248e-03 1.89022606e-04 9.99982358e-01 -5.84727019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08134618399998 meters 0.0729791498127454 Centerline is valid? [True, True] Translation: X:145.64, Y:-10.14, Z:-5.85 [[ 9.99948060e-01 8.16738221e-03 6.09677489e-03 1.45640991e+02] [-8.16605625e-03 9.99966628e-01 -2.42348574e-04 -1.01383373e+01] [-6.09855078e-03 1.92549379e-04 9.99981385e-01 -5.85183482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14134618399999 meters 0.07255770016153111 Centerline is valid? [True, True] Translation: X:145.70, Y:-10.14, Z:-5.85 [[ 9.99933244e-01 9.63126188e-03 6.38333517e-03 1.45701299e+02] [-9.62984268e-03 9.99953600e-01 -2.53027234e-04 -1.01363380e+01] [-6.38547596e-03 1.91539829e-04 9.99979594e-01 -5.85380134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.201346184 meters 0.07286773649084555 Centerline is valid? [True, True] Translation: X:145.76, Y:-10.14, Z:-5.86 [[ 9.99926631e-01 1.01115567e-02 6.66993944e-03 1.45760349e+02] [-1.01100143e-02 9.99948857e-01 -2.64922081e-04 -1.01369254e+01] [-6.67227710e-03 1.97469461e-04 9.99977721e-01 -5.85719178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.261346184 meters 0.07348784242051956 Centerline is valid? [True, True] Translation: X:145.82, Y:-10.14, Z:-5.86 [[ 9.99923771e-01 1.03345966e-02 6.75631989e-03 1.45819812e+02] [-1.03330278e-02 9.99946577e-01 -2.67062510e-04 -1.01387044e+01] [-6.75871893e-03 1.97228910e-04 9.99977140e-01 -5.86355481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.321346184 meters 0.07264155342939438 Centerline is valid? [True, True] Translation: X:145.88, Y:-10.14, Z:-5.86 [[ 9.99933804e-01 1.04625858e-02 4.78764940e-03 1.45879958e+02] [-1.04617976e-02 9.99945256e-01 -1.89653911e-04 -1.01367436e+01] [-4.78937157e-03 1.39553938e-04 9.99988521e-01 -5.86477477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.381346184 meters 0.07230615891802683 Centerline is valid? [True, True] Translation: X:145.94, Y:-10.14, Z:-5.87 [[ 9.99938266e-01 1.01648069e-02 4.48775964e-03 1.45938755e+02] [-1.01641002e-02 9.99948328e-01 -1.80255426e-04 -1.01362715e+01] [-4.48936001e-03 1.34630260e-04 9.99989914e-01 -5.86514858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.441346184 meters 0.07270956394335928 Centerline is valid? [True, True] Translation: X:146.00, Y:-10.14, Z:-5.87 [[ 9.99934962e-01 1.07541990e-02 3.79732760e-03 1.45995886e+02] [-1.07536947e-02 9.99942166e-01 -1.53205176e-04 -1.01384056e+01] [-3.79875558e-03 1.12359910e-04 9.99992778e-01 -5.86962557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.501346184 meters 0.07191515623692304 Centerline is valid? [True, True] Translation: X:146.06, Y:-10.14, Z:-5.87 [[ 9.99945430e-01 9.96920889e-03 3.12290444e-03 1.46055046e+02] [-9.96886461e-03 9.99950302e-01 -1.25790565e-04 -1.01411145e+01] [-3.12400327e-03 9.46518890e-05 9.99995116e-01 -5.86907871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.561346184 meters 0.07170371916268856 Centerline is valid? [True, True] Translation: X:146.11, Y:-10.14, Z:-5.87 [[ 9.99930598e-01 1.09559578e-02 4.33196178e-03 1.46113640e+02] [-1.09553132e-02 9.99939974e-01 -1.72494248e-04 -1.01433360e+01] [-4.33359159e-03 1.25024278e-04 9.99990602e-01 -5.86983323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.621346184 meters 0.07140823564070796 Centerline is valid? [True, True] Translation: X:146.17, Y:-10.15, Z:-5.87 [[ 9.99915365e-01 1.25327137e-02 3.49195776e-03 1.46172682e+02] [-1.25323018e-02 9.99921458e-01 -1.39839964e-04 -1.01486494e+01] [-3.49343606e-03 9.60658605e-05 9.99993893e-01 -5.87222912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.681346184 meters 0.07137900017369138 Centerline is valid? [True, True] Translation: X:146.23, Y:-10.15, Z:-5.87 [[ 9.99889947e-01 1.41752565e-02 4.37683795e-03 1.46230250e+02] [-1.41746270e-02 9.99899520e-01 -1.74823793e-04 -1.01525520e+01] [-4.37887634e-03 1.12764508e-04 9.99990406e-01 -5.87429445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74134618399998 meters 0.07153104755574091 Centerline is valid? [True, True] Translation: X:146.29, Y:-10.16, Z:-5.88 [[ 9.99874385e-01 1.54138006e-02 3.69177204e-03 1.46288001e+02] [-1.54133607e-02 9.99881196e-01 -1.47577625e-04 -1.01586386e+01] [-3.69360817e-03 9.06564728e-05 9.99993174e-01 -5.87910849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80134618399998 meters 0.07194632830641784 Centerline is valid? [True, True] Translation: X:146.35, Y:-10.16, Z:-5.88 [[ 9.99888799e-01 1.48328942e-02 1.54087608e-03 1.46347592e+02] [-1.48328171e-02 9.99889986e-01 -6.14948611e-05 -1.01642700e+01] [-1.54161871e-03 3.86324898e-05 9.99998811e-01 -5.88212734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86134618399998 meters 0.07343446919680975 Centerline is valid? [True, True] Translation: X:146.41, Y:-10.18, Z:-5.89 [[ 9.99941080e-01 1.08190286e-02 -8.85896324e-04 1.46405719e+02] [-1.08190026e-02 9.99941472e-01 3.41005462e-05 -1.01763248e+01] [ 8.86213409e-04 -2.45140223e-05 9.99999607e-01 -5.88687294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.921346184 meters 0.07519053239160364 Centerline is valid? [True, True] Translation: X:146.46, Y:-10.19, Z:-5.89 [[ 9.99973631e-01 6.75662493e-03 -2.66168387e-03 1.46464125e+02] [-6.75637567e-03 9.99977170e-01 1.02626097e-04 -1.01890670e+01] [ 2.66231651e-03 -8.46400551e-05 9.99996452e-01 -5.89165775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.981346184 meters 0.07370502620830417 Centerline is valid? [True, True] Translation: X:146.52, Y:-10.19, Z:-5.89 [[ 9.99979613e-01 5.90152415e-03 -2.43826769e-03 1.46523169e+02] [-5.90131660e-03 9.99982583e-01 9.23086052e-05 -1.01920627e+01] [ 2.43876999e-03 -7.79177337e-05 9.99997023e-01 -5.88840488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.041346184 meters 0.07439053329022859 Centerline is valid? [True, True] Translation: X:146.58, Y:-10.20, Z:-5.89 [[ 9.99982675e-01 4.68210802e-03 -3.56770277e-03 1.46581959e+02] [-4.68164971e-03 9.99989032e-01 1.36802007e-04 -1.01987776e+01] [ 3.56830416e-03 -1.20096902e-04 9.99993626e-01 -5.89212189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.101346184 meters 0.07462684842247486 Centerline is valid? [True, True] Translation: X:146.64, Y:-10.20, Z:-5.90 [[ 9.99975207e-01 5.76071824e-03 -4.04975403e-03 1.46639037e+02] [-5.76014356e-03 9.99983398e-01 1.53554086e-04 -1.02039936e+01] [ 4.05057138e-03 -1.30223114e-04 9.99991788e-01 -5.89561359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.161346184 meters 0.07380068474352065 Centerline is valid? [True, True] Translation: X:146.70, Y:-10.20, Z:-5.90 [[ 9.99964587e-01 7.06092249e-03 -4.57911867e-03 1.46697939e+02] [-7.06019636e-03 9.99975061e-01 1.74718669e-04 -1.02049478e+01] [ 4.58023814e-03 -1.42383005e-04 9.99989501e-01 -5.89597605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.221346184 meters 0.07367507309728472 Centerline is valid? [True, True] Translation: X:146.76, Y:-10.21, Z:-5.90 [[ 9.99971585e-01 6.56945817e-03 -3.69756852e-03 1.46756217e+02] [-6.56898421e-03 9.99978414e-01 1.40312382e-04 -1.02105054e+01] [ 3.69841048e-03 -1.16019125e-04 9.99993154e-01 -5.89796977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.281346184 meters 0.07387349431473599 Centerline is valid? [True, True] Translation: X:146.81, Y:-10.22, Z:-5.90 [[ 9.99975901e-01 6.27748975e-03 -2.96472502e-03 1.46814590e+02] [-6.27718588e-03 9.99980292e-01 1.11788901e-04 -1.02150047e+01] [ 2.96536834e-03 -9.31760769e-05 9.99995599e-01 -5.90045226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.341346184 meters 0.0733962546263959 Centerline is valid? [True, True] Translation: X:146.87, Y:-10.22, Z:-5.90 [[ 9.99981087e-01 5.23802311e-03 -3.22316634e-03 1.46873768e+02] [-5.23765881e-03 9.99986276e-01 1.21458312e-04 -1.02172148e+01] [ 3.22375830e-03 -1.04574170e-04 9.99994798e-01 -5.89970518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.401346184 meters 0.07409021869144287 Centerline is valid? [True, True] Translation: X:146.93, Y:-10.23, Z:-5.90 [[ 9.99986503e-01 3.79054866e-03 -3.55338182e-03 1.46931991e+02] [-3.79009658e-03 9.99992809e-01 1.33951170e-04 -1.02267367e+01] [ 3.55386402e-03 -1.20481701e-04 9.99993678e-01 -5.90347689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46134618399998 meters 0.0735342928643706 Centerline is valid? [True, True] Translation: X:146.99, Y:-10.23, Z:-5.91 [[ 9.99981068e-01 5.71581589e-03 -2.27879103e-03 1.46990730e+02] [-5.71563743e-03 9.99983662e-01 8.48140766e-05 -1.02310785e+01] [ 2.27923859e-03 -7.17877276e-05 9.99997400e-01 -5.90648217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52134618399998 meters 0.07198639671775733 Centerline is valid? [True, True] Translation: X:147.05, Y:-10.23, Z:-5.90 [[ 9.99940383e-01 1.08989683e-02 6.65751065e-04 1.47050712e+02] [-1.08989532e-02 9.99940604e-01 -2.63190264e-05 -1.02313809e+01] [-6.65998372e-04 1.90614676e-05 9.99999778e-01 -5.90430198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58134618399998 meters 0.06962790740268548 Centerline is valid? [True, True] Translation: X:147.11, Y:-10.23, Z:-5.90 [[ 9.99837218e-01 1.73569020e-02 4.92694236e-03 1.47111472e+02] [-1.73561810e-02 9.99849352e-01 -1.89070233e-04 -1.02265101e+01] [-4.92948180e-03 1.03526553e-04 9.99987845e-01 -5.89663206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64134618399999 meters 0.07006949359043046 Centerline is valid? [True, True] Translation: X:147.17, Y:-10.23, Z:-5.90 [[ 9.99789651e-01 2.00739923e-02 4.20567561e-03 1.47168628e+02] [-2.00734782e-02 9.99798494e-01 -1.64416777e-04 -1.02334538e+01] [-4.20812864e-03 7.99596544e-05 9.99991143e-01 -5.90451999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.701346184 meters 0.07079221379046138 Centerline is valid? [True, True] Translation: X:147.23, Y:-10.24, Z:-5.91 [[ 9.99861876e-01 1.66111166e-02 5.48343708e-04 1.47228445e+02] [-1.66111072e-02 9.99862026e-01 -2.16207065e-05 -1.02431053e+01] [-5.48627195e-04 1.25091240e-05 9.99999849e-01 -5.90677870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.761346184 meters 0.0714702455070475 Centerline is valid? [True, True] Translation: X:147.29, Y:-10.25, Z:-5.91 [[ 9.99899661e-01 1.41417064e-02 -8.24599242e-04 1.47287480e+02] [-1.41416868e-02 9.99900001e-01 2.95326124e-05 -1.02513550e+01] [ 8.24934425e-04 -1.78684249e-05 9.99999660e-01 -5.90920637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.821346184 meters 0.07045872629129171 Centerline is valid? [True, True] Translation: X:147.35, Y:-10.26, Z:-5.91 [[ 9.99904156e-01 1.38266003e-02 -7.09605509e-04 1.47346277e+02] [-1.38265866e-02 9.99904408e-01 2.42700417e-05 -1.02589908e+01] [ 7.09873249e-04 -1.44562935e-05 9.99999748e-01 -5.90600813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.881346184 meters 0.07080031803033231 Centerline is valid? [True, True] Translation: X:147.40, Y:-10.27, Z:-5.91 [[ 9.99920284e-01 1.25816946e-02 -1.06110470e-03 1.47404686e+02] [-1.25816618e-02 9.99920847e-01 3.75967935e-05 -1.02729925e+01] [ 1.06149374e-03 -2.42433360e-05 9.99999436e-01 -5.90888245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.941346184 meters 0.07194524369074473 Centerline is valid? [True, True] Translation: X:147.46, Y:-10.28, Z:-5.91 [[ 9.99934803e-01 1.11700072e-02 -2.37059023e-03 1.47462782e+02] [-1.11698313e-02 9.99937612e-01 8.74270895e-05 -1.02842544e+01] [ 2.37141889e-03 -6.09422966e-05 9.99997186e-01 -5.91457465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.001346184 meters 0.07186318798741798 Centerline is valid? [True, True] Translation: X:147.52, Y:-10.29, Z:-5.92 [[ 9.99906582e-01 1.27791299e-02 -4.84986852e-03 1.47521258e+02] [-1.27784020e-02 9.99918336e-01 1.81053613e-04 -1.02919106e+01] [ 4.85178618e-03 -1.19063130e-04 9.99988223e-01 -5.91608458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.061346184 meters 0.0743472727489512 Centerline is valid? [True, True] Translation: X:147.58, Y:-10.31, Z:-5.93 [[ 9.99925116e-01 1.15754594e-02 -3.97119007e-03 1.47578431e+02] [-1.15749647e-02 9.99932997e-01 1.47517962e-04 -1.03119061e+01] [ 3.97263158e-03 -1.01540530e-04 9.99992104e-01 -5.92798101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.121346184 meters 0.07326240141226505 Centerline is valid? [True, True] Translation: X:147.64, Y:-10.33, Z:-5.92 [[ 9.99958022e-01 7.91313295e-03 -4.61925836e-03 1.47637450e+02] [-7.91242108e-03 9.99968681e-01 1.72362855e-04 -1.03261714e+01] [ 4.62047762e-03 -1.35806102e-04 9.99989316e-01 -5.92378220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.181346184 meters 0.07484579490851469 Centerline is valid? [True, True] Translation: X:147.70, Y:-10.34, Z:-5.93 [[ 9.99961836e-01 6.52622233e-03 -5.80812467e-03 1.47695310e+02] [-6.52507619e-03 9.99978688e-01 2.16261876e-04 -1.03417961e+01] [ 5.80941226e-03 -1.78355167e-04 9.99983109e-01 -5.92921669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24134618399998 meters 0.07439078569532266 Centerline is valid? [True, True] Translation: X:147.75, Y:-10.35, Z:-5.93 [[ 9.99958256e-01 7.10756847e-03 -5.74188027e-03 1.47754019e+02] [-7.10646072e-03 9.99974726e-01 2.13303660e-04 -1.03487220e+01] [ 5.74325122e-03 -1.72490310e-04 9.99983493e-01 -5.93025999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30134618399998 meters 0.07329510800506062 Centerline is valid? [True, True] Translation: X:147.81, Y:-10.36, Z:-5.93 [[ 9.99953710e-01 7.47311328e-03 -6.06057023e-03 1.47811535e+02] [-7.47189829e-03 9.99972060e-01 2.23091658e-04 -1.03566802e+01] [ 6.06206809e-03 -1.77797367e-04 9.99981610e-01 -5.92914208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36134618399998 meters 0.07267070405422722 Centerline is valid? [True, True] Translation: X:147.87, Y:-10.36, Z:-5.93 [[ 9.99945171e-01 8.51703547e-03 -6.09213951e-03 1.47870347e+02] [-8.51582183e-03 9.99963714e-01 2.25126192e-04 -1.03594518e+01] [ 6.09383586e-03 -1.73234274e-04 9.99981417e-01 -5.92874788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.421346184 meters 0.07259436166128755 Centerline is valid? [True, True] Translation: X:147.93, Y:-10.37, Z:-5.93 [[ 9.99936827e-01 1.01836313e-02 -4.75771508e-03 1.47928163e+02] [-1.01829144e-02 9.99948137e-01 1.74880267e-04 -1.03671175e+01] [ 4.75924924e-03 -1.26421814e-04 9.99988667e-01 -5.93078881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.481346184 meters 0.07189355467458138 Centerline is valid? [True, True] Translation: X:147.99, Y:-10.37, Z:-5.93 [[ 9.99908933e-01 1.28074631e-02 -4.25371345e-03 1.47986711e+02] [-1.28069163e-02 9.99917976e-01 1.55741582e-04 -1.03702695e+01] [ 4.25535920e-03 -1.01250447e-04 9.99990941e-01 -5.93083001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.541346184 meters 0.07265730939772501 Centerline is valid? [True, True] Translation: X:148.04, Y:-10.38, Z:-5.93 [[ 9.99904007e-01 1.25447243e-02 -5.88268913e-03 1.48044610e+02] [-1.25436748e-02 9.99921302e-01 2.15268555e-04 -1.03762381e+01] [ 5.88492666e-03 -1.41457352e-04 9.99982674e-01 -5.93487167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.601346184 meters 0.07347364447388795 Centerline is valid? [True, True] Translation: X:148.10, Y:-10.38, Z:-5.94 [[ 9.99921380e-01 1.00584887e-02 -7.48739793e-03 1.48104148e+02] [-1.00566984e-02 9.99949392e-01 2.76722816e-04 -1.03841737e+01] [ 7.48980242e-03 -2.01402558e-04 9.99971931e-01 -5.93739243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.661346184 meters 0.07505354994777971 Centerline is valid? [True, True] Translation: X:148.16, Y:-10.39, Z:-5.94 [[ 9.99927628e-01 7.27610002e-03 -9.58111290e-03 1.48163263e+02] [-7.27303218e-03 9.99973488e-01 3.55001170e-04 -1.03933110e+01] [ 9.58344191e-03 -2.85291736e-04 9.99954037e-01 -5.94384913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.721346184 meters 0.07610088558565814 Centerline is valid? [True, True] Translation: X:148.22, Y:-10.40, Z:-5.95 [[ 9.99954278e-01 3.19357082e-03 -9.01350099e-03 1.48222048e+02] [-3.19070669e-03 9.99994855e-01 3.32122576e-04 -1.04028316e+01] [ 9.01451527e-03 -3.03347953e-04 9.99959322e-01 -5.94527888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.781346184 meters 0.0763682570049773 Centerline is valid? [True, True] Translation: X:148.28, Y:-10.41, Z:-5.95 [[ 9.99950908e-01 2.14133134e-03 -9.67447151e-03 1.48281153e+02] [-2.13799423e-03 9.99997651e-01 3.55268566e-04 -1.04055918e+01] [ 9.67520953e-03 -3.34567161e-04 9.99953138e-01 -5.94630116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.841346184 meters 0.07451967863922564 Centerline is valid? [True, True] Translation: X:148.34, Y:-10.40, Z:-5.94 [[ 9.99950036e-01 2.51033074e-03 -9.67592640e-03 1.48340059e+02] [-2.50701875e-03 9.99996795e-01 3.54406745e-04 -1.04048841e+01] [ 9.67678506e-03 -3.30131308e-04 9.99953124e-01 -5.94454516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.901346184 meters 0.07564005800914134 Centerline is valid? [True, True] Translation: X:148.40, Y:-10.41, Z:-5.95 [[ 9.99958200e-01 5.08980145e-04 -9.12900440e-03 1.48397885e+02] [-5.05963922e-04 9.99999817e-01 3.32706515e-04 -1.04134603e+01] [ 9.12917206e-03 -3.28073661e-04 9.99958274e-01 -5.94860581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96134618399998 meters 0.07666546565157939 Centerline is valid? [True, True] Translation: X:148.46, Y:-10.41, Z:-5.95 [[ 9.99947196e-01 -7.14692886e-04 -1.02515299e-02 1.48456594e+02] [ 7.18574185e-04 9.99999672e-01 3.74928438e-04 -1.04136511e+01] [ 1.02512586e-02 -3.82275125e-04 9.99947381e-01 -5.95142299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02134618399998 meters 0.07685725683035631 Centerline is valid? [True, True] Translation: X:148.51, Y:-10.42, Z:-5.95 [[ 9.99948416e-01 -2.15509674e-03 -9.92580842e-03 1.48514798e+02] [ 2.15879161e-03 9.99997604e-01 3.61549602e-04 -1.04183833e+01] [ 9.92500546e-03 -3.82958704e-04 9.99950673e-01 -5.95403540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08134618399998 meters 0.07811691938656674 Centerline is valid? [True, True] Translation: X:148.57, Y:-10.43, Z:-5.96 [[ 9.99956459e-01 -3.12248150e-03 -8.79373094e-03 1.48572548e+02] [ 3.12540382e-03 9.99995065e-01 3.18596264e-04 -1.04274790e+01] [ 8.79269274e-03 -3.46066353e-04 9.99961284e-01 -5.95862854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14134618399999 meters 0.07894041726277728 Centerline is valid? [True, True] Translation: X:148.63, Y:-10.43, Z:-5.96 [[ 9.99933068e-01 -6.01686725e-03 -9.88214316e-03 1.48632577e+02] [ 6.02072748e-03 9.99981810e-01 3.60922861e-04 -1.04283351e+01] [ 9.87979178e-03 -4.20396395e-04 9.99951105e-01 -5.95913671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.201346184 meters 0.07776743112778428 Centerline is valid? [True, True] Translation: X:148.69, Y:-10.43, Z:-5.96 [[ 9.99940622e-01 -5.86137551e-03 -9.18679073e-03 1.48691770e+02] [ 5.86460292e-03 9.99982750e-01 3.24410578e-04 -1.04258594e+01] [ 9.18473077e-03 -3.78268195e-04 9.99957748e-01 -5.95796533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.261346184 meters 0.07754004229311591 Centerline is valid? [True, True] Translation: X:148.75, Y:-10.43, Z:-5.96 [[ 9.99970555e-01 -4.97748223e-03 -5.84063919e-03 1.48750919e+02] [ 4.97879755e-03 9.99987584e-01 2.10683020e-04 -1.04251782e+01] [ 5.83951799e-03 -2.39756177e-04 9.99982921e-01 -5.95667108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.321346184 meters 0.07703171618689476 Centerline is valid? [True, True] Translation: X:148.81, Y:-10.42, Z:-5.96 [[ 9.99981638e-01 -4.38598682e-03 -4.18161677e-03 1.48809905e+02] [ 4.38664761e-03 9.99990368e-01 1.48863686e-04 -1.04249821e+01] [ 4.18092358e-03 -1.67204232e-04 9.99991246e-01 -5.95789090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.381346184 meters 0.07760410655932137 Centerline is valid? [True, True] Translation: X:148.87, Y:-10.42, Z:-5.96 [[ 9.99983334e-01 -2.23533958e-03 -5.32311611e-03 1.48868373e+02] [ 2.23638596e-03 9.99997481e-01 1.90627599e-04 -1.04203983e+01] [ 5.32267658e-03 -2.02528964e-04 9.99985814e-01 -5.96384182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.441346184 meters 0.07505150145306912 Centerline is valid? [True, True] Translation: X:148.93, Y:-10.41, Z:-5.96 [[ 9.99983957e-01 -2.93504587e-04 -5.65681464e-03 1.48927708e+02] [ 2.94606378e-04 9.99999938e-01 1.93940037e-04 -1.04087213e+01] [ 5.65675737e-03 -1.95603459e-04 9.99983981e-01 -5.96038252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.501346184 meters 0.07445160636471093 Centerline is valid? [True, True] Translation: X:148.99, Y:-10.39, Z:-5.96 [[ 9.99972375e-01 3.65551586e-03 -6.47197979e-03 1.48986130e+02] [-3.65411242e-03 9.99993298e-01 2.28660186e-04 -1.03940888e+01] [ 6.47277228e-03 -2.05004528e-04 9.99979030e-01 -5.96432583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.561346184 meters 0.07269284973336936 Centerline is valid? [True, True] Translation: X:149.05, Y:-10.38, Z:-5.96 [[ 9.99975709e-01 3.35710101e-03 -6.10823597e-03 1.49046105e+02] [-3.35584618e-03 9.99994346e-01 2.15670849e-04 -1.03794944e+01] [ 6.10892546e-03 -1.95167309e-04 9.99981321e-01 -5.96110440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.621346184 meters 0.07332856849299352 Centerline is valid? [True, True] Translation: X:149.10, Y:-10.37, Z:-5.97 [[ 9.99972133e-01 2.51599464e-03 -7.02865951e-03 1.49103926e+02] [-2.51431836e-03 9.99996809e-01 2.47318804e-04 -1.03731053e+01] [ 7.02925934e-03 -2.29639624e-04 9.99975268e-01 -5.96530643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.681346184 meters 0.07260005919132163 Centerline is valid? [True, True] Translation: X:149.16, Y:-10.36, Z:-5.97 [[ 9.99952511e-01 4.53224138e-03 -8.62751863e-03 1.49161716e+02] [-4.52986821e-03 9.99989697e-01 2.94591271e-04 -1.03622499e+01] [ 8.62876490e-03 -2.55495759e-04 9.99962739e-01 -5.96983195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74134618399998 meters 0.07260814221463037 Centerline is valid? [True, True] Translation: X:149.22, Y:-10.35, Z:-5.97 [[ 9.99917759e-01 7.31199482e-03 -1.05361724e-02 1.49219991e+02] [-7.30861222e-03 9.99973227e-01 3.59514291e-04 -1.03514766e+01] [ 1.05385191e-02 -2.82479925e-04 9.99944428e-01 -5.97391528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80134618399998 meters 0.07197388413857078 Centerline is valid? [True, True] Translation: X:149.28, Y:-10.34, Z:-5.98 [[ 9.99878098e-01 1.13953020e-02 -1.06740531e-02 1.49279432e+02] [-1.13919867e-02 9.99935040e-01 3.71344780e-04 -1.03368533e+01] [ 1.06775913e-02 -2.49700842e-04 9.99942962e-01 -5.97640836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86134618399998 meters 0.07201244880090953 Centerline is valid? [True, True] Translation: X:149.34, Y:-10.33, Z:-5.98 [[ 9.99868276e-01 1.25165711e-02 -1.03327370e-02 1.49338327e+02] [-1.25135322e-02 9.99921638e-01 3.58702082e-04 -1.03312859e+01] [ 1.03364170e-02 -2.29355795e-04 9.99946552e-01 -5.98050809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.921346184 meters 0.07209958735534266 Centerline is valid? [True, True] Translation: X:149.40, Y:-10.33, Z:-5.99 [[ 9.99872802e-01 1.31863878e-02 -8.97207209e-03 1.49396150e+02] [-1.31841386e-02 9.99913037e-01 3.09783554e-04 -1.03277098e+01] [ 8.97537678e-03 -1.91455108e-04 9.99959702e-01 -5.98844292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.981346184 meters 0.07153317656325664 Centerline is valid? [True, True] Translation: X:149.46, Y:-10.32, Z:-5.99 [[ 9.99880334e-01 1.44178976e-02 -5.60727552e-03 1.49455996e+02] [-1.44170354e-02 9.99896050e-01 1.94144057e-04 -1.03201917e+01] [ 5.60949179e-03 -1.13280534e-04 9.99984260e-01 -5.98812064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.041346184 meters 0.06995553091233302 Centerline is valid? [True, True] Translation: X:149.52, Y:-10.31, Z:-5.98 [[ 9.99876940e-01 1.49977514e-02 -4.60133266e-03 1.49515162e+02] [-1.49971861e-02 9.99887524e-01 1.57346280e-04 -1.03132974e+01] [ 4.60317496e-03 -8.83198747e-05 9.99989401e-01 -5.98306464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.101346184 meters 0.0701675796605446 Centerline is valid? [True, True] Translation: X:149.57, Y:-10.32, Z:-5.99 [[ 9.99888919e-01 1.41213912e-02 -4.76814194e-03 1.49573927e+02] [-1.41207753e-02 9.99900284e-01 1.62806176e-04 -1.03155237e+01] [ 4.76996553e-03 -9.54582304e-05 9.99988619e-01 -5.98776904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.161346184 meters 0.07051892040572891 Centerline is valid? [True, True] Translation: X:149.63, Y:-10.32, Z:-5.99 [[ 9.99927721e-01 1.08976433e-02 -5.07869918e-03 1.49632829e+02] [-1.08969041e-02 9.99940612e-01 1.73203874e-04 -1.03183910e+01] [ 5.08028508e-03 -1.17849257e-04 9.99987088e-01 -5.99154343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.221346184 meters 0.07078037831278564 Centerline is valid? [True, True] Translation: X:149.69, Y:-10.32, Z:-5.99 [[ 9.99952671e-01 9.71866831e-03 -4.50124562e-04 1.49691575e+02] [-9.71866317e-03 9.99952773e-01 1.35914615e-05 -1.03178745e+01] [ 4.50235395e-04 -9.21620919e-06 9.99999899e-01 -5.99235043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.281346184 meters 0.07054534166087022 Centerline is valid? [True, True] Translation: X:149.75, Y:-10.32, Z:-5.99 [[ 9.99945382e-01 1.04221987e-02 -7.81642302e-04 1.49750346e+02] [-1.04221828e-02 9.99945687e-01 2.43464513e-05 -1.03169007e+01] [ 7.81853592e-04 -1.61987025e-05 9.99999694e-01 -5.99436240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.341346184 meters 0.0707398384008984 Centerline is valid? [True, True] Translation: X:149.81, Y:-10.31, Z:-6.00 [[ 9.99903262e-01 1.37260070e-02 -2.25007671e-03 1.49808311e+02] [-1.37258758e-02 9.99905793e-01 7.37311467e-05 -1.03143682e+01] [ 2.25087677e-03 -4.28397406e-05 9.99997466e-01 -6.00135455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.401346184 meters 0.07052575559033576 Centerline is valid? [True, True] Translation: X:149.87, Y:-10.31, Z:-6.00 [[ 9.99879024e-01 1.54439128e-02 -1.85010421e-03 1.49867005e+02] [-1.54438264e-02 9.99880735e-01 6.09818362e-05 -1.03128286e+01] [ 1.85082536e-03 -3.24017706e-05 9.99998287e-01 -6.00322609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46134618399998 meters 0.07077297678452354 Centerline is valid? [True, True] Translation: X:149.93, Y:-10.31, Z:-6.00 [[ 9.99907754e-01 1.35821914e-02 8.96936814e-05 1.49925989e+02] [-1.35821910e-02 9.99907758e-01 -5.57624104e-06 -1.03140293e+01] [-8.97611455e-05 4.35748994e-06 9.99999996e-01 -6.00496047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52134618399998 meters 0.07114832027334551 Centerline is valid? [True, True] Translation: X:149.98, Y:-10.32, Z:-6.01 [[ 9.99921929e-01 1.22745173e-02 2.33915967e-03 1.49983285e+02] [-1.22743566e-02 9.99924664e-01 -8.30351158e-05 -1.03167831e+01] [-2.34000266e-03 5.43169532e-05 9.99997261e-01 -6.00785992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58134618399998 meters 0.06949060838822406 Centerline is valid? [True, True] Translation: X:150.04, Y:-10.31, Z:-6.00 [[ 9.99923810e-01 1.12350366e-02 5.11351497e-03 1.50042767e+02] [-1.12342777e-02 9.99936878e-01 -1.77102613e-04 -1.03127450e+01] [-5.11518195e-03 1.19642472e-04 9.99986910e-01 -6.00176198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64134618399999 meters 0.0704719538414585 Centerline is valid? [True, True] Translation: X:150.10, Y:-10.32, Z:-6.01 [[ 9.99947784e-01 9.35875973e-03 4.10406625e-03 1.50100867e+02] [-9.35825676e-03 9.99956201e-01 -1.41742913e-04 -1.03155284e+01] [-4.10521303e-03 1.03328606e-04 9.99991568e-01 -6.00853737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.701346184 meters 0.07014298810770653 Centerline is valid? [True, True] Translation: X:150.16, Y:-10.32, Z:-6.01 [[ 9.99958161e-01 8.52966003e-03 3.30463827e-03 1.50160477e+02] [-8.52933054e-03 9.99963618e-01 -1.13784762e-04 -1.03153805e+01] [-3.30548859e-03 8.55936491e-05 9.99994533e-01 -6.00970180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.761346184 meters 0.07086549682214126 Centerline is valid? [True, True] Translation: X:150.22, Y:-10.32, Z:-6.01 [[ 9.99961982e-01 7.58852847e-03 4.29528187e-03 1.50219280e+02] [-7.58796524e-03 9.99971200e-01 -1.47407910e-04 -1.03186598e+01] [-4.29627677e-03 1.14809856e-04 9.99990764e-01 -6.01300957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.821346184 meters 0.07009614650801993 Centerline is valid? [True, True] Translation: X:150.28, Y:-10.32, Z:-6.01 [[ 9.99950003e-01 8.31898844e-03 5.54851177e-03 1.50279119e+02] [-8.31806400e-03 9.99965386e-01 -1.89666980e-04 -1.03163855e+01] [-5.54989756e-03 1.43504621e-04 9.99984589e-01 -6.01063441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.881346184 meters 0.07033757255422488 Centerline is valid? [True, True] Translation: X:150.34, Y:-10.32, Z:-6.02 [[ 9.99948344e-01 8.20245322e-03 6.00242912e-03 1.50339567e+02] [-8.20137808e-03 9.99966347e-01 -2.03710863e-04 -1.03230752e+01] [-6.00389806e-03 1.54472149e-04 9.99981965e-01 -6.01500587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.941346184 meters 0.07033758173404249 Centerline is valid? [True, True] Translation: X:150.40, Y:-10.33, Z:-6.02 [[ 9.99948448e-01 8.05914782e-03 6.17670833e-03 1.50400336e+02] [-8.05800661e-03 9.99967512e-01 -2.09625563e-04 -1.03260137e+01] [-6.17819706e-03 1.59842800e-04 9.99980902e-01 -6.01836540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.001346184 meters 0.07125006793096714 Centerline is valid? [True, True] Translation: X:150.46, Y:-10.33, Z:-6.02 [[ 9.99934138e-01 9.74897966e-03 6.05609577e-03 1.50460255e+02] [-9.74793283e-03 9.99952467e-01 -2.02349435e-04 -1.03287145e+01] [-6.05778060e-03 1.43301693e-04 9.99981641e-01 -6.02447043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.061346184 meters 0.0700623337451763 Centerline is valid? [True, True] Translation: X:150.52, Y:-10.32, Z:-6.02 [[ 9.99903609e-01 1.20815654e-02 6.84163667e-03 1.50520254e+02] [-1.20802471e-02 9.99927004e-01 -2.33980386e-04 -1.03246501e+01] [-6.84396410e-03 1.51309171e-04 9.99976568e-01 -6.02414046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.121346184 meters 0.06996702167403325 Centerline is valid? [True, True] Translation: X:150.58, Y:-10.33, Z:-6.03 [[ 9.99882828e-01 1.26430843e-02 8.63029807e-03 1.50579846e+02] [-1.26410133e-02 9.99920056e-01 -2.94483636e-04 -1.03271507e+01] [-8.63333131e-03 1.85353418e-04 9.99962715e-01 -6.02654675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.181346184 meters 0.06998800415728415 Centerline is valid? [True, True] Translation: X:150.64, Y:-10.33, Z:-6.03 [[ 9.99884293e-01 1.21323628e-02 9.17642813e-03 1.50640137e+02] [-1.21300127e-02 9.99926380e-01 -3.11722496e-04 -1.03320084e+01] [-9.17953449e-03 2.00376238e-04 9.99957847e-01 -6.02959198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24134618399998 meters 0.07050396555664214 Centerline is valid? [True, True] Translation: X:150.70, Y:-10.33, Z:-6.03 [[ 9.99894288e-01 1.20020323e-02 8.20761584e-03 1.50700655e+02] [-1.20001519e-02 9.99927957e-01 -2.78313789e-04 -1.03339746e+01] [-8.21036487e-03 1.79791730e-04 9.99966278e-01 -6.03316987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30134618399998 meters 0.06947186740768102 Centerline is valid? [True, True] Translation: X:150.76, Y:-10.33, Z:-6.03 [[ 9.99873764e-01 1.35254068e-02 8.33782210e-03 1.50760728e+02] [-1.35235050e-02 9.99908513e-01 -2.84433312e-04 -1.03304218e+01] [-8.34090637e-03 1.71640827e-04 9.99965199e-01 -6.03020521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36134618399998 meters 0.06922988575343764 Centerline is valid? [True, True] Translation: X:150.82, Y:-10.33, Z:-6.03 [[ 9.99850702e-01 1.57244000e-02 7.16353678e-03 1.50820889e+02] [-1.57230529e-02 9.99876355e-01 -2.44321050e-04 -1.03294497e+01] [-7.16649285e-03 1.31651906e-04 9.99974312e-01 -6.03021440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.421346184 meters 0.06970511163585948 Centerline is valid? [True, True] Translation: X:150.88, Y:-10.33, Z:-6.04 [[ 9.99830783e-01 1.70748746e-02 6.84502559e-03 1.50878177e+02] [-1.70736652e-02 9.99854207e-01 -2.35094520e-04 -1.03324943e+01] [-6.84804184e-03 1.18185063e-04 9.99976545e-01 -6.03646514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.481346184 meters 0.06946822319973867 Centerline is valid? [True, True] Translation: X:150.94, Y:-10.33, Z:-6.04 [[ 9.99823126e-01 1.74051842e-02 7.12580390e-03 1.50937409e+02] [-1.74038934e-02 9.99848511e-01 -2.43122163e-04 -1.03324387e+01] [-7.12895601e-03 1.19062430e-04 9.99974582e-01 -6.03771783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.541346184 meters 0.06932210114893352 Centerline is valid? [True, True] Translation: X:151.00, Y:-10.33, Z:-6.04 [[ 9.99811696e-01 1.74602200e-02 8.46834250e-03 1.50995602e+02] [-1.74584041e-02 9.99847549e-01 -2.88311861e-04 -1.03274116e+01] [-8.47208548e-03 1.40413825e-04 9.99964101e-01 -6.03748483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.601346184 meters 0.06969537097438777 Centerline is valid? [True, True] Translation: X:151.05, Y:-10.33, Z:-6.04 [[ 9.99839566e-01 1.57791677e-02 8.47702653e-03 1.51054340e+02] [-1.57772993e-02 9.99875489e-01 -2.87245291e-04 -1.03326544e+01] [-8.48050354e-03 1.53454623e-04 9.99964028e-01 -6.04211772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.661346184 meters 0.07064118526752089 Centerline is valid? [True, True] Translation: X:151.11, Y:-10.34, Z:-6.05 [[ 9.99922398e-01 1.14735856e-02 4.85329581e-03 1.51114527e+02] [-1.14729297e-02 9.99934170e-01 -1.62965204e-04 -1.03395312e+01] [-4.85484611e-03 1.07271036e-04 9.99988209e-01 -6.04805539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.721346184 meters 0.07091368888746885 Centerline is valid? [True, True] Translation: X:151.17, Y:-10.34, Z:-6.05 [[ 9.99934156e-01 1.08666808e-02 3.68762678e-03 1.51174109e+02] [-1.08662937e-02 9.99940952e-01 -1.24993071e-04 -1.03407157e+01] [-3.68876729e-03 8.49140060e-05 9.99993193e-01 -6.05062173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.781346184 meters 0.07143753245161666 Centerline is valid? [True, True] Translation: X:151.23, Y:-10.34, Z:-6.06 [[ 9.99895235e-01 1.43451237e-02 1.93280388e-03 1.51231936e+02] [-1.43450194e-02 9.99897103e-01 -6.78608843e-05 -1.03389062e+01] [-1.93357847e-03 4.01276659e-05 9.99998130e-01 -6.05861050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.841346184 meters 0.07041481190379666 Centerline is valid? [True, True] Translation: X:151.29, Y:-10.34, Z:-6.06 [[ 9.99889753e-01 1.47455873e-02 1.74635003e-03 1.51291331e+02] [-1.47455033e-02 9.99891277e-01 -6.09554765e-05 -1.03375711e+01] [-1.74705899e-03 3.51979461e-05 9.99998473e-01 -6.05640647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.901346184 meters 0.0703705507050523 Centerline is valid? [True, True] Translation: X:151.35, Y:-10.34, Z:-6.06 [[ 9.99911350e-01 1.27677969e-02 3.77831286e-03 1.51350332e+02] [-1.27674025e-02 9.99918485e-01 -1.28500184e-04 -1.03408826e+01] [-3.77964554e-03 8.02495515e-05 9.99992854e-01 -6.05603858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96134618399998 meters 0.0715709264642323 Centerline is valid? [True, True] Translation: X:151.41, Y:-10.35, Z:-6.06 [[ 9.99964625e-01 7.87479178e-03 2.95580869e-03 1.51408519e+02] [-7.87452972e-03 9.99968990e-01 -1.00285407e-04 -1.03500687e+01] [-2.95650676e-03 7.70062561e-05 9.99995627e-01 -6.05876252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02134618399998 meters 0.0716494857111163 Centerline is valid? [True, True] Translation: X:151.47, Y:-10.35, Z:-6.06 [[ 9.99972600e-01 6.55743509e-03 3.43497688e-03 1.51467458e+02] [-6.55707323e-03 9.99978495e-01 -1.16595897e-04 -1.03511053e+01] [-3.43566758e-03 9.40693076e-05 9.99994094e-01 -6.05875662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08134618399998 meters 0.07187964466978443 Centerline is valid? [True, True] Translation: X:151.53, Y:-10.35, Z:-6.06 [[ 9.99956587e-01 6.61822490e-03 6.55926225e-03 1.51526731e+02] [-6.61693237e-03 9.99978084e-01 -2.18735754e-04 -1.03521044e+01] [-6.56056614e-03 1.75324063e-04 9.99978464e-01 -6.05931999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14134618399999 meters 0.07174858499084596 Centerline is valid? [True, True] Translation: X:151.59, Y:-10.35, Z:-6.06 [[ 9.99938661e-01 6.98375399e-03 8.59664476e-03 1.51587682e+02] [-6.98156574e-03 9.99975588e-01 -2.84530350e-04 -1.03507475e+01] [-8.59842199e-03 2.24494857e-04 9.99963008e-01 -6.06039176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.201346184 meters 0.07072650231562298 Centerline is valid? [True, True] Translation: X:151.65, Y:-10.34, Z:-6.06 [[ 9.99936611e-01 6.30347049e-03 9.32948861e-03 1.51650822e+02] [-6.30092274e-03 9.99980103e-01 -3.02452650e-04 -1.03430670e+01] [-9.33120949e-03 2.43649091e-04 9.99956434e-01 -6.05853913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.261346184 meters 0.07129757961911558 Centerline is valid? [True, True] Translation: X:151.71, Y:-10.34, Z:-6.06 [[ 9.99949972e-01 5.98039617e-03 8.01798218e-03 1.51713260e+02] [-5.97849725e-03 9.99982095e-01 -2.60780481e-04 -1.03427726e+01] [-8.01939818e-03 2.12831951e-04 9.99967821e-01 -6.06332578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.321346184 meters 0.07239338522283725 Centerline is valid? [True, True] Translation: X:151.77, Y:-10.34, Z:-6.07 [[ 9.99973341e-01 3.69857703e-03 6.29580495e-03 1.51772987e+02] [-3.69731543e-03 9.99993142e-01 -2.12014870e-04 -1.03429220e+01] [-6.29654593e-03 1.88731641e-04 9.99980159e-01 -6.06990078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.381346184 meters 0.07307791286655684 Centerline is valid? [True, True] Translation: X:151.83, Y:-10.34, Z:-6.07 [[ 9.99978011e-01 1.77789238e-03 6.38878546e-03 1.51834743e+02] [-1.77659793e-03 9.99998400e-01 -2.08281757e-04 -1.03442614e+01] [-6.38914554e-03 1.96926874e-04 9.99979570e-01 -6.07313709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.441346184 meters 0.07445349327318042 Centerline is valid? [True, True] Translation: X:151.90, Y:-10.35, Z:-6.08 [[ 9.99982903e-01 -6.27589544e-04 5.81379604e-03 1.51895616e+02] [ 6.28706010e-04 9.99999784e-01 -1.90211797e-04 -1.03462570e+01] [-5.81367541e-03 1.93863713e-04 9.99983082e-01 -6.07759923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.501346184 meters 0.07299871986853958 Centerline is valid? [True, True] Translation: X:151.96, Y:-10.34, Z:-6.08 [[ 9.99978537e-01 -3.04392147e-04 6.54462382e-03 1.51957878e+02] [ 3.05845953e-04 9.99999929e-01 -2.21137699e-04 -1.03427231e+01] [-6.54455604e-03 2.23134600e-04 9.99978559e-01 -6.07734126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.561346184 meters 0.07286786039452672 Centerline is valid? [True, True] Translation: X:152.02, Y:-10.34, Z:-6.08 [[ 9.99980848e-01 1.95052781e-03 5.87352289e-03 1.52019445e+02] [-1.94939140e-03 9.99998080e-01 -1.99197494e-04 -1.03381088e+01] [-5.87390015e-03 1.87743884e-04 9.99982731e-01 -6.08141189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.621346184 meters 0.07315658063554012 Centerline is valid? [True, True] Translation: X:152.08, Y:-10.34, Z:-6.09 [[ 9.99978543e-01 5.22071411e-03 3.95705433e-03 1.52080320e+02] [-5.22023503e-03 9.99986366e-01 -1.31390739e-04 -1.03350441e+01] [-3.95768633e-03 1.10731166e-04 9.99992162e-01 -6.08980483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.681346184 meters 0.0727017006177591 Centerline is valid? [True, True] Translation: X:152.14, Y:-10.33, Z:-6.09 [[ 9.99980715e-01 5.34962872e-03 3.15460000e-03 1.52141019e+02] [-5.34931322e-03 9.99985686e-01 -1.08442648e-04 -1.03324407e+01] [-3.15513497e-03 9.15656134e-05 9.99995018e-01 -6.09000574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74134618399998 meters 0.07265380370988178 Centerline is valid? [True, True] Translation: X:152.20, Y:-10.34, Z:-6.09 [[ 9.99986982e-01 3.76288507e-03 3.44616525e-03 1.52200442e+02] [-3.76249498e-03 9.99992915e-01 -1.19672449e-04 -1.03356556e+01] [-3.44659115e-03 1.06704712e-04 9.99994055e-01 -6.09170677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80134618399998 meters 0.07238286528638979 Centerline is valid? [True, True] Translation: X:152.26, Y:-10.34, Z:-6.09 [[ 9.99988567e-01 4.53334948e-03 1.52126864e-03 1.52261337e+02] [-4.53327525e-03 9.99989723e-01 -5.22400868e-05 -1.03361714e+01] [-1.52148983e-03 4.53431601e-05 9.99998842e-01 -6.09361100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86134618399998 meters 0.07172995162024588 Centerline is valid? [True, True] Translation: X:152.32, Y:-10.33, Z:-6.09 [[ 9.99968489e-01 7.33366797e-03 3.03936861e-03 1.52321217e+02] [-7.33338079e-03 9.99973105e-01 -1.05620494e-04 -1.03323757e+01] [-3.04006145e-03 8.33283179e-05 9.99995376e-01 -6.09426138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.921346184 meters 0.0713356221157525 Centerline is valid? [True, True] Translation: X:152.38, Y:-10.33, Z:-6.10 [[ 9.99939251e-01 9.94647658e-03 4.74984070e-03 1.52380829e+02] [-9.94580923e-03 9.99950526e-01 -1.64099471e-04 -1.03321506e+01] [-4.75123792e-03 1.16848492e-04 9.99988706e-01 -6.09738878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.981346184 meters 0.07085168665192024 Centerline is valid? [True, True] Translation: X:152.44, Y:-10.33, Z:-6.10 [[ 9.99938329e-01 1.00455986e-02 4.73533988e-03 1.52440090e+02] [-1.00449312e-02 9.99949535e-01 -1.64690795e-04 -1.03324204e+01] [-4.73675532e-03 1.17114475e-04 9.99988775e-01 -6.09715036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.041346184 meters 0.07181281889320326 Centerline is valid? [True, True] Translation: X:152.50, Y:-10.34, Z:-6.10 [[ 9.99953288e-01 8.63845502e-03 4.33569564e-03 1.52498750e+02] [-8.63788556e-03 9.99962682e-01 -1.50050398e-04 -1.03380612e+01] [-4.33683004e-03 1.12592146e-04 9.99990590e-01 -6.10256638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.101346184 meters 0.07211579922514733 Centerline is valid? [True, True] Translation: X:152.56, Y:-10.34, Z:-6.11 [[ 9.99958548e-01 7.88246691e-03 4.55720002e-03 1.52557887e+02] [-7.88182923e-03 9.99968925e-01 -1.57870995e-04 -1.03408532e+01] [-4.55830282e-03 1.21945379e-04 9.99989603e-01 -6.10575581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.161346184 meters 0.07188718729100475 Centerline is valid? [True, True] Translation: X:152.62, Y:-10.34, Z:-6.11 [[ 9.99969876e-01 7.17008167e-03 2.97273115e-03 1.52617041e+02] [-7.16980671e-03 9.99974291e-01 -1.03141206e-04 -1.03416235e+01] [-2.97339425e-03 8.18241917e-05 9.99995576e-01 -6.10720642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.221346184 meters 0.0723980268674992 Centerline is valid? [True, True] Translation: X:152.68, Y:-10.34, Z:-6.11 [[ 9.99966246e-01 7.96253774e-03 2.02598197e-03 1.52675536e+02] [-7.96241161e-03 9.99968297e-01 -7.03143381e-05 -1.03441010e+01] [-2.02647762e-03 5.41802624e-05 9.99997945e-01 -6.11322379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.281346184 meters 0.07248877515809239 Centerline is valid? [True, True] Translation: X:152.73, Y:-10.34, Z:-6.12 [[ 9.99958754e-01 8.94917535e-03 1.54980289e-03 1.52734655e+02] [-8.94910064e-03 9.99959954e-01 -5.51330059e-05 -1.03439000e+01] [-1.55023422e-03 4.12613899e-05 9.99998798e-01 -6.11825433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.341346184 meters 0.07253012683555442 Centerline is valid? [True, True] Translation: X:152.79, Y:-10.34, Z:-6.12 [[ 9.99966741e-01 7.93589203e-03 1.88130480e-03 1.52793435e+02] [-7.93578138e-03 9.99968509e-01 -6.62736123e-05 -1.03449952e+01] [-1.88177150e-03 5.13417845e-05 9.99998228e-01 -6.12025917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.401346184 meters 0.07324160151362 Centerline is valid? [True, True] Translation: X:152.85, Y:-10.35, Z:-6.13 [[ 9.99975871e-01 6.70671452e-03 1.81028775e-03 1.52851583e+02] [-6.70661165e-03 9.99977508e-01 -6.28882649e-05 -1.03522800e+01] [-1.81066881e-03 5.07458505e-05 9.99998359e-01 -6.12527074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46134618399998 meters 0.07344464104749411 Centerline is valid? [True, True] Translation: X:152.91, Y:-10.36, Z:-6.13 [[ 9.99991942e-01 3.45881571e-03 -2.03776038e-03 1.52911847e+02] [-3.45868407e-03 9.99994016e-01 6.81169587e-05 -1.03576185e+01] [ 2.03798379e-03 -6.10684405e-05 9.99997921e-01 -6.12750193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52134618399998 meters 0.07415835254597448 Centerline is valid? [True, True] Translation: X:152.97, Y:-10.36, Z:-6.13 [[ 9.99993941e-01 1.65918503e-03 -3.06024052e-03 1.52970780e+02] [-1.65888327e-03 9.99998619e-01 1.01141667e-04 -1.03634639e+01] [ 3.06040410e-03 -9.60644721e-05 9.99995312e-01 -6.13187446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58134618399998 meters 0.07396148206638765 Centerline is valid? [True, True] Translation: X:153.03, Y:-10.37, Z:-6.13 [[ 9.99990110e-01 2.04247357e-03 -3.95079692e-03 1.53029571e+02] [-2.04197511e-03 9.99997907e-01 1.30195851e-04 -1.03672104e+01] [ 3.95105458e-03 -1.22127134e-04 9.99992187e-01 -6.13379549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64134618399999 meters 0.07392909005128907 Centerline is valid? [True, True] Translation: X:153.09, Y:-10.37, Z:-6.14 [[ 9.99986105e-01 4.70264988e-03 -2.38201166e-03 1.53087886e+02] [-4.70247739e-03 9.99988940e-01 7.80089319e-05 -1.03745642e+01] [ 2.38235217e-03 -6.68064920e-05 9.99997160e-01 -6.13957080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.701346184 meters 0.07328617130971388 Centerline is valid? [True, True] Translation: X:153.15, Y:-10.38, Z:-6.14 [[ 9.99988056e-01 4.13976781e-03 -2.59797146e-03 1.53147232e+02] [-4.13956254e-03 9.99991428e-01 8.43831587e-05 -1.03754857e+01] [ 2.59829852e-03 -7.36276855e-05 9.99996622e-01 -6.13764398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.761346184 meters 0.07346304704343845 Centerline is valid? [True, True] Translation: X:153.21, Y:-10.38, Z:-6.14 [[ 9.99990813e-01 2.88672716e-03 -3.16881406e-03 1.53205343e+02] [-2.88641669e-03 9.99995829e-01 1.02545206e-04 -1.03802254e+01] [ 3.16909686e-03 -9.33977465e-05 9.99994974e-01 -6.13962139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.821346184 meters 0.07403587013323919 Centerline is valid? [True, True] Translation: X:153.26, Y:-10.39, Z:-6.15 [[ 9.99987143e-01 3.38630476e-03 -3.77460773e-03 1.53262869e+02] [-3.38586645e-03 9.99994260e-01 1.22504814e-04 -1.03873706e+01] [ 3.77500090e-03 -1.09722921e-04 9.99992869e-01 -6.14628389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.881346184 meters 0.0743574523267831 Centerline is valid? [True, True] Translation: X:153.32, Y:-10.39, Z:-6.15 [[ 9.99982011e-01 3.13953067e-03 -5.11093682e-03 1.53321293e+02] [-3.13871618e-03 9.99995060e-01 1.67373817e-04 -1.03925084e+01] [ 5.11143705e-03 -1.51329026e-04 9.99986925e-01 -6.14949965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.941346184 meters 0.07510648597636894 Centerline is valid? [True, True] Translation: X:153.38, Y:-10.40, Z:-6.15 [[ 9.99978573e-01 2.46128682e-03 -6.06597703e-03 1.53380191e+02] [-2.46012641e-03 9.99996954e-01 1.98752824e-04 -1.03966349e+01] [ 6.06644774e-03 -1.83825495e-04 9.99981582e-01 -6.15281015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.001346184 meters 0.07402366581348283 Centerline is valid? [True, True] Translation: X:153.44, Y:-10.40, Z:-6.15 [[ 9.99962358e-01 4.08266565e-03 -7.65600018e-03 1.53438809e+02] [-4.08092612e-03 9.99991644e-01 2.42818879e-04 -1.03962594e+01] [ 7.65692755e-03 -2.11566168e-04 9.99970663e-01 -6.15261555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.061346184 meters 0.07378732478926191 Centerline is valid? [True, True] Translation: X:153.50, Y:-10.40, Z:-6.16 [[ 9.99947490e-01 6.03964397e-03 -8.27889639e-03 1.53497375e+02] [-6.03762039e-03 9.99981737e-01 2.69397478e-04 -1.03981524e+01] [ 8.28037226e-03 -2.19398498e-04 9.99965693e-01 -6.15579699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.121346184 meters 0.0734770347295511 Centerline is valid? [True, True] Translation: X:153.56, Y:-10.40, Z:-6.16 [[ 9.99913177e-01 8.37387678e-03 -1.01743480e-02 1.53556399e+02] [-8.37094249e-03 9.99964908e-01 3.30952715e-04 -1.04025782e+01] [ 1.01767623e-02 -2.45755099e-04 9.99948185e-01 -6.15989252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.181346184 meters 0.07262460697986593 Centerline is valid? [True, True] Translation: X:153.62, Y:-10.40, Z:-6.16 [[ 9.99898248e-01 8.66827691e-03 -1.13293923e-02 1.53615443e+02] [-8.66466485e-03 9.99962393e-01 3.67867820e-04 -1.04045785e+01] [ 1.13321550e-02 -2.69665001e-04 9.99935753e-01 -6.15779076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24134618399998 meters 0.07293680799728489 Centerline is valid? [True, True] Translation: X:153.67, Y:-10.41, Z:-6.16 [[ 9.99899790e-01 8.51970186e-03 -1.13059390e-02 1.53672933e+02] [-8.51612431e-03 9.99963671e-01 3.64537589e-04 -1.04079757e+01] [ 1.13086340e-02 -2.68218276e-04 9.99936019e-01 -6.16087599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30134618399998 meters 0.07362041986306872 Centerline is valid? [True, True] Translation: X:153.73, Y:-10.42, Z:-6.17 [[ 9.99888033e-01 7.71826507e-03 -1.28199213e-02 1.53731571e+02] [-7.71357481e-03 9.99970164e-01 4.15263712e-04 -1.04173572e+01] [ 1.28227439e-02 -3.16329794e-04 9.99917735e-01 -6.16679594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36134618399998 meters 0.07378066543303563 Centerline is valid? [True, True] Translation: X:153.79, Y:-10.43, Z:-6.17 [[ 9.99892621e-01 6.40531118e-03 -1.31802665e-02 1.53790076e+02] [-6.40025968e-03 9.99979428e-01 4.25407473e-04 -1.04274872e+01] [ 1.31827202e-02 -3.41004665e-04 9.99913046e-01 -6.17026283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.421346184 meters 0.07455925436932861 Centerline is valid? [True, True] Translation: X:153.85, Y:-10.44, Z:-6.17 [[ 9.99914879e-01 2.75433818e-03 -1.27533738e-02 1.53848234e+02] [-2.74933524e-03 9.99996137e-01 4.09798961e-04 -1.04361713e+01] [ 1.27544533e-02 -3.74700779e-04 9.99918588e-01 -6.17014365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.481346184 meters 0.07363061159792872 Centerline is valid? [True, True] Translation: X:153.91, Y:-10.45, Z:-6.17 [[ 9.99957833e-01 1.12874400e-03 -9.11366718e-03 1.53908284e+02] [-1.12610818e-03 9.99999323e-01 2.94342167e-04 -1.04475745e+01] [ 9.11399324e-03 -2.84066781e-04 9.99958426e-01 -6.16500159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.541346184 meters 0.0738819661074303 Centerline is valid? [True, True] Translation: X:153.97, Y:-10.46, Z:-6.17 [[ 9.99966038e-01 -2.72448526e-04 -8.23701527e-03 1.53965618e+02] [ 2.74614361e-04 9.99999928e-01 2.61809405e-04 -1.04565292e+01] [ 8.23694335e-03 -2.64062516e-04 9.99966041e-01 -6.16655599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.601346184 meters 0.07236472571360925 Centerline is valid? [True, True] Translation: X:154.02, Y:-10.46, Z:-6.16 [[ 9.99968999e-01 -5.34447512e-04 -7.85594558e-03 1.54024715e+02] [ 5.36428828e-04 9.99999825e-01 2.50100935e-04 -1.04590601e+01] [ 7.85581054e-03 -2.54307337e-04 9.99969110e-01 -6.16150451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.661346184 meters 0.07289581095106491 Centerline is valid? [True, True] Translation: X:154.08, Y:-10.46, Z:-6.17 [[ 9.99967185e-01 1.06956598e-03 -8.03022811e-03 1.54081976e+02] [-1.06755801e-03 9.99999398e-01 2.54333314e-04 -1.04647491e+01] [ 8.03049530e-03 -2.45752234e-04 9.99967725e-01 -6.16554015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.721346184 meters 0.07135027639836487 Centerline is valid? [True, True] Translation: X:154.14, Y:-10.47, Z:-6.16 [[ 9.99940174e-01 4.98441055e-03 -9.73675357e-03 1.54140503e+02] [-4.98172234e-03 9.99987546e-01 3.00322644e-04 -1.04660315e+01] [ 9.73812924e-03 -2.51798875e-04 9.99952552e-01 -6.16375127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.781346184 meters 0.07190634721923696 Centerline is valid? [True, True] Translation: X:154.20, Y:-10.47, Z:-6.17 [[ 9.99911066e-01 7.36105816e-03 -1.11208818e-02 1.54197332e+02] [-7.35764433e-03 9.99972872e-01 3.47857609e-04 -1.04731420e+01] [ 1.11231407e-02 -2.66003180e-04 9.99938101e-01 -6.16899380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.841346184 meters 0.07087109616963659 Centerline is valid? [True, True] Translation: X:154.26, Y:-10.47, Z:-6.17 [[ 9.99869627e-01 1.01295312e-02 -1.25746804e-02 1.54255966e+02] [-1.01253643e-02 9.99948659e-01 3.94995991e-04 -1.04730197e+01] [ 1.25780359e-02 -2.67621274e-04 9.99920858e-01 -6.16693835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.901346184 meters 0.07082384569718714 Centerline is valid? [True, True] Translation: X:154.31, Y:-10.47, Z:-6.17 [[ 9.99763613e-01 1.71568497e-02 -1.33551413e-02 1.54314116e+02] [-1.71527863e-02 9.99852792e-01 4.18750853e-04 -1.04743061e+01] [ 1.33603598e-02 -1.89573980e-04 9.99910728e-01 -6.16830744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96134618399998 meters 0.06973782225345722 Centerline is valid? [True, True] Translation: X:154.37, Y:-10.48, Z:-6.16 [[ 9.99730466e-01 1.94959821e-02 -1.26056414e-02 1.54372746e+02] [-1.94925627e-02 9.99809924e-01 3.94080502e-04 -1.04752686e+01] [ 1.26109283e-02 -1.48258029e-04 9.99920468e-01 -6.16493428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02134618399998 meters 0.06942053402640842 Centerline is valid? [True, True] Translation: X:154.43, Y:-10.49, Z:-6.17 [[ 9.99710887e-01 2.18091504e-02 -1.01243556e-02 1.54432540e+02] [-2.18070496e-02 9.99762147e-01 3.17863614e-04 -1.04868997e+01] [ 1.01288798e-02 -9.69893913e-05 9.99948697e-01 -6.16565696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08134618399998 meters 0.06965405456830594 Centerline is valid? [True, True] Translation: X:154.49, Y:-10.50, Z:-6.17 [[ 9.99747573e-01 2.06716958e-02 -8.80181767e-03 1.54490557e+02] [-2.06700879e-02 9.99786313e-01 2.73621159e-04 -1.04954206e+01] [ 8.80559305e-03 -9.16177448e-05 9.99961226e-01 -6.16816119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14134618399999 meters 0.06986748952864544 Centerline is valid? [True, True] Translation: X:154.55, Y:-10.51, Z:-6.17 [[ 9.99793772e-01 1.87320201e-02 -7.84375551e-03 1.54547946e+02] [-1.87306956e-02 9.99824536e-01 2.42286607e-04 -1.05097800e+01] [ 7.84691773e-03 -9.53176435e-05 9.99969208e-01 -6.17096142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.201346184 meters 0.06952513935285107 Centerline is valid? [True, True] Translation: X:154.61, Y:-10.52, Z:-6.17 [[ 9.99744451e-01 2.21689772e-02 -4.42368626e-03 1.54607468e+02] [-2.21685848e-02 9.99754237e-01 1.37735579e-04 -1.05194108e+01] [ 4.42565254e-03 -3.96335166e-05 9.99990206e-01 -6.17245451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.261346184 meters 0.06951064568792767 Centerline is valid? [True, True] Translation: X:154.67, Y:-10.52, Z:-6.17 [[ 9.99712851e-01 2.36188008e-02 -4.04572626e-03 1.54665910e+02] [-2.36184939e-02 9.99721037e-01 1.23633891e-04 -1.05245403e+01] [ 4.04751774e-03 -2.80444290e-05 9.99991808e-01 -6.17376748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.321346184 meters 0.06808377515330923 Centerline is valid? [True, True] Translation: X:154.73, Y:-10.53, Z:-6.17 [[ 9.99706003e-01 2.41621615e-02 -2.02414433e-03 1.54725164e+02] [-2.41620877e-02 9.99708052e-01 6.09042029e-05 -1.05346445e+01] [ 2.02502496e-03 -1.19787445e-05 9.99997950e-01 -6.16743178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.381346184 meters 0.06827400923035741 Centerline is valid? [True, True] Translation: X:154.78, Y:-10.55, Z:-6.17 [[ 9.99726972e-01 2.33371454e-02 -1.16557082e-03 1.54782714e+02] [-2.33371232e-02 9.99727652e-01 3.26643388e-05 -1.05478261e+01] [ 1.16601567e-03 -5.45435062e-06 9.99999320e-01 -6.17213476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.441346184 meters 0.06781025150973029 Centerline is valid? [True, True] Translation: X:154.84, Y:-10.56, Z:-6.17 [[ 9.99736535e-01 2.29533666e-02 -5.74547763e-05 1.54841852e+02] [-2.29533667e-02 9.99736537e-01 -3.49211773e-07 -1.05595403e+01] [ 5.74316234e-05 1.66790032e-06 9.99999998e-01 -6.17021319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.501346184 meters 0.06733534739985418 Centerline is valid? [True, True] Translation: X:154.90, Y:-10.57, Z:-6.17 [[ 9.99733386e-01 2.30441229e-02 1.45816806e-03 1.54900757e+02] [-2.30440775e-02 9.99734449e-01 -4.79497061e-05 -1.05652391e+01] [-1.45888580e-03 1.43347842e-05 9.99998936e-01 -6.16842661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.561346184 meters 0.06757087462826294 Centerline is valid? [True, True] Translation: X:154.96, Y:-10.58, Z:-6.17 [[ 9.99757076e-01 2.19837739e-02 1.58195352e-03 1.54958941e+02] [-2.19837197e-02 9.99758327e-01 -5.16210020e-05 -1.05763585e+01] [-1.58270603e-03 1.68312392e-05 9.99998747e-01 -6.17024783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.621346184 meters 0.0676606649039527 Centerline is valid? [True, True] Translation: X:155.02, Y:-10.59, Z:-6.17 [[ 9.99739114e-01 2.27777032e-02 1.69704989e-03 1.55016504e+02] [-2.27776415e-02 9.99740554e-01 -5.56503663e-05 -1.05867669e+01] [-1.69787718e-03 1.69810539e-05 9.99998558e-01 -6.17370659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.681346184 meters 0.06692833684041943 Centerline is valid? [True, True] Translation: X:155.08, Y:-10.59, Z:-6.17 [[ 9.99727054e-01 2.32310716e-02 2.47675978e-03 1.55075513e+02] [-2.32309474e-02 9.99730122e-01 -7.88924925e-05 -1.05922211e+01] [-2.47792412e-03 2.13334829e-05 9.99996930e-01 -6.17148214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74134618399998 meters 0.0679268436754005 Centerline is valid? [True, True] Translation: X:155.13, Y:-10.60, Z:-6.18 [[ 9.99765780e-01 2.16398045e-02 3.21781864e-04 1.55133010e+02] [-2.16398013e-02 9.99765832e-01 -1.34316863e-05 -1.06039395e+01] [-3.21997172e-04 6.46524477e-06 9.99999948e-01 -6.17931835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80134618399998 meters 0.06764199884121973 Centerline is valid? [True, True] Translation: X:155.19, Y:-10.61, Z:-6.18 [[ 9.99804492e-01 1.97523018e-02 -9.07651072e-04 1.55191194e+02] [-1.97522881e-02 9.99804904e-01 2.41182682e-05 -1.06098692e+01] [ 9.07950385e-04 -6.18536744e-06 9.99999588e-01 -6.17899977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86134618399998 meters 0.06740960042245903 Centerline is valid? [True, True] Translation: X:155.25, Y:-10.62, Z:-6.18 [[ 9.99816863e-01 1.91372393e-02 -8.24753248e-05 1.55250241e+02] [-1.91372394e-02 9.99816866e-01 3.78576672e-07 -1.06191754e+01] [ 8.24674656e-05 1.19984269e-06 9.99999997e-01 -6.18034483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.921346184 meters 0.06758826888042832 Centerline is valid? [True, True] Translation: X:155.31, Y:-10.62, Z:-6.18 [[ 9.99781624e-01 2.08732909e-02 -1.00494941e-03 1.55308396e+02] [-2.08732744e-02 9.99782129e-01 2.69587901e-05 -1.06228551e+01] [ 1.00529318e-03 -5.97631808e-06 9.99999495e-01 -6.18340565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.981346184 meters 0.0678702103149652 Centerline is valid? [True, True] Translation: X:155.37, Y:-10.62, Z:-6.19 [[ 9.99742163e-01 2.25806847e-02 -2.39160592e-03 1.55367380e+02] [-2.25805829e-02 9.99745024e-01 6.95676907e-05 -1.06248174e+01] [ 2.39256701e-03 -1.55458978e-05 9.99997138e-01 -6.18733308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.041346184 meters 0.06748039402426367 Centerline is valid? [True, True] Translation: X:155.43, Y:-10.63, Z:-6.19 [[ 9.99743831e-01 2.24884854e-02 -2.55735160e-03 1.55426344e+02] [-2.24883689e-02 9.99747102e-01 7.43079999e-05 -1.06335989e+01] [ 2.55837592e-03 -1.67782983e-05 9.99996727e-01 -6.18893514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.101346184 meters 0.06766929193663106 Centerline is valid? [True, True] Translation: X:155.48, Y:-10.64, Z:-6.19 [[ 9.99782165e-01 2.04571403e-02 -4.13866004e-03 1.55484967e+02] [-2.04568119e-02 9.99790730e-01 1.21674753e-04 -1.06393387e+01] [ 4.14028306e-03 -3.69844581e-05 9.99991428e-01 -6.19133790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.161346184 meters 0.06769814876547518 Centerline is valid? [True, True] Translation: X:155.54, Y:-10.64, Z:-6.19 [[ 9.99777294e-01 2.06852015e-02 -4.18159051e-03 1.55542369e+02] [-2.06848760e-02 9.99786038e-01 1.21084843e-04 -1.06436917e+01] [ 4.18320047e-03 -3.45621958e-05 9.99991250e-01 -6.19383136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.221346184 meters 0.06708373189394369 Centerline is valid? [True, True] Translation: X:155.60, Y:-10.65, Z:-6.19 [[ 9.99742502e-01 2.24465782e-02 -3.32865882e-03 1.55601032e+02] [-2.24463809e-02 9.99748044e-01 9.66365110e-05 -1.06483013e+01] [ 3.32998930e-03 -2.18952836e-05 9.99994455e-01 -6.19402500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.281346184 meters 0.06703671773779582 Centerline is valid? [True, True] Translation: X:155.66, Y:-10.65, Z:-6.20 [[ 9.99758143e-01 2.17522742e-02 -3.23954148e-03 1.55659309e+02] [-2.17520897e-02 9.99763391e-01 9.21534333e-05 -1.06530427e+01] [ 3.24077952e-03 -2.16643483e-05 9.99994748e-01 -6.19616077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.341346184 meters 0.06803348230824033 Centerline is valid? [True, True] Translation: X:155.72, Y:-10.66, Z:-6.20 [[ 9.99801164e-01 1.93352564e-02 -4.87658867e-03 1.55716348e+02] [-1.93348015e-02 9.99813055e-01 1.40411566e-04 -1.06609723e+01] [ 4.87839191e-03 -4.60957730e-05 9.99988100e-01 -6.20326630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.401346184 meters 0.06851846995392938 Centerline is valid? [True, True] Translation: X:155.77, Y:-10.67, Z:-6.21 [[ 9.99849587e-01 1.67297687e-02 -4.57367470e-03 1.55773750e+02] [-1.67293403e-02 9.99860046e-01 1.31919667e-04 -1.06714615e+01] [ 4.57524159e-03 -5.53852643e-05 9.99989532e-01 -6.20803400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46134618399998 meters 0.06930797731308982 Centerline is valid? [True, True] Translation: X:155.83, Y:-10.68, Z:-6.21 [[ 9.99901744e-01 1.24175627e-02 -6.50436213e-03 1.55832595e+02] [-1.24165892e-02 9.99922893e-01 1.90027242e-04 -1.06832656e+01] [ 6.50622027e-03 -1.09246579e-04 9.99978828e-01 -6.21245138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52134618399998 meters 0.06759162717354726 Centerline is valid? [True, True] Translation: X:155.89, Y:-10.69, Z:-6.21 [[ 9.99933048e-01 1.06708379e-02 -4.47575742e-03 1.55892037e+02] [-1.06703770e-02 9.99943062e-01 1.26843931e-04 -1.06865146e+01] [ 4.47685611e-03 -7.90774193e-05 9.99989976e-01 -6.20622230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58134618399998 meters 0.06801616060809484 Centerline is valid? [True, True] Translation: X:155.95, Y:-10.69, Z:-6.21 [[ 9.99937670e-01 1.03431059e-02 -4.20442147e-03 1.55949813e+02] [-1.03426942e-02 9.99946506e-01 1.19656732e-04 -1.06940984e+01] [ 4.20543418e-03 -7.61642280e-05 9.99991154e-01 -6.21066503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64134618399999 meters 0.06776689723667018 Centerline is valid? [True, True] Translation: X:156.01, Y:-10.70, Z:-6.21 [[ 9.99947871e-01 9.51145705e-03 -3.71313001e-03 1.56008215e+02] [-9.51113014e-03 9.99954763e-01 1.05688746e-04 -1.06994135e+01] [ 3.71396729e-03 -7.03671734e-05 9.99993101e-01 -6.21193777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.701346184 meters 0.06883082026238621 Centerline is valid? [True, True] Translation: X:156.07, Y:-10.71, Z:-6.22 [[ 9.99964058e-01 7.60832453e-03 -3.74118805e-03 1.56065678e+02] [-7.60798511e-03 9.99971053e-01 1.04947504e-04 -1.07065883e+01] [ 3.74187823e-03 -7.64808291e-05 9.99992996e-01 -6.21712078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.761346184 meters 0.06763196666335505 Centerline is valid? [True, True] Translation: X:156.13, Y:-10.71, Z:-6.22 [[ 9.99956248e-01 9.16695102e-03 -1.86268386e-03 1.56125134e+02] [-9.16687392e-03 9.99957982e-01 4.99249594e-05 -1.07084509e+01] [ 1.86306326e-03 -3.28477869e-05 9.99998264e-01 -6.21694992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.821346184 meters 0.06742291035288385 Centerline is valid? [True, True] Translation: X:156.18, Y:-10.71, Z:-6.22 [[ 9.99944437e-01 1.04415205e-02 -1.44804113e-03 1.56184240e+02] [-1.04414749e-02 9.99945486e-01 3.90762820e-05 -1.07091437e+01] [ 1.44837021e-03 -2.39544257e-05 9.99998951e-01 -6.21982476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.881346184 meters 0.06723291016589385 Centerline is valid? [True, True] Translation: X:156.24, Y:-10.71, Z:-6.22 [[ 9.99924125e-01 1.22533714e-02 -1.26418755e-03 1.56243396e+02] [-1.22533386e-02 9.99924924e-01 3.36978842e-05 -1.07079848e+01] [ 1.26450555e-03 -1.82048092e-05 9.99999200e-01 -6.22269967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.941346184 meters 0.06691451497049754 Centerline is valid? [True, True] Translation: X:156.30, Y:-10.71, Z:-6.22 [[ 9.99936747e-01 1.10990097e-02 -1.82034014e-03 1.56302630e+02] [-1.10989380e-02 9.99938404e-01 4.95014134e-05 -1.07108837e+01] [ 1.82077743e-03 -2.92944400e-05 9.99998342e-01 -6.22185978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.001346184 meters 0.06766263873814433 Centerline is valid? [True, True] Translation: X:156.36, Y:-10.72, Z:-6.23 [[ 9.99957934e-01 9.16283735e-03 -4.16077880e-04 1.56360134e+02] [-9.16283465e-03 9.99958020e-01 8.40800270e-06 -1.07204428e+01] [ 4.16137454e-04 -4.59519619e-06 9.99999913e-01 -6.22656645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.061346184 meters 0.0671392858633168 Centerline is valid? [True, True] Translation: X:156.42, Y:-10.72, Z:-6.23 [[ 9.99943774e-01 1.05407518e-02 -1.15848612e-03 1.56418455e+02] [-1.05407238e-02 9.99944445e-01 3.03195807e-05 -1.07236514e+01] [ 1.15874135e-03 -1.81065938e-05 9.99999328e-01 -6.22758083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.121346184 meters 0.06693363321399733 Centerline is valid? [True, True] Translation: X:156.48, Y:-10.72, Z:-6.23 [[ 9.99918240e-01 1.27869118e-02 -8.53635650e-05 1.56476720e+02] [-1.27869118e-02 9.99918244e-01 -3.26848100e-07 -1.07249401e+01] [ 8.53524065e-05 1.41835776e-06 9.99999996e-01 -6.22983157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.181346184 meters 0.06640840989303319 Centerline is valid? [True, True] Translation: X:156.54, Y:-10.73, Z:-6.23 [[ 9.99851576e-01 1.71651125e-02 1.47804897e-03 1.56536483e+02] [-1.71650670e-02 9.99852668e-01 -4.34560181e-05 -1.07269920e+01] [-1.47857713e-03 1.80787587e-05 9.99998907e-01 -6.23226918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24134618399998 meters 0.06558169876378932 Centerline is valid? [True, True] Translation: X:156.60, Y:-10.73, Z:-6.23 [[ 9.99846647e-01 1.73188431e-02 2.59625919e-03 1.56595562e+02] [-1.73187024e-02 9.99850017e-01 -7.66346795e-05 -1.07316063e+01] [-2.59719702e-03 3.16590869e-05 9.99996627e-01 -6.23014424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30134618399998 meters 0.06690405664644382 Centerline is valid? [True, True] Translation: X:156.65, Y:-10.74, Z:-6.24 [[ 9.99894365e-01 1.42899701e-02 2.65640880e-03 1.56653412e+02] [-1.42898155e-02 9.99897892e-01 -7.71599828e-05 -1.07409154e+01] [-2.65724018e-03 3.91922403e-05 9.99996469e-01 -6.23750167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36134618399998 meters 0.06731095171851546 Centerline is valid? [True, True] Translation: X:156.71, Y:-10.76, Z:-6.24 [[ 9.99954986e-01 9.25002444e-03 2.11276317e-03 1.56712785e+02] [-9.24991711e-03 9.99957217e-01 -6.05702510e-05 -1.07579452e+01] [-2.11323305e-03 4.10246403e-05 9.99997766e-01 -6.23913554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.421346184 meters 0.06707602053835601 Centerline is valid? [True, True] Translation: X:156.77, Y:-10.77, Z:-6.24 [[ 9.99944186e-01 9.82890955e-03 3.87513787e-03 1.56772417e+02] [-9.82855293e-03 9.99951692e-01 -1.11059807e-04 -1.07659773e+01] [-3.87604227e-03 7.29666112e-05 9.99992485e-01 -6.24127235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.481346184 meters 0.06701872655567413 Centerline is valid? [True, True] Translation: X:156.83, Y:-10.77, Z:-6.24 [[ 9.99920488e-01 1.20689864e-02 3.65483249e-03 1.56832373e+02] [-1.20686889e-02 9.99927165e-01 -1.03439739e-04 -1.07691796e+01] [-3.65581470e-03 5.93224783e-05 9.99993316e-01 -6.24472794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.541346184 meters 0.06727431876512825 Centerline is valid? [True, True] Translation: X:156.89, Y:-10.78, Z:-6.25 [[ 9.99913016e-01 1.23180823e-02 4.71431090e-03 1.56892854e+02] [-1.23175901e-02 9.99924127e-01 -1.33425292e-04 -1.07779589e+01] [-4.71559676e-03 7.53447365e-05 9.99988879e-01 -6.24829468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.601346184 meters 0.06849339843126022 Centerline is valid? [True, True] Translation: X:156.95, Y:-10.79, Z:-6.25 [[ 9.99939994e-01 1.06260512e-02 2.66378796e-03 1.56952793e+02] [-1.06258939e-02 9.99943541e-01 -7.32166526e-05 -1.07885432e+01] [-2.66441557e-03 4.49071310e-05 9.99996449e-01 -6.25489906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.661346184 meters 0.06910895959360162 Centerline is valid? [True, True] Translation: X:157.01, Y:-10.80, Z:-6.25 [[ 9.99986252e-01 4.85523124e-03 1.98071568e-03 1.57013186e+02] [-4.85512947e-03 9.99988212e-01 -5.61848385e-05 -1.07974101e+01] [-1.98096512e-03 4.65674350e-05 9.99998037e-01 -6.25474507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.721346184 meters 0.07011726957233923 Centerline is valid? [True, True] Translation: X:157.07, Y:-10.81, Z:-6.26 [[ 9.99994439e-01 1.69108464e-03 2.87438057e-03 1.57073637e+02] [-1.69085726e-03 9.99998567e-01 -8.15344725e-05 -1.08065606e+01] [-2.87451433e-03 7.66738519e-05 9.99995866e-01 -6.25758829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.781346184 meters 0.06901845147700776 Centerline is valid? [True, True] Translation: X:157.14, Y:-10.81, Z:-6.26 [[ 9.99988568e-01 2.31429496e-03 4.18417657e-03 1.57135003e+02] [-2.31382385e-03 9.99997316e-01 -1.17430995e-04 -1.08106868e+01] [-4.18443711e-03 1.07748205e-04 9.99991239e-01 -6.25697936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.841346184 meters 0.06949090401212366 Centerline is valid? [True, True] Translation: X:157.20, Y:-10.81, Z:-6.26 [[ 9.99992363e-01 3.01520632e-03 2.48656711e-03 1.57196524e+02] [-3.01506108e-03 9.99995453e-01 -6.21561010e-05 -1.08097658e+01] [-2.48674322e-03 5.46584746e-05 9.99996907e-01 -6.26113157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.901346184 meters 0.07021608037341931 Centerline is valid? [True, True] Translation: X:157.26, Y:-10.82, Z:-6.27 [[ 9.99997588e-01 1.93414494e-03 1.04051874e-03 1.57257178e+02] [-1.93411567e-03 9.99998129e-01 -2.91417314e-05 -1.08151919e+01] [-1.04057316e-03 2.71291776e-05 9.99999458e-01 -6.26558901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96134618399998 meters 0.07245426783378103 Centerline is valid? [True, True] Translation: X:157.32, Y:-10.82, Z:-6.27 [[ 9.99995177e-01 -3.01005919e-03 7.65127026e-04 1.57317328e+02] [ 3.01007634e-03 9.99995469e-01 -2.12699853e-05 -1.08245707e+01] [-7.65059535e-04 2.35729735e-05 9.99999707e-01 -6.27042045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02134618399998 meters 0.07245880447545108 Centerline is valid? [True, True] Translation: X:157.38, Y:-10.82, Z:-6.27 [[ 9.99986554e-01 -5.10292612e-03 9.23182323e-04 1.57378330e+02] [ 5.10295213e-03 9.99986980e-01 -2.58158350e-05 -1.08242305e+01] [-9.23038566e-04 3.05264431e-05 9.99999574e-01 -6.27025861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08134618399998 meters 0.07250282866513504 Centerline is valid? [True, True] Translation: X:157.44, Y:-10.82, Z:-6.27 [[ 9.99990496e-01 -4.35559432e-03 1.92003531e-04 1.57439555e+02] [ 4.35559520e-03 9.99990514e-01 -4.15101343e-06 -1.08232039e+01] [-1.91983629e-04 4.98726363e-06 9.99999982e-01 -6.27373661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14134618399999 meters 0.0719061655960523 Centerline is valid? [True, True] Translation: X:157.50, Y:-10.82, Z:-6.28 [[ 9.99999455e-01 -1.00770597e-03 -2.72717780e-04 1.57500840e+02] [ 1.00770852e-03 9.99999492e-01 9.21308656e-06 -1.08210821e+01] [ 2.72708358e-04 -9.48790157e-06 9.99999963e-01 -6.27782489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.201346184 meters 0.07188191383174683 Centerline is valid? [True, True] Translation: X:157.56, Y:-10.82, Z:-6.28 [[ 9.99998702e-01 -1.27913323e-03 -9.79251723e-04 1.57561696e+02] [ 1.27916145e-03 9.99999181e-01 2.81847074e-05 -1.08162941e+01] [ 9.79214870e-04 -2.94372919e-05 9.99999520e-01 -6.28020358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.261346184 meters 0.07106449156199676 Centerline is valid? [True, True] Translation: X:157.62, Y:-10.81, Z:-6.28 [[ 9.99992281e-01 -2.30852673e-03 -3.17932988e-03 1.57622087e+02] [ 2.30882680e-03 9.99997331e-01 9.07154005e-05 -1.08075116e+01] [ 3.17911198e-03 -9.80552224e-05 9.99994942e-01 -6.27993353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.321346184 meters 0.07148827801934639 Centerline is valid? [True, True] Translation: X:157.68, Y:-10.81, Z:-6.28 [[ 9.99990643e-01 -1.63271644e-03 -4.00608863e-03 1.57681828e+02] [ 1.63318476e-03 9.99998660e-01 1.13635306e-04 -1.08066690e+01] [ 4.00589773e-03 -1.20176926e-04 9.99991969e-01 -6.28493058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.381346184 meters 0.07141558938146655 Centerline is valid? [True, True] Translation: X:157.74, Y:-10.80, Z:-6.29 [[ 9.99993846e-01 -1.71442770e-03 -3.06072120e-03 1.57740781e+02] [ 1.71467160e-03 9.99998527e-01 7.70644233e-05 -1.08006885e+01] [ 3.06058457e-03 -8.23120808e-05 9.99995313e-01 -6.28610843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.441346184 meters 0.07126256129396621 Centerline is valid? [True, True] Translation: X:157.80, Y:-10.79, Z:-6.29 [[ 9.99984705e-01 4.56268662e-05 -5.53058076e-03 1.57800548e+02] [-4.47664208e-05 9.99999987e-01 1.55703279e-04 -1.07901515e+01] [ 5.53058779e-03 -1.55453313e-04 9.99984694e-01 -6.28975966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.501346184 meters 0.07176906249007003 Centerline is valid? [True, True] Translation: X:157.86, Y:-10.78, Z:-6.29 [[ 9.99974958e-01 2.04231392e-04 -7.07395680e-03 1.57859428e+02] [-2.02838586e-04 9.99999960e-01 1.97609061e-04 -1.07847801e+01] [ 7.07399688e-03 -1.96169241e-04 9.99974960e-01 -6.29393262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.561346184 meters 0.07237697193642753 Centerline is valid? [True, True] Translation: X:157.92, Y:-10.78, Z:-6.30 [[ 9.99976593e-01 -2.22041681e-03 -6.47169463e-03 1.57918668e+02] [ 2.22162876e-03 9.99997516e-01 1.80086232e-04 -1.07823474e+01] [ 6.47127868e-03 -1.94459719e-04 9.99979042e-01 -6.29613525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.621346184 meters 0.07420508934874762 Centerline is valid? [True, True] Translation: X:157.98, Y:-10.79, Z:-6.30 [[ 9.99975395e-01 -3.87484431e-03 -5.84772395e-03 1.57976075e+02] [ 3.87585371e-03 9.99992476e-01 1.61291939e-04 -1.07853032e+01] [ 5.84705497e-03 -1.83952893e-04 9.99982889e-01 -6.30175017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.681346184 meters 0.07341988659824698 Centerline is valid? [True, True] Translation: X:158.03, Y:-10.78, Z:-6.30 [[ 9.99972502e-01 -5.02845060e-03 -5.45071523e-03 1.58034918e+02] [ 5.02930233e-03 9.99987343e-01 1.42564816e-04 -1.07764655e+01] [ 5.44992936e-03 -1.69974190e-04 9.99985135e-01 -6.30032374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74134618399998 meters 0.07331596855673626 Centerline is valid? [True, True] Translation: X:158.09, Y:-10.78, Z:-6.30 [[ 9.99974573e-01 -4.65998954e-03 -5.39798123e-03 1.58093991e+02] [ 4.66081168e-03 9.99989129e-01 1.39735585e-04 -1.07752021e+01] [ 5.39727138e-03 -1.64891006e-04 9.99985421e-01 -6.30297234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80134618399998 meters 0.07219927534267893 Centerline is valid? [True, True] Translation: X:158.15, Y:-10.76, Z:-6.31 [[ 9.99976837e-01 -1.38728159e-03 -6.66332629e-03 1.58153577e+02] [ 1.38849940e-03 9.99999020e-01 1.78140412e-04 -1.07642119e+01] [ 6.66307263e-03 -1.87388311e-04 9.99977784e-01 -6.30528899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86134618399998 meters 0.07290585699425282 Centerline is valid? [True, True] Translation: X:158.21, Y:-10.76, Z:-6.31 [[ 9.99974418e-01 7.94281543e-04 -7.10868433e-03 1.58211906e+02] [-7.92992687e-04 9.99999669e-01 1.84124024e-04 -1.07583018e+01] [ 7.10882822e-03 -1.78482179e-04 9.99974716e-01 -6.31092806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.921346184 meters 0.0717640620164106 Centerline is valid? [True, True] Translation: X:158.27, Y:-10.74, Z:-6.31 [[ 9.99970614e-01 3.38276241e-03 -6.87959586e-03 1.58271797e+02] [-3.38159123e-03 9.99994266e-01 1.81864236e-04 -1.07420316e+01] [ 6.88017162e-03 -1.58594911e-04 9.99976319e-01 -6.30933051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.981346184 meters 0.0706060219032453 Centerline is valid? [True, True] Translation: X:158.33, Y:-10.74, Z:-6.31 [[ 9.99969322e-01 5.53042316e-03 -5.54710602e-03 1.58331237e+02] [-5.52973118e-03 9.99984701e-01 1.40076337e-04 -1.07351547e+01] [ 5.54779583e-03 -1.09398035e-04 9.99984605e-01 -6.30744312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.041346184 meters 0.0701742993294858 Centerline is valid? [True, True] Translation: X:158.39, Y:-10.73, Z:-6.31 [[ 9.99979615e-01 4.98263548e-03 -3.99275381e-03 1.58389920e+02] [-4.98225908e-03 9.99987583e-01 1.04211198e-04 -1.07290769e+01] [ 3.99322348e-03 -8.43161394e-05 9.99992023e-01 -6.30748075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.101346184 meters 0.07000650316282409 Centerline is valid? [True, True] Translation: X:158.45, Y:-10.72, Z:-6.31 [[ 9.99975264e-01 6.84016613e-03 -1.63794527e-03 1.58449078e+02] [-6.84010575e-03 9.99976605e-01 4.24612326e-05 -1.07237183e+01] [ 1.63819739e-03 -3.12564634e-05 9.99998658e-01 -6.30954724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.161346184 meters 0.06886143347139463 Centerline is valid? [True, True] Translation: X:158.51, Y:-10.71, Z:-6.31 [[ 9.99954161e-01 9.56076063e-03 5.17180662e-04 1.58509277e+02] [-9.56075405e-03 9.99954295e-01 -1.51897183e-05 -1.07123300e+01] [-5.17302250e-04 1.02443849e-05 9.99999866e-01 -6.30644984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.221346184 meters 0.06937715241989084 Centerline is valid? [True, True] Translation: X:158.57, Y:-10.71, Z:-6.31 [[ 9.99955434e-01 9.35436949e-03 1.27490416e-03 1.58566818e+02] [-9.35432950e-03 9.99956247e-01 -3.73258847e-05 -1.07108854e+01] [-1.27519754e-03 2.53983476e-05 9.99999187e-01 -6.31013449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.281346184 meters 0.06895354434475896 Centerline is valid? [True, True] Translation: X:158.63, Y:-10.71, Z:-6.31 [[ 9.99978019e-01 6.52046799e-03 1.20172074e-03 1.58626364e+02] [-6.52043262e-03 9.99978741e-01 -3.33462688e-05 -1.07079292e+01] [-1.20191263e-03 2.55097967e-05 9.99999277e-01 -6.30948940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.341346184 meters 0.06932278313831573 Centerline is valid? [True, True] Translation: X:158.69, Y:-10.71, Z:-6.31 [[ 9.99984583e-01 5.49223114e-03 8.17458730e-04 1.58685561e+02] [-5.49221357e-03 9.99984917e-01 -2.37386905e-05 -1.07052599e+01] [-8.17576779e-04 1.92486666e-05 9.99999666e-01 -6.31258188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.401346184 meters 0.06913217033298542 Centerline is valid? [True, True] Translation: X:158.75, Y:-10.70, Z:-6.31 [[ 9.99983757e-01 5.04943856e-03 2.64352703e-03 1.58745226e+02] [-5.04926744e-03 9.99987250e-01 -7.14016415e-05 -1.07012768e+01] [-2.64385387e-03 5.80526067e-05 9.99996503e-01 -6.31407311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46134618399998 meters 0.06887415211046971 Centerline is valid? [True, True] Translation: X:158.81, Y:-10.69, Z:-6.32 [[ 9.99982431e-01 5.51150484e-03 2.18214472e-03 1.58806137e+02] [-5.51139176e-03 9.99984810e-01 -5.78325564e-05 -1.06931722e+01] [-2.18243031e-03 4.58048859e-05 9.99997617e-01 -6.31512300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52134618399998 meters 0.06873910322825227 Centerline is valid? [True, True] Translation: X:158.87, Y:-10.69, Z:-6.32 [[ 9.99977139e-01 6.75969299e-03 -1.67415249e-04 1.58865934e+02] [-6.75969257e-03 9.99977153e-01 3.05784606e-06 -1.06873311e+01] [ 1.67432094e-04 -1.92610054e-06 9.99999986e-01 -6.31842063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58134618399998 meters 0.06873746819913315 Centerline is valid? [True, True] Translation: X:158.92, Y:-10.69, Z:-6.32 [[ 9.99962952e-01 8.60756543e-03 -6.46103787e-05 1.58923436e+02] [-8.60756556e-03 9.99962954e-01 -1.73136046e-06 -1.06853602e+01] [ 6.45930822e-05 2.28743439e-06 9.99999998e-01 -6.32343584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64134618399999 meters 0.0687868628657888 Centerline is valid? [True, True] Translation: X:158.98, Y:-10.68, Z:-6.33 [[ 9.99961686e-01 8.72797359e-03 6.69408897e-04 1.58982195e+02] [-8.72796198e-03 9.99961910e-01 -2.02642232e-05 -1.06839695e+01] [-6.69560266e-04 1.44208714e-05 9.99999776e-01 -6.32604365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.701346184 meters 0.06789414135848665 Centerline is valid? [True, True] Translation: X:159.04, Y:-10.68, Z:-6.32 [[ 9.99962890e-01 8.39362690e-03 1.94048414e-03 1.59041224e+02] [-8.39353853e-03 9.99964772e-01 -5.36816871e-05 -1.06796500e+01] [-1.94086637e-03 3.73921665e-05 9.99998116e-01 -6.32227562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.761346184 meters 0.06838395401818932 Centerline is valid? [True, True] Translation: X:159.10, Y:-10.68, Z:-6.33 [[ 9.99969064e-01 6.76037101e-03 4.02090277e-03 1.59099348e+02] [-6.75999187e-03 9.99977145e-01 -1.07875763e-04 -1.06845365e+01] [-4.02154015e-03 8.06911560e-05 9.99991910e-01 -6.32685848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.821346184 meters 0.06884705307619557 Centerline is valid? [True, True] Translation: X:159.16, Y:-10.69, Z:-6.33 [[ 9.99969175e-01 6.28179537e-03 4.71033360e-03 1.59159113e+02] [-6.28128752e-03 9.99980265e-01 -1.22603159e-04 -1.06891221e+01] [-4.71101080e-03 9.30124200e-05 9.99988899e-01 -6.33189554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.881346184 meters 0.06875931565812812 Centerline is valid? [True, True] Translation: X:159.22, Y:-10.68, Z:-6.33 [[ 9.99962883e-01 7.85420154e-03 3.54182325e-03 1.59220613e+02] [-7.85392656e-03 9.99969153e-01 -9.15394882e-05 -1.06835873e+01] [-3.54243296e-03 6.37188709e-05 9.99993724e-01 -6.33397142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.941346184 meters 0.06683351927679929 Centerline is valid? [True, True] Translation: X:159.28, Y:-10.68, Z:-6.33 [[ 9.99931520e-01 1.09194076e-02 4.20967730e-03 1.59281304e+02] [-1.09190373e-02 9.99940379e-01 -1.10928901e-04 -1.06768630e+01] [-4.21063759e-03 6.49556810e-05 9.99991133e-01 -6.32866525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.001346184 meters 0.06707812389960745 Centerline is valid? [True, True] Translation: X:159.34, Y:-10.68, Z:-6.33 [[ 9.99911116e-01 1.26704476e-02 4.14976573e-03 1.59339481e+02] [-1.26700981e-02 9.99919725e-01 -1.10509032e-04 -1.06759617e+01] [-4.15083281e-03 5.79212707e-05 9.99991384e-01 -6.33385792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.061346184 meters 0.06664293326329712 Centerline is valid? [True, True] Translation: X:159.40, Y:-10.67, Z:-6.33 [[ 9.99885559e-01 1.46521741e-02 3.76612302e-03 1.59398305e+02] [-1.46518978e-02 9.99892650e-01 -1.00953200e-04 -1.06665868e+01] [-3.76719791e-03 4.57607976e-05 9.99992903e-01 -6.33255292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.121346184 meters 0.06636232371921919 Centerline is valid? [True, True] Translation: X:159.46, Y:-10.66, Z:-6.33 [[ 9.99833903e-01 1.73800756e-02 5.48635421e-03 1.59456987e+02] [-1.73795398e-02 9.99848954e-01 -1.45320318e-04 -1.06622154e+01] [-5.48805120e-03 4.99458693e-05 9.99984939e-01 -6.33364658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.181346184 meters 0.06701963041290149 Centerline is valid? [True, True] Translation: X:159.51, Y:-10.66, Z:-6.34 [[ 9.99809990e-01 1.87990345e-02 5.15552977e-03 1.59514667e+02] [-1.87985773e-02 9.99823282e-01 -1.37120566e-04 -1.06594467e+01] [-5.15719642e-03 4.01778869e-05 9.99986701e-01 -6.34143392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24134618399998 meters 0.06690586451418032 Centerline is valid? [True, True] Translation: X:159.57, Y:-10.66, Z:-6.34 [[ 9.99794665e-01 2.00895690e-02 2.65282732e-03 1.59573467e+02] [-2.00894508e-02 9.99798184e-01 -7.12115783e-05 -1.06565375e+01] [-2.65372255e-03 1.79031120e-05 9.99996479e-01 -6.34308016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30134618399998 meters 0.06721492641536277 Centerline is valid? [True, True] Translation: X:159.63, Y:-10.65, Z:-6.35 [[ 9.99742322e-01 2.25749074e-02 2.37991004e-03 1.59631001e+02] [-2.25748176e-02 9.99745154e-01 -6.45997143e-05 -1.06499825e+01] [-2.38076187e-03 1.08570333e-05 9.99997166e-01 -6.34689444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36134618399998 meters 0.06679433996525329 Centerline is valid? [True, True] Translation: X:159.69, Y:-10.65, Z:-6.35 [[ 9.99727603e-01 2.29964042e-02 3.98560337e-03 1.59690551e+02] [-2.29961712e-02 9.99735548e-01 -1.04304959e-04 -1.06466542e+01] [-3.98694801e-03 1.26229295e-05 9.99992052e-01 -6.34533359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.421346184 meters 0.0670604612189883 Centerline is valid? [True, True] Translation: X:159.75, Y:-10.65, Z:-6.35 [[ 9.99752919e-01 2.19726362e-02 3.36211070e-03 1.59747966e+02] [-2.19724599e-02 9.99758572e-01 -8.93543615e-05 -1.06495064e+01] [-3.36326235e-03 1.54584410e-05 9.99994344e-01 -6.35231556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.481346184 meters 0.06696111936005884 Centerline is valid? [True, True] Translation: X:159.81, Y:-10.65, Z:-6.35 [[ 9.99825629e-01 1.85110095e-02 2.46061270e-03 1.59806627e+02] [-1.85109043e-02 9.99828656e-01 -6.55064587e-05 -1.06518378e+01] [-2.46140368e-03 1.99468700e-05 9.99996971e-01 -6.35463376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.541346184 meters 0.06669158835288504 Centerline is valid? [True, True] Translation: X:159.87, Y:-10.65, Z:-6.35 [[ 9.99839706e-01 1.74092452e-02 4.18085342e-03 1.59865180e+02] [-1.74089417e-02 9.99848447e-01 -1.08978176e-04 -1.06492260e+01] [-4.18211702e-03 3.61764742e-05 9.99991254e-01 -6.35466797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.601346184 meters 0.06654590343575369 Centerline is valid? [True, True] Translation: X:159.92, Y:-10.65, Z:-6.36 [[ 9.99793966e-01 1.98028667e-02 4.45790942e-03 1.59924336e+02] [-1.98025476e-02 9.99803904e-01 -1.15708226e-04 -1.06455733e+01] [-4.45932660e-03 2.74064224e-05 9.99990057e-01 -6.35625326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.661346184 meters 0.06684959230689261 Centerline is valid? [True, True] Translation: X:159.98, Y:-10.65, Z:-6.36 [[ 9.99775001e-01 2.06498976e-02 4.85066517e-03 1.59981760e+02] [-2.06495301e-02 9.99786768e-01 -1.25844447e-04 -1.06464907e+01] [-4.85222953e-03 2.56521756e-05 9.99988228e-01 -6.36117683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.721346184 meters 0.06674583950282627 Centerline is valid? [True, True] Translation: X:160.04, Y:-10.64, Z:-6.36 [[ 9.99744080e-01 2.24700329e-02 2.62139404e-03 1.60040227e+02] [-2.24699280e-02 9.99747517e-01 -6.94784636e-05 -1.06428059e+01] [-2.62229336e-03 1.05581474e-05 9.99996562e-01 -6.36291008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.781346184 meters 0.06784685444761038 Centerline is valid? [True, True] Translation: X:160.10, Y:-10.64, Z:-6.37 [[ 9.99698188e-01 2.44830880e-02 2.02740476e-03 1.60098266e+02] [-2.44830269e-02 9.99700244e-01 -5.49887936e-05 -1.06405366e+01] [-2.02814333e-03 5.33519215e-06 9.99997943e-01 -6.37041710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.841346184 meters 0.06717663933779729 Centerline is valid? [True, True] Translation: X:160.16, Y:-10.64, Z:-6.37 [[ 9.99672029e-01 2.55069129e-02 2.28750438e-03 1.60157103e+02] [-2.55068426e-02 9.99674646e-01 -5.99059140e-05 -1.06434225e+01] [-2.28828814e-03 1.53925251e-06 9.99997382e-01 -6.36935488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.901346184 meters 0.06733305080003049 Centerline is valid? [True, True] Translation: X:160.21, Y:-10.65, Z:-6.37 [[ 9.99710872e-01 2.39351103e-02 2.29832155e-03 1.60214549e+02] [-2.39350326e-02 9.99713514e-01 -6.13000519e-05 -1.06487215e+01] [-2.29913034e-03 6.27192697e-06 9.99997357e-01 -6.37325547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96134618399998 meters 0.06772988341947718 Centerline is valid? [True, True] Translation: X:160.27, Y:-10.65, Z:-6.38 [[ 9.99715141e-01 2.37770793e-02 2.07082498e-03 1.60272035e+02] [-2.37770171e-02 9.99717285e-01 -5.46691863e-05 -1.06524654e+01] [-2.07153940e-03 5.41557228e-06 9.99997854e-01 -6.37639528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02134618399998 meters 0.06813900511440567 Centerline is valid? [True, True] Translation: X:160.33, Y:-10.66, Z:-6.38 [[ 9.99711249e-01 2.40231945e-02 5.51819216e-04 1.60330969e+02] [-2.40231892e-02 9.99711401e-01 -1.63384075e-05 -1.06567650e+01] [-5.52052463e-04 3.07723231e-06 9.99999848e-01 -6.38067999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08134618399998 meters 0.06857190227207345 Centerline is valid? [True, True] Translation: X:160.39, Y:-10.66, Z:-6.38 [[ 9.99689430e-01 2.47892353e-02 -2.55683590e-03 1.60390112e+02] [-2.47891610e-02 9.99692700e-01 6.07539909e-05 -1.06611537e+01] [ 2.55755623e-03 2.64669422e-06 9.99996729e-01 -6.38469580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14134618399999 meters 0.06925718087045292 Centerline is valid? [True, True] Translation: X:160.45, Y:-10.66, Z:-6.39 [[ 9.99706945e-01 2.41080097e-02 -2.19748323e-03 1.60447482e+02] [-2.41079604e-02 9.99709360e-01 4.89064077e-05 -1.06646785e+01] [ 2.19802359e-03 4.08476320e-06 9.99997584e-01 -6.39119070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.201346184 meters 0.06871856828146872 Centerline is valid? [True, True] Translation: X:160.51, Y:-10.67, Z:-6.39 [[ 9.99712581e-01 2.37527911e-02 -3.24969425e-03 1.60506199e+02] [-2.37526684e-02 9.99717863e-01 7.63498540e-05 -1.06667707e+01] [ 3.25059092e-03 8.61000441e-07 9.99994717e-01 -6.39051031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.261346184 meters 0.06883882729561774 Centerline is valid? [True, True] Translation: X:160.56, Y:-10.67, Z:-6.39 [[ 9.99730427e-01 2.29068285e-02 -3.78811025e-03 1.60564455e+02] [-2.29066549e-02 9.99737604e-01 8.92100254e-05 -1.06696574e+01] [ 3.78915978e-03 -2.41304255e-06 9.99992821e-01 -6.39314224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.321346184 meters 0.06902886093536062 Centerline is valid? [True, True] Translation: X:160.62, Y:-10.68, Z:-6.40 [[ 9.99775120e-01 2.08986120e-02 -3.59974327e-03 1.60621041e+02] [-2.08984519e-02 9.99781600e-01 8.21037380e-05 -1.06806920e+01] [ 3.60067294e-03 -6.85621300e-06 9.99993518e-01 -6.39878058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.381346184 meters 0.06890302340775901 Centerline is valid? [True, True] Translation: X:160.68, Y:-10.68, Z:-6.40 [[ 9.99753964e-01 2.12296638e-02 -6.42743590e-03 1.60680598e+02] [-2.12291150e-02 9.99774625e-01 1.53608991e-04 -1.06829602e+01] [ 6.42924839e-03 -1.71224219e-05 9.99979332e-01 -6.39863687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.441346184 meters 0.06987806246635442 Centerline is valid? [True, True] Translation: X:160.74, Y:-10.69, Z:-6.41 [[ 9.99736273e-01 2.24012015e-02 -5.05664355e-03 1.60738363e+02] [-2.24008875e-02 9.99749062e-01 1.18737511e-04 -1.06893154e+01] [ 5.05803451e-03 -5.43289338e-06 9.99987208e-01 -6.40727480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.501346184 meters 0.06920084413470673 Centerline is valid? [True, True] Translation: X:160.80, Y:-10.69, Z:-6.41 [[ 9.99744953e-01 2.20232665e-02 -5.00041052e-03 1.60796077e+02] [-2.20229645e-02 9.99757458e-01 1.15453663e-04 -1.06947044e+01] [ 5.00174038e-03 -5.30035382e-06 9.99987491e-01 -6.40576848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.561346184 meters 0.06971240477578769 Centerline is valid? [True, True] Translation: X:160.85, Y:-10.71, Z:-6.41 [[ 9.99798191e-01 1.88244292e-02 -7.01555077e-03 1.60854435e+02] [-1.88237379e-02 9.99822804e-01 1.64572734e-04 -1.07051214e+01] [ 7.01740563e-03 -3.24806330e-05 9.99975377e-01 -6.41013327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.621346184 meters 0.06946182082588535 Centerline is valid? [True, True] Translation: X:160.91, Y:-10.71, Z:-6.41 [[ 9.99812456e-01 1.85142346e-02 -5.68123977e-03 1.60913356e+02] [-1.85137815e-02 9.99828597e-01 1.32328370e-04 -1.07123376e+01] [ 5.68271595e-03 -2.71223208e-05 9.99983853e-01 -6.41145031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.681346184 meters 0.06981395677466967 Centerline is valid? [True, True] Translation: X:160.97, Y:-10.72, Z:-6.42 [[ 9.99824787e-01 1.78099143e-02 -5.76210056e-03 1.60970260e+02] [-1.78094431e-02 9.99841390e-01 1.33080544e-04 -1.07242681e+01] [ 5.76355679e-03 -3.04374242e-05 9.99983390e-01 -6.41679945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74134618399998 meters 0.06990956683804156 Centerline is valid? [True, True] Translation: X:161.03, Y:-10.73, Z:-6.42 [[ 9.99830190e-01 1.66087442e-02 -7.98377481e-03 1.61029175e+02] [-1.66077904e-02 9.99862064e-01 1.85756314e-04 -1.07320735e+01] [ 7.98575874e-03 -5.31319124e-05 9.99968112e-01 -6.41961572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80134618399998 meters 0.06939911006798472 Centerline is valid? [True, True] Translation: X:161.09, Y:-10.74, Z:-6.42 [[ 9.99878155e-01 1.44320034e-02 -5.94915092e-03 1.61087771e+02] [-1.44314427e-02 9.99895852e-01 1.37169143e-04 -1.07418289e+01] [ 5.95051095e-03 -5.12975996e-05 9.99982294e-01 -6.41828943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86134618399998 meters 0.06998757135082292 Centerline is valid? [True, True] Translation: X:161.15, Y:-10.76, Z:-6.42 [[ 9.99908007e-01 1.11762104e-02 -7.68564876e-03 1.61147134e+02] [-1.11751633e-02 9.99937540e-01 1.79169518e-04 -1.07553615e+01] [ 7.68717115e-03 -9.32646553e-05 9.99970449e-01 -6.42351460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.921346184 meters 0.07036406084839339 Centerline is valid? [True, True] Translation: X:161.20, Y:-10.76, Z:-6.43 [[ 9.99917480e-01 9.72992700e-03 -8.38823387e-03 1.61204457e+02] [-9.72865190e-03 9.99952657e-01 1.92802514e-04 -1.07620987e+01] [ 8.38971270e-03 -1.11180396e-04 9.99964800e-01 -6.42689766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.981346184 meters 0.06931332166711782 Centerline is valid? [True, True] Translation: X:161.26, Y:-10.77, Z:-6.42 [[ 9.99943996e-01 8.90112759e-03 -5.72492761e-03 1.61263897e+02] [-8.90052091e-03 9.99960381e-01 1.31441004e-04 -1.07655313e+01] [ 5.72587077e-03 -8.04788050e-05 9.99983604e-01 -6.42251626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.041346184 meters 0.06934828537898077 Centerline is valid? [True, True] Translation: X:161.32, Y:-10.77, Z:-6.42 [[ 9.99954891e-01 7.46107595e-03 -5.87776809e-03 1.61322953e+02] [-7.46041814e-03 9.99972162e-01 1.33834008e-04 -1.07712782e+01] [ 5.87860301e-03 -8.99773634e-05 9.99982717e-01 -6.42443857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.101346184 meters 0.06988186222497283 Centerline is valid? [True, True] Translation: X:161.38, Y:-10.78, Z:-6.43 [[ 9.99946774e-01 7.55603921e-03 -7.02532060e-03 1.61380556e+02] [-7.55510723e-03 9.99971447e-01 1.59190012e-04 -1.07753490e+01] [ 7.02632286e-03 -1.06104488e-04 9.99975309e-01 -6.42878789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.161346184 meters 0.07017693519691866 Centerline is valid? [True, True] Translation: X:161.44, Y:-10.78, Z:-6.43 [[ 9.99940123e-01 7.83966260e-03 -7.63478576e-03 1.61437764e+02] [-7.83857295e-03 9.99969263e-01 1.72634200e-04 -1.07789295e+01] [ 7.63590449e-03 -1.12778038e-04 9.99970840e-01 -6.43196678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.221346184 meters 0.07019460133540342 Centerline is valid? [True, True] Translation: X:161.50, Y:-10.78, Z:-6.43 [[ 9.99949779e-01 7.48083938e-03 -6.66904308e-03 1.61496491e+02] [-7.48000138e-03 9.99972013e-01 1.50589102e-04 -1.07824505e+01] [ 6.66998297e-03 -1.00697088e-04 9.99977750e-01 -6.43276109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.281346184 meters 0.07004664903614434 Centerline is valid? [True, True] Translation: X:161.55, Y:-10.79, Z:-6.43 [[ 9.99960488e-01 7.55585021e-03 -4.68321390e-03 1.61554199e+02] [-7.55544665e-03 9.99971452e-01 1.03857730e-04 -1.07900747e+01] [ 4.68386494e-03 -6.84698533e-05 9.99989028e-01 -6.43432158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.341346184 meters 0.06950059302082923 Centerline is valid? [True, True] Translation: X:161.61, Y:-10.79, Z:-6.43 [[ 9.99946838e-01 9.70506065e-03 -3.48321914e-03 1.61613092e+02] [-9.70485213e-03 9.99952904e-01 7.67611431e-05 -1.07927511e+01] [ 3.48380007e-03 -4.29529356e-05 9.99993931e-01 -6.43463719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.401346184 meters 0.0687126716037672 Centerline is valid? [True, True] Translation: X:161.67, Y:-10.79, Z:-6.43 [[ 9.99908723e-01 1.33871064e-02 -1.82510037e-03 1.61672376e+02] [-1.33870566e-02 9.99910389e-01 3.94714076e-05 -1.07924142e+01] [ 1.82546523e-03 -1.50350827e-05 9.99998334e-01 -6.43270279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46134618399998 meters 0.068386094262326 Centerline is valid? [True, True] Translation: X:161.73, Y:-10.80, Z:-6.43 [[ 9.99895784e-01 1.43176612e-02 -1.85079008e-03 1.61731617e+02] [-1.43176133e-02 9.99897497e-01 3.91294265e-05 -1.07952783e+01] [ 1.85116061e-03 -1.26264520e-05 9.99998287e-01 -6.43295172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52134618399998 meters 0.06792120632623086 Centerline is valid? [True, True] Translation: X:161.79, Y:-10.80, Z:-6.43 [[ 9.99890546e-01 1.47945815e-02 -1.24497748e-04 1.61790727e+02] [-1.47945816e-02 9.99890554e-01 -7.44363770e-08 -1.08001779e+01] [ 1.24483021e-04 1.91632033e-06 9.99999992e-01 -6.43274901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58134618399998 meters 0.06922567199017168 Centerline is valid? [True, True] Translation: X:161.85, Y:-10.80, Z:-6.44 [[ 9.99895039e-01 1.44639078e-02 8.40894050e-04 1.61847946e+02] [-1.44638940e-02 9.99895392e-01 -2.25953398e-05 -1.08047520e+01] [-8.41132903e-04 1.04303658e-05 9.99999646e-01 -6.44220360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64134618399999 meters 0.06780970791678749 Centerline is valid? [True, True] Translation: X:161.91, Y:-10.81, Z:-6.44 [[ 9.99893128e-01 1.44855143e-02 1.97522465e-03 1.61907423e+02] [-1.44854507e-02 9.99895079e-01 -4.64801466e-05 -1.08087249e+01] [-1.97569070e-03 1.78631598e-05 9.99998048e-01 -6.43628865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.701346184 meters 0.06785852795443068 Centerline is valid? [True, True] Translation: X:161.97, Y:-10.81, Z:-6.44 [[ 9.99916849e-01 1.26774352e-02 2.36185447e-03 1.61966473e+02] [-1.26773390e-02 9.99919638e-01 -5.56927099e-05 -1.08116454e+01] [-2.36237071e-03 2.57460493e-05 9.99997209e-01 -6.43720338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.761346184 meters 0.06803699982249607 Centerline is valid? [True, True] Translation: X:162.03, Y:-10.82, Z:-6.44 [[ 9.99932088e-01 1.03124341e-02 5.42898899e-03 1.62025328e+02] [-1.03119200e-02 9.99946823e-01 -1.22689975e-04 -1.08232580e+01] [-5.42996552e-03 6.66983430e-05 9.99985255e-01 -6.44123867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.821346184 meters 0.0673856720494782 Centerline is valid? [True, True] Translation: X:162.09, Y:-10.83, Z:-6.44 [[ 9.99922282e-01 1.04883818e-02 6.73973785e-03 1.62085955e+02] [-1.04876050e-02 9.99944992e-01 -1.50583340e-04 -1.08261926e+01] [-6.74094649e-03 7.98879286e-05 9.99977276e-01 -6.43963939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.881346184 meters 0.06775947042420687 Centerline is valid? [True, True] Translation: X:162.15, Y:-10.83, Z:-6.44 [[ 9.99926333e-01 1.09573203e-02 5.22166107e-03 1.62147068e+02] [-1.09568667e-02 9.99939965e-01 -1.15466123e-04 -1.08329425e+01] [-5.22261278e-03 5.82445730e-05 9.99986360e-01 -6.44384626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.941346184 meters 0.06787214826450505 Centerline is valid? [True, True] Translation: X:162.21, Y:-10.84, Z:-6.45 [[ 9.99932062e-01 1.02270952e-02 5.59274341e-03 1.62207040e+02] [-1.02265551e-02 9.99947700e-01 -1.25169030e-04 -1.08373221e+01] [-5.59373102e-03 6.79660279e-05 9.99984353e-01 -6.44633123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.001346184 meters 0.06873979786543477 Centerline is valid? [True, True] Translation: X:162.27, Y:-10.85, Z:-6.45 [[ 9.99942941e-01 7.13721874e-03 7.94826980e-03 1.62266631e+02] [-7.13603447e-03 9.99974522e-01 -1.77347470e-04 -1.08537827e+01] [-7.94933306e-03 1.20618224e-04 9.99968396e-01 -6.45256891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.061346184 meters 0.06789779548054059 Centerline is valid? [True, True] Translation: X:162.33, Y:-10.86, Z:-6.45 [[ 9.99932789e-01 4.03712966e-03 1.08682415e-02 1.62329305e+02] [-4.03479660e-03 9.99991832e-01 -2.36585146e-04 -1.08601098e+01] [-1.08691079e-02 1.92718100e-04 9.99940911e-01 -6.44739269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.121346184 meters 0.06820946880166039 Centerline is valid? [True, True] Translation: X:162.39, Y:-10.87, Z:-6.45 [[ 9.99915329e-01 4.22548232e-03 1.23076934e-02 1.62390633e+02] [-4.22244137e-03 9.99991048e-01 -2.73051820e-04 -1.08656835e+01] [-1.23087370e-02 2.21060187e-04 9.99924220e-01 -6.45026937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.181346184 meters 0.06724735814642273 Centerline is valid? [True, True] Translation: X:162.45, Y:-10.87, Z:-6.45 [[ 9.99902933e-01 4.87187320e-03 1.30533032e-02 1.62453131e+02] [-4.86846995e-03 9.99988106e-01 -2.92482981e-04 -1.08686104e+01] [-1.30545729e-02 2.28904976e-04 9.99914759e-01 -6.44836171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24134618399998 meters 0.06789909393615781 Centerline is valid? [True, True] Translation: X:162.51, Y:-10.87, Z:-6.45 [[ 9.99917194e-01 4.27946993e-03 1.21363293e-02 1.62514533e+02] [-4.27644545e-03 9.99990818e-01 -2.75148922e-04 -1.08747724e+01] [-1.21373953e-02 2.23225789e-04 9.99926314e-01 -6.45322477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30134618399998 meters 0.06853931008001521 Centerline is valid? [True, True] Translation: X:162.58, Y:-10.88, Z:-6.46 [[ 9.99930099e-01 4.50646744e-03 1.09311210e-02 1.62575377e+02] [-4.50400521e-03 9.99989826e-01 -2.49856907e-04 -1.08828453e+01] [-1.09321358e-02 2.00605615e-04 9.99940222e-01 -6.45973424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36134618399998 meters 0.06802750697210215 Centerline is valid? [True, True] Translation: X:162.64, Y:-10.88, Z:-6.46 [[ 9.99930446e-01 4.07735952e-03 1.10669542e-02 1.62638503e+02] [-4.07479707e-03 9.99991666e-01 -2.54078968e-04 -1.08847000e+01] [-1.10678980e-02 2.08965703e-04 9.99938727e-01 -6.45910137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.421346184 meters 0.0682225938863659 Centerline is valid? [True, True] Translation: X:162.70, Y:-10.89, Z:-6.46 [[ 9.99924976e-01 1.81020424e-03 1.21146860e-02 1.62700583e+02] [-1.80689957e-03 9.99998327e-01 -2.83722037e-04 -1.08927699e+01] [-1.21151793e-02 2.61810731e-04 9.99926574e-01 -6.45988704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.481346184 meters 0.06914811970932384 Centerline is valid? [True, True] Translation: X:162.76, Y:-10.90, Z:-6.46 [[ 9.99943355e-01 -9.89687892e-04 1.05974741e-02 1.62762542e+02] [ 9.92445301e-04 9.99999475e-01 -2.54939298e-04 -1.09030232e+01] [-1.05972162e-02 2.65442271e-04 9.99943813e-01 -6.46409536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.541346184 meters 0.07029049694811525 Centerline is valid? [True, True] Translation: X:162.82, Y:-10.91, Z:-6.47 [[ 9.99932220e-01 -2.48740489e-03 1.13740189e-02 1.62823355e+02] [ 2.49064197e-03 9.99996862e-01 -2.70446825e-04 -1.09144988e+01] [-1.13733104e-02 2.98757103e-04 9.99935277e-01 -6.46870564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.601346184 meters 0.07075842077918008 Centerline is valid? [True, True] Translation: X:162.88, Y:-10.92, Z:-6.47 [[ 9.99948911e-01 -3.27028762e-03 9.56457254e-03 1.62884717e+02] [ 3.27267022e-03 9.99994618e-01 -2.33465998e-04 -1.09196967e+01] [-9.56375756e-03 2.64755762e-04 9.99954231e-01 -6.47369816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.661346184 meters 0.07016201298408285 Centerline is valid? [True, True] Translation: X:162.95, Y:-10.92, Z:-6.47 [[ 9.99946800e-01 -4.49069195e-03 9.28606446e-03 1.62946941e+02] [ 4.49298889e-03 9.99989881e-01 -2.26506718e-04 -1.09221626e+01] [-9.28495332e-03 2.68216852e-04 9.99956858e-01 -6.47424632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.721346184 meters 0.07295959949496024 Centerline is valid? [True, True] Translation: X:163.01, Y:-10.93, Z:-6.48 [[ 9.99940101e-01 -8.96934595e-03 6.27260219e-03 1.63006097e+02] [ 8.97049399e-03 9.99959752e-01 -1.54914897e-04 -1.09292444e+01] [-6.27096025e-03 2.11173958e-04 9.99980315e-01 -6.48101821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.781346184 meters 0.07303728383816525 Centerline is valid? [True, True] Translation: X:163.07, Y:-10.93, Z:-6.48 [[ 9.99925895e-01 -1.13989754e-02 4.27397853e-03 1.63067233e+02] [ 1.13995254e-02 9.99935018e-01 -1.04328191e-04 -1.09342803e+01] [-4.27251157e-03 1.53041786e-04 9.99990861e-01 -6.48405555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.841346184 meters 0.07287320090039665 Centerline is valid? [True, True] Translation: X:163.13, Y:-10.93, Z:-6.49 [[ 9.99932368e-01 -1.16110282e-02 6.65509232e-04 1.63128458e+02] [ 1.16110408e-02 9.99932589e-01 -1.50720792e-05 -1.09341361e+01] [-6.65289368e-04 2.27983147e-05 9.99999778e-01 -6.48848326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.901346184 meters 0.07377532958243985 Centerline is valid? [True, True] Translation: X:163.19, Y:-10.94, Z:-6.49 [[ 9.99949748e-01 -9.95943828e-03 1.14492853e-03 1.63188282e+02] [ 9.95947392e-03 9.99950403e-01 -2.54278953e-05 -1.09360088e+01] [-1.14461849e-03 3.68295033e-05 9.99999344e-01 -6.49383817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96134618399998 meters 0.07253383573194 Centerline is valid? [True, True] Translation: X:163.25, Y:-10.93, Z:-6.50 [[ 9.99969284e-01 -7.65062275e-03 -1.70274351e-03 1.63250710e+02] [ 7.65071083e-03 9.99970732e-01 4.52209312e-05 -1.09288223e+01] [ 1.70234771e-03 -5.82467404e-05 9.99998549e-01 -6.49593746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02134618399998 meters 0.07320316814772171 Centerline is valid? [True, True] Translation: X:163.31, Y:-10.93, Z:-6.50 [[ 9.99961244e-01 -8.68717574e-03 -1.42957104e-03 1.63310519e+02] [ 8.68723556e-03 9.99962265e-01 3.56406254e-05 -1.09291962e+01] [ 1.42920747e-03 -4.80582644e-05 9.99998978e-01 -6.49832223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08134618399998 meters 0.07409255119940347 Centerline is valid? [True, True] Translation: X:163.37, Y:-10.93, Z:-6.50 [[ 9.99923049e-01 -1.23785919e-02 -8.16243742e-04 1.63372036e+02] [ 1.23786138e-02 9.99923382e-01 2.17393848e-05 -1.09336989e+01] [ 8.15912100e-04 -3.18416780e-05 9.99999667e-01 -6.49950255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14134618399999 meters 0.07571176347392759 Centerline is valid? [True, True] Translation: X:163.43, Y:-10.94, Z:-6.50 [[ 9.99881970e-01 -1.51116072e-02 -2.77232430e-03 1.63432834e+02] [ 1.51118592e-02 9.99885807e-01 6.99399229e-05 -1.09377653e+01] [ 2.77095082e-03 -1.11826642e-04 9.99996155e-01 -6.50355178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.201346184 meters 0.07622468151132368 Centerline is valid? [True, True] Translation: X:163.49, Y:-10.94, Z:-6.51 [[ 9.99881440e-01 -1.48986575e-02 -3.89057965e-03 1.63494300e+02] [ 1.48991540e-02 9.99888997e-01 9.86786610e-05 -1.09402520e+01] [ 3.88867760e-03 -1.56633307e-04 9.99992427e-01 -6.50893361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.261346184 meters 0.07638519379603115 Centerline is valid? [True, True] Translation: X:163.55, Y:-10.94, Z:-6.51 [[ 9.99823433e-01 -1.76896389e-02 -6.33869889e-03 1.63554552e+02] [ 1.76910009e-02 9.99843489e-01 1.58864022e-04 -1.09410998e+01] [ 6.33489657e-03 -2.70973900e-04 9.99979898e-01 -6.51234362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.321346184 meters 0.07748935328008183 Centerline is valid? [True, True] Translation: X:163.61, Y:-10.94, Z:-6.51 [[ 9.99787365e-01 -1.99722554e-02 -5.13167815e-03 1.63614402e+02] [ 1.99731693e-02 9.99800508e-01 1.26890249e-04 -1.09428903e+01] [ 5.12812014e-03 -2.29359144e-04 9.99986825e-01 -6.51439529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.381346184 meters 0.07585274104466067 Centerline is valid? [True, True] Translation: X:163.68, Y:-10.94, Z:-6.51 [[ 9.99740773e-01 -2.20922848e-02 -5.50619155e-03 1.63675524e+02] [ 2.20933815e-02 9.99755902e-01 1.38434839e-04 -1.09382019e+01] [ 5.50178916e-03 -2.60049344e-04 9.99984831e-01 -6.51201812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.441346184 meters 0.07667250057965619 Centerline is valid? [True, True] Translation: X:163.74, Y:-10.94, Z:-6.51 [[ 9.99724468e-01 -2.32363338e-02 -3.32573698e-03 1.63737087e+02] [ 2.32367440e-02 9.99729987e-01 8.47303674e-05 -1.09411531e+01] [ 3.32287016e-03 -1.61986320e-04 9.99994466e-01 -6.51476588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.501346184 meters 0.0780986282201134 Centerline is valid? [True, True] Translation: X:163.80, Y:-10.94, Z:-6.52 [[ 9.99678746e-01 -2.47642218e-02 -5.39804027e-03 1.63797893e+02] [ 2.47653164e-02 9.99693283e-01 1.36022308e-04 -1.09441781e+01] [ 5.39301611e-03 -2.69662785e-04 9.99985421e-01 -6.52007125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.561346184 meters 0.07965628124851283 Centerline is valid? [True, True] Translation: X:163.86, Y:-10.94, Z:-6.53 [[ 9.99634086e-01 -2.60272348e-02 -7.36731963e-03 1.63857981e+02] [ 2.60293128e-02 9.99661163e-01 1.86306702e-04 -1.09436078e+01] [ 7.35997426e-03 -3.78004797e-04 9.99972844e-01 -6.52666841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.621346184 meters 0.08005394841932441 Centerline is valid? [True, True] Translation: X:163.92, Y:-10.94, Z:-6.53 [[ 9.99645680e-01 -2.53763276e-02 -8.03469151e-03 1.63918420e+02] [ 2.53787665e-02 9.99677887e-01 2.01713284e-04 -1.09418946e+01] [ 8.02698468e-03 -4.05552373e-04 9.99967701e-01 -6.53143763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.681346184 meters 0.0795241311358574 Centerline is valid? [True, True] Translation: X:163.98, Y:-10.93, Z:-6.54 [[ 9.99656905e-01 -2.39337792e-02 -1.06417506e-02 1.63978992e+02] [ 2.39379761e-02 9.99713410e-01 2.67164265e-04 -1.09348517e+01] [ 1.06323065e-02 -5.21814573e-04 9.99943339e-01 -6.53627771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74134618399998 meters 0.07743269895431924 Centerline is valid? [True, True] Translation: X:164.04, Y:-10.92, Z:-6.53 [[ 9.99752091e-01 -2.13219459e-02 -6.41337904e-03 1.64040344e+02] [ 2.13234208e-02 9.99772617e-01 1.61686565e-04 -1.09246843e+01] [ 6.40847328e-03 -2.98401662e-04 9.99979421e-01 -6.53212239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80134618399998 meters 0.07609610284131706 Centerline is valid? [True, True] Translation: X:164.10, Y:-10.92, Z:-6.53 [[ 9.99800445e-01 -1.94887785e-02 -4.38841135e-03 1.64101395e+02] [ 1.94894532e-02 9.99810056e-01 1.11024244e-04 -1.09220200e+01] [ 4.38541407e-03 -1.96529826e-04 9.99990365e-01 -6.53295547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86134618399998 meters 0.07488802484491648 Centerline is valid? [True, True] Translation: X:164.16, Y:-10.91, Z:-6.54 [[ 9.99854820e-01 -1.61466807e-02 -5.44280335e-03 1.64163034e+02] [ 1.61476733e-02 9.99869608e-01 1.38469005e-04 -1.09132196e+01] [ 5.43985784e-03 -2.26337513e-04 9.99985178e-01 -6.53555992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.921346184 meters 0.07458902302065648 Centerline is valid? [True, True] Translation: X:164.22, Y:-10.91, Z:-6.54 [[ 9.99902616e-01 -1.20341628e-02 -7.06667713e-03 1.64222657e+02] [ 1.20357269e-02 9.99927552e-01 1.78844287e-04 -1.09073346e+01] [ 7.06401292e-03 -2.63879466e-04 9.99975015e-01 -6.54217713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.981346184 meters 0.07653038483457378 Centerline is valid? [True, True] Translation: X:164.28, Y:-10.91, Z:-6.55 [[ 9.99913827e-01 -1.07708128e-02 -7.50520125e-03 1.64281448e+02] [ 1.07725168e-02 9.99941957e-01 1.86659517e-04 -1.09074290e+01] [ 7.50275515e-03 -2.67493339e-04 9.99971818e-01 -6.55079225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.041346184 meters 0.07575246475858916 Centerline is valid? [True, True] Translation: X:164.34, Y:-10.90, Z:-6.55 [[ 9.99898796e-01 -1.09136398e-02 -9.12637118e-03 1.64340768e+02] [ 1.09161565e-02 9.99940391e-01 2.25998765e-04 -1.09008386e+01] [ 9.12336071e-03 -3.25600789e-04 9.99958328e-01 -6.55153049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.101346184 meters 0.07523612618355863 Centerline is valid? [True, True] Translation: X:164.40, Y:-10.90, Z:-6.55 [[ 9.99868222e-01 -1.11593044e-02 -1.17901920e-02 1.64399902e+02] [ 1.11635316e-02 9.99937643e-01 2.92788272e-04 -1.08954463e+01] [ 1.17861895e-02 -4.24369870e-04 9.99930450e-01 -6.55259547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.161346184 meters 0.07619533910604276 Centerline is valid? [True, True] Translation: X:164.46, Y:-10.89, Z:-6.56 [[ 9.99885300e-01 -9.66733465e-03 -1.16588694e-02 1.64457428e+02] [ 9.67133848e-03 9.99953190e-01 2.87082217e-04 -1.08938798e+01] [ 1.16555483e-02 -3.99806161e-04 9.99931992e-01 -6.55918737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.221346184 meters 0.07588375816726971 Centerline is valid? [True, True] Translation: X:164.52, Y:-10.89, Z:-6.56 [[ 9.99909538e-01 -8.31696318e-03 -1.05708612e-02 1.64516479e+02] [ 8.32017612e-03 9.99965353e-01 2.60002181e-04 -1.08897625e+01] [ 1.05683326e-02 -3.47930088e-04 9.99944093e-01 -6.56086146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.281346184 meters 0.07471598868104366 Centerline is valid? [True, True] Translation: X:164.58, Y:-10.88, Z:-6.56 [[ 9.99909358e-01 -9.29383470e-03 -9.74165171e-03 1.64575304e+02] [ 9.29651434e-03 9.99956760e-01 2.29823222e-04 -1.08829189e+01] [ 9.73909454e-03 -3.20365795e-04 9.99952523e-01 -6.55858249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.341346184 meters 0.0738363210231272 Centerline is valid? [True, True] Translation: X:164.64, Y:-10.88, Z:-6.56 [[ 9.99935990e-01 -9.79772738e-03 -5.65863315e-03 1.64635386e+02] [ 9.79866674e-03 9.99951982e-01 1.38304123e-04 -1.08807250e+01] [ 5.65700637e-03 -1.93742331e-04 9.99983980e-01 -6.55696624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.401346184 meters 0.07540928214690083 Centerline is valid? [True, True] Translation: X:164.69, Y:-10.88, Z:-6.56 [[ 9.99948205e-01 -8.99229186e-03 -4.76727658e-03 1.64694611e+02] [ 8.99294855e-03 9.99959556e-01 1.16331521e-04 -1.08843435e+01] [ 4.76603768e-03 -1.59197368e-04 9.99988630e-01 -6.56292940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46134618399998 meters 0.0721317871014135 Centerline is valid? [True, True] Translation: X:164.76, Y:-10.87, Z:-6.56 [[ 9.99976101e-01 -6.29714649e-03 -2.85363247e-03 1.64755456e+02] [ 6.29737200e-03 9.99980169e-01 7.00442628e-05 -1.08728774e+01] [ 2.85313480e-03 -8.80129740e-05 9.99995926e-01 -6.55607846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52134618399998 meters 0.07272319333003664 Centerline is valid? [True, True] Translation: X:164.81, Y:-10.87, Z:-6.56 [[ 9.99991747e-01 -3.49979206e-03 -2.06353222e-03 1.64814881e+02] [ 3.49990254e-03 9.99993874e-01 4.99309422e-05 -1.08737777e+01] [ 2.06334484e-03 -5.71526918e-05 9.99997870e-01 -6.56196327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58134618399998 meters 0.07108527271899213 Centerline is valid? [True, True] Translation: X:164.88, Y:-10.87, Z:-6.56 [[ 9.99989797e-01 -3.00774247e-03 -3.37050570e-03 1.64875882e+02] [ 3.00803818e-03 9.99995472e-01 8.26687805e-05 -1.08665374e+01] [ 3.37024180e-03 -9.28065469e-05 9.99994316e-01 -6.55933543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64134618399999 meters 0.07100105678351859 Centerline is valid? [True, True] Translation: X:164.94, Y:-10.87, Z:-6.56 [[ 9.99994765e-01 -2.03040820e-03 -2.51951351e-03 1.64935213e+02] [ 2.03056656e-03 9.99997937e-01 6.02976738e-05 -1.08654577e+01] [ 2.51938588e-03 -6.54133980e-05 9.99996824e-01 -6.56083529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.701346184 meters 0.0713763698626162 Centerline is valid? [True, True] Translation: X:164.99, Y:-10.87, Z:-6.56 [[ 9.99991751e-01 -2.06438558e-03 -3.49816791e-03 1.64994601e+02] [ 2.06469524e-03 9.99997865e-01 8.49130515e-05 -1.08656738e+01] [ 3.49798515e-03 -9.21350017e-05 9.99993878e-01 -6.56356250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.761346184 meters 0.07125444602371792 Centerline is valid? [True, True] Translation: X:165.05, Y:-10.87, Z:-6.57 [[ 9.99994746e-01 -2.41776934e-03 -2.15931016e-03 1.65053829e+02] [ 2.41788596e-03 9.99997076e-01 5.13999447e-05 -1.08665638e+01] [ 2.15917957e-03 -5.66206403e-05 9.99997667e-01 -6.56570624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.821346184 meters 0.07142011672668475 Centerline is valid? [True, True] Translation: X:165.11, Y:-10.87, Z:-6.57 [[ 9.99993366e-01 -2.80532863e-03 -2.32329731e-03 1.65113243e+02] [ 2.80546477e-03 9.99996063e-01 5.53433642e-05 -1.08651234e+01] [ 2.32313291e-03 -6.18609259e-05 9.99997300e-01 -6.56783861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.881346184 meters 0.0728069712964261 Centerline is valid? [True, True] Translation: X:165.17, Y:-10.86, Z:-6.57 [[ 9.99975753e-01 -5.61538341e-03 -4.11826235e-03 1.65172526e+02] [ 5.61584176e-03 9.99984226e-01 9.97418663e-05 -1.08646771e+01] [ 4.11763730e-03 -1.22866958e-04 9.99991515e-01 -6.57246208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.941346184 meters 0.07313560116747944 Centerline is valid? [True, True] Translation: X:165.23, Y:-10.87, Z:-6.57 [[ 9.99960687e-01 -7.91050579e-03 -4.00594233e-03 1.65232035e+02] [ 7.91095455e-03 9.99968703e-01 9.61891999e-05 -1.08669686e+01] [ 4.00505605e-03 -1.27876246e-04 9.99991972e-01 -6.57480229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.001346184 meters 0.07352829952523154 Centerline is valid? [True, True] Translation: X:165.29, Y:-10.87, Z:-6.58 [[ 9.99932178e-01 -9.25273107e-03 -7.07287232e-03 1.65291662e+02] [ 9.25417444e-03 9.99957165e-01 1.71371079e-04 -1.08682285e+01] [ 7.07098370e-03 -2.36813051e-04 9.99974972e-01 -6.57913003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.061346184 meters 0.07461425502207979 Centerline is valid? [True, True] Translation: X:165.35, Y:-10.87, Z:-6.59 [[ 9.99938034e-01 -8.14975024e-03 -7.58351503e-03 1.65350298e+02] [ 8.15136511e-03 9.99966760e-01 1.82061184e-04 -1.08684673e+01] [ 7.58177920e-03 -2.43865903e-04 9.99971228e-01 -6.58504137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.121346184 meters 0.07075687823533232 Centerline is valid? [True, True] Translation: X:165.41, Y:-10.86, Z:-6.57 [[ 9.99961176e-01 -5.96766174e-03 -6.48332072e-03 1.65410375e+02] [ 5.96873629e-03 9.99982176e-01 1.46403381e-04 -1.08573050e+01] [ 6.48233147e-03 -1.85094929e-04 9.99978972e-01 -6.57412047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.181346184 meters 0.07110309508448232 Centerline is valid? [True, True] Translation: X:165.47, Y:-10.86, Z:-6.58 [[ 9.99959155e-01 -6.23600084e-03 -6.54226309e-03 1.65468957e+02] [ 6.23708604e-03 9.99980539e-01 1.45485286e-04 -1.08577384e+01] [ 6.54122852e-03 -1.86284001e-04 9.99978589e-01 -6.57792207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24134618399998 meters 0.07046202513753934 Centerline is valid? [True, True] Translation: X:165.53, Y:-10.86, Z:-6.58 [[ 9.99966404e-01 -4.20220631e-03 -7.03789626e-03 1.65528210e+02] [ 4.20340872e-03 9.99991153e-01 1.56065901e-04 -1.08583453e+01] [ 7.03717818e-03 -1.85643812e-04 9.99975222e-01 -6.58029602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30134618399998 meters 0.0701677385462059 Centerline is valid? [True, True] Translation: X:165.59, Y:-10.85, Z:-6.58 [[ 9.99964219e-01 -2.95328938e-03 -7.92705569e-03 1.65586509e+02] [ 2.95474804e-03 9.99995620e-01 1.72305192e-04 -1.08522724e+01] [ 7.92651210e-03 -1.95721479e-04 9.99968566e-01 -6.58017638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36134618399998 meters 0.07044576117364176 Centerline is valid? [True, True] Translation: X:165.65, Y:-10.85, Z:-6.58 [[ 9.99956835e-01 -3.09578272e-03 -8.76032858e-03 1.65645624e+02] [ 3.09757242e-03 9.99995184e-01 1.90735180e-04 -1.08522367e+01] [ 8.75969592e-03 -2.17862700e-04 9.99961609e-01 -6.58330210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.421346184 meters 0.07043089636931942 Centerline is valid? [True, True] Translation: X:165.70, Y:-10.85, Z:-6.59 [[ 9.99948333e-01 -2.71779626e-03 -9.79514289e-03 1.65704636e+02] [ 2.71999980e-03 9.99996278e-01 2.11647208e-04 -1.08542495e+01] [ 9.79453123e-03 -2.38279060e-04 9.99952004e-01 -6.58704970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.481346184 meters 0.07043030270099655 Centerline is valid? [True, True] Translation: X:165.76, Y:-10.85, Z:-6.59 [[ 9.99957165e-01 -2.46103915e-03 -8.92247014e-03 1.65762721e+02] [ 2.46290011e-03 9.99996948e-01 1.97587590e-04 -1.08539805e+01] [ 8.92195664e-03 -2.19554279e-04 9.99960174e-01 -6.58947215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.541346184 meters 0.07040706758287288 Centerline is valid? [True, True] Translation: X:165.82, Y:-10.85, Z:-6.59 [[ 9.99947053e-01 -2.77535219e-03 -9.90906007e-03 1.65821434e+02] [ 2.77757622e-03 9.99996120e-01 2.10688773e-04 -1.08499623e+01] [ 9.90843689e-03 -2.38200787e-04 9.99950882e-01 -6.59062829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.601346184 meters 0.07071781070291089 Centerline is valid? [True, True] Translation: X:165.88, Y:-10.85, Z:-6.59 [[ 9.99932864e-01 -4.34774422e-03 -1.07408291e-02 1.65880315e+02] [ 4.35052416e-03 9.99990509e-01 2.35468552e-04 -1.08506697e+01] [ 1.07397034e-02 -2.82180980e-04 9.99942288e-01 -6.59331049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.661346184 meters 0.0711493929979202 Centerline is valid? [True, True] Translation: X:165.94, Y:-10.85, Z:-6.60 [[ 9.99928545e-01 -5.27777982e-03 -1.07261530e-02 1.65938264e+02] [ 5.28058746e-03 9.99986030e-01 2.33451607e-04 -1.08501759e+01] [ 1.07247710e-02 -2.90075315e-04 9.99942446e-01 -6.59714707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.721346184 meters 0.07137476485628237 Centerline is valid? [True, True] Translation: X:166.00, Y:-10.85, Z:-6.60 [[ 9.99912715e-01 -4.27149238e-03 -1.25027080e-02 1.65996407e+02] [ 4.27519168e-03 9.99990825e-01 2.69168530e-04 -1.08493741e+01] [ 1.25014436e-02 -3.22596509e-04 9.99921802e-01 -6.60136035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.781346184 meters 0.07150809541283877 Centerline is valid? [True, True] Translation: X:166.05, Y:-10.84, Z:-6.60 [[ 9.99919157e-01 -4.44408852e-03 -1.19133908e-02 1.66054754e+02] [ 4.44736639e-03 9.99990080e-01 2.48663678e-04 -1.08426641e+01] [ 1.19121676e-02 -3.01626790e-04 9.99929002e-01 -6.60194675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.841346184 meters 0.0716263699233541 Centerline is valid? [True, True] Translation: X:166.11, Y:-10.84, Z:-6.60 [[ 9.99921484e-01 -4.37676679e-03 -1.17418179e-02 1.66113705e+02] [ 4.37991101e-03 9.99990379e-01 2.42077854e-04 -1.08402879e+01] [ 1.17406454e-02 -2.93486964e-04 9.99931033e-01 -6.60439343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.901346184 meters 0.07120979461309405 Centerline is valid? [True, True] Translation: X:166.17, Y:-10.84, Z:-6.61 [[ 9.99937341e-01 -4.64883072e-03 -1.01834773e-02 1.66172119e+02] [ 4.65117030e-03 9.99989162e-01 2.06071575e-04 -1.08375109e+01] [ 1.01824089e-02 -2.53423750e-04 9.99948126e-01 -6.60535753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96134618399998 meters 0.07050365056307914 Centerline is valid? [True, True] Translation: X:166.23, Y:-10.83, Z:-6.60 [[ 9.99947092e-01 -2.61727432e-03 -9.94799531e-03 1.66231663e+02] [ 2.61938559e-03 9.99996550e-01 1.99206877e-04 -1.08274273e+01] [ 9.94743960e-03 -2.25253973e-04 9.99950498e-01 -6.60238807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02134618399998 meters 0.07018006670037215 Centerline is valid? [True, True] Translation: X:166.29, Y:-10.82, Z:-6.61 [[ 9.99955223e-01 1.78808758e-03 -9.29269760e-03 1.66290930e+02] [-1.78646063e-03 9.99998387e-01 1.83375692e-04 -1.08214511e+01] [ 9.29301051e-03 -1.66766443e-04 9.99956805e-01 -6.60560657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08134618399998 meters 0.0697449277689324 Centerline is valid? [True, True] Translation: X:166.35, Y:-10.82, Z:-6.60 [[ 9.99944704e-01 2.05455021e-03 -1.03134522e-02 1.66350200e+02] [-2.05249650e-03 9.99997872e-01 2.09710135e-04 -1.08172799e+01] [ 1.03138611e-02 -1.88530215e-04 9.99946793e-01 -6.60389935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14134618399999 meters 0.07023165083349261 Centerline is valid? [True, True] Translation: X:166.41, Y:-10.82, Z:-6.61 [[ 9.99942999e-01 2.06520121e-03 -1.04753761e-02 1.66408418e+02] [-2.06309975e-03 9.99997849e-01 2.11411691e-04 -1.08169402e+01] [ 1.04757902e-02 -1.89787894e-04 9.99945109e-01 -6.60618383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.201346184 meters 0.07047847112888425 Centerline is valid? [True, True] Translation: X:166.47, Y:-10.82, Z:-6.61 [[ 9.99957310e-01 5.99795071e-04 -9.22051838e-03 1.66467383e+02] [-5.98108163e-04 9.99999804e-01 1.85707993e-04 -1.08187718e+01] [ 9.22062795e-03 -1.80185198e-04 9.99957473e-01 -6.60826109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.261346184 meters 0.0715951098057518 Centerline is valid? [True, True] Translation: X:166.53, Y:-10.83, Z:-6.61 [[ 9.99950842e-01 -4.29284253e-03 -8.93781467e-03 1.66525717e+02] [ 4.29461771e-03 9.99990762e-01 1.79430743e-04 -1.08283035e+01] [ 8.93696184e-03 -2.17806419e-04 9.99960041e-01 -6.61285418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.321346184 meters 0.07162312035952646 Centerline is valid? [True, True] Translation: X:166.58, Y:-10.83, Z:-6.61 [[ 9.99961020e-01 -5.49412395e-03 -6.91175104e-03 1.66584302e+02] [ 5.49515140e-03 9.99984893e-01 1.29671598e-04 -1.08286604e+01] [ 6.91093420e-03 -1.67647662e-04 9.99976105e-01 -6.61302492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.381346184 meters 0.07214635608557778 Centerline is valid? [True, True] Translation: X:166.64, Y:-10.82, Z:-6.62 [[ 9.99955832e-01 -1.79653075e-03 -9.22526651e-03 1.66642072e+02] [ 1.79828103e-03 9.99998367e-01 1.81434469e-04 -1.08234466e+01] [ 9.22492549e-03 -1.98016078e-04 9.99957430e-01 -6.61868219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.441346184 meters 0.07056129317111634 Centerline is valid? [True, True] Translation: X:166.70, Y:-10.82, Z:-6.62 [[ 9.99924375e-01 2.59295379e-03 -1.20217042e-02 1.66700647e+02] [-2.59033268e-03 9.99996618e-01 2.33596933e-04 -1.08152218e+01] [ 1.20222693e-02 -2.02439053e-04 9.99927709e-01 -6.61538596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.501346184 meters 0.0703181546472096 Centerline is valid? [True, True] Translation: X:166.76, Y:-10.81, Z:-6.62 [[ 9.99948665e-01 4.19807759e-03 -9.22191561e-03 1.66760982e+02] [-4.19658627e-03 9.99991178e-01 1.81059489e-04 -1.08149666e+01] [ 9.22259435e-03 -1.42349630e-04 9.99957461e-01 -6.61663525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.561346184 meters 0.07032306267492348 Centerline is valid? [True, True] Translation: X:166.82, Y:-10.81, Z:-6.62 [[ 9.99963781e-01 4.66447212e-03 -7.11893094e-03 1.66818845e+02] [-4.66361438e-03 9.99989116e-01 1.37082667e-04 -1.08135982e+01] [ 7.11949288e-03 -1.03877754e-04 9.99974651e-01 -6.61601655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.621346184 meters 0.07066755391230231 Centerline is valid? [True, True] Translation: X:166.88, Y:-10.82, Z:-6.62 [[ 9.99956416e-01 5.80472341e-03 -7.31237835e-03 1.66877771e+02] [-5.80384655e-03 9.99983148e-01 1.41129236e-04 -1.08158128e+01] [ 7.31307434e-03 -9.86831628e-05 9.99973254e-01 -6.61996007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.681346184 meters 0.06971891953482383 Centerline is valid? [True, True] Translation: X:166.94, Y:-10.81, Z:-6.62 [[ 9.99931127e-01 1.02514718e-02 -5.71396258e-03 1.66937127e+02] [-1.02510558e-02 9.99947451e-01 1.02081460e-04 -1.08145891e+01] [ 5.71470880e-03 -4.35002795e-05 9.99983670e-01 -6.61818984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74134618399998 meters 0.06987252850252 Centerline is valid? [True, True] Translation: X:167.00, Y:-10.81, Z:-6.62 [[ 9.99883076e-01 1.44097544e-02 -5.11801495e-03 1.66996503e+02] [-1.44094463e-02 9.99896174e-01 9.70803194e-05 -1.08114344e+01] [ 5.11888247e-03 -2.33212068e-05 9.99986898e-01 -6.61850390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80134618399998 meters 0.07061148205484981 Centerline is valid? [True, True] Translation: X:167.05, Y:-10.81, Z:-6.62 [[ 9.99824462e-01 1.73289199e-02 -7.12410637e-03 1.67053923e+02] [-1.73284181e-02 9.99849843e-01 1.32156511e-04 -1.08106243e+01] [ 7.12532676e-03 -8.68381896e-06 9.99974614e-01 -6.62114994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86134618399998 meters 0.07013082828601143 Centerline is valid? [True, True] Translation: X:167.11, Y:-10.81, Z:-6.62 [[ 9.99818775e-01 1.83465248e-02 -5.08150784e-03 1.67112983e+02] [-1.83462809e-02 9.99831688e-01 9.46175894e-05 -1.08141155e+01] [ 5.08238846e-03 -1.37367215e-06 9.99987085e-01 -6.61962089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.921346184 meters 0.06927353326043971 Centerline is valid? [True, True] Translation: X:167.17, Y:-10.82, Z:-6.61 [[ 9.99823510e-01 1.87416154e-02 -1.30378157e-03 1.67173201e+02] [-1.87415997e-02 9.99824361e-01 2.42572001e-05 -1.08166326e+01] [ 1.30400719e-03 1.82033337e-07 9.99999150e-01 -6.61391640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.981346184 meters 0.06937502458282362 Centerline is valid? [True, True] Translation: X:167.23, Y:-10.82, Z:-6.62 [[ 9.99807827e-01 1.94956112e-02 -2.05669639e-03 1.67231947e+02] [-1.94955776e-02 9.99809943e-01 3.63763833e-05 -1.08186881e+01] [ 2.05701468e-03 3.72709136e-06 9.99997884e-01 -6.61535905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.041346184 meters 0.07072712265261008 Centerline is valid? [True, True] Translation: X:167.29, Y:-10.82, Z:-6.62 [[ 9.99764191e-01 2.05502237e-02 -7.01781612e-03 1.67290327e+02] [-2.05498026e-02 9.99788822e-01 1.32126745e-04 -1.08220564e+01] [ 7.01904935e-03 1.21191474e-05 9.99975366e-01 -6.62405717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.101346184 meters 0.07087979134374411 Centerline is valid? [True, True] Translation: X:167.35, Y:-10.82, Z:-6.63 [[ 9.99712284e-01 2.16351880e-02 -1.03570608e-02 1.67350030e+02] [-2.16343266e-02 9.99765932e-01 1.95214146e-04 -1.08249708e+01] [ 1.03588600e-02 2.89100557e-05 9.99946345e-01 -6.62506890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.161346184 meters 0.07123687140026427 Centerline is valid? [True, True] Translation: X:167.41, Y:-10.83, Z:-6.63 [[ 9.99702286e-01 2.18126156e-02 -1.09338220e-02 1.67407513e+02] [-2.18116997e-02 9.99762076e-01 2.03022406e-04 -1.08255664e+01] [ 1.09356490e-02 3.55232776e-05 9.99940203e-01 -6.62752978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.221346184 meters 0.07202416259276516 Centerline is valid? [True, True] Translation: X:167.46, Y:-10.83, Z:-6.63 [[ 9.99714767e-01 2.11017884e-02 -1.11847933e-02 1.67464841e+02] [-2.11007957e-02 9.99777332e-01 2.06765661e-04 -1.08292356e+01] [ 1.11866659e-02 2.93013538e-05 9.99937427e-01 -6.63258147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.281346184 meters 0.07162767404235587 Centerline is valid? [True, True] Translation: X:167.52, Y:-10.83, Z:-6.63 [[ 9.99730111e-01 2.05047739e-02 -1.09206269e-02 1.67523467e+02] [-2.05037939e-02 9.99789755e-01 2.01702344e-04 -1.08333575e+01] [ 1.09224667e-02 2.22663758e-05 9.99940348e-01 -6.63418690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.341346184 meters 0.07156754935258665 Centerline is valid? [True, True] Translation: X:167.58, Y:-10.85, Z:-6.64 [[ 9.99839351e-01 1.47067468e-02 -1.02461776e-02 1.67581152e+02] [-1.47055975e-02 9.99891849e-01 1.87505695e-04 -1.08452976e+01] [ 1.02478271e-02 -3.67994090e-05 9.99947489e-01 -6.63745393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.401346184 meters 0.07163573391683137 Centerline is valid? [True, True] Translation: X:167.64, Y:-10.86, Z:-6.64 [[ 9.99893298e-01 9.10582688e-03 -1.14226605e-02 1.67640629e+02] [-9.10401042e-03 9.99958535e-01 2.11011180e-04 -1.08582942e+01] [ 1.14241083e-02 -1.06996644e-04 9.99934737e-01 -6.64069192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46134618399998 meters 0.07310401094220816 Centerline is valid? [True, True] Translation: X:167.70, Y:-10.86, Z:-6.65 [[ 9.99859938e-01 8.89362025e-03 -1.41777166e-02 1.67699132e+02] [-8.89081607e-03 9.99960442e-01 2.60805848e-04 -1.08634119e+01] [ 1.41794753e-02 -1.34717849e-04 9.99899457e-01 -6.65020464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52134618399998 meters 0.073045969135066 Centerline is valid? [True, True] Translation: X:167.76, Y:-10.86, Z:-6.65 [[ 9.99808730e-01 1.31357821e-02 -1.44898010e-02 1.67757534e+02] [-1.31334506e-02 9.99913720e-01 2.56055513e-04 -1.08602031e+01] [ 1.44919143e-02 -6.57054515e-05 9.99894985e-01 -6.65200847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58134618399998 meters 0.07294006004572202 Centerline is valid? [True, True] Translation: X:167.82, Y:-10.86, Z:-6.65 [[ 9.99778566e-01 1.61248844e-02 -1.35206137e-02 1.67816033e+02] [-1.61230610e-02 9.99869985e-01 2.43862642e-04 -1.08588588e+01] [ 1.35227881e-02 -2.58149632e-05 9.99908563e-01 -6.65352473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64134618399999 meters 0.07122652115635725 Centerline is valid? [True, True] Translation: X:167.88, Y:-10.86, Z:-6.65 [[ 9.99760921e-01 1.68634675e-02 -1.39184525e-02 1.67875268e+02] [-1.68616243e-02 9.99857802e-01 2.49776199e-04 -1.08637025e+01] [ 1.39206854e-02 -1.50287650e-05 9.99903102e-01 -6.64771497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.701346184 meters 0.07321775916831473 Centerline is valid? [True, True] Translation: X:167.93, Y:-10.87, Z:-6.66 [[ 9.99817440e-01 1.48329492e-02 -1.20445434e-02 1.67933046e+02] [-1.48314364e-02 9.99889985e-01 2.14913297e-04 -1.08687911e+01] [ 1.20464061e-02 -3.62361824e-05 9.99927439e-01 -6.65999287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.761346184 meters 0.07143898885702445 Centerline is valid? [True, True] Translation: X:167.99, Y:-10.88, Z:-6.65 [[ 9.99830239e-01 1.25344890e-02 -1.35048266e-02 1.67992347e+02] [-1.25323864e-02 9.99921438e-01 2.40308135e-04 -1.08764191e+01] [ 1.35067778e-02 -7.10196340e-05 9.99908777e-01 -6.65318180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.821346184 meters 0.07190274899915809 Centerline is valid? [True, True] Translation: X:168.05, Y:-10.89, Z:-6.66 [[ 9.99891657e-01 6.33096268e-03 -1.32888445e-02 1.68049781e+02] [-6.32840404e-03 9.99979948e-01 2.34582168e-04 -1.08903922e+01] [ 1.32900631e-02 -1.50459576e-04 9.99911672e-01 -6.65790118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.881346184 meters 0.0727451068371619 Centerline is valid? [True, True] Translation: X:168.11, Y:-10.90, Z:-6.66 [[ 9.99903473e-01 3.84273676e-03 -1.33520504e-02 1.68107707e+02] [-3.83994656e-03 9.99992600e-01 2.34601451e-04 -1.08987188e+01] [ 1.33528531e-02 -1.83307646e-04 9.99910830e-01 -6.66338227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.941346184 meters 0.07251539329544741 Centerline is valid? [True, True] Translation: X:168.17, Y:-10.90, Z:-6.67 [[ 9.99907134e-01 5.66361952e-03 -1.23954199e-02 1.68166443e+02] [-5.66135982e-03 9.99983951e-01 2.17383267e-04 -1.08987582e+01] [ 1.23964522e-02 -1.47188147e-04 9.99923150e-01 -6.66505639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.001346184 meters 0.07117305468616902 Centerline is valid? [True, True] Translation: X:168.23, Y:-10.89, Z:-6.66 [[ 9.99873111e-01 1.01474135e-02 -1.22797190e-02 1.68225451e+02] [-1.01456571e-02 9.99948510e-01 2.05317431e-04 -1.08923774e+01] [ 1.22811702e-02 -8.07055600e-05 9.99924580e-01 -6.66120173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.061346184 meters 0.07145243883067176 Centerline is valid? [True, True] Translation: X:168.28, Y:-10.89, Z:-6.66 [[ 9.99824276e-01 1.20285663e-02 -1.43781591e-02 1.68284448e+02] [-1.20262349e-02 9.99927651e-01 2.48604412e-04 -1.08928734e+01] [ 1.43801092e-02 -7.56456071e-05 9.99896598e-01 -6.66414669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.121346184 meters 0.07154316434892685 Centerline is valid? [True, True] Translation: X:168.34, Y:-10.90, Z:-6.67 [[ 9.99830227e-01 1.03654040e-02 -1.52340107e-02 1.68343469e+02] [-1.03626189e-02 9.99946272e-01 2.61747794e-04 -1.08962961e+01] [ 1.52359053e-02 -1.03839110e-04 9.99883921e-01 -6.66773947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.181346184 meters 0.07141271602226541 Centerline is valid? [True, True] Translation: X:168.40, Y:-10.90, Z:-6.67 [[ 9.99860375e-01 1.09668854e-02 -1.26078704e-02 1.68402574e+02] [-1.09650199e-02 9.99939859e-01 2.17078932e-04 -1.08974349e+01] [ 1.26094929e-02 -7.88030719e-05 9.99920494e-01 -6.66904203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24134618399998 meters 0.07167724504999122 Centerline is valid? [True, True] Translation: X:168.46, Y:-10.90, Z:-6.67 [[ 9.99878366e-01 1.04064604e-02 -1.16171695e-02 1.68460388e+02] [-1.04048745e-02 9.99945848e-01 1.96952570e-04 -1.09017357e+01] [ 1.16185900e-02 -7.60534241e-05 9.99932499e-01 -6.67331440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30134618399998 meters 0.07187857375104484 Centerline is valid? [True, True] Translation: X:168.52, Y:-10.91, Z:-6.68 [[ 9.99893574e-01 9.31388093e-03 -1.12290391e-02 1.68519409e+02] [-9.31233259e-03 9.99956621e-01 1.90166005e-04 -1.09064554e+01] [ 1.12303232e-02 -8.55772197e-05 9.99936934e-01 -6.67540854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36134618399998 meters 0.07200730324531616 Centerline is valid? [True, True] Translation: X:168.58, Y:-10.91, Z:-6.68 [[ 9.99896280e-01 8.61147689e-03 -1.15443254e-02 1.68577444e+02] [-8.60983059e-03 9.99962916e-01 1.92298854e-04 -1.09123493e+01] [ 1.15455533e-02 -9.28842226e-05 9.99933344e-01 -6.67826029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.421346184 meters 0.07276566862482194 Centerline is valid? [True, True] Translation: X:168.64, Y:-10.92, Z:-6.68 [[ 9.99877002e-01 8.57053457e-03 -1.31349635e-02 1.68635814e+02] [-8.56837719e-03 9.99963266e-01 2.20514531e-04 -1.09170891e+01] [ 1.31363710e-02 -1.07942086e-04 9.99913708e-01 -6.68440540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.481346184 meters 0.0704658112496114 Centerline is valid? [True, True] Translation: X:168.69, Y:-10.92, Z:-6.67 [[ 9.99882370e-01 8.76456977e-03 -1.25868504e-02 1.68694954e+02] [-8.76262293e-03 9.99961585e-01 2.09814045e-04 -1.09171882e+01] [ 1.25882058e-02 -9.94955407e-05 9.99920760e-01 -6.67341494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.541346184 meters 0.07025951449610829 Centerline is valid? [True, True] Translation: X:168.75, Y:-10.92, Z:-6.68 [[ 9.99914753e-01 7.92242536e-03 -1.03788884e-02 1.68753678e+02] [-7.92106916e-03 9.99968613e-01 1.71770096e-04 -1.09239009e+01] [ 1.03799235e-02 -8.95435601e-05 9.99946123e-01 -6.67614647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.601346184 meters 0.07029442609350428 Centerline is valid? [True, True] Translation: X:168.81, Y:-10.93, Z:-6.68 [[ 9.99937648e-01 5.44607505e-03 -9.74883592e-03 1.68811908e+02] [-5.44477010e-03 9.99985164e-01 1.60393293e-04 -1.09296268e+01] [ 9.74956480e-03 -1.07303122e-04 9.99952466e-01 -6.67703221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.661346184 meters 0.07102358549353355 Centerline is valid? [True, True] Translation: X:168.87, Y:-10.94, Z:-6.68 [[ 9.99915463e-01 8.67721683e-04 -1.29735631e-02 1.68871980e+02] [-8.64976216e-04 9.99999602e-01 2.17229806e-04 -1.09438457e+01] [ 1.29737464e-02 -2.05989619e-04 9.99915816e-01 -6.68249685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.721346184 meters 0.07304031048754822 Centerline is valid? [True, True] Translation: X:168.93, Y:-10.95, Z:-6.69 [[ 9.99903649e-01 -1.53326837e-03 -1.37964606e-02 1.68929115e+02] [ 1.53653348e-03 9.99998794e-01 2.26066101e-04 -1.09526948e+01] [ 1.37960973e-02 -2.47243043e-04 9.99904799e-01 -6.69277096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.781346184 meters 0.07192244528432189 Centerline is valid? [True, True] Translation: X:168.99, Y:-10.95, Z:-6.69 [[ 9.99911016e-01 -2.97163600e-03 -1.30049507e-02 1.68987809e+02] [ 2.97465280e-03 9.99995553e-01 2.12635965e-04 -1.09543322e+01] [ 1.30042610e-02 -2.51302257e-04 9.99915409e-01 -6.68864450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.841346184 meters 0.07158111784566683 Centerline is valid? [True, True] Translation: X:169.05, Y:-10.96, Z:-6.69 [[ 9.99952726e-01 -4.02190111e-03 -8.85271974e-03 1.69046882e+02] [ 4.02334183e-03 9.99991896e-01 1.44940494e-04 -1.09633144e+01] [ 8.85206506e-03 -1.80551160e-04 9.99960803e-01 -6.68937223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.901346184 meters 0.0718374170759769 Centerline is valid? [True, True] Translation: X:169.11, Y:-10.97, Z:-6.69 [[ 9.99981822e-01 -3.80961284e-03 -4.67357982e-03 1.69105259e+02] [ 3.81000976e-03 9.99992739e-01 7.60274827e-05 -1.09672209e+01] [ 4.67325625e-03 -9.38324854e-05 9.99989076e-01 -6.69196957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96134618399998 meters 0.07044858657227732 Centerline is valid? [True, True] Translation: X:169.16, Y:-10.96, Z:-6.69 [[ 9.99990997e-01 -1.08443478e-03 -4.10247693e-03 1.69164711e+02] [ 1.08468070e-03 9.99999410e-01 5.77181657e-05 -1.09624645e+01] [ 4.10241191e-03 -6.21675236e-05 9.99991583e-01 -6.68997550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02134618399998 meters 0.07130431650826596 Centerline is valid? [True, True] Translation: X:169.22, Y:-10.97, Z:-6.69 [[ 9.99981539e-01 -3.44146926e-03 -5.00786130e-03 1.69223203e+02] [ 3.44190850e-03 9.99994073e-01 7.90936319e-05 -1.09667738e+01] [ 5.00755943e-03 -9.63287721e-05 9.99987457e-01 -6.69475972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08134618399998 meters 0.07229538031348937 Centerline is valid? [True, True] Translation: X:169.28, Y:-10.97, Z:-6.70 [[ 9.99964043e-01 -8.05719485e-03 -2.64478656e-03 1.69281361e+02] [ 8.05732880e-03 9.99967538e-01 3.99963383e-05 -1.09749886e+01] [ 2.64437845e-03 -6.13048151e-05 9.99996502e-01 -6.69771785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14134618399999 meters 0.07525751839631485 Centerline is valid? [True, True] Translation: X:169.34, Y:-10.98, Z:-6.70 [[ 9.99854841e-01 -1.67480152e-02 -3.13060414e-03 1.69341010e+02] [ 1.67482534e-02 9.99859737e-01 4.99101925e-05 -1.09847441e+01] [ 3.12932913e-03 -1.02335099e-04 9.99995098e-01 -6.70174848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.201346184 meters 0.0760938375017651 Centerline is valid? [True, True] Translation: X:169.40, Y:-10.99, Z:-6.70 [[ 9.99820589e-01 -1.88531922e-02 -1.82920347e-03 1.69402565e+02] [ 1.88532801e-02 9.99822261e-01 3.08266011e-05 -1.09881781e+01] [ 1.82829717e-03 -6.53075559e-05 9.99998327e-01 -6.70330467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.261346184 meters 0.07588933536077443 Centerline is valid? [True, True] Translation: X:169.47, Y:-10.99, Z:-6.70 [[ 9.99741711e-01 -2.26755002e-02 1.52745713e-03 1.69465210e+02] [ 2.26755604e-02 9.99742876e-01 -2.21050360e-05 -1.09903572e+01] [-1.52656314e-03 5.67352729e-05 9.99998833e-01 -6.70109983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.321346184 meters 0.07655792535068066 Centerline is valid? [True, True] Translation: X:169.53, Y:-10.99, Z:-6.70 [[ 9.99728709e-01 -2.32183774e-02 1.84786419e-03 1.69527556e+02] [ 2.32184678e-02 9.99730415e-01 -2.74885051e-05 -1.09894283e+01] [-1.84672780e-03 7.03856230e-05 9.99998292e-01 -6.70450604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.381346184 meters 0.07726344081895453 Centerline is valid? [True, True] Translation: X:169.59, Y:-10.99, Z:-6.71 [[ 9.99717616e-01 -2.36703678e-02 2.09802241e-03 1.69589472e+02] [ 2.36704864e-02 9.99719814e-01 -3.17534452e-05 -1.09865948e+01] [-2.09668296e-03 8.14056896e-05 9.99997799e-01 -6.70866206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.441346184 meters 0.07529479788922826 Centerline is valid? [True, True] Translation: X:169.65, Y:-10.97, Z:-6.71 [[ 9.99714522e-01 -2.38908472e-02 -3.18547270e-04 1.69651878e+02] [ 2.38908510e-02 9.99714573e-01 8.01563456e-06 -1.09736484e+01] [ 3.18264848e-04 -1.56237116e-05 9.99999949e-01 -6.70753249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.501346184 meters 0.07908989253820978 Centerline is valid? [True, True] Translation: X:169.71, Y:-10.98, Z:-6.72 [[ 9.99713869e-01 -2.39190296e-02 2.43744111e-04 1.69712655e+02] [ 2.39190302e-02 9.99713899e-01 6.88203570e-07 -1.09812965e+01] [-2.43690837e-04 5.14211610e-06 9.99999970e-01 -6.71908033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.561346184 meters 0.07508709961593456 Centerline is valid? [True, True] Translation: X:169.78, Y:-10.97, Z:-6.71 [[ 9.99739975e-01 -2.27650265e-02 1.31769262e-03 1.69775902e+02] [ 2.27650706e-02 9.99740842e-01 -1.84925360e-05 -1.09664344e+01] [-1.31693014e-03 4.84850930e-05 9.99999132e-01 -6.71308158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.621346184 meters 0.07405513558215071 Centerline is valid? [True, True] Translation: X:169.84, Y:-10.96, Z:-6.72 [[ 9.99806165e-01 -1.96867334e-02 -2.56602420e-04 1.69838446e+02] [ 1.96867358e-02 9.99806197e-01 7.06983070e-06 -1.09588745e+01] [ 2.56413508e-04 -1.21201244e-05 9.99999967e-01 -6.71604139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.681346184 meters 0.07371778051454243 Centerline is valid? [True, True] Translation: X:169.90, Y:-10.95, Z:-6.72 [[ 9.99872773e-01 -1.59428927e-02 -5.11413415e-04 1.69899387e+02] [ 1.59428999e-02 9.99872904e-01 9.94839800e-06 -1.09485419e+01] [ 5.11189810e-04 -1.81005452e-05 9.99999869e-01 -6.72004878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74134618399998 meters 0.07296133359743875 Centerline is valid? [True, True] Translation: X:169.96, Y:-10.94, Z:-6.72 [[ 9.99895759e-01 -1.43027682e-02 -1.97557550e-03 1.69961614e+02] [ 1.43028673e-02 9.99897708e-01 3.60713606e-05 -1.09385943e+01] [ 1.97485750e-03 -6.43239948e-05 9.99998048e-01 -6.72166565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80134618399998 meters 0.0726582807593742 Centerline is valid? [True, True] Translation: X:170.02, Y:-10.93, Z:-6.72 [[ 9.99898761e-01 -1.40412557e-02 -2.30464750e-03 1.70023714e+02] [ 1.40413894e-02 9.99901414e-01 4.18533146e-05 -1.09340415e+01] [ 2.30383262e-03 -7.42095304e-05 9.99997343e-01 -6.72381155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86134618399998 meters 0.07360270325854727 Centerline is valid? [True, True] Translation: X:170.08, Y:-10.93, Z:-6.73 [[ 9.99891735e-01 -1.45637185e-02 -2.10164474e-03 1.70084632e+02] [ 1.45638301e-02 9.99893941e-01 3.77967981e-05 -1.09304181e+01] [ 2.10087138e-03 -6.84007028e-05 9.99997791e-01 -6.72817605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.921346184 meters 0.07319871097396066 Centerline is valid? [True, True] Translation: X:170.15, Y:-10.93, Z:-6.73 [[ 9.99903228e-01 -1.39116116e-02 3.71004637e-05 1.70145943e+02] [ 1.39116116e-02 9.99903229e-01 7.20433749e-07 -1.09259813e+01] [-3.71068960e-05 -2.04236789e-07 9.99999999e-01 -6.72847521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.981346184 meters 0.07211344402411646 Centerline is valid? [True, True] Translation: X:170.21, Y:-10.92, Z:-6.73 [[ 9.99914058e-01 -1.29219920e-02 -2.21339956e-03 1.70208738e+02] [ 1.29221137e-02 9.99916505e-01 4.07159104e-05 -1.09166866e+01] [ 2.21268862e-03 -6.93142120e-05 9.99997550e-01 -6.72885756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.041346184 meters 0.07376458642207429 Centerline is valid? [True, True] Translation: X:170.27, Y:-10.92, Z:-6.74 [[ 9.99867060e-01 -1.62555524e-02 -1.27291271e-03 1.70269971e+02] [ 1.62555985e-02 9.99867869e-01 2.59117718e-05 -1.09208325e+01] [ 1.27232331e-03 -4.66002851e-05 9.99999190e-01 -6.73502491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.101346184 meters 0.0757763535695458 Centerline is valid? [True, True] Translation: X:170.33, Y:-10.92, Z:-6.74 [[ 9.99844157e-01 -1.76526787e-02 2.13093207e-04 1.70330645e+02] [ 1.76526795e-02 9.99844179e-01 -1.67024991e-06 -1.09240039e+01] [-2.13030519e-04 5.43165571e-06 9.99999977e-01 -6.74051950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.161346184 meters 0.07245192275829347 Centerline is valid? [True, True] Translation: X:170.39, Y:-10.91, Z:-6.73 [[ 9.99885645e-01 -1.50881934e-02 1.02179666e-03 1.70393164e+02] [ 1.50882166e-02 9.99886166e-01 -1.49358048e-05 -1.09090683e+01] [-1.02145499e-03 3.03511861e-05 9.99999478e-01 -6.73410694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.221346184 meters 0.07086048180717541 Centerline is valid? [True, True] Translation: X:170.45, Y:-10.90, Z:-6.73 [[ 9.99942720e-01 -1.03825633e-02 2.59996018e-03 1.70454597e+02] [ 1.03827138e-02 9.99946097e-01 -4.44158995e-05 -1.09016029e+01] [-2.59935888e-03 7.14079979e-05 9.99996619e-01 -6.73387184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.281346184 meters 0.0691238655987131 Centerline is valid? [True, True] Translation: X:170.52, Y:-10.89, Z:-6.73 [[ 9.99971583e-01 -3.63330178e-03 6.60545131e-03 1.70515429e+02] [ 3.63413759e-03 9.99993390e-01 -1.14535042e-04 -1.08885449e+01] [-6.60499151e-03 1.38536906e-04 9.99978177e-01 -6.73125077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.341346184 meters 0.06934819998044753 Centerline is valid? [True, True] Translation: X:170.58, Y:-10.89, Z:-6.74 [[ 9.99988152e-01 -1.67719357e-03 4.56974250e-03 1.70577204e+02] [ 1.67756235e-03 9.99998590e-01 -7.68665873e-05 -1.08865810e+01] [-4.56960714e-03 8.45317045e-05 9.99989556e-01 -6.73583168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.401346184 meters 0.06995974419828296 Centerline is valid? [True, True] Translation: X:170.64, Y:-10.89, Z:-6.74 [[ 9.99993037e-01 -2.79720835e-03 2.47019407e-03 1.70638437e+02] [ 2.79731846e-03 9.99996087e-01 -4.11215532e-05 -1.08926536e+01] [-2.47006938e-03 4.80311864e-05 9.99996948e-01 -6.74308454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46134618399998 meters 0.06957659616434508 Centerline is valid? [True, True] Translation: X:170.70, Y:-10.90, Z:-6.74 [[ 9.99988379e-01 -3.46362426e-03 3.35324497e-03 1.70700495e+02] [ 3.46383181e-03 9.99993999e-01 -5.60895657e-05 -1.08954196e+01] [-3.35303057e-03 6.77039905e-05 9.99994376e-01 -6.74214496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52134618399998 meters 0.06925292098232365 Centerline is valid? [True, True] Translation: X:170.76, Y:-10.90, Z:-6.74 [[ 9.99988229e-01 -1.38192725e-03 4.65103380e-03 1.70762446e+02] [ 1.38231094e-03 9.99999041e-01 -7.92808223e-05 -1.08987469e+01] [-4.65091979e-03 8.57090640e-05 9.99989181e-01 -6.74475164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58134618399998 meters 0.06832267771805002 Centerline is valid? [True, True] Translation: X:170.82, Y:-10.90, Z:-6.75 [[ 9.99962039e-01 5.70481441e-03 6.58601231e-03 1.70823785e+02] [-5.70418028e-03 9.99983724e-01 -1.15063977e-04 -1.08989452e+01] [-6.58656154e-03 7.74918077e-05 9.99978305e-01 -6.74525682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64134618399999 meters 0.06824459924450266 Centerline is valid? [True, True] Translation: X:170.88, Y:-10.90, Z:-6.75 [[ 9.99940610e-01 9.00926968e-03 6.13273499e-03 1.70884486e+02] [-9.00878459e-03 9.99959414e-01 -1.06719616e-04 -1.08992747e+01] [-6.13344756e-03 5.14647890e-05 9.99981189e-01 -6.74800645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.701346184 meters 0.06854303799595389 Centerline is valid? [True, True] Translation: X:170.94, Y:-10.90, Z:-6.75 [[ 9.99938325e-01 1.06940503e-02 2.99722075e-03 1.70944664e+02] [-1.06939389e-02 9.99942817e-01 -5.31848500e-05 -1.09004907e+01] [-2.99761812e-03 2.11294742e-05 9.99995507e-01 -6.75018637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.761346184 meters 0.06872840604129313 Centerline is valid? [True, True] Translation: X:171.00, Y:-10.91, Z:-6.76 [[ 9.99954653e-01 9.29341219e-03 2.07963571e-03 1.71003449e+02] [-9.29335131e-03 9.99956815e-01 -3.89341610e-05 -1.09102869e+01] [-2.07990773e-03 1.96056102e-05 9.99997837e-01 -6.75661722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.821346184 meters 0.06871819205176438 Centerline is valid? [True, True] Translation: X:171.06, Y:-10.91, Z:-6.76 [[ 9.99965823e-01 7.60294337e-03 3.24776553e-03 1.71061406e+02] [-7.60278648e-03 9.99971097e-01 -6.06506916e-05 -1.09149968e+01] [-3.24813278e-03 3.59565509e-05 9.99994724e-01 -6.76046914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.881346184 meters 0.06831755313468105 Centerline is valid? [True, True] Translation: X:171.12, Y:-10.91, Z:-6.76 [[ 9.99955323e-01 7.85331030e-03 5.26091539e-03 1.71121076e+02] [-7.85292581e-03 9.99969161e-01 -9.37388660e-05 -1.09138151e+01] [-5.26148931e-03 5.24210998e-05 9.99986157e-01 -6.75865794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.941346184 meters 0.06793376199847725 Centerline is valid? [True, True] Translation: X:171.18, Y:-10.92, Z:-6.76 [[ 9.99937888e-01 9.21119007e-03 6.27491980e-03 1.71181689e+02] [-9.21068026e-03 9.99957575e-01 -1.10140467e-04 -1.09168922e+01] [-6.27566811e-03 5.23373461e-05 9.99980306e-01 -6.75899264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.001346184 meters 0.06906105440888591 Centerline is valid? [True, True] Translation: X:171.24, Y:-10.92, Z:-6.77 [[ 9.99943643e-01 1.05185577e-02 1.43920941e-03 1.71241599e+02] [-1.05185333e-02 9.99944678e-01 -2.45717664e-05 -1.09188430e+01] [-1.43938825e-03 9.43200962e-06 9.99998964e-01 -6.76919702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.061346184 meters 0.06916657361194511 Centerline is valid? [True, True] Translation: X:171.30, Y:-10.92, Z:-6.77 [[ 9.99935907e-01 1.13160593e-02 3.58173666e-04 1.71300696e+02] [-1.13160567e-02 9.99935971e-01 -9.09496965e-06 -1.09186261e+01] [-3.58253652e-04 5.04127321e-06 9.99999936e-01 -6.77075183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.121346184 meters 0.06901536265541555 Centerline is valid? [True, True] Translation: X:171.36, Y:-10.92, Z:-6.77 [[ 9.99924801e-01 1.21481019e-02 1.67838064e-03 1.71359198e+02] [-1.21480652e-02 9.99926209e-01 -3.20803562e-05 -1.09187662e+01] [-1.67864651e-03 1.16888663e-05 9.99998591e-01 -6.77014200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.181346184 meters 0.06877970544403128 Centerline is valid? [True, True] Translation: X:171.42, Y:-10.93, Z:-6.77 [[ 9.99939825e-01 1.02401014e-02 3.93531317e-03 1.71418101e+02] [-1.02399010e-02 9.99947568e-01 -7.10682188e-05 -1.09287070e+01] [-3.93583458e-03 3.07667251e-05 9.99992254e-01 -6.77267600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24134618399998 meters 0.06986942127045255 Centerline is valid? [True, True] Translation: X:171.48, Y:-10.94, Z:-6.78 [[ 9.99962972e-01 8.09157754e-03 2.92939222e-03 1.71476689e+02] [-8.09145969e-03 9.99967262e-01 -5.20788326e-05 -1.09364407e+01] [-2.92971772e-03 2.83738451e-05 9.99995708e-01 -6.78105111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30134618399998 meters 0.06851653006392705 Centerline is valid? [True, True] Translation: X:171.54, Y:-10.94, Z:-6.77 [[ 9.99954409e-01 7.05921706e-03 6.43016560e-03 1.71536265e+02] [-7.05863994e-03 9.99975081e-01 -1.12442058e-04 -1.09440976e+01] [-6.43079912e-03 6.70487078e-05 9.99979320e-01 -6.77422616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36134618399998 meters 0.06863464214643 Centerline is valid? [True, True] Translation: X:171.60, Y:-10.95, Z:-6.78 [[ 9.99952806e-01 7.40694503e-03 6.28667804e-03 1.71597132e+02] [-7.40641648e-03 9.99972566e-01 -1.07351380e-04 -1.09489751e+01] [-6.28730071e-03 6.07845583e-05 9.99980233e-01 -6.77624213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.421346184 meters 0.06852186643886828 Centerline is valid? [True, True] Translation: X:171.66, Y:-10.96, Z:-6.78 [[ 9.99934974e-01 9.19680723e-03 6.74291884e-03 1.71657901e+02] [-9.19623740e-03 9.99957707e-01 -1.15508863e-04 -1.09592446e+01] [-6.74369598e-03 5.34918696e-05 9.99977260e-01 -6.77991579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.481346184 meters 0.0691191670569572 Centerline is valid? [True, True] Translation: X:171.72, Y:-10.97, Z:-6.79 [[ 9.99957466e-01 8.33001951e-03 3.95946503e-03 1.71718542e+02] [-8.32981792e-03 9.99965304e-01 -6.74013693e-05 -1.09730941e+01] [-3.95988910e-03 3.44168797e-05 9.99992159e-01 -6.78638781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.541346184 meters 0.06937338706316505 Centerline is valid? [True, True] Translation: X:171.78, Y:-10.98, Z:-6.79 [[ 9.99967466e-01 7.27379504e-03 3.48681849e-03 1.71778189e+02] [-7.27362794e-03 9.99973545e-01 -6.06012718e-05 -1.09817919e+01] [-3.48716705e-03 3.52374798e-05 9.99993919e-01 -6.78973928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.601346184 meters 0.06881726153514255 Centerline is valid? [True, True] Translation: X:171.84, Y:-10.99, Z:-6.79 [[ 9.99963142e-01 7.70843994e-03 3.78077158e-03 1.71838215e+02] [-7.70824659e-03 9.99970289e-01 -6.57102075e-05 -1.09910573e+01] [-3.78116577e-03 3.65646659e-05 9.99992851e-01 -6.78781514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.661346184 meters 0.06865298063079878 Centerline is valid? [True, True] Translation: X:171.90, Y:-11.00, Z:-6.79 [[ 9.99946340e-01 9.49873569e-03 4.13420135e-03 1.71898540e+02] [-9.49851979e-03 9.99954885e-01 -7.18528539e-05 -1.09961050e+01] [-4.13469735e-03 3.25802049e-05 9.99991452e-01 -6.78978514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.721346184 meters 0.06876790621245925 Centerline is valid? [True, True] Translation: X:171.96, Y:-11.00, Z:-6.79 [[ 9.99932225e-01 1.09766645e-02 3.88053198e-03 1.71958410e+02] [-1.09764854e-02 9.99939754e-01 -6.74440537e-05 -1.10009863e+01] [-3.88103851e-03 2.48448800e-05 9.99992468e-01 -6.79340369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.781346184 meters 0.0685830375028725 Centerline is valid? [True, True] Translation: X:172.02, Y:-11.01, Z:-6.79 [[ 9.99933255e-01 1.09623150e-02 3.64876085e-03 1.72017648e+02] [-1.09621519e-02 9.99939912e-01 -6.46957545e-05 -1.10057294e+01] [-3.64925082e-03 2.46931655e-05 9.99993341e-01 -6.79428944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.841346184 meters 0.06801076032847506 Centerline is valid? [True, True] Translation: X:172.08, Y:-11.01, Z:-6.79 [[ 9.99938081e-01 9.62148486e-03 5.59117988e-03 1.72077078e+02] [-9.62108612e-03 9.99953711e-01 -9.82104003e-05 -1.10125432e+01] [-5.59186600e-03 4.44110961e-05 9.99984364e-01 -6.79345098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.901346184 meters 0.06856372354258841 Centerline is valid? [True, True] Translation: X:172.14, Y:-11.02, Z:-6.80 [[ 9.99950355e-01 8.43030969e-03 5.31198353e-03 1.72137437e+02] [-8.42995565e-03 9.99964463e-01 -8.90365243e-05 -1.10197528e+01] [-5.31254536e-03 4.42523186e-05 9.99985887e-01 -6.80079747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96134618399998 meters 0.06883194685004308 Centerline is valid? [True, True] Translation: X:172.20, Y:-11.02, Z:-6.81 [[ 9.99959658e-01 8.36467269e-03 3.27321816e-03 1.72199000e+02] [-8.36453515e-03 9.99965015e-01 -5.57071639e-05 -1.10210537e+01] [-3.27356962e-03 2.83259682e-05 9.99994641e-01 -6.80501469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02134618399998 meters 0.06896711979134439 Centerline is valid? [True, True] Translation: X:172.26, Y:-11.02, Z:-6.81 [[ 9.99968120e-01 5.91063805e-03 5.36876297e-03 1.72259167e+02] [-5.91022084e-03 9.99982530e-01 -9.35720258e-05 -1.10242226e+01] [-5.36922225e-03 6.18384679e-05 9.99985584e-01 -6.80690308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08134618399998 meters 0.07001013328092119 Centerline is valid? [True, True] Translation: X:172.32, Y:-11.04, Z:-6.81 [[ 9.99977648e-01 -7.91854591e-04 6.63905175e-03 1.72319504e+02] [ 7.92615459e-04 9.99999680e-01 -1.11974636e-04 -1.10380642e+01] [-6.63896095e-03 1.17234348e-04 9.99977955e-01 -6.81117317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14134618399999 meters 0.07121514299659296 Centerline is valid? [True, True] Translation: X:172.38, Y:-11.05, Z:-6.82 [[ 9.99966465e-01 -4.77677182e-03 6.65221768e-03 1.72380607e+02] [ 4.77760948e-03 9.99988581e-01 -1.10036047e-04 -1.10490113e+01] [-6.65161610e-03 1.41814055e-04 9.99977868e-01 -6.81520653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.201346184 meters 0.07159740197312142 Centerline is valid? [True, True] Translation: X:172.44, Y:-11.05, Z:-6.82 [[ 9.99981276e-01 -3.95184680e-03 4.67227345e-03 1.72442892e+02] [ 3.95226781e-03 9.99992186e-01 -8.08790406e-05 -1.10541556e+01] [-4.67191732e-03 9.93436022e-05 9.99989082e-01 -6.82156491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.261346184 meters 0.06920553808715345 Centerline is valid? [True, True] Translation: X:172.51, Y:-11.05, Z:-6.82 [[ 9.99995955e-01 1.16603596e-03 2.59446967e-03 1.72505826e+02] [-1.16592679e-03 9.99999319e-01 -4.35874822e-05 -1.10478816e+01] [-2.59451873e-03 4.05623442e-05 9.99996633e-01 -6.81579589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.321346184 meters 0.06889834158833232 Centerline is valid? [True, True] Translation: X:172.57, Y:-11.05, Z:-6.82 [[ 9.99979332e-01 4.25572214e-03 4.81914203e-03 1.72566610e+02] [-4.25536130e-03 9.99990942e-01 -8.51273510e-05 -1.10491543e+01] [-4.81946066e-03 6.46184011e-05 9.99988384e-01 -6.81863818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.381346184 meters 0.06884570233025376 Centerline is valid? [True, True] Translation: X:172.63, Y:-11.05, Z:-6.82 [[ 9.99975520e-01 6.19456069e-03 3.25378525e-03 1.72628804e+02] [-6.19443337e-03 9.99980813e-01 -4.92073201e-05 -1.10514408e+01] [-3.25402764e-03 2.90507596e-05 9.99994705e-01 -6.82111626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.441346184 meters 0.06944458608693306 Centerline is valid? [True, True] Translation: X:172.69, Y:-11.06, Z:-6.83 [[ 9.99984547e-01 5.55830934e-03 1.02568963e-04 1.72688809e+02] [-5.55830918e-03 9.99984552e-01 -1.87062967e-06 -1.10575081e+01] [-1.02577776e-04 1.30049076e-06 9.99999995e-01 -6.82725946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.501346184 meters 0.06981483545019644 Centerline is valid? [True, True] Translation: X:172.75, Y:-11.06, Z:-6.83 [[ 9.99987813e-01 4.56029735e-03 -1.89118551e-03 1.72748144e+02] [-4.56024314e-03 9.99989601e-01 3.29745032e-05 -1.10601537e+01] [ 1.89131622e-03 -2.43498356e-05 9.99998211e-01 -6.83074840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.561346184 meters 0.06916043094041743 Centerline is valid? [True, True] Translation: X:172.81, Y:-11.06, Z:-6.83 [[ 9.99989663e-01 4.26572410e-03 -1.57408273e-03 1.72807411e+02] [-4.26568920e-03 9.99990902e-01 2.55334335e-05 -1.10582730e+01] [ 1.57417733e-03 -1.88186218e-05 9.99998761e-01 -6.82804407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.621346184 meters 0.06954613877312021 Centerline is valid? [True, True] Translation: X:172.87, Y:-11.06, Z:-6.83 [[ 9.99984316e-01 5.43639077e-03 -1.34655837e-03 1.72865953e+02] [-5.43636592e-03 9.99985223e-01 2.21177418e-05 -1.10587306e+01] [ 1.34665871e-03 -1.47970109e-05 9.99999093e-01 -6.83370150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.681346184 meters 0.06954216424413845 Centerline is valid? [True, True] Translation: X:172.92, Y:-11.06, Z:-6.84 [[ 9.99986895e-01 4.55355803e-03 -2.33987605e-03 1.72924935e+02] [-4.55347879e-03 9.99989632e-01 3.91899827e-05 -1.10611175e+01] [ 2.34003024e-03 -2.85348932e-05 9.99997262e-01 -6.83770221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74134618399998 meters 0.06937396218335876 Centerline is valid? [True, True] Translation: X:172.98, Y:-11.06, Z:-6.84 [[ 9.99991817e-01 3.02580511e-03 -2.68530369e-03 1.72983928e+02] [-3.02569482e-03 9.99995422e-01 4.51324582e-05 -1.10559109e+01] [ 2.68542795e-03 -3.70071794e-05 9.99996394e-01 -6.83728197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80134618399998 meters 0.06926043678352016 Centerline is valid? [True, True] Translation: X:173.04, Y:-11.05, Z:-6.84 [[ 9.99994298e-01 1.63081940e-03 -2.95711929e-03 1.73042327e+02] [-1.63068182e-03 9.99998669e-01 4.89352150e-05 -1.10540164e+01] [ 2.95719515e-03 -4.41128153e-05 9.99995627e-01 -6.83780034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86134618399998 meters 0.07066306706518577 Centerline is valid? [True, True] Translation: X:173.10, Y:-11.06, Z:-6.85 [[ 9.99991737e-01 2.56672290e-03 -3.15259108e-03 1.73100284e+02] [-2.56656871e-03 9.99996705e-01 5.29537736e-05 -1.10550009e+01] [ 3.15271661e-03 -4.48619944e-05 9.99995029e-01 -6.84828845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.921346184 meters 0.0690354723483665 Centerline is valid? [True, True] Translation: X:173.16, Y:-11.05, Z:-6.84 [[ 9.99969818e-01 7.63160714e-03 -1.45647471e-03 1.73160265e+02] [-7.63157975e-03 9.99970879e-01 2.43609206e-05 -1.10468749e+01] [ 1.45661821e-03 -1.32449825e-05 9.99998939e-01 -6.84456321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.981346184 meters 0.068507375300166 Centerline is valid? [True, True] Translation: X:173.22, Y:-11.05, Z:-6.84 [[ 9.99954433e-01 9.52154071e-03 -6.86610956e-04 1.73219239e+02] [-9.52153662e-03 9.99954669e-01 9.21771101e-06 -1.10453643e+01] [ 6.86667598e-04 -2.67969962e-06 9.99999764e-01 -6.84416072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.041346184 meters 0.06826463355420054 Centerline is valid? [True, True] Translation: X:173.28, Y:-11.04, Z:-6.84 [[ 9.99918556e-01 1.27589022e-02 3.03295607e-04 1.73277768e+02] [-1.27589003e-02 9.99918602e-01 -8.19780941e-06 -1.10403105e+01] [-3.03375514e-04 4.32742334e-06 9.99999954e-01 -6.84476699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.101346184 meters 0.06851959756019503 Centerline is valid? [True, True] Translation: X:173.34, Y:-11.05, Z:-6.85 [[ 9.99924041e-01 1.23091658e-02 -6.30269728e-04 1.73336508e+02] [-1.23091631e-02 9.99924239e-01 8.11422475e-06 -1.10471351e+01] [ 6.30321857e-04 -3.55515516e-07 9.99999801e-01 -6.84986743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.161346184 meters 0.06871633751655898 Centerline is valid? [True, True] Translation: X:173.40, Y:-11.05, Z:-6.85 [[ 9.99937064e-01 1.08471323e-02 -2.86488400e-03 1.73395532e+02] [-1.08470403e-02 9.99941168e-01 4.76578710e-05 -1.10535785e+01] [ 2.86523241e-03 -1.65793594e-05 9.99995895e-01 -6.85328898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.221346184 meters 0.0679827879917836 Centerline is valid? [True, True] Translation: X:173.46, Y:-11.06, Z:-6.85 [[ 9.99964123e-01 8.37307855e-03 1.28209148e-03 1.73455605e+02] [-8.37305597e-03 9.99964945e-01 -2.29774457e-05 -1.10614696e+01] [-1.28223893e-03 1.22415976e-05 9.99999178e-01 -6.85083949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.281346184 meters 0.06778250187807108 Centerline is valid? [True, True] Translation: X:173.52, Y:-11.06, Z:-6.85 [[ 9.99964602e-01 7.99770822e-03 2.61387086e-03 1.73515400e+02] [-7.99761343e-03 9.99968017e-01 -4.67119154e-05 -1.10649169e+01] [-2.61416085e-03 2.58055332e-05 9.99996583e-01 -6.85141444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.341346184 meters 0.06789453236378547 Centerline is valid? [True, True] Translation: X:173.58, Y:-11.07, Z:-6.86 [[ 9.99951932e-01 9.55891560e-03 2.18213279e-03 1.73575044e+02] [-9.55885297e-03 9.99954312e-01 -3.91317009e-05 -1.10709382e+01] [-2.18240715e-03 1.82711334e-05 9.99997618e-01 -6.85588595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.401346184 meters 0.06760696388043698 Centerline is valid? [True, True] Translation: X:173.63, Y:-11.08, Z:-6.86 [[ 9.99950612e-01 9.90073372e-03 8.64974757e-04 1.73634912e+02] [-9.90072323e-03 9.99950987e-01 -1.64026428e-05 -1.10755211e+01] [-8.65094760e-04 7.83795702e-06 9.99999626e-01 -6.85693641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46134618399998 meters 0.06743776684905314 Centerline is valid? [True, True] Translation: X:173.69, Y:-11.08, Z:-6.86 [[ 9.99953648e-01 9.45699072e-03 1.80736411e-03 1.73693462e+02] [-9.45694471e-03 9.99955282e-01 -3.39987286e-05 -1.10774152e+01] [-1.80760481e-03 1.69050103e-05 9.99998366e-01 -6.85867013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52134618399998 meters 0.06720087569824082 Centerline is valid? [True, True] Translation: X:173.75, Y:-11.08, Z:-6.86 [[ 9.99956308e-01 8.77949268e-03 3.20973655e-03 1.73752169e+02] [-8.77935460e-03 9.99961459e-01 -5.71057405e-05 -1.10806561e+01] [-3.21011421e-03 2.89238301e-05 9.99994847e-01 -6.86047791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58134618399998 meters 0.06775418693746106 Centerline is valid? [True, True] Translation: X:173.81, Y:-11.09, Z:-6.87 [[ 9.99978941e-01 6.48968266e-03 -4.08500768e-05 1.73811868e+02] [-6.48968266e-03 9.99978942e-01 -9.62613689e-09 -1.10852842e+01] [ 4.08491540e-05 2.74729972e-07 9.99999999e-01 -6.86561648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64134618399999 meters 0.06793727332424779 Centerline is valid? [True, True] Translation: X:173.87, Y:-11.09, Z:-6.87 [[ 9.99986426e-01 5.20834697e-03 1.41527857e-04 1.73870436e+02] [-5.20834639e-03 9.99986436e-01 -4.50023894e-06 -1.10888344e+01] [-1.41549376e-04 3.76305175e-06 9.99999990e-01 -6.86919499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.701346184 meters 0.06775145222367086 Centerline is valid? [True, True] Translation: X:173.93, Y:-11.09, Z:-6.87 [[ 9.99978653e-01 6.40384077e-03 1.29805145e-03 1.73928909e+02] [-6.40381490e-03 9.99979495e-01 -2.40892640e-05 -1.10915611e+01] [-1.29817909e-03 1.57762686e-05 9.99999157e-01 -6.87171515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.761346184 meters 0.06705107330874478 Centerline is valid? [True, True] Translation: X:173.99, Y:-11.09, Z:-6.87 [[ 9.99970019e-01 7.47178305e-03 2.03297893e-03 1.73988555e+02] [-7.47172562e-03 9.99972086e-01 -3.58447575e-05 -1.10912086e+01] [-2.03319000e-03 2.06538221e-05 9.99997933e-01 -6.87040820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.821346184 meters 0.06733739186058722 Centerline is valid? [True, True] Translation: X:174.05, Y:-11.09, Z:-6.87 [[ 9.99965642e-01 7.91764613e-03 2.45491330e-03 1.74047433e+02] [-7.91756630e-03 9.99968655e-01 -4.22365319e-05 -1.10939392e+01] [-2.45517077e-03 2.27981419e-05 9.99996986e-01 -6.87478962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.881346184 meters 0.06710093525884858 Centerline is valid? [True, True] Translation: X:174.11, Y:-11.10, Z:-6.88 [[ 9.99944661e-01 1.01268972e-02 2.84988098e-03 1.74107560e+02] [-1.01268009e-02 9.99948721e-01 -4.82331423e-05 -1.11007134e+01] [-2.85022330e-03 1.93702959e-05 9.99995938e-01 -6.87836265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.941346184 meters 0.06706549831751982 Centerline is valid? [True, True] Translation: X:174.17, Y:-11.10, Z:-6.88 [[ 9.99947876e-01 9.97911776e-03 2.15905631e-03 1.74167222e+02] [-9.97905938e-03 9.99950207e-01 -3.78115910e-05 -1.11046581e+01] [-2.15932613e-03 1.62642690e-05 9.99997669e-01 -6.88114493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.001346184 meters 0.06660249321746636 Centerline is valid? [True, True] Translation: X:174.23, Y:-11.11, Z:-6.88 [[ 9.99964249e-01 8.06446734e-03 2.54282813e-03 1.74226521e+02] [-8.06438082e-03 9.99967481e-01 -4.42773080e-05 -1.11102488e+01] [-2.54310251e-03 2.37693907e-05 9.99996766e-01 -6.87944470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.061346184 meters 0.06702516094795391 Centerline is valid? [True, True] Translation: X:174.29, Y:-11.12, Z:-6.88 [[ 9.99981162e-01 5.84322120e-03 1.87948219e-03 1.74286397e+02] [-5.84317200e-03 9.99982928e-01 -3.16673192e-05 -1.11193540e+01] [-1.87963515e-03 2.06845850e-05 9.99998233e-01 -6.88443736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.121346184 meters 0.06734712988243642 Centerline is valid? [True, True] Translation: X:174.35, Y:-11.13, Z:-6.89 [[ 9.99991788e-01 3.41361762e-03 2.18424520e-03 1.74346841e+02] [-3.41354538e-03 9.99994173e-01 -3.68022587e-05 -1.11320618e+01] [-2.18435810e-03 2.93459364e-05 9.99997614e-01 -6.88888347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.181346184 meters 0.06758367049311652 Centerline is valid? [True, True] Translation: X:174.41, Y:-11.14, Z:-6.89 [[ 9.99999689e-01 8.67617709e-05 7.84470254e-04 1.74408378e+02] [-8.67525331e-05 9.99999996e-01 -1.18097758e-05 -1.11350364e+01] [-7.84471275e-04 1.17417173e-05 9.99999692e-01 -6.88936291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24134618399998 meters 0.0677055240891455 Centerline is valid? [True, True] Translation: X:174.47, Y:-11.14, Z:-6.89 [[ 9.99999309e-01 -1.06428295e-03 -4.99150669e-04 1.74469067e+02] [ 1.06428767e-03 9.99999434e-01 9.17518523e-06 -1.11393704e+01] [ 4.99140621e-04 -9.70641879e-06 9.99999875e-01 -6.89217093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30134618399998 meters 0.06826847415238008 Centerline is valid? [True, True] Translation: X:174.53, Y:-11.14, Z:-6.89 [[ 9.99993398e-01 -3.60439043e-03 4.61297679e-04 1.74528622e+02] [ 3.60439474e-03 9.99993504e-01 -8.51444317e-06 -1.11447650e+01] [-4.61263993e-04 1.01770859e-05 9.99999894e-01 -6.89487619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36134618399998 meters 0.06845640221793549 Centerline is valid? [True, True] Translation: X:174.59, Y:-11.15, Z:-6.90 [[ 9.99982017e-01 -5.85565408e-03 1.29487262e-03 1.74589824e+02] [ 5.85568554e-03 9.99982855e-01 -2.05041594e-05 -1.11487718e+01] [-1.29473035e-03 2.80861575e-05 9.99999161e-01 -6.89673766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.421346184 meters 0.06875838081538672 Centerline is valid? [True, True] Translation: X:174.65, Y:-11.15, Z:-6.90 [[ 9.99983395e-01 -5.75307402e-03 -3.34571793e-04 1.74652282e+02] [ 5.75307719e-03 9.99983451e-01 8.53639230e-06 -1.11486049e+01] [ 3.34517146e-04 -1.04610679e-05 9.99999944e-01 -6.90068739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.481346184 meters 0.06811417317740387 Centerline is valid? [True, True] Translation: X:174.71, Y:-11.14, Z:-6.90 [[ 9.99994970e-01 -2.97696373e-03 -1.09398116e-03 1.74713989e+02] [ 2.97698750e-03 9.99995569e-01 2.01020094e-05 -1.11428668e+01] [ 1.09391647e-03 -2.33586765e-05 9.99999401e-01 -6.90187840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.541346184 meters 0.0674110003041905 Centerline is valid? [True, True] Translation: X:174.77, Y:-11.14, Z:-6.90 [[ 9.99999681e-01 5.05434379e-04 6.18406240e-04 1.74774018e+02] [-5.05426594e-04 9.99999872e-01 -1.27436216e-05 -1.11383625e+01] [-6.18412602e-04 1.24310586e-05 9.99999809e-01 -6.90196924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.601346184 meters 0.06745078114387831 Centerline is valid? [True, True] Translation: X:174.83, Y:-11.13, Z:-6.91 [[ 9.99998394e-01 1.76254236e-03 3.25125738e-04 1.74834952e+02] [-1.76254066e-03 9.99998447e-01 -5.52157803e-06 -1.11349611e+01] [-3.25134965e-04 4.94852183e-06 9.99999947e-01 -6.90549005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.661346184 meters 0.0673413766484929 Centerline is valid? [True, True] Translation: X:174.90, Y:-11.13, Z:-6.91 [[ 9.99994475e-01 3.22181542e-03 8.17859604e-04 1.74895379e+02] [-3.22180514e-03 9.99994810e-01 -1.38896282e-05 -1.11338634e+01] [-8.17900110e-04 1.12545672e-05 9.99999665e-01 -6.90747918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.721346184 meters 0.06676936298847994 Centerline is valid? [True, True] Translation: X:174.96, Y:-11.13, Z:-6.91 [[ 9.99989520e-01 3.84124013e-03 2.49080858e-03 1.74955799e+02] [-3.84114668e-03 9.99992622e-01 -4.23011539e-05 -1.11298986e+01] [-2.49095269e-03 3.27331495e-05 9.99996897e-01 -6.90631737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.781346184 meters 0.06846767663688368 Centerline is valid? [True, True] Translation: X:175.02, Y:-11.14, Z:-6.92 [[ 9.99999863e-01 -4.55876801e-04 2.58582285e-04 1.75015808e+02] [ 4.55877768e-04 9.99999896e-01 -3.68072132e-06 -1.11403572e+01] [-2.58580580e-04 3.79860273e-06 9.99999967e-01 -6.91553463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.841346184 meters 0.06858722643956108 Centerline is valid? [True, True] Translation: X:175.08, Y:-11.15, Z:-6.92 [[ 9.99990662e-01 -4.30753034e-03 -3.47562329e-04 1.75076399e+02] [ 4.30753265e-03 9.99990723e-01 5.90938035e-06 -1.11469329e+01] [ 3.47533649e-04 -7.40646125e-06 9.99999940e-01 -6.91579919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.901346184 meters 0.06942305126456988 Centerline is valid? [True, True] Translation: X:175.14, Y:-11.15, Z:-6.92 [[ 9.99977682e-01 -6.62211970e-03 -8.85436327e-04 1.75137618e+02] [ 6.62213688e-03 9.99978073e-01 1.64697786e-05 -1.11538726e+01] [ 8.85307847e-04 -2.23328916e-05 9.99999608e-01 -6.92063095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96134618399998 meters 0.06919006303896329 Centerline is valid? [True, True] Translation: X:175.20, Y:-11.15, Z:-6.92 [[ 9.99975262e-01 -6.22026345e-03 -3.28375873e-03 1.75198844e+02] [ 6.22048581e-03 9.99980651e-01 5.75077500e-05 -1.11508268e+01] [ 3.28333748e-03 -7.79329020e-05 9.99994607e-01 -6.92226232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02134618399998 meters 0.06880056870285324 Centerline is valid? [True, True] Translation: X:175.26, Y:-11.15, Z:-6.93 [[ 9.99985168e-01 -2.68408628e-03 -4.73913227e-03 1.75258739e+02] [ 2.68449226e-03 9.99996394e-01 7.93058892e-05 -1.11510340e+01] [ 4.73890231e-03 -9.20268768e-05 9.99988767e-01 -6.92542253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08134618399998 meters 0.06890105402917861 Centerline is valid? [True, True] Translation: X:175.32, Y:-11.16, Z:-6.93 [[ 9.99989223e-01 -1.11493955e-03 -4.50670282e-03 1.75316685e+02] [ 1.11527898e-03 9.99999375e-01 7.28028831e-05 -1.11569017e+01] [ 4.50661883e-03 -7.78283294e-05 9.99989842e-01 -6.93010773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14134618399999 meters 0.06840378773188678 Centerline is valid? [True, True] Translation: X:175.38, Y:-11.16, Z:-6.93 [[ 9.99991772e-01 -1.59343505e-03 -3.73055077e-03 1.75375762e+02] [ 1.59364077e-03 9.99998729e-01 5.21723989e-05 -1.11560570e+01] [ 3.73046290e-03 -5.81171274e-05 9.99993040e-01 -6.92908679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.201346184 meters 0.06860493493002373 Centerline is valid? [True, True] Translation: X:175.43, Y:-11.16, Z:-6.93 [[ 9.99993625e-01 -2.10766661e-03 -2.88236451e-03 1.75434549e+02] [ 2.10778311e-03 9.99997778e-01 3.73820122e-05 -1.11604408e+01] [ 2.88227931e-03 -4.34571731e-05 9.99995845e-01 -6.93162837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.261346184 meters 0.06854098234059877 Centerline is valid? [True, True] Translation: X:175.49, Y:-11.16, Z:-6.93 [[ 9.99983857e-01 -3.78285571e-03 -4.23971507e-03 1.75493756e+02] [ 3.78317433e-03 9.99992842e-01 6.71336618e-05 -1.11634208e+01] [ 4.23943076e-03 -8.31721593e-05 9.99991010e-01 -6.93182505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.321346184 meters 0.06836238751381848 Centerline is valid? [True, True] Translation: X:175.55, Y:-11.17, Z:-6.93 [[ 9.99982763e-01 -4.38679428e-03 -3.90250099e-03 1.75552851e+02] [ 4.38703252e-03 9.99990376e-01 5.24907992e-05 -1.11654512e+01] [ 3.90223316e-03 -6.96102932e-05 9.99992384e-01 -6.93256559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.381346184 meters 0.06878549174938108 Centerline is valid? [True, True] Translation: X:175.61, Y:-11.17, Z:-6.94 [[ 9.99978977e-01 -3.78673267e-03 -5.26367403e-03 1.75611478e+02] [ 3.78721740e-03 9.99992825e-01 8.21259323e-05 -1.11692141e+01] [ 5.26332528e-03 -1.02058884e-04 9.99986143e-01 -6.93820035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.441346184 meters 0.06864411865848571 Centerline is valid? [True, True] Translation: X:175.67, Y:-11.17, Z:-6.94 [[ 9.99978550e-01 -3.61838316e-03 -5.45961870e-03 1.75670174e+02] [ 3.61885138e-03 9.99993449e-01 7.58846698e-05 -1.11701241e+01] [ 5.45930835e-03 -9.56405907e-05 9.99985093e-01 -6.93957678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.501346184 meters 0.06861292397328436 Centerline is valid? [True, True] Translation: X:175.73, Y:-11.17, Z:-6.94 [[ 9.99968785e-01 -4.07564354e-03 -6.76892609e-03 1.75729221e+02] [ 4.07637654e-03 9.99991687e-01 9.44965887e-05 -1.11702742e+01] [ 6.76848468e-03 -1.22086331e-04 9.99977086e-01 -6.94086616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.561346184 meters 0.06860446283640399 Centerline is valid? [True, True] Translation: X:175.79, Y:-11.17, Z:-6.94 [[ 9.99978812e-01 -5.22045384e-03 -3.88883478e-03 1.75787095e+02] [ 5.22070453e-03 9.99986371e-01 5.43172365e-05 -1.11743266e+01] [ 3.88849821e-03 -7.46185429e-05 9.99992437e-01 -6.94182511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.621346184 meters 0.06826440230875687 Centerline is valid? [True, True] Translation: X:175.85, Y:-11.17, Z:-6.94 [[ 9.99982207e-01 -5.58359984e-03 -2.09986918e-03 1.75846816e+02] [ 5.58367653e-03 9.99984411e-01 3.06608054e-05 -1.11732559e+01] [ 2.09966524e-03 -4.23852501e-05 9.99997795e-01 -6.94190191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.681346184 meters 0.06907653628237681 Centerline is valid? [True, True] Translation: X:175.91, Y:-11.17, Z:-6.95 [[ 9.99957720e-01 -5.25801345e-03 -7.54393165e-03 1.75906807e+02] [ 5.25902607e-03 9.99986165e-01 1.14398963e-04 -1.11722991e+01] [ 7.54322576e-03 -1.54067860e-04 9.99971538e-01 -6.94893746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74134618399998 meters 0.06841698759678282 Centerline is valid? [True, True] Translation: X:175.97, Y:-11.17, Z:-6.95 [[ 9.99946628e-01 -5.60571778e-03 -8.67855826e-03 1.75965514e+02] [ 5.60696505e-03 9.99984274e-01 1.19394084e-04 -1.11711234e+01] [ 8.67775249e-03 -1.68048085e-04 9.99962333e-01 -6.94884014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80134618399998 meters 0.06887517216184676 Centerline is valid? [True, True] Translation: X:176.02, Y:-11.17, Z:-6.95 [[ 9.99947497e-01 -7.42247153e-03 -7.06475129e-03 1.76023727e+02] [ 7.42331705e-03 9.99972442e-01 9.34664899e-05 -1.11724786e+01] [ 7.06386285e-03 -1.45905471e-04 9.99975040e-01 -6.95055802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86134618399998 meters 0.068660629081967 Centerline is valid? [True, True] Translation: X:176.08, Y:-11.17, Z:-6.95 [[ 9.99941805e-01 -7.62665269e-03 -7.63024771e-03 1.76082939e+02] [ 7.62763553e-03 9.99970904e-01 9.97147001e-05 -1.11719721e+01] [ 7.62926521e-03 -1.57909646e-04 9.99970884e-01 -6.95199079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.921346184 meters 0.06901961232434102 Centerline is valid? [True, True] Translation: X:176.14, Y:-11.17, Z:-6.96 [[ 9.99962217e-01 -5.84376493e-03 -6.43542598e-03 1.76140413e+02] [ 5.84445569e-03 9.99982917e-01 8.85373318e-05 -1.11721416e+01] [ 6.43479865e-03 -1.26145549e-04 9.99979289e-01 -6.95726783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.981346184 meters 0.06899536814657813 Centerline is valid? [True, True] Translation: X:176.20, Y:-11.17, Z:-6.96 [[ 9.99965805e-01 -5.69280882e-03 -5.99847981e-03 1.76199239e+02] [ 5.69335814e-03 9.99983790e-01 7.45037115e-05 -1.11703847e+01] [ 5.99795844e-03 -1.08652658e-04 9.99982006e-01 -6.95882524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.041346184 meters 0.06889531283537148 Centerline is valid? [True, True] Translation: X:176.26, Y:-11.17, Z:-6.96 [[ 9.99953672e-01 -8.16174816e-03 -5.10293895e-03 1.76257793e+02] [ 8.16216214e-03 9.99966687e-01 6.03050608e-05 -1.11744142e+01] [ 5.10227676e-03 -1.01953282e-04 9.99986978e-01 -6.95904816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.101346184 meters 0.07000524756546264 Centerline is valid? [True, True] Translation: X:176.32, Y:-11.18, Z:-6.96 [[ 9.99943159e-01 -9.41631272e-03 -5.00119643e-03 1.76315816e+02] [ 9.41676303e-03 9.99955659e-01 6.65008956e-05 -1.11800485e+01] [ 5.00034848e-03 -1.13592197e-04 9.99987492e-01 -6.96465902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.161346184 meters 0.07062196784870531 Centerline is valid? [True, True] Translation: X:176.37, Y:-11.19, Z:-6.97 [[ 9.99924500e-01 -1.10318613e-02 -5.41229992e-03 1.76374674e+02] [ 1.10324164e-02 9.99939138e-01 7.27221580e-05 -1.11852037e+01] [ 5.41116826e-03 -1.32427414e-04 9.99985351e-01 -6.96746580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.221346184 meters 0.07067671528721144 Centerline is valid? [True, True] Translation: X:176.43, Y:-11.18, Z:-6.97 [[ 9.99935132e-01 -1.02757369e-02 -4.91330599e-03 1.76434556e+02] [ 1.02761839e-02 9.99947196e-01 6.57432797e-05 -1.11822841e+01] [ 4.91237099e-03 -1.16229051e-04 9.99987927e-01 -6.96904863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.281346184 meters 0.06876088388833136 Centerline is valid? [True, True] Translation: X:176.49, Y:-11.18, Z:-6.96 [[ 9.99933324e-01 -1.06333161e-02 -4.50325436e-03 1.76494248e+02] [ 1.06336933e-02 9.99943459e-01 5.98295427e-05 -1.11793755e+01] [ 4.50236355e-03 -1.07711779e-04 9.99989859e-01 -6.96282413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.341346184 meters 0.06879223059023727 Centerline is valid? [True, True] Translation: X:176.55, Y:-11.18, Z:-6.96 [[ 9.99892329e-01 -1.43458099e-02 -3.08676961e-03 1.76554021e+02] [ 1.43460029e-02 9.99897090e-01 4.04013325e-05 -1.11798933e+01] [ 3.08587236e-03 -8.46797884e-05 9.99995235e-01 -6.96138464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.401346184 meters 0.06875067426731801 Centerline is valid? [True, True] Translation: X:176.61, Y:-11.18, Z:-6.96 [[ 9.99899925e-01 -1.40689994e-02 -1.48464487e-03 1.76614207e+02] [ 1.40690459e-02 9.99901026e-01 2.08994158e-05 -1.11791790e+01] [ 1.48420390e-03 -4.17848611e-05 9.99998898e-01 -6.96277672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46134618399998 meters 0.06861654044582248 Centerline is valid? [True, True] Translation: X:176.68, Y:-11.17, Z:-6.97 [[ 9.99938575e-01 -1.06918625e-02 -2.92070969e-03 1.76675195e+02] [ 1.06920285e-02 9.99942838e-01 4.12327647e-05 -1.11748321e+01] [ 2.92010188e-03 -7.24585433e-05 9.99995734e-01 -6.96705509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52134618399998 meters 0.06817991922868924 Centerline is valid? [True, True] Translation: X:176.74, Y:-11.17, Z:-6.97 [[ 9.99970755e-01 -7.28526191e-03 -2.32684047e-03 1.76735260e+02] [ 7.28535540e-03 9.99973461e-01 3.17071030e-05 -1.11687798e+01] [ 2.32654772e-03 -4.86580355e-05 9.99997292e-01 -6.96944347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58134618399998 meters 0.06795282523165937 Centerline is valid? [True, True] Translation: X:176.80, Y:-11.17, Z:-6.97 [[ 9.99989588e-01 -3.91344394e-03 -2.34708923e-03 1.76795553e+02] [ 3.91352979e-03 9.99992342e-01 3.19830263e-05 -1.11652964e+01] [ 2.34694609e-03 -4.11680969e-05 9.99997245e-01 -6.97247185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64134618399999 meters 0.0687531486998871 Centerline is valid? [True, True] Translation: X:176.86, Y:-11.16, Z:-6.98 [[ 9.99976723e-01 -2.97087827e-03 -6.14224104e-03 1.76855907e+02] [ 2.97144840e-03 9.99995582e-01 8.36983333e-05 -1.11640086e+01] [ 6.14196524e-03 -1.01947737e-04 9.99981133e-01 -6.97855911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.701346184 meters 0.06964128213715882 Centerline is valid? [True, True] Translation: X:176.91, Y:-11.17, Z:-6.98 [[ 9.99956876e-01 -3.76315655e-03 -8.49027278e-03 1.76914542e+02] [ 3.76425295e-03 9.99992909e-01 1.13159350e-04 -1.11681828e+01] [ 8.48978673e-03 -1.45114004e-04 9.99963951e-01 -6.98473376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.761346184 meters 0.06884673032561968 Centerline is valid? [True, True] Translation: X:176.97, Y:-11.17, Z:-6.98 [[ 9.99964286e-01 -4.75271140e-03 -6.98840560e-03 1.76973593e+02] [ 4.75340785e-03 9.99988699e-01 8.30526929e-05 -1.11683236e+01] [ 6.98793190e-03 -1.16268469e-04 9.99975577e-01 -6.98204946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.821346184 meters 0.06831562501196631 Centerline is valid? [True, True] Translation: X:177.03, Y:-11.17, Z:-6.98 [[ 9.99961094e-01 -5.40094083e-03 -6.97432186e-03 1.77031128e+02] [ 5.40162056e-03 9.99985408e-01 7.86285367e-05 -1.11691945e+01] [ 6.97379543e-03 -1.16298118e-04 9.99975676e-01 -6.98036667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.881346184 meters 0.06889015862230852 Centerline is valid? [True, True] Translation: X:177.09, Y:-11.17, Z:-6.99 [[ 9.99953635e-01 -5.76791729e-03 -7.71100564e-03 1.77088296e+02] [ 5.76882645e-03 9.99983356e-01 9.56667501e-05 -1.11747393e+01] [ 7.71032549e-03 -1.40145768e-04 9.99970265e-01 -6.98551138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.941346184 meters 0.0693975146199134 Centerline is valid? [True, True] Translation: X:177.15, Y:-11.18, Z:-6.99 [[ 9.99934311e-01 -6.94048713e-03 -9.12156802e-03 1.77146621e+02] [ 6.94180667e-03 9.99975899e-01 1.13008851e-04 -1.11771657e+01] [ 9.12056384e-03 -1.76321590e-04 9.99958391e-01 -6.98867833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.001346184 meters 0.06994640519214536 Centerline is valid? [True, True] Translation: X:177.21, Y:-11.18, Z:-6.99 [[ 9.99914357e-01 -9.89720128e-03 -8.56294526e-03 1.77205615e+02] [ 9.89839623e-03 9.99951005e-01 9.71780514e-05 -1.11833171e+01] [ 8.56156392e-03 -1.81929154e-04 9.99963333e-01 -6.99148321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.061346184 meters 0.07127849271693992 Centerline is valid? [True, True] Translation: X:177.26, Y:-11.19, Z:-7.00 [[ 9.99856869e-01 -1.34798859e-02 -1.02241924e-02 1.77263702e+02] [ 1.34818529e-02 9.99909108e-01 1.23493229e-04 -1.11922803e+01] [ 1.02215984e-02 -2.61316611e-04 9.99947724e-01 -6.99683730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.121346184 meters 0.07145580391622944 Centerline is valid? [True, True] Translation: X:177.32, Y:-11.19, Z:-7.00 [[ 9.99855568e-01 -1.42962993e-02 -9.19014636e-03 1.77322719e+02] [ 1.42978416e-02 9.99897775e-01 1.02132661e-04 -1.11931493e+01] [ 9.18774679e-03 -2.33517167e-04 9.99957764e-01 -6.99835954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18134618399998 meters 0.0710941412430904 Centerline is valid? [True, True] Translation: X:177.38, Y:-11.19, Z:-7.00 [[ 9.99909860e-01 -1.06687581e-02 -8.15169178e-03 1.77381302e+02] [ 1.06699003e-02 9.99943070e-01 9.66305935e-05 -1.11894103e+01] [ 8.15019678e-03 -1.83599621e-04 9.99966770e-01 -6.99975226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24134618399998 meters 0.070308940725683 Centerline is valid? [True, True] Translation: X:177.44, Y:-11.18, Z:-7.00 [[ 9.99957563e-01 -3.91491865e-03 -8.33934964e-03 1.77440359e+02] [ 3.91580908e-03 9.99992329e-01 9.04493097e-05 -1.11840443e+01] [ 8.33893157e-03 -1.23100772e-04 9.99965223e-01 -7.00354363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30134618399998 meters 0.07013194022977226 Centerline is valid? [True, True] Translation: X:177.50, Y:-11.18, Z:-7.01 [[ 9.99968144e-01 -7.02811694e-04 -7.95086514e-03 1.77498551e+02] [ 7.03496222e-04 9.99999749e-01 8.32984386e-05 -1.11808138e+01] [ 7.95080460e-03 -8.88891887e-05 9.99968388e-01 -7.00606781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36134618399998 meters 0.06873383998331244 Centerline is valid? [True, True] Translation: X:177.56, Y:-11.17, Z:-7.00 [[ 9.99986507e-01 2.13737442e-03 -4.73469896e-03 1.77558381e+02] [-2.13714491e-03 9.99997715e-01 5.35318183e-05 -1.11745996e+01] [ 4.73480256e-03 -4.34123581e-05 9.99988790e-01 -7.00073952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.421346184 meters 0.0679618093966219 Centerline is valid? [True, True] Translation: X:177.62, Y:-11.17, Z:-7.00 [[ 9.99976560e-01 3.97173985e-03 -5.57708343e-03 1.77616823e+02] [-3.97150507e-03 9.99992112e-01 5.31706477e-05 -1.11737821e+01] [ 5.57725062e-03 -3.10199863e-05 9.99984447e-01 -6.99848817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.481346184 meters 0.06943320434348353 Centerline is valid? [True, True] Translation: X:177.67, Y:-11.18, Z:-7.01 [[ 9.99978635e-01 4.25298026e-03 -4.96402545e-03 1.77674114e+02] [-4.25277346e-03 9.99990956e-01 5.22146147e-05 -1.11765822e+01] [ 4.96420262e-03 -3.11026235e-05 9.99987678e-01 -7.00975475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.541346184 meters 0.06831634536071511 Centerline is valid? [True, True] Translation: X:177.73, Y:-11.18, Z:-7.01 [[ 9.99984847e-01 1.92131805e-03 -5.15884594e-03 1.77732758e+02] [-1.92106100e-03 9.99998153e-01 5.47815298e-05 -1.11801226e+01] [ 5.15894166e-03 -4.48702419e-05 9.99986692e-01 -7.00508033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.601346184 meters 0.06884229198187371 Centerline is valid? [True, True] Translation: X:177.79, Y:-11.19, Z:-7.01 [[ 9.99969664e-01 -1.43686776e-03 -7.65544617e-03 1.77792348e+02] [ 1.43755032e-03 9.99998963e-01 8.36587736e-05 -1.11898775e+01] [ 7.65531802e-03 -9.46613248e-05 9.99970693e-01 -7.00902189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.661346184 meters 0.06992021266952253 Centerline is valid? [True, True] Translation: X:177.85, Y:-11.20, Z:-7.01 [[ 9.99934567e-01 -4.35710046e-03 -1.05772080e-02 1.77850852e+02] [ 4.35858311e-03 9.99990494e-01 1.17126450e-04 -1.11962526e+01] [ 1.05765971e-02 -1.63220426e-04 9.99944053e-01 -7.01483245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.721346184 meters 0.07082007116502308 Centerline is valid? [True, True] Translation: X:177.91, Y:-11.20, Z:-7.02 [[ 9.99941182e-01 -4.06404311e-03 -1.00556774e-02 1.77908000e+02] [ 4.06532834e-03 9.99991731e-01 1.07373594e-04 -1.12006174e+01] [ 1.00551579e-02 -1.48246909e-04 9.99949435e-01 -7.02105725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.781346184 meters 0.06895008801218447 Centerline is valid? [True, True] Translation: X:177.97, Y:-11.20, Z:-7.02 [[ 9.99954995e-01 -2.86444835e-03 -9.04454717e-03 1.77966910e+02] [ 2.86535405e-03 9.99995891e-01 8.71816791e-05 -1.12030255e+01] [ 9.04426028e-03 -1.13093585e-04 9.99959093e-01 -7.01566301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.841346184 meters 0.06907729472642778 Centerline is valid? [True, True] Translation: X:178.02, Y:-11.20, Z:-7.02 [[ 9.99969762e-01 -9.56490724e-04 -7.71746334e-03 1.78024374e+02] [ 9.57126228e-04 9.99999539e-01 7.86532154e-05 -1.12011908e+01] [ 7.71738455e-03 -8.60374237e-05 9.99970217e-01 -7.01913591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.901346184 meters 0.07014728119334912 Centerline is valid? [True, True] Translation: X:178.08, Y:-11.20, Z:-7.03 [[ 9.99972347e-01 6.10970686e-04 -7.41159591e-03 1.78081866e+02] [-6.10432504e-04 9.99999811e-01 7.48754166e-05 -1.12024232e+01] [ 7.41164026e-03 -7.03490670e-05 9.99972531e-01 -7.02702364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96134618399998 meters 0.06999701372067213 Centerline is valid? [True, True] Translation: X:178.14, Y:-11.20, Z:-7.03 [[ 9.99959661e-01 7.14379931e-04 -8.95355992e-03 1.78140176e+02] [-7.13599073e-04 9.99999741e-01 9.04063703e-05 -1.12038715e+01] [ 8.95362219e-03 -8.40134713e-05 9.99959912e-01 -7.02837673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02134618399998 meters 0.07070016548951154 Centerline is valid? [True, True] Translation: X:178.20, Y:-11.21, Z:-7.03 [[ 9.99973232e-01 -1.48055324e-03 -7.16536240e-03 1.78197422e+02] [ 1.48110086e-03 9.99998901e-01 7.11206004e-05 -1.12132026e+01] [ 7.16524922e-03 -8.17313211e-05 9.99974326e-01 -7.03347854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08134618399998 meters 0.0677786331731738 Centerline is valid? [True, True] Translation: X:178.26, Y:-11.21, Z:-7.02 [[ 9.99977734e-01 -3.01877730e-03 -5.95139638e-03 1.78257337e+02] [ 3.01918313e-03 9.99995441e-01 5.92081072e-05 -1.12107642e+01] [ 5.95119050e-03 -7.71751444e-05 9.99982289e-01 -7.01995684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14134618399999 meters 0.06786597324523189 Centerline is valid? [True, True] Translation: X:178.32, Y:-11.21, Z:-7.02 [[ 9.99985013e-01 -8.02205105e-04 -5.41582903e-03 1.78316263e+02] [ 8.02456795e-04 9.99999677e-01 4.43002672e-05 -1.12114002e+01] [ 5.41579175e-03 -4.86455721e-05 9.99985333e-01 -7.02311000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.201346184 meters 0.06700590841818645 Centerline is valid? [True, True] Translation: X:178.38, Y:-11.21, Z:-7.02 [[ 9.99994098e-01 2.18994588e-03 -2.64719774e-03 1.78375932e+02] [-2.18988730e-03 9.99997602e-01 2.50266610e-05 -1.12114236e+01] [ 2.64724619e-03 -1.92294486e-05 9.99996496e-01 -7.02170005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.261346184 meters 0.06643685645830816 Centerline is valid? [True, True] Translation: X:178.44, Y:-11.21, Z:-7.02 [[ 9.99977674e-01 6.58537579e-03 1.13284993e-03 1.78435902e+02] [-6.58536495e-03 9.99978316e-01 -1.32969316e-05 -1.12070037e+01] [-1.13291293e-03 5.83640447e-06 9.99999358e-01 -7.02080113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.321346184 meters 0.06637366175142467 Centerline is valid? [True, True] Translation: X:178.50, Y:-11.21, Z:-7.02 [[ 9.99956391e-01 9.20701483e-03 1.56412588e-03 1.78495943e+02] [-9.20699958e-03 9.99957615e-01 -1.69498352e-05 -1.12075872e+01] [-1.56421564e-03 2.54818975e-06 9.99998777e-01 -7.02191610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.381346184 meters 0.0662841977866792 Centerline is valid? [True, True] Translation: X:178.56, Y:-11.21, Z:-7.03 [[ 9.99947826e-01 9.78266828e-03 2.94013761e-03 1.78555928e+02] [-9.78262296e-03 9.99952149e-01 -2.97927897e-05 -1.12125545e+01] [-2.94028837e-03 1.02897764e-06 9.99995677e-01 -7.02583999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.441346184 meters 0.06601049455218577 Centerline is valid? [True, True] Translation: X:178.62, Y:-11.22, Z:-7.03 [[ 9.99965701e-01 7.05821529e-03 4.33345503e-03 1.78616276e+02] [-7.05809586e-03 9.99975090e-01 -4.28529172e-05 -1.12210525e+01] [-4.33364955e-03 1.22655064e-05 9.99990610e-01 -7.02731325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.501346184 meters 0.06634550580363291 Centerline is valid? [True, True] Translation: X:178.68, Y:-11.23, Z:-7.03 [[ 9.99983999e-01 4.67542916e-03 3.18472553e-03 1.78677182e+02] [-4.67535675e-03 9.99989070e-01 -3.01794226e-05 -1.12273481e+01] [-3.18483182e-03 1.52892117e-05 9.99994928e-01 -7.03077160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.561346184 meters 0.06629519491831808 Centerline is valid? [True, True] Translation: X:178.74, Y:-11.24, Z:-7.03 [[ 9.99990287e-01 1.22066471e-03 4.23514552e-03 1.78738378e+02] [-1.22050293e-03 9.99999254e-01 -4.07855010e-05 -1.12420148e+01] [-4.23519214e-03 3.56160973e-05 9.99991031e-01 -7.03339624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.621346184 meters 0.06639342768235706 Centerline is valid? [True, True] Translation: X:178.80, Y:-11.25, Z:-7.04 [[ 9.99987319e-01 5.54364134e-04 5.00540366e-03 1.78800856e+02] [-5.54163997e-04 9.99999846e-01 -4.13709494e-05 -1.12471469e+01] [-5.00542582e-03 3.85966103e-05 9.99987472e-01 -7.03557394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68134618399998 meters 0.06616947074674012 Centerline is valid? [True, True] Translation: X:178.86, Y:-11.25, Z:-7.04 [[ 9.99975473e-01 6.39925403e-04 6.97448511e-03 1.78863043e+02] [-6.39498506e-04 9.99999794e-01 -6.34383155e-05 -1.12522347e+01] [-6.97452427e-03 5.89765868e-05 9.99975676e-01 -7.03665435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74134618399998 meters 0.06603616482726295 Centerline is valid? [True, True] Translation: X:178.93, Y:-11.25, Z:-7.04 [[ 9.99966447e-01 1.74916383e-03 8.00284602e-03 1.78925595e+02] [-1.74856457e-03 9.99998468e-01 -8.18766714e-05 -1.12542613e+01] [-8.00297698e-03 6.78804312e-05 9.99967973e-01 -7.03817127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80134618399998 meters 0.06533277063275265 Centerline is valid? [True, True] Translation: X:178.99, Y:-11.26, Z:-7.04 [[ 9.99930320e-01 4.33185665e-03 1.09813805e-02 1.78986800e+02] [-4.33085337e-03 9.99990615e-01 -1.15140277e-04 -1.12603519e+01] [-1.09817762e-02 6.75735052e-05 9.99939696e-01 -7.03688721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86134618399998 meters 0.066293113338472 Centerline is valid? [True, True] Translation: X:179.05, Y:-11.27, Z:-7.05 [[ 9.99955647e-01 3.52306158e-03 8.73455818e-03 1.79047514e+02] [-3.52244632e-03 9.99993792e-01 -8.58230190e-05 -1.12660489e+01] [-8.73480632e-03 5.50522002e-05 9.99961849e-01 -7.04537838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.921346184 meters 0.06617494024897717 Centerline is valid? [True, True] Translation: X:179.11, Y:-11.27, Z:-7.05 [[ 9.99965676e-01 3.52598564e-03 7.49756293e-03 1.79109838e+02] [-3.52553358e-03 9.99993783e-01 -7.35100862e-05 -1.12704741e+01] [-7.49777551e-03 4.70746531e-05 9.99971890e-01 -7.04531636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.981346184 meters 0.06545229016271145 Centerline is valid? [True, True] Translation: X:179.17, Y:-11.28, Z:-7.04 [[ 9.99913569e-01 3.87615174e-03 1.25630276e-02 1.79170720e+02] [-3.87471237e-03 9.99992484e-01 -1.38910227e-04 -1.12760853e+01] [-1.25634716e-02 9.02201025e-05 9.99921072e-01 -7.04354069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.041346184 meters 0.06542180981491971 Centerline is valid? [True, True] Translation: X:179.23, Y:-11.28, Z:-7.05 [[ 9.99889794e-01 4.91730356e-03 1.40078358e-02 1.79232696e+02] [-4.91567743e-03 9.99987907e-01 -1.50515736e-04 -1.12778714e+01] [-1.40084065e-02 8.16411465e-05 9.99901874e-01 -7.04545009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.101346184 meters 0.0659067363118305 Centerline is valid? [True, True] Translation: X:179.29, Y:-11.28, Z:-7.05 [[ 9.99925359e-01 2.96962699e-03 1.18514742e-02 1.79293290e+02] [-2.96826802e-03 9.99995586e-01 -1.32254901e-04 -1.12833004e+01] [-1.18518147e-02 9.70666774e-05 9.99929760e-01 -7.05062733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.161346184 meters 0.06677906245737805 Centerline is valid? [True, True] Translation: X:179.36, Y:-11.30, Z:-7.06 [[ 9.99957090e-01 -1.31785504e-03 9.16955267e-03 1.79355232e+02] [ 1.31886414e-03 9.99999125e-01 -1.04002906e-04 -1.12964284e+01] [-9.16940758e-03 1.16091837e-04 9.99957953e-01 -7.05608708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.221346184 meters 0.06726986600349333 Centerline is valid? [True, True] Translation: X:179.42, Y:-11.30, Z:-7.06 [[ 9.99941391e-01 -3.34468445e-03 1.02969996e-02 1.79417581e+02] [ 3.34604632e-03 9.99994395e-01 -1.15033341e-04 -1.13037271e+01] [-1.02965572e-02 1.49480837e-04 9.99946978e-01 -7.05835240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.281346184 meters 0.06608329059149291 Centerline is valid? [True, True] Translation: X:179.48, Y:-11.30, Z:-7.06 [[ 9.99945580e-01 -2.64955432e-03 1.00904792e-02 1.79480576e+02] [ 2.65086005e-03 9.99996480e-01 -1.16030675e-04 -1.13039394e+01] [-1.00901363e-02 1.42772809e-04 9.99949083e-01 -7.05511330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.341346184 meters 0.06615045561377601 Centerline is valid? [True, True] Translation: X:179.54, Y:-11.30, Z:-7.06 [[ 9.99964609e-01 8.77246000e-05 8.41267799e-03 1.79541180e+02] [-8.69154701e-05 9.99999992e-01 -9.65453775e-05 -1.13021276e+01] [-8.41268638e-03 9.58107688e-05 9.99964608e-01 -7.05954870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.401346184 meters 0.06611782212935763 Centerline is valid? [True, True] Translation: X:179.60, Y:-11.31, Z:-7.06 [[ 9.99972205e-01 8.01575640e-04 7.41262357e-03 1.79603610e+02] [-8.00952382e-04 9.99999675e-01 -8.70488921e-05 -1.13083447e+01] [-7.41269094e-03 8.11093141e-05 9.99972522e-01 -7.06324898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46134618399998 meters 0.06682779499265636 Centerline is valid? [True, True] Translation: X:179.66, Y:-11.31, Z:-7.07 [[ 9.99971638e-01 -2.47297279e-03 7.11386676e-03 1.79664762e+02] [ 2.47359640e-03 9.99996938e-01 -7.88634403e-05 -1.13148499e+01] [-7.11364995e-03 9.64580388e-05 9.99974693e-01 -7.06617626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52134618399998 meters 0.06764240593152898 Centerline is valid? [True, True] Translation: X:179.73, Y:-11.32, Z:-7.07 [[ 9.99977140e-01 -3.27616469e-03 5.91492158e-03 1.79725732e+02] [ 3.27664490e-03 9.99994629e-01 -7.14985992e-05 -1.13195145e+01] [-5.91465557e-03 9.08780624e-05 9.99982504e-01 -7.07138408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58134618399998 meters 0.06818837049390654 Centerline is valid? [True, True] Translation: X:179.79, Y:-11.33, Z:-7.08 [[ 9.99984616e-01 -4.68946547e-03 2.96266357e-03 1.79787162e+02] [ 4.68958968e-03 9.99989003e-01 -3.49787012e-05 -1.13265273e+01] [-2.96246695e-03 4.88718396e-05 9.99995611e-01 -7.07591397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64134618399999 meters 0.06907324830759656 Centerline is valid? [True, True] Translation: X:179.85, Y:-11.33, Z:-7.08 [[ 9.99978335e-01 -6.39542774e-03 1.55840645e-03 1.79849077e+02] [ 6.39546176e-03 9.99979549e-01 -1.68437564e-05 -1.13324092e+01] [-1.55826685e-03 2.68101203e-05 9.99998786e-01 -7.08062824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.701346184 meters 0.06854485073494639 Centerline is valid? [True, True] Translation: X:179.91, Y:-11.33, Z:-7.08 [[ 9.99972349e-01 -7.42506446e-03 4.11851021e-04 1.79910517e+02] [ 7.42506663e-03 9.99972434e-01 -3.75485832e-06 -1.13319955e+01] [-4.11811788e-04 6.81277577e-06 9.99999915e-01 -7.07944122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.761346184 meters 0.06870147097953787 Centerline is valid? [True, True] Translation: X:179.97, Y:-11.34, Z:-7.08 [[ 9.99960239e-01 -8.70675647e-03 1.92664439e-03 1.79972154e+02] [ 8.70681682e-03 9.99962095e-01 -2.29402201e-05 -1.13370291e+01] [-1.92637163e-03 3.97142478e-05 9.99998144e-01 -7.08060352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.821346184 meters 0.06944756414283697 Centerline is valid? [True, True] Translation: X:180.03, Y:-11.34, Z:-7.08 [[ 9.99932396e-01 -1.16223420e-02 3.53445996e-04 1.80033298e+02] [ 1.16223438e-02 9.99932458e-01 -3.05365145e-06 -1.13406820e+01] [-3.53386633e-04 7.16131591e-06 9.99999938e-01 -7.08388742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.881346184 meters 0.06940711422615418 Centerline is valid? [True, True] Translation: X:180.09, Y:-11.34, Z:-7.08 [[ 9.99894799e-01 -1.44117502e-02 1.64115230e-03 1.80094560e+02] [ 1.44118015e-02 9.99896144e-01 -1.94191774e-05 -1.13396086e+01] [-1.64070200e-03 4.30690957e-05 9.99998653e-01 -7.08361616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.941346184 meters 0.07121519578394539 Centerline is valid? [True, True] Translation: X:180.15, Y:-11.34, Z:-7.09 [[ 9.99893625e-01 -1.45319165e-02 1.24987775e-03 1.80154800e+02] [ 1.45319469e-02 9.99894406e-01 -1.52134165e-05 -1.13418168e+01] [-1.24952469e-03 3.33749552e-05 9.99999219e-01 -7.09091146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.001346184 meters 0.06983408741429074 Centerline is valid? [True, True] Translation: X:180.22, Y:-11.34, Z:-7.09 [[ 9.99879967e-01 -1.54929943e-02 1.33879280e-04 1.80216334e+02] [ 1.54929945e-02 9.99879976e-01 -2.55834932e-07 -1.13389313e+01] [-1.33859248e-04 2.32999517e-06 9.99999991e-01 -7.08925480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.061346184 meters 0.07094116547689626 Centerline is valid? [True, True] Translation: X:180.28, Y:-11.33, Z:-7.09 [[ 9.99851702e-01 -1.72153895e-02 -4.52645545e-04 1.80276934e+02] [ 1.72153942e-02 9.99851804e-01 6.51363091e-06 -1.13347671e+01] [ 4.52466330e-04 -1.43051364e-05 9.99999898e-01 -7.09345718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.121346184 meters 0.0722126493731156 Centerline is valid? [True, True] Translation: X:180.34, Y:-11.34, Z:-7.10 [[ 9.99821984e-01 -1.88663097e-02 -2.48382633e-04 1.80337254e+02] [ 1.88663112e-02 9.99822015e-01 3.88900357e-06 -1.13388737e+01] [ 2.48265053e-04 -8.57437532e-06 9.99999969e-01 -7.09752238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18134618399998 meters 0.07120635028808539 Centerline is valid? [True, True] Translation: X:180.40, Y:-11.33, Z:-7.10 [[ 9.99820423e-01 -1.89249124e-02 9.84935381e-04 1.80399028e+02] [ 1.89249326e-02 9.99820907e-01 -1.12576645e-05 -1.13319445e+01] [-9.84545936e-04 2.98954786e-05 9.99999515e-01 -7.09563165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24134618399998 meters 0.07111030594684191 Centerline is valid? [True, True] Translation: X:180.46, Y:-11.33, Z:-7.10 [[ 9.99858591e-01 -1.68058887e-02 6.00674748e-04 1.80460024e+02] [ 1.68058956e-02 9.99858771e-01 -6.36115901e-06 -1.13281325e+01] [-6.00483010e-04 1.64551366e-05 9.99999820e-01 -7.10054544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30134618399998 meters 0.07130846675026678 Centerline is valid? [True, True] Translation: X:180.52, Y:-11.33, Z:-7.10 [[ 9.99860724e-01 -1.66866219e-02 3.00223375e-04 1.80521063e+02] [ 1.66866234e-02 9.99860769e-01 -2.50776932e-06 -1.13254499e+01] [-3.00139728e-04 7.51713443e-06 9.99999955e-01 -7.10350308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36134618399998 meters 0.07075980446771729 Centerline is valid? [True, True] Translation: X:180.58, Y:-11.32, Z:-7.10 [[ 9.99885203e-01 -1.48868588e-02 2.82160568e-03 1.80581081e+02] [ 1.48870210e-02 9.99889181e-01 -3.65186657e-05 -1.13187583e+01] [-2.82074935e-03 7.85197766e-05 9.99996019e-01 -7.10393706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.421346184 meters 0.0687699631775437 Centerline is valid? [True, True] Translation: X:180.64, Y:-11.31, Z:-7.10 [[ 9.99906184e-01 -1.35345871e-02 2.10664269e-03 1.80643596e+02] [ 1.35346686e-02 9.99908402e-01 -2.44678145e-05 -1.13141650e+01] [-2.10611856e-03 5.29782297e-05 9.99997781e-01 -7.10338373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.481346184 meters 0.07203179968799095 Centerline is valid? [True, True] Translation: X:180.70, Y:-11.32, Z:-7.11 [[ 9.99881960e-01 -1.53570906e-02 -4.75624889e-04 1.80703701e+02] [ 1.53570956e-02 9.99882073e-01 6.93014259e-06 -1.13171114e+01] [ 4.75462373e-04 -1.42335415e-05 9.99999887e-01 -7.11489043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.541346184 meters 0.07116301181616835 Centerline is valid? [True, True] Translation: X:180.76, Y:-11.31, Z:-7.11 [[ 9.99837548e-01 -1.80238409e-02 -1.35951051e-04 1.80764908e+02] [ 1.80238415e-02 9.99837557e-01 3.19139579e-06 -1.13138460e+01] [ 1.35871445e-04 -5.64123754e-06 9.99999991e-01 -7.11252615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.601346184 meters 0.0737804784909441 Centerline is valid? [True, True] Translation: X:180.83, Y:-11.32, Z:-7.12 [[ 9.99827783e-01 -1.85382398e-02 8.58696746e-04 1.80825388e+02] [ 1.85382557e-02 9.99828152e-01 -1.05559811e-05 -1.13193886e+01] [-8.58353492e-04 2.64729031e-05 9.99999631e-01 -7.11947770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.661346184 meters 0.07126295239226188 Centerline is valid? [True, True] Translation: X:180.89, Y:-11.31, Z:-7.11 [[ 9.99816921e-01 -1.88247644e-02 3.42831675e-03 1.80887508e+02] [ 1.88250225e-02 9.99822793e-01 -4.30146170e-05 -1.13120606e+01] [-3.42689949e-03 1.07544882e-04 9.99994122e-01 -7.11454184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.721346184 meters 0.07035149143537288 Centerline is valid? [True, True] Translation: X:180.95, Y:-11.30, Z:-7.12 [[ 9.99835346e-01 -1.79561680e-02 2.61840913e-03 1.80949837e+02] [ 1.79563127e-02 9.99838772e-01 -3.17791259e-05 -1.13047835e+01] [-2.61741634e-03 7.87908665e-05 9.99996571e-01 -7.11692035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.781346184 meters 0.07036764353769426 Centerline is valid? [True, True] Translation: X:181.01, Y:-11.30, Z:-7.12 [[ 9.99836740e-01 -1.79071625e-02 2.41370118e-03 1.81011851e+02] [ 1.79072853e-02 9.99839651e-01 -2.92784045e-05 -1.12982440e+01] [-2.41278985e-03 7.24964601e-05 9.99997087e-01 -7.11940329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.841346184 meters 0.07063697544815006 Centerline is valid? [True, True] Translation: X:181.07, Y:-11.30, Z:-7.12 [[ 9.99822901e-01 -1.86485978e-02 2.52909893e-03 1.81074017e+02] [ 1.86487359e-02 9.99826097e-01 -3.10227035e-05 -1.12970322e+01] [-2.52808059e-03 7.81817074e-05 9.99996801e-01 -7.12306098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.901346184 meters 0.0714284148765854 Centerline is valid? [True, True] Translation: X:181.14, Y:-11.30, Z:-7.12 [[ 9.99756714e-01 -2.13014427e-02 5.72369487e-03 1.81135937e+02] [ 2.13022166e-02 9.99773079e-01 -7.42744908e-05 -1.12962615e+01] [-5.72081389e-03 1.96183809e-04 9.99983617e-01 -7.12272603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96134618399998 meters 0.07170329429014181 Centerline is valid? [True, True] Translation: X:181.20, Y:-11.30, Z:-7.13 [[ 9.99742322e-01 -2.20840288e-02 5.25208693e-03 1.81198039e+02] [ 2.20846921e-02 9.99756101e-01 -6.83213810e-05 -1.12954352e+01] [-5.24929714e-03 1.84294499e-04 9.99986205e-01 -7.12555469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02134618399998 meters 0.07219514683387254 Centerline is valid? [True, True] Translation: X:181.26, Y:-11.29, Z:-7.13 [[ 9.99748761e-01 -2.18758683e-02 4.88485793e-03 1.81259846e+02] [ 2.18764407e-02 9.99760680e-01 -6.37692540e-05 -1.12919803e+01] [-4.88229388e-03 1.70616537e-04 9.99988067e-01 -7.12999163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08134618399998 meters 0.07203141841792984 Centerline is valid? [True, True] Translation: X:181.32, Y:-11.29, Z:-7.13 [[ 9.99778748e-01 -2.02435469e-02 5.71440571e-03 1.81321264e+02] [ 2.02443153e-02 9.99795060e-01 -7.66612495e-05 -1.12887143e+01] [-5.71168271e-03 1.92328519e-04 9.99983670e-01 -7.13278967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14134618399999 meters 0.07166550234341666 Centerline is valid? [True, True] Translation: X:181.38, Y:-11.28, Z:-7.13 [[ 9.99785971e-01 -1.92076560e-02 7.68616702e-03 1.81382950e+02] [ 1.92090216e-02 9.99815484e-01 -1.03885345e-04 -1.12842256e+01] [-7.68275341e-03 2.51506859e-04 9.99970456e-01 -7.13330275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.201346184 meters 0.07007891339301522 Centerline is valid? [True, True] Translation: X:181.45, Y:-11.28, Z:-7.13 [[ 9.99734883e-01 -2.04169987e-02 1.06446699e-02 1.81445740e+02] [ 2.04196847e-02 9.99791486e-01 -1.43703718e-04 -1.12821364e+01] [-1.06395164e-02 3.61026424e-04 9.99943334e-01 -7.13011091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.261346184 meters 0.0698395608232494 Centerline is valid? [True, True] Translation: X:181.51, Y:-11.28, Z:-7.13 [[ 9.99738357e-01 -2.04925685e-02 1.01622585e-02 1.81507971e+02] [ 2.04950272e-02 9.99789945e-01 -1.37851096e-04 -1.12782626e+01] [-1.01572989e-02 3.46090792e-04 9.99948353e-01 -7.13230806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.321346184 meters 0.070018493410132 Centerline is valid? [True, True] Translation: X:181.57, Y:-11.27, Z:-7.14 [[ 9.99806374e-01 -1.85025893e-02 6.69844697e-03 1.81570014e+02] [ 1.85036098e-02 9.99828789e-01 -9.03969485e-05 -1.12740426e+01] [-6.69562755e-03 2.14324894e-04 9.99977561e-01 -7.13927860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.381346184 meters 0.07296453077478612 Centerline is valid? [True, True] Translation: X:181.63, Y:-11.28, Z:-7.15 [[ 9.99818169e-01 -1.76215847e-02 7.28763759e-03 1.81630887e+02] [ 1.76227620e-02 9.99844702e-01 -9.73681802e-05 -1.12806302e+01] [-7.28479006e-03 2.25778779e-04 9.99973440e-01 -7.14854264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.441346184 meters 0.07057278003904445 Centerline is valid? [True, True] Translation: X:181.69, Y:-11.27, Z:-7.15 [[ 9.99852153e-01 -1.50302572e-02 8.35247456e-03 1.81692460e+02] [ 1.50317539e-02 9.99887010e-01 -1.16440795e-04 -1.12715745e+01] [-8.34978068e-03 2.41975921e-04 9.99965111e-01 -7.14725549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.501346184 meters 0.0689980002175407 Centerline is valid? [True, True] Translation: X:181.76, Y:-11.26, Z:-7.15 [[ 9.99874778e-01 -1.47147348e-02 5.82279735e-03 1.81755027e+02] [ 1.47154480e-02 9.99891719e-01 -7.96498601e-05 -1.12638664e+01] [-5.82099482e-03 1.65324958e-04 9.99983044e-01 -7.14749269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.561346184 meters 0.06925349405223079 Centerline is valid? [True, True] Translation: X:181.82, Y:-11.26, Z:-7.15 [[ 9.99856380e-01 -1.55926904e-02 6.63987193e-03 1.81816769e+02] [ 1.55936433e-02 9.99878408e-01 -9.17692001e-05 -1.12637110e+01] [-6.63763364e-03 1.95295815e-04 9.99977952e-01 -7.14903279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.621346184 meters 0.06954934959994506 Centerline is valid? [True, True] Translation: X:181.88, Y:-11.26, Z:-7.15 [[ 9.99827564e-01 -1.66578735e-02 8.20722196e-03 1.81878663e+02] [ 1.66593764e-02 9.99861216e-01 -1.14778761e-04 -1.12640502e+01] [-8.20417096e-03 2.51486169e-04 9.99966314e-01 -7.15038566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68134618399998 meters 0.06886930546345005 Centerline is valid? [True, True] Translation: X:181.94, Y:-11.26, Z:-7.15 [[ 9.99861435e-01 -1.32944249e-02 1.00184572e-02 1.81939547e+02] [ 1.32965205e-02 9.99911587e-01 -1.42596327e-04 -1.12586750e+01] [-1.00156757e-02 2.75787189e-04 9.99949804e-01 -7.15223134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74134618399998 meters 0.06856097771778569 Centerline is valid? [True, True] Translation: X:182.00, Y:-11.25, Z:-7.16 [[ 9.99906174e-01 -1.12766551e-02 7.77695798e-03 1.82001745e+02] [ 1.12778481e-02 9.99936397e-01 -1.09557936e-04 -1.12508659e+01] [-7.77522789e-03 1.97255007e-04 9.99969753e-01 -7.15605608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80134618399998 meters 0.06901477109017494 Centerline is valid? [True, True] Translation: X:182.06, Y:-11.25, Z:-7.16 [[ 9.99915461e-01 -1.07737311e-02 7.27993154e-03 1.82064060e+02] [ 1.07747620e-02 9.99941945e-01 -1.02401886e-04 -1.12508829e+01] [-7.27840565e-03 1.80832758e-04 9.99973496e-01 -7.16083213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86134618399998 meters 0.06778847267111672 Centerline is valid? [True, True] Translation: X:182.13, Y:-11.25, Z:-7.16 [[ 9.99944609e-01 -7.92235517e-03 6.92923860e-03 1.82126476e+02] [ 7.92322762e-03 9.99968606e-01 -9.84665497e-05 -1.12454603e+01] [-6.92824097e-03 1.53363030e-04 9.99975988e-01 -7.16123106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.921346184 meters 0.06794461861278783 Centerline is valid? [True, True] Translation: X:182.19, Y:-11.24, Z:-7.17 [[ 9.99971635e-01 -3.55663334e-03 6.63928992e-03 1.82188018e+02] [ 3.55734105e-03 9.99993668e-01 -9.47888913e-05 -1.12429927e+01] [-6.63891075e-03 1.18404421e-04 9.99977955e-01 -7.16753983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.981346184 meters 0.06803225597710874 Centerline is valid? [True, True] Translation: X:182.25, Y:-11.24, Z:-7.17 [[ 9.99965292e-01 -3.41159474e-03 7.60110468e-03 1.82248872e+02] [ 3.41253068e-03 9.99994171e-01 -1.10165013e-04 -1.12431936e+01] [-7.60068453e-03 1.36100192e-04 9.99971105e-01 -7.16918540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.041346184 meters 0.06691358944706624 Centerline is valid? [True, True] Translation: X:182.31, Y:-11.24, Z:-7.16 [[ 9.99934220e-01 -5.60444900e-03 1.00072818e-02 1.82311267e+02] [ 5.60613392e-03 9.99984276e-01 -1.40325333e-04 -1.12447501e+01] [-1.00063380e-02 1.96418265e-04 9.99949916e-01 -7.16379488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.101346184 meters 0.06750041004030075 Centerline is valid? [True, True] Translation: X:182.37, Y:-11.25, Z:-7.17 [[ 9.99914297e-01 -7.74695259e-03 1.05538784e-02 1.82373470e+02] [ 7.74903651e-03 9.99969964e-01 -1.56577539e-04 -1.12501555e+01] [-1.05523484e-02 2.38346508e-04 9.99944294e-01 -7.16667796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.161346184 meters 0.06766869418327713 Centerline is valid? [True, True] Translation: X:182.44, Y:-11.25, Z:-7.17 [[ 9.99928951e-01 -7.17998793e-03 9.51533152e-03 1.82435884e+02] [ 7.18166081e-03 9.99974202e-01 -1.41651972e-04 -1.12516334e+01] [-9.51406898e-03 2.09977791e-04 9.99954718e-01 -7.17180767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.221346184 meters 0.0680610805048078 Centerline is valid? [True, True] Translation: X:182.50, Y:-11.25, Z:-7.18 [[ 9.99973972e-01 -3.92286084e-03 6.05528420e-03 1.82496489e+02] [ 3.92347895e-03 9.99992299e-01 -9.02023998e-05 -1.12528931e+01] [-6.05488372e-03 1.13957832e-04 9.99981663e-01 -7.18022427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.281346184 meters 0.06658494472108904 Centerline is valid? [True, True] Translation: X:182.56, Y:-11.25, Z:-7.18 [[ 9.99955539e-01 -3.18399536e-04 9.42440906e-03 1.82558622e+02] [ 3.19752797e-04 9.99999939e-01 -1.42084635e-04 -1.12450149e+01] [-9.42436324e-03 1.45091798e-04 9.99955579e-01 -7.17524468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.341346184 meters 0.06622062089512286 Centerline is valid? [True, True] Translation: X:182.62, Y:-11.25, Z:-7.18 [[ 9.99931880e-01 2.03939269e-03 1.14924612e-02 1.82620045e+02] [-2.03752259e-03 9.99997909e-01 -1.74430415e-04 -1.12455395e+01] [-1.14927929e-02 1.51002383e-04 9.99933944e-01 -7.17634567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.401346184 meters 0.066729079349009 Centerline is valid? [True, True] Translation: X:182.68, Y:-11.25, Z:-7.18 [[ 9.99938827e-01 2.30869513e-04 1.10584353e-02 1.82681872e+02] [-2.29079849e-04 9.99999960e-01 -1.63103380e-04 -1.12525217e+01] [-1.10584725e-02 1.60560138e-04 9.99938840e-01 -7.18102708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46134618399998 meters 0.06763198527050307 Centerline is valid? [True, True] Translation: X:182.74, Y:-11.26, Z:-7.19 [[ 9.99961502e-01 -3.72347125e-03 7.94546677e-03 1.82742699e+02] [ 3.72456327e-03 9.99993056e-01 -1.22646302e-04 -1.12569864e+01] [-7.94495493e-03 1.52234974e-04 9.99968427e-01 -7.18630228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52134618399998 meters 0.06780838557795661 Centerline is valid? [True, True] Translation: X:182.81, Y:-11.26, Z:-7.19 [[ 9.99962286e-01 -4.22594865e-03 7.58737984e-03 1.82805014e+02] [ 4.22695584e-03 9.99991060e-01 -1.16713729e-04 -1.12582581e+01] [-7.58681878e-03 1.48780846e-04 9.99971209e-01 -7.18839377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58134618399998 meters 0.06731361052587143 Centerline is valid? [True, True] Translation: X:182.87, Y:-11.26, Z:-7.19 [[ 9.99956307e-01 -3.88092876e-03 8.50431742e-03 1.82867170e+02] [ 3.88218953e-03 9.99992456e-01 -1.31747784e-04 -1.12608833e+01] [-8.50374196e-03 1.64757399e-04 9.99963829e-01 -7.18935473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64134618399999 meters 0.06772902464296797 Centerline is valid? [True, True] Translation: X:182.93, Y:-11.26, Z:-7.19 [[ 9.99960434e-01 -2.67622139e-03 8.48345197e-03 1.82928364e+02] [ 2.67744283e-03 9.99996407e-01 -1.32624916e-04 -1.12642499e+01] [-8.48306655e-03 1.55333627e-04 9.99964006e-01 -7.19409678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.701346184 meters 0.0674092263091326 Centerline is valid? [True, True] Translation: X:182.99, Y:-11.27, Z:-7.20 [[ 9.99948532e-01 -1.86087795e-03 9.97347993e-03 1.82990877e+02] [ 1.86253084e-03 9.99998253e-01 -1.56442943e-04 -1.12655503e+01] [-9.97317139e-03 1.75010805e-04 9.99950251e-01 -7.19528262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.761346184 meters 0.06685330056056184 Centerline is valid? [True, True] Translation: X:183.05, Y:-11.27, Z:-7.20 [[ 9.99972885e-01 4.03012498e-04 7.35294845e-03 1.83053182e+02] [-4.02177731e-04 9.99999913e-01 -1.15006477e-04 -1.12651145e+01] [-7.35299415e-03 1.12046167e-04 9.99972960e-01 -7.19718528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.821346184 meters 0.0675864789795321 Centerline is valid? [True, True] Translation: X:183.11, Y:-11.27, Z:-7.20 [[ 9.99983867e-01 2.05086116e-04 5.67656069e-03 1.83114152e+02] [-2.04616527e-04 9.99999976e-01 -8.33047356e-05 -1.12706564e+01] [-5.67657764e-03 8.21418735e-05 9.99983885e-01 -7.20352315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.881346184 meters 0.06741386638342245 Centerline is valid? [True, True] Translation: X:183.18, Y:-11.28, Z:-7.21 [[ 9.99984522e-01 2.88649895e-04 5.55627059e-03 1.83176818e+02] [-2.88171486e-04 9.99999955e-01 -8.69029435e-05 -1.12788252e+01] [-5.55629542e-03 8.53004397e-05 9.99984560e-01 -7.20536224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.941346184 meters 0.06734462096897564 Centerline is valid? [True, True] Translation: X:183.24, Y:-11.28, Z:-7.21 [[ 9.99984565e-01 4.29339960e-04 5.53950337e-03 1.83239661e+02] [-4.28862957e-04 9.99999904e-01 -8.72968881e-05 -1.12811797e+01] [-5.53954032e-03 8.49198529e-05 9.99984653e-01 -7.20734986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.001346184 meters 0.0669434360289244 Centerline is valid? [True, True] Translation: X:183.30, Y:-11.29, Z:-7.21 [[ 9.99962133e-01 1.26023511e-03 8.61068718e-03 1.83299655e+02] [-1.25906296e-03 9.99999197e-01 -1.41547496e-04 -1.12881072e+01] [-8.61085865e-03 1.30700738e-04 9.99962917e-01 -7.20749772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.061346184 meters 0.06797378832145713 Centerline is valid? [True, True] Translation: X:183.36, Y:-11.30, Z:-7.21 [[ 9.99983809e-01 -3.74676853e-05 5.69034293e-03 1.83361252e+02] [ 3.79620037e-05 9.99999996e-01 -8.67617088e-05 -1.12951656e+01] [-5.69033965e-03 8.69763209e-05 9.99983806e-01 -7.21470368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.121346184 meters 0.0671647066284874 Centerline is valid? [True, True] Translation: X:183.42, Y:-11.30, Z:-7.21 [[ 9.99988861e-01 -1.30407584e-03 4.53623961e-03 1.83423689e+02] [ 1.30439383e-03 9.99999147e-01 -6.71421805e-05 -1.12995105e+01] [-4.53614818e-03 7.30584756e-05 9.99989709e-01 -7.21325953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18134618399998 meters 0.06806220984585312 Centerline is valid? [True, True] Translation: X:183.48, Y:-11.30, Z:-7.22 [[ 9.99969446e-01 -5.25365013e-03 5.78844031e-03 1.83484723e+02] [ 5.25428258e-03 9.99986192e-01 -9.40592785e-05 -1.13049902e+01] [-5.78786623e-03 1.24470506e-04 9.99983242e-01 -7.21564270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24134618399998 meters 0.06883948379810487 Centerline is valid? [True, True] Translation: X:183.55, Y:-11.31, Z:-7.22 [[ 9.99962652e-01 -6.72669724e-03 5.42636210e-03 1.83546899e+02] [ 6.72728886e-03 9.99977367e-01 -9.07823967e-05 -1.13104746e+01] [-5.42562862e-03 1.27283711e-04 9.99985273e-01 -7.21927436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30134618399998 meters 0.06908310585008015 Centerline is valid? [True, True] Translation: X:183.61, Y:-11.31, Z:-7.22 [[ 9.99957005e-01 -6.05251194e-03 7.02536218e-03 1.83607993e+02] [ 6.05350055e-03 9.99981670e-01 -1.19463919e-04 -1.13130964e+01] [-7.02451035e-03 1.61986816e-04 9.99975315e-01 -7.22224495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36134618399998 meters 0.06873450593381855 Centerline is valid? [True, True] Translation: X:183.67, Y:-11.32, Z:-7.22 [[ 9.99949133e-01 -8.55187119e-03 5.34769708e-03 1.83670359e+02] [ 8.55247500e-03 9.99963423e-01 -9.00527864e-05 -1.13158969e+01] [-5.34673136e-03 1.35784251e-04 9.99985697e-01 -7.22365790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.421346184 meters 0.07040212516598744 Centerline is valid? [True, True] Translation: X:183.73, Y:-11.32, Z:-7.23 [[ 9.99929233e-01 -1.15436091e-02 2.87654581e-03 1.83730437e+02] [ 1.15437988e-02 9.99933367e-01 -4.93363107e-05 -1.13224432e+01] [-2.87578462e-03 8.25390853e-05 9.99995862e-01 -7.22906955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.481346184 meters 0.06973596132194883 Centerline is valid? [True, True] Translation: X:183.79, Y:-11.32, Z:-7.23 [[ 9.99931012e-01 -1.00898882e-02 6.01384103e-03 1.83792001e+02] [ 1.00906927e-02 9.99949082e-01 -1.03451469e-04 -1.13242188e+01] [-6.01249101e-03 1.64128154e-04 9.99981911e-01 -7.22837610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.541346184 meters 0.06851908553860793 Centerline is valid? [True, True] Translation: X:183.85, Y:-11.32, Z:-7.23 [[ 9.99963177e-01 -6.09137710e-03 6.04484640e-03 1.83853929e+02] [ 6.09211483e-03 9.99981438e-01 -1.03638043e-04 -1.13223589e+01] [-6.04410289e-03 1.40460125e-04 9.99981724e-01 -7.23011658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.601346184 meters 0.06904311424425641 Centerline is valid? [True, True] Translation: X:183.91, Y:-11.32, Z:-7.23 [[ 9.99971783e-01 -5.06932040e-03 5.54391557e-03 1.83914587e+02] [ 5.06992612e-03 9.99987143e-01 -9.52095697e-05 -1.13222769e+01] [-5.54336165e-03 1.23314125e-04 9.99984628e-01 -7.23445618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.661346184 meters 0.06873561830839922 Centerline is valid? [True, True] Translation: X:183.98, Y:-11.33, Z:-7.24 [[ 9.99979903e-01 -3.66274622e-03 5.17483023e-03 1.83977072e+02] [ 3.66325020e-03 9.99993286e-01 -8.79152086e-05 -1.13274314e+01] [-5.17447347e-03 1.06870140e-04 9.99986607e-01 -7.23826391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.721346184 meters 0.0688895832764476 Centerline is valid? [True, True] Translation: X:184.04, Y:-11.33, Z:-7.24 [[ 9.99978106e-01 -2.76698211e-03 6.01085632e-03 1.84038504e+02] [ 2.76765931e-03 9.99996165e-01 -1.04348619e-04 -1.13303492e+01] [-6.01054453e-03 1.20982337e-04 9.99981929e-01 -7.24095055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.781346184 meters 0.06748572749266989 Centerline is valid? [True, True] Translation: X:184.10, Y:-11.32, Z:-7.24 [[ 9.99991913e-01 1.50191249e-04 4.01884836e-03 1.84100600e+02] [-1.49916811e-04 9.99999986e-01 -6.85890279e-05 -1.13241109e+01] [-4.01885860e-03 6.79859803e-05 9.99991922e-01 -7.23979770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.841346184 meters 0.06801729678974017 Centerline is valid? [True, True] Translation: X:184.16, Y:-11.33, Z:-7.24 [[ 9.99994770e-01 -1.56557963e-04 3.23049821e-03 1.84161403e+02] [ 1.56728755e-04 9.99999986e-01 -5.26153679e-05 -1.13292399e+01] [-3.23048993e-03 5.31214047e-05 9.99994781e-01 -7.24477970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.901346184 meters 0.0681582614738778 Centerline is valid? [True, True] Translation: X:184.22, Y:-11.34, Z:-7.24 [[ 9.99987522e-01 -3.85476319e-03 3.17737082e-03 1.84223644e+02] [ 3.85493447e-03 9.99992569e-01 -4.77840931e-05 -1.13351869e+01] [-3.17716301e-03 6.00320532e-05 9.99994951e-01 -7.24449335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96134618399998 meters 0.06862541464140667 Centerline is valid? [True, True] Translation: X:184.29, Y:-11.34, Z:-7.25 [[ 9.99980870e-01 -5.17315000e-03 3.39092534e-03 1.84285447e+02] [ 5.17338005e-03 9.99986616e-01 -5.90740568e-05 -1.13371302e+01] [-3.39057436e-03 7.66154722e-05 9.99994249e-01 -7.24752703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02134618399998 meters 0.06887018746953968 Centerline is valid? [True, True] Translation: X:184.35, Y:-11.34, Z:-7.25 [[ 9.99973960e-01 -5.57607494e-03 4.58109295e-03 1.84346436e+02] [ 5.57650821e-03 9.99984448e-01 -8.18102377e-05 -1.13368474e+01] [-4.58056552e-03 1.07354610e-04 9.99989503e-01 -7.24868405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08134618399998 meters 0.0683898927117252 Centerline is valid? [True, True] Translation: X:184.41, Y:-11.34, Z:-7.25 [[ 9.99977289e-01 -3.95095251e-03 5.45996148e-03 1.84409035e+02] [ 3.95154133e-03 9.99992188e-01 -9.70587864e-05 -1.13369070e+01] [-5.45953535e-03 1.18631846e-04 9.99985090e-01 -7.25040856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14134618399999 meters 0.06811087510163347 Centerline is valid? [True, True] Translation: X:184.47, Y:-11.33, Z:-7.26 [[ 9.99988405e-01 -9.34960031e-04 4.72405403e-03 1.84469834e+02] [ 9.35372882e-04 9.99999559e-01 -8.51848184e-05 -1.13334994e+01] [-4.72397230e-03 8.96025826e-05 9.99988838e-01 -7.25544122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.201346184 meters 0.06703241465344645 Centerline is valid? [True, True] Translation: X:184.53, Y:-11.33, Z:-7.26 [[ 9.99984826e-01 9.55864756e-04 5.42527499e-03 1.84532111e+02] [-9.55348478e-04 9.99999539e-01 -9.77523250e-05 -1.13291202e+01] [-5.42536592e-03 9.25678135e-05 9.99985278e-01 -7.25528495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.261346184 meters 0.06666200128233621 Centerline is valid? [True, True] Translation: X:184.59, Y:-11.33, Z:-7.26 [[ 9.99971820e-01 2.11308696e-03 7.20369652e-03 1.84594766e+02] [-2.11219974e-03 9.99997761e-01 -1.30766147e-04 -1.13288367e+01] [-7.20395671e-03 1.15546816e-04 9.99974044e-01 -7.25636640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.321346184 meters 0.06801767798002428 Centerline is valid? [True, True] Translation: X:184.66, Y:-11.33, Z:-7.26 [[ 9.99978452e-01 2.18633260e-03 6.18989498e-03 1.84655312e+02] [-2.18570615e-03 9.99997606e-01 -1.07967588e-04 -1.13327523e+01] [-6.19011621e-03 9.44359703e-05 9.99980837e-01 -7.26485023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.381346184 meters 0.06778079182697308 Centerline is valid? [True, True] Translation: X:184.72, Y:-11.34, Z:-7.27 [[ 9.99993355e-01 1.92048332e-03 3.09878230e-03 1.84717171e+02] [-1.92031908e-03 9.99998155e-01 -5.59774152e-05 -1.13350354e+01] [-3.09888409e-03 5.00263925e-05 9.99995197e-01 -7.26730800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.441346184 meters 0.067207135069546 Centerline is valid? [True, True] Translation: X:184.78, Y:-11.34, Z:-7.27 [[ 9.99988675e-01 9.06294389e-04 4.67218235e-03 1.84778818e+02] [-9.05896372e-04 9.99999586e-01 -8.73041928e-05 -1.13388922e+01] [-4.67225954e-03 8.30706910e-05 9.99989081e-01 -7.26691759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.501346184 meters 0.06713614733425563 Centerline is valid? [True, True] Translation: X:184.84, Y:-11.34, Z:-7.27 [[ 9.99983831e-01 1.20222125e-03 5.55809518e-03 1.84840663e+02] [-1.20169935e-03 9.99999273e-01 -9.72384148e-05 -1.13406894e+01] [-5.55820804e-03 9.05576832e-05 9.99984549e-01 -7.26890805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.561346184 meters 0.06745276825817743 Centerline is valid? [True, True] Translation: X:184.90, Y:-11.34, Z:-7.27 [[ 9.99990946e-01 2.05323942e-03 3.72708961e-03 1.84902962e+02] [-2.05299564e-03 9.99997890e-01 -6.92329588e-05 -1.13437065e+01] [-3.72722390e-03 6.15806333e-05 9.99993052e-01 -7.27252327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.621346184 meters 0.06750019612584633 Centerline is valid? [True, True] Translation: X:184.97, Y:-11.35, Z:-7.27 [[ 9.99986464e-01 7.34818211e-04 5.15085424e-03 1.84965184e+02] [-7.34358089e-04 9.99999726e-01 -9.12199986e-05 -1.13503632e+01] [-5.15091986e-03 8.74361924e-05 9.99986730e-01 -7.27347997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68134618399998 meters 0.06876596213233112 Centerline is valid? [True, True] Translation: X:185.03, Y:-11.36, Z:-7.28 [[ 9.99992488e-01 -4.14509892e-04 3.85374291e-03 1.85025976e+02] [ 4.14773306e-04 9.99999912e-01 -6.75536810e-05 -1.13555622e+01] [-3.85371457e-03 6.91516033e-05 9.99992572e-01 -7.28070573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74134618399998 meters 0.06816381228707766 Centerline is valid? [True, True] Translation: X:185.09, Y:-11.36, Z:-7.28 [[ 9.99999031e-01 -1.64426483e-04 1.38257800e-03 1.85087578e+02] [ 1.64461739e-04 9.99999986e-01 -2.53864449e-05 -1.13573025e+01] [-1.38257380e-03 2.56138015e-05 9.99999044e-01 -7.28245328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80134618399998 meters 0.06852970448068678 Centerline is valid? [True, True] Translation: X:185.15, Y:-11.36, Z:-7.29 [[ 9.99999049e-01 -4.34635031e-04 1.30923066e-03 1.85149265e+02] [ 4.34667756e-04 9.99999905e-01 -2.47111493e-05 -1.13566124e+01] [-1.30921979e-03 2.52802061e-05 9.99999143e-01 -7.28592812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86134618399998 meters 0.06873393004792411 Centerline is valid? [True, True] Translation: X:185.21, Y:-11.35, Z:-7.29 [[ 9.99999909e-01 -1.55053788e-04 3.96215721e-04 1.85210862e+02] [ 1.55056392e-04 9.99999988e-01 -6.54285935e-06 -1.13544557e+01] [-3.96214701e-04 6.60429454e-06 9.99999921e-01 -7.28902451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.921346184 meters 0.06880152312907196 Centerline is valid? [True, True] Translation: X:185.27, Y:-11.36, Z:-7.29 [[ 9.99999097e-01 -3.08472656e-04 1.30783094e-03 1.85271452e+02] [ 3.08507077e-04 9.99999952e-01 -2.61174935e-05 -1.13588520e+01] [-1.30782282e-03 2.65209451e-05 9.99999144e-01 -7.29184165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.981346184 meters 0.0697105159073358 Centerline is valid? [True, True] Translation: X:185.33, Y:-11.36, Z:-7.30 [[ 9.99993975e-01 -3.07011754e-03 1.62020049e-03 1.85332725e+02] [ 3.07017193e-03 9.99995287e-01 -3.10817210e-05 -1.13644179e+01] [-1.62009743e-03 3.60558278e-05 9.99998687e-01 -7.29558363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.041346184 meters 0.07055838943009761 Centerline is valid? [True, True] Translation: X:185.39, Y:-11.37, Z:-7.30 [[ 9.99994031e-01 -3.38009519e-03 -7.15675614e-04 1.85393600e+02] [ 3.38010726e-03 9.99994287e-01 1.56565795e-05 -1.13670750e+01] [ 7.15618605e-04 -1.80755463e-05 9.99999744e-01 -7.30076157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.101346184 meters 0.0699667696126811 Centerline is valid? [True, True] Translation: X:185.45, Y:-11.37, Z:-7.30 [[ 9.99999897e-01 -4.40210249e-04 1.08916189e-04 1.85453683e+02] [ 4.40210489e-04 9.99999903e-01 -2.18289991e-06 -1.13675536e+01] [-1.08915218e-04 2.23084574e-06 9.99999994e-01 -7.30312355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.161346184 meters 0.06793761631500683 Centerline is valid? [True, True] Translation: X:185.51, Y:-11.37, Z:-7.30 [[ 9.99994359e-01 2.45413584e-03 2.29323636e-03 1.85514616e+02] [-2.45403690e-03 9.99996988e-01 -4.59610768e-05 -1.13661017e+01] [-2.29334225e-03 4.03331309e-05 9.99997369e-01 -7.29919516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.221346184 meters 0.06707150292563506 Centerline is valid? [True, True] Translation: X:185.58, Y:-11.36, Z:-7.30 [[ 9.99974121e-01 5.17317785e-03 4.99957981e-03 1.85576195e+02] [-5.17274735e-03 9.99986616e-01 -9.90343475e-05 -1.13617163e+01] [-5.00002522e-03 7.31702213e-05 9.99987497e-01 -7.29893185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.281346184 meters 0.06678559014224034 Centerline is valid? [True, True] Translation: X:185.64, Y:-11.36, Z:-7.30 [[ 9.99970367e-01 5.16816997e-03 5.70571328e-03 1.85638796e+02] [-5.16764691e-03 9.99986642e-01 -1.06412206e-04 -1.13648168e+01] [-5.70618702e-03 7.69239407e-05 9.99983717e-01 -7.29990836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.341346184 meters 0.06711241456883074 Centerline is valid? [True, True] Translation: X:185.70, Y:-11.37, Z:-7.30 [[ 9.99978735e-01 3.35954734e-03 5.58951972e-03 1.85701199e+02] [-3.35900988e-03 9.99994353e-01 -1.05539954e-04 -1.13727767e+01] [-5.58984272e-03 8.67624580e-05 9.99984373e-01 -7.30354110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.401346184 meters 0.0668905056092136 Centerline is valid? [True, True] Translation: X:185.76, Y:-11.37, Z:-7.31 [[ 9.99983543e-01 3.30634825e-03 4.68837887e-03 1.85763685e+02] [-3.30597178e-03 9.99994531e-01 -8.80480525e-05 -1.13708174e+01] [-4.68864435e-03 7.25469553e-05 9.99989006e-01 -7.30548965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46134618399998 meters 0.06748746932953592 Centerline is valid? [True, True] Translation: X:185.83, Y:-11.37, Z:-7.31 [[ 9.99990714e-01 4.16662233e-03 1.10019485e-03 1.85825936e+02] [-4.16660259e-03 9.99991319e-01 -2.02383153e-05 -1.13702573e+01] [-1.10026963e-03 1.56540527e-05 9.99999395e-01 -7.31112839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52134618399998 meters 0.06700557591745171 Centerline is valid? [True, True] Translation: X:185.89, Y:-11.37, Z:-7.31 [[ 9.99984593e-01 5.07062043e-03 2.25882376e-03 1.85886527e+02] [-5.07052650e-03 9.99987144e-01 -4.73109945e-05 -1.13737545e+01] [-2.25903462e-03 3.58568398e-05 9.99997448e-01 -7.31266304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58134618399998 meters 0.06683804494722015 Centerline is valid? [True, True] Translation: X:185.95, Y:-11.38, Z:-7.31 [[ 9.99987161e-01 2.50264571e-03 4.40629034e-03 1.85948293e+02] [-2.50226881e-03 9.99996865e-01 -9.10497402e-05 -1.13765008e+01] [-4.40650439e-03 8.00228483e-05 9.99990288e-01 -7.31242017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64134618399999 meters 0.06821309512465916 Centerline is valid? [True, True] Translation: X:186.01, Y:-11.38, Z:-7.32 [[ 9.99994752e-01 -1.60074694e-03 2.81670512e-03 1.86008552e+02] [ 1.60091797e-03 9.99998717e-01 -5.84661900e-05 -1.13820913e+01] [-2.81660791e-03 6.29751970e-05 9.99996031e-01 -7.31625086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.701346184 meters 0.06875814823291863 Centerline is valid? [True, True] Translation: X:186.07, Y:-11.39, Z:-7.32 [[ 9.99991902e-01 -2.79437145e-03 2.89619172e-03 1.86070628e+02] [ 2.79453382e-03 9.99996094e-01 -5.20181807e-05 -1.13879398e+01] [-2.89603505e-03 6.01112652e-05 9.99995805e-01 -7.31958503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.761346184 meters 0.06797170421170518 Centerline is valid? [True, True] Translation: X:186.13, Y:-11.39, Z:-7.32 [[ 9.99992904e-01 8.36042800e-04 3.67322856e-03 1.86131914e+02] [-8.35766038e-04 9.99999648e-01 -7.68799885e-05 -1.13879307e+01] [-3.67329154e-03 7.38094833e-05 9.99993251e-01 -7.32296455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.821346184 meters 0.06765611361138736 Centerline is valid? [True, True] Translation: X:186.19, Y:-11.38, Z:-7.33 [[ 9.99989088e-01 3.34741980e-03 3.25874237e-03 1.86194036e+02] [-3.34721931e-03 9.99994396e-01 -6.69733252e-05 -1.13826561e+01] [-3.25894830e-03 5.60648690e-05 9.99994688e-01 -7.32589247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.881346184 meters 0.0675531913516822 Centerline is valid? [True, True] Translation: X:186.26, Y:-11.39, Z:-7.33 [[ 9.99980560e-01 3.68089360e-03 5.03303536e-03 1.86255249e+02] [-3.68043580e-03 9.99993222e-01 -1.00218282e-04 -1.13869952e+01] [-5.03337014e-03 8.16925706e-05 9.99987329e-01 -7.32742070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.941346184 meters 0.06893277516959136 Centerline is valid? [True, True] Translation: X:186.32, Y:-11.40, Z:-7.33 [[ 9.99991939e-01 7.62605977e-04 3.94210001e-03 1.86316497e+02] [-7.62291769e-04 9.99999706e-01 -8.12074774e-05 -1.13954843e+01] [-3.94216079e-03 7.82017924e-05 9.99992227e-01 -7.33269399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.001346184 meters 0.07151080032466584 Centerline is valid? [True, True] Translation: X:186.38, Y:-11.40, Z:-7.34 [[ 9.99992434e-01 -3.88987917e-03 4.12272159e-05 1.86375561e+02] [ 3.88987917e-03 9.99992434e-01 -7.41819923e-08 -1.14040418e+01] [-4.12266156e-05 2.34550323e-07 9.99999999e-01 -7.34040141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.061346184 meters 0.07311614439384628 Centerline is valid? [True, True] Translation: X:186.44, Y:-11.41, Z:-7.34 [[ 9.99972893e-01 -7.36023324e-03 1.99804369e-04 1.86435825e+02] [ 7.36023413e-03 9.99972913e-01 -3.72464981e-06 -1.14128655e+01] [-1.99771542e-04 5.19515578e-06 9.99999980e-01 -7.34254833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.121346184 meters 0.07229457334915562 Centerline is valid? [True, True] Translation: X:186.50, Y:-11.42, Z:-7.34 [[ 9.99977703e-01 -5.78601145e-03 3.33411134e-03 1.86496926e+02] [ 5.78628365e-03 9.99983257e-01 -7.20005668e-05 -1.14150147e+01] [-3.33363892e-03 9.12910754e-05 9.99994439e-01 -7.34288238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18134618399998 meters 0.0711841527049276 Centerline is valid? [True, True] Translation: X:186.56, Y:-11.41, Z:-7.35 [[ 9.99991727e-01 -1.78193326e-03 3.65645491e-03 1.86558596e+02] [ 1.78223034e-03 9.99998409e-01 -7.79911285e-05 -1.14101686e+01] [-3.65631012e-03 8.45071282e-05 9.99993312e-01 -7.34584677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24134618399998 meters 0.06781006053865174 Centerline is valid? [True, True] Translation: X:186.62, Y:-11.40, Z:-7.34 [[ 9.99991633e-01 2.81606128e-04 4.08108916e-03 1.86621280e+02] [-2.81255029e-04 9.99999957e-01 -8.66042913e-05 -1.14022188e+01] [-4.08111338e-03 8.54557398e-05 9.99991669e-01 -7.33865431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30134618399998 meters 0.06824375017886716 Centerline is valid? [True, True] Translation: X:186.68, Y:-11.40, Z:-7.34 [[ 9.99993927e-01 2.45774270e-04 3.47650590e-03 1.86683101e+02] [-2.45519633e-04 9.99999967e-01 -7.36715815e-05 -1.14049790e+01] [-3.47652389e-03 7.28175836e-05 9.99993954e-01 -7.34241278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36134618399998 meters 0.06849197374447255 Centerline is valid? [True, True] Translation: X:186.74, Y:-11.41, Z:-7.35 [[ 9.99997945e-01 -8.59658429e-04 1.83616992e-03 1.86744576e+02] [ 8.59718103e-04 9.99999630e-01 -3.17100197e-05 -1.14088170e+01] [-1.83614199e-03 3.32885431e-05 9.99998314e-01 -7.34556551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.421346184 meters 0.07076372599391285 Centerline is valid? [True, True] Translation: X:186.80, Y:-11.41, Z:-7.35 [[ 9.99990890e-01 -4.13004564e-03 1.07848084e-03 1.86804994e+02] [ 4.13006885e-03 9.99991471e-01 -1.92862513e-05 -1.14144441e+01] [-1.07839198e-03 2.37402757e-05 9.99999418e-01 -7.35157998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.481346184 meters 0.06977494975111903 Centerline is valid? [True, True] Translation: X:186.87, Y:-11.41, Z:-7.35 [[ 9.99990812e-01 -3.25741199e-03 2.78653287e-03 1.86867014e+02] [ 3.25759300e-03 9.99994692e-01 -6.04222355e-05 -1.14117617e+01] [-2.78632126e-03 6.94990703e-05 9.99996116e-01 -7.35083064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.541346184 meters 0.06992918674578527 Centerline is valid? [True, True] Translation: X:186.93, Y:-11.41, Z:-7.35 [[ 9.99990785e-01 -3.37625123e-03 2.65153692e-03 1.86928751e+02] [ 3.37641404e-03 9.99994298e-01 -5.69264854e-05 -1.14115233e+01] [-2.65132961e-03 6.58786474e-05 9.99996483e-01 -7.35352724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.601346184 meters 0.06988284371228115 Centerline is valid? [True, True] Translation: X:186.99, Y:-11.41, Z:-7.35 [[ 9.99973591e-01 -6.91389818e-03 2.23928110e-03 1.86990465e+02] [ 6.91400873e-03 9.99976097e-01 -4.16300372e-05 -1.14112342e+01] [-2.23893975e-03 5.71113469e-05 9.99997492e-01 -7.35297663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.661346184 meters 0.07175385650066458 Centerline is valid? [True, True] Translation: X:187.05, Y:-11.41, Z:-7.36 [[ 9.99927209e-01 -1.20573468e-02 4.43250754e-04 1.87051666e+02] [ 1.20573518e-02 9.99927307e-01 -8.67041384e-06 -1.14146040e+01] [-4.43113991e-04 1.40142130e-05 9.99999902e-01 -7.35666677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.721346184 meters 0.073558075807897 Centerline is valid? [True, True] Translation: X:187.11, Y:-11.42, Z:-7.36 [[ 9.99820591e-01 -1.89163791e-02 9.77698826e-04 1.87113060e+02] [ 1.89164085e-02 9.99821069e-01 -2.08758720e-05 -1.14183859e+01] [-9.77128989e-04 3.93666771e-05 9.99999522e-01 -7.35692579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.781346184 meters 0.07532260086118045 Centerline is valid? [True, True] Translation: X:187.17, Y:-11.42, Z:-7.36 [[ 9.99726104e-01 -2.33915011e-02 7.44207686e-04 1.87174419e+02] [ 2.33915192e-02 9.99726381e-01 -1.55839473e-05 -1.14221748e+01] [-7.43639524e-04 3.29878273e-05 9.99999723e-01 -7.35938280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.841346184 meters 0.07581345526702418 Centerline is valid? [True, True] Translation: X:187.24, Y:-11.42, Z:-7.36 [[ 9.99728119e-01 -2.33137086e-02 3.97792048e-04 1.87236341e+02] [ 2.33137130e-02 9.99728198e-01 -6.33155816e-06 -1.14177164e+01] [-3.97536315e-04 1.56038464e-05 9.99999921e-01 -7.36281126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.901346184 meters 0.07746117621356319 Centerline is valid? [True, True] Translation: X:187.30, Y:-11.41, Z:-7.37 [[ 9.99710529e-01 -2.40510985e-02 -6.34677876e-04 1.87297127e+02] [ 2.40511139e-02 9.99710730e-01 1.66492285e-05 -1.14149632e+01] [ 6.34093850e-04 -3.19091189e-05 9.99999798e-01 -7.36797555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96134618399998 meters 0.07924204256008809 Centerline is valid? [True, True] Translation: X:187.36, Y:-11.42, Z:-7.37 [[ 9.99627811e-01 -2.72788097e-02 3.25884713e-04 1.87357737e+02] [ 2.72788131e-02 9.99627864e-01 -5.99528112e-06 -1.14182535e+01] [-3.25599895e-04 1.48827979e-05 9.99999947e-01 -7.36969468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02134618399998 meters 0.078754578643357 Centerline is valid? [True, True] Translation: X:187.42, Y:-11.41, Z:-7.37 [[ 9.99516818e-01 -3.10626161e-02 1.11511998e-03 1.87419280e+02] [ 3.10626625e-02 9.99517439e-01 -2.43299647e-05 -1.14138288e+01] [-1.11382611e-03 5.89568046e-05 9.99999378e-01 -7.36806756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08134618399998 meters 0.08038321119084237 Centerline is valid? [True, True] Translation: X:187.48, Y:-11.41, Z:-7.37 [[ 9.99466609e-01 -3.25073850e-02 3.12528802e-03 1.87480865e+02] [ 3.25077630e-02 9.99471481e-01 -7.02136048e-05 -1.14129324e+01] [-3.12135378e-03 1.71772276e-04 9.99995114e-01 -7.36918692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14134618399999 meters 0.08075555618758658 Centerline is valid? [True, True] Translation: X:187.54, Y:-11.41, Z:-7.37 [[ 9.99467961e-01 -3.24950942e-02 2.80419277e-03 1.87542724e+02] [ 3.24953966e-02 9.99471883e-01 -6.23396887e-05 -1.14120156e+01] [-2.80068610e-03 1.53429878e-04 9.99996066e-01 -7.37223915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.201346184 meters 0.08140674292730474 Centerline is valid? [True, True] Translation: X:187.60, Y:-11.41, Z:-7.38 [[ 9.99522150e-01 -3.08405790e-02 2.08079954e-03 1.87604422e+02] [ 3.08407409e-02 9.99524310e-01 -4.57535364e-05 -1.14091479e+01] [-2.07839866e-03 1.09905073e-04 9.99997834e-01 -7.37778643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.261346184 meters 0.08108966825480074 Centerline is valid? [True, True] Translation: X:187.67, Y:-11.40, Z:-7.38 [[ 9.99534829e-01 -3.03663060e-02 -2.83089893e-03 1.87665574e+02] [ 3.03666160e-02 9.99538826e-01 6.65854515e-05 -1.14036692e+01] [ 2.82757144e-03 -1.52519299e-04 9.99995991e-01 -7.38290992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.321346184 meters 0.08188836617526629 Centerline is valid? [True, True] Translation: X:187.73, Y:-11.40, Z:-7.39 [[ 9.99516354e-01 -3.09923709e-02 -2.55571645e-03 1.87726677e+02] [ 3.09926277e-02 9.99519611e-01 6.09211509e-05 -1.14041439e+01] [ 2.55260062e-03 -1.40100055e-04 9.99996732e-01 -7.38517403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.381346184 meters 0.08490567882811323 Centerline is valid? [True, True] Translation: X:187.79, Y:-11.41, Z:-7.39 [[ 9.99454498e-01 -3.26132056e-02 -5.20439237e-03 1.87786191e+02] [ 3.26142784e-02 9.99468006e-01 1.21374874e-04 -1.14057960e+01] [ 5.19766524e-03 -2.91046166e-04 9.99986450e-01 -7.39110686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.441346184 meters 0.08310390357669689 Centerline is valid? [True, True] Translation: X:187.85, Y:-11.40, Z:-7.39 [[ 9.99410040e-01 -3.38830564e-02 -5.61339668e-03 1.87847958e+02] [ 3.38843329e-02 9.99425752e-01 1.32431717e-04 -1.13965299e+01] [ 5.60568601e-03 -3.22559790e-04 9.99984236e-01 -7.38996766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.501346184 meters 0.08279600537423713 Centerline is valid? [True, True] Translation: X:187.91, Y:-11.39, Z:-7.39 [[ 9.99382046e-01 -3.47037435e-02 -5.58353078e-03 1.87909667e+02] [ 3.47050204e-02 9.99397591e-01 1.31946537e-04 -1.13933311e+01] [ 5.57558817e-03 -3.25641550e-04 9.99984403e-01 -7.39185767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.561346184 meters 0.0836876732995492 Centerline is valid? [True, True] Translation: X:187.97, Y:-11.39, Z:-7.39 [[ 9.99359433e-01 -3.52362513e-02 -6.25545047e-03 1.87970837e+02] [ 3.52378648e-02 9.99378943e-01 1.47874227e-04 -1.13894058e+01] [ 6.24635494e-03 -3.68208221e-04 9.99980424e-01 -7.39495659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.621346184 meters 0.08409762622342469 Centerline is valid? [True, True] Translation: X:188.03, Y:-11.38, Z:-7.40 [[ 9.99374312e-01 -3.50162039e-02 -4.98499033e-03 1.88032892e+02] [ 3.50172316e-02 9.99386702e-01 1.19011619e-04 -1.13782685e+01] [ 4.97776571e-03 -2.93497715e-04 9.99987568e-01 -7.39556741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68134618399998 meters 0.08344622700651465 Centerline is valid? [True, True] Translation: X:188.09, Y:-11.37, Z:-7.40 [[ 9.99461977e-01 -3.15978625e-02 -8.79387959e-03 1.88094621e+02] [ 3.16009127e-02 9.99500545e-01 2.08086197e-04 -1.13669336e+01] [ 8.78291236e-03 -4.85868862e-04 9.99961311e-01 -7.40246910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74134618399998 meters 0.082221359395642 Centerline is valid? [True, True] Translation: X:188.16, Y:-11.36, Z:-7.40 [[ 9.99563446e-01 -2.88736743e-02 -6.26324660e-03 1.88155202e+02] [ 2.88751617e-02 9.99583015e-01 1.47156820e-04 -1.13566755e+01] [ 6.25638596e-03 -3.27944836e-04 9.99980375e-01 -7.40252834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80134618399998 meters 0.08031777137831549 Centerline is valid? [True, True] Translation: X:188.22, Y:-11.34, Z:-7.40 [[ 9.99693691e-01 -2.43874367e-02 -4.21624679e-03 1.88215166e+02] [ 2.43880682e-02 9.99702562e-01 9.84268734e-05 -1.13426038e+01] [ 4.21259233e-03 -2.01222839e-04 9.99991107e-01 -7.40327909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86134618399998 meters 0.07909593573756185 Centerline is valid? [True, True] Translation: X:188.28, Y:-11.33, Z:-7.41 [[ 9.99773849e-01 -2.09396968e-02 -3.71213659e-03 1.88276617e+02] [ 2.09401662e-02 9.99780727e-01 8.76354116e-05 -1.13337629e+01] [ 3.70948756e-03 -1.65348350e-04 9.99993106e-01 -7.40557914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.921346184 meters 0.07321425281942788 Centerline is valid? [True, True] Translation: X:188.34, Y:-11.31, Z:-7.40 [[ 9.99820922e-01 -1.88283993e-02 -1.90128850e-03 1.88339101e+02] [ 1.88285222e-02 9.99822727e-01 4.67787890e-05 -1.13136508e+01] [ 1.90007068e-03 -8.25688647e-05 9.99998191e-01 -7.39666239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.981346184 meters 0.07239274421008449 Centerline is valid? [True, True] Translation: X:188.40, Y:-11.31, Z:-7.40 [[ 9.99835521e-01 -1.81335883e-02 3.21524680e-04 1.88401345e+02] [ 1.81335910e-02 9.99835573e-01 -5.59193400e-06 -1.13052677e+01] [-3.21370411e-04 1.14214113e-05 9.99999948e-01 -7.39577731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.041346184 meters 0.07118014671010595 Centerline is valid? [True, True] Translation: X:188.46, Y:-11.30, Z:-7.40 [[ 9.99860657e-01 -1.66930947e-02 -8.61165033e-05 1.88463728e+02] [ 1.66930952e-02 9.99860661e-01 4.86578070e-06 -1.13011103e+01] [ 8.60232788e-05 -6.30265367e-06 9.99999996e-01 -7.39667023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.101346184 meters 0.0708354556240529 Centerline is valid? [True, True] Translation: X:188.52, Y:-11.29, Z:-7.40 [[ 9.99907752e-01 -1.34675068e-02 -1.76471774e-03 1.88524743e+02] [ 1.34676054e-02 9.99909307e-01 4.39898826e-05 -1.12916163e+01] [ 1.76396526e-03 -6.77523469e-05 9.99998442e-01 -7.40111074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.161346184 meters 0.07181914032142091 Centerline is valid? [True, True] Translation: X:188.59, Y:-11.29, Z:-7.41 [[ 9.99898680e-01 -1.38226238e-02 -3.40068054e-03 1.88585674e+02] [ 1.38229858e-02 9.99904455e-01 8.29889574e-05 -1.12898077e+01] [ 3.39920850e-03 -1.29988108e-04 9.99994214e-01 -7.40801175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.221346184 meters 0.07201889222774524 Centerline is valid? [True, True] Translation: X:188.65, Y:-11.29, Z:-7.41 [[ 9.99896213e-01 -1.38430177e-02 -3.99180583e-03 1.88646565e+02] [ 1.38435131e-02 9.99904169e-01 9.65087557e-05 -1.12890100e+01] [ 3.99008732e-03 -1.51759356e-04 9.99992028e-01 -7.41080171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.281346184 meters 0.07276673425613381 Centerline is valid? [True, True] Translation: X:188.71, Y:-11.28, Z:-7.41 [[ 9.99889813e-01 -1.41147930e-02 -4.59728369e-03 1.88707143e+02] [ 1.41154493e-02 9.99900366e-01 1.10344221e-04 -1.12827789e+01] [ 4.59526816e-03 -1.75224787e-04 9.99989426e-01 -7.41414336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.341346184 meters 0.0723782384613401 Centerline is valid? [True, True] Translation: X:188.77, Y:-11.28, Z:-7.42 [[ 9.99911414e-01 -1.29021265e-02 -3.27101788e-03 1.88768228e+02] [ 1.29024530e-02 9.99916757e-01 7.87503972e-05 -1.12780893e+01] [ 3.26972954e-03 -1.20947575e-04 9.99994647e-01 -7.41599957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.401346184 meters 0.0717031230204232 Centerline is valid? [True, True] Translation: X:188.83, Y:-11.27, Z:-7.42 [[ 9.99949799e-01 -9.31466488e-03 -3.69266697e-03 1.88829821e+02] [ 9.31505916e-03 9.99956610e-01 8.95871929e-05 -1.12684588e+01] [ 3.69167227e-03 -1.23980107e-04 9.99993178e-01 -7.41954280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46134618399998 meters 0.07098506076351495 Centerline is valid? [True, True] Translation: X:188.89, Y:-11.26, Z:-7.42 [[ 9.99980754e-01 -6.18656635e-03 -4.66209121e-04 1.88889795e+02] [ 6.18657221e-03 9.99980863e-01 1.11328614e-05 -1.12606014e+01] [ 4.66131325e-04 -1.40168835e-05 9.99999891e-01 -7.42074185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52134618399998 meters 0.07000359466357707 Centerline is valid? [True, True] Translation: X:188.95, Y:-11.25, Z:-7.42 [[ 9.99993682e-01 -3.48123355e-03 -7.18567690e-04 1.88951706e+02] [ 3.48124817e-03 9.99993940e-01 1.91014520e-05 -1.12523301e+01] [ 7.18496839e-04 -2.16028438e-05 9.99999742e-01 -7.42289691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58134618399998 meters 0.06764916564751963 Centerline is valid? [True, True] Translation: X:189.01, Y:-11.24, Z:-7.42 [[ 9.99998379e-01 1.56431719e-03 -8.91440018e-04 1.89012414e+02] [-1.56429877e-03 9.99998776e-01 2.13607398e-05 -1.12400503e+01] [ 8.91472342e-04 -1.99662266e-05 9.99999602e-01 -7.42144144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64134618399999 meters 0.06710446474300613 Centerline is valid? [True, True] Translation: X:189.07, Y:-11.24, Z:-7.43 [[ 9.99992795e-01 3.74418470e-03 6.25750945e-04 1.89072318e+02] [-3.74417565e-03 9.99992990e-01 -1.56436323e-05 -1.12383884e+01] [-6.25805132e-04 1.33005982e-05 9.99999804e-01 -7.42535864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.701346184 meters 0.06575374714721324 Centerline is valid? [True, True] Translation: X:189.13, Y:-11.23, Z:-7.42 [[ 9.99988582e-01 4.71295423e-03 7.89776172e-04 1.89132337e+02] [-4.71293967e-03 9.99988894e-01 -2.03048161e-05 -1.12332487e+01] [-7.89863097e-04 1.65824168e-05 9.99999688e-01 -7.42111682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.761346184 meters 0.06563340218353883 Centerline is valid? [True, True] Translation: X:189.19, Y:-11.23, Z:-7.42 [[ 9.99979210e-01 6.37841294e-03 9.46499667e-04 1.89191962e+02] [-6.37839306e-03 9.99979658e-01 -2.40187961e-05 -1.12341125e+01] [-9.46633615e-04 1.79811499e-05 9.99999552e-01 -7.42499914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.821346184 meters 0.06608213167461542 Centerline is valid? [True, True] Translation: X:189.25, Y:-11.24, Z:-7.43 [[ 9.99974409e-01 7.15005460e-03 -2.42028269e-04 1.89250474e+02] [-7.15005393e-03 9.99974438e-01 3.64585186e-06 -1.12380764e+01] [ 2.42048150e-04 -1.91524338e-06 9.99999971e-01 -7.43022696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.881346184 meters 0.06633620489385339 Centerline is valid? [True, True] Translation: X:189.31, Y:-11.24, Z:-7.43 [[ 9.99968175e-01 7.82919217e-03 -1.53396819e-03 1.89309351e+02] [-7.82914983e-03 9.99969351e-01 3.36039574e-05 -1.12395120e+01] [ 1.53418426e-03 -2.15932212e-05 9.99998823e-01 -7.43365365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.941346184 meters 0.06707677050811404 Centerline is valid? [True, True] Translation: X:189.37, Y:-11.24, Z:-7.44 [[ 9.99949871e-01 9.29984270e-03 -3.71053366e-03 1.89367157e+02] [-9.29959404e-03 9.99956754e-01 8.42610009e-05 -1.12438002e+01] [ 3.71115681e-03 -4.97503203e-05 9.99993112e-01 -7.44142011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.001346184 meters 0.06679642612927318 Centerline is valid? [True, True] Translation: X:189.43, Y:-11.25, Z:-7.44 [[ 9.99948810e-01 9.67621401e-03 -2.95777001e-03 1.89426135e+02] [-9.67605820e-03 9.99953184e-01 6.69824743e-05 -1.12470059e+01] [ 2.95827967e-03 -3.83594907e-05 9.99995624e-01 -7.44251155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.061346184 meters 0.06554159315091126 Centerline is valid? [True, True] Translation: X:189.49, Y:-11.24, Z:-7.44 [[ 9.99938697e-01 1.10635854e-02 -4.46787043e-04 1.89485353e+02] [-1.10635831e-02 9.99938797e-01 7.62657384e-06 -1.12425406e+01] [ 4.46844076e-04 -2.68304073e-06 9.99999900e-01 -7.43731619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.121346184 meters 0.06583075089441229 Centerline is valid? [True, True] Translation: X:189.54, Y:-11.24, Z:-7.44 [[ 9.99906765e-01 1.36218225e-02 -9.52623832e-04 1.89543060e+02] [-1.36218111e-02 9.99907219e-01 1.85154230e-05 -1.12410843e+01] [ 9.52787660e-04 -5.53723480e-06 9.99999546e-01 -7.44165706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18134618399998 meters 0.06602644979164646 Centerline is valid? [True, True] Translation: X:189.60, Y:-11.24, Z:-7.45 [[ 9.99876039e-01 1.57400928e-02 -3.94834284e-04 1.89601251e+02] [-1.57400915e-02 9.99876117e-01 6.46170180e-06 -1.12417261e+01] [ 3.94887078e-04 -2.46173060e-07 9.99999922e-01 -7.44730765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24134618399998 meters 0.06559823156100976 Centerline is valid? [True, True] Translation: X:189.66, Y:-11.24, Z:-7.45 [[ 9.99876798e-01 1.55865327e-02 -1.85734912e-03 1.89660085e+02] [-1.55864846e-02 9.99878523e-01 4.03533694e-05 -1.12422381e+01] [ 1.85775246e-03 -1.13988544e-05 9.99998274e-01 -7.44708934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30134618399998 meters 0.06599083710547901 Centerline is valid? [True, True] Translation: X:189.72, Y:-11.24, Z:-7.45 [[ 9.99890353e-01 1.44745169e-02 -3.12583404e-03 1.89718454e+02] [-1.44743724e-02 9.99895238e-01 6.88407191e-05 -1.12419428e+01] [ 3.12650301e-03 -2.35886850e-05 9.99995112e-01 -7.44872345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36134618399998 meters 0.06601865667022982 Centerline is valid? [True, True] Translation: X:189.78, Y:-11.25, Z:-7.45 [[ 9.99886253e-01 1.48403620e-02 -2.69169318e-03 1.89776925e+02] [-1.48402561e-02 9.99889876e-01 5.93032639e-05 -1.12491478e+01] [ 2.69227684e-03 -1.93511022e-05 9.99996376e-01 -7.45339428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.421346184 meters 0.06639337477013535 Centerline is valid? [True, True] Translation: X:189.84, Y:-11.25, Z:-7.46 [[ 9.99868730e-01 1.57034272e-02 -3.99059120e-03 1.89835361e+02] [-1.57031971e-02 9.99876693e-01 8.89957628e-05 -1.12503865e+01] [ 3.99149667e-03 -2.63190401e-05 9.99992034e-01 -7.45710554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.481346184 meters 0.06630950769172532 Centerline is valid? [True, True] Translation: X:189.89, Y:-11.26, Z:-7.46 [[ 9.99856275e-01 1.67729423e-02 -2.46916618e-03 1.89893558e+02] [-1.67728604e-02 9.99859324e-01 5.38909820e-05 -1.12563782e+01] [ 2.46972274e-03 -1.24682570e-05 9.99996950e-01 -7.45971243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.541346184 meters 0.06575075425849362 Centerline is valid? [True, True] Translation: X:189.95, Y:-11.26, Z:-7.46 [[ 9.99857509e-01 1.68587198e-02 8.63635257e-04 1.89951915e+02] [-1.68587078e-02 9.99857882e-01 -2.11379533e-05 -1.12607974e+01] [-8.63868878e-04 6.57516682e-06 9.99999627e-01 -7.45906260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.601346184 meters 0.06619653369164274 Centerline is valid? [True, True] Translation: X:190.01, Y:-11.26, Z:-7.46 [[ 9.99847123e-01 1.74850672e-02 5.22370986e-05 1.90010400e+02] [-1.74850671e-02 9.99847125e-01 -3.79953099e-06 -1.12647689e+01] [-5.22955480e-05 2.88558096e-06 9.99999999e-01 -7.46307645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.661346184 meters 0.06673998230122978 Centerline is valid? [True, True] Translation: X:190.07, Y:-11.28, Z:-7.47 [[ 9.99841385e-01 1.77872165e-02 -9.05941804e-04 1.90067935e+02] [-1.77872081e-02 9.99841795e-01 1.73658026e-05 -1.12769281e+01] [ 9.06107369e-04 -1.24887276e-06 9.99999589e-01 -7.46918502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.721346184 meters 0.06686869226557919 Centerline is valid? [True, True] Translation: X:190.13, Y:-11.29, Z:-7.47 [[ 9.99879117e-01 1.55466472e-02 2.30079920e-04 1.90125959e+02] [-1.55466457e-02 9.99879144e-01 -8.41303022e-06 -1.12856173e+01] [-2.30182908e-04 4.83504223e-06 9.99999973e-01 -7.46983668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.781346184 meters 0.0667991737493689 Centerline is valid? [True, True] Translation: X:190.18, Y:-11.29, Z:-7.47 [[ 9.99878397e-01 1.55436857e-02 1.25882627e-03 1.90184576e+02] [-1.55436591e-02 9.99879190e-01 -3.08928668e-05 -1.12923574e+01] [-1.25915438e-03 1.13223437e-05 9.99999207e-01 -7.47197273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.841346184 meters 0.067343992610934 Centerline is valid? [True, True] Translation: X:190.24, Y:-11.30, Z:-7.48 [[ 9.99862374e-01 1.65869539e-02 3.25965221e-04 1.90243027e+02] [-1.65869516e-02 9.99862427e-01 -9.79761158e-06 -1.12974532e+01] [-3.26082890e-04 4.38949383e-06 9.99999947e-01 -7.47646558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.901346184 meters 0.06783598933790157 Centerline is valid? [True, True] Translation: X:190.30, Y:-11.30, Z:-7.48 [[ 9.99878946e-01 1.55430271e-02 -7.12975708e-04 1.90301732e+02] [-1.55430214e-02 9.99879200e-01 1.35668460e-05 -1.13037864e+01] [ 7.13100450e-04 -2.48340702e-06 9.99999746e-01 -7.48085879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96134618399998 meters 0.0682024607081902 Centerline is valid? [True, True] Translation: X:190.36, Y:-11.32, Z:-7.48 [[ 9.99925219e-01 1.22180549e-02 -5.23993513e-04 1.90359174e+02] [-1.22180520e-02 9.99925357e-01 8.72091706e-06 -1.13150416e+01] [ 5.24060953e-04 -2.31808491e-06 9.99999863e-01 -7.48444847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02134618399998 meters 0.0680651495418906 Centerline is valid? [True, True] Translation: X:190.42, Y:-11.32, Z:-7.49 [[ 9.99934358e-01 1.14056937e-02 1.09064485e-03 1.90416621e+02] [-1.14056708e-02 9.99934953e-01 -2.71752928e-05 -1.13197821e+01] [-1.09088386e-03 1.47339729e-05 9.99999405e-01 -7.48538928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08134618399998 meters 0.06818770920065412 Centerline is valid? [True, True] Translation: X:190.48, Y:-11.32, Z:-7.49 [[ 9.99928830e-01 1.18428664e-02 1.44257673e-03 1.90475229e+02] [-1.18428292e-02 9.99929871e-01 -3.43494874e-05 -1.13219328e+01] [-1.44288236e-03 1.72628530e-05 9.99998959e-01 -7.48847805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14134618399999 meters 0.06865154890335241 Centerline is valid? [True, True] Translation: X:190.54, Y:-11.32, Z:-7.49 [[ 9.99937441e-01 1.11830566e-02 2.29278770e-04 1.90535140e+02] [-1.11830555e-02 9.99937468e-01 -6.23320506e-06 -1.13239199e+01] [-2.29334139e-04 3.66877791e-06 9.99999974e-01 -7.49213339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.201346184 meters 0.0692406798915521 Centerline is valid? [True, True] Translation: X:190.59, Y:-11.33, Z:-7.50 [[ 9.99940464e-01 1.08956730e-02 -5.93920231e-04 1.90592402e+02] [-1.08956688e-02 9.99940640e-01 1.02938882e-05 -1.13288537e+01] [ 5.93997135e-04 -3.82211720e-06 9.99999824e-01 -7.49655988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.261346184 meters 0.06627238684560294 Centerline is valid? [True, True] Translation: X:190.65, Y:-11.33, Z:-7.48 [[ 9.99942696e-01 1.06786483e-02 7.55240316e-04 1.90652135e+02] [-1.06786367e-02 9.99942982e-01 -1.93573389e-05 -1.13270791e+01] [-7.55403964e-04 1.12912927e-05 9.99999715e-01 -7.48421644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.321346184 meters 0.06930940387964288 Centerline is valid? [True, True] Translation: X:190.71, Y:-11.33, Z:-7.50 [[ 9.99939335e-01 1.09827157e-02 8.40018948e-04 1.90709103e+02] [-1.09827012e-02 9.99939688e-01 -2.17737304e-05 -1.13330103e+01] [-8.40207420e-04 1.25467324e-05 9.99999647e-01 -7.50158512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.381346184 meters 0.06566791972285613 Centerline is valid? [True, True] Translation: X:190.77, Y:-11.33, Z:-7.49 [[ 9.99940490e-01 1.02833630e-02 3.64275092e-03 1.90768945e+02] [-1.02831275e-02 9.99947124e-01 -8.33607577e-05 -1.13304490e+01] [-3.64341553e-03 4.58969245e-05 9.99993362e-01 -7.48532173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.441346184 meters 0.0650811028477382 Centerline is valid? [True, True] Translation: X:190.83, Y:-11.33, Z:-7.48 [[ 9.99950771e-01 8.71903206e-03 4.73635906e-03 1.90828521e+02] [-8.71863405e-03 9.99961987e-01 -1.04673857e-04 -1.13340632e+01] [-4.73709167e-03 6.33741232e-05 9.99988778e-01 -7.48350960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.501346184 meters 0.06530309284125081 Centerline is valid? [True, True] Translation: X:190.89, Y:-11.34, Z:-7.49 [[ 9.99963812e-01 7.18809547e-03 4.55041691e-03 1.90889089e+02] [-7.18771862e-03 9.99974163e-01 -9.91650128e-05 -1.13388280e+01] [-4.55101215e-03 6.64543079e-05 9.99989642e-01 -7.48533786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.561346184 meters 0.06638647081708383 Centerline is valid? [True, True] Translation: X:190.95, Y:-11.35, Z:-7.49 [[ 9.99971745e-01 6.56135117e-03 3.66847284e-03 1.90949312e+02] [-6.56110438e-03 9.99978473e-01 -7.93063973e-05 -1.13486216e+01] [-3.66891423e-03 5.52349233e-05 9.99993268e-01 -7.49369873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.621346184 meters 0.06567888209931662 Centerline is valid? [True, True] Translation: X:191.01, Y:-11.35, Z:-7.49 [[ 9.99964175e-01 7.12016363e-03 4.57726347e-03 1.91009548e+02] [-7.11978121e-03 9.99974649e-01 -9.98383751e-05 -1.13545368e+01] [-4.57785830e-03 6.72456839e-05 9.99989519e-01 -7.49326073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68134618399998 meters 0.06533312012044001 Centerline is valid? [True, True] Translation: X:191.07, Y:-11.35, Z:-7.49 [[ 9.99917686e-01 1.17127509e-02 5.23769536e-03 1.91070676e+02] [-1.17123164e-02 9.99931402e-01 -1.13629101e-04 -1.13535409e+01] [-5.23866698e-03 5.22742029e-05 9.99986277e-01 -7.49303539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74134618399998 meters 0.06497180297742138 Centerline is valid? [True, True] Translation: X:191.13, Y:-11.36, Z:-7.49 [[ 9.99874345e-01 1.42965256e-02 6.84865479e-03 1.91130865e+02] [-1.42958368e-02 9.99897798e-01 -1.49514925e-04 -1.13569336e+01] [-6.85009239e-03 5.15888863e-05 9.99976537e-01 -7.49369651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80134618399998 meters 0.06527242506215221 Centerline is valid? [True, True] Translation: X:191.19, Y:-11.37, Z:-7.50 [[ 9.99852350e-01 1.54083070e-02 7.60677155e-03 1.91190926e+02] [-1.54074938e-02 9.99881284e-01 -1.65502067e-04 -1.13650313e+01] [-7.60841861e-03 4.82763454e-05 9.99971054e-01 -7.49899378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86134618399998 meters 0.06517844271466815 Centerline is valid? [True, True] Translation: X:191.25, Y:-11.37, Z:-7.50 [[ 9.99864647e-01 1.45341406e-02 7.71015511e-03 1.91251651e+02] [-1.45332735e-02 9.99894372e-01 -1.68471485e-04 -1.13697681e+01] [-7.71178929e-03 5.63948885e-05 9.99970262e-01 -7.49973917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.921346184 meters 0.06537906373275718 Centerline is valid? [True, True] Translation: X:191.31, Y:-11.38, Z:-7.50 [[ 9.99916837e-01 1.06174671e-02 7.32035884e-03 1.91313051e+02] [-1.06165889e-02 9.99943630e-01 -1.58817991e-04 -1.13782361e+01] [-7.32163244e-03 8.10875432e-05 9.99973193e-01 -7.50182501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.981346184 meters 0.06570023146396782 Centerline is valid? [True, True] Translation: X:191.37, Y:-11.39, Z:-7.51 [[ 9.99927455e-01 8.22168594e-03 8.80272389e-03 1.91374162e+02] [-8.22036890e-03 9.99966195e-01 -1.85789040e-04 -1.13897618e+01] [-8.80395382e-03 1.13413924e-04 9.99961238e-01 -7.50510078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.041346184 meters 0.06612666948663709 Centerline is valid? [True, True] Translation: X:191.44, Y:-11.40, Z:-7.51 [[ 9.99962973e-01 6.62469336e-03 5.49240292e-03 1.91435691e+02] [-6.62416795e-03 9.99978053e-01 -1.13846780e-04 -1.13963333e+01] [-5.49303658e-03 7.74599649e-05 9.99984910e-01 -7.50941466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.101346184 meters 0.06679164492118642 Centerline is valid? [True, True] Translation: X:191.50, Y:-11.40, Z:-7.51 [[ 9.99987258e-01 3.82588979e-03 3.29335657e-03 1.91497065e+02] [-3.82568194e-03 9.99992680e-01 -6.94107452e-05 -1.14014887e+01] [-3.29359802e-03 5.68105260e-05 9.99994574e-01 -7.51228144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.161346184 meters 0.06748839945122177 Centerline is valid? [True, True] Translation: X:191.56, Y:-11.41, Z:-7.51 [[ 9.99984357e-01 1.45667895e-03 5.40036745e-03 1.91557988e+02] [-1.45608471e-03 9.99998933e-01 -1.13967522e-04 -1.14106287e+01] [-5.40052771e-03 1.06102347e-04 9.99985411e-01 -7.51457555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.221346184 meters 0.06792637662262264 Centerline is valid? [True, True] Translation: X:191.62, Y:-11.42, Z:-7.52 [[ 9.99985030e-01 4.38386301e-04 5.45416427e-03 1.91620291e+02] [-4.37758776e-04 9.99999897e-01 -1.16247509e-04 -1.14175757e+01] [-5.45421467e-03 1.13858161e-04 9.99985119e-01 -7.51700627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.281346184 meters 0.06737670316726403 Centerline is valid? [True, True] Translation: X:191.68, Y:-11.42, Z:-7.52 [[ 9.99978840e-01 2.62036916e-03 5.95423178e-03 1.91682554e+02] [-2.61961309e-03 9.99996560e-01 -1.34775830e-04 -1.14184992e+01] [-5.95456446e-03 1.19175195e-04 9.99982264e-01 -7.51893467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.341346184 meters 0.06679946630845275 Centerline is valid? [True, True] Translation: X:191.74, Y:-11.42, Z:-7.52 [[ 9.99958455e-01 6.68235536e-03 6.19948356e-03 1.91744015e+02] [-6.68160356e-03 9.99977668e-01 -1.41971284e-04 -1.14179552e+01] [-6.20029381e-03 1.00542894e-04 9.99980773e-01 -7.52157921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.401346184 meters 0.06640072066438293 Centerline is valid? [True, True] Translation: X:191.81, Y:-11.42, Z:-7.52 [[ 9.99971996e-01 6.85942570e-03 2.99270206e-03 1.91805909e+02] [-6.85927415e-03 9.99976473e-01 -6.08993706e-05 -1.14197435e+01] [-2.99304939e-03 4.03699012e-05 9.99995520e-01 -7.52252168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46134618399998 meters 0.06691631121389531 Centerline is valid? [True, True] Translation: X:191.87, Y:-11.43, Z:-7.53 [[ 9.99979481e-01 5.33605669e-03 3.54458809e-03 1.91866421e+02] [-5.33579676e-03 9.99985761e-01 -8.27844130e-05 -1.14273546e+01] [-3.54497936e-03 6.38695127e-05 9.99993715e-01 -7.52695466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52134618399998 meters 0.06823939019379313 Centerline is valid? [True, True] Translation: X:191.93, Y:-11.44, Z:-7.53 [[ 9.99997466e-01 1.85560321e-03 1.27470128e-03 1.91926325e+02] [-1.85556760e-03 9.99998278e-01 -2.91194297e-05 -1.14370335e+01] [-1.27475312e-03 2.67540615e-05 9.99999187e-01 -7.53227682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58134618399998 meters 0.06937645952778072 Centerline is valid? [True, True] Translation: X:191.99, Y:-11.44, Z:-7.54 [[ 9.99998110e-01 4.97679548e-04 -1.87924289e-03 1.91986485e+02] [-4.97597882e-04 9.99999875e-01 4.39244952e-05 -1.14438991e+01] [ 1.87926452e-03 -4.29893049e-05 9.99998233e-01 -7.53907013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64134618399999 meters 0.07010870926566928 Centerline is valid? [True, True] Translation: X:192.04, Y:-11.45, Z:-7.54 [[ 9.99995051e-01 -2.37994410e-04 -3.13712453e-03 1.92044607e+02] [ 2.38218983e-04 9.99999969e-01 7.12122128e-05 -1.14509100e+01] [ 3.13710748e-03 -7.19591829e-05 9.99995077e-01 -7.54389660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.701346184 meters 0.07031603850971108 Centerline is valid? [True, True] Translation: X:192.10, Y:-11.46, Z:-7.55 [[ 9.99998834e-01 -5.27725102e-04 -1.43297756e-03 1.92103599e+02] [ 5.27769736e-04 9.99999860e-01 3.07699176e-05 -1.14555121e+01] [ 1.43296112e-03 -3.15261639e-05 9.99998973e-01 -7.54536256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.761346184 meters 0.06971873430636576 Centerline is valid? [True, True] Translation: X:192.16, Y:-11.45, Z:-7.55 [[ 9.99994595e-01 2.79588425e-03 -1.73022881e-03 1.92162995e+02] [-2.79582111e-03 9.99996091e-01 3.89109457e-05 -1.14546996e+01] [ 1.73033084e-03 -3.40733251e-05 9.99998502e-01 -7.54769034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.821346184 meters 0.06953794178910212 Centerline is valid? [True, True] Translation: X:192.22, Y:-11.45, Z:-7.55 [[ 9.99982393e-01 5.33135808e-03 -2.60588850e-03 1.92222123e+02] [-5.33124292e-03 9.99985788e-01 5.11350201e-05 -1.14535725e+01] [ 2.60612408e-03 -3.72414951e-05 9.99996603e-01 -7.55222608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.881346184 meters 0.0668351355523592 Centerline is valid? [True, True] Translation: X:192.28, Y:-11.45, Z:-7.54 [[ 9.99976113e-01 6.64271826e-03 -1.91011999e-03 1.92281393e+02] [-6.64265236e-03 9.99977937e-01 4.08410997e-05 -1.14475928e+01] [ 1.91034914e-03 -2.81518610e-05 9.99998175e-01 -7.54268770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.941346184 meters 0.06717602353068776 Centerline is valid? [True, True] Translation: X:192.34, Y:-11.45, Z:-7.55 [[ 9.99970516e-01 7.11303651e-03 -2.89348825e-03 1.92340528e+02] [-7.11288347e-03 9.99974701e-01 6.31773062e-05 -1.14471904e+01] [ 2.89386443e-03 -4.25943987e-05 9.99995812e-01 -7.54612574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.001346184 meters 0.0676802408069753 Centerline is valid? [True, True] Translation: X:192.40, Y:-11.45, Z:-7.55 [[ 9.99958781e-01 7.83805450e-03 -4.58279622e-03 1.92399168e+02] [-7.83767200e-03 9.99969280e-01 1.01418823e-04 -1.14468715e+01] [ 4.58345036e-03 -6.54961889e-05 9.99989494e-01 -7.55080614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.061346184 meters 0.0678114027860561 Centerline is valid? [True, True] Translation: X:192.46, Y:-11.45, Z:-7.55 [[ 9.99958047e-01 7.85244456e-03 -4.71638781e-03 1.92457999e+02] [-7.85204070e-03 9.99969167e-01 1.04140207e-04 -1.14490891e+01] [ 4.71706014e-03 -6.71025694e-05 9.99988872e-01 -7.55342558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.121346184 meters 0.0676589418563151 Centerline is valid? [True, True] Translation: X:192.52, Y:-11.45, Z:-7.56 [[ 9.99958323e-01 8.24993397e-03 -3.91042252e-03 1.92517014e+02] [-8.24966231e-03 9.99965967e-01 8.55950459e-05 -1.14513958e+01] [ 3.91099559e-03 -5.33318132e-05 9.99992351e-01 -7.55537824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18134618399998 meters 0.06799878049591236 Centerline is valid? [True, True] Translation: X:192.57, Y:-11.45, Z:-7.56 [[ 9.99967030e-01 7.56702373e-03 -2.94600514e-03 1.92574891e+02] [-7.56687126e-03 9.99971369e-01 6.28981572e-05 -1.14540068e+01] [ 2.94639675e-03 -4.06040418e-05 9.99995659e-01 -7.55884520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24134618399998 meters 0.06793675754826979 Centerline is valid? [True, True] Translation: X:192.63, Y:-11.46, Z:-7.56 [[ 9.99981766e-01 5.94781441e-03 -1.04497274e-03 1.92633818e+02] [-5.94779594e-03 9.99982311e-01 2.07854836e-05 -1.14573398e+01] [ 1.04507789e-03 -1.45698200e-05 9.99999454e-01 -7.56006640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30134618399998 meters 0.068124453227264 Centerline is valid? [True, True] Translation: X:192.69, Y:-11.46, Z:-7.56 [[ 9.99982138e-01 5.88892962e-03 -1.02215026e-03 1.92692202e+02] [-5.88891131e-03 9.99982660e-01 2.09250737e-05 -1.14611947e+01] [ 1.02225576e-03 -1.49053477e-05 9.99999477e-01 -7.56339983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36134618399998 meters 0.06817441060715879 Centerline is valid? [True, True] Translation: X:192.75, Y:-11.46, Z:-7.57 [[ 9.99971443e-01 7.53813189e-03 -5.38198642e-04 1.92750842e+02] [-7.53812755e-03 9.99971588e-01 1.00999057e-05 -1.14616681e+01] [ 5.38259485e-04 -6.04260729e-06 9.99999855e-01 -7.56671822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.421346184 meters 0.06642201130345565 Centerline is valid? [True, True] Translation: X:192.81, Y:-11.46, Z:-7.56 [[ 9.99973598e-01 7.21615555e-03 8.55133624e-04 1.92809567e+02] [-7.21613950e-03 9.99973963e-01 -2.18613759e-05 -1.14603581e+01] [-8.55269114e-04 1.56900352e-05 9.99999634e-01 -7.56039808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.481346184 meters 0.06740580124156607 Centerline is valid? [True, True] Translation: X:192.87, Y:-11.47, Z:-7.57 [[ 9.99994045e-01 3.44550046e-03 -1.93853816e-04 1.92868514e+02] [-3.44549982e-03 9.99994064e-01 3.61657189e-06 -1.14700887e+01] [ 1.93865126e-04 -2.94862706e-06 9.99999981e-01 -7.56557576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.541346184 meters 0.06824389982201172 Centerline is valid? [True, True] Translation: X:192.93, Y:-11.48, Z:-7.57 [[ 9.99999362e-01 -1.11522760e-03 1.79720991e-04 1.92927701e+02] [ 1.11522858e-03 9.99999378e-01 -5.36577621e-06 -1.14773436e+01] [-1.79714895e-04 5.56620277e-06 9.99999984e-01 -7.56741316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.601346184 meters 0.07012065107367506 Centerline is valid? [True, True] Translation: X:192.99, Y:-11.49, Z:-7.57 [[ 9.99960440e-01 -8.63873380e-03 2.11896820e-03 1.92988128e+02] [ 8.63885282e-03 9.99962683e-01 -4.70243434e-05 -1.14906415e+01] [-2.11848290e-03 6.53279376e-05 9.99997754e-01 -7.56824737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.661346184 meters 0.06905882943840232 Centerline is valid? [True, True] Translation: X:193.05, Y:-11.49, Z:-7.57 [[ 9.99954113e-01 -9.20313099e-03 2.65959780e-03 1.93049949e+02] [ 9.20331342e-03 9.99957647e-01 -5.63656400e-05 -1.14896646e+01] [-2.65896642e-03 8.08401657e-05 9.99996462e-01 -7.56729543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.721346184 meters 0.06807169655880974 Centerline is valid? [True, True] Translation: X:193.11, Y:-11.48, Z:-7.57 [[ 9.99972633e-01 -6.20285974e-03 4.03207098e-03 1.93111239e+02] [ 6.20326700e-03 9.99980756e-01 -8.85082960e-05 -1.14835774e+01] [-4.03144438e-03 1.13517887e-04 9.99991867e-01 -7.56761597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.781346184 meters 0.06644745434618349 Centerline is valid? [True, True] Translation: X:193.17, Y:-11.48, Z:-7.57 [[ 9.99985795e-01 -1.41550010e-04 5.32829725e-03 1.93172248e+02] [ 1.42182091e-04 9.99999983e-01 -1.18248481e-04 -1.14755038e+01] [-5.32828042e-03 1.19004389e-04 9.99985798e-01 -7.56903720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.841346184 meters 0.06680377341204004 Centerline is valid? [True, True] Translation: X:193.23, Y:-11.47, Z:-7.57 [[ 9.99984086e-01 6.27662658e-04 5.60658370e-03 1.93233185e+02] [-6.26980902e-04 9.99999796e-01 -1.23355885e-04 -1.14740822e+01] [-5.60665998e-03 1.19838701e-04 9.99984275e-01 -7.57358507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.901346184 meters 0.06791171650890467 Centerline is valid? [True, True] Translation: X:193.29, Y:-11.48, Z:-7.58 [[ 9.99966687e-01 -5.49932594e-03 6.03174363e-03 1.93293971e+02] [ 5.50023685e-03 9.99984865e-01 -1.34441663e-04 -1.14761565e+01] [-6.03091300e-03 1.67613203e-04 9.99981800e-01 -7.57547343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96134618399998 meters 0.06916839388829459 Centerline is valid? [True, True] Translation: X:193.35, Y:-11.48, Z:-7.58 [[ 9.99899158e-01 -1.24540705e-02 6.82420355e-03 1.93354829e+02] [ 1.24553998e-02 9.99922417e-01 -1.52316817e-04 -1.14804571e+01] [-6.82177714e-03 2.37299640e-04 9.99976703e-01 -7.57737699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02134618399998 meters 0.07016448524965233 Centerline is valid? [True, True] Translation: X:193.42, Y:-11.48, Z:-7.58 [[ 9.99907491e-01 -1.28817471e-02 4.36688493e-03 1.93415602e+02] [ 1.28822892e-02 9.99917015e-01 -9.60326937e-05 -1.14805999e+01] [-4.36528547e-03 1.52279284e-04 9.99990461e-01 -7.58297723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08134618399998 meters 0.068425916858354 Centerline is valid? [True, True] Translation: X:193.48, Y:-11.47, Z:-7.59 [[ 9.99965075e-01 -6.48809022e-03 5.26807460e-03 1.93476503e+02] [ 6.48880107e-03 9.99978941e-01 -1.17853511e-04 -1.14655968e+01] [-5.26719901e-03 1.52032883e-04 9.99986117e-01 -7.58522324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14134618399999 meters 0.06761430332618493 Centerline is valid? [True, True] Translation: X:193.54, Y:-11.45, Z:-7.59 [[ 9.99994982e-01 -1.68176380e-03 2.68466046e-03 1.93539346e+02] [ 1.68192313e-03 9.99998584e-01 -5.70914329e-05 -1.14549882e+01] [-2.68456064e-03 6.16065390e-05 9.99996395e-01 -7.58884446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.201346184 meters 0.06742281378573116 Centerline is valid? [True, True] Translation: X:193.60, Y:-11.45, Z:-7.59 [[ 9.99997375e-01 1.37328973e-03 1.83404890e-03 1.93601300e+02] [-1.37321972e-03 9.99999056e-01 -3.94331480e-05 -1.14476724e+01] [-1.83410132e-03 3.69144924e-05 9.99998317e-01 -7.59327368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.261346184 meters 0.06769924647337867 Centerline is valid? [True, True] Translation: X:193.66, Y:-11.44, Z:-7.60 [[ 9.99999927e-01 3.43015891e-04 -1.65660106e-04 1.93662212e+02] [-3.43015154e-04 9.99999941e-01 4.47511629e-06 -1.14417082e+01] [ 1.65661631e-04 -4.41829203e-06 9.99999986e-01 -7.59740980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.321346184 meters 0.0680273973421276 Centerline is valid? [True, True] Translation: X:193.72, Y:-11.44, Z:-7.60 [[ 9.99996855e-01 -9.80537926e-04 2.30852147e-03 1.93722264e+02] [ 9.80661404e-04 9.99999518e-01 -5.23566557e-05 -1.14369443e+01] [-2.30846902e-03 5.46203690e-05 9.99997334e-01 -7.59858520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.381346184 meters 0.06744902343093052 Centerline is valid? [True, True] Translation: X:193.78, Y:-11.43, Z:-7.60 [[ 9.99997959e-01 -1.33597321e-03 1.51569810e-03 1.93784946e+02] [ 1.33602263e-03 9.99999107e-01 -3.15914374e-05 -1.14287310e+01] [-1.51565455e-03 3.36163798e-05 9.99998851e-01 -7.59710024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.441346184 meters 0.06800825193053672 Centerline is valid? [True, True] Translation: X:193.85, Y:-11.42, Z:-7.60 [[ 9.99999424e-01 6.53258282e-04 -8.51699254e-04 1.93846335e+02] [-6.53240141e-04 9.99999786e-01 2.15785551e-05 -1.14232450e+01] [ 8.51713168e-04 -2.10221786e-05 9.99999637e-01 -7.60498360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.501346184 meters 0.06868043711985776 Centerline is valid? [True, True] Translation: X:193.91, Y:-11.42, Z:-7.61 [[ 9.99994712e-01 2.37808865e-03 -2.21816968e-03 1.93905488e+02] [-2.37798385e-03 9.99997171e-01 4.98842697e-05 -1.14195677e+01] [ 2.21828204e-03 -4.46092342e-05 9.99997539e-01 -7.61232801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.561346184 meters 0.06796336254020226 Centerline is valid? [True, True] Translation: X:193.96, Y:-11.40, Z:-7.61 [[ 9.99988710e-01 3.26288024e-03 -3.45462640e-03 1.93964408e+02] [-3.26263840e-03 9.99994675e-01 7.56380375e-05 -1.14049419e+01] [ 3.45485480e-03 -6.43659868e-05 9.99994030e-01 -7.61032222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.621346184 meters 0.0680099438038012 Centerline is valid? [True, True] Translation: X:194.02, Y:-11.40, Z:-7.61 [[ 9.99995413e-01 1.60701393e-03 -2.56732429e-03 1.94022887e+02] [-1.60687728e-03 9.99998707e-01 5.52906415e-05 -1.14028656e+01] [ 2.56740982e-03 -5.11650129e-05 9.99996703e-01 -7.61185959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68134618399998 meters 0.0684092985278853 Centerline is valid? [True, True] Translation: X:194.08, Y:-11.40, Z:-7.61 [[ 9.99995405e-01 -1.71028800e-03 -2.50298805e-03 1.94082431e+02] [ 1.71043142e-03 9.99998536e-01 5.51597838e-05 -1.13954436e+01] [ 2.50289005e-03 -5.94407198e-05 9.99996866e-01 -7.61280783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74134618399998 meters 0.06967688764892199 Centerline is valid? [True, True] Translation: X:194.14, Y:-11.39, Z:-7.62 [[ 9.99989237e-01 -4.00292191e-03 -2.34570433e-03 1.94141850e+02] [ 4.00305556e-03 9.99991986e-01 5.22842477e-05 -1.13946539e+01] [ 2.34547624e-03 -6.16736696e-05 9.99997247e-01 -7.61975634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80134618399998 meters 0.06923243614035153 Centerline is valid? [True, True] Translation: X:194.20, Y:-11.39, Z:-7.62 [[ 9.99990683e-01 -4.31056393e-03 -2.28546560e-04 1.94202230e+02] [ 4.31056506e-03 9.99990709e-01 4.47631830e-06 -1.13884470e+01] [ 2.28525141e-04 -5.46144141e-06 9.99999974e-01 -7.61937261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86134618399998 meters 0.06752791758072128 Centerline is valid? [True, True] Translation: X:194.26, Y:-11.37, Z:-7.61 [[ 9.99989866e-01 -2.23686367e-03 3.90700913e-03 1.94263689e+02] [ 2.23722272e-03 9.99997494e-01 -8.75325478e-05 -1.13718078e+01] [-3.90680354e-03 9.62725103e-05 9.99992364e-01 -7.61322770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.921346184 meters 0.06801209046068608 Centerline is valid? [True, True] Translation: X:194.32, Y:-11.37, Z:-7.62 [[ 9.99989890e-01 -1.63444127e-03 4.18917254e-03 1.94324505e+02] [ 1.63484414e-03 9.99998659e-01 -9.27474276e-05 -1.13722483e+01] [-4.18901533e-03 9.95951340e-05 9.99991221e-01 -7.61828977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.981346184 meters 0.0670711924603445 Centerline is valid? [True, True] Translation: X:194.39, Y:-11.36, Z:-7.62 [[ 9.99983369e-01 1.26649056e-03 5.62657089e-03 1.94386101e+02] [-1.26580038e-03 9.99999191e-01 -1.26223213e-04 -1.13612852e+01] [-5.62672620e-03 1.19098999e-04 9.99984163e-01 -7.62040007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.041346184 meters 0.06733429066606368 Centerline is valid? [True, True] Translation: X:194.45, Y:-11.36, Z:-7.62 [[ 9.99986775e-01 8.08696247e-04 5.07902782e-03 1.94448652e+02] [-8.08163597e-04 9.99999668e-01 -1.06923956e-04 -1.13581773e+01] [-5.07911260e-03 1.02817856e-04 9.99987096e-01 -7.62420592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.101346184 meters 0.06861229399217872 Centerline is valid? [True, True] Translation: X:194.51, Y:-11.35, Z:-7.63 [[ 9.99986793e-01 -3.37434083e-03 3.87647215e-03 1.94508857e+02] [ 3.37471095e-03 9.99994302e-01 -8.89400014e-05 -1.13516722e+01] [-3.87614995e-03 1.02020800e-04 9.99992482e-01 -7.62634338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.161346184 meters 0.06983906461881231 Centerline is valid? [True, True] Translation: X:194.57, Y:-11.36, Z:-7.63 [[ 9.99975657e-01 -6.34737684e-03 2.89758781e-03 1.94570333e+02] [ 6.34757325e-03 9.99979852e-01 -5.85897266e-05 -1.13557066e+01] [-2.89715754e-03 7.69809512e-05 9.99995800e-01 -7.63287629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.221346184 meters 0.06899103756975553 Centerline is valid? [True, True] Translation: X:194.63, Y:-11.35, Z:-7.63 [[ 9.99963219e-01 -7.67409182e-03 3.83001998e-03 1.94632939e+02] [ 7.67447852e-03 9.99970547e-01 -8.62781134e-05 -1.13472446e+01] [-3.82924507e-03 1.15668346e-04 9.99992662e-01 -7.63181645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.281346184 meters 0.06864214672989455 Centerline is valid? [True, True] Translation: X:194.69, Y:-11.34, Z:-7.63 [[ 9.99962714e-01 -7.11111891e-03 4.89919161e-03 1.94694887e+02] [ 7.11175051e-03 9.99974705e-01 -1.11511755e-04 -1.13413439e+01] [-4.89827471e-03 1.46349426e-04 9.99987993e-01 -7.63247948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.341346184 meters 0.069020737652285 Centerline is valid? [True, True] Translation: X:194.76, Y:-11.33, Z:-7.64 [[ 9.99952960e-01 -9.29039106e-03 2.78666475e-03 1.94756267e+02] [ 9.29060471e-03 9.99956839e-01 -6.37335231e-05 -1.13343962e+01] [-2.78595236e-03 8.96203258e-05 9.99996115e-01 -7.63519738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.401346184 meters 0.06850959379363629 Centerline is valid? [True, True] Translation: X:194.82, Y:-11.33, Z:-7.64 [[ 9.99948435e-01 -9.88107411e-03 2.34339988e-03 1.94818521e+02] [ 9.88122336e-03 9.99951178e-01 -5.21174262e-05 -1.13269692e+01] [-2.34277049e-03 7.52703964e-05 9.99997253e-01 -7.63780792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46134618399998 meters 0.07007319946976948 Centerline is valid? [True, True] Translation: X:194.88, Y:-11.32, Z:-7.65 [[ 9.99954180e-01 -8.67527631e-03 4.04698049e-03 1.94878749e+02] [ 8.67572873e-03 9.99962361e-01 -9.42495295e-05 -1.13222123e+01] [-4.04601052e-03 1.29355716e-04 9.99991806e-01 -7.64503736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52134618399998 meters 0.06783834431839049 Centerline is valid? [True, True] Translation: X:194.94, Y:-11.30, Z:-7.64 [[ 9.99929059e-01 -9.45150578e-03 7.24892036e-03 1.94941168e+02] [ 9.45297052e-03 9.99955306e-01 -1.67826414e-04 -1.13047503e+01] [-7.24701016e-03 2.36338339e-04 9.99973712e-01 -7.64225370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58134618399998 meters 0.06937019086676113 Centerline is valid? [True, True] Translation: X:195.00, Y:-11.31, Z:-7.65 [[ 9.99874622e-01 -1.39802153e-02 7.43604275e-03 1.95002427e+02] [ 1.39818948e-02 9.99902233e-01 -1.73920209e-04 -1.13060048e+01] [-7.43288431e-03 2.77868371e-04 9.99972337e-01 -7.64863687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64134618399999 meters 0.07085809723097561 Centerline is valid? [True, True] Translation: X:195.06, Y:-11.30, Z:-7.65 [[ 9.99746954e-01 -2.07256649e-02 8.74500097e-03 1.95063826e+02] [ 2.07282509e-02 9.99785126e-01 -2.05170989e-04 -1.13001993e+01] [-8.73886959e-03 3.86387645e-04 9.99961741e-01 -7.65024938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.701346184 meters 0.07198451102605426 Centerline is valid? [True, True] Translation: X:195.13, Y:-11.29, Z:-7.65 [[ 9.99705983e-01 -2.25476570e-02 8.91912026e-03 1.95126122e+02] [ 2.25504126e-02 9.99745685e-01 -2.08498682e-04 -1.12944069e+01] [-8.91215084e-03 4.09567222e-04 9.99960202e-01 -7.65387501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.761346184 meters 0.0726922427628372 Centerline is valid? [True, True] Translation: X:195.19, Y:-11.28, Z:-7.66 [[ 9.99721840e-01 -2.19116335e-02 8.72480472e-03 1.95188114e+02] [ 2.19142115e-02 9.99759835e-01 -1.99982199e-04 -1.12786369e+01] [-8.71832739e-03 3.91123788e-04 9.99961918e-01 -7.65712272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.821346184 meters 0.07305165207277683 Centerline is valid? [True, True] Translation: X:195.25, Y:-11.27, Z:-7.66 [[ 9.99747088e-01 -2.14266888e-02 6.83061115e-03 1.95250311e+02] [ 2.14282894e-02 9.99770375e-01 -1.61223534e-04 -1.12702701e+01] [-6.82558819e-03 3.07551071e-04 9.99976658e-01 -7.66366695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.881346184 meters 0.0730886817269179 Centerline is valid? [True, True] Translation: X:195.31, Y:-11.25, Z:-7.67 [[ 9.99763630e-01 -2.10951693e-02 5.26102582e-03 1.95312905e+02] [ 2.10961130e-02 9.99777445e-01 -1.23951158e-04 -1.12528397e+01] [-5.25724018e-03 2.34909055e-04 9.99986153e-01 -7.66817644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.941346184 meters 0.07307906735178703 Centerline is valid? [True, True] Translation: X:195.38, Y:-11.24, Z:-7.67 [[ 9.99792361e-01 -1.98480990e-02 4.61381422e-03 1.95375261e+02] [ 1.98488117e-02 9.99802987e-01 -1.08727689e-04 -1.12398017e+01] [-4.61074720e-03 2.00283843e-04 9.99989350e-01 -7.67133701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.001346184 meters 0.07352532832948838 Centerline is valid? [True, True] Translation: X:195.44, Y:-11.22, Z:-7.67 [[ 9.99830507e-01 -1.72213381e-02 6.51025264e-03 1.95435580e+02] [ 1.72227256e-02 9.99851666e-01 -1.57114090e-04 -1.12206062e+01] [-6.50658123e-03 2.69211755e-04 9.99978796e-01 -7.67380462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.061346184 meters 0.07064833874963361 Centerline is valid? [True, True] Translation: X:195.50, Y:-11.20, Z:-7.67 [[ 9.99863486e-01 -1.43369788e-02 8.21343199e-03 1.95497428e+02] [ 1.43390816e-02 9.99897171e-01 -1.97190206e-04 -1.11965788e+01] [-8.20976029e-03 3.14936359e-04 9.99966250e-01 -7.67242161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.121346184 meters 0.07111351584904745 Centerline is valid? [True, True] Translation: X:195.56, Y:-11.19, Z:-7.68 [[ 9.99864315e-01 -1.44061567e-02 7.98836408e-03 1.95560051e+02] [ 1.44081416e-02 9.99896179e-01 -1.90983076e-04 -1.11885943e+01] [-7.98478339e-03 3.06054644e-04 9.99968074e-01 -7.67639714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18134618399998 meters 0.07212845157039251 Centerline is valid? [True, True] Translation: X:195.62, Y:-11.17, Z:-7.68 [[ 9.99823776e-01 -1.54484579e-02 1.06659671e-02 1.95622415e+02] [ 1.54520740e-02 9.99880577e-01 -2.56698087e-04 -1.11702898e+01] [-1.06607278e-02 4.21464164e-04 9.99943084e-01 -7.67580425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24134618399998 meters 0.07280080037562393 Centerline is valid? [True, True] Translation: X:195.69, Y:-11.16, Z:-7.68 [[ 9.99825662e-01 -1.55266439e-02 1.03715123e-02 1.95685042e+02] [ 1.55300742e-02 9.99879370e-01 -2.50286300e-04 -1.11616029e+01] [-1.03663751e-02 4.11313022e-04 9.99946183e-01 -7.67948506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30134618399998 meters 0.07843758100420117 Centerline is valid? [True, True] Translation: X:195.75, Y:-11.16, Z:-7.69 [[ 9.99822156e-01 -1.67572125e-02 8.65176737e-03 1.95745450e+02] [ 1.67596558e-02 9.99859525e-01 -2.09976979e-04 -1.11611739e+01] [-8.64703338e-03 3.54940279e-04 9.99962551e-01 -7.69318522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36134618399998 meters 0.07727718654937268 Centerline is valid? [True, True] Translation: X:195.81, Y:-11.15, Z:-7.69 [[ 9.99783026e-01 -1.87695843e-02 9.03343975e-03 1.95808031e+02] [ 1.87723253e-02 9.99823760e-01 -2.18728687e-04 -1.11463188e+01] [-9.02774225e-03 3.88259898e-04 9.99959174e-01 -7.69136648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.421346184 meters 0.07795553080332811 Centerline is valid? [True, True] Translation: X:195.87, Y:-11.15, Z:-7.69 [[ 9.99662183e-01 -2.44492193e-02 8.81786260e-03 1.95868477e+02] [ 2.44520720e-02 9.99700980e-01 -2.15827835e-04 -1.11483891e+01] [-8.80994907e-03 4.31369936e-04 9.99961099e-01 -7.69245703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.481346184 meters 0.08232791290003193 Centerline is valid? [True, True] Translation: X:195.93, Y:-11.16, Z:-7.70 [[ 9.99569409e-01 -2.90304372e-02 4.26960697e-03 1.95927755e+02] [ 2.90311465e-02 9.99578502e-01 -1.04222814e-04 -1.11617370e+01] [-4.26478171e-03 2.28129522e-04 9.99990880e-01 -7.70422557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.541346184 meters 0.08419619679435274 Centerline is valid? [True, True] Translation: X:195.99, Y:-11.17, Z:-7.71 [[ 9.99483290e-01 -3.19494772e-02 3.51906656e-03 1.95989113e+02] [ 3.19499743e-02 9.99489466e-01 -8.51026916e-05 -1.11653887e+01] [-3.51455097e-03 1.97492804e-04 9.99993804e-01 -7.70737461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.601346184 meters 0.0825675039103729 Centerline is valid? [True, True] Translation: X:196.05, Y:-11.16, Z:-7.71 [[ 9.99449368e-01 -3.30486086e-02 2.95822467e-03 1.96051068e+02] [ 3.30489559e-02 9.99453732e-01 -6.85648908e-05 -1.11624596e+01] [-2.95434271e-03 1.66293373e-04 9.99995622e-01 -7.70637857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.661346184 meters 0.08297410534372636 Centerline is valid? [True, True] Translation: X:196.11, Y:-11.17, Z:-7.72 [[ 9.99577214e-01 -2.90570733e-02 1.03867577e-03 1.96111009e+02] [ 2.90571117e-02 9.99577753e-01 -2.19081224e-05 -1.11653748e+01] [-1.03760061e-03 5.20797778e-05 9.99999460e-01 -7.71514602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.721346184 meters 0.08239649916821791 Centerline is valid? [True, True] Translation: X:196.17, Y:-11.16, Z:-7.72 [[ 9.99657921e-01 -2.61486386e-02 -5.38840447e-04 1.96172054e+02] [ 2.61486503e-02 9.99658065e-01 1.45883579e-05 -1.11638537e+01] [ 5.38274733e-04 -2.86733179e-05 9.99999855e-01 -7.71922722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.781346184 meters 0.08039700612194167 Centerline is valid? [True, True] Translation: X:196.23, Y:-11.16, Z:-7.72 [[ 9.99745383e-01 -2.25195239e-02 -1.42858724e-03 1.96233314e+02] [ 2.25195993e-02 9.99746401e-01 3.67077667e-05 -1.11581706e+01] [ 1.42739831e-03 -6.88696324e-05 9.99998979e-01 -7.72034403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.841346184 meters 0.08154321655106758 Centerline is valid? [True, True] Translation: X:196.29, Y:-11.16, Z:-7.72 [[ 9.99761243e-01 -2.18158520e-02 -1.23493979e-03 1.96293948e+02] [ 2.18159088e-02 9.99762004e-01 3.25523323e-05 -1.11619773e+01] [ 1.23393573e-03 -5.94858941e-05 9.99999237e-01 -7.72460502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.901346184 meters 0.07949632525481645 Centerline is valid? [True, True] Translation: X:196.36, Y:-11.16, Z:-7.73 [[ 9.99840144e-01 -1.77479802e-02 -2.16671365e-03 1.96355321e+02] [ 1.77481414e-02 9.99842488e-01 5.51848821e-05 -1.11564700e+01] [ 2.16539294e-03 -9.36312006e-05 9.99997651e-01 -7.72742496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96134618399998 meters 0.07919633013102784 Centerline is valid? [True, True] Translation: X:196.42, Y:-11.16, Z:-7.73 [[ 9.99870863e-01 -1.56882265e-02 -3.48369313e-03 1.96417558e+02] [ 1.56886331e-02 9.99876922e-01 8.94064946e-05 -1.11594213e+01] [ 3.48186174e-03 -1.44049332e-04 9.99993928e-01 -7.73315931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02134618399998 meters 0.07690825062941184 Centerline is valid? [True, True] Translation: X:196.48, Y:-11.16, Z:-7.73 [[ 9.99892670e-01 -1.45536623e-02 -1.68492696e-03 1.96478989e+02] [ 1.45537561e-02 9.99894088e-01 4.34002184e-05 -1.11555065e+01] [ 1.68411687e-03 -6.79175763e-05 9.99998580e-01 -7.73155282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08134618399998 meters 0.0824072353547176 Centerline is valid? [True, True] Translation: X:196.54, Y:-11.17, Z:-7.74 [[ 9.99821163e-01 -1.86692531e-02 -3.01691112e-03 1.96538331e+02] [ 1.86695642e-02 9.99825706e-01 7.49882551e-05 -1.11700043e+01] [ 3.01498531e-03 -1.31299260e-04 9.99995446e-01 -7.74180849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14134618399999 meters 0.08075748657663441 Centerline is valid? [True, True] Translation: X:196.60, Y:-11.17, Z:-7.74 [[ 9.99754779e-01 -2.16159410e-02 -4.80964043e-03 1.96599285e+02] [ 2.16167723e-02 9.99766323e-01 1.20916911e-04 -1.11704191e+01] [ 4.80590280e-03 -2.24856162e-04 9.99988426e-01 -7.74016524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.201346184 meters 0.08097953972310598 Centerline is valid? [True, True] Translation: X:196.66, Y:-11.18, Z:-7.74 [[ 9.99727716e-01 -2.28235524e-02 -4.85580307e-03 1.96661179e+02] [ 2.28244246e-02 9.99739481e-01 1.24282848e-04 -1.11779472e+01] [ 4.85170147e-03 -2.35079919e-04 9.99988203e-01 -7.74418459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.261346184 meters 0.07915688784110228 Centerline is valid? [True, True] Translation: X:196.72, Y:-11.18, Z:-7.74 [[ 9.99763938e-01 -2.15345321e-02 -2.88671040e-03 1.96723080e+02] [ 2.15348367e-02 9.99768096e-01 7.44591575e-05 -1.11761919e+01] [ 2.88443751e-03 -1.36606417e-04 9.99995831e-01 -7.74274562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.321346184 meters 0.07726701050907406 Centerline is valid? [True, True] Translation: X:196.78, Y:-11.17, Z:-7.74 [[ 9.99870717e-01 -1.60633305e-02 -7.20783530e-04 1.96783121e+02] [ 1.60633477e-02 9.99870976e-01 1.80867289e-05 -1.11737236e+01] [ 7.20399998e-04 -2.96625870e-05 9.99999740e-01 -7.74486895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.381346184 meters 0.07603761006778888 Centerline is valid? [True, True] Translation: X:196.84, Y:-11.17, Z:-7.75 [[ 9.99912197e-01 -1.32403638e-02 5.39270800e-04 1.96844386e+02] [ 1.32403727e-02 9.99912342e-01 -1.29382668e-05 -1.11698537e+01] [-5.39052222e-04 2.00772772e-05 9.99999855e-01 -7.74560625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.441346184 meters 0.07640834696054295 Centerline is valid? [True, True] Translation: X:196.91, Y:-11.17, Z:-7.75 [[ 9.99881026e-01 -1.53952260e-02 9.59631737e-04 1.96906503e+02] [ 1.53952539e-02 9.99881486e-01 -2.16656100e-05 -1.11716678e+01] [-9.59184460e-04 3.64368065e-05 9.99999539e-01 -7.74669647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.501346184 meters 0.08046605235393751 Centerline is valid? [True, True] Translation: X:196.97, Y:-11.18, Z:-7.76 [[ 9.99853857e-01 -1.70957389e-02 1.56403854e-05 1.96966672e+02] [ 1.70957389e-02 9.99853857e-01 8.49682050e-07 -1.11826246e+01] [-1.56526258e-05 -5.82173926e-07 1.00000000e+00 -7.75642885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.561346184 meters 0.07753073306162463 Centerline is valid? [True, True] Translation: X:197.03, Y:-11.18, Z:-7.75 [[ 9.99863016e-01 -1.65511403e-02 9.52731813e-05 1.97028946e+02] [ 1.65511404e-02 9.99863020e-01 7.79685590e-08 -1.11760063e+01] [-9.52614214e-05 1.49892192e-06 9.99999995e-01 -7.75413723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.621346184 meters 0.07710828511277218 Centerline is valid? [True, True] Translation: X:197.09, Y:-11.17, Z:-7.75 [[ 9.99888357e-01 -1.48941644e-02 1.19860566e-03 1.97090559e+02] [ 1.48942100e-02 9.99889075e-01 -2.91519147e-05 -1.11738294e+01] [-1.19803852e-03 4.70009446e-05 9.99999281e-01 -7.75491849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68134618399998 meters 0.07703218238221313 Centerline is valid? [True, True] Translation: X:197.15, Y:-11.17, Z:-7.76 [[ 9.99907395e-01 -1.36064621e-02 2.55725724e-04 1.97153149e+02] [ 1.36064636e-02 9.99907428e-01 -4.06654833e-06 -1.11706675e+01] [-2.55646719e-04 7.54569451e-06 9.99999967e-01 -7.75768538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74134618399998 meters 0.0790471117615871 Centerline is valid? [True, True] Translation: X:197.21, Y:-11.18, Z:-7.76 [[ 9.99902465e-01 -1.39589146e-02 4.58300849e-04 1.97214493e+02] [ 1.39589206e-02 9.99902569e-01 -9.87088349e-06 -1.11751785e+01] [-4.58118410e-04 1.62673059e-05 9.99999895e-01 -7.76385217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80134618399998 meters 0.07728231206698664 Centerline is valid? [True, True] Translation: X:197.28, Y:-11.17, Z:-7.76 [[ 9.99865559e-01 -1.62677153e-02 2.05581099e-03 1.97276887e+02] [ 1.62678524e-02 9.99867668e-01 -5.00071308e-05 -1.11705140e+01] [-2.05472544e-03 8.34440376e-05 9.99997886e-01 -7.75982879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86134618399998 meters 0.07861316386454169 Centerline is valid? [True, True] Translation: X:197.34, Y:-11.17, Z:-7.76 [[ 9.99858912e-01 -1.58672247e-02 5.51255348e-03 1.97337033e+02] [ 1.58682244e-02 9.99874082e-01 -1.37650413e-04 -1.11714742e+01] [-5.50967522e-03 2.25105428e-04 9.99984796e-01 -7.76217225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.921346184 meters 0.07637169127923547 Centerline is valid? [True, True] Translation: X:197.40, Y:-11.17, Z:-7.76 [[ 9.99865170e-01 -1.45345541e-02 7.64122383e-03 1.97398740e+02] [ 1.45364674e-02 9.99894321e-01 -1.94904957e-04 -1.11684412e+01] [-7.63758346e-03 3.05955079e-04 9.99970786e-01 -7.76112455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.981346184 meters 0.07509750278135888 Centerline is valid? [True, True] Translation: X:197.46, Y:-11.16, Z:-7.76 [[ 9.99892108e-01 -1.13924951e-02 9.27268445e-03 1.97458906e+02] [ 1.13951916e-02 9.99935044e-01 -2.38011894e-04 -1.11613591e+01] [-9.26937059e-03 3.43650230e-04 9.99956979e-01 -7.76107984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.041346184 meters 0.07530239042670751 Centerline is valid? [True, True] Translation: X:197.52, Y:-11.16, Z:-7.76 [[ 9.99893611e-01 -8.57011238e-03 1.18034067e-02 1.97519366e+02] [ 8.57428524e-03 9.99963194e-01 -3.02970645e-04 -1.11563039e+01] [-1.18003758e-02 4.04144188e-04 9.99930291e-01 -7.76102214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.101346184 meters 0.07275037221468979 Centerline is valid? [True, True] Translation: X:197.58, Y:-11.15, Z:-7.76 [[ 9.99859356e-01 -7.87496742e-03 1.48071729e-02 1.97580778e+02] [ 7.88144775e-03 9.99968869e-01 -3.79344216e-04 -1.11505293e+01] [-1.48037246e-02 4.95992823e-04 9.99890296e-01 -7.75807013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.161346184 meters 0.07292721765627692 Centerline is valid? [True, True] Translation: X:197.64, Y:-11.16, Z:-7.76 [[ 9.99827509e-01 -9.81700749e-03 1.57663510e-02 1.97643242e+02] [ 9.82453802e-03 9.99951658e-01 -4.00249231e-04 -1.11555989e+01] [-1.57616596e-02 5.55077307e-04 9.99875623e-01 -7.76127417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.221346184 meters 0.07406078791437787 Centerline is valid? [True, True] Translation: X:197.70, Y:-11.16, Z:-7.77 [[ 9.99836292e-01 -1.18865306e-02 1.36418377e-02 1.97704303e+02] [ 1.18924525e-02 9.99929220e-01 -3.53056594e-04 -1.11579896e+01] [-1.36366755e-02 5.15233702e-04 9.99906883e-01 -7.76562706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.281346184 meters 0.07490874928095642 Centerline is valid? [True, True] Translation: X:197.77, Y:-11.16, Z:-7.77 [[ 9.99795727e-01 -1.34835634e-02 1.50565014e-02 1.97766507e+02] [ 1.34909026e-02 9.99908919e-01 -3.85977664e-04 -1.11645599e+01] [-1.50499256e-02 5.89024613e-04 9.99886570e-01 -7.76659056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.341346184 meters 0.07374634033059496 Centerline is valid? [True, True] Translation: X:197.83, Y:-11.16, Z:-7.77 [[ 9.99794944e-01 -1.22217964e-02 1.61461399e-02 1.97828475e+02] [ 1.22301417e-02 9.99925122e-01 -4.18220899e-04 -1.11646503e+01] [-1.61398194e-02 6.15604719e-04 9.99869555e-01 -7.76749892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.401346184 meters 0.07353714299441025 Centerline is valid? [True, True] Translation: X:197.89, Y:-11.16, Z:-7.77 [[ 9.99815070e-01 -1.05026835e-02 1.61095796e-02 1.97890480e+02] [ 1.05108300e-02 9.99944671e-01 -4.21106466e-04 -1.11644137e+01] [-1.61042655e-02 5.90353643e-04 9.99870144e-01 -7.76866081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46134618399998 meters 0.07379968279111494 Centerline is valid? [True, True] Translation: X:197.95, Y:-11.17, Z:-7.77 [[ 9.99806549e-01 -1.25053237e-02 1.51815868e-02 1.97952491e+02] [ 1.25128892e-02 9.99921629e-01 -4.03447096e-04 -1.11668601e+01] [-1.51753518e-02 5.93334562e-04 9.99884672e-01 -7.77065238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52134618399998 meters 0.07798726948711818 Centerline is valid? [True, True] Translation: X:198.01, Y:-11.18, Z:-7.78 [[ 9.99743828e-01 -1.70918883e-02 1.48373131e-02 1.98011930e+02] [ 1.70996548e-02 9.99853712e-01 -3.96733920e-04 -1.11806840e+01] [-1.48283617e-02 6.50345221e-04 9.99889842e-01 -7.77643831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58134618399998 meters 0.07958518355414504 Centerline is valid? [True, True] Translation: X:198.07, Y:-11.19, Z:-7.78 [[ 9.99614559e-01 -2.37969053e-02 1.42982596e-02 1.98073015e+02] [ 2.38047941e-02 9.99716553e-01 -3.81768019e-04 -1.11881482e+01] [-1.42851219e-02 7.21987996e-04 9.99897702e-01 -7.77751470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64134618399999 meters 0.08178943028952906 Centerline is valid? [True, True] Translation: X:198.13, Y:-11.20, Z:-7.78 [[ 9.99517416e-01 -2.70911172e-02 1.51989162e-02 1.98133392e+02] [ 2.71004202e-02 9.99632634e-01 -4.06418780e-04 -1.11975268e+01] [-1.51823223e-02 8.18119664e-04 9.99884407e-01 -7.77981877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.701346184 meters 0.0892097969081347 Centerline is valid? [True, True] Translation: X:198.19, Y:-11.22, Z:-7.79 [[ 9.99433115e-01 -3.13426263e-02 1.22918045e-02 1.98192546e+02] [ 3.13490395e-02 9.99508444e-01 -3.29372517e-04 -1.12152131e+01] [-1.22754390e-02 7.14522064e-04 9.99924399e-01 -7.78736402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.761346184 meters 0.08620435659804952 Centerline is valid? [True, True] Translation: X:198.26, Y:-11.21, Z:-7.79 [[ 9.99384881e-01 -3.26719979e-02 1.27436577e-02 1.98255117e+02] [ 3.26789751e-02 9.99465842e-01 -3.39602116e-04 -1.12135506e+01] [-1.27257551e-02 7.55842892e-04 9.99918739e-01 -7.78620698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.821346184 meters 0.08460031454477626 Centerline is valid? [True, True] Translation: X:198.32, Y:-11.22, Z:-7.79 [[ 9.99263948e-01 -3.66450347e-02 1.13448014e-02 1.98315132e+02] [ 3.66508470e-02 9.99328086e-01 -3.04781015e-04 -1.12183554e+01] [-1.13260100e-02 7.20353262e-04 9.99935599e-01 -7.78719218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.881346184 meters 0.08586197113866736 Centerline is valid? [True, True] Translation: X:198.38, Y:-11.22, Z:-7.79 [[ 9.99347036e-01 -3.49178265e-02 9.28693683e-03 1.98376194e+02] [ 3.49216086e-02 9.99390024e-01 -2.45345644e-04 -1.12231352e+01] [-9.27270509e-03 5.69500215e-04 9.99956845e-01 -7.79172802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.941346184 meters 0.08450683272379167 Centerline is valid? [True, True] Translation: X:198.44, Y:-11.22, Z:-7.79 [[ 9.99514524e-01 -3.00429484e-02 8.25452095e-03 1.98436835e+02] [ 3.00458061e-02 9.99548498e-01 -2.22379772e-04 -1.12214263e+01] [-8.24411307e-03 4.70285548e-04 9.99965906e-01 -7.79468049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.001346184 meters 0.08193376768180717 Centerline is valid? [True, True] Translation: X:198.50, Y:-11.22, Z:-7.80 [[ 9.99605960e-01 -2.65905631e-02 8.99253738e-03 1.98497722e+02] [ 2.65938134e-02 9.99646293e-01 -2.42046475e-04 -1.12203045e+01] [-8.98292050e-03 4.81096960e-04 9.99959537e-01 -7.79505197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.061346184 meters 0.07924123905519899 Centerline is valid? [True, True] Translation: X:198.56, Y:-11.21, Z:-7.80 [[ 9.99834247e-01 -1.69908615e-02 6.54134905e-03 1.98557571e+02] [ 1.69923773e-02 9.99855604e-01 -1.76218823e-04 -1.12148818e+01] [-6.53741039e-03 2.87342686e-04 9.99978590e-01 -7.80118275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.121346184 meters 0.07623827902591052 Centerline is valid? [True, True] Translation: X:198.62, Y:-11.21, Z:-7.80 [[ 9.99908169e-01 -1.01843810e-02 8.94049887e-03 1.98618467e+02] [ 1.01869458e-02 9.99948083e-01 -2.41385493e-04 -1.12052304e+01] [-8.93757634e-03 3.32439704e-04 9.99960004e-01 -7.80100467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18134618399998 meters 0.0747447469754967 Centerline is valid? [True, True] Translation: X:198.68, Y:-11.20, Z:-7.80 [[ 9.99950599e-01 -6.73194136e-03 7.31308688e-03 1.98680707e+02] [ 6.73355047e-03 9.99977310e-01 -1.95431063e-04 -1.11990618e+01] [-7.31160532e-03 2.44664448e-04 9.99973240e-01 -7.80393566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24134618399998 meters 0.07567917536514167 Centerline is valid? [True, True] Translation: X:198.74, Y:-11.20, Z:-7.81 [[ 9.99954253e-01 -4.56337605e-03 8.40643283e-03 1.98740589e+02] [ 4.56544558e-03 9.99989553e-01 -2.27011413e-04 -1.12032408e+01] [-8.40530907e-03 2.65380139e-04 9.99964640e-01 -7.81148512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30134618399998 meters 0.07461301315728476 Centerline is valid? [True, True] Translation: X:198.80, Y:-11.20, Z:-7.81 [[ 9.99934799e-01 -6.65565357e-03 9.27897050e-03 1.98803111e+02] [ 6.65825356e-03 9.99977803e-01 -2.49338711e-04 -1.12012812e+01] [-9.27710502e-03 3.11104193e-04 9.99956918e-01 -7.81052598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36134618399998 meters 0.07823089522121461 Centerline is valid? [True, True] Translation: X:198.86, Y:-11.21, Z:-7.81 [[ 9.99886107e-01 -9.26075245e-03 1.19168435e-02 1.98863997e+02] [ 9.26519927e-03 9.99957027e-01 -3.17998731e-04 -1.12092236e+01] [-1.19133865e-02 4.28374443e-04 9.99928941e-01 -7.81479322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.421346184 meters 0.07668419716699303 Centerline is valid? [True, True] Translation: X:198.93, Y:-11.20, Z:-7.81 [[ 9.99888793e-01 -9.17630882e-03 1.17557328e-02 1.98927814e+02] [ 9.18069497e-03 9.99957806e-01 -3.19195604e-04 -1.11992470e+01] [-1.17523077e-02 4.27085904e-04 9.99930848e-01 -7.81306920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.481346184 meters 0.07688290271176325 Centerline is valid? [True, True] Translation: X:198.99, Y:-11.20, Z:-7.82 [[ 9.99878677e-01 -9.32585048e-03 1.24763941e-02 1.98990179e+02] [ 9.33083168e-03 9.99956409e-01 -3.41098286e-04 -1.11984600e+01] [-1.24726692e-02 4.57472036e-04 9.99922109e-01 -7.81568388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.541346184 meters 0.0775455633354006 Centerline is valid? [True, True] Translation: X:199.05, Y:-11.19, Z:-7.82 [[ 9.99855368e-01 -1.05991188e-02 1.33004133e-02 1.99053002e+02] [ 1.06048533e-02 9.99943702e-01 -3.60694789e-04 -1.11940738e+01] [-1.32958415e-02 5.01691553e-04 9.99911481e-01 -7.81830290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.601346184 meters 0.07742773911658243 Centerline is valid? [True, True] Translation: X:199.11, Y:-11.19, Z:-7.83 [[ 9.99921347e-01 -7.55025097e-03 1.00146503e-02 1.99114566e+02] [ 7.55337915e-03 9.99971435e-01 -2.74573740e-04 -1.11870686e+01] [-1.00122911e-02 3.50196594e-04 9.99949814e-01 -7.82634852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.661346184 meters 0.07602733348711596 Centerline is valid? [True, True] Translation: X:199.18, Y:-11.18, Z:-7.83 [[ 9.99959995e-01 -4.05675405e-03 7.97187473e-03 1.99177318e+02] [ 4.05864102e-03 9.99991739e-01 -2.20540409e-04 -1.11775585e+01] [-7.97091420e-03 2.52886565e-04 9.99968200e-01 -7.82903136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.721346184 meters 0.07513675156147805 Centerline is valid? [True, True] Translation: X:199.24, Y:-11.17, Z:-7.83 [[ 9.99959855e-01 -1.41733986e-03 8.84752635e-03 1.99239253e+02] [ 1.41957289e-03 9.99998962e-01 -2.46116355e-04 -1.11721925e+01] [-8.84716834e-03 2.58666183e-04 9.99960830e-01 -7.82958388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.781346184 meters 0.07553033917299834 Centerline is valid? [True, True] Translation: X:199.30, Y:-11.17, Z:-7.84 [[ 9.99973302e-01 -7.21191505e-04 7.27156935e-03 1.99300907e+02] [ 7.22665563e-04 9.99999719e-01 -2.00089911e-04 -1.11729747e+01] [-7.27142300e-03 2.05339481e-04 9.99973542e-01 -7.83508033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.841346184 meters 0.07698477217767968 Centerline is valid? [True, True] Translation: X:199.36, Y:-11.18, Z:-7.84 [[ 9.99982199e-01 -1.78119101e-03 5.69459172e-03 1.99362187e+02] [ 1.78209515e-03 9.99998400e-01 -1.53700693e-04 -1.11777407e+01] [-5.69430884e-03 1.63846261e-04 9.99983774e-01 -7.84315308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.901346184 meters 0.07549831255210755 Centerline is valid? [True, True] Translation: X:199.42, Y:-11.17, Z:-7.85 [[ 9.99980372e-01 3.36450493e-03 5.28535621e-03 1.99423340e+02] [-3.36376491e-03 9.99994331e-01 -1.48896329e-04 -1.11730050e+01] [-5.28582721e-03 1.31114710e-04 9.99986021e-01 -7.84756236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96134618399998 meters 0.07393084640784722 Centerline is valid? [True, True] Translation: X:199.48, Y:-11.17, Z:-7.85 [[ 9.99938251e-01 8.61337179e-03 7.02174177e-03 1.99483624e+02] [-8.61218370e-03 9.99962895e-01 -1.99421576e-04 -1.11657238e+01] [-7.02319891e-03 1.38936732e-04 9.99975327e-01 -7.84873771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02134618399998 meters 0.07084311741855438 Centerline is valid? [True, True] Translation: X:199.54, Y:-11.15, Z:-7.84 [[ 9.99795948e-01 1.79617774e-02 9.24321145e-03 1.99544239e+02] [-1.79601136e-02 9.99838670e-01 -2.62984743e-04 -1.11496569e+01] [-9.24644391e-03 9.69219527e-05 9.99957246e-01 -7.84335941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08134618399998 meters 0.07068163503254507 Centerline is valid? [True, True] Translation: X:199.60, Y:-11.15, Z:-7.85 [[ 9.99744942e-01 2.03830114e-02 9.72541544e-03 1.99603444e+02] [-2.03812771e-02 9.99792242e-01 -2.77412724e-04 -1.11495753e+01] [-9.72904941e-03 7.91255802e-05 9.99952669e-01 -7.84728864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14134618399999 meters 0.07051889986727713 Centerline is valid? [True, True] Translation: X:199.66, Y:-11.15, Z:-7.85 [[ 9.99706107e-01 2.25895246e-02 8.79842021e-03 1.99662613e+02] [-2.25881888e-02 9.99744823e-01 -2.51179565e-04 -1.11485795e+01] [-8.80184908e-03 5.23653689e-05 9.99961262e-01 -7.85119273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.201346184 meters 0.0704141650242661 Centerline is valid? [True, True] Translation: X:199.72, Y:-11.15, Z:-7.86 [[ 9.99617304e-01 2.59740042e-02 9.51819806e-03 1.99720787e+02] [-2.59726027e-02 9.99662618e-01 -2.70848572e-04 -1.11475091e+01] [-9.52202181e-03 2.35325432e-05 9.99954664e-01 -7.85540710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.261346184 meters 0.06994000762576784 Centerline is valid? [True, True] Translation: X:199.78, Y:-11.14, Z:-7.86 [[ 9.99415537e-01 3.24023065e-02 1.08938104e-02 1.99779256e+02] [-3.24008599e-02 9.99474906e-01 -3.09300294e-04 -1.11394602e+01] [-1.08981122e-02 -4.38493052e-05 9.99940613e-01 -7.85541277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.321346184 meters 0.06989539427503687 Centerline is valid? [True, True] Translation: X:199.84, Y:-11.14, Z:-7.86 [[ 9.99253244e-01 3.65521442e-02 1.25257681e-02 1.99837962e+02] [-3.65505806e-02 9.99331742e-01 -3.53807499e-04 -1.11379374e+01] [-1.25303301e-02 -1.04280806e-04 9.99921487e-01 -7.85540963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.381346184 meters 0.07002614263736795 Centerline is valid? [True, True] Translation: X:199.90, Y:-11.14, Z:-7.86 [[ 9.99043939e-01 4.15096636e-02 1.37170227e-02 1.99896243e+02] [-4.15082659e-02 9.99138086e-01 -3.86704738e-04 -1.11365788e+01] [-1.37212517e-02 -1.83034799e-04 9.99905842e-01 -7.85669923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.441346184 meters 0.07180627708146535 Centerline is valid? [True, True] Translation: X:199.96, Y:-11.13, Z:-7.86 [[ 9.98617169e-01 5.06973314e-02 1.39115063e-02 1.99956896e+02] [-5.06968283e-02 9.98714013e-01 -3.89040895e-04 -1.11286318e+01] [-1.39133396e-02 -3.16766330e-04 9.99903155e-01 -7.86051119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.501346184 meters 0.07386383486557985 Centerline is valid? [True, True] Translation: X:200.02, Y:-11.12, Z:-7.86 [[ 9.98293507e-01 5.70937893e-02 1.22626618e-02 2.00016741e+02] [-5.70938754e-02 9.98368755e-01 -3.43335274e-04 -1.11208041e+01] [-1.22622607e-02 -3.57373508e-04 9.99924752e-01 -7.86433331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.561346184 meters 0.07608051988035183 Centerline is valid? [True, True] Translation: X:200.08, Y:-11.11, Z:-7.87 [[ 9.97981677e-01 6.25712759e-02 1.08355289e-02 2.00075942e+02] [-6.25716622e-02 9.98040427e-01 -3.03684885e-04 -1.11093156e+01] [-1.08332978e-02 -3.74925103e-04 9.99941248e-01 -7.86696667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.621346184 meters 0.07523655166464806 Centerline is valid? [True, True] Translation: X:200.13, Y:-11.11, Z:-7.87 [[ 9.97821128e-01 6.48435359e-02 1.21783949e-02 2.00134959e+02] [-6.48441387e-02 9.97895344e-01 -3.45770401e-04 -1.11088611e+01] [-1.21751845e-02 -4.44680517e-04 9.99925781e-01 -7.86528702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68134618399998 meters 0.0758919281282034 Centerline is valid? [True, True] Translation: X:200.19, Y:-11.11, Z:-7.87 [[ 9.97878412e-01 6.38471051e-02 1.27366053e-02 2.00192774e+02] [-6.38477735e-02 9.97959586e-01 -3.54550676e-04 -1.11088020e+01] [-1.27332544e-02 -4.59405427e-04 9.99918823e-01 -7.86929982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74134618399998 meters 0.07368894095264324 Centerline is valid? [True, True] Translation: X:200.25, Y:-11.12, Z:-7.87 [[ 9.98197954e-01 5.85112501e-02 1.33145679e-02 2.00252744e+02] [-5.85115434e-02 9.98286664e-01 -3.67848028e-04 -1.11159042e+01] [-1.33132788e-02 -4.11870769e-04 9.99911290e-01 -7.87050657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80134618399998 meters 0.07241148619352572 Centerline is valid? [True, True] Translation: X:200.31, Y:-11.12, Z:-7.87 [[ 9.98373335e-01 5.44500097e-02 1.69079751e-02 2.00312471e+02] [-5.44499086e-02 9.98516394e-01 -4.66674070e-04 -1.11211099e+01] [-1.69083008e-02 -4.54722754e-04 9.99856941e-01 -7.87093074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86134618399998 meters 0.0713302863983401 Centerline is valid? [True, True] Translation: X:200.37, Y:-11.12, Z:-7.87 [[ 9.98412861e-01 5.33962348e-02 1.79053631e-02 2.00371340e+02] [-5.33958831e-02 9.98573298e-01 -4.98054946e-04 -1.11222626e+01] [-1.79064118e-02 -4.58808213e-04 9.99839562e-01 -7.86748701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.921346184 meters 0.07042632956833725 Centerline is valid? [True, True] Translation: X:200.43, Y:-11.13, Z:-7.87 [[ 9.98627136e-01 4.83064530e-02 2.02565910e-02 2.00430473e+02] [-4.83051458e-02 9.98832471e-01 -5.54109333e-04 -1.11270218e+01] [-2.02597079e-02 -4.25148965e-04 9.99794661e-01 -7.86999485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.981346184 meters 0.06949868412824226 Centerline is valid? [True, True] Translation: X:200.49, Y:-11.13, Z:-7.87 [[ 9.98806428e-01 4.41269002e-02 2.09412436e-02 2.00488052e+02] [-4.41245846e-02 9.99025872e-01 -5.72850009e-04 -1.11306407e+01] [-2.09461222e-02 -3.51857403e-04 9.99780544e-01 -7.87081570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.041346184 meters 0.06833886365048754 Centerline is valid? [True, True] Translation: X:200.55, Y:-11.14, Z:-7.87 [[ 9.99056742e-01 3.72938365e-02 2.22440235e-02 2.00546817e+02] [-3.72895321e-02 9.99304318e-01 -6.08408659e-04 -1.11399742e+01] [-2.22512387e-02 -2.21634457e-04 9.99752386e-01 -7.87303406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.101346184 meters 0.06774203653628634 Centerline is valid? [True, True] Translation: X:200.61, Y:-11.15, Z:-7.87 [[ 9.99234189e-01 3.15919536e-02 2.30864365e-02 2.00605316e+02] [-3.15859616e-02 9.99500844e-01 -6.24244358e-04 -1.11484443e+01] [-2.30946339e-02 -1.05440992e-04 9.99733278e-01 -7.87477421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.161346184 meters 0.06766707187986443 Centerline is valid? [True, True] Translation: X:200.66, Y:-11.15, Z:-7.88 [[ 9.99253140e-01 3.11424205e-02 2.28759997e-02 2.00663096e+02] [-3.11364420e-02 9.99514953e-01 -6.17569911e-04 -1.11490664e+01] [-2.28841364e-02 -9.51685644e-05 9.99738119e-01 -7.87629712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.221346184 meters 0.0678031443123647 Centerline is valid? [True, True] Translation: X:200.72, Y:-11.15, Z:-7.88 [[ 9.99299153e-01 3.12858218e-02 2.05523606e-02 2.00721824e+02] [-3.12810718e-02 9.99510475e-01 -5.52640382e-04 -1.11499767e+01] [-2.05595895e-02 -9.06468021e-05 9.99788625e-01 -7.88167789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.281346184 meters 0.06796626092034301 Centerline is valid? [True, True] Translation: X:200.78, Y:-11.15, Z:-7.89 [[ 9.99349741e-01 3.01606830e-02 1.97592476e-02 2.00780660e+02] [-3.01560963e-02 9.99545061e-01 -5.30114246e-04 -1.11530362e+01] [-1.97662470e-02 -6.60922395e-05 9.99804626e-01 -7.88535817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.341346184 meters 0.06825152906569891 Centerline is valid? [True, True] Translation: X:200.84, Y:-11.16, Z:-7.89 [[ 9.99476444e-01 2.69505111e-02 1.79027234e-02 2.00839233e+02] [-2.69462478e-02 9.99636769e-01 -4.79362558e-04 -1.11601520e+01] [-1.79091396e-02 -3.29963663e-06 9.99839618e-01 -7.89223332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.401346184 meters 0.06913581510120537 Centerline is valid? [True, True] Translation: X:200.90, Y:-11.17, Z:-7.90 [[ 9.99652119e-01 2.15798706e-02 1.51641032e-02 2.00897450e+02] [-2.15762027e-02 9.99767124e-01 -4.05455644e-04 -1.11715957e+01] [-1.51693216e-02 7.81308283e-05 9.99884936e-01 -7.90002727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46134618399998 meters 0.0699706959148266 Centerline is valid? [True, True] Translation: X:200.96, Y:-11.18, Z:-7.90 [[ 9.99791272e-01 1.48770941e-02 1.40030275e-02 2.00956822e+02] [-1.48733300e-02 9.99889316e-01 -3.72914206e-04 -1.11808502e+01] [-1.40070255e-02 1.64564720e-04 9.99901883e-01 -7.90133362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52134618399998 meters 0.07044698457892816 Centerline is valid? [True, True] Translation: X:201.01, Y:-11.19, Z:-7.90 [[ 9.99814285e-01 1.18612601e-02 1.51889810e-02 2.01014843e+02] [-1.18564821e-02 9.99929628e-01 -4.04585174e-04 -1.11855385e+01] [-1.51927110e-02 2.24422155e-04 9.99884559e-01 -7.90178090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58134618399998 meters 0.07095783013977482 Centerline is valid? [True, True] Translation: X:201.08, Y:-11.19, Z:-7.90 [[ 9.99846149e-01 1.02062067e-02 1.42657792e-02 2.01075701e+02] [-1.02018917e-02 9.99947889e-01 -3.75215389e-04 -1.11858420e+01] [-1.42688654e-02 2.29619728e-04 9.99898168e-01 -7.90133975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64134618399999 meters 0.0702696728578264 Centerline is valid? [True, True] Translation: X:201.14, Y:-11.18, Z:-7.90 [[ 9.99806141e-01 1.20881354e-02 1.55421215e-02 2.01137121e+02] [-1.20831820e-02 9.99926911e-01 -4.12576009e-04 -1.11824480e+01] [-1.55459728e-02 2.24697745e-04 9.99879129e-01 -7.90104187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.701346184 meters 0.07002597433171881 Centerline is valid? [True, True] Translation: X:201.20, Y:-11.18, Z:-7.90 [[ 9.99752239e-01 1.48770068e-02 1.65570600e-02 2.01197425e+02] [-1.48717516e-02 9.99889312e-01 -4.40488767e-04 -1.11799193e+01] [-1.65617805e-02 1.94147149e-04 9.99862825e-01 -7.90248363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.761346184 meters 0.06956628825781391 Centerline is valid? [True, True] Translation: X:201.26, Y:-11.17, Z:-7.90 [[ 9.99693626e-01 1.79484459e-02 1.70442768e-02 2.01257325e+02] [-1.79433015e-02 9.99838903e-01 -4.54712822e-04 -1.11744804e+01] [-1.70496924e-02 1.48742911e-04 9.99854632e-01 -7.90111249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.821346184 meters 0.06972261902899042 Centerline is valid? [True, True] Translation: X:201.32, Y:-11.18, Z:-7.90 [[ 9.99681172e-01 1.90557826e-02 1.65659469e-02 2.01316297e+02] [-1.90510718e-02 9.99818414e-01 -4.42144806e-04 -1.11758601e+01] [-1.65713642e-02 1.26404793e-04 9.99862678e-01 -7.90314956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.881346184 meters 0.07054521603498914 Centerline is valid? [True, True] Translation: X:201.37, Y:-11.18, Z:-7.91 [[ 9.99718375e-01 1.74921540e-02 1.60372939e-02 2.01373858e+02] [-1.74875488e-02 9.99846990e-01 -4.27359977e-04 -1.11836853e+01] [-1.60423155e-02 1.46786663e-04 9.99871303e-01 -7.90823773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.941346184 meters 0.07115302196647948 Centerline is valid? [True, True] Translation: X:201.43, Y:-11.19, Z:-7.91 [[ 9.99768792e-01 1.71469752e-02 1.29747596e-02 2.01432795e+02] [-1.71439486e-02 9.99852972e-01 -3.44466493e-04 -1.11875021e+01] [-1.29787585e-02 1.21948237e-04 9.99915765e-01 -7.91191048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.001346184 meters 0.07130175202930925 Centerline is valid? [True, True] Translation: X:201.49, Y:-11.19, Z:-7.91 [[ 9.99746573e-01 1.83629167e-02 1.30227529e-02 2.01490731e+02] [-1.83599694e-02 9.99831382e-01 -3.45846500e-04 -1.11876573e+01] [-1.30269078e-02 1.06661508e-04 9.99915141e-01 -7.91437455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.061346184 meters 0.07110373863541669 Centerline is valid? [True, True] Translation: X:201.55, Y:-11.19, Z:-7.91 [[ 9.99703707e-01 2.09505300e-02 1.23924885e-02 2.01549814e+02] [-2.09480755e-02 9.99780511e-01 -3.27855220e-04 -1.11856320e+01] [-1.23966372e-02 6.81592951e-05 9.99923156e-01 -7.91421545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.121346184 meters 0.07137536190883223 Centerline is valid? [True, True] Translation: X:201.61, Y:-11.19, Z:-7.92 [[ 9.99713289e-01 2.06741271e-02 1.20797170e-02 2.01608430e+02] [-2.06717832e-02 9.99786265e-01 -3.18880194e-04 -1.11904210e+01] [-1.20837277e-02 6.90794770e-05 9.99926987e-01 -7.91715393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18134618399998 meters 0.07253383283619426 Centerline is valid? [True, True] Translation: X:201.67, Y:-11.20, Z:-7.92 [[ 9.99805391e-01 1.53191226e-02 1.24299877e-02 2.01665762e+02] [-1.53162333e-02 9.99882646e-01 -3.27608522e-04 -1.12022016e+01] [-1.24335476e-02 1.37164175e-04 9.99922691e-01 -7.92044525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24134618399998 meters 0.07259898207891345 Centerline is valid? [True, True] Translation: X:201.72, Y:-11.21, Z:-7.92 [[ 9.99817847e-01 1.28387734e-02 1.41222940e-02 2.01724256e+02] [-1.28348237e-02 9.99917562e-01 -3.70279103e-04 -1.12069218e+01] [-1.41258837e-02 1.88954502e-04 9.99900207e-01 -7.91822851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30134618399998 meters 0.07177675059952733 Centerline is valid? [True, True] Translation: X:201.78, Y:-11.20, Z:-7.91 [[ 9.99785943e-01 1.44562934e-02 1.48014728e-02 2.01784669e+02] [-1.44521630e-02 9.99895488e-01 -3.85981989e-04 -1.12028759e+01] [-1.48055057e-02 1.71986070e-04 9.99890378e-01 -7.91385256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36134618399998 meters 0.07055298276818198 Centerline is valid? [True, True] Translation: X:201.84, Y:-11.19, Z:-7.91 [[ 9.99631394e-01 2.22734886e-02 1.55231440e-02 2.01844218e+02] [-2.22698229e-02 9.99751913e-01 -4.08984354e-04 -1.11911931e+01] [-1.55284024e-02 6.31359328e-05 9.99879425e-01 -7.91292213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.421346184 meters 0.07050750842286248 Centerline is valid? [True, True] Translation: X:201.90, Y:-11.18, Z:-7.92 [[ 9.99461079e-01 2.93299954e-02 1.47411917e-02 2.01901814e+02] [-2.93275376e-02 9.99569782e-01 -3.82918668e-04 -1.11828434e+01] [-1.47460808e-02 -4.96105501e-05 9.99891269e-01 -7.91796636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.481346184 meters 0.07066158990446808 Centerline is valid? [True, True] Translation: X:201.96, Y:-11.18, Z:-7.92 [[ 9.99324998e-01 3.39577047e-02 1.40150908e-02 2.01960193e+02] [-3.39559722e-02 9.99423264e-01 -3.61624378e-04 -1.11797128e+01] [-1.40192877e-02 -1.14515752e-04 9.99901718e-01 -7.92182257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.541346184 meters 0.07078207213165942 Centerline is valid? [True, True] Translation: X:202.02, Y:-11.18, Z:-7.92 [[ 9.99183272e-01 3.76222269e-02 1.47430551e-02 2.02018609e+02] [-3.76207248e-02 9.99292018e-01 -3.79305110e-04 -1.11782545e+01] [-1.47468876e-02 -1.75649098e-04 9.99891243e-01 -7.92392000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.601346184 meters 0.07187110174880854 Centerline is valid? [True, True] Translation: X:202.08, Y:-11.17, Z:-7.93 [[ 9.98718728e-01 4.81625065e-02 1.55330475e-02 2.02078396e+02] [-4.81621479e-02 9.98839451e-01 -3.97380746e-04 -1.11675749e+01] [-1.55341595e-02 -3.51233336e-04 9.99879276e-01 -7.92576634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.661346184 meters 0.07333405316108958 Centerline is valid? [True, True] Translation: X:202.14, Y:-11.15, Z:-7.93 [[ 9.98270362e-01 5.67531577e-02 1.53415301e-02 2.02137922e+02] [-5.67538237e-02 9.98388126e-01 -3.92304950e-04 -1.11536756e+01] [-1.53390660e-02 -4.79064089e-04 9.99882235e-01 -7.92538590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.721346184 meters 0.07387550266734115 Centerline is valid? [True, True] Translation: X:202.20, Y:-11.15, Z:-7.93 [[ 9.98099475e-01 5.97945435e-02 1.49013708e-02 2.02197095e+02] [-5.97955076e-02 9.98210575e-01 -3.81233057e-04 -1.11509616e+01] [-1.48975016e-02 -5.10526519e-04 9.99888896e-01 -7.92703272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.781346184 meters 0.07510845206361495 Centerline is valid? [True, True] Translation: X:202.25, Y:-11.15, Z:-7.93 [[ 9.98104457e-01 6.01415196e-02 1.30572401e-02 2.02254289e+02] [-6.01422655e-02 9.98189759e-01 -3.35884302e-04 -1.11490053e+01] [-1.30538039e-02 -4.50044380e-04 9.99914694e-01 -7.93307273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.841346184 meters 0.07550533555820495 Centerline is valid? [True, True] Translation: X:202.31, Y:-11.15, Z:-7.94 [[ 9.98069853e-01 6.11944011e-02 1.05742516e-02 2.02313373e+02] [-6.11949815e-02 9.98125795e-01 -2.68956333e-04 -1.11516169e+01] [-1.05708919e-02 -3.78653924e-04 9.99944055e-01 -7.93907130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.901346184 meters 0.07575270364860924 Centerline is valid? [True, True] Translation: X:202.37, Y:-11.15, Z:-7.94 [[ 9.97918663e-01 6.35752500e-02 1.07948682e-02 2.02372681e+02] [-6.35759951e-02 9.97976962e-01 -2.74472173e-04 -1.11506920e+01] [-1.07904794e-02 -4.12393581e-04 9.99941696e-01 -7.93987289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96134618399998 meters 0.07593199127305109 Centerline is valid? [True, True] Translation: X:202.43, Y:-11.15, Z:-7.93 [[ 9.97554911e-01 6.79134059e-02 1.64914921e-02 2.02432186e+02] [-6.79157204e-02 9.97690973e-01 -4.20315484e-04 -1.11458145e+01] [-1.64819578e-02 -7.00743790e-04 9.99863918e-01 -7.93186719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02134618399998 meters 0.07793410120347835 Centerline is valid? [True, True] Translation: X:202.49, Y:-11.14, Z:-7.93 [[ 9.97332650e-01 7.03146489e-02 1.95814855e-02 2.02490031e+02] [-7.03185478e-02 9.97524467e-01 -4.90207322e-04 -1.11406656e+01] [-1.95674796e-02 -8.88041856e-04 9.99808144e-01 -7.93312637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08134618399998 meters 0.07711745971057805 Centerline is valid? [True, True] Translation: X:202.55, Y:-11.14, Z:-7.93 [[ 9.97264445e-01 7.09536947e-02 2.07171310e-02 2.02548956e+02] [-7.09581868e-02 9.97479156e-01 -5.19122345e-04 -1.11448183e+01] [-2.07017400e-02 -9.52347792e-04 9.99785242e-01 -7.93399341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14134618399999 meters 0.0760095885479617 Centerline is valid? [True, True] Translation: X:202.61, Y:-11.15, Z:-7.93 [[ 9.97394433e-01 6.94175598e-02 1.96353644e-02 2.02607646e+02] [-6.94213764e-02 9.97587307e-01 -4.88004986e-04 -1.11476326e+01] [-1.96218664e-02 -8.76380568e-04 9.99807089e-01 -7.93493886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.201346184 meters 0.07615643500293325 Centerline is valid? [True, True] Translation: X:202.67, Y:-11.15, Z:-7.94 [[ 9.97415402e-01 6.90202408e-02 1.99680134e-02 2.02666425e+02] [-6.90242052e-02 9.97614864e-01 -4.91423778e-04 -1.11479433e+01] [-1.99543052e-02 -8.88122612e-04 9.99800499e-01 -7.93694781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.261346184 meters 0.07615592823750443 Centerline is valid? [True, True] Translation: X:202.73, Y:-11.15, Z:-7.94 [[ 9.97375955e-01 6.90618091e-02 2.17179682e-02 2.02725282e+02] [-6.90666352e-02 9.97611909e-01 -5.28683243e-04 -1.11495303e+01] [-2.17026155e-02 -9.72691030e-04 9.99763997e-01 -7.93777050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.321346184 meters 0.07524469471508588 Centerline is valid? [True, True] Translation: X:202.78, Y:-11.15, Z:-7.94 [[ 9.97505337e-01 6.67753559e-02 2.28944420e-02 2.02784227e+02] [-6.67802563e-02 9.97767555e-01 -5.51291511e-04 -1.11518798e+01] [-2.28801441e-02 -9.78980478e-04 9.99737736e-01 -7.93782158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.381346184 meters 0.07467044075457786 Centerline is valid? [True, True] Translation: X:202.84, Y:-11.15, Z:-7.94 [[ 9.97607873e-01 6.52342741e-02 2.28696732e-02 2.02842703e+02] [-6.52388661e-02 9.97869527e-01 -5.46039914e-04 -1.11540859e+01] [-2.28565705e-02 -9.47257833e-04 9.99738306e-01 -7.93910663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.441346184 meters 0.07399701191585753 Centerline is valid? [True, True] Translation: X:202.90, Y:-11.16, Z:-7.94 [[ 9.97915173e-01 6.09124706e-02 2.13302243e-02 2.02901198e+02] [-6.09156326e-02 9.98142792e-01 -5.02075832e-04 -1.11573973e+01] [-2.13211923e-02 -7.98315018e-04 9.99772359e-01 -7.94376010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.501346184 meters 0.07351505542930308 Centerline is valid? [True, True] Translation: X:202.96, Y:-11.16, Z:-7.95 [[ 9.97922886e-01 6.07969966e-02 2.12987924e-02 2.02958781e+02] [-6.08000754e-02 9.98149837e-01 -5.03573228e-04 -1.11603787e+01] [-2.12900019e-02 -7.92440938e-04 9.99773028e-01 -7.94740086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.561346184 meters 0.07321664987690961 Centerline is valid? [True, True] Translation: X:203.02, Y:-11.16, Z:-7.95 [[ 9.98100531e-01 5.85576470e-02 1.91398022e-02 2.03017250e+02] [-5.85598105e-02 9.98283801e-01 -4.47886301e-04 -1.11625598e+01] [-1.91331817e-02 -6.73787634e-04 9.99816717e-01 -7.95180713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.621346184 meters 0.07230675687433574 Centerline is valid? [True, True] Translation: X:203.08, Y:-11.16, Z:-7.95 [[ 9.98199977e-01 5.65791912e-02 1.98897101e-02 2.03076564e+02] [-5.65812365e-02 9.98397893e-01 -4.60349519e-04 -1.11638398e+01] [-1.98838909e-02 -6.65863513e-04 9.99802074e-01 -7.95130556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68134618399998 meters 0.06981917413037454 Centerline is valid? [True, True] Translation: X:203.14, Y:-11.17, Z:-7.95 [[ 9.98494095e-01 5.13418858e-02 1.93275449e-02 2.03136743e+02] [-5.13429747e-02 9.98680983e-01 -4.40195539e-04 -1.11713737e+01] [-1.93246520e-02 -5.52801000e-04 9.99813109e-01 -7.95088897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74134618399998 meters 0.06965831471510847 Centerline is valid? [True, True] Translation: X:203.19, Y:-11.18, Z:-7.96 [[ 9.98600926e-01 4.90400833e-02 1.97803267e-02 2.03194802e+02] [-4.90407081e-02 9.98796678e-01 -4.53770123e-04 -1.11750522e+01] [-1.97787775e-02 -5.16905963e-04 9.99804247e-01 -7.95602064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80134618399998 meters 0.0680829844046444 Centerline is valid? [True, True] Translation: X:203.25, Y:-11.19, Z:-7.96 [[ 9.98836206e-01 4.31057519e-02 2.16362757e-02 2.03254748e+02] [-4.31052949e-02 9.99070416e-01 -4.87715443e-04 -1.11851395e+01] [-2.16371863e-02 -4.45490202e-04 9.99765789e-01 -7.95851142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86134618399998 meters 0.06792748981485604 Centerline is valid? [True, True] Translation: X:203.31, Y:-11.19, Z:-7.96 [[ 9.98829430e-01 4.21776248e-02 2.36815750e-02 2.03312724e+02] [-4.21768269e-02 9.99110019e-01 -5.33391694e-04 -1.11867569e+01] [-2.36829960e-02 -4.66046366e-04 9.99719410e-01 -7.95874923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.921346184 meters 0.0681139082280182 Centerline is valid? [True, True] Translation: X:203.37, Y:-11.18, Z:-7.95 [[ 9.98590144e-01 4.52188027e-02 2.78025929e-02 2.03371697e+02] [-4.52189220e-02 9.98976906e-01 -6.24755134e-04 -1.11803469e+01] [-2.78023989e-02 -6.33328959e-04 9.99613238e-01 -7.95483019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.981346184 meters 0.0683789637722111 Centerline is valid? [True, True] Translation: X:203.43, Y:-11.18, Z:-7.95 [[ 9.98526610e-01 4.50686717e-02 3.02228913e-02 2.03429575e+02] [-4.50689943e-02 9.98983651e-01 -6.70887830e-04 -1.11763012e+01] [-3.02224103e-02 -6.92215964e-04 9.99542959e-01 -7.95302945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.041346184 meters 0.06624671447387911 Centerline is valid? [True, True] Translation: X:203.49, Y:-11.19, Z:-7.96 [[ 9.98659400e-01 4.16032284e-02 3.07989336e-02 2.03487705e+02] [-4.16019930e-02 9.99134030e-01 -6.81189802e-04 -1.11884431e+01] [-3.08006023e-02 -6.01020420e-04 9.99525368e-01 -7.95570780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.101346184 meters 0.06604518059422736 Centerline is valid? [True, True] Translation: X:203.55, Y:-11.19, Z:-7.96 [[ 9.98733795e-01 3.97186224e-02 3.08745326e-02 2.03545778e+02] [-3.97165425e-02 9.99210755e-01 -6.80867621e-04 -1.11894167e+01] [-3.08772082e-02 -5.46224183e-04 9.99523036e-01 -7.95865741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.161346184 meters 0.06509445732487149 Centerline is valid? [True, True] Translation: X:203.60, Y:-11.20, Z:-7.96 [[ 9.98916392e-01 3.49189237e-02 3.07686639e-02 2.03603998e+02] [-3.49146633e-02 9.99390069e-01 -6.75882983e-04 -1.11977577e+01] [-3.07734982e-02 -3.99126949e-04 9.99526304e-01 -7.96271905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.221346184 meters 0.06473186997542694 Centerline is valid? [True, True] Translation: X:203.66, Y:-11.20, Z:-7.96 [[ 9.98961012e-01 3.30292853e-02 3.14000582e-02 2.03662234e+02] [-3.30239816e-02 9.99454323e-01 -6.87640430e-04 -1.11981749e+01] [-3.14056362e-02 -3.50028964e-04 9.99506660e-01 -7.96398211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.281346184 meters 0.06476258277185039 Centerline is valid? [True, True] Translation: X:203.72, Y:-11.20, Z:-7.96 [[ 9.98923059e-01 3.22956344e-02 3.33123861e-02 2.03720377e+02] [-3.22893323e-02 9.99478299e-01 -7.27271074e-04 -1.11974242e+01] [-3.33184947e-02 -3.49146859e-04 9.99444724e-01 -7.96443165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.341346184 meters 0.06447178508860582 Centerline is valid? [True, True] Translation: X:203.78, Y:-11.20, Z:-7.97 [[ 9.98979605e-01 2.95509906e-02 3.41538974e-02 2.03778947e+02] [-2.95428592e-02 9.99563238e-01 -7.42816550e-04 -1.12015160e+01] [-3.41609313e-02 -2.66945198e-04 9.99416309e-01 -7.96625260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.401346184 meters 0.06433337850336124 Centerline is valid? [True, True] Translation: X:203.84, Y:-11.21, Z:-7.97 [[ 9.99107653e-01 2.31834312e-02 3.53047501e-02 2.03838177e+02] [-2.31708537e-02 9.99731227e-01 -7.65416759e-04 -1.12107923e+01] [-3.53130061e-02 -5.33074557e-05 9.99376300e-01 -7.96883379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46134618399998 meters 0.06453853426132528 Centerline is valid? [True, True] Translation: X:203.90, Y:-11.21, Z:-7.97 [[ 9.99160333e-01 2.17862335e-02 3.46985362e-02 2.03901638e+02] [-2.17733027e-02 9.99762652e-01 -7.50527373e-04 -1.12147993e+01] [-3.47066517e-02 -5.60455049e-06 9.99397543e-01 -7.97255269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52134618399998 meters 0.06538972022173657 Centerline is valid? [True, True] Translation: X:203.96, Y:-11.23, Z:-7.97 [[ 9.99304408e-01 1.36017849e-02 3.47230703e-02 2.03964065e+02] [-1.35835735e-02 9.99907450e-01 -7.60335166e-04 -1.12253926e+01] [-3.47301986e-02 2.88142905e-04 9.99396683e-01 -7.97497129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58134618399998 meters 0.06543167998299228 Centerline is valid? [True, True] Translation: X:204.03, Y:-11.23, Z:-7.98 [[ 9.99327611e-01 1.40199700e-02 3.38787013e-02 2.04027275e+02] [-1.40026086e-02 9.99901678e-01 -7.49679063e-04 -1.12269945e+01] [-3.38858808e-02 2.74784795e-04 9.99425671e-01 -7.97688816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64134618399999 meters 0.06533148637264288 Centerline is valid? [True, True] Translation: X:204.09, Y:-11.23, Z:-7.98 [[ 9.99236508e-01 2.02044842e-02 3.34391880e-02 2.04088971e+02] [-2.01907290e-02 9.99795866e-01 -7.49009143e-04 -1.12255627e+01] [-3.34474952e-02 7.32756991e-05 9.99440473e-01 -7.98423745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.701346184 meters 0.06589748109306155 Centerline is valid? [True, True] Translation: X:204.15, Y:-11.23, Z:-7.99 [[ 9.99244969e-01 2.10816128e-02 3.26352229e-02 2.04152221e+02] [-2.10687412e-02 9.99777757e-01 -7.38281556e-04 -1.12346351e+01] [-3.26435342e-02 5.01410654e-05 9.99467057e-01 -7.99239405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.761346184 meters 0.06608317861582116 Centerline is valid? [True, True] Translation: X:204.22, Y:-11.23, Z:-8.00 [[ 9.99200845e-01 2.38439095e-02 3.20802012e-02 2.04215715e+02] [-2.38326291e-02 9.99715693e-01 -7.34016722e-04 -1.12346704e+01] [-3.20885824e-02 -3.11254060e-05 9.99485028e-01 -7.99616469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.821346184 meters 0.06654060384607766 Centerline is valid? [True, True] Translation: X:204.28, Y:-11.24, Z:-8.00 [[ 9.99212429e-01 2.38662756e-02 3.17005215e-02 2.04276427e+02] [-2.38549914e-02 9.99715160e-01 -7.34169666e-04 -1.12402920e+01] [-3.17090138e-02 -2.26242123e-05 9.99497143e-01 -8.00062846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.881346184 meters 0.06697631994217251 Centerline is valid? [True, True] Translation: X:204.34, Y:-11.25, Z:-8.00 [[ 9.99149655e-01 2.25433277e-02 3.45219495e-02 2.04337153e+02] [-2.25289984e-02 9.99745867e-01 -8.04059590e-04 -1.12473122e+01] [-3.45313025e-02 2.56309175e-05 9.99403616e-01 -8.00197796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.941346184 meters 0.06825895268394658 Centerline is valid? [True, True] Translation: X:204.40, Y:-11.26, Z:-8.00 [[ 9.99190005e-01 1.58435884e-02 3.69907357e-02 2.04398798e+02] [-1.58222443e-02 9.99874442e-01 -8.69697040e-04 -1.12604494e+01] [-3.69998704e-02 2.83716131e-04 9.99315230e-01 -8.00183983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.001346184 meters 0.06920511904102311 Centerline is valid? [True, True] Translation: X:204.46, Y:-11.27, Z:-8.00 [[ 9.99173571e-01 1.27064241e-02 3.86098680e-02 2.04460841e+02] [-1.26805036e-02 9.99919179e-01 -9.16169079e-04 -1.12674836e+01] [-3.86183887e-02 4.25819361e-04 9.99253941e-01 -8.00255314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.061346184 meters 0.07082034000611546 Centerline is valid? [True, True] Translation: X:204.52, Y:-11.28, Z:-8.00 [[ 9.99117492e-01 9.34204544e-03 4.09507441e-02 2.04522011e+02] [-9.30966749e-03 9.99956183e-01 -9.81287730e-04 -1.12788121e+01] [-4.09581169e-02 5.99183925e-04 9.99160685e-01 -8.00335462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.121346184 meters 0.07212338666480292 Centerline is valid? [True, True] Translation: X:204.58, Y:-11.29, Z:-8.00 [[ 9.99057423e-01 3.51153761e-03 4.32658696e-02 2.04582956e+02] [-3.46972343e-03 9.99993438e-01 -1.04150512e-03 -1.12859839e+01] [-4.32692430e-02 8.90402820e-04 9.99063051e-01 -8.00218582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18134618399998 meters 0.07164595705995634 Centerline is valid? [True, True] Translation: X:204.65, Y:-11.28, Z:-8.01 [[ 9.99028887e-01 3.88255378e-03 4.38885839e-02 2.04646294e+02] [-3.83977363e-03 9.99992067e-01 -1.05900426e-03 -1.12842103e+01] [-4.38923474e-02 8.89453618e-04 9.99035871e-01 -8.00612507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24134618399998 meters 0.07080018351129524 Centerline is valid? [True, True] Translation: X:204.71, Y:-11.28, Z:-8.01 [[ 9.98972840e-01 1.28537886e-02 4.34516306e-02 2.04707374e+02] [-1.28198980e-02 9.99917261e-01 -1.05853684e-03 -1.12780850e+01] [-4.34616416e-02 5.00404081e-04 9.99054971e-01 -8.00865107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30134618399998 meters 0.06903435662644902 Centerline is valid? [True, True] Translation: X:204.77, Y:-11.27, Z:-8.02 [[ 9.98874858e-01 1.95287361e-02 4.32162684e-02 2.04770002e+02] [-1.95013355e-02 9.99809274e-01 -1.05556940e-03 -1.12678171e+01] [-4.32286399e-02 2.11606782e-04 9.99065183e-01 -8.01656312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36134618399998 meters 0.06842168448214124 Centerline is valid? [True, True] Translation: X:204.83, Y:-11.26, Z:-8.02 [[ 9.98654090e-01 3.04963484e-02 4.19521401e-02 2.04832056e+02] [-3.04798005e-02 9.99534848e-01 -1.03416938e-03 -1.12550043e+01] [-4.19641644e-02 -2.45915377e-04 9.99119086e-01 -8.02099582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.421346184 meters 0.06866240605304999 Centerline is valid? [True, True] Translation: X:204.89, Y:-11.25, Z:-8.02 [[ 9.98371899e-01 3.70924099e-02 4.33324813e-02 2.04893841e+02] [-3.70806206e-02 9.99311698e-01 -1.07608658e-03 -1.12505414e+01] [-4.33425701e-02 -5.32460699e-04 9.99060127e-01 -8.02465391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.481346184 meters 0.06976790156446329 Centerline is valid? [True, True] Translation: X:204.95, Y:-11.24, Z:-8.03 [[ 9.97906223e-01 4.71940821e-02 4.42254252e-02 2.04952913e+02] [-4.71913495e-02 9.98885255e-01 -1.10640843e-03 -1.12395056e+01] [-4.42283410e-02 -9.82965633e-04 9.99020965e-01 -8.02738547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.541346184 meters 0.07220527576086871 Centerline is valid? [True, True] Translation: X:205.01, Y:-11.23, Z:-8.03 [[ 9.97354881e-01 5.80795297e-02 4.37036560e-02 2.05013934e+02] [-5.80873034e-02 9.98310909e-01 -1.09309916e-03 -1.12280295e+01] [-4.36933232e-02 -1.44841974e-03 9.99043941e-01 -8.03096310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.601346184 meters 0.07366455043583553 Centerline is valid? [True, True] Translation: X:205.07, Y:-11.23, Z:-8.03 [[ 9.96985566e-01 6.24126185e-02 4.60917261e-02 2.05074191e+02] [-6.24258974e-02 9.98048936e-01 -1.15267745e-03 -1.12254211e+01] [-4.60737398e-02 -1.72811458e-03 9.98936547e-01 -8.03139524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.661346184 meters 0.07499528580291967 Centerline is valid? [True, True] Translation: X:205.13, Y:-11.23, Z:-8.03 [[ 9.96637383e-01 6.64153536e-02 4.79888282e-02 2.05134046e+02] [-6.64344205e-02 9.97790073e-01 -1.19931101e-03 -1.12258014e+01] [-4.79624291e-02 -1.99283181e-03 9.98847152e-01 -8.03361294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.721346184 meters 0.07644958682904295 Centerline is valid? [True, True] Translation: X:205.19, Y:-11.23, Z:-8.04 [[ 9.96702173e-01 6.71172254e-02 4.56076244e-02 2.05191539e+02] [-6.71352329e-02 9.97743236e-01 -1.13851821e-03 -1.12286006e+01] [-4.55811129e-02 -1.92711491e-03 9.98958782e-01 -8.03939821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.781346184 meters 0.07679129278202111 Centerline is valid? [True, True] Translation: X:205.25, Y:-11.23, Z:-8.04 [[ 9.96580480e-01 6.92587540e-02 4.50618588e-02 2.05250924e+02] [-6.92786596e-02 9.97596717e-01 -1.12169694e-03 -1.12324526e+01] [-4.50312497e-02 -2.00396390e-03 9.98983569e-01 -8.04382338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.841346184 meters 0.07718641528066365 Centerline is valid? [True, True] Translation: X:205.31, Y:-11.24, Z:-8.05 [[ 9.96491700e-01 7.18184984e-02 4.29697059e-02 2.05310168e+02] [-7.18390243e-02 9.97415667e-01 -1.06828905e-03 -1.12392594e+01] [-4.29353808e-02 -2.02236058e-03 9.99075804e-01 -8.04937147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.901346184 meters 0.08154224540929987 Centerline is valid? [True, True] Translation: X:205.37, Y:-11.24, Z:-8.06 [[ 9.96172029e-01 7.80681899e-02 3.93274289e-02 2.05369461e+02] [-7.80902741e-02 9.96945814e-01 -9.76627079e-04 -1.12392548e+01] [-3.92835591e-02 -2.09820113e-03 9.99225900e-01 -8.05798192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96134618399998 meters 0.08398735904554988 Centerline is valid? [True, True] Translation: X:205.43, Y:-11.24, Z:-8.06 [[ 9.95684867e-01 8.51125064e-02 3.69798198e-02 2.05429476e+02] [-8.51368713e-02 9.96368842e-01 -9.18207418e-04 -1.12412070e+01] [-3.69236912e-02 -2.23410093e-03 9.99315591e-01 -8.06281892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02134618399998 meters 0.09165569704016062 Centerline is valid? [True, True] Translation: X:205.49, Y:-11.23, Z:-8.07 [[ 9.94829182e-01 9.60223561e-02 3.30848211e-02 2.05488946e+02] [-9.60478667e-02 9.95376378e-01 -8.21051412e-04 -1.12319402e+01] [-3.30106886e-02 -2.36092058e-03 9.99452210e-01 -8.06812543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08134618399998 meters 0.09726697545152353 Centerline is valid? [True, True] Translation: X:205.55, Y:-11.23, Z:-8.07 [[ 9.93000821e-01 1.13737076e-01 3.18315555e-02 2.05549113e+02] [-1.13769719e-01 9.93506833e-01 -7.89731074e-04 -1.12301282e+01] [-3.17146896e-02 -2.83726351e-03 9.99492936e-01 -8.07166206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14134618399999 meters 0.10903475439474092 Centerline is valid? [True, False] Translation: X:205.55, Y:-11.24, Z:-8.07 [[ 9.91849368e-01 1.25302393e-01 2.31115101e-02 2.05547039e+02] [-1.25301809e-01 9.92117568e-01 -1.47916126e-03 -1.12356906e+01] [-2.31146776e-02 -1.42880886e-03 9.99731799e-01 -8.06991742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.201346184 meters 0.12163277680094804 Centerline is valid? [False, False] Translation: X:205.53, Y:-11.24, Z:-8.07 [[ 9.91753775e-01 1.27637809e-01 1.15342386e-02 2.05533979e+02] [-1.27722388e-01 9.91785833e-01 6.91765117e-03 -1.12435774e+01] [-1.05565406e-02 -8.33378716e-03 9.99909550e-01 -8.06576592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.261346184 meters 0.131571964575512 Centerline is valid? [False, False] Translation: X:205.55, Y:-11.24, Z:-8.06 [[ 9.92176482e-01 1.24824268e-01 2.17522681e-03 2.05549609e+02] [-1.24840640e-01 9.92117370e-01 1.08599819e-02 -1.12449840e+01] [-8.02491013e-04 -1.10465753e-02 9.99938663e-01 -8.06411939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.321346184 meters 0.14339197475980633 Centerline is valid? [False, False] Translation: X:205.55, Y:-11.25, Z:-8.06 [[ 9.91574810e-01 1.29508388e-01 2.64091841e-03 2.05549683e+02] [-1.29534053e-01 9.91448957e-01 1.58080427e-02 -1.12480546e+01] [-5.71061674e-04 -1.60169458e-02 9.99871557e-01 -8.06420731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.381346184 meters 0.13120385656639286 Centerline is valid? [False, False] Translation: X:205.56, Y:-11.25, Z:-8.06 [[ 9.92734203e-01 1.20255318e-01 -4.17866096e-03 2.05559165e+02] [-1.20158063e-01 9.92579516e-01 1.86532878e-02 -1.12461580e+01] [ 6.39081032e-03 -1.80156570e-02 9.99817280e-01 -8.06138451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.441346184 meters 0.16280803530668417 Centerline is valid? [False, False] Translation: X:205.57, Y:-11.25, Z:-8.06 [[ 9.93677720e-01 1.11657585e-01 -1.17120871e-02 2.05568676e+02] [-1.11376283e-01 9.93525488e-01 2.24149262e-02 -1.12487062e+01] [ 1.41390535e-02 -2.09687640e-02 9.99680148e-01 -8.06025936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.501346184 meters 0.13859160408064952 Centerline is valid? [False, False] Translation: X:205.56, Y:-11.25, Z:-8.06 [[ 9.94772869e-01 1.01923515e-01 6.20780944e-03 2.05557577e+02] [-1.02030865e-01 9.94568940e-01 2.05505585e-02 -1.12472735e+01] [-4.07950929e-03 -2.10765262e-02 9.99769542e-01 -8.06442852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.561346184 meters 0.1734142979523345 Centerline is valid? [False, False] Translation: X:205.55, Y:-11.25, Z:-8.06 [[ 9.95440476e-01 9.51583130e-02 6.56926104e-03 2.05551029e+02] [-9.52385223e-02 9.95366647e-01 1.32235558e-02 -1.12516123e+01] [-5.28049207e-03 -1.37889094e-02 9.99890985e-01 -8.05627766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.621346184 meters 0.18723428711402143 Centerline is valid? [False, False] Translation: X:205.56, Y:-11.25, Z:-8.05 [[ 9.96541504e-01 8.30814229e-02 -1.58347642e-03 2.05558827e+02] [-8.30607481e-02 9.96490752e-01 1.03485792e-02 -1.12541306e+01] [ 2.43769430e-03 -1.01812640e-02 9.99945198e-01 -8.04870148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68134618399998 meters 0.1716744383562136 Centerline is valid? [False, False] Translation: X:205.56, Y:-11.26, Z:-8.04 [[ 9.97231015e-01 7.39873643e-02 -7.49483593e-03 2.05562355e+02] [-7.39015220e-02 9.97203237e-01 1.11475927e-02 -1.12614445e+01] [ 8.29865565e-03 -1.05628454e-02 9.99909775e-01 -8.04089674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74134618399998 meters 0.17830200705655513 Centerline is valid? [False, False] Translation: X:205.58, Y:-11.27, Z:-8.04 [[ 9.98423364e-01 5.59103271e-02 -4.98204563e-03 2.05581033e+02] [-5.58164070e-02 9.98290603e-01 1.73320937e-02 -1.12663663e+01] [ 5.94257236e-03 -1.70266874e-02 9.99837376e-01 -8.03991029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80134618399998 meters 0.19130156566619064 Centerline is valid? [False, False] Translation: X:205.58, Y:-11.27, Z:-8.04 [[ 9.98795077e-01 4.86801584e-02 -6.21588221e-03 2.05583623e+02] [-4.86149412e-02 9.98765058e-01 1.02442904e-02 -1.12703119e+01] [ 6.70689964e-03 -9.92976204e-03 9.99928206e-01 -8.04101503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86134618399998 meters 0.18078698221523237 Centerline is valid? [False, False] Translation: X:205.59, Y:-11.28, Z:-8.04 [[ 9.98865496e-01 4.70815228e-02 -7.14506757e-03 2.05586851e+02] [-4.70166960e-02 9.98853694e-01 8.98487821e-03 -1.12780839e+01] [ 7.55989889e-03 -8.63874736e-03 9.99934108e-01 -8.04250617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.921346184 meters 0.1896192034283672 Centerline is valid? [False, False] Translation: X:205.59, Y:-11.29, Z:-8.04 [[ 9.98780205e-01 4.87617275e-02 -7.77152987e-03 2.05588676e+02] [-4.86721191e-02 9.98750545e-01 1.13301864e-02 -1.12872476e+01] [ 8.31429916e-03 -1.09381091e-02 9.99905611e-01 -8.04267406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.981346184 meters 0.1885466900273605 Centerline is valid? [False, False] Translation: X:205.58, Y:-11.29, Z:-8.05 [[ 9.98799412e-01 4.81369554e-02 9.08673451e-03 2.05584091e+02] [-4.82446502e-02 9.98763102e-01 1.20299908e-02 -1.12946326e+01] [-8.49640801e-03 -1.24539341e-02 9.99886349e-01 -8.04868238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.041346184 meters 0.1933009256408842 Centerline is valid? [False, False] Translation: X:205.59, Y:-11.30, Z:-8.05 [[ 9.99051048e-01 4.28632428e-02 7.72955991e-03 2.05588300e+02] [-4.29146054e-02 9.99056903e-01 6.60618288e-03 -1.13029952e+01] [-7.43910776e-03 -6.93162495e-03 9.99948305e-01 -8.05041973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.101346184 meters 0.19584606597400941 Centerline is valid? [False, False] Translation: X:205.59, Y:-11.31, Z:-8.05 [[ 9.99170584e-01 4.00725296e-02 7.23433302e-03 2.05588904e+02] [-4.01087709e-02 9.99183128e-01 4.93599465e-03 -1.13142772e+01] [-7.03062570e-03 -5.22206086e-03 9.99961649e-01 -8.04994277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.161346184 meters 0.19309793943601022 Centerline is valid? [False, False] Translation: X:205.59, Y:-11.32, Z:-8.05 [[ 9.99434438e-01 3.29483551e-02 6.72387210e-03 2.05590275e+02] [-3.29382276e-02 9.99456090e-01 -1.61145869e-03 -1.13202975e+01] [-6.77330983e-03 1.38907488e-03 9.99976096e-01 -8.05105077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.221346184 meters 0.18831645234068684 Centerline is valid? [False, False] Translation: X:205.59, Y:-11.34, Z:-8.05 [[ 9.99554440e-01 2.89083581e-02 7.43161970e-03 2.05589778e+02] [-2.88733312e-02 9.99571658e-01 -4.77811709e-03 -1.13360625e+01] [-7.56656395e-03 4.56141253e-03 9.99960970e-01 -8.05131462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.281346184 meters 0.19154714020300417 Centerline is valid? [False, False] Translation: X:205.59, Y:-11.35, Z:-8.05 [[ 9.99683203e-01 2.35911704e-02 8.77212454e-03 2.05586336e+02] [-2.35102268e-02 9.99681091e-01 -9.21876521e-03 -1.13464023e+01] [-8.98680849e-03 9.00961010e-03 9.99919029e-01 -8.04986020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.341346184 meters 0.19960845549782189 Centerline is valid? [False, False] Translation: X:205.58, Y:-11.36, Z:-8.05 [[ 9.99627772e-01 2.57295783e-02 9.07224188e-03 2.05584724e+02] [-2.56860620e-02 9.99658143e-01 -4.88098967e-03 -1.13643113e+01] [-9.19472627e-03 4.64614266e-03 9.99946934e-01 -8.04798509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40134618399998 meters 0.19413107075604982 Centerline is valid? [False, False] Translation: X:205.59, Y:-11.38, Z:-8.05 [[ 9.99655966e-01 2.50896728e-02 7.64580397e-03 2.05589734e+02] [-2.50751625e-02 9.99683592e-01 -1.98781916e-03 -1.13810032e+01] [-7.69325852e-03 1.79541551e-03 9.99968795e-01 -8.05423435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46134618399998 meters 0.1921602269061628 Centerline is valid? [False, False] Translation: X:205.60, Y:-11.39, Z:-8.06 [[ 9.99857115e-01 1.68751513e-02 9.89530506e-04 2.05602458e+02] [-1.68782154e-02 9.99852513e-01 3.17457744e-03 -1.13902537e+01] [-9.35813088e-04 -3.19082535e-03 9.99994471e-01 -8.05680075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52134618399998 meters 0.19334510738628322 Centerline is valid? [False, False] Translation: X:205.60, Y:-11.41, Z:-8.06 [[ 9.99932605e-01 1.15527031e-02 1.14872743e-03 2.05604902e+02] [-1.15532887e-02 9.99933131e-01 5.04460534e-04 -1.14059385e+01] [-1.14282274e-03 -5.17698116e-04 9.99999213e-01 -8.06196378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58134618399998 meters 0.19773903085604264 Centerline is valid? [False, False] Translation: X:205.61, Y:-11.42, Z:-8.06 [[ 9.99900125e-01 1.41255084e-02 4.59302546e-04 2.05607543e+02] [-1.41270672e-02 9.99893767e-01 3.58902731e-03 -1.14163251e+01] [-4.08556918e-04 -3.59515745e-03 9.99993454e-01 -8.06305295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64134618399999 meters 0.20225160701558523 Centerline is valid? [False, False] Translation: X:205.61, Y:-11.42, Z:-8.07 [[ 9.99930219e-01 1.18134004e-02 -2.24205858e-05 2.05610407e+02] [-1.18133387e-02 9.99928507e-01 1.85097001e-03 -1.14222309e+01] [ 4.42852328e-05 -1.85057599e-03 9.99998287e-01 -8.06582381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.701346184 meters 0.20604551206800492 Centerline is valid? [False, False] Translation: X:205.61, Y:-11.44, Z:-8.07 [[ 9.99945828e-01 1.03992556e-02 4.44144441e-04 2.05612921e+02] [-1.03997244e-02 9.99945353e-01 1.06662778e-03 -1.14359400e+01] [-4.33028035e-04 -1.07118898e-03 9.99999333e-01 -8.06977573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.761346184 meters 0.20980891562648601 Centerline is valid? [False, False] Translation: X:205.61, Y:-11.44, Z:-8.07 [[ 9.99968953e-01 7.77702282e-03 1.26916828e-03 2.05610672e+02] [-7.77633718e-03 9.99969616e-01 -5.44266045e-04 -1.14433053e+01] [-1.27336249e-03 5.34379666e-04 9.99999046e-01 -8.06892552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.821346184 meters 0.20542045907900497 Centerline is valid? [False, False] Translation: X:205.61, Y:-11.45, Z:-8.07 [[ 9.99986502e-01 4.87996684e-03 1.78367477e-03 2.05610625e+02] [-4.87644731e-03 9.99986165e-01 -1.97223937e-03 -1.14513579e+01] [-1.79327456e-03 1.96351475e-03 9.99996464e-01 -8.07035234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.881346184 meters 0.20686999983571938 Centerline is valid? [False, False] Translation: X:205.63, Y:-11.46, Z:-8.07 [[ 9.99899348e-01 -1.24824961e-02 -6.74390810e-03 2.05632416e+02] [ 1.25135133e-02 9.99911228e-01 4.57683863e-03 -1.14642153e+01] [ 6.68617906e-03 -4.66076795e-03 9.99966786e-01 -8.07296077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.941346184 meters 0.22019002231881435 Centerline is valid? [False, False] Translation: X:205.65, Y:-11.47, Z:-8.07 [[ 9.99475104e-01 -2.95080238e-02 -1.33713649e-02 2.05647730e+02] [ 2.95994187e-02 9.99539456e-01 6.68951905e-03 -1.14745632e+01] [ 1.31678124e-02 -7.08179238e-03 9.99888222e-01 -8.07100032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.001346184 meters 0.24306496543150216 Centerline is valid? [False, False] Translation: X:205.69, Y:-11.48, Z:-8.07 [[ 9.97872018e-01 -6.27267215e-02 -1.77986861e-02 2.05688540e+02] [ 6.29480789e-02 9.97942707e-01 1.21611370e-02 -1.14835402e+01] [ 1.69992407e-02 -1.32556514e-02 9.99767630e-01 -8.06780884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.061346184 meters 0.2590136047398407 Centerline is valid? [False, False] Translation: X:205.71, Y:-11.50, Z:-8.07 [[ 9.96239498e-01 -8.21180739e-02 -2.76312384e-02 2.05707033e+02] [ 8.22183411e-02 9.96611179e-01 2.51050845e-03 -1.14981304e+01] [ 2.73314430e-02 -4.77286226e-03 9.99615032e-01 -8.06536250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.121346184 meters 0.26578705791184093 Centerline is valid? [False, False] Translation: X:205.73, Y:-11.50, Z:-8.06 [[ 9.95369371e-01 -8.70077048e-02 -4.08592046e-02 2.05729394e+02] [ 8.71246972e-02 9.96196820e-01 1.08803655e-03 -1.15018781e+01] [ 4.06091421e-02 -4.64284409e-03 9.99164322e-01 -8.05838642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18134618399998 meters 0.26399302810088504 Centerline is valid? [False, False] Translation: X:205.75, Y:-11.50, Z:-8.06 [[ 9.95549472e-01 -8.64381247e-02 -3.75459586e-02 2.05747522e+02] [ 8.68406134e-02 9.96179537e-01 9.22165316e-03 -1.15022006e+01] [ 3.66054132e-02 -1.24411260e-02 9.99252352e-01 -8.05678321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24134618399998 meters 0.25598913667793843 Centerline is valid? [False, False] Translation: X:205.78, Y:-11.49, Z:-8.05 [[ 9.96489136e-01 -7.61655358e-02 -3.47593707e-02 2.05776776e+02] [ 7.63122104e-02 9.97079723e-01 2.91079141e-03 -1.14936364e+01] [ 3.44361617e-02 -5.55313643e-03 9.99391472e-01 -8.05356966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30134618399998 meters 0.24833964599951208 Centerline is valid? [False, False] Translation: X:205.79, Y:-11.49, Z:-8.05 [[ 9.96395639e-01 -7.33650919e-02 -4.25827786e-02 2.05794695e+02] [ 7.34053629e-02 9.97301995e-01 -6.19241026e-04 -1.14874826e+01] [ 4.25133207e-02 -2.50879525e-03 9.99092750e-01 -8.04790623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36134618399998 meters 0.24614530612860075 Centerline is valid? [False, False] Translation: X:205.80, Y:-11.48, Z:-8.05 [[ 9.96627047e-01 -6.95837203e-02 -4.35044233e-02 2.05797384e+02] [ 6.97387990e-02 9.97563169e-01 2.05535045e-03 -1.14816952e+01] [ 4.32553915e-02 -5.08236408e-03 9.99051120e-01 -8.04996052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1963.22 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%| | 0/7714 [00:00