+ python -m lidar_slam --no-model /working/3d498e3e-a917-4c97-92ef-108ec2957da9 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/3d498e3e-a917-4c97-92ef-108ec2957da9 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 0.018001145 Adjusted end_distance from 9.223372036854776e+18 to 245.228001145 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.018001145 meters 0.1294914092290714 Centerline is valid? [0, False] SLAMing on 0.078001145 meters 0.143903469154906 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999487e-01 -7.35506083e-04 -6.96891017e-04 3.67958847e-03] [ 7.35428655e-04 9.99999723e-01 -1.11353567e-04 -1.64746914e-03] [ 6.96972726e-04 1.10840996e-04 9.99999751e-01 -3.31827197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.138001145 meters 0.14943869061545206 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99999604e-01 2.87909878e-04 -8.41555964e-04 5.76268296e-03] [-2.86666488e-04 9.99998868e-01 1.47723731e-03 -4.86115864e-03] [ 8.41980323e-04 -1.47699548e-03 9.99998555e-01 -5.89238355e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.198001145 meters 0.1641394691055562 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99999439e-01 8.13306701e-04 -6.78961681e-04 6.31797415e-03] [-8.11569705e-04 9.99996407e-01 2.55467997e-03 -8.29845426e-03] [ 6.81036980e-04 -2.55412751e-03 9.99996506e-01 -7.15917499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.258001145 meters 0.16867905117470985 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99998992e-01 -1.33934042e-03 -4.71122030e-04 8.01794747e-03] [ 1.33982638e-03 9.99998569e-01 1.03269521e-03 -1.52166130e-02] [ 4.69738226e-04 -1.03332539e-03 9.99999356e-01 -9.85707764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.318001145 meters 0.17327956808659123 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99999941e-01 -1.26249426e-04 -3.19201499e-04 9.40369008e-03] [ 1.27251993e-04 9.99995053e-01 3.14279277e-03 -2.10049612e-02] [ 3.18803144e-04 -3.14283321e-03 9.99995010e-01 -1.22720598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.378001145 meters 0.18034457029021184 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.02 [[ 9.99997662e-01 -2.09055369e-03 -5.52978271e-04 1.23410755e-02] [ 2.09197238e-03 9.99994490e-01 2.57752556e-03 -2.91767811e-02] [ 5.47586768e-04 -2.57867634e-03 9.99996525e-01 -1.59515831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.438001145 meters 0.18728407287779064 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.02 [[ 9.99988324e-01 -4.80383578e-03 -5.25263808e-04 1.39409143e-02] [ 4.80417704e-03 9.99988248e-01 6.50367297e-04 -3.50462637e-02] [ 5.22133378e-04 -6.52883163e-04 9.99999651e-01 -1.81243327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.498001145 meters 0.1997034854909381 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.02 [[ 9.99975041e-01 -7.06461678e-03 -9.30702508e-05 1.48584270e-02] [ 7.06456282e-03 9.99974884e-01 -5.67925420e-04 -4.42524191e-02] [ 9.70800888e-05 5.67253744e-04 9.99999834e-01 -2.04822725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5580011450000001 meters 0.2100423545109716 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.02 [[ 9.99955325e-01 -9.45184440e-03 -1.00862086e-04 1.70899578e-02] [ 9.45158601e-03 9.99952660e-01 -2.31191911e-03 -5.02520523e-02] [ 1.22709211e-04 2.31086252e-03 9.99997322e-01 -2.32094816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.618001145 meters 0.21499468287171764 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.03 [[ 9.99967198e-01 -8.09524101e-03 2.64978565e-04 1.89522011e-02] [ 8.09527555e-03 9.99967224e-01 -1.29543881e-04 -5.77675981e-02] [-2.63921191e-04 1.31684707e-04 9.99999957e-01 -2.66862273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.678001145 meters 0.2163842425859641 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.03 [[ 9.99989424e-01 -3.91821523e-03 -2.40835043e-03 3.42371385e-02] [ 3.92027137e-03 9.99991955e-01 8.49629745e-04 -6.74670633e-02] [ 2.40500202e-03 -8.59062146e-04 9.99996739e-01 -3.31372079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.738001145 meters 0.22024378321244853 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-0.04 [[ 0.99999192 -0.00306012 -0.0026086 0.03687019] [ 0.00306631 0.99999249 0.00237188 -0.07121758] [ 0.00260133 -0.00237986 0.99999378 -0.0362626 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7980011450000001 meters 0.2142998553055821 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-0.04 [[ 9.99979128e-01 -5.54242939e-03 -3.32035868e-03 4.17329578e-02] [ 5.54556548e-03 9.99984185e-01 9.36042325e-04 -7.72710629e-02] [ 3.31511822e-03 -9.54436054e-04 9.99994050e-01 -4.06449869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.858001145 meters 0.2175896550200261 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-0.04 [[ 0.99997975 -0.00527212 -0.0035646 0.04331036] [ 0.00528077 0.99998313 0.00241949 -0.08222471] [ 0.00355179 -0.00243827 0.99999072 -0.04230719] [ 0. 0. 0. 1. ]] SLAMing on 0.918001145 meters 0.21097755318572414 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.09, Z:-0.04 [[ 0.99998047 -0.00482717 -0.00397088 0.04526894] [ 0.00484191 0.9999814 0.00371008 -0.08562218] [ 0.0039529 -0.00372924 0.99998523 -0.0438779 ] [ 0. 0. 0. 1. ]] SLAMing on 0.978001145 meters 0.20710070641881526 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.09, Z:-0.05 [[ 0.99996375 -0.00723456 -0.00449047 0.04844481] [ 0.00724048 0.99997294 0.00130291 -0.08715883] [ 0.00448092 -0.00133538 0.99998907 -0.04624372] [ 0. 0. 0. 1. ]] SLAMing on 1.038001145 meters 0.2014759678657193 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.09, Z:-0.05 [[ 0.99996736 -0.00659411 -0.00466858 0.04924753] [ 0.00660306 0.99997638 0.00190537 -0.08726367] [ 0.0046559 -0.00193614 0.99998729 -0.04672843] [ 0. 0. 0. 1. ]] SLAMing on 1.098001145 meters 0.1957370889569324 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.09, Z:-0.05 [[ 0.99997069 -0.00578614 -0.00501328 0.05244603] [ 0.00580081 0.99997892 0.0029157 -0.08837853] [ 0.0049963 -0.0029447 0.99998318 -0.04999446] [ 0. 0. 0. 1. ]] SLAMing on 1.1580011449999998 meters 0.19254185773338764 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.09, Z:-0.05 [[ 0.99997145 -0.00546004 -0.00522325 0.05429403] [ 0.00547661 0.99998 0.00316472 -0.0884472 ] [ 0.00520586 -0.00319324 0.99998135 -0.05195932] [ 0. 0. 0. 1. ]] SLAMing on 1.218001145 meters 0.18919397877822378 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:-0.05 [[ 0.99998284 -0.00210599 -0.0054661 0.05533674] [ 0.00213918 0.99997927 0.00607249 -0.08448987] [ 0.0054532 -0.00608408 0.99996662 -0.05266661] [ 0. 0. 0. 1. ]] SLAMing on 1.278001145 meters 0.18473343037632461 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.05 [[ 0.99997855 -0.00336032 -0.00562154 0.0548878 ] [ 0.00338557 0.9999842 0.00448767 -0.08108428] [ 0.00560637 -0.00450661 0.99997413 -0.05167781] [ 0. 0. 0. 1. ]] SLAMing on 1.3380011449999998 meters 0.17953175361106877 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.05 [[ 0.99997509 -0.00438324 -0.00553256 0.05327723] [ 0.00439856 0.99998652 0.00275991 -0.07698392] [ 0.00552039 -0.00278417 0.99998089 -0.04963327] [ 0. 0. 0. 1. ]] SLAMing on 1.3980011449999998 meters 0.17335069239065887 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.07, Z:-0.05 [[ 0.99997175 -0.00516566 -0.00546095 0.05304967] [ 0.00517242 0.99998587 0.00122468 -0.07244567] [ 0.00545455 -0.00125289 0.99998434 -0.04950893] [ 0. 0. 0. 1. ]] SLAMing on 1.4580011449999999 meters 0.16917841672176914 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.07, Z:-0.05 [[ 9.99969189e-01 -5.54532855e-03 -5.55613570e-03 5.35477060e-02] [ 5.54703237e-03 9.99984573e-01 2.91292744e-04 -6.92422986e-02] [ 5.55443467e-03 -3.22103833e-04 9.99984522e-01 -4.99098763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.518001145 meters 0.16206712873231888 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.07, Z:-0.05 [[ 9.99967429e-01 -5.90607655e-03 -5.50077108e-03 5.39777954e-02] [ 5.90491940e-03 9.99982540e-01 -2.26578504e-04 -6.79951405e-02] [ 5.50201323e-03 1.94089514e-04 9.99984845e-01 -5.07738653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.578001145 meters 0.15958754745359302 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:-0.05 [[ 0.99997901 -0.00285342 -0.00581738 0.05717909] [ 0.00286788 0.99999281 0.00247981 -0.06539828] [ 0.00581026 -0.00249644 0.99998 -0.05417036] [ 0. 0. 0. 1. ]] SLAMing on 1.6380011449999998 meters 0.15033138481839073 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.06, Z:-0.05 [[ 9.99982542e-01 3.31715376e-04 -5.89967521e-03 5.74955534e-02] [-3.04616620e-04 9.99989403e-01 4.59356796e-03 -5.97391112e-02] [ 5.90113645e-03 -4.59169062e-03 9.99972046e-01 -5.45609601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6980011449999999 meters 0.15361697221116544 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.06, Z:-0.06 [[ 9.99998572e-01 1.61174940e-03 -5.08500711e-04 6.93257421e-02] [-1.61353507e-03 9.99992464e-01 -3.53099786e-03 -5.67780044e-02] [ 5.02805796e-04 3.53181330e-03 9.99993637e-01 -5.91418778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.758001145 meters 0.14133829666341455 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.05, Z:-0.06 [[ 9.99999735e-01 5.72400076e-04 -4.50592599e-04 6.87053282e-02] [-5.74962144e-04 9.99983552e-01 -5.70655262e-03 -5.11534758e-02] [ 4.47318756e-04 5.70681018e-03 9.99983616e-01 -5.83749336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8180011449999998 meters 0.1439215116480389 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.04, Z:-0.05 [[ 9.99983041e-01 -5.37895749e-04 -5.79907780e-03 7.73955147e-02] [ 5.33843633e-04 9.99999612e-01 -7.00277111e-04 -3.67224105e-02] [ 5.79945223e-03 6.97169434e-04 9.99982940e-01 -5.09280293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8780011449999998 meters 0.13454609460679698 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.03, Z:-0.05 [[ 0.9999817 -0.00112375 -0.00594437 0.07768919] [ 0.00111098 0.99999707 -0.00215228 -0.03267174] [ 0.00594677 0.00214564 0.99998002 -0.05098182] [ 0. 0. 0. 1. ]] SLAMing on 1.9380011449999999 meters 0.12754645263690959 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.05 [[ 0.99997889 -0.00162763 -0.00628996 0.07963208] [ 0.00160008 0.99998912 -0.00438175 -0.02401723] [ 0.00629703 0.00437159 0.99997062 -0.05295739] [ 0. 0. 0. 1. ]] SLAMing on 1.998001145 meters 0.12308428100000911 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.05 [[ 0.99997936 0.00134894 -0.00628138 0.07945709] [-0.00136759 0.99999467 -0.00296601 -0.0160758 ] [ 0.00627734 0.00297454 0.99997587 -0.05272944] [ 0. 0. 0. 1. ]] SLAMing on 2.058001145 meters 0.11923205434798258 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:-0.05 [[ 0.99997493 0.00330802 -0.00626086 0.07861693] [-0.00332969 0.99998849 -0.003454 -0.0037454 ] [ 0.00624937 0.00347476 0.99997444 -0.05156573] [ 0. 0. 0. 1. ]] SLAMing on 2.118001145 meters 0.11785306128493839 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.05 [[ 0.99997473 0.00241053 -0.00668805 0.08034337] [-0.00245115 0.99997856 -0.00607179 0.00624173] [ 0.00667327 0.00608803 0.9999592 -0.05299093] [ 0. 0. 0. 1. ]] SLAMing on 2.178001145 meters 0.11277762755196187 Centerline is valid? [False, False] Translation: X:0.08, Y:0.02, Z:-0.05 [[ 0.99997013 0.00448958 -0.00629156 0.07813229] [-0.00452538 0.99997358 -0.00568858 0.0155724 ] [ 0.00626586 0.00571688 0.99996403 -0.05063547] [ 0. 0. 0. 1. ]] SLAMing on 2.2380011449999997 meters 0.10894403774699254 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.05 [[ 0.99996538 0.00602295 -0.00574086 0.07539392] [-0.00606141 0.99995916 -0.00670422 0.02806455] [ 0.00570025 0.00673879 0.99996105 -0.04768548] [ 0. 0. 0. 1. ]] SLAMing on 2.2980011449999997 meters 0.10208423803540721 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.05 [[ 0.99993925 0.00919638 -0.00607722 0.07582725] [-0.00922727 0.99994455 -0.00507419 0.03468604] [ 0.00603022 0.00512996 0.99996866 -0.04752353] [ 0. 0. 0. 1. ]] SLAMing on 2.358001145 meters 0.09765041991221964 Centerline is valid? [False, True] Translation: X:0.09, Y:0.06, Z:-0.04 [[ 0.99984435 0.01197432 -0.01295695 0.08616049] [-0.0120052 0.99992527 -0.00230792 0.05575323] [ 0.01292834 0.00246311 0.99991339 -0.04196288] [ 0. 0. 0. 1. ]] SLAMing on 2.418001145 meters 0.0868248392072931 Centerline is valid? [True, True] Translation: X:0.15, Y:0.07, Z:-0.03 [[ 9.99875495e-01 1.43042864e-02 -6.66203586e-03 1.50268087e-01] [-1.43018758e-02 9.99897639e-01 4.09342589e-04 7.44961836e-02] [ 6.66720928e-03 -3.14012014e-04 9.99977725e-01 -2.60915785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.478001145 meters 0.08619224156159189 Centerline is valid? [True, True] Translation: X:0.21, Y:0.08, Z:-0.05 [[ 9.99897473e-01 1.43057812e-02 6.23045148e-04 2.08291553e-01] [-1.43057598e-02 9.99897667e-01 -3.88356224e-05 7.74696953e-02] [-6.23536963e-04 2.99185065e-05 9.99999805e-01 -4.88047449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.538001145 meters 0.07998783189153087 Centerline is valid? [True, True] Translation: X:0.27, Y:0.10, Z:-0.04 [[ 9.99827173e-01 1.35771599e-02 1.26998051e-02 2.70984607e-01] [-1.35683286e-02 9.99907641e-01 -7.81292572e-04 9.64060313e-02] [-1.27092399e-02 6.08842415e-04 9.99919049e-01 -4.33322669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.598001145 meters 0.08011238716895043 Centerline is valid? [True, True] Translation: X:0.33, Y:0.10, Z:-0.05 [[ 9.99768633e-01 1.20600546e-02 1.78111265e-02 3.32082571e-01] [-1.20424809e-02 9.99926889e-01 -1.09359494e-03 1.03213186e-01] [-1.78230132e-02 8.78851768e-04 9.99840771e-01 -5.03066205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6580011449999996 meters 0.08017941155387848 Centerline is valid? [True, True] Translation: X:0.39, Y:0.10, Z:-0.06 [[ 0.99957475 0.0044808 0.0288139 0.39244422] [-0.00443159 0.99998861 -0.00177152 0.10318999] [-0.02882151 0.00164307 0.99958322 -0.06098323] [ 0. 0. 0. 1. ]] SLAMing on 2.7180011449999997 meters 0.08003401999817553 Centerline is valid? [True, True] Translation: X:0.45, Y:0.11, Z:-0.07 [[ 9.99554471e-01 5.25359672e-04 2.98426518e-02 4.53704527e-01] [-4.70846902e-04 9.99998208e-01 -1.83367098e-03 1.08333495e-01] [-2.98435616e-02 1.81880270e-03 9.99552927e-01 -6.53880167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7780011449999997 meters 0.077676592901845 Centerline is valid? [True, True] Translation: X:0.51, Y:0.12, Z:-0.07 [[ 0.99936657 -0.0010013 0.03557319 0.51488766] [ 0.00107981 0.99999702 -0.00218785 0.12274233] [-0.03557089 0.00222487 0.99936468 -0.06800941] [ 0. 0. 0. 1. ]] SLAMing on 2.838001145 meters 0.07910797465454766 Centerline is valid? [True, True] Translation: X:0.57, Y:0.12, Z:-0.08 [[ 9.99290675e-01 -2.14055235e-04 3.76576841e-02 5.73422315e-01] [ 3.01316876e-04 9.99997283e-01 -2.31157315e-03 1.20384060e-01] [-3.76570869e-02 2.32128039e-03 9.99288024e-01 -7.88748737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.898001145 meters 0.07855172219046629 Centerline is valid? [True, True] Translation: X:0.63, Y:0.13, Z:-0.09 [[ 0.99901391 0.00302004 0.04429552 0.633173 ] [-0.00290208 0.99999207 -0.00272713 0.13049307] [-0.0443034 0.00259589 0.99901475 -0.08699858] [ 0. 0. 0. 1. ]] SLAMing on 2.958001145 meters 0.07364935310240757 Centerline is valid? [True, True] Translation: X:0.70, Y:0.15, Z:-0.08 [[ 0.99872091 0.00566248 0.05024411 0.69516969] [-0.00551403 0.99998001 -0.00309276 0.14517259] [-0.05026062 0.00281176 0.99873218 -0.08384039] [ 0. 0. 0. 1. ]] SLAMing on 3.018001145 meters 0.07356662397962807 Centerline is valid? [True, True] Translation: X:0.76, Y:0.15, Z:-0.09 [[ 0.99872305 0.00822081 0.04984667 0.75619107] [-0.00807794 0.99996267 -0.00306706 0.15124547] [-0.04987002 0.00266049 0.99875217 -0.09363257] [ 0. 0. 0. 1. ]] SLAMing on 3.078001145 meters 0.07340641859677613 Centerline is valid? [True, True] Translation: X:0.82, Y:0.15, Z:-0.10 [[ 0.99846736 0.00766826 0.05480995 0.81658066] [-0.00749445 0.99996622 -0.00337597 0.14975256] [-0.05483399 0.00296003 0.9984911 -0.10033393] [ 0. 0. 0. 1. ]] SLAMing on 3.138001145 meters 0.07423369986682639 Centerline is valid? [True, True] Translation: X:0.88, Y:0.15, Z:-0.11 [[ 0.99823479 0.00639303 0.0590461 0.87622145] [-0.00618902 0.99997423 -0.00363732 0.15106217] [-0.05906783 0.00326547 0.99824863 -0.10756243] [ 0. 0. 0. 1. ]] SLAMing on 3.1980011449999997 meters 0.07480536101355166 Centerline is valid? [True, True] Translation: X:0.94, Y:0.15, Z:-0.11 [[ 0.99829527 0.00508063 0.05814407 0.93696127] [-0.00488064 0.99998168 -0.00358102 0.15163042] [-0.0581612 0.00329114 0.99830178 -0.11499887] [ 0. 0. 0. 1. ]] SLAMing on 3.2580011449999997 meters 0.07756295734441328 Centerline is valid? [True, True] Translation: X:1.00, Y:0.15, Z:-0.12 [[ 0.99828919 0.00143698 0.05845192 0.9975877 ] [-0.00122861 0.99999276 -0.0036005 0.14902773] [-0.05845667 0.00352252 0.99828373 -0.12403593] [ 0. 0. 0. 1. ]] SLAMing on 3.3180011449999998 meters 0.07941186590046972 Centerline is valid? [True, True] Translation: X:1.06, Y:0.14, Z:-0.13 [[ 9.98084582e-01 -1.04059104e-03 6.18553437e-02 1.06004382e+00] [ 1.27820700e-03 9.99991955e-01 -3.80203245e-03 1.41822280e-01] [-6.18508897e-02 3.87381390e-03 9.98077883e-01 -1.32287838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.378001145 meters 0.08131530232618411 Centerline is valid? [True, True] Translation: X:1.12, Y:0.15, Z:-0.14 [[ 0.9978539 -0.00284288 0.06541802 1.12137755] [ 0.00311384 0.99998699 -0.00404028 0.14525453] [-0.06540568 0.00423531 0.99784977 -0.13606467] [ 0. 0. 0. 1. ]] SLAMing on 3.438001145 meters 0.08252647109618369 Centerline is valid? [True, True] Translation: X:1.18, Y:0.14, Z:-0.14 [[ 0.99778798 -0.00223751 0.06643904 1.18292182] [ 0.00251696 0.99998833 -0.00412272 0.14470536] [-0.06642904 0.00428083 0.99778197 -0.1436808 ] [ 0. 0. 0. 1. ]] SLAMing on 3.498001145 meters 0.08296901000375863 Centerline is valid? [True, True] Translation: X:1.24, Y:0.15, Z:-0.15 [[ 0.9974038 -0.00186694 0.07198738 1.24409709] [ 0.00219454 0.99998759 -0.004472 0.14658982] [-0.07197814 0.00461837 0.99739552 -0.14655373] [ 0. 0. 0. 1. ]] SLAMing on 3.558001145 meters 0.08459483493932837 Centerline is valid? [True, True] Translation: X:1.31, Y:0.15, Z:-0.15 [[ 0.99735299 -0.0026761 0.07266262 1.30606919] [ 0.00301157 0.99998531 -0.0045076 0.14680824] [-0.07264949 0.0047145 0.99734639 -0.15226422] [ 0. 0. 0. 1. ]] SLAMing on 3.6180011449999996 meters 0.08857434501165065 Centerline is valid? [True, True] Translation: X:1.37, Y:0.14, Z:-0.16 [[ 0.99721672 -0.00648501 0.07427487 1.36651704] [ 0.00684772 0.99996584 -0.0046298 0.14273757] [-0.07424231 0.00512553 0.99722706 -0.1588497 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6780011449999996 meters 0.09593811529025643 Centerline is valid? [True, True] Translation: X:1.43, Y:0.13, Z:-0.17 [[ 0.99701341 -0.01397199 0.07595425 1.42583022] [ 0.01437296 0.99988549 -0.00473505 0.12887985] [-0.07587939 0.00581259 0.99710006 -0.16743805] [ 0. 0. 0. 1. ]] SLAMing on 3.7380011449999997 meters 0.10008467465395797 Centerline is valid? [True, False] Translation: X:1.44, Y:0.13, Z:-0.17 [[ 0.9975528 -0.01977068 0.0670636 1.43950151] [ 0.01992631 0.99980009 -0.00165251 0.13225821] [-0.06701752 0.00298479 0.99774733 -0.16634091] [ 0. 0. 0. 1. ]] SLAMing on 3.7980011449999997 meters 0.10121533094287422 Centerline is valid? [False, False] Translation: X:1.46, Y:0.14, Z:-0.16 [[ 9.98671808e-01 -2.51805903e-02 4.49506193e-02 1.45527339e+00] [ 2.52672187e-02 9.99679808e-01 -1.35996557e-03 1.38582549e-01] [-4.49019817e-02 2.49393640e-03 9.98988284e-01 -1.62016419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.858001145 meters 0.10172775192400506 Centerline is valid? [False, False] Translation: X:1.47, Y:0.14, Z:-0.15 [[ 9.99374427e-01 -2.68306223e-02 2.30406554e-02 1.46761698e+00] [ 2.68618928e-02 9.99638604e-01 -1.04870699e-03 1.42435832e-01] [-2.30041911e-02 1.66696656e-03 9.99733979e-01 -1.53389620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.918001145 meters 0.10306283554239459 Centerline is valid? [False, False] Translation: X:1.47, Y:0.15, Z:-0.15 [[ 0.99963824 -0.02571896 0.00786948 1.46944195] [ 0.02577639 0.99964119 -0.0072855 0.14890815] [-0.00767928 0.00748571 0.99994249 -0.146529 ] [ 0. 0. 0. 1. ]] SLAMing on 3.978001145 meters 0.10409930207475321 Centerline is valid? [False, False] Translation: X:1.46, Y:0.15, Z:-0.15 [[ 0.99967473 -0.01952649 0.01640606 1.4599499 ] [ 0.01966832 0.99977018 -0.00852855 0.14912042] [-0.01623576 0.00884845 0.99982904 -0.1543048 ] [ 0. 0. 0. 1. ]] SLAMing on 4.038001145 meters 0.10422604896229645 Centerline is valid? [False, False] Translation: X:1.46, Y:0.15, Z:-0.16 [[ 0.99974541 -0.01534627 0.01654132 1.4606525 ] [ 0.01542071 0.99987149 -0.00438177 0.15175042] [-0.01647195 0.00463573 0.99985358 -0.15607955] [ 0. 0. 0. 1. ]] SLAMing on 4.0980011450000005 meters 0.10478112570292113 Centerline is valid? [False, False] Translation: X:1.46, Y:0.15, Z:-0.16 [[ 9.99799983e-01 -1.09736331e-02 1.67204452e-02 1.46097234e+00] [ 1.09702918e-02 9.99939782e-01 2.91540298e-04 1.51736418e-01] [-1.67226376e-02 -1.08053821e-04 9.99860161e-01 -1.57442270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.158001145 meters 0.10413210787502822 Centerline is valid? [False, False] Translation: X:1.46, Y:0.15, Z:-0.16 [[ 0.99983509 -0.00672361 0.01686979 1.46118412] [ 0.00664602 0.9999671 0.00465115 0.15244852] [-0.01690051 -0.00453826 0.99984688 -0.15838783] [ 0. 0. 0. 1. ]] SLAMing on 4.218001145000001 meters 0.09389746711285074 Centerline is valid? [False, True] Translation: X:1.46, Y:0.16, Z:-0.16 [[ 0.99984298 -0.00704296 0.01626098 1.46236742] [ 0.00699316 0.99997069 0.00311724 0.15828709] [-0.01628246 -0.00300304 0.99986292 -0.15784209] [ 0. 0. 0. 1. ]] SLAMing on 4.278001145 meters 0.08851815806209375 Centerline is valid? [True, True] Translation: X:1.52, Y:0.17, Z:-0.15 [[ 9.99832957e-01 -4.41506293e-03 1.77359641e-02 1.52457975e+00] [ 4.43555875e-03 9.99989540e-01 -1.11643657e-03 1.69984280e-01] [-1.77308494e-02 1.19491899e-03 9.99842082e-01 -1.54514478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.338001145000001 meters 0.09025579779685573 Centerline is valid? [True, True] Translation: X:1.59, Y:0.17, Z:-0.16 [[ 9.99808990e-01 -4.38890446e-03 1.90452247e-02 1.58573884e+00] [ 4.41244280e-03 9.99989552e-01 -1.19407214e-03 1.68190006e-01] [-1.90397850e-02 1.27788002e-03 9.99817910e-01 -1.57867482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.398001145 meters 0.09437200174469354 Centerline is valid? [True, True] Translation: X:1.65, Y:0.16, Z:-0.16 [[ 9.99773365e-01 -7.65172054e-03 1.98663152e-02 1.64549786e+00] [ 7.67816296e-03 9.99969735e-01 -1.25508183e-03 1.63374843e-01] [-1.98561104e-02 1.40733419e-03 9.99801858e-01 -1.60080279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.458001145 meters 0.09738630913233925 Centerline is valid? [True, True] Translation: X:1.71, Y:0.16, Z:-0.16 [[ 9.99737247e-01 -9.18680523e-03 2.10009654e-02 1.70685915e+00] [ 9.21658334e-03 9.99956653e-01 -1.32158909e-03 1.57157879e-01] [-2.09879139e-02 1.51479899e-03 9.99778582e-01 -1.63822985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.518001145 meters 0.1004150171610719 Centerline is valid? [True, False] Translation: X:1.71, Y:0.16, Z:-0.16 [[ 0.9999301 -0.01120018 0.00378737 1.71136466] [ 0.01122018 0.99992299 -0.00530299 0.16183746] [-0.00372768 0.00534511 0.99997877 -0.15859416] [ 0. 0. 0. 1. ]] SLAMing on 4.578001145 meters 0.10118118022660379 Centerline is valid? [False, False] Translation: X:1.71, Y:0.16, Z:-0.16 [[ 9.99967976e-01 -6.83152842e-03 4.16866918e-03 1.71115032e+00] [ 6.83363033e-03 9.99976530e-01 -4.90181902e-04 1.60814574e-01] [-4.16522265e-03 5.18653349e-04 9.99991191e-01 -1.59738455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6380011450000005 meters 0.10120979669940221 Centerline is valid? [False, False] Translation: X:1.71, Y:0.16, Z:-0.16 [[ 9.99972817e-01 -6.38310423e-03 3.69059612e-03 1.71349091e+00] [ 6.38438446e-03 9.99979563e-01 -3.35211913e-04 1.63302533e-01] [-3.68838101e-03 3.58764986e-04 9.99993134e-01 -1.61706622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.698001145 meters 0.10019348593218969 Centerline is valid? [False, False] Translation: X:1.71, Y:0.17, Z:-0.16 [[ 0.99998931 -0.00265423 0.00378631 1.71314693] [ 0.00264296 0.99999207 0.00297922 0.16706133] [-0.00379419 -0.00296918 0.99998839 -0.16148504] [ 0. 0. 0. 1. ]] SLAMing on 4.758001145000001 meters 0.0997528926795911 Centerline is valid? [False, True] Translation: X:1.71, Y:0.17, Z:-0.16 [[ 0.99999068 -0.00248896 0.0035281 1.71419367] [ 0.00247869 0.99999269 0.00291143 0.16833235] [-0.00353532 -0.00290266 0.99998954 -0.16216948] [ 0. 0. 0. 1. ]] SLAMing on 4.818001145 meters 0.09915671470989541 Centerline is valid? [True, True] Translation: X:1.77, Y:0.17, Z:-0.16 [[ 9.99990636e-01 1.17767440e-04 4.32595506e-03 1.77462785e+00] [-1.16541996e-04 9.99999953e-01 -2.83527992e-04 1.71002923e-01] [-4.32598824e-03 2.83021181e-04 9.99990603e-01 -1.62207388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.878001145 meters 0.08235956429580181 Centerline is valid? [True, True] Translation: X:1.84, Y:0.20, Z:-0.15 [[ 9.99976152e-01 8.63918114e-04 6.85201085e-03 1.83862702e+00] [-8.60867720e-04 9.99999529e-01 -4.48119094e-04 2.01854496e-01] [-6.85239476e-03 4.42209732e-04 9.99976424e-01 -1.51702741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.938001145 meters 0.10477546411812035 Centerline is valid? [True, False] Translation: X:1.84, Y:0.21, Z:-0.15 [[ 9.99975163e-01 1.54866564e-04 7.04627711e-03 1.83872252e+00] [-1.44043653e-04 9.99998809e-01 -1.53645737e-03 2.07543747e-01] [-7.04650667e-03 1.53540423e-03 9.99973994e-01 -1.52597413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.998001145 meters 0.09305619098029123 Centerline is valid? [False, True] Translation: X:1.84, Y:0.21, Z:-0.15 [[ 9.99974330e-01 -1.73372295e-04 7.16310310e-03 1.83874217e+00] [ 1.88024414e-04 9.99997892e-01 -2.04487601e-03 2.10314515e-01] [-7.16273347e-03 2.04617036e-03 9.99972254e-01 -1.53043509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.058001145 meters 0.10942654379492796 Centerline is valid? [True, False] Translation: X:1.84, Y:0.21, Z:-0.15 [[ 9.99974007e-01 -4.73489872e-04 7.19458930e-03 1.83883038e+00] [ 4.92353598e-04 9.99996446e-01 -2.62038736e-03 2.13217092e-01] [-7.19332300e-03 2.62386153e-03 9.99970685e-01 -1.53290958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.118001145 meters 0.08042667223763854 Centerline is valid? [False, True] Translation: X:1.84, Y:0.22, Z:-0.14 [[ 9.99950235e-01 6.44668728e-03 7.61370410e-03 1.83545678e+00] [-6.44241553e-03 9.99979076e-01 -5.85452678e-04 2.22782070e-01] [-7.61731902e-03 5.36372898e-04 9.99970844e-01 -1.42588351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1780011450000005 meters 0.07825996830906921 Centerline is valid? [True, True] Translation: X:1.90, Y:0.22, Z:-0.15 [[ 9.99910968e-01 1.19544408e-02 5.92850030e-03 1.89505890e+00] [-1.19522926e-02 9.99928490e-01 -3.97661986e-04 2.22126342e-01] [-5.93283018e-03 3.26767411e-04 9.99982347e-01 -1.47152198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.238001145 meters 0.07919532893463165 Centerline is valid? [True, True] Translation: X:1.95, Y:0.21, Z:-0.17 [[ 9.99927339e-01 1.15434108e-02 -3.47359496e-03 1.95330088e+00] [-1.15426750e-02 9.99933354e-01 2.31783160e-04 2.10207794e-01] [ 3.47603903e-03 -1.91671741e-04 9.99993940e-01 -1.69464565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.298001145 meters 0.0779400383392861 Centerline is valid? [True, True] Translation: X:2.01, Y:0.22, Z:-0.18 [[ 9.99878878e-01 1.34885686e-02 -7.76453568e-03 2.01217713e+00] [-1.34849473e-02 9.99908940e-01 5.18552718e-04 2.15354377e-01] [ 7.77082317e-03 -4.13785555e-04 9.99969721e-01 -1.75020265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.358001145 meters 0.07840661073828911 Centerline is valid? [True, True] Translation: X:2.07, Y:0.22, Z:-0.18 [[ 9.99823058e-01 1.41579176e-02 -1.23857450e-02 2.07153571e+00] [-1.41487571e-02 9.99899559e-01 8.26921522e-04 2.18454640e-01] [ 1.23962085e-02 -6.51532307e-04 9.99922952e-01 -1.77079589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.418001145 meters 0.07822431225053436 Centerline is valid? [True, True] Translation: X:2.13, Y:0.22, Z:-0.18 [[ 9.99770998e-01 1.53548673e-02 -1.49057099e-02 2.13023448e+00] [-1.53417443e-02 9.99881814e-01 9.94354899e-04 2.20807590e-01] [ 1.49192164e-02 -7.65447600e-04 9.99888409e-01 -1.79620472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.478001145 meters 0.07731056108319022 Centerline is valid? [True, True] Translation: X:2.19, Y:0.22, Z:-0.18 [[ 9.99722895e-01 1.86857415e-02 -1.43169965e-02 2.19002041e+00] [-1.86739692e-02 9.99825170e-01 9.55515671e-04 2.19898358e-01] [ 1.43323480e-02 -6.87895741e-04 9.99897050e-01 -1.82083248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.538001145 meters 0.07551633266522902 Centerline is valid? [True, True] Translation: X:2.25, Y:0.23, Z:-0.18 [[ 9.99634459e-01 2.20816611e-02 -1.55996656e-02 2.24987128e+00] [-2.20681087e-02 9.99755928e-01 1.04038534e-03 2.25396163e-01] [ 1.56188316e-02 -6.95749920e-04 9.99877777e-01 -1.82515298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5980011450000005 meters 0.07516961070353839 Centerline is valid? [True, True] Translation: X:2.31, Y:0.23, Z:-0.18 [[ 9.99608014e-01 2.42021613e-02 -1.40738371e-02 2.30878327e+00] [-2.41913476e-02 9.99706906e-01 9.38117036e-04 2.29396085e-01] [ 1.40924166e-02 -5.97284222e-04 9.99900519e-01 -1.79925941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.658001145 meters 0.07583467627683727 Centerline is valid? [True, True] Translation: X:2.37, Y:0.23, Z:-0.18 [[ 9.99605743e-01 2.40031699e-02 -1.45673111e-02 2.36682481e+00] [-2.39916514e-02 9.99711693e-01 9.64979036e-04 2.25161544e-01] [ 1.45862738e-02 -6.15104738e-04 9.99893425e-01 -1.82183515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.718001145000001 meters 0.07805408997889146 Centerline is valid? [True, True] Translation: X:2.43, Y:0.21, Z:-0.19 [[ 9.99672267e-01 1.97508544e-02 -1.62868802e-02 2.42620114e+00] [-1.97358373e-02 9.99804644e-01 1.08226877e-03 2.12841379e-01] [ 1.63050742e-02 -7.60478857e-04 9.99866774e-01 -1.86956588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.778001145 meters 0.08212080451900855 Centerline is valid? [True, True] Translation: X:2.49, Y:0.20, Z:-0.20 [[ 9.99708866e-01 1.57018205e-02 -1.83203671e-02 2.48502527e+00] [-1.56821495e-02 9.99876287e-01 1.21690250e-03 1.96551612e-01] [ 1.83372082e-02 -9.29245481e-04 9.99831427e-01 -1.95361556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.838001145 meters 0.08503862548144751 Centerline is valid? [True, True] Translation: X:2.54, Y:0.19, Z:-0.20 [[ 9.99753914e-01 1.21300615e-02 -1.85734302e-02 2.54394009e+00] [-1.21092366e-02 9.99925920e-01 1.23327717e-03 1.85023182e-01] [ 1.85870140e-02 -1.00806362e-03 9.99826738e-01 -1.98832096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.898001145 meters 0.08359485879177171 Centerline is valid? [True, True] Translation: X:2.60, Y:0.19, Z:-0.20 [[ 9.99751323e-01 8.97388805e-03 -2.04147432e-02 2.60444839e+00] [-8.94807022e-03 9.99959046e-01 1.35566244e-03 1.85190144e-01] [ 2.04260727e-02 -1.17265276e-03 9.99790678e-01 -1.96814648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.958001145 meters 0.09144186883839026 Centerline is valid? [True, True] Translation: X:2.66, Y:0.17, Z:-0.20 [[ 9.99779043e-01 4.24009594e-03 -2.05885286e-02 2.66291204e+00] [-4.21283540e-03 9.99990191e-01 1.36725675e-03 1.69581989e-01] [ 2.05941240e-02 -1.28021856e-03 9.99787099e-01 -2.02179908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.018001145 meters 0.08999635691181732 Centerline is valid? [True, True] Translation: X:2.72, Y:0.17, Z:-0.20 [[ 9.99732860e-01 -7.15499552e-04 -2.31018684e-02 2.72349972e+00] [ 7.51143082e-04 9.99998541e-01 1.53424444e-03 1.69206960e-01] [ 2.31007370e-02 -1.55118739e-03 9.99731939e-01 -2.01160129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.078001145 meters 0.0858531880235538 Centerline is valid? [True, True] Translation: X:2.78, Y:0.17, Z:-0.20 [[ 9.99721935e-01 3.88323267e-03 -2.32588449e-02 2.78423666e+00] [-3.84834533e-03 9.99991402e-01 1.54453257e-03 1.74426753e-01] [ 2.32646427e-02 -1.45459502e-03 9.99728283e-01 -2.00105739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1380011450000005 meters 0.0853195234334357 Centerline is valid? [True, True] Translation: X:2.84, Y:0.18, Z:-0.20 [[ 9.99680952e-01 8.63027951e-03 -2.37384142e-02 2.84377987e+00] [-8.59528840e-03 9.99961818e-01 1.57566974e-03 1.76705168e-01] [ 2.37511063e-02 -1.37112851e-03 9.99716962e-01 -2.02975794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.198001145 meters 0.08373664794062216 Centerline is valid? [True, True] Translation: X:2.90, Y:0.18, Z:-0.20 [[ 9.99684769e-01 9.55504988e-03 -2.32177333e-02 2.90300083e+00] [-9.52187709e-03 9.99953482e-01 1.53890535e-03 1.77245234e-01] [ 2.32313575e-02 -1.31734384e-03 9.99729248e-01 -2.02126174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.258001145000001 meters 0.08079114034372879 Centerline is valid? [True, True] Translation: X:2.96, Y:0.18, Z:-0.20 [[ 9.99709075e-01 1.30674533e-02 -2.02733292e-02 2.96351880e+00] [-1.30428677e-02 9.99914034e-01 1.34446046e-03 1.78065054e-01] [ 2.02891551e-02 -1.07964697e-03 9.99793571e-01 -1.98928116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.318001145 meters 0.07887047056449122 Centerline is valid? [True, True] Translation: X:3.02, Y:0.18, Z:-0.20 [[ 9.99660023e-01 1.77794962e-02 -1.90716729e-02 3.02446301e+00] [-1.77585960e-02 9.99841504e-01 1.26469299e-03 1.78054407e-01] [ 1.90911357e-02 -9.25576891e-04 9.99817319e-01 -1.99047322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.378001145 meters 0.07689513402759372 Centerline is valid? [True, True] Translation: X:3.08, Y:0.18, Z:-0.20 [[ 9.99537875e-01 2.15930244e-02 -2.13957216e-02 3.08371651e+00] [-2.15676400e-02 9.99766388e-01 1.41649433e-03 1.79782396e-01] [ 2.14213097e-02 -9.54384511e-04 9.99770082e-01 -2.01545800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.438001145 meters 0.07636834347370425 Centerline is valid? [True, True] Translation: X:3.14, Y:0.18, Z:-0.20 [[ 9.99507606e-01 2.17742138e-02 -2.25926615e-02 3.14215681e+00] [-2.17461276e-02 9.99762417e-01 1.48812437e-03 1.79535502e-01] [ 2.26196967e-02 -9.96088728e-04 9.99743646e-01 -2.02679049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.498001145 meters 0.07415172871272245 Centerline is valid? [True, True] Translation: X:3.20, Y:0.18, Z:-0.20 [[ 9.99358229e-01 2.65045048e-02 -2.40965064e-02 3.20270814e+00] [-2.64738571e-02 9.99648241e-01 1.59004919e-03 1.84884565e-01] [ 2.41301737e-02 -9.51101279e-04 9.99708373e-01 -2.03270403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.558001145 meters 0.07346195344657185 Centerline is valid? [True, True] Translation: X:3.26, Y:0.18, Z:-0.20 [[ 9.99303072e-01 2.81498506e-02 -2.45143923e-02 3.26178150e+00] [-2.81188448e-02 9.99603293e-01 1.60866118e-03 1.84819532e-01] [ 2.45499508e-02 -9.18223671e-04 9.99698183e-01 -2.03800938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.618001145 meters 0.0712940759178521 Centerline is valid? [True, True] Translation: X:3.32, Y:0.19, Z:-0.20 [[ 9.99181960e-01 3.42191877e-02 -2.15512923e-02 3.32150489e+00] [-3.41966030e-02 9.99414122e-01 1.41572198e-03 1.90969084e-01] [ 2.15871107e-02 -6.77582874e-04 9.99766742e-01 -2.01619932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6780011450000005 meters 0.07124026549450416 Centerline is valid? [True, True] Translation: X:3.38, Y:0.19, Z:-0.20 [[ 9.99183355e-01 3.45525849e-02 -2.09461890e-02 3.38045685e+00] [-3.45314823e-02 9.99402674e-01 1.36843164e-03 1.88530954e-01] [ 2.09809602e-02 -6.44011156e-04 9.99779668e-01 -2.02961686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.738001145 meters 0.06950448602361481 Centerline is valid? [True, True] Translation: X:3.44, Y:0.19, Z:-0.21 [[ 9.98918335e-01 4.12535546e-02 -2.14547039e-02 3.44011758e+00] [-4.12329119e-02 9.99148576e-01 1.40382733e-03 1.93196821e-01] [ 2.14943497e-02 -5.17668945e-04 9.99768836e-01 -2.06727696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.798001145 meters 0.06881305676407379 Centerline is valid? [True, True] Translation: X:3.50, Y:0.19, Z:-0.21 [[ 9.98846335e-01 4.42287691e-02 -1.87033576e-02 3.49899324e+00] [-4.42136252e-02 9.99021351e-01 1.22262946e-03 1.94686450e-01] [ 1.87391290e-02 -3.94275713e-04 9.99824329e-01 -2.05700502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.858001145 meters 0.06779589811153759 Centerline is valid? [True, True] Translation: X:3.56, Y:0.20, Z:-0.20 [[ 9.98722436e-01 4.80159308e-02 -1.57469151e-02 3.55850467e+00] [-4.80056728e-02 9.98846533e-01 1.02899641e-03 1.95063940e-01] [ 1.57781597e-02 -2.71740554e-04 9.99875480e-01 -2.04669599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.918001145 meters 0.06741636597551323 Centerline is valid? [True, True] Translation: X:3.62, Y:0.19, Z:-0.21 [[ 9.98643860e-01 4.99628505e-02 -1.46340058e-02 3.61620089e+00] [-4.99542270e-02 9.98751052e-01 9.54451838e-04 1.92629633e-01] [ 1.46634158e-02 -2.22127022e-04 9.99892462e-01 -2.06360938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.978001145 meters 0.0668358469705653 Centerline is valid? [True, True] Translation: X:3.67, Y:0.19, Z:-0.21 [[ 9.98553421e-01 5.21531858e-02 -1.30809437e-02 3.67405105e+00] [-5.21465086e-02 9.98639082e-01 8.51244318e-04 1.91252499e-01] [ 1.31075367e-02 -1.67887382e-04 9.99914078e-01 -2.07293807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.038001145 meters 0.06658817287348923 Centerline is valid? [True, True] Translation: X:3.73, Y:0.19, Z:-0.21 [[ 9.98528358e-01 5.30863806e-02 -1.10885025e-02 3.73302824e+00] [-5.30816806e-02 9.98589916e-01 7.17949774e-04 1.86793071e-01] [ 1.11109802e-02 -1.28296859e-04 9.99938263e-01 -2.08963913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0980011450000005 meters 0.06590807332051743 Centerline is valid? [True, True] Translation: X:3.79, Y:0.18, Z:-0.21 [[ 9.98480227e-01 5.36113927e-02 -1.27692874e-02 3.79196045e+00] [-5.36052422e-02 9.98561866e-01 8.23685038e-04 1.84410769e-01] [ 1.27950824e-02 -1.37932478e-04 9.99918130e-01 -2.06778069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.158001145 meters 0.06627684052633734 Centerline is valid? [True, True] Translation: X:3.85, Y:0.18, Z:-0.21 [[ 9.98474189e-01 5.33213891e-02 -1.43569868e-02 3.84997110e+00] [-5.33135645e-02 9.98577390e-01 9.27454479e-04 1.78703361e-01] [ 1.43860155e-02 -1.60617220e-04 9.99896503e-01 -2.10994741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.218001145 meters 0.06787260121631085 Centerline is valid? [True, True] Translation: X:3.91, Y:0.17, Z:-0.22 [[ 9.98493500e-01 5.24231008e-02 -1.62033387e-02 3.90734845e+00] [-5.24130341e-02 9.98624945e-01 1.04560375e-03 1.68418849e-01] [ 1.62358720e-02 -1.94762401e-04 9.99868171e-01 -2.23587976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.278001145 meters 0.06680027366138339 Centerline is valid? [True, True] Translation: X:3.97, Y:0.16, Z:-0.22 [[ 9.98561403e-01 5.15423288e-02 -1.47821957e-02 3.96653226e+00] [-5.15339260e-02 9.98670793e-01 9.49043317e-04 1.64958176e-01] [ 1.48114630e-02 -1.85893445e-04 9.99890287e-01 -2.16308788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.338001145 meters 0.06626156034913222 Centerline is valid? [True, True] Translation: X:4.03, Y:0.16, Z:-0.21 [[ 9.98673858e-01 4.98358083e-02 -1.29196576e-02 4.02514390e+00] [-4.98292946e-02 9.98757408e-01 8.25781810e-04 1.62552938e-01] [ 1.29447572e-02 -1.80909284e-04 9.99916197e-01 -2.09966431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.398001145 meters 0.06682803611512828 Centerline is valid? [True, True] Translation: X:4.08, Y:0.15, Z:-0.21 [[ 9.98807371e-01 4.76880783e-02 -1.04729946e-02 4.08209034e+00] [-4.76836735e-02 9.98862262e-01 6.70036802e-04 1.53667678e-01] [ 1.04930319e-02 -1.69846841e-04 9.99944932e-01 -2.10668426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.458001145 meters 0.0674325730892886 Centerline is valid? [True, True] Translation: X:4.14, Y:0.14, Z:-0.21 [[ 9.99002433e-01 4.36501995e-02 -9.42329680e-03 4.14035153e+00] [-4.36464944e-02 9.99046858e-01 5.98574761e-04 1.41613189e-01] [ 9.44044297e-03 -1.86683772e-04 9.99955421e-01 -2.12167543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.518001145 meters 0.06759203159105 Centerline is valid? [True, True] Translation: X:4.20, Y:0.13, Z:-0.21 [[ 9.99083788e-01 4.17671702e-02 -9.33211474e-03 4.19815735e+00] [-4.17634517e-02 9.99127350e-01 5.93061490e-04 1.32998897e-01] [ 9.34874158e-03 -2.02776796e-04 9.99956279e-01 -2.12961822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.578001145 meters 0.06733328750568082 Centerline is valid? [True, True] Translation: X:4.26, Y:0.13, Z:-0.21 [[ 9.99156691e-01 3.99734642e-02 -9.38235360e-03 4.25695433e+00] [-3.99696622e-02 9.99200718e-01 5.92460098e-04 1.29565792e-01] [ 9.39853714e-03 -2.16950967e-04 9.99955809e-01 -2.10056247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6380011450000005 meters 0.0697685014927099 Centerline is valid? [True, True] Translation: X:4.31, Y:0.12, Z:-0.22 [[ 9.99190458e-01 3.90712416e-02 -9.58473170e-03 4.31430617e+00] [-3.90672186e-02 9.99236401e-01 6.06667466e-04 1.19327447e-01] [ 9.60111606e-03 -2.31727534e-04 9.99953881e-01 -2.16474713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.698001145 meters 0.06808879192627838 Centerline is valid? [True, True] Translation: X:4.37, Y:0.12, Z:-0.21 [[ 9.99209953e-01 3.80813439e-02 -1.13701935e-02 4.37298249e+00] [-3.80756701e-02 9.99274603e-01 7.15141166e-04 1.20130138e-01] [ 1.13891791e-02 -2.81648433e-04 9.99935102e-01 -2.14639092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.758001145 meters 0.06886715222878717 Centerline is valid? [True, True] Translation: X:4.43, Y:0.11, Z:-0.22 [[ 9.99166546e-01 3.88739454e-02 -1.24511272e-02 4.43083808e+00] [-3.88671991e-02 9.99244078e-01 7.83434663e-04 1.14710756e-01] [ 1.24721703e-02 -2.98841266e-04 9.99922175e-01 -2.19908728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.818001145 meters 0.06838026384729053 Centerline is valid? [True, True] Translation: X:4.49, Y:0.11, Z:-0.22 [[ 9.99174342e-01 3.84860111e-02 -1.30177093e-02 4.48944445e+00] [-3.84786605e-02 9.99259090e-01 8.14742418e-04 1.14269907e-01] [ 1.30394205e-02 -3.13165703e-04 9.99914934e-01 -2.18674811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.878001145 meters 0.06827421314544108 Centerline is valid? [True, True] Translation: X:4.55, Y:0.11, Z:-0.22 [[ 9.99227359e-01 3.75626970e-02 -1.15641410e-02 4.54813144e+00] [-3.75568697e-02 9.99294232e-01 7.20742331e-04 1.08731444e-01] [ 1.15830524e-02 -2.85872519e-04 9.99932873e-01 -2.19419663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.938001145 meters 0.0697853355925614 Centerline is valid? [True, True] Translation: X:4.61, Y:0.10, Z:-0.22 [[ 9.99347590e-01 3.41669552e-02 -1.17052814e-02 4.60597068e+00] [-3.41607283e-02 9.99416084e-01 7.31558868e-04 9.88612851e-02] [ 1.17234416e-02 -3.31220656e-04 9.99931223e-01 -2.21912240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.998001145 meters 0.0704887861373407 Centerline is valid? [True, True] Translation: X:4.66, Y:0.09, Z:-0.22 [[ 9.99429937e-01 3.18791905e-02 -1.11138664e-02 4.66451870e+00] [-3.18734910e-02 9.99491673e-01 6.89625699e-04 9.37488672e-02] [ 1.11302016e-02 -3.34994849e-04 9.99938001e-01 -2.20727362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.058001144999999 meters 0.0704500824258198 Centerline is valid? [True, True] Translation: X:4.72, Y:0.09, Z:-0.22 [[ 9.99501173e-01 2.98471920e-02 -1.03223377e-02 4.72308840e+00] [-2.98421951e-02 9.99554419e-01 6.37805426e-04 9.09916086e-02] [ 1.03367750e-02 -3.29446055e-04 9.99946520e-01 -2.18832935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.118001145 meters 0.07132130019993962 Centerline is valid? [True, True] Translation: X:4.78, Y:0.08, Z:-0.22 [[ 9.99552374e-01 2.79009362e-02 -1.07976776e-02 4.78142584e+00] [-2.78953807e-02 9.99610627e-01 6.64810039e-04 8.44417615e-02] [ 1.08120221e-02 -3.63307127e-04 9.99941482e-01 -2.21312492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.178001145 meters 0.07367009580114373 Centerline is valid? [True, True] Translation: X:4.84, Y:0.07, Z:-0.22 [[ 9.99674773e-01 2.30803565e-02 -1.08464420e-02 4.84002213e+00] [-2.30744353e-02 9.99733525e-01 6.70754770e-04 7.26412275e-02] [ 1.08590329e-02 -4.20261099e-04 9.99940951e-01 -2.24978231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.238001144999998 meters 0.07578869685766279 Centerline is valid? [True, True] Translation: X:4.90, Y:0.06, Z:-0.23 [[ 9.99755819e-01 1.84722446e-02 -1.21275964e-02 4.89980097e+00] [-1.84645048e-02 9.99829235e-01 7.49862144e-04 6.43812339e-02] [ 1.21393771e-02 -5.25748980e-04 9.99926177e-01 -2.26954507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.298001144999999 meters 0.08482384532989493 Centerline is valid? [True, True] Translation: X:4.96, Y:0.04, Z:-0.23 [[ 9.99858847e-01 1.12065327e-02 -1.25179507e-02 4.95790546e+00] [-1.11977190e-02 9.99937004e-01 7.73949868e-04 4.28635335e-02] [ 1.25258354e-02 -6.33668128e-04 9.99921348e-01 -2.33219395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.358001145 meters 0.08438466301687161 Centerline is valid? [True, True] Translation: X:5.02, Y:0.04, Z:-0.23 [[ 9.99892299e-01 6.54873494e-03 -1.31341234e-02 5.01809686e+00] [-6.53863128e-03 9.99978293e-01 8.12062608e-04 4.00265246e-02] [ 1.31391563e-02 -7.26095958e-04 9.99913414e-01 -2.32229209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.418001145 meters 0.08647961971402539 Centerline is valid? [True, True] Translation: X:5.08, Y:0.03, Z:-0.23 [[ 9.99890997e-01 4.39377413e-04 -1.47581121e-02 5.07810492e+00] [-4.25962468e-04 9.99999493e-01 9.12118958e-04 3.44314540e-02] [ 1.47585054e-02 -9.05733132e-04 9.99890677e-01 -2.32007566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.478001144999999 meters 0.09236412023353548 Centerline is valid? [True, True] Translation: X:5.14, Y:0.02, Z:-0.24 [[ 9.99866439e-01 -3.13446342e-03 -1.60399578e-02 5.13654836e+00] [ 3.15076342e-03 9.99994545e-01 9.91042329e-04 2.22845895e-02] [ 1.60367639e-02 -1.04144808e-03 9.99870860e-01 -2.38743089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.538001144999999 meters 0.09295747017523838 Centerline is valid? [True, True] Translation: X:5.20, Y:0.02, Z:-0.24 [[ 9.99851061e-01 -3.51171486e-03 -1.68974372e-02 5.19530167e+00] [ 3.52974890e-03 9.99993232e-01 1.03755857e-03 1.83239306e-02] [ 1.68936793e-02 -1.09704775e-03 9.99856690e-01 -2.40537353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.598001145 meters 0.09396734057795428 Centerline is valid? [True, True] Translation: X:5.25, Y:0.02, Z:-0.24 [[ 9.99845637e-01 -3.49182696e-03 -1.72194352e-02 5.25264543e+00] [ 3.51047313e-03 9.99993284e-01 1.05274894e-03 1.55812170e-02] [ 1.72156435e-02 -1.11303480e-03 9.99851180e-01 -2.43299626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.658001145 meters 0.08704115833172478 Centerline is valid? [True, True] Translation: X:5.31, Y:0.03, Z:-0.24 [[ 9.99843660e-01 -6.51468389e-04 -1.76700556e-02 5.31303546e+00] [ 6.70705820e-04 9.99999189e-01 1.08279805e-03 2.75362021e-02] [ 1.76693358e-02 -1.09448018e-03 9.99843286e-01 -2.40174117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.718001144999999 meters 0.08444354610427318 Centerline is valid? [True, True] Translation: X:5.37, Y:0.04, Z:-0.24 [[ 9.99830185e-01 7.03518924e-03 -1.70325497e-02 5.37285609e+00] [-7.01842870e-03 9.99974826e-01 1.04360569e-03 3.57187537e-02] [ 1.70394628e-02 -9.23886731e-04 9.99854391e-01 -2.42494212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.778001145 meters 0.08306533599049204 Centerline is valid? [True, True] Translation: X:5.43, Y:0.04, Z:-0.24 [[ 9.99832864e-01 7.68136673e-03 -1.65903529e-02 5.43244208e+00] [-7.66560940e-03 9.99970106e-01 1.01317281e-03 3.87794393e-02] [ 1.65976395e-02 -8.85828312e-04 9.99861857e-01 -2.39115353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.838001145 meters 0.08325647206861797 Centerline is valid? [True, True] Translation: X:5.49, Y:0.03, Z:-0.24 [[ 9.99862701e-01 5.82078790e-03 -1.55144359e-02 5.49066706e+00] [-5.80679922e-03 9.99982692e-01 9.46551096e-04 3.48248012e-02] [ 1.55196770e-02 -8.56331922e-04 9.99879196e-01 -2.39799593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.898001144999999 meters 0.08428307169083207 Centerline is valid? [True, True] Translation: X:5.55, Y:0.03, Z:-0.24 [[ 9.99849035e-01 3.82471387e-03 -1.69492789e-02 5.55018374e+00] [-3.80771902e-03 9.99992215e-01 1.03484648e-03 2.83749257e-02] [ 1.69531050e-02 -9.70152166e-04 9.99855815e-01 -2.44266015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.958001144999999 meters 0.08556177372685593 Centerline is valid? [True, True] Translation: X:5.61, Y:0.02, Z:-0.25 [[ 9.99834798e-01 2.31028109e-03 -1.80288402e-02 5.60912168e+00] [-2.29083136e-03 9.99996772e-01 1.09938961e-03 2.27284385e-02] [ 1.80313219e-02 -1.05790695e-03 9.99836863e-01 -2.50525340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.018001145 meters 0.08357978611754979 Centerline is valid? [True, True] Translation: X:5.67, Y:0.03, Z:-0.24 [[ 9.99860190e-01 3.62977395e-03 -1.63225430e-02 5.66953885e+00] [-3.61401362e-03 9.99992974e-01 9.94949028e-04 3.00454176e-02] [ 1.63260397e-02 -9.35820032e-04 9.99866283e-01 -2.43204082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.078001145 meters 0.0837055644472904 Centerline is valid? [True, True] Translation: X:5.73, Y:0.03, Z:-0.24 [[ 9.99895549e-01 4.44888763e-03 -1.37512966e-02 5.72905881e+00] [-4.43778655e-03 9.99989802e-01 8.37683961e-04 2.87000073e-02] [ 1.37548831e-02 -7.76571146e-04 9.99905096e-01 -2.40724265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.138001144999999 meters 0.08268448452989662 Centerline is valid? [True, True] Translation: X:5.79, Y:0.03, Z:-0.24 [[ 9.99902662e-01 6.84935518e-03 -1.21553889e-02 5.78857796e+00] [-6.84086387e-03 9.99976327e-01 7.40004656e-04 2.70446224e-02] [ 1.21601697e-02 -6.56779264e-04 9.99925847e-01 -2.40559818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.198001145 meters 0.08170502782237143 Centerline is valid? [True, True] Translation: X:5.85, Y:0.02, Z:-0.25 [[ 9.99851766e-01 1.07534075e-02 -1.34465892e-02 5.84859854e+00] [-1.07433675e-02 9.99941953e-01 8.18676697e-04 2.12359449e-02] [ 1.34546122e-02 -6.74093692e-04 9.99909255e-01 -2.47462690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.258001145 meters 0.07806138164486467 Centerline is valid? [True, True] Translation: X:5.91, Y:0.03, Z:-0.24 [[ 9.99792154e-01 1.54519331e-02 -1.32998599e-02 5.90946864e+00] [-1.54425251e-02 9.99880429e-01 8.09793200e-04 2.79609456e-02] [ 1.33107825e-02 -6.04241468e-04 9.99911225e-01 -2.43650987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.318001144999998 meters 0.07727341101461024 Centerline is valid? [True, True] Translation: X:5.97, Y:0.03, Z:-0.25 [[ 9.99726989e-01 1.89670559e-02 -1.36454733e-02 5.96857120e+00] [-1.89574906e-02 9.99819946e-01 8.30004242e-04 2.82992924e-02] [ 1.36587591e-02 -5.71093711e-04 9.99906552e-01 -2.45136880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.378001144999999 meters 0.07556939064213626 Centerline is valid? [True, True] Translation: X:6.03, Y:0.03, Z:-0.25 [[ 9.99625435e-01 2.33281950e-02 -1.43103318e-02 6.02891404e+00] [-2.33181206e-02 9.99727717e-01 8.70469001e-04 2.97281843e-02] [ 1.43267418e-02 -5.36452912e-04 9.99897223e-01 -2.47708696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.438001145 meters 0.075820785794205 Centerline is valid? [True, True] Translation: X:6.09, Y:0.03, Z:-0.24 [[ 9.99666957e-01 2.35093238e-02 -1.06436043e-02 6.08652344e+00] [-2.35037807e-02 9.99723540e-01 6.45594425e-04 2.54110133e-02] [ 1.06558392e-02 -3.95214474e-04 9.99943147e-01 -2.44499722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.498001145 meters 0.07530420483261974 Centerline is valid? [True, True] Translation: X:6.15, Y:0.02, Z:-0.24 [[ 9.99702055e-01 2.34094067e-02 -6.91375392e-03 6.14586805e+00] [-2.34070914e-02 9.99725930e-01 4.15616788e-04 2.36248663e-02] [ 6.92158841e-03 -2.53662088e-04 9.99976013e-01 -2.39318816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.558001144999999 meters 0.07503704612799583 Centerline is valid? [True, True] Translation: X:6.20, Y:0.02, Z:-0.24 [[ 9.99699289e-01 2.41414026e-02 -4.30396022e-03 6.20465599e+00] [-2.41405209e-02 9.99708542e-01 2.56686928e-04 1.80863362e-02] [ 4.30890258e-03 -1.52709898e-04 9.99990705e-01 -2.39431532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.618001145 meters 0.07313140547182892 Centerline is valid? [True, True] Translation: X:6.27, Y:0.02, Z:-0.24 [[ 9.99579896e-01 2.84069921e-02 -5.75106117e-03 6.26506286e+00] [-2.84054673e-02 9.99596423e-01 3.46664981e-04 1.88096211e-02] [ 5.75858789e-03 -1.83157766e-04 9.99983402e-01 -2.42344948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.678001145 meters 0.07248340855298212 Centerline is valid? [True, True] Translation: X:6.32, Y:0.02, Z:-0.25 [[ 9.99460603e-01 3.16851849e-02 -8.63438511e-03 6.32402894e+00] [-3.16819122e-02 9.99497869e-01 5.15583214e-04 1.95628729e-02] [ 8.64638587e-03 -2.41751278e-04 9.99962590e-01 -2.45800878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.738001144999998 meters 0.07108262041742956 Centerline is valid? [True, True] Translation: X:6.38, Y:0.02, Z:-0.25 [[ 9.99223413e-01 3.72836730e-02 -1.27474637e-02 6.38279393e+00] [-3.72770122e-02 9.99304682e-01 7.59810150e-04 2.27240291e-02] [ 1.27669287e-02 -2.84032733e-04 9.99918459e-01 -2.48889236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.798001144999999 meters 0.07036471194195014 Centerline is valid? [True, True] Translation: X:6.44, Y:0.02, Z:-0.25 [[ 9.99043056e-01 4.14683042e-02 -1.39051056e-02 6.44052719e+00] [-4.14607659e-02 9.99139788e-01 8.30082488e-04 2.14580294e-02] [ 1.39275664e-02 -2.52771818e-04 9.99902975e-01 -2.51288234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.858001145 meters 0.06900777142569477 Centerline is valid? [True, True] Translation: X:6.50, Y:0.02, Z:-0.25 [[ 9.98844386e-01 4.67172081e-02 -1.12869581e-02 6.50114699e+00] [-4.67125705e-02 9.98908144e-01 6.74303683e-04 2.36801872e-02] [ 1.13061359e-02 -1.46281624e-04 9.99936073e-01 -2.48614988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.918001145 meters 0.06802922978725216 Centerline is valid? [True, True] Translation: X:6.56, Y:0.02, Z:-0.24 [[ 9.98723466e-01 4.99515987e-02 -7.50174612e-03 6.56097734e+00] [-4.99496454e-02 9.98751637e-01 4.47629616e-04 2.44087960e-02] [ 7.51474103e-03 -7.23486429e-05 9.99971761e-01 -2.43733303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.978001144999999 meters 0.06781822357043198 Centerline is valid? [True, True] Translation: X:6.62, Y:0.02, Z:-0.24 [[ 9.98636429e-01 5.16597202e-02 -7.52039495e-03 6.62007299e+00] [-5.16578389e-02 9.98664744e-01 4.44318324e-04 2.35863951e-02] [ 7.53330666e-03 -5.52251130e-05 9.99971623e-01 -2.43700719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.038001144999999 meters 0.06762161757325871 Centerline is valid? [True, True] Translation: X:6.68, Y:0.02, Z:-0.25 [[ 9.98474746e-01 5.45184026e-02 -8.71346247e-03 6.67893623e+00] [-5.45159981e-02 9.98512765e-01 5.13409559e-04 2.19428486e-02] [ 8.72849377e-03 -3.76033766e-05 9.99961905e-01 -2.47793451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.098001145 meters 0.06751384858816367 Centerline is valid? [True, True] Translation: X:6.74, Y:0.02, Z:-0.25 [[ 9.98336120e-01 5.70015095e-02 -8.70745530e-03 6.73671724e+00] [-5.69991989e-02 9.98374092e-01 5.13484675e-04 2.23524251e-02] [ 8.72256718e-03 -1.63123216e-05 9.99961958e-01 -2.50833048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.158001144999998 meters 0.06750841729859997 Centerline is valid? [True, True] Translation: X:6.80, Y:0.02, Z:-0.25 [[ 9.98133102e-01 6.03956551e-02 -9.09265688e-03 6.79511476e+00] [-6.03932850e-02 9.98174516e-01 5.35259364e-04 2.47800194e-02] [ 9.10838572e-03 1.48753285e-05 9.99958518e-01 -2.51905954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.218001144999999 meters 0.0673223019975339 Centerline is valid? [True, True] Translation: X:6.85, Y:0.02, Z:-0.25 [[ 9.98059155e-01 6.15753677e-02 -9.29499466e-03 6.85359035e+00] [-6.15729750e-02 9.98102436e-01 5.43631531e-04 2.39856337e-02] [ 9.31083113e-03 2.97440477e-05 9.99956653e-01 -2.48531041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.278001145 meters 0.06715476927651615 Centerline is valid? [True, True] Translation: X:6.91, Y:0.02, Z:-0.25 [[ 9.98058454e-01 6.16324832e-02 -8.98664953e-03 6.91150604e+00] [-6.16302749e-02 9.98098911e-01 5.22720536e-04 2.13358273e-02] [ 9.00178167e-03 3.21440308e-05 9.99959483e-01 -2.47259312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.338001145 meters 0.06738126546927953 Centerline is valid? [True, True] Translation: X:6.97, Y:0.01, Z:-0.25 [[ 9.98210680e-01 5.90812791e-02 -9.21095171e-03 6.96928474e+00] [-5.90788716e-02 9.98253175e-01 5.33490510e-04 1.43398094e-02] [ 9.22638109e-03 1.16367083e-05 9.99957436e-01 -2.49736345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.398001144999999 meters 0.06732697889903669 Centerline is valid? [True, True] Translation: X:7.03, Y:0.01, Z:-0.25 [[ 9.98391053e-01 5.58193900e-02 -9.97499433e-03 7.02727725e+00] [-5.58163842e-02 9.98440882e-01 5.79687297e-04 7.37463434e-03] [ 9.99179993e-03 -2.19864958e-05 9.99950080e-01 -2.50863963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.458001144999999 meters 0.06735304795482987 Centerline is valid? [True, True] Translation: X:7.09, Y:0.00, Z:-0.25 [[ 9.98462455e-01 5.43762645e-02 -1.07679161e-02 7.08560525e+00] [-5.43727258e-02 9.98520516e-01 6.21333225e-04 3.57272864e-03] [ 1.07857709e-02 -3.48969495e-05 9.99941831e-01 -2.52256607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.518001145 meters 0.06751340707877652 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.00, Z:-0.25 [[ 9.98693814e-01 4.99547349e-02 -1.07326454e-02 7.14351146e+00] [-4.99509897e-02 9.98751480e-01 6.16897722e-04 -3.54625444e-03] [ 1.07500624e-02 -7.99856815e-05 9.99942213e-01 -2.52631381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.578001144999998 meters 0.06769688861614473 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.01, Z:-0.26 [[ 9.98814054e-01 4.73603089e-02 -1.12909951e-02 7.20152386e+00] [-4.73560247e-02 9.98877865e-01 6.46637391e-04 -9.41190428e-03] [ 1.13089501e-02 -1.11173870e-04 9.99936046e-01 -2.55282805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.638001144999999 meters 0.06845809116301836 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.02, Z:-0.26 [[ 9.98998131e-01 4.29481682e-02 -1.25773086e-02 7.25924864e+00] [-4.29424803e-02 9.99077285e-01 7.22075239e-04 -1.91604017e-02] [ 1.25967151e-02 -1.81250988e-04 9.99920642e-01 -2.58931653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.698001145 meters 0.068426297180656 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.02, Z:-0.26 [[ 9.98958019e-01 4.35010915e-02 -1.38033076e-02 7.31793094e+00] [-4.34943636e-02 9.99053362e-01 7.87374442e-04 -1.97867735e-02] [ 1.38244925e-02 -1.86187931e-04 9.99904420e-01 -2.59935377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.758001145 meters 0.06817638712131327 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.02, Z:-0.26 [[ 9.98886540e-01 4.49640670e-02 -1.42798251e-02 7.37522323e+00] [-4.49570714e-02 9.98988591e-01 8.10686038e-04 -2.21175744e-02] [ 1.43018341e-02 -1.67804254e-04 9.99897709e-01 -2.61163964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.818001144999998 meters 0.06770582835361498 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.02, Z:-0.26 [[ 9.98779386e-01 4.76778265e-02 -1.29059626e-02 7.43317140e+00] [-4.76723246e-02 9.98862759e-01 7.33783026e-04 -2.28551779e-02] [ 1.29262706e-02 -1.17630119e-04 9.99916445e-01 -2.60041830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.878001144999999 meters 0.06762307025948455 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.02, Z:-0.26 [[ 9.98740524e-01 4.78264898e-02 -1.51655361e-02 7.49156543e+00] [-4.78189251e-02 9.98855650e-01 8.61249878e-04 -2.41863917e-02] [ 1.51893720e-02 -1.34965518e-04 9.99884626e-01 -2.59142348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.938001145 meters 0.06782082079300306 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.03, Z:-0.26 [[ 9.98772009e-01 4.67200807e-02 -1.64835968e-02 7.54889509e+00] [-4.67110312e-02 9.98908008e-01 9.33789442e-04 -2.85064176e-02] [ 1.65092235e-02 -1.62676953e-04 9.99863700e-01 -2.61687569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.998001145 meters 0.06760979353018244 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.03, Z:-0.26 [[ 9.98866703e-01 4.45318227e-02 -1.67996002e-02 7.60744005e+00] [-4.45222026e-02 9.99007947e-01 9.46390398e-04 -3.29625657e-02] [ 1.68250786e-02 -1.97362653e-04 9.99858429e-01 -2.57250724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.058001144999999 meters 0.069277462278299 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.05, Z:-0.27 [[ 9.99045057e-01 4.04822633e-02 -1.64365463e-02 7.66399659e+00] [-4.04725032e-02 9.99180223e-01 9.26139384e-04 -4.58503073e-02] [ 1.64605642e-02 -2.60026800e-04 9.99864482e-01 -2.66502220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.118001145 meters 0.0686503573741542 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.05, Z:-0.26 [[ 9.99132978e-01 3.78337517e-02 -1.73752435e-02 7.72242769e+00] [-3.78225413e-02 9.99283998e-01 9.73470291e-04 -4.87662208e-02] [ 1.73996328e-02 -3.15450407e-04 9.99848565e-01 -2.60323337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.178001145 meters 0.06892296711771881 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.05, Z:-0.26 [[ 9.99286061e-01 3.39036199e-02 -1.66706911e-02 7.78055786e+00] [-3.38928198e-02 9.99425041e-01 9.30031682e-04 -5.42666129e-02] [ 1.66926376e-02 -3.64350967e-04 9.99860602e-01 -2.56424609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.238001144999998 meters 0.06992776767132305 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.06, Z:-0.26 [[ 9.99324712e-01 3.24329303e-02 -1.72691844e-02 7.83784882e+00] [-3.24211291e-02 9.99473833e-01 9.62969297e-04 -6.05757224e-02] [ 1.72913299e-02 -4.02432559e-04 9.99850413e-01 -2.60455670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.298001144999999 meters 0.07018630018049606 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.06, Z:-0.26 [[ 9.99391229e-01 3.00961712e-02 -1.76462738e-02 7.89655013e+00] [-3.00835815e-02 9.99546908e-01 9.78526685e-04 -6.43848754e-02] [ 1.76677283e-02 -4.47067870e-04 9.99843814e-01 -2.60158125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.358001145 meters 0.07259390570126979 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.07, Z:-0.27 [[ 9.99443894e-01 2.90803486e-02 -1.63167619e-02 7.95420646e+00] [-2.90695116e-02 9.99576986e-01 9.00996796e-04 -7.34493443e-02] [ 1.63360610e-02 -4.26175447e-04 9.99866467e-01 -2.66299055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.418001145 meters 0.07032865061176057 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.07, Z:-0.26 [[ 9.99485975e-01 2.88195037e-02 -1.40435765e-02 8.01324041e+00] [-2.88115022e-02 9.99584565e-01 7.71788977e-04 -6.94447436e-02] [ 1.40599849e-02 -3.66775723e-04 9.99901086e-01 -2.57365375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.478001144999999 meters 0.07109438146988319 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.07, Z:-0.26 [[ 9.99531740e-01 2.70050405e-02 -1.43885055e-02 8.07161718e+00] [-2.69964991e-02 9.99635218e-01 7.87563647e-04 -7.38986658e-02] [ 1.44045250e-02 -3.98755587e-04 9.99896170e-01 -2.59259508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.538001144999999 meters 0.07159926506047973 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.08, Z:-0.26 [[ 9.99551131e-01 2.53878072e-02 -1.59058277e-02 8.13070974e+00] [-2.53771316e-02 9.99677568e-01 8.72685301e-04 -7.68230541e-02] [ 1.59228547e-02 -4.68649297e-04 9.99873113e-01 -2.62374811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.598001145 meters 0.07122902558376239 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.08, Z:-0.26 [[ 9.99557898e-01 2.52373499e-02 -1.57189287e-02 8.18893405e+00] [-2.52270194e-02 9.99681382e-01 8.55170278e-04 -7.83188799e-02] [ 1.57355026e-02 -4.58250486e-04 9.99876084e-01 -2.62756718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.658001144999998 meters 0.07167072249280847 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.08, Z:-0.26 [[ 9.99556937e-01 2.62529832e-02 -1.40253607e-02 8.24711153e+00] [-2.62448379e-02 9.99655253e-01 7.64527708e-04 -8.00438497e-02] [ 1.40405967e-02 -3.96095655e-04 9.99901348e-01 -2.64113959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.718001144999999 meters 0.07133854296214424 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.08, Z:-0.26 [[ 9.99607964e-01 2.59227104e-02 -1.05797324e-02 8.30646659e+00] [-2.59180784e-02 9.99663905e-01 5.74709707e-04 -8.01923058e-02] [ 1.05910746e-02 -3.00278066e-04 9.99943868e-01 -2.61661640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.778001145 meters 0.0724172717615777 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.09, Z:-0.26 [[ 9.99686821e-01 2.31478597e-02 -9.50981241e-03 8.36480804e+00] [-2.31440297e-02 9.99732010e-01 5.12617198e-04 -8.51119288e-02] [ 9.51912986e-03 -2.92361277e-04 9.99954649e-01 -2.61352867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.838001145 meters 0.09991550017670094 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.14, Z:-0.28 [[ 9.99948133e-01 8.62883553e-03 -5.41063508e-03 8.42134832e+00] [-8.62737601e-03 9.99962741e-01 2.93033127e-04 -1.41138205e-01] [ 5.41296202e-03 -2.46338345e-04 9.99985319e-01 -2.80686226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.898001144999999 meters 0.07671635874578225 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.11, Z:-0.27 [[ 9.99887708e-01 1.25558229e-02 -8.18067394e-03 8.48291366e+00] [-1.25526195e-02 9.99921115e-01 4.42807551e-04 -1.08003530e-01] [ 8.18558842e-03 -3.40068940e-04 9.99966440e-01 -2.70860611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.958001144999999 meters 0.07641239668434764 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.11, Z:-0.27 [[ 9.99900555e-01 1.22879256e-02 -6.92004783e-03 8.54219054e+00] [-1.22856340e-02 9.99924459e-01 3.73572271e-04 -1.07007501e-01] [ 6.92411551e-03 -2.88517946e-04 9.99975986e-01 -2.69345893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.018001145 meters 0.07592283658832559 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.11, Z:-0.27 [[ 9.99878344e-01 1.41393530e-02 -6.58606160e-03 8.60143521e+00] [-1.41373263e-02 9.99900000e-01 3.54170761e-04 -1.05561515e-01] [ 6.59041075e-03 -2.61018372e-04 9.99978249e-01 -2.67527548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.078001144999998 meters 0.07479343262194135 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.10, Z:-0.27 [[ 9.99862769e-01 1.55319636e-02 -5.76201687e-03 8.66059100e+00] [-1.55304524e-02 9.99879348e-01 3.06925277e-04 -1.04990392e-01] [ 5.76608883e-03 -2.17396428e-04 9.99983352e-01 -2.65677824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.138001144999999 meters 0.07458389412376133 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.11, Z:-0.27 [[ 9.99847906e-01 1.68663097e-02 -4.43760002e-03 8.71884892e+00] [-1.68654215e-02 9.99857740e-01 2.37500499e-04 -1.09632423e-01] [ 4.44097449e-03 -1.62622381e-04 9.99990126e-01 -2.67907933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.198001145 meters 0.07268452319377215 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.11, Z:-0.27 [[ 9.99757942e-01 2.15968816e-02 -4.19905105e-03 8.77904505e+00] [-2.15961256e-02 9.99766751e-01 2.25304231e-04 -1.09097206e-01] [ 4.20293749e-03 -1.34566460e-04 9.99991159e-01 -2.69932654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.258001145 meters 0.07132684309995396 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.11, Z:-0.27 [[ 9.99670631e-01 2.54177609e-02 -3.54487373e-03 8.83909428e+00] [-2.54172483e-02 9.99676912e-01 1.89599570e-04 -1.08546999e-01] [ 3.54854762e-03 -9.94361863e-05 9.99993699e-01 -2.71518300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.318001144999998 meters 0.07006740500892195 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.11, Z:-0.27 [[ 9.99594275e-01 2.83819978e-02 -2.39758203e-03 8.89819573e+00] [-2.83817734e-02 9.99597148e-01 1.27562007e-04 -1.07572472e-01] [ 2.40023662e-03 -5.94626218e-05 9.99997118e-01 -2.70196309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.378001144999999 meters 0.07012058641316597 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.11, Z:-0.27 [[ 9.99541539e-01 3.01691145e-02 -2.55675591e-03 8.95548947e+00] [-3.01688661e-02 9.99544807e-01 1.35656475e-04 -1.10129390e-01] [ 2.55968472e-03 -5.84598547e-05 9.99996722e-01 -2.72161854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.438001145 meters 0.06915200828248234 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.11, Z:-0.27 [[ 9.99423521e-01 3.36267720e-02 -4.67606276e-03 9.01468878e+00] [-3.36259878e-02 9.99434456e-01 2.46250785e-04 -1.09819655e-01] [ 4.68169887e-03 -8.88715974e-05 9.99989037e-01 -2.74188771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.498001145 meters 0.06850027021258244 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.11, Z:-0.28 [[ 9.99259743e-01 3.79701331e-02 -6.18348707e-03 9.07283283e+00] [-3.79688486e-02 9.99278870e-01 3.25038113e-04 -1.09649163e-01] [ 6.19136972e-03 -9.00176168e-05 9.99980829e-01 -2.77141846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.558001144999999 meters 0.06741760233681002 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.11, Z:-0.27 [[ 9.99086680e-01 4.25192316e-02 -4.23335166e-03 9.13196176e+00] [-4.25186662e-02 9.99095648e-01 2.23504604e-04 -1.07911318e-01] [ 4.23902646e-03 -4.33040069e-05 9.99991014e-01 -2.74886165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.618001145 meters 0.06651212884244148 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.11, Z:-0.27 [[ 9.98915988e-01 4.64459378e-02 -3.10231102e-03 9.19041797e+00] [-4.64456632e-02 9.98920805e-01 1.60526799e-04 -1.07740118e-01] [ 3.10641884e-03 -1.62638933e-05 9.99995175e-01 -2.74100063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.678001145 meters 0.06625053506126609 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.11, Z:-0.28 [[ 9.98823692e-01 4.84314626e-02 -2.37176867e-03 9.24801234e+00] [-4.84313050e-02 9.98826508e-01 1.23860965e-04 -1.08998982e-01] [ 2.37498419e-03 -8.84741457e-06 9.99997180e-01 -2.75046691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.738001144999998 meters 0.0661915861433767 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.11, Z:-0.28 [[ 9.98645898e-01 5.18632336e-02 -4.07118213e-03 9.30716522e+00] [-5.18628066e-02 9.98654197e-01 2.10452281e-04 -1.07710463e-01] [ 4.07661786e-03 9.75624573e-07 9.99991691e-01 -2.76430764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.798001144999999 meters 0.0662800584045954 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.11, Z:-0.28 [[ 9.98519464e-01 5.38256499e-02 -7.85368363e-03 9.36591921e+00] [-5.38241126e-02 9.98550349e-01 4.07131142e-04 -1.09012485e-01] [ 7.86421263e-03 1.61891824e-05 9.99969076e-01 -2.82260562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.858001145 meters 0.06632226169938875 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.11, Z:-0.28 [[ 9.98482026e-01 5.44611396e-02 -8.22356589e-03 9.42430504e+00] [-5.44594892e-02 9.98515891e-01 4.24646007e-04 -1.09775858e-01] [ 8.23448793e-03 2.38497925e-05 9.99966096e-01 -2.83435747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.918001145 meters 0.0657920432367508 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.11, Z:-0.28 [[ 9.98393792e-01 5.64086833e-02 -5.28175323e-03 9.48373826e+00] [-5.64080401e-02 9.98407762e-01 2.70787471e-04 -1.08367790e-01] [ 5.28861819e-03 2.75808183e-05 9.99986015e-01 -2.77976404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.978001144999999 meters 0.06562944400609573 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.11, Z:-0.28 [[ 9.98221293e-01 5.95533595e-02 -2.76537670e-03 9.54225152e+00] [-5.95532014e-02 9.98225123e-01 1.39546831e-04 -1.10211528e-01] [ 2.76877898e-03 2.53884172e-05 9.99996167e-01 -2.75520818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.038001144999999 meters 0.06577735766029855 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.11, Z:-0.28 [[ 9.98024803e-01 6.28113365e-02 -1.10857702e-03 9.60125783e+00] [-6.28113155e-02 9.98025418e-01 5.37799237e-05 -1.11961928e-01] [ 1.10976603e-03 1.59574832e-05 9.99999384e-01 -2.75397878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.098001145 meters 0.06640074301456964 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.11, Z:-0.28 [[ 9.97581452e-01 6.94579495e-02 -2.61543971e-03 9.66133233e+00] [-6.94578373e-02 9.97584879e-01 1.33815386e-04 -1.07951285e-01] [ 2.61841765e-03 4.81710389e-05 9.99996571e-01 -2.75760635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.158001144999998 meters 0.06716577628263258 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.11, Z:-0.28 [[ 9.97227862e-01 7.43251460e-02 -3.51620710e-03 9.72133707e+00] [-7.43249733e-02 9.97234058e-01 1.79958226e-04 -1.05690188e-01] [ 3.51985690e-03 8.18826415e-05 9.99993802e-01 -2.75789012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.218001144999999 meters 0.06813274016189609 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.11, Z:-0.28 [[ 9.96642495e-01 8.17734973e-02 -4.10279739e-03 9.78114832e+00] [-8.17733242e-02 9.96650932e-01 2.10219495e-04 -1.08478647e-01] [ 4.10624723e-03 1.25985700e-04 9.99991561e-01 -2.76821320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.278001145 meters 0.06923725513828882 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.11, Z:-0.28 [[ 9.96287829e-01 8.59591209e-02 -4.64659272e-03 9.83986298e+00] [-8.59589458e-02 9.96298652e-01 2.37753451e-04 -1.10388976e-01] [ 4.64983114e-03 1.62545342e-04 9.99989176e-01 -2.80377795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.338001145 meters 0.06994666735912865 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.11, Z:-0.28 [[ 9.95868841e-01 9.07269287e-02 -3.72495798e-03 9.90074380e+00] [-9.07268481e-02 9.95875797e-01 1.90939451e-04 -1.07705873e-01] [ 3.72691885e-03 1.47803047e-04 9.99993044e-01 -2.77407383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.398001144999999 meters 0.06908763350274874 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.11, Z:-0.28 [[ 9.96172212e-01 8.73184933e-02 -4.05033265e-03 9.96046358e+00] [-8.73183729e-02 9.96180435e-01 2.06867661e-04 -1.13769782e-01] [ 4.05292551e-03 1.47592641e-04 9.99991776e-01 -2.78946262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.458001144999999 meters 0.06826512554187904 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.12, Z:-0.28 [[ 9.96855535e-01 7.90989816e-02 -4.73207896e-03 1.00190304e+01] [-7.90987243e-02 9.96866758e-01 2.41806060e-04 -1.21820305e-01] [ 4.73637883e-03 1.33255700e-04 9.99988774e-01 -2.83891534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.518001145 meters 0.06658282518751926 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.14, Z:-0.29 [[ 9.97702975e-01 6.72691763e-02 -7.97693021e-03 1.00788969e+01] [-6.72680632e-02 9.97734855e-01 4.08069551e-04 -1.35888875e-01] [ 7.98631181e-03 1.29460441e-04 9.99968101e-01 -2.91210275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.578001144999998 meters 0.06617648941877537 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.14, Z:-0.29 [[ 9.98031002e-01 6.19849421e-02 -9.59094916e-03 1.01371399e+01] [-6.19831339e-02 9.98077079e-01 4.85947535e-04 -1.41109904e-01] [ 9.60262795e-03 1.09486381e-04 9.99953888e-01 -2.92780978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.638001144999999 meters 0.06560102171272318 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.15, Z:-0.29 [[ 9.98226995e-01 5.90178777e-02 -7.73023029e-03 1.01962519e+01] [-5.90166298e-02 9.98256924e-01 3.89630680e-04 -1.46513597e-01] [ 7.73975108e-03 6.72722765e-05 9.99970045e-01 -2.87934938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.698001145 meters 0.06578975856454215 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.15, Z:-0.29 [[ 9.98122797e-01 6.08456823e-02 -6.97745856e-03 1.02536902e+01] [-6.08447286e-02 9.98147182e-01 3.49062489e-04 -1.48465300e-01] [ 6.98576954e-03 7.61343445e-05 9.99975596e-01 -2.89362777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.758001145 meters 0.06649013066993796 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.15, Z:-0.29 [[ 9.97774103e-01 6.59685780e-02 -9.74612005e-03 1.03129671e+01] [-6.59669250e-02 9.97821689e-01 4.91326841e-04 -1.47764960e-01] [ 9.75730210e-03 1.52688373e-04 9.99952385e-01 -2.90738957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.818001144999998 meters 0.06706069489628351 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.15, Z:-0.29 [[ 9.97577837e-01 6.86268317e-02 -1.13497901e-02 1.03724736e+01] [-6.86247621e-02 9.97642378e-01 5.72154381e-04 -1.49484937e-01] [ 1.13622968e-02 2.08108119e-04 9.99935425e-01 -2.93795787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.878001144999999 meters 0.06789396641595453 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.16, Z:-0.30 [[ 9.97446787e-01 6.99628054e-02 -1.43217814e-02 1.04311206e+01] [-6.99596662e-02 9.97549561e-01 7.20690227e-04 -1.55953830e-01] [ 1.43371083e-02 2.83096898e-04 9.99897178e-01 -3.00525770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.938001145 meters 0.0675715963209706 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.16, Z:-0.30 [[ 9.97462184e-01 6.98839881e-02 -1.36168616e-02 1.04901597e+01] [-6.98812108e-02 9.97555088e-01 6.80241814e-04 -1.59011493e-01] [ 1.36311076e-02 2.73047291e-04 9.99907055e-01 -2.96361954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.998001144999998 meters 0.0677569154462838 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.16, Z:-0.29 [[ 9.97591708e-01 6.82340639e-02 -1.24457802e-02 1.05483933e+01] [-6.82316503e-02 9.97669313e-01 6.18930068e-04 -1.60693137e-01] [ 1.24590051e-02 2.31756622e-04 9.99922357e-01 -2.93833910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.058001144999999 meters 0.06751062234043227 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.17, Z:-0.30 [[ 9.97857011e-01 6.39364340e-02 -1.39110645e-02 1.06073620e+01] [-6.39330305e-02 9.97953953e-01 6.89684555e-04 -1.67068465e-01] [ 1.39266978e-02 2.01169944e-04 9.99902999e-01 -2.95052187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.118001145 meters 0.06770446615257032 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.17, Z:-0.30 [[ 9.98006476e-01 6.09847497e-02 -1.62460774e-02 1.06652599e+01] [-6.09797196e-02 9.98138680e-01 8.05271974e-04 -1.74854375e-01] [ 1.62649476e-02 1.87014602e-04 9.99867700e-01 -3.00921173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.178001145 meters 0.06819981441644586 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.18, Z:-0.31 [[ 9.98192797e-01 5.69344532e-02 -1.92251805e-02 1.07220959e+01] [-5.69266785e-02 9.98377908e-01 9.51865336e-04 -1.83776954e-01] [ 1.92481895e-02 1.44280549e-04 9.99814726e-01 -3.07682300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.238001144999998 meters 0.06827950558075006 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.19, Z:-0.31 [[ 9.98316041e-01 5.42476071e-02 -2.05494280e-02 1.07802265e+01] [-5.42382072e-02 9.98527509e-01 1.01490668e-03 -1.89694272e-01] [ 2.05742254e-02 1.01366513e-04 9.99788323e-01 -3.05830954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.298001144999999 meters 0.06854972813485703 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.19, Z:-0.31 [[ 9.98378157e-01 5.31563447e-02 -2.03828001e-02 1.08390754e+01] [-5.31469819e-02 9.98586199e-01 1.00115132e-03 -1.93950353e-01] [ 2.04072004e-02 8.37566972e-05 9.99791748e-01 -3.08255952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.358001145 meters 0.06880060183378958 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.20, Z:-0.31 [[ 9.98398427e-01 5.18753241e-02 -2.25728280e-02 1.08981579e+01] [-5.18634780e-02 9.98653567e-01 1.11029931e-03 -1.98973918e-01] [ 2.26000323e-02 6.21842789e-05 9.99744585e-01 -3.09933395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.418001144999998 meters 0.06941801405586655 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.20, Z:-0.32 [[ 9.98316251e-01 5.24235472e-02 -2.48281170e-02 1.09562439e+01] [-5.24094245e-02 9.98624937e-01 1.21963916e-03 -2.02020444e-01] [ 2.48579146e-02 8.36417267e-05 9.99690991e-01 -3.16941455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.478001144999999 meters 0.06938157106563193 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.20, Z:-0.32 [[ 9.98345662e-01 5.16612510e-02 -2.52399239e-02 1.10152508e+01] [-5.16465940e-02 9.98664663e-01 1.23267846e-03 -2.00830658e-01] [ 2.52699018e-02 7.29169094e-05 9.99680662e-01 -3.15243580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.538001144999999 meters 0.06936133750588495 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.20, Z:-0.31 [[ 9.98378550e-01 5.14172118e-02 -2.44241837e-02 1.10745894e+01] [-5.14035245e-02 9.98677258e-01 1.18832340e-03 -2.00077993e-01] [ 2.44529770e-02 6.90925284e-05 9.99700979e-01 -3.14759495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.598001145 meters 0.06876101662350277 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.21, Z:-0.31 [[ 9.98731930e-01 4.65188713e-02 -1.92490643e-02 1.11344223e+01] [-4.65094290e-02 9.98917410e-01 9.38156671e-04 -2.06390485e-01] [ 1.92718675e-02 -4.17040319e-05 9.99814279e-01 -3.11947368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.658001144999998 meters 0.06910740289909698 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.21, Z:-0.31 [[ 9.98933023e-01 4.27524163e-02 -1.74656071e-02 1.11916032e+01] [-4.27441046e-02 9.99085692e-01 8.49091895e-04 -2.11722690e-01] [ 1.74859389e-02 -1.01634198e-04 9.99847104e-01 -3.13579975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.718001144999999 meters 0.06903794386236548 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.22, Z:-0.31 [[ 9.99237915e-01 3.61435997e-02 -1.47386748e-02 1.12499071e+01] [-3.61370417e-02 9.99346591e-01 7.11112797e-04 -2.19077076e-01] [ 1.47547466e-02 -1.77958762e-04 9.99891127e-01 -3.08017180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.778001145 meters 0.07023518674014695 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.23, Z:-0.31 [[ 9.99426052e-01 3.04650427e-02 -1.48137808e-02 1.13092588e+01] [-3.04577616e-02 9.99535798e-01 7.16921592e-04 -2.25911815e-01] [ 1.48287452e-02 -2.65315513e-04 9.99890013e-01 -3.09840295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.838001145 meters 0.07151543124105612 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.23, Z:-0.32 [[ 9.99515354e-01 2.68822432e-02 -1.56972121e-02 1.13688721e+01] [-2.68736333e-02 9.99638550e-01 7.59215597e-04 -2.33335347e-01] [ 1.57119477e-02 -3.37006525e-04 9.99876503e-01 -3.15230238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.898001144999999 meters 0.0721547700382804 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.24, Z:-0.32 [[ 9.99568541e-01 2.47895301e-02 -1.57547005e-02 1.14272372e+01] [-2.47806927e-02 9.99692626e-01 7.55934652e-04 -2.38410460e-01] [ 1.57685972e-02 -3.65196105e-04 9.99875601e-01 -3.17058050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.958001144999999 meters 0.07161271519232375 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.24, Z:-0.32 [[ 9.99489513e-01 2.77037072e-02 -1.59128442e-02 1.14853463e+01] [-2.76950484e-02 9.99616126e-01 7.64296874e-04 -2.35321633e-01] [ 1.59279095e-02 -3.23199722e-04 9.99873091e-01 -3.18373992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.018001145 meters 0.07156258211919563 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.24, Z:-0.32 [[ 9.99450896e-01 2.89270098e-02 -1.61596502e-02 1.15428467e+01] [-2.89182594e-02 9.99581479e-01 7.74950745e-04 -2.37679170e-01] [ 1.61753041e-02 -3.07216260e-04 9.99869124e-01 -3.20311775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.078001144999998 meters 0.07190295175064206 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.24, Z:-0.33 [[ 9.99352665e-01 3.23805371e-02 -1.56764662e-02 1.16009982e+01] [-3.23727387e-02 9.99475583e-01 7.51027694e-04 -2.41952027e-01] [ 1.56925639e-02 -2.43051383e-04 9.99876835e-01 -3.28086741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.138001144999999 meters 0.0695675871494654 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.24, Z:-0.32 [[ 9.99281733e-01 3.47836226e-02 -1.50372129e-02 1.16602240e+01] [-3.47768066e-02 9.99394848e-01 7.14604150e-04 -2.39124313e-01] [ 1.50529696e-02 -1.91144629e-04 9.99886679e-01 -3.19777394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.198001145 meters 0.06902578336675959 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.23, Z:-0.32 [[ 9.98997359e-01 4.17153475e-02 -1.62513517e-02 1.17190522e+01] [-4.17083583e-02 9.99129532e-01 7.68913408e-04 -2.33739987e-01] [ 1.62692809e-02 -9.03252639e-05 9.99867642e-01 -3.20164933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.258001145 meters 0.06879374242469871 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.23, Z:-0.32 [[ 9.98593549e-01 4.99922270e-02 -1.76550546e-02 1.17774319e+01] [-4.99852763e-02 9.98749606e-01 8.35030446e-04 -2.29220382e-01] [ 1.76747239e-02 4.86367665e-05 9.99843789e-01 -3.22769058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.318001144999998 meters 0.06876067802710896 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.23, Z:-0.32 [[ 9.98327864e-01 5.48508442e-02 -1.82444524e-02 1.18360986e+01] [-5.48443284e-02 9.98494549e-01 8.57667544e-04 -2.26676087e-01] [ 1.82640301e-02 1.44371334e-04 9.99833188e-01 -3.21451346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.378001144999999 meters 0.06937549893221162 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.22, Z:-0.32 [[ 9.97969442e-01 6.14480272e-02 -1.67670446e-02 1.18937710e+01] [-6.14434470e-02 9.98110255e-01 7.88664367e-04 -2.24803482e-01] [ 1.67838210e-02 2.43162076e-04 9.99859112e-01 -3.22854962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.438001145 meters 0.06956764356413436 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.22, Z:-0.32 [[ 9.97396428e-01 7.05892696e-02 -1.47485786e-02 1.19538452e+01] [-7.05867236e-02 9.97505405e-01 6.93766087e-04 -2.22973673e-01] [ 1.47607593e-02 3.49094023e-04 9.99890993e-01 -3.17530669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.498001144999998 meters 0.07155925865005447 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.22, Z:-0.32 [[ 9.96635772e-01 8.10944057e-02 -1.18673848e-02 1.20129993e+01] [-8.10935010e-02 9.96706342e-01 5.58207151e-04 -2.15797404e-01] [ 1.18735651e-02 4.06038562e-04 9.99929424e-01 -3.17165384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.558001144999999 meters 0.07207023684433618 Centerline is valid? [True, True] Translation: X:12.07, Y:-0.21, Z:-0.32 [[ 9.96258096e-01 8.56264896e-02 -1.17435522e-02 1.20729434e+01] [-8.56259202e-02 9.96327204e-01 5.52193249e-04 -2.14436647e-01] [ 1.17477029e-02 4.55425470e-04 9.99930890e-01 -3.15277134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.618001145 meters 0.0717935942509414 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.22, Z:-0.31 [[ 9.96254112e-01 8.55639993e-02 -1.25118690e-02 1.21320349e+01] [-8.55634157e-02 9.96332556e-01 5.82921945e-04 -2.15372783e-01] [ 1.25158596e-02 4.89819864e-04 9.99921554e-01 -3.14548345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.678001145 meters 0.07148311239607852 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.22, Z:-0.32 [[ 9.96383449e-01 8.38869915e-02 -1.35275839e-02 1.21900933e+01] [-8.38861918e-02 9.96475144e-01 6.27526268e-04 -2.22091682e-01] [ 1.35325425e-02 5.09520714e-04 9.99908301e-01 -3.19106349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.738001144999998 meters 0.07088388451123516 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.23, Z:-0.32 [[ 9.96772884e-01 7.88724568e-02 -1.49316187e-02 1.22494408e+01] [-7.88708838e-02 9.96884597e-01 6.95108709e-04 -2.28024453e-01] [ 1.49399256e-02 4.84804448e-04 9.99888276e-01 -3.22733570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.798001144999999 meters 0.06938930960146243 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.23, Z:-0.32 [[ 9.97410964e-01 7.05568448e-02 -1.38960941e-02 1.23095613e+01] [-7.05546791e-02 9.97507704e-01 6.46635168e-04 -2.34208394e-01] [ 1.39070854e-02 3.35473453e-04 9.99903236e-01 -3.21787772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.858001145 meters 0.06874953207712108 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.24, Z:-0.33 [[ 9.97954770e-01 6.23977529e-02 -1.38851391e-02 1.23679894e+01] [-6.23948090e-02 9.98051337e-01 6.45545641e-04 -2.41303945e-01] [ 1.38983622e-02 2.22135247e-04 9.99903388e-01 -3.26211862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.918001144999998 meters 0.06729939845874733 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.26, Z:-0.33 [[ 9.98783586e-01 4.76678468e-02 -1.26144613e-02 1.24271548e+01] [-4.76642362e-02 9.98863242e-01 5.86887795e-04 -2.57283250e-01] [ 1.26280974e-02 1.50847658e-05 9.99920262e-01 -3.25348226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.978001144999999 meters 0.06804696387042453 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.27, Z:-0.33 [[ 9.99232806e-01 3.70713980e-02 -1.26298001e-02 1.24852493e+01] [-3.70670041e-02 9.99312613e-01 5.81885624e-04 -2.73542912e-01] [ 1.26426899e-02 -1.13290352e-04 9.99920072e-01 -3.27795783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.038001145 meters 0.070121423275742 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.29, Z:-0.33 [[ 9.99567748e-01 2.73926843e-02 -1.06751214e-02 1.25427740e+01] [-2.73889822e-02 9.99624730e-01 4.92870434e-04 -2.89741722e-01] [ 1.06846164e-02 -2.00276680e-04 9.99942898e-01 -3.27989809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.098001144999998 meters 0.06949001401407563 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.29, Z:-0.33 [[ 9.99515176e-01 2.92301468e-02 -1.07243129e-02 1.26015451e+01] [-2.92265634e-02 9.99572692e-01 4.90738256e-04 -2.90374314e-01] [ 1.07340747e-02 -1.77065523e-04 9.99942372e-01 -3.30024291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.158001145 meters 0.06934236556339597 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.29, Z:-0.33 [[ 9.99464301e-01 3.07072989e-02 -1.13213005e-02 1.26590867e+01] [-3.07033966e-02 9.99528405e-01 5.18369472e-04 -2.91997087e-01] [ 1.13318792e-02 -1.70489402e-04 9.99935778e-01 -3.32985505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.218001145 meters 0.06896350607187385 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.29, Z:-0.33 [[ 9.99385988e-01 3.29911188e-02 -1.17996735e-02 1.27177553e+01] [-3.29870822e-02 9.99455634e-01 5.36613124e-04 -2.92179613e-01] [ 1.18109537e-02 -1.47046837e-04 9.99930237e-01 -3.34894684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.278001144999998 meters 0.06885772198638415 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.29, Z:-0.34 [[ 9.99347960e-01 3.37994571e-02 -1.26985104e-02 1.27750229e+01] [-3.37948511e-02 9.99428624e-01 5.77183347e-04 -2.93004760e-01] [ 1.27107633e-02 -1.47662732e-04 9.99919204e-01 -3.36479327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.338001145 meters 0.06780367353016267 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.29, Z:-0.33 [[ 9.99326425e-01 3.40878481e-02 -1.35910188e-02 1.28342914e+01] [-3.40826586e-02 9.99418829e-01 6.13333438e-04 -2.92193826e-01] [ 1.36040273e-02 -1.49702259e-04 9.99907450e-01 -3.30223913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.398001145 meters 0.06858004250182204 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.30, Z:-0.33 [[ 9.99381487e-01 3.14059877e-02 -1.58210902e-02 1.28930027e+01] [-3.13985827e-02 9.99506686e-01 7.16284816e-04 -2.98221048e-01] [ 1.58357810e-02 -2.19081977e-04 9.99874582e-01 -3.34661598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.458001144999997 meters 0.06852961096269405 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.30, Z:-0.34 [[ 9.99337180e-01 3.20547920e-02 -1.72536999e-02 1.29515291e+01] [-3.20461903e-02 9.99486089e-01 7.74860774e-04 -2.99871075e-01] [ 1.72696710e-02 -2.21431831e-04 9.99850844e-01 -3.36396110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.518001145 meters 0.06979759616282484 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.30, Z:-0.35 [[ 9.99231014e-01 3.39402191e-02 -1.96327031e-02 1.30086970e+01] [-3.39294372e-02 9.99423842e-01 8.82111207e-04 -3.02052222e-01] [ 1.96513306e-02 -2.15306308e-04 9.99806871e-01 -3.46649172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.578001144999998 meters 0.06843937699207782 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.30, Z:-0.34 [[ 9.99235105e-01 3.42333838e-02 -1.89018536e-02 1.30671928e+01] [-3.42235527e-02 9.99413847e-01 8.43437988e-04 -3.01258733e-01] [ 1.89196480e-02 -1.95904263e-04 9.99820988e-01 -3.39416101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.638001145 meters 0.06842501435435096 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.31, Z:-0.34 [[ 9.99268632e-01 3.36339302e-02 -1.81923083e-02 1.31251342e+01] [-3.36247158e-02 9.99434199e-01 8.12232862e-04 -3.05567569e-01] [ 1.82093336e-02 -1.99927626e-04 9.99834176e-01 -3.36485507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.698001145 meters 0.06794042908365439 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.31, Z:-0.33 [[ 9.99219010e-01 3.55756793e-02 -1.71971373e-02 1.31839234e+01] [-3.55678327e-02 9.99366974e-01 7.62007083e-04 -3.06570924e-01] [ 1.72133599e-02 -1.49747062e-04 9.99851828e-01 -3.33910368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.758001144999998 meters 0.06762264370637074 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.31, Z:-0.33 [[ 9.99232507e-01 3.55575567e-02 -1.64334443e-02 1.32422287e+01] [-3.55504517e-02 9.99367620e-01 7.24367792e-04 -3.08409136e-01] [ 1.64488089e-02 -1.39595476e-04 9.99864699e-01 -3.30352936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.818001145 meters 0.06750512613917409 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.30, Z:-0.33 [[ 9.99031690e-01 4.07479906e-02 -1.65916833e-02 1.33005990e+01] [-4.07415220e-02 9.99169454e-01 7.27832248e-04 -3.04207690e-01] [ 1.66075609e-02 -5.11570487e-05 9.99862084e-01 -3.30899048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.878001145 meters 0.06757074329756936 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.30, Z:-0.33 [[ 9.98826828e-01 4.52952831e-02 -1.71261347e-02 1.33588660e+01] [-4.52890447e-02 9.98973642e-01 7.52126461e-04 -2.98691804e-01] [ 1.71426249e-02 2.43821900e-05 9.99853054e-01 -3.29051070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.938001144999998 meters 0.06801381394718674 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.30, Z:-0.33 [[ 9.98584690e-01 5.04681545e-02 -1.67804275e-02 1.34170843e+01] [-5.04629160e-02 9.98725664e-01 7.35727417e-04 -2.95967230e-01] [ 1.67961744e-02 1.12103169e-04 9.99858928e-01 -3.28024965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.998001145 meters 0.06846364624133768 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.30, Z:-0.33 [[ 9.98429453e-01 5.33982115e-02 -1.69487242e-02 1.34752206e+01] [-5.33933092e-02 9.98573284e-01 7.41943044e-04 -2.98985297e-01] [ 1.69641616e-02 1.64170683e-04 9.99856085e-01 -3.29478332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.058001145 meters 0.06847840139395638 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.30, Z:-0.33 [[ 9.98279106e-01 5.59625498e-02 -1.75219662e-02 1.35333638e+01] [-5.59577484e-02 9.98432845e-01 7.64573319e-04 -3.03622832e-01] [ 1.75372941e-02 2.17232209e-04 9.99846186e-01 -3.27430350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.118001144999997 meters 0.06885733583831655 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.30, Z:-0.32 [[ 9.98164862e-01 5.84343556e-02 -1.58850663e-02 1.35920946e+01] [-5.84307963e-02 9.98291224e-01 6.88487307e-04 -2.99906673e-01] [ 1.58981536e-02 2.40953235e-04 9.99873587e-01 -3.24838352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.178001145 meters 0.06951163027034403 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.30, Z:-0.33 [[ 9.98118098e-01 5.92936859e-02 -1.56372013e-02 1.36494577e+01] [-5.92903315e-02 9.98240550e-01 6.78433943e-04 -3.00976072e-01] [ 1.56499153e-02 2.49977653e-04 9.99877501e-01 -3.25484909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.238001145 meters 0.0698938959693145 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.31, Z:-0.33 [[ 9.98223106e-01 5.76452510e-02 -1.50882469e-02 1.37072955e+01] [-5.76420115e-02 9.98337105e-01 6.49865786e-04 -3.06722934e-01] [ 1.51006184e-02 2.21005855e-04 9.99885955e-01 -3.31850750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.298001145 meters 0.06976741104268298 Centerline is valid? [True, True] Translation: X:13.77, Y:-0.31, Z:-0.33 [[ 9.97973831e-01 6.18262395e-02 -1.50249161e-02 1.37657227e+01] [-6.18234918e-02 9.98086888e-01 6.47723232e-04 -3.07695270e-01] [ 1.50362181e-02 2.82481944e-04 9.99886910e-01 -3.29083728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.358001145 meters 0.07131080746956386 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.29, Z:-0.33 [[ 9.97387097e-01 7.05342569e-02 -1.56172307e-02 1.38253116e+01] [-7.05323490e-02 9.97509265e-01 6.73618249e-04 -2.94217069e-01] [ 1.56258455e-02 4.29661816e-04 9.99877817e-01 -3.32304601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.418001144999998 meters 0.07240457422392202 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.29, Z:-0.33 [[ 9.97014003e-01 7.57811859e-02 -1.48421632e-02 1.38854281e+01] [-7.57800444e-02 9.97124353e-01 6.40104160e-04 -2.89260515e-01] [ 1.48479902e-02 4.86546974e-04 9.99889644e-01 -3.33187061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.478001145 meters 0.07374038429485477 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.29, Z:-0.33 [[ 9.96590341e-01 8.16664832e-02 -1.17591477e-02 1.39446957e+01] [-8.16661863e-02 9.96659610e-01 5.06222501e-04 -2.85303887e-01] [ 1.17612090e-02 4.55828291e-04 9.99930731e-01 -3.34291715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.538001145 meters 0.07485019678989577 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.28, Z:-0.34 [[ 9.96386890e-01 8.40929612e-02 -1.18970002e-02 1.40036461e+01] [-8.40928358e-02 9.96457793e-01 5.11668972e-04 -2.84612589e-01] [ 1.18978863e-02 4.90632227e-04 9.99929097e-01 -3.39016992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.598001144999998 meters 0.07423252259214363 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.29, Z:-0.34 [[ 9.96411602e-01 8.37251023e-02 -1.24107081e-02 1.40622847e+01] [-8.37249948e-02 9.96488758e-01 5.29145086e-04 -2.86385480e-01] [ 1.24114339e-02 5.11840172e-04 9.99922844e-01 -3.39530901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.658001145 meters 0.07376552647409268 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.29, Z:-0.34 [[ 9.96514817e-01 8.28262085e-02 -9.90145845e-03 1.41223612e+01] [-8.28260833e-02 9.96563927e-01 4.23410771e-04 -2.86636948e-01] [ 9.90250582e-03 3.98163915e-04 9.99950890e-01 -3.37246517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.718001145 meters 0.07332813722034665 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.29, Z:-0.33 [[ 9.96603914e-01 8.19483889e-02 -8.06844802e-03 1.41810257e+01] [-8.19482835e-02 9.96636524e-01 3.44232895e-04 -2.87120533e-01] [ 8.06951931e-03 3.18131614e-04 9.99967390e-01 -3.34424994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.778001144999998 meters 0.07188602552382506 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.29, Z:-0.33 [[ 9.96692043e-01 8.11946141e-02 -3.52214693e-03 1.42404059e+01] [-8.11945899e-02 9.96698257e-01 1.50093919e-04 -2.94489660e-01] [ 3.52270453e-03 1.36381861e-04 9.99993786e-01 -3.32352907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.838001145 meters 0.07137915138823983 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.30, Z:-0.34 [[ 9.97027926e-01 7.68348427e-02 -5.63211614e-03 1.43003074e+01] [-7.68347092e-02 9.97043815e-01 2.40385932e-04 -2.98575747e-01] [ 5.63393658e-03 1.93070519e-04 9.99984111e-01 -3.35040353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.898001145 meters 0.07158451839909681 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.30, Z:-0.34 [[ 9.97493787e-01 7.03870065e-02 -7.19821043e-03 1.43591912e+01] [-7.03866210e-02 9.97519739e-01 3.07182644e-04 -3.00742231e-01] [ 7.20197866e-03 2.00244931e-04 9.99974045e-01 -3.42605782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.958001144999997 meters 0.0702986273692904 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.31, Z:-0.34 [[ 9.97684525e-01 6.77332290e-02 -6.14807927e-03 1.44182958e+01] [-6.77329089e-02 9.97703456e-01 2.60507812e-04 -3.09648049e-01] [ 6.15160496e-03 1.56522680e-04 9.99981066e-01 -3.41239541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.018001145 meters 0.07062978378100718 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.31, Z:-0.34 [[ 9.97816522e-01 6.60285985e-02 -1.55345477e-03 1.44773505e+01] [-6.60285762e-02 9.97817730e-01 6.57124169e-05 -3.07994166e-01] [ 1.55440361e-03 3.70034712e-05 9.99998791e-01 -3.39916777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.078001144999998 meters 0.07049349942088914 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.31, Z:-0.34 [[ 9.97902591e-01 6.47333999e-02 -7.19421078e-05 1.45357994e+01] [-6.47334001e-02 9.97902594e-01 1.94556493e-07 -3.10371246e-01] [ 7.18038102e-05 4.46290882e-06 9.99999997e-01 -3.39462328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.138001145 meters 0.07004054336108423 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.31, Z:-0.34 [[ 9.98014690e-01 6.29740304e-02 9.75197484e-04 1.45943308e+01] [-6.29740174e-02 9.98015166e-01 -4.40689838e-05 -3.14201001e-01] [-9.76037080e-04 -1.74306101e-05 9.99999524e-01 -3.38956505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.198001145 meters 0.06959988608733507 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.32, Z:-0.34 [[ 9.98145211e-01 6.08607646e-02 1.45085840e-03 1.46533756e+01] [-6.08607364e-02 9.98146265e-01 -6.36597819e-05 -3.17779195e-01] [-1.45204328e-03 -2.47586042e-05 9.99998945e-01 -3.39899289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.258001144999998 meters 0.06963599432707232 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.32, Z:-0.34 [[ 9.98162225e-01 6.05592408e-02 2.17988396e-03 1.47114340e+01] [-6.05591834e-02 9.98164604e-01 -9.23613028e-05 -3.21063288e-01] [-2.18147634e-03 -3.98204292e-05 9.99997620e-01 -3.41637043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.318001145 meters 0.06955653693330405 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.33, Z:-0.34 [[ 9.98244508e-01 5.91714087e-02 2.57819106e-03 1.47702027e+01] [-5.91713209e-02 9.98247836e-01 -1.10405312e-04 -3.25778943e-01] [-2.58020648e-03 -4.23434741e-05 9.99996670e-01 -3.43112538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.378001145 meters 0.06946193406806148 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.33, Z:-0.34 [[ 9.98212130e-01 5.97245893e-02 2.34898525e-03 1.48288713e+01] [-5.97245185e-02 9.98214893e-01 -1.00348710e-04 -3.26150661e-01] [-2.35078535e-03 -4.01227139e-05 9.99997236e-01 -3.43039206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.438001144999998 meters 0.06937904998534879 Centerline is valid? [True, True] Translation: X:14.89, Y:-0.33, Z:-0.34 [[ 9.98240344e-01 5.92362168e-02 2.69939472e-03 1.48865332e+01] [-5.92361232e-02 9.98243992e-01 -1.14665511e-04 -3.26919599e-01] [-2.70144691e-03 -4.54379389e-05 9.99996350e-01 -3.43563244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.498001145 meters 0.06902742363205872 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.33, Z:-0.34 [[ 9.98305693e-01 5.80819180e-02 3.49766222e-03 1.49446866e+01] [-5.80817612e-02 9.98311819e-01 -1.46456555e-04 -3.29867015e-01] [-3.50026401e-03 -5.69419698e-05 9.99993872e-01 -3.43457360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.558001145 meters 0.06872174135222126 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.33, Z:-0.35 [[ 9.98396301e-01 5.65343923e-02 2.94748583e-03 1.50029051e+01] [-5.65342746e-02 9.98400651e-01 -1.23291299e-04 -3.34210079e-01] [-2.94974197e-03 -4.35403964e-05 9.99995649e-01 -3.46107140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.618001144999997 meters 0.06806742002813591 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.34, Z:-0.34 [[ 9.98667763e-01 5.13841866e-02 4.72916452e-03 1.50620185e+01] [-5.13838399e-02 9.98678959e-01 -1.94858092e-04 -3.39603265e-01] [-4.73292972e-03 -4.84041382e-05 9.99988798e-01 -3.43010667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.678001145 meters 0.06781168266531577 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.34, Z:-0.34 [[ 9.98747372e-01 4.95621028e-02 6.87639483e-03 1.51201441e+01] [-4.95613445e-02 9.98771042e-01 -2.80727194e-04 -3.41845370e-01] [-6.88185746e-03 -6.04278262e-05 9.99976318e-01 -3.41094669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.738001145 meters 0.06757600599108958 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.35, Z:-0.35 [[ 9.98833666e-01 4.80044152e-02 5.18493895e-03 1.51778885e+01] [-4.80039637e-02 9.98847123e-01 -2.11570917e-04 -3.48390735e-01] [-5.18911769e-03 -3.75734664e-05 9.99986536e-01 -3.45649783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.798001144999997 meters 0.0678200966620981 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.35, Z:-0.35 [[ 9.98737802e-01 5.01040096e-02 3.52014463e-03 1.52358535e+01] [-5.01038201e-02 9.98744005e-01 -1.42059019e-04 -3.49160110e-01] [-3.52284108e-03 -3.44929814e-05 9.99993794e-01 -3.51627826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.858001145 meters 0.06768821485916508 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.35, Z:-0.35 [[ 9.98640434e-01 5.20279303e-02 3.22148519e-03 1.52945154e+01] [-5.20277769e-02 9.98645629e-01 -1.31456993e-04 -3.50774440e-01] [-3.22396154e-03 -3.63284444e-05 9.99994802e-01 -3.49926747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.918001144999998 meters 0.0681713415894007 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.34, Z:-0.35 [[ 9.98224703e-01 5.94462943e-02 3.68515846e-03 1.53532493e+01] [-5.94461556e-02 9.98231503e-01 -1.47249596e-04 -3.44291027e-01] [-3.68739471e-03 -7.20803193e-05 9.99993199e-01 -3.49126211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.978001145 meters 0.06849564660965954 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.34, Z:-0.35 [[ 9.98021524e-01 6.28192769e-02 2.60304013e-03 1.54133103e+01] [-6.28192195e-02 9.98024917e-01 -1.03895599e-04 -3.43055743e-01] [-2.60442556e-03 -5.98309049e-05 9.99996607e-01 -3.50498643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.038001145 meters 0.06860212887365294 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.35, Z:-0.35 [[ 9.98000124e-01 6.32048860e-02 9.45624466e-04 1.54720580e+01] [-6.32048761e-02 9.98000572e-01 -4.04135057e-05 -3.46141342e-01] [-9.46288089e-04 -1.94353935e-05 9.99999552e-01 -3.53906439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.098001144999998 meters 0.06826998964056881 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.35, Z:-0.35 [[ 9.98017213e-01 6.28930637e-02 2.47077128e-03 1.55313064e+01] [-6.28930112e-02 9.98020270e-01 -9.90130099e-05 -3.47945735e-01] [-2.47210705e-03 -5.65775575e-05 9.99996943e-01 -3.52657382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.158001145 meters 0.06802095986818751 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.35, Z:-0.35 [[ 9.98049968e-01 6.21534639e-02 5.76274848e-03 1.55890340e+01] [-6.21531843e-02 9.98066596e-01 -2.27762408e-04 -3.46900011e-01] [-5.76576298e-03 -1.30854904e-04 9.99983369e-01 -3.47947310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.218001145 meters 0.06685309613059867 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.36, Z:-0.35 [[ 9.98384548e-01 5.62304810e-02 8.15025639e-03 1.56486355e+01] [-5.62297348e-02 9.98417805e-01 -3.20856854e-04 -3.57244382e-01] [-8.15540303e-03 -1.37948230e-04 9.99966735e-01 -3.47747929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.278001144999998 meters 0.06634700048615157 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.36, Z:-0.35 [[ 9.98672611e-01 5.09707517e-02 7.41616218e-03 1.57063676e+01] [-5.09699873e-02 9.98700143e-01 -2.92159437e-04 -3.64518024e-01] [-7.42141381e-03 -8.62300648e-05 9.99972457e-01 -3.51356272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.338001145 meters 0.06629871752019229 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.36, Z:-0.35 [[ 9.98656220e-01 5.16005710e-02 4.80992604e-03 1.57646977e+01] [-5.16002580e-02 9.98667801e-01 -1.89235062e-04 -3.64655574e-01] [-4.81328290e-03 -5.92126530e-05 9.99988414e-01 -3.54912018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.398001145 meters 0.06610655080255476 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.37, Z:-0.35 [[ 9.98732683e-01 5.01039509e-02 4.75628678e-03 1.58229246e+01] [-5.01036237e-02 9.98744007e-01 -1.87997703e-04 -3.66635878e-01] [-4.75973235e-03 -5.05477529e-05 9.99988671e-01 -3.54287784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.458001144999997 meters 0.06607313413596368 Centerline is valid? [True, True] Translation: X:15.88, Y:-0.37, Z:-0.36 [[ 9.98778851e-01 4.92035321e-02 4.45184979e-03 1.58801178e+01] [-4.92032418e-02 9.98788772e-01 -1.74785881e-04 -3.69157414e-01] [-4.45505766e-03 -4.44730001e-05 9.99990075e-01 -3.55062774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.518001145 meters 0.06598360816317513 Centerline is valid? [True, True] Translation: X:15.94, Y:-0.38, Z:-0.36 [[ 9.98881443e-01 4.71695426e-02 3.30121575e-03 1.59377844e+01] [-4.71693691e-02 9.98886897e-01 -1.30430353e-04 -3.75922598e-01] [-3.30369349e-03 -2.54318046e-05 9.99994542e-01 -3.60758086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.578001144999998 meters 0.06564939452793209 Centerline is valid? [True, True] Translation: X:16.00, Y:-0.38, Z:-0.36 [[ 9.98992264e-01 4.48722878e-02 9.66615186e-04 1.59962004e+01] [-4.48722701e-02 9.98992732e-01 -3.99686489e-05 -3.79727560e-01] [-9.67435030e-04 -3.44584668e-06 9.99999532e-01 -3.60756219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.638001145 meters 0.06545216849122718 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.38, Z:-0.36 [[ 9.99067952e-01 4.31342126e-02 1.63319454e-03 1.60546150e+01] [-4.31341636e-02 9.99069287e-01 -6.52553896e-05 -3.83916029e-01] [-1.63448925e-03 -5.25191210e-06 9.99998664e-01 -3.59163707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.698001145 meters 0.06540531005612764 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.39, Z:-0.36 [[ 9.99078217e-01 4.27561273e-02 3.82485698e-03 1.61128958e+01] [-4.27558740e-02 9.99085539e-01 -1.48013106e-04 -3.88828841e-01] [-3.82768776e-03 -1.56584328e-05 9.99992674e-01 -3.59535642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.758001144999998 meters 0.06549187127137102 Centerline is valid? [True, True] Translation: X:16.17, Y:-0.39, Z:-0.36 [[ 9.99154734e-01 4.10764012e-02 1.59582718e-03 1.61701663e+01] [-4.10763554e-02 9.99156008e-01 -6.14294069e-05 -3.94323637e-01] [-1.59700361e-03 -4.17328180e-06 9.99998725e-01 -3.62995170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.818001145 meters 0.06550470774116846 Centerline is valid? [True, True] Translation: X:16.23, Y:-0.40, Z:-0.36 [[ 9.99216096e-01 3.95849557e-02 -4.74048984e-04 1.62290624e+01] [-3.95849531e-02 9.99216208e-01 1.48658337e-05 -3.96495607e-01] [ 4.74265892e-04 3.91102653e-06 9.99999888e-01 -3.64931870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.878001145 meters 0.0656063354548121 Centerline is valid? [True, True] Translation: X:16.29, Y:-0.40, Z:-0.37 [[ 9.99276827e-01 3.79429737e-02 -2.48072399e-03 1.62879255e+01] [-3.79428680e-02 9.99279906e-01 8.96686419e-05 -4.01098340e-01] [ 2.48233993e-03 4.52198707e-06 9.99996919e-01 -3.66293465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.938001144999998 meters 0.06600398352247323 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.41, Z:-0.37 [[ 9.99386639e-01 3.48017980e-02 -3.89627005e-03 1.63452797e+01] [-3.48014998e-02 9.99394234e-01 1.44314146e-04 -4.07759635e-01] [ 3.89893222e-03 -8.62958739e-06 9.99992399e-01 -3.69454943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.998001145 meters 0.06602714941345822 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.41, Z:-0.37 [[ 9.99401859e-01 3.43665184e-02 -3.85572808e-03 1.64028587e+01] [-3.43662360e-02 9.99409297e-01 1.39492101e-04 -4.09658074e-01] [ 3.85824435e-03 -6.90180424e-06 9.99992557e-01 -3.70931659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.058001145 meters 0.06589799623319553 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.41, Z:-0.37 [[ 9.99366664e-01 3.54276697e-02 -3.33940695e-03 1.64616767e+01] [-3.54274661e-02 9.99372243e-01 1.20113983e-04 -4.09850870e-01] [ 3.34156598e-03 -1.73118334e-06 9.99994417e-01 -3.67892277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.118001144999997 meters 0.06601495303537576 Centerline is valid? [True, True] Translation: X:16.52, Y:-0.41, Z:-0.37 [[ 9.99256609e-01 3.82635694e-02 -4.70403771e-03 1.65206406e+01] [-3.82631965e-02 9.99267681e-01 1.69279146e-04 -4.12490944e-01] [ 4.70707008e-03 1.08382137e-05 9.99988922e-01 -3.71623629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.178001145 meters 0.066278912645378 Centerline is valid? [True, True] Translation: X:16.58, Y:-0.41, Z:-0.37 [[ 9.99104525e-01 4.17318425e-02 -6.97153188e-03 1.65790934e+01] [-4.17311074e-02 9.99128846e-01 2.50929620e-04 -4.13382343e-01] [ 6.97593036e-03 4.02248273e-05 9.99975667e-01 -3.74321337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.238001145 meters 0.06670948146435866 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.41, Z:-0.38 [[ 9.98939025e-01 4.52853692e-02 -8.37021861e-03 1.66374798e+01] [-4.52844185e-02 9.98974089e-01 3.03165866e-04 -4.11831065e-01] [ 8.37536049e-03 7.61962679e-05 9.99964923e-01 -3.75214217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.298001144999997 meters 0.06750720110356745 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.41, Z:-0.38 [[ 9.98750766e-01 4.92089941e-02 -8.68225893e-03 1.66950069e+01] [-4.92081320e-02 9.98788497e-01 3.13018255e-04 -4.10825825e-01] [ 8.68714366e-03 1.14610521e-04 9.99962259e-01 -3.77326693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.358001145 meters 0.06818280240386917 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.41, Z:-0.38 [[ 9.98657893e-01 5.07963779e-02 -1.01064983e-02 1.67540014e+01] [-5.07953228e-02 9.98709019e-01 3.61223017e-04 -4.10218721e-01] [ 1.01117998e-02 1.52624626e-04 9.99948863e-01 -3.78159414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.418001144999998 meters 0.06869339875776363 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.41, Z:-0.38 [[ 9.98488774e-01 5.42200411e-02 -8.96412934e-03 1.68130738e+01] [-5.42193692e-02 9.98528997e-01 3.18125120e-04 -4.09474705e-01] [ 8.96819184e-03 1.68385078e-04 9.99959771e-01 -3.77544117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.478001145 meters 0.06932493728304191 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.41, Z:-0.38 [[ 9.98361076e-01 5.65322605e-02 -8.90311893e-03 1.68716394e+01] [-5.65316790e-02 9.98400756e-01 3.17163568e-04 -4.05613754e-01] [ 8.90681064e-03 1.86664500e-04 9.99960316e-01 -3.75182372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.538001145 meters 0.06966838171968927 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.41, Z:-0.38 [[ 9.98481958e-01 5.44954993e-02 -8.00125941e-03 1.69294245e+01] [-5.44949697e-02 9.98514005e-01 2.84352315e-04 -4.06206247e-01] [ 8.00486550e-03 1.52107733e-04 9.99967949e-01 -3.76953605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.598001144999998 meters 0.06967815571439252 Centerline is valid? [True, True] Translation: X:16.99, Y:-0.41, Z:-0.38 [[ 9.98594573e-01 5.23827382e-02 -8.05779415e-03 1.69880666e+01] [-5.23821601e-02 9.98627072e-01 2.82915503e-04 -4.08965261e-01] [ 8.06155127e-03 1.39566778e-04 9.99967495e-01 -3.80769870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.658001145 meters 0.06869565462882171 Centerline is valid? [True, True] Translation: X:17.05, Y:-0.41, Z:-0.38 [[ 9.98870756e-01 4.70885611e-02 -6.31511183e-03 1.70480992e+01] [-4.70880920e-02 9.98890716e-01 2.23039528e-04 -4.13237147e-01] [ 6.31860919e-03 7.45789048e-05 9.99980035e-01 -3.77242908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.718001145 meters 0.06857098777699552 Centerline is valid? [True, True] Translation: X:17.11, Y:-0.42, Z:-0.38 [[ 9.99183865e-01 4.01953086e-02 -3.99272909e-03 1.71063568e+01] [-4.01950688e-02 9.99191842e-01 1.40312413e-04 -4.16121433e-01] [ 3.99514223e-03 2.02901218e-05 9.99992019e-01 -3.76496530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.778001144999998 meters 0.0684233543297893 Centerline is valid? [True, True] Translation: X:17.16, Y:-0.42, Z:-0.38 [[ 9.99424722e-01 3.38415237e-02 -2.23056642e-03 1.71645229e+01] [-3.38414398e-02 9.99427212e-01 7.53801419e-05 -4.24252452e-01] [ 2.23183976e-03 1.48801774e-07 9.99997509e-01 -3.75682462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.838001145 meters 0.0690566506777552 Centerline is valid? [True, True] Translation: X:17.22, Y:-0.44, Z:-0.38 [[ 9.99603283e-01 2.81099240e-02 -1.76345811e-03 1.72227112e+01] [-2.81098644e-02 9.99604838e-01 5.85896077e-05 -4.35762279e-01] [ 1.76440820e-03 -8.99579592e-06 9.99998443e-01 -3.81664534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.898001145 meters 0.06902013771350685 Centerline is valid? [True, True] Translation: X:17.28, Y:-0.44, Z:-0.38 [[ 9.99583361e-01 2.87548974e-02 -2.50205440e-03 1.72808748e+01] [-2.87547789e-02 9.99586492e-01 8.33584209e-05 -4.37276295e-01] [ 2.50341674e-03 -1.13776696e-05 9.99996866e-01 -3.84579634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.958001144999997 meters 0.06866716169729922 Centerline is valid? [True, True] Translation: X:17.34, Y:-0.43, Z:-0.38 [[ 9.99348376e-01 3.58623525e-02 -4.08845972e-03 1.73386832e+01] [-3.58620780e-02 9.99356739e-01 1.40459945e-04 -4.25922088e-01] [ 4.09086699e-03 6.25224354e-06 9.99991632e-01 -3.84248603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.018001145 meters 0.06880927637725705 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.42, Z:-0.39 [[ 9.99158799e-01 4.07696912e-02 -4.41890355e-03 1.73973734e+01] [-4.07694303e-02 9.99168570e-01 1.49130158e-04 -4.20932880e-01] [ 4.42130953e-03 3.11514709e-05 9.99990225e-01 -3.85027313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.078001144999998 meters 0.0698892057273927 Centerline is valid? [True, True] Translation: X:17.46, Y:-0.42, Z:-0.39 [[ 9.98798152e-01 4.87042525e-02 -5.49063397e-03 1.74570098e+01] [-4.87039528e-02 9.98813241e-01 1.88344960e-04 -4.18321677e-01] [ 5.49329111e-03 7.92969797e-05 9.99984909e-01 -3.90349284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.138001144999997 meters 0.0701935213338848 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.42, Z:-0.39 [[ 9.98606418e-01 5.25068172e-02 -5.31563100e-03 1.75154665e+01] [-5.25066098e-02 9.98620561e-01 1.78656080e-04 -4.20029547e-01] [ 5.31767907e-03 1.00698654e-04 9.99985856e-01 -3.89591989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.198001145 meters 0.07255581444512071 Centerline is valid? [True, True] Translation: X:17.57, Y:-0.41, Z:-0.39 [[ 9.97980076e-01 6.33258414e-02 -5.06028908e-03 1.75747829e+01] [-6.33257753e-02 9.97992894e-01 1.73437537e-04 -4.11010232e-01] [ 5.06111562e-03 1.47359523e-04 9.99987182e-01 -3.89282437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.258001144999998 meters 0.07524175846136119 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.41, Z:-0.39 [[ 9.97385481e-01 7.19509915e-02 -6.72735509e-03 1.76356962e+01] [-7.19510742e-02 9.97408136e-01 2.30035667e-04 -4.05062929e-01] [ 6.72646999e-03 2.54606191e-04 9.99977345e-01 -3.92322885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.318001145 meters 0.07636292270327678 Centerline is valid? [True, True] Translation: X:17.70, Y:-0.40, Z:-0.39 [[ 9.96437021e-01 8.40456742e-02 -7.04179443e-03 1.76966163e+01] [-8.40460682e-02 9.96461841e-01 2.40482947e-04 -4.01039118e-01] [ 7.03709099e-03 3.52209023e-04 9.99975177e-01 -3.86406843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.378001145 meters 0.0853009479983025 Centerline is valid? [True, True] Translation: X:17.76, Y:-0.39, Z:-0.39 [[ 9.95405029e-01 9.54386669e-02 -7.76455864e-03 1.77558606e+01] [-9.54394920e-02 9.95435198e-01 2.65035795e-04 -3.86575920e-01] [ 7.75440963e-03 4.77227569e-04 9.99969820e-01 -3.94861136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.438001144999998 meters 0.08841892520003916 Centerline is valid? [True, True] Translation: X:17.82, Y:-0.38, Z:-0.39 [[ 9.94862373e-01 1.01024900e-01 -6.54431599e-03 1.78158718e+01] [-1.01025607e-01 9.94883801e-01 2.23267862e-04 -3.82311259e-01] [ 6.53338957e-03 4.39022701e-04 9.99978561e-01 -3.94344415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.498001145 meters 0.0846139364173785 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.39, Z:-0.39 [[ 9.94486957e-01 1.04725520e-01 -5.31588909e-03 1.78754361e+01] [-1.04726041e-01 9.94501093e-01 1.81059143e-04 -3.89241984e-01] [ 5.30561902e-03 3.76651060e-04 9.99985854e-01 -3.87922832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.558001145 meters 0.08498490135845321 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.39, Z:-0.39 [[ 9.94746488e-01 1.02254026e-01 -4.85164586e-03 1.79352610e+01] [-1.02254431e-01 9.94758264e-01 1.65306869e-04 -3.90293057e-01] [ 4.84311811e-03 3.31663857e-04 9.99988217e-01 -3.88197775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.618001144999997 meters 0.08022548836841215 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.40, Z:-0.39 [[ 9.95410268e-01 9.54887163e-02 -6.34854709e-03 1.79946943e+01] [-9.54892730e-02 9.95430436e-01 2.16053549e-04 -4.04057192e-01] [ 6.34016767e-03 3.91156225e-04 9.99979824e-01 -3.90365808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.678001145 meters 0.08008140863756844 Centerline is valid? [True, True] Translation: X:18.05, Y:-0.41, Z:-0.40 [[ 9.95900361e-01 9.01728483e-02 -7.16432894e-03 1.80538380e+01] [-9.01734208e-02 9.95926049e-01 2.43726168e-04 -4.07360997e-01] [ 7.15711930e-03 4.03305070e-04 9.99974306e-01 -3.95390576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.738001145 meters 0.07847945473489137 Centerline is valid? [True, True] Translation: X:18.11, Y:-0.41, Z:-0.40 [[ 9.96762268e-01 8.00918534e-02 -7.09056798e-03 1.81123014e+01] [-8.00921625e-02 9.96787433e-01 2.40804935e-04 -4.12861813e-01] [ 7.08707557e-03 3.27873649e-04 9.99974833e-01 -3.96789655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.798001144999997 meters 0.0779514812574025 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.41, Z:-0.40 [[ 9.97136420e-01 7.53213068e-02 -6.75719682e-03 1.81719953e+01] [-7.53214766e-02 9.97159276e-01 2.29714434e-04 -4.14548816e-01] [ 6.75530388e-03 2.79905413e-04 9.99977143e-01 -3.97492137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.858001145 meters 0.07621342269756212 Centerline is valid? [True, True] Translation: X:18.23, Y:-0.42, Z:-0.40 [[ 9.97127777e-01 7.54198267e-02 -6.93151053e-03 1.82304167e+01] [-7.54200381e-02 9.97151826e-01 2.31265836e-04 -4.20893073e-01] [ 6.92921041e-03 2.92173199e-04 9.99975950e-01 -3.96134498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.918001144999998 meters 0.07695576496428454 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.42, Z:-0.40 [[ 9.97175023e-01 7.46921101e-02 -7.94121035e-03 1.82881228e+01] [-7.46923501e-02 9.97206589e-01 2.66757065e-04 -4.20775341e-01] [ 7.93895193e-03 3.27144181e-04 9.99968433e-01 -4.00173258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.978001145 meters 0.0780133481771828 Centerline is valid? [True, True] Translation: X:18.35, Y:-0.42, Z:-0.40 [[ 9.97050001e-01 7.61148011e-02 -9.89108439e-03 1.83461780e+01] [-7.61152470e-02 9.97098972e-01 3.31895829e-04 -4.18455350e-01] [ 9.88765226e-03 4.21945596e-04 9.99951027e-01 -4.02084673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.038001145 meters 0.08010340974678372 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.42, Z:-0.40 [[ 9.96797902e-01 7.94105234e-02 -9.37613649e-03 1.84047092e+01] [-7.94110666e-02 9.96841905e-01 3.14928358e-04 -4.17310410e-01] [ 9.37153439e-03 4.30649073e-04 9.99955993e-01 -4.03841601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.098001144999998 meters 0.0800743290263955 Centerline is valid? [True, True] Translation: X:18.47, Y:-0.42, Z:-0.40 [[ 9.96513838e-01 8.29469818e-02 -8.94254607e-03 1.84650007e+01] [-8.29476178e-02 9.96553863e-01 3.00382736e-04 -4.20738006e-01] [ 8.93664467e-03 4.42427341e-04 9.99959970e-01 -4.03535262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.158001145 meters 0.08126099254973433 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.42, Z:-0.41 [[ 9.96277893e-01 8.56123356e-02 -1.00442993e-02 1.85254616e+01] [-8.56132707e-02 9.96328387e-01 3.37626860e-04 -4.21661419e-01] [ 1.00363256e-02 5.23555142e-04 9.99949498e-01 -4.08067307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.218001145 meters 0.07990246834406652 Centerline is valid? [True, True] Translation: X:18.58, Y:-0.43, Z:-0.41 [[ 9.96204137e-01 8.64915229e-02 -9.82512307e-03 1.85836964e+01] [-8.64925099e-02 9.96252448e-01 3.25202912e-04 -4.27976223e-01] [ 9.81643021e-03 5.25831069e-04 9.99951679e-01 -4.08694149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.278001144999998 meters 0.07933597909269657 Centerline is valid? [True, True] Translation: X:18.64, Y:-0.43, Z:-0.41 [[ 9.96496957e-01 8.33061266e-02 -7.34192918e-03 1.86428968e+01] [-8.33065794e-02 9.96523935e-01 2.44660822e-04 -4.28662254e-01] [ 7.33678991e-03 3.67827241e-04 9.99973018e-01 -4.06432442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.338001145 meters 0.07857619030722122 Centerline is valid? [True, True] Translation: X:18.70, Y:-0.43, Z:-0.41 [[ 9.96833288e-01 7.93497851e-02 -5.19681547e-03 1.87021532e+01] [-7.93499596e-02 9.96846806e-01 1.72927012e-04 -4.29925548e-01] [ 5.19415062e-03 2.39987695e-04 9.99986482e-01 -4.05195916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.398001145 meters 0.0769528380356867 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.44, Z:-0.41 [[ 9.97317843e-01 7.29691986e-02 -5.71107795e-03 1.87621174e+01] [-7.29693045e-02 9.97334169e-01 1.90091135e-04 -4.37879702e-01] [ 5.70972398e-03 2.27152105e-04 9.99983674e-01 -4.10025808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.458001144999997 meters 0.07438443410807 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.45, Z:-0.42 [[ 9.98080891e-01 6.15557540e-02 -6.73968259e-03 1.88206554e+01] [-6.15556429e-02 9.98103628e-01 2.24121817e-04 -4.48952660e-01] [ 6.74069763e-03 1.91173791e-04 9.99977263e-01 -4.17197932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.518001145 meters 0.07253928975878 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.46, Z:-0.42 [[ 9.98472347e-01 5.49649655e-02 -5.64128645e-03 1.88808573e+01] [-5.49647824e-02 9.98488276e-01 1.87606838e-04 -4.57602680e-01] [ 5.64307019e-03 1.22751843e-04 9.99984070e-01 -4.17799472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.578001144999998 meters 0.07079494215055902 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.47, Z:-0.42 [[ 9.98818448e-01 4.82064812e-02 -6.15172263e-03 1.89401827e+01] [-4.82061378e-02 9.98837387e-01 2.04175176e-04 -4.67497419e-01] [ 6.15441313e-03 9.26168568e-05 9.99981057e-01 -4.17762201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.638001144999997 meters 0.07033406812394974 Centerline is valid? [True, True] Translation: X:19.00, Y:-0.47, Z:-0.42 [[ 9.98979949e-01 4.45535189e-02 -7.35161006e-03 1.89984380e+01] [-4.45529598e-02 9.99006995e-01 2.39885654e-04 -4.71895105e-01] [ 7.35499763e-03 8.78950295e-05 9.99972948e-01 -4.19198184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.698001145 meters 0.0698525834871126 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.48, Z:-0.42 [[ 9.99187092e-01 3.94275512e-02 -8.40375323e-03 1.90564874e+01] [-3.94266524e-02 9.99222430e-01 2.72659505e-04 -4.78403563e-01] [ 8.40796902e-03 5.88939990e-05 9.99964651e-01 -4.20093369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.758001144999998 meters 0.06943389600460056 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.48, Z:-0.42 [[ 9.99311570e-01 3.63839344e-02 -7.25223444e-03 1.91136777e+01] [-3.63831774e-02 9.99337885e-01 2.36330534e-04 -4.83099261e-01] [ 7.25603126e-03 2.76914948e-05 9.99973674e-01 -4.22819297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.818001145 meters 0.06864509768740025 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.49, Z:-0.42 [[ 9.99391196e-01 3.47548537e-02 -3.05560618e-03 1.91727382e+01] [-3.47547210e-02 9.99395868e-01 9.65161812e-05 -4.89644714e-01] [ 3.05711460e-03 9.73931863e-06 9.99995327e-01 -4.20394812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.878001145 meters 0.06827454974993989 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.49, Z:-0.42 [[ 9.99272034e-01 3.81301052e-02 -1.22347093e-03 1.92319158e+01] [-3.81300892e-02 9.99272783e-01 3.63870066e-05 -4.87361398e-01] [ 1.22396864e-03 1.02905377e-05 9.99999251e-01 -4.18094054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.938001144999998 meters 0.06846291372877822 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.48, Z:-0.42 [[ 9.99078015e-01 4.28963696e-02 -1.73838920e-03 1.92904470e+01] [-4.28963429e-02 9.99079527e-01 5.26731211e-05 -4.81259024e-01] [ 1.73904854e-03 2.19459817e-05 9.99998488e-01 -4.17781687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.998001145 meters 0.06904654663543824 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.48, Z:-0.42 [[ 9.98790637e-01 4.91342640e-02 -1.75726312e-03 1.93491303e+01] [-4.91342421e-02 9.98792182e-01 5.56528767e-05 -4.75968699e-01] [ 1.75787513e-03 3.07562193e-05 9.99998454e-01 -4.17579282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.058001145 meters 0.06937317551011742 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.48, Z:-0.42 [[ 9.98453905e-01 5.55644138e-02 -1.54788888e-03 1.94083582e+01] [-5.55644048e-02 9.98455104e-01 4.88429349e-05 -4.75336135e-01] [ 1.54821148e-03 3.72401053e-05 9.99998801e-01 -4.17985889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.118001144999997 meters 0.07174560411148677 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.47, Z:-0.42 [[ 9.97763949e-01 6.68222954e-02 -1.37198885e-03 1.94683369e+01] [-6.68222985e-02 9.97764891e-01 4.36521396e-05 -4.69522991e-01] [ 1.37183924e-03 4.81249173e-05 9.99999058e-01 -4.20250070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.178001145 meters 0.07406878707041667 Centerline is valid? [True, True] Translation: X:19.53, Y:-0.46, Z:-0.42 [[ 9.97171608e-01 7.51278903e-02 -2.14111397e-03 1.95287829e+01] [-7.51279167e-02 9.97173902e-01 6.82180525e-05 -4.63012248e-01] [ 2.14018805e-03 9.28323269e-05 9.99997705e-01 -4.18919119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.238001145 meters 0.07735903878151881 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.46, Z:-0.42 [[ 9.96364722e-01 8.51865378e-02 -7.71418920e-04 1.95878806e+01] [-8.51865444e-02 9.96365019e-01 2.44440092e-05 -4.56247297e-01] [ 7.70697128e-04 4.13593637e-05 9.99999702e-01 -4.17671265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.298001144999997 meters 0.07957577189181868 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.46, Z:-0.42 [[ 9.96066394e-01 8.85998494e-02 -1.34337785e-03 1.96468677e+01] [-8.85998722e-02 9.96067297e-01 4.26989430e-05 -4.55346635e-01] [ 1.34187786e-03 7.64921235e-05 9.99999097e-01 -4.21195861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.358001145 meters 0.0791873131521038 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.46, Z:-0.42 [[ 9.96166364e-01 8.74758385e-02 -7.43268361e-04 1.97055314e+01] [-8.74758457e-02 9.96166641e-01 2.28833391e-05 -4.56931540e-01] [ 7.42420885e-04 4.22224157e-05 9.99999724e-01 -4.20398258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.418001144999998 meters 0.07777684291286074 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.46, Z:-0.42 [[ 9.96672806e-01 8.14978104e-02 -1.19351745e-03 1.97649645e+01] [-8.14978236e-02 9.96673519e-01 3.76972656e-05 -4.64680680e-01] [ 1.19261948e-03 5.96972352e-05 9.99999287e-01 -4.24243482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.478001145 meters 0.07026669160154021 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.49, Z:-0.42 [[ 9.97379691e-01 7.23345822e-02 -1.20806886e-03 1.98242238e+01] [-7.23345891e-02 9.97380422e-01 3.80654900e-05 -4.85922164e-01] [ 1.20765768e-03 4.94194178e-05 9.99999270e-01 -4.18904076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.538001145 meters 0.06902175511846013 Centerline is valid? [True, True] Translation: X:19.88, Y:-0.49, Z:-0.42 [[ 9.97813557e-01 6.60693231e-02 -1.71753198e-03 1.98839966e+01] [-6.60693273e-02 9.97815033e-01 5.43430523e-05 -4.90872661e-01] [ 1.71736964e-03 5.92519485e-05 9.99998524e-01 -4.18838796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.598001144999998 meters 0.06762673248753794 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.50, Z:-0.42 [[ 9.98490210e-01 5.49252510e-02 -7.18659247e-04 1.99427543e+01] [-5.49252490e-02 9.98490469e-01 2.24869875e-05 -4.99548410e-01] [ 7.18809512e-04 1.70195013e-05 9.99999742e-01 -4.23351847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.658001145 meters 0.06628318131455918 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.51, Z:-0.42 [[ 9.98967080e-01 4.54359865e-02 -5.85897187e-04 2.00020933e+01] [-4.54359837e-02 9.98967252e-01 1.81335114e-05 -5.10105598e-01] [ 5.86116017e-04 8.50603413e-06 9.99999828e-01 -4.23584695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.718001145 meters 0.06575086967554805 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.53, Z:-0.42 [[ 9.99557331e-01 2.97096979e-02 1.57324389e-03 2.00605620e+01] [-2.97096554e-02 9.99558569e-01 -5.03593572e-05 -5.25525507e-01] [-1.57404557e-03 3.59653085e-06 9.99998761e-01 -4.22061586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.778001144999998 meters 0.06619067392398269 Centerline is valid? [True, True] Translation: X:20.12, Y:-0.53, Z:-0.42 [[ 9.99683886e-01 2.50029894e-02 2.64152351e-03 2.01179096e+01] [-2.50028474e-02 9.99687376e-01 -8.67375175e-05 -5.31645861e-01] [-2.64286640e-03 2.06644894e-05 9.99996507e-01 -4.22663734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.838001145 meters 0.06653329492095139 Centerline is valid? [True, True] Translation: X:20.18, Y:-0.54, Z:-0.42 [[ 9.99791051e-01 2.02814518e-02 2.55303027e-03 2.01768126e+01] [-2.02813109e-02 9.99794310e-01 -8.10675791e-05 -5.39208532e-01] [-2.55414931e-03 2.92718395e-05 9.99996738e-01 -4.23741719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.898001145 meters 0.06617832629922643 Centerline is valid? [True, True] Translation: X:20.24, Y:-0.54, Z:-0.42 [[ 9.99713255e-01 2.39418877e-02 4.39328290e-04 2.02357357e+01] [-2.39418835e-02 9.99713352e-01 -1.47035873e-05 -5.35035378e-01] [-4.39554389e-04 4.18102439e-06 9.99999903e-01 -4.24552643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.958001144999997 meters 0.06604557210453048 Centerline is valid? [True, True] Translation: X:20.29, Y:-0.54, Z:-0.43 [[ 9.99689476e-01 2.49180910e-02 -2.00558347e-04 2.02922885e+01] [-2.49180906e-02 9.99689496e-01 4.63715487e-06 -5.39255038e-01] [ 2.00611622e-04 3.61816135e-07 9.99999980e-01 -4.29992311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.018001145 meters 0.06594437495534176 Centerline is valid? [True, True] Translation: X:20.35, Y:-0.54, Z:-0.43 [[ 9.99666136e-01 2.58335988e-02 -4.92153582e-04 2.03496769e+01] [-2.58335951e-02 9.99666257e-01 1.39169791e-05 -5.41675300e-01] [ 4.92348855e-04 -1.19823635e-06 9.99999879e-01 -4.32019647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.078001144999998 meters 0.06570519500649856 Centerline is valid? [True, True] Translation: X:20.41, Y:-0.54, Z:-0.43 [[ 9.99616068e-01 2.76960449e-02 8.03767307e-04 2.04089376e+01] [-2.76960331e-02 9.99616391e-01 -2.58822502e-05 -5.39848738e-01] [-8.04175811e-04 3.61114727e-06 9.99999677e-01 -4.30116276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.138001144999997 meters 0.06556230392220191 Centerline is valid? [True, True] Translation: X:20.47, Y:-0.54, Z:-0.43 [[ 9.99563093e-01 2.95347090e-02 1.15078568e-03 2.04668190e+01] [-2.95346835e-02 9.99563755e-01 -3.91669517e-05 -5.39461821e-01] [-1.15144044e-03 5.16174849e-06 9.99999337e-01 -4.30759487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.198001145 meters 0.0653297402363012 Centerline is valid? [True, True] Translation: X:20.52, Y:-0.54, Z:-0.43 [[ 9.99507434e-01 3.13210714e-02 1.96994601e-03 2.05249971e+01] [-3.13210072e-02 9.99509375e-01 -6.34497755e-05 -5.40800081e-01] [-1.97096682e-03 1.71782915e-06 9.99998058e-01 -4.33190874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.258001144999998 meters 0.06522325418701076 Centerline is valid? [True, True] Translation: X:20.58, Y:-0.54, Z:-0.43 [[ 9.99444753e-01 3.33188211e-02 2.06431781e-04 2.05829969e+01] [-3.33188203e-02 9.99444774e-01 -7.44241189e-06 -5.38936129e-01] [-2.06565137e-04 5.60216099e-07 9.99999979e-01 -4.34243813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.318001145 meters 0.06527844456354288 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.54, Z:-0.44 [[ 9.99430102e-01 3.36867121e-02 -2.16234976e-03 2.06417181e+01] [-3.36866564e-02 9.99432442e-01 6.22006058e-05 -5.38578502e-01] [ 2.16321783e-03 1.06771754e-05 9.99997660e-01 -4.37347006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.378001145 meters 0.06565753604691364 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.54, Z:-0.44 [[ 9.99482605e-01 3.18490857e-02 -4.48971999e-03 2.06998732e+01] [-3.18488161e-02 9.99492689e-01 1.31555931e-04 -5.42620509e-01] [ 4.49163224e-03 1.15044013e-05 9.99989913e-01 -4.43129636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.438001144999998 meters 0.06608458299968827 Centerline is valid? [True, True] Translation: X:20.76, Y:-0.55, Z:-0.45 [[ 9.99603195e-01 2.72744700e-02 -7.03962621e-03 2.07574449e+01] [-2.72736704e-02 9.99627982e-01 2.09578676e-04 -5.52068831e-01] [ 7.04272349e-03 -1.74990691e-05 9.99975200e-01 -4.50316324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.498001145 meters 0.06564093920611684 Centerline is valid? [True, True] Translation: X:20.82, Y:-0.55, Z:-0.45 [[ 9.99647349e-01 2.60810881e-02 -4.99546646e-03 2.08166381e+01] [-2.60806782e-02 9.99659830e-01 1.47184841e-04 -5.54175856e-01] [ 4.99760589e-03 -1.68477831e-05 9.99987512e-01 -4.46819695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.558001145 meters 0.06537465046274987 Centerline is valid? [True, True] Translation: X:20.88, Y:-0.55, Z:-0.44 [[ 9.99720157e-01 2.35707776e-02 -2.00662636e-03 2.08755809e+01] [-2.35707124e-02 9.99722171e-01 5.61174478e-05 -5.54997939e-01] [ 2.00739160e-03 -8.80413071e-06 9.99997985e-01 -4.41332161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.618001144999997 meters 0.06549493519536907 Centerline is valid? [True, True] Translation: X:20.93, Y:-0.56, Z:-0.44 [[ 9.99771532e-01 2.13190481e-02 -1.54323091e-03 2.09346233e+01] [-2.13190046e-02 9.99772723e-01 4.46360563e-05 -5.59106819e-01] [ 1.54383177e-03 -1.17257116e-05 9.99998808e-01 -4.41858315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.678001145 meters 0.06597541679899886 Centerline is valid? [True, True] Translation: X:20.99, Y:-0.56, Z:-0.45 [[ 9.99815751e-01 1.87180673e-02 -4.25408326e-03 2.09927901e+01] [-1.87177123e-02 9.99824801e-01 1.23253907e-04 -5.63261534e-01] [ 4.25564503e-03 -4.36044908e-05 9.99990944e-01 -4.45769910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.738001145 meters 0.066786145152215 Centerline is valid? [True, True] Translation: X:21.05, Y:-0.57, Z:-0.45 [[ 9.99861289e-01 1.51678519e-02 -6.88036526e-03 2.10526017e+01] [-1.51668244e-02 9.99884957e-01 2.01505207e-04 -5.67621012e-01] [ 6.88263012e-03 -9.71239645e-05 9.99976310e-01 -4.48920539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.798001144999997 meters 0.06680583719789097 Centerline is valid? [True, True] Translation: X:21.11, Y:-0.57, Z:-0.45 [[ 9.99886261e-01 1.42228074e-02 -5.01759514e-03 2.11115716e+01] [-1.42222537e-02 9.99898848e-01 1.46024432e-04 -5.70764448e-01] [ 5.01916448e-03 -7.46463127e-05 9.99987401e-01 -4.48590035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.858001145 meters 0.06675745710943275 Centerline is valid? [True, True] Translation: X:21.17, Y:-0.57, Z:-0.45 [[ 9.99879539e-01 1.51307656e-02 -3.45951471e-03 2.11690380e+01] [-1.51305105e-02 9.99885522e-01 9.98855861e-05 -5.73676116e-01] [ 3.46063002e-03 -4.75293300e-05 9.99994011e-01 -4.49763386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.918001144999998 meters 0.06614402847586155 Centerline is valid? [True, True] Translation: X:21.23, Y:-0.57, Z:-0.45 [[ 9.99855185e-01 1.69746038e-02 -1.21290953e-03 2.12282530e+01] [-1.69745746e-02 9.99855921e-01 3.44143917e-05 -5.72670919e-01] [ 1.21331895e-03 -1.38207847e-05 9.99999264e-01 -4.46372840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.978001145 meters 0.06579681713236313 Centerline is valid? [True, True] Translation: X:21.29, Y:-0.57, Z:-0.44 [[ 9.99808063e-01 1.95899199e-02 -2.68299511e-04 2.12868350e+01] [-1.95899187e-02 9.99808099e-01 6.85630740e-06 -5.69456866e-01] [ 2.68382338e-04 -1.59902581e-06 9.99999964e-01 -4.44172644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.038001145 meters 0.06573178753577841 Centerline is valid? [True, True] Translation: X:21.34, Y:-0.57, Z:-0.45 [[ 9.99775744e-01 2.11322339e-02 -1.37494398e-03 2.13442301e+01] [-2.11322010e-02 9.99776689e-01 3.84377865e-05 -5.70492015e-01] [ 1.37544922e-03 -9.37357411e-06 9.99999054e-01 -4.48509105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.098001144999998 meters 0.06569343569996297 Centerline is valid? [True, True] Translation: X:21.40, Y:-0.57, Z:-0.45 [[ 9.99733147e-01 2.28304910e-02 -3.52199154e-03 2.14014360e+01] [-2.28302821e-02 9.99739350e-01 9.95092556e-05 -5.70993708e-01] [ 3.52334538e-03 -1.90746406e-05 9.99993793e-01 -4.52264502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.158001145 meters 0.06598233991685787 Centerline is valid? [True, True] Translation: X:21.46, Y:-0.57, Z:-0.46 [[ 9.99640050e-01 2.55949217e-02 -8.04182550e-03 2.14598742e+01] [-2.55939248e-02 9.99672396e-01 2.26872112e-04 -5.70194217e-01] [ 8.04499774e-03 -2.09685729e-05 9.99967638e-01 -4.58094736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.218001145 meters 0.06574142018086129 Centerline is valid? [True, True] Translation: X:21.52, Y:-0.57, Z:-0.46 [[ 9.99594943e-01 2.75176594e-02 -7.26140360e-03 2.15183033e+01] [-2.75169111e-02 9.99621318e-01 2.02961315e-04 -5.68929043e-01] [ 7.26423886e-03 -3.06770673e-06 9.99973615e-01 -4.57986276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.278001144999998 meters 0.06531950283324339 Centerline is valid? [True, True] Translation: X:21.58, Y:-0.57, Z:-0.45 [[ 9.99548087e-01 2.98665005e-02 -3.40802705e-03 2.15770448e+01] [-2.98663482e-02 9.99553897e-01 9.55846621e-05 -5.68294006e-01] [ 3.40936150e-03 6.24385665e-06 9.99994188e-01 -4.53100959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.338001145 meters 0.0651638068678471 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.57, Z:-0.45 [[ 9.99497388e-01 3.15741592e-02 -2.83612073e-03 2.16349335e+01] [-3.15740623e-02 9.99501412e-01 7.89504185e-05 -5.66852123e-01] [ 2.83719947e-03 1.06371155e-05 9.99995975e-01 -4.53129050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.398001145 meters 0.06539576880931218 Centerline is valid? [True, True] Translation: X:21.69, Y:-0.57, Z:-0.46 [[ 9.99451107e-01 3.29698272e-02 -3.23640274e-03 2.16931498e+01] [-3.29697165e-02 9.99456347e-01 8.75661260e-05 -5.67452229e-01] [ 3.23753030e-03 1.91852193e-05 9.99994759e-01 -4.55965278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.458001144999997 meters 0.06550507772534392 Centerline is valid? [True, True] Translation: X:21.75, Y:-0.57, Z:-0.46 [[ 9.99348345e-01 3.57865530e-02 -4.71253312e-03 2.17506927e+01] [-3.57863387e-02 9.99359455e-01 1.29821098e-04 -5.65777798e-01] [ 4.71416039e-03 3.89078064e-05 9.99988888e-01 -4.58398367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.518001145 meters 0.06572441778303259 Centerline is valid? [True, True] Translation: X:21.81, Y:-0.56, Z:-0.46 [[ 9.99253360e-01 3.83310298e-02 -4.84296481e-03 2.18085978e+01] [-3.83308321e-02 9.99265095e-01 1.33669977e-04 -5.62584844e-01] [ 4.84452939e-03 5.20646968e-05 9.99988264e-01 -4.58455713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.578001144999998 meters 0.06650779071244702 Centerline is valid? [True, True] Translation: X:21.87, Y:-0.56, Z:-0.46 [[ 9.99016528e-01 4.39523277e-02 -5.84541004e-03 2.18674129e+01] [-4.39521336e-02 9.99033625e-01 1.61733698e-04 -5.59360204e-01] [ 5.84686975e-03 9.53436056e-05 9.99982902e-01 -4.61087785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.638001144999997 meters 0.06617651195239851 Centerline is valid? [True, True] Translation: X:21.93, Y:-0.56, Z:-0.46 [[ 9.98866412e-01 4.70797458e-02 -7.02773231e-03 2.19272272e+01] [-4.70795419e-02 9.98891125e-01 1.94537076e-04 -5.61437546e-01] [ 7.02909818e-03 1.36545867e-04 9.99975286e-01 -4.58816023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.698001145 meters 0.06628373691800424 Centerline is valid? [True, True] Translation: X:21.99, Y:-0.56, Z:-0.46 [[ 9.98636347e-01 5.16983913e-02 -7.26109867e-03 2.19870122e+01] [-5.16982974e-02 9.98662729e-01 2.00755701e-04 -5.60255863e-01] [ 7.26176735e-03 1.74904499e-04 9.99973618e-01 -4.56566552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.758001144999998 meters 0.06695637211029526 Centerline is valid? [True, True] Translation: X:22.05, Y:-0.56, Z:-0.46 [[ 9.98404303e-01 5.60728288e-02 -6.68474349e-03 2.20464498e+01] [-5.60728538e-02 9.98426663e-01 1.83813427e-04 -5.56900358e-01] [ 6.68453308e-03 1.91312528e-04 9.99977640e-01 -4.56228552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.818001145 meters 0.06904075321265343 Centerline is valid? [True, True] Translation: X:22.11, Y:-0.55, Z:-0.46 [[ 9.98162342e-01 6.02143513e-02 -6.79496864e-03 2.21051043e+01] [-6.02144731e-02 9.98185445e-01 1.86832982e-04 -5.50084295e-01] [ 6.79388882e-03 2.22665809e-04 9.99976896e-01 -4.59020283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.878001145 meters 0.06777823964150795 Centerline is valid? [True, True] Translation: X:22.16, Y:-0.56, Z:-0.46 [[ 9.98045234e-01 6.18268056e-02 -9.11905696e-03 2.21648105e+01] [-6.18270909e-02 9.98086844e-01 2.50879736e-04 -5.57608795e-01] [ 9.11712188e-03 3.13415439e-04 9.99958389e-01 -4.58358428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.938001144999998 meters 0.06791305233717507 Centerline is valid? [True, True] Translation: X:22.22, Y:-0.56, Z:-0.46 [[ 9.98160052e-01 6.01334814e-02 -7.77653827e-03 2.22227626e+01] [-6.01336482e-02 9.98190312e-01 2.12591713e-04 -5.57858511e-01] [ 7.77524904e-03 2.55431061e-04 9.99969740e-01 -4.59169161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.998001145 meters 0.06727681166435401 Centerline is valid? [True, True] Translation: X:22.28, Y:-0.56, Z:-0.46 [[ 9.98238855e-01 5.90313389e-02 -5.87275386e-03 2.22815810e+01] [-5.90314173e-02 9.98256112e-01 1.60138153e-04 -5.63149727e-01] [ 5.87196561e-03 1.86820858e-04 9.99982742e-01 -4.59143041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.058001145 meters 0.06731099535014283 Centerline is valid? [True, True] Translation: X:22.34, Y:-0.56, Z:-0.46 [[ 9.98358857e-01 5.70461499e-02 -5.03293210e-03 2.23400247e+01] [-5.70461844e-02 9.98371531e-01 1.36806276e-04 -5.60275160e-01] [ 5.03254040e-03 1.50527816e-04 9.99987325e-01 -4.57482379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.118001144999997 meters 0.06713615594522498 Centerline is valid? [True, True] Translation: X:22.40, Y:-0.56, Z:-0.46 [[ 9.98485596e-01 5.48067862e-02 -4.76767620e-03 2.23984372e+01] [-5.48068070e-02 9.98496969e-01 1.26381928e-04 -5.61784080e-01] [ 4.76743683e-03 1.35110575e-04 9.99988627e-01 -4.59021132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.178001145 meters 0.06525599572311157 Centerline is valid? [True, True] Translation: X:22.46, Y:-0.57, Z:-0.46 [[ 9.98973424e-01 4.49552008e-02 -5.57921913e-03 2.24580753e+01] [-4.49550572e-02 9.98988999e-01 1.51217903e-04 -5.74811770e-01] [ 5.58037656e-03 9.97514487e-05 9.99984425e-01 -4.63756338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.238001145 meters 0.06402545532845345 Centerline is valid? [True, True] Translation: X:22.52, Y:-0.59, Z:-0.46 [[ 9.99390044e-01 3.45669703e-02 -4.96627791e-03 2.25172600e+01] [-3.45667305e-02 9.99402383e-01 1.34147443e-04 -5.85144383e-01] [ 4.96794705e-03 3.76023711e-05 9.99987659e-01 -4.62152568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.298001144999997 meters 0.06447627341595641 Centerline is valid? [True, True] Translation: X:22.58, Y:-0.60, Z:-0.47 [[ 9.99698303e-01 2.33943403e-02 -7.48381090e-03 2.25754017e+01] [-2.33935126e-02 9.99726315e-01 1.98127555e-04 -5.99536715e-01] [ 7.48639776e-03 -2.29951562e-05 9.99971976e-01 -4.69570608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.358001145 meters 0.06511216495081788 Centerline is valid? [True, True] Translation: X:22.63, Y:-0.61, Z:-0.47 [[ 9.99808583e-01 1.76529704e-02 -8.43621745e-03 2.26338690e+01] [-1.76517281e-02 9.99844172e-01 2.21690461e-04 -6.05969409e-01] [ 8.43881634e-03 -7.27342088e-05 9.99964390e-01 -4.73798825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.418001144999998 meters 0.06527592585218214 Centerline is valid? [True, True] Translation: X:22.69, Y:-0.61, Z:-0.47 [[ 9.99836141e-01 1.56764689e-02 -9.05208090e-03 2.26917974e+01] [-1.56749435e-02 9.99877112e-01 2.39439456e-04 -6.06247049e-01] [ 9.05472207e-03 -9.75093647e-05 9.99959000e-01 -4.72486684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.478001144999997 meters 0.06476362432907905 Centerline is valid? [True, True] Translation: X:22.75, Y:-0.60, Z:-0.47 [[ 9.99831270e-01 1.64702503e-02 -8.13408586e-03 2.27506697e+01] [-1.64690796e-02 9.99864353e-01 2.10896750e-04 -6.02182828e-01] [ 8.13645602e-03 -7.69002578e-05 9.99966896e-01 -4.67231521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.538001145 meters 0.06473233180058545 Centerline is valid? [True, True] Translation: X:22.81, Y:-0.61, Z:-0.47 [[ 9.99832884e-01 1.65979386e-02 -7.66237939e-03 2.28092793e+01] [-1.65969186e-02 9.99862242e-01 1.96685813e-04 -6.05942514e-01] [ 7.66458841e-03 -6.94810572e-05 9.99970624e-01 -4.70027179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.598001144999998 meters 0.06473337802608127 Centerline is valid? [True, True] Translation: X:22.87, Y:-0.61, Z:-0.47 [[ 9.99834117e-01 1.67909309e-02 -7.05714145e-03 2.28674919e+01] [-1.67900833e-02 9.99859021e-01 1.79330889e-04 -6.10148880e-01] [ 7.05915767e-03 -6.08111480e-05 9.99975082e-01 -4.72480366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.658001145 meters 0.06465065122978197 Centerline is valid? [True, True] Translation: X:22.93, Y:-0.61, Z:-0.47 [[ 9.99831331e-01 1.66710401e-02 -7.70624496e-03 2.29266206e+01] [-1.66700096e-02 9.99861026e-01 1.97944571e-04 -6.09209329e-01] [ 7.70847394e-03 -6.94480063e-05 9.99970287e-01 -4.71033859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.718001145 meters 0.06467562818792631 Centerline is valid? [True, True] Translation: X:22.99, Y:-0.61, Z:-0.47 [[ 9.99845161e-01 1.64286853e-02 -6.30495968e-03 2.29856671e+01] [-1.64280163e-02 9.99865039e-01 1.57892723e-04 -6.09653032e-01] [ 6.30670273e-03 -5.42902949e-05 9.99980111e-01 -4.70128541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.778001144999998 meters 0.06469448792148841 Centerline is valid? [True, True] Translation: X:23.04, Y:-0.61, Z:-0.47 [[ 9.99857512e-01 1.63522775e-02 -4.19032489e-03 2.30437862e+01] [-1.63519771e-02 9.99866292e-01 1.05921677e-04 -6.14329790e-01] [ 4.19149667e-03 -3.73864873e-05 9.99991215e-01 -4.73279887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.838001145 meters 0.06455080093903688 Centerline is valid? [True, True] Translation: X:23.10, Y:-0.62, Z:-0.47 [[ 9.99863622e-01 1.63603441e-02 -2.25309663e-03 2.31029542e+01] [-1.63602586e-02 9.99866160e-01 5.63883498e-05 -6.16163252e-01] [ 2.25371761e-03 -1.95194162e-05 9.99997460e-01 -4.70814685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.898001145 meters 0.0642449077494253 Centerline is valid? [True, True] Translation: X:23.16, Y:-0.61, Z:-0.47 [[ 9.99822320e-01 1.88247314e-02 -9.78554094e-04 2.31615565e+01] [-1.88247170e-02 9.99822799e-01 2.38794238e-05 -6.14926788e-01] [ 9.78830217e-04 -5.45417699e-06 9.99999521e-01 -4.69777201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.958001144999997 meters 0.064522952423579 Centerline is valid? [True, True] Translation: X:23.22, Y:-0.62, Z:-0.47 [[ 9.99841414e-01 1.75052425e-02 -3.27327062e-03 2.32193249e+01] [-1.75050692e-02 9.99846771e-01 8.15959475e-05 -6.16527724e-01] [ 3.27419742e-03 -2.42841788e-05 9.99994640e-01 -4.70815021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.018001145 meters 0.06487531890419938 Centerline is valid? [True, True] Translation: X:23.28, Y:-0.62, Z:-0.48 [[ 9.99764020e-01 2.03373502e-02 -7.63515826e-03 2.32782114e+01] [-2.03364797e-02 9.99793174e-01 1.91644053e-04 -6.17633447e-01] [ 7.63747665e-03 -3.63265878e-05 9.99970833e-01 -4.80864803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.078001144999998 meters 0.06427884707136158 Centerline is valid? [True, True] Translation: X:23.34, Y:-0.61, Z:-0.48 [[ 9.99700810e-01 2.36389656e-02 -6.28404457e-03 2.33369623e+01] [-2.36384667e-02 9.99720561e-01 1.53670222e-04 -6.12737204e-01] [ 6.28592116e-03 -5.07906749e-06 9.99980243e-01 -4.76196797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.138001144999997 meters 0.06400048485829135 Centerline is valid? [True, True] Translation: X:23.40, Y:-0.61, Z:-0.47 [[ 9.99656808e-01 2.57863766e-02 -4.61836496e-03 2.33955239e+01] [-2.57861391e-02 9.99667476e-01 1.10973396e-04 -6.11499050e-01] [ 4.61969084e-03 8.15449012e-06 9.99989329e-01 -4.74398191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.198001145 meters 0.0640040200993079 Centerline is valid? [True, True] Translation: X:23.45, Y:-0.61, Z:-0.47 [[ 9.99555295e-01 2.97093421e-02 -2.56267157e-03 2.34533528e+01] [-2.97092824e-02 9.99558580e-01 6.13631091e-05 -6.08965511e-01] [ 2.56336341e-03 1.47993128e-05 9.99996714e-01 -4.72546676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.258001144999998 meters 0.06404099449865405 Centerline is valid? [True, True] Translation: X:23.51, Y:-0.61, Z:-0.47 [[ 9.99482972e-01 3.20862052e-02 -2.06484594e-03 2.35117719e+01] [-3.20861764e-02 9.99485105e-01 4.71140708e-05 -6.08416675e-01] [ 2.06529447e-03 1.91632994e-05 9.99997867e-01 -4.73563238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.318001145 meters 0.06479291148840174 Centerline is valid? [True, True] Translation: X:23.57, Y:-0.61, Z:-0.48 [[ 9.99419047e-01 3.37921431e-02 -4.43381940e-03 2.35690265e+01] [-3.37920024e-02 9.99428882e-01 1.06659205e-04 -6.12087672e-01] [ 4.43489141e-03 4.32303944e-05 9.99990165e-01 -4.81852848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.378001145 meters 0.06476258865893449 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.61, Z:-0.48 [[ 9.99316718e-01 3.65718542e-02 -5.34751292e-03 2.36274399e+01] [-3.65716905e-02 9.99331024e-01 1.28418869e-04 -6.12053576e-01] [ 5.34863208e-03 6.72364648e-05 9.99985694e-01 -4.79927728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.438001144999998 meters 0.06529438269859518 Centerline is valid? [True, True] Translation: X:23.69, Y:-0.60, Z:-0.47 [[ 9.99042233e-01 4.36328145e-02 -3.28558173e-03 2.36862278e+01] [-4.36328014e-02 9.99047633e-01 7.56890042e-05 -6.01715608e-01] [ 3.28575518e-03 6.77426234e-05 9.99994600e-01 -4.74137172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.498001145 meters 0.06566942814872591 Centerline is valid? [True, True] Translation: X:23.75, Y:-0.60, Z:-0.47 [[ 9.98837980e-01 4.81239435e-02 -2.60298597e-03 2.37453214e+01] [-4.81239461e-02 9.98841370e-01 6.16590659e-05 -6.00485733e-01] [ 2.60293734e-03 6.36785395e-05 9.99996610e-01 -4.74867029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.558001145 meters 0.06595454588040243 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.60, Z:-0.48 [[ 9.98858785e-01 4.75782690e-02 -4.17565360e-03 2.38043179e+01] [-4.75782837e-02 9.98867508e-01 9.58696349e-05 -6.03805466e-01] [ 4.17548601e-03 1.02910205e-04 9.99991277e-01 -4.78485920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.618001144999997 meters 0.06621092630631274 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.60, Z:-0.48 [[ 9.98854578e-01 4.76387125e-02 -4.48163276e-03 2.38632822e+01] [-4.76387332e-02 9.98864626e-01 1.02179908e-04 -6.04614735e-01] [ 4.48141215e-03 1.11436438e-04 9.99989952e-01 -4.80512056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.678001145 meters 0.0660132546470184 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.61, Z:-0.48 [[ 9.98908500e-01 4.65912090e-02 -3.32683755e-03 2.39223948e+01] [-4.65912188e-02 9.98914037e-01 7.46048726e-05 -6.07944623e-01] [ 3.32670066e-03 8.04779747e-05 9.99994463e-01 -4.81118093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.738001145 meters 0.06543558233848541 Centerline is valid? [True, True] Translation: X:23.98, Y:-0.61, Z:-0.48 [[ 9.99012037e-01 4.43138331e-02 -3.35170356e-03 2.39807745e+01] [-4.43138337e-02 9.99017657e-01 7.41249367e-05 -6.11751199e-01] [ 3.35169580e-03 7.44751301e-05 9.99994380e-01 -4.81235202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.798001144999997 meters 0.06566843952411612 Centerline is valid? [True, True] Translation: X:24.04, Y:-0.61, Z:-0.48 [[ 9.99090525e-01 4.24853076e-02 -3.62239863e-03 2.40387508e+01] [-4.24852889e-02 9.99097089e-01 8.21478819e-05 -6.11158353e-01] [ 3.62261800e-03 7.18254818e-05 9.99993436e-01 -4.83640553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.858001145 meters 0.06466361549323575 Centerline is valid? [True, True] Translation: X:24.10, Y:-0.62, Z:-0.48 [[ 9.99143582e-01 4.13095513e-02 -2.37139200e-03 2.40970477e+01] [-4.13095477e-02 9.99146395e-01 5.05333057e-05 -6.17329427e-01] [ 2.37145528e-03 4.74711027e-05 9.99997187e-01 -4.80791746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.918001144999998 meters 0.06510996657821451 Centerline is valid? [True, True] Translation: X:24.16, Y:-0.61, Z:-0.48 [[ 9.99127896e-01 4.17406748e-02 -1.07903012e-03 2.41551304e+01] [-4.17406741e-02 9.99128478e-01 2.32456697e-05 -6.13824064e-01] [ 1.07906001e-03 2.18140473e-05 9.99999418e-01 -4.83035293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.978001144999997 meters 0.06499475104052437 Centerline is valid? [True, True] Translation: X:24.21, Y:-0.61, Z:-0.48 [[ 9.99019273e-01 4.42593195e-02 -1.26693414e-03 2.42138146e+01] [-4.42593232e-02 9.99020076e-01 2.51162379e-05 -6.12855769e-01] [ 1.26680427e-03 3.09820420e-05 9.99999197e-01 -4.80603374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.038001145 meters 0.06579716787366327 Centerline is valid? [True, True] Translation: X:24.27, Y:-0.61, Z:-0.48 [[ 9.98894656e-01 4.69614981e-02 -2.02111053e-03 2.42725985e+01] [-4.69615099e-02 9.98896699e-01 4.16631805e-05 -6.10571185e-01] [ 2.02083720e-03 5.32972737e-05 9.99997957e-01 -4.81063142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.098001144999998 meters 0.06683048642695773 Centerline is valid? [True, True] Translation: X:24.33, Y:-0.61, Z:-0.48 [[ 9.98685506e-01 5.11795324e-02 -2.81351230e-03 2.43318576e+01] [-5.11795617e-02 9.98689466e-01 6.16347391e-05 -6.11650365e-01] [ 2.81297953e-03 8.24406056e-05 9.99996040e-01 -4.84682132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.158001145 meters 0.06664624492541733 Centerline is valid? [True, True] Translation: X:24.39, Y:-0.62, Z:-0.49 [[ 9.98611945e-01 5.25366433e-02 -3.75295581e-03 2.43902666e+01] [-5.25367170e-02 9.98618990e-01 7.90187034e-05 -6.15599117e-01] [ 3.75192431e-03 1.18258956e-04 9.99992955e-01 -4.85326341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.218001145 meters 0.06820228311112218 Centerline is valid? [True, True] Translation: X:24.45, Y:-0.61, Z:-0.49 [[ 9.98516715e-01 5.42444926e-02 -4.68019205e-03 2.44483179e+01] [-5.42446140e-02 9.98527672e-01 1.01088945e-04 -6.13129228e-01] [ 4.67878479e-03 1.52936210e-04 9.99989043e-01 -4.87971307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.278001144999998 meters 0.06866443842738726 Centerline is valid? [True, True] Translation: X:24.51, Y:-0.61, Z:-0.49 [[ 9.98500069e-01 5.43591196e-02 -6.53443126e-03 2.45070601e+01] [-5.43593777e-02 9.98521426e-01 1.38231976e-04 -6.13587236e-01] [ 6.53228379e-03 2.17182980e-04 9.99978641e-01 -4.90262391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.338001145 meters 0.06841260046115845 Centerline is valid? [True, True] Translation: X:24.57, Y:-0.62, Z:-0.50 [[ 9.98523952e-01 5.34459015e-02 -9.66709408e-03 2.45655360e+01] [-5.34464305e-02 9.98570697e-01 2.03799684e-04 -6.20203363e-01] [ 9.66416914e-03 3.13172806e-04 9.99953252e-01 -4.96123768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.398001145 meters 0.06667127951925966 Centerline is valid? [True, True] Translation: X:24.63, Y:-0.63, Z:-0.49 [[ 9.98791669e-01 4.82977991e-02 -9.08428257e-03 2.46256578e+01] [-4.82980304e-02 9.98832950e-01 1.94052629e-04 -6.28377453e-01] [ 9.08305307e-03 2.44934807e-04 9.99958718e-01 -4.94571603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.458001144999997 meters 0.06576703800797713 Centerline is valid? [True, True] Translation: X:24.69, Y:-0.63, Z:-0.49 [[ 9.99002361e-01 4.41063839e-02 -6.99357975e-03 2.46854347e+01] [-4.41064195e-02 9.99026827e-01 1.49218997e-04 -6.33481348e-01] [ 6.99335530e-03 1.59391633e-04 9.99975533e-01 -4.92221207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.518001145 meters 0.06478954072210559 Centerline is valid? [True, True] Translation: X:24.75, Y:-0.64, Z:-0.49 [[ 9.99202328e-01 3.97465029e-02 -3.86312304e-03 2.47451981e+01] [-3.97464818e-02 9.99209793e-01 8.22498971e-05 -6.40876503e-01] [ 3.86333951e-03 7.13612609e-05 9.99992535e-01 -4.90455089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.578001144999998 meters 0.06488443845199787 Centerline is valid? [True, True] Translation: X:24.80, Y:-0.64, Z:-0.49 [[ 9.99292303e-01 3.74887402e-02 -3.08033107e-03 2.48031714e+01] [-3.74887279e-02 9.99297049e-01 6.17598163e-05 -6.43651356e-01] [ 3.08048104e-03 5.37615843e-05 9.99995254e-01 -4.93410356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.638001144999997 meters 0.0646547844514529 Centerline is valid? [True, True] Translation: X:24.86, Y:-0.65, Z:-0.49 [[ 9.99332496e-01 3.65256837e-02 -6.61132402e-04 2.48612216e+01] [-3.65256832e-02 9.99332715e-01 1.27780075e-05 -6.45213042e-01] [ 6.61157964e-04 1.13788345e-05 9.99999781e-01 -4.93475655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.698001145 meters 0.0647538268482396 Centerline is valid? [True, True] Translation: X:24.92, Y:-0.64, Z:-0.49 [[ 9.99303323e-01 3.73203686e-02 2.41971245e-04 2.49186217e+01] [-3.73203681e-02 9.99303352e-01 -6.62275402e-06 -6.42567936e-01] [-2.42049840e-04 -2.41231586e-06 9.99999971e-01 -4.92839923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.758001144999998 meters 0.06491010942638331 Centerline is valid? [True, True] Translation: X:24.98, Y:-0.64, Z:-0.49 [[ 9.99253452e-01 3.86223526e-02 9.23745700e-04 2.49774196e+01] [-3.86223485e-02 9.99253879e-01 -2.23034350e-05 -6.42061829e-01] [-9.23917885e-04 -1.33904440e-05 9.99999573e-01 -4.92838038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.818001144999997 meters 0.06490900396243496 Centerline is valid? [True, True] Translation: X:25.03, Y:-0.64, Z:-0.50 [[ 9.99330640e-01 3.65615947e-02 -1.23397414e-03 2.50348891e+01] [-3.65615959e-02 9.99331401e-01 2.16421357e-05 -6.41408211e-01] [ 1.23394037e-03 2.34884144e-05 9.99999238e-01 -4.96372592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.878001145 meters 0.06446188583828133 Centerline is valid? [True, True] Translation: X:25.09, Y:-0.64, Z:-0.49 [[ 9.99397440e-01 3.47055370e-02 -5.31183389e-04 2.50931128e+01] [-3.47055380e-02 9.99397581e-01 7.40748390e-06 -6.44433737e-01] [ 5.31120475e-04 1.10319848e-05 9.99999859e-01 -4.94837230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.938001144999998 meters 0.06420783830287427 Centerline is valid? [True, True] Translation: X:25.15, Y:-0.65, Z:-0.50 [[ 9.99533003e-01 3.05572419e-02 1.74067297e-04 2.51505292e+01] [-3.05572415e-02 9.99533018e-01 -4.67343063e-06 -6.45779711e-01] [-1.74128818e-04 -6.47768275e-07 9.99999985e-01 -4.99693512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.998001145 meters 0.06400418473949966 Centerline is valid? [True, True] Translation: X:25.21, Y:-0.65, Z:-0.50 [[ 9.99630259e-01 2.71619830e-02 -1.25369797e-03 2.52082229e+01] [-2.71619778e-02 9.99631045e-01 2.11728723e-05 -6.48355724e-01] [ 1.25381051e-03 1.28878725e-05 9.99999214e-01 -5.01239903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.058001145 meters 0.06376604931479804 Centerline is valid? [True, True] Translation: X:25.27, Y:-0.65, Z:-0.50 [[ 9.99762070e-01 2.16972164e-02 -2.24388049e-03 2.52655536e+01] [-2.16971806e-02 9.99764588e-01 4.02910104e-05 -6.49973824e-01] [ 2.24422645e-03 8.40445617e-06 9.99997482e-01 -5.01987648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.118001144999997 meters 0.06371383051390928 Centerline is valid? [True, True] Translation: X:25.32, Y:-0.66, Z:-0.50 [[ 9.99863343e-01 1.64705840e-02 1.41976912e-03 2.53239224e+01] [-1.64705599e-02 9.99864351e-01 -2.86774028e-05 -6.57036939e-01] [-1.42004887e-03 5.28909144e-06 9.99998992e-01 -4.98984790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.178001145 meters 0.06374133436695496 Centerline is valid? [True, True] Translation: X:25.38, Y:-0.66, Z:-0.50 [[ 9.99870245e-01 1.59955627e-02 1.90674358e-03 2.53813881e+01] [-1.59955188e-02 9.99872063e-01 -3.82630521e-05 -6.59347488e-01] [-1.90711167e-03 7.75873443e-06 9.99998181e-01 -5.01499107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.238001145 meters 0.06376255265485481 Centerline is valid? [True, True] Translation: X:25.44, Y:-0.66, Z:-0.50 [[ 9.99805594e-01 1.97129094e-02 -4.20010009e-04 2.54397267e+01] [-1.97129082e-02 9.99805682e-01 7.01765557e-06 -6.56820565e-01] [ 4.20066732e-04 1.26332745e-06 9.99999912e-01 -5.04340643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.298001144999997 meters 0.06393668947685681 Centerline is valid? [True, True] Translation: X:25.50, Y:-0.66, Z:-0.50 [[ 9.99775021e-01 2.11459612e-02 -1.65978741e-03 2.54982686e+01] [-2.11459387e-02 9.99776399e-01 3.11314731e-05 -6.57417104e-01] [ 1.66007459e-03 3.97329365e-06 9.99998622e-01 -5.04639273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.358001145 meters 0.06452697470430667 Centerline is valid? [True, True] Translation: X:25.56, Y:-0.65, Z:-0.51 [[ 9.99549313e-01 2.99467387e-02 -2.08877970e-03 2.55566702e+01] [-2.99467277e-02 9.99551496e-01 3.65860145e-05 -6.51725333e-01] [ 2.08893850e-03 2.59825911e-05 9.99997818e-01 -5.06264055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.418001144999998 meters 0.06534918262331818 Centerline is valid? [True, True] Translation: X:25.62, Y:-0.65, Z:-0.51 [[ 9.99365655e-01 3.55559734e-02 -2.01490789e-03 2.56153833e+01] [-3.55559755e-02 9.99367686e-01 3.47616759e-05 -6.45631612e-01] [ 2.01486982e-03 3.69023906e-05 9.99997969e-01 -5.05893032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.478001144999997 meters 0.0663074429364008 Centerline is valid? [True, True] Translation: X:25.67, Y:-0.64, Z:-0.51 [[ 9.99233375e-01 3.89383830e-02 -4.05770391e-03 2.56743687e+01] [-3.89383969e-02 9.99241610e-01 7.55909390e-05 -6.43363879e-01] [ 4.05756997e-03 8.24674963e-05 9.99991765e-01 -5.08077151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.538001145 meters 0.06679432917551341 Centerline is valid? [True, True] Translation: X:25.73, Y:-0.64, Z:-0.51 [[ 9.99178118e-01 4.00719301e-02 -6.10971589e-03 2.57315797e+01] [-4.00719938e-02 9.99196789e-01 1.12028181e-04 -6.43424987e-01] [ 6.10929768e-03 1.32892390e-04 9.99981329e-01 -5.12114927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.598001144999998 meters 0.06641333674531703 Centerline is valid? [True, True] Translation: X:25.79, Y:-0.65, Z:-0.51 [[ 9.99153540e-01 4.03946786e-02 -7.77649498e-03 2.57904584e+01] [-4.03948110e-02 9.99183787e-01 1.40101682e-04 -6.45900039e-01] [ 7.77580707e-03 1.74146954e-04 9.99969753e-01 -5.12162588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.658001145 meters 0.06683973562351106 Centerline is valid? [True, True] Translation: X:25.85, Y:-0.64, Z:-0.51 [[ 9.99237028e-01 3.81107213e-02 -8.54017271e-03 2.58482759e+01] [-3.81107831e-02 9.99273508e-01 1.55568146e-04 -6.44891568e-01] [ 8.53989716e-03 1.70023218e-04 9.99963520e-01 -5.14861732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.718001145 meters 0.06529376692889106 Centerline is valid? [True, True] Translation: X:25.91, Y:-0.65, Z:-0.51 [[ 9.99432411e-01 3.29926359e-02 -6.80744228e-03 2.59079766e+01] [-3.29925548e-02 9.99455590e-01 1.24237858e-04 -6.52878670e-01] [ 6.80783517e-03 1.00427571e-04 9.99976821e-01 -5.12183153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.778001144999998 meters 0.0646839461558713 Centerline is valid? [True, True] Translation: X:25.97, Y:-0.66, Z:-0.51 [[ 9.99580888e-01 2.82601693e-02 -6.27782935e-03 2.59656742e+01] [-2.82600146e-02 9.99600600e-01 1.13369874e-04 -6.57419231e-01] [ 6.27852584e-03 6.40891900e-05 9.99980288e-01 -5.13912446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.838001145 meters 0.06377548002659629 Centerline is valid? [True, True] Translation: X:26.02, Y:-0.67, Z:-0.51 [[ 9.99794219e-01 1.91950387e-02 -6.56283062e-03 2.60246648e+01] [-1.91946963e-02 9.99815758e-01 1.15152120e-04 -6.65393776e-01] [ 6.56383182e-03 1.08431165e-05 9.99978458e-01 -5.11757476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.898001145 meters 0.06387633333559777 Centerline is valid? [True, True] Translation: X:26.08, Y:-0.67, Z:-0.51 [[ 9.99883824e-01 1.43319249e-02 -5.18975814e-03 2.60824349e+01] [-1.43316410e-02 9.99897293e-01 9.18838787e-05 -6.70436948e-01] [ 5.19054199e-03 -1.74954533e-05 9.99986529e-01 -5.12327744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.958001144999997 meters 0.06398772944401271 Centerline is valid? [True, True] Translation: X:26.14, Y:-0.67, Z:-0.51 [[ 9.99905534e-01 1.23948160e-02 -5.94062409e-03 2.61403450e+01] [-1.23944117e-02 9.99923181e-01 1.04871357e-04 -6.73609404e-01] [ 5.94146759e-03 -3.12309094e-05 9.99982349e-01 -5.14559790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.018001145 meters 0.06395786979637677 Centerline is valid? [True, True] Translation: X:26.20, Y:-0.67, Z:-0.52 [[ 9.99881564e-01 1.32885710e-02 -7.76354472e-03 2.61985843e+01] [-1.32879095e-02 9.99911702e-01 1.36777117e-04 -6.73361810e-01] [ 7.76467679e-03 -3.35996374e-05 9.99969854e-01 -5.17758764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.078001144999998 meters 0.06384425456499632 Centerline is valid? [True, True] Translation: X:26.26, Y:-0.67, Z:-0.52 [[ 9.99844079e-01 1.49840145e-02 -9.34325801e-03 2.62560817e+01] [-1.49831353e-02 9.99887733e-01 1.64097304e-04 -6.73670557e-01] [ 9.34466791e-03 -2.40804183e-05 9.99956337e-01 -5.21153930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.138001144999997 meters 0.0639638923042057 Centerline is valid? [True, True] Translation: X:26.31, Y:-0.67, Z:-0.52 [[ 9.99809401e-01 1.64579801e-02 -1.05022050e-02 2.63147720e+01] [-1.64569965e-02 9.99864558e-01 1.80074235e-04 -6.73734243e-01] [ 1.05037462e-02 -7.20516263e-06 9.99944834e-01 -5.22631957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.198001145 meters 0.06382011966992225 Centerline is valid? [True, True] Translation: X:26.37, Y:-0.67, Z:-0.52 [[ 9.99739125e-01 2.06104181e-02 -9.84343595e-03 2.63735807e+01] [-2.06097805e-02 9.99787582e-01 1.66220428e-04 -6.70591678e-01] [ 9.84477090e-03 3.66939888e-05 9.99951538e-01 -5.21560091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.258001144999998 meters 0.06371956849244625 Centerline is valid? [True, True] Translation: X:26.43, Y:-0.67, Z:-0.52 [[ 9.99696100e-01 2.31562455e-02 -8.45550572e-03 2.64314336e+01] [-2.31558578e-02 9.99731857e-01 1.43758734e-04 -6.67309442e-01] [ 8.45656734e-03 5.20794421e-05 9.99964241e-01 -5.19924860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.318001144999997 meters 0.06408666960718211 Centerline is valid? [True, True] Translation: X:26.49, Y:-0.66, Z:-0.52 [[ 9.99551017e-01 2.88426830e-02 -8.11562228e-03 2.64904266e+01] [-2.88425455e-02 9.99583958e-01 1.33998606e-04 -6.64259125e-01] [ 8.11611072e-03 1.00136762e-04 9.99967059e-01 -5.20103973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.378001145 meters 0.06454559540306784 Centerline is valid? [True, True] Translation: X:26.55, Y:-0.66, Z:-0.52 [[ 9.99480264e-01 3.08787813e-02 -9.25761873e-03 2.65490143e+01] [-3.08787042e-02 9.99523128e-01 1.51304000e-04 -6.64373864e-01] [ 9.25787611e-03 1.34637909e-04 9.99957136e-01 -5.23930473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.438001144999998 meters 0.06538144825460986 Centerline is valid? [True, True] Translation: X:26.61, Y:-0.66, Z:-0.53 [[ 9.99291070e-01 3.58697180e-02 -1.14333485e-02 2.66079584e+01] [-3.58699029e-02 9.99356450e-01 1.88952749e-04 -6.61121963e-01] [ 1.14327682e-02 2.21294307e-04 9.99934619e-01 -5.26510781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.498001145 meters 0.06661823423261935 Centerline is valid? [True, True] Translation: X:26.67, Y:-0.65, Z:-0.53 [[ 9.99140758e-01 4.00552571e-02 -1.06452952e-02 2.66661093e+01] [-4.00556660e-02 9.99197434e-01 1.74882742e-04 -6.54267448e-01] [ 1.06437566e-02 2.51671914e-04 9.99943322e-01 -5.27733789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.558001145 meters 0.06555186174571527 Centerline is valid? [True, True] Translation: X:26.73, Y:-0.66, Z:-0.52 [[ 9.99142424e-01 4.03966216e-02 -9.08455936e-03 2.67253493e+01] [-4.03969507e-02 9.99183699e-01 1.47338346e-04 -6.57217430e-01] [ 9.08309560e-03 2.19776504e-04 9.99958724e-01 -5.24271873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.618001144999997 meters 0.06456780708418325 Centerline is valid? [True, True] Translation: X:26.79, Y:-0.66, Z:-0.52 [[ 9.99350714e-01 3.52073560e-02 -7.65456162e-03 2.67855439e+01] [-3.52074332e-02 9.99380018e-01 1.24705027e-04 -6.62463111e-01] [ 7.65420647e-03 1.44873410e-04 9.99970696e-01 -5.24758638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.678001145 meters 0.06383733389338841 Centerline is valid? [True, True] Translation: X:26.84, Y:-0.67, Z:-0.53 [[ 9.99545831e-01 2.87772287e-02 -8.94444747e-03 2.68436471e+01] [-2.87771196e-02 9.99585843e-01 1.40925680e-04 -6.71869681e-01] [ 8.94479852e-03 1.16533759e-04 9.99959988e-01 -5.26398342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.738001145 meters 0.06384390524214978 Centerline is valid? [True, True] Translation: X:26.90, Y:-0.68, Z:-0.53 [[ 9.99738738e-01 2.01561458e-02 -1.07789087e-02 2.69014979e+01] [-2.01554652e-02 9.99796843e-01 1.71778414e-04 -6.81245000e-01] [ 1.07801813e-02 4.55203843e-05 9.99941891e-01 -5.33873132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.798001144999997 meters 0.06393246265791819 Centerline is valid? [True, True] Translation: X:26.96, Y:-0.69, Z:-0.53 [[ 9.99797610e-01 1.63582152e-02 -1.17110095e-02 2.69599653e+01] [-1.63572077e-02 9.99866195e-01 1.81815700e-04 -6.85836989e-01] [ 1.17124167e-02 9.78051296e-06 9.99931407e-01 -5.34793537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.858001145 meters 0.06385138700683193 Centerline is valid? [True, True] Translation: X:27.02, Y:-0.68, Z:-0.53 [[ 9.99780499e-01 1.81124509e-02 -1.05305611e-02 2.70182839e+01] [-1.81117626e-02 9.99835956e-01 1.60731485e-04 -6.81916328e-01] [ 1.05317448e-02 3.00308185e-05 9.99944539e-01 -5.33711877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.918001144999998 meters 0.06391396540155576 Centerline is valid? [True, True] Translation: X:27.08, Y:-0.68, Z:-0.53 [[ 9.99722610e-01 2.15556545e-02 -9.48981846e-03 2.70766458e+01] [-2.15552814e-02 9.99767648e-01 1.41613754e-04 -6.75624023e-01] [ 9.49066606e-03 6.29812357e-05 9.99954961e-01 -5.33584870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.978001144999997 meters 0.06406587829944267 Centerline is valid? [True, True] Translation: X:27.13, Y:-0.68, Z:-0.54 [[ 9.99710676e-01 2.22947218e-02 -9.02831306e-03 2.71345378e+01] [-2.22943994e-02 9.99751440e-01 1.36367437e-04 -6.75856761e-01] [ 9.02910925e-03 6.49528349e-05 9.99959235e-01 -5.35109067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.038001145 meters 0.0643467612584946 Centerline is valid? [True, True] Translation: X:27.19, Y:-0.67, Z:-0.54 [[ 9.99620415e-01 2.63955915e-02 -7.89295863e-03 2.71933877e+01] [-2.63955037e-02 9.99651571e-01 1.15313038e-04 -6.72999032e-01] [ 7.89325226e-03 9.30693514e-05 9.99968843e-01 -5.36443134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.098001144999998 meters 0.0644891524999832 Centerline is valid? [True, True] Translation: X:27.25, Y:-0.67, Z:-0.54 [[ 9.99534057e-01 2.94847618e-02 -7.89421476e-03 2.72520024e+01] [-2.94847850e-02 9.99565223e-01 1.13469734e-04 -6.70765332e-01] [ 7.89412816e-03 1.19342361e-04 9.99968834e-01 -5.36350619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.158001145 meters 0.06470435489952593 Centerline is valid? [True, True] Translation: X:27.31, Y:-0.67, Z:-0.54 [[ 9.99471730e-01 3.13654680e-02 -8.51286700e-03 2.73109542e+01] [-3.13655776e-02 9.99507972e-01 1.20667144e-04 -6.70701695e-01] [ 8.51246321e-03 1.46407592e-04 9.99963758e-01 -5.36972698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.218001145 meters 0.06458163905262389 Centerline is valid? [True, True] Translation: X:27.37, Y:-0.67, Z:-0.54 [[ 9.99532572e-01 2.98191391e-02 -6.74215708e-03 2.73687378e+01] [-2.98191668e-02 9.99555305e-01 9.64371026e-05 -6.72496323e-01] [ 6.74203454e-03 1.04653482e-04 9.99977267e-01 -5.37185416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.278001144999998 meters 0.06432416280016685 Centerline is valid? [True, True] Translation: X:27.43, Y:-0.68, Z:-0.54 [[ 9.99580983e-01 2.81258723e-02 -6.84061604e-03 2.74270669e+01] [-2.81258853e-02 9.99604385e-01 9.43168158e-05 -6.77516058e-01] [ 6.84056253e-03 9.81210870e-05 9.99976598e-01 -5.39274122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.338001145 meters 0.06364860455185954 Centerline is valid? [True, True] Translation: X:27.48, Y:-0.69, Z:-0.54 [[ 9.99698694e-01 2.26644657e-02 -9.42566527e-03 2.74842528e+01] [-2.26642667e-02 9.99743124e-01 1.27943041e-04 -6.86120912e-01] [ 9.42614380e-03 8.57213003e-05 9.99955569e-01 -5.38838069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.398001145 meters 0.06357875720033458 Centerline is valid? [True, True] Translation: X:27.54, Y:-0.69, Z:-0.54 [[ 9.99730223e-01 2.13343575e-02 -9.18292285e-03 2.75433633e+01] [-2.13341253e-02 9.99772394e-01 1.23252120e-04 -6.87763150e-01] [ 9.18346227e-03 7.26907573e-05 9.99957828e-01 -5.39223743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.458001144999997 meters 0.06346798012169604 Centerline is valid? [True, True] Translation: X:27.60, Y:-0.69, Z:-0.54 [[ 9.99835432e-01 1.54172551e-02 -9.56121994e-03 2.76008545e+01] [-1.54167209e-02 9.99881147e-01 1.29580188e-04 -6.93800460e-01] [ 9.56208133e-03 1.78437962e-05 9.99954282e-01 -5.39585377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.518001145 meters 0.06402764390548946 Centerline is valid? [True, True] Translation: X:27.66, Y:-0.70, Z:-0.55 [[ 9.99900643e-01 9.30836979e-03 -1.05857935e-02 2.76595530e+01] [-9.30737634e-03 9.99956675e-01 1.43108256e-04 -7.04667206e-01] [ 1.05866670e-02 -4.45680725e-05 9.99943959e-01 -5.45369354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.578001144999998 meters 0.06415307481792094 Centerline is valid? [True, True] Translation: X:27.72, Y:-0.71, Z:-0.55 [[ 9.99916395e-01 7.65119303e-03 -1.04240724e-02 2.77167858e+01] [-7.65017653e-03 9.99970728e-01 1.37385633e-04 -7.05877082e-01] [ 1.04248184e-02 -5.76281526e-05 9.99945658e-01 -5.46725665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.638001144999997 meters 0.06364655233933196 Centerline is valid? [True, True] Translation: X:27.78, Y:-0.70, Z:-0.54 [[ 9.99915491e-01 1.09525176e-02 -7.00373538e-03 2.77759437e+01] [-1.09521441e-02 9.99940019e-01 9.16880097e-05 -7.01680097e-01] [ 7.00431950e-03 -1.49743423e-05 9.99975469e-01 -5.43935072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.698001145 meters 0.06358147278224842 Centerline is valid? [True, True] Translation: X:27.83, Y:-0.69, Z:-0.54 [[ 9.99817865e-01 1.75180880e-02 -7.57321689e-03 2.78344074e+01] [-1.75178650e-02 9.99846546e-01 9.57800053e-05 -6.93785310e-01] [ 7.57373263e-03 3.69040309e-05 9.99971318e-01 -5.43762741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.758001144999998 meters 0.06407516135492027 Centerline is valid? [True, True] Translation: X:27.89, Y:-0.68, Z:-0.54 [[ 9.99661768e-01 2.46416286e-02 -8.31497676e-03 2.78933710e+01] [-2.46416195e-02 9.99696344e-01 1.03561577e-04 -6.84275222e-01] [ 8.31500379e-03 1.01367944e-04 9.99965425e-01 -5.43377625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.818001144999997 meters 0.06546360924854039 Centerline is valid? [True, True] Translation: X:27.95, Y:-0.67, Z:-0.55 [[ 9.99401079e-01 3.31249061e-02 -1.00111578e-02 2.79540908e+01] [-3.31252788e-02 9.99451199e-01 1.28628516e-04 -6.73377549e-01] [ 1.00099245e-02 2.03070916e-04 9.99949879e-01 -5.45915822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.878001145 meters 0.06626459368043426 Centerline is valid? [True, True] Translation: X:28.01, Y:-0.67, Z:-0.55 [[ 9.99309695e-01 3.53264577e-02 -1.14967619e-02 2.80129680e+01] [-3.53271092e-02 9.99375792e-01 1.46471866e-04 -6.70739379e-01] [ 1.14947598e-02 2.59776606e-04 9.99933899e-01 -5.49433972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.938001144999998 meters 0.06536086403612693 Centerline is valid? [True, True] Translation: X:28.07, Y:-0.68, Z:-0.55 [[ 9.99417481e-01 3.27142327e-02 -9.71997574e-03 2.80713935e+01] [-3.27145846e-02 9.99464727e-01 1.22825098e-04 -6.79343590e-01] [ 9.71879103e-03 1.95231419e-04 9.99952752e-01 -5.48195498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.998001145 meters 0.06492983081380968 Centerline is valid? [True, True] Translation: X:28.13, Y:-0.69, Z:-0.55 [[ 9.99493982e-01 3.07493007e-02 -8.14010691e-03 2.81297008e+01] [-3.07495178e-02 9.99527117e-01 9.85066933e-05 -6.85554505e-01] [ 8.13928661e-03 1.51847516e-04 9.99966864e-01 -5.49175734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.058001145 meters 0.06403651610053977 Centerline is valid? [True, True] Translation: X:28.19, Y:-0.69, Z:-0.55 [[ 9.99663643e-01 2.47104244e-02 -7.87374483e-03 2.81888586e+01] [-2.47104527e-02 9.99694646e-01 9.37096821e-05 -6.94141911e-01] [ 7.87365615e-03 1.00885637e-04 9.99968997e-01 -5.45607839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.118001145 meters 0.06392414664752526 Centerline is valid? [True, True] Translation: X:28.25, Y:-0.70, Z:-0.55 [[ 9.99731245e-01 2.15469469e-02 -8.55379911e-03 2.82474106e+01] [-2.15468809e-02 9.99767834e-01 9.98878949e-05 -7.00743155e-01] [ 8.55396549e-03 8.44466409e-05 9.99963411e-01 -5.47984059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.178001144999996 meters 0.0637568791237526 Centerline is valid? [True, True] Translation: X:28.30, Y:-0.71, Z:-0.55 [[ 9.99804370e-01 1.81194033e-02 -7.93152892e-03 2.83046885e+01] [-1.81192359e-02 9.99835829e-01 9.29680882e-05 -7.08272631e-01] [ 7.93191132e-03 5.07633427e-05 9.99968541e-01 -5.49979277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.238001145 meters 0.06384703102432025 Centerline is valid? [True, True] Translation: X:28.36, Y:-0.71, Z:-0.55 [[ 9.99835606e-01 1.63401590e-02 -7.85882105e-03 2.83630918e+01] [-1.63399374e-02 9.99866490e-01 9.24074218e-05 -7.11931659e-01] [ 7.85928177e-03 3.60204131e-05 9.99969115e-01 -5.50863401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.298001145 meters 0.06356446905432811 Centerline is valid? [True, True] Translation: X:28.42, Y:-0.72, Z:-0.55 [[ 9.99864789e-01 1.44047336e-02 -7.93139010e-03 2.84218268e+01] [-1.44044514e-02 9.99896246e-01 9.27101111e-05 -7.15446814e-01] [ 7.93190265e-03 2.15497476e-05 9.99968542e-01 -5.50254763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.358001144999996 meters 0.06373010958839721 Centerline is valid? [True, True] Translation: X:28.48, Y:-0.72, Z:-0.55 [[ 9.99913086e-01 9.76167417e-03 -8.86177062e-03 2.84807637e+01] [-9.76114374e-03 9.99952354e-01 1.03106384e-04 -7.21878048e-01] [ 8.86235488e-03 -1.65964055e-05 9.99960728e-01 -5.52002703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.418001145 meters 0.0639059688501707 Centerline is valid? [True, True] Translation: X:28.54, Y:-0.73, Z:-0.55 [[ 9.99921864e-01 8.04781416e-03 -9.56546588e-03 2.85397049e+01] [-8.04712291e-03 9.99967615e-01 1.10751685e-04 -7.25903048e-01] [ 9.56604741e-03 -3.37685521e-05 9.99954244e-01 -5.54119363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.478001145 meters 0.06350867449660515 Centerline is valid? [True, True] Translation: X:28.60, Y:-0.72, Z:-0.55 [[ 9.99885082e-01 1.08040273e-02 -1.06346184e-02 2.85986428e+01] [-1.08033799e-02 9.99941635e-01 1.18326162e-04 -7.20984749e-01] [ 1.06352761e-02 -3.42274136e-06 9.99943444e-01 -5.52736175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.538001144999996 meters 0.06372844985789675 Centerline is valid? [True, True] Translation: X:28.66, Y:-0.71, Z:-0.55 [[ 9.99778033e-01 1.75404487e-02 -1.16712160e-02 2.86565014e+01] [-1.75401102e-02 9.99846152e-01 1.31366356e-04 -7.12542604e-01] [ 1.16717246e-02 7.33772180e-05 9.99931880e-01 -5.52008948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.598001145 meters 0.06428571405736397 Centerline is valid? [True, True] Translation: X:28.72, Y:-0.71, Z:-0.55 [[ 9.99703815e-01 2.07562852e-02 -1.27066090e-02 2.87155500e+01] [-2.07562039e-02 9.99784557e-01 1.38283301e-04 -7.07472382e-01] [ 1.27067417e-02 1.25498623e-04 9.99919258e-01 -5.54874140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.658001145 meters 0.06475706804306797 Centerline is valid? [True, True] Translation: X:28.77, Y:-0.71, Z:-0.56 [[ 9.99598347e-01 2.58678219e-02 -1.15758591e-02 2.87738692e+01] [-2.58681327e-02 9.99665356e-01 1.22907471e-04 -7.05011074e-01] [ 1.15751646e-02 1.76587754e-04 9.99932990e-01 -5.56801370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.718001144999995 meters 0.06463664704373079 Centerline is valid? [True, True] Translation: X:28.83, Y:-0.71, Z:-0.56 [[ 9.99621976e-01 2.50119387e-02 -1.14152599e-02 2.88329243e+01] [-2.50122150e-02 9.99687139e-01 1.18586636e-04 -7.05931709e-01] [ 1.14146546e-02 1.66979128e-04 9.99934837e-01 -5.57046221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.778001145 meters 0.06424316416998767 Centerline is valid? [True, True] Translation: X:28.89, Y:-0.71, Z:-0.56 [[ 9.99735005e-01 2.04493331e-02 -1.05709692e-02 2.88903301e+01] [-2.04493042e-02 9.99790885e-01 1.10828595e-04 -7.09396742e-01] [ 1.05710250e-02 1.05369739e-04 9.99944120e-01 -5.57209936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.838001145 meters 0.0636135470708981 Centerline is valid? [True, True] Translation: X:28.95, Y:-0.72, Z:-0.55 [[ 9.99903363e-01 1.18089206e-02 -7.33585521e-03 2.89500196e+01] [-1.18086736e-02 9.99930272e-01 7.69869995e-05 -7.21812500e-01] [ 7.33625283e-03 9.64716002e-06 9.99973089e-01 -5.54392096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.898001144999995 meters 0.0639723267610933 Centerline is valid? [True, True] Translation: X:29.01, Y:-0.73, Z:-0.56 [[ 9.99957807e-01 7.00283545e-03 -5.94507547e-03 2.90074749e+01] [-7.00259573e-03 9.99975480e-01 6.11366356e-05 -7.30765594e-01] [ 5.94535782e-03 -1.95030960e-05 9.99982326e-01 -5.59586940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.958001145 meters 0.06400732871326596 Centerline is valid? [True, True] Translation: X:29.07, Y:-0.73, Z:-0.56 [[ 9.99986868e-01 2.68685125e-03 -4.36404941e-03 2.90660475e+01] [-2.68668269e-03 9.99996390e-01 4.44861945e-05 -7.34140249e-01] [ 4.36415318e-03 -3.27607943e-05 9.99990477e-01 -5.56069577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.018001145 meters 0.06420202192474113 Centerline is valid? [True, True] Translation: X:29.12, Y:-0.73, Z:-0.56 [[ 9.99986571e-01 2.06069142e-03 -4.75523531e-03 2.91245089e+01] [-2.06048531e-03 9.99997876e-01 4.82423592e-05 -7.33677682e-01] [ 4.75532463e-03 -3.84436188e-05 9.99988693e-01 -5.57237488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.078001145 meters 0.06460110502600121 Centerline is valid? [True, True] Translation: X:29.18, Y:-0.73, Z:-0.56 [[ 9.99970461e-01 4.11010685e-03 -6.49487671e-03 2.91822270e+01] [-4.10976823e-03 9.99991553e-01 6.54830425e-05 -7.31567073e-01] [ 6.49509099e-03 -3.87886703e-05 9.99978906e-01 -5.63606112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.138001145 meters 0.06454362221518478 Centerline is valid? [True, True] Translation: X:29.24, Y:-0.72, Z:-0.57 [[ 9.99876325e-01 1.26772469e-02 -9.30714943e-03 2.92410355e+01] [-1.26769577e-02 9.99919640e-01 9.00714435e-05 -7.19343608e-01] [ 9.30754336e-03 2.79260355e-05 9.99956683e-01 -5.69114349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.198001145 meters 0.0651179303140862 Centerline is valid? [True, True] Translation: X:29.30, Y:-0.71, Z:-0.57 [[ 9.99740997e-01 2.09559213e-02 -8.87622721e-03 2.92990865e+01] [-2.09559816e-02 9.99780396e-01 8.62306091e-05 -7.07092704e-01] [ 8.87608499e-03 9.98017787e-05 9.99960602e-01 -5.70138921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.258001145 meters 0.066917536770482 Centerline is valid? [True, True] Translation: X:29.36, Y:-0.69, Z:-0.57 [[ 9.99441253e-01 3.24763961e-02 -7.90346598e-03 2.93598684e+01] [-3.24767919e-02 9.99472487e-01 7.83008298e-05 -6.89963161e-01] [ 7.90183972e-03 1.78422140e-04 9.99968764e-01 -5.66656947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.318001145 meters 0.06712410042781115 Centerline is valid? [True, True] Translation: X:29.42, Y:-0.69, Z:-0.57 [[ 9.99344124e-01 3.53051289e-02 -8.05422071e-03 2.94188369e+01] [-3.53056725e-02 9.99376558e-01 7.47248844e-05 -6.88120426e-01] [ 8.05183754e-03 2.09683805e-04 9.99967561e-01 -5.65683783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.378001145 meters 0.06866096897071562 Centerline is valid? [True, True] Translation: X:29.48, Y:-0.69, Z:-0.57 [[ 9.99277487e-01 3.71692934e-02 -7.93391697e-03 2.94768774e+01] [-3.71698684e-02 9.99308959e-01 7.50194453e-05 -6.87229396e-01] [ 7.93122272e-03 2.19937406e-04 9.99968523e-01 -5.71358408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.438001145 meters 0.0677171152020653 Centerline is valid? [True, True] Translation: X:29.54, Y:-0.69, Z:-0.57 [[ 9.99407275e-01 3.40447864e-02 -5.10411708e-03 2.95365105e+01] [-3.40449830e-02 9.99420300e-01 4.83958898e-05 -6.93000792e-01] [ 5.10280585e-03 1.25402375e-04 9.99986973e-01 -5.70637911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.498001144999996 meters 0.0663848316809744 Centerline is valid? [True, True] Translation: X:29.60, Y:-0.70, Z:-0.57 [[ 9.99570337e-01 2.90121310e-02 -4.17580811e-03 2.95966470e+01] [-2.90122183e-02 9.99579056e-01 3.96633146e-05 -7.01422675e-01] [ 4.17520105e-03 8.15031838e-05 9.99991280e-01 -5.69871711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.558001145 meters 0.06529241307448362 Centerline is valid? [True, True] Translation: X:29.66, Y:-0.71, Z:-0.57 [[ 9.99737598e-01 2.27735888e-02 -2.46944568e-03 2.96567469e+01] [-2.27736006e-02 9.99740648e-01 2.33283278e-05 -7.09824612e-01] [ 2.46933649e-03 3.29159631e-05 9.99996951e-01 -5.67479242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.618001145 meters 0.06464688193513471 Centerline is valid? [True, True] Translation: X:29.72, Y:-0.73, Z:-0.57 [[ 9.99904994e-01 1.36720575e-02 -1.75429379e-03 2.97158520e+01] [-1.36720523e-02 9.99906533e-01 1.49989103e-05 -7.28487504e-01] [ 1.75433489e-03 8.98731099e-06 9.99998461e-01 -5.69645210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.678001144999996 meters 0.06486752315469417 Centerline is valid? [True, True] Translation: X:29.77, Y:-0.74, Z:-0.57 [[ 9.99949786e-01 9.67157218e-03 -2.62419096e-03 2.97749872e+01] [-9.67154343e-03 9.99953229e-01 2.36459365e-05 -7.36579464e-01] [ 2.62429692e-03 1.73522772e-06 9.99996557e-01 -5.72367821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.738001145 meters 0.06478912728706053 Centerline is valid? [True, True] Translation: X:29.83, Y:-0.74, Z:-0.57 [[ 9.99983585e-01 5.45297274e-03 -1.75914497e-03 2.98339157e+01] [-5.45295401e-03 9.99985132e-01 1.54459889e-05 -7.39960324e-01] [ 1.75920305e-03 -5.85319873e-06 9.99998453e-01 -5.70352252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.798001145 meters 0.06534403074617724 Centerline is valid? [True, True] Translation: X:29.89, Y:-0.75, Z:-0.58 [[ 9.99993090e-01 2.69165439e-03 -2.56420067e-03 2.98926819e+01] [-2.69160483e-03 9.99996377e-01 2.27788082e-05 -7.47086887e-01] [ 2.56425269e-03 -1.58768359e-05 9.99996712e-01 -5.75061337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.858001144999996 meters 0.06583403965168713 Centerline is valid? [True, True] Translation: X:29.95, Y:-0.75, Z:-0.58 [[ 9.99982795e-01 1.58418757e-03 -5.64797865e-03 2.99507429e+01] [-1.58391976e-03 9.99998744e-01 5.18885000e-05 -7.50887184e-01] [ 5.64805376e-03 -4.29416623e-05 9.99984049e-01 -5.81608879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.918001145 meters 0.06623781194862269 Centerline is valid? [True, True] Translation: X:30.01, Y:-0.75, Z:-0.59 [[ 9.99956781e-01 1.87600645e-03 -9.10588996e-03 3.00086389e+01] [-1.87533598e-03 9.99998238e-01 8.21683973e-05 -7.50204249e-01] [ 9.10602806e-03 -6.50882430e-05 9.99958537e-01 -5.86465611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.978001145 meters 0.06607523940582011 Centerline is valid? [True, True] Translation: X:30.07, Y:-0.74, Z:-0.59 [[ 9.99938006e-01 5.74464858e-03 -9.53851255e-03 3.00668896e+01] [-5.74412601e-03 9.99983499e-01 8.21800824e-05 -7.42875905e-01] [ 9.53882725e-03 -2.73845697e-05 9.99954504e-01 -5.86369763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.038001144999996 meters 0.06595333654874556 Centerline is valid? [True, True] Translation: X:30.13, Y:-0.74, Z:-0.59 [[ 9.99919820e-01 9.41919705e-03 -8.46354449e-03 3.01256506e+01] [-9.41893500e-03 9.99955638e-01 7.08227263e-05 -7.36749637e-01] [ 8.46383613e-03 8.90052764e-06 9.99964181e-01 -5.86424200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.098001145 meters 0.06603963463368719 Centerline is valid? [True, True] Translation: X:30.18, Y:-0.73, Z:-0.58 [[ 9.99874438e-01 1.43274762e-02 -6.76985979e-03 3.01839695e+01] [-1.43274361e-02 9.99897356e-01 5.44317461e-05 -7.31291434e-01] [ 6.76994477e-03 4.25698219e-05 9.99977083e-01 -5.84005862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.158001145 meters 0.06598461327552091 Centerline is valid? [True, True] Translation: X:30.24, Y:-0.73, Z:-0.58 [[ 9.99877184e-01 1.53170182e-02 -3.31752664e-03 3.02417163e+01] [-1.53170134e-02 9.99882687e-01 2.68502955e-05 -7.30083662e-01] [ 3.31754872e-03 2.39676022e-05 9.99994497e-01 -5.83397559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.218001144999995 meters 0.06594134800838254 Centerline is valid? [True, True] Translation: X:30.30, Y:-0.73, Z:-0.58 [[ 9.99878493e-01 1.52790337e-02 -3.09037643e-03 3.03004680e+01] [-1.52790295e-02 9.99883269e-01 2.49770940e-05 -7.29553846e-01] [ 3.09039731e-03 2.22438936e-05 9.99995224e-01 -5.82699899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.278001145 meters 0.06596226111986032 Centerline is valid? [True, True] Translation: X:30.36, Y:-0.73, Z:-0.58 [[ 9.99904265e-01 1.34784996e-02 -3.12900289e-03 3.03582822e+01] [-1.34784878e-02 9.99909161e-01 2.48700578e-05 -7.33084224e-01] [ 3.12905387e-03 1.73065504e-05 9.99995104e-01 -5.84119770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.338001145 meters 0.06614696262725399 Centerline is valid? [True, True] Translation: X:30.42, Y:-0.74, Z:-0.59 [[ 9.99919745e-01 1.17960151e-02 -4.62140879e-03 3.04169869e+01] [-1.17959693e-02 9.99930424e-01 3.71874938e-05 -7.36889853e-01] [ 4.62152592e-03 1.73294867e-05 9.99989321e-01 -5.87963980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.398001144999995 meters 0.0665765379548994 Centerline is valid? [True, True] Translation: X:30.48, Y:-0.74, Z:-0.59 [[ 9.99921851e-01 1.03873278e-02 -6.95660934e-03 3.04750092e+01] [-1.03871968e-02 9.99946050e-01 5.49642945e-05 -7.40132581e-01] [ 6.95680497e-03 1.72996711e-05 9.99975801e-01 -5.92380120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.458001145 meters 0.06681119959690908 Centerline is valid? [True, True] Translation: X:30.53, Y:-0.74, Z:-0.60 [[ 9.99928966e-01 8.80360726e-03 -8.03488805e-03 3.05333721e+01] [-8.80337757e-03 9.99961247e-01 6.39547603e-05 -7.44732996e-01] [ 8.03513971e-03 6.78393591e-06 9.99967718e-01 -5.96440737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.518001145 meters 0.06659713772905868 Centerline is valid? [True, True] Translation: X:30.59, Y:-0.75, Z:-0.59 [[ 9.99937214e-01 8.97882729e-03 -6.70440999e-03 3.05908951e+01] [-8.97867673e-03 9.99959689e-01 5.25556168e-05 -7.46374853e-01] [ 6.70461162e-03 7.64441290e-06 9.99977524e-01 -5.94860019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.578001145 meters 0.0669098308214423 Centerline is valid? [True, True] Translation: X:30.65, Y:-0.74, Z:-0.60 [[ 9.99895574e-01 1.26368374e-02 -7.01082952e-03 3.06492341e+01] [-1.26367657e-02 9.99920151e-01 5.45194971e-05 -7.42040791e-01] [ 7.01095867e-03 3.40804063e-05 9.99975422e-01 -5.95982762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.638001145 meters 0.06728631096906425 Centerline is valid? [True, True] Translation: X:30.71, Y:-0.74, Z:-0.60 [[ 9.99860368e-01 1.45309604e-02 -8.25205776e-03 3.07065104e+01] [-1.45309315e-02 9.99894418e-01 6.34692816e-05 -7.40577269e-01] [ 8.25210876e-03 5.64496664e-05 9.99965949e-01 -5.98319189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.698001145 meters 0.0676835107165759 Centerline is valid? [True, True] Translation: X:30.77, Y:-0.74, Z:-0.60 [[ 9.99839476e-01 1.45157604e-02 -1.05030846e-02 3.07656348e+01] [-1.45157108e-02 9.99894638e-01 8.09571574e-05 -7.40816525e-01] [ 1.05031531e-02 7.15155765e-05 9.99944838e-01 -6.01100811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.758001145 meters 0.0681999154622737 Centerline is valid? [True, True] Translation: X:30.82, Y:-0.74, Z:-0.60 [[ 9.99837264e-01 1.40481910e-02 -1.13178847e-02 3.08230210e+01] [-1.40481134e-02 9.99901317e-01 8.63594617e-05 -7.43713140e-01] [ 1.13179810e-02 7.26495191e-05 9.99935947e-01 -6.04508293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.818001145 meters 0.06709982142566714 Centerline is valid? [True, True] Translation: X:30.88, Y:-0.75, Z:-0.60 [[ 9.99853157e-01 1.33139764e-02 -1.07890063e-02 3.08820710e+01] [-1.33138709e-02 9.99911363e-01 8.16089205e-05 -7.50568428e-01] [ 1.07891365e-02 6.20464997e-05 9.99941794e-01 -5.95305893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.878001145 meters 0.06698547565470207 Centerline is valid? [True, True] Translation: X:30.94, Y:-0.75, Z:-0.60 [[ 9.99865232e-01 1.32638182e-02 -9.67416324e-03 3.09407533e+01] [-1.32637378e-02 9.99912030e-01 7.24727675e-05 -7.51452398e-01] [ 9.67427347e-03 5.58525645e-05 9.99953202e-01 -5.95142714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.938001145 meters 0.06651912985332954 Centerline is valid? [True, True] Translation: X:31.00, Y:-0.76, Z:-0.59 [[ 9.99919769e-01 9.99520521e-03 -7.78152104e-03 3.09998709e+01] [-9.99505941e-03 9.99950046e-01 5.76264708e-05 -7.55944648e-01] [ 7.78170832e-03 2.01549178e-05 9.99969722e-01 -5.91038196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.998001144999996 meters 0.06673167001036205 Centerline is valid? [True, True] Translation: X:31.06, Y:-0.76, Z:-0.59 [[ 9.99939101e-01 7.09768315e-03 -8.45088798e-03 3.10577357e+01] [-7.09741420e-03 9.99974811e-01 6.18144683e-05 -7.60983438e-01] [ 8.45111386e-03 -1.83125149e-06 9.99964289e-01 -5.92930469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.058001145 meters 0.06693810497094795 Centerline is valid? [True, True] Translation: X:31.12, Y:-0.77, Z:-0.60 [[ 9.99938670e-01 5.42258414e-03 -9.65665323e-03 3.11164775e+01] [-5.42215744e-03 9.99985298e-01 7.03672485e-05 -7.68504095e-01] [ 9.65689283e-03 -1.80030387e-05 9.99953371e-01 -5.95129976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.118001145 meters 0.06681389209315354 Centerline is valid? [True, True] Translation: X:31.18, Y:-0.77, Z:-0.60 [[ 9.99918966e-01 7.27278227e-03 -1.04483844e-02 3.11750304e+01] [-7.27238969e-03 9.99973553e-01 7.55664010e-05 -7.70023353e-01] [ 1.04486576e-02 4.24445210e-07 9.99945411e-01 -5.96081050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.178001144999996 meters 0.0670380799927385 Centerline is valid? [True, True] Translation: X:31.23, Y:-0.77, Z:-0.60 [[ 9.99903783e-01 9.87153631e-03 -9.74569038e-03 3.12330437e+01] [-9.87132801e-03 9.99951275e-01 6.94774514e-05 -7.67747575e-01] [ 9.74590137e-03 2.67321399e-05 9.99952507e-01 -5.97757326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.238001145 meters 0.06697196590365656 Centerline is valid? [True, True] Translation: X:31.29, Y:-0.77, Z:-0.60 [[ 9.99880644e-01 1.23094469e-02 -9.33680335e-03 3.12906803e+01] [-1.23093730e-02 9.99924235e-01 6.53836988e-05 -7.66677956e-01] [ 9.33690078e-03 4.95543006e-05 9.99956409e-01 -5.95666265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.298001145 meters 0.06732587952998799 Centerline is valid? [True, True] Translation: X:31.35, Y:-0.76, Z:-0.60 [[ 9.99812314e-01 1.68000467e-02 -9.64861606e-03 3.13481465e+01] [-1.68001814e-02 9.99858865e-01 6.70987715e-05 -7.64375473e-01] [ 9.64838157e-03 9.50123221e-05 9.99953449e-01 -5.96007064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.358001144999996 meters 0.0678713392284028 Centerline is valid? [True, True] Translation: X:31.41, Y:-0.76, Z:-0.60 [[ 9.99741395e-01 1.97940126e-02 -1.11955528e-02 3.14065803e+01] [-1.97944274e-02 9.99804068e-01 7.37671868e-05 -7.62746200e-01] [ 1.11948194e-02 1.47861447e-04 9.99937325e-01 -6.00376847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.418001145 meters 0.06857608886973265 Centerline is valid? [True, True] Translation: X:31.47, Y:-0.76, Z:-0.60 [[ 9.99642379e-01 2.33130799e-02 -1.31001593e-02 3.14650620e+01] [-2.33139202e-02 9.99728190e-01 8.85868646e-05 -7.59896257e-01] [ 1.30986637e-02 2.16860884e-04 9.99914185e-01 -6.03437679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.478001145 meters 0.06817417999711284 Centerline is valid? [True, True] Translation: X:31.52, Y:-0.76, Z:-0.60 [[ 9.99612815e-01 2.42156121e-02 -1.37048722e-02 3.15233359e+01] [-2.42166376e-02 9.99706730e-01 9.11427221e-05 -7.63469959e-01] [ 1.37030600e-02 2.40778489e-04 9.99906080e-01 -6.00875452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.538001144999996 meters 0.06845563532973309 Centerline is valid? [True, True] Translation: X:31.58, Y:-0.77, Z:-0.61 [[ 9.99696139e-01 2.10163319e-02 -1.28818695e-02 3.15812194e+01] [-2.10169855e-02 9.99779115e-01 8.46442023e-05 -7.65966472e-01] [ 1.28808030e-02 1.86119583e-04 9.99917022e-01 -6.05770871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.598001145 meters 0.06726975484372276 Centerline is valid? [True, True] Translation: X:31.64, Y:-0.78, Z:-0.60 [[ 9.99841846e-01 1.33267873e-02 -1.17762621e-02 3.16407284e+01] [-1.33267978e-02 9.99911191e-01 7.75866831e-05 -7.77256464e-01] [ 1.17762503e-02 7.93654517e-05 9.99930654e-01 -6.03043615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.658001145 meters 0.06706086929220166 Centerline is valid? [True, True] Translation: X:31.70, Y:-0.79, Z:-0.60 [[ 9.99920146e-01 7.44811449e-03 -1.02091287e-02 3.16995961e+01] [-7.44782705e-03 9.99972262e-01 6.61740392e-05 -7.85946685e-01] [ 1.02093384e-02 9.86707005e-06 9.99947883e-01 -6.03363345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.718001144999995 meters 0.06780774914669675 Centerline is valid? [True, True] Translation: X:31.76, Y:-0.80, Z:-0.61 [[ 9.99946473e-01 -8.58851285e-04 -1.03108563e-02 3.17570567e+01] [ 8.59579911e-04 9.99999628e-01 6.62345415e-05 -7.97782991e-01] [ 1.03107956e-02 -7.50940011e-05 9.99946840e-01 -6.08084886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.778001145 meters 0.06788865393171249 Centerline is valid? [True, True] Translation: X:31.82, Y:-0.80, Z:-0.60 [[ 9.99930324e-01 -5.28673857e-03 -1.05545078e-02 3.18161369e+01] [ 5.28774219e-03 9.99986018e-01 6.71862695e-05 -8.00159076e-01] [ 1.05540050e-02 -1.22991104e-04 9.99944297e-01 -6.04351636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.838001145 meters 0.06800654059872593 Centerline is valid? [True, True] Translation: X:31.88, Y:-0.81, Z:-0.60 [[ 9.99918096e-01 -9.09572575e-03 -9.00380411e-03 3.18753295e+01] [ 9.09660376e-03 9.99958623e-01 5.65668537e-05 -8.06344121e-01] [ 9.00291704e-03 -1.38466259e-04 9.99959463e-01 -6.04376562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.898001144999995 meters 0.06821195032941492 Centerline is valid? [True, True] Translation: X:31.94, Y:-0.81, Z:-0.60 [[ 9.99902880e-01 -1.04556786e-02 -9.21463511e-03 3.19357230e+01] [ 1.04566746e-02 9.99945326e-01 5.99169073e-05 -8.07318831e-01] [ 9.21350484e-03 -1.56265529e-04 9.99957543e-01 -6.04274595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.958001145 meters 0.0682405582448927 Centerline is valid? [True, True] Translation: X:32.00, Y:-0.80, Z:-0.60 [[ 9.99903138e-01 -8.99957503e-03 -1.06170400e-02 3.19971664e+01] [ 9.00081500e-03 9.99959489e-01 6.90127146e-05 -8.03006943e-01] [ 1.06159889e-02 -1.64568043e-04 9.99943635e-01 -6.04990389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.018001145 meters 0.06758910526534392 Centerline is valid? [True, True] Translation: X:32.06, Y:-0.80, Z:-0.60 [[ 9.99911330e-01 -7.26272005e-03 -1.11617746e-02 3.20578832e+01] [ 7.26397732e-03 9.99973614e-01 7.21038846e-05 -7.96815412e-01] [ 1.11609564e-02 -1.53176369e-04 9.99937703e-01 -6.04283308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.078001144999995 meters 0.06750593281446257 Centerline is valid? [True, True] Translation: X:32.12, Y:-0.80, Z:-0.61 [[ 9.99938814e-01 -6.35021266e-03 -9.05773127e-03 3.21176809e+01] [ 6.35099639e-03 9.99979831e-01 5.77649990e-05 -7.96170757e-01] [ 9.05718176e-03 -1.15287083e-04 9.99958976e-01 -6.05866996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.138001145 meters 0.06738712847591247 Centerline is valid? [True, True] Translation: X:32.18, Y:-0.79, Z:-0.61 [[ 9.99936402e-01 -5.25798751e-03 -9.97729755e-03 3.21769330e+01] [ 5.25888526e-03 9.99986170e-01 6.37452364e-05 -7.93197471e-01] [ 9.97682439e-03 -1.16210645e-04 9.99950223e-01 -6.07965729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.198001145 meters 0.06692769948352681 Centerline is valid? [True, True] Translation: X:32.24, Y:-0.78, Z:-0.60 [[ 9.99922844e-01 -3.05943369e-03 -1.20393376e-02 3.22360165e+01] [ 3.06051102e-03 9.99995314e-01 7.10614022e-05 -7.82699754e-01] [ 1.20390638e-02 -1.07902445e-04 9.99927522e-01 -6.03906351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.258001145 meters 0.06708752665194721 Centerline is valid? [True, True] Translation: X:32.29, Y:-0.78, Z:-0.61 [[ 9.99926851e-01 9.39383622e-04 -1.20586060e-02 3.22934568e+01] [-9.38592752e-04 9.99999557e-01 7.12445996e-05 -7.78593804e-01] [ 1.20586676e-02 -5.99212679e-05 9.99927290e-01 -6.10977567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.318001145 meters 0.06640083913018179 Centerline is valid? [True, True] Translation: X:32.35, Y:-0.77, Z:-0.61 [[ 9.99940059e-01 2.39689818e-03 -1.06833523e-02 3.23525952e+01] [-2.39640434e-03 9.99997127e-01 5.90265724e-05 -7.71235610e-01] [ 1.06834631e-02 -3.34214024e-05 9.99942930e-01 -6.05522744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.378001145 meters 0.06622809946871962 Centerline is valid? [True, True] Translation: X:32.41, Y:-0.77, Z:-0.61 [[ 9.99943919e-01 3.56784530e-03 -9.97143629e-03 3.24110558e+01] [-3.56749770e-03 9.99993635e-01 5.26468401e-05 -7.68844300e-01] [ 9.97156065e-03 -1.70708116e-05 9.99950283e-01 -6.05826524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.438001145 meters 0.06621675501354045 Centerline is valid? [True, True] Translation: X:32.47, Y:-0.76, Z:-0.61 [[ 9.99921222e-01 7.64998454e-03 -9.95130310e-03 3.24684688e+01] [-7.64983538e-03 9.99970738e-01 5.30538557e-05 -7.60882698e-01] [ 9.95141777e-03 2.30761544e-05 9.99950483e-01 -6.07608855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.498001144999996 meters 0.06638442838343357 Centerline is valid? [True, True] Translation: X:32.53, Y:-0.76, Z:-0.61 [[ 9.99889636e-01 9.46912668e-03 -1.14477287e-02 3.25257739e+01] [-9.46905519e-03 9.99955166e-01 6.04476755e-05 -7.56136042e-01] [ 1.14477878e-02 4.79581706e-05 9.99934471e-01 -6.09684070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.558001145 meters 0.06642018659608956 Centerline is valid? [True, True] Translation: X:32.58, Y:-0.75, Z:-0.61 [[ 9.99887658e-01 1.04560426e-02 -1.07397961e-02 3.25845879e+01] [-1.04560397e-02 9.99945333e-01 5.64189078e-05 -7.52733234e-01] [ 1.07397989e-02 5.58831649e-05 9.99942325e-01 -6.11354080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.618001145 meters 0.06648746315168806 Centerline is valid? [True, True] Translation: X:32.64, Y:-0.75, Z:-0.61 [[ 9.99884130e-01 9.63362315e-03 -1.17864674e-02 3.26431925e+01] [-9.63357010e-03 9.99953594e-01 6.12776740e-05 -7.52329866e-01] [ 1.17865108e-02 5.22751867e-05 9.99930535e-01 -6.14855774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.678001144999996 meters 0.06651918656306655 Centerline is valid? [True, True] Translation: X:32.70, Y:-0.76, Z:-0.62 [[ 9.99893593e-01 4.97508385e-03 -1.37131698e-02 3.27015219e+01] [-4.97459029e-03 9.99987624e-01 7.01018998e-05 -7.56344684e-01] [ 1.37133489e-02 -1.87703920e-06 9.99905968e-01 -6.16928543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.738001145 meters 0.0664252726646879 Centerline is valid? [True, True] Translation: X:32.76, Y:-0.76, Z:-0.62 [[ 9.99927042e-01 2.90870540e-03 -1.17239410e-02 3.27602516e+01] [-2.90821080e-03 9.99995769e-01 5.92352743e-05 -7.57155800e-01] [ 1.17240637e-02 -2.51352606e-05 9.99931270e-01 -6.15279255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.798001145 meters 0.06613117711376189 Centerline is valid? [True, True] Translation: X:32.82, Y:-0.76, Z:-0.61 [[ 9.99952156e-01 9.27100916e-04 -9.73792503e-03 3.28188336e+01] [-9.26673606e-04 9.99999569e-01 4.83929754e-05 -7.57540052e-01] [ 9.73796570e-03 -3.93667820e-05 9.99952584e-01 -6.13728131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.858001144999996 meters 0.06623030996096244 Centerline is valid? [True, True] Translation: X:32.88, Y:-0.76, Z:-0.62 [[ 9.99952378e-01 1.23187838e-03 -9.68113429e-03 3.28767681e+01] [-1.23148407e-03 9.99999241e-01 4.66914524e-05 -7.56117303e-01] [ 9.68118446e-03 -3.47670662e-05 9.99953136e-01 -6.16369299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.918001145 meters 0.06652216166982228 Centerline is valid? [True, True] Translation: X:32.94, Y:-0.76, Z:-0.62 [[ 9.99948717e-01 -6.37982600e-04 -1.01072344e-02 3.29354255e+01] [ 6.38506576e-04 9.99999795e-01 4.86148837e-05 -7.57028464e-01] [ 1.01072013e-02 -5.50659263e-05 9.99948919e-01 -6.19247129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.978001145 meters 0.06660618486473037 Centerline is valid? [True, True] Translation: X:32.99, Y:-0.76, Z:-0.62 [[ 9.99941683e-01 -3.14053979e-03 -1.03327968e-02 3.29926575e+01] [ 3.14120647e-03 9.99995065e-01 4.82922988e-05 -7.56738066e-01] [ 1.03325942e-02 -8.07469308e-05 9.99946614e-01 -6.21397357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.038001144999996 meters 0.0666931097359991 Centerline is valid? [True, True] Translation: X:33.05, Y:-0.75, Z:-0.62 [[ 9.99948242e-01 -2.57748010e-03 -9.84220920e-03 3.30509389e+01] [ 2.57801782e-03 9.99996676e-01 4.19475772e-05 -7.54666450e-01] [ 9.84206837e-03 -6.73187969e-05 9.99951563e-01 -6.23139319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.098001145 meters 0.06627449260249807 Centerline is valid? [True, True] Translation: X:33.11, Y:-0.75, Z:-0.62 [[ 9.99960729e-01 -2.23832025e-03 -8.57499171e-03 3.31098989e+01] [ 2.23869611e-03 9.99997494e-01 3.42326926e-05 -7.53962461e-01] [ 8.57489360e-03 -5.34281488e-05 9.99963233e-01 -6.22970366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.158001145 meters 0.06579486675449328 Centerline is valid? [True, True] Translation: X:33.17, Y:-0.74, Z:-0.62 [[ 9.99975116e-01 3.24719418e-03 -6.26280640e-03 3.31676022e+01] [-3.24709689e-03 9.99994728e-01 2.57025892e-05 -7.44155509e-01] [ 6.26285684e-03 -5.36601044e-06 9.99980388e-01 -6.20222183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.218001144999995 meters 0.06592259974002673 Centerline is valid? [True, True] Translation: X:33.23, Y:-0.74, Z:-0.62 [[ 9.99947167e-01 7.18609866e-03 -7.35004684e-03 3.32256583e+01] [-7.18607944e-03 9.99974179e-01 2.90251692e-05 -7.37321037e-01] [ 7.35006563e-03 2.37943847e-05 9.99972988e-01 -6.23870598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.278001145 meters 0.06610465745323103 Centerline is valid? [True, True] Translation: X:33.28, Y:-0.74, Z:-0.63 [[ 9.99928024e-01 8.44166875e-03 -8.52550060e-03 3.32844670e+01] [-8.44168432e-03 9.99964368e-01 3.41596037e-05 -7.36482211e-01] [ 8.52548518e-03 3.78124397e-05 9.99963657e-01 -6.27241277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.338001145 meters 0.06601914649615855 Centerline is valid? [True, True] Translation: X:33.34, Y:-0.73, Z:-0.63 [[ 9.99913429e-01 9.99551832e-03 -8.55712140e-03 3.33421187e+01] [-9.99559798e-03 9.99950042e-01 3.34583287e-05 -7.31382419e-01] [ 8.55702834e-03 5.20781133e-05 9.99963387e-01 -6.25947501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.398001144999995 meters 0.0657622295570049 Centerline is valid? [True, True] Translation: X:33.40, Y:-0.73, Z:-0.62 [[ 9.99935385e-01 1.00609905e-02 -5.29180246e-03 3.34008109e+01] [-1.00610244e-02 9.99949386e-01 2.02002196e-05 -7.31464523e-01] [ 5.29173785e-03 3.30420395e-05 9.99985998e-01 -6.24092767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.458001145 meters 0.06580114098356078 Centerline is valid? [True, True] Translation: X:33.46, Y:-0.73, Z:-0.63 [[ 9.99947449e-01 9.12893756e-03 -4.66486388e-03 3.34592553e+01] [-9.12895550e-03 9.99958330e-01 1.74484894e-05 -7.34651360e-01] [ 4.66482878e-03 2.51377623e-05 9.99989119e-01 -6.25575165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.518001145 meters 0.06537540225016707 Centerline is valid? [True, True] Translation: X:33.52, Y:-0.74, Z:-0.62 [[ 9.99973108e-01 6.49061674e-03 -3.41410287e-03 3.35183061e+01] [-6.49061292e-03 9.99978936e-01 1.21988890e-05 -7.41983758e-01] [ 3.41411014e-03 9.96105930e-06 9.99994172e-01 -6.21507844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.578001144999995 meters 0.06526138460797322 Centerline is valid? [True, True] Translation: X:33.58, Y:-0.75, Z:-0.62 [[ 9.99991750e-01 2.83392014e-03 -2.91000707e-03 3.35772330e+01] [-2.83390282e-03 9.99995984e-01 1.00781861e-05 -7.48176244e-01] [ 2.91002394e-03 -1.83142571e-06 9.99995766e-01 -6.21890360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.638001145 meters 0.06532855462104868 Centerline is valid? [True, True] Translation: X:33.64, Y:-0.75, Z:-0.62 [[ 9.99995933e-01 6.32409097e-04 -2.78111958e-03 3.36359490e+01] [-6.32385367e-04 9.99999800e-01 9.41183104e-06 -7.51860986e-01] [ 2.78112498e-03 -7.65305343e-06 9.99996133e-01 -6.22353161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.698001145 meters 0.06550130751477519 Centerline is valid? [True, True] Translation: X:33.69, Y:-0.76, Z:-0.62 [[ 9.99991705e-01 -2.18640019e-03 -3.43647021e-03 3.36944353e+01] [ 2.18645408e-03 9.99997610e-01 1.19237791e-05 -7.58381004e-01] [ 3.43643592e-03 -1.94373645e-05 9.99994095e-01 -6.24840105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.758001145 meters 0.06598677468683126 Centerline is valid? [True, True] Translation: X:33.76, Y:-0.76, Z:-0.63 [[ 9.99970108e-01 -5.36108002e-03 -5.57155515e-03 3.37552632e+01] [ 5.36127711e-03 9.99985628e-01 2.04383908e-05 -7.64443542e-01] [ 5.57136551e-03 -5.03084310e-05 9.99984479e-01 -6.26338401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.818001145 meters 0.06552290923139643 Centerline is valid? [True, True] Translation: X:33.82, Y:-0.76, Z:-0.63 [[ 9.99987652e-01 2.21916622e-04 -4.96459842e-03 3.38169736e+01] [-2.21825846e-04 9.99999975e-01 1.88352546e-05 -7.62080771e-01] [ 4.96460247e-03 -1.77337457e-05 9.99987676e-01 -6.25993473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.878001145 meters 0.0652366929976577 Centerline is valid? [True, True] Translation: X:33.88, Y:-0.76, Z:-0.63 [[ 9.99969696e-01 4.44728688e-03 -6.38978258e-03 3.38757611e+01] [-4.44725709e-03 9.99990111e-01 1.88705063e-05 -7.58737822e-01] [ 6.38980331e-03 9.54707146e-06 9.99979585e-01 -6.26044556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.938001145 meters 0.0663342903280955 Centerline is valid? [True, True] Translation: X:33.94, Y:-0.74, Z:-0.62 [[ 9.99735575e-01 2.23503499e-02 -5.40751653e-03 3.39350674e+01] [-2.23505787e-02 9.99750194e-01 1.81113431e-05 -7.42264597e-01] [ 5.40657050e-03 1.02754570e-04 9.99985379e-01 -6.23987811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.998001144999996 meters 0.06765404874776872 Centerline is valid? [True, True] Translation: X:33.99, Y:-0.74, Z:-0.63 [[ 9.99566207e-01 2.87204993e-02 -6.52156432e-03 3.39943339e+01] [-2.87209652e-02 9.99587468e-01 2.22182269e-05 -7.38503298e-01] [ 6.51951209e-03 1.65097033e-04 9.99978734e-01 -6.26745949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.058001145 meters 0.06829457109500393 Centerline is valid? [True, True] Translation: X:34.06, Y:-0.74, Z:-0.63 [[ 9.99371342e-01 3.38477129e-02 -1.05476455e-02 3.40550543e+01] [-3.38492177e-02 9.99426950e-01 3.58696751e-05 -7.42113939e-01] [ 1.05428153e-02 3.21182424e-04 9.99944371e-01 -6.28783455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.118001145 meters 0.0674883713175733 Centerline is valid? [True, True] Translation: X:34.11, Y:-0.75, Z:-0.63 [[ 9.99520366e-01 2.92974833e-02 -1.00346756e-02 3.41142562e+01] [-2.92986223e-02 9.99570703e-01 3.35069559e-05 -7.52171683e-01] [ 1.00313495e-02 2.60511287e-04 9.99949651e-01 -6.28828730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.178001144999996 meters 0.06652552574162605 Centerline is valid? [True, True] Translation: X:34.17, Y:-0.76, Z:-0.63 [[ 9.99685580e-01 2.28667194e-02 -1.02885700e-02 3.41731365e+01] [-2.28675795e-02 9.99738502e-01 3.40542046e-05 -7.62492962e-01] [ 1.02866582e-02 2.01231195e-04 9.99947071e-01 -6.29313164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.238001145 meters 0.06549700570177079 Centerline is valid? [True, True] Translation: X:34.23, Y:-0.78, Z:-0.63 [[ 9.99844406e-01 1.54720550e-02 -8.47222271e-03 3.42324382e+01] [-1.54723755e-02 9.99880295e-01 2.77099042e-05 -7.79315532e-01] [ 8.47163727e-03 1.03379819e-04 9.99964110e-01 -6.28460767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.298001145 meters 0.0646631485595709 Centerline is valid? [True, True] Translation: X:34.29, Y:-0.79, Z:-0.63 [[ 9.99924749e-01 9.85499914e-03 -7.30588412e-03 3.42912831e+01] [-9.85509458e-03 9.99951437e-01 2.29369629e-05 -7.92222035e-01] [ 7.30575537e-03 4.90649422e-05 9.99973311e-01 -6.26847305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.358001144999996 meters 0.06426879261694558 Centerline is valid? [True, True] Translation: X:34.35, Y:-0.81, Z:-0.63 [[ 9.99965043e-01 3.29566198e-03 -7.68448263e-03 3.43499079e+01] [-3.29557772e-03 9.99994569e-01 2.36278516e-05 -8.06792774e-01] [ 7.68451876e-03 1.69778402e-06 9.99970474e-01 -6.26696903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.418001145 meters 0.06449873083280536 Centerline is valid? [True, True] Translation: X:34.41, Y:-0.82, Z:-0.63 [[ 9.99953086e-01 -4.35129511e-03 -8.65400013e-03 3.44085385e+01] [ 4.35168454e-03 9.99990531e-01 2.61701144e-05 -8.20812035e-01] [ 8.65380431e-03 -6.38283652e-05 9.99962553e-01 -6.27197446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.478001145 meters 0.0645326981968182 Centerline is valid? [True, True] Translation: X:34.47, Y:-0.83, Z:-0.63 [[ 9.99935033e-01 -8.30946719e-03 -7.80273965e-03 3.44673216e+01] [ 8.30990251e-03 9.99965472e-01 2.33704707e-05 -8.28977723e-01] [ 7.80227604e-03 -8.82089582e-05 9.99969558e-01 -6.26261673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.538001144999996 meters 0.06484094792489356 Centerline is valid? [True, True] Translation: X:34.53, Y:-0.84, Z:-0.63 [[ 9.99917166e-01 -1.18201249e-02 -5.09361037e-03 3.45287297e+01] [ 1.18203613e-02 9.99930137e-01 1.63072131e-05 -8.41440660e-01] [ 5.09306176e-03 -7.65141771e-05 9.99987027e-01 -6.25097017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.598001145 meters 0.06450023311918913 Centerline is valid? [True, True] Translation: X:34.59, Y:-0.84, Z:-0.62 [[ 9.99911083e-01 -1.23928671e-02 -4.92377718e-03 3.45908496e+01] [ 1.23930990e-02 9.99923202e-01 1.65897568e-05 -8.44222744e-01] [ 4.92319345e-03 -7.76091400e-05 9.99987878e-01 -6.22711241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.658001145 meters 0.06442929893696003 Centerline is valid? [True, True] Translation: X:34.65, Y:-0.85, Z:-0.62 [[ 9.99931752e-01 -1.05751027e-02 -4.96567496e-03 3.46519642e+01] [ 1.05753161e-02 9.99944080e-01 1.67209603e-05 -8.50309032e-01] [ 4.96522045e-03 -6.92334015e-05 9.99987671e-01 -6.24125250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.718001144999995 meters 0.06368216439048764 Centerline is valid? [True, True] Translation: X:34.71, Y:-0.85, Z:-0.62 [[ 9.99964227e-01 -8.08053067e-03 -2.49999455e-03 3.47138079e+01] [ 8.08057816e-03 9.99967352e-01 8.89564207e-06 -8.51619586e-01] [ 2.49984105e-03 -2.90967252e-05 9.99996875e-01 -6.20582209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.778001145 meters 0.06333650943740611 Centerline is valid? [True, True] Translation: X:34.77, Y:-0.85, Z:-0.62 [[ 9.99986460e-01 -4.79308978e-03 -2.02634157e-03 3.47746451e+01] [ 4.79311466e-03 9.99988513e-01 7.42299854e-06 -8.54972788e-01] [ 2.02628271e-03 -1.71353855e-05 9.99997947e-01 -6.20180754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.838001145 meters 0.06319722099811237 Centerline is valid? [True, True] Translation: X:34.84, Y:-0.86, Z:-0.62 [[ 9.99984786e-01 -4.17289736e-03 -3.60746630e-03 3.48368852e+01] [ 4.17297197e-03 9.99991293e-01 1.31550152e-05 -8.63003717e-01] [ 3.60737999e-03 -2.82086708e-05 9.99993493e-01 -6.22491920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.898001144999995 meters 0.06301014080954626 Centerline is valid? [True, True] Translation: X:34.90, Y:-0.87, Z:-0.62 [[ 9.99987342e-01 -3.20318719e-03 -3.88009392e-03 3.48974517e+01] [ 3.20326630e-03 9.99994869e-01 1.41729268e-05 -8.68480809e-01] [ 3.88002862e-03 -2.66017215e-05 9.99992472e-01 -6.24508298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.958001145 meters 0.06295852729154612 Centerline is valid? [True, True] Translation: X:34.96, Y:-0.87, Z:-0.62 [[ 9.99974395e-01 -5.76867351e-03 -4.23457704e-03 3.49572791e+01] [ 5.76878586e-03 9.99983360e-01 1.43177387e-05 -8.73357385e-01] [ 4.23442398e-03 -3.87457403e-05 9.99991034e-01 -6.22293687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.018001145 meters 0.06296907163379876 Centerline is valid? [True, True] Translation: X:35.02, Y:-0.88, Z:-0.62 [[ 9.99962666e-01 -7.35660299e-03 -4.53281775e-03 3.50183183e+01] [ 7.35675182e-03 9.99972939e-01 1.61618088e-05 -8.76078032e-01] [ 4.53257619e-03 -4.95080207e-05 9.99989727e-01 -6.22427214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.078001144999995 meters 0.06323736463614643 Centerline is valid? [True, True] Translation: X:35.08, Y:-0.88, Z:-0.62 [[ 9.99931439e-01 -1.09100246e-02 -4.25312438e-03 3.50804053e+01] [ 1.09102034e-02 9.99940482e-01 1.88386650e-05 -8.84979162e-01] [ 4.25266571e-03 -6.52398257e-05 9.99990955e-01 -6.24691091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.138001145 meters 0.0637574854664602 Centerline is valid? [True, True] Translation: X:35.14, Y:-0.90, Z:-0.63 [[ 9.99857708e-01 -1.58877802e-02 -5.66937221e-03 3.51417371e+01] [ 1.58881577e-02 9.99873775e-01 2.15476752e-05 -8.96178663e-01] [ 5.66831425e-03 -1.11620489e-04 9.99983929e-01 -6.31450647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.198001145 meters 0.0644471157073075 Centerline is valid? [True, True] Translation: X:35.20, Y:-0.90, Z:-0.64 [[ 9.99807892e-01 -1.66786551e-02 -1.02957242e-02 3.52027823e+01] [ 1.66799449e-02 9.99860879e-01 3.94213557e-05 -8.95224811e-01] [ 1.02936344e-02 -2.11145896e-04 9.99946997e-01 -6.36551895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.258001145 meters 0.06487561836325488 Centerline is valid? [True, True] Translation: X:35.26, Y:-0.89, Z:-0.64 [[ 9.99790965e-01 -1.64007988e-02 -1.22082354e-02 3.52643132e+01] [ 1.64026120e-02 9.99865467e-01 4.84039048e-05 -8.93436296e-01] [ 1.22057992e-02 -2.48640736e-04 9.99925476e-01 -6.40258969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.318001145 meters 0.06475983678134517 Centerline is valid? [True, True] Translation: X:35.33, Y:-0.89, Z:-0.64 [[ 9.99792057e-01 -1.62186313e-02 -1.23611960e-02 3.53260276e+01] [ 1.62204807e-02 9.99868438e-01 4.93612374e-05 -8.89837364e-01] [ 1.23587691e-02 -2.49855513e-04 9.99923596e-01 -6.41626872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.378001145 meters 0.06541599804218495 Centerline is valid? [True, True] Translation: X:35.39, Y:-0.88, Z:-0.65 [[ 9.99739050e-01 -1.81287040e-02 -1.38989709e-02 3.53879721e+01] [ 1.81312370e-02 9.99835614e-01 5.62445832e-05 -8.83139006e-01] [ 1.38956664e-02 -3.08235441e-04 9.99903403e-01 -6.45007209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.438001145 meters 0.06587039179029572 Centerline is valid? [True, True] Translation: X:35.45, Y:-0.88, Z:-0.65 [[ 9.99662364e-01 -1.96204970e-02 -1.70350661e-02 3.54490135e+01] [ 1.96245090e-02 9.99807418e-01 6.83644057e-05 -8.76770426e-01] [ 1.70304441e-02 -4.02646132e-04 9.99854890e-01 -6.51209827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.498001144999996 meters 0.0664132506137187 Centerline is valid? [True, True] Translation: X:35.51, Y:-0.87, Z:-0.65 [[ 9.99672452e-01 -1.94088188e-02 -1.66818959e-02 3.55103918e+01] [ 1.94126577e-02 9.99811554e-01 6.82073563e-05 -8.72543254e-01] [ 1.66774285e-02 -3.92024950e-04 9.99860845e-01 -6.54654121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.558001145 meters 0.06695156974343602 Centerline is valid? [True, True] Translation: X:35.57, Y:-0.87, Z:-0.65 [[ 9.99690096e-01 -2.07234584e-02 -1.37931044e-02 3.55709008e+01] [ 2.07262060e-02 9.99785188e-01 5.62662522e-05 -8.66923250e-01] [ 1.37889755e-02 -3.42127539e-04 9.99904869e-01 -6.52984348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.618001145 meters 0.0664832163602597 Centerline is valid? [True, True] Translation: X:35.63, Y:-0.86, Z:-0.65 [[ 9.99752510e-01 -2.05877605e-02 -8.42992226e-03 3.56322562e+01] [ 2.05887867e-02 9.99788028e-01 3.49525773e-05 -8.62246947e-01] [ 8.42741575e-03 -2.08505798e-04 9.99964467e-01 -6.49644008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.678001144999996 meters 0.06570031685443986 Centerline is valid? [True, True] Translation: X:35.69, Y:-0.85, Z:-0.65 [[ 9.99798365e-01 -1.91356600e-02 -6.08740880e-03 3.56936499e+01] [ 1.91361702e-02 9.99816886e-01 2.55633664e-05 -8.54696478e-01] [ 6.08580494e-03 -1.42047903e-04 9.99981471e-01 -6.46578732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.738001145 meters 0.06500412282027748 Centerline is valid? [True, True] Translation: X:35.76, Y:-0.85, Z:-0.64 [[ 9.99847213e-01 -1.70500105e-02 -3.85339705e-03 3.57555952e+01] [ 1.70502016e-02 9.99854635e-01 1.67517346e-05 -8.50295593e-01] [ 3.85255128e-03 -8.24503716e-05 9.99992575e-01 -6.44726772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.798001145 meters 0.06387936063191266 Centerline is valid? [True, True] Translation: X:35.82, Y:-0.85, Z:-0.64 [[ 9.99896553e-01 -1.42387815e-02 -2.03476330e-03 3.58174873e+01] [ 1.42388298e-02 9.99898623e-01 9.28986687e-06 -8.47916721e-01] [ 2.03442474e-03 -3.82615542e-05 9.99997930e-01 -6.41738863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.858001144999996 meters 0.06351811484073545 Centerline is valid? [True, True] Translation: X:35.88, Y:-0.85, Z:-0.64 [[ 9.99913035e-01 -1.31663834e-02 -7.54801830e-04 3.58796667e+01] [ 1.31663903e-02 9.99913319e-01 4.16666820e-06 -8.48092610e-01] [ 7.54681544e-04 -1.41043213e-05 9.99999715e-01 -6.40284663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.918001145 meters 0.06308484736858876 Centerline is valid? [True, True] Translation: X:35.94, Y:-0.85, Z:-0.64 [[ 9.99940582e-01 -1.08191351e-02 1.33346579e-03 3.59408309e+01] [ 1.08191515e-02 9.99941471e-01 -5.10155957e-06 -8.53447165e-01] [-1.33333255e-03 1.95282249e-05 9.99999111e-01 -6.42418082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.978001145 meters 0.06253281067418937 Centerline is valid? [True, True] Translation: X:36.00, Y:-0.85, Z:-0.64 [[ 9.99964141e-01 -8.42504682e-03 8.57351195e-04 3.60033832e+01] [ 8.42505236e-03 9.99964509e-01 -2.85277015e-06 -8.54370033e-01] [-8.57296731e-04 1.00758966e-05 9.99999632e-01 -6.42018472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.038001144999996 meters 0.062381970142783225 Centerline is valid? [True, True] Translation: X:36.06, Y:-0.86, Z:-0.65 [[ 9.99990789e-01 -3.47950781e-03 -2.51293757e-03 3.60649325e+01] [ 3.47954862e-03 9.99993946e-01 1.18674567e-05 -8.59184949e-01] [ 2.51288106e-03 -2.06112358e-05 9.99996842e-01 -6.46591023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.098001145 meters 0.06208795996585884 Centerline is valid? [True, True] Translation: X:36.13, Y:-0.86, Z:-0.65 [[ 9.99979484e-01 1.92453443e-04 -6.40264990e-03 3.61260120e+01] [-1.92270687e-04 9.99999981e-01 2.91593559e-05 -8.61951154e-01] [ 6.40265539e-03 -2.79277158e-05 9.99979502e-01 -6.48160033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.158001145 meters 0.06257692581518777 Centerline is valid? [True, True] Translation: X:36.18, Y:-0.87, Z:-0.66 [[ 9.99892245e-01 7.67594253e-03 -1.25131471e-02 3.61842933e+01] [-7.67586567e-03 9.99970539e-01 5.41688922e-05 -8.67094633e-01] [ 1.25131942e-02 4.18861807e-05 9.99921706e-01 -6.56401540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.218001144999995 meters 0.06242021112573949 Centerline is valid? [True, True] Translation: X:36.24, Y:-0.87, Z:-0.65 [[ 9.99809816e-01 1.45054771e-02 -1.30354489e-02 3.62428731e+01] [-1.45060358e-02 9.99894781e-01 5.16927312e-05 -8.68736506e-01] [ 1.30348271e-02 1.37409788e-04 9.99915034e-01 -6.54082651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.278001145 meters 0.06254203954351656 Centerline is valid? [True, True] Translation: X:36.30, Y:-0.87, Z:-0.65 [[ 9.99691473e-01 2.15029205e-02 -1.24331389e-02 3.63027568e+01] [-2.15039439e-02 9.99768762e-01 5.13857486e-05 -8.72145029e-01] [ 1.24313688e-02 2.15991625e-04 9.99922704e-01 -6.51704000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.338001145 meters 0.06235386024623132 Centerline is valid? [True, True] Translation: X:36.36, Y:-0.88, Z:-0.65 [[ 9.99688814e-01 2.31017435e-02 -9.41197329e-03 3.63612470e+01] [-2.31024437e-02 9.99733102e-01 3.43361924e-05 -8.76365593e-01] [ 9.41025448e-03 1.83114076e-04 9.99955706e-01 -6.48204329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.398001144999995 meters 0.061742855590416756 Centerline is valid? [True, True] Translation: X:36.42, Y:-0.89, Z:-0.65 [[ 9.99747173e-01 2.05229913e-02 -9.18673779e-03 3.64196835e+01] [-2.05235360e-02 9.99789369e-01 3.49901645e-05 -8.94591409e-01] [ 9.18552088e-03 1.53563025e-04 9.99957800e-01 -6.49678358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.458001145 meters 0.061232264464043146 Centerline is valid? [True, True] Translation: X:36.48, Y:-0.91, Z:-0.65 [[ 9.99806959e-01 1.69655444e-02 -9.91033352e-03 3.64783202e+01] [-1.69660089e-02 9.99856066e-01 3.72061402e-05 -9.06492914e-01] [ 9.90953831e-03 1.30939849e-04 9.99950891e-01 -6.50774246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.518001145 meters 0.0607369247389579 Centerline is valid? [True, True] Translation: X:36.54, Y:-0.92, Z:-0.65 [[ 9.99888627e-01 8.74496156e-03 -1.20937721e-02 3.65365697e+01] [-8.74505830e-03 9.99961760e-01 4.48840544e-05 -9.22588039e-01] [ 1.20937021e-02 6.08816865e-05 9.99926867e-01 -6.52005109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.578001144999995 meters 0.060507283285501166 Centerline is valid? [True, True] Translation: X:36.59, Y:-0.95, Z:-0.65 [[ 9.99921549e-01 -1.58722135e-03 -1.24248037e-02 3.65949180e+01] [ 1.58790764e-03 9.99998738e-01 4.53706352e-05 -9.47403237e-01] [ 1.24247160e-02 -6.50965166e-05 9.99922808e-01 -6.54428823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.638001145 meters 0.0605524486538214 Centerline is valid? [True, True] Translation: X:36.65, Y:-0.96, Z:-0.66 [[ 9.99907195e-01 -6.00988676e-03 -1.22263161e-02 3.66533525e+01] [ 6.01087288e-03 9.99981934e-01 4.39095476e-05 -9.60155663e-01] [ 1.22258313e-02 -1.17396305e-04 9.99925255e-01 -6.55600612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.698001145 meters 0.060401599466504086 Centerline is valid? [True, True] Translation: X:36.71, Y:-0.97, Z:-0.65 [[ 9.99863524e-01 -1.15798655e-02 -1.17830188e-02 3.67124403e+01] [ 1.15811583e-02 9.99932935e-01 4.14905340e-05 -9.70009973e-01] [ 1.17817481e-02 -1.77945878e-04 9.99930577e-01 -6.52193223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.758001145 meters 0.06014348012261872 Centerline is valid? [True, True] Translation: X:36.77, Y:-0.98, Z:-0.65 [[ 9.99866621e-01 -1.24615536e-02 -1.05569835e-02 3.67723937e+01] [ 1.24626404e-02 9.99922338e-01 3.71683342e-05 -9.78169733e-01] [ 1.05557005e-02 -1.68731267e-04 9.99944273e-01 -6.52346290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.818001145 meters 0.059892513345644126 Centerline is valid? [True, True] Translation: X:36.83, Y:-0.98, Z:-0.65 [[ 9.99924422e-01 -8.65440030e-03 -8.73216493e-03 3.68316268e+01] [ 8.65500675e-03 9.99962544e-01 3.16625952e-05 -9.84265235e-01] [ 8.73156384e-03 -1.07237149e-04 9.99961873e-01 -6.53659962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.878001145 meters 0.05972267919815435 Centerline is valid? [True, True] Translation: X:36.89, Y:-0.98, Z:-0.65 [[ 9.99946224e-01 -5.28300253e-03 -8.92401408e-03 3.68919471e+01] [ 5.28349864e-03 9.99986042e-01 3.20182193e-05 -9.81151285e-01] [ 8.92372036e-03 -7.91665138e-05 9.99960180e-01 -6.52590234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.938001145 meters 0.05967334142850527 Centerline is valid? [True, True] Translation: X:36.95, Y:-0.98, Z:-0.65 [[ 9.99963802e-01 -1.98596137e-03 -8.27348135e-03 3.69509437e+01] [ 1.98623543e-03 9.99998027e-01 2.49089828e-05 -9.81121150e-01] [ 8.27341555e-03 -4.13411629e-05 9.99965774e-01 -6.53576762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.998001144999996 meters 0.05995809214413459 Centerline is valid? [True, True] Translation: X:37.01, Y:-0.99, Z:-0.66 [[ 9.99947342e-01 -4.65082887e-05 -1.02621376e-02 3.70090427e+01] [ 4.68473451e-05 9.99999998e-01 3.27991684e-05 -9.85019526e-01] [ 1.02621361e-02 -3.32781951e-05 9.99947342e-01 -6.58602367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.058001145 meters 0.05994281025580118 Centerline is valid? [True, True] Translation: X:37.07, Y:-0.98, Z:-0.66 [[ 9.99916427e-01 4.32437365e-03 -1.21835596e-02 3.70681424e+01] [-4.32427463e-03 9.99990650e-01 3.44711122e-05 -9.80615459e-01] [ 1.21835947e-02 1.82168261e-05 9.99925777e-01 -6.56940624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.118001145 meters 0.06016435717708831 Centerline is valid? [True, True] Translation: X:37.13, Y:-0.98, Z:-0.66 [[ 9.99888059e-01 7.04516737e-03 -1.31997769e-02 3.71264138e+01] [-7.04528592e-03 9.99975181e-01 3.75198661e-05 -9.78744504e-01] [ 1.31997137e-02 5.54805365e-05 9.99912878e-01 -6.58534976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.178001144999996 meters 0.06057845333953606 Centerline is valid? [True, True] Translation: X:37.18, Y:-0.98, Z:-0.66 [[ 9.99840647e-01 1.15213924e-02 -1.36359016e-02 3.71846075e+01] [-1.15219414e-02 9.99933619e-01 3.82993395e-05 -9.81386193e-01] [ 1.36354377e-02 1.18818823e-04 9.99907026e-01 -6.62154158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.238001145 meters 0.0606062849254411 Centerline is valid? [True, True] Translation: X:37.24, Y:-0.98, Z:-0.66 [[ 9.99798951e-01 1.49682086e-02 -1.33420307e-02 3.72429827e+01] [-1.49691075e-02 9.99887956e-01 3.24974027e-05 -9.77337856e-01] [ 1.33410222e-02 1.67227422e-04 9.99910991e-01 -6.60025918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.298001145 meters 0.060633956634792416 Centerline is valid? [True, True] Translation: X:37.30, Y:-0.98, Z:-0.66 [[ 9.99788294e-01 1.62657052e-02 -1.26013378e-02 3.73004743e+01] [-1.62666053e-02 9.99867690e-01 3.10699742e-05 -9.76084235e-01] [ 1.26001759e-02 1.73917592e-04 9.99920600e-01 -6.58572887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.358001144999996 meters 0.060549980181318505 Centerline is valid? [True, True] Translation: X:37.36, Y:-0.98, Z:-0.66 [[ 9.99853495e-01 1.27437544e-02 -1.14273598e-02 3.73590567e+01] [-1.27442690e-02 9.99918788e-01 2.77861751e-05 -9.83936210e-01] [ 1.14267858e-02 1.17851242e-04 9.99934705e-01 -6.61625836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.418001145 meters 0.0599796595225144 Centerline is valid? [True, True] Translation: X:37.42, Y:-0.99, Z:-0.66 [[ 9.99935320e-01 3.88236429e-03 -1.06903483e-02 3.74181067e+01] [-3.88231617e-03 9.99992463e-01 2.52538158e-05 -9.94095668e-01] [ 1.06903658e-02 1.62511296e-05 9.99942856e-01 -6.61729895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.478001145 meters 0.05979898603016492 Centerline is valid? [True, True] Translation: X:37.48, Y:-1.00, Z:-0.66 [[ 9.99964487e-01 -2.68325158e-03 -7.98907035e-03 3.74769020e+01] [ 2.68348226e-03 9.99996399e-01 1.81548584e-05 -9.97128567e-01] [ 7.98899287e-03 -3.95927423e-05 9.99968087e-01 -6.58400496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.538001144999996 meters 0.06049264506763972 Centerline is valid? [True, True] Translation: X:37.54, Y:-1.01, Z:-0.67 [[ 9.99899906e-01 -1.06760485e-02 -9.28441114e-03 3.75355169e+01] [ 1.06767038e-02 9.99943002e-01 2.10180122e-05 -1.01152187e+00] [ 9.28365756e-03 -1.20142816e-04 9.99956899e-01 -6.65412196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.598001145 meters 0.061138013407288944 Centerline is valid? [True, True] Translation: X:37.60, Y:-1.02, Z:-0.67 [[ 9.99813024e-01 -1.54103236e-02 -1.16806727e-02 3.75960410e+01] [ 1.54116936e-02 9.99881232e-01 2.72820836e-05 -1.01570055e+00] [ 1.16788650e-02 -2.07295932e-04 9.99931778e-01 -6.68758378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.658001145 meters 0.06229541666517133 Centerline is valid? [True, True] Translation: X:37.66, Y:-1.02, Z:-0.67 [[ 9.99674844e-01 -2.16343355e-02 -1.34967389e-02 3.76561005e+01] [ 2.16367317e-02 9.99765898e-01 3.15237972e-05 -1.01635468e+00] [ 1.34928973e-02 -3.23538865e-04 9.99908914e-01 -6.71077837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.718001144999995 meters 0.062270517493843706 Centerline is valid? [True, True] Translation: X:37.72, Y:-1.02, Z:-0.67 [[ 9.99568370e-01 -2.55472420e-02 -1.45056136e-02 3.77172793e+01] [ 2.55504346e-02 9.99673534e-01 3.47889194e-05 -1.01640115e+00] [ 1.44999892e-02 -4.05398635e-04 9.99894787e-01 -6.70626118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.778001145 meters 0.06346138047256443 Centerline is valid? [True, True] Translation: X:37.78, Y:-1.02, Z:-0.67 [[ 9.99405460e-01 -3.15849622e-02 -1.38245090e-02 3.77784420e+01] [ 3.15884392e-02 9.99500960e-01 3.31670704e-05 -1.02072354e+00] [ 1.38165624e-02 -4.69842012e-04 9.99904436e-01 -6.73425370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.838001145 meters 0.06421216281186952 Centerline is valid? [True, True] Translation: X:37.84, Y:-1.02, Z:-0.67 [[ 9.99307555e-01 -3.54352625e-02 -1.13469674e-02 3.78402820e+01] [ 3.54378641e-02 9.99371881e-01 2.82369372e-05 -1.01992314e+00] [ 1.13388396e-02 -4.30329673e-04 9.99935621e-01 -6.72140888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.898001144999995 meters 0.0660453803737071 Centerline is valid? [True, True] Translation: X:37.90, Y:-1.02, Z:-0.68 [[ 9.99118554e-01 -4.06494358e-02 -1.04756416e-02 3.78999616e+01] [ 4.06519328e-02 9.99173368e-01 2.54541836e-05 -1.02150062e+00] [ 1.04659474e-02 -4.51286826e-04 9.99945129e-01 -6.75038767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.958001145 meters 0.06703149312383447 Centerline is valid? [True, True] Translation: X:37.96, Y:-1.02, Z:-0.68 [[ 9.99050273e-01 -4.24956919e-02 -9.62647217e-03 3.79623310e+01] [ 4.24978999e-02 9.99096556e-01 2.48292488e-05 -1.01888101e+00] [ 9.61672005e-03 -4.33910518e-04 9.99953664e-01 -6.75801352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.018001145 meters 0.06739352727198886 Centerline is valid? [True, True] Translation: X:38.02, Y:-1.01, Z:-0.68 [[ 9.99102054e-01 -4.17670483e-02 -7.11333027e-03 3.80225213e+01] [ 4.17682332e-02 9.99127326e-01 1.80368868e-05 -1.00910587e+00] [ 7.10636930e-03 -3.15131928e-04 9.99974700e-01 -6.76112485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.078001144999995 meters 0.0675728609353062 Centerline is valid? [True, True] Translation: X:38.08, Y:-1.01, Z:-0.68 [[ 9.99137997e-01 -4.10509039e-02 -6.17144205e-03 3.80845893e+01] [ 4.10517884e-02 9.99157020e-01 1.66595047e-05 -1.00524046e+00] [ 6.16555576e-03 -2.69993877e-04 9.99980956e-01 -6.77138163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.138001145 meters 0.06715223908850844 Centerline is valid? [True, True] Translation: X:38.15, Y:-0.99, Z:-0.68 [[ 9.99115229e-01 -4.13144171e-02 -7.86630231e-03 3.81471286e+01] [ 4.13158644e-02 9.99146135e-01 2.15038210e-05 -9.92884901e-01] [ 7.85869714e-03 -3.46487875e-04 9.99969060e-01 -6.79353034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.198001145 meters 0.0674142470177568 Centerline is valid? [True, True] Translation: X:38.21, Y:-0.99, Z:-0.68 [[ 9.99094971e-01 -4.15852330e-02 -8.93910727e-03 3.82088306e+01] [ 4.15871448e-02 9.99134880e-01 2.80208438e-05 -9.88650424e-01] [ 8.93020862e-03 -3.99747433e-04 9.99960045e-01 -6.82726148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.258001144999994 meters 0.06809318699118165 Centerline is valid? [True, True] Translation: X:38.27, Y:-0.98, Z:-0.69 [[ 9.99160263e-01 -3.97015173e-02 -1.01270737e-02 3.82703709e+01] [ 3.97038906e-02 9.99211489e-01 3.33267047e-05 -9.79314759e-01] [ 1.01177653e-02 -4.35382946e-04 9.99948719e-01 -6.85789030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.318001145 meters 0.06545908086532609 Centerline is valid? [True, True] Translation: X:38.33, Y:-0.97, Z:-0.68 [[ 9.99266852e-01 -3.67708011e-02 -1.06614494e-02 3.83322087e+01] [ 3.67732465e-02 9.99323635e-01 3.33652334e-05 -9.66303394e-01] [ 1.06530115e-02 -4.25396879e-04 9.99943165e-01 -6.83909556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.378001145 meters 0.06474478718967086 Centerline is valid? [True, True] Translation: X:38.39, Y:-0.95, Z:-0.69 [[ 9.99483967e-01 -3.02790403e-02 -1.07228246e-02 3.83933287e+01] [ 3.02811350e-02 9.99541421e-01 3.30191271e-05 -9.52990984e-01] [ 1.07169075e-02 -3.57701388e-04 9.99942508e-01 -6.85129328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.438001145 meters 0.0639818345786429 Centerline is valid? [True, True] Translation: X:38.45, Y:-0.94, Z:-0.69 [[ 9.99578016e-01 -2.65481568e-02 -1.17891894e-02 3.84547973e+01] [ 2.65504384e-02 9.99647474e-01 3.70356429e-05 -9.44530405e-01] [ 1.17840502e-02 -3.50028161e-04 9.99930504e-01 -6.87429763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.498001144999996 meters 0.06388887497361775 Centerline is valid? [True, True] Translation: X:38.52, Y:-0.93, Z:-0.69 [[ 9.99632028e-01 -2.25448923e-02 -1.50843438e-02 3.85172827e+01] [ 2.25481910e-02 9.99745756e-01 4.86316967e-05 -9.31653890e-01] [ 1.50794123e-02 -3.88738468e-04 9.99886224e-01 -6.90030376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.558001145 meters 0.06552491853150398 Centerline is valid? [True, True] Translation: X:38.58, Y:-0.93, Z:-0.70 [[ 9.99657949e-01 -2.04249581e-02 -1.63341832e-02 3.85785650e+01] [ 2.04285510e-02 9.99791314e-01 5.31191505e-05 -9.28693153e-01] [ 1.63296895e-02 -3.86784675e-04 9.99866587e-01 -6.97777310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.618001145 meters 0.06412882635568486 Centerline is valid? [True, True] Translation: X:38.64, Y:-0.92, Z:-0.69 [[ 9.99649054e-01 -2.10557717e-02 -1.60755717e-02 3.86397809e+01] [ 2.10593382e-02 9.99778226e-01 5.25901967e-05 -9.17569415e-01] [ 1.60708992e-02 -3.91112641e-04 9.99870778e-01 -6.92045839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.678001144999996 meters 0.06484241429380594 Centerline is valid? [True, True] Translation: X:38.70, Y:-0.91, Z:-0.69 [[ 9.99627360e-01 -2.33909943e-02 -1.40713098e-02 3.87008101e+01] [ 2.33939711e-02 9.99726323e-01 4.69696066e-05 -9.13929726e-01] [ 1.40663601e-02 -3.76135919e-04 9.99900993e-01 -6.91470862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.738001145 meters 0.06475154382161308 Centerline is valid? [True, True] Translation: X:38.76, Y:-0.91, Z:-0.69 [[ 9.99675104e-01 -2.22437231e-02 -1.24459816e-02 3.87620836e+01] [ 2.22459661e-02 9.99752527e-01 4.17887591e-05 -9.06407619e-01] [ 1.24419720e-02 -3.18648066e-04 9.99922545e-01 -6.89061910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.798001145 meters 0.06553366329017211 Centerline is valid? [True, True] Translation: X:38.82, Y:-0.90, Z:-0.69 [[ 9.99669997e-01 -2.25502805e-02 -1.23037062e-02 3.88230274e+01] [ 2.25525213e-02 9.99745659e-01 4.33944438e-05 -9.04740813e-01] [ 1.22995983e-02 -3.20859719e-04 9.99924306e-01 -6.94330430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.858001144999996 meters 0.06594802322076064 Centerline is valid? [True, True] Translation: X:38.89, Y:-0.90, Z:-0.70 [[ 9.99635690e-01 -2.34856906e-02 -1.33007669e-02 3.88853644e+01] [ 2.34883949e-02 9.99724108e-01 4.71229751e-05 -9.04692852e-01] [ 1.32959906e-02 -3.59519473e-04 9.99911540e-01 -6.97332591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.918001145 meters 0.06738207318814698 Centerline is valid? [True, True] Translation: X:38.95, Y:-0.90, Z:-0.70 [[ 9.99535068e-01 -2.73856807e-02 -1.34041669e-02 3.89468383e+01] [ 2.73887775e-02 9.99624856e-01 4.74795196e-05 -9.02281411e-01] [ 1.33978382e-02 -4.14581190e-04 9.99910159e-01 -6.96634584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.978001145 meters 0.06963194105127589 Centerline is valid? [True, True] Translation: X:39.01, Y:-0.91, Z:-0.70 [[ 9.99389065e-01 -3.27386069e-02 -1.22343586e-02 3.90073951e+01] [ 3.27415873e-02 9.99463850e-01 4.33383371e-05 -9.05592223e-01] [ 1.22263803e-02 -4.43884179e-04 9.99925156e-01 -6.98382937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.038001144999996 meters 0.06932895120764304 Centerline is valid? [True, True] Translation: X:39.07, Y:-0.90, Z:-0.70 [[ 9.99334705e-01 -3.44309951e-02 -1.20272410e-02 3.90693482e+01] [ 3.44340152e-02 9.99406972e-01 4.40600024e-05 -8.99222684e-01] [ 1.20185915e-02 -4.58176889e-04 9.99927669e-01 -6.98249675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.098001145 meters 0.0717776236173858 Centerline is valid? [True, True] Translation: X:39.13, Y:-0.90, Z:-0.70 [[ 9.99328629e-01 -3.46610687e-02 -1.18702186e-02 3.91300887e+01] [ 3.46640308e-02 9.99399021e-01 4.38286630e-05 -8.98349208e-01] [ 1.18615657e-02 -4.55268862e-04 9.99929546e-01 -7.01861543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.158001145 meters 0.07241549200434508 Centerline is valid? [True, True] Translation: X:39.19, Y:-0.90, Z:-0.71 [[ 9.99357592e-01 -3.39731702e-02 -1.14116983e-02 3.91918024e+01] [ 3.39758729e-02 9.99422652e-01 4.29956757e-05 -8.95682247e-01] [ 1.14036491e-02 -4.30690467e-04 9.99934884e-01 -7.05776899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.218001144999995 meters 0.07108110013102491 Centerline is valid? [True, True] Translation: X:39.25, Y:-0.89, Z:-0.70 [[ 9.99338362e-01 -3.51145980e-02 -9.47641639e-03 3.92549116e+01] [ 3.51165274e-02 9.99383224e-01 3.72293312e-05 -8.87106251e-01] [ 9.46926427e-03 -3.69983534e-04 9.99955097e-01 -7.01447835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.278001145 meters 0.07239347219995619 Centerline is valid? [True, True] Translation: X:39.32, Y:-0.88, Z:-0.70 [[ 9.99346798e-01 -3.50884085e-02 -8.64761858e-03 3.93161886e+01] [ 3.50900160e-02 9.99384155e-01 3.41768656e-05 -8.81286538e-01] [ 8.64109378e-03 -3.37599615e-04 9.99962608e-01 -7.02011266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.338001145 meters 0.07127840157676997 Centerline is valid? [True, True] Translation: X:39.38, Y:-0.87, Z:-0.71 [[ 9.99458581e-01 -3.15902067e-02 -9.19800799e-03 3.93766603e+01] [ 3.15918721e-02 9.99500852e-01 3.57858109e-05 -8.74232575e-01] [ 9.19228633e-03 -3.26348728e-04 9.99957697e-01 -7.06950542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.398001144999995 meters 0.06889962510743228 Centerline is valid? [True, True] Translation: X:39.44, Y:-0.86, Z:-0.70 [[ 9.99543347e-01 -2.80178993e-02 -1.13179185e-02 3.94394084e+01] [ 2.80202120e-02 9.99607356e-01 4.57926814e-05 -8.58379318e-01] [ 1.13121916e-02 -3.62902247e-04 9.99935949e-01 -7.04940793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.458001145 meters 0.06784352578207381 Centerline is valid? [True, True] Translation: X:39.50, Y:-0.85, Z:-0.71 [[ 9.99706185e-01 -2.13161214e-02 -1.15397740e-02 3.94994371e+01] [ 2.13180663e-02 9.99772743e-01 4.55433888e-05 -8.46388437e-01] [ 1.15361807e-02 -2.91535675e-04 9.99933414e-01 -7.08389125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.518001145 meters 0.06708428184907626 Centerline is valid? [True, True] Translation: X:39.56, Y:-0.84, Z:-0.71 [[ 9.99794319e-01 -1.68726003e-02 -1.12532601e-02 3.95610978e+01] [ 1.68741819e-02 9.99857620e-01 4.56041083e-05 -8.40150306e-01] [ 1.12508884e-02 -2.35484285e-04 9.99936679e-01 -7.11727026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.578001144999995 meters 0.06558546172297054 Centerline is valid? [True, True] Translation: X:39.62, Y:-0.82, Z:-0.71 [[ 9.99894427e-01 -1.01994598e-02 -1.03491906e-02 3.96227992e+01] [ 1.02004464e-02 9.99947973e-01 4.25438773e-05 -8.24283240e-01] [ 1.03482183e-02 -1.48105750e-04 9.99946445e-01 -7.07374185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.638001145 meters 0.06514802801006234 Centerline is valid? [True, True] Translation: X:39.68, Y:-0.82, Z:-0.71 [[ 9.99927814e-01 -4.48558037e-03 -1.11466242e-02 3.96834003e+01] [ 4.48636146e-03 9.99989935e-01 4.50694910e-05 -8.16020311e-01] [ 1.11463098e-02 -9.50740227e-05 9.99937873e-01 -7.09312273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.698001145 meters 0.06475138676791113 Centerline is valid? [True, True] Translation: X:39.74, Y:-0.81, Z:-0.71 [[ 9.99934387e-01 3.40451327e-04 -1.14501341e-02 3.97407589e+01] [-3.39967028e-04 9.99999941e-01 4.42427739e-05 -8.05189457e-01] [ 1.14501485e-02 -4.03472030e-05 9.99934444e-01 -7.10697013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.758001144999994 meters 0.06507398272666456 Centerline is valid? [True, True] Translation: X:39.80, Y:-0.80, Z:-0.71 [[ 9.99940372e-01 -7.93748299e-04 -1.08914059e-02 3.97982447e+01] [ 7.94244231e-04 9.99999684e-01 4.12090252e-05 -8.04963123e-01] [ 1.08913698e-02 -4.98570043e-05 9.99940686e-01 -7.12006841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.818001145 meters 0.06512082268796648 Centerline is valid? [True, True] Translation: X:39.86, Y:-0.81, Z:-0.71 [[ 9.99958116e-01 -2.99231145e-03 -8.64946626e-03 3.98569693e+01] [ 2.99270180e-03 9.99995521e-01 3.21872345e-05 -8.07776445e-01] [ 8.64933121e-03 -5.80711597e-05 9.99962592e-01 -7.12602135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.878001145 meters 0.06527526307891521 Centerline is valid? [True, True] Translation: X:39.91, Y:-0.81, Z:-0.71 [[ 9.99946984e-01 -6.53241655e-03 -7.95974579e-03 3.99143321e+01] [ 6.53285215e-03 9.99978660e-01 2.87260305e-05 -8.08483487e-01] [ 7.95938828e-03 -8.07243500e-05 9.99968320e-01 -7.11766376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.938001145 meters 0.06566995560252777 Centerline is valid? [True, True] Translation: X:39.97, Y:-0.81, Z:-0.71 [[ 9.99934661e-01 -7.16709383e-03 -8.90542559e-03 3.99744481e+01] [ 7.16767508e-03 9.99974311e-01 3.33538019e-05 -8.09040584e-01] [ 8.90495777e-03 -9.71828196e-05 9.99960345e-01 -7.14372308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.998001144999996 meters 0.0669001549704389 Centerline is valid? [True, True] Translation: X:40.03, Y:-0.81, Z:-0.72 [[ 9.99869697e-01 -1.31677241e-02 -9.33809095e-03 4.00339176e+01] [ 1.31686215e-02 9.99913289e-01 3.46207884e-05 -8.14682045e-01] [ 9.33682536e-03 -1.57586062e-04 9.99956398e-01 -7.17316803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.058001145 meters 0.06811477505763433 Centerline is valid? [True, True] Translation: X:40.10, Y:-0.82, Z:-0.72 [[ 9.99815504e-01 -1.65824270e-02 -9.69437060e-03 4.00961552e+01] [ 1.65835707e-02 9.99862482e-01 3.75945540e-05 -8.21745663e-01] [ 9.69241404e-03 -1.98354898e-04 9.99953008e-01 -7.21677693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.118001145 meters 0.0674547632761561 Centerline is valid? [True, True] Translation: X:40.16, Y:-0.82, Z:-0.72 [[ 9.99799289e-01 -1.78355377e-02 -9.12550350e-03 4.01585559e+01] [ 1.78366095e-02 9.99840914e-01 3.60718445e-05 -8.19115050e-01] [ 9.12340841e-03 -1.98832647e-04 9.99958361e-01 -7.18122951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.178001144999996 meters 0.06772609566049302 Centerline is valid? [True, True] Translation: X:40.22, Y:-0.82, Z:-0.72 [[ 9.99846676e-01 -1.54522083e-02 -8.23738945e-03 4.02199839e+01] [ 1.54530028e-02 9.99880595e-01 3.28036307e-05 -8.16029780e-01] [ 8.23589897e-03 -1.60091003e-04 9.99966072e-01 -7.19278108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.238001145 meters 0.06698121952795977 Centerline is valid? [True, True] Translation: X:40.28, Y:-0.81, Z:-0.72 [[ 9.99902520e-01 -1.13012087e-02 -8.19960994e-03 4.02800620e+01] [ 1.13018664e-02 9.99936131e-01 3.38788178e-05 -8.10606978e-01] [ 8.19870337e-03 -1.26546412e-04 9.99966382e-01 -7.21036826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.298001145 meters 0.06659396839856431 Centerline is valid? [True, True] Translation: X:40.34, Y:-0.81, Z:-0.72 [[ 9.99928943e-01 -8.96507216e-03 -7.85723051e-03 4.03410548e+01] [ 8.96559992e-03 9.99959808e-01 3.19478356e-05 -8.06639309e-01] [ 7.85662829e-03 -1.02390351e-04 9.99969131e-01 -7.23603339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.358001144999996 meters 0.06565533553541233 Centerline is valid? [True, True] Translation: X:40.40, Y:-0.80, Z:-0.72 [[ 9.99930372e-01 -6.25160503e-03 -1.00084045e-02 4.04024983e+01] [ 6.25232814e-03 9.99980453e-01 4.09622395e-05 -7.98749129e-01] [ 1.00079528e-02 -1.03535216e-04 9.99949914e-01 -7.21637321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.418001145 meters 0.06541142196011995 Centerline is valid? [True, True] Translation: X:40.46, Y:-0.80, Z:-0.72 [[ 9.99952739e-01 -4.41408453e-03 -8.66227391e-03 4.04614205e+01] [ 4.41454441e-03 9.99990255e-01 3.39709637e-05 -7.95165001e-01] [ 8.66203955e-03 -7.22093511e-05 9.99962481e-01 -7.21029451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.478001145 meters 0.06518918532596066 Centerline is valid? [True, True] Translation: X:40.52, Y:-0.79, Z:-0.72 [[ 9.99966345e-01 -3.62091421e-03 -7.36195816e-03 4.05196977e+01] [ 3.62119472e-03 9.99993443e-01 2.47741954e-05 -7.91971364e-01] [ 7.36182019e-03 -5.14324456e-05 9.99972900e-01 -7.20759019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.538001144999996 meters 0.0655590539911056 Centerline is valid? [True, True] Translation: X:40.58, Y:-0.80, Z:-0.73 [[ 9.99958267e-01 -4.56610756e-03 -7.91292993e-03 4.05786185e+01] [ 4.56644957e-03 9.99989573e-01 2.51540296e-05 -7.96871038e-01] [ 7.91273257e-03 -6.12869754e-05 9.99968692e-01 -7.25606665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.598001145 meters 0.06554600422204125 Centerline is valid? [True, True] Translation: X:40.64, Y:-0.80, Z:-0.72 [[ 9.99937614e-01 -7.51252669e-03 -8.26623935e-03 4.06379395e+01] [ 7.51302092e-03 9.99971776e-01 2.87370598e-05 -7.96910390e-01] [ 8.26579016e-03 -9.08396962e-05 9.99965834e-01 -7.22893697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.658001145 meters 0.06667709094909917 Centerline is valid? [True, True] Translation: X:40.70, Y:-0.80, Z:-0.73 [[ 9.99911907e-01 -1.04011185e-02 -8.24585382e-03 4.06979053e+01] [ 1.04017153e-02 9.99945900e-01 2.94850077e-05 -8.03295745e-01] [ 8.24510104e-03 -1.15253434e-04 9.99966002e-01 -7.27745346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.718001144999995 meters 0.06642083020782473 Centerline is valid? [True, True] Translation: X:40.76, Y:-0.80, Z:-0.73 [[ 9.99905661e-01 -1.10966277e-02 -8.09525486e-03 4.07601960e+01] [ 1.10972354e-02 9.99938423e-01 3.01584359e-05 -8.03914000e-01] [ 8.09442172e-03 -1.19990540e-04 9.99967232e-01 -7.27027670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.778001145 meters 0.06646915018621428 Centerline is valid? [True, True] Translation: X:40.82, Y:-0.81, Z:-0.73 [[ 9.99895364e-01 -1.21724385e-02 -7.81622786e-03 4.08221512e+01] [ 1.21730424e-02 9.99925905e-01 2.96848541e-05 -8.06133941e-01] [ 7.81528738e-03 -1.24829021e-04 9.99969452e-01 -7.28250261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.838001145 meters 0.06688164088403 Centerline is valid? [True, True] Translation: X:40.88, Y:-0.81, Z:-0.73 [[ 9.99871347e-01 -1.21725064e-02 -1.04459950e-02 4.08833703e+01] [ 1.21735847e-02 9.99925898e-01 3.96380708e-05 -8.05918304e-01] [ 1.04447385e-02 -1.66798176e-04 9.99945438e-01 -7.30243645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.898001144999995 meters 0.0663740619403685 Centerline is valid? [True, True] Translation: X:40.95, Y:-0.80, Z:-0.73 [[ 9.99894096e-01 -1.04276963e-02 -1.01518923e-02 4.09458535e+01] [ 1.04286337e-02 9.99945620e-01 3.94023473e-05 -8.02658420e-01] [ 1.01509294e-02 -1.45268541e-04 9.99948467e-01 -7.30402383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.958001145 meters 0.06628904462224287 Centerline is valid? [True, True] Translation: X:41.01, Y:-0.80, Z:-0.73 [[ 9.99893872e-01 -8.43252937e-03 -1.18801243e-02 4.10072145e+01] [ 8.43366972e-03 9.99964435e-01 4.58928162e-05 -7.99738575e-01] [ 1.18793148e-02 -1.46080990e-04 9.99929428e-01 -7.33645729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.018001145 meters 0.06603454519348148 Centerline is valid? [True, True] Translation: X:41.07, Y:-0.80, Z:-0.73 [[ 9.99928640e-01 -6.55564861e-03 -9.98695178e-03 4.10669261e+01] [ 6.55634935e-03 9.99978506e-01 3.74269843e-05 -7.97039018e-01] [ 9.98649177e-03 -1.02902258e-04 9.99950128e-01 -7.33835036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.078001144999995 meters 0.06556458006661998 Centerline is valid? [True, True] Translation: X:41.13, Y:-0.79, Z:-0.73 [[ 9.99953860e-01 -3.91870981e-03 -8.77044479e-03 4.11267189e+01] [ 3.91914570e-03 9.99992320e-01 3.25144618e-05 -7.91014110e-01] [ 8.77025002e-03 -6.68856127e-05 9.99961538e-01 -7.30797832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.138001145 meters 0.06506030078477837 Centerline is valid? [True, True] Translation: X:41.19, Y:-0.79, Z:-0.73 [[ 9.99975779e-01 -2.24050728e-03 -6.58944403e-03 4.11853661e+01] [ 2.24068696e-03 9.99997489e-01 1.98860239e-05 -7.87395673e-01] [ 6.58938294e-03 -3.46504236e-05 9.99978289e-01 -7.28293205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.198001145 meters 0.06532651159211028 Centerline is valid? [True, True] Translation: X:41.24, Y:-0.79, Z:-0.73 [[ 9.99969968e-01 -2.33066292e-03 -7.39134509e-03 4.12426526e+01] [ 2.33090594e-03 9.99997283e-01 2.42648130e-05 -7.88700191e-01] [ 7.39126846e-03 -4.14926145e-05 9.99972683e-01 -7.31702675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.258001144999994 meters 0.06549934378312293 Centerline is valid? [True, True] Translation: X:41.30, Y:-0.79, Z:-0.73 [[ 9.99974214e-01 -2.83932699e-03 -6.59619046e-03 4.12999969e+01] [ 2.83952761e-03 9.99995968e-01 2.10495963e-05 -7.90741775e-01] [ 6.59610410e-03 -3.97791184e-05 9.99978245e-01 -7.33154007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.318001145 meters 0.06512300999203467 Centerline is valid? [True, True] Translation: X:41.36, Y:-0.79, Z:-0.73 [[ 9.99977368e-01 -2.48609135e-03 -6.25156435e-03 4.13588704e+01] [ 2.48624233e-03 9.99996909e-01 1.63779345e-05 -7.88838748e-01] [ 6.25150431e-03 -3.19204678e-05 9.99980459e-01 -7.30576206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.378001145 meters 0.06527970529780734 Centerline is valid? [True, True] Translation: X:41.42, Y:-0.79, Z:-0.73 [[ 9.99971361e-01 -3.20390217e-03 -6.85661455e-03 4.14179302e+01] [ 3.20409097e-03 9.99994867e-01 1.65513179e-05 -7.93981544e-01] [ 6.85652632e-03 -3.85200606e-05 9.99976493e-01 -7.32501523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.438001145 meters 0.06508450099977146 Centerline is valid? [True, True] Translation: X:41.48, Y:-0.79, Z:-0.73 [[ 9.99982273e-01 -2.51158647e-03 -5.39866593e-03 4.14771485e+01] [ 2.51168458e-03 9.99996846e-01 1.13933318e-05 -7.93978142e-01] [ 5.39862028e-03 -2.49528758e-05 9.99985427e-01 -7.31653417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.498001144999996 meters 0.06497631516271692 Centerline is valid? [True, True] Translation: X:41.54, Y:-0.79, Z:-0.73 [[ 9.99988909e-01 3.87863522e-05 -4.70957051e-03 4.15362664e+01] [-3.87302784e-05 9.99999999e-01 1.19975421e-05 -7.94333809e-01] [ 4.70957097e-03 -1.18150060e-05 9.99988910e-01 -7.33148784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.558001145 meters 0.06509781804543556 Centerline is valid? [True, True] Translation: X:41.59, Y:-0.80, Z:-0.73 [[ 9.99978444e-01 2.55956269e-04 -6.56087088e-03 4.15943671e+01] [-2.55858809e-04 9.99999967e-01 1.56940615e-05 -7.95437783e-01] [ 6.56087468e-03 -1.40150666e-05 9.99978477e-01 -7.34660509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.618001145 meters 0.06514078984078311 Centerline is valid? [True, True] Translation: X:41.65, Y:-0.80, Z:-0.74 [[ 9.99970018e-01 5.45983209e-04 -7.72434936e-03 4.16530646e+01] [-5.45857243e-04 9.99999851e-01 1.84157844e-05 -7.96239031e-01] [ 7.72435826e-03 -1.41988402e-05 9.99970167e-01 -7.36478935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.678001144999996 meters 0.06554077629756765 Centerline is valid? [True, True] Translation: X:41.71, Y:-0.80, Z:-0.74 [[ 9.99958882e-01 3.48738177e-03 -8.37090378e-03 4.17104405e+01] [-3.48734356e-03 9.99993919e-01 1.91607106e-05 -7.98506874e-01] [ 8.37091969e-03 1.00322946e-05 9.99964963e-01 -7.41991529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.738001145 meters 0.06530086401581175 Centerline is valid? [True, True] Translation: X:41.77, Y:-0.79, Z:-0.74 [[ 9.99933796e-01 6.69408172e-03 -9.35905808e-03 4.17694763e+01] [-6.69421398e-03 9.99977593e-01 1.71951383e-05 -7.94960528e-01] [ 9.35896348e-03 4.54575375e-05 9.99956203e-01 -7.39327067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.798001145 meters 0.06571784191662217 Centerline is valid? [True, True] Translation: X:41.83, Y:-0.79, Z:-0.74 [[ 9.99878896e-01 1.11181883e-02 -1.08893974e-02 4.18271009e+01] [-1.11186216e-02 9.99938186e-01 2.07497674e-05 -7.91591648e-01] [ 1.08889550e-02 1.00327835e-04 9.99940709e-01 -7.41194264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.858001144999996 meters 0.06578447804115244 Centerline is valid? [True, True] Translation: X:41.89, Y:-0.79, Z:-0.74 [[ 9.99871045e-01 1.24303947e-02 -1.01675475e-02 4.18856818e+01] [-1.24308395e-02 9.99922734e-01 1.94491789e-05 -7.92997986e-01] [ 1.01670037e-02 1.06944481e-04 9.99948309e-01 -7.42104600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.918001145 meters 0.06540296607988602 Centerline is valid? [True, True] Translation: X:41.94, Y:-0.80, Z:-0.74 [[ 9.99868981e-01 1.33097252e-02 -9.21259304e-03 4.19444236e+01] [-1.33101345e-02 9.99911416e-01 1.68780232e-05 -7.97302392e-01] [ 9.21200159e-03 1.05745041e-04 9.99957563e-01 -7.40085787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.978001145 meters 0.0652457911695205 Centerline is valid? [True, True] Translation: X:42.00, Y:-0.80, Z:-0.74 [[ 9.99903430e-01 1.20927377e-02 -6.84804612e-03 4.20020844e+01] [-1.20929423e-02 9.99926878e-01 1.15213847e-05 -8.02767631e-01] [ 6.84768470e-03 7.12927547e-05 9.99976552e-01 -7.39154229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.038001144999996 meters 0.06472229485931465 Centerline is valid? [True, True] Translation: X:42.06, Y:-0.81, Z:-0.74 [[ 9.99937494e-01 1.00709847e-02 -4.85620974e-03 4.20609745e+01] [-1.00710658e-02 9.99949286e-01 7.76975249e-06 -8.06725375e-01] [ 4.85604171e-03 4.11379408e-05 9.99988209e-01 -7.36170061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.098001145 meters 0.06459097512520663 Centerline is valid? [True, True] Translation: X:42.12, Y:-0.82, Z:-0.74 [[ 9.99975036e-01 5.83774645e-03 -3.98084309e-03 4.21185512e+01] [-5.83777011e-03 9.99982960e-01 5.67643185e-06 -8.18846344e-01] [ 3.98080839e-03 1.75629566e-05 9.99992076e-01 -7.40095251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.158001145 meters 0.0647621674597545 Centerline is valid? [True, True] Translation: X:42.18, Y:-0.83, Z:-0.74 [[ 9.99979432e-01 1.96405291e-03 -6.10555348e-03 4.21770538e+01] [-1.96403363e-03 9.99998071e-01 9.15381180e-06 -8.28192609e-01] [ 6.10555968e-03 2.83788884e-06 9.99981361e-01 -7.44688800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.218001144999995 meters 0.06464287941102177 Centerline is valid? [True, True] Translation: X:42.24, Y:-0.83, Z:-0.74 [[ 9.99983246e-01 -1.63241876e-03 -5.55360606e-03 4.22356362e+01] [ 1.63248789e-03 9.99998667e-01 7.91366424e-06 -8.34221793e-01] [ 5.55358574e-03 -1.69797263e-05 9.99984579e-01 -7.42234324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.278001145 meters 0.06455825306118705 Centerline is valid? [True, True] Translation: X:42.29, Y:-0.84, Z:-0.74 [[ 9.99978243e-01 -2.23083113e-03 -6.20780553e-03 4.22946534e+01] [ 2.23090614e-03 9.99997512e-01 5.15865122e-06 -8.38083369e-01] [ 6.20777857e-03 -1.90075705e-05 9.99980731e-01 -7.41195809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.338001145 meters 0.06453753843469474 Centerline is valid? [True, True] Translation: X:42.35, Y:-0.84, Z:-0.74 [[ 9.99981573e-01 -8.73613267e-04 -6.00748162e-03 4.23531246e+01] [ 8.73670609e-04 9.99999618e-01 6.92088373e-06 -8.43051991e-01] [ 6.00747328e-03 -1.21693163e-05 9.99981955e-01 -7.42359598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.398001144999995 meters 0.0646302895993924 Centerline is valid? [True, True] Translation: X:42.41, Y:-0.84, Z:-0.74 [[ 9.99969522e-01 2.19551744e-03 -7.49226078e-03 4.24121828e+01] [-2.19554200e-03 9.99997590e-01 4.94756109e-06 -8.43654558e-01] [ 7.49225359e-03 1.15021629e-05 9.99971933e-01 -7.43252076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.458001145 meters 0.06484587781133773 Centerline is valid? [True, True] Translation: X:42.47, Y:-0.84, Z:-0.75 [[ 9.99958028e-01 5.16052008e-03 -7.57045797e-03 4.24704451e+01] [-5.16061911e-03 9.99986684e-01 6.45304658e-06 -8.44531359e-01] [ 7.57039047e-03 3.26154744e-05 9.99971344e-01 -7.45063099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.518001145 meters 0.06476902192893873 Centerline is valid? [True, True] Translation: X:42.53, Y:-0.84, Z:-0.74 [[ 9.99950243e-01 7.25592150e-03 -6.84563899e-03 4.25281573e+01] [-7.25605578e-03 9.99973674e-01 5.22096772e-06 -8.43792013e-01] [ 6.84549666e-03 4.44516304e-05 9.99976568e-01 -7.44147858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.578001144999995 meters 0.06470522029296565 Centerline is valid? [True, True] Translation: X:42.59, Y:-0.85, Z:-0.75 [[ 9.99949993e-01 6.31654188e-03 -7.75325597e-03 4.25865242e+01] [-6.31668709e-03 9.99980050e-01 5.75930136e-06 -8.53120919e-01] [ 7.75313767e-03 4.32158785e-05 9.99969943e-01 -7.46434801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.638001145 meters 0.06457885795507048 Centerline is valid? [True, True] Translation: X:42.64, Y:-0.86, Z:-0.75 [[ 9.99959533e-01 5.76078529e-03 -6.90983765e-03 4.26442413e+01] [-5.76089311e-03 9.99983406e-01 4.30101486e-06 -8.55621358e-01] [ 6.90974777e-03 3.55059953e-05 9.99976127e-01 -7.47510344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.698001145 meters 0.06431162273509974 Centerline is valid? [True, True] Translation: X:42.70, Y:-0.86, Z:-0.74 [[ 9.99982355e-01 2.73125120e-03 -5.27550419e-03 4.27036372e+01] [-2.73127218e-03 9.99996270e-01 3.22690566e-06 -8.62874553e-01] [ 5.27549332e-03 1.11819891e-05 9.99986084e-01 -7.44928216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.758001144999994 meters 0.06411182366551192 Centerline is valid? [True, True] Translation: X:42.76, Y:-0.87, Z:-0.74 [[ 9.99988055e-01 -1.82236769e-04 -4.88437103e-03 4.27615225e+01] [ 1.82249478e-04 9.99999983e-01 2.15682404e-06 -8.68568937e-01] [ 4.88437055e-03 -3.04697235e-06 9.99988071e-01 -7.44586786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.818001145 meters 0.06438029452662908 Centerline is valid? [True, True] Translation: X:42.82, Y:-0.88, Z:-0.75 [[ 9.99971048e-01 -5.90336802e-03 -4.80142763e-03 4.28198643e+01] [ 5.90344572e-03 9.99982575e-01 2.00995455e-06 -8.80832313e-01] [ 4.80133210e-03 -3.03548638e-05 9.99988473e-01 -7.46499397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.878001145 meters 0.06468897615016224 Centerline is valid? [True, True] Translation: X:42.88, Y:-0.89, Z:-0.75 [[ 9.99924646e-01 -1.02892936e-02 -6.69574792e-03 4.28809213e+01] [ 1.02895554e-02 9.99947061e-01 4.66177370e-06 -8.88989999e-01] [ 6.69534549e-03 -7.35576918e-05 9.99977583e-01 -7.48494227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.938001145 meters 0.06473834060407713 Centerline is valid? [True, True] Translation: X:42.94, Y:-0.90, Z:-0.75 [[ 9.99885325e-01 -1.39576538e-02 -5.87549503e-03 4.29427416e+01] [ 1.39579238e-02 9.99902583e-01 4.95739647e-06 -8.96267477e-01] [ 5.87485346e-03 -8.69665399e-05 9.99982739e-01 -7.47267960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.998001144999996 meters 0.0651907799388763 Centerline is valid? [True, True] Translation: X:43.00, Y:-0.90, Z:-0.75 [[ 9.99826932e-01 -1.73550232e-02 -6.70141202e-03 4.30042347e+01] [ 1.73554505e-02 9.99849383e-01 5.61085693e-06 -9.00490613e-01] [ 6.70030529e-03 -1.21915911e-04 9.99977545e-01 -7.46864178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.058001145 meters 0.06495182954234409 Centerline is valid? [True, True] Translation: X:43.07, Y:-0.90, Z:-0.74 [[ 9.99768604e-01 -2.02999991e-02 -7.11680705e-03 4.30666339e+01] [ 2.03005605e-02 9.99793922e-01 6.65130961e-06 -9.02967419e-01] [ 7.11520542e-03 -1.51124943e-04 9.99974675e-01 -7.44835549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.118001145 meters 0.06578952892107445 Centerline is valid? [True, True] Translation: X:43.13, Y:-0.91, Z:-0.75 [[ 9.99748174e-01 -2.18465224e-02 -5.13011425e-03 4.31290119e+01] [ 2.18468470e-02 9.99761329e-01 7.24142899e-06 -9.09334805e-01] [ 5.12873165e-03 -1.19316427e-04 9.99986841e-01 -7.47571301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.178001144999996 meters 0.06546372743146164 Centerline is valid? [True, True] Translation: X:43.19, Y:-0.91, Z:-0.75 [[ 9.99758237e-01 -2.07118270e-02 -7.38155060e-03 4.31916489e+01] [ 2.07124541e-02 9.99785474e-01 8.50450148e-06 -9.06769727e-01] [ 7.37979093e-03 -1.61392473e-04 9.99972756e-01 -7.49196439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.238001145 meters 0.06528700359992357 Centerline is valid? [True, True] Translation: X:43.25, Y:-0.90, Z:-0.75 [[ 9.99755500e-01 -1.91147117e-02 -1.11161100e-02 4.32539689e+01] [ 1.91160381e-02 9.99817272e-01 1.30749162e-05 -9.02335972e-01] [ 1.11138289e-02 -2.25567702e-04 9.99938214e-01 -7.50979823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.298001145 meters 0.06494562737746488 Centerline is valid? [True, True] Translation: X:43.32, Y:-0.90, Z:-0.75 [[ 9.99774152e-01 -1.74256689e-02 -1.21651873e-02 4.33159586e+01] [ 1.74271410e-02 9.99848136e-01 1.50128444e-05 -8.99407077e-01] [ 1.21630782e-02 -2.27013888e-04 9.99926001e-01 -7.52160464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.358001144999996 meters 0.06434464151049733 Centerline is valid? [True, True] Translation: X:43.38, Y:-0.89, Z:-0.75 [[ 9.99867604e-01 -1.33729574e-02 -9.27026799e-03 4.33761137e+01] [ 1.33736351e-02 9.99910569e-01 1.11246994e-05 -8.92097920e-01] [ 9.26929017e-03 -1.35100408e-04 9.99957030e-01 -7.51190620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.418001145 meters 0.06422216860266398 Centerline is valid? [True, True] Translation: X:43.44, Y:-0.89, Z:-0.76 [[ 9.99903742e-01 -9.74197233e-03 -9.87932360e-03 4.34369837e+01] [ 9.74256986e-03 9.99952540e-01 1.23577319e-05 -8.86481054e-01] [ 9.87873434e-03 -1.08606543e-04 9.99951198e-01 -7.55817490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.478001145 meters 0.06411126545064519 Centerline is valid? [True, True] Translation: X:43.50, Y:-0.88, Z:-0.76 [[ 9.99924400e-01 -5.61037500e-03 -1.09415619e-02 4.34981438e+01] [ 5.61086380e-03 9.99984259e-01 1.39768701e-05 -8.75205515e-01] [ 1.09413113e-02 -7.53674270e-05 9.99940139e-01 -7.57467419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.538001144999996 meters 0.06426643637295819 Centerline is valid? [True, True] Translation: X:43.56, Y:-0.87, Z:-0.76 [[ 9.99909304e-01 -7.03040697e-03 -1.14872462e-02 4.35568771e+01] [ 7.03097132e-03 9.99975282e-01 8.74408699e-06 -8.72113989e-01] [ 1.14869008e-02 -8.95097926e-05 9.99934019e-01 -7.58955627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.598001145 meters 0.06456910933169309 Centerline is valid? [True, True] Translation: X:43.62, Y:-0.87, Z:-0.76 [[ 9.99859747e-01 -1.28777488e-02 -1.07074383e-02 4.36154466e+01] [ 1.28785876e-02 9.99917068e-01 9.38181891e-06 -8.71558629e-01] [ 1.07064295e-02 -1.47277184e-04 9.99942674e-01 -7.56123665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.658001145 meters 0.06528403323644826 Centerline is valid? [True, True] Translation: X:43.68, Y:-0.87, Z:-0.76 [[ 9.99809803e-01 -1.80945537e-02 -7.27627195e-03 4.36767578e+01] [ 1.80950909e-02 9.99836270e-01 8.00021468e-06 -8.74500179e-01] [ 7.27493585e-03 -1.39663496e-04 9.99973528e-01 -7.57509201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.718001144999995 meters 0.06598722296943825 Centerline is valid? [True, True] Translation: X:43.74, Y:-0.88, Z:-0.76 [[ 9.99775079e-01 -1.95821092e-02 -8.14441511e-03 4.37387798e+01] [ 1.95828368e-02 9.99808238e-01 9.59672325e-06 -8.75249998e-01] [ 8.14266540e-03 -1.69085317e-04 9.99966834e-01 -7.61275481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.778001145 meters 0.06575449039247745 Centerline is valid? [True, True] Translation: X:43.80, Y:-0.87, Z:-0.76 [[ 9.99819055e-01 -1.69257886e-02 -8.68192509e-03 4.38005353e+01] [ 1.69265194e-02 9.99856736e-01 1.07006359e-05 -8.65484632e-01] [ 8.68050017e-03 -1.57653474e-04 9.99962311e-01 -7.63055859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.838001145 meters 0.06542322734707985 Centerline is valid? [True, True] Translation: X:43.86, Y:-0.86, Z:-0.76 [[ 9.99872851e-01 -1.32789860e-02 -8.82896100e-03 4.38625619e+01] [ 1.32796043e-02 9.99911822e-01 1.14158039e-05 -8.56801825e-01] [ 8.82803089e-03 -1.28659461e-04 9.99961024e-01 -7.64033987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.898001144999995 meters 0.06504694101797516 Centerline is valid? [True, True] Translation: X:43.92, Y:-0.85, Z:-0.77 [[ 9.99925330e-01 -9.67498561e-03 -7.46517470e-03 4.39241818e+01] [ 9.67532683e-03 9.99953193e-01 9.59503152e-06 -8.47591452e-01] [ 7.46473245e-03 -8.18223202e-05 9.99972135e-01 -7.65961713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.958001145 meters 0.0655792790953753 Centerline is valid? [True, True] Translation: X:43.99, Y:-0.84, Z:-0.77 [[ 9.99902224e-01 -9.70291998e-03 -1.00695594e-02 4.39858597e+01] [ 9.70354777e-03 9.99952919e-01 1.34902938e-05 -8.43893283e-01] [ 1.00689544e-02 -1.11199425e-04 9.99949301e-01 -7.70301397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.018001145 meters 0.06578640903967778 Centerline is valid? [True, True] Translation: X:44.05, Y:-0.84, Z:-0.77 [[ 9.99890946e-01 -9.58124084e-03 -1.12381702e-02 4.40471963e+01] [ 9.58201582e-03 9.99954091e-01 1.51165238e-05 -8.38860323e-01] [ 1.12375094e-02 -1.22799200e-04 9.99936850e-01 -7.72827206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.078001144999995 meters 0.06615070418162661 Centerline is valid? [True, True] Translation: X:44.11, Y:-0.83, Z:-0.78 [[ 9.99917342e-01 -8.08249674e-03 -9.99911217e-03 4.41077665e+01] [ 8.08303510e-03 9.99967332e-01 1.34287531e-05 -8.33815323e-01] [ 9.99867698e-03 -9.42508177e-05 9.99950008e-01 -7.76735238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.138001145 meters 0.06546800699144371 Centerline is valid? [True, True] Translation: X:44.17, Y:-0.83, Z:-0.77 [[ 9.99952862e-01 -6.84930174e-03 -6.88185683e-03 4.41678193e+01] [ 6.84952424e-03 9.99976542e-01 8.76371018e-06 -8.28394485e-01] [ 6.88163537e-03 -5.59007423e-05 9.99976320e-01 -7.72978078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.198001145 meters 0.0651951429343601 Centerline is valid? [True, True] Translation: X:44.23, Y:-0.82, Z:-0.77 [[ 9.99971099e-01 -5.46296594e-03 -5.28745093e-03 4.42291042e+01] [ 5.46308210e-03 9.99985077e-01 7.52705779e-06 -8.24501343e-01] [ 5.28733090e-03 -3.64126188e-05 9.99986021e-01 -7.72115958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.258001144999994 meters 0.06523682641201342 Centerline is valid? [True, True] Translation: X:44.29, Y:-0.82, Z:-0.77 [[ 9.99974386e-01 -5.04244712e-03 -5.07945605e-03 4.42901724e+01] [ 5.04254980e-03 9.99987286e-01 7.40759514e-06 -8.18996734e-01] [ 5.07935412e-03 -3.30208155e-05 9.99987099e-01 -7.71314566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.318001145 meters 0.06562384126290259 Centerline is valid? [True, True] Translation: X:44.35, Y:-0.82, Z:-0.78 [[ 9.99970728e-01 -4.44265492e-03 -6.22938133e-03 4.43509515e+01] [ 4.44279188e-03 9.99990131e-01 8.14879309e-06 -8.17618235e-01] [ 6.22928365e-03 -3.58243994e-05 9.99980597e-01 -7.77012811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.378001145 meters 0.06563490018754342 Centerline is valid? [True, True] Translation: X:44.41, Y:-0.82, Z:-0.78 [[ 9.99963952e-01 -5.58624142e-03 -6.39439152e-03 4.44115138e+01] [ 5.58641086e-03 9.99984396e-01 8.63721909e-06 -8.17396289e-01] [ 6.39424349e-03 -4.43586059e-05 9.99979556e-01 -7.77599213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.438001145 meters 0.06575127118010941 Centerline is valid? [True, True] Translation: X:44.47, Y:-0.81, Z:-0.78 [[ 9.99977928e-01 -3.93146280e-03 -5.35606569e-03 4.44722881e+01] [ 3.93156421e-03 9.99992271e-01 8.40557968e-06 -8.14121810e-01] [ 5.35599125e-03 -2.94631103e-05 9.99985656e-01 -7.78941408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.498001144999996 meters 0.06555245526940243 Centerline is valid? [True, True] Translation: X:44.53, Y:-0.81, Z:-0.78 [[ 9.99992708e-01 -1.07116811e-03 -3.66558766e-03 4.45331063e+01] [ 1.07119426e-03 9.99999426e-01 5.17216149e-06 -8.10902908e-01] [ 3.66558002e-03 -9.09868024e-06 9.99993282e-01 -7.79163450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.558001145 meters 0.06561738142527038 Centerline is valid? [True, True] Translation: X:44.59, Y:-0.81, Z:-0.78 [[ 9.99992052e-01 -1.80441322e-03 -3.55515958e-03 4.45930747e+01] [ 1.80444042e-03 9.99998372e-01 4.44397023e-06 -8.10809597e-01] [ 3.55514577e-03 -1.08590086e-05 9.99993680e-01 -7.79248061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.618001145 meters 0.066065745423065 Centerline is valid? [True, True] Translation: X:44.65, Y:-0.82, Z:-0.78 [[ 9.99969111e-01 -5.66929136e-03 -5.44392176e-03 4.46525389e+01] [ 5.66941277e-03 9.99983929e-01 6.86911705e-06 -8.16405665e-01] [ 5.44379532e-03 -3.77327444e-05 9.99985182e-01 -7.84374062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.678001144999996 meters 0.0663028258933147 Centerline is valid? [True, True] Translation: X:44.71, Y:-0.82, Z:-0.79 [[ 9.99947149e-01 -7.66355608e-03 -6.85337620e-03 4.47139195e+01] [ 7.66380408e-03 9.99970633e-01 9.92550510e-06 -8.18013763e-01] [ 6.85309887e-03 -6.24479130e-05 9.99976515e-01 -7.85195060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.738001145 meters 0.0668795613124388 Centerline is valid? [True, True] Translation: X:44.78, Y:-0.82, Z:-0.79 [[ 9.99939565e-01 -8.27877639e-03 -7.23378298e-03 4.47750325e+01] [ 8.27907269e-03 9.99965728e-01 1.10163984e-05 -8.19746855e-01] [ 7.23344386e-03 -7.09047477e-05 9.99973836e-01 -7.90051258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.798001145 meters 0.06632650801979782 Centerline is valid? [True, True] Translation: X:44.84, Y:-0.82, Z:-0.79 [[ 9.99949777e-01 -7.81943809e-03 -6.26897499e-03 4.48370967e+01] [ 7.81965611e-03 9.99969426e-01 1.02662259e-05 -8.16882295e-01] [ 6.26870304e-03 -5.92869388e-05 9.99980350e-01 -7.86735905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.858001144999996 meters 0.0663098609233747 Centerline is valid? [True, True] Translation: X:44.90, Y:-0.82, Z:-0.79 [[ 9.99963311e-01 -7.04967584e-03 -4.86605830e-03 4.48979453e+01] [ 7.04979757e-03 9.99975150e-01 7.86396470e-06 -8.16194397e-01] [ 4.86588194e-03 -4.21684022e-05 9.99988161e-01 -7.87912562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.918001145 meters 0.06601923627381569 Centerline is valid? [True, True] Translation: X:44.96, Y:-0.81, Z:-0.79 [[ 9.99973851e-01 -3.73898171e-03 -6.19008210e-03 4.49596220e+01] [ 3.73911565e-03 9.99993009e-01 1.00650225e-05 -8.13126980e-01] [ 6.19000120e-03 -3.32101921e-05 9.99980841e-01 -7.90185365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.978001145 meters 0.06617687189436516 Centerline is valid? [True, True] Translation: X:45.02, Y:-0.81, Z:-0.80 [[ 9.99969155e-01 -2.63462360e-03 -7.39910956e-03 4.50191217e+01] [ 2.63477845e-03 9.99996529e-01 1.11796943e-05 -8.11010701e-01] [ 7.39905442e-03 -3.06743638e-05 9.99972626e-01 -7.95538957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.038001144999996 meters 0.06570630400457508 Centerline is valid? [True, True] Translation: X:45.08, Y:-0.81, Z:-0.79 [[ 9.99967298e-01 -3.18867422e-03 -7.43202029e-03 4.50777411e+01] [ 3.18881117e-03 9.99994916e-01 6.57625582e-06 -8.10505034e-01] [ 7.43196154e-03 -3.02753501e-05 9.99972382e-01 -7.91389318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.098001145 meters 0.06576532693795067 Centerline is valid? [True, True] Translation: X:45.14, Y:-0.81, Z:-0.79 [[ 9.99959393e-01 -4.81318169e-03 -7.61882718e-03 4.51363908e+01] [ 4.81338684e-03 9.99988416e-01 8.58955458e-06 -8.12889159e-01] [ 7.61869757e-03 -4.52615682e-05 9.99970976e-01 -7.90979251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.158001145 meters 0.06631310698957948 Centerline is valid? [True, True] Translation: X:45.20, Y:-0.82, Z:-0.79 [[ 9.99914663e-01 -7.84089969e-03 -1.04492995e-02 4.51958105e+01] [ 7.84145573e-03 9.99969255e-01 1.22433818e-05 -8.15860524e-01] [ 1.04488822e-02 -9.41800564e-05 9.99945405e-01 -7.93333251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.218001144999995 meters 0.06645991009804841 Centerline is valid? [True, True] Translation: X:45.26, Y:-0.82, Z:-0.80 [[ 9.99891232e-01 -1.03872240e-02 -1.04703941e-02 4.52556935e+01] [ 1.03879226e-02 9.99946044e-01 1.23346473e-05 -8.21780392e-01] [ 1.04697010e-02 -1.21098949e-04 9.99945184e-01 -7.95729948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.278001145 meters 0.06604929196478054 Centerline is valid? [True, True] Translation: X:45.32, Y:-0.82, Z:-0.79 [[ 9.99904208e-01 -1.04986445e-02 -9.01960062e-03 4.53174923e+01] [ 1.04991759e-02 9.99944882e-01 1.15660712e-05 -8.20352500e-01] [ 9.01898205e-03 -1.06263337e-04 9.99959323e-01 -7.92619871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.338001145 meters 0.06608672286260006 Centerline is valid? [True, True] Translation: X:45.38, Y:-0.82, Z:-0.79 [[ 9.99903589e-01 -1.08194230e-02 -8.70364802e-03 4.53790465e+01] [ 1.08199355e-02 9.99941463e-01 1.18012845e-05 -8.23552429e-01] [ 8.70301084e-03 -1.05973057e-04 9.99962122e-01 -7.94457128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.398001144999995 meters 0.0661040505841343 Centerline is valid? [True, True] Translation: X:45.44, Y:-0.82, Z:-0.79 [[ 9.99892712e-01 -1.19416336e-02 -8.48300518e-03 4.54413271e+01] [ 1.19421673e-02 9.99928690e-01 1.22691779e-05 -8.24732266e-01] [ 8.48225374e-03 -1.13573329e-04 9.99964019e-01 -7.93293098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.458001145 meters 0.06599238868698264 Centerline is valid? [True, True] Translation: X:45.50, Y:-0.83, Z:-0.79 [[ 9.99862379e-01 -1.24300170e-02 -1.09871952e-02 4.55034834e+01] [ 1.24309475e-02 9.99922733e-01 1.63966306e-05 -8.25123528e-01] [ 1.09861425e-02 -1.52975621e-04 9.99939639e-01 -7.94152501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.518001145 meters 0.0657962796621765 Centerline is valid? [True, True] Translation: X:45.56, Y:-0.83, Z:-0.79 [[ 9.99860204e-01 -1.27836664e-02 -1.07773169e-02 4.55646570e+01] [ 1.27846008e-02 9.99918273e-01 1.78125986e-05 -8.27339410e-01] [ 1.07762084e-02 -1.55593803e-04 9.99941923e-01 -7.94768735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.578001144999995 meters 0.06554646496923083 Centerline is valid? [True, True] Translation: X:45.63, Y:-0.83, Z:-0.79 [[ 9.99880739e-01 -1.22569721e-02 -9.39539838e-03 4.56272529e+01] [ 1.22576608e-02 9.99924872e-01 1.57217374e-05 -8.28513142e-01] [ 9.39449982e-03 -1.30885469e-04 9.99955862e-01 -7.93653406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.638001145 meters 0.06525709036142792 Centerline is valid? [True, True] Translation: X:45.69, Y:-0.83, Z:-0.79 [[ 9.99900551e-01 -1.01210460e-02 -9.82100331e-03 4.56883699e+01] [ 1.01217125e-02 9.99948774e-01 1.81630040e-05 -8.28824264e-01] [ 9.82031639e-03 -1.17566570e-04 9.99951773e-01 -7.94851510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.698001145 meters 0.06475216586307464 Centerline is valid? [True, True] Translation: X:45.75, Y:-0.83, Z:-0.79 [[ 9.99913158e-01 -7.13513704e-03 -1.10800140e-02 4.57496930e+01] [ 7.13579130e-03 9.99974540e-01 1.95153400e-05 -8.25588769e-01] [ 1.10795927e-02 -9.85783128e-05 9.99938615e-01 -7.94433095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.758001144999994 meters 0.06437527401672932 Centerline is valid? [True, True] Translation: X:45.81, Y:-0.83, Z:-0.79 [[ 9.99932088e-01 -4.34450702e-03 -1.08140781e-02 4.58089351e+01] [ 4.34495369e-03 9.99990560e-01 1.78109657e-05 -8.26384115e-01] [ 1.08138987e-02 -6.47964248e-05 9.99941526e-01 -7.94450060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.818001145 meters 0.06414996876821588 Centerline is valid? [True, True] Translation: X:45.87, Y:-0.83, Z:-0.79 [[ 9.99933723e-01 -7.52598349e-03 -8.71256027e-03 4.58669607e+01] [ 7.52638175e-03 9.99971676e-01 1.29229889e-05 -8.31043185e-01] [ 8.71221624e-03 -7.84961870e-05 9.99962045e-01 -7.91523467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.878001145 meters 0.06493918103092843 Centerline is valid? [True, True] Translation: X:45.93, Y:-0.84, Z:-0.80 [[ 9.99892030e-01 -1.12939370e-02 -9.40082654e-03 4.59270975e+01] [ 1.12945784e-02 9.99936214e-01 1.51380261e-05 -8.40525826e-01] [ 9.40005593e-03 -1.21314764e-04 9.99955811e-01 -7.96005838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.938001145 meters 0.06653721429797459 Centerline is valid? [True, True] Translation: X:45.99, Y:-0.86, Z:-0.80 [[ 9.99767450e-01 -1.85980388e-02 -1.09159820e-02 4.59869663e+01] [ 1.85993565e-02 9.99827017e-01 1.92000143e-05 -8.56360641e-01] [ 1.09137366e-02 -2.22225790e-04 9.99940419e-01 -8.00738695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.998001144999996 meters 0.06731644635794938 Centerline is valid? [True, True] Translation: X:46.05, Y:-0.86, Z:-0.80 [[ 9.99717473e-01 -2.12576415e-02 -1.06342561e-02 4.60489016e+01] [ 2.12590491e-02 9.99774001e-01 1.93261031e-05 -8.60977412e-01] [ 1.06314420e-02 -2.45394816e-04 9.99943455e-01 -8.00515524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.058001145 meters 0.0677106053269144 Centerline is valid? [True, True] Translation: X:46.11, Y:-0.87, Z:-0.80 [[ 9.99704692e-01 -2.32116848e-02 -7.19356939e-03 4.61105854e+01] [ 2.32123844e-02 9.99730556e-01 1.37748495e-05 -8.68140991e-01] [ 7.19131139e-03 -1.80750680e-04 9.99974126e-01 -7.98204397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.118001145 meters 0.06915209378556086 Centerline is valid? [True, True] Translation: X:46.17, Y:-0.88, Z:-0.80 [[ 9.99603783e-01 -2.74915163e-02 -6.04092192e-03 4.61719169e+01] [ 2.74920889e-02 9.99622021e-01 1.17466699e-05 -8.80866999e-01] [ 6.03831564e-03 -1.77819578e-04 9.99981753e-01 -7.99980225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.178001144999996 meters 0.07042534436396121 Centerline is valid? [True, True] Translation: X:46.23, Y:-0.89, Z:-0.80 [[ 9.99525561e-01 -2.97009192e-02 -8.15520801e-03 4.62328947e+01] [ 2.97020320e-02 9.99558797e-01 1.53392281e-05 -8.86163185e-01] [ 8.15115432e-03 -2.57558200e-04 9.99966746e-01 -8.03496206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.238001145 meters 0.06814284218402458 Centerline is valid? [True, True] Translation: X:46.30, Y:-0.88, Z:-0.80 [[ 9.99528466e-01 -2.95176492e-02 -8.45896884e-03 4.62957249e+01] [ 2.95188567e-02 9.99564223e-01 1.79083418e-05 -8.82598758e-01] [ 8.45475401e-03 -2.67598986e-04 9.99964222e-01 -8.00550510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.298001145 meters 0.06761555812201109 Centerline is valid? [True, True] Translation: X:46.36, Y:-0.88, Z:-0.80 [[ 9.99610816e-01 -2.71881881e-02 -6.24652524e-03 4.63574418e+01] [ 2.71888010e-02 9.99630316e-01 1.32025262e-05 -8.81329993e-01] [ 6.24385705e-03 -1.83032920e-04 9.99980490e-01 -7.99505870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.358001144999996 meters 0.06659203168304897 Centerline is valid? [True, True] Translation: X:46.42, Y:-0.88, Z:-0.80 [[ 9.99739188e-01 -2.24525532e-02 -4.17600290e-03 4.64173580e+01] [ 2.24527839e-02 9.99747904e-01 8.36426470e-06 -8.77509622e-01] [ 4.17476235e-03 -1.02124974e-04 9.99991280e-01 -7.99074418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.418001145 meters 0.06587723644706892 Centerline is valid? [True, True] Translation: X:46.48, Y:-0.87, Z:-0.80 [[ 9.99796532e-01 -1.94047436e-02 -5.50907505e-03 4.64795514e+01] [ 1.94051059e-02 9.99811703e-01 1.23190851e-05 -8.74001539e-01] [ 5.50779866e-03 -1.19220763e-04 9.99984825e-01 -8.01699570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.478001145 meters 0.0662498477771396 Centerline is valid? [True, True] Translation: X:46.54, Y:-0.88, Z:-0.81 [[ 9.99811994e-01 -1.85219964e-02 -5.73684135e-03 4.65410401e+01] [ 1.85223748e-02 9.99828446e-01 1.28291788e-05 -8.76483810e-01] [ 5.73561955e-03 -1.19086692e-04 9.99983544e-01 -8.05875547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.538001144999996 meters 0.0658279658777188 Centerline is valid? [True, True] Translation: X:46.60, Y:-0.88, Z:-0.81 [[ 9.99828065e-01 -1.79558585e-02 -4.62902400e-03 4.66035142e+01] [ 1.79561017e-02 9.99838776e-01 1.09991070e-05 -8.75831697e-01] [ 4.62808019e-03 -9.41164418e-05 9.99989286e-01 -8.05079761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.598001145 meters 0.06656687049502232 Centerline is valid? [True, True] Translation: X:46.66, Y:-0.88, Z:-0.80 [[ 9.99759484e-01 -2.15631667e-02 -4.00051314e-03 4.66648206e+01] [ 2.15633776e-02 9.99767483e-01 9.58172072e-06 -8.81029641e-01] [ 3.99937634e-03 -9.58439914e-05 9.99991998e-01 -8.04943758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.658001145 meters 0.07014709631721251 Centerline is valid? [True, True] Translation: X:46.73, Y:-0.89, Z:-0.81 [[ 9.99676673e-01 -2.51683961e-02 -3.61945814e-03 4.67254556e+01] [ 2.51685921e-02 9.99683221e-01 8.61680496e-06 -8.94999585e-01] [ 3.61809470e-03 -9.97106846e-05 9.99993450e-01 -8.11120419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.718001144999995 meters 0.06891862011084098 Centerline is valid? [True, True] Translation: X:46.79, Y:-0.89, Z:-0.81 [[ 9.99591660e-01 -2.80654681e-02 -5.37048742e-03 4.67863482e+01] [ 2.80659396e-02 9.99606074e-01 1.24351546e-05 -8.93072608e-01] [ 5.36802285e-03 -1.63157852e-04 9.99985579e-01 -8.11516231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.778001145 meters 0.06918098081131856 Centerline is valid? [True, True] Translation: X:46.85, Y:-0.89, Z:-0.82 [[ 9.99578354e-01 -2.83319890e-02 -6.35711792e-03 4.68483728e+01] [ 2.83326615e-02 9.99598549e-01 1.57307251e-05 -8.94384373e-01] [ 6.35412016e-03 -1.95838162e-04 9.99979793e-01 -8.15103294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.838001145 meters 0.06830767951502612 Centerline is valid? [True, True] Translation: X:46.91, Y:-0.89, Z:-0.81 [[ 9.99613767e-01 -2.68928423e-02 -7.00654257e-03 4.69107868e+01] [ 2.68936265e-02 9.99638301e-01 1.77181270e-05 -8.87906204e-01] [ 7.00353182e-03 -2.06142623e-04 9.99975454e-01 -8.14202039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.898001144999995 meters 0.06792054848904326 Centerline is valid? [True, True] Translation: X:46.97, Y:-0.88, Z:-0.81 [[ 9.99679122e-01 -2.43724244e-02 -6.90202973e-03 4.69729066e+01] [ 2.43731284e-02 9.99702931e-01 1.78859397e-05 -8.81125201e-01] [ 6.89954343e-03 -1.86104257e-04 9.99976181e-01 -8.14048788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.958001145 meters 0.06700142337773089 Centerline is valid? [True, True] Translation: X:47.03, Y:-0.88, Z:-0.81 [[ 9.99737103e-01 -2.22852033e-02 -5.39390373e-03 4.70348410e+01] [ 2.22856043e-02 9.99751645e-01 1.42412985e-05 -8.75798490e-01] [ 5.39224675e-03 -1.34443958e-04 9.99985453e-01 -8.14330948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.018001145 meters 0.06687389033986865 Centerline is valid? [True, True] Translation: X:47.10, Y:-0.87, Z:-0.82 [[ 9.99773870e-01 -2.04569498e-02 -5.80706266e-03 4.70971476e+01] [ 2.04573869e-02 9.99790726e-01 1.58723786e-05 -8.70741035e-01] [ 5.80552269e-03 -1.34666117e-04 9.99983139e-01 -8.18075344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.078001144999995 meters 0.06683122280043073 Centerline is valid? [True, True] Translation: X:47.16, Y:-0.87, Z:-0.82 [[ 9.99804117e-01 -1.85579819e-02 -6.87967197e-03 4.71579419e+01] [ 1.85585499e-02 9.99827775e-01 1.87264588e-05 -8.66201813e-01] [ 6.87813959e-03 -1.46399526e-04 9.99976335e-01 -8.20373040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.138001145 meters 0.06615729092267546 Centerline is valid? [True, True] Translation: X:47.22, Y:-0.86, Z:-0.82 [[ 9.99874698e-01 -1.36056499e-02 -8.09167083e-03 4.72199465e+01] [ 1.36062785e-02 9.99907430e-01 2.26364354e-05 -8.55384676e-01] [ 8.09061380e-03 -1.32731126e-04 9.99967262e-01 -8.21055226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.198001145 meters 0.06495057221672002 Centerline is valid? [True, True] Translation: X:47.28, Y:-0.84, Z:-0.82 [[ 9.99956460e-01 -6.62887642e-03 -6.56787226e-03 4.72815736e+01] [ 6.62913973e-03 9.99978027e-01 1.83211867e-05 -8.42891313e-01] [ 6.56760650e-03 -6.18597320e-05 9.99978431e-01 -8.18962240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.258001144999994 meters 0.06481566102301646 Centerline is valid? [True, True] Translation: X:47.34, Y:-0.84, Z:-0.82 [[ 9.99974823e-01 -1.85603136e-03 -6.84892562e-03 4.73419286e+01] [ 1.85620476e-03 9.99998277e-01 1.89613041e-05 -8.36691970e-01] [ 6.84887863e-03 -3.16738351e-05 9.99976546e-01 -8.24086203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.318001145 meters 0.06517155420634467 Centerline is valid? [True, True] Translation: X:47.40, Y:-0.83, Z:-0.83 [[ 9.99955097e-01 6.22343967e-04 -9.45604999e-03 4.73993344e+01] [-6.22143704e-04 9.99999806e-01 2.41198504e-05 -8.30283158e-01] [ 9.45606317e-03 -1.82357453e-05 9.99955290e-01 -8.28490837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.378001145 meters 0.06513891061692156 Centerline is valid? [True, True] Translation: X:47.46, Y:-0.83, Z:-0.83 [[ 9.99961019e-01 1.05070833e-03 -8.76673993e-03 4.74577756e+01] [-1.05055593e-03 9.99999448e-01 2.19895125e-05 -8.29180113e-01] [ 8.76675820e-03 -1.27787048e-05 9.99961571e-01 -8.30100832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.438001144999994 meters 0.06455165040898841 Centerline is valid? [True, True] Translation: X:47.52, Y:-0.83, Z:-0.82 [[ 9.99979183e-01 -6.07821234e-04 -6.42377916e-03 4.75169795e+01] [ 6.07932617e-04 9.99999815e-01 1.53865419e-05 -8.26643044e-01] [ 6.42376862e-03 -1.92914464e-05 9.99979367e-01 -8.22713104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.498001144999996 meters 0.06447691409657895 Centerline is valid? [True, True] Translation: X:47.58, Y:-0.83, Z:-0.82 [[ 9.99980762e-01 -4.69673325e-03 -4.05177614e-03 4.75756545e+01] [ 4.69680865e-03 9.99988970e-01 9.09436957e-06 -8.28511735e-01] [ 4.05168874e-03 -2.81246119e-05 9.99991791e-01 -8.21257879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.558001145 meters 0.06491629134417108 Centerline is valid? [True, True] Translation: X:47.64, Y:-0.83, Z:-0.82 [[ 9.99957181e-01 -7.88620596e-03 -4.84195512e-03 4.76357407e+01] [ 7.88635785e-03 9.99968902e-01 1.22767098e-05 -8.32125155e-01] [ 4.84170773e-03 -5.04615749e-05 9.99988278e-01 -8.23351791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.618001145 meters 0.06550810050735113 Centerline is valid? [True, True] Translation: X:47.70, Y:-0.83, Z:-0.82 [[ 9.99908918e-01 -1.22686192e-02 -5.62473715e-03 4.76983249e+01] [ 1.22688993e-02 9.99924734e-01 1.52791725e-05 -8.34768635e-01] [ 5.62412635e-03 -8.42871143e-05 9.99984181e-01 -8.23798137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.678001144999996 meters 0.06596585261586006 Centerline is valid? [True, True] Translation: X:47.76, Y:-0.84, Z:-0.83 [[ 9.99866413e-01 -1.39354444e-02 -8.54162560e-03 4.77597970e+01] [ 1.39361484e-02 9.99902887e-01 2.29009419e-05 -8.39030389e-01] [ 8.54047696e-03 -1.41935244e-04 9.99963519e-01 -8.31088137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.738001145 meters 0.06562793337514615 Centerline is valid? [True, True] Translation: X:47.82, Y:-0.84, Z:-0.83 [[ 9.99869378e-01 -1.22855268e-02 -1.05020453e-02 4.78219094e+01] [ 1.22865079e-02 9.99924518e-01 2.89113132e-05 -8.35125074e-01] [ 1.05008974e-02 -1.57940999e-04 9.99944852e-01 -8.31138119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.798001145 meters 0.06456424569082245 Centerline is valid? [True, True] Translation: X:47.88, Y:-0.83, Z:-0.83 [[ 9.99925610e-01 -7.79678009e-03 -9.37997753e-03 4.78826228e+01] [ 7.79737348e-03 9.99969600e-01 2.66917428e-05 -8.29387300e-01] [ 9.37948427e-03 -9.98289452e-05 9.99956007e-01 -8.29556204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.858001144999996 meters 0.06416528050685663 Centerline is valid? [True, True] Translation: X:47.94, Y:-0.83, Z:-0.83 [[ 9.99942429e-01 -4.97413490e-03 -9.50768720e-03 4.79433767e+01] [ 4.97460725e-03 9.99987626e-01 2.60321997e-05 -8.25095929e-01] [ 9.50744007e-03 -7.33277106e-05 9.99954801e-01 -8.29037706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.918001145 meters 0.06418129107575958 Centerline is valid? [True, True] Translation: X:48.00, Y:-0.82, Z:-0.83 [[ 9.99923437e-01 -4.08412597e-03 -1.16807562e-02 4.80015331e+01] [ 4.08476379e-03 9.99991657e-01 3.07473069e-05 -8.23676567e-01] [ 1.16805331e-02 -7.84580826e-05 9.99931777e-01 -8.32460270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.978001145 meters 0.06438240175252812 Centerline is valid? [True, True] Translation: X:48.06, Y:-0.83, Z:-0.83 [[ 9.99908900e-01 -6.18947280e-03 -1.19950671e-02 4.80605800e+01] [ 6.19028520e-03 9.99980840e-01 3.06010286e-05 -8.27352806e-01] [ 1.19946478e-02 -1.04851127e-04 9.99928056e-01 -8.34445783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.038001144999996 meters 0.064171296902974 Centerline is valid? [True, True] Translation: X:48.12, Y:-0.83, Z:-0.83 [[ 9.99910046e-01 -8.04464431e-03 -1.07323364e-02 4.81188827e+01] [ 8.04534965e-03 9.99967635e-01 2.25479921e-05 -8.29530804e-01] [ 1.07318077e-02 -1.08891363e-04 9.99942407e-01 -8.32322188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.098001145 meters 0.06471217073587518 Centerline is valid? [True, True] Translation: X:48.18, Y:-0.83, Z:-0.84 [[ 9.99858601e-01 -1.10991266e-02 -1.26328084e-02 4.81783599e+01] [ 1.11003899e-02 9.99938388e-01 2.98793859e-05 -8.34673916e-01] [ 1.26316984e-02 -1.70104259e-04 9.99920202e-01 -8.35712298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.158001145 meters 0.06478928816254405 Centerline is valid? [True, True] Translation: X:48.24, Y:-0.84, Z:-0.84 [[ 9.99850834e-01 -1.25227193e-02 -1.18950074e-02 4.82382552e+01] [ 1.25239475e-02 9.99921572e-01 2.87596752e-05 -8.37748010e-01] [ 1.18937144e-02 -1.77727833e-04 9.99929251e-01 -8.35598780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.218001144999995 meters 0.06469808293401685 Centerline is valid? [True, True] Translation: X:48.30, Y:-0.84, Z:-0.83 [[ 9.99845360e-01 -1.38346758e-02 -1.08561914e-02 4.83006335e+01] [ 1.38357914e-02 9.99904280e-01 2.76609991e-05 -8.39677213e-01] [ 1.08547696e-02 -1.77860721e-04 9.99941069e-01 -8.33769733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.278001145 meters 0.06470848206260482 Centerline is valid? [True, True] Translation: X:48.36, Y:-0.84, Z:-0.84 [[ 9.99851985e-01 -1.27875348e-02 -1.15103177e-02 4.83630838e+01] [ 1.27887272e-02 9.99918220e-01 2.99944762e-05 -8.38727066e-01] [ 1.15089929e-02 -1.77192350e-04 9.99933754e-01 -8.36102039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.338001145 meters 0.06463680488107754 Centerline is valid? [True, True] Translation: X:48.42, Y:-0.84, Z:-0.84 [[ 9.99857800e-01 -1.19691777e-02 -1.18793704e-02 4.84248920e+01] [ 1.19703891e-02 9.99928352e-01 3.08746297e-05 -8.38485971e-01] [ 1.18781497e-02 -1.73070926e-04 9.99929437e-01 -8.36835520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.398001144999995 meters 0.06440428217866687 Centerline is valid? [True, True] Translation: X:48.49, Y:-0.84, Z:-0.84 [[ 9.99849863e-01 -1.22042130e-02 -1.23007255e-02 4.84862091e+01] [ 1.22055345e-02 9.99925509e-01 3.23631122e-05 -8.40026346e-01] [ 1.22994142e-02 -1.82495182e-04 9.99924343e-01 -8.37114836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.458001145 meters 0.0642309567064281 Centerline is valid? [True, True] Translation: X:48.55, Y:-0.84, Z:-0.84 [[ 9.99861876e-01 -1.17037875e-02 -1.18004763e-02 4.85478891e+01] [ 1.17049737e-02 9.99931494e-01 3.14553077e-05 -8.37916253e-01] [ 1.17992998e-02 -1.69575228e-04 9.99930371e-01 -8.36405002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.518001145 meters 0.06477475698550916 Centerline is valid? [True, True] Translation: X:48.61, Y:-0.84, Z:-0.84 [[ 9.99856853e-01 -1.27223354e-02 -1.11541539e-02 4.86087354e+01] [ 1.27234673e-02 9.99919053e-01 3.05227222e-05 -8.42287647e-01] [ 1.11528626e-02 -1.72437865e-04 9.99937790e-01 -8.39662347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.578001144999995 meters 0.06466521833668086 Centerline is valid? [True, True] Translation: X:48.67, Y:-0.84, Z:-0.84 [[ 9.99865603e-01 -1.32040441e-02 -9.71751756e-03 4.86702632e+01] [ 1.32049275e-02 9.99912811e-01 2.67544293e-05 -8.42922739e-01] [ 9.71631703e-03 -1.55069949e-04 9.99952783e-01 -8.37939137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.638001145 meters 0.06421936152717696 Centerline is valid? [True, True] Translation: X:48.73, Y:-0.84, Z:-0.84 [[ 9.99879429e-01 -1.23873849e-02 -9.36372781e-03 4.87328058e+01] [ 1.23881798e-02 9.99923263e-01 2.69007425e-05 -8.41742913e-01] [ 9.36267603e-03 -1.42897043e-04 9.99956159e-01 -8.37819606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.698001145 meters 0.06414065713753206 Centerline is valid? [True, True] Translation: X:48.79, Y:-0.84, Z:-0.84 [[ 9.99893045e-01 -1.02506097e-02 -1.04318417e-02 4.87940904e+01] [ 1.02514818e-02 9.99947452e-01 3.01269842e-05 -8.40082074e-01] [ 1.04309847e-02 -1.37065598e-04 9.99945586e-01 -8.41953729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.758001144999994 meters 0.0637357358913983 Centerline is valid? [True, True] Translation: X:48.86, Y:-0.83, Z:-0.84 [[ 9.99907905e-01 -8.52535748e-03 -1.05593443e-02 4.88554252e+01] [ 8.52615601e-03 9.99963651e-01 3.06088220e-05 -8.34561786e-01] [ 1.05586995e-02 -1.20636620e-04 9.99944248e-01 -8.38590291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.818001145 meters 0.06333004504102309 Centerline is valid? [True, True] Translation: X:48.92, Y:-0.83, Z:-0.84 [[ 9.99941313e-01 -7.68882013e-03 -7.63232709e-03 4.89158797e+01] [ 7.68921039e-03 9.99970437e-01 2.17898376e-05 -8.32634298e-01] [ 7.63193392e-03 -8.04751276e-05 9.99970873e-01 -8.36366353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.878001145 meters 0.06339679710551537 Centerline is valid? [True, True] Translation: X:48.98, Y:-0.83, Z:-0.84 [[ 9.99960294e-01 -6.43228543e-03 -6.16739554e-03 4.89767160e+01] [ 6.43252043e-03 9.99979311e-01 1.82678258e-05 -8.33193629e-01] [ 6.16715044e-03 -5.79389982e-05 9.99980981e-01 -8.38878573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.938001144999994 meters 0.06329700778190073 Centerline is valid? [True, True] Translation: X:49.04, Y:-0.83, Z:-0.84 [[ 9.99957337e-01 -6.21583582e-03 -6.83278558e-03 4.90384215e+01] [ 6.21612043e-03 9.99980680e-01 2.04171150e-05 -8.33797339e-01] [ 6.83252665e-03 -6.28896619e-05 9.99976656e-01 -8.40577272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.998001144999996 meters 0.06324615007860548 Centerline is valid? [True, True] Translation: X:49.10, Y:-0.84, Z:-0.84 [[ 9.99956011e-01 -8.02501365e-03 -4.85540626e-03 4.90986830e+01] [ 8.02518261e-03 9.99967798e-01 1.53151309e-05 -8.37357991e-01] [ 4.85512700e-03 -5.42799791e-05 9.99988212e-01 -8.39465571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.058001145 meters 0.06310627126865674 Centerline is valid? [True, True] Translation: X:49.16, Y:-0.84, Z:-0.84 [[ 9.99963723e-01 -7.56301647e-03 -3.91828924e-03 4.91609840e+01] [ 7.56312477e-03 9.99971399e-01 1.28215425e-05 -8.38042272e-01] [ 3.91808020e-03 -4.24555878e-05 9.99992323e-01 -8.38536966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.118001145 meters 0.06245351574864843 Centerline is valid? [True, True] Translation: X:49.22, Y:-0.83, Z:-0.84 [[ 9.99988658e-01 -3.39675678e-03 -3.33843634e-03 4.92226560e+01] [ 3.39681148e-03 9.99994231e-01 1.07168355e-05 -8.34950275e-01] [ 3.33838068e-03 -2.20567529e-05 9.99994427e-01 -8.35979457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.178001144999996 meters 0.06251860448610733 Centerline is valid? [True, True] Translation: X:49.28, Y:-0.83, Z:-0.84 [[ 9.99989689e-01 1.56380201e-03 -4.26330283e-03 4.92831808e+01] [-1.56376032e-03 9.99998777e-01 1.31130573e-05 -8.32624672e-01] [ 4.26331812e-03 -6.44613830e-06 9.99990912e-01 -8.40438455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.238001145 meters 0.06243762972458511 Centerline is valid? [True, True] Translation: X:49.34, Y:-0.83, Z:-0.84 [[ 9.99984503e-01 2.90693071e-03 -4.74792339e-03 4.93418898e+01] [-2.90691383e-03 9.99995775e-01 1.04558115e-05 -8.33949588e-01] [ 4.74793372e-03 3.34615466e-06 9.99988728e-01 -8.42287974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.298001145 meters 0.06233373667177884 Centerline is valid? [True, True] Translation: X:49.40, Y:-0.84, Z:-0.84 [[ 9.99985789e-01 2.01642398e-03 -4.93519680e-03 4.94009792e+01] [-2.01638508e-03 9.99997967e-01 1.28576981e-05 -8.35266694e-01] [ 4.93521270e-03 -2.90625815e-06 9.99987822e-01 -8.42251014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.358001144999996 meters 0.062374504809632324 Centerline is valid? [True, True] Translation: X:49.46, Y:-0.84, Z:-0.84 [[ 9.99986189e-01 -8.30059762e-04 -5.18967106e-03 4.94599625e+01] [ 8.30139674e-04 9.99999655e-01 1.32442739e-05 -8.41650305e-01] [ 5.18965828e-03 -1.75522428e-05 9.99986533e-01 -8.42679210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.418001145 meters 0.06253978449206568 Centerline is valid? [True, True] Translation: X:49.52, Y:-0.85, Z:-0.84 [[ 9.99972768e-01 -3.56031580e-03 -6.46427582e-03 4.95180902e+01] [ 3.56049359e-03 9.99993661e-01 1.59952119e-05 -8.47450231e-01] [ 6.46417790e-03 -3.90107889e-05 9.99979106e-01 -8.44126852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.478001145 meters 0.06264418208269025 Centerline is valid? [True, True] Translation: X:49.58, Y:-0.85, Z:-0.85 [[ 9.99975534e-01 -3.81898542e-03 -5.86061697e-03 4.95780179e+01] [ 3.81913815e-03 9.99992707e-01 1.48695633e-05 -8.52172454e-01] [ 5.86051744e-03 -3.72517053e-05 9.99982826e-01 -8.45028375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.538001144999996 meters 0.06260103708423974 Centerline is valid? [True, True] Translation: X:49.64, Y:-0.86, Z:-0.84 [[ 9.99977589e-01 -3.05533232e-03 -5.95713010e-03 4.96373672e+01] [ 3.05547538e-03 9.99995332e-01 1.49138617e-05 -8.55611385e-01] [ 5.95705672e-03 -3.31153918e-05 9.99982256e-01 -8.44863676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.598001145 meters 0.06260410430715585 Centerline is valid? [True, True] Translation: X:49.70, Y:-0.86, Z:-0.84 [[ 9.99980138e-01 -2.69101794e-03 -5.69923282e-03 4.96962094e+01] [ 2.69114000e-03 9.99996379e-01 1.37488063e-05 -8.55809432e-01] [ 5.69917519e-03 -2.90859666e-05 9.99983759e-01 -8.43774993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.658001145 meters 0.06266487821750498 Centerline is valid? [True, True] Translation: X:49.76, Y:-0.86, Z:-0.84 [[ 9.99994512e-01 -2.88977492e-03 -1.62049092e-03 4.97556608e+01] [ 2.88978456e-03 9.99995825e-01 3.60622992e-06 -8.63403503e-01] [ 1.62047373e-03 -8.28907976e-06 9.99998687e-01 -8.41819384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.718001144999995 meters 0.062439137543828425 Centerline is valid? [True, True] Translation: X:49.82, Y:-0.87, Z:-0.84 [[ 9.99997662e-01 -2.10874428e-03 4.78577663e-04 4.98165718e+01] [ 2.10874489e-03 9.99997777e-01 -7.72859679e-07 -8.66865390e-01] [-4.78574969e-04 1.78205607e-06 9.99999885e-01 -8.40557937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.778001145 meters 0.06257276823297526 Centerline is valid? [True, True] Translation: X:49.88, Y:-0.87, Z:-0.84 [[ 9.99999109e-01 1.33012457e-03 -1.12600147e-04 4.98786675e+01] [-1.33012444e-03 9.99999115e-01 1.16071050e-06 -8.66782913e-01] [ 1.12601591e-04 -1.01093726e-06 9.99999994e-01 -8.42614909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.838001145 meters 0.06297964752605588 Centerline is valid? [True, True] Translation: X:49.94, Y:-0.87, Z:-0.85 [[ 9.99982437e-01 4.29342232e-03 -4.08551571e-03 4.99383141e+01] [-4.29341597e-03 9.99990783e-01 1.03231029e-05 -8.69504047e-01] [ 4.08552238e-03 7.21789685e-06 9.99991654e-01 -8.48873442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.898001144999995 meters 0.06280536576834422 Centerline is valid? [True, True] Translation: X:50.00, Y:-0.87, Z:-0.85 [[ 9.99985032e-01 4.54183796e-03 -3.05070647e-03 4.99969434e+01] [-4.54183833e-03 9.99989686e-01 6.80795063e-06 -8.73863682e-01] [ 3.05070592e-03 7.04796682e-06 9.99995347e-01 -8.48439846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.958001145 meters 0.06290134405105613 Centerline is valid? [True, True] Translation: X:50.05, Y:-0.88, Z:-0.85 [[ 9.99986983e-01 4.25684820e-03 -2.81288881e-03 5.00544458e+01] [-4.25684874e-03 9.99990940e-01 5.79427720e-06 -8.77048226e-01] [ 2.81288798e-03 6.17984039e-06 9.99996044e-01 -8.50189385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.018001145 meters 0.0630069514675386 Centerline is valid? [True, True] Translation: X:50.11, Y:-0.88, Z:-0.85 [[ 9.99971418e-01 6.14130091e-03 -4.41000932e-03 5.01129285e+01] [-6.14133067e-03 9.99981142e-01 6.79442805e-06 -8.79785349e-01] [ 4.40996788e-03 2.02890916e-05 9.99990276e-01 -8.51097708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.078001144999995 meters 0.06335531899710653 Centerline is valid? [True, True] Translation: X:50.17, Y:-0.88, Z:-0.86 [[ 9.99957624e-01 7.58684054e-03 -5.21445097e-03 5.01702844e+01] [-7.58689369e-03 9.99971219e-01 9.58738959e-06 -8.81604684e-01] [ 5.21437363e-03 2.99745019e-05 9.99986405e-01 -8.55311453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.138001145 meters 0.0633741763799136 Centerline is valid? [True, True] Translation: X:50.23, Y:-0.89, Z:-0.86 [[ 9.99954703e-01 6.24277494e-03 -7.18466227e-03 5.02284975e+01] [-6.24284248e-03 9.99980513e-01 1.30259578e-05 -8.85867510e-01] [ 7.18460359e-03 3.18273471e-05 9.99974190e-01 -8.55713944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.198001145 meters 0.06352581660056617 Centerline is valid? [True, True] Translation: X:50.29, Y:-0.89, Z:-0.86 [[ 9.99970304e-01 3.27018919e-03 -6.97828746e-03 5.02869191e+01] [-3.27017957e-03 9.99994653e-01 1.27892689e-05 -8.91629915e-01] [ 6.97829197e-03 1.00313640e-05 9.99975651e-01 -8.57489140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.258001144999994 meters 0.06356814147926036 Centerline is valid? [True, True] Translation: X:50.35, Y:-0.90, Z:-0.86 [[ 9.99976782e-01 -9.12469790e-04 -6.75296397e-03 5.03453134e+01] [ 9.12571288e-04 9.99999584e-01 1.19488978e-05 -8.99015868e-01] [ 6.75295026e-03 -1.81111814e-05 9.99977198e-01 -8.57884724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.318001145 meters 0.06367153474432823 Centerline is valid? [True, True] Translation: X:50.40, Y:-0.91, Z:-0.86 [[ 9.99971329e-01 -3.89593909e-03 -6.49330271e-03 5.04037067e+01] [ 3.89609278e-03 9.99992410e-01 1.10200954e-05 -9.05100591e-01] [ 6.49321050e-03 -3.63182892e-05 9.99978918e-01 -8.57931269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.378001145 meters 0.0640753522564425 Centerline is valid? [True, True] Translation: X:50.46, Y:-0.91, Z:-0.86 [[ 9.99949782e-01 -5.43226809e-03 -8.42161980e-03 5.04622269e+01] [ 5.43257974e-03 9.99985243e-01 1.41305691e-05 -9.07149312e-01] [ 8.42141877e-03 -5.98809806e-05 9.99964537e-01 -8.62093299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.438001144999994 meters 0.06429195664866405 Centerline is valid? [True, True] Translation: X:50.52, Y:-0.91, Z:-0.87 [[ 9.99945381e-01 -6.76063448e-03 -7.97045435e-03 5.05211855e+01] [ 6.76095434e-03 9.99977144e-01 1.31875309e-05 -9.11348564e-01] [ 7.97018303e-03 -6.70746886e-05 9.99968235e-01 -8.66039379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.498001144999996 meters 0.06433769517469688 Centerline is valid? [True, True] Translation: X:50.58, Y:-0.91, Z:-0.87 [[ 9.99945962e-01 -7.64984151e-03 -7.03938070e-03 5.05813599e+01] [ 7.65011685e-03 9.99970737e-01 1.21878052e-05 -9.14650069e-01] [ 7.03908147e-03 -6.60392315e-05 9.99975223e-01 -8.66282711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.558001145 meters 0.06451782709593744 Centerline is valid? [True, True] Translation: X:50.64, Y:-0.91, Z:-0.87 [[ 9.99941728e-01 -8.13902768e-03 -7.09196394e-03 5.06424062e+01] [ 8.13932373e-03 9.99966875e-01 1.28822944e-05 -9.14116547e-01] [ 7.09162417e-03 -7.06053341e-05 9.99974852e-01 -8.67539121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.618001145 meters 0.06447645895759498 Centerline is valid? [True, True] Translation: X:50.70, Y:-0.91, Z:-0.87 [[ 9.99952294e-01 -5.44552857e-03 -8.10898464e-03 5.07031063e+01] [ 5.44583189e-03 9.99985171e-01 1.53253485e-05 -9.11479652e-01] [ 8.10878094e-03 -5.94847846e-05 9.99967122e-01 -8.70554624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.678001144999996 meters 0.06432538328389402 Centerline is valid? [True, True] Translation: X:50.76, Y:-0.91, Z:-0.87 [[ 9.99950837e-01 2.92323762e-04 -9.91153100e-03 5.07629785e+01] [-2.92167465e-04 9.99999957e-01 1.72171246e-05 -9.05152638e-01] [ 9.91153561e-03 -1.43204512e-05 9.99950879e-01 -8.72004085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.738001145 meters 0.06439614074211876 Centerline is valid? [True, True] Translation: X:50.82, Y:-0.90, Z:-0.87 [[ 9.99945642e-01 2.53593622e-03 -1.01134440e-02 5.08210036e+01] [-2.53594070e-03 9.99996784e-01 1.23808652e-05 -9.01696273e-01] [ 1.01134429e-02 1.32669021e-05 9.99948858e-01 -8.71819193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.798001145 meters 0.06414410296204845 Centerline is valid? [True, True] Translation: X:50.88, Y:-0.90, Z:-0.87 [[ 9.99954305e-01 3.68304569e-03 -8.82173659e-03 5.08800334e+01] [-3.68311209e-03 9.99993217e-01 8.71833649e-06 -8.98397993e-01] [ 8.82170886e-03 2.37735066e-05 9.99961088e-01 -8.65965268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.858001144999996 meters 0.0641994683419003 Centerline is valid? [True, True] Translation: X:50.94, Y:-0.90, Z:-0.87 [[ 9.99960658e-01 3.78480790e-03 -8.02237760e-03 5.09388313e+01] [-3.78485481e-03 9.99992837e-01 9.33503230e-06 -8.99387517e-01] [ 8.02235546e-03 2.10288694e-05 9.99967820e-01 -8.67502927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.918001145 meters 0.0643443001940624 Centerline is valid? [True, True] Translation: X:51.00, Y:-0.90, Z:-0.87 [[ 9.99958991e-01 3.31092544e-03 -8.42933183e-03 5.09962558e+01] [-3.31096700e-03 9.99994519e-01 9.02411322e-06 -9.01467612e-01] [ 8.42931550e-03 1.88854964e-05 9.99964473e-01 -8.70872502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.978001145 meters 0.06416864129843919 Centerline is valid? [True, True] Translation: X:51.06, Y:-0.90, Z:-0.87 [[ 9.99972167e-01 2.29198839e-03 -7.10012660e-03 5.10555379e+01] [-2.29199278e-03 9.99997373e-01 7.51874112e-06 -9.01737248e-01] [ 7.10012518e-03 8.75490706e-06 9.99974794e-01 -8.68404397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.038001144999996 meters 0.06407591538410552 Centerline is valid? [True, True] Translation: X:51.11, Y:-0.91, Z:-0.87 [[ 9.99983894e-01 1.41918188e-05 -5.67552521e-03 5.11147313e+01] [-1.41663229e-05 1.00000000e+00 4.53244674e-06 -9.05240200e-01] [ 5.67552528e-03 -4.45197242e-06 9.99983894e-01 -8.69629651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.098001145 meters 0.06466859807487321 Centerline is valid? [True, True] Translation: X:51.17, Y:-0.91, Z:-0.88 [[ 9.99979232e-01 -3.97380869e-03 -5.07382078e-03 5.11719373e+01] [ 3.97387962e-03 9.99992104e-01 3.89871432e-06 -9.11739767e-01] [ 5.07376523e-03 -2.40613864e-05 9.99987128e-01 -8.75875853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.158001145 meters 0.06515326564338081 Centerline is valid? [True, True] Translation: X:51.23, Y:-0.92, Z:-0.87 [[ 9.99908445e-01 -1.19927487e-02 -6.26709531e-03 5.12318236e+01] [ 1.19930205e-02 9.99928081e-01 5.80180985e-06 -9.18390775e-01] [ 6.26657501e-03 -8.09626815e-05 9.99980362e-01 -8.74240263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.218001144999995 meters 0.06709543087100021 Centerline is valid? [True, True] Translation: X:51.29, Y:-0.93, Z:-0.88 [[ 9.99853402e-01 -1.59619482e-02 -6.19608659e-03 5.12929954e+01] [ 1.59622971e-02 9.99872594e-01 6.85840052e-06 -9.29371067e-01] [ 6.19518770e-03 -1.05761170e-04 9.99980804e-01 -8.83369856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.278001145 meters 0.06634783389474075 Centerline is valid? [True, True] Translation: X:51.36, Y:-0.93, Z:-0.88 [[ 9.99792376e-01 -1.90142817e-02 -7.32540972e-03 5.13555559e+01] [ 1.90148554e-02 9.99819201e-01 8.67076578e-06 -9.25685371e-01] [ 7.32392042e-03 -1.47960572e-04 9.99973169e-01 -8.78240528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.338001145 meters 0.06683953445474225 Centerline is valid? [True, True] Translation: X:51.42, Y:-0.92, Z:-0.88 [[ 9.99770822e-01 -2.01325740e-02 -7.27894248e-03 5.14178561e+01] [ 2.01331734e-02 9.99797307e-01 9.06684065e-06 -9.24672827e-01] [ 7.27728455e-03 -1.55612974e-04 9.99973508e-01 -8.79296307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.398001144999995 meters 0.06733244654418254 Centerline is valid? [True, True] Translation: X:51.48, Y:-0.92, Z:-0.88 [[ 9.99763044e-01 -2.07593884e-02 -6.55007173e-03 5.14812653e+01] [ 2.07598945e-02 9.99784490e-01 9.26779220e-06 -9.22046235e-01] [ 6.54846774e-03 -1.45244394e-04 9.99978548e-01 -8.80150618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.458001145 meters 0.06802812511482698 Centerline is valid? [True, True] Translation: X:51.54, Y:-0.92, Z:-0.88 [[ 9.99741096e-01 -2.16591382e-02 -6.97303835e-03 5.15427867e+01] [ 2.16597306e-02 9.99765400e-01 9.44825814e-06 -9.18421714e-01] [ 6.97119783e-03 -1.60479944e-04 9.99975688e-01 -8.83205020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.518001145 meters 0.06869316982574736 Centerline is valid? [True, True] Translation: X:51.61, Y:-0.92, Z:-0.89 [[ 9.99724886e-01 -2.25208992e-02 -6.55446111e-03 5.16051826e+01] [ 2.25214453e-02 9.99746360e-01 9.50893531e-06 -9.16482826e-01] [ 6.55258449e-03 -1.57122257e-04 9.99978519e-01 -8.85968684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.578001144999995 meters 0.06782564112862223 Centerline is valid? [True, True] Translation: X:51.67, Y:-0.91, Z:-0.88 [[ 9.99722668e-01 -2.28645431e-02 -5.63912763e-03 5.16676260e+01] [ 2.28649559e-02 9.99738563e-01 8.74507186e-06 -9.10539209e-01] [ 5.63745340e-03 -1.37681051e-04 9.99984100e-01 -8.84454364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.638001145 meters 0.06919985267336383 Centerline is valid? [True, True] Translation: X:51.73, Y:-0.91, Z:-0.89 [[ 9.99735042e-01 -2.25876332e-02 -4.43232924e-03 5.17293116e+01] [ 2.25878876e-02 9.99744861e-01 7.33949034e-06 -9.08772095e-01] [ 4.43103259e-03 -1.07454500e-04 9.99990177e-01 -8.87646840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.698001145 meters 0.06799543445048732 Centerline is valid? [True, True] Translation: X:51.79, Y:-0.90, Z:-0.89 [[ 9.99795901e-01 -1.99660037e-02 -3.08464017e-03 5.17909179e+01] [ 1.99661142e-02 9.99800657e-01 5.02118848e-06 -8.99831335e-01] [ 3.08392502e-03 -6.66084415e-05 9.99995242e-01 -8.85464978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.758001144999994 meters 0.06771514865468405 Centerline is valid? [True, True] Translation: X:51.85, Y:-0.90, Z:-0.89 [[ 9.99812426e-01 -1.88932699e-02 -4.26121959e-03 5.18542640e+01] [ 1.88934758e-02 9.99821502e-01 8.07012410e-06 -8.96599361e-01] [ 4.26030650e-03 -8.85778594e-05 9.99990921e-01 -8.87584852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.818001145 meters 0.0675134016830445 Centerline is valid? [True, True] Translation: X:51.92, Y:-0.89, Z:-0.89 [[ 9.99843410e-01 -1.70756395e-02 -4.64524155e-03 5.19165744e+01] [ 1.70758633e-02 9.99854197e-01 8.51809660e-06 -8.89564056e-01] [ 4.64441880e-03 -8.78382723e-05 9.99989211e-01 -8.88141801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.878001145 meters 0.0672657448731648 Centerline is valid? [True, True] Translation: X:51.98, Y:-0.89, Z:-0.89 [[ 9.99884509e-01 -1.43845557e-02 -4.90444174e-03 5.19788814e+01] [ 1.43847740e-02 9.99896534e-01 9.23841425e-06 -8.86840022e-01] [ 4.90380140e-03 -7.97866333e-05 9.99987973e-01 -8.90584031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.938001144999994 meters 0.06646313081114706 Centerline is valid? [True, True] Translation: X:52.04, Y:-0.88, Z:-0.89 [[ 9.99939866e-01 -9.83113554e-03 -4.85930809e-03 5.20415160e+01] [ 9.83129936e-03 9.99951672e-01 9.82644712e-06 -8.79073902e-01] [ 4.85897664e-03 -5.75991688e-05 9.99988193e-01 -8.89687718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.998001144999996 meters 0.06629251243736639 Centerline is valid? [True, True] Translation: X:52.10, Y:-0.87, Z:-0.89 [[ 9.99961722e-01 -5.87974428e-03 -6.47936395e-03 5.21039063e+01] [ 5.87995153e-03 9.99982713e-01 1.29370130e-05 -8.69571965e-01] [ 6.47917587e-03 -5.10348637e-05 9.99979009e-01 -8.89530086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.058001145 meters 0.06619818916880547 Centerline is valid? [True, True] Translation: X:52.16, Y:-0.87, Z:-0.89 [[ 9.99962486e-01 -4.29388580e-03 -7.52263928e-03 5.21647678e+01] [ 4.29411214e-03 9.99990780e-01 1.39358193e-05 -8.65850303e-01] [ 7.52251008e-03 -4.62383532e-05 9.99971704e-01 -8.90613837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.118001145 meters 0.06604321632728447 Centerline is valid? [True, True] Translation: X:52.22, Y:-0.86, Z:-0.89 [[ 9.99970078e-01 -5.00743924e-03 -5.89645329e-03 5.22240807e+01] [ 5.00758682e-03 9.99987462e-01 1.02656973e-05 -8.64079629e-01] [ 5.89632795e-03 -3.97923920e-05 9.99982616e-01 -8.91074655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.178001144999996 meters 0.06619596078417027 Centerline is valid? [True, True] Translation: X:52.28, Y:-0.86, Z:-0.89 [[ 9.99975474e-01 -5.27367506e-03 -4.60858078e-03 5.22835196e+01] [ 5.27376832e-03 9.99986094e-01 8.08329570e-06 -8.64717791e-01] [ 4.60847406e-03 -3.23876848e-05 9.99989380e-01 -8.92954100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.238001145 meters 0.06636538038417297 Centerline is valid? [True, True] Translation: X:52.35, Y:-0.86, Z:-0.90 [[ 9.99960779e-01 -6.53841610e-03 -5.97408970e-03 5.23450558e+01] [ 6.53860093e-03 9.99978623e-01 1.14081633e-05 -8.64611554e-01] [ 5.97388740e-03 -5.04699043e-05 9.99982155e-01 -8.95073825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.298001145 meters 0.06668498844729609 Centerline is valid? [True, True] Translation: X:52.41, Y:-0.87, Z:-0.89 [[ 9.99918610e-01 -1.06321091e-02 -7.05209121e-03 5.24067302e+01] [ 1.06324696e-02 9.99943474e-01 1.36165344e-05 -8.65419778e-01] [ 7.05154781e-03 -8.85965713e-05 9.99975134e-01 -8.93226529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.358001144999996 meters 0.06735590029834608 Centerline is valid? [True, True] Translation: X:52.47, Y:-0.87, Z:-0.90 [[ 9.99870758e-01 -1.42880268e-02 -7.37017587e-03 5.24677716e+01] [ 1.42885309e-02 9.99897914e-01 1.57467876e-05 -8.69954597e-01] [ 7.36919848e-03 -1.21053738e-04 9.99972840e-01 -8.97279197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.418001145 meters 0.06814335280852604 Centerline is valid? [True, True] Translation: X:52.53, Y:-0.87, Z:-0.90 [[ 9.99811983e-01 -1.65158130e-02 -1.01600000e-02 5.25284967e+01] [ 1.65168753e-02 9.99863587e-01 2.06514090e-05 -8.70418447e-01] [ 1.01582730e-02 -1.88458980e-04 9.99948386e-01 -9.01547836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.478001145 meters 0.06870978952822078 Centerline is valid? [True, True] Translation: X:52.59, Y:-0.87, Z:-0.91 [[ 9.99778281e-01 -1.83377622e-02 -1.03496461e-02 5.25905907e+01] [ 1.83389733e-02 9.99831827e-01 2.21114424e-05 -8.71127131e-01] [ 1.03475001e-02 -2.11908424e-04 9.99946441e-01 -9.05667771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.538001144999996 meters 0.06881514855913938 Centerline is valid? [True, True] Translation: X:52.65, Y:-0.87, Z:-0.91 [[ 9.99796289e-01 -1.81322464e-02 -8.86579835e-03 5.26533474e+01] [ 1.81331360e-02 9.99835581e-01 1.99567253e-05 -8.68229516e-01] [ 8.86397879e-03 -1.80717387e-04 9.99960698e-01 -9.06155484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.598001145 meters 0.0688453651001992 Centerline is valid? [True, True] Translation: X:52.71, Y:-0.86, Z:-0.91 [[ 9.99822561e-01 -1.72297838e-02 -7.61456872e-03 5.27144492e+01] [ 1.72304143e-02 9.99851545e-01 1.72098824e-05 -8.61857319e-01] [ 7.61314178e-03 -1.48409003e-04 9.99971009e-01 -9.06938175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.658001145 meters 0.06811216082968757 Centerline is valid? [True, True] Translation: X:52.78, Y:-0.85, Z:-0.91 [[ 9.99822546e-01 -1.62818629e-02 -9.47514200e-03 5.27762914e+01] [ 1.62828037e-02 9.99867426e-01 2.21466238e-05 -8.54650461e-01] [ 9.47352525e-03 -1.76424571e-04 9.99955110e-01 -9.06315582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.718001144999995 meters 0.06815873614761048 Centerline is valid? [True, True] Translation: X:52.84, Y:-0.85, Z:-0.91 [[ 9.99817236e-01 -1.56905472e-02 -1.09225547e-02 5.28388173e+01] [ 1.56917682e-02 9.99876876e-01 2.60944134e-05 -8.51668562e-01] [ 1.09208004e-02 -1.97483840e-04 9.99940347e-01 -9.10602607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.778001145 meters 0.06766072904526904 Centerline is valid? [True, True] Translation: X:52.90, Y:-0.84, Z:-0.91 [[ 9.99859501e-01 -1.13051984e-02 -1.23762127e-02 5.29014019e+01] [ 1.13064393e-02 9.99936080e-01 3.03008354e-05 -8.40375148e-01] [ 1.23750791e-02 -1.70227476e-04 9.99923411e-01 -9.14036995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.838001145 meters 0.06688059950396584 Centerline is valid? [True, True] Translation: X:52.96, Y:-0.83, Z:-0.92 [[ 9.99917974e-01 -3.52766180e-03 -1.23126643e-02 5.29621975e+01] [ 3.52828889e-03 9.99993775e-01 2.92084416e-05 -8.27070846e-01] [ 1.23124846e-02 -7.26486825e-05 9.99924196e-01 -9.16655964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.898001144999995 meters 0.06680242156227073 Centerline is valid? [True, True] Translation: X:53.02, Y:-0.82, Z:-0.92 [[ 9.99920178e-01 1.40624267e-03 -1.25563137e-02 5.30198805e+01] [-1.40600649e-03 9.99999011e-01 2.76374618e-05 -8.16879231e-01] [ 1.25563401e-02 -9.98099714e-06 9.99921166e-01 -9.16825906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.958001145 meters 0.0669357709385599 Centerline is valid? [True, True] Translation: X:53.08, Y:-0.80, Z:-0.92 [[ 9.99891730e-01 7.80744153e-03 -1.24728392e-02 5.30781306e+01] [-7.80776760e-03 9.99969519e-01 2.25523731e-05 -8.03237482e-01] [ 1.24726351e-02 7.48350984e-05 9.99922211e-01 -9.16268291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.018001145 meters 0.06733723514833427 Centerline is valid? [True, True] Translation: X:53.14, Y:-0.80, Z:-0.92 [[ 9.99849299e-01 1.03883002e-02 -1.39090825e-02 5.31361414e+01] [-1.03889367e-02 9.99946033e-01 2.64922422e-05 -7.98515765e-01] [ 1.39086071e-02 1.18012328e-04 9.99903264e-01 -9.21099315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.078001144999995 meters 0.067834017117821 Centerline is valid? [True, True] Translation: X:53.20, Y:-0.80, Z:-0.93 [[ 9.99803917e-01 1.15552492e-02 -1.60811730e-02 5.31953518e+01] [-1.15562529e-02 9.99933224e-01 3.05099503e-05 -7.95205934e-01] [ 1.60804517e-02 1.55334134e-04 9.99870689e-01 -9.27065163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.138001145 meters 0.06805455208476538 Centerline is valid? [True, True] Translation: X:53.25, Y:-0.79, Z:-0.93 [[ 9.99801055e-01 1.07525040e-02 -1.67998082e-02 5.32540615e+01] [-1.07535876e-02 9.99942178e-01 2.58370566e-05 -7.94704568e-01] [ 1.67991147e-02 1.54826293e-04 9.99858873e-01 -9.29133746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.198001145 meters 0.06778617171720096 Centerline is valid? [True, True] Translation: X:53.31, Y:-0.79, Z:-0.93 [[ 9.99860675e-01 7.87114108e-03 -1.47198822e-02 5.33122777e+01] [-7.87164710e-03 9.99969018e-01 2.35620912e-05 -7.93616811e-01] [ 1.47196116e-02 9.23109099e-05 9.99891656e-01 -9.29678122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.258001144999994 meters 0.06720094477862916 Centerline is valid? [True, True] Translation: X:53.37, Y:-0.80, Z:-0.93 [[ 9.99885014e-01 5.49069482e-03 -1.41354459e-02 5.33714366e+01] [-5.49093822e-03 9.99984924e-01 2.15919176e-05 -7.98513458e-01] [ 1.41353514e-02 5.60274254e-05 9.99900089e-01 -9.26384598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.318001145 meters 0.06704544737892253 Centerline is valid? [True, True] Translation: X:53.43, Y:-0.80, Z:-0.93 [[ 9.99913683e-01 4.91464137e-03 -1.21849201e-02 5.34298506e+01] [-4.91479059e-03 9.99987922e-01 1.76981219e-05 -7.98744305e-01] [ 1.21848599e-02 4.21897365e-05 9.99925761e-01 -9.26848825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.378001145 meters 0.0671026623632363 Centerline is valid? [True, True] Translation: X:53.49, Y:-0.80, Z:-0.93 [[ 9.99906565e-01 4.28235227e-03 -1.29816242e-02 5.34889392e+01] [-4.28247835e-03 9.99990830e-01 1.80857234e-05 -7.96365390e-01] [ 1.29815826e-02 3.75094909e-05 9.99915735e-01 -9.26928920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.438001144999994 meters 0.06707389454736504 Centerline is valid? [True, True] Translation: X:53.55, Y:-0.80, Z:-0.93 [[ 9.99915153e-01 3.92931420e-03 -1.24195945e-02 5.35478803e+01] [-3.92941284e-03 9.99992280e-01 1.64590601e-05 -7.97269302e-01] [ 1.24195633e-02 3.23440504e-05 9.99922874e-01 -9.28259837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.498001144999996 meters 0.06717184682927405 Centerline is valid? [True, True] Translation: X:53.61, Y:-0.80, Z:-0.93 [[ 9.99933603e-01 1.20120004e-03 -1.14606834e-02 5.36053637e+01] [-1.20112922e-03 9.99999279e-01 1.30631485e-05 -8.01310582e-01] [ 1.14606908e-02 7.03480564e-07 9.99934324e-01 -9.31477801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.558001145 meters 0.06740392267186524 Centerline is valid? [True, True] Translation: X:53.66, Y:-0.81, Z:-0.93 [[ 9.99922360e-01 -2.83026165e-03 -1.21352191e-02 5.36638382e+01] [ 2.83063897e-03 9.99995994e-01 1.39165924e-05 -8.06824238e-01] [ 1.21351311e-02 -4.82659359e-05 9.99926365e-01 -9.32884322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.618001144999994 meters 0.0675084909538745 Centerline is valid? [True, True] Translation: X:53.72, Y:-0.81, Z:-0.93 [[ 9.99919294e-01 -6.86464797e-03 -1.06902385e-02 5.37228330e+01] [ 6.86516321e-03 9.99976434e-01 1.15018417e-05 -8.10609233e-01] [ 1.06899076e-02 -8.48911456e-05 9.99942858e-01 -9.30969629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.678001144999996 meters 0.06769908213621054 Centerline is valid? [True, True] Translation: X:53.78, Y:-0.81, Z:-0.93 [[ 9.99911826e-01 -7.75794702e-03 -1.07774733e-02 5.37827647e+01] [ 7.75852383e-03 9.99969902e-01 1.17108273e-05 -8.13293734e-01] [ 1.07770580e-02 -9.53270780e-05 9.99941921e-01 -9.33642036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.738001145 meters 0.06799076129351192 Centerline is valid? [True, True] Translation: X:53.84, Y:-0.82, Z:-0.94 [[ 9.99915342e-01 -6.88339553e-03 -1.10420714e-02 5.38425058e+01] [ 6.88394837e-03 9.99976305e-01 1.20591218e-05 -8.15007976e-01] [ 1.10417267e-02 -8.80711501e-05 9.99939034e-01 -9.37573671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.798001145 meters 0.06724177861601627 Centerline is valid? [True, True] Translation: X:53.90, Y:-0.81, Z:-0.93 [[ 9.99913698e-01 -4.53499328e-03 -1.23300916e-02 5.39018829e+01] [ 4.53549611e-03 9.99989715e-01 1.28185959e-05 -8.09937485e-01] [ 1.23299066e-02 -6.87405720e-05 9.99923981e-01 -9.32603797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.858001144999996 meters 0.06687729764396282 Centerline is valid? [True, True] Translation: X:53.96, Y:-0.80, Z:-0.93 [[ 9.99931439e-01 -1.64900650e-04 -1.17085063e-02 5.39605071e+01] [ 1.64989593e-04 9.99999986e-01 6.63047344e-06 -8.03412762e-01] [ 1.17085051e-02 -8.56180055e-06 9.99931453e-01 -9.31557692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.918001145 meters 0.06691880543426497 Centerline is valid? [True, True] Translation: X:54.02, Y:-0.80, Z:-0.93 [[ 9.99927743e-01 2.09430855e-03 -1.18373153e-02 5.40186925e+01] [-2.09441770e-03 9.99997807e-01 3.17570699e-06 -8.02210239e-01] [ 1.18372960e-02 2.16168051e-05 9.99929937e-01 -9.33507582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.978001145 meters 0.06671099744301148 Centerline is valid? [True, True] Translation: X:54.08, Y:-0.80, Z:-0.94 [[ 9.99920483e-01 5.27344641e-03 -1.14550823e-02 5.40765388e+01] [-5.27379276e-03 9.99986093e-01 -2.88901694e-08 -8.00742598e-01] [ 1.14549228e-02 6.04406179e-05 9.99934388e-01 -9.35206914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.038001144999996 meters 0.06662047314419466 Centerline is valid? [True, True] Translation: X:54.13, Y:-0.80, Z:-0.93 [[ 9.99916605e-01 8.28664702e-03 -9.90529063e-03 5.41349505e+01] [-8.28707604e-03 9.99965662e-01 -2.26805547e-06 -7.98309821e-01] [ 9.90493171e-03 8.43537630e-05 9.99950941e-01 -9.34286168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.098001145 meters 0.06663369360645385 Centerline is valid? [True, True] Translation: X:54.19, Y:-0.80, Z:-0.93 [[ 9.99914228e-01 1.02304437e-02 -8.17765914e-03 5.41932292e+01] [-1.02307911e-02 9.99947664e-01 -6.44715866e-07 -7.95442681e-01] [ 8.17722456e-03 8.43085825e-05 9.99966562e-01 -9.32640360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.158001145 meters 0.06645231675806389 Centerline is valid? [True, True] Translation: X:54.25, Y:-0.80, Z:-0.93 [[ 9.99936419e-01 8.79680002e-03 -7.05514659e-03 5.42520205e+01] [-8.79702684e-03 9.99961305e-01 -1.11694988e-06 -7.97252652e-01] [ 7.05486377e-03 6.31811928e-05 9.99975112e-01 -9.31500813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.218001144999995 meters 0.06658768551866127 Centerline is valid? [True, True] Translation: X:54.31, Y:-0.81, Z:-0.94 [[ 9.99949995e-01 1.46492956e-03 -9.89253932e-03 5.43101446e+01] [-1.46503052e-03 9.99998927e-01 -2.95839893e-06 -8.11491066e-01] [ 9.89252437e-03 1.74511230e-05 9.99951068e-01 -9.37345195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.278001145 meters 0.06661049620648196 Centerline is valid? [True, True] Translation: X:54.37, Y:-0.82, Z:-0.94 [[ 9.99946200e-01 -3.14728995e-03 -9.88389810e-03 5.43687588e+01] [ 3.14741446e-03 9.99995047e-01 -2.95752580e-06 -8.20510617e-01] [ 9.88385845e-03 -2.81513571e-05 9.99951153e-01 -9.37576156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.338001145 meters 0.06677154979970171 Centerline is valid? [True, True] Translation: X:54.43, Y:-0.83, Z:-0.94 [[ 9.99921571e-01 -9.09089885e-03 -8.61440750e-03 5.44276633e+01] [ 9.09120815e-03 9.99958674e-01 -3.25264519e-06 -8.30040051e-01] [ 8.61408107e-03 -7.50629816e-05 9.99962895e-01 -9.36031123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.398001144999995 meters 0.06671141807039396 Centerline is valid? [True, True] Translation: X:54.49, Y:-0.83, Z:-0.93 [[ 9.99925148e-01 -1.04097402e-02 -6.42935734e-03 5.44891939e+01] [ 1.04099504e-02 9.99945815e-01 -7.61663919e-07 -8.33729169e-01] [ 6.42901689e-03 -6.61676843e-05 9.99979331e-01 -9.34130545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.458001145 meters 0.0668134812973312 Centerline is valid? [True, True] Translation: X:54.55, Y:-0.84, Z:-0.93 [[ 9.99903443e-01 -1.29824636e-02 -4.95588543e-03 5.45517229e+01] [ 1.29826237e-02 9.99915722e-01 1.34842473e-07 -8.42643217e-01] [ 4.95546601e-03 -6.44752254e-05 9.99987720e-01 -9.34666221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.518001145 meters 0.06764392307023827 Centerline is valid? [True, True] Translation: X:54.61, Y:-0.85, Z:-0.94 [[ 9.99856326e-01 -1.59011457e-02 -5.87198635e-03 5.46128204e+01] [ 1.59014201e-02 9.99873564e-01 2.96926907e-08 -8.49741502e-01] [ 5.87124345e-03 -9.34026099e-05 9.99982760e-01 -9.37345043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.578001144999995 meters 0.06740857375571396 Centerline is valid? [True, True] Translation: X:54.67, Y:-0.85, Z:-0.94 [[ 9.99818232e-01 -1.77542772e-02 -6.94894951e-03 5.46748786e+01] [ 1.77547103e-02 9.99842373e-01 6.38926121e-07 -8.52118232e-01] [ 6.94784282e-03 -1.24015396e-04 9.99975856e-01 -9.35429072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.638001145 meters 0.06817765982680649 Centerline is valid? [True, True] Translation: X:54.74, Y:-0.86, Z:-0.94 [[ 9.99827344e-01 -1.75891935e-02 -5.99180215e-03 5.47359631e+01] [ 1.75895136e-02 9.99845293e-01 7.39320427e-07 -8.59903312e-01] [ 5.99086217e-03 -1.06132078e-04 9.99982049e-01 -9.40619260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.698001145 meters 0.0672974340346758 Centerline is valid? [True, True] Translation: X:54.80, Y:-0.86, Z:-0.94 [[ 9.99850386e-01 -1.55878821e-02 -7.49827418e-03 5.47994845e+01] [ 1.55883365e-02 9.99878494e-01 2.15836932e-06 -8.59246820e-01] [ 7.49732945e-03 -1.19043667e-04 9.99971888e-01 -9.39432972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.758001144999994 meters 0.06697248798013802 Centerline is valid? [True, True] Translation: X:54.86, Y:-0.86, Z:-0.94 [[ 9.99879280e-01 -1.29027626e-02 -8.65703317e-03 5.48621386e+01] [ 1.29032665e-02 9.99916749e-01 2.35535238e-06 -8.60274279e-01] [ 8.65628208e-03 -1.14059074e-04 9.99962527e-01 -9.41146568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.818001145 meters 0.06616797234150226 Centerline is valid? [True, True] Translation: X:54.92, Y:-0.86, Z:-0.94 [[ 9.99934078e-01 -7.59672559e-03 -8.60983543e-03 5.49235208e+01] [ 7.59702580e-03 9.99971142e-01 2.16271011e-06 -8.58154648e-01] [ 8.60957054e-03 -6.75717094e-05 9.99962935e-01 -9.39302280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.878001145 meters 0.0655609582040928 Centerline is valid? [True, True] Translation: X:54.98, Y:-0.86, Z:-0.94 [[ 9.99972932e-01 -1.90929768e-03 -7.10559552e-03 5.49845607e+01] [ 1.90935829e-03 9.99998177e-01 1.74751020e-06 -8.56880996e-01] [ 7.10557923e-03 -1.53145906e-05 9.99974755e-01 -9.38193876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.938001144999994 meters 0.06523065777179671 Centerline is valid? [True, True] Translation: X:55.04, Y:-0.86, Z:-0.94 [[ 9.99976126e-01 2.16195535e-04 -6.90661748e-03 5.50419560e+01] [-2.16228109e-04 9.99999977e-01 -3.96963593e-06 -8.58312307e-01] [ 6.90661646e-03 5.46294600e-06 9.99976149e-01 -9.36911792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.998001144999996 meters 0.06530279070323279 Centerline is valid? [True, True] Translation: X:55.10, Y:-0.86, Z:-0.94 [[ 9.99958309e-01 3.04582205e-03 -8.60827496e-03 5.51000243e+01] [-3.04596114e-03 9.99995361e-01 -3.04738114e-06 -8.59457995e-01] [ 8.60822574e-03 2.92677251e-05 9.99962948e-01 -9.39057899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.058001145 meters 0.06520916950824668 Centerline is valid? [True, True] Translation: X:55.16, Y:-0.86, Z:-0.94 [[ 9.99952465e-01 4.86824171e-03 -8.44800696e-03 5.51577413e+01] [-4.86847591e-03 9.99988149e-01 -7.15857960e-06 -8.62782244e-01] [ 8.44787199e-03 4.82871577e-05 9.99964315e-01 -9.37906783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.118001144999994 meters 0.06510582846693133 Centerline is valid? [True, True] Translation: X:55.21, Y:-0.87, Z:-0.94 [[ 9.99930507e-01 7.93228607e-03 -8.72122816e-03 5.52149382e+01] [-7.93264712e-03 9.99968536e-01 -6.80784821e-06 -8.67482762e-01] [ 8.72089975e-03 7.59898006e-05 9.99961969e-01 -9.37962802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.178001144999996 meters 0.06494621426895664 Centerline is valid? [True, True] Translation: X:55.27, Y:-0.87, Z:-0.94 [[ 9.99938214e-01 9.20909816e-03 -6.22582966e-03 5.52727099e+01] [-9.20930792e-03 9.99957593e-01 -5.02457912e-06 -8.72792290e-01] [ 6.22551937e-03 6.23598511e-05 9.99980619e-01 -9.37511974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.238001145 meters 0.06498442020816587 Centerline is valid? [True, True] Translation: X:55.33, Y:-0.88, Z:-0.94 [[ 9.99950140e-01 6.96152919e-03 -7.15921554e-03 5.53304352e+01] [-6.96175387e-03 9.99975767e-01 -6.46320612e-06 -8.84935764e-01] [ 7.15899705e-03 5.63035804e-05 9.99974372e-01 -9.41735656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.298001145 meters 0.0648987472346931 Centerline is valid? [True, True] Translation: X:55.39, Y:-0.90, Z:-0.94 [[ 9.99943762e-01 -9.63784011e-04 -1.05613984e-02 5.53882882e+01] [ 9.63737621e-04 9.99999536e-01 -9.48178884e-06 -9.01832694e-01] [ 1.05614026e-02 -6.97161337e-07 9.99944227e-01 -9.43976277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.358001144999996 meters 0.06498035609164006 Centerline is valid? [True, True] Translation: X:55.45, Y:-0.91, Z:-0.94 [[ 9.99894279e-01 -7.34052156e-03 -1.25518007e-02 5.54480395e+01] [ 7.34096383e-03 9.99973055e-01 -1.08371401e-05 -9.12749569e-01] [ 1.25515420e-02 -8.13063206e-05 9.99921223e-01 -9.43416856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.418001145 meters 0.06542427935228372 Centerline is valid? [True, True] Translation: X:55.51, Y:-0.93, Z:-0.95 [[ 9.99798923e-01 -1.37818564e-02 -1.45661723e-02 5.55074294e+01] [ 1.37831238e-02 9.99905008e-01 -1.33779732e-05 -9.32654062e-01] [ 1.45649730e-02 -1.87392073e-04 9.99893908e-01 -9.46523901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.478001145 meters 0.06546907487458194 Centerline is valid? [True, True] Translation: X:55.57, Y:-0.94, Z:-0.95 [[ 9.99796866e-01 -1.61533487e-02 -1.20538951e-02 5.55681115e+01] [ 1.61543953e-02 9.99869509e-01 -1.05425910e-05 -9.43512074e-01] [ 1.20524925e-02 -1.84182936e-04 9.99927349e-01 -9.46438079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.538001144999996 meters 0.06505283510482605 Centerline is valid? [True, True] Translation: X:55.63, Y:-0.95, Z:-0.95 [[ 9.99801764e-01 -1.51584155e-02 -1.29095293e-02 5.56291039e+01] [ 1.51595434e-02 9.99885087e-01 -1.04829956e-05 -9.46118390e-01] [ 1.29082048e-02 -1.85221653e-04 9.99916668e-01 -9.45354501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.598001145 meters 0.06480469976149304 Centerline is valid? [True, True] Translation: X:55.69, Y:-0.95, Z:-0.94 [[ 9.99824232e-01 -1.31925380e-02 -1.33215033e-02 5.56902922e+01] [ 1.31935700e-02 9.99912961e-01 -1.04125924e-05 -9.48051734e-01] [ 1.33204812e-02 -1.65347424e-04 9.99911265e-01 -9.44883624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.658001145 meters 0.06480445678132163 Centerline is valid? [True, True] Translation: X:55.75, Y:-0.95, Z:-0.95 [[ 9.99830594e-01 -1.20356414e-02 -1.39257875e-02 5.57493810e+01] [ 1.20366448e-02 9.99927557e-01 -1.17566948e-05 -9.51908164e-01] [ 1.39249201e-02 -1.55865055e-04 9.99903031e-01 -9.46249859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.718001144999995 meters 0.0643992346203639 Centerline is valid? [True, True] Translation: X:55.81, Y:-0.96, Z:-0.94 [[ 9.99832433e-01 -1.29352803e-02 -1.29531328e-02 5.58093829e+01] [ 1.29362154e-02 9.99916324e-01 -1.15901968e-05 -9.56439290e-01] [ 1.29521989e-02 -1.55976262e-04 9.99916105e-01 -9.42951141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.778001145 meters 0.06443163268884207 Centerline is valid? [True, True] Translation: X:55.87, Y:-0.96, Z:-0.94 [[ 9.99826130e-01 -1.35676542e-02 -1.27917349e-02 5.58699716e+01] [ 1.35686236e-02 9.99907942e-01 -1.10079704e-05 -9.59324826e-01] [ 1.27907067e-02 -1.62560180e-04 9.99918182e-01 -9.43641668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.838001145 meters 0.06419597978303564 Centerline is valid? [True, True] Translation: X:55.93, Y:-0.96, Z:-0.94 [[ 9.99846789e-01 -1.21301668e-02 -1.26197138e-02 5.59302259e+01] [ 1.21309957e-02 9.99926417e-01 -1.08599370e-05 -9.56921855e-01] [ 1.26189169e-02 -1.42231421e-04 9.99920368e-01 -9.41342548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.898001144999995 meters 0.06440870546203693 Centerline is valid? [True, True] Translation: X:55.99, Y:-0.96, Z:-0.95 [[ 9.99837772e-01 -1.08969518e-02 -1.43417672e-02 5.59905725e+01] [ 1.08978957e-02 9.99940616e-01 -1.23418559e-05 -9.59557773e-01] [ 1.43410500e-02 -1.43955229e-04 9.99897151e-01 -9.46136187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.958001145 meters 0.06490869797664466 Centerline is valid? [True, True] Translation: X:56.05, Y:-0.96, Z:-0.95 [[ 9.99796892e-01 -1.15553743e-02 -1.65120331e-02 5.60486516e+01] [ 1.15566858e-02 9.99933219e-01 -1.59920303e-05 -9.63315203e-01] [ 1.65111152e-02 -1.74835597e-04 9.99863667e-01 -9.52634077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.018001145 meters 0.06480247540771644 Centerline is valid? [True, True] Translation: X:56.11, Y:-0.96, Z:-0.95 [[ 9.99763874e-01 -1.34281994e-02 -1.70844832e-02 5.61076232e+01] [ 1.34297760e-02 9.99909816e-01 -2.24507396e-05 -9.62318610e-01] [ 1.70832439e-02 -2.06995343e-04 9.99854049e-01 -9.50188466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.078001144999995 meters 0.06529591534781848 Centerline is valid? [True, True] Translation: X:56.17, Y:-0.97, Z:-0.95 [[ 9.99715961e-01 -1.74596605e-02 -1.62221367e-02 5.61666450e+01] [ 1.74615542e-02 9.99847535e-01 -2.49070844e-05 -9.66109243e-01] [ 1.62200983e-02 -2.58363711e-04 9.99868412e-01 -9.50238224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.138001145 meters 0.06519950571918554 Centerline is valid? [True, True] Translation: X:56.23, Y:-0.97, Z:-0.95 [[ 9.99671782e-01 -1.91759975e-02 -1.69885244e-02 5.62269505e+01] [ 1.91783758e-02 9.99816078e-01 -2.29288373e-05 -9.69153107e-01] [ 1.69858395e-02 -3.02890993e-04 9.99855684e-01 -9.51085920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.198001145 meters 0.06540296417934759 Centerline is valid? [True, True] Translation: X:56.29, Y:-0.97, Z:-0.95 [[ 9.99628761e-01 -2.00637062e-02 -1.84333311e-02 5.62878720e+01] [ 2.00666665e-02 9.99798644e-01 -2.43752076e-05 -9.68060212e-01] [ 1.84301085e-02 -3.45529348e-04 9.99830091e-01 -9.52801190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.258001144999994 meters 0.06600362041557997 Centerline is valid? [True, True] Translation: X:56.35, Y:-0.97, Z:-0.96 [[ 9.99558575e-01 -2.11900571e-02 -2.08239574e-02 5.63482191e+01] [ 2.11940855e-02 9.99775380e-01 -2.72492636e-05 -9.65672306e-01] [ 2.08198573e-02 -4.14107499e-04 9.99783158e-01 -9.56239648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.318001145 meters 0.0659469976071436 Centerline is valid? [True, True] Translation: X:56.41, Y:-0.97, Z:-0.96 [[ 9.99530803e-01 -2.24342748e-02 -2.08536936e-02 5.64087576e+01] [ 2.24385809e-02 9.99748223e-01 -2.75035889e-05 -9.67470270e-01] [ 2.08490602e-02 -4.40436607e-04 9.99782538e-01 -9.57328199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.378001145 meters 0.06624592223154374 Centerline is valid? [True, True] Translation: X:56.47, Y:-0.97, Z:-0.96 [[ 9.99465804e-01 -2.65845261e-02 -1.90097283e-02 5.64693809e+01] [ 2.65888543e-02 9.99646454e-01 -2.50716138e-05 -9.67587830e-01] [ 1.90036740e-02 -4.80388677e-04 9.99819298e-01 -9.55049896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.438001144999994 meters 0.06621909445781599 Centerline is valid? [True, True] Translation: X:56.53, Y:-0.97, Z:-0.95 [[ 9.99387586e-01 -3.01347079e-02 -1.77863232e-02 5.65319547e+01] [ 3.01390959e-02 9.99545714e-01 -2.13560812e-05 -9.66965247e-01] [ 1.77788867e-02 -5.14720698e-04 9.99841811e-01 -9.53099868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.498001144999996 meters 0.06736107251137127 Centerline is valid? [True, True] Translation: X:56.59, Y:-0.97, Z:-0.96 [[ 9.99296430e-01 -3.29410992e-02 -1.79312201e-02 5.65931850e+01] [ 3.29460216e-02 9.99457132e-01 -2.08988514e-05 -9.69267356e-01] [ 1.79221742e-02 -5.69878216e-04 9.99839223e-01 -9.56898545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.558001145 meters 0.06919090728408243 Centerline is valid? [True, True] Translation: X:56.65, Y:-0.97, Z:-0.96 [[ 9.99142395e-01 -3.58775347e-02 -2.06706976e-02 5.66532679e+01] [ 3.58846991e-02 9.99355936e-01 -2.43404945e-05 -9.73957302e-01] [ 2.06582576e-02 -7.17442143e-04 9.99786338e-01 -9.64508492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.618001144999994 meters 0.06826572436713142 Centerline is valid? [True, True] Translation: X:56.72, Y:-0.97, Z:-0.96 [[ 9.99159104e-01 -3.61766489e-02 -1.92959718e-02 5.67154109e+01] [ 3.61829851e-02 9.99345181e-01 -2.07736050e-05 -9.68481187e-01] [ 1.92840880e-02 -6.77429724e-04 9.99813815e-01 -9.58803160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.678001144999996 meters 0.06771491060507945 Centerline is valid? [True, True] Translation: X:56.78, Y:-0.96, Z:-0.96 [[ 9.99302519e-01 -3.30796827e-02 -1.73265970e-02 5.67761899e+01] [ 3.30843207e-02 9.99452564e-01 -1.89684426e-05 -9.61840423e-01] [ 1.73177393e-02 -5.54283480e-04 9.99849883e-01 -9.55986255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.738001145 meters 0.06783058444875271 Centerline is valid? [True, True] Translation: X:56.84, Y:-0.96, Z:-0.96 [[ 9.99330476e-01 -3.18040882e-02 -1.80859062e-02 5.68372737e+01] [ 3.18089566e-02 9.99493967e-01 -1.84992073e-05 -9.61265871e-01] [ 1.80773425e-02 -5.56806983e-04 9.99836436e-01 -9.60247614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.798001145 meters 0.06755378025300836 Centerline is valid? [True, True] Translation: X:56.90, Y:-0.96, Z:-0.96 [[ 9.99363145e-01 -2.94695167e-02 -2.01209232e-02 5.68999349e+01] [ 2.94750980e-02 9.99565515e-01 -1.91835080e-05 -9.55299733e-01] [ 2.01127462e-02 -5.73894892e-04 9.99797554e-01 -9.62387496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.858001144999996 meters 0.06670740321365297 Centerline is valid? [True, True] Translation: X:56.96, Y:-0.95, Z:-0.96 [[ 9.99423142e-01 -2.75723210e-02 -1.98280219e-02 5.69618657e+01] [ 2.75773939e-02 9.99619671e-01 -1.75940297e-05 -9.46239216e-01] [ 1.98209658e-02 -5.29221288e-04 9.99803405e-01 -9.59517955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.918001145 meters 0.0668599984350612 Centerline is valid? [True, True] Translation: X:57.02, Y:-0.95, Z:-0.96 [[ 9.99404543e-01 -2.70964032e-02 -2.13622382e-02 5.70237254e+01] [ 2.71022105e-02 9.99632667e-01 -1.76766675e-05 -9.45301981e-01] [ 2.13548702e-02 -5.61297735e-04 9.99771801e-01 -9.62220336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.978001145 meters 0.06693712077553825 Centerline is valid? [True, True] Translation: X:57.09, Y:-0.94, Z:-0.96 [[ 9.99430129e-01 -2.76892961e-02 -1.93059378e-02 5.70852000e+01] [ 2.76941539e-02 9.99616443e-01 -1.57381755e-05 -9.42218730e-01] [ 1.92989687e-02 -5.18932407e-04 9.99813623e-01 -9.62194204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.038001144999996 meters 0.06694359464675691 Centerline is valid? [True, True] Translation: X:57.15, Y:-0.94, Z:-0.96 [[ 9.99475868e-01 -2.64232708e-02 -1.87029462e-02 5.71460333e+01] [ 2.64276290e-02 9.99650729e-01 -1.41412991e-05 -9.39304282e-01] [ 1.86967875e-02 -4.80140637e-04 9.99825085e-01 -9.63203654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.098001145 meters 0.06703996151248803 Centerline is valid? [True, True] Translation: X:57.21, Y:-0.93, Z:-0.97 [[ 9.99521046e-01 -2.49483138e-02 -1.83100916e-02 5.72078348e+01] [ 2.49522680e-02 9.99688644e-01 -1.25066208e-05 -9.34969833e-01] [ 1.83047027e-02 -4.44377682e-04 9.99832356e-01 -9.65105233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.158001145 meters 0.06754460163682705 Centerline is valid? [True, True] Translation: X:57.27, Y:-0.94, Z:-0.97 [[ 9.99477401e-01 -2.61525085e-02 -1.89992443e-02 5.72703346e+01] [ 2.61570047e-02 9.99657847e-01 -1.18587834e-05 -9.35362142e-01] [ 1.89930538e-02 -4.85110737e-04 9.99819498e-01 -9.66671212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.218001144999995 meters 0.06808195462178723 Centerline is valid? [True, True] Translation: X:57.33, Y:-0.93, Z:-0.97 [[ 9.99462269e-01 -2.68771080e-02 -1.87828098e-02 5.73312559e+01] [ 2.68816421e-02 9.99638623e-01 -1.10874517e-05 -9.34776796e-01] [ 1.87763201e-02 -4.93831280e-04 9.99823587e-01 -9.68854992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.278001145 meters 0.06622563999640692 Centerline is valid? [True, True] Translation: X:57.39, Y:-0.92, Z:-0.96 [[ 9.99607351e-01 -2.23551213e-02 -1.68935473e-02 5.73921315e+01] [ 2.23581442e-02 9.99750025e-01 -9.93220663e-06 -9.23742689e-01] [ 1.68895464e-02 -3.67780059e-04 9.99857294e-01 -9.62882584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.338001145 meters 0.06669497703258105 Centerline is valid? [True, True] Translation: X:57.45, Y:-0.92, Z:-0.97 [[ 9.99698891e-01 -1.93718197e-02 -1.50618505e-02 5.74529843e+01] [ 1.93738940e-02 9.99812308e-01 -8.18853128e-06 -9.24645339e-01] [ 1.50591821e-02 -2.83620630e-04 9.99886564e-01 -9.69489838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.398001144999995 meters 0.06601306074395698 Centerline is valid? [True, True] Translation: X:57.52, Y:-0.91, Z:-0.96 [[ 9.99693253e-01 -1.81420186e-02 -1.68601987e-02 5.75150760e+01] [ 1.81444676e-02 9.99835376e-01 -7.71852896e-06 -9.14225353e-01] [ 1.68575631e-02 -2.98203168e-04 9.99857857e-01 -9.63837166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.458001145 meters 0.06624156500066691 Centerline is valid? [True, True] Translation: X:57.58, Y:-0.91, Z:-0.97 [[ 9.99693597e-01 -1.86983143e-02 -1.62199262e-02 5.75763275e+01] [ 1.87006557e-02 9.99825127e-01 -7.31956103e-06 -9.14209613e-01] [ 1.62172267e-02 -2.96005938e-04 9.99868448e-01 -9.65321848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.518001145 meters 0.06702362430423232 Centerline is valid? [True, True] Translation: X:57.64, Y:-0.92, Z:-0.97 [[ 9.99632964e-01 -2.19131255e-02 -1.59295807e-02 5.76363951e+01] [ 2.19157923e-02 9.99759820e-01 -7.15715183e-06 -9.20391552e-01] [ 1.59259116e-02 -3.41954858e-04 9.99873116e-01 -9.68304398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.578001144999995 meters 0.06789304180132905 Centerline is valid? [True, True] Translation: X:57.70, Y:-0.92, Z:-0.97 [[ 9.99567206e-01 -2.48466998e-02 -1.57493533e-02 5.76979912e+01] [ 2.48496885e-02 9.99691199e-01 -5.92835621e-06 -9.24474481e-01] [ 1.57446372e-02 -3.85440733e-04 9.99875971e-01 -9.70989088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.638001145 meters 0.06716755275736509 Centerline is valid? [True, True] Translation: X:57.76, Y:-0.92, Z:-0.97 [[ 9.99517298e-01 -2.59095444e-02 -1.71425601e-02 5.77604735e+01] [ 2.59132647e-02 9.99664195e-01 -5.10702484e-06 -9.22234489e-01] [ 1.71369359e-02 -4.39115138e-04 9.99853056e-01 -9.69529946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.698001145 meters 0.06700242129904738 Centerline is valid? [True, True] Translation: X:57.82, Y:-0.92, Z:-0.97 [[ 9.99561403e-01 -2.32317808e-02 -1.83653287e-02 5.78217864e+01] [ 2.32356098e-02 9.99730017e-01 -4.88952641e-06 -9.20021494e-01] [ 1.83604839e-02 -4.21842230e-04 9.99831343e-01 -9.72014964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.758001144999994 meters 0.06651249304846164 Centerline is valid? [True, True] Translation: X:57.88, Y:-0.92, Z:-0.97 [[ 9.99644753e-01 -1.98282341e-02 -1.78103773e-02 5.78837005e+01] [ 1.98313105e-02 9.99803340e-01 -3.88520273e-06 -9.17988972e-01] [ 1.78069517e-02 -3.49319299e-04 9.99841383e-01 -9.72692774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.818001145 meters 0.0661867628353774 Centerline is valid? [True, True] Translation: X:57.95, Y:-0.91, Z:-0.97 [[ 9.99665273e-01 -1.82266808e-02 -1.83611129e-02 5.79453151e+01] [ 1.82296869e-02 9.99833825e-01 -3.65427393e-06 -9.14087088e-01] [ 1.83581284e-02 -3.31064288e-04 9.99831421e-01 -9.72245488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.878001145 meters 0.06651669729230657 Centerline is valid? [True, True] Translation: X:58.01, Y:-0.91, Z:-0.98 [[ 9.99676993e-01 -1.73903196e-02 -1.85333849e-02 5.80055304e+01] [ 1.73932399e-02 9.99848726e-01 -3.62295218e-06 -9.14150265e-01] [ 1.85306442e-02 -3.18733826e-04 9.99828242e-01 -9.75544939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.938001144999994 meters 0.0659152870679214 Centerline is valid? [True, True] Translation: X:58.07, Y:-0.91, Z:-0.97 [[ 9.99785214e-01 -1.45380516e-02 -1.47706244e-02 5.80659690e+01] [ 1.45395924e-02 9.99894295e-01 -3.06682456e-06 -9.10555711e-01] [ 1.47691076e-02 -2.11692693e-04 9.99890908e-01 -9.73844127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.998001144999996 meters 0.06532798896150876 Centerline is valid? [True, True] Translation: X:58.13, Y:-0.91, Z:-0.97 [[ 9.99833227e-01 -1.27573112e-02 -1.30678594e-02 5.81271406e+01] [ 1.27583707e-02 9.99918609e-01 -2.29017905e-06 -9.08628978e-01] [ 1.30668250e-02 -1.64434797e-04 9.99914612e-01 -9.71285783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.058001145 meters 0.06553415252892689 Centerline is valid? [True, True] Translation: X:58.19, Y:-0.91, Z:-0.97 [[ 9.99845221e-01 -1.23679119e-02 -1.25127510e-02 5.81877016e+01] [ 1.23688552e-02 9.99923503e-01 -1.99551371e-06 -9.08606640e-01] [ 1.25118184e-02 -1.52773200e-04 9.99921712e-01 -9.73587564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.118001144999994 meters 0.06546736826691478 Centerline is valid? [True, True] Translation: X:58.25, Y:-0.91, Z:-0.97 [[ 9.99788188e-01 -1.55484765e-02 -1.34842089e-02 5.82481953e+01] [ 1.55498581e-02 9.99879094e-01 -2.38286940e-06 -9.09601533e-01] [ 1.34826156e-02 -2.07295169e-04 9.99909084e-01 -9.71234734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.178001144999996 meters 0.06606365061204565 Centerline is valid? [True, True] Translation: X:58.31, Y:-0.92, Z:-0.97 [[ 9.99749518e-01 -1.92838655e-02 -1.13593107e-02 5.83097577e+01] [ 1.92851008e-02 9.99814025e-01 -7.90569433e-07 -9.17200425e-01] [ 1.13572134e-02 -2.18275079e-04 9.99935481e-01 -9.73285352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.238001145 meters 0.0660119526166771 Centerline is valid? [True, True] Translation: X:58.37, Y:-0.92, Z:-0.97 [[ 9.99742626e-01 -1.92086376e-02 -1.20710371e-02 5.83718880e+01] [ 1.92100386e-02 9.99815470e-01 1.11260000e-07 -9.17845201e-01] [ 1.20688075e-02 -2.31996319e-04 9.99927142e-01 -9.74292259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.298001145 meters 0.06550246784735618 Centerline is valid? [True, True] Translation: X:58.43, Y:-0.91, Z:-0.98 [[ 9.99789616e-01 -1.45332643e-02 -1.44743559e-02 5.84338474e+01] [ 1.45347992e-02 9.99894364e-01 8.46372453e-07 -9.10875587e-01] [ 1.44728146e-02 -2.11228051e-04 9.99895241e-01 -9.76396780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.358001144999996 meters 0.06516369183599134 Centerline is valid? [True, True] Translation: X:58.49, Y:-0.91, Z:-0.98 [[ 9.99835031e-01 -1.12069114e-02 -1.42939409e-02 5.84940475e+01] [ 1.12080560e-02 9.99937188e-01 -3.50473564e-08 -9.05586345e-01] [ 1.42930434e-02 -1.60172247e-04 9.99897836e-01 -9.75380718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.418001145 meters 0.06464312521191294 Centerline is valid? [True, True] Translation: X:58.55, Y:-0.90, Z:-0.97 [[ 9.99891863e-01 -7.84860330e-03 -1.24363145e-02 5.85535694e+01] [ 7.84919937e-03 9.99969195e-01 -8.79831018e-07 -9.04867481e-01] [ 1.24359383e-02 -9.67353758e-05 9.99922666e-01 -9.74363770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.478001145 meters 0.06476171167859646 Centerline is valid? [True, True] Translation: X:58.61, Y:-0.90, Z:-0.97 [[ 9.99900261e-01 -8.18104404e-03 -1.15125044e-02 5.86109467e+01] [ 8.18155841e-03 9.99966530e-01 -2.41718497e-06 -9.03045771e-01] [ 1.15121388e-02 -9.17732831e-05 9.99933729e-01 -9.73856228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.538001144999996 meters 0.06473363225181875 Centerline is valid? [True, True] Translation: X:58.67, Y:-0.90, Z:-0.98 [[ 9.99896108e-01 -8.55491702e-03 -1.16011566e-02 5.86709558e+01] [ 8.55546815e-03 9.99963401e-01 -2.12167239e-06 -9.04578047e-01] [ 1.16007501e-02 -9.71318737e-05 9.99932704e-01 -9.75173805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.598001145 meters 0.06479784151671723 Centerline is valid? [True, True] Translation: X:58.73, Y:-0.91, Z:-0.98 [[ 9.99895566e-01 -7.52430160e-03 -1.23386757e-02 5.87301158e+01] [ 7.52484218e-03 9.99971688e-01 -2.61326049e-06 -9.05020457e-01] [ 1.23383461e-02 -9.02336001e-05 9.99923876e-01 -9.77709160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.658001145 meters 0.0649160719468673 Centerline is valid? [True, True] Translation: X:58.79, Y:-0.91, Z:-0.98 [[ 9.99883869e-01 -9.43715672e-03 -1.19661534e-02 5.87885318e+01] [ 9.43773914e-03 9.99955464e-01 -7.79615735e-06 -9.06585344e-01] [ 1.19656940e-02 -1.05138182e-04 9.99928403e-01 -9.76260352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.718001144999995 meters 0.06515834365924622 Centerline is valid? [True, True] Translation: X:58.85, Y:-0.91, Z:-0.98 [[ 9.99837061e-01 -1.30514888e-02 -1.24703623e-02 5.88484606e+01] [ 1.30524371e-02 9.99914813e-01 -5.34887169e-06 -9.11154403e-01] [ 1.24693698e-02 -1.57420619e-04 9.99922242e-01 -9.76184670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.778001145 meters 0.06522562803926392 Centerline is valid? [True, True] Translation: X:58.91, Y:-0.91, Z:-0.98 [[ 9.99845626e-01 -1.30779909e-02 -1.17341796e-02 5.89100330e+01] [ 1.30788446e-02 9.99914468e-01 -3.98833565e-06 -9.11068290e-01] [ 1.17332281e-02 -1.49481792e-04 9.99931152e-01 -9.77167501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.838001145 meters 0.06524935105004295 Centerline is valid? [True, True] Translation: X:58.97, Y:-0.91, Z:-0.98 [[ 9.99887859e-01 -8.51155881e-03 -1.23216117e-02 5.89713385e+01] [ 8.51215789e-03 9.99963771e-01 -3.82362102e-06 -9.05467001e-01] [ 1.23211979e-02 -1.01060312e-04 9.99924086e-01 -9.80255142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.898001144999995 meters 0.06503047380761043 Centerline is valid? [True, True] Translation: X:59.03, Y:-0.90, Z:-0.98 [[ 9.99901125e-01 -7.23316274e-03 -1.20590820e-02 5.90298206e+01] [ 7.23356596e-03 9.99973837e-01 -1.01793348e-05 -9.02368905e-01] [ 1.20588401e-02 -7.70518368e-05 9.99927287e-01 -9.78826683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.958001145 meters 0.06539711286724727 Centerline is valid? [True, True] Translation: X:59.09, Y:-0.90, Z:-0.98 [[ 9.99903809e-01 -8.31334927e-03 -1.11022697e-02 5.90880155e+01] [ 8.31376817e-03 9.99965440e-01 -8.42159715e-06 -9.00831289e-01] [ 1.11019561e-02 -8.38809097e-05 9.99938368e-01 -9.78950282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.018001145 meters 0.06556224757161373 Centerline is valid? [True, True] Translation: X:59.15, Y:-0.90, Z:-0.98 [[ 9.99887127e-01 -1.10162816e-02 -1.02164012e-02 5.91478474e+01] [ 1.10167802e-02 9.99939313e-01 -7.47626195e-06 -9.01283249e-01] [ 1.02158636e-02 -1.05076429e-04 9.99947811e-01 -9.80107122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.078001144999995 meters 0.06574497066762944 Centerline is valid? [True, True] Translation: X:59.21, Y:-0.90, Z:-0.98 [[ 9.99900935e-01 -1.08051645e-02 -9.02044728e-03 5.92094451e+01] [ 1.08055547e-02 9.99941618e-01 -5.47685524e-06 -8.99751209e-01] [ 9.01997983e-03 -9.19946243e-05 9.99959315e-01 -9.83032505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.138001145 meters 0.06587627160375849 Centerline is valid? [True, True] Translation: X:59.27, Y:-0.90, Z:-0.98 [[ 9.99918543e-01 -8.23908483e-03 -9.74809398e-03 5.92696647e+01] [ 8.23941758e-03 9.99966055e-01 -6.02574805e-06 -8.95360093e-01] [ 9.74781273e-03 -7.42933597e-05 9.99952486e-01 -9.84996876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.198001145 meters 0.06606810526285684 Centerline is valid? [True, True] Translation: X:59.33, Y:-0.89, Z:-0.99 [[ 9.99925094e-01 -5.55907849e-03 -1.09043123e-02 5.93286681e+01] [ 5.55932866e-03 9.99984547e-01 -7.36861303e-06 -8.89576565e-01] [ 1.09041847e-02 -5.32525948e-05 9.99940546e-01 -9.86976732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.258001144999994 meters 0.0663242230287402 Centerline is valid? [True, True] Translation: X:59.39, Y:-0.89, Z:-0.99 [[ 9.99923877e-01 -3.50248099e-03 -1.18310163e-02 5.93872119e+01] [ 3.50256994e-03 9.99993866e-01 -1.32020670e-05 -8.85872965e-01] [ 1.18309900e-02 -2.82379000e-05 9.99930011e-01 -9.90069703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.318001145 meters 0.06661430516776426 Centerline is valid? [True, True] Translation: X:59.44, Y:-0.89, Z:-0.99 [[ 9.99911079e-01 -3.46648677e-03 -1.28770524e-02 5.94446096e+01] [ 3.46660504e-03 9.99993991e-01 -1.31367823e-05 -8.86269068e-01] [ 1.28770205e-02 -3.15040404e-05 9.99917087e-01 -9.93065692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.378001145 meters 0.06638778394156629 Centerline is valid? [True, True] Translation: X:59.50, Y:-0.88, Z:-0.99 [[ 9.99908681e-01 -4.83870033e-04 -1.35054048e-02 5.95031807e+01] [ 4.83660161e-04 9.99999883e-01 -1.88059789e-05 -8.83747349e-01] [ 1.35054123e-02 1.22722353e-05 9.99908798e-01 -9.91724768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.438001144999994 meters 0.06627017350562589 Centerline is valid? [True, True] Translation: X:59.56, Y:-0.88, Z:-0.99 [[ 9.99908170e-01 1.32320382e-03 -1.34870625e-02 5.95600161e+01] [-1.32357616e-03 9.99999124e-01 -1.86813582e-05 -8.79236724e-01] [ 1.34870260e-02 3.65307971e-05 9.99909045e-01 -9.90880898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.498001144999996 meters 0.06637696729732324 Centerline is valid? [True, True] Translation: X:59.62, Y:-0.89, Z:-1.00 [[ 9.99915106e-01 1.96033240e-05 -1.30299576e-02 5.96190030e+01] [-1.98425101e-05 1.00000000e+00 -1.82273529e-05 -8.85234155e-01] [ 1.30299572e-02 1.84843526e-05 9.99915106e-01 -9.95551000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.558001145 meters 0.06639415102499467 Centerline is valid? [True, True] Translation: X:59.68, Y:-0.89, Z:-1.00 [[ 9.99897530e-01 -3.55712963e-03 -1.38663797e-02 5.96777984e+01] [ 3.55719149e-03 9.99993673e-01 -2.02030569e-05 -8.89955975e-01] [ 1.38663638e-02 -2.91243811e-05 9.99903857e-01 -9.95782032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.618001144999994 meters 0.06652813770873622 Centerline is valid? [True, True] Translation: X:59.74, Y:-0.90, Z:-0.99 [[ 9.99839912e-01 -9.20404337e-03 -1.53438901e-02 5.97359978e+01] [ 9.20475527e-03 9.99957635e-01 -2.42269100e-05 -8.95647783e-01] [ 1.53434631e-02 -1.17013722e-04 9.99882275e-01 -9.94557131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.678001144999996 meters 0.0668184475608005 Centerline is valid? [True, True] Translation: X:59.79, Y:-0.90, Z:-1.00 [[ 9.99826685e-01 -1.08643790e-02 -1.51183450e-02 5.97932503e+01] [ 1.08652449e-02 9.99940971e-01 -2.48639821e-05 -9.00645571e-01] [ 1.51177227e-02 -1.39404848e-04 9.99885711e-01 -9.98762371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.738001145 meters 0.06607419841032361 Centerline is valid? [True, True] Translation: X:59.85, Y:-0.90, Z:-1.00 [[ 9.99825555e-01 -1.01083092e-02 -1.57061094e-02 5.98524474e+01] [ 1.01091460e-02 9.99948901e-01 -2.61187225e-05 -8.98652834e-01] [ 1.57055708e-02 -1.32661186e-04 9.99876651e-01 -9.95060005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.798001145 meters 0.06645751677412721 Centerline is valid? [True, True] Translation: X:59.91, Y:-0.90, Z:-1.00 [[ 9.99826189e-01 -9.31610025e-03 -1.61493793e-02 5.99104262e+01] [ 9.31685396e-03 9.99956597e-01 -2.85652467e-05 -8.98054038e-01] [ 1.61489445e-02 -1.21901127e-04 9.99869590e-01 -9.99499108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.858001144999996 meters 0.06646887424405928 Centerline is valid? [True, True] Translation: X:59.97, Y:-0.90, Z:-1.00 [[ 9.99791045e-01 -8.01065464e-03 -1.88068011e-02 5.99687829e+01] [ 8.01139567e-03 9.99967908e-01 -3.59392304e-05 -8.96753101e-01] [ 1.88064855e-02 -1.14737005e-04 9.99823136e-01 -1.00195518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.918001145 meters 0.06647769520304149 Centerline is valid? [True, True] Translation: X:60.03, Y:-0.90, Z:-1.00 [[ 9.99813017e-01 -8.81790632e-03 -1.72097539e-02 6.00274396e+01] [ 8.81855486e-03 9.99961115e-01 -3.82048415e-05 -8.98361475e-01] [ 1.72094216e-02 -1.13567462e-04 9.99851900e-01 -1.00266872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.978001145 meters 0.06642359816021527 Centerline is valid? [True, True] Translation: X:60.09, Y:-0.91, Z:-1.00 [[ 9.99809829e-01 -1.19481284e-02 -1.54125664e-02 6.00855890e+01] [ 1.19489646e-02 9.99928608e-01 -3.78363509e-05 -9.05388827e-01] [ 1.54119182e-02 -1.46335056e-04 9.99881219e-01 -1.00190018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.038001145 meters 0.06634206310957867 Centerline is valid? [True, True] Translation: X:60.15, Y:-0.91, Z:-1.00 [[ 9.99780871e-01 -1.30138671e-02 -1.63965942e-02 6.01454244e+01] [ 1.30149946e-02 9.99915301e-01 -3.79497219e-05 -9.09485395e-01] [ 1.63956993e-02 -1.75460178e-04 9.99865566e-01 -1.00328659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.098001145 meters 0.06622972019489101 Centerline is valid? [True, True] Translation: X:60.20, Y:-0.91, Z:-1.01 [[ 9.99781905e-01 -1.26497314e-02 -1.66170652e-02 6.02035891e+01] [ 1.26508231e-02 9.99919974e-01 -3.94248011e-05 -9.11451441e-01] [ 1.66162341e-02 -1.70803349e-04 9.99861926e-01 -1.00555129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.158001145 meters 0.06550785305240513 Centerline is valid? [True, True] Translation: X:60.26, Y:-0.91, Z:-1.00 [[ 9.99841557e-01 -1.02806325e-02 -1.45316749e-02 6.02623999e+01] [ 1.02811990e-02 9.99947146e-01 -3.57241907e-05 -9.12004193e-01] [ 1.45312741e-02 -1.13684510e-04 9.99894409e-01 -1.00066608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.218001145 meters 0.06505096941638881 Centerline is valid? [True, True] Translation: X:60.32, Y:-0.92, Z:-1.00 [[ 9.99877127e-01 -9.37108815e-03 -1.25663369e-02 6.03209987e+01] [ 9.37137356e-03 9.99956087e-01 -3.61729517e-05 -9.15920774e-01] [ 1.25661240e-02 -8.15953303e-05 9.99921040e-01 -9.98820182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27800114499999 meters 0.06485442838069576 Centerline is valid? [True, True] Translation: X:60.38, Y:-0.92, Z:-1.00 [[ 9.99874723e-01 -1.14253044e-02 -1.09544761e-02 6.03800530e+01] [ 1.14256620e-02 9.99934725e-01 -2.99369658e-05 -9.20030231e-01] [ 1.09541031e-02 -9.52289259e-05 9.99939997e-01 -9.98756836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33800114499999 meters 0.06521592782105345 Centerline is valid? [True, True] Translation: X:60.44, Y:-0.92, Z:-1.00 [[ 9.99862762e-01 -1.05530100e-02 -1.27707534e-02 6.04399635e+01] [ 1.05534402e-02 9.99944310e-01 -3.37047913e-05 -9.23053670e-01] [ 1.27703979e-02 -1.01075216e-04 9.99918450e-01 -1.00419246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.398001145 meters 0.06509681865688058 Centerline is valid? [True, True] Translation: X:60.50, Y:-0.92, Z:-1.01 [[ 9.99868102e-01 -9.27989164e-03 -1.33290363e-02 6.04993875e+01] [ 9.28023347e-03 9.99956937e-01 -3.62060847e-05 -9.24809747e-01] [ 1.33287983e-02 -8.74952594e-05 9.99911164e-01 -1.00567171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.458001145 meters 0.06474977365819258 Centerline is valid? [True, True] Translation: X:60.56, Y:-0.93, Z:-1.00 [[ 9.99835133e-01 -9.52660341e-03 -1.54580156e-02 6.05585628e+01] [ 9.52707030e-03 9.99954615e-01 -4.34367262e-05 -9.28952208e-01] [ 1.54577279e-02 -1.03840037e-04 9.99880517e-01 -1.00385635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.518001145 meters 0.0647235640166765 Centerline is valid? [True, True] Translation: X:60.62, Y:-0.93, Z:-1.01 [[ 9.99833115e-01 -1.00949543e-02 -1.52261266e-02 6.06164251e+01] [ 1.00953767e-02 9.99949039e-01 -4.91225993e-05 -9.32326821e-01] [ 1.52258465e-02 -1.04599082e-04 9.99884075e-01 -1.00517123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.578001145 meters 0.06468161861190402 Centerline is valid? [True, True] Translation: X:60.67, Y:-0.94, Z:-1.01 [[ 9.99814905e-01 -1.10307479e-02 -1.57632228e-02 6.06743677e+01] [ 1.10313168e-02 9.99939152e-01 -5.08592299e-05 -9.38917051e-01] [ 1.57628246e-02 -1.23039288e-04 9.99875751e-01 -1.00671133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.638001145 meters 0.06446098854509143 Centerline is valid? [True, True] Translation: X:60.73, Y:-0.94, Z:-1.01 [[ 9.99819519e-01 -1.00069259e-02 -1.61490091e-02 6.07330958e+01] [ 1.00073146e-02 9.99949924e-01 -5.67452478e-05 -9.40496003e-01] [ 1.61487683e-02 -1.04873208e-04 9.99869595e-01 -1.00677301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69800114499999 meters 0.06452522072973707 Centerline is valid? [True, True] Translation: X:60.79, Y:-0.94, Z:-1.01 [[ 9.99820214e-01 -7.91746679e-03 -1.72294076e-02 6.07906799e+01] [ 7.91761358e-03 9.99968653e-01 -5.96942756e-05 -9.43700403e-01] [ 1.72293401e-02 -7.67322480e-05 9.99851561e-01 -1.01071153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.758001145 meters 0.06423706509635282 Centerline is valid? [True, True] Translation: X:60.85, Y:-0.94, Z:-1.01 [[ 9.99837461e-01 -5.97757819e-03 -1.70094117e-02 6.08499204e+01] [ 5.97739885e-03 9.99982133e-01 -6.13832523e-05 -9.44271617e-01] [ 1.70094747e-02 -4.02987628e-05 9.99855328e-01 -1.01051102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.818001145 meters 0.06402463883800412 Centerline is valid? [True, True] Translation: X:60.91, Y:-0.94, Z:-1.01 [[ 9.99860181e-01 -5.90571981e-03 -1.56442027e-02 6.09079362e+01] [ 5.90554849e-03 9.99982560e-01 -5.71483236e-05 -9.44466107e-01] [ 1.56442674e-02 -3.52472646e-05 9.99877620e-01 -1.01056014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.878001145 meters 0.06416979372892859 Centerline is valid? [True, True] Translation: X:60.97, Y:-0.95, Z:-1.01 [[ 9.99823887e-01 -8.46242787e-03 -1.67506146e-02 6.09651403e+01] [ 8.46255028e-03 9.99964190e-01 -6.35751392e-05 -9.50482328e-01] [ 1.67505528e-02 -7.81889759e-05 9.99859697e-01 -1.01270843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.938001145 meters 0.0635560592622429 Centerline is valid? [True, True] Translation: X:61.02, Y:-0.96, Z:-1.01 [[ 9.99824775e-01 -1.10758546e-02 -1.50911964e-02 6.10236550e+01] [ 1.10761774e-02 9.99938655e-01 -6.21966685e-05 -9.55703041e-01] [ 1.50909595e-02 -1.04966998e-04 9.99886119e-01 -1.00694321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.998001145 meters 0.06336776151063753 Centerline is valid? [True, True] Translation: X:61.08, Y:-0.96, Z:-1.01 [[ 9.99789155e-01 -1.48349003e-02 -1.41975861e-02 6.10827873e+01] [ 1.48355186e-02 9.99889946e-01 -6.17803973e-05 -9.59995162e-01] [ 1.41969401e-02 -1.48861181e-04 9.99899207e-01 -1.00575821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05800114499999 meters 0.06474825304772333 Centerline is valid? [True, True] Translation: X:61.14, Y:-0.97, Z:-1.02 [[ 9.99727872e-01 -1.76148254e-02 -1.52938168e-02 6.11426314e+01] [ 1.76159184e-02 9.99844826e-01 -6.32538299e-05 -9.70582131e-01] [ 1.52925578e-02 -2.06178011e-04 9.99883041e-01 -1.01707322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.118001145 meters 0.06362905376975317 Centerline is valid? [True, True] Translation: X:61.20, Y:-0.97, Z:-1.01 [[ 9.99697727e-01 -1.88465019e-02 -1.57880840e-02 6.12037254e+01] [ 1.88478353e-02 9.99822362e-01 -6.43486551e-05 -9.67905253e-01] [ 1.57864922e-02 -2.33242004e-04 9.99875358e-01 -1.00856539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.178001145 meters 0.06410570138332386 Centerline is valid? [True, True] Translation: X:61.27, Y:-0.97, Z:-1.01 [[ 9.99635756e-01 -2.07548107e-02 -1.72509119e-02 6.12650042e+01] [ 2.07566954e-02 9.99784554e-01 -6.98117242e-05 -9.71819393e-01] [ 1.72486442e-02 -2.88285627e-04 9.99851190e-01 -1.01117886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.238001145 meters 0.06412430956069204 Centerline is valid? [True, True] Translation: X:61.33, Y:-0.98, Z:-1.01 [[ 9.99648851e-01 -2.15340840e-02 -1.54420735e-02 6.13250168e+01] [ 2.15356880e-02 9.99768078e-01 -6.24285684e-05 -9.75009787e-01] [ 1.54398365e-02 -2.70149030e-04 9.99880762e-01 -1.01126275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.298001145 meters 0.06418270169885178 Centerline is valid? [True, True] Translation: X:61.39, Y:-0.98, Z:-1.01 [[ 9.99640866e-01 -2.20420805e-02 -1.52409394e-02 6.13868338e+01] [ 2.20437262e-02 9.99757006e-01 -6.00288412e-05 -9.75478965e-01] [ 1.52385591e-02 -2.75959813e-04 9.99883848e-01 -1.01124568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.358001145 meters 0.06425920857930882 Centerline is valid? [True, True] Translation: X:61.45, Y:-0.98, Z:-1.01 [[ 9.99630904e-01 -2.26106658e-02 -1.50603415e-02 6.14491474e+01] [ 2.26123518e-02 9.99744306e-01 -5.83459807e-05 -9.75966824e-01] [ 1.50578099e-02 -2.82225294e-04 9.99886585e-01 -1.01181061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41800114499999 meters 0.06424360159788325 Centerline is valid? [True, True] Translation: X:61.51, Y:-0.98, Z:-1.01 [[ 9.99633433e-01 -2.17449491e-02 -1.61293567e-02 6.15109568e+01] [ 2.17467856e-02 9.99763509e-01 -6.15386750e-05 -9.76916741e-01] [ 1.61268805e-02 -2.89245547e-04 9.99869912e-01 -1.01397824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.478001145 meters 0.06411532953682357 Centerline is valid? [True, True] Translation: X:61.57, Y:-0.97, Z:-1.01 [[ 9.99637634e-01 -2.11668905e-02 -1.66302231e-02 6.15733315e+01] [ 2.11687798e-02 9.99775914e-01 -6.24401596e-05 -9.73942005e-01] [ 1.66278182e-02 -2.89623998e-04 9.99861706e-01 -1.01426516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.538001145 meters 0.06412087550503294 Centerline is valid? [True, True] Translation: X:61.63, Y:-0.97, Z:-1.01 [[ 9.99650090e-01 -2.23152365e-02 -1.42031256e-02 6.16343870e+01] [ 2.23167321e-02 9.99750949e-01 -5.32026049e-05 -9.72454423e-01] [ 1.42007755e-02 -2.63783361e-04 9.99899129e-01 -1.01387683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.598001145 meters 0.06423879609957783 Centerline is valid? [True, True] Translation: X:61.70, Y:-0.97, Z:-1.01 [[ 9.99566295e-01 -2.52498445e-02 -1.51547688e-02 6.16965713e+01] [ 2.52519056e-02 9.99681118e-01 -5.53652352e-05 -9.72365044e-01] [ 1.51513342e-02 -3.27345567e-04 9.99885158e-01 -1.01421319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.658001145 meters 0.06447981530380685 Centerline is valid? [True, True] Translation: X:61.76, Y:-0.97, Z:-1.02 [[ 9.99523540e-01 -2.64385093e-02 -1.59279096e-02 6.17582791e+01] [ 2.64409447e-02 9.99650375e-01 -5.77047644e-05 -9.71941593e-01] [ 1.59238665e-02 -3.63471707e-04 9.99873141e-01 -1.01634533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.718001145 meters 0.06464690449735729 Centerline is valid? [True, True] Translation: X:61.82, Y:-0.97, Z:-1.02 [[ 9.99509457e-01 -2.69645075e-02 -1.59298908e-02 6.18205243e+01] [ 2.69670299e-02 9.99636322e-01 -5.64799077e-05 -9.71761755e-01] [ 1.59256204e-02 -3.73129640e-04 9.99873110e-01 -1.01768255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77800114499999 meters 0.06441560391354494 Centerline is valid? [True, True] Translation: X:61.88, Y:-0.97, Z:-1.02 [[ 9.99478056e-01 -2.72670546e-02 -1.73240556e-02 6.18825885e+01] [ 2.72701014e-02 9.99628100e-01 -6.03819097e-05 -9.68897167e-01] [ 1.73192592e-02 -4.12078359e-04 9.99849925e-01 -1.01665616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83800114499999 meters 0.06563752738420076 Centerline is valid? [True, True] Translation: X:61.94, Y:-0.97, Z:-1.02 [[ 9.99471594e-01 -2.75954842e-02 -1.71761897e-02 6.19436861e+01] [ 2.75985377e-02 9.99619086e-01 -5.92800439e-05 -9.72834926e-01] [ 1.71712829e-02 -4.14788999e-04 9.99852477e-01 -1.02350101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.898001145 meters 0.06433653080547745 Centerline is valid? [True, True] Translation: X:62.01, Y:-0.97, Z:-1.02 [[ 9.99523051e-01 -2.65347451e-02 -1.57980421e-02 6.20057501e+01] [ 2.65372163e-02 9.99647825e-01 -5.32221749e-05 -9.65427363e-01] [ 1.57938906e-02 -3.66039269e-04 9.99875202e-01 -1.01807890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.958001145 meters 0.06455081215983453 Centerline is valid? [True, True] Translation: X:62.07, Y:-0.96, Z:-1.02 [[ 9.99541445e-01 -2.71127429e-02 -1.34833036e-02 6.20675721e+01] [ 2.71146085e-02 9.99632330e-01 -4.44560142e-05 -9.61068343e-01] [ 1.34795516e-02 -3.21158870e-04 9.99909095e-01 -1.01735713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.018001145 meters 0.06510982195716017 Centerline is valid? [True, True] Translation: X:62.13, Y:-0.96, Z:-1.02 [[ 9.99530947e-01 -2.76495375e-02 -1.31677265e-02 6.21297849e+01] [ 2.76513744e-02 9.99617627e-01 -4.25766318e-05 -9.60760295e-01] [ 1.31638688e-02 -3.21549075e-04 9.99913301e-01 -1.02016203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.078001145 meters 0.06572409079963952 Centerline is valid? [True, True] Translation: X:62.19, Y:-0.96, Z:-1.02 [[ 9.99459211e-01 -2.93429333e-02 -1.48417762e-02 6.21917478e+01] [ 2.93454659e-02 9.99569328e-01 -4.71614019e-05 -9.61579281e-01] [ 1.48367681e-02 -3.88402941e-04 9.99889854e-01 -1.02456868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.138001145 meters 0.06686898897755789 Centerline is valid? [True, True] Translation: X:62.25, Y:-0.96, Z:-1.03 [[ 9.99399425e-01 -3.10498214e-02 -1.53849744e-02 6.22528757e+01] [ 3.10527520e-02 9.99517746e-01 -4.84201354e-05 -9.59198740e-01] [ 1.53790584e-02 -4.29354740e-04 9.99881643e-01 -1.02726067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19800114499999 meters 0.0670197162675298 Centerline is valid? [True, True] Translation: X:62.31, Y:-0.95, Z:-1.03 [[ 9.99471861e-01 -2.87016830e-02 -1.52385062e-02 6.23147040e+01] [ 2.87043027e-02 9.99587946e-01 -4.68247858e-05 -9.52374688e-01] [ 1.52335711e-02 -3.90610639e-04 9.99883886e-01 -1.02931606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.258001145 meters 0.0663037944790546 Centerline is valid? [True, True] Translation: X:62.38, Y:-0.95, Z:-1.03 [[ 9.99587939e-01 -2.45262600e-02 -1.49135711e-02 6.23760523e+01] [ 2.45283057e-02 9.99699135e-01 -4.57519773e-05 -9.45283288e-01] [ 1.49102062e-02 -3.20071507e-04 9.99888785e-01 -1.03098483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.318001145 meters 0.06581856941889634 Centerline is valid? [True, True] Translation: X:62.44, Y:-0.93, Z:-1.03 [[ 9.99689594e-01 -1.91328023e-02 -1.59578100e-02 6.24372962e+01] [ 1.91344653e-02 9.99816918e-01 -4.84763889e-05 -9.34951463e-01] [ 1.59558159e-02 -2.56882819e-04 9.99872665e-01 -1.03094444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.378001145 meters 0.06604183213147567 Centerline is valid? [True, True] Translation: X:62.50, Y:-0.92, Z:-1.03 [[ 9.99775586e-01 -1.37822191e-02 -1.60881602e-02 6.24979127e+01] [ 1.37832170e-02 9.99905006e-01 -4.88600978e-05 -9.22121952e-01] [ 1.60873054e-02 -1.72897471e-04 9.99870576e-01 -1.03243057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.438001145 meters 0.06596734007732709 Centerline is valid? [True, True] Translation: X:62.56, Y:-0.92, Z:-1.03 [[ 9.99839408e-01 -1.15827467e-02 -1.36747212e-02 6.25572193e+01] [ 1.15832477e-02 9.99932911e-01 -4.25666637e-05 -9.19261012e-01] [ 1.36742968e-02 -1.15837855e-04 9.99906496e-01 -1.03436510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.498001145 meters 0.06596355518529692 Centerline is valid? [True, True] Translation: X:62.62, Y:-0.91, Z:-1.04 [[ 9.99899917e-01 -8.61654344e-03 -1.12209991e-02 6.26166459e+01] [ 8.61669369e-03 9.99962875e-01 -3.49556752e-05 -9.10103982e-01] [ 1.12208837e-02 -6.17357353e-05 9.99937042e-01 -1.03576075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55800114499999 meters 0.0659855777763013 Centerline is valid? [True, True] Translation: X:62.68, Y:-0.90, Z:-1.04 [[ 9.99913904e-01 -5.94138788e-03 -1.16997777e-02 6.26764912e+01] [ 5.94136165e-03 9.99982349e-01 -3.69991807e-05 -9.01434701e-01] [ 1.16997910e-02 -3.25166150e-05 9.99931555e-01 -1.03553910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.618001145 meters 0.06629194609358256 Centerline is valid? [True, True] Translation: X:62.73, Y:-0.90, Z:-1.04 [[ 9.99904694e-01 -7.32882175e-03 -1.17000849e-02 6.27339506e+01] [ 7.32882062e-03 9.99973143e-01 -4.29729007e-05 -8.98819533e-01] [ 1.17000856e-02 -4.27790183e-05 9.99931551e-01 -1.03744808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.678001145 meters 0.06695883034314759 Centerline is valid? [True, True] Translation: X:62.79, Y:-0.90, Z:-1.04 [[ 9.99865399e-01 -1.11485007e-02 -1.20371862e-02 6.27913831e+01] [ 1.11487955e-02 9.99937849e-01 -4.26172299e-05 -9.00939559e-01] [ 1.20369132e-02 -9.15886335e-05 9.99927550e-01 -1.04356290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.738001145 meters 0.06779251418726177 Centerline is valid? [True, True] Translation: X:62.85, Y:-0.90, Z:-1.04 [[ 9.99765850e-01 -1.78756927e-02 -1.21944376e-02 6.28513983e+01] [ 1.78765088e-02 9.99840202e-01 -4.20825277e-05 -9.03532227e-01] [ 1.21932412e-02 -1.75921297e-04 9.99925644e-01 -1.04498955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.798001145 meters 0.06769487292474846 Centerline is valid? [True, True] Translation: X:62.91, Y:-0.90, Z:-1.04 [[ 9.99678224e-01 -2.15525496e-02 -1.33766673e-02 6.29130434e+01] [ 2.15538783e-02 9.99767687e-01 -4.48507935e-05 -9.03623755e-01] [ 1.33745264e-02 -2.43482697e-04 9.99910527e-01 -1.04294054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.858001145 meters 0.06835741668374885 Centerline is valid? [True, True] Translation: X:62.97, Y:-0.91, Z:-1.05 [[ 9.99621002e-01 -2.48901516e-02 -1.17614683e-02 6.29740927e+01] [ 2.48914171e-02 9.99690160e-01 -3.87978415e-05 -9.05792031e-01] [ 1.17587899e-02 -2.53976477e-04 9.99930831e-01 -1.04558949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91800114499999 meters 0.06854982291826622 Centerline is valid? [True, True] Translation: X:63.04, Y:-0.90, Z:-1.05 [[ 9.99607130e-01 -2.50980758e-02 -1.24768641e-02 6.30362355e+01] [ 2.50995281e-02 9.99684956e-01 -4.01986956e-05 -9.03012971e-01] [ 1.24739423e-02 -2.72980500e-04 9.99922160e-01 -1.04660282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.978001145 meters 0.06823825120906608 Centerline is valid? [True, True] Translation: X:63.10, Y:-0.90, Z:-1.05 [[ 9.99687001e-01 -2.19874733e-02 -1.19353006e-02 6.30962074e+01] [ 2.19885754e-02 9.99758221e-01 -3.88968099e-05 -8.99279988e-01] [ 1.19332701e-02 -2.23555621e-04 9.99928771e-01 -1.04877446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.038001145 meters 0.06680330135729423 Centerline is valid? [True, True] Translation: X:63.16, Y:-0.89, Z:-1.04 [[ 9.99784970e-01 -1.80508829e-02 -1.02068778e-02 6.31578810e+01] [ 1.80514977e-02 9.99837058e-01 -3.18967960e-05 -8.87919907e-01] [ 1.02057904e-02 -1.52359494e-04 9.99947908e-01 -1.04309633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.098001145 meters 0.06635952821627074 Centerline is valid? [True, True] Translation: X:63.22, Y:-0.88, Z:-1.04 [[ 9.99843145e-01 -1.46657540e-02 -9.92981670e-03 6.32192005e+01] [ 1.46661890e-02 9.99892445e-01 -2.90191460e-05 -8.81431120e-01] [ 9.92917429e-03 -1.16617974e-04 9.99950698e-01 -1.04333388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.158001145 meters 0.06633623661376525 Centerline is valid? [True, True] Translation: X:63.28, Y:-0.88, Z:-1.05 [[ 9.99895739e-01 -9.48269979e-03 -1.08899116e-02 6.32811341e+01] [ 9.48291242e-03 9.99955036e-01 -3.21114106e-05 -8.80390323e-01] [ 1.08897264e-02 -7.11600150e-05 9.99940703e-01 -1.04798102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.218001145 meters 0.06621447482746308 Centerline is valid? [True, True] Translation: X:63.34, Y:-0.88, Z:-1.05 [[ 9.99884931e-01 -8.76295568e-03 -1.23828785e-02 6.33408377e+01] [ 8.76315790e-03 9.99961602e-01 -3.79288236e-05 -8.75996658e-01] [ 1.23827354e-02 -7.05886605e-05 9.99923329e-01 -1.04915979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27800114499999 meters 0.06582234636746691 Centerline is valid? [True, True] Translation: X:63.40, Y:-0.87, Z:-1.05 [[ 9.99929189e-01 -5.90393374e-03 -1.03325170e-02 6.34003742e+01] [ 5.90391596e-03 9.99982571e-01 -3.22234220e-05 -8.70381401e-01] [ 1.03325271e-02 -2.87811717e-05 9.99946618e-01 -1.04510199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33800114499999 meters 0.06573738437413786 Centerline is valid? [True, True] Translation: X:63.46, Y:-0.87, Z:-1.05 [[ 9.99926799e-01 -5.57232443e-03 -1.07399169e-02 6.34592965e+01] [ 5.57223117e-03 9.99984474e-01 -3.86078542e-05 -8.73388754e-01] [ 1.07399652e-02 -2.12402713e-05 9.99942325e-01 -1.04641399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.398001145 meters 0.06561553192318854 Centerline is valid? [True, True] Translation: X:63.52, Y:-0.87, Z:-1.05 [[ 9.99923405e-01 -5.98021381e-03 -1.08360817e-02 6.35165522e+01] [ 5.98014549e-03 9.99982118e-01 -3.87073045e-05 -8.74158033e-01] [ 1.08361194e-02 -2.60970051e-05 9.99941287e-01 -1.04976251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.458001145 meters 0.06551237656923815 Centerline is valid? [True, True] Translation: X:63.58, Y:-0.87, Z:-1.05 [[ 9.99896629e-01 -7.35793636e-03 -1.23528447e-02 6.35753378e+01] [ 7.35790516e-03 9.99972929e-01 -4.79733593e-05 -8.72522275e-01] [ 1.23528633e-02 -4.29226596e-05 9.99923700e-01 -1.04888093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.518001145 meters 0.06542437223599512 Centerline is valid? [True, True] Translation: X:63.63, Y:-0.88, Z:-1.05 [[ 9.99894289e-01 -8.60227649e-03 -1.17222861e-02 6.36345072e+01] [ 8.60230742e-03 9.99962998e-01 -4.77827402e-05 -8.79374215e-01] [ 1.17222634e-02 -5.30610199e-05 9.99931291e-01 -1.05238901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.578001145 meters 0.0654715881798696 Centerline is valid? [True, True] Translation: X:63.69, Y:-0.88, Z:-1.05 [[ 9.99884703e-01 -1.01260463e-02 -1.13156080e-02 6.36942726e+01] [ 1.01261947e-02 9.99948728e-01 -4.41798917e-05 -8.81083281e-01] [ 1.13154752e-02 -7.04092517e-05 9.99935975e-01 -1.05305048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.638001145 meters 0.06538779987347104 Centerline is valid? [True, True] Translation: X:63.75, Y:-0.88, Z:-1.05 [[ 9.99868608e-01 -1.15957456e-02 -1.13271825e-02 6.37546562e+01] [ 1.15959935e-02 9.99932763e-01 -4.37965807e-05 -8.80844596e-01] [ 1.13269288e-02 -8.75591081e-05 9.99935844e-01 -1.05219067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69800114499999 meters 0.06527252023052661 Centerline is valid? [True, True] Translation: X:63.82, Y:-0.88, Z:-1.05 [[ 9.99863401e-01 -1.04418785e-02 -1.28119930e-02 6.38161913e+01] [ 1.04421118e-02 9.99945478e-01 -4.86906104e-05 -8.80261893e-01] [ 1.28118028e-02 -8.51003032e-05 9.99917922e-01 -1.05244351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.758001145 meters 0.06517273570550304 Centerline is valid? [True, True] Translation: X:63.88, Y:-0.88, Z:-1.05 [[ 9.99861687e-01 -9.47568743e-03 -1.36681281e-02 6.38760705e+01] [ 9.47584394e-03 9.99955102e-01 -5.33123658e-05 -8.80925088e-01] [ 1.36680196e-02 -7.62120568e-05 9.99906585e-01 -1.05297799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.818001145 meters 0.06479540675784111 Centerline is valid? [True, True] Translation: X:63.93, Y:-0.88, Z:-1.05 [[ 9.99904171e-01 -7.84659122e-03 -1.14052960e-02 6.39349580e+01] [ 7.84653411e-03 9.99969214e-01 -4.97548901e-05 -8.79062948e-01] [ 1.14053353e-02 -3.97419218e-05 9.99934956e-01 -1.05148753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.878001145 meters 0.0650314521288574 Centerline is valid? [True, True] Translation: X:63.99, Y:-0.88, Z:-1.06 [[ 9.99910401e-01 -5.96309761e-03 -1.19846431e-02 6.39933475e+01] [ 5.96291959e-03 9.99982220e-01 -5.05874954e-05 -8.77937232e-01] [ 1.19847317e-02 -2.08805003e-05 9.99928180e-01 -1.05633203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.938001145 meters 0.06485833291255935 Centerline is valid? [True, True] Translation: X:64.05, Y:-0.88, Z:-1.06 [[ 9.99884002e-01 -4.95794817e-03 -1.44014067e-02 6.40519715e+01] [ 4.95751050e-03 9.99987709e-01 -6.60900617e-05 -8.80118977e-01] [ 1.44015574e-02 -5.31272957e-06 9.99896292e-01 -1.05562310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.998001145 meters 0.06458858463260737 Centerline is valid? [True, True] Translation: X:64.11, Y:-0.88, Z:-1.06 [[ 9.99883687e-01 -5.40534823e-03 -1.42616349e-02 6.41096785e+01] [ 5.40490720e-03 9.99985391e-01 -6.94674592e-05 -8.79579200e-01] [ 1.42618020e-02 -7.62343370e-06 9.99898295e-01 -1.05597185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05800114499999 meters 0.06481807959769782 Centerline is valid? [True, True] Translation: X:64.17, Y:-0.88, Z:-1.06 [[ 9.99892894e-01 -7.71143175e-03 -1.24392132e-02 6.41675886e+01] [ 7.71128747e-03 9.99970266e-01 -5.95629151e-05 -8.83864431e-01] [ 1.24393026e-02 -3.63658132e-05 9.99922628e-01 -1.05589144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.118001145 meters 0.06478938604196623 Centerline is valid? [True, True] Translation: X:64.23, Y:-0.89, Z:-1.06 [[ 9.99900519e-01 -1.05502886e-02 -9.36184043e-03 6.42264623e+01] [ 1.05502928e-02 9.99944343e-01 -4.89354819e-05 -8.90742380e-01] [ 9.36183566e-03 -4.98395440e-05 9.99956176e-01 -1.05734212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.178001145 meters 0.06489476938869534 Centerline is valid? [True, True] Translation: X:64.29, Y:-0.90, Z:-1.06 [[ 9.99859150e-01 -1.50411424e-02 -7.44604180e-03 6.42879776e+01] [ 1.50412944e-02 9.99886873e-01 -3.55829353e-05 -8.98729958e-01] [ 7.44573465e-03 -7.64201836e-05 9.99972277e-01 -1.05738672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.238001145 meters 0.06488157178308433 Centerline is valid? [True, True] Translation: X:64.35, Y:-0.90, Z:-1.06 [[ 9.99816071e-01 -1.73099457e-02 -8.25774882e-03 6.43501114e+01] [ 1.73102156e-02 9.99850166e-01 -3.87927282e-05 -8.98882095e-01] [ 8.25718303e-03 -1.04157819e-04 9.99965903e-01 -1.05533255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.298001145 meters 0.06527802260161815 Centerline is valid? [True, True] Translation: X:64.41, Y:-0.91, Z:-1.06 [[ 9.99769849e-01 -2.03112631e-02 -6.90669056e-03 6.44109427e+01] [ 2.03115250e-02 9.99793699e-01 -3.22194611e-05 -9.08379854e-01] [ 6.90592012e-03 -1.08073372e-04 9.99976148e-01 -1.05763917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.358001145 meters 0.0656327883643458 Centerline is valid? [True, True] Translation: X:64.47, Y:-0.91, Z:-1.06 [[ 9.99741463e-01 -2.17415062e-02 -6.65680666e-03 6.44733704e+01] [ 2.17417854e-02 9.99763619e-01 -3.04362576e-05 -9.11556096e-01] [ 6.65589485e-03 -1.14302473e-04 9.99977843e-01 -1.05902770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41800114499999 meters 0.06483874263387158 Centerline is valid? [True, True] Translation: X:64.54, Y:-0.90, Z:-1.06 [[ 9.99765171e-01 -2.05616316e-02 -6.84265565e-03 6.45352740e+01] [ 2.05619024e-02 9.99788581e-01 -3.07871627e-05 -9.04691922e-01] [ 6.84184202e-03 -1.09918085e-04 9.99976588e-01 -1.05558205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.478001145 meters 0.0647652061563678 Centerline is valid? [True, True] Translation: X:64.60, Y:-0.91, Z:-1.06 [[ 9.99804665e-01 -1.82370313e-02 -7.61851393e-03 6.45975555e+01] [ 1.82373024e-02 9.99833686e-01 -3.38955755e-05 -9.08214181e-01] [ 7.61786502e-03 -1.05052188e-04 9.99970978e-01 -1.05998171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.538001145 meters 0.06468304339421406 Centerline is valid? [True, True] Translation: X:64.66, Y:-0.91, Z:-1.06 [[ 9.99821103e-01 -1.81312748e-02 -5.38698548e-03 6.46583717e+01] [ 1.81314103e-02 9.99835612e-01 -2.36883286e-05 -9.06074688e-01] [ 5.38652942e-03 -7.39895530e-05 9.99985490e-01 -1.05724719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.598001145 meters 0.06460514713052724 Centerline is valid? [True, True] Translation: X:64.72, Y:-0.90, Z:-1.06 [[ 9.99855901e-01 -1.61647181e-02 -5.18459551e-03 6.47206287e+01] [ 1.61648201e-02 9.99869341e-01 -2.22380753e-05 -9.04226169e-01] [ 5.18427756e-03 -6.15731829e-05 9.99986560e-01 -1.05853547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.658001145 meters 0.06453598185363608 Centerline is valid? [True, True] Translation: X:64.78, Y:-0.91, Z:-1.06 [[ 9.99875009e-01 -1.46211553e-02 -6.01573619e-03 6.47834673e+01] [ 1.46212700e-02 9.99893103e-01 -2.49253397e-05 -9.06690721e-01] [ 6.01545757e-03 -6.30354786e-05 9.99981905e-01 -1.06280814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.718001145 meters 0.0643965992615349 Centerline is valid? [True, True] Translation: X:64.85, Y:-0.91, Z:-1.06 [[ 9.99874951e-01 -1.54605857e-02 -3.32456520e-03 6.48460185e+01] [ 1.54606266e-02 9.99880477e-01 -1.34025050e-05 -9.06612980e-01] [ 3.32437505e-03 -3.79990323e-05 9.99994474e-01 -1.05969637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77800114499999 meters 0.06458556116556491 Centerline is valid? [True, True] Translation: X:64.91, Y:-0.91, Z:-1.06 [[ 9.99870258e-01 -1.55189794e-02 -4.31604851e-03 6.49080565e+01] [ 1.55190489e-02 9.99879572e-01 -1.74043642e-05 -9.08138794e-01] [ 4.31579883e-03 -4.95788616e-05 9.99990686e-01 -1.06193988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83800114499999 meters 0.06457500411578075 Centerline is valid? [True, True] Translation: X:64.97, Y:-0.91, Z:-1.06 [[ 9.99865395e-01 -1.60358863e-02 -3.47024538e-03 6.49702093e+01] [ 1.60359356e-02 9.99871416e-01 -1.36103604e-05 -9.10988627e-01] [ 3.47001742e-03 -4.20401031e-05 9.99993979e-01 -1.06367184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.898001145 meters 0.06450488136053363 Centerline is valid? [True, True] Translation: X:65.03, Y:-0.91, Z:-1.06 [[ 9.99866424e-01 -1.60456166e-02 -3.11009124e-03 6.50321289e+01] [ 1.60456573e-02 9.99871260e-01 -1.18790135e-05 -9.07990169e-01] [ 3.10988146e-03 -3.80260314e-05 9.99995164e-01 -1.06176108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.958001145 meters 0.06468710553676582 Centerline is valid? [True, True] Translation: X:65.09, Y:-0.91, Z:-1.06 [[ 9.99851208e-01 -1.68757519e-02 -3.57375446e-03 6.50943073e+01] [ 1.68758113e-02 9.99857593e-01 -1.35421764e-05 -9.10520104e-01] [ 3.57347407e-03 -4.67698445e-05 9.99993614e-01 -1.06408787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.018001145 meters 0.0648576424679759 Centerline is valid? [True, True] Translation: X:65.16, Y:-0.92, Z:-1.07 [[ 9.99802134e-01 -1.95961762e-02 -3.41812532e-03 6.51562558e+01] [ 1.95962473e-02 9.99807975e-01 -1.26989449e-05 -9.15375463e-01] [ 3.41771780e-03 -5.42859969e-05 9.99994158e-01 -1.06687465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.078001145 meters 0.06524796210069762 Centerline is valid? [True, True] Translation: X:65.22, Y:-0.91, Z:-1.07 [[ 9.99741294e-01 -2.23319818e-02 -4.31590945e-03 6.52179000e+01] [ 2.23321195e-02 9.99750607e-01 -1.63019112e-05 -9.13707213e-01] [ 4.31519715e-03 -8.00857117e-05 9.99990686e-01 -1.06628461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.138001145 meters 0.06575548217672555 Centerline is valid? [True, True] Translation: X:65.28, Y:-0.92, Z:-1.07 [[ 9.99680630e-01 -2.49775617e-02 -3.84172894e-03 6.52803215e+01] [ 2.49776923e-02 9.99688009e-01 -1.39779118e-05 -9.19158196e-01] [ 3.84087949e-03 -8.19840757e-05 9.99992620e-01 -1.06901735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19800114499999 meters 0.06609737683825635 Centerline is valid? [True, True] Translation: X:65.34, Y:-0.92, Z:-1.07 [[ 9.99642479e-01 -2.66220824e-02 -2.48566506e-03 6.53428883e+01] [ 2.66221433e-02 9.99645568e-01 -8.57853761e-06 -9.20268324e-01] [ 2.48501243e-03 -5.75982607e-05 9.99996911e-01 -1.06845014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.258001145 meters 0.0660264903414736 Centerline is valid? [True, True] Translation: X:65.41, Y:-0.92, Z:-1.07 [[ 9.99613726e-01 -2.76550745e-02 -2.75604937e-03 6.54054443e+01] [ 2.76551536e-02 9.99617523e-01 -9.39651463e-06 -9.17513099e-01] [ 2.75525510e-03 -6.68260836e-05 9.99996202e-01 -1.06885496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.318001145 meters 0.06655137962423252 Centerline is valid? [True, True] Translation: X:65.47, Y:-0.92, Z:-1.07 [[ 9.99561451e-01 -2.88178738e-02 -6.81436328e-03 6.54674844e+01] [ 2.88183784e-02 9.99584664e-01 -2.41524073e-05 -9.15039265e-01] [ 6.81222905e-03 -1.72237085e-04 9.99976782e-01 -1.07351849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.378001145 meters 0.06730035828901172 Centerline is valid? [True, True] Translation: X:65.53, Y:-0.92, Z:-1.08 [[ 9.99580849e-01 -2.84824629e-02 -5.18418897e-03 6.55285330e+01] [ 2.84827517e-02 9.99594284e-01 -1.81401003e-05 -9.17967799e-01] [ 5.18260234e-03 -1.29527470e-04 9.99986562e-01 -1.07722830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.438001145 meters 0.0660893066713371 Centerline is valid? [True, True] Translation: X:65.59, Y:-0.91, Z:-1.07 [[ 9.99641898e-01 -2.65463624e-02 -3.37150826e-03 6.55899055e+01] [ 2.65464740e-02 9.99647580e-01 -1.16676617e-05 -9.10655747e-01] [ 3.37062981e-03 -7.78381727e-05 9.99994316e-01 -1.07377092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.498001145 meters 0.06614894857800765 Centerline is valid? [True, True] Translation: X:65.65, Y:-0.91, Z:-1.07 [[ 9.99706083e-01 -2.40083750e-02 -3.36818725e-03 6.56509756e+01] [ 2.40084733e-02 9.99711755e-01 -1.12740142e-05 -9.06411578e-01] [ 3.36748706e-03 -6.95943330e-05 9.99994328e-01 -1.07431610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55800114499999 meters 0.06567344874158393 Centerline is valid? [True, True] Translation: X:65.71, Y:-0.90, Z:-1.08 [[ 9.99744146e-01 -2.18537126e-02 -5.83594725e-03 6.57128249e+01] [ 2.18539714e-02 9.99761173e-01 -1.94151719e-05 -9.02031259e-01] [ 5.83497777e-03 -1.08128420e-04 9.99982971e-01 -1.07611721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.618001145 meters 0.06583251600983231 Centerline is valid? [True, True] Translation: X:65.77, Y:-0.90, Z:-1.08 [[ 9.99748516e-01 -2.12894480e-02 -7.04731145e-03 6.57739380e+01] [ 2.12898220e-02 9.99773346e-01 -2.19617205e-05 -9.04537231e-01] [ 7.04618170e-03 -1.28079809e-04 9.99975167e-01 -1.08103862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.678001145 meters 0.06634221606774421 Centerline is valid? [True, True] Translation: X:65.84, Y:-0.91, Z:-1.08 [[ 9.99694648e-01 -2.33402849e-02 -8.11428648e-03 6.58365101e+01] [ 2.33408433e-02 9.99727565e-01 -2.58935579e-05 -9.06167012e-01] [ 8.11268022e-03 -1.63508638e-04 9.99967078e-01 -1.08324091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.738001145 meters 0.06595244782902178 Centerline is valid? [True, True] Translation: X:65.90, Y:-0.91, Z:-1.08 [[ 9.99687377e-01 -2.35459724e-02 -8.41046732e-03 6.58987062e+01] [ 2.35465842e-02 9.99722740e-01 -2.62823056e-05 -9.05166588e-01] [ 8.40875428e-03 -1.71763688e-04 9.99964631e-01 -1.08140412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.798001145 meters 0.06601186892719124 Centerline is valid? [True, True] Translation: X:65.96, Y:-0.91, Z:-1.08 [[ 9.99726662e-01 -2.14610394e-02 -9.27499258e-03 6.59594289e+01] [ 2.14616948e-02 9.99769671e-01 -2.88774529e-05 -9.05109852e-01] [ 9.27347602e-03 -1.70187501e-04 9.99956986e-01 -1.08347255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.858001145 meters 0.06526946353810731 Centerline is valid? [True, True] Translation: X:66.02, Y:-0.90, Z:-1.08 [[ 9.99758548e-01 -1.98035164e-02 -9.52193165e-03 6.60212679e+01] [ 1.98041404e-02 9.99803878e-01 -2.87630927e-05 -9.00349134e-01] [ 9.52063380e-03 -1.59817523e-04 9.99954665e-01 -1.07988937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91800114499999 meters 0.06524058604295825 Centerline is valid? [True, True] Translation: X:66.08, Y:-0.90, Z:-1.08 [[ 9.99802733e-01 -1.71607226e-02 -1.00002670e-02 6.60823909e+01] [ 1.71612968e-02 9.99852734e-01 -2.83952822e-05 -8.98937493e-01] [ 9.99928161e-03 -1.43227870e-04 9.99949996e-01 -1.08285536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.978001145 meters 0.0658278076649423 Centerline is valid? [True, True] Translation: X:66.14, Y:-0.90, Z:-1.09 [[ 9.99783302e-01 -1.78372067e-02 -1.07323001e-02 6.61438885e+01] [ 1.78379148e-02 9.99840891e-01 -2.97543995e-05 -9.01125889e-01] [ 1.07311233e-02 -1.61693903e-04 9.99942407e-01 -1.08765733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.038001145 meters 0.06594922156522799 Centerline is valid? [True, True] Translation: X:66.21, Y:-0.90, Z:-1.09 [[ 9.99724251e-01 -1.96892696e-02 -1.27966315e-02 6.62063179e+01] [ 1.96904285e-02 9.99806124e-01 -3.54368124e-05 -8.99363517e-01] [ 1.27948483e-02 -2.16544117e-04 9.99918119e-01 -1.08719799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.098001145 meters 0.0662293207749886 Centerline is valid? [True, True] Translation: X:66.27, Y:-0.90, Z:-1.09 [[ 9.99700729e-01 -2.08237508e-02 -1.28383478e-02 6.62681696e+01] [ 2.08250213e-02 9.99783135e-01 -3.47308104e-05 -9.01186782e-01] [ 1.28362868e-02 -2.32638449e-04 9.99917584e-01 -1.08970054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.158001145 meters 0.06675644469161954 Centerline is valid? [True, True] Translation: X:66.33, Y:-0.91, Z:-1.09 [[ 9.99638429e-01 -2.39148499e-02 -1.22919224e-02 6.63289263e+01] [ 2.39162477e-02 9.99713965e-01 -3.32815830e-05 -9.05654865e-01] [ 1.22892024e-02 -2.60707112e-04 9.99924451e-01 -1.09269374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.218001145 meters 0.06683413960701466 Centerline is valid? [True, True] Translation: X:66.39, Y:-0.91, Z:-1.09 [[ 9.99563204e-01 -2.75166749e-02 -1.07812117e-02 6.63914372e+01] [ 2.75179727e-02 9.99621308e-01 -2.79790832e-05 -9.10103143e-01] [ 1.07778988e-02 -2.68710226e-04 9.99941881e-01 -1.09060862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27800114499999 meters 0.06681828521442397 Centerline is valid? [True, True] Translation: X:66.45, Y:-0.91, Z:-1.09 [[ 9.99577863e-01 -2.70403380e-02 -1.06262314e-02 6.64533809e+01] [ 2.70415791e-02 9.99634309e-01 -2.68905996e-05 -9.09766999e-01] [ 1.06230726e-02 -2.60470829e-04 9.99943540e-01 -1.09093406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33800114499999 meters 0.06707743245233595 Centerline is valid? [True, True] Translation: X:66.51, Y:-0.91, Z:-1.09 [[ 9.99605838e-01 -2.57732950e-02 -1.11313018e-02 6.65141513e+01] [ 2.57745812e-02 9.99667780e-01 -2.79145476e-05 -9.10434816e-01] [ 1.11283232e-02 -2.59001098e-04 9.99938045e-01 -1.09346951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.398001145 meters 0.0665448925313166 Centerline is valid? [True, True] Translation: X:66.58, Y:-0.91, Z:-1.09 [[ 9.99648319e-01 -2.37069727e-02 -1.18835467e-02 6.65763481e+01] [ 2.37083042e-02 9.99718918e-01 -2.88381090e-05 -9.08604243e-01] [ 1.18808901e-02 -2.52910772e-04 9.99929388e-01 -1.09449450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.458001145 meters 0.06637218030111176 Centerline is valid? [True, True] Translation: X:66.64, Y:-0.91, Z:-1.10 [[ 9.99673121e-01 -2.19754722e-02 -1.30663378e-02 6.66389545e+01] [ 2.19769553e-02 9.99758477e-01 -3.00878363e-05 -9.06090618e-01] [ 1.30638432e-02 -2.57080322e-04 9.99914631e-01 -1.09540216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.518001145 meters 0.06654625397410097 Centerline is valid? [True, True] Translation: X:66.70, Y:-0.91, Z:-1.10 [[ 9.99716455e-01 -1.98710768e-02 -1.31205562e-02 6.66997029e+01] [ 1.98723901e-02 9.99802524e-01 -3.02865154e-05 -9.05793758e-01] [ 1.31185671e-02 -2.30458883e-04 9.99913921e-01 -1.09890747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.578001145 meters 0.06590951504487431 Centerline is valid? [True, True] Translation: X:66.76, Y:-0.90, Z:-1.10 [[ 9.99774626e-01 -1.73167881e-02 -1.22810859e-02 6.67624400e+01] [ 1.73177647e-02 9.99850036e-01 -2.68291782e-05 -9.01469185e-01] [ 1.22797088e-02 -1.85857824e-04 9.99924584e-01 -1.09751280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63800114499999 meters 0.06575032920050185 Centerline is valid? [True, True] Translation: X:66.82, Y:-0.90, Z:-1.10 [[ 9.99818703e-01 -1.56072601e-02 -1.09075026e-02 6.68233941e+01] [ 1.56079307e-02 9.99878189e-01 -2.36445984e-05 -8.99386142e-01] [ 1.09065430e-02 -1.46603234e-04 9.99940511e-01 -1.09823042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69800114499999 meters 0.06574867516482376 Centerline is valid? [True, True] Translation: X:66.89, Y:-0.90, Z:-1.10 [[ 9.99828591e-01 -1.54604869e-02 -1.01863446e-02 6.68852343e+01] [ 1.54610734e-02 9.99880470e-01 -2.11782368e-05 -8.98233754e-01] [ 1.01854544e-02 -1.36317214e-04 9.99948118e-01 -1.09740795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.758001145 meters 0.06617010463600469 Centerline is valid? [True, True] Translation: X:66.95, Y:-0.90, Z:-1.10 [[ 9.99790180e-01 -1.77214844e-02 -1.02735297e-02 6.69464235e+01] [ 1.77222028e-02 9.99842949e-01 -2.11081444e-05 -9.00982702e-01] [ 1.02722903e-02 -1.60965862e-04 9.99947226e-01 -1.09999464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.818001145 meters 0.06633471874326563 Centerline is valid? [True, True] Translation: X:67.01, Y:-0.91, Z:-1.10 [[ 9.99712196e-01 -2.18252336e-02 -9.95916516e-03 6.70089135e+01] [ 2.18261213e-02 9.99761782e-01 -1.95569440e-05 -9.06116043e-01] [ 9.95721953e-03 -1.97818631e-04 9.99950406e-01 -1.10023301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.878001145 meters 0.06668468530892287 Centerline is valid? [True, True] Translation: X:67.07, Y:-0.91, Z:-1.10 [[ 9.99693952e-01 -2.27975705e-02 -9.60587886e-03 6.70699892e+01] [ 2.27984437e-02 9.99740082e-01 -1.86045792e-05 -9.09266417e-01] [ 9.60380625e-03 -2.00400203e-04 9.99953862e-01 -1.10313030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.938001145 meters 0.06585915283807717 Centerline is valid? [True, True] Translation: X:67.13, Y:-0.91, Z:-1.10 [[ 9.99753542e-01 -2.04425377e-02 -8.65783288e-03 6.71320228e+01] [ 2.04431663e-02 9.99791017e-01 -1.58937999e-05 -9.06644800e-01] [ 8.65634845e-03 -1.61103635e-04 9.99962520e-01 -1.09991866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.998001145 meters 0.065540038802758 Centerline is valid? [True, True] Translation: X:67.19, Y:-0.90, Z:-1.10 [[ 9.99833493e-01 -1.52799349e-02 -9.97548528e-03 6.71929183e+01] [ 1.52805136e-02 9.99883246e-01 -1.82109353e-05 -9.03418381e-01] [ 9.97459887e-03 -1.34222635e-04 9.99950243e-01 -1.10255068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05800114499999 meters 0.0653395266721019 Centerline is valid? [True, True] Translation: X:67.25, Y:-0.90, Z:-1.11 [[ 9.99902333e-01 -8.18915160e-03 -1.13253097e-02 6.72539305e+01] [ 8.18944738e-03 9.99966466e-01 -2.02594357e-05 -8.98149296e-01] [ 1.13250958e-02 -7.24905707e-05 9.99935866e-01 -1.10505037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.118001145 meters 0.06484803633701326 Centerline is valid? [True, True] Translation: X:67.31, Y:-0.90, Z:-1.10 [[ 9.99930518e-01 -5.57356925e-03 -1.03872724e-02 6.73139901e+01] [ 5.57366260e-03 9.99984467e-01 -1.99617266e-05 -8.96038397e-01] [ 1.03872223e-02 -3.79348122e-05 9.99946051e-01 -1.10136372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.178001145 meters 0.06470400512992587 Centerline is valid? [True, True] Translation: X:67.37, Y:-0.90, Z:-1.10 [[ 9.99945505e-01 -5.97138765e-03 -8.56330302e-03 6.73726964e+01] [ 5.97142606e-03 9.99982171e-01 -2.10839181e-05 -9.01701696e-01] [ 8.56327624e-03 -3.00523616e-05 9.99963334e-01 -1.10291293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.238001145 meters 0.06476064511614164 Centerline is valid? [True, True] Translation: X:67.43, Y:-0.91, Z:-1.10 [[ 9.99887490e-01 -1.14052317e-02 -9.74312610e-03 6.74323748e+01] [ 1.14055664e-02 9.99934954e-01 -2.12141774e-05 -9.08933515e-01] [ 9.74273431e-03 -8.99140807e-05 9.99952534e-01 -1.10324635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.298001145 meters 0.06489473709197288 Centerline is valid? [True, True] Translation: X:67.49, Y:-0.91, Z:-1.10 [[ 9.99846054e-01 -1.47643796e-02 -9.48056399e-03 6.74938634e+01] [ 1.47648622e-02 9.99890993e-01 -1.90931917e-05 -9.13956537e-01] [ 9.47981244e-03 -1.20888968e-04 9.99955058e-01 -1.10417178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.358001145 meters 0.06456447739957584 Centerline is valid? [True, True] Translation: X:67.56, Y:-0.92, Z:-1.10 [[ 9.99857611e-01 -1.45862521e-02 -8.48525017e-03 6.75556404e+01] [ 1.45866392e-02 9.99893609e-01 -1.62671621e-05 -9.17120527e-01] [ 8.48458469e-03 -1.07506437e-04 9.99963999e-01 -1.10323691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41800114499999 meters 0.06444269058213718 Centerline is valid? [True, True] Translation: X:67.62, Y:-0.92, Z:-1.10 [[ 9.99868193e-01 -1.39113675e-02 -8.37084987e-03 6.76173844e+01] [ 1.39117250e-02 9.99903227e-01 -1.55170813e-05 -9.16693152e-01] [ 8.37025567e-03 -1.00937926e-04 9.99964964e-01 -1.10414903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.478001145 meters 0.06397127574560414 Centerline is valid? [True, True] Translation: X:67.68, Y:-0.91, Z:-1.10 [[ 9.99918906e-01 -1.05290668e-02 -7.16379363e-03 6.76790892e+01] [ 1.05292412e-02 9.99944566e-01 -1.33775404e-05 -9.13467330e-01] [ 7.16353736e-03 -6.20528553e-05 9.99974340e-01 -1.10308053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.538001145 meters 0.0640024954880352 Centerline is valid? [True, True] Translation: X:67.74, Y:-0.91, Z:-1.10 [[ 9.99934360e-01 -8.88491019e-03 -7.23424577e-03 6.77398401e+01] [ 8.88504877e-03 9.99960527e-01 -1.29830248e-05 -9.14477329e-01] [ 7.23407557e-03 -5.12944540e-05 9.99973832e-01 -1.10490472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.598001145 meters 0.06387369679260375 Centerline is valid? [True, True] Translation: X:67.80, Y:-0.92, Z:-1.11 [[ 9.99931427e-01 -6.31391468e-03 -9.86284272e-03 6.77999324e+01] [ 6.31404868e-03 9.99980066e-01 -1.75520908e-05 -9.18944778e-01] [ 9.86275693e-03 -4.47235818e-05 9.99951361e-01 -1.10934203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.658001145 meters 0.06331750241247917 Centerline is valid? [True, True] Translation: X:67.86, Y:-0.92, Z:-1.10 [[ 9.99945079e-01 -4.79570154e-03 -9.31879197e-03 6.78589649e+01] [ 4.79570235e-03 9.99988500e-01 -2.22583538e-05 -9.16923923e-01] [ 9.31879155e-03 -2.24330213e-05 9.99956579e-01 -1.10390307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.718001145 meters 0.06328480994910521 Centerline is valid? [True, True] Translation: X:67.92, Y:-0.92, Z:-1.10 [[ 9.99929316e-01 -5.09709226e-03 -1.07416141e-02 6.79174078e+01] [ 5.09709000e-03 9.99987009e-01 -2.75868395e-05 -9.19294871e-01] [ 1.07416152e-02 -2.71660842e-05 9.99942307e-01 -1.10396888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77800114499999 meters 0.0634671480188822 Centerline is valid? [True, True] Translation: X:67.98, Y:-0.93, Z:-1.11 [[ 9.99920366e-01 -6.30487318e-03 -1.09320551e-02 6.79754684e+01] [ 6.30494423e-03 9.99980123e-01 -2.79651006e-05 -9.28386105e-01] [ 1.09320141e-02 -4.09631242e-05 9.99940243e-01 -1.10839794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83800114499999 meters 0.06332642024464369 Centerline is valid? [True, True] Translation: X:68.03, Y:-0.93, Z:-1.11 [[ 9.99888743e-01 -8.74640783e-03 -1.20831368e-02 6.80329532e+01] [ 8.74667179e-03 9.99961747e-01 -3.10007299e-05 -9.34587043e-01] [ 1.20829457e-02 -7.46899509e-05 9.99926996e-01 -1.10927910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.898001145 meters 0.06344233453571711 Centerline is valid? [True, True] Translation: X:68.09, Y:-0.94, Z:-1.11 [[ 9.99871487e-01 -7.78335657e-03 -1.40153139e-02 6.80916598e+01] [ 7.78355227e-03 9.99969707e-01 -4.05846446e-05 -9.38507412e-01] [ 1.40152052e-02 -6.85094993e-05 9.99901780e-01 -1.11197146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.958001145 meters 0.06324661506520456 Centerline is valid? [True, True] Translation: X:68.15, Y:-0.94, Z:-1.11 [[ 9.99903984e-01 -5.73873650e-03 -1.26131100e-02 6.81506766e+01] [ 5.73869603e-03 9.99983533e-01 -3.94016751e-05 -9.41614439e-01] [ 1.26131284e-02 -3.29849124e-05 9.99920451e-01 -1.11318601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.018001145 meters 0.06293031378001265 Centerline is valid? [True, True] Translation: X:68.21, Y:-0.94, Z:-1.11 [[ 9.99894342e-01 -5.23567170e-03 -1.35607294e-02 6.82092615e+01] [ 5.23553811e-03 9.99986293e-01 -4.53515265e-05 -9.43318768e-01] [ 1.35607809e-02 -2.56509808e-05 9.99908048e-01 -1.10934823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.078001145 meters 0.06297330179303214 Centerline is valid? [True, True] Translation: X:68.27, Y:-0.94, Z:-1.11 [[ 9.99857907e-01 -7.53681929e-03 -1.50785166e-02 6.82678358e+01] [ 7.53694048e-03 9.99971596e-01 -4.87892771e-05 -9.44825205e-01] [ 1.50784561e-02 -6.48635380e-05 9.99886312e-01 -1.11094040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13800114499999 meters 0.06345131859587773 Centerline is valid? [True, True] Translation: X:68.33, Y:-0.96, Z:-1.12 [[ 9.99736281e-01 -1.42668172e-02 -1.79951692e-02 6.83275799e+01] [ 1.42680806e-02 9.99898204e-01 -5.81813571e-05 -9.56644012e-01] [ 1.79941674e-02 -1.98590511e-04 9.99838072e-01 -1.11510422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19800114499999 meters 0.06365733906531165 Centerline is valid? [True, True] Translation: X:68.39, Y:-0.96, Z:-1.12 [[ 9.99723803e-01 -1.68452202e-02 -1.63877016e-02 6.83866986e+01] [ 1.68465116e-02 9.99858086e-01 -5.92504503e-05 -9.61857243e-01] [ 1.63863741e-02 -2.16841520e-04 9.99865711e-01 -1.11662196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.258001145 meters 0.06341752693122074 Centerline is valid? [True, True] Translation: X:68.45, Y:-0.96, Z:-1.11 [[ 9.99706122e-01 -1.80218623e-02 -1.62136564e-02 6.84469394e+01] [ 1.80233306e-02 9.99837565e-01 -5.55729085e-05 -9.60456258e-01] [ 1.62120243e-02 -2.36667513e-04 9.99868548e-01 -1.11491289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.318001145 meters 0.0636694874164136 Centerline is valid? [True, True] Translation: X:68.51, Y:-0.96, Z:-1.12 [[ 9.99641449e-01 -2.04135526e-02 -1.73280317e-02 6.85079103e+01] [ 2.04155973e-02 9.99791578e-01 -5.89067020e-05 -9.63336888e-01] [ 1.73256227e-02 -2.94876536e-04 9.99849857e-01 -1.11687019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.378001145 meters 0.06397601337201553 Centerline is valid? [True, True] Translation: X:68.57, Y:-0.97, Z:-1.12 [[ 9.99600337e-01 -2.27605799e-02 -1.67666822e-02 6.85695207e+01] [ 2.27628365e-02 9.99740891e-01 -5.62666388e-05 -9.67203884e-01] [ 1.67636185e-02 -3.25413095e-04 9.99859428e-01 -1.11839622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.438001145 meters 0.06394131098355565 Centerline is valid? [True, True] Translation: X:68.63, Y:-0.97, Z:-1.12 [[ 9.99547251e-01 -2.57317473e-02 -1.55939359e-02 6.86319935e+01] [ 2.57340831e-02 9.99668822e-01 -5.08843793e-05 -9.68551893e-01] [ 1.55900808e-02 -3.50434300e-04 9.99878406e-01 -1.11738036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.498001145 meters 0.06403549244352759 Centerline is valid? [True, True] Translation: X:68.69, Y:-0.97, Z:-1.12 [[ 9.99529942e-01 -2.61826632e-02 -1.59487449e-02 6.86944822e+01] [ 2.61851793e-02 9.99657108e-01 -5.10790222e-05 -9.68684923e-01] [ 1.59446136e-02 -3.66565732e-04 9.99872809e-01 -1.11887094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55800114499999 meters 0.06336945066590918 Centerline is valid? [True, True] Translation: X:68.76, Y:-0.96, Z:-1.12 [[ 9.99612407e-01 -2.32024348e-02 -1.53845033e-02 6.87558081e+01] [ 2.32044248e-02 9.99730740e-01 -4.91634043e-05 -9.64450110e-01] [ 1.53815015e-02 -3.07844201e-04 9.99881650e-01 -1.11886141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.618001145 meters 0.06292532973606978 Centerline is valid? [True, True] Translation: X:68.82, Y:-0.96, Z:-1.12 [[ 9.99753413e-01 -1.71979429e-02 -1.40479029e-02 6.88159668e+01] [ 1.71990407e-02 9.99852085e-01 -4.26671709e-05 -9.55897649e-01] [ 1.40465588e-02 -1.98953805e-04 9.99901322e-01 -1.11896774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.678001145 meters 0.06287999969122224 Centerline is valid? [True, True] Translation: X:68.88, Y:-0.95, Z:-1.12 [[ 9.99760680e-01 -1.71091700e-02 -1.36329843e-02 6.88769208e+01] [ 1.71101903e-02 9.99853609e-01 -4.17982739e-05 -9.53668250e-01] [ 1.36317036e-02 -1.91474684e-04 9.99907066e-01 -1.11873037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.738001145 meters 0.06342989583338196 Centerline is valid? [True, True] Translation: X:68.94, Y:-0.96, Z:-1.12 [[ 9.99722714e-01 -1.88338323e-02 -1.41344391e-02 6.89384091e+01] [ 1.88351138e-02 9.99822603e-01 -4.24615981e-05 -9.55363765e-01] [ 1.41327314e-02 -2.23773946e-04 9.99900103e-01 -1.12251293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.798001145 meters 0.06422235132807362 Centerline is valid? [True, True] Translation: X:69.00, Y:-0.96, Z:-1.13 [[ 9.99632818e-01 -2.24857178e-02 -1.51202123e-02 6.89989701e+01] [ 2.24875976e-02 9.99747121e-01 -4.57010687e-05 -9.58454490e-01] [ 1.51174163e-02 -2.94332962e-04 9.99885682e-01 -1.12724707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.858001145 meters 0.06342860374717507 Centerline is valid? [True, True] Translation: X:69.06, Y:-0.95, Z:-1.12 [[ 9.99598390e-01 -2.37684229e-02 -1.54311598e-02 6.90611526e+01] [ 2.37705598e-02 9.99717439e-01 -4.49475998e-05 -9.51173054e-01] [ 1.54278679e-02 -3.21877758e-04 9.99880932e-01 -1.12235802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91800114499999 meters 0.06341419974506267 Centerline is valid? [True, True] Translation: X:69.12, Y:-0.95, Z:-1.12 [[ 9.99617953e-01 -2.25781956e-02 -1.59427999e-02 6.91233136e+01] [ 2.25803416e-02 9.99745031e-01 -4.54165154e-05 -9.48129838e-01] [ 1.59397604e-02 -3.14594703e-04 9.99872904e-01 -1.12290731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.978001145 meters 0.06336574856062051 Centerline is valid? [True, True] Translation: X:69.18, Y:-0.94, Z:-1.13 [[ 9.99666348e-01 -2.02798128e-02 -1.59975380e-02 6.91847906e+01] [ 2.02817212e-02 9.99794304e-01 -4.29501948e-05 -9.43030188e-01] [ 1.59951184e-02 -2.81521741e-04 9.99872030e-01 -1.12579416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.038001145 meters 0.06351635549224198 Centerline is valid? [True, True] Translation: X:69.25, Y:-0.94, Z:-1.13 [[ 9.99688773e-01 -1.92037061e-02 -1.59240273e-02 6.92459554e+01] [ 1.92054493e-02 9.99815557e-01 -4.34582408e-05 -9.39638553e-01] [ 1.59219248e-02 -2.62383385e-04 9.99873204e-01 -1.12734818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.098001145 meters 0.06378890214724685 Centerline is valid? [True, True] Translation: X:69.31, Y:-0.94, Z:-1.13 [[ 9.99653952e-01 -2.06984380e-02 -1.62342595e-02 6.93074719e+01] [ 2.07004548e-02 9.99785722e-01 -4.38132160e-05 -9.39168311e-01] [ 1.62316877e-02 -2.92258501e-04 9.99868215e-01 -1.12969411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.158001145 meters 0.06437655862072719 Centerline is valid? [True, True] Translation: X:69.37, Y:-0.94, Z:-1.13 [[ 9.99592283e-01 -2.35129698e-02 -1.61990034e-02 6.93681766e+01] [ 2.35153930e-02 9.99723474e-01 -4.08961881e-05 -9.42368586e-01] [ 1.61954856e-02 -3.40046418e-04 9.99868787e-01 -1.13342885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.218001145 meters 0.0646831287188344 Centerline is valid? [True, True] Translation: X:69.43, Y:-0.94, Z:-1.13 [[ 9.99539376e-01 -2.64269249e-02 -1.49215792e-02 6.94303759e+01] [ 2.64293111e-02 9.99650684e-01 -3.72936929e-05 -9.41907564e-01] [ 1.49173524e-02 -3.57090542e-04 9.99888666e-01 -1.13205650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27800114499999 meters 0.06410110940564574 Centerline is valid? [True, True] Translation: X:69.49, Y:-0.94, Z:-1.13 [[ 9.99535323e-01 -2.72836371e-02 -1.35919398e-02 6.94928230e+01] [ 2.72857099e-02 9.99627675e-01 -3.29547080e-05 -9.40354128e-01] [ 1.35877783e-02 -3.37926330e-04 9.99907625e-01 -1.13062390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33800114499999 meters 0.06426338418109653 Centerline is valid? [True, True] Translation: X:69.55, Y:-0.94, Z:-1.13 [[ 9.99552035e-01 -2.63178143e-02 -1.42513509e-02 6.95546232e+01] [ 2.63200073e-02 9.99653568e-01 -3.36882633e-05 -9.40637833e-01] [ 1.42473004e-02 -3.41422488e-04 9.99898444e-01 -1.13296600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.398001145 meters 0.06434276393799326 Centerline is valid? [True, True] Translation: X:69.62, Y:-0.94, Z:-1.13 [[ 9.99595714e-01 -2.42401154e-02 -1.48601980e-02 6.96161821e+01] [ 2.42422769e-02 9.99706112e-01 -3.46905209e-05 -9.35977181e-01] [ 1.48566717e-02 -3.25568539e-04 9.99889581e-01 -1.13424573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.458001145 meters 0.06452749769307954 Centerline is valid? [True, True] Translation: X:69.68, Y:-0.93, Z:-1.14 [[ 9.99625795e-01 -2.25863681e-02 -1.54313295e-02 6.96784342e+01] [ 2.25885197e-02 9.99744846e-01 -3.48739395e-05 -9.30666381e-01] [ 1.54281798e-02 -3.13710001e-04 9.99880929e-01 -1.13573468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.518001145 meters 0.06474969325818054 Centerline is valid? [True, True] Translation: X:69.74, Y:-0.93, Z:-1.14 [[ 9.99627477e-01 -2.33134179e-02 -1.41912905e-02 6.97409324e+01] [ 2.33153241e-02 9.99728160e-01 -3.11311798e-05 -9.29961307e-01] [ 1.41881586e-02 -2.99754956e-04 9.99899298e-01 -1.13730521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.578001145 meters 0.06526719429508711 Centerline is valid? [True, True] Translation: X:69.80, Y:-0.93, Z:-1.14 [[ 9.99566771e-01 -2.64954245e-02 -1.28164804e-02 6.98034819e+01] [ 2.64972521e-02 9.99648886e-01 -2.72210207e-05 -9.27008197e-01] [ 1.28127016e-02 -3.12392284e-04 9.99917865e-01 -1.13667047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63800114499999 meters 0.0659917076042017 Centerline is valid? [True, True] Translation: X:69.87, Y:-0.93, Z:-1.14 [[ 9.99491873e-01 -2.91907521e-02 -1.28021837e-02 6.98660071e+01] [ 2.91928067e-02 9.99573799e-01 -2.63924399e-05 -9.26920725e-01] [ 1.27974978e-02 -3.47352646e-04 9.99918048e-01 -1.13887149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69800114499999 meters 0.06525400043760983 Centerline is valid? [True, True] Translation: X:69.93, Y:-0.92, Z:-1.14 [[ 9.99534606e-01 -2.79430657e-02 -1.22375363e-02 6.99286407e+01] [ 2.79448657e-02 9.99609466e-01 -2.39124083e-05 -9.23154705e-01] [ 1.22334253e-02 -3.18075028e-04 9.99925118e-01 -1.13834359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.758001145 meters 0.0649655840235999 Centerline is valid? [True, True] Translation: X:69.99, Y:-0.92, Z:-1.14 [[ 9.99641927e-01 -2.42595201e-02 -1.12913022e-02 6.99894578e+01] [ 2.42608149e-02 9.99705663e-01 -2.23077124e-05 -9.16221540e-01] [ 1.12885199e-02 -2.51636467e-04 9.99936251e-01 -1.13829739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.818001145 meters 0.06450934400981431 Centerline is valid? [True, True] Translation: X:70.05, Y:-0.91, Z:-1.14 [[ 9.99732562e-01 -2.13884909e-02 -8.79414774e-03 7.00509833e+01] [ 2.13891686e-02 9.99771225e-01 -1.69990010e-05 -9.08669688e-01] [ 8.79249944e-03 -1.71105054e-04 9.99961331e-01 -1.13542215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.878001145 meters 0.06457718375528225 Centerline is valid? [True, True] Translation: X:70.11, Y:-0.91, Z:-1.14 [[ 9.99787473e-01 -1.93455565e-02 -7.12448790e-03 7.01132331e+01] [ 1.93459562e-02 9.99812849e-01 -1.28180178e-05 -9.08138131e-01] [ 7.12340252e-03 -1.25014737e-04 9.99974620e-01 -1.13842543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.938001145 meters 0.06443860966956322 Centerline is valid? [True, True] Translation: X:70.18, Y:-0.91, Z:-1.14 [[ 9.99776290e-01 -1.91948726e-02 -8.88408326e-03 7.01758272e+01] [ 1.91954916e-02 9.99815749e-01 -1.55954599e-05 -9.06417652e-01] [ 8.88274572e-03 -1.54942375e-04 9.99960536e-01 -1.14031950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.998001145 meters 0.0650028920349621 Centerline is valid? [True, True] Translation: X:70.24, Y:-0.90, Z:-1.14 [[ 9.99758488e-01 -1.92109408e-02 -1.06726479e-02 7.02367961e+01] [ 1.92118510e-02 9.99815435e-01 -1.72366369e-05 -9.01142374e-01] [ 1.06710092e-02 -1.87808847e-04 9.99943046e-01 -1.14286431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05800114499999 meters 0.06475773341397868 Centerline is valid? [True, True] Translation: X:70.30, Y:-0.90, Z:-1.14 [[ 9.99783026e-01 -1.81272320e-02 -1.02617662e-02 7.02991995e+01] [ 1.81280180e-02 9.99835674e-01 -1.64166176e-05 -8.98968135e-01] [ 1.02603775e-02 -1.69612428e-04 9.99947347e-01 -1.14431529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.118001145 meters 0.06480200842219123 Centerline is valid? [True, True] Translation: X:70.36, Y:-0.90, Z:-1.14 [[ 9.99782559e-01 -1.86236681e-02 -9.38047080e-03 7.03614786e+01] [ 1.86243530e-02 9.99826552e-01 -1.43426517e-05 -8.98081704e-01] [ 9.37911089e-03 -1.60365667e-04 9.99956002e-01 -1.14462882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.178001145 meters 0.06538179426551707 Centerline is valid? [True, True] Translation: X:70.42, Y:-0.90, Z:-1.14 [[ 9.99706657e-01 -2.24714568e-02 -9.03514748e-03 7.04225975e+01] [ 2.24722514e-02 9.99747467e-01 -1.35802086e-05 -8.95049237e-01] [ 9.03317097e-03 -1.89463880e-04 9.99959182e-01 -1.14359910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.238001145 meters 0.06559985652435739 Centerline is valid? [True, True] Translation: X:70.48, Y:-0.90, Z:-1.14 [[ 9.99660203e-01 -2.48310298e-02 -7.93079902e-03 7.04845830e+01] [ 2.48317228e-02 9.99691645e-01 -1.10819639e-05 -8.96626422e-01] [ 7.92862869e-03 -1.85857205e-04 9.99968551e-01 -1.14401800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.298001145 meters 0.0657353786018045 Centerline is valid? [True, True] Translation: X:70.55, Y:-0.89, Z:-1.14 [[ 9.99648496e-01 -2.55478334e-02 -7.08465112e-03 7.05473053e+01] [ 2.55484134e-02 9.99673586e-01 -8.63808149e-06 -8.93283425e-01] [ 7.08255927e-03 -1.72366550e-04 9.99974904e-01 -1.14332549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.358001145 meters 0.06567685358964462 Centerline is valid? [True, True] Translation: X:70.61, Y:-0.89, Z:-1.14 [[ 9.99702737e-01 -2.36221242e-02 -6.03590366e-03 7.06090512e+01] [ 2.36225108e-02 9.99720950e-01 -7.24631124e-06 -8.88859154e-01] [ 6.03439051e-03 -1.35339042e-04 9.99981784e-01 -1.14355220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41800114499999 meters 0.06541723833799179 Centerline is valid? [True, True] Translation: X:70.67, Y:-0.88, Z:-1.15 [[ 9.99779426e-01 -2.00114862e-02 -6.37497132e-03 7.06703324e+01] [ 2.00118442e-02 9.99799743e-01 -7.63929363e-06 -8.83715596e-01] [ 6.37384756e-03 -1.19937324e-04 9.99979680e-01 -1.14689583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.478001145 meters 0.064827136370129 Centerline is valid? [True, True] Translation: X:70.73, Y:-0.88, Z:-1.15 [[ 9.99840872e-01 -1.67243575e-02 -6.20695155e-03 7.07321639e+01] [ 1.67246377e-02 9.99860133e-01 -6.76724264e-06 -8.76217210e-01] [ 6.20619658e-03 -9.70428501e-05 9.99980737e-01 -1.14712928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.538001145 meters 0.06486857696412571 Centerline is valid? [True, True] Translation: X:70.79, Y:-0.87, Z:-1.15 [[ 9.99872405e-01 -1.44512114e-02 -6.80701304e-03 7.07938234e+01] [ 1.44515054e-02 9.99895572e-01 -5.99984017e-06 -8.71685551e-01] [ 6.80638890e-03 -9.23725109e-05 9.99976832e-01 -1.14908194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.598001145 meters 0.06476480981063075 Centerline is valid? [True, True] Translation: X:70.86, Y:-0.87, Z:-1.15 [[ 9.99880264e-01 -1.33962319e-02 -7.74590217e-03 7.08564982e+01] [ 1.33965772e-02 9.99910262e-01 -7.30875486e-06 -8.67603742e-01] [ 7.74530497e-03 -9.64606963e-05 9.99970000e-01 -1.15033414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.658001145 meters 0.06465289401606059 Centerline is valid? [True, True] Translation: X:70.92, Y:-0.87, Z:-1.15 [[ 9.99880345e-01 -1.35168441e-02 -7.52264901e-03 7.09189808e+01] [ 1.35171770e-02 9.99908639e-01 -6.59096405e-06 -8.66325489e-01] [ 7.52205082e-03 -9.50948029e-05 9.99971704e-01 -1.15109116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.718001145 meters 0.06468039573253728 Centerline is valid? [True, True] Translation: X:70.98, Y:-0.86, Z:-1.15 [[ 9.99867709e-01 -1.46691636e-02 -7.02703922e-03 7.09815708e+01] [ 1.46694863e-02 9.99892397e-01 -5.61865913e-06 -8.64417218e-01] [ 7.02636551e-03 -9.74651396e-05 9.99975310e-01 -1.14985895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77800114499999 meters 0.06485990426045772 Centerline is valid? [True, True] Translation: X:71.04, Y:-0.86, Z:-1.15 [[ 9.99830727e-01 -1.60220684e-02 -9.04489127e-03 7.10440996e+01] [ 1.60226615e-02 9.99871629e-01 -6.89582763e-06 -8.62349571e-01] [ 9.04384065e-03 -1.38028571e-04 9.99959094e-01 -1.15094869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83800114499999 meters 0.06581286943129133 Centerline is valid? [True, True] Translation: X:71.11, Y:-0.86, Z:-1.16 [[ 9.99785271e-01 -1.85667092e-02 -9.20264433e-03 7.11054026e+01] [ 1.85674327e-02 9.99827610e-01 -6.82286153e-06 -8.63807243e-01] [ 9.20118457e-03 -1.64048082e-04 9.99957655e-01 -1.15548515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.898001145 meters 0.0660111254890985 Centerline is valid? [True, True] Translation: X:71.17, Y:-0.86, Z:-1.16 [[ 9.99721151e-01 -2.11685071e-02 -1.04648956e-02 7.11676987e+01] [ 2.11695933e-02 9.99775899e-01 -6.98089274e-06 -8.62753972e-01] [ 1.04626982e-02 -2.14558638e-04 9.99945241e-01 -1.15564857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.958001145 meters 0.06646412585777421 Centerline is valid? [True, True] Translation: X:71.23, Y:-0.86, Z:-1.16 [[ 9.99669983e-01 -2.31246756e-02 -1.11881326e-02 7.12298094e+01] [ 2.31260470e-02 9.99732557e-01 -6.80277308e-06 -8.60839162e-01] [ 1.11852977e-02 -2.51936751e-04 9.99937411e-01 -1.15723925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.018001145 meters 0.06610867426428291 Centerline is valid? [True, True] Translation: X:71.29, Y:-0.85, Z:-1.16 [[ 9.99672886e-01 -2.29534658e-02 -1.12809051e-02 7.12928348e+01] [ 2.29548671e-02 9.99736502e-01 -5.26357499e-06 -8.54630954e-01] [ 1.12780534e-02 -2.53689824e-04 9.99936369e-01 -1.15629475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.078001145 meters 0.0666513506327435 Centerline is valid? [True, True] Translation: X:71.35, Y:-0.85, Z:-1.16 [[ 9.99660292e-01 -2.36581078e-02 -1.09359555e-02 7.13538648e+01] [ 2.36594655e-02 9.99720076e-01 -5.22647803e-06 -8.53349031e-01] [ 1.09330179e-02 -2.53514160e-04 9.99940201e-01 -1.15851360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13800114499999 meters 0.06725314272072425 Centerline is valid? [True, True] Translation: X:71.42, Y:-0.85, Z:-1.16 [[ 9.99562424e-01 -2.73240057e-02 -1.13295360e-02 7.14158151e+01] [ 2.73257141e-02 9.99626583e-01 -4.00370086e-06 -8.51848826e-01] [ 1.13254147e-02 -3.05585713e-04 9.99935819e-01 -1.16005712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19800114499999 meters 0.06773809606368646 Centerline is valid? [True, True] Translation: X:71.48, Y:-0.85, Z:-1.16 [[ 9.99519151e-01 -2.86381003e-02 -1.18880694e-02 7.14782821e+01] [ 2.86400802e-02 9.99589789e-01 -3.69552860e-06 -8.52549769e-01] [ 1.18832986e-02 -3.36781508e-04 9.99929334e-01 -1.16250341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.258001145 meters 0.0688483355642624 Centerline is valid? [True, True] Translation: X:71.54, Y:-0.85, Z:-1.17 [[ 9.99421106e-01 -3.16743498e-02 -1.24172458e-02 7.15401427e+01] [ 3.16767481e-02 9.99498166e-01 -3.53016078e-06 -8.53981448e-01] [ 1.24111262e-02 -3.89809849e-04 9.99922903e-01 -1.16582926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.318001145 meters 0.06940747322070136 Centerline is valid? [True, True] Translation: X:71.60, Y:-0.85, Z:-1.17 [[ 9.99345366e-01 -3.30774004e-02 -1.46535239e-02 7.16023172e+01] [ 3.30809076e-02 9.99452677e-01 -3.05081953e-06 -8.51931653e-01] [ 1.46456046e-02 -4.81703048e-04 9.99892631e-01 -1.16918426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.378001145 meters 0.06925662253072237 Centerline is valid? [True, True] Translation: X:71.66, Y:-0.84, Z:-1.17 [[ 9.99440503e-01 -2.94999440e-02 -1.57618184e-02 7.16635112e+01] [ 2.95036046e-02 9.99564674e-01 -2.81744997e-07 -8.43585454e-01] [ 1.57549652e-02 -4.64748872e-04 9.99875775e-01 -1.17264082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.438001145 meters 0.06799866012197024 Centerline is valid? [True, True] Translation: X:71.72, Y:-0.83, Z:-1.17 [[ 9.99544445e-01 -2.50943637e-02 -1.67682655e-02 7.17249540e+01] [ 2.50978707e-02 9.99684999e-01 -1.29662805e-06 -8.34053852e-01] [ 1.67630160e-02 -4.19551722e-04 9.99859403e-01 -1.17385091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.498001145 meters 0.06665448618023277 Centerline is valid? [True, True] Translation: X:71.79, Y:-0.82, Z:-1.17 [[ 9.99694905e-01 -2.00140943e-02 -1.44752568e-02 7.17854422e+01] [ 2.00161694e-02 9.99799656e-01 -1.52159516e-06 -8.21684458e-01] [ 1.44723872e-02 -2.88218061e-04 9.99895228e-01 -1.17276564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55800114499999 meters 0.06631369713544567 Centerline is valid? [True, True] Translation: X:71.85, Y:-0.82, Z:-1.17 [[ 9.99727230e-01 -1.92255684e-02 -1.32606146e-02 7.18473620e+01] [ 1.92272647e-02 9.99815139e-01 4.32614056e-07 -8.15868889e-01] [ 1.32581549e-02 -2.55397843e-04 9.99912074e-01 -1.17302798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.618001145 meters 0.06729633337647802 Centerline is valid? [True, True] Translation: X:71.91, Y:-0.81, Z:-1.18 [[ 9.99660584e-01 -2.16485859e-02 -1.44933262e-02 7.19082741e+01] [ 2.16508725e-02 9.99765592e-01 8.62823760e-07 -8.14926122e-01] [ 1.44899102e-02 -3.14655689e-04 9.99894966e-01 -1.17797852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.678001145 meters 0.06821745682788577 Centerline is valid? [True, True] Translation: X:71.97, Y:-0.81, Z:-1.18 [[ 9.99578912e-01 -2.40184953e-02 -1.62822380e-02 7.19705624e+01] [ 2.40217148e-02 9.99711437e-01 2.15133956e-06 -8.14553473e-01] [ 1.62774879e-02 -3.93277711e-04 9.99867436e-01 -1.18258490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.738001145 meters 0.06944844154387797 Centerline is valid? [True, True] Translation: X:72.03, Y:-0.81, Z:-1.19 [[ 9.99458263e-01 -2.74873504e-02 -1.81004614e-02 7.20317558e+01] [ 2.74918984e-02 9.99622026e-01 2.44102583e-06 -8.12455334e-01] [ 1.80935528e-02 -5.00055750e-04 9.99836173e-01 -1.18706428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.798001145 meters 0.06880827262440802 Centerline is valid? [True, True] Translation: X:72.09, Y:-0.80, Z:-1.19 [[ 9.99573325e-01 -2.36985607e-02 -1.70747341e-02 7.20927162e+01] [ 2.37020654e-02 9.99719067e-01 2.88788851e-06 -8.04137633e-01] [ 1.70698688e-02 -4.07593121e-04 9.99854216e-01 -1.18853931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.858001145 meters 0.06792772039162895 Centerline is valid? [True, True] Translation: X:72.15, Y:-0.79, Z:-1.19 [[ 9.99657113e-01 -1.93774783e-02 -1.76116158e-02 7.21544922e+01] [ 1.93805554e-02 9.99812179e-01 4.04381140e-06 -7.93319546e-01] [ 1.76082296e-02 -3.45365320e-04 9.99844903e-01 -1.18934210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91800114499999 meters 0.06655649397297514 Centerline is valid? [True, True] Translation: X:72.22, Y:-0.78, Z:-1.19 [[ 9.99733450e-01 -1.31341477e-02 -1.89874637e-02 7.22155911e+01] [ 1.31366057e-02 9.99913711e-01 4.72895974e-06 -7.80044387e-01] [ 1.89857632e-02 -2.54158524e-04 9.99819722e-01 -1.18980480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.978001145 meters 0.06617495207165477 Centerline is valid? [True, True] Translation: X:72.27, Y:-0.77, Z:-1.19 [[ 9.99798976e-01 -9.21376518e-03 -1.78076928e-02 7.22745749e+01] [ 9.21525976e-03 9.99957539e-01 1.87126932e-06 -7.74205499e-01] [ 1.78069194e-02 -1.65973408e-04 9.99841430e-01 -1.19083951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.038001145 meters 0.06594671264781501 Centerline is valid? [True, True] Translation: X:72.33, Y:-0.77, Z:-1.19 [[ 9.99831302e-01 -9.50748834e-03 -1.57154346e-02 7.23338163e+01] [ 9.50860104e-03 9.99954792e-01 -3.91731419e-06 -7.73961933e-01] [ 1.57147613e-02 -1.45515144e-04 9.99876505e-01 -1.19001614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.098001145 meters 0.06597146334517406 Centerline is valid? [True, True] Translation: X:72.39, Y:-0.78, Z:-1.19 [[ 9.99849856e-01 -9.84474924e-03 -1.42599669e-02 7.23928943e+01] [ 9.84565180e-03 9.99951530e-01 -6.91015909e-06 -7.75883133e-01] [ 1.42593438e-02 -1.33489547e-04 9.99898321e-01 -1.19035473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.158001145 meters 0.06604256613379988 Centerline is valid? [True, True] Translation: X:72.45, Y:-0.78, Z:-1.19 [[ 9.99862699e-01 -1.03952313e-02 -1.29043295e-02 7.24519193e+01] [ 1.03960323e-02 9.99945960e-01 -5.01261005e-06 -7.78278284e-01] [ 1.29036843e-02 -1.29141904e-04 9.99916736e-01 -1.19046597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.218001145 meters 0.0660187838198953 Centerline is valid? [True, True] Translation: X:72.51, Y:-0.78, Z:-1.19 [[ 9.99863310e-01 -1.00313921e-02 -1.31428051e-02 7.25125312e+01] [ 1.00322020e-02 9.99949676e-01 -4.30835950e-06 -7.78569888e-01] [ 1.31421869e-02 -1.27543505e-04 9.99913630e-01 -1.19199470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27800114499999 meters 0.06653926537889926 Centerline is valid? [True, True] Translation: X:72.57, Y:-0.78, Z:-1.20 [[ 9.99852071e-01 -9.64855697e-03 -1.42387648e-02 7.25715643e+01] [ 9.64946213e-03 9.99953443e-01 -5.13199345e-06 -7.79688570e-01] [ 1.42381514e-02 -1.32265188e-04 9.99898624e-01 -1.19729012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33800114499999 meters 0.06591568445395252 Centerline is valid? [True, True] Translation: X:72.63, Y:-0.78, Z:-1.19 [[ 9.99886940e-01 -7.05735402e-03 -1.32778659e-02 7.26315938e+01] [ 7.05790358e-03 9.99975093e-01 -5.46947228e-06 -7.75972894e-01] [ 1.32775738e-02 -8.82450436e-05 9.99911845e-01 -1.19386986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.398001145 meters 0.0653360155317938 Centerline is valid? [True, True] Translation: X:72.69, Y:-0.77, Z:-1.19 [[ 9.99919999e-01 -4.37270112e-03 -1.18690834e-02 7.26904037e+01] [ 4.37288471e-03 9.99990439e-01 -1.04834319e-05 -7.72963426e-01] [ 1.18690157e-02 -4.14195400e-05 9.99929560e-01 -1.19152747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.458001145 meters 0.06566927950399112 Centerline is valid? [True, True] Translation: X:72.75, Y:-0.78, Z:-1.20 [[ 9.99933382e-01 -2.28487709e-03 -1.13141502e-02 7.27482563e+01] [ 2.28492225e-03 9.99997390e-01 -8.93525709e-06 -7.75303660e-01] [ 1.13141410e-02 -1.69172916e-05 9.99935993e-01 -1.19573591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.518001145 meters 0.06564958772117946 Centerline is valid? [True, True] Translation: X:72.81, Y:-0.78, Z:-1.20 [[ 9.99939726e-01 -3.25363134e-03 -1.04860893e-02 7.28067465e+01] [ 3.25367794e-03 9.99994707e-01 -1.26156828e-05 -7.78623640e-01] [ 1.04860749e-02 -2.15034351e-05 9.99945019e-01 -1.19514789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.578001145 meters 0.06539688966960348 Centerline is valid? [True, True] Translation: X:72.87, Y:-0.79, Z:-1.19 [[ 9.99942575e-01 -6.57107350e-03 -8.46573514e-03 7.28659120e+01] [ 6.57123106e-03 9.99978409e-01 -9.20389972e-06 -7.86974305e-01] [ 8.46561284e-03 -4.64269306e-05 9.99964165e-01 -1.19073106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63800114499999 meters 0.06569170778378967 Centerline is valid? [True, True] Translation: X:72.93, Y:-0.79, Z:-1.19 [[ 9.99940940e-01 -8.28859415e-03 -7.02958588e-03 7.29258629e+01] [ 8.28875073e-03 9.99965648e-01 -6.85902590e-06 -7.94025229e-01] [ 7.02940125e-03 -5.14078643e-05 9.99975292e-01 -1.19304395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69800114499999 meters 0.06646800103967834 Centerline is valid? [True, True] Translation: X:72.99, Y:-0.80, Z:-1.19 [[ 9.99892577e-01 -1.24459708e-02 -7.74158115e-03 7.29884466e+01] [ 1.24462963e-02 9.99922542e-01 -6.14028658e-06 -8.03248544e-01] [ 7.74105792e-03 -9.02143857e-05 9.99970033e-01 -1.19348594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.758001145 meters 0.06725448834248153 Centerline is valid? [True, True] Translation: X:73.05, Y:-0.81, Z:-1.19 [[ 9.99815325e-01 -1.67397409e-02 -9.43914849e-03 7.30508350e+01] [ 1.67404201e-02 9.99859869e-01 -7.05161823e-06 -8.13796883e-01] [ 9.43794382e-03 -1.50964995e-04 9.99955450e-01 -1.19429896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.818001145 meters 0.06777037444712894 Centerline is valid? [True, True] Translation: X:73.11, Y:-0.82, Z:-1.20 [[ 9.99788160e-01 -1.73473661e-02 -1.10771724e-02 7.31132963e+01] [ 1.73483449e-02 9.99849506e-01 -7.72233417e-06 -8.20292625e-01] [ 1.10756393e-02 -1.84449910e-04 9.99938646e-01 -1.19964207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.878001145 meters 0.0674726146336989 Centerline is valid? [True, True] Translation: X:73.18, Y:-0.83, Z:-1.20 [[ 9.99828917e-01 -1.47286513e-02 -1.11894605e-02 7.31754467e+01] [ 1.47294941e-02 9.99891515e-01 -7.09485007e-06 -8.25030225e-01] [ 1.11883511e-02 -1.57721455e-04 9.99937396e-01 -1.20168963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.938001145 meters 0.06650750435373247 Centerline is valid? [True, True] Translation: X:73.24, Y:-0.82, Z:-1.20 [[ 9.99870710e-01 -1.29345310e-02 -9.55305681e-03 7.32372674e+01] [ 1.29350673e-02 9.99916339e-01 -5.65094444e-06 -8.24219161e-01] [ 9.55233068e-03 -1.17919219e-04 9.99954368e-01 -1.19624554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.998001145 meters 0.06600394868294653 Centerline is valid? [True, True] Translation: X:73.30, Y:-0.83, Z:-1.19 [[ 9.99911639e-01 -9.84976646e-03 -8.92727387e-03 7.32992228e+01] [ 9.85011642e-03 9.99951486e-01 -4.76772037e-06 -8.26230696e-01] [ 8.92688774e-03 -8.31673879e-05 9.99960151e-01 -1.19472486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05800114499999 meters 0.06620334555470847 Centerline is valid? [True, True] Translation: X:73.36, Y:-0.83, Z:-1.20 [[ 9.99900397e-01 -8.24564742e-03 -1.14544648e-02 7.33595749e+01] [ 8.24611257e-03 9.99966000e-01 -6.62021106e-06 -8.30261934e-01] [ 1.14541300e-02 -8.78352549e-05 9.99934395e-01 -1.19929626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.118001145 meters 0.06623129119313158 Centerline is valid? [True, True] Translation: X:73.42, Y:-0.83, Z:-1.20 [[ 9.99877677e-01 -7.41852681e-03 -1.37693732e-02 7.34191134e+01] [ 7.41910432e-03 9.99972478e-01 -9.13863656e-06 -8.33031966e-01] [ 1.37690620e-02 -9.30188976e-05 9.99905198e-01 -1.20121983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.178001145 meters 0.06629334789969454 Centerline is valid? [True, True] Translation: X:73.48, Y:-0.84, Z:-1.20 [[ 9.99888111e-01 -6.45438305e-03 -1.34947087e-02 7.34767841e+01] [ 6.45482655e-03 9.99979167e-01 -1.06902465e-05 -8.36435008e-01] [ 1.34944965e-02 -7.64169533e-05 9.99908942e-01 -1.20388149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.238001145 meters 0.06617586194344356 Centerline is valid? [True, True] Translation: X:73.54, Y:-0.84, Z:-1.20 [[ 9.99904751e-01 -6.15837531e-03 -1.23516939e-02 7.35355415e+01] [ 6.15866538e-03 9.99981035e-01 -1.45521346e-05 -8.42531160e-01] [ 1.23515492e-02 -6.15192008e-05 9.99923715e-01 -1.20293753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.298001145 meters 0.06644014904558279 Centerline is valid? [True, True] Translation: X:73.59, Y:-0.85, Z:-1.21 [[ 9.99878967e-01 -7.42096169e-03 -1.36741076e-02 7.35946129e+01] [ 7.42140015e-03 9.99972461e-01 -1.86780505e-05 -8.51868037e-01] [ 1.36738697e-02 -8.28052347e-05 9.99906505e-01 -1.20537894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.358001145 meters 0.06640016964748371 Centerline is valid? [True, True] Translation: X:73.65, Y:-0.86, Z:-1.20 [[ 9.99878311e-01 -7.69495202e-03 -1.35702478e-02 7.36522484e+01] [ 7.69535893e-03 9.99970390e-01 -2.22314160e-05 -8.57666103e-01] [ 1.35700170e-02 -8.21992167e-05 9.99907920e-01 -1.20494740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41800114499999 meters 0.06637701004984199 Centerline is valid? [True, True] Translation: X:73.71, Y:-0.87, Z:-1.21 [[ 9.99867253e-01 -1.01158279e-02 -1.27728768e-02 7.37092553e+01] [ 1.01163912e-02 9.99948828e-01 -2.05106547e-05 -8.71880484e-01] [ 1.27724306e-02 -1.08707486e-04 9.99918423e-01 -1.20545014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.478001145 meters 0.06585925369462936 Centerline is valid? [True, True] Translation: X:73.77, Y:-0.88, Z:-1.20 [[ 9.99872631e-01 -1.01264234e-02 -1.23360031e-02 7.37690620e+01] [ 1.01269569e-02 9.99948721e-01 -1.92191779e-05 -8.78471107e-01] [ 1.23355652e-02 -1.05709442e-04 9.99923908e-01 -1.20236847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.538001145 meters 0.06568130571495213 Centerline is valid? [True, True] Translation: X:73.83, Y:-0.89, Z:-1.20 [[ 9.99841291e-01 -8.31998729e-03 -1.57534341e-02 7.38278647e+01] [ 8.32062024e-03 9.99965383e-01 -2.53650612e-05 -8.87304688e-01] [ 1.57530998e-02 -1.05717307e-04 9.99875907e-01 -1.20418030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.598001145 meters 0.06565563400115224 Centerline is valid? [True, True] Translation: X:73.89, Y:-0.89, Z:-1.20 [[ 9.99793600e-01 -6.24517327e-03 -1.93327422e-02 7.38875622e+01] [ 6.24573465e-03 9.99980495e-01 -3.13422613e-05 -8.91978125e-01] [ 1.93325609e-02 -8.94113858e-05 9.99813105e-01 -1.20463065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.658001145 meters 0.06494165513887634 Centerline is valid? [True, True] Translation: X:73.95, Y:-0.90, Z:-1.20 [[ 9.99759798e-01 -3.16357621e-03 -2.16872696e-02 7.39462949e+01] [ 3.16339130e-03 9.99994996e-01 -4.28329625e-05 -9.04623765e-01] [ 2.16872966e-02 -2.57826461e-05 9.99764803e-01 -1.20248873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.718001145 meters 0.0647658208087943 Centerline is valid? [True, True] Translation: X:74.01, Y:-0.91, Z:-1.20 [[ 9.99752115e-01 -2.24418261e-03 -2.21511099e-02 7.40053793e+01] [ 2.24365529e-03 9.99997482e-01 -4.86584325e-05 -9.09461354e-01] [ 2.21511634e-02 -1.05308426e-06 9.99754633e-01 -1.20119387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77800114499999 meters 0.0645196356981401 Centerline is valid? [True, True] Translation: X:74.06, Y:-0.92, Z:-1.20 [[ 9.99777079e-01 1.94653310e-03 -2.10238532e-02 7.40646297e+01] [-1.94802619e-03 9.99998101e-01 -5.05390396e-05 -9.16621830e-01] [ 2.10237149e-02 9.14827899e-05 9.99778973e-01 -1.19776395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83800114499999 meters 0.06407044752754501 Centerline is valid? [True, True] Translation: X:74.12, Y:-0.93, Z:-1.20 [[ 9.99817364e-01 3.65061355e-03 -1.87592854e-02 7.41233120e+01] [-3.65219132e-03 9.99993329e-01 -4.98474732e-05 -9.28660530e-01] [ 1.87589783e-02 1.18350869e-04 9.99824028e-01 -1.19693791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.898001145 meters 0.06393290070995838 Centerline is valid? [True, True] Translation: X:74.18, Y:-0.93, Z:-1.20 [[ 9.99823584e-01 2.60044545e-03 -1.86020867e-02 7.41825069e+01] [-2.60179548e-03 9.99996614e-01 -4.83732623e-05 -9.33798989e-01] [ 1.86018979e-02 9.67635535e-05 9.99826965e-01 -1.19623145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.958001145 meters 0.0639655250446189 Centerline is valid? [True, True] Translation: X:74.24, Y:-0.95, Z:-1.20 [[ 9.99802028e-01 -1.67876261e-03 -1.98264079e-02 7.42403985e+01] [ 1.67803639e-03 9.99998591e-01 -5.32656208e-05 -9.46919928e-01] [ 1.98264693e-02 1.99856419e-05 9.99803436e-01 -1.19687318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.018001145 meters 0.06431885959806719 Centerline is valid? [True, True] Translation: X:74.30, Y:-0.96, Z:-1.20 [[ 9.99755456e-01 -6.60215151e-03 -2.11054510e-02 7.42981468e+01] [ 6.60239263e-03 9.99978202e-01 -5.82572119e-05 -9.60889177e-01] [ 2.11053755e-02 -8.11035084e-05 9.99777253e-01 -1.20130745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.078001145 meters 0.0646724560820931 Centerline is valid? [True, True] Translation: X:74.36, Y:-0.97, Z:-1.20 [[ 9.99645716e-01 -1.21432160e-02 -2.36851289e-02 7.43577819e+01] [ 1.21450763e-02 9.99926244e-01 -6.53079213e-05 -9.74282967e-01] [ 2.36841751e-02 -2.22372915e-04 9.99719466e-01 -1.20295545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13800114499999 meters 0.06456924173609233 Centerline is valid? [True, True] Translation: X:74.42, Y:-0.98, Z:-1.20 [[ 9.99585633e-01 -1.34136001e-02 -2.54683732e-02 7.44176509e+01] [ 1.34161432e-02 9.99909997e-01 -7.10244941e-05 -9.78809170e-01] [ 2.54670337e-02 -2.70692278e-04 9.99675626e-01 -1.20063844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19800114499999 meters 0.06488487086630247 Centerline is valid? [True, True] Translation: X:74.48, Y:-0.99, Z:-1.20 [[ 9.99531699e-01 -1.54191772e-02 -2.64316406e-02 7.44764177e+01] [ 1.54223929e-02 9.99881064e-01 -8.22023059e-05 -9.89230512e-01] [ 2.64297644e-02 -3.25475335e-04 9.99650620e-01 -1.20404453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.258001145 meters 0.06487672851487673 Centerline is valid? [True, True] Translation: X:74.53, Y:-0.99, Z:-1.20 [[ 9.99503233e-01 -1.85286958e-02 -2.54945962e-02 7.45345222e+01] [ 1.85325190e-02 9.99828254e-01 -8.63292605e-05 -9.93796186e-01] [ 2.54918172e-02 -3.86192713e-04 9.99674956e-01 -1.20340819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.318001145 meters 0.06468079194023515 Centerline is valid? [True, True] Translation: X:74.59, Y:-1.00, Z:-1.20 [[ 9.99383346e-01 -2.48228376e-02 -2.48345406e-02 7.45938176e+01] [ 2.48284465e-02 9.99691723e-01 -8.25205022e-05 -9.99734035e-01] [ 2.48289331e-02 -5.34133447e-04 9.99691572e-01 -1.20012538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.378001145 meters 0.06521676549981473 Centerline is valid? [True, True] Translation: X:74.65, Y:-1.01, Z:-1.20 [[ 9.99288460e-01 -3.03257281e-02 -2.24259877e-02 7.46521519e+01] [ 3.03316335e-02 9.99539887e-01 -7.68527933e-05 -1.00902578e+00] [ 2.24179999e-02 -6.03418731e-04 9.99748503e-01 -1.20191064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.438001145 meters 0.06576862846022796 Centerline is valid? [True, True] Translation: X:74.71, Y:-1.01, Z:-1.20 [[ 9.99182901e-01 -3.27733588e-02 -2.36524208e-02 7.47132006e+01] [ 3.27806729e-02 9.99462566e-01 -7.85305357e-05 -1.01108879e+00] [ 2.36422829e-02 -6.96875899e-04 9.99720239e-01 -1.20428381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.498001145 meters 0.06627313567034387 Centerline is valid? [True, True] Translation: X:74.77, Y:-1.01, Z:-1.21 [[ 9.99125489e-01 -3.45712156e-02 -2.35178464e-02 7.47735057e+01] [ 3.45789714e-02 9.99401966e-01 -7.69245375e-05 -1.01063398e+00] [ 2.35064413e-02 -7.36365671e-04 9.99723414e-01 -1.20576103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55800114499999 meters 0.06588027970651805 Centerline is valid? [True, True] Translation: X:74.83, Y:-1.01, Z:-1.21 [[ 9.99167945e-01 -3.41996927e-02 -2.22215686e-02 7.48345749e+01] [ 3.42065380e-02 9.99414783e-01 -7.20983833e-05 -1.01012589e+00] [ 2.22110299e-02 -6.88084538e-04 9.99753068e-01 -1.20583469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.618001145 meters 0.06551319108461538 Centerline is valid? [True, True] Translation: X:74.90, Y:-1.01, Z:-1.21 [[ 9.99259625e-01 -3.11236171e-02 -2.26168777e-02 7.48957744e+01] [ 3.11299374e-02 9.99515343e-01 -7.26574209e-05 -1.00517425e+00] [ 2.26081777e-02 -6.31458362e-04 9.99744203e-01 -1.20720320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.678001145 meters 0.06491932050788553 Centerline is valid? [True, True] Translation: X:74.96, Y:-1.00, Z:-1.20 [[ 9.99385165e-01 -2.78153934e-02 -2.13447129e-02 7.49566468e+01] [ 2.78202713e-02 9.99612939e-01 -6.84343837e-05 -9.95677652e-01] [ 2.13383548e-02 -5.25423398e-04 9.99772173e-01 -1.20480439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.738001145 meters 0.06472594357157846 Centerline is valid? [True, True] Translation: X:75.02, Y:-0.99, Z:-1.21 [[ 9.99543831e-01 -2.44264028e-02 -1.77617946e-02 7.50159480e+01] [ 2.44292332e-02 9.99701560e-01 -5.76340534e-05 -9.93304599e-01] [ 1.77579016e-02 -3.76299260e-04 9.99842245e-01 -1.20729495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.798001145 meters 0.06421538971139151 Centerline is valid? [True, True] Translation: X:75.08, Y:-0.99, Z:-1.21 [[ 9.99591047e-01 -2.34870964e-02 -1.63123990e-02 7.50776881e+01] [ 2.34893824e-02 9.99724085e-01 -5.14670303e-05 -9.91277088e-01] [ 1.63091070e-02 -3.31722195e-04 9.99866943e-01 -1.20796830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.858001145 meters 0.06399661743912756 Centerline is valid? [True, True] Translation: X:75.14, Y:-0.99, Z:-1.21 [[ 9.99557681e-01 -2.43150531e-02 -1.71236573e-02 7.51393801e+01] [ 2.43177089e-02 9.99704279e-01 -5.31337377e-05 -9.85160740e-01] [ 1.71198854e-02 -3.63297878e-04 9.99853378e-01 -1.20546004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91800114499999 meters 0.06402112055278644 Centerline is valid? [True, True] Translation: X:75.20, Y:-0.98, Z:-1.21 [[ 9.99537731e-01 -2.48188861e-02 -1.75598303e-02 7.52017704e+01] [ 2.48217803e-02 9.99691891e-01 -5.31489273e-05 -9.82125640e-01] [ 1.75557390e-02 -3.82741890e-04 9.99845813e-01 -1.20540244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.978001145 meters 0.06430220404659741 Centerline is valid? [True, True] Translation: X:75.26, Y:-0.99, Z:-1.21 [[ 9.99476736e-01 -2.57750472e-02 -1.95422989e-02 7.52626899e+01] [ 2.57788055e-02 9.99667670e-01 -5.96131946e-05 -9.87235412e-01] [ 1.95373410e-02 -4.44195122e-04 9.99809029e-01 -1.21106217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.038001145 meters 0.06390839894252011 Centerline is valid? [True, True] Translation: X:75.32, Y:-0.99, Z:-1.21 [[ 9.99499810e-01 -2.52438130e-02 -1.90494045e-02 7.53238853e+01] [ 2.52473045e-02 9.99681234e-01 -5.72236135e-05 -9.86546853e-01] [ 1.90447767e-02 -4.23751125e-04 9.99818542e-01 -1.21096988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.098001145 meters 0.06358563344785677 Centerline is valid? [True, True] Translation: X:75.38, Y:-0.98, Z:-1.21 [[ 9.99494059e-01 -2.51693548e-02 -1.94455704e-02 7.53849355e+01] [ 2.51729913e-02 9.99683108e-01 -5.77797334e-05 -9.78746430e-01] [ 1.94408626e-02 -4.31752675e-04 9.99810915e-01 -1.20669062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.158001145 meters 0.06382968294448244 Centerline is valid? [True, True] Translation: X:75.45, Y:-0.98, Z:-1.21 [[ 9.99555233e-01 -2.38089424e-02 -1.79574820e-02 7.54458832e+01] [ 2.38118353e-02 9.99716457e-01 -5.27369211e-05 -9.78802886e-01] [ 1.79536459e-02 -3.74887137e-04 9.99838750e-01 -1.20953343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.218001145 meters 0.06364617785861235 Centerline is valid? [True, True] Translation: X:75.51, Y:-0.98, Z:-1.21 [[ 9.99601754e-01 -2.30639178e-02 -1.62600511e-02 7.55072131e+01] [ 2.30662001e-02 9.99733939e-01 -4.71942006e-05 -9.84252878e-01] [ 1.62568134e-02 -3.27882187e-04 9.99867796e-01 -1.21188750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27800114499999 meters 0.06329581529728111 Centerline is valid? [True, True] Translation: X:75.57, Y:-0.98, Z:-1.21 [[ 9.99628631e-01 -2.28559221e-02 -1.48393670e-02 7.55688713e+01] [ 2.28578079e-02 9.99738725e-01 -4.25333775e-05 -9.80007865e-01] [ 1.48364619e-02 -2.96677817e-04 9.99889890e-01 -1.20885117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33800114499999 meters 0.06333963743624599 Centerline is valid? [True, True] Translation: X:75.63, Y:-0.98, Z:-1.21 [[ 9.99628535e-01 -2.30577521e-02 -1.45303910e-02 7.56314778e+01] [ 2.30596021e-02 9.99734091e-01 -4.02310975e-05 -9.78801431e-01] [ 1.45274549e-02 -2.94848883e-04 9.99894427e-01 -1.20969367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.398001145 meters 0.06371547397889422 Centerline is valid? [True, True] Translation: X:75.69, Y:-0.98, Z:-1.21 [[ 9.99594505e-01 -2.45121056e-02 -1.44907804e-02 7.56938016e+01] [ 2.45141117e-02 9.99699483e-01 -3.91937556e-05 -9.83507029e-01] [ 1.44873863e-02 -3.16050745e-04 9.99895002e-01 -1.21322288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.458001145 meters 0.06395237475216503 Centerline is valid? [True, True] Translation: X:75.76, Y:-0.98, Z:-1.21 [[ 9.99528939e-01 -2.69393697e-02 -1.47027429e-02 7.57560172e+01] [ 2.69417111e-02 9.99637005e-01 -3.88298928e-05 -9.83794299e-01] [ 1.46984519e-02 -3.57305449e-04 9.99891908e-01 -1.21414923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.518001145 meters 0.06451642639939847 Centerline is valid? [True, True] Translation: X:75.82, Y:-0.98, Z:-1.22 [[ 9.99350769e-01 -3.21338549e-02 -1.62928070e-02 7.58170590e+01] [ 3.21374115e-02 9.99483459e-01 -4.35473860e-05 -9.84950107e-01] [ 1.62857905e-02 -4.80089531e-04 9.99867262e-01 -1.21535573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.578001145 meters 0.06607520891144766 Centerline is valid? [True, True] Translation: X:75.88, Y:-0.99, Z:-1.22 [[ 9.99243580e-01 -3.54316734e-02 -1.60269708e-02 7.58781408e+01] [ 3.54355581e-02 9.99371963e-01 -4.16200266e-05 -9.91325217e-01] [ 1.60183800e-02 -5.26336111e-04 9.99871559e-01 -1.21956739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63800114499999 meters 0.06585943224445547 Centerline is valid? [True, True] Translation: X:75.94, Y:-0.99, Z:-1.22 [[ 9.99153567e-01 -3.80855842e-02 -1.55447071e-02 7.59404323e+01] [ 3.80895783e-02 9.99274328e-01 -3.91467534e-05 -9.92211735e-01] [ 1.55349177e-02 -5.52977721e-04 9.99879173e-01 -1.21881825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69800114499999 meters 0.06629334632917051 Centerline is valid? [True, True] Translation: X:76.00, Y:-0.99, Z:-1.22 [[ 9.99174102e-01 -3.77769376e-02 -1.49671707e-02 7.60013959e+01] [ 3.77806473e-02 9.99286056e-01 -3.49197973e-05 -9.88932426e-01] [ 1.49578041e-02 -5.30578440e-04 9.99887985e-01 -1.21836811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.758001145 meters 0.06579557512940638 Centerline is valid? [True, True] Translation: X:76.06, Y:-0.98, Z:-1.22 [[ 9.99205949e-01 -3.68038367e-02 -1.52627012e-02 7.60634784e+01] [ 3.68075820e-02 9.99322371e-01 -3.55424703e-05 -9.83280498e-01] [ 1.52536669e-02 -5.26268879e-04 9.99883518e-01 -1.21838650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.818001145 meters 0.06565521534169483 Centerline is valid? [True, True] Translation: X:76.13, Y:-0.98, Z:-1.22 [[ 9.99186018e-01 -3.69386195e-02 -1.62123636e-02 7.61252963e+01] [ 3.69428794e-02 9.99317378e-01 -3.67512783e-05 -9.82353625e-01] [ 1.62026543e-02 -5.62210032e-04 9.99868570e-01 -1.22082804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.878001145 meters 0.06549018008754394 Centerline is valid? [True, True] Translation: X:76.19, Y:-0.98, Z:-1.22 [[ 9.99189540e-01 -3.65515594e-02 -1.68596326e-02 7.61874694e+01] [ 3.65561292e-02 9.99331601e-01 -3.71566217e-05 -9.75929137e-01] [ 1.68497218e-02 -5.79196400e-04 9.99857866e-01 -1.22066742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.938001145 meters 0.06555460451209323 Centerline is valid? [True, True] Translation: X:76.25, Y:-0.97, Z:-1.22 [[ 9.99212773e-01 -3.58668991e-02 -1.69528927e-02 7.62496419e+01] [ 3.58714393e-02 9.99356412e-01 -3.62938690e-05 -9.71781754e-01] [ 1.69432837e-02 -5.71859363e-04 9.99856289e-01 -1.22182358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.998001145 meters 0.06581042341867933 Centerline is valid? [True, True] Translation: X:76.31, Y:-0.97, Z:-1.22 [[ 9.99183176e-01 -3.66112468e-02 -1.71054515e-02 7.63119652e+01] [ 3.66159965e-02 9.99329409e-01 -3.55388661e-05 -9.70296705e-01] [ 1.70952819e-02 -5.90823316e-04 9.99853690e-01 -1.22305417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05800114499999 meters 0.06613812213359786 Centerline is valid? [True, True] Translation: X:76.37, Y:-0.96, Z:-1.22 [[ 9.99171974e-01 -3.74100889e-02 -1.59953595e-02 7.63731905e+01] [ 3.74143536e-02 9.99299837e-01 -3.26478244e-05 -9.62543036e-01] [ 1.59853815e-02 -5.65835245e-04 9.99872066e-01 -1.22221513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.118001145 meters 0.06632985710095173 Centerline is valid? [True, True] Translation: X:76.43, Y:-0.96, Z:-1.22 [[ 9.99087200e-01 -3.90334958e-02 -1.73537468e-02 7.64347423e+01] [ 3.90387739e-02 9.99237696e-01 -3.46376892e-05 -9.59375486e-01] [ 1.73418700e-02 -6.42862926e-04 9.99849412e-01 -1.22300819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.178001145 meters 0.06715254488450621 Centerline is valid? [True, True] Translation: X:76.50, Y:-0.96, Z:-1.23 [[ 9.99000382e-01 -4.10470139e-02 -1.77024983e-02 7.64966071e+01] [ 4.10528687e-02 9.99156975e-01 -3.26894852e-05 -9.60583124e-01] [ 1.76889165e-02 -6.94081530e-04 9.99843298e-01 -1.22548487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.238001145 meters 0.06732158544344342 Centerline is valid? [True, True] Translation: X:76.56, Y:-0.95, Z:-1.22 [[ 9.98885772e-01 -4.40742407e-02 -1.68723558e-02 7.65590447e+01] [ 4.40800006e-02 9.99028004e-01 -3.05401542e-05 -9.54738369e-01] [ 1.68573020e-02 -7.13227330e-04 9.99857651e-01 -1.22351352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.298001145 meters 0.0679916219077619 Centerline is valid? [True, True] Translation: X:76.62, Y:-0.95, Z:-1.23 [[ 9.98883542e-01 -4.39139755e-02 -1.74135865e-02 7.66216670e+01] [ 4.39201057e-02 9.99035046e-01 -3.04260727e-05 -9.52387751e-01] [ 1.73981194e-02 -7.34414458e-04 9.99848372e-01 -1.22596834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.358001145 meters 0.06707563665762697 Centerline is valid? [True, True] Translation: X:76.68, Y:-0.94, Z:-1.23 [[ 9.99088020e-01 -3.91124546e-02 -1.71273006e-02 7.66820818e+01] [ 3.91176649e-02 9.99234611e-01 -3.08239844e-05 -9.42985774e-01] [ 1.71153971e-02 -6.39184132e-04 9.99853317e-01 -1.22694569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41800114499999 meters 0.06654922571669816 Centerline is valid? [True, True] Translation: X:76.74, Y:-0.94, Z:-1.23 [[ 9.99226369e-01 -3.60914932e-02 -1.56226803e-02 7.67424842e+01] [ 3.60954594e-02 9.99348346e-01 -2.81161209e-05 -9.35183964e-01] [ 1.56135145e-02 -5.35813453e-04 9.99877958e-01 -1.22650115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.478001145 meters 0.06641312529707746 Centerline is valid? [True, True] Translation: X:76.80, Y:-0.93, Z:-1.23 [[ 9.99294625e-01 -3.48333675e-02 -1.40317426e-02 7.68044353e+01] [ 3.48364619e-02 9.99393026e-01 -2.38999835e-05 -9.26874266e-01] [ 1.40240582e-02 -4.64933141e-04 9.99901550e-01 -1.22600345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.538001145 meters 0.06715476708009217 Centerline is valid? [True, True] Translation: X:76.87, Y:-0.92, Z:-1.23 [[ 9.99191316e-01 -3.67067725e-02 -1.64111760e-02 7.68657145e+01] [ 3.67112611e-02 9.99325914e-01 -2.77652359e-05 -9.23392637e-01] [ 1.64011326e-02 -5.74732184e-04 9.99865327e-01 -1.23031330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.598001145 meters 0.06912434087172918 Centerline is valid? [True, True] Translation: X:76.93, Y:-0.92, Z:-1.23 [[ 9.99135371e-01 -3.85871635e-02 -1.54771496e-02 7.69269286e+01] [ 3.85913962e-02 9.99255074e-01 -2.51963014e-05 -9.23427691e-01] [ 1.54665926e-02 -5.72110298e-04 9.99880221e-01 -1.23314782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.658001145 meters 0.06760883677664221 Centerline is valid? [True, True] Translation: X:76.99, Y:-0.91, Z:-1.23 [[ 9.99133735e-01 -3.91613035e-02 -1.40773358e-02 7.69888296e+01] [ 3.91648796e-02 9.99232762e-01 -2.16675191e-05 -9.13229655e-01] [ 1.40673836e-02 -5.29688411e-04 9.99900909e-01 -1.22883618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.718001145 meters 0.06746963037482626 Centerline is valid? [True, True] Translation: X:77.05, Y:-0.91, Z:-1.23 [[ 9.99167342e-01 -3.83381863e-02 -1.39573149e-02 7.70512986e+01] [ 3.83416348e-02 9.99264689e-01 -2.05268497e-05 -9.08393273e-01] [ 1.39478389e-02 -5.14636513e-04 9.99902592e-01 -1.23000469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77800114499999 meters 0.06767433278426832 Centerline is valid? [True, True] Translation: X:77.11, Y:-0.90, Z:-1.23 [[ 9.99190874e-01 -3.72128273e-02 -1.52578817e-02 7.71145607e+01] [ 3.72168467e-02 9.99307213e-01 -2.05280206e-05 -8.98000515e-01] [ 1.52480751e-02 -5.47338831e-04 9.99883592e-01 -1.23068816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83800114499999 meters 0.06819542512534107 Centerline is valid? [True, True] Translation: X:77.18, Y:-0.89, Z:-1.23 [[ 9.99226845e-01 -3.66987193e-02 -1.41037418e-02 7.71767827e+01] [ 3.67021100e-02 9.99326250e-01 -1.84359947e-05 -8.93825007e-01] [ 1.40949160e-02 -4.99215342e-04 9.99900537e-01 -1.23305480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.898001145 meters 0.06860565842417841 Centerline is valid? [True, True] Translation: X:77.24, Y:-0.89, Z:-1.23 [[ 9.99208915e-01 -3.74774748e-02 -1.33034989e-02 7.72384859e+01] [ 3.74805670e-02 9.99297357e-01 -1.69023334e-05 -8.91054171e-01] [ 1.32947847e-02 -4.81733720e-04 9.99911504e-01 -1.23424205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.958001145 meters 0.06874892212974965 Centerline is valid? [True, True] Translation: X:77.30, Y:-0.89, Z:-1.24 [[ 9.99203572e-01 -3.78433758e-02 -1.26531167e-02 7.73020224e+01] [ 3.78462276e-02 9.99283575e-01 -1.40711417e-05 -8.87135245e-01] [ 1.26445842e-02 -4.64812799e-04 9.99919946e-01 -1.23510541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.018001145 meters 0.06955176222439563 Centerline is valid? [True, True] Translation: X:77.36, Y:-0.88, Z:-1.24 [[ 9.99208433e-01 -3.77324720e-02 -1.26002895e-02 7.73642126e+01] [ 3.77353556e-02 9.99287768e-01 -8.89697093e-06 -8.84604510e-01] [ 1.25916509e-02 -4.66586477e-04 9.99920613e-01 -1.23659856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.078001145 meters 0.07017276998304849 Centerline is valid? [True, True] Translation: X:77.43, Y:-0.88, Z:-1.24 [[ 9.99271406e-01 -3.61190596e-02 -1.23316999e-02 7.74259304e+01] [ 3.61216782e-02 9.99347399e-01 -1.03829627e-05 -8.81786037e-01] [ 1.23240272e-02 -4.35066297e-04 9.99923962e-01 -1.23981088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13800114499999 meters 0.06861915620638773 Centerline is valid? [True, True] Translation: X:77.49, Y:-0.87, Z:-1.24 [[ 9.99410267e-01 -3.20267092e-02 -1.23857936e-02 7.74876879e+01] [ 3.20290490e-02 9.99486938e-01 -9.45738493e-06 -8.69209522e-01] [ 1.23797418e-02 -3.87253384e-04 9.99923293e-01 -1.23916791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19800114499999 meters 0.0679343984428083 Centerline is valid? [True, True] Translation: X:77.55, Y:-0.86, Z:-1.24 [[ 9.99477346e-01 -2.89783645e-02 -1.43279240e-02 7.75499731e+01] [ 2.89811928e-02 9.99579957e-01 -1.02373040e-05 -8.62335197e-01] [ 1.43222024e-02 -4.05008376e-04 9.99897350e-01 -1.24174469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.258001145 meters 0.0668561839599047 Centerline is valid? [True, True] Translation: X:77.61, Y:-0.85, Z:-1.24 [[ 9.99645845e-01 -2.38504586e-02 -1.18042225e-02 7.76104361e+01] [ 2.38520120e-02 9.99715500e-01 -9.19205020e-06 -8.52555557e-01] [ 1.18010834e-02 -2.72365662e-04 9.99930328e-01 -1.24115052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.318001145 meters 0.06689809510486444 Centerline is valid? [True, True] Translation: X:77.67, Y:-0.85, Z:-1.24 [[ 9.99717599e-01 -2.09746591e-02 -1.11707198e-02 7.76711587e+01] [ 2.09758800e-02 9.99779982e-01 -7.86240831e-06 -8.48543085e-01] [ 1.11684269e-02 -2.26455490e-04 9.99937606e-01 -1.24356522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.378001145 meters 0.06615666027241963 Centerline is valid? [True, True] Translation: X:77.73, Y:-0.84, Z:-1.24 [[ 9.99787716e-01 -1.69323164e-02 -1.17396586e-02 7.77330332e+01] [ 1.69334002e-02 9.99856620e-01 -7.08868931e-06 -8.39913104e-01] [ 1.17380954e-02 -1.91705153e-04 9.99931088e-01 -1.24346320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.438001145 meters 0.06540610918757211 Centerline is valid? [True, True] Translation: X:77.80, Y:-0.83, Z:-1.24 [[ 9.99851455e-01 -1.36036302e-02 -1.05834273e-02 7.77950010e+01] [ 1.36043311e-02 9.99907457e-01 -5.76451059e-06 -8.32738439e-01] [ 1.05825263e-02 -1.38216796e-04 9.99943994e-01 -1.24120149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.498001145 meters 0.06527105909228126 Centerline is valid? [True, True] Translation: X:77.86, Y:-0.83, Z:-1.25 [[ 9.99927295e-01 -6.95784043e-03 -9.84851107e-03 7.78553852e+01] [ 6.95812138e-03 9.99975792e-01 -5.73735183e-06 -8.25924582e-01] [ 9.84831258e-03 -6.27902008e-05 9.99951502e-01 -1.24584663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55800114499999 meters 0.06513940547657904 Centerline is valid? [True, True] Translation: X:77.91, Y:-0.82, Z:-1.25 [[ 9.99943757e-01 -2.60546016e-03 -1.02807570e-02 7.79147250e+01] [ 2.60552993e-03 9.99996606e-01 -6.60756719e-06 -8.19787249e-01] [ 1.02807394e-02 -2.01796246e-05 9.99947152e-01 -1.24959758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.618001145 meters 0.06527525692142322 Centerline is valid? [True, True] Translation: X:77.97, Y:-0.82, Z:-1.25 [[ 9.99952427e-01 -1.58728270e-03 -9.62413777e-03 7.79734998e+01] [ 1.58724910e-03 9.99998740e-01 -1.11295432e-05 -8.18859050e-01] [ 9.62414331e-03 -4.14689024e-06 9.99953687e-01 -1.24996608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.678001145 meters 0.06483805905695342 Centerline is valid? [True, True] Translation: X:78.03, Y:-0.82, Z:-1.25 [[ 9.99959460e-01 -2.49667899e-03 -8.65133637e-03 7.80325496e+01] [ 2.49669685e-03 9.99996883e-01 -8.73580611e-06 -8.21560467e-01] [ 8.65133121e-03 -1.28643123e-05 9.99962576e-01 -1.24710412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.738001145 meters 0.06490908514163819 Centerline is valid? [True, True] Translation: X:78.09, Y:-0.83, Z:-1.25 [[ 9.99955877e-01 -4.07768576e-03 -8.46263813e-03 7.80914902e+01] [ 4.07775475e-03 9.99991686e-01 -9.10280023e-06 -8.25475944e-01] [ 8.46260489e-03 -2.54061642e-05 9.99964191e-01 -1.24831613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.798001145 meters 0.06510747053236372 Centerline is valid? [True, True] Translation: X:78.15, Y:-0.84, Z:-1.25 [[ 9.99926709e-01 -7.43954305e-03 -9.55147684e-03 7.81503264e+01] [ 7.43977964e-03 9.99972324e-01 -1.07609598e-05 -8.35373899e-01] [ 9.55129256e-03 -6.03007118e-05 9.99954384e-01 -1.25121082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.858001145 meters 0.06512572089230637 Centerline is valid? [True, True] Translation: X:78.21, Y:-0.84, Z:-1.25 [[ 9.99907755e-01 -9.92080747e-03 -9.27683920e-03 7.82099718e+01] [ 9.92114216e-03 9.99950784e-01 -9.94107020e-06 -8.41408631e-01] [ 9.27648125e-03 -8.20966873e-05 9.99956969e-01 -1.25178335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91800114499999 meters 0.06486342281453868 Centerline is valid? [True, True] Translation: X:78.27, Y:-0.85, Z:-1.25 [[ 9.99907431e-01 -1.00026527e-02 -9.22368269e-03 7.82711476e+01] [ 1.00029961e-02 9.99949969e-01 -8.90249967e-06 -8.45613367e-01] [ 9.22331027e-03 -8.33627865e-05 9.99957461e-01 -1.25031329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.978001145 meters 0.0646918854221552 Centerline is valid? [True, True] Translation: X:78.33, Y:-0.85, Z:-1.25 [[ 9.99930799e-01 -6.79047276e-03 -9.60655050e-03 7.83315546e+01] [ 6.79069609e-03 9.99976943e-01 -9.37067721e-06 -8.48462678e-01] [ 9.60639263e-03 -5.58651362e-05 9.99953856e-01 -1.25235987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.038001145 meters 0.06448356354791228 Centerline is valid? [True, True] Translation: X:78.39, Y:-0.85, Z:-1.25 [[ 9.99955856e-01 -4.06587259e-03 -8.47080761e-03 7.83912146e+01] [ 4.06594066e-03 9.99991734e-01 -9.18550790e-06 -8.49268055e-01] [ 8.47077494e-03 -2.52566987e-05 9.99964122e-01 -1.25186546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.098001145 meters 0.0643125093896374 Centerline is valid? [True, True] Translation: X:78.45, Y:-0.86, Z:-1.25 [[ 9.99962560e-01 -4.24790370e-04 -8.64279830e-03 7.84502692e+01] [ 4.24685578e-04 9.99999910e-01 -1.39599829e-05 -8.55033549e-01] [ 8.64280345e-03 1.02889884e-05 9.99962650e-01 -1.25393930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.158001145 meters 0.064123655188918 Centerline is valid? [True, True] Translation: X:78.51, Y:-0.86, Z:-1.25 [[ 9.99967314e-01 -5.38880036e-04 -8.06724394e-03 7.85086472e+01] [ 5.38776790e-04 9.99999855e-01 -1.49714465e-05 -8.61477145e-01] [ 8.06725083e-03 1.06245133e-05 9.99967459e-01 -1.25245797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.218001145 meters 0.06392809509212292 Centerline is valid? [True, True] Translation: X:78.57, Y:-0.87, Z:-1.25 [[ 9.99956718e-01 -3.86174198e-03 -8.46454924e-03 7.85669737e+01] [ 3.86175957e-03 9.99992543e-01 -1.42667291e-05 -8.69717088e-01] [ 8.46454121e-03 -1.84219424e-05 9.99964175e-01 -1.25147096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27800114499999 meters 0.0642936594567359 Centerline is valid? [True, True] Translation: X:78.63, Y:-0.88, Z:-1.26 [[ 9.99922484e-01 -7.58854222e-03 -9.87121838e-03 7.86250283e+01] [ 7.58874579e-03 9.99971205e-01 -1.68338682e-05 -8.80175732e-01] [ 9.87106188e-03 -5.80776036e-05 9.99951278e-01 -1.25566339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33800114499999 meters 0.06441284496758999 Centerline is valid? [True, True] Translation: X:78.68, Y:-0.89, Z:-1.26 [[ 9.99859723e-01 -1.23703465e-02 -1.12919417e-02 7.86846526e+01] [ 1.23709202e-02 9.99923477e-01 -1.90454238e-05 -8.94689754e-01] [ 1.12913132e-02 -1.20648957e-04 9.99936244e-01 -1.25730972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.398001145 meters 0.06462078631689266 Centerline is valid? [True, True] Translation: X:78.75, Y:-0.90, Z:-1.26 [[ 9.99824986e-01 -1.36617869e-02 -1.27809374e-02 7.87451787e+01] [ 1.36626392e-02 9.99906662e-01 -2.06374802e-05 -8.99685466e-01] [ 1.27800264e-02 -1.53987467e-04 9.99918320e-01 -1.25893241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.458001145 meters 0.0641874939155372 Centerline is valid? [True, True] Translation: X:78.81, Y:-0.90, Z:-1.25 [[ 9.99848537e-01 -1.30701468e-02 -1.14923571e-02 7.88065379e+01] [ 1.30708037e-02 9.99914573e-01 -1.79463151e-05 -9.04640482e-01] [ 1.14916099e-02 -1.32270747e-04 9.99933961e-01 -1.25498049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.518001145 meters 0.06413138633369808 Centerline is valid? [True, True] Translation: X:78.87, Y:-0.92, Z:-1.26 [[ 9.99801671e-01 -1.55118375e-02 -1.24900975e-02 7.88682897e+01] [ 1.55128084e-02 9.99879669e-01 -1.91476440e-05 -9.15345167e-01] [ 1.24888916e-02 -1.74612644e-04 9.99921996e-01 -1.25637882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.578001145 meters 0.06479644238240426 Centerline is valid? [True, True] Translation: X:78.93, Y:-0.92, Z:-1.26 [[ 9.99756701e-01 -1.80951032e-02 -1.26137153e-02 7.89297768e+01] [ 1.80963091e-02 9.99836248e-01 -1.85328559e-05 -9.22683669e-01] [ 1.26119851e-02 -2.09733344e-04 9.99920444e-01 -1.26038698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63800114499999 meters 0.06441071641019297 Centerline is valid? [True, True] Translation: X:78.99, Y:-0.93, Z:-1.26 [[ 9.99704048e-01 -2.02691995e-02 -1.34527076e-02 7.89920603e+01] [ 2.02707820e-02 9.99794526e-01 -1.87217163e-05 -9.28630468e-01] [ 1.34503229e-02 -2.53980728e-04 9.99909508e-01 -1.25879306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69800114499999 meters 0.06484867250712097 Centerline is valid? [True, True] Translation: X:79.05, Y:-0.93, Z:-1.26 [[ 9.99666623e-01 -2.10456945e-02 -1.49572953e-02 7.90545150e+01] [ 2.10477504e-02 9.99778471e-01 -1.99662575e-05 -9.33991866e-01] [ 1.49544020e-02 -2.94857816e-04 9.99888133e-01 -1.26229200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.758001145 meters 0.06477685354141884 Centerline is valid? [True, True] Translation: X:79.12, Y:-0.94, Z:-1.26 [[ 9.99605324e-01 -2.32558886e-02 -1.57594416e-02 7.91164421e+01] [ 2.32584607e-02 9.99729485e-01 -2.00764302e-05 -9.38271443e-01] [ 1.57556453e-02 -3.46471845e-04 9.99875812e-01 -1.26220069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.818001145 meters 0.06478287905946346 Centerline is valid? [True, True] Translation: X:79.18, Y:-0.94, Z:-1.26 [[ 9.99597467e-01 -2.30644507e-02 -1.65207433e-02 7.91788374e+01] [ 2.30672677e-02 9.99733915e-01 -2.00498521e-05 -9.39141138e-01] [ 1.65168098e-02 -3.61046626e-04 9.99863523e-01 -1.26202640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.878001145 meters 0.06522172214281845 Centerline is valid? [True, True] Translation: X:79.24, Y:-0.95, Z:-1.26 [[ 9.99518275e-01 -2.57538346e-02 -1.73192914e-02 7.92405210e+01] [ 2.57573436e-02 9.99668224e-01 -2.04639168e-05 -9.45129725e-01] [ 1.73140723e-02 -4.25644881e-04 9.99850010e-01 -1.26394691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.938001145 meters 0.06530337085974972 Centerline is valid? [True, True] Translation: X:79.30, Y:-0.95, Z:-1.26 [[ 9.99423574e-01 -2.84769823e-02 -1.84819365e-02 7.93012112e+01] [ 2.84814400e-02 9.99594321e-01 -2.20302313e-05 -9.48078599e-01] [ 1.84750661e-02 -5.04374633e-04 9.99829194e-01 -1.26484733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.998001145 meters 0.06573051306262465 Centerline is valid? [True, True] Translation: X:79.36, Y:-0.95, Z:-1.27 [[ 9.99319821e-01 -3.25566730e-02 -1.73192870e-02 7.93633022e+01] [ 3.25612310e-02 9.99469742e-01 -1.88254079e-05 -9.51522743e-01] [ 1.73107162e-02 -5.45124703e-04 9.99850010e-01 -1.26514227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05800114499999 meters 0.06678434634709018 Centerline is valid? [True, True] Translation: X:79.42, Y:-0.95, Z:-1.27 [[ 9.99237204e-01 -3.51667244e-02 -1.69797298e-02 7.94245497e+01] [ 3.51714919e-02 9.99381292e-01 -1.78597322e-05 -9.54925326e-01] [ 1.69698524e-02 -5.79356320e-04 9.99855834e-01 -1.26660802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.118001145 meters 0.06727173667123529 Centerline is valid? [True, True] Translation: X:79.49, Y:-0.96, Z:-1.27 [[ 9.99062717e-01 -3.99928415e-02 -1.65607959e-02 7.94861192e+01] [ 3.99980439e-02 9.99199758e-01 -1.70962536e-05 -9.56154441e-01] [ 1.65482270e-02 -6.45319213e-04 9.99862860e-01 -1.26556373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.178001145 meters 0.0687383618979732 Centerline is valid? [True, True] Translation: X:79.55, Y:-0.96, Z:-1.27 [[ 9.98858054e-01 -4.52515124e-02 -1.53260503e-02 7.95475358e+01] [ 4.52565936e-02 9.98975395e-01 -1.53010872e-05 -9.62009026e-01] [ 1.53110395e-02 -6.78321215e-04 9.99882549e-01 -1.26729746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.238001145 meters 0.0715914751374109 Centerline is valid? [True, True] Translation: X:79.61, Y:-0.97, Z:-1.27 [[ 9.98458956e-01 -5.30987041e-02 -1.61319784e-02 7.96083076e+01] [ 5.31053540e-02 9.98588915e-01 -1.61740792e-05 -9.69189777e-01] [ 1.61100736e-02 -8.40545271e-04 9.99869871e-01 -1.27059745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.298001145 meters 0.07387259430059731 Centerline is valid? [True, True] Translation: X:79.67, Y:-0.97, Z:-1.27 [[ 9.98185628e-01 -5.80974704e-02 -1.58157119e-02 7.96687184e+01] [ 5.81044861e-02 9.98310507e-01 -1.59516306e-05 -9.72683631e-01] [ 1.57899181e-02 -9.03041123e-04 9.99874924e-01 -1.27251409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.358001145 meters 0.0773593310194379 Centerline is valid? [True, True] Translation: X:79.73, Y:-0.98, Z:-1.28 [[ 9.97794558e-01 -6.42492700e-02 -1.66748800e-02 7.97279432e+01] [ 6.42579172e-02 9.97933324e-01 -1.72413448e-05 -9.77056078e-01] [ 1.66415262e-02 -1.05428974e-03 9.99860964e-01 -1.27607731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41800114499999 meters 0.07953270196855408 Centerline is valid? [True, True] Translation: X:79.79, Y:-0.98, Z:-1.28 [[ 9.97684791e-01 -6.61048997e-02 -1.59750118e-02 7.97894906e+01] [ 6.61131244e-02 9.97812134e-01 -1.32954100e-05 -9.77481388e-01] [ 1.59409395e-02 -1.04289331e-03 9.99872391e-01 -1.27622720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.478001145 meters 0.07839764590540786 Centerline is valid? [True, True] Translation: X:79.85, Y:-0.97, Z:-1.27 [[ 9.97685150e-01 -6.62138315e-02 -1.54941740e-02 7.98523443e+01] [ 6.62216047e-02 9.97804940e-01 -1.13946084e-05 -9.67510426e-01] [ 1.54609178e-02 -1.01468083e-03 9.99879958e-01 -1.27459811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.538001145 meters 0.0790591441500524 Centerline is valid? [True, True] Translation: X:79.91, Y:-0.97, Z:-1.28 [[ 9.97655517e-01 -6.64748106e-02 -1.62655975e-02 7.99145549e+01] [ 6.64834204e-02 9.97787530e-01 -1.14319776e-05 -9.65148715e-01] [ 1.62303702e-02 -1.06998738e-03 9.99867706e-01 -1.27770723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.598001145 meters 0.08153724299674853 Centerline is valid? [True, True] Translation: X:79.98, Y:-0.96, Z:-1.28 [[ 9.97528596e-01 -6.84454073e-02 -1.58721748e-02 7.99757704e+01] [ 6.84538551e-02 9.97654284e-01 -1.10793039e-05 -9.63863663e-01] [ 1.58357015e-02 -1.07545963e-03 9.99874029e-01 -1.28138977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.658001145 meters 0.08377115477063139 Centerline is valid? [True, True] Translation: X:80.04, Y:-0.96, Z:-1.28 [[ 9.97439818e-01 -6.99946777e-02 -1.46476884e-02 8.00370187e+01] [ 7.00021202e-02 9.97546843e-01 -4.62029213e-06 -9.64643440e-01] [ 1.46120787e-02 -1.02076078e-03 9.99892717e-01 -1.28261085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.718001145 meters 0.08528200860475028 Centerline is valid? [True, True] Translation: X:80.10, Y:-0.96, Z:-1.28 [[ 9.97387322e-01 -7.08408955e-02 -1.41455589e-02 8.00990256e+01] [ 7.08479691e-02 9.97487125e-01 -1.06282806e-06 -9.61671413e-01] [ 1.41100882e-02 -1.00112407e-03 9.99899947e-01 -1.28424745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77800114499999 meters 0.08409252565899758 Centerline is valid? [True, True] Translation: X:80.16, Y:-0.95, Z:-1.29 [[ 9.97661177e-01 -6.65668947e-02 -1.55249514e-02 8.01597423e+01] [ 6.65748484e-02 9.97781434e-01 -4.51361798e-06 -9.50561742e-01] [ 1.54908087e-02 -1.02906822e-03 9.99879481e-01 -1.28672871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83800114499999 meters 0.08288376572377858 Centerline is valid? [True, True] Translation: X:80.22, Y:-0.94, Z:-1.29 [[ 9.97933207e-01 -6.23624219e-02 -1.54997394e-02 8.02199413e+01] [ 6.23698460e-02 9.98053106e-01 -4.41466285e-06 -9.40542499e-01] [ 1.54698384e-02 -9.62310822e-04 9.99879872e-01 -1.28767569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.898001145 meters 0.07835207134351264 Centerline is valid? [True, True] Translation: X:80.28, Y:-0.92, Z:-1.29 [[ 9.98321769e-01 -5.63152145e-02 -1.34996729e-02 8.02811231e+01] [ 5.63202995e-02 9.98412752e-01 -3.49573454e-06 -9.23886788e-01] [ 1.34784425e-02 -7.56815755e-04 9.99908875e-01 -1.28659665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.958001145 meters 0.07733323348823093 Centerline is valid? [True, True] Translation: X:80.34, Y:-0.92, Z:-1.29 [[ 9.98480844e-01 -5.34536637e-02 -1.33682091e-02 8.03420505e+01] [ 5.34583986e-02 9.98570077e-01 -3.14794576e-06 -9.15065203e-01] [ 1.33492618e-02 -7.11499886e-04 9.99910641e-01 -1.28699723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.018001145 meters 0.07689479532834638 Centerline is valid? [True, True] Translation: X:80.40, Y:-0.90, Z:-1.29 [[ 9.98624556e-01 -5.05050510e-02 -1.40796248e-02 8.04038216e+01] [ 5.05100261e-02 9.98723554e-01 -2.24269575e-06 -9.03008266e-01] [ 1.40617662e-02 -7.08922604e-04 9.99900877e-01 -1.28855832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.078001145 meters 0.07440525696994586 Centerline is valid? [True, True] Translation: X:80.46, Y:-0.89, Z:-1.29 [[ 9.98828816e-01 -4.63085545e-02 -1.40183323e-02 8.04643090e+01] [ 4.63130646e-02 9.98926974e-01 -2.90578598e-06 -8.90504168e-01] [ 1.40034249e-02 -6.46329547e-04 9.99901738e-01 -1.28995393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13800114499999 meters 0.0750399068379662 Centerline is valid? [True, True] Translation: X:80.52, Y:-0.89, Z:-1.29 [[ 9.99002761e-01 -4.21000221e-02 -1.48684557e-02 8.05236867e+01] [ 4.21046236e-02 9.99113207e-01 -3.55315138e-06 -8.86346334e-01] [ 1.48554200e-02 -6.22481121e-04 9.99889458e-01 -1.29404674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19800114499999 meters 0.07106649838920201 Centerline is valid? [True, True] Translation: X:80.58, Y:-0.86, Z:-1.29 [[ 9.99343369e-01 -3.30970597e-02 -1.47450478e-02 8.05846132e+01] [ 3.31006129e-02 9.99452025e-01 -3.07498970e-06 -8.64353632e-01] [ 1.47370697e-02 -4.84997150e-04 9.99891286e-01 -1.29093082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.258001145 meters 0.06959931019334747 Centerline is valid? [True, True] Translation: X:80.65, Y:-0.86, Z:-1.29 [[ 9.99531457e-01 -2.66667332e-02 -1.50250486e-02 8.06453366e+01] [ 2.66697041e-02 9.99644300e-01 -2.64172281e-06 -8.55560506e-01] [ 1.50197746e-02 -3.98073114e-04 9.99887118e-01 -1.29288963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.318001145 meters 0.06823161501284605 Centerline is valid? [True, True] Translation: X:80.71, Y:-0.84, Z:-1.30 [[ 9.99726349e-01 -1.74126865e-02 -1.56213036e-02 8.07050671e+01] [ 1.74147639e-02 9.99848351e-01 -3.04919055e-06 -8.40876478e-01] [ 1.56189878e-02 -2.68992958e-04 9.99877980e-01 -1.29652018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.378001145 meters 0.06744734214234731 Centerline is valid? [True, True] Translation: X:80.77, Y:-0.83, Z:-1.30 [[ 9.99821919e-01 -1.17818734e-02 -1.47417014e-02 8.07664125e+01] [ 1.17831244e-02 9.99930577e-01 -1.99537140e-06 -8.29925852e-01] [ 1.47407015e-02 -1.71708286e-04 9.99891335e-01 -1.29654495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.438001145 meters 0.06656189263669517 Centerline is valid? [True, True] Translation: X:80.83, Y:-0.82, Z:-1.30 [[ 9.99892891e-01 -5.98147908e-03 -1.33576870e-02 8.08260453e+01] [ 5.98197192e-03 9.99982108e-01 -3.05870953e-06 -8.18897004e-01] [ 1.33574663e-02 -7.68469266e-05 9.99910782e-01 -1.29551285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49800114499999 meters 0.0664177099338487 Centerline is valid? [True, True] Translation: X:80.88, Y:-0.81, Z:-1.30 [[ 9.99898577e-01 -6.61904785e-03 -1.26104843e-02 8.08845802e+01] [ 6.61946934e-03 9.99978091e-01 -8.31555550e-06 -8.14053489e-01] [ 1.26102630e-02 -7.51600018e-05 9.99920485e-01 -1.29513941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55800114499999 meters 0.06745267811387742 Centerline is valid? [True, True] Translation: X:80.94, Y:-0.81, Z:-1.30 [[ 9.99838481e-01 -1.07374434e-02 -1.44124411e-02 8.09430710e+01] [ 1.07384536e-02 9.99942341e-01 -7.29776304e-06 -8.14074002e-01] [ 1.44116884e-02 -1.47470745e-04 9.99896135e-01 -1.30146157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.618001145 meters 0.06724961745746047 Centerline is valid? [True, True] Translation: X:81.00, Y:-0.82, Z:-1.30 [[ 9.99792475e-01 -1.48777592e-02 -1.39161382e-02 8.10031608e+01] [ 1.48790978e-02 9.99889300e-01 -7.34182397e-06 -8.15297355e-01] [ 1.39147069e-02 -1.99719281e-04 9.99903166e-01 -1.29924961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.678001145 meters 0.06832288198847271 Centerline is valid? [True, True] Translation: X:81.06, Y:-0.81, Z:-1.30 [[ 9.99705812e-01 -1.90478703e-02 -1.50156141e-02 8.10628618e+01] [ 1.90499424e-02 9.99818533e-01 -5.03932619e-06 -8.12629419e-01] [ 1.50129852e-02 -2.81008739e-04 9.99887259e-01 -1.30224390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.738001145 meters 0.06854671381544238 Centerline is valid? [True, True] Translation: X:81.13, Y:-0.81, Z:-1.30 [[ 9.99689956e-01 -1.90878148e-02 -1.59890019e-02 8.11254213e+01] [ 1.90901812e-02 9.99817766e-01 -4.62329292e-06 -8.10983532e-01] [ 1.59861764e-02 -3.00611085e-04 9.99872168e-01 -1.30436267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.798001145 meters 0.06850724118212591 Centerline is valid? [True, True] Translation: X:81.19, Y:-0.80, Z:-1.31 [[ 9.99704853e-01 -1.72280378e-02 -1.71289505e-02 8.11876488e+01] [ 1.72304987e-02 9.99851544e-01 -3.91360668e-06 -8.04825951e-01] [ 1.71264751e-02 -2.91227907e-04 9.99853289e-01 -1.30746523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.858001145 meters 0.0681884969495056 Centerline is valid? [True, True] Translation: X:81.25, Y:-0.80, Z:-1.31 [[ 9.99754391e-01 -1.42209925e-02 -1.69976980e-02 8.12489121e+01] [ 1.42229828e-02 9.99898848e-01 -3.79682923e-06 -7.97141398e-01] [ 1.69960326e-02 -2.37962069e-04 9.99855529e-01 -1.30961509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91800114499999 meters 0.06722018409900911 Centerline is valid? [True, True] Translation: X:81.31, Y:-0.78, Z:-1.31 [[ 9.99823620e-01 -7.57316487e-03 -1.71865175e-02 8.13092475e+01] [ 7.57420978e-03 9.99971315e-01 -4.29418928e-06 -7.83932221e-01] [ 1.71860570e-02 -1.25880857e-04 9.99852301e-01 -1.30975686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.978001145 meters 0.06670584041151262 Centerline is valid? [True, True] Translation: X:81.37, Y:-0.78, Z:-1.31 [[ 9.99861097e-01 -4.25302407e-03 -1.61151863e-02 8.13676323e+01] [ 4.25339584e-03 9.99990954e-01 -1.12046858e-05 -7.75363628e-01] [ 1.61150882e-02 -5.73411369e-05 9.99870142e-01 -1.30759194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.038001145 meters 0.06747589090178059 Centerline is valid? [True, True] Translation: X:81.43, Y:-0.77, Z:-1.31 [[ 9.99862609e-01 -5.36006344e-04 -1.65672977e-02 8.14250786e+01] [ 5.35879930e-04 9.99999856e-01 -1.20696882e-05 -7.67192841e-01] [ 1.65673018e-02 3.18994762e-06 9.99862753e-01 -1.31489108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.098001145 meters 0.06709504826264376 Centerline is valid? [True, True] Translation: X:81.48, Y:-0.76, Z:-1.31 [[ 9.99853672e-01 4.45529358e-04 -1.71007561e-02 8.14839733e+01] [-4.45897903e-04 9.99999900e-01 -1.77385010e-05 -7.63199678e-01] [ 1.71007465e-02 2.53610967e-05 9.99853771e-01 -1.31344905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.158001145 meters 0.06729755069371607 Centerline is valid? [True, True] Translation: X:81.54, Y:-0.76, Z:-1.32 [[ 9.99834129e-01 -8.74905219e-04 -1.81919956e-02 8.15424707e+01] [ 8.74730798e-04 9.99999617e-01 -1.75449543e-05 -7.61881125e-01] [ 1.81920040e-02 1.62894528e-06 9.99834512e-01 -1.31661912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.218001145 meters 0.06720067251417244 Centerline is valid? [True, True] Translation: X:81.60, Y:-0.76, Z:-1.32 [[ 9.99853414e-01 -2.81659924e-03 -1.68883546e-02 8.16012182e+01] [ 2.81670607e-03 9.99996033e-01 -1.74610119e-05 -7.61725714e-01] [ 1.68883368e-02 -3.01110785e-05 9.99857381e-01 -1.31730422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27800114499999 meters 0.06745333439806611 Centerline is valid? [True, True] Translation: X:81.66, Y:-0.76, Z:-1.32 [[ 9.99847509e-01 -7.05184265e-03 -1.59759482e-02 8.16585532e+01] [ 7.05245408e-03 9.99975131e-01 -1.80673316e-05 -7.64375834e-01] [ 1.59756783e-02 -9.46050646e-05 9.99872376e-01 -1.31951007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33800114499999 meters 0.06796089948145928 Centerline is valid? [True, True] Translation: X:81.72, Y:-0.77, Z:-1.32 [[ 9.99780984e-01 -1.31274044e-02 -1.62989047e-02 8.17171001e+01] [ 1.31288341e-02 9.99913813e-01 -1.92893272e-05 -7.69806998e-01] [ 1.62977531e-02 -1.94700512e-04 9.99867164e-01 -1.31859880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.398001145 meters 0.06904057284921226 Centerline is valid? [True, True] Translation: X:81.78, Y:-0.78, Z:-1.33 [[ 9.99745867e-01 -1.57708308e-02 -1.61084496e-02 8.17767224e+01] [ 1.57725825e-02 9.99875605e-01 -1.83017599e-05 -7.76788956e-01] [ 1.61067344e-02 -2.35774741e-04 9.99870250e-01 -1.32502890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.458001145 meters 0.06894868742006728 Centerline is valid? [True, True] Translation: X:81.84, Y:-0.78, Z:-1.33 [[ 9.99688348e-01 -1.80540669e-02 -1.72411797e-02 8.18383663e+01] [ 1.80564325e-02 9.99836969e-01 -1.84662053e-05 -7.80633118e-01] [ 1.72387022e-02 -2.92853747e-04 9.99851360e-01 -1.32536767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.518001145 meters 0.06893948306186919 Centerline is valid? [True, True] Translation: X:81.90, Y:-0.78, Z:-1.32 [[ 9.99700597e-01 -1.81251542e-02 -1.64376289e-02 8.18999941e+01] [ 1.81273232e-02 9.99835686e-01 -1.70424623e-05 -7.80232864e-01] [ 1.64352368e-02 -2.80932851e-04 9.99864893e-01 -1.32442344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.578001145 meters 0.06801051865756434 Centerline is valid? [True, True] Translation: X:81.96, Y:-0.78, Z:-1.32 [[ 9.99801644e-01 -1.21920026e-02 -1.57488762e-02 8.19615509e+01] [ 1.21932661e-02 9.99925659e-01 -1.57939862e-05 -7.75393101e-01] [ 1.57478980e-02 -1.76239386e-04 9.99875979e-01 -1.32333750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63800114499999 meters 0.06810789668801552 Centerline is valid? [True, True] Translation: X:82.02, Y:-0.78, Z:-1.33 [[ 9.99812122e-01 -1.06828065e-02 -1.61739838e-02 8.20211485e+01] [ 1.06839262e-02 9.99942925e-01 -1.71800922e-05 -7.77198531e-01] [ 1.61732442e-02 -1.55624784e-04 9.99869192e-01 -1.32588982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69800114499999 meters 0.0677991056701349 Centerline is valid? [True, True] Translation: X:82.08, Y:-0.78, Z:-1.33 [[ 9.99827215e-01 -1.08988136e-02 -1.50584338e-02 8.20796563e+01] [ 1.08997128e-02 9.99940596e-01 -2.23623720e-05 -7.79098540e-01] [ 1.50577830e-02 -1.41774095e-04 9.99886615e-01 -1.32569730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.758001145 meters 0.06732310911893666 Centerline is valid? [True, True] Translation: X:82.14, Y:-0.78, Z:-1.32 [[ 9.99878357e-01 -8.77447217e-03 -1.28949319e-02 8.21393578e+01] [ 8.77497880e-03 9.99961499e-01 -1.72899889e-05 -7.77213487e-01] [ 1.28945872e-02 -9.58648685e-05 9.99916857e-01 -1.32268551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.818001145 meters 0.06696373922147052 Centerline is valid? [True, True] Translation: X:82.20, Y:-0.78, Z:-1.32 [[ 9.99916560e-01 -7.27736075e-03 -1.06729634e-02 8.21982110e+01] [ 7.27761405e-03 9.99973518e-01 -1.51053372e-05 -7.75749424e-01] [ 1.06727907e-02 -6.25696316e-05 9.99943042e-01 -1.32094611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.878001145 meters 0.06641641051494981 Centerline is valid? [True, True] Translation: X:82.26, Y:-0.77, Z:-1.32 [[ 9.99955315e-01 -3.20879383e-03 -8.89227798e-03 8.22579200e+01] [ 3.20880696e-03 9.99994852e-01 -1.27911137e-05 -7.73622103e-01] [ 8.89227324e-03 -1.57430613e-05 9.99960463e-01 -1.31674140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.938001145 meters 0.0661575761078914 Centerline is valid? [True, True] Translation: X:82.32, Y:-0.77, Z:-1.32 [[ 9.99963422e-01 -5.02603893e-04 -8.53828657e-03 8.23153038e+01] [ 5.02470463e-04 9.99999874e-01 -1.77723735e-05 -7.72219258e-01] [ 8.53829442e-03 1.34814866e-05 9.99963548e-01 -1.31647628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99800114499999 meters 0.06615187812024281 Centerline is valid? [True, True] Translation: X:82.37, Y:-0.77, Z:-1.32 [[ 9.99977690e-01 9.44464890e-04 -6.61268301e-03 8.23734189e+01] [-9.44568650e-04 9.99999554e-01 -1.25678929e-05 -7.73088338e-01] [ 6.61266819e-03 1.88137456e-05 9.99978136e-01 -1.31679506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05800114499999 meters 0.06598367512889855 Centerline is valid? [True, True] Translation: X:82.43, Y:-0.78, Z:-1.32 [[ 9.99980478e-01 2.22641090e-05 -6.24851645e-03 8.24321364e+01] [-2.23401457e-05 1.00000000e+00 -1.20989611e-05 -7.76976564e-01] [ 6.24851618e-03 1.22383176e-05 9.99980478e-01 -1.31513980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.118001145 meters 0.06585666661204882 Centerline is valid? [True, True] Translation: X:82.49, Y:-0.79, Z:-1.31 [[ 9.99986660e-01 -1.50257724e-03 -4.94177881e-03 8.24908753e+01] [ 1.50254554e-03 9.99998871e-01 -1.01283235e-05 -7.85832380e-01] [ 4.94178845e-03 2.70294065e-06 9.99987789e-01 -1.31421017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.178001145 meters 0.06580433762506337 Centerline is valid? [True, True] Translation: X:82.55, Y:-0.79, Z:-1.32 [[ 9.99978680e-01 -2.52164499e-03 -6.02332326e-03 8.25494236e+01] [ 2.52161545e-03 9.99996821e-01 -1.24988620e-05 -7.89965165e-01] [ 6.02333563e-03 -2.68990942e-06 9.99981860e-01 -1.31591931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.238001145 meters 0.06593305438294034 Centerline is valid? [True, True] Translation: X:82.61, Y:-0.79, Z:-1.32 [[ 9.99970555e-01 -2.31485561e-03 -7.31639793e-03 8.26074957e+01] [ 2.31480448e-03 9.99997321e-01 -1.54566653e-05 -7.94273406e-01] [ 7.31641410e-03 -1.47982045e-06 9.99973235e-01 -1.31864085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.298001145 meters 0.06603387339291718 Centerline is valid? [True, True] Translation: X:82.67, Y:-0.80, Z:-1.32 [[ 9.99958992e-01 -2.97717028e-03 -8.55278237e-03 8.26663095e+01] [ 2.97709066e-03 9.99995568e-01 -2.20405130e-05 -8.02167531e-01] [ 8.55281008e-03 -3.42279941e-06 9.99963424e-01 -1.32141518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.358001145 meters 0.06588963276942196 Centerline is valid? [True, True] Translation: X:82.72, Y:-0.81, Z:-1.32 [[ 9.99951334e-01 -4.28698284e-03 -8.88541786e-03 8.27247914e+01] [ 4.28696440e-03 9.99990811e-01 -2.11213211e-05 -8.07190643e-01] [ 8.88542676e-03 -1.69711769e-05 9.99960524e-01 -1.32150649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41800114499999 meters 0.06583315966165314 Centerline is valid? [True, True] Translation: X:82.78, Y:-0.82, Z:-1.32 [[ 9.99926735e-01 -8.07425710e-03 -9.01834742e-03 8.27835629e+01] [ 8.07438701e-03 9.99967401e-01 -2.20051794e-05 -8.15639917e-01] [ 9.01823111e-03 -5.08140600e-05 9.99959334e-01 -1.32031480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.478001145 meters 0.0662195596137227 Centerline is valid? [True, True] Translation: X:82.84, Y:-0.83, Z:-1.32 [[ 9.99892280e-01 -1.22521369e-02 -8.08169392e-03 8.28439225e+01] [ 1.22523842e-02 9.99924937e-01 -1.89081109e-05 -8.29002411e-01] [ 8.08131894e-03 -8.01139451e-05 9.99967342e-01 -1.32171676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.538001145 meters 0.06631568258441031 Centerline is valid? [True, True] Translation: X:82.91, Y:-0.84, Z:-1.32 [[ 9.99859794e-01 -1.53511229e-02 -6.68850248e-03 8.29057767e+01] [ 1.53513704e-02 9.99882161e-01 -1.43337239e-05 -8.36975502e-01] [ 6.68793435e-03 -8.83459648e-05 9.99977632e-01 -1.32126042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.598001145 meters 0.06662335696678809 Centerline is valid? [True, True] Translation: X:82.97, Y:-0.85, Z:-1.32 [[ 9.99804954e-01 -1.86177300e-02 -6.59039149e-03 8.29676864e+01] [ 1.86180443e-02 9.99826669e-01 -1.36650890e-05 -8.45140959e-01] [ 6.58950359e-03 -1.09037777e-04 9.99978283e-01 -1.32055846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.658001145 meters 0.06692538312090654 Centerline is valid? [True, True] Translation: X:83.03, Y:-0.85, Z:-1.32 [[ 9.99804470e-01 -1.88819106e-02 -5.87330277e-03 8.30290438e+01] [ 1.88821737e-02 9.99821716e-01 -1.06557592e-05 -8.49075312e-01] [ 5.87245685e-03 -1.00247047e-04 9.99982752e-01 -1.32310245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.718001145 meters 0.06687122360814678 Centerline is valid? [True, True] Translation: X:83.09, Y:-0.86, Z:-1.32 [[ 9.99789201e-01 -1.94852209e-02 -6.47148115e-03 8.30914544e+01] [ 1.94855496e-02 9.99810139e-01 -1.22522203e-05 -8.55013896e-01] [ 6.47049121e-03 -1.13850730e-04 9.99979060e-01 -1.32322165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77800114499999 meters 0.06617223278008494 Centerline is valid? [True, True] Translation: X:83.15, Y:-0.86, Z:-1.32 [[ 9.99838046e-01 -1.71691901e-02 -5.39459312e-03 8.31542352e+01] [ 1.71693913e-02 9.99852595e-01 -9.03023392e-06 -8.57731070e-01] [ 5.39395297e-03 -8.35931086e-05 9.99985449e-01 -1.32169044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83800114499999 meters 0.06540976388005391 Centerline is valid? [True, True] Translation: X:83.22, Y:-0.86, Z:-1.32 [[ 9.99893167e-01 -1.38412656e-02 -4.69834202e-03 8.32168675e+01] [ 1.38413831e-02 9.99904203e-01 -7.52002426e-06 -8.56643306e-01] [ 4.69799603e-03 -5.75123309e-05 9.99988963e-01 -1.32020067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.898001145 meters 0.06496869535909375 Centerline is valid? [True, True] Translation: X:83.28, Y:-0.86, Z:-1.32 [[ 9.99941667e-01 -8.98912953e-03 -5.98820119e-03 8.32780456e+01] [ 8.98923841e-03 9.99959596e-01 -8.73331441e-06 -8.59136257e-01] [ 5.98803775e-03 -4.50965632e-05 9.99982071e-01 -1.32224986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.958001145 meters 0.06473725800353093 Centerline is valid? [True, True] Translation: X:83.34, Y:-0.86, Z:-1.32 [[ 9.99943118e-01 -7.88520669e-03 -7.18218389e-03 8.33407392e+01] [ 7.88533069e-03 9.99968910e-01 -1.10523590e-05 -8.61015747e-01] [ 7.18204774e-03 -4.55821647e-05 9.99974208e-01 -1.32133058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.018001145 meters 0.06492458013219073 Centerline is valid? [True, True] Translation: X:83.40, Y:-0.87, Z:-1.32 [[ 9.99919839e-01 -8.77938007e-03 -9.12349891e-03 8.34015460e+01] [ 8.77961584e-03 9.99961458e-01 -1.42098163e-05 -8.65705074e-01] [ 9.12327203e-03 -6.58921384e-05 9.99958380e-01 -1.32453525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.078001145 meters 0.06507745767155237 Centerline is valid? [True, True] Translation: X:83.46, Y:-0.88, Z:-1.33 [[ 9.99895729e-01 -1.19484574e-02 -8.10959753e-03 8.34617760e+01] [ 1.19487435e-02 9.99928611e-01 -1.31700980e-05 -8.75365002e-01] [ 8.10917595e-03 -8.37307759e-05 9.99967117e-01 -1.32538289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13800114499999 meters 0.06530152947372189 Centerline is valid? [True, True] Translation: X:83.52, Y:-0.88, Z:-1.32 [[ 9.99860688e-01 -1.55038076e-02 -6.18362061e-03 8.35235341e+01] [ 1.55040500e-02 9.99879805e-01 -8.74577421e-06 -8.81867265e-01] [ 6.18301296e-03 -8.71266073e-05 9.99980881e-01 -1.32374657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19800114499999 meters 0.06525954301313927 Centerline is valid? [True, True] Translation: X:83.59, Y:-0.89, Z:-1.32 [[ 9.99831790e-01 -1.65216565e-02 -7.96414094e-03 8.35861056e+01] [ 1.65220928e-02 9.99863501e-01 -1.10172150e-05 -8.85521796e-01] [ 7.96323587e-03 -1.20568914e-04 9.99968286e-01 -1.32413625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.258001145 meters 0.06507950459120092 Centerline is valid? [True, True] Translation: X:83.65, Y:-0.89, Z:-1.32 [[ 9.99859295e-01 -1.57148232e-02 -5.86802307e-03 8.36481982e+01] [ 1.57150499e-02 9.99876511e-01 -7.48859819e-06 -8.89936262e-01] [ 5.86741612e-03 -8.47287307e-05 9.99982783e-01 -1.32308339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.318001145 meters 0.06506952077741941 Centerline is valid? [True, True] Translation: X:83.71, Y:-0.89, Z:-1.32 [[ 9.99868670e-01 -1.51657752e-02 -5.71323956e-03 8.37095204e+01] [ 1.51659815e-02 9.99884990e-01 -7.22688432e-06 -8.91972036e-01] [ 5.71269208e-03 -7.94209500e-05 9.99983679e-01 -1.32473510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.378001145 meters 0.06461598253721482 Centerline is valid? [True, True] Translation: X:83.77, Y:-0.89, Z:-1.32 [[ 9.99881932e-01 -1.43273731e-02 -5.55413872e-03 8.37715519e+01] [ 1.43275585e-02 9.99897355e-01 -6.41178405e-06 -8.93439359e-01] [ 5.55366048e-03 -7.31662202e-05 9.99984576e-01 -1.32298847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.438001145 meters 0.06461605509763692 Centerline is valid? [True, True] Translation: X:83.83, Y:-0.90, Z:-1.33 [[ 9.99874225e-01 -1.42862572e-02 -6.88747134e-03 8.38341876e+01] [ 1.42865428e-02 9.99897942e-01 -7.73857136e-06 -8.95402584e-01] [ 6.88687898e-03 -9.06605558e-05 9.99976281e-01 -1.32506866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49800114499999 meters 0.06474394380880333 Centerline is valid? [True, True] Translation: X:83.90, Y:-0.90, Z:-1.33 [[ 9.99840805e-01 -1.66383760e-02 -6.44427447e-03 8.38959407e+01] [ 1.66386758e-02 9.99861568e-01 -7.09183761e-06 -8.98086399e-01] [ 6.44350037e-03 -1.00133485e-04 9.99979235e-01 -1.32547480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55800114499999 meters 0.06515557900258113 Centerline is valid? [True, True] Translation: X:83.96, Y:-0.91, Z:-1.33 [[ 9.99741463e-01 -2.16342731e-02 -6.99746403e-03 8.39582285e+01] [ 2.16347531e-02 9.99765941e-01 -7.09248468e-06 -9.05179051e-01] [ 6.99597965e-03 -1.44297756e-04 9.99975517e-01 -1.32788985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.618001145 meters 0.06567367871101237 Centerline is valid? [True, True] Translation: X:84.02, Y:-0.91, Z:-1.33 [[ 9.99667222e-01 -2.49295137e-02 -6.63062289e-03 8.40202071e+01] [ 2.49300204e-02 9.99689199e-01 -6.24187753e-06 -9.09416818e-01] [ 6.62871769e-03 -1.59061764e-04 9.99978017e-01 -1.32859948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.678001145 meters 0.06617552763043537 Centerline is valid? [True, True] Translation: X:84.08, Y:-0.91, Z:-1.33 [[ 9.99598888e-01 -2.76774491e-02 -6.00179106e-03 8.40828099e+01] [ 2.76779165e-02 9.99616893e-01 -5.18764434e-06 -9.13210586e-01] [ 5.99963531e-03 -1.60931508e-04 9.99981989e-01 -1.32968662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.738001145 meters 0.06630380543111977 Centerline is valid? [True, True] Translation: X:84.15, Y:-0.92, Z:-1.33 [[ 9.99562423e-01 -2.89904933e-02 -5.87482972e-03 8.41453367e+01] [ 2.89909660e-02 9.99579674e-01 -4.68958999e-06 -9.15956361e-01] [ 5.87249633e-03 -1.65629451e-04 9.99982743e-01 -1.33102071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.798001145 meters 0.06659399042199125 Centerline is valid? [True, True] Translation: X:84.21, Y:-0.92, Z:-1.33 [[ 9.99565454e-01 -2.86695874e-02 -6.85259731e-03 8.42065055e+01] [ 2.86702227e-02 9.99588925e-01 -5.52897997e-06 -9.16042192e-01] [ 6.84993889e-03 -1.90938913e-04 9.99976521e-01 -1.33349576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.858001145 meters 0.06755734401804198 Centerline is valid? [True, True] Translation: X:84.27, Y:-0.92, Z:-1.34 [[ 9.99479637e-01 -3.09918781e-02 -8.94197806e-03 8.42666085e+01] [ 3.09930606e-02 9.99519600e-01 -6.32788249e-06 -9.19201605e-01] [ 8.93787844e-03 -2.70814678e-04 9.99960020e-01 -1.33837686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91800114499999 meters 0.06850166226548489 Centerline is valid? [True, True] Translation: X:84.33, Y:-0.92, Z:-1.34 [[ 9.99409281e-01 -3.30652559e-02 -9.36900823e-03 8.43286644e+01] [ 3.30666480e-02 9.99453149e-01 -6.32648991e-06 -9.20194177e-01] [ 9.36409396e-03 -3.03478944e-04 9.99956110e-01 -1.34206310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.978001145 meters 0.06889496219854187 Centerline is valid? [True, True] Translation: X:84.39, Y:-0.92, Z:-1.34 [[ 9.99395036e-01 -3.31984600e-02 -1.03646000e-02 8.43905026e+01] [ 3.32001763e-02 9.99448722e-01 -6.47322606e-06 -9.21423328e-01] [ 1.03591012e-02 -3.37637238e-04 9.99946286e-01 -1.34497310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.038001145 meters 0.06963445212219847 Centerline is valid? [True, True] Translation: X:84.45, Y:-0.92, Z:-1.35 [[ 9.99351173e-01 -3.42780346e-02 -1.10566888e-02 8.44513484e+01] [ 3.42800727e-02 9.99412266e-01 -5.19027083e-06 -9.18052392e-01] [ 1.10503683e-02 -3.73837191e-04 9.99938873e-01 -1.34612582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.098001145 meters 0.06969959475370222 Centerline is valid? [True, True] Translation: X:84.51, Y:-0.91, Z:-1.35 [[ 9.99385174e-01 -3.35201574e-02 -1.02797608e-02 8.45133984e+01] [ 3.35218797e-02 9.99437984e-01 -4.75669442e-06 -9.14440791e-01] [ 1.02741429e-02 -3.39843135e-04 9.99947162e-01 -1.34723591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.158001145 meters 0.06920317325874763 Centerline is valid? [True, True] Translation: X:84.57, Y:-0.91, Z:-1.35 [[ 9.99509793e-01 -2.98160711e-02 -9.54858048e-03 8.45743315e+01] [ 2.98173906e-02 9.99555363e-01 -4.17437703e-06 -9.12853709e-01] [ 9.54445929e-03 -2.80541423e-04 9.99954411e-01 -1.35084841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.218001145 meters 0.06838524383659772 Centerline is valid? [True, True] Translation: X:84.64, Y:-0.90, Z:-1.35 [[ 9.99595969e-01 -2.68025184e-02 -9.46165840e-03 8.46353286e+01] [ 2.68036798e-02 9.99640717e-01 -4.05526878e-06 -9.02592284e-01] [ 9.45836768e-03 -2.49553632e-04 9.99955238e-01 -1.35001087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27800114499999 meters 0.06788940327298865 Centerline is valid? [True, True] Translation: X:84.70, Y:-0.90, Z:-1.35 [[ 9.99663785e-01 -2.43612965e-02 -8.87941030e-03 8.46969966e+01] [ 2.43622284e-02 9.99703197e-01 -3.21110020e-06 -8.98015863e-01] [ 8.87685309e-03 -2.13112201e-04 9.99960577e-01 -1.35067609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33800114499999 meters 0.06812099174803508 Centerline is valid? [True, True] Translation: X:84.76, Y:-0.90, Z:-1.36 [[ 9.99694022e-01 -2.25310700e-02 -1.02085381e-02 8.47579571e+01] [ 2.25322098e-02 9.99746118e-01 -3.36499049e-06 -8.97536030e-01] [ 1.02060221e-02 -2.26656961e-04 9.99947892e-01 -1.35529971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.398001145 meters 0.06831261513438269 Centerline is valid? [True, True] Translation: X:84.82, Y:-0.90, Z:-1.36 [[ 9.99692177e-01 -2.27509106e-02 -9.89688340e-03 8.48197517e+01] [ 2.27520000e-02 9.99741140e-01 -2.52163202e-06 -8.96367913e-01] [ 9.89437886e-03 -2.22653035e-04 9.99951025e-01 -1.35589789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.458001145 meters 0.06945900359294992 Centerline is valid? [True, True] Translation: X:84.88, Y:-0.90, Z:-1.36 [[ 9.99634630e-01 -2.53184867e-02 -9.46472316e-03 8.48807504e+01] [ 2.53196088e-02 9.99679407e-01 -1.26495789e-06 -8.98213651e-01] [ 9.46172086e-03 -2.38378592e-04 9.99955209e-01 -1.35775827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.518001145 meters 0.07038380311288557 Centerline is valid? [True, True] Translation: X:84.94, Y:-0.90, Z:-1.36 [[ 9.99578026e-01 -2.70985166e-02 -1.04613771e-02 8.49418175e+01] [ 2.70999823e-02 9.99632728e-01 -1.65357991e-06 -9.02722136e-01] [ 1.04575798e-02 -2.81850253e-04 9.99945278e-01 -1.36103261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.578001145 meters 0.07165289580006594 Centerline is valid? [True, True] Translation: X:85.00, Y:-0.90, Z:-1.36 [[ 9.99506500e-01 -2.94615411e-02 -1.08983293e-02 8.50041236e+01] [ 2.94632801e-02 9.99565863e-01 -9.89460389e-07 -9.04692637e-01] [ 1.08936271e-02 -3.20111558e-04 9.99940611e-01 -1.36286526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63800114499999 meters 0.06790518736228277 Centerline is valid? [True, True] Translation: X:85.07, Y:-0.89, Z:-1.35 [[ 9.99415987e-01 -3.21612839e-02 -1.15471449e-02 8.50661903e+01] [ 3.21634384e-02 9.99482623e-01 8.84588641e-07 -8.90670977e-01] [ 1.15411422e-02 -3.72279955e-04 9.99933329e-01 -1.35247397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69800114499999 meters 0.06944678889145334 Centerline is valid? [True, True] Translation: X:85.13, Y:-0.90, Z:-1.36 [[ 9.99238231e-01 -3.65776275e-02 -1.36027789e-02 8.51267618e+01] [ 3.65810138e-02 9.99330691e-01 1.25806804e-07 -8.95124012e-01] [ 1.35936699e-02 -4.97729154e-04 9.99907478e-01 -1.35636567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.758001145 meters 0.07060083090670143 Centerline is valid? [True, True] Translation: X:85.19, Y:-0.90, Z:-1.36 [[ 9.99144044e-01 -3.92652156e-02 -1.30162559e-02 8.51873687e+01] [ 3.92685498e-02 9.99228693e-01 5.83574650e-07 -8.99553587e-01] [ 1.30061934e-02 -5.11712567e-04 9.99915285e-01 -1.35941320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.818001145 meters 0.07099854685419679 Centerline is valid? [True, True] Translation: X:85.25, Y:-0.90, Z:-1.36 [[ 9.98946800e-01 -4.39962761e-02 -1.30237758e-02 8.52484993e+01] [ 4.40000214e-02 9.99031530e-01 1.04247775e-06 -8.96285036e-01] [ 1.30111168e-02 -5.74087794e-04 9.99915187e-01 -1.35679652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.878001145 meters 0.07286774041522082 Centerline is valid? [True, True] Translation: X:85.31, Y:-0.90, Z:-1.36 [[ 9.98741619e-01 -4.89636895e-02 -1.08506470e-02 8.53092869e+01] [ 4.89665818e-02 9.98800417e-01 8.87090060e-07 -9.00156206e-01] [ 1.08375873e-02 -5.32205066e-04 9.99941130e-01 -1.35685677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.938001145 meters 0.07597539531375799 Centerline is valid? [True, True] Translation: X:85.37, Y:-0.90, Z:-1.36 [[ 9.98619577e-01 -5.16776684e-02 -9.39996178e-03 8.53705905e+01] [ 5.16800040e-02 9.98663696e-01 5.57125848e-06 -9.04786017e-01] [ 9.38711266e-03 -4.91353630e-04 9.99955819e-01 -1.35803134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99800114499999 meters 0.07425341700428689 Centerline is valid? [True, True] Translation: X:85.43, Y:-0.90, Z:-1.36 [[ 9.98626347e-01 -5.17283757e-02 -8.34236043e-03 8.54326916e+01] [ 5.17302386e-02 9.98661095e-01 7.53733948e-06 -8.97999306e-01] [ 8.33080091e-03 -4.39079282e-04 9.99965202e-01 -1.35677080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05800114499999 meters 0.07349529919648479 Centerline is valid? [True, True] Translation: X:85.50, Y:-0.89, Z:-1.36 [[ 9.98709267e-01 -5.00110339e-02 -8.87110639e-03 8.54954922e+01] [ 5.00130680e-02 9.98748563e-01 7.46273021e-06 -8.94132073e-01] [ 8.85963154e-03 -4.51124345e-04 9.99960651e-01 -1.35758781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.118001145 meters 0.07197387835312873 Centerline is valid? [True, True] Translation: X:85.56, Y:-0.89, Z:-1.36 [[ 9.98896503e-01 -4.58961344e-02 -9.96598660e-03 8.55561784e+01] [ 4.58984810e-02 9.98946109e-01 6.75302858e-06 -8.85976090e-01] [ 9.95517360e-03 -4.64169223e-04 9.99950338e-01 -1.35866419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.178001145 meters 0.07088049239714334 Centerline is valid? [True, True] Translation: X:85.62, Y:-0.88, Z:-1.36 [[ 9.99034016e-01 -4.24631130e-02 -1.13101604e-02 8.56180427e+01] [ 4.24659274e-02 9.99097916e-01 8.68629240e-06 -8.78055171e-01] [ 1.12995888e-02 -4.88974352e-04 9.99936038e-01 -1.35967057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.238001145 meters 0.06963739767635696 Centerline is valid? [True, True] Translation: X:85.68, Y:-0.87, Z:-1.36 [[ 9.99209639e-01 -3.76967657e-02 -1.26115724e-02 8.56783946e+01] [ 3.76998759e-02 9.99289107e-01 8.88654120e-06 -8.72671850e-01] [ 1.26022719e-02 -4.84334231e-04 9.99920471e-01 -1.36427466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.298001145 meters 0.06940096624794011 Centerline is valid? [True, True] Translation: X:85.74, Y:-0.87, Z:-1.36 [[ 9.99315877e-01 -3.48054856e-02 -1.25042791e-02 8.57386248e+01] [ 3.48083227e-02 9.99394007e-01 9.26049725e-06 -8.67885734e-01] [ 1.24963793e-02 -4.44507146e-04 9.99921818e-01 -1.36496676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.358001145 meters 0.06720711641302253 Centerline is valid? [True, True] Translation: X:85.80, Y:-0.85, Z:-1.36 [[ 9.99494844e-01 -2.92397935e-02 -1.24535800e-02 8.57990173e+01] [ 2.92421730e-02 9.99572356e-01 8.98586483e-06 -8.54888029e-01] [ 1.24479916e-02 -3.73151068e-04 9.99922451e-01 -1.36130513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41800114499999 meters 0.06729028174841223 Centerline is valid? [True, True] Translation: X:85.86, Y:-0.85, Z:-1.37 [[ 9.99579592e-01 -2.58493033e-02 -1.31321031e-02 8.58599851e+01] [ 2.58516749e-02 9.99665790e-01 1.08506547e-05 -8.50685547e-01] [ 1.31274338e-02 -3.50332954e-04 9.99913770e-01 -1.36549675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.478001145 meters 0.06704943515173925 Centerline is valid? [True, True] Translation: X:85.92, Y:-0.85, Z:-1.36 [[ 9.99585421e-01 -2.63642779e-02 -1.15719792e-02 8.59224730e+01] [ 2.63661665e-02 9.99652352e-01 1.06470884e-05 -8.47895953e-01] [ 1.15676755e-02 -3.15751405e-04 9.99933042e-01 -1.36466500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.538001145 meters 0.06716265194458647 Centerline is valid? [True, True] Translation: X:85.98, Y:-0.85, Z:-1.36 [[ 9.99585848e-01 -2.73852861e-02 -8.84188975e-03 8.59844409e+01] [ 2.73864358e-02 9.99624921e-01 8.95306608e-06 -8.46787382e-01] [ 8.83832817e-03 -2.51097204e-04 9.99960910e-01 -1.36322051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.598001145 meters 0.06872586618548758 Centerline is valid? [True, True] Translation: X:86.05, Y:-0.85, Z:-1.36 [[ 9.99448636e-01 -3.22061366e-02 -8.07399797e-03 8.60456137e+01] [ 3.22072513e-02 9.99481212e-01 8.04627629e-06 -8.51695972e-01] [ 8.06955014e-03 -2.68083122e-04 9.99967405e-01 -1.36459944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.658001145 meters 0.07021291666994077 Centerline is valid? [True, True] Translation: X:86.11, Y:-0.86, Z:-1.37 [[ 9.99316339e-01 -3.54812094e-02 -1.03893052e-02 8.61070897e+01] [ 3.54832342e-02 9.99370272e-01 1.05666856e-05 -8.55861625e-01] [ 1.03823878e-02 -3.79205611e-04 9.99946030e-01 -1.36753636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.718001145 meters 0.07151867080154618 Centerline is valid? [True, True] Translation: X:86.17, Y:-0.86, Z:-1.37 [[ 9.99198133e-01 -3.86419555e-02 -1.04828946e-02 8.61674797e+01] [ 3.86441898e-02 9.99253034e-01 1.05937449e-05 -8.60026722e-01] [ 1.04746549e-02 -4.15688220e-04 9.99945053e-01 -1.37001955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77800114499999 meters 0.06969863157484042 Centerline is valid? [True, True] Translation: X:86.23, Y:-0.85, Z:-1.37 [[ 9.99342045e-01 -3.52487580e-02 -8.54415216e-03 8.62285681e+01] [ 3.52501205e-02 9.99378521e-01 8.87832261e-06 -8.52179298e-01] [ 8.53852920e-03 -3.10054874e-04 9.99963498e-01 -1.36802458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83800114499999 meters 0.0692729214229288 Centerline is valid? [True, True] Translation: X:86.29, Y:-0.85, Z:-1.37 [[ 9.99473295e-01 -3.14363660e-02 -8.05532909e-03 8.62895065e+01] [ 3.14374573e-02 9.99505721e-01 8.85039756e-06 -8.49054598e-01] [ 8.05106928e-03 -2.62084800e-04 9.99967555e-01 -1.36953895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.898001145 meters 0.06757088651793984 Centerline is valid? [True, True] Translation: X:86.35, Y:-0.84, Z:-1.37 [[ 9.99584903e-01 -2.77253554e-02 -7.83106918e-03 8.63507026e+01] [ 2.77262751e-02 9.99615553e-01 8.87563756e-06 -8.40661314e-01] [ 7.82781247e-03 -2.25998331e-04 9.99969337e-01 -1.36919238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.958001145 meters 0.06661148457685924 Centerline is valid? [True, True] Translation: X:86.41, Y:-0.83, Z:-1.37 [[ 9.99697261e-01 -2.34133195e-02 -7.56326564e-03 8.64122706e+01] [ 2.34140559e-02 9.99725853e-01 8.83159039e-06 -8.34004293e-01] [ 7.56098542e-03 -1.85915642e-04 9.99971398e-01 -1.36951223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.018001145 meters 0.06602234669436448 Centerline is valid? [True, True] Translation: X:86.47, Y:-0.83, Z:-1.37 [[ 9.99775172e-01 -2.01480317e-02 -6.60771531e-03 8.64733910e+01] [ 2.01485243e-02 9.99796998e-01 7.98090884e-06 -8.29902787e-01] [ 6.60621313e-03 -1.41114827e-04 9.99978169e-01 -1.37147824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.078001145 meters 0.06513087204236753 Centerline is valid? [True, True] Translation: X:86.54, Y:-0.82, Z:-1.37 [[ 9.99853685e-01 -1.51827972e-02 -7.87977530e-03 8.65356090e+01] [ 1.51833507e-02 9.99884726e-01 1.04290779e-05 -8.21282574e-01] [ 7.87870862e-03 -1.30068944e-04 9.99968954e-01 -1.37124480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13800114499999 meters 0.06496105341059867 Centerline is valid? [True, True] Translation: X:86.60, Y:-0.82, Z:-1.38 [[ 9.99892222e-01 -1.04884015e-02 -1.02731355e-02 8.65970659e+01] [ 1.04890945e-02 9.99944988e-01 1.35738445e-05 -8.15811587e-01] [ 1.02724280e-02 -1.21328271e-04 9.99947230e-01 -1.37528335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19800114499999 meters 0.06442972580729743 Centerline is valid? [True, True] Translation: X:86.66, Y:-0.81, Z:-1.37 [[ 9.99915434e-01 -8.53584476e-03 -9.81148021e-03 8.66581788e+01] [ 8.53638424e-03 9.99963564e-01 1.31061935e-05 -8.12728516e-01] [ 9.81101085e-03 -9.68596502e-05 9.99951866e-01 -1.37259068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.258001145 meters 0.06478504909564309 Centerline is valid? [True, True] Translation: X:86.72, Y:-0.81, Z:-1.38 [[ 9.99927353e-01 -4.10509551e-03 -1.13329638e-02 8.67179850e+01] [ 4.10552931e-03 9.99991572e-01 1.50127731e-05 -8.09669681e-01] [ 1.13328067e-02 -6.15394976e-05 9.99935780e-01 -1.37732625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.318001145 meters 0.06477115048745163 Centerline is valid? [True, True] Translation: X:86.78, Y:-0.81, Z:-1.38 [[ 9.99942884e-01 -1.60800384e-03 -1.05661097e-02 8.67766235e+01] [ 1.60817990e-03 9.99998707e-01 8.16652910e-06 -8.09774197e-01] [ 1.05660829e-02 -2.51582679e-05 9.99944177e-01 -1.37721420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.378001145 meters 0.06471133258790257 Centerline is valid? [True, True] Translation: X:86.84, Y:-0.81, Z:-1.37 [[ 9.99955539e-01 6.89981696e-04 -9.40447226e-03 8.68354526e+01] [-6.89967130e-04 9.99999762e-01 4.79328159e-06 -8.07578018e-01] [ 9.40447333e-03 1.69570825e-06 9.99955777e-01 -1.37356466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.438001145 meters 0.0647577081267682 Centerline is valid? [True, True] Translation: X:86.89, Y:-0.81, Z:-1.37 [[ 9.99959561e-01 6.62128153e-04 -8.96872860e-03 8.68946552e+01] [-6.62099906e-04 9.99999781e-01 6.11859984e-06 -8.07516431e-01] [ 8.96873068e-03 -1.80158049e-07 9.99959780e-01 -1.37349302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49800114499999 meters 0.06515739420259774 Centerline is valid? [True, True] Translation: X:86.95, Y:-0.81, Z:-1.38 [[ 9.99950116e-01 -1.86526438e-03 -9.81255845e-03 8.69522569e+01] [ 1.86540905e-03 9.99998260e-01 5.59014107e-06 -8.13795624e-01] [ 9.81253095e-03 -2.38942975e-05 9.99951856e-01 -1.37602386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55800114499999 meters 0.06516371590322649 Centerline is valid? [True, True] Translation: X:87.01, Y:-0.82, Z:-1.38 [[ 9.99938614e-01 -3.89848210e-03 -1.03715925e-02 8.70110449e+01] [ 3.89875010e-03 9.99992400e-01 5.62046965e-06 -8.18094675e-01] [ 1.03714917e-02 -4.60563718e-05 9.99946214e-01 -1.37677255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.618001145 meters 0.06538258863682839 Centerline is valid? [True, True] Translation: X:87.07, Y:-0.82, Z:-1.38 [[ 9.99943854e-01 -5.06710282e-03 -9.30667514e-03 8.70692468e+01] [ 5.06735129e-03 9.99987161e-01 3.11768260e-06 -8.21999653e-01] [ 9.30653985e-03 -5.02776998e-05 9.99956692e-01 -1.37679513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.678001145 meters 0.06542121751272266 Centerline is valid? [True, True] Translation: X:87.13, Y:-0.82, Z:-1.38 [[ 9.99930426e-01 -5.19075682e-03 -1.05924374e-02 8.71275176e+01] [ 5.19104652e-03 9.99986526e-01 -1.44338644e-07 -8.24835979e-01] [ 1.05922955e-02 -5.48415069e-05 9.99943899e-01 -1.37745179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.738001145 meters 0.06563917733325018 Centerline is valid? [True, True] Translation: X:87.19, Y:-0.83, Z:-1.38 [[ 9.99905170e-01 -7.50321195e-03 -1.15478450e-02 8.71856740e+01] [ 7.50372031e-03 9.99971847e-01 6.94438209e-07 -8.29282293e-01] [ 1.15475147e-02 -8.73461717e-05 9.99933321e-01 -1.37851295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.798001145 meters 0.06576652644118741 Centerline is valid? [True, True] Translation: X:87.24, Y:-0.84, Z:-1.38 [[ 9.99902087e-01 -9.12378237e-03 -1.06100726e-02 8.72445730e+01] [ 9.12430444e-03 9.99958373e-01 7.99022050e-07 -8.35286692e-01] [ 1.06096236e-02 -9.76084761e-05 9.99943712e-01 -1.37919883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.858001145 meters 0.0656127166721889 Centerline is valid? [True, True] Translation: X:87.30, Y:-0.84, Z:-1.38 [[ 9.99906147e-01 -9.70851342e-03 -9.66655949e-03 8.73046501e+01] [ 9.70897991e-03 9.99952867e-01 1.33073641e-06 -8.40139882e-01] [ 9.66609096e-03 -9.51830434e-05 9.99953278e-01 -1.37660018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91800114499999 meters 0.06590199788472746 Centerline is valid? [True, True] Translation: X:87.36, Y:-0.84, Z:-1.38 [[ 9.99898209e-01 -9.87713734e-03 -1.02963098e-02 8.73647918e+01] [ 9.87767954e-03 9.99951215e-01 1.80655243e-06 -8.44886573e-01] [ 1.02957896e-02 -1.03510017e-04 9.99946992e-01 -1.37960410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.978001145 meters 0.06576313075397947 Centerline is valid? [True, True] Translation: X:87.43, Y:-0.85, Z:-1.38 [[ 9.99901020e-01 -9.08582648e-03 -1.07423532e-02 8.74255649e+01] [ 9.08636850e-03 9.99958718e-01 1.65035632e-06 -8.46554339e-01] [ 1.07418948e-02 -9.92591730e-05 9.99942299e-01 -1.38062006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.038001145 meters 0.06563612747228599 Centerline is valid? [True, True] Translation: X:87.49, Y:-0.85, Z:-1.38 [[ 9.99908031e-01 -1.00721196e-02 -9.08196739e-03 8.74858009e+01] [ 1.00725443e-02 9.99949271e-01 1.02223097e-06 -8.50236904e-01] [ 9.08149637e-03 -9.25006557e-05 9.99958758e-01 -1.37871733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.098001145 meters 0.06541655787103945 Centerline is valid? [True, True] Translation: X:87.55, Y:-0.85, Z:-1.38 [[ 9.99909531e-01 -1.07486474e-02 -8.08685254e-03 8.75476308e+01] [ 1.07490137e-02 9.99942228e-01 1.83132975e-06 -8.53789857e-01] [ 8.08636566e-03 -8.87568530e-05 9.99967301e-01 -1.37741410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.158001145 meters 0.06538702806965865 Centerline is valid? [True, True] Translation: X:87.61, Y:-0.86, Z:-1.38 [[ 9.99921997e-01 -8.51832764e-03 -9.13444211e-03 8.76088688e+01] [ 8.51870745e-03 9.99963715e-01 2.67244846e-06 -8.56551864e-01] [ 9.13408790e-03 -8.04858801e-05 9.99958280e-01 -1.38216561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.218001145 meters 0.06517322067258527 Centerline is valid? [True, True] Translation: X:87.67, Y:-0.86, Z:-1.38 [[ 9.99939564e-01 -5.90237210e-03 -9.27524582e-03 8.76698033e+01] [ 5.90264479e-03 9.99982579e-01 2.02407950e-06 -8.55089834e-01] [ 9.27507229e-03 -5.67724386e-05 9.99956984e-01 -1.38172481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27800114499999 meters 0.06516961204431808 Centerline is valid? [True, True] Translation: X:87.73, Y:-0.86, Z:-1.38 [[ 9.99922855e-01 -4.69688704e-03 -1.14988059e-02 8.77281751e+01] [ 4.69721246e-03 9.99988968e-01 1.29353184e-06 -8.57851368e-01] [ 1.14986730e-02 -5.53057667e-05 9.99933887e-01 -1.38378449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33800114499999 meters 0.06526886912303154 Centerline is valid? [True, True] Translation: X:87.79, Y:-0.87, Z:-1.39 [[ 9.99919410e-01 -6.50692531e-03 -1.09011198e-02 8.77874220e+01] [ 6.50731545e-03 9.99978827e-01 3.19837341e-07 -8.65062758e-01] [ 1.09008869e-02 -7.12568368e-05 9.99940581e-01 -1.38523181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.398001145 meters 0.06513741636672377 Centerline is valid? [True, True] Translation: X:87.85, Y:-0.87, Z:-1.38 [[ 9.99909218e-01 -7.20675003e-03 -1.13850071e-02 8.78463165e+01] [ 7.20716596e-03 9.99974028e-01 -4.49541611e-06 -8.68354298e-01] [ 1.13847438e-02 -7.75586278e-05 9.99935189e-01 -1.38465373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.458001145 meters 0.06528372943893981 Centerline is valid? [True, True] Translation: X:87.91, Y:-0.87, Z:-1.39 [[ 9.99911469e-01 -6.47695313e-03 -1.16234064e-02 8.79052723e+01] [ 6.47736074e-03 9.99979022e-01 -2.57814494e-06 -8.70087928e-01] [ 1.16231793e-02 -7.27110797e-05 9.99932446e-01 -1.38818435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.518001145 meters 0.0649122454762417 Centerline is valid? [True, True] Translation: X:87.96, Y:-0.87, Z:-1.39 [[ 9.99926455e-01 -4.50893224e-03 -1.12584992e-02 8.79642784e+01] [ 4.50913344e-03 9.99989834e-01 -7.51277498e-06 -8.72329837e-01] [ 1.12584186e-02 -4.32538528e-05 9.99936621e-01 -1.38558137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.578001145 meters 0.06494078373650791 Centerline is valid? [True, True] Translation: X:88.02, Y:-0.87, Z:-1.39 [[ 9.99918934e-01 -4.22867245e-03 -1.20101196e-02 8.80217503e+01] [ 4.22889704e-03 9.99991058e-01 -6.69586101e-06 -8.74428730e-01] [ 1.20100405e-02 -4.40942410e-05 9.99927876e-01 -1.38903315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63800114499999 meters 0.06464227033585 Centerline is valid? [True, True] Translation: X:88.08, Y:-0.88, Z:-1.39 [[ 9.99912394e-01 -3.59565421e-03 -1.27387290e-02 8.80800857e+01] [ 3.59579714e-03 9.99993535e-01 -1.16839031e-05 -8.76427690e-01] [ 1.27386886e-02 -3.41230058e-05 9.99918859e-01 -1.38853937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69800114499999 meters 0.0646045632119457 Centerline is valid? [True, True] Translation: X:88.14, Y:-0.88, Z:-1.39 [[ 9.99918042e-01 -3.40721780e-03 -1.23409550e-02 8.81391820e+01] [ 3.40730146e-03 9.99994195e-01 -1.42465569e-05 -8.81119092e-01] [ 1.23409319e-02 -2.78039648e-05 9.99923847e-01 -1.38641447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.758001145 meters 0.06448339942049436 Centerline is valid? [True, True] Translation: X:88.20, Y:-0.88, Z:-1.39 [[ 9.99914222e-01 -4.74433174e-03 -1.22081815e-02 8.81972515e+01] [ 4.74452091e-03 9.99988745e-01 -1.34668443e-05 -8.83969655e-01] [ 1.22081080e-02 -4.44562832e-05 9.99925477e-01 -1.38812353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.818001145 meters 0.06480201859281054 Centerline is valid? [True, True] Translation: X:88.25, Y:-0.89, Z:-1.39 [[ 9.99892940e-01 -6.65850550e-03 -1.30296976e-02 8.82548972e+01] [ 6.65887459e-03 9.99977829e-01 -1.50563787e-05 -8.88807507e-01] [ 1.30295090e-02 -7.17083555e-05 9.99915110e-01 -1.39197860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.878001145 meters 0.06454407311410203 Centerline is valid? [True, True] Translation: X:88.31, Y:-0.89, Z:-1.39 [[ 9.99896255e-01 -7.69917544e-03 -1.21738331e-02 8.83134688e+01] [ 7.69951807e-03 9.99970358e-01 -1.87233753e-05 -8.93669657e-01] [ 1.21736164e-02 -7.50112148e-05 9.99925896e-01 -1.39174738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.938001145 meters 0.06464269266112106 Centerline is valid? [True, True] Translation: X:88.37, Y:-0.90, Z:-1.39 [[ 9.99878347e-01 -9.63678772e-03 -1.22647436e-02 8.83716545e+01] [ 9.63729420e-03 9.99953560e-01 -1.78061685e-05 -8.98975032e-01] [ 1.22643456e-02 -1.00394940e-04 9.99924785e-01 -1.39284305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99800114499999 meters 0.06454768891931344 Centerline is valid? [True, True] Translation: X:88.43, Y:-0.90, Z:-1.39 [[ 9.99883526e-01 -1.02533876e-02 -1.13050057e-02 8.84312633e+01] [ 1.02538599e-02 9.99947428e-01 -1.61833204e-05 -8.99941023e-01] [ 1.13045773e-02 -9.97385087e-05 9.99936096e-01 -1.39106223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05800114499999 meters 0.06462733430501304 Centerline is valid? [True, True] Translation: X:88.49, Y:-0.91, Z:-1.40 [[ 9.99892041e-01 -8.57315682e-03 -1.19334769e-02 8.84906423e+01] [ 8.57356419e-03 9.99963246e-01 -1.70225559e-05 -9.05037093e-01] [ 1.19331842e-02 -8.52917118e-05 9.99928793e-01 -1.39563403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.118001145 meters 0.0640036840015394 Centerline is valid? [True, True] Translation: X:88.55, Y:-0.90, Z:-1.39 [[ 9.99932064e-01 -5.77442575e-03 -1.01253501e-02 8.85497827e+01] [ 5.77452852e-03 9.99983327e-01 -1.90859194e-05 -9.02693995e-01] [ 1.01252915e-02 -3.93845003e-05 9.99948737e-01 -1.39185115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.178001145 meters 0.06431257090869415 Centerline is valid? [True, True] Translation: X:88.61, Y:-0.90, Z:-1.40 [[ 9.99919793e-01 -5.11947198e-03 -1.15844079e-02 8.86078756e+01] [ 5.11958174e-03 9.99986895e-01 -2.01793803e-05 -9.03185463e-01] [ 1.15843594e-02 -3.91295613e-05 9.99932898e-01 -1.39706678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.238001145 meters 0.06450738394806993 Centerline is valid? [True, True] Translation: X:88.67, Y:-0.91, Z:-1.40 [[ 9.99903486e-01 -7.85518214e-03 -1.14593056e-02 8.86658333e+01] [ 7.85545810e-03 9.99969145e-01 -2.09293843e-05 -9.11678849e-01] [ 1.14591165e-02 -6.90907309e-05 9.99934340e-01 -1.40082160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.298001145 meters 0.0640824437146707 Centerline is valid? [True, True] Translation: X:88.72, Y:-0.92, Z:-1.40 [[ 9.99869213e-01 -1.16625061e-02 -1.12046307e-02 8.87245795e+01] [ 1.16630029e-02 9.99931985e-01 -2.10083695e-05 -9.15779888e-01] [ 1.12041137e-02 -1.09674018e-04 9.99937226e-01 -1.39605906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.358001145 meters 0.0642388138809943 Centerline is valid? [True, True] Translation: X:88.79, Y:-0.92, Z:-1.40 [[ 9.99841703e-01 -1.33448253e-02 -1.17679572e-02 8.87852480e+01] [ 1.33455002e-02 9.99910945e-01 -2.11764243e-05 -9.17861633e-01] [ 1.17671918e-02 -1.35876203e-04 9.99930755e-01 -1.39724469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41800114499999 meters 0.06442384880919517 Centerline is valid? [True, True] Translation: X:88.85, Y:-0.92, Z:-1.40 [[ 9.99793893e-01 -1.51997234e-02 -1.34588383e-02 8.88463793e+01] [ 1.52007856e-02 9.99884461e-01 -2.33757753e-05 -9.21449916e-01] [ 1.34576386e-02 -1.81213959e-04 9.99909425e-01 -1.39726662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.478001145 meters 0.06428683291696145 Centerline is valid? [True, True] Translation: X:88.91, Y:-0.93, Z:-1.40 [[ 9.99837168e-01 -1.32023768e-02 -1.23017913e-02 8.89064660e+01] [ 1.32031131e-02 9.99912835e-01 -2.13622346e-05 -9.26340899e-01] [ 1.23010010e-02 -1.41063186e-04 9.99924330e-01 -1.40011145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.538001145 meters 0.0636390178851379 Centerline is valid? [True, True] Translation: X:88.97, Y:-0.92, Z:-1.39 [[ 9.99870030e-01 -1.14114601e-02 -1.13886767e-02 8.89671536e+01] [ 1.14119728e-02 9.99934881e-01 -1.99731936e-05 -9.22420551e-01] [ 1.13881630e-02 -1.09996671e-04 9.99935147e-01 -1.39458420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.598001145 meters 0.06382119639091242 Centerline is valid? [True, True] Translation: X:89.03, Y:-0.92, Z:-1.40 [[ 9.99883351e-01 -9.81197007e-03 -1.17051541e-02 8.90278610e+01] [ 9.81240202e-03 9.99951857e-01 -2.05282241e-05 -9.22135354e-01] [ 1.17047920e-02 -9.43298479e-05 9.99931492e-01 -1.39616419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.658001145 meters 0.06397764717027328 Centerline is valid? [True, True] Translation: X:89.09, Y:-0.92, Z:-1.40 [[ 9.99869755e-01 -1.05948264e-02 -1.21747029e-02 8.90877302e+01] [ 1.05953418e-02 9.99943868e-01 -2.21709950e-05 -9.24419151e-01] [ 1.21742544e-02 -1.06827031e-04 9.99925885e-01 -1.39885647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.718001145 meters 0.0637902309269819 Centerline is valid? [True, True] Translation: X:89.15, Y:-0.93, Z:-1.40 [[ 9.99842825e-01 -1.29585030e-02 -1.20996816e-02 8.91477130e+01] [ 1.29591801e-02 9.99916026e-01 -2.24436080e-05 -9.27501343e-01] [ 1.20989564e-02 -1.34361873e-04 9.99926796e-01 -1.39853454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77800114499999 meters 0.06421359988053911 Centerline is valid? [True, True] Translation: X:89.21, Y:-0.93, Z:-1.40 [[ 9.99804526e-01 -1.55221886e-02 -1.22462588e-02 8.92077987e+01] [ 1.55230853e-02 9.99879509e-01 -2.18359639e-05 -9.29386648e-01] [ 1.22451222e-02 -1.68268025e-04 9.99925012e-01 -1.40200214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83800114499999 meters 0.06424135198011356 Centerline is valid? [True, True] Translation: X:89.27, Y:-0.93, Z:-1.40 [[ 9.99771087e-01 -1.72980752e-02 -1.25916434e-02 8.92698827e+01] [ 1.72991824e-02 9.99850358e-01 -2.09898375e-05 -9.30640263e-01] [ 1.25901222e-02 -1.96840103e-04 9.99920722e-01 -1.40116686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.898001145 meters 0.06452095511072276 Centerline is valid? [True, True] Translation: X:89.33, Y:-0.94, Z:-1.40 [[ 9.99676683e-01 -2.21987813e-02 -1.23993100e-02 8.93319124e+01] [ 2.22002420e-02 9.99753544e-01 -1.98324063e-05 -9.36368756e-01] [ 1.23966944e-02 -2.55441690e-04 9.99923125e-01 -1.40121147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.958001145 meters 0.06488268175509831 Centerline is valid? [True, True] Translation: X:89.39, Y:-0.94, Z:-1.40 [[ 9.99591863e-01 -2.61469146e-02 -1.15085016e-02 8.93929032e+01] [ 2.61484510e-02 9.99658071e-01 -1.69755569e-05 -9.37030158e-01] [ 1.15050103e-02 -2.83960861e-04 9.99933775e-01 -1.40128462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.018001145 meters 0.06486355206381611 Centerline is valid? [True, True] Translation: X:89.46, Y:-0.93, Z:-1.40 [[ 9.99582997e-01 -2.68884927e-02 -1.05280956e-02 8.94550065e+01] [ 2.68898242e-02 9.99638403e-01 -1.50839350e-05 -9.33233851e-01] [ 1.05246943e-02 -2.68020996e-04 9.99944578e-01 -1.39961217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.078001145 meters 0.06534930436102006 Centerline is valid? [True, True] Translation: X:89.52, Y:-0.94, Z:-1.41 [[ 9.99563877e-01 -2.75534965e-02 -1.06235430e-02 8.95161035e+01] [ 2.75548926e-02 9.99620292e-01 -1.49574207e-05 -9.36472544e-01] [ 1.06199213e-02 -2.77779689e-04 9.99943568e-01 -1.40575255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13800114499999 meters 0.06566542834102645 Centerline is valid? [True, True] Translation: X:89.58, Y:-0.93, Z:-1.41 [[ 9.99527290e-01 -2.88705115e-02 -1.05683578e-02 8.95779972e+01] [ 2.88719762e-02 9.99583118e-01 -1.39897720e-05 -9.31876722e-01] [ 1.05643560e-02 -2.91146217e-04 9.99944153e-01 -1.40507152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19800114499999 meters 0.06641892223232283 Centerline is valid? [True, True] Translation: X:89.64, Y:-0.93, Z:-1.41 [[ 9.99508285e-01 -2.97866331e-02 -9.79515397e-03 8.96390081e+01] [ 2.97879381e-02 9.99556241e-01 -1.26667648e-05 -9.29500939e-01] [ 9.79118458e-03 -2.79116904e-04 9.99952026e-01 -1.40584387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.258001145 meters 0.06637726509751454 Centerline is valid? [True, True] Translation: X:89.70, Y:-0.93, Z:-1.41 [[ 9.99406857e-01 -3.24559379e-02 -1.15128616e-02 8.97001197e+01] [ 3.24579136e-02 9.99473103e-01 -1.52525712e-05 -9.30118918e-01] [ 1.15072906e-02 -3.58439943e-04 9.99933725e-01 -1.40730899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.318001145 meters 0.06768491594322752 Centerline is valid? [True, True] Translation: X:89.76, Y:-0.93, Z:-1.41 [[ 9.99214731e-01 -3.81171140e-02 -1.08169573e-02 8.97615323e+01] [ 3.81191956e-02 9.99273199e-01 -1.37451588e-05 -9.29487591e-01] [ 1.08096194e-02 -3.98599345e-04 9.99941495e-01 -1.40784746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.378001145 meters 0.06792196574112208 Centerline is valid? [True, True] Translation: X:89.82, Y:-0.93, Z:-1.41 [[ 9.99184696e-01 -3.86319276e-02 -1.17267960e-02 8.98240404e+01] [ 3.86344235e-02 9.99253412e-01 -1.37093297e-05 -9.25049200e-01] [ 1.17185705e-02 -4.39359849e-04 9.99931239e-01 -1.40883704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.438001145 meters 0.0678801265113323 Centerline is valid? [True, True] Translation: X:89.89, Y:-0.92, Z:-1.41 [[ 9.99281619e-01 -3.57568429e-02 -1.25576066e-02 8.98852765e+01] [ 3.57595089e-02 9.99360424e-01 -1.22384174e-05 -9.21150464e-01] [ 1.25500127e-02 -4.36824220e-04 9.99921150e-01 -1.41281610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49800114499999 meters 0.06697795651713837 Centerline is valid? [True, True] Translation: X:89.95, Y:-0.91, Z:-1.41 [[ 9.99424344e-01 -3.14418491e-02 -1.27432246e-02 8.99465951e+01] [ 3.14442316e-02 9.99505508e-01 -1.34041714e-05 -9.07736788e-01] [ 1.27373446e-02 -3.87304450e-04 9.99918802e-01 -1.41182995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55800114499999 meters 0.06695133363485543 Centerline is valid? [True, True] Translation: X:90.01, Y:-0.90, Z:-1.41 [[ 9.99511775e-01 -2.81209926e-02 -1.36169451e-02 9.00077579e+01] [ 2.81234162e-02 9.99604458e-01 -1.35088665e-05 -9.00664929e-01] [ 1.36119389e-02 -3.69452744e-04 9.99907285e-01 -1.41493604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.618001145 meters 0.06601609802637835 Centerline is valid? [True, True] Translation: X:90.07, Y:-0.89, Z:-1.41 [[ 9.99565982e-01 -2.56380474e-02 -1.45099531e-02 9.00702482e+01] [ 2.56405548e-02 9.99671227e-01 -1.32281360e-05 -8.91921806e-01] [ 1.45055218e-02 -3.58820854e-04 9.99894725e-01 -1.41477468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.678001145 meters 0.06636569044614986 Centerline is valid? [True, True] Translation: X:90.13, Y:-0.89, Z:-1.42 [[ 9.99610401e-01 -2.37238745e-02 -1.47045419e-02 9.01314919e+01] [ 2.37262494e-02 9.99718493e-01 -1.29448642e-05 -8.87545880e-01] [ 1.47007096e-02 -3.35943808e-04 9.99891882e-01 -1.41975204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.738001145 meters 0.06649352385952002 Centerline is valid? [True, True] Translation: X:90.19, Y:-0.88, Z:-1.42 [[ 9.99593847e-01 -2.41950337e-02 -1.50579147e-02 9.01940035e+01] [ 2.41975943e-02 9.99707195e-01 -1.21469844e-05 -8.83445280e-01] [ 1.50537995e-02 -3.52223259e-04 9.99886623e-01 -1.42014410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.798001145 meters 0.06622129828678021 Centerline is valid? [True, True] Translation: X:90.26, Y:-0.88, Z:-1.42 [[ 9.99592940e-01 -2.38705635e-02 -1.56253134e-02 9.02558874e+01] [ 2.38732969e-02 9.99714992e-01 -1.15963598e-05 -8.77299283e-01] [ 1.56211368e-02 -3.61436106e-04 9.99877917e-01 -1.42132078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.858001145 meters 0.06644642642337599 Centerline is valid? [True, True] Translation: X:90.32, Y:-0.87, Z:-1.42 [[ 9.99611853e-01 -2.31047293e-02 -1.55664352e-02 9.03176076e+01] [ 2.31073645e-02 9.99732989e-01 -1.05769424e-05 -8.73587462e-01] [ 1.55625232e-02 -3.49126455e-04 9.99878836e-01 -1.42231379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91800114499999 meters 0.06612011970024353 Centerline is valid? [True, True] Translation: X:90.38, Y:-0.87, Z:-1.42 [[ 9.99677750e-01 -1.99283078e-02 -1.57244411e-02 9.03794187e+01] [ 1.99306190e-02 9.99801365e-01 -9.72588129e-06 -8.67119838e-01] [ 1.57215115e-02 -3.03675097e-04 9.99876363e-01 -1.42411113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.978001145 meters 0.06566444021774293 Centerline is valid? [True, True] Translation: X:90.44, Y:-0.86, Z:-1.43 [[ 9.99717396e-01 -1.75731714e-02 -1.60097667e-02 9.04410799e+01] [ 1.75752659e-02 9.99845543e-01 -9.86636316e-06 -8.61632800e-01] [ 1.60074673e-02 -2.71512333e-04 9.99871835e-01 -1.42655729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.038001145 meters 0.06520340573122724 Centerline is valid? [True, True] Translation: X:90.50, Y:-0.86, Z:-1.42 [[ 9.99739747e-01 -1.65756081e-02 -1.56744191e-02 9.05023712e+01] [ 1.65775015e-02 9.99862584e-01 -9.13949233e-06 -8.56467532e-01] [ 1.56724167e-02 -2.50705592e-04 9.99877149e-01 -1.42498282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.098001145 meters 0.06471508729384941 Centerline is valid? [True, True] Translation: X:90.56, Y:-0.85, Z:-1.42 [[ 9.99790280e-01 -1.51268886e-02 -1.38048177e-02 9.05639637e+01] [ 1.51282264e-02 9.99885562e-01 -7.52263025e-06 -8.52742397e-01] [ 1.38033517e-02 -2.01321354e-04 9.99904709e-01 -1.42379278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.158001145 meters 0.06436897475866844 Centerline is valid? [True, True] Translation: X:90.62, Y:-0.85, Z:-1.42 [[ 9.99838793e-01 -1.18953069e-02 -1.34494956e-02 9.06246757e+01] [ 1.18962842e-02 9.99929237e-01 -7.33281075e-06 -8.49458261e-01] [ 1.34486311e-02 -1.52667393e-04 9.99909551e-01 -1.42446149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.218001145 meters 0.06399907417872683 Centerline is valid? [True, True] Translation: X:90.69, Y:-0.85, Z:-1.42 [[ 9.99856734e-01 -1.15245596e-02 -1.23974489e-02 9.06853472e+01] [ 1.15253589e-02 9.99933581e-01 -6.97091862e-06 -8.46331781e-01] [ 1.23967058e-02 -1.35915128e-04 9.99923149e-01 -1.42194671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27800114499999 meters 0.06408656856332008 Centerline is valid? [True, True] Translation: X:90.75, Y:-0.85, Z:-1.42 [[ 9.99841020e-01 -1.14242812e-02 -1.36901644e-02 9.07457662e+01] [ 1.14252526e-02 9.99934730e-01 -7.25450357e-06 -8.46862132e-01] [ 1.36893538e-02 -1.49160237e-04 9.99906285e-01 -1.42443956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33800114499999 meters 0.06418305558044615 Centerline is valid? [True, True] Translation: X:90.81, Y:-0.85, Z:-1.43 [[ 9.99836348e-01 -1.18961779e-02 -1.36293420e-02 9.08064198e+01] [ 1.18971815e-02 9.99929226e-01 -7.44597729e-06 -8.48542070e-01] [ 1.36284660e-02 -1.54705996e-04 9.99907116e-01 -1.42709142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.398001145 meters 0.06415439269981586 Centerline is valid? [True, True] Translation: X:90.87, Y:-0.85, Z:-1.43 [[ 9.99834031e-01 -1.19140646e-02 -1.37828207e-02 9.08655587e+01] [ 1.19150866e-02 9.99929013e-01 -7.96542969e-06 -8.48665505e-01] [ 1.37819372e-02 -1.56259394e-04 9.99905012e-01 -1.42831948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.458001145 meters 0.06374036665051147 Centerline is valid? [True, True] Translation: X:90.93, Y:-0.84, Z:-1.43 [[ 9.99862113e-01 -8.69690953e-03 -1.41463006e-02 9.09262879e+01] [ 8.69766740e-03 9.99962175e-01 -7.94961926e-06 -8.44864511e-01] [ 1.41458347e-02 -1.15091295e-04 9.99899936e-01 -1.42886715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.518001145 meters 0.06362807471605235 Centerline is valid? [True, True] Translation: X:90.98, Y:-0.84, Z:-1.43 [[ 9.99888929e-01 -4.74339341e-03 -1.41290701e-02 9.09838713e+01] [ 4.74372457e-03 9.99988748e-01 -1.00754093e-05 -8.41031217e-01] [ 1.41289589e-02 -5.69501269e-05 9.99900180e-01 -1.43158461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.578001145 meters 0.0628314729288059 Centerline is valid? [True, True] Translation: X:91.04, Y:-0.84, Z:-1.43 [[ 9.99908246e-01 -3.53497965e-03 -1.30767954e-02 9.10429925e+01] [ 3.53509356e-03 9.99993751e-01 -1.44038938e-05 -8.39667764e-01] [ 1.30767646e-02 -3.18251230e-05 9.99914495e-01 -1.42686913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63800114499999 meters 0.06259269002283445 Centerline is valid? [True, True] Translation: X:91.10, Y:-0.84, Z:-1.42 [[ 9.99916780e-01 -2.26584070e-03 -1.27003180e-02 9.11018198e+01] [ 2.26580606e-03 9.99997433e-01 -1.71165780e-05 -8.39528935e-01] [ 1.27003242e-02 -1.16613040e-05 9.99919348e-01 -1.42477518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69800114499999 meters 0.06267424284662013 Centerline is valid? [True, True] Translation: X:91.16, Y:-0.84, Z:-1.43 [[ 9.99918952e-01 -8.23779869e-04 -1.27047456e-02 9.11585928e+01] [ 8.23631435e-04 9.99999661e-01 -1.69155893e-05 -8.38639944e-01] [ 1.27047552e-02 6.45019051e-06 9.99919291e-01 -1.42861199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.758001145 meters 0.06274818442989218 Centerline is valid? [True, True] Translation: X:91.22, Y:-0.84, Z:-1.43 [[ 9.99899226e-01 -3.70355889e-05 -1.41963588e-02 9.12176942e+01] [ 3.67065990e-05 9.99999999e-01 -2.34348081e-05 -8.39822498e-01] [ 1.41963596e-02 2.29113464e-05 9.99899226e-01 -1.42880009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.818001145 meters 0.06295635774858552 Centerline is valid? [True, True] Translation: X:91.28, Y:-0.84, Z:-1.43 [[ 9.99898696e-01 -1.03886420e-03 -1.41957072e-02 9.12758684e+01] [ 1.03864320e-03 9.99999460e-01 -2.29411125e-05 -8.42277942e-01] [ 1.41957233e-02 8.19451379e-06 9.99899236e-01 -1.43066568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.878001145 meters 0.06295029960381969 Centerline is valid? [True, True] Translation: X:91.33, Y:-0.85, Z:-1.43 [[ 9.99899044e-01 -3.66162900e-03 -1.37293397e-02 9.13347691e+01] [ 3.66166289e-03 9.99993296e-01 -2.26691960e-05 -8.45943533e-01] [ 1.37293307e-02 -2.76053064e-05 9.99905748e-01 -1.43123730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.938001145 meters 0.0629614829643963 Centerline is valid? [True, True] Translation: X:91.39, Y:-0.85, Z:-1.43 [[ 9.99899012e-01 -5.69130857e-03 -1.30220939e-02 9.13935133e+01] [ 5.69149970e-03 9.99983803e-01 -2.23818020e-05 -8.48901611e-01] [ 1.30220104e-02 -5.17357018e-05 9.99915209e-01 -1.43211030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99800114499999 meters 0.06326131539414749 Centerline is valid? [True, True] Translation: X:91.45, Y:-0.85, Z:-1.43 [[ 9.99899798e-01 -8.09580322e-03 -1.16125359e-02 9.14511516e+01] [ 8.09610321e-03 9.99967226e-01 -2.11767077e-05 -8.53742098e-01] [ 1.16123267e-02 -7.28417032e-05 9.99932572e-01 -1.43448155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05800114499999 meters 0.06330899467589846 Centerline is valid? [True, True] Translation: X:91.51, Y:-0.86, Z:-1.43 [[ 9.99875129e-01 -1.18941517e-02 -1.04046382e-02 9.15104926e+01] [ 1.18946004e-02 9.99929257e-01 -1.87529172e-05 -8.57007733e-01] [ 1.04041252e-02 -1.05008438e-04 9.99945870e-01 -1.43015455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.118001145 meters 0.06357583883198528 Centerline is valid? [True, True] Translation: X:91.57, Y:-0.86, Z:-1.43 [[ 9.99834552e-01 -1.55943230e-02 -9.36403640e-03 9.15715946e+01] [ 1.55948594e-02 9.99878393e-01 -1.57410955e-05 -8.62974001e-01] [ 9.36314313e-03 -1.30292340e-04 9.99956156e-01 -1.43129152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.178001145 meters 0.06352380244858898 Centerline is valid? [True, True] Translation: X:91.63, Y:-0.86, Z:-1.43 [[ 9.99819024e-01 -1.60317819e-02 -1.02421284e-02 9.16332786e+01] [ 1.60324535e-02 9.99871472e-01 -1.65411880e-05 -8.64796587e-01] [ 1.02410772e-02 -1.47668253e-04 9.99947548e-01 -1.43339943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.238001145 meters 0.06377652608568878 Centerline is valid? [True, True] Translation: X:91.69, Y:-0.87, Z:-1.44 [[ 9.99769471e-01 -1.74843510e-02 -1.24620755e-02 9.16948041e+01] [ 1.74854636e-02 9.99847117e-01 -1.96843129e-05 -8.67777085e-01] [ 1.24605144e-02 -1.98225393e-04 9.99922345e-01 -1.43688596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.298001145 meters 0.06378436937456218 Centerline is valid? [True, True] Translation: X:91.76, Y:-0.87, Z:-1.44 [[ 9.99784070e-01 -1.69349436e-02 -1.20424350e-02 9.17563377e+01] [ 1.69359496e-02 9.99856576e-01 -1.84410657e-05 -8.69225359e-01] [ 1.20410202e-02 -1.85512989e-04 9.99927487e-01 -1.43863325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.358001145 meters 0.06298610956950389 Centerline is valid? [True, True] Translation: X:91.82, Y:-0.87, Z:-1.44 [[ 9.99845327e-01 -1.35137160e-02 -1.12562137e-02 9.18176987e+01] [ 1.35143804e-02 9.99908676e-01 -1.70413025e-05 -8.67677210e-01] [ 1.12554160e-02 -1.35082087e-04 9.99936647e-01 -1.43654553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41800114499999 meters 0.06253099891801599 Centerline is valid? [True, True] Translation: X:91.88, Y:-0.87, Z:-1.44 [[ 9.99897814e-01 -1.06621771e-02 -9.52260539e-03 9.18786692e+01] [ 1.06625268e-02 9.99943154e-01 -1.40488895e-05 -8.66851694e-01] [ 9.52221386e-03 -8.74875812e-05 9.99954659e-01 -1.43629661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.478001145 meters 0.0625434592198896 Centerline is valid? [True, True] Translation: X:91.94, Y:-0.87, Z:-1.44 [[ 9.99910405e-01 -1.01800575e-02 -8.69186506e-03 9.19402296e+01] [ 1.01803332e-02 9.99948179e-01 -1.25184621e-05 -8.70279741e-01] [ 8.69154208e-03 -7.59687423e-05 9.99962225e-01 -1.43733285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.538001145 meters 0.0625481919708247 Centerline is valid? [True, True] Translation: X:92.00, Y:-0.87, Z:-1.44 [[ 9.99902548e-01 -1.08672676e-02 -8.76339410e-03 9.20011838e+01] [ 1.08675797e-02 9.99940946e-01 -1.20086617e-05 -8.74038269e-01] [ 8.76300709e-03 -8.32293926e-05 9.99961601e-01 -1.43978042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.598001145 meters 0.06299674437891313 Centerline is valid? [True, True] Translation: X:92.06, Y:-0.88, Z:-1.44 [[ 9.99857059e-01 -1.43831939e-02 -8.88736699e-03 9.20628929e+01] [ 1.43836668e-02 9.99896550e-01 -1.07037416e-05 -8.79667754e-01] [ 8.88660154e-03 -1.17130714e-04 9.99960507e-01 -1.44194833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.658001145 meters 0.06294423102256574 Centerline is valid? [True, True] Translation: X:92.13, Y:-0.88, Z:-1.44 [[ 9.99808711e-01 -1.73867729e-02 -8.95780504e-03 9.21252767e+01] [ 1.73873755e-02 9.99848828e-01 -1.06077857e-05 -8.82236406e-01] [ 8.95663531e-03 -1.45146963e-04 9.99959878e-01 -1.43972123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.718001145 meters 0.06328314243140123 Centerline is valid? [True, True] Translation: X:92.19, Y:-0.89, Z:-1.44 [[ 9.99773020e-01 -2.01245348e-02 -6.99369100e-03 9.21878260e+01] [ 2.01249735e-02 9.99797472e-01 -7.65158259e-06 -8.85798826e-01] [ 6.99242857e-03 -1.33098000e-04 9.99975544e-01 -1.44074222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77800114499999 meters 0.06375903310935113 Centerline is valid? [True, True] Translation: X:92.25, Y:-0.89, Z:-1.44 [[ 9.99707242e-01 -2.26841170e-02 -8.41789013e-03 9.22498157e+01] [ 2.26848464e-02 9.99742666e-01 -8.83610720e-06 -8.89010997e-01] [ 8.41592435e-03 -1.82125024e-04 9.99964569e-01 -1.44293450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83800114499999 meters 0.06399526270953625 Centerline is valid? [True, True] Translation: X:92.31, Y:-0.89, Z:-1.44 [[ 9.99676870e-01 -2.40513916e-02 -8.22721351e-03 9.23119500e+01] [ 2.40521394e-02 9.99710705e-01 -8.06115284e-06 -8.89967519e-01] [ 8.22502730e-03 -1.89823538e-04 9.99966156e-01 -1.44400206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.898001145 meters 0.06428935292149916 Centerline is valid? [True, True] Translation: X:92.37, Y:-0.89, Z:-1.45 [[ 9.99638703e-01 -2.55160304e-02 -8.44954441e-03 9.23745557e+01] [ 2.55168759e-02 9.99674391e-01 -7.73573570e-06 -8.91134583e-01] [ 8.44699056e-03 -2.07873036e-04 9.99964302e-01 -1.44502065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.958001145 meters 0.06472053178259157 Centerline is valid? [True, True] Translation: X:92.44, Y:-0.89, Z:-1.44 [[ 9.99594033e-01 -2.76070281e-02 -7.04426515e-03 9.24367333e+01] [ 2.76076719e-02 9.99618836e-01 -5.84043469e-06 -8.92059000e-01] [ 7.04174136e-03 -1.88637697e-04 9.99975189e-01 -1.44479491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.018001145 meters 0.06519682461979255 Centerline is valid? [True, True] Translation: X:92.50, Y:-0.89, Z:-1.45 [[ 9.99558067e-01 -2.90616004e-02 -6.25259984e-03 9.24986489e+01] [ 2.90621393e-02 9.99577607e-01 -4.67573347e-06 -8.91584467e-01] [ 6.25009467e-03 -1.77040260e-04 9.99980452e-01 -1.44536263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.078001145 meters 0.06557988311700388 Centerline is valid? [True, True] Translation: X:92.56, Y:-0.89, Z:-1.45 [[ 9.99567500e-01 -2.89978647e-02 -4.89247253e-03 9.25607253e+01] [ 2.89981964e-02 9.99579464e-01 -3.14183701e-06 -8.92175109e-01] [ 4.89050617e-03 -1.38732401e-04 9.99988032e-01 -1.44911203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13800114499999 meters 0.06641675976939232 Centerline is valid? [True, True] Translation: X:92.62, Y:-0.89, Z:-1.45 [[ 9.99521675e-01 -3.02931461e-02 -6.22464102e-03 9.26216941e+01] [ 3.02937069e-02 9.99541040e-01 -4.18653914e-06 -8.89906285e-01] [ 6.22191098e-03 -1.84382914e-04 9.99980627e-01 -1.45217886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19800114499999 meters 0.06651944398262351 Centerline is valid? [True, True] Translation: X:92.68, Y:-0.89, Z:-1.45 [[ 9.99507838e-01 -3.04581942e-02 -7.50873512e-03 9.26838998e+01] [ 3.04590192e-02 9.99536016e-01 -4.47535290e-06 -8.86300674e-01] [ 7.50538750e-03 -2.24235557e-04 9.99971809e-01 -1.45368502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.258001145 meters 0.06642597732132971 Centerline is valid? [True, True] Translation: X:92.75, Y:-0.88, Z:-1.46 [[ 9.99546509e-01 -2.91401909e-02 -7.59110077e-03 9.27463681e+01] [ 2.91409999e-02 9.99575311e-01 -4.03565632e-06 -8.83051659e-01] [ 7.58799451e-03 -2.17178441e-04 9.99971187e-01 -1.45574752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.318001145 meters 0.06526116951218039 Centerline is valid? [True, True] Translation: X:92.81, Y:-0.87, Z:-1.45 [[ 9.99684459e-01 -2.46078708e-02 -5.04329358e-03 9.28076112e+01] [ 2.46081690e-02 9.99697173e-01 -2.92386291e-06 -8.72469639e-01] [ 5.04183829e-03 -1.21183281e-04 9.99987283e-01 -1.45403157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.378001145 meters 0.06481658844860456 Centerline is valid? [True, True] Translation: X:92.87, Y:-0.86, Z:-1.45 [[ 9.99765658e-01 -2.09261996e-02 -5.54278661e-03 9.28695768e+01] [ 2.09265088e-02 9.99781017e-01 -2.20417880e-06 -8.64583241e-01] [ 5.54161895e-03 -1.13787511e-04 9.99984639e-01 -1.45473777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.438001145 meters 0.06427453641857626 Centerline is valid? [True, True] Translation: X:92.93, Y:-0.86, Z:-1.46 [[ 9.99884239e-01 -1.43320537e-02 -5.10881094e-03 9.29303728e+01] [ 1.43322292e-02 9.99897288e-01 -2.26432814e-06 -8.56929944e-01] [ 5.10831866e-03 -7.09565831e-05 9.99986950e-01 -1.45832096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49800114499999 meters 0.06418499070993851 Centerline is valid? [True, True] Translation: X:92.99, Y:-0.85, Z:-1.46 [[ 9.99909940e-01 -1.21376518e-02 -5.72626626e-03 9.29912662e+01] [ 1.21378387e-02 9.99926334e-01 -2.10401325e-06 -8.52033280e-01] [ 5.72586996e-03 -6.74006725e-05 9.99983605e-01 -1.45904223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55800114499999 meters 0.06418268977485436 Centerline is valid? [True, True] Translation: X:93.05, Y:-0.84, Z:-1.46 [[ 9.99940401e-01 -8.20638843e-03 -7.20061465e-03 9.30527756e+01] [ 8.20659254e-03 9.99966325e-01 -1.20044323e-06 -8.42830108e-01] [ 7.20038203e-03 -5.78921388e-05 9.99974075e-01 -1.45992145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.618001145 meters 0.06452388449686473 Centerline is valid? [True, True] Translation: X:93.11, Y:-0.84, Z:-1.47 [[ 9.99936558e-01 -5.43505461e-03 -9.86607343e-03 9.31144218e+01] [ 5.43528970e-03 9.99985229e-01 -2.98472401e-06 -8.40949498e-01] [ 9.86594392e-03 -5.06404326e-05 9.99951329e-01 -1.46595853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.678001145 meters 0.06441865773426685 Centerline is valid? [True, True] Translation: X:93.17, Y:-0.83, Z:-1.47 [[ 9.99946208e-01 -5.58296243e-04 -1.03571182e-02 9.31728319e+01] [ 5.58233790e-04 9.99999844e-01 -8.92087886e-06 -8.32225561e-01] [ 1.03571216e-02 3.13870563e-06 9.99946364e-01 -1.46686361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.738001145 meters 0.06461507020761537 Centerline is valid? [True, True] Translation: X:93.23, Y:-0.83, Z:-1.47 [[ 9.99938196e-01 3.26674875e-03 -1.06269478e-02 9.32310936e+01] [-3.26701765e-03 9.99994663e-01 -7.94439162e-06 -8.27579098e-01] [ 1.06268651e-02 4.26623266e-05 9.99943532e-01 -1.46729587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.798001145 meters 0.06469734197924316 Centerline is valid? [True, True] Translation: X:93.29, Y:-0.83, Z:-1.47 [[ 9.99919885e-01 5.72792603e-03 -1.12877631e-02 9.32897217e+01] [-5.72843779e-03 9.99983592e-01 -1.30059368e-05 -8.26469485e-01] [ 1.12875034e-02 7.76661435e-05 9.99936291e-01 -1.46788957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.858001145 meters 0.06469548758978899 Centerline is valid? [True, True] Translation: X:93.35, Y:-0.83, Z:-1.47 [[ 9.99948653e-01 1.28303926e-03 -1.00521118e-02 9.33474413e+01] [-1.28321944e-03 9.99999177e-01 -1.14743573e-05 -8.28510150e-01] [ 1.00520888e-02 2.43728334e-05 9.99949476e-01 -1.47098736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91800114499999 meters 0.06475789114692874 Centerline is valid? [True, True] Translation: X:93.41, Y:-0.83, Z:-1.47 [[ 9.99935454e-01 -3.18569989e-03 -1.09059274e-02 9.34062512e+01] [ 3.18575572e-03 9.99994925e-01 -1.22531702e-05 -8.33924840e-01] [ 1.09059111e-02 -2.24912413e-05 9.99940529e-01 -1.47124673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.978001145 meters 0.06518389779361954 Centerline is valid? [True, True] Translation: X:93.47, Y:-0.84, Z:-1.47 [[ 9.99875463e-01 -1.05826260e-02 -1.17075817e-02 9.34653936e+01] [ 1.05831894e-02 9.99943996e-01 -1.38284826e-05 -8.43699703e-01] [ 1.17070724e-02 -1.10076795e-04 9.99931464e-01 -1.47339764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.038001145 meters 0.06565253741589548 Centerline is valid? [True, True] Translation: X:93.52, Y:-0.85, Z:-1.48 [[ 9.99823878e-01 -1.43714420e-02 -1.20695442e-02 9.35245455e+01] [ 1.43723228e-02 9.99896713e-01 -1.37603516e-05 -8.47894829e-01] [ 1.20684953e-02 -1.59709457e-04 9.99927160e-01 -1.47579748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.098001145 meters 0.06554663182843455 Centerline is valid? [True, True] Translation: X:93.59, Y:-0.85, Z:-1.47 [[ 9.99784063e-01 -1.76795423e-02 -1.09206910e-02 9.35866085e+01] [ 1.76804803e-02 9.99843688e-01 -1.06554444e-05 -8.48329370e-01] [ 1.09191723e-02 -1.82429919e-04 9.99940367e-01 -1.47129475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.158001145 meters 0.06583563355081226 Centerline is valid? [True, True] Translation: X:93.65, Y:-0.85, Z:-1.47 [[ 9.99755387e-01 -1.93363669e-02 -1.07364635e-02 9.36492332e+01] [ 1.93373767e-02 9.99813015e-01 -9.76014000e-06 -8.51402650e-01] [ 1.07346447e-02 -1.97857287e-04 9.99942362e-01 -1.47249637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.218001145 meters 0.06628902899509362 Centerline is valid? [True, True] Translation: X:93.71, Y:-0.85, Z:-1.47 [[ 9.99733869e-01 -2.05031546e-02 -1.05740711e-02 9.37107723e+01] [ 2.05042166e-02 9.99789766e-01 -7.97610184e-06 -8.53623235e-01] [ 1.05720116e-02 -2.08839065e-04 9.99944093e-01 -1.47448529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27800114499999 meters 0.06620635512077822 Centerline is valid? [True, True] Translation: X:93.77, Y:-0.85, Z:-1.48 [[ 9.99749172e-01 -1.98354549e-02 -1.03994020e-02 9.37730091e+01] [ 1.98364470e-02 9.99803238e-01 -7.74798694e-06 -8.52582522e-01] [ 1.03975095e-02 -1.98541143e-04 9.99945925e-01 -1.47529593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33800114499999 meters 0.06612793343832941 Centerline is valid? [True, True] Translation: X:93.84, Y:-0.85, Z:-1.48 [[ 9.99781935e-01 -1.77892519e-02 -1.09373308e-02 9.38356985e+01] [ 1.77902381e-02 9.99841741e-01 -7.12892529e-06 -8.52189226e-01] [ 1.09357267e-02 -1.87450348e-04 9.99940186e-01 -1.47865393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.398001145 meters 0.06607152941819838 Centerline is valid? [True, True] Translation: X:93.90, Y:-0.85, Z:-1.48 [[ 9.99789119e-01 -1.71706826e-02 -1.12643227e-02 9.38968801e+01] [ 1.71716898e-02 9.99852556e-01 -7.30045760e-06 -8.51854602e-01] [ 1.12627872e-02 -1.86128538e-04 9.99936555e-01 -1.48025189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.458001145 meters 0.06592402271927451 Centerline is valid? [True, True] Translation: X:93.96, Y:-0.85, Z:-1.48 [[ 9.99756743e-01 -1.79732107e-02 -1.27835275e-02 9.39587198e+01] [ 1.79745806e-02 9.99838444e-01 -7.73525463e-06 -8.46935194e-01] [ 1.27816013e-02 -2.22045172e-04 9.99918287e-01 -1.47713099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.518001145 meters 0.06637935008969308 Centerline is valid? [True, True] Translation: X:94.02, Y:-0.85, Z:-1.48 [[ 9.99739036e-01 -1.82278646e-02 -1.37697182e-02 9.40206744e+01] [ 1.82294922e-02 9.99833829e-01 -7.31684972e-06 -8.50547506e-01] [ 1.37675634e-02 -2.43700029e-04 9.99905193e-01 -1.48220660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.578001145 meters 0.06677911979505625 Centerline is valid? [True, True] Translation: X:94.08, Y:-0.85, Z:-1.48 [[ 9.99703692e-01 -1.99553282e-02 -1.39396509e-02 9.40820126e+01] [ 1.99571698e-02 9.99800836e-01 -6.99476496e-06 -8.54079081e-01] [ 1.39370142e-02 -2.71203287e-04 9.99902838e-01 -1.48495317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63800114499999 meters 0.06697053747580851 Centerline is valid? [True, True] Translation: X:94.14, Y:-0.85, Z:-1.48 [[ 9.99692701e-01 -2.10544053e-02 -1.30849298e-02 9.41429712e+01] [ 2.10561303e-02 9.99778295e-01 -5.93742676e-06 -8.53334693e-01] [ 1.30821538e-02 -2.69582385e-04 9.99914389e-01 -1.48413079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69800114499999 meters 0.06772468800557943 Centerline is valid? [True, True] Translation: X:94.21, Y:-0.86, Z:-1.49 [[ 9.99636648e-01 -2.35554018e-02 -1.31040170e-02 9.42051527e+01] [ 2.35573596e-02 9.99722487e-01 -4.95381040e-06 -8.59687030e-01] [ 1.31004971e-02 -3.03744030e-04 9.99914139e-01 -1.48652157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.758001145 meters 0.06782833459206733 Centerline is valid? [True, True] Translation: X:94.27, Y:-0.86, Z:-1.48 [[ 9.99570195e-01 -2.66352254e-02 -1.22470656e-02 9.42677510e+01] [ 2.66371769e-02 9.99645167e-01 -3.77797018e-06 -8.60577954e-01] [ 1.22428206e-02 -3.22450907e-04 9.99925002e-01 -1.48272090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.818001145 meters 0.06812909443266978 Centerline is valid? [True, True] Translation: X:94.33, Y:-0.86, Z:-1.49 [[ 9.99597048e-01 -2.53817609e-02 -1.27085828e-02 9.43302890e+01] [ 2.53837705e-02 9.99677780e-01 -3.17675825e-06 -8.59439702e-01] [ 1.27045685e-02 -3.19416272e-04 9.99919243e-01 -1.48527177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.878001145 meters 0.06737702659181632 Centerline is valid? [True, True] Translation: X:94.39, Y:-0.86, Z:-1.49 [[ 9.99693549e-01 -2.08933741e-02 -1.32768327e-02 9.43911052e+01] [ 2.08951708e-02 9.99781672e-01 -3.38729216e-06 -8.56731682e-01] [ 1.32740047e-02 -2.74035433e-04 9.99911859e-01 -1.48862591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.938001145 meters 0.06709811681065357 Centerline is valid? [True, True] Translation: X:94.45, Y:-0.85, Z:-1.49 [[ 9.99736051e-01 -1.84185462e-02 -1.37326784e-02 9.44519312e+01] [ 1.84202462e-02 9.99830333e-01 -2.69614493e-06 -8.53759642e-01] [ 1.37303980e-02 -2.50263883e-04 9.99905702e-01 -1.49006782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99800114499999 meters 0.06599501573868405 Centerline is valid? [True, True] Translation: X:94.51, Y:-0.85, Z:-1.49 [[ 9.99794991e-01 -1.37156747e-02 -1.48948704e-02 9.45139642e+01] [ 1.37171696e-02 9.99905915e-01 -1.79925104e-06 -8.45153815e-01] [ 1.48934937e-02 -2.02516582e-04 9.99889065e-01 -1.48722023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05800114499999 meters 0.06641503787980789 Centerline is valid? [True, True] Translation: X:94.57, Y:-0.85, Z:-1.49 [[ 9.99817388e-01 -1.23511795e-02 -1.45821657e-02 9.45738884e+01] [ 1.23524782e-02 9.99923705e-01 -1.00921794e-06 -8.45568287e-01] [ 1.45810656e-02 -1.79116849e-04 9.99893675e-01 -1.49250610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.118001145 meters 0.0656861278397703 Centerline is valid? [True, True] Translation: X:94.63, Y:-0.84, Z:-1.49 [[ 9.99847874e-01 -9.84722143e-03 -1.43965790e-02 9.46341417e+01] [ 9.84821645e-03 9.99951505e-01 -1.77940212e-06 -8.40965557e-01] [ 1.43958984e-02 -1.40001495e-04 9.99896364e-01 -1.48821471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.178001145 meters 0.06496827796923657 Centerline is valid? [True, True] Translation: X:94.69, Y:-0.84, Z:-1.48 [[ 9.99912437e-01 -7.24935785e-03 -1.10708752e-02 9.46936044e+01] [ 7.24977798e-03 9.99973720e-01 -2.18300115e-06 -8.36469685e-01] [ 1.10706000e-02 -7.80785770e-05 9.99938716e-01 -1.48326032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.238001145 meters 0.06488450350579583 Centerline is valid? [True, True] Translation: X:94.75, Y:-0.84, Z:-1.49 [[ 9.99936051e-01 -5.99094435e-03 -9.59174187e-03 9.47518604e+01] [ 5.99119477e-03 9.99982053e-01 -2.62638149e-06 -8.35331203e-01] [ 9.59158546e-03 -5.48397802e-05 9.99953998e-01 -1.48544844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.298001145 meters 0.06491424360873077 Centerline is valid? [True, True] Translation: X:94.81, Y:-0.84, Z:-1.49 [[ 9.99910955e-01 -8.55499423e-03 -1.02418302e-02 9.48105868e+01] [ 8.55540674e-03 9.99963402e-01 -3.53639439e-06 -8.38938190e-01] [ 1.02414857e-02 -8.40869439e-05 9.99947551e-01 -1.48599627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.358001145 meters 0.0654779957925791 Centerline is valid? [True, True] Translation: X:94.87, Y:-0.84, Z:-1.49 [[ 9.99862481e-01 -1.29059921e-02 -1.04141033e-02 9.48711210e+01] [ 1.29066635e-02 9.99916706e-01 -2.74270980e-06 -8.44441086e-01] [ 1.04132713e-02 -1.31668995e-04 9.99945772e-01 -1.48808093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41800114499999 meters 0.06646726544128669 Centerline is valid? [True, True] Translation: X:94.93, Y:-0.85, Z:-1.49 [[ 9.99758588e-01 -1.92153452e-02 -1.06553647e-02 9.49309072e+01] [ 1.92164062e-02 9.99815348e-01 -2.80624960e-06 -8.53098404e-01] [ 1.06534511e-02 -2.01952245e-04 9.99943230e-01 -1.48932512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.478001145 meters 0.0663672493200952 Centerline is valid? [True, True] Translation: X:94.99, Y:-0.86, Z:-1.49 [[ 9.99760782e-01 -1.97041093e-02 -9.49352371e-03 9.49936683e+01] [ 1.97049929e-02 9.99805838e-01 -4.61233376e-07 -8.56665951e-01] [ 9.49168951e-03 -1.86608694e-04 9.99954935e-01 -1.48944633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.538001145 meters 0.06586547142054068 Centerline is valid? [True, True] Translation: X:95.06, Y:-0.86, Z:-1.49 [[ 9.99806291e-01 -1.71010944e-02 -9.74335340e-03 9.50558749e+01] [ 1.71019036e-02 9.99853752e-01 -2.64928718e-07 -8.57783210e-01] [ 9.74193298e-03 -1.66365014e-04 9.99952532e-01 -1.49137483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.598001145 meters 0.0649641324245666 Centerline is valid? [True, True] Translation: X:95.12, Y:-0.85, Z:-1.49 [[ 9.99835546e-01 -1.54208962e-02 -9.54339654e-03 9.51178488e+01] [ 1.54216027e-02 9.99881080e-01 4.48995196e-07 -8.53776682e-01] [ 9.54225471e-03 -1.47623392e-04 9.99954461e-01 -1.48731654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.658001145 meters 0.06492936024761402 Centerline is valid? [True, True] Translation: X:95.18, Y:-0.86, Z:-1.49 [[ 9.99865640e-01 -1.34682882e-02 -9.34380263e-03 9.51794829e+01] [ 1.34688860e-02 9.99909290e-01 1.05290852e-06 -8.56987301e-01] [ 9.34294087e-03 -1.26903380e-04 9.99956346e-01 -1.49022876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.718001145 meters 0.06463255722421389 Centerline is valid? [True, True] Translation: X:95.24, Y:-0.86, Z:-1.49 [[ 9.99881289e-01 -1.25769977e-02 -8.90092457e-03 9.52417155e+01] [ 1.25775101e-02 9.99920900e-01 1.59048273e-06 -8.58257407e-01] [ 8.90020050e-03 -1.13541763e-04 9.99960386e-01 -1.48989528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77800114499999 meters 0.06450490761497102 Centerline is valid? [True, True] Translation: X:95.30, Y:-0.86, Z:-1.49 [[ 9.99900296e-01 -9.21274637e-03 -1.07015156e-02 9.53036369e+01] [ 9.21329953e-03 9.99957557e-01 2.39095962e-06 -8.57674041e-01] [ 1.07010393e-02 -1.00986990e-04 9.99942737e-01 -1.49255445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83800114499999 meters 0.06429287696203981 Centerline is valid? [True, True] Translation: X:95.36, Y:-0.86, Z:-1.49 [[ 9.99892496e-01 -7.02109389e-03 -1.28724979e-02 9.53641988e+01] [ 7.02169903e-03 9.99975348e-01 1.81552910e-06 -8.58205209e-01] [ 1.28721678e-02 -9.22021398e-05 9.99917146e-01 -1.49417078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.898001145 meters 0.06414031495433986 Centerline is valid? [True, True] Translation: X:95.42, Y:-0.86, Z:-1.49 [[ 9.99918572e-01 -4.80500645e-03 -1.18220748e-02 9.54219442e+01] [ 4.80533792e-03 9.99988454e-01 -3.67346603e-07 -8.59135308e-01] [ 1.18219401e-02 -5.64417477e-05 9.99930117e-01 -1.49335025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.958001145 meters 0.06405760950748547 Centerline is valid? [True, True] Translation: X:95.48, Y:-0.86, Z:-1.49 [[ 9.99938444e-01 -3.62513005e-03 -1.04865124e-02 9.54802103e+01] [ 3.62528089e-03 9.99993429e-01 -4.62460725e-06 -8.61046926e-01] [ 1.04864602e-02 -3.33922303e-05 9.99945015e-01 -1.49342350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.018001145 meters 0.06394054156589825 Centerline is valid? [True, True] Translation: X:95.54, Y:-0.86, Z:-1.49 [[ 9.99937651e-01 -4.57504781e-03 -1.01864044e-02 9.55380187e+01] [ 4.57520518e-03 9.99989534e-01 -7.85391101e-06 -8.63706411e-01] [ 1.01863337e-02 -3.87514690e-05 9.99948117e-01 -1.49264280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.078001145 meters 0.06413409434145818 Centerline is valid? [True, True] Translation: X:95.60, Y:-0.87, Z:-1.49 [[ 9.99943312e-01 -6.32309505e-03 -8.56687560e-03 9.55954272e+01] [ 6.32328129e-03 9.99980008e-01 -5.34581432e-06 -8.68834630e-01] [ 8.56673813e-03 -4.88252529e-05 9.99963304e-01 -1.49482990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13800114499999 meters 0.06488669229306956 Centerline is valid? [True, True] Translation: X:95.65, Y:-0.88, Z:-1.50 [[ 9.99857765e-01 -1.32877196e-02 -1.03868611e-02 9.56549614e+01] [ 1.32883795e-02 9.99911706e-01 -5.48230697e-06 -8.79138039e-01] [ 1.03860169e-02 -1.32543025e-04 9.99946055e-01 -1.49750058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19800114499999 meters 0.06472583416196903 Centerline is valid? [True, True] Translation: X:95.72, Y:-0.88, Z:-1.49 [[ 9.99790911e-01 -1.69878341e-02 -1.13819157e-02 9.57165963e+01] [ 1.69888828e-02 9.99855679e-01 -4.54895144e-06 -8.81836061e-01] [ 1.13803503e-02 -1.88818031e-04 9.99935224e-01 -1.49485672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.258001145 meters 0.06555747966022092 Centerline is valid? [True, True] Translation: X:95.78, Y:-0.89, Z:-1.50 [[ 9.99735634e-01 -1.99751788e-02 -1.13866131e-02 9.57778255e+01] [ 1.99764281e-02 9.99800451e-01 -4.01700196e-06 -8.90414625e-01] [ 1.13844212e-02 -2.23447918e-04 9.99935170e-01 -1.49919915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.318001145 meters 0.06541445532056415 Centerline is valid? [True, True] Translation: X:95.84, Y:-0.89, Z:-1.50 [[ 9.99696753e-01 -2.11076913e-02 -1.26833485e-02 9.58400630e+01] [ 2.11093447e-02 9.99777173e-01 -3.51693816e-06 -8.93605105e-01] [ 1.26805966e-02 -2.64221304e-04 9.99919563e-01 -1.49982944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.378001145 meters 0.0652965229722684 Centerline is valid? [True, True] Translation: X:95.90, Y:-0.89, Z:-1.50 [[ 9.99709293e-01 -1.90368573e-02 -1.47962314e-02 9.59020919e+01] [ 1.90388924e-02 9.99818744e-01 -3.31731794e-06 -8.91872195e-01] [ 1.47936127e-02 -2.78387505e-04 9.99890530e-01 -1.49996178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.438001145 meters 0.06488175539941506 Centerline is valid? [True, True] Translation: X:95.96, Y:-0.89, Z:-1.50 [[ 9.99754785e-01 -1.57346978e-02 -1.55817116e-02 9.59626268e+01] [ 1.57365463e-02 9.99876173e-01 -3.97369909e-06 -8.91195275e-01] [ 1.55798447e-02 -2.41229603e-04 9.99878598e-01 -1.50194081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49800114499999 meters 0.06425683298774636 Centerline is valid? [True, True] Translation: X:96.02, Y:-0.89, Z:-1.50 [[ 9.99797649e-01 -1.41765084e-02 -1.42719119e-02 9.60233116e+01] [ 1.41778976e-02 9.99899489e-01 -3.83945515e-06 -8.89704046e-01] [ 1.42705319e-02 -1.98507028e-04 9.99898151e-01 -1.49920738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55800114499999 meters 0.0637788436595133 Centerline is valid? [True, True] Translation: X:96.08, Y:-0.89, Z:-1.50 [[ 9.99852495e-01 -1.15717929e-02 -1.26917792e-02 9.60843530e+01] [ 1.15726870e-02 9.99933034e-01 -2.99111433e-06 -8.86489912e-01] [ 1.26909639e-02 -1.43887315e-04 9.99919456e-01 -1.49583761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.618001145 meters 0.06372059068482425 Centerline is valid? [True, True] Translation: X:96.14, Y:-0.89, Z:-1.50 [[ 9.99856762e-01 -1.07871700e-02 -1.30419778e-02 9.61449012e+01] [ 1.07880445e-02 9.99941807e-01 -3.30233692e-06 -8.86979154e-01] [ 1.30412544e-02 -1.37395573e-04 9.99914950e-01 -1.49796097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.678001145 meters 0.06378742572151715 Centerline is valid? [True, True] Translation: X:96.20, Y:-0.89, Z:-1.50 [[ 9.99831429e-01 -1.16394086e-02 -1.41999019e-02 9.62047253e+01] [ 1.16405187e-02 9.99932247e-01 -4.48044176e-06 -8.87408791e-01] [ 1.41989920e-02 -1.60814537e-04 9.99899176e-01 -1.49914179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.738001145 meters 0.06397146387873336 Centerline is valid? [True, True] Translation: X:96.26, Y:-0.89, Z:-1.50 [[ 9.99844560e-01 -1.29060779e-02 -1.20120303e-02 9.62641662e+01] [ 1.29069583e-02 9.99916702e-01 -4.22719172e-06 -8.89558743e-01] [ 1.20110843e-02 -1.50812240e-04 9.99927853e-01 -1.49967966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.798001145 meters 0.0638169423608885 Centerline is valid? [True, True] Translation: X:96.33, Y:-0.89, Z:-1.50 [[ 9.99845387e-01 -1.44922205e-02 -9.95884577e-03 9.63252371e+01] [ 1.44929156e-02 9.99894972e-01 -2.37019295e-06 -8.91816339e-01] [ 9.95783416e-03 -1.41962885e-04 9.99950409e-01 -1.49775720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.858001145 meters 0.06382860274695538 Centerline is valid? [True, True] Translation: X:96.39, Y:-0.89, Z:-1.50 [[ 9.99848767e-01 -1.53909666e-02 -8.09696809e-03 9.63875570e+01] [ 1.53914642e-02 9.99881544e-01 -8.57900698e-07 -8.93689869e-01] [ 8.09602216e-03 -1.23766423e-04 9.99967219e-01 -1.49814917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91800114499999 meters 0.06455343732016576 Centerline is valid? [True, True] Translation: X:96.45, Y:-0.90, Z:-1.50 [[ 9.99774467e-01 -1.84593288e-02 -1.05008871e-02 9.64480063e+01] [ 1.84603266e-02 9.99829594e-01 -1.90728775e-06 -8.97361356e-01] [ 1.04991329e-02 -1.91942949e-04 9.99944864e-01 -1.50257323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.978001145 meters 0.06449199614625023 Centerline is valid? [True, True] Translation: X:96.51, Y:-0.90, Z:-1.50 [[ 9.99759707e-01 -1.90290350e-02 -1.08822501e-02 9.65106745e+01] [ 1.90301551e-02 9.99818910e-01 -6.18995826e-07 -8.97664770e-01] [ 1.08802912e-02 -2.06472060e-04 9.99940787e-01 -1.50296076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.038001145 meters 0.06440387252959257 Centerline is valid? [True, True] Translation: X:96.57, Y:-0.90, Z:-1.50 [[ 9.99777498e-01 -1.93931531e-02 -8.29820148e-03 9.65731606e+01] [ 1.93938231e-02 9.99811922e-01 2.76747595e-07 -9.01088435e-01] [ 8.29663541e-03 -1.61210538e-04 9.99965569e-01 -1.50286967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.098001145 meters 0.06406899082249753 Centerline is valid? [True, True] Translation: X:96.64, Y:-0.90, Z:-1.50 [[ 9.99814126e-01 -1.77398261e-02 -7.55065805e-03 9.66355085e+01] [ 1.77403379e-02 9.99842628e-01 8.10048002e-07 -9.00040461e-01] [ 7.54945542e-03 -1.34761123e-04 9.99971493e-01 -1.50225147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.158001145 meters 0.06347238785500271 Centerline is valid? [True, True] Translation: X:96.70, Y:-0.90, Z:-1.50 [[ 9.99888046e-01 -1.26334500e-02 -8.01813444e-03 9.66974821e+01] [ 1.26338668e-02 9.99920190e-01 1.33283380e-06 -8.96752153e-01] [ 8.01747767e-03 -1.02632727e-04 9.99967854e-01 -1.50371500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.218001145 meters 0.0634950590964348 Centerline is valid? [True, True] Translation: X:96.76, Y:-0.89, Z:-1.51 [[ 9.99909398e-01 -9.08026441e-03 -9.93698120e-03 9.67594224e+01] [ 9.08073324e-03 9.99958769e-01 2.06200728e-06 -8.94553728e-01] [ 9.93655277e-03 -9.22968959e-05 9.99950627e-01 -1.50724501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27800114499999 meters 0.06346878970116232 Centerline is valid? [True, True] Translation: X:96.82, Y:-0.90, Z:-1.51 [[ 9.99898050e-01 -8.94459686e-03 -1.11302789e-02 9.68203402e+01] [ 8.94516544e-03 9.99959991e-01 1.30170886e-06 -8.96131406e-01] [ 1.11298219e-02 -1.00863762e-04 9.99938057e-01 -1.50810867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33800114499999 meters 0.06379445990789186 Centerline is valid? [True, True] Translation: X:96.88, Y:-0.90, Z:-1.51 [[ 9.99896581e-01 -1.02227260e-02 -1.01155238e-02 9.68789032e+01] [ 1.02232474e-02 9.99947741e-01 -1.60231783e-07 -8.99357562e-01] [ 1.01149968e-02 -1.03253287e-04 9.99948837e-01 -1.51120909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.398001145 meters 0.06344193437073403 Centerline is valid? [True, True] Translation: X:96.94, Y:-0.90, Z:-1.51 [[ 9.99921979e-01 -9.84720645e-03 -7.68565883e-03 9.69392624e+01] [ 9.84750092e-03 9.99951512e-01 4.72068489e-07 -9.01058385e-01] [ 7.68528152e-03 -7.61565641e-05 9.99970465e-01 -1.50948684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.458001145 meters 0.0631559558262468 Centerline is valid? [True, True] Translation: X:97.00, Y:-0.90, Z:-1.51 [[ 9.99905022e-01 -1.07058136e-02 -8.67940655e-03 9.70007518e+01] [ 1.07062278e-02 9.99942687e-01 1.25691212e-06 -9.03664041e-01] [ 8.67889564e-03 -9.41804965e-05 9.99962333e-01 -1.50855967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.518001145 meters 0.06334278150248124 Centerline is valid? [True, True] Translation: X:97.06, Y:-0.91, Z:-1.51 [[ 9.99913641e-01 -1.01851829e-02 -8.30497866e-03 9.70621493e+01] [ 1.01855494e-02 9.99948126e-01 1.83339241e-06 -9.05092482e-01] [ 8.30452917e-03 -8.64240042e-05 9.99965513e-01 -1.51137884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.578001145 meters 0.06322432514843698 Centerline is valid? [True, True] Translation: X:97.12, Y:-0.91, Z:-1.51 [[ 9.99923426e-01 -8.36173982e-03 -9.12272870e-03 9.71238213e+01] [ 8.36210607e-03 9.99965037e-01 2.00350439e-06 -9.08089700e-01] [ 9.12239299e-03 -7.82885760e-05 9.99958387e-01 -1.51274836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63800114499999 meters 0.06316091311077456 Centerline is valid? [True, True] Translation: X:97.18, Y:-0.91, Z:-1.51 [[ 9.99922300e-01 -9.00282154e-03 -8.62227527e-03 9.71847519e+01] [ 9.00316897e-03 9.99959471e-01 1.47999380e-06 -9.08233864e-01] [ 8.62191249e-03 -7.91076800e-05 9.99962827e-01 -1.51172773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69800114499999 meters 0.06308546311306153 Centerline is valid? [True, True] Translation: X:97.25, Y:-0.91, Z:-1.51 [[ 9.99933282e-01 -1.00994278e-02 -5.60653926e-03 9.72450385e+01] [ 1.00995936e-02 9.99948998e-01 1.27156628e-06 -9.11850364e-01] [ 5.60624047e-03 -5.78952495e-05 9.99984283e-01 -1.50990594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.758001145 meters 0.06338767522486206 Centerline is valid? [True, True] Translation: X:97.31, Y:-0.92, Z:-1.51 [[ 9.99931869e-01 -1.06189676e-02 -4.84712298e-03 9.73057667e+01] [ 1.06191059e-02 9.99943616e-01 2.78611083e-06 -9.18527007e-01] [ 4.84682009e-03 -5.42580330e-05 9.99988253e-01 -1.51398171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.818001145 meters 0.06326595325426708 Centerline is valid? [True, True] Translation: X:97.37, Y:-0.92, Z:-1.51 [[ 9.99924447e-01 -1.12616709e-02 -4.92690370e-03 9.73679762e+01] [ 1.12618203e-02 9.99936584e-01 2.56867485e-06 -9.20063547e-01] [ 4.92656232e-03 -5.80543847e-05 9.99987863e-01 -1.51485058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.878001145 meters 0.0635580455366405 Centerline is valid? [True, True] Translation: X:97.43, Y:-0.92, Z:-1.52 [[ 9.99900075e-01 -1.34307369e-02 -4.41080405e-03 9.74302742e+01] [ 1.34308792e-02 9.99909802e-01 2.64400956e-06 -9.24003566e-01] [ 4.41037069e-03 -6.18847218e-05 9.99990272e-01 -1.51559185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.938001145 meters 0.0635813562483313 Centerline is valid? [True, True] Translation: X:97.49, Y:-0.93, Z:-1.52 [[ 9.99844741e-01 -1.67382289e-02 -5.50693801e-03 9.74920607e+01] [ 1.67385055e-02 9.99859901e-01 4.13355812e-06 -9.28578909e-01] [ 5.50609731e-03 -9.63108285e-05 9.99984837e-01 -1.51546653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99800114499999 meters 0.06419680236959635 Centerline is valid? [True, True] Translation: X:97.55, Y:-0.94, Z:-1.52 [[ 9.99776552e-01 -2.07139876e-02 -4.21618990e-03 9.75528999e+01] [ 2.07141843e-02 9.99785438e-01 2.98595807e-06 -9.36401338e-01] [ 4.21522342e-03 -9.03202257e-05 9.99991112e-01 -1.51783099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05800114499999 meters 0.06453946582025312 Centerline is valid? [True, True] Translation: X:97.61, Y:-0.94, Z:-1.52 [[ 9.99731763e-01 -2.26739874e-02 -4.72151404e-03 9.76144998e+01] [ 2.26742565e-02 9.99742906e-01 3.46857056e-06 -9.40264649e-01] [ 4.72022152e-03 -1.10524460e-04 9.99988854e-01 -1.51937926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.118001145 meters 0.06413405772210601 Centerline is valid? [True, True] Translation: X:97.68, Y:-0.94, Z:-1.52 [[ 9.99717612e-01 -2.33415883e-02 -4.45729665e-03 9.76766470e+01] [ 2.33418373e-02 9.99727542e-01 3.83681505e-06 -9.42244806e-01] [ 4.45599266e-03 -1.07877225e-04 9.99990066e-01 -1.51922381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.178001145 meters 0.06449070615100246 Centerline is valid? [True, True] Translation: X:97.74, Y:-0.95, Z:-1.52 [[ 9.99760440e-01 -2.14918425e-02 -4.14275278e-03 9.77383286e+01] [ 2.14920430e-02 9.99769019e-01 3.87564405e-06 -9.46108391e-01] [ 4.14171259e-03 -9.29109363e-05 9.99991419e-01 -1.52294529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.238001145 meters 0.06372329272301554 Centerline is valid? [True, True] Translation: X:97.80, Y:-0.94, Z:-1.52 [[ 9.99781706e-01 -2.05514279e-02 -3.76548132e-03 9.78006224e+01] [ 2.05515881e-02 9.99788794e-01 3.85635367e-06 -9.43068664e-01] [ 3.76460677e-03 -8.12421329e-05 9.99992911e-01 -1.51949178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.298001145 meters 0.06370893454262072 Centerline is valid? [True, True] Translation: X:97.86, Y:-0.94, Z:-1.52 [[ 9.99819655e-01 -1.86751229e-02 -3.44921986e-03 9.78624269e+01] [ 1.86752471e-02 9.99825602e-01 3.81203979e-06 -9.42985351e-01] [ 3.44854714e-03 -6.82263857e-05 9.99994051e-01 -1.52096191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35800114499999 meters 0.06384396546747863 Centerline is valid? [True, True] Translation: X:97.92, Y:-0.95, Z:-1.53 [[ 9.99826174e-01 -1.81909084e-02 -4.08812271e-03 9.79240686e+01] [ 1.81910830e-02 9.99834529e-01 5.51895866e-06 -9.45754023e-01] [ 4.08734585e-03 -7.98853788e-05 9.99991644e-01 -1.52503729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41800114499999 meters 0.06405473562558023 Centerline is valid? [True, True] Translation: X:97.99, Y:-0.95, Z:-1.53 [[ 9.99811626e-01 -1.87516406e-02 -5.00879993e-03 9.79862094e+01] [ 1.87519058e-02 9.99824168e-01 5.98464373e-06 -9.45916602e-01] [ 5.00780700e-03 -9.99080606e-05 9.99987456e-01 -1.52643718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.478001145 meters 0.06463581730640763 Centerline is valid? [True, True] Translation: X:98.05, Y:-0.95, Z:-1.53 [[ 9.99755227e-01 -2.12678004e-02 -6.09641554e-03 9.80480134e+01] [ 2.12682392e-02 9.99773805e-01 7.14839776e-06 -9.49459434e-01] [ 6.09488454e-03 -1.36806672e-04 9.99981417e-01 -1.52889405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.538001145 meters 0.06441524375087343 Centerline is valid? [True, True] Translation: X:98.11, Y:-0.95, Z:-1.53 [[ 9.99708305e-01 -2.31029351e-02 -7.03989622e-03 9.81103099e+01] [ 2.31035700e-02 9.99733077e-01 8.86468361e-06 -9.49580136e-01] [ 7.03781231e-03 -1.71508833e-04 9.99975220e-01 -1.52867658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.598001145 meters 0.06535192976843403 Centerline is valid? [True, True] Translation: X:98.17, Y:-0.96, Z:-1.53 [[ 9.99712417e-01 -2.27991786e-02 -7.43515269e-03 9.81721258e+01] [ 2.27998840e-02 9.99740049e-01 1.01119126e-05 -9.55350161e-01] [ 7.43298937e-03 -1.79629623e-04 9.99972359e-01 -1.53418667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.658001145 meters 0.06428214496894627 Centerline is valid? [True, True] Translation: X:98.23, Y:-0.95, Z:-1.53 [[ 9.99748689e-01 -2.12871749e-02 -7.02963076e-03 9.82342645e+01] [ 2.12877700e-02 9.99773390e-01 9.84660628e-06 -9.48963820e-01] [ 7.02782817e-03 -1.59489295e-04 9.99975292e-01 -1.53189196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.718001145 meters 0.06419585331754324 Centerline is valid? [True, True] Translation: X:98.30, Y:-0.95, Z:-1.54 [[ 9.99800806e-01 -1.79362780e-02 -8.75436880e-03 9.82952509e+01] [ 1.79370724e-02 9.99839118e-01 1.22226138e-05 -9.45837771e-01] [ 8.75274115e-03 -1.69247926e-04 9.99961680e-01 -1.53532137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77800114499999 meters 0.06401784838336569 Centerline is valid? [True, True] Translation: X:98.36, Y:-0.94, Z:-1.54 [[ 9.99830015e-01 -1.52197489e-02 -1.04067277e-02 9.83576283e+01] [ 1.52207320e-02 9.99884158e-01 1.52625070e-05 -9.41344197e-01] [ 1.04052899e-02 -1.73657925e-04 9.99945848e-01 -1.53754327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83800114499999 meters 0.0637110935350167 Centerline is valid? [True, True] Translation: X:98.42, Y:-0.94, Z:-1.54 [[ 9.99824724e-01 -1.51219431e-02 -1.10385075e-02 9.84193497e+01] [ 1.51230460e-02 9.99885640e-01 1.64470279e-05 -9.38648153e-01] [ 1.10369964e-02 -1.83380001e-04 9.99939074e-01 -1.53778333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.898001145 meters 0.06368067778147411 Centerline is valid? [True, True] Translation: X:98.48, Y:-0.94, Z:-1.54 [[ 9.99812019e-01 -1.59575826e-02 -1.10128468e-02 9.84816469e+01] [ 1.59587413e-02 9.99872651e-01 1.73372596e-05 -9.37928409e-01] [ 1.10111677e-02 -1.93085173e-04 9.99939357e-01 -1.53824083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.958001145 meters 0.06458116581486467 Centerline is valid? [True, True] Translation: X:98.54, Y:-0.94, Z:-1.54 [[ 9.99762006e-01 -1.87031379e-02 -1.12305284e-02 9.85423026e+01] [ 1.87045147e-02 9.99825055e-01 1.75638363e-05 -9.42145257e-01] [ 1.12282351e-02 -2.27621239e-04 9.99936935e-01 -1.54349361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.018001145 meters 0.06419009873495926 Centerline is valid? [True, True] Translation: X:98.60, Y:-0.94, Z:-1.54 [[ 9.99768006e-01 -1.82223225e-02 -1.14839899e-02 9.86040228e+01] [ 1.82237435e-02 9.99833934e-01 1.90961144e-05 -9.39615580e-01] [ 1.14817348e-02 -2.28372970e-04 9.99934057e-01 -1.54429974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.078001145 meters 0.063901674867352 Centerline is valid? [True, True] Translation: X:98.67, Y:-0.93, Z:-1.54 [[ 9.99785222e-01 -1.64147240e-02 -1.26517495e-02 9.86657958e+01] [ 1.64163134e-02 9.99865243e-01 2.17796174e-05 -9.31568339e-01] [ 1.26496871e-02 -2.29470025e-04 9.99919963e-01 -1.54282858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13800114499999 meters 0.06410290607218642 Centerline is valid? [True, True] Translation: X:98.73, Y:-0.93, Z:-1.54 [[ 9.99789740e-01 -1.61380914e-02 -1.26505739e-02 9.87261350e+01] [ 1.61396524e-02 9.99869747e-01 2.12984498e-05 -9.28022882e-01] [ 1.26485824e-02 -2.25469837e-04 9.99919978e-01 -1.54434666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19800114499999 meters 0.06404648194432319 Centerline is valid? [True, True] Translation: X:98.79, Y:-0.93, Z:-1.55 [[ 9.99805610e-01 -1.54425706e-02 -1.22584685e-02 9.87873800e+01] [ 1.54439915e-02 9.99880734e-01 2.12557421e-05 -9.27370344e-01] [ 1.22566782e-02 -2.10571294e-04 9.99924862e-01 -1.54577652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.258001145 meters 0.06401950876570417 Centerline is valid? [True, True] Translation: X:98.85, Y:-0.92, Z:-1.55 [[ 9.99801514e-01 -1.52442377e-02 -1.28275058e-02 9.88497031e+01] [ 1.52457933e-02 9.99883776e-01 2.34888076e-05 -9.21613222e-01] [ 1.28256568e-02 -2.19049647e-04 9.99917724e-01 -1.54592956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.318001145 meters 0.06422641822446822 Centerline is valid? [True, True] Translation: X:98.91, Y:-0.92, Z:-1.55 [[ 9.99811864e-01 -1.55932781e-02 -1.15362963e-02 9.89113763e+01] [ 1.55945595e-02 9.99878397e-01 2.11217280e-05 -9.22128020e-01] [ 1.15345641e-02 -2.01021214e-04 9.99933454e-01 -1.54795427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.378001145 meters 0.06418231458076779 Centerline is valid? [True, True] Translation: X:98.97, Y:-0.92, Z:-1.55 [[ 9.99809295e-01 -1.65594136e-02 -1.03517370e-02 9.89732438e+01] [ 1.65605089e-02 9.99862865e-01 2.00934373e-05 -9.23137128e-01] [ 1.03499847e-02 -1.91519637e-04 9.99946419e-01 -1.54824899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.438001145 meters 0.06392907872055618 Centerline is valid? [True, True] Translation: X:99.03, Y:-0.92, Z:-1.55 [[ 9.99846842e-01 -1.51629435e-02 -8.73940104e-03 9.90346823e+01] [ 1.51636706e-02 9.99885025e-01 1.69413452e-05 -9.21015442e-01] [ 8.73813935e-03 -1.49460149e-04 9.99961811e-01 -1.54724776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49800114499999 meters 0.06403431756296352 Centerline is valid? [True, True] Translation: X:99.10, Y:-0.92, Z:-1.55 [[ 9.99875640e-01 -1.37474064e-02 -7.72749370e-03 9.90961798e+01] [ 1.37479375e-02 9.99905493e-01 1.56111036e-05 -9.20659064e-01] [ 7.72654878e-03 -1.21846263e-04 9.99970142e-01 -1.54786926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55800114499999 meters 0.06381752198614878 Centerline is valid? [True, True] Translation: X:99.16, Y:-0.92, Z:-1.55 [[ 9.99871539e-01 -1.32222022e-02 -9.05972442e-03 9.91581323e+01] [ 1.32229168e-02 9.99912573e-01 1.89774947e-05 -9.21609616e-01] [ 9.05868143e-03 -1.38771039e-04 9.99958960e-01 -1.54845033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.618001145 meters 0.06372712091461638 Centerline is valid? [True, True] Translation: X:99.22, Y:-0.92, Z:-1.55 [[ 9.99893111e-01 -9.99690826e-03 -1.06690001e-02 9.92192950e+01] [ 9.99771296e-03 9.99950021e-01 2.20904062e-05 -9.19715044e-01] [ 1.06682460e-02 -1.28753645e-04 9.99943084e-01 -1.54972099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.678001145 meters 0.06392957960637045 Centerline is valid? [True, True] Translation: X:99.28, Y:-0.92, Z:-1.56 [[ 9.99889589e-01 -5.96283798e-03 -1.36108217e-02 9.92787915e+01] [ 5.96376037e-03 9.99982216e-01 2.71824137e-05 -9.20456087e-01] [ 1.36104175e-02 -1.08351091e-04 9.99907368e-01 -1.55516506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.738001145 meters 0.06349556754483396 Centerline is valid? [True, True] Translation: X:99.34, Y:-0.92, Z:-1.55 [[ 9.99909024e-01 -3.64311584e-03 -1.29873653e-02 9.93380785e+01] [ 3.64369012e-03 9.99993362e-01 2.05565277e-05 -9.19072037e-01] [ 1.29872042e-02 -6.78765919e-05 9.99915660e-01 -1.55332028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.798001145 meters 0.06366972569617846 Centerline is valid? [True, True] Translation: X:99.40, Y:-0.92, Z:-1.56 [[ 9.99920622e-01 -2.62054263e-03 -1.23240452e-02 9.93960995e+01] [ 2.62097884e-03 9.99996565e-01 1.92437683e-05 -9.21031945e-01] [ 1.23239524e-02 -5.15433024e-05 9.99924056e-01 -1.55866743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85800114499999 meters 0.06306071130969354 Centerline is valid? [True, True] Translation: X:99.45, Y:-0.92, Z:-1.55 [[ 9.99921308e-01 -4.43120442e-03 -1.17363312e-02 9.94549480e+01] [ 4.43172274e-03 9.99990180e-01 1.81575115e-05 -9.22047690e-01] [ 1.17361355e-02 -7.01682488e-05 9.99931127e-01 -1.55220764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91800114499999 meters 0.06320902026623845 Centerline is valid? [True, True] Translation: X:99.51, Y:-0.93, Z:-1.55 [[ 9.99901844e-01 -8.13018908e-03 -1.14106163e-02 9.95123507e+01] [ 8.13090650e-03 9.99966943e-01 1.64825849e-05 -9.28248576e-01] [ 1.14101051e-02 -1.09259621e-04 9.99934897e-01 -1.55386978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.978001145 meters 0.06328615325469016 Centerline is valid? [True, True] Translation: X:99.57, Y:-0.93, Z:-1.55 [[ 9.99872189e-01 -1.20445753e-02 -1.05135562e-02 9.95710977e+01] [ 1.20453993e-02 9.99927451e-01 1.50606512e-05 -9.34941206e-01] [ 1.05126121e-02 -1.41698709e-04 9.99944731e-01 -1.55499714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.038001145 meters 0.06324976950572421 Centerline is valid? [True, True] Translation: X:99.63, Y:-0.94, Z:-1.56 [[ 9.99871028e-01 -1.35982784e-02 -8.54480179e-03 9.96327490e+01] [ 1.35988903e-02 9.99907531e-01 1.35094941e-05 -9.38061423e-01] [ 8.54382796e-03 -1.29707574e-04 9.99963492e-01 -1.55542572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.098001145 meters 0.06322967091462646 Centerline is valid? [True, True] Translation: X:99.69, Y:-0.94, Z:-1.56 [[ 9.99866415e-01 -1.42346132e-02 -8.03287128e-03 9.96941932e+01] [ 1.42351795e-02 9.99898675e-01 1.33233306e-05 -9.38603536e-01] [ 8.03186769e-03 -1.27670915e-04 9.99967736e-01 -1.55661633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.158001145 meters 0.06325041969987832 Centerline is valid? [True, True] Translation: X:99.76, Y:-0.94, Z:-1.56 [[ 9.99887095e-01 -1.30721847e-02 -7.41051866e-03 9.97563440e+01] [ 1.30726402e-02 9.99914549e-01 1.30313663e-05 -9.39674188e-01] [ 7.40971507e-03 -1.09904939e-04 9.99972542e-01 -1.55771626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.218001145 meters 0.06320650037567446 Centerline is valid? [True, True] Translation: X:99.82, Y:-0.94, Z:-1.56 [[ 9.99894212e-01 -1.20141077e-02 -8.19911452e-03 9.98184231e+01] [ 1.20146331e-02 9.99927822e-01 1.48224232e-05 -9.41798998e-01] [ 8.19834465e-03 -1.13330208e-04 9.99966387e-01 -1.56007394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27800114499999 meters 0.06293164179684341 Centerline is valid? [True, True] Translation: X:99.88, Y:-0.94, Z:-1.56 [[ 9.99912236e-01 -1.04977284e-02 -8.08191283e-03 9.98797947e+01] [ 1.04981880e-02 9.99944892e-01 1.44522069e-05 -9.38358363e-01] [ 8.08131574e-03 -9.92963789e-05 9.99967341e-01 -1.55845256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33800114499999 meters 0.06326094624285392 Centerline is valid? [True, True] Translation: X:99.94, Y:-0.94, Z:-1.56 [[ 9.99930057e-01 -8.79790235e-03 -7.90428961e-03 9.99404586e+01] [ 8.79828819e-03 9.99961294e-01 1.40413691e-05 -9.42274814e-01] [ 7.90386013e-03 -8.35846049e-05 9.99968761e-01 -1.56379607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.398001145 meters 0.06327341483458167 Centerline is valid? [True, True] Translation: X:100.00, Y:-0.94, Z:-1.57 [[ 9.99936401e-01 -7.75949687e-03 -8.18437014e-03 1.00000580e+02] [ 7.75987659e-03 9.99969892e-01 1.46407594e-05 -9.44172893e-01] [ 8.18401011e-03 -7.81495305e-05 9.99966507e-01 -1.56542501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.458001145 meters 0.06295509727463171 Centerline is valid? [True, True] Translation: X:100.06, Y:-0.94, Z:-1.56 [[ 9.99925804e-01 -7.54451326e-03 -9.56378114e-03 1.00061366e+02] [ 7.54501961e-03 9.99971536e-01 1.68643029e-05 -9.41987970e-01] [ 9.56338168e-03 -8.90219678e-05 9.99954266e-01 -1.56230798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.518001145 meters 0.06332797815966511 Centerline is valid? [True, True] Translation: X:100.12, Y:-0.94, Z:-1.56 [[ 9.99900332e-01 -8.82526653e-03 -1.10200162e-02 1.00120916e+02] [ 8.82600798e-03 9.99961050e-01 1.86501868e-05 -9.44629956e-01] [ 1.10194223e-02 -1.15911079e-04 9.99939278e-01 -1.56457926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.578001145 meters 0.06354969725114831 Centerline is valid? [True, True] Translation: X:100.18, Y:-0.95, Z:-1.57 [[ 9.99858279e-01 -1.23547671e-02 -1.14359913e-02 1.00179968e+02] [ 1.23557832e-02 9.99923664e-01 1.82046987e-05 -9.54303663e-01] [ 1.14348934e-02 -1.59502749e-04 9.99934607e-01 -1.56811198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63800114499999 meters 0.0633968344551014 Centerline is valid? [True, True] Translation: X:100.24, Y:-0.95, Z:-1.57 [[ 9.99807196e-01 -1.53721353e-02 -1.22175769e-02 1.00240072e+02] [ 1.53735267e-02 9.99881820e-01 1.99713816e-05 -9.53860956e-01] [ 1.22158261e-02 -2.07794777e-04 9.99925362e-01 -1.56588663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69800114499999 meters 0.06345833183491774 Centerline is valid? [True, True] Translation: X:100.30, Y:-0.95, Z:-1.57 [[ 9.99815791e-01 -1.51420596e-02 -1.17941950e-02 1.00301806e+02] [ 1.51433527e-02 9.99885333e-01 2.03344824e-05 -9.54889431e-01] [ 1.17925346e-02 -1.98934391e-04 9.99930446e-01 -1.56628911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.758001145 meters 0.06350543965488571 Centerline is valid? [True, True] Translation: X:100.36, Y:-0.96, Z:-1.57 [[ 9.99806801e-01 -1.51065692e-02 -1.25758927e-02 1.00363406e+02] [ 1.51080411e-02 9.99885867e-01 2.20457127e-05 -9.57660000e-01] [ 1.25741244e-02 -2.12038558e-04 9.99920920e-01 -1.56812744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.818001145 meters 0.06370358299098769 Centerline is valid? [True, True] Translation: X:100.42, Y:-0.96, Z:-1.57 [[ 9.99808090e-01 -1.54923729e-02 -1.19904287e-02 1.00424334e+02] [ 1.54937435e-02 9.99879965e-01 2.14135257e-05 -9.57583933e-01] [ 1.19886576e-02 -2.07186042e-04 9.99928112e-01 -1.56829038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.878001145 meters 0.06357953408992728 Centerline is valid? [True, True] Translation: X:100.48, Y:-0.96, Z:-1.57 [[ 9.99819956e-01 -1.54318317e-02 -1.10414815e-02 1.00484387e+02] [ 1.54329900e-02 9.99880904e-01 1.97016345e-05 -9.56842291e-01] [ 1.10398625e-02 -1.90101161e-04 9.99939041e-01 -1.56780440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.938001145 meters 0.06319155897141684 Centerline is valid? [True, True] Translation: X:100.55, Y:-0.96, Z:-1.57 [[ 9.99842076e-01 -1.58203573e-02 -8.09568938e-03 1.00545484e+02] [ 1.58209972e-02 9.99874840e-01 1.49970419e-05 -9.57290283e-01] [ 8.09443886e-03 -1.43076552e-04 9.99967229e-01 -1.56545612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99800114499999 meters 0.06350844543866709 Centerline is valid? [True, True] Translation: X:100.61, Y:-0.96, Z:-1.57 [[ 9.99835436e-01 -1.56508718e-02 -9.17336926e-03 1.00606241e+02] [ 1.56517029e-02 9.99877504e-01 1.88097402e-05 -9.59319637e-01] [ 9.17195117e-03 -1.62385495e-04 9.99957924e-01 -1.56828596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05800114499999 meters 0.06307076010785892 Centerline is valid? [True, True] Translation: X:100.67, Y:-0.95, Z:-1.57 [[ 9.99868596e-01 -1.34898852e-02 -8.98964932e-03 1.00668359e+02] [ 1.34905970e-02 9.99908998e-01 1.85399921e-05 -9.53919348e-01] [ 8.98858113e-03 -1.39813292e-04 9.99959592e-01 -1.56665760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.118001145 meters 0.06305902353719278 Centerline is valid? [True, True] Translation: X:100.73, Y:-0.95, Z:-1.57 [[ 9.99890024e-01 -1.17943952e-02 -8.99062999e-03 1.00730161e+02] [ 1.17950404e-02 9.99930436e-01 1.87391708e-05 -9.53014214e-01] [ 8.98978355e-03 -1.24781954e-04 9.99959583e-01 -1.56783755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.178001145 meters 0.06316890182405982 Centerline is valid? [True, True] Translation: X:100.79, Y:-0.96, Z:-1.57 [[ 9.99878939e-01 -1.16366493e-02 -1.03293834e-02 1.00791266e+02] [ 1.16374964e-02 9.99932282e-01 2.19110818e-05 -9.55158518e-01] [ 1.03284289e-02 -1.42116592e-04 9.99946650e-01 -1.57015953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.238001145 meters 0.06331367300246636 Centerline is valid? [True, True] Translation: X:100.85, Y:-0.96, Z:-1.57 [[ 9.99851456e-01 -1.32883375e-02 -1.09766440e-02 1.00851464e+02] [ 1.32893859e-02 9.99911692e-01 2.25751734e-05 -9.55832502e-01] [ 1.09753747e-02 -1.68444678e-04 9.99939755e-01 -1.57004242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.298001145 meters 0.063506710886991 Centerline is valid? [True, True] Translation: X:100.91, Y:-0.96, Z:-1.57 [[ 9.99844725e-01 -1.42492009e-02 -1.03675108e-02 1.00911844e+02] [ 1.42501918e-02 9.99898461e-01 2.17044125e-05 -9.57456179e-01] [ 1.03661488e-02 -1.69440060e-04 9.99946256e-01 -1.57171473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35800114499999 meters 0.06374350475623715 Centerline is valid? [True, True] Translation: X:100.97, Y:-0.96, Z:-1.57 [[ 9.99838332e-01 -1.48387394e-02 -1.01549269e-02 1.00973711e+02] [ 1.48397335e-02 9.99889885e-01 2.25400453e-05 -9.56400226e-01] [ 1.01534742e-02 -1.73232810e-04 9.99948437e-01 -1.57299719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41800114499999 meters 0.06366730928800056 Centerline is valid? [True, True] Translation: X:101.03, Y:-0.95, Z:-1.57 [[ 9.99858544e-01 -1.31231095e-02 -1.05202335e-02 1.01034750e+02] [ 1.31240798e-02 9.99913875e-01 2.31978241e-05 -9.54029888e-01] [ 1.05190230e-02 -1.61262927e-04 9.99944661e-01 -1.57474541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.478001145 meters 0.06358991119950583 Centerline is valid? [True, True] Translation: X:101.10, Y:-0.95, Z:-1.58 [[ 9.99893452e-01 -9.07726146e-03 -1.14318676e-02 1.01095166e+02] [ 9.07815384e-03 9.99958792e-01 2.61706523e-05 -9.47681874e-01] [ 1.14311589e-02 -1.29948116e-04 9.99934654e-01 -1.57819512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.538001145 meters 0.06358510808534708 Centerline is valid? [True, True] Translation: X:101.15, Y:-0.94, Z:-1.58 [[ 9.99884906e-01 -7.98892643e-03 -1.28977228e-02 1.01153443e+02] [ 7.98988721e-03 9.99968080e-01 2.29653417e-05 -9.44573445e-01] [ 1.28971276e-02 -1.26014049e-04 9.99916821e-01 -1.57944097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.598001145 meters 0.06414822707491993 Centerline is valid? [True, True] Translation: X:101.21, Y:-0.95, Z:-1.59 [[ 9.99836548e-01 -1.19950641e-02 -1.35276221e-02 1.01211555e+02] [ 1.19965181e-02 9.99928039e-01 2.63396546e-05 -9.49199056e-01] [ 1.35263327e-02 -1.88619713e-04 9.99908497e-01 -1.58564548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.658001145 meters 0.06383217819023368 Centerline is valid? [True, True] Translation: X:101.27, Y:-0.95, Z:-1.58 [[ 9.99786552e-01 -1.52293293e-02 -1.39612951e-02 1.01271331e+02] [ 1.52311870e-02 9.99883998e-01 2.67350787e-05 -9.48685023e-01] [ 1.39592684e-02 -2.39376469e-04 9.99902536e-01 -1.58232672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.718001145 meters 0.06410247291051364 Centerline is valid? [True, True] Translation: X:101.33, Y:-0.95, Z:-1.58 [[ 9.99758222e-01 -1.67342821e-02 -1.42640150e-02 1.01331983e+02] [ 1.67363872e-02 9.99859936e-01 2.82215291e-05 -9.46969119e-01] [ 1.42615449e-02 -2.66942785e-04 9.99898263e-01 -1.58337866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77800114499999 meters 0.06439770414120274 Centerline is valid? [True, True] Translation: X:101.39, Y:-0.95, Z:-1.59 [[ 9.99758188e-01 -1.62631693e-02 -1.48011750e-02 1.01391837e+02] [ 1.62653877e-02 9.99867709e-01 2.95002720e-05 -9.47450861e-01] [ 1.47987372e-02 -2.70239988e-04 9.99890456e-01 -1.58648430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83800114499999 meters 0.06391244598515597 Centerline is valid? [True, True] Translation: X:101.45, Y:-0.94, Z:-1.59 [[ 9.99765246e-01 -1.45562609e-02 -1.60489064e-02 1.01452689e+02] [ 1.45586454e-02 9.99894017e-01 3.17513670e-05 -9.42487074e-01] [ 1.60467433e-02 -2.65394251e-04 9.99871208e-01 -1.58656930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.898001145 meters 0.06341890407203286 Centerline is valid? [True, True] Translation: X:101.51, Y:-0.93, Z:-1.58 [[ 9.99839591e-01 -1.16916802e-02 -1.35682404e-02 1.01512652e+02] [ 1.16931149e-02 9.99931633e-01 2.64143486e-05 -9.34302754e-01] [ 1.35670040e-02 -1.85065106e-04 9.99907947e-01 -1.58448004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.958001145 meters 0.06345378522146504 Centerline is valid? [True, True] Translation: X:101.57, Y:-0.93, Z:-1.59 [[ 9.99851564e-01 -1.10044239e-02 -1.32571666e-02 1.01572514e+02] [ 1.10057248e-02 9.99939435e-01 2.51775899e-05 -9.32252455e-01] [ 1.32560866e-02 -1.71078579e-04 9.99912120e-01 -1.58620780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.018001145 meters 0.06369585668962019 Centerline is valid? [True, True] Translation: X:101.63, Y:-0.93, Z:-1.59 [[ 9.99804934e-01 -1.39992598e-02 -1.39324857e-02 1.01632532e+02] [ 1.40009816e-02 9.99901981e-01 2.60427942e-05 -9.31523474e-01] [ 1.39307554e-02 -2.21106190e-04 9.99902938e-01 -1.58770868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.078001145 meters 0.06403803228822616 Centerline is valid? [True, True] Translation: X:101.69, Y:-0.93, Z:-1.59 [[ 9.99751561e-01 -1.74186681e-02 -1.39070443e-02 1.01692795e+02] [ 1.74207203e-02 9.99848247e-01 2.64338553e-05 -9.31298772e-01] [ 1.39044735e-02 -2.68698018e-04 9.99903292e-01 -1.58758032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13800114499999 meters 0.06454050918615088 Centerline is valid? [True, True] Translation: X:101.75, Y:-0.93, Z:-1.59 [[ 9.99706216e-01 -2.07371921e-02 -1.25479696e-02 1.01754311e+02] [ 2.07391397e-02 9.99784921e-01 2.51012605e-05 -9.32772076e-01] [ 1.25447503e-02 -2.85327981e-04 9.99921271e-01 -1.58899929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19800114499999 meters 0.06524762409022969 Centerline is valid? [True, True] Translation: X:101.82, Y:-0.93, Z:-1.59 [[ 9.99654672e-01 -2.27935429e-02 -1.30763323e-02 1.01815175e+02] [ 2.27958413e-02 9.99740141e-01 2.67251537e-05 -9.34120041e-01] [ 1.30723251e-02 -3.24801921e-04 9.99914501e-01 -1.59152458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.258001145 meters 0.06496155809651176 Centerline is valid? [True, True] Translation: X:101.88, Y:-0.93, Z:-1.59 [[ 9.99644151e-01 -2.37378626e-02 -1.21690064e-02 1.01877026e+02] [ 2.37399356e-02 9.99718168e-01 2.59086453e-05 -9.30165729e-01] [ 1.21649618e-02 -3.14790854e-04 9.99925955e-01 -1.59070500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.318001145 meters 0.06486931029493469 Centerline is valid? [True, True] Translation: X:101.94, Y:-0.93, Z:-1.59 [[ 9.99665802e-01 -2.31901824e-02 -1.14236789e-02 1.01938871e+02] [ 2.31919826e-02 9.99731029e-01 2.51200598e-05 -9.27272778e-01] [ 1.14200237e-02 -2.90049427e-04 9.99934747e-01 -1.59090676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.378001145 meters 0.06504462314566614 Centerline is valid? [True, True] Translation: X:102.00, Y:-0.93, Z:-1.59 [[ 9.99663742e-01 -2.30925159e-02 -1.17956961e-02 1.02001026e+02] [ 2.30944369e-02 9.99733288e-01 2.66508602e-05 -9.26243496e-01] [ 1.17919346e-02 -2.99056858e-04 9.99930428e-01 -1.59286880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.438001145 meters 0.06551008562669632 Centerline is valid? [True, True] Translation: X:102.06, Y:-0.92, Z:-1.59 [[ 9.99609709e-01 -2.55861837e-02 -1.12150148e-02 1.02063147e+02] [ 2.55880856e-02 9.99672571e-01 2.61071999e-05 -9.24137908e-01] [ 1.12106747e-02 -3.13067771e-04 9.99937109e-01 -1.59358349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49800114499999 meters 0.06540481162318207 Centerline is valid? [True, True] Translation: X:102.13, Y:-0.92, Z:-1.59 [[ 9.99620129e-01 -2.55000819e-02 -1.04567014e-02 1.02125670e+02] [ 2.55017385e-02 9.99674777e-01 2.51003258e-05 -9.21919774e-01] [ 1.04526605e-02 -2.91754855e-04 9.99945327e-01 -1.59364818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55800114499999 meters 0.06599703530351538 Centerline is valid? [True, True] Translation: X:102.19, Y:-0.92, Z:-1.60 [[ 9.99607857e-01 -2.57811416e-02 -1.09300083e-02 1.02187418e+02] [ 2.57829755e-02 9.99667563e-01 2.68833865e-05 -9.18887170e-01] [ 1.09256817e-02 -3.08680982e-04 9.99940265e-01 -1.59576871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.618001145 meters 0.0660220691449225 Centerline is valid? [True, True] Translation: X:102.25, Y:-0.92, Z:-1.60 [[ 9.99660877e-01 -2.40067484e-02 -1.00899609e-02 1.02248331e+02] [ 2.40082241e-02 9.99711761e-01 2.51393766e-05 -9.15056651e-01] [ 1.00864491e-02 -2.67372894e-04 9.99949095e-01 -1.59854746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.678001145 meters 0.06581731851601383 Centerline is valid? [True, True] Translation: X:102.31, Y:-0.91, Z:-1.60 [[ 9.99668062e-01 -2.38068565e-02 -9.84887810e-03 1.02310616e+02] [ 2.38082614e-02 9.99716543e-01 2.54149625e-05 -9.12966067e-01] [ 9.84548131e-03 -2.59891191e-04 9.99951498e-01 -1.59833798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.738001145 meters 0.06651739589615369 Centerline is valid? [True, True] Translation: X:102.37, Y:-0.91, Z:-1.60 [[ 9.99687402e-01 -2.29195451e-02 -9.98961147e-03 1.02372047e+02] [ 2.29209485e-02 9.99737280e-01 2.60013582e-05 -9.10577435e-01] [ 9.98639106e-03 -2.54964600e-04 9.99950102e-01 -1.60066451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.798001145 meters 0.0660300792696337 Centerline is valid? [True, True] Translation: X:102.43, Y:-0.91, Z:-1.60 [[ 9.99704088e-01 -2.27509876e-02 -8.60981492e-03 1.02434334e+02] [ 2.27520314e-02 9.99741139e-01 2.32918773e-05 -9.05111128e-01] [ 8.60705626e-03 -2.19175764e-04 9.99962935e-01 -1.59845272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85800114499999 meters 0.06661225774748965 Centerline is valid? [True, True] Translation: X:102.50, Y:-0.90, Z:-1.60 [[ 9.99683182e-01 -2.34817479e-02 -9.06324343e-03 1.02495028e+02] [ 2.34829326e-02 9.99724238e-01 2.43068463e-05 -9.02950218e-01] [ 9.06017336e-03 -2.37130680e-04 9.99958928e-01 -1.60116078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91800114499999 meters 0.06693474570181766 Centerline is valid? [True, True] Translation: X:102.56, Y:-0.90, Z:-1.60 [[ 9.99708193e-01 -2.28142776e-02 -7.93958128e-03 1.02556237e+02] [ 2.28151708e-02 9.99739700e-01 2.19325471e-05 -9.01673341e-01] [ 7.93701423e-03 -2.03069050e-04 9.99968481e-01 -1.60468600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.978001145 meters 0.06669516199037458 Centerline is valid? [True, True] Translation: X:102.62, Y:-0.90, Z:-1.61 [[ 9.99747968e-01 -2.15273170e-02 -6.36990821e-03 1.02618788e+02] [ 2.15278705e-02 9.99768248e-01 1.83410217e-05 -8.96299968e-01] [ 6.36803714e-03 -1.55466958e-04 9.99979712e-01 -1.60530805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.038001145 meters 0.06686901493862502 Centerline is valid? [True, True] Translation: X:102.68, Y:-0.89, Z:-1.61 [[ 9.99761182e-01 -2.11474835e-02 -5.51018209e-03 1.02679717e+02] [ 2.11479011e-02 9.99776358e-01 1.75229966e-05 -8.94375681e-01] [ 5.50857922e-03 -1.34047598e-04 9.99984819e-01 -1.60539817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.098001145 meters 0.06797334555608278 Centerline is valid? [True, True] Translation: X:102.74, Y:-0.89, Z:-1.61 [[ 9.99692868e-01 -2.41588717e-02 -5.52436347e-03 1.02741580e+02] [ 2.41593327e-02 9.99708121e-01 1.67190350e-05 -8.94526005e-01] [ 5.52234710e-03 -1.50178835e-04 9.99984740e-01 -1.60796720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.158001145 meters 0.06795189923442584 Centerline is valid? [True, True] Translation: X:102.80, Y:-0.89, Z:-1.61 [[ 9.99563317e-01 -2.85733536e-02 -7.53245963e-03 1.02803024e+02] [ 2.85743346e-02 9.99591670e-01 2.26329690e-05 -8.94425924e-01] [ 7.52873721e-03 -2.37858108e-04 9.99971630e-01 -1.60860997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.218001145 meters 0.07011537414843307 Centerline is valid? [True, True] Translation: X:102.86, Y:-0.90, Z:-1.61 [[ 9.99353806e-01 -3.45705270e-02 -9.84116755e-03 1.02862893e+02] [ 3.45724829e-02 9.99402193e-01 2.86437724e-05 -8.99291049e-01] [ 9.83429420e-03 -3.68858860e-04 9.99951574e-01 -1.61391476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27800114499999 meters 0.07050651960353241 Centerline is valid? [True, True] Translation: X:102.92, Y:-0.90, Z:-1.61 [[ 9.99335724e-01 -3.52256429e-02 -9.34159344e-03 1.02924617e+02] [ 3.52274462e-02 9.99379320e-01 2.85107167e-05 -8.98290816e-01] [ 9.33479100e-03 -3.57572258e-04 9.99956366e-01 -1.61450081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33800114499999 meters 0.07027617088018036 Centerline is valid? [True, True] Translation: X:102.99, Y:-0.89, Z:-1.62 [[ 9.99418106e-01 -3.31987902e-02 -7.82875178e-03 1.02986281e+02] [ 3.31999982e-02 9.99448728e-01 2.43701296e-05 -8.94511453e-01] [ 7.82362694e-03 -2.84270494e-04 9.99969355e-01 -1.61533148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.398001145 meters 0.0699635876301077 Centerline is valid? [True, True] Translation: X:103.05, Y:-0.89, Z:-1.62 [[ 9.99494530e-01 -3.06198684e-02 -8.55029457e-03 1.03048080e+02] [ 3.06212211e-02 9.99531060e-01 2.73008938e-05 -8.88618193e-01] [ 8.54544904e-03 -2.89107554e-04 9.99963445e-01 -1.61607316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.458001145 meters 0.06935236843232695 Centerline is valid? [True, True] Translation: X:103.11, Y:-0.88, Z:-1.62 [[ 9.99581912e-01 -2.78056327e-02 -7.92761274e-03 1.03109223e+02] [ 2.78067061e-02 9.99613318e-01 2.51849470e-05 -8.81804091e-01] [ 7.92384700e-03 -2.45615215e-04 9.99968576e-01 -1.61701846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.518001145 meters 0.06988270104532186 Centerline is valid? [True, True] Translation: X:103.17, Y:-0.88, Z:-1.62 [[ 9.99596683e-01 -2.71598983e-02 -8.29524282e-03 1.03170781e+02] [ 2.71610701e-02 9.99631070e-01 2.86243542e-05 -8.81637086e-01] [ 8.29140502e-03 -2.53920481e-04 9.99965593e-01 -1.62079993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.578001145 meters 0.06944251655755215 Centerline is valid? [True, True] Translation: X:103.23, Y:-0.88, Z:-1.62 [[ 9.99651439e-01 -2.46476699e-02 -9.46001823e-03 1.03233446e+02] [ 2.46490875e-02 9.99696165e-01 3.32623042e-05 -8.76943651e-01] [ 9.45632410e-03 -2.66431527e-04 9.99955252e-01 -1.62435400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63800114499999 meters 0.06770780494301439 Centerline is valid? [True, True] Translation: X:103.30, Y:-0.86, Z:-1.62 [[ 9.99738158e-01 -1.96676064e-02 -1.16961656e-02 1.03295932e+02] [ 1.96694295e-02 9.99806537e-01 4.08479194e-05 -8.62613569e-01] [ 1.16930994e-02 -2.70894128e-04 9.99931597e-01 -1.62279603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69800114499999 meters 0.06658666642777884 Centerline is valid? [True, True] Translation: X:103.36, Y:-0.85, Z:-1.62 [[ 9.99813706e-01 -1.51132605e-02 -1.20059358e-02 1.03357150e+02] [ 1.51148524e-02 9.99885763e-01 4.18648250e-05 -8.54052471e-01] [ 1.20039316e-02 -2.23324974e-04 9.99927925e-01 -1.62292094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.758001145 meters 0.06601498906641497 Centerline is valid? [True, True] Translation: X:103.42, Y:-0.84, Z:-1.62 [[ 9.99882525e-01 -9.58676457e-03 -1.19595096e-02 1.03417214e+02] [ 9.58794849e-03 9.99954034e-01 4.16606030e-05 -8.43263516e-01] [ 1.19585605e-02 -1.56322871e-04 9.99928482e-01 -1.62393215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.818001145 meters 0.06607058130418308 Centerline is valid? [True, True] Translation: X:103.48, Y:-0.84, Z:-1.63 [[ 9.99889198e-01 -7.27627541e-03 -1.29864704e-02 1.03476654e+02] [ 7.27746234e-03 9.99973518e-01 4.41432754e-05 -8.37964301e-01] [ 1.29858053e-02 -1.38646933e-04 9.99915671e-01 -1.62596951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.878001145 meters 0.06596081839962852 Centerline is valid? [True, True] Translation: X:103.54, Y:-0.83, Z:-1.63 [[ 9.99898546e-01 -3.54848228e-03 -1.37951652e-02 1.03535135e+02] [ 3.54938958e-03 9.99993700e-01 4.12863403e-05 -8.29444161e-01] [ 1.37949317e-02 -9.02465670e-05 9.99904841e-01 -1.62874110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.938001145 meters 0.06573839311527209 Centerline is valid? [True, True] Translation: X:103.59, Y:-0.82, Z:-1.63 [[ 9.99915900e-01 3.50117333e-04 -1.29641965e-02 1.03592610e+02] [-3.49633235e-04 9.99999938e-01 3.96075717e-05 -8.22701136e-01] [ 1.29642096e-02 -3.50715268e-05 9.99915960e-01 -1.62820402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99800114499999 meters 0.06558224742983448 Centerline is valid? [True, True] Translation: X:103.65, Y:-0.82, Z:-1.63 [[ 9.99908157e-01 2.43177092e-03 -1.33328448e-02 1.03650250e+02] [-2.43152282e-03 9.99997043e-01 3.48184795e-05 -8.19291898e-01] [ 1.33328900e-02 -2.39616540e-06 9.99911113e-01 -1.62633188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05800114499999 meters 0.06557719457720836 Centerline is valid? [True, True] Translation: X:103.71, Y:-0.82, Z:-1.63 [[ 9.99919334e-01 3.57689411e-03 -1.21873518e-02 1.03708790e+02] [-3.57680377e-03 9.99993603e-01 2.92093256e-05 -8.18660561e-01] [ 1.21873783e-02 1.43847964e-05 9.99925731e-01 -1.62561573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.118001145 meters 0.06564891923382918 Centerline is valid? [True, True] Translation: X:103.77, Y:-0.82, Z:-1.63 [[ 9.99919988e-01 4.51893468e-03 -1.18151206e-02 1.03766563e+02] [-4.51890351e-03 9.99989789e-01 2.93343118e-05 -8.18792309e-01] [ 1.18151325e-02 2.40594251e-05 9.99930199e-01 -1.62739592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.178001145 meters 0.06526734029481149 Centerline is valid? [True, True] Translation: X:103.83, Y:-0.82, Z:-1.63 [[ 9.99946223e-01 5.63607564e-03 -8.70554458e-03 1.03825927e+02] [-5.63611490e-03 9.99984117e-01 2.00237846e-05 -8.21074454e-01] [ 8.70551917e-03 2.90427417e-05 9.99962106e-01 -1.62542190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.238001145 meters 0.06535038550475858 Centerline is valid? [True, True] Translation: X:103.88, Y:-0.82, Z:-1.63 [[ 9.99937384e-01 6.76462959e-03 -8.91451702e-03 1.03883626e+02] [-6.76472577e-03 9.99977119e-01 1.93636537e-05 -8.21484937e-01] [ 8.91444403e-03 4.09418218e-05 9.99960265e-01 -1.62776936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.298001145 meters 0.06507312628541097 Centerline is valid? [True, True] Translation: X:103.94, Y:-0.82, Z:-1.63 [[ 9.99950163e-01 8.08037317e-03 -5.86344394e-03 1.03942215e+02] [-8.08043827e-03 9.99967353e-01 1.25867479e-05 -8.23926127e-01] [ 5.86335422e-03 3.47930761e-05 9.99982810e-01 -1.62505334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35800114499999 meters 0.06517568803340569 Centerline is valid? [True, True] Translation: X:104.00, Y:-0.83, Z:-1.63 [[ 9.99956553e-01 7.94996914e-03 -4.86726993e-03 1.03999634e+02] [-7.95001879e-03 9.99968398e-01 9.14826617e-06 -8.29237384e-01] [ 4.86718885e-03 2.95470187e-05 9.99988155e-01 -1.62641796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41800114499999 meters 0.06514983074388936 Centerline is valid? [True, True] Translation: X:104.06, Y:-0.84, Z:-1.63 [[ 9.99953509e-01 6.40322434e-03 -7.20964275e-03 1.04058507e+02] [-6.40328689e-03 9.99979499e-01 1.44077366e-05 -8.36960810e-01] [ 7.20958720e-03 3.17583442e-05 9.99974010e-01 -1.62755954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.478001145 meters 0.06521841587856501 Centerline is valid? [True, True] Translation: X:104.12, Y:-0.84, Z:-1.63 [[ 9.99952159e-01 5.23852419e-03 -8.26055127e-03 1.04116934e+02] [-5.23856970e-03 9.99986278e-01 1.61279941e-05 -8.43460325e-01] [ 8.26052241e-03 2.71462511e-05 9.99965881e-01 -1.62963739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.538001145 meters 0.0653314647019941 Centerline is valid? [True, True] Translation: X:104.18, Y:-0.85, Z:-1.63 [[ 9.99957588e-01 4.82392403e-03 -7.84554730e-03 1.04176146e+02] [-4.82395643e-03 9.99988365e-01 1.47937605e-05 -8.47074259e-01] [ 7.84552738e-03 2.30534454e-05 9.99969223e-01 -1.63060172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.598001145 meters 0.06530595913602016 Centerline is valid? [True, True] Translation: X:104.24, Y:-0.85, Z:-1.63 [[ 9.99953785e-01 5.09157532e-03 -8.15499629e-03 1.04235374e+02] [-5.09162299e-03 9.99987037e-01 1.49166908e-05 -8.48670944e-01] [ 8.15496653e-03 2.66061651e-05 9.99966747e-01 -1.63159798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.658001145 meters 0.06521739415245162 Centerline is valid? [True, True] Translation: X:104.29, Y:-0.85, Z:-1.63 [[ 9.99959587e-01 5.22998720e-03 -7.31240780e-03 1.04294101e+02] [-5.23003325e-03 9.99986323e-01 1.28245069e-05 -8.54971266e-01] [ 7.31237486e-03 2.54201473e-05 9.99973264e-01 -1.63217518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.718001145 meters 0.06521491255502863 Centerline is valid? [True, True] Translation: X:104.35, Y:-0.86, Z:-1.63 [[ 9.99974459e-01 4.60849315e-03 -5.46290296e-03 1.04352707e+02] [-4.60851258e-03 9.99989381e-01 9.03058137e-06 -8.59401900e-01] [ 5.46288657e-03 1.61455063e-05 9.99985078e-01 -1.63280188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77800114499999 meters 0.06534948836861729 Centerline is valid? [True, True] Translation: X:104.41, Y:-0.86, Z:-1.63 [[ 9.99963173e-01 5.91171530e-03 -6.22122576e-03 1.04411777e+02] [-5.91176728e-03 9.99982525e-01 1.00331414e-05 -8.59858465e-01] [ 6.22117636e-03 2.67456670e-05 9.99980648e-01 -1.63411512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83800114499999 meters 0.06530851250044524 Centerline is valid? [True, True] Translation: X:104.47, Y:-0.86, Z:-1.64 [[ 9.99960983e-01 7.58259973e-03 -4.53177766e-03 1.04469087e+02] [-7.58264800e-03 9.99971251e-01 6.53002968e-06 -8.62703332e-01] [ 4.53169689e-03 2.78330999e-05 9.99989731e-01 -1.63591338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.898001145 meters 0.06512682907648917 Centerline is valid? [True, True] Translation: X:104.53, Y:-0.87, Z:-1.64 [[ 9.99954265e-01 8.28984645e-03 -4.76921206e-03 1.04528210e+02] [-8.28990809e-03 9.99965638e-01 6.84263558e-06 -8.65253021e-01] [ 4.76910491e-03 3.26940070e-05 9.99988627e-01 -1.63554994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.958001145 meters 0.06486680632710404 Centerline is valid? [True, True] Translation: X:104.59, Y:-0.87, Z:-1.64 [[ 9.99962158e-01 7.33712067e-03 -4.67435919e-03 1.04587410e+02] [-7.33717114e-03 9.99973083e-01 6.35144553e-06 -8.72749659e-01] [ 4.67427997e-03 2.79453681e-05 9.99989075e-01 -1.63540161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.018001145 meters 0.06484310507077791 Centerline is valid? [True, True] Translation: X:104.64, Y:-0.88, Z:-1.64 [[ 9.99961598e-01 6.32051656e-03 -6.07064077e-03 1.04644922e+02] [-6.32058544e-03 9.99980025e-01 7.83866977e-06 -8.76468658e-01] [ 6.07056905e-03 3.05316349e-05 9.99981573e-01 -1.63835425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.078001145 meters 0.06488516046284157 Centerline is valid? [True, True] Translation: X:104.70, Y:-0.89, Z:-1.64 [[ 9.99963271e-01 4.88511280e-03 -7.04225120e-03 1.04703577e+02] [-4.88517044e-03 9.99988067e-01 9.01677429e-06 -8.86218062e-01] [ 7.04221121e-03 2.53861543e-05 9.99975203e-01 -1.64074325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13800114499999 meters 0.06505873677751581 Centerline is valid? [True, True] Translation: X:104.76, Y:-0.89, Z:-1.64 [[ 9.99968807e-01 2.66825249e-03 -7.43413827e-03 1.04760829e+02] [-2.66826097e-03 9.99996440e-01 8.77803280e-06 -8.91407241e-01] [ 7.43413522e-03 1.10584620e-05 9.99972366e-01 -1.64448650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19800114499999 meters 0.06511622418012471 Centerline is valid? [True, True] Translation: X:104.82, Y:-0.90, Z:-1.65 [[ 9.99957043e-01 2.59651537e-03 -8.89772665e-03 1.04819464e+02] [-2.59652560e-03 9.99996629e-01 1.04012337e-05 -8.97186120e-01] [ 8.89772366e-03 1.27023882e-05 9.99960414e-01 -1.64511034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.258001145 meters 0.06541835132237928 Centerline is valid? [True, True] Translation: X:104.88, Y:-0.90, Z:-1.65 [[ 9.99935099e-01 3.74113514e-03 -1.07611091e-02 1.04877682e+02] [-3.74123648e-03 9.99993001e-01 1.07136074e-05 -8.99499085e-01] [ 1.07610739e-02 2.95469418e-05 9.99942098e-01 -1.64551726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.318001145 meters 0.0658805278230045 Centerline is valid? [True, True] Translation: X:104.94, Y:-0.90, Z:-1.65 [[ 9.99912053e-01 3.86549947e-03 -1.26863978e-02 1.04935160e+02] [-3.86565181e-03 9.99992528e-01 1.25134195e-05 -9.02184742e-01] [ 1.26863514e-02 3.65288777e-05 9.99919524e-01 -1.65064188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.378001145 meters 0.06564521137694625 Centerline is valid? [True, True] Translation: X:104.99, Y:-0.91, Z:-1.65 [[ 9.99909790e-01 3.67311794e-03 -1.29197790e-02 1.04993811e+02] [-3.67326700e-03 9.99993253e-01 1.21931091e-05 -9.08937456e-01] [ 1.29197366e-02 3.52657887e-05 9.99916536e-01 -1.65278853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.438001145 meters 0.06575802804293723 Centerline is valid? [True, True] Translation: X:105.05, Y:-0.91, Z:-1.65 [[ 9.99896710e-01 -9.71815881e-05 -1.43721845e-02 1.05051405e+02] [ 9.73694691e-05 9.99999995e-01 1.23728016e-05 -9.12520407e-01] [ 1.43721832e-02 -1.37709356e-05 9.99896715e-01 -1.65498685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49800114499999 meters 0.06542286756256899 Centerline is valid? [True, True] Translation: X:105.11, Y:-0.92, Z:-1.65 [[ 9.99900368e-01 -6.25572421e-03 -1.26538174e-02 1.05109979e+02] [ 6.25635372e-03 9.99980429e-01 1.01639094e-05 -9.22987912e-01] [ 1.26535062e-02 -8.93296542e-05 9.99919937e-01 -1.65158421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55800114499999 meters 0.0656458923769593 Centerline is valid? [True, True] Translation: X:105.17, Y:-0.93, Z:-1.65 [[ 9.99867527e-01 -9.36245275e-03 -1.33144153e-02 1.05169124e+02] [ 9.36341477e-03 9.99956162e-01 9.91767432e-06 -9.29087725e-01] [ 1.33137387e-02 -1.34584753e-04 9.99911359e-01 -1.65274955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.618001145 meters 0.06565094585478275 Centerline is valid? [True, True] Translation: X:105.23, Y:-0.93, Z:-1.65 [[ 9.99818113e-01 -1.14459121e-02 -1.52555709e-02 1.05228707e+02] [ 1.14474188e-02 9.99934476e-01 1.14419088e-05 -9.34414971e-01] [ 1.52544403e-02 -1.86076737e-04 9.99883627e-01 -1.65382156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.678001145 meters 0.06591084970811874 Centerline is valid? [True, True] Translation: X:105.29, Y:-0.94, Z:-1.66 [[ 9.99786881e-01 -1.18721625e-02 -1.68891901e-02 1.05286097e+02] [ 1.18740170e-02 9.99929501e-01 9.52164337e-06 -9.35520448e-01] [ 1.68878864e-02 -2.10062144e-04 9.99857367e-01 -1.65510685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.738001145 meters 0.0658746283445707 Centerline is valid? [True, True] Translation: X:105.34, Y:-0.94, Z:-1.66 [[ 9.99789715e-01 -1.11990745e-02 -1.71786836e-02 1.05344088e+02] [ 1.12007907e-02 9.99937269e-01 3.68624943e-06 -9.38713201e-01] [ 1.71775646e-02 -1.96100313e-04 9.99852436e-01 -1.65850462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.798001145 meters 0.0658139295295712 Centerline is valid? [True, True] Translation: X:105.40, Y:-0.94, Z:-1.66 [[ 9.99816851e-01 -9.93553477e-03 -1.63569697e-02 1.05402815e+02] [ 9.93686943e-03 9.99950628e-01 3.22167901e-07 -9.36538827e-01] [ 1.63561590e-02 -1.62859182e-04 9.99866216e-01 -1.65935087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85800114499999 meters 0.06553972789178866 Centerline is valid? [True, True] Translation: X:105.46, Y:-0.93, Z:-1.66 [[ 9.99855140e-01 -8.56876211e-03 -1.47063293e-02 1.05461473e+02] [ 8.56964140e-03 9.99963280e-01 -3.22752107e-06 -9.33478572e-01] [ 1.47058170e-02 -1.22800915e-04 9.99891856e-01 -1.65697990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91800114499999 meters 0.06585834976668126 Centerline is valid? [True, True] Translation: X:105.52, Y:-0.93, Z:-1.66 [[ 9.99843910e-01 -8.89956881e-03 -1.52628219e-02 1.05519037e+02] [ 8.90056862e-03 9.99960389e-01 -2.42215916e-06 -9.32842034e-01] [ 1.52622389e-02 -1.33426013e-04 9.99883516e-01 -1.65967730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.978001145 meters 0.06615949676324714 Centerline is valid? [True, True] Translation: X:105.58, Y:-0.94, Z:-1.66 [[ 9.99814258e-01 -1.02815683e-02 -1.63014959e-02 1.05577648e+02] [ 1.02828076e-02 9.99947131e-01 -7.79509216e-06 -9.35704452e-01] [ 1.63007142e-02 -1.59831502e-04 9.99867122e-01 -1.66372634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.038001145 meters 0.06613362899108535 Centerline is valid? [True, True] Translation: X:105.64, Y:-0.93, Z:-1.66 [[ 9.99821004e-01 -1.14147935e-02 -1.50885042e-02 1.05635116e+02] [ 1.14159929e-02 9.99934835e-01 -6.63965290e-06 -9.33728563e-01] [ 1.50875968e-02 -1.65611793e-04 9.99886162e-01 -1.66368179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.098001145 meters 0.06603935354070173 Centerline is valid? [True, True] Translation: X:105.69, Y:-0.93, Z:-1.66 [[ 9.99820703e-01 -1.11839120e-02 -1.52801046e-02 1.05693753e+02] [ 1.11850375e-02 9.99937445e-01 -1.18013122e-05 -9.31514601e-01] [ 1.52792807e-02 -1.59109346e-04 9.99883252e-01 -1.66336089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.158001145 meters 0.06617812264611819 Centerline is valid? [True, True] Translation: X:105.75, Y:-0.93, Z:-1.66 [[ 9.99805938e-01 -1.18033507e-02 -1.57723323e-02 1.05752822e+02] [ 1.18045751e-02 9.99930323e-01 -1.54675685e-05 -9.30511692e-01] [ 1.57714159e-02 -1.70721115e-04 9.99875609e-01 -1.66399298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.218001145 meters 0.06644801868830609 Centerline is valid? [True, True] Translation: X:105.81, Y:-0.93, Z:-1.67 [[ 9.99791999e-01 -1.25325063e-02 -1.60902043e-02 1.05810765e+02] [ 1.25338877e-02 9.99921448e-01 -1.49860038e-05 -9.29505270e-01] [ 1.60891282e-02 -1.86689927e-04 9.99870544e-01 -1.66735985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27800114499999 meters 0.06638557568538338 Centerline is valid? [True, True] Translation: X:105.87, Y:-0.92, Z:-1.67 [[ 9.99788402e-01 -1.06018749e-02 -1.76281592e-02 1.05869893e+02] [ 1.06031334e-02 9.99943785e-01 -2.20741512e-05 -9.23598218e-01] [ 1.76274023e-02 -1.64844244e-04 9.99844612e-01 -1.66752523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33800114499999 meters 0.06697272684828308 Centerline is valid? [True, True] Translation: X:105.93, Y:-0.92, Z:-1.68 [[ 9.99777881e-01 -1.02869418e-02 -1.83947678e-02 1.05927595e+02] [ 1.02882717e-02 9.99947074e-01 -2.23335715e-05 -9.23588295e-01] [ 1.83940240e-02 -1.66921759e-04 9.99830802e-01 -1.67528652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.398001145 meters 0.06700312590982387 Centerline is valid? [True, True] Translation: X:105.99, Y:-0.92, Z:-1.68 [[ 9.99704152e-01 -1.01666276e-02 -2.20963290e-02 1.05986537e+02] [ 1.01685092e-02 9.99948299e-01 -2.72024108e-05 -9.21195052e-01] [ 2.20954631e-02 -1.97492362e-04 9.99755846e-01 -1.67572323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.458001145 meters 0.06790783389603666 Centerline is valid? [True, True] Translation: X:106.04, Y:-0.92, Z:-1.68 [[ 9.99667486e-01 -1.09869830e-02 -2.33281647e-02 1.06044093e+02] [ 1.09892543e-02 9.99939616e-01 -3.08383056e-05 -9.21542621e-01] [ 2.33270949e-02 -2.25531083e-04 9.99727861e-01 -1.68367727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.518001145 meters 0.06707071684720493 Centerline is valid? [True, True] Translation: X:106.10, Y:-0.92, Z:-1.68 [[ 9.99633022e-01 -1.23633468e-02 -2.41032844e-02 1.06103283e+02] [ 1.23659973e-02 9.99923537e-01 -3.90883776e-05 -9.19027375e-01] [ 2.41019247e-02 -2.58987118e-04 9.99709473e-01 -1.67569162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.578001145 meters 0.06783870651017296 Centerline is valid? [True, True] Translation: X:106.16, Y:-0.92, Z:-1.68 [[ 9.99540887e-01 -1.48398659e-02 -2.64157878e-02 1.06161482e+02] [ 1.48439247e-02 9.99889822e-01 -4.24452585e-05 -9.20575489e-01] [ 2.64135072e-02 -3.49688194e-04 9.99651041e-01 -1.68100846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63800114499999 meters 0.06748334837609311 Centerline is valid? [True, True] Translation: X:106.22, Y:-0.92, Z:-1.68 [[ 9.99573112e-01 -1.71412139e-02 -2.36595075e-02 1.06220169e+02] [ 1.71450814e-02 9.99853012e-01 -3.93916313e-05 -9.23249933e-01] [ 2.36567051e-02 -3.66269366e-04 9.99720074e-01 -1.68074674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69800114499999 meters 0.06736766863134379 Centerline is valid? [True, True] Translation: X:106.28, Y:-0.92, Z:-1.68 [[ 9.99531942e-01 -2.00320803e-02 -2.31217033e-02 1.06279322e+02] [ 2.00363802e-02 9.99799251e-01 -4.57101454e-05 -9.22021725e-01] [ 2.31179773e-02 -4.17586489e-04 9.99732657e-01 -1.67812750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.758001145 meters 0.06826416827323331 Centerline is valid? [True, True] Translation: X:106.34, Y:-0.93, Z:-1.68 [[ 9.99433663e-01 -2.60695179e-02 -2.12775216e-02 1.06336543e+02] [ 2.60745170e-02 9.99660001e-01 -4.24985665e-05 -9.27628908e-01] [ 2.12713952e-02 -5.12326601e-04 9.99773607e-01 -1.67961070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.818001145 meters 0.06908138291112624 Centerline is valid? [True, True] Translation: X:106.40, Y:-0.93, Z:-1.68 [[ 9.99352863e-01 -3.07878110e-02 -1.86001519e-02 1.06398269e+02] [ 3.07924865e-02 9.99525798e-01 -3.50407768e-05 -9.33400905e-01] [ 1.85924105e-02 -5.37726827e-04 9.99827002e-01 -1.67971267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.878001145 meters 0.06996288998021505 Centerline is valid? [True, True] Translation: X:106.46, Y:-0.93, Z:-1.68 [[ 9.99277903e-01 -3.40570556e-02 -1.68460485e-02 1.06460228e+02] [ 3.40613794e-02 9.99419742e-01 -3.02710383e-05 -9.34111263e-01] [ 1.68373044e-02 -5.43550468e-04 9.99858095e-01 -1.67818132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.938001145 meters 0.07021330701503302 Centerline is valid? [True, True] Translation: X:106.52, Y:-0.93, Z:-1.68 [[ 9.99301748e-01 -3.40858690e-02 -1.53026455e-02 1.06522656e+02] [ 3.40894552e-02 9.99418785e-01 -2.65074006e-05 -9.34169425e-01] [ 1.52946549e-02 -4.95169955e-04 9.99882907e-01 -1.67848236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99800114499999 meters 0.07006873161830302 Centerline is valid? [True, True] Translation: X:106.58, Y:-0.94, Z:-1.68 [[ 9.99370440e-01 -3.25290838e-02 -1.41627213e-02 1.06582977e+02] [ 3.25320234e-02 9.99470693e-01 -2.28355608e-05 -9.35917721e-01] [ 1.41559677e-02 -4.37920797e-04 9.99899703e-01 -1.68060762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05800114499999 meters 0.07012954486305852 Centerline is valid? [True, True] Translation: X:106.65, Y:-0.93, Z:-1.68 [[ 9.99377459e-01 -3.23255933e-02 -1.41332960e-02 1.06645146e+02] [ 3.23285062e-02 9.99477297e-01 -2.23787081e-05 -9.33766817e-01] [ 1.41266319e-02 -4.34543570e-04 9.99900120e-01 -1.68014992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.118001145 meters 0.06798923423804648 Centerline is valid? [True, True] Translation: X:106.71, Y:-0.92, Z:-1.67 [[ 9.99427300e-01 -3.05879373e-02 -1.44723772e-02 1.06707035e+02] [ 3.05908237e-02 9.99531991e-01 -2.19395923e-05 -9.24092279e-01] [ 1.44662751e-02 -4.20794913e-04 9.99895269e-01 -1.67462955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.178001145 meters 0.06731152501214914 Centerline is valid? [True, True] Translation: X:106.77, Y:-0.92, Z:-1.68 [[ 9.99543665e-01 -2.74106941e-02 -1.26930986e-02 1.06768809e+02] [ 2.74126646e-02 9.99624202e-01 -1.87506923e-05 -9.23069987e-01] [ 1.26888425e-02 -3.29209519e-04 9.99919439e-01 -1.67531311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.238001145 meters 0.06664547578897878 Centerline is valid? [True, True] Translation: X:106.83, Y:-0.92, Z:-1.67 [[ 9.99615659e-01 -2.34022413e-02 -1.48616870e-02 1.06830583e+02] [ 2.34045152e-02 9.99726077e-01 -2.09213821e-05 -9.15355562e-01] [ 1.48581056e-02 -3.26917239e-04 9.99889559e-01 -1.67492826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.298001145 meters 0.06689233219452485 Centerline is valid? [True, True] Translation: X:106.89, Y:-0.91, Z:-1.68 [[ 9.99640388e-01 -2.18646124e-02 -1.55252558e-02 1.06892153e+02] [ 2.18669155e-02 9.99760890e-01 -2.14106780e-05 -9.12916077e-01] [ 1.55220117e-02 -3.18086479e-04 9.99879476e-01 -1.67819201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35800114499999 meters 0.06668827212158163 Centerline is valid? [True, True] Translation: X:106.95, Y:-0.92, Z:-1.68 [[ 9.99685430e-01 -2.10053928e-02 -1.37045722e-02 1.06953947e+02] [ 2.10071160e-02 9.99779326e-01 -1.82195112e-05 -9.17303314e-01] [ 1.37019307e-02 -2.69679758e-04 9.99906088e-01 -1.68081570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41800114499999 meters 0.06622215747349695 Centerline is valid? [True, True] Translation: X:107.02, Y:-0.92, Z:-1.68 [[ 9.99680851e-01 -2.14162771e-02 -1.33992510e-02 1.07015843e+02] [ 2.14179755e-02 9.99770609e-01 -1.67486651e-05 -9.15035846e-01] [ 1.33965360e-02 -2.70241509e-04 9.99910226e-01 -1.67790757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.478001145 meters 0.06584406046435227 Centerline is valid? [True, True] Translation: X:107.08, Y:-0.92, Z:-1.68 [[ 9.99670868e-01 -2.24038890e-02 -1.24988870e-02 1.07078517e+02] [ 2.24054549e-02 9.99748966e-01 -1.47491020e-05 -9.17211844e-01] [ 1.24960798e-02 -2.65299002e-04 9.99921886e-01 -1.67608256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.538001145 meters 0.06603992289838542 Centerline is valid? [True, True] Translation: X:107.14, Y:-0.92, Z:-1.68 [[ 9.99638403e-01 -2.25356164e-02 -1.46699929e-02 1.07140425e+02] [ 2.25377988e-02 9.99745991e-01 -1.65592226e-05 -9.22815817e-01] [ 1.46666398e-02 -3.14076114e-04 9.99892390e-01 -1.68148615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.598001145 meters 0.06520244628822769 Centerline is valid? [True, True] Translation: X:107.20, Y:-0.92, Z:-1.68 [[ 9.99690535e-01 -1.92226345e-02 -1.57900390e-02 1.07202906e+02] [ 1.92247643e-02 9.99815187e-01 -1.69114401e-05 -9.19213151e-01] [ 1.57874459e-02 -2.86653572e-04 9.99875329e-01 -1.68065369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.658001145 meters 0.06423362884364496 Centerline is valid? [True, True] Translation: X:107.26, Y:-0.92, Z:-1.68 [[ 9.99791878e-01 -1.24883339e-02 -1.61320201e-02 1.07264450e+02] [ 1.24896816e-02 9.99922001e-01 -1.72103951e-05 -9.15190201e-01] [ 1.61309767e-02 -1.84276981e-04 9.99869870e-01 -1.67915388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.718001145 meters 0.06399206882358321 Centerline is valid? [True, True] Translation: X:107.32, Y:-0.91, Z:-1.68 [[ 9.99818713e-01 -8.06156531e-03 -1.72497271e-02 1.07323530e+02] [ 8.06231973e-03 9.99967499e-01 -2.58073296e-05 -9.13809994e-01] [ 1.72493745e-02 -1.13270164e-04 9.99851212e-01 -1.68080024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77800114499999 meters 0.06377802230993308 Centerline is valid? [True, True] Translation: X:107.38, Y:-0.91, Z:-1.68 [[ 9.99834392e-01 -5.38155701e-03 -1.73846649e-02 1.07382471e+02] [ 5.38185174e-03 9.99985517e-01 -2.98314318e-05 -9.10885555e-01] [ 1.73845737e-02 -6.37351978e-05 9.99848875e-01 -1.68088506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83800114499999 meters 0.06339989256476013 Centerline is valid? [True, True] Translation: X:107.44, Y:-0.91, Z:-1.68 [[ 9.99864191e-01 -3.53438219e-03 -1.60968111e-02 1.07440844e+02] [ 3.53433513e-03 9.99993754e-01 -3.13713411e-05 -9.10219858e-01] [ 1.60968215e-02 -2.55244445e-05 9.99870437e-01 -1.67945668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.898001145 meters 0.06324762876788095 Centerline is valid? [True, True] Translation: X:107.50, Y:-0.91, Z:-1.68 [[ 9.99883147e-01 -3.44387573e-03 -1.48940270e-02 1.07499530e+02] [ 3.44377339e-03 9.99994070e-01 -3.25184994e-05 -9.10762010e-01] [ 1.48940506e-02 -1.87769543e-05 9.99889077e-01 -1.67865799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.958001145 meters 0.06319199271203503 Centerline is valid? [True, True] Translation: X:107.56, Y:-0.92, Z:-1.68 [[ 9.99884731e-01 -5.18125442e-03 -1.42716383e-02 1.07558279e+02] [ 5.18135465e-03 9.99986576e-01 -2.99526810e-05 -9.17524562e-01] [ 1.42716020e-02 -4.39971913e-05 9.99898155e-01 -1.68058052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.018001145 meters 0.06313446013062343 Centerline is valid? [True, True] Translation: X:107.62, Y:-0.92, Z:-1.68 [[ 9.99868840e-01 -8.13425317e-03 -1.40048975e-02 1.07616575e+02] [ 8.13462071e-03 9.99966913e-01 -3.07222965e-05 -9.21485171e-01] [ 1.40046840e-02 -8.32062623e-05 9.99901926e-01 -1.68044189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.078001145 meters 0.06273511098822213 Centerline is valid? [True, True] Translation: X:107.68, Y:-0.92, Z:-1.68 [[ 9.99881222e-01 -9.56615196e-03 -1.20843108e-02 1.07675666e+02] [ 9.56647218e-03 9.99954240e-01 -3.13061845e-05 -9.22875449e-01] [ 1.20840573e-02 -8.43017566e-05 9.99926982e-01 -1.67627008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13800114499999 meters 0.06216855010112128 Centerline is valid? [True, True] Translation: X:107.74, Y:-0.92, Z:-1.67 [[ 9.99933990e-01 -6.58725429e-03 -9.41402267e-03 1.07735651e+02] [ 6.58733209e-03 9.99978303e-01 -2.27431932e-05 -9.23718377e-01] [ 9.41396823e-03 -3.92716018e-05 9.99955687e-01 -1.67298178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19800114499999 meters 0.06209585416492611 Centerline is valid? [True, True] Translation: X:107.79, Y:-0.92, Z:-1.67 [[ 9.99953188e-01 -3.01172896e-03 -9.19516568e-03 1.07794021e+02] [ 3.01160802e-03 9.99995465e-01 -2.69981861e-05 -9.23962003e-01] [ 9.19520529e-03 -6.95312500e-07 9.99957723e-01 -1.67454732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.258001145 meters 0.06201396637443225 Centerline is valid? [True, True] Translation: X:107.85, Y:-0.92, Z:-1.68 [[ 9.99955672e-01 2.82924336e-04 -9.41135052e-03 1.07853105e+02] [-2.83215515e-04 9.99999959e-01 -2.96063892e-05 -9.21914193e-01] [ 9.41134176e-03 3.22705173e-05 9.99955712e-01 -1.67522209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.318001145 meters 0.062025614373624895 Centerline is valid? [True, True] Translation: X:107.91, Y:-0.93, Z:-1.68 [[ 9.99959776e-01 7.59356181e-04 -8.93699352e-03 1.07911304e+02] [-7.59627298e-04 9.99999711e-01 -2.69419917e-05 -9.25867847e-01] [ 8.93697048e-03 3.37296922e-05 9.99960064e-01 -1.67580023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.378001145 meters 0.06211856873932704 Centerline is valid? [True, True] Translation: X:107.97, Y:-0.93, Z:-1.68 [[ 9.99946150e-01 -1.22255861e-03 -1.03054307e-02 1.07970159e+02] [ 1.22230087e-03 9.99999253e-01 -3.13078991e-05 -9.32661379e-01] [ 1.03054613e-02 1.87098762e-05 9.99946897e-01 -1.67777146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.438001145 meters 0.06195197624867639 Centerline is valid? [True, True] Translation: X:108.03, Y:-0.94, Z:-1.68 [[ 9.99936252e-01 -3.00445344e-03 -1.08842150e-02 1.08029219e+02] [ 3.00426433e-03 9.99995487e-01 -3.37247129e-05 -9.41380867e-01] [ 1.08842672e-02 1.02350399e-06 9.99940765e-01 -1.67907343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49800114499999 meters 0.06204996154958873 Centerline is valid? [True, True] Translation: X:108.09, Y:-0.95, Z:-1.68 [[ 9.99922366e-01 -3.51130115e-03 -1.19554169e-02 1.08087517e+02] [ 3.51108278e-03 9.99993835e-01 -3.92543677e-05 -9.47609212e-01] [ 1.19554810e-02 -2.72513828e-06 9.99928531e-01 -1.68098806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55800114499999 meters 0.062001901381873864 Centerline is valid? [True, True] Translation: X:108.15, Y:-0.95, Z:-1.68 [[ 9.99903636e-01 -2.76330464e-03 -1.36045445e-02 1.08146593e+02] [ 2.76289342e-03 9.99996182e-01 -4.90208778e-05 -9.53105846e-01] [ 1.36046280e-02 1.14282474e-05 9.99907453e-01 -1.67910421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.618001145 meters 0.06235283165439671 Centerline is valid? [True, True] Translation: X:108.20, Y:-0.96, Z:-1.68 [[ 9.99874077e-01 -3.39374147e-03 -1.55019928e-02 1.08204476e+02] [ 3.39330327e-03 9.99994241e-01 -5.45707378e-05 -9.60637575e-01] [ 1.55020887e-02 1.96090332e-06 9.99879835e-01 -1.68370952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.678001145 meters 0.06267367785236769 Centerline is valid? [True, True] Translation: X:108.26, Y:-0.97, Z:-1.69 [[ 9.99789162e-01 -5.79685829e-03 -1.96984252e-02 1.08264099e+02] [ 5.79662452e-03 9.99983197e-01 -6.89657752e-05 -9.70884346e-01] [ 1.96984940e-02 -4.52331399e-05 9.99805965e-01 -1.68781135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.738001145 meters 0.06269485474274353 Centerline is valid? [True, True] Translation: X:108.32, Y:-0.98, Z:-1.69 [[ 9.99778175e-01 -8.65408104e-03 -1.92017676e-02 1.08322925e+02] [ 8.65435393e-03 9.99962548e-01 -6.88868118e-05 -9.77483473e-01] [ 1.92016446e-02 -9.73073622e-05 9.99815627e-01 -1.68779969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.798001145 meters 0.06244929652912211 Centerline is valid? [True, True] Translation: X:108.38, Y:-0.99, Z:-1.68 [[ 9.99781777e-01 -1.05110468e-02 -1.80531756e-02 1.08382043e+02] [ 1.05114745e-02 9.99944750e-01 -7.11992388e-05 -9.85657186e-01] [ 1.80529266e-02 -1.18581794e-04 9.99837026e-01 -1.68488419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85800114499999 meters 0.06226680136836494 Centerline is valid? [True, True] Translation: X:108.44, Y:-0.99, Z:-1.69 [[ 9.99801916e-01 -1.08348385e-02 -1.66953313e-02 1.08440590e+02] [ 1.08351833e-02 9.99941295e-01 -6.98059142e-05 -9.89652299e-01] [ 1.66951075e-02 -1.11104887e-04 9.99860621e-01 -1.68526600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91800114499999 meters 0.06265621531130836 Centerline is valid? [True, True] Translation: X:108.50, Y:-0.99, Z:-1.69 [[ 9.99756267e-01 -1.09522500e-02 -1.91691006e-02 1.08499304e+02] [ 1.09527538e-02 9.99940014e-01 -7.87107234e-05 -9.94509900e-01] [ 1.91688128e-02 -1.31262900e-04 9.99816253e-01 -1.68842537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.978001145 meters 0.06279678242282927 Centerline is valid? [True, True] Translation: X:108.56, Y:-1.00, Z:-1.69 [[ 9.99688339e-01 -1.26058588e-02 -2.15480245e-02 1.08558897e+02] [ 1.26068774e-02 9.99920526e-01 -8.85775978e-05 -9.99254867e-01] [ 2.15474286e-02 -1.83103311e-04 9.99767810e-01 -1.69102943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.038001145 meters 0.06279695842469586 Centerline is valid? [True, True] Translation: X:108.62, Y:-1.01, Z:-1.69 [[ 9.99658823e-01 -1.73435082e-02 -1.95305025e-02 1.08616315e+02] [ 1.73452050e-02 9.99849557e-01 -8.25257000e-05 -1.00688786e+00] [ 1.95289956e-02 -2.56263026e-04 9.99809258e-01 -1.69007237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.098001145 meters 0.06242268608653969 Centerline is valid? [True, True] Translation: X:108.68, Y:-1.01, Z:-1.69 [[ 9.99568286e-01 -2.19394747e-02 -1.95423047e-02 1.08675114e+02] [ 2.19419207e-02 9.99759243e-01 -8.92676089e-05 -1.01414022e+00] [ 1.95395583e-02 -3.39566631e-04 9.99809027e-01 -1.68598608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.158001145 meters 0.06278407158599009 Centerline is valid? [True, True] Translation: X:108.73, Y:-1.02, Z:-1.69 [[ 9.99534327e-01 -2.34791467e-02 -1.94899784e-02 1.08733683e+02] [ 2.34818938e-02 9.99724258e-01 -8.79218519e-05 -1.01816313e+00] [ 1.94866686e-02 -3.69780695e-04 9.99810048e-01 -1.68838319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.218001145 meters 0.06308553950116082 Centerline is valid? [True, True] Translation: X:108.79, Y:-1.02, Z:-1.69 [[ 9.99499219e-01 -2.48964868e-02 -1.95314194e-02 1.08793528e+02] [ 2.48995233e-02 9.99689955e-01 -8.77416179e-05 -1.02143380e+00] [ 1.95275482e-02 -3.98625353e-04 9.99809240e-01 -1.69075050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27800114499999 meters 0.06292483882732264 Centerline is valid? [True, True] Translation: X:108.85, Y:-1.03, Z:-1.69 [[ 9.99437436e-01 -2.66907358e-02 -2.03080183e-02 1.08854279e+02] [ 2.66943935e-02 9.99643637e-01 -9.09968331e-05 -1.02500480e+00] [ 2.03032101e-02 -4.51164591e-04 9.99793767e-01 -1.69034593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33800114499999 meters 0.06319909707186057 Centerline is valid? [True, True] Translation: X:108.91, Y:-1.03, Z:-1.69 [[ 9.99378057e-01 -2.89439606e-02 -2.01431372e-02 1.08914473e+02] [ 2.89480277e-02 9.99580914e-01 -8.97020359e-05 -1.02939193e+00] [ 2.01372918e-02 -4.93457847e-04 9.99797102e-01 -1.69170158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.398001145 meters 0.06327844238191412 Centerline is valid? [True, True] Translation: X:108.98, Y:-1.03, Z:-1.69 [[ 9.99351585e-01 -2.98245424e-02 -2.01719409e-02 1.08975518e+02] [ 2.98288179e-02 9.99555018e-01 -8.89656351e-05 -1.02839584e+00] [ 2.01656181e-02 -5.12797203e-04 9.99796522e-01 -1.69222820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.458001145 meters 0.06300577336042353 Centerline is valid? [True, True] Translation: X:109.04, Y:-1.03, Z:-1.69 [[ 9.99337979e-01 -3.10836067e-02 -1.89053971e-02 1.09036736e+02] [ 3.10876000e-02 9.99516660e-01 -8.27011220e-05 -1.03226944e+00] [ 1.88988301e-02 -5.05077051e-04 9.99821274e-01 -1.69173781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.518001145 meters 0.06397890528283819 Centerline is valid? [True, True] Translation: X:109.10, Y:-1.04, Z:-1.70 [[ 9.99259377e-01 -3.35414937e-02 -1.88591252e-02 1.09097367e+02] [ 3.35459061e-02 9.99437174e-01 -8.24258434e-05 -1.03843845e+00] [ 1.88512755e-02 -5.50281645e-04 9.99822147e-01 -1.69689240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.578001145 meters 0.06393983932519398 Centerline is valid? [True, True] Translation: X:109.16, Y:-1.03, Z:-1.69 [[ 9.99108307e-01 -3.76628213e-02 -1.90814949e-02 1.09158689e+02] [ 3.76681052e-02 9.99290302e-01 -8.25516994e-05 -1.03410216e+00] [ 1.90710619e-02 -6.36285668e-04 9.99817928e-01 -1.69356097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63800114499999 meters 0.0661846612759889 Centerline is valid? [True, True] Translation: X:109.22, Y:-1.04, Z:-1.70 [[ 9.99009654e-01 -3.94594732e-02 -2.05587216e-02 1.09218473e+02] [ 3.94660343e-02 9.99220909e-01 -8.66531105e-05 -1.04049738e+00] [ 2.05461237e-02 -7.24803916e-04 9.99788643e-01 -1.70111259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69800114499999 meters 0.06716103575051337 Centerline is valid? [True, True] Translation: X:109.28, Y:-1.04, Z:-1.71 [[ 9.98961804e-01 -4.08059711e-02 -2.02530463e-02 1.09279093e+02] [ 4.08126129e-02 9.99166815e-01 -8.54560153e-05 -1.04278672e+00] [ 2.02396589e-02 -7.41212442e-04 9.99794882e-01 -1.70566476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.758001145 meters 0.06434180048987799 Centerline is valid? [True, True] Translation: X:109.34, Y:-1.03, Z:-1.70 [[ 9.98966564e-01 -4.10527805e-02 -1.95057274e-02 1.09341454e+02] [ 4.10590230e-02 9.99156720e-01 -8.05050020e-05 -1.03063869e+00] [ 1.94925836e-02 -7.20464307e-04 9.99809742e-01 -1.69727443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.818001145 meters 0.06515639137181523 Centerline is valid? [True, True] Translation: X:109.40, Y:-1.03, Z:-1.70 [[ 9.98949548e-01 -4.19884496e-02 -1.83513106e-02 1.09402399e+02] [ 4.19941455e-02 9.99117854e-01 -7.50355535e-05 -1.02932221e+00] [ 1.83382727e-02 -6.95690876e-04 9.99831598e-01 -1.69928812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.878001145 meters 0.06419520364501219 Centerline is valid? [True, True] Translation: X:109.46, Y:-1.02, Z:-1.70 [[ 9.98949488e-01 -4.19347047e-02 -1.84770607e-02 1.09464660e+02] [ 4.19404969e-02 9.99120108e-01 -7.40812781e-05 -1.02238175e+00] [ 1.84639095e-02 -7.00933653e-04 9.99829282e-01 -1.69734334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.938001145 meters 0.06464484562042654 Centerline is valid? [True, True] Translation: X:109.53, Y:-1.02, Z:-1.70 [[ 9.99002786e-01 -4.01906032e-02 -1.94460520e-02 1.09526326e+02] [ 4.01967125e-02 9.99191783e-01 -7.67615027e-05 -1.02068052e+00] [ 1.94334204e-02 -7.04982406e-04 9.99810905e-01 -1.70154838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99800114499999 meters 0.06487282326041884 Centerline is valid? [True, True] Translation: X:109.59, Y:-1.02, Z:-1.70 [[ 9.99051976e-01 -3.90330647e-02 -1.92761224e-02 1.09587248e+02] [ 3.90389078e-02 9.99237689e-01 -7.32192564e-05 -1.01746820e+00] [ 1.92642860e-02 -6.79368923e-04 9.99814196e-01 -1.70368081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05800114499999 meters 0.06391803987758866 Centerline is valid? [True, True] Translation: X:109.65, Y:-1.01, Z:-1.70 [[ 9.99153839e-01 -3.70818249e-02 -1.77916984e-02 1.09648869e+02] [ 3.70865030e-02 9.99312057e-01 -6.70457626e-05 -1.01023907e+00] [ 1.77819449e-02 -5.92842846e-04 9.99841713e-01 -1.70082365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.118001145 meters 0.06329281791353591 Centerline is valid? [True, True] Translation: X:109.71, Y:-1.00, Z:-1.70 [[ 9.99273422e-01 -3.36309518e-02 -1.79328562e-02 1.09710861e+02] [ 3.36351615e-02 9.99434176e-01 -6.68978367e-05 -1.00407594e+00] [ 1.79249592e-02 -5.36325282e-04 9.99839191e-01 -1.70160482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.178001145 meters 0.06342055616339884 Centerline is valid? [True, True] Translation: X:109.77, Y:-1.00, Z:-1.70 [[ 9.99303436e-01 -3.26816590e-02 -1.80153040e-02 1.09771867e+02] [ 3.26857689e-02 9.99465675e-01 -6.63463220e-05 -1.00157396e+00] [ 1.80078463e-02 -5.22543955e-04 9.99837709e-01 -1.70380369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.238001145 meters 0.06374412797018152 Centerline is valid? [True, True] Translation: X:109.83, Y:-1.00, Z:-1.71 [[ 9.99274647e-01 -3.21890187e-02 -2.03481251e-02 1.09833581e+02] [ 3.21941781e-02 9.99481630e-01 -7.40574157e-05 -9.95090313e-01] [ 2.03399611e-02 -5.81087465e-04 9.99792953e-01 -1.70620244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.298001145 meters 0.06428238930475406 Centerline is valid? [True, True] Translation: X:109.89, Y:-1.00, Z:-1.71 [[ 9.99244377e-01 -3.29554902e-02 -2.06060900e-02 1.09894480e+02] [ 3.29609638e-02 9.99456637e-01 -7.40422382e-05 -9.95388422e-01] [ 2.05973335e-02 -6.05210296e-04 9.99787669e-01 -1.70939518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35800114499999 meters 0.06411732861020597 Centerline is valid? [True, True] Translation: X:109.96, Y:-0.99, Z:-1.71 [[ 9.99162748e-01 -3.56881733e-02 -2.00039551e-02 1.09956775e+02] [ 3.56939099e-02 9.99362767e-01 -7.03160680e-05 -9.93275587e-01] [ 1.99937174e-02 -6.43762176e-04 9.99799898e-01 -1.70888674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41800114499999 meters 0.06432634639417684 Centerline is valid? [True, True] Translation: X:110.02, Y:-0.99, Z:-1.71 [[ 9.99158948e-01 -3.53837869e-02 -2.07215784e-02 1.10017534e+02] [ 3.53898922e-02 9.99373579e-01 -7.21141857e-05 -9.90969232e-01] [ 2.07111496e-02 -6.61280891e-04 9.99785282e-01 -1.71159590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.478001145 meters 0.06509978565194165 Centerline is valid? [True, True] Translation: X:110.08, Y:-0.99, Z:-1.72 [[ 9.99246828e-01 -3.25618282e-02 -2.11069858e-02 1.10077577e+02] [ 3.25675309e-02 9.99469535e-01 -7.35914803e-05 -9.86168672e-01] [ 2.10981855e-02 -6.13866359e-04 9.99777220e-01 -1.71596039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.538001145 meters 0.06509158522987196 Centerline is valid? [True, True] Translation: X:110.14, Y:-0.98, Z:-1.72 [[ 9.99267862e-01 -3.14117154e-02 -2.18413381e-02 1.10139247e+02] [ 3.14175659e-02 9.99506344e-01 -7.53125589e-05 -9.83645185e-01] [ 2.18329216e-02 -6.10944258e-04 9.99761447e-01 -1.71904887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.598001145 meters 0.06370992285629522 Centerline is valid? [True, True] Translation: X:110.20, Y:-0.97, Z:-1.72 [[ 9.99340336e-01 -2.79435426e-02 -2.31959208e-02 1.10200724e+02] [ 2.79492248e-02 9.99609341e-01 -7.92558556e-05 -9.74262822e-01] [ 2.31890738e-02 -5.69104432e-04 9.99730935e-01 -1.71704886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.658001145 meters 0.06353354256448014 Centerline is valid? [True, True] Translation: X:110.26, Y:-0.97, Z:-1.72 [[ 9.99406280e-01 -2.51163971e-02 -2.35850374e-02 1.10261005e+02] [ 2.51214743e-02 9.99684403e-01 -8.10351642e-05 -9.69023271e-01] [ 2.35796294e-02 -5.11503860e-04 9.99721831e-01 -1.71810201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.718001145 meters 0.06290943498161519 Centerline is valid? [True, True] Translation: X:110.32, Y:-0.96, Z:-1.72 [[ 9.99509320e-01 -1.96279759e-02 -2.44103007e-02 1.10320824e+02] [ 1.96317491e-02 9.99807275e-01 -8.50852804e-05 -9.58006075e-01] [ 2.44072663e-02 -3.94173368e-04 9.99702021e-01 -1.71669596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77800114499999 meters 0.06250899197242689 Centerline is valid? [True, True] Translation: X:110.38, Y:-0.95, Z:-1.72 [[ 9.99601139e-01 -1.44928608e-02 -2.42388061e-02 1.10380141e+02] [ 1.44948907e-02 9.99894939e-01 -9.19568671e-05 -9.50674980e-01] [ 2.42375923e-02 -2.59418655e-04 9.99706193e-01 -1.71603917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83800114499999 meters 0.06226526637481588 Centerline is valid? [True, True] Translation: X:110.44, Y:-0.94, Z:-1.72 [[ 9.99723620e-01 -6.67373792e-03 -2.25420794e-02 1.10439724e+02] [ 6.67354099e-03 9.99977728e-01 -8.39640800e-05 -9.41628422e-01] [ 2.25421377e-02 -6.64946170e-05 9.99745892e-01 -1.71716613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.898001145 meters 0.06236156291817518 Centerline is valid? [True, True] Translation: X:110.50, Y:-0.93, Z:-1.72 [[ 9.99718848e-01 -1.87278765e-03 -2.36372264e-02 1.10498631e+02] [ 1.87104613e-03 9.99998245e-01 -9.57928924e-05 -9.34202691e-01] [ 2.36373643e-02 5.15396190e-05 9.99720597e-01 -1.71802787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.958001145 meters 0.06322814676784488 Centerline is valid? [True, True] Translation: X:110.56, Y:-0.93, Z:-1.72 [[ 9.99653499e-01 9.97537949e-04 -2.63037462e-02 1.10557210e+02] [-1.00064730e-03 9.99999494e-01 -1.05047018e-04 -9.28839246e-01] [ 2.63036281e-02 1.31331391e-04 9.99653991e-01 -1.72231872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.018001145 meters 0.063126237215574 Centerline is valid? [True, True] Translation: X:110.62, Y:-0.93, Z:-1.72 [[ 9.99654711e-01 -8.25584018e-04 -2.62636166e-02 1.10615575e+02] [ 8.22889453e-04 9.99999655e-01 -1.13404614e-04 -9.27908834e-01] [ 2.62637011e-02 9.17534034e-05 9.99655045e-01 -1.72272402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.078001145 meters 0.06286478864926738 Centerline is valid? [True, True] Translation: X:110.67, Y:-0.93, Z:-1.72 [[ 9.99650892e-01 -3.25133009e-03 -2.62206619e-02 1.10673599e+02] [ 3.24929994e-03 9.99994714e-01 -1.20031987e-04 -9.27081849e-01] [ 2.62209135e-02 3.47912881e-05 9.99656172e-01 -1.72019360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13800114499999 meters 0.06268609069315406 Centerline is valid? [True, True] Translation: X:110.73, Y:-0.93, Z:-1.72 [[ 9.99663294e-01 -7.13555653e-03 -2.49476065e-02 1.10732052e+02] [ 7.13495089e-03 9.99974539e-01 -1.13291557e-04 -9.31103534e-01] [ 2.49477797e-02 -6.47465358e-05 9.99688754e-01 -1.72113380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19800114499999 meters 0.06231804799907533 Centerline is valid? [True, True] Translation: X:110.79, Y:-0.93, Z:-1.72 [[ 9.99668428e-01 -1.05134555e-02 -2.35053465e-02 1.10791331e+02] [ 1.05136866e-02 9.99944723e-01 -1.13752925e-04 -9.34337921e-01] [ 2.35052431e-02 -1.33412639e-04 9.99723705e-01 -1.71797008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.258001145 meters 0.0623938314336597 Centerline is valid? [True, True] Translation: X:110.85, Y:-0.94, Z:-1.72 [[ 9.99646763e-01 -1.35871011e-02 -2.28416351e-02 1.10849443e+02] [ 1.35879682e-02 9.99907672e-01 -1.17248842e-04 -9.37744270e-01] [ 2.28411192e-02 -1.93163985e-04 9.99739089e-01 -1.71850571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.318001145 meters 0.06261368644646569 Centerline is valid? [True, True] Translation: X:110.91, Y:-0.94, Z:-1.72 [[ 9.99592174e-01 -1.75183715e-02 -2.25520060e-02 1.10908221e+02] [ 1.75201133e-02 9.99846504e-01 -1.20363354e-04 -9.40783241e-01] [ 2.25506530e-02 -2.74799433e-04 9.99745664e-01 -1.71883982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.378001145 meters 0.06282483585567794 Centerline is valid? [True, True] Translation: X:110.97, Y:-0.95, Z:-1.72 [[ 9.99548604e-01 -2.13857145e-02 -2.11006973e-02 1.10965831e+02] [ 2.13879749e-02 9.99771244e-01 -1.18573004e-04 -9.46022036e-01] [ 2.10984061e-02 -3.32781703e-04 9.99777348e-01 -1.72024987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.438001145 meters 0.06330429277724203 Centerline is valid? [True, True] Translation: X:111.03, Y:-0.95, Z:-1.72 [[ 9.99431360e-01 -2.72408933e-02 -1.98718518e-02 1.11025671e+02] [ 2.72441003e-02 9.99628805e-01 -1.09370361e-04 -9.54202941e-01] [ 1.98674548e-02 -4.32082555e-04 9.99802529e-01 -1.72062635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49800114499999 meters 0.06401409588602698 Centerline is valid? [True, True] Translation: X:111.09, Y:-0.96, Z:-1.72 [[ 9.99344540e-01 -2.98585120e-02 -2.04684860e-02 1.11086296e+02] [ 2.98624992e-02 9.99554010e-01 -1.10891781e-04 -9.59314509e-01] [ 2.04626683e-02 -5.00421051e-04 9.99790492e-01 -1.72247377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55800114499999 meters 0.06349897256445436 Centerline is valid? [True, True] Translation: X:111.15, Y:-0.96, Z:-1.72 [[ 9.99309777e-01 -3.09355159e-02 -2.05660626e-02 1.11148181e+02] [ 3.09398038e-02 9.99521244e-01 -1.09738819e-04 -9.62555354e-01] [ 2.05596113e-02 -5.26646868e-04 9.99788490e-01 -1.72164768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.618001145 meters 0.06407030904687908 Centerline is valid? [True, True] Translation: X:111.21, Y:-0.97, Z:-1.72 [[ 9.99265231e-01 -3.09861425e-02 -2.25578644e-02 1.11209062e+02] [ 3.09913600e-02 9.99519645e-01 -1.18350508e-04 -9.65138183e-01] [ 2.25506959e-02 -5.80835349e-04 9.99745532e-01 -1.72449882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.678001145 meters 0.06403069907836387 Centerline is valid? [True, True] Translation: X:111.27, Y:-0.97, Z:-1.73 [[ 9.99212138e-01 -3.19437000e-02 -2.35521305e-02 1.11270493e+02] [ 3.19496532e-02 9.99489472e-01 -1.23583051e-04 -9.67030076e-01] [ 2.35440542e-02 -6.28996717e-04 9.99722602e-01 -1.72529874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.738001145 meters 0.06465531548595267 Centerline is valid? [True, True] Translation: X:111.33, Y:-0.97, Z:-1.73 [[ 9.99130806e-01 -3.32343944e-02 -2.51616312e-02 1.11331680e+02] [ 3.32416173e-02 9.99447336e-01 -1.31275506e-04 -9.72038041e-01] [ 2.51520881e-02 -7.05251912e-04 9.99683387e-01 -1.72895789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.798001145 meters 0.06389156170895392 Centerline is valid? [True, True] Translation: X:111.39, Y:-0.97, Z:-1.73 [[ 9.99186089e-01 -3.21039292e-02 -2.44232849e-02 1.11393439e+02] [ 3.21104317e-02 9.99484319e-01 -1.25992348e-04 -9.71446210e-01] [ 2.44147351e-02 -6.58352419e-04 9.99701699e-01 -1.72744190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85800114499999 meters 0.06412601464816131 Centerline is valid? [True, True] Translation: X:111.45, Y:-0.97, Z:-1.73 [[ 9.99183139e-01 -3.06855125e-02 -2.62955014e-02 1.11454472e+02] [ 3.06925744e-02 9.99528863e-01 -1.35098841e-04 -9.66525048e-01] [ 2.62872582e-02 -6.72088150e-04 9.99654204e-01 -1.72878012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91800114499999 meters 0.06411012504277308 Centerline is valid? [True, True] Translation: X:111.51, Y:-0.97, Z:-1.73 [[ 9.99171561e-01 -3.13549841e-02 -2.59433390e-02 1.11514516e+02] [ 3.13620721e-02 9.99508080e-01 -1.33730678e-04 -9.67009649e-01] [ 2.59347700e-02 -6.80016977e-04 9.99663406e-01 -1.73052052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.978001145 meters 0.06417113638982011 Centerline is valid? [True, True] Translation: X:111.58, Y:-0.97, Z:-1.73 [[ 9.99116206e-01 -3.34707690e-02 -2.54266543e-02 1.11575557e+02] [ 3.34782943e-02 9.99439436e-01 -1.29790340e-04 -9.66267919e-01] [ 2.54167453e-02 -7.21565385e-04 9.99676682e-01 -1.73107586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.038001145 meters 0.06481050669458527 Centerline is valid? [True, True] Translation: X:111.64, Y:-0.97, Z:-1.73 [[ 9.99038078e-01 -3.73814146e-02 -2.29248401e-02 1.11635640e+02] [ 3.73885637e-02 9.99300796e-01 -1.16841662e-04 -9.67921517e-01] [ 2.29131787e-02 -7.40397577e-04 9.99737184e-01 -1.73218783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.098001145 meters 0.06540822800375139 Centerline is valid? [True, True] Translation: X:111.70, Y:-0.97, Z:-1.73 [[ 9.98940399e-01 -4.00027855e-02 -2.27564579e-02 1.11697882e+02] [ 4.00105575e-02 9.99199251e-01 -1.13860497e-04 -9.68361113e-01] [ 2.27427904e-02 -7.96758717e-04 9.99741032e-01 -1.73324829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.158001145 meters 0.06617393156867124 Centerline is valid? [True, True] Translation: X:111.76, Y:-0.97, Z:-1.73 [[ 9.98790916e-01 -4.38133841e-02 -2.22955770e-02 1.11759423e+02] [ 4.38217981e-02 9.99039357e-01 -1.11285771e-04 -9.68259335e-01] [ 2.22790347e-02 -8.65881056e-04 9.99751417e-01 -1.73468305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21800114499999 meters 0.06657130305133141 Centerline is valid? [True, True] Translation: X:111.82, Y:-0.97, Z:-1.74 [[ 9.98755177e-01 -4.45283023e-02 -2.24794756e-02 1.11822018e+02] [ 4.45370781e-02 9.99007726e-01 -1.10351458e-04 -9.68119901e-01] [ 2.24620836e-02 -8.90956073e-04 9.99747299e-01 -1.73630936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27800114499999 meters 0.06635460622939099 Centerline is valid? [True, True] Translation: X:111.88, Y:-0.97, Z:-1.74 [[ 9.98626917e-01 -4.70479368e-02 -2.30384959e-02 1.11882721e+02] [ 4.70578169e-02 9.98892161e-01 -1.13402279e-04 -9.65714270e-01] [ 2.30183083e-02 -9.70894752e-04 9.99734572e-01 -1.73647958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33800114499999 meters 0.06739058431510316 Centerline is valid? [True, True] Translation: X:111.94, Y:-0.97, Z:-1.74 [[ 9.98541618e-01 -4.88563925e-02 -2.29715084e-02 1.11943631e+02] [ 4.88667776e-02 9.98805299e-01 -1.09378733e-04 -9.67001055e-01] [ 2.29494082e-02 -1.01332437e-03 9.99736114e-01 -1.73926625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.398001145 meters 0.06788564146419225 Centerline is valid? [True, True] Translation: X:112.00, Y:-0.96, Z:-1.74 [[ 9.98582860e-01 -4.95603542e-02 -1.93918461e-02 1.12004867e+02] [ 4.95678826e-02 9.98770753e-01 -9.25314376e-05 -9.62207782e-01] [ 1.93725946e-02 -8.68812441e-04 9.99811956e-01 -1.73784424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.458001145 meters 0.06812377049101939 Centerline is valid? [True, True] Translation: X:112.07, Y:-0.96, Z:-1.74 [[ 9.98706135e-01 -4.68387151e-02 -1.98038240e-02 1.12065477e+02] [ 4.68460447e-02 9.98902117e-01 -9.38922818e-05 -9.57956493e-01] [ 1.97864795e-02 -8.33960026e-04 9.99803881e-01 -1.74122281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.518001145 meters 0.06699691728934355 Centerline is valid? [True, True] Translation: X:112.13, Y:-0.95, Z:-1.74 [[ 9.98811959e-01 -4.47189183e-02 -1.93620354e-02 1.12126947e+02] [ 4.47255390e-02 9.98999308e-01 -9.11700521e-05 -9.52446585e-01] [ 1.93467370e-02 -7.74915732e-04 9.99812534e-01 -1.74177256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.578001145 meters 0.06643451665181234 Centerline is valid? [True, True] Translation: X:112.19, Y:-0.94, Z:-1.74 [[ 9.98879442e-01 -4.37040930e-02 -1.81607694e-02 1.12188269e+02] [ 4.37097612e-02 9.99044268e-01 -8.48970563e-05 -9.44285119e-01] [ 1.81471229e-02 -7.09000968e-04 9.99835076e-01 -1.74033470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63800114499999 meters 0.06674369190780503 Centerline is valid? [True, True] Translation: X:112.25, Y:-0.94, Z:-1.74 [[ 9.98869207e-01 -4.36866078e-02 -1.87559763e-02 1.12250667e+02] [ 4.36926810e-02 9.99045015e-01 -8.60587445e-05 -9.40999005e-01] [ 1.87418243e-02 -7.33537460e-04 9.99824088e-01 -1.74176420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69800114499999 meters 0.0668608236480079 Centerline is valid? [True, True] Translation: X:112.31, Y:-0.94, Z:-1.74 [[ 9.98948988e-01 -4.27783334e-02 -1.64600715e-02 1.12312475e+02] [ 4.27829083e-02 9.99084389e-01 -7.42506250e-05 -9.37719906e-01] [ 1.64481768e-02 -6.30037145e-04 9.99864521e-01 -1.74230334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.758001145 meters 0.0659162546792162 Centerline is valid? [True, True] Translation: X:112.37, Y:-0.93, Z:-1.74 [[ 9.99016407e-01 -4.11338420e-02 -1.65597602e-02 1.12374938e+02] [ 4.11382642e-02 9.99153461e-01 -7.36505206e-05 -9.27502788e-01] [ 1.65487712e-02 -6.07661713e-04 9.99862875e-01 -1.73901011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.818001145 meters 0.0654243968834876 Centerline is valid? [True, True] Translation: X:112.44, Y:-0.92, Z:-1.74 [[ 9.99123909e-01 -3.85347851e-02 -1.63243441e-02 1.12436290e+02] [ 3.85387374e-02 9.99257104e-01 -7.25129387e-05 -9.22569355e-01] [ 1.63150111e-02 -5.56670201e-04 9.99866746e-01 -1.73990832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.878001145 meters 0.06493017882083299 Centerline is valid? [True, True] Translation: X:112.50, Y:-0.92, Z:-1.74 [[ 9.99294161e-01 -3.40768612e-02 -1.58097511e-02 1.12495672e+02] [ 3.40799962e-02 9.99419106e-01 -7.11546393e-05 -9.17251145e-01] [ 1.58029921e-02 -4.67691843e-04 9.99875016e-01 -1.74082866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.938001145 meters 0.06448611419753283 Centerline is valid? [True, True] Translation: X:112.56, Y:-0.91, Z:-1.74 [[ 9.99394889e-01 -3.08121770e-02 -1.61389708e-02 1.12557102e+02] [ 3.08150380e-02 9.99525101e-01 -7.14342541e-05 -9.10785848e-01] [ 1.61335075e-02 -4.25931971e-04 9.99869756e-01 -1.74001631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99800114499999 meters 0.06435045516001976 Centerline is valid? [True, True] Translation: X:112.62, Y:-0.91, Z:-1.74 [[ 9.99484368e-01 -2.67256900e-02 -1.77970471e-02 1.12618338e+02] [ 2.67285399e-02 9.99642726e-01 -7.77548633e-05 -9.09515200e-01] [ 1.77927667e-02 -3.97974312e-04 9.99841617e-01 -1.74442799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05800114499999 meters 0.0637669896533145 Centerline is valid? [True, True] Translation: X:112.68, Y:-0.91, Z:-1.74 [[ 9.99533208e-01 -2.45480153e-02 -1.81868440e-02 1.12680923e+02] [ 2.45506563e-02 9.99698584e-01 -7.80747841e-05 -9.06850579e-01] [ 1.81832788e-02 -3.68460617e-04 9.99834603e-01 -1.74426398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.118001145 meters 0.06419359552891939 Centerline is valid? [True, True] Translation: X:112.74, Y:-0.90, Z:-1.75 [[ 9.99579236e-01 -2.16275855e-02 -1.93286808e-02 1.12742361e+02] [ 2.16300747e-02 9.99766039e-01 -8.02939811e-05 -9.04154570e-01] [ 1.93258952e-02 -3.37820613e-04 9.99813180e-01 -1.74806795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.178001145 meters 0.06345111843336554 Centerline is valid? [True, True] Translation: X:112.80, Y:-0.90, Z:-1.75 [[ 9.99614068e-01 -2.03250973e-02 -1.89368812e-02 1.12803368e+02] [ 2.03272443e-02 9.99793377e-01 -7.91226158e-05 -9.02473187e-01] [ 1.89345765e-02 -3.05842529e-04 9.99820678e-01 -1.74528815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.238001145 meters 0.06313730555313891 Centerline is valid? [True, True] Translation: X:112.86, Y:-0.90, Z:-1.75 [[ 9.99644416e-01 -1.82638030e-02 -1.94287125e-02 1.12864531e+02] [ 1.82656855e-02 9.99833165e-01 -8.05732157e-05 -9.03263946e-01] [ 1.94269427e-02 -2.74334188e-04 9.99811242e-01 -1.74624849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.298001145 meters 0.06333552623902783 Centerline is valid? [True, True] Translation: X:112.92, Y:-0.90, Z:-1.75 [[ 9.99669174e-01 -1.66756845e-02 -1.95822302e-02 1.12923656e+02] [ 1.66772731e-02 9.99860921e-01 -8.21857834e-05 -9.02856013e-01] [ 1.95808772e-02 -2.44419606e-04 9.99808246e-01 -1.74796530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35800114499999 meters 0.0628733005063571 Centerline is valid? [True, True] Translation: X:112.98, Y:-0.90, Z:-1.75 [[ 9.99688189e-01 -1.57628842e-02 -1.93663622e-02 1.12982395e+02] [ 1.57641273e-02 9.99875735e-01 -8.84806270e-05 -9.03020200e-01] [ 1.93653503e-02 -2.16840760e-04 9.99812451e-01 -1.74510485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41800114499999 meters 0.06279885822142953 Centerline is valid? [True, True] Translation: X:113.04, Y:-0.90, Z:-1.75 [[ 9.99733171e-01 -1.41335315e-02 -1.82710098e-02 1.13040558e+02] [ 1.41342903e-02 9.99900102e-01 -8.76094325e-05 -9.04909004e-01] [ 1.82704228e-02 -1.70661701e-04 9.99833067e-01 -1.74756743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.478001145 meters 0.06263865705640194 Centerline is valid? [True, True] Translation: X:113.10, Y:-0.90, Z:-1.75 [[ 9.99731657e-01 -1.40086268e-02 -1.84491788e-02 1.13099279e+02] [ 1.40093061e-02 9.99901861e-01 -9.24264968e-05 -9.04775379e-01] [ 1.84486630e-02 -1.66058499e-04 9.99829795e-01 -1.74702443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.538001145 meters 0.0628943187805289 Centerline is valid? [True, True] Translation: X:113.16, Y:-0.91, Z:-1.75 [[ 9.99667313e-01 -1.46816227e-02 -2.12064663e-02 1.13158857e+02] [ 1.46827231e-02 9.99892198e-01 -1.03817474e-04 -9.05534918e-01] [ 2.12057044e-02 -2.07585738e-04 9.99775112e-01 -1.74964304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.598001145 meters 0.06307364992736643 Centerline is valid? [True, True] Translation: X:113.22, Y:-0.91, Z:-1.75 [[ 9.99596553e-01 -1.71578218e-02 -2.26349377e-02 1.13217414e+02] [ 1.71595347e-02 9.99852757e-01 -1.18566292e-04 -9.08327782e-01] [ 2.26336392e-02 -2.69886541e-04 9.99743790e-01 -1.75019741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.658001145 meters 0.06329873115794718 Centerline is valid? [True, True] Translation: X:113.27, Y:-0.91, Z:-1.75 [[ 9.99602291e-01 -1.85138910e-02 -2.12719569e-02 1.13274762e+02] [ 1.85157144e-02 9.99828563e-01 -1.11248688e-04 -9.11264321e-01] [ 2.12703697e-02 -2.82661034e-04 9.99773720e-01 -1.75239091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71800114499999 meters 0.0632872576650959 Centerline is valid? [True, True] Translation: X:113.33, Y:-0.91, Z:-1.75 [[ 9.99546331e-01 -2.15915851e-02 -2.09984748e-02 1.13333643e+02] [ 2.15938993e-02 9.99766818e-01 -1.16558633e-04 -9.12743065e-01] [ 2.09960950e-02 -3.36933196e-04 9.99779501e-01 -1.74981895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77800114499999 meters 0.06377911463604793 Centerline is valid? [True, True] Translation: X:113.39, Y:-0.91, Z:-1.75 [[ 9.99445849e-01 -2.48199618e-02 -2.21802711e-02 1.13393506e+02] [ 2.48233994e-02 9.99691845e-01 -1.20373674e-04 -9.14248519e-01] [ 2.21764238e-02 -4.30282760e-04 9.99753980e-01 -1.75164772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83800114499999 meters 0.06409892795488746 Centerline is valid? [True, True] Translation: X:113.45, Y:-0.92, Z:-1.75 [[ 9.99396957e-01 -2.59724774e-02 -2.30467366e-02 1.13454387e+02] [ 2.59765142e-02 9.99662546e-01 -1.24253903e-04 -9.15282059e-01] [ 2.30421865e-02 -4.74494906e-04 9.99734381e-01 -1.75467892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.898001145 meters 0.0642072868163854 Centerline is valid? [True, True] Translation: X:113.52, Y:-0.92, Z:-1.75 [[ 9.99369375e-01 -2.74998486e-02 -2.24635262e-02 1.13515825e+02] [ 2.75040906e-02 9.99621684e-01 -1.20158421e-04 -9.15870743e-01] [ 2.24583322e-02 -4.97756213e-04 9.99747656e-01 -1.75470192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.958001145 meters 0.06488486880730224 Centerline is valid? [True, True] Translation: X:113.58, Y:-0.92, Z:-1.76 [[ 9.99355724e-01 -2.83015975e-02 -2.20716325e-02 1.13575836e+02] [ 2.83059196e-02 9.99599300e-01 -1.16635310e-04 -9.15835975e-01] [ 2.20660894e-02 -5.08197692e-04 9.99756385e-01 -1.75751644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.018001145 meters 0.06460550901542211 Centerline is valid? [True, True] Translation: X:113.64, Y:-0.91, Z:-1.76 [[ 9.99395547e-01 -2.77099880e-02 -2.09927732e-02 1.13637124e+02] [ 2.77137758e-02 9.99615893e-01 -1.10530502e-04 -9.12373796e-01] [ 2.09877725e-02 -4.71325318e-04 9.99779621e-01 -1.75590106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.078001145 meters 0.06424964809897503 Centerline is valid? [True, True] Translation: X:113.70, Y:-0.91, Z:-1.76 [[ 9.99463122e-01 -2.53655837e-02 -2.07377863e-02 1.13698721e+02] [ 2.53687894e-02 9.99678155e-01 -1.08520942e-04 -9.08805451e-01] [ 2.07338647e-02 -4.17629855e-04 9.99784943e-01 -1.75657828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13800114499999 meters 0.06454599011872413 Centerline is valid? [True, True] Translation: X:113.76, Y:-0.91, Z:-1.76 [[ 9.99485503e-01 -2.39146635e-02 -2.13733045e-02 1.13759857e+02] [ 2.39177629e-02 9.99713923e-01 -1.10642306e-04 -9.08633140e-01] [ 2.13698361e-02 -4.00616248e-04 9.99771559e-01 -1.76115575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19800114499999 meters 0.06395401104828004 Centerline is valid? [True, True] Translation: X:113.82, Y:-0.90, Z:-1.76 [[ 9.99524627e-01 -2.03188307e-02 -2.31875991e-02 1.13820484e+02] [ 2.03214950e-02 9.99793490e-01 -1.20750536e-04 -9.01358449e-01] [ 2.31852642e-02 -3.50513545e-04 9.99731124e-01 -1.75928130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.258001145 meters 0.06378788713036022 Centerline is valid? [True, True] Translation: X:113.88, Y:-0.90, Z:-1.76 [[ 9.99607391e-01 -1.71954963e-02 -2.21219035e-02 1.13879312e+02] [ 1.71971064e-02 9.99852112e-01 -1.17469416e-04 -8.96966661e-01] [ 2.21206519e-02 -2.63009432e-04 9.99755274e-01 -1.75889039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.318001145 meters 0.06369852956448056 Centerline is valid? [True, True] Translation: X:113.94, Y:-0.89, Z:-1.76 [[ 9.99652555e-01 -1.46873873e-02 -2.18871919e-02 1.13938545e+02] [ 1.46882858e-02 9.99892114e-01 -1.19721162e-04 -8.93927222e-01] [ 2.18865890e-02 -2.01805765e-04 9.99760440e-01 -1.75879778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.378001145 meters 0.06473444858527255 Centerline is valid? [True, True] Translation: X:114.00, Y:-0.89, Z:-1.77 [[ 9.99624848e-01 -1.42145772e-02 -2.34117489e-02 1.13995835e+02] [ 1.42154093e-02 9.99898947e-01 -1.30894728e-04 -8.94584522e-01] [ 2.34112437e-02 -2.01961969e-04 9.99725899e-01 -1.76906775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.438001145 meters 0.06444270125972616 Centerline is valid? [True, True] Translation: X:114.05, Y:-0.89, Z:-1.77 [[ 9.99595964e-01 -1.43844802e-02 -2.45152276e-02 1.14054642e+02] [ 1.43852885e-02 9.99896516e-01 -1.43391423e-04 -8.89468382e-01] [ 2.45147533e-02 -2.09325135e-04 9.99699446e-01 -1.76646104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49800114499999 meters 0.06413207333137337 Centerline is valid? [True, True] Translation: X:114.11, Y:-0.89, Z:-1.76 [[ 9.99643776e-01 -1.30832288e-02 -2.32626518e-02 1.14114039e+02] [ 1.30835724e-02 9.99914397e-01 -1.37438918e-04 -8.89244222e-01] [ 2.32624586e-02 -1.66968629e-04 9.99729378e-01 -1.76420818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55800114499999 meters 0.06417114337656847 Centerline is valid? [True, True] Translation: X:114.17, Y:-0.89, Z:-1.77 [[ 9.99656711e-01 -1.25050494e-02 -2.30235516e-02 1.14172842e+02] [ 1.25050815e-02 9.99921798e-01 -1.42585433e-04 -8.86543022e-01] [ 2.30235342e-02 -1.45374904e-04 9.99734913e-01 -1.76500650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.618001145 meters 0.06398533702471079 Centerline is valid? [True, True] Translation: X:114.23, Y:-0.89, Z:-1.76 [[ 9.99752944e-01 -1.23167838e-02 -1.85026645e-02 1.14231596e+02] [ 1.23167902e-02 9.99924139e-01 -1.13614723e-04 -8.85101009e-01] [ 1.85026602e-02 -1.14306782e-04 9.99828805e-01 -1.76349704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.678001145 meters 0.06395253398168166 Centerline is valid? [True, True] Translation: X:114.29, Y:-0.89, Z:-1.76 [[ 9.99748393e-01 -1.42248639e-02 -1.73436834e-02 1.14290069e+02] [ 1.42250523e-02 9.99898812e-01 -1.12510467e-04 -8.87226240e-01] [ 1.73435288e-02 -1.34232643e-04 9.99849581e-01 -1.76339346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.738001145 meters 0.06423874152404642 Centerline is valid? [True, True] Translation: X:114.35, Y:-0.89, Z:-1.77 [[ 9.99703338e-01 -1.60126720e-02 -1.83529405e-02 1.14349176e+02] [ 1.60132153e-02 9.99871773e-01 -1.17364477e-04 -8.92294076e-01] [ 1.83524665e-02 -1.76559929e-04 9.99831564e-01 -1.76709584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.798001145 meters 0.063740860192985 Centerline is valid? [True, True] Translation: X:114.41, Y:-0.89, Z:-1.76 [[ 9.99728783e-01 -1.45732106e-02 -1.81654235e-02 1.14408957e+02] [ 1.45734983e-02 9.99893794e-01 -1.16544020e-04 -8.89131124e-01] [ 1.81651926e-02 -1.48221358e-04 9.99834988e-01 -1.76385031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85800114499999 meters 0.06352965800935238 Centerline is valid? [True, True] Translation: X:114.47, Y:-0.89, Z:-1.76 [[ 9.99754089e-01 -1.30244526e-02 -1.79478569e-02 1.14467769e+02] [ 1.30243627e-02 9.99915172e-01 -1.21902322e-04 -8.90278158e-01] [ 1.79479221e-02 -1.11887053e-04 9.99838917e-01 -1.76349512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91800114499999 meters 0.06336387513506861 Centerline is valid? [True, True] Translation: X:114.53, Y:-0.89, Z:-1.77 [[ 9.99792547e-01 -1.18473421e-02 -1.65681684e-02 1.14526516e+02] [ 1.18470391e-02 9.99929815e-01 -1.16440782e-04 -8.93025224e-01] [ 1.65683850e-02 -7.98671124e-05 9.99862732e-01 -1.76543365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.978001145 meters 0.0632304364973992 Centerline is valid? [True, True] Translation: X:114.58, Y:-0.89, Z:-1.76 [[ 9.99803176e-01 -1.10726451e-02 -1.64622337e-02 1.14584703e+02] [ 1.10721654e-02 9.99938694e-01 -1.20280621e-04 -8.91744133e-01] [ 1.64625563e-02 -6.20156284e-05 9.99864481e-01 -1.76378719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.038001145 meters 0.06327414976992642 Centerline is valid? [True, True] Translation: X:114.64, Y:-0.90, Z:-1.77 [[ 9.99826833e-01 -9.60362641e-03 -1.59397420e-02 1.14643499e+02] [ 9.60294007e-03 9.99953884e-01 -1.19599054e-04 -8.96348899e-01] [ 1.59401555e-02 -3.34900432e-05 9.99872947e-01 -1.76697556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.098001145 meters 0.06329707812667631 Centerline is valid? [True, True] Translation: X:114.70, Y:-0.90, Z:-1.77 [[ 9.99801468e-01 -1.18038952e-02 -1.60527996e-02 1.14702483e+02] [ 1.18034272e-02 9.99930329e-01 -1.23905068e-04 -9.02526350e-01] [ 1.60531437e-02 -6.55975819e-05 9.99871138e-01 -1.76833088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.158001145 meters 0.06379718837189012 Centerline is valid? [True, True] Translation: X:114.76, Y:-0.91, Z:-1.77 [[ 9.99721778e-01 -1.49859880e-02 -1.82150315e-02 1.14761241e+02] [ 1.49859499e-02 9.99887695e-01 -1.38593003e-04 -9.08920803e-01] [ 1.82150628e-02 -1.34415107e-04 9.99834083e-01 -1.77275498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21800114499999 meters 0.06348132730867849 Centerline is valid? [True, True] Translation: X:114.82, Y:-0.91, Z:-1.77 [[ 9.99730101e-01 -1.45289102e-02 -1.81283138e-02 1.14820403e+02] [ 1.45286801e-02 9.99894443e-01 -1.44402706e-04 -9.12669015e-01] [ 1.81284982e-02 -1.19016740e-04 9.99835658e-01 -1.77144494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27800114499999 meters 0.06321628696994933 Centerline is valid? [True, True] Translation: X:114.88, Y:-0.91, Z:-1.77 [[ 9.99763242e-01 -1.11795779e-02 -1.86675635e-02 1.14878949e+02] [ 1.11786747e-02 9.99937505e-01 -1.52733353e-04 -9.13554106e-01] [ 1.86681044e-02 -5.59814280e-05 9.99825734e-01 -1.77120250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33800114499999 meters 0.06317428627431881 Centerline is valid? [True, True] Translation: X:114.94, Y:-0.91, Z:-1.77 [[ 9.99798346e-01 -8.31594097e-03 -1.82787514e-02 1.14938039e+02] [ 8.31452227e-03 9.99965422e-01 -1.53610617e-04 -9.12498347e-01] [ 1.82793967e-02 1.60055596e-06 9.99832918e-01 -1.77103843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.398001145 meters 0.06333731172023438 Centerline is valid? [True, True] Translation: X:115.00, Y:-0.91, Z:-1.77 [[ 9.99820089e-01 -4.03350583e-03 -1.85342983e-02 1.14996338e+02] [ 4.03123756e-03 9.99991862e-01 -1.59741944e-04 -9.13941279e-01] [ 1.85347917e-02 8.49970457e-05 9.99828212e-01 -1.77237567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.458001145 meters 0.06344095664535496 Centerline is valid? [True, True] Translation: X:115.06, Y:-0.91, Z:-1.77 [[ 9.99808041e-01 -3.19009479e-03 -1.93314544e-02 1.15055234e+02] [ 3.18739032e-03 9.99994906e-01 -1.70709766e-04 -9.14738353e-01] [ 1.93319005e-02 1.09060106e-04 9.99813115e-01 -1.77310776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.518001145 meters 0.06371650156101498 Centerline is valid? [True, True] Translation: X:115.11, Y:-0.92, Z:-1.78 [[ 9.99811690e-01 -3.90065812e-03 -1.90097271e-02 1.15113058e+02] [ 3.89818048e-03 9.99992388e-01 -1.67388807e-04 -9.19868699e-01] [ 1.90102353e-02 9.32539393e-05 9.99819285e-01 -1.77669883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.578001145 meters 0.06308148272508718 Centerline is valid? [True, True] Translation: X:115.17, Y:-0.93, Z:-1.77 [[ 9.99817600e-01 -7.05424236e-03 -1.77483610e-02 1.15171630e+02] [ 7.05256111e-03 9.99975118e-01 -1.57316673e-04 -9.29317154e-01] [ 1.77490292e-02 3.21165772e-05 9.99842473e-01 -1.77351035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63800114499999 meters 0.06320689882178775 Centerline is valid? [True, True] Translation: X:115.23, Y:-0.93, Z:-1.78 [[ 9.99770990e-01 -9.69236391e-03 -1.90794673e-02 1.15229199e+02] [ 9.69086979e-03 9.99953028e-01 -1.70767823e-04 -9.32608451e-01] [ 1.90802262e-02 -1.41679181e-05 9.99817956e-01 -1.77592597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69800114499999 meters 0.06342882480746644 Centerline is valid? [True, True] Translation: X:115.29, Y:-0.94, Z:-1.78 [[ 9.99700680e-01 -1.39237800e-02 -2.01166471e-02 1.15287972e+02] [ 1.39229562e-02 9.99903055e-01 -1.81011642e-04 -9.41726226e-01] [ 2.01172173e-02 -9.91257343e-05 9.99797623e-01 -1.77982080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.758001145 meters 0.06350635965131612 Centerline is valid? [True, True] Translation: X:115.35, Y:-0.95, Z:-1.78 [[ 9.99640192e-01 -1.72733954e-02 -2.05211072e-02 1.15346778e+02] [ 1.72731073e-02 9.99850790e-01 -1.91303019e-04 -9.48673024e-01] [ 2.05213497e-02 -1.63229101e-04 9.99789402e-01 -1.78198896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.818001145 meters 0.06336816372449092 Centerline is valid? [True, True] Translation: X:115.41, Y:-0.96, Z:-1.78 [[ 9.99531535e-01 -2.37969964e-02 -1.92461295e-02 1.15406060e+02] [ 2.37979659e-02 9.99716772e-01 -1.78687047e-04 -9.57645214e-01] [ 1.92449306e-02 -2.79415395e-04 9.99814760e-01 -1.77880408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.878001145 meters 0.06356031631328636 Centerline is valid? [True, True] Translation: X:115.47, Y:-0.96, Z:-1.78 [[ 9.99495771e-01 -2.53239073e-02 -1.91547483e-02 1.15466635e+02] [ 2.53251652e-02 9.99679251e-01 -1.76935289e-04 -9.62355799e-01] [ 1.91530852e-02 -3.08251094e-04 9.99816515e-01 -1.78070124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.938001145 meters 0.06355545701874502 Centerline is valid? [True, True] Translation: X:115.53, Y:-0.97, Z:-1.78 [[ 9.99515568e-01 -2.51147724e-02 -1.83814220e-02 1.15527888e+02] [ 2.51159143e-02 9.99684531e-01 -1.68762857e-04 -9.67550118e-01] [ 1.83798616e-02 -2.92985116e-04 9.99831033e-01 -1.78375334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99800114499999 meters 0.06357243310766839 Centerline is valid? [True, True] Translation: X:115.59, Y:-0.97, Z:-1.78 [[ 9.99506024e-01 -2.50881855e-02 -1.89285795e-02 1.15589357e+02] [ 2.50894025e-02 9.99685196e-01 -1.73210811e-04 -9.66615599e-01] [ 1.89269663e-02 -3.01781503e-04 9.99820823e-01 -1.78475325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05800114499999 meters 0.06369144442713777 Centerline is valid? [True, True] Translation: X:115.65, Y:-0.97, Z:-1.79 [[ 9.99508984e-01 -2.45687164e-02 -1.94465708e-02 1.15650620e+02] [ 2.45699143e-02 9.99698098e-01 -1.77359097e-04 -9.66161000e-01] [ 1.94450573e-02 -3.00528566e-04 9.99810882e-01 -1.78561693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.118001145 meters 0.0636883102405672 Centerline is valid? [True, True] Translation: X:115.71, Y:-0.97, Z:-1.79 [[ 9.99527911e-01 -2.43582566e-02 -1.87251560e-02 1.15710755e+02] [ 2.43593224e-02 9.99703253e-01 -1.71202021e-04 -9.66962867e-01] [ 1.87237695e-02 -2.85010912e-04 9.99824654e-01 -1.78731018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.178001145 meters 0.06353658976857351 Centerline is valid? [True, True] Translation: X:115.77, Y:-0.97, Z:-1.79 [[ 9.99519199e-01 -2.54928607e-02 -1.76489602e-02 1.15772252e+02] [ 2.54940019e-02 9.99674962e-01 -1.60361451e-04 -9.68967237e-01] [ 1.76473117e-02 -2.89658274e-04 9.99844232e-01 -1.78597493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.238001145 meters 0.06345589800629721 Centerline is valid? [True, True] Translation: X:115.83, Y:-0.97, Z:-1.79 [[ 9.99506808e-01 -2.61438640e-02 -1.73965531e-02 1.15833655e+02] [ 2.61450812e-02 9.99658147e-01 -1.57501025e-04 -9.69826404e-01] [ 1.73947237e-02 -2.97410947e-04 9.99848656e-01 -1.78638952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.298001145 meters 0.06383170674020092 Centerline is valid? [True, True] Translation: X:115.89, Y:-0.97, Z:-1.79 [[ 9.99487760e-01 -2.62153242e-02 -1.83568793e-02 1.15894384e+02] [ 2.62167486e-02 9.99656269e-01 -1.63092958e-04 -9.70435952e-01] [ 1.83548450e-02 -3.18248274e-04 9.99831485e-01 -1.79033552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35800114499999 meters 0.06357023554882782 Centerline is valid? [True, True] Translation: X:115.96, Y:-0.97, Z:-1.79 [[ 9.99509659e-01 -2.53004611e-02 -1.84480006e-02 1.15955728e+02] [ 2.53017343e-02 9.99679846e-01 -1.64419240e-04 -9.70621900e-01] [ 1.84462543e-02 -3.02427791e-04 9.99829808e-01 -1.78956075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41800114499999 meters 0.06351604873755175 Centerline is valid? [True, True] Translation: X:116.02, Y:-0.97, Z:-1.79 [[ 9.99518082e-01 -2.58135147e-02 -1.72414200e-02 1.16017449e+02] [ 2.58147130e-02 9.99666733e-01 -1.53092687e-04 -9.70454633e-01] [ 1.72396258e-02 -2.92063399e-04 9.99851344e-01 -1.78988020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.478001145 meters 0.06351772239321636 Centerline is valid? [True, True] Translation: X:116.08, Y:-0.97, Z:-1.79 [[ 9.99497304e-01 -2.69988903e-02 -1.66192370e-02 1.16079242e+02] [ 2.70001766e-02 9.99635418e-01 -1.47018989e-04 -9.71412736e-01] [ 1.66171473e-02 -3.01777250e-04 9.99861880e-01 -1.79038009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.538001145 meters 0.06376135283823753 Centerline is valid? [True, True] Translation: X:116.14, Y:-0.98, Z:-1.79 [[ 9.99432327e-01 -2.97400345e-02 -1.58289051e-02 1.16141688e+02] [ 2.97415680e-02 9.99557612e-01 -1.38566577e-04 -9.76400868e-01] [ 1.58260236e-02 -3.32288541e-04 9.99874705e-01 -1.79261941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.598001145 meters 0.06414022772301108 Centerline is valid? [True, True] Translation: X:116.20, Y:-0.98, Z:-1.79 [[ 9.99329200e-01 -3.27258147e-02 -1.64368640e-02 1.16203769e+02] [ 3.27278882e-02 9.99464289e-01 -1.42896771e-04 -9.75630907e-01] [ 1.64327350e-02 -3.95142931e-04 9.99864895e-01 -1.79351520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.658001145 meters 0.06493690866690097 Centerline is valid? [True, True] Translation: X:116.26, Y:-0.98, Z:-1.80 [[ 9.99193805e-01 -3.68788899e-02 -1.58646701e-02 1.16264836e+02] [ 3.68813531e-02 9.99319642e-01 -1.37382114e-04 -9.78669483e-01] [ 1.58589429e-02 -4.47839142e-04 9.99874139e-01 -1.79704259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71800114499999 meters 0.06548645615552094 Centerline is valid? [True, True] Translation: X:116.33, Y:-0.98, Z:-1.80 [[ 9.99097494e-01 -3.98035766e-02 -1.48280938e-02 1.16326650e+02] [ 3.98060606e-02 9.99207417e-01 -1.27694477e-04 -9.78991038e-01] [ 1.48214240e-02 -4.62668771e-04 9.99890050e-01 -1.79756791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77800114499999 meters 0.06577382387466893 Centerline is valid? [True, True] Translation: X:116.39, Y:-0.98, Z:-1.80 [[ 9.98844107e-01 -4.64426306e-02 -1.23907627e-02 1.16387655e+02] [ 4.64448808e-02 9.98920849e-01 -1.06243939e-04 -9.78615953e-01] [ 1.23823255e-02 -4.69366365e-04 9.99923226e-01 -1.79582406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83800114499999 meters 0.0666789418694994 Centerline is valid? [True, True] Translation: X:116.45, Y:-0.98, Z:-1.80 [[ 9.98697698e-01 -4.94922839e-02 -1.23863356e-02 1.16448363e+02] [ 4.94947652e-02 9.98774377e-01 -1.06321860e-04 -9.78453288e-01] [ 1.23764167e-02 -5.06875376e-04 9.99923281e-01 -1.79651231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.898001145 meters 0.07040766299336564 Centerline is valid? [True, True] Translation: X:116.51, Y:-0.99, Z:-1.80 [[ 9.98459971e-01 -5.36546062e-02 -1.41021114e-02 1.16507549e+02] [ 5.36582285e-02 9.98559352e-01 -1.21649925e-04 -9.86567778e-01] [ 1.40883223e-02 -6.35231735e-04 9.99900553e-01 -1.80383024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.958001145 meters 0.06928655939752378 Centerline is valid? [True, True] Translation: X:116.57, Y:-0.98, Z:-1.80 [[ 9.98367607e-01 -5.54359358e-02 -1.37469330e-02 1.16569798e+02] [ 5.54395722e-02 9.98462037e-01 -1.16708856e-04 -9.80080624e-01] [ 1.37322606e-02 -6.45605743e-04 9.99905500e-01 -1.80155391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.018001145 meters 0.06690582872392696 Centerline is valid? [True, True] Translation: X:116.63, Y:-0.97, Z:-1.80 [[ 9.98464987e-01 -5.38994985e-02 -1.27481264e-02 1.16631236e+02] [ 5.39025017e-02 9.98546198e-01 -1.08144873e-04 -9.70151103e-01] [ 1.27354221e-02 -5.79177036e-04 9.99918733e-01 -1.79917837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.078001145 meters 0.06661674122277329 Centerline is valid? [True, True] Translation: X:116.69, Y:-0.97, Z:-1.80 [[ 9.98564831e-01 -5.13222851e-02 -1.53069216e-02 1.16693465e+02] [ 5.13263337e-02 9.98681927e-01 -1.28491048e-04 -9.66843643e-01] [ 1.52933404e-02 -6.57341526e-04 9.99882834e-01 -1.80228205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13800114499999 meters 0.06601234506964043 Centerline is valid? [True, True] Translation: X:116.75, Y:-0.96, Z:-1.80 [[ 9.98740807e-01 -4.74787791e-02 -1.62038928e-02 1.16754692e+02] [ 4.74828113e-02 9.98872046e-01 -1.36013565e-04 -9.56452919e-01] [ 1.61920734e-02 -6.33564088e-04 9.99868699e-01 -1.80201236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19800114499999 meters 0.06542541554441841 Centerline is valid? [True, True] Translation: X:116.82, Y:-0.95, Z:-1.80 [[ 9.98871533e-01 -4.49613183e-02 -1.53016760e-02 1.16815728e+02] [ 4.49646271e-02 9.98988571e-01 -1.27906153e-04 -9.48715499e-01] [ 1.52919503e-02 -5.60272342e-04 9.99882914e-01 -1.80205420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.258001145 meters 0.0653368088379961 Centerline is valid? [True, True] Translation: X:116.88, Y:-0.94, Z:-1.81 [[ 9.98896192e-01 -4.42217409e-02 -1.58377996e-02 1.16878283e+02] [ 4.42252160e-02 9.99021578e-01 -1.30924678e-04 -9.44431766e-01] [ 1.58280933e-02 -5.69649946e-04 9.99874566e-01 -1.80567500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.318001145 meters 0.06522541167215523 Centerline is valid? [True, True] Translation: X:116.94, Y:-0.94, Z:-1.81 [[ 9.98912516e-01 -4.38795266e-02 -1.57598379e-02 1.16940530e+02] [ 4.38829411e-02 9.99036671e-01 -1.29258451e-04 -9.35287526e-01] [ 1.57503278e-02 -5.62470153e-04 9.99875798e-01 -1.80532641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.378001145 meters 0.06550374257340295 Centerline is valid? [True, True] Translation: X:117.00, Y:-0.93, Z:-1.81 [[ 9.98942304e-01 -4.30930154e-02 -1.60395099e-02 1.17002142e+02] [ 4.30964669e-02 9.99070907e-01 -1.30556601e-04 -9.31694049e-01] [ 1.60302337e-02 -5.60827693e-04 9.99871350e-01 -1.80791875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.438001145 meters 0.06450349171438392 Centerline is valid? [True, True] Translation: X:117.06, Y:-0.92, Z:-1.81 [[ 9.99086396e-01 -3.99616243e-02 -1.51473626e-02 1.17063963e+02] [ 3.99643610e-02 9.99201098e-01 -1.22097413e-04 -9.22131676e-01] [ 1.51401406e-02 -4.83368803e-04 9.99885265e-01 -1.80733552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49800114499999 meters 0.06397294136605221 Centerline is valid? [True, True] Translation: X:117.13, Y:-0.92, Z:-1.81 [[ 9.99181964e-01 -3.74116843e-02 -1.53547472e-02 1.17126315e+02] [ 3.74142099e-02 9.99299836e-01 -1.22844727e-04 -9.15216903e-01] [ 1.53485922e-02 -4.51741499e-04 9.99882101e-01 -1.80709684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55800114499999 meters 0.06367138680581319 Centerline is valid? [True, True] Translation: X:117.19, Y:-0.90, Z:-1.81 [[ 9.99348761e-01 -3.23258075e-02 -1.60342242e-02 1.17186463e+02] [ 3.23278999e-02 9.99477309e-01 -1.28752108e-04 -9.03150638e-01] [ 1.60300053e-02 -3.89684535e-04 9.99871435e-01 -1.80793666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.618001145 meters 0.06347135966965142 Centerline is valid? [True, True] Translation: X:117.25, Y:-0.90, Z:-1.81 [[ 9.99454599e-01 -2.88803566e-02 -1.60134007e-02 1.17248328e+02] [ 2.88820276e-02 9.99582819e-01 -1.26951951e-04 -8.98425351e-01] [ 1.60103866e-02 -3.35616768e-04 9.99871769e-01 -1.81012972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.678001145 meters 0.06407387702210243 Centerline is valid? [True, True] Translation: X:117.31, Y:-0.89, Z:-1.82 [[ 9.99486721e-01 -2.62479026e-02 -1.83668895e-02 1.17309782e+02] [ 2.62496666e-02 9.99655408e-01 -1.45075966e-04 -8.92760671e-01] [ 1.83643683e-02 -3.37123224e-04 9.99831304e-01 -1.81591904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.738001145 meters 0.06366921310788437 Centerline is valid? [True, True] Translation: X:117.37, Y:-0.89, Z:-1.81 [[ 9.99468710e-01 -2.69239383e-02 -1.83684473e-02 1.17371713e+02] [ 2.69258422e-02 9.99637423e-01 -1.43697330e-04 -8.89181765e-01] [ 1.83656562e-02 -3.50964929e-04 9.99831276e-01 -1.81395537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.798001145 meters 0.06377099965653776 Centerline is valid? [True, True] Translation: X:117.43, Y:-0.89, Z:-1.82 [[ 9.99395538e-01 -2.94738429e-02 -1.84350471e-02 1.17433641e+02] [ 2.94762162e-02 9.99565472e-01 -1.43031368e-04 -8.90149975e-01] [ 1.84312523e-02 -4.00450523e-04 9.99830050e-01 -1.81556271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85800114499999 meters 0.0635798011098709 Centerline is valid? [True, True] Translation: X:117.50, Y:-0.89, Z:-1.81 [[ 9.99371873e-01 -3.01863352e-02 -1.85645963e-02 1.17495384e+02] [ 3.01888777e-02 9.99544202e-01 -1.43343739e-04 -8.85476492e-01] [ 1.85604616e-02 -4.17190627e-04 9.99827653e-01 -1.81329856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91800114499999 meters 0.06391853794310297 Centerline is valid? [True, True] Translation: X:117.56, Y:-0.89, Z:-1.82 [[ 9.99378798e-01 -3.00987107e-02 -1.83326443e-02 1.17557027e+02] [ 3.01011914e-02 9.99546847e-01 -1.40669222e-04 -8.85349439e-01] [ 1.83285707e-02 -4.11252597e-04 9.99831933e-01 -1.81602323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.978001145 meters 0.06375613272194272 Centerline is valid? [True, True] Translation: X:117.62, Y:-0.88, Z:-1.82 [[ 9.99391564e-01 -2.88666633e-02 -1.95759421e-02 1.17619562e+02] [ 2.88692835e-02 9.99583184e-01 -1.48796383e-04 -8.83242401e-01] [ 1.95720778e-02 -4.16437572e-04 9.99808362e-01 -1.81656624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.038001145 meters 0.063826606487923 Centerline is valid? [True, True] Translation: X:117.68, Y:-0.88, Z:-1.82 [[ 9.99390913e-01 -2.84915266e-02 -2.01503380e-02 1.17682071e+02] [ 2.84942516e-02 9.99593945e-01 -1.51925432e-04 -8.83197631e-01] [ 2.01464844e-02 -4.22335905e-04 9.99796950e-01 -1.81806751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.098001145 meters 0.06348969092886537 Centerline is valid? [True, True] Translation: X:117.74, Y:-0.88, Z:-1.82 [[ 9.99419201e-01 -2.85069713e-02 -1.86711675e-02 1.17744202e+02] [ 2.85093378e-02 9.99593516e-01 -1.39469373e-04 -8.80976034e-01] [ 1.86675539e-02 -3.92914253e-04 9.99825669e-01 -1.81561882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.158001145 meters 0.06358967753811105 Centerline is valid? [True, True] Translation: X:117.81, Y:-0.88, Z:-1.82 [[ 9.99488197e-01 -2.65119896e-02 -1.79013376e-02 1.17805327e+02] [ 2.65138570e-02 9.99648437e-01 -1.33053740e-04 -8.81232150e-01] [ 1.78985717e-02 -3.41647863e-04 9.99839749e-01 -1.81877731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21800114499999 meters 0.06309462531978492 Centerline is valid? [True, True] Translation: X:117.87, Y:-0.88, Z:-1.82 [[ 9.99511382e-01 -2.52631950e-02 -1.84056492e-02 1.17867444e+02] [ 2.52649837e-02 9.99680780e-01 -1.35379458e-04 -8.79379402e-01] [ 1.84031938e-02 -3.29705117e-04 9.99830593e-01 -1.81762159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27800114499999 meters 0.06358095946732117 Centerline is valid? [True, True] Translation: X:117.93, Y:-0.88, Z:-1.82 [[ 9.99468406e-01 -2.60086481e-02 -1.96584941e-02 1.17928657e+02] [ 2.60108455e-02 9.99661650e-01 -1.43948053e-04 -8.80077762e-01] [ 1.96555865e-02 -3.67462521e-04 9.99806743e-01 -1.82135466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33800114499999 meters 0.06361181072949544 Centerline is valid? [True, True] Translation: X:117.99, Y:-0.88, Z:-1.82 [[ 9.99384034e-01 -2.86749657e-02 -2.02311438e-02 1.17990972e+02] [ 2.86778677e-02 9.99588695e-01 -1.46725854e-04 -8.83741583e-01] [ 2.02270300e-02 -4.33550588e-04 9.99795319e-01 -1.82126087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.398001145 meters 0.06391549190998416 Centerline is valid? [True, True] Translation: X:118.05, Y:-0.89, Z:-1.82 [[ 9.99308735e-01 -3.02294429e-02 -2.16386879e-02 1.18053475e+02] [ 3.02331557e-02 9.99542862e-01 -1.55612204e-04 -8.86766531e-01] [ 2.16335001e-02 -4.98701187e-04 9.99765844e-01 -1.82347221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.458001145 meters 0.06390689876163924 Centerline is valid? [True, True] Translation: X:118.11, Y:-0.89, Z:-1.83 [[ 9.99261335e-01 -2.95537059e-02 -2.45634365e-02 1.18114869e+02] [ 2.95582917e-02 9.99563043e-01 -1.76444881e-04 -8.87739873e-01] [ 2.45579179e-02 -5.49738674e-04 9.99698258e-01 -1.82755688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.518001145 meters 0.06379245133876897 Centerline is valid? [True, True] Translation: X:118.18, Y:-0.88, Z:-1.83 [[ 9.99274288e-01 -2.79636305e-02 -2.58637473e-02 1.18176416e+02] [ 2.79682030e-02 9.99608796e-01 -1.85003328e-04 -8.82325431e-01] [ 2.58588027e-02 -5.38493467e-04 9.99665460e-01 -1.82687325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.578001145 meters 0.06373918997963424 Centerline is valid? [True, True] Translation: X:118.24, Y:-0.88, Z:-1.83 [[ 9.99287589e-01 -2.67381911e-02 -2.66342382e-02 1.18236700e+02] [ 2.67425932e-02 9.99642335e-01 -1.90966137e-04 -8.80042621e-01] [ 2.66298181e-02 -5.21438505e-04 9.99645228e-01 -1.82701771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63800114499999 meters 0.06298757702823454 Centerline is valid? [True, True] Translation: X:118.30, Y:-0.88, Z:-1.82 [[ 9.99276084e-01 -2.78873168e-02 -2.58767443e-02 1.18296387e+02] [ 2.78918238e-02 9.99610930e-01 -1.86818003e-04 -8.80692056e-01] [ 2.58718863e-02 -5.35066828e-04 9.99665124e-01 -1.82490741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69800114499999 meters 0.06299900715051529 Centerline is valid? [True, True] Translation: X:118.36, Y:-0.88, Z:-1.82 [[ 9.99254797e-01 -2.92543325e-02 -2.51800520e-02 1.18357153e+02] [ 2.92590447e-02 9.99571846e-01 -1.81348525e-04 -8.81257074e-01] [ 2.51745763e-02 -5.55530886e-04 9.99682916e-01 -1.82499217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.758001145 meters 0.06312956152661278 Centerline is valid? [True, True] Translation: X:118.42, Y:-0.88, Z:-1.83 [[ 9.99225163e-01 -3.02223505e-02 -2.52127644e-02 1.18418922e+02] [ 3.02274141e-02 9.99543031e-01 -1.80346600e-04 -8.80797018e-01] [ 2.52066934e-02 -5.81909809e-04 9.99682091e-01 -1.82580330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.818001145 meters 0.0625675638102007 Centerline is valid? [True, True] Translation: X:118.48, Y:-0.88, Z:-1.83 [[ 9.99263431e-01 -3.07024737e-02 -2.30207239e-02 1.18480441e+02] [ 3.07068404e-02 9.99528420e-01 -1.63868711e-04 -8.82463573e-01] [ 2.30148989e-02 -5.43145683e-04 9.99734975e-01 -1.82556240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.878001145 meters 0.06256862494612346 Centerline is valid? [True, True] Translation: X:118.54, Y:-0.88, Z:-1.83 [[ 9.99271228e-01 -3.08199593e-02 -2.25198375e-02 1.18541816e+02] [ 3.08242481e-02 9.99524808e-01 -1.56737709e-04 -8.81535896e-01] [ 2.25139669e-02 -5.37533575e-04 9.99746384e-01 -1.82538916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.938001145 meters 0.06289566965022597 Centerline is valid? [True, True] Translation: X:118.60, Y:-0.88, Z:-1.83 [[ 9.99220894e-01 -3.16979727e-02 -2.35126371e-02 1.18603513e+02] [ 3.17028945e-02 9.99497324e-01 -1.63495976e-04 -8.84124400e-01] [ 2.35060004e-02 -5.82050061e-04 9.99723526e-01 -1.82755628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99800114499999 meters 0.06258933073822427 Centerline is valid? [True, True] Translation: X:118.66, Y:-0.88, Z:-1.83 [[ 9.99051103e-01 -3.52338143e-02 -2.56021906e-02 1.18664936e+02] [ 3.52408252e-02 9.99378833e-01 -1.77443105e-04 -8.84637117e-01] [ 2.55925394e-02 -7.24967596e-04 9.99672194e-01 -1.82617050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05800114499999 meters 0.06471555138566884 Centerline is valid? [True, True] Translation: X:118.73, Y:-0.89, Z:-1.83 [[ 9.98942919e-01 -3.79774567e-02 -2.58989869e-02 1.18725487e+02] [ 3.79855739e-02 9.99278272e-01 -1.78663737e-04 -8.89438623e-01] [ 2.58870800e-02 -8.05313006e-04 9.99664549e-01 -1.83370076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.118001145 meters 0.06358494561356343 Centerline is valid? [True, True] Translation: X:118.79, Y:-0.89, Z:-1.83 [[ 9.98971614e-01 -3.75244049e-02 -2.54486592e-02 1.18787576e+02] [ 3.75321484e-02 9.99295406e-01 -1.73469793e-04 -8.85496398e-01] [ 2.54372376e-02 -7.81851455e-04 9.99676115e-01 -1.83126608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.178001145 meters 0.06384746028986542 Centerline is valid? [True, True] Translation: X:118.85, Y:-0.89, Z:-1.83 [[ 9.98994905e-01 -3.72696238e-02 -2.49029200e-02 1.18848389e+02] [ 3.72769836e-02 9.99304957e-01 -1.68779979e-04 -8.85590237e-01] [ 2.48919018e-02 -7.59695403e-04 9.99689860e-01 -1.83380390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.238001145 meters 0.06438879819707188 Centerline is valid? [True, True] Translation: X:118.91, Y:-0.89, Z:-1.83 [[ 9.98967714e-01 -3.81633472e-02 -2.46387141e-02 1.18910678e+02] [ 3.81708663e-02 9.99271213e-01 -1.65239371e-04 -8.86072047e-01] [ 2.46270638e-02 -7.75412263e-04 9.99696407e-01 -1.83428756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.298001145 meters 0.0655535474478941 Centerline is valid? [True, True] Translation: X:118.97, Y:-0.89, Z:-1.84 [[ 9.98824552e-01 -4.23541813e-02 -2.35719832e-02 1.18970551e+02] [ 4.23622769e-02 9.99102304e-01 -1.56027073e-04 -8.93938016e-01] [ 2.35574311e-02 -8.42719209e-04 9.99722130e-01 -1.83790664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35800114499999 meters 0.06365889431942358 Centerline is valid? [True, True] Translation: X:119.03, Y:-0.89, Z:-1.83 [[ 9.98794154e-01 -4.40968345e-02 -2.15802673e-02 1.19033140e+02] [ 4.41040553e-02 9.99026933e-01 -1.41462765e-04 -8.89678794e-01] [ 2.15655064e-02 -8.10485121e-04 9.99767109e-01 -1.83120837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41800114499999 meters 0.06455140224491286 Centerline is valid? [True, True] Translation: X:119.09, Y:-0.89, Z:-1.83 [[ 9.98837806e-01 -4.46569413e-02 -1.81326923e-02 1.19093743e+02] [ 4.46621261e-02 9.99002142e-01 -1.19125392e-04 -8.92200824e-01] [ 1.81199182e-02 -6.90857642e-04 9.99835582e-01 -1.83075984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.478001145 meters 0.06366812966857821 Centerline is valid? [True, True] Translation: X:119.15, Y:-0.89, Z:-1.83 [[ 9.99057732e-01 -4.00082548e-02 -1.68222553e-02 1.19154526e+02] [ 4.00120635e-02 9.99199191e-01 -1.10238127e-04 -8.91183995e-01] [ 1.68131943e-02 -5.62958895e-04 9.99858490e-01 -1.83281620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.538001145 meters 0.06299961443271217 Centerline is valid? [True, True] Translation: X:119.22, Y:-0.89, Z:-1.83 [[ 9.99174705e-01 -3.62924495e-02 -1.82419113e-02 1.19216525e+02] [ 3.62963430e-02 9.99341064e-01 -1.17710838e-04 -8.87593982e-01] [ 1.82341630e-02 -5.44500977e-04 9.99833596e-01 -1.83467923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.598001145 meters 0.06238448887689846 Centerline is valid? [True, True] Translation: X:119.28, Y:-0.88, Z:-1.83 [[ 9.99318510e-01 -3.25018926e-02 -1.74969191e-02 1.19277839e+02] [ 3.25048966e-02 9.99471570e-01 -1.12752578e-04 -8.80997685e-01] [ 1.74913379e-02 -4.56059808e-04 9.99846911e-01 -1.83386216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.658001145 meters 0.06247348674147712 Centerline is valid? [True, True] Translation: X:119.34, Y:-0.89, Z:-1.84 [[ 9.99374806e-01 -3.13092382e-02 -1.64234288e-02 1.19339860e+02] [ 3.13117483e-02 9.99509662e-01 -1.04341454e-04 -8.85022105e-01] [ 1.64186426e-02 -4.09970050e-04 9.99865121e-01 -1.83598239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71800114499999 meters 0.06255467536881568 Centerline is valid? [True, True] Translation: X:119.40, Y:-0.89, Z:-1.84 [[ 9.99405674e-01 -2.93004420e-02 -1.81599361e-02 1.19402508e+02] [ 2.93031985e-02 9.99570563e-01 -1.14344160e-04 -8.86659546e-01] [ 1.81554879e-02 -4.17868009e-04 9.99835088e-01 -1.83867959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77800114499999 meters 0.062030955507285525 Centerline is valid? [True, True] Translation: X:119.47, Y:-0.88, Z:-1.84 [[ 9.99466951e-01 -2.64914380e-02 -1.90792543e-02 1.19465181e+02] [ 2.64940012e-02 9.99648965e-01 -1.18450110e-04 -8.83070007e-01] [ 1.90756947e-02 -3.87098815e-04 9.99817967e-01 -1.83787296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83800114499999 meters 0.06187029052599049 Centerline is valid? [True, True] Translation: X:119.53, Y:-0.88, Z:-1.84 [[ 9.99522323e-01 -2.44715126e-02 -1.88751338e-02 1.19526204e+02] [ 2.44736601e-02 9.99700468e-01 -1.17244899e-04 -8.80911782e-01] [ 1.88723492e-02 -3.44754713e-04 9.99821842e-01 -1.83886793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.898001145 meters 0.061353264651927204 Centerline is valid? [True, True] Translation: X:119.59, Y:-0.88, Z:-1.84 [[ 9.99632199e-01 -1.92452368e-02 -1.91072894e-02 1.19587508e+02] [ 1.92464944e-02 9.99814762e-01 -1.18089519e-04 -8.79492587e-01] [ 1.91060227e-02 -2.49702252e-04 9.99817432e-01 -1.83879022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.958001145 meters 0.06135141266897095 Centerline is valid? [True, True] Translation: X:119.65, Y:-0.88, Z:-1.84 [[ 9.99659257e-01 -1.89567753e-02 -1.79446504e-02 1.19647677e+02] [ 1.89578216e-02 9.99820278e-01 -1.11816336e-04 -8.81900183e-01] [ 1.79435450e-02 -2.28413246e-04 9.99838976e-01 -1.83927259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.018001145 meters 0.06149219106015724 Centerline is valid? [True, True] Translation: X:119.71, Y:-0.88, Z:-1.84 [[ 9.99627999e-01 -2.11616811e-02 -1.72060122e-02 1.19708165e+02] [ 2.11629732e-02 9.99776033e-01 -1.07004402e-04 -8.84923588e-01] [ 1.72044230e-02 -2.57165778e-04 9.99851960e-01 -1.83865554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.078001145 meters 0.06158907959588919 Centerline is valid? [True, True] Translation: X:119.77, Y:-0.89, Z:-1.84 [[ 9.99605329e-01 -2.27461716e-02 -1.64863185e-02 1.19769582e+02] [ 2.27475890e-02 9.99741235e-01 -1.01570511e-04 -8.89392858e-01] [ 1.64843628e-02 -2.73493573e-04 9.99864086e-01 -1.83899291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13800114499999 meters 0.06150899992792428 Centerline is valid? [True, True] Translation: X:119.83, Y:-0.89, Z:-1.84 [[ 9.99584933e-01 -2.44446947e-02 -1.52452838e-02 1.19830498e+02] [ 2.44461121e-02 9.99701145e-01 -9.34015594e-05 -8.94406843e-01] [ 1.52430108e-02 -2.79325125e-04 9.99883780e-01 -1.83816056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19800114499999 meters 0.06189134332545877 Centerline is valid? [True, True] Translation: X:119.89, Y:-0.90, Z:-1.84 [[ 9.99605373e-01 -2.34288882e-02 -1.54979473e-02 1.19891901e+02] [ 2.34302455e-02 9.99725470e-01 -9.40094492e-05 -8.96629152e-01] [ 1.54958951e-02 -2.69148359e-04 9.99879895e-01 -1.84048189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.258001145 meters 0.061403018324117334 Centerline is valid? [True, True] Translation: X:119.95, Y:-0.89, Z:-1.84 [[ 9.99727426e-01 -1.79294411e-02 -1.49535433e-02 1.19953051e+02] [ 1.79300935e-02 9.99839239e-01 -9.04483341e-05 -8.94681438e-01] [ 1.49527610e-02 -1.77694748e-04 9.99888185e-01 -1.83878018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.318001145 meters 0.06119554711291278 Centerline is valid? [True, True] Translation: X:120.01, Y:-0.89, Z:-1.84 [[ 9.99802525e-01 -1.38695258e-02 -1.42319169e-02 1.20013712e+02] [ 1.38696995e-02 9.99903807e-01 -8.64983339e-05 -8.93552987e-01] [ 1.42317476e-02 -1.10911159e-04 9.99898717e-01 -1.83851328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.378001145 meters 0.061481569193427385 Centerline is valid? [True, True] Translation: X:120.07, Y:-0.89, Z:-1.84 [[ 9.99835981e-01 -9.23405079e-03 -1.55802494e-02 1.20072704e+02] [ 9.23368924e-03 9.99957364e-01 -9.51431337e-05 -8.92386150e-01] [ 1.55804637e-02 -4.87356531e-05 9.99878616e-01 -1.84159763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.438001145 meters 0.06198111351627447 Centerline is valid? [True, True] Translation: X:120.13, Y:-0.90, Z:-1.85 [[ 9.99826888e-01 -7.58877943e-03 -1.69883632e-02 1.20130008e+02] [ 7.58804854e-03 9.99971205e-01 -1.07482089e-04 -8.95994976e-01] [ 1.69886897e-02 -2.14450427e-05 9.99855682e-01 -1.84653105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49800114499999 meters 0.0615929493349569 Centerline is valid? [True, True] Translation: X:120.19, Y:-0.90, Z:-1.84 [[ 9.99830263e-01 -7.71541388e-03 -1.67307175e-02 1.20188184e+02] [ 7.71462663e-03 9.99970236e-01 -1.11594512e-04 -8.98541852e-01] [ 1.67310805e-02 -1.74956683e-05 9.99860026e-01 -1.84433667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55800114499999 meters 0.061007183066346574 Centerline is valid? [True, True] Translation: X:120.25, Y:-0.90, Z:-1.84 [[ 9.99840944e-01 -8.12127978e-03 -1.58786191e-02 1.20246543e+02] [ 8.12056523e-03 9.99967022e-01 -1.09476750e-04 -9.00221435e-01] [ 1.58789845e-02 -1.94840246e-05 9.99873921e-01 -1.83872696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.618001145 meters 0.061072983407334434 Centerline is valid? [True, True] Translation: X:120.31, Y:-0.91, Z:-1.84 [[ 9.99859397e-01 -9.21814932e-03 -1.40075639e-02 1.20305505e+02] [ 9.21765156e-03 9.99957512e-01 -1.00097451e-04 -9.07177626e-01] [ 1.40078915e-02 -2.90334665e-05 9.99901884e-01 -1.83886834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.678001145 meters 0.06123213359082792 Centerline is valid? [True, True] Translation: X:120.37, Y:-0.91, Z:-1.84 [[ 9.99789057e-01 -1.20036141e-02 -1.66659899e-02 1.20365105e+02] [ 1.20033429e-02 9.99927951e-01 -1.16308175e-04 -9.14599143e-01] [ 1.66661853e-02 -8.37639507e-05 9.99861106e-01 -1.84075372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.738001145 meters 0.06159480041672809 Centerline is valid? [True, True] Translation: X:120.42, Y:-0.92, Z:-1.84 [[ 9.99660505e-01 -1.82111732e-02 -1.86340756e-02 1.20424073e+02] [ 1.82118926e-02 9.99834141e-01 -1.31104592e-04 -9.24759075e-01] [ 1.86333725e-02 -2.08301699e-04 9.99826362e-01 -1.84451284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.798001145 meters 0.06158061904491884 Centerline is valid? [True, True] Translation: X:120.48, Y:-0.93, Z:-1.84 [[ 9.99554423e-01 -2.30006975e-02 -1.90242905e-02 1.20483127e+02] [ 2.30021818e-02 9.99735405e-01 -1.40823397e-04 -9.31779347e-01] [ 1.90224958e-02 -2.96839539e-04 9.99819012e-01 -1.84322745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85800114499999 meters 0.0624658842603143 Centerline is valid? [True, True] Translation: X:120.54, Y:-0.94, Z:-1.85 [[ 9.99449744e-01 -2.67616970e-02 -1.95964608e-02 1.20542423e+02] [ 2.67640496e-02 9.99641769e-01 -1.42249691e-04 -9.42137553e-01] [ 1.95932475e-02 -3.82309231e-04 9.99807961e-01 -1.84800769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91800114499999 meters 0.06214760423590498 Centerline is valid? [True, True] Translation: X:120.60, Y:-0.94, Z:-1.85 [[ 9.99410623e-01 -2.77104684e-02 -2.02616992e-02 1.20603960e+02] [ 2.77132056e-02 9.99615905e-01 -1.45739617e-04 -9.42709597e-01] [ 2.02579553e-02 -4.15862913e-04 9.99794700e-01 -1.84505494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.978001145 meters 0.06250181550763009 Centerline is valid? [True, True] Translation: X:120.67, Y:-0.95, Z:-1.85 [[ 9.99367020e-01 -2.83993597e-02 -2.14251395e-02 1.20665449e+02] [ 2.84025925e-02 9.99596553e-01 -1.53460803e-04 -9.45857875e-01] [ 2.14208538e-02 -4.55165839e-04 9.99770444e-01 -1.84833651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.038001145 meters 0.06319125587849826 Centerline is valid? [True, True] Translation: X:120.73, Y:-0.95, Z:-1.85 [[ 9.99214327e-01 -3.16885275e-02 -2.38026570e-02 1.20725849e+02] [ 3.16934386e-02 9.99497622e-01 -1.70985552e-04 -9.53586874e-01] [ 2.37961174e-02 -5.83536836e-04 9.99716662e-01 -1.85296314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.098001145 meters 0.06368250525969715 Centerline is valid? [True, True] Translation: X:120.79, Y:-0.96, Z:-1.85 [[ 9.99134720e-01 -3.38044148e-02 -2.42295824e-02 1.20786512e+02] [ 3.38101254e-02 9.99428259e-01 -1.74052355e-04 -9.56570339e-01] [ 2.42216131e-02 -6.45303468e-04 9.99706405e-01 -1.85436226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.158001145 meters 0.06366127234507955 Centerline is valid? [True, True] Translation: X:120.85, Y:-0.95, Z:-1.85 [[ 9.99162644e-01 -3.31608803e-02 -2.39659648e-02 1.20846625e+02] [ 3.31662823e-02 9.99449833e-01 -1.72158668e-04 -9.54307562e-01] [ 2.39584884e-02 -6.22847444e-04 9.99712760e-01 -1.85394418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21800114499999 meters 0.06374333083153598 Centerline is valid? [True, True] Translation: X:120.91, Y:-0.95, Z:-1.86 [[ 9.99210743e-01 -3.14732412e-02 -2.42348143e-02 1.20907146e+02] [ 3.14782692e-02 9.99504421e-01 -1.74089939e-04 -9.53606506e-01] [ 2.42282832e-02 -5.88917472e-04 9.99706279e-01 -1.85587038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27800114499999 meters 0.06288507943479485 Centerline is valid? [True, True] Translation: X:120.97, Y:-0.95, Z:-1.85 [[ 9.99245911e-01 -3.02910853e-02 -2.42911327e-02 1.20967391e+02] [ 3.02957876e-02 9.99540962e-01 -1.74494500e-04 -9.48189035e-01] [ 2.42852678e-02 -5.61556080e-04 9.99704912e-01 -1.85213967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33800114499999 meters 0.06406550766735215 Centerline is valid? [True, True] Translation: X:121.03, Y:-0.95, Z:-1.86 [[ 9.99243361e-01 -3.07398345e-02 -2.38278691e-02 1.21027022e+02] [ 3.07444722e-02 9.99527262e-01 -1.71769155e-04 -9.48617850e-01] [ 2.38218849e-02 -5.60936072e-04 9.99716061e-01 -1.85866774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.398001145 meters 0.06466438834367984 Centerline is valid? [True, True] Translation: X:121.09, Y:-0.95, Z:-1.86 [[ 9.99129697e-01 -3.45264116e-02 -2.34045879e-02 1.21087559e+02] [ 3.45319290e-02 9.99403581e-01 -1.68498138e-04 -9.49996832e-01] [ 2.33964466e-02 -6.39854074e-04 9.99726061e-01 -1.86100475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.458001145 meters 0.06391736534760792 Centerline is valid? [True, True] Translation: X:121.15, Y:-0.95, Z:-1.86 [[ 9.98895047e-01 -4.16663632e-02 -2.17393375e-02 1.21148705e+02] [ 4.16728313e-02 9.99131298e-01 -1.55606746e-04 -9.51730401e-01] [ 2.17269361e-02 -7.50504936e-04 9.99763661e-01 -1.85633043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.518001145 meters 0.06464662426118213 Centerline is valid? [True, True] Translation: X:121.21, Y:-0.95, Z:-1.86 [[ 9.98716562e-01 -4.59322559e-02 -2.13414414e-02 1.21209958e+02] [ 4.59394786e-02 9.98944213e-01 -1.51961308e-04 -9.53906080e-01] [ 2.13258893e-02 -8.28648417e-04 9.99772234e-01 -1.85687948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.578001145 meters 0.06516169626873321 Centerline is valid? [True, True] Translation: X:121.27, Y:-0.95, Z:-1.86 [[ 9.98463623e-01 -5.02921126e-02 -2.32614875e-02 1.21270089e+02] [ 5.03018661e-02 9.98734046e-01 -1.66006922e-04 -9.51160690e-01] [ 2.32403883e-02 -1.00434436e-03 9.99729401e-01 -1.85611835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63800114499999 meters 0.06508071701745022 Centerline is valid? [True, True] Translation: X:121.33, Y:-0.95, Z:-1.86 [[ 9.98427501e-01 -5.12323885e-02 -2.27544914e-02 1.21332458e+02] [ 5.12420194e-02 9.98686252e-01 -1.59995718e-04 -9.50209001e-01] [ 2.27327946e-02 -1.00624196e-03 9.99741070e-01 -1.85707542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69800114499999 meters 0.0660768538727733 Centerline is valid? [True, True] Translation: X:121.39, Y:-0.95, Z:-1.86 [[ 9.98392468e-01 -5.21307028e-02 -2.22456648e-02 1.21393388e+02] [ 5.21402021e-02 9.98639763e-01 -1.53184796e-04 -9.48207737e-01] [ 2.22233910e-02 -1.00695491e-03 9.99752523e-01 -1.85962534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.758001145 meters 0.06564270787807923 Centerline is valid? [True, True] Translation: X:121.46, Y:-0.95, Z:-1.86 [[ 9.98343503e-01 -5.31284747e-02 -2.20820079e-02 1.21455855e+02] [ 5.31380952e-02 9.98587162e-01 -1.51282776e-04 -9.45409149e-01] [ 2.20588470e-02 -1.02236366e-03 9.99756151e-01 -1.85877607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.818001145 meters 0.0673935200918279 Centerline is valid? [True, True] Translation: X:121.52, Y:-0.95, Z:-1.86 [[ 9.98134716e-01 -5.68925127e-02 -2.21434169e-02 1.21515465e+02] [ 5.69030902e-02 9.98379695e-01 -1.52627852e-04 -9.46741633e-01] [ 2.21162212e-02 -1.10768569e-03 9.99754793e-01 -1.86296180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.878001145 meters 0.06720535189761083 Centerline is valid? [True, True] Translation: X:121.58, Y:-0.94, Z:-1.86 [[ 9.98010811e-01 -5.82443970e-02 -2.41249052e-02 1.21576577e+02] [ 5.82573620e-02 9.98301584e-01 -1.65665975e-04 -9.43089701e-01] [ 2.40935802e-02 -1.24011690e-03 9.99708938e-01 -1.86475556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.938001145 meters 0.07018916487129026 Centerline is valid? [True, True] Translation: X:121.64, Y:-0.94, Z:-1.87 [[ 9.97754938e-01 -6.08705819e-02 -2.79258982e-02 1.21635614e+02] [ 6.08889404e-02 9.98144528e-01 -1.93274520e-04 -9.44056471e-01] [ 2.78858472e-02 -1.50753774e-03 9.99609977e-01 -1.87229430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99800114499999 meters 0.06880029443715789 Centerline is valid? [True, True] Translation: X:121.70, Y:-0.93, Z:-1.87 [[ 9.97776067e-01 -6.04418879e-02 -2.81015819e-02 1.21697608e+02] [ 6.04603962e-02 9.98170579e-01 -1.91372072e-04 -9.33727961e-01] [ 2.80617392e-02 -1.50808631e-03 9.99605054e-01 -1.86925407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05800114499999 meters 0.06934513054241996 Centerline is valid? [True, True] Translation: X:121.76, Y:-0.93, Z:-1.87 [[ 9.97901355e-01 -5.89996647e-02 -2.66819166e-02 1.21758217e+02] [ 5.90158467e-02 9.98257030e-01 -1.81271007e-04 -9.32077338e-01] [ 2.66461058e-02 -1.39376532e-03 9.99643958e-01 -1.87239526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.118001145 meters 0.0692924750576803 Centerline is valid? [True, True] Translation: X:121.82, Y:-0.93, Z:-1.87 [[ 9.97964911e-01 -5.85297645e-02 -2.53042273e-02 1.21820125e+02] [ 5.85442031e-02 9.98284803e-01 -1.70484310e-04 -9.26384760e-01] [ 2.52708040e-02 -1.31127847e-03 9.99679782e-01 -1.87178518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.178001145 meters 0.06770572488804692 Centerline is valid? [True, True] Translation: X:121.88, Y:-0.91, Z:-1.87 [[ 9.98061324e-01 -5.66970825e-02 -2.56716635e-02 1.21881728e+02] [ 5.67113548e-02 9.98390601e-01 -1.72345786e-04 -9.10823315e-01] [ 2.56401190e-02 -1.28386315e-03 9.99670414e-01 -1.86938521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.238001145 meters 0.06837521341005559 Centerline is valid? [True, True] Translation: X:121.94, Y:-0.91, Z:-1.87 [[ 9.98146982e-01 -5.56627964e-02 -2.45816102e-02 1.21942195e+02] [ 5.56755735e-02 9.98448899e-01 -1.64843672e-04 -9.07964465e-01] [ 2.45526573e-02 -1.20405703e-03 9.99697813e-01 -1.87224114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.298001145 meters 0.06765889321547738 Centerline is valid? [True, True] Translation: X:122.00, Y:-0.90, Z:-1.87 [[ 9.98320863e-01 -5.40432739e-02 -2.08513714e-02 1.22003385e+02] [ 5.40521214e-02 9.98538106e-01 -1.39459853e-04 -9.00421662e-01] [ 2.08284257e-02 -9.87835175e-04 9.99782577e-01 -1.87100953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35800114499999 meters 0.06903493841824275 Centerline is valid? [True, True] Translation: X:122.07, Y:-0.89, Z:-1.87 [[ 9.98187544e-01 -5.72412580e-02 -1.85759116e-02 1.22065938e+02] [ 5.72488668e-02 9.98359931e-01 -1.22346742e-04 -8.93480151e-01] [ 1.85524491e-02 -9.41324894e-04 9.99827445e-01 -1.86882349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41800114499999 meters 0.06992690658687943 Centerline is valid? [True, True] Translation: X:122.13, Y:-0.89, Z:-1.87 [[ 9.97958987e-01 -6.14389304e-02 -1.74102760e-02 1.22126880e+02] [ 6.14462450e-02 9.98110388e-01 -1.14998495e-04 -8.94160398e-01] [ 1.73844427e-02 -9.55032304e-04 9.99848423e-01 -1.87046219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.478001145 meters 0.0723588258642649 Centerline is valid? [True, True] Translation: X:122.19, Y:-0.90, Z:-1.87 [[ 9.97698950e-01 -6.54692816e-02 -1.76232134e-02 1.22186495e+02] [ 6.54773919e-02 9.97854046e-01 -1.17023002e-04 -8.97900982e-01] [ 1.75930562e-02 -1.03716832e-03 9.99844692e-01 -1.87482201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.538001145 meters 0.07381044070737283 Centerline is valid? [True, True] Translation: X:122.25, Y:-0.89, Z:-1.88 [[ 9.97671419e-01 -6.56403736e-02 -1.85224619e-02 1.22247520e+02] [ 6.56494919e-02 9.97842738e-01 -1.15990070e-04 -8.94701729e-01] [ 1.84901178e-02 -1.10027024e-03 9.99828438e-01 -1.87650332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.598001145 meters 0.0729529394815499 Centerline is valid? [True, True] Translation: X:122.31, Y:-0.89, Z:-1.88 [[ 9.97803881e-01 -6.33283567e-02 -1.94147881e-02 1.22309480e+02] [ 6.33379107e-02 9.97992131e-01 -1.23024725e-04 -8.87078747e-01] [ 1.93835967e-02 -1.10693757e-03 9.99811508e-01 -1.87819927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.658001145 meters 0.07107970750913889 Centerline is valid? [True, True] Translation: X:122.37, Y:-0.88, Z:-1.88 [[ 9.98214975e-01 -5.67350046e-02 -1.86548592e-02 1.22370414e+02] [ 5.67426735e-02 9.98388830e-01 -1.18387595e-04 -8.77859647e-01] [ 1.86315198e-02 -9.40350315e-04 9.99825976e-01 -1.88148361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71800114499999 meters 0.06837696058011468 Centerline is valid? [True, True] Translation: X:122.43, Y:-0.86, Z:-1.88 [[ 9.98687488e-01 -4.80383394e-02 -1.77656889e-02 1.22431245e+02] [ 4.80439254e-02 9.98845218e-01 -1.12489431e-04 -8.61166671e-01] [ 1.77505772e-02 -7.41191643e-04 9.99842171e-01 -1.88016143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77800114499999 meters 0.06661098650201466 Centerline is valid? [True, True] Translation: X:122.49, Y:-0.85, Z:-1.88 [[ 9.98936979e-01 -4.22798164e-02 -1.83665175e-02 1.22492205e+02] [ 4.22848205e-02 9.99105590e-01 -1.15975366e-04 -8.48340996e-01] [ 1.83549937e-02 -6.60772812e-04 9.99831315e-01 -1.88008837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83800114499999 meters 0.06578151372435306 Centerline is valid? [True, True] Translation: X:122.55, Y:-0.84, Z:-1.88 [[ 9.99202212e-01 -3.61117222e-02 -1.70552728e-02 1.22553083e+02] [ 3.61151373e-02 9.99347630e-01 -1.07823171e-04 -8.39507973e-01] [ 1.70480401e-02 -5.08216368e-04 9.99854542e-01 -1.88206210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.898001145 meters 0.06579991110297177 Centerline is valid? [True, True] Translation: X:122.61, Y:-0.84, Z:-1.88 [[ 9.99279785e-01 -3.47215714e-02 -1.53076383e-02 1.22613725e+02] [ 3.47241731e-02 9.99396929e-01 -9.58792992e-05 -8.35818634e-01] [ 1.53017358e-02 -4.35734837e-04 9.99882827e-01 -1.88291530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.958001145 meters 0.06526576186940107 Centerline is valid? [True, True] Translation: X:122.68, Y:-0.83, Z:-1.88 [[ 9.99344525e-01 -3.30902939e-02 -1.46817442e-02 1.22675957e+02] [ 3.30925320e-02 9.99452288e-01 -9.05376219e-05 -8.28288448e-01] [ 1.46766988e-02 -3.95377813e-04 9.99892213e-01 -1.88145021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.018001145 meters 0.06579627633199173 Centerline is valid? [True, True] Translation: X:122.74, Y:-0.83, Z:-1.89 [[ 9.99363194e-01 -3.24924017e-02 -1.47461712e-02 1.22736818e+02] [ 3.24946014e-02 9.99471907e-01 -9.04681723e-05 -8.26603193e-01] [ 1.47413233e-02 -3.88760391e-04 9.99891265e-01 -1.88522059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.078001145 meters 0.06550435717979267 Centerline is valid? [True, True] Translation: X:122.80, Y:-0.82, Z:-1.88 [[ 9.99387287e-01 -3.21245586e-02 -1.38947470e-02 1.22799505e+02] [ 3.21264981e-02 9.99483807e-01 -8.36512756e-05 -8.23019978e-01] [ 1.38902619e-02 -3.62789543e-04 9.99903460e-01 -1.88439230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13800114499999 meters 0.06513876270423437 Centerline is valid? [True, True] Translation: X:122.86, Y:-0.82, Z:-1.88 [[ 9.99441677e-01 -3.05098881e-02 -1.36191373e-02 1.22862110e+02] [ 3.05116170e-02 9.99534409e-01 -8.08667782e-05 -8.17860895e-01] [ 1.36152635e-02 -3.34720271e-04 9.99907252e-01 -1.88428644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19800114499999 meters 0.06462614308138448 Centerline is valid? [True, True] Translation: X:122.92, Y:-0.81, Z:-1.89 [[ 9.99551030e-01 -2.66127370e-02 -1.37658956e-02 1.22923810e+02] [ 2.66141434e-02 9.99645778e-01 -8.10486008e-05 -8.12045484e-01] [ 1.37631763e-02 -2.85355306e-04 9.99905242e-01 -1.88571501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.258001145 meters 0.06495308351089925 Centerline is valid? [True, True] Translation: X:122.99, Y:-0.81, Z:-1.89 [[ 9.99602566e-01 -2.44486828e-02 -1.40346911e-02 1.22985472e+02] [ 2.44499437e-02 9.99701052e-01 -8.17638762e-05 -8.11499403e-01] [ 1.40324944e-02 -2.61416026e-04 9.99901506e-01 -1.89019212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.318001145 meters 0.06424505257403847 Centerline is valid? [True, True] Translation: X:123.05, Y:-0.81, Z:-1.89 [[ 9.99635711e-01 -2.35419325e-02 -1.31993718e-02 1.23048094e+02] [ 2.35429811e-02 9.99722823e-01 -7.59589528e-05 -8.07058304e-01] [ 1.31975014e-02 -2.34821279e-04 9.99912882e-01 -1.88634120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.378001145 meters 0.06446464643715928 Centerline is valid? [True, True] Translation: X:123.11, Y:-0.81, Z:-1.89 [[ 9.99610387e-01 -2.35870417e-02 -1.49240286e-02 1.23110095e+02] [ 2.35884001e-02 9.99721751e-01 -8.50292239e-05 -8.06461424e-01] [ 1.49218816e-02 -2.67037861e-04 9.99888627e-01 -1.88802076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.438001145 meters 0.06488021731392762 Centerline is valid? [True, True] Translation: X:123.17, Y:-0.81, Z:-1.89 [[ 9.99587208e-01 -2.39252694e-02 -1.59058475e-02 1.23172478e+02] [ 2.39268704e-02 9.99713707e-01 -8.96675784e-05 -8.08765238e-01] [ 1.59034391e-02 -2.90946587e-04 9.99873490e-01 -1.89184384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49800114499999 meters 0.06546496933515959 Centerline is valid? [True, True] Translation: X:123.23, Y:-0.81, Z:-1.89 [[ 9.99478524e-01 -2.81165901e-02 -1.58788460e-02 1.23234660e+02] [ 2.81187305e-02 9.99604586e-01 -8.84897504e-05 -8.14139747e-01] [ 1.58750553e-02 -3.58049386e-04 9.99873919e-01 -1.89341309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55800114499999 meters 0.0660079969936479 Centerline is valid? [True, True] Translation: X:123.30, Y:-0.82, Z:-1.89 [[ 9.99401837e-01 -3.14035920e-02 -1.44838938e-02 1.23296756e+02] [ 3.14057322e-02 9.99506715e-01 -7.97238555e-05 -8.19394760e-01] [ 1.44792527e-02 -3.75201122e-04 9.99895100e-01 -1.89354156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.618001145 meters 0.06634949020580148 Centerline is valid? [True, True] Translation: X:123.36, Y:-0.82, Z:-1.89 [[ 9.99373117e-01 -3.20044048e-02 -1.51357870e-02 1.23358658e+02] [ 3.20068244e-02 9.99487647e-01 -8.24141827e-05 -8.21092832e-01] [ 1.51306697e-02 -4.02085958e-04 9.99885444e-01 -1.89475591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.678001145 meters 0.06613368576379558 Centerline is valid? [True, True] Translation: X:123.42, Y:-0.82, Z:-1.89 [[ 9.99362382e-01 -3.24739505e-02 -1.48415952e-02 1.23421179e+02] [ 3.24763435e-02 9.99472501e-01 -7.98123943e-05 -8.21517404e-01] [ 1.48363581e-02 -4.02239241e-04 9.99889854e-01 -1.89474754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.738001145 meters 0.06615302799674304 Centerline is valid? [True, True] Translation: X:123.48, Y:-0.82, Z:-1.89 [[ 9.99260413e-01 -3.54822150e-02 -1.48202504e-02 1.23483031e+02] [ 3.54849395e-02 9.99370208e-01 -7.91630923e-05 -8.24871594e-01] [ 1.48137256e-02 -4.46791146e-04 9.99890171e-01 -1.89388816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.798001145 meters 0.06696517511703398 Centerline is valid? [True, True] Translation: X:123.54, Y:-0.83, Z:-1.90 [[ 9.99161710e-01 -3.73266672e-02 -1.68106310e-02 1.23544198e+02] [ 3.73304373e-02 9.99302972e-01 -8.95786631e-05 -8.26898828e-01] [ 1.68022572e-02 -5.38044638e-04 9.99858687e-01 -1.89622132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85800114499999 meters 0.06761770313950166 Centerline is valid? [True, True] Translation: X:123.61, Y:-0.83, Z:-1.90 [[ 9.99178756e-01 -3.70664445e-02 -1.63674040e-02 1.23605533e+02] [ 3.70700004e-02 9.99312668e-01 -8.61858135e-05 -8.30450993e-01] [ 1.63593488e-02 -5.20624639e-04 9.99866041e-01 -1.89954669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91800114499999 meters 0.06722358059510886 Centerline is valid? [True, True] Translation: X:123.67, Y:-0.83, Z:-1.90 [[ 9.99194201e-01 -3.63367747e-02 -1.70466051e-02 1.23668267e+02] [ 3.63405659e-02 9.99339460e-01 -8.74154007e-05 -8.25925199e-01] [ 1.70385215e-02 -5.32138314e-04 9.99854692e-01 -1.89829659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.978001145 meters 0.06776776895937821 Centerline is valid? [True, True] Translation: X:123.73, Y:-0.83, Z:-1.90 [[ 9.99116180e-01 -3.80699699e-02 -1.78195437e-02 1.23730621e+02] [ 3.80743990e-02 9.99274903e-01 -9.07667856e-05 -8.26349259e-01] [ 1.78100783e-02 -5.87781854e-04 9.99841215e-01 -1.90034029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.038001145 meters 0.0694216807301963 Centerline is valid? [True, True] Translation: X:123.79, Y:-0.83, Z:-1.90 [[ 9.98873237e-01 -4.36995947e-02 -1.85094856e-02 1.23791051e+02] [ 4.37053233e-02 9.99044461e-01 -9.51008092e-05 -8.30768676e-01] [ 1.84959549e-02 -7.13969397e-04 9.99828680e-01 -1.90229359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.098001145 meters 0.07062549909424119 Centerline is valid? [True, True] Translation: X:123.85, Y:-0.84, Z:-1.90 [[ 9.98686470e-01 -4.76786605e-02 -1.87637889e-02 1.23852185e+02] [ 4.76852701e-02 9.98862406e-01 -9.52624164e-05 -8.35474981e-01] [ 1.87469853e-02 -7.99619054e-04 9.99823940e-01 -1.90438928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.158001145 meters 0.07298478775808377 Centerline is valid? [True, True] Translation: X:123.91, Y:-0.84, Z:-1.91 [[ 9.98415382e-01 -5.24465398e-02 -2.03981951e-02 1.23912717e+02] [ 5.24553346e-02 9.98623266e-01 -1.04026688e-04 -8.39632016e-01] [ 2.03755680e-02 -9.66132303e-04 9.99791930e-01 -1.90783587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21800114499999 meters 0.07297165225995088 Centerline is valid? [True, True] Translation: X:123.97, Y:-0.84, Z:-1.91 [[ 9.98449455e-01 -5.17037196e-02 -2.06254777e-02 1.23974847e+02] [ 5.17125991e-02 9.98662003e-01 -1.02968629e-04 -8.37896441e-01] [ 2.06032047e-02 -9.63788087e-04 9.99787267e-01 -1.90957536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27800114499999 meters 0.07182966615626268 Centerline is valid? [True, True] Translation: X:124.04, Y:-0.83, Z:-1.91 [[ 9.98497763e-01 -5.06924773e-02 -2.07964075e-02 1.24037111e+02] [ 5.07013149e-02 9.98713856e-01 -1.02418946e-04 -8.32710695e-01] [ 2.07748522e-02 -9.52140117e-04 9.99783726e-01 -1.90970959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33800114499999 meters 0.07260011590490695 Centerline is valid? [True, True] Translation: X:124.10, Y:-0.83, Z:-1.91 [[ 9.98471221e-01 -5.15998588e-02 -1.98160336e-02 1.24098999e+02] [ 5.16080873e-02 9.98667410e-01 -9.62562422e-05 -8.30185974e-01] [ 1.97945938e-02 -9.26558505e-04 9.99803638e-01 -1.90816160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.398001145 meters 0.07317770995356822 Centerline is valid? [True, True] Translation: X:124.16, Y:-0.83, Z:-1.91 [[ 9.98439041e-01 -5.22410348e-02 -1.97574454e-02 1.24160747e+02] [ 5.22494635e-02 9.98634060e-01 -8.97108654e-05 -8.29701399e-01] [ 1.97351445e-02 -9.42745091e-04 9.99804799e-01 -1.90985264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.458001145 meters 0.07457604341220235 Centerline is valid? [True, True] Translation: X:124.22, Y:-0.83, Z:-1.91 [[ 9.98456573e-01 -5.23658843e-02 -1.85009813e-02 1.24222361e+02] [ 5.23732832e-02 9.98627574e-01 -8.47113985e-05 -8.31954505e-01] [ 1.84800260e-02 -8.84376479e-04 9.99828839e-01 -1.91332657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.518001145 meters 0.07451011995389938 Centerline is valid? [True, True] Translation: X:124.28, Y:-0.83, Z:-1.91 [[ 9.98487877e-01 -5.15938172e-02 -1.89746621e-02 1.24284600e+02] [ 5.16014833e-02 9.98667752e-01 -8.56908141e-05 -8.27323970e-01] [ 1.89538043e-02 -8.93559470e-04 9.99819961e-01 -1.91374594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.578001145 meters 0.07355044580581008 Centerline is valid? [True, True] Translation: X:124.35, Y:-0.82, Z:-1.91 [[ 9.98572207e-01 -5.04034518e-02 -1.76929433e-02 1.24345752e+02] [ 5.04099339e-02 9.98728608e-01 -7.97091532e-05 -8.20099302e-01] [ 1.76744663e-02 -8.12304760e-04 9.99843464e-01 -1.91169177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63800114499999 meters 0.07333394358106407 Centerline is valid? [True, True] Translation: X:124.41, Y:-0.82, Z:-1.91 [[ 9.98546947e-01 -5.14296902e-02 -1.60929105e-02 1.24409305e+02] [ 5.14352272e-02 9.98676330e-01 -6.99187514e-05 -8.17309984e-01] [ 1.60752047e-02 -7.57925354e-04 9.99870498e-01 -1.91028867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69800114499999 meters 0.07514972904509384 Centerline is valid? [True, True] Translation: X:124.47, Y:-0.82, Z:-1.91 [[ 9.98359514e-01 -5.47590454e-02 -1.67250832e-02 1.24470682e+02] [ 5.47654845e-02 9.98499242e-01 -7.31137948e-05 -8.20179254e-01] [ 1.67039866e-02 -8.42963435e-04 9.99860123e-01 -1.91393146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.758001145 meters 0.0754394027715094 Centerline is valid? [True, True] Translation: X:124.53, Y:-0.82, Z:-1.91 [[ 9.98205960e-01 -5.72964665e-02 -1.73774816e-02 1.24532135e+02] [ 5.73038114e-02 9.98356784e-01 -7.53866373e-05 -8.18999136e-01] [ 1.73532460e-02 -9.20544538e-04 9.99848997e-01 -1.91470235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.818001145 meters 0.08022430069114378 Centerline is valid? [True, True] Translation: X:124.59, Y:-0.83, Z:-1.92 [[ 9.98040631e-01 -5.99117668e-02 -1.80410274e-02 1.24591749e+02] [ 5.99201005e-02 9.98203173e-01 -7.87559291e-05 -8.27788184e-01] [ 1.80133293e-02 -1.00241856e-03 9.99837244e-01 -1.92072038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.878001145 meters 0.07741189429537872 Centerline is valid? [True, True] Translation: X:124.65, Y:-0.82, Z:-1.92 [[ 9.97877393e-01 -6.22901544e-02 -1.89906442e-02 1.24653041e+02] [ 6.22998394e-02 9.98057475e-01 -8.17705107e-05 -8.20524881e-01] [ 1.89588479e-02 -1.10151714e-03 9.99819658e-01 -1.91694919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.938001145 meters 0.08086589323625232 Centerline is valid? [True, True] Translation: X:124.71, Y:-0.82, Z:-1.92 [[ 9.97727492e-01 -6.49108465e-02 -1.80674660e-02 1.24712904e+02] [ 6.49200800e-02 9.97890464e-01 -7.56065999e-05 -8.24474972e-01] [ 1.80342597e-02 -1.09750656e-03 9.99836767e-01 -1.91784581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99800114499999 meters 0.08026411083651677 Centerline is valid? [True, True] Translation: X:124.77, Y:-0.83, Z:-1.92 [[ 9.97682584e-01 -6.60375054e-02 -1.63862458e-02 1.24774969e+02] [ 6.60453522e-02 9.97816620e-01 -6.24175604e-05 -8.25834248e-01] [ 1.63545903e-02 -1.01996246e-03 9.99865735e-01 -1.91874249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.058001145 meters 0.08073801238664263 Centerline is valid? [True, True] Translation: X:124.84, Y:-0.83, Z:-1.92 [[ 9.97465166e-01 -6.93729121e-02 -1.58316522e-02 1.24835703e+02] [ 6.93806207e-02 9.97590259e-01 -6.24705865e-05 -8.27631286e-01] [ 1.57978358e-02 -1.03609762e-03 9.99874670e-01 -1.91835386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.118001145 meters 0.0819154726471911 Centerline is valid? [True, True] Translation: X:124.90, Y:-0.83, Z:-1.92 [[ 9.97381594e-01 -7.05658576e-02 -1.58245166e-02 1.24897710e+02] [ 7.05738058e-02 9.97506559e-01 -5.62993494e-05 -8.29442528e-01] [ 1.57890319e-02 -1.06064443e-03 9.99874783e-01 -1.91857054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.178001145 meters 0.08481162225964373 Centerline is valid? [True, True] Translation: X:124.96, Y:-0.84, Z:-1.92 [[ 9.97203800e-01 -7.27035990e-02 -1.72848999e-02 1.24957273e+02] [ 7.27133774e-02 9.97352877e-01 -6.29065982e-05 -8.36276757e-01] [ 1.72437181e-02 -1.19411275e-03 9.99850603e-01 -1.92185454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.238001145 meters 0.0842394320734104 Centerline is valid? [True, True] Translation: X:125.02, Y:-0.84, Z:-1.92 [[ 9.97184516e-01 -7.31044800e-02 -1.66965674e-02 1.25019643e+02] [ 7.31137668e-02 9.97323606e-01 -5.43468707e-05 -8.36360929e-01] [ 1.66558538e-02 -1.16655508e-03 9.99860601e-01 -1.92183023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.298001145 meters 0.08599612864374363 Centerline is valid? [True, True] Translation: X:125.08, Y:-0.84, Z:-1.93 [[ 9.97344544e-01 -7.07610930e-02 -1.72257898e-02 1.25080609e+02] [ 7.07705891e-02 9.97492617e-01 -5.84525031e-05 -8.40775261e-01] [ 1.71867343e-02 -1.16078201e-03 9.99851623e-01 -1.92643309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.358001145 meters 0.08717401091674992 Centerline is valid? [True, True] Translation: X:125.14, Y:-0.84, Z:-1.93 [[ 9.97552849e-01 -6.72008472e-02 -1.92966365e-02 1.25140460e+02] [ 6.72120909e-02 9.97738709e-01 -6.60107527e-05 -8.42822253e-01] [ 1.92574371e-02 -1.23111807e-03 9.99813800e-01 -1.93173252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.418001145 meters 0.07695201206006312 Centerline is valid? [True, True] Translation: X:125.20, Y:-0.82, Z:-1.92 [[ 9.98090820e-01 -5.88919772e-02 -1.86131901e-02 1.25200694e+02] [ 5.89010023e-02 9.98263827e-01 -6.34429152e-05 -8.19281612e-01] [ 1.85846107e-02 -1.03301376e-03 9.99826758e-01 -1.92391255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.478001145 meters 0.07283086032825754 Centerline is valid? [True, True] Translation: X:125.26, Y:-0.81, Z:-1.92 [[ 9.98655352e-01 -4.87022823e-02 -1.77644469e-02 1.25261348e+02] [ 4.87088929e-02 9.98813016e-01 -6.06144768e-05 -8.05948383e-01] [ 1.77463128e-02 -8.04753571e-04 9.99842198e-01 -1.92141703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53800114499998 meters 0.07243526933337507 Centerline is valid? [True, True] Translation: X:125.32, Y:-0.81, Z:-1.92 [[ 9.98816983e-01 -4.54440817e-02 -1.73051708e-02 1.25320867e+02] [ 4.54498577e-02 9.98966620e-01 -5.95732293e-05 -8.05468473e-01] [ 1.72899952e-02 -7.27014795e-04 9.99850253e-01 -1.92413975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.59800114499998 meters 0.07096840147563666 Centerline is valid? [True, True] Translation: X:125.38, Y:-0.80, Z:-1.93 [[ 9.99017436e-01 -4.09818803e-02 -1.68715090e-02 1.25381311e+02] [ 4.09867388e-02 9.99159689e-01 -5.78560620e-05 -8.01888686e-01] [ 1.68597027e-02 -6.33708916e-04 9.99857664e-01 -1.92501337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.658001145 meters 0.06899921345645783 Centerline is valid? [True, True] Translation: X:125.44, Y:-0.80, Z:-1.93 [[ 9.99273728e-01 -3.40182908e-02 -1.71689494e-02 1.25442030e+02] [ 3.40223000e-02 9.99421072e-01 -5.86044675e-05 -7.95463518e-01] [ 1.71610034e-02 -5.25565240e-04 9.99852601e-01 -1.92592606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.718001145 meters 0.06772032442543122 Centerline is valid? [True, True] Translation: X:125.50, Y:-0.79, Z:-1.93 [[ 9.99499629e-01 -2.69534389e-02 -1.65530719e-02 1.25501454e+02] [ 2.69561871e-02 9.99636614e-01 -5.71101916e-05 -7.91650998e-01] [ 1.65485961e-02 -3.89126088e-04 9.99862987e-01 -1.92626210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.778001145 meters 0.06683095507202316 Centerline is valid? [True, True] Translation: X:125.56, Y:-0.79, Z:-1.93 [[ 9.99632837e-01 -2.24364591e-02 -1.51920190e-02 1.25562750e+02] [ 2.24382696e-02 9.99748229e-01 -5.12886025e-05 -7.87278377e-01] [ 1.51893448e-02 -2.89612848e-04 9.99884593e-01 -1.92567995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.838001145 meters 0.06573365077682208 Centerline is valid? [True, True] Translation: X:125.62, Y:-0.78, Z:-1.92 [[ 9.99771279e-01 -1.59816523e-02 -1.42118530e-02 1.25623885e+02] [ 1.59825915e-02 9.99872269e-01 -4.74959440e-05 -7.82924384e-01] [ 1.42107967e-02 -1.79657160e-04 9.99899005e-01 -1.92466158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.898001145 meters 0.06513860279630464 Centerline is valid? [True, True] Translation: X:125.69, Y:-0.78, Z:-1.92 [[ 9.99797202e-01 -1.36162551e-02 -1.48375652e-02 1.25685107e+02] [ 1.36170253e-02 9.99907283e-01 -4.91209590e-05 -7.82188546e-01] [ 1.48368583e-02 -1.52932503e-04 9.99889916e-01 -1.92404442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.958001145 meters 0.06493328897323523 Centerline is valid? [True, True] Translation: X:125.75, Y:-0.78, Z:-1.92 [[ 9.99815680e-01 -1.14858676e-02 -1.53844534e-02 1.25745852e+02] [ 1.14864362e-02 9.99934027e-01 -5.14019095e-05 -7.82984258e-01] [ 1.53840288e-02 -1.25320107e-04 9.99881651e-01 -1.92493180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.018001145 meters 0.06513858658831614 Centerline is valid? [True, True] Translation: X:125.80, Y:-0.79, Z:-1.93 [[ 9.99787934e-01 -1.24457432e-02 -1.64070247e-02 1.25804810e+02] [ 1.24464951e-02 9.99922538e-01 -5.62858438e-05 -7.87543468e-01] [ 1.64064543e-02 -1.47936045e-04 9.99865394e-01 -1.92888996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.078001145 meters 0.06513395136370097 Centerline is valid? [True, True] Translation: X:125.86, Y:-0.79, Z:-1.93 [[ 9.99731869e-01 -1.45632946e-02 -1.80027687e-02 1.25863927e+02] [ 1.45645289e-02 9.99893930e-01 -6.25534540e-05 -7.92137737e-01] [ 1.80017702e-02 -1.99665165e-04 9.99837935e-01 -1.92888040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.138001145 meters 0.06523697097747282 Centerline is valid? [True, True] Translation: X:125.92, Y:-0.80, Z:-1.93 [[ 9.99732687e-01 -1.64253211e-02 -1.62715743e-02 1.25922399e+02] [ 1.64264756e-02 9.99865074e-01 -6.27074049e-05 -7.96570857e-01] [ 1.62704089e-02 -2.04593977e-04 9.99867607e-01 -1.92891255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.198001145 meters 0.06504006172900066 Centerline is valid? [True, True] Translation: X:125.98, Y:-0.80, Z:-1.93 [[ 9.99757563e-01 -1.69517984e-02 -1.40517317e-02 1.25982910e+02] [ 1.69527761e-02 9.99856290e-01 -4.95450037e-05 -8.04271791e-01] [ 1.40505522e-02 -1.88682868e-04 9.99901268e-01 -1.93028873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.258001145 meters 0.06433847691746382 Centerline is valid? [True, True] Translation: X:126.04, Y:-0.80, Z:-1.93 [[ 9.99784139e-01 -1.54657000e-02 -1.38739796e-02 1.26044089e+02] [ 1.54665098e-02 9.99880385e-01 -4.89339198e-05 -8.04051458e-01] [ 1.38730769e-02 -1.65658685e-04 9.99903751e-01 -1.92626221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31800114499998 meters 0.06432419553642109 Centerline is valid? [True, True] Translation: X:126.11, Y:-0.81, Z:-1.93 [[ 9.99829834e-01 -1.31902435e-02 -1.28965088e-02 1.26105536e+02] [ 1.31907596e-02 9.99912997e-01 -4.50475510e-05 -8.06634531e-01] [ 1.28959809e-02 -1.25074861e-04 9.99916836e-01 -1.92782199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.37800114499998 meters 0.06414278448907562 Centerline is valid? [True, True] Translation: X:126.17, Y:-0.81, Z:-1.93 [[ 9.99819428e-01 -1.24417621e-02 -1.43636338e-02 1.26165397e+02] [ 1.24423501e-02 9.99922590e-01 -4.84277274e-05 -8.13436602e-01] [ 1.43631244e-02 -1.30298377e-04 9.99896837e-01 -1.93149399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.438001145 meters 0.0640874295430102 Centerline is valid? [True, True] Translation: X:126.23, Y:-0.82, Z:-1.93 [[ 9.99774437e-01 -1.38522575e-02 -1.60993794e-02 1.26225227e+02] [ 1.38531438e-02 9.99904039e-01 -5.64755635e-05 -8.16464163e-01] [ 1.60986168e-02 -1.66564193e-04 9.99870395e-01 -1.93196569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.498001145 meters 0.06427049786792126 Centerline is valid? [True, True] Translation: X:126.28, Y:-0.83, Z:-1.93 [[ 9.99696673e-01 -1.69378962e-02 -1.78792895e-02 1.26284853e+02] [ 1.69394734e-02 9.99856515e-01 -6.32369891e-05 -8.27156118e-01] [ 1.78777952e-02 -2.39647941e-04 9.99840151e-01 -1.93438577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.558001145 meters 0.06447343697815937 Centerline is valid? [True, True] Translation: X:126.34, Y:-0.84, Z:-1.94 [[ 9.99560645e-01 -2.15966070e-02 -2.03003292e-02 1.26344762e+02] [ 2.15996000e-02 9.99766699e-01 -7.18431526e-05 -8.41271728e-01] [ 2.02971446e-02 -3.66667401e-04 9.99793925e-01 -1.93673998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.618001145 meters 0.06501870485557584 Centerline is valid? [True, True] Translation: X:126.40, Y:-0.85, Z:-1.94 [[ 9.99449234e-01 -2.49349449e-02 -2.18969731e-02 1.26404943e+02] [ 2.49392194e-02 9.99688966e-01 -7.78888651e-05 -8.46129817e-01] [ 2.18921046e-02 -4.68247451e-04 9.99760230e-01 -1.93799615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.678001145 meters 0.0654768055663865 Centerline is valid? [True, True] Translation: X:126.47, Y:-0.86, Z:-1.94 [[ 9.99282320e-01 -2.96634257e-02 -2.35568841e-02 1.26465586e+02] [ 2.96696923e-02 9.99559754e-01 -8.35252236e-05 -8.57152278e-01] [ 2.35489909e-02 -6.15460222e-04 9.99722495e-01 -1.93886134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.738001145 meters 0.06568492355720905 Centerline is valid? [True, True] Translation: X:126.53, Y:-0.87, Z:-1.94 [[ 9.99167220e-01 -3.40460208e-02 -2.24885634e-02 1.26526729e+02] [ 3.40528668e-02 9.99420030e-01 -7.85705840e-05 -8.66060480e-01] [ 2.24781957e-02 -6.87294902e-04 9.99747097e-01 -1.93845407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.798001145 meters 0.06689967135284548 Centerline is valid? [True, True] Translation: X:126.59, Y:-0.88, Z:-1.94 [[ 9.98785494e-01 -4.40827552e-02 -2.20056292e-02 1.26588146e+02] [ 4.40917554e-02 9.99027483e-01 -7.62650341e-05 -8.78594759e-01] [ 2.19875903e-02 -8.94094409e-04 9.99757844e-01 -1.93670141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.858001145 meters 0.06903230320931902 Centerline is valid? [True, True] Translation: X:126.65, Y:-0.89, Z:-1.94 [[ 9.98472292e-01 -5.02068713e-02 -2.30727435e-02 1.26647587e+02] [ 5.02183895e-02 9.98738257e-01 -8.02981651e-05 -8.89684864e-01] [ 2.30476632e-02 -1.07850053e-03 9.99733786e-01 -1.93959183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.918001145 meters 0.07043861254426859 Centerline is valid? [True, True] Translation: X:126.71, Y:-0.90, Z:-1.94 [[ 9.98090464e-01 -5.71167055e-02 -2.35182582e-02 1.26709082e+02] [ 5.71306082e-02 9.98366710e-01 -8.08769377e-05 -9.02259614e-01] [ 2.34844655e-02 -1.26288989e-03 9.99723404e-01 -1.93942615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.978001145 meters 0.07209664537200165 Centerline is valid? [True, True] Translation: X:126.77, Y:-0.91, Z:-1.94 [[ 9.97748695e-01 -6.22227139e-02 -2.50174969e-02 1.26769967e+02] [ 6.22400687e-02 9.98061204e-01 -8.51156521e-05 -9.10872134e-01] [ 2.49742892e-02 -1.47216670e-03 9.99687010e-01 -1.94068652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03800114499998 meters 0.07390140977728724 Centerline is valid? [True, True] Translation: X:126.83, Y:-0.92, Z:-1.94 [[ 9.97464465e-01 -6.61489723e-02 -2.62479488e-02 1.26830487e+02] [ 6.61694178e-02 9.97808398e-01 -8.98052707e-05 -9.17449638e-01] [ 2.61963643e-02 -1.64723393e-03 9.99655459e-01 -1.94239320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.09800114499998 meters 0.07781810660291769 Centerline is valid? [True, True] Translation: X:126.89, Y:-0.93, Z:-1.95 [[ 9.97034132e-01 -7.21250146e-02 -2.68499826e-02 1.26889961e+02] [ 7.21485942e-02 9.97393890e-01 -9.07972261e-05 -9.28372288e-01] [ 2.67865573e-02 -1.84666056e-03 9.99639470e-01 -1.94603066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.158001145 meters 0.07887731182743885 Centerline is valid? [True, True] Translation: X:126.95, Y:-0.93, Z:-1.95 [[ 9.96824607e-01 -7.45647176e-02 -2.79428979e-02 1.26950498e+02] [ 7.45912039e-02 9.97214191e-01 -9.47285172e-05 -9.31867803e-01] [ 2.78721177e-02 -1.98986668e-03 9.99609517e-01 -1.94740504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.218001145 meters 0.08113157079247212 Centerline is valid? [True, True] Translation: X:127.01, Y:-0.94, Z:-1.95 [[ 9.96527664e-01 -7.78717600e-02 -2.94720924e-02 1.27011383e+02] [ 7.79026926e-02 9.96960962e-01 -9.89584877e-05 -9.36419277e-01] [ 2.93902317e-02 -2.19734049e-03 9.99565599e-01 -1.95006589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.278001145 meters 0.08178711788911452 Centerline is valid? [True, True] Translation: X:127.07, Y:-0.94, Z:-1.95 [[ 9.96470352e-01 -7.90000785e-02 -2.83870428e-02 1.27073281e+02] [ 7.90292944e-02 9.96872290e-01 -9.30095327e-05 -9.35720981e-01] [ 2.83056042e-02 -2.15072672e-03 9.99597002e-01 -1.94922004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.338001145 meters 0.07698896897041689 Centerline is valid? [True, True] Translation: X:127.13, Y:-0.93, Z:-1.94 [[ 9.96534180e-01 -7.89617691e-02 -2.61661327e-02 1.27134444e+02] [ 7.89865907e-02 9.96875675e-01 -8.52033469e-05 -9.28976201e-01] [ 2.60911090e-02 -1.98186557e-03 9.99657605e-01 -1.94366003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.398001145 meters 0.0785346925779341 Centerline is valid? [True, True] Translation: X:127.19, Y:-0.93, Z:-1.95 [[ 9.96420372e-01 -8.02546263e-02 -2.65638251e-02 1.27194378e+02] [ 8.02806527e-02 9.96772296e-01 -8.69701134e-05 -9.33272818e-01] [ 2.64850646e-02 -2.04590242e-03 9.99647116e-01 -1.94650088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.458001145 meters 0.08056470611174613 Centerline is valid? [True, True] Translation: X:127.26, Y:-0.94, Z:-1.95 [[ 9.96259300e-01 -8.16232898e-02 -2.83733256e-02 1.27255617e+02] [ 8.16535557e-02 9.96660769e-01 -9.22179440e-05 -9.37211071e-01] [ 2.82861077e-02 -2.22490994e-03 9.99597392e-01 -1.95055257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.518001145 meters 0.08464729514844338 Centerline is valid? [True, True] Translation: X:127.32, Y:-0.94, Z:-1.96 [[ 9.96098873e-01 -8.29904656e-02 -2.99936439e-02 1.27315114e+02] [ 8.30248981e-02 9.96547468e-01 -9.77212558e-05 -9.43995898e-01] [ 2.98981998e-02 -2.39287920e-03 9.99550085e-01 -1.95509960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.578001145 meters 0.07916992082550992 Centerline is valid? [True, True] Translation: X:127.38, Y:-0.94, Z:-1.95 [[ 9.95872488e-01 -8.52134820e-02 -3.12514036e-02 1.27375667e+02] [ 8.52519569e-02 9.96359420e-01 -1.01660287e-04 -9.35579020e-01] [ 3.11462931e-02 -2.56300263e-03 9.99511550e-01 -1.94988482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.638001145 meters 0.08242574114804407 Centerline is valid? [True, True] Translation: X:127.44, Y:-0.94, Z:-1.95 [[ 9.95846363e-01 -8.59329759e-02 -3.00922594e-02 1.27436529e+02] [ 8.59690373e-02 9.96297805e-01 -9.57754510e-05 -9.41361598e-01] [ 2.99890823e-02 -2.49162494e-03 9.99547121e-01 -1.95144564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.698001145 meters 0.08185634707561483 Centerline is valid? [True, True] Translation: X:127.50, Y:-0.94, Z:-1.95 [[ 9.95877022e-01 -8.61204001e-02 -2.84997282e-02 1.27499286e+02] [ 8.61529466e-02 9.96281919e-01 -8.62308789e-05 -9.38653973e-01] [ 2.84011901e-02 -2.36946021e-03 9.99593797e-01 -1.94974498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.758001145 meters 0.08038914187792254 Centerline is valid? [True, True] Translation: X:127.56, Y:-0.94, Z:-1.95 [[ 9.95809937e-01 -8.66973464e-02 -2.90884675e-02 1.27561490e+02] [ 8.67315296e-02 9.96231717e-01 -8.68799896e-05 -9.36242838e-01] [ 2.89863862e-02 -2.43637132e-03 9.99576837e-01 -1.95050858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81800114499998 meters 0.08540063005774677 Centerline is valid? [True, True] Translation: X:127.62, Y:-0.94, Z:-1.96 [[ 9.95637117e-01 -8.82826166e-02 -3.02144064e-02 1.27621086e+02] [ 8.83201945e-02 9.96092132e-01 -9.12117403e-05 -9.44890376e-01] [ 3.01043849e-02 -2.57772845e-03 9.99543436e-01 -1.95662762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87800114499998 meters 0.08404934273764166 Centerline is valid? [True, True] Translation: X:127.68, Y:-0.94, Z:-1.95 [[ 9.95483099e-01 -8.98990980e-02 -3.05213281e-02 1.27682251e+02] [ 8.99382196e-02 9.95947342e-01 -9.14158049e-05 -9.41008193e-01] [ 3.04058538e-02 -2.65403102e-03 9.99534112e-01 -1.95474383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.938001145 meters 0.08935123113990462 Centerline is valid? [True, True] Translation: X:127.74, Y:-0.95, Z:-1.96 [[ 9.95416854e-01 -9.14986033e-02 -2.78081504e-02 1.27742991e+02] [ 9.15318185e-02 9.95802149e-01 -7.87892603e-05 -9.49493187e-01] [ 2.76986250e-02 -2.46690242e-03 9.99613276e-01 -1.95670067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.998001145 meters 0.08261854583354887 Centerline is valid? [True, True] Translation: X:127.80, Y:-0.94, Z:-1.95 [[ 9.95458926e-01 -9.23732237e-02 -2.29937666e-02 1.27804508e+02] [ 9.23961593e-02 9.95722323e-01 -6.52088157e-05 -9.38783978e-01] [ 2.29014303e-02 -2.05962303e-03 9.99735606e-01 -1.94938633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.058001145 meters 0.08620844525102557 Centerline is valid? [True, True] Translation: X:127.87, Y:-0.95, Z:-1.95 [[ 9.95421373e-01 -9.27287697e-02 -2.31876181e-02 1.27865230e+02] [ 9.27522072e-02 9.95689221e-01 -6.49935338e-05 -9.45693033e-01] [ 2.30936881e-02 -2.08600680e-03 9.99731129e-01 -1.95306453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.118001145 meters 0.08468992655199473 Centerline is valid? [True, True] Translation: X:127.93, Y:-0.94, Z:-1.95 [[ 9.95481522e-01 -9.18594222e-02 -2.40496570e-02 1.27927181e+02] [ 9.18844325e-02 9.95769676e-01 -6.53801287e-05 -9.43854357e-01] [ 2.39539249e-02 -2.14470438e-03 9.99710763e-01 -1.95406566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.178001145 meters 0.08633537277214107 Centerline is valid? [True, True] Translation: X:127.99, Y:-0.95, Z:-1.96 [[ 9.95303436e-01 -9.35895371e-02 -2.47400192e-02 1.27987683e+02] [ 9.36165265e-02 9.95608327e-01 -6.75844260e-05 -9.49193220e-01] [ 2.46376943e-02 -2.24880765e-03 9.99693917e-01 -1.95812241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.238001145 meters 0.08787011103300957 Centerline is valid? [True, True] Translation: X:128.05, Y:-0.96, Z:-1.96 [[ 9.95135953e-01 -9.53370891e-02 -2.48047093e-02 1.28048468e+02] [ 9.53647677e-02 9.95442392e-01 -6.73638390e-05 -9.55129608e-01] [ 2.46980814e-02 -2.29845916e-03 9.99692314e-01 -1.95998431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.298001145 meters 0.08723856759487728 Centerline is valid? [True, True] Translation: X:128.11, Y:-0.96, Z:-1.96 [[ 9.95011208e-01 -9.70862598e-02 -2.29554831e-02 1.28110219e+02] [ 9.71105095e-02 9.95273603e-01 -5.86477626e-05 -9.59337908e-01] [ 2.28526803e-02 -2.17086348e-03 9.99736486e-01 -1.95919903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.358001145 meters 0.08930647509068572 Centerline is valid? [True, True] Translation: X:128.17, Y:-0.97, Z:-1.96 [[ 9.95004436e-01 -9.69641818e-02 -2.37511887e-02 1.28171202e+02] [ 9.69902561e-02 9.95285330e-01 -5.44208675e-05 -9.65190495e-01] [ 2.36444866e-02 -2.24948487e-03 9.99717899e-01 -1.96148020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.418001145 meters 0.08234163128331672 Centerline is valid? [True, True] Translation: X:128.23, Y:-0.96, Z:-1.96 [[ 9.95242872e-01 -9.41629624e-02 -2.49992441e-02 1.28231685e+02] [ 9.41908981e-02 9.95554153e-01 -6.03323168e-05 -9.56464183e-01] [ 2.48937823e-02 -2.29465594e-03 9.99687468e-01 -1.95979276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.478001145 meters 0.08882886171378719 Centerline is valid? [True, True] Translation: X:128.29, Y:-0.97, Z:-1.97 [[ 9.95606293e-01 -9.03771190e-02 -2.44966322e-02 1.28291363e+02] [ 9.04028132e-02 9.95905281e-01 -5.87961827e-05 -9.69039433e-01] [ 2.44016392e-02 -2.15602662e-03 9.99699911e-01 -1.96585356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53800114499998 meters 0.0768285121576899 Centerline is valid? [True, True] Translation: X:128.35, Y:-0.95, Z:-1.96 [[ 9.95871239e-01 -8.80563344e-02 -2.20580237e-02 1.28351665e+02] [ 8.80765986e-02 9.96113703e-01 -5.30427184e-05 -9.49243037e-01] [ 2.19769704e-02 -1.88997198e-03 9.99756691e-01 -1.95604707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59800114499998 meters 0.07752858692589319 Centerline is valid? [True, True] Translation: X:128.41, Y:-0.95, Z:-1.96 [[ 9.96232551e-01 -8.46452689e-02 -1.88648336e-02 1.28411608e+02] [ 8.46594809e-02 9.96409941e-01 -4.54178291e-05 -9.52625231e-01] [ 1.88009522e-02 -1.55184030e-03 9.99822042e-01 -1.95646392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.658001145 meters 0.07760947815205109 Centerline is valid? [True, True] Translation: X:128.47, Y:-0.95, Z:-1.96 [[ 9.96388719e-01 -8.29494692e-02 -1.81357637e-02 1.28472527e+02] [ 8.29623343e-02 9.96552683e-01 -4.31215981e-05 -9.52939093e-01] [ 1.80768209e-02 -1.46161942e-03 9.99835533e-01 -1.95707394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.718001145 meters 0.07849893467019413 Centerline is valid? [True, True] Translation: X:128.53, Y:-0.96, Z:-1.96 [[ 9.96550699e-01 -8.10198779e-02 -1.79578116e-02 1.28532555e+02] [ 8.10321764e-02 9.96711485e-01 -4.29233438e-05 -9.58021870e-01] [ 1.79022347e-02 -1.41238527e-03 9.99838745e-01 -1.96119213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.778001145 meters 0.07566035373156006 Centerline is valid? [True, True] Translation: X:128.59, Y:-0.95, Z:-1.96 [[ 9.96497672e-01 -8.14532320e-02 -1.89145840e-02 1.28594367e+02] [ 8.14670874e-02 9.96676032e-01 -3.81276918e-05 -9.53464219e-01] [ 1.88548181e-02 -1.50292191e-03 9.99821103e-01 -1.95969730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.838001145 meters 0.07590644088763983 Centerline is valid? [True, True] Translation: X:128.66, Y:-0.95, Z:-1.96 [[ 9.96432366e-01 -8.20023485e-02 -1.99538194e-02 1.28656015e+02] [ 8.20178904e-02 9.96630856e-01 -3.96010887e-05 -9.54018262e-01] [ 1.98898395e-02 -1.59711037e-03 9.99800902e-01 -1.96053852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.898001145 meters 0.08063694982167614 Centerline is valid? [True, True] Translation: X:128.72, Y:-0.97, Z:-1.96 [[ 9.96351412e-01 -8.32945721e-02 -1.85977943e-02 1.28716573e+02] [ 8.33082892e-02 9.96523822e-01 -3.72984003e-05 -9.68534600e-01] [ 1.85362518e-02 -1.51218812e-03 9.99827045e-01 -1.96493297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.958001145 meters 0.07806402549448051 Centerline is valid? [True, True] Translation: X:128.78, Y:-0.96, Z:-1.96 [[ 9.96302709e-01 -8.38863880e-02 -1.85468703e-02 1.28778258e+02] [ 8.39001937e-02 9.96474162e-01 -3.38595456e-05 -9.63478231e-01] [ 1.84843174e-02 -1.52235165e-03 9.99827991e-01 -1.96323784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.018001145 meters 0.07843369177026877 Centerline is valid? [True, True] Translation: X:128.84, Y:-0.96, Z:-1.96 [[ 9.96364667e-01 -8.31271158e-02 -1.86368508e-02 1.28840102e+02] [ 8.31409324e-02 9.96537799e-01 -3.35671670e-05 -9.61514936e-01] [ 1.85751166e-02 -1.51604002e-03 9.99826318e-01 -1.96289105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.078001145 meters 0.07502250302589408 Centerline is valid? [True, True] Translation: X:128.90, Y:-0.96, Z:-1.96 [[ 9.96458199e-01 -8.24926491e-02 -1.63101185e-02 1.28902164e+02] [ 8.25031581e-02 9.96590803e-01 -2.86377636e-05 -9.57260527e-01] [ 1.62568765e-02 -1.31709995e-03 9.99866981e-01 -1.96050906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.138001145 meters 0.07931959903636299 Centerline is valid? [True, True] Translation: X:128.96, Y:-0.97, Z:-1.96 [[ 9.96475004e-01 -8.23855341e-02 -1.58174285e-02 1.28964550e+02] [ 8.23955104e-02 9.96599709e-01 -2.10342988e-05 -9.65310785e-01] [ 1.57653775e-02 -1.28232494e-03 9.99874896e-01 -1.96336811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.198001145 meters 0.07934955362754484 Centerline is valid? [True, True] Translation: X:129.03, Y:-0.97, Z:-1.96 [[ 9.96326321e-01 -8.39571344e-02 -1.68837808e-02 1.29025327e+02] [ 8.39686712e-02 9.96468395e-01 -2.56893728e-05 -9.65401513e-01] [ 1.68263107e-02 -1.39211364e-03 9.99857458e-01 -1.96313185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.258001145 meters 0.08028260539735495 Centerline is valid? [True, True] Translation: X:129.09, Y:-0.97, Z:-1.97 [[ 9.96251096e-01 -8.44530160e-02 -1.87467559e-02 1.29087547e+02] [ 8.44673612e-02 9.96426246e-01 -2.66983242e-05 -9.68177452e-01] [ 1.86820143e-02 -1.55689076e-03 9.99824264e-01 -1.96667740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31800114499998 meters 0.07944957793596989 Centerline is valid? [True, True] Translation: X:129.15, Y:-0.97, Z:-1.97 [[ 9.96255064e-01 -8.42808042e-02 -1.93026794e-02 1.29149433e+02] [ 8.42960048e-02 9.96440757e-01 -2.62512809e-05 -9.68805582e-01] [ 1.92361890e-02 -1.60098578e-03 9.99813686e-01 -1.96753191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37800114499998 meters 0.07874226171336415 Centerline is valid? [True, True] Translation: X:129.21, Y:-0.97, Z:-1.97 [[ 9.96252459e-01 -8.41293825e-02 -2.00819442e-02 1.29211215e+02] [ 8.41458307e-02 9.96453450e-01 -2.60292653e-05 -9.68195420e-01] [ 2.00129124e-02 -1.66388015e-03 9.99798337e-01 -1.96781022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.438001145 meters 0.08072701287295157 Centerline is valid? [True, True] Translation: X:129.27, Y:-0.97, Z:-1.97 [[ 9.96321289e-01 -8.25981084e-02 -2.28351157e-02 1.29272690e+02] [ 8.26191304e-02 9.96581195e-01 -2.29092569e-05 -9.70833667e-01] [ 2.27589392e-02 -1.86379242e-03 9.99739244e-01 -1.96982028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.498001145 meters 0.0781308490953171 Centerline is valid? [True, True] Translation: X:129.33, Y:-0.96, Z:-1.97 [[ 9.96490030e-01 -8.04124704e-02 -2.32691834e-02 1.29333234e+02] [ 8.04336378e-02 9.96759966e-01 -2.63483576e-05 -9.63901311e-01] [ 2.31959092e-02 -1.84536920e-03 9.99729236e-01 -1.96830116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.558001145 meters 0.07480006602027438 Centerline is valid? [True, True] Translation: X:129.39, Y:-0.96, Z:-1.97 [[ 9.96605804e-01 -7.92163582e-02 -2.23973050e-02 1.29394893e+02] [ 7.92357267e-02 9.96855907e-01 -2.27469832e-05 -9.58446025e-01] [ 2.23286877e-02 -1.75199696e-03 9.99749149e-01 -1.96660471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.618001145 meters 0.07728115609800332 Centerline is valid? [True, True] Translation: X:129.46, Y:-0.96, Z:-1.97 [[ 9.96558018e-01 -7.99998739e-02 -2.17287245e-02 1.29455626e+02] [ 8.00183556e-02 9.96793390e-01 -1.89462730e-05 -9.61706046e-01] [ 2.16605647e-02 -1.71981574e-03 9.99763903e-01 -1.96572262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.678001145 meters 0.07867464363514928 Centerline is valid? [True, True] Translation: X:129.52, Y:-0.96, Z:-1.97 [[ 9.96362938e-01 -8.20305340e-02 -2.30626706e-02 1.29516431e+02] [ 8.20518623e-02 9.96628061e-01 -2.15694548e-05 -9.63095483e-01] [ 2.29866740e-02 -1.87084406e-03 9.99734021e-01 -1.96714797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.738001145 meters 0.08314174720545828 Centerline is valid? [True, True] Translation: X:129.58, Y:-0.97, Z:-1.97 [[ 9.95924089e-01 -8.68290437e-02 -2.44116115e-02 1.29575763e+02] [ 8.68543896e-02 9.96221017e-01 -2.20948430e-05 -9.73277738e-01] [ 2.43212789e-02 -2.09825083e-03 9.99701992e-01 -1.97036806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.798001145 meters 0.08457967264132388 Centerline is valid? [True, True] Translation: X:129.64, Y:-0.98, Z:-1.97 [[ 9.95695524e-01 -8.92138690e-02 -2.51258675e-02 1.29636652e+02] [ 8.92414691e-02 9.96010020e-01 -2.29305702e-05 -9.75696921e-01] [ 2.50276616e-02 -2.21943746e-03 9.99684295e-01 -1.96956774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.858001145 meters 0.08101451750549526 Centerline is valid? [True, True] Translation: X:129.70, Y:-0.97, Z:-1.97 [[ 9.95548860e-01 -9.04862859e-02 -2.63571682e-02 1.29698061e+02] [ 9.05171346e-02 9.95894898e-01 -2.27770575e-05 -9.68674039e-01] [ 2.62510303e-02 -2.36309967e-03 9.99652589e-01 -1.96703990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.918001145 meters 0.09008954738770367 Centerline is valid? [True, True] Translation: X:129.76, Y:-0.98, Z:-1.98 [[ 9.95417396e-01 -9.07068529e-02 -3.02733461e-02 1.29757815e+02] [ 9.07477206e-02 9.95873913e-01 -2.40748908e-05 -9.82962808e-01] [ 3.01506194e-02 -2.72327259e-03 9.99541657e-01 -1.97716747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.978001145 meters 0.0827119361538604 Centerline is valid? [True, True] Translation: X:129.82, Y:-0.97, Z:-1.97 [[ 9.95463988e-01 -9.02507108e-02 -3.01041103e-02 1.29820219e+02] [ 9.02909779e-02 9.95915428e-01 -2.18679745e-05 -9.70012670e-01] [ 2.99831215e-02 -2.69636078e-03 9.99546768e-01 -1.97208617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03800114499998 meters 0.08334932436724889 Centerline is valid? [True, True] Translation: X:129.88, Y:-0.97, Z:-1.97 [[ 9.95817006e-01 -8.69282966e-02 -2.81418005e-02 1.29879517e+02] [ 8.69621206e-02 9.96211619e-01 -2.20472931e-05 -9.69025534e-01] [ 2.80371052e-02 -2.42531558e-03 9.99603941e-01 -1.97031624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09800114499998 meters 0.08266938903311997 Centerline is valid? [True, True] Translation: X:129.94, Y:-0.97, Z:-1.97 [[ 9.96051125e-01 -8.48833106e-02 -2.60188546e-02 1.29940203e+02] [ 8.49115355e-02 9.96388494e-01 -2.01224410e-05 -9.67100438e-01] [ 2.59265954e-02 -2.18925792e-03 9.99661452e-01 -1.96810392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.158001145 meters 0.07745113126297466 Centerline is valid? [True, True] Translation: X:130.00, Y:-0.96, Z:-1.96 [[ 9.96319241e-01 -8.21595141e-02 -2.44496438e-02 1.30000522e+02] [ 8.21836212e-02 9.96617204e-01 -1.89063518e-05 -9.55703477e-01] [ 2.43684890e-02 -1.99052350e-03 9.99701063e-01 -1.96204964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.218001145 meters 0.07609833150182596 Centerline is valid? [True, True] Translation: X:130.06, Y:-0.95, Z:-1.96 [[ 9.96268032e-01 -8.24510521e-02 -2.55309954e-02 1.30062926e+02] [ 8.24775020e-02 9.96592927e-01 -1.71028499e-05 -9.52670252e-01] [ 2.54454196e-02 -2.08869370e-03 9.99674031e-01 -1.96237483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.278001145 meters 0.08187864690383195 Centerline is valid? [True, True] Translation: X:130.12, Y:-0.96, Z:-1.97 [[ 9.96027261e-01 -8.45880707e-02 -2.78307869e-02 1.30122819e+02] [ 8.46202875e-02 9.96413271e-01 -2.02302970e-05 -9.64472949e-01] [ 2.77326766e-02 -2.33489926e-03 9.99612648e-01 -1.96935052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.338001145 meters 0.07644832428052926 Centerline is valid? [True, True] Translation: X:130.19, Y:-0.95, Z:-1.96 [[ 9.95935455e-01 -8.56539488e-02 -2.78562539e-02 1.30185269e+02] [ 8.56867234e-02 9.96322129e-01 -1.71887455e-05 -9.52578407e-01] [ 2.77552744e-02 -2.36979224e-03 9.99611939e-01 -1.96415530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.398001145 meters 0.07810870056762408 Centerline is valid? [True, True] Translation: X:130.24, Y:-0.95, Z:-1.97 [[ 9.95767933e-01 -8.64045248e-02 -3.13126577e-02 1.30244954e+02] [ 8.64462761e-02 9.96256514e-01 -2.04689230e-05 -9.54140038e-01] [ 3.11972078e-02 -2.68648035e-03 9.99509638e-01 -1.96734745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.458001145 meters 0.08704929016600745 Centerline is valid? [True, True] Translation: X:130.31, Y:-0.97, Z:-1.98 [[ 9.95711490e-01 -8.66109663e-02 -3.25141490e-02 1.30305902e+02] [ 8.66562640e-02 9.96238271e-01 -1.60421488e-05 -9.67778795e-01] [ 3.23932290e-02 -2.80158133e-03 9.99471275e-01 -1.97688309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.518001145 meters 0.08268356941502294 Centerline is valid? [True, True] Translation: X:130.37, Y:-0.96, Z:-1.97 [[ 9.95726445e-01 -8.71307740e-02 -3.06116897e-02 1.30368155e+02] [ 8.71712087e-02 9.96193345e-01 -1.37025524e-05 -9.60674040e-01] [ 3.04963555e-02 -2.65481400e-03 9.99531352e-01 -1.97254291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.578001145 meters 0.08436833574197306 Centerline is valid? [True, True] Translation: X:130.43, Y:-0.96, Z:-1.97 [[ 9.95711101e-01 -8.83486782e-02 -2.74575122e-02 1.30430032e+02] [ 8.83817151e-02 9.96086679e-01 -1.04383323e-05 -9.62932909e-01] [ 2.73509844e-02 -2.41634846e-03 9.99622971e-01 -1.97011720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.638001145 meters 0.08024566099057935 Centerline is valid? [True, True] Translation: X:130.49, Y:-0.96, Z:-1.97 [[ 9.95614288e-01 -8.98206888e-02 -2.61616787e-02 1.30492230e+02] [ 8.98512323e-02 9.95955198e-01 -8.07219382e-06 -9.55120299e-01] [ 2.60565850e-02 -2.34262228e-03 9.99657725e-01 -1.96517417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.698001145 meters 0.08399278790664406 Centerline is valid? [True, True] Translation: X:130.55, Y:-0.97, Z:-1.97 [[ 9.95458646e-01 -9.13237461e-02 -2.68711434e-02 1.30552327e+02] [ 9.13565612e-02 9.95818246e-01 -6.47466602e-06 -9.66505121e-01] [ 2.67593661e-02 -2.44840999e-03 9.99638906e-01 -1.96852513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.758001145 meters 0.08524014116428559 Centerline is valid? [True, True] Translation: X:130.61, Y:-0.97, Z:-1.97 [[ 9.95593164e-01 -8.98784029e-02 -2.67604871e-02 1.30613357e+02] [ 8.99104402e-02 9.95949855e-01 -6.07753138e-06 -9.68566554e-01] [ 2.66526495e-02 -2.39999642e-03 9.99641874e-01 -1.97033780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81800114499998 meters 0.07996668821298779 Centerline is valid? [True, True] Translation: X:130.67, Y:-0.96, Z:-1.97 [[ 9.95834673e-01 -8.70304003e-02 -2.71848007e-02 1.30673883e+02] [ 8.70624095e-02 9.96202859e-01 -6.16240423e-06 -9.58865413e-01] [ 2.70821125e-02 -2.36063752e-03 9.99630425e-01 -1.96826524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87800114499998 meters 0.08005482715162208 Centerline is valid? [True, True] Translation: X:130.73, Y:-0.96, Z:-1.97 [[ 9.96172117e-01 -8.27698721e-02 -2.81115953e-02 1.30733537e+02] [ 8.28023930e-02 9.96565986e-01 -7.26011249e-06 -9.60127627e-01] [ 2.80156606e-02 -2.32047504e-03 9.99604791e-01 -1.97135527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.938001145 meters 0.07887729918242202 Centerline is valid? [True, True] Translation: X:130.80, Y:-0.96, Z:-1.97 [[ 9.96271885e-01 -8.12163414e-02 -2.90901628e-02 1.30795529e+02] [ 8.12505777e-02 9.96693706e-01 -5.16204489e-06 -9.57076115e-01] [ 2.89944014e-02 -2.35844973e-03 9.99576792e-01 -1.97092231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.998001145 meters 0.08029794754892215 Centerline is valid? [True, True] Translation: X:130.85, Y:-0.96, Z:-1.97 [[ 9.96502385e-01 -7.88245723e-02 -2.77431624e-02 1.30854793e+02] [ 7.88547545e-02 9.96886116e-01 -6.15456012e-06 -9.60004758e-01] [ 2.76572585e-02 -2.18154722e-03 9.99615084e-01 -1.97249696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.058001145 meters 0.08020256910195364 Centerline is valid? [True, True] Translation: X:130.92, Y:-0.96, Z:-1.97 [[ 9.96541391e-01 -7.88415688e-02 -2.62538010e-02 1.30917118e+02] [ 7.88686729e-02 9.96885015e-01 -3.10246653e-06 -9.60440425e-01] [ 2.61722654e-02 -2.06751071e-03 9.99655310e-01 -1.97268303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.118001145 meters 0.08190540205601497 Centerline is valid? [True, True] Translation: X:130.98, Y:-0.97, Z:-1.97 [[ 9.96517218e-01 -7.99046793e-02 -2.38469312e-02 1.30979202e+02] [ 7.99273789e-02 9.96800689e-01 -1.26492555e-06 -9.65497003e-01] [ 2.37707385e-02 -1.90476218e-03 9.99715621e-01 -1.97197124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.178001145 meters 0.07763913499472677 Centerline is valid? [True, True] Translation: X:131.04, Y:-0.96, Z:-1.97 [[ 9.96370454e-01 -8.21208578e-02 -2.24072263e-02 1.31040684e+02] [ 8.21414631e-02 9.96620680e-01 -8.15721386e-07 -9.61491420e-01] [ 2.23315721e-02 -1.83974959e-03 9.99748927e-01 -1.96818001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.238001145 meters 0.08042652907863937 Centerline is valid? [True, True] Translation: X:131.10, Y:-0.97, Z:-1.97 [[ 9.96073082e-01 -8.51272033e-02 -2.43264015e-02 1.31100264e+02] [ 8.51523611e-02 9.96367942e-01 -1.71042013e-06 -9.68766435e-01] [ 2.42381922e-02 -2.06974682e-03 9.99704069e-01 -1.97360115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.298001145 meters 0.08128910300122655 Centerline is valid? [True, True] Translation: X:131.16, Y:-0.97, Z:-1.97 [[ 9.95997885e-01 -8.58412691e-02 -2.48895661e-02 1.31161996e+02] [ 8.58679326e-02 9.96306528e-01 2.50645833e-06 -9.70442093e-01] [ 2.47974221e-02 -2.13971201e-03 9.99690207e-01 -1.97462504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.358001145 meters 0.07762966801715994 Centerline is valid? [True, True] Translation: X:131.22, Y:-0.97, Z:-1.97 [[ 9.96023222e-01 -8.59690695e-02 -2.33893258e-02 1.31224210e+02] [ 8.59926744e-02 9.96295769e-01 3.43823827e-06 -9.65307893e-01] [ 2.33023907e-02 -2.01473524e-03 9.99726432e-01 -1.97154796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.418001145 meters 0.07663228580304957 Centerline is valid? [True, True] Translation: X:131.29, Y:-0.97, Z:-1.98 [[ 9.96320156e-01 -8.27683583e-02 -2.22608448e-02 1.31285014e+02] [ 8.27889392e-02 9.96567103e-01 2.95355468e-06 -9.67162380e-01] [ 2.21841812e-02 -1.84589441e-03 9.99752197e-01 -1.97606921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.478001145 meters 0.07647934266719297 Centerline is valid? [True, True] Translation: X:131.34, Y:-0.96, Z:-1.98 [[ 9.96589767e-01 -7.97459997e-02 -2.11993174e-02 1.31344618e+02] [ 7.97639679e-02 9.96813779e-01 2.02591201e-06 -9.64418143e-01] [ 2.11316102e-02 -1.69296068e-03 9.99775269e-01 -1.97875170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53800114499998 meters 0.07483554345179878 Centerline is valid? [True, True] Translation: X:131.40, Y:-0.96, Z:-1.98 [[ 9.96839400e-01 -7.66952642e-02 -2.07134703e-02 1.31404775e+02] [ 7.67117693e-02 9.97053311e-01 2.26756064e-06 -9.63238104e-01] [ 2.06522602e-02 -1.59122735e-03 9.99785453e-01 -1.98042671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.59800114499998 meters 0.07779729284908253 Centerline is valid? [True, True] Translation: X:131.47, Y:-0.97, Z:-1.98 [[ 9.96798910e-01 -7.78910394e-02 -1.80255121e-02 1.31466323e+02] [ 7.79037591e-02 9.96960884e-01 3.48030102e-06 -9.71656114e-01] [ 1.79704594e-02 -1.40772431e-03 9.99837527e-01 -1.98326765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.658001145 meters 0.0766569538857069 Centerline is valid? [True, True] Translation: X:131.53, Y:-0.97, Z:-1.98 [[ 9.96775380e-01 -7.87166593e-02 -1.55733534e-02 1.31528664e+02] [ 7.87262735e-02 9.96896270e-01 4.31241003e-06 -9.68712721e-01] [ 1.55246785e-02 -1.23033059e-03 9.99878728e-01 -1.98106290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.718001145 meters 0.0733650919730243 Centerline is valid? [True, True] Translation: X:131.59, Y:-0.96, Z:-1.98 [[ 9.96649883e-01 -8.02252298e-02 -1.59035458e-02 1.31589649e+02] [ 8.02354404e-02 9.96775940e-01 3.98932507e-06 -9.62822246e-01] [ 1.58519518e-02 -1.28000396e-03 9.99873531e-01 -1.98020787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.778001145 meters 0.07357597935345682 Centerline is valid? [True, True] Translation: X:131.65, Y:-0.96, Z:-1.98 [[ 9.96580462e-01 -8.08033472e-02 -1.72685306e-02 1.31651883e+02] [ 8.08155039e-02 9.96729078e-01 6.17050274e-06 -9.63074527e-01] [ 1.72115480e-02 -1.40171440e-03 9.99850888e-01 -1.98287796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.838001145 meters 0.07692535322940608 Centerline is valid? [True, True] Translation: X:131.71, Y:-0.97, Z:-1.98 [[ 9.96520288e-01 -8.19044982e-02 -1.54586424e-02 1.31713221e+02] [ 8.19144556e-02 9.96639364e-01 1.09901876e-05 -9.69103667e-01] [ 1.54057913e-02 -1.27723822e-03 9.99880508e-01 -1.98399383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.898001145 meters 0.07876449142384756 Centerline is valid? [True, True] Translation: X:131.77, Y:-0.98, Z:-1.99 [[ 9.96349093e-01 -8.38750728e-02 -1.59203617e-02 1.31773058e+02] [ 8.38858630e-02 9.96475369e-01 1.00107727e-05 -9.75249396e-01] [ 1.58634087e-02 -1.34546751e-03 9.99873263e-01 -1.98637299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.958001145 meters 0.08011002734975357 Centerline is valid? [True, True] Translation: X:131.83, Y:-0.98, Z:-1.99 [[ 9.96133732e-01 -8.59623726e-02 -1.81123970e-02 1.31833376e+02] [ 8.59766667e-02 9.96297151e-01 1.05377782e-05 -9.77091439e-01] [ 1.80444237e-02 -1.56774056e-03 9.99835957e-01 -1.98855845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.018001145 meters 0.0825964784965939 Centerline is valid? [True, True] Translation: X:131.90, Y:-0.98, Z:-1.99 [[ 9.96184534e-01 -8.53897812e-02 -1.80266233e-02 1.31895003e+02] [ 8.54038824e-02 9.96346414e-01 1.24544431e-05 -9.78251179e-01] [ 1.79596980e-02 -1.55195054e-03 9.99837507e-01 -1.98908468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.078001145 meters 0.07858832127632842 Centerline is valid? [True, True] Translation: X:131.96, Y:-0.97, Z:-1.99 [[ 9.96172839e-01 -8.58419796e-02 -1.64569198e-02 1.31957407e+02] [ 8.58538120e-02 9.96307745e-01 1.25458740e-05 -9.71251055e-01] [ 1.63950797e-02 -1.42538716e-03 9.99864576e-01 -1.98773213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.138001145 meters 0.07963243915774998 Centerline is valid? [True, True] Translation: X:132.02, Y:-0.97, Z:-1.99 [[ 9.96111979e-01 -8.66505762e-02 -1.58934683e-02 1.32019282e+02] [ 8.66618000e-02 9.96237789e-01 1.75335400e-05 -9.71002496e-01] [ 1.58321544e-02 -1.39482194e-03 9.99873691e-01 -1.98804358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.198001145 meters 0.08246275963055481 Centerline is valid? [True, True] Translation: X:132.08, Y:-0.97, Z:-1.99 [[ 9.95957803e-01 -8.83080410e-02 -1.64239023e-02 1.32079735e+02] [ 8.83202177e-02 9.96092134e-01 1.61389296e-05 -9.71850197e-01] [ 1.63582946e-02 -1.46663632e-03 9.99865118e-01 -1.98879076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.258001145 meters 0.08592512780737674 Centerline is valid? [True, True] Translation: X:132.14, Y:-0.98, Z:-1.99 [[ 9.95844525e-01 -8.93503400e-02 -1.76124431e-02 1.32139729e+02] [ 8.93645362e-02 9.95998986e-01 1.90880499e-05 -9.76022063e-01] [ 1.75402700e-02 -1.59293654e-03 9.99844889e-01 -1.99167553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31800114499998 meters 0.08358690783374793 Centerline is valid? [True, True] Translation: X:132.20, Y:-0.97, Z:-1.99 [[ 9.95740456e-01 -9.04805468e-02 -1.77261169e-02 1.32201083e+02] [ 9.04951044e-02 9.95896900e-01 1.92063211e-05 -9.70337025e-01] [ 1.76516471e-02 -1.62325131e-03 9.99842880e-01 -1.99134636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.37800114499998 meters 0.08643008131581162 Centerline is valid? [True, True] Translation: X:132.26, Y:-0.97, Z:-1.99 [[ 9.95811064e-01 -8.98949697e-02 -1.67098577e-02 1.32261188e+02] [ 8.99078250e-02 9.95950090e-01 1.81686272e-05 -9.71371577e-01] [ 1.66405510e-02 -1.52043948e-03 9.99860380e-01 -1.99388795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.438001145 meters 0.08729942951453344 Centerline is valid? [True, True] Translation: X:132.32, Y:-0.97, Z:-2.00 [[ 9.95966848e-01 -8.79985392e-02 -1.75012682e-02 1.32320579e+02] [ 8.80123381e-02 9.96119384e-01 1.83005891e-05 -9.67603280e-01] [ 1.74317421e-02 -1.55855431e-03 9.99846841e-01 -1.99507589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.498001145 meters 0.08463200901894215 Centerline is valid? [True, True] Translation: X:132.38, Y:-0.96, Z:-2.00 [[ 9.95933328e-01 -8.83056470e-02 -1.78582760e-02 1.32382905e+02] [ 8.83201041e-02 9.96092144e-01 2.09435714e-05 -9.62510527e-01] [ 1.77866390e-02 -1.59810320e-03 9.99840528e-01 -1.99553034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.558001145 meters 0.08313845951132177 Centerline is valid? [True, True] Translation: X:132.44, Y:-0.96, Z:-1.99 [[ 9.95760783e-01 -9.04886866e-02 -1.65003100e-02 1.32444167e+02] [ 9.05013281e-02 9.95896335e-01 1.95209873e-05 -9.59574697e-01] [ 1.64308318e-02 -1.51273820e-03 9.99863860e-01 -1.99464522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.618001145 meters 0.07975043335032705 Centerline is valid? [True, True] Translation: X:132.51, Y:-0.95, Z:-1.99 [[ 9.95633423e-01 -9.17335791e-02 -1.72926908e-02 1.32505800e+02] [ 9.17476606e-02 9.95782289e-01 2.10516246e-05 -9.51056492e-01] [ 1.72178241e-02 -1.60752363e-03 9.99850470e-01 -1.99306860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.678001145 meters 0.08105502679640293 Centerline is valid? [True, True] Translation: X:132.57, Y:-0.95, Z:-2.00 [[ 9.95516735e-01 -9.27037720e-02 -1.87734222e-02 1.32567263e+02] [ 9.27205511e-02 9.95692171e-01 2.34502448e-05 -9.51564041e-01] [ 1.86903756e-02 -1.76402716e-03 9.99823764e-01 -1.99572359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.738001145 meters 0.08821293748167522 Centerline is valid? [True, True] Translation: X:132.63, Y:-0.96, Z:-2.00 [[ 9.95475944e-01 -9.31279412e-02 -1.88369662e-02 1.32628630e+02] [ 9.31450356e-02 9.95652551e-01 3.02622658e-05 -9.64996813e-01] [ 1.87522552e-02 -1.78469524e-03 9.99822568e-01 -2.00158385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.798001145 meters 0.08608805998997034 Centerline is valid? [True, True] Translation: X:132.69, Y:-0.96, Z:-2.00 [[ 9.95166731e-01 -9.63651816e-02 -1.88925695e-02 1.32689046e+02] [ 9.63828917e-02 9.95344331e-01 2.69938611e-05 -9.57806187e-01] [ 1.88020107e-02 -1.84778387e-03 9.99821519e-01 -1.99750889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.858001145 meters 0.08930962393998965 Centerline is valid? [True, True] Translation: X:132.75, Y:-0.96, Z:-2.00 [[ 9.95158109e-01 -9.69702863e-02 -1.60343874e-02 1.32752591e+02] [ 9.69832476e-02 9.95286014e-01 3.09111481e-05 -9.63196921e-01] [ 1.59558041e-02 -1.58582845e-03 9.99871440e-01 -1.99765986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.918001145 meters 0.08935497998053468 Centerline is valid? [True, True] Translation: X:132.81, Y:-0.96, Z:-2.00 [[ 9.95246740e-01 -9.61863290e-02 -1.52354029e-02 1.32814547e+02] [ 9.61979084e-02 9.95362226e-01 2.73104026e-05 -9.64648411e-01] [ 1.51621177e-02 -1.49279448e-03 9.99883934e-01 -1.99915761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.978001145 meters 0.08984827894266206 Centerline is valid? [True, True] Translation: X:132.87, Y:-0.96, Z:-2.00 [[ 9.95536441e-01 -9.29543127e-02 -1.63306561e-02 1.32873685e+02] [ 9.29671664e-02 9.95669175e-01 2.80539470e-05 -9.59736039e-01] [ 1.62573232e-02 -1.54614355e-03 9.99866646e-01 -1.99899804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03800114499998 meters 0.08394768756286412 Centerline is valid? [True, True] Translation: X:132.93, Y:-0.95, Z:-2.00 [[ 9.95779610e-01 -9.01001133e-02 -1.74624929e-02 1.32934923e+02] [ 9.01143854e-02 9.95931422e-01 3.05518867e-05 -9.49591307e-01] [ 1.73886926e-02 -1.60404476e-03 9.99847519e-01 -1.99878832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.09800114499998 meters 0.08755993557060011 Centerline is valid? [True, True] Translation: X:133.00, Y:-0.96, Z:-2.00 [[ 9.95790793e-01 -8.98264024e-02 -1.82185163e-02 1.32996142e+02] [ 8.98420126e-02 9.95956029e-01 3.85289931e-05 -9.59231754e-01] [ 1.81413802e-02 -1.67515499e-03 9.99834028e-01 -2.00294704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.158001145 meters 0.08592793733353181 Centerline is valid? [True, True] Translation: X:133.06, Y:-0.96, Z:-2.00 [[ 9.95688277e-01 -9.08500999e-02 -1.87380524e-02 1.33057528e+02] [ 9.08667561e-02 9.95863058e-01 3.76476863e-05 -9.56195646e-01] [ 1.86571139e-02 -1.74015140e-03 9.99824427e-01 -2.00219014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.218001145 meters 0.08698625432448316 Centerline is valid? [True, True] Translation: X:133.12, Y:-0.96, Z:-2.00 [[ 9.95627493e-01 -9.15093507e-02 -1.87598904e-02 1.33119349e+02] [ 9.15262832e-02 9.95802660e-01 4.41940276e-05 -9.58175721e-01] [ 1.86771046e-02 -1.76102383e-03 9.99824017e-01 -2.00202390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.278001145 meters 0.08819897405451628 Centerline is valid? [True, True] Translation: X:133.18, Y:-0.96, Z:-2.00 [[ 9.95628371e-01 -9.17385213e-02 -1.75553615e-02 1.33181121e+02] [ 9.17534696e-02 9.95781753e-01 4.62548811e-05 -9.62679986e-01] [ 1.74770653e-02 -1.65681800e-03 9.99845892e-01 -2.00281393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.338001145 meters 0.08651428066312317 Centerline is valid? [True, True] Translation: X:133.24, Y:-0.96, Z:-2.00 [[ 9.95714040e-01 -9.10508224e-02 -1.62264621e-02 1.33242728e+02] [ 9.10634674e-02 9.95845090e-01 4.05855249e-05 -9.62492511e-01] [ 1.61553472e-02 -1.51804948e-03 9.99868341e-01 -2.00160034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.398001145 meters 0.08649788959179638 Centerline is valid? [True, True] Translation: X:133.31, Y:-0.96, Z:-2.00 [[ 9.95740210e-01 -9.07199128e-02 -1.64721718e-02 1.33306300e+02] [ 9.07330222e-02 9.95875251e-01 4.87251448e-05 -9.64119629e-01] [ 1.63998079e-02 -1.54308752e-03 9.99864323e-01 -2.00175263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.458001145 meters 0.08603731086031186 Centerline is valid? [True, True] Translation: X:133.37, Y:-0.97, Z:-2.00 [[ 9.95714278e-01 -9.10190761e-02 -1.63891701e-02 1.33368918e+02] [ 9.10321482e-02 9.95847953e-01 5.18040901e-05 -9.69483903e-01] [ 1.63164063e-02 -1.54352343e-03 9.99865687e-01 -2.00266395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.518001145 meters 0.08320766414767519 Centerline is valid? [True, True] Translation: X:133.43, Y:-0.97, Z:-2.00 [[ 9.95665153e-01 -9.11349179e-02 -1.85830480e-02 1.33430788e+02] [ 9.11518091e-02 9.95837007e-01 6.22154324e-05 -9.69337846e-01] [ 1.85000169e-02 -1.75582418e-03 9.99827318e-01 -2.00227554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.578001145 meters 0.08323648713381274 Centerline is valid? [True, True] Translation: X:133.49, Y:-0.97, Z:-2.00 [[ 9.95725972e-01 -9.02543981e-02 -1.95942008e-02 1.33493168e+02] [ 9.02729897e-02 9.95917056e-01 6.46082476e-05 -9.72327720e-01] [ 1.95083677e-02 -1.83315920e-03 9.99808013e-01 -2.00375190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.638001145 meters 0.08318997531888668 Centerline is valid? [True, True] Translation: X:133.55, Y:-0.98, Z:-2.01 [[ 9.95958519e-01 -8.78485789e-02 -1.86883829e-02 1.33552820e+02] [ 8.78650460e-02 9.96132386e-01 6.02803366e-05 -9.79205539e-01] [ 1.86108079e-02 -1.70209233e-03 9.99825355e-01 -2.00599362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.698001145 meters 0.0827121279029881 Centerline is valid? [True, True] Translation: X:133.61, Y:-0.98, Z:-2.01 [[ 9.96201578e-01 -8.49210625e-02 -1.92569207e-02 1.33611949e+02] [ 8.49380000e-02 9.96386237e-01 6.18866350e-05 -9.80649367e-01] [ 1.91820753e-02 -1.69729590e-03 9.99814566e-01 -2.00621889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.758001145 meters 0.08128963577985765 Centerline is valid? [True, True] Translation: X:133.67, Y:-0.98, Z:-2.01 [[ 9.96569865e-01 -8.04188028e-02 -1.95274337e-02 1.33673066e+02] [ 8.04353743e-02 9.96759824e-01 6.34150444e-05 -9.80682844e-01] [ 1.94590616e-02 -1.63389396e-03 9.99809319e-01 -2.00574051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81800114499998 meters 0.08112443431541834 Centerline is valid? [True, True] Translation: X:133.73, Y:-0.99, Z:-2.01 [[ 9.96669433e-01 -7.92209459e-02 -1.93412146e-02 1.33734376e+02] [ 7.92369951e-02 9.96855804e-01 6.36591244e-05 -9.85622452e-01] [ 1.92753589e-02 -1.59598683e-03 9.99812939e-01 -2.00702840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.87800114499998 meters 0.08269538763737504 Centerline is valid? [True, True] Translation: X:133.79, Y:-0.99, Z:-2.01 [[ 9.96765794e-01 -7.78909717e-02 -1.97723951e-02 1.33794840e+02] [ 7.79074862e-02 9.96960591e-01 6.51535746e-05 -9.93921049e-01] [ 1.97072238e-02 -1.60536045e-03 9.99804505e-01 -2.00993939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.938001145 meters 0.07645387893475264 Centerline is valid? [True, True] Translation: X:133.86, Y:-0.99, Z:-2.01 [[ 9.96918701e-01 -7.57234347e-02 -2.04710675e-02 1.33855759e+02] [ 7.57406900e-02 9.97127546e-01 6.77857217e-05 -9.85164407e-01] [ 2.04071323e-02 -1.61806963e-03 9.99790443e-01 -2.00587839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.998001145 meters 0.07611429225276464 Centerline is valid? [True, True] Translation: X:133.92, Y:-0.99, Z:-2.01 [[ 9.97165967e-01 -7.22375380e-02 -2.10183758e-02 1.33915219e+02] [ 7.22549432e-02 9.97386193e-01 6.88573188e-05 -9.89719892e-01] [ 2.09584638e-02 -1.58734373e-03 9.99779087e-01 -2.00744443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.058001145 meters 0.07346157377127835 Centerline is valid? [True, True] Translation: X:133.98, Y:-0.99, Z:-2.01 [[ 9.97351511e-01 -6.95258052e-02 -2.13571033e-02 1.33976478e+02] [ 6.95431744e-02 9.97578940e-01 7.07464642e-05 -9.88282731e-01] [ 2.13004778e-02 -1.55579985e-03 9.99771909e-01 -2.00813570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.118001145 meters 0.07325562498837092 Centerline is valid? [True, True] Translation: X:134.04, Y:-0.99, Z:-2.01 [[ 9.97538176e-01 -6.70100615e-02 -2.06697713e-02 1.34036877e+02] [ 6.70257884e-02 9.97751241e-01 6.82496106e-05 -9.90949344e-01] [ 2.06187165e-02 -1.45348931e-03 9.99786355e-01 -2.00950886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.178001145 meters 0.0707589749358911 Centerline is valid? [True, True] Translation: X:134.10, Y:-0.99, Z:-2.01 [[ 9.97566447e-01 -6.63273487e-02 -2.14910633e-02 1.34098672e+02] [ 6.63442435e-02 9.97796791e-01 7.33178355e-05 -9.88625155e-01] [ 2.14388510e-02 -1.49894775e-03 9.99769038e-01 -2.00793588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.238001145 meters 0.07199440783347791 Centerline is valid? [True, True] Translation: X:134.16, Y:-0.99, Z:-2.01 [[ 9.97535934e-01 -6.71403551e-02 -2.03527107e-02 1.34160833e+02] [ 6.71557032e-02 9.97742505e-01 7.08036449e-05 -9.93559850e-01] [ 2.03020108e-02 -1.43742978e-03 9.99792860e-01 -2.00949564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.298001145 meters 0.07232487535726953 Centerline is valid? [True, True] Translation: X:134.22, Y:-1.00, Z:-2.01 [[ 9.97211344e-01 -7.22272554e-02 -1.87818822e-02 1.34220865e+02] [ 7.22411983e-02 9.97387189e-01 6.40613877e-05 -9.96513588e-01] [ 1.87281817e-02 -1.42070842e-03 9.99823603e-01 -2.00824753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.358001145 meters 0.07666925914024633 Centerline is valid? [True, True] Translation: X:134.28, Y:-1.00, Z:-2.01 [[ 9.96912956e-01 -7.56597702e-02 -2.09799158e-02 1.34280587e+02] [ 7.56779227e-02 9.97132312e-01 7.15028211e-05 -1.00452291e+00] [ 2.09143421e-02 -1.65899854e-03 9.99779895e-01 -2.01221535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.418001145 meters 0.07917313996966092 Centerline is valid? [True, True] Translation: X:134.34, Y:-1.01, Z:-2.01 [[ 9.96571154e-01 -8.02392729e-02 -2.01889421e-02 1.34341319e+02] [ 8.02570408e-02 9.96774198e-01 7.00815944e-05 -1.01043003e+00] [ 2.01181933e-02 -1.69014605e-03 9.99796180e-01 -2.01420616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.478001145 meters 0.07893872619093015 Centerline is valid? [True, True] Translation: X:134.40, Y:-1.01, Z:-2.01 [[ 9.96501682e-01 -8.12183964e-02 -1.96969357e-02 1.34403759e+02] [ 8.12355321e-02 9.96694930e-01 7.00835773e-05 -1.01072242e+00] [ 1.96261438e-02 -1.66992945e-03 9.99805994e-01 -2.01476957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53800114499998 meters 0.08017970652704522 Centerline is valid? [True, True] Translation: X:134.47, Y:-1.01, Z:-2.01 [[ 9.96531522e-01 -8.11393452e-02 -1.84751560e-02 1.34465651e+02] [ 8.11544295e-02 9.96701537e-01 6.69618069e-05 -1.01125896e+00] [ 1.84087832e-02 -1.56607030e-03 9.99829317e-01 -2.01494063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.59800114499998 meters 0.0816279957851637 Centerline is valid? [True, True] Translation: X:134.53, Y:-1.01, Z:-2.02 [[ 9.96592209e-01 -8.07120508e-02 -1.70156674e-02 1.34526939e+02] [ 8.07248362e-02 9.96736423e-01 6.47679736e-05 -1.01207311e+00] [ 1.69549079e-02 -1.43813422e-03 9.99855221e-01 -2.01666845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.658001145 meters 0.07881658870894853 Centerline is valid? [True, True] Translation: X:134.59, Y:-1.01, Z:-2.02 [[ 9.96590483e-01 -8.05768570e-02 -1.77420274e-02 1.34588741e+02] [ 8.05907400e-02 9.96747274e-01 6.77454079e-05 -1.00813783e+00] [ 1.76788588e-02 -1.49735755e-03 9.99842596e-01 -2.01808326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.718001145 meters 0.0758814210431103 Centerline is valid? [True, True] Translation: X:134.65, Y:-1.00, Z:-2.02 [[ 9.96647157e-01 -7.97333536e-02 -1.83585652e-02 1.34651253e+02] [ 7.97480987e-02 9.96815046e-01 7.13163487e-05 -1.00027447e+00] [ 1.82944077e-02 -1.53513790e-03 9.99831465e-01 -2.01700930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.778001145 meters 0.07990613325542513 Centerline is valid? [True, True] Translation: X:134.71, Y:-1.00, Z:-2.02 [[ 9.96762910e-01 -7.86158769e-02 -1.68299141e-02 1.34712045e+02] [ 7.86281126e-02 9.96904015e-01 6.55340579e-05 -1.00428009e+00] [ 1.67726569e-02 -1.38862630e-03 9.99858365e-01 -2.01902458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.838001145 meters 0.07807830665396764 Centerline is valid? [True, True] Translation: X:134.77, Y:-1.00, Z:-2.02 [[ 9.96839693e-01 -7.77210829e-02 -1.64335195e-02 1.34773116e+02] [ 7.77326368e-02 9.96974239e-01 6.45229796e-05 -1.00199823e+00] [ 1.63787808e-02 -1.34173987e-03 9.99864959e-01 -2.02072848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.898001145 meters 0.08091640101451486 Centerline is valid? [True, True] Translation: X:134.83, Y:-1.00, Z:-2.02 [[ 9.96621904e-01 -8.01456895e-02 -1.79289776e-02 1.34832438e+02] [ 8.01598155e-02 9.96782022e-01 6.94737535e-05 -1.00352337e+00] [ 1.78657145e-02 -1.50642260e-03 9.99839261e-01 -2.02398089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.958001145 meters 0.08000806614687601 Centerline is valid? [True, True] Translation: X:134.89, Y:-1.00, Z:-2.02 [[ 9.96416582e-01 -8.23225073e-02 -1.94164923e-02 1.34892773e+02] [ 8.23394915e-02 9.96604336e-01 7.55528461e-05 -9.97840405e-01] [ 1.93443407e-02 -1.67402621e-03 9.99811479e-01 -2.02365065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.018001145 meters 0.08232526285238008 Centerline is valid? [True, True] Translation: X:134.95, Y:-1.00, Z:-2.02 [[ 9.96306460e-01 -8.43289611e-02 -1.61884156e-02 1.34954398e+02] [ 8.43410519e-02 9.96436944e-01 6.44037764e-05 -1.00030819e+00] [ 1.61253043e-02 -1.42951390e-03 9.99868957e-01 -2.02398255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.078001145 meters 0.08450013697739586 Centerline is valid? [True, True] Translation: X:135.02, Y:-1.00, Z:-2.03 [[ 9.96215498e-01 -8.54700264e-02 -1.57973467e-02 1.35016825e+02] [ 8.54817018e-02 9.96339739e-01 6.40868216e-05 -1.00391156e+00] [ 1.57340467e-02 -1.41422836e-03 9.99875212e-01 -2.02561034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.138001145 meters 0.08613022806794327 Centerline is valid? [True, True] Translation: X:135.08, Y:-1.00, Z:-2.03 [[ 9.96008050e-01 -8.80152252e-02 -1.48756617e-02 1.35077791e+02] [ 8.80258503e-02 9.96118189e-01 5.97452866e-05 -1.00393818e+00] [ 1.48126587e-02 -1.36894955e-03 9.99889349e-01 -2.02566854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.198001145 meters 0.08520927041571068 Centerline is valid? [True, True] Translation: X:135.14, Y:-1.00, Z:-2.02 [[ 9.95714617e-01 -9.14126325e-02 -1.40046939e-02 1.35138765e+02] [ 9.14223831e-02 9.95812204e-01 5.62781254e-05 -9.97385841e-01] [ 1.39409006e-02 -1.33637945e-03 9.99901928e-01 -2.02406491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.258001145 meters 0.0936175943060072 Centerline is valid? [True, True] Translation: X:135.20, Y:-1.01, Z:-2.03 [[ 9.95520359e-01 -9.34353407e-02 -1.44586092e-02 1.35198351e+02] [ 9.34459570e-02 9.95624352e-01 5.89365810e-05 -1.01071974e+00] [ 1.43898367e-02 -1.40977114e-03 9.99895467e-01 -2.03073131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31800114499998 meters 0.08742059008382565 Centerline is valid? [True, True] Translation: X:135.26, Y:-1.00, Z:-2.03 [[ 9.95468357e-01 -9.43377477e-02 -1.19641217e-02 1.35260917e+02] [ 9.43451467e-02 9.95539547e-01 5.42899014e-05 -9.99111479e-01] [ 1.19056347e-02 -1.18280069e-03 9.99928426e-01 -2.02715602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.37800114499998 meters 0.08976317956828948 Centerline is valid? [True, True] Translation: X:135.32, Y:-1.00, Z:-2.03 [[ 9.95407245e-01 -9.49049329e-02 -1.25487302e-02 1.35322499e+02] [ 9.49131451e-02 9.95485556e-01 5.91598515e-05 -9.98600032e-01] [ 1.24864651e-02 -1.24992759e-03 9.99921260e-01 -2.02816939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.438001145 meters 0.09236825744248936 Centerline is valid? [True, True] Translation: X:135.38, Y:-1.00, Z:-2.03 [[ 9.95345562e-01 -9.56418676e-02 -1.18256227e-02 1.35384206e+02] [ 9.56492423e-02 9.95415099e-01 5.83222048e-05 -1.00161005e+00] [ 1.17658253e-02 -1.18916260e-03 9.99930073e-01 -2.02990231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.498001145 meters 0.09621598600003957 Centerline is valid? [True, True] Translation: X:135.45, Y:-1.01, Z:-2.03 [[ 9.95029588e-01 -9.87923499e-02 -1.24976526e-02 1.35445214e+02] [ 9.88008027e-02 9.95107229e-01 5.92446705e-05 -1.00940191e+00] [ 1.24306515e-02 -1.29372831e-03 9.99921900e-01 -2.03374706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.558001145 meters 0.09092950260092023 Centerline is valid? [True, True] Translation: X:135.51, Y:-1.00, Z:-2.03 [[ 9.95013357e-01 -9.91218998e-02 -1.11026613e-02 1.35507294e+02] [ 9.91286517e-02 9.95074624e-01 5.81210323e-05 -1.00017671e+00] [ 1.10422154e-02 -1.15842305e-03 9.99938362e-01 -2.03006726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.618001145 meters 0.09024297060403862 Centerline is valid? [True, True] Translation: X:135.57, Y:-1.00, Z:-2.03 [[ 9.95198447e-01 -9.73760073e-02 -9.89773150e-03 1.35567708e+02] [ 9.73812592e-02 9.95247149e-01 4.89196640e-05 -9.98547543e-01] [ 9.84592546e-03 -1.01253833e-03 9.99951015e-01 -2.02966470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.678001145 meters 0.08813901245077767 Centerline is valid? [True, True] Translation: X:135.63, Y:-1.00, Z:-2.03 [[ 9.95808677e-01 -9.09489286e-02 -9.66287788e-03 1.35628000e+02] [ 9.09536338e-02 9.95855127e-01 4.76990052e-05 -9.95455112e-01] [ 9.61848831e-03 -9.26372939e-04 9.99953312e-01 -2.03094356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.738001145 meters 0.07805328172258229 Centerline is valid? [True, True] Translation: X:135.69, Y:-0.98, Z:-2.03 [[ 9.96365824e-01 -8.45694206e-02 -1.01566403e-02 1.35688287e+02] [ 8.45742906e-02 9.96417175e-01 5.01734832e-05 -9.77068365e-01] [ 1.01160077e-02 -9.08981792e-04 9.99948419e-01 -2.02794876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.798001145 meters 0.0828325498300106 Centerline is valid? [True, True] Translation: X:135.75, Y:-0.99, Z:-2.03 [[ 9.96805908e-01 -7.90528036e-02 -1.13418016e-02 1.35748149e+02] [ 7.90585214e-02 9.96869975e-01 5.59796701e-05 -9.85711825e-01] [ 1.13018762e-02 -9.52466934e-04 9.99935678e-01 -2.03405523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.858001145 meters 0.08079993947244225 Centerline is valid? [True, True] Translation: X:135.81, Y:-0.98, Z:-2.04 [[ 9.97284215e-01 -7.25437401e-02 -1.27122474e-02 1.35808801e+02] [ 7.25503986e-02 9.97364746e-01 6.28017737e-05 -9.80776529e-01] [ 1.26741915e-02 -9.84909833e-04 9.99919194e-01 -2.03503663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.918001145 meters 0.08019158978769172 Centerline is valid? [True, True] Translation: X:135.87, Y:-0.98, Z:-2.03 [[ 9.97488319e-01 -6.98300671e-02 -1.18665376e-02 1.35869734e+02] [ 6.98356789e-02 9.97558507e-01 5.86944771e-05 -9.79434510e-01] [ 1.18334669e-02 -8.87254765e-04 9.99929588e-01 -2.03454817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.978001145 meters 0.08036750904694742 Centerline is valid? [True, True] Translation: X:135.93, Y:-0.98, Z:-2.03 [[ 9.97502886e-01 -6.97270222e-02 -1.12309377e-02 1.35932175e+02] [ 6.97320591e-02 9.97565756e-01 5.70404365e-05 -9.81808727e-01] [ 1.11996216e-02 -8.40054410e-04 9.99936929e-01 -2.03483437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03800114499998 meters 0.07366584785922196 Centerline is valid? [True, True] Translation: X:135.99, Y:-0.97, Z:-2.03 [[ 9.97395329e-01 -7.14564957e-02 -9.82484559e-03 1.35994448e+02] [ 7.14604419e-02 9.97443433e-01 5.07394727e-05 -9.70712543e-01] [ 9.79610206e-03 -7.52695121e-04 9.99951734e-01 -2.03027924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.09800114499998 meters 0.07678164519681961 Centerline is valid? [True, True] Translation: X:136.05, Y:-0.98, Z:-2.03 [[ 9.97217715e-01 -7.38564655e-02 -1.01020169e-02 1.36054255e+02] [ 7.38607502e-02 9.97268563e-01 5.12103647e-05 -9.78997817e-01] [ 1.00706416e-02 -7.97210429e-04 9.99948972e-01 -2.03242335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.158001145 meters 0.07936339649188207 Centerline is valid? [True, True] Translation: X:136.11, Y:-0.99, Z:-2.04 [[ 9.96967874e-01 -7.71072066e-02 -1.04659506e-02 1.36113403e+02] [ 7.71119805e-02 9.97022437e-01 5.27584028e-05 -9.88068700e-01] [ 1.04307195e-02 -8.59648613e-04 9.99945229e-01 -2.03533418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.218001145 meters 0.07736079852989848 Centerline is valid? [True, True] Translation: X:136.18, Y:-0.99, Z:-2.04 [[ 9.96930295e-01 -7.75515005e-02 -1.07587634e-02 1.36175723e+02] [ 7.75565901e-02 9.96987950e-01 5.60249832e-05 -9.87856327e-01] [ 1.07220127e-02 -8.90266008e-04 9.99942121e-01 -2.03562361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.278001145 meters 0.08047974968538764 Centerline is valid? [True, True] Translation: X:136.24, Y:-0.99, Z:-2.04 [[ 9.97072215e-01 -7.55072737e-02 -1.20685266e-02 1.36236077e+02] [ 7.55135220e-02 9.97144776e-01 6.22409145e-05 -9.93645639e-01] [ 1.20293686e-02 -9.73395637e-04 9.99927171e-01 -2.03927703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.338001145 meters 0.07497908557042007 Centerline is valid? [True, True] Translation: X:136.30, Y:-0.99, Z:-2.04 [[ 9.97285045e-01 -7.25171689e-02 -1.27983987e-02 1.36296525e+02] [ 7.25239477e-02 9.97366669e-01 6.57282974e-05 -9.86225573e-01] [ 1.27599299e-02 -9.93740246e-04 9.99918095e-01 -2.03853632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.398001145 meters 0.08015869543839757 Centerline is valid? [True, True] Translation: X:136.36, Y:-1.00, Z:-2.04 [[ 9.97478811e-01 -6.99869997e-02 -1.17405759e-02 1.36356384e+02] [ 6.99925277e-02 9.97547514e-01 6.01082333e-05 -9.97865266e-01] [ 1.17075755e-02 -8.81709276e-04 9.99931075e-01 -2.04248596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.458001145 meters 0.06920695839369885 Centerline is valid? [True, True] Translation: X:136.42, Y:-0.98, Z:-2.04 [[ 9.97867043e-01 -6.40732424e-02 -1.24893398e-02 1.36417221e+02] [ 6.40790435e-02 9.97944824e-01 6.44585985e-05 -9.75890617e-01] [ 1.24595420e-02 -8.64626062e-04 9.99922003e-01 -2.03678364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.518001145 meters 0.07604451878559695 Centerline is valid? [True, True] Translation: X:136.48, Y:-0.99, Z:-2.04 [[ 9.98078055e-01 -6.07998817e-02 -1.19820998e-02 1.36476986e+02] [ 6.08049804e-02 9.98149663e-01 6.13531070e-05 -9.92095417e-01] [ 1.19561986e-02 -7.89806533e-04 9.99928210e-01 -2.04397196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.578001145 meters 0.06647412900767566 Centerline is valid? [True, True] Translation: X:136.54, Y:-0.97, Z:-2.04 [[ 9.98226972e-01 -5.79849029e-02 -1.34410850e-02 1.36539118e+02] [ 5.79910942e-02 9.98317098e-01 7.10058304e-05 -9.70992289e-01] [ 1.34143477e-02 -8.50343162e-04 9.99909662e-01 -2.03749703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.638001145 meters 0.06900603172222085 Centerline is valid? [True, True] Translation: X:136.60, Y:-0.98, Z:-2.04 [[ 9.98297893e-01 -5.70309175e-02 -1.21980022e-02 1.36600474e+02] [ 5.70360023e-02 9.98372120e-01 6.91056608e-05 -9.80118374e-01] [ 1.21742042e-02 -7.64713318e-04 9.99925599e-01 -2.04064949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.698001145 meters 0.06632827143884458 Centerline is valid? [True, True] Translation: X:136.66, Y:-0.98, Z:-2.04 [[ 9.98169886e-01 -5.91956023e-02 -1.23595932e-02 1.36661357e+02] [ 5.92009559e-02 9.98246083e-01 6.74230525e-05 -9.77099518e-01] [ 1.23339244e-02 -7.98999394e-04 9.99923615e-01 -2.03892676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75800114499998 meters 0.06639153578195806 Centerline is valid? [True, True] Translation: X:136.72, Y:-0.98, Z:-2.04 [[ 9.98073983e-01 -6.10534458e-02 -1.09909278e-02 1.36723505e+02] [ 6.10578078e-02 9.98134230e-01 6.14451906e-05 -9.78470726e-01] [ 1.09666698e-02 -7.32408804e-04 9.99939596e-01 -2.03798535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81800114499998 meters 0.06802302113124908 Centerline is valid? [True, True] Translation: X:136.78, Y:-0.98, Z:-2.04 [[ 9.98066020e-01 -6.11064757e-02 -1.14112888e-02 1.36784232e+02] [ 6.11112234e-02 9.98130960e-01 6.75004610e-05 -9.82227089e-01] [ 1.13858360e-02 -7.64727737e-04 9.99934887e-01 -2.03939962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.87800114499998 meters 0.06740980578023112 Centerline is valid? [True, True] Translation: X:136.85, Y:-0.98, Z:-2.04 [[ 9.98061787e-01 -6.13065527e-02 -1.06853259e-02 1.36847577e+02] [ 6.13107275e-02 9.98118726e-01 6.32598504e-05 -9.83356932e-01] [ 1.06613456e-02 -7.18262342e-04 9.99942908e-01 -2.04042181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.938001145 meters 0.06785338076705703 Centerline is valid? [True, True] Translation: X:136.91, Y:-0.98, Z:-2.04 [[ 9.98007237e-01 -6.21264202e-02 -1.10391555e-02 1.36909699e+02] [ 6.21309282e-02 9.98068005e-01 6.55608025e-05 -9.84314241e-01] [ 1.10137549e-02 -7.51303136e-04 9.99939065e-01 -2.04131547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.998001145 meters 0.0675103526483691 Centerline is valid? [True, True] Translation: X:136.97, Y:-0.98, Z:-2.04 [[ 9.98006898e-01 -6.22661253e-02 -1.02548095e-02 1.36971820e+02] [ 6.22700307e-02 9.98059337e-01 6.16672829e-05 -9.83473113e-01] [ 1.02310686e-02 -7.00111674e-04 9.99947416e-01 -2.04184757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.058001145 meters 0.06671630506717414 Centerline is valid? [True, True] Translation: X:137.03, Y:-0.98, Z:-2.04 [[ 9.97998998e-01 -6.22961868e-02 -1.08251946e-02 1.37033815e+02] [ 6.23005480e-02 9.98057432e-01 6.57957037e-05 -9.82283472e-01] [ 1.08000671e-02 -7.40079600e-04 9.99941404e-01 -2.04273220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.118001145 meters 0.06775293498386062 Centerline is valid? [True, True] Translation: X:137.10, Y:-0.98, Z:-2.04 [[ 9.98058094e-01 -6.15028647e-02 -9.87113096e-03 1.37095398e+02] [ 6.15064595e-02 9.98106684e-01 6.07246314e-05 -9.83425336e-01] [ 9.84870705e-03 -6.67745027e-04 9.99951277e-01 -2.04423265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.178001145 meters 0.06839749506810157 Centerline is valid? [True, True] Translation: X:137.16, Y:-0.98, Z:-2.05 [[ 9.98010156e-01 -6.20260789e-02 -1.13355366e-02 1.37157866e+02] [ 6.20308599e-02 9.98074229e-01 7.03356511e-05 -9.83939777e-01] [ 1.13093443e-02 -7.73348775e-04 9.99935748e-01 -2.04692723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.238001145 meters 0.07107026216854889 Centerline is valid? [True, True] Translation: X:137.22, Y:-0.99, Z:-2.05 [[ 9.97844631e-01 -6.47046068e-02 -1.09273492e-02 1.37217741e+02] [ 6.47091997e-02 9.97904161e-01 6.69043150e-05 -9.87880035e-01] [ 1.09001182e-02 -7.73860134e-04 9.99940292e-01 -2.04839192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.298001145 meters 0.07075274970531256 Centerline is valid? [True, True] Translation: X:137.28, Y:-0.99, Z:-2.05 [[ 9.97522904e-01 -6.99984112e-02 -6.94828294e-03 1.37278394e+02] [ 7.00003964e-02 9.97546963e-01 4.26264916e-05 -9.85003043e-01] [ 6.92825476e-03 -5.28903462e-04 9.99975859e-01 -2.04578716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.358001145 meters 0.07343327483680895 Centerline is valid? [True, True] Translation: X:137.34, Y:-0.99, Z:-2.05 [[ 9.97096850e-01 -7.56454966e-02 -8.69662058e-03 1.37339018e+02] [ 7.56488201e-02 9.97134521e-01 5.33760169e-05 -9.90793412e-01] [ 8.66766294e-03 -7.11110144e-04 9.99962182e-01 -2.04892333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.418001145 meters 0.07651826432079156 Centerline is valid? [True, True] Translation: X:137.40, Y:-0.99, Z:-2.05 [[ 9.96993637e-01 -7.69711516e-02 -8.89547172e-03 1.37399319e+02] [ 7.69746840e-02 9.97033046e-01 5.49106954e-05 -9.92391246e-01] [ 8.86485272e-03 -7.39471739e-04 9.99960433e-01 -2.05196755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.478001145 meters 0.07529965779285615 Centerline is valid? [True, True] Translation: X:137.46, Y:-0.99, Z:-2.05 [[ 9.96916728e-01 -7.79487132e-02 -9.00198217e-03 1.37461681e+02] [ 7.79523818e-02 9.96957082e-01 5.68557909e-05 -9.87170373e-01] [ 8.97015804e-03 -7.58406440e-04 9.99959480e-01 -2.05254935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53800114499998 meters 0.0800409325915522 Centerline is valid? [True, True] Translation: X:137.52, Y:-0.99, Z:-2.06 [[ 9.96873559e-01 -7.86285270e-02 -7.78857757e-03 1.37522722e+02] [ 7.86313081e-02 9.96903764e-01 5.10204160e-05 -9.94737911e-01] [ 7.76045063e-03 -6.63286946e-04 9.99969667e-01 -2.05516692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.59800114499998 meters 0.0788348521826243 Centerline is valid? [True, True] Translation: X:137.58, Y:-0.99, Z:-2.05 [[ 9.96664892e-01 -8.12635973e-02 -7.43781977e-03 1.37583418e+02] [ 8.12661955e-02 9.96692432e-01 4.72675656e-05 -9.88216895e-01] [ 7.40937754e-03 -6.51553238e-04 9.99972338e-01 -2.05446352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.658001145 meters 0.07981821656804637 Centerline is valid? [True, True] Translation: X:137.64, Y:-0.99, Z:-2.06 [[ 9.96200606e-01 -8.66297860e-02 -8.92370612e-03 1.37643858e+02] [ 8.66337398e-02 9.96240228e-01 5.67444922e-05 -9.90030275e-01] [ 8.88523926e-03 -8.29622932e-04 9.99960181e-01 -2.05766424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.718001145 meters 0.08466636600609903 Centerline is valid? [True, True] Translation: X:137.70, Y:-1.00, Z:-2.06 [[ 9.96065432e-01 -8.81655390e-02 -8.97183344e-03 1.37704278e+02] [ 8.81695998e-02 9.96105476e-01 5.73298579e-05 -9.98177812e-01] [ 8.93183790e-03 -8.48147254e-04 9.99959751e-01 -2.06067606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.778001145 meters 0.0862690804053257 Centerline is valid? [True, True] Translation: X:137.76, Y:-0.99, Z:-2.06 [[ 9.96225984e-01 -8.64281795e-02 -7.99746173e-03 1.37764380e+02] [ 8.64313490e-02 9.96257808e-01 5.08976112e-05 -9.92840827e-01] [ 7.96313470e-03 -7.41936929e-04 9.99968018e-01 -2.05829114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.838001145 meters 0.08624385647846607 Centerline is valid? [True, True] Translation: X:137.83, Y:-0.99, Z:-2.06 [[ 9.96318236e-01 -8.54731724e-02 -6.65653510e-03 1.37825514e+02] [ 8.54753514e-02 9.96340284e-01 4.30325394e-05 -9.92079113e-01] [ 6.62849595e-03 -6.11843781e-04 9.99977844e-01 -2.05832638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.898001145 meters 0.08513418219817513 Centerline is valid? [True, True] Translation: X:137.89, Y:-0.99, Z:-2.06 [[ 9.96178903e-01 -8.70463447e-02 -7.10819236e-03 1.37887045e+02] [ 8.70488706e-02 9.96204041e-01 4.61532856e-05 -9.88598710e-01] [ 7.07719248e-03 -6.64737046e-04 9.99974735e-01 -2.05892865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.958001145 meters 0.08828175356209635 Centerline is valid? [True, True] Translation: X:137.95, Y:-0.99, Z:-2.06 [[ 9.96056061e-01 -8.83406380e-02 -8.26169592e-03 1.37948465e+02] [ 8.83440959e-02 9.96090015e-01 5.38241694e-05 -9.90648950e-01] [ 8.22463795e-03 -7.83483946e-04 9.99965870e-01 -2.06222705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.018001145 meters 0.08666920853105878 Centerline is valid? [True, True] Translation: X:138.01, Y:-0.98, Z:-2.06 [[ 9.95867121e-01 -9.03691614e-02 -9.06041763e-03 1.38009698e+02] [ 9.03734029e-02 9.95907950e-01 5.89787800e-05 -9.83707163e-01] [ 9.01801208e-03 -8.77555800e-04 9.99958952e-01 -2.06172193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.078001145 meters 0.09067376341642341 Centerline is valid? [True, True] Translation: X:138.07, Y:-0.99, Z:-2.06 [[ 9.95906581e-01 -8.99800414e-02 -8.58341019e-03 1.38070747e+02] [ 8.99838723e-02 9.95943221e-01 6.03819073e-05 -9.90261918e-01] [ 8.54315602e-03 -8.32503225e-04 9.99963160e-01 -2.06492447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.138001145 meters 0.08984465324223088 Centerline is valid? [True, True] Translation: X:138.13, Y:-0.98, Z:-2.06 [[ 9.95989914e-01 -8.89911005e-02 -9.20195834e-03 1.38133385e+02] [ 8.89954495e-02 9.96032031e-01 6.34130298e-05 -9.83692663e-01] [ 9.15980205e-03 -8.82091156e-04 9.99957659e-01 -2.06461017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.198001145 meters 0.08490829748174081 Centerline is valid? [True, True] Translation: X:138.19, Y:-0.97, Z:-2.06 [[ 9.96238554e-01 -8.61499329e-02 -9.32372660e-03 1.38193823e+02] [ 8.61542646e-02 9.96281807e-01 6.31957212e-05 -9.71429897e-01] [ 9.28361488e-03 -8.66236823e-04 9.99956531e-01 -2.06423101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25800114499998 meters 0.08445609350413731 Centerline is valid? [True, True] Translation: X:138.25, Y:-0.97, Z:-2.07 [[ 9.96386515e-01 -8.44060978e-02 -9.46170352e-03 1.38254070e+02] [ 8.44104802e-02 9.96431065e-01 6.40832821e-05 -9.70976381e-01] [ 9.42252629e-03 -8.62518656e-04 9.99955235e-01 -2.06703006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31800114499998 meters 0.08562664726792205 Centerline is valid? [True, True] Translation: X:138.31, Y:-0.97, Z:-2.07 [[ 9.96452456e-01 -8.37397524e-02 -8.37596550e-03 1.38314322e+02] [ 8.37431665e-02 9.96487370e-01 5.70972608e-05 -9.68983746e-01] [ 8.34176252e-03 -7.58324579e-04 9.99964919e-01 -2.06692648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.37800114499998 meters 0.08807259261417957 Centerline is valid? [True, True] Translation: X:138.38, Y:-0.97, Z:-2.07 [[ 9.96237542e-01 -8.60364973e-02 -1.04154505e-02 1.38375072e+02] [ 8.60418992e-02 9.96291517e-01 7.08298810e-05 -9.70168339e-01] [ 1.03707310e-02 -9.66728526e-04 9.99945755e-01 -2.06810362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.438001145 meters 0.09076239185579434 Centerline is valid? [True, True] Translation: X:138.44, Y:-0.98, Z:-2.07 [[ 9.95923844e-01 -8.94821666e-02 -1.13419302e-02 1.38435554e+02] [ 8.94887957e-02 9.95987826e-01 7.73068633e-05 -9.76439682e-01] [ 1.12895068e-02 -1.09196743e-03 9.99935675e-01 -2.07177086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.498001145 meters 0.09412410873436894 Centerline is valid? [True, True] Translation: X:138.50, Y:-0.98, Z:-2.07 [[ 9.95325935e-01 -9.56605287e-02 -1.32418598e-02 1.38496439e+02] [ 9.56701108e-02 9.95413091e-01 9.06133425e-05 -9.79777664e-01] [ 1.31724524e-02 -1.35704000e-03 9.99912319e-01 -2.07328024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.558001145 meters 0.0974586156836286 Centerline is valid? [True, True] Translation: X:138.56, Y:-0.98, Z:-2.07 [[ 9.95107412e-01 -9.80347451e-02 -1.22649164e-02 1.38557167e+02] [ 9.80431431e-02 9.95182162e-01 8.38885190e-05 -9.81768549e-01] [ 1.21976020e-02 -1.28596904e-03 9.99924780e-01 -2.07465691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.618001145 meters 0.09093230085802459 Centerline is valid? [True, True] Translation: X:138.62, Y:-0.97, Z:-2.07 [[ 9.95146284e-01 -9.75861025e-02 -1.26817228e-02 1.38620352e+02] [ 9.75951359e-02 9.95226196e-01 9.39406167e-05 -9.69580566e-01] [ 1.26120155e-02 -1.33115912e-03 9.99919579e-01 -2.07165867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.678001145 meters 0.09536250498432285 Centerline is valid? [True, True] Translation: X:138.68, Y:-0.97, Z:-2.07 [[ 9.95237987e-01 -9.67055698e-02 -1.22221825e-02 1.38681629e+02] [ 9.67139192e-02 9.95312217e-01 9.25464704e-05 -9.74818708e-01] [ 1.21559378e-02 -1.27416093e-03 9.99925302e-01 -2.07412263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.738001145 meters 0.10006030673275929 Centerline is valid? [True, False] Translation: X:138.68, Y:-0.97, Z:-2.08 [[ 9.96182786e-01 -8.66194432e-02 -1.08133976e-02 1.38677087e+02] [ 8.65789811e-02 9.96236320e-01 -4.15639699e-03 -9.73370173e-01] [ 1.11327242e-02 3.20431819e-03 9.99932895e-01 -2.07891677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.798001145 meters 0.09231757783536304 Centerline is valid? [False, True] Translation: X:138.67, Y:-0.97, Z:-2.09 [[ 9.96992823e-01 -7.71349938e-02 -7.45001306e-03 1.38672075e+02] [ 7.70759253e-02 9.96993809e-01 -7.91500065e-03 -9.73534697e-01] [ 8.03814042e-03 7.31698219e-03 9.99940923e-01 -2.08546966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.858001145 meters 0.08997409660942746 Centerline is valid? [True, True] Translation: X:138.73, Y:-0.97, Z:-2.09 [[ 9.97078985e-01 -7.58388676e-02 -9.05339190e-03 1.38734170e+02] [ 7.58439135e-02 9.97119679e-01 2.14832451e-04 -9.72959264e-01] [ 9.01102258e-03 -9.00849595e-04 9.99958994e-01 -2.09145703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.918001145 meters 0.09271839895810888 Centerline is valid? [True, True] Translation: X:138.80, Y:-0.98, Z:-2.09 [[ 9.97061339e-01 -7.60705032e-02 -9.05340293e-03 1.38795363e+02] [ 7.60755730e-02 9.97102031e-01 2.16427780e-04 -9.78547890e-01] [ 9.01070268e-03 -9.04534588e-04 9.99958994e-01 -2.09396471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.978001145 meters 0.09543188364978675 Centerline is valid? [True, True] Translation: X:138.86, Y:-0.98, Z:-2.10 [[ 9.96970308e-01 -7.71489914e-02 -9.91149096e-03 1.38855388e+02] [ 7.71550800e-02 9.97019077e-01 2.32832783e-04 -9.83592039e-01] [ 9.86398275e-03 -9.96849250e-04 9.99950853e-01 -2.09685327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03800114499998 meters 0.09971868778489794 Centerline is valid? [True, True] Translation: X:138.92, Y:-0.99, Z:-2.10 [[ 9.96862654e-01 -7.82950422e-02 -1.16075383e-02 1.38915199e+02] [ 7.83034657e-02 9.96929533e-01 2.72308851e-04 -9.89626563e-01] [ 1.15505773e-02 -1.18036500e-03 9.99932593e-01 -2.09955767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.09800114499998 meters 0.09524183740206406 Centerline is valid? [True, True] Translation: X:138.98, Y:-0.98, Z:-2.10 [[ 9.96823994e-01 -7.88961143e-02 -1.08318393e-02 1.38978004e+02] [ 7.89035600e-02 9.96882220e-01 2.61103792e-04 -9.84814849e-01] [ 1.07774679e-02 -1.11494520e-03 9.99941300e-01 -2.09848289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.158001145 meters 0.09716700785148094 Centerline is valid? [True, True] Translation: X:139.04, Y:-0.99, Z:-2.10 [[ 9.96850726e-01 -7.88428384e-02 -8.51102047e-03 1.39040512e+02] [ 7.88474227e-02 9.96886675e-01 2.03910721e-04 -9.90516298e-01] [ 8.46844600e-03 -8.74340579e-04 9.99963760e-01 -2.09944423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.218001145 meters 0.09793284023437542 Centerline is valid? [True, True] Translation: X:139.10, Y:-0.99, Z:-2.10 [[ 9.96880711e-01 -7.84751854e-02 -8.39608596e-03 1.39103231e+02] [ 7.84796396e-02 9.96915696e-01 2.01855098e-04 -9.91760756e-01] [ 8.35434926e-03 -8.60147254e-04 9.99964732e-01 -2.09910272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.278001145 meters 0.08984214060019681 Centerline is valid? [True, True] Translation: X:139.16, Y:-0.98, Z:-2.10 [[ 9.96792310e-01 -7.92669578e-02 -1.10381647e-02 1.39164181e+02] [ 7.92746878e-02 9.96852775e-01 2.63834898e-04 -9.82042101e-01] [ 1.09825117e-02 -1.13803566e-03 9.99939043e-01 -2.09787588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.338001145 meters 0.09354600260972966 Centerline is valid? [True, True] Translation: X:139.22, Y:-0.99, Z:-2.10 [[ 9.96650712e-01 -8.08805623e-02 -1.20703147e-02 1.39223677e+02] [ 8.08899182e-02 9.96723000e-01 2.88139331e-04 -9.93398901e-01] [ 1.20074554e-02 -1.26354104e-03 9.99927110e-01 -2.10211679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.398001145 meters 0.09507559430443595 Centerline is valid? [True, True] Translation: X:139.29, Y:-1.00, Z:-2.10 [[ 9.96542130e-01 -8.23601939e-02 -1.09809306e-02 1.39285086e+02] [ 8.23680371e-02 9.96601945e-01 2.63157819e-04 -9.97141309e-01] [ 1.09219431e-02 -1.16672556e-03 9.99939673e-01 -2.10100609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.458001145 meters 0.09698476835948795 Centerline is valid? [True, True] Translation: X:139.35, Y:-1.00, Z:-2.10 [[ 9.96652290e-01 -8.10918827e-02 -1.04076944e-02 1.39345636e+02] [ 8.10988636e-02 9.96706031e-01 2.49775867e-04 -1.00180894e+00] [ 1.03531570e-02 -1.09299188e-03 9.99945807e-01 -2.10177536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.518001145 meters 0.09741667328270422 Centerline is valid? [True, True] Translation: X:139.41, Y:-1.01, Z:-2.11 [[ 9.96742360e-01 -7.98546820e-02 -1.13091399e-02 1.39406982e+02] [ 7.98628495e-02 9.96805824e-01 2.71724036e-04 -1.00844822e+00] [ 1.12513181e-02 -1.17401900e-03 9.99936013e-01 -2.10503343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.578001145 meters 0.10075363833305608 Centerline is valid? [True, False] Translation: X:139.40, Y:-1.01, Z:-2.11 [[ 9.97170348e-01 -7.51508805e-02 1.90853286e-03 1.39404221e+02] [ 7.51625678e-02 9.97146366e-01 -7.05071614e-03 -1.01002863e+00] [-1.37321908e-03 7.17421530e-03 9.99973322e-01 -2.10846031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.638001145 meters 0.0945336974967659 Centerline is valid? [False, True] Translation: X:139.39, Y:-1.01, Z:-2.11 [[ 9.97483552e-01 -7.02268110e-02 9.73443927e-03 1.39394567e+02] [ 7.03012619e-02 9.97497391e-01 -7.52910895e-03 -1.01206431e+00] [-9.18133246e-03 8.19450570e-03 9.99924274e-01 -2.11388587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.698001145 meters 0.1018877425583287 Centerline is valid? [True, False] Translation: X:139.39, Y:-1.01, Z:-2.11 [[ 9.97836374e-01 -6.56446404e-02 3.65404437e-03 1.39389867e+02] [ 6.56975442e-02 9.97694982e-01 -1.69869091e-02 -1.01357121e+00] [-2.53052220e-03 1.71902175e-02 9.99849035e-01 -2.11138079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75800114499998 meters 0.09680312004496483 Centerline is valid? [False, True] Translation: X:139.38, Y:-1.02, Z:-2.12 [[ 9.98018717e-01 -6.18887346e-02 1.13324862e-02 1.39381545e+02] [ 6.20857339e-02 9.97909470e-01 -1.79457633e-02 -1.01795303e+00] [-1.01981548e-02 1.86137934e-02 9.99774737e-01 -2.11798549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81800114499998 meters 0.08514147834984602 Centerline is valid? [True, True] Translation: X:139.44, Y:-1.01, Z:-2.12 [[ 9.98138600e-01 -6.01512627e-02 1.00579147e-02 1.39442780e+02] [ 6.01582071e-02 9.98188779e-01 -3.89052763e-04 -1.01236105e+00] [-1.00162956e-02 9.93394698e-04 9.99949342e-01 -2.12312183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.87800114499998 meters 0.08656004159089922 Centerline is valid? [True, True] Translation: X:139.50, Y:-1.02, Z:-2.13 [[ 9.98246099e-01 -5.82730394e-02 1.04392817e-02 1.39502483e+02] [ 5.82804258e-02 9.98300169e-01 -4.04491111e-04 -1.01949254e+00] [-1.03979657e-02 1.01218745e-03 9.99945427e-01 -2.12650143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.938001145 meters 0.08176309063871434 Centerline is valid? [True, True] Translation: X:139.56, Y:-1.02, Z:-2.13 [[ 9.98438949e-01 -5.48261012e-02 1.06659946e-02 1.39563140e+02] [ 5.48336171e-02 9.98495420e-01 -4.13289117e-04 -1.01713067e+00] [-1.06272878e-02 9.97499018e-04 9.99943031e-01 -2.12812932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.998001145 meters 0.0822894109738265 Centerline is valid? [True, True] Translation: X:139.62, Y:-1.02, Z:-2.13 [[ 9.98575305e-01 -5.24188816e-02 9.98100418e-03 1.39622396e+02] [ 5.24253484e-02 9.98624771e-01 -3.87205101e-04 -1.01925108e+00] [-9.94698116e-03 9.09911074e-04 9.99950114e-01 -2.13035234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.058001145 meters 0.08418800765739684 Centerline is valid? [True, True] Translation: X:139.68, Y:-1.03, Z:-2.13 [[ 9.98598473e-01 -5.14175928e-02 1.25427575e-02 1.39681797e+02] [ 5.14277171e-02 9.98676601e-01 -4.85776989e-04 -1.02841603e+00] [-1.25011809e-02 1.13014154e-03 9.99921219e-01 -2.13363431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.118001145 meters 0.0848704443567422 Centerline is valid? [True, True] Translation: X:139.74, Y:-1.03, Z:-2.13 [[ 9.98585068e-01 -5.12523361e-02 1.41795732e-02 1.39744190e+02] [ 5.12651820e-02 9.98684928e-01 -5.43718553e-04 -1.03343264e+00] [-1.41330592e-02 1.26986763e-03 9.99899317e-01 -2.13447251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.178001145 meters 0.08463222283603879 Centerline is valid? [True, True] Translation: X:139.80, Y:-1.04, Z:-2.13 [[ 9.98647652e-01 -4.90756834e-02 1.71593989e-02 1.39804525e+02] [ 4.90943564e-02 9.98793921e-01 -6.68411719e-04 -1.03662983e+00] [-1.71059005e-02 1.50993744e-03 9.99852543e-01 -2.13439534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.238001145 meters 0.08626018037089202 Centerline is valid? [True, True] Translation: X:139.87, Y:-1.04, Z:-2.14 [[ 9.98736431e-01 -4.80170935e-02 1.48290448e-02 1.39865926e+02] [ 4.80308531e-02 9.98845688e-01 -5.72924004e-04 -1.04242104e+00] [-1.47844173e-02 1.28445175e-03 9.99889880e-01 -2.13917302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.298001145 meters 0.08889694004294547 Centerline is valid? [True, True] Translation: X:139.93, Y:-1.05, Z:-2.15 [[ 9.98724016e-01 -4.89800290e-02 1.23002621e-02 1.39925230e+02] [ 4.89896261e-02 9.98799172e-01 -4.79965621e-04 -1.05222764e+00] [-1.22619828e-02 1.08193843e-03 9.99924234e-01 -2.14691546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.358001145 meters 0.08686238277091499 Centerline is valid? [True, True] Translation: X:139.99, Y:-1.05, Z:-2.15 [[ 9.98614859e-01 -5.10148470e-02 1.28782408e-02 1.39986431e+02] [ 5.10255591e-02 9.98697220e-01 -5.04382412e-04 -1.05393506e+00] [-1.28357323e-02 1.16080321e-03 9.99916945e-01 -2.14762254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.418001145 meters 0.08510247502510601 Centerline is valid? [True, True] Translation: X:140.05, Y:-1.06, Z:-2.15 [[ 9.98411936e-01 -5.48819202e-02 1.27114460e-02 1.40047629e+02] [ 5.48926749e-02 9.98492136e-01 -4.98449723e-04 -1.05628137e+00] [-1.26649230e-02 1.19542342e-03 9.99919082e-01 -2.14919465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.478001145 meters 0.08543977252133333 Centerline is valid? [True, True] Translation: X:140.11, Y:-1.06, Z:-2.15 [[ 9.98267180e-01 -5.73873212e-02 1.30127859e-02 1.40108406e+02] [ 5.73988143e-02 9.98351198e-01 -5.11161115e-04 -1.05966322e+00] [-1.29619962e-02 1.25719384e-03 9.99915199e-01 -2.15011615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53800114499998 meters 0.08822782833206691 Centerline is valid? [True, True] Translation: X:140.17, Y:-1.07, Z:-2.15 [[ 9.98265415e-01 -5.71710002e-02 1.40583556e-02 1.40169268e+02] [ 5.71843258e-02 9.98363488e-01 -5.47406697e-04 -1.06880466e+00] [-1.40040532e-02 1.35037476e-03 9.99901027e-01 -2.15427874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.59800114499998 meters 0.08744740175263226 Centerline is valid? [True, True] Translation: X:140.23, Y:-1.07, Z:-2.16 [[ 9.98435100e-01 -5.36372764e-02 1.58238042e-02 1.40229652e+02] [ 5.36538635e-02 9.98559398e-01 -6.25270588e-04 -1.07016267e+00] [-1.57674706e-02 1.47330033e-03 9.99874600e-01 -2.15592878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.658001145 meters 0.0841064451750307 Centerline is valid? [True, True] Translation: X:140.29, Y:-1.07, Z:-2.16 [[ 9.98607116e-01 -5.07225545e-02 1.45275745e-02 1.40290980e+02] [ 5.07362260e-02 9.98711923e-01 -5.73829729e-04 -1.06513755e+00] [-1.44797558e-02 1.31010476e-03 9.99894305e-01 -2.15874024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.718001145 meters 0.08426732094734198 Centerline is valid? [True, True] Translation: X:140.35, Y:-1.07, Z:-2.16 [[ 9.98704568e-01 -4.89259913e-02 1.39797358e-02 1.40352403e+02] [ 4.89384640e-02 9.98801643e-01 -5.51297341e-04 -1.06880522e+00] [-1.39360103e-02 1.23472997e-03 9.99902127e-01 -2.16264457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.778001145 meters 0.08170330710212016 Centerline is valid? [True, True] Translation: X:140.42, Y:-1.07, Z:-2.16 [[ 9.98718533e-01 -4.85118719e-02 1.44183772e-02 1.40415025e+02] [ 4.85250451e-02 9.98821806e-01 -5.64996548e-04 -1.06654637e+00] [-1.43739805e-02 1.26392493e-03 9.99895890e-01 -2.16310389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.838001145 meters 0.08327056193375512 Centerline is valid? [True, True] Translation: X:140.48, Y:-1.07, Z:-2.16 [[ 9.98689792e-01 -4.91181419e-02 1.43564730e-02 1.40476338e+02] [ 4.91313173e-02 9.98792167e-01 -5.66271686e-04 -1.07071400e+00] [-1.43113186e-02 1.27088218e-03 9.99896780e-01 -2.16465081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.898001145 meters 0.0864035595419554 Centerline is valid? [True, True] Translation: X:140.54, Y:-1.08, Z:-2.17 [[ 9.98673251e-01 -4.95520217e-02 1.40119501e-02 1.40537247e+02] [ 4.95646863e-02 9.98770760e-01 -5.57810142e-04 -1.08068795e+00] [-1.39670854e-02 1.25156798e-03 9.99901672e-01 -2.16971496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.958001145 meters 0.08521723885954219 Centerline is valid? [True, True] Translation: X:140.60, Y:-1.08, Z:-2.17 [[ 9.98675574e-01 -4.97541814e-02 1.31003801e-02 1.40599851e+02] [ 4.97652487e-02 9.98760807e-01 -5.19974032e-04 -1.08015385e+00] [-1.30582754e-02 1.17122904e-03 9.99914051e-01 -2.17067468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.018001145 meters 0.08994522360890499 Centerline is valid? [True, True] Translation: X:140.66, Y:-1.09, Z:-2.17 [[ 9.98597390e-01 -5.09717880e-02 1.43223632e-02 1.40660308e+02] [ 5.09852636e-02 9.98699239e-01 -5.77086283e-04 -1.09084913e+00] [-1.42743181e-02 1.30650632e-03 9.99897263e-01 -2.17289114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.078001145 meters 0.09004680996352574 Centerline is valid? [True, True] Translation: X:140.72, Y:-1.10, Z:-2.18 [[ 9.98559481e-01 -5.17759735e-02 1.40787492e-02 1.40722296e+02] [ 5.17890692e-02 9.98657885e-01 -5.66945550e-04 -1.09555444e+00] [-1.40304997e-02 1.29525417e-03 9.99900729e-01 -2.17521608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.138001145 meters 0.09336664332865488 Centerline is valid? [True, True] Translation: X:140.78, Y:-1.11, Z:-2.18 [[ 9.98428173e-01 -5.41917246e-02 1.42982979e-02 1.40780942e+02] [ 5.42055157e-02 9.98529633e-01 -5.78464166e-04 -1.10724939e+00] [-1.42459261e-02 1.35260153e-03 9.99897607e-01 -2.17900553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.198001145 meters 0.08099787731516797 Centerline is valid? [True, True] Translation: X:140.84, Y:-1.09, Z:-2.18 [[ 9.98457197e-01 -5.38716385e-02 1.34562972e-02 1.40844239e+02] [ 5.38837398e-02 9.98547071e-01 -5.38112968e-04 -1.08863721e+00] [-1.34077571e-02 1.26235838e-03 9.99909315e-01 -2.17644976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25800114499998 meters 0.08425016090896992 Centerline is valid? [True, True] Translation: X:140.90, Y:-1.10, Z:-2.18 [[ 9.98516347e-01 -5.31517661e-02 1.18318961e-02 1.40904652e+02] [ 5.31611252e-02 9.98585833e-01 -4.77677198e-04 -1.09995710e+00] [-1.17897744e-02 1.10596540e-03 9.99929887e-01 -2.18183396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31800114499998 meters 0.08595976447780998 Centerline is valid? [True, True] Translation: X:140.96, Y:-1.11, Z:-2.18 [[ 9.98553100e-01 -5.22136431e-02 1.28624205e-02 1.40964517e+02] [ 5.22246923e-02 9.98635222e-01 -5.24427170e-04 -1.10868665e+00] [-1.28174839e-02 1.19540433e-03 9.99917138e-01 -2.18477156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.37800114499998 meters 0.08082754664734974 Centerline is valid? [True, True] Translation: X:141.03, Y:-1.10, Z:-2.18 [[ 9.98747651e-01 -4.81493209e-02 1.35931295e-02 1.41025184e+02] [ 4.81612976e-02 9.98839417e-01 -5.54929597e-04 -1.10493085e+00] [-1.35506341e-02 1.20889739e-03 9.99907455e-01 -2.18436859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.438001145 meters 0.08076337700540132 Centerline is valid? [True, True] Translation: X:141.09, Y:-1.11, Z:-2.19 [[ 9.98881061e-01 -4.55517870e-02 1.27145681e-02 1.41086472e+02] [ 4.55620487e-02 9.98961376e-01 -5.18438671e-04 -1.10591727e+00] [-1.26777466e-02 1.09716034e-03 9.99919032e-01 -2.18681857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.498001145 meters 0.08092936930178754 Centerline is valid? [True, True] Translation: X:141.15, Y:-1.11, Z:-2.19 [[ 9.99028763e-01 -4.28068099e-02 1.04455043e-02 1.41146913e+02] [ 4.28135893e-02 9.99082987e-01 -4.26175292e-04 -1.11385302e+00] [-1.04176824e-02 8.72970905e-04 9.99945353e-01 -2.19430167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.558001145 meters 0.08244966792341124 Centerline is valid? [True, True] Translation: X:141.21, Y:-1.12, Z:-2.20 [[ 9.99030397e-01 -4.29306467e-02 9.75837478e-03 1.41207511e+02] [ 4.29365188e-02 9.99077725e-01 -3.92949970e-04 -1.12087844e+00] [-9.73250528e-03 8.11559606e-04 9.99952309e-01 -2.19831580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.618001145 meters 0.08343869118566061 Centerline is valid? [True, True] Translation: X:141.27, Y:-1.12, Z:-2.20 [[ 9.98983021e-01 -4.34824063e-02 1.19249430e-02 1.41270144e+02] [ 4.34912502e-02 9.99053691e-01 -4.83189932e-04 -1.12489548e+00] [-1.18926480e-02 1.00132922e-03 9.99928779e-01 -2.19744928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.678001145 meters 0.07648261374911298 Centerline is valid? [True, True] Translation: X:141.33, Y:-1.12, Z:-2.19 [[ 9.98957559e-01 -4.35614298e-02 1.36453801e-02 1.41332823e+02] [ 4.35730859e-02 9.99050086e-01 -5.57944959e-04 -1.11572707e+00] [-1.36081133e-02 1.15193466e-03 9.99906742e-01 -2.19401722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.738001145 meters 0.0879981453483085 Centerline is valid? [True, True] Translation: X:141.39, Y:-1.14, Z:-2.20 [[ 9.98941264e-01 -4.38967727e-02 1.37631379e-02 1.41392740e+02] [ 4.39087136e-02 9.99035387e-01 -5.66488313e-04 -1.14366490e+00] [-1.37249948e-02 1.17021023e-03 9.99905123e-01 -2.20258513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.798001145 meters 0.08873157081380678 Centerline is valid? [True, True] Translation: X:141.45, Y:-1.15, Z:-2.21 [[ 9.98968162e-01 -4.36564423e-02 1.25190135e-02 1.41454896e+02] [ 4.36663291e-02 9.99046037e-01 -5.17364419e-04 -1.14882792e+00] [-1.24844845e-02 1.06348995e-03 9.99921500e-01 -2.20669735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.858001145 meters 0.08091951881538215 Centerline is valid? [True, True] Translation: X:141.52, Y:-1.14, Z:-2.21 [[ 9.99050956e-01 -4.21755023e-02 1.08818300e-02 1.41517798e+02] [ 4.21828934e-02 9.99109804e-01 -4.50496468e-04 -1.13841135e+00] [-1.08531431e-02 9.09096001e-04 9.99940690e-01 -2.20524336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.918001145 meters 0.07602232806034083 Centerline is valid? [True, True] Translation: X:141.58, Y:-1.13, Z:-2.20 [[ 9.99187772e-01 -3.89699259e-02 1.02538816e-02 1.41578838e+02] [ 3.89764002e-02 9.99240038e-01 -4.32249707e-04 -1.13452719e+00] [-1.02292443e-02 8.31558014e-04 9.99947334e-01 -2.20499845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.978001145 meters 0.07341116191806951 Centerline is valid? [True, True] Translation: X:141.64, Y:-1.13, Z:-2.20 [[ 9.99260369e-01 -3.67797100e-02 1.12235607e-02 1.41639809e+02] [ 3.67873261e-02 9.99323005e-01 -4.72817473e-04 -1.13226247e+00] [-1.11985723e-02 8.85352550e-04 9.99936902e-01 -2.20469140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03800114499998 meters 0.07461489208073574 Centerline is valid? [True, True] Translation: X:141.70, Y:-1.14, Z:-2.21 [[ 9.99293645e-01 -3.57012094e-02 1.17317762e-02 1.41699940e+02] [ 3.57094622e-02 9.99362091e-01 -4.94668807e-04 -1.13740455e+00] [-1.17066321e-02 9.13254813e-04 9.99931058e-01 -2.20569468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09800114499998 meters 0.07440189792307146 Centerline is valid? [True, True] Translation: X:141.76, Y:-1.14, Z:-2.21 [[ 9.99295595e-01 -3.58658036e-02 1.10435008e-02 1.41762308e+02] [ 3.58730641e-02 9.99356249e-01 -4.59997907e-04 -1.13967692e+00] [-1.10198933e-02 8.55838092e-04 9.99938913e-01 -2.20804142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.158001145 meters 0.07762517146760722 Centerline is valid? [True, True] Translation: X:141.82, Y:-1.15, Z:-2.21 [[ 9.99334872e-01 -3.47429906e-02 1.10787236e-02 1.41823502e+02] [ 3.47502585e-02 9.99395920e-01 -4.64142105e-04 -1.14985123e+00] [-1.10559055e-02 8.48821902e-04 9.99938521e-01 -2.21369981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.218001145 meters 0.07650666884211552 Centerline is valid? [True, True] Translation: X:141.88, Y:-1.15, Z:-2.21 [[ 9.99349318e-01 -3.39353506e-02 1.22201780e-02 1.41884728e+02] [ 3.39442397e-02 9.99423593e-01 -5.20675823e-04 -1.14867808e+00] [-1.21954649e-02 9.35141680e-04 9.99925195e-01 -2.21303866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.278001145 meters 0.07753945801513555 Centerline is valid? [True, True] Translation: X:141.95, Y:-1.15, Z:-2.22 [[ 9.99344791e-01 -3.37853133e-02 1.29823702e-02 1.41946275e+02] [ 3.37952783e-02 9.99428626e-01 -5.48907528e-04 -1.15467937e+00] [-1.29564074e-02 9.87290692e-04 9.99915575e-01 -2.21653220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.338001145 meters 0.07925363149554861 Centerline is valid? [True, True] Translation: X:142.01, Y:-1.16, Z:-2.22 [[ 9.99336848e-01 -3.49959072e-02 1.00574099e-02 1.42005433e+02] [ 3.50020138e-02 9.99387149e-01 -4.31736358e-04 -1.16187550e+00] [-1.00361372e-02 7.83479651e-04 9.99949330e-01 -2.22194164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.398001145 meters 0.07760756984459745 Centerline is valid? [True, True] Translation: X:142.07, Y:-1.16, Z:-2.22 [[ 9.99331036e-01 -3.51829332e-02 9.98208774e-03 1.42067958e+02] [ 3.51889401e-02 9.99380586e-01 -4.26713622e-04 -1.16157293e+00] [-9.96089166e-03 7.77687254e-04 9.99950087e-01 -2.22315471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.458001145 meters 0.07928357694578723 Centerline is valid? [True, True] Translation: X:142.13, Y:-1.17, Z:-2.23 [[ 9.99284250e-01 -3.63787651e-02 1.03717206e-02 1.42129658e+02] [ 3.63853221e-02 9.99337736e-01 -4.44144658e-04 -1.16821508e+00] [-1.03486944e-02 8.21205157e-04 9.99946114e-01 -2.22620292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.518001145 meters 0.0818130473081034 Centerline is valid? [True, True] Translation: X:142.19, Y:-1.18, Z:-2.23 [[ 9.99245407e-01 -3.66588159e-02 1.28353741e-02 1.42190551e+02] [ 3.66688541e-02 9.99327321e-01 -5.47524148e-04 -1.17726859e+00] [-1.28066685e-02 1.01776945e-03 9.99917473e-01 -2.22876145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.578001145 meters 0.07616470604471699 Centerline is valid? [True, True] Translation: X:142.25, Y:-1.17, Z:-2.22 [[ 9.99239432e-01 -3.65232995e-02 1.36603492e-02 1.42253231e+02] [ 3.65346918e-02 9.99332214e-01 -5.85272030e-04 -1.16745991e+00] [-1.36298509e-02 1.08390354e-03 9.99906522e-01 -2.22421961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.638001145 meters 0.07732432580664925 Centerline is valid? [True, True] Translation: X:142.31, Y:-1.17, Z:-2.23 [[ 9.99282555e-01 -3.59776934e-02 1.18313686e-02 1.42313821e+02] [ 3.59862516e-02 9.99352154e-01 -5.11180985e-04 -1.17217291e+00] [-1.18053126e-02 9.36580848e-04 9.99929876e-01 -2.22887332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.698001145 meters 0.07669926288410983 Centerline is valid? [True, True] Translation: X:142.38, Y:-1.17, Z:-2.23 [[ 9.99295351e-01 -3.63345137e-02 9.41296619e-03 1.42375617e+02] [ 3.63399247e-02 9.99339405e-01 -4.04400477e-04 -1.17437107e+00] [-9.39205434e-03 7.46181999e-04 9.99955615e-01 -2.23386868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75800114499998 meters 0.07844823342638084 Centerline is valid? [True, True] Translation: X:142.44, Y:-1.18, Z:-2.24 [[ 9.99277489e-01 -3.69380633e-02 8.94868313e-03 1.42436057e+02] [ 3.69430167e-02 9.99317298e-01 -3.88809185e-04 -1.18057424e+00] [-8.92821199e-03 7.19119617e-04 9.99959884e-01 -2.23719439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81800114499998 meters 0.07787518666467935 Centerline is valid? [True, True] Translation: X:142.50, Y:-1.18, Z:-2.24 [[ 9.99172106e-01 -3.94750877e-02 9.83971743e-03 1.42496813e+02] [ 3.94812356e-02 9.99220219e-01 -4.31264301e-04 -1.18126820e+00] [-9.81502041e-03 8.19391462e-04 9.99951496e-01 -2.23734237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87800114499998 meters 0.0759682694093293 Centerline is valid? [True, True] Translation: X:142.56, Y:-1.18, Z:-2.24 [[ 9.99096074e-01 -4.08940245e-02 1.16066225e-02 1.42558861e+02] [ 4.09026707e-02 9.99163006e-01 -5.08441570e-04 -1.18137019e+00] [-1.15761156e-02 9.82723832e-04 9.99932512e-01 -2.23728825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.938001145 meters 0.08614698141677718 Centerline is valid? [True, True] Translation: X:142.62, Y:-1.20, Z:-2.24 [[ 9.98989997e-01 -4.34462083e-02 1.14635493e-02 1.42617515e+02] [ 4.34548298e-02 9.99055266e-01 -5.03952368e-04 -1.20273072e+00] [-1.14308244e-02 1.00158996e-03 9.99934164e-01 -2.24332634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.998001145 meters 0.08484257656094678 Centerline is valid? [True, True] Translation: X:142.68, Y:-1.20, Z:-2.25 [[ 9.98917987e-01 -4.51569974e-02 1.11220674e-02 1.42678546e+02] [ 4.51652193e-02 9.98979411e-01 -4.89051562e-04 -1.20367825e+00] [-1.10886322e-02 9.90853014e-04 9.99938028e-01 -2.24558680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.058001145 meters 0.08177164449564867 Centerline is valid? [True, True] Translation: X:142.74, Y:-1.20, Z:-2.25 [[ 9.98916373e-01 -4.56001449e-02 9.31158288e-03 1.42740749e+02] [ 4.56058811e-02 9.98959429e-01 -4.04508985e-04 -1.19870775e+00] [-9.28344784e-03 8.28733590e-04 9.99956564e-01 -2.24546862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.118001145 meters 0.08291265219617433 Centerline is valid? [True, True] Translation: X:142.80, Y:-1.20, Z:-2.25 [[ 9.98964690e-01 -4.42904166e-02 1.03878586e-02 1.42799972e+02] [ 4.42975819e-02 9.99018274e-01 -4.60595418e-04 -1.20213456e+00] [-1.03572607e-02 9.20275577e-04 9.99945939e-01 -2.24825465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.178001145 meters 0.08116259547767794 Centerline is valid? [True, True] Translation: X:142.86, Y:-1.20, Z:-2.25 [[ 9.99089546e-01 -4.10947267e-02 1.14587336e-02 1.42860754e+02] [ 4.11032295e-02 9.99154776e-01 -5.07431628e-04 -1.20065409e+00] [-1.14281956e-02 9.77960592e-04 9.99934218e-01 -2.25022466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.238001145 meters 0.08135785154248494 Centerline is valid? [True, True] Translation: X:142.92, Y:-1.20, Z:-2.25 [[ 9.99151350e-01 -3.98484593e-02 1.04249789e-02 1.42922698e+02] [ 3.98553662e-02 9.99205355e-01 -4.55541967e-04 -1.20030441e+00] [-1.03985421e-02 8.70646725e-04 9.99945555e-01 -2.25347288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.298001145 meters 0.08438047412832171 Centerline is valid? [True, True] Translation: X:142.98, Y:-1.21, Z:-2.26 [[ 9.99178282e-01 -3.96057580e-02 8.61073396e-03 1.42983803e+02] [ 3.96104914e-02 9.99215124e-01 -3.79802339e-04 -1.20733412e+00] [-8.58893324e-03 7.20565652e-04 9.99962855e-01 -2.25979766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.358001145 meters 0.07736756293576724 Centerline is valid? [True, True] Translation: X:143.05, Y:-1.20, Z:-2.26 [[ 9.99175876e-01 -3.95626288e-02 9.07560428e-03 1.43047255e+02] [ 3.95678579e-02 9.99216807e-01 -3.97273035e-04 -1.19755797e+00] [-9.05277916e-03 7.56047854e-04 9.99958737e-01 -2.25815241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.418001145 meters 0.07920725698630557 Centerline is valid? [True, True] Translation: X:143.11, Y:-1.20, Z:-2.26 [[ 9.99160830e-01 -3.92127251e-02 1.18320879e-02 1.43107822e+02] [ 3.92217327e-02 9.99230391e-01 -5.30118542e-04 -1.20104024e+00] [-1.18021944e-02 9.93748671e-04 9.99929858e-01 -2.25828566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.478001145 meters 0.08003171854312623 Centerline is valid? [True, True] Translation: X:143.17, Y:-1.20, Z:-2.26 [[ 9.99138428e-01 -3.97826756e-02 1.18211879e-02 1.43170212e+02] [ 3.97916537e-02 9.99207861e-01 -5.25170619e-04 -1.20381016e+00] [-1.17909312e-02 9.95102762e-04 9.99929989e-01 -2.26106648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53800114499998 meters 0.08265388658118794 Centerline is valid? [True, True] Translation: X:143.23, Y:-1.21, Z:-2.27 [[ 9.99006596e-01 -4.34478974e-02 9.90460332e-03 1.43231084e+02] [ 4.34544396e-02 9.99055310e-01 -4.46178733e-04 -1.21019032e+00] [-9.87586102e-03 8.76134485e-04 9.99950849e-01 -2.26673280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59800114499998 meters 0.08239102467471307 Centerline is valid? [True, True] Translation: X:143.29, Y:-1.21, Z:-2.27 [[ 9.98836661e-01 -4.73641514e-02 9.05327749e-03 1.43292226e+02] [ 4.73697779e-02 9.98877339e-01 -4.07941336e-04 -1.21152596e+00] [-9.02379193e-03 8.36318505e-04 9.99958935e-01 -2.26852865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.658001145 meters 0.09065924921113758 Centerline is valid? [True, True] Translation: X:143.35, Y:-1.22, Z:-2.27 [[ 9.98599101e-01 -5.15366163e-02 1.19921507e-02 1.43351465e+02] [ 5.15467966e-02 9.98670434e-01 -5.41171012e-04 -1.22471218e+00] [-1.19483162e-02 1.15856984e-03 9.99927945e-01 -2.27060479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.718001145 meters 0.09079870596400064 Centerline is valid? [True, True] Translation: X:143.41, Y:-1.23, Z:-2.27 [[ 9.98405550e-01 -5.47824999e-02 1.36101066e-02 1.43412562e+02] [ 5.47959236e-02 9.98497385e-01 -6.15083340e-04 -1.22605867e+00] [-1.35559600e-02 1.35988098e-03 9.99907189e-01 -2.27118732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.778001145 meters 0.09238386413060579 Centerline is valid? [True, True] Translation: X:143.47, Y:-1.23, Z:-2.27 [[ 9.98331801e-01 -5.60020776e-02 1.40492628e-02 1.43474007e+02] [ 5.60164930e-02 9.98429642e-01 -6.34343005e-04 -1.22980639e+00] [-1.39916759e-02 1.42027523e-03 9.99901103e-01 -2.27436835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.838001145 meters 0.09245815224839272 Centerline is valid? [True, True] Translation: X:143.54, Y:-1.23, Z:-2.28 [[ 9.98310651e-01 -5.66478028e-02 1.29178347e-02 1.43535674e+02] [ 5.66600236e-02 9.98393361e-01 -5.81741452e-04 -1.22953679e+00] [-1.28641260e-02 1.31268350e-03 9.99916392e-01 -2.27818314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.898001145 meters 0.09047877171223154 Centerline is valid? [True, True] Translation: X:143.60, Y:-1.23, Z:-2.28 [[ 9.98378935e-01 -5.52592878e-02 1.36350363e-02 1.43596840e+02] [ 5.52728272e-02 9.98471098e-01 -6.17862500e-04 -1.22674799e+00] [-1.35800470e-02 1.37050791e-03 9.99906848e-01 -2.27865875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.958001145 meters 0.09381525583621357 Centerline is valid? [True, True] Translation: X:143.66, Y:-1.23, Z:-2.28 [[ 9.98476841e-01 -5.29536686e-02 1.54889626e-02 1.43656533e+02] [ 5.29708821e-02 9.98595810e-01 -7.02912312e-04 -1.23169168e+00] [-1.54299914e-02 1.52230568e-03 9.99879792e-01 -2.28143057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.018001145 meters 0.09353344905254957 Centerline is valid? [True, True] Translation: X:143.72, Y:-1.23, Z:-2.28 [[ 9.98495838e-01 -5.25197441e-02 1.57396726e-02 1.43719053e+02] [ 5.25373798e-02 9.98618707e-01 -7.08788395e-04 -1.23145466e+00] [-1.56807061e-02 1.53464342e-03 9.99875872e-01 -2.28336268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.078001145 meters 0.09635982653759158 Centerline is valid? [True, True] Translation: X:143.78, Y:-1.24, Z:-2.29 [[ 9.98442056e-01 -5.36960218e-02 1.51722916e-02 1.43779743e+02] [ 5.37126513e-02 9.98556195e-01 -6.90389786e-04 -1.23632849e+00] [-1.51133146e-02 1.50425821e-03 9.99884656e-01 -2.28803635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.138001145 meters 0.0875646569806617 Centerline is valid? [True, True] Translation: X:143.84, Y:-1.23, Z:-2.29 [[ 9.98398547e-01 -5.42098543e-02 1.61750775e-02 1.43842348e+02] [ 5.42287650e-02 9.98528269e-01 -7.32494780e-04 -1.22511120e+00] [-1.61115637e-02 1.60847620e-03 9.99868907e-01 -2.28738965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.198001145 meters 0.08723490340456509 Centerline is valid? [True, True] Translation: X:143.91, Y:-1.23, Z:-2.29 [[ 9.98380454e-01 -5.41827049e-02 1.73408186e-02 1.43905473e+02] [ 5.42045049e-02 9.98529543e-01 -7.89268992e-04 -1.22503837e+00] [-1.72725550e-02 1.72794122e-03 9.99849325e-01 -2.28855616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25800114499998 meters 0.08661131784973317 Centerline is valid? [True, True] Translation: X:143.97, Y:-1.23, Z:-2.29 [[ 9.98426907e-01 -5.35861844e-02 1.64994811e-02 1.43967786e+02] [ 5.36059160e-02 9.98561883e-01 -7.55640907e-04 -1.22522747e+00] [-1.64352610e-02 1.63892201e-03 9.99863589e-01 -2.29089907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31800114499998 meters 0.09076038644691188 Centerline is valid? [True, True] Translation: X:144.03, Y:-1.24, Z:-2.30 [[ 9.98490776e-01 -5.26221577e-02 1.57187346e-02 1.44028806e+02] [ 5.26400062e-02 9.98613292e-01 -7.23630580e-04 -1.23545035e+00] [-1.56588583e-02 1.54997275e-03 9.99876191e-01 -2.29654613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37800114499998 meters 0.08493195644472044 Centerline is valid? [True, True] Translation: X:144.09, Y:-1.23, Z:-2.30 [[ 9.98553142e-01 -5.15895320e-02 1.51704756e-02 1.44091557e+02] [ 5.16060761e-02 9.98667273e-01 -7.00846918e-04 -1.22527972e+00] [-1.51141012e-02 1.48272161e-03 9.99884676e-01 -2.29652116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.438001145 meters 0.08643891045309585 Centerline is valid? [True, True] Translation: X:144.15, Y:-1.23, Z:-2.30 [[ 9.98630087e-01 -5.02148217e-02 1.47112306e-02 1.44152260e+02] [ 5.02303495e-02 9.98737422e-01 -6.87686916e-04 -1.22928850e+00] [-1.46581245e-02 1.42569510e-03 9.99891548e-01 -2.30052613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.498001145 meters 0.08820298087077161 Centerline is valid? [True, True] Translation: X:144.21, Y:-1.24, Z:-2.30 [[ 9.98643415e-01 -4.94462143e-02 1.63218097e-02 1.44212364e+02] [ 4.94652445e-02 9.98775553e-01 -7.64049487e-04 -1.23594016e+00] [-1.62640452e-02 1.57037530e-03 9.99866498e-01 -2.30277682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.558001145 meters 0.08872957862078362 Centerline is valid? [True, True] Translation: X:144.27, Y:-1.24, Z:-2.30 [[ 9.98618148e-01 -4.94240129e-02 1.78622834e-02 1.44274800e+02] [ 4.94467315e-02 9.98776416e-01 -8.32197994e-04 -1.23784024e+00] [-1.77992968e-02 1.71427955e-03 9.99840110e-01 -2.30298270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.618001145 meters 0.0906220064094126 Centerline is valid? [True, True] Translation: X:144.34, Y:-1.24, Z:-2.31 [[ 9.98559693e-01 -5.07974539e-02 1.72672657e-02 1.44335283e+02] [ 5.08190272e-02 9.98707548e-01 -8.12611882e-04 -1.24233694e+00] [-1.72036699e-02 1.68894711e-03 9.99850579e-01 -2.30571452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.678001145 meters 0.0938947138817496 Centerline is valid? [True, True] Translation: X:144.40, Y:-1.25, Z:-2.31 [[ 9.98407854e-01 -5.36170283e-02 1.75205899e-02 1.44395474e+02] [ 5.36396783e-02 9.98560015e-01 -8.25055241e-04 -1.25217449e+00] [-1.74511236e-02 1.76354044e-03 9.99846162e-01 -2.31031148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.738001145 meters 0.09745087716656281 Centerline is valid? [True, True] Translation: X:144.46, Y:-1.26, Z:-2.31 [[ 9.98181717e-01 -5.76062740e-02 1.77419465e-02 1.44455863e+02] [ 5.76301246e-02 9.98337654e-01 -8.35552415e-04 -1.26289410e+00] [-1.76643202e-02 1.85650373e-03 9.99842250e-01 -2.31257477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.798001145 meters 0.10057046465041805 Centerline is valid? [True, False] Translation: X:144.45, Y:-1.26, Z:-2.32 [[ 9.98442494e-01 -5.16723696e-02 2.10369360e-02 1.44449448e+02] [ 5.18568452e-02 9.98619872e-01 -8.31978260e-03 -1.26295743e+00] [-2.05779994e-02 9.39773362e-03 9.99744082e-01 -2.31697533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.858001145 meters 0.09813331844069388 Centerline is valid? [False, True] Translation: X:144.45, Y:-1.26, Z:-2.31 [[ 9.98756667e-01 -4.95973150e-02 5.02264675e-03 1.44452421e+02] [ 4.96367813e-02 9.98734780e-01 -8.06402268e-03 -1.26441368e+00] [-4.61633813e-03 8.30330443e-03 9.99954871e-01 -2.31412548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.918001145 meters 0.09820816183853588 Centerline is valid? [True, True] Translation: X:144.51, Y:-1.27, Z:-2.32 [[ 9.98767623e-01 -4.91627871e-02 6.80108365e-03 1.44514438e+02] [ 4.91665772e-02 9.98790516e-01 -3.91121827e-04 -1.27434154e+00] [-6.77362921e-03 7.25025823e-04 9.99976796e-01 -2.31916963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.978001145 meters 0.09425444783787224 Centerline is valid? [True, True] Translation: X:144.58, Y:-1.27, Z:-2.32 [[ 9.98827086e-01 -4.79738383e-02 6.55468232e-03 1.44576118e+02] [ 4.79773692e-02 9.98848350e-01 -3.82427361e-04 -1.27260464e+00] [-6.52878711e-03 6.96455221e-04 9.99978445e-01 -2.31956932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03800114499998 meters 0.09262746644206636 Centerline is valid? [True, True] Translation: X:144.64, Y:-1.27, Z:-2.32 [[ 9.98877629e-01 -4.68947604e-02 6.66063180e-03 1.44638168e+02] [ 4.68983819e-02 9.98899590e-01 -3.88484561e-04 -1.27342149e+00] [-6.63508449e-03 7.00421391e-04 9.99977742e-01 -2.31988936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09800114499998 meters 0.09065389396204451 Centerline is valid? [True, True] Translation: X:144.70, Y:-1.27, Z:-2.32 [[ 9.99044255e-01 -4.32178462e-02 6.54180223e-03 1.44698555e+02] [ 4.32212708e-02 9.99065451e-01 -3.82972701e-04 -1.27320416e+00] [-6.51913733e-03 6.65351682e-04 9.99978529e-01 -2.32181415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.158001145 meters 0.09159760837477647 Centerline is valid? [True, True] Translation: X:144.76, Y:-1.28, Z:-2.32 [[ 9.99161465e-01 -4.04088391e-02 6.59483508e-03 1.44757941e+02] [ 4.04122610e-02 9.99183016e-01 -3.86388775e-04 -1.27776454e+00] [-6.57383368e-03 6.52576971e-04 9.99978179e-01 -2.32473159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.218001145 meters 0.08815328405757196 Centerline is valid? [True, True] Translation: X:144.82, Y:-1.27, Z:-2.33 [[ 9.99309480e-01 -3.65666317e-02 6.59132842e-03 1.44818525e+02] [ 3.65699628e-02 9.99331021e-01 -3.85531721e-04 -1.27342932e+00] [-6.57282136e-03 6.26310139e-04 9.99978203e-01 -2.32551519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.278001145 meters 0.08639906164601843 Centerline is valid? [True, True] Translation: X:144.88, Y:-1.27, Z:-2.33 [[ 9.99378854e-01 -3.45194914e-02 7.09295306e-03 1.44879907e+02] [ 3.45232973e-02 9.99403807e-01 -4.14795223e-04 -1.27280881e+00] [-7.07440578e-03 6.59409702e-04 9.99974759e-01 -2.32695490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.338001145 meters 0.08641201146860589 Centerline is valid? [True, True] Translation: X:144.94, Y:-1.28, Z:-2.33 [[ 9.99414406e-01 -3.32675520e-02 8.00718735e-03 1.44941208e+02] [ 3.32723613e-02 9.99446212e-01 -4.68121161e-04 -1.27574400e+00] [-7.98717982e-03 7.34265063e-04 9.99967832e-01 -2.32887158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.398001145 meters 0.08555946978684469 Centerline is valid? [True, True] Translation: X:145.00, Y:-1.27, Z:-2.33 [[ 9.99435991e-01 -3.26028274e-02 8.04706752e-03 1.45003629e+02] [ 3.26076602e-02 9.99468118e-01 -4.70056754e-04 -1.27421864e+00] [-8.02746225e-03 7.32187681e-04 9.99967511e-01 -2.32965388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.458001145 meters 0.08649911832495176 Centerline is valid? [True, True] Translation: X:145.07, Y:-1.28, Z:-2.33 [[ 9.99446157e-01 -3.24066275e-02 7.56242539e-03 1.45066687e+02] [ 3.24108879e-02 9.99474532e-01 -4.41458318e-04 -1.27905111e+00] [-7.54414540e-03 6.86318740e-04 9.99971307e-01 -2.33242241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.518001145 meters 0.08483532202665758 Centerline is valid? [True, True] Translation: X:145.13, Y:-1.28, Z:-2.34 [[ 9.99395452e-01 -3.44859075e-02 4.41057533e-03 1.45127641e+02] [ 3.44873835e-02 9.99405100e-01 -2.59018080e-04 -1.27675015e+00] [-4.39901901e-03 4.10970695e-04 9.99990240e-01 -2.33631823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.578001145 meters 0.08772279288416088 Centerline is valid? [True, True] Translation: X:145.19, Y:-1.28, Z:-2.34 [[ 9.99298340e-01 -3.68720588e-02 6.57867013e-03 1.45187944e+02] [ 3.68753924e-02 9.99319797e-01 -3.86105874e-04 -1.28459450e+00] [-6.55995878e-03 6.28426001e-04 9.99978286e-01 -2.33863396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.638001145 meters 0.09104217441609441 Centerline is valid? [True, True] Translation: X:145.25, Y:-1.29, Z:-2.34 [[ 9.99193162e-01 -3.95246807e-02 7.12909214e-03 1.45247247e+02] [ 3.95286633e-02 9.99218349e-01 -4.18553407e-04 -1.29136659e+00] [-7.10697649e-03 7.00019185e-04 9.99974500e-01 -2.33993025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.698001145 meters 0.0927030892350382 Centerline is valid? [True, True] Translation: X:145.31, Y:-1.30, Z:-2.34 [[ 9.99070518e-01 -4.25008583e-02 7.19563176e-03 1.45307493e+02] [ 4.25049949e-02 9.99096165e-01 -4.22859200e-04 -1.29555066e+00] [-7.17115622e-03 7.28316451e-04 9.99974022e-01 -2.34071728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75800114499998 meters 0.09464537609062755 Centerline is valid? [True, True] Translation: X:145.37, Y:-1.30, Z:-2.34 [[ 9.98913032e-01 -4.61986296e-02 6.20013995e-03 1.45367323e+02] [ 4.62017712e-02 9.98932062e-01 -3.64360570e-04 -1.30453490e+00] [-6.17668562e-03 6.50421969e-04 9.99980713e-01 -2.34456377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81800114499998 meters 0.10329761246734676 Centerline is valid? [True, False] Translation: X:145.36, Y:-1.30, Z:-2.35 [[ 9.98942082e-01 -4.39072331e-02 1.36701362e-02 1.45357168e+02] [ 4.39794129e-02 9.99019800e-01 -5.02489565e-03 -1.30484110e+00] [-1.34361075e-02 5.62078428e-03 9.99893933e-01 -2.34751347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87800114499998 meters 0.10824371496637904 Centerline is valid? [False, False] Translation: X:145.35, Y:-1.31, Z:-2.35 [[ 9.99012050e-01 -3.89889972e-02 2.13256098e-02 1.45346776e+02] [ 3.91641528e-02 9.99201890e-01 -7.85819529e-03 -1.30692556e+00] [-2.10022065e-02 8.68563123e-03 9.99741700e-01 -2.35142712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.938001145 meters 0.10086700189185502 Centerline is valid? [False, False] Translation: X:145.35, Y:-1.31, Z:-2.35 [[ 9.99234254e-01 -3.87612848e-02 5.33558900e-03 1.45348994e+02] [ 3.88141270e-02 9.99194544e-01 -1.01846212e-02 -1.30740994e+00] [-4.93652242e-03 1.03839186e-02 9.99933900e-01 -2.34669118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.998001145 meters 0.10916229614954628 Centerline is valid? [False, False] Translation: X:145.34, Y:-1.31, Z:-2.35 [[ 9.99464953e-01 -2.99572215e-02 1.31290605e-02 1.45337470e+02] [ 3.00878634e-02 9.99498540e-01 -9.86863140e-03 -1.31015775e+00] [-1.28268400e-02 1.02583766e-02 9.99865110e-01 -2.35013985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.058001145 meters 0.09966628403499514 Centerline is valid? [False, True] Translation: X:145.33, Y:-1.31, Z:-2.35 [[ 9.99706174e-01 -2.09262418e-02 1.22334610e-02 1.45332080e+02] [ 2.11130946e-02 9.99659254e-01 -1.53496831e-02 -1.31215499e+00] [-1.19080813e-02 1.56034592e-02 9.99807346e-01 -2.35214797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.118001145 meters 0.09847901887692669 Centerline is valid? [True, True] Translation: X:145.39, Y:-1.32, Z:-2.36 [[ 9.99730222e-01 -2.00593526e-02 1.17092110e-02 1.45392147e+02] [ 2.00725479e-02 9.99798015e-01 -1.01047649e-03 -1.32428189e+00] [-1.16865764e-02 1.24523758e-03 9.99930934e-01 -2.36153322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.178001145 meters 0.09021020731777435 Centerline is valid? [True, True] Translation: X:145.45, Y:-1.32, Z:-2.36 [[ 9.99827712e-01 -1.56465414e-02 9.98655942e-03 1.45453287e+02] [ 1.56559317e-02 9.99877066e-01 -8.62805551e-04 -1.31656651e+00] [-9.97183181e-03 1.01900579e-03 9.99949761e-01 -2.36223251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.238001145 meters 0.09170147237444444 Centerline is valid? [True, True] Translation: X:145.51, Y:-1.33, Z:-2.37 [[ 9.99873331e-01 -1.17830055e-02 1.06996502e-02 1.45511882e+02] [ 1.17935697e-02 9.99930026e-01 -9.24777201e-04 -1.32634691e+00] [-1.06880048e-02 1.05084713e-03 9.99942329e-01 -2.36521447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.298001145 meters 0.0942100769094138 Centerline is valid? [True, True] Translation: X:145.57, Y:-1.34, Z:-2.37 [[ 9.99922914e-01 -7.12107620e-03 1.01713558e-02 1.45570654e+02] [ 7.13037830e-03 9.99974193e-01 -8.78567704e-04 -1.33768667e+00] [-1.01648370e-02 9.51025593e-04 9.99947884e-01 -2.36978799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.358001145 meters 0.08491135667964743 Centerline is valid? [True, True] Translation: X:145.63, Y:-1.33, Z:-2.37 [[ 9.99933883e-01 -4.64660659e-03 1.05185021e-02 1.45632386e+02] [ 4.65641663e-03 9.99988746e-01 -9.08349052e-04 -1.32857238e+00] [-1.05141630e-02 9.57267523e-04 9.99944266e-01 -2.36795771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.418001145 meters 0.08641005467145346 Centerline is valid? [True, True] Translation: X:145.69, Y:-1.34, Z:-2.37 [[ 9.99927227e-01 -4.70785195e-03 1.11075041e-02 1.45692850e+02] [ 4.71878530e-03 9.99988407e-01 -9.58318790e-04 -1.34021843e+00] [-1.11028637e-02 1.01066298e-03 9.99937851e-01 -2.37034330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.478001145 meters 0.08659420764256001 Centerline is valid? [True, True] Translation: X:145.75, Y:-1.35, Z:-2.37 [[ 9.99904398e-01 -7.83385385e-03 1.13940619e-02 1.45752861e+02] [ 7.84557855e-03 9.99968738e-01 -9.84684838e-04 -1.35061485e+00] [-1.13859919e-02 1.07398371e-03 9.99934601e-01 -2.37300905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53800114499998 meters 0.08538716301752897 Centerline is valid? [True, True] Translation: X:145.81, Y:-1.35, Z:-2.37 [[ 9.99905175e-01 -9.08834593e-03 1.03461104e-02 1.45813821e+02] [ 9.09806995e-03 9.99958213e-01 -8.93193274e-04 -1.35349518e+00] [-1.03375604e-02 9.87238214e-04 9.99946079e-01 -2.37396306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59800114499998 meters 0.08586314747452145 Centerline is valid? [True, True] Translation: X:145.87, Y:-1.36, Z:-2.37 [[ 9.99866182e-01 -1.19706990e-02 1.11498779e-02 1.45873525e+02] [ 1.19821865e-02 9.99927746e-01 -9.64041297e-04 -1.36152748e+00] [-1.11375321e-02 1.09751221e-03 9.99937373e-01 -2.37465843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.658001145 meters 0.08797171722361022 Centerline is valid? [True, True] Translation: X:145.93, Y:-1.37, Z:-2.38 [[ 9.99847557e-01 -1.26658462e-02 1.20182995e-02 1.45933337e+02] [ 1.26792139e-02 9.99919078e-01 -1.03673793e-03 -1.37443049e+00] [-1.20041958e-02 1.18896247e-03 9.99927240e-01 -2.37787539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.718001145 meters 0.0898753433266037 Centerline is valid? [True, True] Translation: X:145.99, Y:-1.38, Z:-2.38 [[ 9.99841931e-01 -1.32400870e-02 1.18664703e-02 1.45994850e+02] [ 1.32531885e-02 9.99911646e-01 -1.02611864e-03 -1.38353415e+00] [-1.18518360e-02 1.18322501e-03 9.99929064e-01 -2.38054848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.778001145 meters 0.09039204217441614 Centerline is valid? [True, True] Translation: X:146.06, Y:-1.39, Z:-2.38 [[ 9.99833335e-01 -1.31499996e-02 1.26640916e-02 1.46056456e+02] [ 1.31649271e-02 9.99912738e-01 -1.09608118e-03 -1.38792021e+00] [-1.26485730e-02 1.26262035e-03 9.99919206e-01 -2.38177247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.838001145 meters 0.09147819355689309 Centerline is valid? [True, True] Translation: X:146.12, Y:-1.40, Z:-2.39 [[ 9.99865608e-01 -1.21863654e-02 1.09662851e-02 1.46118207e+02] [ 1.21975059e-02 9.99925157e-01 -9.49571664e-04 -1.39804538e+00] [-1.09538925e-02 1.08320538e-03 9.99939418e-01 -2.38800904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.898001145 meters 0.0913097221762383 Centerline is valid? [True, True] Translation: X:146.18, Y:-1.40, Z:-2.39 [[ 9.99894085e-01 -9.98595575e-03 1.05876782e-02 1.46179007e+02] [ 9.99623648e-03 9.99949615e-01 -9.18532648e-04 -1.40227846e+00] [-1.05779723e-02 1.02427230e-03 9.99943527e-01 -2.39059540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.958001145 meters 0.08761453160665936 Centerline is valid? [True, True] Translation: X:146.24, Y:-1.40, Z:-2.39 [[ 9.99907768e-01 -7.70134706e-03 1.11867675e-02 1.46240036e+02] [ 7.71268675e-03 9.99969785e-01 -9.70881741e-04 -1.39810639e+00] [-1.11789524e-02 1.05707223e-03 9.99936955e-01 -2.38935412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.018001145 meters 0.094399804390988 Centerline is valid? [True, True] Translation: X:146.30, Y:-1.41, Z:-2.40 [[ 9.99930902e-01 -7.35074878e-03 9.17370655e-03 1.46300282e+02] [ 7.35835097e-03 9.99972611e-01 -7.95216147e-04 -1.41436190e+00] [-9.16760985e-03 8.62664552e-04 9.99957604e-01 -2.39616656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.078001145 meters 0.08862876002534045 Centerline is valid? [True, True] Translation: X:146.36, Y:-1.41, Z:-2.40 [[ 9.99903700e-01 -1.02046484e-02 9.40510350e-03 1.46360879e+02] [ 1.02127791e-02 9.99947515e-01 -8.16875639e-04 -1.41412574e+00] [-9.39627394e-03 9.12849218e-04 9.99955437e-01 -2.39693030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.138001145 meters 0.09815398049876174 Centerline is valid? [True, True] Translation: X:146.42, Y:-1.43, Z:-2.40 [[ 9.99871340e-01 -1.26314764e-02 9.88683686e-03 1.46419354e+02] [ 1.26405830e-02 9.99919736e-01 -8.59135586e-04 -1.43177376e+00] [-9.87519115e-03 9.84000431e-04 9.99950755e-01 -2.40031143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.198001145 meters 0.08998052062130148 Centerline is valid? [True, True] Translation: X:146.48, Y:-1.42, Z:-2.40 [[ 9.99846098e-01 -1.33473956e-02 1.13853615e-02 1.46482146e+02] [ 1.33594996e-02 9.99910270e-01 -9.87726998e-04 -1.42385060e+00] [-1.13711563e-02 1.13967772e-03 9.99934697e-01 -2.39823883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25800114499998 meters 0.08981174790811852 Centerline is valid? [True, True] Translation: X:146.54, Y:-1.43, Z:-2.40 [[ 9.99869466e-01 -1.25647906e-02 1.01576397e-02 1.46544266e+02] [ 1.25743840e-02 9.99920551e-01 -8.81139970e-04 -1.42948100e+00] [-1.01457614e-02 1.00875101e-03 9.99948022e-01 -2.40191116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31800114499998 meters 0.08941742594965196 Centerline is valid? [True, True] Translation: X:146.61, Y:-1.43, Z:-2.40 [[ 9.99893322e-01 -1.15547016e-02 8.93490846e-03 1.46606285e+02] [ 1.15620872e-02 9.99932856e-01 -7.75392196e-04 -1.43147273e+00] [-8.92534911e-03 8.78615670e-04 9.99959782e-01 -2.40431243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37800114499998 meters 0.08834249184505462 Centerline is valid? [True, True] Translation: X:146.67, Y:-1.43, Z:-2.41 [[ 9.99910963e-01 -9.27379050e-03 9.59490340e-03 1.46667096e+02] [ 9.28222549e-03 9.99956571e-01 -8.34952393e-04 -1.43235896e+00] [-9.58674352e-03 9.23940109e-04 9.99953619e-01 -2.40724460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.438001145 meters 0.08902272069277077 Centerline is valid? [True, True] Translation: X:146.73, Y:-1.44, Z:-2.41 [[ 9.99921425e-01 -7.05239046e-03 1.03637352e-02 1.46727520e+02] [ 7.06211359e-03 9.99974656e-01 -9.01890494e-04 -1.43739447e+00] [-1.03571120e-02 9.75009503e-04 9.99945888e-01 -2.41012623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.498001145 meters 0.08848982227441206 Centerline is valid? [True, True] Translation: X:146.79, Y:-1.44, Z:-2.41 [[ 9.99926716e-01 -5.54830759e-03 1.07600671e-02 1.46788987e+02] [ 5.55869706e-03 9.99984112e-01 -9.35891494e-04 -1.43850365e+00] [-1.07547035e-02 9.95634861e-04 9.99941671e-01 -2.41229300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.558001145 meters 0.08896120869073888 Centerline is valid? [True, True] Translation: X:146.85, Y:-1.45, Z:-2.42 [[ 9.99897759e-01 -8.08690035e-03 1.17929211e-02 1.46848937e+02] [ 8.09956779e-03 9.99966671e-01 -1.02679147e-03 -1.44517480e+00] [-1.17842245e-02 1.12220405e-03 9.99929934e-01 -2.41504902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.618001145 meters 0.09290896370273027 Centerline is valid? [True, True] Translation: X:146.91, Y:-1.46, Z:-2.42 [[ 9.99858964e-01 -1.15682606e-02 1.21748545e-02 1.46907655e+02] [ 1.15820222e-02 9.99932364e-01 -1.06042441e-03 -1.45650966e+00] [-1.21617638e-02 1.20128429e-03 9.99925321e-01 -2.41697467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.678001145 meters 0.0988828816686065 Centerline is valid? [True, True] Translation: X:146.97, Y:-1.47, Z:-2.42 [[ 9.99795118e-01 -1.51910138e-02 1.33773904e-02 1.46966306e+02] [ 1.52079258e-02 9.99883676e-01 -1.16339333e-03 -1.47074875e+00] [-1.33581611e-02 1.36659733e-03 9.99909842e-01 -2.41945226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.738001145 meters 0.09419212495063894 Centerline is valid? [True, True] Translation: X:147.03, Y:-1.47, Z:-2.42 [[ 9.99776863e-01 -1.67685713e-02 1.28467838e-02 1.47027268e+02] [ 1.67843227e-02 9.99858507e-01 -1.11925427e-03 -1.47001832e+00] [-1.28261978e-02 1.33462909e-03 9.99916850e-01 -2.42020835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.798001145 meters 0.09552359125245599 Centerline is valid? [True, True] Translation: X:147.09, Y:-1.48, Z:-2.42 [[ 9.99775739e-01 -1.67051866e-02 1.30156975e-02 1.47090018e+02] [ 1.67213300e-02 9.99859547e-01 -1.13246463e-03 -1.47535674e+00] [-1.29949514e-02 1.34985044e-03 9.99914651e-01 -2.42154244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.858001145 meters 0.0988982280100892 Centerline is valid? [True, True] Translation: X:147.15, Y:-1.49, Z:-2.42 [[ 9.99790176e-01 -1.53936508e-02 1.35144178e-02 1.47150159e+02] [ 1.54109748e-02 9.99880549e-01 -1.17868311e-03 -1.48525993e+00] [-1.34946592e-02 1.38670615e-03 9.99907981e-01 -2.42437043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.918001145 meters 0.0908445602153291 Centerline is valid? [True, True] Translation: X:147.21, Y:-1.48, Z:-2.43 [[ 9.99829661e-01 -1.38949247e-02 1.21482293e-02 1.47213030e+02] [ 1.39088120e-02 9.99902707e-01 -1.05941192e-03 -1.47803764e+00] [-1.21323269e-02 1.22819889e-03 9.99925646e-01 -2.42684688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.978001145 meters 0.10510635534502347 Centerline is valid? [True, False] Translation: X:147.21, Y:-1.48, Z:-2.43 [[ 9.99879710e-01 -9.83492377e-03 1.19933019e-02 1.47213491e+02] [ 9.80397040e-03 9.99948463e-01 2.63695733e-03 -1.47560466e+00] [-1.20186180e-02 -2.51905815e-03 9.99924601e-01 -2.42716010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03800114499998 meters 0.09245147730339347 Centerline is valid? [False, True] Translation: X:147.20, Y:-1.47, Z:-2.42 [[ 9.99972830e-01 -5.41081493e-03 5.00630824e-03 1.47204460e+02] [ 5.43782643e-03 9.99970647e-01 -5.39770433e-03 -1.47202348e+00] [-4.97695531e-03 5.42478111e-03 9.99972900e-01 -2.42217265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09800114499998 meters 0.09498949782046802 Centerline is valid? [True, True] Translation: X:147.27, Y:-1.48, Z:-2.43 [[ 9.99954130e-01 -6.68066434e-03 6.86339089e-03 1.47265732e+02] [ 6.68516455e-03 9.99977454e-01 -6.32951032e-04 -1.48405905e+00] [-6.85900762e-03 6.78804896e-04 9.99976246e-01 -2.42644598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.158001145 meters 0.09525128275660098 Centerline is valid? [True, True] Translation: X:147.33, Y:-1.49, Z:-2.43 [[ 9.99913733e-01 -9.76573491e-03 8.78386239e-03 1.47325754e+02] [ 9.77324170e-03 9.99951911e-01 -8.12092675e-04 -1.48869154e+00] [-8.77550930e-03 8.97869429e-04 9.99961091e-01 -2.42509296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.218001145 meters 0.09917568682743587 Centerline is valid? [True, True] Translation: X:147.38, Y:-1.50, Z:-2.43 [[ 9.99869322e-01 -1.28227535e-02 9.84458227e-03 1.47384324e+02] [ 1.28323315e-02 9.99917248e-01 -9.10372033e-04 -1.50052470e+00] [-9.83209413e-03 1.03658201e-03 9.99951127e-01 -2.42758992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.278001145 meters 0.09573905330720266 Centerline is valid? [True, True] Translation: X:147.44, Y:-1.50, Z:-2.43 [[ 9.99834949e-01 -1.63232875e-02 7.97651559e-03 1.47444863e+02] [ 1.63296864e-02 9.99866390e-01 -7.37749004e-04 -1.50145194e+00] [-7.96340735e-03 8.67881236e-04 9.99967915e-01 -2.42922684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.338001145 meters 0.10621003208537663 Centerline is valid? [True, False] Translation: X:147.45, Y:-1.50, Z:-2.43 [[ 9.99837954e-01 -1.61468034e-02 7.95908172e-03 1.47445290e+02] [ 1.61506171e-02 9.99869484e-01 -4.15121944e-04 -1.50169144e+00] [-7.95134004e-03 5.43598757e-04 9.99968240e-01 -2.42986318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.398001145 meters 0.0991861797104308 Centerline is valid? [False, True] Translation: X:147.43, Y:-1.50, Z:-2.43 [[ 9.99839600e-01 -9.61697938e-03 1.51092137e-02 1.47434670e+02] [ 9.67809157e-03 9.99945258e-01 -3.97679663e-03 -1.50141512e+00] [-1.50701419e-02 4.12238710e-03 9.99877941e-01 -2.43349472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.458001145 meters 0.09882772565204631 Centerline is valid? [True, True] Translation: X:147.50, Y:-1.51, Z:-2.44 [[ 9.99844482e-01 -8.05723021e-03 1.56873474e-02 1.47495034e+02] [ 8.08305650e-03 9.99966078e-01 -1.58360409e-03 -1.51048623e+00] [-1.56740558e-02 1.71015953e-03 9.99875692e-01 -2.43871968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.518001145 meters 0.09478636454747034 Centerline is valid? [True, True] Translation: X:147.56, Y:-1.51, Z:-2.44 [[ 9.99871966e-01 -5.76371717e-03 1.49275059e-02 1.47556328e+02] [ 5.78685321e-03 9.99982120e-01 -1.50716312e-03 -1.51000205e+00] [-1.49185521e-02 1.59335344e-03 9.99887443e-01 -2.43971172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.578001145 meters 0.08857420871499361 Centerline is valid? [True, True] Translation: X:147.62, Y:-1.50, Z:-2.44 [[ 9.99889276e-01 -3.79823455e-03 1.43878359e-02 1.47618310e+02] [ 3.81952849e-03 9.99991650e-01 -1.45280681e-03 -1.50422657e+00] [-1.43821977e-02 1.50760069e-03 9.99895434e-01 -2.43984943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.638001145 meters 0.09440287455798958 Centerline is valid? [True, True] Translation: X:147.68, Y:-1.52, Z:-2.45 [[ 9.99910361e-01 8.08651944e-05 1.33889659e-02 1.47676709e+02] [-6.27618498e-05 9.99999083e-01 -1.35252391e-03 -1.51986515e+00] [-1.33890630e-02 1.35156235e-03 9.99909449e-01 -2.44545273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.698001145 meters 0.09021736215879372 Centerline is valid? [True, True] Translation: X:147.74, Y:-1.52, Z:-2.45 [[ 9.99915811e-01 3.10583586e-03 1.25986140e-02 1.47737592e+02] [-3.09004632e-03 9.99994416e-01 -1.27254860e-03 -1.51972911e+00] [-1.26024959e-02 1.23351116e-03 9.99919825e-01 -2.44794830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75800114499998 meters 0.09347094162114189 Centerline is valid? [True, True] Translation: X:147.80, Y:-1.53, Z:-2.45 [[ 9.99898056e-01 5.69231634e-03 1.30948815e-02 1.47796452e+02] [-5.67547198e-03 9.99983019e-01 -1.32313373e-03 -1.52910442e+00] [-1.31021909e-02 1.24867921e-03 9.99913383e-01 -2.45109207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81800114499998 meters 0.08669395098810304 Centerline is valid? [True, True] Translation: X:147.86, Y:-1.52, Z:-2.45 [[ 9.99876226e-01 9.57664948e-03 1.24828144e-02 1.47858296e+02] [-9.56164885e-03 9.99953492e-01 -1.26083067e-03 -1.52124874e+00] [-1.24943084e-02 1.14131833e-03 9.99921292e-01 -2.45222690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87800114499998 meters 0.08705778393276105 Centerline is valid? [True, True] Translation: X:147.92, Y:-1.53, Z:-2.46 [[ 9.99885410e-01 9.92057065e-03 1.14345851e-02 1.47920477e+02] [-9.90806585e-03 9.99950253e-01 -1.14972708e-03 -1.52793129e+00] [-1.14454223e-02 1.03630071e-03 9.99933962e-01 -2.45531170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.938001145 meters 0.09376708810803289 Centerline is valid? [True, True] Translation: X:147.98, Y:-1.55, Z:-2.46 [[ 9.99880450e-01 8.20055257e-03 1.31086184e-02 1.47979540e+02] [-8.18386579e-03 9.99965632e-01 -1.32609898e-03 -1.54542144e+00] [-1.31190427e-02 1.21866127e-03 9.99913199e-01 -2.45846297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.998001145 meters 0.0960808653113583 Centerline is valid? [True, True] Translation: X:148.04, Y:-1.55, Z:-2.46 [[ 9.99892598e-01 7.18046882e-03 1.27762484e-02 1.48040485e+02] [-7.16452394e-03 9.99973498e-01 -1.29334247e-03 -1.55380272e+00] [-1.27851966e-02 1.20166783e-03 9.99917544e-01 -2.46044608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.058001145 meters 0.09013162570272286 Centerline is valid? [True, True] Translation: X:148.10, Y:-1.55, Z:-2.46 [[ 9.99922897e-01 6.77897232e-03 1.04040779e-02 1.48103391e+02] [-6.76838475e-03 9.99976540e-01 -1.05251083e-03 -1.54887121e+00] [-1.04109687e-02 9.82010877e-04 9.99945322e-01 -2.46319581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.118001145 meters 0.088580960369588 Centerline is valid? [True, True] Translation: X:148.17, Y:-1.55, Z:-2.46 [[ 9.99901294e-01 6.87721436e-03 1.22517501e-02 1.48165685e+02] [-6.86256916e-03 9.99975687e-01 -1.23699628e-03 -1.55204897e+00] [-1.22599593e-02 1.15279570e-03 9.99924179e-01 -2.46323923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.178001145 meters 0.0885008184839916 Centerline is valid? [True, True] Translation: X:148.23, Y:-1.56, Z:-2.46 [[ 9.99887794e-01 7.24717930e-03 1.31102522e-02 1.48228146e+02] [-7.23039357e-03 9.99972979e-01 -1.32729760e-03 -1.55747601e+00] [-1.31195171e-02 1.23235639e-03 9.99913176e-01 -2.46416172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.238001145 meters 0.08863873890638424 Centerline is valid? [True, True] Translation: X:148.29, Y:-1.56, Z:-2.47 [[ 9.99882518e-01 8.23786260e-03 1.29262511e-02 1.48289482e+02] [-8.22153403e-03 9.99965337e-01 -1.31584168e-03 -1.56138011e+00] [-1.29366428e-02 1.20941347e-03 9.99915587e-01 -2.46600240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.298001145 meters 0.08995479953603763 Centerline is valid? [True, True] Translation: X:148.35, Y:-1.57, Z:-2.47 [[ 9.99895809e-01 8.54205488e-03 1.16363303e-02 1.48350059e+02] [-8.52888748e-03 9.99962931e-01 -1.18073238e-03 -1.56948565e+00] [-1.16459848e-02 1.08136441e-03 9.99931599e-01 -2.47010283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.358001145 meters 0.08665981748671014 Centerline is valid? [True, True] Translation: X:148.41, Y:-1.57, Z:-2.47 [[ 9.99911570e-01 8.60720909e-03 1.01374595e-02 1.48413027e+02] [-8.59721047e-03 9.99962513e-01 -1.02947036e-03 -1.56894276e+00] [-1.01459403e-02 9.42225451e-04 9.99948085e-01 -2.47163100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.418001145 meters 0.08925521673804414 Centerline is valid? [True, True] Translation: X:148.47, Y:-1.58, Z:-2.47 [[ 9.99907175e-01 9.22207644e-03 1.00296946e-02 1.48473507e+02] [-9.21227221e-03 9.99957043e-01 -1.02328109e-03 -1.57842517e+00] [-1.00387006e-02 9.30789824e-04 9.99949178e-01 -2.47413728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.478001145 meters 0.089730855892797 Centerline is valid? [True, True] Translation: X:148.53, Y:-1.58, Z:-2.48 [[ 9.99870877e-01 1.10883540e-02 1.16308971e-02 1.48533850e+02] [-1.10752379e-02 9.99937958e-01 -1.19150285e-03 -1.58365886e+00] [-1.16433873e-02 1.06253404e-03 9.99931649e-01 -2.47635517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53800114499998 meters 0.08808403302458219 Centerline is valid? [True, True] Translation: X:148.59, Y:-1.59, Z:-2.48 [[ 9.99849377e-01 1.36176924e-02 1.07601877e-02 1.48594806e+02] [-1.36066106e-02 9.99906818e-01 -1.10243622e-03 -1.58504664e+00] [-1.07741977e-02 9.55860485e-04 9.99941500e-01 -2.47890314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59800114499998 meters 0.09177050948335506 Centerline is valid? [True, True] Translation: X:148.65, Y:-1.60, Z:-2.48 [[ 9.99836755e-01 1.41689549e-02 1.12117397e-02 1.48653773e+02] [-1.41569513e-02 9.99899125e-01 -1.14927638e-03 -1.59660047e+00] [-1.12268928e-02 9.90364715e-04 9.99936486e-01 -2.48240490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.658001145 meters 0.0818486046319994 Centerline is valid? [True, True] Translation: X:148.72, Y:-1.59, Z:-2.48 [[ 9.99846620e-01 1.37234203e-02 1.08813568e-02 1.48715275e+02] [-1.37120788e-02 9.99905362e-01 -1.11621148e-03 -1.58614719e+00] [-1.08956452e-02 9.66834255e-04 9.99940173e-01 -2.48045084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.718001145 meters 0.08526591214343902 Centerline is valid? [True, True] Translation: X:148.77, Y:-1.60, Z:-2.48 [[ 9.99853048e-01 1.26552402e-02 1.15640773e-02 1.48773907e+02] [-1.26423700e-02 9.99919379e-01 -1.18536960e-03 -1.59950566e+00] [-1.15781461e-02 1.03899807e-03 9.99932431e-01 -2.48426069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.778001145 meters 0.08490631942329747 Centerline is valid? [True, True] Translation: X:148.83, Y:-1.61, Z:-2.49 [[ 9.99838961e-01 1.32973454e-02 1.20512550e-02 1.48833851e+02] [-1.32834215e-02 9.99911009e-01 -1.23470393e-03 -1.60531308e+00] [-1.20666008e-02 1.07442320e-03 9.99926619e-01 -2.48634866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.838001145 meters 0.08576226298040346 Centerline is valid? [True, True] Translation: X:148.89, Y:-1.61, Z:-2.49 [[ 9.99822071e-01 1.51058842e-02 1.12977478e-02 1.48893588e+02] [-1.50937617e-02 9.99885413e-01 -1.15750382e-03 -1.61361983e+00] [-1.13139384e-02 9.86772355e-04 9.99935508e-01 -2.49079192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.898001145 meters 0.08580378749363525 Centerline is valid? [True, True] Translation: X:148.95, Y:-1.62, Z:-2.49 [[ 9.99825382e-01 1.61186252e-02 9.45490294e-03 1.48952769e+02] [-1.61101725e-02 9.99869753e-01 -9.69488973e-04 -1.62080906e+00] [-9.46929830e-03 8.16999565e-04 9.99954831e-01 -2.49456518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.958001145 meters 0.08747817132980228 Centerline is valid? [True, True] Translation: X:149.01, Y:-1.63, Z:-2.50 [[ 9.99811908e-01 1.61864401e-02 1.06839933e-02 1.49011512e+02] [-1.61756521e-02 9.99868566e-01 -1.09538466e-03 -1.62899244e+00] [-1.07003194e-02 9.22358069e-04 9.99942325e-01 -2.49623821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.018001145 meters 0.08909269202719244 Centerline is valid? [True, True] Translation: X:149.07, Y:-1.64, Z:-2.50 [[ 9.99810030e-01 1.58721690e-02 1.13127517e-02 1.49069211e+02] [-1.58600611e-02 9.99873549e-01 -1.15919898e-03 -1.63831231e+00] [-1.13297202e-02 9.79557830e-04 9.99935337e-01 -2.49915384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.078001145 meters 0.09136804911859396 Centerline is valid? [True, True] Translation: X:149.13, Y:-1.65, Z:-2.50 [[ 9.99840986e-01 1.36866609e-02 1.14314103e-02 1.49128348e+02] [-1.36741706e-02 9.99905820e-01 -1.17008346e-03 -1.64871408e+00] [-1.14463482e-02 1.01358234e-03 9.99933975e-01 -2.50086741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.138001145 meters 0.09679971791434401 Centerline is valid? [True, True] Translation: X:149.19, Y:-1.66, Z:-2.50 [[ 9.99895392e-01 8.60887368e-03 1.16229347e-02 1.49187018e+02] [-8.59563182e-03 9.99962350e-01 -1.18876230e-03 -1.66390746e+00] [-1.16327310e-02 1.08873148e-03 9.99931745e-01 -2.50242981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.198001145 meters 0.10071356261115372 Centerline is valid? [True, False] Translation: X:149.19, Y:-1.67, Z:-2.50 [[ 9.99887844e-01 8.74410903e-03 1.21589362e-02 1.49185981e+02] [-8.74205002e-03 9.99961763e-01 -2.22481416e-04 -1.66736507e+00] [-1.21604167e-02 1.16162435e-04 9.99926053e-01 -2.50268216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25800114499998 meters 0.10559107300599785 Centerline is valid? [False, False] Translation: X:149.19, Y:-1.67, Z:-2.50 [[ 9.99991978e-01 -6.17880734e-04 -3.95755957e-03 1.49191653e+02] [ 6.21461314e-04 9.99999399e-01 9.03578727e-04 -1.66967924e+00] [ 3.95699889e-03 -9.06030949e-04 9.99991761e-01 -2.49711042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31800114499998 meters 0.10574268173712119 Centerline is valid? [False, False] Translation: X:149.19, Y:-1.67, Z:-2.50 [[ 9.99991846e-01 -5.47050372e-04 -4.00099847e-03 1.49191842e+02] [ 5.51188796e-04 9.99999314e-01 1.03331828e-03 -1.66989703e+00] [ 4.00043045e-03 -1.03551516e-03 9.99991462e-01 -2.49727297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37800114499998 meters 0.09993435768036657 Centerline is valid? [False, True] Translation: X:149.19, Y:-1.67, Z:-2.50 [[ 9.99991057e-01 -3.01396786e-04 -4.21832575e-03 1.49192276e+02] [ 3.07345736e-04 9.99998959e-01 1.40968611e-03 -1.67082642e+00] [ 4.21789648e-03 -1.41096998e-03 9.99990109e-01 -2.49727148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.438001145 meters 0.10606990928410694 Centerline is valid? [True, False] Translation: X:149.19, Y:-1.67, Z:-2.50 [[ 9.99990627e-01 -1.29303590e-04 -4.32781078e-03 1.49192055e+02] [ 1.36990961e-04 9.99998413e-01 1.77602310e-03 -1.67278610e+00] [ 4.32757427e-03 -1.77659932e-03 9.99989058e-01 -2.49666894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.498001145 meters 0.09307828957462852 Centerline is valid? [False, True] Translation: X:149.19, Y:-1.67, Z:-2.50 [[ 9.99988115e-01 1.82953539e-04 -4.87197567e-03 1.49193196e+02] [-1.74358491e-04 9.99998428e-01 1.76454744e-03 -1.67187629e+00] [ 4.87229084e-03 -1.76367700e-03 9.99986575e-01 -2.49659932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.558001145 meters 0.08386402199202651 Centerline is valid? [True, True] Translation: X:149.25, Y:-1.66, Z:-2.49 [[ 9.99972692e-01 1.77424108e-03 -7.17403851e-03 1.49253068e+02] [-1.76958477e-03 9.99998220e-01 6.55345886e-04 -1.66116333e+00] [ 7.17518848e-03 -6.42632921e-04 9.99974052e-01 -2.49464787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.618001145 meters 0.09254342159595672 Centerline is valid? [True, True] Translation: X:149.31, Y:-1.68, Z:-2.50 [[ 9.99947395e-01 4.45371047e-03 -9.23973012e-03 1.49310446e+02] [-4.44609405e-03 9.99989759e-01 8.44689834e-04 -1.68378252e+00] [ 9.24339750e-03 -8.03564689e-04 9.99956956e-01 -2.50471836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.678001145 meters 0.08568696837647412 Centerline is valid? [True, True] Translation: X:149.37, Y:-1.68, Z:-2.50 [[ 9.99951252e-01 6.32143278e-03 -7.58507028e-03 1.49371183e+02] [-6.31635327e-03 9.99979811e-01 6.93440926e-04 -1.67913757e+00] [ 7.58930068e-03 -6.45497139e-04 9.99970993e-01 -2.50112426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.738001145 meters 0.08623604649545813 Centerline is valid? [True, True] Translation: X:149.43, Y:-1.69, Z:-2.50 [[ 9.99951125e-01 7.12758486e-03 -6.85166303e-03 1.49429674e+02] [-7.12346748e-03 9.99974432e-01 6.25149579e-04 -1.68536051e+00] [ 6.85594366e-03 -5.76311426e-04 9.99976332e-01 -2.50070341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.798001145 meters 0.08115450970055103 Centerline is valid? [True, True] Translation: X:149.49, Y:-1.69, Z:-2.50 [[ 9.99946865e-01 7.03033894e-03 -7.53931904e-03 1.49488895e+02] [-7.02535412e-03 9.99975086e-01 6.87456100e-04 -1.68565266e+00] [ 7.54396425e-03 -6.34453186e-04 9.99971343e-01 -2.50048208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.858001145 meters 0.0845187767638137 Centerline is valid? [True, True] Translation: X:149.55, Y:-1.70, Z:-2.50 [[ 9.99952697e-01 5.64587614e-03 -7.92003480e-03 1.49546168e+02] [-5.64033546e-03 9.99983833e-01 7.21738680e-04 -1.69958768e+00] [ 7.92398161e-03 -6.77032886e-04 9.99968376e-01 -2.50197032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.918001145 meters 0.08510828486703677 Centerline is valid? [True, True] Translation: X:149.60, Y:-1.71, Z:-2.50 [[ 9.99964987e-01 5.00729988e-03 -6.70464394e-03 1.49604935e+02] [-5.00331895e-03 9.99987297e-01 6.10398815e-04 -1.70517920e+00] [ 6.70761522e-03 -5.76831970e-04 9.99977337e-01 -2.50065941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.978001145 meters 0.08075063440609083 Centerline is valid? [True, True] Translation: X:149.66, Y:-1.71, Z:-2.50 [[ 9.99963504e-01 5.52537328e-03 -6.51624765e-03 1.49663862e+02] [-5.52162727e-03 9.99984580e-01 5.92723887e-04 -1.70579620e+00] [ 6.51942219e-03 -5.56721965e-04 9.99978593e-01 -2.50036565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03800114499998 meters 0.0814763637390699 Centerline is valid? [True, True] Translation: X:149.72, Y:-1.71, Z:-2.50 [[ 9.99950540e-01 7.56213584e-03 -6.46007758e-03 1.49722077e+02] [-7.55849652e-03 9.99971262e-01 5.87585174e-04 -1.71175928e+00] [ 6.46433532e-03 -5.38727638e-04 9.99978961e-01 -2.50188593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09800114499998 meters 0.08031476182065794 Centerline is valid? [True, True] Translation: X:149.78, Y:-1.71, Z:-2.50 [[ 9.99916556e-01 9.94750419e-03 -8.24191398e-03 1.49781764e+02] [-9.94165850e-03 9.99950299e-01 7.49930368e-04 -1.71245867e+00] [ 8.24896429e-03 -6.67929496e-04 9.99965754e-01 -2.50285955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.158001145 meters 0.08180691656577745 Centerline is valid? [True, True] Translation: X:149.84, Y:-1.72, Z:-2.51 [[ 9.99891281e-01 9.85764675e-03 -1.09659924e-02 1.49838434e+02] [-9.84731424e-03 9.99951018e-01 9.95828432e-04 -1.72093962e+00] [ 1.09752718e-02 -8.87734593e-04 9.99939376e-01 -2.50649343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.218001145 meters 0.07949099761705623 Centerline is valid? [True, True] Translation: X:149.90, Y:-1.72, Z:-2.50 [[ 9.99909499e-01 1.01429047e-02 -8.83825245e-03 1.49897951e+02] [-1.01362035e-02 9.99948305e-01 8.02667478e-04 -1.72051897e+00] [ 8.84593694e-03 -7.13008511e-04 9.99960620e-01 -2.50276381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.278001145 meters 0.08212151377530207 Centerline is valid? [True, True] Translation: X:149.95, Y:-1.73, Z:-2.51 [[ 9.99892562e-01 1.13704994e-02 -9.25077906e-03 1.49954589e+02] [-1.13632219e-02 9.99935085e-01 8.38865931e-04 -1.73165321e+00] [ 9.25971687e-03 -7.33657149e-04 9.99956859e-01 -2.50602311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.338001145 meters 0.08456151157106176 Centerline is valid? [True, True] Translation: X:150.01, Y:-1.74, Z:-2.51 [[ 9.99868367e-01 1.24588157e-02 -1.03935382e-02 1.50012343e+02] [-1.24496891e-02 9.99922056e-01 9.42349009e-04 -1.74024195e+00] [ 1.04044686e-02 -8.12828646e-04 9.99945542e-01 -2.50862539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.398001145 meters 0.07539234443442513 Centerline is valid? [True, True] Translation: X:150.07, Y:-1.73, Z:-2.50 [[ 9.99825056e-01 1.55169657e-02 -1.04441832e-02 1.50074563e+02] [-1.55079066e-02 9.99879296e-01 9.47820882e-04 -1.72788414e+00] [ 1.04576298e-02 -7.85687650e-04 9.99945009e-01 -2.50371683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.458001145 meters 0.07606969231127235 Centerline is valid? [True, True] Translation: X:150.13, Y:-1.74, Z:-2.51 [[ 9.99806146e-01 1.65111844e-02 -1.07262237e-02 1.50131933e+02] [-1.65017095e-02 9.99863366e-01 9.71245842e-04 -1.73633759e+00] [ 1.07407946e-02 -7.94056535e-04 9.99942001e-01 -2.50608584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.518001145 meters 0.07412358720054142 Centerline is valid? [True, True] Translation: X:150.19, Y:-1.74, Z:-2.50 [[ 9.99833254e-01 1.48991832e-02 -1.05583433e-02 1.50191606e+02] [-1.48899082e-02 9.99888682e-01 9.56516254e-04 -1.73768238e+00] [ 1.05714193e-02 -7.99143995e-04 9.99943802e-01 -2.50487817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.578001145 meters 0.07629523339910937 Centerline is valid? [True, True] Translation: X:150.25, Y:-1.75, Z:-2.51 [[ 9.99881756e-01 1.26092104e-02 -8.80234093e-03 1.50250140e+02] [-1.26026832e-02 9.99920266e-01 7.96614760e-04 -1.74940773e+00] [ 8.81168377e-03 -6.85587451e-04 9.99960941e-01 -2.50675998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.638001145 meters 0.07883367544166064 Centerline is valid? [True, True] Translation: X:150.31, Y:-1.76, Z:-2.51 [[ 9.99872321e-01 1.26058299e-02 -9.82017029e-03 1.50307534e+02] [-1.25977182e-02 9.99920252e-01 8.87448777e-04 -1.76002488e+00] [ 9.83057418e-03 -7.63623731e-04 9.99951387e-01 -2.51120192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.698001145 meters 0.08052831494064648 Centerline is valid? [True, True] Translation: X:150.37, Y:-1.76, Z:-2.51 [[ 9.99863234e-01 1.32365676e-02 -9.91492954e-03 1.50365508e+02] [-1.32283323e-02 9.99912101e-01 8.95717118e-04 -1.76498828e+00] [ 9.92591425e-03 -7.64436632e-04 9.99950445e-01 -2.51313541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75800114499998 meters 0.07551745084359923 Centerline is valid? [True, True] Translation: X:150.43, Y:-1.76, Z:-2.51 [[ 9.99844093e-01 1.52621666e-02 -8.88009341e-03 1.50426585e+02] [-1.52556351e-02 9.99883304e-01 8.02799065e-04 -1.75876474e+00] [ 8.89130959e-03 -6.67202438e-04 9.99960249e-01 -2.51157966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81800114499998 meters 0.08203938218695994 Centerline is valid? [True, True] Translation: X:150.48, Y:-1.77, Z:-2.52 [[ 9.99835210e-01 1.68366802e-02 -6.78817678e-03 1.50484898e+02] [-1.68329035e-02 9.99858129e-01 6.13111069e-04 -1.77264990e+00] [ 6.79753649e-03 -4.98745310e-04 9.99976772e-01 -2.51611749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87800114499998 meters 0.0747301190291495 Centerline is valid? [True, True] Translation: X:150.55, Y:-1.76, Z:-2.51 [[ 9.99828578e-01 1.75002979e-02 -6.04600010e-03 1.50545379e+02] [-1.74973205e-02 9.99846762e-01 5.45005491e-04 -1.75924082e+00] [ 6.05461138e-03 -4.39123263e-04 9.99981574e-01 -2.51223381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.938001145 meters 0.07801983922722629 Centerline is valid? [True, True] Translation: X:150.60, Y:-1.77, Z:-2.52 [[ 9.99832492e-01 1.70601276e-02 -6.62869077e-03 1.50601971e+02] [-1.70565464e-02 9.99854349e-01 5.96415980e-04 -1.76942940e+00] [ 6.63790023e-03 -4.83253504e-04 9.99977852e-01 -2.51730590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.998001145 meters 0.07699953707801735 Centerline is valid? [True, True] Translation: X:150.66, Y:-1.77, Z:-2.52 [[ 9.99860382e-01 1.52659277e-02 -6.79464290e-03 1.50661555e+02] [-1.52621171e-02 9.99883340e-01 6.12330168e-04 -1.77072003e+00] [ 6.80319802e-03 -5.08544041e-04 9.99976729e-01 -2.51795071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.058001145 meters 0.08108699545527123 Centerline is valid? [True, True] Translation: X:150.72, Y:-1.78, Z:-2.52 [[ 9.99916669e-01 1.07842151e-02 -7.09619443e-03 1.50720619e+02] [-1.07799449e-02 9.99941690e-01 6.39743678e-04 -1.78015410e+00] [ 7.10267978e-03 -5.63193783e-04 9.99974617e-01 -2.51983877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.118001145 meters 0.08818035342529543 Centerline is valid? [True, True] Translation: X:150.78, Y:-1.80, Z:-2.52 [[ 9.99947059e-01 7.45618600e-03 -7.09111723e-03 1.50778395e+02] [-7.45183671e-03 9.99972030e-01 6.39567422e-04 -1.79849619e+00] [ 7.09568763e-03 -5.86691715e-04 9.99974653e-01 -2.52441837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.178001145 meters 0.08722835080390401 Centerline is valid? [True, True] Translation: X:150.84, Y:-1.80, Z:-2.52 [[ 9.99981245e-01 3.19234751e-03 -5.22671400e-03 1.50838523e+02] [-3.18992872e-03 9.99994801e-01 4.71047120e-04 -1.80097990e+00] [ 5.22819057e-03 -4.54365441e-04 9.99986230e-01 -2.52309554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.238001145 meters 0.08442605718956711 Centerline is valid? [True, True] Translation: X:150.90, Y:-1.80, Z:-2.52 [[ 9.99979091e-01 2.22925325e-03 -6.07028960e-03 1.50898061e+02] [-2.22597837e-03 9.99997373e-01 5.46196149e-04 -1.79890091e+00] [ 6.07149127e-03 -5.32672395e-04 9.99981426e-01 -2.52250775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.298001145 meters 0.08636665549837307 Centerline is valid? [True, True] Translation: X:150.96, Y:-1.81, Z:-2.53 [[ 9.99975879e-01 2.34323427e-03 -6.53834882e-03 1.50955807e+02] [-2.33944625e-03 9.99997091e-01 5.86942675e-04 -1.80559032e+00] [ 6.53970514e-03 -5.71632402e-04 9.99978453e-01 -2.52503892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.358001145 meters 0.09002550426203462 Centerline is valid? [True, True] Translation: X:151.01, Y:-1.81, Z:-2.53 [[ 9.99962188e-01 3.00044197e-03 -8.16207851e-03 1.51013064e+02] [-2.99456035e-03 9.99995248e-01 7.32729984e-04 -1.81471161e+00] [ 8.16423824e-03 -7.08260441e-04 9.99966421e-01 -2.52941300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.418001145 meters 0.08483516311226814 Centerline is valid? [True, True] Translation: X:151.07, Y:-1.81, Z:-2.53 [[ 9.99953954e-01 4.45105771e-03 -8.50162552e-03 1.51074191e+02] [-4.44471956e-03 9.99989830e-01 7.64270670e-04 -1.80749582e+00] [ 8.50494088e-03 -7.26448137e-04 9.99963568e-01 -2.52817022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.478001145 meters 0.0822590186654626 Centerline is valid? [True, True] Translation: X:151.14, Y:-1.80, Z:-2.53 [[ 9.99941941e-01 8.46751490e-03 -6.66451785e-03 1.51135010e+02] [-8.46370892e-03 9.99964003e-01 5.99077384e-04 -1.80379039e+00] [ 6.66935064e-03 -5.42636063e-04 9.99977612e-01 -2.52672406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53800114499998 meters 0.08119204675880758 Centerline is valid? [True, True] Translation: X:151.19, Y:-1.80, Z:-2.53 [[ 9.99910515e-01 1.23749275e-02 -5.08165738e-03 1.51194964e+02] [-1.23727676e-02 9.99923350e-01 4.56260596e-04 -1.80384144e+00] [ 5.08691406e-03 -3.93345602e-04 9.99986984e-01 -2.52875169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59800114499998 meters 0.08227827691708499 Centerline is valid? [True, True] Translation: X:151.25, Y:-1.81, Z:-2.53 [[ 9.99904415e-01 1.26955064e-02 -5.47591809e-03 1.51253385e+02] [-1.26930082e-02 9.99919320e-01 4.90715237e-04 -1.80879318e+00] [ 5.48170617e-03 -4.21162459e-04 9.99984887e-01 -2.53079289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.658001145 meters 0.08359676678356479 Centerline is valid? [True, True] Translation: X:151.31, Y:-1.81, Z:-2.53 [[ 9.99920507e-01 1.14676560e-02 -5.24147590e-03 1.51312200e+02] [-1.14653505e-02 9.99934160e-01 4.69697818e-04 -1.81473762e+00] [ 5.24651714e-03 -4.09565122e-04 9.99986153e-01 -2.53215447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.718001145 meters 0.08715258613670851 Centerline is valid? [True, True] Translation: X:151.37, Y:-1.83, Z:-2.53 [[ 9.99944184e-01 8.95049377e-03 -5.61405776e-03 1.51370927e+02] [-8.94780632e-03 9.99959841e-01 5.03636169e-04 -1.82556228e+00] [ 5.61834009e-03 -4.53374556e-04 9.99984114e-01 -2.53496507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.778001145 meters 0.08383597998067104 Centerline is valid? [True, True] Translation: X:151.43, Y:-1.82, Z:-2.53 [[ 9.99955280e-01 6.99697867e-03 -6.36243864e-03 1.51431662e+02] [-6.99348821e-03 9.99975382e-01 5.70686024e-04 -1.82077591e+00] [ 6.36627509e-03 -5.26164863e-04 9.99979597e-01 -2.53475937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.838001145 meters 0.09034354690355803 Centerline is valid? [True, True] Translation: X:151.49, Y:-1.83, Z:-2.54 [[ 9.99951151e-01 6.22136346e-03 -7.68049148e-03 1.51488952e+02] [-6.21626128e-03 9.99980442e-01 6.87997588e-04 -1.83488916e+00] [ 7.68462155e-03 -6.40220038e-04 9.99970268e-01 -2.54093555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.898001145 meters 0.08586665400283362 Centerline is valid? [True, True] Translation: X:151.55, Y:-1.83, Z:-2.54 [[ 9.99955376e-01 6.03552194e-03 -7.26762472e-03 1.51547934e+02] [-6.03096086e-03 9.99981603e-01 6.49340380e-04 -1.83022829e+00] [ 7.27141012e-03 -6.05480644e-04 9.99973380e-01 -2.54000495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.958001145 meters 0.08492145703795505 Centerline is valid? [True, True] Translation: X:151.61, Y:-1.83, Z:-2.54 [[ 9.99964504e-01 6.99375642e-03 -4.69871802e-03 1.51608011e+02] [-6.99185858e-03 9.99975468e-01 4.20210816e-04 -1.82927755e+00] [ 4.70154160e-03 -3.87343129e-04 9.99988873e-01 -2.53781509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.018001145 meters 0.08971012068642724 Centerline is valid? [True, True] Translation: X:151.67, Y:-1.84, Z:-2.54 [[ 9.99966481e-01 6.81955335e-03 -4.53098325e-03 1.51665175e+02] [-6.81779252e-03 9.99976677e-01 4.03952079e-04 -1.84031985e+00] [ 4.53363234e-03 -3.73047236e-04 9.99989653e-01 -2.54082189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.078001145 meters 0.08809608112050554 Centerline is valid? [True, True] Translation: X:151.73, Y:-1.84, Z:-2.54 [[ 9.99969110e-01 5.20688167e-03 -5.88790244e-03 1.51725802e+02] [-5.20386931e-03 9.99986321e-01 5.26824341e-04 -1.84194022e+00] [ 5.89056501e-03 -4.96168192e-04 9.99982527e-01 -2.54393973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.138001145 meters 0.09029650784659367 Centerline is valid? [True, True] Translation: X:151.78, Y:-1.85, Z:-2.54 [[ 9.99972751e-01 4.04919104e-03 -6.17258198e-03 1.51783594e+02] [-4.04586696e-03 9.99991664e-01 5.50916225e-04 -1.84723177e+00] [ 6.17476129e-03 -5.25927768e-04 9.99980798e-01 -2.54495987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.198001145 meters 0.09496892066215519 Centerline is valid? [True, True] Translation: X:151.84, Y:-1.86, Z:-2.55 [[ 9.99980287e-01 4.17453961e-03 -4.69027320e-03 1.51840565e+02] [-4.17262655e-03 9.99991207e-01 4.17589546e-04 -1.85717082e+00] [ 4.69197521e-03 -3.98010556e-04 9.99988913e-01 -2.54800139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25800114499998 meters 0.0942866378972574 Centerline is valid? [True, True] Translation: X:151.90, Y:-1.86, Z:-2.55 [[ 9.99987010e-01 3.12274299e-03 -4.02842810e-03 1.51899265e+02] [-3.12132397e-03 9.99995064e-01 3.58491120e-04 -1.85891938e+00] [ 4.02952769e-03 -3.45912434e-04 9.99991822e-01 -2.54849284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31800114499998 meters 0.0972030551406427 Centerline is valid? [True, True] Translation: X:151.96, Y:-1.87, Z:-2.55 [[ 9.99990693e-01 1.08379742e-03 -4.17612618e-03 1.51958529e+02] [-1.08225131e-03 9.99999345e-01 3.72467770e-04 -1.86642321e+00] [ 4.17652713e-03 -3.67944686e-04 9.99991211e-01 -2.55044999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37800114499998 meters 0.09085224307299265 Centerline is valid? [True, True] Translation: X:152.02, Y:-1.86, Z:-2.55 [[ 9.99972341e-01 -2.96923912e-03 -6.81911227e-03 1.52019575e+02] [ 2.97345555e-03 9.99995394e-01 6.08271057e-04 -1.85738917e+00] [ 6.81727476e-03 -6.28530561e-04 9.99976565e-01 -2.54992444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.438001145 meters 0.09900708054643419 Centerline is valid? [True, True] Translation: X:152.08, Y:-1.88, Z:-2.55 [[ 9.99963468e-01 -5.70609740e-03 -6.36416060e-03 1.52077086e+02] [ 5.70982658e-03 9.99983538e-01 5.67949358e-04 -1.87616124e+00] [ 6.36081505e-03 -6.04266863e-04 9.99979587e-01 -2.55444633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.498001145 meters 0.11389946863378303 Centerline is valid? [True, False] Translation: X:152.08, Y:-1.88, Z:-2.55 [[ 9.99964664e-01 -5.80908430e-03 -6.07659583e-03 1.52076515e+02] [ 5.81352501e-03 9.99982847e-01 7.13381467e-04 -1.87666705e+00] [ 6.07234750e-03 -7.48682701e-04 9.99981283e-01 -2.55449140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.558001145 meters 0.10296571342337771 Centerline is valid? [False, False] Translation: X:152.08, Y:-1.88, Z:-2.55 [[ 9.99965719e-01 -5.80993498e-03 -5.89956432e-03 1.52076142e+02] [ 5.81577065e-03 9.99982615e-01 9.72496907e-04 -1.87736441e+00] [ 5.89381161e-03 -1.00677408e-03 9.99982125e-01 -2.55450791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.618001145 meters 0.10501400380279013 Centerline is valid? [False, False] Translation: X:152.08, Y:-1.88, Z:-2.56 [[ 9.99970046e-01 -5.22047883e-03 -5.71439227e-03 1.52076468e+02] [ 5.23336315e-03 9.99983792e-01 2.24208737e-03 -1.88051939e+00] [ 5.70259488e-03 -2.27192570e-03 9.99981159e-01 -2.55573449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.678001145 meters 0.10496556889655854 Centerline is valid? [False, False] Translation: X:152.08, Y:-1.88, Z:-2.56 [[ 9.99971701e-01 -4.96160997e-03 -5.65504952e-03 1.52076465e+02] [ 4.97776190e-03 9.99983562e-01 2.84570890e-03 -1.88238974e+00] [ 5.64083727e-03 -2.87377786e-03 9.99979961e-01 -2.55596284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.738001145 meters 0.10913507576875131 Centerline is valid? [False, False] Translation: X:152.08, Y:-1.89, Z:-2.56 [[ 9.99974132e-01 -4.09447321e-03 -5.91359776e-03 1.52077790e+02] [ 4.11960794e-03 9.99982507e-01 4.24441853e-03 -1.88545689e+00] [ 5.89611566e-03 -4.26867044e-03 9.99973507e-01 -2.55727332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.798001145 meters 0.10933360753112013 Centerline is valid? [False, False] Translation: X:152.07, Y:-1.89, Z:-2.56 [[ 9.99996311e-01 1.08591713e-03 2.48954775e-03 1.52065592e+02] [-1.08647835e-03 9.99999385e-01 2.24087165e-04 -1.88935588e+00] [-2.48930288e-03 -2.26791178e-04 9.99996876e-01 -2.56115437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.858001145 meters 0.1003707140657525 Centerline is valid? [False, False] Translation: X:152.07, Y:-1.89, Z:-2.56 [[ 9.99996078e-01 1.56660258e-03 2.32162755e-03 1.52066134e+02] [-1.56902182e-03 9.99998228e-01 1.04058761e-03 -1.89170535e+00] [-2.31999325e-03 -1.04422621e-03 9.99996764e-01 -2.56150082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.918001145 meters 0.10406974209748673 Centerline is valid? [False, False] Translation: X:152.06, Y:-1.89, Z:-2.56 [[ 9.99996141e-01 1.53421398e-03 2.31609801e-03 1.52064990e+02] [-1.53714447e-03 9.99998020e-01 1.26401874e-03 -1.89412470e+00] [-2.31415415e-03 -1.26757403e-03 9.99996519e-01 -2.55977587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.978001145 meters 0.09403584996302383 Centerline is valid? [False, True] Translation: X:152.06, Y:-1.90, Z:-2.56 [[ 9.99995373e-01 1.90393219e-03 2.37236494e-03 1.52064759e+02] [-1.90895309e-03 9.99995939e-01 2.11594822e-03 -1.89713812e+00] [-2.36832668e-03 -2.12046716e-03 9.99994947e-01 -2.55971941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03800114499998 meters 0.10334911485183311 Centerline is valid? [True, False] Translation: X:152.07, Y:-1.90, Z:-2.56 [[ 9.99996491e-01 -1.73975049e-03 1.99790295e-03 1.52065139e+02] [ 1.74190820e-03 9.99997901e-01 -1.07875622e-03 -1.90100049e+00] [-1.99602199e-03 1.08223260e-03 9.99997422e-01 -2.55924585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09800114499998 meters 0.09839883995000324 Centerline is valid? [False, True] Translation: X:152.06, Y:-1.91, Z:-2.56 [[ 9.99996284e-01 -1.42494818e-03 2.32419453e-03 1.52064191e+02] [ 1.42481320e-03 9.99998983e-01 5.97330045e-05 -1.90577221e+00] [-2.32427728e-03 -5.64212395e-05 9.99997297e-01 -2.55900353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.158001145 meters 0.09328066123834626 Centerline is valid? [True, True] Translation: X:152.13, Y:-1.91, Z:-2.56 [[ 9.99994640e-01 -1.98840115e-03 2.60138185e-03 1.52125966e+02] [ 1.98907874e-03 9.99997989e-01 -2.57915521e-04 -1.90860923e+00] [-2.60086377e-03 2.63088492e-04 9.99996583e-01 -2.55825710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.218001145 meters 0.09193941056511692 Centerline is valid? [True, True] Translation: X:152.19, Y:-1.92, Z:-2.56 [[ 9.99995242e-01 -2.80395263e-03 1.28625739e-03 1.52186026e+02] [ 2.80411927e-03 9.99996060e-01 -1.27765670e-04 -1.91940166e+00] [-1.28589407e-03 1.31371881e-04 9.99999165e-01 -2.55953431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.278001145 meters 0.09372744891734756 Centerline is valid? [True, True] Translation: X:152.24, Y:-1.94, Z:-2.56 [[ 9.99992522e-01 -3.86699402e-03 -5.53005372e-05 1.52244993e+02] [ 3.86699435e-03 9.99992523e-01 5.94940378e-06 -1.93789106e+00] [ 5.52771175e-05 -6.16320616e-06 9.99999998e-01 -2.56240358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.338001145 meters 0.09235690045165466 Centerline is valid? [True, True] Translation: X:152.31, Y:-1.95, Z:-2.56 [[ 9.99994104e-01 -3.42254910e-03 2.79008903e-04 1.52306277e+02] [ 3.42255664e-03 9.99994143e-01 -2.65236770e-05 -1.94739127e+00] [-2.78916490e-04 2.74784444e-05 9.99999961e-01 -2.56260151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.398001145 meters 0.09180937348002412 Centerline is valid? [True, True] Translation: X:152.37, Y:-1.96, Z:-2.56 [[ 9.99998639e-01 -1.52919297e-03 6.18562333e-04 1.52365841e+02] [ 1.52923117e-03 9.99998829e-01 -6.12814697e-05 -1.96113234e+00] [-6.18467897e-04 6.22273112e-05 9.99999807e-01 -2.56363230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.458001145 meters 0.09344387958579721 Centerline is valid? [True, True] Translation: X:152.43, Y:-1.98, Z:-2.56 [[ 9.99999440e-01 -6.76823761e-04 8.14110382e-04 1.52425158e+02] [ 6.76889774e-04 9.99999768e-01 -8.08126435e-05 -1.97691015e+00] [-8.14055497e-04 8.13636612e-05 9.99999665e-01 -2.56295355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.518001145 meters 0.09251901217452072 Centerline is valid? [True, True] Translation: X:152.49, Y:-1.99, Z:-2.56 [[ 9.99999128e-01 1.19580378e-03 5.60312151e-04 1.52485254e+02] [-1.19577286e-03 9.99999284e-01 -5.55032927e-05 -1.98625917e+00] [-5.60378120e-04 5.48332383e-05 9.99999841e-01 -2.56358947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.578001145 meters 0.08596341501581056 Centerline is valid? [True, True] Translation: X:152.55, Y:-1.99, Z:-2.56 [[ 9.99990597e-01 4.30748040e-03 -5.01685090e-04 1.52545839e+02] [-4.30745586e-03 9.99990722e-01 4.99903844e-05 -1.99037308e+00] [ 5.01895768e-04 -4.78289279e-05 9.99999873e-01 -2.56471155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.638001145 meters 0.08052367908249475 Centerline is valid? [True, True] Translation: X:152.61, Y:-1.99, Z:-2.56 [[ 9.99975372e-01 6.93523368e-03 -1.07565542e-03 1.52606806e+02] [-6.93512232e-03 9.99975946e-01 1.07231863e-04 -1.99062917e+00] [ 1.07637322e-03 -9.97694205e-05 9.99999416e-01 -2.56406111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.698001145 meters 0.08169018895314085 Centerline is valid? [True, True] Translation: X:152.66, Y:-2.00, Z:-2.57 [[ 9.99941828e-01 1.06702251e-02 -1.57685863e-03 1.52664976e+02] [-1.06699919e-02 9.99943062e-01 1.56226577e-04 -2.00236367e+00] [ 1.57843582e-03 -1.39392420e-04 9.99998745e-01 -2.56656503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75800114499998 meters 0.08064410446103285 Centerline is valid? [True, True] Translation: X:152.72, Y:-2.01, Z:-2.57 [[ 9.99928771e-01 1.16162869e-02 -2.74134881e-03 1.52723126e+02] [-1.16155856e-02 9.99932500e-01 2.71572892e-04 -2.00968112e+00] [ 2.74431844e-03 -2.39711176e-04 9.99996206e-01 -2.56847118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81800114499998 meters 0.07779558783674505 Centerline is valid? [True, True] Translation: X:152.78, Y:-2.02, Z:-2.57 [[ 9.99929662e-01 1.11323223e-02 -4.09171979e-03 1.52781554e+02] [-1.11307539e-02 9.99937969e-01 4.05865027e-04 -2.01579757e+00] [ 4.09598419e-03 -3.60292553e-04 9.99991547e-01 -2.56828964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87800114499998 meters 0.07872192331374685 Centerline is valid? [True, True] Translation: X:152.84, Y:-2.03, Z:-2.57 [[ 9.99940982e-01 9.96256144e-03 -4.33362412e-03 1.52840590e+02] [-9.96078769e-03 9.99950297e-01 4.30690357e-04 -2.02580012e+00] [ 4.33769951e-03 -3.87498629e-04 9.99990517e-01 -2.56985914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.938001145 meters 0.08323344598501616 Centerline is valid? [True, True] Translation: X:152.90, Y:-2.04, Z:-2.57 [[ 9.99946488e-01 9.82479610e-03 -3.23952414e-03 1.52897460e+02] [-9.82380823e-03 9.99951694e-01 3.20714717e-04 -2.04246320e+00] [ 3.24251861e-03 -2.88873092e-04 9.99994701e-01 -2.57282954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.998001145 meters 0.07540342436220712 Centerline is valid? [True, True] Translation: X:152.96, Y:-2.04, Z:-2.57 [[ 9.99941796e-01 1.06330690e-02 -1.82820852e-03 1.52958493e+02] [-1.06327558e-02 9.99943454e-01 1.80995485e-04 -2.03504539e+00] [ 1.83002968e-03 -1.61546056e-04 9.99998312e-01 -2.56802236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.058001145 meters 0.08540421816355767 Centerline is valid? [True, True] Translation: X:153.01, Y:-2.06, Z:-2.57 [[ 9.99933544e-01 1.14277072e-02 -1.52135283e-03 1.53013608e+02] [-1.14274935e-02 9.99934693e-01 1.49068923e-04 -2.05985266e+00] [ 1.52295699e-03 -1.31673767e-04 9.99998832e-01 -2.57493568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.118001145 meters 0.07973290593428609 Centerline is valid? [True, True] Translation: X:153.07, Y:-2.06, Z:-2.57 [[ 9.99944423e-01 1.00920751e-02 -3.04980098e-03 1.53074745e+02] [-1.00911971e-02 9.99949037e-01 3.03134276e-04 -2.05845516e+00] [ 3.05270481e-03 -2.72341286e-04 9.99995303e-01 -2.57393339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.178001145 meters 0.08098179391422393 Centerline is valid? [True, True] Translation: X:153.13, Y:-2.07, Z:-2.58 [[ 9.99953585e-01 9.24101681e-03 -2.72593415e-03 1.53132659e+02] [-9.24031726e-03 9.99957271e-01 2.69111752e-04 -2.06739618e+00] [ 2.72830455e-03 -2.43910765e-04 9.99996248e-01 -2.57554818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.238001145 meters 0.08187536115983902 Centerline is valid? [True, True] Translation: X:153.19, Y:-2.08, Z:-2.58 [[ 9.99960958e-01 8.41969351e-03 -2.68175019e-03 1.53190692e+02] [-8.41901403e-03 9.99964524e-01 2.64561468e-04 -2.07578400e+00] [ 2.68388258e-03 -2.41973446e-04 9.99996369e-01 -2.57749673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.298001145 meters 0.08218275505824792 Centerline is valid? [True, True] Translation: X:153.25, Y:-2.08, Z:-2.58 [[ 9.99966924e-01 7.54255383e-03 -3.04316903e-03 1.53249770e+02] [-7.54167335e-03 9.99971516e-01 3.00700982e-04 -2.08148414e+00] [ 3.04535040e-03 -2.77740449e-04 9.99995324e-01 -2.57757411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.358001145 meters 0.07955661641811787 Centerline is valid? [True, True] Translation: X:153.31, Y:-2.08, Z:-2.58 [[ 9.99975915e-01 6.61068932e-03 -2.11364823e-03 1.53309089e+02] [-6.61026457e-03 9.99978130e-01 2.07875286e-04 -2.08230204e+00] [ 2.11497621e-03 -1.93898506e-04 9.99997745e-01 -2.57683138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.418001145 meters 0.08039616929331198 Centerline is valid? [True, True] Translation: X:153.37, Y:-2.09, Z:-2.58 [[ 9.99978197e-01 6.49133905e-03 -1.21170488e-03 1.53367205e+02] [-6.49120033e-03 9.99978925e-01 1.18383086e-04 -2.09023548e+00] [ 1.21244781e-03 -1.10515086e-04 9.99999259e-01 -2.57864552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.478001145 meters 0.0813523735820142 Centerline is valid? [True, True] Translation: X:153.43, Y:-2.10, Z:-2.58 [[ 9.99977793e-01 6.18380961e-03 -2.48485051e-03 1.53425227e+02] [-6.18322241e-03 9.99980854e-01 2.43921732e-04 -2.09548584e+00] [ 2.48631130e-03 -2.28551932e-04 9.99996883e-01 -2.58062755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53800114499998 meters 0.08183592384806752 Centerline is valid? [True, True] Translation: X:153.48, Y:-2.10, Z:-2.58 [[ 9.99978189e-01 6.20150468e-03 -2.27228587e-03 1.53483766e+02] [-6.20101347e-03 9.99980749e-01 2.23151983e-04 -2.10164971e+00] [ 2.27362600e-03 -2.09056640e-04 9.99997393e-01 -2.58362675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59800114499998 meters 0.0848464887367549 Centerline is valid? [True, True] Translation: X:153.54, Y:-2.11, Z:-2.59 [[ 9.99982321e-01 5.28796539e-03 -2.71931134e-03 1.53541262e+02] [-5.28725807e-03 9.99985987e-01 2.67231619e-04 -2.11086757e+00] [ 2.72068635e-03 -2.52849193e-04 9.99996267e-01 -2.58589565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.658001145 meters 0.08729647275102327 Centerline is valid? [True, True] Translation: X:153.60, Y:-2.12, Z:-2.59 [[ 9.99983920e-01 5.28144735e-03 -2.06554549e-03 1.53598264e+02] [-5.28104114e-03 9.99986035e-01 2.02068893e-04 -2.11795930e+00] [ 2.06658386e-03 -1.91157413e-04 9.99997846e-01 -2.58711837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.718001145 meters 0.0856832269430303 Centerline is valid? [True, True] Translation: X:153.66, Y:-2.12, Z:-2.59 [[ 9.99970651e-01 7.53387070e-03 -1.39228715e-03 1.53658482e+02] [-7.53368655e-03 9.99971612e-01 1.37461755e-04 -2.11908674e+00] [ 1.39328324e-03 -1.26968666e-04 9.99999021e-01 -2.58801387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.778001145 meters 0.08692179863569435 Centerline is valid? [True, True] Translation: X:153.72, Y:-2.13, Z:-2.59 [[ 9.99926157e-01 1.19779645e-02 -2.05139504e-03 1.53717445e+02] [-1.19775751e-02 9.99928246e-01 2.01997920e-04 -2.12507883e+00] [ 2.05366737e-03 -1.77412265e-04 9.99997875e-01 -2.59195475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.838001145 meters 0.08127136673537985 Centerline is valid? [True, True] Translation: X:153.78, Y:-2.11, Z:-2.59 [[ 9.99801867e-01 1.98802842e-02 -1.00099597e-03 1.53779482e+02] [-1.98801953e-02 9.99802365e-01 9.87020323e-05 -2.11473441e+00] [ 1.00276036e-03 -7.87824809e-05 9.99999494e-01 -2.58948847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.898001145 meters 0.07755262767936111 Centerline is valid? [True, True] Translation: X:153.84, Y:-2.11, Z:-2.59 [[ 9.99761484e-01 2.18395499e-02 -9.15813633e-05 1.53840220e+02] [-2.18395492e-02 9.99761489e-01 8.20895281e-06 -2.11366347e+00] [ 9.17387999e-05 -6.20689915e-06 9.99999996e-01 -2.58871430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.958001145 meters 0.07911068268051923 Centerline is valid? [True, True] Translation: X:153.90, Y:-2.12, Z:-2.60 [[ 9.99766948e-01 2.14428483e-02 -2.50066699e-03 1.53898101e+02] [-2.14423020e-02 9.99770057e-01 2.45070156e-04 -2.12366599e+00] [ 2.50534698e-03 -1.91392985e-04 9.99996843e-01 -2.59525116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.018001145 meters 0.07947960840675951 Centerline is valid? [True, True] Translation: X:153.96, Y:-2.13, Z:-2.60 [[ 9.99778554e-01 2.09282079e-02 -2.20282956e-03 1.53956765e+02] [-2.09277833e-02 9.99780967e-01 2.15633458e-04 -2.12977300e+00] [ 2.20685989e-03 -1.69485367e-04 9.99997551e-01 -2.59695951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.078001145 meters 0.08120300843255143 Centerline is valid? [True, True] Translation: X:154.01, Y:-2.14, Z:-2.60 [[ 9.99778692e-01 2.08948201e-02 -2.44401398e-03 1.54014386e+02] [-2.08942983e-02 9.99781662e-01 2.38863583e-04 -2.13697735e+00] [ 2.44847137e-03 -1.87744764e-04 9.99996985e-01 -2.59927793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.138001145 meters 0.08164749160513389 Centerline is valid? [True, True] Translation: X:154.07, Y:-2.14, Z:-2.60 [[ 9.99755922e-01 2.18599676e-02 -3.19970638e-03 1.54072816e+02] [-2.18590755e-02 9.99761013e-01 3.13533496e-04 -2.14485776e+00] [ 3.20579552e-03 -2.43514346e-04 9.99994832e-01 -2.60255786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.198001145 meters 0.0749130155792415 Centerline is valid? [True, True] Translation: X:154.13, Y:-2.14, Z:-2.60 [[ 9.99714975e-01 2.31486302e-02 -5.84033939e-03 1.54132624e+02] [-2.31456751e-02 9.99731939e-01 5.73060204e-04 -2.13864785e+00] [ 5.85203938e-03 -4.37718269e-04 9.99982781e-01 -2.60090389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25800114499998 meters 0.0711277407324824 Centerline is valid? [True, True] Translation: X:154.19, Y:-2.13, Z:-2.60 [[ 9.99668933e-01 2.51181156e-02 -5.57708432e-03 1.54193273e+02] [-2.51154485e-02 9.99684407e-01 5.47750985e-04 -2.13300943e+00] [ 5.58908270e-03 -4.07498669e-04 9.99984298e-01 -2.59802854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31800114499998 meters 0.07089036181099076 Centerline is valid? [True, True] Translation: X:154.25, Y:-2.14, Z:-2.60 [[ 9.99570565e-01 2.92074498e-02 -2.36855160e-03 1.54252582e+02] [-2.92069812e-02 9.99573358e-01 2.32198848e-04 -2.13772769e+00] [ 2.37432301e-03 -1.62920892e-04 9.99997168e-01 -2.59917590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37800114499998 meters 0.07104901293491245 Centerline is valid? [True, True] Translation: X:154.31, Y:-2.15, Z:-2.60 [[ 9.99533786e-01 3.05148135e-02 -1.02848543e-03 1.54311650e+02] [-3.05147264e-02 9.99534312e-01 1.00278442e-04 -2.14598506e+00] [ 1.03106645e-03 -6.88477391e-05 9.99999466e-01 -2.60123244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.438001145 meters 0.06981598315298942 Centerline is valid? [True, True] Translation: X:154.37, Y:-2.15, Z:-2.60 [[ 9.99484167e-01 3.20910486e-02 1.25109480e-03 1.54371709e+02] [-3.20909187e-02 9.99484946e-01 -1.23786316e-04 -2.14518522e+00] [-1.25442285e-03 8.35736813e-05 9.99999210e-01 -2.59867206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.498001145 meters 0.0700239879196969 Centerline is valid? [True, True] Translation: X:154.43, Y:-2.15, Z:-2.60 [[ 9.99464586e-01 3.27007852e-02 1.09498134e-03 1.54430477e+02] [-3.27006851e-02 9.99465184e-01 -1.09197865e-04 -2.15006225e+00] [-1.09796658e-03 7.33327592e-05 9.99999395e-01 -2.60004714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.558001145 meters 0.07210237569295694 Centerline is valid? [True, True] Translation: X:154.49, Y:-2.16, Z:-2.61 [[ 9.99548405e-01 3.00388648e-02 -8.08261809e-04 1.54489329e+02] [-3.00388105e-02 9.99548730e-01 7.91584128e-05 -2.16406766e+00] [ 8.10274894e-04 -5.48434418e-05 9.99999670e-01 -2.60657986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.618001145 meters 0.07536817404328178 Centerline is valid? [True, True] Translation: X:154.55, Y:-2.17, Z:-2.61 [[ 9.99661450e-01 2.58233437e-02 -3.18450099e-03 1.54547319e+02] [-2.58224806e-02 9.99666496e-01 3.11840164e-04 -2.17496230e+00] [ 3.19149170e-03 -2.29502875e-04 9.99994881e-01 -2.60988950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.678001145 meters 0.07697491158234922 Centerline is valid? [True, True] Translation: X:154.60, Y:-2.18, Z:-2.61 [[ 9.99673072e-01 2.53735183e-02 -3.15178818e-03 1.54604827e+02] [-2.53726786e-02 9.99678015e-01 3.06133294e-04 -2.18221005e+00] [ 3.15854103e-03 -2.26063902e-04 9.99994986e-01 -2.61065556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.738001145 meters 0.07326960324280646 Centerline is valid? [True, True] Translation: X:154.66, Y:-2.18, Z:-2.61 [[ 9.99649750e-01 2.63150960e-02 -2.80951194e-03 1.54663771e+02] [-2.63144303e-02 9.99653678e-01 2.73653487e-04 -2.18194176e+00] [ 2.81574016e-03 -1.99626934e-04 9.99996016e-01 -2.61118235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.798001145 meters 0.07603212183655227 Centerline is valid? [True, True] Translation: X:154.72, Y:-2.19, Z:-2.62 [[ 9.99638063e-01 2.67261273e-02 -3.07537447e-03 1.54720485e+02] [-2.67253330e-02 9.99642770e-01 2.99079496e-04 -2.19314871e+00] [ 3.08226909e-03 -2.16780840e-04 9.99995226e-01 -2.61579131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.858001145 meters 0.07837659175453084 Centerline is valid? [True, True] Translation: X:154.78, Y:-2.20, Z:-2.62 [[ 9.99595470e-01 2.84257077e-02 -9.35444416e-04 1.54778872e+02] [-2.84256352e-02 9.99595906e-01 9.07797957e-05 -2.20319409e+00] [ 9.37646888e-04 -6.41524708e-05 9.99999558e-01 -2.61607673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.918001145 meters 0.07350388021142949 Centerline is valid? [True, True] Translation: X:154.84, Y:-2.20, Z:-2.61 [[ 9.99602582e-01 2.81515771e-02 -1.47169629e-03 1.54838483e+02] [-2.81513979e-02 9.99603661e-01 1.42326596e-04 -2.20170321e+00] [ 1.47511971e-03 -1.00839725e-04 9.99998907e-01 -2.61433176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.978001145 meters 0.07316206622314465 Centerline is valid? [True, True] Translation: X:154.90, Y:-2.21, Z:-2.62 [[ 9.99627949e-01 2.72489205e-02 -1.20821068e-03 1.54897386e+02] [-2.72487996e-02 9.99628676e-01 1.16460275e-04 -2.20732209e+00] [ 1.21093546e-03 -8.34946549e-05 9.99999263e-01 -2.61569924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03800114499998 meters 0.07470899589875757 Centerline is valid? [True, True] Translation: X:154.96, Y:-2.22, Z:-2.62 [[ 9.99693452e-01 2.46492982e-02 -2.32697761e-03 1.54956236e+02] [-2.46488366e-02 9.99696146e-01 2.26830707e-04 -2.21806467e+00] [ 2.33186176e-03 -1.69403881e-04 9.99997267e-01 -2.61780822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09800114499998 meters 0.07836980000772273 Centerline is valid? [True, True] Translation: X:155.01, Y:-2.23, Z:-2.62 [[ 9.99741717e-01 2.26692140e-02 -1.61447889e-03 1.55013700e+02] [-2.26689907e-02 9.99743013e-01 1.56498486e-04 -2.23183015e+00] [ 1.61761169e-03 -1.19859458e-04 9.99998684e-01 -2.62081131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.158001145 meters 0.0733534650930916 Centerline is valid? [True, True] Translation: X:155.07, Y:-2.23, Z:-2.62 [[ 9.99745782e-01 2.25348511e-02 -7.43157420e-04 1.55073502e+02] [-2.25348046e-02 9.99746057e-01 7.08596990e-05 -2.22949272e+00] [ 7.44565512e-04 -5.40947780e-05 9.99999721e-01 -2.61839637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.218001145 meters 0.07289102974563479 Centerline is valid? [True, True] Translation: X:155.13, Y:-2.23, Z:-2.62 [[ 9.99649379e-01 2.64751277e-02 4.31522917e-04 1.55133460e+02] [-2.64751117e-02 9.99649472e-01 -4.28481405e-05 -2.23457183e+00] [-4.32506066e-04 3.14084997e-05 9.99999906e-01 -2.61936753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.278001145 meters 0.07016900506675106 Centerline is valid? [True, True] Translation: X:155.19, Y:-2.23, Z:-2.62 [[ 9.99452307e-01 3.30679488e-02 1.26377798e-03 1.55194344e+02] [-3.30678190e-02 9.99453102e-01 -1.23494455e-04 -2.23486092e+00] [-1.26717053e-03 8.16364365e-05 9.99999194e-01 -2.62084704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.338001145 meters 0.06930417241881597 Centerline is valid? [True, True] Translation: X:155.25, Y:-2.24, Z:-2.62 [[ 9.99370124e-01 3.53515239e-02 3.10247629e-03 1.55254211e+02] [-3.53507526e-02 9.99374921e-01 -3.03103926e-04 -2.23756115e+00] [-3.11125218e-03 1.93238137e-04 9.99995141e-01 -2.61972990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.398001145 meters 0.07008433463717487 Centerline is valid? [True, True] Translation: X:155.31, Y:-2.25, Z:-2.62 [[ 9.99219612e-01 3.91667053e-02 5.11231470e-03 1.55313493e+02] [-3.91646641e-02 9.99232646e-01 -4.98824124e-04 -2.24644187e+00] [-5.12792905e-03 2.98212759e-04 9.99986808e-01 -2.62281034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.458001145 meters 0.07017941940520672 Centerline is valid? [True, True] Translation: X:155.37, Y:-2.25, Z:-2.63 [[ 9.99168469e-01 4.04021937e-02 5.48033677e-03 1.55371699e+02] [-4.03998600e-02 9.99183449e-01 -5.35920086e-04 -2.25403576e+00] [-5.49751414e-03 3.14069614e-04 9.99984839e-01 -2.62523410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.518001145 meters 0.06987222939735138 Centerline is valid? [True, True] Translation: X:155.43, Y:-2.26, Z:-2.63 [[ 9.99161274e-01 4.08882063e-02 2.21417394e-03 1.55430497e+02] [-4.08878247e-02 9.99163720e-01 -2.17341473e-04 -2.25799942e+00] [-2.22120897e-03 1.26626427e-04 9.99997525e-01 -2.62898962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.578001145 meters 0.06910250845477185 Centerline is valid? [True, True] Translation: X:155.49, Y:-2.26, Z:-2.63 [[ 9.99111356e-01 4.21158446e-02 1.65977754e-03 1.55489784e+02] [-4.21156257e-02 9.99112730e-01 -1.66614974e-04 -2.26083877e+00] [-1.66532200e-03 9.65643429e-05 9.99998609e-01 -2.62971882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.638001145 meters 0.06914782326543963 Centerline is valid? [True, True] Translation: X:155.55, Y:-2.27, Z:-2.63 [[ 9.99032048e-01 4.38110866e-02 3.94398858e-03 1.55548257e+02] [-4.38099105e-02 9.99039811e-01 -3.84134950e-04 -2.27134190e+00] [-3.95703098e-03 2.10977339e-04 9.99992149e-01 -2.63257603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.698001145 meters 0.06642358696654739 Centerline is valid? [True, True] Translation: X:155.61, Y:-2.27, Z:-2.63 [[ 9.98958560e-01 4.54993491e-02 3.40662429e-03 1.55607903e+02] [-4.54984678e-02 9.98964352e-01 -3.35817524e-04 -2.26871138e+00] [-3.41837571e-03 1.80471605e-04 9.99994141e-01 -2.63099189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75800114499998 meters 0.06602217459503139 Centerline is valid? [True, True] Translation: X:155.67, Y:-2.27, Z:-2.63 [[ 9.98874578e-01 4.73386089e-02 2.93823369e-03 1.55667287e+02] [-4.73379609e-02 9.98878888e-01 -2.89763413e-04 -2.27112101e+00] [-2.94865660e-03 1.50347315e-04 9.99995641e-01 -2.63297187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81800114499998 meters 0.0661515453299426 Centerline is valid? [True, True] Translation: X:155.73, Y:-2.28, Z:-2.64 [[ 9.98831248e-01 4.82809296e-02 2.25613193e-03 1.55725510e+02] [-4.82805559e-02 9.98833790e-01 -2.19828792e-04 -2.27898630e+00] [-2.26411435e-03 1.10644562e-04 9.99997431e-01 -2.63563626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87800114499998 meters 0.0674408080883512 Centerline is valid? [True, True] Translation: X:155.78, Y:-2.29, Z:-2.64 [[ 9.98990376e-01 4.48660622e-02 2.29440761e-03 1.55784459e+02] [-4.48656697e-02 9.98993004e-01 -2.22251486e-04 -2.29057496e+00] [-2.30206870e-03 1.19086962e-04 9.99997343e-01 -2.63881583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.938001145 meters 0.06789303921679196 Centerline is valid? [True, True] Translation: X:155.84, Y:-2.30, Z:-2.64 [[ 9.99094310e-01 4.24999763e-02 2.07649407e-03 1.55843508e+02] [-4.24996490e-02 9.99096461e-01 -2.01525541e-04 -2.29901845e+00] [-2.08318271e-03 1.13092752e-04 9.99997824e-01 -2.63903139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.998001145 meters 0.06896160576548602 Centerline is valid? [True, True] Translation: X:155.90, Y:-2.31, Z:-2.64 [[ 9.99370595e-01 3.52893671e-02 3.61585781e-03 1.55903005e+02] [-3.52883318e-02 9.99377112e-01 -3.49732790e-04 -2.30991426e+00] [-3.62594738e-03 2.21915076e-04 9.99993402e-01 -2.63821056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.058001145 meters 0.0718091522669988 Centerline is valid? [True, True] Translation: X:155.96, Y:-2.33, Z:-2.64 [[ 9.99539618e-01 3.02284858e-02 2.60571948e-03 1.55960748e+02] [-3.02279327e-02 9.99543000e-01 -2.51424292e-04 -2.32761440e+00] [-2.61212884e-03 1.72543028e-04 9.99996573e-01 -2.64257872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.118001145 meters 0.07446742669895802 Centerline is valid? [True, True] Translation: X:156.02, Y:-2.34, Z:-2.64 [[ 9.99622179e-01 2.74586821e-02 1.23278287e-03 1.56019115e+02] [-2.74585557e-02 9.99622936e-01 -1.19308092e-04 -2.33647764e+00] [-1.23559408e-03 8.54125779e-05 9.99999233e-01 -2.64441584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.178001145 meters 0.07552843169045209 Centerline is valid? [True, True] Translation: X:156.08, Y:-2.34, Z:-2.65 [[ 9.99665522e-01 2.58488236e-02 8.26610000e-04 1.56077965e+02] [-2.58487650e-02 9.99665862e-01 -8.15455413e-05 -2.34409687e+00] [-8.28441654e-04 6.01514185e-05 9.99999655e-01 -2.64592457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.238001145 meters 0.07394269466754463 Centerline is valid? [True, True] Translation: X:156.14, Y:-2.35, Z:-2.65 [[ 9.99723624e-01 2.33171782e-02 2.99760803e-03 1.56136861e+02] [-2.33164096e-02 9.99728093e-01 -2.91097633e-04 -2.35045344e+00] [-3.00358054e-03 2.21123724e-04 9.99995465e-01 -2.64600398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.298001145 meters 0.07286283867464582 Centerline is valid? [True, True] Translation: X:156.20, Y:-2.35, Z:-2.65 [[ 9.99774872e-01 2.10758558e-02 2.45243084e-03 1.56197016e+02] [-2.10753370e-02 9.99777862e-01 -2.37199220e-04 -2.35178953e+00] [-2.45688523e-03 1.85460013e-04 9.99996965e-01 -2.64541647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.358001145 meters 0.07796996550928156 Centerline is valid? [True, True] Translation: X:156.25, Y:-2.37, Z:-2.65 [[ 9.99821884e-01 1.87932429e-02 1.73638834e-03 1.56254838e+02] [-1.87929795e-02 9.99823382e-01 -1.67897764e-04 -2.36638917e+00] [-1.73923700e-03 1.35235949e-04 9.99998478e-01 -2.65085814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.418001145 meters 0.08059984208565048 Centerline is valid? [True, True] Translation: X:156.31, Y:-2.38, Z:-2.66 [[ 9.99856040e-01 1.69476466e-02 8.22678259e-04 1.56313043e+02] [-1.69475868e-02 9.99856376e-01 -7.96620143e-05 -2.37643136e+00] [-8.23910186e-04 6.57081350e-05 9.99999658e-01 -2.65564269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.478001145 meters 0.08281663919621986 Centerline is valid? [True, True] Translation: X:156.37, Y:-2.38, Z:-2.66 [[ 9.99887364e-01 1.49233453e-02 1.59775553e-03 1.56372715e+02] [-1.49231174e-02 9.99888632e-01 -1.54509550e-04 -2.38218692e+00] [-1.59988339e-03 1.30648654e-04 9.99998712e-01 -2.65631435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53800114499998 meters 0.0792915035155494 Centerline is valid? [True, True] Translation: X:156.43, Y:-2.38, Z:-2.65 [[ 9.99924981e-01 1.16496230e-02 3.78390047e-03 1.56433266e+02] [-1.16483235e-02 9.99932089e-01 -3.65264756e-04 -2.38031050e+00] [-3.78789870e-03 3.21161257e-04 9.99992774e-01 -2.65450266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59800114499998 meters 0.08157836568755182 Centerline is valid? [True, True] Translation: X:156.49, Y:-2.39, Z:-2.66 [[ 9.99954399e-01 9.28363792e-03 2.23916643e-03 1.56492484e+02] [-9.28317723e-03 9.99956887e-01 -2.16046214e-04 -2.38979152e+00] [-2.24107559e-03 1.95249783e-04 9.99997470e-01 -2.65855002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.658001145 meters 0.07703752237389477 Centerline is valid? [True, True] Translation: X:156.55, Y:-2.38, Z:-2.66 [[ 9.99966359e-01 8.05236999e-03 1.56219188e-03 1.56553603e+02] [-8.05214310e-03 9.99967569e-01 -1.51473398e-04 -2.37954153e+00] [-1.56336093e-03 1.38889310e-04 9.99998768e-01 -2.65632418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.718001145 meters 0.07755590552959749 Centerline is valid? [True, True] Translation: X:156.61, Y:-2.38, Z:-2.66 [[ 9.99957916e-01 9.08164858e-03 1.29978898e-03 1.56612384e+02] [-9.08149119e-03 9.99958754e-01 -1.26941270e-04 -2.38323233e+00] [-1.30088821e-03 1.15131905e-04 9.99999147e-01 -2.65967641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.778001145 meters 0.07698756858581798 Centerline is valid? [True, True] Translation: X:156.67, Y:-2.38, Z:-2.66 [[ 9.99949181e-01 9.91558566e-03 1.82114270e-03 1.56671603e+02] [-9.91527953e-03 9.99950827e-01 -1.77048973e-04 -2.38366408e+00] [-1.82280869e-03 1.58982837e-04 9.99998326e-01 -2.66142052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.838001145 meters 0.07937494797721072 Centerline is valid? [True, True] Translation: X:156.73, Y:-2.39, Z:-2.66 [[ 9.99965869e-01 8.05139229e-03 1.85363564e-03 1.56731635e+02] [-8.05107436e-03 9.99967574e-01 -1.78913465e-04 -2.38546256e+00] [-1.85501604e-03 1.63983600e-04 9.99998266e-01 -2.66075599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.898001145 meters 0.0815341376412645 Centerline is valid? [True, True] Translation: X:156.79, Y:-2.39, Z:-2.67 [[ 9.99973319e-01 6.90148729e-03 2.39387537e-03 1.56790672e+02] [-6.90095346e-03 9.99976161e-01 -2.31187231e-04 -2.39369501e+00] [-2.39541384e-03 2.14661040e-04 9.99997108e-01 -2.66511850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.958001145 meters 0.08579591483784266 Centerline is valid? [True, True] Translation: X:156.85, Y:-2.40, Z:-2.67 [[ 9.99989289e-01 3.81533203e-03 2.62002003e-03 1.56849040e+02] [-3.81468344e-03 9.99992692e-01 -2.52504811e-04 -2.40393040e+00] [-2.62096428e-03 2.42507559e-04 9.99996536e-01 -2.66929960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.018001145 meters 0.08652605042906719 Centerline is valid? [True, True] Translation: X:156.91, Y:-2.41, Z:-2.67 [[ 9.99994608e-01 2.50313196e-03 2.12569265e-03 1.56909224e+02] [-2.50270206e-03 9.99996847e-01 -2.04879223e-04 -2.40523585e+00] [-2.12619878e-03 1.99558143e-04 9.99997720e-01 -2.67071649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.078001145 meters 0.08949262760856015 Centerline is valid? [True, True] Translation: X:156.97, Y:-2.41, Z:-2.67 [[ 9.99995987e-01 1.36807073e-03 2.48061944e-03 1.56969413e+02] [-1.36748302e-03 9.99999037e-01 -2.38602905e-04 -2.40998995e+00] [-2.48094347e-03 2.35209743e-04 9.99996895e-01 -2.67323214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.138001145 meters 0.09075749318177272 Centerline is valid? [True, True] Translation: X:157.03, Y:-2.42, Z:-2.68 [[ 9.99996735e-01 -5.83818375e-04 2.48764987e-03 1.57030170e+02] [ 5.84414482e-04 9.99999801e-01 -2.38906371e-04 -2.41604644e+00] [-2.48750989e-03 2.40359410e-04 9.99996877e-01 -2.67541218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.198001145 meters 0.09006555486842255 Centerline is valid? [True, True] Translation: X:157.09, Y:-2.41, Z:-2.67 [[ 9.99987723e-01 -3.75265956e-03 3.23589088e-03 1.57091525e+02] [ 3.75368614e-03 9.99992906e-01 -3.11233603e-04 -2.41256021e+00] [-3.23469997e-03 3.23376301e-04 9.99994716e-01 -2.67414133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25800114499998 meters 0.09070283449560444 Centerline is valid? [True, True] Translation: X:157.15, Y:-2.42, Z:-2.68 [[ 9.99982773e-01 -5.32715787e-03 2.46462581e-03 1.57153003e+02] [ 5.32775635e-03 9.99985779e-01 -2.36327461e-04 -2.41570963e+00] [-2.46333181e-03 2.49454315e-04 9.99996935e-01 -2.67721770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31800114499998 meters 0.0972956080940648 Centerline is valid? [True, True] Translation: X:157.21, Y:-2.43, Z:-2.68 [[ 9.99970889e-01 -7.30288664e-03 2.21096985e-03 1.57212320e+02] [ 7.30337479e-03 9.99973307e-01 -2.12792150e-04 -2.42654617e+00] [-2.20935684e-03 2.28933497e-04 9.99997533e-01 -2.68214948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37800114499998 meters 0.09747762525442599 Centerline is valid? [True, True] Translation: X:157.27, Y:-2.43, Z:-2.68 [[ 9.99947017e-01 -9.84990486e-03 2.99055712e-03 1.57272890e+02] [ 9.85080894e-03 9.99951438e-01 -2.87735006e-04 -2.42774009e+00] [-2.98757773e-03 3.17179167e-04 9.99995487e-01 -2.68255047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.438001145 meters 0.09804590428029356 Centerline is valid? [True, True] Translation: X:157.33, Y:-2.43, Z:-2.68 [[ 9.99949759e-01 -8.93258356e-03 4.54839359e-03 1.57334575e+02] [ 8.93465970e-03 9.99959990e-01 -4.36341757e-04 -2.43039215e+00] [-4.54431394e-03 4.76958184e-04 9.99989561e-01 -2.68396723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.498001145 meters 0.0976111803392349 Centerline is valid? [True, True] Translation: X:157.40, Y:-2.43, Z:-2.69 [[ 9.99966105e-01 -7.50970329e-03 3.37528281e-03 1.57396958e+02] [ 7.51083912e-03 9.99971741e-01 -3.23965032e-04 -2.42903976e+00] [-3.37275455e-03 3.49305257e-04 9.99994251e-01 -2.68591115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.558001145 meters 0.1011028930579074 Centerline is valid? [True, False] Translation: X:157.40, Y:-2.43, Z:-2.69 [[ 9.99969591e-01 -7.18806659e-03 3.02469277e-03 1.57398719e+02] [ 7.18885871e-03 9.99974128e-01 -2.51094830e-04 -2.42725317e+00] [-3.02280962e-03 2.72831284e-04 9.99995394e-01 -2.68744729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.618001145 meters 0.10418555904089039 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.43, Z:-2.69 [[ 9.99971852e-01 -6.87580724e-03 3.00297744e-03 1.57399597e+02] [ 6.87533597e-03 9.99976351e-01 1.67228814e-04 -2.42730944e+00] [-3.00405626e-03 -1.46577628e-04 9.99995477e-01 -2.68874516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.678001145 meters 0.10251463359535881 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.43, Z:-2.69 [[ 9.99969873e-01 -7.06570145e-03 3.21400619e-03 1.57399432e+02] [ 7.06587802e-03 9.99975035e-01 -4.35846426e-05 -2.42634177e+00] [-3.21361800e-03 6.62931052e-05 9.99994834e-01 -2.68909546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.738001145 meters 0.10941860322355694 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.43, Z:-2.69 [[ 9.99987135e-01 -3.25423116e-03 3.89096186e-03 1.57398091e+02] [ 3.23782678e-03 9.99985875e-01 4.21491606e-03 -2.42732668e+00] [-3.90462322e-03 -4.20226358e-03 9.99983547e-01 -2.68917859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.798001145 meters 0.10927319744730811 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.43, Z:-2.69 [[ 9.99984124e-01 -3.84211834e-03 4.12188155e-03 1.57396994e+02] [ 3.82811444e-03 9.99986893e-01 3.39997989e-03 -2.42589572e+00] [-4.13489065e-03 -3.38414688e-03 9.99985725e-01 -2.68812273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.858001145 meters 0.10963137936757954 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.43, Z:-2.69 [[ 9.99985913e-01 -3.50685460e-03 3.98444686e-03 1.57397728e+02] [ 3.49135270e-03 9.99986336e-01 3.89091907e-03 -2.42664111e+00] [-3.99803731e-03 -3.87695315e-03 9.99984492e-01 -2.68883407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.918001145 meters 0.1151109006519648 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.43, Z:-2.69 [[ 9.99985124e-01 -3.79860743e-03 3.91433297e-03 1.57397584e+02] [ 3.78574741e-03 9.99987430e-01 3.28755473e-03 -2.42527941e+00] [-3.92677189e-03 -3.27268715e-03 9.99986935e-01 -2.68831530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.978001145 meters 0.1161841278839641 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.43, Z:-2.69 [[ 9.99985457e-01 -3.88798678e-03 3.73768126e-03 1.57397626e+02] [ 3.87665115e-03 9.99987879e-01 3.03527283e-03 -2.42503785e+00] [-3.74943706e-03 -3.02073900e-03 9.99988408e-01 -2.68775481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03800114499998 meters 0.11935977882905938 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.43, Z:-2.69 [[ 9.99986271e-01 -3.71922958e-03 3.69110787e-03 1.57397706e+02] [ 3.70681912e-03 9.99987473e-01 3.36342341e-03 -2.42623040e+00] [-3.70357097e-03 -3.34969497e-03 9.99987531e-01 -2.68777972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09800114499998 meters 0.12071102373771074 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.43, Z:-2.69 [[ 9.99987316e-01 -3.70531250e-03 3.41166028e-03 1.57398013e+02] [ 3.69431774e-03 9.99987981e-01 3.22338068e-03 -2.42593682e+00] [-3.42356291e-03 -3.21073603e-03 9.99988985e-01 -2.68729843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.158001145 meters 0.1230440442053131 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.43, Z:-2.69 [[ 9.99988514e-01 -3.52397375e-03 3.24858463e-03 1.57398221e+02] [ 3.51271981e-03 9.99987832e-01 3.46348130e-03 -2.42670232e+00] [-3.26075032e-03 -3.45203015e-03 9.99988725e-01 -2.68708640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.218001145 meters 0.11412601073815364 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.43, Z:-2.69 [[ 9.99989774e-01 -3.06362794e-03 3.32648967e-03 1.57398412e+02] [ 3.04867358e-03 9.99985267e-01 4.49134168e-03 -2.42990754e+00] [-3.34020046e-03 -4.48115437e-03 9.99984381e-01 -2.68779470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.278001145 meters 0.10880299495129866 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.43, Z:-2.69 [[ 9.99990681e-01 -2.95915335e-03 3.14340420e-03 1.57398582e+02] [ 2.94447765e-03 9.99984792e-01 4.66314017e-03 -2.43071534e+00] [-3.15715534e-03 -4.65384104e-03 9.99984187e-01 -2.68748197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.338001145 meters 0.10624496870197102 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.43, Z:-2.69 [[ 9.99976180e-01 -6.44194704e-03 2.47818715e-03 1.57400037e+02] [ 6.43848724e-03 9.99978291e-01 1.40155623e-03 -2.43316435e+00] [-2.48716210e-03 -1.38556707e-03 9.99995947e-01 -2.68759060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.398001145 meters 0.10824202180254841 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.44, Z:-2.69 [[ 9.99975338e-01 -6.48298440e-03 2.70087657e-03 1.57399006e+02] [ 6.47831719e-03 9.99977513e-01 1.73321410e-03 -2.43547953e+00] [-2.71205224e-03 -1.71567422e-03 9.99994851e-01 -2.68674245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.458001145 meters 0.11118790176812855 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.44, Z:-2.69 [[ 9.99979623e-01 -5.71121101e-03 2.85239806e-03 1.57398854e+02] [ 5.70118386e-03 9.99977584e-01 3.51118827e-03 -2.44086487e+00] [-2.87238725e-03 -3.49485468e-03 9.99989768e-01 -2.68715043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.518001145 meters 0.10822316413572017 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.44, Z:-2.69 [[ 9.99982210e-01 -5.23686656e-03 2.85572557e-03 1.57398869e+02] [ 5.22387655e-03 9.99976061e-01 4.53740278e-03 -2.44412089e+00] [-2.87941898e-03 -4.52240410e-03 9.99985628e-01 -2.68730860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.578001145 meters 0.11248908227608961 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.45, Z:-2.69 [[ 9.99984091e-01 -4.86974744e-03 2.84652356e-03 1.57398630e+02] [ 4.85410776e-03 9.99973227e-01 5.47563479e-03 -2.44742917e+00] [-2.87311231e-03 -5.46173035e-03 9.99980957e-01 -2.68705753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.638001145 meters 0.10619081003230563 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.45, Z:-2.69 [[ 9.99986092e-01 -4.65023114e-03 2.48834987e-03 1.57398998e+02] [ 4.63592353e-03 9.99972866e-01 5.72504371e-03 -2.44829056e+00] [-2.51490513e-03 -5.71342828e-03 9.99980516e-01 -2.68646768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.698001145 meters 0.10556648814902102 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.45, Z:-2.69 [[ 9.99988869e-01 -3.99675673e-03 2.50765104e-03 1.57399063e+02] [ 3.97901066e-03 9.99967286e-01 7.04229278e-03 -2.45253779e+00] [-2.53571534e-03 -7.03223642e-03 9.99972059e-01 -2.68677229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75800114499998 meters 0.10731902120954658 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.46, Z:-2.69 [[ 9.99989833e-01 -3.67125416e-03 2.61829508e-03 1.57398745e+02] [ 3.65042197e-03 9.99961995e-01 7.91727978e-03 -2.45556602e+00] [-2.64726192e-03 -7.90764140e-03 9.99965230e-01 -2.68677322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81800114499998 meters 0.10915572334749078 Centerline is valid? [False, False] Translation: X:157.40, Y:-2.46, Z:-2.69 [[ 9.99970848e-01 -7.39711504e-03 1.89379528e-03 1.57400481e+02] [ 7.38940161e-03 9.99964504e-01 4.04810206e-03 -2.45558482e+00] [-1.92367233e-03 -4.03399003e-03 9.99990013e-01 -2.68716639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87800114499998 meters 0.09856434492443461 Centerline is valid? [False, True] Translation: X:157.39, Y:-2.46, Z:-2.69 [[ 9.99959217e-01 -1.62500605e-03 8.88384485e-03 1.57387710e+02] [ 1.63835644e-03 9.99997539e-01 -1.49570106e-03 -2.45839625e+00] [-8.88139247e-03 1.51019497e-03 9.99959419e-01 -2.68824627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.938001145 meters 0.10091473835107055 Centerline is valid? [True, False] Translation: X:157.39, Y:-2.46, Z:-2.69 [[ 9.99960090e-01 -9.68908707e-04 8.88136963e-03 1.57388198e+02] [ 9.70742398e-04 9.99999508e-01 -2.02156360e-04 -2.46136735e+00] [-8.88116939e-03 2.10769814e-04 9.99960539e-01 -2.68913750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.998001145 meters 0.09497408857954223 Centerline is valid? [False, True] Translation: X:157.39, Y:-2.47, Z:-2.69 [[ 9.99958622e-01 -2.83476443e-04 9.09248985e-03 1.57387855e+02] [ 2.70187616e-04 9.99998894e-01 1.46271181e-03 -2.46662948e+00] [-9.09289443e-03 -1.46019461e-03 9.99957593e-01 -2.68943347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.058001145 meters 0.09877131720516315 Centerline is valid? [True, True] Translation: X:157.45, Y:-2.48, Z:-2.69 [[ 9.99977174e-01 -2.14633006e-03 6.40664773e-03 1.57445223e+02] [ 2.15094247e-03 9.99997432e-01 -7.13137454e-04 -2.48366489e+00] [-6.40510065e-03 7.26901507e-04 9.99979223e-01 -2.69347420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.118001145 meters 0.10145695779682458 Centerline is valid? [True, False] Translation: X:157.44, Y:-2.49, Z:-2.69 [[ 9.99975968e-01 -1.98258159e-03 6.64331643e-03 1.57444574e+02] [ 1.98241635e-03 9.99998035e-01 3.14575346e-05 -2.48646853e+00] [-6.64336574e-03 -1.82869594e-05 9.99977932e-01 -2.69331237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.178001145 meters 0.09502794903233182 Centerline is valid? [False, True] Translation: X:157.44, Y:-2.49, Z:-2.69 [[ 9.99974332e-01 -1.63933654e-03 6.97474760e-03 1.57443217e+02] [ 1.63054441e-03 9.99997869e-01 1.26606493e-03 -2.49214804e+00] [-6.97680824e-03 -1.25465979e-03 9.99974875e-01 -2.69236164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.238001145 meters 0.09427680279077527 Centerline is valid? [True, True] Translation: X:157.50, Y:-2.50, Z:-2.69 [[ 9.99973521e-01 -1.28806218e-03 7.16234075e-03 1.57504606e+02] [ 1.29391113e-03 9.99998833e-01 -8.12051074e-04 -2.50191981e+00] [-7.16128642e-03 8.21297004e-04 9.99974020e-01 -2.69463289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.298001145 meters 0.09533901446557881 Centerline is valid? [True, True] Translation: X:157.56, Y:-2.51, Z:-2.70 [[ 9.99975423e-01 1.18767780e-03 6.90962104e-03 1.57563766e+02] [-1.18227739e-03 9.99998993e-01 -7.85610204e-04 -2.51283450e+00] [-6.91054713e-03 7.77421807e-04 9.99975820e-01 -2.69644624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.358001145 meters 0.09164550577510101 Centerline is valid? [True, True] Translation: X:157.62, Y:-2.52, Z:-2.70 [[ 9.99964505e-01 4.71840842e-03 6.98034534e-03 1.57624796e+02] [-4.71298446e-03 9.99988579e-01 -7.93277914e-04 -2.51518451e+00] [-6.98400863e-03 7.60351498e-04 9.99975322e-01 -2.69600911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.418001145 meters 0.09142554137298818 Centerline is valid? [True, True] Translation: X:157.68, Y:-2.53, Z:-2.70 [[ 9.99918003e-01 9.82675652e-03 8.21106884e-03 1.57683733e+02] [-9.81941787e-03 9.99951353e-01 -9.33588384e-04 -2.52538853e+00] [-8.21984354e-03 8.52883917e-04 9.99965853e-01 -2.69865445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.478001145 meters 0.08934618935619205 Centerline is valid? [True, True] Translation: X:157.74, Y:-2.53, Z:-2.70 [[ 9.99880164e-01 1.22452208e-02 9.47166751e-03 1.57744074e+02] [-1.22355610e-02 9.99924563e-01 -1.07714766e-03 -2.53071661e+00] [-9.48414290e-03 9.61127414e-04 9.99954563e-01 -2.69905252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53800114499998 meters 0.08987539200109684 Centerline is valid? [True, True] Translation: X:157.80, Y:-2.54, Z:-2.70 [[ 9.99863936e-01 1.37126066e-02 9.16917046e-03 1.57804469e+02] [-1.37036186e-02 9.99905558e-01 -1.04235687e-03 -2.54031380e+00] [-9.18259793e-03 9.16564227e-04 9.99957419e-01 -2.70195621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59800114499998 meters 0.08406981457458283 Centerline is valid? [True, True] Translation: X:157.87, Y:-2.54, Z:-2.70 [[ 9.99833795e-01 1.64778691e-02 7.80145050e-03 1.57865063e+02] [-1.64714416e-02 9.99863943e-01 -8.87421006e-04 -2.54065140e+00] [-7.81501187e-03 7.58772375e-04 9.99969174e-01 -2.70426240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.658001145 meters 0.08511827557675375 Centerline is valid? [True, True] Translation: X:157.92, Y:-2.55, Z:-2.71 [[ 9.99829145e-01 1.70183051e-02 7.21507897e-03 1.57924253e+02] [-1.70128161e-02 9.99854934e-01 -8.21471870e-04 -2.55082985e+00] [-7.22801236e-03 6.98582707e-04 9.99973634e-01 -2.70597437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.718001145 meters 0.08731687714033191 Centerline is valid? [True, True] Translation: X:157.98, Y:-2.56, Z:-2.71 [[ 9.99852705e-01 1.58238093e-02 6.64640336e-03 1.57981572e+02] [-1.58191234e-02 9.99874583e-01 -7.57017228e-04 -2.56443039e+00] [-6.65754869e-03 6.51765448e-04 9.99977626e-01 -2.70937577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.778001145 meters 0.08830720317348566 Centerline is valid? [True, True] Translation: X:158.04, Y:-2.57, Z:-2.71 [[ 9.99873624e-01 1.44599466e-02 6.60644946e-03 1.58040323e+02] [-1.44552895e-02 9.99895234e-01 -7.52139655e-04 -2.57346878e+00] [-6.61663323e-03 6.56546464e-04 9.99977894e-01 -2.71168430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.838001145 meters 0.09125993942066517 Centerline is valid? [True, True] Translation: X:158.10, Y:-2.59, Z:-2.71 [[ 9.99906875e-01 1.18324055e-02 6.79964780e-03 1.58099776e+02] [-1.18274223e-02 9.99929755e-01 -7.72619286e-04 -2.58551672e+00] [-6.80831210e-03 6.92125030e-04 9.99976584e-01 -2.71384343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.898001145 meters 0.09563220043833887 Centerline is valid? [True, True] Translation: X:158.16, Y:-2.60, Z:-2.72 [[ 9.99938126e-01 8.21835758e-03 7.49683825e-03 1.58157290e+02] [-8.21219505e-03 9.99965916e-01 -8.52431630e-04 -2.60073847e+00] [-7.50358832e-03 7.90813389e-04 9.99971535e-01 -2.71662259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.958001145 meters 0.08839255543182559 Centerline is valid? [True, True] Translation: X:158.22, Y:-2.60, Z:-2.72 [[ 9.99955552e-01 6.35987107e-03 6.96032009e-03 1.58219131e+02] [-6.35452199e-03 9.99979497e-01 -7.90355974e-04 -2.59706984e+00] [-6.96520395e-03 7.46091337e-04 9.99975464e-01 -2.71572696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.018001145 meters 0.08799611929776016 Centerline is valid? [True, True] Translation: X:158.28, Y:-2.60, Z:-2.72 [[ 9.99964700e-01 6.14400027e-03 5.73141298e-03 1.58280673e+02] [-6.14037413e-03 9.99980936e-01 -6.50060375e-04 -2.60046110e+00] [-5.73529769e-03 6.14844409e-04 9.99983364e-01 -2.71656931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.078001145 meters 0.09025321283754748 Centerline is valid? [True, True] Translation: X:158.34, Y:-2.61, Z:-2.72 [[ 9.99944678e-01 8.09361106e-03 6.71815311e-03 1.58338868e+02] [-8.08866138e-03 9.99966995e-01 -7.63606926e-04 -2.61101674e+00] [-6.72411171e-03 7.09223817e-04 9.99977141e-01 -2.72067519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.138001145 meters 0.09083645702929086 Centerline is valid? [True, True] Translation: X:158.40, Y:-2.62, Z:-2.72 [[ 9.99919841e-01 1.03685387e-02 7.26667563e-03 1.58398791e+02] [-1.03628107e-02 9.99945964e-01 -8.25477047e-04 -2.61776330e+00] [-7.27484196e-03 7.50107694e-04 9.99973257e-01 -2.72289270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.198001145 meters 0.08539948185837024 Centerline is valid? [True, True] Translation: X:158.46, Y:-2.61, Z:-2.72 [[ 9.99875317e-01 1.43355338e-02 6.62144834e-03 1.58460547e+02] [-1.43308631e-02 9.99897025e-01 -7.52301277e-04 -2.60906342e+00] [-6.63155113e-03 6.57316408e-04 9.99977795e-01 -2.72247478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25800114499998 meters 0.08455200331856466 Centerline is valid? [True, True] Translation: X:158.52, Y:-2.61, Z:-2.73 [[ 9.99845344e-01 1.66768686e-02 5.58304914e-03 1.58520528e+02] [-1.66735821e-02 9.99860785e-01 -6.34687511e-04 -2.61318286e+00] [-5.59285650e-03 5.41499925e-04 9.99984213e-01 -2.72525327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31800114499998 meters 0.08432633188024667 Centerline is valid? [True, True] Translation: X:158.58, Y:-2.62, Z:-2.73 [[ 9.99797313e-01 1.92164116e-02 6.00516093e-03 1.58580848e+02] [-1.92126578e-02 9.99815187e-01 -6.82179907e-04 -2.61761342e+00] [-6.01716015e-03 5.66666536e-04 9.99981736e-01 -2.72730981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37800114499998 meters 0.08518126923721474 Centerline is valid? [True, True] Translation: X:158.64, Y:-2.62, Z:-2.73 [[ 9.99742484e-01 2.15118912e-02 7.22522293e-03 1.58639761e+02] [-2.15065136e-02 9.99768371e-01 -8.21164999e-04 -2.62173380e+00] [-7.24121417e-03 6.65564181e-04 9.99973561e-01 -2.72813154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.438001145 meters 0.08363007403568883 Centerline is valid? [True, True] Translation: X:158.70, Y:-2.62, Z:-2.73 [[ 9.99662169e-01 2.48908265e-02 7.48294548e-03 1.58699934e+02] [-2.48851526e-02 9.99689955e-01 -8.50415375e-04 -2.62106523e+00] [-7.50179297e-03 6.63913838e-04 9.99971641e-01 -2.72973193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.498001145 meters 0.07913125842152643 Centerline is valid? [True, True] Translation: X:158.76, Y:-2.62, Z:-2.73 [[ 9.99634759e-01 2.60120020e-02 7.32969983e-03 1.58759588e+02] [-2.60065811e-02 9.99661424e-01 -8.33937873e-04 -2.61551371e+00] [-7.34891056e-03 6.43012852e-04 9.99972790e-01 -2.72951094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.558001145 meters 0.07767006178924041 Centerline is valid? [True, True] Translation: X:158.82, Y:-2.62, Z:-2.73 [[ 9.99633352e-01 2.61540871e-02 7.00897893e-03 1.58818930e+02] [-2.61491360e-02 9.99657735e-01 -7.97116387e-04 -2.61612741e+00] [-7.02742786e-03 6.13545382e-04 9.99975119e-01 -2.73008378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.618001145 meters 0.08037421040728819 Centerline is valid? [True, True] Translation: X:158.88, Y:-2.63, Z:-2.73 [[ 9.99669756e-01 2.49303711e-02 6.23347720e-03 1.58876477e+02] [-2.49264326e-02 9.99689037e-01 -7.08734099e-04 -2.62580504e+00] [-6.24920782e-03 5.53121695e-04 9.99980321e-01 -2.73446597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.678001145 meters 0.0820520857080392 Centerline is valid? [True, True] Translation: X:158.93, Y:-2.63, Z:-2.74 [[ 9.99684012e-01 2.44798709e-02 5.71066025e-03 1.58934836e+02] [-2.44765593e-02 9.99700193e-01 -6.49083722e-04 -2.63278726e+00] [-5.72483764e-03 5.09101305e-04 9.99983483e-01 -2.73831351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.738001145 meters 0.08249260395800297 Centerline is valid? [True, True] Translation: X:158.99, Y:-2.64, Z:-2.74 [[ 9.99648114e-01 2.57332526e-02 6.43804053e-03 1.58994615e+02] [-2.57290781e-02 9.99668686e-01 -7.30422434e-04 -2.63816412e+00] [-6.45470366e-03 5.64520561e-04 9.99979009e-01 -2.74233477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.798001145 meters 0.07685009469795696 Centerline is valid? [True, True] Translation: X:159.06, Y:-2.63, Z:-2.74 [[ 9.99564582e-01 2.86378764e-02 7.10762557e-03 1.59056236e+02] [-2.86328714e-02 9.99589671e-01 -8.04954310e-04 -2.63038136e+00] [-7.12776129e-03 6.01092089e-04 9.99974417e-01 -2.73924316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.858001145 meters 0.07553547037649376 Centerline is valid? [True, True] Translation: X:159.12, Y:-2.63, Z:-2.74 [[ 9.99511171e-01 3.03776133e-02 7.39055567e-03 1.59116875e+02] [-3.03722467e-02 9.99538306e-01 -8.37329010e-04 -2.63043840e+00] [-7.41257955e-03 6.12451919e-04 9.99972339e-01 -2.73881320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.918001145 meters 0.0777946608929133 Centerline is valid? [True, True] Translation: X:159.17, Y:-2.64, Z:-2.74 [[ 9.99520000e-01 2.99233879e-02 8.02253665e-03 1.59173575e+02] [-2.99170374e-02 9.99551971e-01 -9.10450470e-04 -2.64139466e+00] [-8.04618608e-03 6.70002925e-04 9.99967404e-01 -2.74214386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.978001145 meters 0.0791504746302637 Centerline is valid? [True, True] Translation: X:159.23, Y:-2.65, Z:-2.74 [[ 9.99532267e-01 2.92278447e-02 8.99887008e-03 1.59231569e+02] [-2.92198401e-02 9.99572489e-01 -1.01973585e-03 -2.64873236e+00] [-9.02482764e-03 7.56313344e-04 9.99958989e-01 -2.74491869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03800114499998 meters 0.08124332722093443 Centerline is valid? [True, True] Translation: X:159.29, Y:-2.65, Z:-2.75 [[ 9.99440027e-01 3.24337127e-02 8.22713785e-03 1.59290775e+02] [-3.24271425e-02 9.99473669e-01 -9.30768708e-04 -2.65289882e+00] [-8.25299594e-03 6.63464931e-04 9.99965723e-01 -2.74774843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.09800114499998 meters 0.07634847080296794 Centerline is valid? [True, True] Translation: X:159.35, Y:-2.65, Z:-2.75 [[ 9.99335750e-01 3.53386566e-02 8.90162548e-03 1.59352291e+02] [-3.53310851e-02 9.99375156e-01 -1.00644607e-03 -2.65037340e+00] [-8.93162980e-03 6.91273453e-04 9.99959873e-01 -2.74900330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.158001145 meters 0.07324553161135121 Centerline is valid? [True, True] Translation: X:159.41, Y:-2.65, Z:-2.75 [[ 9.99225362e-01 3.81233867e-02 9.76130014e-03 1.59412806e+02] [-3.81144105e-02 9.99272772e-01 -1.10402713e-03 -2.64857186e+00] [-9.79629071e-03 7.31125706e-04 9.99951748e-01 -2.74836997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.218001145 meters 0.07076702503006885 Centerline is valid? [True, True] Translation: X:159.47, Y:-2.65, Z:-2.75 [[ 9.99158980e-01 3.99362505e-02 9.29670086e-03 1.59473055e+02] [-3.99281848e-02 9.99201999e-01 -1.05164908e-03 -2.64718418e+00] [-9.33128100e-03 6.79564229e-04 9.99956232e-01 -2.74791074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.278001145 meters 0.07388307105753905 Centerline is valid? [True, True] Translation: X:159.53, Y:-2.66, Z:-2.76 [[ 9.99122559e-01 4.10774739e-02 8.17025648e-03 1.59529127e+02] [-4.10712731e-02 9.99155791e-01 -9.25357319e-04 -2.66106841e+00] [-8.20137042e-03 5.88982537e-04 9.99966195e-01 -2.75510005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.338001145 meters 0.0724196114580751 Centerline is valid? [True, True] Translation: X:159.59, Y:-2.67, Z:-2.76 [[ 9.99095608e-01 4.17046583e-02 8.28785471e-03 1.59587853e+02] [-4.16983090e-02 9.99129807e-01 -9.37497537e-04 -2.66504453e+00] [-8.31974070e-03 5.91060145e-04 9.99965216e-01 -2.75588588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.398001145 meters 0.07174010690581827 Centerline is valid? [True, True] Translation: X:159.65, Y:-2.67, Z:-2.76 [[ 9.98968388e-01 4.45069629e-02 9.01604542e-03 1.59648307e+02] [-4.44995828e-02 9.99008885e-01 -1.01761981e-03 -2.66870146e+00] [-9.05240065e-03 6.15359761e-04 9.99958837e-01 -2.75655807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.458001145 meters 0.06923036789723169 Centerline is valid? [True, True] Translation: X:159.71, Y:-2.67, Z:-2.76 [[ 9.98715663e-01 4.92363611e-02 1.19500759e-02 1.59708141e+02] [-4.92237293e-02 9.98786866e-01 -1.34905854e-03 -2.67150721e+00] [-1.20020016e-02 7.59098593e-04 9.99927685e-01 -2.75636141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.518001145 meters 0.07100859172412916 Centerline is valid? [True, True] Translation: X:159.77, Y:-2.68, Z:-2.76 [[ 9.98634396e-01 5.13791188e-02 9.46204130e-03 1.59765499e+02] [-5.13712874e-02 9.98679052e-01 -1.06901469e-03 -2.68282961e+00] [-9.50446746e-03 5.81477594e-04 9.99954662e-01 -2.76119655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.578001145 meters 0.07083684048758322 Centerline is valid? [True, True] Translation: X:159.82, Y:-2.69, Z:-2.77 [[ 9.98532422e-01 5.35631477e-02 7.99945408e-03 1.59823913e+02] [-5.35576223e-02 9.98564352e-01 -9.03504935e-04 -2.68982200e+00] [-8.03636424e-03 4.73747231e-04 9.99967596e-01 -2.76509949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.638001145 meters 0.06748156432494032 Centerline is valid? [True, True] Translation: X:159.88, Y:-2.69, Z:-2.76 [[ 9.98519705e-01 5.38753168e-02 7.47323537e-03 1.59882789e+02] [-5.38704719e-02 9.98547572e-01 -8.48245901e-04 -2.68917323e+00] [-7.50808054e-03 4.44403531e-04 9.99971715e-01 -2.76309661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.698001145 meters 0.06870003578512851 Centerline is valid? [True, True] Translation: X:159.94, Y:-2.70, Z:-2.77 [[ 9.98527341e-01 5.37425774e-02 7.40835844e-03 1.59939444e+02] [-5.37378545e-02 9.98554728e-01 -8.35248695e-04 -2.69944123e+00] [-7.44253977e-03 4.35909371e-04 9.99972209e-01 -2.76626904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75800114499998 meters 0.06922277301875521 Centerline is valid? [True, True] Translation: X:160.00, Y:-2.71, Z:-2.77 [[ 9.98493700e-01 5.38960483e-02 1.02736451e-02 1.59996600e+02] [-5.38869976e-02 9.98546371e-01 -1.15595539e-03 -2.71162413e+00] [-1.03210124e-02 6.00598285e-04 9.99946557e-01 -2.76809150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81800114499998 meters 0.06816397113463533 Centerline is valid? [True, True] Translation: X:160.06, Y:-2.72, Z:-2.77 [[ 9.98428711e-01 5.45352926e-02 1.28845177e-02 1.60055494e+02] [-5.45211273e-02 9.98511567e-01 -1.44837364e-03 -2.71558352e+00] [-1.29443275e-02 7.43619395e-04 9.99915942e-01 -2.76752371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87800114499998 meters 0.06834465096108922 Centerline is valid? [True, True] Translation: X:160.11, Y:-2.72, Z:-2.77 [[ 9.98413521e-01 5.48977166e-02 1.25172518e-02 1.60113514e+02] [-5.48843851e-02 9.98491726e-01 -1.40634552e-03 -2.72424696e+00] [-1.25755775e-02 7.17112721e-04 9.99920667e-01 -2.77036203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.938001145 meters 0.06771580991573065 Centerline is valid? [True, True] Translation: X:160.17, Y:-2.73, Z:-2.77 [[ 9.98394805e-01 5.54115477e-02 1.17206600e-02 1.60171774e+02] [-5.53999015e-02 9.98463379e-01 -1.31624608e-03 -2.73346821e+00] [-1.17755850e-02 6.64809841e-04 9.99930444e-01 -2.77407920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.998001145 meters 0.0674255968414259 Centerline is valid? [True, True] Translation: X:160.23, Y:-2.74, Z:-2.77 [[ 9.98366626e-01 5.57529656e-02 1.24774633e-02 1.60230283e+02] [-5.57398051e-02 9.98444347e-01 -1.40029389e-03 -2.73747147e+00] [-1.25361232e-02 7.02515316e-04 9.99921173e-01 -2.77415024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.058001145 meters 0.06602956310890311 Centerline is valid? [True, True] Translation: X:160.29, Y:-2.74, Z:-2.78 [[ 9.98307251e-01 5.67804657e-02 1.25941296e-02 1.60289480e+02] [-5.67671092e-02 9.98386444e-01 -1.41578047e-03 -2.74130484e+00] [-1.26541969e-02 6.98451578e-04 9.99919689e-01 -2.77593002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.118001145 meters 0.06632705550170286 Centerline is valid? [True, True] Translation: X:160.35, Y:-2.75, Z:-2.78 [[ 9.98300722e-01 5.71573547e-02 1.13448751e-02 1.60346370e+02] [-5.71465483e-02 9.98364987e-01 -1.27470415e-03 -2.75106837e+00] [-1.13991848e-02 6.24217622e-04 9.99934832e-01 -2.78053983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.178001145 meters 0.06688122261075496 Centerline is valid? [True, True] Translation: X:160.40, Y:-2.76, Z:-2.78 [[ 9.98277004e-01 5.77301699e-02 1.05000677e-02 1.60404012e+02] [-5.77210118e-02 9.98332063e-01 -1.17341193e-03 -2.75535499e+00] [-1.05502955e-02 5.65315617e-04 9.99944184e-01 -2.78362566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.238001145 meters 0.06712374840125804 Centerline is valid? [True, True] Translation: X:160.46, Y:-2.76, Z:-2.79 [[ 9.98322790e-01 5.71954091e-02 8.96060820e-03 1.60462030e+02] [-5.71887211e-02 9.98362884e-01 -1.00104477e-03 -2.75991087e+00] [-9.00319381e-03 4.86920082e-04 9.99959352e-01 -2.78511470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.298001145 meters 0.06588884009926836 Centerline is valid? [True, True] Translation: X:160.52, Y:-2.76, Z:-2.79 [[ 9.98282811e-01 5.77126046e-02 1.00341249e-02 1.60520727e+02] [-5.77042185e-02 9.98333091e-01 -1.12351717e-03 -2.76440504e+00] [-1.00822400e-02 5.42576545e-04 9.99949026e-01 -2.78710740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.358001145 meters 0.06689416283401166 Centerline is valid? [True, True] Translation: X:160.58, Y:-2.77, Z:-2.79 [[ 9.98226696e-01 5.85730600e-02 1.06141804e-02 1.60577600e+02] [-5.85637581e-02 9.98282967e-01 -1.18533176e-03 -2.77215384e+00] [-1.06653840e-02 5.61623517e-04 9.99942965e-01 -2.78983611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.418001145 meters 0.0703235451731912 Centerline is valid? [True, True] Translation: X:160.63, Y:-2.78, Z:-2.79 [[ 9.98285237e-01 5.75381159e-02 1.07680710e-02 1.60634249e+02] [-5.75285457e-02 9.98343145e-01 -1.19665352e-03 -2.78125663e+00] [-1.08190830e-02 5.75130081e-04 9.99941307e-01 -2.79368129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.478001145 meters 0.06730734652609577 Centerline is valid? [True, True] Translation: X:160.69, Y:-2.78, Z:-2.79 [[ 9.98383162e-01 5.58134178e-02 1.07667964e-02 1.60694562e+02] [-5.58037723e-02 9.98441041e-01 -1.19443761e-03 -2.78134075e+00] [-1.08166771e-02 5.91678542e-04 9.99941323e-01 -2.79373103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53800114499998 meters 0.06790941485341481 Centerline is valid? [True, True] Translation: X:160.75, Y:-2.79, Z:-2.80 [[ 9.98521843e-01 5.29858316e-02 1.21090989e-02 1.60753631e+02] [-5.29734301e-02 9.98595019e-01 -1.34282363e-03 -2.79065242e+00] [-1.21632365e-02 6.99378214e-04 9.99925781e-01 -2.79613933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59800114499998 meters 0.06882259349077727 Centerline is valid? [True, True] Translation: X:160.81, Y:-2.79, Z:-2.79 [[ 9.98676733e-01 4.99310361e-02 1.23156105e-02 1.60813680e+02] [-4.99179861e-02 9.98752388e-01 -1.36495474e-03 -2.79376377e+00] [-1.23683990e-02 7.48378067e-04 9.99923228e-01 -2.79496934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.658001145 meters 0.07058236370562056 Centerline is valid? [True, True] Translation: X:160.87, Y:-2.80, Z:-2.80 [[ 9.98777241e-01 4.81514176e-02 1.12011030e-02 1.60870992e+02] [-4.81405004e-02 9.98839801e-01 -1.24239553e-03 -2.80444817e+00] [-1.12479306e-02 7.01649677e-04 9.99936494e-01 -2.80010624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.718001145 meters 0.07241929692602572 Centerline is valid? [True, True] Translation: X:160.93, Y:-2.82, Z:-2.80 [[ 9.98983268e-01 4.36536387e-02 1.12600844e-02 1.60930096e+02] [-4.36423424e-02 9.99046441e-01 -1.24710084e-03 -2.81546827e+00] [-1.13037878e-02 7.54416408e-04 9.99935826e-01 -2.80334712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.778001145 meters 0.07522235775701994 Centerline is valid? [True, True] Translation: X:160.99, Y:-2.82, Z:-2.81 [[ 9.99067998e-01 4.14790109e-02 1.19426728e-02 1.60987518e+02] [-4.14661362e-02 9.99139033e-01 -1.32374921e-03 -2.82473309e+00] [-1.19872983e-02 8.27298973e-04 9.99927808e-01 -2.80518879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.838001145 meters 0.07430975175254226 Centerline is valid? [True, True] Translation: X:161.05, Y:-2.83, Z:-2.81 [[ 9.99165063e-01 3.93307370e-02 1.10575587e-02 1.61047364e+02] [-3.93195909e-02 9.99225937e-01 -1.22368579e-03 -2.82911043e+00] [-1.10971279e-02 7.87885404e-04 9.99938115e-01 -2.80702414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.898001145 meters 0.07713578020907672 Centerline is valid? [True, True] Translation: X:161.11, Y:-2.84, Z:-2.81 [[ 9.99317820e-01 3.54642187e-02 1.03045987e-02 1.61106816e+02] [-3.54543399e-02 9.99370647e-01 -1.13983380e-03 -2.83973995e+00] [-1.03385368e-02 7.73713486e-04 9.99946257e-01 -2.81000430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.958001145 meters 0.08034439633518556 Centerline is valid? [True, True] Translation: X:161.16, Y:-2.85, Z:-2.81 [[ 9.99409247e-01 3.27813647e-02 1.03217998e-02 1.61164964e+02] [-3.27713027e-02 9.99462224e-01 -1.14251173e-03 -2.85005658e+00] [-1.03537021e-02 8.03577968e-04 9.99946076e-01 -2.81236243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.018001145 meters 0.0832578487125102 Centerline is valid? [True, True] Translation: X:161.22, Y:-2.86, Z:-2.82 [[ 9.99498368e-01 2.99513394e-02 1.02922122e-02 1.61223344e+02] [-2.99411969e-02 9.99551014e-01 -1.13816690e-03 -2.86163532e+00] [-1.03216807e-02 8.29434806e-04 9.99946386e-01 -2.81533634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.078001145 meters 0.08229887297668073 Centerline is valid? [True, True] Translation: X:161.28, Y:-2.87, Z:-2.82 [[ 9.99616125e-01 2.63740241e-02 8.48603355e-03 1.61283357e+02] [-2.63670014e-02 9.99651890e-01 -9.38395879e-04 -2.86817784e+00] [-8.50782875e-03 7.14284394e-04 9.99963553e-01 -2.81903924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.138001145 meters 0.08940880205695821 Centerline is valid? [True, True] Translation: X:161.34, Y:-2.88, Z:-2.82 [[ 9.99631562e-01 2.54440249e-02 9.45209545e-03 1.61340211e+02] [-2.54352479e-02 9.99675923e-01 -1.04765893e-03 -2.88177959e+00] [-9.47568890e-03 8.06856538e-04 9.99954779e-01 -2.82075775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.198001145 meters 0.09179331912663498 Centerline is valid? [True, True] Translation: X:161.40, Y:-2.89, Z:-2.82 [[ 9.99651816e-01 2.37872436e-02 1.14198743e-02 1.61398660e+02] [-2.37743546e-02 9.99716552e-01 -1.26309668e-03 -2.89088151e+00] [-1.14466829e-02 9.91156749e-04 9.99933993e-01 -2.82173341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25800114499998 meters 0.08263101508381412 Centerline is valid? [True, True] Translation: X:161.46, Y:-2.88, Z:-2.82 [[ 9.99696886e-01 2.18083233e-02 1.14251267e-02 1.61460798e+02] [-2.17953175e-02 9.99761658e-01 -1.26164092e-03 -2.88194692e+00] [-1.14499179e-02 1.01224423e-03 9.99933935e-01 -2.81982760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31800114499998 meters 0.08482308442876339 Centerline is valid? [True, True] Translation: X:161.52, Y:-2.89, Z:-2.82 [[ 9.99719954e-01 2.12743589e-02 1.03641466e-02 1.61518308e+02] [-2.12636039e-02 9.99773246e-01 -1.14681080e-03 -2.88812303e+00] [-1.03861941e-02 9.26110529e-04 9.99945633e-01 -2.82335665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37800114499998 meters 0.08556068603184036 Centerline is valid? [True, True] Translation: X:161.58, Y:-2.89, Z:-2.83 [[ 9.99734890e-01 2.14304390e-02 8.41943306e-03 1.61576407e+02] [-2.14233557e-02 9.99770060e-01 -9.30603922e-04 -2.89489314e+00] [-8.43744035e-03 7.49984700e-04 9.99964123e-01 -2.82897586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.438001145 meters 0.08780041404912445 Centerline is valid? [True, True] Translation: X:161.64, Y:-2.90, Z:-2.83 [[ 9.99761972e-01 2.02023960e-02 8.23791037e-03 1.61635524e+02] [-2.01955848e-02 9.99795635e-01 -9.09172591e-04 -2.90277682e+00] [-8.25459429e-03 7.42586765e-04 9.99965655e-01 -2.83108086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.498001145 meters 0.09013340214744453 Centerline is valid? [True, True] Translation: X:161.70, Y:-2.91, Z:-2.83 [[ 9.99780543e-01 1.85360903e-02 9.76111011e-03 1.61695122e+02] [-1.85264538e-02 9.99827791e-01 -1.07674375e-03 -2.90961747e+00] [-9.77938777e-03 8.95668696e-04 9.99951780e-01 -2.83115293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.558001145 meters 0.09090760952586638 Centerline is valid? [True, True] Translation: X:161.75, Y:-2.92, Z:-2.83 [[ 9.99779741e-01 1.81012928e-02 1.06213181e-02 1.61753730e+02] [-1.80898552e-02 9.99835678e-01 -1.17194366e-03 -2.91699861e+00] [-1.06407865e-02 9.79547424e-04 9.99942905e-01 -2.83304413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.618001145 meters 0.09461938223135805 Centerline is valid? [True, True] Translation: X:161.81, Y:-2.93, Z:-2.84 [[ 9.99815218e-01 1.57284953e-02 1.10518783e-02 1.61812411e+02] [-1.57159893e-02 9.99875755e-01 -1.21751953e-03 -2.92988210e+00] [-1.10696549e-02 1.04360336e-03 9.99938185e-01 -2.83686771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.678001145 meters 0.0970608277587983 Centerline is valid? [True, True] Translation: X:161.87, Y:-2.94, Z:-2.84 [[ 9.99847245e-01 1.40061680e-02 1.04552856e-02 1.61872427e+02] [-1.39948879e-02 9.99901404e-01 -1.15128156e-03 -2.93819413e+00] [-1.04703798e-02 1.00478515e-03 9.99944679e-01 -2.83916337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.738001145 meters 0.09409434992028416 Centerline is valid? [True, True] Translation: X:161.93, Y:-2.94, Z:-2.84 [[ 9.99895938e-01 9.80881579e-03 1.05782687e-02 1.61932648e+02] [-9.79703253e-03 9.99951329e-01 -1.16515785e-03 -2.93929866e+00] [-1.05891827e-02 1.06140096e-03 9.99943370e-01 -2.83877565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.798001145 meters 0.09792916636859166 Centerline is valid? [True, True] Translation: X:161.99, Y:-2.95, Z:-2.84 [[ 9.99918227e-01 7.00502269e-03 1.06989750e-02 1.61992238e+02] [-6.99281614e-03 9.99974856e-01 -1.17789178e-03 -2.95415720e+00] [-1.07069571e-02 1.10297950e-03 9.99942071e-01 -2.84325837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.858001145 meters 0.10161869487578604 Centerline is valid? [True, False] Translation: X:161.99, Y:-2.95, Z:-2.84 [[ 9.99917376e-01 6.95579264e-03 1.08101287e-02 1.61992095e+02] [-6.94393070e-03 9.99975247e-01 -1.13444531e-03 -2.95422679e+00] [-1.08177521e-02 1.05928680e-03 9.99940925e-01 -2.84333870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.918001145 meters 0.10396998095632981 Centerline is valid? [False, False] Translation: X:161.99, Y:-2.95, Z:-2.84 [[ 9.99920025e-01 6.90085697e-03 1.05981506e-02 1.61992571e+02] [-6.88628902e-03 9.99975295e-01 -1.41045279e-03 -2.95309394e+00] [-1.06076221e-02 1.33735807e-03 9.99942843e-01 -2.84331228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97800114499998 meters 0.10555323341612559 Centerline is valid? [False, False] Translation: X:161.99, Y:-2.95, Z:-2.84 [[ 9.99920911e-01 7.08478762e-03 1.03912150e-02 1.61992996e+02] [-7.07131710e-03 9.99974110e-01 -1.33250631e-03 -2.95328342e+00] [-1.04003865e-02 1.25892135e-03 9.99945122e-01 -2.84326634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03800114499998 meters 0.09718238425580183 Centerline is valid? [False, True] Translation: X:161.99, Y:-2.95, Z:-2.84 [[ 9.99921816e-01 7.32136192e-03 1.01369955e-02 1.61993871e+02] [-7.30989102e-03 9.99972600e-01 -1.16817736e-03 -2.95324183e+00] [-1.01452704e-02 1.09398569e-03 9.99947937e-01 -2.84381958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09800114499998 meters 0.1065634554512212 Centerline is valid? [True, False] Translation: X:162.01, Y:-2.95, Z:-2.84 [[ 9.99992158e-01 3.41019430e-03 2.01346131e-03 1.62005108e+02] [-3.41204009e-03 9.99993761e-01 9.14003501e-04 -2.94929096e+00] [-2.01033182e-03 -9.20866344e-04 9.99997555e-01 -2.83954865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.158001145 meters 0.09887143068003845 Centerline is valid? [False, True] Translation: X:162.00, Y:-2.95, Z:-2.84 [[ 9.99992706e-01 3.28685406e-03 1.94551330e-03 1.62004862e+02] [-3.28814270e-03 9.99994377e-01 6.59534048e-04 -2.94917367e+00] [-1.94333457e-03 -6.65926362e-04 9.99997890e-01 -2.83894269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.218001145 meters 0.09545283447213952 Centerline is valid? [True, True] Translation: X:162.07, Y:-2.95, Z:-2.84 [[ 9.99986070e-01 3.29964373e-03 4.11962383e-03 1.62065676e+02] [-3.29790106e-03 9.99994470e-01 -4.29739336e-04 -2.95097270e+00] [-4.12101903e-03 4.16147239e-04 9.99991422e-01 -2.83679518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.278001145 meters 0.10147297036051908 Centerline is valid? [True, False] Translation: X:162.07, Y:-2.95, Z:-2.84 [[ 9.99985893e-01 3.28996483e-03 4.17019204e-03 1.62065515e+02] [-3.28853429e-03 9.99994532e-01 -3.49851912e-04 -2.95156499e+00] [-4.17132024e-03 3.36133157e-04 9.99991244e-01 -2.83670746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.338001145 meters 0.09376198197752722 Centerline is valid? [False, True] Translation: X:162.07, Y:-2.95, Z:-2.84 [[ 9.99994200e-01 -1.22270001e-04 3.40354548e-03 1.62068108e+02] [ 1.35078648e-04 9.99992909e-01 -3.76334938e-03 -2.95196963e+00] [-3.40306120e-03 3.76378730e-03 9.99987126e-01 -2.83829859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.398001145 meters 0.0944341949780001 Centerline is valid? [True, True] Translation: X:162.13, Y:-2.96, Z:-2.84 [[ 9.99996296e-01 -6.45714560e-04 2.64415106e-03 1.62129125e+02] [ 6.46428488e-04 9.99999755e-01 -2.69156909e-04 -2.96206360e+00] [-2.64397661e-03 2.70865166e-04 9.99996468e-01 -2.84298379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.458001145 meters 0.09108705082867505 Centerline is valid? [True, True] Translation: X:162.19, Y:-2.96, Z:-2.84 [[ 9.99991679e-01 -8.27517785e-04 3.99455085e-03 1.62191543e+02] [ 8.29158182e-04 9.99999573e-01 -4.09020020e-04 -2.96487610e+00] [-3.99421068e-03 4.12328732e-04 9.99991938e-01 -2.84276423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.518001145 meters 0.0972034438955284 Centerline is valid? [True, True] Translation: X:162.25, Y:-2.98, Z:-2.84 [[ 9.99988399e-01 6.62182553e-04 4.77100333e-03 1.62249970e+02] [-6.59847789e-04 9.99999662e-01 -4.90923031e-04 -2.98091847e+00] [-4.77132680e-03 4.87769200e-04 9.99988498e-01 -2.84461893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.578001145 meters 0.09503538823576146 Centerline is valid? [True, True] Translation: X:162.31, Y:-2.99, Z:-2.85 [[ 9.99989992e-01 1.58651019e-03 4.18311665e-03 1.62311429e+02] [-1.58472681e-03 9.99998652e-01 -4.29608283e-04 -2.98562337e+00] [-4.18379259e-03 4.22974886e-04 9.99991158e-01 -2.84725567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.638001145 meters 0.09206240257198957 Centerline is valid? [True, True] Translation: X:162.37, Y:-2.99, Z:-2.85 [[ 9.99994864e-01 1.02108045e-03 3.03795329e-03 1.62373175e+02] [-1.02015236e-03 9.99999433e-01 -3.07030874e-04 -2.98941129e+00] [-3.03826507e-03 3.03930122e-04 9.99995338e-01 -2.84809903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.698001145 meters 0.09849437001962492 Centerline is valid? [True, True] Translation: X:162.43, Y:-3.01, Z:-2.85 [[ 9.99993337e-01 4.38808853e-04 3.62400144e-03 1.62432910e+02] [-4.37476624e-04 9.99999836e-01 -3.68397094e-04 -3.00794250e+00] [-3.62416251e-03 3.66809223e-04 9.99993365e-01 -2.85104124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75800114499998 meters 0.09580034578107134 Centerline is valid? [True, True] Translation: X:162.49, Y:-3.02, Z:-2.85 [[ 9.99985869e-01 -1.20823188e-03 5.17706402e-03 1.62493554e+02] [ 1.21101654e-03 9.99999124e-01 -5.34783282e-04 -3.01596883e+00] [-5.17641334e-03 5.41045235e-04 9.99986456e-01 -2.85149064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81800114499998 meters 0.09748151594957077 Centerline is valid? [True, True] Translation: X:162.55, Y:-3.03, Z:-2.86 [[ 9.99986315e-01 -4.60583765e-03 2.48115144e-03 1.62552654e+02] [ 4.60648808e-03 9.99989357e-01 -2.56499793e-04 -3.02948050e+00] [-2.47994364e-03 2.67925677e-04 9.99996889e-01 -2.85542949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87800114499998 meters 0.09916694644443673 Centerline is valid? [True, True] Translation: X:162.61, Y:-3.04, Z:-2.86 [[ 9.99971352e-01 -6.99447324e-03 2.89361563e-03 1.62611942e+02] [ 6.99536767e-03 9.99975487e-01 -2.99099024e-04 -3.04247156e+00] [-2.89145266e-03 3.19332360e-04 9.99995769e-01 -2.85727966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.938001145 meters 0.10173538886176589 Centerline is valid? [True, False] Translation: X:162.61, Y:-3.05, Z:-2.86 [[ 9.99969910e-01 -6.88663298e-03 3.57119422e-03 1.62610231e+02] [ 6.88270069e-03 9.99975695e-01 1.11223632e-03 -3.04952827e+00] [-3.57876699e-03 -1.08762340e-03 9.99993005e-01 -2.85679421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.998001145 meters 0.10681927062007764 Centerline is valid? [False, False] Translation: X:162.61, Y:-3.05, Z:-2.86 [[ 9.99970999e-01 -6.50188047e-03 3.96564441e-03 1.62609471e+02] [ 6.49238582e-03 9.99976038e-01 2.40241683e-03 -3.05419811e+00] [-3.98116961e-03 -2.37660067e-03 9.99989251e-01 -2.85685429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.058001145 meters 0.10904941450781257 Centerline is valid? [False, False] Translation: X:162.61, Y:-3.06, Z:-2.86 [[ 9.99966126e-01 -7.06335746e-03 4.22570344e-03 1.62608186e+02] [ 7.05041510e-03 9.99970433e-01 3.06986769e-03 -3.06174515e+00] [-4.24726207e-03 -3.03997073e-03 9.99986360e-01 -2.85620406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.118001145 meters 0.10959584595001434 Centerline is valid? [False, False] Translation: X:162.61, Y:-3.07, Z:-2.86 [[ 9.99968321e-01 -6.55267996e-03 4.51879443e-03 1.62607568e+02] [ 6.53278345e-03 9.99968964e-01 4.40385054e-03 -3.06683085e+00] [-4.54751121e-03 -4.37419073e-03 9.99980093e-01 -2.85620320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.178001145 meters 0.09974740581601102 Centerline is valid? [False, True] Translation: X:162.60, Y:-3.07, Z:-2.86 [[ 9.99939857e-01 -5.04705960e-04 1.09557213e-02 1.62595269e+02] [ 5.05113701e-04 9.99999872e-01 -3.44501131e-05 -3.07067287e+00] [-1.09557025e-02 3.99819260e-05 9.99939984e-01 -2.85743200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.238001145 meters 0.10028579642752322 Centerline is valid? [True, False] Translation: X:162.60, Y:-3.08, Z:-2.86 [[ 9.99940210e-01 4.89593509e-04 1.09240926e-02 1.62596062e+02] [-5.08548086e-04 9.99998370e-01 1.73240645e-03 -3.07519030e+00] [-1.09232266e-02 -1.73785830e-03 9.99938830e-01 -2.85861023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.298001145 meters 0.10437543523034487 Centerline is valid? [False, False] Translation: X:162.60, Y:-3.08, Z:-2.86 [[ 9.99937876e-01 -2.96764875e-03 1.07441857e-02 1.62596187e+02] [ 2.97917984e-03 9.99995003e-01 -1.05739415e-03 -3.07984606e+00] [-1.07409940e-02 1.08933732e-03 9.99941720e-01 -2.85837136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.358001145 meters 0.10191161818241035 Centerline is valid? [False, False] Translation: X:162.60, Y:-3.08, Z:-2.86 [[ 9.99937090e-01 -2.52773561e-03 1.09282139e-02 1.62595716e+02] [ 2.52796087e-03 9.99996805e-01 -6.79848214e-06 -3.08363214e+00] [-1.09281618e-02 3.44241515e-05 9.99940285e-01 -2.85831277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.418001145 meters 0.10627805258729159 Centerline is valid? [False, False] Translation: X:162.60, Y:-3.09, Z:-2.86 [[ 9.99940303e-01 -1.49765189e-03 1.08234884e-02 1.62596645e+02] [ 1.47802659e-03 9.99997250e-01 1.82098519e-03 -3.08802608e+00] [-1.08261859e-02 -1.80487908e-03 9.99939766e-01 -2.85950680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47800114499998 meters 0.10531645711072994 Centerline is valid? [False, False] Translation: X:162.60, Y:-3.09, Z:-2.86 [[ 9.99941100e-01 -1.18042046e-03 1.07890290e-02 1.62596837e+02] [ 1.15454104e-03 9.99996442e-01 2.40459281e-03 -3.08970996e+00] [-1.07918290e-02 -2.39199480e-03 9.99938906e-01 -2.85975050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53800114499998 meters 0.10181117284222857 Centerline is valid? [False, False] Translation: X:162.60, Y:-3.09, Z:-2.86 [[ 9.99941609e-01 -3.90821332e-03 1.00749855e-02 1.62599255e+02] [ 3.90704661e-03 9.99992358e-01 1.35481930e-04 -3.09374499e+00] [-1.00754380e-02 -9.61105813e-05 9.99949237e-01 -2.86132940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.59800114499998 meters 0.10005653939220666 Centerline is valid? [False, False] Translation: X:162.60, Y:-3.10, Z:-2.86 [[ 9.99943689e-01 -3.58188314e-03 9.98942623e-03 1.62599128e+02] [ 3.57445817e-03 9.99993322e-01 7.61037317e-04 -3.09570745e+00] [-9.99208547e-03 -7.25287677e-04 9.99949815e-01 -2.86090819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.658001145 meters 0.09841633118841862 Centerline is valid? [False, True] Translation: X:162.60, Y:-3.10, Z:-2.86 [[ 9.99944833e-01 -3.31969799e-03 9.96551202e-03 1.62598984e+02] [ 3.30680399e-03 9.99993674e-01 1.31006165e-03 -3.09772296e+00] [-9.96979799e-03 -1.27703538e-03 9.99949485e-01 -2.86073877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.718001145 meters 0.09301537261164275 Centerline is valid? [True, True] Translation: X:162.66, Y:-3.10, Z:-2.86 [[ 9.99943439e-01 -9.89915769e-04 1.05895564e-02 1.62659677e+02] [ 1.00236923e-03 9.99998812e-01 -1.17077031e-03 -3.10019301e+00] [-1.05883848e-02 1.18131873e-03 9.99943244e-01 -2.86162949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.778001145 meters 0.09195689667967061 Centerline is valid? [True, True] Translation: X:162.72, Y:-3.11, Z:-2.86 [[ 9.99946463e-01 6.57982989e-04 1.03265577e-02 1.62720263e+02] [-6.46231549e-04 9.99999140e-01 -1.14127782e-03 -3.10680193e+00] [-1.03272997e-02 1.13454338e-03 9.99946028e-01 -2.86309124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.838001145 meters 0.08566150410193474 Centerline is valid? [True, True] Translation: X:162.78, Y:-3.11, Z:-2.86 [[ 9.99934503e-01 4.32833999e-03 1.05950466e-02 1.62781414e+02] [-4.31617088e-03 9.99989999e-01 -1.17116192e-03 -3.10566714e+00] [-1.06000099e-02 1.12535518e-03 9.99943185e-01 -2.86411008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.898001145 meters 0.08626586431936621 Centerline is valid? [True, True] Translation: X:162.84, Y:-3.11, Z:-2.87 [[ 9.99917189e-01 8.26651131e-03 9.86310349e-03 1.62840107e+02] [-8.25614494e-03 9.99965322e-01 -1.09127985e-03 -3.11495138e+00] [-9.87178254e-03 1.00975827e-03 9.99950763e-01 -2.86690686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.958001145 meters 0.08510802736728595 Centerline is valid? [True, True] Translation: X:162.90, Y:-3.12, Z:-2.87 [[ 9.99852800e-01 1.31948928e-02 1.09669063e-02 1.62900687e+02] [-1.31823781e-02 9.99912373e-01 -1.21263836e-03 -3.11689938e+00] [-1.09819459e-02 1.06788995e-03 9.99939126e-01 -2.86733210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.018001145 meters 0.08651644779122394 Centerline is valid? [True, True] Translation: X:162.96, Y:-3.13, Z:-2.87 [[ 9.99814605e-01 1.47504806e-02 1.23765507e-02 1.62959352e+02] [-1.47346594e-02 9.99890502e-01 -1.36854207e-03 -3.12899080e+00] [-1.23953822e-02 1.18592409e-03 9.99922471e-01 -2.87013259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.078001145 meters 0.08826436095829135 Centerline is valid? [True, True] Translation: X:163.02, Y:-3.14, Z:-2.87 [[ 9.99856463e-01 1.30225665e-02 1.08382035e-02 1.63018626e+02] [-1.30103353e-02 9.99914644e-01 -1.19826803e-03 -3.13998259e+00] [-1.08528830e-02 1.05708737e-03 9.99940547e-01 -2.87427672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.138001145 meters 0.09229120273773334 Centerline is valid? [True, True] Translation: X:163.08, Y:-3.15, Z:-2.88 [[ 9.99894342e-01 1.01592825e-02 1.03967761e-02 1.63077172e+02] [-1.01478726e-02 9.99947848e-01 -1.14961290e-03 -3.15417918e+00] [-1.04079132e-02 1.04398628e-03 9.99945291e-01 -2.87707201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.198001145 meters 0.09725256592258275 Centerline is valid? [True, True] Translation: X:163.14, Y:-3.17, Z:-2.88 [[ 9.99927957e-01 5.14303146e-03 1.08457772e-02 1.63135487e+02] [-5.13031808e-03 9.99986120e-01 -1.19969292e-03 -3.17010656e+00] [-1.08517967e-02 1.14396421e-03 9.99940463e-01 -2.87850547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25800114499998 meters 0.1002983502387714 Centerline is valid? [True, False] Translation: X:163.13, Y:-3.17, Z:-2.88 [[ 9.99922948e-01 4.71447336e-03 1.14835527e-02 1.63133688e+02] [-4.70143791e-03 9.99988273e-01 -1.16187215e-03 -3.17251978e+00] [-1.14888957e-02 1.10779341e-03 9.99933387e-01 -2.87764291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31800114499998 meters 0.09513190817617131 Centerline is valid? [False, True] Translation: X:163.13, Y:-3.17, Z:-2.88 [[ 9.99933810e-01 7.71146064e-04 1.14796278e-02 1.63134044e+02] [-7.15587698e-04 9.99988016e-01 -4.84305682e-03 -3.17364884e+00] [-1.14832249e-02 4.83452157e-03 9.99922378e-01 -2.87823756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37800114499998 meters 0.0956814478218105 Centerline is valid? [True, True] Translation: X:163.19, Y:-3.18, Z:-2.88 [[ 9.99935724e-01 -5.46639166e-04 1.13246835e-02 1.63194881e+02] [ 5.61513066e-04 9.99998984e-01 -1.31026738e-03 -3.18223394e+00] [-1.13239558e-02 1.31654212e-03 9.99935015e-01 -2.88058584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.438001145 meters 0.09691271178591185 Centerline is valid? [True, True] Translation: X:163.25, Y:-3.19, Z:-2.88 [[ 9.99908470e-01 1.80682055e-03 1.34084343e-02 1.63254217e+02] [-1.78615751e-03 9.99997199e-01 -1.55286347e-03 -3.19171146e+00] [-1.34112025e-02 1.52877176e-03 9.99908897e-01 -2.88276805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.498001145 meters 0.09570894798534495 Centerline is valid? [True, True] Translation: X:163.31, Y:-3.19, Z:-2.89 [[ 9.99900426e-01 5.63475908e-03 1.29378079e-02 1.63314822e+02] [-5.61584334e-03 9.99983109e-01 -1.49791602e-03 -3.19451780e+00] [-1.29460298e-02 1.42511016e-03 9.99915181e-01 -2.88627154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.558001145 meters 0.09561618375350923 Centerline is valid? [True, True] Translation: X:163.38, Y:-3.20, Z:-2.89 [[ 9.99872838e-01 8.44350246e-03 1.35283267e-02 1.63375571e+02] [-8.42307078e-03 9.99963298e-01 -1.56655616e-03 -3.19957241e+00] [-1.35410574e-02 1.45240690e-03 9.99907261e-01 -2.88785101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.618001145 meters 0.09682940362134662 Centerline is valid? [True, True] Translation: X:163.43, Y:-3.21, Z:-2.89 [[ 9.99833884e-01 1.12377097e-02 1.43498367e-02 1.63434579e+02] [-1.12149913e-02 9.99935728e-01 -1.66267868e-03 -3.20808398e+00] [-1.43675991e-02 1.50146919e-03 9.99895653e-01 -2.89305185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.678001145 meters 0.09320119718624101 Centerline is valid? [True, True] Translation: X:163.50, Y:-3.21, Z:-2.89 [[ 9.99792056e-01 1.37519030e-02 1.50575660e-02 1.63495870e+02] [-1.37271856e-02 9.99904257e-01 -1.74366011e-03 -3.20839656e+00] [-1.50801030e-02 1.53659952e-03 9.99885108e-01 -2.89488827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.738001145 meters 0.08653169444125756 Centerline is valid? [True, True] Translation: X:163.56, Y:-3.20, Z:-2.89 [[ 9.99754724e-01 1.65811250e-02 1.46819117e-02 1.63558024e+02] [-1.65579192e-02 9.99861462e-01 -1.70072623e-03 -3.19702776e+00] [-1.47080776e-02 1.45720717e-03 9.99890769e-01 -2.89314512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.798001145 meters 0.08664610070107094 Centerline is valid? [True, True] Translation: X:163.62, Y:-3.20, Z:-2.90 [[ 9.99707417e-01 1.84956853e-02 1.55881303e-02 1.63618505e+02] [-1.84697619e-02 9.99827789e-01 -1.80536132e-03 -3.20434940e+00] [-1.56188372e-02 1.51692404e-03 9.99876868e-01 -2.89578131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.858001145 meters 0.08117946671768396 Centerline is valid? [True, True] Translation: X:163.68, Y:-3.20, Z:-2.90 [[ 9.99631281e-01 2.13211000e-02 1.68140905e-02 1.63680370e+02] [-2.12913228e-02 9.99771416e-01 -1.94801050e-03 -3.19897673e+00] [-1.68517808e-02 1.58929800e-03 9.99856736e-01 -2.89610817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.918001145 meters 0.08382977982694666 Centerline is valid? [True, True] Translation: X:163.74, Y:-3.21, Z:-2.90 [[ 9.99617051e-01 2.29104867e-02 1.55196920e-02 1.63739860e+02] [-2.28853140e-02 9.99736481e-01 -1.79767123e-03 -3.20676126e+00] [-1.55567878e-02 1.44180979e-03 9.99877946e-01 -2.90018679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97800114499998 meters 0.08298687633400419 Centerline is valid? [True, True] Translation: X:163.80, Y:-3.21, Z:-2.90 [[ 9.99538964e-01 2.67334775e-02 1.43937529e-02 1.63799899e+02] [-2.67122068e-02 9.99641774e-01 -1.66803927e-03 -3.21130390e+00] [-1.44331892e-02 1.28278134e-03 9.99895013e-01 -2.90444233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03800114499998 meters 0.0825688344565257 Centerline is valid? [True, True] Translation: X:163.86, Y:-3.22, Z:-2.91 [[ 9.99422786e-01 3.03961458e-02 1.51713366e-02 1.63858253e+02] [-3.03729236e-02 9.99537089e-01 -1.75879055e-03 -3.21548326e+00] [-1.52177741e-02 1.29697750e-03 9.99883362e-01 -2.90639637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09800114499998 meters 0.09594014137441739 Centerline is valid? [True, True] Translation: X:163.91, Y:-3.24, Z:-2.91 [[ 9.99313343e-01 3.27344674e-02 1.73578897e-02 1.63914673e+02] [-3.27044433e-02 9.99463044e-01 -2.01083650e-03 -3.24173626e+00] [-1.74143930e-02 1.44177563e-03 9.99847318e-01 -2.91204339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.158001145 meters 0.07497658686565209 Centerline is valid? [True, True] Translation: X:163.98, Y:-3.21, Z:-2.90 [[ 9.99337783e-01 3.25227199e-02 1.63177312e-02 1.63977296e+02] [-3.24961451e-02 9.99470072e-01 -1.89117169e-03 -3.21298839e+00] [-1.63705901e-02 1.35965596e-03 9.99865068e-01 -2.90481893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.218001145 meters 0.0769171787258468 Centerline is valid? [True, True] Translation: X:164.03, Y:-3.23, Z:-2.91 [[ 9.99345787e-01 3.28852491e-02 1.50518522e-02 1.64033928e+02] [-3.28626857e-02 9.99458354e-01 -1.74400493e-03 -3.22518737e+00] [-1.51010515e-02 1.24821969e-03 9.99885194e-01 -2.90944065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.278001145 meters 0.08318835730593707 Centerline is valid? [True, True] Translation: X:164.09, Y:-3.24, Z:-2.91 [[ 9.99387220e-01 3.21676841e-02 1.37994576e-02 1.64090572e+02] [-3.21486842e-02 9.99481822e-01 -1.59654105e-03 -3.24186113e+00] [-1.38436640e-02 1.15192832e-03 9.99903508e-01 -2.91434629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.338001145 meters 0.07825144136848233 Centerline is valid? [True, True] Translation: X:164.15, Y:-3.24, Z:-2.91 [[ 9.99411801e-01 3.12520815e-02 1.41194415e-02 1.64150089e+02] [-3.12320904e-02 9.99510823e-01 -1.63419940e-03 -3.24007006e+00] [-1.41636068e-02 1.19225850e-03 9.99898980e-01 -2.91377161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.398001145 meters 0.07978033936936386 Centerline is valid? [True, True] Translation: X:164.21, Y:-3.25, Z:-2.92 [[ 9.99427959e-01 3.03789987e-02 1.48617346e-02 1.64207821e+02] [-3.03567712e-02 9.99537649e-01 -1.71898537e-03 -3.25205042e+00] [-1.49070843e-02 1.26684777e-03 9.99888081e-01 -2.91685242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.458001145 meters 0.08193788879306292 Centerline is valid? [True, True] Translation: X:164.27, Y:-3.26, Z:-2.92 [[ 9.99497579e-01 2.86039790e-02 1.36529437e-02 1.64267053e+02] [-2.85850806e-02 9.99590119e-01 -1.57738387e-03 -3.26339641e+00] [-1.36924671e-02 1.18632086e-03 9.99905550e-01 -2.91992386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.518001145 meters 0.08474603922195342 Centerline is valid? [True, True] Translation: X:164.33, Y:-3.27, Z:-2.92 [[ 9.99598061e-01 2.49470958e-02 1.34669415e-02 1.64326519e+02] [-2.49283903e-02 9.99688030e-01 -1.55510007e-03 -3.27412318e+00] [-1.35015355e-02 1.21876584e-03 9.99908107e-01 -2.92337432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.578001145 meters 0.08020308265261619 Centerline is valid? [True, True] Translation: X:164.39, Y:-3.27, Z:-2.92 [[ 9.99617253e-01 2.41309567e-02 1.35293914e-02 1.64386700e+02] [-2.41119915e-02 9.99708042e-01 -1.56317326e-03 -3.27326423e+00] [-1.35631623e-02 1.23635439e-03 9.99907252e-01 -2.92417211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.638001145 meters 0.0814211174206133 Centerline is valid? [True, True] Translation: X:164.45, Y:-3.28, Z:-2.93 [[ 9.99638466e-01 2.22059275e-02 1.51602959e-02 1.64445545e+02] [-2.21819043e-02 9.99752418e-01 -1.75094567e-03 -3.28324103e+00] [-1.51954238e-02 1.41402841e-03 9.99883543e-01 -2.92548898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.698001145 meters 0.08553319224036866 Centerline is valid? [True, True] Translation: X:164.50, Y:-3.29, Z:-2.93 [[ 9.99636402e-01 2.21676545e-02 1.53511858e-02 1.64503959e+02] [-2.21430321e-02 9.99753242e-01 -1.77208175e-03 -3.29392096e+00] [-1.53866807e-02 1.43151563e-03 9.99880593e-01 -2.92822244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75800114499998 meters 0.08427691055417551 Centerline is valid? [True, True] Translation: X:164.56, Y:-3.29, Z:-2.93 [[ 9.99564411e-01 2.46641618e-02 1.62070016e-02 1.64564886e+02] [-2.46370522e-02 9.99694712e-01 -1.87027112e-03 -3.29494646e+00] [-1.62481825e-02 1.47016371e-03 9.99866909e-01 -2.92989129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81800114499998 meters 0.08553467531141128 Centerline is valid? [True, True] Translation: X:164.62, Y:-3.30, Z:-2.93 [[ 9.99541145e-01 2.50861898e-02 1.69759666e-02 1.64624107e+02] [-2.50564972e-02 9.99684116e-01 -1.95957347e-03 -3.30249519e+00] [-1.70197624e-02 1.53331605e-03 9.99853978e-01 -2.93443850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87800114499998 meters 0.08499581885355689 Centerline is valid? [True, True] Translation: X:164.68, Y:-3.31, Z:-2.94 [[ 9.99557782e-01 2.46569247e-02 1.66215820e-02 1.64683965e+02] [-2.46284083e-02 9.99694834e-01 -1.91817403e-03 -3.30520219e+00] [-1.66638060e-02 1.50796267e-03 9.99860012e-01 -2.93601785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.938001145 meters 0.08529835227366382 Centerline is valid? [True, True] Translation: X:164.74, Y:-3.31, Z:-2.94 [[ 9.99640133e-01 2.22482199e-02 1.49873696e-02 1.64744283e+02] [-2.22247834e-02 9.99751505e-01 -1.72850892e-03 -3.30798875e+00] [-1.50221016e-02 1.39479584e-03 9.99886189e-01 -2.93954072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.998001145 meters 0.08535061201922818 Centerline is valid? [True, True] Translation: X:164.80, Y:-3.32, Z:-2.94 [[ 9.99721524e-01 1.85617082e-02 1.45717910e-02 1.64803675e+02] [-1.85391611e-02 9.99826722e-01 -1.68087938e-03 -3.31512750e+00] [-1.46004660e-02 1.41026251e-03 9.99892413e-01 -2.94351080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.058001145 meters 0.08925496162567939 Centerline is valid? [True, True] Translation: X:164.86, Y:-3.33, Z:-2.95 [[ 9.99777771e-01 1.40200847e-02 1.57431094e-02 1.64863170e+02] [-1.39932165e-02 9.99900442e-01 -1.81553271e-03 -3.32526830e+00] [-1.57669960e-02 1.59483251e-03 9.99874421e-01 -2.94604241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.118001145 meters 0.09407688296231748 Centerline is valid? [True, True] Translation: X:164.92, Y:-3.34, Z:-2.95 [[ 9.99826787e-01 1.04853992e-02 1.53770315e-02 1.64922479e+02] [-1.04593787e-02 9.99943730e-01 -1.77161719e-03 -3.33510852e+00] [-1.53947424e-02 1.61047612e-03 9.99880197e-01 -2.94827328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.178001145 meters 0.08826518789100102 Centerline is valid? [True, True] Translation: X:164.98, Y:-3.33, Z:-2.95 [[ 9.99842115e-01 7.23695484e-03 1.62287196e-02 1.64984106e+02] [-7.20751698e-03 9.99972274e-01 -1.87169178e-03 -3.33176457e+00] [-1.62418150e-02 1.75442750e-03 9.99866554e-01 -2.94897651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.238001145 meters 0.09085774379279625 Centerline is valid? [True, True] Translation: X:165.04, Y:-3.34, Z:-2.95 [[ 9.99853086e-01 1.70381887e-03 1.70558763e-02 1.65043449e+02] [-1.67048897e-03 9.99996668e-01 -1.96821527e-03 -3.34244849e+00] [-1.70591730e-02 1.93943446e-03 9.99852601e-01 -2.95088242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.298001145 meters 0.09763263378794458 Centerline is valid? [True, True] Translation: X:165.10, Y:-3.36, Z:-2.95 [[ 9.99864562e-01 1.07233112e-04 1.64574113e-02 1.65101913e+02] [-7.59856920e-05 9.99998193e-01 -1.89929733e-03 -3.35704293e+00] [-1.64575852e-02 1.89778956e-03 9.99862764e-01 -2.95456403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.358001145 meters 0.09607086490605848 Centerline is valid? [True, True] Translation: X:165.16, Y:-3.36, Z:-2.96 [[ 9.99865034e-01 9.26409390e-04 1.64029095e-02 1.65163503e+02] [-8.95489606e-04 9.99997809e-01 -1.89226274e-03 -3.35876452e+00] [-1.64046266e-02 1.87731872e-03 9.99863673e-01 -2.95662807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.418001145 meters 0.09772059560800292 Centerline is valid? [True, True] Translation: X:165.22, Y:-3.37, Z:-2.96 [[ 9.99853607e-01 2.01115352e-03 1.69917571e-02 1.65223927e+02] [-1.97811745e-03 9.99996121e-01 -1.96082422e-03 -3.36858664e+00] [-1.69956348e-02 1.92692548e-03 9.99853707e-01 -2.96117202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47800114499998 meters 0.1000199128552105 Centerline is valid? [True, False] Translation: X:165.23, Y:-3.36, Z:-2.96 [[ 9.99864638e-01 2.38749658e-03 1.62790117e-02 1.65226260e+02] [-2.35135904e-03 9.99994730e-01 -2.23866386e-03 -3.36478121e+00] [-1.62842707e-02 2.20008302e-03 9.99864982e-01 -2.96250533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53800114499998 meters 0.09149836051951839 Centerline is valid? [False, True] Translation: X:165.23, Y:-3.36, Z:-2.96 [[ 9.99872837e-01 2.71300735e-03 1.57146063e-02 1.65228054e+02] [-2.67699186e-03 9.99993743e-01 -2.31242993e-03 -3.36275594e+00] [-1.57207817e-02 2.27006800e-03 9.99873844e-01 -2.96347628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59800114499998 meters 0.09178009775632713 Centerline is valid? [True, True] Translation: X:165.29, Y:-3.37, Z:-2.97 [[ 9.99845500e-01 5.56712506e-03 1.66728166e-02 1.65288029e+02] [-5.53660142e-03 9.99982913e-01 -1.87634285e-03 -3.36978275e+00] [-1.66829776e-02 1.78374221e-03 9.99859238e-01 -2.96723453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.658001145 meters 0.10266642527498128 Centerline is valid? [True, False] Translation: X:165.30, Y:-3.36, Z:-2.96 [[ 9.99970232e-01 2.60057601e-03 7.26439936e-03 1.65301829e+02] [-2.61319983e-03 9.99995091e-01 1.72881411e-03 -3.36490501e+00] [-7.25986779e-03 -1.74774598e-03 9.99972119e-01 -2.96300294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.718001145 meters 0.09553966190135575 Centerline is valid? [False, True] Translation: X:165.30, Y:-3.36, Z:-2.96 [[ 9.99970702e-01 2.74014194e-03 7.14750814e-03 1.65302567e+02] [-2.75288674e-03 9.99994637e-01 1.77388293e-03 -3.36431704e+00] [-7.14260912e-03 -1.79350724e-03 9.99972883e-01 -2.96377938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.778001145 meters 0.08809034305755332 Centerline is valid? [True, True] Translation: X:165.37, Y:-3.36, Z:-2.96 [[ 9.99965552e-01 3.47918637e-03 7.53591807e-03 1.65366560e+02] [-3.47322277e-03 9.99993645e-01 -8.04299218e-04 -3.35506596e+00] [-7.53866849e-03 7.78097589e-04 9.99971281e-01 -2.96108476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.838001145 meters 0.0917379401063692 Centerline is valid? [True, True] Translation: X:165.43, Y:-3.36, Z:-2.96 [[ 9.99966419e-01 4.40063715e-03 6.91346637e-03 1.65426913e+02] [-4.39562917e-03 9.99990066e-01 -7.39407861e-04 -3.36443583e+00] [-6.91665155e-03 7.08993996e-04 9.99975828e-01 -2.96427027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.898001145 meters 0.09174832628062356 Centerline is valid? [True, True] Translation: X:165.49, Y:-3.37, Z:-2.97 [[ 9.99951936e-01 4.65460677e-03 8.62899372e-03 1.65489306e+02] [-4.64678674e-03 9.99988775e-01 -9.26078717e-04 -3.36682235e+00] [-8.63320739e-03 8.85937113e-04 9.99962341e-01 -2.96517556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.958001145 meters 0.09632779678705257 Centerline is valid? [True, True] Translation: X:165.55, Y:-3.38, Z:-2.97 [[ 9.99953526e-01 4.77869170e-03 8.37322025e-03 1.65549781e+02] [-4.77131438e-03 9.99988211e-01 -9.00815798e-04 -3.37713806e+00] [-8.37742626e-03 8.60822667e-04 9.99964538e-01 -2.96857911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.018001145 meters 0.09739049305017071 Centerline is valid? [True, True] Translation: X:165.61, Y:-3.38, Z:-2.97 [[ 9.99955020e-01 4.59441183e-03 8.29757193e-03 1.65611359e+02] [-4.58714937e-03 9.99989079e-01 -8.94071393e-04 -3.38368793e+00] [-8.30158905e-03 8.55968976e-04 9.99965175e-01 -2.97191405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.078001145 meters 0.09287842428316015 Centerline is valid? [True, True] Translation: X:165.67, Y:-3.38, Z:-2.97 [[ 9.99962035e-01 5.27750851e-03 6.93365152e-03 1.65674809e+02] [-5.27245162e-03 9.99985821e-01 -7.47403581e-04 -3.37809927e+00] [-6.93749764e-03 7.10817864e-04 9.99975683e-01 -2.97287334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.138001145 meters 0.09946637006414866 Centerline is valid? [True, True] Translation: X:165.73, Y:-3.39, Z:-2.98 [[ 9.99964545e-01 5.61784324e-03 6.27278312e-03 1.65734205e+02] [-5.61370305e-03 9.99984014e-01 -6.77436438e-04 -3.39417826e+00] [-6.27648857e-03 6.42198878e-04 9.99980096e-01 -2.97839948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.198001145 meters 0.09509296800262491 Centerline is valid? [True, True] Translation: X:165.80, Y:-3.39, Z:-2.98 [[ 9.99946473e-01 7.70910541e-03 6.90072053e-03 1.65795150e+02] [-7.70409699e-03 9.99970040e-01 -7.52069796e-04 -3.39174341e+00] [-6.90631157e-03 6.98865721e-04 9.99975907e-01 -2.97862923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25800114499998 meters 0.09582043066929594 Centerline is valid? [True, True] Translation: X:165.86, Y:-3.40, Z:-2.98 [[ 9.99945975e-01 7.99106901e-03 6.64752943e-03 1.65855509e+02] [-7.98642589e-03 9.99967845e-01 -7.24725070e-04 -3.39806833e+00] [-6.65310700e-03 6.71595915e-04 9.99977642e-01 -2.98057156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.31800114499998 meters 0.09681411022620423 Centerline is valid? [True, True] Translation: X:165.91, Y:-3.40, Z:-2.98 [[ 9.99931516e-01 1.01867974e-02 5.76125171e-03 1.65914929e+02] [-1.01833460e-02 9.99947951e-01 -6.28101552e-04 -3.40474722e+00] [-5.76735019e-03 5.69389717e-04 9.99983207e-01 -2.98447970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.37800114499998 meters 0.0882458892275814 Centerline is valid? [True, True] Translation: X:165.98, Y:-3.40, Z:-2.98 [[ 9.99924109e-01 1.14387105e-02 4.57521793e-03 1.65975829e+02] [-1.14365430e-02 9.99934476e-01 -4.99647403e-04 -3.39707536e+00] [-4.58063347e-03 4.47284808e-04 9.99989409e-01 -2.98488869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.438001145 meters 0.09854640249200058 Centerline is valid? [True, True] Translation: X:166.03, Y:-3.42, Z:-2.99 [[ 9.99894980e-01 1.37923759e-02 4.44958765e-03 1.66032805e+02] [-1.37903508e-02 9.99904791e-01 -4.85479418e-04 -3.41854212e+00] [-4.45585992e-03 4.24067058e-04 9.99989983e-01 -2.99112681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.498001145 meters 0.09297090489995363 Centerline is valid? [True, True] Translation: X:166.09, Y:-3.42, Z:-2.99 [[ 9.99841012e-01 1.72675025e-02 4.44782012e-03 1.66093890e+02] [-1.72655120e-02 9.99850822e-01 -4.85536615e-04 -3.41571274e+00] [-4.45554061e-03 4.08665530e-04 9.99989991e-01 -2.99146166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.558001145 meters 0.08397610329126969 Centerline is valid? [True, True] Translation: X:166.16, Y:-3.41, Z:-2.99 [[ 9.99741159e-01 2.23677898e-02 4.15900345e-03 1.66155691e+02] [-2.23660965e-02 9.99749745e-01 -4.53208943e-04 -3.40668679e+00] [-4.16809992e-03 3.60070962e-04 9.99991249e-01 -2.98922246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.618001145 meters 0.08026800788971214 Centerline is valid? [True, True] Translation: X:166.22, Y:-3.40, Z:-2.99 [[ 9.99604944e-01 2.75345775e-02 5.63936204e-03 1.66216511e+02] [-2.75315462e-02 9.99620746e-01 -6.14456502e-04 -3.40491308e+00] [-5.65414209e-03 4.58953401e-04 9.99983910e-01 -2.98694264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.678001145 meters 0.07734731961095205 Centerline is valid? [True, True] Translation: X:166.28, Y:-3.41, Z:-2.99 [[ 9.99510175e-01 3.07096964e-02 6.02706993e-03 1.66277499e+02] [-3.07062924e-02 9.99528235e-01 -6.56528053e-04 -3.40743325e+00] [-6.04438835e-03 4.71137497e-04 9.99981622e-01 -2.98762467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.738001145 meters 0.08366007191853407 Centerline is valid? [True, True] Translation: X:166.33, Y:-3.43, Z:-2.99 [[ 9.99401845e-01 3.43000079e-02 4.41150255e-03 1.66334686e+02] [-3.42982170e-02 9.99411527e-01 -4.81002345e-04 -3.42723732e+00] [-4.42540489e-03 3.29407960e-04 9.99990154e-01 -2.99471333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.798001145 meters 0.07651595823139165 Centerline is valid? [True, True] Translation: X:166.40, Y:-3.42, Z:-2.99 [[ 9.99292211e-01 3.74251299e-02 3.79961835e-03 1.66395719e+02] [-3.74238251e-02 9.99299398e-01 -4.13944969e-04 -3.42139887e+00] [-3.81244828e-03 2.71455730e-04 9.99992696e-01 -2.99250875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.858001145 meters 0.07473949387141306 Centerline is valid? [True, True] Translation: X:166.46, Y:-3.43, Z:-2.99 [[ 9.99183255e-01 4.03437895e-02 2.28048574e-03 1.66455360e+02] [-4.03433263e-02 9.99185846e-01 -2.48765502e-04 -3.42651593e+00] [-2.28866521e-03 1.56559944e-04 9.99997369e-01 -2.99404763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.918001145 meters 0.07624962218924584 Centerline is valid? [True, True] Translation: X:166.51, Y:-3.44, Z:-3.00 [[ 9.99136953e-01 4.14117635e-02 3.22711380e-03 1.66512799e+02] [-4.14108382e-02 9.99142141e-01 -3.53034260e-04 -3.43856409e+00] [-3.23896516e-03 2.19092087e-04 9.99994731e-01 -2.99687272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97800114499998 meters 0.0778647137182362 Centerline is valid? [True, True] Translation: X:166.57, Y:-3.45, Z:-3.00 [[ 9.99154170e-01 4.10415545e-02 2.55647127e-03 1.66569083e+02] [-4.10409670e-02 9.99157425e-01 -2.81890695e-04 -3.44991990e+00] [-2.56588648e-03 1.76732210e-04 9.99996692e-01 -3.00037213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03800114499998 meters 0.07738368927318509 Centerline is valid? [True, True] Translation: X:166.63, Y:-3.46, Z:-3.00 [[ 9.99240020e-01 3.88962890e-02 2.54170248e-03 1.66629100e+02] [-3.88957117e-02 9.99243237e-01 -2.76207074e-04 -3.45766040e+00] [-2.55052245e-03 1.77135835e-04 9.99996732e-01 -3.00011248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.09800114499998 meters 0.08008313783830623 Centerline is valid? [True, True] Translation: X:166.69, Y:-3.47, Z:-3.00 [[ 9.99337751e-01 3.63240021e-02 2.15073958e-03 1.66687814e+02] [-3.63235819e-02 9.99340054e-01 -2.34147388e-04 -3.47205352e+00] [-2.15782538e-03 1.55869759e-04 9.99997660e-01 -3.00296929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.158001145 meters 0.08721539779147201 Centerline is valid? [True, True] Translation: X:166.74, Y:-3.49, Z:-3.01 [[ 9.99548634e-01 2.98976816e-02 2.94219223e-03 1.66744936e+02] [-2.98968694e-02 9.99552938e-01 -3.19641691e-04 -3.49492358e+00] [-2.95043344e-03 2.31535079e-04 9.99995621e-01 -3.00619798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.218001145 meters 0.08384591895604138 Centerline is valid? [True, True] Translation: X:166.81, Y:-3.50, Z:-3.00 [[ 9.99714701e-01 2.36990904e-02 2.97806463e-03 1.66805113e+02] [-2.36982307e-02 9.99719105e-01 -3.23623311e-04 -3.49825339e+00] [-2.98489768e-03 2.52956119e-04 9.99995513e-01 -3.00411860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.278001145 meters 0.08546152824025051 Centerline is valid? [True, True] Translation: X:166.86, Y:-3.51, Z:-3.01 [[ 9.99790686e-01 2.03552635e-02 2.06114316e-03 1.66864425e+02] [-2.03548448e-02 9.99792794e-01 -2.23937549e-04 -3.50923025e+00] [-2.06527439e-03 1.81936427e-04 9.99997851e-01 -3.00644684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.338001145 meters 0.08542906572033436 Centerline is valid? [True, True] Translation: X:166.92, Y:-3.52, Z:-3.01 [[ 9.99861419e-01 1.64781363e-02 2.36937220e-03 1.66924319e+02] [-1.64775722e-02 9.99864202e-01 -2.57413853e-04 -3.51918605e+00] [-2.37329215e-03 2.18336679e-04 9.99997160e-01 -3.00914648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.398001145 meters 0.08740598012965253 Centerline is valid? [True, True] Translation: X:166.98, Y:-3.53, Z:-3.01 [[ 9.99875068e-01 1.54266497e-02 3.44488899e-03 1.66981733e+02] [-1.54254434e-02 9.99880950e-01 -3.76478338e-04 -3.53065718e+00] [-3.45028668e-03 3.23292364e-04 9.99993995e-01 -3.00921277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.458001145 meters 0.0909820010513399 Centerline is valid? [True, True] Translation: X:167.04, Y:-3.54, Z:-3.01 [[ 9.99857342e-01 1.68149087e-02 1.59825393e-03 1.67038558e+02] [-1.68146497e-02 9.99858608e-01 -1.75361255e-04 -3.54473275e+00] [-1.60097664e-03 1.48462159e-04 9.99998707e-01 -3.01390066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.518001145 meters 0.08460123162945205 Centerline is valid? [True, True] Translation: X:167.10, Y:-3.54, Z:-3.01 [[ 9.99787503e-01 2.05683743e-02 1.37508602e-03 1.67099632e+02] [-2.05681880e-02 9.99788441e-01 -1.49448150e-04 -3.54223760e+00] [-1.37786901e-03 1.21133365e-04 9.99999043e-01 -3.01489155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.578001145 meters 0.08667519737238295 Centerline is valid? [True, True] Translation: X:167.16, Y:-3.55, Z:-3.02 [[ 9.99733147e-01 2.29937072e-02 2.21920883e-03 1.67158066e+02] [-2.29932277e-02 9.99735592e-01 -2.41323681e-04 -3.55405459e+00] [-2.22417098e-03 1.90232509e-04 9.99997508e-01 -3.01820120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.638001145 meters 0.07747931405781483 Centerline is valid? [True, True] Translation: X:167.22, Y:-3.54, Z:-3.01 [[ 9.99580259e-01 2.88049424e-02 3.09539213e-03 1.67219821e+02] [-2.88040396e-02 9.99585021e-01 -3.35874396e-04 -3.54440992e+00] [-3.10378245e-03 2.46573619e-04 9.99995153e-01 -3.01487190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.698001145 meters 0.08078931277712756 Centerline is valid? [True, True] Translation: X:167.28, Y:-3.56, Z:-3.02 [[ 9.99435958e-01 3.34012263e-02 3.48201963e-03 1.67277463e+02] [-3.34001094e-02 9.99441989e-01 -3.78433537e-04 -3.55946074e+00] [-3.49271677e-03 2.61920248e-04 9.99993866e-01 -3.02137926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75800114499998 meters 0.07215073522467579 Centerline is valid? [True, True] Translation: X:167.34, Y:-3.55, Z:-3.02 [[ 9.99155909e-01 4.10122770e-02 2.33708087e-03 1.67339030e+02] [-4.10117956e-02 9.99158630e-01 -2.53548770e-04 -3.55165492e+00] [-2.34551313e-03 1.57486869e-04 9.99997237e-01 -3.01832302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.81800114499998 meters 0.07147852253355046 Centerline is valid? [True, True] Translation: X:167.40, Y:-3.56, Z:-3.02 [[ 9.98927601e-01 4.61037544e-02 4.25334504e-03 1.67397683e+02] [-4.61022019e-02 9.98936621e-01 -4.62398713e-04 -3.55759098e+00] [-4.27014044e-03 2.65814266e-04 9.99990848e-01 -3.01898062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.87800114499998 meters 0.06979507879991957 Centerline is valid? [True, True] Translation: X:167.46, Y:-3.57, Z:-3.02 [[ 9.98608430e-01 5.25800888e-02 4.06669767e-03 1.67457245e+02] [-5.25787270e-02 9.98616685e-01 -4.41131668e-04 -3.56602231e+00] [-4.08426689e-03 2.26696016e-04 9.99991634e-01 -3.02118055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.938001145 meters 0.07245613178128268 Centerline is valid? [True, True] Translation: X:167.52, Y:-3.58, Z:-3.03 [[ 9.98402354e-01 5.63172413e-02 4.59426147e-03 1.67515099e+02] [-5.63155419e-02 9.98412896e-01 -4.98545580e-04 -3.58256995e+00] [-4.61504661e-03 2.39020757e-04 9.99989322e-01 -3.02621965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.998001145 meters 0.06822422098679161 Centerline is valid? [True, True] Translation: X:167.58, Y:-3.58, Z:-3.02 [[ 9.98165411e-01 6.03579317e-02 4.76780179e-03 1.67575584e+02] [-6.03561489e-02 9.98176772e-01 -5.17063146e-04 -3.58306674e+00] [-4.79031786e-03 2.28348393e-04 9.99988500e-01 -3.02282933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.058001145 meters 0.06742849519461389 Centerline is valid? [True, True] Translation: X:167.63, Y:-3.59, Z:-3.02 [[ 9.98144373e-01 6.04854583e-02 7.02280461e-03 1.67633279e+02] [-6.04815617e-02 9.98169021e-01 -7.66091350e-04 -3.59452259e+00] [-7.05628338e-03 3.39919580e-04 9.99975046e-01 -3.02166816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.118001145 meters 0.06814327050981989 Centerline is valid? [True, True] Translation: X:167.69, Y:-3.61, Z:-3.02 [[ 9.98268297e-01 5.82676576e-02 8.08005541e-03 1.67690679e+02] [-5.82624494e-02 9.98300914e-01 -8.78669912e-04 -3.60786032e+00] [-8.11752473e-03 4.06384497e-04 9.99966970e-01 -3.02258525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.178001145 meters 0.0693662844777968 Centerline is valid? [True, True] Translation: X:167.75, Y:-3.62, Z:-3.02 [[ 9.98415465e-01 5.56729243e-02 8.19049452e-03 1.67748346e+02] [-5.56675346e-02 9.98448969e-01 -8.84738252e-04 -3.62148769e+00] [-8.22704677e-03 4.27391717e-04 9.99966066e-01 -3.02226908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.238001145 meters 0.07100480013279022 Centerline is valid? [True, True] Translation: X:167.81, Y:-3.64, Z:-3.02 [[ 9.98604693e-01 5.21116986e-02 8.54617786e-03 1.67806967e+02] [-5.21057106e-02 9.98641149e-01 -9.21980233e-04 -3.63692658e+00] [-8.58261084e-03 4.75389117e-04 9.99963056e-01 -3.02422010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.298001145 meters 0.07415506862176288 Centerline is valid? [True, True] Translation: X:167.86, Y:-3.66, Z:-3.03 [[ 9.98871132e-01 4.66435016e-02 8.99144049e-03 1.67864637e+02] [-4.66366562e-02 9.98911449e-01 -9.69604928e-04 -3.65859166e+00] [-9.02687862e-03 5.49179652e-04 9.99959106e-01 -3.02873807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.358001145 meters 0.07843084437735127 Centerline is valid? [True, True] Translation: X:167.92, Y:-3.68, Z:-3.03 [[ 9.99197220e-01 3.88101331e-02 9.93421791e-03 1.67922196e+02] [-3.88013930e-02 9.99246368e-01 -1.07110472e-03 -3.67990144e+00] [-9.96830088e-03 6.84783365e-04 9.99950081e-01 -3.03070155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.418001145 meters 0.08200777700966147 Centerline is valid? [True, True] Translation: X:167.98, Y:-3.70, Z:-3.03 [[ 9.99416641e-01 3.28765402e-02 9.24720609e-03 1.67980725e+02] [-3.28687126e-02 9.99459180e-01 -9.97234000e-04 -3.69677297e+00] [-9.27499062e-03 6.92708496e-04 9.99956746e-01 -3.03393043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47800114499998 meters 0.08288278253257497 Centerline is valid? [True, True] Translation: X:168.04, Y:-3.71, Z:-3.03 [[ 9.99683616e-01 2.30155950e-02 1.01464311e-02 1.68040593e+02] [-2.30056679e-02 9.99734736e-01 -1.09402209e-03 -3.70763485e+00] [-1.01689192e-02 8.60250537e-04 9.99947925e-01 -3.03493977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53800114499998 meters 0.08161755899536234 Centerline is valid? [True, True] Translation: X:168.10, Y:-3.71, Z:-3.04 [[ 9.99795431e-01 1.78866012e-02 9.44280259e-03 1.68100437e+02] [-1.78777750e-02 9.99839661e-01 -1.01829486e-03 -3.71232420e+00] [-9.45950238e-03 8.49270245e-04 9.99954897e-01 -3.03596484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.59800114499998 meters 0.08614349001718898 Centerline is valid? [True, True] Translation: X:168.16, Y:-3.72, Z:-3.04 [[ 9.99918206e-01 1.05006897e-02 7.30188977e-03 1.68160211e+02] [-1.04952189e-02 9.99944614e-01 -7.87143571e-04 -3.72461031e+00] [-7.30975090e-03 7.10444256e-04 9.99973031e-01 -3.04120067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.658001145 meters 0.08804174555198384 Centerline is valid? [True, True] Translation: X:168.22, Y:-3.73, Z:-3.05 [[ 9.99952911e-01 6.71620331e-03 7.00495479e-03 1.68220098e+02] [-6.71107724e-03 9.99977195e-01 -7.55027032e-04 -3.73314176e+00] [-7.00986596e-03 7.07980686e-04 9.99975180e-01 -3.04506878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.718001145 meters 0.09229487442945043 Centerline is valid? [True, True] Translation: X:168.28, Y:-3.74, Z:-3.05 [[ 9.99955012e-01 2.99845536e-03 8.99905503e-03 1.68279862e+02] [-2.98985226e-03 9.99995061e-01 -9.69302405e-04 -3.73988805e+00] [-9.00191699e-03 9.42352954e-04 9.99959038e-01 -3.04694110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.778001145 meters 0.0962872866401347 Centerline is valid? [True, True] Translation: X:168.34, Y:-3.74, Z:-3.05 [[ 9.99968844e-01 1.69592390e-03 7.70941906e-03 1.68340054e+02] [-1.68957038e-03 9.99998228e-01 -8.30562103e-04 -3.74433064e+00] [-7.71081397e-03 8.17510619e-04 9.99969937e-01 -3.05319572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.838001145 meters 0.0867973157438542 Centerline is valid? [True, True] Translation: X:168.41, Y:-3.73, Z:-3.05 [[ 9.99974581e-01 2.08871805e-03 6.81727462e-03 1.68405258e+02] [-2.08379549e-03 9.99997563e-01 -7.29095301e-04 -3.72811615e+00] [-6.81878088e-03 7.14870962e-04 9.99976496e-01 -3.05361629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.898001145 meters 0.09121748026608462 Centerline is valid? [True, True] Translation: X:168.47, Y:-3.73, Z:-3.06 [[ 9.99983513e-01 2.81324799e-03 5.00597087e-03 1.68467014e+02] [-2.81059988e-03 9.99995907e-01 -5.35946196e-04 -3.72970807e+00] [-5.00745813e-03 5.21867578e-04 9.99987326e-01 -3.05876955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.958001145 meters 0.09086944943529131 Centerline is valid? [True, True] Translation: X:168.53, Y:-3.73, Z:-3.06 [[ 9.99983101e-01 3.32543554e-03 4.76851064e-03 1.68529366e+02] [-3.32301477e-03 9.99994346e-01 -5.15490856e-04 -3.72829691e+00] [-4.77019791e-03 4.99636314e-04 9.99988498e-01 -3.06184885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.018001145 meters 0.09413448163293482 Centerline is valid? [True, True] Translation: X:168.59, Y:-3.73, Z:-3.07 [[ 9.99987507e-01 3.70131704e-03 3.35946400e-03 1.68590669e+02] [-3.70013302e-03 9.99993090e-01 -3.58592825e-04 -3.72799135e+00] [-3.36076806e-03 3.46157881e-04 9.99994293e-01 -3.06706352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.078001145 meters 0.09799309151445261 Centerline is valid? [True, True] Translation: X:168.65, Y:-3.73, Z:-3.07 [[ 9.99988075e-01 3.65085376e-03 3.24348054e-03 1.68651009e+02] [-3.64973134e-03 9.99993278e-01 -3.51907441e-04 -3.72715022e+00] [-3.24474350e-03 3.40065412e-04 9.99994678e-01 -3.07034123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.138001145 meters 0.09870627923799734 Centerline is valid? [True, True] Translation: X:168.71, Y:-3.73, Z:-3.07 [[ 9.99990504e-01 3.59909800e-03 2.45742977e-03 1.68712467e+02] [-3.59845264e-03 9.99993490e-01 -2.66985551e-04 -3.72500146e+00] [-2.45837468e-03 2.58140071e-04 9.99996945e-01 -3.07396903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.198001145 meters 0.09486351153803875 Centerline is valid? [True, True] Translation: X:168.77, Y:-3.71, Z:-3.07 [[ 9.99989155e-01 1.82091572e-03 4.28661019e-03 1.68774939e+02] [-1.81893589e-03 9.99998237e-01 -4.65715440e-04 -3.71063580e+00] [-4.28745066e-03 4.57913320e-04 9.99990704e-01 -3.07334693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25800114499998 meters 0.10540020903401094 Centerline is valid? [True, False] Translation: X:168.79, Y:-3.70, Z:-3.07 [[ 9.99993968e-01 -1.86044972e-03 -2.93305001e-03 1.68787253e+02] [ 1.87244468e-03 9.99989874e-01 4.09215679e-03 -3.70150946e+00] [ 2.92540706e-03 -4.09762408e-03 9.99987326e-01 -3.07123066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31800114499998 meters 0.1015812633007437 Centerline is valid? [False, False] Translation: X:168.79, Y:-3.69, Z:-3.07 [[ 9.99996743e-01 3.46494189e-04 -2.52865018e-03 1.68788434e+02] [-3.33984839e-04 9.99987714e-01 4.94579315e-03 -3.68905923e+00] [ 2.53033280e-03 -4.94493251e-03 9.99984572e-01 -3.07367146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37800114499998 meters 0.10385604732759156 Centerline is valid? [False, False] Translation: X:168.79, Y:-3.68, Z:-3.07 [[ 9.99996493e-01 -2.52608582e-04 -2.63628433e-03 1.68789535e+02] [ 2.62068840e-04 9.99993526e-01 3.58875371e-03 -3.68319940e+00] [ 2.63536071e-03 -3.58943201e-03 9.99990085e-01 -3.07482888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.438001145 meters 0.10998014811865273 Centerline is valid? [False, False] Translation: X:168.79, Y:-3.67, Z:-3.08 [[ 9.99995830e-01 -1.87751679e-03 -2.19449820e-03 1.68788888e+02] [ 1.87984530e-03 9.99997672e-01 1.05948586e-03 -3.67467330e+00] [ 2.19250389e-03 -1.06360676e-03 9.99997031e-01 -3.07506876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.498001145 meters 0.11861559921449707 Centerline is valid? [False, False] Translation: X:168.79, Y:-3.67, Z:-3.07 [[ 9.99991889e-01 -3.57997596e-03 -1.84533046e-03 1.68787373e+02] [ 3.57718118e-03 9.99992453e-01 -1.51559821e-03 -3.66655442e+00] [ 1.85074234e-03 1.50898484e-03 9.99997149e-01 -3.07393881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.558001145 meters 0.12141321375288414 Centerline is valid? [False, False] Translation: X:168.79, Y:-3.66, Z:-3.07 [[ 9.99990057e-01 -4.19979524e-03 -1.49952435e-03 1.68786812e+02] [ 4.19621416e-03 9.99988356e-01 -2.38336025e-03 -3.66353336e+00] [ 1.50951651e-03 2.37704422e-03 9.99996036e-01 -3.07415314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.618001145 meters 0.12402826094934337 Centerline is valid? [False, False] Translation: X:168.79, Y:-3.66, Z:-3.07 [[ 9.99989101e-01 -4.47585039e-03 -1.32816964e-03 1.68786487e+02] [ 4.47218051e-03 9.99986209e-01 -2.75333629e-03 -3.66215562e+00] [ 1.34047484e-03 2.74736647e-03 9.99995328e-01 -3.07419161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.678001145 meters 0.13017721961232456 Centerline is valid? [False, False] Translation: X:168.79, Y:-3.66, Z:-3.08 [[ 9.99991041e-01 -4.15680638e-03 -7.98926391e-04 1.68786321e+02] [ 4.15540090e-03 9.99989830e-01 -1.75288616e-03 -3.66441500e+00] [ 8.06204674e-04 1.74955060e-03 9.99998145e-01 -3.07576876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.738001145 meters 0.1325429276579759 Centerline is valid? [False, False] Translation: X:168.79, Y:-3.67, Z:-3.08 [[ 9.99992023e-01 -3.94412380e-03 -6.30795079e-04 1.68786148e+02] [ 3.94335885e-03 9.99991494e-01 -1.20935234e-03 -3.66608177e+00] [ 6.35559549e-04 1.20685524e-03 9.99999070e-01 -3.07607845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.798001145 meters 0.13578638358527972 Centerline is valid? [False, False] Translation: X:168.78, Y:-3.67, Z:-3.08 [[ 9.99992178e-01 -3.94259864e-03 -3.15503277e-04 1.68784843e+02] [ 3.94235160e-03 9.99991925e-01 -7.79823704e-04 -3.66879687e+00] [ 3.18575261e-04 7.78573780e-04 9.99999646e-01 -3.07515218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.858001145 meters 0.13810571113745906 Centerline is valid? [False, False] Translation: X:168.78, Y:-3.67, Z:-3.08 [[ 9.99994926e-01 -3.18208681e-03 -1.46478379e-04 1.68784784e+02] [ 3.18218311e-03 9.99994718e-01 6.61950741e-04 -3.67371218e+00] [ 1.44371221e-04 -6.62413503e-04 9.99999770e-01 -3.07558801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.918001145 meters 0.1288611026673023 Centerline is valid? [False, False] Translation: X:168.78, Y:-3.68, Z:-3.07 [[ 9.99995800e-01 -2.89767976e-03 5.25496476e-05 1.68783747e+02] [ 2.89759604e-03 9.99994633e-01 1.52879436e-03 -3.67793329e+00] [-5.69793220e-05 -1.52863567e-03 9.99998830e-01 -3.07472034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97800114499998 meters 0.1259836855181988 Centerline is valid? [False, False] Translation: X:168.79, Y:-3.68, Z:-3.08 [[ 9.99984997e-01 -5.38023668e-03 -1.02930433e-03 1.68786509e+02] [ 5.37961837e-03 9.99985348e-01 -6.02534224e-04 -3.68372592e+00] [ 1.03253103e-03 5.96987919e-04 9.99999289e-01 -3.07537781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03800114499998 meters 0.12815921962084914 Centerline is valid? [False, False] Translation: X:168.78, Y:-3.69, Z:-3.08 [[ 9.99980326e-01 -7.39989154e-04 6.22894927e-03 1.68776142e+02] [ 7.55944532e-04 9.99996439e-01 -2.55952336e-03 -3.69099702e+00] [-6.22703307e-03 2.56418174e-03 9.99977324e-01 -3.07845149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.09800114499998 meters 0.12777308156005399 Centerline is valid? [False, False] Translation: X:168.78, Y:-3.69, Z:-3.08 [[ 9.99981350e-01 2.56582327e-06 6.10733506e-03 1.68776936e+02] [ 5.40460978e-06 9.99999148e-01 -1.30504221e-03 -3.69408295e+00] [-6.10733321e-03 1.30505088e-03 9.99980498e-01 -3.07934811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.158001145 meters 0.1144074148700939 Centerline is valid? [False, False] Translation: X:168.78, Y:-3.70, Z:-3.08 [[ 9.99980685e-01 -2.87783737e-03 5.50888413e-03 1.68777443e+02] [ 2.89705107e-03 9.99989738e-01 -3.48296821e-03 -3.70157558e+00] [-5.49880418e-03 3.49886046e-03 9.99978760e-01 -3.07845202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.218001145 meters 0.12329124318570311 Centerline is valid? [False, False] Translation: X:168.78, Y:-3.71, Z:-3.08 [[ 9.99981148e-01 -2.05042454e-03 5.78792401e-03 1.68776697e+02] [ 2.05975268e-03 9.99996589e-01 -1.60615499e-03 -3.70897408e+00] [-5.78461096e-03 1.61804640e-03 9.99981960e-01 -3.07824865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.278001145 meters 0.11472276528754351 Centerline is valid? [False, False] Translation: X:168.78, Y:-3.72, Z:-3.08 [[ 9.99974484e-01 -4.80647612e-03 5.28486327e-03 1.68776152e+02] [ 4.82419039e-03 9.99982771e-01 -3.34426529e-03 -3.71782709e+00] [-5.26869809e-03 3.36967514e-03 9.99980443e-01 -3.07640981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.338001145 meters 0.11108598961299308 Centerline is valid? [False, False] Translation: X:168.77, Y:-3.73, Z:-3.08 [[ 9.99978073e-01 -3.70916645e-03 5.48601503e-03 1.68774723e+02] [ 3.71456078e-03 9.99992627e-01 -9.73425015e-04 -3.72766971e+00] [-5.48236398e-03 9.93781807e-04 9.99984478e-01 -3.07509886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.398001145 meters 0.11120382228163901 Centerline is valid? [False, False] Translation: X:168.78, Y:-3.73, Z:-3.08 [[ 9.99982331e-01 -2.47596265e-03 5.40442693e-03 1.68775237e+02] [ 2.46944763e-03 9.99996217e-01 1.21183699e-03 -3.73448235e+00] [-5.40740695e-03 -1.19846962e-03 9.99984662e-01 -3.07578960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.458001145 meters 0.10462510453314768 Centerline is valid? [False, False] Translation: X:168.78, Y:-3.74, Z:-3.08 [[ 9.99986355e-01 -1.04491128e-03 5.11845823e-03 1.68775696e+02] [ 1.02601835e-03 9.99992657e-01 3.69237301e-03 -3.74300943e+00] [-5.12227885e-03 -3.68707100e-03 9.99980084e-01 -3.07579572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.518001145 meters 0.09791709460672779 Centerline is valid? [False, True] Translation: X:168.78, Y:-3.75, Z:-3.08 [[ 9.99987199e-01 -8.03604977e-05 5.05915281e-03 1.68775910e+02] [ 5.19483401e-05 9.99984230e-01 5.61587212e-03 -3.74885761e+00] [-5.05952432e-03 -5.61553742e-03 9.99971433e-01 -3.07614601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.578001145 meters 0.0946122776931104 Centerline is valid? [True, True] Translation: X:168.84, Y:-3.76, Z:-3.07 [[ 9.99985362e-01 2.96331785e-03 4.52700782e-03 1.68836160e+02] [-2.96096955e-03 9.99995478e-01 -5.25347046e-04 -3.75931735e+00] [-4.52854412e-03 5.11935024e-04 9.99989615e-01 -3.07337606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.638001145 meters 0.0917906300733769 Centerline is valid? [True, True] Translation: X:168.90, Y:-3.77, Z:-3.07 [[ 9.99975530e-01 5.58830593e-03 4.20825778e-03 1.68895574e+02] [-5.58629921e-03 9.99984277e-01 -4.88457848e-04 -3.77166922e+00] [-4.21092126e-03 4.64937308e-04 9.99991026e-01 -3.07164717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.698001145 meters 0.0890451873837384 Centerline is valid? [True, True] Translation: X:168.96, Y:-3.78, Z:-3.07 [[ 9.99971588e-01 6.49611183e-03 3.82406564e-03 1.68955207e+02] [-6.49446129e-03 9.99978812e-01 -4.43879390e-04 -3.78155631e+00] [-3.82686811e-03 4.19031533e-04 9.99992590e-01 -3.07236935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75800114499998 meters 0.09360495250982738 Centerline is valid? [True, True] Translation: X:169.01, Y:-3.81, Z:-3.07 [[ 9.99973427e-01 6.58025225e-03 3.13788880e-03 1.69011335e+02] [-6.57914011e-03 9.99978291e-01 -3.64616791e-04 -3.80969780e+00] [-3.14021995e-03 3.43962491e-04 9.99995010e-01 -3.07489838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.81800114499998 meters 0.08843164062627894 Centerline is valid? [True, True] Translation: X:169.07, Y:-3.82, Z:-3.07 [[ 9.99956271e-01 8.87488841e-03 2.94844735e-03 1.69071074e+02] [-8.87391734e-03 9.99960567e-01 -3.42265761e-04 -3.81775251e+00] [-2.95136866e-03 3.16086516e-04 9.99995595e-01 -3.07481593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.87800114499998 meters 0.08774788175850406 Centerline is valid? [True, True] Translation: X:169.13, Y:-3.83, Z:-3.08 [[ 9.99925340e-01 1.18792791e-02 2.86323295e-03 1.69130323e+02] [-1.18783756e-02 9.99929394e-01 -3.32357145e-04 -3.82892280e+00] [-2.86697896e-03 2.98321775e-04 9.99995846e-01 -3.07592719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.938001145 meters 0.08801714525317793 Centerline is valid? [True, True] Translation: X:169.19, Y:-3.85, Z:-3.08 [[ 9.99879293e-01 1.52684617e-02 2.87625623e-03 1.69187567e+02] [-1.52675612e-02 9.99883388e-01 -3.34797267e-04 -3.84531673e+00] [-2.88103267e-03 2.90843437e-04 9.99995808e-01 -3.07877371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.998001145 meters 0.08817846221681205 Centerline is valid? [True, True] Translation: X:169.25, Y:-3.86, Z:-3.08 [[ 9.99843050e-01 1.75290798e-02 2.57026773e-03 1.69246713e+02] [-1.75283704e-02 9.99846322e-01 -2.98292354e-04 -3.85696186e+00] [-2.57510152e-03 2.53192933e-04 9.99996652e-01 -3.08123154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.058001145 meters 0.08517924298459924 Centerline is valid? [True, True] Translation: X:169.31, Y:-3.86, Z:-3.08 [[ 9.99821697e-01 1.84927882e-02 3.81988527e-03 1.69305918e+02] [-1.84912261e-02 9.99828924e-01 -4.43870477e-04 -3.86449676e+00] [-3.82744018e-03 3.73156972e-04 9.99992606e-01 -3.08198977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.118001145 meters 0.08552651766792294 Centerline is valid? [True, True] Translation: X:169.36, Y:-3.88, Z:-3.08 [[ 9.99810791e-01 1.86256142e-02 5.60967853e-03 1.69364298e+02] [-1.86222487e-02 9.99826379e-01 -6.51584023e-04 -3.87555292e+00] [-5.62084072e-03 5.46995909e-04 9.99984053e-01 -3.08230451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.178001145 meters 0.0883645129320778 Centerline is valid? [True, True] Translation: X:169.42, Y:-3.89, Z:-3.09 [[ 9.99834621e-01 1.73227625e-02 5.53650848e-03 1.69420405e+02] [-1.73194641e-02 9.99849800e-01 -6.43148960e-04 -3.89397655e+00] [-5.54681801e-03 5.47153236e-04 9.99984467e-01 -3.08657951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.238001145 meters 0.09195033619658562 Centerline is valid? [True, True] Translation: X:169.48, Y:-3.91, Z:-3.09 [[ 9.99881473e-01 1.41544178e-02 6.05746337e-03 1.69478340e+02] [-1.41504214e-02 9.99899631e-01 -7.02101948e-04 -3.91285772e+00] [-6.06679323e-03 6.16303071e-04 9.99981407e-01 -3.08875672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.298001145 meters 0.08906876535460481 Centerline is valid? [True, True] Translation: X:169.54, Y:-3.92, Z:-3.09 [[ 9.99905163e-01 1.24994864e-02 5.78175397e-03 1.69537934e+02] [-1.24958185e-02 9.99921700e-01 -6.70090226e-04 -3.91755212e+00] [-5.78967704e-03 5.97778928e-04 9.99983061e-01 -3.08965768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.358001145 meters 0.08860733159103834 Centerline is valid? [True, True] Translation: X:169.60, Y:-3.93, Z:-3.09 [[ 9.99934700e-01 9.74838850e-03 5.96358772e-03 1.69597097e+02] [-9.74444045e-03 9.99952283e-01 -6.90725547e-04 -3.93036323e+00] [-5.97003662e-03 6.32568618e-04 9.99981979e-01 -3.09203542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.418001145 meters 0.09045101458590078 Centerline is valid? [True, True] Translation: X:169.66, Y:-3.94, Z:-3.09 [[ 9.99940744e-01 9.09755749e-03 5.97858635e-03 1.69656575e+02] [-9.09357812e-03 9.99958413e-01 -6.92450284e-04 -3.94192405e+00] [-5.98463732e-03 6.38042510e-04 9.99981888e-01 -3.09311911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47800114499998 meters 0.08817984648284179 Centerline is valid? [True, True] Translation: X:169.72, Y:-3.95, Z:-3.09 [[ 9.99923812e-01 1.01711132e-02 6.99415655e-03 1.69716949e+02] [-1.01656930e-02 9.99948000e-01 -8.10075394e-04 -3.94745859e+00] [-7.00203222e-03 7.38913227e-04 9.99975212e-01 -3.09347171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53800114499998 meters 0.08408892699252918 Centerline is valid? [True, True] Translation: X:169.78, Y:-3.95, Z:-3.09 [[ 9.99918281e-01 1.08909932e-02 6.69453064e-03 1.69777772e+02] [-1.08860435e-02 9.99940445e-01 -7.75372199e-04 -3.94820030e+00] [-6.70257651e-03 7.02431885e-04 9.99977291e-01 -3.09421089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.59800114499998 meters 0.0871037936697785 Centerline is valid? [True, True] Translation: X:169.84, Y:-3.96, Z:-3.10 [[ 9.99900436e-01 1.27760831e-02 5.99081250e-03 1.69835692e+02] [-1.27721507e-02 9.99918192e-01 -6.94212259e-04 -3.96374538e+00] [-5.99919172e-03 6.17627581e-04 9.99981814e-01 -3.09923057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.658001145 meters 0.0861803032424918 Centerline is valid? [True, True] Translation: X:169.90, Y:-3.97, Z:-3.10 [[ 9.99884368e-01 1.44493146e-02 4.74013595e-03 1.69895769e+02] [-1.44468730e-02 9.99895488e-01 -5.48929119e-04 -3.97036032e+00] [-4.74757220e-03 4.80385503e-04 9.99988615e-01 -3.10098943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.718001145 meters 0.08542328210235169 Centerline is valid? [True, True] Translation: X:169.96, Y:-3.97, Z:-3.10 [[ 9.99810029e-01 1.89785503e-02 4.44082200e-03 1.69955708e+02] [-1.89764501e-02 9.99819799e-01 -5.14597146e-04 -3.97441428e+00] [-4.44978807e-03 4.30228350e-04 9.99990007e-01 -3.10317272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.778001145 meters 0.0826288989918516 Centerline is valid? [True, True] Translation: X:170.02, Y:-3.98, Z:-3.10 [[ 9.99733727e-01 2.26573801e-02 4.37245712e-03 1.70016340e+02] [-2.26553797e-02 9.99743206e-01 -5.06490209e-04 -3.97641453e+00] [-4.38281004e-03 4.07295668e-04 9.99990312e-01 -3.10335425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.838001145 meters 0.08261049574793092 Centerline is valid? [True, True] Translation: X:170.08, Y:-3.98, Z:-3.11 [[ 9.99728665e-01 2.30433468e-02 3.40584734e-03 1.70075107e+02] [-2.30421308e-02 9.99734416e-01 -3.95847548e-04 -3.98316057e+00] [-3.41406446e-03 3.17262161e-04 9.99994122e-01 -3.10578108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.898001145 meters 0.08282769706482368 Centerline is valid? [True, True] Translation: X:170.13, Y:-3.99, Z:-3.11 [[ 9.99724145e-01 2.30984321e-02 4.25393415e-03 1.70133556e+02] [-2.30965387e-02 9.99733117e-01 -4.93691717e-04 -3.98934294e+00] [-4.26420235e-03 3.95304375e-04 9.99990830e-01 -3.10685812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.958001145 meters 0.08420366729274764 Centerline is valid? [True, True] Translation: X:170.19, Y:-4.00, Z:-3.11 [[ 9.99737934e-01 2.24007183e-02 4.71930175e-03 1.70192030e+02] [-2.23983827e-02 9.99748975e-01 -5.47175854e-04 -3.99853561e+00] [-4.73037422e-03 4.41327731e-04 9.99988714e-01 -3.10882450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.018001145 meters 0.08532376301836454 Centerline is valid? [True, True] Translation: X:170.25, Y:-4.01, Z:-3.11 [[ 9.99737021e-01 2.25619479e-02 4.10447310e-03 1.70250084e+02] [-2.25601829e-02 9.99745373e-01 -4.75823675e-04 -4.00664932e+00] [-4.11416350e-03 3.83100880e-04 9.99991463e-01 -3.11192781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.078001145 meters 0.08627068808693472 Centerline is valid? [True, True] Translation: X:170.31, Y:-4.01, Z:-3.11 [[ 9.99724974e-01 2.33025779e-02 2.63944674e-03 1.70308431e+02] [-2.33018495e-02 9.99728428e-01 -3.06397667e-04 -4.01288321e+00] [-2.64586980e-03 2.44809409e-04 9.99996470e-01 -3.11485440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.138001145 meters 0.08600945090657806 Centerline is valid? [True, True] Translation: X:170.37, Y:-4.02, Z:-3.12 [[ 9.99693440e-01 2.46805524e-02 1.97387685e-03 1.70368402e+02] [-2.46801494e-02 9.99695373e-01 -2.28269619e-04 -4.01607725e+00] [-1.97890937e-03 1.79484065e-04 9.99998026e-01 -3.11531743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.198001145 meters 0.08813846872595833 Centerline is valid? [True, True] Translation: X:170.43, Y:-4.03, Z:-3.12 [[ 9.99663414e-01 2.58621469e-02 2.05158773e-03 1.70426034e+02] [-2.58617126e-02 9.99665502e-01 -2.37958087e-04 -4.02515520e+00] [-2.05705558e-03 1.84820422e-04 9.99997867e-01 -3.11930338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25800114499998 meters 0.07946707273481163 Centerline is valid? [True, True] Translation: X:170.49, Y:-4.01, Z:-3.12 [[ 9.99634235e-01 2.69955107e-02 1.62423593e-03 1.70487275e+02] [-2.69952395e-02 9.99635544e-01 -1.88655397e-04 -4.01189065e+00] [-1.62873681e-03 1.44739756e-04 9.99998663e-01 -3.11602139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.31800114499998 meters 0.07943150880407299 Centerline is valid? [True, True] Translation: X:170.55, Y:-4.02, Z:-3.12 [[ 9.99572380e-01 2.91835007e-02 1.83882927e-03 1.70547314e+02] [-2.91831588e-02 9.99574058e-01 -2.12489568e-04 -4.01622674e+00] [-1.84424723e-03 1.58735856e-04 9.99998287e-01 -3.11841970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.37800114499998 meters 0.07917151820809847 Centerline is valid? [True, True] Translation: X:170.61, Y:-4.02, Z:-3.12 [[ 9.99499508e-01 3.15905283e-02 1.66502681e-03 1.70607822e+02] [-3.15902513e-02 9.99500885e-01 -1.92413785e-04 -4.01929941e+00] [-1.67027423e-03 1.39718868e-04 9.99998595e-01 -3.12036071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.438001145 meters 0.07797390759816236 Centerline is valid? [True, True] Translation: X:170.67, Y:-4.02, Z:-3.12 [[ 9.99338200e-01 3.63211589e-02 1.98369696e-03 1.70669029e+02] [-3.63207753e-02 9.99340157e-01 -2.29054476e-04 -4.01722241e+00] [-1.99070755e-03 1.56853476e-04 9.99998006e-01 -3.12107388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.498001145 meters 0.07418969611703166 Centerline is valid? [True, True] Translation: X:170.73, Y:-4.01, Z:-3.12 [[ 9.99232556e-01 3.90266738e-02 3.34920119e-03 1.70730404e+02] [-3.90255968e-02 9.99238137e-01 -3.86319938e-04 -4.01203429e+00] [-3.36172634e-03 2.55318883e-04 9.99994317e-01 -3.12032236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.558001145 meters 0.07466040986647189 Centerline is valid? [True, True] Translation: X:170.79, Y:-4.01, Z:-3.12 [[ 9.99169149e-01 4.06811444e-02 2.46098860e-03 1.70788133e+02] [-4.06805635e-02 9.99172162e-01 -2.85678127e-04 -4.01475659e+00] [-2.47057302e-03 1.85326368e-04 9.99996931e-01 -3.12404489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.618001145 meters 0.07495703234789218 Centerline is valid? [True, True] Translation: X:170.85, Y:-4.02, Z:-3.13 [[ 9.99095195e-01 4.24774044e-02 2.11234160e-03 1.70847486e+02] [-4.24769827e-02 9.99097416e-01 -2.44129628e-04 -4.01797900e+00] [-2.12080503e-03 1.54182840e-04 9.99997739e-01 -3.12707095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.678001145 meters 0.07366410913077785 Centerline is valid? [True, True] Translation: X:170.91, Y:-4.01, Z:-3.13 [[ 9.99075995e-01 4.28892634e-02 2.76914568e-03 1.70907151e+02] [-4.28885390e-02 9.99079812e-01 -3.20472538e-04 -4.01408086e+00] [-2.78034238e-03 2.01411807e-04 9.99996115e-01 -3.12673564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.738001145 meters 0.07275129678361905 Centerline is valid? [True, True] Translation: X:170.97, Y:-4.01, Z:-3.13 [[ 9.99111751e-01 4.20968030e-02 1.88921364e-03 1.70966252e+02] [-4.20964636e-02 9.99113527e-01 -2.19099619e-04 -4.01485775e+00] [-1.89676230e-03 1.39375791e-04 9.99998191e-01 -3.12861944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.798001145 meters 0.0761804390556584 Centerline is valid? [True, True] Translation: X:171.03, Y:-4.02, Z:-3.13 [[ 9.99212607e-01 3.95350885e-02 3.33819830e-03 1.71025272e+02] [-3.95340237e-02 9.99218151e-01 -3.84412563e-04 -4.02368379e+00] [-3.35078612e-03 2.52137469e-04 9.99994354e-01 -3.13150936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.858001145 meters 0.07641331011676472 Centerline is valid? [True, True] Translation: X:171.09, Y:-4.03, Z:-3.13 [[ 9.99343327e-01 3.58210810e-02 5.45579004e-03 1.71086182e+02] [-3.58181852e-02 9.99358126e-01 -6.27593422e-04 -4.02505651e+00] [-5.47476918e-03 4.31764800e-04 9.99984920e-01 -3.13169326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.918001145 meters 0.07941918245545339 Centerline is valid? [True, True] Translation: X:171.14, Y:-4.04, Z:-3.14 [[ 9.99447800e-01 3.29057337e-02 4.61608984e-03 1.71144639e+02] [-3.29036285e-02 9.99458388e-01 -5.31287845e-04 -4.03530629e+00] [-4.63107213e-03 3.79108362e-04 9.99989205e-01 -3.13617010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97800114499998 meters 0.07664503130811727 Centerline is valid? [True, True] Translation: X:171.21, Y:-4.03, Z:-3.14 [[ 9.99558487e-01 2.93500762e-02 4.62641038e-03 1.71206580e+02] [-2.93479261e-02 9.99569115e-01 -5.31976528e-04 -4.02917285e+00] [-4.64003049e-03 3.95966104e-04 9.99989157e-01 -3.13612031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03800114499998 meters 0.0784198619302215 Centerline is valid? [True, True] Translation: X:171.26, Y:-4.03, Z:-3.14 [[ 9.99585714e-01 2.80752827e-02 6.33869656e-03 1.71264023e+02] [-2.80712104e-02 9.99605659e-01 -7.30512872e-04 -4.03217159e+00] [-6.35670631e-03 5.52275346e-04 9.99979643e-01 -3.13829823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.09800114499998 meters 0.07799840150682756 Centerline is valid? [True, True] Translation: X:171.32, Y:-4.03, Z:-3.14 [[ 9.99617418e-01 2.68067525e-02 6.81290115e-03 1.71324196e+02] [-2.68020306e-02 9.99640454e-01 -7.83465194e-04 -4.03249707e+00] [-6.83145376e-03 6.00565869e-04 9.99976485e-01 -3.14056538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.158001145 meters 0.0769043760882374 Centerline is valid? [True, True] Translation: X:171.38, Y:-4.03, Z:-3.14 [[ 9.99649951e-01 2.53182792e-02 7.67860567e-03 1.71384832e+02] [-2.53122401e-02 9.99679204e-01 -8.82658490e-04 -4.02668530e+00] [-7.69848980e-03 6.87986805e-04 9.99970130e-01 -3.14115749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.218001145 meters 0.08595706870165033 Centerline is valid? [True, True] Translation: X:171.44, Y:-4.05, Z:-3.15 [[ 9.99655848e-01 2.50355853e-02 7.83612126e-03 1.71440653e+02] [-2.50292823e-02 9.99686312e-01 -9.01400681e-04 -4.04536456e+00] [-7.85623026e-03 7.04957971e-04 9.99968891e-01 -3.14673010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.278001145 meters 0.0795660663510203 Centerline is valid? [True, True] Translation: X:171.50, Y:-4.03, Z:-3.14 [[ 9.99708947e-01 2.25850434e-02 8.48153048e-03 1.71503220e+02] [-2.25775898e-02 9.99744620e-01 -9.73537145e-04 -4.03112599e+00] [-8.50135184e-03 7.81761278e-04 9.99963557e-01 -3.14465890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.338001145 meters 0.0822926886201005 Centerline is valid? [True, True] Translation: X:171.56, Y:-4.04, Z:-3.15 [[ 9.99790045e-01 1.87690737e-02 8.22112419e-03 1.71563356e+02] [-1.87619453e-02 9.99823534e-01 -9.43356414e-04 -4.03618585e+00] [-8.23737937e-03 7.88914070e-04 9.99965761e-01 -3.14819183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.398001145 meters 0.08254913923684994 Centerline is valid? [True, True] Translation: X:171.62, Y:-4.04, Z:-3.15 [[ 9.99830534e-01 1.63089907e-02 8.53938082e-03 1.71623750e+02] [-1.63012101e-02 9.99866646e-01 -9.79958436e-04 -4.03959985e+00] [-8.55422419e-03 8.40590125e-04 9.99963059e-01 -3.14959085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.458001145 meters 0.09250318505273522 Centerline is valid? [True, True] Translation: X:171.68, Y:-4.06, Z:-3.15 [[ 9.99865443e-01 1.34086338e-02 9.45015145e-03 1.71681793e+02] [-1.33989817e-02 9.99909642e-01 -1.08394618e-03 -4.05653810e+00] [-9.46383179e-03 9.57177919e-04 9.99954759e-01 -3.15327968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.518001145 meters 0.08659322141123146 Centerline is valid? [True, True] Translation: X:171.74, Y:-4.05, Z:-3.15 [[ 9.99889502e-01 1.12112052e-02 9.76184226e-03 1.71743234e+02] [-1.12007988e-02 9.99936642e-01 -1.12005519e-03 -4.04813152e+00] [-9.77378094e-03 1.01059100e-03 9.99951725e-01 -3.15287679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.578001145 meters 0.09542925980808241 Centerline is valid? [True, True] Translation: X:171.80, Y:-4.06, Z:-3.16 [[ 9.99924163e-01 9.86576246e-03 7.37121415e-03 1.71801473e+02] [-9.85980515e-03 9.99951035e-01 -8.44089280e-04 -4.06430565e+00] [-7.37918080e-03 7.71346532e-04 9.99972476e-01 -3.15872841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.638001145 meters 0.09244044663498731 Centerline is valid? [True, True] Translation: X:171.86, Y:-4.06, Z:-3.16 [[ 9.99917374e-01 1.00918525e-02 7.96234865e-03 1.71863100e+02] [-1.00848925e-02 9.99948729e-01 -9.13777689e-04 -4.06030038e+00] [-7.97116212e-03 8.33402757e-04 9.99967882e-01 -3.16025536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.698001145 meters 0.08713851681291632 Centerline is valid? [True, True] Translation: X:171.93, Y:-4.05, Z:-3.16 [[ 9.99879280e-01 1.29006637e-02 8.66015512e-03 1.71925245e+02] [-1.28925368e-02 9.99916394e-01 -9.93602013e-04 -4.05369690e+00] [-8.67224921e-03 8.81830697e-04 9.99962007e-01 -3.15982120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75800114499998 meters 0.08822898573771669 Centerline is valid? [True, True] Translation: X:171.98, Y:-4.05, Z:-3.16 [[ 9.99755956e-01 2.00366869e-02 9.30373858e-03 1.71984524e+02] [-2.00276041e-02 9.99798857e-01 -1.06841092e-03 -4.05423834e+00] [-9.32327461e-03 8.81818592e-04 9.99956149e-01 -3.16169571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.81800114499998 meters 0.0840404342720637 Centerline is valid? [True, True] Translation: X:172.05, Y:-4.05, Z:-3.16 [[ 9.99638402e-01 2.51674283e-02 9.46925085e-03 1.72045787e+02] [-2.51582556e-02 9.99682890e-01 -1.08656905e-03 -4.04933786e+00] [-9.49359421e-03 8.47946313e-04 9.99954575e-01 -3.16176679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.87800114499998 meters 0.08280467260153873 Centerline is valid? [True, True] Translation: X:172.11, Y:-4.05, Z:-3.16 [[ 9.99503247e-01 2.99426090e-02 9.83358718e-03 1.72106537e+02] [-2.99329471e-02 9.99551272e-01 -1.12828433e-03 -4.05004863e+00] [-9.86295836e-03 8.33375608e-04 9.99951013e-01 -3.16324027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.938001145 meters 0.08082560218701744 Centerline is valid? [True, True] Translation: X:172.17, Y:-4.05, Z:-3.16 [[ 9.99406398e-01 3.28847352e-02 1.02686636e-02 1.72167443e+02] [-3.28743523e-02 9.99458798e-01 -1.17833354e-03 -4.04928178e+00] [-1.03018554e-02 8.40058418e-04 9.99946582e-01 -3.16429139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.998001145 meters 0.08080460126190636 Centerline is valid? [True, True] Translation: X:172.23, Y:-4.05, Z:-3.17 [[ 9.99343387e-01 3.52331233e-02 8.45109429e-03 1.72227306e+02] [-3.52261699e-02 9.99378895e-01 -9.70278641e-04 -4.05076111e+00] [-8.48003122e-03 6.71941861e-04 9.99963818e-01 -3.16883276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.058001145 meters 0.0825802416035407 Centerline is valid? [True, True] Translation: X:172.28, Y:-4.06, Z:-3.17 [[ 9.99348914e-01 3.52412431e-02 7.73320133e-03 1.72284204e+02] [-3.52354156e-02 9.99378645e-01 -8.88565503e-04 -4.05720007e+00] [-7.75971042e-03 6.15504408e-04 9.99969704e-01 -3.17137728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.118001145 meters 0.08393214767893521 Centerline is valid? [True, True] Translation: X:172.34, Y:-4.06, Z:-3.17 [[ 9.99366775e-01 3.44622148e-02 8.85461481e-03 1.72342297e+02] [-3.44545560e-02 9.99405749e-01 -1.01608868e-03 -4.06412195e+00] [-8.88436961e-03 7.10363440e-04 9.99960281e-01 -3.17164262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.178001145 meters 0.0856184339594016 Centerline is valid? [True, True] Translation: X:172.40, Y:-4.07, Z:-3.17 [[ 9.99402211e-01 3.38192807e-02 7.17468554e-03 1.72401147e+02] [-3.38142393e-02 9.99427796e-01 -8.22853355e-04 -4.06899832e+00] [-7.19840847e-03 5.79754929e-04 9.99973923e-01 -3.17493857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.238001145 meters 0.08085934618213929 Centerline is valid? [True, True] Translation: X:172.46, Y:-4.06, Z:-3.17 [[ 9.99387661e-01 3.42523241e-02 7.14718454e-03 1.72460537e+02] [-3.42473319e-02 9.99413052e-01 -8.19737728e-04 -4.06469253e+00] [-7.17106744e-03 5.74463769e-04 9.99974123e-01 -3.17393309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.298001145 meters 0.08943347651800203 Centerline is valid? [True, True] Translation: X:172.52, Y:-4.08, Z:-3.18 [[ 9.99392829e-01 3.38209605e-02 8.37358618e-03 1.72516714e+02] [-3.38140979e-02 9.99427679e-01 -9.59805845e-04 -4.08428899e+00] [-8.40125535e-03 6.76077815e-04 9.99964480e-01 -3.17854381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.358001145 meters 0.08461481353153612 Centerline is valid? [True, True] Translation: X:172.58, Y:-4.08, Z:-3.18 [[ 9.99387653e-01 3.39452502e-02 8.48762714e-03 1.72576105e+02] [-3.39382132e-02 9.99423460e-01 -9.71793318e-04 -4.07930543e+00] [-8.51572145e-03 6.83143344e-04 9.99963507e-01 -3.17801634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.418001145 meters 0.08488156714220117 Centerline is valid? [True, True] Translation: X:172.63, Y:-4.09, Z:-3.18 [[ 9.99407670e-01 3.33863553e-02 8.34633749e-03 1.72634769e+02] [-3.33795355e-02 9.99442292e-01 -9.55106995e-04 -4.08697361e+00] [-8.37357021e-03 6.75944387e-04 9.99964713e-01 -3.18095607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47800114499998 meters 0.08652397953796208 Centerline is valid? [True, True] Translation: X:172.69, Y:-4.10, Z:-3.18 [[ 9.99440296e-01 3.26929790e-02 7.08966138e-03 1.72692002e+02] [-3.26880405e-02 9.99465274e-01 -8.11374130e-04 -4.09604583e+00] [-7.11239659e-03 5.79172863e-04 9.99974539e-01 -3.18309614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53800114499998 meters 0.08173607147135788 Centerline is valid? [True, True] Translation: X:172.75, Y:-4.09, Z:-3.18 [[ 9.99432333e-01 3.30478329e-02 6.54621386e-03 1.72751331e+02] [-3.30436340e-02 9.99453630e-01 -7.48566318e-04 -4.09268323e+00] [-6.56737570e-03 5.31830687e-04 9.99978293e-01 -3.18201435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.59800114499998 meters 0.0879236574108405 Centerline is valid? [True, True] Translation: X:172.81, Y:-4.11, Z:-3.19 [[ 9.99434070e-01 3.28102795e-02 7.41790954e-03 1.72807494e+02] [-3.28048847e-02 9.99461415e-01 -8.47804757e-04 -4.11179510e+00] [-7.44173108e-03 6.03981291e-04 9.99972128e-01 -3.18809604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.658001145 meters 0.09078599606968586 Centerline is valid? [True, True] Translation: X:172.86, Y:-4.12, Z:-3.19 [[ 9.99446495e-01 3.25237795e-02 6.99332991e-03 1.72864640e+02] [-3.25189815e-02 9.99470799e-01 -7.98720470e-04 -4.12353485e+00] [-7.01560644e-03 5.70862409e-04 9.99975227e-01 -3.19165392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.718001145 meters 0.08421115288474065 Centerline is valid? [True, True] Translation: X:172.92, Y:-4.12, Z:-3.19 [[ 9.99438491e-01 3.28520172e-02 6.59151403e-03 1.72924731e+02] [-3.28477661e-02 9.99460083e-01 -7.52191095e-04 -4.11535251e+00] [-6.61266615e-03 5.35252222e-04 9.99977993e-01 -3.19005340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.778001145 meters 0.08211189788519029 Centerline is valid? [True, True] Translation: X:172.99, Y:-4.12, Z:-3.19 [[ 9.99370704e-01 3.45619663e-02 7.97917124e-03 1.72985094e+02] [-3.45558053e-02 9.99402357e-01 -9.08752908e-04 -4.11832971e+00] [-8.00581083e-03 6.32454346e-04 9.99967753e-01 -3.19003164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.838001145 meters 0.07995337171398055 Centerline is valid? [True, True] Translation: X:173.04, Y:-4.12, Z:-3.19 [[ 9.99365216e-01 3.46600233e-02 8.23694119e-03 1.73043810e+02] [-3.46534548e-02 9.99398948e-01 -9.38883564e-04 -4.11875474e+00] [-8.26453209e-03 6.52849107e-04 9.99965635e-01 -3.19033097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.898001145 meters 0.08245530991487937 Centerline is valid? [True, True] Translation: X:173.10, Y:-4.13, Z:-3.19 [[ 9.99423327e-01 3.32579774e-02 6.84990368e-03 1.73101560e+02] [-3.32534055e-02 9.99446648e-01 -7.80274176e-04 -4.12925861e+00] [-6.87206361e-03 5.52041587e-04 9.99976235e-01 -3.19358173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.958001145 meters 0.08787937665403403 Centerline is valid? [True, True] Translation: X:173.16, Y:-4.15, Z:-3.20 [[ 9.99433296e-01 3.29260112e-02 6.99749386e-03 1.73157497e+02] [-3.29212304e-02 9.99457631e-01 -7.97332280e-04 -4.14603887e+00] [-7.01995161e-03 5.66514321e-04 9.99975199e-01 -3.19867850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.018001145 meters 0.08960757146335194 Centerline is valid? [True, True] Translation: X:173.22, Y:-4.15, Z:-3.20 [[ 9.99449878e-01 3.20806635e-02 8.41268800e-03 1.73216018e+02] [-3.20737364e-02 9.99485047e-01 -9.57075072e-04 -4.15478471e+00] [-8.43905946e-03 6.86722227e-04 9.99964155e-01 -3.19882577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.078001145 meters 0.08097323535056355 Centerline is valid? [True, True] Translation: X:173.28, Y:-4.15, Z:-3.19 [[ 9.99452469e-01 3.14349038e-02 1.03251745e-02 1.73275945e+02] [-3.14244444e-02 9.99505441e-01 -1.17371586e-03 -4.14528916e+00] [-1.03569638e-02 8.48610345e-04 9.99946005e-01 -3.19468699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.138001145 meters 0.08206307312516731 Centerline is valid? [True, True] Translation: X:173.34, Y:-4.16, Z:-3.20 [[ 9.99520321e-01 2.95553283e-02 9.25260669e-03 1.73335552e+02] [-2.95468641e-02 9.99562844e-01 -1.05018480e-03 -4.15797199e+00] [-9.27960042e-03 7.76295536e-04 9.99956642e-01 -3.19786190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.198001145 meters 0.08640319563191125 Centerline is valid? [True, True] Translation: X:173.39, Y:-4.17, Z:-3.20 [[ 9.99601172e-01 2.71943834e-02 7.61325740e-03 1.73393489e+02] [-2.71885829e-02 9.99629948e-01 -8.64370390e-04 -4.17262187e+00] [-7.63394612e-03 6.57031975e-04 9.99970645e-01 -3.20248958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25800114499998 meters 0.09175002350210433 Centerline is valid? [True, True] Translation: X:173.45, Y:-4.19, Z:-3.21 [[ 9.99671192e-01 2.47460194e-02 6.71885658e-03 1.73451972e+02] [-2.47414481e-02 9.99693593e-01 -7.62642832e-04 -4.18737802e+00] [-6.73567025e-03 5.96157827e-04 9.99977137e-01 -3.20512864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.31800114499998 meters 0.09181958911118915 Centerline is valid? [True, True] Translation: X:173.51, Y:-4.19, Z:-3.21 [[ 9.99678906e-01 2.41443153e-02 7.69002897e-03 1.73510065e+02] [-2.41383018e-02 9.99708247e-01 -8.73855141e-04 -4.19422431e+00] [-7.70888401e-03 6.87950311e-04 9.99970049e-01 -3.20568579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.37800114499998 meters 0.08780359901505853 Centerline is valid? [True, True] Translation: X:173.57, Y:-4.20, Z:-3.20 [[ 9.99705175e-01 2.24882101e-02 9.15660530e-03 1.73570032e+02] [-2.24796283e-02 9.99746761e-01 -1.03907966e-03 -4.19569066e+00] [-9.17765353e-03 8.32936230e-04 9.99957538e-01 -3.20436916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.438001145 meters 0.08816080768312538 Centerline is valid? [True, True] Translation: X:173.63, Y:-4.20, Z:-3.21 [[ 9.99747977e-01 2.08249332e-02 8.38482031e-03 1.73629654e+02] [-2.08176834e-02 9.99782836e-01 -9.50993665e-04 -4.20163121e+00] [-8.40280381e-03 7.76201458e-04 9.99964395e-01 -3.20525234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.498001145 meters 0.09015793805918303 Centerline is valid? [True, True] Translation: X:173.69, Y:-4.21, Z:-3.21 [[ 9.99778442e-01 1.97018658e-02 7.40962565e-03 1.73687833e+02] [-1.96961697e-02 9.99805658e-01 -8.40939217e-04 -4.21264586e+00] [-7.42475372e-03 6.94811656e-04 9.99972195e-01 -3.20879095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.558001145 meters 0.09430663377468203 Centerline is valid? [True, True] Translation: X:173.75, Y:-4.23, Z:-3.21 [[ 9.99844398e-01 1.64374792e-02 6.40233494e-03 1.73746667e+02] [-1.64331670e-02 9.99864703e-01 -7.25569958e-04 -4.22675576e+00] [-6.41339527e-03 6.20246418e-04 9.99979242e-01 -3.21196982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.618001145 meters 0.09091271456086747 Centerline is valid? [True, True] Translation: X:173.81, Y:-4.23, Z:-3.21 [[ 9.99878156e-01 1.29345233e-02 8.73904628e-03 1.73807237e+02] [-1.29263576e-02 9.99915961e-01 -9.90226682e-04 -4.22733349e+00] [-8.75111997e-03 8.77141992e-04 9.99961324e-01 -3.20984888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.678001145 meters 0.09667674313881505 Centerline is valid? [True, True] Translation: X:173.86, Y:-4.24, Z:-3.21 [[ 9.99896566e-01 1.02592472e-02 1.00799661e-02 1.73864628e+02] [-1.02482494e-02 9.99946833e-01 -1.14211044e-03 -4.24437824e+00] [-1.00911474e-02 1.03869030e-03 9.99948544e-01 -3.21219015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.738001145 meters 0.10557438773126322 Centerline is valid? [True, False] Translation: X:173.87, Y:-4.25, Z:-3.21 [[ 9.99930852e-01 6.42953723e-03 9.84646109e-03 1.73865559e+02] [-6.38278677e-03 9.99968243e-01 -4.77203273e-03 -4.24565350e+00] [-9.87683037e-03 4.70885489e-03 9.99940136e-01 -3.21303206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.798001145 meters 0.0980981995912481 Centerline is valid? [False, True] Translation: X:173.87, Y:-4.25, Z:-3.21 [[ 9.99999408e-01 -7.61826662e-04 -7.76878696e-04 1.73869723e+02] [ 7.64068402e-04 9.99995534e-01 2.88937000e-03 -4.24603000e+00] [ 7.74674027e-04 -2.88996187e-03 9.99995524e-01 -3.21234154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.858001145 meters 0.10236322340505857 Centerline is valid? [True, False] Translation: X:173.87, Y:-4.25, Z:-3.21 [[ 9.99999503e-01 -7.37179551e-04 -6.71831982e-04 1.73869700e+02] [ 7.39223674e-04 9.99995083e-01 3.04745783e-03 -4.24663736e+00] [ 6.69582155e-04 -3.04795295e-03 9.99995131e-01 -3.21260538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.918001145 meters 0.11342155904869047 Centerline is valid? [False, False] Translation: X:173.87, Y:-4.25, Z:-3.21 [[ 9.99999554e-01 -6.61490453e-04 -6.74264482e-04 1.73869764e+02] [ 6.63643043e-04 9.99994668e-01 3.19729172e-03 -4.24747730e+00] [ 6.72145909e-04 -3.19773777e-03 9.99994661e-01 -3.21273154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97800114499998 meters 0.10075264522265827 Centerline is valid? [False, False] Translation: X:173.87, Y:-4.25, Z:-3.21 [[ 9.99999405e-01 -6.05952299e-04 -9.06812607e-04 1.73870453e+02] [ 6.08757160e-04 9.99995022e-01 3.09602658e-03 -4.24658210e+00] [ 9.04932049e-04 -3.09657677e-03 9.99994796e-01 -3.21300491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03800114499998 meters 0.09320218175266247 Centerline is valid? [False, True] Translation: X:173.87, Y:-4.24, Z:-3.21 [[ 9.99998945e-01 -6.03018061e-04 -1.32129374e-03 1.73871214e+02] [ 6.06504387e-04 9.99996332e-01 2.63976036e-03 -4.24489634e+00] [ 1.31969707e-03 -2.64055895e-03 9.99995643e-01 -3.21283020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.09800114499998 meters 0.09629694629634049 Centerline is valid? [True, True] Translation: X:173.93, Y:-4.26, Z:-3.21 [[ 9.99998420e-01 6.58735783e-04 -1.65082756e-03 1.73929771e+02] [-6.58455451e-04 9.99999769e-01 1.70350522e-04 -4.25545246e+00] [ 1.65093940e-03 -1.69263257e-04 9.99998623e-01 -3.21386540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.158001145 meters 0.09376729301057611 Centerline is valid? [True, True] Translation: X:173.99, Y:-4.26, Z:-3.21 [[ 9.99997525e-01 1.69754450e-03 -1.43799843e-03 1.73989993e+02] [-1.69733294e-03 9.99998549e-01 1.48331698e-04 -4.25664213e+00] [ 1.43824814e-03 -1.45890569e-04 9.99998955e-01 -3.21244758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.218001145 meters 0.09420630342875293 Centerline is valid? [True, True] Translation: X:174.05, Y:-4.26, Z:-3.21 [[ 9.99996553e-01 2.49111050e-03 -8.29569823e-04 1.74048964e+02] [-2.49104332e-03 9.99996894e-01 8.20008577e-05 -4.26269107e+00] [ 8.29771520e-04 -7.99340806e-05 9.99999653e-01 -3.21293970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.278001145 meters 0.09656157865039602 Centerline is valid? [True, True] Translation: X:174.11, Y:-4.27, Z:-3.22 [[ 9.99992898e-01 2.47261812e-03 -2.84430387e-03 1.74106215e+02] [-2.47179732e-03 9.99996902e-01 2.92053055e-04 -4.27347076e+00] [ 2.84501720e-03 -2.85020439e-04 9.99995912e-01 -3.21801942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.338001145 meters 0.09823714968611226 Centerline is valid? [True, True] Translation: X:174.16, Y:-4.28, Z:-3.22 [[ 9.99996237e-01 1.91528012e-03 -1.96403054e-03 1.74164132e+02] [-1.91488858e-03 9.99998146e-01 2.01220450e-04 -4.28135947e+00] [ 1.96441229e-03 -1.97458793e-04 9.99998051e-01 -3.21746766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.398001145 meters 0.09462461735598934 Centerline is valid? [True, True] Translation: X:174.22, Y:-4.28, Z:-3.22 [[ 9.99997056e-01 2.11382510e-03 -1.19120250e-03 1.74222877e+02] [-2.11368184e-03 9.99997759e-01 1.21514569e-04 -4.28187332e+00] [ 1.19145669e-03 -1.18996389e-04 9.99999283e-01 -3.21607317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.458001145 meters 0.09821263617373088 Centerline is valid? [True, True] Translation: X:174.28, Y:-4.30, Z:-3.22 [[ 9.99999534e-01 7.64346066e-04 -5.89178872e-04 1.74280459e+02] [-7.64311015e-04 9.99999706e-01 5.97140679e-05 -4.29559526e+00] [ 5.89224341e-04 -5.92637241e-05 9.99999825e-01 -3.21738758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.518001145 meters 0.09968179900058106 Centerline is valid? [True, True] Translation: X:174.34, Y:-4.31, Z:-3.22 [[ 9.99997098e-01 -1.66336777e-03 -1.74279239e-03 1.74340645e+02] [ 1.66368270e-03 9.99998600e-01 1.79266302e-04 -4.30503772e+00] [ 1.74249176e-03 -1.82165236e-04 9.99998465e-01 -3.21937336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.578001145 meters 0.10292912823200376 Centerline is valid? [True, False] Translation: X:174.34, Y:-4.31, Z:-3.22 [[ 9.99998030e-01 -1.16853864e-03 -1.60432474e-03 1.74341095e+02] [ 1.17033600e-03 9.99998688e-01 1.11983567e-03 -4.30753212e+00] [ 1.60301406e-03 -1.12171106e-03 9.99998086e-01 -3.22049633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.638001145 meters 0.10467480098525284 Centerline is valid? [False, False] Translation: X:174.34, Y:-4.31, Z:-3.22 [[ 9.99997893e-01 -1.41094958e-03 -1.49101614e-03 1.74340611e+02] [ 1.41224974e-03 9.99998623e-01 8.71301483e-04 -4.30713049e+00] [ 1.48978473e-03 -8.73405335e-04 9.99998509e-01 -3.22014078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.698001145 meters 0.09904733305396576 Centerline is valid? [False, True] Translation: X:174.34, Y:-4.31, Z:-3.22 [[ 9.99997835e-01 -1.21446560e-03 -1.68974334e-03 1.74341191e+02] [ 1.21627959e-03 9.99998685e-01 1.07291895e-03 -4.30717424e+00] [ 1.68843810e-03 -1.07497183e-03 9.99997997e-01 -3.22039157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75800114499998 meters 0.0983514257151678 Centerline is valid? [True, True] Translation: X:174.40, Y:-4.31, Z:-3.22 [[ 9.99994432e-01 1.57921638e-04 -3.33337074e-03 1.74401074e+02] [-1.56761295e-04 9.99999927e-01 3.48357205e-04 -4.31137767e+00] [ 3.33342551e-03 -3.47832722e-04 9.99994384e-01 -3.22179446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.81800114499998 meters 0.09943294507110174 Centerline is valid? [True, True] Translation: X:174.46, Y:-4.32, Z:-3.22 [[ 9.99998255e-01 1.11265812e-03 -1.50052794e-03 1.74460858e+02] [-1.11242430e-03 9.99999369e-01 1.56647889e-04 -4.31901218e+00] [ 1.50070129e-03 -1.54978392e-04 9.99998862e-01 -3.22145515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.87800114499998 meters 0.10017944040760295 Centerline is valid? [True, False] Translation: X:174.46, Y:-4.32, Z:-3.22 [[ 9.99998429e-01 1.03791796e-03 -1.43712674e-03 1.74460694e+02] [-1.03782491e-03 9.99999459e-01 6.54868612e-05 -4.31908382e+00] [ 1.43719393e-03 -6.39952723e-05 9.99998965e-01 -3.22141776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.938001145 meters 0.10084498893104843 Centerline is valid? [False, False] Translation: X:174.46, Y:-4.32, Z:-3.22 [[ 9.99997778e-01 1.36371336e-03 -1.60760406e-03 1.74461413e+02] [-1.36301403e-03 9.99998976e-01 4.36026006e-04 -4.31946757e+00] [ 1.60819703e-03 -4.33833850e-04 9.99998613e-01 -3.22195913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.998001145 meters 0.10160793912337723 Centerline is valid? [False, False] Translation: X:174.46, Y:-4.32, Z:-3.22 [[ 9.99997463e-01 1.44718175e-03 -1.72601809e-03 1.74461883e+02] [-1.44636667e-03 9.99998842e-01 4.73385908e-04 -4.31915080e+00] [ 1.72670116e-03 -4.70888252e-04 9.99998398e-01 -3.22228371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.058001145 meters 0.099275562791688 Centerline is valid? [False, True] Translation: X:174.46, Y:-4.32, Z:-3.22 [[ 9.99997596e-01 1.47404079e-03 -1.62309381e-03 1.74461794e+02] [-1.47300969e-03 9.99998713e-01 6.36276562e-04 -4.31980835e+00] [ 1.62402962e-03 -6.33884200e-04 9.99998480e-01 -3.22250559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.118001145 meters 0.0939420958940908 Centerline is valid? [True, True] Translation: X:174.52, Y:-4.32, Z:-3.22 [[ 9.99996041e-01 2.41305565e-03 -1.44775615e-03 1.74521378e+02] [-2.41284651e-03 9.99997078e-01 1.46181513e-04 -4.31802137e+00] [ 1.44810467e-03 -1.42687720e-04 9.99998941e-01 -3.22169902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.178001145 meters 0.1021844935004948 Centerline is valid? [True, False] Translation: X:174.52, Y:-4.32, Z:-3.22 [[ 9.99997219e-01 1.99752447e-03 -1.25357767e-03 1.74520386e+02] [-1.99789844e-03 9.99997960e-01 -2.97145920e-04 -4.31767733e+00] [ 1.25298156e-03 2.99649615e-04 9.99999170e-01 -3.22080776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.238001145 meters 0.09333203386215322 Centerline is valid? [False, True] Translation: X:174.52, Y:-4.32, Z:-3.22 [[ 9.99997904e-01 1.81406755e-03 -9.49048728e-04 1.74519471e+02] [-1.81432037e-03 9.99998319e-01 -2.65600096e-04 -4.31867258e+00] [ 9.48565316e-04 2.67321418e-04 9.99999514e-01 -3.22039884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.298001145 meters 0.0922998108722391 Centerline is valid? [True, True] Translation: X:174.58, Y:-4.33, Z:-3.22 [[ 9.99999195e-01 5.09779398e-04 -1.16168190e-03 1.74578840e+02] [-5.09642203e-04 9.99999863e-01 1.18392923e-04 -4.32612108e+00] [ 1.16174210e-03 -1.17800786e-04 9.99999318e-01 -3.22232158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.358001145 meters 0.09363057708291801 Centerline is valid? [True, True] Translation: X:174.64, Y:-4.34, Z:-3.23 [[ 9.99995619e-01 -5.56071428e-04 -2.90719967e-03 1.74637692e+02] [ 5.56937466e-04 9.99999801e-01 2.97092817e-04 -4.33679612e+00] [ 2.90703388e-03 -2.98710644e-04 9.99995730e-01 -3.22537818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.418001145 meters 0.0986192579198388 Centerline is valid? [True, True] Translation: X:174.70, Y:-4.35, Z:-3.23 [[ 9.99995637e-01 -6.59932218e-04 -2.87932915e-03 1.74695082e+02] [ 6.60780910e-04 9.99999739e-01 2.93811953e-04 -4.35110784e+00] [ 2.87913450e-03 -2.95713277e-04 9.99995812e-01 -3.22721488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47800114499998 meters 0.09711672730635805 Centerline is valid? [True, True] Translation: X:174.75, Y:-4.36, Z:-3.23 [[ 9.99997623e-01 2.13778820e-04 -2.16984120e-03 1.74754835e+02] [-2.13298149e-04 9.99999953e-01 2.21752185e-04 -4.35884267e+00] [ 2.16988850e-03 -2.21288835e-04 9.99997621e-01 -3.22877784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53800114499998 meters 0.09732633465602945 Centerline is valid? [True, True] Translation: X:174.81, Y:-4.37, Z:-3.23 [[ 9.99999056e-01 -1.79864024e-04 -1.36241932e-03 1.74813418e+02] [ 1.80052873e-04 9.99999974e-01 1.38491607e-04 -4.36739545e+00] [ 1.36239437e-03 -1.38736783e-04 9.99999062e-01 -3.22959844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.59800114499998 meters 0.10436645946018135 Centerline is valid? [True, False] Translation: X:174.81, Y:-4.37, Z:-3.23 [[ 9.99999095e-01 -9.56388508e-06 -1.34532941e-03 1.74813404e+02] [ 1.02930594e-05 9.99999853e-01 5.41998405e-04 -4.36885119e+00] [ 1.34532403e-03 -5.42011762e-04 9.99998948e-01 -3.22964956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.658001145 meters 0.10378963755233196 Centerline is valid? [False, False] Translation: X:174.81, Y:-4.37, Z:-3.23 [[ 9.99999565e-01 2.54151337e-04 -8.97095754e-04 1.74812400e+02] [-2.52719082e-04 9.99998694e-01 1.59629895e-03 -4.37325505e+00] [ 8.97500284e-04 -1.59607155e-03 9.99998324e-01 -3.22957073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.718001145 meters 0.10380859047480147 Centerline is valid? [False, False] Translation: X:174.81, Y:-4.37, Z:-3.23 [[ 9.99999676e-01 2.17234774e-04 -7.75063677e-04 1.74811929e+02] [-2.15906281e-04 9.99998508e-01 1.71371566e-03 -4.37417198e+00] [ 7.75434800e-04 -1.71354776e-03 9.99998231e-01 -3.22928118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.778001145 meters 0.1068797416951662 Centerline is valid? [False, False] Translation: X:174.81, Y:-4.38, Z:-3.23 [[ 9.99999633e-01 4.72764949e-04 -7.14923530e-04 1.74811972e+02] [-4.71162524e-04 9.99997380e-01 2.23990403e-03 -4.37559516e+00] [ 7.15980605e-04 -2.23956636e-03 9.99997236e-01 -3.22948946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.838001145 meters 0.09723846676777943 Centerline is valid? [False, True] Translation: X:174.81, Y:-4.38, Z:-3.23 [[ 9.99999664e-01 4.40162100e-04 -6.91551269e-04 1.74811687e+02] [-4.38581098e-04 9.99997294e-01 2.28465816e-03 -4.37626769e+00] [ 6.92555018e-04 -2.28435409e-03 9.99997151e-01 -3.22918531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.898001145 meters 0.10248912510188374 Centerline is valid? [True, False] Translation: X:174.81, Y:-4.38, Z:-3.23 [[ 9.99999126e-01 1.05777309e-03 -7.93027524e-04 1.74812432e+02] [-1.05521315e-03 9.99994254e-01 3.22156325e-03 -4.37845918e+00] [ 7.96430650e-04 -3.22072362e-03 9.99994496e-01 -3.23003730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.958001145 meters 0.10417661926787253 Centerline is valid? [False, False] Translation: X:174.81, Y:-4.38, Z:-3.23 [[ 9.99999206e-01 9.44502340e-04 -8.34507718e-04 1.74812368e+02] [-9.42019013e-04 9.99995142e-01 2.97119743e-03 -4.37811430e+00] [ 8.37309967e-04 -2.97040895e-03 9.99995238e-01 -3.22981618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.018001145 meters 0.09303521884629098 Centerline is valid? [False, True] Translation: X:174.81, Y:-4.38, Z:-3.23 [[ 9.99999448e-01 4.71716126e-04 -9.38932461e-04 1.74811753e+02] [-4.69795551e-04 9.99997799e-01 2.04465812e-03 -4.37630277e+00] [ 9.39894893e-04 -2.04421588e-03 9.99997469e-01 -3.22842920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.078001145 meters 0.09535780544855664 Centerline is valid? [True, True] Translation: X:174.87, Y:-4.39, Z:-3.23 [[ 9.99997579e-01 1.47419103e-03 -1.63359371e-03 1.74869937e+02] [-1.47392705e-03 9.99998901e-01 1.62785195e-04 -4.38783201e+00] [ 1.63383189e-03 -1.60377003e-04 9.99998652e-01 -3.23126106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.138001145 meters 0.08761226085968697 Centerline is valid? [True, True] Translation: X:174.93, Y:-4.38, Z:-3.23 [[ 9.99996488e-01 2.04313766e-03 -1.68815121e-03 1.74930803e+02] [-2.04285666e-03 9.99997899e-01 1.68158515e-04 -4.38063591e+00] [ 1.68849123e-03 -1.64709274e-04 9.99998561e-01 -3.23001344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.198001145 meters 0.09116858847613721 Centerline is valid? [True, True] Translation: X:174.99, Y:-4.39, Z:-3.23 [[ 9.99990299e-01 4.05699514e-03 -1.71527479e-03 1.74989242e+02] [-4.05670805e-03 9.99991757e-01 1.70820238e-04 -4.39176243e+00] [ 1.71595367e-03 -1.63860211e-04 9.99998514e-01 -3.23365898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25800114499998 meters 0.08950406934298866 Centerline is valid? [True, True] Translation: X:175.05, Y:-4.39, Z:-3.23 [[ 9.99978490e-01 5.87387865e-03 -2.91824532e-03 1.75049525e+02] [-5.87305489e-03 9.99982711e-01 2.90768986e-04 -4.39407309e+00] [ 2.91990281e-03 -2.73623716e-04 9.99995700e-01 -3.23497489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.31800114499998 meters 0.09363648521023166 Centerline is valid? [True, True] Translation: X:175.11, Y:-4.40, Z:-3.24 [[ 9.99967976e-01 7.80361747e-03 -1.77522150e-03 1.75107309e+02] [-7.80331647e-03 9.99969538e-01 1.76418295e-04 -4.40466304e+00] [ 1.77654412e-03 -1.62560030e-04 9.99998409e-01 -3.23661042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.37800114499998 meters 0.08461630912999435 Centerline is valid? [True, True] Translation: X:175.17, Y:-4.39, Z:-3.23 [[ 9.99966087e-01 8.21569159e-03 -5.72554429e-04 1.75167578e+02] [-8.21566086e-03 9.99966249e-01 5.60011815e-05 -4.39425871e+00] [ 5.72995194e-04 -5.12953693e-05 9.99999835e-01 -3.23433906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.438001145 meters 0.09384299499086579 Centerline is valid? [True, True] Translation: X:175.22, Y:-4.41, Z:-3.24 [[ 9.99971191e-01 7.51897644e-03 -1.04009670e-03 1.75223448e+02] [-7.51887408e-03 9.99971728e-01 1.02294604e-04 -4.41449288e+00] [ 1.04083644e-03 -9.44713006e-05 9.99999454e-01 -3.24081712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.498001145 meters 0.09645974339217092 Centerline is valid? [True, True] Translation: X:175.28, Y:-4.42, Z:-3.24 [[ 9.99981383e-01 5.71824449e-03 -2.12946300e-03 1.75282582e+02] [-5.71780600e-03 9.99983631e-01 2.11949161e-04 -4.42322097e+00] [ 2.13064012e-03 -1.99769359e-04 9.99997710e-01 -3.24248251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.558001145 meters 0.10074083608052063 Centerline is valid? [True, False] Translation: X:175.28, Y:-4.42, Z:-3.24 [[ 9.99995508e-01 1.59131339e-03 -2.54017928e-03 1.75283729e+02] [-1.60180229e-03 9.99990178e-01 -4.13251567e-03 -4.42207315e+00] [ 2.53357820e-03 4.13656597e-03 9.99988235e-01 -3.24290127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.618001145 meters 0.10268648764164483 Centerline is valid? [False, False] Translation: X:175.28, Y:-4.42, Z:-3.24 [[ 9.99995824e-01 1.46687414e-03 -2.49023196e-03 1.75283615e+02] [-1.47758973e-03 9.99989635e-01 -4.30667649e-03 -4.42136256e+00] [ 2.48388879e-03 4.31033805e-03 9.99987626e-01 -3.24283659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.678001145 meters 0.0904257239215477 Centerline is valid? [False, True] Translation: X:175.28, Y:-4.42, Z:-3.24 [[ 9.99996347e-01 1.24758890e-03 -2.39763583e-03 1.75283539e+02] [-1.25879550e-03 9.99988265e-01 -4.67821011e-03 -4.42001221e+00] [ 2.39177121e-03 4.68121116e-03 9.99986183e-01 -3.24295179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.738001145 meters 0.09075421284536865 Centerline is valid? [True, True] Translation: X:175.34, Y:-4.43, Z:-3.25 [[ 9.99997196e-01 7.47190920e-04 -2.24722720e-03 1.75342602e+02] [-7.46693091e-04 9.99999697e-01 2.22361304e-04 -4.42952156e+00] [ 2.24739266e-03 -2.20682692e-04 9.99997450e-01 -3.24760936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.798001145 meters 0.09393298677590431 Centerline is valid? [True, True] Translation: X:175.40, Y:-4.44, Z:-3.25 [[ 9.99991466e-01 -8.01197502e-04 -4.05291189e-03 1.75400716e+02] [ 8.02830576e-04 9.99999597e-01 4.01327597e-04 -4.43969182e+00] [ 4.05258871e-03 -4.04577973e-04 9.99991706e-01 -3.25099048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.858001145 meters 0.09513781427584247 Centerline is valid? [True, True] Translation: X:175.46, Y:-4.45, Z:-3.25 [[ 9.99990568e-01 -1.06365710e-03 -4.21106919e-03 1.75459066e+02] [ 1.06540544e-03 9.99999347e-01 4.12956945e-04 -4.44605836e+00] [ 4.21062720e-03 -4.17439546e-04 9.99991048e-01 -3.25320619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.918001145 meters 0.09466688064056607 Centerline is valid? [True, True] Translation: X:175.52, Y:-4.45, Z:-3.25 [[ 9.99992463e-01 6.41544495e-04 -3.82915746e-03 1.75518761e+02] [-6.40099935e-04 9.99999724e-01 3.78466227e-04 -4.45056207e+00] [ 3.82939920e-03 -3.76012331e-04 9.99992597e-01 -3.25345658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97800114499998 meters 0.09440506514091959 Centerline is valid? [True, True] Translation: X:175.58, Y:-4.46, Z:-3.26 [[ 9.99990748e-01 2.65083774e-03 -3.38776245e-03 1.75578503e+02] [-2.64971863e-03 9.99996433e-01 3.34784917e-04 -4.45565882e+00] [ 3.38863783e-03 -3.25805203e-04 9.99994205e-01 -3.25520092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03800114499998 meters 0.09484105537102779 Centerline is valid? [True, True] Translation: X:175.64, Y:-4.46, Z:-3.26 [[ 9.99976049e-01 6.55871831e-03 -2.20991045e-03 1.75638493e+02] [-6.55825154e-03 9.99978471e-01 2.18396978e-04 -4.45929201e+00] [ 2.21129527e-03 -2.03898599e-04 9.99997534e-01 -3.25536322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.09800114499998 meters 0.09595611892738609 Centerline is valid? [True, True] Translation: X:175.70, Y:-4.47, Z:-3.26 [[ 9.99965187e-01 7.92849915e-03 -2.60083696e-03 1.75698517e+02] [-7.92785759e-03 9.99968541e-01 2.56892420e-04 -4.46555187e+00] [ 2.60279191e-03 -2.36264412e-04 9.99996585e-01 -3.25713264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.158001145 meters 0.09608903384392671 Centerline is valid? [True, True] Translation: X:175.76, Y:-4.47, Z:-3.26 [[ 9.99956409e-01 8.77096508e-03 -3.20172118e-03 1.75757153e+02] [-8.76999988e-03 9.99961493e-01 3.15377861e-04 -4.47055376e+00] [ 3.20436406e-03 -2.87285018e-04 9.99994825e-01 -3.25878034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.218001145 meters 0.08593132999990169 Centerline is valid? [True, True] Translation: X:175.82, Y:-4.46, Z:-3.26 [[ 9.99965800e-01 7.68889778e-03 -3.04632317e-03 1.75818663e+02] [-7.68801815e-03 9.99970402e-01 3.00356257e-04 -4.45615598e+00] [ 3.04854241e-03 -2.76925797e-04 9.99995315e-01 -3.25588795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.278001145 meters 0.08779141635579393 Centerline is valid? [True, True] Translation: X:175.88, Y:-4.46, Z:-3.26 [[ 9.99967999e-01 6.64197914e-03 -4.45916238e-03 1.75877418e+02] [-6.64008513e-03 9.99977858e-01 4.39417507e-04 -4.46381148e+00] [ 4.46198225e-03 -4.09794227e-04 9.99989961e-01 -3.25755755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.338001145 meters 0.08928040289378669 Centerline is valid? [True, True] Translation: X:175.94, Y:-4.47, Z:-3.26 [[ 9.99975444e-01 6.20076142e-03 -3.26539155e-03 1.75935875e+02] [-6.19974571e-03 9.99980730e-01 3.21081214e-04 -4.47201045e+00] [ 3.26731958e-03 -3.00828733e-04 9.99994617e-01 -3.25931542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.398001145 meters 0.09007365834212594 Centerline is valid? [True, True] Translation: X:175.99, Y:-4.48, Z:-3.26 [[ 9.99982828e-01 5.36207522e-03 -2.36451690e-03 1.75994579e+02] [-5.36154137e-03 9.99985600e-01 2.32057211e-04 -4.47599459e+00] [ 2.36572716e-03 -2.19375771e-04 9.99997178e-01 -3.25922577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.458001145 meters 0.09341517434488021 Centerline is valid? [True, True] Translation: X:176.05, Y:-4.48, Z:-3.26 [[ 9.99982951e-01 5.81580307e-03 -5.23105004e-04 1.76052098e+02] [-5.81577758e-03 9.99983087e-01 5.02408348e-05 -4.48400433e+00] [ 5.23388347e-04 -4.71977159e-05 9.99999862e-01 -3.25968438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.518001145 meters 0.09299651736352249 Centerline is valid? [True, True] Translation: X:176.11, Y:-4.49, Z:-3.26 [[ 9.99987149e-01 5.05743609e-03 -3.52321078e-04 1.76110176e+02] [-5.05742471e-03 9.99987211e-01 3.31716656e-05 -4.48903808e+00] [ 3.52484336e-04 -3.13894020e-05 9.99999937e-01 -3.26131665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.578001145 meters 0.09576539113571567 Centerline is valid? [True, True] Translation: X:176.17, Y:-4.50, Z:-3.26 [[ 9.99992012e-01 3.99626121e-03 7.73273390e-05 1.76167898e+02] [-3.99626056e-03 9.99992015e-01 -8.62042311e-06 -4.49725488e+00] [-7.73611709e-05 8.31133406e-06 9.99999997e-01 -3.26283064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.638001145 meters 0.09665201237242259 Centerline is valid? [True, True] Translation: X:176.23, Y:-4.50, Z:-3.26 [[ 9.99991699e-01 4.07262656e-03 1.27413883e-04 1.76226660e+02] [-4.07262487e-03 9.99991707e-01 -1.35285700e-05 -4.50339268e+00] [-1.27467923e-04 1.30095488e-05 9.99999992e-01 -3.26390866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.698001145 meters 0.08765767663394125 Centerline is valid? [True, True] Translation: X:176.29, Y:-4.49, Z:-3.26 [[ 9.99986350e-01 5.06800069e-03 -1.27060856e-03 1.76286891e+02] [-5.06784757e-03 9.99987151e-01 1.23701099e-04 -4.49268102e+00] [ 1.27121915e-03 -1.17260160e-04 9.99999185e-01 -3.26382338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75800114499998 meters 0.09025994454695248 Centerline is valid? [True, True] Translation: X:176.34, Y:-4.50, Z:-3.27 [[ 9.99978823e-01 6.12651512e-03 -2.19540778e-03 1.76344529e+02] [-6.12605906e-03 9.99981213e-01 2.14398526e-04 -4.50170880e+00] [ 2.19668005e-03 -2.00944788e-04 9.99997567e-01 -3.26682425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.81800114499998 meters 0.08934347594944121 Centerline is valid? [True, True] Translation: X:176.40, Y:-4.50, Z:-3.27 [[ 9.99974604e-01 6.95581471e-03 -1.55184951e-03 1.76404008e+02] [-6.95558801e-03 9.99975798e-01 1.51435676e-04 -4.50302157e+00] [ 1.55286532e-03 -1.40637804e-04 9.99998784e-01 -3.26742621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.87800114499998 meters 0.09005168252151059 Centerline is valid? [True, True] Translation: X:176.46, Y:-4.51, Z:-3.27 [[ 9.99972509e-01 7.24868950e-03 -1.56151774e-03 1.76463055e+02] [-7.24846042e-03 9.99973718e-01 1.52313560e-04 -4.50816102e+00] [ 1.56258077e-03 -1.40990773e-04 9.99998769e-01 -3.26930755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.938001145 meters 0.09088904997561922 Centerline is valid? [True, True] Translation: X:176.52, Y:-4.51, Z:-3.27 [[ 9.99970086e-01 7.58219633e-03 -1.52897546e-03 1.76522060e+02] [-7.58197845e-03 9.99971245e-01 1.48244830e-04 -4.51390314e+00] [ 1.53005552e-03 -1.36647737e-04 9.99998820e-01 -3.27070744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.998001145 meters 0.08879838065870076 Centerline is valid? [True, True] Translation: X:176.58, Y:-4.51, Z:-3.27 [[ 9.99951609e-01 9.78362566e-03 -1.02923897e-03 1.76582861e+02] [-9.78352732e-03 9.99952135e-01 1.00535914e-04 -4.51187149e+00] [ 1.03017331e-03 -9.04614613e-05 9.99999465e-01 -3.27125032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.058001145 meters 0.08855228818001623 Centerline is valid? [True, True] Translation: X:176.64, Y:-4.51, Z:-3.27 [[ 9.99923706e-01 1.22687074e-02 -1.43596091e-03 1.76643336e+02] [-1.22685188e-02 9.99924729e-01 1.40090667e-04 -4.51473701e+00] [ 1.43757156e-03 -1.22462865e-04 9.99998959e-01 -3.27266584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.118001145 meters 0.08631783248846116 Centerline is valid? [True, True] Translation: X:176.70, Y:-4.52, Z:-3.27 [[ 9.99891673e-01 1.47145866e-02 -3.51819065e-04 1.76703932e+02] [-1.47145754e-02 9.99891734e-01 3.43615052e-05 -4.51500001e+00] [ 3.52286591e-04 -2.91809148e-05 9.99999938e-01 -3.27345318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.178001145 meters 0.08731034905246099 Centerline is valid? [True, True] Translation: X:176.76, Y:-4.52, Z:-3.27 [[ 9.99886085e-01 1.50896294e-02 -3.46792275e-04 1.76762491e+02] [-1.50896189e-02 9.99886145e-01 3.28886645e-05 -4.52153114e+00] [ 3.47249069e-04 -2.76519547e-05 9.99999939e-01 -3.27474987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.238001145 meters 0.0902934912179581 Centerline is valid? [True, True] Translation: X:176.82, Y:-4.53, Z:-3.28 [[ 9.99906788e-01 1.36532884e-02 -6.26673530e-05 1.76820313e+02] [-1.36532881e-02 9.99906790e-01 5.05455590e-06 -4.53280327e+00] [ 6.27305231e-05 -4.19846933e-06 9.99999998e-01 -3.27771496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.298001145 meters 0.09270325442467905 Centerline is valid? [True, True] Translation: X:176.88, Y:-4.54, Z:-3.28 [[ 9.99928089e-01 1.17834510e-02 -2.22873445e-03 1.76878940e+02] [-1.17829957e-02 9.99930554e-01 2.17308303e-04 -4.54251985e+00] [ 2.23114032e-03 -1.91031508e-04 9.99997493e-01 -3.28105268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.358001145 meters 0.09523882460909024 Centerline is valid? [True, True] Translation: X:176.94, Y:-4.55, Z:-3.28 [[ 9.99933044e-01 1.11287554e-02 -3.17139360e-03 1.76936900e+02] [-1.11278318e-02 9.99938036e-01 3.08746216e-04 -4.55032225e+00] [ 3.17463305e-03 -2.73434809e-04 9.99994923e-01 -3.28408079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.418001145 meters 0.08809743778866884 Centerline is valid? [True, True] Translation: X:177.00, Y:-4.54, Z:-3.28 [[ 9.99932113e-01 1.10928220e-02 -3.56637351e-03 1.76996147e+02] [-1.10916567e-02 9.99938426e-01 3.46353440e-04 -4.54430662e+00] [ 3.56999595e-03 -3.06772937e-04 9.99993580e-01 -3.28323578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47800114499998 meters 0.09743994446526477 Centerline is valid? [True, True] Translation: X:177.05, Y:-4.56, Z:-3.29 [[ 9.99936506e-01 1.06652077e-02 -3.63821792e-03 1.77052172e+02] [-1.06639922e-02 9.99943076e-01 3.53350026e-04 -4.56360879e+00] [ 3.64177937e-03 -3.14529663e-04 9.99993319e-01 -3.28773742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53800114499998 meters 0.09654143916066386 Centerline is valid? [True, True] Translation: X:177.11, Y:-4.57, Z:-3.29 [[ 9.99935238e-01 1.09650705e-02 -3.04752606e-03 1.77110778e+02] [-1.09642192e-02 9.99939847e-01 2.95904406e-04 -4.56533431e+00] [ 3.05058736e-03 -2.62471499e-04 9.99995313e-01 -3.28808515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.59800114499998 meters 0.09247167542070704 Centerline is valid? [True, True] Translation: X:177.17, Y:-4.57, Z:-3.29 [[ 9.99942008e-01 1.06513087e-02 -1.59062284e-03 1.77170067e+02] [-1.06510774e-02 9.99943264e-01 1.53830837e-04 -4.56503739e+00] [ 1.59217110e-03 -1.36880069e-04 9.99998723e-01 -3.28698770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.658001145 meters 0.08720739544190871 Centerline is valid? [True, True] Translation: X:177.23, Y:-4.56, Z:-3.28 [[ 9.99956380e-01 9.29862231e-03 -8.79536408e-04 1.77229946e+02] [-9.29855133e-03 9.99956764e-01 8.47635779e-05 -4.56070785e+00] [ 8.80286565e-04 -7.65814661e-05 9.99999610e-01 -3.28499297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.718001145 meters 0.08882433076514142 Centerline is valid? [True, True] Translation: X:177.29, Y:-4.57, Z:-3.29 [[ 9.99963710e-01 8.45134795e-03 -1.07374143e-03 1.77288065e+02] [-8.45124183e-03 9.99964282e-01 1.03328539e-04 -4.56895832e+00] [ 1.07457634e-03 -9.42503409e-05 9.99999418e-01 -3.28609162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.778001145 meters 0.09204720184171611 Centerline is valid? [True, True] Translation: X:177.35, Y:-4.58, Z:-3.29 [[ 9.99979624e-01 6.15230070e-03 -1.70309027e-03 1.77346284e+02] [-6.15202851e-03 9.99981062e-01 1.65010409e-04 -4.58284710e+00] [ 1.70407321e-03 -1.54529586e-04 9.99998536e-01 -3.28866945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.838001145 meters 0.0940283381581548 Centerline is valid? [True, True] Translation: X:177.40, Y:-4.59, Z:-3.29 [[ 9.99980241e-01 5.24598251e-03 -3.46374552e-03 1.77403759e+02] [-5.24485194e-03 9.99986189e-01 3.35404450e-04 -4.59269376e+00] [ 3.46545721e-03 -3.17230990e-04 9.99993945e-01 -3.29180836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.898001145 meters 0.09308827380979161 Centerline is valid? [True, True] Translation: X:177.46, Y:-4.60, Z:-3.29 [[ 9.99981205e-01 4.62376334e-03 -4.02619229e-03 1.77462338e+02] [-4.62223124e-03 9.99989241e-01 3.89756574e-04 -4.59704979e+00] [ 4.02795111e-03 -3.71139257e-04 9.99991819e-01 -3.29336778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.958001145 meters 0.09341328710753104 Centerline is valid? [True, True] Translation: X:177.52, Y:-4.60, Z:-3.30 [[ 9.99973955e-01 6.03684115e-03 -3.95547753e-03 1.77521959e+02] [-6.03537268e-03 9.99981714e-01 3.83081054e-04 -4.60490043e+00] [ 3.95771780e-03 -3.59198295e-04 9.99992104e-01 -3.29507113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.018001145 meters 0.09497397777102186 Centerline is valid? [True, True] Translation: X:177.58, Y:-4.61, Z:-3.30 [[ 9.99971784e-01 6.60462820e-03 -3.57903761e-03 1.77579634e+02] [-6.60343319e-03 9.99978137e-01 3.45605612e-04 -4.61075262e+00] [ 3.58124196e-03 -3.21961925e-04 9.99993536e-01 -3.29568434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.078001145 meters 0.09451269691621315 Centerline is valid? [True, True] Translation: X:177.64, Y:-4.61, Z:-3.30 [[ 9.99966112e-01 7.58665422e-03 -3.19645074e-03 1.77638830e+02] [-7.58570515e-03 9.99971180e-01 3.08931947e-04 -4.61411852e+00] [ 3.19870238e-03 -2.84674145e-04 9.99994844e-01 -3.29609735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.138001145 meters 0.09298519264473767 Centerline is valid? [True, True] Translation: X:177.70, Y:-4.62, Z:-3.30 [[ 9.99967363e-01 7.84745626e-03 -1.92098934e-03 1.77698103e+02] [-7.84711476e-03 9.99969194e-01 1.85247276e-04 -4.61684620e+00] [ 1.92238388e-03 -1.70167006e-04 9.99998138e-01 -3.29532018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.198001145 meters 0.09377140868604558 Centerline is valid? [True, True] Translation: X:177.76, Y:-4.62, Z:-3.30 [[ 9.99977569e-01 6.46027628e-03 -1.76837859e-03 1.77757301e+02] [-6.45998448e-03 9.99979120e-01 1.70673129e-04 -4.62394827e+00] [ 1.76944426e-03 -1.59245603e-04 9.99998422e-01 -3.29779441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25800114499998 meters 0.09859414370991178 Centerline is valid? [True, True] Translation: X:177.81, Y:-4.64, Z:-3.30 [[ 9.99983182e-01 5.28991869e-03 -2.37767416e-03 1.77814625e+02] [-5.28938831e-03 9.99985985e-01 2.29298755e-04 -4.63772083e+00] [ 2.37885381e-03 -2.16718457e-04 9.99997147e-01 -3.30071263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.31800114499998 meters 0.09574871685787534 Centerline is valid? [True, True] Translation: X:177.87, Y:-4.64, Z:-3.30 [[ 9.99983767e-01 4.96294852e-03 -2.79924164e-03 1.77873221e+02] [-4.96221300e-03 9.99987652e-01 2.69643143e-04 -4.63884536e+00] [ 2.80054530e-03 -2.55748332e-04 9.99996046e-01 -3.30132054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.37800114499998 meters 0.0952234759153088 Centerline is valid? [True, True] Translation: X:177.93, Y:-4.64, Z:-3.30 [[ 9.99987680e-01 3.95315010e-03 -3.00196720e-03 1.77932761e+02] [-3.95229824e-03 9.99992148e-01 2.89647246e-04 -4.64385982e+00] [ 3.00308865e-03 -2.77779008e-04 9.99995452e-01 -3.30178298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.438001145 meters 0.09357012494003879 Centerline is valid? [True, True] Translation: X:177.99, Y:-4.65, Z:-3.30 [[ 9.99994110e-01 1.85612549e-03 -2.88690095e-03 1.77993086e+02] [-1.85532756e-03 9.99998240e-01 2.79047122e-04 -4.64800021e+00] [ 2.88741382e-03 -2.73689332e-04 9.99995794e-01 -3.30255510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.498001145 meters 0.09712732704378031 Centerline is valid? [True, True] Translation: X:178.05, Y:-4.66, Z:-3.31 [[ 9.99993876e-01 1.12649567e-03 -3.31338525e-03 1.78050666e+02] [-1.12544379e-03 9.99999316e-01 3.19312712e-04 -4.66040036e+00] [ 3.31374269e-03 -3.15581728e-04 9.99994460e-01 -3.30546057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.558001145 meters 0.1086022431958836 Centerline is valid? [True, False] Translation: X:178.05, Y:-4.66, Z:-3.31 [[ 9.99993993e-01 1.39430952e-03 -3.17336315e-03 1.78050642e+02] [-1.39115191e-03 9.99998535e-01 9.97026277e-04 -4.66241350e+00] [ 3.17474866e-03 -9.92605657e-04 9.99994468e-01 -3.30599821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.618001145 meters 0.09164580788721116 Centerline is valid? [False, True] Translation: X:178.05, Y:-4.66, Z:-3.31 [[ 9.99993698e-01 1.21313115e-03 -3.33659547e-03 1.78050542e+02] [-1.21108232e-03 9.99999077e-01 6.16002494e-04 -4.66135611e+00] [ 3.33733969e-03 -6.11957720e-04 9.99994244e-01 -3.30525089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.678001145 meters 0.0974362115156556 Centerline is valid? [True, True] Translation: X:178.11, Y:-4.68, Z:-3.31 [[ 9.99994038e-01 1.37867614e-03 -3.16594223e-03 1.78106906e+02] [-1.37771868e-03 9.99999005e-01 3.04583661e-04 -4.67860323e+00] [ 3.16635900e-03 -3.00220067e-04 9.99994942e-01 -3.30833311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.738001145 meters 0.0932923269842425 Centerline is valid? [True, True] Translation: X:178.17, Y:-4.68, Z:-3.31 [[ 9.99995834e-01 1.32903306e-03 -2.56250270e-03 1.78165492e+02] [-1.32840609e-03 9.99999087e-01 2.46357516e-04 -4.68005289e+00] [ 2.56282778e-03 -2.42952446e-04 9.99996686e-01 -3.30763157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.798001145 meters 0.09963335026484221 Centerline is valid? [True, True] Translation: X:178.22, Y:-4.70, Z:-3.31 [[ 9.99992426e-01 7.85269539e-04 -3.81196357e-03 1.78222749e+02] [-7.83876041e-04 9.99999625e-01 3.67039307e-04 -4.69609808e+00] [ 3.81225036e-03 -3.64048420e-04 9.99992667e-01 -3.31048397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.858001145 meters 0.09565892504169929 Centerline is valid? [True, True] Translation: X:178.28, Y:-4.70, Z:-3.31 [[ 9.99985473e-01 -8.04768551e-06 -5.39007830e-03 1.78282546e+02] [ 1.08474089e-05 9.99999865e-01 5.19392616e-04 -4.69982561e+00] [ 5.39007339e-03 -5.19443539e-04 9.99985339e-01 -3.31356965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.918001145 meters 0.09718444765415282 Centerline is valid? [True, True] Translation: X:178.34, Y:-4.71, Z:-3.31 [[ 9.99986516e-01 1.39003885e-03 -5.00349688e-03 1.78341238e+02] [-1.38764464e-03 9.99998921e-01 4.81948276e-04 -4.70709708e+00] [ 5.00416140e-03 -4.74998702e-04 9.99987366e-01 -3.31454363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97800114499998 meters 0.09533713403850481 Centerline is valid? [True, True] Translation: X:178.40, Y:-4.71, Z:-3.32 [[ 9.99976581e-01 3.70442378e-03 -5.75461052e-03 1.78401795e+02] [-3.70129341e-03 9.99992996e-01 5.54529152e-04 -4.70938208e+00] [ 5.75662443e-03 -5.33216663e-04 9.99983288e-01 -3.31592670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03800114499998 meters 0.0941922027035538 Centerline is valid? [True, True] Translation: X:178.46, Y:-4.71, Z:-3.32 [[ 9.99963334e-01 7.14752867e-03 -4.71621142e-03 1.78461256e+02] [-7.14546552e-03 9.99974368e-01 4.54165804e-04 -4.71384162e+00] [ 4.71933670e-03 -4.20449625e-04 9.99988775e-01 -3.31655636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.09800114499998 meters 0.09641339005049564 Centerline is valid? [True, True] Translation: X:178.52, Y:-4.72, Z:-3.32 [[ 9.99957938e-01 8.51885942e-03 -3.39860782e-03 1.78519399e+02] [-8.51779656e-03 9.99963669e-01 3.27085630e-04 -4.72137697e+00] [ 3.40127075e-03 -2.98123222e-04 9.99994171e-01 -3.31612594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.158001145 meters 0.09814891361908493 Centerline is valid? [True, True] Translation: X:178.58, Y:-4.73, Z:-3.32 [[ 9.99957974e-01 9.07835605e-03 -1.27852669e-03 1.78576833e+02] [-9.07820750e-03 9.99958785e-01 1.21948059e-04 -4.72795646e+00] [ 1.27958108e-03 -1.10336203e-04 9.99999175e-01 -3.31639962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.218001145 meters 0.09510443385526497 Centerline is valid? [True, True] Translation: X:178.64, Y:-4.73, Z:-3.32 [[ 9.99966101e-01 7.92560064e-03 -2.23189202e-03 1.78636832e+02] [-7.92514184e-03 9.99968573e-01 2.14336011e-04 -4.72983946e+00] [ 2.23352062e-03 -1.96640684e-04 9.99997486e-01 -3.31835516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.278001145 meters 0.0913602770802853 Centerline is valid? [True, True] Translation: X:178.70, Y:-4.73, Z:-3.32 [[ 9.99975301e-01 6.51130195e-03 -2.64580612e-03 1.78696419e+02] [-6.51065310e-03 9.99978773e-01 2.53775064e-04 -4.72835300e+00] [ 2.64740236e-03 -2.36542871e-04 9.99996468e-01 -3.31828682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.338001145 meters 0.09789768431505477 Centerline is valid? [True, True] Translation: X:178.75, Y:-4.74, Z:-3.32 [[ 9.99975244e-01 5.83949711e-03 -3.92570927e-03 1.78753632e+02] [-5.83806378e-03 9.99982887e-01 3.76474025e-04 -4.74391757e+00] [ 3.92784051e-03 -3.53546164e-04 9.99992224e-01 -3.32256840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.398001145 meters 0.09467971184226899 Centerline is valid? [True, True] Translation: X:178.81, Y:-4.74, Z:-3.32 [[ 9.99974139e-01 5.34676102e-03 -4.80969244e-03 1.78813125e+02] [-5.34460461e-03 9.99985611e-01 4.61087185e-04 -4.74240231e+00] [ 4.81208856e-03 -4.35369357e-04 9.99988327e-01 -3.32375887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.458001145 meters 0.1060318551595424 Centerline is valid? [True, False] Translation: X:178.81, Y:-4.74, Z:-3.32 [[ 9.99971709e-01 5.30320032e-03 -5.33453401e-03 1.78814782e+02] [-5.30478718e-03 9.99985889e-01 -2.83364201e-04 -4.73792901e+00] [ 5.33295600e-03 3.11654752e-04 9.99985731e-01 -3.32442138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.518001145 meters 0.09290853571976501 Centerline is valid? [False, True] Translation: X:178.82, Y:-4.73, Z:-3.32 [[ 9.99972294e-01 4.93090864e-03 -5.57648465e-03 1.78815095e+02] [-4.93773971e-03 9.99987075e-01 -1.21187373e-03 -4.73491857e+00] [ 5.57043694e-03 1.23937539e-03 9.99983717e-01 -3.32401228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.578001145 meters 0.09783894769101638 Centerline is valid? [True, True] Translation: X:178.87, Y:-4.75, Z:-3.33 [[ 9.99977453e-01 5.24266172e-03 -4.19619021e-03 1.78872317e+02] [-5.24109345e-03 9.99986191e-01 3.84645268e-04 -4.74576084e+00] [ 4.19814883e-03 -3.62643970e-04 9.99991122e-01 -3.32759791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.638001145 meters 0.09648802499745172 Centerline is valid? [True, True] Translation: X:178.93, Y:-4.75, Z:-3.33 [[ 9.99983052e-01 3.91124660e-03 -4.31250855e-03 1.78932516e+02] [-3.90957579e-03 9.99992279e-01 3.95795958e-04 -4.74514566e+00] [ 4.31402331e-03 -3.78929171e-04 9.99990623e-01 -3.32738287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.698001145 meters 0.09963190969295038 Centerline is valid? [True, True] Translation: X:178.99, Y:-4.75, Z:-3.33 [[ 9.99991284e-01 2.31111121e-03 -3.47721165e-03 1.78990588e+02] [-2.31001687e-03 9.99997281e-01 3.18700269e-04 -4.75212686e+00] [ 3.47793874e-03 -3.10665073e-04 9.99993904e-01 -3.33024730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75800114499998 meters 0.09503957749644533 Centerline is valid? [True, True] Translation: X:179.05, Y:-4.75, Z:-3.33 [[ 9.99992357e-01 1.68546129e-03 -3.52776092e-03 1.79049709e+02] [-1.68433266e-03 9.99998529e-01 3.22873769e-04 -4.74799192e+00] [ 3.52829993e-03 -3.16929379e-04 9.99993725e-01 -3.33091623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.81800114499998 meters 0.09465026903349935 Centerline is valid? [True, True] Translation: X:179.11, Y:-4.75, Z:-3.33 [[ 9.99991066e-01 1.68330110e-03 -3.87736524e-03 1.79108961e+02] [-1.68193840e-03 9.99998523e-01 3.54685048e-04 -4.74559950e+00] [ 3.87795655e-03 -3.48160390e-04 9.99992420e-01 -3.33176693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87800114499998 meters 0.10723177311654229 Centerline is valid? [True, False] Translation: X:179.11, Y:-4.74, Z:-3.33 [[ 9.99990244e-01 1.74972446e-03 -4.05591804e-03 1.79110080e+02] [-1.74900640e-03 9.99998454e-01 1.80578305e-04 -4.74346329e+00] [ 4.05622773e-03 -1.73482716e-04 9.99991758e-01 -3.33278730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.938001145 meters 0.09866900382272634 Centerline is valid? [False, True] Translation: X:179.11, Y:-4.74, Z:-3.33 [[ 9.99990380e-01 1.75385944e-03 -4.02040056e-03 1.79110475e+02] [-1.75327245e-03 9.99998452e-01 1.49523105e-04 -4.74246652e+00] [ 4.02065657e-03 -1.42472809e-04 9.99991907e-01 -3.33346783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.998001145 meters 0.09527608798001971 Centerline is valid? [True, True] Translation: X:179.17, Y:-4.74, Z:-3.33 [[ 9.99990438e-01 9.19046173e-05 -4.37219984e-03 1.79170751e+02] [-9.01243299e-05 9.99999913e-01 4.07378739e-04 -4.73830861e+00] [ 4.37223690e-03 -4.06980802e-04 9.99990359e-01 -3.33348780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.058001145 meters 0.09708743686251255 Centerline is valid? [True, True] Translation: X:179.23, Y:-4.74, Z:-3.34 [[ 9.99990675e-01 -3.47174303e-04 -4.30449150e-03 1.79228797e+02] [ 3.48899670e-04 9.99999859e-01 4.00085153e-04 -4.74395343e+00] [ 4.30435199e-03 -4.01583258e-04 9.99990656e-01 -3.33506086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.118001145 meters 0.09693200387693282 Centerline is valid? [True, True] Translation: X:179.29, Y:-4.75, Z:-3.33 [[ 9.99994905e-01 -2.29922152e-04 -3.18374678e-03 1.79287718e+02] [ 2.30856301e-04 9.99999930e-01 2.93047495e-04 -4.74754379e+00] [ 3.18367918e-03 -2.93780990e-04 9.99994889e-01 -3.33492999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.178001145 meters 0.09912568882862693 Centerline is valid? [True, True] Translation: X:179.35, Y:-4.75, Z:-3.34 [[ 9.99991335e-01 7.65443413e-05 -4.16229584e-03 1.79346144e+02] [-7.49507274e-05 9.99999924e-01 3.83023597e-04 -4.75412790e+00] [ 4.16232484e-03 -3.82708311e-04 9.99991264e-01 -3.33771648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.238001145 meters 0.09798163326976751 Centerline is valid? [True, True] Translation: X:179.40, Y:-4.76, Z:-3.34 [[ 9.99990690e-01 1.09215302e-03 -4.17455730e-03 1.79404756e+02] [-1.09055158e-03 9.99999331e-01 3.85876013e-04 -4.75719898e+00] [ 4.17497595e-03 -3.81319850e-04 9.99991212e-01 -3.34040242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.298001145 meters 0.0995771196522482 Centerline is valid? [True, True] Translation: X:179.46, Y:-4.76, Z:-3.34 [[ 9.99988102e-01 1.69124440e-03 -4.57544533e-03 1.79462242e+02] [-1.68933178e-03 9.99998484e-01 4.21850932e-04 -4.76315306e+00] [ 4.57615185e-03 -4.14116468e-04 9.99989444e-01 -3.34138667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.358001145 meters 0.09907667864828855 Centerline is valid? [True, True] Translation: X:179.52, Y:-4.77, Z:-3.34 [[ 9.99983975e-01 3.25196701e-03 -4.63398937e-03 1.79522496e+02] [-3.25001837e-03 9.99994627e-01 4.27979567e-04 -4.76599718e+00] [ 4.63535625e-03 -4.12912158e-04 9.99989171e-01 -3.34198874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.418001145 meters 0.10002624885389516 Centerline is valid? [True, False] Translation: X:179.52, Y:-4.77, Z:-3.34 [[ 9.99982747e-01 3.40645334e-03 -4.78562376e-03 1.79523215e+02] [-3.40409331e-03 9.99994080e-01 5.01208594e-04 -4.76556554e+00] [ 4.78730277e-03 -4.84909236e-04 9.99988423e-01 -3.34256392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47800114499998 meters 0.09466317958114005 Centerline is valid? [False, True] Translation: X:179.52, Y:-4.76, Z:-3.34 [[ 9.99982729e-01 3.33491786e-03 -4.83951608e-03 1.79523511e+02] [-3.33364847e-03 9.99994407e-01 2.70340734e-04 -4.76449748e+00] [ 4.84039058e-03 -2.54202820e-04 9.99988253e-01 -3.34281282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53800114499998 meters 0.09332515690210619 Centerline is valid? [True, True] Translation: X:179.58, Y:-4.77, Z:-3.34 [[ 9.99975962e-01 4.06588701e-03 -5.61634681e-03 1.79582082e+02] [-4.06310523e-03 9.99991617e-01 5.06622608e-04 -4.76655119e+00] [ 5.61835960e-03 -4.83790622e-04 9.99984100e-01 -3.34407149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.59800114499998 meters 0.10221189942606486 Centerline is valid? [True, False] Translation: X:179.58, Y:-4.76, Z:-3.34 [[ 9.99976519e-01 3.75109606e-03 -5.73509515e-03 1.79582100e+02] [-3.75190028e-03 9.99992953e-01 -1.29476464e-04 -4.76435250e+00] [ 5.73456905e-03 1.50990929e-04 9.99983546e-01 -3.34368703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.658001145 meters 0.09379735039435509 Centerline is valid? [False, True] Translation: X:179.58, Y:-4.76, Z:-3.34 [[ 9.99977816e-01 3.75416340e-03 -5.50221550e-03 1.79581903e+02] [-3.75375539e-03 9.99992951e-01 8.44790151e-05 -4.76462478e+00] [ 5.50249386e-03 -6.38231699e-05 9.99984859e-01 -3.34421504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.718001145 meters 0.09646227957098892 Centerline is valid? [True, True] Translation: X:179.64, Y:-4.78, Z:-3.34 [[ 9.99984393e-01 -1.12313699e-03 -5.47287742e-03 1.79641782e+02] [ 1.12585333e-03 9.99999245e-01 4.93271241e-04 -4.77664398e+00] [ 5.47231928e-03 -4.99425200e-04 9.99984902e-01 -3.34475546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.778001145 meters 0.10044940319798418 Centerline is valid? [True, False] Translation: X:179.64, Y:-4.78, Z:-3.35 [[ 9.99987921e-01 -1.09485734e-03 -4.79158251e-03 1.79640738e+02] [ 1.10097790e-03 9.99998581e-01 1.27490626e-03 -4.77956549e+00] [ 4.79017987e-03 -1.28016628e-03 9.99987708e-01 -3.34546313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.838001145 meters 0.10239071744306817 Centerline is valid? [False, False] Translation: X:179.64, Y:-4.78, Z:-3.35 [[ 9.99989112e-01 -1.04468257e-03 -4.54805379e-03 1.79640461e+02] [ 1.05227768e-03 9.99998055e-01 1.66789773e-03 -4.78058034e+00] [ 4.54630252e-03 -1.67266538e-03 9.99988267e-01 -3.34593781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.898001145 meters 0.10394251831103908 Centerline is valid? [False, False] Translation: X:179.64, Y:-4.78, Z:-3.35 [[ 9.99989001e-01 -1.15251799e-03 -4.54646049e-03 1.79640109e+02] [ 1.15947555e-03 9.99998160e-01 1.52798455e-03 -4.78084412e+00] [ 4.54469110e-03 -1.53323925e-03 9.99988497e-01 -3.34542132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.958001145 meters 0.09813164676886107 Centerline is valid? [False, True] Translation: X:179.64, Y:-4.78, Z:-3.35 [[ 9.99988443e-01 -9.77817591e-04 -4.70719245e-03 1.79640592e+02] [ 9.85654544e-04 9.99998132e-01 1.66285710e-03 -4.78095384e+00] [ 4.70555768e-03 -1.66747755e-03 9.99987539e-01 -3.34561178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.018001145 meters 0.09899471426952199 Centerline is valid? [True, True] Translation: X:179.70, Y:-4.79, Z:-3.35 [[ 9.99988231e-01 4.63421724e-04 -4.82934091e-03 1.79698647e+02] [-4.61278672e-04 9.99999795e-01 4.44861137e-04 -4.78781889e+00] [ 4.82954608e-03 -4.42628230e-04 9.99988240e-01 -3.34605357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.078001145 meters 0.09616718654251585 Centerline is valid? [True, True] Translation: X:179.76, Y:-4.79, Z:-3.35 [[ 9.99971536e-01 3.08264386e-03 -6.88659095e-03 1.79758711e+02] [-3.07834432e-03 9.99995060e-01 6.34847932e-04 -4.78934973e+00] [ 6.88851394e-03 -6.13630563e-04 9.99976086e-01 -3.34865638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.138001145 meters 0.09859737935368701 Centerline is valid? [True, True] Translation: X:179.82, Y:-4.80, Z:-3.35 [[ 9.99965292e-01 3.93939233e-03 -7.34137989e-03 1.79815836e+02] [-3.93453867e-03 9.99992032e-01 6.75463002e-04 -4.80118242e+00] [ 7.34398230e-03 -6.46554615e-04 9.99972824e-01 -3.35101416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.198001145 meters 0.1001643940215361 Centerline is valid? [True, False] Translation: X:179.82, Y:-4.80, Z:-3.35 [[ 9.99966118e-01 3.94249581e-03 -7.22634717e-03 1.79815423e+02] [-3.93657625e-03 9.99991905e-01 8.33204934e-04 -4.80223366e+00] [ 7.22957358e-03 -8.04729636e-04 9.99973542e-01 -3.35079963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25800114499998 meters 0.09211331938114753 Centerline is valid? [False, True] Translation: X:179.81, Y:-4.81, Z:-3.35 [[ 9.99969406e-01 3.97701017e-03 -6.73574468e-03 1.79813959e+02] [-3.96699653e-03 9.99991007e-01 1.49934941e-03 -4.80640263e+00] [ 6.74164703e-03 -1.47258286e-03 9.99976191e-01 -3.35029089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.31800114499998 meters 0.1039912576895335 Centerline is valid? [True, False] Translation: X:179.81, Y:-4.81, Z:-3.35 [[ 9.99974971e-01 -2.22051743e-05 -7.07505943e-03 1.79814774e+02] [ 5.33466066e-06 9.99997157e-01 -2.38451481e-03 -4.80730210e+00] [ 7.07509227e-03 2.38441739e-03 9.99972128e-01 -3.35049843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37800114499998 meters 0.09472729745724134 Centerline is valid? [False, True] Translation: X:179.81, Y:-4.81, Z:-3.35 [[ 9.99975843e-01 1.52509144e-04 -6.94914127e-03 1.79814430e+02] [-1.65173968e-04 9.99998327e-01 -1.82196456e-03 -4.80932538e+00] [ 6.94885177e-03 1.82306836e-03 9.99974195e-01 -3.35046825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.438001145 meters 0.09229043050413355 Centerline is valid? [True, True] Translation: X:179.87, Y:-4.82, Z:-3.35 [[ 9.99973504e-01 5.77785904e-04 -7.25661340e-03 1.79872821e+02] [-5.73044501e-04 9.99999621e-01 6.55452770e-04 -4.81615380e+00] [ 7.25698936e-03 -6.51277040e-04 9.99973456e-01 -3.35215817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.498001145 meters 0.09222521431233546 Centerline is valid? [True, True] Translation: X:179.93, Y:-4.82, Z:-3.35 [[ 9.99970981e-01 -9.71702441e-05 -7.61753844e-03 1.79930626e+02] [ 1.02427715e-04 9.99999757e-01 6.89792691e-04 -4.82471826e+00] [ 7.61746956e-03 -6.90552921e-04 9.99970748e-01 -3.35311748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.558001145 meters 0.09198731955906009 Centerline is valid? [True, True] Translation: X:179.99, Y:-4.83, Z:-3.35 [[ 9.99974898e-01 8.91155658e-05 -7.08482976e-03 1.79988609e+02] [-8.46001269e-05 9.99999793e-01 6.37636229e-04 -4.83390052e+00] [ 7.08488512e-03 -6.37020845e-04 9.99974699e-01 -3.35246543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.618001145 meters 0.09204270107558504 Centerline is valid? [True, True] Translation: X:180.05, Y:-4.84, Z:-3.35 [[ 9.99972744e-01 1.52425852e-03 -7.22417940e-03 1.80047404e+02] [-1.51958127e-03 9.99998632e-01 6.52888699e-04 -4.84467837e+00] [ 7.22516469e-03 -6.41893176e-04 9.99973692e-01 -3.35429284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.678001145 meters 0.08976407017550588 Centerline is valid? [True, True] Translation: X:180.11, Y:-4.85, Z:-3.36 [[ 9.99966837e-01 2.54956041e-03 -7.73466053e-03 1.80105454e+02] [-2.54423670e-03 9.99996520e-01 6.98053406e-04 -4.85196625e+00] [ 7.73641335e-03 -6.78351449e-04 9.99969843e-01 -3.35536463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.738001145 meters 0.09137534715034593 Centerline is valid? [True, True] Translation: X:180.16, Y:-4.86, Z:-3.36 [[ 9.99969083e-01 2.26359780e-03 -7.53049104e-03 1.80162346e+02] [-2.25854992e-03 9.99997219e-01 6.78762578e-04 -4.86183968e+00] [ 7.53200655e-03 -6.61733604e-04 9.99971415e-01 -3.35596203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.798001145 meters 0.08972913808854062 Centerline is valid? [True, True] Translation: X:180.22, Y:-4.87, Z:-3.36 [[ 9.99958536e-01 1.29833990e-03 -9.01339150e-03 1.80221520e+02] [-1.29106365e-03 9.99998836e-01 8.13042927e-04 -4.87241654e+00] [ 9.01443662e-03 -8.01372353e-04 9.99959048e-01 -3.35830090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.858001145 meters 0.0937849067022501 Centerline is valid? [True, True] Translation: X:180.28, Y:-4.89, Z:-3.36 [[ 9.99959569e-01 8.71899827e-04 -8.94989407e-03 1.80277526e+02] [-8.64725185e-04 9.99999302e-01 8.05483785e-04 -4.88886086e+00] [ 8.95059012e-03 -7.97712019e-04 9.99959624e-01 -3.36090360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.918001145 meters 0.08858138102773168 Centerline is valid? [True, True] Translation: X:180.34, Y:-4.89, Z:-3.36 [[ 9.99954953e-01 7.79253397e-04 -9.45965288e-03 1.80337050e+02] [-7.71235006e-04 9.99999340e-01 8.51259463e-04 -4.88882718e+00] [ 9.46030998e-03 -8.43925501e-04 9.99954894e-01 -3.35911209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97800114499998 meters 0.08984829858609018 Centerline is valid? [True, True] Translation: X:180.40, Y:-4.90, Z:-3.36 [[ 9.99956599e-01 4.96355520e-04 -9.30345163e-03 1.80395329e+02] [-4.88593477e-04 9.99999531e-01 8.36572951e-04 -4.90105395e+00] [ 9.30386250e-03 -8.31991037e-04 9.99956372e-01 -3.36105451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03800114499998 meters 0.09076545512479187 Centerline is valid? [True, True] Translation: X:180.45, Y:-4.92, Z:-3.36 [[ 9.99974772e-01 -1.18436328e-03 -7.00381448e-03 1.80453729e+02] [ 1.18880317e-03 9.99999095e-01 6.29794866e-04 -4.91521755e+00] [ 7.00306224e-03 -6.38105135e-04 9.99975275e-01 -3.35983117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.09800114499998 meters 0.09381599754907806 Centerline is valid? [True, True] Translation: X:180.51, Y:-4.93, Z:-3.36 [[ 9.99981021e-01 -2.39472269e-03 -5.67646460e-03 1.80510865e+02] [ 2.39765327e-03 9.99996996e-01 5.09521183e-04 -4.92911043e+00] [ 5.67522738e-03 -5.23121707e-04 9.99983759e-01 -3.35971822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.158001145 meters 0.09346029623813411 Centerline is valid? [True, True] Translation: X:180.57, Y:-4.94, Z:-3.36 [[ 9.99977913e-01 -3.56256381e-03 -5.61087994e-03 1.80569578e+02] [ 3.56544683e-03 9.99993517e-01 5.03906567e-04 -4.94042993e+00] [ 5.60904836e-03 -5.23900731e-04 9.99984132e-01 -3.35923418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.218001145 meters 0.09435837603825167 Centerline is valid? [True, True] Translation: X:180.63, Y:-4.95, Z:-3.36 [[ 9.99969394e-01 -3.93578425e-03 -6.76172998e-03 1.80628734e+02] [ 3.93997890e-03 9.99992054e-01 6.07142968e-04 -4.95105599e+00] [ 6.75928667e-03 -6.33765459e-04 9.99976955e-01 -3.36147867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.278001145 meters 0.10039434739112042 Centerline is valid? [True, False] Translation: X:180.63, Y:-4.96, Z:-3.36 [[ 9.99974212e-01 -3.70132763e-03 -6.15424564e-03 1.80627255e+02] [ 3.71162555e-03 9.99991730e-01 1.66272433e-03 -4.95684924e+00] [ 6.14804045e-03 -1.68552370e-03 9.99979680e-01 -3.36124937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.338001145 meters 0.09315999013552774 Centerline is valid? [False, True] Translation: X:180.63, Y:-4.96, Z:-3.36 [[ 9.99975495e-01 -3.51141989e-03 -6.05642467e-03 1.80627167e+02] [ 3.52442825e-03 9.99991503e-01 2.13852743e-03 -4.95832213e+00] [ 6.04886394e-03 -2.15982046e-03 9.99979373e-01 -3.36149617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.398001145 meters 0.09086656194543274 Centerline is valid? [True, True] Translation: X:180.69, Y:-4.96, Z:-3.36 [[ 9.99952185e-01 -3.78508522e-03 -9.01664953e-03 1.80686030e+02] [ 3.79273581e-03 9.99992462e-01 8.31547147e-04 -4.96360343e+00] [ 9.01343408e-03 -8.65705157e-04 9.99959003e-01 -3.36163997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.458001145 meters 0.0908752699817303 Centerline is valid? [True, True] Translation: X:180.74, Y:-4.97, Z:-3.36 [[ 9.99958413e-01 -3.23612823e-03 -8.52641501e-03 1.80744683e+02] [ 3.24291025e-03 9.99994436e-01 7.81707180e-04 -4.97135020e+00] [ 8.52383787e-03 -8.09325070e-04 9.99963344e-01 -3.36238081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.518001145 meters 0.08905322647344803 Centerline is valid? [True, True] Translation: X:180.80, Y:-4.98, Z:-3.36 [[ 9.99943908e-01 -1.90003301e-04 -1.05898336e-02 1.80804496e+02] [ 2.00342046e-04 9.99999504e-01 9.75237429e-04 -4.97638988e+00] [ 1.05896430e-02 -9.77304315e-04 9.99943451e-01 -3.36370092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.578001145 meters 0.08218695899265584 Centerline is valid? [True, True] Translation: X:180.87, Y:-4.97, Z:-3.36 [[ 9.99938039e-01 2.88987139e-03 -1.07502189e-02 1.80865957e+02] [-2.87939407e-03 9.99995365e-01 9.89964460e-04 -4.96981505e+00] [ 1.07530300e-02 -9.58949004e-04 9.99941725e-01 -3.36036986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.638001145 meters 0.08369184424818682 Centerline is valid? [True, True] Translation: X:180.92, Y:-4.98, Z:-3.36 [[ 9.99920794e-01 8.07247454e-03 -9.65609764e-03 1.80924711e+02] [-8.06426566e-03 9.99967088e-01 8.88758506e-04 -4.97799690e+00] [ 9.66295432e-03 -8.10818775e-04 9.99952984e-01 -3.36148559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.698001145 meters 0.08486244434381386 Centerline is valid? [True, True] Translation: X:180.98, Y:-4.99, Z:-3.36 [[ 9.99900760e-01 1.09307829e-02 -8.88748598e-03 1.80983456e+02] [-1.09239427e-02 9.99939998e-01 8.17823311e-04 -4.98668047e+00] [ 8.89589216e-03 -7.20655762e-04 9.99960171e-01 -3.36308931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75800114499998 meters 0.08098811496348109 Centerline is valid? [True, True] Translation: X:181.04, Y:-4.99, Z:-3.36 [[ 9.99889621e-01 1.18854455e-02 -8.91524640e-03 1.81042609e+02] [-1.18786124e-02 9.99929111e-01 8.19007236e-04 -4.98512260e+00] [ 8.92434868e-03 -7.13016078e-04 9.99959923e-01 -3.36198261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.81800114499998 meters 0.08558027081018393 Centerline is valid? [True, True] Translation: X:181.10, Y:-5.00, Z:-3.37 [[ 9.99871215e-01 1.18981262e-02 -1.07697695e-02 1.81099593e+02] [-1.18881648e-02 9.99928845e-01 9.88489224e-04 -4.99968387e+00] [ 1.07807643e-02 -8.60329127e-04 9.99941516e-01 -3.36657287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87800114499998 meters 0.0816015362574189 Centerline is valid? [True, True] Translation: X:181.16, Y:-5.00, Z:-3.37 [[ 9.99850837e-01 1.09984774e-02 -1.33168045e-02 1.81159246e+02] [-1.09831735e-02 9.99938937e-01 1.22180483e-03 -4.99791232e+00] [ 1.33294294e-02 -1.07536181e-03 9.99910581e-01 -3.36599225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.938001145 meters 0.08227390364875793 Centerline is valid? [True, True] Translation: X:181.22, Y:-5.01, Z:-3.37 [[ 9.99853811e-01 9.50774814e-03 -1.42112638e-02 1.81219324e+02] [-9.49015166e-03 9.99954116e-01 1.30513306e-03 -5.00681477e+00] [ 1.42230206e-02 -1.17007521e-03 9.99898163e-01 -3.36868674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.998001145 meters 0.08299209737873472 Centerline is valid? [True, True] Translation: X:181.28, Y:-5.01, Z:-3.37 [[ 9.99838922e-01 6.54441757e-03 -1.67123166e-02 1.81279740e+02] [-6.51966993e-03 9.99977569e-01 1.53485697e-03 -5.01264607e+00] [ 1.67219865e-02 -1.42565095e-03 9.99859161e-01 -3.36892270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.058001145 meters 0.0862278979004831 Centerline is valid? [True, True] Translation: X:181.34, Y:-5.02, Z:-3.37 [[ 9.99858568e-01 4.09256339e-03 -1.63124431e-02 1.81337620e+02] [-4.06867099e-03 9.99990602e-01 1.49759121e-03 -5.02431839e+00] [ 1.63184187e-02 -1.43100944e-03 9.99865822e-01 -3.37183188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.118001145 meters 0.08215997427021808 Centerline is valid? [True, True] Translation: X:181.40, Y:-5.02, Z:-3.37 [[ 9.99885782e-01 1.82197214e-03 -1.50034563e-02 1.81398327e+02] [-1.80151153e-03 9.99997429e-01 1.37712895e-03 -5.02370881e+00] [ 1.50059268e-02 -1.34994276e-03 9.99886493e-01 -3.36872471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.178001145 meters 0.09083472154211338 Centerline is valid? [True, True] Translation: X:181.45, Y:-5.04, Z:-3.37 [[ 9.99885528e-01 1.01430525e-03 -1.50964435e-02 1.81454509e+02] [-9.93534474e-04 9.99998550e-01 1.38330827e-03 -5.04402172e+00] [ 1.50978247e-02 -1.36815108e-03 9.99885085e-01 -3.37407993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.238001145 meters 0.09252972005868836 Centerline is valid? [True, True] Translation: X:181.51, Y:-5.05, Z:-3.38 [[ 9.99881751e-01 1.42492116e-03 -1.53118651e-02 1.81512410e+02] [-1.40360948e-03 9.99998031e-01 1.40249775e-03 -5.05050273e+00] [ 1.53138334e-02 -1.38084002e-03 9.99881783e-01 -3.37511601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.298001145 meters 0.09417726813991475 Centerline is valid? [True, True] Translation: X:181.57, Y:-5.06, Z:-3.38 [[ 9.99885849e-01 8.49598776e-04 -1.50853006e-02 1.81570937e+02] [-8.28861809e-04 9.99998703e-01 1.38084619e-03 -5.06000449e+00] [ 1.50864543e-02 -1.36818493e-03 9.99885257e-01 -3.37663826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.358001145 meters 0.08642096778836232 Centerline is valid? [True, True] Translation: X:181.63, Y:-5.05, Z:-3.37 [[ 9.99888353e-01 8.72631082e-04 -1.49170866e-02 1.81630867e+02] [-8.52372287e-04 9.99998706e-01 1.36439716e-03 -5.05305458e+00] [ 1.49182579e-02 -1.35152992e-03 9.99887803e-01 -3.37233647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.418001145 meters 0.08834146069521912 Centerline is valid? [True, True] Translation: X:181.69, Y:-5.06, Z:-3.37 [[ 9.99867908e-01 -6.03626808e-04 -1.62419971e-02 1.81690595e+02] [ 6.27848233e-04 9.99998698e-01 1.48622591e-03 -5.06163172e+00] [ 1.62410788e-02 -1.49622710e-03 9.99866985e-01 -3.37473704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47800114499998 meters 0.08355999351295647 Centerline is valid? [True, True] Translation: X:181.75, Y:-5.06, Z:-3.37 [[ 9.99859976e-01 -1.22656193e-03 -1.66890164e-02 1.81750208e+02] [ 1.25209445e-03 9.99998062e-01 1.51953678e-03 -5.05867033e+00] [ 1.66871203e-02 -1.54022023e-03 9.99859574e-01 -3.37316683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53800114499998 meters 0.08534457109289768 Centerline is valid? [True, True] Translation: X:181.81, Y:-5.07, Z:-3.38 [[ 9.99856406e-01 -1.28272742e-03 -1.68974225e-02 1.81807733e+02] [ 1.30893004e-03 9.99997958e-01 1.53971935e-03 -5.06873858e+00] [ 1.68954129e-02 -1.56161580e-03 9.99856043e-01 -3.37650736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.59800114499998 meters 0.08530245991670139 Centerline is valid? [True, True] Translation: X:181.87, Y:-5.07, Z:-3.38 [[ 9.99876449e-01 6.38274208e-04 -1.57060121e-02 1.81867885e+02] [-6.15854539e-04 9.99998785e-01 1.43225297e-03 -5.07225163e+00] [ 1.57069072e-02 -1.42240340e-03 9.99875627e-01 -3.37562318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.658001145 meters 0.08614718301882641 Centerline is valid? [True, True] Translation: X:181.93, Y:-5.08, Z:-3.38 [[ 9.99891052e-01 1.74754778e-03 -1.46570653e-02 1.81927249e+02] [-1.72815476e-03 9.99997615e-01 1.33567868e-03 -5.07621243e+00] [ 1.46593645e-02 -1.31020348e-03 9.99891687e-01 -3.37541224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.718001145 meters 0.09091572103629646 Centerline is valid? [True, True] Translation: X:181.98, Y:-5.09, Z:-3.38 [[ 9.99898881e-01 -1.09038448e-05 -1.42206788e-02 1.81984173e+02] [ 2.93103307e-05 9.99999162e-01 1.29413873e-03 -5.08952702e+00] [ 1.42206528e-02 -1.29442468e-03 9.99898044e-01 -3.37884065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.778001145 meters 0.0937020171331604 Centerline is valid? [True, True] Translation: X:182.04, Y:-5.10, Z:-3.38 [[ 9.99885868e-01 -1.73843288e-03 -1.50076042e-02 1.82043615e+02] [ 1.75913828e-03 9.99997519e-01 1.36656980e-03 -5.09806046e+00] [ 1.50051913e-02 -1.39281428e-03 9.99886446e-01 -3.38259737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.838001145 meters 0.0945017375096167 Centerline is valid? [True, True] Translation: X:182.10, Y:-5.10, Z:-3.38 [[ 9.99875835e-01 -3.85940705e-03 -1.52780602e-02 1.82103276e+02] [ 3.88110754e-03 9.99991501e-01 1.39097445e-03 -5.10175326e+00] [ 1.52725620e-02 -1.45009753e-03 9.99882316e-01 -3.38295910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.898001145 meters 0.09371082438450316 Centerline is valid? [True, True] Translation: X:182.16, Y:-5.10, Z:-3.38 [[ 9.99858082e-01 -5.97608850e-03 -1.57512857e-02 1.82163954e+02] [ 5.99942164e-03 9.99980974e-01 1.43451246e-03 -5.10481598e+00] [ 1.57424133e-02 -1.52880748e-03 9.99874912e-01 -3.38364480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.958001145 meters 0.09116355762607792 Centerline is valid? [True, True] Translation: X:182.22, Y:-5.11, Z:-3.38 [[ 9.99876203e-01 -6.19578520e-03 -1.44634029e-02 1.82223202e+02] [ 6.21537684e-03 9.99979826e-01 1.31000911e-03 -5.10543141e+00] [ 1.44549946e-02 -1.39974243e-03 9.99894541e-01 -3.38166553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.018001145 meters 0.08585144247084865 Centerline is valid? [True, True] Translation: X:182.28, Y:-5.10, Z:-3.38 [[ 9.99916462e-01 -3.38641458e-03 -1.24740275e-02 1.82284663e+02] [ 3.40080870e-03 9.99993576e-01 1.13289643e-03 -5.09849880e+00] [ 1.24701109e-02 -1.17522357e-03 9.99921555e-01 -3.37796997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.078001145 meters 0.08162030747442 Centerline is valid? [True, True] Translation: X:182.35, Y:-5.09, Z:-3.38 [[ 9.99919327e-01 -5.20980876e-04 -1.26912679e-02 1.82345476e+02] [ 5.35652357e-04 9.99999192e-01 1.15265782e-03 -5.09347041e+00] [ 1.26906571e-02 -1.15936294e-03 9.99918798e-01 -3.37789860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.138001145 meters 0.08422259426539724 Centerline is valid? [True, True] Translation: X:182.40, Y:-5.10, Z:-3.38 [[ 9.99912017e-01 2.62039738e-03 -1.30035171e-02 1.82403794e+02] [-2.60526560e-03 9.99995910e-01 1.18047089e-03 -5.10231224e+00] [ 1.30065572e-02 -1.14648941e-03 9.99914754e-01 -3.38231189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.198001145 meters 0.0829005660693685 Centerline is valid? [True, True] Translation: X:182.46, Y:-5.10, Z:-3.38 [[ 9.99911950e-01 5.41819744e-03 -1.21134754e-02 1.82464893e+02] [-5.40526724e-03 9.99984787e-01 1.09990845e-03 -5.10232493e+00] [ 1.21192506e-02 -1.03433503e-03 9.99926024e-01 -3.38223772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25800114499998 meters 0.08299667132691883 Centerline is valid? [True, True] Translation: X:182.52, Y:-5.11, Z:-3.38 [[ 9.99929162e-01 5.65491836e-03 -1.04734583e-02 1.82523626e+02] [-5.64528365e-03 9.99983615e-01 9.49251823e-04 -5.10734781e+00] [ 1.04786547e-02 -8.90058937e-04 9.99944701e-01 -3.38283662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.31800114499998 meters 0.08192227216148383 Centerline is valid? [True, True] Translation: X:182.58, Y:-5.11, Z:-3.38 [[ 9.99931770e-01 5.47702271e-03 -1.03178338e-02 1.82582170e+02] [-5.46767024e-03 9.99984616e-01 9.34427401e-04 -5.10957232e+00] [ 1.03227929e-02 -8.77949132e-04 9.99946333e-01 -3.38280505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37800114499998 meters 0.0840516223224292 Centerline is valid? [True, True] Translation: X:182.64, Y:-5.12, Z:-3.39 [[ 9.99917626e-01 4.76320650e-03 -1.19186133e-02 1.82641187e+02] [-4.75067226e-03 9.99988133e-01 1.07974390e-03 -5.11738199e+00] [ 1.19236149e-02 -1.02303353e-03 9.99928388e-01 -3.38674514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.438001145 meters 0.086176064024411 Centerline is valid? [True, True] Translation: X:182.70, Y:-5.12, Z:-3.39 [[ 9.99897425e-01 3.42754330e-03 -1.39065346e-02 1.82699918e+02] [-3.41034710e-03 9.99993391e-01 1.26008132e-03 -5.12286410e+00] [ 1.39107617e-02 -1.21252595e-03 9.99902505e-01 -3.38906524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.498001145 meters 0.08833576832826014 Centerline is valid? [True, True] Translation: X:182.76, Y:-5.13, Z:-3.39 [[ 9.99917056e-01 2.42840458e-03 -1.26484659e-02 1.82756654e+02] [-2.41413315e-03 9.99996432e-01 1.14345928e-03 -5.13050116e+00] [ 1.26511976e-02 -1.11282936e-03 9.99919351e-01 -3.39104531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.558001145 meters 0.08355778206584333 Centerline is valid? [True, True] Translation: X:182.82, Y:-5.12, Z:-3.39 [[ 9.99937152e-01 3.43237404e-03 -1.06729175e-02 1.82817184e+02] [-3.42226482e-03 9.99993678e-01 9.65302736e-04 -5.12156324e+00] [ 1.06761633e-02 -9.28716518e-04 9.99942577e-01 -3.38645499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.618001145 meters 0.08568296640487068 Centerline is valid? [True, True] Translation: X:182.88, Y:-5.13, Z:-3.39 [[ 9.99944550e-01 4.69752635e-03 -9.42492395e-03 1.82875607e+02] [-4.68970245e-03 9.99988640e-01 8.52057112e-04 -5.12940048e+00] [ 9.42881945e-03 -8.07809777e-04 9.99955221e-01 -3.38950652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.678001145 meters 0.08551481773951235 Centerline is valid? [True, True] Translation: X:182.93, Y:-5.13, Z:-3.39 [[ 9.99948838e-01 4.95230292e-03 -8.82015356e-03 1.82934532e+02] [-4.94547107e-03 9.99987454e-01 7.96214935e-04 -5.13194130e+00] [ 8.82398600e-03 -7.52554386e-04 9.99960785e-01 -3.38985079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.738001145 meters 0.0854196445043848 Centerline is valid? [True, True] Translation: X:182.99, Y:-5.14, Z:-3.39 [[ 9.99966358e-01 4.75060211e-03 -6.68694514e-03 1.82993149e+02] [-4.74667564e-03 9.99988553e-01 6.02933495e-04 -5.13515281e+00] [ 6.68973289e-03 -5.71172451e-04 9.99977460e-01 -3.38876083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.798001145 meters 0.08789816436092705 Centerline is valid? [True, True] Translation: X:183.05, Y:-5.14, Z:-3.39 [[ 9.99978832e-01 4.16186848e-03 -5.00149142e-03 1.83050135e+02] [-4.15966930e-03 9.99991247e-01 4.50025904e-04 -5.14443208e+00] [ 5.00332060e-03 -4.29211827e-04 9.99987391e-01 -3.38940567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.858001145 meters 0.0884177851620741 Centerline is valid? [True, True] Translation: X:183.11, Y:-5.15, Z:-3.39 [[ 9.99985151e-01 3.22967953e-03 -4.38938158e-03 1.83108606e+02] [-3.22797753e-03 9.99994712e-01 3.94781001e-04 -5.15018956e+00] [ 4.39063339e-03 -3.80606314e-04 9.99990289e-01 -3.39017785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.918001145 meters 0.09152242188674883 Centerline is valid? [True, True] Translation: X:183.17, Y:-5.16, Z:-3.39 [[ 9.99981367e-01 2.52755025e-03 -5.55674324e-03 1.83166280e+02] [-2.52481009e-03 9.99996688e-01 5.00082299e-04 -5.16028264e+00] [ 5.55798882e-03 -4.86043259e-04 9.99984436e-01 -3.39381276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97800114499998 meters 0.09193427969135178 Centerline is valid? [True, True] Translation: X:183.22, Y:-5.17, Z:-3.40 [[ 9.99974850e-01 1.63315320e-03 -6.90161549e-03 1.83224978e+02] [-1.62890596e-03 9.99998481e-01 6.20974453e-04 -5.16575942e+00] [ 6.90261915e-03 -6.09716753e-04 9.99975991e-01 -3.39639438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03800114499998 meters 0.09550856065952022 Centerline is valid? [True, True] Translation: X:183.28, Y:-5.18, Z:-3.40 [[ 9.99967183e-01 6.85149210e-04 -8.07236378e-03 1.83282393e+02] [-6.79313107e-04 9.99999506e-01 7.25693016e-04 -5.17613631e+00] [ 8.07285700e-03 -7.20185539e-04 9.99967155e-01 -3.40015299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.09800114499998 meters 0.09505674787980199 Centerline is valid? [True, True] Translation: X:183.34, Y:-5.18, Z:-3.40 [[ 9.99975358e-01 2.27293345e-03 -6.64200073e-03 1.83342403e+02] [-2.26901381e-03 9.99997247e-01 5.97606214e-04 -5.17822866e+00] [ 6.64334077e-03 -5.82520697e-04 9.99977763e-01 -3.39829654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.158001145 meters 0.08714333477971978 Centerline is valid? [True, True] Translation: X:183.40, Y:-5.17, Z:-3.40 [[ 9.99978840e-01 3.10395232e-03 -5.71701832e-03 1.83402743e+02] [-3.10106697e-03 9.99995060e-01 5.13491446e-04 -5.17032445e+00] [ 5.71858393e-03 -4.95751724e-04 9.99983526e-01 -3.39559826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.218001145 meters 0.08692856857714364 Centerline is valid? [True, True] Translation: X:183.46, Y:-5.18, Z:-3.40 [[ 9.99976045e-01 4.45321907e-03 -5.29892606e-03 1.83462497e+02] [-4.45075696e-03 9.99989982e-01 4.76344680e-04 -5.17561087e+00] [ 5.30099424e-03 -4.52749037e-04 9.99985847e-01 -3.39637960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.278001145 meters 0.09027095571002398 Centerline is valid? [True, True] Translation: X:183.52, Y:-5.19, Z:-3.40 [[ 9.99979879e-01 4.28417114e-03 -4.67832679e-03 1.83519539e+02] [-4.28225715e-03 9.99990743e-01 4.19059451e-04 -5.18500233e+00] [ 4.68007881e-03 -3.99017221e-04 9.99988969e-01 -3.39754699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.338001145 meters 0.08828685347883806 Centerline is valid? [True, True] Translation: X:183.58, Y:-5.19, Z:-3.40 [[ 9.99990122e-01 3.95467385e-03 -2.02880225e-03 1.83578189e+02] [-3.95431450e-03 9.99992165e-01 1.81102344e-04 -5.18891110e+00] [ 2.02950255e-03 -1.73078033e-04 9.99997926e-01 -3.39628509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.398001145 meters 0.09236898721633983 Centerline is valid? [True, True] Translation: X:183.64, Y:-5.20, Z:-3.40 [[ 9.99990622e-01 2.24851348e-03 -3.70125608e-03 1.83636103e+02] [-2.24730096e-03 9.99997420e-01 3.31721507e-04 -5.20214430e+00] [ 3.70199241e-03 -3.23400560e-04 9.99993095e-01 -3.39997835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.458001145 meters 0.0937033474929254 Centerline is valid? [True, True] Translation: X:183.70, Y:-5.21, Z:-3.40 [[ 9.99987891e-01 1.29550733e-03 -4.74755688e-03 1.83695323e+02] [-1.29350168e-03 9.99999073e-01 4.25506911e-04 -5.21037517e+00] [ 4.74810373e-03 -4.19360786e-04 9.99988640e-01 -3.40198860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.518001145 meters 0.09643563839859215 Centerline is valid? [True, True] Translation: X:183.75, Y:-5.22, Z:-3.41 [[ 9.99973782e-01 -2.91717870e-04 -7.23537584e-03 1.83754837e+02] [ 2.96420667e-04 9.99999746e-01 6.48908936e-04 -5.22242109e+00] [ 7.23518470e-03 -6.51036637e-04 9.99973614e-01 -3.40678286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.578001145 meters 0.09116422627762846 Centerline is valid? [True, True] Translation: X:183.81, Y:-5.22, Z:-3.40 [[ 9.99970211e-01 -8.34845169e-05 -7.71817038e-03 1.83813771e+02] [ 8.87890829e-05 9.99999760e-01 6.86942728e-04 -5.21882613e+00] [ 7.71811118e-03 -6.87607554e-04 9.99969979e-01 -3.40436974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.638001145 meters 0.09272206956976013 Centerline is valid? [True, True] Translation: X:183.87, Y:-5.22, Z:-3.40 [[ 9.99973658e-01 6.34881943e-04 -7.23053088e-03 1.83871725e+02] [-6.30230454e-04 9.99999593e-01 6.45572606e-04 -5.22476219e+00] [ 7.23093780e-03 -6.40998700e-04 9.99973651e-01 -3.40420450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.698001145 meters 0.09875899984348076 Centerline is valid? [True, True] Translation: X:183.93, Y:-5.24, Z:-3.41 [[ 9.99980839e-01 1.29699092e-03 -6.05307240e-03 1.83928390e+02] [-1.29374847e-03 9.99999018e-01 5.39555058e-04 -5.24094848e+00] [ 6.05376625e-03 -5.31713566e-04 9.99981534e-01 -3.40774987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75800114499998 meters 0.09495947098629252 Centerline is valid? [True, True] Translation: X:183.99, Y:-5.24, Z:-3.41 [[ 9.99985655e-01 2.79245514e-03 -4.57088242e-03 1.83989129e+02] [-2.79061871e-03 9.99996023e-01 4.08095112e-04 -5.23837756e+00] [ 4.57200383e-03 -3.95333667e-04 9.99989470e-01 -3.40668558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.81800114499998 meters 0.09647584564409419 Centerline is valid? [True, True] Translation: X:184.05, Y:-5.24, Z:-3.41 [[ 9.99981397e-01 3.79126736e-03 -4.77817833e-03 1.84048130e+02] [-3.78927528e-03 9.99992730e-01 4.25894391e-04 -5.24370620e+00] [ 4.77975827e-03 -4.07780636e-04 9.99988494e-01 -3.40884918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87800114499998 meters 0.0952618608425235 Centerline is valid? [True, True] Translation: X:184.11, Y:-5.25, Z:-3.41 [[ 9.99984087e-01 2.47643757e-03 -5.06880041e-03 1.84107122e+02] [-2.47418006e-03 9.99996837e-01 4.51595290e-04 -5.24735866e+00] [ 5.06990273e-03 -4.39046978e-04 9.99987052e-01 -3.41166225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.938001145 meters 0.09074345751067724 Centerline is valid? [True, True] Translation: X:184.17, Y:-5.24, Z:-3.41 [[ 9.99982026e-01 -3.47769291e-04 -5.98558889e-03 1.84168206e+02] [ 3.50972862e-04 9.99999796e-01 5.34172064e-04 -5.24220492e+00] [ 5.98540190e-03 -5.36263242e-04 9.99981944e-01 -3.40937176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.998001145 meters 0.09811388153897674 Centerline is valid? [True, True] Translation: X:184.23, Y:-5.26, Z:-3.41 [[ 9.99984668e-01 -2.09758637e-03 -5.12490284e-03 1.84225073e+02] [ 2.09995048e-03 9.99997691e-01 4.55961418e-04 -5.26010198e+00] [ 5.12393459e-03 -4.66716470e-04 9.99986764e-01 -3.41309500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.058001145 meters 0.09478446822400668 Centerline is valid? [True, True] Translation: X:184.28, Y:-5.26, Z:-3.41 [[ 9.99981158e-01 -2.87834732e-03 -5.42203588e-03 1.84284364e+02] [ 2.88100346e-03 9.99995734e-01 4.82132060e-04 -5.26113687e+00] [ 5.42062501e-03 -4.97743880e-04 9.99985184e-01 -3.41320776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.118001145 meters 0.08821111305788952 Centerline is valid? [True, True] Translation: X:184.34, Y:-5.25, Z:-3.41 [[ 9.99980612e-01 -2.37696850e-03 -5.75553023e-03 1.84343908e+02] [ 2.37992915e-03 9.99997039e-01 5.07606133e-04 -5.25404831e+00] [ 5.75430662e-03 -5.21294046e-04 9.99983308e-01 -3.41174913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.178001145 meters 0.09492482450764686 Centerline is valid? [True, True] Translation: X:184.40, Y:-5.27, Z:-3.42 [[ 9.99980701e-01 8.97303134e-04 -6.14759907e-03 1.84402380e+02] [-8.93963568e-04 9.99999451e-01 5.45957312e-04 -5.26933001e+00] [ 6.14808559e-03 -5.40451046e-04 9.99980954e-01 -3.41665166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.238001145 meters 0.09176388481218752 Centerline is valid? [True, True] Translation: X:184.46, Y:-5.27, Z:-3.42 [[ 9.99971640e-01 1.41768134e-03 -7.39656086e-03 1.84461414e+02] [-1.41289789e-03 9.99998789e-01 6.51898516e-04 -5.26766032e+00] [ 7.39747609e-03 -6.41429443e-04 9.99972433e-01 -3.41705348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.298001145 meters 0.0905199198343412 Centerline is valid? [True, True] Translation: X:184.52, Y:-5.27, Z:-3.42 [[ 9.99961578e-01 1.86158260e-04 -8.76401664e-03 1.84520642e+02] [-1.79367868e-04 9.99999683e-01 7.75583163e-04 -5.27041711e+00] [ 8.76415825e-03 -7.73981380e-04 9.99961294e-01 -3.41830587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.358001145 meters 0.0931730096110792 Centerline is valid? [True, True] Translation: X:184.58, Y:-5.28, Z:-3.42 [[ 9.99963908e-01 -1.48481396e-03 -8.36534507e-03 1.84579424e+02] [ 1.49105494e-03 9.99998615e-01 7.39864321e-04 -5.27991073e+00] [ 8.36423492e-03 -7.52310806e-04 9.99964736e-01 -3.42040131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.418001145 meters 0.09145659691966664 Centerline is valid? [True, True] Translation: X:184.64, Y:-5.28, Z:-3.42 [[ 9.99962296e-01 -2.07408781e-03 -8.43234488e-03 1.84638240e+02] [ 2.08040781e-03 9.99997562e-01 7.40792250e-04 -5.27981697e+00] [ 8.43078785e-03 -7.58307036e-04 9.99964173e-01 -3.41956975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47800114499998 meters 0.0979767934905292 Centerline is valid? [True, True] Translation: X:184.70, Y:-5.29, Z:-3.42 [[ 9.99975051e-01 -6.27408419e-04 -7.03584498e-03 1.84695977e+02] [ 6.31790105e-04 9.99999608e-01 6.20560879e-04 -5.29377478e+00] [ 7.03545287e-03 -6.24990574e-04 9.99975056e-01 -3.42332331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53800114499998 meters 0.09761980808243426 Centerline is valid? [True, True] Translation: X:184.76, Y:-5.30, Z:-3.42 [[ 9.99981735e-01 3.82862296e-04 -6.03190688e-03 1.84755897e+02] [-3.79659416e-04 9.99999786e-01 5.32125732e-04 -5.29883959e+00] [ 6.03210933e-03 -5.29825942e-04 9.99981666e-01 -3.42485031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59800114499998 meters 0.09839326050938828 Centerline is valid? [True, True] Translation: X:184.81, Y:-5.30, Z:-3.42 [[ 9.99983935e-01 1.00924109e-03 -5.57778286e-03 1.84814294e+02] [-1.00651829e-03 9.99999373e-01 4.90935871e-04 -5.30301918e+00] [ 5.57827484e-03 -4.85313844e-04 9.99984324e-01 -3.42499559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.658001145 meters 0.09273220952796848 Centerline is valid? [True, True] Translation: X:184.87, Y:-5.30, Z:-3.42 [[ 9.99979145e-01 -5.25260695e-04 -6.43684042e-03 1.84874638e+02] [ 5.28923536e-04 9.99999699e-01 5.67354204e-04 -5.29987901e+00] [ 6.43654047e-03 -5.70746969e-04 9.99979122e-01 -3.42439122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.718001145 meters 0.09308290700245213 Centerline is valid? [True, True] Translation: X:184.93, Y:-5.31, Z:-3.43 [[ 9.99974468e-01 -2.41010141e-03 -6.72715898e-03 1.84934624e+02] [ 2.41414633e-03 9.99996910e-01 5.93227010e-04 -5.30897254e+00] [ 6.72570845e-03 -6.09452210e-04 9.99977196e-01 -3.42733565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.778001145 meters 0.09207425558353102 Centerline is valid? [True, True] Translation: X:184.99, Y:-5.31, Z:-3.43 [[ 9.99961376e-01 -3.17864567e-03 -8.19407530e-03 1.84993527e+02] [ 3.18466247e-03 9.99994669e-01 7.21342934e-04 -5.31371722e+00] [ 8.19173873e-03 -7.47410436e-04 9.99966168e-01 -3.42953714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.838001145 meters 0.09136162913241093 Centerline is valid? [True, True] Translation: X:185.05, Y:-5.32, Z:-3.43 [[ 9.99952896e-01 -3.99942520e-03 -8.84368454e-03 1.85052539e+02] [ 4.00646229e-03 9.99991671e-01 7.78146189e-04 -5.31697631e+00] [ 8.84049874e-03 -8.13541424e-04 9.99960591e-01 -3.42867706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.898001145 meters 0.09510285838729755 Centerline is valid? [True, True] Translation: X:185.11, Y:-5.33, Z:-3.43 [[ 9.99954918e-01 -3.61712250e-03 -8.77942733e-03 1.85109385e+02] [ 3.62403200e-03 9.99993136e-01 7.71229315e-04 -5.32906944e+00] [ 8.77657744e-03 -8.03011472e-04 9.99961163e-01 -3.43136697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.958001145 meters 0.09602330324470096 Centerline is valid? [True, True] Translation: X:185.17, Y:-5.34, Z:-3.43 [[ 9.99959269e-01 -3.58001356e-03 -8.28514971e-03 1.85167767e+02] [ 3.58612973e-03 9.99993308e-01 7.23470969e-04 -5.33705356e+00] [ 8.28250423e-03 -7.53153123e-04 9.99965416e-01 -3.43253525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.018001145 meters 0.09362365371674752 Centerline is valid? [True, True] Translation: X:185.23, Y:-5.34, Z:-3.43 [[ 9.99967545e-01 -4.74727757e-03 -6.50933562e-03 1.85226669e+02] [ 4.75106146e-03 9.99988553e-01 5.65961027e-04 -5.33835498e+00] [ 6.50657434e-03 -5.96868913e-04 9.99978654e-01 -3.43121255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.078001145 meters 0.09914437109716366 Centerline is valid? [True, True] Translation: X:185.28, Y:-5.35, Z:-3.44 [[ 9.99953475e-01 -4.98792841e-03 -8.25638313e-03 1.85284458e+02] [ 4.99405813e-03 9.99987269e-01 7.21971666e-04 -5.35282528e+00] [ 8.25267688e-03 -7.63170933e-04 9.99965655e-01 -3.43542022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.138001145 meters 0.09370999504377728 Centerline is valid? [True, True] Translation: X:185.34, Y:-5.35, Z:-3.43 [[ 9.99964847e-01 -3.64914938e-03 -7.54904860e-03 1.85344689e+02] [ 3.65423369e-03 9.99993106e-01 6.59819447e-04 -5.35049707e+00] [ 7.54658877e-03 -6.87382240e-04 9.99971288e-01 -3.43454946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.198001145 meters 0.09620191931421271 Centerline is valid? [True, True] Translation: X:185.40, Y:-5.36, Z:-3.44 [[ 9.99961181e-01 -3.80376122e-03 -7.94782682e-03 1.85401935e+02] [ 3.80939038e-03 9.99992504e-01 6.93244893e-04 -5.35929603e+00] [ 7.94513031e-03 -7.23494357e-04 9.99968175e-01 -3.43721902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25800114499998 meters 0.09835165521385726 Centerline is valid? [True, True] Translation: X:185.46, Y:-5.37, Z:-3.44 [[ 9.99953376e-01 -5.15275467e-03 -8.16675438e-03 1.85461191e+02] [ 5.15874781e-03 9.99986439e-01 7.12949889e-04 -5.36768447e+00] [ 8.16296998e-03 -7.55046874e-04 9.99966397e-01 -3.43869707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.31800114499998 meters 0.10024294747787953 Centerline is valid? [True, False] Translation: X:185.46, Y:-5.37, Z:-3.44 [[ 9.99956344e-01 -4.97326435e-03 -7.91049775e-03 1.85460776e+02] [ 4.98382890e-03 9.99986714e-01 1.31635845e-03 -5.36979808e+00] [ 7.90384606e-03 -1.35572555e-03 9.99967845e-01 -3.43895668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37800114499998 meters 0.09868114916433134 Centerline is valid? [False, True] Translation: X:185.46, Y:-5.37, Z:-3.44 [[ 9.99958340e-01 -4.85560355e-03 -7.72926896e-03 1.85460501e+02] [ 4.86901411e-03 9.99986672e-01 1.71716533e-03 -5.37081022e+00] [ 7.72082807e-03 -1.75472772e-03 9.99968654e-01 -3.43914477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.438001145 meters 0.09987890387063411 Centerline is valid? [True, True] Translation: X:185.52, Y:-5.38, Z:-3.44 [[ 9.99958270e-01 -5.26741575e-03 -7.46413929e-03 1.85518683e+02] [ 5.27251085e-03 9.99985880e-01 6.63096073e-04 -5.37731979e+00] [ 7.46054110e-03 -7.02423157e-04 9.99971923e-01 -3.43974043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.498001145 meters 0.10241932060292318 Centerline is valid? [True, False] Translation: X:185.52, Y:-5.38, Z:-3.44 [[ 9.99960351e-01 -4.56979445e-03 -7.64286232e-03 1.85519803e+02] [ 4.58332709e-03 9.99987958e-01 1.75404692e-03 -5.37949082e+00] [ 7.63475466e-03 -1.78900711e-03 9.99969255e-01 -3.44093046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.558001145 meters 0.10309178505369593 Centerline is valid? [False, False] Translation: X:185.52, Y:-5.38, Z:-3.44 [[ 9.99961998e-01 -4.41945145e-03 -7.51467060e-03 1.85519583e+02] [ 4.43620188e-03 9.99987709e-01 2.21382549e-03 -5.38130676e+00] [ 7.50479435e-03 -2.24707796e-03 9.99969314e-01 -3.44109785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.618001145 meters 0.10501473285430282 Centerline is valid? [False, False] Translation: X:185.52, Y:-5.38, Z:-3.44 [[ 9.99962026e-01 -4.55787741e-03 -7.42780293e-03 1.85519421e+02] [ 4.57327441e-03 9.99987426e-01 2.05722324e-03 -5.38077389e+00] [ 7.41833296e-03 -2.09111450e-03 9.99970297e-01 -3.44111381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.678001145 meters 0.10806072482930432 Centerline is valid? [False, False] Translation: X:185.52, Y:-5.38, Z:-3.44 [[ 9.99964066e-01 -4.30895657e-03 -7.30067973e-03 1.85519334e+02] [ 4.32859057e-03 9.99987052e-01 2.67567586e-03 -5.38289799e+00] [ 7.28905583e-03 -2.70718137e-03 9.99969770e-01 -3.44147392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.738001145 meters 0.10757776455058365 Centerline is valid? [False, False] Translation: X:185.52, Y:-5.38, Z:-3.44 [[ 9.99963977e-01 -4.09909437e-03 -7.43250492e-03 1.85519900e+02] [ 4.12093088e-03 9.99987231e-01 2.92504464e-03 -5.38303236e+00] [ 7.42041998e-03 -2.95556811e-03 9.99968100e-01 -3.44190147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.798001145 meters 0.09612724614826411 Centerline is valid? [False, True] Translation: X:185.52, Y:-5.38, Z:-3.44 [[ 9.99963779e-01 -4.36247840e-03 -7.30818341e-03 1.85519231e+02] [ 4.38137370e-03 9.99987095e-01 2.57148741e-03 -5.38227329e+00] [ 7.29687105e-03 -2.60341415e-03 9.99969989e-01 -3.44121778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.858001145 meters 0.0941081206914253 Centerline is valid? [True, True] Translation: X:185.58, Y:-5.38, Z:-3.44 [[ 9.99966387e-01 -4.64424164e-03 -6.75685714e-03 1.85577639e+02] [ 4.64841953e-03 9.99989014e-01 6.02745871e-04 -5.38487458e+00] [ 6.75398361e-03 -6.34134318e-04 9.99976991e-01 -3.44104470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.918001145 meters 0.10324321405788989 Centerline is valid? [True, False] Translation: X:185.58, Y:-5.39, Z:-3.44 [[ 9.99969522e-01 -3.99272980e-03 -6.70923517e-03 1.85578433e+02] [ 4.00439478e-03 9.99990493e-01 1.72611279e-03 -5.38704040e+00] [ 6.70227948e-03 -1.75292660e-03 9.99976003e-01 -3.44245929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97800114499998 meters 0.0968976583601688 Centerline is valid? [False, True] Translation: X:185.58, Y:-5.39, Z:-3.44 [[ 9.99970455e-01 -3.77115202e-03 -6.69835602e-03 1.85578765e+02] [ 3.78550103e-03 9.99990565e-01 2.13078418e-03 -5.38762847e+00] [ 6.69025731e-03 -2.15607786e-03 9.99975296e-01 -3.44299946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03800114499998 meters 0.1066653396023104 Centerline is valid? [True, False] Translation: X:185.58, Y:-5.39, Z:-3.44 [[ 9.99970874e-01 -3.87336490e-03 -6.57629443e-03 1.85578367e+02] [ 3.88712225e-03 9.99990281e-01 2.08047073e-03 -5.38781056e+00] [ 6.56817209e-03 -2.10597299e-03 9.99976212e-01 -3.44278169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09800114499998 meters 0.10079983355968605 Centerline is valid? [False, False] Translation: X:185.58, Y:-5.39, Z:-3.44 [[ 9.99974570e-01 -3.51442247e-03 -6.20557218e-03 1.85577648e+02] [ 3.53431561e-03 9.99988642e-01 3.19763777e-03 -5.39183217e+00] [ 6.19426384e-03 -3.21948890e-03 9.99975633e-01 -3.44296718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.158001145 meters 0.10191869070043005 Centerline is valid? [False, False] Translation: X:185.58, Y:-5.39, Z:-3.44 [[ 9.99976203e-01 -2.99677639e-03 -6.21385803e-03 1.85578202e+02] [ 3.02253005e-03 9.99986865e-01 4.13931197e-03 -5.39406374e+00] [ 6.20137182e-03 -4.15799504e-03 9.99972127e-01 -3.44381698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.218001145 meters 0.10146211516665868 Centerline is valid? [False, False] Translation: X:185.58, Y:-5.40, Z:-3.44 [[ 9.99976773e-01 -2.95947357e-03 -6.13966715e-03 1.85577845e+02] [ 2.98664666e-03 9.99985766e-01 4.42138647e-03 -5.39540764e+00] [ 6.12649478e-03 -4.43962079e-03 9.99971378e-01 -3.44356875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.278001145 meters 0.09835763797328745 Centerline is valid? [False, True] Translation: X:185.58, Y:-5.40, Z:-3.44 [[ 9.99977040e-01 -2.82418114e-03 -6.15986315e-03 1.85578039e+02] [ 2.85282778e-03 9.99985135e-01 4.64671488e-03 -5.39595252e+00] [ 6.14664841e-03 -4.66418122e-03 9.99970232e-01 -3.44382935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.338001145 meters 0.09342383641072777 Centerline is valid? [True, True] Translation: X:185.64, Y:-5.39, Z:-3.44 [[ 9.99972977e-01 -2.27104767e-03 -6.99199243e-03 1.85637749e+02] [ 2.27572458e-03 9.99997192e-01 6.61012538e-04 -5.39264948e+00] [ 6.99047161e-03 -6.76906524e-04 9.99975337e-01 -3.44085492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.398001145 meters 0.09300492489924411 Centerline is valid? [True, True] Translation: X:185.70, Y:-5.40, Z:-3.44 [[ 9.99977157e-01 -2.17069776e-03 -6.40111522e-03 1.85696038e+02] [ 2.17460321e-03 9.99997454e-01 6.03221960e-04 -5.39752809e+00] [ 6.39978950e-03 -6.17128066e-04 9.99979331e-01 -3.44140146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.458001145 meters 0.09199761023948223 Centerline is valid? [True, True] Translation: X:185.76, Y:-5.40, Z:-3.44 [[ 9.99986384e-01 -2.21530815e-03 -4.72495360e-03 1.85755084e+02] [ 2.21742719e-03 9.99997443e-01 4.43287729e-04 -5.40267663e+00] [ 4.72395950e-03 -4.53758933e-04 9.99988739e-01 -3.44159669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.518001145 meters 0.0943028206374682 Centerline is valid? [True, True] Translation: X:185.81, Y:-5.41, Z:-3.45 [[ 9.99977038e-01 -2.22535630e-03 -6.40095043e-03 1.85813031e+02] [ 2.22927500e-03 9.99997332e-01 6.05135414e-04 -5.41494647e+00] [ 6.39958671e-03 -6.19390998e-04 9.99979331e-01 -3.44570729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.578001145 meters 0.09296233502904645 Centerline is valid? [True, True] Translation: X:185.87, Y:-5.42, Z:-3.45 [[ 9.99970810e-01 -2.81537460e-03 -7.10306157e-03 1.85871198e+02] [ 2.82017815e-03 9.99995801e-01 6.66339885e-04 -5.41975860e+00] [ 7.10115575e-03 -6.86352333e-04 9.99974551e-01 -3.44689283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.638001145 meters 0.09052810550157857 Centerline is valid? [True, True] Translation: X:185.93, Y:-5.42, Z:-3.45 [[ 9.99959373e-01 -2.20745264e-03 -8.73951613e-03 1.85929830e+02] [ 2.21469223e-03 9.99997212e-01 8.18782949e-04 -5.42043977e+00] [ 8.73768434e-03 -8.38105023e-04 9.99961474e-01 -3.44775164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.698001145 meters 0.09148208279656075 Centerline is valid? [True, True] Translation: X:185.99, Y:-5.43, Z:-3.45 [[ 9.99950609e-01 -9.36365039e-04 -9.89457749e-03 1.85987979e+02] [ 9.45616089e-04 9.99999120e-01 9.30324634e-04 -5.42785376e+00] [ 9.89369766e-03 -9.39635156e-04 9.99950615e-01 -3.45099382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75800114499998 meters 0.09002073007136668 Centerline is valid? [True, True] Translation: X:186.05, Y:-5.43, Z:-3.45 [[ 9.99966070e-01 4.45616083e-04 -8.22558725e-03 1.86047663e+02] [-4.39267841e-04 9.99999604e-01 7.73558086e-04 -5.43086404e+00] [ 8.22592871e-03 -7.69918603e-04 9.99965870e-01 -3.45108730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.81800114499998 meters 0.09309900019293596 Centerline is valid? [True, True] Translation: X:186.11, Y:-5.44, Z:-3.45 [[ 9.99969921e-01 1.70707825e-03 -7.56585825e-03 1.86106374e+02] [-1.70174551e-03 9.99998299e-01 7.11224187e-04 -5.44005475e+00] [ 7.56705949e-03 -6.98327629e-04 9.99971126e-01 -3.45285113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87800114499998 meters 0.09123007777281984 Centerline is valid? [True, True] Translation: X:186.17, Y:-5.44, Z:-3.45 [[ 9.99974140e-01 2.53537023e-03 -6.72982633e-03 1.86165451e+02] [-2.53117724e-03 9.99996597e-01 6.31489888e-04 -5.44244661e+00] [ 6.73140449e-03 -6.14439175e-04 9.99977155e-01 -3.45351075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.938001145 meters 0.09186803349624603 Centerline is valid? [True, True] Translation: X:186.22, Y:-5.45, Z:-3.45 [[ 9.99973947e-01 3.74739551e-03 -6.16945839e-03 1.86224128e+02] [-3.74389249e-03 9.99992824e-01 5.79251335e-04 -5.44842023e+00] [ 6.17158480e-03 -5.56138454e-04 9.99980801e-01 -3.45463002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.998001145 meters 0.09544017232996592 Centerline is valid? [True, True] Translation: X:186.28, Y:-5.46, Z:-3.46 [[ 9.99979853e-01 2.01120638e-03 -6.02071948e-03 1.86282722e+02] [-2.00783773e-03 9.99997824e-01 5.65502136e-04 -5.45962986e+00] [ 6.02184372e-03 -5.53402115e-04 9.99981715e-01 -3.45822476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.058001145 meters 0.0979916402914442 Centerline is valid? [True, True] Translation: X:186.34, Y:-5.47, Z:-3.46 [[ 9.99976449e-01 -1.01691903e-03 -6.78732346e-03 1.86342226e+02] [ 1.02127180e-03 9.99999275e-01 6.37873600e-04 -5.47036332e+00] [ 6.78666988e-03 -6.44790279e-04 9.99976762e-01 -3.46178692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.118001145 meters 0.10382663924220034 Centerline is valid? [True, False] Translation: X:186.34, Y:-5.47, Z:-3.46 [[ 9.99978653e-01 -1.15269525e-03 -6.43148148e-03 1.86341703e+02] [ 1.15757553e-03 9.99999045e-01 7.55139272e-04 -5.47072288e+00] [ 6.43060489e-03 -7.62568078e-04 9.99979033e-01 -3.46208980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.178001145 meters 0.10735142645669375 Centerline is valid? [False, False] Translation: X:186.34, Y:-5.47, Z:-3.46 [[ 9.99979614e-01 -1.01028700e-03 -6.30484253e-03 1.86341693e+02] [ 1.01765915e-03 9.99998802e-01 1.16618523e-03 -5.47166274e+00] [ 6.30365680e-03 -1.17257764e-03 9.99979444e-01 -3.46247393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.238001145 meters 0.11119184433710409 Centerline is valid? [False, False] Translation: X:186.34, Y:-5.47, Z:-3.46 [[ 9.99981990e-01 -9.32823726e-04 -5.92867659e-03 1.86341148e+02] [ 9.42729662e-04 9.99998164e-01 1.66827624e-03 -5.47333265e+00] [ 5.92710949e-03 -1.67383533e-03 9.99981034e-01 -3.46285299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.298001145 meters 0.11442235001965777 Centerline is valid? [False, False] Translation: X:186.34, Y:-5.47, Z:-3.46 [[ 9.99981475e-01 -9.76446138e-04 -6.00794301e-03 1.86341374e+02] [ 9.85598874e-04 9.99998358e-01 1.52066724e-03 -5.47263013e+00] [ 6.00644829e-03 -1.52656049e-03 9.99980796e-01 -3.46290014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.358001145 meters 0.1010148422728075 Centerline is valid? [False, False] Translation: X:186.34, Y:-5.47, Z:-3.46 [[ 9.99981512e-01 -1.05811143e-03 -5.98799162e-03 1.86341192e+02] [ 1.06611124e-03 9.99998543e-01 1.33294243e-03 -5.47209175e+00] [ 5.98657250e-03 -1.33930165e-03 9.99981183e-01 -3.46262712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.418001145 meters 0.0966589122831059 Centerline is valid? [False, True] Translation: X:186.34, Y:-5.47, Z:-3.46 [[ 9.99982528e-01 -9.12267756e-04 -5.84047452e-03 1.86340869e+02] [ 9.22302817e-04 9.99998103e-01 1.71573004e-03 -5.47349649e+00] [ 5.83889823e-03 -1.72108675e-03 9.99981472e-01 -3.46264619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47800114499998 meters 0.09857074715878808 Centerline is valid? [True, True] Translation: X:186.40, Y:-5.48, Z:-3.46 [[ 9.99992255e-01 8.46975359e-04 -3.84360670e-03 1.86399914e+02] [-8.45474319e-04 9.99999566e-01 3.92136988e-04 -5.48163834e+00] [ 3.84393717e-03 -3.88884280e-04 9.99992536e-01 -3.46221715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53800114499998 meters 0.10059753137021882 Centerline is valid? [True, False] Translation: X:186.40, Y:-5.48, Z:-3.46 [[ 9.99992658e-01 1.14448962e-03 -3.65716191e-03 1.86399639e+02] [-1.14039531e-03 9.99998721e-01 1.12142004e-03 -5.48405855e+00] [ 3.65844068e-03 -1.11724120e-03 9.99992684e-01 -3.46247510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59800114499998 meters 0.10070613437130056 Centerline is valid? [False, False] Translation: X:186.40, Y:-5.49, Z:-3.46 [[ 9.99992794e-01 1.30965566e-03 -3.56330864e-03 1.86399399e+02] [-1.30408117e-03 9.99997923e-01 1.56628959e-03 -5.48576121e+00] [ 3.56535254e-03 -1.56163146e-03 9.99992425e-01 -3.46246965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.658001145 meters 0.1020434376531594 Centerline is valid? [False, False] Translation: X:186.40, Y:-5.49, Z:-3.46 [[ 9.99992733e-01 1.56895970e-03 -3.47443477e-03 1.86399293e+02] [-1.56137756e-03 9.99996396e-01 2.18390603e-03 -5.48776532e+00] [ 3.47784871e-03 -2.17846526e-03 9.99991579e-01 -3.46267296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.718001145 meters 0.0924178003056582 Centerline is valid? [False, True] Translation: X:186.40, Y:-5.49, Z:-3.46 [[ 9.99992626e-01 1.59303473e-03 -3.49444428e-03 1.86399352e+02] [-1.58504165e-03 9.99996124e-01 2.28894495e-03 -5.48821831e+00] [ 3.49807710e-03 -2.28338923e-03 9.99991275e-01 -3.46276105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.778001145 meters 0.09149693582412888 Centerline is valid? [True, True] Translation: X:186.46, Y:-5.49, Z:-3.46 [[ 9.99981376e-01 1.40556329e-03 -5.93896062e-03 1.86458350e+02] [-1.40202765e-03 9.99998837e-01 5.99451291e-04 -5.49338587e+00] [ 5.93979628e-03 -5.91113540e-04 9.99982185e-01 -3.46451328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.838001145 meters 0.09145292246763777 Centerline is valid? [True, True] Translation: X:186.52, Y:-5.50, Z:-3.47 [[ 9.99971897e-01 3.60372574e-03 -6.57401490e-03 1.86517899e+02] [-3.59943845e-03 9.99993302e-01 6.63872658e-04 -5.50052991e+00] [ 6.57636328e-03 -6.40191239e-04 9.99978171e-01 -3.46666010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.898001145 meters 0.09389544985098816 Centerline is valid? [True, True] Translation: X:186.58, Y:-5.51, Z:-3.47 [[ 9.99965438e-01 6.48373771e-03 -5.20417146e-03 1.86576247e+02] [-6.48109251e-03 9.99978860e-01 5.24988872e-04 -5.50820479e+00] [ 5.20746533e-03 -4.91242010e-04 9.99986320e-01 -3.46846162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.958001145 meters 0.09027202439952527 Centerline is valid? [True, True] Translation: X:186.64, Y:-5.51, Z:-3.47 [[ 9.99956176e-01 7.60098659e-03 -5.46553492e-03 1.86635600e+02] [-7.59809031e-03 9.99970983e-01 5.50485198e-04 -5.50744577e+00] [ 5.46956056e-03 -5.08933445e-04 9.99984912e-01 -3.46762953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.018001145 meters 0.08934651919564032 Centerline is valid? [True, True] Translation: X:186.70, Y:-5.51, Z:-3.47 [[ 9.99930929e-01 1.15422782e-02 -2.21674252e-03 1.86695044e+02] [-1.15418110e-02 9.99933366e-01 2.23424890e-04 -5.51188412e+00] [ 2.21917364e-03 -1.97824234e-04 9.99997518e-01 -3.46717948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.078001145 meters 0.09066732821805427 Centerline is valid? [True, True] Translation: X:186.75, Y:-5.52, Z:-3.47 [[ 9.99925835e-01 1.21258722e-02 -1.13509816e-03 1.86753427e+02] [-1.21257515e-02 9.99926474e-01 1.13098343e-04 -5.52155754e+00] [ 1.13638612e-03 -9.93260364e-05 9.99999349e-01 -3.46788098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.138001145 meters 0.0922651091143856 Centerline is valid? [True, True] Translation: X:186.81, Y:-5.53, Z:-3.47 [[ 9.99943270e-01 1.06498592e-02 -1.93448755e-04 1.86812058e+02] [-1.06498559e-02 9.99943289e-01 1.81167411e-05 -5.53137015e+00] [ 1.93630725e-04 -1.60555120e-05 9.99999981e-01 -3.46745427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19800114499998 meters 0.09696231959826404 Centerline is valid? [True, True] Translation: X:186.87, Y:-5.55, Z:-3.47 [[ 9.99976113e-01 6.91174047e-03 -4.53364616e-05 1.86869979e+02] [-6.91174028e-03 9.99976114e-01 4.24431557e-06 -5.54983236e+00] [ 4.53647143e-05 -3.93086034e-06 9.99999999e-01 -3.46988995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25800114499998 meters 0.10195560683879333 Centerline is valid? [True, False] Translation: X:186.87, Y:-5.55, Z:-3.47 [[ 9.99995603e-01 2.96129955e-03 1.55176990e-04 1.86869461e+02] [-2.96078838e-03 9.99990507e-01 -3.19683277e-03 -5.55364249e+00] [-1.64642296e-04 3.19635927e-03 9.99994878e-01 -3.46992584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.31800114499998 meters 0.10456564675726564 Centerline is valid? [False, False] Translation: X:186.87, Y:-5.56, Z:-3.47 [[ 9.99995052e-01 3.12394632e-03 3.69297645e-04 1.86869089e+02] [-3.12299834e-03 9.99991897e-01 -2.54028753e-03 -5.55575195e+00] [-3.77230375e-04 2.53912164e-03 9.99996705e-01 -3.47008322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37800114499998 meters 0.08960972857383791 Centerline is valid? [False, True] Translation: X:186.87, Y:-5.56, Z:-3.47 [[ 9.99993540e-01 3.53003797e-03 6.77171696e-04 1.86868716e+02] [-3.52911786e-03 9.99992854e-01 -1.35517366e-03 -5.55984453e+00] [-6.81950671e-04 1.35277509e-03 9.99998852e-01 -3.47065248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.438001145 meters 0.0885971676999025 Centerline is valid? [True, True] Translation: X:186.93, Y:-5.57, Z:-3.47 [[ 9.99992197e-01 3.93871764e-03 -3.04108609e-04 1.86928323e+02] [-3.93870841e-03 9.99992243e-01 3.09591765e-05 -5.56686911e+00] [ 3.04228190e-04 -2.97611398e-05 9.99999953e-01 -3.47308580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.498001145 meters 0.08746959179541029 Centerline is valid? [True, True] Translation: X:186.99, Y:-5.57, Z:-3.47 [[ 9.99979003e-01 6.40953912e-03 9.54524537e-04 1.86989014e+02] [-6.40944625e-03 9.99979454e-01 -1.00319332e-04 -5.57098052e+00] [-9.55147926e-04 9.41992518e-05 9.99999539e-01 -3.47301969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.558001145 meters 0.08412192767060292 Centerline is valid? [True, True] Translation: X:187.05, Y:-5.57, Z:-3.47 [[ 9.99957884e-01 8.91033666e-03 2.19925752e-03 1.87049871e+02] [-8.90984988e-03 9.99960280e-01 -2.31038529e-04 -5.57164871e+00] [-2.20122880e-03 2.11433744e-04 9.99997555e-01 -3.47276575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.618001145 meters 0.08639516861806543 Centerline is valid? [True, True] Translation: X:187.11, Y:-5.58, Z:-3.48 [[ 9.99937357e-01 1.09279918e-02 2.42097090e-03 1.87108403e+02] [-1.09274059e-02 9.99940262e-01 -2.55120802e-04 -5.58084553e+00] [-2.42361423e-03 2.28649889e-04 9.99997037e-01 -3.47507609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.678001145 meters 0.08833988235831836 Centerline is valid? [True, True] Translation: X:187.17, Y:-5.59, Z:-3.48 [[ 9.99913398e-01 1.22833964e-02 4.72391324e-03 1.87167257e+02] [-1.22811857e-02 9.99924460e-01 -4.96698693e-04 -5.58906469e+00] [-4.72965754e-03 4.38640422e-04 9.99988719e-01 -3.47533641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.738001145 meters 0.08434336734915406 Centerline is valid? [True, True] Translation: X:187.23, Y:-5.59, Z:-3.47 [[ 9.99905255e-01 1.24675363e-02 5.83442911e-03 1.87226899e+02] [-1.24641648e-02 9.99922131e-01 -6.13858435e-04 -5.58760551e+00] [-5.84162809e-03 5.41078989e-04 9.99982791e-01 -3.47427561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.798001145 meters 0.08309848374234982 Centerline is valid? [True, True] Translation: X:187.29, Y:-5.59, Z:-3.47 [[ 9.99928100e-01 1.02180862e-02 6.27574833e-03 1.87287022e+02] [-1.02141522e-02 9.99947617e-01 -6.58585494e-04 -5.59165307e+00] [-6.28214907e-03 5.94436693e-04 9.99980090e-01 -3.47474325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.858001145 meters 0.09726079796543295 Centerline is valid? [True, True] Translation: X:187.34, Y:-5.62, Z:-3.48 [[ 9.99952685e-01 7.20487147e-03 6.53581114e-03 1.87343367e+02] [-7.20054696e-03 9.99973841e-01 -6.84953987e-04 -5.62407157e+00] [-6.54057518e-03 6.37860164e-04 9.99978407e-01 -3.48249403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.918001145 meters 0.10152839634851278 Centerline is valid? [True, False] Translation: X:187.34, Y:-5.62, Z:-3.48 [[ 9.99975798e-01 2.99060369e-03 6.28162255e-03 1.87343760e+02] [-2.95996799e-03 9.99983709e-01 -4.88068351e-03 -5.62421838e+00] [-6.29611640e-03 4.86197199e-03 9.99968360e-01 -3.48240166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97800114499998 meters 0.09567276833032737 Centerline is valid? [False, True] Translation: X:187.34, Y:-5.63, Z:-3.48 [[ 9.99973429e-01 3.72226066e-03 6.26781620e-03 1.87344737e+02] [-3.70015459e-03 9.99986907e-01 -3.53482730e-03 -5.62713588e+00] [-6.28089168e-03 3.51154149e-03 9.99974109e-01 -3.48402586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03800114499998 meters 0.09228576028363636 Centerline is valid? [True, True] Translation: X:187.41, Y:-5.63, Z:-3.49 [[ 9.99988906e-01 4.22073464e-03 2.09139899e-03 1.87406458e+02] [-4.22028579e-03 9.99991071e-01 -2.18980837e-04 -5.62879238e+00] [-2.09230458e-03 2.10152106e-04 9.99997789e-01 -3.48836005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09800114499998 meters 0.09386212144973868 Centerline is valid? [True, True] Translation: X:187.47, Y:-5.64, Z:-3.49 [[ 9.99968987e-01 7.46595394e-03 2.50708950e-03 1.87465305e+02] [-7.46529577e-03 9.99972097e-01 -2.71782075e-04 -5.63530086e+00] [-2.50904866e-03 2.53057482e-04 9.99996820e-01 -3.49273005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.158001145 meters 0.08994802154513472 Centerline is valid? [True, True] Translation: X:187.53, Y:-5.63, Z:-3.49 [[ 9.99905759e-01 1.32201772e-02 3.70146967e-03 1.87526971e+02] [-1.32187852e-02 9.99912548e-01 -4.00291882e-04 -5.63266974e+00] [-3.70643790e-03 3.51325225e-04 9.99993069e-01 -3.49354212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.218001145 meters 0.09005192691551782 Centerline is valid? [True, True] Translation: X:187.59, Y:-5.64, Z:-3.50 [[ 9.99864633e-01 1.58622623e-02 4.37089077e-03 1.87587660e+02] [-1.58603457e-02 9.99874105e-01 -4.72827072e-04 -5.63562392e+00] [-4.37784060e-03 4.03439229e-04 9.99990336e-01 -3.49577517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.278001145 meters 0.08975995061025521 Centerline is valid? [True, True] Translation: X:187.65, Y:-5.64, Z:-3.50 [[ 9.99836461e-01 1.74115861e-02 4.88745930e-03 1.87647879e+02] [-1.74092063e-02 9.99848308e-01 -5.29062729e-04 -5.63665629e+00] [-4.89592974e-03 4.43889420e-04 9.99987916e-01 -3.49739652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.338001145 meters 0.09607434850753159 Centerline is valid? [True, True] Translation: X:187.70, Y:-5.65, Z:-3.50 [[ 9.99842774e-01 1.64980020e-02 6.49947014e-03 1.87704285e+02] [-1.64937648e-02 9.99863720e-01 -7.04986479e-04 -5.64986165e+00] [-6.51021526e-03 5.97674905e-04 9.99978630e-01 -3.50104703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.398001145 meters 0.09437759616153596 Centerline is valid? [True, True] Translation: X:187.76, Y:-5.65, Z:-3.50 [[ 9.99860482e-01 1.57695549e-02 5.50791018e-03 1.87763966e+02] [-1.57665086e-02 9.99875523e-01 -5.96068724e-04 -5.65157710e+00] [-5.51662431e-03 5.09145048e-04 9.99984654e-01 -3.50294044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.458001145 meters 0.09665065699531482 Centerline is valid? [True, True] Translation: X:187.82, Y:-5.66, Z:-3.51 [[ 9.99883294e-01 1.44954936e-02 4.82487886e-03 1.87822892e+02] [-1.44931387e-02 9.99894832e-01 -5.22699992e-04 -5.65588864e+00] [-4.83194824e-03 4.52711351e-04 9.99988224e-01 -3.50528009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.518001145 meters 0.09508796732698323 Centerline is valid? [True, True] Translation: X:187.88, Y:-5.66, Z:-3.51 [[ 9.99892632e-01 1.42545000e-02 3.39623622e-03 1.87882143e+02] [-1.42533295e-02 9.99898348e-01 -3.68624339e-04 -5.65713525e+00] [-3.40114554e-03 3.20177087e-04 9.99994165e-01 -3.50824888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.578001145 meters 0.09603681272575927 Centerline is valid? [True, True] Translation: X:187.94, Y:-5.66, Z:-3.51 [[ 9.99900709e-01 1.40529454e-02 1.04228243e-03 1.87941834e+02] [-1.40528347e-02 9.99901248e-01 -1.13499381e-04 -5.66040848e+00] [-1.04377450e-03 9.88410887e-05 9.99999450e-01 -3.51271921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.638001145 meters 0.095348985828219 Centerline is valid? [True, True] Translation: X:188.00, Y:-5.66, Z:-3.51 [[ 9.99890975e-01 1.47356936e-02 9.47781820e-04 1.88000630e+02] [-1.47356013e-02 9.99891420e-01 -1.04308734e-04 -5.66178412e+00] [-9.49215971e-04 9.03312263e-05 9.99999545e-01 -3.51437223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69800114499998 meters 0.0849625698680734 Centerline is valid? [True, True] Translation: X:188.06, Y:-5.65, Z:-3.51 [[ 9.99855535e-01 1.69374644e-02 1.42514293e-03 1.88062864e+02] [-1.69372617e-02 9.99856542e-01 -1.54190556e-04 -5.64704476e+00] [-1.42755008e-03 1.30030262e-04 9.99998973e-01 -3.51095178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75800114499998 meters 0.09325042152645799 Centerline is valid? [True, True] Translation: X:188.12, Y:-5.66, Z:-3.52 [[ 9.99815679e-01 1.88092301e-02 3.84969969e-03 1.88120926e+02] [-1.88077681e-02 9.99823032e-01 -4.15622822e-04 -5.66143887e+00] [-3.85683596e-03 3.43141955e-04 9.99992504e-01 -3.51550292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.81800114499998 meters 0.0890246128434153 Centerline is valid? [True, True] Translation: X:188.18, Y:-5.66, Z:-3.51 [[ 9.99794531e-01 1.95482033e-02 5.36323694e-03 1.88181620e+02] [-1.95453765e-02 9.99808803e-01 -5.78998224e-04 -5.65724628e+00] [-5.37352988e-03 4.74052773e-04 9.99985450e-01 -3.51401399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87800114499998 meters 0.08644492527699014 Centerline is valid? [True, True] Translation: X:188.24, Y:-5.66, Z:-3.51 [[ 9.99797477e-01 1.93006955e-02 5.69990285e-03 1.88241088e+02] [-1.92974945e-02 9.99813596e-01 -6.16046425e-04 -5.65692837e+00] [-5.71073049e-03 5.05927817e-04 9.99983566e-01 -3.51356599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.938001145 meters 0.0883215014146536 Centerline is valid? [True, True] Translation: X:188.30, Y:-5.66, Z:-3.52 [[ 9.99797653e-01 1.87006724e-02 7.41199460e-03 1.88299774e+02] [-1.86952522e-02 9.99824909e-01 -7.99893261e-04 -5.66319692e+00] [-7.42565536e-03 6.61162297e-04 9.99972211e-01 -3.51616950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.998001145 meters 0.08977099826713855 Centerline is valid? [True, True] Translation: X:188.36, Y:-5.67, Z:-3.52 [[ 9.99818098e-01 1.74413722e-02 7.71811180e-03 1.88359215e+02] [-1.74354691e-02 9.99847645e-01 -8.31465820e-04 -5.67065519e+00] [-7.73143781e-03 6.96745675e-04 9.99969869e-01 -3.51910727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.058001145 meters 0.08989455792984276 Centerline is valid? [True, True] Translation: X:188.42, Y:-5.67, Z:-3.52 [[ 9.99844410e-01 1.65106520e-02 6.20921592e-03 1.88419311e+02] [-1.65068135e-02 9.99863530e-01 -6.68939103e-04 -5.67192616e+00] [-6.21941317e-03 5.66340654e-04 9.99980499e-01 -3.52064844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.118001145 meters 0.09688832192397594 Centerline is valid? [True, True] Translation: X:188.48, Y:-5.69, Z:-3.53 [[ 9.99861955e-01 1.55484039e-02 5.85815290e-03 1.88476035e+02] [-1.55449689e-02 9.99878970e-01 -6.31443360e-04 -5.68994298e+00] [-5.86726183e-03 5.40291388e-04 9.99982642e-01 -3.52833945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.178001145 meters 0.09567095979273142 Centerline is valid? [True, True] Translation: X:188.53, Y:-5.69, Z:-3.53 [[ 9.99849570e-01 1.57807179e-02 7.19767018e-03 1.88534873e+02] [-1.57755410e-02 9.99875258e-01 -7.75456983e-04 -5.69323141e+00] [-7.20900959e-03 6.61793191e-04 9.99973796e-01 -3.52965433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.238001145 meters 0.09283792649480717 Centerline is valid? [True, True] Translation: X:188.59, Y:-5.69, Z:-3.53 [[ 9.99854673e-01 1.52154588e-02 7.68916845e-03 1.88593920e+02] [-1.52095388e-02 9.99883986e-01 -8.27803885e-04 -5.69235755e+00] [-7.70087181e-03 7.10734876e-04 9.99970095e-01 -3.52917268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.298001145 meters 0.09516667974280278 Centerline is valid? [True, True] Translation: X:188.65, Y:-5.70, Z:-3.53 [[ 9.99842751e-01 1.52692295e-02 9.01797997e-03 1.88651929e+02] [-1.52611063e-02 9.99883073e-01 -9.68908381e-04 -5.70299130e+00] [-9.03172001e-03 8.31131670e-04 9.99958868e-01 -3.53255450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.358001145 meters 0.09644627646260158 Centerline is valid? [True, True] Translation: X:188.71, Y:-5.71, Z:-3.54 [[ 9.99821618e-01 1.60170691e-02 1.00092548e-02 1.88709753e+02] [-1.60070978e-02 9.99871300e-01 -1.07552502e-03 -5.71306292e+00] [-1.00251934e-02 9.15114050e-04 9.99949328e-01 -3.53638668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.418001145 meters 0.09741240572666425 Centerline is valid? [True, True] Translation: X:188.77, Y:-5.72, Z:-3.54 [[ 9.99811923e-01 1.72518033e-02 8.85965005e-03 1.88769230e+02] [-1.72440449e-02 9.99850858e-01 -9.51349367e-04 -5.71742272e+00] [-8.87474119e-03 7.98394237e-04 9.99960300e-01 -3.53887380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47800114499998 meters 0.09764694615233357 Centerline is valid? [True, True] Translation: X:188.83, Y:-5.72, Z:-3.54 [[ 9.99772856e-01 1.88369482e-02 9.97025975e-03 1.88828389e+02] [-1.88272054e-02 9.99822180e-01 -1.07015110e-03 -5.72450460e+00] [-9.98864522e-03 8.82195897e-04 9.99949723e-01 -3.54200571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53800114499998 meters 0.09800169633593087 Centerline is valid? [True, True] Translation: X:188.89, Y:-5.73, Z:-3.55 [[ 9.99727755e-01 2.10479569e-02 1.00696790e-02 1.88886940e+02] [-2.10381343e-02 9.99778090e-01 -1.08040851e-03 -5.73206817e+00] [-1.00901848e-02 8.68267112e-04 9.99948716e-01 -3.54586778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59800114499998 meters 0.09609432565857697 Centerline is valid? [True, True] Translation: X:188.95, Y:-5.73, Z:-3.55 [[ 9.99669643e-01 2.32223354e-02 1.10148734e-02 1.88947702e+02] [-2.32107233e-02 9.99729897e-01 -1.18090539e-03 -5.73165988e+00] [-1.10393217e-02 9.24852088e-04 9.99938637e-01 -3.54556699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.658001145 meters 0.08355817434494414 Centerline is valid? [True, True] Translation: X:189.01, Y:-5.72, Z:-3.54 [[ 9.99568663e-01 2.68361156e-02 1.19293750e-02 1.89010323e+02] [-2.68227518e-02 9.99639387e-01 -1.27885594e-03 -5.71523682e+00] [-1.19593926e-02 9.58325654e-04 9.99928025e-01 -3.54372552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.718001145 meters 0.08373547615268466 Centerline is valid? [True, True] Translation: X:189.07, Y:-5.72, Z:-3.55 [[ 9.99527636e-01 2.78419209e-02 1.30127527e-02 1.89068810e+02] [-2.78260876e-02 9.99611804e-01 -1.39626672e-03 -5.72236813e+00] [-1.30465759e-02 1.03351318e-03 9.99914356e-01 -3.54625986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.778001145 meters 0.09085316947685958 Centerline is valid? [True, True] Translation: X:189.13, Y:-5.74, Z:-3.55 [[ 9.99567909e-01 2.57119340e-02 1.42440379e-02 1.89125355e+02] [-2.56927682e-02 9.99668720e-01 -1.52692900e-03 -5.74012482e+00] [-1.42785794e-02 1.16030047e-03 9.99897383e-01 -3.54850275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.838001145 meters 0.08751485496720506 Centerline is valid? [True, True] Translation: X:189.19, Y:-5.74, Z:-3.55 [[ 9.99655997e-01 2.24978540e-02 1.34808793e-02 1.89186418e+02] [-2.24804187e-02 9.99746241e-01 -1.44349437e-03 -5.74158504e+00] [-1.35099340e-02 1.13994199e-03 9.99908087e-01 -3.54857749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.898001145 meters 0.09311301845082118 Centerline is valid? [True, True] Translation: X:189.24, Y:-5.76, Z:-3.56 [[ 9.99780414e-01 1.70063209e-02 1.22437192e-02 1.89243364e+02] [-1.69915312e-02 9.99854774e-01 -1.31096036e-03 -5.76332015e+00] [-1.22642357e-02 1.10263296e-03 9.99924183e-01 -3.55549976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.958001145 meters 0.09312242270725675 Centerline is valid? [True, True] Translation: X:189.30, Y:-5.77, Z:-3.56 [[ 9.99816670e-01 1.55519319e-02 1.11697634e-02 1.89303396e+02] [-1.55395324e-02 9.99878539e-01 -1.19603714e-03 -5.76950576e+00] [-1.11870074e-02 1.02224497e-03 9.99936901e-01 -3.55712214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.018001145 meters 0.09538593385967907 Centerline is valid? [True, True] Translation: X:189.36, Y:-5.78, Z:-3.56 [[ 9.99844668e-01 1.48685544e-02 9.46388756e-03 1.89361998e+02] [-1.48596191e-02 9.99889076e-01 -1.01376914e-03 -5.77949506e+00] [-9.47791107e-03 8.72981907e-04 9.99954703e-01 -3.56212814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.078001145 meters 0.0962687038659322 Centerline is valid? [True, True] Translation: X:189.42, Y:-5.79, Z:-3.57 [[ 9.99818523e-01 1.60524296e-02 1.02586675e-02 1.89419705e+02] [-1.60419868e-02 9.99870715e-01 -1.09943313e-03 -5.78983379e+00] [-1.02749897e-02 9.34664199e-04 9.99946774e-01 -3.56515701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.138001145 meters 0.09542108474414551 Centerline is valid? [True, True] Translation: X:189.48, Y:-5.79, Z:-3.57 [[ 9.99771317e-01 1.78706306e-02 1.17453538e-02 1.89479721e+02] [-1.78570822e-02 9.99839759e-01 -1.25738566e-03 -5.79467198e+00] [-1.17659420e-02 1.04736036e-03 9.99930230e-01 -3.56506686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19800114499998 meters 0.09600693123745392 Centerline is valid? [True, True] Translation: X:189.54, Y:-5.80, Z:-3.57 [[ 9.99738410e-01 1.89671569e-02 1.27811690e-02 1.89538817e+02] [-1.89512039e-02 9.99819474e-01 -1.36813864e-03 -5.80156651e+00] [-1.28048114e-02 1.12556221e-03 9.99917382e-01 -3.56551081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25800114499998 meters 0.09815264650025043 Centerline is valid? [True, True] Translation: X:189.60, Y:-5.81, Z:-3.57 [[ 9.99778758e-01 1.73646456e-02 1.18702664e-02 1.89597545e+02] [-1.73507812e-02 9.99848657e-01 -1.26999020e-03 -5.81400944e+00] [-1.18905228e-02 1.06375083e-03 9.99928739e-01 -3.56938306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.31800114499998 meters 0.10077569059802206 Centerline is valid? [True, False] Translation: X:189.61, Y:-5.81, Z:-3.57 [[ 9.99962924e-01 7.69196628e-03 3.87084035e-03 1.89609866e+02] [-7.68989562e-03 9.99970281e-01 -5.49536771e-04 -5.81413770e+00] [-3.87495233e-03 5.19750038e-04 9.99992357e-01 -3.56635292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37800114499998 meters 0.09278942902598208 Centerline is valid? [False, True] Translation: X:189.61, Y:-5.81, Z:-3.57 [[ 9.99963428e-01 7.51736462e-03 4.07826173e-03 1.89609311e+02] [-7.51510862e-03 9.99971600e-01 -5.68219512e-04 -5.81459933e+00] [-4.08241742e-03 5.37550151e-04 9.99991522e-01 -3.56621249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.438001145 meters 0.10768247820359841 Centerline is valid? [True, False] Translation: X:189.61, Y:-5.82, Z:-3.57 [[ 9.99962456e-01 7.54895166e-03 4.25442713e-03 1.89608909e+02] [-7.54790183e-03 9.99971480e-01 -2.62764002e-04 -5.81611274e+00] [-4.25628939e-03 2.30642139e-04 9.99990915e-01 -3.56624055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.498001145 meters 0.09864051027830216 Centerline is valid? [False, True] Translation: X:189.61, Y:-5.82, Z:-3.57 [[ 9.99986955e-01 3.74789805e-03 3.47035845e-03 1.89610778e+02] [-3.73265337e-03 9.99983402e-01 -4.38893098e-03 -5.81505738e+00] [-3.48675012e-03 4.37592008e-03 9.99984347e-01 -3.56670043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.558001145 meters 0.09138586605421001 Centerline is valid? [True, True] Translation: X:189.67, Y:-5.81, Z:-3.57 [[ 9.99973340e-01 6.34014876e-03 3.62245177e-03 1.89671515e+02] [-6.33890276e-03 9.99979846e-01 -3.55344154e-04 -5.81198678e+00] [-3.62463170e-03 3.32372311e-04 9.99993376e-01 -3.56742715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.618001145 meters 0.09247918183679309 Centerline is valid? [True, True] Translation: X:189.73, Y:-5.82, Z:-3.57 [[ 9.99957152e-01 7.76705156e-03 5.03651892e-03 1.89730577e+02] [-7.76465595e-03 9.99969732e-01 -4.95025919e-04 -5.82034986e+00] [-5.04021136e-03 4.55897871e-04 9.99987194e-01 -3.56906760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.678001145 meters 0.08932927240126429 Centerline is valid? [True, True] Translation: X:189.79, Y:-5.82, Z:-3.57 [[ 9.99935936e-01 1.05126158e-02 4.19636960e-03 1.89791364e+02] [-1.05109797e-02 9.99944673e-01 -4.11761768e-04 -5.82135730e+00] [-4.20046612e-03 3.67627433e-04 9.99991110e-01 -3.56974899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.738001145 meters 0.08831549839840168 Centerline is valid? [True, True] Translation: X:189.85, Y:-5.83, Z:-3.57 [[ 9.99929718e-01 1.09771429e-02 4.47899804e-03 1.89849668e+02] [-1.09752767e-02 9.99939673e-01 -4.41032916e-04 -5.82596582e+00] [-4.48356911e-03 3.91843676e-04 9.99989872e-01 -3.57173486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.798001145 meters 0.09428429901927078 Centerline is valid? [True, True] Translation: X:189.91, Y:-5.84, Z:-3.58 [[ 9.99922086e-01 1.18396984e-02 3.95512696e-03 1.89906568e+02] [-1.18382518e-02 9.99929850e-01 -3.88960294e-04 -5.84433716e+00] [-3.95945468e-03 3.42108200e-04 9.99992103e-01 -3.57910474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.858001145 meters 0.08840822551039326 Centerline is valid? [True, True] Translation: X:189.97, Y:-5.84, Z:-3.58 [[ 9.99953121e-01 9.41890534e-03 2.24485256e-03 1.89967823e+02] [-9.41843500e-03 9.99955621e-01 -2.19995242e-04 -5.84022056e+00] [-2.24682505e-03 1.98841931e-04 9.99997456e-01 -3.57750979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.918001145 meters 0.09157730987145453 Centerline is valid? [True, True] Translation: X:190.03, Y:-5.85, Z:-3.58 [[ 9.99970148e-01 7.66108510e-03 1.00553120e-03 1.90026372e+02] [-7.66098940e-03 9.99970649e-01 -9.89883971e-05 -5.85263214e+00] [-1.00626004e-03 9.12820782e-05 9.99999490e-01 -3.58184591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97800114499998 meters 0.0901575134683045 Centerline is valid? [True, True] Translation: X:190.09, Y:-5.86, Z:-3.58 [[ 9.99984097e-01 5.41945389e-03 1.56084217e-03 1.90086602e+02] [-5.41922105e-03 9.99985304e-01 -1.53370360e-04 -5.85732372e+00] [-1.56165042e-03 1.44909372e-04 9.99998770e-01 -3.58205961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03800114499998 meters 0.09559023984748272 Centerline is valid? [True, True] Translation: X:190.14, Y:-5.87, Z:-3.58 [[ 9.99984962e-01 4.81115004e-03 2.63218105e-03 1.90144278e+02] [-4.81049157e-03 9.99988397e-01 -2.56434502e-04 -5.87323111e+00] [-2.63338425e-03 2.43768561e-04 9.99996503e-01 -3.58499883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09800114499998 meters 0.09140361382144006 Centerline is valid? [True, True] Translation: X:190.20, Y:-5.87, Z:-3.58 [[ 9.99975975e-01 5.04396721e-03 4.75477578e-03 1.90204533e+02] [-5.04180442e-03 9.99987181e-01 -4.66744566e-04 -5.87316957e+00] [-4.75706907e-03 4.42760703e-04 9.99988587e-01 -3.58277124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.158001145 meters 0.08782149366552601 Centerline is valid? [True, True] Translation: X:190.27, Y:-5.87, Z:-3.58 [[ 9.99962130e-01 7.52383665e-03 4.37378495e-03 1.90265344e+02] [-7.52203544e-03 9.99971617e-01 -4.28123785e-04 -5.87448358e+00] [-4.37688194e-03 3.95207807e-04 9.99990343e-01 -3.58318383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.218001145 meters 0.08804348633602767 Centerline is valid? [True, True] Translation: X:190.32, Y:-5.88, Z:-3.58 [[ 9.99946720e-01 8.97048093e-03 5.10765506e-03 1.90324896e+02] [-8.96803901e-03 9.99959661e-01 -5.00792122e-04 -5.88377753e+00] [-5.11194137e-03 4.54959789e-04 9.99986830e-01 -3.58492058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.278001145 meters 0.0886328497875997 Centerline is valid? [True, True] Translation: X:190.38, Y:-5.89, Z:-3.59 [[ 9.99938642e-01 1.02491409e-02 4.20316960e-03 1.90383055e+02] [-1.02474949e-02 9.99947408e-01 -4.12961615e-04 -5.89321293e+00] [-4.20718105e-03 3.69864318e-04 9.99991081e-01 -3.58723749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.338001145 meters 0.08736988962935241 Centerline is valid? [True, True] Translation: X:190.44, Y:-5.90, Z:-3.59 [[ 9.99938632e-01 1.06414239e-02 3.08110727e-03 1.90441300e+02] [-1.06405392e-02 9.99943342e-01 -3.03403279e-04 -5.90084490e+00] [-3.08416135e-03 2.70600017e-04 9.99995207e-01 -3.59003136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.398001145 meters 0.0882041735825504 Centerline is valid? [True, True] Translation: X:190.50, Y:-5.91, Z:-3.59 [[ 9.99962444e-01 8.64585913e-03 6.00324210e-04 1.90500329e+02] [-8.64582537e-03 9.99962622e-01 -5.88229651e-05 -5.91320625e+00] [-6.00810346e-04 5.36304577e-05 9.99999818e-01 -3.59444443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.458001145 meters 0.08950731946574086 Centerline is valid? [True, True] Translation: X:190.56, Y:-5.92, Z:-3.60 [[ 9.99974212e-01 6.79456150e-03 -2.32570611e-03 1.90560024e+02] [-6.79405066e-03 9.99976894e-01 2.27482158e-04 -5.92472339e+00] [ 2.32719802e-03 -2.11675326e-04 9.99997270e-01 -3.59866332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.518001145 meters 0.09114267666209619 Centerline is valid? [True, True] Translation: X:190.62, Y:-5.94, Z:-3.60 [[ 9.99987468e-01 4.46967943e-03 -2.25508833e-03 1.90619039e+02] [-4.46919480e-03 9.99989989e-01 2.19900682e-04 -5.93750462e+00] [ 2.25604864e-03 -2.09819497e-04 9.99997433e-01 -3.60020940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.578001145 meters 0.08899463678745691 Centerline is valid? [True, True] Translation: X:190.68, Y:-5.94, Z:-3.60 [[ 9.99996371e-01 1.90009373e-03 -1.91013149e-03 1.90679032e+02] [-1.89974085e-03 9.99998178e-01 1.86539972e-04 -5.94373829e+00] [ 1.91048246e-03 -1.82910540e-04 9.99998158e-01 -3.59759453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.638001145 meters 0.09082735979427727 Centerline is valid? [True, True] Translation: X:190.74, Y:-5.96, Z:-3.60 [[ 9.99997754e-01 -3.00059989e-05 -2.11919493e-03 1.90738284e+02] [ 3.04441572e-05 9.99999978e-01 2.06724998e-04 -5.95766016e+00] [ 2.11918868e-03 -2.06789051e-04 9.99997733e-01 -3.59976406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.69800114499998 meters 0.09237451544238541 Centerline is valid? [True, True] Translation: X:190.80, Y:-5.97, Z:-3.60 [[ 9.99993188e-01 -2.91286027e-03 -2.26694167e-03 1.90797284e+02] [ 2.91337019e-03 9.99995732e-01 2.21666472e-04 -5.97309360e+00] [ 2.26628631e-03 -2.28269402e-04 9.99997406e-01 -3.60240058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.75800114499998 meters 0.09448868976131326 Centerline is valid? [True, True] Translation: X:190.86, Y:-5.98, Z:-3.61 [[ 9.99982507e-01 -4.30278963e-03 -4.05851257e-03 1.90856792e+02] [ 4.30443276e-03 9.99990657e-01 3.96213018e-04 -5.98487459e+00] [ 4.05676983e-03 -4.13675681e-04 9.99991686e-01 -3.60524145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81800114499998 meters 0.09302669891241738 Centerline is valid? [True, True] Translation: X:190.92, Y:-6.00, Z:-3.61 [[ 9.99983216e-01 -4.85688088e-03 -3.15900089e-03 1.90915982e+02] [ 4.85787876e-03 9.99988153e-01 3.08286869e-04 -5.99569047e+00] [ 3.15746615e-03 -3.23627738e-04 9.99994963e-01 -3.60667110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87800114499998 meters 0.09305748311215697 Centerline is valid? [True, True] Translation: X:190.98, Y:-6.01, Z:-3.61 [[ 9.99984783e-01 -5.26894984e-03 -1.63478972e-03 1.90975762e+02] [ 5.26921805e-03 9.99986105e-01 1.59797875e-04 -6.00536683e+00] [ 1.63392504e-03 -1.68409507e-04 9.99998651e-01 -3.60674169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.938001145 meters 0.09446168022549171 Centerline is valid? [True, True] Translation: X:191.04, Y:-6.02, Z:-3.61 [[ 9.99987588e-01 -3.71741360e-03 -3.31720557e-03 1.91035280e+02] [ 3.71851872e-03 9.99993033e-01 3.27043271e-04 -6.01896547e+00] [ 3.31596670e-03 -3.39374303e-04 9.99994445e-01 -3.60979861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.998001145 meters 0.09749673765751703 Centerline is valid? [True, True] Translation: X:191.09, Y:-6.04, Z:-3.62 [[ 9.99977158e-01 -4.02240478e-03 -5.43177519e-03 1.91093221e+02] [ 4.02534735e-03 9.99991757e-01 5.30908579e-04 -6.03526808e+00] [ 5.42959489e-03 -5.52761234e-04 9.99985107e-01 -3.61570758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.058001145 meters 0.09791419176737926 Centerline is valid? [True, True] Translation: X:191.15, Y:-6.05, Z:-3.62 [[ 9.99971467e-01 -4.28671713e-03 -6.22009318e-03 1.91150987e+02] [ 4.29053510e-03 9.99990615e-01 6.00598087e-04 -6.04645118e+00] [ 6.21746022e-03 -6.27268478e-04 9.99980475e-01 -3.61860295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.118001145 meters 0.09847765754148588 Centerline is valid? [True, True] Translation: X:191.21, Y:-6.06, Z:-3.62 [[ 9.99970853e-01 -4.63307018e-03 -6.06856481e-03 1.91209299e+02] [ 4.63670208e-03 9.99989080e-01 5.84546007e-04 -6.05560981e+00] [ 6.06579029e-03 -6.12667096e-04 9.99981415e-01 -3.61981505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.178001145 meters 0.09886493752886644 Centerline is valid? [True, True] Translation: X:191.27, Y:-6.07, Z:-3.62 [[ 9.99964314e-01 -6.49254361e-03 -5.40528800e-03 1.91269007e+02] [ 6.49547997e-03 9.99978766e-01 5.25861176e-04 -6.06555461e+00] [ 5.40175905e-03 -5.60952351e-04 9.99985253e-01 -3.61910963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.238001145 meters 0.09386437033477849 Centerline is valid? [True, True] Translation: X:191.33, Y:-6.07, Z:-3.62 [[ 9.99964317e-01 -7.81762241e-03 -3.20151254e-03 1.91328347e+02] [ 7.81865669e-03 9.99969386e-01 3.10671822e-04 -6.07012189e+00] [ 3.19898582e-03 -3.35692264e-04 9.99994827e-01 -3.61702197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.298001145 meters 0.10264445076501956 Centerline is valid? [True, False] Translation: X:191.33, Y:-6.07, Z:-3.62 [[ 9.99966988e-01 -7.47725498e-03 -3.18032439e-03 1.91328348e+02] [ 7.48075148e-03 9.99971426e-01 1.08894649e-03 -6.07240962e+00] [ 3.17209119e-03 -1.11270176e-03 9.99994350e-01 -3.61721188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.358001145 meters 0.0921206279569383 Centerline is valid? [False, True] Translation: X:191.33, Y:-6.08, Z:-3.62 [[ 9.99971495e-01 -6.85305634e-03 -3.16932179e-03 1.91328765e+02] [ 6.86044920e-03 9.99973758e-01 2.32766963e-03 -6.07540979e+00] [ 3.15328697e-03 -2.34934625e-03 9.99992269e-01 -3.61806650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.418001145 meters 0.09273743260244358 Centerline is valid? [True, True] Translation: X:191.39, Y:-6.08, Z:-3.62 [[ 9.99971462e-01 -5.71562882e-03 -4.94041925e-03 1.91388360e+02] [ 5.71806165e-03 9.99983537e-01 4.78450563e-04 -6.08305080e+00] [ 4.93760328e-03 -5.06686531e-04 9.99987682e-01 -3.62195483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.47800114499998 meters 0.09053139362088165 Centerline is valid? [True, True] Translation: X:191.45, Y:-6.09, Z:-3.62 [[ 9.99962289e-01 -5.51225827e-03 -6.71082043e-03 1.91447767e+02] [ 5.51673392e-03 9.99984572e-01 6.48602156e-04 -6.08655238e+00] [ 6.70714164e-03 -6.85599507e-04 9.99977272e-01 -3.62378117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.53800114499998 meters 0.08926448909747398 Centerline is valid? [True, True] Translation: X:191.51, Y:-6.09, Z:-3.62 [[ 9.99959509e-01 -6.90401661e-03 -5.77183297e-03 1.91507372e+02] [ 6.90734827e-03 9.99975989e-01 5.57493054e-04 -6.09104912e+00] [ 5.76784543e-03 -5.97338542e-04 9.99983187e-01 -3.62387902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59800114499998 meters 0.09386596772758428 Centerline is valid? [True, True] Translation: X:191.57, Y:-6.11, Z:-3.63 [[ 9.99960862e-01 -7.05310740e-03 -5.34117352e-03 1.91565170e+02] [ 7.05596460e-03 9.99974973e-01 5.16283827e-04 -6.10539018e+00] [ 5.33739844e-03 -5.53950752e-04 9.99985603e-01 -3.62766834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.658001145 meters 0.08963738351838146 Centerline is valid? [True, True] Translation: X:191.62, Y:-6.10, Z:-3.63 [[ 9.99963790e-01 -7.48020144e-03 -4.05784776e-03 1.91624810e+02] [ 7.48185073e-03 9.99971934e-01 3.91415840e-04 -6.10415124e+00] [ 4.05480600e-03 -4.21761878e-04 9.99991690e-01 -3.62682110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.718001145 meters 0.0904889575418082 Centerline is valid? [True, True] Translation: X:191.69, Y:-6.11, Z:-3.63 [[ 9.99953487e-01 -9.23438241e-03 -2.78384301e-03 1.91685482e+02] [ 9.23516912e-03 9.99957318e-01 2.69877217e-04 -6.11281063e+00] [ 2.78123204e-03 -2.95573925e-04 9.99996089e-01 -3.62607009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.778001145 meters 0.08885811505099901 Centerline is valid? [True, True] Translation: X:191.75, Y:-6.12, Z:-3.62 [[ 9.99934836e-01 -1.14038311e-02 5.26056195e-04 1.91745936e+02] [ 1.14038591e-02 9.99934973e-01 -5.03386942e-05 -6.11986889e+00] [-5.25447933e-04 5.63344846e-05 9.99999860e-01 -3.62487260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.838001145 meters 0.09854090099438127 Centerline is valid? [True, True] Translation: X:191.80, Y:-6.14, Z:-3.63 [[ 9.99895666e-01 -1.44438429e-02 -1.78811505e-04 1.91803481e+02] [ 1.44438467e-02 9.99895682e-01 1.97903231e-05 -6.14487557e+00] [ 1.78507003e-04 -2.23709843e-05 9.99999984e-01 -3.63190687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.898001145 meters 0.09874896034041966 Centerline is valid? [True, True] Translation: X:191.86, Y:-6.16, Z:-3.63 [[ 9.99841898e-01 -1.77604986e-02 -8.62043206e-04 1.91863482e+02] [ 1.77605774e-02 9.99842265e-01 8.38395625e-05 -6.15574363e+00] [ 8.60418199e-04 -9.91366924e-05 9.99999625e-01 -3.63283774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.958001145 meters 0.09240730908744096 Centerline is valid? [True, True] Translation: X:191.92, Y:-6.15, Z:-3.63 [[ 9.99806912e-01 -1.93801394e-02 -3.24794745e-03 1.91924734e+02] [ 1.93812625e-02 9.99812116e-01 3.14661764e-04 -6.15437178e+00] [ 3.24123903e-03 -3.77550328e-04 9.99994676e-01 -3.63301191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.018001145 meters 0.09084414736984503 Centerline is valid? [True, True] Translation: X:191.99, Y:-6.16, Z:-3.64 [[ 9.99802172e-01 -1.89598722e-02 -6.01164892e-03 1.91986714e+02] [ 1.89637273e-02 9.99820001e-01 5.84921460e-04 -6.16211011e+00] [ 5.99947679e-03 -6.98809017e-04 9.99981759e-01 -3.63639950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.078001145 meters 0.09571169804786879 Centerline is valid? [True, True] Translation: X:192.05, Y:-6.18, Z:-3.64 [[ 9.99845636e-01 -1.64965763e-02 -6.04713579e-03 1.92045346e+02] [ 1.65004190e-02 9.99863687e-01 5.86118777e-04 -6.17802556e+00] [ 6.03664254e-03 -6.85808575e-04 9.99981544e-01 -3.64047757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.138001145 meters 0.0916521172069331 Centerline is valid? [True, True] Translation: X:192.11, Y:-6.18, Z:-3.64 [[ 9.99925255e-01 -1.14874675e-02 -4.18607530e-03 1.92106628e+02] [ 1.14892664e-02 9.99933914e-01 4.05945157e-04 -6.17859553e+00] [ 4.18113537e-03 -4.54009749e-04 9.99991156e-01 -3.63917219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.19800114499998 meters 0.08528689282620594 Centerline is valid? [True, True] Translation: X:192.17, Y:-6.17, Z:-3.64 [[ 9.99994237e-01 -3.33080562e-03 -6.56344257e-04 1.92168257e+02] [ 3.33084826e-03 9.99994451e-01 6.38772798e-05 -6.17421215e+00] [ 6.56127852e-04 -6.60630948e-05 9.99999783e-01 -3.63601444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.25800114499998 meters 0.08733126361729845 Centerline is valid? [True, True] Translation: X:192.23, Y:-6.18, Z:-3.64 [[ 9.99998296e-01 6.72690294e-04 1.71929713e-03 1.92226992e+02] [-6.72404249e-04 9.99999760e-01 -1.66946074e-04 -6.18458628e+00] [-1.71940902e-03 1.65789726e-04 9.99998508e-01 -3.63834542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31800114499998 meters 0.09174408257406497 Centerline is valid? [True, True] Translation: X:192.29, Y:-6.20, Z:-3.64 [[ 9.99997374e-01 6.40138833e-05 2.29085717e-03 1.92285784e+02] [-6.35065176e-05 9.99999973e-01 -2.21546252e-04 -6.19888691e+00] [-2.29087129e-03 2.21400185e-04 9.99997351e-01 -3.64247744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37800114499998 meters 0.08893185232026697 Centerline is valid? [True, True] Translation: X:192.35, Y:-6.20, Z:-3.64 [[ 9.99990195e-01 -4.32407091e-03 9.54914180e-04 1.92346366e+02] [ 4.32416117e-03 9.99990646e-01 -9.24866856e-05 -6.20272958e+00] [-9.54505329e-04 9.66149816e-05 9.99999540e-01 -3.64212220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.438001145 meters 0.0882965013775013 Centerline is valid? [True, True] Translation: X:192.41, Y:-6.21, Z:-3.64 [[ 9.99969704e-01 -7.78367987e-03 -7.75724075e-05 1.92406726e+02] [ 7.78368057e-03 9.99969707e-01 8.65652089e-06 -6.20925225e+00] [ 7.75026780e-05 -9.26005747e-06 9.99999997e-01 -3.64387417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.498001145 meters 0.09167261971863212 Centerline is valid? [True, True] Translation: X:192.47, Y:-6.22, Z:-3.65 [[ 9.99907290e-01 -1.35986559e-02 -6.97934376e-04 1.92466013e+02] [ 1.35987065e-02 9.99907531e-01 6.78425365e-05 -6.22397457e+00] [ 6.96947272e-04 -7.73272516e-05 9.99999754e-01 -3.64708476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.558001145 meters 0.09111653320615236 Centerline is valid? [True, True] Translation: X:192.53, Y:-6.23, Z:-3.65 [[ 9.99863222e-01 -1.63465289e-02 -2.51555005e-03 1.92526444e+02] [ 1.63471948e-02 9.99866346e-01 2.44346795e-04 -6.22917358e+00] [ 2.51121962e-03 -2.85435560e-04 9.99996806e-01 -3.64792449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.618001145 meters 0.090397873046566 Centerline is valid? [True, True] Translation: X:192.59, Y:-6.23, Z:-3.65 [[ 9.99876154e-01 -1.56055142e-02 -2.03593816e-03 1.92587813e+02] [ 1.56059506e-02 9.99878200e-01 1.98670014e-04 -6.23463409e+00] [ 2.03258984e-03 -2.30418160e-04 9.99997908e-01 -3.64920766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.678001145 meters 0.08602506443509154 Centerline is valid? [True, True] Translation: X:192.65, Y:-6.23, Z:-3.65 [[ 9.99952697e-01 -9.70866765e-03 -5.87404464e-04 1.92648839e+02] [ 9.70870273e-03 9.99952868e-01 5.68988093e-05 -6.23062672e+00] [ 5.86824367e-04 -6.25990532e-05 9.99999826e-01 -3.64727767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.738001145 meters 0.08498265252956635 Centerline is valid? [True, True] Translation: X:192.71, Y:-6.23, Z:-3.65 [[ 9.99987716e-01 -4.81138457e-03 1.19060825e-03 1.92709921e+02] [ 4.81152541e-03 9.99988418e-01 -1.15450237e-04 -6.23305903e+00] [-1.19003898e-03 1.21177461e-04 9.99999285e-01 -3.64742783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.798001145 meters 0.08404124130232093 Centerline is valid? [True, True] Translation: X:192.77, Y:-6.24, Z:-3.65 [[ 9.99993717e-01 1.88149802e-03 3.00445524e-03 1.92769819e+02] [-1.88062979e-03 9.99998189e-01 -2.91776866e-04 -6.23591784e+00] [-3.00499878e-03 2.86124764e-04 9.99995444e-01 -3.64839663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.858001145 meters 0.08518158751738192 Centerline is valid? [True, True] Translation: X:192.83, Y:-6.25, Z:-3.65 [[ 9.99993302e-01 2.40062005e-03 2.76282919e-03 1.92830656e+02] [-2.39989133e-03 9.99997085e-01 -2.67043815e-04 -6.24521491e+00] [-2.76346221e-03 2.60411536e-04 9.99996148e-01 -3.65295085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.918001145 meters 0.08723235734399694 Centerline is valid? [True, True] Translation: X:192.89, Y:-6.26, Z:-3.66 [[ 9.99997376e-01 -1.25881202e-03 1.91384570e-03 1.92890921e+02] [ 1.25916909e-03 9.99999190e-01 -1.85382320e-04 -6.25525650e+00] [-1.91361079e-03 1.87791689e-04 9.99998151e-01 -3.65501244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.97800114499998 meters 0.09201482030793424 Centerline is valid? [True, True] Translation: X:192.95, Y:-6.27, Z:-3.66 [[ 9.99978052e-01 -6.41954900e-03 1.63854134e-03 1.92949064e+02] [ 6.41981771e-03 9.99979380e-01 -1.58789184e-04 -6.26947692e+00] [-1.63748820e-03 1.69304835e-04 9.99998645e-01 -3.65685258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.03800114499998 meters 0.09482125131148256 Centerline is valid? [True, True] Translation: X:193.01, Y:-6.28, Z:-3.66 [[ 9.99960753e-01 -8.85147417e-03 3.80359843e-04 1.93008359e+02] [ 8.85148882e-03 9.99960824e-01 -3.68387896e-05 -6.28092871e+00] [-3.80018865e-04 4.02040946e-05 9.99999927e-01 -3.66057198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09800114499998 meters 0.09745838077225047 Centerline is valid? [True, True] Translation: X:193.07, Y:-6.29, Z:-3.66 [[ 9.99950806e-01 -9.91406756e-03 -3.12034491e-04 1.93067318e+02] [ 9.91407822e-03 9.99950854e-01 3.26249859e-05 -6.29042202e+00] [ 3.11695709e-04 -3.57169153e-05 9.99999951e-01 -3.66425144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.158001145 meters 0.09673546872336952 Centerline is valid? [True, True] Translation: X:193.13, Y:-6.29, Z:-3.66 [[ 9.99974971e-01 -7.06562354e-03 -3.67847258e-04 1.93128734e+02] [ 7.06563734e-03 9.99975037e-01 3.62294480e-05 -6.28944092e+00] [ 3.67582091e-04 -3.88276165e-05 9.99999932e-01 -3.66482485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.218001145 meters 0.08339130383289522 Centerline is valid? [True, True] Translation: X:193.19, Y:-6.27, Z:-3.66 [[ 9.99999963e-01 1.80110522e-04 2.05103539e-04 1.93191381e+02] [-1.80106479e-04 9.99999984e-01 -1.97299197e-05 -6.26974964e+00] [-2.05107090e-04 1.96929784e-05 9.99999979e-01 -3.66115317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.278001145 meters 0.08182441799539986 Centerline is valid? [True, True] Translation: X:193.25, Y:-6.27, Z:-3.66 [[ 9.99972300e-01 6.91459496e-03 2.75445842e-03 1.93252145e+02] [-6.91388315e-03 9.99976063e-01 -2.67858360e-04 -6.26842663e+00] [-2.75624462e-03 2.48806937e-04 9.99996171e-01 -3.66063262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.338001145 meters 0.08341855043180735 Centerline is valid? [True, True] Translation: X:193.31, Y:-6.27, Z:-3.66 [[ 9.99948856e-01 9.03059249e-03 4.55349070e-03 1.93311730e+02] [-9.02866829e-03 9.99959143e-01 -4.42957093e-04 -6.27422384e+00] [-4.55730482e-03 4.01822481e-04 9.99989535e-01 -3.66152060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.398001145 meters 0.08362631435230501 Centerline is valid? [True, True] Translation: X:193.37, Y:-6.28, Z:-3.66 [[ 9.99942791e-01 8.13324112e-03 6.94733610e-03 1.93371043e+02] [-8.12874148e-03 9.99966733e-01 -6.75669763e-04 -6.28039914e+00] [-6.95260036e-03 6.19158009e-04 9.99975639e-01 -3.66152829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.458001145 meters 0.08198590366144427 Centerline is valid? [True, True] Translation: X:193.43, Y:-6.28, Z:-3.66 [[ 9.99961104e-01 5.91751090e-03 6.54010386e-03 1.93432456e+02] [-5.91348742e-03 9.99982314e-01 -6.34367719e-04 -6.28250486e+00] [-6.54374207e-03 5.95668223e-04 9.99978412e-01 -3.66187300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.518001145 meters 0.08478649622378559 Centerline is valid? [True, True] Translation: X:193.49, Y:-6.29, Z:-3.67 [[ 9.99976426e-01 4.89869807e-03 4.81143942e-03 1.93491428e+02] [-4.89651591e-03 9.99987904e-01 -4.65210828e-04 -6.29201826e+00] [-4.81366015e-03 4.41640571e-04 9.99988317e-01 -3.66691452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.578001145 meters 0.08494787505728008 Centerline is valid? [True, True] Translation: X:193.55, Y:-6.30, Z:-3.67 [[ 9.99976670e-01 5.65803469e-03 3.82697338e-03 1.93552708e+02] [-5.65665576e-03 9.99983932e-01 -3.71045813e-04 -6.29765484e+00] [-3.82901128e-03 3.49389286e-04 9.99992608e-01 -3.67009790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.638001145 meters 0.08558156219685838 Centerline is valid? [True, True] Translation: X:193.61, Y:-6.30, Z:-3.67 [[ 9.99976595e-01 6.79681971e-03 7.82264650e-04 1.93612911e+02] [-6.79676227e-03 9.99976899e-01 -7.60630659e-05 -6.30034338e+00] [-7.82763566e-04 7.07444188e-05 9.99999691e-01 -3.67487302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.69800114499998 meters 0.08187049823128098 Centerline is valid? [True, True] Translation: X:193.67, Y:-6.30, Z:-3.68 [[ 9.99967634e-01 8.03448891e-03 -4.21186203e-04 1.93672692e+02] [-8.03447330e-03 9.99967722e-01 3.87460288e-05 -6.29625413e+00] [ 4.21483912e-04 -3.53607654e-05 9.99999911e-01 -3.67592699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.75800114499998 meters 0.08452508645578825 Centerline is valid? [True, True] Translation: X:193.73, Y:-6.30, Z:-3.68 [[ 9.99959333e-01 8.99480458e-03 -6.52820520e-04 1.93730217e+02] [-8.99476686e-03 9.99959544e-01 6.07013939e-05 -6.30287025e+00] [ 6.53340107e-04 -5.48269570e-05 9.99999785e-01 -3.68083949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81800114499998 meters 0.0824151401025806 Centerline is valid? [True, True] Translation: X:193.79, Y:-6.30, Z:-3.68 [[ 9.99965876e-01 8.22023448e-03 -8.21156678e-04 1.93789721e+02] [-8.22017358e-03 9.99966211e-01 7.75137162e-05 -6.29990431e+00] [ 8.21766113e-04 -7.07610207e-05 9.99999660e-01 -3.68042938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87800114499998 meters 0.08362165513388875 Centerline is valid? [True, True] Translation: X:193.85, Y:-6.31, Z:-3.68 [[ 9.99970841e-01 7.60013368e-03 7.45425342e-04 1.93848115e+02] [-7.60008031e-03 9.99971116e-01 -7.44131885e-05 -6.30519125e+00] [-7.45969362e-04 6.87457262e-05 9.99999719e-01 -3.68176159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.938001145 meters 0.08516152813933386 Centerline is valid? [True, True] Translation: X:193.91, Y:-6.31, Z:-3.68 [[ 9.99946766e-01 9.31869033e-03 4.43029188e-03 1.93906822e+02] [-9.31687553e-03 9.99956504e-01 -4.30096841e-04 -6.31100069e+00] [-4.43410712e-03 3.88797467e-04 9.99990094e-01 -3.68347811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.998001145 meters 0.08561915924714969 Centerline is valid? [True, True] Translation: X:193.97, Y:-6.32, Z:-3.69 [[ 9.99929529e-01 1.07325821e-02 5.07430843e-03 1.93966888e+02] [-1.07302208e-02 9.99942308e-01 -4.92345309e-04 -6.31605129e+00] [-5.07929982e-03 4.37862164e-04 9.99987004e-01 -3.68579780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.058001145 meters 0.08733554773998856 Centerline is valid? [True, True] Translation: X:194.03, Y:-6.32, Z:-3.69 [[ 9.99935739e-01 9.96248902e-03 5.40979339e-03 1.94026562e+02] [-9.95979231e-03 9.99950262e-01 -5.25198817e-04 -6.32089371e+00] [-5.41475661e-03 4.71284649e-04 9.99985229e-01 -3.68879253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.118001145 meters 0.09388218767303849 Centerline is valid? [True, True] Translation: X:194.08, Y:-6.34, Z:-3.70 [[ 9.99970985e-01 7.30052376e-03 2.17520630e-03 1.94084703e+02] [-7.30008266e-03 9.99973332e-01 -2.10652372e-04 -6.33645931e+00] [-2.17668616e-03 1.94767074e-04 9.99997612e-01 -3.69780263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.178001145 meters 0.09656997261332487 Centerline is valid? [True, True] Translation: X:194.14, Y:-6.35, Z:-3.70 [[ 9.99986003e-01 5.12842605e-03 1.30092600e-03 1.94144388e+02] [-5.12826629e-03 9.99986842e-01 -1.26116632e-04 -6.34562874e+00] [-1.30155566e-03 1.19443372e-04 9.99999146e-01 -3.70274129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.238001145 meters 0.08631176017757465 Centerline is valid? [True, True] Translation: X:194.21, Y:-6.33, Z:-3.70 [[ 9.99995511e-01 2.98424673e-03 2.68817547e-04 1.94206870e+02] [-2.98423979e-03 9.99995547e-01 -2.62168833e-05 -6.32999297e+00] [-2.68894588e-04 2.54145496e-05 9.99999964e-01 -3.69878252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.298001145 meters 0.08634827283182565 Centerline is valid? [True, True] Translation: X:194.27, Y:-6.33, Z:-3.70 [[ 9.99995664e-01 2.94373026e-03 7.76219173e-05 1.94266282e+02] [-2.94372960e-03 9.99995667e-01 -8.58769176e-06 -6.33347249e+00] [-7.76468608e-05 8.35915659e-06 9.99999997e-01 -3.70105066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.358001145 meters 0.08362513543129958 Centerline is valid? [True, True] Translation: X:194.33, Y:-6.33, Z:-3.70 [[ 9.99987055e-01 4.59736768e-03 2.18044990e-03 1.94327596e+02] [-4.59691772e-03 9.99989412e-01 -2.11329046e-04 -6.32852568e+00] [-2.18139837e-03 2.01302961e-04 9.99997600e-01 -3.70097855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.418001145 meters 0.08317795494628073 Centerline is valid? [True, True] Translation: X:194.39, Y:-6.33, Z:-3.70 [[ 9.99976437e-01 5.85005411e-03 3.59200300e-03 1.94387786e+02] [-5.84884010e-03 9.99982835e-01 -3.48387659e-04 -6.33026407e+00] [-3.59397943e-03 3.27370399e-04 9.99993488e-01 -3.70278680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47800114499998 meters 0.08878550218130904 Centerline is valid? [True, True] Translation: X:194.45, Y:-6.34, Z:-3.71 [[ 9.99936798e-01 8.28626477e-03 7.59860423e-03 1.94446490e+02] [-8.28090705e-03 9.99965442e-01 -7.36283854e-04 -6.34279584e+00] [-7.60444268e-03 6.73313984e-04 9.99970859e-01 -3.70546685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53800114499998 meters 0.08378828617024324 Centerline is valid? [True, True] Translation: X:194.51, Y:-6.34, Z:-3.70 [[ 9.99903891e-01 1.10801177e-02 8.33300486e-03 1.94507563e+02] [-1.10737759e-02 9.99938358e-01 -8.06800589e-04 -6.33586876e+00] [-8.34143064e-03 7.14445220e-04 9.99964954e-01 -3.70460588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59800114499998 meters 0.0832726475862975 Centerline is valid? [True, True] Translation: X:194.57, Y:-6.34, Z:-3.71 [[ 9.99857233e-01 1.48554725e-02 8.05159575e-03 1.94568362e+02] [-1.48496732e-02 9.99889434e-01 -7.79579147e-04 -6.33910415e+00] [-8.06228653e-03 6.59904283e-04 9.99967281e-01 -3.70751500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.658001145 meters 0.08428672765460578 Centerline is valid? [True, True] Translation: X:194.63, Y:-6.35, Z:-3.71 [[ 9.99848078e-01 1.56453134e-02 7.68412863e-03 1.94626684e+02] [-1.56400455e-02 9.99877409e-01 -7.45174432e-04 -6.34684280e+00] [-7.69484512e-03 6.24881102e-04 9.99970199e-01 -3.71217930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.718001145 meters 0.0863611754020664 Centerline is valid? [True, True] Translation: X:194.69, Y:-6.35, Z:-3.72 [[ 9.99868539e-01 1.52723382e-02 5.44605075e-03 1.94685009e+02] [-1.52696857e-02 9.99883272e-01 -5.28308040e-04 -6.35484178e+00] [-5.45348355e-03 4.45079105e-04 9.99985031e-01 -3.71698523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.778001145 meters 0.07990542615682267 Centerline is valid? [True, True] Translation: X:194.75, Y:-6.35, Z:-3.72 [[ 9.99882688e-01 1.47059986e-02 4.28303587e-03 1.94745759e+02] [-1.47043539e-02 9.99891799e-01 -4.15244038e-04 -6.34983297e+00] [-4.28867902e-03 3.52216049e-04 9.99990742e-01 -3.71716818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.838001145 meters 0.08286365754222133 Centerline is valid? [True, True] Translation: X:194.80, Y:-6.36, Z:-3.72 [[ 9.99899632e-01 1.37908381e-02 3.24625528e-03 1.94803739e+02] [-1.37898862e-02 9.99904865e-01 -3.15423141e-04 -6.36132643e+00] [-3.25029640e-03 2.70625991e-04 9.99994681e-01 -3.72156573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.898001145 meters 0.08510072990872217 Centerline is valid? [True, True] Translation: X:194.86, Y:-6.37, Z:-3.72 [[ 9.99894411e-01 1.40228480e-02 3.81125484e-03 1.94860810e+02] [-1.40215364e-02 9.99901625e-01 -3.70636616e-04 -6.36903879e+00] [-3.81607729e-03 3.17157832e-04 9.99992668e-01 -3.72394403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.958001145 meters 0.08332859213342775 Centerline is valid? [True, True] Translation: X:194.92, Y:-6.37, Z:-3.72 [[ 9.99866295e-01 1.55402166e-02 5.08868005e-03 1.94921588e+02] [-1.55379133e-02 9.99879158e-01 -4.91853595e-04 -6.36871757e+00] [-5.09570864e-03 4.12720362e-04 9.99986932e-01 -3.72389278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.018001145 meters 0.0873407563013948 Centerline is valid? [True, True] Translation: X:194.98, Y:-6.38, Z:-3.73 [[ 9.99865285e-01 1.52834155e-02 5.98568887e-03 1.94978424e+02] [-1.52802152e-02 9.99883082e-01 -5.80039296e-04 -6.38119291e+00] [-5.99385402e-03 4.88498542e-04 9.99981917e-01 -3.72795292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.078001145 meters 0.08003176744799982 Centerline is valid? [True, True] Translation: X:195.04, Y:-6.37, Z:-3.72 [[ 9.99870954e-01 1.38341969e-02 8.16644842e-03 1.95039049e+02] [-1.38282134e-02 9.99904075e-01 -7.88702929e-04 -6.37236660e+00] [-8.17657613e-03 6.75673758e-04 9.99966343e-01 -3.72402206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.138001145 meters 0.08178210474796944 Centerline is valid? [True, True] Translation: X:195.10, Y:-6.38, Z:-3.73 [[ 9.99891143e-01 1.23930294e-02 8.00723827e-03 1.95098919e+02] [-1.23872363e-02 9.99922977e-01 -7.72673417e-04 -6.37897073e+00] [-8.01619729e-03 6.73401754e-04 9.99967643e-01 -3.72580678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.19800114499998 meters 0.08258918653260965 Centerline is valid? [True, True] Translation: X:195.16, Y:-6.39, Z:-3.73 [[ 9.99898141e-01 1.21578937e-02 7.47616763e-03 1.95157806e+02] [-1.21528346e-02 9.99925891e-01 -7.21750868e-04 -6.38529110e+00] [-7.48438855e-03 6.30820722e-04 9.99971793e-01 -3.72960932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.25800114499998 meters 0.08393786595759586 Centerline is valid? [True, True] Translation: X:195.22, Y:-6.39, Z:-3.73 [[ 9.99900590e-01 1.26418602e-02 6.24444768e-03 1.95215862e+02] [-1.26383397e-02 9.99919951e-01 -6.02911839e-04 -6.39046402e+00] [-6.25156975e-03 5.23932453e-04 9.99980321e-01 -3.73261414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31800114499998 meters 0.0803773803908176 Centerline is valid? [True, True] Translation: X:195.28, Y:-6.39, Z:-3.73 [[ 9.99878523e-01 1.41319714e-02 6.57476272e-03 1.95276229e+02] [-1.41281031e-02 9.99899992e-01 -6.34429420e-04 -6.38687064e+00] [-6.58307093e-03 5.41463426e-04 9.99978185e-01 -3.73261467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37800114499998 meters 0.08255341519430827 Centerline is valid? [True, True] Translation: X:195.33, Y:-6.40, Z:-3.74 [[ 9.99883841e-01 1.38537263e-02 6.35437404e-03 1.95333279e+02] [-1.38501003e-02 9.99903894e-01 -6.14272724e-04 -6.39517616e+00] [-6.36227332e-03 5.26192652e-04 9.99979622e-01 -3.73674927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.438001145 meters 0.08232337663429708 Centerline is valid? [True, True] Translation: X:195.39, Y:-6.40, Z:-3.74 [[ 9.99880858e-01 1.39343129e-02 6.64110176e-03 1.95392235e+02] [-1.39303614e-02 9.99902762e-01 -6.40897904e-04 -6.39745079e+00] [-6.64938646e-03 5.48308599e-04 9.99977742e-01 -3.73915172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.498001145 meters 0.08122012600014705 Centerline is valid? [True, True] Translation: X:195.45, Y:-6.40, Z:-3.74 [[ 9.99874168e-01 1.41687525e-02 7.13398014e-03 1.95451400e+02] [-1.41642028e-02 9.99899446e-01 -6.87876117e-04 -6.39985244e+00] [-7.14300913e-03 5.86742419e-04 9.99974316e-01 -3.74014379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.558001145 meters 0.08186629732213893 Centerline is valid? [True, True] Translation: X:195.51, Y:-6.41, Z:-3.74 [[ 9.99879798e-01 1.39838675e-02 6.69627666e-03 1.95510157e+02] [-1.39798569e-02 9.99902069e-01 -6.45358389e-04 -6.40552210e+00] [-6.70464550e-03 5.51667826e-04 9.99977371e-01 -3.74284546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.618001145 meters 0.08482791932349336 Centerline is valid? [True, True] Translation: X:195.57, Y:-6.41, Z:-3.75 [[ 9.99877835e-01 1.44348346e-02 5.99581650e-03 1.95566915e+02] [-1.44316258e-02 9.99895692e-01 -5.78094372e-04 -6.41416626e+00] [-6.00353578e-03 4.91494369e-04 9.99981858e-01 -3.74830465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.678001145 meters 0.08289623282313681 Centerline is valid? [True, True] Translation: X:195.63, Y:-6.41, Z:-3.75 [[ 9.99906305e-01 1.32526903e-02 3.42735222e-03 1.95627608e+02] [-1.32516401e-02 9.99912139e-01 -3.28958685e-04 -6.41371995e+00] [-3.43141068e-03 2.83509826e-04 9.99994073e-01 -3.75074608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.738001145 meters 0.08383273194900498 Centerline is valid? [True, True] Translation: X:195.69, Y:-6.42, Z:-3.76 [[ 9.99915409e-01 1.27908225e-02 2.36018964e-03 1.95686652e+02] [-1.27903209e-02 9.99918175e-01 -2.27516369e-04 -6.42071937e+00] [-2.36290664e-03 1.97309541e-04 9.99997189e-01 -3.75547254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.798001145 meters 0.08178061227511939 Centerline is valid? [True, True] Translation: X:195.75, Y:-6.42, Z:-3.76 [[ 9.99886180e-01 1.46277379e-02 3.69534239e-03 1.95746900e+02] [-1.46265250e-02 9.99892964e-01 -3.55039964e-04 -6.41939832e+00] [-3.70014029e-03 3.00949536e-04 9.99993109e-01 -3.75604423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.858001145 meters 0.08186097399438112 Centerline is valid? [True, True] Translation: X:195.81, Y:-6.42, Z:-3.76 [[ 9.99871871e-01 1.57235638e-02 3.00177072e-03 1.95805888e+02] [-1.57227638e-02 9.99876348e-01 -2.89911819e-04 -6.42204163e+00] [-3.00595799e-03 2.42678541e-04 9.99995453e-01 -3.75883655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.918001145 meters 0.08380365456146013 Centerline is valid? [True, True] Translation: X:195.86, Y:-6.43, Z:-3.76 [[ 9.99851830e-01 1.65687872e-02 4.66826844e-03 1.95864971e+02] [-1.65668729e-02 9.99862659e-01 -4.48446189e-04 -6.42707964e+00] [-4.67505751e-03 3.71041133e-04 9.99989003e-01 -3.76127243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97800114499998 meters 0.0847586291288641 Centerline is valid? [True, True] Translation: X:195.92, Y:-6.43, Z:-3.76 [[ 9.99865267e-01 1.54766388e-02 5.47007664e-03 1.95923351e+02] [-1.54739913e-02 9.99880132e-01 -5.25988289e-04 -6.43158836e+00] [-5.47756148e-03 4.41273503e-04 9.99984901e-01 -3.76272346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03800114499998 meters 0.0880052993009649 Centerline is valid? [True, True] Translation: X:195.98, Y:-6.44, Z:-3.77 [[ 9.99871321e-01 1.43444834e-02 7.18168829e-03 1.95980572e+02] [-1.43398959e-02 9.99896940e-01 -6.89859451e-04 -6.43979362e+00] [-7.19084383e-03 5.86786018e-04 9.99973973e-01 -3.76668172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09800114499998 meters 0.09038322503897231 Centerline is valid? [True, True] Translation: X:196.04, Y:-6.45, Z:-3.77 [[ 9.99887713e-01 1.31118912e-02 7.25528358e-03 1.96039757e+02] [-1.31071904e-02 9.99913855e-01 -6.95091462e-04 -6.44521367e+00] [-7.26377254e-03 5.99917029e-04 9.99973439e-01 -3.76922434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.158001145 meters 0.08637560118757574 Centerline is valid? [True, True] Translation: X:196.10, Y:-6.44, Z:-3.77 [[ 9.99894894e-01 1.21271455e-02 7.94560030e-03 1.96100000e+02] [-1.21214790e-02 9.99926243e-01 -7.60933724e-04 -6.44212631e+00] [-7.95424221e-03 6.64541319e-04 9.99968144e-01 -3.76898119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.218001145 meters 0.08669774194032638 Centerline is valid? [True, True] Translation: X:196.16, Y:-6.45, Z:-3.77 [[ 9.99891659e-01 1.21336785e-02 8.33329585e-03 1.96159209e+02] [-1.21274484e-02 9.99926142e-01 -7.97740616e-04 -6.44525484e+00] [-8.34235990e-03 6.96592572e-04 9.99964959e-01 -3.77131151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.278001145 meters 0.09343777739097209 Centerline is valid? [True, True] Translation: X:196.22, Y:-6.46, Z:-3.78 [[ 9.99893905e-01 1.18677086e-02 8.44609302e-03 1.96217431e+02] [-1.18613052e-02 9.99929326e-01 -8.07845683e-04 -6.46063413e+00] [-8.45508338e-03 7.07578288e-04 9.99964005e-01 -3.77666533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.338001145 meters 0.08393450048541763 Centerline is valid? [True, True] Translation: X:196.28, Y:-6.45, Z:-3.77 [[ 9.99881555e-01 1.24572203e-02 9.03849474e-03 1.96278481e+02] [-1.24499088e-02 9.99922123e-01 -8.64746819e-04 -6.44793241e+00] [-9.04856319e-03 7.52115959e-04 9.99958778e-01 -3.77404608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.398001145 meters 0.0880709299305291 Centerline is valid? [True, True] Translation: X:196.34, Y:-6.46, Z:-3.78 [[ 9.99879667e-01 1.33945645e-02 7.82544025e-03 1.96337133e+02] [-1.33891166e-02 9.99910082e-01 -7.48150569e-04 -6.45975824e+00] [-7.83475775e-03 6.43284809e-04 9.99969101e-01 -3.77949718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.458001145 meters 0.08509218370477267 Centerline is valid? [True, True] Translation: X:196.40, Y:-6.46, Z:-3.78 [[ 9.99865436e-01 1.48009068e-02 7.07410616e-03 1.96397949e+02] [-1.47964903e-02 9.99890297e-01 -6.76253479e-04 -6.45695479e+00] [-7.08333927e-03 5.71490537e-04 9.99974750e-01 -3.78033957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.518001145 meters 0.0904937203270894 Centerline is valid? [True, True] Translation: X:196.46, Y:-6.47, Z:-3.79 [[ 9.99842773e-01 1.60904302e-02 7.45160464e-03 1.96455717e+02] [-1.60855602e-02 9.99870365e-01 -7.13017999e-04 -6.46909760e+00] [-7.46211141e-03 5.93042658e-04 9.99971982e-01 -3.78549811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.578001145 meters 0.08213887646392623 Centerline is valid? [True, True] Translation: X:196.52, Y:-6.46, Z:-3.78 [[ 9.99841094e-01 1.59721649e-02 7.91692355e-03 1.96516126e+02] [-1.59666640e-02 9.99872238e-01 -7.57545118e-04 -6.45887356e+00] [-7.92801170e-03 6.31017881e-04 9.99968374e-01 -3.78249548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.638001145 meters 0.08417226839836295 Centerline is valid? [True, True] Translation: X:196.57, Y:-6.47, Z:-3.78 [[ 9.99843907e-01 1.50162114e-02 9.30990269e-03 1.96573101e+02] [-1.50085694e-02 9.99886969e-01 -8.90171205e-04 -6.46621618e+00] [-9.32221738e-03 7.50303935e-04 9.99956266e-01 -3.78476417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.69800114499998 meters 0.08732829102199567 Centerline is valid? [True, True] Translation: X:196.63, Y:-6.47, Z:-3.79 [[ 9.99885485e-01 1.33101474e-02 7.20121650e-03 1.96631473e+02] [-1.33055476e-02 9.99911242e-01 -6.86286210e-04 -6.47460990e+00] [-7.20971191e-03 5.90391491e-04 9.99973835e-01 -3.78980209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.75800114499998 meters 0.0916765513297874 Centerline is valid? [True, True] Translation: X:196.69, Y:-6.49, Z:-3.79 [[ 9.99906056e-01 1.18309670e-02 6.92155836e-03 1.96689647e+02] [-1.18266753e-02 9.99929844e-01 -6.60650064e-04 -6.48785879e+00] [-6.92888890e-03 5.78728976e-04 9.99975827e-01 -3.79358565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81800114499998 meters 0.0888540813262805 Centerline is valid? [True, True] Translation: X:196.75, Y:-6.49, Z:-3.79 [[ 9.99913216e-01 9.24599444e-03 9.38472234e-03 1.96750547e+02] [-9.23800498e-03 9.99956929e-01 -8.94320244e-04 -6.48952669e+00] [-9.39258701e-03 8.07546519e-04 9.99955563e-01 -3.79171754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87800114499998 meters 0.09310713830199453 Centerline is valid? [True, True] Translation: X:196.81, Y:-6.50, Z:-3.79 [[ 9.99912294e-01 8.50752729e-03 1.01502272e-02 1.96810258e+02] [-8.49816993e-03 9.99963425e-01 -9.64662009e-04 -6.50209574e+00] [-1.01580628e-02 8.78319047e-04 9.99948020e-01 -3.79358420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.938001145 meters 0.0932201858377059 Centerline is valid? [True, True] Translation: X:196.87, Y:-6.51, Z:-3.80 [[ 9.99910881e-01 9.04989924e-03 9.81471358e-03 1.96871975e+02] [-9.04119165e-03 9.99958694e-01 -9.31206031e-04 -6.50841358e+00] [-9.82273549e-03 8.42386337e-04 9.99951401e-01 -3.79590701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.998001145 meters 0.08998993362221216 Centerline is valid? [True, True] Translation: X:196.93, Y:-6.51, Z:-3.80 [[ 9.99914044e-01 1.01458357e-02 8.30455658e-03 1.96933692e+02] [-1.01395941e-02 9.99948278e-01 -7.93352977e-04 -6.51043032e+00] [-8.31217629e-03 7.09079951e-04 9.99965202e-01 -3.79866767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.058001145 meters 0.08431264083863631 Centerline is valid? [True, True] Translation: X:196.99, Y:-6.51, Z:-3.80 [[ 9.99916747e-01 1.07210206e-02 7.18037830e-03 1.96994644e+02] [-1.07163626e-02 9.99942342e-01 -6.86882048e-04 -6.50646701e+00] [-7.18732837e-03 6.09877326e-04 9.99973985e-01 -3.79838232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.118001145 meters 0.08808162981160968 Centerline is valid? [True, True] Translation: X:197.05, Y:-6.52, Z:-3.80 [[ 9.99894801e-01 1.31987683e-02 6.01485846e-03 1.97053303e+02] [-1.31955415e-02 9.99912769e-01 -5.75848044e-04 -6.51658836e+00] [-6.02193426e-03 4.96418151e-04 9.99981745e-01 -3.80323314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.178001145 meters 0.08189019880136876 Centerline is valid? [True, True] Translation: X:197.11, Y:-6.51, Z:-3.80 [[ 9.99856807e-01 1.59013968e-02 5.78879716e-03 1.97113811e+02] [-1.58984506e-02 9.99873458e-01 -5.54602995e-04 -6.51097967e+00] [-5.79688360e-03 4.62490674e-04 9.99983091e-01 -3.80268123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.238001145 meters 0.08353438018751971 Centerline is valid? [True, True] Translation: X:197.17, Y:-6.52, Z:-3.81 [[ 9.99807917e-01 1.88613323e-02 5.32712460e-03 1.97172946e+02] [-1.88588812e-02 9.99822025e-01 -5.09972801e-04 -6.51636658e+00] [-5.33579527e-03 4.09411234e-04 9.99985681e-01 -3.80657978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.298001145 meters 0.08018211269283473 Centerline is valid? [True, True] Translation: X:197.23, Y:-6.52, Z:-3.81 [[ 9.99769686e-01 2.07365657e-02 5.52898014e-03 1.97232987e+02] [-2.07339532e-02 9.99784888e-01 -5.29427183e-04 -6.51564828e+00] [-5.53876929e-03 4.14667633e-04 9.99984575e-01 -3.80664014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.358001145 meters 0.08099112965018244 Centerline is valid? [True, True] Translation: X:197.29, Y:-6.52, Z:-3.81 [[ 9.99755216e-01 2.13169101e-02 5.92428788e-03 1.97291492e+02] [-2.13139171e-02 9.99772671e-01 -5.67889971e-04 -6.52418804e+00] [-5.93504678e-03 4.41481180e-04 9.99982290e-01 -3.80971870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.418001145 meters 0.07876641108836309 Centerline is valid? [True, True] Translation: X:197.35, Y:-6.52, Z:-3.81 [[ 9.99778537e-01 2.01981287e-02 5.90860204e-03 1.97350810e+02] [-2.01951367e-02 9.99795897e-01 -5.65605738e-04 -6.52471323e+00] [-5.91882026e-03 4.46155452e-04 9.99982384e-01 -3.80919351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.47800114499998 meters 0.07977805033709355 Centerline is valid? [True, True] Translation: X:197.41, Y:-6.53, Z:-3.81 [[ 9.99825233e-01 1.77395507e-02 5.90019890e-03 1.97410409e+02] [-1.77365320e-02 9.99842537e-01 -5.63563416e-04 -6.53478385e+00] [-5.90926720e-03 4.58815857e-04 9.99982435e-01 -3.81216961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53800114499998 meters 0.0808096428557645 Centerline is valid? [True, True] Translation: X:197.47, Y:-6.55, Z:-3.81 [[ 9.99837621e-01 1.73903843e-02 4.72297140e-03 1.97468243e+02] [-1.73884392e-02 9.99848707e-01 -4.52591565e-04 -6.54501068e+00] [-4.73012759e-03 3.70392973e-04 9.99988744e-01 -3.81492438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59800114499998 meters 0.08411799440425648 Centerline is valid? [True, True] Translation: X:197.52, Y:-6.56, Z:-3.82 [[ 9.99816395e-01 1.87727473e-02 3.84198102e-03 1.97524990e+02] [-1.87714688e-02 9.99823733e-01 -3.68548214e-04 -6.55630036e+00] [-3.84822247e-03 2.96360919e-04 9.99992552e-01 -3.81871969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.658001145 meters 0.07918956693922906 Centerline is valid? [True, True] Translation: X:197.59, Y:-6.56, Z:-3.82 [[ 9.99731813e-01 2.26025243e-02 5.04271047e-03 1.97585559e+02] [-2.26003835e-02 9.99744463e-01 -4.81131974e-04 -6.55523416e+00] [-5.05229667e-03 3.67035750e-04 9.99987170e-01 -3.81724314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.718001145 meters 0.0796378065346379 Centerline is valid? [True, True] Translation: X:197.64, Y:-6.56, Z:-3.82 [[ 9.99693574e-01 2.44788432e-02 3.68022728e-03 1.97643433e+02] [-2.44777106e-02 9.99700314e-01 -3.52488965e-04 -6.56264448e+00] [-3.68775289e-03 2.62297415e-04 9.99993166e-01 -3.81998581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.778001145 meters 0.07933290088093807 Centerline is valid? [True, True] Translation: X:197.70, Y:-6.57, Z:-3.82 [[ 9.99648850e-01 2.61440244e-02 4.32045489e-03 1.97701694e+02] [-2.61424863e-02 9.99658142e-01 -4.12110858e-04 -6.56864204e+00] [-4.32975214e-03 2.99018712e-04 9.99990582e-01 -3.82120318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.838001145 meters 0.07865608880789078 Centerline is valid? [True, True] Translation: X:197.76, Y:-6.58, Z:-3.82 [[ 9.99624920e-01 2.71037395e-02 3.92511937e-03 1.97760545e+02] [-2.71024753e-02 9.99632590e-01 -3.74906152e-04 -6.57565762e+00] [-3.93383860e-03 2.68385082e-04 9.99992226e-01 -3.82429415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.898001145 meters 0.0767822604204655 Centerline is valid? [True, True] Translation: X:197.82, Y:-6.58, Z:-3.82 [[ 9.99601267e-01 2.79879424e-02 3.73931333e-03 1.97819106e+02] [-2.79867998e-02 9.99608229e-01 -3.57569176e-04 -6.57908978e+00] [-3.74785600e-03 2.52775188e-04 9.99992945e-01 -3.82474634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.958001145 meters 0.07686098377768127 Centerline is valid? [True, True] Translation: X:197.88, Y:-6.59, Z:-3.83 [[ 9.99587427e-01 2.84857040e-02 3.67977294e-03 1.97877809e+02] [-2.84846016e-02 9.99594170e-01 -3.51648835e-04 -6.58602996e+00] [-3.68829654e-03 2.46686888e-04 9.99993168e-01 -3.82693455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.018001145 meters 0.07794357806558651 Centerline is valid? [True, True] Translation: X:197.94, Y:-6.60, Z:-3.83 [[ 9.99609015e-01 2.77717339e-02 3.24761600e-03 1.97935933e+02] [-2.77708715e-02 9.99614267e-01 -3.10362854e-04 -6.59605044e+00] [-3.25498260e-03 2.20052380e-04 9.99994678e-01 -3.82933289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.078001145 meters 0.07790652031419656 Centerline is valid? [True, True] Translation: X:198.00, Y:-6.60, Z:-3.83 [[ 9.99693857e-01 2.45317421e-02 3.22277525e-03 1.97995301e+02] [-2.45308816e-02 9.99699026e-01 -3.06269461e-04 -6.60400226e+00] [-3.22931860e-03 2.27118180e-04 9.99994760e-01 -3.83078233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.138001145 meters 0.07862137701776507 Centerline is valid? [True, True] Translation: X:198.05, Y:-6.61, Z:-3.83 [[ 9.99738508e-01 2.26946401e-02 2.80531884e-03 1.98054494e+02] [-2.26939791e-02 9.99742423e-01 -2.67230957e-04 -6.61273658e+00] [-2.81066097e-03 2.03497231e-04 9.99996029e-01 -3.83274968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.19800114499998 meters 0.07712235810134127 Centerline is valid? [True, True] Translation: X:198.11, Y:-6.62, Z:-3.83 [[ 9.99773349e-01 2.10570210e-02 3.13884091e-03 1.98114258e+02] [-2.10561861e-02 9.99778249e-01 -2.98792266e-04 -6.61721910e+00] [-3.14443655e-03 2.32632526e-04 9.99995029e-01 -3.83306317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.25800114499998 meters 0.07820836954785444 Centerline is valid? [True, True] Translation: X:198.17, Y:-6.63, Z:-3.84 [[ 9.99795850e-01 1.99514771e-02 3.19316881e-03 1.98172258e+02] [-1.99506048e-02 9.99800920e-01 -3.04791243e-04 -6.62640518e+00] [-3.19861415e-03 2.41023371e-04 9.99994855e-01 -3.83613075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31800114499998 meters 0.08036231921687964 Centerline is valid? [True, True] Translation: X:198.23, Y:-6.64, Z:-3.84 [[ 9.99812722e-01 1.92407389e-02 2.07722701e-03 1.98229533e+02] [-1.92403669e-02 9.99814867e-01 -1.98891772e-04 -6.63887967e+00] [-2.08066927e-03 1.58887914e-04 9.99997823e-01 -3.83868670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37800114499998 meters 0.08007150702889594 Centerline is valid? [True, True] Translation: X:198.29, Y:-6.65, Z:-3.84 [[ 9.99788606e-01 2.05287112e-02 1.14731046e-03 1.98288436e+02] [-2.05285982e-02 9.99789260e-01 -1.10189199e-04 -6.64597566e+00] [-1.14933072e-03 8.66132302e-05 9.99999336e-01 -3.84109810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.438001145 meters 0.0772672956175594 Centerline is valid? [True, True] Translation: X:198.35, Y:-6.65, Z:-3.84 [[ 9.99778831e-01 2.10298194e-02 1.91185847e-04 1.98347760e+02] [-2.10298159e-02 9.99778849e-01 -2.02545574e-05 -6.64748655e+00] [-1.91569515e-04 1.62294746e-05 9.99999982e-01 -3.84073169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.498001145 meters 0.07766923163715286 Centerline is valid? [True, True] Translation: X:198.41, Y:-6.65, Z:-3.84 [[ 9.99739798e-01 2.28097899e-02 -2.22242019e-04 1.98405938e+02] [-2.28097861e-02 9.99739823e-01 1.94051046e-05 -6.65467256e+00] [ 2.22626823e-04 -1.43307624e-05 9.99999975e-01 -3.84475570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.558001145 meters 0.078818108810421 Centerline is valid? [True, True] Translation: X:198.46, Y:-6.66, Z:-3.85 [[ 9.99700996e-01 2.44523746e-02 1.15353891e-05 1.98464064e+02] [-2.44523745e-02 9.99700996e-01 -2.14184152e-06 -6.66495319e+00] [-1.15843131e-05 1.85913345e-06 1.00000000e+00 -3.84620275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.618001145 meters 0.07368985735820784 Centerline is valid? [True, True] Translation: X:198.52, Y:-6.66, Z:-3.84 [[ 9.99672941e-01 2.55710263e-02 -3.65888113e-04 1.98523613e+02] [-2.55710161e-02 9.99673008e-01 3.23495218e-05 -6.66056834e+00] [ 3.66595681e-04 -2.29828107e-05 9.99999933e-01 -3.84196506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.678001145 meters 0.0759041333832111 Centerline is valid? [True, True] Translation: X:198.58, Y:-6.67, Z:-3.85 [[ 9.99587156e-01 2.87316611e-02 -9.81209379e-05 1.98582047e+02] [-2.87316604e-02 9.99587161e-01 8.56497164e-06 -6.67254602e+00] [ 9.83265155e-05 -5.74225817e-06 9.99999995e-01 -3.84659990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.738001145 meters 0.07882855526047702 Centerline is valid? [True, True] Translation: X:198.64, Y:-6.69, Z:-3.85 [[ 9.99540669e-01 3.03014742e-02 5.20780092e-04 1.98639707e+02] [-3.03014518e-02 9.99540804e-01 -5.07062898e-05 -6.68596916e+00] [-5.22077427e-04 3.49026060e-05 9.99999863e-01 -3.85122577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.798001145 meters 0.07181390498877709 Centerline is valid? [True, True] Translation: X:198.70, Y:-6.68, Z:-3.85 [[ 9.99498154e-01 3.16738543e-02 4.55126404e-04 1.98699661e+02] [-3.16738370e-02 9.99498257e-01 -4.51249205e-05 -6.67705204e+00] [-4.56327328e-04 3.06866752e-05 9.99999895e-01 -3.84590940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.858001145 meters 0.07326024295779511 Centerline is valid? [True, True] Translation: X:198.76, Y:-6.69, Z:-3.85 [[ 9.99485692e-01 3.20554932e-02 -8.92970701e-04 1.98756718e+02] [-3.20554344e-02 9.99486089e-01 8.01093192e-05 -6.68638014e+00] [ 8.95079737e-04 -5.14435546e-05 9.99999598e-01 -3.84928224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.918001145 meters 0.07314742770692194 Centerline is valid? [True, True] Translation: X:198.82, Y:-6.69, Z:-3.85 [[ 9.99522314e-01 3.08831037e-02 -1.17364684e-03 1.98815895e+02] [-3.08829964e-02 9.99523001e-01 1.09442719e-04 -6.69372819e+00] [ 1.17646694e-03 -7.31447082e-05 9.99999305e-01 -3.84971628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.97800114499998 meters 0.07255157873419597 Centerline is valid? [True, True] Translation: X:198.88, Y:-6.70, Z:-3.85 [[ 9.99558310e-01 2.96524078e-02 -1.97978387e-03 1.98875486e+02] [-2.96520988e-02 9.99560263e-01 1.85264917e-04 -6.69905074e+00] [ 1.98440684e-03 -1.26478340e-04 9.99998023e-01 -3.85051381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03800114499998 meters 0.07317242949098113 Centerline is valid? [True, True] Translation: X:198.93, Y:-6.71, Z:-3.85 [[ 9.99548196e-01 2.99564668e-02 -2.45223135e-03 1.98932348e+02] [-2.99560008e-02 9.99551193e-01 2.26514602e-04 -6.70586286e+00] [ 2.45791634e-03 -1.52953217e-04 9.99996968e-01 -3.85322294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09800114499998 meters 0.0729933382623994 Centerline is valid? [True, True] Translation: X:198.99, Y:-6.71, Z:-3.85 [[ 9.99469053e-01 3.25781628e-02 -5.23848899e-04 1.98992511e+02] [-3.25781415e-02 9.99469190e-01 4.91443750e-05 -6.71091400e+00] [ 5.25171868e-04 -3.20522584e-05 9.99999862e-01 -3.85329593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.158001145 meters 0.07157822703923329 Centerline is valid? [True, True] Translation: X:199.05, Y:-6.71, Z:-3.85 [[ 9.99385416e-01 3.50510520e-02 -4.61687815e-04 1.99052227e+02] [-3.50510359e-02 9.99385523e-01 4.28545642e-05 -6.71455421e+00] [ 4.62906216e-04 -2.66455903e-05 9.99999893e-01 -3.85446721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.218001145 meters 0.07225168249607371 Centerline is valid? [True, True] Translation: X:199.11, Y:-6.72, Z:-3.86 [[ 9.99325711e-01 3.67167303e-02 -7.56076362e-05 1.99110369e+02] [-3.67167300e-02 9.99325714e-01 5.50436009e-06 -6.72095445e+00] [ 7.57587571e-05 -2.72458340e-06 9.99999997e-01 -3.85739517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.278001145 meters 0.07391217929344843 Centerline is valid? [True, True] Translation: X:199.17, Y:-6.73, Z:-3.86 [[ 9.99331000e-01 3.65690444e-02 -5.06443389e-04 1.99167219e+02] [-3.65690263e-02 9.99331128e-01 4.49490767e-05 -6.72999196e+00] [ 5.07748388e-04 -2.63988642e-05 9.99999871e-01 -3.86152733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.338001145 meters 0.07495397838610311 Centerline is valid? [True, True] Translation: X:199.22, Y:-6.74, Z:-3.87 [[ 9.99385154e-01 3.50613246e-02 1.33359093e-04 1.99224760e+02] [-3.50613227e-02 9.99385163e-01 -1.63056462e-05 -6.74058420e+00] [-1.33848797e-04 1.16198746e-05 9.99999991e-01 -3.86545253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.398001145 meters 0.07293451691935134 Centerline is valid? [True, True] Translation: X:199.29, Y:-6.74, Z:-3.86 [[ 9.99475035e-01 3.23519563e-02 -1.73368833e-03 1.99285617e+02] [-3.23517233e-02 9.99476533e-01 1.62283413e-04 -6.74242937e+00] [ 1.73803099e-03 -1.06110414e-04 9.99998484e-01 -3.86391466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.458001145 meters 0.07353422936076667 Centerline is valid? [True, True] Translation: X:199.35, Y:-6.75, Z:-3.87 [[ 9.99606368e-01 2.80435768e-02 -8.16397147e-04 1.99345732e+02] [-2.80435237e-02 9.99606700e-01 7.63890227e-05 -6.75018180e+00] [ 8.18218280e-04 -5.34643008e-05 9.99999664e-01 -3.86567259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.518001145 meters 0.07596173259205859 Centerline is valid? [True, True] Translation: X:199.40, Y:-6.76, Z:-3.87 [[ 9.99686158e-01 2.49825143e-02 -1.85987270e-03 1.99403951e+02] [-2.49822342e-02 9.99687880e-01 1.73660636e-04 -6.76297471e+00] [ 1.86363068e-03 -1.27142359e-04 9.99998255e-01 -3.86981152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.578001145 meters 0.07475743630691899 Centerline is valid? [True, True] Translation: X:199.46, Y:-6.77, Z:-3.87 [[ 9.99770923e-01 2.13256753e-02 -1.82125904e-03 1.99464012e+02] [-2.13253999e-02 9.99772573e-01 1.70498703e-04 -6.76697431e+00] [ 1.82448083e-03 -1.31620568e-04 9.99998327e-01 -3.87007518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.638001145 meters 0.07629507198047802 Centerline is valid? [True, True] Translation: X:199.52, Y:-6.77, Z:-3.87 [[ 9.99788798e-01 2.05360907e-02 7.93183932e-04 1.99521311e+02] [-2.05360360e-02 9.99789110e-01 -7.69858204e-05 -6.77443300e+00] [-7.94597646e-04 6.06807070e-05 9.99999682e-01 -3.87102067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.69800114499998 meters 0.07743698448117194 Centerline is valid? [True, True] Translation: X:199.58, Y:-6.78, Z:-3.87 [[ 9.99800396e-01 1.97873972e-02 2.76186718e-03 1.99579575e+02] [-1.97867525e-02 9.99804189e-01 -2.60559954e-04 -6.78236645e+00] [-2.76648218e-03 2.05859562e-04 9.99996152e-01 -3.87321380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.75800114499998 meters 0.07866293768535632 Centerline is valid? [True, True] Translation: X:199.64, Y:-6.79, Z:-3.87 [[ 9.99828384e-01 1.79039875e-02 4.75911954e-03 1.99637615e+02] [-1.79020558e-02 9.99839645e-01 -4.48199360e-04 -6.78882136e+00] [-4.76638094e-03 3.62924419e-04 9.99988575e-01 -3.87471210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81800114499998 meters 0.0807785047693225 Centerline is valid? [True, True] Translation: X:199.70, Y:-6.80, Z:-3.88 [[ 9.99881547e-01 1.46589196e-02 4.69131704e-03 1.99697752e+02] [-1.46570220e-02 9.99892484e-01 -4.38618942e-04 -6.79907859e+00] [-4.69724233e-03 3.69806249e-04 9.99988900e-01 -3.87833430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87800114499998 meters 0.0791942282939438 Centerline is valid? [True, True] Translation: X:199.76, Y:-6.80, Z:-3.88 [[ 9.99944521e-01 9.62462904e-03 4.28030191e-03 1.99758454e+02] [-9.62300437e-03 9.99953618e-01 -4.00002366e-04 -6.80243695e+00] [-4.28395325e-03 3.58790811e-04 9.99990759e-01 -3.87879714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.938001145 meters 0.08773979306908725 Centerline is valid? [True, True] Translation: X:199.82, Y:-6.82, Z:-3.89 [[ 9.99963577e-01 7.56684173e-03 3.94807469e-03 1.99815942e+02] [-7.56543952e-03 9.99971313e-01 -3.69977463e-04 -6.82258702e+00] [-3.95076100e-03 3.40095067e-04 9.99992138e-01 -3.88598610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.998001145 meters 0.0829518764719832 Centerline is valid? [True, True] Translation: X:199.88, Y:-6.82, Z:-3.89 [[ 9.99958899e-01 8.72019724e-03 2.48147442e-03 1.99875806e+02] [-8.71964484e-03 9.99961956e-01 -2.33343724e-04 -6.81828574e+00] [-2.48341482e-03 2.11696558e-04 9.99996894e-01 -3.88672515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.058001145 meters 0.0811701777600278 Centerline is valid? [True, True] Translation: X:199.94, Y:-6.82, Z:-3.89 [[ 9.99939680e-01 1.06192049e-02 2.80516317e-03 1.99935692e+02] [-1.06185087e-02 9.99943587e-01 -2.62953894e-04 -6.81775018e+00] [-2.80779728e-03 2.33151383e-04 9.99996031e-01 -3.88751648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.118001145 meters 0.08037498968157693 Centerline is valid? [True, True] Translation: X:200.00, Y:-6.82, Z:-3.89 [[ 9.99916034e-01 1.25945967e-02 3.04969468e-03 1.99995959e+02] [-1.25937851e-02 9.99920654e-01 -2.85194236e-04 -6.81847263e+00] [-3.05304461e-03 2.46763091e-04 9.99995309e-01 -3.89022489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.178001145 meters 0.08092918301211234 Centerline is valid? [True, True] Translation: X:200.05, Y:-6.82, Z:-3.89 [[ 9.99923724e-01 1.15541492e-02 4.36435505e-03 2.00054557e+02] [-1.15524722e-02 9.99933184e-01 -4.09249324e-04 -6.82241593e+00] [-4.36879197e-03 3.58799018e-04 9.99990392e-01 -3.89141339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.238001145 meters 0.08246831171921085 Centerline is valid? [True, True] Translation: X:200.11, Y:-6.83, Z:-3.89 [[ 9.99930731e-01 1.01397272e-02 5.97652441e-03 2.00113368e+02] [-1.01365678e-02 9.99948468e-01 -5.58681651e-04 -6.82819027e+00] [-5.98188131e-03 4.98061506e-04 9.99981984e-01 -3.89247310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.298001145 meters 0.08563843334834821 Centerline is valid? [True, True] Translation: X:200.17, Y:-6.84, Z:-3.90 [[ 9.99942949e-01 7.31482573e-03 7.78407138e-03 2.00171472e+02] [-7.30939039e-03 9.99973022e-01 -7.26484489e-04 -6.83889797e+00] [-7.78917549e-03 6.69546226e-04 9.99969440e-01 -3.89525930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.358001145 meters 0.08951695130740311 Centerline is valid? [True, True] Translation: X:200.23, Y:-6.85, Z:-3.90 [[ 9.99955259e-01 5.77620308e-03 7.49102964e-03 2.00230932e+02] [-5.77113719e-03 9.99983103e-01 -6.97701123e-04 -6.84904701e+00] [-7.49493313e-03 6.54438148e-04 9.99971698e-01 -3.89826758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.418001145 meters 0.0869686189426862 Centerline is valid? [True, True] Translation: X:200.29, Y:-6.85, Z:-3.90 [[ 9.99962492e-01 4.05235015e-03 7.65455441e-03 2.00291991e+02] [-4.04700965e-03 9.99991557e-01 -7.13050136e-04 -6.84867716e+00] [-7.65737930e-03 6.82045336e-04 9.99970449e-01 -3.90016407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.47800114499998 meters 0.08904410125138879 Centerline is valid? [True, True] Translation: X:200.35, Y:-6.86, Z:-3.91 [[ 9.99969913e-01 4.23300991e-03 6.50039544e-03 2.00352635e+02] [-4.22919581e-03 9.99990877e-01 -6.00382740e-04 -6.85626542e+00] [-6.50287756e-03 5.72873231e-04 9.99978692e-01 -3.90606541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53800114499998 meters 0.08779423422070678 Centerline is valid? [True, True] Translation: X:200.41, Y:-6.86, Z:-3.91 [[ 9.99960610e-01 5.49741339e-03 6.96828412e-03 2.00413982e+02] [-5.49301476e-03 9.99984702e-01 -6.50218254e-04 -6.85862858e+00] [-6.97175204e-03 6.11915754e-04 9.99975510e-01 -3.90721024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59800114499998 meters 0.0894092263550815 Centerline is valid? [True, True] Translation: X:200.47, Y:-6.87, Z:-3.91 [[ 9.99938612e-01 7.97664123e-03 7.69065164e-03 2.00473335e+02] [-7.97134456e-03 9.99967970e-01 -7.19123038e-04 -6.86523140e+00] [-7.69614149e-03 6.57774058e-04 9.99970168e-01 -3.90957708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.658001145 meters 0.08484691896484081 Centerline is valid? [True, True] Translation: X:200.53, Y:-6.86, Z:-3.91 [[ 9.99924122e-01 9.25122990e-03 8.13416475e-03 2.00534692e+02] [-9.24535330e-03 9.99956972e-01 -7.59766196e-04 -6.86199567e+00] [-8.14084353e-03 6.84505320e-04 9.99966629e-01 -3.91049200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.718001145 meters 0.08282698835145057 Centerline is valid? [True, True] Translation: X:200.59, Y:-6.86, Z:-3.91 [[ 9.99933174e-01 8.54882207e-03 7.78241358e-03 2.00594935e+02] [-8.54341756e-03 9.99963240e-01 -7.27432761e-04 -6.86434856e+00] [-7.78834619e-03 6.60895740e-04 9.99969452e-01 -3.91213876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.778001145 meters 0.08283323860014404 Centerline is valid? [True, True] Translation: X:200.66, Y:-6.87, Z:-3.91 [[ 9.99914609e-01 8.24824904e-03 1.01361685e-02 2.00655084e+02] [-8.23906550e-03 9.99965609e-01 -9.47441432e-04 -6.86944416e+00] [-1.01436347e-02 8.63847972e-04 9.99948179e-01 -3.91261987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.838001145 meters 0.0952907760576748 Centerline is valid? [True, True] Translation: X:200.71, Y:-6.90, Z:-3.92 [[ 9.99903641e-01 9.06126638e-03 1.05167272e-02 2.00714154e+02] [-9.05147631e-03 9.99958556e-01 -9.78130025e-04 -6.89672548e+00] [-1.05251545e-02 8.82843866e-04 9.99944219e-01 -3.92000558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.898001145 meters 0.08456255590791523 Centerline is valid? [True, True] Translation: X:200.78, Y:-6.88, Z:-3.92 [[ 9.99899016e-01 1.03915612e-02 9.69400154e-03 2.00777335e+02] [-1.03832572e-02 9.99945682e-01 -9.06550513e-04 -6.88471818e+00] [-9.70289546e-03 8.05803655e-04 9.99952601e-01 -3.91804654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.958001145 meters 0.08558052520865114 Centerline is valid? [True, True] Translation: X:200.84, Y:-6.89, Z:-3.92 [[ 9.99897707e-01 1.17207826e-02 8.19751604e-03 2.00837571e+02] [-1.17148796e-02 9.99931084e-01 -7.67742542e-04 -6.89221627e+00] [-8.20594965e-03 6.71631094e-04 9.99966105e-01 -3.92218276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.018001145 meters 0.08247240696205127 Centerline is valid? [True, True] Translation: X:200.90, Y:-6.89, Z:-3.92 [[ 9.99894894e-01 1.20505672e-02 8.06134982e-03 2.00897086e+02] [-1.20448540e-02 9.99927172e-01 -7.56889969e-04 -6.89270895e+00] [-8.06988368e-03 6.59712633e-04 9.99967220e-01 -3.92361711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.078001145 meters 0.08609324438000186 Centerline is valid? [True, True] Translation: X:200.96, Y:-6.91, Z:-3.93 [[ 9.99897296e-01 1.21507940e-02 7.59971449e-03 2.00955259e+02] [-1.21457241e-02 9.99925984e-01 -7.12922294e-04 -6.90588571e+00] [-7.60781456e-03 6.20545039e-04 9.99970868e-01 -3.92774644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.138001145 meters 0.08532502042116531 Centerline is valid? [True, True] Translation: X:201.01, Y:-6.91, Z:-3.93 [[ 9.99905211e-01 1.20298473e-02 6.69719284e-03 2.01014691e+02] [-1.20259049e-02 9.99927489e-01 -6.28628708e-04 -6.91082030e+00] [-6.70426952e-03 5.48029317e-04 9.99977376e-01 -3.93025308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.19800114499998 meters 0.0860373141493287 Centerline is valid? [True, True] Translation: X:201.07, Y:-6.92, Z:-3.93 [[ 9.99909670e-01 1.20059033e-02 6.04243552e-03 2.01073359e+02] [-1.20026931e-02 9.99927804e-01 -5.67258211e-04 -6.91817971e+00] [-6.04880973e-03 4.94681471e-04 9.99981583e-01 -3.93288806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.25800114499998 meters 0.08503234072455051 Centerline is valid? [True, True] Translation: X:201.13, Y:-6.92, Z:-3.93 [[ 9.99907746e-01 1.19826121e-02 6.39664811e-03 2.01132082e+02] [-1.19790116e-02 9.99928069e-01 -6.00891652e-04 -6.92044552e+00] [-6.40338824e-03 5.24210695e-04 9.99979361e-01 -3.93350809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31800114499998 meters 0.08894573210142205 Centerline is valid? [True, True] Translation: X:201.19, Y:-6.93, Z:-3.94 [[ 9.99890595e-01 1.22001937e-02 8.36381925e-03 2.01189340e+02] [-1.21940591e-02 9.99925342e-01 -7.84063796e-04 -6.93360430e+00] [-8.37276055e-03 6.81989109e-04 9.99964715e-01 -3.93648817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37800114499998 meters 0.08276323665921052 Centerline is valid? [True, True] Translation: X:201.25, Y:-6.93, Z:-3.93 [[ 9.99882703e-01 1.17445034e-02 9.83086482e-03 2.01249898e+02] [-1.17360169e-02 9.99930707e-01 -9.20496836e-04 -6.92884151e+00] [-9.84099438e-03 8.05013669e-04 9.99951252e-01 -3.93450470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.438001145 meters 0.09244610904163093 Centerline is valid? [True, True] Translation: X:201.31, Y:-6.95, Z:-3.94 [[ 9.99914626e-01 1.01317760e-02 8.25156247e-03 2.01307574e+02] [-1.01257503e-02 9.99948435e-01 -7.71703503e-04 -6.95135159e+00] [-8.25895571e-03 6.88084359e-04 9.99965658e-01 -3.94041059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.498001145 meters 0.0868238077192267 Centerline is valid? [True, True] Translation: X:201.37, Y:-6.95, Z:-3.94 [[ 9.99943221e-01 8.45960757e-03 6.47988251e-03 2.01368828e+02] [-8.45585679e-03 9.99964065e-01 -6.06012262e-04 -6.94752322e+00] [-6.48477628e-03 5.51184895e-04 9.99978822e-01 -3.94067225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.558001145 meters 0.08793199445451984 Centerline is valid? [True, True] Translation: X:201.43, Y:-6.96, Z:-3.94 [[ 9.99960348e-01 7.02213115e-03 5.47651136e-03 2.01428073e+02] [-7.01942822e-03 9.99975232e-01 -5.12614869e-04 -6.95763685e+00] [-5.47997537e-03 4.74152564e-04 9.99984872e-01 -3.94458838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.618001145 meters 0.09305279677554544 Centerline is valid? [True, True] Translation: X:201.49, Y:-6.97, Z:-3.95 [[ 9.99965434e-01 6.55487720e-03 5.11513754e-03 2.01486763e+02] [-6.55251566e-03 9.99978418e-01 -4.78297607e-04 -6.97192372e+00] [-5.11816233e-03 4.44764056e-04 9.99986803e-01 -3.94969168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.678001145 meters 0.08497334704422242 Centerline is valid? [True, True] Translation: X:201.55, Y:-6.96, Z:-3.95 [[ 9.99963040e-01 6.48251099e-03 5.64754679e-03 2.01548564e+02] [-6.47963112e-03 9.99978868e-01 -5.28081229e-04 -6.96217644e+00] [-5.65085074e-03 4.91467691e-04 9.99983913e-01 -3.94547193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.738001145 meters 0.08575701409158089 Centerline is valid? [True, True] Translation: X:201.61, Y:-6.97, Z:-3.95 [[ 9.99959837e-01 7.02874842e-03 5.56065946e-03 2.01608485e+02] [-7.02596487e-03 9.99975182e-01 -5.19956716e-04 -6.96881288e+00] [-5.56417610e-03 4.80866835e-04 9.99984404e-01 -3.94783467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.798001145 meters 0.08679410960717368 Centerline is valid? [True, True] Translation: X:201.67, Y:-6.98, Z:-3.95 [[ 9.99946179e-01 8.76068702e-03 5.55790047e-03 2.01667743e+02] [-8.75793278e-03 9.99961514e-01 -5.19698733e-04 -6.97540003e+00] [-5.56223949e-03 4.70995043e-04 9.99984420e-01 -3.95136578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.858001145 meters 0.08640788962031917 Centerline is valid? [True, True] Translation: X:201.73, Y:-6.98, Z:-3.95 [[ 9.99928735e-01 1.01383728e-02 6.30378928e-03 2.01727275e+02] [-1.01348514e-02 9.99948467e-01 -5.90314159e-04 -6.97774280e+00] [-6.30944925e-03 5.26384123e-04 9.99979957e-01 -3.95189869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.918001145 meters 0.08436275880194971 Centerline is valid? [True, True] Translation: X:201.79, Y:-6.98, Z:-3.95 [[ 9.99921261e-01 1.05782664e-02 6.75073852e-03 2.01787083e+02] [-1.05742397e-02 9.99943892e-01 -6.31892289e-04 -6.97753072e+00] [-6.75704407e-03 5.60458607e-04 9.99977014e-01 -3.95204992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.97800114499998 meters 0.08662945669902934 Centerline is valid? [True, True] Translation: X:201.85, Y:-6.99, Z:-3.96 [[ 9.99939491e-01 9.77175086e-03 5.05249164e-03 2.01846317e+02] [-9.76948462e-03 9.99952166e-01 -4.73025489e-04 -6.98525619e+00] [-5.05687224e-03 4.23636628e-04 9.99987124e-01 -3.95637623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03800114499998 meters 0.086289022063944 Centerline is valid? [True, True] Translation: X:201.91, Y:-6.99, Z:-3.96 [[ 9.99947783e-01 8.59894229e-03 5.52180352e-03 2.01905812e+02] [-8.59621920e-03 9.99962918e-01 -5.16697058e-04 -6.98996074e+00] [-5.52604181e-03 4.69203444e-04 9.99984621e-01 -3.95871697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09800114499998 meters 0.08916701924620105 Centerline is valid? [True, True] Translation: X:201.96, Y:-7.00, Z:-3.96 [[ 9.99967313e-01 6.53244635e-03 4.76441389e-03 2.01964160e+02] [-6.53039587e-03 9.99978577e-01 -4.45804617e-04 -6.99759351e+00] [-4.76722402e-03 4.14676536e-04 9.99988551e-01 -3.96160206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.158001145 meters 0.09492810857697682 Centerline is valid? [True, True] Translation: X:202.02, Y:-7.01, Z:-3.97 [[ 9.99974891e-01 5.74714542e-03 4.14575769e-03 2.02022768e+02] [-5.74559972e-03 9.99983420e-01 -3.84651928e-04 -7.01207842e+00] [-4.14789960e-03 3.60822406e-04 9.99991332e-01 -3.96736450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.218001145 meters 0.09295280831654319 Centerline is valid? [True, True] Translation: X:202.08, Y:-7.01, Z:-3.97 [[ 9.99988862e-01 3.41054594e-03 3.26245385e-03 2.02083623e+02] [-3.40957008e-03 9.99994141e-01 -3.04633709e-04 -7.01327931e+00] [-3.26347370e-03 2.93506751e-04 9.99994632e-01 -3.96847490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.278001145 meters 0.09188348080528762 Centerline is valid? [True, True] Translation: X:202.14, Y:-7.02, Z:-3.97 [[ 9.99992850e-01 -8.24586784e-04 3.69062950e-03 2.02144456e+02] [ 8.25863743e-04 9.99999600e-01 -3.44489616e-04 -7.01563634e+00] [-3.69034396e-03 3.47535110e-04 9.99993130e-01 -3.96838078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.338001145 meters 0.09400566123094937 Centerline is valid? [True, True] Translation: X:202.20, Y:-7.02, Z:-3.97 [[ 9.99989745e-01 -3.36317181e-03 3.03285112e-03 2.02204167e+02] [ 3.36404635e-03 9.99994301e-01 -2.83299451e-04 -7.02453755e+00] [-3.03188105e-03 2.93499197e-04 9.99995361e-01 -3.97073105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.398001145 meters 0.09589418235393982 Centerline is valid? [True, True] Translation: X:202.26, Y:-7.03, Z:-3.97 [[ 9.99983246e-01 -4.73577361e-03 3.32872424e-03 2.02264954e+02] [ 4.73683172e-03 9.99988733e-01 -3.10059305e-04 -7.03180911e+00] [-3.32721837e-03 3.25821717e-04 9.99994412e-01 -3.97357680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.458001145 meters 0.09717071735850924 Centerline is valid? [True, True] Translation: X:202.33, Y:-7.04, Z:-3.98 [[ 9.99984706e-01 -4.75942909e-03 2.81701247e-03 2.02326567e+02] [ 4.76018400e-03 9.99988636e-01 -2.61336646e-04 -7.03826060e+00] [-2.81573664e-03 2.74742147e-04 9.99995998e-01 -3.97617388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.518001145 meters 0.09946352293990847 Centerline is valid? [True, True] Translation: X:202.39, Y:-7.05, Z:-3.98 [[ 9.99987438e-01 -4.42503357e-03 2.35437768e-03 2.02387353e+02] [ 4.42556072e-03 9.99990183e-01 -2.18739201e-04 -7.04786268e+00] [-2.35338664e-03 2.29155895e-04 9.99997205e-01 -3.98051739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.578001145 meters 0.10084773262151502 Centerline is valid? [True, False] Translation: X:202.39, Y:-7.05, Z:-3.98 [[ 9.99988295e-01 -4.37960143e-03 2.05640717e-03 2.02388089e+02] [ 4.38057394e-03 9.99990295e-01 -4.68651823e-04 -7.04655948e+00] [-2.05433471e-03 4.77654581e-04 9.99997776e-01 -3.98066110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.638001145 meters 0.09313044002932681 Centerline is valid? [False, True] Translation: X:202.39, Y:-7.05, Z:-3.98 [[ 9.99987857e-01 -4.51629811e-03 1.97192766e-03 2.02388007e+02] [ 4.51783242e-03 9.99989495e-01 -7.74314542e-04 -7.04595944e+00] [-1.96840991e-03 7.83213978e-04 9.99997756e-01 -3.98023189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.69800114499998 meters 0.09255972329698374 Centerline is valid? [True, True] Translation: X:202.45, Y:-7.05, Z:-3.98 [[ 9.99991211e-01 -4.11460055e-03 8.05427506e-04 2.02450234e+02] [ 4.11465998e-03 9.99991532e-01 -7.21480594e-05 -7.05232708e+00] [-8.05123826e-04 7.54614856e-05 9.99999673e-01 -3.98338848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.75800114499998 meters 0.08937750584586994 Centerline is valid? [True, True] Translation: X:202.51, Y:-7.05, Z:-3.98 [[ 9.99995448e-01 -2.90585214e-03 8.11827097e-04 2.02511620e+02] [ 2.90591307e-03 9.99995775e-01 -7.38904243e-05 -7.05260085e+00] [-8.11608952e-04 7.62491870e-05 9.99999668e-01 -3.98339461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81800114499998 meters 0.09238338914423022 Centerline is valid? [True, True] Translation: X:202.57, Y:-7.06, Z:-3.99 [[ 9.99998424e-01 -1.30971838e-03 1.19887155e-03 2.02570771e+02] [ 1.30985221e-03 9.99999136e-01 -1.10847449e-04 -7.06320924e+00] [-1.19872533e-03 1.12417618e-04 9.99999275e-01 -3.98690486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87800114499998 meters 0.09037530580086119 Centerline is valid? [True, True] Translation: X:202.63, Y:-7.07, Z:-3.99 [[ 9.99998743e-01 1.57836501e-03 1.50888164e-04 2.02631689e+02] [-1.57836298e-03 9.99998754e-01 -1.35767020e-05 -7.06566501e+00] [-1.50909405e-04 1.33385287e-05 9.99999989e-01 -3.98911343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.938001145 meters 0.08877316336891046 Centerline is valid? [True, True] Translation: X:202.69, Y:-7.07, Z:-3.99 [[ 9.99996213e-01 2.74781835e-03 -1.56414844e-04 2.02691072e+02] [-2.74781630e-03 9.99996225e-01 1.33324615e-05 -7.06848271e+00] [ 1.56450889e-04 -1.29026117e-05 9.99999988e-01 -3.98986065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.998001145 meters 0.08923366280936586 Centerline is valid? [True, True] Translation: X:202.75, Y:-7.07, Z:-3.99 [[ 9.99995163e-01 3.04175202e-03 -6.50073924e-04 2.02750177e+02] [-3.04171433e-03 9.99995372e-01 5.89472257e-05 -7.07466987e+00] [ 6.50250219e-04 -5.69696014e-05 9.99999787e-01 -3.99197742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.058001145 meters 0.08759497533315731 Centerline is valid? [True, True] Translation: X:202.81, Y:-7.08, Z:-3.99 [[ 9.99998148e-01 1.88974264e-03 3.63702673e-04 2.02809550e+02] [-1.88973013e-03 9.99998214e-01 -3.47400772e-05 -7.07867294e+00] [-3.63767673e-04 3.40527130e-05 9.99999933e-01 -3.99204916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.118001145 meters 0.08800220631873709 Centerline is valid? [True, True] Translation: X:202.87, Y:-7.09, Z:-3.99 [[ 9.99998056e-01 1.83300812e-03 7.26974763e-04 2.02868793e+02] [-1.83295897e-03 9.99998318e-01 -6.82631174e-05 -7.08558746e+00] [-7.27098667e-04 6.69304698e-05 9.99999733e-01 -3.99418882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.178001145 meters 0.09048624188945631 Centerline is valid? [True, True] Translation: X:202.93, Y:-7.10, Z:-4.00 [[ 9.99998437e-01 8.37819570e-04 1.55717965e-03 2.02928372e+02] [-8.37596674e-04 9.99999639e-01 -1.43787120e-04 -7.09627976e+00] [-1.55729955e-03 1.42482607e-04 9.99998777e-01 -3.99563961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.238001145 meters 0.09244200625369789 Centerline is valid? [True, True] Translation: X:202.99, Y:-7.11, Z:-4.00 [[ 9.99997552e-01 -1.75384296e-04 2.20554400e-03 2.02987711e+02] [ 1.75833892e-04 9.99999964e-01 -2.03655898e-04 -7.10505743e+00] [-2.20550820e-03 2.04043209e-04 9.99997547e-01 -3.99749942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.298001145 meters 0.092903829078532 Centerline is valid? [True, True] Translation: X:203.05, Y:-7.11, Z:-4.00 [[ 9.99997463e-01 -1.84857830e-04 2.24495094e-03 2.03048317e+02] [ 1.85321351e-04 9.99999962e-01 -2.06266389e-04 -7.11239828e+00] [-2.24491272e-03 2.06681903e-04 9.99997459e-01 -3.99972484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.358001145 meters 0.09085099105753434 Centerline is valid? [True, True] Translation: X:203.11, Y:-7.12, Z:-4.00 [[ 9.99994347e-01 2.40797461e-04 3.35368805e-03 2.03110041e+02] [-2.39764936e-04 9.99999924e-01 -3.08276104e-04 -7.11697144e+00] [-3.35376203e-03 3.07470264e-04 9.99994329e-01 -3.99987771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.418001145 meters 0.09029076316020343 Centerline is valid? [True, True] Translation: X:203.17, Y:-7.12, Z:-4.00 [[ 9.99993077e-01 7.31778288e-04 3.64833908e-03 2.03172239e+02] [-7.30560192e-04 9.99999677e-01 -3.35198168e-04 -7.12311748e+00] [-3.64858320e-03 3.32530516e-04 9.99993289e-01 -4.00220758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.47800114499998 meters 0.09011728611697464 Centerline is valid? [True, True] Translation: X:203.23, Y:-7.13, Z:-4.01 [[ 9.99996515e-01 9.46434569e-04 2.46468815e-03 2.03233947e+02] [-9.45893301e-04 9.99999528e-01 -2.20765601e-04 -7.12994264e+00] [-2.46489593e-03 2.18433499e-04 9.99996938e-01 -4.00574765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53800114499998 meters 0.0928460361945223 Centerline is valid? [True, True] Translation: X:203.29, Y:-7.14, Z:-4.01 [[ 9.99997053e-01 3.64153717e-04 2.40026774e-03 2.03293693e+02] [-3.63623060e-04 9.99999909e-01 -2.21515218e-04 -7.14254764e+00] [-2.40034819e-03 2.20641772e-04 9.99997095e-01 -4.00826153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59800114499998 meters 0.09007991385368692 Centerline is valid? [True, True] Translation: X:203.36, Y:-7.15, Z:-4.01 [[ 9.99998030e-01 -2.06234286e-04 1.97400837e-03 2.03355419e+02] [ 2.06594009e-04 9.99999962e-01 -1.82027387e-04 -7.14525406e+00] [-1.97397076e-03 1.82434846e-04 9.99998035e-01 -4.00893069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.658001145 meters 0.09218659540900107 Centerline is valid? [True, True] Translation: X:203.41, Y:-7.16, Z:-4.01 [[ 9.99996327e-01 -1.57823359e-03 2.20344033e-03 2.03414711e+02] [ 1.57868241e-03 9.99998733e-01 -2.01963015e-04 -7.15697132e+00] [-2.20311880e-03 2.05440805e-04 9.99997552e-01 -4.01094218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.718001145 meters 0.09174514061378021 Centerline is valid? [True, True] Translation: X:203.48, Y:-7.16, Z:-4.01 [[ 9.99996863e-01 -1.99677547e-03 1.51192376e-03 2.03475948e+02] [ 1.99698759e-03 9.99997996e-01 -1.38800485e-04 -7.16496041e+00] [-1.51164358e-03 1.41819343e-04 9.99998847e-01 -4.01352075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.778001145 meters 0.09408648321969773 Centerline is valid? [True, True] Translation: X:203.53, Y:-7.18, Z:-4.02 [[ 9.99998434e-01 -2.96549310e-04 1.74466223e-03 2.03534586e+02] [ 2.96832535e-04 9.99999943e-01 -1.62081041e-04 -7.17704657e+00] [-1.74461407e-03 1.62598660e-04 9.99998465e-01 -4.01718974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.838001145 meters 0.08576868420808342 Centerline is valid? [True, True] Translation: X:203.60, Y:-7.17, Z:-4.01 [[ 9.99993153e-01 3.02925334e-03 2.12529631e-03 2.03596364e+02] [-3.02884045e-03 9.99995394e-01 -1.97465758e-04 -7.16955354e+00] [-2.12588469e-03 1.91027222e-04 9.99997722e-01 -4.01380955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.898001145 meters 0.08386906182713937 Centerline is valid? [True, True] Translation: X:203.66, Y:-7.17, Z:-4.01 [[ 9.99986340e-01 4.78113484e-03 2.11220498e-03 2.03656749e+02] [-4.78072983e-03 9.99988553e-01 -1.96756798e-04 -7.17227076e+00] [-2.11312152e-03 1.86656228e-04 9.99997750e-01 -4.01476552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.958001145 meters 0.08273791788190234 Centerline is valid? [True, True] Translation: X:203.72, Y:-7.18, Z:-4.02 [[ 9.99985504e-01 4.66734771e-03 2.68484500e-03 2.03716197e+02] [-4.66669204e-03 9.99989080e-01 -2.50423668e-04 -7.18003683e+00] [-2.68598450e-03 2.37890693e-04 9.99996364e-01 -4.01684146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.018001145 meters 0.08303360541287926 Centerline is valid? [True, True] Translation: X:203.78, Y:-7.19, Z:-4.02 [[ 9.99988524e-01 4.24046388e-03 2.22957507e-03 2.03775694e+02] [-4.24001160e-03 9.99990990e-01 -2.07540172e-04 -7.18769733e+00] [-2.23043505e-03 1.98084366e-04 9.99997493e-01 -4.01994677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.078001145 meters 0.0831953197256141 Centerline is valid? [True, True] Translation: X:203.84, Y:-7.19, Z:-4.02 [[ 9.99983132e-01 4.80159607e-03 3.26802073e-03 2.03835207e+02] [-4.80062675e-03 9.99988431e-01 -3.04389471e-04 -7.19373111e+00] [-3.26944447e-03 2.88695789e-04 9.99994614e-01 -4.02139703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.138001145 meters 0.08026829927205811 Centerline is valid? [True, True] Translation: X:203.90, Y:-7.19, Z:-4.02 [[ 9.99985165e-01 5.09160051e-03 1.93545541e-03 2.03895792e+02] [-5.09126233e-03 9.99987023e-01 -1.79613288e-04 -7.19325310e+00] [-1.93634481e-03 1.69756712e-04 9.99998111e-01 -4.02152293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.19800114499998 meters 0.0817118838448812 Centerline is valid? [True, True] Translation: X:203.95, Y:-7.20, Z:-4.03 [[ 9.99983712e-01 5.47750320e-03 1.60405966e-03 2.03954190e+02] [-5.47726969e-03 9.99984988e-01 -1.49933127e-04 -7.20234724e+00] [-1.60485684e-03 1.41144818e-04 9.99998702e-01 -4.02571388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.25800114499998 meters 0.0805646891909771 Centerline is valid? [True, True] Translation: X:204.01, Y:-7.20, Z:-4.03 [[ 9.99973487e-01 6.68518608e-03 2.88671887e-03 2.04014782e+02] [-6.68443916e-03 9.99977623e-01 -2.68313254e-04 -7.20308203e+00] [-2.88844799e-03 2.49010044e-04 9.99995797e-01 -4.02542674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31800114499998 meters 0.08179137785084856 Centerline is valid? [True, True] Translation: X:204.07, Y:-7.21, Z:-4.03 [[ 9.99958702e-01 7.55384762e-03 5.05317754e-03 2.04073944e+02] [-7.55157010e-03 9.99971376e-01 -4.69639522e-04 -7.20929270e+00] [-5.05658048e-03 4.31460702e-04 9.99987122e-01 -4.02713034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37800114499998 meters 0.08295775800216938 Centerline is valid? [True, True] Translation: X:204.13, Y:-7.22, Z:-4.03 [[ 9.99965471e-01 5.58083180e-03 6.15715756e-03 2.04133363e+02] [-5.57741880e-03 9.99984283e-01 -5.71345526e-04 -7.21743137e+00] [-6.16024937e-03 5.36984752e-04 9.99980881e-01 -4.02931541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.438001145 meters 0.08720913564318095 Centerline is valid? [True, True] Translation: X:204.19, Y:-7.23, Z:-4.03 [[ 9.99984190e-01 1.66754777e-03 5.37014393e-03 2.04193382e+02] [-1.66490422e-03 9.99998491e-01 -4.96699549e-04 -7.22883007e+00] [-5.37096410e-03 4.87750921e-04 9.99985457e-01 -4.03217414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.498001145 meters 0.08922937072165943 Centerline is valid? [True, True] Translation: X:204.25, Y:-7.24, Z:-4.03 [[ 9.99981842e-01 9.68148978e-04 5.94793842e-03 2.04253835e+02] [-9.64919933e-04 9.99999386e-01 -5.45730276e-04 -7.23658871e+00] [-5.94846311e-03 5.39981083e-04 9.99982162e-01 -4.03423987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.558001145 meters 0.09038082309203817 Centerline is valid? [True, True] Translation: X:204.31, Y:-7.25, Z:-4.04 [[ 9.99974263e-01 -1.66417225e-04 7.17257002e-03 2.04314885e+02] [ 1.71163246e-04 9.99999767e-01 -6.61081653e-04 -7.24516541e+00] [-7.17245833e-03 6.62292319e-04 9.99974058e-01 -4.03730341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.618001145 meters 0.0869999287087192 Centerline is valid? [True, True] Translation: X:204.38, Y:-7.24, Z:-4.04 [[ 9.99975368e-01 6.30172099e-05 7.01853149e-03 2.04377979e+02] [-5.84422619e-05 9.99999786e-01 -6.52041530e-04 -7.24314204e+00] [-7.01857108e-03 6.51615290e-04 9.99975157e-01 -4.03760263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.678001145 meters 0.0863918682962167 Centerline is valid? [True, True] Translation: X:204.44, Y:-7.25, Z:-4.04 [[ 9.99983076e-01 -1.00343599e-04 5.81693937e-03 2.04439840e+02] [ 1.03462379e-04 9.99999851e-01 -5.35856410e-04 -7.24750571e+00] [-5.81688473e-03 5.36449176e-04 9.99982938e-01 -4.04002475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.738001145 meters 0.08821134868911806 Centerline is valid? [True, True] Translation: X:204.50, Y:-7.26, Z:-4.04 [[ 9.99979013e-01 4.42727010e-04 6.46348902e-03 2.04501273e+02] [-4.38843734e-04 9.99999722e-01 -6.02207741e-04 -7.25618550e+00] [-6.46375384e-03 5.99358641e-04 9.99978930e-01 -4.04355681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.798001145 meters 0.08663779426665007 Centerline is valid? [True, True] Translation: X:204.56, Y:-7.26, Z:-4.05 [[ 9.99980104e-01 1.10379111e-03 6.21076826e-03 2.04563097e+02] [-1.10021635e-03 9.99999227e-01 -5.78961767e-04 -7.25919081e+00] [-6.21140251e-03 5.72117060e-04 9.99980545e-01 -4.04503227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.858001145 meters 0.08757453401770271 Centerline is valid? [True, True] Translation: X:204.62, Y:-7.26, Z:-4.05 [[ 9.99966406e-01 3.20848843e-03 7.54266963e-03 2.04622341e+02] [-3.20325264e-03 9.99994620e-01 -7.06134611e-04 -7.26447994e+00] [-7.54489468e-03 6.81949813e-04 9.99971304e-01 -4.04678454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.918001145 meters 0.08279803314054489 Centerline is valid? [True, True] Translation: X:204.68, Y:-7.26, Z:-4.05 [[ 9.99953208e-01 5.02395457e-03 8.26692061e-03 2.04684152e+02] [-5.01773387e-03 9.99987112e-01 -7.73049686e-04 -7.26069092e+00] [-8.27069784e-03 7.31532306e-04 9.99965530e-01 -4.04654364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.97800114499998 meters 0.08620016365232372 Centerline is valid? [True, True] Translation: X:204.74, Y:-7.27, Z:-4.05 [[ 9.99941818e-01 5.47127901e-03 9.29658960e-03 2.04744884e+02] [-5.46347352e-03 9.99984701e-01 -8.64796827e-04 -7.27251804e+00] [-9.30117891e-03 8.13954840e-04 9.99956412e-01 -4.04997140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03800114499998 meters 0.08943956955817567 Centerline is valid? [True, True] Translation: X:204.80, Y:-7.28, Z:-4.05 [[ 9.99936025e-01 5.89599314e-03 9.65313969e-03 2.04804963e+02] [-5.88757237e-03 9.99982263e-01 -9.00519781e-04 -7.28362959e+00] [-9.65827793e-03 8.43628611e-04 9.99953002e-01 -4.05296938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09800114499998 meters 0.09134048617054236 Centerline is valid? [True, True] Translation: X:204.87, Y:-7.29, Z:-4.06 [[ 9.99925947e-01 6.40941430e-03 1.03450172e-02 2.04865929e+02] [-6.39974153e-03 9.99979053e-01 -9.67850699e-04 -7.28993084e+00] [-1.03510039e-02 9.01573591e-04 9.99946020e-01 -4.05522298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.158001145 meters 0.0885943084484067 Centerline is valid? [True, True] Translation: X:204.93, Y:-7.29, Z:-4.06 [[ 9.99932399e-01 5.18688763e-03 1.04064563e-02 2.04927758e+02] [-5.17696972e-03 9.99986119e-01 -9.79765521e-04 -7.29142863e+00] [-1.04113937e-02 9.25825379e-04 9.99945371e-01 -4.05533110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.218001145 meters 0.09665973471620326 Centerline is valid? [True, True] Translation: X:204.99, Y:-7.31, Z:-4.06 [[ 9.99949124e-01 4.11064130e-03 9.21155516e-03 2.04985891e+02] [-4.10281611e-03 9.99991206e-01 -8.68233427e-04 -7.30972167e+00] [-9.21504316e-03 8.30395937e-04 9.99957196e-01 -4.06201854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.278001145 meters 0.08833979289773412 Centerline is valid? [True, True] Translation: X:205.05, Y:-7.30, Z:-4.06 [[ 9.99955676e-01 2.37002691e-03 9.11200746e-03 2.05048558e+02] [-2.36230573e-03 9.99996842e-01 -8.58032632e-04 -7.30159491e+00] [-9.11401224e-03 8.36469253e-04 9.99958117e-01 -4.06057617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.338001145 meters 0.08603915810441891 Centerline is valid? [True, True] Translation: X:205.11, Y:-7.30, Z:-4.06 [[ 9.99966174e-01 2.32943669e-03 7.88822527e-03 2.05110573e+02] [-2.32368653e-03 9.99997028e-01 -7.38042338e-04 -7.30214009e+00] [-7.88992105e-03 7.19687611e-04 9.99968615e-01 -4.06193070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.398001145 meters 0.08973249910211342 Centerline is valid? [True, True] Translation: X:205.17, Y:-7.31, Z:-4.07 [[ 9.99960272e-01 4.30825619e-03 7.80345056e-03 2.05169329e+02] [-4.30263128e-03 9.99990472e-01 -7.37467675e-04 -7.31468470e+00] [-7.80655341e-03 7.03863007e-04 9.99969281e-01 -4.06691500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.458001145 meters 0.08411498059077377 Centerline is valid? [True, True] Translation: X:205.23, Y:-7.31, Z:-4.07 [[ 9.99950985e-01 5.46837329e-03 8.25371642e-03 2.05231632e+02] [-5.46212692e-03 9.99984779e-01 -7.79147137e-04 -7.31044679e+00] [-8.25785146e-03 7.34026101e-04 9.99965634e-01 -4.06535489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.518001145 meters 0.08403746642855704 Centerline is valid? [True, True] Translation: X:205.29, Y:-7.32, Z:-4.07 [[ 9.99926722e-01 7.66755147e-03 9.36802195e-03 2.05292396e+02] [-7.65959182e-03 9.99970273e-01 -8.85245860e-04 -7.31522374e+00] [-9.37453113e-03 8.13425767e-04 9.99955727e-01 -4.06562286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.578001145 meters 0.08432536753607381 Centerline is valid? [True, True] Translation: X:205.35, Y:-7.32, Z:-4.07 [[ 9.99914758e-01 8.73527937e-03 9.70418348e-03 2.05353593e+02] [-8.72679040e-03 9.99961501e-01 -9.16774238e-04 -7.32127653e+00] [-9.71181815e-03 8.32009715e-04 9.99952493e-01 -4.06692612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.638001145 meters 0.08568668119131698 Centerline is valid? [True, True] Translation: X:205.41, Y:-7.33, Z:-4.07 [[ 9.99892556e-01 1.09830648e-02 9.70821066e-03 2.05412476e+02] [-1.09746630e-02 9.99939355e-01 -9.18281334e-04 -7.33145222e+00] [-9.71770745e-03 8.11638330e-04 9.99952453e-01 -4.07083274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.69800114499998 meters 0.08604353761287331 Centerline is valid? [True, True] Translation: X:205.47, Y:-7.34, Z:-4.07 [[ 9.99869842e-01 1.24282880e-02 1.02876709e-02 2.05473477e+02] [-1.24189331e-02 9.99922409e-01 -9.72718545e-04 -7.33672591e+00] [-1.02989619e-02 8.44830041e-04 9.99946607e-01 -4.07210213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75800114499998 meters 0.08182639188039117 Centerline is valid? [True, True] Translation: X:205.53, Y:-7.33, Z:-4.07 [[ 9.99852047e-01 1.33744323e-02 1.08170569e-02 2.05534445e+02] [-1.33641387e-02 9.99910172e-01 -1.02333408e-03 -7.33482797e+00] [-1.08297717e-02 8.78622026e-04 9.99940970e-01 -4.07120141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81800114499998 meters 0.07911864476068728 Centerline is valid? [True, True] Translation: X:205.59, Y:-7.34, Z:-4.07 [[ 9.99886643e-01 1.12308140e-02 1.00284783e-02 2.05594938e+02] [-1.12218595e-02 9.99936583e-01 -9.48731590e-04 -7.33847440e+00] [-1.00384973e-02 8.36085870e-04 9.99949263e-01 -4.07306288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87800114499998 meters 0.08473427004298593 Centerline is valid? [True, True] Translation: X:205.65, Y:-7.36, Z:-4.08 [[ 9.99958391e-01 6.55692812e-03 6.34212771e-03 2.05652493e+02] [-6.55325116e-03 9.99978347e-01 -6.00375555e-04 -7.35598026e+00] [-6.34592700e-03 5.58789018e-04 9.99979708e-01 -4.07918378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.938001145 meters 0.08989429166142164 Centerline is valid? [True, True] Translation: X:205.71, Y:-7.37, Z:-4.08 [[ 9.99983326e-01 3.91581347e-03 4.24441090e-03 2.05710228e+02] [-3.91414056e-03 9.99992259e-01 -4.02379550e-04 -7.37234327e+00] [-4.24595369e-03 3.85759620e-04 9.99990911e-01 -4.08409070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.998001145 meters 0.08427367354491667 Centerline is valid? [True, True] Translation: X:205.77, Y:-7.37, Z:-4.08 [[ 9.99972687e-01 4.37493067e-03 5.95699850e-03 2.05771454e+02] [-4.37165204e-03 9.99990286e-01 -5.63291881e-04 -7.36997168e+00] [-5.95940499e-03 5.37234571e-04 9.99982098e-01 -4.08211388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.058001145 meters 0.07923508044270577 Centerline is valid? [True, True] Translation: X:205.83, Y:-7.37, Z:-4.08 [[ 9.99944797e-01 6.15591655e-03 8.51509295e-03 2.05833060e+02] [-6.14928641e-03 9.99980769e-01 -8.04596986e-04 -7.36618000e+00] [-8.51988223e-03 7.52190825e-04 9.99963422e-01 -4.07928930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.118001145 meters 0.07861204745590669 Centerline is valid? [True, True] Translation: X:205.89, Y:-7.37, Z:-4.08 [[ 9.99916993e-01 8.67585671e-03 9.52553323e-03 2.05893340e+02] [-8.66766628e-03 9.99962029e-01 -9.00787021e-04 -7.37177252e+00] [-9.53298664e-03 8.18148106e-04 9.99954225e-01 -4.08140709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.178001145 meters 0.08518990992425585 Centerline is valid? [True, True] Translation: X:205.95, Y:-7.39, Z:-4.09 [[ 9.99916396e-01 9.20955565e-03 9.07659327e-03 2.05952676e+02] [-9.20218856e-03 9.99957295e-01 -8.53087765e-04 -7.39168962e+00] [-9.08406221e-03 7.69491921e-04 9.99958443e-01 -4.08704723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.238001145 meters 0.07908751385913192 Centerline is valid? [True, True] Translation: X:206.01, Y:-7.39, Z:-4.09 [[ 9.99920699e-01 8.81911649e-03 8.98991856e-03 2.06014271e+02] [-8.81181523e-03 9.99960813e-01 -8.51448685e-04 -7.38930501e+00] [-8.99707530e-03 7.72163663e-04 9.99959227e-01 -4.08561126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.298001145 meters 0.08408525577299507 Centerline is valid? [True, True] Translation: X:206.07, Y:-7.41, Z:-4.09 [[ 9.99927320e-01 8.06559643e-03 8.96109124e-03 2.06073110e+02] [-8.05830526e-03 9.99967171e-01 -8.49456982e-04 -7.40629464e+00] [-8.96764843e-03 7.77184035e-04 9.99959488e-01 -4.09055419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.358001145 meters 0.07928500960471078 Centerline is valid? [True, True] Translation: X:206.14, Y:-7.41, Z:-4.09 [[ 9.99923974e-01 1.00081463e-02 7.20300040e-03 2.06135316e+02] [-1.00034920e-02 9.99949731e-01 -6.81898056e-04 -7.40706370e+00] [-7.20946285e-03 6.09791057e-04 9.99973826e-01 -4.09201063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.418001145 meters 0.08006912988008295 Centerline is valid? [True, True] Translation: X:206.19, Y:-7.41, Z:-4.10 [[ 9.99907083e-01 1.27727472e-02 4.76268008e-03 2.06194237e+02] [-1.27707358e-02 9.99918348e-01 -4.52501490e-04 -7.41475048e+00] [-4.76807088e-03 3.91636515e-04 9.99988556e-01 -4.09575929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.47800114499998 meters 0.07631528681660382 Centerline is valid? [True, True] Translation: X:206.25, Y:-7.42, Z:-4.10 [[ 9.99884708e-01 1.48051664e-02 3.37321622e-03 2.06254391e+02] [-1.48041685e-02 9.99890361e-01 -3.20614871e-04 -7.41508966e+00] [-3.37759314e-03 2.70640245e-04 9.99994259e-01 -4.09687285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53800114499998 meters 0.07872772727254396 Centerline is valid? [True, True] Translation: X:206.31, Y:-7.43, Z:-4.10 [[ 9.99857474e-01 1.64401409e-02 3.84111562e-03 2.06312535e+02] [-1.64388576e-02 9.99864806e-01 -3.65435039e-04 -7.42893778e+00] [-3.84660413e-03 3.02239402e-04 9.99992556e-01 -4.10099674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59800114499998 meters 0.07772979505177419 Centerline is valid? [True, True] Translation: X:206.37, Y:-7.43, Z:-4.10 [[ 9.99844741e-01 1.68227285e-02 5.24304981e-03 2.06371103e+02] [-1.68203410e-02 9.99858403e-01 -4.99148695e-04 -7.43295567e+00] [-5.25070445e-03 4.10881312e-04 9.99986131e-01 -4.10038889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.658001145 meters 0.0844358900481171 Centerline is valid? [True, True] Translation: X:206.43, Y:-7.46, Z:-4.10 [[ 9.99844452e-01 1.57268604e-02 7.98357495e-03 2.06426843e+02] [-1.57213001e-02 9.99876125e-01 -7.58758038e-04 -7.45616899e+00] [-7.99451886e-03 6.33127838e-04 9.99967843e-01 -4.10481223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.718001145 meters 0.07786170814054837 Centerline is valid? [True, True] Translation: X:206.49, Y:-7.45, Z:-4.10 [[ 9.99895752e-01 1.24930295e-02 7.23947682e-03 2.06487444e+02] [-1.24883878e-02 9.99921782e-01 -6.86017753e-04 -7.45328406e+00] [-7.24748100e-03 5.95536843e-04 9.99973559e-01 -4.10208626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.778001145 meters 0.08180185146545167 Centerline is valid? [True, True] Translation: X:206.55, Y:-7.47, Z:-4.11 [[ 9.99930093e-01 9.26833185e-03 7.34218525e-03 2.06545934e+02] [-9.26347681e-03 9.99956852e-01 -6.94985305e-04 -7.46973318e+00] [-7.34830980e-03 6.26922558e-04 9.99972804e-01 -4.10527689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.838001145 meters 0.08385155161990417 Centerline is valid? [True, True] Translation: X:206.61, Y:-7.48, Z:-4.11 [[ 9.99959777e-01 4.73407442e-03 7.61790782e-03 2.06605273e+02] [-4.72871385e-03 9.99988559e-01 -7.21538029e-04 -7.48341422e+00] [-7.62123648e-03 6.85486100e-04 9.99970723e-01 -4.10734339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.898001145 meters 0.08188481328681425 Centerline is valid? [True, True] Translation: X:206.67, Y:-7.49, Z:-4.11 [[ 9.99971287e-01 4.09116079e-03 6.37875540e-03 2.06666936e+02] [-4.08741090e-03 9.99991466e-01 -6.00798218e-04 -7.48724121e+00] [-6.38115893e-03 5.74708373e-04 9.99979475e-01 -4.10968066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.958001145 meters 0.08408633534101499 Centerline is valid? [True, True] Translation: X:206.73, Y:-7.50, Z:-4.11 [[ 9.99968201e-01 4.34947927e-03 6.68422285e-03 2.06727351e+02] [-4.34537959e-03 9.99990362e-01 -6.27737393e-04 -7.49947678e+00] [-6.68688876e-03 5.98671946e-04 9.99977463e-01 -4.11478790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.018001145 meters 0.08363054197594562 Centerline is valid? [True, True] Translation: X:206.79, Y:-7.50, Z:-4.12 [[ 9.99962041e-01 6.71903434e-03 5.54711390e-03 2.06787663e+02] [-6.71621610e-03 9.99977307e-01 -5.26527966e-04 -7.50469664e+00] [-5.55052578e-03 4.89252364e-04 9.99984476e-01 -4.11786502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.078001145 meters 0.08416881528253536 Centerline is valid? [True, True] Translation: X:206.85, Y:-7.51, Z:-4.12 [[ 9.99919628e-01 1.09687380e-02 6.35795196e-03 2.06846747e+02] [-1.09651174e-02 9.99939699e-01 -6.04036387e-04 -7.51274636e+00] [-6.36419409e-03 5.34272150e-04 9.99979606e-01 -4.12088575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.138001145 meters 0.07956200378152187 Centerline is valid? [True, True] Translation: X:206.91, Y:-7.51, Z:-4.12 [[ 9.99874896e-01 1.38475083e-02 7.64451478e-03 2.06907600e+02] [-1.38423562e-02 9.99903926e-01 -7.26461473e-04 -7.51126671e+00] [-7.65384002e-03 6.20552493e-04 9.99970516e-01 -4.12015206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.19800114499998 meters 0.07788150583169239 Centerline is valid? [True, True] Translation: X:206.97, Y:-7.51, Z:-4.12 [[ 9.99804143e-01 1.74047375e-02 9.42072094e-03 2.06967244e+02] [-1.73970642e-02 9.99848258e-01 -8.95851533e-04 -7.51448508e+00] [-9.43488349e-03 7.31783188e-04 9.99955223e-01 -4.12034393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25800114499998 meters 0.07455296537604536 Centerline is valid? [True, True] Translation: X:207.03, Y:-7.52, Z:-4.12 [[ 9.99743387e-01 2.00801588e-02 1.04855413e-02 2.07027821e+02] [-2.00708094e-02 9.99798065e-01 -9.96125504e-04 -7.51557227e+00] [-1.05034262e-02 7.85416585e-04 9.99944529e-01 -4.12040235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31800114499998 meters 0.07502204853401662 Centerline is valid? [True, True] Translation: X:207.09, Y:-7.52, Z:-4.12 [[ 9.99703109e-01 2.18901222e-02 1.07012666e-02 2.07085717e+02] [-2.18804763e-02 9.99760076e-01 -1.01763786e-03 -7.52498397e+00] [-1.07209754e-02 7.83186918e-04 9.99942222e-01 -4.12394735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37800114499998 meters 0.07330823171327969 Centerline is valid? [True, True] Translation: X:207.14, Y:-7.53, Z:-4.12 [[ 9.99683726e-01 2.25570683e-02 1.11187580e-02 2.07144734e+02] [-2.25466911e-02 9.99745231e-01 -1.05778591e-03 -7.53090570e+00] [-1.11397858e-02 8.06760162e-04 9.99937625e-01 -4.12415934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.438001145 meters 0.07312100705002726 Centerline is valid? [True, True] Translation: X:207.20, Y:-7.54, Z:-4.13 [[ 9.99700679e-01 2.16309330e-02 1.14304564e-02 2.07202821e+02] [-2.16199265e-02 9.99765673e-01 -1.08561212e-03 -7.53849354e+00] [-1.14512607e-02 8.38161543e-04 9.99934081e-01 -4.12564476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.498001145 meters 0.07718163948607033 Centerline is valid? [True, True] Translation: X:207.26, Y:-7.56, Z:-4.13 [[ 9.99745407e-01 1.96440640e-02 1.11009617e-02 2.07260771e+02] [-1.96335820e-02 9.99806689e-01 -1.05244624e-03 -7.55724228e+00] [-1.11194900e-02 8.34226656e-04 9.99937829e-01 -4.13032873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.558001145 meters 0.07755201247523819 Centerline is valid? [True, True] Translation: X:207.32, Y:-7.57, Z:-4.13 [[ 9.99805917e-01 1.67449197e-02 1.03795795e-02 2.07319949e+02] [-1.67356049e-02 9.99859466e-01 -9.83636983e-04 -7.57106281e+00] [-1.03945918e-02 8.09737534e-04 9.99945647e-01 -4.13267553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.618001145 meters 0.07986585477760948 Centerline is valid? [True, True] Translation: X:207.38, Y:-7.59, Z:-4.13 [[ 9.99842681e-01 1.52374079e-02 9.07937337e-03 2.07377582e+02] [-1.52302238e-02 9.99883644e-01 -8.59872242e-04 -7.58610867e+00] [-9.09141916e-03 7.21456079e-04 9.99958412e-01 -4.13499113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.678001145 meters 0.08442817975585512 Centerline is valid? [True, True] Translation: X:207.44, Y:-7.60, Z:-4.14 [[ 9.99823773e-01 1.51534700e-02 1.10813451e-02 2.07435072e+02] [-1.51427478e-02 9.99884790e-01 -1.05086214e-03 -7.60463422e+00] [-1.10959927e-02 8.82874938e-04 9.99938048e-01 -4.13843491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.738001145 meters 0.07759610878082039 Centerline is valid? [True, True] Translation: X:207.50, Y:-7.60, Z:-4.13 [[ 9.99831487e-01 1.16272455e-02 1.42057682e-02 2.07495947e+02] [-1.16092915e-02 9.99931704e-01 -1.34566945e-03 -7.60363894e+00] [-1.42204445e-02 1.18052378e-03 9.99898187e-01 -4.13338111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.798001145 meters 0.08030410362389524 Centerline is valid? [True, True] Translation: X:207.55, Y:-7.62, Z:-4.13 [[ 9.99841520e-01 7.95764511e-03 1.59251857e-02 2.07553870e+02] [-7.93463107e-03 9.99967384e-01 -1.50779900e-03 -7.61947270e+00] [-1.59366648e-02 1.38119957e-03 9.99872049e-01 -4.13484809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.858001145 meters 0.08558570442744107 Centerline is valid? [True, True] Translation: X:207.61, Y:-7.64, Z:-4.14 [[ 9.99823646e-01 6.22175886e-04 1.87693776e-02 2.07611651e+02] [-5.88883346e-04 9.99998244e-01 -1.77924384e-03 -7.64208238e+00] [-1.87704517e-02 1.76787709e-03 9.99822257e-01 -4.13579134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.918001145 meters 0.08388648783067432 Centerline is valid? [True, True] Translation: X:207.67, Y:-7.65, Z:-4.14 [[ 9.99806966e-01 -4.33865154e-03 1.91626232e-02 2.07671651e+02] [ 4.37425291e-03 9.99988783e-01 -1.81633054e-03 -7.64963385e+00] [-1.91545279e-02 1.89980209e-03 9.99814730e-01 -4.13643743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.97800114499998 meters 0.08869974054115264 Centerline is valid? [True, True] Translation: X:207.73, Y:-7.67, Z:-4.14 [[ 9.99754919e-01 -1.03293109e-02 1.95807966e-02 2.07729427e+02] [ 1.03676283e-02 9.99944532e-01 -1.85638076e-03 -7.67129766e+00] [-1.95605354e-02 2.05893222e-03 9.99806554e-01 -4.13941594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03800114499998 meters 0.09327943933182233 Centerline is valid? [True, True] Translation: X:207.79, Y:-7.69, Z:-4.14 [[ 9.99715180e-01 -1.60039757e-02 1.77039772e-02 2.07788013e+02] [ 1.60361727e-02 9.99870004e-01 -1.67815499e-03 -7.69313698e+00] [-1.76748186e-02 1.96158105e-03 9.99841864e-01 -4.14469935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09800114499998 meters 0.0988846495550331 Centerline is valid? [True, True] Translation: X:207.85, Y:-7.71, Z:-4.15 [[ 9.99690620e-01 -1.93689091e-02 1.56047851e-02 2.07845780e+02] [ 1.93943301e-02 9.99810818e-01 -1.47935894e-03 -7.71277319e+00] [-1.55731794e-02 1.78154561e-03 9.99877144e-01 -4.15019039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.158001145 meters 0.09874012906427367 Centerline is valid? [True, True] Translation: X:207.91, Y:-7.72, Z:-4.16 [[ 9.99705290e-01 -2.05347463e-02 1.29482855e-02 2.07905853e+02] [ 2.05523349e-02 9.99788026e-01 -1.22676540e-03 -7.72302328e+00] [-1.29203495e-02 1.49252136e-03 9.99915415e-01 -4.15504057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.218001145 meters 0.0961782121827434 Centerline is valid? [True, True] Translation: X:207.97, Y:-7.72, Z:-4.16 [[ 9.99756528e-01 -1.89052369e-02 1.13788264e-02 2.07966922e+02] [ 1.89187170e-02 9.99820444e-01 -1.07818112e-03 -7.72493120e+00] [-1.13564000e-02 1.29319141e-03 9.99934678e-01 -4.15723004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.278001145 meters 0.09657832274345877 Centerline is valid? [True, True] Translation: X:208.03, Y:-7.73, Z:-4.16 [[ 9.99812794e-01 -1.63826451e-02 1.02949035e-02 2.08026989e+02] [ 1.63935520e-02 9.99865140e-01 -9.75952124e-04 -7.73124580e+00] [-1.02775264e-02 1.14453946e-03 9.99946530e-01 -4.16125678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.338001145 meters 0.09228275866222192 Centerline is valid? [True, True] Translation: X:208.09, Y:-7.73, Z:-4.16 [[ 9.99833762e-01 -1.51653718e-02 1.01222910e-02 2.08088579e+02] [ 1.51758468e-02 9.99884380e-01 -9.58830494e-04 -7.72965692e+00] [-1.01065796e-02 1.11228544e-03 9.99948309e-01 -4.16253730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.398001145 meters 0.09339947765812338 Centerline is valid? [True, True] Translation: X:208.15, Y:-7.73, Z:-4.17 [[ 9.99871113e-01 -1.35429601e-02 8.62243664e-03 2.08148817e+02] [ 1.35505058e-02 9.99907854e-01 -8.17297818e-04 -7.73433559e+00] [-8.61057348e-03 9.34030855e-04 9.99962492e-01 -4.16644606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.458001145 meters 0.09081621971601303 Centerline is valid? [True, True] Translation: X:208.21, Y:-7.73, Z:-4.17 [[ 9.99932633e-01 -9.68961310e-03 6.39063587e-03 2.08209481e+02] [ 9.69368308e-03 9.99952831e-01 -6.06198477e-04 -7.73134783e+00] [-6.38446060e-03 6.68106438e-04 9.99979396e-01 -4.17051652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.518001145 meters 0.09230403680452066 Centerline is valid? [True, True] Translation: X:208.27, Y:-7.74, Z:-4.18 [[ 9.99963378e-01 -6.51097242e-03 5.55423744e-03 2.08269089e+02] [ 6.51399816e-03 9.99978645e-01 -5.26845592e-04 -7.73619565e+00] [-5.55068855e-03 5.63006591e-04 9.99984436e-01 -4.17523480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.578001145 meters 0.08798433876695855 Centerline is valid? [True, True] Translation: X:208.33, Y:-7.73, Z:-4.18 [[ 9.99991354e-01 -2.65104370e-03 3.20367310e-03 2.08330912e+02] [ 2.65203075e-03 9.99996437e-01 -3.03888428e-04 -7.72769295e+00] [-3.20285607e-03 3.12382041e-04 9.99994822e-01 -4.17698028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.638001145 meters 0.08092196353365275 Centerline is valid? [True, True] Translation: X:208.39, Y:-7.72, Z:-4.18 [[ 9.99998501e-01 -1.02394239e-03 1.39624817e-03 2.08393816e+02] [ 1.02412672e-03 9.99999467e-01 -1.31307432e-04 -7.71640679e+00] [-1.39611298e-03 1.32737170e-04 9.99999017e-01 -4.17766550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.69800114499998 meters 0.0836995098588902 Centerline is valid? [True, True] Translation: X:208.45, Y:-7.72, Z:-4.19 [[ 9.99996601e-01 1.26351129e-03 -2.28059269e-03 2.08454475e+02] [-1.26301824e-03 9.99999179e-01 2.17621657e-04 -7.71929013e+00] [ 2.28086578e-03 -2.14740487e-04 9.99997376e-01 -4.18516956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75800114499998 meters 0.08192786394023546 Centerline is valid? [True, True] Translation: X:208.52, Y:-7.71, Z:-4.19 [[ 9.99994805e-01 2.51052362e-03 -2.02147195e-03 2.08515021e+02] [-2.51014326e-03 9.99996831e-01 1.90672401e-04 -7.71414788e+00] [ 2.02194423e-03 -1.85597227e-04 9.99997939e-01 -4.18502317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81800114499998 meters 0.08003342998162138 Centerline is valid? [True, True] Translation: X:208.58, Y:-7.71, Z:-4.19 [[ 9.99991593e-01 3.99217802e-03 -9.36365644e-04 2.08576213e+02] [-3.99209712e-03 9.99992028e-01 8.82552902e-05 -7.70870765e+00] [ 9.36710509e-04 -8.45164856e-05 9.99999558e-01 -4.18502845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87800114499998 meters 0.08385971012895947 Centerline is valid? [True, True] Translation: X:208.63, Y:-7.72, Z:-4.19 [[ 9.99991302e-01 4.12903800e-03 5.88977484e-04 2.08634512e+02] [-4.12900482e-03 9.99991474e-01 -5.75486200e-05 -7.71509378e+00] [-5.89210083e-04 5.51162286e-05 9.99999825e-01 -4.18959083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.938001145 meters 0.08446973682770789 Centerline is valid? [True, True] Translation: X:208.69, Y:-7.71, Z:-4.19 [[ 9.99989836e-01 1.93691291e-03 4.07129040e-03 2.08694105e+02] [-1.93535123e-03 9.99998052e-01 -3.87488141e-04 -7.71325630e+00] [-4.07203300e-03 3.79604826e-04 9.99991637e-01 -4.18970314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.998001145 meters 0.08418326086394239 Centerline is valid? [True, True] Translation: X:208.76, Y:-7.71, Z:-4.19 [[ 9.99990478e-01 4.22822430e-04 4.34342951e-03 2.08755921e+02] [-4.21042728e-04 9.99999827e-01 -4.10651914e-04 -7.71267356e+00] [-4.34360239e-03 4.08819234e-04 9.99990483e-01 -4.19155688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.058001145 meters 0.08160623919935665 Centerline is valid? [True, True] Translation: X:208.82, Y:-7.71, Z:-4.19 [[ 9.99993389e-01 -1.17088414e-03 3.44256096e-03 2.08817239e+02] [ 1.17201055e-03 9.99999260e-01 -3.25201105e-04 -7.71047045e+00] [-3.44217764e-03 3.29233673e-04 9.99994021e-01 -4.19368406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.118001145 meters 0.08454565390702926 Centerline is valid? [True, True] Translation: X:208.88, Y:-7.72, Z:-4.20 [[ 9.99992260e-01 -2.09395926e-03 3.33095902e-03 2.08877842e+02] [ 2.09500095e-03 9.99997758e-01 -3.09268882e-04 -7.72142924e+00] [-3.33030396e-03 3.16244850e-04 9.99994405e-01 -4.19733800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.178001145 meters 0.08666882929228392 Centerline is valid? [True, True] Translation: X:208.94, Y:-7.73, Z:-4.20 [[ 9.99992887e-01 -3.05459049e-03 2.21269748e-03 2.08937313e+02] [ 3.05506022e-03 9.99995311e-01 -2.08938467e-04 -7.73094618e+00] [-2.21204888e-03 2.15696905e-04 9.99997530e-01 -4.20024178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.238001145 meters 0.08285338334066651 Centerline is valid? [True, True] Translation: X:209.00, Y:-7.73, Z:-4.20 [[ 9.99988767e-01 -4.73002614e-03 -3.05753280e-04 2.08998332e+02] [ 4.73003528e-03 9.99988813e-01 2.91802652e-05 -7.73198626e+00] [ 3.05611836e-04 -3.06261612e-05 9.99999953e-01 -4.20125620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.298001145 meters 0.08311191941376586 Centerline is valid? [True, True] Translation: X:209.06, Y:-7.74, Z:-4.20 [[ 9.99990166e-01 -4.41644832e-03 -4.02689177e-04 2.09059645e+02] [ 4.41646504e-03 9.99990247e-01 4.06338358e-05 -7.74109873e+00] [ 4.02505793e-04 -4.24118989e-05 9.99999918e-01 -4.20443141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.358001145 meters 0.0858011824156002 Centerline is valid? [True, True] Translation: X:209.12, Y:-7.75, Z:-4.21 [[ 9.99996976e-01 -2.37957437e-03 6.21490184e-04 2.09118255e+02] [ 2.37961180e-03 9.99997167e-01 -5.94924486e-05 -7.75434973e+00] [-6.21346857e-04 6.09711741e-05 9.99999805e-01 -4.20719289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.418001145 meters 0.07919489419404774 Centerline is valid? [True, True] Translation: X:209.18, Y:-7.75, Z:-4.20 [[ 9.99995158e-01 3.30982004e-04 3.09428291e-03 2.09180122e+02] [-3.30074031e-04 9.99999902e-01 -2.93941862e-04 -7.74894175e+00] [-3.09437990e-03 2.92919096e-04 9.99995169e-01 -4.20292380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.47800114499998 meters 0.07797376257488527 Centerline is valid? [True, True] Translation: X:209.24, Y:-7.76, Z:-4.20 [[ 9.99973710e-01 4.59200271e-03 5.61182731e-03 2.09240538e+02] [-4.58907962e-03 9.99989328e-01 -5.33645810e-04 -7.75688490e+00] [-5.61421793e-03 5.07878658e-04 9.99984111e-01 -4.20346686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53800114499998 meters 0.07725601695201856 Centerline is valid? [True, True] Translation: X:209.30, Y:-7.77, Z:-4.21 [[ 9.99957397e-01 7.76797107e-03 4.98616548e-03 2.09300541e+02] [-7.76570047e-03 9.99969734e-01 -4.74580118e-04 -7.76549573e+00] [-4.98970110e-03 4.35838832e-04 9.99987456e-01 -4.20579376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59800114499998 meters 0.07680501177736378 Centerline is valid? [True, True] Translation: X:209.36, Y:-7.77, Z:-4.21 [[ 9.99940671e-01 9.51484961e-03 5.30309365e-03 2.09360532e+02] [-9.51230518e-03 9.99954630e-01 -5.04817898e-04 -7.77248906e+00] [-5.30765631e-03 4.54343302e-04 9.99985811e-01 -4.20620605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.658001145 meters 0.07950830179539466 Centerline is valid? [True, True] Translation: X:209.42, Y:-7.79, Z:-4.21 [[ 9.99934048e-01 1.00683110e-02 5.52525564e-03 2.09418911e+02] [-1.00655547e-02 9.99949202e-01 -5.26442544e-04 -7.78796126e+00] [-5.53027536e-03 4.70793061e-04 9.99984597e-01 -4.21115834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.718001145 meters 0.0773157664888028 Centerline is valid? [True, True] Translation: X:209.48, Y:-7.80, Z:-4.21 [[ 9.99956039e-01 8.87964372e-03 3.01195073e-03 2.09478900e+02] [-8.87882024e-03 9.99960541e-01 -2.86666763e-04 -7.79683534e+00] [-3.01437738e-03 2.59911591e-04 9.99995423e-01 -4.21267459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.778001145 meters 0.08195083256515187 Centerline is valid? [True, True] Translation: X:209.54, Y:-7.82, Z:-4.22 [[ 9.99979078e-01 6.40162630e-03 -9.28764887e-04 2.09536432e+02] [-6.40154703e-03 9.99979506e-01 8.82973068e-05 -7.81664039e+00] [ 9.29311099e-04 -8.23499273e-05 9.99999565e-01 -4.21989368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.838001145 meters 0.08181042523681092 Centerline is valid? [True, True] Translation: X:209.60, Y:-7.83, Z:-4.22 [[ 9.99987825e-01 4.29487813e-03 -2.42958787e-03 2.09596598e+02] [-4.29432926e-03 9.99990753e-01 2.31084509e-04 -7.82525695e+00] [ 2.43055788e-03 -2.20648246e-04 9.99997022e-01 -4.22171570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.898001145 meters 0.0804673748019428 Centerline is valid? [True, True] Translation: X:209.66, Y:-7.83, Z:-4.22 [[ 9.99993399e-01 2.67192500e-03 -2.46222601e-03 2.09655949e+02] [-2.67135905e-03 9.99996405e-01 2.33113315e-04 -7.83414998e+00] [ 2.46284002e-03 -2.26534286e-04 9.99996942e-01 -4.22171651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.958001145 meters 0.08057973950614028 Centerline is valid? [True, True] Translation: X:209.71, Y:-7.84, Z:-4.22 [[ 9.99995938e-01 2.84984556e-03 -4.44873243e-05 2.09714820e+02] [-2.84984542e-03 9.99995939e-01 3.09248755e-06 -7.84253410e+00] [ 4.44959567e-05 -2.96569299e-06 9.99999999e-01 -4.22201612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.018001145 meters 0.07911859468212057 Centerline is valid? [True, True] Translation: X:209.77, Y:-7.85, Z:-4.22 [[ 9.99981021e-01 5.21622086e-03 3.27852548e-03 2.09774734e+02] [-5.21522613e-03 9.99986352e-01 -3.11883432e-04 -7.84816196e+00] [-3.28010758e-03 2.94779261e-04 9.99994577e-01 -4.22059491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.078001145 meters 0.07912903986621886 Centerline is valid? [True, True] Translation: X:209.83, Y:-7.86, Z:-4.22 [[ 9.99970563e-01 6.26916843e-03 4.42394435e-03 2.09834775e+02] [-6.26736801e-03 9.99980271e-01 -4.20717982e-04 -7.85773676e+00] [-4.42649462e-03 3.92979110e-04 9.99990126e-01 -4.22231365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.138001145 meters 0.08055867292671691 Centerline is valid? [True, True] Translation: X:209.89, Y:-7.87, Z:-4.23 [[ 9.99977257e-01 5.64053112e-03 3.69739612e-03 2.09894368e+02] [-5.63927567e-03 9.99984038e-01 -3.49887643e-04 -7.87239527e+00] [-3.69931065e-03 3.29029049e-04 9.99993103e-01 -4.22577754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.19800114499998 meters 0.08265507455394157 Centerline is valid? [True, True] Translation: X:209.95, Y:-7.88, Z:-4.23 [[ 9.99983641e-01 3.92153767e-03 4.16413665e-03 2.09954048e+02] [-3.91992338e-03 9.99992239e-01 -3.95757618e-04 -7.88488789e+00] [-4.16565630e-03 3.79428047e-04 9.99991252e-01 -4.22816512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25800114499998 meters 0.08526640458171403 Centerline is valid? [True, True] Translation: X:210.01, Y:-7.90, Z:-4.23 [[ 9.99991879e-01 1.77415848e-03 3.61873107e-03 2.10012680e+02] [-1.77292239e-03 9.99998369e-01 -3.44760890e-04 -7.89955583e+00] [-3.61933683e-03 3.38342361e-04 9.99993393e-01 -4.23157174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31800114499998 meters 0.08111854340447183 Centerline is valid? [True, True] Translation: X:210.07, Y:-7.90, Z:-4.23 [[ 9.99995688e-01 1.37077170e-03 2.59701840e-03 2.10074210e+02] [-1.37013721e-03 9.99999031e-01 -2.46078404e-04 -7.90125710e+00] [-2.59735320e-03 2.42519071e-04 9.99996597e-01 -4.23292373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37800114499998 meters 0.0818365173339158 Centerline is valid? [True, True] Translation: X:210.13, Y:-7.91, Z:-4.24 [[ 9.99996709e-01 2.44918971e-03 -7.63546853e-04 2.10134978e+02] [-2.44913403e-03 9.99996998e-01 7.38427858e-05 -7.90890754e+00] [ 7.63725416e-04 -7.19725142e-05 9.99999706e-01 -4.23721630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.438001145 meters 0.08076704287364751 Centerline is valid? [True, True] Translation: X:210.20, Y:-7.91, Z:-4.24 [[ 9.99988614e-01 4.71495765e-03 -7.35676547e-04 2.10195083e+02] [-4.71490779e-03 9.99988882e-01 6.94998522e-05 -7.91188328e+00] [ 7.35996057e-04 -6.60304138e-05 9.99999727e-01 -4.23870411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.498001145 meters 0.0828985277732005 Centerline is valid? [True, True] Translation: X:210.25, Y:-7.92, Z:-4.24 [[ 9.99977734e-01 6.52703185e-03 1.38888589e-03 2.10254143e+02] [-6.52685351e-03 9.99978691e-01 -1.32897657e-04 -7.92238884e+00] [-1.38972372e-03 1.23829643e-04 9.99999027e-01 -4.24147774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.558001145 meters 0.07779961702935968 Centerline is valid? [True, True] Translation: X:210.32, Y:-7.92, Z:-4.24 [[ 9.99954387e-01 8.66040869e-03 4.02762240e-03 2.10315184e+02] [-8.65893376e-03 9.99962437e-01 -3.83498300e-04 -7.91813814e+00] [-4.03079236e-03 3.48605891e-04 9.99991816e-01 -4.23786832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.618001145 meters 0.07863882136963607 Centerline is valid? [True, True] Translation: X:210.37, Y:-7.92, Z:-4.24 [[ 9.99945110e-01 8.86988436e-03 5.57700565e-03 2.10374309e+02] [-8.86705515e-03 9.99960545e-01 -5.31820100e-04 -7.92466844e+00] [-5.58150279e-03 4.82339292e-04 9.99984307e-01 -4.23913362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.678001145 meters 0.08223345469062482 Centerline is valid? [True, True] Translation: X:210.43, Y:-7.94, Z:-4.24 [[ 9.99956340e-01 7.51726213e-03 5.55048922e-03 2.10433809e+02] [-7.51444795e-03 9.99971627e-01 -5.27695169e-04 -7.93678850e+00] [-5.55429855e-03 4.85963268e-04 9.99984457e-01 -4.24293560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.738001145 meters 0.07977735590114163 Centerline is valid? [True, True] Translation: X:210.50, Y:-7.94, Z:-4.24 [[ 9.99960981e-01 7.12706237e-03 5.21942243e-03 2.10495166e+02] [-7.12457088e-03 9.99974497e-01 -4.95788337e-04 -7.93835121e+00] [-5.22282283e-03 4.58582846e-04 9.99986256e-01 -4.24412051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.798001145 meters 0.08427419153796545 Centerline is valid? [True, True] Translation: X:210.55, Y:-7.95, Z:-4.25 [[ 9.99968814e-01 5.38548225e-03 5.77642656e-03 2.10554273e+02] [-5.38239722e-03 9.99985364e-01 -5.49485656e-04 -7.95162744e+00] [-5.77930126e-03 5.18377498e-04 9.99983165e-01 -4.24792251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.858001145 meters 0.08544209998156031 Centerline is valid? [True, True] Translation: X:210.61, Y:-7.96, Z:-4.25 [[ 9.99979345e-01 4.45514404e-03 4.63264485e-03 2.10614949e+02] [-4.45314998e-03 9.99989988e-01 -4.40663319e-04 -7.95579107e+00] [-4.63456169e-03 4.20024355e-04 9.99989172e-01 -4.25012151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.918001145 meters 0.0829440301201379 Centerline is valid? [True, True] Translation: X:210.68, Y:-7.96, Z:-4.25 [[ 9.99977771e-01 5.43289836e-03 3.86543928e-03 2.10676085e+02] [-5.43151651e-03 9.99985182e-01 -3.67897533e-04 -7.95735085e+00] [-3.86738075e-03 3.46894157e-04 9.99992461e-01 -4.25182170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.97800114499998 meters 0.08303174081670285 Centerline is valid? [True, True] Translation: X:210.74, Y:-7.96, Z:-4.25 [[ 9.99955630e-01 8.00771185e-03 4.96134736e-03 2.10736702e+02] [-8.00546523e-03 9.99967844e-01 -4.72517548e-04 -7.96119497e+00] [-4.96497161e-03 4.32778689e-04 9.99987581e-01 -4.25355357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03800114499998 meters 0.07961074125675431 Centerline is valid? [True, True] Translation: X:210.80, Y:-7.96, Z:-4.25 [[ 9.99945012e-01 9.56530170e-03 4.29855205e-03 2.10798155e+02] [-9.56363129e-03 9.99954184e-01 -4.08986437e-04 -7.95756168e+00] [-4.30226719e-03 3.67854181e-04 9.99990678e-01 -4.25269370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09800114499998 meters 0.0791985468011049 Centerline is valid? [True, True] Translation: X:210.86, Y:-7.96, Z:-4.25 [[ 9.99920727e-01 1.07197081e-02 6.60509813e-03 2.10857863e+02] [-1.07157810e-02 9.99942386e-01 -6.29658039e-04 -7.96228665e+00] [-6.61146734e-03 5.58829339e-04 9.99977988e-01 -4.25484516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.158001145 meters 0.07701446785307658 Centerline is valid? [True, True] Translation: X:210.92, Y:-7.96, Z:-4.25 [[ 9.99905860e-01 1.14310830e-02 7.58954363e-03 2.10918330e+02] [-1.14259232e-02 9.99934461e-01 -7.22865395e-04 -7.96241309e+00] [-7.59730935e-03 6.36079802e-04 9.99970938e-01 -4.25415273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.218001145 meters 0.07872485028481946 Centerline is valid? [True, True] Translation: X:210.98, Y:-7.97, Z:-4.26 [[ 9.99917424e-01 1.10747446e-02 6.51880078e-03 2.10978502e+02] [-1.10709335e-02 9.99938523e-01 -6.20429330e-04 -7.96845589e+00] [-6.52527112e-03 5.48208887e-04 9.99978560e-01 -4.25769053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.278001145 meters 0.07943252364461147 Centerline is valid? [True, True] Translation: X:211.04, Y:-7.97, Z:-4.26 [[ 9.99940175e-01 9.55520516e-03 5.32387985e-03 2.11038232e+02] [-9.55263686e-03 9.99954244e-01 -5.07631003e-04 -7.97355136e+00] [-5.32848677e-03 4.56743543e-04 9.99985699e-01 -4.26087912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.338001145 meters 0.08278989177465133 Centerline is valid? [True, True] Translation: X:211.10, Y:-7.98, Z:-4.27 [[ 9.99964589e-01 7.48173344e-03 3.85293711e-03 2.11097041e+02] [-7.48037728e-03 9.99971955e-01 -3.66272249e-04 -7.98320377e+00] [-3.85556940e-03 3.37437856e-04 9.99992510e-01 -4.26586127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.398001145 meters 0.08307997615579957 Centerline is valid? [True, True] Translation: X:211.16, Y:-7.99, Z:-4.27 [[ 9.99983767e-01 4.90784218e-03 2.89468172e-03 2.11157132e+02] [-4.90706422e-03 9.99987922e-01 -2.75796631e-04 -7.98503623e+00] [-2.89600033e-03 2.61587765e-04 9.99995772e-01 -4.26781936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.458001145 meters 0.07982393351865277 Centerline is valid? [True, True] Translation: X:211.22, Y:-7.98, Z:-4.27 [[ 9.99974805e-01 5.48326782e-03 4.50807863e-03 2.11218307e+02] [-5.48138695e-03 9.99984885e-01 -4.29472389e-04 -7.97939630e+00] [-4.51036541e-03 4.04751045e-04 9.99989746e-01 -4.26587180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.518001145 meters 0.0845208010097785 Centerline is valid? [True, True] Translation: X:211.28, Y:-7.99, Z:-4.27 [[ 9.99965277e-01 6.58479791e-03 5.10729803e-03 2.11277943e+02] [-6.58240049e-03 9.99978218e-01 -4.86078266e-04 -7.98720082e+00] [-5.11038750e-03 4.52443107e-04 9.99986840e-01 -4.26998635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.578001145 meters 0.08045622333085958 Centerline is valid? [True, True] Translation: X:211.34, Y:-7.98, Z:-4.27 [[ 9.99943484e-01 8.12271558e-03 6.85937943e-03 2.11339336e+02] [-8.11842178e-03 9.99966831e-01 -6.53587878e-04 -7.98146503e+00] [-6.86446082e-03 5.97863604e-04 9.99976261e-01 -4.26912552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.638001145 meters 0.0769617026045562 Centerline is valid? [True, True] Translation: X:211.40, Y:-7.97, Z:-4.27 [[ 9.99935459e-01 8.96542438e-03 6.97853179e-03 2.11401816e+02] [-8.96100691e-03 9.99959629e-01 -6.64019569e-04 -7.97340260e+00] [-6.98420328e-03 6.01442041e-04 9.99975429e-01 -4.26857990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.69800114499998 meters 0.07798285150846343 Centerline is valid? [True, True] Translation: X:211.46, Y:-7.97, Z:-4.27 [[ 9.99918866e-01 9.91611788e-03 7.99577945e-03 2.11461904e+02] [-9.91033820e-03 9.99950601e-01 -7.62139752e-04 -7.97427030e+00] [-8.00294194e-03 6.82837037e-04 9.99967743e-01 -4.27078692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75800114499998 meters 0.07709981576926764 Centerline is valid? [True, True] Translation: X:211.52, Y:-7.98, Z:-4.27 [[ 9.99906242e-01 1.02770448e-02 9.04923415e-03 2.11522971e+02] [-1.02696584e-02 9.99946894e-01 -8.62334706e-04 -7.97522842e+00] [-9.05761583e-03 7.69321312e-04 9.99958683e-01 -4.27208027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81800114499998 meters 0.08060510114685379 Centerline is valid? [True, True] Translation: X:211.58, Y:-7.98, Z:-4.28 [[ 9.99925759e-01 8.17529799e-03 9.03555518e-03 2.11582240e+02] [-8.16784607e-03 9.99966272e-01 -8.61327346e-04 -7.98159074e+00] [-9.04229204e-03 7.87462376e-04 9.99958808e-01 -4.27638613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87800114499998 meters 0.08385954774810413 Centerline is valid? [True, True] Translation: X:211.64, Y:-7.99, Z:-4.28 [[ 9.99943646e-01 6.66347073e-03 8.26451410e-03 2.11642389e+02] [-6.65718858e-03 9.99977531e-01 -7.87412550e-04 -7.98652859e+00] [-8.26957530e-03 7.32349747e-04 9.99965538e-01 -4.28074741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.938001145 meters 0.0835361243444949 Centerline is valid? [True, True] Translation: X:211.70, Y:-7.99, Z:-4.28 [[ 9.99952348e-01 6.82601310e-03 6.97902386e-03 2.11704233e+02] [-6.82157630e-03 9.99976515e-01 -6.59340495e-04 -7.98866421e+00] [-6.98336062e-03 6.11701132e-04 9.99975429e-01 -4.28487555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.998001145 meters 0.08530247398186147 Centerline is valid? [True, True] Translation: X:211.77, Y:-7.99, Z:-4.29 [[ 9.99956615e-01 7.62785328e-03 5.34638012e-03 2.11765321e+02] [-7.62526114e-03 9.99970800e-01 -5.05056789e-04 -7.99292297e+00] [-5.35007650e-03 4.64267332e-04 9.99985580e-01 -4.28942894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.058001145 meters 0.08195863938840489 Centerline is valid? [True, True] Translation: X:211.83, Y:-7.98, Z:-4.29 [[ 9.99956811e-01 8.02159513e-03 4.69370730e-03 2.11827107e+02] [-8.01957284e-03 9.99967742e-01 -4.49513903e-04 -7.98349014e+00] [-4.69716171e-03 4.11852961e-04 9.99988883e-01 -4.28965197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.118001145 meters 0.08242190589322453 Centerline is valid? [True, True] Translation: X:211.89, Y:-7.99, Z:-4.29 [[ 9.99944934e-01 8.71834366e-03 5.84122381e-03 2.11887399e+02] [-8.71522080e-03 9.99961865e-01 -5.59864780e-04 -7.98535930e+00] [-5.84588214e-03 5.08926395e-04 9.99982783e-01 -4.29065895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.178001145 meters 0.08425640208989815 Centerline is valid? [True, True] Translation: X:211.95, Y:-7.99, Z:-4.29 [[ 9.99934499e-01 9.10707860e-03 6.93238369e-03 2.11946743e+02] [-9.10269964e-03 9.99958350e-01 -6.62958675e-04 -7.98865289e+00] [-6.93813257e-03 5.99811845e-04 9.99975751e-01 -4.29469793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.238001145 meters 0.08060174087221109 Centerline is valid? [True, True] Translation: X:212.01, Y:-7.98, Z:-4.29 [[ 9.99949193e-01 7.47971934e-03 6.75755672e-03 2.12008294e+02] [-7.47551463e-03 9.99971848e-01 -6.47268187e-04 -7.98014123e+00] [-6.76220787e-03 5.96719088e-04 9.99976958e-01 -4.29365211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.298001145 meters 0.08073968925754152 Centerline is valid? [True, True] Translation: X:212.07, Y:-7.98, Z:-4.30 [[ 9.99946196e-01 6.66279325e-03 7.95056680e-03 2.12069235e+02] [-6.65694718e-03 9.99977552e-01 -7.61539883e-04 -7.98230780e+00] [-7.95546231e-03 7.08572407e-04 9.99968104e-01 -4.29587207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.358001145 meters 0.08677115857936665 Centerline is valid? [True, True] Translation: X:212.13, Y:-7.99, Z:-4.30 [[ 9.99950881e-01 6.55061822e-03 7.43811819e-03 2.12129570e+02] [-6.54554122e-03 9.99978328e-01 -7.06703763e-04 -7.99390800e+00] [-7.44258634e-03 6.57982541e-04 9.99972087e-01 -4.30266834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.418001145 meters 0.08666819129325573 Centerline is valid? [True, True] Translation: X:212.19, Y:-7.99, Z:-4.30 [[ 9.99948671e-01 6.58419685e-03 7.70089092e-03 2.12191625e+02] [-6.57870971e-03 9.99978088e-01 -7.37648424e-04 -7.99460726e+00] [-7.70557900e-03 6.86948635e-04 9.99970076e-01 -4.30441626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47800114499998 meters 0.08787803598071416 Centerline is valid? [True, True] Translation: X:212.25, Y:-8.00, Z:-4.31 [[ 9.99945351e-01 7.30420664e-03 7.47960579e-03 2.12253107e+02] [-7.29906040e-03 9.99973106e-01 -7.15102733e-04 -7.99707825e+00] [-7.48462789e-03 6.60469559e-04 9.99971772e-01 -4.30810336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53800114499998 meters 0.08913151313963091 Centerline is valid? [True, True] Translation: X:212.31, Y:-8.00, Z:-4.31 [[ 9.99932645e-01 8.55898959e-03 7.83890212e-03 2.12313814e+02] [-8.55334272e-03 9.99963136e-01 -7.53607275e-04 -8.00236461e+00] [-7.84506326e-03 6.86507700e-04 9.99968991e-01 -4.31155005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59800114499998 meters 0.08514437176056362 Centerline is valid? [True, True] Translation: X:212.37, Y:-8.00, Z:-4.31 [[ 9.99936329e-01 8.75593175e-03 7.11844852e-03 2.12374749e+02] [-8.75127669e-03 9.99961472e-01 -6.84829380e-04 -7.99794879e+00] [-7.12417058e-03 6.22490264e-04 9.99974429e-01 -4.31253699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.658001145 meters 0.08466749997824792 Centerline is valid? [True, True] Translation: X:212.44, Y:-8.00, Z:-4.31 [[ 9.99930657e-01 9.17152328e-03 7.38677890e-03 2.12435645e+02] [-9.16652191e-03 9.99957734e-01 -7.10644068e-04 -7.99790067e+00] [-7.39298437e-03 6.42883719e-04 9.99972465e-01 -4.31394364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.718001145 meters 0.08833890975531423 Centerline is valid? [True, True] Translation: X:212.50, Y:-8.01, Z:-4.32 [[ 9.99945449e-01 7.47189846e-03 7.29858027e-03 2.12495005e+02] [-7.46698644e-03 9.99971877e-01 -7.00028930e-04 -8.00523962e+00] [-7.30360555e-03 6.45492343e-04 9.99973120e-01 -4.31812280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.778001145 meters 0.09230832247539777 Centerline is valid? [True, True] Translation: X:212.55, Y:-8.01, Z:-4.32 [[ 9.99962038e-01 6.25826767e-03 6.06268956e-03 2.12554729e+02] [-6.25484974e-03 9.99980269e-01 -5.82561758e-04 -8.01483909e+00] [-6.06621576e-03 5.44618431e-04 9.99981452e-01 -4.32321289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.838001145 meters 0.08899790015253684 Centerline is valid? [True, True] Translation: X:212.62, Y:-8.01, Z:-4.32 [[ 9.99976090e-01 4.34754531e-03 5.37749849e-03 2.12616558e+02] [-4.34482460e-03 9.99990427e-01 -5.17524095e-04 -8.00999140e+00] [-5.37969697e-03 4.94147434e-04 9.99985407e-01 -4.32398718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.898001145 meters 0.08836218872191477 Centerline is valid? [True, True] Translation: X:212.68, Y:-8.01, Z:-4.33 [[ 9.99982695e-01 3.77973940e-03 4.50806524e-03 2.12677774e+02] [-3.77782393e-03 9.99992770e-01 -4.33337052e-04 -8.01209210e+00] [-4.50967055e-03 4.16298876e-04 9.99989745e-01 -4.32631635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.958001145 meters 0.09018773352385814 Centerline is valid? [True, True] Translation: X:212.74, Y:-8.02, Z:-4.33 [[ 9.99981422e-01 3.40633636e-03 5.05493537e-03 2.12739001e+02] [-3.40392166e-03 9.99994088e-01 -4.86217610e-04 -8.01661096e+00] [-5.05656170e-03 4.69001973e-04 9.99987106e-01 -4.32806303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.018001145 meters 0.0914257330288017 Centerline is valid? [True, True] Translation: X:212.80, Y:-8.02, Z:-4.33 [[ 9.99982473e-01 3.59254204e-03 4.70617248e-03 2.12799684e+02] [-3.59045070e-03 9.99993452e-01 -4.52755341e-04 -8.02271392e+00] [-4.70776821e-03 4.35850125e-04 9.99988823e-01 -4.33070768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.078001145 meters 0.08851093927148478 Centerline is valid? [True, True] Translation: X:212.86, Y:-8.02, Z:-4.33 [[ 9.99971046e-01 4.05861593e-03 6.43704806e-03 2.12860869e+02] [-4.05470606e-03 9.99991587e-01 -6.20335272e-04 -8.02237363e+00] [-6.43951161e-03 5.94216973e-04 9.99979090e-01 -4.33035216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.138001145 meters 0.09001524283940517 Centerline is valid? [True, True] Translation: X:212.92, Y:-8.03, Z:-4.33 [[ 9.99982519e-01 2.63776809e-03 5.29186673e-03 2.12921792e+02] [-2.63510853e-03 9.99996398e-01 -5.09485272e-04 -8.02963558e+00] [-5.29319157e-03 4.95531723e-04 9.99985868e-01 -4.33302324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.19800114499998 meters 0.0909524625550569 Centerline is valid? [True, True] Translation: X:212.98, Y:-8.04, Z:-4.34 [[ 9.99981763e-01 2.64609127e-03 5.42882447e-03 2.12983184e+02] [-2.64332221e-03 9.99996373e-01 -5.17176611e-04 -8.03782656e+00] [-5.43017327e-03 5.02817047e-04 9.99985130e-01 -4.33609473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25800114499998 meters 0.08572757982789402 Centerline is valid? [True, True] Translation: X:213.04, Y:-8.03, Z:-4.34 [[ 9.99971267e-01 4.67602616e-03 5.96658514e-03 2.13044827e+02] [-4.67266880e-03 9.99988917e-01 -5.76510782e-04 -8.03442046e+00] [-5.96921479e-03 5.48614341e-04 9.99982034e-01 -4.33606608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31800114499998 meters 0.09001919182031416 Centerline is valid? [True, True] Translation: X:213.10, Y:-8.05, Z:-4.34 [[ 9.99956448e-01 6.76805428e-03 6.42623524e-03 2.13103555e+02] [-6.76419754e-03 9.99976929e-01 -6.21701099e-04 -8.04628152e+00] [-6.43029469e-03 5.78205698e-04 9.99979158e-01 -4.33957862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37800114499998 meters 0.0846375007759069 Centerline is valid? [True, True] Translation: X:213.17, Y:-8.04, Z:-4.34 [[ 9.99917123e-01 1.09178578e-02 6.82258777e-03 2.13165029e+02] [-1.09136092e-02 9.99940227e-01 -6.59659969e-04 -8.04146304e+00] [-6.82938204e-03 5.85146242e-04 9.99976508e-01 -4.33923367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.438001145 meters 0.08359747392211632 Centerline is valid? [True, True] Translation: X:213.22, Y:-8.04, Z:-4.34 [[ 9.99902766e-01 1.26789806e-02 5.80533030e-03 2.13224551e+02] [-1.26759260e-02 9.99919499e-01 -5.62667218e-04 -8.04438490e+00] [-5.81199701e-03 4.89024571e-04 9.99982991e-01 -4.34308651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.498001145 meters 0.08744217753680752 Centerline is valid? [True, True] Translation: X:213.28, Y:-8.06, Z:-4.35 [[ 9.99907530e-01 1.19038259e-02 6.57498744e-03 2.13282115e+02] [-1.18998906e-02 9.99928991e-01 -6.37334174e-04 -8.05600892e+00] [-6.58210727e-03 5.59033608e-04 9.99978181e-01 -4.34698359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.558001145 meters 0.08743116468953326 Centerline is valid? [True, True] Translation: X:213.34, Y:-8.06, Z:-4.35 [[ 9.99943196e-01 9.33966234e-03 5.13572254e-03 2.13342193e+02] [-9.33723430e-03 9.99956284e-01 -4.96548870e-04 -8.06062739e+00] [-5.14013563e-03 4.48567220e-04 9.99986689e-01 -4.34917625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.618001145 meters 0.092496439722522 Centerline is valid? [True, True] Translation: X:213.40, Y:-8.07, Z:-4.35 [[ 9.99962373e-01 6.75479788e-03 5.44286735e-03 2.13400268e+02] [-6.75203363e-03 9.99977066e-01 -5.26081599e-04 -8.07414278e+00] [-5.44629610e-03 4.89311381e-04 9.99985049e-01 -4.35250345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.678001145 meters 0.09357298870418441 Centerline is valid? [True, True] Translation: X:213.46, Y:-8.08, Z:-4.35 [[ 9.99963315e-01 4.15981082e-03 7.48765112e-03 2.13460073e+02] [-4.15450285e-03 9.99991108e-01 -7.24310931e-04 -8.08273245e+00] [-7.49059754e-03 6.93176892e-04 9.99971705e-01 -4.35299631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.738001145 meters 0.08851857333062077 Centerline is valid? [True, True] Translation: X:213.52, Y:-8.08, Z:-4.35 [[ 9.99942293e-01 4.47134020e-03 9.76824929e-03 2.13522059e+02] [-4.46233612e-03 9.99989599e-01 -9.43370852e-04 -8.07940059e+00] [-9.77236583e-03 8.99727201e-04 9.99951845e-01 -4.35079975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.798001145 meters 0.09492510001747842 Centerline is valid? [True, True] Translation: X:213.58, Y:-8.10, Z:-4.36 [[ 9.99929254e-01 5.50038928e-03 1.05466477e-02 2.13581646e+02] [-5.48994479e-03 9.99984411e-01 -1.01900938e-03 -8.09595763e+00] [-1.05520883e-02 9.61036772e-04 9.99943863e-01 -4.35522426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.858001145 meters 0.09152175675195963 Centerline is valid? [True, True] Translation: X:213.64, Y:-8.10, Z:-4.36 [[ 9.99935212e-01 5.56737059e-03 9.92853754e-03 2.13643974e+02] [-5.55816221e-03 9.99984097e-01 -9.54817444e-04 -8.09687099e+00] [-9.93369547e-03 8.99571161e-04 9.99950255e-01 -4.35630950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.918001145 meters 0.09113023586534401 Centerline is valid? [True, True] Translation: X:213.70, Y:-8.10, Z:-4.36 [[ 9.99953853e-01 3.59385269e-03 8.90932837e-03 2.13704139e+02] [-3.58630122e-03 9.99993196e-01 -8.63422773e-04 -8.10499857e+00] [-8.91237077e-03 8.31431394e-04 9.99959938e-01 -4.35928261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97800114499998 meters 0.0924388328937413 Centerline is valid? [True, True] Translation: X:213.77, Y:-8.11, Z:-4.36 [[ 9.99961356e-01 3.29502047e-03 8.15045440e-03 2.13765808e+02] [-3.28873552e-03 9.99994284e-01 -7.84398273e-04 -8.11396585e+00] [-8.15299243e-03 7.57563272e-04 9.99966477e-01 -4.36246708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03800114499998 meters 0.08979797452848429 Centerline is valid? [True, True] Translation: X:213.83, Y:-8.12, Z:-4.36 [[ 9.99955908e-01 4.39842815e-03 8.29672010e-03 2.13826920e+02] [-4.39189411e-03 9.99990031e-01 -8.05600554e-04 -8.11723104e+00] [-8.30018077e-03 7.69126718e-04 9.99965257e-01 -4.36457411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09800114499998 meters 0.09209020651494695 Centerline is valid? [True, True] Translation: X:213.89, Y:-8.13, Z:-4.37 [[ 9.99953144e-01 5.48380915e-03 7.97733606e-03 2.13886552e+02] [-5.47779735e-03 9.99984696e-01 -7.75264525e-04 -8.12855136e+00] [-7.98146538e-03 7.31529968e-04 9.99967880e-01 -4.36934001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.158001145 meters 0.0892674083672431 Centerline is valid? [True, True] Translation: X:213.95, Y:-8.13, Z:-4.37 [[ 9.99940623e-01 7.01136146e-03 8.34208541e-03 2.13947434e+02] [-7.00483513e-03 9.99975137e-01 -8.11299839e-04 -8.12950345e+00] [-8.34756632e-03 7.52816734e-04 9.99964875e-01 -4.36894069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.218001145 meters 0.08714947406430885 Centerline is valid? [True, True] Translation: X:214.01, Y:-8.13, Z:-4.37 [[ 9.99933731e-01 7.07237264e-03 9.08377141e-03 2.14008371e+02] [-7.06464427e-03 9.99974656e-01 -8.82594800e-04 -8.13477479e+00] [-9.08978323e-03 8.18362698e-04 9.99958352e-01 -4.37074461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.278001145 meters 0.09491395214184933 Centerline is valid? [True, True] Translation: X:214.07, Y:-8.16, Z:-4.37 [[ 9.99942069e-01 3.22463700e-03 1.02694333e-02 2.14066477e+02] [-3.21454679e-03 9.99994334e-01 -9.98903096e-04 -8.15843091e+00] [-1.02725962e-02 9.65833655e-04 9.99946769e-01 -4.37439309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.338001145 meters 0.08569787786930237 Centerline is valid? [True, True] Translation: X:214.13, Y:-8.15, Z:-4.37 [[ 9.99943261e-01 -5.91253630e-05 1.06523035e-02 2.14128558e+02] [ 7.01687784e-05 9.99999461e-01 -1.03634543e-03 -8.15114866e+00] [-1.06522365e-02 1.03703408e-03 9.99942726e-01 -4.37130393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.398001145 meters 0.09111418523479332 Centerline is valid? [True, True] Translation: X:214.19, Y:-8.17, Z:-4.38 [[ 9.99945049e-01 -3.20441948e-03 9.98149747e-03 2.14186208e+02] [ 3.21427539e-03 9.99994362e-01 -9.71531865e-04 -8.17145753e+00] [-9.97832800e-03 1.00356176e-03 9.99949712e-01 -4.37624468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.458001145 meters 0.09026172399253898 Centerline is valid? [True, True] Translation: X:214.25, Y:-8.18, Z:-4.38 [[ 9.99941718e-01 -3.21925391e-03 1.03052252e-02 2.14249050e+02] [ 3.22972975e-03 9.99994284e-01 -1.00007594e-03 -8.17977530e+00] [-1.03019468e-02 1.03330074e-03 9.99946400e-01 -4.37826098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.518001145 meters 0.09053034503473177 Centerline is valid? [True, True] Translation: X:214.31, Y:-8.19, Z:-4.38 [[ 9.99939921e-01 -2.76736388e-03 1.06063832e-02 2.14311233e+02] [ 2.77845716e-03 9.99995608e-01 -1.03131367e-03 -8.18687372e+00] [-1.06034826e-02 1.06072109e-03 9.99943219e-01 -4.37968124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.578001145 meters 0.0884659926911526 Centerline is valid? [True, True] Translation: X:214.37, Y:-8.19, Z:-4.38 [[ 9.99942410e-01 8.03436053e-05 1.07317000e-02 2.14372059e+02] [-6.91240142e-05 9.99999451e-01 -1.04582944e-03 -8.18959308e+00] [-1.07317781e-02 1.04502739e-03 9.99941867e-01 -4.38028317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.638001145 meters 0.08970331437951908 Centerline is valid? [True, True] Translation: X:214.43, Y:-8.20, Z:-4.38 [[ 9.99936577e-01 1.65809297e-03 1.11396973e-02 2.14430910e+02] [-1.64610073e-03 9.99998056e-01 -1.08561456e-03 -8.20048056e+00] [-1.11414757e-02 1.06720865e-03 9.99937362e-01 -4.38312317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.69800114499998 meters 0.08427082097866682 Centerline is valid? [True, True] Translation: X:214.49, Y:-8.20, Z:-4.38 [[ 9.99911569e-01 3.92068804e-03 1.27075711e-02 2.14491763e+02] [-3.90526566e-03 9.99991608e-01 -1.23822494e-03 -8.20027582e+00] [-1.27123192e-02 1.18848900e-03 9.99918489e-01 -4.38089390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75800114499998 meters 0.08618680356031845 Centerline is valid? [True, True] Translation: X:214.55, Y:-8.21, Z:-4.38 [[ 9.99894167e-01 5.70255537e-03 1.33841695e-02 2.14550524e+02] [-5.68560089e-03 9.99982986e-01 -1.30446492e-03 -8.21144671e+00] [-1.33913805e-02 1.22822982e-03 9.99909577e-01 -4.38272919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81800114499998 meters 0.08649417417187169 Centerline is valid? [True, True] Translation: X:214.61, Y:-8.22, Z:-4.39 [[ 9.99892067e-01 7.02373869e-03 1.29043125e-02 2.14611320e+02] [-7.00809637e-03 9.99974653e-01 -1.25699757e-03 -8.22080797e+00] [-1.29128143e-02 1.16642723e-03 9.99915946e-01 -4.38644273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87800114499998 meters 0.08188143287385727 Centerline is valid? [True, True] Translation: X:214.67, Y:-8.22, Z:-4.39 [[ 9.99882518e-01 8.93077766e-03 1.24576001e-02 2.14671921e+02] [-8.91633296e-03 9.99959511e-01 -1.21456857e-03 -8.22160603e+00] [-1.24679428e-02 1.10334977e-03 9.99921663e-01 -4.38801588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.938001145 meters 0.08397420362094422 Centerline is valid? [True, True] Translation: X:214.73, Y:-8.23, Z:-4.39 [[ 9.99885116e-01 9.71917740e-03 1.16315407e-02 2.14732768e+02] [-9.70669414e-03 9.99952251e-01 -1.12919980e-03 -8.23168953e+00] [-1.16419602e-02 1.01616627e-03 9.99931714e-01 -4.39065073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.998001145 meters 0.08167563165755656 Centerline is valid? [True, True] Translation: X:214.80, Y:-8.24, Z:-4.39 [[ 9.99887411e-01 1.03009756e-02 1.09112059e-02 2.14795053e+02] [-1.02900092e-02 9.99946494e-01 -1.06072405e-03 -8.23748601e+00] [-1.09215486e-02 9.48328220e-04 9.99939908e-01 -4.39391963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.058001145 meters 0.08536648997092117 Centerline is valid? [True, True] Translation: X:214.85, Y:-8.25, Z:-4.40 [[ 9.99893854e-01 1.08510158e-02 9.72294749e-03 2.14854615e+02] [-1.08423152e-02 9.99940772e-01 -9.47117367e-04 -8.25224155e+00] [-9.73264880e-03 8.41597573e-04 9.99952282e-01 -4.39856363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.118001145 meters 0.08386233568990813 Centerline is valid? [True, True] Translation: X:214.92, Y:-8.26, Z:-4.40 [[ 9.99872731e-01 1.20916841e-02 1.04073991e-02 2.14915771e+02] [-1.20817051e-02 9.99926492e-01 -1.02117738e-03 -8.25559089e+00] [-1.04189818e-02 8.95308288e-04 9.99945320e-01 -4.39956804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.178001145 meters 0.07789406106404151 Centerline is valid? [True, True] Translation: X:214.98, Y:-8.25, Z:-4.40 [[ 9.99850991e-01 1.35036600e-02 1.07539339e-02 2.14977101e+02] [-1.34930803e-02 9.99908407e-01 -1.05574582e-03 -8.25065258e+00] [-1.07672054e-02 9.10484811e-04 9.99941617e-01 -4.39810924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.238001145 meters 0.08215226500142081 Centerline is valid? [True, True] Translation: X:215.04, Y:-8.27, Z:-4.40 [[ 9.99824921e-01 1.39794002e-02 1.24380115e-02 2.15035312e+02] [-1.39652792e-02 9.99901735e-01 -1.22143953e-03 -8.26560797e+00] [-1.24538643e-02 1.04752537e-03 9.99921899e-01 -4.40195547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.298001145 meters 0.08158702347960349 Centerline is valid? [True, True] Translation: X:215.10, Y:-8.27, Z:-4.40 [[ 9.99822857e-01 1.41732996e-02 1.23843666e-02 2.15096168e+02] [-1.41593220e-02 9.99899013e-01 -1.21560317e-03 -8.26899851e+00] [-1.24003451e-02 1.04003360e-03 9.99922572e-01 -4.40390028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.358001145 meters 0.08248056308259512 Centerline is valid? [True, True] Translation: X:215.16, Y:-8.28, Z:-4.41 [[ 9.99865266e-01 1.16832059e-02 1.15305128e-02 2.15155726e+02] [-1.16709258e-02 9.99931252e-01 -1.13171985e-03 -8.27664968e+00] [-1.15429422e-02 9.96995608e-04 9.99932881e-01 -4.40757322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41800114499998 meters 0.08047057592611176 Centerline is valid? [True, True] Translation: X:215.22, Y:-8.28, Z:-4.41 [[ 9.99908670e-01 8.14268445e-03 1.07864819e-02 2.15216141e+02] [-8.13173231e-03 9.99966376e-01 -1.05882754e-03 -8.27863519e+00] [-1.07947409e-02 9.71018049e-04 9.99941264e-01 -4.40894328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47800114499998 meters 0.08050842126158508 Centerline is valid? [True, True] Translation: X:215.28, Y:-8.28, Z:-4.41 [[ 9.99925493e-01 7.38813384e-03 9.71721836e-03 2.15277608e+02] [-7.37923866e-03 9.99972321e-01 -9.50939961e-04 -8.28301371e+00] [-9.72397506e-03 8.79163436e-04 9.99952335e-01 -4.41075878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53800114499998 meters 0.08250217359332324 Centerline is valid? [True, True] Translation: X:215.34, Y:-8.29, Z:-4.42 [[ 9.99933554e-01 7.70082522e-03 8.57818409e-03 2.15339395e+02] [-7.69392528e-03 9.99970051e-01 -8.37069910e-04 -8.29132669e+00] [-8.58437331e-03 7.71014382e-04 9.99962856e-01 -4.41520555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59800114499998 meters 0.08534807740065957 Centerline is valid? [True, True] Translation: X:215.40, Y:-8.30, Z:-4.42 [[ 9.99915646e-01 9.51184581e-03 8.84454536e-03 2.15398749e+02] [-9.50450831e-03 9.99954452e-01 -8.71271911e-04 -8.30072349e+00] [-8.85242991e-03 7.87135361e-04 9.99960507e-01 -4.41965081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.658001145 meters 0.08062850256488799 Centerline is valid? [True, True] Translation: X:215.46, Y:-8.29, Z:-4.42 [[ 9.99852454e-01 1.52020889e-02 7.99792146e-03 2.15460314e+02] [-1.51962713e-02 9.99884220e-01 -7.87654409e-04 -8.29296271e+00] [-8.00896945e-03 6.65999609e-04 9.99967706e-01 -4.42034410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.718001145 meters 0.07925240747410264 Centerline is valid? [True, True] Translation: X:215.52, Y:-8.29, Z:-4.42 [[ 9.99736941e-01 2.14266769e-02 8.18208877e-03 2.15520267e+02] [-2.14207888e-02 9.99770223e-01 -8.06603406e-04 -8.28925672e+00] [-8.19749154e-03 6.31124426e-04 9.99966201e-01 -4.42307214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.778001145 meters 0.0783670871421163 Centerline is valid? [True, True] Translation: X:215.58, Y:-8.29, Z:-4.43 [[ 9.99664561e-01 2.45560727e-02 8.23198992e-03 2.15581310e+02] [-2.45502231e-02 9.99698269e-01 -8.10910682e-04 -8.28881633e+00] [-8.24941886e-03 6.08541481e-04 9.99965788e-01 -4.42524918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.838001145 meters 0.07672591132153925 Centerline is valid? [True, True] Translation: X:215.64, Y:-8.29, Z:-4.42 [[ 9.99653094e-01 2.48213551e-02 8.80866733e-03 2.15640934e+02] [-2.48146537e-02 9.99691691e-01 -8.69273885e-04 -8.28554343e+00] [-8.82752810e-03 6.50388300e-04 9.99960825e-01 -4.42486494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.898001145 meters 0.07682286630306219 Centerline is valid? [True, True] Translation: X:215.70, Y:-8.29, Z:-4.43 [[ 9.99688382e-01 2.36191535e-02 8.07929528e-03 2.15700052e+02] [-2.36134831e-02 9.99720846e-01 -7.96533127e-04 -8.28852782e+00] [-8.09585335e-03 6.05504610e-04 9.99967045e-01 -4.42770779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.958001145 meters 0.08035102343640435 Centerline is valid? [True, True] Translation: X:215.76, Y:-8.30, Z:-4.43 [[ 9.99781538e-01 1.95296064e-02 7.44787956e-03 2.15758629e+02] [-1.95246912e-02 9.99809107e-01 -7.32084152e-04 -8.29507111e+00] [-7.46075512e-03 5.86506670e-04 9.99971996e-01 -4.43096937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.018001145 meters 0.07859277466296508 Centerline is valid? [True, True] Translation: X:215.82, Y:-8.29, Z:-4.43 [[ 9.99831379e-01 1.70327758e-02 6.86273938e-03 2.15818795e+02] [-1.70285359e-02 9.99854776e-01 -6.75774698e-04 -8.29412586e+00] [-6.87325307e-03 5.58798344e-04 9.99976223e-01 -4.43292148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.078001145 meters 0.08146801715640832 Centerline is valid? [True, True] Translation: X:215.88, Y:-8.30, Z:-4.44 [[ 9.99853337e-01 1.56209821e-02 7.02063155e-03 2.15876566e+02] [-1.56165017e-02 9.99877815e-01 -6.92548318e-04 -8.30150895e+00] [-7.03059202e-03 5.82809043e-04 9.99975115e-01 -4.43596158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.138001145 meters 0.0844353860812778 Centerline is valid? [True, True] Translation: X:215.93, Y:-8.31, Z:-4.44 [[ 9.99859063e-01 1.48451336e-02 7.84070768e-03 2.15934123e+02] [-1.48395223e-02 9.99889589e-01 -7.73358502e-04 -8.30638349e+00] [-7.85132259e-03 6.56897151e-04 9.99968962e-01 -4.43812041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.19800114499998 meters 0.08661424962037113 Centerline is valid? [True, True] Translation: X:215.99, Y:-8.31, Z:-4.44 [[ 9.99872809e-01 1.35001608e-02 8.49180319e-03 2.15992775e+02] [-1.34935496e-02 9.99908609e-01 -8.35357942e-04 -8.31205513e+00] [-8.50230458e-03 7.20667124e-04 9.99963595e-01 -4.44145096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25800114499998 meters 0.08351941931424241 Centerline is valid? [True, True] Translation: X:216.05, Y:-8.31, Z:-4.44 [[ 9.99887459e-01 1.23324717e-02 8.54284297e-03 2.16052863e+02] [-1.23257454e-02 9.99923683e-01 -8.39575886e-04 -8.30979046e+00] [-8.55254504e-03 7.34184492e-04 9.99963157e-01 -4.44227678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31800114499998 meters 0.08481098748387929 Centerline is valid? [True, True] Translation: X:216.11, Y:-8.31, Z:-4.44 [[ 9.99893341e-01 1.09077332e-02 9.71226837e-03 2.16112499e+02] [-1.08989773e-02 9.99940149e-01 -9.54007291e-04 -8.31406137e+00] [-9.72209314e-03 8.48051746e-04 9.99952380e-01 -4.44277669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37800114499998 meters 0.08490495234955468 Centerline is valid? [True, True] Translation: X:216.17, Y:-8.32, Z:-4.44 [[ 9.99894026e-01 9.98654462e-03 1.05927258e-02 2.16172624e+02] [-9.97609126e-03 9.99949698e-01 -1.03922473e-03 -8.31822073e+00] [-1.06025712e-02 9.33440595e-04 9.99943355e-01 -4.44394499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.438001145 meters 0.08588947432095424 Centerline is valid? [True, True] Translation: X:216.23, Y:-8.32, Z:-4.45 [[ 9.99895236e-01 9.68427476e-03 1.07579135e-02 2.16233180e+02] [-9.67348402e-03 9.99952655e-01 -1.05463541e-03 -8.32491053e+00] [-1.07676176e-02 9.50458419e-04 9.99941576e-01 -4.44585714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.498001145 meters 0.09388424610823445 Centerline is valid? [True, True] Translation: X:216.29, Y:-8.34, Z:-4.45 [[ 9.99897255e-01 1.00560112e-02 1.02154991e-02 2.16292474e+02] [-1.00463426e-02 9.99949037e-01 -9.97338216e-04 -8.34345902e+00] [-1.02250077e-02 8.94607341e-04 9.99947323e-01 -4.45262741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.558001145 meters 0.08726773389251942 Centerline is valid? [True, True] Translation: X:216.35, Y:-8.34, Z:-4.45 [[ 9.99890577e-01 1.10310703e-02 9.85642825e-03 2.16353691e+02] [-1.10220455e-02 9.99938785e-01 -9.69477657e-04 -8.33767598e+00] [-9.86651927e-03 8.60733573e-04 9.99950954e-01 -4.45254956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.618001145 meters 0.09197515178838704 Centerline is valid? [True, True] Translation: X:216.41, Y:-8.35, Z:-4.46 [[ 9.99845297e-01 1.54593529e-02 8.38987579e-03 2.16412144e+02] [-1.54529650e-02 9.99880255e-01 -8.25680109e-04 -8.35016277e+00] [-8.40163563e-03 6.95903917e-04 9.99964463e-01 -4.45947659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.678001145 meters 0.08178668692479311 Centerline is valid? [True, True] Translation: X:216.47, Y:-8.34, Z:-4.46 [[ 9.99749285e-01 2.04236146e-02 9.17839508e-03 2.16474603e+02] [-2.04161831e-02 9.99791161e-01 -9.02654725e-04 -8.33673707e+00] [-9.19491374e-03 7.15040622e-04 9.99957470e-01 -4.45623738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.738001145 meters 0.0749193744951554 Centerline is valid? [True, True] Translation: X:216.54, Y:-8.33, Z:-4.45 [[ 9.99535035e-01 2.91774981e-02 8.85364541e-03 2.16536134e+02] [-2.91709255e-02 9.99574059e-01 -8.70617390e-04 -8.32695618e+00] [-8.87527672e-03 6.11943553e-04 9.99960427e-01 -4.45497071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.798001145 meters 0.07563240280543035 Centerline is valid? [True, True] Translation: X:216.59, Y:-8.33, Z:-4.46 [[ 9.99354768e-01 3.45449552e-02 9.83327763e-03 2.16594481e+02] [-3.45370944e-02 9.99402948e-01 -9.68146148e-04 -8.33301845e+00] [-9.86085121e-03 6.27908631e-04 9.99951183e-01 -4.45858679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.858001145 meters 0.07446576183885657 Centerline is valid? [True, True] Translation: X:216.65, Y:-8.33, Z:-4.46 [[ 9.99226079e-01 3.74262513e-02 1.21044555e-02 2.16654843e+02] [-3.74145725e-02 9.99299121e-01 -1.18992553e-03 -8.33444879e+00] [-1.21405062e-02 7.36121598e-04 9.99926030e-01 -4.45746910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91800114499998 meters 0.07340617136214822 Centerline is valid? [True, True] Translation: X:216.71, Y:-8.34, Z:-4.46 [[ 9.99214318e-01 3.75386175e-02 1.27121190e-02 2.16713909e+02] [-3.75257293e-02 9.99294879e-01 -1.25095018e-03 -8.33872075e+00] [-1.27501143e-02 7.72935796e-04 9.99918415e-01 -4.45902080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97800114499998 meters 0.07362838520249135 Centerline is valid? [True, True] Translation: X:216.77, Y:-8.35, Z:-4.46 [[ 9.99277945e-01 3.58002051e-02 1.27253655e-02 2.16772631e+02] [-3.57871649e-02 9.99358651e-01 -1.25105181e-03 -8.34616072e+00] [-1.27619920e-02 7.94743731e-04 9.99918247e-01 -4.46118075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03800114499998 meters 0.07497956394035467 Centerline is valid? [True, True] Translation: X:216.83, Y:-8.35, Z:-4.46 [[ 9.99332174e-01 3.42280242e-02 1.27924892e-02 2.16831071e+02] [-3.42147262e-02 9.99413714e-01 -1.25699635e-03 -8.35479610e+00] [-1.28280136e-02 8.18465381e-04 9.99917383e-01 -4.46387510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09800114499998 meters 0.07528382570329045 Centerline is valid? [True, True] Translation: X:216.89, Y:-8.36, Z:-4.47 [[ 9.99415837e-01 3.19576055e-02 1.21118521e-02 2.16890355e+02] [-3.19455338e-02 9.99488904e-01 -1.18888877e-03 -8.36250159e+00] [-1.21436559e-02 8.01274685e-04 9.99925942e-01 -4.46639476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.158001145 meters 0.0756658700846984 Centerline is valid? [True, True] Translation: X:216.95, Y:-8.37, Z:-4.47 [[ 9.99437057e-01 3.15384361e-02 1.14409482e-02 2.16948750e+02] [-3.15276264e-02 9.99502249e-01 -1.12399961e-03 -8.37046585e+00] [-1.14707026e-02 7.62660927e-04 9.99933918e-01 -4.46880358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.218001145 meters 0.07390702401152774 Centerline is valid? [True, True] Translation: X:217.01, Y:-8.37, Z:-4.47 [[ 9.99366686e-01 3.32754483e-02 1.26083519e-02 2.17008823e+02] [-3.32624845e-02 9.99445886e-01 -1.23655760e-03 -8.37321914e+00] [-1.26425124e-02 8.16389358e-04 9.99919747e-01 -4.46914352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.278001145 meters 0.07407242319122355 Centerline is valid? [True, True] Translation: X:217.07, Y:-8.38, Z:-4.47 [[ 9.99221868e-01 3.70437962e-02 1.35430795e-02 2.17068010e+02] [-3.70291864e-02 9.99313302e-01 -1.32801872e-03 -8.38015902e+00] [-1.35829743e-02 8.25496133e-04 9.99907406e-01 -4.47170704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.338001145 meters 0.07232554736924143 Centerline is valid? [True, True] Translation: X:217.13, Y:-8.38, Z:-4.47 [[ 9.99081505e-01 4.06612014e-02 1.35208716e-02 2.17128224e+02] [-4.06469770e-02 9.99172691e-01 -1.32529326e-03 -8.38182275e+00] [-1.35635737e-02 7.74493422e-04 9.99907711e-01 -4.47296537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.398001145 meters 0.06824619420237571 Centerline is valid? [True, True] Translation: X:217.19, Y:-8.38, Z:-4.47 [[ 9.98770506e-01 4.70232693e-02 1.56935495e-02 2.17188926e+02] [-4.70048837e-02 9.98893475e-01 -1.53855476e-03 -8.37764007e+00] [-1.57485321e-02 7.98989649e-04 9.99875665e-01 -4.47008508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.458001145 meters 0.06674685260881728 Centerline is valid? [True, True] Translation: X:217.25, Y:-8.38, Z:-4.47 [[ 9.98572474e-01 5.12653264e-02 1.49960432e-02 2.17249255e+02] [-5.12490203e-02 9.98684824e-01 -1.46989006e-03 -8.38110468e+00] [-1.50516752e-02 6.99259231e-04 9.99886473e-01 -4.47202910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.518001145 meters 0.06596945310972846 Centerline is valid? [True, True] Translation: X:217.31, Y:-8.38, Z:-4.47 [[ 9.98414888e-01 5.44772238e-02 1.41401498e-02 2.17308888e+02] [-5.44630537e-02 9.98514825e-01 -1.38555823e-03 -8.38418899e+00] [-1.41946306e-02 6.13246228e-04 9.99899063e-01 -4.47476701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.578001145 meters 0.06428305608738172 Centerline is valid? [True, True] Translation: X:217.37, Y:-8.39, Z:-4.48 [[ 9.98103034e-01 6.03569225e-02 1.21398579e-02 2.17369272e+02] [-6.03469195e-02 9.98176756e-01 -1.18895186e-03 -8.38651505e+00] [-1.21894855e-02 4.54093428e-04 9.99925602e-01 -4.47855859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.638001145 meters 0.06356257362445504 Centerline is valid? [True, True] Translation: X:217.43, Y:-8.39, Z:-4.48 [[ 9.97953932e-01 6.29545001e-02 1.11660369e-02 2.17428453e+02] [-6.29461509e-02 9.98016321e-01 -1.09795798e-03 -8.38942528e+00] [-1.12130085e-02 3.92852440e-04 9.99937055e-01 -4.47955936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.69800114499998 meters 0.06355934721451305 Centerline is valid? [True, True] Translation: X:217.49, Y:-8.40, Z:-4.48 [[ 9.97800906e-01 6.55135006e-02 1.00664477e-02 2.17486227e+02] [-6.55068563e-02 9.97851629e-01 -9.88698089e-04 -8.39534252e+00] [-1.01095943e-02 3.27102504e-04 9.99948843e-01 -4.48291721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75800114499998 meters 0.06291977414491891 Centerline is valid? [True, True] Translation: X:217.54, Y:-8.40, Z:-4.49 [[ 9.97798813e-01 6.56879926e-02 9.08935251e-03 2.17544189e+02] [-6.56825934e-02 9.97840169e-01 -8.91584650e-04 -8.40079177e+00] [-9.12828745e-03 2.92609860e-04 9.99958294e-01 -4.48529048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81800114499998 meters 0.06302869045576481 Centerline is valid? [True, True] Translation: X:217.60, Y:-8.41, Z:-4.49 [[ 9.97868000e-01 6.45570149e-02 9.58360876e-03 2.17602164e+02] [-6.45509859e-02 9.97913970e-01 -9.37406674e-04 -8.40766838e+00] [-9.62413324e-03 3.16776729e-04 9.99953637e-01 -4.48561465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87800114499998 meters 0.06371573348800527 Centerline is valid? [True, True] Translation: X:217.66, Y:-8.42, Z:-4.49 [[ 9.98054106e-01 6.12753347e-02 1.15470986e-02 2.17660280e+02] [-6.12664135e-02 9.98120815e-01 -1.12508482e-03 -8.41986367e+00] [-1.15943395e-02 4.15446201e-04 9.99932697e-01 -4.48678201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.938001145 meters 0.06458300270465693 Centerline is valid? [True, True] Translation: X:217.72, Y:-8.43, Z:-4.49 [[ 9.98295083e-01 5.72309264e-02 1.14694524e-02 2.17719514e+02] [-5.72219423e-02 9.98360865e-01 -1.11020698e-03 -8.43151296e+00] [-1.15141906e-02 4.52009824e-04 9.99933607e-01 -4.48891866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.998001145 meters 0.06667568309452165 Centerline is valid? [True, True] Translation: X:217.78, Y:-8.45, Z:-4.49 [[ 9.98602091e-01 5.14101767e-02 1.22824414e-02 2.17778513e+02] [-5.13994393e-02 9.98677468e-01 -1.18848934e-03 -8.44633111e+00] [-1.23272980e-02 5.55517334e-04 9.99923862e-01 -4.49119889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.058001145 meters 0.06784371685441835 Centerline is valid? [True, True] Translation: X:217.84, Y:-8.46, Z:-4.49 [[ 9.98780711e-01 4.80933736e-02 1.11408419e-02 2.17837611e+02] [-4.80843323e-02 9.98842698e-01 -1.07813876e-03 -8.45666209e+00] [-1.11797999e-02 5.41124251e-04 9.99937358e-01 -4.49435902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.118001145 meters 0.0672633102583947 Centerline is valid? [True, True] Translation: X:217.90, Y:-8.46, Z:-4.50 [[ 9.98892063e-01 4.59037842e-02 1.03677303e-02 2.17896370e+02] [-4.58958297e-02 9.98945727e-01 -1.00398837e-03 -8.46250795e+00] [-1.04028868e-02 5.27040433e-04 9.99945750e-01 -4.49641152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.178001145 meters 0.06791365897092799 Centerline is valid? [True, True] Translation: X:217.96, Y:-8.47, Z:-4.50 [[ 9.99027768e-01 4.32508241e-02 8.53725453e-03 2.17956116e+02] [-4.32453412e-02 9.99064141e-01 -8.25878872e-04 -8.47122371e+00] [-8.56498480e-03 4.55879441e-04 9.99963216e-01 -4.49909453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.238001145 meters 0.06846763156205582 Centerline is valid? [True, True] Translation: X:218.02, Y:-8.48, Z:-4.50 [[ 9.99087486e-01 4.19628712e-02 7.95694576e-03 2.18015617e+02] [-4.19580661e-02 9.99119076e-01 -7.69933761e-04 -8.47865180e+00] [-7.98224493e-03 4.35373129e-04 9.99968047e-01 -4.50193447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.298001145 meters 0.06833550208336421 Centerline is valid? [True, True] Translation: X:218.07, Y:-8.48, Z:-4.50 [[ 9.99092218e-01 4.19976180e-02 7.13719170e-03 2.18073951e+02] [-4.19937472e-02 9.99117634e-01 -6.91403999e-04 -8.48449366e+00] [-7.15993141e-03 3.91058931e-04 9.99974291e-01 -4.50446199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.358001145 meters 0.06938921660604509 Centerline is valid? [True, True] Translation: X:218.13, Y:-8.49, Z:-4.51 [[ 9.99081776e-01 4.22115537e-02 7.33419186e-03 2.18130895e+02] [-4.22074730e-02 9.99108615e-01 -7.10361085e-04 -8.49253213e+00] [-7.35763972e-03 4.00151109e-04 9.99972852e-01 -4.50768784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41800114499998 meters 0.06973303872086288 Centerline is valid? [True, True] Translation: X:218.19, Y:-8.50, Z:-4.51 [[ 9.99087231e-01 4.17896682e-02 8.85032155e-03 2.18189463e+02] [-4.17837252e-02 9.99126313e-01 -8.55418869e-04 -8.49830436e+00] [-8.87833681e-03 4.84838665e-04 9.99960469e-01 -4.50867040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47800114499998 meters 0.06931129903266693 Centerline is valid? [True, True] Translation: X:218.25, Y:-8.50, Z:-4.51 [[ 9.99182283e-01 3.94937839e-02 8.66067320e-03 2.18248899e+02] [-3.94880183e-02 9.99219695e-01 -8.35782490e-04 -8.50421518e+00] [-8.68692344e-03 4.93106234e-04 9.99962146e-01 -4.50928175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53800114499998 meters 0.07278137963379655 Centerline is valid? [True, True] Translation: X:218.31, Y:-8.52, Z:-4.51 [[ 9.99397742e-01 3.36210234e-02 8.58948981e-03 2.18307387e+02] [-3.36151423e-02 9.99434508e-01 -8.28183209e-04 -8.51855474e+00] [-8.61247689e-03 5.38947508e-04 9.99962767e-01 -4.51340974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59800114499998 meters 0.07751570105062404 Centerline is valid? [True, True] Translation: X:218.37, Y:-8.54, Z:-4.52 [[ 9.99529402e-01 2.93663360e-02 8.86522177e-03 2.18365011e+02] [-2.93599201e-02 9.99568541e-01 -8.53024564e-04 -8.53508149e+00] [-8.88644699e-03 5.92340930e-04 9.99960339e-01 -4.51790476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.658001145 meters 0.07923650363430784 Centerline is valid? [True, True] Translation: X:218.42, Y:-8.55, Z:-4.52 [[ 9.99652250e-01 2.46399106e-02 9.39435832e-03 2.18424986e+02] [-2.46324820e-02 9.99696164e-01 -9.05655190e-04 -8.54600408e+00] [-9.41381924e-03 6.73933886e-04 9.99955462e-01 -4.51973192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.718001145 meters 0.08101151796140715 Centerline is valid? [True, True] Translation: X:218.48, Y:-8.55, Z:-4.52 [[ 9.99711068e-01 2.26300260e-02 8.10327667e-03 2.18484434e+02] [-2.26244289e-02 9.99743729e-01 -7.81738537e-04 -8.55484250e+00] [-8.11889080e-03 5.98180661e-04 9.99966862e-01 -4.52349964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.778001145 meters 0.07833887658177008 Centerline is valid? [True, True] Translation: X:218.54, Y:-8.55, Z:-4.52 [[ 9.99714524e-01 2.26005517e-02 7.75150687e-03 2.18544121e+02] [-2.25954207e-02 9.99744410e-01 -7.48884575e-04 -8.55328969e+00] [-7.76645087e-03 5.73522228e-04 9.99969676e-01 -4.52329868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.838001145 meters 0.08210934787003182 Centerline is valid? [True, True] Translation: X:218.60, Y:-8.57, Z:-4.53 [[ 9.99696875e-01 2.32818688e-02 8.00701973e-03 2.18601244e+02] [-2.32764207e-02 9.99728769e-01 -7.72936521e-04 -8.56552110e+00] [-8.02284338e-03 5.86327464e-04 9.99967645e-01 -4.52848076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.898001145 meters 0.07839199457362166 Centerline is valid? [True, True] Translation: X:218.66, Y:-8.56, Z:-4.53 [[ 9.99653196e-01 2.42818745e-02 1.01920950e-02 2.18661210e+02] [-2.42731196e-02 9.99704882e-01 -9.81831680e-04 -8.56399923e+00] [-1.02129278e-02 7.34097237e-04 9.99947577e-01 -4.52638178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.958001145 meters 0.07719226003540301 Centerline is valid? [True, True] Translation: X:218.72, Y:-8.57, Z:-4.53 [[ 9.99579676e-01 2.69924039e-02 1.05774429e-02 2.18721590e+02] [-2.69831337e-02 9.99635370e-01 -1.01817072e-03 -8.56500510e+00] [-1.06010689e-02 7.32330203e-04 9.99943539e-01 -4.52691491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.018001145 meters 0.07422176183639823 Centerline is valid? [True, True] Translation: X:218.78, Y:-8.56, Z:-4.53 [[ 9.99361295e-01 3.37911036e-02 1.16259995e-02 2.18782271e+02] [-3.37803685e-02 9.99428655e-01 -1.11856047e-03 -8.56285130e+00] [-1.16571544e-02 7.25115490e-04 9.99931790e-01 -4.52796961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.078001145 meters 0.07126670901517876 Centerline is valid? [True, True] Translation: X:218.84, Y:-8.56, Z:-4.53 [[ 9.99174548e-01 3.84828819e-02 1.30111733e-02 2.18843056e+02] [-3.84698329e-02 9.99258978e-01 -1.25179322e-03 -8.56251372e+00] [-1.30497043e-02 7.50222262e-04 9.99914568e-01 -4.52947633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.138001145 meters 0.06977118051998224 Centerline is valid? [True, True] Translation: X:218.90, Y:-8.56, Z:-4.53 [[ 9.98996077e-01 4.30544231e-02 1.23755322e-02 2.18903393e+02] [-4.30429680e-02 9.99072513e-01 -1.19061289e-03 -8.56322922e+00] [-1.24153152e-02 6.56737969e-04 9.99922711e-01 -4.53181923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.19800114499998 meters 0.06900899110495053 Centerline is valid? [True, True] Translation: X:218.96, Y:-8.57, Z:-4.54 [[ 9.98939693e-01 4.45969758e-02 1.14279867e-02 2.18962478e+02] [-4.45872541e-02 9.99004884e-01 -1.10419468e-03 -8.56657083e+00] [-1.14658583e-02 5.93481345e-04 9.99934089e-01 -4.53530137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25800114499998 meters 0.06792809989769136 Centerline is valid? [True, True] Translation: X:219.02, Y:-8.57, Z:-4.54 [[ 9.98807672e-01 4.73475185e-02 1.18931408e-02 2.19022420e+02] [-4.73372697e-02 9.98878310e-01 -1.14192803e-03 -8.57266956e+00] [-1.19338678e-02 5.77577666e-04 9.99928622e-01 -4.53936336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31800114499998 meters 0.06720654095402097 Centerline is valid? [True, True] Translation: X:219.08, Y:-8.58, Z:-4.54 [[ 9.98670524e-01 4.99911432e-02 1.25726090e-02 2.19082368e+02] [-4.99799020e-02 9.98749494e-01 -1.20692341e-03 -8.57642989e+00] [-1.26172224e-02 5.76941070e-04 9.99920233e-01 -4.53998090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37800114499998 meters 0.06596636777892584 Centerline is valid? [True, True] Translation: X:219.14, Y:-8.58, Z:-4.54 [[ 9.98396229e-01 5.51742029e-02 1.26797776e-02 2.19143188e+02] [-5.51631920e-02 9.98476611e-01 -1.21675209e-03 -8.57701982e+00] [-1.27275947e-02 5.15343688e-04 9.99918868e-01 -4.54034528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.438001145 meters 0.06606925098901743 Centerline is valid? [True, True] Translation: X:219.20, Y:-8.58, Z:-4.55 [[ 9.98214631e-01 5.84893487e-02 1.21056701e-02 2.19201606e+02] [-5.84795493e-02 9.98287930e-01 -1.16220178e-03 -8.58394446e+00] [-1.21529207e-02 4.52192694e-04 9.99926048e-01 -4.54526255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.498001145 meters 0.06460592473898703 Centerline is valid? [True, True] Translation: X:219.26, Y:-8.59, Z:-4.55 [[ 9.98121896e-01 6.01091421e-02 1.18140750e-02 2.19260825e+02] [-6.00998796e-02 9.98191720e-01 -1.13780872e-03 -8.58674719e+00] [-1.18611046e-02 4.25647312e-04 9.99929564e-01 -4.54711605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.558001145 meters 0.06436337378975801 Centerline is valid? [True, True] Translation: X:219.32, Y:-8.59, Z:-4.55 [[ 9.98127712e-01 5.99079933e-02 1.23330248e-02 2.19318852e+02] [-5.98979146e-02 9.98203804e-01 -1.18530828e-03 -8.59202012e+00] [-1.23818817e-02 4.44366579e-04 9.99923243e-01 -4.54725852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.618001145 meters 0.0645546645226097 Centerline is valid? [True, True] Translation: X:219.38, Y:-8.60, Z:-4.55 [[ 9.98202582e-01 5.84421098e-02 1.32711838e-02 2.19376763e+02] [-5.84303581e-02 9.98290677e-01 -1.27185388e-03 -8.60139539e+00] [-1.33228289e-02 4.94127811e-04 9.99911125e-01 -4.54870914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.678001145 meters 0.06426985635014835 Centerline is valid? [True, True] Translation: X:219.44, Y:-8.61, Z:-4.55 [[ 9.98180484e-01 5.84812020e-02 1.46857404e-02 2.19435001e+02] [-5.84668764e-02 9.98288363e-01 -1.40329704e-03 -8.61211860e+00] [-1.47426702e-02 5.42114355e-04 9.99891174e-01 -4.55041469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.738001145 meters 0.06383972085549575 Centerline is valid? [True, True] Translation: X:219.49, Y:-8.62, Z:-4.55 [[ 9.98139514e-01 5.89293280e-02 1.56475323e-02 2.19493492e+02] [-5.89131819e-02 9.98261996e-01 -1.49121697e-03 -8.61714320e+00] [-1.57082133e-02 5.66596666e-04 9.99876458e-01 -4.55118172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.798001145 meters 0.06316242073493629 Centerline is valid? [True, True] Translation: X:219.55, Y:-8.62, Z:-4.55 [[ 9.98023777e-01 6.11023263e-02 1.46644343e-02 2.19551757e+02] [-6.10884208e-02 9.98131384e-01 -1.39473312e-03 -8.62218155e+00] [-1.47222535e-02 4.96149684e-04 9.99891499e-01 -4.55329085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.858001145 meters 0.06328813524992265 Centerline is valid? [True, True] Translation: X:219.61, Y:-8.63, Z:-4.56 [[ 9.97893597e-01 6.31609905e-02 1.48006293e-02 2.19608931e+02] [-6.31471476e-02 9.98003244e-01 -1.40123835e-03 -8.62977781e+00] [-1.48595797e-02 4.63669257e-04 9.99889483e-01 -4.55703631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91800114499998 meters 0.06238512853456999 Centerline is valid? [True, True] Translation: X:219.67, Y:-8.63, Z:-4.56 [[ 9.97641335e-01 6.69875261e-02 1.49812778e-02 2.19669028e+02] [-6.69738119e-02 9.97753729e-01 -1.41582045e-03 -8.63458915e+00] [-1.50424681e-02 4.09127719e-04 9.99886772e-01 -4.55876340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97800114499998 meters 0.06210939413738095 Centerline is valid? [True, True] Translation: X:219.73, Y:-8.64, Z:-4.56 [[ 9.97385215e-01 7.09644514e-02 1.36667560e-02 2.19727995e+02] [-7.09533595e-02 9.97478793e-01 -1.29537927e-03 -8.63848709e+00] [-1.37242252e-02 3.22289879e-04 9.99905766e-01 -4.56232914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03800114499998 meters 0.06213777633943495 Centerline is valid? [True, True] Translation: X:219.78, Y:-8.65, Z:-4.57 [[ 9.97307274e-01 7.23262181e-02 1.21292692e-02 2.19784189e+02] [-7.23176299e-02 9.97380994e-01 -1.14574205e-03 -8.64631621e+00] [-1.21803697e-02 2.65496879e-04 9.99925781e-01 -4.56710058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09800114499998 meters 0.061918576416411186 Centerline is valid? [True, True] Translation: X:219.84, Y:-8.65, Z:-4.57 [[ 9.97282672e-01 7.26332285e-02 1.23160584e-02 2.19842708e+02] [-7.26243848e-02 9.97358683e-01 -1.16437423e-03 -8.65466165e+00] [-1.23681000e-02 2.66764084e-04 9.99923477e-01 -4.56964256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.158001145 meters 0.06205931677648953 Centerline is valid? [True, True] Translation: X:219.90, Y:-8.66, Z:-4.57 [[ 9.97285958e-01 7.26053875e-02 1.22137181e-02 2.19898633e+02] [-7.25967509e-02 9.97360712e-01 -1.14958076e-03 -8.66287751e+00] [-1.22649483e-02 2.59784501e-04 9.99924749e-01 -4.57231158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.218001145 meters 0.062009131936579975 Centerline is valid? [True, True] Translation: X:219.96, Y:-8.67, Z:-4.57 [[ 9.97307145e-01 7.23754840e-02 1.18426114e-02 2.19956586e+02] [-7.23673706e-02 9.97377424e-01 -1.11275838e-03 -8.66905353e+00] [-1.18920896e-02 2.52743236e-04 9.99929255e-01 -4.57371166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.278001145 meters 0.0624530706614466 Centerline is valid? [True, True] Translation: X:220.01, Y:-8.68, Z:-4.58 [[ 9.97458442e-01 7.03892825e-02 1.10456447e-02 2.20012672e+02] [-7.03821066e-02 9.97519565e-01 -1.03752264e-03 -8.68292248e+00] [-1.10912772e-02 2.57469972e-04 9.99938457e-01 -4.57843178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.338001145 meters 0.0634949381877128 Centerline is valid? [True, True] Translation: X:220.07, Y:-8.70, Z:-4.58 [[ 9.97821645e-01 6.49891466e-02 1.13303373e-02 2.20070062e+02] [-6.49812674e-02 9.97885918e-01 -1.06255407e-03 -8.70107494e+00] [-1.13754385e-02 3.23979770e-04 9.99935245e-01 -4.58171017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.398001145 meters 0.06230694815565186 Centerline is valid? [True, True] Translation: X:220.13, Y:-8.71, Z:-4.58 [[ 9.98082668e-01 6.10843639e-02 9.98437615e-03 2.20129031e+02] [-6.10780524e-02 9.98132554e-01 -9.36121213e-04 -8.70546546e+00] [-1.00229132e-02 3.24500108e-04 9.99949717e-01 -4.57821875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.458001145 meters 0.06285805520541365 Centerline is valid? [True, True] Translation: X:220.19, Y:-8.72, Z:-4.58 [[ 9.98213742e-01 5.90343155e-02 9.18012861e-03 2.20187281e+02] [-5.90289030e-02 9.98255904e-01 -8.59668079e-04 -8.71761368e+00] [-9.21486750e-03 3.16239569e-04 9.99957492e-01 -4.58173424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.518001145 meters 0.06663711585651531 Centerline is valid? [True, True] Translation: X:220.24, Y:-8.74, Z:-4.59 [[ 9.98430269e-01 5.51539822e-02 9.74863040e-03 2.20243416e+02] [-5.51476947e-02 9.98477791e-01 -9.12814783e-04 -8.74234195e+00] [-9.78413631e-03 3.73767417e-04 9.99952064e-01 -4.59075851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.578001145 meters 0.06503052598394352 Centerline is valid? [True, True] Translation: X:220.30, Y:-8.75, Z:-4.59 [[ 9.98556993e-01 5.27589279e-02 1.00213728e-02 2.20303471e+02] [-5.27521803e-02 9.98607195e-01 -9.36645090e-04 -8.74578939e+00] [-1.00568314e-02 4.06644239e-04 9.99949346e-01 -4.58776800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.638001145 meters 0.06962769977361896 Centerline is valid? [True, True] Translation: X:220.36, Y:-8.77, Z:-4.60 [[ 9.98722983e-01 4.95996119e-02 9.60629627e-03 2.20360116e+02] [-4.95932649e-02 9.98769093e-01 -8.97947554e-04 -8.76640696e+00] [-9.63900967e-03 4.20393265e-04 9.99953455e-01 -4.59623332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69800114499998 meters 0.06672534099877692 Centerline is valid? [True, True] Translation: X:220.42, Y:-8.77, Z:-4.59 [[ 9.98842498e-01 4.72919308e-02 8.78279500e-03 2.20420244e+02] [-4.72865421e-02 9.98881029e-01 -8.20322910e-04 -8.76840953e+00] [-8.81176196e-03 4.04065379e-04 9.99961094e-01 -4.59336222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75800114499998 meters 0.06582015450979657 Centerline is valid? [True, True] Translation: X:220.48, Y:-8.77, Z:-4.59 [[ 9.98917964e-01 4.54999281e-02 9.62592042e-03 2.20479120e+02] [-4.54933678e-02 9.98964236e-01 -8.99500261e-04 -8.77254737e+00] [-9.65687743e-03 4.60611431e-04 9.99953265e-01 -4.59290379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81800114499998 meters 0.06576487189448776 Centerline is valid? [True, True] Translation: X:220.54, Y:-8.78, Z:-4.60 [[ 9.99014939e-01 4.35076812e-02 8.73120562e-03 2.20538245e+02] [-4.35022183e-02 9.99052998e-01 -8.14719550e-04 -8.77998828e+00] [-8.75838371e-03 4.34090189e-04 9.99961550e-01 -4.59504587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87800114499998 meters 0.06772457279858723 Centerline is valid? [True, True] Translation: X:220.60, Y:-8.79, Z:-4.60 [[ 9.99047325e-01 4.28080730e-02 8.48006649e-03 2.20595074e+02] [-4.28028861e-02 9.99083222e-01 -7.92287711e-04 -8.79103942e+00] [-8.50620847e-03 4.28561598e-04 9.99963730e-01 -4.59960275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.938001145 meters 0.06781609673221697 Centerline is valid? [True, True] Translation: X:220.66, Y:-8.80, Z:-4.60 [[ 9.99152440e-01 4.04784881e-02 7.47620984e-03 2.20655233e+02] [-4.04744100e-02 9.99180333e-01 -6.96035292e-04 -8.79671717e+00] [-7.49825629e-03 3.92850178e-04 9.99971811e-01 -4.60160772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.998001145 meters 0.0676655371445809 Centerline is valid? [True, True] Translation: X:220.71, Y:-8.80, Z:-4.60 [[ 9.99228216e-01 3.86885221e-02 6.79483144e-03 2.20714142e+02] [-3.86851031e-02 9.99251250e-01 -6.33940278e-04 -8.80208097e+00] [-6.81427002e-03 3.70592259e-04 9.99976714e-01 -4.60338976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.058001145 meters 0.06944957553093965 Centerline is valid? [True, True] Translation: X:220.77, Y:-8.81, Z:-4.61 [[ 9.99395460e-01 3.42686998e-02 5.86263144e-03 2.20773636e+02] [-3.42660866e-02 9.99412596e-01 -5.45645804e-04 -8.81218613e+00] [-5.87788628e-03 3.44426503e-04 9.99982666e-01 -4.60727459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.118001145 meters 0.06934894501824809 Centerline is valid? [True, True] Translation: X:220.83, Y:-8.82, Z:-4.61 [[ 9.99501130e-01 3.12738766e-02 4.40862311e-03 2.20833538e+02] [-3.12723673e-02 9.99510815e-01 -4.10904307e-04 -8.81609698e+00] [-4.41931705e-03 2.72831238e-04 9.99990198e-01 -4.60936796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.178001145 meters 0.06969368016020702 Centerline is valid? [True, True] Translation: X:220.89, Y:-8.82, Z:-4.61 [[ 9.99623264e-01 2.70343334e-02 4.74078026e-03 2.20894067e+02] [-2.70325442e-02 9.99634457e-01 -4.41074395e-04 -8.81949390e+00] [-4.75097145e-03 3.12752874e-04 9.99988665e-01 -4.61048556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.238001145 meters 0.06983025289911265 Centerline is valid? [True, True] Translation: X:220.95, Y:-8.82, Z:-4.61 [[ 9.99662386e-01 2.53278024e-02 5.79797627e-03 2.20953489e+02] [-2.53250928e-02 9.99679122e-01 -5.40291772e-04 -8.82393387e+00] [-5.80980023e-03 3.93275075e-04 9.99983046e-01 -4.61202237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.298001145 meters 0.07122816676200247 Centerline is valid? [True, True] Translation: X:221.01, Y:-8.83, Z:-4.62 [[ 9.99724766e-01 2.27289302e-02 5.81268796e-03 2.21013668e+02] [-2.27261699e-02 9.99741581e-01 -5.40503998e-04 -8.82982243e+00] [-5.82347093e-03 4.08255099e-04 9.99982960e-01 -4.61505002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.358001145 meters 0.07249397824665862 Centerline is valid? [True, True] Translation: X:221.07, Y:-8.83, Z:-4.62 [[ 9.99774773e-01 2.06893076e-02 4.72815997e-03 2.21073217e+02] [-2.06874562e-02 9.99785895e-01 -4.40144571e-04 -8.83497180e+00] [-4.73625393e-03 3.42231836e-04 9.99988725e-01 -4.61843733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41800114499998 meters 0.07423835979659196 Centerline is valid? [True, True] Translation: X:221.13, Y:-8.84, Z:-4.62 [[ 9.99805575e-01 1.89969727e-02 5.28464465e-03 2.21131724e+02] [-1.89946323e-02 9.99819464e-01 -4.92729387e-04 -8.84193423e+00] [-5.29305095e-03 3.92253706e-04 9.99985915e-01 -4.62215991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47800114499998 meters 0.07412332837869472 Centerline is valid? [True, True] Translation: X:221.19, Y:-8.84, Z:-4.63 [[ 9.99821732e-01 1.82067577e-02 5.00190862e-03 2.21190603e+02] [-1.82046494e-02 9.99834173e-01 -4.66707885e-04 -8.84337534e+00] [-5.00957640e-03 3.75566693e-04 9.99987381e-01 -4.62530795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53800114499998 meters 0.07446179601711325 Centerline is valid? [True, True] Translation: X:221.25, Y:-8.85, Z:-4.63 [[ 9.99845415e-01 1.70723326e-02 4.20495329e-03 2.21250528e+02] [-1.70708364e-02 9.99854206e-01 -3.91451218e-04 -8.84504655e+00] [-4.21102322e-03 3.19608636e-04 9.99991083e-01 -4.62702235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59800114499998 meters 0.07587032659477386 Centerline is valid? [True, True] Translation: X:221.31, Y:-8.85, Z:-4.63 [[ 9.99886552e-01 1.42352482e-02 4.92346775e-03 2.21309845e+02] [-1.42331670e-02 9.99898599e-01 -4.57491384e-04 -8.84999422e+00] [-4.92948101e-03 3.87362943e-04 9.99987775e-01 -4.63019158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.658001145 meters 0.08009121008925237 Centerline is valid? [True, True] Translation: X:221.37, Y:-8.86, Z:-4.63 [[ 9.99923563e-01 1.10630154e-02 5.52063981e-03 2.21368344e+02] [-1.10603508e-02 9.99938701e-01 -5.12953687e-04 -8.86144766e+00] [-5.52597621e-03 4.51854265e-04 9.99984630e-01 -4.63386594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.718001145 meters 0.07842036940408123 Centerline is valid? [True, True] Translation: X:221.43, Y:-8.86, Z:-4.63 [[ 9.99951139e-01 7.15993395e-03 6.81585555e-03 2.21429517e+02] [-7.15578845e-03 9.99974197e-01 -6.32407734e-04 -8.86024000e+00] [-6.82020768e-03 5.83604013e-04 9.99976572e-01 -4.63351509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.778001145 meters 0.07945593074597947 Centerline is valid? [True, True] Translation: X:221.49, Y:-8.86, Z:-4.64 [[ 9.99959720e-01 5.40122266e-03 7.16838787e-03 2.21490147e+02] [-5.39660131e-03 9.99985218e-01 -6.63870752e-04 -8.86408311e+00] [-7.17186762e-03 6.25159080e-04 9.99974086e-01 -4.63627088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.838001145 meters 0.08390676838307909 Centerline is valid? [True, True] Translation: X:221.55, Y:-8.88, Z:-4.64 [[ 9.99965440e-01 4.49349733e-03 6.99473987e-03 2.21550037e+02] [-4.48907088e-03 9.99989714e-01 -6.48396577e-04 -8.87511918e+00] [-6.99758149e-03 6.16974285e-04 9.99975326e-01 -4.64004691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.898001145 meters 0.08425323283906352 Centerline is valid? [True, True] Translation: X:221.61, Y:-8.88, Z:-4.64 [[ 9.99974668e-01 2.54177823e-03 6.64846389e-03 2.21610769e+02] [-2.53773213e-03 9.99996590e-01 -6.16942037e-04 -8.88003198e+00] [-6.65000934e-03 6.00054388e-04 9.99977708e-01 -4.64375891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.958001145 meters 0.08650734487193265 Centerline is valid? [True, True] Translation: X:221.67, Y:-8.89, Z:-4.65 [[ 9.99978279e-01 5.39605544e-04 6.56893241e-03 2.21671177e+02] [-5.35612118e-04 9.99999671e-01 -6.09670134e-04 -8.88677794e+00] [-6.56925923e-03 6.06138491e-04 9.99978238e-01 -4.64617016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.018001145 meters 0.08435627726289044 Centerline is valid? [True, True] Translation: X:221.73, Y:-8.89, Z:-4.65 [[ 9.99967438e-01 -1.40572167e-03 7.94654187e-03 2.21732926e+02] [ 1.41162495e-03 9.99998732e-01 -7.37313732e-04 -8.88788914e+00] [-7.94549534e-03 7.48507260e-04 9.99968154e-01 -4.64628064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.078001145 meters 0.09129334782202025 Centerline is valid? [True, True] Translation: X:221.79, Y:-8.90, Z:-4.65 [[ 9.99957228e-01 -2.15244658e-03 8.99490251e-03 2.21792424e+02] [ 2.16002436e-03 9.99997320e-01 -8.32822848e-04 -8.90435704e+00] [-8.99308580e-03 8.52216435e-04 9.99959198e-01 -4.65108438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.138001145 meters 0.08732187753242203 Centerline is valid? [True, True] Translation: X:221.86, Y:-8.90, Z:-4.65 [[ 9.99956753e-01 -1.90675800e-03 9.10258171e-03 2.21855840e+02] [ 1.91452771e-03 9.99997810e-01 -8.44934622e-04 -8.90075023e+00] [-9.10095069e-03 8.62325226e-04 9.99958214e-01 -4.65025014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19800114499998 meters 0.08838381333373642 Centerline is valid? [True, True] Translation: X:221.92, Y:-8.91, Z:-4.65 [[ 9.99961288e-01 -1.62536686e-03 8.64755923e-03 2.21917724e+02] [ 1.63237756e-03 9.99998345e-01 -8.03718065e-04 -8.90730378e+00] [-8.64623858e-03 8.17803033e-04 9.99962286e-01 -4.65260703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25800114499998 meters 0.09594940250668002 Centerline is valid? [True, True] Translation: X:221.98, Y:-8.92, Z:-4.66 [[ 9.99970648e-01 -2.66668086e-03 7.18275859e-03 2.21976103e+02] [ 2.67155778e-03 9.99996207e-01 -6.69467048e-04 -8.92493232e+00] [-7.18094609e-03 6.88636552e-04 9.99973980e-01 -4.65979793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31800114499998 meters 0.0874043582086408 Centerline is valid? [True, True] Translation: X:222.04, Y:-8.92, Z:-4.66 [[ 9.99970224e-01 -2.56582486e-03 7.27790325e-03 2.22039300e+02] [ 2.57081595e-03 9.99996467e-01 -6.76513973e-04 -8.91712572e+00] [-7.27614171e-03 6.95203979e-04 9.99973287e-01 -4.65869560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37800114499998 meters 0.08775326143461457 Centerline is valid? [True, True] Translation: X:222.10, Y:-8.92, Z:-4.66 [[ 9.99971154e-01 1.60158438e-04 7.59373409e-03 2.22100113e+02] [-1.54784668e-04 9.99999737e-01 -7.08240787e-04 -8.92125092e+00] [-7.59384553e-03 7.07044964e-04 9.99970916e-01 -4.66102854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.438001145 meters 0.08202041597668462 Centerline is valid? [True, True] Translation: X:222.16, Y:-8.92, Z:-4.66 [[ 9.99958787e-01 3.06951423e-03 8.54415660e-03 2.22161315e+02] [-3.06281595e-03 9.99994992e-01 -7.96934143e-04 -8.91560717e+00] [-8.54656001e-03 7.70732120e-04 9.99963180e-01 -4.66079846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.498001145 meters 0.08581282027535936 Centerline is valid? [True, True] Translation: X:222.22, Y:-8.93, Z:-4.66 [[ 9.99943397e-01 7.34604485e-03 7.69661121e-03 2.22219919e+02] [-7.34073142e-03 9.99972798e-01 -7.18382872e-04 -8.92513139e+00] [-7.70167912e-03 6.61843454e-04 9.99970123e-01 -4.66466701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.558001145 meters 0.0826068041448407 Centerline is valid? [True, True] Translation: X:222.28, Y:-8.93, Z:-4.67 [[ 9.99940822e-01 8.47933862e-03 6.81561700e-03 2.22281411e+02] [-8.47520812e-03 9.99963883e-01 -6.34688995e-04 -8.92521106e+00] [-6.82075259e-03 5.76887663e-04 9.99976572e-01 -4.66666623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.618001145 meters 0.08222272423041938 Centerline is valid? [True, True] Translation: X:222.34, Y:-8.93, Z:-4.67 [[ 9.99936110e-01 7.60293431e-03 8.36483690e-03 2.22341293e+02] [-7.59666683e-03 9.99970840e-01 -7.80784117e-04 -8.92999906e+00] [-8.37052923e-03 7.17189354e-04 9.99964709e-01 -4.66760301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.678001145 meters 0.08263409614107135 Centerline is valid? [True, True] Translation: X:222.40, Y:-8.93, Z:-4.67 [[ 9.99924476e-01 8.51822702e-03 8.85903927e-03 2.22402266e+02] [-8.51124550e-03 9.99963438e-01 -8.25470690e-04 -8.93450978e+00] [-8.86574691e-03 7.50006889e-04 9.99960417e-01 -4.66934397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.738001145 meters 0.08329257901483303 Centerline is valid? [True, True] Translation: X:222.46, Y:-8.94, Z:-4.67 [[ 9.99924088e-01 9.22754739e-03 8.16515587e-03 2.22463510e+02] [-9.22163860e-03 9.99957190e-01 -7.61013288e-04 -8.94164228e+00] [-8.17182861e-03 6.85659401e-04 9.99966375e-01 -4.67287192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.798001145 meters 0.08573182144009345 Centerline is valid? [True, True] Translation: X:222.52, Y:-8.95, Z:-4.68 [[ 9.99940157e-01 8.31413653e-03 7.11042373e-03 2.22523366e+02] [-8.30962586e-03 9.99965254e-01 -6.63682257e-04 -8.94911392e+00] [-7.11569461e-03 6.04557579e-04 9.99974500e-01 -4.67624560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.858001145 meters 0.08677659997884252 Centerline is valid? [True, True] Translation: X:222.58, Y:-8.95, Z:-4.68 [[ 9.99953944e-01 6.45833671e-03 7.09927859e-03 2.22584285e+02] [-6.45379684e-03 9.99978955e-01 -6.62205304e-04 -8.95420522e+00] [-7.10340592e-03 6.16357504e-04 9.99974581e-01 -4.67773387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91800114499998 meters 0.09201522886150423 Centerline is valid? [True, True] Translation: X:222.64, Y:-8.97, Z:-4.68 [[ 9.99974124e-01 2.86221891e-03 6.59996105e-03 2.22642643e+02] [-2.85821285e-03 9.99995725e-01 -6.16334316e-04 -8.97019253e+00] [-6.60169692e-03 5.97454274e-04 9.99978030e-01 -4.68425573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97800114499998 meters 0.09458388679794462 Centerline is valid? [True, True] Translation: X:222.70, Y:-8.98, Z:-4.69 [[ 9.99974142e-01 1.84865615e-03 6.94967698e-03 2.22703570e+02] [-1.84422989e-03 9.99998093e-01 -6.43255752e-04 -8.97909824e+00] [-6.95085289e-03 6.30422317e-04 9.99975644e-01 -4.68702222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03800114499998 meters 0.09705344283467547 Centerline is valid? [True, True] Translation: X:222.77, Y:-8.99, Z:-4.69 [[ 9.99980809e-01 1.37425363e-03 6.04088399e-03 2.22765226e+02] [-1.37087501e-03 9.99998902e-01 -5.63397630e-04 -8.98524096e+00] [-6.04165161e-03 5.55105521e-04 9.99981595e-01 -4.69011463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09800114499998 meters 0.09337455409248156 Centerline is valid? [True, True] Translation: X:222.83, Y:-8.98, Z:-4.69 [[ 9.99972606e-01 1.85476277e-03 7.16572216e-03 2.22828458e+02] [-1.85002676e-03 9.99998066e-01 -6.67497314e-04 -8.98315346e+00] [-7.16694635e-03 6.54222251e-04 9.99974103e-01 -4.68906259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.158001145 meters 0.096043277844735 Centerline is valid? [True, True] Translation: X:222.89, Y:-8.99, Z:-4.69 [[ 9.99963659e-01 1.42747992e-03 8.40498379e-03 2.22889151e+02] [-1.42093381e-03 9.99998683e-01 -7.84756718e-04 -8.99349465e+00] [-8.40609294e-03 7.72785274e-04 9.99964370e-01 -4.69043384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.218001145 meters 0.08881428560902978 Centerline is valid? [True, True] Translation: X:222.95, Y:-8.99, Z:-4.69 [[ 9.99946739e-01 1.18512519e-03 1.02525175e-02 2.22952993e+02] [-1.17534139e-03 9.99998848e-01 -9.60254842e-04 -8.98594005e+00] [-1.02536437e-02 9.48153490e-04 9.99946980e-01 -4.68737031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.278001145 meters 0.09926292453124225 Centerline is valid? [True, True] Translation: X:223.01, Y:-9.01, Z:-4.69 [[ 9.99948309e-01 1.19579271e-03 1.00970062e-02 2.23012582e+02] [-1.18630651e-03 9.99998849e-01 -9.45443082e-04 -9.00726991e+00] [-1.00981251e-02 9.33416067e-04 9.99948577e-01 -4.69423458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.338001145 meters 0.08785510453199408 Centerline is valid? [True, True] Translation: X:223.08, Y:-9.00, Z:-4.69 [[ 9.99957993e-01 2.42390740e-03 8.83953973e-03 2.23075540e+02] [-2.41665867e-03 9.99996735e-01 -8.30624196e-04 -8.99521626e+00] [-8.84152423e-03 8.09227153e-04 9.99960586e-01 -4.69337804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.398001145 meters 0.08552241651224979 Centerline is valid? [True, True] Translation: X:223.14, Y:-8.99, Z:-4.69 [[ 9.99967435e-01 3.38440933e-03 7.32625038e-03 2.23137958e+02] [-3.37946221e-03 9.99994053e-01 -6.87534796e-04 -8.99493600e+00] [-7.32853372e-03 6.62753620e-04 9.99972926e-01 -4.69469370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.458001145 meters 0.08699976269922498 Centerline is valid? [True, True] Translation: X:223.20, Y:-9.00, Z:-4.70 [[ 9.99970037e-01 4.63600306e-03 6.19944574e-03 2.23199188e+02] [-4.63248394e-03 9.99989101e-01 -5.81891477e-04 -9.00134210e+00] [-6.20207582e-03 5.53155209e-04 9.99980614e-01 -4.69808551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.518001145 meters 0.09220045808092882 Centerline is valid? [True, True] Translation: X:223.26, Y:-9.01, Z:-4.70 [[ 9.99967368e-01 5.87521300e-03 5.54473176e-03 2.23258750e+02] [-5.87241073e-03 9.99982621e-01 -5.21538889e-04 -9.01420587e+00] [-5.54769956e-03 4.88960928e-04 9.99984492e-01 -4.70457312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.578001145 meters 0.0875191460399743 Centerline is valid? [True, True] Translation: X:223.32, Y:-9.01, Z:-4.70 [[ 9.99950472e-01 6.00418668e-03 7.93745674e-03 2.23320131e+02] [-5.99843505e-03 9.99981729e-01 -7.48227389e-04 -9.00894377e+00] [-7.94180421e-03 7.00578013e-04 9.99968218e-01 -4.70143722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.638001145 meters 0.08695655753429991 Centerline is valid? [True, True] Translation: X:223.38, Y:-9.01, Z:-4.70 [[ 9.99948978e-01 5.89679839e-03 8.20174552e-03 2.23381243e+02] [-5.89066086e-03 9.99982352e-01 -7.72276988e-04 -9.01175945e+00] [-8.20615474e-03 7.23923884e-04 9.99966067e-01 -4.70095781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69800114499998 meters 0.09459925204709338 Centerline is valid? [True, True] Translation: X:223.44, Y:-9.03, Z:-4.71 [[ 9.99921739e-01 5.61987964e-03 1.11773014e-02 2.23440473e+02] [-5.60847986e-03 9.99983720e-01 -1.05098839e-03 -9.03025362e+00] [-1.11830259e-02 9.88218468e-04 9.99936980e-01 -4.70511518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75800114499998 meters 0.08754430790382076 Centerline is valid? [True, True] Translation: X:223.50, Y:-9.02, Z:-4.70 [[ 9.99934712e-01 3.93579893e-03 1.07275668e-02 2.23501977e+02] [-3.92515998e-03 9.99991784e-01 -1.01261329e-03 -9.02496165e+00] [-1.07314641e-02 9.70439762e-04 9.99941945e-01 -4.70356561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81800114499998 meters 0.08847036942288607 Centerline is valid? [True, True] Translation: X:223.56, Y:-9.03, Z:-4.71 [[ 9.99939221e-01 2.04848418e-04 1.10232692e-02 2.23562172e+02] [-1.93385771e-04 9.99999440e-01 -1.04091492e-03 -9.03248585e+00] [-1.10234763e-02 1.03871991e-03 9.99938700e-01 -4.70513200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87800114499998 meters 0.08980635375784479 Centerline is valid? [True, True] Translation: X:223.62, Y:-9.04, Z:-4.71 [[ 9.99944986e-01 -1.76961193e-03 1.03389519e-02 2.23622261e+02] [ 1.77979472e-03 9.99997940e-01 -9.75777936e-04 -9.04197408e+00] [-1.03372039e-02 9.94125466e-04 9.99946076e-01 -4.70814681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.938001145 meters 0.08994936261939683 Centerline is valid? [True, True] Translation: X:223.68, Y:-9.05, Z:-4.71 [[ 9.99952515e-01 -1.93661925e-03 9.55082008e-03 2.23683742e+02] [ 1.94531016e-03 9.99997702e-01 -9.00759670e-04 -9.05143849e+00] [-9.54905370e-03 9.19296204e-04 9.99953984e-01 -4.71188797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.998001145 meters 0.08805665751543769 Centerline is valid? [True, True] Translation: X:223.75, Y:-9.05, Z:-4.71 [[ 9.99963476e-01 -1.51718625e-03 8.41098417e-03 2.23746017e+02] [ 1.52391407e-03 9.99998524e-01 -7.93533692e-04 -9.05459607e+00] [-8.40976782e-03 8.06322327e-04 9.99964312e-01 -4.71311830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.058001145 meters 0.08943130382522832 Centerline is valid? [True, True] Translation: X:223.81, Y:-9.06, Z:-4.72 [[ 9.99962558e-01 -8.26848359e-04 8.61389641e-03 2.23807470e+02] [ 8.33885246e-04 9.99999322e-01 -8.13363073e-04 -9.06262459e+00] [-8.61321804e-03 8.20515620e-04 9.99962569e-01 -4.71538397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.118001145 meters 0.09077861046498911 Centerline is valid? [True, True] Translation: X:223.87, Y:-9.07, Z:-4.72 [[ 9.99971510e-01 -3.46097201e-04 7.54048844e-03 2.23868739e+02] [ 3.51477850e-04 9.99999685e-01 -7.12254340e-04 -9.07274667e+00] [-7.54023955e-03 7.14884363e-04 9.99971316e-01 -4.71931584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.178001145 meters 0.08709802951733665 Centerline is valid? [True, True] Translation: X:223.93, Y:-9.07, Z:-4.72 [[ 9.99954656e-01 -1.97563013e-05 9.52293084e-03 2.23931644e+02] [ 2.83235858e-05 9.99999595e-01 -8.99513850e-04 -9.07416389e+00] [-9.52290922e-03 8.99742785e-04 9.99954251e-01 -4.71946507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.238001145 meters 0.0883665112375668 Centerline is valid? [True, True] Translation: X:223.99, Y:-9.08, Z:-4.72 [[ 9.99936096e-01 -9.44788630e-04 1.12655083e-02 2.23992738e+02] [ 9.56832400e-04 9.99998976e-01 -1.06374173e-03 -9.08428020e+00] [-1.12644918e-02 1.07445296e-03 9.99935976e-01 -4.71962132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.298001145 meters 0.09112089736800119 Centerline is valid? [True, True] Translation: X:224.05, Y:-9.10, Z:-4.72 [[ 9.99939813e-01 -7.96897435e-04 1.09423636e-02 2.24054298e+02] [ 8.08310817e-04 9.99999134e-01 -1.03866243e-03 -9.09572534e+00] [-1.09415264e-02 1.04744474e-03 9.99939591e-01 -4.72200390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.358001145 meters 0.09556490555821567 Centerline is valid? [True, True] Translation: X:224.11, Y:-9.11, Z:-4.73 [[ 9.99950058e-01 -1.42027842e-03 9.89263990e-03 2.24114237e+02] [ 1.42961209e-03 9.99998540e-01 -9.36488483e-04 -9.11261862e+00] [-9.89129538e-03 9.50584350e-04 9.99950628e-01 -4.72721045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41800114499998 meters 0.08940563562999389 Centerline is valid? [True, True] Translation: X:224.18, Y:-9.11, Z:-4.73 [[ 9.99961587e-01 -2.98403236e-03 8.24138078e-03 2.24175757e+02] [ 2.99060900e-03 9.99995219e-01 -7.85794025e-04 -9.11200787e+00] [-8.23899655e-03 8.10410588e-04 9.99965730e-01 -4.72778056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47800114499998 meters 0.0975693913030721 Centerline is valid? [True, True] Translation: X:224.24, Y:-9.13, Z:-4.73 [[ 9.99964106e-01 -3.00307548e-03 7.92268625e-03 2.24235570e+02] [ 3.00914784e-03 9.99995188e-01 -7.54643007e-04 -9.13285627e+00] [-7.92038188e-03 7.78456454e-04 9.99968330e-01 -4.73314241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53800114499998 meters 0.09870142641872523 Centerline is valid? [True, True] Translation: X:224.30, Y:-9.15, Z:-4.74 [[ 9.99973528e-01 -2.35737678e-03 6.88369741e-03 2.24296936e+02] [ 2.36194413e-03 9.99996996e-01 -6.55448244e-04 -9.14515349e+00] [-6.88213159e-03 6.71689802e-04 9.99976092e-01 -4.73638220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59800114499998 meters 0.0900637585110424 Centerline is valid? [True, True] Translation: X:224.36, Y:-9.14, Z:-4.73 [[ 9.99973211e-01 -1.63870667e-03 7.13390844e-03 2.24359652e+02] [ 1.64359702e-03 9.99998418e-01 -6.79699309e-04 -9.14097656e+00] [-7.13278332e-03 6.91406371e-04 9.99974322e-01 -4.73487543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.658001145 meters 0.08726733280413755 Centerline is valid? [True, True] Translation: X:224.42, Y:-9.14, Z:-4.74 [[ 9.99962803e-01 1.82459967e-03 8.42994344e-03 2.24420459e+02] [-1.81787187e-03 9.99998023e-01 -8.05677707e-04 -9.14453462e+00] [-8.43139681e-03 7.90323181e-04 9.99964143e-01 -4.73520740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.718001145 meters 0.08758168397767577 Centerline is valid? [True, True] Translation: X:224.48, Y:-9.15, Z:-4.74 [[ 9.99943741e-01 5.57152436e-03 9.02618875e-03 2.24479240e+02] [-5.56395562e-03 9.99984148e-01 -8.63426046e-04 -9.15234070e+00] [-9.03085627e-03 8.13156158e-04 9.99958890e-01 -4.73760967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.778001145 meters 0.0848855743835311 Centerline is valid? [True, True] Translation: X:224.54, Y:-9.16, Z:-4.74 [[ 9.99905700e-01 1.00755268e-02 9.33139565e-03 2.24539584e+02] [-1.00676377e-02 9.99948922e-01 -8.92032184e-04 -9.15582873e+00] [-9.33990672e-03 7.98002955e-04 9.99956064e-01 -4.73889194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.838001145 meters 0.08260217540734939 Centerline is valid? [True, True] Translation: X:224.60, Y:-9.16, Z:-4.74 [[ 9.99884326e-01 1.24480152e-02 8.73962645e-03 2.24600435e+02] [-1.24411891e-02 9.99922257e-01 -8.34991225e-04 -9.16164526e+00] [-8.74934098e-03 7.26163293e-04 9.99961460e-01 -4.74152562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.898001145 meters 0.08337043079144299 Centerline is valid? [True, True] Translation: X:224.66, Y:-9.17, Z:-4.74 [[ 9.99882249e-01 1.27353482e-02 8.56146178e-03 2.24659205e+02] [-1.27287962e-02 9.99918650e-01 -8.19342129e-04 -9.16961819e+00] [-8.57119991e-03 7.10268548e-04 9.99963014e-01 -4.74338722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.958001145 meters 0.08706894273333514 Centerline is valid? [True, True] Translation: X:224.72, Y:-9.18, Z:-4.75 [[ 9.99877263e-01 1.26159690e-02 9.28953198e-03 2.24717199e+02] [-1.26082576e-02 9.99920118e-01 -8.88218700e-04 -9.18448764e+00] [-9.29999565e-03 7.70984871e-04 9.99956457e-01 -4.74781532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.018001145 meters 0.08496214193477883 Centerline is valid? [True, True] Translation: X:224.78, Y:-9.19, Z:-4.75 [[ 9.99888232e-01 1.21106547e-02 8.76675825e-03 2.24777937e+02] [-1.21037721e-02 9.99926396e-01 -8.37719469e-04 -9.18826387e+00] [-8.77625831e-03 7.31514995e-04 9.99961220e-01 -4.74846498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.078001145 meters 0.0822815246920302 Centerline is valid? [True, True] Translation: X:224.84, Y:-9.19, Z:-4.75 [[ 9.99911128e-01 1.10040976e-02 7.52637013e-03 2.24837794e+02] [-1.09989932e-02 9.99939251e-01 -7.19258528e-04 -9.19145489e+00] [-7.53382770e-03 6.36412112e-04 9.99971418e-01 -4.75013059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.138001145 meters 0.08233653698347106 Centerline is valid? [True, True] Translation: X:224.90, Y:-9.20, Z:-4.75 [[ 9.99917812e-01 1.03947112e-02 7.50465503e-03 2.24896775e+02] [-1.03896133e-02 9.99945769e-01 -7.17969227e-04 -9.19855631e+00] [-7.51171113e-03 6.39939754e-04 9.99971582e-01 -4.75243358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19800114499998 meters 0.07784530281348902 Centerline is valid? [True, True] Translation: X:224.96, Y:-9.20, Z:-4.75 [[ 9.99927443e-01 9.28378929e-03 7.67590673e-03 2.24957841e+02] [-9.27843231e-03 9.99956686e-01 -7.33211760e-04 -9.19717183e+00] [-7.68238123e-03 6.61938180e-04 9.99970271e-01 -4.75148176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25800114499998 meters 0.08340619148285233 Centerline is valid? [True, True] Translation: X:225.02, Y:-9.21, Z:-4.76 [[ 9.99910229e-01 9.46903436e-03 9.48001129e-03 2.25016795e+02] [-9.46087545e-03 9.99954835e-01 -9.05120521e-04 -9.21461033e+00] [-9.48815375e-03 8.15350061e-04 9.99954654e-01 -4.75580168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31800114499998 meters 0.0820952355920121 Centerline is valid? [True, True] Translation: X:225.08, Y:-9.22, Z:-4.76 [[ 9.99920119e-01 9.25255793e-03 8.61074446e-03 2.25078234e+02] [-9.24582145e-03 9.99956919e-01 -8.21814091e-04 -9.21913359e+00] [-8.61797738e-03 7.42135039e-04 9.99962589e-01 -4.75802347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37800114499998 meters 0.08205740042559713 Centerline is valid? [True, True] Translation: X:225.14, Y:-9.22, Z:-4.76 [[ 9.99921874e-01 8.70011659e-03 8.97520687e-03 2.25139323e+02] [-8.69277254e-03 9.99961850e-01 -8.56947048e-04 -9.22475816e+00] [-8.98232000e-03 7.78860666e-04 9.99959355e-01 -4.75872246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.438001145 meters 0.08399663170580798 Centerline is valid? [True, True] Translation: X:225.20, Y:-9.24, Z:-4.76 [[ 9.99932084e-01 8.16118904e-03 8.31998058e-03 2.25200180e+02] [-8.15485798e-03 9.99966433e-01 -7.94587080e-04 -9.23569522e+00] [-8.32618608e-03 7.26684855e-04 9.99965073e-01 -4.76275496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.498001145 meters 0.08057789694355791 Centerline is valid? [True, True] Translation: X:225.26, Y:-9.24, Z:-4.76 [[ 9.99944887e-01 6.76731855e-03 8.02658243e-03 2.25261178e+02] [-6.76137659e-03 9.99976847e-01 -7.67190545e-04 -9.23669206e+00] [-8.03158841e-03 7.12877516e-04 9.99967492e-01 -4.76451343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.558001145 meters 0.08328697170193523 Centerline is valid? [True, True] Translation: X:225.32, Y:-9.25, Z:-4.77 [[ 9.99954580e-01 7.18889993e-03 6.25755873e-03 2.25321834e+02] [-7.18533180e-03 9.99974010e-01 -5.92506944e-04 -9.24767814e+00] [-6.26165557e-03 5.47517397e-04 9.99980246e-01 -4.76955091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.618001145 meters 0.08284947091942609 Centerline is valid? [True, True] Translation: X:225.38, Y:-9.25, Z:-4.77 [[ 9.99945758e-01 8.67555297e-03 5.76325491e-03 2.25382074e+02] [-8.67251144e-03 9.99962240e-01 -5.52525797e-04 -9.25229715e+00] [-5.76783075e-03 5.02513933e-04 9.99983240e-01 -4.77240267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.678001145 meters 0.08253332810978914 Centerline is valid? [True, True] Translation: X:225.44, Y:-9.26, Z:-4.77 [[ 9.99919674e-01 1.13755069e-02 5.58957560e-03 2.25442863e+02] [-1.13726865e-02 9.99935185e-01 -5.36100965e-04 -9.25576140e+00] [-5.59531173e-03 4.72489411e-04 9.99984234e-01 -4.77384412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.738001145 meters 0.07730741238371876 Centerline is valid? [True, True] Translation: X:225.50, Y:-9.25, Z:-4.77 [[ 9.99865660e-01 1.46699147e-02 7.31127573e-03 2.25503977e+02] [-1.46651787e-02 9.99892215e-01 -7.00958823e-04 -9.24970399e+00] [-7.32077069e-03 5.93643492e-04 9.99973027e-01 -4.77154691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.798001145 meters 0.07661814084697292 Centerline is valid? [True, True] Translation: X:225.56, Y:-9.25, Z:-4.77 [[ 9.99819860e-01 1.73480770e-02 7.70015040e-03 2.25564264e+02] [-1.73429026e-02 9.99849328e-01 -7.38257582e-04 -9.25293638e+00] [-7.71179756e-03 6.04581634e-04 9.99970081e-01 -4.77355761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.858001145 meters 0.07774111730948623 Centerline is valid? [True, True] Translation: X:225.62, Y:-9.26, Z:-4.78 [[ 9.99778129e-01 1.94713931e-02 8.03476088e-03 2.25623049e+02] [-1.94658219e-02 9.99810226e-01 -7.71026740e-04 -9.25797023e+00] [-8.04824905e-03 6.14452448e-04 9.99967424e-01 -4.77718291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91800114499998 meters 0.08283634614068942 Centerline is valid? [True, True] Translation: X:225.68, Y:-9.27, Z:-4.78 [[ 9.99765472e-01 2.00539592e-02 8.17559467e-03 2.25679675e+02] [-2.00482025e-02 9.99798706e-01 -7.85485856e-04 -9.27137365e+00] [-8.18970107e-03 6.21395659e-04 9.99966271e-01 -4.78255951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97800114499998 meters 0.08015368087283259 Centerline is valid? [True, True] Translation: X:225.74, Y:-9.27, Z:-4.78 [[ 9.99788129e-01 1.93022233e-02 7.14989671e-03 2.25739127e+02] [-1.92978094e-02 9.99813545e-01 -6.85812517e-04 -9.27117678e+00] [-7.16180128e-03 5.47689869e-04 9.99974204e-01 -4.78377817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03800114499998 meters 0.08174227824968583 Centerline is valid? [True, True] Translation: X:225.80, Y:-9.28, Z:-4.79 [[ 9.99818861e-01 1.78616889e-02 6.57303097e-03 2.25798340e+02] [-1.78579317e-02 9.99840336e-01 -6.29864200e-04 -9.27893364e+00] [-6.58323193e-03 5.12369369e-04 9.99978199e-01 -4.78666312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09800114499998 meters 0.07898008627982576 Centerline is valid? [True, True] Translation: X:225.86, Y:-9.28, Z:-4.79 [[ 9.99863848e-01 1.54205321e-02 5.87305936e-03 2.25858996e+02] [-1.54174935e-02 9.99880985e-01 -5.62304262e-04 -9.27594999e+00] [-5.88103141e-03 4.71679848e-04 9.99982595e-01 -4.78620826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.158001145 meters 0.08631622799392867 Centerline is valid? [True, True] Translation: X:225.92, Y:-9.29, Z:-4.79 [[ 9.99883035e-01 1.40982445e-02 5.92917493e-03 2.25915589e+02] [-1.40951168e-02 9.99900497e-01 -5.68965036e-04 -9.29318363e+00] [-5.93660637e-03 4.85326074e-04 9.99982260e-01 -4.79302996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.218001145 meters 0.08367417519769958 Centerline is valid? [True, True] Translation: X:225.98, Y:-9.29, Z:-4.79 [[ 9.99906511e-01 1.24491674e-02 5.65578240e-03 2.25975815e+02] [-1.24463022e-02 9.99922395e-01 -5.41501292e-04 -9.29234884e+00] [-5.66208473e-03 4.71057090e-04 9.99983859e-01 -4.79482071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.278001145 meters 0.08868230770209509 Centerline is valid? [True, True] Translation: X:226.03, Y:-9.30, Z:-4.80 [[ 9.99897126e-01 1.26643760e-02 6.73432346e-03 2.26033340e+02] [-1.26603187e-02 9.99919647e-01 -6.44765587e-04 -9.30236839e+00] [-6.74194789e-03 5.59440576e-04 9.99977116e-01 -4.79772977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.338001145 meters 0.08377500559986337 Centerline is valid? [True, True] Translation: X:226.09, Y:-9.30, Z:-4.80 [[ 9.99865318e-01 1.37286974e-02 8.99266337e-03 2.26094382e+02] [-1.37215213e-02 9.99905486e-01 -8.59216506e-04 -9.29740556e+00] [-9.00360936e-03 7.35707763e-04 9.99959196e-01 -4.79513546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.398001145 meters 0.08192179070315969 Centerline is valid? [True, True] Translation: X:226.15, Y:-9.30, Z:-4.80 [[ 9.99853244e-01 1.40548888e-02 9.79547448e-03 2.26154060e+02] [-1.40463877e-02 9.99900906e-01 -9.36123299e-04 -9.29662006e+00] [-9.80766092e-03 7.98394885e-04 9.99951585e-01 -4.79536157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.458001145 meters 0.08392450944933147 Centerline is valid? [True, True] Translation: X:226.21, Y:-9.30, Z:-4.80 [[ 9.99869982e-01 1.24816029e-02 1.02092390e-02 2.26214256e+02] [-1.24722990e-02 9.99921743e-01 -9.74488689e-04 -9.30403419e+00] [-1.02206033e-02 8.47029307e-04 9.99947410e-01 -4.79749610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.518001145 meters 0.08573790824709501 Centerline is valid? [True, True] Translation: X:226.27, Y:-9.31, Z:-4.80 [[ 9.99894492e-01 1.10916720e-02 9.37977092e-03 2.26274034e+02] [-1.10837578e-02 9.99938172e-01 -8.95314592e-04 -9.31171421e+00] [-9.38912153e-03 7.91257020e-04 9.99955608e-01 -4.80136310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.578001145 meters 0.08709789140287572 Centerline is valid? [True, True] Translation: X:226.33, Y:-9.32, Z:-4.80 [[ 9.99922868e-01 1.00278133e-02 7.32803915e-03 2.26334323e+02] [-1.00229545e-02 9.99949524e-01 -6.99473414e-04 -9.31721261e+00] [-7.33468346e-03 6.25970859e-04 9.99972905e-01 -4.80459953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.638001145 meters 0.08312463277348509 Centerline is valid? [True, True] Translation: X:226.39, Y:-9.31, Z:-4.81 [[ 9.99919879e-01 1.05051092e-02 7.06250222e-03 2.26394462e+02] [-1.05006014e-02 9.99944639e-01 -6.75042381e-04 -9.31452757e+00] [-7.06920263e-03 6.00827774e-04 9.99974832e-01 -4.80571018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69800114499998 meters 0.08441188446262474 Centerline is valid? [True, True] Translation: X:226.45, Y:-9.32, Z:-4.81 [[ 9.99920373e-01 1.03787215e-02 7.17838494e-03 2.26453335e+02] [-1.03740634e-02 9.99945953e-01 -6.85842185e-04 -9.32160333e+00] [-7.18511513e-03 6.11318553e-04 9.99974000e-01 -4.80745021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75800114499998 meters 0.08277686076492248 Centerline is valid? [True, True] Translation: X:226.51, Y:-9.32, Z:-4.81 [[ 9.99917067e-01 1.02672592e-02 7.77445880e-03 2.26512648e+02] [-1.02617946e-02 9.99947071e-01 -7.42453472e-04 -9.32359364e+00] [-7.78167026e-03 6.62611999e-04 9.99969503e-01 -4.80813241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81800114499998 meters 0.08477229508362649 Centerline is valid? [True, True] Translation: X:226.57, Y:-9.33, Z:-4.81 [[ 9.99901216e-01 1.10130189e-02 8.73341462e-03 2.26571302e+02] [-1.10061589e-02 9.99939083e-01 -8.33160883e-04 -9.33358546e+00] [-8.74205823e-03 7.36957231e-04 9.99961516e-01 -4.81068904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87800114499998 meters 0.08212966598225173 Centerline is valid? [True, True] Translation: X:226.63, Y:-9.34, Z:-4.81 [[ 9.99891927e-01 1.17462774e-02 8.84079529e-03 2.26632148e+02] [-1.17392812e-02 9.99930737e-01 -8.42830514e-04 -9.33655270e+00] [-8.85008307e-03 7.38954845e-04 9.99960564e-01 -4.80974388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.938001145 meters 0.08432517349099691 Centerline is valid? [True, True] Translation: X:226.69, Y:-9.35, Z:-4.81 [[ 9.99886488e-01 1.21328484e-02 8.93339192e-03 2.26690995e+02] [-1.21257164e-02 9.99926118e-01 -8.52083502e-04 -9.34697446e+00] [-8.94307011e-03 7.43663003e-04 9.99959733e-01 -4.81206212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.998001145 meters 0.08313090944063764 Centerline is valid? [True, True] Translation: X:226.75, Y:-9.35, Z:-4.81 [[ 9.99888669e-01 1.27089820e-02 7.81864267e-03 2.26750904e+02] [-1.27035335e-02 9.99919028e-01 -7.46129111e-04 -9.35152199e+00] [-7.82749212e-03 6.46721655e-04 9.99969156e-01 -4.81270428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.058001145 meters 0.08211499029359531 Centerline is valid? [True, True] Translation: X:226.81, Y:-9.36, Z:-4.82 [[ 9.99868708e-01 1.43882220e-02 7.45288654e-03 2.26810472e+02] [-1.43833191e-02 9.99896302e-01 -7.11035394e-04 -9.35604429e+00] [-7.46234423e-03 6.03744795e-04 9.99971974e-01 -4.81510318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.118001145 meters 0.07986659879021471 Centerline is valid? [True, True] Translation: X:226.87, Y:-9.36, Z:-4.82 [[ 9.99824260e-01 1.75312939e-02 6.64096984e-03 2.26871056e+02] [-1.75274759e-02 9.99846182e-01 -6.32690336e-04 -9.35693605e+00] [-6.65104021e-03 5.16179708e-04 9.99977748e-01 -4.81780092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.178001145 meters 0.0818881607281407 Centerline is valid? [True, True] Translation: X:226.93, Y:-9.36, Z:-4.82 [[ 9.99780596e-01 2.03078749e-02 5.13325463e-03 2.26929560e+02] [-2.03056258e-02 9.99793700e-01 -4.89874252e-04 -9.36465839e+00] [-5.14214394e-03 3.85532823e-04 9.99986705e-01 -4.82249365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.238001145 meters 0.08234442608550258 Centerline is valid? [True, True] Translation: X:226.99, Y:-9.37, Z:-4.83 [[ 9.99727617e-01 2.29085237e-02 4.46004275e-03 2.26987716e+02] [-2.29068535e-02 9.99737513e-01 -4.25208896e-04 -9.37008655e+00] [-4.46861296e-03 3.22927530e-04 9.99989964e-01 -4.82544578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.298001145 meters 0.07909417922144085 Centerline is valid? [True, True] Translation: X:227.05, Y:-9.37, Z:-4.82 [[ 9.99670549e-01 2.49908327e-02 5.85254512e-03 2.27048041e+02] [-2.49879944e-02 9.99687596e-01 -5.57587673e-04 -9.36739198e+00] [-5.86465134e-03 4.11160610e-04 9.99982718e-01 -4.82475648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.358001145 meters 0.07711507336863518 Centerline is valid? [True, True] Translation: X:227.11, Y:-9.37, Z:-4.82 [[ 9.99637968e-01 2.61471880e-02 6.34486045e-03 2.27107654e+02] [-2.61438704e-02 9.99658007e-01 -6.05274553e-04 -9.36722573e+00] [-6.35851679e-03 4.39176215e-04 9.99979688e-01 -4.82453391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41800114499998 meters 0.07714945285152873 Centerline is valid? [True, True] Translation: X:227.17, Y:-9.37, Z:-4.83 [[ 9.99616613e-01 2.67638682e-02 7.09380815e-03 2.27166297e+02] [-2.67597374e-02 9.99641665e-01 -6.76605279e-04 -9.36990004e+00] [-7.10937477e-03 4.86517434e-04 9.99974610e-01 -4.82587600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47800114499998 meters 0.08128066352013638 Centerline is valid? [True, True] Translation: X:227.22, Y:-9.38, Z:-4.83 [[ 9.99625279e-01 2.65157907e-02 6.79812799e-03 2.27222772e+02] [-2.65119910e-02 9.99648285e-01 -6.48458178e-04 -9.38266112e+00] [-6.81293137e-03 4.67983279e-04 9.99976682e-01 -4.83157763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53800114499998 meters 0.08131550444211193 Centerline is valid? [True, True] Translation: X:227.28, Y:-9.39, Z:-4.83 [[ 9.99680402e-01 2.45434604e-02 6.05901007e-03 2.27282904e+02] [-2.45404182e-02 9.99698673e-01 -5.75933985e-04 -9.38660176e+00] [-6.07131973e-03 4.27059277e-04 9.99981478e-01 -4.83358273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59800114499998 meters 0.08127773491257766 Centerline is valid? [True, True] Translation: X:227.34, Y:-9.39, Z:-4.84 [[ 9.99696428e-01 2.41846989e-02 4.70664996e-03 2.27341549e+02] [-2.41828524e-02 9.99707451e-01 -4.48843231e-04 -9.39100067e+00] [-4.71612817e-03 3.34886754e-04 9.99988823e-01 -4.83620509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.658001145 meters 0.0843885811675611 Centerline is valid? [True, True] Translation: X:227.40, Y:-9.40, Z:-4.84 [[ 9.99688420e-01 2.48887811e-02 1.90044951e-03 2.27398862e+02] [-2.48884782e-02 9.99690217e-01 -1.82882270e-04 -9.40045764e+00] [-1.90441250e-03 1.35525991e-04 9.99998177e-01 -4.84449609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.718001145 meters 0.08361911825494368 Centerline is valid? [True, True] Translation: X:227.46, Y:-9.40, Z:-4.85 [[ 9.99667852e-01 2.57361980e-02 1.35426416e-03 2.27457416e+02] [-2.57360448e-02 9.99668765e-01 -1.30443639e-04 -9.40290338e+00] [-1.35717270e-03 9.55469091e-05 9.99999074e-01 -4.84740752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.778001145 meters 0.08311075222234333 Centerline is valid? [True, True] Translation: X:227.52, Y:-9.40, Z:-4.85 [[ 9.99579266e-01 2.88963350e-02 2.50859689e-03 2.27517965e+02] [-2.88958288e-02 9.99582400e-01 -2.37787812e-04 -9.40255902e+00] [-2.51442049e-03 1.65199781e-04 9.99996825e-01 -4.84758439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.838001145 meters 0.08343208824348695 Centerline is valid? [True, True] Translation: X:227.58, Y:-9.41, Z:-4.85 [[ 9.99532342e-01 3.03143322e-02 4.01717574e-03 2.27576897e+02] [-3.03130424e-02 9.99540381e-01 -3.81563774e-04 -9.40732995e+00] [-4.02689622e-03 2.59612514e-04 9.99991858e-01 -4.84915405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.898001145 meters 0.07614257522274723 Centerline is valid? [True, True] Translation: X:227.64, Y:-9.40, Z:-4.84 [[ 9.99450522e-01 3.26608186e-02 5.65026747e-03 2.27638431e+02] [-3.26583099e-02 9.99466432e-01 -5.35707506e-04 -9.39504795e+00] [-5.66474931e-03 3.50884961e-04 9.99983894e-01 -4.84432438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.958001145 meters 0.07628874607590658 Centerline is valid? [True, True] Translation: X:227.70, Y:-9.40, Z:-4.85 [[ 9.99412872e-01 3.36425772e-02 6.48752056e-03 2.27697580e+02] [-3.36392755e-02 9.99433849e-01 -6.17402534e-04 -9.39777377e+00] [-6.50461866e-03 3.98804548e-04 9.99978765e-01 -4.84686341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.018001145 meters 0.07940169668795106 Centerline is valid? [True, True] Translation: X:227.75, Y:-9.41, Z:-4.85 [[ 9.99456482e-01 3.24898130e-02 5.58153557e-03 2.27754955e+02] [-3.24873586e-02 9.99472006e-01 -5.29860544e-04 -9.40539228e+00] [-5.59580362e-03 3.48243208e-04 9.99984283e-01 -4.85186438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.078001145 meters 0.07635293039314417 Centerline is valid? [True, True] Translation: X:227.82, Y:-9.40, Z:-4.85 [[ 9.99505416e-01 3.08764184e-02 5.96415427e-03 2.27815488e+02] [-3.08735957e-02 9.99523137e-01 -5.64803828e-04 -9.40286421e+00] [-5.97874931e-03 3.80389597e-04 9.99982055e-01 -4.85028398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.138001145 meters 0.08032333516397235 Centerline is valid? [True, True] Translation: X:227.87, Y:-9.41, Z:-4.86 [[ 9.99560947e-01 2.89878001e-02 6.13350503e-03 2.27872732e+02] [-2.89847735e-02 9.99579684e-01 -5.81788010e-04 -9.41346055e+00] [-6.14779177e-03 4.03754320e-04 9.99981021e-01 -4.85598411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19800114499998 meters 0.0825158702560938 Centerline is valid? [True, True] Translation: X:227.93, Y:-9.42, Z:-4.86 [[ 9.99553853e-01 2.95042871e-02 4.64662225e-03 2.27929265e+02] [-2.95025496e-02 9.99564607e-01 -4.42027011e-04 -9.41520661e+00] [-4.65764084e-03 3.04742599e-04 9.99989107e-01 -4.86022817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25800114499998 meters 0.08147212515643125 Centerline is valid? [True, True] Translation: X:227.99, Y:-9.41, Z:-4.86 [[ 9.99500240e-01 3.08820729e-02 6.75034095e-03 2.27990062e+02] [-3.08784712e-02 9.99522943e-01 -6.37146717e-04 -9.41392448e+00] [-6.76679706e-03 4.28388088e-04 9.99977013e-01 -4.86108291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31800114499998 meters 0.08267465792444514 Centerline is valid? [True, True] Translation: X:228.05, Y:-9.41, Z:-4.87 [[ 9.99411297e-01 3.35511692e-02 7.16782613e-03 2.28049336e+02] [-3.35471747e-02 9.99436906e-01 -6.76817818e-04 -9.41311797e+00] [-7.18649800e-03 4.35959058e-04 9.99974082e-01 -4.86534836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37800114499998 meters 0.07716760463940289 Centerline is valid? [True, True] Translation: X:228.11, Y:-9.40, Z:-4.86 [[ 9.99383202e-01 3.43025596e-02 7.51992698e-03 2.28109843e+02] [-3.42981794e-02 9.99411392e-01 -7.10717616e-04 -9.40093523e+00] [-7.53988013e-03 4.52359442e-04 9.99971472e-01 -4.86248817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.438001145 meters 0.07747148523408873 Centerline is valid? [True, True] Translation: X:228.17, Y:-9.40, Z:-4.87 [[ 9.99299265e-01 3.64317870e-02 8.58511856e-03 2.28170067e+02] [-3.64261712e-02 9.99336019e-01 -8.09651505e-04 -9.39766871e+00] [-8.60891525e-03 4.96361156e-04 9.99962819e-01 -4.86546631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.498001145 meters 0.07673847483544358 Centerline is valid? [True, True] Translation: X:228.23, Y:-9.40, Z:-4.87 [[ 9.99206223e-01 3.89925937e-02 8.15480763e-03 2.28230365e+02] [-3.89876169e-02 9.99239398e-01 -7.68431559e-04 -9.39532829e+00] [-8.17856821e-03 4.49885080e-04 9.99966454e-01 -4.86821406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.558001145 meters 0.07533354406051646 Centerline is valid? [True, True] Translation: X:228.29, Y:-9.39, Z:-4.87 [[ 9.99049502e-01 4.29974062e-02 7.16350466e-03 2.28290965e+02] [-4.29936657e-02 9.99075117e-01 -6.75421694e-04 -9.38656672e+00] [-7.18592063e-03 3.66794383e-04 9.99974114e-01 -4.87057310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.618001145 meters 0.07424080512440619 Centerline is valid? [True, True] Translation: X:228.35, Y:-9.38, Z:-4.87 [[ 9.98870232e-01 4.68454250e-02 7.98540060e-03 2.28352079e+02] [-4.68409062e-02 9.98902079e-01 -7.52067447e-04 -9.38038637e+00] [-8.01186418e-03 3.77174384e-04 9.99967833e-01 -4.87335546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.678001145 meters 0.0747097296315364 Centerline is valid? [True, True] Translation: X:228.41, Y:-9.38, Z:-4.88 [[ 9.98822225e-01 4.78195601e-02 8.21294035e-03 2.28409673e+02] [-4.78148000e-02 9.98855918e-01 -7.75065956e-04 -9.38105316e+00] [-8.24060738e-03 3.81453002e-04 9.99965973e-01 -4.87601047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.738001145 meters 0.07415539706539116 Centerline is valid? [True, True] Translation: X:228.47, Y:-9.38, Z:-4.88 [[ 9.98689906e-01 5.00796304e-02 1.05119992e-02 2.28470502e+02] [-5.00719911e-02 9.98745122e-01 -9.88819641e-04 -9.37627754e+00] [-1.05483277e-02 4.61167463e-04 9.99944259e-01 -4.87602460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.798001145 meters 0.0735969282396024 Centerline is valid? [True, True] Translation: X:228.53, Y:-9.38, Z:-4.88 [[ 9.98699418e-01 4.96284894e-02 1.16826693e-02 2.28529759e+02] [-4.96189686e-02 9.98767611e-01 -1.10357326e-03 -9.37645803e+00] [-1.17230404e-02 5.22455975e-04 9.99931146e-01 -4.87685054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.858001145 meters 0.07511345395025648 Centerline is valid? [True, True] Translation: X:228.59, Y:-9.38, Z:-4.88 [[ 9.98758461e-01 4.79991343e-02 1.33274275e-02 2.28587908e+02] [-4.79866976e-02 9.98847191e-01 -1.25156946e-03 -9.37872163e+00] [-1.33721378e-02 6.10476355e-04 9.99910403e-01 -4.87990636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91800114499998 meters 0.07675985105635423 Centerline is valid? [True, True] Translation: X:228.65, Y:-9.38, Z:-4.88 [[ 9.98847688e-01 4.62739779e-02 1.27285447e-02 2.28646053e+02] [-4.62625111e-02 9.98928603e-01 -1.19400114e-03 -9.38048517e+00] [-1.27701586e-02 6.03770834e-04 9.99918276e-01 -4.88243115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97800114499998 meters 0.07581626597894163 Centerline is valid? [True, True] Translation: X:228.71, Y:-9.38, Z:-4.88 [[ 9.98813069e-01 4.67294562e-02 1.37408202e-02 2.28705440e+02] [-4.67161029e-02 9.98907372e-01 -1.29134415e-03 -9.37933597e+00] [-1.37861504e-02 6.47893848e-04 9.99904757e-01 -4.88407054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03800114499998 meters 0.0747024450413083 Centerline is valid? [True, True] Translation: X:228.77, Y:-9.37, Z:-4.88 [[ 9.98700888e-01 4.90678550e-02 1.37434503e-02 2.28765786e+02] [-4.90547651e-02 9.98795260e-01 -1.28814123e-03 -9.37123586e+00] [-1.37900993e-02 6.12286071e-04 9.99904725e-01 -4.88467012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09800114499998 meters 0.07528437024043595 Centerline is valid? [True, True] Translation: X:228.82, Y:-9.37, Z:-4.89 [[ 9.98541996e-01 5.18081556e-02 1.51590581e-02 2.28824861e+02] [-5.17926621e-02 9.98656860e-01 -1.41313365e-03 -9.37235775e+00] [-1.52119092e-02 6.25945321e-04 9.99884096e-01 -4.88746234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.158001145 meters 0.07334129820475381 Centerline is valid? [True, True] Translation: X:228.89, Y:-9.36, Z:-4.89 [[ 9.98275642e-01 5.61949506e-02 1.69667274e-02 2.28885499e+02] [-5.61761859e-02 9.98419620e-01 -1.58092645e-03 -9.36330853e+00] [-1.70287536e-02 6.25074336e-04 9.99854805e-01 -4.88760324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.218001145 meters 0.07236589851770711 Centerline is valid? [True, True] Translation: X:228.95, Y:-9.36, Z:-4.89 [[ 9.98102702e-01 5.91935300e-02 1.69446621e-02 2.28945399e+02] [-5.91752026e-02 9.98246360e-01 -1.58139681e-03 -9.36027121e+00] [-1.70085557e-02 5.75692612e-04 9.99855178e-01 -4.88917106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.278001145 meters 0.07145547423124249 Centerline is valid? [True, True] Translation: X:229.01, Y:-9.36, Z:-4.89 [[ 9.97827229e-01 6.27449400e-02 2.00971171e-02 2.29005538e+02] [-6.27200415e-02 9.98029413e-01 -1.86745381e-03 -9.35555873e+00] [-2.01746873e-02 6.02904240e-04 9.99796289e-01 -4.88945303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.338001145 meters 0.06968930639100332 Centerline is valid? [True, True] Translation: X:229.07, Y:-9.35, Z:-4.89 [[ 9.97544769e-01 6.63451580e-02 2.24221751e-02 2.29066042e+02] [-6.63150913e-02 9.97796558e-01 -2.08266245e-03 -9.34837297e+00] [-2.25109437e-02 5.90620444e-04 9.99746422e-01 -4.88779965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.398001145 meters 0.06900855380204676 Centerline is valid? [True, True] Translation: X:229.12, Y:-9.35, Z:-4.89 [[ 9.97439199e-01 6.76771883e-02 2.31266495e-02 2.29124598e+02] [-6.76455269e-02 9.97707102e-01 -2.14952365e-03 -9.34807331e+00] [-2.32190962e-02 5.79604752e-04 9.99730232e-01 -4.88862358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.458001145 meters 0.06896885091374585 Centerline is valid? [True, True] Translation: X:229.18, Y:-9.35, Z:-4.89 [[ 9.97399992e-01 6.82849834e-02 2.30307928e-02 2.29182479e+02] [-6.82539093e-02 9.97665701e-01 -2.13354354e-03 -9.35068677e+00] [-2.31227211e-02 5.56054663e-04 9.99732480e-01 -4.89333346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.518001145 meters 0.06826566570300528 Centerline is valid? [True, True] Translation: X:229.24, Y:-9.35, Z:-4.90 [[ 9.97324841e-01 6.96105879e-02 2.23053324e-02 2.29241949e+02] [-6.95817765e-02 9.97574111e-01 -2.06615212e-03 -9.35008742e+00] [-2.23950482e-02 5.08580175e-04 9.99749070e-01 -4.89530413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.578001145 meters 0.06816370226602167 Centerline is valid? [True, True] Translation: X:229.30, Y:-9.35, Z:-4.90 [[ 9.97121747e-01 7.19076386e-02 2.40315077e-02 2.29301440e+02] [-7.18750006e-02 9.97411176e-01 -2.22025990e-03 -9.34926841e+00] [-2.41289480e-02 4.86604792e-04 9.99708736e-01 -4.89684642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.638001145 meters 0.07060165070083844 Centerline is valid? [True, True] Translation: X:229.36, Y:-9.35, Z:-4.90 [[ 9.96868250e-01 7.35601213e-02 2.90276007e-02 2.29360702e+02] [-7.35134485e-02 9.97290643e-01 -2.67324656e-03 -9.34755780e+00] [-2.91455989e-02 5.30955594e-04 9.99575036e-01 -4.89922927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69800114499998 meters 0.07299977069515742 Centerline is valid? [True, True] Translation: X:229.42, Y:-9.35, Z:-4.90 [[ 9.96685296e-01 7.35658390e-02 3.47345234e-02 2.29418932e+02] [-7.34990999e-02 9.97290162e-01 -3.19610683e-03 -9.34938260e+00] [-3.48755227e-02 6.32556481e-04 9.99391464e-01 -4.90041263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75800114499998 meters 0.07551817022530193 Centerline is valid? [True, True] Translation: X:229.48, Y:-9.35, Z:-4.90 [[ 9.96539500e-01 7.17931265e-02 4.18900051e-02 2.29477755e+02] [-7.16949290e-02 9.97419201e-01 -3.84373869e-03 -9.34929520e+00] [-4.20578494e-02 8.27136487e-04 9.99114835e-01 -4.90345742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81800114499998 meters 0.07973163251076062 Centerline is valid? [True, True] Translation: X:229.54, Y:-9.36, Z:-4.90 [[ 9.96494860e-01 6.80915918e-02 4.85955725e-02 2.29536590e+02] [-6.79554775e-02 9.97678432e-01 -4.44955099e-03 -9.35611749e+00] [-4.87857316e-02 1.13161935e-03 9.98808626e-01 -4.90399369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87800114499998 meters 0.08843369251352869 Centerline is valid? [True, True] Translation: X:229.60, Y:-9.36, Z:-4.90 [[ 9.96279639e-01 6.07407851e-02 6.11345839e-02 2.29595474e+02] [-6.05114603e-02 9.98151809e-01 -5.59730107e-03 -9.36316645e+00] [-6.13615800e-02 1.87713414e-03 9.98113838e-01 -4.90407530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.938001145 meters 0.09261552030337208 Centerline is valid? [True, True] Translation: X:229.66, Y:-9.36, Z:-4.91 [[ 9.95917999e-01 5.52348750e-02 7.13894088e-02 2.29656196e+02] [-5.49079006e-02 9.98470031e-01 -6.53599540e-03 -9.36395629e+00] [-7.16412002e-02 2.58947289e-03 9.97427107e-01 -4.91332512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.998001145 meters 0.103420429640685 Centerline is valid? [True, False] Translation: X:229.67, Y:-9.36, Z:-4.90 [[ 9.97500340e-01 5.09537732e-02 4.89569775e-02 2.29669161e+02] [-5.06096754e-02 9.98684488e-01 -8.24345285e-03 -9.36462152e+00] [-4.93126090e-02 5.74515028e-03 9.98766870e-01 -4.90393129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.058001145 meters 0.11490631056447688 Centerline is valid? [False, False] Translation: X:229.68, Y:-9.37, Z:-4.89 [[ 9.98409689e-01 4.89900034e-02 2.78939380e-02 2.29679481e+02] [-4.87689176e-02 9.98773474e-01 -8.55225452e-03 -9.36544085e+00] [-2.82787003e-02 7.17829662e-03 9.99574303e-01 -4.89419704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.118001145 meters 0.1279007408225908 Centerline is valid? [False, False] Translation: X:229.68, Y:-9.37, Z:-4.89 [[ 9.98401578e-01 4.94850529e-02 2.73041700e-02 2.29680786e+02] [-4.92782221e-02 9.98751453e-01 -8.19705236e-03 -9.36616977e+00] [-2.76757110e-02 6.83844906e-03 9.99593563e-01 -4.89402209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.178001145 meters 0.13400782093757524 Centerline is valid? [False, False] Translation: X:229.69, Y:-9.37, Z:-4.89 [[ 9.98658348e-01 5.09402588e-02 9.30555536e-03 2.29686560e+02] [-5.08397440e-02 9.98649111e-01 -1.07365276e-02 -9.36785989e+00] [-9.83990609e-03 1.02490309e-02 9.99899062e-01 -4.88585539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1938.54 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0%| | 0/8174 [00:00