+ python -m lidar_slam --no-model /working/d5aa3c33-48d8-4611-9c96-4486a3c9bf0a Lidar SLAM 0.0.11 ===================================================== The recording path: /working/d5aa3c33-48d8-4611-9c96-4486a3c9bf0a 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 0.00719347 Adjusted end_distance from 9.223372036854776e+18 to 204.37719347 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00719347 meters 0.20941828810557955 Centerline is valid? [0, False] SLAMing on 0.06719347 meters 0.20941828810557955 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:-0.00 [[ 1.00000000e+00 -2.09315507e-17 9.08306745e-17 -1.33228931e-14] [-2.54027090e-16 1.00000000e+00 -4.37920935e-17 -4.51719825e-14] [-1.27997491e-16 9.18868905e-17 1.00000000e+00 -8.95898414e-14] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12719347 meters 0.20941828810557955 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:-0.00 [[ 1.00000000e+00 3.67694135e-16 -7.88939382e-17 -1.59319172e-14] [ 1.43787410e-16 1.00000000e+00 -1.70861519e-16 -1.51046059e-13] [-1.74876351e-17 2.20177963e-17 1.00000000e+00 -4.29323606e-13] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18719347000000003 meters 0.20149549508445855 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:0.01 [[ 0.99999468 -0.00130588 0.00298964 -0.01402242] [ 0.00128034 0.99996281 0.00852853 -0.07193037] [-0.00300067 -0.00852466 0.99995916 0.00817025] [ 0. 0. 0. 1. ]] SLAMing on 0.24719347000000003 meters 0.20141289395406567 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.24, Z:-0.02 [[ 0.99355199 0.09785394 -0.0572629 0.04452066] [-0.09677449 0.99507761 0.02133636 -0.23963798] [ 0.05906888 -0.01565719 0.99813111 -0.01883374] [ 0. 0. 0. 1. ]] SLAMing on 0.30719347 meters 0.18813275808591817 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.24, Z:-0.05 [[ 0.99616019 0.04792319 -0.07326827 0.06656733] [-0.0465318 0.99870475 0.02058176 -0.24485665] [ 0.07415971 -0.01709342 0.99709987 -0.04911726] [ 0. 0. 0. 1. ]] SLAMing on 0.36719347 meters 0.14733225444240083 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.26, Z:-0.07 [[ 0.99195688 0.10803853 -0.06594866 0.05303035] [-0.10732731 0.9941217 0.01424419 -0.26120085] [ 0.06709992 -0.00705153 0.99772134 -0.06617255] [ 0. 0. 0. 1. ]] SLAMing on 0.42719347 meters 0.1380739223392286 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.29, Z:-0.07 [[ 0.99486823 0.08795626 -0.05000899 0.04220633] [-0.08722796 0.99605059 0.01656813 -0.286577 ] [ 0.05126875 -0.01212092 0.99861133 -0.07189642] [ 0. 0. 0. 1. ]] SLAMing on 0.48719347 meters 0.1306846504947956 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.28, Z:-0.09 [[ 0.99556346 0.09092882 -0.024194 0.02505064] [-0.09050302 0.99573078 0.01815003 -0.28043308] [ 0.02574107 -0.01587988 0.99954251 -0.08502752] [ 0. 0. 0. 1. ]] SLAMing on 0.5471934700000001 meters 0.12555726770148182 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.27, Z:-0.08 [[ 0.99769571 0.06583652 -0.01639589 0.02341198] [-0.06573932 0.99781631 0.00639897 -0.27191487] [ 0.01678137 -0.00530637 0.9998451 -0.08497678] [ 0. 0. 0. 1. ]] SLAMing on 0.6071934700000001 meters 0.12374934276648165 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.26, Z:-0.09 [[ 0.99919294 0.03740535 -0.01463897 0.02652843] [-0.03731057 0.99928129 0.00669499 -0.25900388] [ 0.01487888 -0.00614339 0.99987043 -0.08566998] [ 0. 0. 0. 1. ]] SLAMing on 0.6671934700000001 meters 0.11534045120750619 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.25, Z:-0.08 [[ 0.99949625 0.03151122 -0.00378029 0.02453277] [-0.03149663 0.99949641 0.00385918 -0.25070972] [ 0.0039 -0.00373817 0.99998541 -0.07689759] [ 0. 0. 0. 1. ]] SLAMing on 0.7271934700000001 meters 0.10506998716641092 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.26, Z:-0.08 [[ 0.99943087 0.03346945 -0.0042098 0.02781625] [-0.03343836 0.99941448 0.00725054 -0.2598033 ] [ 0.00445001 -0.00710565 0.99996485 -0.08055009] [ 0. 0. 0. 1. ]] SLAMing on 0.7871934700000001 meters 0.10565023854096212 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.28, Z:-0.09 [[ 0.99885615 0.04670888 -0.01023052 0.04998381] [-0.04657695 0.99883301 0.01277528 -0.28480676] [ 0.0108153 -0.01228416 0.99986606 -0.09076772] [ 0. 0. 0. 1. ]] SLAMing on 0.8471934700000001 meters 0.10209009904229244 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.33, Z:-0.09 [[ 0.99923172 0.03674262 -0.01363644 0.05539882] [-0.0365245 0.99920604 0.01591396 -0.3335385 ] [ 0.01421033 -0.01540367 0.99978037 -0.09337667] [ 0. 0. 0. 1. ]] SLAMing on 0.9071934700000001 meters 0.09663820172562086 Centerline is valid? [False, True] Translation: X:0.04, Y:-0.38, Z:-0.09 [[ 0.99938008 0.0341721 -0.00846924 0.043876 ] [-0.03399433 0.99921557 0.02031339 -0.37561741] [ 0.00915675 -0.0200129 0.99975779 -0.09345254] [ 0. 0. 0. 1. ]] SLAMing on 0.9671934700000001 meters 0.09633810921903864 Centerline is valid? [True, True] Translation: X:0.10, Y:-0.36, Z:-0.10 [[ 9.98152340e-01 5.90868149e-02 -1.41652896e-02 1.04283925e-01] [-5.90833143e-02 9.98252833e-01 6.65850757e-04 -3.58284607e-01] [ 1.41798835e-02 1.72311767e-04 9.99899446e-01 -1.03561661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.02719347 meters 0.0919238623171858 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.38, Z:-0.11 [[ 9.97829050e-01 6.53730186e-02 -7.97215445e-03 1.62864892e-01] [-6.53721176e-02 9.97860885e-01 3.73832316e-04 -3.76486008e-01] [ 7.97953965e-03 1.48135874e-04 9.99968152e-01 -1.05738756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.08719347 meters 0.09216926649544989 Centerline is valid? [True, True] Translation: X:0.23, Y:-0.37, Z:-0.09 [[ 9.96592955e-01 8.21143945e-02 7.72709267e-03 2.25161701e-01] [-8.21140403e-02 9.96622874e-01 -3.63626500e-04 -3.68442591e-01] [-7.73085627e-03 -2.72115191e-04 9.99970079e-01 -9.26069285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1471934700000002 meters 0.08506943594999487 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.44, Z:-0.10 [[ 9.99358948e-01 3.44862639e-02 9.61197924e-03 2.82298230e-01] [-3.44835116e-02 9.99405165e-01 -4.51977247e-04 -4.42342457e-01] [-9.62184870e-03 1.20232709e-04 9.99953702e-01 -1.01980568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2071934700000002 meters 0.09655772284590511 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.35, Z:-0.11 [[ 9.94509266e-01 1.04161091e-01 -1.00889665e-02 3.46802431e-01] [-1.04161612e-01 9.94560271e-01 4.75328868e-04 -3.54322319e-01] [ 1.00835960e-02 5.78164044e-04 9.99948992e-01 -1.07177222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.26719347 meters 0.09927875123095578 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.33, Z:-0.10 [[ 9.93393873e-01 1.14372726e-01 9.35373789e-03 4.07684412e-01] [-1.14373616e-01 9.93437709e-01 -4.41483043e-04 -3.32005107e-01] [-9.34284955e-03 -6.31254274e-04 9.99956155e-01 -1.03134266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.32719347 meters 0.1144375248840234 Centerline is valid? [True, False] Translation: X:0.41, Y:-0.32, Z:-0.08 [[ 9.91446155e-01 1.29427129e-01 1.68267444e-02 4.11116609e-01] [-1.29417710e-01 9.91588789e-01 -1.65205500e-03 -3.21673675e-01] [-1.68990318e-02 -5.39755145e-04 9.99857055e-01 -8.19905987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3871934700000002 meters 0.12711565408916506 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.30, Z:-0.08 [[ 9.90147727e-01 1.38220390e-01 2.24187842e-02 4.03490629e-01] [-1.38171901e-01 9.90401332e-01 -3.70510318e-03 -3.03493454e-01] [-2.27157145e-02 5.70953449e-04 9.99741802e-01 -7.67520346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4471934700000002 meters 0.10831258337376218 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.29, Z:-0.09 [[ 0.99383334 0.1080378 0.02496234 0.40156054] [-0.10819865 0.99411579 0.00518136 -0.2882529 ] [-0.02425567 -0.0078503 0.99967496 -0.08615937] [ 0. 0. 0. 1. ]] SLAMing on 1.5071934700000003 meters 0.11119371503439147 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.25, Z:-0.10 [[ 0.99424833 0.10669316 0.00931856 0.41768976] [-0.10671857 0.99428667 0.00227147 -0.25085604] [-0.00902297 -0.00325287 0.999954 -0.09535779] [ 0. 0. 0. 1. ]] SLAMing on 1.56719347 meters 0.11592255809448732 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.18, Z:-0.08 [[ 0.99376179 0.10394655 0.04040561 0.39945323] [-0.10350141 0.99454483 -0.01296263 -0.18082259] [-0.04153261 0.00869973 0.99909927 -0.07521316] [ 0. 0. 0. 1. ]] SLAMing on 1.6271934700000001 meters 0.11541554187779376 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.14, Z:-0.09 [[ 0.99470229 0.09829647 0.03008569 0.41034046] [-0.09787136 0.99508155 -0.01529416 -0.14249453] [-0.03144108 0.01226861 0.99943031 -0.08868005] [ 0. 0. 0. 1. ]] SLAMing on 1.6871934700000002 meters 0.11790914392641066 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.12, Z:-0.11 [[ 0.99558855 0.09368795 0.00510027 0.42005371] [-0.09371724 0.99558172 0.00584194 -0.12268324] [-0.00453042 -0.00629415 0.99996993 -0.11060134] [ 0. 0. 0. 1. ]] SLAMing on 1.7471934700000002 meters 0.0841742027938474 Centerline is valid? [False, True] Translation: X:0.41, Y:0.13, Z:-0.13 [[ 0.99939142 0.03202727 0.01382203 0.40864144] [-0.03179251 0.9993519 -0.01688228 0.12985504] [-0.01435377 0.01643257 0.99976194 -0.12880558] [ 0. 0. 0. 1. ]] SLAMing on 1.80719347 meters 0.06196701653920269 Centerline is valid? [True, True] Translation: X:0.47, Y:0.29, Z:-0.11 [[ 9.98676410e-01 -2.61079715e-02 4.43148012e-02 4.67423202e-01] [ 2.61123367e-02 9.99658899e-01 4.80459116e-04 2.89735482e-01] [-4.43122292e-02 6.77339822e-04 9.99017501e-01 -1.10150598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8671934700000001 meters 0.06146794146234244 Centerline is valid? [True, True] Translation: X:0.53, Y:0.26, Z:-0.12 [[ 9.98962497e-01 -2.42524191e-02 3.85454351e-02 5.28871457e-01] [ 2.42543436e-02 9.99705733e-01 4.17760954e-04 2.60507221e-01] [-3.85442241e-02 5.17566700e-04 9.99256761e-01 -1.19559721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9271934700000002 meters 0.06925036242069509 Centerline is valid? [True, True] Translation: X:0.59, Y:0.13, Z:-0.12 [[ 9.98490954e-01 4.21777144e-02 3.51689456e-02 5.90385717e-01] [-4.22171861e-02 9.99108385e-01 3.80171910e-04 1.30003621e-01] [-3.51215536e-02 -1.86433213e-03 9.99381309e-01 -1.17284380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9871934700000002 meters 0.06478985486230998 Centerline is valid? [True, True] Translation: X:0.65, Y:0.21, Z:-0.13 [[ 9.98619404e-01 -4.66900145e-02 2.40692479e-02 6.48865352e-01] [ 4.66972877e-02 9.98909053e-01 2.60106880e-04 2.06944145e-01] [-2.40551340e-02 8.64220817e-04 9.99710260e-01 -1.27082905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.04719347 meters 0.06106241044578378 Centerline is valid? [True, True] Translation: X:0.71, Y:0.26, Z:-0.14 [[ 9.99458258e-01 -2.44681464e-02 2.20113888e-02 7.08749627e-01] [ 2.44688267e-02 9.99700565e-01 2.38461161e-04 2.60787295e-01] [-2.20106326e-02 3.00260882e-04 9.99757692e-01 -1.35530682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.10719347 meters 0.06028061769030322 Centerline is valid? [True, True] Translation: X:0.77, Y:0.26, Z:-0.13 [[ 9.99688983e-01 2.97128134e-03 2.47610327e-02 7.72063576e-01] [-2.97882177e-03 9.99995527e-01 2.67648765e-04 2.62197474e-01] [-2.47601267e-02 -3.41324225e-04 9.99693363e-01 -1.27140990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.16719347 meters 0.061379452784670364 Centerline is valid? [True, True] Translation: X:0.83, Y:0.22, Z:-0.13 [[ 9.99721596e-01 6.44329094e-03 2.26983421e-02 8.34156442e-01] [-6.45045709e-03 9.99979166e-01 2.42508982e-04 2.15268872e-01] [-2.26963066e-02 -3.88856148e-04 9.99742330e-01 -1.33367035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.22719347 meters 0.06148599959735965 Centerline is valid? [True, True] Translation: X:0.90, Y:0.16, Z:-0.14 [[ 9.99796316e-01 3.54708925e-03 1.98681763e-02 8.96850100e-01] [-3.55200591e-03 9.99993669e-01 2.12180274e-04 1.63433263e-01] [-1.98672979e-02 -2.82708936e-04 9.99802586e-01 -1.40949712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.28719347 meters 0.061287839662907705 Centerline is valid? [True, True] Translation: X:0.96, Y:0.12, Z:-0.15 [[ 9.99809490e-01 -7.90989782e-03 1.78442530e-02 9.58856697e-01] [ 7.90784336e-03 9.99968715e-01 1.85691306e-04 1.20228974e-01] [-1.78451636e-02 -4.45463717e-05 9.99840761e-01 -1.45789323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.34719347 meters 0.06266420319679748 Centerline is valid? [True, True] Translation: X:1.02, Y:0.09, Z:-0.15 [[ 9.99480564e-01 -2.81296228e-02 1.57266087e-02 1.02015597e+00] [ 2.81306244e-02 9.99604243e-01 1.57567664e-04 9.03426633e-02] [-1.57248171e-02 2.84913506e-04 9.99876317e-01 -1.47396126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.40719347 meters 0.06306745747337851 Centerline is valid? [True, True] Translation: X:1.08, Y:0.11, Z:-0.15 [[ 9.99657584e-01 -2.50504807e-02 7.56231292e-03 1.08237823e+00] [ 2.50506182e-02 9.99686181e-01 7.65537523e-05 1.08206544e-01] [-7.56185743e-03 1.12913075e-04 9.99971402e-01 -1.53925947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.46719347 meters 0.06095646880053476 Centerline is valid? [True, True] Translation: X:1.14, Y:0.15, Z:-0.15 [[ 9.99836977e-01 -1.12261838e-02 1.41418861e-02 1.14294448e+00] [ 1.12253353e-02 9.99936984e-01 1.39376489e-04 1.49326847e-01] [-1.41425596e-02 1.93936461e-05 9.99899989e-01 -1.47903120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52719347 meters 0.061257561794476355 Centerline is valid? [True, True] Translation: X:1.20, Y:0.19, Z:-0.14 [[ 9.99753491e-01 4.94093580e-03 2.16458933e-02 1.20457139e+00] [-4.94669857e-03 9.99987742e-01 2.12693074e-04 1.85537098e-01] [-2.16445771e-02 -3.19716353e-04 9.99765678e-01 -1.40498730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.58719347 meters 0.06386065800177038 Centerline is valid? [True, True] Translation: X:1.27, Y:0.20, Z:-0.15 [[ 9.99710486e-01 1.53937649e-02 1.84926214e-02 1.26572751e+00] [-1.53997373e-02 9.99881401e-01 1.80590062e-04 2.00519648e-01] [-1.84876482e-02 -4.65319289e-04 9.99828981e-01 -1.46084989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.64719347 meters 0.06382653332638945 Centerline is valid? [True, True] Translation: X:1.33, Y:0.21, Z:-0.15 [[ 9.99680689e-01 1.96068433e-02 1.59402820e-02 1.32635093e+00] [-1.96118111e-02 9.99807658e-01 1.55375998e-04 2.05728688e-01] [-1.59341696e-02 -4.67944184e-04 9.99872934e-01 -1.49786021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.70719347 meters 0.06452845955635092 Centerline is valid? [True, True] Translation: X:1.38, Y:0.20, Z:-0.15 [[ 9.99642826e-01 1.96139328e-02 1.81524965e-02 1.38475147e+00] [-1.96203319e-02 9.99807488e-01 1.74473441e-04 1.97766681e-01] [-1.81455798e-02 -5.30569128e-04 9.99835215e-01 -1.54176233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76719347 meters 0.06316077223839923 Centerline is valid? [True, True] Translation: X:1.45, Y:0.17, Z:-0.16 [[ 9.99785579e-01 1.05431452e-02 1.78224013e-02 1.44618595e+00] [-1.05478942e-02 9.99944355e-01 1.72476548e-04 1.70186809e-01] [-1.78195911e-02 -3.60428369e-04 9.99841154e-01 -1.58050896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.82719347 meters 0.0630014172435357 Centerline is valid? [True, True] Translation: X:1.51, Y:0.15, Z:-0.16 [[ 9.99872800e-01 6.94345437e-03 1.43587081e-02 1.50841791e+00] [-6.94620335e-03 9.99975865e-01 1.41586715e-04 1.54247279e-01] [-1.43573784e-02 -2.41307211e-04 9.99896898e-01 -1.61385703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.88719347 meters 0.06396230002347572 Centerline is valid? [True, True] Translation: X:1.57, Y:0.13, Z:-0.17 [[ 9.99940547e-01 9.44756143e-03 5.44481968e-03 1.56826700e+00] [-9.44798921e-03 9.99955365e-01 5.28504573e-05 1.34237612e-01] [-5.44407735e-03 -1.04289913e-04 9.99985175e-01 -1.71415655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.94719347 meters 0.06459314422090813 Centerline is valid? [True, True] Translation: X:1.63, Y:0.10, Z:-0.18 [[ 9.99959144e-01 8.86374375e-03 1.77332992e-03 1.62815449e+00] [-8.86378495e-03 9.99960716e-01 1.53767959e-05 1.04110797e-01] [-1.77312396e-03 -3.10945827e-05 9.99998428e-01 -1.77532366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0071934700000003 meters 0.06240972725990856 Centerline is valid? [True, True] Translation: X:1.69, Y:0.08, Z:-0.17 [[ 9.99964568e-01 -5.58153486e-03 6.30146437e-03 1.68890726e+00] [ 5.58128134e-03 9.99984423e-01 5.78157824e-05 7.55173211e-02] [-6.30168891e-03 -2.26434884e-05 9.99980144e-01 -1.72532089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.06719347 meters 0.061847725409721874 Centerline is valid? [True, True] Translation: X:1.75, Y:0.06, Z:-0.17 [[ 9.99918433e-01 -8.43781816e-03 9.58799355e-03 1.75100404e+00] [ 8.43733762e-03 9.99964401e-01 9.05686025e-05 5.86508047e-02] [-9.58841642e-03 -9.66407656e-06 9.99954030e-01 -1.70056221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.12719347 meters 0.06422784998266444 Centerline is valid? [True, True] Translation: X:1.81, Y:0.08, Z:-0.18 [[ 9.99942520e-01 1.02770841e-02 3.05578238e-03 1.80989115e+00] [-1.02772170e-02 9.99947188e-01 2.77809556e-05 8.36148681e-02] [-3.05533549e-03 -5.91842973e-05 9.99995331e-01 -1.76635475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.18719347 meters 0.0658637763640125 Centerline is valid? [True, True] Translation: X:1.87, Y:0.10, Z:-0.18 [[ 9.99786441e-01 1.94948822e-02 6.85728368e-03 1.86964993e+00] [-1.94957693e-02 9.99809937e-01 6.25261504e-05 1.00199251e-01] [-6.85476143e-03 -1.96200818e-04 9.99976487e-01 -1.76589171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.24719347 meters 0.06342021850001146 Centerline is valid? [True, True] Translation: X:1.93, Y:0.10, Z:-0.17 [[ 9.99830656e-01 1.28205125e-02 1.32020392e-02 1.93000530e+00] [-1.28232429e-02 9.99917771e-01 1.22180188e-04 9.58430794e-02] [-1.31993872e-02 -2.91452454e-04 9.99912842e-01 -1.72106096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.30719347 meters 0.0647700452974616 Centerline is valid? [True, True] Translation: X:1.99, Y:0.10, Z:-0.17 [[ 9.99785958e-01 1.74264633e-02 1.11515310e-02 1.99070986e+00] [-1.74287063e-02 9.99848103e-01 1.03978214e-04 1.04287541e-01] [-1.11480252e-02 -2.98312718e-04 9.99937814e-01 -1.74871391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.36719347 meters 0.06538546506480465 Centerline is valid? [True, True] Translation: X:2.05, Y:0.11, Z:-0.18 [[ 9.99646071e-01 2.44224857e-02 1.05487180e-02 2.05059249e+00] [-2.44248729e-02 9.99701664e-01 9.75104437e-05 1.11536357e-01] [-1.05431895e-02 -3.55127028e-04 9.99944356e-01 -1.77775287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.42719347 meters 0.06441507886997673 Centerline is valid? [True, True] Translation: X:2.11, Y:0.10, Z:-0.19 [[ 9.99888276e-01 1.45496222e-02 3.42709845e-03 2.11040016e+00] [-1.45498151e-02 9.99894145e-01 3.13756730e-05 1.01777695e-01] [-3.42627917e-03 -8.12358166e-05 9.99994127e-01 -1.86770134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4871934700000002 meters 0.06203768738432125 Centerline is valid? [True, True] Translation: X:2.17, Y:0.08, Z:-0.19 [[ 9.99974925e-01 -5.00076795e-03 5.01420843e-03 2.16948704e+00] [ 5.00059960e-03 9.99987496e-01 4.61108708e-05 8.21557695e-02] [-5.01437632e-03 -2.10356659e-05 9.99987428e-01 -1.87854038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5471934700000003 meters 0.06279670217524243 Centerline is valid? [True, True] Translation: X:2.23, Y:0.07, Z:-0.19 [[ 9.99823129e-01 -1.86920366e-02 2.07791629e-03 2.23123196e+00] [ 1.86920290e-02 9.99825288e-01 2.31021055e-05 6.87379964e-02] [-2.07798508e-03 1.57424522e-05 9.99997841e-01 -1.90947735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.60719347 meters 0.06397260022767133 Centerline is valid? [True, True] Translation: X:2.29, Y:0.07, Z:-0.19 [[ 9.99616425e-01 -2.74265560e-02 3.84542161e-03 2.29233380e+00] [ 2.74266177e-02 9.99623819e-01 3.67017229e-05 6.98835486e-02] [-3.84498164e-03 6.87792633e-05 9.99992606e-01 -1.91661687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.66719347 meters 0.06342038881129156 Centerline is valid? [True, True] Translation: X:2.35, Y:0.09, Z:-0.19 [[ 9.99612967e-01 -2.75797766e-02 3.64315458e-03 2.35478965e+00] [ 2.75798319e-02 9.99619603e-01 3.50781731e-05 8.57472067e-02] [-3.64273619e-03 6.54129941e-05 9.99993363e-01 -1.90703225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.72719347 meters 0.0628237074644597 Centerline is valid? [True, True] Translation: X:2.42, Y:0.11, Z:-0.19 [[ 9.99680593e-01 -2.43699509e-02 6.69465777e-03 2.41647851e+00] [ 2.43700844e-02 9.99703003e-01 6.16355941e-05 1.10929723e-01] [-6.69417154e-03 1.01533468e-04 9.99977589e-01 -1.89066234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.78719347 meters 0.062245063957466255 Centerline is valid? [True, True] Translation: X:2.48, Y:0.15, Z:-0.19 [[ 9.99694916e-01 -2.28517795e-02 9.37391890e-03 2.47782073e+00] [ 2.28519838e-02 9.99738856e-01 8.53226181e-05 1.45191370e-01] [-9.37342072e-03 1.28916056e-04 9.99956060e-01 -1.89029683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.84719347 meters 0.06497889606962763 Centerline is valid? [True, True] Translation: X:2.54, Y:0.16, Z:-0.19 [[ 9.99051723e-01 -4.10255957e-02 1.45793000e-02 2.53801393e+00] [ 4.10280705e-02 9.99157986e-01 1.29435829e-04 1.55630192e-01] [-1.45723342e-02 4.68847459e-04 9.99893708e-01 -1.86161026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.90719347 meters 0.06674232640296068 Centerline is valid? [True, True] Translation: X:2.60, Y:0.18, Z:-0.18 [[ 9.98683789e-01 -4.70399636e-02 2.04433670e-02 2.59845485e+00] [ 4.70460897e-02 9.98892703e-01 1.81441717e-04 1.79941737e-01] [-2.04292652e-02 7.80577577e-04 9.99790996e-01 -1.83881866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.96719347 meters 0.06348262997642738 Centerline is valid? [True, True] Translation: X:2.66, Y:0.22, Z:-0.19 [[ 9.99206423e-01 -3.57340732e-02 1.75954675e-02 2.65815820e+00] [ 3.57368669e-02 9.99361222e-01 1.55725370e-04 2.19494033e-01] [-1.75897926e-02 4.73205091e-04 9.99845176e-01 -1.86211948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.02719347 meters 0.06270218267291511 Centerline is valid? [True, True] Translation: X:2.72, Y:0.25, Z:-0.19 [[ 9.99280005e-01 -3.19934298e-02 2.03934339e-02 2.71895934e+00] [ 3.19964025e-02 9.99487968e-01 1.80589375e-04 2.50287311e-01] [-2.03887695e-02 4.72057170e-04 9.99792016e-01 -1.85229720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.08719347 meters 0.06332683635448595 Centerline is valid? [True, True] Translation: X:2.78, Y:0.27, Z:-0.20 [[ 9.99123254e-01 -3.69563483e-02 1.96711000e-02 2.78069920e+00] [ 3.69600876e-02 9.99316727e-01 1.73556637e-04 2.69609724e-01] [-1.96640733e-02 5.53641107e-04 9.99806490e-01 -1.96127002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.14719347 meters 0.064784567236619 Centerline is valid? [True, True] Translation: X:2.84, Y:0.28, Z:-0.20 [[ 9.99225939e-01 -3.74389865e-02 1.20766734e-02 2.84204018e+00] [ 3.74404071e-02 9.99298856e-01 1.08510577e-04 2.83514820e-01] [-1.20722684e-02 3.43728985e-04 9.99927068e-01 -2.03924735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.20719347 meters 0.06519019509372384 Centerline is valid? [True, True] Translation: X:2.90, Y:0.30, Z:-0.22 [[ 9.99408536e-01 -3.42794758e-02 2.73799681e-03 2.90295768e+00] [ 3.42795259e-02 9.99412284e-01 2.86290205e-05 2.95632770e-01] [-2.73736903e-03 6.52451450e-05 9.99996251e-01 -2.18158163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2671934700000005 meters 0.06730946480694984 Centerline is valid? [True, True] Translation: X:2.96, Y:0.30, Z:-0.22 [[ 9.99078983e-01 -4.28981076e-02 9.68699543e-04 2.96354830e+00] [ 4.28981199e-02 9.99079452e-01 8.08549847e-06 2.98633470e-01] [-9.68154661e-04 3.34773376e-05 9.99999531e-01 -2.20680527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.32719347 meters 0.06890064883980386 Centerline is valid? [True, True] Translation: X:3.02, Y:0.30, Z:-0.22 [[ 9.98755660e-01 -4.97180625e-02 3.90447485e-03 3.02454012e+00] [ 4.97183151e-02 9.98763279e-01 3.24098916e-05 3.00640330e-01] [-3.90125746e-03 1.61754348e-04 9.99992377e-01 -2.19840399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.387193470000001 meters 0.06780701726392516 Centerline is valid? [True, True] Translation: X:3.09, Y:0.31, Z:-0.21 [[ 9.98606751e-01 -5.08805855e-02 1.39901144e-02 3.08637409e+00] [ 5.08839543e-02 9.98704566e-01 1.15280455e-04 3.12013056e-01] [-1.39778567e-02 5.96752502e-04 9.99902127e-01 -2.12257105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.44719347 meters 0.06647232584928346 Centerline is valid? [True, True] Translation: X:3.15, Y:0.33, Z:-0.21 [[ 9.98906351e-01 -4.46583426e-02 1.38468446e-02 3.14692028e+00] [ 4.46610711e-02 9.99002190e-01 1.12262625e-04 3.25088080e-01] [-1.38380415e-02 5.06275061e-04 9.99904122e-01 -2.11260202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.50719347 meters 0.06221888560633932 Centerline is valid? [True, True] Translation: X:3.21, Y:0.35, Z:-0.21 [[ 9.99670844e-01 -2.17984370e-02 1.35289450e-02 3.20733867e+00] [ 2.17989532e-02 9.99762369e-01 1.09325577e-04 3.45705191e-01] [-1.35281132e-02 1.85627247e-04 9.99908474e-01 -2.14629545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.56719347 meters 0.06178634026272747 Centerline is valid? [True, True] Translation: X:3.27, Y:0.35, Z:-0.22 [[ 9.99887148e-01 -1.27780231e-02 7.90026917e-03 3.26907718e+00] [ 1.27779085e-02 9.99918357e-01 6.49725071e-05 3.50135770e-01] [-7.90045439e-03 3.59837422e-05 9.99968790e-01 -2.20159911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.62719347 meters 0.062274959152600146 Centerline is valid? [True, True] Translation: X:3.33, Y:0.33, Z:-0.22 [[ 9.99803679e-01 -1.82631879e-02 7.68496130e-03 3.33109882e+00] [ 1.82632215e-02 9.99833211e-01 6.58086170e-05 3.30872888e-01] [-7.68488142e-03 7.45564532e-05 9.99970468e-01 -2.21502310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.68719347 meters 0.06607396849727445 Centerline is valid? [True, True] Translation: X:3.39, Y:0.28, Z:-0.22 [[ 9.99108726e-01 -4.15032357e-02 7.69646333e-03 3.39094913e+00] [ 4.15040025e-02 9.99138336e-01 6.01378851e-05 2.80772632e-01] [-7.69232749e-03 2.59349748e-04 9.99970380e-01 -2.22288453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.74719347 meters 0.06531048205812334 Centerline is valid? [True, True] Translation: X:3.45, Y:0.26, Z:-0.23 [[ 9.99149129e-01 -4.11492424e-02 2.78518573e-03 3.45274824e+00] [ 4.11493269e-02 9.99153007e-01 2.69912780e-05 2.62894949e-01] [-2.78393736e-03 8.76402059e-05 9.99996121e-01 -2.25063276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8071934700000005 meters 0.0637317248456671 Centerline is valid? [True, True] Translation: X:3.51, Y:0.26, Z:-0.23 [[ 9.99410357e-01 -3.42997432e-02 -1.57003089e-03 3.51473732e+00] [ 3.42997698e-02 9.99411590e-01 -9.99250795e-06 2.58450567e-01] [ 1.56944981e-03 -4.38650823e-05 9.99998767e-01 -2.25663922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.86719347 meters 0.06197723254005113 Centerline is valid? [True, True] Translation: X:3.58, Y:0.25, Z:-0.22 [[ 9.99698238e-01 -2.45600395e-02 4.88157409e-04 3.57578927e+00] [ 2.45600405e-02 9.99698357e-01 4.09129288e-06 2.52855324e-01] [-4.88110642e-04 7.89910744e-06 9.99999881e-01 -2.22345823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.927193470000001 meters 0.06163833729249094 Centerline is valid? [True, True] Translation: X:3.64, Y:0.24, Z:-0.22 [[ 9.99744371e-01 -2.16576171e-02 6.49159241e-03 3.63756304e+00] [ 2.16577578e-02 9.99765442e-01 4.86339179e-05 2.41659511e-01] [-6.49112305e-03 9.19718507e-05 9.99978928e-01 -2.20330662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.98719347 meters 0.06323420031723521 Centerline is valid? [True, True] Translation: X:3.70, Y:0.22, Z:-0.23 [[ 9.99503037e-01 -3.11388414e-02 4.90427978e-03 3.69838293e+00] [ 3.11390396e-02 9.99515062e-01 3.59550465e-05 2.19515123e-01] [-4.90302111e-03 1.16777384e-04 9.99987973e-01 -2.26670386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.04719347 meters 0.06345411204338947 Centerline is valid? [True, True] Translation: X:3.76, Y:0.21, Z:-0.23 [[ 9.99313266e-01 -3.64276547e-02 6.78395874e-03 3.76094090e+00] [ 3.64281501e-02 9.99336273e-01 5.05587357e-05 2.11206683e-01] [-6.78129778e-03 1.96603052e-04 9.99976987e-01 -2.26815143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.10719347 meters 0.06418147434623986 Centerline is valid? [True, True] Translation: X:3.82, Y:0.21, Z:-0.23 [[ 9.99250260e-01 -3.85158876e-02 3.93001192e-03 3.82267967e+00] [ 3.85160633e-02 9.99257981e-01 3.09988615e-05 2.08548262e-01] [-3.92828973e-03 1.20392968e-04 9.99992277e-01 -2.31284392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.16719347 meters 0.0635885687071145 Centerline is valid? [True, True] Translation: X:3.88, Y:0.22, Z:-0.23 [[ 9.99498742e-01 -3.13084984e-02 4.69503638e-03 3.88216663e+00] [ 3.13086914e-02 9.99509762e-01 3.24095590e-05 2.19864761e-01] [-4.69374939e-03 1.14602131e-04 9.99988978e-01 -2.32241083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2271934700000005 meters 0.06141341677651862 Centerline is valid? [True, True] Translation: X:3.94, Y:0.25, Z:-0.23 [[ 9.99942824e-01 -1.01844391e-02 3.25980515e-03 3.94259025e+00] [ 1.01844173e-02 9.99948137e-01 2.33130992e-05 2.47922333e-01] [-3.25987352e-03 9.88744955e-06 9.99994687e-01 -2.33211767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.28719347 meters 0.06267289983931236 Centerline is valid? [True, True] Translation: X:4.00, Y:0.27, Z:-0.24 [[ 9.99987709e-01 1.68514948e-03 -4.66291797e-03 4.00363298e+00] [-1.68531401e-03 9.99998579e-01 -3.13553886e-05 2.71595821e-01] [ 4.66285851e-03 3.92134842e-05 9.99989128e-01 -2.42377038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.347193470000001 meters 0.06187506956094058 Centerline is valid? [True, True] Translation: X:4.06, Y:0.26, Z:-0.24 [[ 9.99972998e-01 -7.29626135e-03 -8.75875204e-04 4.06346998e+00] [ 7.29625785e-03 9.99973382e-01 -7.18899039e-06 2.62407306e-01] [ 8.75904342e-04 7.98184944e-07 9.99999616e-01 -2.43424536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.40719347 meters 0.06145322897821386 Centerline is valid? [True, True] Translation: X:4.12, Y:0.24, Z:-0.24 [[ 9.99822661e-01 -1.75347200e-02 6.86884578e-03 4.12479439e+00] [ 1.75347986e-02 9.99846252e-01 4.87777901e-05 2.43845748e-01] [-6.86864501e-03 7.16746875e-05 9.99976408e-01 -2.40674233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.467193470000001 meters 0.06228187618186334 Centerline is valid? [True, True] Translation: X:4.19, Y:0.23, Z:-0.24 [[ 9.99504821e-01 -2.97146715e-02 1.03514187e-02 4.18579500e+00] [ 2.97155099e-02 9.99558394e-01 7.28300026e-05 2.25991178e-01] [-1.03490116e-02 2.34803747e-04 9.99946420e-01 -2.38951860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.52719347 meters 0.06471299696449402 Centerline is valid? [True, True] Translation: X:4.25, Y:0.21, Z:-0.24 [[ 9.99041281e-01 -4.19867173e-02 1.23949090e-02 4.24556225e+00] [ 4.19888888e-02 9.99118074e-01 8.51050342e-05 2.10572367e-01] [-1.23875509e-02 4.35425012e-04 9.99923177e-01 -2.37237000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.58719347 meters 0.06348923527325374 Centerline is valid? [True, True] Translation: X:4.31, Y:0.22, Z:-0.24 [[ 9.99306214e-01 -3.55187217e-02 1.12031725e-02 4.30593645e+00] [ 3.55200852e-02 9.99368960e-01 7.73083390e-05 2.15540749e-01] [-1.11988488e-02 3.20682939e-04 9.99937240e-01 -2.41652022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.64719347 meters 0.06243049810770342 Centerline is valid? [True, True] Translation: X:4.37, Y:0.23, Z:-0.25 [[ 9.99617753e-01 -2.70491580e-02 5.71766363e-03 4.36757075e+00] [ 2.70493678e-02 9.99634098e-01 4.06451237e-05 2.28659405e-01] [-5.71667094e-03 1.14029599e-04 9.99983653e-01 -2.46749312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.70719347 meters 0.06277831735598205 Centerline is valid? [True, True] Translation: X:4.43, Y:0.23, Z:-0.25 [[ 9.99527534e-01 -3.07360388e-02 -6.56316329e-05 4.42886744e+00] [ 3.07360389e-02 9.99527536e-01 6.11062990e-07 2.27344333e-01] [ 6.55818427e-05 -2.62803071e-06 9.99999998e-01 -2.51925141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7671934700000005 meters 0.06231528670499431 Centerline is valid? [True, True] Translation: X:4.49, Y:0.23, Z:-0.25 [[ 9.99537565e-01 -3.03516636e-02 1.85257628e-03 4.49031375e+00] [ 3.03516897e-02 9.99539281e-01 1.40295255e-05 2.27441953e-01] [-1.85214859e-03 4.22057826e-05 9.99998284e-01 -2.50771936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.82719347 meters 0.06260803653827315 Centerline is valid? [True, True] Translation: X:4.55, Y:0.23, Z:-0.25 [[ 9.99664405e-01 -2.58485022e-02 1.71263688e-03 4.55307765e+00] [ 2.58485163e-02 9.99665871e-01 1.38922068e-05 2.33295309e-01] [-1.71242373e-03 3.03815776e-05 9.99998533e-01 -2.51282041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.887193470000001 meters 0.062167110046804294 Centerline is valid? [True, True] Translation: X:4.62, Y:0.23, Z:-0.25 [[ 9.99434717e-01 -3.20686835e-02 1.00918393e-02 4.61535142e+00] [ 3.20696302e-02 9.99485635e-01 6.80462631e-05 2.27218203e-01] [-1.00888305e-02 2.55633755e-04 9.99949074e-01 -2.47448413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.94719347 meters 0.06605756154264533 Centerline is valid? [True, True] Translation: X:4.68, Y:0.21, Z:-0.25 [[ 9.98840341e-01 -4.71240755e-02 9.86378396e-03 4.67518451e+00] [ 4.71257209e-02 9.98888964e-01 6.56755473e-05 2.12966817e-01] [-9.85591984e-03 3.99238544e-04 9.99951350e-01 -2.49773816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.007193470000001 meters 0.0713919931876883 Centerline is valid? [True, True] Translation: X:4.74, Y:0.20, Z:-0.26 [[ 9.98276465e-01 -5.84600623e-02 5.14973781e-03 4.73514047e+00] [ 5.84606659e-02 9.98289712e-01 3.33819902e-05 1.95189831e-01] [-5.14288179e-03 2.67732646e-04 9.99986739e-01 -2.59183485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.06719347 meters 0.06663994169813212 Centerline is valid? [True, True] Translation: X:4.80, Y:0.22, Z:-0.26 [[ 9.98719495e-01 -5.04350394e-02 3.95948737e-03 4.79521131e+00] [ 5.04353338e-02 9.98727328e-01 2.55199000e-05 2.16921022e-01] [-3.95573534e-03 1.74210846e-04 9.99992161e-01 -2.56360933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.12719347 meters 0.06313825446413734 Centerline is valid? [True, True] Translation: X:4.86, Y:0.24, Z:-0.26 [[ 9.99352007e-01 -3.57056980e-02 4.54624137e-03 4.85551834e+00] [ 3.57059342e-02 9.99362339e-01 2.92378077e-05 2.42579008e-01] [-4.54438637e-03 1.33108933e-04 9.99989665e-01 -2.56470110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.18719347 meters 0.06306174885478161 Centerline is valid? [True, True] Translation: X:4.92, Y:0.26, Z:-0.26 [[ 9.99369787e-01 -3.54286911e-02 2.19918316e-03 4.91790834e+00] [ 3.54287414e-02 9.99372205e-01 1.60803818e-05 2.58803107e-01] [-2.19837223e-03 6.18440439e-05 9.99997582e-01 -2.60407739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.24719347 meters 0.06789696442943019 Centerline is valid? [True, True] Translation: X:4.98, Y:0.26, Z:-0.27 [[ 9.98537380e-01 -5.39436546e-02 3.63082549e-03 4.97803797e+00] [ 5.39439261e-02 9.98543966e-01 2.31771205e-05 2.56149472e-01] [-3.62678915e-03 1.72717761e-04 9.99993408e-01 -2.65291964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3071934700000005 meters 0.07385349990907412 Centerline is valid? [True, True] Translation: X:5.04, Y:0.25, Z:-0.27 [[ 9.97592704e-01 -6.90456870e-02 6.44128276e-03 5.03817159e+00] [ 6.90468569e-02 9.97613417e-01 4.08550641e-05 2.51338388e-01] [-6.42873097e-03 4.03993615e-04 9.99979254e-01 -2.66407249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.36719347 meters 0.07748240399166062 Centerline is valid? [True, True] Translation: X:5.10, Y:0.26, Z:-0.27 [[ 9.97067547e-01 -7.57003987e-02 1.12141096e-02 5.09825990e+00] [ 7.57043638e-02 9.97130305e-01 7.11033921e-05 2.61394605e-01] [-1.11873111e-02 7.78062148e-04 9.99937117e-01 -2.66415917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.427193470000001 meters 0.07322164240045131 Centerline is valid? [True, True] Translation: X:5.16, Y:0.29, Z:-0.27 [[ 9.97624923e-01 -6.78080830e-02 1.21068741e-02 5.15894511e+00] [ 6.78121196e-02 9.97698106e-01 7.72605734e-05 2.93279918e-01] [-1.20842443e-02 7.43915722e-04 9.99926706e-01 -2.68563310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.48719347 meters 0.07215766441118412 Centerline is valid? [True, True] Translation: X:5.22, Y:0.32, Z:-0.28 [[ 9.98403928e-01 -5.57933357e-02 8.75783408e-03 5.21782416e+00] [ 5.57949913e-02 9.98442245e-01 5.53545433e-05 3.23902656e-01] [-8.74727993e-03 4.33377083e-04 9.99961648e-01 -2.78802698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.547193470000001 meters 0.0651901379349699 Centerline is valid? [True, True] Translation: X:5.28, Y:0.38, Z:-0.28 [[ 9.99309776e-01 -3.62443604e-02 8.14362910e-03 5.27766514e+00] [ 3.62451411e-02 9.99342928e-01 5.17376691e-05 3.81259609e-01] [-8.14015335e-03 2.43465028e-04 9.99966839e-01 -2.80929504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.60719347 meters 0.06524664947075727 Centerline is valid? [True, True] Translation: X:5.34, Y:0.40, Z:-0.28 [[ 9.99383794e-01 -3.43192428e-02 7.36354908e-03 5.33989985e+00] [ 3.43197949e-02 9.99410901e-01 5.14108356e-05 3.97103972e-01] [-7.36097560e-03 2.01336338e-04 9.99972887e-01 -2.84930370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.66719347 meters 0.06619909202287412 Centerline is valid? [True, True] Translation: X:5.40, Y:0.40, Z:-0.29 [[ 9.99139116e-01 -4.07876217e-02 7.57607584e-03 5.40065896e+00] [ 4.07884406e-02 9.99167804e-01 4.64492222e-05 3.96430634e-01] [-7.57166562e-03 2.62607085e-04 9.99971300e-01 -2.85047176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7271934700000005 meters 0.06856337625133098 Centerline is valid? [True, True] Translation: X:5.46, Y:0.39, Z:-0.28 [[ 9.98739642e-01 -4.92297717e-02 9.77532602e-03 5.46092060e+00] [ 4.92315439e-02 9.98787391e-01 5.94051351e-05 3.90797665e-01] [-9.76639687e-03 4.21924129e-04 9.99952219e-01 -2.84881971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.78719347 meters 0.06881811688151156 Centerline is valid? [True, True] Translation: X:5.52, Y:0.39, Z:-0.28 [[ 9.98600785e-01 -5.07784109e-02 1.47656537e-02 5.52339434e+00] [ 5.07825886e-02 9.98709728e-01 9.21106642e-05 3.88618394e-01] [-1.47512793e-02 6.57856338e-04 9.99890978e-01 -2.82066149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.847193470000001 meters 0.07346897165408454 Centerline is valid? [True, True] Translation: X:5.58, Y:0.37, Z:-0.29 [[ 9.97966786e-01 -6.18068111e-02 1.55631725e-02 5.58368882e+00] [ 6.18128970e-02 9.98087750e-01 9.01394056e-05 3.67877971e-01] [-1.55389830e-02 8.72048645e-04 9.99878882e-01 -2.85109496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.90719347 meters 0.077295490928129 Centerline is valid? [True, True] Translation: X:5.64, Y:0.35, Z:-0.29 [[ 9.97265596e-01 -7.29287428e-02 1.19469250e-02 5.64418838e+00] [ 7.29331211e-02 9.97336831e-01 6.93718345e-05 3.49638115e-01] [-1.19201675e-02 8.02144384e-04 9.99928631e-01 -2.86297347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.967193470000001 meters 0.071275859180453 Centerline is valid? [True, True] Translation: X:5.70, Y:0.36, Z:-0.29 [[ 9.98323574e-01 -5.71964954e-02 8.86583658e-03 5.70477158e+00] [ 5.71982906e-02 9.98362836e-01 5.11580490e-05 3.56755839e-01] [-8.85424781e-03 4.56038410e-04 9.99960696e-01 -2.87357117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.02719347 meters 0.06518736907607689 Centerline is valid? [True, True] Translation: X:5.76, Y:0.38, Z:-0.30 [[ 9.99396844e-01 -3.47242037e-02 4.21105914e-04 5.76457636e+00] [ 3.47242057e-02 9.99396933e-01 2.65456111e-06 3.81497723e-01] [-4.20944136e-04 1.19696084e-05 9.99999911e-01 -2.99111377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.087193470000001 meters 0.0646053079095692 Centerline is valid? [True, True] Translation: X:5.83, Y:0.39, Z:-0.30 [[ 9.99481902e-01 -3.16714547e-02 -5.73125342e-03 5.82631441e+00] [ 3.16717998e-02 9.99498322e-01 -3.05598436e-05 3.87101920e-01] [ 5.72934605e-03 -1.50975101e-04 9.99983576e-01 -3.04985293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.14719347 meters 0.06846362087277624 Centerline is valid? [True, True] Translation: X:5.89, Y:0.37, Z:-0.30 [[ 9.98863988e-01 -4.76387904e-02 -1.13138449e-03 5.88717462e+00] [ 4.76388140e-02 9.98864627e-01 -6.11080209e-06 3.67673185e-01] [ 1.13039105e-03 -4.77939550e-05 9.99999360e-01 -3.01363739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.20719347 meters 0.06982083428490989 Centerline is valid? [True, True] Translation: X:5.95, Y:0.36, Z:-0.30 [[ 9.98638266e-01 -5.18113228e-02 6.09916290e-03 5.94956639e+00] [ 5.18120471e-02 9.98656853e-01 3.92902517e-05 3.59957972e-01] [-6.09300651e-03 2.76773367e-04 9.99981399e-01 -2.96758579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2671934700000005 meters 0.0666379075382952 Centerline is valid? [True, True] Translation: X:6.01, Y:0.37, Z:-0.29 [[ 9.98953724e-01 -4.36433942e-02 1.36642124e-02 6.01041635e+00] [ 4.36464623e-02 9.99047036e-01 7.37319730e-05 3.69920999e-01] [-1.36544088e-02 5.22739702e-04 9.99906638e-01 -2.91040955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.32719347 meters 0.06831312197514221 Centerline is valid? [True, True] Translation: X:6.07, Y:0.36, Z:-0.29 [[ 9.98556213e-01 -5.04631823e-02 1.84107540e-02 6.07097331e+00] [ 5.04699182e-02 9.98725577e-01 9.88790455e-05 3.64813377e-01] [-1.83922807e-02 8.30452963e-04 9.99830503e-01 -2.90998758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.387193470000001 meters 0.07616445077336031 Centerline is valid? [True, True] Translation: X:6.13, Y:0.34, Z:-0.30 [[ 9.97341389e-01 -7.11964365e-02 1.55312711e-02 6.13173016e+00] [ 7.12037377e-02 9.97461789e-01 8.30745957e-05 3.42809672e-01] [-1.54977641e-02 1.02303082e-03 9.99879379e-01 -2.95858437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.44719347 meters 0.08708460883573445 Centerline is valid? [True, True] Translation: X:6.19, Y:0.31, Z:-0.31 [[ 9.95916022e-01 -9.00783182e-02 6.09696740e-03 6.19168267e+00] [ 9.00797925e-02 9.95934551e-01 3.29286229e-05 3.13005008e-01] [-6.07514664e-03 5.16419415e-04 9.99981413e-01 -3.06280379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.507193470000001 meters 0.08038338847814601 Centerline is valid? [True, True] Translation: X:6.25, Y:0.33, Z:-0.31 [[ 9.97036986e-01 -7.68967367e-02 2.03483885e-03 6.25188245e+00] [ 7.68968738e-02 9.97039052e-01 1.08814662e-05 3.29966631e-01] [-2.02965055e-03 1.45623522e-04 9.99997930e-01 -3.07935166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.56719347 meters 0.06810603320754159 Centerline is valid? [True, True] Translation: X:6.31, Y:0.38, Z:-0.31 [[ 9.98942749e-01 -4.59669913e-02 6.47551364e-04 6.31106827e+00] [ 4.59669985e-02 9.98942959e-01 3.63765381e-06 3.75145639e-01] [-6.47034087e-04 2.61321847e-05 9.99999790e-01 -3.10854850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.627193470000001 meters 0.06284916087308262 Centerline is valid? [True, True] Translation: X:6.37, Y:0.41, Z:-0.31 [[ 9.99572720e-01 -2.86235488e-02 5.92198316e-03 6.37122987e+00] [ 2.86238647e-02 9.99590253e-01 3.14304635e-05 4.14247389e-01] [-5.92045629e-03 1.38093011e-04 9.99982464e-01 -3.11276890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.68719347 meters 0.07031016477205884 Centerline is valid? [True, True] Translation: X:6.43, Y:0.39, Z:-0.31 [[ 9.98603210e-01 -5.18334817e-02 1.02430280e-02 6.43084568e+00] [ 5.18356480e-02 9.98655628e-01 5.40590034e-05 3.93771368e-01] [-1.02320596e-02 4.76970500e-04 9.99947537e-01 -3.11461177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.74719347 meters 0.08251863001045154 Centerline is valid? [True, True] Translation: X:6.49, Y:0.37, Z:-0.30 [[ 9.96728059e-01 -7.87898449e-02 1.80370924e-02 6.49163039e+00] [ 7.88009332e-02 9.96890367e-01 9.62577460e-05 3.68428576e-01] [-1.79885878e-02 1.32539692e-03 9.99837314e-01 -3.01366278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8071934700000005 meters 0.08478677634838006 Centerline is valid? [True, True] Translation: X:6.55, Y:0.37, Z:-0.30 [[ 9.96749458e-01 -7.76341471e-02 2.15280502e-02 6.55180127e+00] [ 7.76496833e-02 9.96980699e-01 1.14568946e-04 3.66633704e-01] [-2.14719450e-02 1.55744975e-03 9.99768238e-01 -3.02331902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.86719347 meters 0.06931900691351071 Centerline is valid? [True, True] Translation: X:6.61, Y:0.41, Z:-0.31 [[ 9.98539534e-01 -5.19464611e-02 1.48446761e-02 6.61168307e+00] [ 5.19510165e-02 9.98649631e-01 7.88455293e-05 4.14625662e-01] [-1.48287260e-02 6.92465634e-04 9.99889809e-01 -3.09882964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.927193470000001 meters 0.06345783223405345 Centerline is valid? [True, True] Translation: X:6.67, Y:0.45, Z:-0.32 [[ 9.99561515e-01 -2.86040334e-02 7.65421674e-03 6.67174225e+00] [ 2.86045620e-02 9.99590805e-01 4.04198612e-05 4.50324589e-01] [-7.65224085e-03 1.78543380e-04 9.99970705e-01 -3.17491847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.98719347 meters 0.06347509813670368 Centerline is valid? [True, True] Translation: X:6.73, Y:0.45, Z:-0.32 [[ 9.99601017e-01 -2.73804674e-02 6.93669387e-03 6.73476296e+00] [ 2.73808351e-02 9.99625074e-01 4.19794260e-05 4.53160447e-01] [-6.93524254e-03 1.47969794e-04 9.99975940e-01 -3.21018173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.047193470000002 meters 0.06489672135534198 Centerline is valid? [True, True] Translation: X:6.80, Y:0.44, Z:-0.33 [[ 9.99518984e-01 -3.05449384e-02 5.36724733e-03 6.79573582e+00] [ 3.05452222e-02 9.99533385e-01 2.90944222e-05 4.42182473e-01] [-5.36563158e-03 1.34863335e-04 9.99985596e-01 -3.27375928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.107193470000002 meters 0.06481876064349452 Centerline is valid? [True, True] Translation: X:6.86, Y:0.43, Z:-0.32 [[ 9.99358870e-01 -3.49864424e-02 7.60254488e-03 6.85816404e+00] [ 3.49871634e-02 9.99387761e-01 3.81924215e-05 4.31553094e-01] [-7.59922653e-03 2.27823545e-04 9.99971100e-01 -3.23680076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16719347 meters 0.06963907104799881 Centerline is valid? [True, True] Translation: X:6.92, Y:0.40, Z:-0.33 [[ 9.98910730e-01 -4.58936277e-02 8.43380626e-03 6.91803053e+00] [ 4.58949150e-02 9.98946272e-01 4.09397530e-05 4.00261728e-01] [-8.42679820e-03 3.46173663e-04 9.99964434e-01 -3.27971281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.227193470000001 meters 0.07514028447178042 Centerline is valid? [True, True] Translation: X:6.98, Y:0.37, Z:-0.33 [[ 9.97947309e-01 -6.36806644e-02 6.77795125e-03 6.97877810e+00] [ 6.36819095e-02 9.97970247e-01 3.21841061e-05 3.69540452e-01] [-6.76624319e-03 3.99514836e-04 9.99977029e-01 -3.25822989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.287193470000002 meters 0.07776303041476754 Centerline is valid? [True, True] Translation: X:7.04, Y:0.36, Z:-0.33 [[ 9.97636600e-01 -6.85850900e-02 4.15939380e-03 7.03909826e+00] [ 6.85856024e-02 9.97645235e-01 1.94899769e-05 3.57394978e-01] [-4.15093613e-03 2.65830615e-04 9.99991349e-01 -3.29031680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34719347 meters 0.0777384074857586 Centerline is valid? [True, True] Translation: X:7.10, Y:0.35, Z:-0.33 [[ 9.97755323e-01 -6.69037857e-02 2.86344366e-03 7.10175340e+00] [ 6.69040124e-02 9.97759416e-01 1.66282771e-05 3.51020390e-01] [-2.85814037e-03 1.74984918e-04 9.99995900e-01 -3.34561506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.407193470000001 meters 0.07932917983299378 Centerline is valid? [True, True] Translation: X:7.16, Y:0.35, Z:-0.34 [[ 9.97595535e-01 -6.92720063e-02 -2.12996595e-03 7.16241147e+00] [ 6.92721431e-02 9.97597800e-01 -9.56979836e-06 3.51556550e-01] [ 2.12551227e-03 -1.38000518e-04 9.99997732e-01 -3.37801186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.467193470000002 meters 0.08131083164835563 Centerline is valid? [True, True] Translation: X:7.22, Y:0.35, Z:-0.33 [[ 9.97005288e-01 -7.70597722e-02 6.49984691e-03 7.22283278e+00] [ 7.70612046e-02 9.97026364e-01 3.01534997e-05 3.48059353e-01] [-6.48284235e-03 4.70822834e-04 9.99978875e-01 -3.31343155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.527193470000002 meters 0.0823341303706568 Centerline is valid? [True, True] Translation: X:7.29, Y:0.35, Z:-0.33 [[ 9.96964441e-01 -7.76147724e-02 6.15219938e-03 7.28511042e+00] [ 7.76160399e-02 9.96983324e-01 3.28272500e-05 3.48689371e-01] [-6.13618807e-03 4.44781751e-04 9.99981075e-01 -3.32189497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58719347 meters 0.08344937373770629 Centerline is valid? [True, True] Translation: X:7.35, Y:0.35, Z:-0.33 [[ 9.97008647e-01 -7.70096194e-02 6.57852379e-03 7.34772885e+00] [ 7.70110899e-02 9.97030236e-01 2.98786887e-05 3.48404802e-01] [-6.56128807e-03 4.76829976e-04 9.99978361e-01 -3.34375150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.647193470000001 meters 0.07449355659992854 Centerline is valid? [True, True] Translation: X:7.41, Y:0.38, Z:-0.33 [[ 9.97860165e-01 -6.32517586e-02 1.65622018e-02 7.40803623e+00] [ 6.32592845e-02 9.97997123e-01 6.96210782e-05 3.79185446e-01] [-1.65334334e-02 9.78240932e-04 9.99862835e-01 -3.28558664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.707193470000002 meters 0.07365168136812704 Centerline is valid? [True, True] Translation: X:7.47, Y:0.39, Z:-0.33 [[ 9.98030790e-01 -6.01376368e-02 1.78327328e-02 7.46873663e+00] [ 6.01458690e-02 9.98189596e-01 7.48195940e-05 3.94070550e-01] [-1.78049478e-02 9.97892952e-04 9.99840981e-01 -3.31379123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.767193470000002 meters 0.08221568228112607 Centerline is valid? [True, True] Translation: X:7.53, Y:0.39, Z:-0.33 [[ 9.97249802e-01 -7.16177427e-02 1.90717269e-02 7.52832802e+00] [ 7.16292517e-02 9.97431323e-01 7.98473076e-05 3.86815319e-01] [-1.90284563e-02 1.28646582e-03 9.99818115e-01 -3.32633685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.827193470000001 meters 0.08141173936464131 Centerline is valid? [True, True] Translation: X:7.59, Y:0.40, Z:-0.34 [[ 9.97188719e-01 -7.44069241e-02 8.84695977e-03 7.58923705e+00] [ 7.44095143e-02 9.97227769e-01 3.64678241e-05 3.97603093e-01] [-8.82514741e-03 6.21932677e-04 9.99960864e-01 -3.41694245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.887193470000001 meters 0.07814481182776949 Centerline is valid? [True, True] Translation: X:7.65, Y:0.41, Z:-0.35 [[ 9.98014448e-01 -6.26911403e-02 6.08137858e-03 7.64900327e+00] [ 6.26921485e-02 9.98032912e-01 2.48797693e-05 4.10246202e-01] [-6.07097572e-03 3.56424320e-04 9.99981508e-01 -3.50548555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.947193470000002 meters 0.06650246212789339 Centerline is valid? [True, True] Translation: X:7.71, Y:0.46, Z:-0.35 [[ 9.99395165e-01 -3.46956596e-02 2.34869423e-03 7.70912879e+00] [ 3.46957322e-02 9.99397922e-01 9.85282332e-06 4.56403501e-01] [-2.34762199e-03 7.16428022e-05 9.99997242e-01 -3.53133400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.00719347 meters 0.06296978719191608 Centerline is valid? [True, True] Translation: X:7.77, Y:0.48, Z:-0.35 [[ 9.99852329e-01 -1.66145888e-02 4.39043605e-03 7.76957237e+00] [ 1.66146702e-02 9.99861967e-01 1.79308810e-05 4.78964673e-01] [-4.39012794e-03 5.50174140e-05 9.99990362e-01 -3.53622260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.067193470000001 meters 0.061734241573997026 Centerline is valid? [True, True] Translation: X:7.83, Y:0.49, Z:-0.35 [[ 9.99916482e-01 -7.92951797e-03 1.02054600e-02 7.83094471e+00] [ 7.92949945e-03 9.99968560e-01 4.22788109e-05 4.86279949e-01] [-1.02054744e-02 3.86489098e-05 9.99947922e-01 -3.46971963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.127193470000002 meters 0.06203764321431551 Centerline is valid? [True, True] Translation: X:7.89, Y:0.46, Z:-0.35 [[ 9.99859032e-01 -1.20061920e-02 1.17374428e-02 7.89449236e+00] [ 1.20064150e-02 9.99927919e-01 5.14610044e-05 4.61051586e-01] [-1.17372146e-02 8.94708600e-05 9.99931113e-01 -3.46086076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.187193470000002 meters 0.06249270544695563 Centerline is valid? [True, True] Translation: X:7.96, Y:0.44, Z:-0.35 [[ 9.99865076e-01 -1.48477410e-02 7.02668433e-03 7.95633637e+00] [ 1.48478928e-02 9.99889763e-01 3.05683305e-05 4.36555687e-01] [-7.02636360e-03 7.37672496e-05 9.99975312e-01 -3.50527984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.247193470000001 meters 0.06270159216130038 Centerline is valid? [True, True] Translation: X:8.02, Y:0.42, Z:-0.36 [[ 9.99931890e-01 -1.16703664e-02 1.30502051e-04 8.01802462e+00] [ 1.16703662e-02 9.99931899e-01 1.84639623e-06 4.15164105e-01] [-1.30514711e-04 -3.23263748e-07 9.99999991e-01 -3.58431032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.307193470000001 meters 0.06344922751467003 Centerline is valid? [True, True] Translation: X:8.08, Y:0.37, Z:-0.36 [[ 9.99701183e-01 -2.34200255e-02 -7.00330624e-03 8.07832196e+00] [ 2.34204316e-02 9.99725704e-01 -2.40302229e-05 3.74221996e-01] [ 7.00194805e-03 -1.39997413e-04 9.99975476e-01 -3.60423649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.367193470000002 meters 0.06533320336937919 Centerline is valid? [True, True] Translation: X:8.14, Y:0.34, Z:-0.36 [[ 9.99308740e-01 -3.67723341e-02 -5.46239448e-03 8.13790722e+00] [ 3.67727833e-02 9.99323652e-01 -1.82120204e-05 3.35210072e-01] [ 5.45936970e-03 -1.82668017e-04 9.99985081e-01 -3.60828351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42719347 meters 0.06885238510888876 Centerline is valid? [True, True] Translation: X:8.20, Y:0.29, Z:-0.36 [[ 9.98803091e-01 -4.87507881e-02 -3.96821363e-03 8.19785347e+00] [ 4.87511173e-02 9.98810957e-01 -1.37744238e-05 2.91102380e-01] [ 3.96416677e-03 -1.79696911e-04 9.99992127e-01 -3.61436094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.487193470000001 meters 0.06517565176566703 Centerline is valid? [True, True] Translation: X:8.26, Y:0.29, Z:-0.36 [[ 9.99095397e-01 -4.24029115e-02 -3.22200405e-03 8.25854399e+00] [ 4.24030968e-02 9.99100584e-01 -1.08219839e-05 2.86333098e-01] [ 3.21956502e-03 -1.25810755e-04 9.99994809e-01 -3.56271020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.547193470000002 meters 0.06280570363565657 Centerline is valid? [True, True] Translation: X:8.32, Y:0.28, Z:-0.36 [[ 9.99588285e-01 -2.83142146e-02 -4.64393907e-03 8.31795565e+00] [ 2.83144434e-02 9.99599066e-01 -1.64641079e-05 2.82737910e-01] [ 4.64254332e-03 -1.15033221e-04 9.99989217e-01 -3.55726138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.607193470000002 meters 0.0626233322752719 Centerline is valid? [True, True] Translation: X:8.38, Y:0.27, Z:-0.36 [[ 9.99558265e-01 -2.93788541e-02 -4.48982115e-03 8.37999137e+00] [ 2.93790963e-02 9.99568341e-01 -1.20166934e-05 2.70194171e-01] [ 4.48823611e-03 -1.19895503e-04 9.99989921e-01 -3.57673296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66719347 meters 0.06317197035747069 Centerline is valid? [True, True] Translation: X:8.44, Y:0.26, Z:-0.35 [[ 9.99445351e-01 -3.32295826e-02 2.18730979e-03 8.44165305e+00] [ 3.32296382e-02 9.99447743e-01 1.09334933e-05 2.59355412e-01] [-2.18646515e-03 6.17560837e-05 9.99997608e-01 -3.50463306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.727193470000001 meters 0.06106210443845308 Centerline is valid? [True, True] Translation: X:8.50, Y:0.26, Z:-0.35 [[ 9.99823092e-01 -1.86995829e-02 2.02759236e-03 8.50229690e+00] [ 1.86996083e-02 9.99825147e-01 6.42272032e-06 2.63710555e-01] [-2.02735793e-03 3.14935989e-05 9.99997944e-01 -3.54627857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.787193470000002 meters 0.06062321986675895 Centerline is valid? [True, True] Translation: X:8.56, Y:0.27, Z:-0.36 [[ 9.99973452e-01 -7.28108146e-03 -2.86014017e-04 8.56448972e+00] [ 7.28108207e-03 9.99973493e-01 1.06718642e-06 2.70989026e-01] [ 2.85998665e-04 -3.14964961e-06 9.99999959e-01 -3.59200890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.847193470000002 meters 0.06192141720733148 Centerline is valid? [True, True] Translation: X:8.63, Y:0.27, Z:-0.37 [[ 9.99937236e-01 -6.96221448e-03 -8.77788371e-03 8.62570398e+00] [ 6.96225787e-03 9.99975763e-01 -2.56151864e-05 2.66278709e-01] [ 8.77784930e-03 -3.55003112e-05 9.99961473e-01 -3.67623054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.907193470000001 meters 0.06194562655540431 Centerline is valid? [True, True] Translation: X:8.69, Y:0.23, Z:-0.37 [[ 9.99695286e-01 -2.45295294e-02 -2.76350940e-03 8.68548644e+00] [ 2.45295968e-02 9.99699104e-01 -9.52055701e-06 2.32099709e-01] [ 2.76291141e-03 -5.82701153e-05 9.99996181e-01 -3.65143790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.967193470000002 meters 0.061966328944127236 Centerline is valid? [True, True] Translation: X:8.75, Y:0.22, Z:-0.36 [[ 9.99590045e-01 -2.85990865e-02 1.35461623e-03 8.74839515e+00] [ 2.85991031e-02 9.99590962e-01 7.13422783e-06 2.20304472e-01] [-1.35426617e-03 3.16095061e-05 9.99999082e-01 -3.62130658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.027193470000002 meters 0.06161723584873607 Centerline is valid? [True, True] Translation: X:8.81, Y:0.21, Z:-0.37 [[ 9.99766779e-01 -2.12971535e-02 -3.58043263e-03 8.81049913e+00] [ 2.12972607e-02 9.99773188e-01 -8.18428376e-06 2.12253157e-01] [ 3.57979485e-03 -6.80710321e-05 9.99993590e-01 -3.72761121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08719347 meters 0.061571061245211695 Centerline is valid? [True, True] Translation: X:8.87, Y:0.21, Z:-0.38 [[ 9.99841117e-01 -1.60526735e-02 -7.74934532e-03 8.87291538e+00] [ 1.60530048e-02 9.99871142e-01 -1.94554948e-05 2.11530945e-01] [ 7.74865907e-03 -1.04947874e-04 9.99969973e-01 -3.76325687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.147193470000001 meters 0.06174371089044534 Centerline is valid? [True, True] Translation: X:8.93, Y:0.20, Z:-0.38 [[ 9.99825701e-01 -1.66217424e-02 -8.50211153e-03 8.93463224e+00] [ 1.66221545e-02 9.99861842e-01 -2.21927254e-05 1.99105869e-01] [ 8.50130578e-03 -1.19134554e-04 9.99963856e-01 -3.77404054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.207193470000002 meters 0.06164335829771158 Centerline is valid? [True, True] Translation: X:9.00, Y:0.18, Z:-0.38 [[ 9.99810796e-01 -1.78258653e-02 -7.78527889e-03 8.99640669e+00] [ 1.78262506e-02 9.99841100e-01 -1.99073958e-05 1.77959195e-01] [ 7.78439667e-03 -1.18878703e-04 9.99969694e-01 -3.77022334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.267193470000002 meters 0.06116486184834098 Centerline is valid? [True, True] Translation: X:9.06, Y:0.17, Z:-0.38 [[ 9.99902884e-01 -1.16109198e-02 -7.70779357e-03 9.05747628e+00] [ 1.16111156e-02 9.99932589e-01 -1.93511063e-05 1.69124572e-01] [ 7.70749866e-03 -7.01468551e-05 9.99970294e-01 -3.76426131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.327193470000001 meters 0.061410539995077756 Centerline is valid? [True, True] Translation: X:9.12, Y:0.17, Z:-0.38 [[ 9.99951830e-01 -5.51918224e-03 -8.11640235e-03 9.11787951e+00] [ 5.51919532e-03 9.99984769e-01 -2.07866180e-05 1.67711362e-01] [ 8.11639345e-03 -2.40103932e-05 9.99967061e-01 -3.77541306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.387193470000001 meters 0.06140672738370519 Centerline is valid? [True, True] Translation: X:9.18, Y:0.14, Z:-0.38 [[ 9.99824792e-01 -1.79767993e-02 -5.21726912e-03 9.17687232e+00] [ 1.79769590e-02 9.99838401e-01 -1.62823618e-05 1.41496382e-01] [ 5.21671872e-03 -7.75111243e-05 9.99986390e-01 -3.76146388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.447193470000002 meters 0.06469547907039547 Centerline is valid? [True, True] Translation: X:9.24, Y:0.12, Z:-0.37 [[ 9.99267391e-01 -3.82709698e-02 -1.22751338e-04 9.23709956e+00] [ 3.82709700e-02 9.99267398e-01 -7.79703375e-07 1.21081385e-01] [ 1.22691251e-04 -3.91868063e-06 9.99999992e-01 -3.72344569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.50719347 meters 0.06718762200762854 Centerline is valid? [True, True] Translation: X:9.30, Y:0.11, Z:-0.37 [[ 9.98960270e-01 -4.55161250e-02 2.58083460e-03 9.29732100e+00] [ 4.55162584e-02 9.98963598e-01 7.04717706e-06 1.11896707e-01] [-2.57848058e-03 1.10430085e-04 9.99996670e-01 -3.72424562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.567193470000001 meters 0.0673434420420218 Centerline is valid? [True, True] Translation: X:9.36, Y:0.12, Z:-0.37 [[ 9.98955813e-01 -4.54883576e-02 4.25348120e-03 9.35914089e+00] [ 4.54887126e-02 9.98964853e-01 1.32791803e-05 1.15161094e-01] [-4.24968227e-03 1.80220070e-04 9.99990954e-01 -3.74801972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.627193470000002 meters 0.06125374408684859 Centerline is valid? [True, True] Translation: X:9.42, Y:0.16, Z:-0.37 [[ 9.99756503e-01 -2.00980194e-02 9.11067439e-03 9.41968758e+00] [ 2.00986343e-02 9.99798002e-01 2.40665211e-05 1.57740695e-01] [-9.10931774e-03 1.59051452e-04 9.99958497e-01 -3.69608526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.687193470000002 meters 0.06083959680976903 Centerline is valid? [True, True] Translation: X:9.48, Y:0.19, Z:-0.37 [[ 9.99940704e-01 -8.90450655e-03 6.26880672e-03 9.48189535e+00] [ 8.90456786e-03 9.99960353e-01 1.81305275e-05 1.85621546e-01] [-6.26871962e-03 3.76915624e-05 9.99980351e-01 -3.70443656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.747193470000001 meters 0.061409703632359564 Centerline is valid? [True, True] Translation: X:9.54, Y:0.19, Z:-0.38 [[ 9.99916402e-01 -1.27785119e-02 1.97434649e-03 9.54381947e+00] [ 1.27785231e-02 9.99918351e-01 6.94622796e-06 1.86010332e-01] [-1.97427405e-03 1.82835849e-05 9.99998051e-01 -3.79708102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.807193470000001 meters 0.06373491736387682 Centerline is valid? [True, True] Translation: X:9.60, Y:0.17, Z:-0.39 [[ 9.99628152e-01 -2.61445996e-02 -7.74712358e-03 9.60497108e+00] [ 2.61452447e-02 9.99658154e-01 -1.80091625e-05 1.74249075e-01] [ 7.74494611e-03 -1.84547976e-04 9.99969990e-01 -3.89905970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.867193470000002 meters 0.06744470316140058 Centerline is valid? [True, True] Translation: X:9.66, Y:0.16, Z:-0.40 [[ 9.99232275e-01 -3.58922031e-02 -1.57038063e-02 9.66399852e+00] [ 3.58960127e-02 9.99355530e-01 -3.93039133e-05 1.58288246e-01] [ 1.56950964e-02 -5.24430291e-04 9.99876687e-01 -4.00594624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.927193470000002 meters 0.0638069822693847 Centerline is valid? [True, True] Translation: X:9.73, Y:0.17, Z:-0.39 [[ 9.99609934e-01 -2.64522779e-02 -8.95860177e-03 9.72520824e+00] [ 2.64531460e-02 9.99650054e-01 -2.15942341e-05 1.67817065e-01] [ 8.95603796e-03 -2.15397390e-04 9.99959871e-01 -3.89451012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.987193470000001 meters 0.061506790789273534 Centerline is valid? [True, True] Translation: X:9.79, Y:0.19, Z:-0.38 [[ 9.99975992e-01 -6.72813211e-03 -1.65790139e-03 9.78561474e+00] [ 6.72813453e-03 9.99977366e-01 -4.11767477e-06 1.90622569e-01] [ 1.65789157e-03 -7.03700770e-06 9.99998626e-01 -3.83375827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.047193470000002 meters 0.06135323970799287 Centerline is valid? [True, True] Translation: X:9.85, Y:0.19, Z:-0.38 [[ 9.99971934e-01 -7.42467094e-03 1.00290701e-03 9.84711971e+00] [ 7.42467122e-03 9.99972437e-01 3.44369482e-06 1.93229442e-01] [-1.00290493e-03 4.00265664e-06 9.99999497e-01 -3.83153738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.107193470000002 meters 0.06279523008876275 Centerline is valid? [True, True] Translation: X:9.91, Y:0.17, Z:-0.39 [[ 9.99742793e-01 -2.24181438e-02 -3.43139249e-03 9.90735626e+00] [ 2.24182479e-02 9.99748679e-01 -8.12848973e-06 1.71999560e-01] [ 3.43071234e-03 -6.87994086e-05 9.99994113e-01 -3.91123337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16719347 meters 0.062100354816537785 Centerline is valid? [True, True] Translation: X:9.97, Y:0.17, Z:-0.39 [[ 9.99838730e-01 -1.76748749e-02 -3.18010307e-03 9.96978391e+00] [ 1.76749475e-02 9.99843786e-01 -5.27777293e-06 1.70056904e-01] [ 3.17969957e-03 -5.09312331e-05 9.99994943e-01 -3.91501437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.227193470000001 meters 0.061340864617719405 Centerline is valid? [True, True] Translation: X:10.03, Y:0.18, Z:-0.39 [[ 9.99999277e-01 1.17468250e-03 -2.58455339e-04 1.00309245e+01] [-1.17468256e-03 9.99999310e-01 -7.78281610e-08 1.83303685e-01] [ 2.58455069e-04 3.81431083e-07 9.99999967e-01 -3.89863150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.287193470000002 meters 0.0627803176236228 Centerline is valid? [True, True] Translation: X:10.09, Y:0.19, Z:-0.39 [[ 9.99848364e-01 1.70685987e-02 3.45137174e-03 1.00908441e+01] [-1.70687262e-02 9.99854319e-01 7.47484580e-06 1.94448582e-01] [-3.45074135e-03 -6.63842315e-05 9.99994044e-01 -3.89831932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.347193470000002 meters 0.06317601505222786 Centerline is valid? [True, True] Translation: X:10.15, Y:0.19, Z:-0.40 [[ 9.99887363e-01 1.48016369e-02 -2.48466305e-03 1.01498657e+01] [-1.48017012e-02 9.99890449e-01 -7.50601750e-06 1.85922364e-01] [ 2.48427975e-03 4.42824121e-05 9.99996913e-01 -4.00884448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.407193470000001 meters 0.061936920654422196 Centerline is valid? [True, True] Translation: X:10.21, Y:0.16, Z:-0.41 [[ 9.99987637e-01 3.05540918e-03 -3.92298251e-03 1.02083150e+01] [-3.05547882e-03 9.99995332e-01 -1.17601460e-05 1.62816891e-01] [ 3.92292827e-03 2.37465906e-05 9.99992305e-01 -4.06554030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.467193470000002 meters 0.06151084927390215 Centerline is valid? [True, True] Translation: X:10.27, Y:0.13, Z:-0.40 [[ 9.99927625e-01 -1.18768926e-02 -1.91939242e-03 1.02677462e+01] [ 1.18769032e-02 9.99929467e-01 -5.87684290e-06 1.27482373e-01] [ 1.91932684e-03 -1.69200205e-05 9.99998158e-01 -4.01119607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.527193470000002 meters 0.06146327225253431 Centerline is valid? [True, True] Translation: X:10.33, Y:0.11, Z:-0.40 [[ 9.99944786e-01 -1.03007413e-02 -2.07837188e-03 1.03279912e+01] [ 1.03007568e-02 9.99946946e-01 -3.26473407e-06 1.10006729e-01] [ 2.07829524e-03 -1.81442494e-05 9.99997840e-01 -4.04851051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58719347 meters 0.06137099568478345 Centerline is valid? [True, True] Translation: X:10.39, Y:0.10, Z:-0.41 [[ 9.99974031e-01 -5.86804634e-03 -4.18359170e-03 1.03893036e+01] [ 5.86806002e-03 9.99982783e-01 -9.00406963e-06 9.73404310e-02] [ 4.18357251e-03 -1.55457314e-05 9.99991249e-01 -4.08383212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.647193470000001 meters 0.061383561111850546 Centerline is valid? [True, True] Translation: X:10.45, Y:0.08, Z:-0.41 [[ 9.99943927e-01 -1.00368048e-02 -3.37717402e-03 1.04496948e+01] [ 1.00368347e-02 9.99949630e-01 -8.09472848e-06 8.40505120e-02] [ 3.37708516e-03 -2.58018629e-05 9.99994297e-01 -4.10550950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.707193470000002 meters 0.0620863792138922 Centerline is valid? [True, True] Translation: X:10.51, Y:0.07, Z:-0.41 [[ 9.99838485e-01 -1.68314581e-02 -6.30120141e-03 1.05102249e+01] [ 1.68316971e-02 9.99858337e-01 -1.51033125e-05 7.06721604e-02] [ 6.30056297e-03 -9.09590401e-05 9.99980147e-01 -4.12725123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.767193470000002 meters 0.0645187716712101 Centerline is valid? [True, True] Translation: X:10.57, Y:0.05, Z:-0.42 [[ 9.99593906e-01 -2.75227381e-02 -7.38385179e-03 1.05701134e+01] [ 2.75233798e-02 9.99621160e-01 -1.47143326e-05 5.14266619e-02] [ 7.38145947e-03 -1.88520200e-04 9.99972739e-01 -4.19371146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.827193470000001 meters 0.06597539562108239 Centerline is valid? [True, True] Translation: X:10.63, Y:0.05, Z:-0.42 [[ 9.99488352e-01 -3.15328136e-02 -5.35873304e-03 1.06300997e+01] [ 3.15332092e-02 9.99502705e-01 -1.06607815e-05 4.53554425e-02] [ 5.35640433e-03 -1.58322723e-04 9.99985642e-01 -4.20203593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.887193470000001 meters 0.0644244351411458 Centerline is valid? [True, True] Translation: X:10.69, Y:0.05, Z:-0.42 [[ 9.99529704e-01 -2.91492106e-02 -9.52334197e-03 1.06916768e+01] [ 2.91503428e-02 9.99575038e-01 -1.99293733e-05 5.38036958e-02] [ 9.51987584e-03 -2.57688682e-04 9.99954652e-01 -4.22721907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.947193470000002 meters 0.06277167902487549 Centerline is valid? [True, True] Translation: X:10.75, Y:0.07, Z:-0.42 [[ 9.99748561e-01 -2.09510089e-02 -7.99191453e-03 1.07520795e+01] [ 2.09515374e-02 9.99780492e-01 -1.75999612e-05 6.54571841e-02] [ 7.99052898e-03 -1.49847360e-04 9.99968064e-01 -4.23964175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.007193470000002 meters 0.06102284606560688 Centerline is valid? [True, True] Translation: X:10.81, Y:0.08, Z:-0.42 [[ 9.99935259e-01 -1.12936519e-02 -1.38991333e-03 1.08122517e+01] [ 1.12936581e-02 9.99936225e-01 -3.37995877e-06 8.37850014e-02] [ 1.38986286e-03 -1.23174660e-05 9.99999034e-01 -4.18539658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.067193470000001 meters 0.0606236915494949 Centerline is valid? [True, True] Translation: X:10.87, Y:0.09, Z:-0.42 [[ 9.99948033e-01 -1.01929122e-02 1.89091134e-04 1.08736930e+01] [ 1.01929121e-02 9.99948051e-01 1.46371913e-06 8.64758583e-02] [-1.89096231e-04 4.63746246e-07 9.99999982e-01 -4.19975525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.127193470000002 meters 0.061709329439956495 Centerline is valid? [True, True] Translation: X:10.93, Y:0.08, Z:-0.43 [[ 9.99879500e-01 -1.46549515e-02 -5.12027941e-03 1.09342625e+01] [ 1.46550900e-02 9.99892608e-01 -1.04707382e-05 8.44830007e-02] [ 5.11988298e-03 -6.45686793e-05 9.99986891e-01 -4.27866958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.187193470000002 meters 0.06243016498929178 Centerline is valid? [True, True] Translation: X:11.00, Y:0.08, Z:-0.43 [[ 9.99803106e-01 -1.81553607e-02 -8.00827476e-03 1.09954396e+01] [ 1.81558163e-02 9.99835169e-01 -1.58069392e-05 7.71222520e-02] [ 8.00724174e-03 -1.29592939e-04 9.99967933e-01 -4.32840088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.247193470000001 meters 0.06366652753108522 Centerline is valid? [True, True] Translation: X:11.06, Y:0.07, Z:-0.43 [[ 9.99598845e-01 -2.77852605e-02 -5.48890729e-03 1.10559592e+01] [ 2.77856156e-02 9.99613905e-01 -1.15562973e-05 7.02427043e-02] [ 5.48710914e-03 -1.40961007e-04 9.99984936e-01 -4.28973830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.307193470000001 meters 0.06772572016823043 Centerline is valid? [True, True] Translation: X:11.12, Y:0.05, Z:-0.43 [[ 9.99257348e-01 -3.85129336e-02 -1.22707026e-03 1.11158698e+01] [ 3.85129614e-02 9.99258101e-01 -9.16401851e-07 5.45707840e-02] [ 1.22619519e-03 -4.63423884e-05 9.99999247e-01 -4.31581206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.367193470000002 meters 0.06597397590118757 Centerline is valid? [True, True] Translation: X:11.18, Y:0.07, Z:-0.42 [[ 9.99194038e-01 -3.99439339e-02 3.96944439e-03 1.11787014e+01] [ 3.99442078e-02 9.99201912e-01 1.02744169e-05 6.94845985e-02] [-3.96668682e-03 1.48290176e-04 9.99992122e-01 -4.23523145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.427193470000002 meters 0.0648332294003859 Centerline is valid? [True, True] Translation: X:11.24, Y:0.09, Z:-0.42 [[ 9.99393888e-01 -3.45722597e-02 4.07627714e-03 1.12402917e+01] [ 3.45725077e-02 9.99402192e-01 9.63496482e-06 8.76330593e-02] [-4.07417341e-03 1.31297998e-04 9.99991692e-01 -4.24743552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.487193470000001 meters 0.06449081614669014 Centerline is valid? [True, True] Translation: X:11.30, Y:0.11, Z:-0.44 [[ 9.99545585e-01 -3.00015903e-02 -2.92012249e-03 1.13006596e+01] [ 3.00017058e-02 9.99549847e-01 -4.25565105e-06 1.08626334e-01] [ 2.91893566e-03 -8.33549385e-05 9.99995736e-01 -4.37359311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.547193470000002 meters 0.06777391634812512 Centerline is valid? [True, True] Translation: X:11.36, Y:0.13, Z:-0.44 [[ 9.99092293e-01 -4.24534971e-02 -3.50568058e-03 1.13614517e+01] [ 4.24537370e-02 9.99098434e-01 -5.98348629e-06 1.28967440e-01] [ 3.50277399e-03 -1.42851186e-04 9.99993855e-01 -4.38215433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.607193470000002 meters 0.07110884136174148 Centerline is valid? [True, True] Translation: X:11.42, Y:0.14, Z:-0.44 [[ 9.98509589e-01 -5.45549167e-02 -1.53668299e-03 1.14216666e+01] [ 5.45549774e-02 9.98510768e-01 -2.40101385e-06 1.36118803e-01] [ 1.53452550e-03 -8.14362707e-05 9.99998819e-01 -4.36960705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66719347 meters 0.07184293060948771 Centerline is valid? [True, True] Translation: X:11.48, Y:0.16, Z:-0.43 [[ 9.98061567e-01 -6.21283565e-02 3.62986885e-03 1.14822849e+01] [ 6.21287421e-02 9.98068144e-01 6.54722910e-06 1.55766255e-01] [-3.62326323e-03 2.18984648e-04 9.99993412e-01 -4.30699826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.727193470000001 meters 0.06886442768580361 Centerline is valid? [True, True] Translation: X:11.54, Y:0.20, Z:-0.43 [[ 9.98577599e-01 -5.33100395e-02 -9.04621098e-04 1.15425680e+01] [ 5.33100599e-02 9.98578008e-01 -1.61226541e-06 1.95374690e-01] [ 9.03420683e-04 -4.66154328e-05 9.99999591e-01 -4.34592765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.787193470000002 meters 0.06465964066987084 Centerline is valid? [True, True] Translation: X:11.60, Y:0.24, Z:-0.44 [[ 9.99274255e-01 -3.80902145e-02 -3.15170245e-04 1.16026860e+01] [ 3.80902163e-02 9.99274304e-01 -5.45562619e-07 2.35837833e-01] [ 3.14962308e-04 -1.14597361e-05 9.99999950e-01 -4.35774843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.847193470000002 meters 0.0609431769751102 Centerline is valid? [True, True] Translation: X:11.66, Y:0.29, Z:-0.43 [[ 9.99819397e-01 -1.88821300e-02 -2.15379762e-03 1.16631688e+01] [ 1.88821655e-02 9.99821716e-01 -3.85549115e-06 2.92023848e-01] [ 2.15348643e-03 -3.68135682e-05 9.99997681e-01 -4.33139199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.907193470000001 meters 0.0599767254577725 Centerline is valid? [True, True] Translation: X:11.72, Y:0.32, Z:-0.44 [[ 9.99952675e-01 -9.68634821e-03 9.06373110e-04 1.17241751e+01] [ 9.68635031e-03 9.99953086e-01 2.07984467e-06 3.17860833e-01] [-9.06350735e-04 6.69970121e-06 9.99999589e-01 -4.38500096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.967193470000002 meters 0.060029088665989605 Centerline is valid? [True, True] Translation: X:11.79, Y:0.34, Z:-0.44 [[ 9.99989395e-01 4.53017354e-03 -8.29621064e-04 1.17858662e+01] [-4.53017367e-03 9.99989739e-01 1.72444928e-06 3.44837203e-01] [ 8.29620363e-04 2.03389651e-06 9.99999656e-01 -4.41025435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.027193470000002 meters 0.060527539870435625 Centerline is valid? [True, True] Translation: X:11.84, Y:0.35, Z:-0.45 [[ 9.99948525e-01 1.00858783e-02 -1.10522501e-03 1.18431734e+01] [-1.00858892e-02 9.99949136e-01 -4.33579973e-06 3.52496502e-01] [ 1.10512506e-03 1.54827535e-05 9.99999389e-01 -4.46464631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.087193470000003 meters 0.06037834770554137 Centerline is valid? [True, True] Translation: X:11.90, Y:0.35, Z:-0.45 [[ 9.99963233e-01 8.48720746e-03 1.22437773e-03 1.19019560e+01] [-8.48721411e-03 9.99963983e-01 2.32660279e-07 3.47763420e-01] [-1.22433166e-03 -1.06242077e-05 9.99999250e-01 -4.46457344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.147193470000001 meters 0.06019302580989025 Centerline is valid? [True, True] Translation: X:11.96, Y:0.32, Z:-0.45 [[ 9.99994124e-01 -3.06309157e-03 -1.53912684e-03 1.19609227e+01] [ 3.06308753e-03 9.99995309e-01 -4.98564512e-06 3.19734862e-01] [ 1.53913489e-03 2.71135605e-07 9.99998816e-01 -4.50219338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.207193470000002 meters 0.06164199109346959 Centerline is valid? [True, True] Translation: X:12.02, Y:0.29, Z:-0.45 [[ 9.99836339e-01 -1.75701583e-02 -4.31107266e-03 1.20221452e+01] [ 1.75702889e-02 9.99845631e-01 -7.56505380e-06 2.87914413e-01] [ 4.31054009e-03 -6.81829766e-05 9.99990707e-01 -4.48109680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.267193470000002 meters 0.0626826668670262 Centerline is valid? [True, True] Translation: X:12.08, Y:0.27, Z:-0.46 [[ 9.99751469e-01 -2.11651227e-02 -7.00274375e-03 1.20825608e+01] [ 2.11655624e-02 9.99775984e-01 -1.13132563e-05 2.66499675e-01] [ 7.00141447e-03 -1.36906565e-04 9.99975480e-01 -4.55928933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.327193470000001 meters 0.06373538575678815 Centerline is valid? [True, True] Translation: X:12.14, Y:0.25, Z:-0.46 [[ 9.99574643e-01 -2.66839407e-02 -1.17685930e-02 1.21437044e+01] [ 2.66855490e-02 9.99643877e-01 -2.03751653e-05 2.47993301e-01] [ 1.17649456e-02 -2.93684867e-04 9.99930748e-01 -4.59426846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.387193470000001 meters 0.06368518646864861 Centerline is valid? [True, True] Translation: X:12.21, Y:0.23, Z:-0.46 [[ 9.99559631e-01 -2.77163276e-02 -1.05995177e-02 1.22061859e+01] [ 2.77177153e-02 9.99615790e-01 -1.59791739e-05 2.28653638e-01] [ 1.05958881e-02 -2.77822277e-04 9.99943823e-01 -4.55535511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.447193470000002 meters 0.06265539967097478 Centerline is valid? [True, True] Translation: X:12.27, Y:0.22, Z:-0.46 [[ 9.99727747e-01 -2.24311146e-02 -6.42468967e-03 1.22666421e+01] [ 2.24315073e-02 9.99748382e-01 -1.09356570e-05 2.20774141e-01] [ 6.42331840e-03 -1.33182794e-04 9.99979361e-01 -4.55311972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.507193470000002 meters 0.06203193610281875 Centerline is valid? [True, True] Translation: X:12.33, Y:0.21, Z:-0.45 [[ 9.99824044e-01 -1.84763941e-02 -3.24108892e-03 1.23270485e+01] [ 1.84764751e-02 9.99829295e-01 -4.93589276e-06 2.13191879e-01] [ 3.24062685e-03 -5.49488746e-05 9.99994748e-01 -4.54614671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.567193470000001 meters 0.06332984920342646 Centerline is valid? [True, True] Translation: X:12.39, Y:0.20, Z:-0.46 [[ 9.99721113e-01 -2.15114739e-02 -9.74440476e-03 1.23865389e+01] [ 2.15123354e-02 9.99768583e-01 -1.64058387e-05 1.98858622e-01] [ 9.74250265e-03 -1.93223640e-04 9.99952522e-01 -4.61581392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.627193470000002 meters 0.06360321338255238 Centerline is valid? [True, True] Translation: X:12.45, Y:0.19, Z:-0.47 [[ 9.99657551e-01 -2.31627224e-02 -1.21765596e-02 1.24480873e+01] [ 2.31642085e-02 9.99731674e-01 -1.89968123e-05 1.86360082e-01] [ 1.21737323e-02 -2.63070058e-04 9.99925863e-01 -4.66439320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.687193470000002 meters 0.062383290291094684 Centerline is valid? [True, True] Translation: X:12.51, Y:0.18, Z:-0.46 [[ 9.99728293e-01 -2.18469959e-02 -8.12700513e-03 1.25094123e+01] [ 2.18476205e-02 9.99761312e-01 -1.19265168e-05 1.79948246e-01] [ 8.12532587e-03 -1.65632448e-04 9.99966975e-01 -4.58225936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.747193470000001 meters 0.06321283910751781 Centerline is valid? [True, True] Translation: X:12.57, Y:0.17, Z:-0.46 [[ 9.99642457e-01 -2.50151622e-02 -9.44452748e-03 1.25713638e+01] [ 2.50161628e-02 9.99687047e-01 -1.21903049e-05 1.71745835e-01] [ 9.44187673e-03 -2.24079891e-04 9.99955399e-01 -4.61311723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.807193470000001 meters 0.06274026641442633 Centerline is valid? [True, True] Translation: X:12.63, Y:0.17, Z:-0.47 [[ 9.99727933e-01 -2.04305921e-02 -1.12539432e-02 1.26327294e+01] [ 2.04317116e-02 9.99791251e-01 -1.54942903e-05 1.74282421e-01] [ 1.12519105e-02 -2.14447247e-04 9.99936672e-01 -4.66572416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.867193470000002 meters 0.062002685011837845 Centerline is valid? [True, True] Translation: X:12.69, Y:0.19, Z:-0.47 [[ 9.99847396e-01 -1.08526418e-02 -1.36895686e-02 1.26942863e+01] [ 1.08534058e-02 9.99941100e-01 -1.84818582e-05 1.86268060e-01] [ 1.36889628e-02 -1.30099405e-04 9.99906293e-01 -4.67794646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.927193470000002 meters 0.0628864945917714 Centerline is valid? [True, True] Translation: X:12.75, Y:0.18, Z:-0.47 [[ 9.99723434e-01 -1.73394001e-02 -1.58871332e-02 1.27535148e+01] [ 1.73411880e-02 9.99849630e-01 -2.52221487e-05 1.81152239e-01] [ 1.58851816e-02 -2.50286592e-04 9.99873791e-01 -4.71943257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.987193470000001 meters 0.06391263128083118 Centerline is valid? [True, True] Translation: X:12.81, Y:0.17, Z:-0.47 [[ 9.99543115e-01 -2.66794227e-02 -1.42045652e-02 1.28131014e+01] [ 2.66817906e-02 9.99643977e-01 -2.28166334e-05 1.66282324e-01] [ 1.42001168e-02 -3.56197025e-04 9.99899110e-01 -4.73524503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.047193470000002 meters 0.06441707171540124 Centerline is valid? [True, True] Translation: X:12.87, Y:0.16, Z:-0.47 [[ 9.99575342e-01 -2.64466182e-02 -1.22357130e-02 1.28733676e+01] [ 2.64483780e-02 9.99650180e-01 -1.79923238e-05 1.62662674e-01] [ 1.22319085e-02 -3.05630079e-04 9.99925141e-01 -4.70611589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.107193470000002 meters 0.06274919515175048 Centerline is valid? [True, True] Translation: X:12.93, Y:0.17, Z:-0.47 [[ 9.99741701e-01 -1.93631087e-02 -1.18996295e-02 1.29342535e+01] [ 1.93642751e-02 9.99812495e-01 -1.72025344e-05 1.67198510e-01] [ 1.18977314e-02 -2.13229609e-04 9.99929197e-01 -4.69670287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.167193470000003 meters 0.062479059278686376 Centerline is valid? [True, True] Translation: X:12.99, Y:0.17, Z:-0.47 [[ 9.99816374e-01 -1.36976874e-02 -1.34011918e-02 1.29944989e+01] [ 1.36986499e-02 9.99906169e-01 -1.99686750e-05 1.69816103e-01] [ 1.34002079e-02 -1.63613227e-04 9.99910200e-01 -4.73094741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.227193470000001 meters 0.06351855659262666 Centerline is valid? [True, True] Translation: X:13.05, Y:0.16, Z:-0.48 [[ 9.99710542e-01 -1.89014218e-02 -1.48851944e-02 1.30532474e+01] [ 1.89031486e-02 9.99821319e-01 -2.46897040e-05 1.62967766e-01] [ 1.48830014e-02 -2.56694485e-04 9.99889209e-01 -4.75874527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.287193470000002 meters 0.06375487108435335 Centerline is valid? [True, True] Translation: X:13.11, Y:0.16, Z:-0.48 [[ 9.99686256e-01 -1.93123491e-02 -1.59506172e-02 1.31124562e+01] [ 1.93143836e-02 9.99813460e-01 -2.65074692e-05 1.61278550e-01] [ 1.59481537e-02 -2.81577186e-04 9.99872780e-01 -4.78647218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.347193470000002 meters 0.06253128170946311 Centerline is valid? [True, True] Translation: X:13.17, Y:0.17, Z:-0.48 [[ 9.99819380e-01 -1.37106754e-02 -1.31614661e-02 1.31724706e+01] [ 1.37115758e-02 9.99905992e-01 -2.18293334e-05 1.65562815e-01] [ 1.31605281e-02 -1.58639049e-04 9.99913384e-01 -4.76092177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.407193470000001 meters 0.06179513130540088 Centerline is valid? [True, True] Translation: X:13.23, Y:0.17, Z:-0.47 [[ 9.99937777e-01 -6.50779600e-03 -9.06034175e-03 1.32328157e+01] [ 6.50792380e-03 9.99978823e-01 -1.53774246e-05 1.74938941e-01] [ 9.06024996e-03 -4.35875459e-05 9.99958954e-01 -4.73072010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.467193470000002 meters 0.06265932399848846 Centerline is valid? [True, True] Translation: X:13.29, Y:0.16, Z:-0.48 [[ 9.99759202e-01 -2.06738960e-02 -7.35721110e-03 1.32918045e+01] [ 2.06743515e-02 9.99786263e-01 -1.41350918e-05 1.61055479e-01] [ 7.35593082e-03 -1.37973881e-04 9.99972935e-01 -4.75416982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.527193470000002 meters 0.06679053897002035 Centerline is valid? [True, True] Translation: X:13.35, Y:0.14, Z:-0.48 [[ 9.99081211e-01 -4.21472796e-02 -7.76789694e-03 1.33524131e+01] [ 4.21484503e-02 9.99111359e-01 -1.30065773e-05 1.38064955e-01] [ 7.76154227e-03 -3.14410191e-04 9.99969829e-01 -4.77228162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.587193470000003 meters 0.07185183736629679 Centerline is valid? [True, True] Translation: X:13.41, Y:0.12, Z:-0.48 [[ 9.98405064e-01 -5.58899549e-02 -7.97750869e-03 1.34120733e+01] [ 5.58916303e-02 9.98436841e-01 -1.29440621e-05 1.24538778e-01] [ 7.96576202e-03 -4.32952550e-04 9.99968179e-01 -4.80377293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.647193470000001 meters 0.07013568998589274 Centerline is valid? [True, True] Translation: X:13.47, Y:0.13, Z:-0.49 [[ 9.98757199e-01 -4.90953440e-02 -8.58517057e-03 1.34723751e+01] [ 4.90970304e-02 9.98794013e-01 -1.43380384e-05 1.31012488e-01] [ 8.57552091e-03 -4.07186162e-04 9.99963147e-01 -4.85341330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.707193470000002 meters 0.06608665805274401 Centerline is valid? [True, True] Translation: X:13.53, Y:0.16, Z:-0.49 [[ 9.99350306e-01 -3.31267600e-02 -1.41980245e-02 1.35323811e+01] [ 3.31297608e-02 9.99451059e-01 -2.38647100e-05 1.59115377e-01] [ 1.41910212e-02 -4.46527950e-04 9.99899203e-01 -4.88801319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.767193470000002 meters 0.0628423001317635 Centerline is valid? [True, True] Translation: X:13.59, Y:0.19, Z:-0.49 [[ 9.99824282e-01 -1.46497502e-02 -1.16956888e-02 1.35930749e+01] [ 1.46505307e-02 9.99892675e-01 -1.89458974e-05 1.87830153e-01] [ 1.16947111e-02 -1.52405480e-04 9.99931603e-01 -4.86392869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.827193470000001 meters 0.06163819025273229 Centerline is valid? [True, True] Translation: X:13.65, Y:0.21, Z:-0.48 [[ 9.99990189e-01 -2.61242827e-03 -3.57733820e-03 1.36533368e+01] [ 2.61242333e-03 9.99996588e-01 -6.05307932e-06 2.13525001e-01] [ 3.57734181e-03 -3.29250187e-06 9.99993601e-01 -4.77815516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.887193470000001 meters 0.06316869160087862 Centerline is valid? [True, True] Translation: X:13.71, Y:0.23, Z:-0.49 [[ 9.99927559e-01 5.16555140e-04 -1.20253976e-02 1.37119446e+01] [-5.16838801e-04 9.99999866e-01 -2.04808346e-05 2.26755562e-01] [ 1.20253854e-02 2.66945430e-05 9.99927692e-01 -4.93329212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.947193470000002 meters 0.06278998943357132 Centerline is valid? [True, True] Translation: X:13.77, Y:0.23, Z:-0.49 [[ 9.99930161e-01 -1.81860308e-04 -1.18169407e-02 1.37707379e+01] [ 1.81602500e-04 9.99999983e-01 -2.28898600e-05 2.25216487e-01] [ 1.18169447e-02 2.07422754e-05 9.99930177e-01 -4.93077256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.007193470000002 meters 0.062151303837743865 Centerline is valid? [True, True] Translation: X:13.83, Y:0.21, Z:-0.48 [[ 9.99876745e-01 -1.54764116e-02 -2.64094118e-03 1.38309752e+01] [ 1.54764495e-02 9.99880233e-01 -6.10589458e-06 2.10411223e-01] [ 2.64071938e-03 -3.47672508e-05 9.99996513e-01 -4.80919382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.067193470000001 meters 0.06270865855867587 Centerline is valid? [True, True] Translation: X:13.89, Y:0.20, Z:-0.49 [[ 9.99828951e-01 -1.78860905e-02 -4.70703468e-03 1.38919290e+01] [ 1.78862636e-02 9.99840028e-01 -5.30942650e-06 1.99044169e-01] [ 4.70637665e-03 -7.88827448e-05 9.99988922e-01 -4.89861651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.127193470000002 meters 0.06286092530644871 Centerline is valid? [True, True] Translation: X:13.95, Y:0.20, Z:-0.50 [[ 9.99804947e-01 -1.73677470e-02 -9.40369009e-03 1.39530559e+01] [ 1.73683779e-02 9.99849158e-01 -1.45740958e-05 1.96838706e-01] [ 9.40252474e-03 -1.48755590e-04 9.99955784e-01 -4.95275905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.187193470000002 meters 0.06248731864131273 Centerline is valid? [True, True] Translation: X:14.01, Y:0.20, Z:-0.49 [[ 9.99840749e-01 -1.57914600e-02 -8.31302444e-03 1.40147828e+01] [ 1.57919027e-02 9.99875300e-01 -1.23912978e-05 1.98716392e-01] [ 8.31218348e-03 -1.18889149e-04 9.99965446e-01 -4.94517908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.247193470000003 meters 0.06219633113246041 Centerline is valid? [True, True] Translation: X:14.08, Y:0.20, Z:-0.49 [[ 9.99892160e-01 -1.40675028e-02 -4.21592908e-03 1.40753182e+01] [ 1.40676017e-02 9.99901046e-01 -6.20033831e-06 2.01068483e-01] [ 4.21559912e-03 -5.31083414e-05 9.99991113e-01 -4.93045545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.307193470000001 meters 0.062097689799692546 Centerline is valid? [True, True] Translation: X:14.14, Y:0.20, Z:-0.50 [[ 9.99907298e-01 -1.01727963e-02 -9.05035878e-03 1.41365250e+01] [ 1.01730952e-02 9.99948253e-01 -1.30063490e-05 2.00475966e-01] [ 9.05002276e-03 -7.90650181e-05 9.99959045e-01 -4.97966170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.367193470000002 meters 0.062182718628364976 Centerline is valid? [True, True] Translation: X:14.20, Y:0.20, Z:-0.50 [[ 9.99933390e-01 -5.09861104e-03 -1.03547031e-02 1.41973006e+01] [ 5.09871796e-03 9.99987001e-01 -1.60735632e-05 2.00521970e-01] [ 1.03546505e-02 -3.67232180e-05 9.99946388e-01 -5.00354981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.427193470000002 meters 0.0625392097006684 Centerline is valid? [True, True] Translation: X:14.26, Y:0.20, Z:-0.50 [[ 9.99954963e-01 9.44446223e-04 -9.44346357e-03 1.42557102e+01] [-9.44722132e-04 9.99999553e-01 -2.47561230e-05 2.02272391e-01] [ 9.44343597e-03 3.36764571e-05 9.99955409e-01 -5.00135888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.487193470000001 meters 0.06250933956043803 Centerline is valid? [True, True] Translation: X:14.31, Y:0.19, Z:-0.50 [[ 9.99955867e-01 7.19896900e-03 -6.03643726e-03 1.43144953e+01] [-7.19922285e-03 9.99974085e-01 -2.03236232e-05 1.88926210e-01] [ 6.03613452e-03 6.37803833e-05 9.99981780e-01 -5.01776354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.547193470000002 meters 0.061680501895247444 Centerline is valid? [True, True] Translation: X:14.37, Y:0.17, Z:-0.50 [[ 9.99996750e-01 2.47243506e-03 -6.22351589e-04 1.43740860e+01] [-2.47243704e-03 9.99996944e-01 -2.40534721e-06 1.72226243e-01] [ 6.22343739e-04 3.94406451e-06 9.99999806e-01 -4.96440493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.607193470000002 meters 0.06216911900060198 Centerline is valid? [True, True] Translation: X:14.43, Y:0.15, Z:-0.50 [[ 9.99951940e-01 9.46970111e-03 -2.53825813e-03 1.44337971e+01] [-9.46974871e-03 9.99955161e-01 -6.73357566e-06 1.54983363e-01] [ 2.53808055e-03 3.07699187e-05 9.99996779e-01 -5.02896170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.667193470000003 meters 0.06331504290952183 Centerline is valid? [True, True] Translation: X:14.49, Y:0.15, Z:-0.51 [[ 9.99876661e-01 1.43711260e-02 -6.33516154e-03 1.44931865e+01] [-1.43715127e-02 9.99896724e-01 -1.55171203e-05 1.52627248e-01] [ 6.33428428e-03 1.06561061e-04 9.99979933e-01 -5.07707734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.727193470000001 meters 0.06308402814409542 Centerline is valid? [True, True] Translation: X:14.55, Y:0.13, Z:-0.51 [[ 9.99924890e-01 9.56432622e-03 -7.66413034e-03 1.45514808e+01] [-9.56476213e-03 9.99954256e-01 -2.02249814e-05 1.27739397e-01] [ 7.66358631e-03 9.35290459e-05 9.99970630e-01 -5.10870241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.787193470000002 meters 0.06274330930076784 Centerline is valid? [True, True] Translation: X:14.61, Y:0.10, Z:-0.51 [[ 9.99948941e-01 5.42229868e-03 -8.52726295e-03 1.46103688e+01] [-5.42269133e-03 9.99985297e-01 -2.29262209e-05 1.04283283e-01] [ 8.52701326e-03 6.91657652e-05 9.99963642e-01 -5.13566334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.847193470000002 meters 0.06443354091551083 Centerline is valid? [True, True] Translation: X:14.67, Y:0.10, Z:-0.51 [[ 9.99856298e-01 1.54342656e-02 -7.01186679e-03 1.46676577e+01] [-1.54347924e-02 9.99880876e-01 -2.10247897e-05 9.51570393e-02] [ 7.01070701e-03 1.29248477e-04 9.99975416e-01 -5.13833638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.907193470000003 meters 0.0660489553279227 Centerline is valid? [True, True] Translation: X:14.73, Y:0.07, Z:-0.52 [[ 9.99734601e-01 2.20885377e-02 -6.54399186e-03 1.47269700e+01] [-2.20891333e-02 9.99756005e-01 -1.87406994e-05 6.75540202e-02] [ 6.54198121e-03 1.63286834e-04 9.99978588e-01 -5.17321994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.967193470000002 meters 0.06339509546521599 Centerline is valid? [True, True] Translation: X:14.79, Y:0.03, Z:-0.51 [[ 9.99879257e-01 1.53294639e-02 -2.54537432e-03 1.47868373e+01] [-1.53295337e-02 9.99882496e-01 -7.90639162e-06 3.28662948e-02] [ 2.54495402e-03 4.69248382e-05 9.99996760e-01 -5.11275711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02719347 meters 0.06284211320456153 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.00, Z:-0.52 [[ 9.99956421e-01 7.29138710e-03 -5.83027675e-03 1.48452547e+01] [-7.29161779e-03 9.99973416e-01 -1.83129079e-05 -2.87104661e-03] [ 5.82998823e-03 6.08242595e-05 9.99983004e-01 -5.17159898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.087193470000003 meters 0.06416328476378731 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.02, Z:-0.52 [[ 9.99877851e-01 1.17020917e-02 -1.03606558e-02 1.49037494e+01] [-1.17030495e-02 9.99931516e-01 -3.18203088e-05 -1.94152431e-02] [ 1.03595739e-02 1.53067690e-04 9.99946326e-01 -5.24534374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14719347 meters 0.06653641788568589 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.03, Z:-0.52 [[ 9.99655790e-01 2.53483392e-02 -6.76483430e-03 1.49633627e+01] [-2.53490594e-02 9.99678661e-01 -2.07418345e-05 -2.55368166e-02] [ 6.76213472e-03 1.92216882e-04 9.99977118e-01 -5.24075125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.207193470000004 meters 0.06658732821407332 Centerline is valid? [True, True] Translation: X:15.02, Y:-0.03, Z:-0.52 [[ 9.99678488e-01 2.49282690e-02 -4.63713495e-03 1.50208703e+01] [-2.49286142e-02 9.99689234e-01 -1.66466570e-05 -3.07361494e-02] [ 4.63527891e-03 1.32238653e-04 9.99989248e-01 -5.24230152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.267193470000002 meters 0.06222556606802332 Centerline is valid? [True, True] Translation: X:15.08, Y:-0.08, Z:-0.52 [[ 9.99986243e-01 5.23729251e-03 2.91528714e-04 1.50802992e+01] [-5.23729281e-03 9.99986285e-01 2.83859172e-07 -8.03987722e-02] [-2.91523229e-04 -1.81067651e-06 9.99999958e-01 -5.23701730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32719347 meters 0.06239643802562219 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.11, Z:-0.53 [[ 9.99983353e-01 -5.53757982e-03 -1.62128164e-03 1.51412698e+01] [ 5.53757911e-03 9.99984667e-01 -4.93084037e-06 -1.14932390e-01] [ 1.62128409e-03 -4.04721707e-06 9.99998686e-01 -5.28347022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.387193470000003 meters 0.0625540470226467 Centerline is valid? [True, True] Translation: X:15.20, Y:-0.14, Z:-0.53 [[ 9.99972926e-01 -7.10741237e-03 -1.90589567e-03 1.52002917e+01] [ 7.10741214e-03 9.99974742e-01 -6.89255816e-06 -1.38845563e-01] [ 1.90589652e-03 -6.65361446e-06 9.99998184e-01 -5.31971394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.447193470000002 meters 0.06270637474759308 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.15, Z:-0.53 [[ 9.99969765e-01 -4.78576114e-03 -6.12913003e-03 1.52598468e+01] [ 4.78572723e-03 9.99988548e-01 -2.01977658e-05 -1.46215676e-01] [ 6.12915650e-03 -9.13518936e-06 9.99981217e-01 -5.33423323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.50719347 meters 0.06351148276979036 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.16, Z:-0.54 [[ 9.99870338e-01 -1.39741151e-02 -8.00192155e-03 1.53192846e+01] [ 1.39743512e-02 9.99902354e-01 -2.64145501e-05 -1.61797210e-01] [ 8.00150931e-03 -8.54105366e-05 9.99967984e-01 -5.37133623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.567193470000003 meters 0.0660047991122125 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.17, Z:-0.54 [[ 9.99554277e-01 -2.93820991e-02 -5.28587127e-03 1.53798733e+01] [ 2.93824211e-02 9.99568243e-01 -1.67551723e-05 -1.71711449e-01] [ 5.28408136e-03 -1.38563991e-04 9.99986030e-01 -5.35221785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62719347 meters 0.06422495141252442 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.16, Z:-0.53 [[ 9.99710646e-01 -2.40206395e-02 -1.27758340e-03 1.54398267e+01] [ 2.40206532e-02 9.99711462e-01 -4.59392986e-06 -1.58670940e-01] [ 1.27732512e-03 -2.60957873e-05 9.99999184e-01 -5.30095666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68719347 meters 0.06189897898162284 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.12, Z:-0.54 [[ 9.99980209e-01 -5.49505203e-03 -3.06360308e-03 1.54996558e+01] [ 5.49504602e-03 9.99984902e-01 -1.03801443e-05 -1.18095789e-01] [ 3.06361386e-03 -6.45470105e-06 9.99995307e-01 -5.35010806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.747193470000003 meters 0.06440669078243191 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.06, Z:-0.54 [[ 9.99830660e-01 1.76383154e-02 -5.24797561e-03 1.55591052e+01] [-1.76386502e-02 9.99844427e-01 -1.75152820e-05 -6.44946346e-02] [ 5.24685022e-03 1.10079522e-04 9.99986229e-01 -5.39459335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.80719347 meters 0.06809025267089261 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.04, Z:-0.55 [[ 9.99571162e-01 2.76399924e-02 -9.67076333e-03 1.56186162e+01] [-2.76415945e-02 9.99617898e-01 -3.20131277e-05 -4.08088800e-02] [ 9.66618327e-03 2.99314718e-04 9.99953237e-01 -5.46233323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.867193470000004 meters 0.06864469242778566 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.04, Z:-0.55 [[ 9.99516673e-01 2.85542185e-02 -1.22913104e-02 1.56778506e+01] [-2.85568962e-02 9.99592168e-01 -4.23621645e-05 -3.52305360e-02] [ 1.22850880e-02 3.93343365e-04 9.99924458e-01 -5.50799341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.927193470000002 meters 0.06592730493258668 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.05, Z:-0.55 [[ 9.99728035e-01 2.27439069e-02 -5.15474747e-03 1.57383509e+01] [-2.27442978e-02 9.99741315e-01 -1.72235621e-05 -4.94072155e-02] [ 5.15302228e-03 1.34459989e-04 9.99986714e-01 -5.46183513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98719347 meters 0.06482048639391083 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.06, Z:-0.54 [[ 9.99754029e-01 2.21710112e-02 5.72612220e-04 1.57981955e+01] [-2.21710154e-02 9.99754193e-01 8.77208158e-07 -6.29290038e-02] [-5.72452019e-04 -1.35723867e-05 9.99999836e-01 -5.41824929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.047193470000003 meters 0.06530700621640413 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.07, Z:-0.54 [[ 9.99678440e-01 2.50537245e-02 3.91515357e-03 1.58581993e+01] [-2.50539647e-02 9.99686100e-01 1.23063477e-05 -7.39196676e-02] [-3.91361628e-03 -1.10392510e-04 9.99992336e-01 -5.42118534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.107193470000002 meters 0.06540101834214106 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.09, Z:-0.55 [[ 9.99691497e-01 2.48341668e-02 -4.17715644e-04 1.59196869e+01] [-2.48341691e-02 9.99691584e-01 -3.24180102e-07 -9.42539177e-02] [ 4.17578764e-04 1.06977010e-05 9.99999913e-01 -5.47201625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16719347 meters 0.06589145401309746 Centerline is valid? [True, True] Translation: X:15.98, Y:-0.11, Z:-0.56 [[ 9.99711502e-01 2.30651275e-02 -6.70173202e-03 1.59801415e+01] [-2.30657967e-02 9.99733949e-01 -2.25626946e-05 -1.14408966e-01] [ 6.69942861e-03 1.77136973e-04 9.99977543e-01 -5.55893791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.227193470000003 meters 0.06445464798261152 Centerline is valid? [True, True] Translation: X:16.04, Y:-0.14, Z:-0.56 [[ 9.99857199e-01 1.52707000e-02 -7.23788633e-03 1.60398280e+01] [-1.52712862e-02 9.99883387e-01 -2.57301828e-05 -1.41139822e-01] [ 7.23664938e-03 1.36258342e-04 9.99973806e-01 -5.58731054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.287193470000002 meters 0.06269169646185518 Centerline is valid? [True, True] Translation: X:16.10, Y:-0.17, Z:-0.56 [[ 9.99979299e-01 3.48215254e-03 -5.41076261e-03 1.60997891e+01] [-3.48231029e-03 9.99993937e-01 -1.97331425e-05 -1.68955934e-01] [ 5.41066109e-03 3.85746883e-05 9.99985362e-01 -5.56406240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34719347 meters 0.06161385673983764 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.21, Z:-0.55 [[ 9.99984006e-01 -5.65498871e-03 9.47097625e-05 1.61601145e+01] [ 5.65498876e-03 9.99984010e-01 -2.04313317e-07 -2.06187099e-01] [-9.47070928e-05 7.39892691e-07 9.99999996e-01 -5.51184445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.407193470000003 meters 0.061788789152698975 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.21, Z:-0.56 [[ 9.99986870e-01 -4.30699326e-03 -2.77653239e-03 1.62200899e+01] [ 4.30697973e-03 9.99990725e-01 -1.08528088e-05 -2.14395325e-01] [ 2.77655338e-03 -1.10580246e-06 9.99996145e-01 -5.55239713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46719347 meters 0.062650006327719 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.23, Z:-0.56 [[ 9.99927178e-01 -6.02892186e-03 -1.04542408e-02 1.62802687e+01] [ 6.02885679e-03 9.99981826e-01 -3.77393948e-05 -2.26640411e-01] [ 1.04542783e-02 -2.52904739e-05 9.99945352e-01 -5.63258310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.527193470000004 meters 0.06483217865812886 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.25, Z:-0.57 [[ 9.99638434e-01 -2.24800440e-02 -1.47528998e-02 1.63405075e+01] [ 2.24817163e-02 9.99747253e-01 -5.24989999e-05 -2.49304534e-01] [ 1.47503512e-02 -2.79190490e-04 9.99891169e-01 -5.67276203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.587193470000003 meters 0.06708829301427664 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.26, Z:-0.57 [[ 9.99427422e-01 -2.92269227e-02 -1.70474111e-02 1.63996823e+01] [ 2.92301082e-02 9.99572707e-01 -6.23328616e-05 -2.56772775e-01] [ 1.70419487e-02 -4.36000499e-04 9.99854680e-01 -5.70928483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64719347 meters 0.06315520897788235 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.23, Z:-0.56 [[ 9.99775651e-01 -1.82525649e-02 -1.07466553e-02 1.64597023e+01] [ 1.82531909e-02 9.99833396e-01 -3.98406766e-05 -2.31877098e-01] [ 1.07455921e-02 -1.56329013e-04 9.99942252e-01 -5.63730751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.707193470000004 meters 0.06286668377412233 Centerline is valid? [True, True] Translation: X:16.52, Y:-0.20, Z:-0.57 [[ 9.99939820e-01 2.29439201e-03 -1.07281411e-02 1.65176318e+01] [-2.29505559e-03 9.99997365e-01 -4.95434822e-05 -1.96367121e-01] [ 1.07279991e-02 7.41621808e-05 9.99942451e-01 -5.71311859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.767193470000002 meters 0.06576619998654666 Centerline is valid? [True, True] Translation: X:16.58, Y:-0.16, Z:-0.57 [[ 9.99686222e-01 2.29343031e-02 -1.00735237e-02 1.65783839e+01] [-2.29358678e-02 9.99736938e-01 -3.98135424e-05 -1.62523577e-01] [ 1.00699606e-02 2.70846057e-04 9.99949260e-01 -5.69114229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82719347 meters 0.06716704920500853 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.15, Z:-0.56 [[ 9.99398393e-01 3.45575481e-02 -2.93732235e-03 1.66378449e+01] [-3.45577377e-02 9.99402703e-01 -1.38113368e-05 -1.50706384e-01] [ 2.93509061e-03 1.15310243e-04 9.99995686e-01 -5.62426528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.887193470000003 meters 0.06910725334348446 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.15, Z:-0.57 [[ 9.99222381e-01 3.85083495e-02 -8.46993232e-03 1.66986733e+01] [-3.85100180e-02 9.99258214e-01 -3.39231409e-05 -1.52411291e-01] [ 8.46234311e-03 3.60074008e-04 9.99964129e-01 -5.70204302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.947193470000002 meters 0.07031444239242868 Centerline is valid? [True, True] Translation: X:16.76, Y:-0.16, Z:-0.57 [[ 9.99184062e-01 3.92241406e-02 -9.62693920e-03 1.67585484e+01] [-3.92263375e-02 9.99230350e-01 -3.94119391e-05 -1.64416979e-01] [ 9.61798393e-03 4.17009347e-04 9.99953659e-01 -5.73608490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00719347 meters 0.06915195492256695 Centerline is valid? [True, True] Translation: X:16.82, Y:-0.18, Z:-0.58 [[ 9.99394608e-01 3.29367155e-02 -1.12067348e-02 1.68187826e+01] [-3.29392910e-02 9.99457353e-01 -4.52676641e-05 -1.84363468e-01] [ 1.11991625e-02 4.14382157e-04 9.99937202e-01 -5.78454445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.067193470000003 meters 0.0677162594034814 Centerline is valid? [True, True] Translation: X:16.88, Y:-0.20, Z:-0.58 [[ 9.99533341e-01 2.74390510e-02 -1.34238441e-02 1.68789127e+01] [-2.74422618e-02 9.99623389e-01 -5.50106974e-05 -2.03622741e-01] [ 1.34172791e-02 4.23365670e-04 9.99909895e-01 -5.80937349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12719347 meters 0.06696974084224956 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.21, Z:-0.58 [[ 9.99590042e-01 2.47697246e-02 -1.43599415e-02 1.69387884e+01] [-2.47731394e-02 9.99693097e-01 -5.99426398e-05 -2.13324404e-01] [ 1.43540497e-02 4.15658900e-04 9.99896889e-01 -5.82800635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18719347 meters 0.06440984573158011 Centerline is valid? [True, True] Translation: X:17.00, Y:-0.25, Z:-0.59 [[ 9.99808943e-01 6.01960289e-03 -1.85968076e-02 1.69982601e+01] [-6.02200338e-03 9.99981865e-01 -7.30831681e-05 -2.45486288e-01] [ 1.85960304e-02 1.85059243e-04 9.99827062e-01 -5.89829974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.247193470000003 meters 0.06368301052743724 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.27, Z:-0.59 [[ 9.99793024e-01 -9.29413008e-03 -1.80977458e-02 1.70572052e+01] [ 9.29426886e-03 9.99956804e-01 -7.64433955e-05 -2.71718214e-01] [ 1.80976745e-02 -9.17777413e-05 9.99836219e-01 -5.85666143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.30719347 meters 0.0639602353895245 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.28, Z:-0.58 [[ 9.99671683e-01 -1.51329741e-02 -2.06765219e-02 1.71172507e+01] [ 1.51344102e-02 9.99885464e-01 -8.70300960e-05 -2.83248456e-01] [ 2.06754707e-02 -2.25925442e-04 9.99786214e-01 -5.83933777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.367193470000004 meters 0.06676345838501915 Centerline is valid? [True, True] Translation: X:17.18, Y:-0.29, Z:-0.59 [[ 9.99379714e-01 -2.41503313e-02 -2.56310168e-02 1.71766421e+01] [ 2.41555392e-02 9.99708207e-01 -1.06455494e-04 -2.91654022e-01] [ 2.56261087e-02 -5.12741569e-04 9.99671466e-01 -5.91105759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.427193470000002 meters 0.06896362407809777 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.30, Z:-0.59 [[ 9.99217517e-01 -3.34668413e-02 -2.10789956e-02 1.72345618e+01] [ 3.34723305e-02 9.99439640e-01 -9.24554896e-05 -2.95036466e-01] [ 2.10702780e-02 -6.13179962e-04 9.99777809e-01 -5.88490764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48719347 meters 0.06628012269063352 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.28, Z:-0.58 [[ 9.99352844e-01 -3.28004770e-02 -1.47655558e-02 1.72949939e+01] [ 3.28031111e-02 9.99461831e-01 -6.38247947e-05 -2.79491753e-01] [ 1.47597029e-02 -4.20572678e-04 9.99890981e-01 -5.76877538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.547193470000003 meters 0.06447299565598502 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.24, Z:-0.58 [[ 9.99663445e-01 -1.71870879e-02 -1.94319770e-02 1.73523479e+01] [ 1.71885797e-02 9.99852261e-01 -9.02590966e-05 -2.36309896e-01] [ 1.94306574e-02 -2.43779366e-04 9.99811177e-01 -5.84074681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.607193470000002 meters 0.06321706374748946 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.19, Z:-0.58 [[ 9.99932576e-01 3.42903048e-03 -1.10943812e-02 1.74118528e+01] [-3.42979868e-03 9.99994117e-01 -5.02163684e-05 -1.86433417e-01] [ 1.10941438e-02 8.82644767e-05 9.99938454e-01 -5.83659249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66719347 meters 0.06467957362698884 Centerline is valid? [True, True] Translation: X:17.47, Y:-0.15, Z:-0.58 [[ 9.99772736e-01 1.98162822e-02 -7.86079797e-03 1.74716157e+01] [-1.98171815e-02 9.99803620e-01 -3.65164782e-05 -1.46409432e-01] [ 7.85853065e-03 1.92287039e-04 9.99969103e-01 -5.77395602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.727193470000003 meters 0.06679547404648578 Centerline is valid? [True, True] Translation: X:17.53, Y:-0.12, Z:-0.58 [[ 9.99530175e-01 2.93897798e-02 -8.69889066e-03 1.75320768e+01] [-2.93912314e-02 9.99567984e-01 -3.90548921e-05 -1.22972062e-01] [ 8.69398478e-03 2.94707652e-04 9.99962163e-01 -5.81550637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.787193470000002 meters 0.0686657521140944 Centerline is valid? [True, True] Translation: X:17.59, Y:-0.12, Z:-0.59 [[ 9.99499992e-01 2.80162968e-02 -1.46578437e-02 1.75906059e+01] [-2.80203122e-02 9.99607352e-01 -6.86068707e-05 -1.16300219e-01] [ 1.46501662e-02 4.79289922e-04 9.99892566e-01 -5.93619265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84719347 meters 0.06663770327413975 Centerline is valid? [True, True] Translation: X:17.65, Y:-0.12, Z:-0.59 [[ 9.99583984e-01 2.45680627e-02 -1.51085666e-02 1.76494300e+01] [-2.45719644e-02 9.99698061e-01 -7.26326654e-05 -1.21752564e-01] [ 1.51022203e-02 4.43849610e-04 9.99885856e-01 -5.93794201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.907193470000003 meters 0.06651020720205209 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.13, Z:-0.59 [[ 9.99608866e-01 2.60493679e-02 -1.01757718e-02 1.77076433e+01] [-2.60512378e-02 9.99660608e-01 -5.12322862e-05 -1.29254711e-01] [ 1.01709836e-02 3.16303697e-04 9.99948224e-01 -5.89573184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96719347 meters 0.06620773096133023 Centerline is valid? [True, True] Translation: X:17.77, Y:-0.13, Z:-0.59 [[ 9.99565134e-01 2.87062419e-02 -6.74493991e-03 1.77669107e+01] [-2.87071309e-02 9.99587865e-01 -3.50008128e-05 -1.33724147e-01] [ 6.74115534e-03 2.28613465e-04 9.99977252e-01 -5.85513988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.027193470000004 meters 0.06773424345254114 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.14, Z:-0.59 [[ 9.99498873e-01 3.14865896e-02 -3.25552311e-03 1.78251682e+01] [-3.14868125e-02 9.99504167e-01 -1.72041255e-05 -1.36619476e-01] [ 3.25336722e-03 1.19701550e-04 9.99994701e-01 -5.88663266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.087193470000003 meters 0.06642040435846822 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.16, Z:-0.59 [[ 9.99604472e-01 2.70045667e-02 -7.85192260e-03 1.78857951e+01] [-2.70057020e-02 9.99635279e-01 -3.85851248e-05 -1.57580853e-01] [ 7.84801686e-03 2.50616546e-04 9.99969172e-01 -5.94250473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14719347 meters 0.06492388403442466 Centerline is valid? [True, True] Translation: X:17.95, Y:-0.18, Z:-0.60 [[ 9.99800939e-01 1.71344893e-02 -1.02220695e-02 1.79458333e+01] [-1.71358980e-02 9.99853168e-01 -5.02322614e-05 -1.79362762e-01] [ 1.02197079e-02 2.25386603e-04 9.99947752e-01 -6.01896472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.207193470000004 meters 0.06421646245905464 Centerline is valid? [True, True] Translation: X:18.00, Y:-0.19, Z:-0.60 [[ 9.99872320e-01 1.38327602e-02 -7.99984872e-03 1.80046902e+01] [-1.38335334e-02 9.99904311e-01 -4.13275986e-05 -1.92723402e-01] [ 7.99851155e-03 1.51988497e-04 9.99968000e-01 -6.02587243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.267193470000002 meters 0.06560284410926907 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.20, Z:-0.60 [[ 9.99776346e-01 1.93468457e-02 -8.54147688e-03 1.80638064e+01] [-1.93479316e-02 9.99812810e-01 -4.45192591e-05 -1.95605988e-01] [ 8.53901670e-03 2.09769213e-04 9.99963520e-01 -6.04487786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32719347 meters 0.06811134373985493 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.20, Z:-0.60 [[ 9.99325983e-01 3.56550632e-02 -8.73473493e-03 1.81237843e+01] [-3.56568126e-02 9.99364093e-01 -4.45910823e-05 -1.95515818e-01] [ 8.72759055e-03 3.56013834e-04 9.99961850e-01 -6.01603105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.387193470000003 meters 0.07171291496030835 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.19, Z:-0.60 [[ 9.98909347e-01 4.60382614e-02 -7.78428225e-03 1.81835069e+01] [-4.60399610e-02 9.98939598e-01 -3.91959320e-05 -1.93824215e-01] [ 7.77422327e-03 3.97541234e-04 9.99969701e-01 -6.03739164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.447193470000002 meters 0.07066274638182822 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.21, Z:-0.60 [[ 9.98994268e-01 4.42533359e-02 -7.21770721e-03 1.82451835e+01] [-4.42547417e-02 9.99020278e-01 -3.50965019e-05 -2.06618239e-01] [ 7.20908273e-03 3.54478972e-04 9.99973951e-01 -6.04230702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.50719347 meters 0.06702888819560847 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.24, Z:-0.60 [[ 9.99392404e-01 3.46693128e-02 -3.58642440e-03 1.83058147e+01] [-3.46695986e-02 9.99398829e-01 -1.75387261e-05 -2.39531742e-01] [ 3.58366029e-03 1.41867964e-04 9.99993569e-01 -6.02196889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.567193470000003 meters 0.06436141282116854 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.27, Z:-0.60 [[ 9.99604431e-01 2.79973996e-02 -2.66952464e-03 1.83665372e+01] [-2.79975334e-02 9.99607992e-01 -1.27430246e-05 -2.69375081e-01] [ 2.66812139e-03 8.74780890e-05 9.99996437e-01 -6.02244464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.62719347 meters 0.0661285093466349 Centerline is valid? [True, True] Translation: X:18.43, Y:-0.29, Z:-0.61 [[ 9.99417921e-01 3.33245936e-02 -7.30009401e-03 1.84275268e+01] [-3.33257454e-02 9.99444542e-01 -3.61649212e-05 -2.85547125e-01] [ 7.29483394e-03 2.79424945e-04 9.99973353e-01 -6.08267452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.687193470000004 meters 0.06809139864515958 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.29, Z:-0.61 [[ 9.99141641e-01 4.12406348e-02 -3.89759155e-03 1.84882497e+01] [-4.12410181e-02 9.99149227e-01 -1.79873605e-05 -2.89411111e-01] [ 3.89353378e-03 1.78712564e-04 9.99992404e-01 -6.07813904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.747193470000003 meters 0.07172072974915121 Centerline is valid? [True, True] Translation: X:18.55, Y:-0.30, Z:-0.60 [[ 9.98626941e-01 5.23405720e-02 -2.16747653e-03 1.85492620e+01] [-5.23407170e-02 9.98629285e-01 -1.01908959e-05 -3.02519912e-01] [ 2.16397214e-03 1.23624179e-04 9.99997651e-01 -6.04872940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.80719347 meters 0.07109645688490862 Centerline is valid? [True, True] Translation: X:18.61, Y:-0.32, Z:-0.61 [[ 9.98625169e-01 5.24164897e-02 -5.33185765e-04 1.86115068e+01] [-5.24164947e-02 9.98625311e-01 4.71264853e-06 -3.19781793e-01] [ 5.32699821e-04 2.32415594e-05 9.99999858e-01 -6.05287003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.867193470000004 meters 0.0690837233583902 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.35, Z:-0.61 [[ 9.98935145e-01 4.59721142e-02 3.89119211e-03 1.86718437e+01] [-4.59725317e-02 9.98942704e-01 1.78796543e-05 -3.49053483e-01] [-3.88625601e-03 -1.96748568e-04 9.99992429e-01 -6.06833966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.927193470000002 meters 0.06643627554062417 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.39, Z:-0.61 [[ 9.99116005e-01 4.18960877e-02 3.45344970e-03 1.87337432e+01] [-4.18963970e-02 9.99121960e-01 1.72355649e-05 -3.87211423e-01] [-3.44969534e-03 -1.61907429e-04 9.99994037e-01 -6.07505460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98719347 meters 0.06641724452360949 Centerline is valid? [True, True] Translation: X:18.80, Y:-0.40, Z:-0.61 [[ 9.99130452e-01 4.16514945e-02 1.86895347e-03 1.87968549e+01] [-4.16515973e-02 9.99132196e-01 1.60901025e-05 -3.96023000e-01] [-1.86666140e-03 -9.39210085e-05 9.99998253e-01 -6.10963596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.047193470000003 meters 0.06729820944865199 Centerline is valid? [True, True] Translation: X:18.86, Y:-0.41, Z:-0.62 [[ 9.99090822e-01 4.25986438e-02 -1.69854409e-03 1.88583986e+01] [-4.25987054e-02 9.99092263e-01 -7.39083343e-08 -4.09370926e-01] [ 1.69699911e-03 7.24296203e-05 9.99998557e-01 -6.17055547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.107193470000002 meters 0.0681022652669982 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.43, Z:-0.62 [[ 9.99037064e-01 4.38242606e-02 -2.09274608e-03 1.89196649e+01] [-4.38243654e-02 9.99039251e-01 -4.24653415e-06 -4.28905259e-01] [ 2.09054938e-03 9.59557141e-05 9.99997810e-01 -6.18317662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16719347 meters 0.06616256619443756 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.46, Z:-0.62 [[ 9.99154142e-01 4.09325496e-02 -3.94035709e-03 1.89817061e+01] [-4.09328935e-02 9.99161898e-01 -6.61849951e-06 -4.56010765e-01] [ 3.93678375e-03 1.67903118e-04 9.99992237e-01 -6.18069613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.227193470000003 meters 0.06382934037844878 Centerline is valid? [True, True] Translation: X:19.04, Y:-0.48, Z:-0.62 [[ 9.99357195e-01 3.51911212e-02 -6.83977936e-03 1.90431459e+01] [-3.51920983e-02 9.99380566e-01 -2.25067572e-05 -4.76917641e-01] [ 6.83475053e-03 2.63198477e-04 9.99976608e-01 -6.20759457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.287193470000002 meters 0.06161090773245951 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.51, Z:-0.63 [[ 9.99705775e-01 2.42140609e-02 -1.42951680e-03 1.91025357e+01] [-2.42140935e-02 9.99706796e-01 -5.47362253e-06 -5.07567089e-01] [ 1.42896512e-03 4.00864655e-05 9.99998978e-01 -6.26087206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34719347 meters 0.05998811931215006 Centerline is valid? [True, True] Translation: X:19.16, Y:-0.53, Z:-0.63 [[ 9.99909141e-01 1.32202632e-02 -2.63350474e-03 1.91630771e+01] [-1.32203331e-02 9.99912608e-01 -9.11370664e-06 -5.29570539e-01] [ 2.63315411e-03 4.39286884e-05 9.99996532e-01 -6.30333878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.407193470000003 meters 0.05905232778713386 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.55, Z:-0.63 [[ 9.99969010e-01 7.76936027e-03 -1.27127324e-03 1.92251812e+01] [-7.76937025e-03 9.99969818e-01 -2.90656857e-06 -5.49542071e-01] [ 1.27121228e-03 1.27834710e-05 9.99999192e-01 -6.27851880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46719347 meters 0.05901538179326059 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.55, Z:-0.63 [[ 9.99932276e-01 1.16000446e-02 -9.39163304e-04 1.92868310e+01] [-1.16000513e-02 9.99932717e-01 -1.65658060e-06 -5.50178241e-01] [ 9.39080898e-04 1.25508109e-05 9.99999559e-01 -6.27694851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.527193470000004 meters 0.059177225778896274 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.55, Z:-0.63 [[ 9.99853345e-01 1.71140590e-02 -6.30767555e-04 1.93484800e+01] [-1.71140627e-02 9.99853544e-01 -5.63557974e-07 -5.45099342e-01] [ 6.30665531e-04 1.13584708e-05 9.99999801e-01 -6.27305098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.587193470000003 meters 0.05925839735935515 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.54, Z:-0.63 [[ 9.99836326e-01 1.76530299e-02 -3.96137943e-03 1.94103794e+01] [-1.76532107e-02 9.99844170e-01 -1.06865328e-05 -5.39187163e-01] [ 3.96057348e-03 8.06158496e-05 9.99992154e-01 -6.31643034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.64719347 meters 0.05937979548594027 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.53, Z:-0.64 [[ 9.99902129e-01 1.27927032e-02 -5.66393421e-03 1.94710184e+01] [-1.27929829e-02 9.99918166e-01 -1.31473614e-05 -5.30853205e-01] [ 5.66330252e-03 8.56046881e-05 9.99983960e-01 -6.40707527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.707193470000004 meters 0.05822872518458829 Centerline is valid? [True, True] Translation: X:19.53, Y:-0.53, Z:-0.64 [[ 9.99985138e-01 4.06037814e-03 -3.63817588e-03 1.95321231e+01] [-4.06044095e-03 9.99991756e-01 -9.87783416e-06 -5.33542647e-01] [ 3.63810578e-03 2.46502857e-05 9.99993382e-01 -6.39378469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.767193470000002 meters 0.05969351244047131 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.53, Z:-0.65 [[ 9.99910605e-01 -8.95834957e-03 -9.92627057e-03 1.95924560e+01] [ 8.95849644e-03 9.99959871e-01 -2.96688451e-05 -5.32191006e-01] [ 9.92613802e-03 -5.92582667e-05 9.99950733e-01 -6.45885269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82719347 meters 0.06029612865622097 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.52, Z:-0.64 [[ 9.99851986e-01 -1.09388194e-02 -1.32796386e-02 1.96525205e+01] [ 1.09392352e-02 9.99940164e-01 -4.13336741e-05 -5.23431422e-01] [ 1.32792961e-02 -1.03941533e-04 9.99911821e-01 -6.43273919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.887193470000003 meters 0.05991708396086775 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.49, Z:-0.65 [[ 9.99869095e-01 -5.10810862e-04 -1.61719763e-02 1.97097720e+01] [ 5.09960996e-04 9.99999868e-01 -5.66755588e-05 -4.92222107e-01] [ 1.61720031e-02 4.84210625e-05 9.99869223e-01 -6.45070917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.947193470000002 meters 0.05913725793607047 Centerline is valid? [True, True] Translation: X:19.77, Y:-0.47, Z:-0.64 [[ 9.99870050e-01 9.42135045e-03 -1.30813702e-02 1.97685217e+01] [-9.42285990e-03 9.99955602e-01 -5.37579046e-05 -4.65938861e-01] [ 1.30802829e-02 1.77014837e-04 9.99914434e-01 -6.41500253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.00719347 meters 0.060289909900290206 Centerline is valid? [True, True] Translation: X:19.83, Y:-0.43, Z:-0.64 [[ 9.99726536e-01 2.21456629e-02 -7.51151768e-03 1.98272299e+01] [-2.21465077e-02 9.99754736e-01 -2.92885791e-05 -4.31074159e-01] [ 7.50902675e-03 1.95634454e-04 9.99971788e-01 -6.39497209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.067193470000003 meters 0.061249270724850154 Centerline is valid? [True, True] Translation: X:19.89, Y:-0.41, Z:-0.65 [[ 9.99615098e-01 2.60979456e-02 -9.41025820e-03 1.98884902e+01] [-2.60994082e-02 9.99659352e-01 -3.26354869e-05 -4.06356998e-01] [ 9.40620089e-03 2.78225095e-04 9.99955722e-01 -6.45612114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.12719347 meters 0.061482878241834696 Centerline is valid? [True, True] Translation: X:19.95, Y:-0.40, Z:-0.65 [[ 9.99624443e-01 2.50825274e-02 -1.10381485e-02 1.99503406e+01] [-2.50843751e-02 9.99685337e-01 -2.89494833e-05 -3.96966533e-01] [ 1.10339490e-02 3.05823667e-04 9.99939077e-01 -6.50940124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.187193470000004 meters 0.061455336798581 Centerline is valid? [True, True] Translation: X:20.01, Y:-0.38, Z:-0.65 [[ 9.99652048e-01 2.52161361e-02 -7.74137450e-03 2.00122621e+01] [-2.52170723e-02 9.99681999e-01 -2.33378569e-05 -3.82822783e-01] [ 7.73832424e-03 2.18544537e-04 9.99970035e-01 -6.51123052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.247193470000003 meters 0.06333079115621056 Centerline is valid? [True, True] Translation: X:20.07, Y:-0.37, Z:-0.65 [[ 9.99444715e-01 3.27518942e-02 -6.12985596e-03 2.00730738e+01] [-3.27526263e-02 9.99463489e-01 -1.90652988e-05 -3.67331531e-01] [ 6.12594280e-03 2.19823594e-04 9.99981212e-01 -6.49531904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.30719347 meters 0.06234854604301778 Centerline is valid? [True, True] Translation: X:20.13, Y:-0.36, Z:-0.65 [[ 9.99558545e-01 2.97022026e-02 -7.02450415e-04 2.01324940e+01] [-2.97022100e-02 9.99558792e-01 -1.85550387e-07 -3.59578831e-01] [ 7.02134977e-04 2.10497982e-05 9.99999753e-01 -6.49007222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.367193470000004 meters 0.059885497899266914 Centerline is valid? [True, True] Translation: X:20.19, Y:-0.37, Z:-0.65 [[ 9.99828388e-01 1.84983172e-02 -1.00385701e-03 2.01928100e+01] [-1.84983294e-02 9.99828891e-01 -2.88776395e-06 -3.68175571e-01] [ 1.00363182e-03 2.14569461e-05 9.99999496e-01 -6.51869810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.427193470000002 meters 0.05939161355968538 Centerline is valid? [True, True] Translation: X:20.25, Y:-0.39, Z:-0.66 [[ 9.99970084e-01 -4.33568500e-03 -6.40561921e-03 2.02542179e+01] [ 4.33570367e-03 9.99990601e-01 -1.09720408e-05 -3.91880959e-01] [ 6.40560658e-03 -1.68011542e-05 9.99979484e-01 -6.57533408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48719347 meters 0.06021081990881018 Centerline is valid? [True, True] Translation: X:20.31, Y:-0.40, Z:-0.66 [[ 9.99857027e-01 -1.36792761e-02 -9.93991861e-03 2.03135467e+01] [ 1.36796521e-02 9.99906429e-01 -3.01579962e-05 -3.97366198e-01] [ 9.93940106e-03 -1.05820944e-04 9.99950597e-01 -6.58460243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.547193470000003 meters 0.06002107981134499 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.38, Z:-0.66 [[ 9.99879339e-01 -9.50700201e-03 -1.22851334e-02 2.03723623e+01] [ 9.50714884e-03 9.99954805e-01 -4.64506302e-05 -3.83438454e-01] [ 1.22850198e-02 -7.03515662e-05 9.99924534e-01 -6.61317102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.607193470000002 meters 0.05961958843607514 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.36, Z:-0.66 [[ 9.99912589e-01 2.39771188e-03 -1.30025021e-02 2.04306627e+01] [-2.39850535e-03 9.99997123e-01 -4.54304805e-05 -3.63137825e-01] [ 1.30023558e-02 7.66130804e-05 9.99915463e-01 -6.62147245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66719347 meters 0.06101108170640794 Centerline is valid? [True, True] Translation: X:20.49, Y:-0.33, Z:-0.66 [[ 9.99734414e-01 2.00136903e-02 -1.14260353e-02 2.04910675e+01] [-2.00154263e-02 9.99799671e-01 -3.75965639e-05 -3.26444848e-01] [ 1.14229939e-02 2.66283546e-04 9.99934720e-01 -6.63398103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.727193470000003 meters 0.06337006615692053 Centerline is valid? [True, True] Translation: X:20.55, Y:-0.31, Z:-0.67 [[ 9.99518247e-01 2.57288514e-02 -1.73579798e-02 2.05508481e+01] [-2.57337065e-02 9.99668832e-01 -5.63692620e-05 -3.06799216e-01] [ 1.73507811e-02 5.03027265e-04 9.99849337e-01 -6.71462898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.787193470000002 meters 0.06181938568437691 Centerline is valid? [True, True] Translation: X:20.61, Y:-0.31, Z:-0.67 [[ 9.99667325e-01 2.23297517e-02 -1.29081859e-02 2.06112049e+01] [-2.23321657e-02 9.99750605e-01 -4.28858877e-05 -3.06120129e-01] [ 1.29040090e-02 3.31139367e-04 9.99916685e-01 -6.68238541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.847193470000004 meters 0.0591184712013187 Centerline is valid? [True, True] Translation: X:20.67, Y:-0.31, Z:-0.66 [[ 9.99925203e-01 9.70597465e-03 -7.44192311e-03 2.06716429e+01] [-9.70642590e-03 9.99952891e-01 -2.45191040e-05 -3.13661427e-01] [ 7.44133455e-03 9.67517452e-05 9.99972308e-01 -6.64455067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.907193470000003 meters 0.05876554299348891 Centerline is valid? [True, True] Translation: X:20.73, Y:-0.32, Z:-0.67 [[ 9.99968622e-01 3.56800358e-03 -7.07274535e-03 2.07313845e+01] [-3.56826713e-03 9.99993633e-01 -2.46438445e-05 -3.18681740e-01] [ 7.07261239e-03 4.98805160e-05 9.99974988e-01 -6.65544181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.96719347 meters 0.05850479525555205 Centerline is valid? [True, True] Translation: X:20.79, Y:-0.33, Z:-0.66 [[ 9.99980442e-01 -3.30943795e-03 -5.30697858e-03 2.07900827e+01] [ 3.30938056e-03 9.99994524e-01 -1.95941268e-05 -3.25028591e-01] [ 5.30701437e-03 2.03093174e-06 9.99985918e-01 -6.64794599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.027193470000004 meters 0.05829483449820506 Centerline is valid? [True, True] Translation: X:20.85, Y:-0.31, Z:-0.66 [[ 9.99985325e-01 3.85906409e-03 -3.80232348e-03 2.08488957e+01] [-3.85917362e-03 9.99992553e-01 -2.14697325e-05 -3.14018882e-01] [ 3.80221231e-03 3.61432438e-05 9.99992771e-01 -6.64584280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.087193470000003 meters 0.060429461394948286 Centerline is valid? [True, True] Translation: X:20.91, Y:-0.28, Z:-0.66 [[ 9.99738020e-01 2.28832988e-02 -4.95255823e-04 2.09092072e+01] [-2.28833028e-02 9.99738143e-01 -2.37050509e-06 -2.84708096e-01] [ 4.95071892e-04 1.37029730e-05 9.99999877e-01 -6.64464604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14719347 meters 0.06230160851816438 Centerline is valid? [True, True] Translation: X:20.97, Y:-0.28, Z:-0.67 [[ 9.99569421e-01 2.91508104e-02 -3.34694659e-03 2.09698202e+01] [-2.91510135e-02 9.99575019e-01 -1.18865290e-05 -2.75508762e-01] [ 3.34517770e-03 1.09448296e-04 9.99994399e-01 -6.67670921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.207193470000004 meters 0.06172784867274463 Centerline is valid? [True, True] Translation: X:21.03, Y:-0.28, Z:-0.67 [[ 9.99641870e-01 2.62012275e-02 -5.44308717e-03 2.10316986e+01] [-2.62016775e-02 9.99656677e-01 -1.13607677e-05 -2.77054507e-01] [ 5.44092077e-03 1.53974714e-04 9.99985186e-01 -6.71438365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.267193470000002 meters 0.06249542097378002 Centerline is valid? [True, True] Translation: X:21.09, Y:-0.28, Z:-0.68 [[ 9.99534647e-01 2.74471377e-02 -1.33095556e-02 2.10918985e+01] [-2.74501650e-02 9.99623172e-01 -4.47895769e-05 -2.76285925e-01] [ 1.33033109e-02 4.10118231e-04 9.99911423e-01 -6.78284550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32719347 meters 0.06646971044275551 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.26, Z:-0.69 [[ 9.99316344e-01 3.36329607e-02 -1.53514739e-02 2.11508766e+01] [-3.36377081e-02 9.99434091e-01 -5.10665073e-05 -2.64868287e-01] [ 1.53410689e-02 5.67419995e-04 9.99882158e-01 -6.86934661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.387193470000003 meters 0.06505692518507464 Centerline is valid? [True, True] Translation: X:21.21, Y:-0.27, Z:-0.68 [[ 9.99295403e-01 3.53925941e-02 -1.24924540e-02 2.12113052e+01] [-3.53958910e-02 9.99373368e-01 -4.28447541e-05 -2.74377313e-01] [ 1.24831094e-02 4.84996105e-04 9.99921965e-01 -6.79705515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.447193470000002 meters 0.061307653846362074 Centerline is valid? [True, True] Translation: X:21.27, Y:-0.29, Z:-0.68 [[ 9.99712779e-01 2.26197265e-02 -7.91875237e-03 2.12716691e+01] [-2.26206488e-02 9.99744120e-01 -2.69077534e-05 -2.90027684e-01] [ 7.91611747e-03 2.06027341e-04 9.99968646e-01 -6.79004120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.50719347 meters 0.059536813518019926 Centerline is valid? [True, True] Translation: X:21.33, Y:-0.31, Z:-0.68 [[ 9.99907259e-01 1.28345549e-02 -4.55484825e-03 2.13319658e+01] [-1.28347574e-02 9.99917631e-01 -1.52354174e-05 -3.06403709e-01] [ 4.55427753e-03 7.36943766e-05 9.99989627e-01 -6.77809961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.567193470000003 meters 0.058614073104796376 Centerline is valid? [True, True] Translation: X:21.39, Y:-0.33, Z:-0.68 [[ 9.99983860e-01 -2.59265355e-03 -5.05557188e-03 2.13932151e+01] [ 2.59260654e-03 9.99996639e-01 -1.58521369e-05 -3.31924624e-01] [ 5.05559599e-03 2.74477228e-06 9.99987220e-01 -6.78416321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.62719347 meters 0.059967651156532964 Centerline is valid? [True, True] Translation: X:21.45, Y:-0.35, Z:-0.68 [[ 9.99859355e-01 -1.44693255e-02 -8.47990150e-03 2.14525540e+01] [ 1.44695865e-02 9.99895310e-01 -3.05757878e-05 -3.45533749e-01] [ 8.47945615e-03 -9.21291805e-05 9.99964045e-01 -6.83523989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.687193470000004 meters 0.06408115373395522 Centerline is valid? [True, True] Translation: X:21.51, Y:-0.36, Z:-0.69 [[ 9.99425997e-01 -3.06371653e-02 -1.44582054e-02 2.15127875e+01] [ 3.06396445e-02 9.99530495e-01 -5.00558785e-05 -3.61499797e-01] [ 1.44529508e-02 -3.92967127e-04 9.99895473e-01 -6.88759140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.747193470000003 meters 0.06405188858965144 Centerline is valid? [True, True] Translation: X:21.57, Y:-0.36, Z:-0.69 [[ 9.99324897e-01 -3.41037844e-02 -1.36631363e-02 2.15720011e+01] [ 3.41061620e-02 9.99418214e-01 -5.90228113e-05 -3.55198020e-01] [ 1.36572002e-02 -4.07014176e-04 9.99906653e-01 -6.86842819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.80719347 meters 0.06305659851249736 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.34, Z:-0.69 [[ 9.99495640e-01 -3.03780772e-02 -9.25404813e-03 2.16307419e+01] [ 3.03790431e-02 9.99538450e-01 -3.62091375e-05 -3.43814579e-01] [ 9.25087688e-03 -2.44938252e-04 9.99957180e-01 -6.85333470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.867193470000004 meters 0.060683100672045596 Centerline is valid? [True, True] Translation: X:21.69, Y:-0.31, Z:-0.69 [[ 9.99846830e-01 -1.52139546e-02 -8.65172721e-03 2.16908662e+01] [ 1.52142384e-02 9.99884256e-01 -3.30229341e-05 -3.08094974e-01] [ 8.65122824e-03 -9.86115643e-05 9.99962573e-01 -6.88980394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.927193470000002 meters 0.06017936703415105 Centerline is valid? [True, True] Translation: X:21.75, Y:-0.28, Z:-0.69 [[ 9.99949356e-01 -6.86825555e-03 -7.35615087e-03 2.17491769e+01] [ 6.86821550e-03 9.99976413e-01 -3.07069744e-05 -2.79749109e-01] [ 7.35618827e-03 -1.98182102e-05 9.99972943e-01 -6.92586647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98719347 meters 0.0606136209242028 Centerline is valid? [True, True] Translation: X:21.81, Y:-0.27, Z:-0.69 [[ 9.99874199e-01 -1.53111703e-02 -4.14168674e-03 2.18081201e+01] [ 1.53112247e-02 9.99882776e-01 -1.85657704e-05 -2.74437141e-01] [ 4.14148550e-03 -4.48508616e-05 9.99991423e-01 -6.91162437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.047193470000003 meters 0.06420962562936097 Centerline is valid? [True, True] Translation: X:21.87, Y:-0.28, Z:-0.69 [[ 9.99425519e-01 -3.38909969e-02 1.82357475e-04 2.18687613e+01] [ 3.38909973e-02 9.99425535e-01 7.24965258e-07 -2.77185517e-01] [-1.82277287e-04 5.45572792e-06 9.99999983e-01 -6.90305564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.107193470000002 meters 0.06686490802339222 Centerline is valid? [True, True] Translation: X:21.93, Y:-0.27, Z:-0.70 [[ 9.99097493e-01 -4.22544064e-02 -4.33172123e-03 2.19291101e+01] [ 4.22547282e-02 9.99106870e-01 -1.72307325e-05 -2.70698467e-01] [ 4.32858052e-03 -1.65820522e-04 9.99990618e-01 -6.96062273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16719347 meters 0.06967856129407893 Centerline is valid? [True, True] Translation: X:21.99, Y:-0.26, Z:-0.70 [[ 9.98841044e-01 -4.78983710e-02 -4.72386248e-03 2.19887148e+01] [ 4.78988129e-02 9.98852193e-01 -1.96030423e-05 -2.60888645e-01] [ 4.71937935e-03 -2.06687082e-04 9.99988842e-01 -6.99439151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.227193470000003 meters 0.06853560705703513 Centerline is valid? [True, True] Translation: X:22.05, Y:-0.24, Z:-0.70 [[ 9.98954999e-01 -4.53778537e-02 -5.45533274e-03 2.20476927e+01] [ 4.53783605e-02 9.98969871e-01 -3.09124503e-05 -2.38826570e-01] [ 5.45111578e-03 -2.16673909e-04 9.99985119e-01 -7.00480758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.287193470000002 meters 0.06336400690502597 Centerline is valid? [True, True] Translation: X:22.11, Y:-0.19, Z:-0.70 [[ 9.99655293e-01 -2.57145119e-02 -5.29707654e-03 2.21072116e+01] [ 2.57147479e-02 9.99669321e-01 -2.35567366e-05 -1.88289020e-01] [ 5.29593066e-03 -1.12664371e-04 9.99985970e-01 -7.03854761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.347193470000004 meters 0.06052958709287457 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.14, Z:-0.70 [[ 9.99969169e-01 -7.35888531e-03 -2.74001168e-03 2.21673712e+01] [ 7.35887989e-03 9.99972923e-01 -1.20566599e-05 -1.43907573e-01] [ 2.74002621e-03 -8.10712860e-06 9.99996246e-01 -7.04024037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.407193470000003 meters 0.0610913307433928 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.10, Z:-0.71 [[ 9.99968674e-01 5.13282611e-03 -6.02539712e-03 2.22264513e+01] [-5.13308945e-03 9.99986825e-01 -2.82413582e-05 -9.89861738e-02] [ 6.02517278e-03 5.91693759e-05 9.99981847e-01 -7.09223057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.46719347 meters 0.06187870233998534 Centerline is valid? [True, True] Translation: X:22.28, Y:-0.08, Z:-0.71 [[ 9.99935902e-01 9.05766328e-03 -6.79344333e-03 2.22841842e+01] [-9.05811192e-03 9.99958974e-01 -3.52740872e-05 -7.97163755e-02] [ 6.79284512e-03 9.68075963e-05 9.99976924e-01 -7.13107469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.527193470000004 meters 0.06112158776219323 Centerline is valid? [True, True] Translation: X:22.34, Y:-0.07, Z:-0.71 [[ 9.99979907e-01 6.07783039e-03 -1.80164499e-03 2.23427801e+01] [-6.07785554e-03 9.99981530e-01 -8.48393633e-06 -6.76864445e-02] [ 1.80156015e-03 1.94339038e-05 9.99998377e-01 -7.11429224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.587193470000003 meters 0.060252790592313116 Centerline is valid? [True, True] Translation: X:22.40, Y:-0.07, Z:-0.71 [[ 9.99979121e-01 -6.45704719e-03 2.51403937e-04 2.24030370e+01] [ 6.45704710e-03 9.99979153e-01 1.15424508e-06 -6.62720700e-02] [-2.51406149e-04 4.69106078e-07 9.99999968e-01 -7.11470215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64719347 meters 0.06062283712434338 Centerline is valid? [True, True] Translation: X:22.46, Y:-0.07, Z:-0.71 [[ 9.99847801e-01 -1.74236486e-02 8.89555160e-04 2.24633580e+01] [ 1.74236518e-02 9.99848197e-01 4.08412327e-06 -7.14929935e-02] [-8.89491283e-04 1.14157977e-05 9.99999604e-01 -7.09925127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.707193470000004 meters 0.06239852443068721 Centerline is valid? [True, True] Translation: X:22.52, Y:-0.08, Z:-0.72 [[ 9.99681153e-01 -2.51799182e-02 -1.88797787e-03 2.25231526e+01] [ 2.51799500e-02 9.99682935e-01 -6.92636760e-06 -7.57496535e-02] [ 1.88755366e-03 -4.06150292e-05 9.99998218e-01 -7.15227136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.767193470000002 meters 0.06268247841800927 Centerline is valid? [True, True] Translation: X:22.58, Y:-0.06, Z:-0.72 [[ 9.99626802e-01 -2.70026635e-02 -4.13676034e-03 2.25829255e+01] [ 2.70028121e-02 9.99635357e-01 -1.99397702e-05 -6.30697137e-02] [ 4.13579033e-03 -9.17718335e-05 9.99991443e-01 -7.17524663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82719347 meters 0.06220883405130764 Centerline is valid? [True, True] Translation: X:22.64, Y:-0.05, Z:-0.72 [[ 9.99716128e-01 -2.28827710e-02 -6.63646819e-03 2.26425217e+01] [ 2.28830650e-02 9.99738148e-01 -3.16380478e-05 -4.97176403e-02] [ 6.63545438e-03 -1.20233667e-04 9.99977978e-01 -7.20741521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.887193470000003 meters 0.06171065509659623 Centerline is valid? [True, True] Translation: X:22.70, Y:-0.04, Z:-0.72 [[ 9.99771965e-01 -2.01669524e-02 -7.02228721e-03 2.27011602e+01] [ 2.01671562e-02 9.99796621e-01 -4.17908137e-05 -3.76333752e-02] [ 7.02170182e-03 -9.98382789e-05 9.99975343e-01 -7.21991624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.947193470000002 meters 0.0638362304223833 Centerline is valid? [True, True] Translation: X:22.76, Y:-0.04, Z:-0.72 [[ 9.99482631e-01 -3.15715390e-02 -6.14065781e-03 2.27609205e+01] [ 3.15719451e-02 9.99501481e-01 -3.08220793e-05 -3.68175679e-02] [ 6.13856968e-03 -1.63066378e-04 9.99981146e-01 -7.23470537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.007193470000004 meters 0.06951537795023977 Centerline is valid? [True, True] Translation: X:22.82, Y:-0.05, Z:-0.73 [[ 9.98800974e-01 -4.84352074e-02 -7.11650119e-03 2.28212987e+01] [ 4.84361820e-02 9.98826279e-01 -3.54334290e-05 -4.68081699e-02] [ 7.10986463e-03 -3.09305203e-04 9.99974677e-01 -7.26218868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.067193470000003 meters 0.0800763339503512 Centerline is valid? [True, True] Translation: X:22.88, Y:-0.06, Z:-0.73 [[ 9.97726423e-01 -6.69581216e-02 -7.65470492e-03 2.28802531e+01] [ 6.69598075e-02 9.97755673e-01 -3.61180861e-05 -5.88165693e-02] [ 7.63994366e-03 -4.76521599e-04 9.99970702e-01 -7.29948680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.12719347 meters 0.07336319961916733 Centerline is valid? [True, True] Translation: X:22.94, Y:-0.04, Z:-0.72 [[ 9.97705074e-01 -6.75783627e-02 -4.21305487e-03 2.29390117e+01] [ 6.75788386e-02 9.97713937e-01 -2.94647668e-05 -3.87725916e-02] [ 4.20541474e-03 -2.55316208e-04 9.99991125e-01 -7.22056749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.187193470000004 meters 0.06906923943242146 Centerline is valid? [True, True] Translation: X:23.00, Y:-0.01, Z:-0.72 [[ 9.98578143e-01 -5.31824583e-02 -3.64952617e-03 2.29984161e+01] [ 5.31827404e-02 9.98584796e-01 -1.97607561e-05 -5.56551124e-03] [ 3.64541227e-03 -1.74359144e-04 9.99993340e-01 -7.22175128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.247193470000003 meters 0.06348188259476056 Centerline is valid? [True, True] Translation: X:23.06, Y:0.04, Z:-0.73 [[ 9.99537601e-01 -2.75933416e-02 -1.27746620e-02 2.30584726e+01] [ 2.75947377e-02 9.99619190e-01 -6.69979328e-05 3.53620952e-02] [ 1.27716460e-02 -2.85546493e-04 9.99918398e-01 -7.33941572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.30719347 meters 0.06064394541186208 Centerline is valid? [True, True] Translation: X:23.12, Y:0.08, Z:-0.73 [[ 9.99957755e-01 -6.39549693e-03 -6.60198651e-03 2.31178276e+01] [ 6.39540118e-03 9.99979549e-01 -3.56150741e-05 7.89491908e-02] [ 6.60207927e-03 -6.60878275e-06 9.99978206e-01 -7.28536345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.367193470000004 meters 0.06077971531180172 Centerline is valid? [True, True] Translation: X:23.18, Y:0.10, Z:-0.73 [[ 9.99986336e-01 -1.51850914e-05 -5.22759101e-03 2.31770807e+01] [ 1.50348292e-05 9.99999999e-01 -2.87833721e-05 9.51525795e-02] [ 5.22759144e-03 2.87043829e-05 9.99986336e-01 -7.27412908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.427193470000002 meters 0.05969636259113614 Centerline is valid? [True, True] Translation: X:23.24, Y:0.09, Z:-0.72 [[ 9.99970797e-01 -7.58464245e-03 -9.36962663e-04 2.32369400e+01] [ 7.58464005e-03 9.99971236e-01 -6.11902180e-06 9.10438971e-02] [ 9.36982123e-04 -9.87681435e-07 9.99999561e-01 -7.23128883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48719347 meters 0.060370900007560756 Centerline is valid? [True, True] Translation: X:23.30, Y:0.08, Z:-0.73 [[ 9.99861999e-01 -1.64623949e-02 2.23010073e-03 2.32972858e+01] [ 1.64624081e-02 9.99864485e-01 1.24349687e-05 8.08070216e-02] [-2.23000323e-03 2.42795757e-05 9.99997513e-01 -7.27761968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.547193470000003 meters 0.06037973104800034 Centerline is valid? [True, True] Translation: X:23.36, Y:0.08, Z:-0.73 [[ 9.99904489e-01 -1.35762582e-02 -2.58806209e-03 2.33582405e+01] [ 1.35762709e-02 9.99907838e-01 -1.26797619e-05 8.42664943e-02] [ 2.58799571e-03 -2.24576812e-05 9.99996651e-01 -7.30365334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.607193470000002 meters 0.06028956021470364 Centerline is valid? [True, True] Translation: X:23.42, Y:0.09, Z:-0.73 [[ 9.99980320e-01 -4.38332655e-03 -4.48852268e-03 2.34182969e+01] [ 4.38326407e-03 9.99990393e-01 -2.37565501e-05 9.48410146e-02] [ 4.48858370e-03 4.08170238e-06 9.99989926e-01 -7.31506430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.667193470000004 meters 0.061325778171785944 Centerline is valid? [True, True] Translation: X:23.48, Y:0.10, Z:-0.74 [[ 9.99965744e-01 7.47834449e-04 -8.24324282e-03 2.34767037e+01] [-7.48236809e-04 9.99999719e-01 -4.57270626e-05 9.97486998e-02] [ 8.24320631e-03 5.18933939e-05 9.99966023e-01 -7.38808325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.727193470000003 meters 0.061938122445923366 Centerline is valid? [True, True] Translation: X:23.54, Y:0.09, Z:-0.75 [[ 9.99865720e-01 -8.47991004e-03 -1.40225955e-02 2.35363626e+01] [ 8.47966758e-03 9.99964044e-01 -7.67486252e-05 8.64212437e-02] [ 1.40227421e-02 -4.21686290e-05 9.99901676e-01 -7.45225047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.787193470000002 meters 0.06310024319661314 Centerline is valid? [True, True] Translation: X:23.59, Y:0.07, Z:-0.75 [[ 9.99655861e-01 -2.36045160e-02 -1.14449213e-02 2.35946166e+01] [ 2.36053052e-02 9.99721354e-01 -6.61412434e-05 6.91739791e-02] [ 1.14432934e-02 -2.04042378e-04 9.99934503e-01 -7.45844036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.847193470000004 meters 0.06811074972303363 Centerline is valid? [True, True] Translation: X:23.66, Y:0.04, Z:-0.75 [[ 9.98960684e-01 -4.15807766e-02 -1.86705903e-02 2.36552273e+01] [ 4.15860952e-02 9.99134919e-01 -1.03464731e-04 4.13064868e-02] [ 1.86587408e-02 -6.73079746e-04 9.99825684e-01 -7.51537720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.907193470000003 meters 0.07072394972023763 Centerline is valid? [True, True] Translation: X:23.71, Y:0.03, Z:-0.76 [[ 9.98740870e-01 -4.65199655e-02 -1.87767847e-02 2.37145282e+01] [ 4.65261869e-02 9.98917065e-01 -1.05614483e-04 3.19788042e-02] [ 1.87613638e-02 -7.68130692e-04 9.99823695e-01 -7.55229624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.96719347 meters 0.0676019859421216 Centerline is valid? [True, True] Translation: X:23.77, Y:0.04, Z:-0.75 [[ 9.98775373e-01 -4.59290164e-02 -1.83923565e-02 2.37731324e+01] [ 4.59346565e-02 9.98944440e-01 -1.15908880e-04 4.47476090e-02] [ 1.83782658e-02 -7.29079643e-04 9.99830840e-01 -7.47406588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.027193470000004 meters 0.07005637661542874 Centerline is valid? [True, True] Translation: X:23.83, Y:0.04, Z:-0.75 [[ 9.98866080e-01 -4.60745780e-02 -1.19869333e-02 2.38318880e+01] [ 4.60770243e-02 9.98937887e-01 -7.21576749e-05 3.62455512e-02] [ 1.19775264e-02 -4.80246361e-04 9.99928152e-01 -7.51428998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.087193470000003 meters 0.06615001885032318 Centerline is valid? [True, True] Translation: X:23.89, Y:0.06, Z:-0.75 [[ 9.99252216e-01 -3.70092928e-02 -1.11947014e-02 2.38920961e+01] [ 3.70108677e-02 9.99314861e-01 -6.65299539e-05 5.73085573e-02] [ 1.11894937e-02 -3.47845409e-04 9.99937335e-01 -7.48530201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.14719347 meters 0.0632228563212848 Centerline is valid? [True, True] Translation: X:23.95, Y:0.09, Z:-0.75 [[ 9.99879947e-01 -1.21548659e-02 -9.60995065e-03 2.39514455e+01] [ 1.21548772e-02 9.99926125e-01 -5.72342269e-05 9.31317837e-02] [ 9.60993639e-03 -5.95804141e-05 9.99953822e-01 -7.54460862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.207193470000004 meters 0.06297653661836908 Centerline is valid? [True, True] Translation: X:24.01, Y:0.11, Z:-0.75 [[ 9.99968343e-01 5.63171228e-04 -7.93698701e-03 2.40098530e+01] [-5.63636984e-04 9.99999840e-01 -5.64450272e-05 1.13039625e-01] [ 7.93695395e-03 6.09168197e-05 9.99968500e-01 -7.50569690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.267193470000002 meters 0.06378100934666352 Centerline is valid? [True, True] Translation: X:24.07, Y:0.12, Z:-0.75 [[ 9.99932208e-01 6.97042027e-03 -9.32697902e-03 2.40691941e+01] [-6.97127902e-03 9.99975699e-01 -5.95635625e-05 1.22794772e-01] [ 9.32633718e-03 1.24580498e-04 9.99956501e-01 -7.52997616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32719347 meters 0.06386999344967371 Centerline is valid? [True, True] Translation: X:24.13, Y:0.12, Z:-0.76 [[ 9.99929335e-01 5.15644994e-03 -1.07114817e-02 2.41275454e+01] [-5.15749775e-03 9.99986698e-01 -7.02003177e-05 1.21904599e-01] [ 1.07109772e-02 1.25439800e-04 9.99942628e-01 -7.57937980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.387193470000003 meters 0.06386408444392833 Centerline is valid? [True, True] Translation: X:24.19, Y:0.11, Z:-0.76 [[ 9.99957540e-01 4.23983414e-03 -8.18175489e-03 2.41850799e+01] [-4.24042970e-03 9.99991008e-01 -5.54449067e-05 1.14985377e-01] [ 8.18144624e-03 9.01367089e-05 9.99966527e-01 -7.60035519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.447193470000002 meters 0.06328888359763403 Centerline is valid? [True, True] Translation: X:24.24, Y:0.11, Z:-0.76 [[ 9.99951017e-01 3.58525532e-03 -9.22553629e-03 2.42436225e+01] [-3.58598529e-03 9.99993568e-01 -6.25853050e-05 1.05240417e-01] [ 9.22525257e-03 9.56648768e-05 9.99957442e-01 -7.59696119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.507193470000004 meters 0.06287024619495288 Centerline is valid? [True, True] Translation: X:24.30, Y:0.09, Z:-0.76 [[ 9.99959220e-01 1.92764292e-03 -8.82284319e-03 2.43023386e+01] [-1.92825458e-03 9.99998139e-01 -6.08206451e-05 9.06045297e-02] [ 8.82270953e-03 7.78308526e-05 9.99961076e-01 -7.59025167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.567193470000003 meters 0.06315853970504152 Centerline is valid? [True, True] Translation: X:24.36, Y:0.08, Z:-0.76 [[ 9.99972105e-01 -3.24310188e-04 -7.46220086e-03 2.43605153e+01] [ 3.23928146e-04 9.99999946e-01 -5.24055365e-05 8.12941855e-02] [ 7.46221745e-03 4.99868577e-05 9.99972156e-01 -7.64636372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.62719347 meters 0.06250513520419355 Centerline is valid? [True, True] Translation: X:24.42, Y:0.05, Z:-0.77 [[ 9.99933484e-01 -7.32636856e-03 -8.90795261e-03 2.44198080e+01] [ 7.32609911e-03 9.99973162e-01 -6.28788115e-05 5.34008151e-02] [ 8.90817421e-03 -2.38591466e-06 9.99960321e-01 -7.65907576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.687193470000004 meters 0.06317163638235385 Centerline is valid? [True, True] Translation: X:24.48, Y:0.03, Z:-0.77 [[ 9.99744722e-01 -1.80097697e-02 -1.36432784e-02 2.44803091e+01] [ 1.80101764e-02 9.99837799e-01 -9.30661196e-05 2.69608920e-02] [ 1.36427416e-02 -1.52675489e-04 9.99906922e-01 -7.70424614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.747193470000003 meters 0.06425807879138269 Centerline is valid? [True, True] Translation: X:24.54, Y:0.02, Z:-0.78 [[ 9.99689086e-01 -2.15318863e-02 -1.25741401e-02 2.45375355e+01] [ 2.15324394e-02 9.99768146e-01 -9.14097471e-05 1.79867631e-02] [ 1.25731929e-02 -1.79370583e-04 9.99920938e-01 -7.75814208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.80719347 meters 0.06371310195266718 Centerline is valid? [True, True] Translation: X:24.60, Y:0.01, Z:-0.77 [[ 9.99611923e-01 -2.50036695e-02 -1.22808603e-02 2.45965527e+01] [ 2.50043659e-02 9.99687337e-01 -9.68588879e-05 7.79306711e-03] [ 1.22794424e-02 -2.10253826e-04 9.99924583e-01 -7.69737619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.867193470000004 meters 0.06445692489511137 Centerline is valid? [True, True] Translation: X:24.66, Y:-0.01, Z:-0.78 [[ 9.99524905e-01 -2.72545890e-02 -1.43927387e-02 2.46559211e+01] [ 2.72558677e-02 9.99628484e-01 -1.07342565e-04 -1.06554153e-02] [ 1.43903171e-02 -2.84995013e-04 9.99896413e-01 -7.75718420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.927193470000002 meters 0.06401353344626166 Centerline is valid? [True, True] Translation: X:24.71, Y:-0.01, Z:-0.78 [[ 9.99582721e-01 -2.58968092e-02 -1.27960629e-02 2.47146874e+01] [ 2.58975865e-02 9.99664596e-01 -1.04976714e-04 -9.64998218e-03] [ 1.27944896e-02 -2.26454237e-04 9.99918122e-01 -7.75679390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98719347 meters 0.06209405783507939 Centerline is valid? [True, True] Translation: X:24.77, Y:-0.00, Z:-0.77 [[ 9.99824621e-01 -1.61016031e-02 -9.56374395e-03 2.47747855e+01] [ 1.61016332e-02 9.99870358e-01 -7.38466039e-05 -2.34554894e-03] [ 9.56369314e-03 -8.01582448e-05 9.99954264e-01 -7.71653847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.047193470000003 meters 0.06166227480899004 Centerline is valid? [True, True] Translation: X:24.83, Y:-0.00, Z:-0.77 [[ 9.99893636e-01 -1.14400329e-02 -9.04669897e-03 2.48323526e+01] [ 1.14398415e-02 9.99934560e-01 -7.29076428e-05 -4.35370081e-03] [ 9.04694102e-03 -3.05929140e-05 9.99959075e-01 -7.74364514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.107193470000002 meters 0.061922410370287555 Centerline is valid? [True, True] Translation: X:24.89, Y:-0.01, Z:-0.78 [[ 9.99878425e-01 -9.92635905e-03 -1.20250749e-02 2.48904823e+01] [ 9.92590530e-03 9.99950732e-01 -9.74166329e-05 -5.26447115e-03] [ 1.20254494e-02 -2.19549648e-05 9.99927691e-01 -7.78867125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.167193470000004 meters 0.061744561021058436 Centerline is valid? [True, True] Translation: X:24.95, Y:-0.00, Z:-0.78 [[ 9.99948525e-01 -1.65007756e-03 -1.00112323e-02 2.49493700e+01] [ 1.64926516e-03 9.99998636e-01 -8.94041442e-05 -3.19652175e-03] [ 1.00113662e-02 7.28883654e-05 9.99949882e-01 -7.78031469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.227193470000003 meters 0.06260841648657293 Centerline is valid? [True, True] Translation: X:25.01, Y:0.00, Z:-0.78 [[ 9.99941578e-01 6.22384035e-03 -8.83763760e-03 2.50067580e+01] [-6.22475429e-03 9.99980623e-01 -7.59104139e-05 3.06178488e-04] [ 8.83699390e-03 1.30918102e-04 9.99960944e-01 -7.79883750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.287193470000002 meters 0.0645232239289303 Centerline is valid? [True, True] Translation: X:25.07, Y:0.01, Z:-0.78 [[ 9.99831388e-01 1.67447253e-02 -7.53717747e-03 2.50661423e+01] [-1.67456878e-02 9.99859779e-01 -6.45940128e-05 6.38201844e-03] [ 7.53503899e-03 1.90798342e-04 9.99971593e-01 -7.79122490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.347193470000004 meters 0.0633483279466504 Centerline is valid? [True, True] Translation: X:25.13, Y:-0.00, Z:-0.78 [[ 9.99872246e-01 1.52728251e-02 -4.71505505e-03 2.51254662e+01] [-1.52731897e-02 9.99883357e-01 -4.13329939e-05 -2.89249664e-03] [ 4.71387380e-03 1.13341644e-04 9.99988883e-01 -7.77036648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.407193470000003 meters 0.06086214301675134 Centerline is valid? [True, True] Translation: X:25.18, Y:-0.03, Z:-0.78 [[ 9.99991974e-01 6.35840199e-04 -3.95572154e-03 2.51845726e+01] [-6.35982455e-04 9.99999797e-01 -3.47043222e-05 -2.60355135e-02] [ 3.95569867e-03 3.72198132e-05 9.99992176e-01 -7.80505065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.46719347 meters 0.06057120471472228 Centerline is valid? [True, True] Translation: X:25.24, Y:-0.05, Z:-0.78 [[ 9.99898501e-01 -1.27741218e-02 -6.30947492e-03 2.52439495e+01] [ 1.27740302e-02 9.99918407e-01 -5.48176241e-05 -4.86061415e-02] [ 6.30966036e-03 -2.57853628e-05 9.99980094e-01 -7.83609181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.527193470000004 meters 0.0625453342689718 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.07, Z:-0.79 [[ 9.99608354e-01 -2.55431714e-02 -1.14317477e-02 2.53041898e+01] [ 2.55437228e-02 9.99673701e-01 -9.77970613e-05 -7.04962825e-02] [ 1.14305156e-02 -1.94250634e-04 9.99934651e-01 -7.91609387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.587193470000003 meters 0.06266050138286171 Centerline is valid? [True, True] Translation: X:25.36, Y:-0.07, Z:-0.79 [[ 9.99579679e-01 -2.63746019e-02 -1.20351883e-02 2.53629350e+01] [ 2.63751475e-02 9.99652109e-01 -1.13415357e-04 -7.36292673e-02] [ 1.20339926e-02 -2.04062180e-04 9.99927568e-01 -7.92417191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.64719347 meters 0.0604494585220141 Centerline is valid? [True, True] Translation: X:25.42, Y:-0.06, Z:-0.79 [[ 9.99881618e-01 -1.21493279e-02 -9.44160174e-03 2.54229781e+01] [ 1.21490676e-02 9.99926194e-01 -8.49244102e-05 -5.97592887e-02] [ 9.44193666e-03 -2.97923012e-05 9.99955423e-01 -7.89453259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.707193470000004 meters 0.0603856011959971 Centerline is valid? [True, True] Translation: X:25.48, Y:-0.05, Z:-0.79 [[ 9.99961102e-01 -6.19235756e-05 -8.81988456e-03 2.54814567e+01] [ 6.11474058e-05 9.99999994e-01 -8.82719069e-05 -4.55782062e-02] [ 8.81988997e-03 8.77291602e-05 9.99961100e-01 -7.90650755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.767193470000002 meters 0.059539720890814364 Centerline is valid? [True, True] Translation: X:25.54, Y:-0.05, Z:-0.79 [[ 9.99957101e-01 -4.11148071e-03 -8.30017070e-03 2.55402588e+01] [ 4.11096522e-03 9.99991547e-01 -7.91653293e-05 -5.25273347e-02] [ 8.30042602e-03 4.50402201e-05 9.99965550e-01 -7.89251092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.827193470000005 meters 0.059059368068273325 Centerline is valid? [True, True] Translation: X:25.60, Y:-0.07, Z:-0.79 [[ 9.99908458e-01 -1.22580318e-02 -5.72848528e-03 2.55982260e+01] [ 1.22579094e-02 9.99924867e-01 -5.64703282e-05 -6.66529169e-02] [ 5.72874710e-03 -1.37540948e-05 9.99983590e-01 -7.89557795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.887193470000003 meters 0.0590886608957229 Centerline is valid? [True, True] Translation: X:25.66, Y:-0.08, Z:-0.79 [[ 9.99798671e-01 -1.99199572e-02 -2.41077159e-03 2.56576954e+01] [ 1.99199426e-02 9.99801578e-01 -3.00804171e-05 -8.03205830e-02] [ 2.41089244e-03 -1.79480705e-05 9.99997094e-01 -7.89265319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.947193470000002 meters 0.05898604956298036 Centerline is valid? [True, True] Translation: X:25.72, Y:-0.08, Z:-0.79 [[ 9.99767567e-01 -2.10555100e-02 -4.63447316e-03 2.57166344e+01] [ 2.10554859e-02 9.99778307e-01 -5.39987689e-05 -7.93487077e-02] [ 4.63458270e-03 -4.35948665e-05 9.99989259e-01 -7.90107180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.007193470000004 meters 0.05888996819151461 Centerline is valid? [True, True] Translation: X:25.77, Y:-0.08, Z:-0.79 [[ 9.99866025e-01 -1.54095306e-02 -5.52076604e-03 2.57747699e+01] [ 1.54094429e-02 9.99881266e-01 -5.84294167e-05 -7.74332030e-02] [ 5.52101091e-03 -2.66503404e-05 9.99984759e-01 -7.94782708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.067193470000003 meters 0.05884816133829871 Centerline is valid? [True, True] Translation: X:25.83, Y:-0.07, Z:-0.80 [[ 9.99894020e-01 -1.31713631e-02 -6.20190537e-03 2.58333465e+01] [ 1.31711719e-02 9.99913254e-01 -7.16784174e-05 -7.24945414e-02] [ 6.20231148e-03 -1.00155409e-05 9.99980765e-01 -7.98657222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.12719347 meters 0.05898360635589474 Centerline is valid? [True, True] Translation: X:25.89, Y:-0.07, Z:-0.80 [[ 9.99830998e-01 -1.75552016e-02 -5.45803844e-03 2.58914137e+01] [ 1.75550983e-02 9.99845895e-01 -6.68373638e-05 -7.13858134e-02] [ 5.45837068e-03 -2.89903332e-05 9.99985103e-01 -8.00854792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.187193470000004 meters 0.059847089845863816 Centerline is valid? [True, True] Translation: X:25.95, Y:-0.07, Z:-0.80 [[ 9.99694662e-01 -2.39534447e-02 -6.06749442e-03 2.59502128e+01] [ 2.39534358e-02 9.99713073e-01 -7.41532221e-05 -7.43835008e-02] [ 6.06752972e-03 -7.12067575e-05 9.99981590e-01 -8.01931363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.247193470000003 meters 0.06008936982102212 Centerline is valid? [True, True] Translation: X:26.01, Y:-0.07, Z:-0.80 [[ 9.99661115e-01 -2.51413511e-02 -6.75039624e-03 2.60084754e+01] [ 2.51413991e-02 9.99683902e-01 -7.77658432e-05 -6.58835627e-02] [ 6.75021759e-03 -9.19749161e-05 9.99977213e-01 -8.03550708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.30719347 meters 0.05978602329309743 Centerline is valid? [True, True] Translation: X:26.07, Y:-0.06, Z:-0.81 [[ 9.99721655e-01 -2.18717622e-02 -8.84528350e-03 2.60672027e+01] [ 2.18716593e-02 9.99760781e-01 -1.08371253e-04 -5.65198959e-02] [ 8.84553781e-03 -8.51199391e-05 9.99960874e-01 -8.06453796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.367193470000004 meters 0.05897225582762171 Centerline is valid? [True, True] Translation: X:26.13, Y:-0.04, Z:-0.81 [[ 9.99906171e-01 -1.13829701e-02 -7.62085839e-03 2.61251595e+01] [ 1.13826110e-02 9.99935212e-01 -9.05028474e-05 -3.97251386e-02] [ 7.62139484e-03 3.74908921e-06 9.99970957e-01 -8.06266203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.427193470000002 meters 0.05881789569377022 Centerline is valid? [True, True] Translation: X:26.18, Y:-0.03, Z:-0.80 [[ 9.99965635e-01 -4.85087266e-03 -6.72288645e-03 2.61834348e+01] [ 4.85038944e-03 9.99988233e-01 -8.81796029e-05 -3.06271245e-02] [ 6.72323509e-03 5.55679552e-05 9.99977397e-01 -8.04434311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48719347 meters 0.06006184127131547 Centerline is valid? [True, True] Translation: X:26.24, Y:-0.02, Z:-0.81 [[ 9.99973875e-01 -2.27454873e-04 -7.22482528e-03 2.62405583e+01] [ 2.26811897e-04 9.99999970e-01 -8.98146136e-05 -2.19358613e-02] [ 7.22484550e-03 8.81735909e-05 9.99973897e-01 -8.10222926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.547193470000003 meters 0.060526853076548606 Centerline is valid? [True, True] Translation: X:26.30, Y:-0.02, Z:-0.81 [[ 9.99961764e-01 3.58444801e-03 -7.97638276e-03 2.62994346e+01] [-3.58540315e-03 9.99993567e-01 -1.05450205e-04 -1.99979522e-02] [ 7.97595346e-03 1.34044720e-04 9.99968183e-01 -8.10208160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.607193470000002 meters 0.05941070553406526 Centerline is valid? [True, True] Translation: X:26.36, Y:-0.03, Z:-0.80 [[ 9.99984854e-01 5.49403316e-03 3.26506214e-04 2.63592732e+01] [-5.49403441e-03 9.99984908e-01 2.92761094e-06 -2.95654438e-02] [-3.26485202e-04 -4.72140298e-06 9.99999947e-01 -8.02136023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.667193470000004 meters 0.059274954566585825 Centerline is valid? [True, True] Translation: X:26.42, Y:-0.03, Z:-0.80 [[ 9.99990503e-01 3.94699141e-03 1.84793521e-03 2.64192387e+01] [-3.94704127e-03 9.99992210e-01 2.33350845e-05 -3.08910877e-02] [-1.84782871e-03 -3.06287394e-05 9.99998292e-01 -8.02966983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.727193470000003 meters 0.05856237442306559 Centerline is valid? [True, True] Translation: X:26.48, Y:-0.04, Z:-0.81 [[ 9.99997036e-01 -2.43204504e-03 -1.13762538e-04 2.64806716e+01] [ 2.43204502e-03 9.99997043e-01 -3.11651347e-07 -4.01954201e-02] [ 1.13762959e-04 3.49748098e-08 9.99999994e-01 -8.05697348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.787193470000002 meters 0.058368030432690475 Centerline is valid? [True, True] Translation: X:26.54, Y:-0.06, Z:-0.81 [[ 9.99927980e-01 -1.20007651e-02 1.25893662e-04 2.65402116e+01] [ 1.20007649e-02 9.99927988e-01 2.42618966e-06 -5.79565668e-02] [-1.25913713e-04 -9.15194684e-07 9.99999992e-01 -8.09846028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.847193470000004 meters 0.059341775535119594 Centerline is valid? [True, True] Translation: X:26.60, Y:-0.07, Z:-0.82 [[ 9.99832489e-01 -1.69563622e-02 -6.89032974e-03 2.66003075e+01] [ 1.69561766e-02 9.99856230e-01 -8.53572698e-05 -6.84139507e-02] [ 6.89078647e-03 -3.14906765e-05 9.99976258e-01 -8.18542623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.907193470000003 meters 0.06098142903454204 Centerline is valid? [True, True] Translation: X:26.66, Y:-0.08, Z:-0.83 [[ 9.99629096e-01 -2.38743422e-02 -1.31029452e-02 2.66599918e+01] [ 2.38742727e-02 9.99714956e-01 -1.61748873e-04 -7.96213105e-02] [ 1.31030719e-02 -1.51134407e-04 9.99914140e-01 -8.26173136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.96719347 meters 0.06148744837766277 Centerline is valid? [True, True] Translation: X:26.72, Y:-0.08, Z:-0.83 [[ 9.99509562e-01 -2.88783987e-02 -1.21109108e-02 2.67187293e+01] [ 2.88785792e-02 9.99582914e-01 -1.60010444e-04 -8.47808902e-02] [ 1.21104804e-02 -1.89813928e-04 9.99926647e-01 -8.25072983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.027193470000004 meters 0.06142915925228257 Centerline is valid? [True, True] Translation: X:26.78, Y:-0.08, Z:-0.83 [[ 9.99531948e-01 -2.75939434e-02 -1.32082919e-02 2.67779923e+01] [ 2.75940029e-02 9.99619197e-01 -1.77774908e-04 -8.41565414e-02] [ 1.32081676e-02 -1.86777944e-04 9.99912751e-01 -8.26854693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.087193470000003 meters 0.06130179778807505 Centerline is valid? [True, True] Translation: X:26.84, Y:-0.08, Z:-0.83 [[ 9.99587552e-01 -2.56244906e-02 -1.29657420e-02 2.68366605e+01] [ 2.56243322e-02 9.99671627e-01 -1.78370317e-04 -8.05979616e-02] [ 1.29660551e-02 -1.53941733e-04 9.99915925e-01 -8.29643726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14719347 meters 0.06003527161910763 Centerline is valid? [True, True] Translation: X:26.90, Y:-0.07, Z:-0.83 [[ 9.99709386e-01 -2.21056004e-02 -9.61695492e-03 2.68960886e+01] [ 2.21053870e-02 9.99755638e-01 -1.28488427e-04 -7.46425804e-02] [ 9.61744521e-03 -8.41354246e-05 9.99953748e-01 -8.26210322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.207193470000004 meters 0.059887362369975695 Centerline is valid? [True, True] Translation: X:26.95, Y:-0.07, Z:-0.83 [[ 9.99768609e-01 -2.05391033e-02 -6.39327645e-03 2.69539586e+01] [ 2.05389604e-02 9.99789049e-01 -8.80183765e-05 -7.27847938e-02] [ 6.39373561e-03 -4.33132421e-05 9.99979559e-01 -8.28461304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.267193470000002 meters 0.059773989256595654 Centerline is valid? [True, True] Translation: X:27.01, Y:-0.07, Z:-0.83 [[ 9.99768852e-01 -2.12291960e-02 -3.40047973e-03 2.70124792e+01] [ 2.12291372e-02 9.99774635e-01 -5.33946127e-05 -6.94572315e-02] [ 3.40084691e-03 -1.88069801e-05 9.99994217e-01 -8.28795167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.327193470000005 meters 0.06135891192371244 Centerline is valid? [True, True] Translation: X:27.07, Y:-0.08, Z:-0.83 [[ 9.99558999e-01 -2.95328077e-02 -3.10182887e-03 2.70698927e+01] [ 2.95328034e-02 9.99563811e-01 -4.72076818e-05 -7.66359672e-02] [ 3.10187006e-03 -4.44188389e-05 9.99995188e-01 -8.32667564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.387193470000003 meters 0.06638290382522685 Centerline is valid? [True, True] Translation: X:27.13, Y:-0.09, Z:-0.83 [[ 9.98901479e-01 -4.67897052e-02 -2.56119040e-03 2.71304340e+01] [ 4.67897681e-02 9.98904758e-01 -3.53834410e-05 -9.13255707e-02] [ 2.56004086e-03 -8.44929335e-05 9.99996720e-01 -8.32811523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.447193470000002 meters 0.06702680624820291 Centerline is valid? [True, True] Translation: X:27.19, Y:-0.09, Z:-0.83 [[ 9.98449493e-01 -5.56621880e-02 -5.75447701e-04 2.71907086e+01] [ 5.56621923e-02 9.98449658e-01 -8.51387878e-06 -8.69948496e-02] [ 5.75029462e-04 -2.35300027e-05 9.99999834e-01 -8.29198722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.507193470000004 meters 0.07252038218444602 Centerline is valid? [True, True] Translation: X:27.25, Y:-0.08, Z:-0.83 [[ 9.98251963e-01 -5.90065630e-02 3.35327775e-03 2.72481983e+01] [ 5.90067510e-02 9.98257583e-01 4.29128306e-05 -8.39445419e-02] [-3.34996708e-03 1.55028208e-04 9.99994377e-01 -8.33874138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.567193470000003 meters 0.06469328965773354 Centerline is valid? [True, True] Translation: X:27.31, Y:-0.05, Z:-0.83 [[ 9.98798816e-01 -4.82165555e-02 8.72290502e-03 2.73085732e+01] [ 4.82173231e-02 9.98836861e-01 1.22407741e-04 -5.02902176e-02] [-8.71866115e-03 2.98334423e-04 9.99961947e-01 -8.29012952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.62719347 meters 0.061182482044369366 Centerline is valid? [True, True] Translation: X:27.37, Y:-0.02, Z:-0.83 [[ 9.99360019e-01 -3.45335516e-02 9.32658797e-03 2.73682289e+01] [ 3.45338358e-02 9.99403521e-01 1.30622807e-04 -2.31570938e-02] [-9.32553572e-03 1.91543647e-04 9.99956498e-01 -8.32553218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.687193470000004 meters 0.059462149776002025 Centerline is valid? [True, True] Translation: X:27.43, Y:0.02, Z:-0.84 [[ 9.99882794e-01 -1.36722307e-02 6.88977410e-03 2.74287477e+01] [ 1.36718848e-02 9.99906531e-01 9.73058717e-05 2.05834270e-02] [-6.89046051e-03 -3.09826881e-06 9.99976260e-01 -8.39552275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.747193470000003 meters 0.060666225492267814 Centerline is valid? [True, True] Translation: X:27.49, Y:0.04, Z:-0.85 [[ 9.99989784e-01 -4.30803570e-03 1.36838920e-03 2.74881718e+01] [ 4.30801358e-03 9.99990720e-01 1.91099660e-05 3.85678557e-02] [-1.36845883e-03 -1.32147315e-05 9.99999064e-01 -8.49013621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.80719347 meters 0.0616855891313309 Centerline is valid? [True, True] Translation: X:27.55, Y:0.05, Z:-0.86 [[ 9.99990201e-01 -2.23120390e-03 -3.82358275e-03 2.75487276e+01] [ 2.23101837e-03 9.99997510e-01 -5.27872273e-05 4.84311135e-02] [ 3.82369100e-03 4.42562267e-05 9.99992689e-01 -8.57458924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.867193470000004 meters 0.06139171235439298 Centerline is valid? [True, True] Translation: X:27.61, Y:0.05, Z:-0.86 [[ 9.99975735e-01 -5.93369635e-03 -3.64969310e-03 2.76086803e+01] [ 5.93354574e-03 9.99982395e-01 -5.20918426e-05 4.99137459e-02] [ 3.64993795e-03 3.04349576e-05 9.99993338e-01 -8.58543766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.927193470000002 meters 0.06117199562363956 Centerline is valid? [True, True] Translation: X:27.67, Y:0.05, Z:-0.86 [[ 9.99951890e-01 -9.41964002e-03 -2.73659118e-03 2.76683601e+01] [ 9.41956742e-03 9.99955634e-01 -3.94163360e-05 5.04298093e-02] [ 2.73684106e-03 1.36369345e-05 9.99996255e-01 -8.58984087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.987193470000005 meters 0.06107573121752734 Centerline is valid? [True, True] Translation: X:27.73, Y:0.05, Z:-0.86 [[ 9.99940380e-01 -1.08095765e-02 -1.54553024e-03 2.77285570e+01] [ 1.08095559e-02 9.99941575e-01 -2.16824974e-05 5.01273095e-02] [ 1.54567432e-03 4.97470909e-06 9.99998805e-01 -8.59054294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.047193470000003 meters 0.06093023686798694 Centerline is valid? [True, True] Translation: X:27.79, Y:0.05, Z:-0.86 [[ 9.99900829e-01 -1.40536863e-02 -9.08379340e-04 2.77892387e+01] [ 1.40536805e-02 9.99901242e-01 -1.27438028e-05 4.72984775e-02] [ 9.08468728e-04 -2.35340003e-08 9.99999587e-01 -8.60782217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.107193470000002 meters 0.06166252410231629 Centerline is valid? [True, True] Translation: X:27.85, Y:0.04, Z:-0.87 [[ 9.99789899e-01 -2.03746425e-02 -2.24299896e-03 2.78493331e+01] [ 2.03746245e-02 9.99792415e-01 -3.09078199e-05 4.18632294e-02] [ 2.24316308e-03 -1.47989354e-05 9.99997484e-01 -8.66704435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.167193470000004 meters 0.06102161649719289 Centerline is valid? [True, True] Translation: X:27.91, Y:0.04, Z:-0.86 [[ 9.99777232e-01 -2.10255193e-02 1.84787141e-03 2.79104671e+01] [ 2.10255065e-02 9.99778939e-01 2.63530390e-05 4.25895983e-02] [-1.84801700e-03 1.25052638e-05 9.99998292e-01 -8.61356100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.227193470000003 meters 0.06098668314781951 Centerline is valid? [True, True] Translation: X:27.97, Y:0.04, Z:-0.86 [[ 9.99767405e-01 -2.14409055e-02 2.32886888e-03 2.79717866e+01] [ 2.14408856e-02 9.99770117e-01 3.35003850e-05 4.21281619e-02] [-2.32905179e-03 1.64404182e-05 9.99997288e-01 -8.63345601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.287193470000002 meters 0.06086214743924263 Centerline is valid? [True, True] Translation: X:28.03, Y:0.05, Z:-0.87 [[ 9.99808731e-01 -1.93572498e-02 2.79243125e-03 2.80335154e+01] [ 1.93572128e-02 9.99812631e-01 4.02795753e-05 4.68726127e-02] [-2.79268774e-03 1.37818149e-05 9.99996100e-01 -8.65199111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.347193470000004 meters 0.061056240135961976 Centerline is valid? [True, True] Translation: X:28.09, Y:0.05, Z:-0.87 [[ 9.99854251e-01 -1.70302017e-02 1.20383196e-03 2.80948872e+01] [ 1.70301928e-02 9.99854976e-01 1.76545310e-05 5.06046491e-02] [-1.20395804e-03 2.84953257e-06 9.99999275e-01 -8.68879860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.407193470000003 meters 0.06157711548398849 Centerline is valid? [True, True] Translation: X:28.16, Y:0.05, Z:-0.88 [[ 9.99843437e-01 -1.75289846e-02 -2.41578331e-03 2.81550673e+01] [ 1.75289563e-02 9.99846356e-01 -3.28976859e-05 4.86274379e-02] [ 2.41598880e-03 -9.45362470e-06 9.99997081e-01 -8.76392343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.46719347 meters 0.061590837045876076 Centerline is valid? [True, True] Translation: X:28.22, Y:0.05, Z:-0.87 [[ 9.99766050e-01 -2.13553001e-02 -3.43472137e-03 2.82151349e+01] [ 2.13552610e-02 9.99771949e-01 -4.80841995e-05 4.76868486e-02] [ 3.43496493e-03 -2.52764210e-05 9.99994100e-01 -8.74939921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.527193470000004 meters 0.062090509170777054 Centerline is valid? [True, True] Translation: X:28.27, Y:0.05, Z:-0.88 [[ 9.99712523e-01 -2.36364864e-02 -4.02333678e-03 2.82744864e+01] [ 2.36364512e-02 9.99720618e-01 -5.63083212e-05 4.56112066e-02] [ 4.02354367e-03 -3.88052697e-05 9.99991905e-01 -8.78963686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.587193470000003 meters 0.06289383773189493 Centerline is valid? [True, True] Translation: X:28.33, Y:0.04, Z:-0.88 [[ 9.99527928e-01 -3.00902455e-02 -6.20475207e-03 2.83344101e+01] [ 3.00902830e-02 9.99547181e-01 -8.73326986e-05 4.37505211e-02] [ 6.20457031e-03 -9.94112747e-05 9.99980747e-01 -8.79389950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64719347 meters 0.06317894804361876 Centerline is valid? [True, True] Translation: X:28.39, Y:0.05, Z:-0.88 [[ 9.99531288e-01 -2.95107677e-02 -8.14367405e-03 2.83942895e+01] [ 2.95108130e-02 9.99564455e-01 -1.14632523e-04 5.42584319e-02] [ 8.14351000e-03 -1.25747648e-04 9.99966833e-01 -8.81789024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.707193470000004 meters 0.06274661998926222 Centerline is valid? [True, True] Translation: X:28.45, Y:0.06, Z:-0.88 [[ 9.99554193e-01 -2.95942650e-02 -3.94910907e-03 2.84524118e+01] [ 2.95942690e-02 9.99561992e-01 -5.74249359e-05 6.00447140e-02] [ 3.94907877e-03 -5.94716606e-05 9.99992201e-01 -8.79331979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.767193470000002 meters 0.06301892669991806 Centerline is valid? [True, True] Translation: X:28.51, Y:0.07, Z:-0.88 [[ 9.99395645e-01 -3.46898127e-02 -2.22754629e-03 2.85129629e+01] [ 3.46898292e-02 9.99398126e-01 -3.12596093e-05 7.18329173e-02] [ 2.22728998e-03 -4.60324828e-05 9.99997519e-01 -8.76376579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.827193470000005 meters 0.0643341388559982 Centerline is valid? [True, True] Translation: X:28.57, Y:0.08, Z:-0.88 [[ 9.99256621e-01 -3.79311142e-02 -6.88741140e-03 2.85740510e+01] [ 3.79313577e-02 9.99280343e-01 -9.53224497e-05 8.15786657e-02] [ 6.88607051e-03 -1.65997276e-04 9.99976277e-01 -8.83980437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.887193470000003 meters 0.06438177374603764 Centerline is valid? [True, True] Translation: X:28.63, Y:0.09, Z:-0.89 [[ 9.99282205e-01 -3.73027120e-02 -6.60177289e-03 2.86338829e+01] [ 3.73029068e-02 9.99304000e-01 -9.36694798e-05 8.83911152e-02] [ 6.60067218e-03 -1.52663075e-04 9.99978204e-01 -8.85591718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.947193470000002 meters 0.06434304231242109 Centerline is valid? [True, True] Translation: X:28.69, Y:0.10, Z:-0.89 [[ 9.99352317e-01 -3.50218200e-02 -8.27151274e-03 2.86926389e+01] [ 3.50220595e-02 9.99386533e-01 -1.15933588e-04 1.03475475e-01] [ 8.27049864e-03 -1.73826912e-04 9.99965784e-01 -8.88100397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.007193470000004 meters 0.06438564184161781 Centerline is valid? [True, True] Translation: X:28.75, Y:0.11, Z:-0.89 [[ 9.99330805e-01 -3.49350202e-02 -1.08390906e-02 2.87521138e+01] [ 3.49354091e-02 9.99389560e-01 -1.53513203e-04 1.13299365e-01] [ 1.08378370e-02 -2.25257592e-04 9.99941244e-01 -8.89954379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.067193470000003 meters 0.06506007734129286 Centerline is valid? [True, True] Translation: X:28.81, Y:0.12, Z:-0.89 [[ 9.99325025e-01 -3.49722620e-02 -1.12443314e-02 2.88106313e+01] [ 3.49726703e-02 9.99388256e-01 -1.60375292e-04 1.18326717e-01] [ 1.12430614e-02 -2.32977252e-04 9.99936768e-01 -8.94990428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.12719347 meters 0.06571076664616234 Centerline is valid? [True, True] Translation: X:28.87, Y:0.13, Z:-0.90 [[ 9.99187190e-01 -3.89125122e-02 -1.05249584e-02 2.88702248e+01] [ 3.89130882e-02 9.99242588e-01 -1.50124752e-04 1.25463912e-01] [ 1.05228284e-02 -2.59555907e-04 9.99944600e-01 -8.95081576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.187193470000004 meters 0.06551954842720564 Centerline is valid? [True, True] Translation: X:28.93, Y:0.14, Z:-0.89 [[ 9.99113248e-01 -4.04372109e-02 -1.17281828e-02 2.89300256e+01] [ 4.04380263e-02 9.99182034e-01 -1.67707920e-04 1.35562068e-01] [ 1.17253712e-02 -3.06705361e-04 9.99931208e-01 -8.92985201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.247193470000003 meters 0.06487884178846061 Centerline is valid? [True, True] Translation: X:28.99, Y:0.14, Z:-0.89 [[ 9.99115804e-01 -4.02717252e-02 -1.20746867e-02 2.89895007e+01] [ 4.02725711e-02 9.99188716e-01 -1.73187334e-04 1.43330535e-01] [ 1.20718652e-02 -3.13244475e-04 9.99927083e-01 -8.92192158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.30719347 meters 0.06459723326289307 Centerline is valid? [True, True] Translation: X:29.05, Y:0.16, Z:-0.89 [[ 9.99221026e-01 -3.81104523e-02 -1.02437891e-02 2.90495444e+01] [ 3.81109491e-02 9.99273503e-01 -1.46768584e-04 1.58161529e-01] [ 1.02419405e-02 -2.43746272e-04 9.99947520e-01 -8.92901580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.367193470000004 meters 0.06374811268650046 Centerline is valid? [True, True] Translation: X:29.11, Y:0.17, Z:-0.89 [[ 9.99399428e-01 -3.30204884e-02 -1.05085535e-02 2.91100825e+01] [ 3.30207354e-02 9.99454656e-01 -1.50038695e-04 1.68597534e-01] [ 1.05077771e-02 -1.97051578e-04 9.99944772e-01 -8.94637073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.427193470000002 meters 0.061973802944092535 Centerline is valid? [True, True] Translation: X:29.17, Y:0.19, Z:-0.89 [[ 9.99713783e-01 -2.26957204e-02 -7.56674077e-03 2.91703229e+01] [ 2.26955528e-02 9.99742417e-01 -1.08036174e-04 1.92757769e-01] [ 7.56724367e-03 -6.37261121e-05 9.99971366e-01 -8.91554798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.487193470000005 meters 0.06259133697004626 Centerline is valid? [True, True] Translation: X:29.23, Y:0.22, Z:-0.89 [[ 9.99917852e-01 -8.30146242e-03 -9.76604883e-03 2.92296951e+01] [ 8.30049647e-03 9.99965541e-01 -1.39437386e-04 2.21107388e-01] [ 9.76686984e-03 5.83628773e-05 9.99952301e-01 -8.93901219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.547193470000003 meters 0.06393925857595226 Centerline is valid? [True, True] Translation: X:29.29, Y:0.23, Z:-0.90 [[ 9.99947770e-01 3.50141614e-03 -9.60199037e-03 2.92892265e+01] [-3.50290788e-03 9.99993855e-01 -1.38544253e-04 2.34305949e-01] [ 9.60144627e-03 1.72171905e-04 9.99953890e-01 -8.95657002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.607193470000002 meters 0.06740890740687258 Centerline is valid? [True, True] Translation: X:29.35, Y:0.25, Z:-0.90 [[ 9.99799023e-01 1.57356682e-02 -1.24218620e-02 2.93492153e+01] [-1.57390916e-02 9.99876117e-01 -1.77875041e-04 2.49609685e-01] [ 1.24175241e-02 3.73348116e-04 9.99922830e-01 -9.00310652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.667193470000004 meters 0.0682455813659959 Centerline is valid? [True, True] Translation: X:29.41, Y:0.25, Z:-0.90 [[ 9.99672038e-01 2.00818034e-02 -1.58914597e-02 2.94094166e+01] [-2.00879695e-02 9.99798190e-01 -2.28466601e-04 2.49136342e-01] [ 1.58836647e-02 5.47618831e-04 9.99873697e-01 -9.01824577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.727193470000003 meters 0.06770378714397393 Centerline is valid? [True, True] Translation: X:29.47, Y:0.23, Z:-0.90 [[ 9.99773460e-01 1.75668926e-02 -1.20180454e-02 2.94690867e+01] [-1.75702516e-02 9.99845616e-01 -1.73963278e-04 2.32057299e-01] [ 1.20131340e-02 3.85083950e-04 9.99927766e-01 -9.02575889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.787193470000002 meters 0.06688844029612018 Centerline is valid? [True, True] Translation: X:29.53, Y:0.22, Z:-0.91 [[ 9.99831106e-01 1.26866697e-02 -1.32969416e-02 2.95284579e+01] [-1.26903668e-02 9.99919455e-01 -1.93700702e-04 2.15319575e-01] [ 1.32934132e-02 3.62411053e-04 9.99911573e-01 -9.05520181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.847193470000004 meters 0.06590731802219327 Centerline is valid? [True, True] Translation: X:29.59, Y:0.19, Z:-0.91 [[ 9.99862477e-01 5.55441619e-03 -1.56261020e-02 2.95871573e+01] [-5.55867588e-03 9.99984524e-01 -2.29180692e-04 1.92667606e-01] [ 1.56245872e-02 3.16009610e-04 9.99877879e-01 -9.09820718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.907193470000003 meters 0.06471628763719298 Centerline is valid? [True, True] Translation: X:29.65, Y:0.16, Z:-0.91 [[ 9.99816380e-01 -2.77251607e-03 -1.89609784e-02 2.96467833e+01] [ 2.76771583e-03 9.99996131e-01 -2.79401159e-04 1.62648140e-01] [ 1.89616797e-02 2.26871255e-04 9.99820185e-01 -9.11976916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.96719347 meters 0.06459796641517576 Centerline is valid? [True, True] Translation: X:29.71, Y:0.15, Z:-0.91 [[ 9.99745936e-01 -1.10996556e-02 -1.96178743e-02 2.97053504e+01] [ 1.10960887e-02 9.99938394e-01 -2.90665460e-04 1.45366365e-01] [ 1.96198920e-02 7.29099385e-05 9.99807509e-01 -9.13127719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.027193470000004 meters 0.06526116377391585 Centerline is valid? [True, True] Translation: X:29.76, Y:0.13, Z:-0.92 [[ 9.99583928e-01 -1.72495406e-02 -2.31176344e-02 2.97636052e+01] [ 1.72461799e-02 9.99851214e-01 -3.44751946e-04 1.31729811e-01] [ 2.31201416e-02 -5.40823783e-05 9.99732692e-01 -9.17601281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.087193470000003 meters 0.06519636166845033 Centerline is valid? [True, True] Translation: X:29.82, Y:0.11, Z:-0.91 [[ 9.99441035e-01 -2.52177583e-02 -2.19472594e-02 2.98215048e+01] [ 2.52163538e-02 9.99681959e-01 -3.40786287e-04 1.12782248e-01] [ 2.19488732e-02 -2.12834060e-04 9.99759072e-01 -9.14157273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.147193470000005 meters 0.06452000007425006 Centerline is valid? [True, True] Translation: X:29.88, Y:0.11, Z:-0.91 [[ 9.99365987e-01 -2.84350524e-02 -2.14259521e-02 2.98798592e+01] [ 2.84342703e-02 9.99595606e-01 -3.41212099e-04 1.07079871e-01] [ 2.14269899e-02 -2.68235547e-04 9.99770380e-01 -9.08387249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.207193470000004 meters 0.06454361669038079 Centerline is valid? [True, True] Translation: X:29.94, Y:0.10, Z:-0.91 [[ 9.99290814e-01 -3.16460705e-02 -2.04057507e-02 2.99383663e+01] [ 3.16458752e-02 9.99499089e-01 -3.32567944e-04 9.87205982e-02] [ 2.04060537e-02 -3.13425749e-04 9.99791726e-01 -9.08433184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.267193470000002 meters 0.06516906496717569 Centerline is valid? [True, True] Translation: X:30.00, Y:0.09, Z:-0.91 [[ 9.99179185e-01 -3.51837372e-02 -2.00763711e-02 2.99966142e+01] [ 3.51843356e-02 9.99380787e-01 -3.23524276e-04 9.14818169e-02] [ 2.00753224e-02 -3.83115055e-04 9.99798397e-01 -9.10737422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.327193470000005 meters 0.0670988019838727 Centerline is valid? [True, True] Translation: X:30.06, Y:0.08, Z:-0.92 [[ 9.98847078e-01 -4.18901215e-02 -2.34463830e-02 3.00569659e+01] [ 4.18928470e-02 9.99122039e-01 -3.75144618e-04 8.11075934e-02] [ 2.34415129e-02 -6.07523632e-04 9.99725025e-01 -9.15518380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.387193470000003 meters 0.07077686515169786 Centerline is valid? [True, True] Translation: X:30.12, Y:0.07, Z:-0.92 [[ 9.98218100e-01 -5.17222616e-02 -2.97562318e-02 3.01170341e+01] [ 5.17310110e-02 9.98660941e-01 -4.76233063e-04 6.68946926e-02] [ 2.97410183e-02 -1.06393549e-03 9.99557072e-01 -9.23016227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.447193470000002 meters 0.07048171630770723 Centerline is valid? [True, True] Translation: X:30.18, Y:0.07, Z:-0.92 [[ 9.98076207e-01 -5.45308015e-02 -2.95004452e-02 3.01762252e+01] [ 5.45401455e-02 9.98511459e-01 -4.88420608e-04 6.63550101e-02] [ 2.94831665e-02 -1.12147758e-03 9.99564648e-01 -9.20887197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.507193470000004 meters 0.07182593990834885 Centerline is valid? [True, True] Translation: X:30.23, Y:0.06, Z:-0.92 [[ 9.97946432e-01 -5.87263031e-02 -2.55761767e-02 3.02338026e+01] [ 5.87347275e-02 9.98273536e-01 -4.22367477e-04 6.34517267e-02] [ 2.55568244e-02 -1.08070965e-03 9.99672787e-01 -9.19379250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.567193470000003 meters 0.06919220564292591 Centerline is valid? [True, True] Translation: X:30.29, Y:0.08, Z:-0.92 [[ 9.98346724e-01 -5.22412505e-02 -2.39723011e-02 3.02935782e+01] [ 5.22468349e-02 9.98634124e-01 -3.93747187e-04 8.30664661e-02] [ 2.39601277e-02 -8.59380643e-04 9.99712546e-01 -9.16696947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.62719347 meters 0.06696251248355825 Centerline is valid? [True, True] Translation: X:30.35, Y:0.09, Z:-0.92 [[ 9.98674133e-01 -4.66307639e-02 -2.18070607e-02 3.03532419e+01] [ 4.66340198e-02 9.98911978e-01 -3.59483377e-04 9.49773636e-02] [ 2.18000971e-02 -6.57944153e-04 9.99762133e-01 -9.16442562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.687193470000004 meters 0.06669069274787259 Centerline is valid? [True, True] Translation: X:30.41, Y:0.11, Z:-0.92 [[ 9.98701124e-01 -4.47235930e-02 -2.44103417e-02 3.04116782e+01] [ 4.47267674e-02 9.98999171e-01 -4.16193768e-04 1.14645716e-01] [ 2.44045248e-02 -6.76142492e-04 9.99701937e-01 -9.21026253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.747193470000003 meters 0.06879122934997645 Centerline is valid? [True, True] Translation: X:30.47, Y:0.12, Z:-0.93 [[ 9.98508754e-01 -4.81630274e-02 -2.57019751e-02 3.04697117e+01] [ 4.81677738e-02 9.98839165e-01 -4.34761827e-04 1.24075221e-01] [ 2.56930788e-02 -8.03893434e-04 9.99669555e-01 -9.28833337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.807193470000005 meters 0.06990699300883146 Centerline is valid? [True, True] Translation: X:30.53, Y:0.12, Z:-0.93 [[ 9.98183188e-01 -5.37002361e-02 -2.73241431e-02 3.05299439e+01] [ 5.37077021e-02 9.98556593e-01 -4.61115664e-04 1.24576893e-01] [ 2.73094652e-02 -1.00723903e-03 9.99626520e-01 -9.30340047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.867193470000004 meters 0.07139600011422256 Centerline is valid? [True, True] Translation: X:30.59, Y:0.14, Z:-0.93 [[ 9.97834330e-01 -5.91071395e-02 -2.88616562e-02 3.05900778e+01] [ 5.91177253e-02 9.98250899e-01 -4.87129034e-04 1.35258591e-01] [ 2.88399670e-02 -1.22016139e-03 9.99583297e-01 -9.30886467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.927193470000002 meters 0.0697686350917696 Centerline is valid? [True, True] Translation: X:30.65, Y:0.15, Z:-0.93 [[ 9.98009928e-01 -5.63860319e-02 -2.82276194e-02 3.06493152e+01] [ 5.63950149e-02 9.98408420e-01 -4.78403475e-04 1.48583321e-01] [ 2.82096681e-02 -1.11444560e-03 9.99601407e-01 -9.29203533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.987193470000005 meters 0.06779878785536388 Centerline is valid? [True, True] Translation: X:30.71, Y:0.16, Z:-0.93 [[ 9.98217716e-01 -5.39954748e-02 -2.54141768e-02 3.07095511e+01] [ 5.40019776e-02 9.98540736e-01 -4.30877853e-04 1.63275741e-01] [ 2.54003562e-02 -9.42305901e-04 9.99676915e-01 -9.27484252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.047193469999996 meters 0.06918727425990194 Centerline is valid? [True, True] Translation: X:30.77, Y:0.18, Z:-0.93 [[ 9.98086246e-01 -5.77290499e-02 -2.21630774e-02 3.07675245e+01] [ 5.77348133e-02 9.98331882e-01 -3.80273464e-04 1.81855851e-01] [ 2.21480596e-02 -9.00035422e-04 9.99754297e-01 -9.26027349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10719347 meters 0.06947413788303171 Centerline is valid? [True, True] Translation: X:30.83, Y:0.19, Z:-0.93 [[ 9.97912566e-01 -6.08344495e-02 -2.16720882e-02 3.08272030e+01] [ 6.08407034e-02 9.98147419e-01 -3.71275221e-04 1.89145792e-01] [ 2.16545253e-02 -9.48044885e-04 9.99765064e-01 -9.27364368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16719347 meters 0.06992392579704021 Centerline is valid? [True, True] Translation: X:30.89, Y:0.20, Z:-0.93 [[ 9.97796758e-01 -6.28365262e-02 -2.12884884e-02 3.08866403e+01] [ 6.28429959e-02 9.98023359e-01 -3.65609147e-04 2.00910542e-01] [ 2.12693823e-02 -9.73028769e-04 9.99773308e-01 -9.30711276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22719347 meters 0.06911198627569946 Centerline is valid? [True, True] Translation: X:30.95, Y:0.22, Z:-0.93 [[ 9.97965124e-01 -5.93027955e-02 -2.34262801e-02 3.09467915e+01] [ 5.93096852e-02 9.98239551e-01 -4.01200456e-04 2.20028273e-01] [ 2.34088316e-02 -9.89021233e-04 9.99725487e-01 -9.32966948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28719347 meters 0.06699926863515572 Centerline is valid? [True, True] Translation: X:31.01, Y:0.25, Z:-0.94 [[ 9.98491813e-01 -4.92119983e-02 -2.43367715e-02 3.10060243e+01] [ 4.92164111e-02 9.98788051e-01 -4.17978272e-04 2.49933100e-01] [ 2.43278461e-02 -7.80420669e-04 9.99703730e-01 -9.36389889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34719347 meters 0.06556420450267693 Centerline is valid? [True, True] Translation: X:31.07, Y:0.27, Z:-0.94 [[ 9.98834112e-01 -4.34290416e-02 -2.10792551e-02 3.10661854e+01] [ 4.34310721e-02 9.99056360e-01 -3.61678614e-04 2.65012156e-01] [ 2.10750713e-02 -5.54237713e-04 9.99777742e-01 -9.38444609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40719347 meters 0.06378744878937047 Centerline is valid? [True, True] Translation: X:31.13, Y:0.28, Z:-0.94 [[ 9.99144148e-01 -3.75802491e-02 -1.72828067e-02 3.11264385e+01] [ 3.75807374e-02 9.99293551e-01 -2.96633920e-04 2.83204218e-01] [ 1.72817448e-02 -3.53120575e-04 9.99850597e-01 -9.37739162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46719347 meters 0.06307474733467232 Centerline is valid? [True, True] Translation: X:31.19, Y:0.30, Z:-0.94 [[ 9.99356734e-01 -3.26999042e-02 -1.47252860e-02 3.11871032e+01] [ 3.26997414e-02 9.99465189e-01 -2.51890025e-04 3.00644724e-01] [ 1.47256475e-02 -2.29785051e-04 9.99891545e-01 -9.37232627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52719347 meters 0.06341151673087264 Centerline is valid? [True, True] Translation: X:31.25, Y:0.31, Z:-0.95 [[ 9.99497935e-01 -2.55626219e-02 -1.87197674e-02 3.12472597e+01] [ 2.55611363e-02 9.99673210e-01 -3.18664740e-04 3.09377569e-01] [ 1.87217958e-02 -1.59993774e-04 9.99824719e-01 -9.46023679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58719347 meters 0.06292439632038767 Centerline is valid? [True, True] Translation: X:31.31, Y:0.32, Z:-0.94 [[ 9.99771800e-01 -1.31939545e-02 -1.68007898e-02 3.13065927e+01] [ 1.31909640e-02 9.99912954e-01 -2.88811296e-04 3.21610227e-01] [ 1.68031380e-02 6.71267761e-05 9.99858815e-01 -9.43972201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64719347 meters 0.06314794372753683 Centerline is valid? [True, True] Translation: X:31.36, Y:0.33, Z:-0.94 [[ 9.99889165e-01 -7.21350629e-03 -1.30239765e-02 3.13643000e+01] [ 7.21113828e-03 9.99973973e-01 -2.28771716e-04 3.27348927e-01] [ 1.30252878e-02 1.34828664e-04 9.99915158e-01 -9.41711470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70719347 meters 0.06224928226836359 Centerline is valid? [True, True] Translation: X:31.42, Y:0.32, Z:-0.94 [[ 9.99936014e-01 -7.79475806e-03 -8.19813012e-03 3.14248446e+01] [ 7.79384283e-03 9.99969617e-01 -1.43582406e-04 3.17528584e-01] [ 8.19900023e-03 7.96782807e-05 9.99966384e-01 -9.37392171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76719347 meters 0.06200383499256463 Centerline is valid? [True, True] Translation: X:31.49, Y:0.30, Z:-0.94 [[ 9.99883222e-01 -1.25804309e-02 -8.67609193e-03 3.14851226e+01] [ 1.25795867e-02 9.99920862e-01 -1.51866918e-04 3.04837913e-01] [ 8.67731588e-03 4.27075325e-05 9.99962350e-01 -9.41067072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82719347 meters 0.062329600925211136 Centerline is valid? [True, True] Translation: X:31.55, Y:0.29, Z:-0.94 [[ 9.99883607e-01 -1.02383392e-02 -1.13114293e-02 3.15457429e+01] [ 1.02367697e-02 9.99947584e-01 -1.96641264e-04 2.94689375e-01] [ 1.13128496e-02 8.08258801e-05 9.99936004e-01 -9.44293732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88719347 meters 0.06398677758885428 Centerline is valid? [True, True] Translation: X:31.60, Y:0.29, Z:-0.95 [[ 9.99889217e-01 -6.65348437e-03 -1.33148008e-02 3.16040552e+01] [ 6.65095885e-03 9.99977855e-01 -2.33949386e-04 2.91385689e-01] [ 1.33160625e-02 1.45367276e-04 9.99911327e-01 -9.53055641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94719347 meters 0.0633640836266955 Centerline is valid? [True, True] Translation: X:31.66, Y:0.28, Z:-0.95 [[ 9.99835209e-01 -7.06577313e-03 -1.67221441e-02 3.16636590e+01] [ 7.06183458e-03 9.99975022e-01 -2.94566637e-04 2.77857164e-01] [ 1.67238077e-02 1.76429080e-04 9.99860132e-01 -9.50343679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00719347 meters 0.06336289517111723 Centerline is valid? [True, True] Translation: X:31.72, Y:0.27, Z:-0.95 [[ 9.99854053e-01 -8.85754441e-03 -1.46088107e-02 3.17213804e+01] [ 8.85468803e-03 9.99960763e-01 -2.60195580e-04 2.68997667e-01] [ 1.46105422e-02 1.30801145e-04 9.99893252e-01 -9.51769180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06719347 meters 0.06427943659610094 Centerline is valid? [True, True] Translation: X:31.78, Y:0.25, Z:-0.96 [[ 9.99842715e-01 -9.34324201e-03 -1.50747776e-02 3.17793652e+01] [ 9.34023390e-03 9.99956343e-01 -2.69940092e-04 2.50910357e-01] [ 1.50766416e-02 1.29095686e-04 9.99886333e-01 -9.62601603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12719347 meters 0.06433807772844567 Centerline is valid? [True, True] Translation: X:31.84, Y:0.24, Z:-0.96 [[ 9.99802818e-01 -7.05107031e-03 -1.85635942e-02 3.18385915e+01] [ 7.04612039e-03 9.99975121e-01 -3.32039954e-04 2.44199609e-01] [ 1.85654736e-02 2.01173162e-04 9.99827627e-01 -9.61358978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18719347 meters 0.06460481903658044 Centerline is valid? [True, True] Translation: X:31.90, Y:0.24, Z:-0.96 [[ 9.99863729e-01 -3.06907588e-03 -1.62205105e-02 3.18975480e+01] [ 3.06458987e-03 9.99995259e-01 -3.01412902e-04 2.39322029e-01] [ 1.62213587e-02 2.51662616e-04 9.99868393e-01 -9.60074793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24719347 meters 0.06386782968417926 Centerline is valid? [True, True] Translation: X:31.96, Y:0.22, Z:-0.96 [[ 9.99877130e-01 -5.87674611e-03 -1.45323196e-02 3.19564133e+01] [ 5.87349079e-03 9.99982715e-01 -2.66675771e-04 2.21064910e-01] [ 1.45336356e-02 1.81287560e-04 9.99894365e-01 -9.61492611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.30719347 meters 0.06273085173051272 Centerline is valid? [True, True] Translation: X:32.02, Y:0.20, Z:-0.96 [[ 9.99699486e-01 -2.03179825e-02 -1.37156023e-02 3.20162774e+01] [ 2.03164040e-02 9.99793568e-01 -2.54424132e-04 1.98395642e-01] [ 1.37179403e-02 -2.43040421e-05 9.99905904e-01 -9.60959404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36719347 meters 0.06389322163897829 Centerline is valid? [True, True] Translation: X:32.07, Y:0.17, Z:-0.96 [[ 9.99202795e-01 -3.85501442e-02 -1.03759369e-02 3.20748481e+01] [ 3.85502084e-02 9.99256646e-01 -1.93890675e-04 1.69617075e-01] [ 1.03756984e-02 -2.06258424e-04 9.99946150e-01 -9.59783919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42719347 meters 0.0673653685913048 Centerline is valid? [True, True] Translation: X:32.13, Y:0.15, Z:-0.96 [[ 9.98560128e-01 -5.34302835e-02 -4.78279139e-03 3.21348506e+01] [ 5.34304704e-02 9.98571568e-01 -8.87808705e-05 1.48018994e-01] [ 4.78070309e-03 -1.66893756e-04 9.99988558e-01 -9.56549072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48719347 meters 0.07151522230715678 Centerline is valid? [True, True] Translation: X:32.20, Y:0.13, Z:-0.95 [[ 9.97682886e-01 -6.79916256e-02 -2.44897237e-03 3.21953210e+01] [ 6.79917170e-02 9.97685885e-01 -4.59807169e-05 1.30232346e-01] [ 2.44643147e-03 -1.20635662e-04 9.99997000e-01 -9.53876527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.547193469999996 meters 0.07103212983083039 Centerline is valid? [True, True] Translation: X:32.26, Y:0.13, Z:-0.96 [[ 9.97724908e-01 -6.72994400e-02 -3.97398243e-03 3.22553699e+01] [ 6.72996800e-02 9.97732804e-01 -7.34658557e-05 1.33973823e-01] [ 3.96991684e-03 -1.94149032e-04 9.99992101e-01 -9.56637508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60719347 meters 0.06867577497581202 Centerline is valid? [True, True] Translation: X:32.32, Y:0.15, Z:-0.96 [[ 9.98241974e-01 -5.83306817e-02 -1.05115579e-02 3.23153959e+01] [ 5.83318642e-02 9.98297228e-01 -1.94324109e-04 1.53837818e-01] [ 1.05049941e-02 -4.19176284e-04 9.99944733e-01 -9.60006819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66719347 meters 0.06563199724463888 Centerline is valid? [True, True] Translation: X:32.37, Y:0.18, Z:-0.96 [[ 9.98904840e-01 -4.44060123e-02 -1.47385787e-02 3.23747866e+01] [ 4.44068165e-02 9.99013494e-01 -2.72852774e-04 1.83282399e-01] [ 1.47361553e-02 -3.81939402e-04 9.99891344e-01 -9.63252741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72719347 meters 0.06373985845508247 Centerline is valid? [True, True] Translation: X:32.43, Y:0.20, Z:-0.97 [[ 9.99231766e-01 -3.54120087e-02 -1.67889024e-02 3.24337574e+01] [ 3.54115914e-02 9.99372761e-01 -3.22234988e-04 2.00127029e-01] [ 1.67897827e-02 -2.72534315e-04 9.99859005e-01 -9.65224081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78719347 meters 0.06357814378772815 Centerline is valid? [True, True] Translation: X:32.49, Y:0.22, Z:-0.97 [[ 9.99508197e-01 -2.41606294e-02 -1.99906781e-02 3.24911797e+01] [ 2.41578559e-02 9.99708084e-01 -3.80252236e-04 2.22618936e-01] [ 1.99940296e-02 -1.02866694e-04 9.99800094e-01 -9.70283542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84719347 meters 0.06362435976638127 Centerline is valid? [True, True] Translation: X:32.55, Y:0.24, Z:-0.97 [[ 9.99635306e-01 -1.82085851e-02 -1.99424672e-02 3.25499153e+01] [ 1.82044276e-02 9.99834210e-01 -3.90011441e-04 2.39636581e-01] [ 1.99462625e-02 2.68280058e-05 9.99801053e-01 -9.70673517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90719347 meters 0.06500198720771283 Centerline is valid? [True, True] Translation: X:32.61, Y:0.25, Z:-0.97 [[ 9.99752047e-01 -6.31631820e-03 -2.13529573e-02 3.26088780e+01] [ 6.30894329e-03 9.99980013e-01 -4.12729076e-04 2.52330714e-01] [ 2.13551375e-02 2.77912141e-04 9.99771914e-01 -9.74163157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96719347 meters 0.06770546115656575 Centerline is valid? [True, True] Translation: X:32.67, Y:0.26, Z:-0.98 [[ 9.99768958e-01 5.18172783e-03 -2.08609971e-02 3.26682787e+01] [-5.19125675e-03 9.99986444e-01 -4.02653662e-04 2.64785890e-01] [ 2.08586279e-02 5.10855424e-04 9.99782305e-01 -9.77874438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02719347 meters 0.06836967801557128 Centerline is valid? [True, True] Translation: X:32.73, Y:0.27, Z:-0.98 [[ 9.99766185e-01 8.91823489e-03 -1.96987432e-02 3.27273551e+01] [-8.92770092e-03 9.99960070e-01 -3.92649856e-04 2.67919175e-01] [ 1.96944549e-02 5.68422536e-04 9.99805884e-01 -9.76042642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08719347 meters 0.06736145631802527 Centerline is valid? [True, True] Translation: X:32.79, Y:0.26, Z:-0.97 [[ 9.99742255e-01 8.49271661e-03 -2.10546311e-02 3.27859356e+01] [-8.50338159e-03 9.99963759e-01 -4.17061024e-04 2.58397859e-01] [ 2.10503260e-02 5.95989091e-04 9.99778240e-01 -9.73173449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14719347 meters 0.06591835045392827 Centerline is valid? [True, True] Translation: X:32.85, Y:0.24, Z:-0.97 [[ 9.99787928e-01 3.56616651e-03 -2.02825331e-02 3.28465342e+01] [-3.57501826e-03 9.99993530e-01 -4.00180302e-04 2.35411915e-01] [ 2.02809748e-02 4.72605861e-04 9.99794208e-01 -9.73259478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20719347 meters 0.06456424084464109 Centerline is valid? [True, True] Translation: X:32.91, Y:0.21, Z:-0.97 [[ 9.99793138e-01 -6.71354645e-04 -2.03280699e-02 3.29063121e+01] [ 6.63289597e-04 9.99999699e-01 -4.03484191e-04 2.10370146e-01] [ 2.03283347e-02 3.89917328e-04 9.99793282e-01 -9.74697530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26719347 meters 0.0637094091584847 Centerline is valid? [True, True] Translation: X:32.97, Y:0.20, Z:-0.97 [[ 9.99787910e-01 -2.38461345e-03 -2.04560393e-02 3.29655397e+01] [ 2.37675414e-03 9.99997092e-01 -4.08507965e-04 1.97422598e-01] [ 2.04569540e-02 3.59802348e-04 9.99790670e-01 -9.73468901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32719347 meters 0.06388985964911165 Centerline is valid? [True, True] Translation: X:33.02, Y:0.17, Z:-0.98 [[ 9.99789389e-01 -6.90189093e-03 -1.93272301e-02 3.30237275e+01] [ 6.89566470e-03 9.99976149e-01 -3.88773263e-04 1.74404996e-01] [ 1.93294524e-02 2.55417285e-04 9.99813136e-01 -9.81589698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38719347 meters 0.06256672102671615 Centerline is valid? [True, True] Translation: X:33.08, Y:0.16, Z:-0.98 [[ 9.99728425e-01 -1.19192275e-02 -2.00251675e-02 3.30833980e+01] [ 1.19135269e-02 9.99928950e-01 -4.03948829e-04 1.55192070e-01] [ 2.00285594e-02 1.65268755e-04 9.99799395e-01 -9.80268077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44719347 meters 0.06248039320690037 Centerline is valid? [True, True] Translation: X:33.14, Y:0.13, Z:-0.98 [[ 9.99377429e-01 -2.80528786e-02 -2.13960468e-02 3.31423543e+01] [ 2.80500077e-02 9.99606427e-01 -4.34340824e-04 1.25226825e-01] [ 2.13998104e-02 -1.66088861e-04 9.99770984e-01 -9.82869157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50719347 meters 0.0638624590581257 Centerline is valid? [True, True] Translation: X:33.20, Y:0.11, Z:-0.99 [[ 9.99025084e-01 -3.81417680e-02 -2.22280556e-02 3.32011322e+01] [ 3.81411297e-02 9.99272260e-01 -4.52821171e-04 1.07071022e-01] [ 2.22291507e-02 -3.95423443e-04 9.99752824e-01 -9.86384472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56719347 meters 0.06475869816663622 Centerline is valid? [True, True] Translation: X:33.26, Y:0.09, Z:-0.98 [[ 9.98668126e-01 -4.75082044e-02 -2.01232177e-02 3.32610198e+01] [ 4.75095826e-02 9.98870698e-01 -4.09847705e-04 8.58862798e-02] [ 2.01199636e-02 -5.46743831e-04 9.99797424e-01 -9.84539613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.62719347 meters 0.06674087644649748 Centerline is valid? [True, True] Translation: X:33.32, Y:0.07, Z:-0.98 [[ 9.98186846e-01 -5.88722071e-02 -1.25333360e-02 3.33197814e+01] [ 5.88735677e-02 9.98265413e-01 -2.60688970e-04 7.24652192e-02] [ 1.25269432e-02 -4.77665907e-04 9.99921421e-01 -9.79043397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68719347 meters 0.06786092325863999 Centerline is valid? [True, True] Translation: X:33.38, Y:0.07, Z:-0.98 [[ 9.97857252e-01 -6.45625649e-02 -1.06103407e-02 3.33797206e+01] [ 6.45638806e-02 9.97913552e-01 -2.18839321e-04 7.28253314e-02] [ 1.06023317e-02 -4.66674370e-04 9.99943685e-01 -9.76843008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74719347 meters 0.07044690742052334 Centerline is valid? [True, True] Translation: X:33.44, Y:0.07, Z:-0.98 [[ 9.97655363e-01 -6.72464891e-02 -1.27156153e-02 3.34382520e+01] [ 6.72485666e-02 9.97736218e-01 -2.64599927e-04 7.09799297e-02] [ 1.27046233e-02 -5.91127363e-04 9.99919118e-01 -9.82919881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.80719347 meters 0.06776812348320309 Centerline is valid? [True, True] Translation: X:33.50, Y:0.09, Z:-0.98 [[ 9.97840576e-01 -6.48389830e-02 -1.04924538e-02 3.34983078e+01] [ 6.48402771e-02 9.97895631e-01 -2.17149528e-04 8.50940411e-02] [ 1.04844536e-02 -4.63653004e-04 9.99944929e-01 -9.80977962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86719347 meters 0.06460392644499992 Centerline is valid? [True, True] Translation: X:33.56, Y:0.12, Z:-0.99 [[ 9.98510850e-01 -5.20627564e-02 -1.62957886e-02 3.35579475e+01] [ 5.20641628e-02 9.98643684e-01 -3.38210727e-04 1.18930735e-01] [ 1.62912946e-02 -5.10719512e-04 9.99867158e-01 -9.85765495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92719347 meters 0.0618061980303501 Centerline is valid? [True, True] Translation: X:33.62, Y:0.14, Z:-0.99 [[ 9.99032067e-01 -4.09229977e-02 -1.61318797e-02 3.36175033e+01] [ 4.09229131e-02 9.99162250e-01 -3.35487968e-04 1.43696656e-01] [ 1.61320944e-02 -3.25000271e-04 9.99869816e-01 -9.85191078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98719347 meters 0.06023232321177043 Centerline is valid? [True, True] Translation: X:33.68, Y:0.17, Z:-0.99 [[ 9.99571163e-01 -2.75192852e-02 -1.00089223e-02 3.36765716e+01] [ 2.75185779e-02 9.99621271e-01 -2.08402226e-04 1.69571577e-01] [ 1.00108667e-02 -6.71184527e-05 9.99949888e-01 -9.85642307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04719347 meters 0.06115533104620812 Centerline is valid? [True, True] Translation: X:33.74, Y:0.20, Z:-0.99 [[ 9.99796608e-01 -1.22540107e-02 -1.60181496e-02 3.37362887e+01] [ 1.22502559e-02 9.99924908e-01 -3.32510004e-04 1.99456546e-01] [ 1.60210214e-02 1.36215941e-04 9.99871646e-01 -9.90555622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10719347 meters 0.06216298641344495 Centerline is valid? [True, True] Translation: X:33.79, Y:0.22, Z:-0.99 [[ 9.99878831e-01 -4.15320475e-03 -1.50024676e-02 3.37947817e+01] [ 4.14881323e-03 9.99991341e-01 -3.23830595e-04 2.15457183e-01] [ 1.50036826e-02 2.61548920e-04 9.99887404e-01 -9.90266019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16719347 meters 0.06361091352506885 Centerline is valid? [True, True] Translation: X:33.85, Y:0.22, Z:-0.99 [[ 9.99884296e-01 2.06311067e-03 -1.50710957e-02 3.38537813e+01] [-2.06817213e-03 9.99997810e-01 -3.20261104e-04 2.21650209e-01] [ 1.50704020e-02 3.51393669e-04 9.99886373e-01 -9.92887499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22719347 meters 0.06499112235653512 Centerline is valid? [True, True] Translation: X:33.91, Y:0.22, Z:-1.00 [[ 9.99876631e-01 4.27056722e-03 -1.51156965e-02 3.39108850e+01] [-4.27600053e-03 9.99990804e-01 -3.27147040e-04 2.24876493e-01] [ 1.51141604e-02 3.91741407e-04 9.99885698e-01 -9.96483218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28719347 meters 0.06656398693074514 Centerline is valid? [True, True] Translation: X:33.97, Y:0.22, Z:-1.00 [[ 9.99854927e-01 3.34164807e-03 -1.67020398e-02 3.39683580e+01] [-3.34813874e-03 9.99994330e-01 -3.60668020e-04 2.20777859e-01] [ 1.67007399e-02 4.16536443e-04 9.99860446e-01 -1.00491365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34719347 meters 0.06369682941808642 Centerline is valid? [True, True] Translation: X:34.03, Y:0.20, Z:-1.01 [[ 9.99792360e-01 -4.67188834e-03 -1.98345734e-02 3.40279743e+01] [ 4.66429552e-03 9.99989030e-01 -4.29051923e-04 1.97834327e-01] [ 1.98363603e-02 3.36448523e-04 9.99803183e-01 -1.00764798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40719347 meters 0.06218222276119005 Centerline is valid? [True, True] Translation: X:34.09, Y:0.18, Z:-1.01 [[ 9.99719265e-01 -1.24972828e-02 -2.01298042e-02 3.40869280e+01] [ 1.24910128e-02 9.99921889e-01 -4.37186744e-04 1.80506491e-01] [ 2.01336955e-02 1.85622368e-04 9.99797279e-01 -1.00872469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46719347 meters 0.06097615128915783 Centerline is valid? [True, True] Translation: X:34.15, Y:0.16, Z:-1.01 [[ 9.99646732e-01 -1.92238461e-02 -1.83536034e-02 3.41465930e+01] [ 1.92196866e-02 9.99815204e-01 -4.03010758e-04 1.63159244e-01] [ 1.83579592e-02 5.01178808e-05 9.99831477e-01 -1.00604567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52719347 meters 0.06142858539795137 Centerline is valid? [True, True] Translation: X:34.20, Y:0.16, Z:-1.01 [[ 9.99802308e-01 -1.29545827e-02 -1.50839026e-02 3.42048826e+01] [ 1.29510529e-02 9.99916077e-01 -3.31677401e-04 1.58290033e-01] [ 1.50869334e-02 1.36259411e-04 9.99886176e-01 -1.00704008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58719347 meters 0.06216029638324668 Centerline is valid? [True, True] Translation: X:34.26, Y:0.16, Z:-1.01 [[ 9.99911232e-01 -6.14509015e-03 -1.18222421e-02 3.42638935e+01] [ 6.14233962e-03 9.99981099e-01 -2.68952895e-04 1.61433704e-01] [ 1.18236714e-02 1.96312795e-04 9.99930079e-01 -1.00527108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64719347 meters 0.06252176026574617 Centerline is valid? [True, True] Translation: X:34.32, Y:0.16, Z:-1.00 [[ 9.99892486e-01 -1.20960903e-03 -1.46134823e-02 3.43236674e+01] [ 1.20498239e-03 9.99999221e-01 -3.25402056e-04 1.55666750e-01] [ 1.46138646e-02 3.07758082e-04 9.99893164e-01 -1.00441163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70719347 meters 0.06189333187231245 Centerline is valid? [True, True] Translation: X:34.38, Y:0.14, Z:-1.01 [[ 9.99897863e-01 -3.90178115e-03 -1.37491585e-02 3.43830802e+01] [ 3.89790701e-03 9.99992356e-01 -3.08559599e-04 1.39130152e-01] [ 1.37502573e-02 2.54935142e-04 9.99905428e-01 -1.00698597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76719347 meters 0.06066618666630753 Centerline is valid? [True, True] Translation: X:34.44, Y:0.12, Z:-1.01 [[ 9.99919449e-01 -9.35724709e-03 -8.57535948e-03 3.44430138e+01] [ 9.35593993e-03 9.99956214e-01 -1.92535537e-04 1.21013075e-01] [ 8.57678560e-03 1.12289480e-04 9.99963212e-01 -1.00557023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82719347 meters 0.0601328580652122 Centerline is valid? [True, True] Translation: X:34.50, Y:0.11, Z:-1.01 [[ 9.99878871e-01 -1.33439180e-02 -8.01138495e-03 3.45019471e+01] [ 1.33428352e-02 9.99910963e-01 -1.88598157e-04 1.07615897e-01] [ 8.01318827e-03 8.16807237e-05 9.99967891e-01 -1.00713826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88719347 meters 0.05986416319218455 Centerline is valid? [True, True] Translation: X:34.56, Y:0.09, Z:-1.01 [[ 9.99621298e-01 -2.51955237e-02 -1.10655463e-02 3.45608043e+01] [ 2.51942613e-02 9.99682542e-01 -2.53486832e-04 8.83154875e-02] [ 1.10684202e-02 -2.53974289e-05 9.99938743e-01 -1.01161565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94719347 meters 0.059985286235963546 Centerline is valid? [True, True] Translation: X:34.62, Y:0.07, Z:-1.01 [[ 9.99350527e-01 -3.54475391e-02 -6.48042848e-03 3.46204538e+01] [ 3.54472725e-02 9.99371536e-01 -1.56026755e-04 7.47704764e-02] [ 6.48188653e-03 -7.37880948e-05 9.99978990e-01 -1.00764783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00719347 meters 0.06174893254928731 Centerline is valid? [True, True] Translation: X:34.68, Y:0.06, Z:-1.01 [[ 9.98931547e-01 -4.58096341e-02 -6.10264747e-03 3.46804298e+01] [ 4.58096227e-02 9.98950178e-01 -1.41730402e-04 6.30925326e-02] [ 6.10273340e-03 -1.37981008e-04 9.99981369e-01 -1.00692968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06719347 meters 0.061924734268619074 Centerline is valid? [True, True] Translation: X:34.74, Y:0.06, Z:-1.00 [[ 9.98768872e-01 -4.95790099e-02 -1.63132304e-03 3.47398473e+01] [ 4.95790015e-02 9.98770204e-01 -4.56044516e-05 6.03094108e-02] [ 1.63157787e-03 -3.53310610e-05 9.99998668e-01 -1.00419950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12719347 meters 0.0631682910191746 Centerline is valid? [True, True] Translation: X:34.80, Y:0.06, Z:-1.00 [[ 9.98470231e-01 -5.52486445e-02 2.18741893e-03 3.47971354e+01] [ 5.52486738e-02 9.98472624e-01 4.70806712e-05 6.44809496e-02] [-2.18667906e-03 7.38433462e-05 9.99997606e-01 -1.00409080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18719347 meters 0.0652787093285442 Centerline is valid? [True, True] Translation: X:34.86, Y:0.06, Z:-1.01 [[ 9.98272728e-01 -5.87002117e-02 -2.41762949e-03 3.48571882e+01] [ 5.87002444e-02 9.98275652e-01 -5.74795994e-05 6.47132545e-02] [ 2.41683472e-03 -8.45351257e-05 9.99997076e-01 -1.01168022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24719347 meters 0.06651990368908657 Centerline is valid? [True, True] Translation: X:34.92, Y:0.07, Z:-1.02 [[ 9.97979356e-01 -6.31112134e-02 -7.36065644e-03 3.49170454e+01] [ 6.31116458e-02 9.98006458e-01 -1.73755415e-04 6.61830838e-02] [ 7.35694858e-03 -2.91138825e-04 9.99972895e-01 -1.01652838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.30719347 meters 0.06821106010635866 Centerline is valid? [True, True] Translation: X:34.98, Y:0.07, Z:-1.02 [[ 9.97733942e-01 -6.60890534e-02 -1.26181277e-02 3.49768628e+01] [ 6.60905614e-02 9.97813584e-01 -2.97897299e-04 7.39264147e-02] [ 1.26102270e-02 -5.36716897e-04 9.99920344e-01 -1.02366348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36719347 meters 0.06839411950394406 Centerline is valid? [True, True] Translation: X:35.04, Y:0.08, Z:-1.03 [[ 9.97625056e-01 -6.73693881e-02 -1.43392048e-02 3.50356439e+01] [ 6.73713031e-02 9.97727911e-01 -3.50001907e-04 8.32605363e-02] [ 1.43302043e-02 -6.16880243e-04 9.99897127e-01 -1.02598033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42719347 meters 0.06939316379234754 Centerline is valid? [True, True] Translation: X:35.09, Y:0.09, Z:-1.03 [[ 9.97479050e-01 -6.97912291e-02 -1.28346654e-02 3.50944744e+01] [ 6.97929036e-02 9.97561452e-01 -3.17938291e-04 9.19305281e-02] [ 1.28255568e-02 -5.78631782e-04 9.99917582e-01 -1.02561212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48719347 meters 0.06868321633112355 Centerline is valid? [True, True] Translation: X:35.15, Y:0.11, Z:-1.03 [[ 9.97676581e-01 -6.74345606e-02 -9.69642672e-03 3.51536931e+01] [ 6.74354450e-02 9.97723612e-01 -2.36080102e-04 1.06927736e-01] [ 9.69027385e-03 -4.18351261e-04 9.99952961e-01 -1.02583737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54719347 meters 0.0682530711367979 Centerline is valid? [True, True] Translation: X:35.21, Y:0.13, Z:-1.03 [[ 9.97882236e-01 -6.42070252e-02 -1.04163574e-02 3.52115869e+01] [ 6.42078518e-02 9.97936514e-01 -2.55390136e-04 1.27987200e-01] [ 1.04112612e-02 -4.13962649e-04 9.99945716e-01 -1.02871121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60719347 meters 0.06621399673307693 Centerline is valid? [True, True] Translation: X:35.27, Y:0.15, Z:-1.03 [[ 9.98203033e-01 -5.90029747e-02 -1.04572731e-02 3.52714425e+01] [ 5.90035361e-02 9.98257741e-01 -2.55087173e-04 1.46416647e-01] [ 1.04541047e-02 -3.62387300e-04 9.99945289e-01 -1.02941495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66719347 meters 0.06312357235451081 Centerline is valid? [True, True] Translation: X:35.33, Y:0.17, Z:-1.03 [[ 9.98887272e-01 -4.56221279e-02 -1.19515007e-02 3.53311115e+01] [ 4.56219089e-02 9.98958736e-01 -2.91094439e-04 1.70543888e-01] [ 1.19523364e-02 -2.54479745e-04 9.99928536e-01 -1.03350190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72719347 meters 0.06122047952576014 Centerline is valid? [True, True] Translation: X:35.39, Y:0.19, Z:-1.03 [[ 9.99239591e-01 -3.78460805e-02 -9.37625542e-03 3.53911158e+01] [ 3.78455972e-02 9.99283573e-01 -2.29033081e-04 1.90059569e-01] [ 9.37820602e-03 -1.25991064e-04 9.99956016e-01 -1.03032540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78719347 meters 0.06120522239982366 Centerline is valid? [True, True] Translation: X:35.45, Y:0.20, Z:-1.03 [[ 9.99283239e-01 -3.73120462e-02 -6.38904336e-03 3.54496516e+01] [ 3.73117964e-02 9.99303660e-01 -1.58335805e-04 1.99657824e-01] [ 6.39050225e-03 -8.01643688e-05 9.99979577e-01 -1.02923714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84719347 meters 0.06137369774077452 Centerline is valid? [True, True] Translation: X:35.51, Y:0.19, Z:-1.03 [[ 9.99106962e-01 -4.22503842e-02 -4.27835356e-04 3.55095232e+01] [ 4.22503831e-02 9.99107054e-01 -1.15350193e-05 1.93684644e-01] [ 4.27940681e-04 -6.55148966e-06 9.99999908e-01 -1.02721654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90719347 meters 0.06268419899128985 Centerline is valid? [True, True] Translation: X:35.57, Y:0.19, Z:-1.03 [[ 9.98914376e-01 -4.65441905e-02 -1.92579002e-03 3.55699975e+01] [ 4.65441871e-02 9.98916231e-01 -4.66261708e-05 1.94848010e-01] [ 1.92587309e-03 -4.30587787e-05 9.99998145e-01 -1.03221039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96719347 meters 0.06238243001572978 Centerline is valid? [True, True] Translation: X:35.63, Y:0.21, Z:-1.03 [[ 9.99018859e-01 -4.42430306e-02 -1.96823715e-03 3.56298284e+01] [ 4.42430215e-02 9.99020797e-01 -4.81807000e-05 2.07861914e-01] [ 1.96844150e-03 -3.89473303e-05 9.99998062e-01 -1.03340662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02719347 meters 0.06198428351187329 Centerline is valid? [True, True] Translation: X:35.69, Y:0.21, Z:-1.03 [[ 9.99036528e-01 -4.38514965e-02 -1.74968330e-03 3.56908861e+01] [ 4.38514908e-02 9.99038060e-01 -4.16435642e-05 2.14823001e-01] [ 1.74982634e-03 -3.51227795e-05 9.99998468e-01 -1.03311359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08719347 meters 0.06333661290675358 Centerline is valid? [True, True] Translation: X:35.75, Y:0.22, Z:-1.04 [[ 9.99130860e-01 -4.13592558e-02 -5.19008619e-03 3.57511205e+01] [ 4.13591583e-02 9.99144336e-01 -1.26153768e-04 2.20474871e-01] [ 5.19086285e-03 -8.86134740e-05 9.99986523e-01 -1.04341862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14719347 meters 0.06253139685268284 Centerline is valid? [True, True] Translation: X:35.81, Y:0.23, Z:-1.04 [[ 9.99172029e-01 -4.02505956e-02 -5.92847374e-03 3.58119894e+01] [ 4.02504453e-02 9.99189612e-01 -1.44719142e-04 2.26444715e-01] [ 5.92949441e-03 -9.40243892e-05 9.99982416e-01 -1.04260344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20719347 meters 0.062415128946334886 Centerline is valid? [True, True] Translation: X:35.87, Y:0.24, Z:-1.05 [[ 9.99452843e-01 -3.09888965e-02 -1.15630257e-02 3.58724289e+01] [ 3.09877047e-02 9.99519726e-01 -2.82263401e-04 2.38698253e-01] [ 1.15662193e-02 -7.62026675e-05 9.99933106e-01 -1.04995830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26719347 meters 0.06284358997696168 Centerline is valid? [True, True] Translation: X:35.93, Y:0.26, Z:-1.05 [[ 9.99755587e-01 -1.77306282e-02 -1.32057166e-02 3.59306456e+01] [ 1.77277689e-02 9.99842795e-01 -3.33557918e-04 2.55923347e-01] [ 1.32095548e-02 9.93685010e-05 9.99912745e-01 -1.05207192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32719347 meters 0.06384641660351684 Centerline is valid? [True, True] Translation: X:35.99, Y:0.27, Z:-1.05 [[ 9.99891820e-01 -7.75833552e-03 -1.24962609e-02 3.59886825e+01] [ 7.75500624e-03 9.99969880e-01 -3.14857126e-04 2.65784113e-01] [ 1.24983272e-02 2.17914484e-04 9.99921869e-01 -1.05235481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38719347 meters 0.06664372505672396 Centerline is valid? [True, True] Translation: X:36.05, Y:0.27, Z:-1.06 [[ 9.99893459e-01 1.90328436e-03 -1.44723295e-02 3.60476248e+01] [-1.90871844e-03 9.99998113e-01 -3.61677422e-04 2.73170093e-01] [ 1.44716138e-02 3.89262491e-04 9.99895205e-01 -1.05597366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44719347 meters 0.06595924933865475 Centerline is valid? [True, True] Translation: X:36.11, Y:0.26, Z:-1.06 [[ 9.99844787e-01 1.78089990e-03 -1.75280061e-02 3.61077139e+01] [-1.78886411e-03 9.99998304e-01 -4.38702031e-04 2.62381748e-01] [ 1.75271951e-02 4.69989159e-04 9.99846276e-01 -1.05657782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50719347 meters 0.06530132044895762 Centerline is valid? [True, True] Translation: X:36.17, Y:0.25, Z:-1.06 [[ 9.99804189e-01 -6.12106325e-03 -1.88179793e-02 3.61660153e+01] [ 6.11321334e-03 9.99981201e-01 -4.74645945e-04 2.45610659e-01] [ 1.88205309e-02 3.59514682e-04 9.99822813e-01 -1.06183320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56719347 meters 0.06445790336740925 Centerline is valid? [True, True] Translation: X:36.23, Y:0.23, Z:-1.06 [[ 9.99759160e-01 -1.16106822e-02 -1.86229452e-02 3.62257073e+01] [ 1.16039445e-02 9.99932562e-01 -4.69819264e-04 2.28339423e-01] [ 1.86271442e-02 2.53606491e-04 9.99826468e-01 -1.06326529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62719347 meters 0.06479168673780954 Centerline is valid? [True, True] Translation: X:36.28, Y:0.22, Z:-1.07 [[ 9.99714612e-01 -1.19712042e-02 -2.06732797e-02 3.62842655e+01] [ 1.19629128e-02 9.99928304e-01 -5.24696190e-04 2.22374041e-01] [ 2.06780787e-02 2.77233808e-04 9.99786147e-01 -1.06586879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68719347 meters 0.06434265647315218 Centerline is valid? [True, True] Translation: X:36.34, Y:0.21, Z:-1.07 [[ 9.99737116e-01 -1.39272664e-02 -1.82134649e-02 3.63427689e+01] [ 1.39211314e-02 9.99902989e-01 -4.63586027e-04 2.13408853e-01] [ 1.82181544e-02 2.09912120e-04 9.99834014e-01 -1.06665030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74719347 meters 0.06354667976082348 Centerline is valid? [True, True] Translation: X:36.40, Y:0.20, Z:-1.07 [[ 9.99713291e-01 -1.88320267e-02 -1.47881757e-02 3.64026355e+01] [ 1.88285198e-02 9.99822657e-01 -3.76351633e-04 2.02493077e-01] [ 1.47926406e-02 9.78042716e-05 9.99890578e-01 -1.06600338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.80719347 meters 0.06266532509192048 Centerline is valid? [True, True] Translation: X:36.46, Y:0.18, Z:-1.06 [[ 9.99619906e-01 -2.60559279e-02 -9.00732658e-03 3.64634448e+01] [ 2.60549194e-02 9.99660487e-01 -2.29300978e-04 1.81708741e-01] [ 9.01024312e-03 -5.47134606e-06 9.99959407e-01 -1.06304885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86719347 meters 0.06226520071970835 Centerline is valid? [True, True] Translation: X:36.52, Y:0.17, Z:-1.06 [[ 9.99545863e-01 -2.89293519e-02 -8.43570415e-03 3.65223881e+01] [ 2.89284869e-02 9.99581459e-01 -2.24571358e-04 1.72103532e-01] [ 8.43867016e-03 -1.95627856e-05 9.99964394e-01 -1.05940192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92719347 meters 0.06328670419821604 Centerline is valid? [True, True] Translation: X:36.58, Y:0.16, Z:-1.07 [[ 9.99515025e-01 -2.96933885e-02 -9.38174209e-03 3.65797188e+01] [ 2.96923900e-02 9.99559054e-01 -2.45725956e-04 1.64236307e-01] [ 9.38490168e-03 -3.29595603e-05 9.99955960e-01 -1.06949659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98719347 meters 0.06444788006094299 Centerline is valid? [True, True] Translation: X:36.64, Y:0.15, Z:-1.07 [[ 9.99331312e-01 -3.03219180e-02 -2.04330604e-02 3.66407478e+01] [ 3.03174563e-02 9.99540181e-01 -5.28165141e-04 1.51586431e-01] [ 2.04396798e-02 -9.16664510e-05 9.99791084e-01 -1.07494434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04719347 meters 0.06540935283051612 Centerline is valid? [True, True] Translation: X:36.70, Y:0.15, Z:-1.08 [[ 9.99249751e-01 -2.86921332e-02 -2.60133833e-02 3.66993894e+01] [ 2.86842921e-02 9.99588293e-01 -6.74603690e-04 1.51788065e-01] [ 2.60220292e-02 -7.20779144e-05 9.99661367e-01 -1.08259176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10719347 meters 0.06532576824229568 Centerline is valid? [True, True] Translation: X:36.76, Y:0.15, Z:-1.08 [[ 9.99203037e-01 -3.25021305e-02 -2.31711549e-02 3.67586909e+01] [ 3.24966499e-02 9.99471656e-01 -6.13132411e-04 1.48355322e-01] [ 2.31788406e-02 -1.40341139e-04 9.99731325e-01 -1.08039995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16719347 meters 0.06711430491278525 Centerline is valid? [True, True] Translation: X:36.82, Y:0.13, Z:-1.08 [[ 9.98598246e-01 -4.96782737e-02 -1.82650712e-02 3.68182200e+01] [ 4.96776006e-02 9.98765185e-01 -4.90852908e-04 1.27417662e-01] [ 1.82669019e-02 -4.17200060e-04 9.99833059e-01 -1.07602816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22719347 meters 0.0699661726546864 Centerline is valid? [True, True] Translation: X:36.88, Y:0.12, Z:-1.08 [[ 9.98096165e-01 -5.98894864e-02 -1.47409305e-02 3.68771691e+01] [ 5.98902106e-02 9.98204893e-01 -3.92702892e-04 1.20191600e-01] [ 1.47379877e-02 -4.90882180e-04 9.99891269e-01 -1.07533009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28719347 meters 0.06752499935273912 Centerline is valid? [True, True] Translation: X:36.94, Y:0.13, Z:-1.07 [[ 9.98173188e-01 -5.84516564e-02 -1.52869140e-02 3.69361146e+01] [ 5.84520993e-02 9.98290127e-01 -4.18213456e-04 1.33496925e-01] [ 1.52852206e-02 -4.76102757e-04 9.99883061e-01 -1.07267912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34719347 meters 0.0679663507941212 Centerline is valid? [True, True] Translation: X:36.99, Y:0.14, Z:-1.08 [[ 9.98471712e-01 -5.22631039e-02 -1.79668882e-02 3.69938069e+01] [ 5.22627928e-02 9.98633248e-01 -4.87171467e-04 1.41769788e-01] [ 1.79677930e-02 -4.52572829e-04 9.99838464e-01 -1.08235249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40719347 meters 0.06570165051458592 Centerline is valid? [True, True] Translation: X:37.05, Y:0.17, Z:-1.09 [[ 9.98954519e-01 -3.90153722e-02 -2.38258400e-02 3.70522135e+01] [ 3.90108006e-02 9.99238573e-01 -6.56817516e-04 1.66533656e-01] [ 2.38333243e-02 -2.73334268e-04 9.99715909e-01 -1.08663713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46719347 meters 0.06532306269413338 Centerline is valid? [True, True] Translation: X:37.11, Y:0.18, Z:-1.09 [[ 9.99186814e-01 -3.08056333e-02 -2.60139011e-02 3.71106227e+01] [ 3.07972016e-02 9.99525391e-01 -7.24800163e-04 1.80271000e-01] [ 2.60238826e-02 -7.69445909e-05 9.99661318e-01 -1.08806908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52719347 meters 0.06484532295334507 Centerline is valid? [True, True] Translation: X:37.17, Y:0.18, Z:-1.09 [[ 9.99342033e-01 -2.86412139e-02 -2.22526626e-02 3.71702354e+01] [ 2.86346053e-02 9.99589756e-01 -6.15626568e-04 1.81177913e-01] [ 2.22611659e-02 -2.19747057e-05 9.99752189e-01 -1.08729929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58719347 meters 0.0639067003918555 Centerline is valid? [True, True] Translation: X:37.23, Y:0.19, Z:-1.08 [[ 9.99676055e-01 -2.11516686e-02 -1.41559792e-02 3.72309891e+01] [ 2.11482505e-02 9.99776274e-01 -3.91122230e-04 1.92118440e-01] [ 1.41610850e-02 9.16213331e-05 9.99899723e-01 -1.08291169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64719347 meters 0.06643463496792905 Centerline is valid? [True, True] Translation: X:37.29, Y:0.21, Z:-1.08 [[ 9.99940609e-01 -2.33671911e-03 -1.06450698e-02 3.72896279e+01] [ 2.33369651e-03 9.99997233e-01 -2.96356388e-04 2.10027578e-01] [ 1.06457328e-02 2.71496425e-04 9.99943296e-01 -1.08003262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70719347 meters 0.06842818609709415 Centerline is valid? [True, True] Translation: X:37.35, Y:0.21, Z:-1.08 [[ 9.99926309e-01 7.37754395e-03 -9.64099446e-03 3.73495917e+01] [-7.38046988e-03 9.99972728e-01 -2.67945381e-04 2.12334841e-01] [ 9.63875475e-03 3.39080705e-04 9.99953489e-01 -1.08105532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76719347 meters 0.07117397740662768 Centerline is valid? [True, True] Translation: X:37.41, Y:0.21, Z:-1.09 [[ 9.99868480e-01 1.33938471e-02 -9.14484970e-03 3.74084557e+01] [-1.33967275e-02 9.99910228e-01 -2.53780645e-04 2.14781939e-01] [ 9.14062965e-03 3.76258327e-04 9.99958153e-01 -1.08570436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82719347 meters 0.07245478533857114 Centerline is valid? [True, True] Translation: X:37.47, Y:0.21, Z:-1.09 [[ 9.99733214e-01 1.71518616e-02 -1.54698229e-02 3.74687701e+01] [-1.71605482e-02 9.99852655e-01 -4.28938010e-04 2.07551925e-01] [ 1.54601864e-02 6.94294217e-04 9.99880243e-01 -1.09127310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88719347 meters 0.07446274036389855 Centerline is valid? [True, True] Translation: X:37.53, Y:0.19, Z:-1.09 [[ 9.99651929e-01 2.17332318e-02 -1.49561547e-02 3.75284028e+01] [-2.17419008e-02 9.99763530e-01 -4.17255279e-04 1.87813193e-01] [ 1.49435497e-02 7.42285277e-04 9.99888063e-01 -1.09350128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94719347 meters 0.07568383461943065 Centerline is valid? [True, True] Translation: X:37.59, Y:0.17, Z:-1.09 [[ 9.99521393e-01 2.75716318e-02 -1.40282106e-02 3.75885729e+01] [-2.75798267e-02 9.99619528e-01 -3.91015918e-04 1.72974977e-01] [ 1.40120923e-02 7.77724391e-04 9.99901523e-01 -1.09323426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00719347 meters 0.07810702613063501 Centerline is valid? [True, True] Translation: X:37.65, Y:0.16, Z:-1.10 [[ 9.99479301e-01 2.83969166e-02 -1.53212990e-02 3.76469373e+01] [-2.84068290e-02 9.99596352e-01 -4.29687479e-04 1.61501693e-01] [ 1.53029128e-02 8.64693262e-04 9.99882530e-01 -1.09838452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06719347 meters 0.07284246041058542 Centerline is valid? [True, True] Translation: X:37.71, Y:0.13, Z:-1.10 [[ 9.99721997e-01 1.85385299e-02 -1.45688298e-02 3.77087923e+01] [-1.85464143e-02 9.99827918e-01 -4.06248807e-04 1.28315600e-01] [ 1.45587915e-02 6.76335423e-04 9.99893786e-01 -1.09758764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12719347 meters 0.06881072069319884 Centerline is valid? [True, True] Translation: X:37.77, Y:0.10, Z:-1.10 [[ 9.99938252e-01 6.77326833e-03 -8.80997266e-03 3.77703002e+01] [-6.77569781e-03 9.99977014e-01 -2.45946130e-04 9.88080066e-02] [ 8.80810430e-03 3.05624656e-04 9.99961161e-01 -1.09517428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18719347 meters 0.06575814814561143 Centerline is valid? [True, True] Translation: X:37.83, Y:0.06, Z:-1.10 [[ 9.99951702e-01 -4.66068131e-03 -8.65289236e-03 3.78314334e+01] [ 4.65876492e-03 9.99989119e-01 -2.41617148e-04 5.94631830e-02] [ 8.65392431e-03 2.01293687e-04 9.99962534e-01 -1.09717233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24719347 meters 0.06556511203280836 Centerline is valid? [True, True] Translation: X:37.89, Y:0.04, Z:-1.10 [[ 9.99923526e-01 -7.40394516e-03 -9.90574569e-03 3.78896475e+01] [ 7.40145796e-03 9.99972567e-01 -2.87723227e-04 4.34904838e-02] [ 9.90760424e-03 2.14384263e-04 9.99950896e-01 -1.10093752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.30719347 meters 0.06653370332730199 Centerline is valid? [True, True] Translation: X:37.95, Y:0.03, Z:-1.11 [[ 9.99835187e-01 -4.15215379e-03 -1.76736740e-02 3.79507878e+01] [ 4.14397891e-03 9.99991289e-01 -4.99143114e-04 2.57757317e-02] [ 1.76755925e-02 4.25821516e-04 9.99843684e-01 -1.10810285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.367193470000004 meters 0.06737610377847768 Centerline is valid? [True, True] Translation: X:38.01, Y:0.01, Z:-1.11 [[ 9.99860908e-01 -5.66060879e-04 -1.66686326e-02 3.80087680e+01] [ 5.58219628e-04 9.99999731e-01 -4.75068529e-04 1.28149535e-02] [ 1.66688970e-02 4.65697693e-04 9.99860956e-01 -1.11085509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42719347 meters 0.06728839082683757 Centerline is valid? [True, True] Translation: X:38.07, Y:-0.00, Z:-1.11 [[ 9.99960200e-01 1.34105988e-03 -8.82042396e-03 3.80686266e+01] [-1.34332954e-03 9.99999066e-01 -2.51399351e-04 -3.86458811e-04] [ 8.82007858e-03 2.63238081e-04 9.99961068e-01 -1.10566779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48719347 meters 0.06694031351225217 Centerline is valid? [True, True] Translation: X:38.13, Y:-0.01, Z:-1.10 [[ 9.99984529e-01 3.33785597e-03 -4.44978592e-03 3.81278990e+01] [-3.33848851e-03 9.99994418e-01 -1.34731027e-04 -9.25564365e-03] [ 4.44931137e-03 1.49584502e-04 9.99990091e-01 -1.10126984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54719347 meters 0.06584035743550733 Centerline is valid? [True, True] Translation: X:38.19, Y:-0.03, Z:-1.10 [[ 9.99994369e-01 3.29330135e-03 -6.45304355e-04 3.81882676e+01] [-3.29331467e-03 9.99994577e-01 -1.95889552e-05 -2.55693970e-02] [ 6.45236343e-04 2.17140352e-05 9.99999792e-01 -1.09846018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60719347 meters 0.06491564077220377 Centerline is valid? [True, True] Translation: X:38.25, Y:-0.04, Z:-1.10 [[ 9.99999089e-01 -1.23436458e-03 -5.45466734e-04 3.82490501e+01] [ 1.23435621e-03 9.99999238e-01 -1.56692355e-05 -3.94473420e-02] [ 5.45485660e-04 1.49959210e-05 9.99999851e-01 -1.10136835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66719347 meters 0.0639903513728421 Centerline is valid? [True, True] Translation: X:38.31, Y:-0.06, Z:-1.11 [[ 9.99939212e-01 -9.80499626e-03 -5.04321539e-03 3.83087391e+01] [ 9.80439633e-03 9.99951925e-01 -1.43668511e-04 -5.90421513e-02] [ 5.04438161e-03 9.42140953e-05 9.99987273e-01 -1.10784993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72719347 meters 0.06382076604533753 Centerline is valid? [True, True] Translation: X:38.37, Y:-0.07, Z:-1.11 [[ 9.99899451e-01 -1.25542350e-02 -6.59388234e-03 3.83671817e+01] [ 1.25531923e-02 9.99921186e-01 -1.99490664e-04 -7.12897594e-02] [ 6.59586710e-03 1.16696333e-04 9.99978240e-01 -1.10754675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78719347 meters 0.06300037539079388 Centerline is valid? [True, True] Translation: X:38.43, Y:-0.08, Z:-1.11 [[ 9.99818094e-01 -1.76962317e-02 -7.11493883e-03 3.84261283e+01] [ 1.76951428e-02 9.99843405e-01 -2.15972879e-04 -8.46720899e-02] [ 7.11764657e-03 9.00337336e-05 9.99974665e-01 -1.10790593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84719347 meters 0.06320043045772579 Centerline is valid? [True, True] Translation: X:38.48, Y:-0.10, Z:-1.11 [[ 9.99432219e-01 -3.24427617e-02 -9.09430197e-03 3.84849153e+01] [ 3.24416394e-02 9.99473595e-01 -2.70940116e-04 -1.00360020e-01] [ 9.09830472e-03 -2.42477836e-05 9.99958609e-01 -1.11293620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90719347 meters 0.06421564497953682 Centerline is valid? [True, True] Translation: X:38.54, Y:-0.12, Z:-1.11 [[ 9.98889225e-01 -4.67401143e-02 -5.97307886e-03 3.85447222e+01] [ 4.67398427e-02 9.98907079e-01 -1.85133298e-04 -1.15003909e-01] [ 5.97520391e-03 -9.42531099e-05 9.99982144e-01 -1.10760192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96719347 meters 0.06779320495031363 Centerline is valid? [True, True] Translation: X:38.61, Y:-0.13, Z:-1.10 [[ 9.97985839e-01 -6.32646205e-02 -4.67479765e-03 3.86061567e+01] [ 6.32646621e-02 9.97996775e-01 -1.39125187e-04 -1.29758649e-01] [ 4.67423468e-03 -1.56904527e-04 9.99989063e-01 -1.10279708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02719347 meters 0.0694195225242197 Centerline is valid? [True, True] Translation: X:38.66, Y:-0.12, Z:-1.11 [[ 9.97661584e-01 -6.81758951e-02 -4.83844703e-03 3.86643562e+01] [ 6.81759883e-02 9.97673300e-01 -1.45860431e-04 -1.21930233e-01] [ 4.83713358e-03 -1.84346559e-04 9.99988284e-01 -1.10882372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08719347 meters 0.07095923624218824 Centerline is valid? [True, True] Translation: X:38.72, Y:-0.10, Z:-1.12 [[ 9.97480763e-01 -7.03153688e-02 -9.37429080e-03 3.87243143e+01] [ 7.03158413e-02 9.97524739e-01 -2.79577044e-04 -1.04855067e-01] [ 9.37074555e-03 -3.80288422e-04 9.99956021e-01 -1.11873937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14719347 meters 0.07062209431944332 Centerline is valid? [True, True] Translation: X:38.78, Y:-0.08, Z:-1.12 [[ 9.97601560e-01 -6.79728346e-02 -1.30698366e-02 3.87825998e+01] [ 6.79734054e-02 9.97687053e-01 -4.01056267e-04 -8.35502465e-02] [ 1.30668677e-02 -4.88306946e-04 9.99914506e-01 -1.12136400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20719347 meters 0.06777310726935537 Centerline is valid? [True, True] Translation: X:38.84, Y:-0.06, Z:-1.12 [[ 9.97995249e-01 -6.19392767e-02 -1.30003392e-02 3.88415328e+01] [ 6.19394026e-02 9.98079834e-01 -3.93340509e-04 -5.87181547e-02] [ 1.29997396e-02 -4.12681284e-04 9.99915415e-01 -1.12076903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26719347 meters 0.06582533142207865 Centerline is valid? [True, True] Translation: X:38.90, Y:-0.02, Z:-1.13 [[ 9.98603188e-01 -5.03293475e-02 -1.60819492e-02 3.88987168e+01] [ 5.03280135e-02 9.98732623e-01 -4.87910718e-04 -2.18850559e-02] [ 1.60861236e-02 -3.22143358e-04 9.99870558e-01 -1.12851918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32719347 meters 0.06455564718752241 Centerline is valid? [True, True] Translation: X:38.96, Y:0.02, Z:-1.13 [[ 9.99131468e-01 -3.74673202e-02 -1.82348565e-02 3.89559315e+01] [ 3.74632631e-02 9.99297846e-01 -5.64157222e-04 1.51536281e-02] [ 1.82431903e-02 -1.19469994e-04 9.99833572e-01 -1.13480079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38719347 meters 0.06416977406633115 Centerline is valid? [True, True] Translation: X:39.01, Y:0.03, Z:-1.13 [[ 9.99235839e-01 -3.38462129e-02 -1.95492389e-02 3.90138292e+01] [ 3.38409163e-02 9.99427051e-01 -6.01778731e-04 3.16583387e-02] [ 1.95584062e-02 -6.02452848e-05 9.99808714e-01 -1.13469384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44719347 meters 0.06339870533121936 Centerline is valid? [True, True] Translation: X:39.07, Y:0.05, Z:-1.13 [[ 9.99336649e-01 -3.18768541e-02 -1.76104705e-02 3.90724865e+01] [ 3.18720610e-02 9.99491804e-01 -5.52839925e-04 5.01075057e-02] [ 1.76191437e-02 -8.80879099e-06 9.99844771e-01 -1.13235749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50719347 meters 0.06330785755114995 Centerline is valid? [True, True] Translation: X:39.13, Y:0.06, Z:-1.13 [[ 9.99450925e-01 -2.79755155e-02 -1.77544019e-02 3.91305321e+01] [ 2.79700804e-02 9.99608607e-01 -5.54413325e-04 6.21538038e-02] [ 1.77629629e-02 5.75168622e-05 9.99842224e-01 -1.13141421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56719347 meters 0.06252661380968515 Centerline is valid? [True, True] Translation: X:39.19, Y:0.07, Z:-1.13 [[ 9.99591633e-01 -2.62268576e-02 -1.13454722e-02 3.91904837e+01] [ 2.62245364e-02 9.99656015e-01 -3.53341161e-04 7.36146567e-02] [ 1.13508366e-02 5.56671204e-05 9.99935576e-01 -1.12820520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62719347 meters 0.062456317250791156 Centerline is valid? [True, True] Translation: X:39.25, Y:0.09, Z:-1.13 [[ 9.99491411e-01 -2.91485175e-02 -1.29337839e-02 3.92489813e+01] [ 2.91456071e-02 9.99575091e-01 -4.13496583e-04 8.76139312e-02] [ 1.29403411e-02 3.63232989e-05 9.99916270e-01 -1.13218871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68719347 meters 0.06257893735743837 Centerline is valid? [True, True] Translation: X:39.31, Y:0.09, Z:-1.13 [[ 9.99369445e-01 -3.31436236e-02 -1.27362777e-02 3.93074359e+01] [ 3.31410521e-02 9.99450599e-01 -4.12964192e-04 8.73682801e-02] [ 1.27429675e-02 -9.38984584e-06 9.99918805e-01 -1.13121516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74719347 meters 0.06370789501850915 Centerline is valid? [True, True] Translation: X:39.37, Y:0.09, Z:-1.14 [[ 9.99251193e-01 -3.51435353e-02 -1.61859381e-02 3.93657641e+01] [ 3.51397771e-02 9.99382274e-01 -5.16619828e-04 9.27733629e-02] [ 1.61940955e-02 -5.25372782e-05 9.99868866e-01 -1.14139265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.80719347 meters 0.063784751938393 Centerline is valid? [True, True] Translation: X:39.43, Y:0.10, Z:-1.14 [[ 9.99159438e-01 -3.57079071e-02 -2.01336484e-02 3.94254892e+01] [ 3.57022076e-02 9.99362266e-01 -6.42569814e-04 9.85553620e-02] [ 2.01437533e-02 -7.67860025e-05 9.99797091e-01 -1.14376656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.867193470000004 meters 0.06356128004988812 Centerline is valid? [True, True] Translation: X:39.48, Y:0.10, Z:-1.14 [[ 9.99279446e-01 -3.17913050e-02 -2.07340574e-02 3.94841190e+01] [ 3.17841626e-02 9.99494529e-01 -6.74011925e-04 1.01543113e-01] [ 2.07450047e-02 1.45116105e-05 9.99784799e-01 -1.14449009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92719347 meters 0.06456068203760365 Centerline is valid? [True, True] Translation: X:39.54, Y:0.12, Z:-1.15 [[ 9.99571154e-01 -1.89935328e-02 -2.22879738e-02 3.95424622e+01] [ 1.89822055e-02 9.99819563e-01 -7.19698937e-04 1.17683123e-01] [ 2.22976218e-02 2.96315398e-04 9.99751333e-01 -1.14772095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98719347 meters 0.06748838527543044 Centerline is valid? [True, True] Translation: X:39.60, Y:0.14, Z:-1.15 [[ 9.99716985e-01 -4.98847799e-03 -2.32608169e-02 3.96024005e+01] [ 4.97238105e-03 9.99987357e-01 -7.49807360e-04 1.37306198e-01] [ 2.32642632e-02 6.33933508e-04 9.99729149e-01 -1.15172197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04719347 meters 0.06696367807408175 Centerline is valid? [True, True] Translation: X:39.66, Y:0.13, Z:-1.15 [[ 9.99655225e-01 -2.13856679e-03 -2.61697701e-02 3.96625326e+01] [ 2.11719032e-03 9.99997402e-01 -8.44519323e-04 1.29999368e-01] [ 2.61715082e-02 7.88821770e-04 9.99657156e-01 -1.15000345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10719347 meters 0.06489318112617261 Centerline is valid? [True, True] Translation: X:39.72, Y:0.12, Z:-1.15 [[ 9.99658947e-01 -1.05863909e-02 -2.38729660e-02 3.97236735e+01] [ 1.05710124e-02 9.99943829e-01 -7.70288697e-04 1.18967798e-01] [ 2.38797796e-02 5.17664568e-04 9.99714703e-01 -1.14987309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16719347 meters 0.06320678571748 Centerline is valid? [True, True] Translation: X:39.78, Y:0.10, Z:-1.15 [[ 9.99539770e-01 -2.20388001e-02 -2.08456119e-02 3.97835705e+01] [ 2.20295433e-02 9.99757093e-01 -6.73625027e-04 1.00865055e-01] [ 2.08553942e-02 2.14095695e-04 9.99782480e-01 -1.14892134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22719347 meters 0.063048047815234 Centerline is valid? [True, True] Translation: X:39.84, Y:0.09, Z:-1.15 [[ 9.99290502e-01 -2.98046195e-02 -2.30255612e-02 3.98428625e+01] [ 2.97950677e-02 9.99555741e-01 -7.57868292e-04 9.31471946e-02] [ 2.30379198e-02 7.12824323e-05 9.99734589e-01 -1.15099265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28719347 meters 0.06481575132490773 Centerline is valid? [True, True] Translation: X:39.90, Y:0.09, Z:-1.16 [[ 9.98922616e-01 -3.76085091e-02 -2.71883722e-02 3.99019867e+01] [ 3.75982575e-02 9.99292541e-01 -8.88352156e-04 8.75549248e-02] [ 2.72025472e-02 -1.34840362e-04 9.99629933e-01 -1.16015082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34719347 meters 0.06597197282177668 Centerline is valid? [True, True] Translation: X:39.96, Y:0.08, Z:-1.15 [[ 9.98347428e-01 -5.11261594e-02 -2.62398166e-02 3.99612441e+01] [ 5.11208995e-02 9.98692092e-01 -8.71673894e-04 8.24972599e-02] [ 2.62500626e-02 -4.71169633e-04 9.99655297e-01 -1.15483251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40719347 meters 0.06724555706813062 Centerline is valid? [True, True] Translation: X:40.02, Y:0.08, Z:-1.15 [[ 9.98019122e-01 -6.06070537e-02 -1.68705925e-02 4.00216387e+01] [ 6.06062968e-02 9.98161594e-01 -5.56596658e-04 7.85618875e-02] [ 1.68733112e-02 -4.66970031e-04 9.99857527e-01 -1.14860725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46719347 meters 0.07165621100512304 Centerline is valid? [True, True] Translation: X:40.08, Y:0.08, Z:-1.15 [[ 9.97177909e-01 -7.33354749e-02 -1.60663286e-02 4.00816922e+01] [ 7.33364429e-02 9.97307117e-01 -5.29697571e-04 7.94284131e-02] [ 1.60619095e-02 -6.50044675e-04 9.99870788e-01 -1.15059832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52719347 meters 0.07456421387979069 Centerline is valid? [True, True] Translation: X:40.14, Y:0.09, Z:-1.15 [[ 9.96158137e-01 -8.51869012e-02 -2.03016524e-02 4.01419591e+01] [ 8.51908996e-02 9.96364423e-01 -6.69392932e-04 8.77738232e-02] [ 2.02848677e-02 -1.06269481e-03 9.99793676e-01 -1.15338419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58719347 meters 0.08017829959489575 Centerline is valid? [True, True] Translation: X:40.20, Y:0.09, Z:-1.16 [[ 9.95629866e-01 -9.13387332e-02 -1.94526599e-02 4.02009502e+01] [ 9.13435537e-02 9.95819232e-01 -6.42431879e-04 8.98352539e-02] [ 1.94300117e-02 -1.13725072e-03 9.99810573e-01 -1.16052968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64719347 meters 0.07958678934853837 Centerline is valid? [True, True] Translation: X:40.26, Y:0.11, Z:-1.16 [[ 9.95293371e-01 -9.25988797e-02 -2.85753802e-02 4.02602813e+01] [ 9.26098095e-02 9.95702030e-01 -9.43571726e-04 1.11562870e-01] [ 2.85399377e-02 -1.70722983e-03 9.99591195e-01 -1.16495708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70719347 meters 0.07946309035676594 Centerline is valid? [True, True] Translation: X:40.32, Y:0.14, Z:-1.17 [[ 9.95746205e-01 -8.81814180e-02 -2.67120236e-02 4.03186407e+01] [ 8.81893512e-02 9.96103337e-01 -8.83233168e-04 1.41488919e-01] [ 2.66858206e-02 -1.47623996e-03 9.99642780e-01 -1.17025970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76719347 meters 0.07470436877993654 Centerline is valid? [True, True] Translation: X:40.38, Y:0.17, Z:-1.16 [[ 9.96239193e-01 -8.35378247e-02 -2.29978681e-02 4.03781786e+01] [ 8.35424594e-02 9.96503928e-01 -7.60859119e-04 1.72006469e-01] [ 2.29810264e-02 -1.16330078e-03 9.99735225e-01 -1.16375200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82719347 meters 0.07191710444643236 Centerline is valid? [True, True] Translation: X:40.44, Y:0.21, Z:-1.16 [[ 9.96935607e-01 -7.65588681e-02 -1.60665929e-02 4.04364279e+01] [ 7.65602205e-02 9.97064817e-01 -5.31784689e-04 2.07637329e-01] [ 1.60601473e-02 -6.99906802e-04 9.99870783e-01 -1.16129165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88719347 meters 0.06835924383732303 Centerline is valid? [True, True] Translation: X:40.50, Y:0.24, Z:-1.16 [[ 9.97477257e-01 -6.99501291e-02 -1.20872509e-02 4.04957583e+01] [ 6.99503913e-02 9.97550390e-01 -4.01600724e-04 2.40822338e-01] [ 1.20857338e-02 -4.44920338e-04 9.99926866e-01 -1.15908255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94719347 meters 0.0637330233049229 Centerline is valid? [True, True] Translation: X:40.55, Y:0.29, Z:-1.16 [[ 9.98443920e-01 -5.26327663e-02 -1.84263784e-02 4.05539521e+01] [ 5.26304431e-02 9.98613871e-01 -6.11329464e-04 2.94296496e-01] [ 1.84330130e-02 -3.59410273e-04 9.99830033e-01 -1.16163918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00719347 meters 0.06307066817820683 Centerline is valid? [True, True] Translation: X:40.61, Y:0.33, Z:-1.17 [[ 9.98862536e-01 -4.12561051e-02 -2.39074905e-02 4.06112757e+01] [ 4.12485903e-02 9.99148588e-01 -8.07599702e-04 3.26415321e-01] [ 2.39204538e-02 -1.79469193e-04 9.99713849e-01 -1.16679822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06719347 meters 0.06260746105464118 Centerline is valid? [True, True] Translation: X:40.67, Y:0.34, Z:-1.17 [[ 9.99071796e-01 -3.68619730e-02 -2.22876974e-02 4.06693122e+01] [ 3.68544123e-02 9.99320364e-01 -7.50026502e-04 3.44131150e-01] [ 2.23001973e-02 -7.20696652e-05 9.99751317e-01 -1.16576650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12719347 meters 0.06344768434496957 Centerline is valid? [True, True] Translation: X:40.73, Y:0.37, Z:-1.17 [[ 9.99461748e-01 -2.42276035e-02 -2.21187361e-02 4.07274986e+01] [ 2.42167870e-02 9.99706444e-01 -7.56782462e-04 3.70429951e-01] [ 2.21305781e-02 2.20730400e-04 9.99755064e-01 -1.16550024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.187193470000004 meters 0.06434198496342813 Centerline is valid? [True, True] Translation: X:40.79, Y:0.38, Z:-1.17 [[ 9.99578042e-01 -1.75033368e-02 -2.31812583e-02 4.07865453e+01] [ 1.74897581e-02 9.99846732e-01 -7.88392041e-04 3.78595100e-01] [ 2.31915048e-02 3.82624773e-04 9.99730968e-01 -1.16686521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24719347 meters 0.06560579534592936 Centerline is valid? [True, True] Translation: X:40.84, Y:0.39, Z:-1.17 [[ 9.99724551e-01 -9.79005320e-03 -2.13301864e-02 4.08446511e+01] [ 9.77666248e-03 9.99951939e-01 -7.31975568e-04 3.85551332e-01] [ 2.13363273e-02 5.23235913e-04 9.99772218e-01 -1.16829432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30719347 meters 0.06725542220117144 Centerline is valid? [True, True] Translation: X:40.90, Y:0.39, Z:-1.18 [[ 9.99649746e-01 -9.31616759e-03 -2.47708545e-02 4.09024747e+01] [ 9.29795286e-03 9.99956411e-01 -8.50406863e-04 3.86614608e-01] [ 2.47776973e-02 6.19790767e-04 9.99692794e-01 -1.17655431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.367193470000004 meters 0.06545034637657988 Centerline is valid? [True, True] Translation: X:40.96, Y:0.37, Z:-1.18 [[ 9.99319651e-01 -2.34043418e-02 -2.85038943e-02 4.09616570e+01] [ 2.33859014e-02 9.99726032e-01 -9.80179712e-04 3.65176467e-01] [ 2.85190256e-02 3.12923587e-04 9.99593201e-01 -1.18286691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42719347 meters 0.06357170721784641 Centerline is valid? [True, True] Translation: X:41.02, Y:0.34, Z:-1.18 [[ 9.98774656e-01 -4.23039428e-02 -2.56819649e-02 4.10222511e+01] [ 4.22952074e-02 9.99104767e-01 -8.83487249e-04 3.40296825e-01] [ 2.56963485e-02 -2.03819358e-04 9.99669774e-01 -1.17753219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48719347 meters 0.06445402535010866 Centerline is valid? [True, True] Translation: X:41.08, Y:0.33, Z:-1.18 [[ 9.98388347e-01 -5.04659947e-02 -2.59594214e-02 4.10813071e+01] [ 5.04597694e-02 9.98725693e-01 -8.95234153e-04 3.32143950e-01] [ 2.59715201e-02 -4.16115074e-04 9.99662597e-01 -1.17958872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54719347 meters 0.0649227417596515 Centerline is valid? [True, True] Translation: X:41.14, Y:0.33, Z:-1.18 [[ 9.98022857e-01 -5.81046900e-02 -2.39629399e-02 4.11406178e+01] [ 5.81012597e-02 9.98310342e-01 -8.39950813e-04 3.26860756e-01] [ 2.39712558e-02 -5.53986886e-04 9.99712495e-01 -1.17794380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60719347 meters 0.06889452212252414 Centerline is valid? [True, True] Translation: X:41.20, Y:0.32, Z:-1.18 [[ 9.97422467e-01 -6.88073131e-02 -2.03464102e-02 4.11989644e+01] [ 6.88071144e-02 9.97629729e-01 -7.10661014e-04 3.16522664e-01] [ 2.03470824e-02 -6.91148512e-04 9.99792738e-01 -1.18206433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66719347 meters 0.07146127125732957 Centerline is valid? [True, True] Translation: X:41.26, Y:0.31, Z:-1.18 [[ 9.96994441e-01 -7.49671355e-02 -1.95451401e-02 4.12596398e+01] [ 7.49681729e-02 9.97185695e-01 -6.80651872e-04 3.11794017e-01] [ 1.95411606e-02 -7.86657308e-04 9.99808744e-01 -1.18396590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72719347 meters 0.07227214908179276 Centerline is valid? [True, True] Translation: X:41.32, Y:0.31, Z:-1.18 [[ 9.96418001e-01 -8.23994877e-02 -1.90129483e-02 4.13202081e+01] [ 8.24018123e-02 9.96598968e-01 -6.62460868e-04 3.13841977e-01] [ 1.90028711e-02 -9.06613463e-04 9.99819018e-01 -1.18128586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78719347 meters 0.07495219527577598 Centerline is valid? [True, True] Translation: X:41.38, Y:0.32, Z:-1.18 [[ 9.96080640e-01 -8.68525537e-02 -1.67329687e-02 4.13790209e+01] [ 8.68549409e-02 9.96220797e-01 -5.85381954e-04 3.17937793e-01] [ 1.67205734e-02 -8.70253379e-04 9.99859823e-01 -1.18358866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84719347 meters 0.07260916395872381 Centerline is valid? [True, True] Translation: X:41.44, Y:0.33, Z:-1.18 [[ 9.96206440e-01 -8.56832500e-02 -1.52023161e-02 4.14372567e+01] [ 8.56850543e-02 9.96322130e-01 -5.33816460e-04 3.34721810e-01] [ 1.51921431e-02 -7.70819887e-04 9.99884296e-01 -1.18127122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90719347 meters 0.07027207859915864 Centerline is valid? [True, True] Translation: X:41.50, Y:0.35, Z:-1.18 [[ 9.96506863e-01 -8.22690851e-02 -1.43481916e-02 4.14969319e+01] [ 8.22703549e-02 9.96609922e-01 -5.02724329e-04 3.48036864e-01] [ 1.43409088e-02 -6.79462573e-04 9.99896933e-01 -1.18055253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96719347 meters 0.06494930824885754 Centerline is valid? [True, True] Translation: X:41.56, Y:0.39, Z:-1.18 [[ 9.97778105e-01 -6.52971106e-02 -1.32340633e-02 4.15562790e+01] [ 6.52967025e-02 9.97865786e-01 -4.63387757e-04 3.87658182e-01] [ 1.32360769e-02 -4.01782539e-04 9.99912319e-01 -1.18135928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02719347 meters 0.06202391638522676 Centerline is valid? [True, True] Translation: X:41.62, Y:0.42, Z:-1.18 [[ 9.98844347e-01 -4.69245542e-02 -1.03950261e-02 4.16151325e+01] [ 4.69233029e-02 9.98898429e-01 -3.64372101e-04 4.24447573e-01] [ 1.04006733e-02 -1.23817947e-04 9.99945904e-01 -1.18467851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08719347 meters 0.061300774860770624 Centerline is valid? [True, True] Translation: X:41.67, Y:0.44, Z:-1.19 [[ 9.99270632e-01 -3.72412761e-02 -8.44345918e-03 4.16747072e+01] [ 3.72401009e-02 9.99306303e-01 -2.96417382e-04 4.43964923e-01] [ 8.44864094e-03 -1.82340873e-05 9.99964309e-01 -1.18513906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14719347 meters 0.06250814094042118 Centerline is valid? [True, True] Translation: X:41.73, Y:0.47, Z:-1.19 [[ 9.99638987e-01 -2.44812843e-02 -1.10708248e-02 4.17330964e+01] [ 2.44784803e-02 9.99700282e-01 -3.88724317e-04 4.66185877e-01] [ 1.10770232e-02 1.17587014e-04 9.99938641e-01 -1.19062812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20719347 meters 0.06358476071012682 Centerline is valid? [True, True] Translation: X:41.79, Y:0.47, Z:-1.19 [[ 9.99778473e-01 -1.79448041e-02 -1.09994628e-02 4.17926245e+01] [ 1.79416292e-02 9.99838961e-01 -3.87263142e-04 4.74116000e-01] [ 1.10046408e-02 1.89829070e-04 9.99939429e-01 -1.19352110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26719347 meters 0.06529085793986043 Centerline is valid? [True, True] Translation: X:41.85, Y:0.48, Z:-1.19 [[ 9.99937409e-01 -9.58406373e-03 -5.77262642e-03 4.18512250e+01] [ 9.58304189e-03 9.99954061e-01 -2.04648576e-04 4.78033738e-01] [ 5.77432259e-03 1.49316447e-04 9.99983317e-01 -1.19389242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32719347 meters 0.06733278701119125 Centerline is valid? [True, True] Translation: X:41.91, Y:0.48, Z:-1.19 [[ 9.99990834e-01 -2.45233888e-04 -4.27462167e-03 4.19118872e+01] [ 2.44593383e-04 9.99999959e-01 -1.50361014e-04 4.77968844e-01] [ 4.27465836e-03 1.49314091e-04 9.99990852e-01 -1.19396359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38719347 meters 0.06806880520981491 Centerline is valid? [True, True] Translation: X:41.97, Y:0.47, Z:-1.20 [[ 9.99995111e-01 2.02796961e-03 -2.38025107e-03 4.19712948e+01] [-2.02817894e-03 9.99997940e-01 -8.55329629e-05 4.72015891e-01] [ 2.38007271e-03 9.03601198e-05 9.99997164e-01 -1.19564907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44719347 meters 0.06881521765894323 Centerline is valid? [True, True] Translation: X:42.03, Y:0.45, Z:-1.20 [[ 9.99995911e-01 2.69891549e-03 -9.45819766e-04 4.20303588e+01] [-2.69894981e-03 9.99996357e-01 -3.50121096e-05 4.54842194e-01] [ 9.45721826e-04 3.75646865e-05 9.99999552e-01 -1.19818572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50719347 meters 0.0669734360668416 Centerline is valid? [True, True] Translation: X:42.09, Y:0.43, Z:-1.20 [[ 9.99999026e-01 6.13934311e-04 1.25366186e-03 4.20912178e+01] [-6.13989002e-04 9.99999811e-01 4.32401810e-05 4.30632736e-01] [-1.25363508e-03 -4.40098735e-05 9.99999213e-01 -1.19665104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56719347 meters 0.06882126984347127 Centerline is valid? [True, True] Translation: X:42.15, Y:0.42, Z:-1.20 [[ 9.99997589e-01 2.18796949e-03 1.86136016e-04 4.21516978e+01] [-2.18797085e-03 9.99997606e-01 7.10538462e-06 4.22541912e-01] [-1.86120024e-04 -7.51262767e-06 9.99999983e-01 -1.20101059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62719347 meters 0.07109260536097536 Centerline is valid? [True, True] Translation: X:42.21, Y:0.40, Z:-1.21 [[ 9.99936814e-01 1.07106746e-02 -3.41301746e-03 4.22127013e+01] [-1.07111483e-02 9.99942627e-01 -1.20563530e-04 4.04339536e-01] [ 3.41153033e-03 1.57113248e-04 9.99994168e-01 -1.20633368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.687193470000004 meters 0.07140332809401095 Centerline is valid? [True, True] Translation: X:42.27, Y:0.39, Z:-1.21 [[ 9.99915664e-01 1.18351999e-02 -5.34715136e-03 4.22726854e+01] [-1.18363859e-02 9.99929929e-01 -1.90211854e-04 3.87801861e-01] [ 5.34452549e-03 2.53486759e-04 9.99985686e-01 -1.21081663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74719347 meters 0.07087619643051717 Centerline is valid? [True, True] Translation: X:42.33, Y:0.37, Z:-1.21 [[ 9.99943910e-01 8.32491500e-03 -6.54776198e-03 4.23331887e+01] [-8.32661848e-03 9.99965306e-01 -2.32943858e-04 3.66164891e-01] [ 6.54559557e-03 2.87451508e-04 9.99978536e-01 -1.21424366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80719347 meters 0.06856627485238273 Centerline is valid? [True, True] Translation: X:42.39, Y:0.34, Z:-1.21 [[ 9.99954437e-01 5.48463099e-03 -7.81298804e-03 4.23933444e+01] [-5.48697709e-03 9.99984908e-01 -2.78878005e-04 3.42401893e-01] [ 7.81134058e-03 3.21734985e-04 9.99969439e-01 -1.21401800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.867193470000004 meters 0.0667176827436611 Centerline is valid? [True, True] Translation: X:42.45, Y:0.31, Z:-1.21 [[ 9.99967342e-01 8.70221269e-04 -8.03472152e-03 4.24542018e+01] [-8.72551991e-04 9.99999578e-01 -2.86580365e-04 3.09208965e-01] [ 8.03446874e-03 2.93581718e-04 9.99967680e-01 -1.21392854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92719347 meters 0.06628276412475186 Centerline is valid? [True, True] Translation: X:42.51, Y:0.29, Z:-1.22 [[ 9.99921367e-01 -8.20765704e-03 -9.48120235e-03 4.25137342e+01] [ 8.20481735e-03 9.99966283e-01 -3.38365910e-04 2.87686420e-01] [ 9.48365986e-03 2.60547770e-04 9.99954995e-01 -1.22074519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98719347 meters 0.06412114603328674 Centerline is valid? [True, True] Translation: X:42.57, Y:0.27, Z:-1.22 [[ 9.99860287e-01 -1.42273732e-02 -8.77427112e-03 4.25746052e+01] [ 1.42251752e-02 9.99898768e-01 -3.12864917e-04 2.66068725e-01] [ 8.77783413e-03 1.88005662e-04 9.99961456e-01 -1.21919214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04719347 meters 0.06346358979849305 Centerline is valid? [True, True] Translation: X:42.63, Y:0.25, Z:-1.22 [[ 9.99799002e-01 -1.81766739e-02 -8.45954778e-03 4.26333856e+01] [ 1.81747468e-02 9.99834779e-01 -3.04623578e-04 2.48484910e-01] [ 8.46368713e-03 1.50812210e-04 9.99964171e-01 -1.21872115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10719347 meters 0.06340493177286219 Centerline is valid? [True, True] Translation: X:42.69, Y:0.24, Z:-1.22 [[ 9.99739462e-01 -1.86646168e-02 -1.31392301e-02 4.26932664e+01] [ 1.86600410e-02 9.99825775e-01 -4.70773437e-04 2.43376211e-01] [ 1.31457277e-02 2.25472211e-04 9.99913566e-01 -1.22137406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16719347 meters 0.06373900650985034 Centerline is valid? [True, True] Translation: X:42.75, Y:0.24, Z:-1.22 [[ 9.99724821e-01 -1.78257910e-02 -1.52487367e-02 4.27516025e+01] [ 1.78194406e-02 9.99841069e-01 -5.52237138e-04 2.40695627e-01] [ 1.52561573e-02 2.80361216e-04 9.99883579e-01 -1.22319977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22719347 meters 0.06325750499990808 Centerline is valid? [True, True] Translation: X:42.81, Y:0.23, Z:-1.22 [[ 9.99789758e-01 -1.73475600e-02 -1.09316668e-02 4.28118785e+01] [ 1.73442853e-02 9.99849499e-01 -3.94294400e-04 2.32026299e-01] [ 1.09368617e-02 2.04609554e-04 9.99940170e-01 -1.21934857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28719347 meters 0.06372910831786058 Centerline is valid? [True, True] Translation: X:42.87, Y:0.23, Z:-1.22 [[ 9.99846799e-01 -1.48850538e-02 -9.20938971e-03 4.28697760e+01] [ 1.48825276e-02 9.99889190e-01 -3.42783083e-04 2.34671355e-01] [ 9.21347156e-03 2.05671572e-04 9.99957534e-01 -1.22072252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34719347 meters 0.06390092746046803 Centerline is valid? [True, True] Translation: X:42.93, Y:0.23, Z:-1.22 [[ 9.99880102e-01 -1.17117640e-02 -1.01299543e-02 4.29291904e+01] [ 1.17086067e-02 9.99931383e-01 -3.70931581e-04 2.34530408e-01] [ 1.01336035e-02 2.52279457e-04 9.99948622e-01 -1.22084426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40719347 meters 0.06574602050147646 Centerline is valid? [True, True] Translation: X:42.99, Y:0.23, Z:-1.22 [[ 9.99920144e-01 -6.99554016e-03 -1.05246474e-02 4.29877162e+01] [ 6.99187077e-03 9.99975482e-01 -3.85402105e-04 2.32610642e-01] [ 1.05270854e-02 3.11784354e-04 9.99944540e-01 -1.22414616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46719347 meters 0.06545795673172602 Centerline is valid? [True, True] Translation: X:43.05, Y:0.23, Z:-1.23 [[ 9.99862921e-01 -6.88610590e-03 -1.50572787e-02 4.30474196e+01] [ 6.87859027e-03 9.99976190e-01 -5.50868951e-04 2.29500017e-01] [ 1.50607135e-02 4.47220588e-04 9.99886481e-01 -1.22744276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52719347 meters 0.0648488234466575 Centerline is valid? [True, True] Translation: X:43.11, Y:0.22, Z:-1.23 [[ 9.99833658e-01 -1.07861123e-02 -1.47076889e-02 4.31064677e+01] [ 1.07793283e-02 9.99941755e-01 -5.40457035e-04 2.22617217e-01] [ 1.47126617e-02 3.81828128e-04 9.99891690e-01 -1.22956808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58719347 meters 0.06417526038471805 Centerline is valid? [True, True] Translation: X:43.17, Y:0.21, Z:-1.23 [[ 9.99680840e-01 -1.73313401e-02 -1.83804917e-02 4.31655253e+01] [ 1.73218298e-02 9.99849737e-01 -6.76504839e-04 2.11863255e-01] [ 1.83894546e-02 3.57905177e-04 9.99830836e-01 -1.23254674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64719347 meters 0.06466267722264618 Centerline is valid? [True, True] Translation: X:43.22, Y:0.20, Z:-1.24 [[ 9.99230004e-01 -3.20414480e-02 -2.26438525e-02 4.32232748e+01] [ 3.20307331e-02 9.99486535e-01 -8.35824265e-04 1.97296305e-01] [ 2.26590067e-02 1.09881489e-04 9.99743246e-01 -1.24405426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70719347 meters 0.06417622030130687 Centerline is valid? [True, True] Translation: X:43.28, Y:0.19, Z:-1.24 [[ 9.98851671e-01 -4.34312057e-02 -2.02254504e-02 4.32823808e+01] [ 4.34249624e-02 9.99056411e-01 -7.47979261e-04 1.86332019e-01] [ 2.02388515e-02 -1.31169087e-04 9.99795165e-01 -1.23814899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76719347 meters 0.06438526008966905 Centerline is valid? [True, True] Translation: X:43.34, Y:0.19, Z:-1.24 [[ 9.98734258e-01 -4.57362461e-02 -2.09302845e-02 4.33409064e+01] [ 4.57298288e-02 9.98953535e-01 -7.85370196e-04 1.85711453e-01] [ 2.09443016e-02 -1.72762208e-04 9.99780629e-01 -1.23914698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82719347 meters 0.0644587268550611 Centerline is valid? [True, True] Translation: X:43.40, Y:0.19, Z:-1.24 [[ 9.98610993e-01 -4.85914826e-02 -2.03703592e-02 4.33988738e+01] [ 4.85858283e-02 9.98818712e-01 -7.72681107e-04 1.86327669e-01] [ 2.03838417e-02 -2.18102928e-04 9.99792204e-01 -1.23804758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88719347 meters 0.06388950841958559 Centerline is valid? [True, True] Translation: X:43.46, Y:0.20, Z:-1.24 [[ 9.98651948e-01 -4.88695332e-02 -1.74944428e-02 4.34572140e+01] [ 4.88654670e-02 9.98805151e-01 -6.60077228e-04 1.96691970e-01] [ 1.75057973e-02 -1.95686709e-04 9.99846743e-01 -1.23591777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94719347 meters 0.06357238330296584 Centerline is valid? [True, True] Translation: X:43.52, Y:0.20, Z:-1.23 [[ 9.98577796e-01 -5.00100756e-02 -1.84764160e-02 4.35158873e+01] [ 5.00055247e-02 9.98748690e-01 -7.08515462e-04 2.02270590e-01] [ 1.84887292e-02 -2.16415071e-04 9.99829045e-01 -1.23404162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00719347 meters 0.0633518215078045 Centerline is valid? [True, True] Translation: X:43.57, Y:0.21, Z:-1.23 [[ 9.98548735e-01 -5.14773033e-02 -1.58275558e-02 4.35744310e+01] [ 5.14740520e-02 9.98674144e-01 -6.13001409e-04 2.06060274e-01] [ 1.58381264e-02 -2.02596650e-04 9.99874548e-01 -1.23125394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06719347 meters 0.06298741405530718 Centerline is valid? [True, True] Translation: X:43.63, Y:0.23, Z:-1.24 [[ 9.98854548e-01 -4.42418334e-02 -1.82278001e-02 4.36327160e+01] [ 4.42362339e-02 9.99020846e-01 -7.10477743e-04 2.26301056e-01] [ 1.82413851e-02 -9.66653042e-05 9.99833607e-01 -1.23684041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12719347 meters 0.06280670880651051 Centerline is valid? [True, True] Translation: X:43.69, Y:0.24, Z:-1.24 [[ 9.99276569e-01 -3.33368437e-02 -1.83028065e-02 4.36902965e+01] [ 3.33292306e-02 9.99444167e-01 -7.20917664e-04 2.43573321e-01] [ 1.83166663e-02 1.10377672e-04 9.99832230e-01 -1.23851896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.187193470000004 meters 0.06663441018338548 Centerline is valid? [True, True] Translation: X:43.75, Y:0.27, Z:-1.24 [[ 9.99663950e-01 -1.06403850e-02 -2.36383004e-02 4.37486513e+01] [ 1.06215669e-02 9.99943165e-01 -9.21501242e-04 2.69840172e-01] [ 2.36467620e-02 6.70115782e-04 9.99720152e-01 -1.24437607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24719347 meters 0.07001655802337656 Centerline is valid? [True, True] Translation: X:43.81, Y:0.28, Z:-1.25 [[ 9.99606740e-01 2.63296652e-03 -2.79183383e-02 4.38082902e+01] [-2.66437180e-03 9.99995859e-01 -1.08775806e-03 2.82945626e-01] [ 2.79153587e-02 1.16171512e-03 9.99609615e-01 -1.24697675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30719347 meters 0.0721401460398794 Centerline is valid? [True, True] Translation: X:43.87, Y:0.29, Z:-1.25 [[ 9.99529442e-01 1.05687275e-02 -2.87957567e-02 4.38689699e+01] [-1.06054192e-02 9.99943132e-01 -1.12177310e-03 2.85916086e-01] [ 2.87822635e-02 1.42663631e-03 9.99584687e-01 -1.24736097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.367193470000004 meters 0.07323878855308173 Centerline is valid? [True, True] Translation: X:43.93, Y:0.27, Z:-1.25 [[ 9.99507887e-01 1.08433901e-02 -2.94347458e-02 4.39277062e+01] [-1.08820996e-02 9.99940121e-01 -1.15521994e-03 2.72345987e-01] [ 2.94204568e-02 1.47496328e-03 9.99566036e-01 -1.25017264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42719347 meters 0.07187254668264281 Centerline is valid? [True, True] Translation: X:43.99, Y:0.26, Z:-1.25 [[ 9.99466196e-01 6.18331907e-03 -3.20794198e-02 4.39871862e+01] [-6.22692366e-03 9.99979819e-01 -1.25954335e-03 2.55396254e-01] [ 3.20709843e-02 1.45862710e-03 9.99484529e-01 -1.25197108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48719347 meters 0.07046221968770633 Centerline is valid? [True, True] Translation: X:44.05, Y:0.24, Z:-1.25 [[ 9.99576135e-01 1.66257897e-03 -2.90652192e-02 4.40472197e+01] [-1.69644825e-03 9.99997910e-01 -1.14066513e-03 2.43995450e-01] [ 2.90632621e-02 1.18948928e-03 9.99576866e-01 -1.25192567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54719347 meters 0.06685692293460387 Centerline is valid? [True, True] Translation: X:44.11, Y:0.22, Z:-1.25 [[ 9.99738840e-01 -8.18730504e-03 -2.13358630e-02 4.41089684e+01] [ 8.17130142e-03 9.99966264e-01 -8.37155142e-04 2.18806152e-01] [ 2.13419973e-02 6.62594744e-04 9.99772014e-01 -1.24674360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60719347 meters 0.06470815107123049 Centerline is valid? [True, True] Translation: X:44.17, Y:0.20, Z:-1.24 [[ 9.99757464e-01 -1.49172834e-02 -1.62014582e-02 4.41704831e+01] [ 1.49089342e-02 9.99888653e-01 -6.36002105e-04 1.96089824e-01] [ 1.62091416e-02 3.94301377e-04 9.99868545e-01 -1.24279987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66719347 meters 0.06448352411612762 Centerline is valid? [True, True] Translation: X:44.23, Y:0.19, Z:-1.24 [[ 9.99735080e-01 -1.67743671e-02 -1.57603906e-02 4.42298915e+01] [ 1.67665265e-02 9.99859234e-01 -6.29495344e-04 1.85500220e-01] [ 1.57687314e-02 3.65081572e-04 9.99875599e-01 -1.24412582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72719347 meters 0.06442758389469086 Centerline is valid? [True, True] Translation: X:44.29, Y:0.18, Z:-1.25 [[ 9.99665738e-01 -1.84919662e-02 -1.80682162e-02 4.42888560e+01] [ 1.84818684e-02 9.99828932e-01 -7.25703053e-04 1.76461253e-01] [ 1.80785450e-02 3.91526083e-04 9.99836493e-01 -1.24790908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78719347 meters 0.06326820253635493 Centerline is valid? [True, True] Translation: X:44.35, Y:0.16, Z:-1.25 [[ 9.99485531e-01 -2.25305880e-02 -2.28264348e-02 4.43493353e+01] [ 2.25156692e-02 9.99746076e-01 -9.10408541e-04 1.63126049e-01] [ 2.28411506e-02 3.95987709e-04 9.99739028e-01 -1.24815169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84719347 meters 0.06262669168289621 Centerline is valid? [True, True] Translation: X:44.41, Y:0.15, Z:-1.24 [[ 9.99313241e-01 -2.96891873e-02 -2.21720304e-02 4.44094750e+01] [ 2.96766026e-02 9.99559151e-01 -8.96488133e-04 1.47433669e-01] [ 2.21888718e-02 2.37881929e-04 9.99753768e-01 -1.24429960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90719347 meters 0.06229667716192019 Centerline is valid? [True, True] Translation: X:44.47, Y:0.14, Z:-1.24 [[ 9.99227581e-01 -3.32638926e-02 -2.09225908e-02 4.44689662e+01] [ 3.32533207e-02 9.99446591e-01 -8.53088049e-04 1.41305758e-01] [ 2.09393891e-02 1.56683486e-04 9.99780735e-01 -1.24266249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96719347 meters 0.062351781708196906 Centerline is valid? [True, True] Translation: X:44.53, Y:0.15, Z:-1.25 [[ 9.99348884e-01 -3.02809312e-02 -1.96181858e-02 4.45278320e+01] [ 3.02709370e-02 9.99541405e-01 -8.06262906e-04 1.49483491e-01] [ 1.96336034e-02 2.11877070e-04 9.99807220e-01 -1.24660656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02719347 meters 0.06384425443393725 Centerline is valid? [True, True] Translation: X:44.59, Y:0.15, Z:-1.26 [[ 9.99354047e-01 -2.72892031e-02 -2.33835064e-02 4.45865390e+01] [ 2.72743739e-02 9.99627531e-01 -9.52924764e-04 1.52918071e-01] [ 2.34008013e-02 3.14538723e-04 9.99726114e-01 -1.25689398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08719347 meters 0.06524227174122954 Centerline is valid? [True, True] Translation: X:44.64, Y:0.15, Z:-1.27 [[ 9.99136786e-01 -3.09042635e-02 -2.77598621e-02 4.46447830e+01] [ 3.08846281e-02 9.99522311e-01 -1.13591118e-03 1.49072281e-01] [ 2.77817060e-02 2.77577628e-04 9.99613975e-01 -1.26761386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14719347 meters 0.0637741991180181 Centerline is valid? [True, True] Translation: X:44.71, Y:0.14, Z:-1.26 [[ 9.98980744e-01 -3.78812489e-02 -2.45455344e-02 4.47050404e+01] [ 3.78680050e-02 9.99282245e-01 -1.00432183e-03 1.41570954e-01] [ 2.45659617e-02 7.38077510e-05 9.99698208e-01 -1.26075475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20719347 meters 0.06254711912158283 Centerline is valid? [True, True] Translation: X:44.77, Y:0.14, Z:-1.25 [[ 9.99043126e-01 -3.87980455e-02 -2.01876994e-02 4.47656687e+01] [ 3.87892715e-02 9.99247071e-01 -8.26161931e-04 1.41531763e-01] [ 2.02045530e-02 4.23052446e-05 9.99795866e-01 -1.25216472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26719347 meters 0.06260248357951669 Centerline is valid? [True, True] Translation: X:44.82, Y:0.15, Z:-1.25 [[ 9.99138264e-01 -3.64982751e-02 -1.97637532e-02 4.48231593e+01] [ 3.64891278e-02 9.99333711e-01 -8.23371120e-04 1.46215462e-01] [ 1.97806364e-02 1.01499476e-04 9.99804339e-01 -1.25260129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32719347 meters 0.06257906051121918 Centerline is valid? [True, True] Translation: X:44.88, Y:0.15, Z:-1.25 [[ 9.99284792e-01 -3.26980428e-02 -1.89931999e-02 4.48810675e+01] [ 3.26887782e-02 9.99465260e-01 -7.98127325e-04 1.51118614e-01] [ 1.90091407e-02 1.76692000e-04 9.99819294e-01 -1.25210198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38719347 meters 0.06241496902460625 Centerline is valid? [True, True] Translation: X:44.94, Y:0.15, Z:-1.25 [[ 9.99212393e-01 -3.50678691e-02 -1.85698083e-02 4.49395419e+01] [ 3.50593333e-02 9.99384924e-01 -7.85111089e-04 1.51596428e-01] [ 1.85859186e-02 1.33447631e-04 9.99827258e-01 -1.25356650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44719347 meters 0.06260300664597492 Centerline is valid? [True, True] Translation: X:45.00, Y:0.15, Z:-1.26 [[ 9.98865029e-01 -4.37510444e-02 -1.88281464e-02 4.49973508e+01] [ 4.37436734e-02 9.99042464e-01 -8.03353740e-04 1.47286434e-01] [ 1.88452654e-02 -2.11703290e-05 9.99822412e-01 -1.25735238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.507193470000004 meters 0.06336885115626882 Centerline is valid? [True, True] Translation: X:45.06, Y:0.14, Z:-1.26 [[ 9.98335425e-01 -5.47851154e-02 -1.80269141e-02 4.50564346e+01] [ 5.47800651e-02 9.98498145e-01 -7.74204355e-04 1.41454569e-01] [ 1.80422551e-02 -2.14599892e-04 9.99837202e-01 -1.25640059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56719347 meters 0.06427423322290378 Centerline is valid? [True, True] Translation: X:45.11, Y:0.14, Z:-1.26 [[ 9.98176430e-01 -5.80780357e-02 -1.64546930e-02 4.51142898e+01] [ 5.80743145e-02 9.98312014e-01 -7.04287711e-04 1.40362070e-01] [ 1.64678214e-02 -2.52591626e-04 9.99864364e-01 -1.25844603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62719347 meters 0.06292697332005454 Centerline is valid? [True, True] Translation: X:45.17, Y:0.16, Z:-1.26 [[ 9.98374382e-01 -5.46060512e-02 -1.63331483e-02 4.51724220e+01] [ 5.46017621e-02 9.98507960e-01 -7.08753056e-04 1.56359464e-01] [ 1.63474808e-02 -1.84217783e-04 9.99866354e-01 -1.25594193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.687193470000004 meters 0.06367583895882156 Centerline is valid? [True, True] Translation: X:45.23, Y:0.16, Z:-1.26 [[ 9.98421907e-01 -5.35754783e-02 -1.68333963e-02 4.52301008e+01] [ 5.35708297e-02 9.98563787e-01 -7.27281110e-04 1.63099607e-01] [ 1.68481844e-02 -1.75645613e-04 9.99858044e-01 -1.26469897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74719347 meters 0.06398636034101852 Centerline is valid? [True, True] Translation: X:45.29, Y:0.18, Z:-1.27 [[ 9.98497810e-01 -5.08391541e-02 -2.04328933e-02 4.52888821e+01] [ 5.08317591e-02 9.98706842e-01 -8.81467319e-04 1.81301862e-01] [ 2.04512834e-02 -1.58496723e-04 9.99790838e-01 -1.27167153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80719347 meters 0.06322048558967652 Centerline is valid? [True, True] Translation: X:45.35, Y:0.19, Z:-1.27 [[ 9.98539098e-01 -5.02860602e-02 -1.97732744e-02 4.53471510e+01] [ 5.02787938e-02 9.98734847e-01 -8.64765219e-04 1.89875710e-01] [ 1.97917438e-02 -1.30674506e-04 9.99804116e-01 -1.26829948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.867193470000004 meters 0.0632489191781829 Centerline is valid? [True, True] Translation: X:45.40, Y:0.21, Z:-1.27 [[ 9.98788980e-01 -4.56042751e-02 -1.84613966e-02 4.54043504e+01] [ 4.55971817e-02 9.98959583e-01 -8.05194339e-04 2.09240691e-01] [ 1.84789094e-02 -3.75684250e-05 9.99829250e-01 -1.27486766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92719347 meters 0.06268046147250787 Centerline is valid? [True, True] Translation: X:45.46, Y:0.22, Z:-1.27 [[ 9.98943592e-01 -4.18831172e-02 -1.89077954e-02 4.54626007e+01] [ 4.18748279e-02 9.99122516e-01 -8.34280866e-04 2.24320003e-01] [ 1.89261464e-02 4.16388463e-05 9.99820884e-01 -1.27330424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98719347 meters 0.061341018690140435 Centerline is valid? [True, True] Translation: X:45.52, Y:0.23, Z:-1.26 [[ 9.99120029e-01 -3.96541254e-02 -1.36644490e-02 4.55225715e+01] [ 3.96496273e-02 9.99213464e-01 -6.00036225e-04 2.32307803e-01] [ 1.36774953e-02 5.77178998e-05 9.99906457e-01 -1.26444364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04719347 meters 0.06133986369197143 Centerline is valid? [True, True] Translation: X:45.58, Y:0.24, Z:-1.27 [[ 9.99258369e-01 -3.58108360e-02 -1.41526057e-02 4.55805201e+01] [ 3.58054823e-02 9.99358579e-01 -6.31564673e-04 2.44761793e-01] [ 1.41661448e-02 1.24355411e-04 9.99899647e-01 -1.26703356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10719347 meters 0.06188917709415016 Centerline is valid? [True, True] Translation: X:45.64, Y:0.26, Z:-1.27 [[ 9.99392447e-01 -3.09356823e-02 -1.60536764e-02 4.56400227e+01] [ 3.09282684e-02 9.99521355e-01 -7.09943022e-04 2.55076730e-01] [ 1.60679550e-02 2.12999280e-04 9.99870879e-01 -1.27093446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16719347 meters 0.06177337997449521 Centerline is valid? [True, True] Translation: X:45.70, Y:0.26, Z:-1.27 [[ 9.99471041e-01 -2.97984058e-02 -1.30266153e-02 4.56975569e+01] [ 2.97933881e-02 9.99555911e-01 -5.79116540e-04 2.58953356e-01] [ 1.30380870e-02 1.90703207e-04 9.99914982e-01 -1.27233023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22719347 meters 0.06116960236486538 Centerline is valid? [True, True] Translation: X:45.76, Y:0.26, Z:-1.27 [[ 9.99296215e-01 -3.48922792e-02 -1.37696580e-02 4.57564054e+01] [ 3.48870427e-02 9.99391069e-01 -6.20388206e-04 2.57326033e-01] [ 1.37829200e-02 1.39568939e-04 9.99905001e-01 -1.27490867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28719347 meters 0.061116845066907656 Centerline is valid? [True, True] Translation: X:45.81, Y:0.26, Z:-1.28 [[ 9.99227898e-01 -3.64675009e-02 -1.46194579e-02 4.58143068e+01] [ 3.64618174e-02 9.99334832e-01 -6.55206096e-04 2.59505627e-01] [ 1.46336272e-02 1.21648206e-04 9.99892915e-01 -1.27888256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34719347 meters 0.0602475411498171 Centerline is valid? [True, True] Translation: X:45.87, Y:0.26, Z:-1.28 [[ 9.99016309e-01 -4.06574738e-02 -1.77026435e-02 4.58728579e+01] [ 4.06497668e-02 9.99173140e-01 -7.95117586e-04 2.59068534e-01] [ 1.77203333e-02 7.47271065e-05 9.99842980e-01 -1.27534301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40719347 meters 0.06079392350538665 Centerline is valid? [True, True] Translation: X:45.93, Y:0.26, Z:-1.28 [[ 9.98749658e-01 -4.50451390e-02 -2.16807646e-02 4.59326497e+01] [ 4.50346399e-02 9.98984953e-01 -9.72512919e-04 2.61170455e-01] [ 2.17025646e-02 -5.08848221e-06 9.99764472e-01 -1.28058467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46719347 meters 0.06175107390175228 Centerline is valid? [True, True] Translation: X:45.99, Y:0.25, Z:-1.28 [[ 9.98219421e-01 -5.53218460e-02 -2.23042735e-02 4.59910793e+01] [ 5.53132100e-02 9.98468547e-01 -1.00441112e-03 2.54418808e-01] [ 2.23256814e-02 -2.31098276e-04 9.99750724e-01 -1.28337175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52719347 meters 0.06160324228531226 Centerline is valid? [True, True] Translation: X:46.05, Y:0.25, Z:-1.28 [[ 9.97668092e-01 -6.57831059e-02 -1.81923298e-02 4.60503926e+01] [ 6.57788934e-02 9.97833878e-01 -8.30486380e-04 2.53882548e-01] [ 1.82075550e-02 -3.68121565e-04 9.99834161e-01 -1.27693301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58719347 meters 0.061781068984505694 Centerline is valid? [True, True] Translation: X:46.11, Y:0.26, Z:-1.28 [[ 9.97724402e-01 -6.56229764e-02 -1.54803647e-02 4.61086452e+01] [ 6.56199529e-02 9.97844440e-01 -7.03713901e-04 2.58422342e-01] [ 1.54931756e-02 -3.13708272e-04 9.99879924e-01 -1.27864050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64719347 meters 0.06019883427696702 Centerline is valid? [True, True] Translation: X:46.17, Y:0.28, Z:-1.28 [[ 9.98326851e-01 -5.57569551e-02 -1.53186252e-02 4.61673820e+01] [ 5.57528391e-02 9.98444358e-01 -6.95945583e-04 2.79730700e-01] [ 1.53335988e-02 -1.59275686e-04 9.99882421e-01 -1.28170974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70719347 meters 0.058977923229094585 Centerline is valid? [True, True] Translation: X:46.23, Y:0.30, Z:-1.28 [[ 9.98891598e-01 -4.50152684e-02 -1.37550539e-02 4.62253393e+01] [ 4.50108966e-02 9.98986299e-01 -6.27401359e-04 3.02143062e-01] [ 1.37693530e-02 7.57863869e-06 9.99905198e-01 -1.27732284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76719347 meters 0.059527350653796406 Centerline is valid? [True, True] Translation: X:46.28, Y:0.31, Z:-1.28 [[ 9.98977458e-01 -4.25578383e-02 -1.52600370e-02 4.62821831e+01] [ 4.25521281e-02 9.99094004e-01 -6.98839319e-04 3.13510423e-01] [ 1.52759525e-02 4.87776796e-05 9.99883315e-01 -1.28396741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82719347 meters 0.059775433521715604 Centerline is valid? [True, True] Translation: X:46.34, Y:0.33, Z:-1.29 [[ 9.99061008e-01 -3.97990418e-02 -1.71213165e-02 4.63400760e+01] [ 3.97914312e-02 9.99207699e-01 -7.85080512e-04 3.27396630e-01] [ 1.71389967e-02 1.03061642e-04 9.99853111e-01 -1.28586725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88719347 meters 0.0600591504833608 Centerline is valid? [True, True] Translation: X:46.40, Y:0.34, Z:-1.29 [[ 9.99020767e-01 -3.99058327e-02 -1.91058241e-02 4.63987747e+01] [ 3.98961772e-02 9.99203437e-01 -8.86415231e-04 3.35364042e-01] [ 1.91259783e-02 1.23297880e-04 9.99817074e-01 -1.28971670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94719347 meters 0.06042290152817985 Centerline is valid? [True, True] Translation: X:46.46, Y:0.34, Z:-1.29 [[ 9.98899138e-01 -4.21961958e-02 -2.04937459e-02 4.64562643e+01] [ 4.21855830e-02 9.99109340e-01 -9.50090702e-04 3.38976473e-01] [ 2.05155831e-02 8.45041662e-05 9.99789530e-01 -1.29374558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.007193470000004 meters 0.06006450613379835 Centerline is valid? [True, True] Translation: X:46.52, Y:0.34, Z:-1.29 [[ 9.98764327e-01 -4.58660626e-02 -1.91343283e-02 4.65154113e+01] [ 4.58573018e-02 9.98947598e-01 -8.96602530e-04 3.40716945e-01] [ 1.91553149e-02 1.80459553e-05 9.99816520e-01 -1.29301430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06719347 meters 0.060565398515905956 Centerline is valid? [True, True] Translation: X:46.57, Y:0.34, Z:-1.29 [[ 9.98420708e-01 -5.34728725e-02 -1.72262001e-02 4.65737583e+01] [ 5.34669418e-02 9.98569296e-01 -8.04980864e-04 3.36978462e-01] [ 1.72445991e-02 -1.17322673e-04 9.99851294e-01 -1.29497086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12719347 meters 0.06060942551052248 Centerline is valid? [True, True] Translation: X:46.63, Y:0.34, Z:-1.29 [[ 9.98258143e-01 -5.65017538e-02 -1.69773784e-02 4.66323490e+01] [ 5.64962615e-02 9.98402488e-01 -8.03332125e-04 3.39083232e-01] [ 1.69956465e-02 -1.57225576e-04 9.99855551e-01 -1.29350470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.187193470000004 meters 0.06065200992549797 Centerline is valid? [True, True] Translation: X:46.69, Y:0.35, Z:-1.30 [[ 9.98259343e-01 -5.55368552e-02 -1.98479838e-02 4.66916041e+01] [ 5.55292898e-02 9.98456623e-01 -9.32516217e-04 3.47085698e-01] [ 1.98691399e-02 -1.71251420e-04 9.99802574e-01 -1.29631262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24719347 meters 0.06010519333104331 Centerline is valid? [True, True] Translation: X:46.75, Y:0.36, Z:-1.29 [[ 9.98571598e-01 -5.04261648e-02 -1.76625742e-02 4.67505466e+01] [ 5.04191750e-02 9.98727790e-01 -8.41098051e-04 3.58032648e-01] [ 1.76825170e-02 -5.06357941e-05 9.99843651e-01 -1.29262568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30719347 meters 0.06015669913613198 Centerline is valid? [True, True] Translation: X:46.81, Y:0.37, Z:-1.29 [[ 9.98803333e-01 -4.60769498e-02 -1.63956291e-02 4.68081584e+01] [ 4.60703757e-02 9.98937893e-01 -7.78645714e-04 3.65905465e-01] [ 1.64140928e-02 2.23611430e-05 9.99865279e-01 -1.29357919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.367193470000004 meters 0.059990945187314335 Centerline is valid? [True, True] Translation: X:46.87, Y:0.38, Z:-1.29 [[ 9.99124182e-01 -3.87439150e-02 -1.58043628e-02 4.68667008e+01] [ 3.87367309e-02 9.99249162e-01 -7.60553359e-04 3.79864457e-01] [ 1.58219631e-02 1.47677904e-04 9.99874814e-01 -1.29126373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42719347 meters 0.06275541524672003 Centerline is valid? [True, True] Translation: X:46.93, Y:0.39, Z:-1.30 [[ 9.99296305e-01 -3.09063685e-02 -2.12530425e-02 4.69252016e+01] [ 3.08918227e-02 9.99522221e-01 -1.01245552e-03 3.85913212e-01] [ 2.12741796e-02 3.55197842e-04 9.99773616e-01 -1.30303614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48719347 meters 0.0632446076640439 Centerline is valid? [True, True] Translation: X:46.99, Y:0.39, Z:-1.30 [[ 9.99244296e-01 -2.68194093e-02 -2.81345925e-02 4.69857781e+01] [ 2.67922832e-02 9.99640123e-01 -1.34074842e-03 3.86655525e-01] [ 2.81604256e-02 5.85945242e-04 9.99603245e-01 -1.30449327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54719347 meters 0.06575275341802096 Centerline is valid? [True, True] Translation: X:47.05, Y:0.39, Z:-1.31 [[ 9.99292645e-01 -1.98514397e-02 -3.19394690e-02 4.70450093e+01] [ 1.98128869e-02 9.99802545e-01 -1.52312167e-03 3.89262768e-01] [ 3.19633986e-02 8.89231199e-04 9.99488644e-01 -1.30962516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60719347 meters 0.06581475574620813 Centerline is valid? [True, True] Translation: X:47.10, Y:0.39, Z:-1.31 [[ 9.99314275e-01 -1.96247759e-02 -3.13982096e-02 4.71041837e+01] [ 1.95869000e-02 9.99807013e-01 -1.51345681e-03 3.89639264e-01] [ 3.14218514e-02 8.97425402e-04 9.99505809e-01 -1.31030441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66719347 meters 0.06312673279642822 Centerline is valid? [True, True] Translation: X:47.17, Y:0.38, Z:-1.30 [[ 9.99375478e-01 -2.55544870e-02 -2.44053894e-02 4.71650673e+01] [ 2.55334669e-02 9.99673280e-01 -1.17257865e-03 3.75202329e-01] [ 2.44273804e-02 5.48692143e-04 9.99701456e-01 -1.30316376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72719347 meters 0.06165957858090264 Centerline is valid? [True, True] Translation: X:47.22, Y:0.36, Z:-1.30 [[ 9.99091723e-01 -3.65240046e-02 -2.19482538e-02 4.72248912e+01] [ 3.65096407e-02 9.99332744e-01 -1.05493494e-03 3.58478895e-01] [ 2.19721392e-02 2.52653905e-04 9.99758551e-01 -1.30355813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78719347 meters 0.06159222049228557 Centerline is valid? [True, True] Translation: X:47.28, Y:0.35, Z:-1.31 [[ 9.98835014e-01 -4.30756680e-02 -2.17509007e-02 4.72845952e+01] [ 4.30629780e-02 9.99071806e-01 -1.05169049e-03 3.50973445e-01] [ 2.17760139e-02 1.13806730e-04 9.99762868e-01 -1.30795414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84719347 meters 0.06278863118679395 Centerline is valid? [True, True] Translation: X:47.35, Y:0.34, Z:-1.31 [[ 9.98302271e-01 -5.12773077e-02 -2.76263204e-02 4.73451181e+01] [ 5.12600728e-02 9.98684450e-01 -1.33216219e-03 3.38766233e-01] [ 2.76582862e-02 -8.62266511e-05 9.99617433e-01 -1.31494338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90719347 meters 0.06277848300357838 Centerline is valid? [True, True] Translation: X:47.40, Y:0.34, Z:-1.31 [[ 9.98089932e-01 -5.49153793e-02 -2.82982005e-02 4.74036361e+01] [ 5.48985317e-02 9.98490995e-01 -1.37252137e-03 3.37939432e-01] [ 2.83308709e-02 -1.83629897e-04 9.99598583e-01 -1.31390991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96719347 meters 0.06359355624238879 Centerline is valid? [True, True] Translation: X:47.46, Y:0.33, Z:-1.31 [[ 9.97814567e-01 -6.13209903e-02 -2.46135282e-02 4.74614876e+01] [ 6.13101492e-02 9.98118047e-01 -1.19556971e-03 3.34288603e-01] [ 2.46405203e-02 -3.16102212e-04 9.99696326e-01 -1.31408185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02719347 meters 0.06364158916888657 Centerline is valid? [True, True] Translation: X:47.52, Y:0.33, Z:-1.31 [[ 9.97328811e-01 -6.84300900e-02 -2.55453805e-02 4.75211192e+01] [ 6.84206838e-02 9.97655785e-01 -1.24311946e-03 3.32260946e-01] [ 2.55705634e-02 -5.08033543e-04 9.99672891e-01 -1.30698900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08719347 meters 0.06525220542045422 Centerline is valid? [True, True] Translation: X:47.58, Y:0.34, Z:-1.31 [[ 9.96950125e-01 -7.28623741e-02 -2.79557166e-02 4.75797239e+01] [ 7.28528568e-02 9.97341773e-01 -1.36017380e-03 3.37538689e-01] [ 2.79805094e-02 -6.80628373e-04 9.99608237e-01 -1.31378684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14719347 meters 0.06762893401648047 Centerline is valid? [True, True] Translation: X:47.64, Y:0.34, Z:-1.32 [[ 9.96370841e-01 -7.91239988e-02 -3.13773668e-02 4.76398337e+01] [ 7.91151271e-02 9.96864318e-01 -1.52610996e-03 3.42354250e-01] [ 3.13997293e-02 -9.61852899e-04 9.99506444e-01 -1.31880699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20719347 meters 0.0684118106059919 Centerline is valid? [True, True] Translation: X:47.70, Y:0.35, Z:-1.32 [[ 9.96200199e-01 -8.14226324e-02 -3.09114770e-02 4.76979771e+01] [ 8.14149415e-02 9.96679150e-01 -1.50944598e-03 3.47683763e-01] [ 3.09317277e-02 -1.01294570e-03 9.99520986e-01 -1.32087034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26719347 meters 0.06608500817897822 Centerline is valid? [True, True] Translation: X:47.76, Y:0.37, Z:-1.32 [[ 9.96860462e-01 -7.45431384e-02 -2.66934379e-02 4.77561342e+01] [ 7.45349364e-02 9.97217551e-01 -1.30349559e-03 3.71246268e-01] [ 2.67163314e-02 -6.90190475e-04 9.99642817e-01 -1.31941459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.327193470000005 meters 0.06422707132291952 Centerline is valid? [True, True] Translation: X:47.82, Y:0.39, Z:-1.32 [[ 9.97386518e-01 -6.75765570e-02 -2.55644857e-02 4.78152155e+01] [ 6.75667452e-02 9.97713975e-01 -1.24839542e-03 3.94203242e-01] [ 2.55904069e-02 -4.82176324e-04 9.99672396e-01 -1.31999960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38719347 meters 0.06312228647591762 Centerline is valid? [True, True] Translation: X:47.87, Y:0.42, Z:-1.32 [[ 9.97911506e-01 -6.01313704e-02 -2.35975354e-02 4.78727264e+01] [ 6.01208660e-02 9.98190436e-01 -1.15499012e-03 4.17553712e-01] [ 2.36242853e-02 -2.66126336e-04 9.99720872e-01 -1.32056544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44719347 meters 0.0628051400687067 Centerline is valid? [True, True] Translation: X:47.93, Y:0.43, Z:-1.32 [[ 9.98091300e-01 -5.83289233e-02 -2.02853169e-02 4.79307066e+01] [ 5.83207587e-02 9.98297401e-01 -9.94349226e-04 4.31930440e-01] [ 2.03087785e-02 -1.90603760e-04 9.99793737e-01 -1.32145528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.507193470000004 meters 0.06183925758659586 Centerline is valid? [True, True] Translation: X:47.99, Y:0.45, Z:-1.32 [[ 9.98241777e-01 -5.61046116e-02 -1.91213623e-02 4.79889088e+01] [ 5.60967168e-02 9.98424888e-01 -9.49425656e-04 4.51203380e-01] [ 1.91445111e-02 -1.24889290e-04 9.99816719e-01 -1.31754354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56719347 meters 0.061900670893075056 Centerline is valid? [True, True] Translation: X:48.05, Y:0.46, Z:-1.32 [[ 9.98233703e-01 -5.60706078e-02 -1.96357234e-02 4.80470061e+01] [ 5.60621566e-02 9.98426799e-01 -9.81032256e-04 4.62411759e-01] [ 1.96598395e-02 -1.21521537e-04 9.99806719e-01 -1.31983600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62719347 meters 0.06226898202573341 Centerline is valid? [True, True] Translation: X:48.11, Y:0.47, Z:-1.32 [[ 9.98058116e-01 -5.88754791e-02 -2.03390007e-02 4.81055348e+01] [ 5.88668675e-02 9.98265319e-01 -1.02237180e-03 4.66867259e-01] [ 2.03639116e-02 -1.76906787e-04 9.99792618e-01 -1.32185890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.687193470000004 meters 0.0629800484946137 Centerline is valid? [True, True] Translation: X:48.16, Y:0.48, Z:-1.33 [[ 9.97988151e-01 -5.79340004e-02 -2.57546611e-02 4.81648621e+01] [ 5.79200994e-02 9.98320394e-01 -1.28602702e-03 4.76152152e-01] [ 2.57859081e-02 -2.08272799e-04 9.99667466e-01 -1.32893603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74719347 meters 0.06278343443766916 Centerline is valid? [True, True] Translation: X:48.22, Y:0.49, Z:-1.33 [[ 9.98205032e-01 -5.37784127e-02 -2.63551816e-02 4.82220450e+01] [ 5.37619418e-02 9.98552890e-01 -1.33365022e-03 4.89443176e-01] [ 2.63887644e-02 -8.56493814e-05 9.99651752e-01 -1.33048192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80719347 meters 0.06287956033617059 Centerline is valid? [True, True] Translation: X:48.28, Y:0.50, Z:-1.33 [[ 9.98326100e-01 -5.20578133e-02 -2.51988340e-02 4.82794002e+01] [ 5.20422813e-02 9.98644072e-01 -1.27223625e-03 4.96253444e-01] [ 2.52308960e-02 -4.12981587e-05 9.99681649e-01 -1.33292253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.867193470000004 meters 0.06184910441667819 Centerline is valid? [True, True] Translation: X:48.34, Y:0.50, Z:-1.33 [[ 9.98180110e-01 -5.76066385e-02 -1.78309716e-02 4.83399828e+01] [ 5.75997740e-02 9.98339350e-01 -8.98736216e-04 4.95099407e-01] [ 1.78531337e-02 -1.29959317e-04 9.99840612e-01 -1.32674709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92719347 meters 0.06185681221456691 Centerline is valid? [True, True] Translation: X:48.40, Y:0.49, Z:-1.33 [[ 9.97912045e-01 -6.26681476e-02 -1.56285969e-02 4.83988095e+01] [ 6.26632987e-02 9.98034404e-01 -8.00247576e-04 4.93861074e-01] [ 1.56480274e-02 -1.80762738e-04 9.99877546e-01 -1.32622826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98719347 meters 0.06277567993667015 Centerline is valid? [True, True] Translation: X:48.46, Y:0.49, Z:-1.33 [[ 9.97526446e-01 -6.89942704e-02 -1.34454786e-02 4.84568940e+01] [ 6.89912885e-02 9.97617026e-01 -6.86038766e-04 4.87173692e-01] [ 1.34607711e-02 -2.43279081e-04 9.99909370e-01 -1.32729615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04719347 meters 0.06382621428017003 Centerline is valid? [True, True] Translation: X:48.52, Y:0.49, Z:-1.33 [[ 9.97057837e-01 -7.53199216e-02 -1.42330591e-02 4.85166948e+01] [ 7.53172397e-02 9.97159359e-01 -7.25118895e-04 4.85684669e-01] [ 1.42472440e-02 -3.49009247e-04 9.99898442e-01 -1.32957855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.10719347 meters 0.06533666294176771 Centerline is valid? [True, True] Translation: X:48.58, Y:0.49, Z:-1.33 [[ 9.96786953e-01 -7.83517983e-02 -1.66362673e-02 4.85750424e+01] [ 7.83485168e-02 9.96925668e-01 -8.49924656e-04 4.87437232e-01] [ 1.66517150e-02 -4.56233057e-04 9.99861246e-01 -1.33416490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16719347 meters 0.06626563397168544 Centerline is valid? [True, True] Translation: X:48.64, Y:0.49, Z:-1.33 [[ 9.96193502e-01 -8.54962847e-02 -1.69967950e-02 4.86353329e+01] [ 8.54939163e-02 9.96338315e-01 -8.67242471e-04 4.91861055e-01] [ 1.70087041e-02 -5.89181258e-04 9.99855168e-01 -1.33243562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22719347 meters 0.06997435449271816 Centerline is valid? [True, True] Translation: X:48.69, Y:0.49, Z:-1.34 [[ 9.95581267e-01 -9.26440054e-02 -1.53306827e-02 4.86935953e+01] [ 9.26428666e-02 9.95699092e-01 -7.85978994e-04 4.90069319e-01] [ 1.53375631e-02 -6.37772431e-04 9.99882169e-01 -1.33592944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28719347 meters 0.07179266358941137 Centerline is valid? [True, True] Translation: X:48.75, Y:0.50, Z:-1.34 [[ 9.94713698e-01 -1.01223972e-01 -1.72733004e-02 4.87532750e+01] [ 1.01223861e-01 9.94863282e-01 -8.82977351e-04 4.98560898e-01] [ 1.72739508e-02 -8.70160491e-04 9.99850416e-01 -1.33692783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34719347 meters 0.07503384634547085 Centerline is valid? [True, True] Translation: X:48.81, Y:0.51, Z:-1.34 [[ 9.94752042e-01 -1.01090354e-01 -1.57834154e-02 4.88106920e+01] [ 1.01090178e-01 9.94876936e-01 -8.11022225e-04 5.09416860e-01] [ 1.57845425e-02 -7.88782257e-04 9.99875105e-01 -1.34168373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40719347 meters 0.07153858036335783 Centerline is valid? [True, True] Translation: X:48.87, Y:0.53, Z:-1.34 [[ 9.95074360e-01 -9.73743312e-02 -1.85811210e-02 4.88688406e+01] [ 9.73732753e-02 9.95247465e-01 -9.63705745e-04 5.32984077e-01] [ 1.85866538e-02 -8.50345733e-04 9.99826892e-01 -1.34353865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46719347 meters 0.07173228824602212 Centerline is valid? [True, True] Translation: X:48.93, Y:0.54, Z:-1.35 [[ 9.95202298e-01 -9.57052225e-02 -2.03198627e-02 4.89267717e+01] [ 9.57034938e-02 9.95409322e-01 -1.05973815e-03 5.42278303e-01] [ 2.03280032e-02 -8.90028008e-04 9.99792969e-01 -1.34850570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52719347 meters 0.06776664634102189 Centerline is valid? [True, True] Translation: X:48.99, Y:0.57, Z:-1.34 [[ 9.95676174e-01 -9.11867159e-02 -1.77183157e-02 4.89857773e+01] [ 9.11847899e-02 9.95833566e-01 -9.18243024e-04 5.69807695e-01] [ 1.77282251e-02 -7.01368192e-04 9.99842597e-01 -1.34476468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58719347 meters 0.06573755603744581 Centerline is valid? [True, True] Translation: X:49.05, Y:0.59, Z:-1.34 [[ 9.96138194e-01 -8.69564617e-02 -1.21355716e-02 4.90451844e+01] [ 8.69552445e-02 9.96212021e-01 -6.28912868e-04 5.92112804e-01] [ 1.21442903e-02 -4.28767464e-04 9.99926163e-01 -1.34124525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64719347 meters 0.06584498144012771 Centerline is valid? [True, True] Translation: X:49.10, Y:0.60, Z:-1.34 [[ 9.96328358e-01 -8.46941445e-02 -1.25181486e-02 4.91028797e+01] [ 8.46925311e-02 9.96406915e-01 -6.59902884e-04 6.04062386e-01] [ 1.25290598e-02 -4.02713735e-04 9.99921427e-01 -1.34386117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70719347 meters 0.06577693933807245 Centerline is valid? [True, True] Translation: X:49.16, Y:0.62, Z:-1.35 [[ 9.96468963e-01 -8.23789603e-02 -1.62269334e-02 4.91602358e+01] [ 8.23760301e-02 9.96600957e-01 -8.50032329e-04 6.21350670e-01] [ 1.62418021e-02 -4.89679517e-04 9.99867973e-01 -1.35040312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76719347 meters 0.06443862424350628 Centerline is valid? [True, True] Translation: X:49.22, Y:0.64, Z:-1.35 [[ 9.96394673e-01 -8.31980994e-02 -1.66051760e-02 4.92182193e+01] [ 8.31949722e-02 9.96532901e-01 -8.80221754e-04 6.35327466e-01] [ 1.66208370e-02 -5.04418892e-04 9.99861737e-01 -1.34844279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.827193470000005 meters 0.06622056236227333 Centerline is valid? [True, True] Translation: X:49.28, Y:0.64, Z:-1.35 [[ 9.95835351e-01 -9.01624286e-02 -1.35163165e-02 4.92772156e+01] [ 9.01610473e-02 9.95926944e-01 -7.12753234e-04 6.41510807e-01] [ 1.35255274e-02 -5.08860388e-04 9.99908396e-01 -1.34766929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88719347 meters 0.07007477608723307 Centerline is valid? [True, True] Translation: X:49.34, Y:0.64, Z:-1.35 [[ 9.94571397e-01 -1.03292121e-01 -1.25886795e-02 4.93372302e+01] [ 1.03291980e-01 9.94650857e-01 -6.63085244e-04 6.39990751e-01] [ 1.25898323e-02 -6.40824015e-04 9.99920540e-01 -1.34712431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94719347 meters 0.07292910485308526 Centerline is valid? [True, True] Translation: X:49.40, Y:0.64, Z:-1.35 [[ 9.93942619e-01 -1.09056889e-01 -1.35891177e-02 4.93973183e+01] [ 1.09057268e-01 9.94035211e-01 -7.15348670e-04 6.43465265e-01] [ 1.35860752e-02 -7.70976525e-04 9.99907408e-01 -1.35034433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.007193470000004 meters 0.0737023108238828 Centerline is valid? [True, True] Translation: X:49.45, Y:0.66, Z:-1.36 [[ 9.94199253e-01 -1.06173492e-01 -1.71765900e-02 4.94540191e+01] [ 1.06173593e-01 9.94347194e-01 -9.08579926e-04 6.58255550e-01] [ 1.71759612e-02 -9.20390801e-04 9.99852059e-01 -1.35766203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06719347 meters 0.07110500670783398 Centerline is valid? [True, True] Translation: X:49.51, Y:0.68, Z:-1.36 [[ 9.94754190e-01 -1.01089347e-01 -1.56539496e-02 4.95135627e+01] [ 1.01088837e-01 9.94877060e-01 -8.25847104e-04 6.76142339e-01] [ 1.56572397e-02 -7.60924698e-04 9.99877128e-01 -1.35661602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12719347 meters 0.06655592263418922 Centerline is valid? [True, True] Translation: X:49.57, Y:0.71, Z:-1.36 [[ 9.96099526e-01 -8.71860515e-02 -1.35766716e-02 4.95727582e+01] [ 8.71843756e-02 9.96191935e-01 -7.16388939e-04 7.08921423e-01] [ 1.35874299e-02 -4.70078954e-04 9.99907576e-01 -1.35532284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.187193470000004 meters 0.06198009008109485 Centerline is valid? [True, True] Translation: X:49.63, Y:0.74, Z:-1.36 [[ 9.97829071e-01 -6.48201771e-02 -1.16399833e-02 4.96300474e+01] [ 6.48174135e-02 9.97896951e-01 -6.14905741e-04 7.43579892e-01] [ 1.16553622e-02 -1.40902789e-04 9.99932064e-01 -1.35755322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24719347 meters 0.06072692498421264 Centerline is valid? [True, True] Translation: X:49.69, Y:0.77, Z:-1.35 [[ 9.98554525e-01 -5.29543583e-02 -9.20311211e-03 4.96889762e+01] [ 5.29521168e-02 9.98596934e-01 -4.87225813e-04 7.65691836e-01] [ 9.21600026e-03 -8.02726892e-07 9.99957532e-01 -1.35308712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30719347 meters 0.06168445003933916 Centerline is valid? [True, True] Translation: X:49.75, Y:0.79, Z:-1.35 [[ 9.99263735e-01 -3.81740456e-02 -3.83808415e-03 4.97477191e+01] [ 3.81735435e-02 9.99271104e-01 -2.04017746e-04 7.88539318e-01] [ 3.84307476e-03 5.73542623e-05 9.99992614e-01 -1.34796854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.367193470000004 meters 0.06425344965586309 Centerline is valid? [True, True] Translation: X:49.81, Y:0.79, Z:-1.35 [[ 9.99534248e-01 -2.94580369e-02 -7.96942074e-03 4.98070709e+01] [ 2.94556218e-02 9.99566001e-01 -4.20279911e-04 7.92193604e-01] [ 7.97834263e-03 1.85339922e-04 9.99968155e-01 -1.35484837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42719347 meters 0.06513792924731776 Centerline is valid? [True, True] Translation: X:49.87, Y:0.79, Z:-1.36 [[ 9.99567906e-01 -2.62781101e-02 -1.31705340e-02 4.98677800e+01] [ 2.62712204e-02 9.99654610e-01 -6.95882812e-04 7.86984549e-01] [ 1.31842715e-02 3.49576123e-04 9.99913023e-01 -1.36036518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48719347 meters 0.06512309063317545 Centerline is valid? [True, True] Translation: X:49.93, Y:0.77, Z:-1.37 [[ 9.99443695e-01 -2.97642463e-02 -1.50462763e-02 4.99268852e+01] [ 2.97554332e-02 9.99556881e-01 -8.09310605e-04 7.73713676e-01] [ 1.50636975e-02 3.61151911e-04 9.99886471e-01 -1.36573061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54719347 meters 0.0640758370879565 Centerline is valid? [True, True] Translation: X:49.99, Y:0.76, Z:-1.36 [[ 9.99357144e-01 -3.34918887e-02 -1.27903397e-02 4.99867599e+01] [ 3.34857816e-02 9.99438955e-01 -6.91399901e-04 7.63598545e-01] [ 1.28063200e-02 2.62660909e-04 9.99917961e-01 -1.36489867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60719347 meters 0.06367089277300182 Centerline is valid? [True, True] Translation: X:50.05, Y:0.74, Z:-1.37 [[ 9.99290298e-01 -3.63817219e-02 -9.76065981e-03 5.00466252e+01] [ 3.63783343e-02 9.99337952e-01 -5.24446999e-04 7.40111461e-01] [ 9.77327807e-03 1.68998252e-04 9.99952226e-01 -1.36668655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66719347 meters 0.06275877995996394 Centerline is valid? [True, True] Translation: X:50.11, Y:0.73, Z:-1.37 [[ 9.99063183e-01 -4.20793333e-02 -1.01037505e-02 5.01066479e+01] [ 4.20759143e-02 9.99114265e-01 -5.50813091e-04 7.27057014e-01] [ 1.01179791e-02 1.25172537e-04 9.99948804e-01 -1.36953780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72719347 meters 0.06203552327407137 Centerline is valid? [True, True] Translation: X:50.17, Y:0.71, Z:-1.37 [[ 9.98596239e-01 -5.19511449e-02 -1.03261714e-02 5.01673166e+01] [ 5.19480683e-02 9.98649627e-01 -5.66125390e-04 7.05057506e-01] [ 1.03416380e-02 2.89060301e-05 9.99946523e-01 -1.36871474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78719347 meters 0.06159091696685034 Centerline is valid? [True, True] Translation: X:50.23, Y:0.70, Z:-1.37 [[ 9.98531163e-01 -5.37454076e-02 -6.85181653e-03 5.02270968e+01] [ 5.37441085e-02 9.98554671e-01 -3.73712303e-04 6.95670776e-01] [ 6.86199872e-03 4.91860930e-06 9.99976456e-01 -1.36663859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84719347 meters 0.06083291401259601 Centerline is valid? [True, True] Translation: X:50.29, Y:0.69, Z:-1.36 [[ 9.98411986e-01 -5.62853714e-02 -2.33743582e-03 5.02867410e+01] [ 5.62852232e-02 9.98414722e-01 -1.29217260e-04 6.87427058e-01] [ 2.34100338e-03 -2.55103609e-06 9.99997260e-01 -1.36190451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90719347 meters 0.060932228784758465 Centerline is valid? [True, True] Translation: X:50.35, Y:0.68, Z:-1.36 [[ 9.97992456e-01 -6.33313861e-02 -4.39081760e-04 5.03450294e+01] [ 6.33313777e-02 9.97992553e-01 -3.29126467e-05 6.75882658e-01] [ 4.40284730e-04 5.03892033e-06 9.99999903e-01 -1.36218649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96719347 meters 0.0610483882267346 Centerline is valid? [True, True] Translation: X:50.40, Y:0.67, Z:-1.36 [[ 9.97727307e-01 -6.73686487e-02 1.29821595e-03 5.04029345e+01] [ 6.73686241e-02 9.97728152e-01 6.26794756e-05 6.73468253e-01] [-1.29948923e-03 2.49219981e-05 9.99999155e-01 -1.36218746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02719347 meters 0.06126224356878704 Centerline is valid? [True, True] Translation: X:50.46, Y:0.68, Z:-1.37 [[ 9.97875719e-01 -6.50486005e-02 -3.56786113e-03 5.04601224e+01] [ 6.50483029e-02 9.97882096e-01 -1.99502917e-04 6.81060886e-01] [ 3.57328213e-03 -3.30041948e-05 9.99993615e-01 -1.36900049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08719347 meters 0.06173534538621571 Centerline is valid? [True, True] Translation: X:50.52, Y:0.70, Z:-1.38 [[ 9.98191014e-01 -5.94918305e-02 -8.68451806e-03 5.05175557e+01] [ 5.94898952e-02 9.98228792e-01 -4.81228296e-04 6.95760839e-01] [ 8.69776512e-03 -3.62833082e-05 9.99962173e-01 -1.37900535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14719347 meters 0.06159612918003771 Centerline is valid? [True, True] Translation: X:50.57, Y:0.71, Z:-1.38 [[ 9.98398520e-01 -5.58481161e-02 -9.02127600e-03 5.05747479e+01] [ 5.58457901e-02 9.98439276e-01 -5.09727184e-04 7.09562585e-01] [ 9.03566359e-03 5.11057983e-06 9.99959178e-01 -1.38129976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20719347 meters 0.061451830795623476 Centerline is valid? [True, True] Translation: X:50.63, Y:0.72, Z:-1.38 [[ 9.98499730e-01 -5.41096746e-02 -8.39240339e-03 5.06323049e+01] [ 5.41076366e-02 9.98534998e-01 -4.69866408e-04 7.17414509e-01] [ 8.40553282e-03 1.50683689e-05 9.99964673e-01 -1.38376379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26719347 meters 0.06089982556213179 Centerline is valid? [True, True] Translation: X:50.69, Y:0.72, Z:-1.38 [[ 9.98351223e-01 -5.68904466e-02 -7.63633573e-03 5.06915847e+01] [ 5.68888190e-02 9.98380427e-01 -4.30358772e-04 7.19853770e-01] [ 7.64845143e-03 -4.77291537e-06 9.99970750e-01 -1.38416515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.327193470000005 meters 0.0604384366542906 Centerline is valid? [True, True] Translation: X:50.75, Y:0.73, Z:-1.38 [[ 9.98281717e-01 -5.78766092e-02 -9.16034024e-03 5.07505249e+01] [ 5.78742536e-02 9.98323744e-01 -5.22242957e-04 7.26966700e-01] [ 9.17521082e-03 -8.80225905e-06 9.99957907e-01 -1.38153444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38719347 meters 0.06083234941671157 Centerline is valid? [True, True] Translation: X:50.81, Y:0.73, Z:-1.39 [[ 9.98273954e-01 -5.79090503e-02 -9.78027037e-03 5.08082911e+01] [ 5.79064104e-02 9.98321863e-01 -5.53124418e-04 7.30742122e-01] [ 9.79588865e-03 -1.41706492e-05 9.99952019e-01 -1.38823105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44719347 meters 0.060304940723791486 Centerline is valid? [True, True] Translation: X:50.87, Y:0.73, Z:-1.38 [[ 9.97979169e-01 -6.28210842e-02 -9.54405522e-03 5.08677721e+01] [ 6.28187199e-02 9.98024804e-01 -5.47594982e-04 7.29134075e-01] [ 9.55960435e-03 -5.30569462e-05 9.99954305e-01 -1.38457223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.507193470000004 meters 0.060658930798931546 Centerline is valid? [True, True] Translation: X:50.93, Y:0.73, Z:-1.38 [[ 9.97531358e-01 -6.96052827e-02 -9.28943560e-03 5.09268312e+01] [ 6.96033095e-02 9.97574605e-01 -5.35937802e-04 7.27195962e-01] [ 9.30420915e-03 -1.11960697e-04 9.99956709e-01 -1.38449949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56719347 meters 0.062447093707674824 Centerline is valid? [True, True] Translation: X:50.99, Y:0.72, Z:-1.38 [[ 9.96648603e-01 -8.14835907e-02 -7.21020469e-03 5.09858646e+01] [ 8.14827394e-02 9.96674668e-01 -4.12233581e-04 7.24271494e-01] [ 7.21981864e-03 -1.76655208e-04 9.99973921e-01 -1.38476209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62719347 meters 0.06598612989649598 Centerline is valid? [True, True] Translation: X:51.04, Y:0.73, Z:-1.39 [[ 9.95825491e-01 -9.05726070e-02 -1.13223261e-02 5.10448093e+01] [ 9.05711374e-02 9.95889781e-01 -6.43544388e-04 7.25911559e-01] [ 1.13340763e-02 -3.84618042e-04 9.99935693e-01 -1.38903744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.687193470000004 meters 0.06692002444379447 Centerline is valid? [True, True] Translation: X:51.10, Y:0.73, Z:-1.39 [[ 9.95672471e-01 -9.18683217e-02 -1.40193232e-02 5.11041009e+01] [ 9.18661588e-02 9.95771043e-01 -7.99547869e-04 7.33382406e-01] [ 1.40334892e-02 -4.91813566e-04 9.99901405e-01 -1.39388473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74719347 meters 0.06484712990255234 Centerline is valid? [True, True] Translation: X:51.16, Y:0.75, Z:-1.39 [[ 9.95797933e-01 -9.05964808e-02 -1.33698775e-02 5.11622415e+01] [ 9.05942608e-02 9.95887585e-01 -7.72843682e-04 7.53457750e-01] [ 1.33849119e-02 -4.41638023e-04 9.99910321e-01 -1.38914088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80719347 meters 0.0644800703877233 Centerline is valid? [True, True] Translation: X:51.22, Y:0.77, Z:-1.39 [[ 9.95831626e-01 -9.06707086e-02 -9.90931803e-03 5.12210328e+01] [ 9.06694539e-02 9.95880875e-01 -5.76718678e-04 7.67340880e-01] [ 9.92079180e-03 -3.24157755e-04 9.99950735e-01 -1.38748422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.867193470000004 meters 0.06329364784223068 Centerline is valid? [True, True] Translation: X:51.28, Y:0.78, Z:-1.39 [[ 9.95937298e-01 -8.96547062e-02 -8.42213641e-03 5.12793317e+01] [ 8.96537295e-02 9.95972873e-01 -4.94203458e-04 7.80379912e-01] [ 8.43252706e-03 -2.62880283e-04 9.99964411e-01 -1.38592768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92719347 meters 0.06345489549163975 Centerline is valid? [True, True] Translation: X:51.34, Y:0.79, Z:-1.40 [[ 9.96404357e-01 -8.40657081e-02 -1.05505654e-02 5.13365674e+01] [ 8.40639176e-02 9.96460175e-01 -6.13847238e-04 7.85807424e-01] [ 1.05648218e-02 -2.75281801e-04 9.99944153e-01 -1.39566953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98719347 meters 0.05955430196915372 Centerline is valid? [True, True] Translation: X:51.39, Y:0.82, Z:-1.40 [[ 9.97322154e-01 -7.16064204e-02 -1.48674409e-02 5.13940583e+01] [ 7.16013673e-02 9.97432947e-01 -8.72578576e-04 8.20371041e-01] [ 1.48917576e-02 -1.94287151e-04 9.99889093e-01 -1.39563668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04719347 meters 0.05854224199001592 Centerline is valid? [True, True] Translation: X:51.45, Y:0.84, Z:-1.40 [[ 9.98021078e-01 -6.06549780e-02 -1.65801244e-02 5.14521291e+01] [ 6.06470931e-02 9.98158791e-01 -9.78415596e-04 8.35507466e-01] [ 1.66089427e-02 -2.90569575e-05 9.99862062e-01 -1.39692696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10719347 meters 0.05817724567396114 Centerline is valid? [True, True] Translation: X:51.51, Y:0.84, Z:-1.40 [[ 9.98122467e-01 -5.98667232e-02 -1.29428006e-02 5.15099698e+01] [ 5.98618875e-02 9.98206379e-01 -7.61053690e-04 8.41548351e-01] [ 1.29651479e-02 -1.51556875e-05 9.99915949e-01 -1.39845802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16719347 meters 0.05787484865531957 Centerline is valid? [True, True] Translation: X:51.57, Y:0.85, Z:-1.40 [[ 9.97935790e-01 -6.29708823e-02 -1.26026468e-02 5.15677192e+01] [ 6.29664027e-02 9.98015364e-01 -7.52315884e-04 8.53628100e-01] [ 1.26250092e-02 -4.27803894e-05 9.99920300e-01 -1.39703753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22719347 meters 0.058198475729542246 Centerline is valid? [True, True] Translation: X:51.63, Y:0.86, Z:-1.40 [[ 9.97838708e-01 -6.42382344e-02 -1.38333830e-02 5.16251340e+01] [ 6.42330337e-02 9.97934589e-01 -8.20381820e-04 8.56855096e-01] [ 1.38575112e-02 -6.99514201e-05 9.99903978e-01 -1.40205358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28719347 meters 0.059097909639811756 Centerline is valid? [True, True] Translation: X:51.68, Y:0.85, Z:-1.40 [[ 9.97239937e-01 -7.30691020e-02 -1.31686622e-02 5.16832955e+01] [ 7.30651395e-02 9.97326864e-01 -7.82401151e-04 8.49716620e-01] [ 1.31906299e-02 -1.81928465e-04 9.99912983e-01 -1.40404848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34719347 meters 0.06039811155302115 Centerline is valid? [True, True] Translation: X:51.74, Y:0.85, Z:-1.40 [[ 9.96542498e-01 -8.20653609e-02 -1.29740596e-02 5.17426918e+01] [ 8.20622785e-02 9.96626905e-01 -7.70662894e-04 8.45095268e-01] [ 1.29935416e-02 -2.96682569e-04 9.99915536e-01 -1.40433215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40719347 meters 0.06314627018900311 Centerline is valid? [True, True] Translation: X:51.80, Y:0.84, Z:-1.41 [[ 9.95798771e-01 -9.05682830e-02 -1.34979431e-02 5.18033794e+01] [ 9.05657341e-02 9.95890158e-01 -8.01225823e-04 8.40450515e-01] [ 1.35150343e-02 -4.24591436e-04 9.99908578e-01 -1.40667573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46719347 meters 0.06207642564801726 Centerline is valid? [True, True] Translation: X:51.86, Y:0.84, Z:-1.40 [[ 9.95832825e-01 -9.08034429e-02 -8.46877793e-03 5.18630546e+01] [ 9.08024397e-02 9.95868798e-01 -5.03675652e-04 8.42365216e-01] [ 8.47952718e-03 -2.67408950e-04 9.99964012e-01 -1.40241611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52719347 meters 0.061783737179519974 Centerline is valid? [True, True] Translation: X:51.92, Y:0.85, Z:-1.41 [[ 9.96091390e-01 -8.75744726e-02 -1.15175913e-02 5.19197323e+01] [ 8.75723217e-02 9.96157924e-01 -6.91907342e-04 8.53168730e-01] [ 1.15339333e-02 -3.19419269e-04 9.99933431e-01 -1.40608732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58719347 meters 0.0616601421724823 Centerline is valid? [True, True] Translation: X:51.98, Y:0.86, Z:-1.41 [[ 9.96357863e-01 -8.36517271e-02 -1.65347480e-02 5.19773030e+01] [ 8.36468189e-02 9.96494973e-01 -9.89415462e-04 8.62947643e-01] [ 1.65595595e-02 -3.97267193e-04 9.99862802e-01 -1.41341649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.647193470000005 meters 0.05945654612368816 Centerline is valid? [True, True] Translation: X:52.04, Y:0.88, Z:-1.42 [[ 9.97103298e-01 -7.35558999e-02 -1.93530802e-02 5.20354661e+01] [ 7.35470961e-02 9.97291062e-01 -1.16722860e-03 8.81393119e-01] [ 1.93865105e-02 -2.59515362e-04 9.99812030e-01 -1.41511258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70719347 meters 0.05844782187182433 Centerline is valid? [True, True] Translation: X:52.09, Y:0.90, Z:-1.41 [[ 9.97656305e-01 -6.41690594e-02 -2.37535230e-02 5.20941837e+01] [ 6.41532791e-02 9.97939037e-01 -1.42656790e-03 9.00797387e-01] [ 2.37961094e-02 -1.00641930e-04 9.99716827e-01 -1.41416343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76719347 meters 0.057913722346453235 Centerline is valid? [True, True] Translation: X:52.15, Y:0.92, Z:-1.41 [[ 9.98447813e-01 -5.26345539e-02 -1.82090334e-02 5.21531803e+01] [ 5.26233598e-02 9.98613832e-01 -1.09368858e-03 9.18974188e-01] [ 1.82413584e-02 1.33770450e-04 9.99833604e-01 -1.41104241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.827193470000005 meters 0.056700753879200066 Centerline is valid? [True, True] Translation: X:52.21, Y:0.92, Z:-1.40 [[ 9.98690402e-01 -5.06463947e-02 -7.24041041e-03 5.22129017e+01] [ 5.06445684e-02 9.98716646e-01 -4.35479464e-04 9.22597639e-01] [ 7.25317386e-03 6.82217008e-05 9.99973693e-01 -1.40223464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88719347 meters 0.05601600830784732 Centerline is valid? [True, True] Translation: X:52.27, Y:0.92, Z:-1.40 [[ 9.98688869e-01 -5.09538040e-02 -4.92463610e-03 5.22731500e+01] [ 5.09529585e-02 9.98701010e-01 -2.97080927e-04 9.18283397e-01] [ 4.93337645e-03 4.57666368e-05 9.99987830e-01 -1.40020665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94719347 meters 0.05681156095660672 Centerline is valid? [True, True] Translation: X:52.33, Y:0.91, Z:-1.41 [[ 9.98606420e-01 -5.17807377e-02 -1.01967256e-02 5.23327185e+01] [ 5.17771711e-02 9.98658474e-01 -6.13630328e-04 9.14848925e-01] [ 1.02148206e-02 8.48175815e-05 9.99947824e-01 -1.40713971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.007193470000004 meters 0.05686763327628328 Centerline is valid? [True, True] Translation: X:52.39, Y:0.90, Z:-1.41 [[ 9.98425779e-01 -5.47739054e-02 -1.20741017e-02 5.23925356e+01] [ 5.47689960e-02 9.98498780e-01 -7.37134630e-04 9.03731000e-01] [ 1.20963515e-02 7.46877908e-05 9.99926834e-01 -1.41052090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06719347 meters 0.05665927717749164 Centerline is valid? [True, True] Translation: X:52.45, Y:0.89, Z:-1.41 [[ 9.98072031e-01 -6.04456290e-02 -1.40906471e-02 5.24526923e+01] [ 6.04394588e-02 9.98171491e-01 -8.63707623e-04 8.85909534e-01] [ 1.41170896e-02 1.04113350e-05 9.99900349e-01 -1.41115783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12719347 meters 0.05768361245787448 Centerline is valid? [True, True] Translation: X:52.51, Y:0.88, Z:-1.42 [[ 9.98008658e-01 -6.00656997e-02 -1.92569327e-02 5.25135813e+01] [ 6.00543062e-02 9.98194426e-01 -1.16991805e-03 8.81441042e-01] [ 1.92924348e-02 1.11266131e-05 9.99813884e-01 -1.41652104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.187193470000004 meters 0.058032423018556836 Centerline is valid? [True, True] Translation: X:52.57, Y:0.88, Z:-1.42 [[ 9.98224909e-01 -5.57058237e-02 -2.10687536e-02 5.25724971e+01] [ 5.56909203e-02 9.98447218e-01 -1.29389868e-03 8.81751846e-01] [ 2.11081161e-02 1.18263620e-04 9.99777192e-01 -1.41994115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24719347 meters 0.05871732971207674 Centerline is valid? [True, True] Translation: X:52.63, Y:0.88, Z:-1.42 [[ 9.98191492e-01 -5.56257867e-02 -2.27929086e-02 5.26305072e+01] [ 5.56083907e-02 9.98451679e-01 -1.39681971e-03 8.79468469e-01] [ 2.28353171e-02 1.26816576e-04 9.99739232e-01 -1.42465609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30719347 meters 0.05790321307364987 Centerline is valid? [True, True] Translation: X:52.69, Y:0.88, Z:-1.42 [[ 9.97989433e-01 -5.89766125e-02 -2.32131624e-02 5.26889322e+01] [ 5.89591253e-02 9.98259362e-01 -1.43761279e-03 8.78455702e-01] [ 2.32575423e-02 6.60946232e-05 9.99729505e-01 -1.42039892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.367193470000004 meters 0.0584653084481833 Centerline is valid? [True, True] Translation: X:52.75, Y:0.86, Z:-1.42 [[ 9.97297851e-01 -6.93361411e-02 -2.42795246e-02 5.27490313e+01] [ 6.93199242e-02 9.97593338e-01 -1.50995439e-03 8.64535589e-01] [ 2.43257864e-02 -1.77180541e-04 9.99704069e-01 -1.42150310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42719347 meters 0.060310308181616014 Centerline is valid? [True, True] Translation: X:52.81, Y:0.85, Z:-1.43 [[ 9.96797142e-01 -7.52371394e-02 -2.71077476e-02 5.28083242e+01] [ 7.52192480e-02 9.97165603e-01 -1.68055463e-03 8.52273549e-01] [ 2.71573536e-02 -3.63852340e-04 9.99631105e-01 -1.42959146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48719347 meters 0.06111688753019565 Centerline is valid? [True, True] Translation: X:52.87, Y:0.84, Z:-1.43 [[ 9.96473155e-01 -7.93819542e-02 -2.71984730e-02 5.28679690e+01] [ 7.93651032e-02 9.96844165e-01 -1.70020897e-03 8.44303413e-01] [ 2.72476050e-02 -4.64397018e-04 9.99628607e-01 -1.43108643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54719347 meters 0.05951732447238505 Centerline is valid? [True, True] Translation: X:52.93, Y:0.85, Z:-1.43 [[ 9.96877988e-01 -7.57821111e-02 -2.21663714e-02 5.29284378e+01] [ 7.57701526e-02 9.97124355e-01 -1.38008220e-03 8.48677607e-01] [ 2.22072144e-02 -3.03775773e-04 9.99753343e-01 -1.42563678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60719347 meters 0.05969004136671601 Centerline is valid? [True, True] Translation: X:52.99, Y:0.86, Z:-1.44 [[ 9.97739463e-01 -6.36007141e-02 -2.17005458e-02 5.29854036e+01] [ 6.35862211e-02 9.97975425e-01 -1.35792055e-03 8.58344391e-01] [ 2.17429762e-02 -2.50047830e-05 9.99763593e-01 -1.43575180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66719347 meters 0.05897364897406886 Centerline is valid? [True, True] Translation: X:53.04, Y:0.87, Z:-1.43 [[ 9.97975252e-01 -5.79425237e-02 -2.62309000e-02 5.30449767e+01] [ 5.79194802e-02 9.98319914e-01 -1.63804539e-03 8.65042306e-01] [ 2.62817423e-02 1.15448672e-04 9.99654569e-01 -1.43117025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72719347 meters 0.05853461282327933 Centerline is valid? [True, True] Translation: X:53.10, Y:0.87, Z:-1.43 [[ 9.97817740e-01 -6.07996163e-02 -2.57519821e-02 5.31040785e+01] [ 6.07779567e-02 9.98149991e-01 -1.62368193e-03 8.65297610e-01] [ 2.58030599e-02 5.49857804e-05 9.99667044e-01 -1.43099257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78719347 meters 0.0599421775871879 Centerline is valid? [True, True] Translation: X:53.16, Y:0.85, Z:-1.44 [[ 9.97066622e-01 -7.26750302e-02 -2.40102243e-02 5.31629416e+01] [ 7.26596852e-02 9.97355646e-01 -1.51205257e-03 8.53873171e-01] [ 2.40566213e-02 -2.36958192e-04 9.99710570e-01 -1.43601467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84719347 meters 0.05983234777311044 Centerline is valid? [True, True] Translation: X:53.22, Y:0.85, Z:-1.43 [[ 9.96552696e-01 -8.04493393e-02 -2.02639567e-02 5.32225979e+01] [ 8.04397792e-02 9.96758639e-01 -1.28776127e-03 8.47798472e-01] [ 2.03018734e-02 -3.46706233e-04 9.99793836e-01 -1.42941994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90719347 meters 0.05994957202453076 Centerline is valid? [True, True] Translation: X:53.28, Y:0.85, Z:-1.42 [[ 9.96246580e-01 -8.60209487e-02 -9.65137613e-03 5.32829947e+01] [ 8.60190734e-02 9.96293304e-01 -6.10014096e-04 8.48441300e-01] [ 9.66807540e-03 -2.22477975e-04 9.99953238e-01 -1.42383420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96719347 meters 0.06157136911950315 Centerline is valid? [True, True] Translation: X:53.34, Y:0.85, Z:-1.43 [[ 9.96063207e-01 -8.78695996e-02 -1.17055715e-02 5.33415884e+01] [ 8.78669443e-02 9.96131944e-01 -7.41926928e-04 8.51538672e-01] [ 1.17254865e-02 -2.89526683e-04 9.99931212e-01 -1.43006151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02719347 meters 0.06137413224051131 Centerline is valid? [True, True] Translation: X:53.40, Y:0.86, Z:-1.43 [[ 9.95962106e-01 -8.87436253e-02 -1.35665755e-02 5.34003384e+01] [ 8.87400069e-02 9.96054444e-01 -8.69649122e-04 8.57164626e-01] [ 1.35902237e-02 -3.37760436e-04 9.99907592e-01 -1.43267888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08719347 meters 0.06082706409151687 Centerline is valid? [True, True] Translation: X:53.46, Y:0.86, Z:-1.43 [[ 9.96124400e-01 -8.69771254e-02 -1.30828012e-02 5.34585025e+01] [ 8.69735517e-02 9.96210264e-01 -8.42949559e-04 8.64632983e-01] [ 1.31065381e-02 -2.98175059e-04 9.99914061e-01 -1.43370781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.147193470000005 meters 0.059140644493332034 Centerline is valid? [True, True] Translation: X:53.52, Y:0.89, Z:-1.44 [[ 9.97001325e-01 -7.60713705e-02 -1.41952590e-02 5.35157334e+01] [ 7.60661364e-02 9.97102360e-01 -9.09058852e-04 8.86553234e-01] [ 1.42232796e-02 -1.73445630e-04 9.99898829e-01 -1.43720327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20719347 meters 0.05847324735898081 Centerline is valid? [True, True] Translation: X:53.57, Y:0.90, Z:-1.44 [[ 9.97687009e-01 -6.61093923e-02 -1.58170622e-02 5.35729019e+01] [ 6.61014525e-02 9.97812381e-01 -1.02481805e-03 9.03571189e-01] [ 1.58502106e-02 -2.30831355e-05 9.99874377e-01 -1.44102252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26719347 meters 0.059860698312355506 Centerline is valid? [True, True] Translation: X:53.63, Y:0.93, Z:-1.45 [[ 9.98715442e-01 -4.78287103e-02 -1.67296205e-02 5.36303150e+01] [ 4.78173628e-02 9.98855514e-01 -1.07787369e-03 9.29879590e-01] [ 1.67620270e-02 2.76522769e-04 9.99859469e-01 -1.44536104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.327193470000005 meters 0.06255550117195455 Centerline is valid? [True, True] Translation: X:53.69, Y:0.95, Z:-1.44 [[ 9.99384057e-01 -3.24527946e-02 -1.33537558e-02 5.36893345e+01] [ 3.24441977e-02 9.99473178e-01 -8.59966057e-04 9.46561481e-01] [ 1.33746290e-02 4.26184474e-04 9.99910465e-01 -1.44278997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38719347 meters 0.06346286846006306 Centerline is valid? [True, True] Translation: X:53.75, Y:0.95, Z:-1.44 [[ 9.99539186e-01 -2.88762637e-02 -9.35829580e-03 5.37472393e+01] [ 2.88718544e-02 9.99582937e-01 -6.05951602e-04 9.50149948e-01] [ 9.37189042e-03 3.35481018e-04 9.99956027e-01 -1.44030830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44719347 meters 0.06428811703332225 Centerline is valid? [True, True] Translation: X:53.81, Y:0.94, Z:-1.44 [[ 9.99591236e-01 -2.74158664e-02 -8.10744572e-03 5.38069549e+01] [ 2.74124493e-02 9.99624066e-01 -5.32328576e-04 9.44371226e-01] [ 8.11899211e-03 3.09866035e-04 9.99966992e-01 -1.44174229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.507193470000004 meters 0.06300242849361784 Centerline is valid? [True, True] Translation: X:53.87, Y:0.94, Z:-1.44 [[ 9.99552451e-01 -2.89464124e-02 -7.54999368e-03 5.38665678e+01] [ 2.89434688e-02 9.99580926e-01 -4.98877387e-04 9.35178416e-01] [ 7.56127038e-03 2.80131109e-04 9.99971374e-01 -1.44134353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56719347 meters 0.06335299843912609 Centerline is valid? [True, True] Translation: X:53.93, Y:0.92, Z:-1.44 [[ 9.99586009e-01 -2.84335996e-02 -4.39776129e-03 5.39251437e+01] [ 2.84326016e-02 9.99595670e-01 -2.89311461e-04 9.22375235e-01] [ 4.40420931e-03 1.64151894e-04 9.99990288e-01 -1.44025368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62719347 meters 0.06437143892822658 Centerline is valid? [True, True] Translation: X:53.98, Y:0.91, Z:-1.44 [[ 9.99631079e-01 -2.69665575e-02 -3.24217057e-03 5.39835565e+01] [ 2.69660043e-02 9.99636328e-01 -2.14223505e-04 9.12064512e-01] [ 3.24676835e-03 1.26716088e-04 9.99994721e-01 -1.44177143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.687193470000004 meters 0.06487524928719172 Centerline is valid? [True, True] Translation: X:54.04, Y:0.91, Z:-1.45 [[ 9.99622008e-01 -2.71662647e-02 -4.22308817e-03 5.40424386e+01] [ 2.71653072e-02 9.99630915e-01 -2.83929856e-04 9.06414703e-01] [ 4.22924281e-03 1.69101046e-04 9.99991042e-01 -1.44544362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74719347 meters 0.06626056721217502 Centerline is valid? [True, True] Translation: X:54.10, Y:0.89, Z:-1.46 [[ 9.99503275e-01 -3.00965171e-02 -9.34897136e-03 5.41007620e+01] [ 3.00920653e-02 9.99546941e-01 -6.16517398e-04 8.91654251e-01] [ 9.36329075e-03 3.34881302e-04 9.99956107e-01 -1.45612673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80719347 meters 0.061265503698626066 Centerline is valid? [True, True] Translation: X:54.16, Y:0.87, Z:-1.45 [[ 9.99267950e-01 -3.66761171e-02 -1.08824064e-02 5.41623856e+01] [ 3.66704887e-02 9.99327155e-01 -7.16355977e-04 8.68263210e-01] [ 1.09013574e-02 3.16768407e-04 9.99940528e-01 -1.45117664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.867193470000004 meters 0.058483098528221596 Centerline is valid? [True, True] Translation: X:54.22, Y:0.84, Z:-1.45 [[ 9.98636572e-01 -5.16546595e-02 -7.53613353e-03 5.42231064e+01] [ 5.16523790e-02 9.98665001e-01 -4.97053917e-04 8.42116344e-01] [ 7.55174796e-03 1.07116994e-04 9.99971479e-01 -1.45059527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92719347 meters 0.05775306946304937 Centerline is valid? [True, True] Translation: X:54.28, Y:0.83, Z:-1.45 [[ 9.98103724e-01 -6.13057443e-02 -5.52827954e-03 5.42843791e+01] [ 6.13046669e-02 9.98119034e-01 -3.64295862e-04 8.25623693e-01] [ 5.54021446e-03 2.46957208e-05 9.99984653e-01 -1.44957496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98719347 meters 0.057543084936292996 Centerline is valid? [True, True] Translation: X:54.34, Y:0.80, Z:-1.44 [[ 9.97258913e-01 -7.39873645e-02 -7.27630541e-04 5.43449118e+01] [ 7.39873476e-02 9.97259179e-01 -5.01154788e-05 8.04420677e-01] [ 7.29344147e-04 -3.85734580e-06 9.99999734e-01 -1.44413975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04719347 meters 0.05819991971852167 Centerline is valid? [True, True] Translation: X:54.40, Y:0.80, Z:-1.45 [[ 9.97045937e-01 -7.67749238e-02 -2.23829812e-03 5.44033761e+01] [ 7.67747796e-02 9.97048449e-01 -1.50405210e-04 7.98899305e-01] [ 2.24323902e-03 -2.18839416e-05 9.99997484e-01 -1.44656297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10719347 meters 0.05751197333390243 Centerline is valid? [True, True] Translation: X:54.46, Y:0.80, Z:-1.44 [[ 9.97319742e-01 -7.31435168e-02 -1.83268114e-03 5.44616378e+01] [ 7.31434029e-02 9.97321426e-01 -1.29183370e-04 8.04866642e-01] [ 1.83722109e-03 -5.21140968e-06 9.99998312e-01 -1.44493364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16719347 meters 0.05728116693935627 Centerline is valid? [True, True] Translation: X:54.52, Y:0.82, Z:-1.45 [[ 9.97972769e-01 -6.36227151e-02 -1.58221626e-03 5.45184389e+01] [ 6.36226242e-02 9.97974023e-01 -1.07779177e-04 8.16676084e-01] [ 1.58586793e-03 6.89593280e-06 9.99998742e-01 -1.44982081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22719347 meters 0.057673114436224714 Centerline is valid? [True, True] Translation: X:54.58, Y:0.83, Z:-1.45 [[ 9.98168185e-01 -6.03375250e-02 -4.43376845e-03 5.45764754e+01] [ 6.03367753e-02 9.98178031e-01 -3.02784477e-04 8.25045637e-01] [ 4.44395953e-03 3.47105412e-05 9.99990125e-01 -1.45478958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28719347 meters 0.058802761828533334 Centerline is valid? [True, True] Translation: X:54.64, Y:0.84, Z:-1.46 [[ 9.98611786e-01 -5.19284262e-02 -8.82829043e-03 5.46352888e+01] [ 5.19252412e-02 9.98650801e-01 -5.89755037e-04 8.39593999e-01] [ 8.84700436e-03 1.30525221e-04 9.99960856e-01 -1.45868477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34719347 meters 0.0597723855060698 Centerline is valid? [True, True] Translation: X:54.69, Y:0.85, Z:-1.46 [[ 9.98800827e-01 -4.84277550e-02 -7.18756309e-03 5.46926036e+01] [ 4.84255321e-02 9.98826679e-01 -4.83081121e-04 8.49720910e-01] [ 7.20252431e-03 1.34440255e-04 9.99974052e-01 -1.46348294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40719347 meters 0.05876171907398556 Centerline is valid? [True, True] Translation: X:54.75, Y:0.85, Z:-1.46 [[ 9.98674202e-01 -5.07558434e-02 -8.58389067e-03 5.47516641e+01] [ 5.07526971e-02 9.98711081e-01 -5.84121202e-04 8.49494828e-01] [ 8.60247429e-03 1.47691173e-04 9.99962987e-01 -1.46127502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.467193470000005 meters 0.058191183505362086 Centerline is valid? [True, True] Translation: X:54.81, Y:0.85, Z:-1.46 [[ 9.98514708e-01 -5.40847787e-02 -6.57377202e-03 5.48105996e+01] [ 5.40830255e-02 9.98536343e-01 -4.44296031e-04 8.51118033e-01] [ 6.58817993e-03 8.81066412e-05 9.99978294e-01 -1.46133134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52719347 meters 0.05766031785852392 Centerline is valid? [True, True] Translation: X:54.87, Y:0.85, Z:-1.46 [[ 9.98316601e-01 -5.79198859e-02 -3.04156796e-03 5.48697713e+01] [ 5.79195279e-02 9.98321234e-01 -2.05759723e-04 8.52491015e-01] [ 3.04837946e-03 2.92471673e-05 9.99995353e-01 -1.46121937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58719347 meters 0.057162388589703836 Centerline is valid? [True, True] Translation: X:54.93, Y:0.84, Z:-1.46 [[ 9.97812429e-01 -6.60445610e-02 -2.91091737e-03 5.49290145e+01] [ 6.60442455e-02 9.97816674e-01 -2.04483373e-04 8.43628711e-01] [ 2.91806691e-03 1.17867093e-05 9.99995742e-01 -1.46046020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.647193470000005 meters 0.057351206754461814 Centerline is valid? [True, True] Translation: X:54.99, Y:0.84, Z:-1.46 [[ 9.97214332e-01 -7.45888188e-02 -2.90926054e-04 5.49876655e+01] [ 7.45888154e-02 9.97214374e-01 -2.23818768e-05 8.39471392e-01] [ 2.91785081e-04 6.19698509e-07 9.99999957e-01 -1.46060914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70719347 meters 0.05813987990960545 Centerline is valid? [True, True] Translation: X:55.05, Y:0.84, Z:-1.46 [[ 9.96821823e-01 -7.95779183e-02 -3.68882096e-03 5.50468879e+01] [ 7.95775317e-02 9.96828648e-01 -2.51702678e-04 8.39861815e-01] [ 3.69715238e-03 -4.26445441e-05 9.99993165e-01 -1.46461504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76719347 meters 0.058365635629404444 Centerline is valid? [True, True] Translation: X:55.10, Y:0.85, Z:-1.48 [[ 9.97355195e-01 -7.23996938e-02 -6.39531412e-03 5.51036863e+01] [ 7.23983805e-02 9.97375698e-01 -4.36936210e-04 8.52709241e-01] [ 6.41016494e-03 -2.72297863e-05 9.99979454e-01 -1.47563975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.827193470000005 meters 0.057308116925099406 Centerline is valid? [True, True] Translation: X:55.16, Y:0.87, Z:-1.47 [[ 9.97985242e-01 -6.29637898e-02 -7.81137956e-03 5.51619929e+01] [ 6.29614871e-02 9.98015811e-01 -5.40595440e-04 8.71842510e-01] [ 7.82991824e-03 4.76901975e-05 9.99969345e-01 -1.46943406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88719347 meters 0.05842434398489173 Centerline is valid? [True, True] Translation: X:55.22, Y:0.90, Z:-1.47 [[ 9.98886595e-01 -4.69378336e-02 -4.73383028e-03 5.52202779e+01] [ 4.69368237e-02 9.98897807e-01 -3.24262686e-04 8.96939029e-01] [ 4.74383287e-03 1.01710694e-04 9.99988743e-01 -1.46565495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94719347 meters 0.060090525348370526 Centerline is valid? [True, True] Translation: X:55.28, Y:0.91, Z:-1.47 [[ 9.99139851e-01 -4.12633032e-02 -4.11081598e-03 5.52780994e+01] [ 4.12624899e-02 9.99148301e-01 -2.82485509e-04 9.07895009e-01] [ 4.11897108e-03 1.12620026e-04 9.99991511e-01 -1.46909031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.007193470000004 meters 0.05917156950243331 Centerline is valid? [True, True] Translation: X:55.34, Y:0.91, Z:-1.47 [[ 9.99201121e-01 -3.97076625e-02 -4.51890438e-03 5.53363608e+01] [ 3.97066564e-02 9.99211331e-01 -3.12182463e-04 9.10858726e-01] [ 4.52773649e-03 1.32502484e-04 9.99989741e-01 -1.46931432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06719347 meters 0.05997326692479246 Centerline is valid? [True, True] Translation: X:55.39, Y:0.91, Z:-1.47 [[ 9.99280858e-01 -3.76371307e-02 -4.60573811e-03 5.53947410e+01] [ 3.76360339e-02 9.99291461e-01 -3.24607357e-04 9.14947311e-01] [ 4.61469205e-03 1.51032203e-04 9.99989341e-01 -1.47233710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12719347 meters 0.05992305859275602 Centerline is valid? [True, True] Translation: X:55.45, Y:0.91, Z:-1.47 [[ 9.99262581e-01 -3.82535294e-02 -3.31087935e-03 5.54527539e+01] [ 3.82529744e-02 9.99268060e-01 -2.30818395e-04 9.10739166e-01] [ 3.31728560e-03 1.03997202e-04 9.99994492e-01 -1.47330734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.187193470000004 meters 0.05911069691605273 Centerline is valid? [True, True] Translation: X:55.51, Y:0.91, Z:-1.48 [[ 9.99006290e-01 -4.44153840e-02 -3.70217195e-03 5.55114722e+01] [ 4.44147369e-02 9.99013146e-01 -2.56879851e-04 9.06806866e-01] [ 3.70992786e-03 9.21935938e-05 9.99993114e-01 -1.47678012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24719347 meters 0.05732596408402526 Centerline is valid? [True, True] Translation: X:55.57, Y:0.89, Z:-1.48 [[ 9.98434335e-01 -5.58898975e-02 -2.27977003e-03 5.55727923e+01] [ 5.58896830e-02 9.98436938e-01 -1.57774114e-04 8.88238547e-01] [ 2.28502458e-03 3.01114689e-05 9.99997389e-01 -1.47618204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30719347 meters 0.05690823319780249 Centerline is valid? [True, True] Translation: X:55.63, Y:0.88, Z:-1.48 [[ 9.97981620e-01 -6.32270314e-02 -5.91844932e-03 5.56330240e+01] [ 6.32256661e-02 9.97999169e-01 -4.17699423e-04 8.75485788e-01] [ 5.93301740e-03 4.26584463e-05 9.99982399e-01 -1.47779086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.367193470000004 meters 0.05727913285519693 Centerline is valid? [True, True] Translation: X:55.69, Y:0.87, Z:-1.48 [[ 9.97561794e-01 -6.91901614e-02 -9.12075342e-03 5.56921437e+01] [ 6.91871797e-02 9.97603489e-01 -6.42415558e-04 8.68717509e-01] [ 9.14334427e-03 9.81001087e-06 9.99958199e-01 -1.48373652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42719347 meters 0.057774400913817206 Centerline is valid? [True, True] Translation: X:55.75, Y:0.86, Z:-1.49 [[ 9.97571082e-01 -6.90750376e-02 -8.97639711e-03 5.57495826e+01] [ 6.90721660e-02 9.97611467e-01 -6.29904747e-04 8.64231550e-01] [ 8.99846738e-03 8.35556893e-06 9.99959513e-01 -1.48922730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48719347 meters 0.05757948404156302 Centerline is valid? [True, True] Translation: X:55.81, Y:0.86, Z:-1.49 [[ 9.97521859e-01 -6.99812803e-02 -7.26373444e-03 5.58093792e+01] [ 6.99793843e-02 9.97548305e-01 -5.15158067e-04 8.61571965e-01] [ 7.28197740e-03 5.56976771e-06 9.99973486e-01 -1.48851129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54719347 meters 0.05725020494024264 Centerline is valid? [True, True] Translation: X:55.87, Y:0.86, Z:-1.49 [[ 9.97642220e-01 -6.82501273e-02 -7.20558690e-03 5.58672584e+01] [ 6.82481849e-02 9.97668241e-01 -5.15396702e-04 8.63339641e-01] [ 7.22396110e-03 2.24132835e-05 9.99973907e-01 -1.48695757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60719347 meters 0.05737820833239745 Centerline is valid? [True, True] Translation: X:55.93, Y:0.87, Z:-1.49 [[ 9.97811618e-01 -6.58249233e-02 -6.24931688e-03 5.59254789e+01] [ 6.58234036e-02 9.97831187e-01 -4.48770177e-04 8.69329210e-01] [ 6.26530354e-03 3.64367893e-05 9.99980372e-01 -1.48965158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66719347 meters 0.0572844192024721 Centerline is valid? [True, True] Translation: X:55.98, Y:0.87, Z:-1.49 [[ 9.97792702e-01 -6.62397751e-02 -4.69212821e-03 5.59839584e+01] [ 6.62389079e-02 9.97803734e-01 -3.40150511e-04 8.72219846e-01] [ 4.70435454e-03 2.85982495e-05 9.99988934e-01 -1.48924697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72719347 meters 0.057068438578295 Centerline is valid? [True, True] Translation: X:56.04, Y:0.87, Z:-1.49 [[ 9.97717996e-01 -6.74589114e-02 -2.84527597e-03 5.60432537e+01] [ 6.74585890e-02 9.97722053e-01 -2.09217206e-04 8.74561563e-01] [ 2.85290815e-03 1.68014695e-05 9.99995930e-01 -1.48970996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78719347 meters 0.057505787191602604 Centerline is valid? [True, True] Translation: X:56.10, Y:0.88, Z:-1.50 [[ 9.97539907e-01 -6.99417789e-02 -4.72033647e-03 5.61006929e+01] [ 6.99409568e-02 9.97551075e-01 -3.39195432e-04 8.80480868e-01] [ 4.73250066e-03 8.21612972e-06 9.99988802e-01 -1.49593704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84719347 meters 0.05795457969501696 Centerline is valid? [True, True] Translation: X:56.16, Y:0.89, Z:-1.50 [[ 9.97578290e-01 -6.91720838e-02 -7.26489690e-03 5.61595534e+01] [ 6.91700795e-02 9.97604743e-01 -5.27089922e-04 8.85559322e-01] [ 7.28395551e-03 2.32999673e-05 9.99973471e-01 -1.49937897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90719347 meters 0.05871295047454396 Centerline is valid? [True, True] Translation: X:56.22, Y:0.89, Z:-1.51 [[ 9.97697749e-01 -6.65248504e-02 -1.31775073e-02 5.62196776e+01] [ 6.65181871e-02 9.97784766e-01 -9.43790799e-04 8.90626771e-01] [ 1.32111016e-02 6.50740563e-05 9.99912727e-01 -1.50576212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.967193470000005 meters 0.05820891703262848 Centerline is valid? [True, True] Translation: X:56.28, Y:0.90, Z:-1.50 [[ 9.97515438e-01 -6.92219287e-02 -1.30872459e-02 5.62774075e+01] [ 6.92154195e-02 9.97601284e-01 -9.50198305e-04 8.95358304e-01] [ 1.31216279e-02 4.19982642e-05 9.99913907e-01 -1.50377483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02719347 meters 0.05775762716708263 Centerline is valid? [True, True] Translation: X:56.34, Y:0.89, Z:-1.50 [[ 9.97134014e-01 -7.53317754e-02 -6.99151003e-03 5.63381099e+01] [ 7.53300945e-02 9.97158525e-01 -5.03830482e-04 8.91648423e-01] [ 7.00959827e-03 -2.42846004e-05 9.99975432e-01 -1.49811769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08719347 meters 0.05787515991957522 Centerline is valid? [True, True] Translation: X:56.40, Y:0.89, Z:-1.49 [[ 9.96681429e-01 -8.13425983e-02 -3.08401412e-03 5.63971438e+01] [ 8.13422756e-02 9.96686200e-01 -2.30117436e-04 8.88977079e-01] [ 3.09251266e-03 -2.15069519e-05 9.99995218e-01 -1.49499006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.147193470000005 meters 0.05838883968305245 Centerline is valid? [True, True] Translation: X:56.46, Y:0.90, Z:-1.50 [[ 9.96198704e-01 -8.69765939e-02 -4.81809837e-03 5.64567844e+01] [ 8.69759201e-02 9.96210353e-01 -3.49598509e-04 8.95187030e-01] [ 4.83024636e-03 -7.07889576e-05 9.99988332e-01 -1.49734341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20719347 meters 0.05945453848899876 Centerline is valid? [True, True] Translation: X:56.52, Y:0.90, Z:-1.50 [[ 9.95729086e-01 -9.21426450e-02 -5.77233629e-03 5.65164201e+01] [ 9.21417641e-02 9.95745811e-01 -4.18913950e-04 9.01376670e-01] [ 5.78637952e-03 -1.14748445e-04 9.99983252e-01 -1.50086692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26719347 meters 0.06298675736194213 Centerline is valid? [True, True] Translation: X:56.58, Y:0.90, Z:-1.50 [[ 9.94723561e-01 -1.02144570e-01 -9.56682977e-03 5.65761077e+01] [ 1.02142629e-01 9.94769523e-01 -6.92557455e-04 9.01586402e-01] [ 9.58753167e-03 -2.88277929e-04 9.99953997e-01 -1.50360702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.327193470000005 meters 0.06584453427098604 Centerline is valid? [True, True] Translation: X:56.63, Y:0.91, Z:-1.51 [[ 9.94017679e-01 -1.08631577e-01 -1.13152368e-02 5.66346045e+01] [ 1.08629273e-01 9.94081993e-01 -8.19824590e-04 9.08103491e-01] [ 1.13373320e-02 -4.14245808e-04 9.99935645e-01 -1.50622561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38719347 meters 0.06839722197008924 Centerline is valid? [True, True] Translation: X:56.69, Y:0.92, Z:-1.51 [[ 9.93211330e-01 -1.15842736e-01 -1.05695440e-02 5.66934269e+01] [ 1.15841130e-01 9.93267459e-01 -7.66066673e-04 9.22546891e-01] [ 1.05871274e-02 -4.63521821e-04 9.99943847e-01 -1.50604034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44719347 meters 0.0707079493337248 Centerline is valid? [True, True] Translation: X:56.75, Y:0.93, Z:-1.51 [[ 9.92709190e-01 -1.20282409e-01 -7.78494278e-03 5.67529453e+01] [ 1.20281666e-01 9.92739644e-01 -5.65254386e-04 9.31626742e-01] [ 7.79641149e-03 -3.75252663e-04 9.99969537e-01 -1.50532344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.507193470000004 meters 0.07610612536765686 Centerline is valid? [True, True] Translation: X:56.81, Y:0.95, Z:-1.51 [[ 9.91833174e-01 -1.27244507e-01 -8.70572714e-03 5.68111078e+01] [ 1.27243853e-01 9.91871264e-01 -6.31276952e-04 9.45051626e-01] [ 8.71528710e-03 -4.81628839e-04 9.99961905e-01 -1.50882824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56719347 meters 0.07372908163139114 Centerline is valid? [True, True] Translation: X:56.87, Y:0.97, Z:-1.51 [[ 9.91507556e-01 -1.29690028e-01 -9.65730744e-03 5.68686388e+01] [ 1.29689318e-01 9.91554430e-01 -7.02296263e-04 9.68470773e-01] [ 9.66682679e-03 -5.56117568e-04 9.99953120e-01 -1.50754981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62719347 meters 0.07844743174322641 Centerline is valid? [True, True] Translation: X:56.92, Y:0.99, Z:-1.52 [[ 9.91699065e-01 -1.27948379e-01 -1.27348940e-02 5.69234208e+01] [ 1.27946916e-01 9.91780579e-01 -9.32920608e-04 9.92884401e-01] [ 1.27495862e-02 -7.04213919e-04 9.99918473e-01 -1.51866608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.687193470000004 meters 0.07354179243334166 Centerline is valid? [True, True] Translation: X:56.98, Y:1.03, Z:-1.52 [[ 9.92115095e-01 -1.24510284e-01 -1.43117744e-02 5.69797805e+01] [ 1.24508127e-01 9.92218038e-01 -1.04512900e-03 1.03211828e+00] [ 1.43305300e-02 -7.45043966e-04 9.99897035e-01 -1.51724821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74719347 meters 0.07700211706151373 Centerline is valid? [True, True] Translation: X:57.04, Y:1.05, Z:-1.52 [[ 9.91979732e-01 -1.25576500e-01 -1.43789308e-02 5.70369142e+01] [ 1.25574377e-01 9.92083648e-01 -1.05404510e-03 1.04753511e+00] [ 1.43974654e-02 -7.60033894e-04 9.99896062e-01 -1.52352732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80719347 meters 0.07623854335081992 Centerline is valid? [True, True] Translation: X:57.09, Y:1.08, Z:-1.52 [[ 9.91624300e-01 -1.28291102e-01 -1.49211467e-02 5.70948931e+01] [ 1.28289156e-01 9.91736205e-01 -1.09146655e-03 1.07527817e+00] [ 1.49378669e-02 -8.31896566e-04 9.99888078e-01 -1.52300495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.867193470000004 meters 0.08056197725669552 Centerline is valid? [True, True] Translation: X:57.15, Y:1.09, Z:-1.53 [[ 9.91464517e-01 -1.29184030e-01 -1.75954101e-02 5.71530133e+01] [ 1.29181440e-01 9.91620137e-01 -1.28845082e-03 1.08599761e+00] [ 1.76144102e-02 -9.95547147e-04 9.99844359e-01 -1.53184107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92719347 meters 0.07404210692613147 Centerline is valid? [True, True] Translation: X:57.21, Y:1.12, Z:-1.53 [[ 9.91423355e-01 -1.29361623e-01 -1.85823038e-02 5.72099743e+01] [ 1.29358552e-01 9.91596935e-01 -1.37226346e-03 1.11786249e+00] [ 1.86036737e-02 -1.04328587e-03 9.99826392e-01 -1.52526086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98719347 meters 0.07246657405226703 Centerline is valid? [True, True] Translation: X:57.27, Y:1.13, Z:-1.52 [[ 9.91361126e-01 -1.29954477e-01 -1.77468602e-02 5.72679799e+01] [ 1.29951660e-01 9.91519456e-01 -1.31673878e-03 1.13456685e+00] [ 1.77674732e-02 -1.00087030e-03 9.99841645e-01 -1.52222585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04719347 meters 0.07134348377692563 Centerline is valid? [True, True] Translation: X:57.33, Y:1.16, Z:-1.52 [[ 9.91891272e-01 -1.26708942e-01 -9.82592274e-03 5.73257940e+01] [ 1.26707949e-01 9.91939801e-01 -7.26055925e-04 1.15827327e+00] [ 9.83872162e-03 -5.24853983e-04 9.99951461e-01 -1.51559231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10719347 meters 0.07026537370602991 Centerline is valid? [True, True] Translation: X:57.38, Y:1.17, Z:-1.52 [[ 9.92710990e-01 -1.20330024e-01 -6.75097479e-03 5.73837346e+01] [ 1.20329401e-01 9.92733895e-01 -4.99890279e-04 1.17494838e+00] [ 6.76207331e-03 -3.16094176e-04 9.99977087e-01 -1.51701288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16719347 meters 0.06346658023040663 Centerline is valid? [True, True] Translation: X:57.44, Y:1.21, Z:-1.52 [[ 9.94526438e-01 -1.04132826e-01 -8.57425427e-03 5.74414928e+01] [ 1.04131232e-01 9.94563364e-01 -6.33371550e-04 1.21492699e+00] [ 8.59359394e-03 -2.62942908e-04 9.99963040e-01 -1.52047998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22719347 meters 0.060085908024956586 Centerline is valid? [True, True] Translation: X:57.50, Y:1.25, Z:-1.53 [[ 9.95979274e-01 -8.87164330e-02 -1.24370863e-02 5.74977962e+01] [ 8.87118586e-02 9.96056906e-01 -9.20099343e-04 1.25079106e+00] [ 1.24696737e-02 -1.86917169e-04 9.99922233e-01 -1.52799417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28719347 meters 0.05836969305532411 Centerline is valid? [True, True] Translation: X:57.55, Y:1.27, Z:-1.53 [[ 9.96660385e-01 -8.03518336e-02 -1.45485168e-02 5.75541809e+01] [ 8.03444913e-02 9.96766560e-01 -1.08939935e-03 1.27439915e+00] [ 1.45890103e-02 -8.31320107e-05 9.99893571e-01 -1.52502692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34719347 meters 0.05879304831204154 Centerline is valid? [True, True] Translation: X:57.61, Y:1.30, Z:-1.53 [[ 9.97255210e-01 -7.19320681e-02 -1.75449160e-02 5.76100665e+01] [ 7.19201743e-02 9.97409533e-01 -1.30874732e-03 1.29588431e+00] [ 1.75936074e-02 4.33216646e-05 9.99845220e-01 -1.52990780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40719347 meters 0.06058447094048741 Centerline is valid? [True, True] Translation: X:57.67, Y:1.30, Z:-1.54 [[ 9.97345462e-01 -6.99031914e-02 -2.03856127e-02 5.76675091e+01] [ 6.98867085e-02 9.97553776e-01 -1.52072615e-03 1.30099677e+00] [ 2.04420486e-02 9.20059468e-05 9.99791035e-01 -1.54437392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.467193470000005 meters 0.058962966541562044 Centerline is valid? [True, True] Translation: X:57.73, Y:1.30, Z:-1.54 [[ 9.97239756e-01 -7.23596937e-02 -1.66416228e-02 5.77284176e+01] [ 7.23490657e-02 9.97378601e-01 -1.24058936e-03 1.29830710e+00] [ 1.66877671e-02 3.31591764e-05 9.99860749e-01 -1.53587776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52719347 meters 0.05826696451891231 Centerline is valid? [True, True] Translation: X:57.79, Y:1.29, Z:-1.53 [[ 9.96979594e-01 -7.64985390e-02 -1.34037995e-02 5.77879679e+01] [ 7.64919791e-02 9.97069693e-01 -1.00214080e-03 1.29391650e+00] [ 1.34411845e-02 -2.61692225e-05 9.99909663e-01 -1.53185765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58719347 meters 0.058264004797386845 Centerline is valid? [True, True] Translation: X:57.85, Y:1.28, Z:-1.53 [[ 9.96236094e-01 -8.60275113e-02 -1.06260056e-02 5.78485852e+01] [ 8.60238387e-02 9.96292755e-01 -8.03052415e-04 1.28002116e+00] [ 1.06556970e-02 -1.14059990e-04 9.99943220e-01 -1.52925361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.647193470000005 meters 0.059243326962419976 Centerline is valid? [True, True] Translation: X:57.91, Y:1.27, Z:-1.53 [[ 9.95421384e-01 -9.51991000e-02 -8.56734260e-03 5.79085465e+01] [ 9.51970115e-02 9.95458238e-01 -6.52168478e-04 1.27262392e+00] [ 8.59051762e-03 -1.66402963e-04 9.99963087e-01 -1.52755224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70719347 meters 0.06270062033924227 Centerline is valid? [True, True] Translation: X:57.97, Y:1.26, Z:-1.53 [[ 9.94265373e-01 -1.06563135e-01 -8.98141676e-03 5.79685924e+01] [ 1.06561373e-01 9.94305897e-01 -6.75871743e-04 1.25973983e+00] [ 9.00229866e-03 -2.85076234e-04 9.99959438e-01 -1.53119012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76719347 meters 0.06286654701578176 Centerline is valid? [True, True] Translation: X:58.03, Y:1.26, Z:-1.53 [[ 9.93981086e-01 -1.09001704e-01 -1.09648718e-02 5.80278920e+01] [ 1.08999203e-01 9.94041493e-01 -8.27272850e-04 1.26103773e+00] [ 1.09897117e-02 -3.72868722e-04 9.99939542e-01 -1.53216438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.827193470000005 meters 0.06317676514214676 Centerline is valid? [True, True] Translation: X:58.09, Y:1.27, Z:-1.53 [[ 9.94226814e-01 -1.06955045e-01 -8.58254186e-03 5.80861249e+01] [ 1.06953428e-01 9.94263820e-01 -6.48430392e-04 1.26821639e+00] [ 8.60266376e-03 -2.73245390e-04 9.99962959e-01 -1.53328476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88719347 meters 0.06229215714393943 Centerline is valid? [True, True] Translation: X:58.14, Y:1.28, Z:-1.54 [[ 9.94505921e-01 -1.04019675e-01 -1.17422347e-02 5.81433112e+01] [ 1.04016325e-01 9.94575185e-01 -8.97338306e-04 1.27932574e+00] [ 1.17718761e-02 -3.28975837e-04 9.99930655e-01 -1.53878573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94719347 meters 0.0632722039548366 Centerline is valid? [True, True] Translation: X:58.20, Y:1.28, Z:-1.54 [[ 9.94262096e-01 -1.05862574e-01 -1.53622721e-02 5.82022824e+01] [ 1.05857188e-01 9.94380660e-01 -1.16561453e-03 1.28260568e+00] [ 1.53993412e-02 -4.67280575e-04 9.99881314e-01 -1.54309890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.007193470000004 meters 0.06233917454436447 Centerline is valid? [True, True] Translation: X:58.26, Y:1.29, Z:-1.54 [[ 9.94075952e-01 -1.07441702e-01 -1.64098344e-02 5.82602950e+01] [ 1.07435722e-01 9.94211249e-01 -1.24810424e-03 1.29046635e+00] [ 1.64489404e-02 -5.22291983e-04 9.99864571e-01 -1.54096378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06719347 meters 0.062141319992231096 Centerline is valid? [True, True] Translation: X:58.32, Y:1.30, Z:-1.54 [[ 9.94365758e-01 -1.05249571e-01 -1.26201187e-02 5.83184258e+01] [ 1.05245853e-01 9.94445769e-01 -9.60224212e-04 1.30171219e+00] [ 1.26510868e-02 -3.73401078e-04 9.99919902e-01 -1.53974250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12719347 meters 0.05839333787890796 Centerline is valid? [True, True] Translation: X:58.38, Y:1.32, Z:-1.54 [[ 9.95653959e-01 -9.28129680e-02 -7.67772285e-03 5.83769803e+01] [ 9.28112212e-02 9.95683552e-01 -5.84278066e-04 1.32446366e+00] [ 7.69881094e-03 -1.30840064e-04 9.99970355e-01 -1.53550524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.187193470000004 meters 0.05684825772955737 Centerline is valid? [True, True] Translation: X:58.44, Y:1.35, Z:-1.53 [[ 9.96577003e-01 -8.25022105e-02 -5.25951086e-03 5.84355997e+01] [ 8.25012410e-02 9.96590881e-01 -4.01404567e-04 1.34573331e+00] [ 5.27469733e-03 -3.38856125e-05 9.99986088e-01 -1.53486076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24719347 meters 0.05716920410561193 Centerline is valid? [True, True] Translation: X:58.49, Y:1.36, Z:-1.54 [[ 9.97197807e-01 -7.43556867e-02 -8.23204365e-03 5.84928745e+01] [ 7.43530265e-02 9.97231784e-01 -6.29144699e-04 1.36150234e+00] [ 8.25603606e-03 1.53043534e-05 9.99965918e-01 -1.54189738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30719347 meters 0.057841815347932445 Centerline is valid? [True, True] Translation: X:58.55, Y:1.37, Z:-1.55 [[ 9.97506896e-01 -6.95916447e-02 -1.17045144e-02 5.85517423e+01] [ 6.95859591e-02 9.97575560e-01 -8.92807530e-04 1.37360459e+00] [ 1.17382695e-02 7.61118065e-05 9.99931101e-01 -1.54740162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.367193470000004 meters 0.05841761791078053 Centerline is valid? [True, True] Translation: X:58.61, Y:1.37, Z:-1.55 [[ 9.97296360e-01 -7.16766237e-02 -1.61997764e-02 5.86114681e+01] [ 7.16660017e-02 9.97427920e-01 -1.23601181e-03 1.37284637e+00] [ 1.62467024e-02 7.16968741e-05 9.99868011e-01 -1.55316006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42719347 meters 0.05778047771977114 Centerline is valid? [True, True] Translation: X:58.67, Y:1.37, Z:-1.55 [[ 9.97093353e-01 -7.48999453e-02 -1.39586363e-02 5.86711610e+01] [ 7.48923410e-02 9.97191054e-01 -1.06743945e-03 1.36663200e+00] [ 1.39993784e-02 1.89418337e-05 9.99902004e-01 -1.55105848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48719347 meters 0.05784661575207264 Centerline is valid? [True, True] Translation: X:58.73, Y:1.37, Z:-1.55 [[ 9.97671976e-01 -6.74703836e-02 -9.91839971e-03 5.87302499e+01] [ 6.74660970e-02 9.97721273e-01 -7.66520840e-04 1.37338360e+00] [ 9.94751584e-03 9.55806437e-05 9.99950518e-01 -1.54738266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54719347 meters 0.05967373719260754 Centerline is valid? [True, True] Translation: X:58.79, Y:1.38, Z:-1.55 [[ 9.98368084e-01 -5.64881815e-02 -8.38180706e-03 5.87898078e+01] [ 5.64847693e-02 9.98403254e-01 -6.43458666e-04 1.38131597e+00] [ 8.40477125e-03 1.68964157e-04 9.99964665e-01 -1.54817405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60719347 meters 0.06372077338849605 Centerline is valid? [True, True] Translation: X:58.85, Y:1.39, Z:-1.55 [[ 9.99010757e-01 -4.38466197e-02 -7.41494077e-03 5.88500560e+01] [ 4.38436109e-02 9.99038245e-01 -5.67928236e-04 1.39015512e+00] [ 7.43271115e-03 2.42268640e-04 9.99972348e-01 -1.55225505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66719347 meters 0.06646768151070827 Centerline is valid? [True, True] Translation: X:58.91, Y:1.39, Z:-1.56 [[ 9.99213129e-01 -3.86652213e-02 -8.83871365e-03 5.89096736e+01] [ 3.86607343e-02 9.99252164e-01 -6.78024003e-04 1.39383835e+00] [ 8.85831969e-03 3.35779326e-04 9.99960708e-01 -1.55623348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72719347 meters 0.0674589481777541 Centerline is valid? [True, True] Translation: X:58.97, Y:1.38, Z:-1.56 [[ 9.99216187e-01 -3.82632367e-02 -1.01457222e-02 5.89689251e+01] [ 3.82572737e-02 9.99267617e-01 -7.81229601e-04 1.38104754e+00] [ 1.01681840e-02 3.92469593e-04 9.99948226e-01 -1.56141830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.787193470000005 meters 0.06417022690730687 Centerline is valid? [True, True] Translation: X:59.03, Y:1.36, Z:-1.56 [[ 9.99075863e-01 -4.22073276e-02 -8.12171707e-03 5.90304089e+01] [ 4.22036416e-02 9.99108834e-01 -6.24768166e-04 1.35953683e+00] [ 8.14084907e-03 2.81424757e-04 9.99966823e-01 -1.55837568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84719347 meters 0.06329888596656812 Centerline is valid? [True, True] Translation: X:59.09, Y:1.35, Z:-1.56 [[ 9.99033444e-01 -4.32298061e-02 -7.96004642e-03 5.90905553e+01] [ 4.32262277e-02 9.99065117e-01 -6.21121390e-04 1.34693372e+00] [ 7.97945566e-03 2.76438263e-04 9.99968125e-01 -1.55910902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90719347 meters 0.06188739149638637 Centerline is valid? [True, True] Translation: X:59.15, Y:1.32, Z:-1.56 [[ 9.98711663e-01 -4.95870283e-02 -1.07768320e-02 5.91510077e+01] [ 4.95809141e-02 9.98769762e-01 -8.33939821e-04 1.32480887e+00] [ 1.08049265e-02 2.98540246e-04 9.99941581e-01 -1.56484480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.967193470000005 meters 0.06164657117297168 Centerline is valid? [True, True] Translation: X:59.21, Y:1.31, Z:-1.57 [[ 9.98389296e-01 -5.46201824e-02 -1.53443880e-02 5.92110455e+01] [ 5.46082468e-02 9.98507140e-01 -1.19607571e-03 1.31181833e+00] [ 1.53868108e-02 3.56219062e-04 9.99881553e-01 -1.57176671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02719347 meters 0.0592753197904808 Centerline is valid? [True, True] Translation: X:59.27, Y:1.28, Z:-1.57 [[ 9.97617337e-01 -6.68912569e-02 -1.68881024e-02 5.92731190e+01] [ 6.68784863e-02 9.97760254e-01 -1.32045631e-03 1.27807529e+00] [ 1.69386043e-02 1.87859385e-04 9.99856514e-01 -1.57120443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08719347 meters 0.05883131933041175 Centerline is valid? [True, True] Translation: X:59.33, Y:1.26, Z:-1.57 [[ 9.96987751e-01 -7.61462848e-02 -1.47366308e-02 5.93323116e+01] [ 7.61375984e-02 9.97096657e-01 -1.15039625e-03 1.26190522e+00] [ 1.47814437e-02 2.49192968e-05 9.99890748e-01 -1.57071407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.147193470000005 meters 0.058356143189979254 Centerline is valid? [True, True] Translation: X:59.39, Y:1.25, Z:-1.56 [[ 9.96433928e-01 -8.39961716e-02 -8.00440417e-03 5.93944072e+01] [ 8.39938680e-02 9.96466076e-01 -6.24110382e-04 1.24540099e+00] [ 8.02854010e-03 -5.04361083e-05 9.99967769e-01 -1.56293385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20719347 meters 0.05763087087541159 Centerline is valid? [True, True] Translation: X:59.45, Y:1.24, Z:-1.56 [[ 9.96380156e-01 -8.49152903e-02 -3.99726978e-03 5.94536853e+01] [ 8.49147142e-02 9.96388174e-01 -3.13914296e-04 1.24099279e+00] [ 4.00948846e-03 -2.66490461e-05 9.99991962e-01 -1.55744905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26719347 meters 0.057668512066030936 Centerline is valid? [True, True] Translation: X:59.51, Y:1.25, Z:-1.56 [[ 9.96369972e-01 -8.50015890e-02 -4.64846230e-03 5.95117174e+01] [ 8.50007789e-02 9.96380815e-01 -3.71925281e-04 1.24816430e+00] [ 4.66325290e-03 -2.45477344e-05 9.99989127e-01 -1.55935083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.327193470000005 meters 0.05814560235133669 Centerline is valid? [True, True] Translation: X:59.57, Y:1.25, Z:-1.57 [[ 9.96549194e-01 -8.26241185e-02 -7.93463292e-03 5.95693616e+01] [ 8.26217605e-02 9.96580781e-01 -6.25071534e-04 1.25337039e+00] [ 7.95914866e-03 -3.26588071e-05 9.99968325e-01 -1.56700948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38719347 meters 0.05820093333350505 Centerline is valid? [True, True] Translation: X:59.63, Y:1.26, Z:-1.57 [[ 9.96827040e-01 -7.88531156e-02 -1.08645299e-02 5.96279108e+01] [ 7.88483933e-02 9.96886245e-01 -8.62977274e-04 1.25996103e+00] [ 1.08987488e-02 3.58835646e-06 9.99940607e-01 -1.57056566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44719347 meters 0.05829168177346954 Centerline is valid? [True, True] Translation: X:59.69, Y:1.27, Z:-1.57 [[ 9.97081279e-01 -7.52797347e-02 -1.27234145e-02 5.96859785e+01] [ 7.52729314e-02 9.97162454e-01 -1.01342459e-03 1.27037276e+00] [ 1.27636015e-02 5.27379836e-05 9.99918541e-01 -1.57351169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.507193470000004 meters 0.05908992982485438 Centerline is valid? [True, True] Translation: X:59.74, Y:1.29, Z:-1.57 [[ 9.97844227e-01 -6.47619793e-02 -1.06200477e-02 5.97437177e+01] [ 6.47565948e-02 9.97900727e-01 -8.50459106e-04 1.28654764e+00] [ 1.06528307e-02 1.60907583e-04 9.99943244e-01 -1.57410080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56719347 meters 0.06043648350932411 Centerline is valid? [True, True] Translation: X:59.80, Y:1.29, Z:-1.58 [[ 9.98358585e-01 -5.64598082e-02 -9.61388412e-03 5.98024963e+01] [ 5.64550549e-02 9.98404848e-01 -7.65296575e-04 1.29456703e+00] [ 9.64175701e-03 2.21288050e-04 9.99953493e-01 -1.57512697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62719347 meters 0.062449931063855185 Centerline is valid? [True, True] Translation: X:59.86, Y:1.30, Z:-1.58 [[ 9.98649405e-01 -5.07233531e-02 -1.12475486e-02 5.98614875e+01] [ 5.07164959e-02 9.98712690e-01 -8.94236255e-04 1.30292638e+00] [ 1.12784282e-02 3.22592249e-04 9.99936344e-01 -1.58031439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.687193470000004 meters 0.0616961325821766 Centerline is valid? [True, True] Translation: X:59.92, Y:1.30, Z:-1.58 [[ 9.98690172e-01 -5.05086303e-02 -8.17427059e-03 5.99202347e+01] [ 5.05049216e-02 9.98723594e-01 -6.59637488e-04 1.30437900e+00] [ 8.19715429e-03 2.45932582e-04 9.99966373e-01 -1.57776535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74719347 meters 0.060854466464934545 Centerline is valid? [True, True] Translation: X:59.98, Y:1.30, Z:-1.57 [[ 9.98638062e-01 -5.21529281e-02 -1.44681597e-03 5.99805377e+01] [ 5.21528140e-02 9.98639109e-01 -1.16556012e-04 1.29915537e+00] [ 1.45092575e-03 4.09417458e-05 9.99998947e-01 -1.57433194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80719347 meters 0.06092603390086171 Centerline is valid? [True, True] Translation: X:60.04, Y:1.30, Z:-1.58 [[ 9.98698582e-01 -5.09650066e-02 -1.92607971e-03 6.00397785e+01] [ 5.09647889e-02 9.98700438e-01 -1.62004859e-04 1.30122029e+00] [ 1.93183323e-03 6.36317773e-05 9.99998132e-01 -1.57614077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.867193470000004 meters 0.06148944273434806 Centerline is valid? [True, True] Translation: X:60.10, Y:1.30, Z:-1.58 [[ 9.98779510e-01 -4.92955322e-02 -3.07255667e-03 6.00982885e+01] [ 4.92949811e-02 9.98784231e-01 -2.54900727e-04 1.30443026e+00] [ 3.08138661e-03 1.03128000e-04 9.99995247e-01 -1.57964825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92719347 meters 0.062047512845009686 Centerline is valid? [True, True] Translation: X:60.16, Y:1.31, Z:-1.58 [[ 9.98774753e-01 -4.92473628e-02 -4.86720372e-03 6.01569879e+01] [ 4.92459951e-02 9.98786600e-01 -4.00533411e-04 1.30859991e+00] [ 4.88102306e-03 1.60352368e-04 9.99988075e-01 -1.58342128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98719347 meters 0.061343881864580306 Centerline is valid? [True, True] Translation: X:60.22, Y:1.30, Z:-1.59 [[ 9.98524643e-01 -5.35742422e-02 -8.85083602e-03 6.02156168e+01] [ 5.35699037e-02 9.98563837e-01 -7.26692853e-04 1.29977208e+00] [ 8.87705679e-03 2.51482289e-04 9.99960567e-01 -1.58936117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04719347 meters 0.06064470362302219 Centerline is valid? [True, True] Translation: X:60.27, Y:1.29, Z:-1.59 [[ 9.98184339e-01 -5.94752391e-02 -9.52479543e-03 6.02743219e+01] [ 5.94705368e-02 9.98229759e-01 -7.76409351e-04 1.29199847e+00] [ 9.55411139e-03 2.08554956e-04 9.99954337e-01 -1.59363085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10719347 meters 0.05937298180184716 Centerline is valid? [True, True] Translation: X:60.33, Y:1.28, Z:-1.60 [[ 9.97712977e-01 -6.71007149e-02 -8.14304401e-03 6.03339777e+01] [ 6.70975335e-02 9.97746201e-01 -6.63573514e-04 1.28120514e+00] [ 8.16921748e-03 1.15677739e-04 9.99966625e-01 -1.59571687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16719347 meters 0.058773625615936444 Centerline is valid? [True, True] Translation: X:60.39, Y:1.28, Z:-1.60 [[ 9.97399502e-01 -7.17082885e-02 -7.22186549e-03 6.03931892e+01] [ 7.17058501e-02 9.97425644e-01 -5.96343233e-04 1.27639160e+00] [ 7.24603659e-03 7.69424394e-05 9.99973744e-01 -1.59518651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22719347 meters 0.057612273906746406 Centerline is valid? [True, True] Translation: X:60.45, Y:1.27, Z:-1.59 [[ 9.96829126e-01 -7.94412614e-02 -4.55839545e-03 6.04538924e+01] [ 7.94403539e-02 9.96839549e-01 -3.80084953e-04 1.26519816e+00] [ 4.57418329e-03 1.67592033e-05 9.99989538e-01 -1.59053288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.287193470000005 meters 0.057411645882099405 Centerline is valid? [True, True] Translation: X:60.51, Y:1.27, Z:-1.59 [[ 9.96414254e-01 -8.45862806e-02 -1.94846346e-03 6.05117029e+01] [ 8.45861249e-02 9.96416159e-01 -1.62327941e-04 1.26550999e+00] [ 1.95521119e-03 -3.06709904e-06 9.99998089e-01 -1.59080193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34719347 meters 0.05761467250443185 Centerline is valid? [True, True] Translation: X:60.57, Y:1.26, Z:-1.59 [[ 9.95991072e-01 -8.93525024e-02 -4.23253224e-03 6.05704469e+01] [ 8.93518141e-02 9.96000065e-01 -3.51825324e-04 1.26220454e+00] [ 4.24703886e-03 -2.77695524e-05 9.99990981e-01 -1.59072922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40719347 meters 0.05825751508544098 Centerline is valid? [True, True] Translation: X:60.63, Y:1.27, Z:-1.60 [[ 9.95876089e-01 -9.03924475e-02 -7.74727130e-03 6.06295113e+01] [ 9.03902200e-02 9.95906221e-01 -6.37902329e-04 1.27166916e+00] [ 7.77321723e-03 -6.50058802e-05 9.99969786e-01 -1.59874501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.467193470000005 meters 0.05841768396456236 Centerline is valid? [True, True] Translation: X:60.69, Y:1.28, Z:-1.60 [[ 9.95907714e-01 -8.99651907e-02 -8.60758488e-03 6.06878722e+01] [ 8.99623471e-02 9.95944909e-01 -7.17769290e-04 1.27892636e+00] [ 8.63725459e-03 -5.95265660e-05 9.99962696e-01 -1.60010213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52719347 meters 0.0579808505974689 Centerline is valid? [True, True] Translation: X:60.75, Y:1.29, Z:-1.60 [[ 9.95966561e-01 -8.94956432e-02 -6.41401642e-03 6.07459704e+01] [ 8.94940281e-02 9.95987213e-01 -5.38956252e-04 1.28859589e+00] [ 6.43651257e-03 -3.72337609e-05 9.99979285e-01 -1.59695627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58719347 meters 0.058267589343421924 Centerline is valid? [True, True] Translation: X:60.80, Y:1.30, Z:-1.60 [[ 9.96130284e-01 -8.73748160e-02 -9.49208844e-03 6.08038895e+01] [ 8.73711878e-02 9.96175507e-01 -7.97037794e-04 1.29784801e+00] [ 9.52542704e-03 -3.53815576e-05 9.99954631e-01 -1.60034320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.647193470000005 meters 0.05850639732561237 Centerline is valid? [True, True] Translation: X:60.86, Y:1.31, Z:-1.60 [[ 9.96681708e-01 -8.03473704e-02 -1.30335131e-02 6.08620908e+01] [ 8.03400344e-02 9.96766923e-01 -1.08631224e-03 1.31310685e+00] [ 1.30786571e-02 3.55946454e-05 9.99914470e-01 -1.60442896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70719347 meters 0.06061605894932932 Centerline is valid? [True, True] Translation: X:60.92, Y:1.34, Z:-1.61 [[ 9.97765560e-01 -6.51842615e-02 -1.46594168e-02 6.09188681e+01] [ 6.51733626e-02 9.97873210e-01 -1.22048768e-03 1.33921556e+00] [ 1.47077959e-02 2.62357087e-04 9.99891800e-01 -1.61084576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76719347 meters 0.06431573794472675 Centerline is valid? [True, True] Translation: X:60.98, Y:1.36, Z:-1.61 [[ 9.98602422e-01 -5.04379417e-02 -1.57866121e-02 6.09778212e+01] [ 5.04234652e-02 9.98727064e-01 -1.31395639e-03 1.36124414e+00] [ 1.58327900e-02 5.16104347e-04 9.99874520e-01 -1.61105134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.827193470000005 meters 0.06555958828374091 Centerline is valid? [True, True] Translation: X:61.04, Y:1.37, Z:-1.61 [[ 9.98854726e-01 -4.55522628e-02 -1.46365429e-02 6.10370934e+01] [ 4.55392705e-02 9.98961804e-01 -1.21989582e-03 1.37185718e+00] [ 1.46769163e-02 5.51961217e-04 9.99892136e-01 -1.61144935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88719347 meters 0.06410536088655759 Centerline is valid? [True, True] Translation: X:61.10, Y:1.37, Z:-1.61 [[ 9.98909410e-01 -4.46945900e-02 -1.35049661e-02 6.10956361e+01] [ 4.46832808e-02 9.99000555e-01 -1.13814175e-03 1.37329991e+00] [ 1.35423374e-02 5.33454309e-04 9.99908156e-01 -1.60647182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94719347 meters 0.06459400797460198 Centerline is valid? [True, True] Translation: X:61.15, Y:1.37, Z:-1.61 [[ 9.98899824e-01 -4.44495145e-02 -1.49460052e-02 6.11543541e+01] [ 4.44355983e-02 9.99011454e-01 -1.26206258e-03 1.37258505e+00] [ 1.49873285e-02 5.96539406e-04 9.99887506e-01 -1.60862059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.007193470000004 meters 0.06208050693806549 Centerline is valid? [True, True] Translation: X:61.22, Y:1.36, Z:-1.60 [[ 9.98765835e-01 -4.80269293e-02 -1.26578580e-02 6.12153929e+01] [ 4.80173043e-02 9.98845938e-01 -1.06339085e-03 1.36171756e+00] [ 1.26943215e-02 4.54282228e-04 9.99919321e-01 -1.60473385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06719347 meters 0.060837448453435375 Centerline is valid? [True, True] Translation: X:61.27, Y:1.36, Z:-1.61 [[ 9.98469583e-01 -5.40393724e-02 -1.17574739e-02 6.12745883e+01] [ 5.40314621e-02 9.98538743e-01 -9.89634670e-04 1.35587063e+00] [ 1.17937724e-02 3.52846611e-04 9.99930389e-01 -1.60685329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12719347 meters 0.058832225070026334 Centerline is valid? [True, True] Translation: X:61.34, Y:1.34, Z:-1.61 [[ 9.97754233e-01 -6.51652726e-02 -1.54911936e-02 6.13357784e+01] [ 6.51527373e-02 9.97874439e-01 -1.31303133e-03 1.33634073e+00] [ 1.55438302e-02 3.00788899e-04 9.99879142e-01 -1.61112106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.187193470000004 meters 0.05810970254195333 Centerline is valid? [True, True] Translation: X:61.40, Y:1.32, Z:-1.62 [[ 9.96714766e-01 -7.84224827e-02 -2.02383103e-02 6.13963673e+01] [ 7.84037210e-02 9.96920206e-01 -1.72006671e-03 1.31686942e+00] [ 2.03108724e-02 1.27657052e-04 9.99793705e-01 -1.61716679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24719347 meters 0.05772813752737484 Centerline is valid? [True, True] Translation: X:61.46, Y:1.31, Z:-1.62 [[ 9.96101017e-01 -8.59512459e-02 -1.98783079e-02 6.14559880e+01] [ 8.59345168e-02 9.96299344e-01 -1.69583381e-03 1.31073100e+00] [ 1.99505041e-02 -1.90109985e-05 9.99800969e-01 -1.61708554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30719347 meters 0.05738893420617102 Centerline is valid? [True, True] Translation: X:61.52, Y:1.30, Z:-1.61 [[ 9.95548102e-01 -9.28119392e-02 -1.64292447e-02 6.15158473e+01] [ 9.28014875e-02 9.95683648e-01 -1.39905332e-03 1.30368312e+00] [ 1.64881792e-02 -1.31833474e-04 9.99864052e-01 -1.61183008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.367193470000004 meters 0.05815082581998698 Centerline is valid? [True, True] Translation: X:61.58, Y:1.30, Z:-1.61 [[ 9.94835730e-01 -1.00186423e-01 -1.62650266e-02 6.15754317e+01] [ 1.00176991e-01 9.94968654e-01 -1.39567431e-03 1.30129564e+00] [ 1.63230192e-02 -2.40914750e-04 9.99866742e-01 -1.61259386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42719347 meters 0.059032729068956964 Centerline is valid? [True, True] Translation: X:61.63, Y:1.30, Z:-1.62 [[ 9.94542745e-01 -1.03099577e-01 -1.59751354e-02 6.16340801e+01] [ 1.03090772e-01 9.94671001e-01 -1.37587521e-03 1.30469535e+00] [ 1.60318561e-02 -2.78522336e-04 9.99871443e-01 -1.61606108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48719347 meters 0.05823141601940223 Centerline is valid? [True, True] Translation: X:61.69, Y:1.32, Z:-1.62 [[ 9.94884628e-01 -1.00204735e-01 -1.27901490e-02 6.16919696e+01] [ 1.00198899e-01 9.94966821e-01 -1.09796212e-03 1.31572068e+00] [ 1.28357949e-02 -1.89213208e-04 9.99917600e-01 -1.61571776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54719347 meters 0.05723601118937035 Centerline is valid? [True, True] Translation: X:61.75, Y:1.33, Z:-1.62 [[ 9.95322430e-01 -9.57477093e-02 -1.28700186e-02 6.17501532e+01] [ 9.57413091e-02 9.95405626e-01 -1.11391988e-03 1.33266296e+00] [ 1.29175442e-02 -1.23482992e-04 9.99916557e-01 -1.61566389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.607193470000006 meters 0.05667434090087871 Centerline is valid? [True, True] Translation: X:61.81, Y:1.35, Z:-1.62 [[ 9.96074161e-01 -8.76154927e-02 -1.26408686e-02 6.18067171e+01] [ 8.76086993e-02 9.96154368e-01 -1.09123543e-03 1.34885085e+00] [ 1.26878656e-02 -2.04986407e-05 9.99919506e-01 -1.61717623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66719347 meters 0.05710539021645455 Centerline is valid? [True, True] Translation: X:61.86, Y:1.37, Z:-1.62 [[ 9.96567236e-01 -8.14569842e-02 -1.47818874e-02 6.18637792e+01] [ 8.14468904e-02 9.96676855e-01 -1.28457119e-03 1.36742060e+00] [ 1.48374024e-02 7.62227910e-05 9.99889917e-01 -1.62192093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72719347 meters 0.058985927199076166 Centerline is valid? [True, True] Translation: X:61.92, Y:1.39, Z:-1.63 [[ 9.97313221e-01 -7.01003352e-02 -2.12669469e-02 6.19218806e+01] [ 7.00770741e-02 9.97539887e-01 -1.83797048e-03 1.38963991e+00] [ 2.13434702e-02 3.42706844e-04 9.99772143e-01 -1.62771663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.787193470000005 meters 0.060207422557023785 Centerline is valid? [True, True] Translation: X:61.98, Y:1.40, Z:-1.63 [[ 9.97453755e-01 -6.74331679e-02 -2.32115329e-02 6.19795545e+01] [ 6.74046450e-02 9.97723696e-01 -2.00991994e-03 1.39676895e+00] [ 2.32942317e-02 4.40237050e-04 9.99728556e-01 -1.63106570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84719347 meters 0.05985898113628466 Centerline is valid? [True, True] Translation: X:62.04, Y:1.40, Z:-1.63 [[ 9.97405981e-01 -6.82186595e-02 -2.29678663e-02 6.20384952e+01] [ 6.81906752e-02 9.97670302e-01 -2.00032603e-03 1.40123601e+00] [ 2.30508176e-02 4.28942842e-04 9.99734203e-01 -1.63192075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90719347 meters 0.05820136000322219 Centerline is valid? [True, True] Translation: X:62.10, Y:1.40, Z:-1.63 [[ 9.97135849e-01 -7.24789456e-02 -2.16078888e-02 6.20975556e+01] [ 7.24552311e-02 9.97369895e-01 -1.87940272e-03 1.40451820e+00] [ 2.16872750e-02 3.08415246e-04 9.99764756e-01 -1.62758675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.967193470000005 meters 0.05757680785883123 Centerline is valid? [True, True] Translation: X:62.16, Y:1.40, Z:-1.62 [[ 9.97081333e-01 -7.40569425e-02 -1.85575988e-02 6.21577793e+01] [ 7.40397239e-02 9.97253987e-01 -1.61413965e-03 1.40394052e+00] [ 1.86261776e-02 2.35429023e-04 9.99826490e-01 -1.62480830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02719347000001 meters 0.05742193608161145 Centerline is valid? [True, True] Translation: X:62.22, Y:1.41, Z:-1.62 [[ 9.97138886e-01 -7.39036788e-02 -1.58835884e-02 6.22168492e+01] [ 7.38909662e-02 9.97265362e-01 -1.38654507e-03 1.40831667e+00] [ 1.59426234e-02 2.08924315e-04 9.99872886e-01 -1.62418044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08719347 meters 0.057075603743818266 Centerline is valid? [True, True] Translation: X:62.28, Y:1.40, Z:-1.62 [[ 9.96730736e-01 -7.91743997e-02 -1.61013884e-02 6.22768524e+01] [ 7.91618895e-02 9.96860771e-01 -1.41383725e-03 1.40294715e+00] [ 1.61627822e-02 1.34598706e-04 9.99869365e-01 -1.62466023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14719347 meters 0.05698662123571731 Centerline is valid? [True, True] Translation: X:62.34, Y:1.40, Z:-1.63 [[ 9.96036897e-01 -8.73746458e-02 -1.66183687e-02 6.23353656e+01] [ 8.73623382e-02 9.96175522e-01 -1.46651567e-03 1.39835079e+00] [ 1.66829484e-02 8.88417613e-06 9.99860830e-01 -1.62640539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20719347 meters 0.05851951777711661 Centerline is valid? [True, True] Translation: X:62.40, Y:1.38, Z:-1.63 [[ 9.94549010e-01 -1.02970157e-01 -1.64138503e-02 6.23965147e+01] [ 1.02960381e-01 9.94684413e-01 -1.44173595e-03 1.38487715e+00] [ 1.64750568e-02 -2.56099222e-04 9.99864244e-01 -1.62542323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26719347000001 meters 0.059525034364215815 Centerline is valid? [True, True] Translation: X:62.46, Y:1.38, Z:-1.62 [[ 9.93703948e-01 -1.11116185e-01 -1.43407484e-02 6.24558692e+01] [ 1.11109406e-01 9.93807368e-01 -1.27104013e-03 1.38451068e+00] [ 1.43931746e-02 -3.30354441e-04 9.99896358e-01 -1.62183854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32719347000001 meters 0.05978514399263786 Centerline is valid? [True, True] Translation: X:62.51, Y:1.39, Z:-1.62 [[ 9.93626355e-01 -1.11812651e-01 -1.43037922e-02 6.25132901e+01] [ 1.11805888e-01 9.93729249e-01 -1.27415767e-03 1.39431308e+00] [ 1.43565637e-02 -3.33211544e-04 9.99896884e-01 -1.62456459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38719347000001 meters 0.06158927389762636 Centerline is valid? [True, True] Translation: X:62.57, Y:1.41, Z:-1.63 [[ 9.93299555e-01 -1.14002989e-01 -1.89555575e-02 6.25725566e+01] [ 1.13991714e-01 9.93480284e-01 -1.67778115e-03 1.40658019e+00] [ 1.90232447e-02 -4.94237227e-04 9.99818920e-01 -1.63282814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44719347000002 meters 0.06370631074581004 Centerline is valid? [True, True] Translation: X:62.63, Y:1.42, Z:-1.63 [[ 9.92463303e-01 -1.20869051e-01 -2.01808075e-02 6.26316299e+01] [ 1.20857679e-01 9.92668237e-01 -1.78665871e-03 1.41667943e+00] [ 2.02487984e-02 -6.65812354e-04 9.99794750e-01 -1.63456727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50719347 meters 0.06588427558266383 Centerline is valid? [True, True] Translation: X:62.69, Y:1.42, Z:-1.64 [[ 9.92051319e-01 -1.24720590e-01 -1.67019232e-02 6.26884892e+01] [ 1.24713277e-01 9.92191715e-01 -1.48276774e-03 1.42463054e+00] [ 1.67564415e-02 -6.11969876e-04 9.99859414e-01 -1.63679080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56719347 meters 0.06612321574882989 Centerline is valid? [True, True] Translation: X:62.74, Y:1.44, Z:-1.64 [[ 9.92021992e-01 -1.25257905e-01 -1.42416677e-02 6.27448172e+01] [ 1.25252617e-01 9.92124074e-01 -1.26614297e-03 1.44263133e+00] [ 1.42880958e-02 -5.27764490e-04 9.99897781e-01 -1.63501056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62719347000001 meters 0.0634627639063634 Centerline is valid? [True, True] Translation: X:62.80, Y:1.47, Z:-1.63 [[ 9.92295309e-01 -1.23222858e-01 -1.28897955e-02 6.28016695e+01] [ 1.23218341e-01 9.92378922e-01 -1.14703797e-03 1.46759899e+00] [ 1.29329026e-02 -4.50058813e-04 9.99916265e-01 -1.63167093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68719347000001 meters 0.0627107819317465 Centerline is valid? [True, True] Translation: X:62.86, Y:1.49, Z:-1.63 [[ 9.92933525e-01 -1.17827329e-01 -1.41327535e-02 6.28572396e+01] [ 1.17821301e-01 9.93034013e-01 -1.26131590e-03 1.49208317e+00] [ 1.41829224e-02 -4.12736552e-04 9.99899332e-01 -1.63490925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74719347000001 meters 0.06068377830322229 Centerline is valid? [True, True] Translation: X:62.92, Y:1.52, Z:-1.63 [[ 9.93549751e-01 -1.12674234e-01 -1.27831436e-02 6.29150409e+01] [ 1.12668899e-01 9.93631935e-01 -1.13906373e-03 1.51606521e+00] [ 1.28300828e-02 -3.08546226e-04 9.99917643e-01 -1.63427805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80719347000002 meters 0.05896632837537705 Centerline is valid? [True, True] Translation: X:62.97, Y:1.55, Z:-1.64 [[ 9.94689303e-01 -1.01999397e-01 -1.37591058e-02 6.29723590e+01] [ 1.01992198e-01 9.94784444e-01 -1.22569212e-03 1.54847317e+00] [ 1.38123643e-02 -1.84138602e-04 9.99904588e-01 -1.63813986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86719347 meters 0.05853113599408185 Centerline is valid? [True, True] Translation: X:63.03, Y:1.59, Z:-1.64 [[ 9.96255408e-01 -8.50929925e-02 -1.53083362e-02 6.30272371e+01] [ 8.50820263e-02 9.96373012e-01 -1.36738475e-03 1.58549738e+00] [ 1.53691679e-02 5.98001806e-05 9.99881886e-01 -1.64250004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92719347 meters 0.05937432032238701 Centerline is valid? [True, True] Translation: X:63.08, Y:1.61, Z:-1.64 [[ 9.97271683e-01 -7.23952353e-02 -1.44263935e-02 6.30840520e+01] [ 7.23840229e-02 9.97375991e-01 -1.29853687e-03 1.61069077e+00] [ 1.44825464e-02 2.50753649e-04 9.99895091e-01 -1.63925077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98719347000001 meters 0.061742670379056265 Centerline is valid? [True, True] Translation: X:63.14, Y:1.63, Z:-1.64 [[ 9.98004973e-01 -6.20712333e-02 -1.15427752e-02 6.31404252e+01] [ 6.20633985e-02 9.98071671e-01 -1.03607905e-03 1.63226735e+00] [ 1.15848276e-02 3.17628186e-04 9.99932843e-01 -1.64035009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04719347000001 meters 0.06120820584244689 Centerline is valid? [True, True] Translation: X:63.20, Y:1.63, Z:-1.64 [[ 9.97908861e-01 -6.42731145e-02 -6.84626839e-03 6.31990470e+01] [ 6.42704106e-02 9.97932331e-01 -6.14451803e-04 1.63309812e+00] [ 6.87160530e-03 1.73154419e-04 9.99976375e-01 -1.64084682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10719347000001 meters 0.06050301975101455 Centerline is valid? [True, True] Translation: X:63.26, Y:1.63, Z:-1.64 [[ 9.97771167e-01 -6.57365062e-02 -1.14634351e-02 6.32587803e+01] [ 6.57290125e-02 9.97836979e-01 -1.02964469e-03 1.63104320e+00] [ 1.15063247e-02 2.73869516e-04 9.99933763e-01 -1.64374342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16719347000002 meters 0.06147567060388295 Centerline is valid? [True, True] Translation: X:63.32, Y:1.63, Z:-1.65 [[ 9.97601718e-01 -6.71859246e-02 -1.66392203e-02 6.33174869e+01] [ 6.71703157e-02 9.97740403e-01 -1.49580676e-03 1.62698914e+00] [ 1.67021195e-02 3.74557718e-04 9.99860440e-01 -1.65391512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22719347 meters 0.06093922606968243 Centerline is valid? [True, True] Translation: X:63.38, Y:1.63, Z:-1.66 [[ 9.97373071e-01 -6.96992823e-02 -1.97222613e-02 6.33765538e+01] [ 6.96776190e-02 9.97567965e-01 -1.78429674e-03 1.62669780e+00] [ 1.97986603e-02 4.05409307e-04 9.99803905e-01 -1.65514854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28719347 meters 0.0600940866238355 Centerline is valid? [True, True] Translation: X:63.44, Y:1.61, Z:-1.66 [[ 9.96694055e-01 -7.90074943e-02 -1.89414070e-02 6.34367872e+01] [ 7.89892949e-02 9.96874001e-01 -1.70823301e-03 1.61444915e+00] [ 1.90171594e-02 2.06417301e-04 9.99819136e-01 -1.65923733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34719347000001 meters 0.058908031674190696 Centerline is valid? [True, True] Translation: X:63.50, Y:1.60, Z:-1.66 [[ 9.95934073e-01 -8.86318030e-02 -1.61160308e-02 6.34978615e+01] [ 8.86198739e-02 9.96064457e-01 -1.45425854e-03 1.60206631e+00] [ 1.61814990e-02 2.01450154e-05 9.99869071e-01 -1.65745491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40719347000001 meters 0.05918578873549467 Centerline is valid? [True, True] Translation: X:63.56, Y:1.59, Z:-1.66 [[ 9.94629611e-01 -1.02533443e-01 -1.41007150e-02 6.35567109e+01] [ 1.02525520e-01 9.94729544e-01 -1.28554880e-03 1.59204083e+00] [ 1.41582095e-02 -1.67038237e-04 9.99899754e-01 -1.65591333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46719347000001 meters 0.061738187774419355 Centerline is valid? [True, True] Translation: X:63.62, Y:1.58, Z:-1.66 [[ 9.93343204e-01 -1.14286200e-01 -1.44202468e-02 6.36181106e+01] [ 1.14279281e-01 9.93447805e-01 -1.30561779e-03 1.58378739e+00] [ 1.44749766e-02 -3.51008874e-04 9.99895170e-01 -1.65681964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52719347000001 meters 0.06340970628897837 Centerline is valid? [True, True] Translation: X:63.68, Y:1.58, Z:-1.66 [[ 9.92630812e-01 -1.20754502e-01 -1.01203586e-02 6.36761745e+01] [ 1.20751391e-01 9.92682353e-01 -9.20146643e-04 1.58383885e+00] [ 1.01574133e-02 -3.08681473e-04 9.99948365e-01 -1.65602899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58719347 meters 0.06387926089178146 Centerline is valid? [True, True] Translation: X:63.73, Y:1.60, Z:-1.65 [[ 9.92010967e-01 -1.25746970e-01 -1.00965799e-02 6.37348557e+01] [ 1.25744134e-01 9.92062282e-01 -9.17701705e-04 1.59505983e+00] [ 1.01318343e-02 -3.59215538e-04 9.99948607e-01 -1.65471917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64719347 meters 0.0649677366960789 Centerline is valid? [True, True] Translation: X:63.79, Y:1.61, Z:-1.66 [[ 9.91817585e-01 -1.27310484e-01 -9.48252101e-03 6.37917329e+01] [ 1.27308033e-01 9.91862852e-01 -8.64165659e-04 1.61174089e+00] [ 9.51537769e-03 -3.50106396e-04 9.99954666e-01 -1.65919410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70719347 meters 0.06553921478849131 Centerline is valid? [True, True] Translation: X:63.85, Y:1.62, Z:-1.66 [[ 9.91840196e-01 -1.27175575e-01 -8.91055558e-03 6.38482263e+01] [ 1.27173396e-01 9.91880167e-01 -8.13097790e-04 1.62408679e+00] [ 8.94160954e-03 -3.26722540e-04 9.99959970e-01 -1.66220870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76719347000001 meters 0.06745189590372797 Centerline is valid? [True, True] Translation: X:63.90, Y:1.64, Z:-1.67 [[ 9.91722971e-01 -1.28132984e-01 -8.21506153e-03 6.39044816e+01] [ 1.28131121e-01 9.91756949e-01 -7.54889549e-04 1.63792214e+00] [ 8.24407061e-03 -3.03963737e-04 9.99965971e-01 -1.66728543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82719347000001 meters 0.0648824289967851 Centerline is valid? [True, True] Translation: X:63.96, Y:1.66, Z:-1.67 [[ 9.92200460e-01 -1.24269402e-01 -9.76534674e-03 6.39615485e+01] [ 1.24266555e-01 9.92248463e-01 -9.00129086e-04 1.66453610e+00] [ 9.80150880e-03 -3.20397502e-04 9.99951913e-01 -1.66757975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88719347000001 meters 0.06231929913156105 Centerline is valid? [True, True] Translation: X:64.02, Y:1.70, Z:-1.67 [[ 9.93122154e-01 -1.16819372e-01 -7.84995798e-03 6.40187223e+01] [ 1.16817338e-01 9.93153157e-01 -7.18759796e-04 1.69623168e+00] [ 7.88017561e-03 -2.03194914e-04 9.99968930e-01 -1.66826926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94719347000002 meters 0.06061330876168767 Centerline is valid? [True, True] Translation: X:64.08, Y:1.72, Z:-1.66 [[ 9.93402491e-01 -1.14663476e-01 -1.94364869e-03 6.40768577e+01] [ 1.14663346e-01 9.93404392e-01 -1.78430210e-04 1.72439422e+00] [ 1.95128858e-03 -4.56122474e-05 9.99998095e-01 -1.66381186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00719347 meters 0.059808420770985256 Centerline is valid? [True, True] Translation: X:64.13, Y:1.75, Z:-1.66 [[ 9.93785806e-01 -1.11301654e-01 -1.30909322e-03 6.41337271e+01] [ 1.11301582e-01 9.93786668e-01 -1.27938800e-04 1.75180672e+00] [ 1.31519919e-03 -1.85603833e-05 9.99999135e-01 -1.66401522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06719347 meters 0.05983163076939137 Centerline is valid? [True, True] Translation: X:64.19, Y:1.77, Z:-1.67 [[ 9.94064943e-01 -1.08762780e-01 -2.35533524e-03 6.41902094e+01] [ 1.08762566e-01 9.94067732e-01 -2.19260993e-04 1.76894724e+00] [ 2.36521020e-03 -3.82126379e-05 9.99997202e-01 -1.66866299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12719347000001 meters 0.059112860557357615 Centerline is valid? [True, True] Translation: X:64.25, Y:1.80, Z:-1.67 [[ 9.95061143e-01 -9.88941441e-02 -8.55977298e-03 6.42467115e+01] [ 9.88909425e-02 9.95097958e-01 -7.97519024e-04 1.80072462e+00] [ 8.59668257e-03 -5.29038257e-05 9.99963046e-01 -1.67158653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18719347000001 meters 0.060037492898196036 Centerline is valid? [True, True] Translation: X:64.30, Y:1.82, Z:-1.68 [[ 9.96017985e-01 -8.76375592e-02 -1.63655485e-02 6.43046995e+01] [ 8.76245610e-02 9.96152425e-01 -1.51100227e-03 1.82234012e+00] [ 1.64350014e-02 7.09614276e-05 9.99864934e-01 -1.67854441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24719347000001 meters 0.06315410681382966 Centerline is valid? [True, True] Translation: X:64.36, Y:1.86, Z:-1.68 [[ 9.97284983e-01 -7.10919247e-02 -1.91989767e-02 6.43622031e+01] [ 7.10709729e-02 9.97469687e-01 -1.77227229e-03 1.85613447e+00] [ 1.92763915e-02 4.02970585e-04 9.99814112e-01 -1.68258684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30719347000002 meters 0.06571971630363878 Centerline is valid? [True, True] Translation: X:64.42, Y:1.87, Z:-1.68 [[ 9.97867649e-01 -6.34126720e-02 -1.54592269e-02 6.44187009e+01] [ 6.33981005e-02 9.97987291e-01 -1.43132807e-03 1.87416988e+00] [ 1.55188763e-02 4.48190352e-04 9.99879475e-01 -1.68388752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36719347 meters 0.0651652990141101 Centerline is valid? [True, True] Translation: X:64.48, Y:1.88, Z:-1.68 [[ 9.97864736e-01 -6.35253347e-02 -1.51822747e-02 6.44764996e+01] [ 6.35111190e-02 9.97980125e-01 -1.41714476e-03 1.87546995e+00] [ 1.52416330e-02 4.49875527e-04 9.99883738e-01 -1.68415442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42719347 meters 0.062158699721274115 Centerline is valid? [True, True] Translation: X:64.54, Y:1.86, Z:-1.69 [[ 9.96807084e-01 -7.82393644e-02 -1.59448782e-02 6.45384427e+01] [ 7.82257014e-02 9.96934577e-01 -1.47974218e-03 1.86135549e+00] [ 1.60117745e-02 2.27718203e-04 9.99871777e-01 -1.68616064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48719347000001 meters 0.06061835919643247 Centerline is valid? [True, True] Translation: X:64.60, Y:1.84, Z:-1.69 [[ 9.95585486e-01 -9.30052733e-02 -1.26317033e-02 6.46009023e+01] [ 9.29978783e-02 9.95665616e-01 -1.17283346e-03 1.84185242e+00] [ 1.26860324e-02 -7.06564213e-06 9.99919529e-01 -1.68532471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54719347000001 meters 0.06305117129104161 Centerline is valid? [True, True] Translation: X:64.66, Y:1.82, Z:-1.69 [[ 9.93469215e-01 -1.13194264e-01 -1.43519037e-02 6.46628976e+01] [ 1.13186815e-01 9.93572830e-01 -1.33282829e-03 1.81673948e+00] [ 1.44105301e-02 -3.00322406e-04 9.99896118e-01 -1.68608331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60719347000001 meters 0.06417736603384132 Centerline is valid? [True, True] Translation: X:64.72, Y:1.82, Z:-1.68 [[ 9.92638318e-01 -1.20010954e-01 -1.63260511e-02 6.47229624e+01] [ 1.20002231e-01 9.92772464e-01 -1.51643170e-03 1.81692193e+00] [ 1.63900424e-02 -4.53894343e-04 9.99865571e-01 -1.68420789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66719347000002 meters 0.06604348242123599 Centerline is valid? [True, True] Translation: X:64.78, Y:1.82, Z:-1.69 [[ 9.92020692e-01 -1.25306141e-01 -1.39038704e-02 6.47805379e+01] [ 1.25300240e-01 9.92118019e-01 -1.29815675e-03 1.81645294e+00] [ 1.39569473e-02 -4.54359938e-04 9.99902494e-01 -1.68592421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72719347 meters 0.07033322273514313 Centerline is valid? [True, True] Translation: X:64.84, Y:1.82, Z:-1.69 [[ 9.91218857e-01 -1.31553679e-01 -1.33718906e-02 6.48403505e+01] [ 1.31548834e-01 9.91308909e-01 -1.24504025e-03 1.81579786e+00] [ 1.34194639e-02 -5.24949250e-04 9.99909817e-01 -1.69401586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78719347 meters 0.07040715472227445 Centerline is valid? [True, True] Translation: X:64.90, Y:1.83, Z:-1.69 [[ 9.89884985e-01 -1.40860177e-01 -1.69152774e-02 6.48990451e+01] [ 1.40853778e-01 9.90029157e-01 -1.57503254e-03 1.83234212e+00] [ 1.69684772e-02 -8.23479663e-04 9.99855686e-01 -1.69248589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84719347000001 meters 0.0744313792490939 Centerline is valid? [True, True] Translation: X:64.96, Y:1.83, Z:-1.70 [[ 9.88862685e-01 -1.47814476e-01 -1.73629348e-02 6.49583554e+01] [ 1.47808794e-01 9.89014633e-01 -1.61716585e-03 1.83424366e+00] [ 1.74112372e-02 -9.67239503e-04 9.99847945e-01 -1.69598968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90719347000001 meters 0.07789204293357767 Centerline is valid? [True, True] Translation: X:65.02, Y:1.85, Z:-1.70 [[ 9.88139460e-01 -1.53051843e-01 -1.24715928e-02 6.50158500e+01] [ 1.53049294e-01 9.88217870e-01 -1.16428398e-03 1.84570320e+00] [ 1.25028467e-02 -7.58293529e-04 9.99921549e-01 -1.69500233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96719347000001 meters 0.07050204210308343 Centerline is valid? [True, True] Translation: X:65.07, Y:1.88, Z:-1.69 [[ 9.88877270e-01 -1.48601728e-01 -6.26676352e-03 6.50730295e+01] [ 1.48600995e-01 9.88897063e-01 -5.85093952e-04 1.87920087e+00] [ 6.28413001e-03 -3.52661182e-04 9.99980192e-01 -1.68664914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02719347000001 meters 0.0682039751984362 Centerline is valid? [True, True] Translation: X:65.13, Y:1.90, Z:-1.68 [[ 9.89795881e-01 -1.42489168e-01 -9.74838469e-04 6.51318976e+01] [ 1.42489147e-01 9.89796360e-01 -9.21127295e-05 1.89890968e+00] [ 9.78016635e-04 -4.77311012e-05 9.99999521e-01 -1.68483805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08719347 meters 0.06501583312180753 Centerline is valid? [True, True] Translation: X:65.19, Y:1.93, Z:-1.69 [[ 9.91528644e-01 -1.29869058e-01 -2.23044758e-03 6.51883312e+01] [ 1.29868916e-01 9.91531150e-01 -2.09052780e-04 1.93296980e+00] [ 2.23870774e-03 -8.23839897e-05 9.99997491e-01 -1.68998565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14719347 meters 0.06259355910555199 Centerline is valid? [True, True] Translation: X:65.25, Y:1.95, Z:-1.69 [[ 9.92622300e-01 -1.21188826e-01 -3.77340302e-03 6.52465060e+01] [ 1.21188360e-01 9.92629466e-01 -3.52740532e-04 1.95479927e+00] [ 3.78833923e-03 -1.07154404e-04 9.99992818e-01 -1.69449329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20719347 meters 0.0602447759830478 Centerline is valid? [True, True] Translation: X:65.31, Y:1.98, Z:-1.69 [[ 9.93593940e-01 -1.12991268e-01 2.01371505e-03 6.53050669e+01] [ 1.12991119e-01 9.93595980e-01 1.87870643e-04 1.97911720e+00] [-2.02204692e-03 4.08647837e-05 9.99997955e-01 -1.69146150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26719347000001 meters 0.0592809938325804 Centerline is valid? [True, True] Translation: X:65.36, Y:2.00, Z:-1.69 [[ 9.94333868e-01 -1.06193484e-01 4.80644776e-03 6.53643038e+01] [ 1.06192552e-01 9.94345483e-01 4.49494403e-04 1.99755853e+00] [-4.82700299e-03 6.34614442e-05 9.99988348e-01 -1.69092938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32719347000001 meters 0.058807265084109446 Centerline is valid? [True, True] Translation: X:65.42, Y:2.01, Z:-1.69 [[ 9.95035202e-01 -9.93669525e-02 5.58165745e-03 6.54245843e+01] [ 9.93655901e-02 9.95050857e-01 5.21563920e-04 2.01011828e+00] [-5.60585925e-03 3.56502256e-05 9.99984286e-01 -1.69263350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38719347000001 meters 0.059071517798400724 Centerline is valid? [True, True] Translation: X:65.48, Y:2.02, Z:-1.70 [[ 9.95722387e-01 -9.23758356e-02 1.90593750e-03 6.54848395e+01] [ 9.23756589e-02 9.95724211e-01 1.80713442e-04 2.01921335e+00] [-1.91448167e-03 -3.87818771e-06 9.99998167e-01 -1.70030027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44719347000002 meters 0.05941398353643368 Centerline is valid? [True, True] Translation: X:65.55, Y:2.02, Z:-1.70 [[ 9.95872357e-01 -9.07642109e-02 3.25611923e-04 6.55468497e+01] [ 9.07642052e-02 9.95872411e-01 3.23612293e-05 2.02302495e+00] [-3.27205172e-04 -2.67374633e-06 9.99999946e-01 -1.70443431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50719347 meters 0.059466252251123355 Centerline is valid? [True, True] Translation: X:65.61, Y:2.02, Z:-1.71 [[ 9.96021795e-01 -8.91098688e-02 -1.21459616e-04 6.56085341e+01] [ 8.91098682e-02 9.96021803e-01 -1.02522117e-05 2.02224526e+00] [ 1.21889999e-04 -6.11824062e-07 9.99999993e-01 -1.70689297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56719347 meters 0.06007193638318711 Centerline is valid? [True, True] Translation: X:65.67, Y:2.03, Z:-1.71 [[ 9.96276238e-01 -8.62051155e-02 -1.52849088e-03 6.56687194e+01] [ 8.62050013e-02 9.96277410e-01 -1.40550610e-04 2.02564781e+00] [ 1.53491712e-03 8.26367478e-06 9.99998822e-01 -1.71152375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62719347000001 meters 0.06035028913340116 Centerline is valid? [True, True] Translation: X:65.73, Y:2.03, Z:-1.71 [[ 9.96468285e-01 -8.39520834e-02 -1.73331413e-03 6.57298264e+01] [ 8.39519321e-02 9.96469793e-01 -1.59983388e-04 2.02674983e+00] [ 1.74062611e-03 1.39033026e-05 9.99998485e-01 -1.71354132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68719347000001 meters 0.060092750345576276 Centerline is valid? [True, True] Translation: X:65.79, Y:2.02, Z:-1.71 [[ 9.96488461e-01 -8.36974618e-02 -2.34117466e-03 6.57917582e+01] [ 8.36971845e-02 9.96491211e-01 -2.16357990e-04 2.02398873e+00] [ 2.35106859e-03 1.96485130e-05 9.99997236e-01 -1.71495207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74719347000001 meters 0.05883657202043641 Centerline is valid? [True, True] Translation: X:65.85, Y:2.01, Z:-1.71 [[ 9.95971403e-01 -8.96260528e-02 -2.85203564e-03 6.58535384e+01] [ 8.96256620e-02 9.95975487e-01 -2.64792207e-04 2.01126004e+00] [ 2.86428987e-03 8.10988349e-06 9.99995898e-01 -1.71201762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80719347000002 meters 0.05839934332029252 Centerline is valid? [True, True] Translation: X:65.91, Y:2.00, Z:-1.71 [[ 9.95207304e-01 -9.77627034e-02 -2.20807040e-03 6.59146391e+01] [ 9.77624865e-02 9.95209754e-01 -2.06183382e-04 1.99844777e+00] [ 2.21765024e-03 -1.06712450e-05 9.99997541e-01 -1.71236035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86719347 meters 0.05974780603733187 Centerline is valid? [True, True] Translation: X:65.98, Y:1.98, Z:-1.72 [[ 9.93951714e-01 -1.09544139e-01 -7.75062333e-03 6.59764846e+01] [ 1.09541847e-01 9.93981923e-01 -7.20929560e-04 1.98178815e+00] [ 7.78295309e-03 -1.32448424e-04 9.99969704e-01 -1.71799881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92719347 meters 0.06112448148694013 Centerline is valid? [True, True] Translation: X:66.04, Y:1.97, Z:-1.72 [[ 9.93084732e-01 -1.16899212e-01 -1.08300057e-02 6.60374428e+01] [ 1.16895176e-01 9.93143748e-01 -1.00710420e-03 1.97367440e+00] [ 1.08734821e-02 -2.65835610e-04 9.99940847e-01 -1.72097868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98719347000001 meters 0.0617179629372977 Centerline is valid? [True, True] Translation: X:66.10, Y:1.97, Z:-1.71 [[ 9.92090850e-01 -1.25324194e-01 -7.04212035e-03 6.60975427e+01] [ 1.25322631e-01 9.92115818e-01 -6.64597834e-04 1.96578902e+00] [ 7.06988918e-03 -2.23195620e-04 9.99974983e-01 -1.71447255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04719347000001 meters 0.06100998532374553 Centerline is valid? [True, True] Translation: X:66.16, Y:1.97, Z:-1.71 [[ 9.92305911e-01 -1.23701221e-01 -5.19490397e-03 6.61563167e+01] [ 1.23700364e-01 9.92319496e-01 -4.87195772e-04 1.97157866e+00] [ 5.21527120e-03 -1.59164268e-04 9.99986388e-01 -1.71234578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10719347000001 meters 0.05982899332532982 Centerline is valid? [True, True] Translation: X:66.22, Y:1.98, Z:-1.72 [[ 9.93431953e-01 -1.14416410e-01 -1.35629900e-03 6.62150553e+01] [ 1.14416343e-01 9.93432879e-01 -1.27300221e-04 1.98439732e+00] [ 1.36195726e-03 -2.87186655e-05 9.99999072e-01 -1.71588276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16719347000002 meters 0.05858010407143125 Centerline is valid? [True, True] Translation: X:66.27, Y:2.00, Z:-1.72 [[ 9.94114622e-01 -1.08318173e-01 -1.81416433e-03 6.62727071e+01] [ 1.08318040e-01 9.94116277e-01 -1.71707224e-04 1.99797932e+00] [ 1.82208930e-03 -2.58100619e-05 9.99998340e-01 -1.71796746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22719347 meters 0.058306568867502774 Centerline is valid? [True, True] Translation: X:66.33, Y:2.01, Z:-1.72 [[ 9.94859879e-01 -1.01167744e-01 -4.34843474e-03 6.63303010e+01] [ 1.01166896e-01 9.94869382e-01 -4.15222179e-04 2.01074037e+00] [ 4.36813167e-03 -2.68297581e-05 9.99990459e-01 -1.72363268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28719347 meters 0.05865804350290805 Centerline is valid? [True, True] Translation: X:66.39, Y:2.01, Z:-1.73 [[ 9.94908327e-01 -1.00606778e-01 -5.97473720e-03 6.63884612e+01] [ 1.00605207e-01 9.94926266e-01 -5.63601679e-04 2.01457278e+00] [ 6.00112512e-03 -4.03576702e-05 9.99981992e-01 -1.72879789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34719347000001 meters 0.058816127930244724 Centerline is valid? [True, True] Translation: X:66.45, Y:2.02, Z:-1.73 [[ 9.94802916e-01 -1.01555787e-01 -7.31983307e-03 6.64475002e+01] [ 1.01553404e-01 9.94829845e-01 -6.97534683e-04 2.01682395e+00] [ 7.35282707e-03 -4.94444264e-05 9.99972966e-01 -1.73019424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40719347000001 meters 0.05882730488729829 Centerline is valid? [True, True] Translation: X:66.51, Y:2.02, Z:-1.73 [[ 9.94727207e-01 -1.02390524e-01 -5.82796670e-03 6.65059116e+01] [ 1.02389008e-01 9.94744278e-01 -5.58658820e-04 2.01732245e+00] [ 5.85453790e-03 -4.10066006e-05 9.99982861e-01 -1.73325147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46719347000001 meters 0.058968943136733655 Centerline is valid? [True, True] Translation: X:66.56, Y:2.02, Z:-1.73 [[ 9.94487814e-01 -1.04507357e-01 -8.49703470e-03 6.65649640e+01] [ 1.04504218e-01 9.94524110e-01 -8.13825523e-04 2.01876990e+00] [ 8.53555663e-03 -7.86364030e-05 9.99963568e-01 -1.73464876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52719347000001 meters 0.05936603082797423 Centerline is valid? [True, True] Translation: X:66.62, Y:2.02, Z:-1.74 [[ 9.94159488e-01 -1.07649482e-01 -7.64856338e-03 6.66233163e+01] [ 1.07646996e-01 9.94188906e-01 -7.37192128e-04 2.01736640e+00] [ 7.68347521e-03 -9.04583225e-05 9.99970478e-01 -1.73815991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58719347 meters 0.060249519566890564 Centerline is valid? [True, True] Translation: X:66.68, Y:2.01, Z:-1.74 [[ 9.93241013e-01 -1.15985370e-01 -4.43675748e-03 6.66818975e+01] [ 1.15984622e-01 9.93250918e-01 -4.26341607e-04 2.00695645e+00] [ 4.45626283e-03 -9.11356694e-05 9.99990067e-01 -1.73735465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64719347 meters 0.06221307242789029 Centerline is valid? [True, True] Translation: X:66.74, Y:2.00, Z:-1.74 [[ 9.92166553e-01 -1.24922046e-01 1.17448018e-04 6.67418889e+01] [ 1.24922045e-01 9.92166560e-01 9.62894685e-06 2.00078048e+00] [-1.17730864e-04 5.11832761e-06 9.99999993e-01 -1.73598867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70719347 meters 0.062478496898022304 Centerline is valid? [True, True] Translation: X:66.80, Y:2.00, Z:-1.74 [[ 9.91802351e-01 -1.27764035e-01 2.10905586e-03 6.68005507e+01] [ 1.27763901e-01 9.91804591e-01 1.98810876e-04 2.00051356e+00] [-2.11717216e-03 7.22801093e-05 9.99997756e-01 -1.73528536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76719347000001 meters 0.0612684703246157 Centerline is valid? [True, True] Translation: X:66.86, Y:2.01, Z:-1.74 [[ 9.92262899e-01 -1.24143591e-01 1.64567454e-03 6.68586612e+01] [ 1.24143504e-01 9.92264262e-01 1.55161516e-04 2.01270220e+00] [-1.65220634e-03 5.03387877e-05 9.99998634e-01 -1.73703478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82719347000001 meters 0.06026251484516847 Centerline is valid? [True, True] Translation: X:66.92, Y:2.03, Z:-1.74 [[ 9.93138563e-01 -1.16942856e-01 -4.04515419e-04 6.69161335e+01] [ 1.16942849e-01 9.93138645e-01 -4.09187453e-05 2.02797012e+00] [ 4.06525050e-04 -6.66720163e-06 9.99999917e-01 -1.74052662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88719347000001 meters 0.05938922439094045 Centerline is valid? [True, True] Translation: X:66.97, Y:2.05, Z:-1.74 [[ 9.94134438e-01 -1.08146836e-01 -9.90728525e-04 6.69726861e+01] [ 1.08146793e-01 9.94134931e-01 -9.76488250e-05 2.04511720e+00] [ 9.95478245e-04 -1.00680527e-05 9.99999504e-01 -1.74478400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94719347000002 meters 0.05945598770943056 Centerline is valid? [True, True] Translation: X:67.03, Y:2.06, Z:-1.75 [[ 9.94297979e-01 -1.06576171e-01 -3.61228529e-03 6.70303122e+01] [ 1.06575584e-01 9.94304540e-01 -3.54885891e-04 2.05730874e+00] [ 3.62953405e-03 -3.21190920e-05 9.99993413e-01 -1.74876995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00719347 meters 0.0595911784668178 Centerline is valid? [True, True] Translation: X:67.09, Y:2.06, Z:-1.75 [[ 9.94159091e-01 -1.07851809e-01 -3.96085538e-03 6.70882543e+01] [ 1.07851135e-01 9.94166981e-01 -3.83963392e-04 2.06381548e+00] [ 3.97916278e-03 -4.54620516e-05 9.99992082e-01 -1.74998120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06719347 meters 0.059381892222226305 Centerline is valid? [True, True] Translation: X:67.15, Y:2.07, Z:-1.75 [[ 9.94253072e-01 -1.06933086e-01 -5.11311902e-03 6.71460988e+01] [ 1.06931951e-01 9.94266218e-01 -4.95538584e-04 2.07151695e+00] [ 5.13679098e-03 -5.40650349e-05 9.99986805e-01 -1.75008826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12719347000001 meters 0.05890041572699192 Centerline is valid? [True, True] Translation: X:67.20, Y:2.08, Z:-1.75 [[ 9.94521145e-01 -1.04425826e-01 -4.78942938e-03 6.72047504e+01] [ 1.04424771e-01 9.94532677e-01 -4.70406272e-04 2.08107509e+00] [ 4.81236658e-03 -3.23060816e-05 9.99988420e-01 -1.74922748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18719347000001 meters 0.058767709787323506 Centerline is valid? [True, True] Translation: X:67.26, Y:2.09, Z:-1.75 [[ 9.94816690e-01 -1.01648636e-01 -2.70331699e-03 6.72623217e+01] [ 1.01648289e-01 9.94820363e-01 -2.65704271e-04 2.08859413e+00] [ 2.71632327e-03 -1.04605027e-05 9.99996311e-01 -1.74972030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24719347000001 meters 0.0585266667676708 Centerline is valid? [True, True] Translation: X:67.32, Y:2.09, Z:-1.75 [[ 9.94811001e-01 -1.01689806e-01 -3.20253169e-03 6.73209353e+01] [ 1.01689307e-01 9.94816156e-01 -3.18615918e-04 2.09299694e+00] [ 3.21833026e-03 -8.70060823e-06 9.99994821e-01 -1.74972882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30719347000002 meters 0.05873245304274371 Centerline is valid? [True, True] Translation: X:67.38, Y:2.09, Z:-1.75 [[ 9.94342513e-01 -1.06120786e-01 -4.62019873e-03 6.73802859e+01] [ 1.06119803e-01 9.94353246e-01 -4.58057101e-04 2.09270521e+00] [ 4.64271898e-03 -3.48289312e-05 9.99989222e-01 -1.75119221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36719347 meters 0.05981882310542746 Centerline is valid? [True, True] Translation: X:67.44, Y:2.09, Z:-1.76 [[ 9.93843272e-01 -1.10427487e-01 -9.01780512e-03 6.74385594e+01] [ 1.10424029e-01 9.93884176e-01 -8.81982136e-04 2.09169679e+00] [ 9.06004888e-03 -1.19230361e-04 9.99958950e-01 -1.75792158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42719347 meters 0.0604728511540351 Centerline is valid? [True, True] Translation: X:67.50, Y:2.10, Z:-1.76 [[ 9.93939346e-01 -1.09409874e-01 -1.06796584e-02 6.74957710e+01] [ 1.09404953e-01 9.93996712e-01 -1.04571296e-03 2.09615799e+00] [ 1.07299567e-02 -1.29032271e-04 9.99942424e-01 -1.76290267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48719347000001 meters 0.059377827296548336 Centerline is valid? [True, True] Translation: X:67.55, Y:2.11, Z:-1.76 [[ 9.94809651e-01 -1.01279093e-01 -9.81339782e-03 6.75538494e+01] [ 1.01274460e-01 9.94858052e-01 -9.69188468e-04 2.10745097e+00] [ 9.86109637e-03 -2.96885269e-05 9.99951378e-01 -1.75939617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54719347000001 meters 0.05917568013548353 Centerline is valid? [True, True] Translation: X:67.61, Y:2.11, Z:-1.76 [[ 9.95126796e-01 -9.82960569e-02 -7.78102879e-03 6.76127458e+01] [ 9.82930245e-02 9.95157216e-01 -7.72105058e-04 2.11467877e+00] [ 7.81924183e-03 3.52157912e-06 9.99969429e-01 -1.75895552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60719347000001 meters 0.05930155247344181 Centerline is valid? [True, True] Translation: X:67.67, Y:2.12, Z:-1.76 [[ 9.95435423e-01 -9.51805034e-02 -6.99927447e-03 6.76709318e+01] [ 9.51779483e-02 9.95460030e-01 -6.97998342e-04 2.11960892e+00] [ 7.03393381e-03 2.86356914e-05 9.99975261e-01 -1.76094748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66719347000002 meters 0.06010097772008468 Centerline is valid? [True, True] Translation: X:67.73, Y:2.13, Z:-1.76 [[ 9.95928483e-01 -8.99853376e-02 -5.39411649e-03 6.77282360e+01] [ 8.99837582e-02 9.95943089e-01 -5.35280229e-04 2.12666193e+00] [ 5.42040041e-03 4.77179527e-05 9.99985308e-01 -1.76348674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72719347 meters 0.0616701725432739 Centerline is valid? [True, True] Translation: X:67.79, Y:2.12, Z:-1.77 [[ 9.96550193e-01 -8.24388801e-02 -9.56784515e-03 6.77884215e+01] [ 8.24336011e-02 9.96596111e-01 -9.45476129e-04 2.12451053e+00] [ 9.61322125e-03 1.53502489e-04 9.99953780e-01 -1.76881014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78719347 meters 0.06287143797513665 Centerline is valid? [True, True] Translation: X:67.85, Y:2.13, Z:-1.77 [[ 9.96861794e-01 -7.86229080e-02 -9.21969065e-03 6.78456247e+01] [ 7.86178086e-02 9.96904410e-01 -9.14786645e-04 2.12736531e+00] [ 9.26307346e-03 1.87083980e-04 9.99957079e-01 -1.77233370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84719347000001 meters 0.06326523548989808 Centerline is valid? [True, True] Translation: X:67.90, Y:2.13, Z:-1.77 [[ 9.97178131e-01 -7.47685698e-02 -6.74068440e-03 6.79046396e+01] [ 7.47657070e-02 9.97200899e-01 -6.76056532e-04 2.12521949e+00] [ 6.77236432e-03 1.70176754e-04 9.99977053e-01 -1.76822203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90719347000001 meters 0.06209189903072366 Centerline is valid? [True, True] Translation: X:67.97, Y:2.11, Z:-1.77 [[ 9.97093591e-01 -7.57824883e-02 -7.83493614e-03 6.79653206e+01] [ 7.57786363e-02 9.97124354e-01 -7.87780071e-04 2.11468509e+00] [ 7.87210557e-03 1.91769684e-04 9.99968996e-01 -1.76692263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96719347000001 meters 0.06143484761697316 Centerline is valid? [True, True] Translation: X:68.02, Y:2.10, Z:-1.77 [[ 9.96537725e-01 -8.22172887e-02 -1.23644970e-02 6.80245806e+01] [ 8.22082940e-02 9.96614405e-01 -1.23482068e-03 2.10110031e+00] [ 1.24241594e-02 2.14081180e-04 9.99922794e-01 -1.77370343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02719347000001 meters 0.06089693197463629 Centerline is valid? [True, True] Translation: X:68.09, Y:2.09, Z:-1.78 [[ 9.95762046e-01 -9.08209053e-02 -1.44744851e-02 6.80853029e+01] [ 9.08093609e-02 9.95867233e-01 -1.45418633e-03 2.08747521e+00] [ 1.45467360e-02 1.33604810e-04 9.99894182e-01 -1.78067302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08719347000002 meters 0.060327909481555544 Centerline is valid? [True, True] Translation: X:68.15, Y:2.07, Z:-1.78 [[ 9.94840596e-01 -1.00331851e-01 -1.50235561e-02 6.81457072e+01] [ 1.00320433e-01 9.94954029e-01 -1.51362105e-03 2.07058079e+00] [ 1.50996121e-02 -1.35799432e-06 9.99885994e-01 -1.78298160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14719347 meters 0.060207862764558626 Centerline is valid? [True, True] Translation: X:68.21, Y:2.06, Z:-1.78 [[ 9.93581999e-01 -1.12300180e-01 -1.35454986e-02 6.82059036e+01] [ 1.12291933e-01 9.93674315e-01 -1.37027190e-03 2.05755030e+00] [ 1.36136958e-02 -1.59572729e-04 9.99907317e-01 -1.77871409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20719347 meters 0.06220231339869843 Centerline is valid? [True, True] Translation: X:68.27, Y:2.04, Z:-1.78 [[ 9.91879035e-01 -1.26907618e-01 -8.39263467e-03 6.82665729e+01] [ 1.26904927e-01 9.91914517e-01 -8.54666719e-04 2.04349033e+00] [ 8.43323988e-03 -2.17340685e-04 9.99964416e-01 -1.77522843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26719347000001 meters 0.06364979319407411 Centerline is valid? [True, True] Translation: X:68.33, Y:2.04, Z:-1.77 [[ 9.90910189e-01 -1.34515112e-01 1.63768704e-03 6.83266941e+01] [ 1.34515029e-01 9.90911540e-01 1.61443541e-04 2.03943206e+00] [-1.64451958e-03 6.03174697e-05 9.99998646e-01 -1.77013319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32719347000001 meters 0.06548419710857503 Centerline is valid? [True, True] Translation: X:68.39, Y:2.05, Z:-1.77 [[ 9.90013617e-01 -1.40971183e-01 4.04771117e-04 6.83861569e+01] [ 1.40971178e-01 9.90013700e-01 4.03724961e-05 2.04847268e+00] [-4.06420309e-04 1.70917404e-05 9.99999917e-01 -1.77340704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38719347000001 meters 0.06752353855061538 Centerline is valid? [True, True] Translation: X:68.45, Y:2.06, Z:-1.78 [[ 9.89497335e-01 -1.44524042e-01 -2.79743922e-03 6.84457210e+01] [ 1.44523819e-01 9.89501281e-01 -2.82824603e-04 2.05993309e+00] [ 2.80894465e-03 -1.24442410e-04 9.99996047e-01 -1.77869766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44719347000002 meters 0.06864187679506446 Centerline is valid? [True, True] Translation: X:68.50, Y:2.08, Z:-1.79 [[ 9.89102543e-01 -1.46969012e-01 -8.73317868e-03 6.85037682e+01] [ 1.46966926e-01 9.89141012e-01 -8.83688172e-04 2.07779882e+00] [ 8.76821997e-03 -4.09430201e-04 9.99961475e-01 -1.78635090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50719347 meters 0.07066717834101498 Centerline is valid? [True, True] Translation: X:68.56, Y:2.09, Z:-1.79 [[ 9.89025857e-01 -1.47478922e-01 -8.82171070e-03 6.85603725e+01] [ 1.47476769e-01 9.89065112e-01 -8.97648704e-04 2.09057876e+00] [ 8.85763055e-03 -4.13199615e-04 9.99960685e-01 -1.79197708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56719347 meters 0.06814269629023774 Centerline is valid? [True, True] Translation: X:68.62, Y:2.11, Z:-1.79 [[ 9.89155762e-01 -1.46643266e-01 -8.16280002e-03 6.86176016e+01] [ 1.46641340e-01 9.89189373e-01 -8.37221117e-04 2.11378234e+00] [ 8.19732787e-03 -3.68861839e-04 9.99966333e-01 -1.78985605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62719347000001 meters 0.06775809884783625 Centerline is valid? [True, True] Translation: X:68.67, Y:2.14, Z:-1.79 [[ 9.89310029e-01 -1.45560772e-01 -8.81632072e-03 6.86747778e+01] [ 1.45558471e-01 9.89349236e-01 -9.05600054e-04 2.13739748e+00] [ 8.85424002e-03 -3.87370944e-04 9.99960725e-01 -1.79248176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68719347000001 meters 0.06740817373201108 Centerline is valid? [True, True] Translation: X:68.73, Y:2.16, Z:-1.80 [[ 9.89756284e-01 -1.42428231e-01 -9.83342480e-03 6.87306684e+01] [ 1.42425240e-01 9.89805050e-01 -1.00739830e-03 2.15765671e+00] [ 9.87665548e-03 -4.03449088e-04 9.99951143e-01 -1.79821373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74719347000001 meters 0.06543199943931646 Centerline is valid? [True, True] Translation: X:68.79, Y:2.18, Z:-1.80 [[ 9.90668752e-01 -1.36086078e-01 -7.48358085e-03 6.87879735e+01] [ 1.36084179e-01 9.90696983e-01 -7.64751325e-04 2.18349927e+00] [ 7.51803297e-03 -2.60781718e-04 9.99971705e-01 -1.79890657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80719347000002 meters 0.06337148912901944 Centerline is valid? [True, True] Translation: X:68.85, Y:2.21, Z:-1.80 [[ 9.91615487e-01 -1.29114917e-01 -5.29750325e-03 6.88466198e+01] [ 1.29113867e-01 9.91629627e-01 -5.41137162e-04 2.20586840e+00] [ 5.32303005e-03 -1.47381141e-04 9.99985822e-01 -1.79893808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86719347 meters 0.06084327043461773 Centerline is valid? [True, True] Translation: X:68.90, Y:2.23, Z:-1.80 [[ 9.92825810e-01 -1.19490752e-01 -4.34415714e-03 6.89040356e+01] [ 1.19489952e-01 9.92835311e-01 -4.44171136e-04 2.23406429e+00] [ 4.36610694e-03 -7.80985611e-05 9.99990465e-01 -1.79862860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92719347 meters 0.06003525871674989 Centerline is valid? [True, True] Translation: X:68.96, Y:2.26, Z:-1.80 [[ 9.93298170e-01 -1.15547498e-01 -2.74251491e-03 6.89607663e+01] [ 1.15547159e-01 9.93301955e-01 -2.82334163e-04 2.25611473e+00] [ 2.75676843e-03 -3.64477987e-05 9.99996199e-01 -1.79999884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98719347000001 meters 0.06031614549103275 Centerline is valid? [True, True] Translation: X:69.02, Y:2.27, Z:-1.80 [[ 9.93268695e-01 -1.15777020e-01 -3.60280935e-03 6.90185886e+01] [ 1.15776417e-01 9.93275229e-01 -3.76234278e-04 2.26680345e+00] [ 3.62214056e-03 -4.34186265e-05 9.99993439e-01 -1.80425872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04719347000001 meters 0.059217596077068786 Centerline is valid? [True, True] Translation: X:69.08, Y:2.28, Z:-1.80 [[ 9.93440016e-01 -1.14316633e-01 -2.93961358e-03 6.90762736e+01] [ 1.14316216e-01 9.93444365e-01 -3.10098439e-04 2.27906816e+00] [ 2.95579195e-03 -2.79813025e-05 9.99995631e-01 -1.80191810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10719347000001 meters 0.059273453978822235 Centerline is valid? [True, True] Translation: X:69.13, Y:2.29, Z:-1.81 [[ 9.93767279e-01 -1.11373634e-01 -4.74435234e-03 6.91332555e+01] [ 1.11372558e-01 9.93778603e-01 -4.91114272e-04 2.29081541e+00] [ 4.76953302e-03 -4.03373628e-05 9.99988625e-01 -1.80638863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16719347000002 meters 0.05906171117401491 Centerline is valid? [True, True] Translation: X:69.19, Y:2.30, Z:-1.81 [[ 9.94036373e-01 -1.08922453e-01 -5.25248823e-03 6.91904906e+01] [ 1.08921059e-01 9.94050250e-01 -5.51557936e-04 2.29954667e+00] [ 5.28131428e-03 -2.38379312e-05 9.99986053e-01 -1.80703388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22719347 meters 0.058960724012750945 Centerline is valid? [True, True] Translation: X:69.25, Y:2.30, Z:-1.81 [[ 9.93971301e-01 -1.09522259e-01 -5.09199541e-03 6.92481413e+01] [ 1.09520945e-01 9.93984343e-01 -5.37111169e-04 2.30211192e+00] [ 5.12018934e-03 -2.38070625e-05 9.99986891e-01 -1.80795284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28719347 meters 0.058887022996990834 Centerline is valid? [True, True] Translation: X:69.31, Y:2.31, Z:-1.81 [[ 9.94017168e-01 -1.09189575e-01 -2.73991391e-03 6.93053534e+01] [ 1.09189198e-01 9.94020944e-01 -2.87195995e-04 2.30668238e+00] [ 2.75489061e-03 -1.36912534e-05 9.99996205e-01 -1.81035236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34719347000001 meters 0.059189450153963215 Centerline is valid? [True, True] Translation: X:69.36, Y:2.31, Z:-1.81 [[ 9.93885100e-01 -1.10302398e-01 -5.07833105e-03 6.93641555e+01] [ 1.10301098e-01 9.93898073e-01 -5.36095611e-04 2.31001683e+00] [ 5.10647607e-03 -2.73280517e-05 9.99986961e-01 -1.81433932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40719347000001 meters 0.05914850638413337 Centerline is valid? [True, True] Translation: X:69.42, Y:2.31, Z:-1.81 [[ 9.93478555e-01 -1.13850219e-01 -6.20386350e-03 6.94228392e+01] [ 1.13848383e-01 9.93497923e-01 -6.49451629e-04 2.31062979e+00] [ 6.23746571e-03 -6.10835642e-05 9.99980545e-01 -1.81488004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46719347000001 meters 0.05978648967686666 Centerline is valid? [True, True] Translation: X:69.48, Y:2.31, Z:-1.82 [[ 9.92554179e-01 -1.21723476e-01 -4.42684850e-03 6.94817925e+01] [ 1.21722587e-01 9.92564048e-01 -4.70659706e-04 2.30849934e+00] [ 4.45122100e-03 -7.16921947e-05 9.99990091e-01 -1.81540636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52719347000001 meters 0.06145057980102364 Centerline is valid? [True, True] Translation: X:69.54, Y:2.31, Z:-1.82 [[ 9.91414118e-01 -1.30707898e-01 -3.67327904e-03 6.95418818e+01] [ 1.30707364e-01 9.91420918e-01 -3.85961626e-04 2.30519013e+00] [ 3.69221391e-03 -9.74768171e-05 9.99993179e-01 -1.81699103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58719347000002 meters 0.06553763684154666 Centerline is valid? [True, True] Translation: X:69.60, Y:2.30, Z:-1.82 [[ 9.89893504e-01 -1.41640524e-01 -6.98664778e-03 6.96017446e+01] [ 1.41638894e-01 9.89918123e-01 -7.30016450e-04 2.30002322e+00] [ 7.01960917e-03 -2.66942522e-04 9.99975327e-01 -1.82407903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64719347 meters 0.06668942726814843 Centerline is valid? [True, True] Translation: X:69.66, Y:2.30, Z:-1.82 [[ 9.89326544e-01 -1.45617644e-01 -5.33772920e-03 6.96607783e+01] [ 1.45616699e-01 9.89340920e-01 -5.67242565e-04 2.30433979e+00] [ 5.36343444e-03 -2.16074380e-04 9.99985593e-01 -1.82478384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70719347 meters 0.06733287883811251 Centerline is valid? [True, True] Translation: X:69.72, Y:2.31, Z:-1.82 [[ 9.89165505e-01 -1.46804492e-01 -2.13742919e-04 6.97176236e+01] [ 1.46804490e-01 9.89165528e-01 -2.50037407e-05 2.31474475e+00] [ 2.15097789e-04 -6.64558239e-06 9.99999977e-01 -1.82406003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76719347000001 meters 0.06428614189195317 Centerline is valid? [True, True] Translation: X:69.78, Y:2.34, Z:-1.82 [[ 9.89531240e-01 -1.44299603e-01 2.35565223e-03 6.97757725e+01] [ 1.44299423e-01 9.89534040e-01 2.46858776e-04 2.33596125e+00] [-2.36661969e-03 9.56447864e-05 9.99997195e-01 -1.82187914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82719347000001 meters 0.0632010459779192 Centerline is valid? [True, True] Translation: X:69.83, Y:2.35, Z:-1.82 [[ 9.89959519e-01 -1.41297682e-01 3.88787738e-03 6.98339990e+01] [ 1.41297170e-01 9.89967143e-01 4.07425802e-04 2.35114923e+00] [-3.90643919e-03 1.46011021e-04 9.99992359e-01 -1.82033633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88719347000001 meters 0.0615278759962955 Centerline is valid? [True, True] Translation: X:69.89, Y:2.38, Z:-1.82 [[ 9.90829046e-01 -1.35121074e-01 -3.12888528e-04 6.98907921e+01] [ 1.35121069e-01 9.90829095e-01 -3.68690437e-05 2.37811806e+00] [ 3.15000841e-04 -5.74691293e-06 9.99999950e-01 -1.82330930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94719347000002 meters 0.061542087754256604 Centerline is valid? [True, True] Translation: X:69.95, Y:2.39, Z:-1.83 [[ 9.91050195e-01 -1.33489716e-01 -7.67209890e-05 6.99475581e+01] [ 1.33489715e-01 9.91050198e-01 -1.08139160e-05 2.39174771e+00] [ 7.74778977e-05 4.75670631e-07 9.99999997e-01 -1.82686850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00719347 meters 0.06159792922981991 Centerline is valid? [True, True] Translation: X:70.00, Y:2.41, Z:-1.83 [[ 9.90719905e-01 -1.35919343e-01 -5.17206104e-05 7.00045706e+01] [ 1.35919343e-01 9.90719906e-01 -8.20973460e-06 2.40757726e+00] [ 5.23564998e-05 1.10371612e-06 9.99999999e-01 -1.82691105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06719347 meters 0.06254958681193769 Centerline is valid? [True, True] Translation: X:70.06, Y:2.42, Z:-1.83 [[ 9.90258051e-01 -1.39241471e-01 -8.97361142e-04 7.00629385e+01] [ 1.39241441e-01 9.90258457e-01 -9.63330257e-05 2.41868959e+00] [ 9.02033012e-04 -2.95553039e-05 9.99999593e-01 -1.82852301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12719347000001 meters 0.06434836489545549 Centerline is valid? [True, True] Translation: X:70.12, Y:2.43, Z:-1.84 [[ 9.89692448e-01 -1.43081513e-01 -6.04480810e-03 7.01214546e+01] [ 1.43080277e-01 9.89710880e-01 -6.38597661e-04 2.43110902e+00] [ 6.07398386e-03 -2.32877538e-04 9.99981526e-01 -1.83551685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18719347000001 meters 0.0672150399107909 Centerline is valid? [True, True] Translation: X:70.18, Y:2.44, Z:-1.84 [[ 9.88402537e-01 -1.51716142e-01 -6.52972566e-03 7.01809901e+01] [ 1.51714892e-01 9.88424057e-01 -6.89294918e-04 2.43898724e+00] [ 6.55871510e-03 -3.09355778e-04 9.99978444e-01 -1.83763641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24719347000001 meters 0.07120876475569304 Centerline is valid? [True, True] Translation: X:70.24, Y:2.44, Z:-1.84 [[ 9.87342867e-01 -1.58486911e-01 -5.99676756e-03 7.02401469e+01] [ 1.58485981e-01 9.87361025e-01 -6.32933058e-04 2.44140977e+00] [ 6.02128617e-03 -3.25481651e-04 9.99981819e-01 -1.83960212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30719347000002 meters 0.07499927743352572 Centerline is valid? [True, True] Translation: X:70.30, Y:2.44, Z:-1.84 [[ 9.85471702e-01 -1.69716527e-01 -6.46727111e-03 7.03004311e+01] [ 1.69715685e-01 9.85492831e-01 -6.82823423e-04 2.44498200e+00] [ 6.48933574e-03 -4.24694187e-04 9.99978854e-01 -1.84151757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36719347 meters 0.0782428794583384 Centerline is valid? [True, True] Translation: X:70.36, Y:2.45, Z:-1.84 [[ 9.84136495e-01 -1.77180870e-01 -9.07190730e-03 7.03604826e+01] [ 1.77179526e-01 9.84178082e-01 -9.58023465e-04 2.45357151e+00] [ 9.09811576e-03 -6.64530379e-04 9.99958390e-01 -1.84419224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42719347 meters 0.0801527281959737 Centerline is valid? [True, True] Translation: X:70.42, Y:2.46, Z:-1.84 [[ 9.84369920e-01 -1.76052372e-01 -4.62850497e-03 7.04187450e+01] [ 1.76052005e-01 9.84380745e-01 -4.89849246e-04 2.46391925e+00] [ 4.64245029e-03 -3.32664714e-04 9.99989168e-01 -1.84352906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48719347000001 meters 0.07212304394895738 Centerline is valid? [True, True] Translation: X:70.48, Y:2.50, Z:-1.84 [[ 9.86096715e-01 -1.66155468e-01 -2.37258451e-03 7.04755772e+01] [ 1.66155344e-01 9.86099558e-01 -2.50711358e-04 2.50195005e+00] [ 2.38126160e-03 -1.46991947e-04 9.99997154e-01 -1.83834142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54719347000001 meters 0.07042556930686271 Centerline is valid? [True, True] Translation: X:70.53, Y:2.52, Z:-1.84 [[ 9.87160745e-01 -1.59729683e-01 -3.02633994e-04 7.05327525e+01] [ 1.59729680e-01 9.87160791e-01 -3.27607988e-05 2.52406481e+00] [ 3.03981285e-04 -1.59994565e-05 9.99999954e-01 -1.83961016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60719347000001 meters 0.06862393354895212 Centerline is valid? [True, True] Translation: X:70.59, Y:2.55, Z:-1.84 [[ 9.87512617e-01 -1.57519299e-01 -2.54969037e-03 7.05919135e+01] [ 1.57519130e-01 9.87515900e-01 -2.68218063e-04 2.55013009e+00] [ 2.56010930e-03 -1.36756286e-04 9.99996714e-01 -1.84045844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66719347000002 meters 0.07096744525806556 Centerline is valid? [True, True] Translation: X:70.65, Y:2.57, Z:-1.84 [[ 9.86924724e-01 -1.61176411e-01 -1.32413982e-03 7.06501347e+01] [ 1.61176371e-01 9.86925609e-01 -1.38038280e-04 2.56650136e+00] [ 1.32907602e-03 -7.71866590e-05 9.99999114e-01 -1.84362516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72719347 meters 0.07349694952838184 Centerline is valid? [True, True] Translation: X:70.71, Y:2.59, Z:-1.85 [[ 9.85687775e-01 -1.68537733e-01 -3.82667537e-03 7.07087430e+01] [ 1.68537430e-01 9.85695172e-01 -4.04046039e-04 2.58500453e+00] [ 3.84003244e-03 -2.46674790e-04 9.99992597e-01 -1.84681978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78719347 meters 0.07478430313977692 Centerline is valid? [True, True] Translation: X:70.77, Y:2.60, Z:-1.85 [[ 9.85032643e-01 -1.72228308e-01 -6.93559972e-03 7.07677838e+01] [ 1.72227404e-01 9.85056945e-01 -7.31882171e-04 2.59894571e+00] [ 6.95801150e-03 -4.73572502e-04 9.99975681e-01 -1.85116758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84719347000001 meters 0.0756695431458555 Centerline is valid? [True, True] Translation: X:70.83, Y:2.62, Z:-1.85 [[ 9.84853147e-01 -1.73160145e-01 -8.93552428e-03 7.08266524e+01] [ 1.73158700e-01 9.84893486e-01 -9.40988456e-04 2.61925598e+00] [ 8.96348136e-03 -6.20528326e-04 9.99959635e-01 -1.85347985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90719347000001 meters 0.07474054928225672 Centerline is valid? [True, True] Translation: X:70.88, Y:2.64, Z:-1.85 [[ 9.85714487e-01 -1.68334582e-01 -5.51537890e-03 7.08847075e+01] [ 1.68333951e-01 9.85729853e-01 -5.81782424e-04 2.64193074e+00] [ 5.53460774e-03 -3.54954156e-04 9.99984621e-01 -1.85278300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96719347000001 meters 0.07255875649843113 Centerline is valid? [True, True] Translation: X:70.94, Y:2.66, Z:-1.85 [[ 9.86592936e-01 -1.63130637e-01 -4.77227516e-03 7.09429938e+01] [ 1.63130104e-01 9.86604437e-01 -5.03220020e-04 2.66190948e+00] [ 4.79043845e-03 -2.82028427e-04 9.99988486e-01 -1.85378457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02719347000001 meters 0.06849048168947568 Centerline is valid? [True, True] Translation: X:71.00, Y:2.69, Z:-1.85 [[ 9.87588859e-01 -1.57046810e-01 -2.13191808e-03 7.10006561e+01] [ 1.57046690e-01 9.87591154e-01 -2.24878199e-04 2.69049598e+00] [ 2.14077984e-03 -1.12723473e-04 9.99997702e-01 -1.85202956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08719347000002 meters 0.06653193521051892 Centerline is valid? [True, True] Translation: X:71.06, Y:2.71, Z:-1.85 [[ 9.88670697e-01 -1.50100249e-01 -4.10162336e-04 7.10594250e+01] [ 1.50100244e-01 9.88670782e-01 -4.32712695e-05 2.71276510e+00] [ 4.12010546e-04 -1.87844304e-05 9.99999915e-01 -1.85048450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14719347 meters 0.06168778646160938 Centerline is valid? [True, True] Translation: X:71.12, Y:2.75, Z:-1.85 [[ 9.91210485e-01 -1.32242520e-01 -3.70005479e-03 7.11174652e+01] [ 1.32241986e-01 9.91217385e-01 -3.89726341e-04 2.74561811e+00] [ 3.71909703e-03 -1.03001758e-04 9.99993079e-01 -1.85325574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20719347 meters 0.059601552569682886 Centerline is valid? [True, True] Translation: X:71.18, Y:2.77, Z:-1.85 [[ 9.92839000e-01 -1.19434089e-01 -2.49373227e-03 7.11756784e+01] [ 1.19433806e-01 9.92842131e-01 -2.62692825e-04 2.76926182e+00] [ 2.50725694e-03 -3.70242547e-05 9.99996856e-01 -1.85326113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26719347000001 meters 0.05917408861933587 Centerline is valid? [True, True] Translation: X:71.24, Y:2.79, Z:-1.85 [[ 9.93762553e-01 -1.11480774e-01 -2.83285848e-03 7.12362681e+01] [ 1.11480383e-01 9.93766591e-01 -2.96311285e-04 2.78776241e+00] [ 2.84823313e-03 -2.13450881e-05 9.99995944e-01 -1.85274186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32719347000001 meters 0.05958218233353011 Centerline is valid? [True, True] Translation: X:71.30, Y:2.78, Z:-1.86 [[ 9.93733705e-01 -1.11614547e-01 -5.95957268e-03 7.12977472e+01] [ 1.11612839e-01 9.93751574e-01 -6.19362812e-04 2.78439015e+00] [ 5.99146463e-03 -4.96831269e-05 9.99982050e-01 -1.86277662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38719347000001 meters 0.05961948519999959 Centerline is valid? [True, True] Translation: X:71.36, Y:2.79, Z:-1.86 [[ 9.93642571e-01 -1.12344664e-01 -7.28811594e-03 7.13594938e+01] [ 1.12342108e-01 9.93669297e-01 -7.60552415e-04 2.78780653e+00] [ 7.32742105e-03 -6.30450465e-05 9.99973152e-01 -1.86427199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44719347000002 meters 0.06006787830210415 Centerline is valid? [True, True] Translation: X:71.42, Y:2.78, Z:-1.87 [[ 9.93463636e-01 -1.13934493e-01 -6.99533844e-03 7.14222806e+01] [ 1.13932198e-01 9.93488261e-01 -7.27076795e-04 2.78335109e+00] [ 7.03262575e-03 -7.46699280e-05 9.99975268e-01 -1.86602181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50719347 meters 0.060324356582907336 Centerline is valid? [True, True] Translation: X:71.49, Y:2.78, Z:-1.87 [[ 9.93023628e-01 -1.17651013e-01 -7.89389676e-03 7.14850712e+01] [ 1.17648234e-01 9.93054996e-01 -8.17096781e-04 2.77664721e+00] [ 7.93520588e-03 -1.17306605e-04 9.99968509e-01 -1.86615045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56719347 meters 0.062249254721499794 Centerline is valid? [True, True] Translation: X:71.55, Y:2.76, Z:-1.87 [[ 9.91770533e-01 -1.27625665e-01 -1.01439419e-02 7.15471690e+01] [ 1.27621532e-01 9.91822378e-01 -1.05636136e-03 2.75869774e+00] [ 1.01958074e-02 -2.46917347e-04 9.99947991e-01 -1.87147022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62719347000001 meters 0.06373193413425518 Centerline is valid? [True, True] Translation: X:71.61, Y:2.75, Z:-1.87 [[ 9.90637935e-01 -1.35884188e-01 -1.31137362e-02 7.16086202e+01] [ 1.35877973e-01 9.90724637e-01 -1.36784320e-03 2.75105092e+00] [ 1.31779697e-02 -4.26830524e-04 9.99913076e-01 -1.87291714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68719347000001 meters 0.06708086892224707 Centerline is valid? [True, True] Translation: X:71.67, Y:2.73, Z:-1.88 [[ 9.88892671e-01 -1.48052627e-01 -1.31036484e-02 7.16714264e+01] [ 1.48047492e-01 9.88979309e-01 -1.36640552e-03 2.73455032e+00] [ 1.31615371e-02 -5.88733879e-04 9.99913210e-01 -1.87528426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74719347000001 meters 0.06884198094792852 Centerline is valid? [True, True] Translation: X:71.73, Y:2.73, Z:-1.88 [[ 9.88061243e-01 -1.53618598e-01 -1.16750456e-02 7.17333339e+01] [ 1.53614915e-01 9.88130040e-01 -1.21693318e-03 2.72903108e+00] [ 1.17234069e-02 -5.91056632e-04 9.99931104e-01 -1.87683198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80719347000002 meters 0.06984580510963882 Centerline is valid? [True, True] Translation: X:71.80, Y:2.72, Z:-1.88 [[ 9.87496353e-01 -1.57185923e-01 -1.19807738e-02 7.17950578e+01] [ 1.57182309e-01 9.87568814e-01 -1.24854754e-03 2.72486718e+00] [ 1.20280927e-02 -6.50229544e-04 9.99927448e-01 -1.87879227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86719347 meters 0.07055581996710557 Centerline is valid? [True, True] Translation: X:71.86, Y:2.72, Z:-1.88 [[ 9.87423434e-01 -1.57884982e-01 -8.20329906e-03 7.18565761e+01] [ 1.57883352e-01 9.87457404e-01 -8.49999077e-04 2.72391705e+00] [ 8.23461048e-03 -4.55855349e-04 9.99965991e-01 -1.87833187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92719347 meters 0.07194492246912941 Centerline is valid? [True, True] Translation: X:71.92, Y:2.73, Z:-1.88 [[ 9.87474407e-01 -1.57483072e-01 -9.66326302e-03 7.19179315e+01] [ 1.57480788e-01 9.87521543e-01 -1.00151396e-03 2.72671652e+00] [ 9.70040191e-03 -5.32808878e-04 9.99952808e-01 -1.88143839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98719347000001 meters 0.07087861934037051 Centerline is valid? [True, True] Translation: X:71.98, Y:2.73, Z:-1.88 [[ 9.87687014e-01 -1.56049298e-01 -1.10896098e-02 7.19802072e+01] [ 1.56046195e-01 9.87749089e-01 -1.14986067e-03 2.73232142e+00] [ 1.11331869e-02 -5.94788960e-04 9.99937847e-01 -1.88492383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04719347000001 meters 0.06903737705684722 Centerline is valid? [True, True] Translation: X:72.04, Y:2.74, Z:-1.88 [[ 9.87983697e-01 -1.54171403e-01 -1.09266641e-02 7.20413410e+01] [ 1.54168285e-01 9.88043956e-01 -1.13214524e-03 2.74235348e+00] [ 1.09705688e-02 -5.66004033e-04 9.99939661e-01 -1.88468082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10719347000001 meters 0.06768899394378736 Centerline is valid? [True, True] Translation: X:72.10, Y:2.76, Z:-1.89 [[ 9.89412120e-01 -1.44605682e-01 -1.23634130e-02 7.20997221e+01] [ 1.44600916e-01 9.89489226e-01 -1.28326393e-03 2.76092060e+00] [ 1.24190312e-02 -5.18083963e-04 9.99922747e-01 -1.88840614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16719347000002 meters 0.06429025716670429 Centerline is valid? [True, True] Translation: X:72.16, Y:2.78, Z:-1.89 [[ 9.90701758e-01 -1.35720350e-01 -9.48756023e-03 7.21583852e+01] [ 1.35717136e-01 9.90747137e-01 -9.84797088e-04 2.78022577e+00] [ 9.53343014e-03 -3.11984296e-04 9.99954507e-01 -1.88654643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22719347 meters 0.0624930999481731 Centerline is valid? [True, True] Translation: X:72.22, Y:2.80, Z:-1.89 [[ 9.91819853e-01 -1.27469545e-01 -6.70035735e-03 7.22159618e+01] [ 1.27467750e-01 9.91842471e-01 -6.96037974e-04 2.80004421e+00] [ 6.73442263e-03 -1.63735195e-04 9.99977310e-01 -1.88670926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28719347 meters 0.06161846479114424 Centerline is valid? [True, True] Translation: X:72.28, Y:2.82, Z:-1.88 [[ 9.92356663e-01 -1.23235114e-01 -6.43120895e-03 7.22762435e+01] [ 1.23233387e-01 9.92377493e-01 -6.65639825e-04 2.81758602e+00] [ 6.46421721e-03 -1.31987547e-04 9.99979098e-01 -1.88424957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34719347000001 meters 0.06182038220592326 Centerline is valid? [True, True] Translation: X:72.34, Y:2.83, Z:-1.89 [[ 9.92935204e-01 -1.18232445e-01 -1.00383794e-02 7.23361204e+01] [ 1.18228013e-01 9.92985933e-01 -1.03587905e-03 2.82866521e+00] [ 1.00904440e-02 -1.58256876e-04 9.99949078e-01 -1.89259820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40719347000001 meters 0.06189234081691197 Centerline is valid? [True, True] Translation: X:72.40, Y:2.84, Z:-1.89 [[ 9.92875282e-01 -1.18420485e-01 -1.32387239e-02 7.23982521e+01] [ 1.18412769e-01 9.92963516e-01 -1.36793695e-03 2.83553006e+00] [ 1.33075616e-02 -2.09443183e-04 9.99911429e-01 -1.89427001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46719347000001 meters 0.06241026316378376 Centerline is valid? [True, True] Translation: X:72.46, Y:2.84, Z:-1.90 [[ 9.92751786e-01 -1.19544936e-01 -1.23652584e-02 7.24595704e+01] [ 1.19538297e-01 9.92828769e-01 -1.27729562e-03 2.83736130e+00] [ 1.24292785e-02 -2.10084419e-04 9.99922731e-01 -1.89669133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52719347000001 meters 0.06308324784912664 Centerline is valid? [True, True] Translation: X:72.52, Y:2.84, Z:-1.90 [[ 9.93048187e-01 -1.16476580e-01 -1.69853968e-02 7.25207524e+01] [ 1.16463654e-01 9.93193410e-01 -1.75155287e-03 2.84071573e+00] [ 1.70737991e-02 -2.38804977e-04 9.99854204e-01 -1.90354298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58719347000002 meters 0.06328752081511903 Centerline is valid? [True, True] Translation: X:72.58, Y:2.84, Z:-1.91 [[ 9.93333680e-01 -1.13484397e-01 -2.02359183e-02 7.25822166e+01] [ 1.13465415e-01 9.93539754e-01 -2.08749313e-03 2.84448821e+00] [ 2.03420872e-02 -2.22499635e-04 9.99793054e-01 -1.90823075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64719347 meters 0.06315268534432898 Centerline is valid? [True, True] Translation: X:72.64, Y:2.85, Z:-1.91 [[ 9.93374032e-01 -1.13509519e-01 -1.79894967e-02 7.26438389e+01] [ 1.13494530e-01 9.93536889e-01 -1.85528025e-03 2.84568619e+00] [ 1.80838205e-02 -1.98722262e-04 9.99836455e-01 -1.90544180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70719347 meters 0.06340285259088915 Centerline is valid? [True, True] Translation: X:72.71, Y:2.84, Z:-1.90 [[ 9.92743492e-01 -1.19034399e-01 -1.70637519e-02 7.27066275e+01] [ 1.19021776e-01 9.92890089e-01 -1.75707157e-03 2.84152300e+00] [ 1.71515821e-02 -2.86636683e-04 9.99852860e-01 -1.90471355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76719347000001 meters 0.06441004012599717 Centerline is valid? [True, True] Translation: X:72.77, Y:2.83, Z:-1.90 [[ 9.91536382e-01 -1.28977566e-01 -1.48455857e-02 7.27700645e+01] [ 1.28969148e-01 9.91647431e-01 -1.52699294e-03 2.83104894e+00] [ 1.49185348e-02 -4.00553491e-04 9.99888632e-01 -1.90437999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82719347000001 meters 0.06560595607657216 Centerline is valid? [True, True] Translation: X:72.83, Y:2.83, Z:-1.91 [[ 9.91066366e-01 -1.32523479e-01 -1.49995509e-02 7.28312374e+01] [ 1.32515284e-01 9.91179761e-01 -1.54329718e-03 2.82838007e+00] [ 1.50717743e-02 -4.58159823e-04 9.99886309e-01 -1.90640217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88719347000001 meters 0.06652743612659494 Centerline is valid? [True, True] Translation: X:72.89, Y:2.83, Z:-1.91 [[ 9.90786295e-01 -1.34676521e-01 -1.43091735e-02 7.28923704e+01] [ 1.34669348e-01 9.90889505e-01 -1.46810803e-03 2.82847952e+00] [ 1.43765295e-02 -4.72425750e-04 9.99896541e-01 -1.90804098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94719347000002 meters 0.06669794224218942 Centerline is valid? [True, True] Translation: X:72.95, Y:2.83, Z:-1.91 [[ 9.90848140e-01 -1.34049354e-01 -1.58345751e-02 7.29536870e+01] [ 1.34040460e-01 9.90974525e-01 -1.62648908e-03 2.83446780e+00] [ 1.59096903e-02 -5.10870033e-04 9.99873302e-01 -1.90937797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00719347 meters 0.06489065306951067 Centerline is valid? [True, True] Translation: X:73.01, Y:2.85, Z:-1.91 [[ 9.91832439e-01 -1.26837173e-01 -1.34441123e-02 7.30129762e+01] [ 1.26830083e-01 9.91923495e-01 -1.38215608e-03 2.84733170e+00] [ 1.35108396e-02 -3.34250643e-04 9.99908669e-01 -1.90829010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06719347 meters 0.06356948685585542 Centerline is valid? [True, True] Translation: X:73.07, Y:2.87, Z:-1.91 [[ 9.93300704e-01 -1.14698080e-01 -1.40734554e-02 7.30717629e+01] [ 1.14689093e-01 9.93400382e-01 -1.44663775e-03 2.86656996e+00] [ 1.41465025e-02 -1.77125550e-04 9.99899918e-01 -1.91190608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12719347000001 meters 0.06390247700264413 Centerline is valid? [True, True] Translation: X:73.13, Y:2.88, Z:-1.91 [[ 9.93681051e-01 -1.10919919e-01 -1.71679942e-02 7.31330500e+01] [ 1.10906046e-01 9.93829335e-01 -1.76102648e-03 2.87662234e+00] [ 1.72573892e-02 -1.54135712e-04 9.99851068e-01 -1.91465888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18719347000001 meters 0.06479886484750882 Centerline is valid? [True, True] Translation: X:73.19, Y:2.88, Z:-1.92 [[ 9.93184451e-01 -1.15056429e-01 -1.86189530e-02 7.31944685e+01] [ 1.15040885e-01 9.93358927e-01 -1.90733130e-03 2.87523734e+00] [ 1.87147539e-02 -2.47609046e-04 9.99824833e-01 -1.92123227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24719347000001 meters 0.06544931063198126 Centerline is valid? [True, True] Translation: X:73.26, Y:2.87, Z:-1.92 [[ 9.92131753e-01 -1.24270519e-01 -1.52126108e-02 7.32565967e+01] [ 1.24261216e-01 9.92248316e-01 -1.55888971e-03 2.86953860e+00] [ 1.52884115e-02 -3.43713541e-04 9.99883066e-01 -1.91874769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30719347000002 meters 0.0667928307435713 Centerline is valid? [True, True] Translation: X:73.32, Y:2.87, Z:-1.92 [[ 9.91475658e-01 -1.29515725e-01 -1.42019910e-02 7.33178933e+01] [ 1.29508152e-01 9.91577289e-01 -1.45549582e-03 2.86630408e+00] [ 1.42708813e-02 -3.96184941e-04 9.99898087e-01 -1.92016799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36719347 meters 0.06735242353863835 Centerline is valid? [True, True] Translation: X:73.38, Y:2.87, Z:-1.92 [[ 9.91019054e-01 -1.33032231e-01 -1.35521006e-02 7.33788432e+01] [ 1.33025668e-01 9.91111620e-01 -1.38857807e-03 2.86884898e+00] [ 1.36163700e-02 -4.26669911e-04 9.99907202e-01 -1.91982540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42719347 meters 0.06758660855609427 Centerline is valid? [True, True] Translation: X:73.44, Y:2.87, Z:-1.92 [[ 9.90768724e-01 -1.35048699e-01 -1.17976296e-02 7.34408753e+01] [ 1.35043900e-01 9.90838882e-01 -1.20612801e-03 2.87447101e+00] [ 1.18524361e-02 -3.98204005e-04 9.99929678e-01 -1.92101407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48719347000001 meters 0.06660048783803839 Centerline is valid? [True, True] Translation: X:73.50, Y:2.89, Z:-1.92 [[ 9.90858319e-01 -1.34406748e-01 -1.16025156e-02 7.35025534e+01] [ 1.34402077e-01 9.90926172e-01 -1.18493734e-03 2.88681006e+00] [ 1.16564999e-02 -3.85297173e-04 9.99931986e-01 -1.92093405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54719347000001 meters 0.06729858216797241 Centerline is valid? [True, True] Translation: X:73.56, Y:2.89, Z:-1.93 [[ 9.90770382e-01 -1.34714004e-01 -1.50395524e-02 7.35634978e+01] [ 1.34706174e-01 9.90884395e-01 -1.53707852e-03 2.89331931e+00] [ 1.51095238e-02 -5.03028682e-04 9.99885718e-01 -1.92674380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60719347000001 meters 0.06798844236339749 Centerline is valid? [True, True] Translation: X:73.62, Y:2.90, Z:-1.93 [[ 9.90606740e-01 -1.35462730e-01 -1.86583835e-02 7.36226595e+01] [ 1.35450786e-01 9.90782238e-01 -1.90827994e-03 2.90356051e+00] [ 1.87448957e-02 -6.36937729e-04 9.99824096e-01 -1.93086205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66719347000002 meters 0.06804505785592732 Centerline is valid? [True, True] Translation: X:73.68, Y:2.91, Z:-1.93 [[ 9.90512321e-01 -1.36407960e-01 -1.66796295e-02 7.36834673e+01] [ 1.36398579e-01 9.90652575e-01 -1.70409724e-03 2.91010109e+00] [ 1.67561703e-02 -5.87148455e-04 9.99859433e-01 -1.92964995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72719347 meters 0.06828238779724959 Centerline is valid? [True, True] Translation: X:73.74, Y:2.91, Z:-1.93 [[ 9.90232983e-01 -1.39153029e-01 -8.66450909e-03 7.37444284e+01] [ 1.39150604e-01 9.90270835e-01 -8.85059787e-04 2.91125599e+00] [ 8.70336940e-03 -3.29256277e-04 9.99962071e-01 -1.92660097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78719347 meters 0.06712478002243007 Centerline is valid? [True, True] Translation: X:73.80, Y:2.92, Z:-1.93 [[ 9.91028351e-01 -1.33577391e-01 -4.45967649e-03 7.38032880e+01] [ 1.33576688e-01 9.91038375e-01 -4.56344235e-04 2.92458572e+00] [ 4.48066782e-03 -1.43458742e-04 9.99989951e-01 -1.92566646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84719347000001 meters 0.06490511788871854 Centerline is valid? [True, True] Translation: X:73.86, Y:2.94, Z:-1.93 [[ 9.92393402e-01 -1.23025940e-01 -4.46706081e-03 7.38627711e+01] [ 1.23025133e-01 9.92403451e-01 -4.56059170e-04 2.94384949e+00] [ 4.48923366e-03 -9.69706381e-05 9.99989919e-01 -1.92647389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90719347000001 meters 0.06396973417105214 Centerline is valid? [True, True] Translation: X:73.92, Y:2.97, Z:-1.93 [[ 9.94533890e-01 -1.04248631e-01 -5.87911383e-03 7.39214895e+01] [ 1.04246908e-01 9.94551267e-01 -5.99612512e-04 2.97132904e+00] [ 5.90958890e-03 -1.65444762e-05 9.99982538e-01 -1.93165839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96719347000001 meters 0.06446858147478082 Centerline is valid? [True, True] Translation: X:73.98, Y:2.99, Z:-1.93 [[ 9.95420273e-01 -9.53700891e-02 -6.55949309e-03 7.39827076e+01] [ 9.53677614e-02 9.95441884e-01 -6.67449027e-04 2.98806261e+00] [ 6.59324884e-03 3.88281205e-05 9.99978264e-01 -1.93285167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02719347000001 meters 0.06471537468702004 Centerline is valid? [True, True] Translation: X:74.05, Y:2.99, Z:-1.93 [[ 9.95812110e-01 -9.12418839e-02 -5.75842437e-03 7.40451223e+01] [ 9.12400254e-02 9.95828758e-01 -5.85172059e-04 2.99136427e+00] [ 5.78779679e-03 5.73226376e-05 9.99983249e-01 -1.93441672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08719347000002 meters 0.06524764711050542 Centerline is valid? [True, True] Translation: X:74.11, Y:2.99, Z:-1.94 [[ 9.95952683e-01 -8.93721119e-02 -9.53309133e-03 7.41075041e+01] [ 8.93669283e-02 9.95998300e-01 -9.69203612e-04 2.98970839e+00] [ 9.58156253e-03 1.13337848e-04 9.99954089e-01 -1.93797936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14719347 meters 0.06578147820641042 Centerline is valid? [True, True] Translation: X:74.17, Y:2.99, Z:-1.94 [[ 9.95936962e-01 -8.90823042e-02 -1.31875471e-02 7.41704014e+01] [ 8.90723633e-02 9.96024255e-01 -1.34041669e-03 2.98636292e+00] [ 1.32545242e-02 1.60324541e-04 9.99912142e-01 -1.94420965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20719347 meters 0.06470074457132764 Centerline is valid? [True, True] Translation: X:74.23, Y:2.97, Z:-1.94 [[ 9.95393980e-01 -9.52138602e-02 -1.11868839e-02 7.42344653e+01] [ 9.52071006e-02 9.95456838e-01 -1.13646580e-03 2.96797106e+00] [ 1.12442674e-02 6.61604279e-05 9.99936779e-01 -1.94460894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26719347000001 meters 0.06433825842241857 Centerline is valid? [True, True] Translation: X:74.30, Y:2.95, Z:-1.95 [[ 9.94421630e-01 -1.04901375e-01 -1.10146579e-02 7.42981685e+01] [ 1.04895424e-01 9.94482629e-01 -1.11822346e-03 2.95258781e+00] [ 1.10711891e-02 -4.34016170e-05 9.99938712e-01 -1.94586178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32719347000001 meters 0.06525871958935471 Centerline is valid? [True, True] Translation: X:74.36, Y:2.93, Z:-1.95 [[ 9.92893473e-01 -1.18532275e-01 -1.06136851e-02 7.43615098e+01] [ 1.18527518e-01 9.92950182e-01 -1.07832105e-03 2.92664383e+00] [ 1.06666764e-02 -1.87355823e-04 9.99943092e-01 -1.94972714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38719347000001 meters 0.06585332303740034 Centerline is valid? [True, True] Translation: X:74.42, Y:2.92, Z:-1.95 [[ 9.92072324e-01 -1.25339608e-01 -9.08217080e-03 7.44224463e+01] [ 1.25336392e-01 9.92113871e-01 -9.24651925e-04 2.91889826e+00] [ 9.12644314e-03 -2.21004937e-04 9.99958329e-01 -1.94635682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44719347000002 meters 0.06734565747503543 Centerline is valid? [True, True] Translation: X:74.48, Y:2.91, Z:-1.95 [[ 9.91278784e-01 -1.31561802e-01 -7.60691390e-03 7.44819620e+01] [ 1.31559715e-01 9.91307943e-01 -7.76322418e-04 2.90832797e+00] [ 7.64292855e-03 -2.31211483e-04 9.99970766e-01 -1.94880357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50719347 meters 0.06808210316468535 Centerline is valid? [True, True] Translation: X:74.54, Y:2.91, Z:-1.94 [[ 9.90306989e-01 -1.38883231e-01 -1.87494509e-03 7.45412983e+01] [ 1.38883103e-01 9.90308762e-01 -1.98810619e-04 2.90717450e+00] [ 1.88438601e-03 -6.35146452e-05 9.99998223e-01 -1.94335352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56719347 meters 0.06850372527620376 Centerline is valid? [True, True] Translation: X:74.60, Y:2.91, Z:-1.94 [[ 9.89818480e-01 -1.42332494e-01 -9.15537132e-04 7.45994937e+01] [ 1.42332461e-01 9.89818903e-01 -1.01196901e-04 2.91340330e+00] [ 9.20619566e-04 -3.01440904e-05 9.99999576e-01 -1.94246091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62719347000001 meters 0.06928931892817564 Centerline is valid? [True, True] Translation: X:74.66, Y:2.92, Z:-1.95 [[ 9.89455825e-01 -1.44762192e-01 -4.59104401e-03 7.46583568e+01] [ 1.44761557e-01 9.89466457e-01 -4.71983049e-04 2.92037185e+00] [ 4.61100935e-03 -1.97600303e-04 9.99989350e-01 -1.94933388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68719347000001 meters 0.07160037546562292 Centerline is valid? [True, True] Translation: X:74.72, Y:2.93, Z:-1.96 [[ 9.88760228e-01 -1.49172657e-01 -1.00364562e-02 7.47165732e+01] [ 1.49169908e-01 9.88811046e-01 -1.02623533e-03 2.92982447e+00] [ 1.00772450e-02 -4.82436564e-04 9.99949107e-01 -1.95654124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74719347000001 meters 0.07404107739606183 Centerline is valid? [True, True] Translation: X:74.77, Y:2.93, Z:-1.96 [[ 9.88370048e-01 -1.51646562e-01 -1.13123427e-02 7.47744991e+01] [ 1.51643169e-01 9.88434620e-01 -1.16207849e-03 2.93302145e+00] [ 1.13577363e-02 -5.66875913e-04 9.99935338e-01 -1.96164515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80719347000002 meters 0.07324348610734392 Centerline is valid? [True, True] Translation: X:74.83, Y:2.95, Z:-1.96 [[ 9.87860051e-01 -1.55008944e-01 -1.02345919e-02 7.48325992e+01] [ 1.55006347e-01 9.87912915e-01 -1.05132799e-03 2.94711551e+00] [ 1.02738508e-02 -5.47861786e-04 9.99947073e-01 -1.95764738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86719347 meters 0.0754674997980353 Centerline is valid? [True, True] Translation: X:74.89, Y:2.96, Z:-1.96 [[ 9.87471224e-01 -1.57469577e-01 -1.01938018e-02 7.48902634e+01] [ 1.57467125e-01 9.87523674e-01 -1.04775280e-03 2.95746142e+00] [ 1.02316098e-02 -5.70562916e-04 9.99947493e-01 -1.95881368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92719347 meters 0.07424197520708382 Centerline is valid? [True, True] Translation: X:74.95, Y:2.98, Z:-1.96 [[ 9.88170094e-01 -1.53241294e-01 -6.08040802e-03 7.49484736e+01] [ 1.53240348e-01 9.88188750e-01 -6.24070711e-04 2.97723349e+00] [ 6.10422421e-03 -3.15075825e-04 9.99981319e-01 -1.95819564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98719347000001 meters 0.0705368502261717 Centerline is valid? [True, True] Translation: X:75.01, Y:3.00, Z:-1.96 [[ 9.89528407e-01 -1.44186169e-01 -6.62428636e-03 7.50055714e+01] [ 1.44184835e-01 9.89550539e-01 -6.80991975e-04 3.00430247e+00] [ 6.65325576e-03 -2.81260732e-04 9.99977827e-01 -1.96139327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04719347000001 meters 0.06465853369363564 Centerline is valid? [True, True] Translation: X:75.06, Y:3.05, Z:-1.96 [[ 9.91984043e-01 -1.25996555e-01 -9.61906682e-03 7.50618766e+01] [ 1.25992905e-01 9.92030652e-01 -9.86976520e-04 3.05303830e+00] [ 9.66676476e-03 -2.32869212e-04 9.99953249e-01 -1.96217517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10719347000001 meters 0.06275571519554074 Centerline is valid? [True, True] Translation: X:75.12, Y:3.08, Z:-1.96 [[ 9.93284306e-01 -1.15287901e-01 -9.74612603e-03 7.51209595e+01] [ 1.15283654e-01 9.93332111e-01 -9.98261016e-04 3.08171521e+00] [ 9.79622736e-03 -1.32012022e-04 9.99952007e-01 -1.96131562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16719347000002 meters 0.06285499585556949 Centerline is valid? [True, True] Translation: X:75.18, Y:3.10, Z:-1.97 [[ 9.93822793e-01 -1.10703657e-01 -7.80749737e-03 7.51796663e+01] [ 1.10700812e-01 9.93853458e-01 -7.96876601e-04 3.09859743e+00] [ 7.84772541e-03 -7.23421734e-05 9.99969204e-01 -1.96719477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22719347000002 meters 0.06260703756347397 Centerline is valid? [True, True] Translation: X:75.24, Y:3.11, Z:-1.97 [[ 9.93599634e-01 -1.12550207e-01 -9.60303135e-03 7.52407258e+01] [ 1.12546003e-01 9.93646033e-01 -9.78829419e-04 3.10987964e+00] [ 9.65218146e-03 -1.08218240e-04 9.99953411e-01 -1.96500726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28719347 meters 0.06344434676104228 Centerline is valid? [True, True] Translation: X:75.30, Y:3.11, Z:-1.97 [[ 9.93008558e-01 -1.17600761e-01 -1.02012488e-02 7.53017783e+01] [ 1.17596266e-01 9.93060942e-01 -1.04143835e-03 3.11379092e+00] [ 1.02529357e-02 -1.65471573e-04 9.99947424e-01 -1.97000017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34719347000001 meters 0.06414189507556038 Centerline is valid? [True, True] Translation: X:75.36, Y:3.12, Z:-1.97 [[ 9.92277246e-01 -1.23640292e-01 -9.94708098e-03 7.53629832e+01] [ 1.23636327e-01 9.92327077e-01 -1.01485353e-03 3.11521780e+00] [ 9.99623458e-03 -2.22804488e-04 9.99950012e-01 -1.97191436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40719347000001 meters 0.06488603110975594 Centerline is valid? [True, True] Translation: X:75.43, Y:3.12, Z:-1.97 [[ 9.91949653e-01 -1.26187195e-01 -1.06149755e-02 7.54251735e+01] [ 1.26182840e-01 9.92006412e-01 -1.08173138e-03 3.12044671e+00] [ 1.06666244e-02 -2.66404676e-04 9.99943074e-01 -1.97413398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46719347000001 meters 0.06592933632019836 Centerline is valid? [True, True] Translation: X:75.49, Y:3.12, Z:-1.98 [[ 9.90850426e-01 -1.34320719e-01 -1.31673358e-02 7.54857532e+01] [ 1.34314703e-01 9.90937815e-01 -1.34417715e-03 3.12010025e+00] [ 1.32285618e-02 -4.36688296e-04 9.99912403e-01 -1.97587790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52719347000001 meters 0.0694599366050455 Centerline is valid? [True, True] Translation: X:75.55, Y:3.11, Z:-1.98 [[ 9.89054547e-01 -1.46885497e-01 -1.39912120e-02 7.55457766e+01] [ 1.46879942e-01 9.89153294e-01 -1.42936791e-03 3.11460279e+00] [ 1.40494068e-02 -6.41305572e-04 9.99901097e-01 -1.97892581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58719347000002 meters 0.07141280528582215 Centerline is valid? [True, True] Translation: X:75.61, Y:3.12, Z:-1.98 [[ 9.88344998e-01 -1.51840041e-01 -1.08980564e-02 7.56067607e+01] [ 1.51836999e-01 9.88404923e-01 -1.11072581e-03 3.11772086e+00] [ 1.09403452e-02 -5.56947881e-04 9.99939998e-01 -1.97836857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64719347 meters 0.07345224510881272 Centerline is valid? [True, True] Translation: X:75.67, Y:3.13, Z:-1.99 [[ 9.88879427e-01 -1.48030020e-01 -1.43035314e-02 7.56675153e+01] [ 1.48024390e-01 9.88982637e-01 -1.45738162e-03 3.12592902e+00] [ 1.43616805e-02 -6.76096813e-04 9.99896637e-01 -1.98664791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70719347 meters 0.06824827404637171 Centerline is valid? [True, True] Translation: X:75.73, Y:3.15, Z:-1.98 [[ 9.90052391e-01 -1.39887631e-01 -1.50901630e-02 7.57260649e+01] [ 1.39880399e-01 9.90167211e-01 -1.53888519e-03 3.14907554e+00] [ 1.51570556e-02 -5.87241060e-04 9.99884953e-01 -1.98386198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76719347000001 meters 0.06355304202124616 Centerline is valid? [True, True] Translation: X:75.78, Y:3.18, Z:-1.98 [[ 9.92122369e-01 -1.24493055e-01 -1.39529005e-02 7.57842944e+01] [ 1.24485357e-01 9.92220426e-01 -1.42228569e-03 3.18011176e+00] [ 1.40214175e-02 -3.25850351e-04 9.99901642e-01 -1.98050661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82719347000001 meters 0.06276712753004483 Centerline is valid? [True, True] Translation: X:75.84, Y:3.19, Z:-1.98 [[ 9.92683161e-01 -1.20111013e-01 -1.23889926e-02 7.58447199e+01] [ 1.20104617e-01 9.92760439e-01 -1.26171679e-03 3.19174328e+00] [ 1.24508478e-02 -2.35490191e-04 9.99922457e-01 -1.98145697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88719347000001 meters 0.06258119559117815 Centerline is valid? [True, True] Translation: X:75.91, Y:3.20, Z:-1.98 [[ 9.92761889e-01 -1.19524254e-01 -1.17381790e-02 7.59065133e+01] [ 1.19518496e-01 9.92831257e-01 -1.19331834e-03 3.19947512e+00] [ 1.17966615e-02 -2.18248536e-04 9.99930393e-01 -1.98255555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94719347000002 meters 0.06304233136096456 Centerline is valid? [True, True] Translation: X:75.97, Y:3.20, Z:-1.99 [[ 9.92362865e-01 -1.22929865e-01 -1.02074686e-02 7.59692960e+01] [ 1.22925702e-01 9.92415335e-01 -1.03659043e-03 3.19875062e+00] [ 1.02574763e-02 -2.26086395e-04 9.99947365e-01 -1.98512648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00719347 meters 0.0635199071042846 Centerline is valid? [True, True] Translation: X:76.03, Y:3.19, Z:-1.99 [[ 9.91731261e-01 -1.28077710e-01 -8.07499604e-03 7.60321537e+01] [ 1.28075284e-01 9.91764111e-01 -8.18895456e-04 3.19489187e+00] [ 8.11337352e-03 -2.22083189e-04 9.99967061e-01 -1.98564400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06719347 meters 0.0641254783438819 Centerline is valid? [True, True] Translation: X:76.09, Y:3.20, Z:-1.99 [[ 9.91349060e-01 -1.31082545e-01 -6.66394386e-03 7.60938978e+01] [ 1.31080963e-01 9.91371436e-01 -6.75517708e-04 3.19720709e+00] [ 6.69499217e-03 -2.03842333e-04 9.99977568e-01 -1.98562916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12719347000001 meters 0.06654614198414806 Centerline is valid? [True, True] Translation: X:76.15, Y:3.19, Z:-1.99 [[ 9.90282877e-01 -1.38911393e-01 -6.59156866e-03 7.61542311e+01] [ 1.38910008e-01 9.90304782e-01 -6.69744204e-04 3.19242065e+00] [ 6.62069706e-03 -2.52398639e-04 9.99978051e-01 -1.98931351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18719347000001 meters 0.06846775431402455 Centerline is valid? [True, True] Translation: X:76.22, Y:3.19, Z:-1.99 [[ 9.88984044e-01 -1.47792058e-01 -8.25033823e-03 7.62150976e+01] [ 1.47790199e-01 9.89018379e-01 -8.37907237e-04 3.19362785e+00] [ 8.28357218e-03 -3.90642242e-04 9.99965614e-01 -1.99077615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24719347000001 meters 0.07332697859653058 Centerline is valid? [True, True] Translation: X:76.28, Y:3.20, Z:-2.00 [[ 9.86927196e-01 -1.60567350e-01 -1.38865129e-02 7.62755628e+01] [ 1.60563335e-01 9.87024531e-01 -1.41085738e-03 3.19534184e+00] [ 1.39328665e-02 -8.37251297e-04 9.99902582e-01 -1.99550804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30719347000002 meters 0.07914241961705137 Centerline is valid? [True, True] Translation: X:76.34, Y:3.19, Z:-2.00 [[ 9.86165042e-01 -1.65042560e-01 -1.54745876e-02 7.63356500e+01] [ 1.65038132e-01 9.86285935e-01 -1.57157723e-03 3.18944720e+00] [ 1.55217452e-02 -1.00406251e-03 9.99879026e-01 -2.00423505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36719347 meters 0.07267351556090042 Centerline is valid? [True, True] Translation: X:76.40, Y:3.22, Z:-2.00 [[ 9.86515226e-01 -1.62543407e-01 -1.91663899e-02 7.63952141e+01] [ 1.62536210e-01 9.86700666e-01 -1.94312518e-03 3.21611183e+00] [ 1.92273319e-02 -1.19830979e-03 9.99814420e-01 -1.99873985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42719347 meters 0.07117893392753348 Centerline is valid? [True, True] Translation: X:76.45, Y:3.23, Z:-2.00 [[ 9.87564839e-01 -1.56184189e-01 -1.79495739e-02 7.64541795e+01] [ 1.56176792e-01 9.87727437e-01 -1.82179108e-03 3.23139905e+00] [ 1.80138216e-02 -1.00417005e-03 9.99837234e-01 -2.00125326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48719347000001 meters 0.06888761695665921 Centerline is valid? [True, True] Translation: X:76.51, Y:3.25, Z:-2.00 [[ 9.89020003e-01 -1.47312318e-01 -1.17691788e-02 7.65124495e+01] [ 1.47308510e-01 9.89089872e-01 -1.19457318e-03 3.24589072e+00] [ 1.18167509e-02 -5.52243418e-04 9.99930027e-01 -2.00244102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54719347000001 meters 0.06786399919604626 Centerline is valid? [True, True] Translation: X:76.57, Y:3.26, Z:-2.00 [[ 9.89704157e-01 -1.42942289e-01 -7.29271984e-03 7.65710750e+01] [ 1.42940704e-01 9.89730977e-01 -7.40807168e-04 3.25863009e+00] [ 7.32372341e-03 -3.09246572e-04 9.99973133e-01 -2.00038956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60719347000001 meters 0.06587532073650398 Centerline is valid? [True, True] Translation: X:76.63, Y:3.28, Z:-2.00 [[ 9.90486458e-01 -1.37571122e-01 -3.28060024e-03 7.66300895e+01] [ 1.37570772e-01 9.90491884e-01 -3.32982453e-04 3.27893048e+00] [ 3.29521668e-03 -1.21500099e-04 9.99994563e-01 -1.99751280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66719347000002 meters 0.06416955162653745 Centerline is valid? [True, True] Translation: X:76.69, Y:3.29, Z:-2.00 [[ 9.90764157e-01 -1.35585788e-01 -1.69688120e-03 7.66907211e+01] [ 1.35585695e-01 9.90765608e-01 -1.70553314e-04 3.29447617e+00] [ 1.70433614e-03 -6.10947063e-05 9.99998546e-01 -1.99758259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72719347000002 meters 0.0642922542613048 Centerline is valid? [True, True] Translation: X:76.75, Y:3.31, Z:-2.00 [[ 9.90886623e-01 -1.34698326e-01 -2.49412702e-04 7.67507887e+01] [ 1.34698325e-01 9.90886654e-01 -1.85119877e-05 3.31085547e+00] [ 2.49633251e-04 -1.52521922e-05 9.99999969e-01 -2.00058354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78719347 meters 0.0646036067182163 Centerline is valid? [True, True] Translation: X:76.81, Y:3.33, Z:-2.00 [[ 9.90733755e-01 -1.35818351e-01 3.84628108e-05 7.68114660e+01] [ 1.35818351e-01 9.90733756e-01 5.95616044e-06 3.32668587e+00] [-3.89153611e-05 -6.77013675e-07 9.99999999e-01 -2.00239573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84719347000001 meters 0.06492806191901465 Centerline is valid? [True, True] Translation: X:76.87, Y:3.34, Z:-2.01 [[ 9.90616103e-01 -1.36670276e-01 -9.86267576e-04 7.68732756e+01] [ 1.36670246e-01 9.90616593e-01 -9.75497428e-05 3.33591636e+00] [ 9.90345176e-04 -3.81590862e-05 9.99999509e-01 -2.00652001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90719347000001 meters 0.0641393699611102 Centerline is valid? [True, True] Translation: X:76.93, Y:3.35, Z:-2.01 [[ 9.91007746e-01 -1.33785279e-01 -2.26838896e-03 7.69346513e+01] [ 1.33785110e-01 9.91010339e-01 -2.26815058e-04 3.35022890e+00] [ 2.27834143e-03 -7.87011877e-05 9.99997401e-01 -2.00913342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96719347000001 meters 0.061853965773464865 Centerline is valid? [True, True] Translation: X:76.99, Y:3.37, Z:-2.01 [[ 9.92892658e-01 -1.18933207e-01 -4.36601420e-03 7.69929973e+01] [ 1.18932420e-01 9.92902254e-01 -4.40382725e-04 3.37309944e+00] [ 4.38740147e-03 -8.20078588e-05 9.99990372e-01 -2.01057138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02719347000001 meters 0.061041541025225375 Centerline is valid? [True, True] Translation: X:77.05, Y:3.39, Z:-2.01 [[ 9.94651881e-01 -1.03282240e-01 -6.43883011e-04 7.70521955e+01] [ 1.03282220e-01 9.94652089e-01 -6.42366703e-05 3.39273473e+00] [ 6.47074089e-04 -2.60854156e-06 9.99999791e-01 -2.00932562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08719347000002 meters 0.061987020727346104 Centerline is valid? [True, True] Translation: X:77.11, Y:3.41, Z:-2.01 [[ 9.95935964e-01 -9.00641793e-02 -9.95696607e-06 7.71129927e+01] [ 9.00641793e-02 9.95935964e-01 1.08612572e-06 3.40732491e+00] [ 9.81867936e-06 -1.97847764e-06 1.00000000e+00 -2.01078541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14719347 meters 0.06310910521382648 Centerline is valid? [True, True] Translation: X:77.17, Y:3.41, Z:-2.01 [[ 9.96580697e-01 -8.26207223e-02 -8.54807486e-04 7.71749401e+01] [ 8.26206807e-02 9.96581063e-01 -8.39200406e-05 3.41154385e+00] [ 8.58818488e-04 1.30083162e-05 9.99999631e-01 -2.01336634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20719347 meters 0.06321521460858648 Centerline is valid? [True, True] Translation: X:77.24, Y:3.41, Z:-2.02 [[ 9.96541805e-01 -8.30907520e-02 5.98107120e-04 7.72372137e+01] [ 8.30907268e-02 9.96541984e-01 6.69362186e-05 3.40577025e+00] [-6.01600638e-04 -1.70075848e-05 9.99999819e-01 -2.01695406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26719347000001 meters 0.06191763053488416 Centerline is valid? [True, True] Translation: X:77.30, Y:3.38, Z:-2.02 [[ 9.95633231e-01 -9.33354165e-02 -1.72297398e-03 7.73026678e+01] [ 9.33352617e-02 9.95634722e-01 -1.70195291e-04 3.38160800e+00] [ 1.73133797e-03 8.63786008e-06 9.99998501e-01 -2.02030685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32719347000001 meters 0.061760758499684425 Centerline is valid? [True, True] Translation: X:77.37, Y:3.37, Z:-2.02 [[ 9.94951328e-01 -1.00314761e-01 -2.96709332e-03 7.73663329e+01] [ 1.00314327e-01 9.94955752e-01 -2.95277345e-04 3.36749094e+00] [ 2.98174724e-03 -3.85538297e-06 9.99995555e-01 -2.02364799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38719347000001 meters 0.06127439380067663 Centerline is valid? [True, True] Translation: X:77.43, Y:3.35, Z:-2.02 [[ 9.94114274e-01 -1.08249035e-01 -4.35385838e-03 7.74304668e+01] [ 1.08248171e-01 9.94123808e-01 -4.34369011e-04 3.34683507e+00] [ 4.37529430e-03 -3.94847734e-05 9.99990428e-01 -2.02134763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44719347000002 meters 0.061628447288311926 Centerline is valid? [True, True] Translation: X:77.49, Y:3.34, Z:-2.02 [[ 9.93455805e-01 -1.14066596e-01 -5.86305240e-03 7.74926498e+01] [ 1.14065125e-01 9.93473102e-01 -5.85818756e-04 3.33579167e+00] [ 5.89160721e-03 -8.67847613e-05 9.99982641e-01 -2.02437021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50719347 meters 0.06346494529981772 Centerline is valid? [True, True] Translation: X:77.55, Y:3.32, Z:-2.03 [[ 9.92031368e-01 -1.25492494e-01 -1.11981627e-02 7.75545306e+01] [ 1.25487823e-01 9.92094526e-01 -1.12158270e-03 3.31962828e+00] [ 1.12503861e-02 -2.92587843e-04 9.99936670e-01 -2.02733819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56719347 meters 0.06551490451852442 Centerline is valid? [True, True] Translation: X:77.62, Y:3.31, Z:-2.03 [[ 9.90784178e-01 -1.33967950e-01 -1.99824997e-02 7.76166899e+01] [ 1.33954812e-01 9.90985422e-01 -2.00060244e-03 3.30591758e+00] [ 2.00703825e-02 -6.94586732e-04 9.99798328e-01 -2.03269801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62719347000001 meters 0.06702205834525475 Centerline is valid? [True, True] Translation: X:77.68, Y:3.30, Z:-2.03 [[ 9.89636613e-01 -1.41818220e-01 -2.25159193e-02 7.76779114e+01] [ 1.41803565e-01 9.89892250e-01 -2.25428250e-03 3.30139304e+00] [ 2.26080323e-02 -9.61917134e-04 9.99743943e-01 -2.03178720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68719347000001 meters 0.07166168075209292 Centerline is valid? [True, True] Translation: X:77.74, Y:3.29, Z:-2.04 [[ 9.87899598e-01 -1.53024893e-01 -2.52540496e-02 7.77385400e+01] [ 1.53010106e-01 9.88221390e-01 -2.52830752e-03 3.28714457e+00] [ 2.53434860e-02 -1.36641083e-03 9.99677868e-01 -2.03551088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74719347000001 meters 0.07659293190001788 Centerline is valid? [True, True] Translation: X:77.80, Y:3.28, Z:-2.04 [[ 9.86413092e-01 -1.62663281e-01 -2.30188953e-02 7.77991390e+01] [ 1.62653592e-01 9.86680544e-01 -2.30512168e-03 3.27780581e+00] [ 2.30872548e-02 -1.47030380e-03 9.99732373e-01 -2.03634130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80719347000002 meters 0.07398501977054105 Centerline is valid? [True, True] Translation: X:77.86, Y:3.29, Z:-2.03 [[ 9.85773369e-01 -1.66582705e-01 -2.23845121e-02 7.78580763e+01] [ 1.66574531e-01 9.86026317e-01 -2.24237769e-03 3.29137318e+00] [ 2.24452594e-02 -1.51821339e-03 9.99746921e-01 -2.02886066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86719347 meters 0.07673109633352639 Centerline is valid? [True, True] Translation: X:77.92, Y:3.30, Z:-2.03 [[ 9.86028071e-01 -1.65277239e-01 -2.07864849e-02 7.79161718e+01] [ 1.65269850e-01 9.86246182e-01 -2.08475591e-03 3.29681456e+00] [ 2.08451541e-02 -1.37975139e-03 9.99781764e-01 -2.03127349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92719347 meters 0.07241323360099586 Centerline is valid? [True, True] Translation: X:77.97, Y:3.32, Z:-2.03 [[ 9.87212484e-01 -1.58269289e-01 -1.90353438e-02 7.79743885e+01] [ 1.58261825e-01 9.87395339e-01 -1.90743686e-03 3.32313146e+00] [ 1.90972985e-02 -1.12952277e-03 9.99816992e-01 -2.02817777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98719347000001 meters 0.06918388348532578 Centerline is valid? [True, True] Translation: X:78.03, Y:3.35, Z:-2.03 [[ 9.88175972e-01 -1.52228572e-01 -1.82950936e-02 7.80325992e+01] [ 1.52220647e-01 9.88344836e-01 -1.83313508e-03 3.34584091e+00] [ 1.83609168e-02 -9.73430937e-04 9.99830950e-01 -2.02748033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04719347000001 meters 0.06567341017232725 Centerline is valid? [True, True] Translation: X:78.09, Y:3.37, Z:-2.03 [[ 9.90052753e-01 -1.39571955e-01 -1.77543316e-02 7.80900238e+01] [ 1.39562459e-01 9.90211672e-01 -1.77885360e-03 3.37449985e+00] [ 1.78288244e-02 -7.16679274e-04 9.99840797e-01 -2.02950517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10719347000001 meters 0.06295044718477327 Centerline is valid? [True, True] Translation: X:78.15, Y:3.41, Z:-2.03 [[ 9.91783861e-01 -1.26234846e-01 -2.07252802e-02 7.81469265e+01] [ 1.26218972e-01 9.92000229e-01 -2.07747551e-03 3.40602311e+00] [ 2.08217325e-02 -5.55516877e-04 9.99783050e-01 -2.03304514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16719347000002 meters 0.06271992778302006 Centerline is valid? [True, True] Translation: X:78.21, Y:3.42, Z:-2.04 [[ 9.92497543e-01 -1.19359085e-01 -2.64959759e-02 7.82070331e+01] [ 1.19330789e-01 9.92851010e-01 -2.65221891e-03 3.42151508e+00] [ 2.66231229e-02 -5.29464971e-04 9.99645402e-01 -2.04207683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22719347000002 meters 0.06209844614454027 Centerline is valid? [True, True] Translation: X:78.27, Y:3.43, Z:-2.04 [[ 9.92772645e-01 -1.16732547e-01 -2.78565703e-02 7.82682877e+01] [ 1.16700318e-01 9.93163268e-01 -2.78552740e-03 3.43464392e+00] [ 2.79912841e-02 -4.85475196e-04 9.99608049e-01 -2.04299018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28719347 meters 0.06217407061489504 Centerline is valid? [True, True] Translation: X:78.33, Y:3.44, Z:-2.04 [[ 9.92216377e-01 -1.21634619e-01 -2.66773335e-02 7.83307167e+01] [ 1.21606897e-01 9.92574763e-01 -2.66512908e-03 3.43748892e+00] [ 2.68034199e-02 -5.99763018e-04 9.99640544e-01 -2.04040150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34719347000001 meters 0.06449933197324616 Centerline is valid? [True, True] Translation: X:78.39, Y:3.43, Z:-2.04 [[ 9.90799457e-01 -1.32525834e-01 -2.74470222e-02 7.83926817e+01] [ 1.32500604e-01 9.91179126e-01 -2.74398524e-03 3.42995239e+00] [ 2.75685644e-02 -9.18007929e-04 9.99619493e-01 -2.04491448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40719347000001 meters 0.06506873571139259 Centerline is valid? [True, True] Translation: X:78.46, Y:3.43, Z:-2.04 [[ 9.89962036e-01 -1.39190670e-01 -2.45178332e-02 7.84554029e+01] [ 1.39172680e-01 9.90265105e-01 -2.44692372e-03 3.43255317e+00] [ 2.46197436e-02 -9.89850969e-04 9.99696398e-01 -2.04116059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46719347000001 meters 0.06614714342126163 Centerline is valid? [True, True] Translation: X:78.52, Y:3.44, Z:-2.04 [[ 9.89509271e-01 -1.43293498e-01 -1.83950116e-02 7.85168114e+01] [ 1.43284113e-01 9.89679897e-01 -1.83400725e-03 3.43965991e+00] [ 1.84679745e-02 -8.20945748e-04 9.99829115e-01 -2.03723533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52719347000001 meters 0.06560505428402581 Centerline is valid? [True, True] Translation: X:78.58, Y:3.45, Z:-2.04 [[ 9.89287743e-01 -1.44976092e-01 -1.70790382e-02 7.85784812e+01] [ 1.44968283e-01 9.89434841e-01 -1.70094070e-03 3.44934121e+00] [ 1.71451912e-02 -7.93199060e-04 9.99852696e-01 -2.03743160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58719347000002 meters 0.06536777995223328 Centerline is valid? [True, True] Translation: X:78.64, Y:3.46, Z:-2.04 [[ 9.89728858e-01 -1.42188010e-01 -1.48107418e-02 7.86367940e+01] [ 1.42181786e-01 9.89839460e-01 -1.47774648e-03 3.46408301e+00] [ 1.48703745e-02 -6.43249389e-04 9.99889223e-01 -2.03958278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64719347 meters 0.06450696384994546 Centerline is valid? [True, True] Translation: X:78.70, Y:3.48, Z:-2.04 [[ 9.90041411e-01 -1.40291451e-01 -1.16753530e-02 7.86960983e+01] [ 1.40287457e-01 9.90110132e-01 -1.16449826e-03 3.47766322e+00] [ 1.17232544e-02 -4.85004079e-04 9.99931163e-01 -2.03908577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70719347 meters 0.06423928865058494 Centerline is valid? [True, True] Translation: X:78.76, Y:3.49, Z:-2.05 [[ 9.90424179e-01 -1.37363667e-01 -1.38263913e-02 7.87567266e+01] [ 1.37357825e-01 9.90520537e-01 -1.37580982e-03 3.49113328e+00] [ 1.38843108e-02 -5.36527723e-04 9.99903464e-01 -2.04535009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76719347000001 meters 0.06428435574011616 Centerline is valid? [True, True] Translation: X:78.82, Y:3.50, Z:-2.05 [[ 9.90766753e-01 -1.34557506e-01 -1.65987460e-02 7.88179348e+01] [ 1.34548709e-01 9.90905606e-01 -1.65072529e-03 3.50301905e+00] [ 1.66699080e-02 -5.97856106e-04 9.99860869e-01 -2.05072064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82719347000001 meters 0.06122835497762155 Centerline is valid? [True, True] Translation: X:78.88, Y:3.52, Z:-2.04 [[ 9.92137520e-01 -1.24827531e-01 -9.01274401e-03 7.88769464e+01] [ 1.24824533e-01 9.92178428e-01 -8.96612622e-04 3.52453352e+00] [ 9.05417212e-03 -2.35448536e-04 9.99958982e-01 -2.04358577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88719347000001 meters 0.059050834360048904 Centerline is valid? [True, True] Translation: X:78.93, Y:3.54, Z:-2.05 [[ 9.93973451e-01 -1.09392177e-01 -7.08022071e-03 7.89349909e+01] [ 1.09389927e-01 9.93998665e-01 -7.05424244e-04 3.54218922e+00] [ 7.11489783e-03 -7.33318552e-05 9.99974686e-01 -2.04638765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94719347000002 meters 0.05901061996082986 Centerline is valid? [True, True] Translation: X:79.00, Y:3.56, Z:-2.05 [[ 9.94750271e-01 -1.01939599e-01 -8.95635130e-03 7.89957076e+01] [ 1.01935728e-01 9.94790590e-01 -8.88844087e-04 3.55677149e+00] [ 9.00030240e-03 -2.87942977e-05 9.99959496e-01 -2.04651801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00719347 meters 0.05908888700078172 Centerline is valid? [True, True] Translation: X:79.06, Y:3.56, Z:-2.05 [[ 9.94989863e-01 -9.95621955e-02 -9.08525053e-03 7.90584513e+01] [ 9.95581336e-02 9.95031341e-01 -8.99389971e-04 3.56426102e+00] [ 9.12965425e-03 -9.62668220e-06 9.99958324e-01 -2.04815116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06719347 meters 0.05914924831036 Centerline is valid? [True, True] Translation: X:79.12, Y:3.56, Z:-2.05 [[ 9.95282431e-01 -9.66472462e-02 -8.49664415e-03 7.91213806e+01] [ 9.66435875e-02 9.95318697e-01 -8.41091777e-04 3.56343818e+00] [ 8.53815799e-03 1.59776956e-05 9.99963549e-01 -2.05082453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12719347000001 meters 0.059064891468098485 Centerline is valid? [True, True] Translation: X:79.18, Y:3.56, Z:-2.05 [[ 9.95505882e-01 -9.45533236e-02 -5.26374204e-03 7.91826925e+01] [ 9.45519111e-02 9.95519798e-01 -5.17107242e-04 3.56384593e+00] [ 5.28905363e-03 1.70864321e-05 9.99986013e-01 -2.05242034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18719347000001 meters 0.05957084833908247 Centerline is valid? [True, True] Translation: X:79.25, Y:3.57, Z:-2.05 [[ 9.96206643e-01 -8.70128262e-02 -1.04532252e-03 7.92451250e+01] [ 8.70127678e-02 9.96207191e-01 -1.01361263e-04 3.56915496e+00] [ 1.05017754e-03 1.00203586e-05 9.99999449e-01 -2.05056778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24719347000001 meters 0.06002827028056974 Centerline is valid? [True, True] Translation: X:79.31, Y:3.57, Z:-2.05 [[ 9.96582429e-01 -8.26033189e-02 3.91228729e-04 7.93073467e+01] [ 8.26033085e-02 9.96582506e-01 4.27318783e-05 3.56663128e+00] [-3.93421502e-04 -1.02690517e-05 9.99999923e-01 -2.05268991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30719347000002 meters 0.05898022835574085 Centerline is valid? [True, True] Translation: X:79.37, Y:3.54, Z:-2.06 [[ 9.95937013e-01 -9.00507434e-02 -5.73746197e-04 7.93715236e+01] [ 9.00507269e-02 9.95937179e-01 -5.45509883e-05 3.54319333e+00] [ 5.76327525e-04 2.66308633e-06 9.99999834e-01 -2.05860623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36719347 meters 0.05879310410140181 Centerline is valid? [True, True] Translation: X:79.44, Y:3.52, Z:-2.06 [[ 9.94482151e-01 -1.04823343e-01 -4.16143392e-03 7.94361565e+01] [ 1.04822550e-01 9.94490858e-01 -4.09015121e-04 3.51512483e+00] [ 4.18138232e-03 -2.94538761e-05 9.99991258e-01 -2.06307974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42719347 meters 0.05964388214068185 Centerline is valid? [True, True] Translation: X:79.50, Y:3.50, Z:-2.07 [[ 9.93487192e-01 -1.13876535e-01 -3.91586015e-03 7.95000989e+01] [ 1.13875904e-01 9.93494907e-01 -3.84559873e-04 3.49535829e+00] [ 3.93417947e-03 -6.38668068e-05 9.99992259e-01 -2.06735819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48719347000001 meters 0.06182658495810118 Centerline is valid? [True, True] Translation: X:79.56, Y:3.48, Z:-2.07 [[ 9.92105640e-01 -1.25394175e-01 -1.64325572e-03 7.95621254e+01] [ 1.25394079e-01 9.92107000e-01 -1.62021193e-04 3.47531632e+00] [ 1.65060202e-03 -4.53123975e-05 9.99998637e-01 -2.06876671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54719347000001 meters 0.06534312483253933 Centerline is valid? [True, True] Translation: X:79.62, Y:3.46, Z:-2.07 [[ 9.90152866e-01 -1.39966409e-01 -2.58949297e-03 7.96245971e+01] [ 1.39966220e-01 9.90156246e-01 -2.55037483e-04 3.46172660e+00] [ 2.59969932e-03 -1.09915446e-04 9.99996615e-01 -2.06904420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60719347000001 meters 0.06798494425118093 Centerline is valid? [True, True] Translation: X:79.69, Y:3.45, Z:-2.07 [[ 9.89291657e-01 -1.45926405e-01 2.73887471e-03 7.96850891e+01] [ 1.45926216e-01 9.89295440e-01 2.69566963e-04 3.45338939e+00] [-2.74889320e-03 1.32993276e-04 9.99996213e-01 -2.06990603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66719347000002 meters 0.0674377729425138 Centerline is valid? [True, True] Translation: X:79.75, Y:3.46, Z:-2.07 [[ 9.88979677e-01 -1.47860404e-01 7.51657716e-03 7.97471527e+01] [ 1.47859020e-01 9.89008169e-01 7.42643264e-04 3.46177367e+00] [-7.54376375e-03 3.76934635e-04 9.99971474e-01 -2.06768606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72719347000002 meters 0.06890288858706735 Centerline is valid? [True, True] Translation: X:79.81, Y:3.47, Z:-2.07 [[ 9.88581781e-01 -1.50165841e-01 1.25012761e-02 7.98089151e+01] [ 1.50162226e-01 9.88660602e-01 1.23262662e-03 3.47268793e+00] [-1.25446176e-02 6.58667229e-04 9.99921096e-01 -2.06659461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78719347 meters 0.07010053106264848 Centerline is valid? [True, True] Translation: X:79.87, Y:3.48, Z:-2.07 [[ 9.88455837e-01 -1.51001765e-01 1.23904922e-02 7.98702256e+01] [ 1.50998287e-01 9.88533270e-01 1.22112926e-03 3.47929221e+00] [-1.24328064e-02 6.63910749e-04 9.99922489e-01 -2.07218996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84719347000001 meters 0.07171309908131768 Centerline is valid? [True, True] Translation: X:79.93, Y:3.49, Z:-2.08 [[ 9.88213592e-01 -1.52697629e-01 1.08319354e-02 7.99313120e+01] [ 1.52695092e-01 9.88272773e-01 1.06569578e-03 3.48871247e+00] [-1.08676361e-02 6.00848314e-04 9.99940765e-01 -2.07792214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90719347000001 meters 0.07432375043609012 Centerline is valid? [True, True] Translation: X:79.99, Y:3.50, Z:-2.08 [[ 9.87275785e-01 -1.58410748e-01 1.38765467e-02 7.99910897e+01] [ 1.58407173e-01 9.87372933e-01 1.36335361e-03 3.49709266e+00] [-1.39172965e-02 8.52138536e-04 9.99902787e-01 -2.07939366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96719347000001 meters 0.0711368260937046 Centerline is valid? [True, True] Translation: X:80.05, Y:3.52, Z:-2.08 [[ 9.86831858e-01 -1.61230802e-01 1.29426417e-02 8.00499990e+01] [ 1.61227931e-01 9.86916378e-01 1.27175410e-03 3.51768521e+00] [-1.29783510e-02 8.31707878e-04 9.99915432e-01 -2.07903972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02719347000001 meters 0.07189095811931755 Centerline is valid? [True, True] Translation: X:80.11, Y:3.53, Z:-2.08 [[ 9.87475665e-01 -1.57337164e-01 1.16973102e-02 8.01089584e+01] [ 1.57334552e-01 9.87544692e-01 1.14889857e-03 3.53274106e+00] [-1.17323811e-02 7.05881692e-04 9.99930924e-01 -2.08443247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08719347000002 meters 0.06817366242449859 Centerline is valid? [True, True] Translation: X:80.17, Y:3.56, Z:-2.08 [[ 9.88622534e-01 -1.49891651e-01 1.25689651e-02 8.01668498e+01] [ 1.49888036e-01 9.88702206e-01 1.23449974e-03 3.55869058e+00] [-1.26120047e-02 6.63483234e-04 9.99920245e-01 -2.08389527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14719347 meters 0.06386948515435775 Centerline is valid? [True, True] Translation: X:80.22, Y:3.60, Z:-2.08 [[ 9.90922784e-01 -1.33259734e-01 1.77166197e-02 8.02232733e+01] [ 1.33249893e-01 9.91080944e-01 1.74011214e-03 3.59959819e+00] [-1.77904911e-02 6.36420908e-04 9.99841534e-01 -2.07747512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20719347 meters 0.061700879056637244 Centerline is valid? [True, True] Translation: X:80.28, Y:3.62, Z:-2.08 [[ 9.91998787e-01 -1.24386462e-01 2.15966387e-02 8.02817359e+01] [ 1.24369732e-01 9.92233677e-01 2.12130064e-03 3.62259901e+00] [-2.16927733e-02 5.81640501e-04 9.99764515e-01 -2.07640289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26719347000001 meters 0.06027553998848162 Centerline is valid? [True, True] Translation: X:80.34, Y:3.64, Z:-2.08 [[ 9.92658570e-01 -1.19401522e-01 1.92935152e-02 8.03417937e+01] [ 1.19387226e-01 9.92845959e-01 1.89519017e-03 3.64367678e+00] [-1.93817772e-02 4.22122495e-04 9.99812067e-01 -2.08087706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32719347000001 meters 0.060827808838507184 Centerline is valid? [True, True] Translation: X:80.40, Y:3.65, Z:-2.08 [[ 9.92656773e-01 -1.19894332e-01 1.60586801e-02 8.04018626e+01] [ 1.19884493e-01 9.92786593e-01 1.57741992e-03 3.65377613e+00] [-1.61319661e-02 3.59350156e-04 9.99869807e-01 -2.08483394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38719347000001 meters 0.0628188628009538 Centerline is valid? [True, True] Translation: X:80.46, Y:3.66, Z:-2.09 [[ 9.92117704e-01 -1.24593743e-01 1.33738959e-02 8.04614937e+01] [ 1.24587375e-01 9.92207774e-01 1.31150042e-03 3.65636675e+00] [-1.34330882e-02 3.65055798e-04 9.99909705e-01 -2.09103358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44719347000002 meters 0.0627535305588502 Centerline is valid? [True, True] Translation: X:80.52, Y:3.66, Z:-2.10 [[ 9.91585641e-01 -1.29022136e-01 1.05453898e-02 8.05218841e+01] [ 1.29018446e-01 9.91641656e-01 1.03241056e-03 3.66391810e+00] [-1.05904516e-02 3.36826312e-04 9.99943863e-01 -2.09711468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50719347 meters 0.063482510792478 Centerline is valid? [True, True] Translation: X:80.58, Y:3.67, Z:-2.10 [[ 9.91381963e-01 -1.30692804e-01 9.01075874e-03 8.05833301e+01] [ 1.30690170e-01 9.91422866e-01 8.83018437e-04 3.67209712e+00] [-9.04887641e-03 3.02209040e-04 9.99959012e-01 -2.10114043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56719347 meters 0.0641649697915265 Centerline is valid? [True, True] Translation: X:80.64, Y:3.68, Z:-2.10 [[ 9.90979901e-01 -1.33790902e-01 7.67011787e-03 8.06449096e+01] [ 1.33789089e-01 9.91009544e-01 7.51294124e-04 3.67835031e+00] [-7.70167633e-03 2.81660703e-04 9.99970302e-01 -2.10391663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62719347000001 meters 0.06655660905041721 Centerline is valid? [True, True] Translation: X:80.71, Y:3.68, Z:-2.11 [[ 9.89924253e-01 -1.41486426e-01 5.61819641e-03 8.07052900e+01] [ 1.41485586e-01 9.89940164e-01 5.48859895e-04 3.67887557e+00] [-5.63933450e-03 2.51564086e-04 9.99984067e-01 -2.10869602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68719347000001 meters 0.06841361841054233 Centerline is valid? [True, True] Translation: X:80.77, Y:3.68, Z:-2.11 [[ 9.89151063e-01 -1.46718570e-01 7.33724768e-03 8.07667401e+01] [ 1.46717275e-01 9.89178208e-01 7.17423493e-04 3.67826335e+00] [-7.36310486e-03 3.66860773e-04 9.99972825e-01 -2.10919196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74719347000001 meters 0.06902067239477291 Centerline is valid? [True, True] Translation: X:80.83, Y:3.68, Z:-2.11 [[ 9.88571377e-01 -1.50420357e-01 1.00174471e-02 8.08272210e+01] [ 1.50418144e-01 9.88621983e-01 9.78260097e-04 3.68464954e+00] [-1.00506187e-02 5.39725875e-04 9.99949346e-01 -2.10651477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80719347000002 meters 0.06977997451292926 Centerline is valid? [True, True] Translation: X:80.89, Y:3.69, Z:-2.11 [[ 9.88689942e-01 -1.49523059e-01 1.16212531e-02 8.08879661e+01] [ 1.49519986e-01 9.88758049e-01 1.13770160e-03 3.68967391e+00] [-1.16607202e-02 6.12775478e-04 9.99931824e-01 -2.10799647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86719347 meters 0.0696564547812804 Centerline is valid? [True, True] Translation: X:80.95, Y:3.70, Z:-2.11 [[ 9.88712698e-01 -1.49305309e-01 1.24549054e-02 8.09498780e+01] [ 1.49301839e-01 9.88790923e-01 1.21318530e-03 3.69615325e+00] [-1.24964324e-02 6.60048572e-04 9.99921699e-01 -2.10924759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92719347 meters 0.06788421006820848 Centerline is valid? [True, True] Translation: X:81.01, Y:3.71, Z:-2.11 [[ 9.88836024e-01 -1.48376795e-01 1.36983485e-02 8.10108136e+01] [ 1.48372496e-01 9.88930644e-01 1.33524350e-03 3.71104310e+00] [-1.37448358e-02 7.12121294e-04 9.99905282e-01 -2.10918412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98719347000001 meters 0.06867078565450618 Centerline is valid? [True, True] Translation: X:81.07, Y:3.72, Z:-2.11 [[ 9.88611995e-01 -1.49973344e-01 1.24225012e-02 8.10720920e+01] [ 1.49970005e-01 9.88689812e-01 1.20522936e-03 3.72092547e+00] [-1.24627527e-02 6.71498365e-04 9.99922111e-01 -2.11017851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04719347000001 meters 0.07460262855480096 Centerline is valid? [True, True] Translation: X:81.13, Y:3.72, Z:-2.12 [[ 9.87898163e-01 -1.54863449e-01 8.63317809e-03 8.11320512e+01] [ 1.54862031e-01 9.87935753e-01 8.36485622e-04 3.71647707e+00] [-8.65856635e-03 5.10588886e-04 9.99962384e-01 -2.11937487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10719347000001 meters 0.07224162709248669 Centerline is valid? [True, True] Translation: X:81.19, Y:3.74, Z:-2.12 [[ 9.87231554e-01 -1.59056597e-01 8.65205653e-03 8.11916872e+01] [ 1.59055336e-01 9.87269314e-01 8.38094481e-04 3.73502910e+00] [-8.67521437e-03 5.48762440e-04 9.99962219e-01 -2.11598354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16719347000002 meters 0.07168122729572267 Centerline is valid? [True, True] Translation: X:81.25, Y:3.75, Z:-2.12 [[ 9.87723719e-01 -1.55812601e-01 1.11484346e-02 8.12517869e+01] [ 1.55810306e-01 9.87786406e-01 1.07952033e-03 3.74825842e+00] [-1.11804751e-02 6.70773170e-04 9.99937272e-01 -2.11512316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22719347000002 meters 0.06724124806751614 Centerline is valid? [True, True] Translation: X:81.31, Y:3.77, Z:-2.12 [[ 9.89698683e-01 -1.42522697e-01 1.35572404e-02 8.13108392e+01] [ 1.42518063e-01 9.89791331e-01 1.31224270e-03 3.77235443e+00] [-1.36058634e-02 6.33426768e-04 9.99907235e-01 -2.11534985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28719347 meters 0.06383147227249127 Centerline is valid? [True, True] Translation: X:81.37, Y:3.80, Z:-2.11 [[ 9.91000535e-01 -1.33100201e-01 1.42223994e-02 8.13699440e+01] [ 1.33094133e-01 9.91102445e-01 1.37648490e-03 3.79643396e+00] [-1.42790652e-02 5.28820648e-04 9.99897909e-01 -2.11443226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34719347000001 meters 0.06187286959519671 Centerline is valid? [True, True] Translation: X:81.43, Y:3.81, Z:-2.12 [[ 9.91918807e-01 -1.26426682e-01 1.06477290e-02 8.14295361e+01] [ 1.26422892e-01 9.91975902e-01 1.03097009e-03 3.81348296e+00] [-1.06926327e-02 3.23478083e-04 9.99942780e-01 -2.12116974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40719347000001 meters 0.0618037945059224 Centerline is valid? [True, True] Translation: X:81.49, Y:3.82, Z:-2.13 [[ 9.92088352e-01 -1.25341601e-01 7.08405548e-03 8.14909687e+01] [ 1.25339865e-01 9.92113623e-01 6.90307471e-04 3.82009556e+00] [-7.11471220e-03 2.03068555e-04 9.99974669e-01 -2.12667272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46719347000001 meters 0.06161374526562288 Centerline is valid? [True, True] Translation: X:81.55, Y:3.83, Z:-2.13 [[ 9.92489028e-01 -1.22307385e-01 2.53624005e-03 8.15522360e+01] [ 1.22307142e-01 9.92492267e-01 2.51379950e-04 3.83154557e+00] [-2.54794426e-03 6.07084290e-05 9.99996752e-01 -2.12952483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52719347000001 meters 0.06098804575798323 Centerline is valid? [True, True] Translation: X:81.61, Y:3.84, Z:-2.13 [[ 9.92934746e-01 -1.18623082e-01 3.02576060e-03 8.16141347e+01] [ 1.18622728e-01 9.92939354e-01 2.96903151e-04 3.84104479e+00] [-3.03961634e-03 6.41185204e-05 9.99995378e-01 -2.13080256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58719347000002 meters 0.05954565761145953 Centerline is valid? [True, True] Translation: X:81.67, Y:3.85, Z:-2.13 [[ 9.93784341e-01 -1.11305873e-01 1.91972732e-03 8.16744247e+01] [ 1.11305724e-01 9.93786195e-01 1.84920984e-04 3.85425716e+00] [-1.92838131e-03 2.99050604e-05 9.99998140e-01 -2.13292672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64719347 meters 0.05912828467613905 Centerline is valid? [True, True] Translation: X:81.74, Y:3.87, Z:-2.14 [[ 9.94256521e-01 -1.07023225e-01 1.68453902e-05 8.17358287e+01] [ 1.07023225e-01 9.94256521e-01 8.89839814e-06 3.86559385e+00] [-1.77009745e-05 -7.04444239e-06 1.00000000e+00 -2.13542816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70719347 meters 0.05923533089048241 Centerline is valid? [True, True] Translation: X:81.80, Y:3.87, Z:-2.14 [[ 9.93880367e-01 -1.10392936e-01 3.90076244e-03 8.17988570e+01] [ 1.10392311e-01 9.93888020e-01 3.75712441e-04 3.86571881e+00] [-3.91839706e-03 5.72009627e-05 9.99992321e-01 -2.13640499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76719347000001 meters 0.061596018555491 Centerline is valid? [True, True] Translation: X:81.86, Y:3.85, Z:-2.14 [[ 9.92295744e-01 -1.23826494e-01 4.01941810e-03 8.18608551e+01] [ 1.23825956e-01 9.92303878e-01 3.83262199e-04 3.85405421e+00] [-4.03594218e-03 1.17398841e-04 9.99991849e-01 -2.13869862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82719347000001 meters 0.06445357798094133 Centerline is valid? [True, True] Translation: X:81.92, Y:3.85, Z:-2.14 [[ 9.91074013e-01 -1.33256889e-01 3.86037268e-03 8.19222330e+01] [ 1.33256465e-01 9.91081520e-01 3.68030773e-04 3.84642748e+00] [-3.87498666e-03 1.49673880e-04 9.99992481e-01 -2.14175634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88719347000001 meters 0.06735866089783693 Centerline is valid? [True, True] Translation: X:81.98, Y:3.84, Z:-2.14 [[ 9.89367112e-01 -1.45386338e-01 3.94084178e-03 8.19844365e+01] [ 1.45385990e-01 9.89374940e-01 3.76037685e-04 3.83792493e+00] [-3.95364084e-03 2.00903866e-04 9.99992164e-01 -2.14194966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94719347000002 meters 0.06914046622754656 Centerline is valid? [True, True] Translation: X:82.05, Y:3.84, Z:-2.14 [[ 9.88521460e-01 -1.51065365e-01 2.13963308e-03 8.20454118e+01] [ 1.51065276e-01 9.88523768e-01 2.03992709e-04 3.83747161e+00] [-2.14589439e-03 1.21573091e-04 9.99997690e-01 -2.14395673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00719347 meters 0.07080689273893316 Centerline is valid? [True, True] Translation: X:82.11, Y:3.83, Z:-2.15 [[ 9.88127382e-01 -1.53633998e-01 -9.33990264e-04 8.21061648e+01] [ 1.53633983e-01 9.88127821e-01 -8.84447455e-05 3.83417112e+00] [ 9.36489884e-04 -5.60979692e-05 9.99999560e-01 -2.14927389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06719347 meters 0.06813053294623357 Centerline is valid? [True, True] Translation: X:82.17, Y:3.85, Z:-2.15 [[ 9.89142924e-01 -1.46947032e-01 -1.68711372e-03 8.21656657e+01] [ 1.46946971e-01 9.89144358e-01 -1.60505592e-04 3.84676972e+00] [ 1.69238484e-03 -8.91532806e-05 9.99998564e-01 -2.14913219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12719347000001 meters 0.06688949860459696 Centerline is valid? [True, True] Translation: X:82.23, Y:3.86, Z:-2.15 [[ 9.89847433e-01 -1.42132993e-01 5.20523612e-04 8.22254211e+01] [ 1.42132986e-01 9.89847570e-01 4.99525271e-05 3.85771031e+00] [-5.22338935e-04 2.45381948e-05 9.99999863e-01 -2.14827179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18719347000001 meters 0.06608169525379826 Centerline is valid? [True, True] Translation: X:82.29, Y:3.86, Z:-2.15 [[ 9.89909173e-01 -1.41698557e-01 1.16081812e-03 8.22872770e+01] [ 1.41698522e-01 9.89909853e-01 1.12527181e-04 3.86463837e+00] [-1.16505023e-03 5.30945239e-05 9.99999320e-01 -2.15163480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24719347000001 meters 0.06827241645750379 Centerline is valid? [True, True] Translation: X:82.35, Y:3.87, Z:-2.15 [[ 9.89252707e-01 -1.46174730e-01 3.46855251e-03 8.23474651e+01] [ 1.46174469e-01 9.89258771e-01 3.29979830e-04 3.86670402e+00] [-3.47953071e-03 1.80580382e-04 9.99993930e-01 -2.15040765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30719347000002 meters 0.0703490862698317 Centerline is valid? [True, True] Translation: X:82.41, Y:3.87, Z:-2.15 [[ 9.88638988e-01 -1.50216182e-01 5.29625890e-03 8.24081374e+01] [ 1.50215629e-01 9.88653129e-01 5.04247464e-04 3.87150812e+00] [-5.31190907e-03 2.97062161e-04 9.99985848e-01 -2.14991005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36719347000002 meters 0.07088013889242518 Centerline is valid? [True, True] Translation: X:82.47, Y:3.88, Z:-2.15 [[ 9.88790197e-01 -1.49269684e-01 3.53675965e-03 8.24708995e+01] [ 1.49269409e-01 9.88796504e-01 3.43079220e-04 3.87746506e+00] [-3.54834690e-03 1.88696653e-04 9.99993687e-01 -2.15373305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42719347 meters 0.0703022018511896 Centerline is valid? [True, True] Translation: X:82.53, Y:3.89, Z:-2.16 [[ 9.89266793e-01 -1.46068069e-01 -3.91561578e-03 8.25319704e+01] [ 1.46067772e-01 9.89274519e-01 -3.63174556e-04 3.89160581e+00] [ 3.92666712e-03 -2.12668745e-04 9.99992268e-01 -2.15980438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48719347000001 meters 0.07104187559904504 Centerline is valid? [True, True] Translation: X:82.59, Y:3.90, Z:-2.17 [[ 9.89705466e-01 -1.42884640e-01 -8.18959668e-03 8.25925664e+01] [ 1.42883185e-01 9.89739263e-01 -7.65496478e-04 3.90159796e+00] [ 8.21494307e-03 -4.12539610e-04 9.99966172e-01 -2.16639506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54719347000001 meters 0.06903915622247889 Centerline is valid? [True, True] Translation: X:82.65, Y:3.92, Z:-2.17 [[ 9.90138625e-01 -1.39685169e-01 -1.06563216e-02 8.26534090e+01] [ 1.39682463e-01 9.90195843e-01 -1.00143064e-03 3.91685983e+00] [ 1.06917304e-02 -4.96946090e-04 9.99942718e-01 -2.16989712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60719347000001 meters 0.06684675034046544 Centerline is valid? [True, True] Translation: X:82.71, Y:3.94, Z:-2.17 [[ 9.90361896e-01 -1.37706565e-01 -1.48396948e-02 8.27138773e+01] [ 1.37701106e-01 9.90472848e-01 -1.39392886e-03 3.93850537e+00] [ 1.48902679e-02 -6.62948350e-04 9.99888914e-01 -2.16738565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66719347000002 meters 0.06861007226509808 Centerline is valid? [True, True] Translation: X:82.77, Y:3.95, Z:-2.17 [[ 9.90536566e-01 -1.36131858e-01 -1.74764903e-02 8.27743779e+01] [ 1.36124200e-01 9.90690434e-01 -1.63260508e-03 3.94649269e+00] [ 1.75360414e-02 -7.61818232e-04 9.99845942e-01 -2.17388204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72719347000002 meters 0.0674863607136462 Centerline is valid? [True, True] Translation: X:82.84, Y:3.96, Z:-2.18 [[ 9.90805135e-01 -1.34014451e-01 -1.85825721e-02 8.28358516e+01] [ 1.34005356e-01 9.90979081e-01 -1.73941468e-03 3.95957703e+00] [ 1.86480469e-02 -7.66743201e-04 9.99825816e-01 -2.17512806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78719347 meters 0.06710816829649989 Centerline is valid? [True, True] Translation: X:82.90, Y:3.97, Z:-2.17 [[ 9.90858381e-01 -1.33821864e-01 -1.70697639e-02 8.28980881e+01] [ 1.33814204e-01 9.91005153e-01 -1.59531421e-03 3.96811281e+00] [ 1.71297119e-02 -7.03446410e-04 9.99853028e-01 -2.17453366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84719347000001 meters 0.0682906408276844 Centerline is valid? [True, True] Translation: X:82.96, Y:3.98, Z:-2.18 [[ 9.90620178e-01 -1.35084256e-01 -2.05890151e-02 8.29585780e+01] [ 1.35073340e-01 9.90833731e-01 -1.92635049e-03 3.97695970e+00] [ 2.06605102e-02 -8.72745361e-04 9.99786168e-01 -2.17515744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90719347000001 meters 0.06845261374702667 Centerline is valid? [True, True] Translation: X:83.02, Y:3.98, Z:-2.18 [[ 9.90483139e-01 -1.35512883e-01 -2.40709261e-02 8.30192821e+01] [ 1.35498099e-01 9.90775048e-01 -2.25168657e-03 3.98251182e+00] [ 2.41540055e-02 -1.03130715e-03 9.99707717e-01 -2.17933852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96719347000001 meters 0.06747764665796036 Centerline is valid? [True, True] Translation: X:83.08, Y:3.99, Z:-2.18 [[ 9.90712748e-01 -1.33668243e-01 -2.49209090e-02 8.30811930e+01] [ 1.33651908e-01 9.91025605e-01 -2.32743331e-03 3.99235566e+00] [ 2.50083628e-02 -1.02490920e-03 9.99686717e-01 -2.17868361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02719347000001 meters 0.06652317436731683 Centerline is valid? [True, True] Translation: X:83.14, Y:4.00, Z:-2.18 [[ 9.91338996e-01 -1.28813434e-01 -2.55752858e-02 8.31418428e+01] [ 1.28794617e-01 9.91668413e-01 -2.38850530e-03 4.00425644e+00] [ 2.56698746e-02 -9.26140697e-04 9.99670045e-01 -2.17980326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08719347000002 meters 0.06777606699314553 Centerline is valid? [True, True] Translation: X:83.20, Y:4.01, Z:-2.19 [[ 9.91323658e-01 -1.29029240e-01 -2.50770793e-02 8.32038890e+01] [ 1.29011595e-01 9.91640355e-01 -2.32704006e-03 4.00616777e+00] [ 2.51677000e-02 -9.28384129e-04 9.99682812e-01 -2.18552748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14719347 meters 0.06844870479887886 Centerline is valid? [True, True] Translation: X:83.27, Y:4.01, Z:-2.18 [[ 9.90854335e-01 -1.33191387e-01 -2.16273325e-02 8.32664747e+01] [ 1.33179234e-01 9.91089936e-01 -2.00772803e-03 4.01094431e+00] [ 2.17020436e-02 -8.90945543e-04 9.99764086e-01 -2.18157105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20719347 meters 0.06769697516508108 Centerline is valid? [True, True] Translation: X:83.33, Y:4.02, Z:-2.18 [[ 9.90969559e-01 -1.32700849e-01 -1.92306497e-02 8.33270741e+01] [ 1.32691131e-01 9.91155827e-01 -1.78609614e-03 4.01894222e+00] [ 1.92975870e-02 -7.81769756e-04 9.99813479e-01 -2.18069451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26719347000001 meters 0.0670911996645487 Centerline is valid? [True, True] Translation: X:83.39, Y:4.03, Z:-2.18 [[ 9.91438353e-01 -1.29295710e-01 -1.82376220e-02 8.33878599e+01] [ 1.29286410e-01 9.91605848e-01 -1.69301143e-03 4.02932722e+00] [ 1.83034317e-02 -6.79360211e-04 9.99832247e-01 -2.18077842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32719347000001 meters 0.06694263277232564 Centerline is valid? [True, True] Translation: X:83.45, Y:4.05, Z:-2.18 [[ 9.92304816e-01 -1.22002516e-01 -2.11314728e-02 8.34471022e+01] [ 1.21988474e-01 9.92529587e-01 -1.95710983e-03 4.04591062e+00] [ 2.12123843e-02 -6.35746621e-04 9.99774790e-01 -2.18421788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38719347000001 meters 0.06653145750112134 Centerline is valid? [True, True] Translation: X:83.51, Y:4.06, Z:-2.19 [[ 9.92859135e-01 -1.17326127e-01 -2.15712360e-02 8.35083855e+01] [ 1.17310411e-01 9.93093289e-01 -1.99693474e-03 4.05521781e+00] [ 2.16565423e-02 -5.47855664e-04 9.99765319e-01 -2.18921066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44719347000002 meters 0.06685913025909636 Centerline is valid? [True, True] Translation: X:83.57, Y:4.07, Z:-2.19 [[ 9.93497944e-01 -1.10801381e-01 -2.61703719e-02 8.35697317e+01] [ 1.10776028e-01 9.93842447e-01 -2.42103528e-03 4.07023909e+00] [ 2.62774805e-02 -4.93756275e-04 9.99654565e-01 -2.19453665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50719347 meters 0.06682630167516417 Centerline is valid? [True, True] Translation: X:83.63, Y:4.08, Z:-2.20 [[ 9.94681828e-01 -9.95260484e-02 -2.65070986e-02 8.36295352e+01] [ 9.94960336e-02 9.95034937e-01 -2.45212208e-03 4.08394019e+00] [ 2.66195392e-02 -1.98269899e-04 9.99645618e-01 -2.20035892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56719347 meters 0.06598948112819464 Centerline is valid? [True, True] Translation: X:83.69, Y:4.09, Z:-2.19 [[ 9.95495491e-01 -9.21089638e-02 -2.24647798e-02 8.36893580e+01] [ 9.20854975e-02 9.95748934e-01 -2.07902872e-03 4.09397386e+00] [ 2.25607777e-02 9.83301542e-07 9.99745473e-01 -2.19390355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62719347000001 meters 0.06720887589371642 Centerline is valid? [True, True] Translation: X:83.75, Y:4.10, Z:-2.20 [[ 9.96235146e-01 -8.45943656e-02 -1.89559351e-02 8.37496442e+01] [ 8.45763318e-02 9.96415462e-01 -1.75246434e-03 4.10025567e+00] [ 1.90362354e-02 1.42643111e-04 9.99818784e-01 -2.19858065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68719347000001 meters 0.0664781406321647 Centerline is valid? [True, True] Translation: X:83.81, Y:4.09, Z:-2.20 [[ 9.96211702e-01 -8.50457397e-02 -1.81512322e-02 8.38127634e+01] [ 8.50293268e-02 9.96377040e-01 -1.67548253e-03 4.09352870e+00] [ 1.82279636e-02 1.25748253e-04 9.99833849e-01 -2.19724400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74719347000001 meters 0.06592957306993853 Centerline is valid? [True, True] Translation: X:83.88, Y:4.08, Z:-2.20 [[ 9.96025426e-01 -8.75443759e-02 -1.64113766e-02 8.38771056e+01] [ 8.75313392e-02 9.96160618e-01 -1.51237861e-03 4.08015422e+00] [ 1.64807673e-02 6.98577785e-05 9.99864180e-01 -2.19637407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80719347000002 meters 0.06742099498273178 Centerline is valid? [True, True] Translation: X:83.94, Y:4.06, Z:-2.21 [[ 9.95634372e-01 -9.14905418e-02 -1.84845215e-02 8.39404894e+01] [ 9.14746791e-02 9.95805945e-01 -1.70362712e-03 4.05839179e+00] [ 1.85628622e-02 5.32404528e-06 9.99827695e-01 -2.21055021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86719347000002 meters 0.06678776361929893 Centerline is valid? [True, True] Translation: X:84.00, Y:4.05, Z:-2.21 [[ 9.95122405e-01 -9.62087414e-02 -2.18008724e-02 8.40032151e+01] [ 9.61878089e-02 9.95361175e-01 -2.00919115e-03 4.04580748e+00] [ 2.18930437e-02 -9.75870230e-05 9.99760314e-01 -2.20675602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92719347 meters 0.06681460237896956 Centerline is valid? [True, True] Translation: X:84.07, Y:4.03, Z:-2.21 [[ 9.94571735e-01 -1.01112252e-01 -2.45637184e-02 8.40658840e+01] [ 1.01087170e-01 9.94874997e-01 -2.26386853e-03 4.02837219e+00] [ 2.46667341e-02 -2.31497138e-04 9.99695703e-01 -2.20619986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98719347000001 meters 0.06781927081758538 Centerline is valid? [True, True] Translation: X:84.13, Y:4.01, Z:-2.21 [[ 9.93576771e-01 -1.09663435e-01 -2.79129162e-02 8.41289800e+01] [ 1.09634426e-01 9.93968650e-01 -2.57220528e-03 4.00570294e+00] [ 2.80266404e-02 -5.04533126e-04 9.99607049e-01 -2.21154042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04719347000001 meters 0.06893186794498357 Centerline is valid? [True, True] Translation: X:84.19, Y:3.99, Z:-2.21 [[ 9.92751284e-01 -1.16672330e-01 -2.88523086e-02 8.41914927e+01] [ 1.16644344e-01 9.93170196e-01 -2.65694600e-03 3.99499799e+00] [ 2.89652450e-02 -7.27772049e-04 9.99580154e-01 -2.21276951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10719347000001 meters 0.07061956096083549 Centerline is valid? [True, True] Translation: X:84.25, Y:3.98, Z:-2.21 [[ 9.91434193e-01 -1.27738048e-01 -2.72255664e-02 8.42543017e+01] [ 1.27717294e-01 9.91807445e-01 -2.50700928e-03 3.97752512e+00] [ 2.73227600e-02 -9.91640941e-04 9.99626172e-01 -2.20981247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16719347000002 meters 0.07113235932462024 Centerline is valid? [True, True] Translation: X:84.32, Y:3.97, Z:-2.20 [[ 9.90732435e-01 -1.33838757e-01 -2.31609587e-02 8.43169660e+01] [ 1.33825437e-01 9.91002629e-01 -2.13112279e-03 3.97205456e+00] [ 2.32377978e-02 -9.88152945e-04 9.99729478e-01 -2.20441981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22719347000002 meters 0.07413809108511905 Centerline is valid? [True, True] Translation: X:84.38, Y:3.97, Z:-2.21 [[ 9.89885685e-01 -1.39851258e-01 -2.38318513e-02 8.43768866e+01] [ 1.39838847e-01 9.90171844e-01 -2.19474801e-03 3.96745405e+00] [ 2.39045664e-02 -1.16006897e-03 9.99713572e-01 -2.20552393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28719347 meters 0.07374270534227043 Centerline is valid? [True, True] Translation: X:84.44, Y:3.97, Z:-2.21 [[ 9.89673827e-01 -1.41365118e-01 -2.36984975e-02 8.44377163e+01] [ 1.41353312e-01 9.89956809e-01 -2.18105861e-03 3.97026318e+00] [ 2.37688145e-02 -1.19132449e-03 9.99716772e-01 -2.20611752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34719347000001 meters 0.07184567949801723 Centerline is valid? [True, True] Translation: X:84.50, Y:3.98, Z:-2.20 [[ 9.89678427e-01 -1.42088913e-01 -1.86373842e-02 8.44975376e+01] [ 1.42081731e-01 9.89853443e-01 -1.71566130e-03 3.97930554e+00] [ 1.86920554e-02 -9.50078843e-04 9.99824837e-01 -2.20159396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40719347000001 meters 0.07051438214678604 Centerline is valid? [True, True] Translation: X:84.56, Y:3.99, Z:-2.20 [[ 9.90172708e-01 -1.39033550e-01 -1.50890992e-02 8.45578015e+01] [ 1.39028495e-01 9.90287407e-01 -1.38862763e-03 3.99242067e+00] [ 1.51356107e-02 -7.22833566e-04 9.99885189e-01 -2.19867761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46719347000001 meters 0.06959504635980138 Centerline is valid? [True, True] Translation: X:84.62, Y:4.01, Z:-2.21 [[ 9.90915665e-01 -1.33115503e-01 -1.91417828e-02 8.46172130e+01] [ 1.33106275e-01 9.91100206e-01 -1.76100250e-03 4.00557381e+00] [ 1.92058416e-02 -8.02886452e-04 9.99815228e-01 -2.20503284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52719347000001 meters 0.06522487344076641 Centerline is valid? [True, True] Translation: X:84.67, Y:4.03, Z:-2.21 [[ 9.92696465e-01 -1.19637109e-01 -1.55142111e-02 8.46744841e+01] [ 1.19629384e-01 9.92817592e-01 -1.42837603e-03 4.03167461e+00] [ 1.55736685e-02 -4.38011671e-04 9.99878627e-01 -2.20529694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58719347000002 meters 0.06197020846416096 Centerline is valid? [True, True] Translation: X:84.73, Y:4.05, Z:-2.20 [[ 9.93634491e-01 -1.11885559e-01 -1.31194743e-02 8.47333731e+01] [ 1.11879374e-01 9.93721062e-01 -1.20672827e-03 4.05396886e+00] [ 1.31721134e-02 -2.68751742e-04 9.99913208e-01 -2.20114259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64719347 meters 0.061409496020107666 Centerline is valid? [True, True] Translation: X:84.79, Y:4.07, Z:-2.21 [[ 9.94390919e-01 -1.04424700e-01 -1.67982802e-02 8.47930880e+01] [ 1.04413528e-01 9.94532772e-01 -1.54314368e-03 4.07247191e+00] [ 1.68675825e-02 -2.19479625e-04 9.99857708e-01 -2.20858896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70719347 meters 0.06165414615222234 Centerline is valid? [True, True] Translation: X:84.85, Y:4.08, Z:-2.21 [[ 9.94376775e-01 -1.04255285e-01 -1.85920622e-02 8.48544576e+01] [ 1.04241589e-01 9.94550541e-01 -1.70690725e-03 4.07776839e+00] [ 1.86686996e-02 -2.40757176e-04 9.99825696e-01 -2.21221758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76719347000001 meters 0.06315449226782878 Centerline is valid? [True, True] Translation: X:84.92, Y:4.07, Z:-2.22 [[ 9.93156225e-01 -1.14870947e-01 -2.11039845e-02 8.49154362e+01] [ 1.14855659e-01 9.93380299e-01 -1.93908758e-03 4.07282713e+00] [ 2.11870273e-02 -4.98095148e-04 9.99775406e-01 -2.21624595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82719347000001 meters 0.0654685046564903 Centerline is valid? [True, True] Translation: X:84.98, Y:4.07, Z:-2.22 [[ 9.92159372e-01 -1.22603354e-01 -2.42528103e-02 8.49770119e+01] [ 1.22585471e-01 9.92455458e-01 -2.22836440e-03 4.06679803e+00] [ 2.43430390e-02 -7.62149553e-04 9.99703374e-01 -2.22092661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88719347000001 meters 0.06806072298624617 Centerline is valid? [True, True] Translation: X:85.04, Y:4.06, Z:-2.23 [[ 9.91956741e-01 -1.25096868e-01 -1.93027855e-02 8.50378731e+01] [ 1.25086027e-01 9.92144316e-01 -1.77272695e-03 4.05965903e+00] [ 1.93729115e-02 -6.56040301e-04 9.99812112e-01 -2.22618497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94719347000002 meters 0.06457570024200732 Centerline is valid? [True, True] Translation: X:85.10, Y:4.07, Z:-2.21 [[ 9.92187907e-01 -1.24213835e-01 -1.15793229e-02 8.50977852e+01] [ 1.24209870e-01 9.92255399e-01 -1.06370091e-03 4.07303637e+00] [ 1.16217721e-02 -3.82875027e-04 9.99932392e-01 -2.21306044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00719347 meters 0.06376816228947034 Centerline is valid? [True, True] Translation: X:85.16, Y:4.08, Z:-2.21 [[ 9.92038511e-01 -1.25682258e-01 -7.97258418e-03 8.51593488e+01] [ 1.25680448e-01 9.92070508e-01 -7.29713854e-04 4.08063769e+00] [ 8.00107773e-03 -2.78093704e-04 9.99967952e-01 -2.20979613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06719347 meters 0.06747131816100979 Centerline is valid? [True, True] Translation: X:85.22, Y:4.07, Z:-2.22 [[ 9.91230794e-01 -1.32062996e-01 -4.56917606e-03 8.52201559e+01] [ 1.32062463e-01 9.91241308e-01 -4.19356848e-04 4.07404599e+00] [ 4.58453757e-03 -1.87737225e-04 9.99989473e-01 -2.21568889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12719347000001 meters 0.06440884175055886 Centerline is valid? [True, True] Translation: X:85.28, Y:4.09, Z:-2.21 [[ 9.90781096e-01 -1.35465334e-01 -1.40100723e-03 8.52818379e+01] [ 1.35465291e-01 9.90782085e-01 -1.26323507e-04 4.08911237e+00] [ 1.40520532e-03 -6.46289085e-05 9.99999011e-01 -2.20771060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18719347000001 meters 0.06345964421513024 Centerline is valid? [True, True] Translation: X:85.34, Y:4.10, Z:-2.21 [[ 9.91236867e-01 -1.32049276e-01 -3.53013810e-03 8.53428847e+01] [ 1.32048968e-01 9.91243142e-01 -3.21252047e-04 4.10386930e+00] [ 3.54164629e-03 -1.47714221e-04 9.99993717e-01 -2.20938765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24719347000001 meters 0.060464722676770236 Centerline is valid? [True, True] Translation: X:85.40, Y:4.12, Z:-2.21 [[ 9.93158815e-01 -1.16761068e-01 -1.55607433e-03 8.54010927e+01] [ 1.16760988e-01 9.93160033e-01 -1.42594579e-04 4.12463514e+00] [ 1.56208033e-03 -4.00697134e-05 9.99998779e-01 -2.21120255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30719347000002 meters 0.05811780340266093 Centerline is valid? [True, True] Translation: X:85.46, Y:4.14, Z:-2.21 [[ 9.94414862e-01 -1.05527644e-01 1.73175698e-03 8.54599288e+01] [ 1.05527528e-01 9.94416369e-01 1.58839360e-04 4.14441744e+00] [-1.73884944e-03 2.47958131e-05 9.99998488e-01 -2.20850773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36719347000002 meters 0.058193978338941 Centerline is valid? [True, True] Translation: X:85.52, Y:4.16, Z:-2.21 [[ 9.95562991e-01 -9.40952036e-02 -6.50390898e-04 8.55197974e+01] [ 9.40951875e-02 9.95563204e-01 -5.53981497e-05 4.16177361e+00] [ 6.52717947e-04 -6.04630584e-06 9.99999787e-01 -2.21373333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42719347 meters 0.058404347519311416 Centerline is valid? [True, True] Translation: X:85.58, Y:4.16, Z:-2.22 [[ 9.95818156e-01 -9.13183467e-02 -2.67580201e-03 8.55822382e+01] [ 9.13180250e-02 9.95821751e-01 -2.42408809e-04 4.16349822e+00] [ 2.68675822e-03 -2.95386223e-06 9.99996391e-01 -2.21950956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48719347000001 meters 0.058162391802720266 Centerline is valid? [True, True] Translation: X:85.64, Y:4.16, Z:-2.22 [[ 9.95894466e-01 -9.05194055e-02 -6.70350028e-04 8.56448856e+01] [ 9.05193862e-02 9.95894692e-01 -5.90764328e-05 4.16063431e+00] [ 6.72945598e-04 -1.84578055e-06 9.99999774e-01 -2.21671892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54719347000001 meters 0.05817940689058164 Centerline is valid? [True, True] Translation: X:85.71, Y:4.15, Z:-2.22 [[ 9.95958784e-01 -8.98112480e-02 2.02195719e-04 8.57079270e+01] [ 8.98112456e-02 9.95958804e-01 2.05254412e-05 4.15013773e+00] [-2.03222023e-04 -2.28304404e-06 9.99999979e-01 -2.21905659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60719347000001 meters 0.05792496919836392 Centerline is valid? [True, True] Translation: X:85.77, Y:4.14, Z:-2.22 [[ 9.95682023e-01 -9.28273287e-02 6.29959287e-04 8.57707550e+01] [ 9.28273096e-02 9.95682222e-01 5.95253526e-05 4.14388282e+00] [-6.32764843e-04 -7.90897654e-07 9.99999800e-01 -2.21906646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66719347000002 meters 0.058357146108123495 Centerline is valid? [True, True] Translation: X:85.84, Y:4.13, Z:-2.22 [[ 9.94908001e-01 -1.00784814e-01 7.00329488e-04 8.58351181e+01] [ 1.00784792e-01 9.94908248e-01 6.58420864e-05 4.12637527e+00] [-7.03399466e-04 5.07574334e-06 9.99999753e-01 -2.22332843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72719347000002 meters 0.058404059539567 Centerline is valid? [True, True] Translation: X:85.90, Y:4.12, Z:-2.22 [[ 9.94561702e-01 -1.04076025e-01 3.89885316e-03 8.58982025e+01] [ 1.04075427e-01 9.94569343e-01 3.56537538e-04 4.12131959e+00] [-3.91478684e-03 5.11762256e-05 9.99992336e-01 -2.22239625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78719347 meters 0.05834525079658459 Centerline is valid? [True, True] Translation: X:85.96, Y:4.11, Z:-2.23 [[ 9.94747088e-01 -1.02318102e-01 3.03932026e-03 8.59623970e+01] [ 1.02317726e-01 9.94751730e-01 2.79109599e-04 4.11473144e+00] [-3.05192705e-03 3.33328786e-05 9.99995342e-01 -2.22722733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84719347000001 meters 0.059002066017765704 Centerline is valid? [True, True] Translation: X:86.02, Y:4.11, Z:-2.23 [[ 9.94636426e-01 -1.03432817e-01 1.82871201e-04 8.60243621e+01] [ 1.03432815e-01 9.94636442e-01 1.81632998e-05 4.10851167e+00] [-1.83769042e-04 8.49003571e-07 9.99999983e-01 -2.23370422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90719347000001 meters 0.06044481962190194 Centerline is valid? [True, True] Translation: X:86.09, Y:4.10, Z:-2.24 [[ 9.94262618e-01 -1.06961370e-01 -1.05420696e-03 8.60868775e+01] [ 1.06961330e-01 9.94263177e-01 -9.39981263e-05 4.09833096e+00] [ 1.05821333e-03 -1.93005555e-05 9.99999440e-01 -2.23890659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96719347000001 meters 0.06127213996486271 Centerline is valid? [True, True] Translation: X:86.15, Y:4.09, Z:-2.24 [[ 9.93771768e-01 -1.11434293e-01 2.68381469e-04 8.61496702e+01] [ 1.11434290e-01 9.93771804e-01 2.63623288e-05 4.09324571e+00] [-2.69647604e-04 3.70876031e-06 9.99999964e-01 -2.24013935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02719347000001 meters 0.062338049821996214 Centerline is valid? [True, True] Translation: X:86.21, Y:4.08, Z:-2.24 [[ 9.92909961e-01 -1.18776623e-01 4.68217740e-03 8.62125693e+01] [ 1.18775937e-01 9.92920992e-01 4.25272982e-04 4.08409699e+00] [-4.69954472e-03 1.33872230e-04 9.99988948e-01 -2.23883434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08719347000002 meters 0.06335818577721664 Centerline is valid? [True, True] Translation: X:86.27, Y:4.08, Z:-2.24 [[ 9.92447670e-01 -1.22446610e-01 7.37904507e-03 8.62748428e+01] [ 1.22445015e-01 9.92475073e-01 6.69172454e-04 4.08256573e+00] [-7.40545619e-03 2.39408645e-04 9.99972551e-01 -2.23995624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14719347 meters 0.061827502336011066 Centerline is valid? [True, True] Translation: X:86.33, Y:4.10, Z:-2.24 [[ 9.93106410e-01 -1.16319304e-01 1.44733659e-02 8.63347046e+01] [ 1.16312575e-01 9.93211796e-01 1.30866442e-03 4.09572391e+00] [-1.45273406e-02 3.83791430e-04 9.99894399e-01 -2.23557725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20719347 meters 0.06031727561438031 Centerline is valid? [True, True] Translation: X:86.39, Y:4.11, Z:-2.24 [[ 9.94151966e-01 -1.06715004e-01 1.65462054e-02 8.63940960e+01] [ 1.06704890e-01 9.94289611e-01 1.49542595e-03 4.11269276e+00] [-1.66113045e-02 2.78880390e-04 9.99861984e-01 -2.23677825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26719347000001 meters 0.05936507862088847 Centerline is valid? [True, True] Translation: X:86.45, Y:4.13, Z:-2.24 [[ 9.95760544e-01 -9.10729547e-02 1.29095450e-02 8.64541258e+01] [ 9.10654777e-02 9.95844223e-01 1.16706176e-03 4.13480896e+00] [-1.29621836e-02 1.34998297e-05 9.99915987e-01 -2.24472375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32719347000001 meters 0.0599972042403927 Centerline is valid? [True, True] Translation: X:86.51, Y:4.15, Z:-2.25 [[ 9.96562885e-01 -8.23984767e-02 8.53857303e-03 8.65144544e+01] [ 8.23948873e-02 9.96599462e-01 7.71898184e-04 4.15200079e+00] [-8.57314052e-03 -6.57103194e-05 9.99963248e-01 -2.25036623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38719347000001 meters 0.06060010643943288 Centerline is valid? [True, True] Translation: X:86.58, Y:4.16, Z:-2.26 [[ 9.96642839e-01 -8.17244993e-02 4.91499182e-03 8.65756665e+01] [ 8.17233002e-02 9.96654958e-01 4.44649869e-04 4.15663247e+00] [-4.93488976e-03 -4.14877556e-05 9.99987822e-01 -2.25550054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44719347000002 meters 0.06101759087771845 Centerline is valid? [True, True] Translation: X:86.64, Y:4.15, Z:-2.26 [[ 9.96493708e-01 -8.36625670e-02 9.29590904e-04 8.66390723e+01] [ 8.36625234e-02 9.96494142e-01 8.57368186e-05 4.14734045e+00] [-9.33504852e-04 -7.66427960e-06 9.99999564e-01 -2.26298632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50719347 meters 0.06113332041868204 Centerline is valid? [True, True] Translation: X:86.70, Y:4.14, Z:-2.27 [[ 9.96434022e-01 -8.43746975e-02 -3.88142235e-04 8.67017726e+01] [ 8.43746911e-02 9.96434097e-01 -3.28512784e-05 4.14150425e+00] [ 3.89529974e-04 -1.52497516e-08 9.99999924e-01 -2.26664807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56719347 meters 0.06068288681526643 Centerline is valid? [True, True] Translation: X:86.76, Y:4.13, Z:-2.26 [[ 9.95747692e-01 -9.20420171e-02 3.84721381e-03 8.67644584e+01] [ 9.20413631e-02 9.95755124e-01 3.47063451e-04 4.12724881e+00] [-3.86282728e-03 8.51517313e-06 9.99992539e-01 -2.26339820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62719347000001 meters 0.06094066301524592 Centerline is valid? [True, True] Translation: X:86.83, Y:4.12, Z:-2.26 [[ 9.95253407e-01 -9.72039775e-02 4.69500918e-03 8.68268866e+01] [ 9.72030591e-02 9.95264480e-01 4.23938172e-04 4.12339158e+00] [-4.71398435e-03 3.44433450e-05 9.99988889e-01 -2.26386329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68719347000001 meters 0.06408138493051038 Centerline is valid? [True, True] Translation: X:86.89, Y:4.10, Z:-2.27 [[ 9.93319507e-01 -1.15298273e-01 4.76083538e-03 8.68904458e+01] [ 1.15297546e-01 9.93330908e-01 4.27856220e-04 4.09561951e+00] [-4.77841601e-03 1.23914705e-04 9.99988576e-01 -2.26728855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74719347000001 meters 0.0688758883600153 Centerline is valid? [True, True] Translation: X:86.95, Y:4.08, Z:-2.27 [[ 9.91978926e-01 -1.26300087e-01 5.10857839e-03 8.69515953e+01] [ 1.26299395e-01 9.91992062e-01 4.59032420e-04 4.08009894e+00] [-5.12564505e-03 1.89859875e-04 9.99986846e-01 -2.27129118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80719347000002 meters 0.06811119175860951 Centerline is valid? [True, True] Translation: X:87.01, Y:4.09, Z:-2.27 [[ 9.91451658e-01 -1.30166494e-01 8.96071517e-03 8.70114208e+01] [ 1.30164526e-01 9.91492082e-01 8.04930738e-04 4.08695393e+00] [-8.98925315e-03 3.68317327e-04 9.99959528e-01 -2.26607245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86719347000002 meters 0.0648258660168795 Centerline is valid? [True, True] Translation: X:87.07, Y:4.10, Z:-2.27 [[ 9.92622103e-01 -1.21056573e-01 6.83131801e-03 8.70707480e+01] [ 1.21055210e-01 9.92645586e-01 6.14152313e-04 4.10190216e+00] [-6.85542484e-03 2.17345477e-04 9.99976478e-01 -2.26921979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92719347 meters 0.06131382659531743 Centerline is valid? [True, True] Translation: X:87.13, Y:4.13, Z:-2.27 [[ 9.94611597e-01 -1.03181721e-01 1.00649240e-02 8.71279893e+01] [ 1.03177856e-01 9.94662512e-01 9.03907645e-04 4.12993032e+00] [-1.01044694e-02 1.39440258e-04 9.99948939e-01 -2.27047097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98719347000001 meters 0.05998231958204613 Centerline is valid? [True, True] Translation: X:87.19, Y:4.15, Z:-2.27 [[ 9.95467253e-01 -9.34725325e-02 1.75451708e-02 8.71885182e+01] [ 9.34592531e-02 9.95621856e-01 1.57709289e-03 4.14842114e+00] [-1.76157704e-02 6.98142311e-05 9.99844828e-01 -2.26674752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04719347000001 meters 0.05992439480667028 Centerline is valid? [True, True] Translation: X:87.25, Y:4.16, Z:-2.27 [[ 9.95624830e-01 -9.20122230e-02 1.62772636e-02 8.72509226e+01] [ 9.20006057e-02 9.95757877e-01 1.46267826e-03 4.15658168e+00] [-1.63427977e-02 4.12393161e-05 9.99866447e-01 -2.27025077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10719347000001 meters 0.060600000524855924 Centerline is valid? [True, True] Translation: X:87.31, Y:4.16, Z:-2.28 [[ 9.95527390e-01 -9.38692936e-02 1.06663353e-02 8.73123012e+01] [ 9.38644244e-02 9.95584529e-01 9.57306311e-04 4.15719857e+00] [-1.07091001e-02 4.81647693e-05 9.99942655e-01 -2.28039845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16719347000002 meters 0.060899587539149085 Centerline is valid? [True, True] Translation: X:87.38, Y:4.15, Z:-2.28 [[ 9.95062148e-01 -9.86580088e-02 1.08590104e-02 8.73756199e+01] [ 9.86532514e-02 9.95121393e-01 9.74202583e-04 4.14992577e+00] [-1.09021464e-02 1.01884567e-04 9.99940565e-01 -2.28305225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22719347000002 meters 0.06153862387399223 Centerline is valid? [True, True] Translation: X:87.44, Y:4.15, Z:-2.29 [[ 9.94798870e-01 -1.01427908e-01 9.35879301e-03 8.74366991e+01] [ 1.01424505e-01 9.94842885e-01 8.38762190e-04 4.15136152e+00] [-9.39560254e-03 1.14811271e-04 9.99955854e-01 -2.28669741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28719347 meters 0.06195959780491432 Centerline is valid? [True, True] Translation: X:87.50, Y:4.15, Z:-2.29 [[ 9.94384072e-01 -1.05584713e-01 7.22398109e-03 8.74989791e+01] [ 1.05582792e-01 9.94410305e-01 6.47761784e-04 4.15171092e+00] [-7.25199498e-03 1.18604095e-04 9.99973697e-01 -2.28702387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34719347000001 meters 0.06422846034572113 Centerline is valid? [True, True] Translation: X:87.56, Y:4.14, Z:-2.30 [[ 9.93843031e-01 -1.10635334e-01 5.98772180e-03 8.75607143e+01] [ 1.10634115e-01 9.93861060e-01 5.35530391e-04 4.13989502e+00] [-6.01021211e-03 1.30213152e-04 9.99981930e-01 -2.29554167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40719347000001 meters 0.06543861037102865 Centerline is valid? [True, True] Translation: X:87.62, Y:4.14, Z:-2.29 [[ 9.92651090e-01 -1.20883714e-01 5.56244254e-03 8.76218752e+01] [ 1.20882825e-01 9.92666659e-01 4.96934129e-04 4.13932969e+00] [-5.58172249e-03 1.79121563e-04 9.99984406e-01 -2.29407176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46719347000001 meters 0.06500249979694421 Centerline is valid? [True, True] Translation: X:87.68, Y:4.15, Z:-2.30 [[ 9.93191655e-01 -1.16484205e-01 1.32896755e-03 8.76802091e+01] [ 1.16484150e-01 9.93192544e-01 1.19061524e-04 4.15150893e+00] [-1.33378945e-03 3.65527432e-05 9.99999110e-01 -2.29934437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52719347000001 meters 0.06286163793793441 Centerline is valid? [True, True] Translation: X:87.74, Y:4.17, Z:-2.30 [[ 9.94403153e-01 -1.05644819e-01 -1.24143423e-03 8.77386360e+01] [ 1.05644761e-01 9.94403928e-01 -1.11992962e-04 4.16688333e+00] [ 1.24631855e-03 -1.97848686e-05 9.99999223e-01 -2.30344323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58719347000002 meters 0.061282136602914865 Centerline is valid? [True, True] Translation: X:87.80, Y:4.19, Z:-2.30 [[ 9.95496086e-01 -9.48026122e-02 -9.08081378e-05 8.77982311e+01] [ 9.48026119e-02 9.95496090e-01 -7.58790080e-06 4.18739561e+00] [ 9.11184987e-05 -1.05512311e-06 9.99999996e-01 -2.30272241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64719347 meters 0.06172241853726669 Centerline is valid? [True, True] Translation: X:87.86, Y:4.19, Z:-2.30 [[ 9.95448601e-01 -9.52458262e-02 -3.21168124e-03 8.78595516e+01] [ 9.52453999e-02 9.95453782e-01 -2.85778321e-04 4.19413497e+00] [ 3.22429942e-03 -2.14202340e-05 9.99994802e-01 -2.30478793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70719347 meters 0.06218475835204823 Centerline is valid? [True, True] Translation: X:87.92, Y:4.19, Z:-2.31 [[ 9.94880834e-01 -1.01032972e-01 -2.11319671e-03 8.79213544e+01] [ 1.01032799e-01 9.94883078e-01 -1.88745304e-04 4.18540491e+00] [ 2.12145315e-03 -2.57230934e-05 9.99997749e-01 -2.30689134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76719347000001 meters 0.06191375150426842 Centerline is valid? [True, True] Translation: X:87.98, Y:4.18, Z:-2.31 [[ 9.94880951e-01 -1.01052419e-01 -5.48763612e-04 8.79825424e+01] [ 1.01052408e-01 9.94881103e-01 -4.90141566e-05 4.18431949e+00] [ 5.50907547e-04 -6.69063352e-06 9.99999848e-01 -2.30671864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82719347000001 meters 0.06178152054772346 Centerline is valid? [True, True] Translation: X:88.04, Y:4.19, Z:-2.31 [[ 9.95027651e-01 -9.95975497e-02 5.50160974e-04 8.80432098e+01] [ 9.95975375e-02 9.95027803e-01 4.96667180e-05 4.19118570e+00] [-5.52372149e-04 5.37492057e-06 9.99999847e-01 -2.30702529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88719347000001 meters 0.06231931401182236 Centerline is valid? [True, True] Translation: X:88.10, Y:4.19, Z:-2.31 [[ 9.94815810e-01 -1.01659095e-01 -2.63307036e-03 8.81042085e+01] [ 1.01658830e-01 9.94819294e-01 -2.34511903e-04 4.19261600e+00] [ 2.64326946e-03 -3.43787031e-05 9.99996506e-01 -2.30991767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94719347000002 meters 0.06325311225142909 Centerline is valid? [True, True] Translation: X:88.16, Y:4.19, Z:-2.31 [[ 9.94180274e-01 -1.07669042e-01 -3.59996094e-03 8.81634557e+01] [ 1.07668577e-01 9.94186790e-01 -3.23241277e-04 4.18600122e+00] [ 3.61383669e-03 -6.62425700e-05 9.99993468e-01 -2.31457098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00719347 meters 0.06513795055317473 Centerline is valid? [True, True] Translation: X:88.22, Y:4.19, Z:-2.32 [[ 9.93573842e-01 -1.12915151e-01 -7.82230586e-03 8.82222196e+01] [ 1.12913135e-01 9.93604616e-01 -7.00232119e-04 4.19006468e+00] [ 7.85134603e-03 -1.87508761e-04 9.99969160e-01 -2.32096237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06719347 meters 0.06652778416659691 Centerline is valid? [True, True] Translation: X:88.28, Y:4.19, Z:-2.33 [[ 9.93236640e-01 -1.15513061e-01 -1.17349430e-02 8.82823670e+01] [ 1.15508715e-01 9.93305912e-01 -1.04966401e-03 4.19203913e+00] [ 1.17776381e-02 -3.12923435e-04 9.99930592e-01 -2.32789277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12719347000001 meters 0.06708246025846801 Centerline is valid? [True, True] Translation: X:88.34, Y:4.20, Z:-2.33 [[ 9.92693688e-01 -1.19639908e-01 -1.56694998e-02 8.83425896e+01] [ 1.19632684e-01 9.92817233e-01 -1.40092227e-03 4.19806478e+00] [ 1.57245557e-02 -4.83897636e-04 9.99876244e-01 -2.32902027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18719347000001 meters 0.06761548120663843 Centerline is valid? [True, True] Translation: X:88.40, Y:4.21, Z:-2.33 [[ 9.92472291e-01 -1.21848488e-01 -1.23165995e-02 8.83996333e+01] [ 1.21844146e-01 9.92548630e-01 -1.10505910e-03 4.20662020e+00] [ 1.23594737e-02 -4.03965015e-04 9.99923537e-01 -2.32658347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24719347000001 meters 0.06911648524921352 Centerline is valid? [True, True] Translation: X:88.46, Y:4.21, Z:-2.33 [[ 9.91962545e-01 -1.25683647e-01 -1.46263262e-02 8.84598055e+01] [ 1.25677986e-01 9.92070224e-01 -1.30922714e-03 4.21255607e+00] [ 1.46748911e-02 -5.39502928e-04 9.99892172e-01 -2.32865201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30719347000002 meters 0.07247522617969819 Centerline is valid? [True, True] Translation: X:88.52, Y:4.22, Z:-2.33 [[ 9.91019843e-01 -1.32472023e-01 -1.81888544e-02 8.85189767e+01] [ 1.32464403e-01 9.91186426e-01 -1.62842309e-03 4.21610076e+00] [ 1.82442661e-02 -7.95576145e-04 9.99833243e-01 -2.33420187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36719347000002 meters 0.07268161032080969 Centerline is valid? [True, True] Translation: X:88.58, Y:4.23, Z:-2.33 [[ 9.90441436e-01 -1.36430966e-01 -2.03065030e-02 8.85779451e+01] [ 1.36422283e-01 9.90649107e-01 -1.81876488e-03 4.22819927e+00] [ 2.03647549e-02 -9.68879396e-04 9.99792147e-01 -2.33351534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42719347 meters 0.07359102791041613 Centerline is valid? [True, True] Translation: X:88.64, Y:4.24, Z:-2.33 [[ 9.89149203e-01 -1.45086952e-01 -2.31004518e-02 8.86373609e+01] [ 1.45078057e-01 9.89418049e-01 -2.06945633e-03 4.24034415e+00] [ 2.31562550e-02 -1.30436757e-03 9.99731007e-01 -2.32959153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48719347000001 meters 0.07536880121646217 Centerline is valid? [True, True] Translation: X:88.70, Y:4.25, Z:-2.33 [[ 9.88594563e-01 -1.48914301e-01 -2.24793359e-02 8.86968082e+01] [ 1.48906828e-01 9.88849177e-01 -2.01530473e-03 4.24693048e+00] [ 2.25287805e-02 -1.35500731e-03 9.99745277e-01 -2.33096472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54719347000001 meters 0.08105366270552898 Centerline is valid? [True, True] Translation: X:88.76, Y:4.26, Z:-2.33 [[ 9.86954013e-01 -1.59766220e-01 -1.99131161e-02 8.87551147e+01] [ 1.59762539e-01 9.87153859e-01 -1.78583861e-03 4.25663625e+00] [ 1.99426261e-02 -1.41882940e-03 9.99800119e-01 -2.33077163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60719347000001 meters 0.08408065203983321 Centerline is valid? [True, True] Translation: X:88.81, Y:4.27, Z:-2.33 [[ 9.86239533e-01 -1.63947343e-01 -2.12803022e-02 8.88148913e+01] [ 1.63944126e-01 9.86467782e-01 -1.90756774e-03 4.26795989e+00] [ 2.13050732e-02 -1.60746183e-03 9.99771729e-01 -2.33347778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66719347000002 meters 0.08252616877524686 Centerline is valid? [True, True] Translation: X:88.87, Y:4.30, Z:-2.33 [[ 9.86390491e-01 -1.62929335e-01 -2.20869001e-02 8.88712609e+01] [ 1.62925317e-01 9.86636391e-01 -1.99336289e-03 4.29960959e+00] [ 2.21165167e-02 -1.63228101e-03 9.99754067e-01 -2.33426646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72719347000002 meters 0.0800424393324736 Centerline is valid? [True, True] Translation: X:88.93, Y:4.32, Z:-2.34 [[ 9.87362213e-01 -1.56773102e-01 -2.31959913e-02 8.89297156e+01] [ 1.56767147e-01 9.87633388e-01 -2.08623309e-03 4.32192133e+00] [ 2.32362007e-02 -1.57650166e-03 9.99728760e-01 -2.33776793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78719347 meters 0.07261326694392702 Centerline is valid? [True, True] Translation: X:88.99, Y:4.36, Z:-2.34 [[ 9.89006963e-01 -1.45550058e-01 -2.60846356e-02 8.89867389e+01] [ 1.45538662e-01 9.89349786e-01 -2.34499738e-03 4.36466534e+00] [ 2.61481432e-02 -1.47710423e-03 9.99656988e-01 -2.33577407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84719347000001 meters 0.07098753012856436 Centerline is valid? [True, True] Translation: X:89.04, Y:4.40, Z:-2.34 [[ 9.90534533e-01 -1.34601865e-01 -2.69012281e-02 8.90432731e+01] [ 1.34585667e-01 9.90899007e-01 -2.42011230e-03 4.39661740e+00] [ 2.69821518e-02 -1.22331491e-03 9.99635167e-01 -2.34160075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90719347000001 meters 0.07020298569428823 Centerline is valid? [True, True] Translation: X:89.10, Y:4.41, Z:-2.35 [[ 9.91384155e-01 -1.28363604e-01 -2.60814468e-02 8.91015398e+01] [ 1.28346216e-01 9.91726647e-01 -2.34654945e-03 4.41443812e+00] [ 2.61668773e-02 -1.02112305e-03 9.99657067e-01 -2.34527278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96719347000001 meters 0.06881260035744101 Centerline is valid? [True, True] Translation: X:89.16, Y:4.44, Z:-2.35 [[ 9.92154710e-01 -1.22084627e-01 -2.69142187e-02 8.91610604e+01] [ 1.22063872e-01 9.92519300e-01 -2.41892672e-03 4.43524554e+00] [ 2.70081952e-02 -8.85304197e-04 9.99634820e-01 -2.34794279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02719347000001 meters 0.06674898917324766 Centerline is valid? [True, True] Translation: X:89.22, Y:4.47, Z:-2.35 [[ 9.93590512e-01 -1.09765830e-01 -2.70065968e-02 8.92190845e+01] [ 1.09740357e-01 9.93957322e-01 -2.42803694e-03 4.46742512e+00] [ 2.71099202e-02 -5.51239107e-04 9.99632307e-01 -2.34613366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08719347000002 meters 0.06651699050336378 Centerline is valid? [True, True] Translation: X:89.28, Y:4.49, Z:-2.35 [[ 9.94926327e-01 -9.71381344e-02 -2.61875285e-02 8.92771832e+01] [ 9.71098022e-02 9.95270889e-01 -2.35449959e-03 4.48655563e+00] [ 2.62923965e-02 -2.00512090e-04 9.99654275e-01 -2.35256588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14719347 meters 0.06607445583668792 Centerline is valid? [True, True] Translation: X:89.34, Y:4.50, Z:-2.35 [[ 9.95336723e-01 -9.36725305e-02 -2.30274996e-02 8.93376722e+01] [ 9.36497435e-02 9.95603057e-01 -2.06835479e-03 4.49697667e+00] [ 2.31199970e-02 -9.78099483e-05 9.99732692e-01 -2.35128962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20719347 meters 0.0651504527212948 Centerline is valid? [True, True] Translation: X:89.40, Y:4.50, Z:-2.35 [[ 9.95904810e-01 -8.90510259e-02 -1.56052755e-02 8.93980039e+01] [ 8.90399848e-02 9.96027065e-01 -1.40227000e-03 4.50067687e+00] [ 1.56681504e-02 7.03393967e-06 9.99877247e-01 -2.34683023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26719347000001 meters 0.06418538566419246 Centerline is valid? [True, True] Translation: X:89.46, Y:4.49, Z:-2.34 [[ 9.95411256e-01 -9.51546420e-02 -1.01007333e-02 8.94615548e+01] [ 9.51503540e-02 9.95462501e-01 -9.05326509e-04 4.48755166e+00] [ 1.01410473e-02 -5.99161551e-05 9.99948576e-01 -2.34372339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32719347000001 meters 0.0655391323926329 Centerline is valid? [True, True] Translation: X:89.53, Y:4.47, Z:-2.35 [[ 9.94215619e-01 -1.06910731e-01 -1.02663961e-02 8.95250613e+01] [ 1.06906960e-01 9.94268606e-01 -9.16969299e-04 4.46551281e+00] [ 1.03055892e-02 -1.85883998e-04 9.99946879e-01 -2.35269861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38719347000001 meters 0.06881631555841039 Centerline is valid? [True, True] Translation: X:89.59, Y:4.44, Z:-2.35 [[ 9.91446145e-01 -1.30083367e-01 -1.06235506e-02 8.95885806e+01] [ 1.30080618e-01 9.91502963e-01 -9.52271817e-04 4.43901326e+00] [ 1.06571567e-02 -4.37791807e-04 9.99943115e-01 -2.35111654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44719347000002 meters 0.07266979584393377 Centerline is valid? [True, True] Translation: X:89.65, Y:4.42, Z:-2.36 [[ 9.90043104e-01 -1.40103869e-01 -1.36220001e-02 8.96499366e+01] [ 1.40100291e-01 9.90136565e-01 -1.22129494e-03 4.42451137e+00] [ 1.36587485e-02 -6.99311545e-04 9.99906470e-01 -2.35664223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50719347000002 meters 0.07709112817236924 Centerline is valid? [True, True] Translation: X:89.71, Y:4.41, Z:-2.36 [[ 9.89577478e-01 -1.43160575e-01 -1.55391115e-02 8.97114925e+01] [ 1.43156309e-01 9.89699112e-01 -1.39224122e-03 4.41251973e+00] [ 1.55783589e-02 -8.46791290e-04 9.99878291e-01 -2.36474250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56719347 meters 0.07416365491426516 Centerline is valid? [True, True] Translation: X:89.77, Y:4.42, Z:-2.36 [[ 9.89566487e-01 -1.43223928e-01 -1.56548633e-02 8.97720021e+01] [ 1.43219626e-01 9.89689939e-01 -1.40142081e-03 4.42329584e+00] [ 1.56941777e-02 -8.55284594e-04 9.99876473e-01 -2.36164146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62719347000001 meters 0.07613390821871449 Centerline is valid? [True, True] Translation: X:89.83, Y:4.42, Z:-2.36 [[ 9.89278423e-01 -1.45396593e-01 -1.37125128e-02 8.98317912e+01] [ 1.45393476e-01 9.89373148e-01 -1.22924362e-03 4.42216668e+00] [ 1.37455198e-02 -7.77645724e-04 9.99905223e-01 -2.36185130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68719347000001 meters 0.07678423391491804 Centerline is valid? [True, True] Translation: X:89.89, Y:4.43, Z:-2.36 [[ 9.89300929e-01 -1.45332947e-01 -1.27281720e-02 8.98920613e+01] [ 1.45330263e-01 9.89382542e-01 -1.14053376e-03 4.42875612e+00] [ 1.27587883e-02 -7.21457463e-04 9.99918343e-01 -2.36396576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74719347000001 meters 0.07284971492554132 Centerline is valid? [True, True] Translation: X:89.95, Y:4.45, Z:-2.36 [[ 9.90430572e-01 -1.37373510e-01 -1.32589691e-02 8.99512185e+01] [ 1.37369884e-01 9.90519108e-01 -1.18813821e-03 4.44814421e+00] [ 1.32964810e-02 -6.44614642e-04 9.99911390e-01 -2.36432913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80719347000002 meters 0.06885719450120667 Centerline is valid? [True, True] Translation: X:90.01, Y:4.47, Z:-2.36 [[ 9.92188870e-01 -1.24508422e-01 -7.67451080e-03 9.00096444e+01] [ 1.24506825e-01 9.92218513e-01 -6.87442947e-04 4.46985032e+00] [ 7.70038413e-03 -2.73455731e-04 9.99970314e-01 -2.36320720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86719347000002 meters 0.06509427709619944 Centerline is valid? [True, True] Translation: X:90.07, Y:4.49, Z:-2.35 [[ 9.92779219e-01 -1.19936673e-01 -2.14877791e-03 9.00687407e+01] [ 1.19936538e-01 9.92781542e-01 -1.92359228e-04 4.49178831e+00] [ 2.15633797e-03 -6.67467379e-05 9.99997673e-01 -2.35345963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92719347 meters 0.06513226868978106 Centerline is valid? [True, True] Translation: X:90.13, Y:4.50, Z:-2.36 [[ 9.92905692e-01 -1.18894599e-01 -1.53691754e-03 9.01290350e+01] [ 1.18894530e-01 9.92906880e-01 -1.36066243e-04 4.50008448e+00] [ 1.54219354e-03 -4.76301429e-05 9.99998810e-01 -2.35515030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98719347000001 meters 0.06300341034630971 Centerline is valid? [True, True] Translation: X:90.19, Y:4.52, Z:-2.36 [[ 9.93937984e-01 -1.09892389e-01 -3.30871547e-03 9.01894404e+01] [ 1.09892020e-01 9.93943488e-01 -2.93748844e-04 4.51577703e+00] [ 3.32095696e-03 -7.16332935e-05 9.99994483e-01 -2.35762274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04719347000001 meters 0.06214743724691045 Centerline is valid? [True, True] Translation: X:90.25, Y:4.53, Z:-2.36 [[ 9.94984963e-01 -9.95793366e-02 -9.42754472e-03 9.02499393e+01] [ 9.95758438e-02 9.95029620e-01 -8.40325579e-04 4.53136550e+00] [ 9.46436531e-03 -1.02644405e-04 9.99955207e-01 -2.36234809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10719347000001 meters 0.06295424110783433 Centerline is valid? [True, True] Translation: X:90.31, Y:4.55, Z:-2.37 [[ 9.96063872e-01 -8.76612176e-02 -1.31253453e-02 9.03096989e+01] [ 8.76534048e-02 9.96150345e-01 -1.17043576e-03 4.54621886e+00] [ 1.31774191e-02 1.53475672e-05 9.99913174e-01 -2.36734450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16719347000002 meters 0.06299768956891676 Centerline is valid? [True, True] Translation: X:90.37, Y:4.55, Z:-2.37 [[ 9.96519126e-01 -8.23987696e-02 -1.26520307e-02 9.03715723e+01] [ 8.23911069e-02 9.96599436e-01 -1.12657057e-03 4.54917650e+00] [ 1.27018347e-02 8.02343072e-05 9.99919325e-01 -2.36748557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22719347000002 meters 0.06280822629466166 Centerline is valid? [True, True] Translation: X:90.43, Y:4.54, Z:-2.37 [[ 9.96737290e-01 -7.97654975e-02 -1.23385309e-02 9.04346103e+01] [ 7.97580229e-02 9.96813650e-01 -1.09746133e-03 4.54279014e+00] [ 1.23867556e-02 1.09783799e-04 9.99923275e-01 -2.36859520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28719347 meters 0.062228627775502664 Centerline is valid? [True, True] Translation: X:90.50, Y:4.53, Z:-2.37 [[ 9.96348816e-01 -8.43642528e-02 -1.31038268e-02 9.04975644e+01] [ 8.43562347e-02 9.96434980e-01 -1.16439963e-03 4.53429317e+00] [ 1.31553451e-02 5.47587060e-05 9.99913463e-01 -2.36956185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34719347000001 meters 0.06237650777545397 Centerline is valid? [True, True] Translation: X:90.56, Y:4.51, Z:-2.37 [[ 9.95068561e-01 -9.81544398e-02 -1.42921157e-02 9.05617521e+01] [ 9.81463373e-02 9.95171184e-01 -1.26892033e-03 4.51166737e+00] [ 1.43476519e-02 -1.40056079e-04 9.99897057e-01 -2.37248293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40719347000001 meters 0.06385008149111379 Centerline is valid? [True, True] Translation: X:90.62, Y:4.50, Z:-2.38 [[ 9.93928533e-01 -1.08871043e-01 -1.59112231e-02 9.06234833e+01] [ 1.08862371e-01 9.94055828e-01 -1.41276608e-03 4.49545260e+00] [ 1.59704534e-02 -3.27944954e-04 9.99872410e-01 -2.37642125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46719347000001 meters 0.06559151810596367 Centerline is valid? [True, True] Translation: X:90.68, Y:4.49, Z:-2.38 [[ 9.92964150e-01 -1.17281673e-01 -1.63464469e-02 9.06847624e+01] [ 1.17273620e-01 9.93098578e-01 -1.45370300e-03 4.48616345e+00] [ 1.64041259e-02 -4.73532024e-04 9.99865331e-01 -2.37708416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52719347000001 meters 0.06772862753588907 Centerline is valid? [True, True] Translation: X:90.75, Y:4.48, Z:-2.38 [[ 9.92043909e-01 -1.25057872e-01 -1.44710817e-02 9.07455812e+01] [ 1.25052369e-01 9.92149306e-01 -1.28809226e-03 4.47690033e+00] [ 1.45185597e-02 -5.31798963e-04 9.99894459e-01 -2.37738144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58719347000002 meters 0.06900425338032466 Centerline is valid? [True, True] Translation: X:90.81, Y:4.47, Z:-2.37 [[ 9.90767862e-01 -1.35015538e-01 -1.22412737e-02 9.08071850e+01] [ 1.35012367e-01 9.90843315e-01 -1.08894385e-03 4.47127142e+00] [ 1.22762085e-02 -5.73832754e-04 9.99924480e-01 -2.37221457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64719347 meters 0.07130272834376553 Centerline is valid? [True, True] Translation: X:90.87, Y:4.47, Z:-2.37 [[ 9.90183324e-01 -1.39352337e-01 -1.08586717e-02 9.08659124e+01] [ 1.39350069e-01 9.90242707e-01 -9.68879645e-04 4.46966975e+00] [ 1.08877361e-02 -5.53788181e-04 9.99940573e-01 -2.37322311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70719347 meters 0.07069535240552342 Centerline is valid? [True, True] Translation: X:90.92, Y:4.48, Z:-2.37 [[ 9.89959894e-01 -1.41156551e-01 -7.36451293e-03 9.09248701e+01] [ 1.41155558e-01 9.89987210e-01 -6.57066009e-04 4.47653091e+00] [ 7.38352279e-03 -3.89072937e-04 9.99972666e-01 -2.37151630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76719347000001 meters 0.07088560789119455 Centerline is valid? [True, True] Translation: X:90.98, Y:4.49, Z:-2.38 [[ 9.90235105e-01 -1.39047459e-01 -1.00120504e-02 9.09834119e+01] [ 1.39045523e-01 9.90285588e-01 -8.92579892e-04 4.48640562e+00] [ 1.00389001e-02 -5.08266836e-04 9.99949480e-01 -2.37680178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82719347000001 meters 0.07118364082845251 Centerline is valid? [True, True] Translation: X:91.04, Y:4.50, Z:-2.38 [[ 9.90379617e-01 -1.37711693e-01 -1.35537086e-02 9.10425832e+01] [ 1.37708030e-01 9.90472130e-01 -1.20762152e-03 4.49849846e+00] [ 1.35908742e-02 -6.70450768e-04 9.99907415e-01 -2.38207828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88719347000001 meters 0.07251017941155986 Centerline is valid? [True, True] Translation: X:91.10, Y:4.51, Z:-2.39 [[ 9.89961403e-01 -1.40395956e-01 -1.62909587e-02 9.11018173e+01] [ 1.40391013e-01 9.90095073e-01 -1.45236560e-03 4.51165345e+00] [ 1.63335042e-02 -8.49318312e-04 9.99866239e-01 -2.38530432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94719347000002 meters 0.07073993586444234 Centerline is valid? [True, True] Translation: X:91.16, Y:4.53, Z:-2.38 [[ 9.90231311e-01 -1.38997379e-01 -1.10308527e-02 9.11602903e+01] [ 1.38995022e-01 9.90292591e-01 -9.83790650e-04 4.53098883e+00] [ 1.10605160e-02 -5.59053303e-04 9.99938674e-01 -2.37926953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00719347000002 meters 0.06689101221511702 Centerline is valid? [True, True] Translation: X:91.22, Y:4.56, Z:-2.38 [[ 9.91739154e-01 -1.28172137e-01 -5.03527314e-03 9.12181686e+01] [ 1.28171507e-01 9.91751916e-01 -4.48823321e-04 4.56276123e+00] [ 5.05126843e-03 -2.00262888e-04 9.99987222e-01 -2.37694504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06719347 meters 0.06321812705606929 Centerline is valid? [True, True] Translation: X:91.28, Y:4.60, Z:-2.38 [[ 9.93607415e-01 -1.12731717e-01 -5.98872306e-03 9.12760814e+01] [ 1.12730550e-01 9.93625452e-01 -5.33259650e-04 4.59779357e+00] [ 6.01066294e-03 -1.45261300e-04 9.99981925e-01 -2.38037052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12719347000001 meters 0.06230610577967196 Centerline is valid? [True, True] Translation: X:91.34, Y:4.62, Z:-2.38 [[ 9.94127121e-01 -1.07943736e-01 -7.70823237e-03 9.13366953e+01] [ 1.07941674e-01 9.94156993e-01 -6.84177030e-04 4.61718233e+00] [ 7.73704574e-03 -1.51880568e-04 9.99970057e-01 -2.38108117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18719347000001 meters 0.06223242383398622 Centerline is valid? [True, True] Translation: X:91.40, Y:4.63, Z:-2.38 [[ 9.94272662e-01 -1.06368811e-01 -1.03706177e-02 9.13981376e+01] [ 1.06364997e-01 9.94326727e-01 -9.20222882e-04 4.62684314e+00] [ 1.04096654e-02 -1.88118267e-04 9.99945800e-01 -2.38387349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24719347000001 meters 0.06265061329121882 Centerline is valid? [True, True] Translation: X:91.46, Y:4.64, Z:-2.39 [[ 9.95026003e-01 -9.90697034e-02 -1.04137961e-02 9.14577660e+01] [ 9.90654425e-02 9.95080490e-01 -9.25474555e-04 4.63583291e+00] [ 1.04542518e-02 -1.10776072e-04 9.99945347e-01 -2.39343717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30719347000002 meters 0.06175707669347903 Centerline is valid? [True, True] Translation: X:91.52, Y:4.65, Z:-2.39 [[ 9.96174168e-01 -8.67159862e-02 -1.08335108e-02 9.15186559e+01] [ 8.67106714e-02 9.96233074e-01 -9.60216159e-04 4.65034575e+00] [ 1.08759678e-02 1.71615409e-05 9.99940855e-01 -2.38666075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36719347000002 meters 0.061622867956135786 Centerline is valid? [True, True] Translation: X:91.58, Y:4.65, Z:-2.39 [[ 9.95810231e-01 -9.09182013e-02 -9.79104264e-03 9.15815298e+01] [ 9.09140736e-02 9.95858363e-01 -8.66764544e-04 4.64936470e+00] [ 9.82929637e-03 -2.70105704e-05 9.99951691e-01 -2.38792988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42719347 meters 0.06321349849363712 Centerline is valid? [True, True] Translation: X:91.64, Y:4.63, Z:-2.39 [[ 9.93921860e-01 -1.09194055e-01 -1.39998351e-02 9.16442243e+01] [ 1.09187384e-01 9.94020408e-01 -1.24225063e-03 4.63112248e+00] [ 1.40517682e-02 -2.93905315e-04 9.99901226e-01 -2.39363413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48719347000001 meters 0.0655033909100692 Centerline is valid? [True, True] Translation: X:91.71, Y:4.62, Z:-2.40 [[ 9.92055540e-01 -1.25040431e-01 -1.38092916e-02 9.17072256e+01] [ 1.25035488e-01 9.92151515e-01 -1.22415063e-03 4.61616138e+00] [ 1.38539779e-02 -5.12226099e-04 9.99903898e-01 -2.39508665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54719347000001 meters 0.06662634548700896 Centerline is valid? [True, True] Translation: X:91.77, Y:4.62, Z:-2.40 [[ 9.91552496e-01 -1.28908197e-01 -1.43639655e-02 9.17687174e+01] [ 1.28903266e-01 9.91656356e-01 -1.27246441e-03 4.61805274e+00] [ 1.44081488e-02 -5.89846798e-04 9.99896023e-01 -2.39630346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60719347000001 meters 0.06675642082887616 Centerline is valid? [True, True] Translation: X:91.83, Y:4.62, Z:-2.40 [[ 9.91800555e-01 -1.27080975e-01 -1.34938559e-02 9.18290754e+01] [ 1.27076452e-01 9.91892205e-01 -1.19556773e-03 4.62367251e+00] [ 1.35363844e-02 -5.28986592e-04 9.99908239e-01 -2.39676679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66719347000002 meters 0.06542634112782357 Centerline is valid? [True, True] Translation: X:91.89, Y:4.63, Z:-2.40 [[ 9.92365231e-01 -1.22740063e-01 -1.20881961e-02 9.18895000e+01] [ 1.22736115e-01 9.92438764e-01 -1.07071496e-03 4.63193080e+00] [ 1.21282140e-02 -4.21117939e-04 9.99926362e-01 -2.39651793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72719347000002 meters 0.06426249422213351 Centerline is valid? [True, True] Translation: X:91.95, Y:4.64, Z:-2.40 [[ 9.93105513e-01 -1.16705043e-01 -1.10169561e-02 9.19493492e+01] [ 1.16701388e-01 9.93166569e-01 -9.76302033e-04 4.63894126e+00] [ 1.10556118e-02 -3.16123133e-04 9.99938835e-01 -2.39960026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78719347 meters 0.06365527056947305 Centerline is valid? [True, True] Translation: X:92.01, Y:4.65, Z:-2.40 [[ 9.93571393e-01 -1.12649212e-01 -1.12268651e-02 9.20103487e+01] [ 1.12645182e-01 9.93634781e-01 -9.92685554e-04 4.64980439e+00] [ 1.12672289e-02 -2.78348292e-04 9.99936484e-01 -2.40038881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84719347000001 meters 0.06236369786455305 Centerline is valid? [True, True] Translation: X:92.07, Y:4.66, Z:-2.40 [[ 9.94549143e-01 -1.03632848e-01 -1.14993611e-02 9.20712555e+01] [ 1.03628024e-01 9.94615604e-01 -1.01613042e-03 4.66119254e+00] [ 1.15427485e-02 -1.81064430e-04 9.99933364e-01 -2.40437019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90719347000001 meters 0.06168364799171337 Centerline is valid? [True, True] Translation: X:92.13, Y:4.67, Z:-2.41 [[ 9.95053620e-01 -9.89470829e-02 -8.81858697e-03 9.21309148e+01] [ 9.89440580e-02 9.95092692e-01 -7.79712158e-04 4.66934546e+00] [ 8.85246169e-03 -9.66913751e-05 9.99960812e-01 -2.40649869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96719347000001 meters 0.06174926100049517 Centerline is valid? [True, True] Translation: X:92.19, Y:4.67, Z:-2.41 [[ 9.94899361e-01 -1.00436720e-01 -9.36626971e-03 9.21934619e+01] [ 1.00433393e-01 9.94943441e-01 -8.25988182e-04 4.67293963e+00] [ 9.40186816e-03 -1.18911137e-04 9.99955794e-01 -2.40708748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02719347000001 meters 0.06193604595323234 Centerline is valid? [True, True] Translation: X:92.26, Y:4.67, Z:-2.41 [[ 9.94453529e-01 -1.04975798e-01 -6.50079038e-03 9.22561679e+01] [ 1.04974300e-01 9.94474770e-01 -5.72157948e-04 4.66923380e+00] [ 6.52493475e-03 -1.13431431e-04 9.99978706e-01 -2.40588655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08719347000002 meters 0.06207984283536161 Centerline is valid? [True, True] Translation: X:92.32, Y:4.67, Z:-2.40 [[ 9.94078024e-01 -1.08613857e-01 -3.45155153e-03 9.23185458e+01] [ 1.08613461e-01 9.94084013e-01 -3.02607789e-04 4.66846612e+00] [ 3.46399960e-03 -7.40692041e-05 9.99993998e-01 -2.40425583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14719347 meters 0.06203764625795841 Centerline is valid? [True, True] Translation: X:92.38, Y:4.67, Z:-2.40 [[ 9.93413911e-01 -1.14568295e-01 -1.70501606e-03 9.23810707e+01] [ 1.14568209e-01 9.93415373e-01 -1.48168024e-04 4.66820261e+00] [ 1.71076453e-03 -4.81484609e-05 9.99998535e-01 -2.40190052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20719347 meters 0.06198242318473951 Centerline is valid? [True, True] Translation: X:92.44, Y:4.67, Z:-2.40 [[ 9.93180200e-01 -1.16584602e-01 1.05892785e-03 9.24438103e+01] [ 1.16584567e-01 9.93180764e-01 9.53714084e-05 4.66711939e+00] [-1.06282561e-03 2.87336501e-05 9.99999435e-01 -2.40342611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26719347000001 meters 0.06215412480155475 Centerline is valid? [True, True] Translation: X:92.51, Y:4.67, Z:-2.41 [[ 9.93280937e-01 -1.15662606e-01 -3.89135087e-03 9.25059753e+01] [ 1.15662160e-01 9.93288553e-01 -3.40212523e-04 4.67164054e+00] [ 3.90458414e-03 -1.12155436e-04 9.99992371e-01 -2.40752198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32719347000001 meters 0.06236285820376646 Centerline is valid? [True, True] Translation: X:92.57, Y:4.68, Z:-2.41 [[ 9.93281009e-01 -1.15563146e-01 -6.16416930e-03 9.25683859e+01] [ 1.15562020e-01 9.93300120e-01 -5.39606377e-04 4.67584684e+00] [ 6.18522872e-03 -1.76363093e-04 9.99980856e-01 -2.41067661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38719347000001 meters 0.06406976690201106 Centerline is valid? [True, True] Translation: X:92.63, Y:4.67, Z:-2.42 [[ 9.92827130e-01 -1.18912168e-01 -1.24171778e-02 9.26285191e+01] [ 1.18907822e-01 9.92904699e-01 -1.09033595e-03 4.67028754e+00] [ 1.24587284e-02 -3.93984449e-04 9.99922309e-01 -2.42024078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44719347000002 meters 0.06542118079766786 Centerline is valid? [True, True] Translation: X:92.69, Y:4.67, Z:-2.42 [[ 9.92412681e-01 -1.21862350e-01 -1.63290385e-02 9.26894837e+01] [ 1.21855232e-01 9.92546848e-01 -1.43385177e-03 4.67139651e+00] [ 1.63820683e-02 -5.66806098e-04 9.99865644e-01 -2.42304915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50719347000002 meters 0.06459310672712389 Centerline is valid? [True, True] Translation: X:92.75, Y:4.68, Z:-2.42 [[ 9.92771675e-01 -1.19287163e-01 -1.32277892e-02 9.27496256e+01] [ 1.19282259e-01 9.92859704e-01 -1.16189488e-03 4.67815211e+00] [ 1.32719380e-02 -4.24344251e-04 9.99911834e-01 -2.42148249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56719347 meters 0.06021968062603063 Centerline is valid? [True, True] Translation: X:92.81, Y:4.70, Z:-2.42 [[ 9.94519907e-01 -1.04137806e-01 -9.24511166e-03 9.28084482e+01] [ 1.04134759e-01 9.94562865e-01 -8.11637253e-04 4.70239401e+00] [ 9.27936687e-03 -1.55548068e-04 9.99956934e-01 -2.41524382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62719347000001 meters 0.05883969885693164 Centerline is valid? [True, True] Translation: X:92.87, Y:4.72, Z:-2.41 [[ 9.95513273e-01 -9.45069038e-02 -4.66562385e-03 9.28684642e+01] [ 9.45060242e-02 9.95524206e-01 -4.09136770e-04 4.71908576e+00] [ 4.68340773e-03 -3.36284759e-05 9.99989032e-01 -2.41413516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68719347000001 meters 0.05809536930886182 Centerline is valid? [True, True] Translation: X:92.93, Y:4.73, Z:-2.41 [[ 9.96101535e-01 -8.82130143e-02 -4.41953953e-04 9.29289736e+01] [ 8.82130063e-02 9.96101633e-01 -3.77039947e-05 4.73168172e+00] [ 4.43557038e-04 -1.42907989e-06 9.99999902e-01 -2.41242323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74719347000001 meters 0.05810808414110989 Centerline is valid? [True, True] Translation: X:92.99, Y:4.73, Z:-2.42 [[ 9.96117930e-01 -8.80178557e-02 -1.38768340e-03 9.29899807e+01] [ 8.80177738e-02 9.96118897e-01 -1.20097825e-04 4.73279144e+00] [ 1.39286841e-03 -2.50920662e-06 9.99999030e-01 -2.41643151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80719347000002 meters 0.05838632526708964 Centerline is valid? [True, True] Translation: X:93.05, Y:4.74, Z:-2.42 [[ 9.96257881e-01 -8.62931083e-02 -4.87181184e-03 9.30512850e+01] [ 8.62920697e-02 9.96269793e-01 -4.23360656e-04 4.73913426e+00] [ 4.89017208e-03 1.37766316e-06 9.99988043e-01 -2.41918581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86719347000002 meters 0.058758901686859225 Centerline is valid? [True, True] Translation: X:93.11, Y:4.73, Z:-2.43 [[ 9.96324209e-01 -8.52742444e-02 -8.14703359e-03 9.31140372e+01] [ 8.52712847e-02 9.96357518e-01 -7.10592222e-04 4.73481663e+00] [ 8.17795338e-03 1.32722131e-05 9.99966560e-01 -2.42520173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92719347 meters 0.058713649503841094 Centerline is valid? [True, True] Translation: X:93.18, Y:4.73, Z:-2.43 [[ 9.96165731e-01 -8.71550470e-02 -7.60490579e-03 9.31770334e+01] [ 8.71525286e-02 9.96194759e-01 -6.62552689e-04 4.72886901e+00] [ 7.63371210e-03 -2.77448583e-06 9.99970863e-01 -2.42768472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98719347000001 meters 0.05890727626325249 Centerline is valid? [True, True] Translation: X:93.24, Y:4.72, Z:-2.42 [[ 9.95309418e-01 -9.61850748e-02 -1.03727786e-02 9.32403595e+01] [ 9.61808753e-02 9.95363462e-01 -9.04102036e-04 4.71522814e+00] [ 1.04116460e-02 -9.78016585e-05 9.99945793e-01 -2.42498214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04719347000001 meters 0.06007010374405228 Centerline is valid? [True, True] Translation: X:93.30, Y:4.70, Z:-2.43 [[ 9.94591146e-01 -1.03437313e-01 -9.44323808e-03 9.33012997e+01] [ 1.03434180e-01 9.94635962e-01 -8.20867121e-04 4.70467573e+00] [ 9.47749248e-03 -1.60326415e-04 9.99955075e-01 -2.42734559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10719347000001 meters 0.06296118798776977 Centerline is valid? [True, True] Translation: X:93.36, Y:4.69, Z:-2.43 [[ 9.93351202e-01 -1.14648616e-01 -1.04443638e-02 9.33631807e+01] [ 1.14645362e-01 9.93406065e-01 -9.11709691e-04 4.69063252e+00] [ 1.04800206e-02 -2.91749959e-04 9.99945041e-01 -2.43136396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16719347000002 meters 0.06498902299251884 Centerline is valid? [True, True] Translation: X:93.42, Y:4.69, Z:-2.44 [[ 9.92677125e-01 -1.20029526e-01 -1.36028772e-02 9.34244078e+01] [ 1.20024523e-01 9.92770218e-01 -1.18653670e-03 4.68526098e+00] [ 1.36469508e-02 -4.54831003e-04 9.99906773e-01 -2.43702891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22719347000002 meters 0.06552372891747925 Centerline is valid? [True, True] Translation: X:93.48, Y:4.69, Z:-2.44 [[ 9.92036570e-01 -1.24734609e-01 -1.74562831e-02 9.34839553e+01] [ 1.24727091e-01 9.92189918e-01 -1.52297613e-03 4.69366003e+00] [ 1.75099159e-02 -6.66423388e-04 9.99846468e-01 -2.43598690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28719347 meters 0.06679505685421337 Centerline is valid? [True, True] Translation: X:93.54, Y:4.70, Z:-2.44 [[ 9.91918622e-01 -1.25893135e-01 -1.57595966e-02 9.35417678e+01] [ 1.25887089e-01 9.92043618e-01 -1.37907247e-03 4.69736254e+00] [ 1.58078230e-02 -6.16002078e-04 9.99874859e-01 -2.43819184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34719347000001 meters 0.06484561557466881 Centerline is valid? [True, True] Translation: X:93.60, Y:4.71, Z:-2.44 [[ 9.92247058e-01 -1.22952725e-01 -1.81219230e-02 9.36000569e+01] [ 1.22944061e-01 9.92412319e-01 -1.59563201e-03 4.70865021e+00] [ 1.81806070e-02 -6.44721648e-04 9.99834511e-01 -2.43757023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40719347000001 meters 0.061850907169845676 Centerline is valid? [True, True] Translation: X:93.66, Y:4.73, Z:-2.43 [[ 9.93322230e-01 -1.14490763e-01 -1.42412616e-02 9.36590744e+01] [ 1.14484597e-01 9.93424237e-01 -1.25011575e-03 4.72822980e+00] [ 1.42907411e-02 -3.88637333e-04 9.99897807e-01 -2.43346400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46719347000001 meters 0.05788414104998781 Centerline is valid? [True, True] Translation: X:93.72, Y:4.76, Z:-2.43 [[ 9.95500876e-01 -9.45100090e-02 -6.77229184e-03 9.37177658e+01] [ 9.45081556e-02 9.95523910e-01 -5.93899143e-04 4.76035477e+00] [ 6.79810786e-03 -4.88096935e-05 9.99976891e-01 -2.42763795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52719347000001 meters 0.05740263139009449 Centerline is valid? [True, True] Translation: X:93.78, Y:4.78, Z:-2.43 [[ 9.96479779e-01 -8.37217867e-02 -4.32582585e-03 9.37773924e+01] [ 8.37209341e-02 9.96489168e-01 -3.78140594e-04 4.77687254e+00] [ 4.34229721e-03 1.46472749e-05 9.99990572e-01 -2.43043283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58719347000002 meters 0.05793185692087346 Centerline is valid? [True, True] Translation: X:93.84, Y:4.78, Z:-2.44 [[ 9.96388952e-01 -8.45559897e-02 -7.70335352e-03 9.38392908e+01] [ 8.45533175e-02 9.96418729e-01 -6.72489381e-04 4.78204180e+00] [ 7.73262873e-03 1.87168934e-05 9.99970103e-01 -2.43682031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64719347 meters 0.058655403868422995 Centerline is valid? [True, True] Translation: X:93.90, Y:4.77, Z:-2.44 [[ 9.95492027e-01 -9.40599255e-02 -1.21800835e-02 9.39009446e+01] [ 9.40539254e-02 9.95566534e-01 -1.06577147e-03 4.77263416e+00] [ 1.22263299e-02 -8.46176652e-05 9.99925252e-01 -2.44205882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70719347 meters 0.05935749118090159 Centerline is valid? [True, True] Translation: X:93.96, Y:4.77, Z:-2.44 [[ 9.94916792e-01 -1.00379348e-01 -8.03515621e-03 9.39617867e+01] [ 1.00376946e-01 9.94949232e-01 -7.02737763e-04 4.76647965e+00] [ 8.06511287e-03 -1.07378840e-04 9.99967471e-01 -2.44199227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76719347000001 meters 0.06149234380691806 Centerline is valid? [True, True] Translation: X:94.02, Y:4.76, Z:-2.45 [[ 9.93909054e-01 -1.08958582e-01 -1.65172862e-02 9.40229343e+01] [ 1.08949597e-01 9.94046224e-01 -1.44550196e-03 4.75967296e+00] [ 1.65764459e-02 -3.62854196e-04 9.99862535e-01 -2.44786889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82719347000001 meters 0.06289817741735158 Centerline is valid? [True, True] Translation: X:94.08, Y:4.76, Z:-2.45 [[ 9.93451372e-01 -1.12869753e-01 -1.77423434e-02 9.40823019e+01] [ 1.12859960e-01 9.93609687e-01 -1.55548834e-03 4.75821144e+00] [ 1.78045318e-02 -4.57098134e-04 9.99841382e-01 -2.45165191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88719347000001 meters 0.06359320899502394 Centerline is valid? [True, True] Translation: X:94.14, Y:4.75, Z:-2.45 [[ 9.93153312e-01 -1.16031664e-01 -1.35333497e-02 9.41421343e+01] [ 1.16026136e-01 9.93245441e-01 -1.19561535e-03 4.75430500e+00] [ 1.35806671e-02 -3.82792926e-04 9.99907705e-01 -2.45287143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94719347000002 meters 0.06517741456639571 Centerline is valid? [True, True] Translation: X:94.20, Y:4.75, Z:-2.46 [[ 9.92657150e-01 -1.20114230e-01 -1.42952839e-02 9.42023667e+01] [ 1.20108561e-01 9.92759967e-01 -1.25756025e-03 4.75198479e+00] [ 1.43428365e-02 -4.68659803e-04 9.99897026e-01 -2.45618870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00719347000002 meters 0.06953236267555615 Centerline is valid? [True, True] Translation: X:94.26, Y:4.75, Z:-2.46 [[ 9.91612505e-01 -1.28009988e-01 -1.78348499e-02 9.42618646e+01] [ 1.28002478e-01 9.91772611e-01 -1.56675571e-03 4.74787581e+00] [ 1.78886760e-02 -7.29290420e-04 9.99839719e-01 -2.46061092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06719347 meters 0.0683748727942773 Centerline is valid? [True, True] Translation: X:94.32, Y:4.75, Z:-2.46 [[ 9.91191296e-01 -1.31243287e-01 -1.77486490e-02 9.43208902e+01] [ 1.31236286e-01 9.91349884e-01 -1.56364378e-03 4.75418550e+00] [ 1.78003389e-02 -7.79396679e-04 9.99841258e-01 -2.45680174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12719347000001 meters 0.06689725107532171 Centerline is valid? [True, True] Translation: X:94.38, Y:4.76, Z:-2.45 [[ 9.91505118e-01 -1.29406894e-01 -1.30941224e-02 9.43814192e+01] [ 1.29402935e-01 9.91591424e-01 -1.15272270e-03 4.75748573e+00] [ 1.31331898e-02 -5.51487416e-04 9.99913604e-01 -2.45380026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18719347000001 meters 0.06547346642105652 Centerline is valid? [True, True] Translation: X:94.44, Y:4.78, Z:-2.46 [[ 9.92492612e-01 -1.21362567e-01 -1.51506841e-02 9.44392278e+01] [ 1.21356314e-01 9.92608112e-01 -1.33484294e-03 4.77852980e+00] [ 1.52006919e-02 -5.13809414e-04 9.99884331e-01 -2.45533617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24719347000001 meters 0.06291361504497804 Centerline is valid? [True, True] Translation: X:94.50, Y:4.79, Z:-2.45 [[ 9.92916337e-01 -1.17988672e-01 -1.39935834e-02 9.44980798e+01] [ 1.17982992e-01 9.93014850e-01 -1.23363182e-03 4.79191722e+00] [ 1.40413907e-02 -4.26111652e-04 9.99901324e-01 -2.45156927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30719347000002 meters 0.0615821874947365 Centerline is valid? [True, True] Translation: X:94.56, Y:4.80, Z:-2.46 [[ 9.93824672e-01 -1.10231994e-01 -1.27054296e-02 9.45561041e+01] [ 1.10226659e-01 9.93905844e-01 -1.12150906e-03 4.80112913e+00] [ 1.27516269e-02 -2.85893685e-04 9.99918654e-01 -2.45546405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36719347000002 meters 0.05895650358697655 Centerline is valid? [True, True] Translation: X:94.61, Y:4.82, Z:-2.45 [[ 9.94819348e-01 -1.01343868e-01 -7.99281831e-03 9.46146662e+01] [ 1.01341478e-01 9.94851451e-01 -7.04511091e-04 4.82345031e+00] [ 8.02306476e-03 -1.09142753e-04 9.99967809e-01 -2.45069760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42719347 meters 0.05871584546836921 Centerline is valid? [True, True] Translation: X:94.67, Y:4.84, Z:-2.46 [[ 9.95729969e-01 -9.14803795e-02 -1.23761529e-02 9.46747160e+01] [ 9.14739062e-02 9.95806878e-01 -1.08930143e-03 4.84311402e+00] [ 1.24239079e-02 -4.74449638e-05 9.99922819e-01 -2.45672468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48719347000001 meters 0.05894240595758302 Centerline is valid? [True, True] Translation: X:94.74, Y:4.85, Z:-2.46 [[ 9.95940017e-01 -8.85473611e-02 -1.62125610e-02 9.47360758e+01] [ 8.85358697e-02 9.96071968e-01 -1.42658457e-03 4.84752175e+00] [ 1.62751978e-02 -1.46005321e-05 9.99867550e-01 -2.46333715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54719347000001 meters 0.059923690593954755 Centerline is valid? [True, True] Translation: X:94.79, Y:4.85, Z:-2.47 [[ 9.96058855e-01 -8.61904162e-02 -2.09277062e-02 9.47949468e+01] [ 8.61706782e-02 9.96278681e-01 -1.84478485e-03 4.85237078e+00] [ 2.10088304e-02 3.41596509e-05 9.99779290e-01 -2.46985518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60719347000001 meters 0.06045122739580776 Centerline is valid? [True, True] Translation: X:94.85, Y:4.85, Z:-2.47 [[ 9.95969331e-01 -8.66598816e-02 -2.31334616e-02 9.48539299e+01] [ 8.66355930e-02 9.96237955e-01 -2.05198940e-03 4.84930793e+00] [ 2.32242576e-02 3.95373528e-05 9.99730280e-01 -2.47289821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66719347000002 meters 0.060591180759058325 Centerline is valid? [True, True] Translation: X:94.91, Y:4.84, Z:-2.48 [[ 9.95617531e-01 -9.06513168e-02 -2.29797990e-02 9.49125921e+01] [ 9.06282110e-02 9.95882692e-01 -2.04708975e-03 4.84032097e+00] [ 2.30707554e-02 -4.44996258e-05 9.99733834e-01 -2.47633164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72719347000002 meters 0.06153217275866524 Centerline is valid? [True, True] Translation: X:94.97, Y:4.82, Z:-2.48 [[ 9.94275061e-01 -1.05127858e-01 -1.91111574e-02 9.49737051e+01] [ 1.05114436e-01 9.94458665e-01 -1.70831009e-03 4.81948109e+00] [ 1.91848470e-02 -3.10328403e-04 9.99815906e-01 -2.47579662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78719347 meters 0.06498304150222269 Centerline is valid? [True, True] Translation: X:95.03, Y:4.81, Z:-2.48 [[ 9.93011403e-01 -1.16880500e-01 -1.63493894e-02 9.50336299e+01] [ 1.16872307e-01 9.93145878e-01 -1.45898917e-03 4.80583860e+00] [ 1.64078561e-02 -4.61997976e-04 9.99865275e-01 -2.47632981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84719347000001 meters 0.06838985149466063 Centerline is valid? [True, True] Translation: X:95.10, Y:4.80, Z:-2.47 [[ 9.90938515e-01 -1.32995720e-01 -1.87882325e-02 9.50955863e+01] [ 1.32987831e-01 9.91116256e-01 -1.67427198e-03 4.79648509e+00] [ 1.88439936e-02 -8.39505700e-04 9.99822084e-01 -2.47254393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90719347000001 meters 0.07048439597771239 Centerline is valid? [True, True] Translation: X:95.16, Y:4.80, Z:-2.48 [[ 9.90365663e-01 -1.36969349e-01 -2.03777062e-02 9.51558742e+01] [ 1.36960888e-01 9.90574790e-01 -1.81683706e-03 4.79714979e+00] [ 2.04344930e-02 -9.91615699e-04 9.99790702e-01 -2.47719330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96719347000001 meters 0.07037198862837236 Centerline is valid? [True, True] Translation: X:95.21, Y:4.81, Z:-2.49 [[ 9.90826959e-01 -1.32761900e-01 -2.52232936e-02 9.52128879e+01] [ 1.32747462e-01 9.91147332e-01 -2.25341714e-03 4.81025373e+00] [ 2.52991681e-02 -1.11558175e-03 9.99679302e-01 -2.48508302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02719347000001 meters 0.06888534135824008 Centerline is valid? [True, True] Translation: X:95.27, Y:4.83, Z:-2.49 [[ 9.91710602e-01 -1.26431426e-01 -2.29167055e-02 9.52709996e+01] [ 1.26417845e-01 9.91974970e-01 -2.04622805e-03 4.82827251e+00] [ 2.29915058e-02 -8.67814477e-04 9.99735284e-01 -2.48684387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08719347000002 meters 0.06721937600305451 Centerline is valid? [True, True] Translation: X:95.33, Y:4.84, Z:-2.48 [[ 9.92256508e-01 -1.22833677e-01 -1.84095021e-02 9.53308642e+01] [ 1.22824301e-01 9.92427071e-01 -1.64343789e-03 4.84326771e+00] [ 1.84719577e-02 -6.30422277e-04 9.99829180e-01 -2.48321078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14719347 meters 0.06489377773916077 Centerline is valid? [True, True] Translation: X:95.39, Y:4.86, Z:-2.48 [[ 9.92838954e-01 -1.18690025e-01 -1.35458493e-02 9.53898871e+01] [ 1.18684562e-01 9.92931273e-01 -1.20935748e-03 4.86029370e+00] [ 1.35936360e-02 -4.06985964e-04 9.99907519e-01 -2.48002624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20719347 meters 0.06255645434549129 Centerline is valid? [True, True] Translation: X:95.45, Y:4.88, Z:-2.48 [[ 9.93342627e-01 -1.14654977e-01 -1.11651743e-02 9.54485856e+01] [ 1.14650994e-01 9.93405332e-01 -9.98243277e-04 4.87540708e+00] [ 1.12059973e-02 -2.88500733e-04 9.99937169e-01 -2.47891583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26719347000001 meters 0.06361539762117915 Centerline is valid? [True, True] Translation: X:95.51, Y:4.88, Z:-2.49 [[ 9.93576507e-01 -1.12558763e-01 -1.16726337e-02 9.55066531e+01] [ 1.12554252e-01 9.93645032e-01 -1.04479864e-03 4.88339441e+00] [ 1.17160557e-02 -2.75717169e-04 9.99931327e-01 -2.48580177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32719347000001 meters 0.06213554746520168 Centerline is valid? [True, True] Translation: X:95.57, Y:4.90, Z:-2.48 [[ 9.93753641e-01 -1.10764037e-01 -1.36025431e-02 9.55663666e+01] [ 1.10757767e-01 9.93846688e-01 -1.21576311e-03 4.90063600e+00] [ 1.36535052e-02 -2.98418281e-04 9.99906742e-01 -2.48276361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38719347000001 meters 0.06257767482057164 Centerline is valid? [True, True] Translation: X:95.62, Y:4.90, Z:-2.48 [[ 9.93713377e-01 -1.11416714e-01 -1.09562713e-02 9.56245837e+01] [ 1.11412660e-01 9.93773745e-01 -9.81506151e-04 4.90387086e+00] [ 1.09974109e-02 -2.45331538e-04 9.99939497e-01 -2.48493033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44719347000002 meters 0.06548921001686438 Centerline is valid? [True, True] Translation: X:95.69, Y:4.90, Z:-2.49 [[ 9.92447667e-01 -1.22247486e-01 -1.01578233e-02 9.56853107e+01] [ 1.22244575e-01 9.92499590e-01 -9.09261185e-04 4.90049947e+00] [ 1.01927904e-02 -3.39344655e-04 9.99947995e-01 -2.48728831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50719347000002 meters 0.06760865117303382 Centerline is valid? [True, True] Translation: X:95.75, Y:4.90, Z:-2.49 [[ 9.91212592e-01 -1.31271215e-01 -1.62930996e-02 9.57452432e+01] [ 1.31264943e-01 9.91346250e-01 -1.45844135e-03 4.90285897e+00] [ 1.63435546e-02 -6.93087349e-04 9.99866195e-01 -2.49171725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56719347 meters 0.07135419231833508 Centerline is valid? [True, True] Translation: X:95.81, Y:4.91, Z:-2.50 [[ 9.89990251e-01 -1.39726774e-01 -1.98930128e-02 9.58053782e+01] [ 1.39719124e-01 9.90189575e-01 -1.78076496e-03 4.90980867e+00] [ 1.99466745e-02 -1.01649436e-03 9.99800529e-01 -2.49614167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62719347000001 meters 0.07130571109926544 Centerline is valid? [True, True] Translation: X:95.86, Y:4.92, Z:-2.50 [[ 9.90035228e-01 -1.39541732e-01 -1.89301880e-02 9.58633837e+01] [ 1.39534530e-01 9.90215734e-01 -1.70726149e-03 4.91977872e+00] [ 1.89832042e-02 -9.51165859e-04 9.99819350e-01 -2.49674652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68719347000001 meters 0.06759912228007357 Centerline is valid? [True, True] Translation: X:95.92, Y:4.95, Z:-2.49 [[ 9.90918432e-01 -1.33291667e-01 -1.77198626e-02 9.59211639e+01] [ 1.33284476e-01 9.91076544e-01 -1.59146275e-03 4.94804326e+00] [ 1.77738690e-02 -7.84772833e-04 9.99841724e-01 -2.49400937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74719347000001 meters 0.0655008413436457 Centerline is valid? [True, True] Translation: X:95.98, Y:4.97, Z:-2.49 [[ 9.92166407e-01 -1.24065500e-01 -1.46140932e-02 9.59796618e+01] [ 1.24059608e-01 9.92273899e-01 -1.31251330e-03 4.97280407e+00] [ 1.46640208e-02 -5.10787065e-04 9.99892347e-01 -2.49415017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80719347000002 meters 0.06428963981950223 Centerline is valid? [True, True] Translation: X:96.04, Y:4.99, Z:-2.50 [[ 9.93111920e-01 -1.16586070e-01 -1.16791466e-02 9.60379060e+01] [ 1.16581783e-01 9.93180541e-01 -1.04957866e-03 4.98811447e+00] [ 1.17218674e-02 -3.19226648e-04 9.99931246e-01 -2.49679415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86719347000002 meters 0.06306396387574548 Centerline is valid? [True, True] Translation: X:96.10, Y:5.01, Z:-2.50 [[ 9.93993411e-01 -1.08619800e-01 -1.33730633e-02 9.60975605e+01] [ 1.08613487e-01 9.94083332e-01 -1.19963680e-03 5.01140970e+00] [ 1.34242436e-02 -2.60063953e-04 9.99909857e-01 -2.49797387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92719347 meters 0.0625575355223218 Centerline is valid? [True, True] Translation: X:96.16, Y:5.02, Z:-2.50 [[ 9.94535539e-01 -1.03803401e-01 -1.11317451e-02 9.61584681e+01] [ 1.03798740e-01 9.94597822e-01 -9.97187650e-04 5.02250779e+00] [ 1.11751208e-02 -1.63722557e-04 9.99937543e-01 -2.50006897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98719347000001 meters 0.06253002736403583 Centerline is valid? [True, True] Translation: X:96.22, Y:5.04, Z:-2.51 [[ 9.95504132e-01 -9.36211248e-02 -1.43738637e-02 9.62182128e+01] [ 9.36123385e-02 9.95607895e-01 -1.28435819e-03 5.03818599e+00] [ 1.44309753e-02 -6.69871093e-05 9.99895866e-01 -2.50757554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04719347000001 meters 0.06344355129189595 Centerline is valid? [True, True] Translation: X:96.28, Y:5.05, Z:-2.51 [[ 9.95500535e-01 -9.29837375e-02 -1.82403009e-02 9.62791507e+01] [ 9.29694367e-02 9.95667625e-01 -1.63226590e-03 5.04706455e+00] [ 1.83130513e-02 -7.08689221e-05 9.99832300e-01 -2.51340395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10719347000001 meters 0.06369858494127449 Centerline is valid? [True, True] Translation: X:96.34, Y:5.05, Z:-2.52 [[ 9.95331328e-01 -9.46626745e-02 -1.88288241e-02 9.63408623e+01] [ 9.46477839e-02 9.95509401e-01 -1.68241217e-03 5.05082942e+00] [ 1.89035330e-02 -1.07548936e-04 9.99821306e-01 -2.51609326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16719347000002 meters 0.06324304702640696 Centerline is valid? [True, True] Translation: X:96.40, Y:5.05, Z:-2.51 [[ 9.94687709e-01 -1.01578188e-01 -1.66803017e-02 9.64040174e+01] [ 1.01567505e-01 9.94827536e-01 -1.48855310e-03 5.04846994e+00] [ 1.67452280e-02 -2.13531149e-04 9.99859766e-01 -2.51268166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22719347000002 meters 0.06506563677209104 Centerline is valid? [True, True] Translation: X:96.47, Y:5.04, Z:-2.51 [[ 9.93098783e-01 -1.16681386e-01 -1.18431642e-02 9.64669538e+01] [ 1.16677081e-01 9.93169343e-01 -1.05613671e-03 5.03690223e+00] [ 1.18854991e-02 -3.32977744e-04 9.99929310e-01 -2.51358270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28719347 meters 0.06866572617309329 Centerline is valid? [True, True] Translation: X:96.53, Y:5.03, Z:-2.51 [[ 9.91412210e-01 -1.30602856e-01 -6.68753655e-03 9.65278645e+01] [ 1.30601790e-01 9.91434726e-01 -5.97782453e-04 5.02758506e+00] [ 6.70832806e-03 -2.80755418e-04 9.99977459e-01 -2.51255931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34719347000001 meters 0.07131185548462454 Centerline is valid? [True, True] Translation: X:96.59, Y:5.03, Z:-2.52 [[ 9.90277656e-01 -1.38844300e-01 -8.51018959e-03 9.65893802e+01] [ 1.38842891e-01 9.90314130e-01 -7.59083300e-04 5.02764211e+00] [ 8.53315538e-03 -4.29876092e-04 9.99963500e-01 -2.51513803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40719347000001 meters 0.07678801285891523 Centerline is valid? [True, True] Translation: X:96.65, Y:5.02, Z:-2.52 [[ 9.89290527e-01 -1.45804367e-01 -6.73354906e-03 9.66492078e+01] [ 1.45803637e-01 9.89313367e-01 -6.01764420e-04 5.02302891e+00] [ 6.74932997e-03 -3.86456103e-04 9.99977148e-01 -2.52079204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46719347000001 meters 0.07506999531215552 Centerline is valid? [True, True] Translation: X:96.71, Y:5.03, Z:-2.52 [[ 9.88983633e-01 -1.48023793e-01 -5.74313720e-04 9.67104151e+01] [ 1.48023789e-01 9.88983799e-01 -4.97490741e-05 5.03490475e+00] [ 5.75351011e-04 -3.58110730e-05 9.99999834e-01 -2.51530282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52719347000001 meters 0.07673849518875643 Centerline is valid? [True, True] Translation: X:96.77, Y:5.05, Z:-2.51 [[ 9.87825772e-01 -1.55508892e-01 4.15065549e-03 9.67701857e+01] [ 1.55508702e-01 9.87834453e-01 3.70502367e-04 5.04777453e+00] [-4.15777691e-03 2.79471260e-04 9.99991317e-01 -2.51173642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58719347000002 meters 0.08196626156449623 Centerline is valid? [True, True] Translation: X:96.83, Y:5.06, Z:-2.52 [[ 9.86526888e-01 -1.63598625e-01 4.34807490e-04 9.68300669e+01] [ 1.63598624e-01 9.86526983e-01 3.89091180e-05 5.05524009e+00] [-4.35314799e-04 3.27490158e-05 9.99999905e-01 -2.51993035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64719347000002 meters 0.08340931009570346 Centerline is valid? [True, True] Translation: X:96.89, Y:5.07, Z:-2.53 [[ 9.86195716e-01 -1.65578022e-01 -1.38891085e-03 9.68904122e+01] [ 1.65578012e-01 9.86196688e-01 -1.22893416e-04 5.06905912e+00] [ 1.39008773e-03 -1.08776138e-04 9.99999028e-01 -2.52517189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70719347 meters 0.0798954207239749 Centerline is valid? [True, True] Translation: X:96.95, Y:5.10, Z:-2.53 [[ 9.86825474e-01 -1.61775442e-01 -2.04717982e-03 9.69490012e+01] [ 1.61775411e-01 9.86827585e-01 -1.81812656e-04 5.10293856e+00] [ 2.04962634e-03 -1.51765996e-04 9.99997888e-01 -2.52526341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76719347000001 meters 0.07531395817494498 Centerline is valid? [True, True] Translation: X:97.01, Y:5.14, Z:-2.52 [[ 9.88102977e-01 -1.53792567e-01 5.94942230e-04 9.70067572e+01] [ 1.53792563e-01 9.88103155e-01 5.32037643e-05 5.13941332e+00] [-5.96046638e-04 3.89268925e-05 9.99999822e-01 -2.52442569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82719347000001 meters 0.07317584711168051 Centerline is valid? [True, True] Translation: X:97.07, Y:5.16, Z:-2.52 [[ 9.88667720e-01 -1.50105525e-01 2.11450147e-03 9.70657992e+01] [ 1.50105462e-01 9.88669972e-01 1.89177773e-04 5.16401757e+00] [-2.11894074e-03 1.30364262e-04 9.99997747e-01 -2.52321341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88719347000001 meters 0.07189727763255153 Centerline is valid? [True, True] Translation: X:97.12, Y:5.18, Z:-2.52 [[ 9.89183671e-01 -1.46655140e-01 2.81691158e-03 9.71247842e+01] [ 1.46655017e-01 9.89187668e-01 2.51067788e-04 5.18349293e+00] [-2.82327458e-03 1.64762061e-04 9.99996001e-01 -2.52378514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94719347000002 meters 0.06915702082147003 Centerline is valid? [True, True] Translation: X:97.18, Y:5.21, Z:-2.53 [[ 9.90303485e-01 -1.38920609e-01 -2.67975065e-04 9.71828029e+01] [ 1.38920608e-01 9.90303521e-01 -2.38146452e-05 5.20986733e+00] [ 2.68684995e-04 -1.36435328e-05 9.99999964e-01 -2.52840802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00719347000002 meters 0.06591213585275502 Centerline is valid? [True, True] Translation: X:97.24, Y:5.24, Z:-2.53 [[ 9.91484461e-01 -1.30225020e-01 -9.23895552e-05 9.72419529e+01] [ 1.30225019e-01 9.91484465e-01 -7.72226574e-06 5.23519629e+00] [ 9.26084406e-05 -4.37492513e-06 9.99999996e-01 -2.52524607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06719347 meters 0.06329210653423759 Centerline is valid? [True, True] Translation: X:97.30, Y:5.26, Z:-2.53 [[ 9.93000456e-01 -1.18110471e-01 1.05531338e-04 9.73007804e+01] [ 1.18110470e-01 9.93000462e-01 9.87052593e-06 5.26191969e+00] [-1.05958480e-04 2.66291919e-06 9.99999994e-01 -2.52671015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12719347000001 meters 0.06240566562969843 Centerline is valid? [True, True] Translation: X:97.36, Y:5.28, Z:-2.53 [[ 9.93495161e-01 -1.13873527e-01 4.29335164e-04 9.73607114e+01] [ 1.13873521e-01 9.93495254e-01 3.92409118e-05 5.27810934e+00] [-4.31010950e-04 9.90425082e-06 9.99999907e-01 -2.52966724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18719347000001 meters 0.06302141243709725 Centerline is valid? [True, True] Translation: X:97.42, Y:5.28, Z:-2.53 [[ 9.93139708e-01 -1.16925972e-01 -1.35589269e-03 9.74229448e+01] [ 1.16925919e-01 9.93140632e-01 -1.18579710e-04 5.28335821e+00] [ 1.36045717e-03 -4.07727802e-05 9.99999074e-01 -2.53295156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24719347000001 meters 0.06471162157820716 Centerline is valid? [True, True] Translation: X:97.48, Y:5.28, Z:-2.54 [[ 9.92445594e-01 -1.22539120e-01 -5.99228333e-03 9.74830833e+01] [ 1.22538138e-01 9.92463663e-01 -5.32170738e-04 5.28359734e+00] [ 6.01233520e-03 -2.06132735e-04 9.99981905e-01 -2.53954366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30719347000002 meters 0.06669940836827737 Centerline is valid? [True, True] Translation: X:97.54, Y:5.28, Z:-2.54 [[ 9.91205333e-01 -1.32009694e-01 -9.24279706e-03 9.75440582e+01] [ 1.32007771e-01 9.91248342e-01 -8.20498295e-04 5.28475265e+00] [ 9.27022099e-03 -4.06838757e-04 9.99956948e-01 -2.54192422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36719347000002 meters 0.06813397171810293 Centerline is valid? [True, True] Translation: X:97.61, Y:5.28, Z:-2.54 [[ 9.90441814e-01 -1.37758049e-01 -6.90897256e-03 9.76058845e+01] [ 1.37757117e-01 9.90465851e-01 -6.12797969e-04 5.28488331e+00] [ 6.92751924e-03 -3.44819413e-04 9.99975945e-01 -2.54222214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42719347 meters 0.06730605585621653 Centerline is valid? [True, True] Translation: X:97.67, Y:5.29, Z:-2.54 [[ 9.90657691e-01 -1.36302436e-01 -4.35722630e-03 9.76665990e+01] [ 1.36302054e-01 9.90667250e-01 -3.85908590e-04 5.29317685e+00] [ 4.36916168e-03 -2.11595584e-04 9.99990433e-01 -2.54051954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48719347000001 meters 0.06491117532234164 Centerline is valid? [True, True] Translation: X:97.73, Y:5.31, Z:-2.54 [[ 9.91981566e-01 -1.26252631e-01 -5.73111959e-03 9.77257045e+01] [ 1.26251796e-01 9.91998097e-01 -5.08685029e-04 5.30572624e+00] [ 5.74948256e-03 -2.18957969e-04 9.99983448e-01 -2.54479267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54719347000001 meters 0.06179301475794936 Centerline is valid? [True, True] Translation: X:97.78, Y:5.32, Z:-2.55 [[ 9.93779674e-01 -1.11003310e-01 -8.95678129e-03 9.77841479e+01] [ 1.11000649e-01 9.93820016e-01 -7.95265308e-04 5.32479956e+00] [ 8.98970561e-03 -2.03890036e-04 9.99959571e-01 -2.54887020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60719347000001 meters 0.060340405591764804 Centerline is valid? [True, True] Translation: X:97.84, Y:5.34, Z:-2.55 [[ 9.94905892e-01 -1.00389076e-01 -9.18149018e-03 9.78443401e+01] [ 1.00385840e-01 9.94948250e-01 -8.13882610e-04 5.33869920e+00] [ 9.21681251e-03 -1.11954996e-04 9.99957518e-01 -2.54809225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66719347000002 meters 0.05999022408067273 Centerline is valid? [True, True] Translation: X:97.91, Y:5.35, Z:-2.55 [[ 9.95880427e-01 -9.01167232e-02 -1.00573551e-02 9.79063328e+01] [ 9.01123322e-02 9.95931210e-01 -8.89819561e-04 5.34501834e+00] [ 1.00966214e-02 -2.01378355e-05 9.99949028e-01 -2.55026714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72719347000002 meters 0.06066963648119405 Centerline is valid? [True, True] Translation: X:97.97, Y:5.34, Z:-2.56 [[ 9.96056258e-01 -8.77339355e-02 -1.32169732e-02 9.79680602e+01] [ 8.77262375e-02 9.96143944e-01 -1.16219176e-03 5.34447294e+00] [ 1.32679715e-02 -1.86695365e-06 9.99911977e-01 -2.55698776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78719347 meters 0.06013672725887099 Centerline is valid? [True, True] Translation: X:98.03, Y:5.34, Z:-2.55 [[ 9.96134915e-01 -8.71064578e-02 -1.13002709e-02 9.80313831e+01] [ 8.71007628e-02 9.96199009e-01 -9.96078766e-04 5.33830954e+00] [ 1.13440836e-02 7.96661968e-06 9.99935654e-01 -2.55373010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84719347000001 meters 0.05977987975620988 Centerline is valid? [True, True] Translation: X:98.09, Y:5.33, Z:-2.56 [[ 9.95999263e-01 -8.83860758e-02 -1.31670292e-02 9.80944472e+01] [ 8.83784678e-02 9.96086292e-01 -1.15970006e-03 5.32717883e+00] [ 1.32179986e-02 -8.62145996e-06 9.99912638e-01 -2.55626036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90719347000001 meters 0.05954264199330984 Centerline is valid? [True, True] Translation: X:98.16, Y:5.32, Z:-2.56 [[ 9.95596889e-01 -9.29635193e-02 -1.20257464e-02 9.81579713e+01] [ 9.29575217e-02 9.95669513e-01 -1.05794202e-03 5.31967056e+00] [ 1.20720191e-02 -6.45998005e-05 9.99927128e-01 -2.55641011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96719347000001 meters 0.05983660118414349 Centerline is valid? [True, True] Translation: X:98.22, Y:5.30, Z:-2.56 [[ 9.94787453e-01 -1.01632445e-01 -8.29268846e-03 9.82211653e+01] [ 1.01629900e-01 9.94822010e-01 -7.28899903e-04 5.30203779e+00] [ 8.32382888e-03 -1.17684617e-04 9.99965349e-01 -2.55776018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02719347000001 meters 0.05992269909597562 Centerline is valid? [True, True] Translation: X:98.28, Y:5.30, Z:-2.56 [[ 9.94508801e-01 -1.04264206e-01 -9.01220962e-03 9.82840139e+01] [ 1.04261318e-01 9.94549623e-01 -7.91007643e-04 5.29945250e+00] [ 9.04556346e-03 -1.52960786e-04 9.99959076e-01 -2.55857186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08719347000002 meters 0.06116799959296684 Centerline is valid? [True, True] Translation: X:98.35, Y:5.28, Z:-2.56 [[ 9.93707540e-01 -1.11564083e-01 -9.93885107e-03 9.83462885e+01] [ 1.11560919e-01 9.93757213e-01 -8.73870066e-04 5.28389985e+00] [ 9.97429744e-03 -2.40416087e-04 9.99950227e-01 -2.56114990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14719347000002 meters 0.06256375441545058 Centerline is valid? [True, True] Translation: X:98.41, Y:5.27, Z:-2.56 [[ 9.93016810e-01 -1.17453774e-01 -1.10555407e-02 9.84080832e+01] [ 1.17450226e-01 9.93078295e-01 -9.71881410e-04 5.27330080e+00] [ 1.10931686e-02 -3.33381180e-04 9.99938413e-01 -2.56266038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20719347 meters 0.0648376415688732 Centerline is valid? [True, True] Translation: X:98.47, Y:5.26, Z:-2.56 [[ 9.92006672e-01 -1.25900202e-01 -8.47944052e-03 9.84711413e+01] [ 1.25898431e-01 9.92042857e-01 -7.44423520e-04 5.25533644e+00] [ 8.50569148e-03 -3.29075162e-04 9.99963772e-01 -2.56260122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26719347000001 meters 0.06713628727282671 Centerline is valid? [True, True] Translation: X:98.53, Y:5.25, Z:-2.57 [[ 9.91243140e-01 -1.31717756e-01 -9.35251046e-03 9.85325442e+01] [ 1.31715853e-01 9.91287173e-01 -8.21865488e-04 5.24623135e+00] [ 9.37927793e-03 -4.17205366e-04 9.99955927e-01 -2.56580431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32719347000001 meters 0.07284995951888729 Centerline is valid? [True, True] Translation: X:98.59, Y:5.23, Z:-2.57 [[ 9.89516753e-01 -1.44016662e-01 -1.07608459e-02 9.85931506e+01] [ 1.44014857e-01 9.89575073e-01 -9.46467347e-04 5.23356572e+00] [ 1.07849720e-02 -6.13176392e-04 9.99941652e-01 -2.56900825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38719347000001 meters 0.07773794777416997 Centerline is valid? [True, True] Translation: X:98.65, Y:5.23, Z:-2.57 [[ 9.88191605e-01 -1.52878620e-01 -1.02702853e-02 9.86544374e+01] [ 1.52877454e-01 9.88244741e-01 -9.03078936e-04 5.22793945e+00] [ 1.02876169e-02 -6.77680045e-04 9.99946851e-01 -2.56993720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44719347000002 meters 0.08181594276570987 Centerline is valid? [True, True] Translation: X:98.71, Y:5.23, Z:-2.57 [[ 9.87251689e-01 -1.58836014e-01 -1.02578268e-02 9.87144268e+01] [ 1.58835187e-01 9.87304701e-01 -9.00460377e-04 5.23349254e+00] [ 1.02706261e-02 -7.40322805e-04 9.99946982e-01 -2.57069138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50719347000002 meters 0.08019269674601961 Centerline is valid? [True, True] Translation: X:98.77, Y:5.25, Z:-2.57 [[ 9.87991988e-01 -1.54254183e-01 -8.80216167e-03 9.87730036e+01] [ 1.54253385e-01 9.88031019e-01 -7.73563950e-04 5.25120161e+00] [ 8.81613424e-03 -5.93488248e-04 9.99960961e-01 -2.57183395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56719347 meters 0.07822007746495065 Centerline is valid? [True, True] Translation: X:98.83, Y:5.27, Z:-2.57 [[ 9.88774998e-01 -1.49302401e-01 -5.72688958e-03 9.88328152e+01] [ 1.49301983e-01 9.88791517e-01 -5.02766539e-04 5.26957650e+00] [ 5.73776409e-03 -3.57912989e-04 9.99983475e-01 -2.57022731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62719347000001 meters 0.07706142849280889 Centerline is valid? [True, True] Translation: X:98.89, Y:5.29, Z:-2.57 [[ 9.89423905e-01 -1.44971593e-01 -4.85523151e-03 9.88909168e+01] [ 1.44971237e-01 9.89435778e-01 -4.27067907e-04 5.29161003e+00] [ 4.86585248e-03 -2.81317724e-04 9.99988122e-01 -2.57152979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68719347000001 meters 0.07611354035404665 Centerline is valid? [True, True] Translation: X:98.95, Y:5.31, Z:-2.58 [[ 9.89846871e-01 -1.41975267e-01 -6.79669978e-03 9.89517832e+01] [ 1.41974514e-01 9.89870134e-01 -5.95599288e-04 5.30506599e+00] [ 6.81241049e-03 -3.75406057e-04 9.99976725e-01 -2.57567977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74719347000001 meters 0.07507159281641033 Centerline is valid? [True, True] Translation: X:99.01, Y:5.33, Z:-2.58 [[ 9.90323818e-01 -1.38471581e-01 -9.18453833e-03 9.90105000e+01] [ 1.38470045e-01 9.90366294e-01 -8.06027921e-04 5.32587841e+00] [ 9.20766915e-03 -4.73554787e-04 9.99957496e-01 -2.57798040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80719347000002 meters 0.06679762322067029 Centerline is valid? [True, True] Translation: X:99.07, Y:5.36, Z:-2.57 [[ 9.90625768e-01 -1.35952675e-01 -1.33213179e-02 9.90700979e+01] [ 1.35949348e-01 9.90715111e-01 -1.15920707e-03 5.35515893e+00] [ 1.33552282e-02 -6.62684090e-04 9.99910595e-01 -2.57268403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86719347000002 meters 0.06470308723690185 Centerline is valid? [True, True] Translation: X:99.13, Y:5.38, Z:-2.58 [[ 9.91735954e-01 -1.27354432e-01 -1.55127467e-02 9.91287556e+01] [ 1.27348753e-01 9.91857073e-01 -1.35736956e-03 5.37758388e+00] [ 1.55592945e-02 -6.29376746e-04 9.99878749e-01 -2.57588649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92719347 meters 0.06318095036728134 Centerline is valid? [True, True] Translation: X:99.19, Y:5.40, Z:-2.58 [[ 9.92736607e-01 -1.19317511e-01 -1.54064842e-02 9.91872202e+01] [ 1.19310932e-01 9.92856023e-01 -1.34878586e-03 5.39737957e+00] [ 1.54573544e-02 -4.99172889e-04 9.99880403e-01 -2.57673608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98719347000001 meters 0.06227188639059129 Centerline is valid? [True, True] Translation: X:99.25, Y:5.42, Z:-2.58 [[ 9.93350467e-01 -1.13683767e-01 -1.81893284e-02 9.92481059e+01] [ 1.13673722e-01 9.93516865e-01 -1.58853204e-03 5.41700113e+00] [ 1.82519948e-02 -4.89679621e-04 9.99833299e-01 -2.57918919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04719347000001 meters 0.062288360852801795 Centerline is valid? [True, True] Translation: X:99.31, Y:5.42, Z:-2.58 [[ 9.93017344e-01 -1.16881668e-01 -1.59759209e-02 9.93107819e+01] [ 1.16874387e-01 9.93145730e-01 -1.39183267e-03 5.42055732e+00] [ 1.60290973e-02 -4.85061978e-04 9.99871408e-01 -2.57828788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10719347000001 meters 0.06293093759515261 Centerline is valid? [True, True] Translation: X:99.37, Y:5.42, Z:-2.58 [[ 9.92629297e-01 -1.20572200e-01 -1.22238449e-02 9.93728519e+01] [ 1.20568226e-01 9.92704473e-01 -1.06421194e-03 5.42244256e+00] [ 1.22629799e-02 -4.17439348e-04 9.99924720e-01 -2.57649301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16719347000002 meters 0.0639757348562337 Centerline is valid? [True, True] Translation: X:99.43, Y:5.42, Z:-2.58 [[ 9.92559126e-01 -1.20538041e-01 -1.72325987e-02 9.94328213e+01] [ 1.20530087e-01 9.92708537e-01 -1.50318475e-03 5.42498452e+00] [ 1.72881388e-02 -5.85046891e-04 9.99850378e-01 -2.58369541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22719347000002 meters 0.0631264039081868 Centerline is valid? [True, True] Translation: X:99.50, Y:5.43, Z:-2.58 [[ 9.92792759e-01 -1.18529475e-01 -1.77002905e-02 9.94951349e+01] [ 1.18520830e-01 9.92950371e-01 -1.54037528e-03 5.43072220e+00] [ 1.77580899e-02 -5.68579689e-04 9.99842151e-01 -2.58467899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28719347 meters 0.06403519560451927 Centerline is valid? [True, True] Translation: X:99.56, Y:5.43, Z:-2.58 [[ 9.92450649e-01 -1.21925834e-01 -1.32589921e-02 9.95574099e+01] [ 1.21921296e-01 9.92539101e-01 -1.15305461e-03 5.42611812e+00] [ 1.33006552e-02 -4.72203704e-04 9.99911431e-01 -2.58277216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34719347000001 meters 0.06600930305541203 Centerline is valid? [True, True] Translation: X:99.62, Y:5.42, Z:-2.59 [[ 9.91773712e-01 -1.27388938e-01 -1.25285007e-02 9.96194367e+01] [ 1.27385322e-01 9.91852707e-01 -1.08946803e-03 5.41990930e+00] [ 1.25652135e-02 -5.15441355e-04 9.99920922e-01 -2.58537400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40719347000001 meters 0.07074064020737107 Centerline is valid? [True, True] Translation: X:99.68, Y:5.41, Z:-2.59 [[ 9.90346503e-01 -1.38040259e-01 -1.25972146e-02 9.96810148e+01] [ 1.38037459e-01 9.90426403e-01 -1.09568928e-03 5.40567395e+00] [ 1.26278632e-02 -6.53775454e-04 9.99920052e-01 -2.58971611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46719347000001 meters 0.07321696038477607 Centerline is valid? [True, True] Translation: X:99.74, Y:5.40, Z:-2.59 [[ 9.89756955e-01 -1.42212701e-01 -1.25186954e-02 9.97429271e+01] [ 1.42210280e-01 9.89835872e-01 -1.08791137e-03 5.40207286e+00] [ 1.25461686e-02 -7.03519335e-04 9.99921046e-01 -2.59147146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52719347000001 meters 0.07790072793059441 Centerline is valid? [True, True] Translation: X:99.80, Y:5.40, Z:-2.60 [[ 9.88855090e-01 -1.47788058e-01 -1.80083760e-02 9.98044168e+01] [ 1.47783946e-01 9.89018429e-01 -1.56625426e-03 5.39529738e+00] [ 1.80420894e-02 -1.11255036e-03 9.99836609e-01 -2.59938245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58719347000002 meters 0.08068537220563418 Centerline is valid? [True, True] Translation: X:99.87, Y:5.39, Z:-2.61 [[ 9.88258612e-01 -1.51113935e-01 -2.25719678e-02 9.98650877e+01] [ 1.51108351e-01 9.88515257e-01 -1.96265869e-03 5.39197003e+00] [ 2.26093197e-02 -1.47119848e-03 9.99743294e-01 -2.60627875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64719347000002 meters 0.07842337223046979 Centerline is valid? [True, True] Translation: X:99.93, Y:5.40, Z:-2.60 [[ 9.88576022e-01 -1.49151456e-01 -2.17092776e-02 9.99257444e+01] [ 1.49145851e-01 9.88813409e-01 -1.88614744e-03 5.40409697e+00] [ 2.17477464e-02 -1.37324856e-03 9.99762547e-01 -2.60298599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70719347 meters 0.06887786563394935 Centerline is valid? [True, True] Translation: X:99.98, Y:5.44, Z:-2.60 [[ 9.90555359e-01 -1.35770613e-01 -1.91421425e-02 9.99839266e+01] [ 1.35763741e-01 9.90739843e-01 -1.66409592e-03 5.43525454e+00] [ 1.91908185e-02 -9.50429733e-04 9.99815388e-01 -2.59512227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76719347000001 meters 0.06544260142794633 Centerline is valid? [True, True] Translation: X:100.04, Y:5.45, Z:-2.59 [[ 9.91752642e-01 -1.27416014e-01 -1.38512341e-02 1.00043071e+02] [ 1.27411609e-01 9.91849199e-01 -1.20362060e-03 5.45245349e+00] [ 1.38916960e-02 -5.71114108e-04 9.99903343e-01 -2.59239738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82719347000001 meters 0.0654228710934122 Centerline is valid? [True, True] Translation: X:100.10, Y:5.46, Z:-2.59 [[ 9.91691894e-01 -1.28542560e-01 -4.89874195e-03 1.00102929e+02] [ 1.28542022e-01 9.91703972e-01 -4.25783968e-04 5.46444969e+00] [ 4.91283321e-03 -2.07447688e-04 9.99987910e-01 -2.58571321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88719347000001 meters 0.06826587702326353 Centerline is valid? [True, True] Translation: X:100.16, Y:5.46, Z:-2.59 [[ 9.90632155e-01 -1.36554778e-01 -8.51758138e-04 1.00164588e+02] [ 1.36554766e-01 9.90632520e-01 -7.30919575e-05 5.46355790e+00] [ 8.53760366e-04 -4.39043896e-05 9.99999635e-01 -2.58581381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94719347000002 meters 0.07007517676686578 Centerline is valid? [True, True] Translation: X:100.23, Y:5.46, Z:-2.59 [[ 9.89931576e-01 -1.41546517e-01 -2.40980704e-04 1.00225843e+02] [ 1.41546517e-01 9.89931605e-01 -2.04397877e-05 5.46383370e+00] [ 2.41447595e-04 -1.38759879e-05 9.99999971e-01 -2.58943902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00719347000002 meters 0.0711704347348441 Centerline is valid? [True, True] Translation: X:100.29, Y:5.47, Z:-2.59 [[ 9.89751590e-01 -1.42758897e-01 -3.41864606e-03 1.00286446e+02] [ 1.42758722e-01 9.89757475e-01 -2.96383300e-04 5.47040507e+00] [ 3.42594185e-03 -1.94695700e-04 9.99994112e-01 -2.59350021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06719347 meters 0.0718582606920181 Centerline is valid? [True, True] Translation: X:100.35, Y:5.48, Z:-2.60 [[ 9.90094603e-01 -1.40261705e-01 -6.27150439e-03 1.00346755e+02] [ 1.40261110e-01 9.90114404e-01 -5.36769503e-04 5.47942476e+00] [ 6.28479504e-03 -3.48195579e-04 9.99980190e-01 -2.59910774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12719347000001 meters 0.07118918755976966 Centerline is valid? [True, True] Translation: X:100.41, Y:5.49, Z:-2.60 [[ 9.90383152e-01 -1.37979490e-01 -1.01425799e-02 1.00408357e+02] [ 1.37977740e-01 9.90434943e-01 -8.75457334e-04 5.49167675e+00] [ 1.01663607e-02 -5.32412060e-04 9.99948179e-01 -2.60381087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18719347000001 meters 0.06736481752846565 Centerline is valid? [True, True] Translation: X:100.47, Y:5.52, Z:-2.61 [[ 9.91119644e-01 -1.31661042e-01 -1.86338546e-02 1.00468510e+02] [ 1.31654191e-01 9.91294415e-01 -1.59924813e-03 5.51646350e+00] [ 1.86821946e-02 -8.68178817e-04 9.99825096e-01 -2.60935840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24719347000001 meters 0.06767170486967405 Centerline is valid? [True, True] Translation: X:100.53, Y:5.53, Z:-2.61 [[ 9.91138374e-01 -1.31362827e-01 -1.97111732e-02 1.00530138e+02] [ 1.31355027e-01 9.91333941e-01 -1.69554984e-03 5.52879028e+00] [ 1.97630873e-02 -9.08637175e-04 9.99804278e-01 -2.61209283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30719347000002 meters 0.06774090830748436 Centerline is valid? [True, True] Translation: X:100.59, Y:5.54, Z:-2.61 [[ 9.90720630e-01 -1.34423185e-01 -2.00758788e-02 1.00590646e+02] [ 1.34415717e-01 9.90923525e-01 -1.72709889e-03 5.54313631e+00] [ 2.01258228e-02 -9.87441139e-04 9.99796967e-01 -2.61250380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36719347000002 meters 0.06878159696301375 Centerline is valid? [True, True] Translation: X:100.65, Y:5.55, Z:-2.61 [[ 9.90476866e-01 -1.36921095e-01 -1.44288633e-02 1.00652877e+02] [ 1.36917652e-01 9.90581668e-01 -1.23085754e-03 5.54867255e+00] [ 1.44614978e-02 -7.56430155e-04 9.99895141e-01 -2.61088639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42719347 meters 0.06984528700450529 Centerline is valid? [True, True] Translation: X:100.71, Y:5.56, Z:-2.61 [[ 9.90399187e-01 -1.37722423e-01 -1.19157050e-02 1.00713777e+02] [ 1.37720135e-01 9.90470662e-01 -1.01635330e-03 5.55618047e+00] [ 1.19421309e-02 -6.34437012e-04 9.99928489e-01 -2.61064287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48719347000001 meters 0.06831181419728047 Centerline is valid? [True, True] Translation: X:100.77, Y:5.57, Z:-2.61 [[ 9.90915311e-01 -1.34261952e-01 -7.78294701e-03 1.00774116e+02] [ 1.34260850e-01 9.90945801e-01 -6.66280605e-04 5.56673398e+00] [ 7.80193479e-03 -3.84717427e-04 9.99969490e-01 -2.60911036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54719347000001 meters 0.06689625012837247 Centerline is valid? [True, True] Translation: X:100.83, Y:5.58, Z:-2.61 [[ 9.91617252e-01 -1.29056239e-01 -6.30184305e-03 1.00833900e+02] [ 1.29055412e-01 9.91637237e-01 -5.39314809e-04 5.57771375e+00] [ 6.31874417e-03 -2.78493083e-04 9.99979998e-01 -2.60844754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60719347000001 meters 0.06251386237346244 Centerline is valid? [True, True] Translation: X:100.89, Y:5.60, Z:-2.61 [[ 9.93656910e-01 -1.12177596e-01 -7.88236501e-03 1.00891640e+02] [ 1.12175768e-01 9.93688151e-01 -6.75069027e-04 5.60205408e+00] [ 7.90834033e-03 -2.13423342e-04 9.99968706e-01 -2.61095951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66719347000002 meters 0.06044125644012905 Centerline is valid? [True, True] Translation: X:100.95, Y:5.62, Z:-2.62 [[ 9.95073004e-01 -9.80158584e-02 -1.49200429e-02 1.00952729e+02] [ 9.80078908e-02 9.95184832e-01 -1.26603207e-03 5.62243987e+00] [ 1.49722916e-02 -2.02487597e-04 9.99887888e-01 -2.61738494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72719347000002 meters 0.06021289448818614 Centerline is valid? [True, True] Translation: X:101.01, Y:5.63, Z:-2.62 [[ 9.95761456e-01 -9.05864146e-02 -1.59130069e-02 1.01014406e+02] [ 9.05764702e-02 9.95888594e-01 -1.34601910e-03 5.63217461e+00] [ 1.59695131e-02 -1.01030055e-04 9.99872474e-01 -2.62055636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78719347 meters 0.06051967791128453 Centerline is valid? [True, True] Translation: X:101.08, Y:5.62, Z:-2.62 [[ 9.95026075e-01 -9.89754776e-02 -1.12679132e-02 1.01077112e+02] [ 9.89710882e-02 9.95089858e-01 -9.47870729e-04 5.62443872e+00] [ 1.13064021e-02 -1.72041540e-04 9.99936066e-01 -2.61908679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84719347000001 meters 0.06127587456883485 Centerline is valid? [True, True] Translation: X:101.14, Y:5.61, Z:-2.62 [[ 9.94320727e-01 -1.05759667e-01 -1.18821007e-02 1.01139698e+02] [ 1.05755200e-01 9.94391687e-01 -1.00542624e-03 5.61492511e+00] [ 1.19217957e-02 -2.56877792e-04 9.99928900e-01 -2.62259693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90719347000001 meters 0.06304671426890118 Centerline is valid? [True, True] Translation: X:101.20, Y:5.60, Z:-2.62 [[ 9.93064920e-01 -1.16913849e-01 -1.23781104e-02 1.01201131e+02] [ 1.16909855e-01 9.93141977e-01 -1.04822172e-03 5.60442478e+00] [ 1.24157727e-02 -4.06170877e-04 9.99922839e-01 -2.62207576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96719347000001 meters 0.06739156210231108 Centerline is valid? [True, True] Translation: X:101.26, Y:5.59, Z:-2.63 [[ 9.91927863e-01 -1.26152142e-01 -1.28355595e-02 1.01261802e+02] [ 1.26148610e-01 9.92010759e-01 -1.08766560e-03 5.58928085e+00] [ 1.28702245e-02 -5.40302185e-04 9.99917029e-01 -2.62679367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02719347000001 meters 0.0701548819736934 Centerline is valid? [True, True] Translation: X:101.32, Y:5.58, Z:-2.63 [[ 9.91141238e-01 -1.32046218e-01 -1.42422679e-02 1.01323171e+02] [ 1.32042484e-01 9.91243324e-01 -1.20630978e-03 5.58207176e+00] [ 1.42768416e-02 -6.84961068e-04 9.99897846e-01 -2.63131939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08719347000002 meters 0.0674529393170712 Centerline is valid? [True, True] Translation: X:101.39, Y:5.59, Z:-2.63 [[ 9.90936395e-01 -1.33436878e-01 -1.54809687e-02 1.01385514e+02] [ 1.33432687e-01 9.91057015e-01 -1.30793122e-03 5.58788153e+00] [ 1.55170489e-02 -7.69590600e-04 9.99879307e-01 -2.62851649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14719347000002 meters 0.06664207077941701 Centerline is valid? [True, True] Translation: X:101.45, Y:5.60, Z:-2.63 [[ 9.91254658e-01 -1.30718016e-01 -1.80832312e-02 1.01447575e+02] [ 1.30711869e-01 9.91419224e-01 -1.52657617e-03 5.59578158e+00] [ 1.81276140e-02 -8.50467203e-04 9.99835320e-01 -2.62974653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20719347 meters 0.06505105688832424 Centerline is valid? [True, True] Translation: X:101.51, Y:5.60, Z:-2.63 [[ 9.91987781e-01 -1.25435117e-01 -1.50423992e-02 1.01508419e+02] [ 1.25430230e-01 9.92101628e-01 -1.27164254e-03 5.60082851e+00] [ 1.50830974e-02 -6.25317726e-04 9.99886048e-01 -2.63086243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26719347000001 meters 0.0642384541687193 Centerline is valid? [True, True] Translation: X:101.57, Y:5.61, Z:-2.63 [[ 9.92601276e-01 -1.20527700e-01 -1.46894542e-02 1.01568387e+02] [ 1.20522503e-01 9.92709819e-01 -1.24177543e-03 5.60695406e+00] [ 1.47320337e-02 -5.37821907e-04 9.99891333e-01 -2.63158678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32719347000001 meters 0.06468568360534183 Centerline is valid? [True, True] Translation: X:101.63, Y:5.61, Z:-2.63 [[ 9.92443243e-01 -1.22215371e-01 -1.09459282e-02 1.01630400e+02] [ 1.22212620e-01 9.92503514e-01 -9.22368089e-04 5.60875508e+00] [ 1.09765997e-02 -4.22332583e-04 9.99939666e-01 -2.62995313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38719347000001 meters 0.06677753816826784 Centerline is valid? [True, True] Translation: X:101.69, Y:5.60, Z:-2.63 [[ 9.91175015e-01 -1.32192469e-01 -9.86105773e-03 1.01691515e+02] [ 1.32190705e-01 9.91223952e-01 -8.33232512e-04 5.60102237e+00] [ 9.88466367e-03 -4.77660929e-04 9.99951031e-01 -2.62934927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44719347000002 meters 0.06822635601552011 Centerline is valid? [True, True] Translation: X:101.75, Y:5.60, Z:-2.63 [[ 9.90308362e-01 -1.38686237e-01 -7.44818479e-03 1.01752968e+02] [ 1.38685421e-01 9.90336286e-01 -6.28421194e-04 5.60177582e+00] [ 7.46336104e-03 -4.10623880e-04 9.99972064e-01 -2.62707033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50719347000002 meters 0.06889746491203426 Centerline is valid? [True, True] Translation: X:101.81, Y:5.61, Z:-2.63 [[ 9.90111559e-01 -1.40083571e-01 -7.46277255e-03 1.01814553e+02] [ 1.40082854e-01 9.90139590e-01 -6.21339011e-04 5.60827173e+00] [ 7.47622595e-03 -4.30211542e-04 9.99971960e-01 -2.62844353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56719347 meters 0.07001161484016032 Centerline is valid? [True, True] Translation: X:101.88, Y:5.61, Z:-2.63 [[ 9.90048285e-01 -1.40454170e-01 -8.77608561e-03 1.01875806e+02] [ 1.40453202e-01 9.90087050e-01 -7.29602100e-04 5.61263104e+00] [ 8.79156436e-03 -5.10288016e-04 9.99961223e-01 -2.63381729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62719347000001 meters 0.07238655984398762 Centerline is valid? [True, True] Translation: X:101.94, Y:5.62, Z:-2.64 [[ 9.89366851e-01 -1.44806844e-01 -1.35724551e-02 1.01936343e+02] [ 1.44804817e-01 9.89459586e-01 -1.13715765e-03 5.61819374e+00] [ 1.35940640e-02 -8.40290798e-04 9.99907243e-01 -2.63862848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68719347000001 meters 0.07550111905061249 Centerline is valid? [True, True] Translation: X:102.00, Y:5.62, Z:-2.64 [[ 9.88093362e-01 -1.53092485e-01 -1.53035712e-02 1.01996594e+02] [ 1.53090883e-01 9.88211281e-01 -1.28301855e-03 5.62299273e+00] [ 1.53195822e-02 -1.07509512e-03 9.99882070e-01 -2.64060317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74719347000001 meters 0.07744597883350095 Centerline is valid? [True, True] Translation: X:102.06, Y:5.63, Z:-2.64 [[ 9.87350189e-01 -1.58003073e-01 -1.32148944e-02 1.02056891e+02] [ 1.58002319e-01 9.87438120e-01 -1.10768929e-03 5.62737040e+00] [ 1.32239088e-02 -9.94306733e-04 9.99912066e-01 -2.64113516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80719347000002 meters 0.07965852705875949 Centerline is valid? [True, True] Translation: X:102.12, Y:5.63, Z:-2.64 [[ 9.86840245e-01 -1.61254963e-01 -1.19652973e-02 1.02117297e+02] [ 1.61254589e-01 9.86912333e-01 -1.00239652e-03 5.63482201e+00] [ 1.19703409e-02 -9.40253867e-04 9.99927911e-01 -2.64295048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86719347000002 meters 0.07912067327150521 Centerline is valid? [True, True] Translation: X:102.18, Y:5.65, Z:-2.64 [[ 9.86672334e-01 -1.62042109e-01 -1.48344272e-02 1.02177226e+02] [ 1.62041625e-01 9.86783141e-01 -1.24257535e-03 5.64946052e+00] [ 1.48397122e-02 -1.17777997e-03 9.99889192e-01 -2.64457308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92719347 meters 0.07918966146024807 Centerline is valid? [True, True] Translation: X:102.24, Y:5.66, Z:-2.65 [[ 9.86974079e-01 -1.60261947e-01 -1.40810136e-02 1.02237671e+02] [ 1.60261346e-01 9.87073914e-01 -1.17840155e-03 5.66117382e+00] [ 1.40878541e-02 -1.09359040e-03 9.99900163e-01 -2.64822533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98719347000001 meters 0.07680086708219903 Centerline is valid? [True, True] Translation: X:102.30, Y:5.69, Z:-2.65 [[ 9.88104916e-01 -1.52703561e-01 -1.81740768e-02 1.02295004e+02] [ 1.52701248e-01 9.88271222e-01 -1.52306772e-03 5.68580794e+00] [ 1.81934950e-02 -1.27025351e-03 9.99833678e-01 -2.65133167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04719347000001 meters 0.07144406432794873 Centerline is valid? [True, True] Translation: X:102.35, Y:5.71, Z:-2.65 [[ 9.89076237e-01 -1.46380983e-01 -1.73437596e-02 1.02354023e+02] [ 1.46377930e-01 9.89227675e-01 -1.45222935e-03 5.71340316e+00] [ 1.73695058e-02 -1.10237808e-03 9.99848531e-01 -2.64671877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10719347000001 meters 0.0709167610413342 Centerline is valid? [True, True] Translation: X:102.41, Y:5.73, Z:-2.65 [[ 9.90576840e-01 -1.36311397e-01 -1.32938394e-02 1.02412144e+02] [ 1.36308682e-01 9.90665787e-01 -1.11431081e-03 5.73164362e+00] [ 1.33216452e-02 -7.08255248e-04 9.99911012e-01 -2.64987924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16719347000002 meters 0.06400416290233979 Centerline is valid? [True, True] Translation: X:102.47, Y:5.77, Z:-2.65 [[ 9.92083607e-01 -1.24747526e-01 -1.44281723e-02 1.02470540e+02] [ 1.24743125e-01 9.92188336e-01 -1.20809406e-03 5.76646609e+00] [ 1.44661710e-02 -6.01284994e-04 9.99895179e-01 -2.64610462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22719347000002 meters 0.06271459244409869 Centerline is valid? [True, True] Translation: X:102.53, Y:5.78, Z:-2.65 [[ 9.93101487e-01 -1.16333065e-01 -1.46988193e-02 1.02528470e+02] [ 1.16327563e-01 9.93210139e-01 -1.23168703e-03 5.78400202e+00] [ 1.47423023e-02 -4.86687604e-04 9.99891208e-01 -2.64962809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28719347 meters 0.06267621764237019 Centerline is valid? [True, True] Translation: X:102.59, Y:5.79, Z:-2.66 [[ 9.93537160e-01 -1.12346403e-01 -1.61925400e-02 1.02588774e+02] [ 1.12339367e-01 9.93668986e-01 -1.34634667e-03 5.79195775e+00] [ 1.62412820e-02 -4.81414243e-04 9.99867986e-01 -2.65669047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34719347000001 meters 0.06198442214184208 Centerline is valid? [True, True] Translation: X:102.65, Y:5.80, Z:-2.65 [[ 9.93396794e-01 -1.13702500e-01 -1.53150430e-02 1.02651250e+02] [ 1.13696449e-01 9.93514725e-01 -1.26806173e-03 5.79565103e+00] [ 1.53599025e-02 -4.81577534e-04 9.99881914e-01 -2.65458160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40719347000001 meters 0.06214946960008879 Centerline is valid? [True, True] Translation: X:102.71, Y:5.80, Z:-2.65 [[ 9.93299516e-01 -1.14563621e-01 -1.52068560e-02 1.02713214e+02] [ 1.14557824e-01 9.93415790e-01 -1.25465833e-03 5.80020948e+00] [ 1.52504690e-02 -4.95812815e-04 9.99883582e-01 -2.65180780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46719347000001 meters 0.0630447181589416 Centerline is valid? [True, True] Translation: X:102.77, Y:5.80, Z:-2.66 [[ 9.93543062e-01 -1.11895720e-01 -1.87491699e-02 1.02774803e+02] [ 1.11886483e-01 9.93719795e-01 -1.54424619e-03 5.79628745e+00] [ 1.88042158e-02 -5.63503590e-04 9.99823026e-01 -2.66219472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52719347000001 meters 0.06149938622647596 Centerline is valid? [True, True] Translation: X:102.84, Y:5.80, Z:-2.66 [[ 9.93541254e-01 -1.12000349e-01 -1.82125720e-02 1.02837474e+02] [ 1.11991767e-01 9.93708012e-01 -1.49367304e-03 5.79949721e+00] [ 1.82652706e-02 -5.55632330e-04 9.99833022e-01 -2.65803944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58719347000002 meters 0.06235373339135942 Centerline is valid? [True, True] Translation: X:102.90, Y:5.80, Z:-2.66 [[ 9.92994298e-01 -1.17025050e-01 -1.63542910e-02 1.02900402e+02] [ 1.17018760e-01 9.93128795e-01 -1.34427099e-03 5.79650670e+00] [ 1.63992307e-02 -5.78905437e-04 9.99865356e-01 -2.65517550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64719347000002 meters 0.06487329207272216 Centerline is valid? [True, True] Translation: X:102.96, Y:5.79, Z:-2.66 [[ 9.91995875e-01 -1.24867731e-01 -1.87678867e-02 1.02962392e+02] [ 1.24860830e-01 9.92173065e-01 -1.54362220e-03 5.78879937e+00] [ 1.88137402e-02 -8.12107057e-04 9.99822676e-01 -2.65856461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70719347 meters 0.06981183648801138 Centerline is valid? [True, True] Translation: X:103.02, Y:5.78, Z:-2.66 [[ 9.90104415e-01 -1.38904398e-01 -1.99703800e-02 1.03024646e+02] [ 1.38899426e-01 9.90305130e-01 -1.64258596e-03 5.77521904e+00] [ 2.00049322e-02 -1.14754272e-03 9.99799223e-01 -2.66179919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76719347000001 meters 0.07118322399326071 Centerline is valid? [True, True] Translation: X:103.09, Y:5.77, Z:-2.66 [[ 9.89641841e-01 -1.42112725e-01 -2.03223796e-02 1.03085770e+02] [ 1.42108260e-01 9.89849711e-01 -1.67105271e-03 5.77456710e+00] [ 2.03535794e-02 -1.23423433e-03 9.99792083e-01 -2.66357042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82719347000001 meters 0.07064385635513801 Centerline is valid? [True, True] Translation: X:103.15, Y:5.78, Z:-2.67 [[ 9.90401700e-01 -1.36691671e-01 -2.04904728e-02 1.03145063e+02] [ 1.36685951e-01 9.90612996e-01 -1.68602879e-03 5.78277865e+00] [ 2.05285947e-02 -1.13091398e-03 9.99788627e-01 -2.66645690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88719347000001 meters 0.06593723366621464 Centerline is valid? [True, True] Translation: X:103.20, Y:5.81, Z:-2.66 [[ 9.92342898e-01 -1.21581872e-01 -2.17582362e-02 1.03203688e+02] [ 1.21571801e-01 9.92581026e-01 -1.78995002e-03 5.80566023e+00] [ 2.18144379e-02 -8.68943768e-04 9.99761659e-01 -2.66364512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94719347000002 meters 0.06411906578536597 Centerline is valid? [True, True] Translation: X:103.26, Y:5.82, Z:-2.66 [[ 9.93423632e-01 -1.12803110e-01 -1.96200623e-02 1.03263513e+02] [ 1.12793207e-01 9.93617173e-01 -1.61412195e-03 5.81789580e+00] [ 1.96769088e-02 -6.09502867e-04 9.99806205e-01 -2.66300477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00719347000002 meters 0.06209294421567483 Centerline is valid? [True, True] Translation: X:103.32, Y:5.83, Z:-2.66 [[ 9.94565386e-01 -1.02355270e-01 -1.90549858e-02 1.03323255e+02] [ 1.02344024e-01 9.94747830e-01 -1.56701110e-03 5.82964744e+00] [ 1.91152976e-02 -3.91668927e-04 9.99817209e-01 -2.66131997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06719347 meters 0.062306119000864295 Centerline is valid? [True, True] Translation: X:103.38, Y:5.84, Z:-2.67 [[ 9.95503355e-01 -9.23545617e-02 -2.10643140e-02 1.03384330e+02] [ 9.23388535e-02 9.95726157e-01 -1.71922819e-03 5.83984125e+00] [ 2.11330670e-02 -2.33557172e-04 9.99776645e-01 -2.66712659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12719347000001 meters 0.06224533743130626 Centerline is valid? [True, True] Translation: X:103.45, Y:5.83, Z:-2.67 [[ 9.95552383e-01 -9.18461909e-02 -2.09697477e-02 1.03447234e+02] [ 9.18304431e-02 9.95773182e-01 -1.71472419e-03 5.83445386e+00] [ 2.10386033e-02 -2.18563471e-04 9.99778640e-01 -2.66909804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18719347000001 meters 0.06249799394691951 Centerline is valid? [True, True] Translation: X:103.51, Y:5.83, Z:-2.67 [[ 9.95241359e-01 -9.50879154e-02 -2.12820640e-02 1.03509570e+02] [ 9.50725456e-02 9.95468834e-01 -1.73511508e-03 5.82908065e+00] [ 2.13506199e-02 -2.96481711e-04 9.99772006e-01 -2.67142394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24719347000001 meters 0.0634218553898875 Centerline is valid? [True, True] Translation: X:103.57, Y:5.82, Z:-2.67 [[ 9.94174658e-01 -1.05264326e-01 -2.31553724e-02 1.03572348e+02] [ 1.05248838e-01 9.94444121e-01 -1.88998771e-03 5.81568464e+00] [ 2.32256722e-02 -5.58098146e-04 9.99730092e-01 -2.67072697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30719347000002 meters 0.06576428440500327 Centerline is valid? [True, True] Translation: X:103.63, Y:5.80, Z:-2.67 [[ 9.92814005e-01 -1.17273921e-01 -2.38155226e-02 1.03634722e+02] [ 1.17260964e-01 9.93099232e-01 -1.94470000e-03 5.79825829e+00] [ 2.38792398e-02 -8.61905739e-04 9.99714479e-01 -2.67448129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36719347000002 meters 0.06781099982615652 Centerline is valid? [True, True] Translation: X:103.70, Y:5.79, Z:-2.68 [[ 9.91905506e-01 -1.25308862e-01 -2.05220705e-02 1.03696800e+02] [ 1.25301006e-01 9.92117361e-01 -1.67329385e-03 5.78606291e+00] [ 2.05699809e-02 -9.11686696e-04 9.99788000e-01 -2.67564535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42719347 meters 0.06904338009744825 Centerline is valid? [True, True] Translation: X:103.76, Y:5.78, Z:-2.68 [[ 9.91549425e-01 -1.28254518e-01 -1.95068441e-02 1.03759196e+02] [ 1.28248017e-01 9.91740854e-01 -1.58905699e-03 5.78134715e+00] [ 1.95495379e-02 -9.26085521e-04 9.99808461e-01 -2.67556058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48719347000001 meters 0.0685546743060116 Centerline is valid? [True, True] Translation: X:103.82, Y:5.78, Z:-2.68 [[ 9.91906336e-01 -1.25381398e-01 -2.00331143e-02 1.03820308e+02] [ 1.25373963e-01 9.92108213e-01 -1.63164422e-03 5.78404171e+00] [ 2.00795951e-02 -8.93192690e-04 9.99797986e-01 -2.67892795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54719347000001 meters 0.06777784143915085 Centerline is valid? [True, True] Translation: X:103.88, Y:5.78, Z:-2.68 [[ 9.92538615e-01 -1.20639042e-01 -1.77008056e-02 1.03880485e+02] [ 1.20632457e-01 9.92696191e-01 -1.44319468e-03 5.78082889e+00] [ 1.77456279e-02 -7.02865227e-04 9.99842287e-01 -2.68444587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60719347000001 meters 0.06736627738781598 Centerline is valid? [True, True] Translation: X:103.94, Y:5.79, Z:-2.68 [[ 9.92773422e-01 -1.19001809e-01 -1.54758225e-02 1.03942050e+02] [ 1.18996619e-01 9.92893861e-01 -1.25904868e-03 5.78552551e+00] [ 1.55156782e-02 -5.91620499e-04 9.99879450e-01 -2.68166549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66719347000002 meters 0.06709255986072539 Centerline is valid? [True, True] Translation: X:104.00, Y:5.79, Z:-2.69 [[ 9.93196776e-01 -1.15093456e-01 -1.77104418e-02 1.04003564e+02] [ 1.15086053e-01 9.93354482e-01 -1.44001975e-03 5.78514419e+00] [ 1.77584836e-02 -6.08001882e-04 9.99842121e-01 -2.68909348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72719347000002 meters 0.06639986635622638 Centerline is valid? [True, True] Translation: X:104.07, Y:5.79, Z:-2.69 [[ 9.93368949e-01 -1.13571602e-01 -1.78779929e-02 1.04065687e+02] [ 1.13563847e-01 9.93529640e-01 -1.45170670e-03 5.78885699e+00] [ 1.79271885e-02 -5.88213287e-04 9.99839122e-01 -2.69132936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78719347000002 meters 0.06379250743881246 Centerline is valid? [True, True] Translation: X:104.13, Y:5.80, Z:-2.69 [[ 9.93966475e-01 -1.08510440e-01 -1.60040990e-02 1.04126379e+02] [ 1.08503556e-01 9.94095210e-01 -1.30040440e-03 5.79624725e+00] [ 1.60507056e-02 -4.43943281e-04 9.99871081e-01 -2.68788217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84719347000001 meters 0.06226483755932362 Centerline is valid? [True, True] Translation: X:104.19, Y:5.81, Z:-2.68 [[ 9.95224041e-01 -9.71589154e-02 -9.44735517e-03 1.04185571e+02] [ 9.71560011e-02 9.95268869e-01 -7.68021935e-04 5.80726986e+00] [ 9.47727868e-03 -1.53513356e-04 9.99955078e-01 -2.68486711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90719347000001 meters 0.061822005038230696 Centerline is valid? [True, True] Translation: X:104.25, Y:5.81, Z:-2.69 [[ 9.95673601e-01 -9.26424697e-02 -7.17310991e-03 1.04246801e+02] [ 9.26406824e-02 9.95699435e-01 -5.81747327e-04 5.81251563e+00] [ 7.19615600e-03 -8.52913413e-05 9.99974104e-01 -2.68662978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96719347000001 meters 0.06240238720505707 Centerline is valid? [True, True] Translation: X:104.31, Y:5.80, Z:-2.69 [[ 9.95057869e-01 -9.91353823e-02 -5.65804173e-03 1.04310006e+02] [ 9.91343849e-02 9.95073949e-01 -4.57153261e-04 5.79912120e+00] [ 5.67548999e-03 -1.06012537e-04 9.99983889e-01 -2.69372494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02719347000001 meters 0.06653562389891941 Centerline is valid? [True, True] Translation: X:104.37, Y:5.78, Z:-2.70 [[ 9.93195612e-01 -1.16244568e-01 -7.04811908e-03 1.04371532e+02] [ 1.16243433e-01 9.93220588e-01 -5.71926150e-04 5.78040878e+00] [ 7.06682029e-03 -2.51263016e-04 9.99974998e-01 -2.69721090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08719347000002 meters 0.07056080958310755 Centerline is valid? [True, True] Translation: X:104.43, Y:5.77, Z:-2.70 [[ 9.91767143e-01 -1.27618124e-01 -1.05616768e-02 1.04433044e+02] [ 1.27616217e-01 9.91823254e-01 -8.57047564e-04 5.76883589e+00] [ 1.05846914e-02 -4.97849619e-04 9.99943857e-01 -2.70220382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14719347000002 meters 0.07425762207612187 Centerline is valid? [True, True] Translation: X:104.49, Y:5.76, Z:-2.71 [[ 9.90343800e-01 -1.37683130e-01 -1.62022711e-02 1.04494525e+02] [ 1.37679986e-01 9.90475892e-01 -1.31465226e-03 5.75777437e+00] [ 1.62289644e-02 -9.28770753e-04 9.99867870e-01 -2.70816542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20719347 meters 0.07281287160635974 Centerline is valid? [True, True] Translation: X:104.55, Y:5.77, Z:-2.71 [[ 9.89802827e-01 -1.41533881e-01 -1.60786972e-02 1.04554853e+02] [ 1.41531303e-01 9.89932922e-01 -1.30388147e-03 5.76593839e+00] [ 1.61013751e-02 -9.85053393e-04 9.99869879e-01 -2.70550239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26719347000001 meters 0.07521256495429203 Centerline is valid? [True, True] Translation: X:104.62, Y:5.76, Z:-2.71 [[ 9.89092473e-01 -1.46678593e-01 -1.34710874e-02 1.04615187e+02] [ 1.46677252e-01 9.89183800e-01 -1.09286323e-03 5.76461248e+00] [ 1.34856811e-02 -8.94959295e-04 9.99908664e-01 -2.70525392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32719347000001 meters 0.07692535931953348 Centerline is valid? [True, True] Translation: X:104.68, Y:5.77, Z:-2.71 [[ 9.88525432e-01 -1.50623178e-01 -1.14073957e-02 1.04676184e+02] [ 1.50622499e-01 9.88590921e-01 -9.23578652e-04 5.76733572e+00] [ 1.14163601e-02 -8.05229454e-04 9.99934507e-01 -2.70659499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38719347000001 meters 0.07863633298464318 Centerline is valid? [True, True] Translation: X:104.74, Y:5.77, Z:-2.71 [[ 9.87743683e-01 -1.55761444e-01 -1.00394008e-02 1.04736531e+02] [ 1.55761172e-01 9.87794409e-01 -8.13801400e-04 5.77281869e+00] [ 1.00436228e-02 -7.59921637e-04 9.99949273e-01 -2.70705597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44719347000002 meters 0.07507970597749597 Centerline is valid? [True, True] Translation: X:104.80, Y:5.79, Z:-2.70 [[ 9.87996869e-01 -1.54322603e-01 -6.83532215e-03 1.04796200e+02] [ 1.54322446e-01 9.88020383e-01 -5.53456029e-04 5.78968157e+00] [ 6.83884838e-03 -5.08030812e-04 9.99976486e-01 -2.70284119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50719347000002 meters 0.07324499048590316 Centerline is valid? [True, True] Translation: X:104.85, Y:5.81, Z:-2.70 [[ 9.89331827e-01 -1.45631010e-01 -3.76089678e-03 1.04854145e+02] [ 1.45630897e-01 9.89338945e-01 -3.05403257e-04 5.81135552e+00] [ 3.76527784e-03 -2.45557609e-04 9.99992881e-01 -2.70010895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56719347 meters 0.07259012057346023 Centerline is valid? [True, True] Translation: X:104.91, Y:5.83, Z:-2.70 [[ 9.89990398e-01 -1.41063024e-01 -4.49828106e-03 1.04913351e+02] [ 1.41062818e-01 9.90000580e-01 -3.64671937e-04 5.82539984e+00] [ 4.50474258e-03 -2.73518487e-04 9.99989816e-01 -2.70413053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62719347000001 meters 0.07133538221058475 Centerline is valid? [True, True] Translation: X:104.97, Y:5.84, Z:-2.71 [[ 9.90228691e-01 -1.39380349e-01 -4.50089833e-03 1.04974814e+02] [ 1.39380139e-01 9.90238883e-01 -3.61852559e-04 5.84236270e+00] [ 4.50739967e-03 -2.69019047e-04 9.99989805e-01 -2.70757708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68719347000001 meters 0.07274482257799984 Centerline is valid? [True, True] Translation: X:105.03, Y:5.85, Z:-2.71 [[ 9.89746868e-01 -1.42801207e-01 -2.99221641e-03 1.05034913e+02] [ 1.42801129e-01 9.89751373e-01 -2.40756885e-04 5.85327887e+00] [ 2.99593067e-03 -1.89003509e-04 9.99995494e-01 -2.70605611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74719347000001 meters 0.0766067816874119 Centerline is valid? [True, True] Translation: X:105.09, Y:5.86, Z:-2.71 [[ 9.88284263e-01 -1.52497057e-01 -6.23398151e-03 1.05094851e+02] [ 1.52496896e-01 9.88303821e-01 -5.03843525e-04 5.85751774e+00] [ 6.23790240e-03 -4.52722205e-04 9.99980442e-01 -2.71196310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80719347000002 meters 0.08038638404308648 Centerline is valid? [True, True] Translation: X:105.16, Y:5.86, Z:-2.72 [[ 9.87258835e-01 -1.58791584e-01 -1.02579847e-02 1.05155458e+02] [ 1.58791484e-01 9.87311793e-01 -8.29436906e-04 5.86012137e+00] [ 1.02595369e-02 -8.10011699e-04 9.99947041e-01 -2.71777752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86719347000002 meters 0.08215040576929071 Centerline is valid? [True, True] Translation: X:105.22, Y:5.87, Z:-2.72 [[ 9.86681547e-01 -1.62065615e-01 -1.39377751e-02 1.05216044e+02] [ 1.62065766e-01 9.86779316e-01 -1.12615538e-03 5.86882743e+00] [ 1.39360192e-02 -1.14767947e-03 9.99902230e-01 -2.72185776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92719347 meters 0.08013678433450584 Centerline is valid? [True, True] Translation: X:105.28, Y:5.89, Z:-2.72 [[ 9.86809459e-01 -1.61477981e-01 -1.14870698e-02 1.05276586e+02] [ 1.61478073e-01 9.86875866e-01 -9.25568114e-04 5.88935495e+00] [ 1.14857709e-02 -9.41550532e-04 9.99933593e-01 -2.71805439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98719347000001 meters 0.07645700193362914 Centerline is valid? [True, True] Translation: X:105.33, Y:5.92, Z:-2.72 [[ 9.88242192e-01 -1.52397492e-01 -1.23439970e-02 1.05334886e+02] [ 1.52396866e-01 9.88318876e-01 -9.96876064e-04 5.91552691e+00] [ 1.23517267e-02 -8.96031474e-04 9.99923313e-01 -2.71913137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04719347000001 meters 0.07173344142521294 Centerline is valid? [True, True] Translation: X:105.39, Y:5.94, Z:-2.72 [[ 9.89644653e-01 -1.42932141e-01 -1.31857558e-02 1.05393589e+02] [ 1.42930595e-01 9.89732142e-01 -1.06441190e-03 5.93911238e+00] [ 1.32025050e-02 -8.31258376e-04 9.99912498e-01 -2.72005511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10719347000001 meters 0.06688481330439573 Centerline is valid? [True, True] Translation: X:105.45, Y:5.98, Z:-2.72 [[ 9.92319506e-01 -1.23216914e-01 -1.09357511e-02 1.05452071e+02] [ 1.23214657e-01 9.92379650e-01 -8.82471397e-04 5.97513321e+00] [ 1.09611523e-02 -4.71751241e-04 9.99939813e-01 -2.71641858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16719347000002 meters 0.06422947052250584 Centerline is valid? [True, True] Translation: X:105.51, Y:6.00, Z:-2.72 [[ 9.93639696e-01 -1.11691445e-01 -1.43239375e-02 1.05511567e+02] [ 1.11686372e-01 9.93742833e-01 -1.15607271e-03 5.99740005e+00] [ 1.43634336e-02 -4.51068875e-04 9.99896739e-01 -2.71751441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22719347000002 meters 0.06426346770149777 Centerline is valid? [True, True] Translation: X:105.57, Y:6.01, Z:-2.72 [[ 9.94170843e-01 -1.07005694e-01 -1.31952826e-02 1.05570354e+02] [ 1.07000974e-01 9.94258345e-01 -1.06516420e-03 6.00598470e+00] [ 1.32334985e-02 -3.52952905e-04 9.99912371e-01 -2.72211417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28719347000002 meters 0.06444610160290754 Centerline is valid? [True, True] Translation: X:105.63, Y:6.01, Z:-2.72 [[ 9.93745347e-01 -1.11406535e-01 -7.66612208e-03 1.05633138e+02] [ 1.11405141e-01 9.93774885e-01 -6.09960385e-04 6.00883001e+00] [ 7.68635317e-03 -2.47900114e-04 9.99970429e-01 -2.71642651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34719347000001 meters 0.06624963542368194 Centerline is valid? [True, True] Translation: X:105.69, Y:6.00, Z:-2.72 [[ 9.93094761e-01 -1.16902455e-01 -9.82915540e-03 1.05694238e+02] [ 1.16900350e-01 9.93143335e-01 -7.90386343e-04 6.00384399e+00] [ 9.85415828e-03 -3.64103172e-04 9.99951380e-01 -2.72260431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40719347000001 meters 0.06503868480690364 Centerline is valid? [True, True] Translation: X:105.76, Y:6.01, Z:-2.72 [[ 9.92661540e-01 -1.20144000e-01 -1.37290664e-02 1.05755413e+02] [ 1.20140209e-01 9.92756321e-01 -1.10352439e-03 6.00821542e+00] [ 1.37621993e-02 -5.53986695e-04 9.99905143e-01 -2.72232392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46719347000001 meters 0.06633558752301061 Centerline is valid? [True, True] Translation: X:105.82, Y:6.01, Z:-2.72 [[ 9.92250141e-01 -1.23007732e-01 -1.75714676e-02 1.05815686e+02] [ 1.23001969e-01 9.92405421e-01 -1.41247565e-03 6.01117352e+00] [ 1.76117651e-02 -7.59795951e-04 9.99844612e-01 -2.72330328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52719347000001 meters 0.06987513976658952 Centerline is valid? [True, True] Translation: X:105.88, Y:6.00, Z:-2.74 [[ 9.92358692e-01 -1.22109128e-01 -1.77083887e-02 1.05877364e+02] [ 1.22103322e-01 9.92516389e-01 -1.41278204e-03 6.00353258e+00] [ 1.77483796e-02 -7.60266542e-04 9.99842196e-01 -2.73549193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58719347000002 meters 0.06708883394939567 Centerline is valid? [True, True] Translation: X:105.94, Y:6.01, Z:-2.73 [[ 9.92314278e-01 -1.21806793e-01 -2.18054777e-02 1.05937807e+02] [ 1.21797798e-01 9.92553400e-01 -1.74506575e-03 6.01356390e+00] [ 2.18556619e-02 -9.24205506e-04 9.99760709e-01 -2.73309657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64719347000002 meters 0.0678275141588332 Centerline is valid? [True, True] Translation: X:106.00, Y:6.02, Z:-2.74 [[ 9.92258795e-01 -1.22061538e-01 -2.28793440e-02 1.05999131e+02] [ 1.22051826e-01 9.92522049e-01 -1.82565287e-03 6.01579150e+00] [ 2.29310954e-02 -9.80945592e-04 9.99736567e-01 -2.73659132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70719347 meters 0.06685296353468138 Centerline is valid? [True, True] Translation: X:106.06, Y:6.02, Z:-2.73 [[ 9.91795055e-01 -1.26243638e-01 -2.01274328e-02 1.06061876e+02] [ 1.26237181e-01 9.91998804e-01 -1.59612901e-03 6.01641118e+00] [ 2.01678903e-02 -9.57797507e-04 9.99796149e-01 -2.73244340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76719347000001 meters 0.06775018079868379 Centerline is valid? [True, True] Translation: X:106.12, Y:6.01, Z:-2.73 [[ 9.91276395e-01 -1.30648940e-01 -1.73770911e-02 1.06124551e+02] [ 1.30644756e-01 9.91428284e-01 -1.38063988e-03 6.01169514e+00] [ 1.74085188e-02 -9.01630113e-04 9.99848054e-01 -2.73327754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82719347000001 meters 0.0688477755177697 Centerline is valid? [True, True] Translation: X:106.19, Y:6.01, Z:-2.73 [[ 9.90923042e-01 -1.33942695e-01 -1.14402785e-02 1.06187026e+02] [ 1.33941203e-01 9.90988872e-01 -9.00009293e-04 6.01034248e+00] [ 1.14577383e-02 -6.40484715e-04 9.99934153e-01 -2.72796667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88719347000001 meters 0.07061691643774216 Centerline is valid? [True, True] Translation: X:106.25, Y:6.01, Z:-2.73 [[ 9.90318235e-01 -1.38474512e-01 -9.72635907e-03 1.06248791e+02] [ 1.38473607e-01 9.90365825e-01 -7.69688907e-04 6.00797965e+00] [ 9.73923593e-03 -5.84607063e-04 9.99952402e-01 -2.72875631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94719347000002 meters 0.07396177397712958 Centerline is valid? [True, True] Translation: X:106.31, Y:6.00, Z:-2.74 [[ 9.89684118e-01 -1.42983828e-01 -8.99839821e-03 1.06309345e+02] [ 1.42983231e-01 9.89724854e-01 -7.13029095e-04 5.99986592e+00] [ 9.00788999e-03 -5.80946475e-04 9.99959259e-01 -2.73583793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00719347000002 meters 0.07392112877145283 Centerline is valid? [True, True] Translation: X:106.37, Y:6.01, Z:-2.74 [[ 9.89180256e-01 -1.46203530e-01 -1.21222094e-02 1.06370113e+02] [ 1.46202691e-01 9.89254189e-01 -9.60162323e-04 6.00619359e+00] [ 1.21323256e-02 -8.22526029e-04 9.99926062e-01 -2.73729883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06719347 meters 0.07242320842312544 Centerline is valid? [True, True] Translation: X:106.43, Y:6.02, Z:-2.74 [[ 9.89408317e-01 -1.44645820e-01 -1.21971126e-02 1.06432118e+02] [ 1.44644896e-01 9.89483162e-01 -9.62520375e-04 6.01675987e+00] [ 1.22080621e-02 -8.11924429e-04 9.99925149e-01 -2.73765282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12719347000001 meters 0.07369408862190532 Centerline is valid? [True, True] Translation: X:106.49, Y:6.02, Z:-2.75 [[ 9.89709232e-01 -1.42338557e-01 -1.46755593e-02 1.06492995e+02] [ 1.42337077e-01 9.89817575e-01 -1.15062184e-03 6.01747957e+00] [ 1.46899044e-02 -9.50095147e-04 9.99891646e-01 -2.74627322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18719347000001 meters 0.07207429942925012 Centerline is valid? [True, True] Translation: X:106.55, Y:6.03, Z:-2.75 [[ 9.89790417e-01 -1.41750181e-01 -1.48935368e-02 1.06554378e+02] [ 1.41748663e-01 9.89901997e-01 -1.16288453e-03 6.02718356e+00] [ 1.49079809e-02 -9.60126958e-04 9.99888409e-01 -2.74666420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24719347000001 meters 0.07306301811220915 Centerline is valid? [True, True] Translation: X:106.62, Y:6.03, Z:-2.75 [[ 9.90030064e-01 -1.40341647e-01 -1.20289140e-02 1.06615221e+02] [ 1.40340501e-01 9.90102850e-01 -9.43481382e-04 6.03245882e+00] [ 1.20422717e-02 -7.54068883e-04 9.99927205e-01 -2.74738329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30719347000002 meters 0.07147665641581044 Centerline is valid? [True, True] Translation: X:106.68, Y:6.04, Z:-2.74 [[ 9.90015273e-01 -1.40673838e-01 -8.97940637e-03 1.06677002e+02] [ 1.40673295e-01 9.90055827e-01 -6.95172257e-04 6.04209835e+00] [ 8.98790615e-03 -5.74931532e-04 9.99959443e-01 -2.74401722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36719347000002 meters 0.07429274638885561 Centerline is valid? [True, True] Translation: X:106.74, Y:6.04, Z:-2.75 [[ 9.89372655e-01 -1.45347512e-01 -3.98117612e-03 1.06737069e+02] [ 1.45347442e-01 9.89380627e-01 -3.08520779e-04 6.04002407e+00] [ 3.98374126e-03 -2.73411744e-04 9.99992027e-01 -2.74592407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42719347 meters 0.07396251451808127 Centerline is valid? [True, True] Translation: X:106.80, Y:6.05, Z:-2.75 [[ 9.88516655e-01 -1.51071894e-01 -3.47915815e-03 1.06797407e+02] [ 1.51071870e-01 9.88522745e-01 -2.71236517e-04 6.04950755e+00] [ 3.48020317e-03 -2.57481114e-04 9.99993911e-01 -2.74557064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48719347000001 meters 0.07476134873668529 Centerline is valid? [True, True] Translation: X:106.86, Y:6.06, Z:-2.75 [[ 9.88440022e-01 -1.51559879e-01 -3.99074001e-03 1.06859213e+02] [ 1.51559881e-01 9.88448031e-01 -3.03517537e-04 6.06135085e+00] [ 3.99064019e-03 -3.04827201e-04 9.99991991e-01 -2.74727393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54719347000001 meters 0.07934247279060215 Centerline is valid? [True, True] Translation: X:106.92, Y:6.06, Z:-2.75 [[ 9.88618090e-01 -1.50376577e-01 -4.59972261e-03 1.06920242e+02] [ 1.50376565e-01 9.88628730e-01 -3.50290176e-04 6.06075115e+00] [ 4.60009336e-03 -3.45387283e-04 9.99989360e-01 -2.75437815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60719347000001 meters 0.07359661321520986 Centerline is valid? [True, True] Translation: X:106.98, Y:6.08, Z:-2.76 [[ 9.88990747e-01 -1.47698026e-01 -9.08823734e-03 1.06981264e+02] [ 1.47697842e-01 9.89032287e-01 -6.95187872e-04 6.08430858e+00] [ 9.09123804e-03 -6.54778669e-04 9.99958459e-01 -2.75500872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66719347000002 meters 0.070054849733871 Centerline is valid? [True, True] Translation: X:107.04, Y:6.11, Z:-2.75 [[ 9.90121346e-01 -1.39738424e-01 -1.15279607e-02 1.07040300e+02] [ 1.39737493e-01 9.90188184e-01 -8.90159349e-04 6.10950089e+00] [ 1.15392399e-02 -7.29522553e-04 9.99933155e-01 -2.75404714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72719347000002 meters 0.06691042974750977 Centerline is valid? [True, True] Translation: X:107.10, Y:6.13, Z:-2.76 [[ 9.91254782e-01 -1.31513945e-01 -1.08645763e-02 1.07100052e+02] [ 1.31512629e-01 9.91314141e-01 -8.38535002e-04 6.12664174e+00] [ 1.08804872e-02 -5.97627167e-04 9.99940627e-01 -2.75538475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78719347000002 meters 0.06570008775150724 Centerline is valid? [True, True] Translation: X:107.16, Y:6.14, Z:-2.76 [[ 9.92474695e-01 -1.22077405e-01 -9.54396909e-03 1.07159037e+02] [ 1.22075950e-01 9.92520488e-01 -7.37085863e-04 6.13692399e+00] [ 9.56256638e-03 -4.33550025e-04 9.99954184e-01 -2.76089430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84719347000001 meters 0.060066458883663715 Centerline is valid? [True, True] Translation: X:107.22, Y:6.17, Z:-2.75 [[ 9.94531340e-01 -1.04390022e-01 -3.18385377e-03 1.07217645e+02] [ 1.04389769e-01 9.94536433e-01 -2.45974318e-04 6.16560104e+00] [ 3.19213583e-03 -8.77325921e-05 9.99994901e-01 -2.75301769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90719347000001 meters 0.05821322872179811 Centerline is valid? [True, True] Translation: X:107.28, Y:6.18, Z:-2.75 [[ 9.95777184e-01 -9.17985996e-02 -9.03582799e-04 1.07277073e+02] [ 9.17985742e-02 9.95777594e-01 -6.95769529e-05 6.18143924e+00] [ 9.06154573e-04 -1.36644705e-05 9.99999589e-01 -2.74997306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96719347000001 meters 0.05865042741020559 Centerline is valid? [True, True] Translation: X:107.34, Y:6.19, Z:-2.76 [[ 9.97004464e-01 -7.72665923e-02 -3.46008749e-03 1.07338275e+02] [ 7.72661570e-02 9.97010468e-01 -2.59505593e-04 6.18705534e+00] [ 3.46979456e-03 -8.61942825e-06 9.99993980e-01 -2.75625027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02719347000001 meters 0.059397772088421556 Centerline is valid? [True, True] Translation: X:107.40, Y:6.19, Z:-2.76 [[ 9.97215659e-01 -7.41003580e-02 -8.37057305e-03 1.07400288e+02] [ 7.40976389e-02 9.97250789e-01 -6.34930708e-04 6.18700092e+00] [ 8.39460917e-03 1.29231457e-05 9.99964765e-01 -2.75845912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08719347000002 meters 0.05972084666158003 Centerline is valid? [True, True] Translation: X:107.46, Y:6.17, Z:-2.76 [[ 9.96969693e-01 -7.71418825e-02 -1.00280457e-02 1.07464376e+02] [ 7.71381548e-02 9.97020125e-01 -7.58556105e-04 6.16962015e+00] [ 1.00566799e-02 -1.72874981e-05 9.99949430e-01 -2.76458269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14719347000002 meters 0.059327337501632035 Centerline is valid? [True, True] Translation: X:107.53, Y:6.16, Z:-2.76 [[ 9.97071240e-01 -7.58759945e-02 -9.57994764e-03 1.07527225e+02] [ 7.58724968e-02 9.97117262e-01 -7.28541603e-04 6.15908389e+00] [ 9.60760998e-03 -4.46666852e-07 9.99953846e-01 -2.76262568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20719347 meters 0.05949476348494051 Centerline is valid? [True, True] Translation: X:107.59, Y:6.15, Z:-2.77 [[ 9.97433907e-01 -7.09909126e-02 -9.26780517e-03 1.07590557e+02] [ 7.09874505e-02 9.97476961e-01 -7.02401264e-04 6.15413895e+00] [ 9.29428625e-03 4.27009754e-05 9.99956806e-01 -2.76542861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26719347000001 meters 0.05969210192747511 Centerline is valid? [True, True] Translation: X:107.65, Y:6.14, Z:-2.77 [[ 9.97308994e-01 -7.25721734e-02 -1.03947137e-02 1.07652495e+02] [ 7.25679686e-02 9.97363163e-01 -7.81611433e-04 6.14204046e+00] [ 1.04240278e-02 2.51848561e-05 9.99945668e-01 -2.77169531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32719347000001 meters 0.05912150032157983 Centerline is valid? [True, True] Translation: X:107.72, Y:6.11, Z:-2.77 [[ 9.96296271e-01 -8.54378240e-02 -9.70143064e-03 1.07717160e+02] [ 8.54347376e-02 9.96343499e-01 -7.32878509e-04 6.11108491e+00] [ 9.72857290e-03 -9.86750555e-05 9.99952671e-01 -2.77186290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38719347000001 meters 0.05981845387160122 Centerline is valid? [True, True] Translation: X:107.78, Y:6.10, Z:-2.77 [[ 9.95833100e-01 -9.07351609e-02 -9.14147425e-03 1.07779741e+02] [ 9.07326449e-02 9.95875048e-01 -6.90433624e-04 6.09505099e+00] [ 9.16641271e-03 -1.41873481e-04 9.99957977e-01 -2.77425004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44719347000002 meters 0.05978869577685973 Centerline is valid? [True, True] Translation: X:107.84, Y:6.08, Z:-2.77 [[ 9.95711321e-01 -9.22283452e-02 -7.27307983e-03 1.07843578e+02] [ 9.22268030e-02 9.95737875e-01 -5.47868400e-04 6.07620185e+00] [ 7.29261005e-03 -1.25254131e-04 9.99973401e-01 -2.77407455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50719347000002 meters 0.060126053418399834 Centerline is valid? [True, True] Translation: X:107.91, Y:6.06, Z:-2.78 [[ 9.95858026e-01 -9.01969941e-02 -1.14583444e-02 1.07907116e+02] [ 9.01930295e-02 9.95923929e-01 -8.63339969e-04 6.06312554e+00] [ 1.14895100e-02 -1.73698755e-04 9.99933978e-01 -2.77935096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56719347 meters 0.060298998066809384 Centerline is valid? [True, True] Translation: X:107.97, Y:6.06, Z:-2.78 [[ 9.95883643e-01 -8.95909195e-02 -1.37563602e-02 1.07969548e+02] [ 8.95851581e-02 9.95978628e-01 -1.03570466e-03 6.06076945e+00] [ 1.37938305e-02 -2.00924372e-04 9.99904840e-01 -2.78283830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62719347000001 meters 0.060105180196849184 Centerline is valid? [True, True] Translation: X:108.03, Y:6.04, Z:-2.78 [[ 9.95856478e-01 -9.02501585e-02 -1.11706552e-02 1.08033244e+02] [ 9.02464162e-02 9.95919113e-01 -8.39656945e-04 6.04401236e+00] [ 1.12008482e-02 -1.71933795e-04 9.99937254e-01 -2.78201505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68719347000001 meters 0.06058020149710941 Centerline is valid? [True, True] Translation: X:108.10, Y:6.03, Z:-2.79 [[ 9.95874832e-01 -8.95150188e-02 -1.48452466e-02 1.08096655e+02] [ 8.95083373e-02 9.95985449e-01 -1.11522931e-03 6.03245027e+00] [ 1.48854794e-02 -2.18144542e-04 9.99889181e-01 -2.78561737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74719347000001 meters 0.06059620693848453 Centerline is valid? [True, True] Translation: X:108.16, Y:6.02, Z:-2.79 [[ 9.95797760e-01 -9.10276199e-02 -1.00396081e-02 1.08158578e+02] [ 9.10246415e-02 9.95848355e-01 -7.54160323e-04 6.02308007e+00] [ 1.00665766e-02 -1.62860566e-04 9.99949317e-01 -2.78543989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80719347000002 meters 0.061576090281393644 Centerline is valid? [True, True] Translation: X:108.22, Y:6.01, Z:-2.78 [[ 9.94962550e-01 -1.00096496e-01 -5.49679180e-03 1.08222707e+02] [ 1.00095752e-01 9.94977724e-01 -4.10888914e-04 6.00509924e+00] [ 5.51031393e-03 -1.41386429e-04 9.99984808e-01 -2.78184854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86719347000002 meters 0.06266659840067122 Centerline is valid? [True, True] Translation: X:108.29, Y:6.00, Z:-2.79 [[ 9.94641455e-01 -1.03182266e-01 -6.46504547e-03 1.08285491e+02] [ 1.03181304e-01 9.94662448e-01 -4.83116771e-04 5.99905380e+00] [ 6.48038704e-03 -1.86543854e-04 9.99978985e-01 -2.78507686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92719347 meters 0.06192715214131691 Centerline is valid? [True, True] Translation: X:108.35, Y:6.00, Z:-2.79 [[ 9.94954767e-01 -9.99697543e-02 -8.42969769e-03 1.08347413e+02] [ 9.99680048e-02 9.94990453e-01 -6.29699913e-04 6.00277285e+00] [ 8.45041967e-03 -2.16177129e-04 9.99964271e-01 -2.78612825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98719347000001 meters 0.06288758513490529 Centerline is valid? [True, True] Translation: X:108.41, Y:6.00, Z:-2.80 [[ 9.95046720e-01 -9.83698433e-02 -1.43317236e-02 1.08407478e+02] [ 9.83645674e-02 9.95149867e-01 -1.07428050e-03 6.00169385e+00] [ 1.43678897e-02 -3.40774507e-04 9.99896718e-01 -2.79562209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04719347000001 meters 0.06412154421990829 Centerline is valid? [True, True] Translation: X:108.47, Y:6.00, Z:-2.80 [[ 9.94618210e-01 -1.02414112e-01 -1.56832743e-02 1.08468287e+02] [ 1.02408310e-01 9.94741754e-01 -1.17473350e-03 5.99780124e+00] [ 1.57211170e-02 -4.37686280e-04 9.99876320e-01 -2.79844667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10719347000001 meters 0.06526692638053457 Centerline is valid? [True, True] Translation: X:108.53, Y:5.99, Z:-2.80 [[ 9.93949246e-01 -1.07923986e-01 -2.04281479e-02 1.08529587e+02] [ 1.07915291e-01 9.94158914e-01 -1.53076496e-03 5.99100575e+00] [ 2.04740316e-02 -6.83006854e-04 9.99790152e-01 -2.80035420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16719347000002 meters 0.06518411933296618 Centerline is valid? [True, True] Translation: X:108.59, Y:6.00, Z:-2.80 [[ 9.94179226e-01 -1.05809086e-01 -2.03003529e-02 1.08588248e+02] [ 1.05799999e-01 9.94386262e-01 -1.52413065e-03 5.99500966e+00] [ 2.03476589e-02 -6.32518287e-04 9.99792765e-01 -2.80273507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22719347000002 meters 0.063729271674517 Centerline is valid? [True, True] Translation: X:108.65, Y:6.00, Z:-2.80 [[ 9.95043124e-01 -9.74987154e-02 -1.95750184e-02 1.08647360e+02] [ 9.74886509e-02 9.95235551e-01 -1.47003499e-03 6.00424429e+00] [ 1.96250808e-02 -4.45593923e-04 9.99807310e-01 -2.80476022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28719347000002 meters 0.06282326037522527 Centerline is valid? [True, True] Translation: X:108.71, Y:6.02, Z:-2.81 [[ 9.95731933e-01 -9.04702984e-02 -1.82494739e-02 1.08707088e+02] [ 9.04603713e-02 9.95899113e-01 -1.37042836e-03 6.01511403e+00] [ 1.82986179e-02 -2.86274907e-04 9.99832525e-01 -2.80656518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34719347000001 meters 0.06214888408087662 Centerline is valid? [True, True] Translation: X:108.77, Y:6.02, Z:-2.81 [[ 9.96246134e-01 -8.48401200e-02 -1.71986826e-02 1.08766760e+02] [ 8.48304724e-02 9.96394563e-01 -1.29103348e-03 6.02437580e+00] [ 1.72462053e-02 -1.72785255e-04 9.99851258e-01 -2.80695544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40719347000001 meters 0.061759272903911165 Centerline is valid? [True, True] Translation: X:108.83, Y:6.02, Z:-2.80 [[ 9.95992398e-01 -8.82068842e-02 -1.47880964e-02 1.08828328e+02] [ 8.82001489e-02 9.96102156e-01 -1.10830353e-03 6.02360918e+00] [ 1.48282147e-02 -2.00450414e-04 9.99890036e-01 -2.80421754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46719347000001 meters 0.06269621303717499 Centerline is valid? [True, True] Translation: X:108.89, Y:6.02, Z:-2.81 [[ 9.95291113e-01 -9.59494744e-02 -1.37585612e-02 1.08889696e+02] [ 9.59443691e-02 9.95386163e-01 -1.03216859e-03 6.01650994e+00] [ 1.37941174e-02 -2.92748244e-04 9.99904814e-01 -2.80700819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52719347000001 meters 0.0639855607500762 Centerline is valid? [True, True] Translation: X:108.95, Y:6.01, Z:-2.82 [[ 9.94996337e-01 -9.86481283e-02 -1.58378188e-02 1.08949145e+02] [ 9.86416773e-02 9.95122306e-01 -1.18989823e-03 6.00794478e+00] [ 1.58779480e-02 -3.78324627e-04 9.99873866e-01 -2.81533762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58719347000002 meters 0.06402145630815317 Centerline is valid? [True, True] Translation: X:109.01, Y:6.01, Z:-2.82 [[ 9.95160883e-01 -9.71519895e-02 -1.47074200e-02 1.09007365e+02] [ 9.71462399e-02 9.95269503e-01 -1.10654236e-03 6.01110176e+00] [ 1.47453493e-02 -3.27582881e-04 9.99891228e-01 -2.81831408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64719347000002 meters 0.06290453437301849 Centerline is valid? [True, True] Translation: X:109.07, Y:6.02, Z:-2.82 [[ 9.95745146e-01 -9.06760112e-02 -1.64153946e-02 1.09066010e+02] [ 9.06679695e-02 9.95880412e-01 -1.23499031e-03 6.02448489e+00] [ 1.64597540e-02 -2.58614890e-04 9.99864496e-01 -2.81788032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70719347 meters 0.06257213206029728 Centerline is valid? [True, True] Translation: X:109.13, Y:6.02, Z:-2.82 [[ 9.95839825e-01 -8.93075683e-02 -1.80887308e-02 1.09125661e+02] [ 8.92975644e-02 9.96004062e-01 -1.36161515e-03 6.02498432e+00] [ 1.81380519e-02 -2.59329014e-04 9.99835458e-01 -2.81913214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76719347000001 meters 0.06336536802923749 Centerline is valid? [True, True] Translation: X:109.18, Y:6.02, Z:-2.82 [[ 9.95327417e-01 -9.49487402e-02 -1.75519244e-02 1.09184070e+02] [ 9.49401370e-02 9.95482102e-01 -1.32465021e-03 6.01811105e+00] [ 1.75984005e-02 -3.47921432e-04 9.99845076e-01 -2.82119015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82719347000001 meters 0.06448452402017711 Centerline is valid? [True, True] Translation: X:109.24, Y:6.02, Z:-2.82 [[ 9.94720148e-01 -1.01376352e-01 -1.59581486e-02 1.09242929e+02] [ 1.01369914e-01 9.94848062e-01 -1.21388557e-03 6.01730882e+00] [ 1.59989925e-02 -4.10199718e-04 9.99871924e-01 -2.81995239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88719347000001 meters 0.06625776362799185 Centerline is valid? [True, True] Translation: X:109.30, Y:6.01, Z:-2.81 [[ 9.93435748e-01 -1.14115109e-01 -7.94707150e-03 1.09303077e+02] [ 1.14113930e-01 9.93467487e-01 -6.03041588e-04 6.00752578e+00] [ 7.96397330e-03 -3.07788492e-04 9.99968240e-01 -2.81116927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94719347000002 meters 0.07137919174288813 Centerline is valid? [True, True] Translation: X:109.36, Y:6.00, Z:-2.82 [[ 9.92423455e-01 -1.22706997e-01 -6.21915756e-03 1.09363166e+02] [ 1.22706452e-01 9.92442898e-01 -4.70595064e-04 5.99832408e+00] [ 6.22990406e-03 -2.96101180e-04 9.99980550e-01 -2.81530446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00719347000002 meters 0.07255803696266357 Centerline is valid? [True, True] Translation: X:109.42, Y:6.01, Z:-2.82 [[ 9.91476094e-01 -1.30097559e-01 -7.05556468e-03 1.09422737e+02] [ 1.30097038e-01 9.91501122e-01 -5.34597020e-04 6.00878025e+00] [ 7.06515006e-03 -3.87867903e-04 9.99974966e-01 -2.81543738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06719347 meters 0.07448105152700693 Centerline is valid? [True, True] Translation: X:109.48, Y:6.02, Z:-2.82 [[ 9.91095055e-01 -1.32860155e-01 -8.87526341e-03 1.09482321e+02] [ 1.32859442e-01 9.91134661e-01 -6.72549841e-04 6.01754327e+00] [ 8.88593627e-03 -5.12601721e-04 9.99960388e-01 -2.81924173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12719347000001 meters 0.07653608656607715 Centerline is valid? [True, True] Translation: X:109.54, Y:6.03, Z:-2.82 [[ 9.90595424e-01 -1.36525614e-01 -9.02564979e-03 1.09542223e+02] [ 1.36525033e-01 9.90636386e-01 -6.83440866e-04 6.02803470e+00] [ 9.03444427e-03 -5.55213737e-04 9.99959034e-01 -2.82260829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18719347000001 meters 0.07857098457627962 Centerline is valid? [True, True] Translation: X:109.60, Y:6.05, Z:-2.82 [[ 9.89705565e-01 -1.42685840e-01 -1.11195967e-02 1.09601326e+02] [ 1.42685339e-01 9.89767743e-01 -8.42525352e-04 6.04500739e+00] [ 1.11260345e-02 -7.52751387e-04 9.99937820e-01 -2.82402251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24719347000001 meters 0.0804865533491656 Centerline is valid? [True, True] Translation: X:109.66, Y:6.06, Z:-2.83 [[ 9.89061270e-01 -1.46751973e-01 -1.48883185e-02 1.09660194e+02] [ 1.46751535e-01 9.89172743e-01 -1.12789456e-03 6.05944794e+00] [ 1.48926396e-02 -1.06932677e-03 9.99888527e-01 -2.83023079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30719347000002 meters 0.08002735747873162 Centerline is valid? [True, True] Translation: X:109.72, Y:6.07, Z:-2.83 [[ 9.88674868e-01 -1.49552618e-01 -1.24907622e-02 1.09719312e+02] [ 1.49552514e-01 9.88753330e-01 -9.47665666e-04 6.07209659e+00] [ 1.24920086e-02 -9.31091653e-04 9.99921538e-01 -2.82810882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36719347000002 meters 0.08049870916544113 Centerline is valid? [True, True] Translation: X:109.78, Y:6.09, Z:-2.83 [[ 9.88812757e-01 -1.48477034e-01 -1.42794438e-02 1.09778263e+02] [ 1.48476803e-01 9.88915299e-01 -1.08219984e-03 6.09077785e+00] [ 1.42818422e-02 -1.05007315e-03 9.99897458e-01 -2.82888487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42719347 meters 0.08364071767315044 Centerline is valid? [True, True] Translation: X:109.84, Y:6.10, Z:-2.84 [[ 9.89420429e-01 -1.43923305e-01 -1.82564120e-02 1.09836591e+02] [ 1.43922126e-01 9.89588047e-01 -1.38533817e-03 6.09805398e+00] [ 1.82657095e-02 -1.25681973e-03 9.99832378e-01 -2.84106707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48719347000001 meters 0.07537097840023191 Centerline is valid? [True, True] Translation: X:109.90, Y:6.13, Z:-2.84 [[ 9.90194327e-01 -1.38135274e-01 -2.08288617e-02 1.09896036e+02] [ 1.38132505e-01 9.90412500e-01 -1.57855204e-03 6.12569828e+00] [ 2.08472187e-02 -1.31406957e-03 9.99781810e-01 -2.83792322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54719347000001 meters 0.07378997589453545 Centerline is valid? [True, True] Translation: X:109.95, Y:6.14, Z:-2.84 [[ 9.91161409e-01 -1.31073598e-01 -2.04639458e-02 1.09954331e+02] [ 1.31069394e-01 9.91371981e-01 -1.55235618e-03 6.14406371e+00] [ 2.04908553e-02 -1.14356143e-03 9.99789386e-01 -2.83889932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60719347000001 meters 0.06850223972416336 Centerline is valid? [True, True] Translation: X:110.01, Y:6.17, Z:-2.83 [[ 9.92627982e-01 -1.20309585e-01 -1.46728816e-02 1.10012956e+02] [ 1.20306259e-01 9.92736202e-01 -1.11233906e-03 6.17481554e+00] [ 1.47001258e-02 -6.61100621e-04 9.99891729e-01 -2.82896255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66719347000002 meters 0.06671959260314268 Centerline is valid? [True, True] Translation: X:110.07, Y:6.19, Z:-2.83 [[ 9.93506258e-01 -1.13358537e-01 -9.75483862e-03 1.10072101e+02] [ 1.13356730e-01 9.93554077e-01 -7.39691807e-04 6.19131929e+00] [ 9.77581006e-03 -3.70888170e-04 9.99952147e-01 -2.82842405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72719347000002 meters 0.06508235818987754 Centerline is valid? [True, True] Translation: X:110.13, Y:6.21, Z:-2.83 [[ 9.94689866e-01 -1.02268165e-01 -1.15452129e-02 1.10130525e+02] [ 1.02264884e-01 9.94756818e-01 -8.75764213e-04 6.20950006e+00] [ 1.15742420e-02 -3.09556063e-04 9.99932968e-01 -2.83332457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78719347000002 meters 0.06419366155046889 Centerline is valid? [True, True] Translation: X:110.19, Y:6.23, Z:-2.84 [[ 9.95406247e-01 -9.46163635e-02 -1.46337519e-02 1.10192067e+02] [ 9.46103310e-02 9.95513768e-01 -1.10553064e-03 6.22537805e+00] [ 1.46727028e-02 -2.84052007e-04 9.99892310e-01 -2.83588939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84719347000001 meters 0.0643527044387779 Centerline is valid? [True, True] Translation: X:110.25, Y:6.24, Z:-2.84 [[ 9.96020636e-01 -8.75278334e-02 -1.67860386e-02 1.10252480e+02] [ 8.75188826e-02 9.96162053e-01 -1.26850191e-03 6.23680667e+00] [ 1.68326438e-02 -2.05641262e-04 9.99858300e-01 -2.84084033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90719347000001 meters 0.06419460698342243 Centerline is valid? [True, True] Translation: X:110.32, Y:6.23, Z:-2.84 [[ 9.95858707e-01 -8.96392529e-02 -1.51736571e-02 1.10315119e+02] [ 8.96322157e-02 9.95974275e-01 -1.14457771e-03 6.23091089e+00] [ 1.52151712e-02 -2.20210830e-04 9.99884218e-01 -2.84164698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96719347000001 meters 0.06518415097644992 Centerline is valid? [True, True] Translation: X:110.38, Y:6.22, Z:-2.85 [[ 9.95431055e-01 -9.39226777e-02 -1.71914595e-02 1.10375954e+02] [ 9.39142563e-02 9.95579443e-01 -1.29831259e-03 6.22433517e+00] [ 1.72374046e-02 -3.22142465e-04 9.99851373e-01 -2.84781632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02719347000001 meters 0.06774772353984704 Centerline is valid? [True, True] Translation: X:110.44, Y:6.21, Z:-2.85 [[ 9.94263834e-01 -1.05248072e-01 -1.90334207e-02 1.10437817e+02] [ 1.05239813e-01 9.94445833e-01 -1.43784256e-03 6.20589776e+00] [ 1.90790361e-02 -5.73478783e-04 9.99817814e-01 -2.85286913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08719347000002 meters 0.06839155380372411 Centerline is valid? [True, True] Translation: X:110.50, Y:6.20, Z:-2.85 [[ 9.93678413e-01 -1.10720947e-01 -1.85494787e-02 1.10499383e+02] [ 1.10714070e-01 9.93851314e-01 -1.40045515e-03 6.20106125e+00] [ 1.85904835e-02 -6.62086230e-04 9.99826963e-01 -2.85090672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14719347000002 meters 0.06872298862115263 Centerline is valid? [True, True] Translation: X:110.56, Y:6.20, Z:-2.85 [[ 9.93635049e-01 -1.11015021e-01 -1.91064143e-02 1.10561924e+02] [ 1.11007840e-01 9.93818488e-01 -1.43934284e-03 6.19827788e+00] [ 1.91480965e-02 -6.90780286e-04 9.99816420e-01 -2.85427226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20719347 meters 0.06750477315190828 Centerline is valid? [True, True] Translation: X:110.62, Y:6.21, Z:-2.85 [[ 9.94047924e-01 -1.07292977e-01 -1.88928824e-02 1.10623068e+02] [ 1.07285281e-01 9.94227259e-01 -1.42339741e-03 6.20702560e+00] [ 1.89365392e-02 -6.12002946e-04 9.99820500e-01 -2.85357219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26719347000001 meters 0.0666388177446147 Centerline is valid? [True, True] Translation: X:110.68, Y:6.21, Z:-2.85 [[ 9.94609654e-01 -1.02041451e-01 -1.84167866e-02 1.10683913e+02] [ 1.02033253e-01 9.94780022e-01 -1.38670739e-03 6.21384326e+00] [ 1.84621531e-02 -4.99892097e-04 9.99829435e-01 -2.85416577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32719347000001 meters 0.06674685936052233 Centerline is valid? [True, True] Translation: X:110.75, Y:6.22, Z:-2.86 [[ 9.94543178e-01 -1.02513794e-01 -1.93594696e-02 1.10745539e+02] [ 1.02504859e-01 9.94731438e-01 -1.45591795e-03 6.21561614e+00] [ 1.94067247e-02 -5.36466440e-04 9.99811528e-01 -2.85671484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38719347000001 meters 0.06635538074777572 Centerline is valid? [True, True] Translation: X:110.81, Y:6.23, Z:-2.86 [[ 9.94961080e-01 -9.83926772e-02 -1.92699460e-02 1.10806270e+02] [ 9.83830581e-02 9.95147564e-01 -1.44885883e-03 6.22530750e+00] [ 1.93189969e-02 -4.54278072e-04 9.99813268e-01 -2.85750725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44719347000002 meters 0.06660185650670239 Centerline is valid? [True, True] Translation: X:110.87, Y:6.23, Z:-2.86 [[ 9.95486524e-01 -9.31085268e-02 -1.83679585e-02 1.10866020e+02] [ 9.30988861e-02 9.95655909e-01 -1.38112089e-03 6.23069589e+00] [ 1.84167606e-02 -3.35149248e-04 9.99830341e-01 -2.86346612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50719347000002 meters 0.06523948981748931 Centerline is valid? [True, True] Translation: X:110.93, Y:6.24, Z:-2.86 [[ 9.95809710e-01 -9.02426856e-02 -1.48080789e-02 1.10927708e+02] [ 9.02361397e-02 9.95919778e-01 -1.11097145e-03 6.23543327e+00] [ 1.48479157e-02 -2.29907722e-04 9.99889737e-01 -2.85853648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56719347 meters 0.06569261220001305 Centerline is valid? [True, True] Translation: X:110.99, Y:6.24, Z:-2.86 [[ 9.95805014e-01 -9.02492977e-02 -1.50810336e-02 1.10988416e+02] [ 9.02425200e-02 9.95919178e-01 -1.13071695e-03 6.23731325e+00] [ 1.51215370e-02 -2.34976871e-04 9.99885635e-01 -2.86210892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62719347000001 meters 0.06561874973205589 Centerline is valid? [True, True] Translation: X:111.05, Y:6.24, Z:-2.86 [[ 9.95765889e-01 -9.08063652e-02 -1.43003219e-02 1.11050557e+02] [ 9.08003555e-02 9.95868540e-01 -1.07030343e-03 6.23630150e+00] [ 1.43384311e-02 -2.32702664e-04 9.99897172e-01 -2.86340430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68719347000001 meters 0.0659231312228971 Centerline is valid? [True, True] Translation: X:111.11, Y:6.24, Z:-2.87 [[ 9.95622343e-01 -9.23704651e-02 -1.42775131e-02 1.11112678e+02] [ 9.23646531e-02 9.95724677e-01 -1.06735313e-03 6.23535426e+00] [ 1.43150640e-02 -2.56056918e-04 9.99897501e-01 -2.86625627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74719347000001 meters 0.06658230932970723 Centerline is valid? [True, True] Translation: X:111.17, Y:6.23, Z:-2.87 [[ 9.95272924e-01 -9.63043711e-02 -1.25408938e-02 1.11173821e+02] [ 9.63002056e-02 9.95351894e-01 -9.37010044e-04 6.23371606e+00] [ 1.25728405e-02 -2.75109922e-04 9.99920921e-01 -2.86770039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80719347000002 meters 0.06760366028500199 Centerline is valid? [True, True] Translation: X:111.24, Y:6.22, Z:-2.87 [[ 9.94327020e-01 -1.05807772e-01 -1.08854383e-02 1.11236015e+02] [ 1.05805204e-01 9.94386543e-01 -8.13122671e-04 6.22484609e+00] [ 1.09103681e-02 -3.43226183e-04 9.99940421e-01 -2.86640999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86719347000002 meters 0.06983329195555607 Centerline is valid? [True, True] Translation: X:111.30, Y:6.22, Z:-2.87 [[ 9.93666359e-01 -1.11514292e-01 -1.38466239e-02 1.11296624e+02] [ 1.11510662e-01 9.93762697e-01 -1.03633807e-03 6.21538004e+00] [ 1.38758248e-02 -5.14271914e-04 9.99903594e-01 -2.87416750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92719347000002 meters 0.07199107357178361 Centerline is valid? [True, True] Translation: X:111.36, Y:6.22, Z:-2.88 [[ 9.93219596e-01 -1.14305662e-01 -2.11907735e-02 1.11357011e+02] [ 1.14297812e-01 9.93445266e-01 -1.58520916e-03 6.21787014e+00] [ 2.12330720e-02 -8.47598237e-04 9.99774194e-01 -2.88050171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98719347000001 meters 0.06931010891261669 Centerline is valid? [True, True] Translation: X:111.42, Y:6.22, Z:-2.88 [[ 9.93990097e-01 -1.07611433e-01 -2.00864996e-02 1.11417023e+02] [ 1.07603000e-01 9.94192806e-01 -1.50329129e-03 6.22490825e+00] [ 2.01316248e-02 -6.67110970e-04 9.99797116e-01 -2.87818960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04719347000001 meters 0.06636206210433816 Centerline is valid? [True, True] Translation: X:111.48, Y:6.24, Z:-2.88 [[ 9.95324663e-01 -9.46009273e-02 -1.94802437e-02 1.11476248e+02] [ 9.45905096e-02 9.95515199e-01 -1.45757243e-03 6.23931440e+00] [ 1.95307664e-02 -3.91888392e-04 9.99809180e-01 -2.87714263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10719347000001 meters 0.06574128225695869 Centerline is valid? [True, True] Translation: X:111.54, Y:6.25, Z:-2.88 [[ 9.96006217e-01 -8.73308692e-02 -1.85724368e-02 1.11536845e+02] [ 8.73201524e-02 9.96179332e-01 -1.38874288e-03 6.24648926e+00] [ 1.86227578e-02 -2.38551472e-04 9.99826553e-01 -2.88029317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16719347000002 meters 0.0652255526357152 Centerline is valid? [True, True] Translation: X:111.60, Y:6.24, Z:-2.88 [[ 9.96011209e-01 -8.82993395e-02 -1.28413053e-02 1.11597450e+02] [ 8.82942923e-02 9.96093969e-01 -9.60558490e-04 6.24167623e+00] [ 1.28759634e-02 -1.77086940e-04 9.99917086e-01 -2.88044862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22719347000002 meters 0.06571382921720105 Centerline is valid? [True, True] Translation: X:111.66, Y:6.23, Z:-2.88 [[ 9.95361145e-01 -9.58879556e-02 -7.85437726e-03 1.11659657e+02] [ 9.58863142e-02 9.95392119e-01 -5.86154253e-04 6.23469205e+00] [ 7.87439036e-03 -1.69692118e-04 9.99968982e-01 -2.87720640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28719347000002 meters 0.06809177082378652 Centerline is valid? [True, True] Translation: X:111.72, Y:6.22, Z:-2.88 [[ 9.94410897e-01 -1.05498558e-01 -4.12583826e-03 1.11721313e+02] [ 1.05498191e-01 9.94419447e-01 -3.07126187e-04 6.21917652e+00] [ 4.13521517e-03 -1.29858844e-04 9.99991442e-01 -2.87837720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34719347000001 meters 0.06797097568725957 Centerline is valid? [True, True] Translation: X:111.78, Y:6.22, Z:-2.88 [[ 9.94142337e-01 -1.07949124e-01 -5.29161118e-03 1.11782106e+02] [ 1.07948551e-01 9.94156403e-01 -3.94727696e-04 6.22208556e+00] [ 5.30329965e-03 -1.78806244e-04 9.99985921e-01 -2.87880961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40719347000001 meters 0.07174057216647367 Centerline is valid? [True, True] Translation: X:111.84, Y:6.22, Z:-2.89 [[ 9.93603789e-01 -1.12427067e-01 -1.05672055e-02 1.11842202e+02] [ 1.12425015e-01 9.93659898e-01 -7.89869350e-04 6.21833308e+00] [ 1.05890111e-02 -4.03201062e-04 9.99943854e-01 -2.88925919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46719347000001 meters 0.0721278134664281 Centerline is valid? [True, True] Translation: X:111.90, Y:6.22, Z:-2.89 [[ 9.93269454e-01 -1.15295861e-01 -1.10750172e-02 1.11901677e+02] [ 1.15293775e-01 9.93331092e-01 -8.28808990e-04 6.22017540e+00] [ 1.10967172e-02 -4.53649883e-04 9.99938327e-01 -2.88957145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52719347000001 meters 0.07103562263222933 Centerline is valid? [True, True] Translation: X:111.96, Y:6.23, Z:-2.89 [[ 9.92499745e-01 -1.21774416e-01 -1.07353338e-02 1.11961658e+02] [ 1.21772834e-01 9.92557672e-01 -8.03372442e-04 6.22838237e+00] [ 1.07532681e-02 -5.09925072e-04 9.99942052e-01 -2.88523455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58719347000002 meters 0.07385916669681747 Centerline is valid? [True, True] Translation: X:112.02, Y:6.23, Z:-2.89 [[ 9.91953814e-01 -1.26249755e-01 -9.41434037e-03 1.12021548e+02] [ 1.26248737e-01 9.91998367e-01 -7.04693449e-04 6.22779266e+00] [ 9.42797765e-03 -4.89525227e-04 9.99955436e-01 -2.88842915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64719347000002 meters 0.07576176053852682 Centerline is valid? [True, True] Translation: X:112.08, Y:6.23, Z:-2.89 [[ 9.91109300e-01 -1.32694913e-01 -9.71680238e-03 1.12081512e+02] [ 1.32694143e-01 9.91156767e-01 -7.26797900e-04 6.23428425e+00] [ 9.72731682e-03 -5.69026607e-04 9.99952527e-01 -2.88898962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70719347 meters 0.07543043274082181 Centerline is valid? [True, True] Translation: X:112.14, Y:6.24, Z:-2.89 [[ 9.90726988e-01 -1.35345724e-01 -1.18983166e-02 1.12141827e+02] [ 1.35344769e-01 9.90798165e-01 -8.89155179e-04 6.24429932e+00] [ 1.19091736e-02 -7.29464881e-04 9.99928817e-01 -2.89045940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76719347000001 meters 0.07522850594328147 Centerline is valid? [True, True] Translation: X:112.20, Y:6.26, Z:-2.90 [[ 9.91674252e-01 -1.28055154e-01 -1.35667124e-02 1.12200335e+02] [ 1.28053212e-01 9.91766779e-01 -1.01531335e-03 6.25786189e+00] [ 1.35850307e-02 -7.30400985e-04 9.99907452e-01 -2.89654627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82719347000001 meters 0.07104197410263696 Centerline is valid? [True, True] Translation: X:112.26, Y:6.28, Z:-2.90 [[ 9.93293245e-01 -1.14960376e-01 -1.23548433e-02 1.12258997e+02] [ 1.14957756e-01 9.93369951e-01 -9.24378202e-04 6.28129678e+00] [ 1.23791969e-02 -5.02106431e-04 9.99923249e-01 -2.89707350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88719347000001 meters 0.06584869357273862 Centerline is valid? [True, True] Translation: X:112.32, Y:6.32, Z:-2.89 [[ 9.95235364e-01 -9.67822153e-02 -1.18225895e-02 1.12317223e+02] [ 9.67785449e-02 9.95305547e-01 -8.83517575e-04 6.31683366e+00] [ 1.18525977e-02 -2.64865077e-04 9.99929720e-01 -2.89405702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94719347000002 meters 0.06516856617760636 Centerline is valid? [True, True] Translation: X:112.38, Y:6.33, Z:-2.89 [[ 9.95733250e-01 -9.18120643e-02 -9.26497915e-03 1.12378459e+02] [ 9.18096115e-02 9.95776339e-01 -6.90605676e-04 6.33089883e+00] [ 9.28925296e-03 -1.62955103e-04 9.99956841e-01 -2.89295152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00719347000002 meters 0.06453852696761574 Centerline is valid? [True, True] Translation: X:112.44, Y:6.34, Z:-2.89 [[ 9.96123706e-01 -8.77516159e-02 -6.10051918e-03 1.12439259e+02] [ 8.77504780e-02 9.96142383e-01 -4.54463171e-04 6.34071450e+00] [ 6.11686559e-03 -8.26219358e-05 9.99981288e-01 -2.89462604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06719347 meters 0.06437401178305971 Centerline is valid? [True, True] Translation: X:112.50, Y:6.35, Z:-2.90 [[ 9.96324564e-01 -8.54561418e-02 -5.88316300e-03 1.12501223e+02] [ 8.54550526e-02 9.96341931e-01 -4.36713771e-04 6.34704572e+00] [ 5.89896185e-03 -6.76373466e-05 9.99982599e-01 -2.89784250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12719347000001 meters 0.06489568645857878 Centerline is valid? [True, True] Translation: X:112.56, Y:6.35, Z:-2.90 [[ 9.96210872e-01 -8.63589004e-02 -1.02974860e-02 1.12562191e+02] [ 8.63555898e-02 9.96264084e-01 -7.66527744e-04 6.35170399e+00] [ 1.03252119e-02 -1.25622201e-04 9.99946686e-01 -2.90033392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18719347000001 meters 0.06593348996228378 Centerline is valid? [True, True] Translation: X:112.62, Y:6.35, Z:-2.91 [[ 9.95965311e-01 -8.83832160e-02 -1.55404740e-02 1.12623836e+02] [ 8.83759242e-02 9.96086521e-01 -1.15668158e-03 6.34760440e+00] [ 1.55818879e-02 -2.21389021e-04 9.99878571e-01 -2.90755590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24719347000001 meters 0.06645699009416929 Centerline is valid? [True, True] Translation: X:112.69, Y:6.33, Z:-2.91 [[ 9.95326479e-01 -9.56108847e-02 -1.35557859e-02 1.12685930e+02] [ 9.56060048e-02 9.95418743e-01 -1.00905829e-03 6.33217606e+00] [ 1.35901603e-02 -2.91672095e-04 9.99907607e-01 -2.90896668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30719347000002 meters 0.06710682539773288 Centerline is valid? [True, True] Translation: X:112.75, Y:6.33, Z:-2.91 [[ 9.94922751e-01 -1.00062982e-01 -1.07758664e-02 1.12748164e+02] [ 1.00060171e-01 9.94981065e-01 -8.01064058e-04 6.32590123e+00] [ 1.08019399e-02 -2.81238176e-04 9.99941618e-01 -2.90715185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36719347000002 meters 0.06865840197746063 Centerline is valid? [True, True] Translation: X:112.81, Y:6.31, Z:-2.91 [[ 9.94187219e-01 -1.06583034e-01 -1.52259609e-02 1.12810055e+02] [ 1.06578165e-01 9.94303681e-01 -1.13317321e-03 6.31132649e+00] [ 1.52600060e-02 -4.96168654e-04 9.99883436e-01 -2.91170497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42719347000002 meters 0.0706642693053858 Centerline is valid? [True, True] Translation: X:112.87, Y:6.30, Z:-2.92 [[ 9.93536468e-01 -1.12207321e-01 -1.71698566e-02 1.12870473e+02] [ 1.12201951e-01 9.93684601e-01 -1.27882045e-03 6.30445253e+00] [ 1.72049151e-02 -6.55936643e-04 9.99851769e-01 -2.91596272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48719347000001 meters 0.07230934458714158 Centerline is valid? [True, True] Translation: X:112.93, Y:6.30, Z:-2.92 [[ 9.92919311e-01 -1.17520902e-01 -1.73228116e-02 1.12930844e+02] [ 1.17516236e-01 9.93070123e-01 -1.29057819e-03 6.30116762e+00] [ 1.73544366e-02 -7.54271607e-04 9.99849116e-01 -2.91521755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54719347000001 meters 0.07174409267308424 Centerline is valid? [True, True] Translation: X:112.99, Y:6.31, Z:-2.91 [[ 9.92695104e-01 -1.19960603e-01 -1.28795878e-02 1.12990057e+02] [ 1.19958098e-01 9.92778482e-01 -9.69691043e-04 6.30502451e+00] [ 1.29029024e-02 -5.82403300e-04 9.99916584e-01 -2.91094637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60719347000001 meters 0.07365092755184953 Centerline is valid? [True, True] Translation: X:113.05, Y:6.31, Z:-2.91 [[ 9.92185759e-01 -1.24585042e-01 -6.78142680e-03 1.13049286e+02] [ 1.24584475e-01 9.92208875e-01 -5.07614504e-04 6.30697564e+00] [ 6.79183302e-03 -3.41212618e-04 9.99976877e-01 -2.90892220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66719347000002 meters 0.07535790010821426 Centerline is valid? [True, True] Translation: X:113.11, Y:6.31, Z:-2.91 [[ 9.91746290e-01 -1.27903722e-01 -8.94053663e-03 1.13108797e+02] [ 1.27902871e-01 9.91786473e-01 -6.69242542e-04 6.31101563e+00] [ 8.95270190e-03 -4.79801495e-04 9.99959809e-01 -2.91395090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72719347000002 meters 0.07443324406670779 Centerline is valid? [True, True] Translation: X:113.17, Y:6.32, Z:-2.91 [[ 9.91518408e-01 -1.29650472e-01 -9.05551203e-03 1.13168562e+02] [ 1.29649677e-01 9.91559631e-01 -6.77342147e-04 6.32060030e+00] [ 9.06689790e-03 -5.02446998e-04 9.99958769e-01 -2.91349328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78719347000002 meters 0.07391576838435761 Centerline is valid? [True, True] Translation: X:113.23, Y:6.33, Z:-2.92 [[ 9.91935383e-01 -1.26309628e-01 -1.04916473e-02 1.13228169e+02] [ 1.26308373e-01 9.91990715e-01 -7.84763458e-04 6.33283483e+00] [ 1.05067399e-02 -5.46748265e-04 9.99944653e-01 -2.91799315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84719347000001 meters 0.07321025694567446 Centerline is valid? [True, True] Translation: X:113.29, Y:6.34, Z:-2.92 [[ 9.92300210e-01 -1.23689403e-01 -6.42063858e-03 1.13287950e+02] [ 1.23688880e-01 9.92320931e-01 -4.79916820e-04 6.34388372e+00] [ 6.43069468e-03 -3.17940037e-04 9.99979272e-01 -2.91728292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90719347000001 meters 0.0708229161126685 Centerline is valid? [True, True] Translation: X:113.35, Y:6.36, Z:-2.91 [[ 9.92940808e-01 -1.18581153e-01 -2.65725631e-03 1.13347496e+02] [ 1.18581045e-01 9.92944357e-01 -1.98579261e-04 6.36365966e+00] [ 2.66205542e-03 -1.17922779e-04 9.99996450e-01 -2.91363042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96719347000001 meters 0.06993293757521735 Centerline is valid? [True, True] Translation: X:113.41, Y:6.38, Z:-2.92 [[ 9.93529168e-01 -1.13347478e-01 -7.22085339e-03 1.13408831e+02] [ 1.13346561e-01 9.93555368e-01 -5.37383729e-04 6.37522054e+00] [ 7.23522873e-03 -2.84552491e-04 9.99973785e-01 -2.92120964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02719347000001 meters 0.06788489736779314 Centerline is valid? [True, True] Translation: X:113.47, Y:6.40, Z:-2.92 [[ 9.94103475e-01 -1.07969585e-01 -1.00424125e-02 1.13469221e+02] [ 1.07967532e-01 9.94154139e-01 -7.47929228e-04 6.39606452e+00] [ 1.00644595e-02 -3.40735446e-04 9.99949294e-01 -2.92366895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08719347000002 meters 0.06720133879717649 Centerline is valid? [True, True] Translation: X:113.53, Y:6.41, Z:-2.92 [[ 9.94332861e-01 -1.05685796e-01 -1.15184194e-02 1.13530087e+02] [ 1.05682958e-01 9.94399507e-01 -8.56497272e-04 6.41110698e+00] [ 1.15444302e-02 -3.65657255e-04 9.99933294e-01 -2.92444303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14719347000002 meters 0.06769266409695014 Centerline is valid? [True, True] Translation: X:113.59, Y:6.41, Z:-2.93 [[ 9.94342020e-01 -1.05279676e-01 -1.41469797e-02 1.13590705e+02] [ 1.05275399e-01 9.94442553e-01 -1.04877012e-03 6.41349022e+00] [ 1.41787728e-02 -4.46492736e-04 9.99899376e-01 -2.93113926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20719347 meters 0.06684038278631711 Centerline is valid? [True, True] Translation: X:113.65, Y:6.42, Z:-2.93 [[ 9.94510734e-01 -1.03886939e-01 -1.24861172e-02 1.13652382e+02] [ 1.03883488e-01 9.94589042e-01 -9.26460432e-04 6.42012124e+00] [ 1.25148025e-02 -3.75726563e-04 9.99921616e-01 -2.92945195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26719347000001 meters 0.06646099853169878 Centerline is valid? [True, True] Translation: X:113.71, Y:6.43, Z:-2.93 [[ 9.94520228e-01 -1.03990926e-01 -1.07425813e-02 1.13714551e+02] [ 1.03988396e-01 9.94578192e-01 -7.95352960e-04 6.42533645e+00] [ 1.07670466e-02 -3.26109192e-04 9.99941980e-01 -2.92828373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32719347000001 meters 0.06674967676421012 Centerline is valid? [True, True] Translation: X:113.78, Y:6.43, Z:-2.93 [[ 9.94435023e-01 -1.04578317e-01 -1.27420687e-02 1.13775398e+02] [ 1.04574804e-01 9.94516576e-01 -9.43517385e-04 6.42977031e+00] [ 1.27708700e-02 -3.94232607e-04 9.99918371e-01 -2.92939090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38719347000001 meters 0.065935197474357 Centerline is valid? [True, True] Translation: X:113.84, Y:6.43, Z:-2.93 [[ 9.94439274e-01 -1.04943766e-01 -8.79406618e-03 1.13837114e+02] [ 1.04942117e-01 9.94478119e-01 -6.50034841e-04 6.43341051e+00] [ 8.81372350e-03 -2.76447742e-04 9.99961120e-01 -2.92749167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44719347000002 meters 0.06510598878856938 Centerline is valid? [True, True] Translation: X:113.90, Y:6.44, Z:-2.93 [[ 9.94740183e-01 -1.02332226e-01 -4.48140793e-03 1.13897059e+02] [ 1.02331768e-01 9.94750270e-01 -3.32088497e-04 6.43553383e+00] [ 4.49186510e-03 -1.28248624e-04 9.99989903e-01 -2.92536534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50719347000002 meters 0.0643432453684162 Centerline is valid? [True, True] Translation: X:113.96, Y:6.44, Z:-2.93 [[ 9.95220475e-01 -9.73571117e-02 -7.60257022e-03 1.13958647e+02] [ 9.73556677e-02 9.95249496e-01 -5.60664871e-04 6.44279700e+00] [ 7.62103889e-03 -1.82168140e-04 9.99970943e-01 -2.92758365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56719347 meters 0.06256759966509233 Centerline is valid? [True, True] Translation: X:114.02, Y:6.45, Z:-2.93 [[ 9.96118732e-01 -8.76773111e-02 -7.75630228e-03 1.14019956e+02] [ 8.76755150e-02 9.96148923e-01 -5.71950778e-04 6.45252235e+00] [ 7.77657927e-03 -1.10306913e-04 9.99969756e-01 -2.92629377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62719347000001 meters 0.06168347657950197 Centerline is valid? [True, True] Translation: X:114.08, Y:6.45, Z:-2.93 [[ 9.96577953e-01 -8.25647257e-02 -3.93073056e-03 1.14080204e+02] [ 8.25642361e-02 9.96585704e-01 -2.86953192e-04 6.45383469e+00] [ 3.94100209e-03 -3.85665411e-05 9.99992233e-01 -2.92532391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68719347000001 meters 0.061691497941141114 Centerline is valid? [True, True] Translation: X:114.14, Y:6.45, Z:-2.93 [[ 9.96941924e-01 -7.74554855e-02 -1.03657309e-02 1.14140926e+02] [ 7.74517242e-02 9.96995810e-01 -7.64407412e-04 6.45386041e+00] [ 1.03937979e-02 -4.07739391e-05 9.99945982e-01 -2.92930344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74719347000001 meters 0.061672663075768235 Centerline is valid? [True, True] Translation: X:114.20, Y:6.45, Z:-2.93 [[ 9.97121443e-01 -7.47518890e-02 -1.26879049e-02 1.14203349e+02] [ 7.47460689e-02 9.97202163e-01 -9.32964031e-04 6.45385893e+00] [ 1.27221470e-02 -1.80925706e-05 9.99919070e-01 -2.93113596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80719347000002 meters 0.061040917223971626 Centerline is valid? [True, True] Translation: X:114.27, Y:6.44, Z:-2.93 [[ 9.97170280e-01 -7.43798720e-02 -1.09117910e-02 1.14266037e+02] [ 7.43755504e-02 9.97229981e-01 -8.01876166e-04 6.44357307e+00] [ 1.09412086e-02 -1.19633829e-05 9.99940143e-01 -2.93110419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86719347000002 meters 0.060691930580993134 Centerline is valid? [True, True] Translation: X:114.33, Y:6.43, Z:-2.93 [[ 9.96935587e-01 -7.70084408e-02 -1.37526482e-02 1.14328674e+02] [ 7.70018211e-02 9.97030440e-01 -1.01099988e-03 6.42887261e+00] [ 1.37896644e-02 -5.10771999e-05 9.99904917e-01 -2.93344933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92719347000002 meters 0.060923033047145234 Centerline is valid? [True, True] Translation: X:114.39, Y:6.42, Z:-2.94 [[ 9.96387013e-01 -8.34392907e-02 -1.58368018e-02 1.14389724e+02] [ 8.34312904e-02 9.96512850e-01 -1.16633914e-03 6.41536816e+00] [ 1.58788950e-02 -1.59159638e-04 9.99873910e-01 -2.93582180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98719347000001 meters 0.0625071758321904 Centerline is valid? [True, True] Translation: X:114.45, Y:6.39, Z:-2.93 [[ 9.94927106e-01 -9.94380743e-02 -1.52355920e-02 1.14452239e+02] [ 9.94325367e-02 9.95043673e-01 -1.12242088e-03 6.38590056e+00] [ 1.52716908e-02 -3.98186603e-04 9.99883302e-01 -2.93391446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04719347000001 meters 0.06521891775896635 Centerline is valid? [True, True] Translation: X:114.51, Y:6.37, Z:-2.93 [[ 9.93517873e-01 -1.12934214e-01 -1.29653293e-02 1.14514382e+02] [ 1.12931355e-01 9.93602334e-01 -9.54789404e-04 6.36534013e+00] [ 1.29902098e-02 -5.15591860e-04 9.99915491e-01 -2.93298356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10719347000001 meters 0.07054969099569858 Centerline is valid? [True, True] Translation: X:114.58, Y:6.35, Z:-2.93 [[ 9.91605652e-01 -1.28830127e-01 -1.10013481e-02 1.14576652e+02] [ 1.28829042e-01 9.91666487e-01 -8.10159564e-04 6.34610905e+00] [ 1.10140412e-02 -6.13934336e-04 9.99939155e-01 -2.93079619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16719347000002 meters 0.07026566159656915 Centerline is valid? [True, True] Translation: X:114.64, Y:6.35, Z:-2.93 [[ 9.90940325e-01 -1.33815061e-01 -1.14368548e-02 1.14636392e+02] [ 1.33814212e-01 9.91006078e-01 -8.42860069e-04 6.35020101e+00] [ 1.14467800e-02 -6.95189686e-04 9.99934242e-01 -2.92870455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22719347000002 meters 0.07696844814119817 Centerline is valid? [True, True] Translation: X:114.70, Y:6.35, Z:-2.94 [[ 9.90145327e-01 -1.39370025e-01 -1.37196342e-02 1.14696322e+02] [ 1.39369331e-01 9.90239954e-01 -1.01134331e-03 6.34657582e+00] [ 1.37266809e-02 -9.10719385e-04 9.99905370e-01 -2.93557895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28719347000002 meters 0.07931665318928857 Centerline is valid? [True, True] Translation: X:114.76, Y:6.36, Z:-2.94 [[ 9.89636199e-01 -1.42510013e-01 -1.76377410e-02 1.14756328e+02] [ 1.42509374e-01 9.89792599e-01 -1.29951944e-03 6.35584376e+00] [ 1.76429000e-02 -1.22749195e-03 9.99843598e-01 -2.94007310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34719347000001 meters 0.07721773272802167 Centerline is valid? [True, True] Translation: X:114.82, Y:6.38, Z:-2.94 [[ 9.89242811e-01 -1.45146118e-01 -1.82007031e-02 1.14815110e+02] [ 1.45145865e-01 9.89409358e-01 -1.34190733e-03 6.37704892e+00] [ 1.82027186e-02 -1.31428461e-03 9.99833453e-01 -2.93727382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40719347000001 meters 0.07961484077353546 Centerline is valid? [True, True] Translation: X:114.87, Y:6.39, Z:-2.94 [[ 9.88859148e-01 -1.47751006e-01 -1.80893848e-02 1.14873151e+02] [ 1.47751129e-01 9.89023668e-01 -1.33708207e-03 6.38894295e+00] [ 1.80883849e-02 -1.35054119e-03 9.99835480e-01 -2.93987752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46719347000001 meters 0.08105782460554344 Centerline is valid? [True, True] Translation: X:114.93, Y:6.41, Z:-2.94 [[ 9.87495462e-01 -1.56785754e-01 -1.64602224e-02 1.14931882e+02] [ 1.56787131e-01 9.87631672e-01 -1.21479826e-03 6.40867830e+00] [ 1.64471001e-02 -1.38114329e-03 9.99863783e-01 -2.93760165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52719347000001 meters 0.0847912988514108 Centerline is valid? [True, True] Translation: X:114.99, Y:6.43, Z:-2.94 [[ 9.86940882e-01 -1.60165296e-01 -1.71689440e-02 1.14989654e+02] [ 1.60167346e-01 9.87089065e-01 -1.26450810e-03 6.42615177e+00] [ 1.71498071e-02 -1.50190944e-03 9.99851803e-01 -2.94066050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58719347000002 meters 0.08109097979260609 Centerline is valid? [True, True] Translation: X:115.05, Y:6.45, Z:-2.94 [[ 9.88006957e-01 -1.53177968e-01 -1.94618302e-02 1.15047542e+02] [ 1.53179193e-01 9.88197385e-01 -1.43660619e-03 6.45115166e+00] [ 1.94521862e-02 -1.56177055e-03 9.99809569e-01 -2.94452970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64719347000002 meters 0.06872712618472955 Centerline is valid? [True, True] Translation: X:115.10, Y:6.50, Z:-2.94 [[ 9.91172708e-01 -1.31363387e-01 -1.78975535e-02 1.15104038e+02] [ 1.31360891e-01 9.91333735e-01 -1.32015031e-03 6.50425364e+00] [ 1.79158679e-02 -1.04254160e-03 9.99838954e-01 -2.94023273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70719347 meters 0.06403304918685232 Centerline is valid? [True, True] Translation: X:115.16, Y:6.54, Z:-2.94 [[ 9.93233337e-01 -1.15270090e-01 -1.41543218e-02 1.15161233e+02] [ 1.15266894e-01 9.93334009e-01 -1.04409364e-03 6.53687906e+00] [ 1.41803220e-02 -5.94496105e-04 9.99899277e-01 -2.93910770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76719347000001 meters 0.057921115351633065 Centerline is valid? [True, True] Translation: X:115.22, Y:6.58, Z:-2.94 [[ 9.95612890e-01 -9.30374314e-02 -9.95032989e-03 1.15219506e+02] [ 9.30347466e-02 9.95662593e-01 -7.33361632e-04 6.57810097e+00] [ 9.97540133e-03 -1.95582126e-04 9.99950225e-01 -2.93586832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82719347000001 meters 0.05714719464063097 Centerline is valid? [True, True] Translation: X:115.28, Y:6.60, Z:-2.94 [[ 9.96407255e-01 -8.40201110e-02 -1.06396744e-02 1.15280090e+02] [ 8.40165462e-02 9.96464052e-01 -7.82361304e-04 6.59520795e+00] [ 1.06677872e-02 -1.14358219e-04 9.99943091e-01 -2.93872862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88719347000001 meters 0.05750631397381835 Centerline is valid? [True, True] Translation: X:115.34, Y:6.60, Z:-2.94 [[ 9.96615525e-01 -8.10813481e-02 -1.35392198e-02 1.15341568e+02] [ 8.10753219e-02 9.96707481e-01 -9.94281121e-04 6.60343155e+00] [ 1.35752594e-02 -1.06780606e-04 9.99907846e-01 -2.94238834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94719347000002 meters 0.057396973371637926 Centerline is valid? [True, True] Translation: X:115.40, Y:6.61, Z:-2.94 [[ 9.96945407e-01 -7.72676157e-02 -1.13829282e-02 1.15402382e+02] [ 7.72631048e-02 9.97010388e-01 -8.36171760e-04 6.60568812e+00] [ 1.14135067e-02 -4.58627813e-05 9.99934863e-01 -2.94441098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00719347000002 meters 0.057322833519718154 Centerline is valid? [True, True] Translation: X:115.47, Y:6.60, Z:-2.95 [[ 9.96833431e-01 -7.85037661e-02 -1.26597755e-02 1.15465371e+02] [ 7.84983136e-02 9.96913815e-01 -9.27794836e-04 6.60274853e+00] [ 1.26935405e-02 -6.89141165e-05 9.99919431e-01 -2.94582794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06719347 meters 0.057911718223969906 Centerline is valid? [True, True] Translation: X:115.53, Y:6.59, Z:-2.95 [[ 9.96328650e-01 -8.42016001e-02 -1.54697154e-02 1.15527261e+02] [ 8.41941170e-02 9.96448725e-01 -1.13551472e-03 6.59038720e+00] [ 1.55103904e-02 -1.71113186e-04 9.99879692e-01 -2.95183409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12719347000001 meters 0.058565685319684375 Centerline is valid? [True, True] Translation: X:115.59, Y:6.58, Z:-2.95 [[ 9.95833140e-01 -9.00620421e-02 -1.43243229e-02 1.15588991e+02] [ 9.00562611e-02 9.95936127e-01 -1.04940971e-03 6.58248492e+00] [ 1.43606227e-02 -2.44958001e-04 9.99896851e-01 -2.95376882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18719347000001 meters 0.05902732032036627 Centerline is valid? [True, True] Translation: X:115.65, Y:6.58, Z:-2.95 [[ 9.95257439e-01 -9.65646850e-02 -1.17427599e-02 1.15651730e+02] [ 9.65612751e-02 9.95326672e-01 -8.58336957e-04 6.57572016e+00] [ 1.17707672e-02 -2.79629631e-04 9.99930683e-01 -2.95081173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24719347000001 meters 0.061092866707071654 Centerline is valid? [True, True] Translation: X:115.71, Y:6.56, Z:-2.95 [[ 9.94554116e-01 -1.03374627e-01 -1.32588417e-02 1.15712570e+02] [ 1.03370894e-01 9.94642408e-01 -9.68399039e-04 6.56390265e+00] [ 1.32879141e-02 -4.07453074e-04 9.99911629e-01 -2.95477643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30719347000002 meters 0.0620459592994904 Centerline is valid? [True, True] Translation: X:115.77, Y:6.56, Z:-2.96 [[ 9.94092683e-01 -1.07357418e-01 -1.59411897e-02 1.15774507e+02] [ 1.07352522e-01 9.94220337e-01 -1.16505799e-03 6.55859762e+00] [ 1.59741326e-02 -5.53151288e-04 9.99872252e-01 -2.95683819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36719347000002 meters 0.06173903452189696 Centerline is valid? [True, True] Translation: X:115.84, Y:6.56, Z:-2.96 [[ 9.94096779e-01 -1.07011874e-01 -1.78900408e-02 1.15836577e+02] [ 1.07005663e-01 9.94257552e-01 -1.30680042e-03 6.55666493e+00] [ 1.79271513e-02 -6.15249588e-04 9.99839106e-01 -2.95588505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42719347000002 meters 0.061766880303357405 Centerline is valid? [True, True] Translation: X:115.90, Y:6.56, Z:-2.96 [[ 9.94422158e-01 -1.04112097e-01 -1.68891377e-02 1.15896702e+02] [ 1.04106142e-01 9.94565427e-01 -1.23379627e-03 6.55765168e+00] [ 1.69258056e-02 -5.31348610e-04 9.99856607e-01 -2.95722812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48719347000001 meters 0.06138121032352538 Centerline is valid? [True, True] Translation: X:115.96, Y:6.56, Z:-2.96 [[ 9.94579523e-01 -1.02693994e-01 -1.62946341e-02 1.15957065e+02] [ 1.02688253e-01 9.94712875e-01 -1.19087916e-03 6.55965696e+00] [ 1.63307785e-02 -4.88843479e-04 9.99866524e-01 -2.95575798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54719347000001 meters 0.06003435916885171 Centerline is valid? [True, True] Translation: X:116.02, Y:6.56, Z:-2.96 [[ 9.94878496e-01 -9.93851158e-02 -1.84221866e-02 1.16017948e+02] [ 9.93772449e-02 9.95048921e-01 -1.34447908e-03 6.56374249e+00] [ 1.84645981e-02 -4.93152823e-04 9.99829393e-01 -2.95625221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60719347000001 meters 0.0596114238748241 Centerline is valid? [True, True] Translation: X:116.08, Y:6.57, Z:-2.96 [[ 9.95073858e-01 -9.77047570e-02 -1.67868241e-02 1.16078249e+02] [ 9.76979661e-02 9.95215356e-01 -1.22610361e-03 6.56900163e+00] [ 1.68263013e-02 -4.19974930e-04 9.99858340e-01 -2.95755855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66719347000002 meters 0.058418353709402814 Centerline is valid? [True, True] Translation: X:116.14, Y:6.58, Z:-2.96 [[ 9.95516081e-01 -9.36281567e-02 -1.34722355e-02 1.16138176e+02] [ 9.36234096e-02 9.95607196e-01 -9.84007242e-04 6.57783485e+00] [ 1.35051854e-02 -2.81721589e-04 9.99908761e-01 -2.95507205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72719347000002 meters 0.057637774602933914 Centerline is valid? [True, True] Translation: X:116.20, Y:6.59, Z:-2.96 [[ 9.95909444e-01 -8.95072458e-02 -1.23625763e-02 1.16199527e+02] [ 8.95029604e-02 9.95986149e-01 -9.00588666e-04 6.58501258e+00] [ 1.23935640e-02 -2.09582419e-04 9.99923175e-01 -2.95611493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78719347000002 meters 0.05729798067807447 Centerline is valid? [True, True] Translation: X:116.26, Y:6.59, Z:-2.96 [[ 9.96171861e-01 -8.64244259e-02 -1.31317218e-02 1.16261036e+02] [ 8.64193340e-02 9.96258393e-01 -9.55764588e-04 6.58831553e+00] [ 1.31651894e-02 -1.82728862e-04 9.99913318e-01 -2.95953282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84719347000001 meters 0.05759238678131307 Centerline is valid? [True, True] Translation: X:116.32, Y:6.59, Z:-2.96 [[ 9.96200283e-01 -8.57507551e-02 -1.52251302e-02 1.16323017e+02] [ 8.57438564e-02 9.96316600e-01 -1.10651209e-03 6.59093569e+00] [ 1.52639342e-02 -2.03153718e-04 9.99883479e-01 -2.96301406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90719347000001 meters 0.05858195331180639 Centerline is valid? [True, True] Translation: X:116.38, Y:6.59, Z:-2.97 [[ 9.96443088e-01 -8.17249380e-02 -2.05476866e-02 1.16382606e+02] [ 8.17115297e-02 9.96654904e-01 -1.49268722e-03 6.59068673e+00] [ 2.06009424e-02 -1.91605040e-04 9.99787760e-01 -2.97379698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96719347000001 meters 0.05790591200784489 Centerline is valid? [True, True] Translation: X:116.44, Y:6.59, Z:-2.97 [[ 9.96925293e-01 -7.54116448e-02 -2.12848115e-02 1.16443011e+02] [ 7.53957754e-02 9.97152486e-01 -1.54821874e-03 6.59380307e+00] [ 2.13409564e-02 -6.13264414e-05 9.99772254e-01 -2.97200037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02719347000001 meters 0.059178281396742166 Centerline is valid? [True, True] Translation: X:116.50, Y:6.60, Z:-2.97 [[ 9.97887928e-01 -6.15974568e-02 -2.06261185e-02 1.16502403e+02] [ 6.15796011e-02 9.98101048e-01 -1.50031623e-03 6.60198899e+00] [ 2.06793662e-02 2.26999300e-04 9.99786133e-01 -2.97416644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08719347000002 meters 0.061489755308064956 Centerline is valid? [True, True] Translation: X:116.56, Y:6.60, Z:-2.97 [[ 9.98584961e-01 -5.00036834e-02 -1.81027087e-02 1.16561469e+02] [ 4.99879761e-02 9.98748948e-01 -1.31941805e-03 6.60272988e+00] [ 1.81460370e-02 4.12633248e-04 9.99835262e-01 -2.97449119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14719347000002 meters 0.06091592872403718 Centerline is valid? [True, True] Translation: X:116.62, Y:6.59, Z:-2.97 [[ 9.98581392e-01 -5.12183266e-02 -1.45563578e-02 1.16622288e+02] [ 5.12082941e-02 9.98687431e-01 -1.06135324e-03 6.58974367e+00] [ 1.45916123e-02 3.14441344e-04 9.99893487e-01 -2.97427298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20719347 meters 0.05885381593620101 Centerline is valid? [True, True] Translation: X:116.68, Y:6.56, Z:-2.98 [[ 9.98034432e-01 -6.12488095e-02 -1.32610944e-02 1.16684830e+02] [ 6.12413697e-02 9.98122518e-01 -9.66764122e-04 6.55839316e+00] [ 1.32954101e-02 1.52736296e-04 9.99911600e-01 -2.97693961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26719347000001 meters 0.05831463937171624 Centerline is valid? [True, True] Translation: X:116.74, Y:6.54, Z:-2.98 [[ 9.97772194e-01 -6.57431452e-02 -1.13352778e-02 1.16743969e+02] [ 6.57379437e-02 9.97836576e-01 -8.31254964e-04 6.54355430e+00] [ 1.13654041e-02 8.42452312e-05 9.99935408e-01 -2.97836581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32719347000001 meters 0.05740833044233793 Centerline is valid? [True, True] Translation: X:116.80, Y:6.53, Z:-2.97 [[ 9.97520956e-01 -6.94723357e-02 -1.12042886e-02 1.16804049e+02] [ 6.94674036e-02 9.97583877e-01 -8.29246559e-04 6.52959894e+00] [ 1.12348273e-02 4.88579836e-05 9.99936886e-01 -2.97488535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38719347000001 meters 0.05705711062094664 Centerline is valid? [True, True] Translation: X:116.86, Y:6.51, Z:-2.98 [[ 9.96898275e-01 -7.82091318e-02 -8.78417843e-03 1.16864625e+02] [ 7.82064010e-02 9.96936974e-01 -6.54476361e-04 6.50946133e+00] [ 8.80845829e-03 -3.45326255e-05 9.99961204e-01 -2.97588637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44719347000002 meters 0.05772818134698933 Centerline is valid? [True, True] Translation: X:116.93, Y:6.49, Z:-2.98 [[ 9.95954076e-01 -8.93880699e-02 -9.23319628e-03 1.16926092e+02] [ 8.93855919e-02 9.95996863e-01 -6.81520584e-04 6.48979109e+00] [ 9.25715434e-03 -1.46551511e-04 9.99957141e-01 -2.97691178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50719347000002 meters 0.05994155820464633 Centerline is valid? [True, True] Translation: X:116.99, Y:6.48, Z:-2.98 [[ 9.95059849e-01 -9.83431480e-02 -1.35839090e-02 1.16987893e+02] [ 9.83386375e-02 9.95152506e-01 -1.00121597e-03 6.47769395e+00] [ 1.36165238e-02 -3.39553291e-04 9.99907233e-01 -2.98365986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56719347 meters 0.06487749996171345 Centerline is valid? [True, True] Translation: X:117.05, Y:6.46, Z:-2.99 [[ 9.93525970e-01 -1.12811115e-01 -1.34089552e-02 1.17048564e+02] [ 1.12808014e-01 9.93616310e-01 -9.89815949e-04 6.45565814e+00] [ 1.34350188e-02 -5.29229753e-04 9.99909606e-01 -2.98724846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62719347000001 meters 0.06796618058010116 Centerline is valid? [True, True] Translation: X:117.11, Y:6.45, Z:-2.99 [[ 9.92696616e-01 -1.20059147e-01 -1.17995498e-02 1.17109707e+02] [ 1.20057258e-01 9.92766587e-01 -8.70862266e-04 6.44719184e+00] [ 1.18187538e-02 -5.52119573e-04 9.99930004e-01 -2.98881501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68719347000001 meters 0.06688403133192615 Centerline is valid? [True, True] Translation: X:117.17, Y:6.46, Z:-2.98 [[ 9.92959641e-01 -1.18307999e-01 -5.86254669e-03 1.17169446e+02] [ 1.18307502e-01 9.92976912e-01 -4.32772139e-04 6.45608343e+00] [ 5.87257392e-03 -2.63857987e-04 9.99982721e-01 -2.98340410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74719347000001 meters 0.06080678012070876 Centerline is valid? [True, True] Translation: X:117.23, Y:6.48, Z:-2.98 [[ 9.94301147e-01 -1.06605941e-01 -6.34985442e-04 1.17228573e+02] [ 1.06605932e-01 9.94301349e-01 -4.72613155e-05 6.48332761e+00] [ 6.36405219e-04 -2.07012349e-05 9.99999797e-01 -2.97698214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80719347000002 meters 0.06069751467904964 Centerline is valid? [True, True] Translation: X:117.29, Y:6.49, Z:-2.98 [[ 9.94729880e-01 -1.02483772e-01 3.08904597e-03 1.17286544e+02] [ 1.02483562e-01 9.94734672e-01 2.26526162e-04 6.49451441e+00] [-3.09599638e-03 9.12440919e-05 9.99995203e-01 -2.97964608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86719347000002 meters 0.05941611853949976 Centerline is valid? [True, True] Translation: X:117.34, Y:6.51, Z:-2.98 [[ 9.95160953e-01 -9.81627141e-02 4.33116602e-03 1.17344863e+02] [ 9.81622756e-02 9.95170372e-01 3.14232497e-04 6.51205874e+00] [-4.34109402e-03 1.12445202e-04 9.99990571e-01 -2.98152055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92719347000002 meters 0.05909406351023821 Centerline is valid? [True, True] Translation: X:117.40, Y:6.52, Z:-2.98 [[ 9.95312716e-01 -9.65358331e-02 5.78191315e-03 1.17403241e+02] [ 9.65350040e-02 9.95329500e-01 4.22960273e-04 6.52374580e+00] [-5.79573955e-03 1.37179272e-04 9.99983195e-01 -2.98337679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98719347000001 meters 0.05991037658232258 Centerline is valid? [True, True] Translation: X:117.46, Y:6.54, Z:-2.99 [[ 9.95346010e-01 -9.63266105e-02 2.73941239e-03 1.17460536e+02] [ 9.63264235e-02 9.95349778e-01 2.00418679e-04 6.53623920e+00] [-2.74597917e-03 6.43918663e-05 9.99996228e-01 -2.98963306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04719347000001 meters 0.06087649290178563 Centerline is valid? [True, True] Translation: X:117.52, Y:6.54, Z:-3.00 [[ 9.95086500e-01 -9.90014542e-02 -1.25298868e-03 1.17520080e+02] [ 9.90014136e-02 9.95087288e-01 -9.45907328e-05 6.54126348e+00] [ 1.25619773e-03 -2.99216896e-05 9.99999211e-01 -2.99526002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10719347000001 meters 0.06197905550575317 Centerline is valid? [True, True] Translation: X:117.58, Y:6.54, Z:-3.00 [[ 9.94582949e-01 -1.03897473e-01 -3.17375614e-03 1.17579142e+02] [ 1.03897240e-01 9.94588008e-01 -2.38758460e-04 6.54293570e+00] [ 3.18138620e-03 -9.22794099e-05 9.99994935e-01 -2.99826118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16719347000002 meters 0.06422857725786835 Centerline is valid? [True, True] Translation: X:117.64, Y:6.54, Z:-3.00 [[ 9.94041053e-01 -1.08820418e-01 -6.36402669e-03 1.17637838e+02] [ 1.08819593e-01 9.94061401e-01 -4.76891693e-04 6.54338300e+00] [ 6.37812884e-03 -2.18480872e-04 9.99979636e-01 -3.00391941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22719347000002 meters 0.06560594921717683 Centerline is valid? [True, True] Translation: X:117.70, Y:6.55, Z:-3.01 [[ 9.93772111e-01 -1.11161470e-01 -7.75368200e-03 1.17695509e+02] [ 1.11160304e-01 9.93802318e-01 -5.82429596e-04 6.54999600e+00] [ 7.77037088e-03 -2.83099361e-04 9.99969770e-01 -3.00791155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28719347000002 meters 0.06624410726777237 Centerline is valid? [True, True] Translation: X:117.75, Y:6.55, Z:-3.01 [[ 9.93598251e-01 -1.12635940e-01 -8.69830445e-03 1.17754268e+02] [ 1.12634466e-01 9.93636272e-01 -6.60724566e-04 6.55462751e+00] [ 8.71737214e-03 -3.23234100e-04 9.99961951e-01 -3.01090068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34719347000001 meters 0.06771388043801611 Centerline is valid? [True, True] Translation: X:117.81, Y:6.56, Z:-3.01 [[ 9.93095027e-01 -1.16877934e-01 -1.00904161e-02 1.17814359e+02] [ 1.16876244e-01 9.93146196e-01 -7.59013969e-04 6.55795219e+00] [ 1.01099703e-02 -4.25556931e-04 9.99948802e-01 -3.01295585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40719347000001 meters 0.07197302824748163 Centerline is valid? [True, True] Translation: X:117.87, Y:6.56, Z:-3.01 [[ 9.92506371e-01 -1.22145507e-01 -3.40268616e-03 1.17872533e+02] [ 1.22145336e-01 9.92512191e-01 -2.58620506e-04 6.55517555e+00] [ 3.40879683e-03 -1.58939746e-04 9.99994177e-01 -3.01138859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46719347000001 meters 0.07106817732560855 Centerline is valid? [True, True] Translation: X:117.93, Y:6.57, Z:-3.00 [[ 9.92201358e-01 -1.24626824e-01 2.14927489e-03 1.17930776e+02] [ 1.24626779e-01 9.92203680e-01 1.55620752e-04 6.56691335e+00] [-2.15191298e-03 1.13450086e-04 9.99997678e-01 -3.00466386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52719347000001 meters 0.06962768554235922 Centerline is valid? [True, True] Translation: X:117.99, Y:6.58, Z:-3.01 [[ 9.92830169e-01 -1.19515758e-01 2.05899903e-03 1.17988519e+02] [ 1.19515693e-01 9.92832300e-01 1.54711203e-04 6.58298770e+00] [-2.06273117e-03 9.24807464e-05 9.99997868e-01 -3.00866792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58719347000002 meters 0.06853705757209849 Centerline is valid? [True, True] Translation: X:118.05, Y:6.60, Z:-3.01 [[ 9.93205122e-01 -1.16374135e-01 8.04598175e-04 1.18045928e+02] [ 1.16374125e-01 9.93205447e-01 5.90237544e-05 6.59866644e+00] [-8.06000128e-04 3.50117133e-05 9.99999675e-01 -3.01193697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64719347000002 meters 0.07062874645792891 Centerline is valid? [True, True] Translation: X:118.10, Y:6.61, Z:-3.02 [[ 9.92990256e-01 -1.18051810e-01 -5.84129488e-03 1.18104159e+02] [ 1.18051242e-01 9.93007406e-01 -4.43152835e-04 6.60790074e+00] [ 5.85276406e-03 -2.49525670e-04 9.99982841e-01 -3.02160596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70719347 meters 0.06895191236343476 Centerline is valid? [True, True] Translation: X:118.16, Y:6.62, Z:-3.02 [[ 9.92336671e-01 -1.23394290e-01 -6.46383451e-03 1.18163157e+02] [ 1.23393710e-01 9.92357674e-01 -4.90022816e-04 6.62047875e+00] [ 6.47490179e-03 -3.11328909e-04 9.99978989e-01 -3.01832125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76719347000001 meters 0.0707889514693396 Centerline is valid? [True, True] Translation: X:118.22, Y:6.63, Z:-3.02 [[ 9.91363383e-01 -1.30913099e-01 -7.77195204e-03 1.18223467e+02] [ 1.30912493e-01 9.91393752e-01 -5.88847353e-04 6.62574684e+00] [ 7.78215252e-03 -4.33683915e-04 9.99969625e-01 -3.01900836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82719347000001 meters 0.07216832479466505 Centerline is valid? [True, True] Translation: X:118.28, Y:6.63, Z:-3.02 [[ 9.90699243e-01 -1.35795327e-01 -8.63935065e-03 1.18283447e+02] [ 1.35794761e-01 9.90736773e-01 -6.54762455e-04 6.63486914e+00] [ 8.64823607e-03 -5.24505891e-04 9.99962466e-01 -3.01965793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88719347000001 meters 0.07110096631653583 Centerline is valid? [True, True] Translation: X:118.34, Y:6.64, Z:-3.02 [[ 9.91242265e-01 -1.31915613e-01 -6.08628556e-03 1.18341925e+02] [ 1.31915256e-01 9.91260890e-01 -4.61852140e-04 6.64306193e+00] [ 6.09402235e-03 -3.45066558e-04 9.99981372e-01 -3.02079226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94719347000002 meters 0.06706020781076766 Centerline is valid? [True, True] Translation: X:118.40, Y:6.67, Z:-3.02 [[ 9.92754633e-01 -1.20101732e-01 -3.71667354e-03 1.18400602e+02] [ 1.20101517e-01 9.92761576e-01 -2.81774311e-04 6.66687291e+00] [ 3.72361227e-03 -1.66645377e-04 9.99993053e-01 -3.02094556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00719347000002 meters 0.0625868887561733 Centerline is valid? [True, True] Translation: X:118.46, Y:6.70, Z:-3.02 [[ 9.94237709e-01 -1.07196068e-01 6.16739722e-04 1.18459520e+02] [ 1.07196060e-01 9.94237900e-01 4.66276253e-05 6.69682679e+00] [-6.18184305e-04 1.97531248e-05 9.99999809e-01 -3.01797347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06719347000002 meters 0.06179032094058829 Centerline is valid? [True, True] Translation: X:118.52, Y:6.71, Z:-3.02 [[ 9.94767667e-01 -1.02083091e-01 4.04123538e-03 1.18518653e+02] [ 1.02082688e-01 9.94775870e-01 3.06277977e-04 6.70667017e+00] [-4.05138924e-03 1.07864743e-04 9.99991787e-01 -3.02116520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12719347000001 meters 0.06026931798625566 Centerline is valid? [True, True] Translation: X:118.58, Y:6.72, Z:-3.02 [[ 9.95269666e-01 -9.70788100e-02 3.74107759e-03 1.18578793e+02] [ 9.70784263e-02 9.95276694e-01 2.84449653e-04 6.72390492e+00] [-3.75102138e-03 8.00738137e-05 9.99992962e-01 -3.02336414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18719347000001 meters 0.05947333319488642 Centerline is valid? [True, True] Translation: X:118.64, Y:6.75, Z:-3.03 [[ 9.96590035e-01 -8.25051329e-02 1.09813174e-03 1.18637375e+02] [ 8.25050908e-02 9.96590640e-01 8.36896010e-05 6.74827330e+00] [-1.10129263e-03 7.19723632e-06 9.99999394e-01 -3.03050126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24719347000001 meters 0.05996640708899838 Centerline is valid? [True, True] Translation: X:118.70, Y:6.76, Z:-3.04 [[ 9.97366984e-01 -7.24244415e-02 -3.71487148e-03 1.18698226e+02] [ 7.24239053e-02 9.97373902e-01 -2.78841171e-04 6.76308439e+00] [ 3.72531078e-03 9.06147703e-06 9.99993061e-01 -3.03565440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30719347000002 meters 0.060904178983127985 Centerline is valid? [True, True] Translation: X:118.76, Y:6.77, Z:-3.04 [[ 9.97717968e-01 -6.68016023e-02 -9.81850429e-03 1.18758987e+02] [ 6.67975363e-02 9.97766275e-01 -7.41834120e-04 6.76876115e+00] [ 9.84612816e-03 8.42893329e-05 9.99951522e-01 -3.04264562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36719347000002 meters 0.06057827501029619 Centerline is valid? [True, True] Translation: X:118.82, Y:6.76, Z:-3.05 [[ 9.97323481e-01 -7.26913231e-02 -7.86425633e-03 1.18820354e+02] [ 7.26889055e-02 9.97354486e-01 -5.93186595e-04 6.76215129e+00] [ 7.88657085e-03 1.99547345e-05 9.99968900e-01 -3.04606308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42719347000002 meters 0.060831822123410685 Centerline is valid? [True, True] Translation: X:118.88, Y:6.74, Z:-3.05 [[ 9.96305293e-01 -8.54846157e-02 -8.25494466e-03 1.18883038e+02] [ 8.54823960e-02 9.96339487e-01 -6.21993097e-04 6.74053563e+00] [ 8.27789817e-03 -8.59574340e-05 9.99965734e-01 -3.04891859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48719347000001 meters 0.06126979804684614 Centerline is valid? [True, True] Translation: X:118.94, Y:6.73, Z:-3.04 [[ 9.95403024e-01 -9.55847004e-02 -6.03196569e-03 1.18944772e+02] [ 9.55836946e-02 9.95421293e-01 -4.55471869e-04 6.73139723e+00] [ 6.04788323e-03 -1.23179491e-04 9.99981704e-01 -3.04314638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54719347000001 meters 0.06440550163352958 Centerline is valid? [True, True] Translation: X:119.01, Y:6.71, Z:-3.04 [[ 9.94086638e-01 -1.08584956e-01 1.03151732e-03 1.19005464e+02] [ 1.08584934e-01 9.94087172e-01 7.68478953e-05 6.70942978e+00] [-1.03376266e-03 3.56137743e-05 9.99999465e-01 -3.04223303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60719347000001 meters 0.06477238039108027 Centerline is valid? [True, True] Translation: X:119.07, Y:6.71, Z:-3.04 [[ 9.93639329e-01 -1.12609051e-01 2.92397846e-04 1.19065801e+02] [ 1.12609050e-01 9.93639372e-01 2.15697968e-05 6.70917625e+00] [-2.92966967e-04 1.14940452e-05 9.99999957e-01 -3.04243141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66719347000002 meters 0.0656356781594521 Centerline is valid? [True, True] Translation: X:119.13, Y:6.71, Z:-3.05 [[ 9.93321250e-01 -1.15318894e-01 -3.80080317e-03 1.19126242e+02] [ 1.15318638e-01 9.93328510e-01 -2.87252700e-04 6.71347927e+00] [ 3.80857181e-03 -1.52969232e-04 9.99992736e-01 -3.04520829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72719347000002 meters 0.06568053910945655 Centerline is valid? [True, True] Translation: X:119.19, Y:6.72, Z:-3.05 [[ 9.93397918e-01 -1.14559949e-01 -6.04927758e-03 1.19185134e+02] [ 1.14559274e-01 9.93416308e-01 -4.59171907e-04 6.71829685e+00] [ 6.06205372e-03 -2.36860430e-04 9.99981598e-01 -3.04869551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78719347000002 meters 0.06478596492346997 Centerline is valid? [True, True] Translation: X:119.24, Y:6.72, Z:-3.05 [[ 9.93863725e-01 -1.10488289e-01 -5.21858686e-03 1.19244802e+02] [ 1.10487734e-01 9.93877409e-01 -3.95382937e-04 6.72418367e+00] [ 5.23032077e-03 -1.83633080e-04 9.99986305e-01 -3.05069169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84719347000001 meters 0.06174259440947181 Centerline is valid? [True, True] Translation: X:119.30, Y:6.75, Z:-3.05 [[ 9.95137320e-01 -9.84091298e-02 -4.16627795e-03 1.19303718e+02] [ 9.84086715e-02 9.95146036e-01 -3.15341152e-04 6.74725067e+00] [ 4.17708743e-03 -9.61901292e-05 9.99991271e-01 -3.04891716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90719347000001 meters 0.060151421451948364 Centerline is valid? [True, True] Translation: X:119.36, Y:6.77, Z:-3.05 [[ 9.96429375e-01 -8.42593218e-02 -5.37278449e-03 1.19361585e+02] [ 8.42583510e-02 9.96443859e-01 -4.07192629e-04 6.76702270e+00] [ 5.38798789e-03 -4.69632645e-05 9.99985484e-01 -3.05223424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96719347000001 meters 0.059920394552187894 Centerline is valid? [True, True] Translation: X:119.42, Y:6.78, Z:-3.05 [[ 9.96999159e-01 -7.71536833e-02 -6.32352681e-03 1.19421899e+02] [ 7.71522079e-02 9.97019212e-01 -4.77287177e-04 6.77796056e+00] [ 6.34150218e-03 -1.20191410e-05 9.99979892e-01 -3.05396955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02719347000001 meters 0.061203161580944215 Centerline is valid? [True, True] Translation: X:119.48, Y:6.80, Z:-3.06 [[ 9.98186024e-01 -6.00153115e-02 -4.77749963e-03 1.19481055e+02] [ 6.00142720e-02 9.98197454e-01 -3.60773376e-04 6.79583234e+00] [ 4.79053989e-03 7.34007796e-05 9.99988523e-01 -3.05743657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08719347000002 meters 0.0614898137873694 Centerline is valid? [True, True] Translation: X:119.54, Y:6.80, Z:-3.06 [[ 9.98390217e-01 -5.66640148e-02 -2.48269034e-03 1.19542333e+02] [ 5.66637260e-02 9.98393303e-01 -1.86569237e-04 6.80244743e+00] [ 2.48927317e-03 4.55904160e-05 9.99996901e-01 -3.05505622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14719347000002 meters 0.06064161391400169 Centerline is valid? [True, True] Translation: X:119.61, Y:6.79, Z:-3.06 [[ 9.98100230e-01 -6.16110854e-02 6.36361636e-05 1.19605250e+02] [ 6.16110851e-02 9.98100233e-01 6.41186341e-06 6.78884476e+00] [-6.39103119e-05 -2.47898925e-06 9.99999998e-01 -3.05519534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20719347 meters 0.06005484717793371 Centerline is valid? [True, True] Translation: X:119.67, Y:6.76, Z:-3.06 [[ 9.97370899e-01 -7.23773944e-02 -3.57796940e-03 1.19668345e+02] [ 7.23768973e-02 9.97377317e-01 -2.68376026e-04 6.76357596e+00] [ 3.58800988e-03 8.70811478e-06 9.99993563e-01 -3.06210561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26719347000001 meters 0.059995653708508366 Centerline is valid? [True, True] Translation: X:119.73, Y:6.76, Z:-3.06 [[ 9.97209063e-01 -7.44818755e-02 -5.15123277e-03 1.19729743e+02] [ 7.44808616e-02 9.97222367e-01 -3.88648328e-04 6.75707668e+00] [ 5.16587179e-03 3.89537964e-06 9.99986657e-01 -3.06221832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32719347000001 meters 0.06082033459327718 Centerline is valid? [True, True] Translation: X:119.79, Y:6.75, Z:-3.07 [[ 9.97612302e-01 -6.84339461e-02 -9.29998713e-03 1.19788975e+02] [ 6.84303572e-02 9.97655647e-01 -7.03938547e-04 6.75192791e+00] [ 9.32635797e-03 6.58563137e-05 9.99956506e-01 -3.06823557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38719347000001 meters 0.061346404055668914 Centerline is valid? [True, True] Translation: X:119.85, Y:6.75, Z:-3.07 [[ 9.97816184e-01 -6.49082567e-02 -1.22385333e-02 1.19848117e+02] [ 6.49017597e-02 9.97891227e-01 -9.27706632e-04 6.75172732e+00] [ 1.22729408e-02 1.31378345e-04 9.99924676e-01 -3.07094881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44719347000002 meters 0.06180214721782553 Centerline is valid? [True, True] Translation: X:119.91, Y:6.75, Z:-3.07 [[ 9.97764859e-01 -6.54792084e-02 -1.33326168e-02 1.19907089e+02] [ 6.54715261e-02 9.97853924e-01 -1.01233645e-03 6.74500219e+00] [ 1.33702910e-02 1.37166963e-04 9.99910604e-01 -3.07356170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50719347000002 meters 0.06134113310106305 Centerline is valid? [True, True] Translation: X:119.97, Y:6.73, Z:-3.07 [[ 9.97219753e-01 -7.28357257e-02 -1.57391450e-02 1.19967225e+02] [ 7.28257816e-02 9.97343950e-01 -1.20479756e-03 6.73477257e+00] [ 1.57850933e-02 5.52323906e-05 9.99875406e-01 -3.07492740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56719347000002 meters 0.061699560150391915 Centerline is valid? [True, True] Translation: X:120.03, Y:6.71, Z:-3.08 [[ 9.96263206e-01 -8.52612735e-02 -1.37890839e-02 1.20027347e+02] [ 8.52547575e-02 9.96358621e-01 -1.06075234e-03 6.71345273e+00] [ 1.38293137e-02 -1.18796472e-04 9.99904363e-01 -3.07665608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62719347000001 meters 0.061641079880224915 Centerline is valid? [True, True] Translation: X:120.09, Y:6.71, Z:-3.07 [[ 9.95707921e-01 -9.18531211e-02 -1.13463977e-02 1.20086403e+02] [ 9.18490580e-02 9.95772553e-01 -8.79774069e-04 6.70755220e+00] [ 1.13792414e-02 -1.66157931e-04 9.99935241e-01 -3.07323203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68719347000001 meters 0.06199511033025321 Centerline is valid? [True, True] Translation: X:120.14, Y:6.71, Z:-3.07 [[ 9.95538448e-01 -9.41378472e-02 -6.42379410e-03 1.20144395e+02] [ 9.41366029e-02 9.95559166e-01 -4.96461838e-04 6.70509831e+00] [ 6.44200295e-03 -1.10467306e-04 9.99979244e-01 -3.07227741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74719347000001 meters 0.06122132024207248 Centerline is valid? [True, True] Translation: X:120.20, Y:6.71, Z:-3.07 [[ 9.95892346e-01 -9.04159566e-02 -4.83634812e-03 1.20203107e+02] [ 9.04152047e-02 9.95904087e-01 -3.74345906e-04 6.70960279e+00] [ 4.85038571e-03 -6.44711833e-05 9.99988235e-01 -3.07107394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80719347000002 meters 0.06110214261659866 Centerline is valid? [True, True] Translation: X:120.26, Y:6.72, Z:-3.07 [[ 9.96180731e-01 -8.67706584e-02 -9.73674712e-03 1.20261624e+02] [ 8.67673730e-02 9.96228310e-01 -7.60139812e-04 6.71776933e+00] [ 9.76598095e-03 -8.75953352e-05 9.99952308e-01 -3.07451073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86719347000002 meters 0.0612811703262149 Centerline is valid? [True, True] Translation: X:120.32, Y:6.73, Z:-3.08 [[ 9.96829524e-01 -7.87546177e-02 -1.13406653e-02 1.20318673e+02] [ 7.87496991e-02 9.96894031e-01 -8.80311473e-04 6.73018276e+00] [ 1.13747702e-02 -1.55535168e-05 9.99935305e-01 -3.08100766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92719347000002 meters 0.06154320207583555 Centerline is valid? [True, True] Translation: X:120.38, Y:6.74, Z:-3.08 [[ 9.97390492e-01 -7.16419311e-02 -8.92415236e-03 1.20375693e+02] [ 7.16385871e-02 9.97430414e-01 -6.94231100e-04 6.74033868e+00] [ 8.95095704e-03 5.31058319e-05 9.99959938e-01 -3.08274237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98719347000001 meters 0.06283964837101635 Centerline is valid? [True, True] Translation: X:120.43, Y:6.75, Z:-3.09 [[ 9.97927176e-01 -6.35552909e-02 -1.01032853e-02 1.20434944e+02] [ 6.35506056e-02 9.97978309e-01 -7.84434845e-04 6.74862852e+00] [ 1.01327146e-02 1.40738949e-04 9.99948653e-01 -3.08775687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04719347000001 meters 0.06338395643418515 Centerline is valid? [True, True] Translation: X:120.49, Y:6.75, Z:-3.09 [[ 9.98067995e-01 -6.11445013e-02 -1.10284825e-02 1.20493500e+02] [ 6.11386645e-02 9.98128906e-01 -8.65936312e-04 6.74896267e+00] [ 1.10607944e-02 1.89996626e-04 9.99938809e-01 -3.08993708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10719347000001 meters 0.06289507858389268 Centerline is valid? [True, True] Translation: X:120.55, Y:6.74, Z:-3.09 [[ 9.97826920e-01 -6.46137545e-02 -1.29035052e-02 1.20553485e+02] [ 6.46060149e-02 9.97910332e-01 -1.01618532e-03 6.73677386e+00] [ 1.29422007e-02 1.80333023e-04 9.99916230e-01 -3.09110869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16719347000002 meters 0.062486894933051325 Centerline is valid? [True, True] Translation: X:120.61, Y:6.73, Z:-3.09 [[ 9.97383200e-01 -7.07613570e-02 -1.48183538e-02 1.20613119e+02] [ 7.07517769e-02 9.97493266e-01 -1.17040390e-03 6.72509881e+00] [ 1.48640275e-02 1.18916326e-04 9.99889517e-01 -3.09460019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22719347000002 meters 0.0623786582556132 Centerline is valid? [True, True] Translation: X:120.67, Y:6.70, Z:-3.10 [[ 9.96230326e-01 -8.52060382e-02 -1.62809084e-02 1.20673791e+02] [ 8.51963287e-02 9.96363348e-01 -1.29028946e-03 6.70106543e+00] [ 1.63316409e-02 -1.01648137e-04 9.99866625e-01 -3.09696491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28719347000002 meters 0.0639525962972241 Centerline is valid? [True, True] Translation: X:120.74, Y:6.68, Z:-3.09 [[ 9.94617635e-01 -1.02400425e-01 -1.58086287e-02 1.20735922e+02] [ 1.02393540e-01 9.94743188e-01 -1.24647115e-03 6.67824561e+00] [ 1.58531649e-02 -3.78939266e-04 9.99874259e-01 -3.09386609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34719347000001 meters 0.06862783418219608 Centerline is valid? [True, True] Translation: X:120.80, Y:6.67, Z:-3.10 [[ 9.93476986e-01 -1.12507440e-01 -1.85890731e-02 1.20796486e+02] [ 1.12499696e-01 9.93650679e-01 -1.46513820e-03 6.66598605e+00] [ 1.86358841e-02 -6.35683990e-04 9.99826135e-01 -3.10307809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40719347000001 meters 0.07113691276179332 Centerline is valid? [True, True] Translation: X:120.86, Y:6.66, Z:-3.10 [[ 9.92281986e-01 -1.22779140e-01 -1.73707483e-02 1.20857425e+02] [ 1.22773940e-01 9.92433718e-01 -1.36951574e-03 6.65934936e+00] [ 1.74074643e-02 -7.73729414e-04 9.99848179e-01 -3.10083483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46719347000001 meters 0.06890542477972629 Centerline is valid? [True, True] Translation: X:120.92, Y:6.67, Z:-3.09 [[ 9.92253579e-01 -1.23436383e-01 -1.40105031e-02 1.20916203e+02] [ 1.23433019e-01 9.92352287e-01 -1.10788795e-03 6.66850765e+00] [ 1.40401084e-02 -6.30052907e-04 9.99901234e-01 -3.09429609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52719347000001 meters 0.06682990101131626 Centerline is valid? [True, True] Translation: X:120.98, Y:6.69, Z:-3.10 [[ 9.93014821e-01 -1.17126805e-01 -1.42434878e-02 1.20975283e+02] [ 1.17122700e-01 9.93116815e-01 -1.12492993e-03 6.68533439e+00] [ 1.42772067e-02 -5.51163651e-04 9.99897924e-01 -3.09669664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58719347000002 meters 0.06528325640075121 Centerline is valid? [True, True] Translation: X:121.03, Y:6.71, Z:-3.10 [[ 9.93648430e-01 -1.11328383e-01 -1.63947518e-02 1.21033179e+02] [ 1.11321967e-01 9.93783534e-01 -1.30627850e-03 6.70536462e+00] [ 1.64382603e-02 -5.27114442e-04 9.99864744e-01 -3.10155520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64719347000002 meters 0.0654036231237157 Centerline is valid? [True, True] Translation: X:121.09, Y:6.71, Z:-3.10 [[ 9.93615375e-01 -1.12038265e-01 -1.32632142e-02 1.21090559e+02] [ 1.12034129e-01 9.93703798e-01 -1.05673642e-03 6.71228629e+00] [ 1.32981013e-02 -4.35943106e-04 9.99911481e-01 -3.10292644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70719347 meters 0.06696957257593483 Centerline is valid? [True, True] Translation: X:121.15, Y:6.71, Z:-3.10 [[ 9.92816910e-01 -1.19051778e-01 -1.18851379e-02 1.21150573e+02] [ 1.19048989e-01 9.92887932e-01 -9.44407137e-04 6.71410384e+00] [ 1.19130433e-02 -4.77290274e-04 9.99928923e-01 -3.10088192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76719347000001 meters 0.06879341934938983 Centerline is valid? [True, True] Translation: X:121.21, Y:6.72, Z:-3.10 [[ 9.92038432e-01 -1.25700369e-01 -7.69198678e-03 1.21210350e+02] [ 1.25699392e-01 9.92068187e-01 -6.12279433e-04 6.71837858e+00] [ 7.70793913e-03 -3.59473329e-04 9.99970229e-01 -3.09916484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82719347000001 meters 0.06896038747158358 Centerline is valid? [True, True] Translation: X:121.27, Y:6.73, Z:-3.10 [[ 9.91508162e-01 -1.29948259e-01 -5.00148404e-03 1.21269072e+02] [ 1.29947897e-01 9.91520744e-01 -3.98743970e-04 6.73271696e+00] [ 5.01089126e-03 -2.54574431e-04 9.99987413e-01 -3.09782373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88719347000001 meters 0.0686651028146642 Centerline is valid? [True, True] Translation: X:121.33, Y:6.74, Z:-3.10 [[ 9.91592214e-01 -1.29251487e-01 -6.23977607e-03 1.21326945e+02] [ 1.29250857e-01 9.91611799e-01 -5.05729075e-04 6.74229773e+00] [ 6.25280181e-03 -3.05019394e-04 9.99980405e-01 -3.10092319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94719347000002 meters 0.06663213419186699 Centerline is valid? [True, True] Translation: X:121.39, Y:6.76, Z:-3.10 [[ 9.92335650e-01 -1.23382150e-01 -6.84132217e-03 1.21385633e+02] [ 1.23381306e-01 9.92359186e-01 -5.46795718e-04 6.76384086e+00] [ 6.85651373e-03 -3.01486382e-04 9.99976448e-01 -3.10467156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00719347000002 meters 0.06527100040648559 Centerline is valid? [True, True] Translation: X:121.44, Y:6.78, Z:-3.11 [[ 9.92820808e-01 -1.19437222e-01 -6.44929487e-03 1.21443910e+02] [ 1.19436384e-01 9.92841721e-01 -5.16316615e-04 6.78374785e+00] [ 6.46479644e-03 -2.57670580e-04 9.99979070e-01 -3.10710215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06719347000002 meters 0.06498043288639858 Centerline is valid? [True, True] Translation: X:121.50, Y:6.81, Z:-3.11 [[ 9.93285294e-01 -1.15457779e-01 -7.33658305e-03 1.21499687e+02] [ 1.15456570e-01 9.93312354e-01 -5.89574004e-04 6.80647417e+00] [ 7.35558948e-03 -2.61441527e-04 9.99972913e-01 -3.11278692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12719347000001 meters 0.06343227021912286 Centerline is valid? [True, True] Translation: X:121.56, Y:6.82, Z:-3.11 [[ 9.93372354e-01 -1.14855332e-01 -4.42929388e-03 1.21557577e+02] [ 1.14854881e-01 9.93382217e-01 -3.56934326e-04 6.82471853e+00] [ 4.44097759e-03 -1.54157331e-04 9.99990127e-01 -3.11000525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18719347000001 meters 0.06393515530172875 Centerline is valid? [True, True] Translation: X:121.61, Y:6.84, Z:-3.11 [[ 9.93334233e-01 -1.15256588e-01 -1.73791013e-03 1.21614444e+02] [ 1.15256516e-01 9.93335752e-01 -1.42046251e-04 6.83937576e+00] [ 1.74270004e-03 -5.92060635e-05 9.99998480e-01 -3.11155244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24719347000001 meters 0.06384426829289525 Centerline is valid? [True, True] Translation: X:121.67, Y:6.85, Z:-3.11 [[ 9.93551871e-01 -1.13378368e-01 -1.61163862e-04 1.21671465e+02] [ 1.13378367e-01 9.93551884e-01 -1.54921759e-05 6.84991141e+00] [ 1.61881136e-04 -2.88021517e-06 9.99999987e-01 -3.11306786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30719347000002 meters 0.06238705148298561 Centerline is valid? [True, True] Translation: X:121.73, Y:6.87, Z:-3.11 [[ 9.94241139e-01 -1.07143500e-01 2.19723658e-03 1.21728684e+02] [ 1.07143374e-01 9.94243565e-01 1.75120619e-04 6.86982148e+00] [-2.20335137e-03 6.13072174e-05 9.99997571e-01 -3.11454707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36719347000002 meters 0.06095470826908806 Centerline is valid? [True, True] Translation: X:121.79, Y:6.89, Z:-3.12 [[ 9.94794653e-01 -1.01818358e-01 4.07675500e-03 1.21786927e+02] [ 1.01817873e-01 9.94803003e-01 3.26870015e-04 6.89113360e+00] [-4.08884949e-03 8.99179805e-05 9.99991637e-01 -3.11513947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42719347000002 meters 0.05903388878433894 Centerline is valid? [True, True] Translation: X:121.85, Y:6.91, Z:-3.11 [[ 9.95169940e-01 -9.81649171e-02 6.63341812e-04 1.21846005e+02] [ 9.81649033e-02 9.95170161e-01 5.33378541e-05 6.90864388e+00] [-6.65373884e-04 1.20366558e-05 9.99999779e-01 -3.11399942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48719347000001 meters 0.05815580932579265 Centerline is valid? [True, True] Translation: X:121.91, Y:6.93, Z:-3.11 [[ 9.95924750e-01 -9.01751241e-02 1.52945147e-03 1.21905229e+02] [ 9.01750408e-02 9.95925924e-01 1.23484650e-04 6.93321100e+00] [-1.53435561e-03 1.49369296e-05 9.99998823e-01 -3.11428893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54719347000001 meters 0.05783932464628482 Centerline is valid? [True, True] Translation: X:121.97, Y:6.94, Z:-3.12 [[ 9.96412826e-01 -8.45938496e-02 2.31519549e-03 1.21965113e+02] [ 8.45936412e-02 9.96415516e-01 1.87972996e-04 6.94493027e+00] [-2.32279807e-03 8.55211325e-06 9.99997302e-01 -3.11677813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60719347000001 meters 0.05824438512005872 Centerline is valid? [True, True] Translation: X:122.03, Y:6.96, Z:-3.12 [[ 9.97012101e-01 -7.72431906e-02 -5.99343121e-04 1.22025083e+02] [ 7.72431763e-02 9.97012282e-01 -4.70618345e-05 6.96118554e+00] [ 6.01187659e-04 6.26052103e-07 9.99999819e-01 -3.12114245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66719347000002 meters 0.05899214706468322 Centerline is valid? [True, True] Translation: X:122.09, Y:6.97, Z:-3.13 [[ 9.97430629e-01 -7.15156018e-02 -4.20226354e-03 1.22085869e+02] [ 7.15148208e-02 9.97439481e-01 -3.36014580e-04 6.96899360e+00] [ 4.21553385e-03 3.46271102e-05 9.99991114e-01 -3.12611691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72719347000002 meters 0.059821071799290304 Centerline is valid? [True, True] Translation: X:122.15, Y:6.97, Z:-3.13 [[ 9.97867590e-01 -6.51888392e-02 -3.26928297e-03 1.22146092e+02] [ 6.51883317e-02 9.97872944e-01 -2.61647861e-04 6.97244560e+00] [ 3.27938555e-03 4.79708177e-05 9.99994622e-01 -3.12838892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78719347000002 meters 0.05933725433040133 Centerline is valid? [True, True] Translation: X:122.21, Y:6.97, Z:-3.13 [[ 9.97860430e-01 -6.52684069e-02 -3.82075994e-03 1.22207029e+02] [ 6.52677121e-02 9.97867743e-01 -3.06390257e-04 6.96573535e+00] [ 3.83261070e-03 5.63624536e-05 9.99992654e-01 -3.12807956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84719347000001 meters 0.05856277547974879 Centerline is valid? [True, True] Translation: X:122.27, Y:6.95, Z:-3.13 [[ 9.97582610e-01 -6.94905395e-02 1.54622707e-05 1.22267265e+02] [ 6.94905395e-02 9.97582611e-01 -3.85551679e-07 6.94681336e+00] [-1.53981006e-05 1.45910120e-06 1.00000000e+00 -3.12935192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90719347000001 meters 0.05779612827805945 Centerline is valid? [True, True] Translation: X:122.33, Y:6.94, Z:-3.13 [[ 9.97360002e-01 -7.25519499e-02 3.03974712e-03 1.22327867e+02] [ 7.25515461e-02 9.97364634e-01 2.43033567e-04 6.93563974e+00] [-3.04936883e-03 -2.18536053e-05 9.99995350e-01 -3.12821793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96719347000001 meters 0.05694465418261939 Centerline is valid? [True, True] Translation: X:122.39, Y:6.91, Z:-3.13 [[ 9.96846471e-01 -7.91403323e-02 5.82414367e-03 1.22389693e+02] [ 7.91389554e-02 9.96863485e-01 4.66853438e-04 6.91492803e+00] [-5.84282309e-03 -4.46455594e-06 9.99982931e-01 -3.12584403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02719347000001 meters 0.05696674355372503 Centerline is valid? [True, True] Translation: X:122.45, Y:6.90, Z:-3.13 [[ 9.96181039e-01 -8.70918937e-02 6.19182744e-03 1.22449755e+02] [ 8.70905188e-02 9.96200281e-01 4.91845116e-04 6.90135348e+00] [-6.21113596e-03 4.92826854e-05 9.99980709e-01 -3.12837506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08719347000002 meters 0.05783599732390157 Centerline is valid? [True, True] Translation: X:122.51, Y:6.89, Z:-3.13 [[ 9.95540913e-01 -9.42801207e-02 3.09015105e-03 1.22510615e+02] [ 9.42798039e-02 9.95545708e-01 2.48337346e-04 6.88612396e+00] [-3.09979989e-03 4.41088468e-05 9.99995195e-01 -3.13392002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14719347000002 meters 0.05862863791325751 Centerline is valid? [True, True] Translation: X:122.57, Y:6.89, Z:-3.14 [[ 9.95398060e-01 -9.58214695e-02 -9.73216202e-04 1.22570433e+02] [ 9.58214374e-02 9.95398536e-01 -7.96456978e-05 6.88806851e+00] [ 9.76369751e-04 -1.39758024e-05 9.99999523e-01 -3.14001512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20719347 meters 0.05812214263038921 Centerline is valid? [True, True] Translation: X:122.63, Y:6.89, Z:-3.14 [[ 9.95949689e-01 -8.98701787e-02 -2.75086353e-03 1.22629016e+02] [ 8.98698849e-02 9.95953488e-01 -2.30476799e-04 6.89230040e+00] [ 2.76044511e-03 -1.76764920e-05 9.99996190e-01 -3.14060909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26719347000001 meters 0.05774405258025645 Centerline is valid? [True, True] Translation: X:122.69, Y:6.90, Z:-3.14 [[ 9.96658076e-01 -8.16694477e-02 -1.66746855e-03 1.22687174e+02] [ 8.16693226e-02 9.96659471e-01 -1.43086147e-04 6.90229427e+00] [ 1.67358409e-03 6.42693747e-06 9.99998600e-01 -3.14086791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32719347000001 meters 0.057718176427618235 Centerline is valid? [True, True] Translation: X:122.75, Y:6.91, Z:-3.14 [[ 9.97080036e-01 -7.63610182e-02 6.30358097e-04 1.22745557e+02] [ 7.63610059e-02 9.97080235e-01 4.36484096e-05 6.90766969e+00] [-6.31850636e-04 4.61382054e-06 9.99999800e-01 -3.13903879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38719347000001 meters 0.057527829810604086 Centerline is valid? [True, True] Translation: X:122.81, Y:6.91, Z:-3.14 [[ 9.97111554e-01 -7.58111515e-02 4.60637632e-03 1.22805015e+02] [ 7.58102509e-02 9.97122194e-01 3.70039132e-04 6.90566960e+00] [-4.62117315e-03 -1.97597490e-05 9.99989322e-01 -3.13764028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44719347000002 meters 0.057460804735394874 Centerline is valid? [True, True] Translation: X:122.87, Y:6.89, Z:-3.14 [[ 9.96776908e-01 -8.01586943e-02 3.22176518e-03 1.22865299e+02] [ 8.01582802e-02 9.96782114e-01 2.57665021e-04 6.89467390e+00] [-3.23205200e-03 1.41661289e-06 9.99994777e-01 -3.13924529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50719347000002 meters 0.05819562120224013 Centerline is valid? [True, True] Translation: X:122.92, Y:6.89, Z:-3.14 [[ 9.96925206e-01 -7.83588790e-02 -1.40471277e-04 1.22923588e+02] [ 7.83588778e-02 9.96925216e-01 -1.42475182e-05 6.89235755e+00] [ 1.41155778e-04 3.19653839e-06 9.99999990e-01 -3.14342718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56719347000002 meters 0.05912408222954833 Centerline is valid? [True, True] Translation: X:122.98, Y:6.90, Z:-3.15 [[ 9.97355204e-01 -7.25028893e-02 -5.09196053e-03 1.22983287e+02] [ 7.25016843e-02 9.97368201e-01 -4.21080716e-04 6.89509879e+00] [ 5.10908909e-03 5.07913287e-05 9.99986947e-01 -3.14950162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62719347000001 meters 0.05984935092919737 Centerline is valid? [True, True] Translation: X:123.04, Y:6.89, Z:-3.15 [[ 9.97640739e-01 -6.85513464e-02 -3.69717674e-03 1.23042877e+02] [ 6.85506563e-02 9.97647588e-01 -3.13204299e-04 6.89352399e+00] [ 3.70995003e-03 5.90214759e-05 9.99993116e-01 -3.14961561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68719347000001 meters 0.0590821939716015 Centerline is valid? [True, True] Translation: X:123.10, Y:6.88, Z:-3.15 [[ 9.97241649e-01 -7.41668401e-02 -2.89365568e-03 1.23101656e+02] [ 7.41664491e-02 9.97245847e-01 -2.42341948e-04 6.88249376e+00] [ 2.90365985e-03 2.70613172e-05 9.99995784e-01 -3.15011962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74719347000001 meters 0.058370166080406634 Centerline is valid? [True, True] Translation: X:123.16, Y:6.87, Z:-3.15 [[ 9.96701192e-01 -8.10553370e-02 -4.09469455e-03 1.23161175e+02] [ 8.10545839e-02 9.96709603e-01 -3.49808403e-04 6.87064053e+00] [ 4.10957522e-03 1.67606890e-05 9.99991556e-01 -3.14664420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80719347000002 meters 0.05848729182039442 Centerline is valid? [True, True] Translation: X:123.22, Y:6.87, Z:-3.15 [[ 9.96328213e-01 -8.54655050e-02 -5.07348583e-03 1.23220593e+02] [ 8.54644145e-02 9.96341130e-01 -4.31756516e-04 6.86821249e+00] [ 5.09182289e-03 -3.43129758e-06 9.99987037e-01 -3.14983858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86719347000002 meters 0.059762738523604 Centerline is valid? [True, True] Translation: X:123.28, Y:6.85, Z:-3.15 [[ 9.95152931e-01 -9.80724626e-02 -7.24122559e-03 1.23280347e+02] [ 9.80706340e-02 9.95179271e-01 -6.08033972e-04 6.85027338e+00] [ 7.26594900e-03 -1.05064795e-04 9.99973597e-01 -3.15333845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92719347000002 meters 0.0624919534799644 Centerline is valid? [True, True] Translation: X:123.34, Y:6.84, Z:-3.15 [[ 9.93745003e-01 -1.11027707e-01 -1.19881980e-02 1.23341658e+02] [ 1.11023669e-01 9.93817255e-01 -1.00384725e-03 6.83692482e+00] [ 1.20255329e-02 -3.33405540e-04 9.99927635e-01 -3.15448362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98719347000001 meters 0.06423511618882011 Centerline is valid? [True, True] Translation: X:123.40, Y:6.83, Z:-3.16 [[ 9.93178262e-01 -1.16100176e-01 -1.08484390e-02 1.23400626e+02] [ 1.16097142e-01 9.93237446e-01 -9.11174420e-04 6.83355414e+00] [ 1.08808634e-02 -3.54514138e-04 9.99940739e-01 -3.15504406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04719347000001 meters 0.06313964631847545 Centerline is valid? [True, True] Translation: X:123.46, Y:6.85, Z:-3.15 [[ 9.93251196e-01 -1.15359971e-01 -1.20057966e-02 1.23458079e+02] [ 1.15356067e-01 9.93323683e-01 -1.01948048e-03 6.84644954e+00] [ 1.20432493e-02 -3.72341273e-04 9.99927408e-01 -3.15414410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10719347000001 meters 0.06043417871317039 Centerline is valid? [True, True] Translation: X:123.52, Y:6.87, Z:-3.15 [[ 9.94659013e-01 -1.02765905e-01 -9.62375354e-03 1.23516142e+02] [ 1.02762874e-01 9.94705552e-01 -8.10299918e-04 6.87063551e+00] [ 9.65607229e-03 -1.82992453e-04 9.99953362e-01 -3.15483070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16719347000002 meters 0.059698933901466834 Centerline is valid? [True, True] Translation: X:123.57, Y:6.89, Z:-3.16 [[ 9.95441312e-01 -9.49374810e-02 -9.13615158e-03 1.23572238e+02] [ 9.49343869e-02 9.95483232e-01 -7.72722491e-04 6.88924843e+00] [ 9.16824603e-03 -9.81350587e-05 9.99957966e-01 -3.15839553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22719347000002 meters 0.05975272551353561 Centerline is valid? [True, True] Translation: X:123.63, Y:6.91, Z:-3.16 [[ 9.95741511e-01 -9.16129774e-02 -1.02910850e-02 1.23628711e+02] [ 9.16087822e-02 9.95794687e-01 -8.79300829e-04 6.90710941e+00] [ 1.03283631e-02 -6.71974306e-05 9.99946659e-01 -3.16238569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28719347000002 meters 0.059355671656844515 Centerline is valid? [True, True] Translation: X:123.69, Y:6.92, Z:-3.16 [[ 9.95869025e-01 -9.04081412e-02 -8.44116173e-03 1.23687012e+02] [ 9.04052474e-02 9.95904798e-01 -7.24544805e-04 6.91710791e+00] [ 8.47209821e-03 -4.15735862e-05 9.99964110e-01 -3.16142126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34719347000001 meters 0.05965088542068781 Centerline is valid? [True, True] Translation: X:123.74, Y:6.93, Z:-3.17 [[ 9.96159986e-01 -8.68512907e-02 -1.10514743e-02 1.23744795e+02] [ 8.68461006e-02 9.96221287e-01 -9.49576620e-04 6.92748085e+00] [ 1.10921860e-02 -1.38472201e-05 9.99938480e-01 -3.16601816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40719347000001 meters 0.059080284127937574 Centerline is valid? [True, True] Translation: X:123.80, Y:6.94, Z:-3.16 [[ 9.96340318e-01 -8.50124015e-02 -8.88048741e-03 1.23802899e+02] [ 8.50089358e-02 9.96379893e-01 -7.67691965e-04 6.93826818e+00] [ 8.91360243e-03 9.96167267e-06 9.99960273e-01 -3.16388774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46719347000001 meters 0.059467771252885514 Centerline is valid? [True, True] Translation: X:123.86, Y:6.94, Z:-3.17 [[ 9.95874230e-01 -9.03850786e-02 -8.06566282e-03 1.23861148e+02] [ 9.03824235e-02 9.95906891e-01 -6.93823641e-04 6.93841302e+00] [ 8.09536049e-03 -3.80330685e-05 9.99967231e-01 -3.16783439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52719347000001 meters 0.06197382721852962 Centerline is valid? [True, True] Translation: X:123.92, Y:6.92, Z:-3.17 [[ 9.94381184e-01 -1.05226978e-01 -1.15474289e-02 1.23922625e+02] [ 1.05222575e-01 9.94448204e-01 -9.89875679e-04 6.92310085e+00] [ 1.15874816e-02 -2.30736455e-04 9.99932836e-01 -3.17188926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58719347000002 meters 0.06470986660569253 Centerline is valid? [True, True] Translation: X:123.98, Y:6.92, Z:-3.17 [[ 9.93335764e-01 -1.14589558e-01 -1.23811741e-02 1.23983475e+02] [ 1.14585216e-01 9.93412855e-01 -1.06184322e-03 6.91711412e+00] [ 1.24212937e-02 -3.63932665e-04 9.99922787e-01 -3.17457613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64719347000002 meters 0.06820618702441322 Centerline is valid? [True, True] Translation: X:124.04, Y:6.92, Z:-3.18 [[ 9.92285016e-01 -1.22918621e-01 -1.61697453e-02 1.24043673e+02] [ 1.22912325e-01 9.92416565e-01 -1.38633337e-03 6.91767750e+00] [ 1.62175293e-02 -6.11823169e-04 9.99868300e-01 -3.18025095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70719347 meters 0.07017375504947564 Centerline is valid? [True, True] Translation: X:124.10, Y:6.92, Z:-3.18 [[ 9.91918440e-01 -1.25522962e-01 -1.84876780e-02 1.24103702e+02] [ 1.25515168e-01 9.92090433e-01 -1.58590588e-03 6.92239369e+00] [ 1.85405161e-02 -7.47394719e-04 9.99827831e-01 -3.18346297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76719347000001 meters 0.06930667967039746 Centerline is valid? [True, True] Translation: X:124.16, Y:6.94, Z:-3.18 [[ 9.91965134e-01 -1.25528058e-01 -1.57442190e-02 1.24161707e+02] [ 1.25522360e-01 9.92089868e-01 -1.35353078e-03 6.93677511e+00] [ 1.57895862e-02 -6.33596177e-04 9.99875136e-01 -3.18011251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82719347000001 meters 0.06857629285388793 Centerline is valid? [True, True] Translation: X:124.22, Y:6.95, Z:-3.18 [[ 9.92245202e-01 -1.23807431e-01 -1.10081465e-02 1.24221236e+02] [ 1.23804547e-01 9.92306172e-01 -9.45659261e-04 6.95006095e+00] [ 1.10405314e-02 -4.24532731e-04 9.99938961e-01 -3.17850292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88719347000001 meters 0.0665800851905212 Centerline is valid? [True, True] Translation: X:124.28, Y:6.97, Z:-3.18 [[ 9.92837718e-01 -1.19212689e-01 -7.84865333e-03 1.24280047e+02] [ 1.19211073e-01 9.92868704e-01 -6.75154615e-04 6.97135648e+00] [ 7.87316926e-03 -2.65327417e-04 9.99968971e-01 -3.17897914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94719347000002 meters 0.06523358144130285 Centerline is valid? [True, True] Translation: X:124.34, Y:6.99, Z:-3.18 [[ 9.93526953e-01 -1.13587842e-01 -1.41303991e-03 1.24337835e+02] [ 1.13587783e-01 9.93527957e-01 -1.22087989e-04 6.98962838e+00] [ 1.41776237e-03 -3.92063635e-05 9.99998994e-01 -3.17837083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00719347000002 meters 0.06355878760191096 Centerline is valid? [True, True] Translation: X:124.40, Y:7.01, Z:-3.18 [[ 9.93941100e-01 -1.09837397e-01 -4.10325278e-03 1.24395657e+02] [ 1.09836857e-01 9.93949565e-01 -3.57317362e-04 7.00984763e+00] [ 4.11767312e-03 -9.55359772e-05 9.99991518e-01 -3.18023720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06719347000002 meters 0.06565782804668775 Centerline is valid? [True, True] Translation: X:124.45, Y:7.02, Z:-3.19 [[ 9.93891841e-01 -1.10227774e-01 -5.37096072e-03 1.24452987e+02] [ 1.10226858e-01 9.93906344e-01 -4.67216667e-04 7.01870466e+00] [ 5.38973219e-03 -1.27661289e-04 9.99985467e-01 -3.18944319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12719347000001 meters 0.06818972464489477 Centerline is valid? [True, True] Translation: X:124.51, Y:7.02, Z:-3.19 [[ 9.93144651e-01 -1.16829261e-01 -3.82442539e-03 1.24512791e+02] [ 1.16828852e-01 9.93152007e-01 -3.30975555e-04 7.01970081e+00] [ 3.83690338e-03 -1.18096625e-04 9.99992632e-01 -3.19039757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18719347000001 meters 0.06905392949316233 Centerline is valid? [True, True] Translation: X:124.57, Y:7.03, Z:-3.18 [[ 9.91757267e-01 -1.28117044e-01 -1.88337647e-03 1.24572137e+02] [ 1.28116966e-01 9.91759052e-01 -1.62574819e-04 7.03255889e+00] [ 1.88868427e-03 -8.00577219e-05 9.99998213e-01 -3.18406663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24719347000001 meters 0.07029892562967922 Centerline is valid? [True, True] Translation: X:124.63, Y:7.04, Z:-3.19 [[ 9.91146539e-01 -1.32755088e-01 -2.15058465e-03 1.24632249e+02] [ 1.32754997e-01 9.91148867e-01 -1.85593196e-04 7.04122977e+00] [ 2.15618798e-03 -1.01550806e-04 9.99997670e-01 -3.18508438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30719347000002 meters 0.0721393673820514 Centerline is valid? [True, True] Translation: X:124.69, Y:7.06, Z:-3.19 [[ 9.91032411e-01 -1.33457500e-01 -6.62243742e-03 1.24689623e+02] [ 1.33456640e-01 9.91054487e-01 -5.73550576e-04 7.05658572e+00] [ 6.63974095e-03 -3.15401038e-04 9.99977907e-01 -3.19043775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36719347000002 meters 0.07002719389616635 Centerline is valid? [True, True] Translation: X:124.75, Y:7.09, Z:-3.20 [[ 9.91920528e-01 -1.26414826e-01 -1.06281244e-02 1.24747339e+02] [ 1.26412227e-01 9.91977371e-01 -9.18660527e-04 7.08639314e+00] [ 1.06589912e-02 -4.32286643e-04 9.99943098e-01 -3.19505884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42719347000002 meters 0.06757863671744598 Centerline is valid? [True, True] Translation: X:124.81, Y:7.11, Z:-3.20 [[ 9.93001364e-01 -1.17517263e-01 -1.17466525e-02 1.24805484e+02] [ 1.17513463e-01 9.93070770e-01 -1.01557927e-03 7.11026780e+00] [ 1.17846053e-02 -3.71918208e-04 9.99930490e-01 -3.19682817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48719347000001 meters 0.06462381948042935 Centerline is valid? [True, True] Translation: X:124.86, Y:7.15, Z:-3.19 [[ 9.94340966e-01 -1.05939454e-01 -7.92935725e-03 1.24862348e+02] [ 1.05937349e-01 9.94372570e-01 -6.86206123e-04 7.14513969e+00] [ 7.95743164e-03 -1.57692227e-04 9.99968327e-01 -3.19410179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54719347000001 meters 0.06380336115866773 Centerline is valid? [True, True] Translation: X:124.92, Y:7.16, Z:-3.20 [[ 9.95023987e-01 -9.93594908e-02 -7.41330769e-03 1.24919931e+02] [ 9.93574536e-02 9.95051598e-01 -6.43495332e-04 7.16427061e+00] [ 7.44056103e-03 -9.62740844e-05 9.99972314e-01 -3.19543700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60719347000001 meters 0.06360785027109145 Centerline is valid? [True, True] Translation: X:124.98, Y:7.18, Z:-3.20 [[ 9.95482351e-01 -9.41414315e-02 -1.23401404e-02 1.24977068e+02] [ 9.41352862e-02 9.95558830e-01 -1.07918464e-03 7.18365581e+00] [ 1.23869317e-02 -8.73333857e-05 9.99923275e-01 -3.19909137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66719347000002 meters 0.06437326275319202 Centerline is valid? [True, True] Translation: X:125.03, Y:7.19, Z:-3.21 [[ 9.95449113e-01 -9.42919215e-02 -1.37875532e-02 1.25033926e+02] [ 9.42843119e-02 9.95544586e-01 -1.20234412e-03 7.19026422e+00] [ 1.38394952e-02 -1.03077573e-04 9.99904224e-01 -3.20688746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72719347000002 meters 0.06412151617547084 Centerline is valid? [True, True] Translation: X:125.09, Y:7.20, Z:-3.21 [[ 9.95509034e-01 -9.36269474e-02 -1.39913399e-02 1.25091044e+02] [ 9.36189010e-02 9.95607346e-01 -1.23039419e-03 7.19845936e+00] [ 1.40450788e-02 -8.49853300e-05 9.99901359e-01 -3.20532330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78719347000002 meters 0.06404732512800428 Centerline is valid? [True, True] Translation: X:125.15, Y:7.21, Z:-3.21 [[ 9.95660161e-01 -9.17085198e-02 -1.58237512e-02 1.25149799e+02] [ 9.16979349e-02 9.95785892e-01 -1.39471295e-03 7.20552034e+00] [ 1.58849752e-02 -6.23451890e-05 9.99873824e-01 -3.20618819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84719347000001 meters 0.06451407493472432 Centerline is valid? [True, True] Translation: X:125.21, Y:7.20, Z:-3.21 [[ 9.95389630e-01 -9.49185595e-02 -1.37823206e-02 1.25208323e+02] [ 9.49107652e-02 9.95485037e-01 -1.21998616e-03 7.20468638e+00] [ 1.38358933e-02 -9.37290297e-05 9.99904275e-01 -3.20933050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90719347000001 meters 0.06553576021316591 Centerline is valid? [True, True] Translation: X:125.27, Y:7.20, Z:-3.21 [[ 9.94375425e-01 -1.05070860e-01 -1.33276990e-02 1.25268161e+02] [ 1.05064422e-01 9.94464713e-01 -1.18424251e-03 7.19860685e+00] [ 1.33783558e-02 -2.22685353e-04 9.99910481e-01 -3.20904287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96719347000001 meters 0.06863714764068132 Centerline is valid? [True, True] Translation: X:125.33, Y:7.18, Z:-3.22 [[ 9.93037257e-01 -1.16855875e-01 -1.48899856e-02 1.25329135e+02] [ 1.16849273e-01 9.93148789e-01 -1.31555076e-03 7.18467690e+00] [ 1.49417010e-02 -4.33493080e-04 9.99888273e-01 -3.21535641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02719347000001 meters 0.07077673132217403 Centerline is valid? [True, True] Translation: X:125.39, Y:7.18, Z:-3.22 [[ 9.92321139e-01 -1.22546841e-01 -1.67639453e-02 1.25389880e+02] [ 1.22539281e-01 9.92462559e-01 -1.48130036e-03 7.18051572e+00] [ 1.68191167e-02 -5.84316138e-04 9.99858378e-01 -3.22073792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08719347000002 meters 0.07196413201226805 Centerline is valid? [True, True] Translation: X:125.45, Y:7.18, Z:-3.22 [[ 9.91824668e-01 -1.26526201e-01 -1.65815948e-02 1.25450041e+02] [ 1.26519339e-01 9.91963057e-01 -1.46642484e-03 7.18013011e+00] [ 1.66338706e-02 -6.43456089e-04 9.99861441e-01 -3.22152563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14719347000002 meters 0.07136635271896272 Centerline is valid? [True, True] Translation: X:125.51, Y:7.19, Z:-3.22 [[ 9.91952784e-01 -1.25569419e-01 -1.61862951e-02 1.25507980e+02] [ 1.25562572e-01 9.92084653e-01 -1.44262002e-03 7.18981810e+00] [ 1.62393240e-02 -6.01381907e-04 9.99867953e-01 -3.21995548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20719347000002 meters 0.07067461277031253 Centerline is valid? [True, True] Translation: X:125.57, Y:7.20, Z:-3.23 [[ 9.92563130e-01 -1.20371695e-01 -1.81408099e-02 1.25565148e+02] [ 1.20362294e-01 9.92728722e-01 -1.61312245e-03 7.19704188e+00] [ 1.82030773e-02 -5.82343640e-04 9.99834141e-01 -3.22537214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26719347000001 meters 0.06970530873656786 Centerline is valid? [True, True] Translation: X:125.62, Y:7.21, Z:-3.23 [[ 9.93031812e-01 -1.16820559e-01 -1.55169816e-02 1.25624442e+02] [ 1.16813252e-01 9.93152939e-01 -1.37957063e-03 7.20641888e+00] [ 1.55718981e-02 -4.42631558e-04 9.99878653e-01 -3.22722856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32719347000001 meters 0.06552627040541277 Centerline is valid? [True, True] Translation: X:125.68, Y:7.23, Z:-3.22 [[ 9.94543751e-01 -1.03992595e-01 -8.26239388e-03 1.25682656e+02] [ 1.03990080e-01 9.94578063e-01 -7.34592302e-04 7.23268462e+00] [ 8.29398786e-03 -1.28622813e-04 9.99965596e-01 -3.21726991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38719347000001 meters 0.06474614547907824 Centerline is valid? [True, True] Translation: X:125.74, Y:7.25, Z:-3.22 [[ 9.95552486e-01 -9.39376560e-02 -7.13892177e-03 1.25740903e+02] [ 9.39354572e-02 9.95578081e-01 -6.43433311e-04 7.24762406e+00] [ 7.16779666e-03 -3.00262479e-05 9.99974311e-01 -3.21930749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44719347000002 meters 0.06503213511335401 Centerline is valid? [True, True] Translation: X:125.80, Y:7.26, Z:-3.22 [[ 9.96537686e-01 -8.28620998e-02 -6.82003674e-03 1.25797362e+02] [ 8.28598030e-02 9.96561022e-01 -6.19134657e-04 7.26292646e+00] [ 6.84788558e-03 5.18841175e-05 9.99976552e-01 -3.22269595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50719347000002 meters 0.06581510452410202 Centerline is valid? [True, True] Translation: X:125.86, Y:7.27, Z:-3.23 [[ 9.96832011e-01 -7.88322210e-02 -1.05556979e-02 1.25856495e+02] [ 7.88266106e-02 9.96887892e-01 -9.47149781e-04 7.26702546e+00] [ 1.05975134e-02 1.12079331e-04 9.99943838e-01 -3.22969757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56719347000002 meters 0.06548052847155848 Centerline is valid? [True, True] Translation: X:125.92, Y:7.26, Z:-3.23 [[ 9.96530018e-01 -8.28062374e-02 -8.42918572e-03 1.25916651e+02] [ 8.28027881e-02 9.96565665e-01 -7.57980655e-04 7.25601386e+00] [ 8.46300259e-03 5.73903967e-05 9.99964187e-01 -3.23329645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62719347000001 meters 0.06475140778963968 Centerline is valid? [True, True] Translation: X:125.98, Y:7.23, Z:-3.23 [[ 9.95615115e-01 -9.34420408e-02 -4.37343234e-03 1.25977647e+02] [ 9.34412085e-02 9.95624721e-01 -3.94695834e-04 7.23419799e+00] [ 4.39117853e-03 -1.56936643e-05 9.99990359e-01 -3.23245473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68719347000001 meters 0.0654872473080167 Centerline is valid? [True, True] Translation: X:126.04, Y:7.22, Z:-3.23 [[ 9.94727996e-01 -1.02453122e-01 -4.42404061e-03 1.26036941e+02] [ 1.02452355e-01 9.94737832e-01 -4.00189369e-04 7.22079444e+00] [ 4.44176121e-03 -5.51738111e-05 9.99990134e-01 -3.23471796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74719347000001 meters 0.06663499194939158 Centerline is valid? [True, True] Translation: X:126.10, Y:7.21, Z:-3.24 [[ 9.93891610e-01 -1.10116026e-01 -7.34356593e-03 1.26098693e+02] [ 1.10114149e-01 9.93918728e-01 -6.60607913e-04 7.20672126e+00] [ 7.37165122e-03 -1.52057853e-04 9.99972817e-01 -3.23687372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80719347000002 meters 0.06738318157713893 Centerline is valid? [True, True] Translation: X:126.16, Y:7.20, Z:-3.24 [[ 9.93486666e-01 -1.13485616e-01 -1.02595570e-02 1.26158793e+02] [ 1.13482125e-01 9.93539609e-01 -9.23679581e-04 7.20278229e+00] [ 1.02981006e-02 -2.46612983e-04 9.99946943e-01 -3.23888232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86719347000002 meters 0.06960415184878624 Centerline is valid? [True, True] Translation: X:126.22, Y:7.20, Z:-3.24 [[ 9.92768792e-01 -1.18850222e-01 -1.68745401e-02 1.26218737e+02] [ 1.18841579e-01 9.92912069e-01 -1.51761905e-03 7.19522977e+00] [ 1.69353039e-02 -4.98752161e-04 9.99856463e-01 -3.24438406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92719347000002 meters 0.0730698362061007 Centerline is valid? [True, True] Translation: X:126.28, Y:7.19, Z:-3.25 [[ 9.91750214e-01 -1.26344000e-01 -2.16496360e-02 1.26279208e+02] [ 1.26331538e-01 9.91986163e-01 -1.94787695e-03 7.18834360e+00] [ 2.17222419e-02 -8.03224424e-04 9.99763722e-01 -3.24889419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98719347000001 meters 0.0738280805622304 Centerline is valid? [True, True] Translation: X:126.34, Y:7.19, Z:-3.25 [[ 9.91070535e-01 -1.31190429e-01 -2.38383214e-02 1.26339957e+02] [ 1.31176740e-01 9.91356680e-01 -2.14390286e-03 7.19168084e+00] [ 2.39135387e-02 -1.00227434e-03 9.99713528e-01 -3.24762314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04719347000002 meters 0.07325154839683073 Centerline is valid? [True, True] Translation: X:126.40, Y:7.20, Z:-3.24 [[ 9.90525020e-01 -1.34458300e-01 -2.79490796e-02 1.26399982e+02] [ 1.34440765e-01 9.90918443e-01 -2.51413204e-03 7.20145185e+00] [ 2.80333043e-02 -1.26718495e-03 9.99606186e-01 -3.24460231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10719347000003 meters 0.07629485806630193 Centerline is valid? [True, True] Translation: X:126.46, Y:7.20, Z:-3.25 [[ 9.90531670e-01 -1.34526696e-01 -2.73784523e-02 1.26457899e+02] [ 1.34509671e-01 9.90909200e-01 -2.47098825e-03 7.20234539e+00] [ 2.74619741e-02 -1.23507449e-03 9.99622086e-01 -3.25059509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16719347 meters 0.07199959953677802 Centerline is valid? [True, True] Translation: X:126.52, Y:7.22, Z:-3.24 [[ 9.91138341e-01 -1.30864375e-01 -2.27882481e-02 1.26516916e+02] [ 1.30851667e-01 9.91399829e-01 -2.05432494e-03 7.21946239e+00] [ 2.28611032e-02 -9.45760048e-04 9.99738203e-01 -3.24297266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22719347 meters 0.06851812266925195 Centerline is valid? [True, True] Translation: X:126.57, Y:7.24, Z:-3.24 [[ 9.91454976e-01 -1.28116113e-01 -2.45620269e-02 1.26574779e+02] [ 1.28100135e-01 9.91758733e-01 -2.22934369e-03 7.23817509e+00] [ 2.46452195e-02 -9.36105071e-04 9.99695822e-01 -3.23537062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28719347 meters 0.06738770239171749 Centerline is valid? [True, True] Translation: X:126.63, Y:7.25, Z:-3.24 [[ 9.91856846e-01 -1.24576534e-01 -2.64704398e-02 1.26632345e+02] [ 1.24556518e-01 9.92209587e-01 -2.41009385e-03 7.25320693e+00] [ 2.65644652e-02 -9.06597737e-04 9.99646691e-01 -3.23631657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34719347 meters 0.06876301101891166 Centerline is valid? [True, True] Translation: X:126.69, Y:7.26, Z:-3.24 [[ 9.91686348e-01 -1.25974540e-01 -2.62412260e-02 1.26690070e+02] [ 1.25955409e-01 9.92033032e-01 -2.38726861e-03 7.25989317e+00] [ 2.63328980e-02 -9.37802673e-04 9.99652789e-01 -3.24110380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40719347 meters 0.06923903539559996 Centerline is valid? [True, True] Translation: X:126.75, Y:7.27, Z:-3.24 [[ 9.91238919e-01 -1.29064195e-01 -2.80684629e-02 1.26748877e+02] [ 1.29043592e-01 9.91635639e-01 -2.55181006e-03 7.27480388e+00] [ 2.81630355e-02 -1.09260182e-03 9.99602746e-01 -3.24105191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46719347 meters 0.06926673739822217 Centerline is valid? [True, True] Translation: X:126.81, Y:7.29, Z:-3.24 [[ 9.90757151e-01 -1.32346029e-01 -2.97455210e-02 1.26808621e+02] [ 1.32324383e-01 9.91202778e-01 -2.70372501e-03 7.28714376e+00] [ 2.98416704e-02 -1.25732282e-03 9.99553847e-01 -3.24181417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52719347000001 meters 0.06999791849407648 Centerline is valid? [True, True] Translation: X:126.87, Y:7.30, Z:-3.25 [[ 9.90535083e-01 -1.33388063e-01 -3.23708748e-02 1.26867215e+02] [ 1.33362900e-01 9.91062896e-01 -2.94487121e-03 7.29997459e+00] [ 3.24743836e-02 -1.40007551e-03 9.99471587e-01 -3.24561765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58719347000002 meters 0.07101737066709009 Centerline is valid? [True, True] Translation: X:126.93, Y:7.31, Z:-3.25 [[ 9.90294067e-01 -1.34868571e-01 -3.35876306e-02 1.26926272e+02] [ 1.34842284e-01 9.90862358e-01 -3.05697207e-03 7.30900950e+00] [ 3.36930083e-02 -1.50173151e-03 9.99431101e-01 -3.24854219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64719347000002 meters 0.0700337769824858 Centerline is valid? [True, True] Translation: X:126.98, Y:7.33, Z:-3.25 [[ 9.90771454e-01 -1.31720290e-01 -3.19639098e-02 1.26984893e+02] [ 1.31694841e-01 9.91286036e-01 -2.90939183e-03 7.33041853e+00] [ 3.20686034e-02 -1.32693963e-03 9.99484789e-01 -3.24908597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70719347000002 meters 0.06898498858217365 Centerline is valid? [True, True] Translation: X:127.04, Y:7.35, Z:-3.25 [[ 9.91074664e-01 -1.30264126e-01 -2.83243321e-02 1.27043786e+02] [ 1.30243529e-01 9.91478680e-01 -2.57876065e-03 7.34808982e+00] [ 2.84188914e-02 -1.13331663e-03 9.99595459e-01 -3.24776085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76719347000002 meters 0.0678229372607116 Centerline is valid? [True, True] Translation: X:127.10, Y:7.36, Z:-3.25 [[ 9.91041723e-01 -1.30578289e-01 -2.80288028e-02 1.27101285e+02] [ 1.30557814e-01 9.91437374e-01 -2.56718792e-03 7.36363177e+00] [ 2.81240217e-02 -1.11518889e-03 9.99603819e-01 -3.24606388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82719347000003 meters 0.06813181272447842 Centerline is valid? [True, True] Translation: X:127.16, Y:7.38, Z:-3.25 [[ 9.91040799e-01 -1.30479997e-01 -2.85149912e-02 1.27157904e+02] [ 1.30458465e-01 9.91450308e-01 -2.62219019e-03 7.37903831e+00] [ 2.86133402e-02 -1.12132453e-03 9.99589926e-01 -3.24779575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88719347000003 meters 0.06755841735277815 Centerline is valid? [True, True] Translation: X:127.22, Y:7.39, Z:-3.25 [[ 9.91097835e-01 -1.28924681e-01 -3.32191060e-02 1.27217363e+02] [ 1.28894905e-01 9.91653584e-01 -3.04523433e-03 7.39240104e+00] [ 3.33344514e-02 -1.26364838e-03 9.99443454e-01 -3.25238862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94719347 meters 0.06974065814789798 Centerline is valid? [True, True] Translation: X:127.28, Y:7.40, Z:-3.26 [[ 9.91138292e-01 -1.27424310e-01 -3.75224011e-02 1.27275507e+02] [ 1.27385150e-01 9.91847354e-01 -3.44233289e-03 7.40485243e+00] [ 3.76551311e-02 -1.36796874e-03 9.99289858e-01 -3.26395025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00719347 meters 0.06656519146788692 Centerline is valid? [True, True] Translation: X:127.33, Y:7.42, Z:-3.25 [[ 9.91229645e-01 -1.27417221e-01 -3.50519977e-02 1.27334006e+02] [ 1.27382983e-01 9.91848388e-01 -3.21737858e-03 7.42192404e+00] [ 3.51762169e-02 -1.27586701e-03 9.99380311e-01 -3.25464615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06719347 meters 0.06643763492657973 Centerline is valid? [True, True] Translation: X:127.39, Y:7.44, Z:-3.26 [[ 9.91790505e-01 -1.24120485e-01 -3.07522299e-02 1.27392191e+02] [ 1.24092535e-01 9.92266634e-01 -2.82316796e-03 7.43546493e+00] [ 3.08648246e-02 -1.01613098e-03 9.99523051e-01 -3.25659656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12719347 meters 0.06617667248599296 Centerline is valid? [True, True] Translation: X:127.45, Y:7.45, Z:-3.26 [[ 9.92107572e-01 -1.21845964e-01 -2.95994448e-02 1.27449661e+02] [ 1.21818978e-01 9.92548607e-01 -2.72003311e-03 7.45028312e+00] [ 2.97103128e-02 -9.07208663e-04 9.99558140e-01 -3.25907858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18719347 meters 0.06405100634247195 Centerline is valid? [True, True] Translation: X:127.51, Y:7.47, Z:-3.25 [[ 9.92299804e-01 -1.20944580e-01 -2.67115560e-02 1.27508891e+02] [ 1.20922283e-01 9.92658943e-01 -2.45443462e-03 7.46543866e+00] [ 2.68123155e-02 -7.94487339e-04 9.99640170e-01 -3.25311669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24719347 meters 0.06327610988606233 Centerline is valid? [True, True] Translation: X:127.57, Y:7.47, Z:-3.25 [[ 9.92797320e-01 -1.18187589e-01 -1.96258900e-02 1.27568626e+02] [ 1.18175013e-01 9.92991145e-01 -1.80339256e-03 7.47438459e+00] [ 1.97014736e-02 -5.28886511e-04 9.99805767e-01 -3.25428516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30719347000002 meters 0.06298323185963353 Centerline is valid? [True, True] Translation: X:127.63, Y:7.48, Z:-3.25 [[ 9.92996085e-01 -1.16832610e-01 -1.75760441e-02 1.27626858e+02] [ 1.16822253e-01 9.93151520e-01 -1.61837516e-03 7.48435302e+00] [ 1.76447539e-02 -4.46232878e-04 9.99844220e-01 -3.25357051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36719347000002 meters 0.06278613558988294 Centerline is valid? [True, True] Translation: X:127.69, Y:7.49, Z:-3.25 [[ 9.93151907e-01 -1.15813997e-01 -1.53755590e-02 1.27685760e+02] [ 1.15805807e-01 9.93270852e-01 -1.42493008e-03 7.48937613e+00] [ 1.54371214e-02 -3.65406993e-04 9.99880774e-01 -3.25485569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42719347000002 meters 0.06262181645688134 Centerline is valid? [True, True] Translation: X:127.74, Y:7.49, Z:-3.25 [[ 9.92844699e-01 -1.18723269e-01 -1.28136615e-02 1.27744982e+02] [ 1.18717747e-01 9.92927325e-01 -1.19341398e-03 7.48987142e+00] [ 1.28647206e-02 -3.36334280e-04 9.99917189e-01 -3.25394372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48719347000002 meters 0.065208070378893 Centerline is valid? [True, True] Translation: X:127.81, Y:7.49, Z:-3.26 [[ 9.91722738e-01 -1.27572446e-01 -1.45355332e-02 1.27805482e+02] [ 1.27566412e-01 9.91829119e-01 -1.34537768e-03 7.48675758e+00] [ 1.45883982e-02 -5.20004173e-04 9.99893448e-01 -3.25863083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54719347000002 meters 0.0676401743101478 Centerline is valid? [True, True] Translation: X:127.86, Y:7.48, Z:-3.26 [[ 9.91216861e-01 -1.31303271e-01 -1.57665894e-02 1.27864089e+02] [ 1.31296574e-01 9.91342054e-01 -1.46361684e-03 7.48391552e+00] [ 1.58222607e-02 -6.19337469e-04 9.99874628e-01 -3.26459626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60719347000003 meters 0.0663560459086069 Centerline is valid? [True, True] Translation: X:127.92, Y:7.49, Z:-3.27 [[ 9.91189440e-01 -1.31282373e-01 -1.75622302e-02 1.27922062e+02] [ 1.31273884e-01 9.91344782e-01 -1.64035056e-03 7.49437222e+00] [ 1.76255743e-02 -6.79564005e-04 9.99844427e-01 -3.26556596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66719347 meters 0.06682314398149881 Centerline is valid? [True, True] Translation: X:127.98, Y:7.51, Z:-3.27 [[ 9.91495862e-01 -1.28783336e-01 -1.87298538e-02 1.27979198e+02] [ 1.28773252e-01 9.91672523e-01 -1.74848888e-03 7.50529828e+00] [ 1.87990576e-02 -6.78284692e-04 9.99823052e-01 -3.27142849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72719347 meters 0.0681824388668771 Centerline is valid? [True, True] Translation: X:128.04, Y:7.51, Z:-3.27 [[ 9.91367657e-01 -1.30585213e-01 -1.17333416e-02 1.28038362e+02] [ 1.30581394e-01 9.91436988e-01 -1.09435773e-03 7.50846606e+00] [ 1.17757758e-02 -4.47245242e-04 9.99930563e-01 -3.27128982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78719347 meters 0.06933491527334561 Centerline is valid? [True, True] Translation: X:128.10, Y:7.51, Z:-3.26 [[ 9.90137261e-01 -1.40087111e-01 -1.95098464e-03 1.28097265e+02] [ 1.40087009e-01 9.90139179e-01 -1.89451042e-04 7.50902283e+00] [ 1.95828598e-03 -8.57250670e-05 9.99998079e-01 -3.26372781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84719347 meters 0.07039260292575027 Centerline is valid? [True, True] Translation: X:128.16, Y:7.51, Z:-3.26 [[ 9.88891442e-01 -1.48634095e-01 1.27348584e-03 1.28157352e+02] [ 1.48634065e-01 9.88892259e-01 1.19017815e-04 7.51283118e+00] [-1.27703039e-03 7.15876775e-05 9.99999182e-01 -3.26104336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90719347 meters 0.07747549975177426 Centerline is valid? [True, True] Translation: X:128.22, Y:7.51, Z:-3.27 [[ 9.88159562e-01 -1.53423877e-01 1.33963872e-03 1.28216662e+02] [ 1.53423849e-01 9.88160466e-01 1.24519442e-04 7.51022978e+00] [-1.34288228e-03 8.24874519e-05 9.99999095e-01 -3.26735085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96719347 meters 0.07517100410809643 Centerline is valid? [True, True] Translation: X:128.28, Y:7.52, Z:-3.27 [[ 9.88068845e-01 -1.54005463e-01 1.50797520e-03 1.28275345e+02] [ 1.54005428e-01 9.88069992e-01 1.40078555e-04 7.52275615e+00] [-1.51155791e-03 9.38291107e-05 9.99998853e-01 -3.26755998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02719347000001 meters 0.07481605070882097 Centerline is valid? [True, True] Translation: X:128.33, Y:7.54, Z:-3.27 [[ 9.87654814e-01 -1.56630554e-01 2.19949263e-03 1.28334825e+02] [ 1.56630483e-01 9.87657253e-01 2.05764388e-04 7.53834075e+00] [-2.20457384e-03 1.41283404e-04 9.99997560e-01 -3.26993867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08719347000002 meters 0.07430491980112651 Centerline is valid? [True, True] Translation: X:128.39, Y:7.56, Z:-3.27 [[ 9.87674044e-01 -1.56518917e-01 1.34555554e-03 1.28394599e+02] [ 1.56518889e-01 9.87674957e-01 1.26855278e-04 7.55721307e+00] [-1.34882676e-03 8.53131931e-05 9.99999087e-01 -3.27202090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14719347000002 meters 0.07463981698506619 Centerline is valid? [True, True] Translation: X:128.45, Y:7.57, Z:-3.28 [[ 9.88400601e-01 -1.51853504e-01 -2.18298296e-03 1.28453289e+02] [ 1.51853422e-01 9.88403003e-01 -2.04125892e-04 7.57069700e+00] [ 2.18866414e-03 -1.29735278e-04 9.99997596e-01 -3.27864475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20719347000002 meters 0.0685312905564264 Centerline is valid? [True, True] Translation: X:128.51, Y:7.61, Z:-3.28 [[ 9.90528352e-01 -1.37261461e-01 -3.58819586e-03 1.28510451e+02] [ 1.37261145e-01 9.90534838e-01 -3.35339486e-04 7.60575703e+00] [ 3.60026219e-03 -1.60356602e-04 9.99993506e-01 -3.28339653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26719347000002 meters 0.06541252833925752 Centerline is valid? [True, True] Translation: X:128.57, Y:7.63, Z:-3.28 [[ 9.91841940e-01 -1.27473135e-01 -4.07896902e-04 1.28569090e+02] [ 1.27473130e-01 9.91842024e-01 -3.81825535e-05 7.63095736e+00] [ 4.09436539e-04 -1.41248371e-05 9.99999916e-01 -3.28251669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32719347000003 meters 0.064367208858053 Centerline is valid? [True, True] Translation: X:128.63, Y:7.65, Z:-3.28 [[ 9.92311629e-01 -1.23665580e-01 4.94529833e-03 1.28628932e+02] [ 1.23664807e-01 9.92323940e-01 4.62804108e-04 7.64704273e+00] [-4.96457086e-03 1.52313468e-04 9.99987665e-01 -3.28144125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38719347000003 meters 0.06528062834379182 Centerline is valid? [True, True] Translation: X:128.69, Y:7.65, Z:-3.28 [[ 9.92065970e-01 -1.25418782e-01 8.67411208e-03 1.28691091e+02] [ 1.25416453e-01 9.92103851e-01 8.14059681e-04 7.65023291e+00] [-8.70771837e-03 2.80275463e-04 9.99962048e-01 -3.28164460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44719347 meters 0.06523773886396735 Centerline is valid? [True, True] Translation: X:128.75, Y:7.66, Z:-3.28 [[ 9.92379026e-01 -1.23107108e-01 5.33933309e-03 1.28752960e+02] [ 1.23106201e-01 9.92393377e-01 4.99514818e-04 7.65929275e+00] [-5.36021262e-03 1.61596984e-04 9.99985621e-01 -3.28471712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50719347 meters 0.06406950347076851 Centerline is valid? [True, True] Translation: X:128.81, Y:7.67, Z:-3.29 [[ 9.92654830e-01 -1.20966445e-01 1.87283557e-03 1.28814665e+02] [ 1.20966327e-01 9.92656595e-01 1.76439725e-04 7.67126150e+00] [-1.88042587e-03 5.14062956e-05 9.99998231e-01 -3.28559431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56719347 meters 0.0626672784184064 Centerline is valid? [True, True] Translation: X:128.88, Y:7.68, Z:-3.29 [[ 9.93968320e-01 -1.09647989e-01 -2.07276647e-03 1.28875343e+02] [ 1.09647827e-01 9.93970481e-01 -1.91851170e-04 7.68213176e+00] [ 2.08130478e-03 -3.65803551e-05 9.99997833e-01 -3.29043637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62719347 meters 0.06194688699388247 Centerline is valid? [True, True] Translation: X:128.94, Y:7.69, Z:-3.29 [[ 9.94474515e-01 -1.04976089e-01 6.78668027e-04 1.28936157e+02] [ 1.04976069e-01 9.94474746e-01 6.42166676e-05 7.68864785e+00] [-6.81659429e-04 7.38206254e-06 9.99999768e-01 -3.28964778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68719347 meters 0.062256582759991255 Centerline is valid? [True, True] Translation: X:129.00, Y:7.69, Z:-3.29 [[ 9.94555653e-01 -1.04206083e-01 -3.81125531e-04 1.28998241e+02] [ 1.04206078e-01 9.94555726e-01 -3.32664051e-05 7.69411779e+00] [ 3.82517140e-04 -6.63030542e-06 9.99999927e-01 -3.29009711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74719347 meters 0.06269785422620305 Centerline is valid? [True, True] Translation: X:129.06, Y:7.70, Z:-3.29 [[ 9.94897922e-01 -1.00717527e-01 -5.83992333e-03 1.29059707e+02] [ 1.00716104e-01 9.94915060e-01 -5.38106171e-04 7.69900299e+00] [ 5.86442439e-03 -5.28136114e-05 9.99982803e-01 -3.29485459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80719347000002 meters 0.06324029822659609 Centerline is valid? [True, True] Translation: X:129.12, Y:7.70, Z:-3.30 [[ 9.95474640e-01 -9.45742504e-02 -9.27106540e-03 1.29121437e+02] [ 9.45703694e-02 9.95517810e-01 -8.57101798e-04 7.70323762e+00] [ 9.31057049e-03 -2.35449762e-05 9.99956655e-01 -3.30104493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86719347000002 meters 0.06355795705678786 Centerline is valid? [True, True] Translation: X:129.18, Y:7.71, Z:-3.30 [[ 9.95870504e-01 -9.02545640e-02 -9.80069124e-03 1.29183605e+02] [ 9.02500249e-02 9.95918728e-01 -9.05325612e-04 7.70602532e+00] [ 9.84240173e-03 1.70744443e-05 9.99951562e-01 -3.30240237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92719347000002 meters 0.06384268020293568 Centerline is valid? [True, True] Translation: X:129.25, Y:7.71, Z:-3.30 [[ 9.96102679e-01 -8.78357540e-02 -8.02079259e-03 1.29245118e+02] [ 8.78326639e-02 9.96134970e-01 -7.37385746e-04 7.70606499e+00] [ 8.05456082e-03 3.00243377e-05 9.99967561e-01 -3.30445017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98719347000002 meters 0.0637255825711985 Centerline is valid? [True, True] Translation: X:129.31, Y:7.70, Z:-3.30 [[ 9.96287828e-01 -8.59465879e-02 -4.87309609e-03 1.29308749e+02] [ 8.59454255e-02 9.96299746e-01 -4.47843314e-04 7.69678935e+00] [ 4.89355500e-03 2.73605262e-05 9.99988026e-01 -3.30181464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04719347000002 meters 0.06403806786920621 Centerline is valid? [True, True] Translation: X:129.37, Y:7.69, Z:-3.30 [[ 9.96404433e-01 -8.44518014e-02 -6.78968188e-03 1.29371491e+02] [ 8.44495086e-02 9.96427564e-01 -6.24193733e-04 7.69176819e+00] [ 6.81814046e-03 4.85641048e-05 9.99976755e-01 -3.30362206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10719347000003 meters 0.06496414014960637 Centerline is valid? [True, True] Translation: X:129.43, Y:7.68, Z:-3.31 [[ 9.96677605e-01 -8.10887330e-02 -7.64003037e-03 1.29433353e+02] [ 8.10857285e-02 9.96706883e-01 -7.02694165e-04 7.68207658e+00] [ 7.67185143e-03 8.08621087e-05 9.99970568e-01 -3.30740006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16719347 meters 0.06643381367873968 Centerline is valid? [True, True] Translation: X:129.50, Y:7.68, Z:-3.31 [[ 9.97326845e-01 -7.24332923e-02 -9.62196256e-03 1.29495354e+02] [ 7.24281190e-02 9.97373242e-01 -8.85494071e-04 7.67797146e+00] [ 9.66082724e-03 1.86226360e-04 9.99953316e-01 -3.30801669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22719347 meters 0.06790854192071531 Centerline is valid? [True, True] Translation: X:129.56, Y:7.67, Z:-3.31 [[ 9.97604303e-01 -6.81387654e-02 -1.19483496e-02 1.29556606e+02] [ 6.81304737e-02 9.97675813e-01 -1.10010605e-03 7.67453303e+00] [ 1.19955393e-02 2.83423804e-04 9.99928011e-01 -3.31187265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28719347 meters 0.06798251154002688 Centerline is valid? [True, True] Translation: X:129.62, Y:7.65, Z:-3.32 [[ 9.97328015e-01 -7.17048561e-02 -1.39729966e-02 1.29617426e+02] [ 7.16938212e-02 9.97425853e-01 -1.28969808e-03 7.65388307e+00] [ 1.40295057e-02 2.84474506e-04 9.99901541e-01 -3.31794297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34719347 meters 0.06640053506590138 Centerline is valid? [True, True] Translation: X:129.68, Y:7.62, Z:-3.32 [[ 9.96197851e-01 -8.57131012e-02 -1.55918300e-02 1.29679199e+02] [ 8.57010485e-02 9.96319856e-01 -1.44076748e-03 7.62457512e+00] [ 1.56579425e-02 9.90532891e-05 9.99877402e-01 -3.32156415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40719347 meters 0.0659675087957699 Centerline is valid? [True, True] Translation: X:129.74, Y:7.60, Z:-3.32 [[ 9.95387050e-01 -9.46773727e-02 -1.55182604e-02 1.29740355e+02] [ 9.46663689e-02 9.95508008e-01 -1.44378936e-03 7.60475494e+00] [ 1.55852467e-02 -3.19281342e-05 9.99878542e-01 -3.32429215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46719347 meters 0.06549819838355037 Centerline is valid? [True, True] Translation: X:129.80, Y:7.59, Z:-3.32 [[ 9.94596877e-01 -1.03219678e-01 -1.10792619e-02 1.29801904e+02] [ 1.03214543e-01 9.94658577e-01 -1.03581166e-03 7.58562451e+00] [ 1.11269990e-02 -1.13325909e-04 9.99938087e-01 -3.32131477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52719347000001 meters 0.06592027925734292 Centerline is valid? [True, True] Translation: X:129.86, Y:7.58, Z:-3.32 [[ 9.93912292e-01 -1.09776515e-01 -9.35265078e-03 1.29861627e+02] [ 1.09773104e-01 9.93956283e-01 -8.78863468e-04 7.57584216e+00] [ 9.39260458e-03 -1.53156302e-04 9.99955877e-01 -3.32102928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58719347000002 meters 0.06758213578611881 Centerline is valid? [True, True] Translation: X:129.92, Y:7.56, Z:-3.32 [[ 9.92824248e-01 -1.19115394e-01 -1.05610263e-02 1.29923932e+02] [ 1.19111661e-01 9.92880377e-01 -9.83994004e-04 7.55923430e+00] [ 1.06030446e-02 -2.81008284e-04 9.99943747e-01 -3.32370177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64719347000002 meters 0.06866329966336912 Centerline is valid? [True, True] Translation: X:129.98, Y:7.55, Z:-3.33 [[ 9.92544836e-01 -1.21463048e-01 -1.00735232e-02 1.29982324e+02] [ 1.21459734e-01 9.92595912e-01 -9.42353469e-04 7.55366592e+00] [ 1.01133990e-02 -2.88199374e-04 9.99948817e-01 -3.32715875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70719347000002 meters 0.067014721323836 Centerline is valid? [True, True] Translation: X:130.04, Y:7.56, Z:-3.32 [[ 9.92808028e-01 -1.19407713e-01 -8.60336042e-03 1.30040938e+02] [ 1.19405213e-01 9.92845278e-01 -8.05549493e-04 7.56269345e+00] [ 8.63799459e-03 -2.27530076e-04 9.99962666e-01 -3.32345042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76719347000002 meters 0.06821960018356087 Centerline is valid? [True, True] Translation: X:130.10, Y:7.57, Z:-3.33 [[ 9.92860168e-01 -1.18448664e-01 -1.40925758e-02 1.30098995e+02] [ 1.18441873e-01 9.92960112e-01 -1.31847042e-03 7.56823533e+00] [ 1.41495367e-02 -3.60094308e-04 9.99899825e-01 -3.33290007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82719347000003 meters 0.06855054782868157 Centerline is valid? [True, True] Translation: X:130.16, Y:7.57, Z:-3.33 [[ 9.92402372e-01 -1.22235949e-01 -1.39966136e-02 1.30158072e+02] [ 1.22229481e-01 9.92500988e-01 -1.31987179e-03 7.57138996e+00] [ 1.40529886e-02 -4.00954924e-04 9.99901171e-01 -3.33354280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88719347000003 meters 0.07088938345164894 Centerline is valid? [True, True] Translation: X:130.22, Y:7.58, Z:-3.34 [[ 9.91393749e-01 -1.30284546e-01 -1.28207103e-02 1.30218228e+02] [ 1.30279880e-01 9.91476529e-01 -1.20204308e-03 7.57658758e+00] [ 1.28680410e-02 -4.78582616e-04 9.99917089e-01 -3.33571082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94719347 meters 0.07384330153629522 Centerline is valid? [True, True] Translation: X:130.28, Y:7.58, Z:-3.34 [[ 9.90576276e-01 -1.36376388e-01 -1.26539670e-02 1.30277029e+02] [ 1.36372318e-01 9.90656943e-01 -1.18799028e-03 7.57811587e+00] [ 1.26977541e-02 -5.48855821e-04 9.99919230e-01 -3.33864414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00719347 meters 0.07366169105058876 Centerline is valid? [True, True] Translation: X:130.34, Y:7.59, Z:-3.33 [[ 9.89371223e-01 -1.45034282e-01 -1.04709596e-02 1.30336446e+02] [ 1.45031983e-01 9.89426480e-01 -9.82608782e-04 7.58709592e+00] [ 1.05027566e-02 -5.46459176e-04 9.99944695e-01 -3.33469411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06719347 meters 0.07489633139917404 Centerline is valid? [True, True] Translation: X:130.39, Y:7.60, Z:-3.33 [[ 9.88769860e-01 -1.49296477e-01 -6.68781631e-03 1.30394646e+02] [ 1.49295623e-01 9.88792405e-01 -6.29490394e-04 7.59945650e+00] [ 6.70684267e-03 -3.76040575e-04 9.99977438e-01 -3.33354662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12719347 meters 0.0755966078540445 Centerline is valid? [True, True] Translation: X:130.45, Y:7.61, Z:-3.34 [[ 9.89085639e-01 -1.47247965e-01 -5.25704688e-03 1.30452725e+02] [ 1.47247408e-01 9.89099568e-01 -4.94826771e-04 7.61268441e+00] [ 5.27260504e-03 -2.84660477e-04 9.99986059e-01 -3.33563983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18719347 meters 0.07110726210053596 Centerline is valid? [True, True] Translation: X:130.51, Y:7.64, Z:-3.33 [[ 9.90278390e-01 -1.39099407e-01 -2.54733958e-04 1.30510829e+02] [ 1.39099406e-01 9.90278423e-01 -2.45597013e-05 7.63925687e+00] [ 2.55673781e-04 -1.11124006e-05 9.99999967e-01 -3.33352276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24719347 meters 0.07012431704238314 Centerline is valid? [True, True] Translation: X:130.57, Y:7.66, Z:-3.33 [[ 9.90661400e-01 -1.36337864e-01 1.40630909e-03 1.30569106e+02] [ 1.36337815e-01 9.90662396e-01 1.31114956e-04 7.65761034e+00] [-1.41105346e-03 6.18425819e-05 9.99999003e-01 -3.33385107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30719347000002 meters 0.07504790716669829 Centerline is valid? [True, True] Translation: X:130.63, Y:7.67, Z:-3.34 [[ 9.89654026e-01 -1.43455772e-01 -2.31299383e-03 1.30628033e+02] [ 1.43455654e-01 9.89656722e-01 -2.17557066e-04 7.66866160e+00] [ 2.32027971e-03 -1.16505816e-04 9.99997301e-01 -3.34051236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36719347000002 meters 0.07636417137971972 Centerline is valid? [True, True] Translation: X:130.69, Y:7.68, Z:-3.34 [[ 9.88241809e-01 -1.52742090e-01 -6.92689381e-03 1.30687361e+02] [ 1.52741263e-01 9.88265998e-01 -6.51371771e-04 7.67909433e+00] [ 6.94510551e-03 -4.14309691e-04 9.99975797e-01 -3.34364813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42719347000002 meters 0.08169640887192002 Centerline is valid? [True, True] Translation: X:130.75, Y:7.68, Z:-3.35 [[ 9.87210667e-01 -1.59194848e-01 -8.49117847e-03 1.30746517e+02] [ 1.59193839e-01 9.87247022e-01 -7.98904777e-04 7.68337067e+00] [ 8.51007219e-03 -5.63055982e-04 9.99963630e-01 -3.34817079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48719347000002 meters 0.0792589566174413 Centerline is valid? [True, True] Translation: X:130.80, Y:7.71, Z:-3.35 [[ 9.86860134e-01 -1.61136623e-01 -1.19190483e-02 1.30804581e+02] [ 1.61134775e-01 9.86931774e-01 -1.12153049e-03 7.70576129e+00] [ 1.19440072e-02 -8.13779443e-04 9.99928337e-01 -3.34941864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54719347000002 meters 0.08041811526607345 Centerline is valid? [True, True] Translation: X:130.86, Y:7.73, Z:-3.35 [[ 9.86805470e-01 -1.61291977e-01 -1.41372436e-02 1.30861050e+02] [ 1.61289239e-01 9.86906268e-01 -1.34117594e-03 7.72922124e+00] [ 1.41684552e-02 -9.56705505e-04 9.99899165e-01 -3.35354449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60719347000003 meters 0.07856872935271786 Centerline is valid? [True, True] Translation: X:130.92, Y:7.75, Z:-3.35 [[ 9.86905242e-01 -1.60639321e-01 -1.45962976e-02 1.30918791e+02] [ 1.60636265e-01 9.87012695e-01 -1.38924182e-03 7.74674816e+00] [ 1.46298979e-02 -9.73644689e-04 9.99892503e-01 -3.35374063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66719347 meters 0.07951927145963243 Centerline is valid? [True, True] Translation: X:130.98, Y:7.77, Z:-3.36 [[ 9.87520909e-01 -1.56885977e-01 -1.37566204e-02 1.30976059e+02] [ 1.56882979e-01 9.87616338e-01 -1.30352351e-03 7.76547946e+00] [ 1.37907676e-02 -8.70922869e-04 9.99904524e-01 -3.35823070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72719347 meters 0.07688298648314282 Centerline is valid? [True, True] Translation: X:131.03, Y:7.79, Z:-3.36 [[ 9.87827423e-01 -1.55013835e-01 -1.29496696e-02 1.31033871e+02] [ 1.55011007e-01 9.87911980e-01 -1.22790737e-03 7.78696596e+00] [ 1.29834764e-02 -7.94380759e-04 9.99915396e-01 -3.35527492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78719347 meters 0.07219516105637827 Centerline is valid? [True, True] Translation: X:131.09, Y:7.82, Z:-3.35 [[ 9.89379516e-01 -1.44950288e-01 -1.08437826e-02 1.31091306e+02] [ 1.44947709e-01 9.89438783e-01 -1.02748479e-03 7.81697022e+00] [ 1.08781932e-02 -5.55209037e-04 9.99940677e-01 -3.35483453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84719347 meters 0.06725327051599843 Centerline is valid? [True, True] Translation: X:131.15, Y:7.85, Z:-3.35 [[ 9.91752628e-01 -1.28018881e-01 -6.15561710e-03 1.31149482e+02] [ 1.28017727e-01 9.91771709e-01 -5.82749069e-04 7.84938834e+00] [ 6.17956977e-03 -2.10085189e-04 9.99980884e-01 -3.35456601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90719347 meters 0.06426311230702528 Centerline is valid? [True, True] Translation: X:131.21, Y:7.87, Z:-3.35 [[ 9.93305025e-01 -1.15515766e-01 -1.11173722e-03 1.31208543e+02] [ 1.15515721e-01 9.93305646e-01 -1.04966225e-04 7.87314532e+00] [ 1.11642012e-03 -2.41596486e-05 9.99999377e-01 -3.35105571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96719347 meters 0.06272743424192603 Centerline is valid? [True, True] Translation: X:131.27, Y:7.90, Z:-3.35 [[ 9.95026769e-01 -9.95282184e-02 -3.98291172e-03 1.31267733e+02] [ 9.95275109e-02 9.95034740e-01 -3.75957814e-04 7.90193413e+00] [ 4.00055393e-03 -2.23212000e-05 9.99991998e-01 -3.34967900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02719347000001 meters 0.06344462685092365 Centerline is valid? [True, True] Translation: X:131.33, Y:7.91, Z:-3.36 [[ 9.95733597e-01 -9.18317235e-02 -9.02990441e-03 1.31328637e+02] [ 9.18277680e-02 9.95774540e-01 -8.52564256e-04 7.91378729e+00] [ 9.07004135e-03 1.97309056e-05 9.99958866e-01 -3.35573947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08719347000002 meters 0.06448222647670317 Centerline is valid? [True, True] Translation: X:131.39, Y:7.92, Z:-3.37 [[ 9.96173782e-01 -8.64954654e-02 -1.25031809e-02 1.31388493e+02] [ 8.64874320e-02 9.96252240e-01 -1.18280693e-03 7.91510215e+00] [ 1.25586295e-02 9.69132400e-05 9.99921133e-01 -3.36516266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14719347000002 meters 0.06501761722191012 Centerline is valid? [True, True] Translation: X:131.45, Y:7.91, Z:-3.37 [[ 9.96498861e-01 -8.20732522e-02 -1.59373918e-02 1.31449603e+02] [ 8.20596483e-02 9.96626281e-01 -1.50677334e-03 7.91343171e+00] [ 1.60072893e-02 1.93681148e-04 9.99871856e-01 -3.36563976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20719347000002 meters 0.06556574204457004 Centerline is valid? [True, True] Translation: X:131.51, Y:7.91, Z:-3.37 [[ 9.96418600e-01 -8.28533890e-02 -1.68905010e-02 1.31510144e+02] [ 8.28382270e-02 9.96561729e-01 -1.59654631e-03 7.90806454e+00] [ 1.69647062e-02 1.91649285e-04 9.99856071e-01 -3.37155668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26719347000002 meters 0.06441442076357208 Centerline is valid? [True, True] Translation: X:131.57, Y:7.88, Z:-3.37 [[ 9.95398628e-01 -9.44796976e-02 -1.59736409e-02 1.31573086e+02] [ 9.44676242e-02 9.95526789e-01 -1.51039142e-03 7.88415287e+00] [ 1.60448888e-02 -5.55036355e-06 9.99871272e-01 -3.37138390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32719347000003 meters 0.06493437115155788 Centerline is valid? [True, True] Translation: X:131.63, Y:7.86, Z:-3.37 [[ 9.94147624e-01 -1.07099387e-01 -1.41500411e-02 1.31633633e+02] [ 1.07091153e-01 9.94248303e-01 -1.34050736e-03 7.86460045e+00] [ 1.42122219e-02 -1.82682002e-04 9.99898985e-01 -3.37436759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38719347000003 meters 0.06613151612497559 Centerline is valid? [True, True] Translation: X:131.69, Y:7.85, Z:-3.37 [[ 9.92895403e-01 -1.18180719e-01 -1.38576835e-02 1.31694938e+02] [ 1.18173897e-01 9.92992047e-01 -1.31296156e-03 7.84961675e+00] [ 1.39157362e-02 -3.33982965e-04 9.99903116e-01 -3.37335892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44719347 meters 0.0685432626208465 Centerline is valid? [True, True] Translation: X:131.76, Y:7.84, Z:-3.38 [[ 9.92053784e-01 -1.24862384e-01 -1.54491046e-02 1.31755298e+02] [ 1.24854707e-01 9.92173956e-01 -1.46427385e-03 7.83622134e+00] [ 1.55110319e-02 -4.76255013e-04 9.99879583e-01 -3.37808828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50719347 meters 0.06681689654226469 Centerline is valid? [True, True] Translation: X:131.81, Y:7.84, Z:-3.38 [[ 9.92530945e-01 -1.20734038e-01 -1.74818377e-02 1.31814652e+02] [ 1.20723351e-01 9.92684787e-01 -1.66920878e-03 7.83770223e+00] [ 1.75554846e-02 -4.53724653e-04 9.99845788e-01 -3.37664654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56719347 meters 0.06640376506730127 Centerline is valid? [True, True] Translation: X:131.87, Y:7.84, Z:-3.38 [[ 9.92955641e-01 -1.17287189e-01 -1.68169469e-02 1.31873052e+02] [ 1.17276870e-01 9.93097966e-01 -1.60193213e-03 7.84139532e+00] [ 1.68887619e-02 -3.81591349e-04 9.99857302e-01 -3.37808283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62719347 meters 0.0663698777397492 Centerline is valid? [True, True] Translation: X:131.93, Y:7.85, Z:-3.38 [[ 9.93611791e-01 -1.11362977e-01 -1.82728265e-02 1.31930686e+02] [ 1.11349748e-01 9.93779752e-01 -1.74296128e-03 7.84571702e+00] [ 1.83532664e-02 -3.02847756e-04 9.99831519e-01 -3.38181431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68719347 meters 0.0662964642483982 Centerline is valid? [True, True] Translation: X:131.99, Y:7.85, Z:-3.38 [[ 9.94097062e-01 -1.06837064e-01 -1.88910855e-02 1.31989168e+02] [ 1.06821914e-01 9.94276518e-01 -1.81215394e-03 7.85233114e+00] [ 1.89765679e-02 -2.16524997e-04 9.99819905e-01 -3.38438671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74719347 meters 0.06611366037039282 Centerline is valid? [True, True] Translation: X:132.05, Y:7.86, Z:-3.39 [[ 9.94884070e-01 -9.91841731e-02 -1.91881867e-02 1.32047256e+02] [ 9.91670094e-02 9.95069091e-01 -1.84629146e-03 7.85798031e+00] [ 1.92766943e-02 -6.59891216e-05 9.99814185e-01 -3.38844896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80719347000002 meters 0.06552386445261138 Centerline is valid? [True, True] Translation: X:132.11, Y:7.86, Z:-3.38 [[ 9.95520509e-01 -9.29283023e-02 -1.74139722e-02 1.32105825e+02] [ 9.29130918e-02 9.95672801e-01 -1.68224720e-03 7.86266934e+00] [ 1.74949469e-02 5.67255910e-05 9.99846950e-01 -3.38434198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86719347000002 meters 0.06570536042773599 Centerline is valid? [True, True] Translation: X:132.16, Y:7.87, Z:-3.39 [[ 9.95814209e-01 -8.98325359e-02 -1.68575505e-02 1.32163522e+02] [ 8.98178862e-02 9.95956879e-01 -1.62566443e-03 7.86670280e+00] [ 1.69354310e-02 1.04750184e-04 9.99856580e-01 -3.38502672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92719347000002 meters 0.06523159561906368 Centerline is valid? [True, True] Translation: X:132.22, Y:7.86, Z:-3.39 [[ 9.95412055e-01 -9.44315660e-02 -1.54116882e-02 1.32224144e+02] [ 9.44197262e-02 9.95531355e-01 -1.49568858e-03 7.85635545e+00] [ 1.54840591e-02 3.36590644e-05 9.99880114e-01 -3.38679203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98719347000002 meters 0.06531849953508798 Centerline is valid? [True, True] Translation: X:132.28, Y:7.84, Z:-3.39 [[ 9.94388019e-01 -1.04869781e-01 -1.39569731e-02 1.32283350e+02] [ 1.04861130e-01 9.94485955e-01 -1.35224067e-03 7.84348628e+00] [ 1.40218229e-02 -1.18892048e-04 9.99901682e-01 -3.38822808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04719347000002 meters 0.06841160436372402 Centerline is valid? [True, True] Translation: X:132.35, Y:7.82, Z:-3.39 [[ 9.92197431e-01 -1.23625891e-01 -1.61523064e-02 1.32345165e+02] [ 1.23616805e-01 9.92328797e-01 -1.56354639e-03 7.81543565e+00] [ 1.62216936e-02 -4.45349798e-04 9.99868320e-01 -3.39325352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10719347000003 meters 0.06971173496840136 Centerline is valid? [True, True] Translation: X:132.41, Y:7.81, Z:-3.39 [[ 9.91093256e-01 -1.31899643e-01 -1.83477869e-02 1.32406215e+02] [ 1.31889353e-01 9.91262855e-01 -1.77504020e-03 7.80731608e+00] [ 1.84216068e-02 -6.60647370e-04 9.99830090e-01 -3.39365624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16719347 meters 0.07142896091984226 Centerline is valid? [True, True] Translation: X:132.47, Y:7.80, Z:-3.40 [[ 9.90268523e-01 -1.37789106e-01 -1.95554111e-02 1.32467158e+02] [ 1.37778539e-01 9.90461251e-01 -1.89309367e-03 7.80393583e+00] [ 1.96297246e-02 -8.19644894e-04 9.99806982e-01 -3.39700616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22719347 meters 0.07177847546781128 Centerline is valid? [True, True] Translation: X:132.53, Y:7.80, Z:-3.40 [[ 9.90095362e-01 -1.39275832e-01 -1.77035742e-02 1.32525983e+02] [ 1.39267182e-01 9.90253337e-01 -1.72652567e-03 7.80457471e+00] [ 1.77714867e-02 -7.56101833e-04 9.99841789e-01 -3.39821859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28719347 meters 0.0733798785017166 Centerline is valid? [True, True] Translation: X:132.58, Y:7.81, Z:-3.40 [[ 9.89799548e-01 -1.41162662e-01 -1.92342869e-02 1.32584672e+02] [ 1.41152890e-01 9.89986040e-01 -1.87157230e-03 7.80613747e+00] [ 1.93058716e-02 -8.62493762e-04 9.99813252e-01 -3.40315046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34719347 meters 0.07189522136373235 Centerline is valid? [True, True] Translation: X:132.64, Y:7.82, Z:-3.40 [[ 9.89722790e-01 -1.41805933e-01 -1.84357370e-02 1.32643132e+02] [ 1.41796855e-01 9.89894132e-01 -1.80532094e-03 7.81698690e+00] [ 1.85054331e-02 -8.27362244e-04 9.99828417e-01 -3.40097376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40719347 meters 0.07255159346008432 Centerline is valid? [True, True] Translation: X:132.70, Y:7.83, Z:-3.40 [[ 9.89874845e-01 -1.41627707e-01 -9.45433459e-03 1.32701488e+02] [ 1.41625340e-01 9.89919902e-01 -9.22805196e-04 7.83039598e+00] [ 9.48972875e-03 -4.25511699e-04 9.99954881e-01 -3.39800332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46719347 meters 0.07021832510678211 Centerline is valid? [True, True] Translation: X:132.76, Y:7.85, Z:-3.39 [[ 9.89849888e-01 -1.42092470e-01 -2.63248990e-03 1.32760379e+02] [ 1.42092287e-01 9.89853381e-01 -2.57366593e-04 7.84540482e+00] [ 2.64234889e-03 -1.19302217e-04 9.99996502e-01 -3.39154233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52719347000001 meters 0.07015877525260761 Centerline is valid? [True, True] Translation: X:132.82, Y:7.86, Z:-3.39 [[ 9.89469391e-01 -1.44706720e-01 3.20769006e-03 1.32818720e+02] [ 1.44706485e-01 9.89474577e-01 3.06344030e-04 7.85705065e+00] [-3.21825781e-03 1.61055513e-04 9.99994808e-01 -3.38904766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58719347000002 meters 0.06804640578162413 Centerline is valid? [True, True] Translation: X:132.88, Y:7.88, Z:-3.39 [[ 9.90156925e-01 -1.39915237e-01 3.60406744e-03 1.32876436e+02] [ 1.39914882e-01 9.90163472e-01 3.51804577e-04 7.88087822e+00] [-3.61783875e-03 1.55920932e-04 9.99993443e-01 -3.38874652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64719347000002 meters 0.06697629519827836 Centerline is valid? [True, True] Translation: X:132.93, Y:7.90, Z:-3.40 [[ 9.91283405e-01 -1.31740380e-01 -1.29757527e-03 1.32933413e+02] [ 1.31740325e-01 9.91284253e-01 -1.28772330e-04 7.89845102e+00] [ 1.30323044e-03 -4.32931136e-05 9.99999150e-01 -3.39553055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70719347000002 meters 0.06463248709039239 Centerline is valid? [True, True] Translation: X:132.99, Y:7.92, Z:-3.40 [[ 9.92540535e-01 -1.21852765e-01 -3.89739951e-03 1.32991100e+02] [ 1.21852200e-01 9.92548183e-01 -3.83174799e-04 7.92109641e+00] [ 3.91504771e-03 -9.45901834e-05 9.99992332e-01 -3.39900422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76719347000002 meters 0.06435838791001683 Centerline is valid? [True, True] Translation: X:133.05, Y:7.94, Z:-3.40 [[ 9.93060985e-01 -1.17399849e-01 -6.86697124e-03 1.33048823e+02] [ 1.17397932e-01 9.93084719e-01 -6.83065884e-04 7.93727222e+00] [ 6.89967603e-03 -1.27842142e-04 9.99976189e-01 -3.40188990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82719347000003 meters 0.0643892424057394 Centerline is valid? [True, True] Translation: X:133.11, Y:7.95, Z:-3.41 [[ 9.93665282e-01 -1.11688459e-01 -1.24497139e-02 1.33106500e+02] [ 1.11681737e-01 9.93743257e-01 -1.23607571e-03 7.95163855e+00] [ 1.25098746e-02 -1.62160151e-04 9.99921735e-01 -3.40977476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88719347000003 meters 0.0647729131602882 Centerline is valid? [True, True] Translation: X:133.17, Y:7.96, Z:-3.41 [[ 9.93437849e-01 -1.13165825e-01 -1.65751654e-02 1.33165206e+02] [ 1.13154238e-01 9.93576084e-01 -1.63825891e-03 7.95909626e+00] [ 1.66540829e-02 -2.48041810e-04 9.99861280e-01 -3.41281848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94719347 meters 0.06586228818944803 Centerline is valid? [True, True] Translation: X:133.23, Y:7.96, Z:-3.42 [[ 9.92632144e-01 -1.19536663e-01 -1.98094325e-02 1.33225678e+02] [ 1.19521399e-01 9.92829696e-01 -1.95696275e-03 7.95860765e+00] [ 1.99013217e-02 -4.25106966e-04 9.99801859e-01 -3.41570487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00719347 meters 0.06792952777632588 Centerline is valid? [True, True] Translation: X:133.29, Y:7.95, Z:-3.42 [[ 9.91290057e-01 -1.30044095e-01 -2.07979926e-02 1.33287214e+02] [ 1.30029584e-01 9.91507986e-01 -2.05428680e-03 7.94756447e+00] [ 2.08885236e-02 -6.67960250e-04 9.99781588e-01 -3.41737124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06719347 meters 0.06750438117293756 Centerline is valid? [True, True] Translation: X:133.35, Y:7.95, Z:-3.41 [[ 9.90753618e-01 -1.34502990e-01 -1.77823845e-02 1.33346208e+02] [ 1.34492860e-01 9.90912982e-01 -1.76979910e-03 7.95145455e+00] [ 1.78588389e-02 -6.38168879e-04 9.99840315e-01 -3.41161999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12719347 meters 0.06671682550382671 Centerline is valid? [True, True] Translation: X:133.41, Y:7.96, Z:-3.41 [[ 9.91031816e-01 -1.32899417e-01 -1.39170545e-02 1.33405466e+02] [ 1.32893115e-01 9.91129413e-01 -1.38076234e-03 7.95917267e+00] [ 1.39771046e-02 -4.81101322e-04 9.99902200e-01 -3.40911369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18719347 meters 0.0647857620706616 Centerline is valid? [True, True] Translation: X:133.46, Y:7.97, Z:-3.41 [[ 9.92286056e-01 -1.23491718e-01 -1.08709670e-02 1.33463674e+02] [ 1.23487307e-01 9.92345566e-01 -1.07860155e-03 7.97492242e+00] [ 1.09209543e-02 -2.72145158e-04 9.99940328e-01 -3.40973086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24719347 meters 0.06244673378471213 Centerline is valid? [True, True] Translation: X:133.52, Y:8.00, Z:-3.41 [[ 9.93852102e-01 -1.10327096e-01 -9.26995939e-03 1.33522415e+02] [ 1.10323319e-01 9.93895326e-01 -9.19460344e-04 7.99580994e+00] [ 9.31481070e-03 -1.08885087e-04 9.99956610e-01 -3.40785982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30719347000002 meters 0.06275886867589356 Centerline is valid? [True, True] Translation: X:133.58, Y:8.01, Z:-3.41 [[ 9.94381543e-01 -1.04987542e-01 -1.35263690e-02 1.33580306e+02] [ 1.04978843e-01 9.94473534e-01 -1.35351716e-03 8.00930871e+00] [ 1.35937184e-02 -7.40700884e-05 9.99907598e-01 -3.41287915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36719347000002 meters 0.06322659811179807 Centerline is valid? [True, True] Translation: X:133.64, Y:8.01, Z:-3.42 [[ 9.94098345e-01 -1.07238986e-01 -1.63792704e-02 1.33639407e+02] [ 1.07226645e-01 9.94233263e-01 -1.63235508e-03 8.01194849e+00] [ 1.64598675e-02 -1.33572715e-04 9.99864518e-01 -3.41701704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42719347000002 meters 0.06372730972127094 Centerline is valid? [True, True] Translation: X:133.70, Y:8.01, Z:-3.42 [[ 9.93514532e-01 -1.11890248e-01 -2.02348198e-02 1.33700165e+02] [ 1.11872397e-01 9.93720536e-01 -2.01560100e-03 8.00723201e+00] [ 2.03332821e-02 -2.61188907e-04 9.99793223e-01 -3.41973424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48719347000002 meters 0.06438342459751979 Centerline is valid? [True, True] Translation: X:133.76, Y:8.00, Z:-3.43 [[ 9.93461052e-01 -1.12550029e-01 -1.91736492e-02 1.33758453e+02] [ 1.12534000e-01 9.93646027e-01 -1.91634946e-03 8.00427149e+00] [ 1.92675055e-02 -2.53868893e-04 9.99814332e-01 -3.42577066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54719347000002 meters 0.06386932403991062 Centerline is valid? [True, True] Translation: X:133.82, Y:8.01, Z:-3.42 [[ 9.93516222e-01 -1.11906943e-01 -2.00587516e-02 1.33817053e+02] [ 1.11889073e-01 9.93718661e-01 -2.01447496e-03 8.01002712e+00] [ 2.01581895e-02 -2.42941584e-04 9.99796774e-01 -3.42387690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60719347000003 meters 0.06368075338573242 Centerline is valid? [True, True] Translation: X:133.87, Y:8.01, Z:-3.43 [[ 9.93979153e-01 -1.07818345e-01 -1.95102013e-02 1.33874856e+02] [ 1.07800702e-01 9.94170599e-01 -1.95683753e-03 8.01039120e+00] [ 1.96074515e-02 -1.58157689e-04 9.99807743e-01 -3.42717759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66719347 meters 0.06313220424651549 Centerline is valid? [True, True] Translation: X:133.93, Y:8.01, Z:-3.43 [[ 9.94019404e-01 -1.08011681e-01 -1.60903819e-02 1.33934589e+02] [ 1.07999714e-01 9.94149616e-01 -1.61340092e-03 8.01096628e+00] [ 1.61705132e-02 -1.34004824e-04 9.99869240e-01 -3.42564003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72719347 meters 0.06214372240924029 Centerline is valid? [True, True] Translation: X:133.99, Y:8.01, Z:-3.42 [[ 9.93746729e-01 -1.11026180e-01 -1.18585778e-02 1.33993947e+02] [ 1.11019865e-01 9.93817473e-01 -1.19156393e-03 8.00710198e+00] [ 1.19175566e-02 -1.32424952e-04 9.99928975e-01 -3.41904862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78719347 meters 0.06175037844464361 Centerline is valid? [True, True] Translation: X:134.05, Y:8.00, Z:-3.42 [[ 9.93269994e-01 -1.15404704e-01 -9.82203837e-03 1.34053869e+02] [ 1.15400496e-01 9.93318546e-01 -9.95981708e-04 8.00136366e+00] [ 9.87135384e-03 -1.44189354e-04 9.99951267e-01 -3.41666819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84719347 meters 0.06136452279913092 Centerline is valid? [True, True] Translation: X:134.11, Y:8.01, Z:-3.42 [[ 9.93403815e-01 -1.14359044e-01 -8.41841997e-03 1.34112503e+02] [ 1.14355882e-01 9.93439478e-01 -8.57573650e-04 8.00684634e+00] [ 8.46126204e-03 -1.10778908e-04 9.99964197e-01 -3.41635218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90719347 meters 0.06067730222921385 Centerline is valid? [True, True] Translation: X:134.17, Y:8.02, Z:-3.42 [[ 9.94349939e-01 -1.05885956e-01 -7.50758904e-03 1.34171060e+02] [ 1.05883182e-01 9.94378280e-01 -7.67188440e-04 8.01759618e+00] [ 7.54661796e-03 -3.20736385e-05 9.99971523e-01 -3.41793215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96719347 meters 0.06053870481524055 Centerline is valid? [True, True] Translation: X:134.23, Y:8.03, Z:-3.42 [[ 9.94857636e-01 -1.00915791e-01 -8.61902168e-03 1.34229305e+02] [ 1.00911927e-01 9.94894971e-01 -8.83066051e-04 8.02538178e+00] [ 8.66413663e-03 8.76291541e-06 9.99962466e-01 -3.42027191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02719347000001 meters 0.0605623373352314 Centerline is valid? [True, True] Translation: X:134.29, Y:8.03, Z:-3.42 [[ 9.95116164e-01 -9.84480896e-02 -7.19672272e-03 1.34287611e+02] [ 9.84453528e-02 9.95142187e-01 -7.34409042e-04 8.02554934e+00] [ 7.23406356e-03 2.23384019e-05 9.99973834e-01 -3.42348581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08719347000002 meters 0.06055718625880201 Centerline is valid? [True, True] Translation: X:134.35, Y:8.03, Z:-3.43 [[ 9.95150926e-01 -9.80742043e-02 -7.48905352e-03 1.34347020e+02] [ 9.80711766e-02 9.95179104e-01 -7.71343327e-04 8.02631578e+00] [ 7.52859846e-03 3.31427354e-05 9.99971659e-01 -3.42507780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14719347000002 meters 0.06071619563586296 Centerline is valid? [True, True] Translation: X:134.41, Y:8.02, Z:-3.43 [[ 9.95315348e-01 -9.62959268e-02 -8.62853489e-03 1.34406535e+02] [ 9.62918249e-02 9.95352747e-01 -8.90535267e-04 8.02277689e+00] [ 8.67419082e-03 5.55060489e-05 9.99962377e-01 -3.42717122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20719347000002 meters 0.06079827201960699 Centerline is valid? [True, True] Translation: X:134.47, Y:8.02, Z:-3.43 [[ 9.95381758e-01 -9.55367044e-02 -9.37518368e-03 1.34465782e+02] [ 9.55318073e-02 9.95425905e-01 -9.69814122e-04 8.02456312e+00] [ 9.42495355e-03 6.97070448e-05 9.99955582e-01 -3.42960025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26719347000002 meters 0.060882438543842864 Centerline is valid? [True, True] Translation: X:134.52, Y:8.02, Z:-3.43 [[ 9.95437581e-01 -9.49798335e-02 -9.10235315e-03 1.34524442e+02] [ 9.49751528e-02 9.95479194e-01 -9.46096313e-04 8.02101842e+00] [ 9.15106325e-03 7.72824432e-05 9.99958125e-01 -3.43163104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32719347000003 meters 0.05952383241668176 Centerline is valid? [True, True] Translation: X:134.59, Y:8.01, Z:-3.43 [[ 9.95262835e-01 -9.71367750e-02 -4.04175403e-03 1.34585242e+02] [ 9.71358802e-02 9.95271042e-01 -4.17574848e-04 8.01360150e+00] [ 4.06320261e-03 2.29973927e-05 9.99991745e-01 -3.42516831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38719347000003 meters 0.05954348527737333 Centerline is valid? [True, True] Translation: X:134.64, Y:8.01, Z:-3.43 [[ 9.95328434e-01 -9.65050672e-02 -2.84266259e-03 1.34643738e+02] [ 9.65046154e-02 9.95332493e-01 -2.95985302e-04 8.01280725e+00] [ 2.85795852e-03 2.02725278e-05 9.99995916e-01 -3.42660060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44719347 meters 0.05963012224329937 Centerline is valid? [True, True] Translation: X:134.70, Y:8.01, Z:-3.43 [[ 9.95701323e-01 -9.26221922e-02 -7.08505377e-05 1.34702561e+02] [ 9.26221914e-02 9.95701325e-01 -1.51263642e-05 8.01189793e+00] [ 7.19470110e-05 8.49900883e-06 9.99999997e-01 -3.42695492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50719347 meters 0.05967567906412575 Centerline is valid? [True, True] Translation: X:134.76, Y:8.01, Z:-3.43 [[ 9.95851685e-01 -9.09806166e-02 1.39625786e-03 1.34760464e+02] [ 9.09805070e-02 9.95852663e-01 1.41928283e-04 8.01342829e+00] [-1.40337984e-03 -1.43072712e-05 9.99999015e-01 -3.42787665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56719347 meters 0.05949899472106361 Centerline is valid? [True, True] Translation: X:134.82, Y:8.01, Z:-3.43 [[ 9.95778274e-01 -9.17876662e-02 8.08354325e-04 1.34818922e+02] [ 9.17876350e-02 9.95778602e-01 7.56623805e-05 8.01120516e+00] [-8.11886813e-04 -1.14602293e-06 9.99999670e-01 -3.43063570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62719347 meters 0.058481506269501916 Centerline is valid? [True, True] Translation: X:134.88, Y:8.00, Z:-3.43 [[ 9.95233714e-01 -9.75156988e-02 7.36259111e-04 1.34879199e+02] [ 9.75156741e-02 9.95233987e-01 6.94463996e-05 7.99930375e+00] [-7.39522205e-04 2.68140524e-06 9.99999727e-01 -3.43167192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68719347 meters 0.0578212364317552 Centerline is valid? [True, True] Translation: X:134.94, Y:7.99, Z:-3.43 [[ 9.94451602e-01 -1.05179645e-01 1.80391986e-03 1.34939152e+02] [ 1.05179489e-01 9.94453238e-01 1.81111107e-04 7.99090808e+00] [-1.81296315e-03 9.62913921e-06 9.99998357e-01 -3.43125516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74719347 meters 0.05850733231020195 Centerline is valid? [True, True] Translation: X:135.00, Y:7.98, Z:-3.43 [[ 9.92989535e-01 -1.18202271e-01 -7.91406602e-05 1.35000618e+02] [ 1.18202270e-01 9.92989538e-01 -9.37906576e-06 7.97658835e+00] [ 7.96944741e-05 -4.12915427e-08 9.99999997e-01 -3.43185424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80719347000002 meters 0.06005087515403423 Centerline is valid? [True, True] Translation: X:135.06, Y:7.97, Z:-3.43 [[ 9.91886144e-01 -1.27121620e-01 1.40370730e-03 1.35060290e+02] [ 1.27121542e-01 9.91887137e-01 1.45297783e-04 7.96782190e+00] [-1.41078971e-03 3.43225798e-05 9.99999004e-01 -3.43199286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86719347000002 meters 0.05999879822741459 Centerline is valid? [True, True] Translation: X:135.12, Y:7.98, Z:-3.43 [[ 9.91511763e-01 -1.29954794e-01 4.02177381e-03 1.35117798e+02] [ 1.29954185e-01 9.91519913e-01 4.13576291e-04 7.97519748e+00] [-4.04141505e-03 1.12580581e-04 9.99991827e-01 -3.42967978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92719347000002 meters 0.06199476291760637 Centerline is valid? [True, True] Translation: X:135.18, Y:7.98, Z:-3.43 [[ 9.90532814e-01 -1.37238044e-01 3.23484686e-03 1.35177937e+02] [ 1.37237667e-01 9.90538090e-01 3.39228329e-04 7.97770895e+00] [-3.25079407e-03 1.07926045e-04 9.99994710e-01 -3.43003175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98719347000002 meters 0.06556745331961876 Centerline is valid? [True, True] Translation: X:135.24, Y:7.98, Z:-3.43 [[ 9.88817632e-01 -1.49123205e-01 1.40030653e-03 1.35238112e+02] [ 1.49123146e-01 9.88818621e-01 1.46637668e-04 7.98037819e+00] [-1.40651625e-03 6.38202029e-05 9.99999009e-01 -3.43220083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04719347000002 meters 0.07036594786297372 Centerline is valid? [True, True] Translation: X:135.30, Y:7.99, Z:-3.44 [[ 9.86852270e-01 -1.61505243e-01 -6.21726112e-03 1.35297216e+02] [ 1.61504318e-01 9.86871789e-01 -6.53939684e-04 7.99295279e+00] [ 6.24125429e-03 -3.58772654e-04 9.99980459e-01 -3.43833970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10719347000003 meters 0.07287728948130107 Centerline is valid? [True, True] Translation: X:135.36, Y:8.00, Z:-3.44 [[ 9.86196505e-01 -1.65430939e-01 -7.00407302e-03 1.35356046e+02] [ 1.65429862e-01 9.86221282e-01 -7.36830586e-04 8.00420056e+00] [ 7.02946045e-03 -4.32023086e-04 9.99975200e-01 -3.44092412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16719347 meters 0.07307685753642898 Centerline is valid? [True, True] Translation: X:135.41, Y:8.03, Z:-3.45 [[ 9.85619780e-01 -1.68455996e-01 -1.32750097e-02 1.35414123e+02] [ 1.68452413e-01 9.85708799e-01 -1.39564531e-03 8.03123235e+00] [ 1.33203987e-02 -8.60631799e-04 9.99910909e-01 -3.44603295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22719347 meters 0.07405726766510282 Centerline is valid? [True, True] Translation: X:135.47, Y:8.05, Z:-3.45 [[ 9.85994148e-01 -1.66115418e-01 -1.48730547e-02 1.35470331e+02] [ 1.66110592e-01 9.86105883e-01 -1.56791475e-03 8.05108781e+00] [ 1.49268615e-02 -9.24617145e-04 9.99888161e-01 -3.45233846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28719347 meters 0.07449443501835279 Centerline is valid? [True, True] Translation: X:135.53, Y:8.08, Z:-3.46 [[ 9.86122564e-01 -1.65076940e-01 -1.76605043e-02 1.35525487e+02] [ 1.65069946e-01 9.86280103e-01 -1.86307339e-03 8.07603874e+00] [ 1.77257544e-02 -1.07799978e-03 9.99842305e-01 -3.45714950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34719347 meters 0.07564508419255017 Centerline is valid? [True, True] Translation: X:135.58, Y:8.09, Z:-3.46 [[ 9.85941429e-01 -1.65712368e-01 -2.14221962e-02 1.35583760e+02] [ 1.65702274e-01 9.86173240e-01 -2.25780118e-03 8.09311268e+00] [ 2.15001422e-02 -1.32364690e-03 9.99767969e-01 -3.46074717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40719347 meters 0.07132697070453356 Centerline is valid? [True, True] Translation: X:135.64, Y:8.13, Z:-3.46 [[ 9.86368531e-01 -1.63149838e-01 -2.14301577e-02 1.35640996e+02] [ 1.63139122e-01 9.86600488e-01 -2.25911102e-03 8.12657273e+00] [ 2.15115776e-02 -1.26778110e-03 9.99767795e-01 -3.45548912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46719347 meters 0.06845071988241601 Centerline is valid? [True, True] Translation: X:135.70, Y:8.15, Z:-3.45 [[ 9.87272006e-01 -1.58329970e-01 -1.50202197e-02 1.35699171e+02] [ 1.58324149e-01 9.87385921e-01 -1.58338226e-03 8.15367855e+00] [ 1.50814503e-02 -8.14834534e-04 9.99885936e-01 -3.44933695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52719347000001 meters 0.06776922923530194 Centerline is valid? [True, True] Translation: X:135.76, Y:8.17, Z:-3.45 [[ 9.87738475e-01 -1.55543569e-01 -1.33754503e-02 1.35757258e+02] [ 1.55538678e-01 9.87828795e-01 -1.41145065e-03 8.17005550e+00] [ 1.34321970e-02 -6.86255753e-04 9.99909548e-01 -3.44992095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58719347000002 meters 0.0638170939199415 Centerline is valid? [True, True] Translation: X:135.81, Y:8.20, Z:-3.45 [[ 9.89398817e-01 -1.44631631e-01 -1.31023997e-02 1.35814474e+02] [ 1.44625974e-01 9.89485429e-01 -1.38329164e-03 8.20423514e+00] [ 1.31647013e-02 -5.26320211e-04 9.99913203e-01 -3.45040532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64719347000002 meters 0.059937244079427035 Centerline is valid? [True, True] Translation: X:135.87, Y:8.23, Z:-3.45 [[ 9.91213872e-01 -1.31874511e-01 -1.02064898e-02 1.35871937e+02] [ 1.31870401e-01 9.91266380e-01 -1.07758537e-03 8.23169398e+00] [ 1.02594562e-02 -2.77816334e-04 9.99947332e-01 -3.44898958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70719347000002 meters 0.056568337115577676 Centerline is valid? [True, True] Translation: X:135.93, Y:8.26, Z:-3.44 [[ 9.93446554e-01 -1.14295077e-01 -7.61702247e-04 1.35928273e+02] [ 1.14295049e-01 9.93446846e-01 -8.09681113e-05 8.26305208e+00] [ 7.65964951e-04 -6.62130449e-06 9.99999707e-01 -3.44474357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76719347000002 meters 0.0562555490359428 Centerline is valid? [True, True] Translation: X:135.99, Y:8.28, Z:-3.45 [[ 9.94243517e-01 -1.07133642e-01 1.48704744e-03 1.35986535e+02] [ 1.07133526e-01 9.94244629e-01 1.57497816e-04 8.27976721e+00] [-1.49536224e-03 2.72145247e-06 9.99998882e-01 -3.44662219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82719347000003 meters 0.05633311046526513 Centerline is valid? [True, True] Translation: X:136.05, Y:8.28, Z:-3.45 [[ 9.94619176e-01 -1.03565631e-01 2.61824320e-03 1.36048131e+02] [ 1.03565260e-01 9.94622622e-01 2.77212580e-04 8.28444397e+00] [-2.63287361e-03 -4.56190996e-06 9.99996534e-01 -3.44908627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88719347000003 meters 0.056553593356408256 Centerline is valid? [True, True] Translation: X:136.11, Y:8.29, Z:-3.45 [[ 9.95035355e-01 -9.94690532e-02 3.24818024e-03 1.36108894e+02] [ 9.94684618e-02 9.95040656e-01 3.43513698e-04 8.29134347e+00] [-3.26624038e-03 -1.87167814e-05 9.99994666e-01 -3.44993289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94719347 meters 0.05934945319415151 Centerline is valid? [True, True] Translation: X:136.17, Y:8.30, Z:-3.46 [[ 9.95970375e-01 -8.91358167e-02 -9.89034847e-03 1.36169346e+02] [ 8.91298673e-02 9.96019469e-01 -1.04156616e-03 8.29582134e+00] [ 9.94382048e-03 1.55843593e-04 9.99950547e-01 -3.46433857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00719347 meters 0.0596799250463809 Centerline is valid? [True, True] Translation: X:136.23, Y:8.29, Z:-3.47 [[ 9.96104505e-01 -8.72869917e-02 -1.25218494e-02 1.36229446e+02] [ 8.72772487e-02 9.96183181e-01 -1.32348789e-03 8.29013600e+00] [ 1.25895791e-02 2.25459680e-04 9.99920723e-01 -3.46908168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06719347 meters 0.05941371709968081 Centerline is valid? [True, True] Translation: X:136.29, Y:8.28, Z:-3.47 [[ 9.96012068e-01 -8.88479284e-02 -8.12442953e-03 1.36289878e+02] [ 8.88438740e-02 9.96045194e-01 -8.59307832e-04 8.27755201e+00] [ 8.16864671e-03 1.34075177e-04 9.99966627e-01 -3.46938266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12719347 meters 0.05915672311611265 Centerline is valid? [True, True] Translation: X:136.35, Y:8.28, Z:-3.47 [[ 9.95924822e-01 -8.98072107e-02 -8.27126519e-03 1.36348007e+02] [ 8.98029591e-02 9.95959159e-01 -8.84753687e-04 8.27641033e+00] [ 8.31729958e-03 1.38364068e-04 9.99965401e-01 -3.47040297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18719347 meters 0.058419743446142626 Centerline is valid? [True, True] Translation: X:136.41, Y:8.26, Z:-3.47 [[ 9.95719219e-01 -9.21878219e-02 -6.68151911e-03 1.36409409e+02] [ 9.21850810e-02 9.95741631e-01 -7.17687131e-04 8.25753703e+00] [ 6.71922875e-03 9.86784888e-05 9.99977421e-01 -3.47033351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24719347 meters 0.05854050417254179 Centerline is valid? [True, True] Translation: X:136.47, Y:8.25, Z:-3.48 [[ 9.95476917e-01 -9.46441978e-02 -8.25734994e-03 1.36469130e+02] [ 9.46401455e-02 9.95511159e-01 -8.80994940e-04 8.24625009e+00] [ 8.30366506e-03 9.55333265e-05 9.99965519e-01 -3.47535180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30719347000002 meters 0.05853020941854076 Centerline is valid? [True, True] Translation: X:136.53, Y:8.24, Z:-3.48 [[ 9.95371264e-01 -9.54229468e-02 -1.14240075e-02 1.36529371e+02] [ 9.54151504e-02 9.95436811e-01 -1.22679873e-03 8.23708641e+00] [ 1.14889424e-02 1.31096805e-04 9.99933991e-01 -3.47855480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36719347000002 meters 0.059244578768021555 Centerline is valid? [True, True] Translation: X:136.59, Y:8.22, Z:-3.48 [[ 9.95266983e-01 -9.60003866e-02 -1.50850047e-02 1.36590132e+02] [ 9.59869766e-02 9.95381284e-01 -1.61216241e-03 8.22204780e+00] [ 1.51700995e-02 1.56568032e-04 9.99884915e-01 -3.48376741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42719347000002 meters 0.05866936589276929 Centerline is valid? [True, True] Translation: X:136.65, Y:8.21, Z:-3.48 [[ 9.95226825e-01 -9.69408444e-02 -1.12266949e-02 1.36651472e+02] [ 9.69333731e-02 9.95290138e-01 -1.20901568e-03 8.20614848e+00] [ 1.12910217e-02 1.15003434e-04 9.99936248e-01 -3.48069807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48719347000002 meters 0.058241648734493924 Centerline is valid? [True, True] Translation: X:136.71, Y:8.20, Z:-3.48 [[ 9.95370015e-01 -9.57412705e-02 -8.49361127e-03 1.36711034e+02] [ 9.57369083e-02 9.95406248e-01 -9.19627169e-04 8.20076859e+00] [ 8.54264000e-03 1.02217226e-04 9.99963506e-01 -3.47683187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54719347000002 meters 0.058315574926618034 Centerline is valid? [True, True] Translation: X:136.77, Y:8.19, Z:-3.48 [[ 9.95141112e-01 -9.81776746e-02 -7.43711481e-03 1.36770609e+02] [ 9.81744222e-02 9.95168900e-01 -8.02022842e-04 8.18965586e+00] [ 7.47992610e-03 6.79914542e-05 9.99972023e-01 -3.47892256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60719347000003 meters 0.05800074248419341 Centerline is valid? [True, True] Translation: X:136.83, Y:8.18, Z:-3.48 [[ 9.94698104e-01 -1.02417518e-01 -9.29164896e-03 1.36830873e+02] [ 1.02412557e-01 9.94741499e-01 -1.00940793e-03 8.17948288e+00] [ 9.34616986e-03 5.24746251e-05 9.99956322e-01 -3.47778519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66719347000003 meters 0.05794529569259841 Centerline is valid? [True, True] Translation: X:136.89, Y:8.17, Z:-3.48 [[ 9.94224430e-01 -1.07006425e-01 -8.21021037e-03 1.36890839e+02] [ 1.07002680e-01 9.94258329e-01 -8.95259320e-04 8.16766127e+00] [ 8.25886854e-03 1.15741722e-05 9.99965895e-01 -3.47911752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72719347 meters 0.05817619669504794 Centerline is valid? [True, True] Translation: X:136.95, Y:8.16, Z:-3.48 [[ 9.94027159e-01 -1.08563667e-01 -1.11327148e-02 1.36950643e+02] [ 1.08556870e-01 9.94089498e-01 -1.21478503e-03 8.16069849e+00] [ 1.11987964e-02 -1.00335911e-06 9.99937292e-01 -3.48003235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78719347 meters 0.05837424828248659 Centerline is valid? [True, True] Translation: X:137.01, Y:8.16, Z:-3.48 [[ 9.94409177e-01 -1.04487382e-01 -1.52570008e-02 1.37009648e+02] [ 1.04474254e-01 9.94526211e-01 -1.65716172e-03 8.16338384e+00] [ 1.53466397e-02 5.39330355e-05 9.99882232e-01 -3.48312810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84719347 meters 0.05862995210239809 Centerline is valid? [True, True] Translation: X:137.07, Y:8.17, Z:-3.48 [[ 9.94986100e-01 -9.91668687e-02 -1.29843364e-02 1.37066596e+02] [ 9.91568710e-02 9.95070811e-01 -1.41309346e-03 8.17153245e+00] [ 1.30604662e-02 1.18522186e-04 9.99914701e-01 -3.48445357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90719347 meters 0.058538675226438346 Centerline is valid? [True, True] Translation: X:137.13, Y:8.17, Z:-3.48 [[ 9.95185468e-01 -9.73448633e-02 -1.13956526e-02 1.37125893e+02] [ 9.73369466e-02 9.95250702e-01 -1.24860536e-03 8.16826892e+00] [ 1.14630765e-02 1.33375883e-04 9.99934288e-01 -3.48474377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96719347 meters 0.05855518341274498 Centerline is valid? [True, True] Translation: X:137.19, Y:8.16, Z:-3.49 [[ 9.94514169e-01 -1.03331658e-01 -1.62522393e-02 1.37186463e+02] [ 1.03316495e-01 9.94646953e-01 -1.77212305e-03 8.16196602e+00] [ 1.63483567e-02 8.32770819e-05 9.99866353e-01 -3.48937095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02719347000001 meters 0.05925551820038975 Centerline is valid? [True, True] Translation: X:137.25, Y:8.14, Z:-3.49 [[ 9.92791688e-01 -1.18761340e-01 -1.61371802e-02 1.37246576e+02] [ 1.18748333e-01 9.92922815e-01 -1.76522748e-03 8.14461795e+00] [ 1.62326152e-02 -1.63760087e-04 9.99868229e-01 -3.49174167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08719347000002 meters 0.06116554121516025 Centerline is valid? [True, True] Translation: X:137.31, Y:8.14, Z:-3.49 [[ 9.91343591e-01 -1.29958134e-01 -1.86753060e-02 1.37307778e+02] [ 1.29942766e-01 9.91519399e-01 -2.03917886e-03 8.13579451e+00] [ 1.87819361e-02 -4.05194033e-04 9.99823522e-01 -3.49348323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14719347000002 meters 0.06522841610367791 Centerline is valid? [True, True] Translation: X:137.37, Y:8.13, Z:-3.50 [[ 9.89799513e-01 -1.40628636e-01 -2.28147120e-02 1.37368017e+02] [ 1.40608558e-01 9.90062136e-01 -2.48985172e-03 8.12692385e+00] [ 2.29381269e-02 -7.43489729e-04 9.99736610e-01 -3.49907242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20719347000002 meters 0.0645004191202784 Centerline is valid? [True, True] Translation: X:137.43, Y:8.14, Z:-3.50 [[ 9.89673961e-01 -1.41697925e-01 -2.16136098e-02 1.37425984e+02] [ 1.41679831e-01 9.89909688e-01 -2.37395026e-03 8.13624143e+00] [ 2.17319056e-02 -7.12775819e-04 9.99763580e-01 -3.49730905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26719347000002 meters 0.06300307291089112 Centerline is valid? [True, True] Translation: X:137.48, Y:8.15, Z:-3.50 [[ 9.90462340e-01 -1.36552013e-01 -1.83820759e-02 1.37483884e+02] [ 1.36538131e-01 9.90632769e-01 -2.01401841e-03 8.14901124e+00] [ 1.84849050e-02 -5.15044901e-04 9.99829007e-01 -3.49644778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32719347000003 meters 0.061998872577260715 Centerline is valid? [True, True] Translation: X:137.54, Y:8.17, Z:-3.50 [[ 9.91223722e-01 -1.31059513e-01 -1.72898024e-02 1.37540818e+02] [ 1.31046364e-01 9.91374427e-01 -1.89621479e-03 8.16808207e+00] [ 1.73891849e-02 -3.86192662e-04 9.99848722e-01 -3.50003029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38719347000003 meters 0.060207548923329184 Centerline is valid? [True, True] Translation: X:137.60, Y:8.19, Z:-3.50 [[ 9.92548350e-01 -1.20414125e-01 -1.86604105e-02 1.37597685e+02] [ 1.20396885e-01 9.92723724e-01 -2.04863906e-03 8.19125074e+00] [ 1.87713173e-02 -2.13281985e-04 9.99823781e-01 -3.50118194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44719347 meters 0.05955831224831909 Centerline is valid? [True, True] Translation: X:137.65, Y:8.21, Z:-3.50 [[ 9.93217193e-01 -1.15036777e-01 -1.69158801e-02 1.37653731e+02] [ 1.15021787e-01 9.93361228e-01 -1.85963310e-03 8.20788472e+00] [ 1.70175056e-02 -9.86751915e-05 9.99855187e-01 -3.50210214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50719347 meters 0.05927701166386414 Centerline is valid? [True, True] Translation: X:137.71, Y:8.23, Z:-3.50 [[ 9.93836178e-01 -1.09928721e-01 -1.43292336e-02 1.37711090e+02] [ 1.09917313e-01 9.93939473e-01 -1.58369897e-03 8.22864798e+00] [ 1.44164849e-02 -1.09351946e-06 9.99896077e-01 -3.50313725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56719347 meters 0.05920680638729325 Centerline is valid? [True, True] Translation: X:137.77, Y:8.24, Z:-3.50 [[ 9.94294492e-01 -1.05978908e-01 -1.21216234e-02 1.37768734e+02] [ 1.05970390e-01 9.94368377e-01 -1.34467892e-03 8.24031323e+00] [ 1.21958666e-02 5.24736889e-05 9.99925626e-01 -3.50332025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62719347 meters 0.05920417428959822 Centerline is valid? [True, True] Translation: X:137.83, Y:8.25, Z:-3.50 [[ 9.94837692e-01 -1.01045489e-01 -9.36891893e-03 1.37826737e+02] [ 1.01040139e-01 9.94881802e-01 -1.04378181e-03 8.25121022e+00] [ 9.42643639e-03 9.17566106e-05 9.99955566e-01 -3.50313479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68719347 meters 0.05999820318624736 Centerline is valid? [True, True] Translation: X:137.88, Y:8.27, Z:-3.50 [[ 9.95438981e-01 -9.49416541e-02 -9.34439553e-03 1.37884438e+02] [ 9.49360313e-02 9.95482827e-01 -1.04448167e-03 8.26518749e+00] [ 9.40135010e-03 1.52597943e-04 9.99955795e-01 -3.50481063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74719347 meters 0.061290091156051225 Centerline is valid? [True, True] Translation: X:137.94, Y:8.26, Z:-3.51 [[ 9.95622562e-01 -9.19569303e-02 -1.67223582e-02 1.37944920e+02] [ 9.19387232e-02 9.95762937e-01 -1.85594869e-03 8.26484625e+00] [ 1.68221719e-02 3.10392130e-04 9.99858449e-01 -3.51264928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80719347000002 meters 0.06257222853912235 Centerline is valid? [True, True] Translation: X:138.00, Y:8.26, Z:-3.52 [[ 9.95758248e-01 -9.06734457e-02 -1.56152748e-02 1.38002819e+02] [ 9.06573465e-02 9.95880629e-01 -1.73724567e-03 8.26439653e+00] [ 1.57084717e-02 3.14237327e-04 9.99876565e-01 -3.51938666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86719347000002 meters 0.061615362959323 Centerline is valid? [True, True] Translation: X:138.06, Y:8.27, Z:-3.51 [[ 9.96190322e-01 -8.63204296e-02 -1.23946193e-02 1.38061868e+02] [ 8.63098313e-02 9.96267376e-01 -1.38844819e-03 8.26655219e+00] [ 1.24682063e-02 3.13381152e-04 9.99922220e-01 -3.51157914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92719347000002 meters 0.061216822438586053 Centerline is valid? [True, True] Translation: X:138.12, Y:8.27, Z:-3.51 [[ 9.96191584e-01 -8.69601941e-02 -6.34449191e-03 1.38121718e+02] [ 8.69574465e-02 9.96211775e-01 -7.08166610e-04 8.26702795e+00] [ 6.38203985e-03 1.53768802e-04 9.99979623e-01 -3.51049846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98719347000002 meters 0.05978789080147602 Centerline is valid? [True, True] Translation: X:138.18, Y:8.26, Z:-3.51 [[ 9.95510946e-01 -9.46454921e-02 -4.32508712e-04 1.38183538e+02] [ 9.46454800e-02 9.95511040e-01 -4.83659887e-05 8.25698412e+00] [ 4.35144820e-04 7.21387653e-06 9.99999905e-01 -3.50956195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04719347000002 meters 0.05841913523548466 Centerline is valid? [True, True] Translation: X:138.25, Y:8.24, Z:-3.51 [[ 9.94196820e-01 -1.07557696e-01 2.00612477e-03 1.38245104e+02] [ 1.07557466e-01 9.94198844e-01 2.22604126e-04 8.24257605e+00] [-2.01842971e-03 -5.53861742e-06 9.99997963e-01 -3.50811049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10719347000003 meters 0.05879268643926002 Centerline is valid? [True, True] Translation: X:138.30, Y:8.23, Z:-3.51 [[ 9.92838925e-01 -1.19416929e-01 3.23507674e-03 1.38304116e+02] [ 1.19416412e-01 9.92844195e-01 3.53328723e-04 8.23401611e+00] [-3.25412060e-03 3.55227464e-05 9.99994705e-01 -3.51105912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16719347000003 meters 0.05976529289603064 Centerline is valid? [True, True] Translation: X:138.36, Y:8.23, Z:-3.52 [[ 9.92244250e-01 -1.24288850e-01 1.90540324e-03 1.38362006e+02] [ 1.24288675e-01 9.92246079e-01 2.10715996e-04 8.23494484e+00] [-1.91681854e-03 2.77383082e-05 9.99998163e-01 -3.51612516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22719347 meters 0.05982411278915539 Centerline is valid? [True, True] Translation: X:138.42, Y:8.24, Z:-3.52 [[ 9.92447664e-01 -1.22657430e-01 1.67014674e-03 1.38420509e+02] [ 1.22657300e-01 9.92449069e-01 1.80232451e-04 8.24198398e+00] [-1.67964242e-03 2.59844138e-05 9.99998589e-01 -3.51895064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28719347 meters 0.06059228735639358 Centerline is valid? [True, True] Translation: X:138.48, Y:8.25, Z:-3.52 [[ 9.91726040e-01 -1.28313490e-01 3.88709766e-03 1.38478756e+02] [ 1.28312789e-01 9.91733655e-01 4.30313114e-04 8.24798387e+00] [-3.91018055e-03 7.20116216e-05 9.99992353e-01 -3.51905205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34719347 meters 0.06277285397554826 Centerline is valid? [True, True] Translation: X:138.54, Y:8.25, Z:-3.52 [[ 9.89980415e-01 -1.41160172e-01 3.54728731e-03 1.38538844e+02] [ 1.41159648e-01 9.89986765e-01 3.98838615e-04 8.24816762e+00] [-3.56806762e-03 1.05891410e-04 9.99993629e-01 -3.51809084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40719347 meters 0.06582754945963383 Centerline is valid? [True, True] Translation: X:138.60, Y:8.25, Z:-3.52 [[ 9.88689006e-01 -1.49926488e-01 4.01227518e-03 1.38598681e+02] [ 1.49925889e-01 9.88697135e-01 4.51292327e-04 8.25363265e+00] [-4.03458565e-03 1.55356162e-04 9.99991849e-01 -3.52224753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46719347 meters 0.06874018698922882 Centerline is valid? [True, True] Translation: X:138.66, Y:8.26, Z:-3.52 [[ 9.87471454e-01 -1.57743215e-01 4.14794426e-03 1.38658171e+02] [ 1.57742643e-01 9.87480147e-01 4.66795065e-04 8.26051003e+00] [-4.16964636e-03 1.93360891e-04 9.99991288e-01 -3.52495096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52719347000001 meters 0.07264203013764173 Centerline is valid? [True, True] Translation: X:138.72, Y:8.27, Z:-3.53 [[ 9.86506842e-01 -1.63712650e-01 1.55531985e-03 1.38717004e+02] [ 1.63712578e-01 9.86508065e-01 1.74394881e-04 8.27107488e+00] [-1.56288622e-03 8.25836782e-05 9.99998775e-01 -3.53042681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58719347000002 meters 0.07213371795057774 Centerline is valid? [True, True] Translation: X:138.77, Y:8.29, Z:-3.53 [[ 9.86571145e-01 -1.63329503e-01 -9.21992078e-04 1.38773828e+02] [ 1.63329469e-01 9.86571575e-01 -1.11945488e-04 8.28980971e+00] [ 9.27895177e-04 -4.01462890e-05 9.99999569e-01 -3.53303577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64719347000002 meters 0.06862250993009489 Centerline is valid? [True, True] Translation: X:138.83, Y:8.33, Z:-3.53 [[ 9.87464191e-01 -1.57837155e-01 -1.37971520e-03 1.38829971e+02] [ 1.57837090e-01 9.87465153e-01 -1.56505261e-04 8.32797969e+00] [ 1.38712302e-03 -6.32268901e-05 9.99999036e-01 -3.53439822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70719347000002 meters 0.06841739493906504 Centerline is valid? [True, True] Translation: X:138.89, Y:8.35, Z:-3.54 [[ 9.88155060e-01 -1.53444480e-01 -2.08994459e-03 1.38886201e+02] [ 1.53444320e-01 9.88157267e-01 -2.38037709e-04 8.35246332e+00] [ 2.10171950e-03 -8.54719588e-05 9.99997788e-01 -3.53807257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76719347000002 meters 0.06717624945608054 Centerline is valid? [True, True] Translation: X:138.94, Y:8.37, Z:-3.54 [[ 9.88545451e-01 -1.50912188e-01 -1.84463328e-03 1.38942778e+02] [ 1.50912056e-01 9.88547170e-01 -2.11026609e-04 8.37307098e+00] [ 1.85535349e-03 -6.97680072e-05 9.99998276e-01 -3.53979999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82719347000003 meters 0.06604733064363097 Centerline is valid? [True, True] Translation: X:139.00, Y:8.40, Z:-3.54 [[ 9.89296669e-01 -1.45898498e-01 -2.39368686e-03 1.39000510e+02] [ 1.45898265e-01 9.89299561e-01 -2.72628783e-04 8.39594100e+00] [ 2.40784949e-03 -7.95240112e-05 9.99997098e-01 -3.54230329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88719347000003 meters 0.062375717610996084 Centerline is valid? [True, True] Translation: X:139.06, Y:8.42, Z:-3.53 [[ 9.90552953e-01 -1.36988515e-01 6.24447684e-03 1.39057718e+02] [ 1.36986781e-01 9.90572624e-01 7.06540139e-04 8.42457384e+00] [-6.28239569e-03 1.55545361e-04 9.99980253e-01 -3.53474389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94719347 meters 0.06123301776867603 Centerline is valid? [True, True] Translation: X:139.11, Y:8.45, Z:-3.53 [[ 9.91079990e-01 -1.32980339e-01 8.75689253e-03 1.39114246e+02] [ 1.32976775e-01 9.91118659e-01 9.90542991e-04 8.44638982e+00] [-8.81084233e-03 1.82755990e-04 9.99961167e-01 -3.53415880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00719347 meters 0.059861225148065945 Centerline is valid? [True, True] Translation: X:139.17, Y:8.47, Z:-3.54 [[ 9.92442282e-01 -1.22565625e-01 5.99863682e-03 1.39170030e+02] [ 1.22563763e-01 9.92460409e-01 6.78434399e-04 8.47161888e+00] [-6.03656229e-03 6.19085159e-05 9.99981778e-01 -3.53870685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06719347 meters 0.05882795950070754 Centerline is valid? [True, True] Translation: X:139.23, Y:8.49, Z:-3.54 [[ 9.93520124e-01 -1.13293670e-01 9.07233608e-03 1.39227386e+02] [ 1.13289034e-01 9.93561545e-01 1.02495419e-03 8.49339643e+00] [-9.13004508e-03 9.48357384e-06 9.99958320e-01 -3.53899979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12719347 meters 0.058995088623579356 Centerline is valid? [True, True] Translation: X:139.28, Y:8.51, Z:-3.54 [[ 9.94428036e-01 -1.05145089e-01 7.57567334e-03 1.39284544e+02] [ 1.05141616e-01 9.94456891e-01 8.56395854e-04 8.51341965e+00] [-7.62372637e-03 -5.51055085e-05 9.99970937e-01 -3.54058600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18719347 meters 0.060512613894998804 Centerline is valid? [True, True] Translation: X:139.34, Y:8.53, Z:-3.55 [[ 9.95301765e-01 -9.67972909e-02 2.16348433e-03 1.39342184e+02] [ 9.67969851e-02 9.95304116e-01 2.45827049e-04 8.52695779e+00] [-2.17712025e-03 -3.52533362e-05 9.99997629e-01 -3.55057865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24719347 meters 0.06076350011292566 Centerline is valid? [True, True] Translation: X:139.40, Y:8.53, Z:-3.55 [[ 9.95663144e-01 -9.30237388e-02 1.21991066e-03 1.39400786e+02] [ 9.30236411e-02 9.95663891e-01 1.36641398e-04 8.52833959e+00] [-1.22733189e-03 -2.25682718e-05 9.99999247e-01 -3.55200840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30719347000002 meters 0.06082363940334898 Centerline is valid? [True, True] Translation: X:139.46, Y:8.53, Z:-3.55 [[ 9.95592247e-01 -9.37581501e-02 2.34235635e-03 1.39459989e+02] [ 9.37577958e-02 9.95595002e-01 2.60847107e-04 8.52551289e+00] [-2.35649482e-03 -4.00831892e-05 9.99997223e-01 -3.55374318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36719347000002 meters 0.06098527212739278 Centerline is valid? [True, True] Translation: X:139.52, Y:8.52, Z:-3.56 [[ 9.95481017e-01 -9.49253120e-02 2.59424631e-03 1.39518845e+02] [ 9.49248685e-02 9.95484396e-01 2.93864162e-04 8.52021091e+00] [-2.61042687e-03 -4.62777052e-05 9.99996592e-01 -3.55610707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42719347000002 meters 0.0600023219803042 Centerline is valid? [True, True] Translation: X:139.58, Y:8.50, Z:-3.56 [[ 9.94911911e-01 -1.00748638e-01 2.13975718e-05 1.39580519e+02] [ 1.00748638e-01 9.94911912e-01 -5.06007132e-06 8.50028383e+00] [-2.07789042e-05 7.19010145e-06 1.00000000e+00 -3.55876557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48719347000002 meters 0.05986925852569908 Centerline is valid? [True, True] Translation: X:139.64, Y:8.49, Z:-3.56 [[ 9.94308690e-01 -1.06530834e-01 -1.18791170e-03 1.39640569e+02] [ 1.06530737e-01 9.94309399e-01 -1.44411646e-04 8.49106250e+00] [ 1.19653606e-03 1.70406453e-05 9.99999284e-01 -3.56326487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54719347000002 meters 0.059736600339143825 Centerline is valid? [True, True] Translation: X:139.70, Y:8.47, Z:-3.56 [[ 9.93314013e-01 -1.15429354e-01 -1.82645308e-03 1.39700457e+02] [ 1.15429157e-01 9.93315692e-01 -2.13444929e-04 8.47252001e+00] [ 1.83888231e-03 1.19190027e-06 9.99998309e-01 -3.56440853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60719347000003 meters 0.060472703622357175 Centerline is valid? [True, True] Translation: X:139.76, Y:8.46, Z:-3.56 [[ 9.92342155e-01 -1.23515267e-01 -1.01321629e-03 1.39760842e+02] [ 1.23515204e-01 9.92342672e-01 -1.24410402e-04 8.46163063e+00] [ 1.02082434e-03 -1.68993050e-06 9.99999479e-01 -3.56482487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66719347000003 meters 0.06296287845508829 Centerline is valid? [True, True] Translation: X:139.82, Y:8.45, Z:-3.57 [[ 9.90466267e-01 -1.37711035e-01 -3.49926222e-03 1.39823028e+02] [ 1.37710461e-01 9.90472445e-01 -4.05639865e-04 8.44791844e+00] [ 3.52178389e-03 -8.01124111e-05 9.99993795e-01 -3.56528259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72719347 meters 0.06613951143729524 Centerline is valid? [True, True] Translation: X:139.89, Y:8.44, Z:-3.56 [[ 9.88922706e-01 -1.48431404e-01 2.01030858e-06 1.39885003e+02] [ 1.48431404e-01 9.88922706e-01 2.32730362e-07 8.43827259e+00] [-2.02258470e-06 6.82405948e-08 1.00000000e+00 -3.56343130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78719347 meters 0.07126159008146138 Centerline is valid? [True, True] Translation: X:139.95, Y:8.43, Z:-3.57 [[ 9.87114388e-01 -1.60004183e-01 -1.96142369e-03 1.39946304e+02] [ 1.60004047e-01 9.87116332e-01 -2.27031748e-04 8.43444229e+00] [ 1.97247939e-03 -8.97294252e-05 9.99998051e-01 -3.56687297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84719347 meters 0.07356154103127735 Centerline is valid? [True, True] Translation: X:140.00, Y:8.44, Z:-3.57 [[ 9.86497734e-01 -1.63774293e-01 -4.48651039e-04 1.40004248e+02] [ 1.63774286e-01 9.86497836e-01 -5.35195424e-05 8.44229176e+00] [ 4.51358404e-04 -2.06805962e-05 9.99999898e-01 -3.56836725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90719347 meters 0.07416802512319469 Centerline is valid? [True, True] Translation: X:140.06, Y:8.46, Z:-3.57 [[ 9.86337800e-01 -1.64734859e-01 -4.12932787e-04 1.40061043e+02] [ 1.64734850e-01 9.86337886e-01 -5.50710897e-05 8.46169238e+00] [ 4.16363380e-04 -1.37057234e-05 9.99999913e-01 -3.56932277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96719347 meters 0.07268353839036472 Centerline is valid? [True, True] Translation: X:140.12, Y:8.48, Z:-3.57 [[ 9.86429568e-01 -1.64184404e-01 -4.34743681e-04 1.40118266e+02] [ 1.64184395e-01 9.86429664e-01 -5.78748373e-05 8.47734100e+00] [ 4.38346209e-04 -1.42886774e-05 9.99999904e-01 -3.57080686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02719347000001 meters 0.06920238146755879 Centerline is valid? [True, True] Translation: X:140.17, Y:8.51, Z:-3.57 [[ 9.87289046e-01 -1.58934514e-01 4.00256697e-04 1.40174530e+02] [ 1.58934508e-01 9.87289127e-01 4.55504568e-05 8.50865498e+00] [-4.02408625e-04 1.86431344e-05 9.99999919e-01 -3.57201962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08719347000002 meters 0.06642073303986257 Centerline is valid? [True, True] Translation: X:140.23, Y:8.54, Z:-3.57 [[ 9.88110571e-01 -1.53742841e-01 7.99333260e-04 1.40231776e+02] [ 1.53742816e-01 9.88110893e-01 9.25734123e-05 8.53547006e+00] [-8.04062402e-04 3.14189795e-05 9.99999676e-01 -3.57411044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14719347000002 meters 0.06319458402793773 Centerline is valid? [True, True] Translation: X:140.29, Y:8.57, Z:-3.58 [[ 9.89907426e-01 -1.41657932e-01 -4.03951760e-03 1.40288139e+02] [ 1.41657187e-01 9.89915663e-01 -4.71238042e-04 8.57079112e+00] [ 4.06553635e-03 -1.05744663e-04 9.99991730e-01 -3.58017360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20719347000002 meters 0.061120351157029414 Centerline is valid? [True, True] Translation: X:140.35, Y:8.60, Z:-3.58 [[ 9.91141954e-01 -1.32741013e-01 -4.17748181e-03 1.40345326e+02] [ 1.32740134e-01 9.91150755e-01 -4.88041945e-04 8.59548581e+00] [ 4.20529743e-03 -7.08006492e-05 9.99991155e-01 -3.58193013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26719347000002 meters 0.059568492120190615 Centerline is valid? [True, True] Translation: X:140.40, Y:8.62, Z:-3.58 [[ 9.92479336e-01 -1.22362470e-01 -3.49185483e-03 1.40400513e+02] [ 1.22361785e-01 9.92485479e-01 -4.10059861e-04 8.62145253e+00] [ 3.51579115e-03 -2.02936487e-05 9.99993819e-01 -3.58365528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32719347000003 meters 0.05931569305856142 Centerline is valid? [True, True] Translation: X:140.46, Y:8.64, Z:-3.59 [[ 9.93127972e-01 -1.16933418e-01 -4.83804441e-03 1.40457964e+02] [ 1.16932013e-01 9.93139756e-01 -5.73303542e-04 8.63900940e+00] [ 4.87189259e-03 3.64151435e-06 9.99988132e-01 -3.58737490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38719347000003 meters 0.059100808707931725 Centerline is valid? [True, True] Translation: X:140.52, Y:8.65, Z:-3.59 [[ 9.93864784e-01 -1.10549589e-01 -3.40293287e-03 1.40515553e+02] [ 1.10548846e-01 9.93870609e-01 -4.06411841e-04 8.65388882e+00] [ 3.42700363e-03 2.77281148e-05 9.99994127e-01 -3.58777441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44719347 meters 0.05920439806796122 Centerline is valid? [True, True] Translation: X:140.57, Y:8.66, Z:-3.59 [[ 9.93975630e-01 -1.09585119e-01 -1.88371207e-03 1.40574378e+02] [ 1.09584883e-01 9.93977415e-01 -2.28595985e-04 8.65991240e+00] [ 1.89741797e-03 2.07924720e-05 9.99998200e-01 -3.58927342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50719347 meters 0.0591254765185769 Centerline is valid? [True, True] Translation: X:140.63, Y:8.66, Z:-3.59 [[ 9.93678083e-01 -1.12233368e-01 -2.74579652e-03 1.40633062e+02] [ 1.12232879e-01 9.93681876e-01 -3.31827301e-04 8.66104915e+00] [ 2.76569033e-03 2.15608675e-05 9.99996175e-01 -3.59124023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56719347 meters 0.058945515322014475 Centerline is valid? [True, True] Translation: X:140.69, Y:8.66, Z:-3.59 [[ 9.93458384e-01 -1.14163874e-01 -2.65511591e-03 1.40691373e+02] [ 1.14163437e-01 9.93461932e-01 -3.15823984e-04 8.65985616e+00] [ 2.67381227e-03 1.06408254e-05 9.99996425e-01 -3.59241299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62719347 meters 0.05836949083390917 Centerline is valid? [True, True] Translation: X:140.75, Y:8.65, Z:-3.59 [[ 9.93244084e-01 -1.16042307e-01 -6.10074967e-04 1.40751686e+02] [ 1.16042280e-01 9.93244271e-01 -7.97545406e-05 8.65464759e+00] [ 6.15208367e-04 8.42123541e-06 9.99999811e-01 -3.58699482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68719347 meters 0.05823726673557182 Centerline is valid? [True, True] Translation: X:140.81, Y:8.66, Z:-3.59 [[ 9.93224200e-01 -1.16208681e-01 1.10958710e-03 1.40810066e+02] [ 1.16208609e-01 9.93224820e-01 1.28784193e-04 8.65547747e+00] [-1.11703529e-03 1.03199598e-06 9.99999376e-01 -3.58770162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74719347 meters 0.057913638932069446 Centerline is valid? [True, True] Translation: X:140.87, Y:8.65, Z:-3.58 [[ 9.93101365e-01 -1.17228979e-01 2.65422817e-03 1.40870192e+02] [ 1.17228574e-01 9.93104912e-01 3.08217913e-04 8.65299008e+00] [-2.67205910e-03 5.05975263e-06 9.99996430e-01 -3.58434366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80719347000002 meters 0.05816052283901961 Centerline is valid? [True, True] Translation: X:140.93, Y:8.65, Z:-3.59 [[ 9.92824555e-01 -1.19579191e-01 -4.69846156e-04 1.40929568e+02] [ 1.19579175e-01 9.92824666e-01 -6.37605638e-05 8.65248849e+00] [ 4.74099289e-04 7.11923778e-06 9.99999888e-01 -3.58746271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86719347000002 meters 0.05921163594988021 Centerline is valid? [True, True] Translation: X:140.99, Y:8.64, Z:-3.59 [[ 9.91785751e-01 -1.27792240e-01 -5.49241610e-03 1.40990479e+02] [ 1.27790567e-01 9.91800958e-01 -6.55952158e-04 8.63834608e+00] [ 5.53120914e-03 -5.13149644e-05 9.99984701e-01 -3.59357370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92719347000002 meters 0.061867970333483846 Centerline is valid? [True, True] Translation: X:141.05, Y:8.63, Z:-3.59 [[ 9.89796940e-01 -1.42332010e-01 -6.60427250e-03 1.41052888e+02] [ 1.42329926e-01 9.89818960e-01 -7.86768945e-04 8.62714332e+00] [ 6.64901654e-03 -1.61244125e-04 9.99977882e-01 -3.59475248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98719347000002 meters 0.06335753671272779 Centerline is valid? [True, True] Translation: X:141.11, Y:8.63, Z:-3.60 [[ 9.88985329e-01 -1.47827639e-01 -7.41681411e-03 1.41112234e+02] [ 1.47825150e-01 9.89013114e-01 -8.85734386e-04 8.62843489e+00] [ 7.46626244e-03 -2.20413344e-04 9.99972103e-01 -3.59627006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04719347000002 meters 0.06410131841403094 Centerline is valid? [True, True] Translation: X:141.17, Y:8.63, Z:-3.60 [[ 9.88648105e-01 -1.49929691e-01 -9.79854166e-03 1.41171189e+02] [ 1.49925438e-01 9.88696612e-01 -1.17127659e-03 8.63459779e+00] [ 9.86339408e-03 -3.11070269e-04 9.99951307e-01 -3.59925286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10719347000003 meters 0.06421560670921299 Centerline is valid? [True, True] Translation: X:141.23, Y:8.65, Z:-3.60 [[ 9.88465455e-01 -1.51175944e-01 -9.04867374e-03 1.41228341e+02] [ 1.51172279e-01 9.88506829e-01 -1.09157337e-03 8.64677499e+00] [ 9.10969542e-03 -2.88926064e-04 9.99958464e-01 -3.60072730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16719347000003 meters 0.06579566423586292 Centerline is valid? [True, True] Translation: X:141.29, Y:8.66, Z:-3.60 [[ 9.87751518e-01 -1.55892118e-01 -6.67726441e-03 1.41285783e+02] [ 1.55890250e-01 9.87774056e-01 -8.02460453e-04 8.65659076e+00] [ 6.72072581e-03 -2.48288891e-04 9.99977385e-01 -3.60149338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22719347 meters 0.06576313848010171 Centerline is valid? [True, True] Translation: X:141.34, Y:8.67, Z:-3.60 [[ 9.87320023e-01 -1.58591601e-01 -6.91932466e-03 1.41343622e+02] [ 1.58589611e-01 9.87344232e-01 -8.38808681e-04 8.67009384e+00] [ 6.96478330e-03 -2.69160402e-04 9.99975709e-01 -3.60233173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28719347 meters 0.0656242501994882 Centerline is valid? [True, True] Translation: X:141.40, Y:8.68, Z:-3.61 [[ 9.87557087e-01 -1.57080504e-01 -7.53091622e-03 1.41400262e+02] [ 1.57078140e-01 9.87585760e-01 -9.08049125e-04 8.68453755e+00] [ 7.58006243e-03 -2.86191963e-04 9.99971230e-01 -3.60627007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34719347 meters 0.06365072247955088 Centerline is valid? [True, True] Translation: X:141.46, Y:8.71, Z:-3.61 [[ 9.88180510e-01 -1.53099396e-01 -7.73662577e-03 1.41456714e+02] [ 1.53096779e-01 9.88210760e-01 -9.32975912e-04 8.70591938e+00] [ 7.78825488e-03 -2.62503870e-04 9.99969637e-01 -3.60620985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40719347 meters 0.0622080787907596 Centerline is valid? [True, True] Translation: X:141.51, Y:8.73, Z:-3.61 [[ 9.88917522e-01 -1.48139098e-01 -9.84590388e-03 1.41513841e+02] [ 1.48134538e-01 9.88966496e-01 -1.19480625e-03 8.72716631e+00] [ 9.91426658e-03 -2.76953590e-04 9.99950814e-01 -3.61038840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46719347 meters 0.06310522762057524 Centerline is valid? [True, True] Translation: X:141.57, Y:8.74, Z:-3.62 [[ 9.89012379e-01 -1.47555765e-01 -9.04489166e-03 1.41571277e+02] [ 1.47551919e-01 9.89053706e-01 -1.09469555e-03 8.73520234e+00] [ 9.10741226e-03 -2.51923672e-04 9.99958495e-01 -3.61531965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52719347000001 meters 0.06248379204855693 Centerline is valid? [True, True] Translation: X:141.63, Y:8.75, Z:-3.61 [[ 9.88876580e-01 -1.48511681e-01 -8.20915415e-03 1.41627840e+02] [ 1.48508472e-01 9.88910627e-01 -1.00252096e-03 8.74926741e+00] [ 8.26700586e-03 -2.27759444e-04 9.99965802e-01 -3.61387078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58719347000002 meters 0.06232284019492025 Centerline is valid? [True, True] Translation: X:141.69, Y:8.76, Z:-3.61 [[ 9.88386263e-01 -1.51787946e-01 -7.28104699e-03 1.41685111e+02] [ 1.51785491e-01 9.88413056e-01 -8.91863015e-04 8.76464406e+00] [ 7.33205596e-03 -2.23652137e-04 9.99973095e-01 -3.61261537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64719347000002 meters 0.06566679723106356 Centerline is valid? [True, True] Translation: X:141.74, Y:8.77, Z:-3.62 [[ 9.86836827e-01 -1.61413049e-01 -9.94510784e-03 1.41743861e+02] [ 1.61409048e-01 9.86886852e-01 -1.20899199e-03 8.76906339e+00] [ 1.00098432e-02 -4.12152562e-04 9.99949815e-01 -3.61558703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70719347000002 meters 0.07065413424186792 Centerline is valid? [True, True] Translation: X:141.80, Y:8.77, Z:-3.62 [[ 9.85211039e-01 -1.70925094e-01 -1.19925481e-02 1.41803287e+02] [ 1.70919984e-01 9.85283835e-01 -1.45729364e-03 8.77229329e+00] [ 1.20651519e-02 -6.14024351e-04 9.99927025e-01 -3.62109770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76719347000002 meters 0.07454194370648884 Centerline is valid? [True, True] Translation: X:141.86, Y:8.78, Z:-3.62 [[ 9.82872841e-01 -1.84142597e-01 -7.24450075e-03 1.41862819e+02] [ 1.84141087e-01 9.82899427e-01 -8.80647700e-04 8.78179023e+00] [ 7.28278040e-03 -4.68445539e-04 9.99973370e-01 -3.61634396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82719347000003 meters 0.07622985223613606 Centerline is valid? [True, True] Translation: X:141.92, Y:8.79, Z:-3.62 [[ 9.82319499e-01 -1.87171956e-01 -3.88079065e-03 1.41920837e+02] [ 1.87171514e-01 9.82327132e-01 -4.80085653e-04 8.78986175e+00] [ 3.90206451e-03 -2.54775963e-04 9.99992354e-01 -3.61523583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88719347000003 meters 0.07800361268681923 Centerline is valid? [True, True] Translation: X:141.98, Y:8.81, Z:-3.61 [[ 9.82239777e-01 -1.87628365e-01 7.85350781e-04 1.41976869e+02] [ 1.87628350e-01 9.82240090e-01 9.31626502e-05 8.80876477e+00] [-7.88882978e-04 5.58460106e-05 9.99999687e-01 -3.61364479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94719347 meters 0.07449365049483829 Centerline is valid? [True, True] Translation: X:142.03, Y:8.84, Z:-3.62 [[ 9.82957028e-01 -1.83826209e-01 -1.84558011e-03 1.42034126e+02] [ 1.83826108e-01 9.82958754e-01 -2.25558434e-04 8.83551092e+00] [ 1.85559267e-03 -1.17551561e-04 9.99998271e-01 -3.61718052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00719347 meters 0.07163131972700927 Centerline is valid? [True, True] Translation: X:142.09, Y:8.87, Z:-3.62 [[ 9.83878389e-01 -1.78832041e-01 -1.55489878e-03 1.42091091e+02] [ 1.78831963e-01 9.83879613e-01 -1.89815177e-04 8.86833711e+00] [ 1.56377825e-03 -9.13105517e-05 9.99998773e-01 -3.61910232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06719347 meters 0.07033693636654288 Centerline is valid? [True, True] Translation: X:142.15, Y:8.89, Z:-3.62 [[ 9.84683924e-01 -1.74321904e-01 -3.07296473e-03 1.42148069e+02] [ 1.74321577e-01 9.84688705e-01 -3.75887131e-04 8.89388983e+00] [ 3.09143902e-03 -1.65554044e-04 9.99995208e-01 -3.62162501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12719347 meters 0.06418281096642396 Centerline is valid? [True, True] Translation: X:142.20, Y:8.93, Z:-3.62 [[ 9.87324872e-01 -1.58611051e-01 -5.66854465e-03 1.42203824e+02] [ 1.58609690e-01 9.87341120e-01 -6.91704563e-04 8.93294133e+00] [ 5.70649921e-03 -2.16148990e-04 9.99983694e-01 -3.62468620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18719347 meters 0.06088164098158742 Centerline is valid? [True, True] Translation: X:142.26, Y:8.96, Z:-3.63 [[ 9.89096293e-01 -1.47108671e-01 -6.89653951e-03 1.42260824e+02] [ 1.47106378e-01 9.89120319e-01 -8.41437364e-04 8.96042223e+00] [ 6.94529010e-03 -1.82262369e-04 9.99975865e-01 -3.62763261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24719347 meters 0.05850652284509091 Centerline is valid? [True, True] Translation: X:142.32, Y:9.00, Z:-3.63 [[ 9.91132426e-01 -1.32637145e-01 -7.99382005e-03 1.42315587e+02] [ 1.32633582e-01 9.91164658e-01 -9.76551916e-04 8.99673497e+00] [ 8.05271897e-03 -9.23567197e-05 9.99967572e-01 -3.63131997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30719347000002 meters 0.058175479052196416 Centerline is valid? [True, True] Translation: X:142.37, Y:9.01, Z:-3.64 [[ 9.91995665e-01 -1.25983275e-01 -8.53312095e-03 1.42371870e+02] [ 1.25978949e-01 9.92032365e-01 -1.04470627e-03 9.01292166e+00] [ 8.59674768e-03 -3.86495154e-05 9.99963047e-01 -3.63593521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36719347000002 meters 0.05796671665902621 Centerline is valid? [True, True] Translation: X:142.43, Y:9.03, Z:-3.64 [[ 9.92771952e-01 -1.19524267e-01 -1.08536136e-02 1.42429729e+02] [ 1.19516800e-01 9.92831279e-01 -1.33638724e-03 9.02538686e+00] [ 1.09355377e-02 2.95386114e-05 9.99940205e-01 -3.63736394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42719347000002 meters 0.057941889844139165 Centerline is valid? [True, True] Translation: X:142.49, Y:9.03, Z:-3.64 [[ 9.92834362e-01 -1.19104767e-01 -9.69456740e-03 1.42488093e+02] [ 1.19098752e-01 9.92881692e-01 -1.19742013e-03 9.03032227e+00] [ 9.76817693e-03 3.42289663e-05 9.99952290e-01 -3.63802062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48719347000002 meters 0.05843493279066178 Centerline is valid? [True, True] Translation: X:142.55, Y:9.02, Z:-3.65 [[ 9.92329956e-01 -1.23364509e-01 -7.90296391e-03 1.42547310e+02] [ 1.23360668e-01 9.92361425e-01 -9.73551135e-04 9.02342070e+00] [ 7.96269818e-03 -8.83095305e-06 9.99968297e-01 -3.64508452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54719347000002 meters 0.05786901347507791 Centerline is valid? [True, True] Translation: X:142.61, Y:9.01, Z:-3.64 [[ 9.91798636e-01 -1.27662808e-01 -6.13782914e-03 1.42607722e+02] [ 1.27660527e-01 9.91817628e-01 -7.63575279e-04 9.01456051e+00] [ 6.18508730e-03 -2.62455800e-05 9.99980872e-01 -3.63916538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60719347000003 meters 0.05862839950872604 Centerline is valid? [True, True] Translation: X:142.67, Y:9.01, Z:-3.64 [[ 9.91084564e-01 -1.33123388e-01 -5.43596621e-03 1.42667142e+02] [ 1.33121700e-01 9.91099470e-01 -6.72809986e-04 9.00704058e+00] [ 5.47714998e-03 -5.68334726e-05 9.99984999e-01 -3.64251559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66719347000003 meters 0.05893853207517243 Centerline is valid? [True, True] Translation: X:142.73, Y:9.00, Z:-3.64 [[ 9.90306425e-01 -1.38859588e-01 -3.34658885e-03 1.42727125e+02] [ 1.38858958e-01 9.90312078e-01 -4.21103429e-04 9.00235781e+00] [ 3.37264161e-03 -4.76824091e-05 9.99994311e-01 -3.63836076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72719347 meters 0.058447494988474305 Centerline is valid? [True, True] Translation: X:142.79, Y:9.00, Z:-3.64 [[ 9.90474225e-01 -1.37691070e-01 -1.40704372e-03 1.42786027e+02] [ 1.37690950e-01 9.90475224e-01 -1.81979802e-04 9.00421616e+00] [ 1.41869894e-03 -1.34908835e-05 9.99998994e-01 -3.63810761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78719347 meters 0.05831384057638938 Centerline is valid? [True, True] Translation: X:142.84, Y:9.01, Z:-3.64 [[ 9.90717311e-01 -1.35936944e-01 -5.98215494e-04 1.42844491e+02] [ 1.35936919e-01 9.90717491e-01 -8.19209781e-05 9.00700528e+00] [ 6.03798641e-04 -1.59040256e-07 9.99999818e-01 -3.64033374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84719347 meters 0.05818980619803121 Centerline is valid? [True, True] Translation: X:142.90, Y:9.01, Z:-3.65 [[ 9.91637561e-01 -1.28945838e-01 -5.28372818e-03 1.42901621e+02] [ 1.28944153e-01 9.91651637e-01 -6.59683749e-04 9.01338696e+00] [ 5.32468118e-03 -2.71386736e-05 9.99985823e-01 -3.64726651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90719347 meters 0.05854803739192083 Centerline is valid? [True, True] Translation: X:142.96, Y:9.03, Z:-3.65 [[ 9.92838591e-01 -1.19117424e-01 -9.08689769e-03 1.42959637e+02] [ 1.19112058e-01 9.92880173e-01 -1.13132778e-03 9.02717985e+00] [ 9.15696140e-03 4.08667941e-05 9.99958073e-01 -3.65256957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96719347 meters 0.05987613480753757 Centerline is valid? [True, True] Translation: X:143.02, Y:9.04, Z:-3.65 [[ 9.94411610e-01 -1.05317382e-01 -7.33474752e-03 1.43017570e+02] [ 1.05313444e-01 9.94438650e-01 -9.22184789e-04 9.03770126e+00] [ 7.39107851e-03 1.44583740e-04 9.99972675e-01 -3.65199305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02719347000001 meters 0.0611145991558805 Centerline is valid? [True, True] Translation: X:143.08, Y:9.04, Z:-3.65 [[ 9.94979656e-01 -9.98144950e-02 -7.24925532e-03 1.43077164e+02] [ 9.98105462e-02 9.95006048e-01 -9.05386422e-04 9.04200539e+00] [ 7.30342358e-03 1.77288937e-04 9.99973314e-01 -3.65377132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08719347000002 meters 0.061660669042816675 Centerline is valid? [True, True] Translation: X:143.14, Y:9.04, Z:-3.65 [[ 9.95225145e-01 -9.74797600e-02 -4.96063434e-03 1.43136569e+02] [ 9.74778353e-02 9.95237497e-01 -6.28878079e-04 9.03533128e+00] [ 4.99831219e-03 1.42323380e-04 9.99987498e-01 -3.65324792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14719347000002 meters 0.0628455819292298 Centerline is valid? [True, True] Translation: X:143.19, Y:9.03, Z:-3.66 [[ 9.95499177e-01 -9.46578933e-02 -4.61218357e-03 1.43194848e+02] [ 9.46562212e-02 9.95509851e-01 -5.79975670e-04 9.03263620e+00] [ 4.64637345e-03 1.40793433e-04 9.99989196e-01 -3.65549620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20719347000002 meters 0.06304292797312322 Centerline is valid? [True, True] Translation: X:143.26, Y:9.02, Z:-3.66 [[ 9.95635743e-01 -9.31970738e-02 -4.87580593e-03 1.43255350e+02] [ 9.31951582e-02 9.95647668e-01 -6.19102380e-04 9.02163790e+00] [ 4.91228333e-03 1.61998953e-04 9.99987922e-01 -3.65603157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26719347000002 meters 0.06286937718897276 Centerline is valid? [True, True] Translation: X:143.32, Y:9.01, Z:-3.66 [[ 9.95284207e-01 -9.69703986e-02 -2.46747396e-03 1.43316057e+02] [ 9.69699259e-02 9.95287264e-01 -3.10774416e-04 9.01251486e+00] [ 2.48598132e-03 7.00381012e-05 9.99996907e-01 -3.65760161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32719347000003 meters 0.06002966978459851 Centerline is valid? [True, True] Translation: X:143.38, Y:8.98, Z:-3.66 [[ 9.94470558e-01 -1.04908572e-01 -4.74346414e-03 1.43379021e+02] [ 1.04906913e-01 9.94481866e-01 -5.98062470e-04 8.98266002e+00] [ 4.78003095e-03 9.71333394e-05 9.99988571e-01 -3.65548458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38719347000003 meters 0.059816485297214006 Centerline is valid? [True, True] Translation: X:143.44, Y:8.97, Z:-3.66 [[ 9.94036042e-01 -1.08995139e-01 -3.52235854e-03 1.43438799e+02] [ 1.08994241e-01 9.94042281e-01 -4.46697036e-04 8.96868062e+00] [ 3.55006112e-03 6.01161596e-05 9.99993697e-01 -3.65699109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44719347 meters 0.05900250025401566 Centerline is valid? [True, True] Translation: X:143.50, Y:8.95, Z:-3.65 [[ 9.93586362e-01 -1.13027785e-01 -3.29559658e-03 1.43501364e+02] [ 1.13027006e-01 9.93591826e-01 -4.22331009e-04 8.94683458e+00] [ 3.32221296e-03 4.71309169e-05 9.99994480e-01 -3.65420949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50719347 meters 0.05978769481781117 Centerline is valid? [True, True] Translation: X:143.56, Y:8.93, Z:-3.66 [[ 9.93410881e-01 -1.14313949e-01 -8.19407873e-03 1.43562503e+02] [ 1.14309299e-01 9.93444670e-01 -1.03509824e-03 8.93386504e+00] [ 8.25869001e-03 9.16184614e-05 9.99965892e-01 -3.66031646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56719347 meters 0.060299693204876624 Centerline is valid? [True, True] Translation: X:143.62, Y:8.92, Z:-3.67 [[ 9.93225454e-01 -1.15551155e-01 -1.22933996e-02 1.43622832e+02] [ 1.15540772e-01 9.93301523e-01 -1.55390174e-03 8.92428743e+00] [ 1.23906077e-02 1.22985882e-04 9.99923226e-01 -3.66590678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62719347 meters 0.06015118945994148 Centerline is valid? [True, True] Translation: X:143.68, Y:8.90, Z:-3.67 [[ 9.92007710e-01 -1.24983397e-01 -1.73162899e-02 1.43684945e+02] [ 1.24964235e-01 9.92158833e-01 -2.18851467e-03 8.90401811e+00] [ 1.74540379e-02 7.10651299e-06 9.99847667e-01 -3.66721312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68719347 meters 0.06014166030267263 Centerline is valid? [True, True] Translation: X:143.74, Y:8.90, Z:-3.67 [[ 9.91544610e-01 -1.28923540e-01 -1.47650921e-02 1.43744938e+02] [ 1.28910014e-01 9.91654536e-01 -1.86813188e-03 8.89859952e+00] [ 1.48827167e-02 -5.10321373e-05 9.99889245e-01 -3.66750236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74719347 meters 0.0596527587365604 Centerline is valid? [True, True] Translation: X:143.80, Y:8.90, Z:-3.67 [[ 9.91600421e-01 -1.28787128e-01 -1.19365587e-02 1.43804447e+02] [ 1.28778173e-01 9.91672262e-01 -1.51901621e-03 8.90266969e+00] [ 1.20327839e-02 -3.09111198e-05 9.99927603e-01 -3.66586001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80719347000002 meters 0.059448304610121565 Centerline is valid? [True, True] Translation: X:143.86, Y:8.91, Z:-3.66 [[ 9.92024696e-01 -1.25554222e-01 -1.10968768e-02 1.43862874e+02] [ 1.25546230e-01 9.92086759e-01 -1.41665468e-03 8.90948402e+00] [ 1.11869315e-02 1.21853822e-05 9.99937424e-01 -3.66480565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86719347000002 meters 0.059816026886738954 Centerline is valid? [True, True] Translation: X:143.92, Y:8.92, Z:-3.67 [[ 9.92660643e-01 -1.20313700e-01 -1.22254366e-02 1.43921056e+02] [ 1.20303567e-01 9.92735920e-01 -1.56359975e-03 8.91854246e+00] [ 1.23247525e-02 8.13602994e-05 9.99924044e-01 -3.66908610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92719347000002 meters 0.060839992964215085 Centerline is valid? [True, True] Translation: X:143.98, Y:8.93, Z:-3.67 [[ 9.93558355e-01 -1.12393923e-01 -1.44707246e-02 1.43979473e+02] [ 1.12378988e-01 9.93663708e-01 -1.84371079e-03 8.93061621e+00] [ 1.45862558e-02 2.05628872e-04 9.99893594e-01 -3.67456353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98719347000002 meters 0.06073249559790796 Centerline is valid? [True, True] Translation: X:144.04, Y:8.93, Z:-3.67 [[ 9.93957280e-01 -1.09162949e-01 -1.15054400e-02 1.44039205e+02] [ 1.09153172e-01 9.94023846e-01 -1.47618386e-03 8.93089269e+00] [ 1.15978263e-02 2.11408421e-04 9.99932721e-01 -3.67087000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04719347000002 meters 0.061445094928191155 Centerline is valid? [True, True] Translation: X:144.10, Y:8.93, Z:-3.67 [[ 9.94089379e-01 -1.07836651e-01 -1.25524137e-02 1.44096677e+02] [ 1.07824924e-01 9.94168595e-01 -1.60930904e-03 8.93285704e+00] [ 1.26527580e-02 2.46333976e-04 9.99919920e-01 -3.67486102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10719347000003 meters 0.061746653185451215 Centerline is valid? [True, True] Translation: X:144.16, Y:8.93, Z:-3.68 [[ 9.94308841e-01 -1.05648889e-01 -1.37200778e-02 1.44155921e+02] [ 1.05634576e-01 9.94403448e-01 -1.76575700e-03 8.93490946e+00] [ 1.38298429e-02 3.06393189e-04 9.99904316e-01 -3.67759611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16719347000003 meters 0.06158870620244031 Centerline is valid? [True, True] Translation: X:144.22, Y:8.92, Z:-3.68 [[ 9.93764403e-01 -1.10058070e-01 -1.78754545e-02 1.44216512e+02] [ 1.10034426e-01 9.93925106e-01 -2.30388537e-03 8.92193044e+00] [ 1.80204242e-02 3.22603884e-04 9.99837567e-01 -3.68276812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22719347 meters 0.06042803118835191 Centerline is valid? [True, True] Translation: X:144.28, Y:8.90, Z:-3.68 [[ 9.92335069e-01 -1.22444922e-01 -1.66838927e-02 1.44279659e+02] [ 1.22426176e-01 9.92475306e-01 -2.14423354e-03 8.90223892e+00] [ 1.68209020e-02 8.52529496e-05 9.99858515e-01 -3.68178838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28719347 meters 0.061085535430175586 Centerline is valid? [True, True] Translation: X:144.34, Y:8.89, Z:-3.69 [[ 9.91087663e-01 -1.32284493e-01 -1.56862039e-02 1.44339069e+02] [ 1.32269091e-01 9.91211787e-01 -2.01988425e-03 8.89463783e+00] [ 1.58155496e-02 -7.29175699e-05 9.99874924e-01 -3.68559984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34719347 meters 0.06202055184652637 Centerline is valid? [True, True] Translation: X:144.40, Y:8.88, Z:-3.69 [[ 9.90034384e-01 -1.39745241e-01 -1.74122184e-02 1.44400058e+02] [ 1.39727419e-01 9.90187468e-01 -2.24189735e-03 8.88339627e+00] [ 1.75546549e-02 -2.13408870e-04 9.99845882e-01 -3.68544003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40719347 meters 0.06093633767322387 Centerline is valid? [True, True] Translation: X:144.46, Y:8.89, Z:-3.68 [[ 9.90786578e-01 -1.34638230e-01 -1.46459393e-02 1.44460085e+02] [ 1.34625070e-01 9.90894816e-01 -1.88526250e-03 8.89025423e+00] [ 1.47664137e-02 -1.03817817e-04 9.99890965e-01 -3.68366833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46719347 meters 0.059969988338197854 Centerline is valid? [True, True] Translation: X:144.52, Y:8.91, Z:-3.68 [[ 9.92306854e-01 -1.23434485e-01 -9.54128277e-03 1.44518824e+02] [ 1.23428378e-01 9.92352723e-01 -1.22856661e-03 8.90661238e+00] [ 9.61996542e-03 4.14500137e-05 9.99953726e-01 -3.68195914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52719347000001 meters 0.06021440324670083 Centerline is valid? [True, True] Translation: X:144.58, Y:8.92, Z:-3.68 [[ 9.93003735e-01 -1.17743004e-01 -8.95367669e-03 1.44577025e+02] [ 1.17737306e-01 9.93044095e-01 -1.16262230e-03 8.91676397e+00] [ 9.02828641e-03 1.00306511e-04 9.99959239e-01 -3.68291387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58719347000002 meters 0.06052203119110548 Centerline is valid? [True, True] Translation: X:144.63, Y:8.92, Z:-3.68 [[ 9.93402322e-01 -1.14408424e-01 -7.90820445e-03 1.44634902e+02] [ 1.14403899e-01 9.93433792e-01 -1.02375922e-03 8.91755598e+00] [ 7.97340421e-03 1.12275362e-04 9.99968206e-01 -3.68256858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64719347000002 meters 0.06058983811683351 Centerline is valid? [True, True] Translation: X:144.69, Y:8.91, Z:-3.69 [[ 9.93092231e-01 -1.16947631e-01 -9.54314189e-03 1.44694218e+02] [ 1.16941155e-01 9.93138077e-01 -1.23581614e-03 8.91157515e+00] [ 9.62218335e-03 1.11293374e-04 9.99953700e-01 -3.68748158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70719347000002 meters 0.060667861270349156 Centerline is valid? [True, True] Translation: X:144.75, Y:8.91, Z:-3.69 [[ 9.93016283e-01 -1.17526728e-01 -1.03019411e-02 1.44753348e+02] [ 1.17519135e-01 9.93069712e-01 -1.34145673e-03 8.91186101e+00] [ 1.03882027e-02 1.21413172e-04 9.99946034e-01 -3.68970127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76719347000002 meters 0.06026721875697446 Centerline is valid? [True, True] Translation: X:144.81, Y:8.90, Z:-3.69 [[ 9.92003319e-01 -1.25742833e-01 -1.08699411e-02 1.44813531e+02] [ 1.25734836e-01 9.92062870e-01 -1.41868491e-03 8.90293550e+00] [ 1.09620544e-02 4.06098711e-05 9.99939914e-01 -3.68984179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82719347000003 meters 0.060650048997679215 Centerline is valid? [True, True] Translation: X:144.87, Y:8.90, Z:-3.69 [[ 9.91344901e-01 -1.30732939e-01 -1.20077249e-02 1.44873339e+02] [ 1.30723512e-01 9.91417621e-01 -1.56999177e-03 8.90240315e+00] [ 1.21099197e-02 -1.32886386e-05 9.99926672e-01 -3.69283343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88719347000003 meters 0.06036649119188433 Centerline is valid? [True, True] Translation: X:144.93, Y:8.91, Z:-3.69 [[ 9.91273371e-01 -1.31346517e-01 -1.11890869e-02 1.44932836e+02] [ 1.31338324e-01 9.91336518e-01 -1.46716478e-03 8.90540210e+00] [ 1.12848575e-02 -1.51945403e-05 9.99936324e-01 -3.69061814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94719347 meters 0.06030469574005906 Centerline is valid? [True, True] Translation: X:144.99, Y:8.92, Z:-3.70 [[ 9.91474038e-01 -1.29758659e-01 -1.19131186e-02 1.44989343e+02] [ 1.29749305e-01 9.91545607e-01 -1.55804166e-03 8.91773446e+00] [ 1.20145699e-02 -9.61012067e-07 9.99927822e-01 -3.69653107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00719347 meters 0.06040932944001437 Centerline is valid? [True, True] Translation: X:145.05, Y:8.93, Z:-3.70 [[ 9.92090274e-01 -1.25159763e-01 -9.58754105e-03 1.45045779e+02] [ 1.25153476e-01 9.92136599e-01 -1.25535016e-03 8.93199559e+00] [ 9.66926971e-03 4.55065921e-05 9.99953250e-01 -3.70209254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06719347 meters 0.059659179408308914 Centerline is valid? [True, True] Translation: X:145.10, Y:8.94, Z:-3.70 [[ 9.92333536e-01 -1.23432838e-01 -6.20383191e-03 1.45104770e+02] [ 1.23430129e-01 9.92352927e-01 -8.19125221e-04 8.93900599e+00] [ 6.25749770e-03 4.71056541e-05 9.99980421e-01 -3.69671521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12719347 meters 0.05934502152989118 Centerline is valid? [True, True] Translation: X:145.16, Y:8.95, Z:-3.70 [[ 9.92581059e-01 -1.21502335e-01 -4.47482856e-03 1.45162760e+02] [ 1.21500888e-01 9.92591145e-01 -5.94718397e-04 8.95008123e+00] [ 4.51393488e-03 4.66105719e-05 9.99989811e-01 -3.69842991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18719347 meters 0.05964969835858255 Centerline is valid? [True, True] Translation: X:145.22, Y:8.96, Z:-3.70 [[ 9.92556858e-01 -1.21660364e-01 -5.44429955e-03 1.45219880e+02] [ 1.21658257e-01 9.92571788e-01 -7.17757679e-04 8.95855685e+00] [ 5.49118079e-03 5.00713128e-05 9.99984922e-01 -3.70285236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24719347 meters 0.05997802910898452 Centerline is valid? [True, True] Translation: X:145.28, Y:8.96, Z:-3.71 [[ 9.92582726e-01 -1.21232025e-01 -9.07352933e-03 1.45279156e+02] [ 1.21226174e-01 9.92624193e-01 -1.19404141e-03 8.96221755e+00] [ 9.15136079e-03 8.52356272e-05 9.99958122e-01 -3.70654170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30719347000002 meters 0.05995171675363298 Centerline is valid? [True, True] Translation: X:145.34, Y:8.96, Z:-3.71 [[ 9.92019199e-01 -1.25515641e-01 -1.19888211e-02 1.45337770e+02] [ 1.25505692e-01 9.92091639e-01 -1.58158672e-03 8.96438960e+00] [ 1.20925230e-02 6.42990983e-05 9.99926881e-01 -3.70876694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36719347000002 meters 0.060195887317137785 Centerline is valid? [True, True] Translation: X:145.40, Y:8.97, Z:-3.71 [[ 9.91193304e-01 -1.31815309e-01 -1.26711623e-02 1.45397149e+02] [ 1.31804617e-01 9.91274293e-01 -1.67890645e-03 8.96657810e+00] [ 1.27819031e-02 -5.99686605e-06 9.99918308e-01 -3.71083445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42719347000002 meters 0.06089196512333457 Centerline is valid? [True, True] Translation: X:145.46, Y:8.96, Z:-3.71 [[ 9.89978394e-01 -1.40793379e-01 -1.09546145e-02 1.45456850e+02] [ 1.40785889e-01 9.90038996e-01 -1.45579368e-03 8.96366152e+00] [ 1.10504616e-02 -1.01050844e-04 9.99938937e-01 -3.70909730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48719347000002 meters 0.06175700204748308 Centerline is valid? [True, True] Translation: X:145.52, Y:8.97, Z:-3.71 [[ 9.89062285e-01 -1.47052521e-01 -1.14609140e-02 1.45515358e+02] [ 1.47044787e-01 9.89128668e-01 -1.51922586e-03 8.96549176e+00] [ 1.15597246e-02 -1.82658651e-04 9.99933167e-01 -3.71014144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54719347000002 meters 0.06274599181348814 Centerline is valid? [True, True] Translation: X:145.57, Y:8.97, Z:-3.71 [[ 9.88439007e-01 -1.51296634e-01 -9.88224175e-03 1.45572063e+02] [ 1.51291063e-01 9.88488386e-01 -1.31319393e-03 8.97449133e+00] [ 9.96716302e-03 -1.97082754e-04 9.99950307e-01 -3.71304310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60719347000003 meters 0.06286700613396609 Centerline is valid? [True, True] Translation: X:145.63, Y:8.99, Z:-3.72 [[ 9.88466843e-01 -1.50981178e-01 -1.17466506e-02 1.45629608e+02] [ 1.50973212e-01 9.88536612e-01 -1.56708876e-03 8.98711898e+00] [ 1.18485951e-02 -2.24414287e-04 9.99929778e-01 -3.71603668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66719347000003 meters 0.06319892225612438 Centerline is valid? [True, True] Translation: X:145.69, Y:9.00, Z:-3.72 [[ 9.88609194e-01 -1.50133825e-01 -1.05686081e-02 1.45686806e+02] [ 1.50127288e-01 9.88665666e-01 -1.41364953e-03 8.99916474e+00] [ 1.06610566e-02 -1.89089554e-04 9.99943151e-01 -3.71812744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72719347 meters 0.06200213168154064 Centerline is valid? [True, True] Translation: X:145.74, Y:9.02, Z:-3.72 [[ 9.88632505e-01 -1.49763507e-01 -1.32914558e-02 1.45744444e+02] [ 1.49753102e-01 9.88721821e-01 -1.78029878e-03 9.01536398e+00] [ 1.34081761e-02 -2.30375487e-04 9.99910080e-01 -3.71602151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78719347 meters 0.062420757408238756 Centerline is valid? [True, True] Translation: X:145.80, Y:9.03, Z:-3.72 [[ 9.88465663e-01 -1.50744861e-01 -1.45471852e-02 1.45802408e+02] [ 1.50732451e-01 9.88572667e-01 -1.95204498e-03 9.02724963e+00] [ 1.46752104e-02 -2.63203441e-04 9.99892279e-01 -3.71871862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84719347 meters 0.06174060425448378 Centerline is valid? [True, True] Translation: X:145.86, Y:9.04, Z:-3.72 [[ 9.88567699e-01 -1.49944834e-01 -1.58256600e-02 1.45859295e+02] [ 1.49929975e-01 9.88694328e-01 -2.12793319e-03 9.04472645e+00] [ 1.59658129e-02 -2.69134793e-04 9.99872502e-01 -3.71766867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90719347 meters 0.06045864750086241 Centerline is valid? [True, True] Translation: X:145.92, Y:9.06, Z:-3.72 [[ 9.89307683e-01 -1.44995635e-01 -1.57026769e-02 1.45916084e+02] [ 1.44980305e-01 9.89432278e-01 -2.11630494e-03 9.06248772e+00] [ 1.58435903e-02 -1.82902143e-04 9.99874466e-01 -3.71639075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96719347 meters 0.05959600514607257 Centerline is valid? [True, True] Translation: X:145.97, Y:9.08, Z:-3.72 [[ 9.90004977e-01 -1.39912930e-01 -1.77346401e-02 1.45972886e+02] [ 1.39892475e-01 9.90163805e-01 -2.39489160e-03 9.07981179e+00] [ 1.78952751e-02 -1.09988093e-04 9.99839861e-01 -3.71776137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02719347000001 meters 0.05859606680875286 Centerline is valid? [True, True] Translation: X:146.03, Y:9.10, Z:-3.72 [[ 9.91242377e-01 -1.31166679e-01 -1.52922218e-02 1.46029557e+02] [ 1.31150438e-01 9.91360328e-01 -2.06445745e-03 9.10418495e+00] [ 1.54308900e-02 4.07961278e-05 9.99880936e-01 -3.71820356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08719347000002 meters 0.05838417307440276 Centerline is valid? [True, True] Translation: X:146.09, Y:9.12, Z:-3.72 [[ 9.91857471e-01 -1.26580101e-01 -1.40084120e-02 1.46087259e+02] [ 1.26565895e-01 9.91956383e-01 -1.89961193e-03 9.11810053e+00] [ 1.41361868e-02 1.11157077e-04 9.99900073e-01 -3.71761928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14719347000002 meters 0.0586453150408536 Centerline is valid? [True, True] Translation: X:146.14, Y:9.13, Z:-3.71 [[ 9.93132678e-01 -1.16644193e-01 -9.03419186e-03 1.46144838e+02] [ 1.16637826e-01 9.93173753e-01 -1.23031817e-03 9.13467179e+00] [ 9.11603170e-03 1.68140683e-04 9.99958434e-01 -3.71371757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20719347000002 meters 0.05971904027110651 Centerline is valid? [True, True] Translation: X:146.20, Y:9.15, Z:-3.72 [[ 9.93663600e-01 -1.11871551e-01 -1.08354457e-02 1.46202552e+02] [ 1.11862168e-01 9.93722645e-01 -1.47007432e-03 9.14699288e+00] [ 1.09318873e-02 2.48682892e-04 9.99940214e-01 -3.71818956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26719347000002 meters 0.061931707858565194 Centerline is valid? [True, True] Translation: X:146.26, Y:9.16, Z:-3.73 [[ 9.94047731e-01 -1.07158524e-01 -1.96509119e-02 1.46261798e+02] [ 1.07126807e-01 9.94241800e-01 -2.66268742e-03 9.15717175e+00] [ 1.98230876e-02 5.41698951e-04 9.99803357e-01 -3.73194964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32719347000003 meters 0.06274587642108283 Centerline is valid? [True, True] Translation: X:146.32, Y:9.16, Z:-3.74 [[ 9.94090085e-01 -1.06570357e-01 -2.06799645e-02 1.46319447e+02] [ 1.06535015e-01 9.94304991e-01 -2.80638559e-03 9.15994984e+00] [ 2.08612694e-02 5.86659764e-04 9.99782208e-01 -3.73549515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38719347000003 meters 0.06283581976154953 Centerline is valid? [True, True] Translation: X:146.38, Y:9.15, Z:-3.73 [[ 9.94206352e-01 -1.05493500e-01 -2.06119145e-02 1.46379726e+02] [ 1.05457946e-01 9.94419801e-01 -2.80740237e-03 9.15301927e+00] [ 2.07930586e-02 6.17447111e-04 9.99783610e-01 -3.73312248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44719347 meters 0.0627310394298564 Centerline is valid? [True, True] Translation: X:146.44, Y:9.15, Z:-3.73 [[ 9.94793950e-01 -9.98327968e-02 -2.04550534e-02 1.46439293e+02] [ 9.97966650e-02 9.95003962e-01 -2.78218826e-03 9.15349061e+00] [ 2.06306129e-02 7.26357930e-04 9.99786902e-01 -3.73233658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50719347 meters 0.06403828469521958 Centerline is valid? [True, True] Translation: X:146.50, Y:9.15, Z:-3.73 [[ 9.95134037e-01 -9.62010319e-02 -2.12981266e-02 1.46498819e+02] [ 9.61610014e-02 9.95361574e-01 -2.89814237e-03 9.15404910e+00] [ 2.14781411e-02 8.35990938e-04 9.99768969e-01 -3.73443253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56719347 meters 0.06332201611161782 Centerline is valid? [True, True] Translation: X:146.56, Y:9.14, Z:-3.73 [[ 9.95187272e-01 -9.68694783e-02 -1.47850808e-02 1.46560457e+02] [ 9.68502597e-02 9.95296930e-01 -2.01207379e-03 9.14260274e+00] [ 1.49104541e-02 5.70451308e-04 9.99888670e-01 -3.72771445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62719347 meters 0.06059424006853689 Centerline is valid? [True, True] Translation: X:146.62, Y:9.13, Z:-3.72 [[ 9.94683564e-01 -1.02658083e-01 -8.11944395e-03 1.46623464e+02] [ 1.02652471e-01 9.94716667e-01 -1.10606552e-03 9.12863131e+00] [ 8.19009279e-03 2.66704212e-04 9.99966425e-01 -3.72335017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68719347 meters 0.05947983682136427 Centerline is valid? [True, True] Translation: X:146.68, Y:9.12, Z:-3.73 [[ 9.94052977e-01 -1.08526673e-01 -8.98002504e-03 1.46684356e+02] [ 1.08520046e-01 9.94093508e-01 -1.22347029e-03 9.12214930e+00] [ 9.05976375e-03 2.41681555e-04 9.99958930e-01 -3.72535358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74719347 meters 0.05830532795079757 Centerline is valid? [True, True] Translation: X:146.75, Y:9.10, Z:-3.72 [[ 9.92867095e-01 -1.18966373e-01 -7.86985239e-03 1.46746902e+02] [ 1.18961607e-01 9.92898275e-01 -1.07266127e-03 9.10391507e+00] [ 7.94157348e-03 1.28799794e-04 9.99968457e-01 -3.72422468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80719347000002 meters 0.0585489206618444 Centerline is valid? [True, True] Translation: X:146.81, Y:9.09, Z:-3.73 [[ 9.91540713e-01 -1.29216168e-01 -1.22554465e-02 1.46806650e+02] [ 1.29205365e-01 9.91616446e-01 -1.67252620e-03 9.09467924e+00] [ 1.23688197e-02 7.49083863e-05 9.99923500e-01 -3.73124878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86719347000002 meters 0.05911066698845375 Centerline is valid? [True, True] Translation: X:146.87, Y:9.09, Z:-3.74 [[ 9.91046329e-01 -1.32470249e-01 -1.66975318e-02 1.46866254e+02] [ 1.32450670e-01 9.91186981e-01 -2.27795008e-03 9.09469765e+00] [ 1.68521368e-02 4.59547856e-05 9.99857992e-01 -3.73623327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92719347000002 meters 0.059653689701149794 Centerline is valid? [True, True] Translation: X:146.93, Y:9.10, Z:-3.74 [[ 9.90820251e-01 -1.33847936e-01 -1.89726046e-02 1.46925180e+02] [ 1.33822703e-01 9.91001881e-01 -2.59914199e-03 9.09698684e+00] [ 1.91497767e-02 3.63172852e-05 9.99816626e-01 -3.73917271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98719347000002 meters 0.0598136611260419 Centerline is valid? [True, True] Translation: X:146.98, Y:9.11, Z:-3.74 [[ 9.91383797e-01 -1.29719633e-01 -1.81929597e-02 1.46982464e+02] [ 1.29695779e-01 9.91550707e-01 -2.48995980e-03 9.10531690e+00] [ 1.83622387e-02 1.08955722e-04 9.99831394e-01 -3.74196738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04719347000002 meters 0.05925910507098483 Centerline is valid? [True, True] Translation: X:147.04, Y:9.11, Z:-3.74 [[ 9.91696089e-01 -1.27437082e-01 -1.72816759e-02 1.47040739e+02] [ 1.27415045e-01 9.91846645e-01 -2.37475154e-03 9.11449942e+00] [ 1.74434036e-02 1.53086300e-04 9.99847841e-01 -3.74017132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10719347000003 meters 0.058550779676362484 Centerline is valid? [True, True] Translation: X:147.10, Y:9.12, Z:-3.73 [[ 9.91439790e-01 -1.29732511e-01 -1.47179605e-02 1.47100875e+02] [ 1.29716711e-01 9.91549023e-01 -2.02715857e-03 9.11501952e+00] [ 1.48565677e-02 1.00640234e-04 9.99889630e-01 -3.73431786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16719347000003 meters 0.05783046178447788 Centerline is valid? [True, True] Translation: X:147.16, Y:9.12, Z:-3.73 [[ 9.90857439e-01 -1.34444953e-01 -1.12289603e-02 1.47160885e+02] [ 1.34436099e-01 9.90921064e-01 -1.54311239e-03 9.11734509e+00] [ 1.13344770e-02 1.94267728e-05 9.99935763e-01 -3.73101731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22719347 meters 0.05800270234776504 Centerline is valid? [True, True] Translation: X:147.22, Y:9.12, Z:-3.73 [[ 9.89613156e-01 -1.43258474e-01 -1.19503603e-02 1.47220625e+02] [ 1.43248967e-01 9.89685305e-01 -1.65219496e-03 9.11793505e+00] [ 1.20637869e-02 -7.68428919e-05 9.99927227e-01 -3.72868042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28719347 meters 0.05948540788329386 Centerline is valid? [True, True] Translation: X:147.28, Y:9.12, Z:-3.73 [[ 9.88055326e-01 -1.53460107e-01 -1.40238721e-02 1.47280666e+02] [ 1.53448149e-01 9.88154814e-01 -1.93113651e-03 9.12150661e+00] [ 1.41541091e-02 -2.43867502e-04 9.99899796e-01 -3.72890413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34719347 meters 0.06153402266223036 Centerline is valid? [True, True] Translation: X:147.34, Y:9.13, Z:-3.73 [[ 9.86974256e-01 -1.60224565e-01 -1.44881387e-02 1.47339166e+02] [ 1.60212502e-01 9.87080527e-01 -1.99702451e-03 9.12519293e+00] [ 1.46209320e-02 -3.50169168e-04 9.99893047e-01 -3.73090524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40719347 meters 0.06381034133142784 Centerline is valid? [True, True] Translation: X:147.40, Y:9.14, Z:-3.74 [[ 9.85654350e-01 -1.67851099e-01 -1.76496520e-02 1.47398155e+02] [ 1.67834433e-01 9.85812198e-01 -2.43191093e-03 9.13683501e+00] [ 1.78074411e-02 -5.65195737e-04 9.99841275e-01 -3.73604460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46719347 meters 0.0652816169805914 Centerline is valid? [True, True] Translation: X:147.46, Y:9.15, Z:-3.74 [[ 9.85014076e-01 -1.71546070e-01 -1.78666149e-02 1.47456349e+02] [ 1.71529560e-01 9.85175892e-01 -2.46395131e-03 9.14943571e+00] [ 1.80244395e-02 -6.37625867e-04 9.99837343e-01 -3.73913770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52719347000001 meters 0.06444242618079242 Centerline is valid? [True, True] Translation: X:147.51, Y:9.17, Z:-3.74 [[ 9.85001627e-01 -1.71100662e-01 -2.22790956e-02 1.47514109e+02] [ 1.71074871e-01 9.85253240e-01 -3.07262377e-03 9.16814473e+00] [ 2.24762791e-02 -7.84854009e-04 9.99747068e-01 -3.73843856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58719347000002 meters 0.06470946077813378 Centerline is valid? [True, True] Translation: X:147.57, Y:9.18, Z:-3.74 [[ 9.85188294e-01 -1.69838651e-01 -2.36401840e-02 1.47571221e+02] [ 1.69808867e-01 9.85471569e-01 -3.27636333e-03 9.17992744e+00] [ 2.38531823e-02 -7.86478062e-04 9.99715163e-01 -3.74157400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64719347000002 meters 0.0616222345043352 Centerline is valid? [True, True] Translation: X:147.63, Y:9.21, Z:-3.75 [[ 9.86900544e-01 -1.60123537e-01 -1.96918599e-02 1.47626840e+02] [ 1.60101047e-01 9.87096873e-01 -2.72358128e-03 9.21077082e+00] [ 1.98738828e-02 -4.64783551e-04 9.99802387e-01 -3.74532751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70719347000002 meters 0.05882426069088627 Centerline is valid? [True, True] Translation: X:147.68, Y:9.24, Z:-3.74 [[ 9.88250288e-01 -1.51712585e-01 -1.85650307e-02 1.47683776e+02] [ 1.51691090e-01 9.88424613e-01 -2.56875896e-03 9.23574141e+00] [ 1.87398464e-02 -2.77572964e-04 9.99824355e-01 -3.74417830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76719347000002 meters 0.05786074665112758 Centerline is valid? [True, True] Translation: X:147.74, Y:9.26, Z:-3.75 [[ 9.88850984e-01 -1.47944069e-01 -1.69199505e-02 1.47740650e+02] [ 1.47925480e-01 9.88995713e-01 -2.35190402e-03 9.25725316e+00] [ 1.70817088e-02 -1.77209193e-04 9.99854081e-01 -3.74575850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82719347000003 meters 0.0582988908635408 Centerline is valid? [True, True] Translation: X:147.80, Y:9.27, Z:-3.75 [[ 9.88868952e-01 -1.47283624e-01 -2.11123063e-02 1.47798256e+02] [ 1.47254649e-01 9.89094277e-01 -2.92904636e-03 9.27089118e+00] [ 2.13134619e-02 -2.12442244e-04 9.99772820e-01 -3.75038518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88719347000003 meters 0.058189939467449416 Centerline is valid? [True, True] Translation: X:147.86, Y:9.29, Z:-3.76 [[ 9.89291320e-01 -1.43969872e-01 -2.39866518e-02 1.47855093e+02] [ 1.43931488e-01 9.89582058e-01 -3.32812402e-03 9.29296522e+00] [ 2.42159098e-02 -1.59950277e-04 9.99706739e-01 -3.75522727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94719347 meters 0.05806028107576299 Centerline is valid? [True, True] Translation: X:147.91, Y:9.31, Z:-3.76 [[ 9.89318747e-01 -1.43975747e-01 -2.27903733e-02 1.47912710e+02] [ 1.43940794e-01 9.89581207e-01 -3.17537224e-03 9.30858254e+00] [ 2.30101017e-02 -1.39009136e-04 9.99735223e-01 -3.75626381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00719347 meters 0.057368299708081785 Centerline is valid? [True, True] Translation: X:147.97, Y:9.32, Z:-3.75 [[ 9.88959086e-01 -1.46909236e-01 -1.94320202e-02 1.47970597e+02] [ 1.46884268e-01 9.89149962e-01 -2.71380685e-03 9.32456611e+00] [ 1.96198654e-02 -1.70414118e-04 9.99807497e-01 -3.75219559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06719347 meters 0.05802442283379786 Centerline is valid? [True, True] Translation: X:148.03, Y:9.34, Z:-3.75 [[ 9.88502891e-01 -1.49912137e-01 -1.97074780e-02 1.48027518e+02] [ 1.49887096e-01 9.88699295e-01 -2.75004449e-03 9.33662854e+00] [ 1.98970347e-02 -2.35469724e-04 9.99802007e-01 -3.75294026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12719347 meters 0.057226419809140554 Centerline is valid? [True, True] Translation: X:148.09, Y:9.35, Z:-3.75 [[ 9.88451611e-01 -1.50521339e-01 -1.75139732e-02 1.48085196e+02] [ 1.50501475e-01 9.88606738e-01 -2.45428781e-03 9.35059027e+00] [ 1.76838546e-02 -2.09934073e-04 9.99843606e-01 -3.75074281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18719347 meters 0.05610712647301861 Centerline is valid? [True, True] Translation: X:148.14, Y:9.37, Z:-3.75 [[ 9.89176123e-01 -1.46288768e-01 -1.14102933e-02 1.48141751e+02] [ 1.46280094e-01 9.89241926e-01 -1.59562059e-03 9.37044462e+00] [ 1.15209619e-02 -9.07489780e-05 9.99933627e-01 -3.75073838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24719347 meters 0.05531264193948154 Centerline is valid? [True, True] Translation: X:148.20, Y:9.39, Z:-3.75 [[ 9.89799575e-01 -1.42034859e-01 -1.10860305e-02 1.48199033e+02] [ 1.42026298e-01 9.89861656e-01 -1.55967316e-03 9.38506286e+00] [ 1.11951645e-02 -3.07440538e-05 9.99937332e-01 -3.75072182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30719347000002 meters 0.055736109906736005 Centerline is valid? [True, True] Translation: X:148.26, Y:9.40, Z:-3.76 [[ 9.90417011e-01 -1.37264398e-01 -1.52521842e-02 1.48256070e+02] [ 1.37247741e-01 9.90534444e-01 -2.13851703e-03 9.40172210e+00] [ 1.54013560e-02 2.46958236e-05 9.99881392e-01 -3.75883377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36719347000002 meters 0.05594636118069113 Centerline is valid? [True, True] Translation: X:148.32, Y:9.41, Z:-3.76 [[ 9.90635011e-01 -1.34867785e-01 -2.12827551e-02 1.48315118e+02] [ 1.34834819e-01 9.90863600e-01 -2.98299751e-03 9.41169674e+00] [ 2.14906176e-02 8.54053403e-05 9.99769046e-01 -3.75991236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42719347000002 meters 0.057219830146681284 Centerline is valid? [True, True] Translation: X:148.37, Y:9.42, Z:-3.77 [[ 9.90048597e-01 -1.39123375e-01 -2.11769450e-02 1.48372440e+02] [ 1.39091384e-01 9.90275056e-01 -2.98333509e-03 9.41610759e+00] [ 2.13860520e-02 8.11612064e-06 9.99771292e-01 -3.76873000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48719347000002 meters 0.05686128666781816 Centerline is valid? [True, True] Translation: X:148.43, Y:9.42, Z:-3.76 [[ 9.88823072e-01 -1.47487365e-01 -2.18267993e-02 1.48432022e+02] [ 1.47455290e-01 9.89063925e-01 -3.08057562e-03 9.41834416e+00] [ 2.20424457e-02 -1.72332767e-04 9.99757021e-01 -3.76375690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54719347000002 meters 0.05769957219608883 Centerline is valid? [True, True] Translation: X:148.49, Y:9.43, Z:-3.77 [[ 9.88264051e-01 -1.51073683e-01 -2.26032507e-02 1.48489824e+02] [ 1.51040071e-01 9.88522472e-01 -3.19679467e-03 9.42737639e+00] [ 2.28267728e-02 -2.54719342e-04 9.99739403e-01 -3.76886956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60719347000003 meters 0.05732745859244072 Centerline is valid? [True, True] Translation: X:148.55, Y:9.43, Z:-3.77 [[ 9.87928033e-01 -1.53872863e-01 -1.79260547e-02 1.48549166e+02] [ 1.53852255e-01 9.88090621e-01 -2.53134461e-03 9.43456373e+00] [ 1.81020718e-02 -2.57177639e-04 9.99836111e-01 -3.76603882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66719347000003 meters 0.056644083347259275 Centerline is valid? [True, True] Translation: X:148.61, Y:9.44, Z:-3.76 [[ 9.87327049e-01 -1.58417148e-01 -9.45012014e-03 1.48608912e+02] [ 1.58411619e-01 9.87372258e-01 -1.33554844e-03 9.44324480e+00] [ 9.54236024e-03 -1.78385732e-04 9.99954455e-01 -3.76008509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72719347 meters 0.05709276370760889 Centerline is valid? [True, True] Translation: X:148.67, Y:9.46, Z:-3.76 [[ 9.87342931e-01 -1.58294626e-01 -9.83606882e-03 1.48665405e+02] [ 1.58288604e-01 9.87391907e-01 -1.39269454e-03 9.45562793e+00] [ 9.93251081e-03 -1.81870492e-04 9.99950655e-01 -3.76411332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78719347 meters 0.05570243791827543 Centerline is valid? [True, True] Translation: X:148.72, Y:9.47, Z:-3.76 [[ 9.87903268e-01 -1.55030759e-01 -3.54910484e-03 1.48724256e+02] [ 1.55029955e-01 9.87909642e-01 -5.02156518e-04 9.47105409e+00] [ 3.58404460e-03 -5.41354972e-05 9.99993576e-01 -3.75898027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84719347 meters 0.05637508704234363 Centerline is valid? [True, True] Translation: X:148.78, Y:9.48, Z:-3.76 [[ 9.87728597e-01 -1.56139982e-01 -3.53889036e-03 1.48781247e+02] [ 1.56139181e-01 9.87734936e-01 -5.03197797e-04 9.48063195e+00] [ 3.57405493e-03 -5.55365880e-05 9.99993611e-01 -3.76153519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90719347 meters 0.057712732912466765 Centerline is valid? [True, True] Translation: X:148.84, Y:9.49, Z:-3.77 [[ 9.86817421e-01 -1.61757162e-01 -5.09889670e-03 1.48840197e+02] [ 1.61755587e-01 9.86830587e-01 -7.22494180e-04 9.49154196e+00] [ 5.14861584e-03 -1.11805188e-04 9.99986740e-01 -3.76512456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96719347 meters 0.06047572172257717 Centerline is valid? [True, True] Translation: X:148.90, Y:9.50, Z:-3.77 [[ 9.85523285e-01 -1.69486567e-01 -4.26123693e-03 1.48898454e+02] [ 1.69485535e-01 9.85532489e-01 -6.04750877e-04 9.49750939e+00] [ 4.30208459e-03 -1.26221948e-04 9.99990738e-01 -3.76810650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02719347000001 meters 0.06277923776911172 Centerline is valid? [True, True] Translation: X:148.96, Y:9.51, Z:-3.77 [[ 9.84431705e-01 -1.75740557e-01 -3.07815429e-03 1.48956222e+02] [ 1.75740047e-01 9.84436511e-01 -4.37459484e-04 9.51035966e+00] [ 3.10712684e-03 -1.10305993e-04 9.99995167e-01 -3.76968779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08719347000002 meters 0.06298332813327294 Centerline is valid? [True, True] Translation: X:149.01, Y:9.53, Z:-3.77 [[ 9.84424588e-01 -1.75761812e-01 -4.00200874e-03 1.49013125e+02] [ 1.75760925e-01 9.84432713e-01 -5.75075468e-04 9.52839635e+00] [ 4.04078463e-03 -1.37278327e-04 9.99991827e-01 -3.77336609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14719347000002 meters 0.061464652869318605 Centerline is valid? [True, True] Translation: X:149.07, Y:9.56, Z:-3.78 [[ 9.85832708e-01 -1.67516947e-01 -8.48194620e-03 1.49067186e+02] [ 1.67512763e-01 9.85869169e-01 -1.20644854e-03 9.56074567e+00] [ 8.56418983e-03 -2.31477809e-04 9.99963300e-01 -3.78172785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20719347000002 meters 0.058322982956127076 Centerline is valid? [True, True] Translation: X:149.12, Y:9.59, Z:-3.78 [[ 9.87376749e-01 -1.58087541e-01 -9.77168209e-03 1.49123417e+02] [ 1.58081540e-01 9.87425085e-01 -1.38833158e-03 9.59164140e+00] [ 9.86828195e-03 -1.73916239e-04 9.99951292e-01 -3.78327386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26719347000002 meters 0.05631662043331036 Centerline is valid? [True, True] Translation: X:149.18, Y:9.63, Z:-3.78 [[ 9.89215672e-01 -1.46168656e-01 -9.33160449e-03 1.49178787e+02] [ 1.46162643e-01 9.89259683e-01 -1.32681213e-03 9.62667903e+00] [ 9.42531845e-03 -5.14286232e-05 9.99955579e-01 -3.78254002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32719347000003 meters 0.05631027390037473 Centerline is valid? [True, True] Translation: X:149.23, Y:9.65, Z:-3.79 [[ 9.89929681e-01 -1.41274779e-01 -8.98131508e-03 1.49233832e+02] [ 1.41268968e-01 9.89970422e-01 -1.28138608e-03 9.64777727e+00] [ 9.07226381e-03 -2.98997583e-07 9.99958846e-01 -3.78760549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38719347000003 meters 0.057174916309241354 Centerline is valid? [True, True] Translation: X:149.29, Y:9.66, Z:-3.79 [[ 9.89489249e-01 -1.44217430e-01 -1.05999614e-02 1.49290652e+02] [ 1.44209514e-01 9.89546023e-01 -1.51134000e-03 9.65977673e+00] [ 1.07071112e-02 -3.31606068e-05 9.99942677e-01 -3.79407500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44719347 meters 0.05773431385073589 Centerline is valid? [True, True] Translation: X:149.35, Y:9.67, Z:-3.80 [[ 9.89160206e-01 -1.46305616e-01 -1.25201021e-02 1.49348962e+02] [ 1.46294642e-01 9.89239437e-01 -1.79289695e-03 9.66660842e+00] [ 1.26476897e-02 -5.81615413e-05 9.99920013e-01 -3.79801061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50719347 meters 0.05797061958071331 Centerline is valid? [True, True] Translation: X:149.41, Y:9.67, Z:-3.80 [[ 9.88584901e-01 -1.49870457e-01 -1.54512375e-02 1.49408637e+02] [ 1.49854286e-01 9.88705633e-01 -2.20567715e-03 9.67009247e+00] [ 1.56072914e-02 -1.34935039e-04 9.99878190e-01 -3.79866875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56719347 meters 0.058181421357926706 Centerline is valid? [True, True] Translation: X:149.47, Y:9.68, Z:-3.80 [[ 9.87968657e-01 -1.54093781e-01 -1.31544765e-02 1.49467029e+02] [ 1.54082292e-01 9.88056213e-01 -1.88853207e-03 9.67682472e+00] [ 1.32883733e-02 -1.61061391e-04 9.99911693e-01 -3.79971571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62719347 meters 0.059492629189457816 Centerline is valid? [True, True] Translation: X:149.53, Y:9.68, Z:-3.80 [[ 9.86667857e-01 -1.62613924e-01 -6.57655161e-03 1.49525441e+02] [ 1.62611204e-01 9.86689766e-01 -9.49783544e-04 9.68094926e+00] [ 6.64346420e-03 -1.32300082e-04 9.99977923e-01 -3.79823222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68719347 meters 0.06203018557277443 Centerline is valid? [True, True] Translation: X:149.59, Y:9.68, Z:-3.80 [[ 9.84757327e-01 -1.73837439e-01 -5.79234862e-03 1.49585749e+02] [ 1.73835557e-01 9.84774344e-01 -8.30724910e-04 9.68345639e+00] [ 5.84856741e-03 -1.88853706e-04 9.99982879e-01 -3.79568466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74719347 meters 0.064129344560443 Centerline is valid? [True, True] Translation: X:149.64, Y:9.69, Z:-3.80 [[ 9.83844666e-01 -1.79006077e-01 -2.54888813e-03 1.49643053e+02] [ 1.79005719e-01 9.83847964e-01 -3.69727813e-04 9.69142206e+00] [ 2.57390192e-03 -9.25108144e-05 9.99996683e-01 -3.79615992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80719347000002 meters 0.062317051723945596 Centerline is valid? [True, True] Translation: X:149.70, Y:9.72, Z:-3.80 [[ 9.84150698e-01 -1.77326240e-01 -1.67597707e-03 1.49698821e+02] [ 1.77326074e-01 9.84152123e-01 -2.48536336e-04 9.71530201e+00] [ 1.69348841e-03 -5.25972252e-05 9.99998565e-01 -3.79594542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86719347000002 meters 0.06125105064061187 Centerline is valid? [True, True] Translation: X:149.75, Y:9.74, Z:-3.80 [[ 9.85200891e-01 -1.71328192e-01 -5.08470630e-03 1.49754177e+02] [ 1.71326674e-01 9.85214002e-01 -7.35736775e-04 9.73504566e+00] [ 5.13557629e-03 -1.46297293e-04 9.99986802e-01 -3.80117499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92719347000002 meters 0.05875130364917536 Centerline is valid? [True, True] Translation: X:149.81, Y:9.76, Z:-3.80 [[ 9.86755995e-01 -1.62182882e-01 -3.05286806e-03 1.49811217e+02] [ 1.62182297e-01 9.86760715e-01 -4.39973787e-04 9.76259499e+00] [ 3.08380649e-03 -6.09743825e-05 9.99995243e-01 -3.80218271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98719347000002 meters 0.05853413973466263 Centerline is valid? [True, True] Translation: X:149.87, Y:9.78, Z:-3.81 [[ 9.87284516e-01 -1.58881147e-01 -5.10550419e-03 1.49866941e+02] [ 1.58879417e-01 9.87297714e-01 -7.45253045e-04 9.78128422e+00] [ 5.15905927e-03 -7.53827393e-05 9.99986689e-01 -3.80593502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04719347000002 meters 0.06004214669968558 Centerline is valid? [True, True] Translation: X:149.93, Y:9.79, Z:-3.81 [[ 9.86393294e-01 -1.64302975e-01 -5.72723378e-03 1.49925436e+02] [ 1.64300932e-01 9.86409913e-01 -8.28572908e-04 9.78944041e+00] [ 5.78553717e-03 -1.23691087e-04 9.99983256e-01 -3.80898611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10719347000003 meters 0.06599066680256202 Centerline is valid? [True, True] Translation: X:149.99, Y:9.79, Z:-3.81 [[ 9.83211084e-01 -1.82467755e-01 1.21801466e-03 1.49986756e+02] [ 1.82467677e-01 9.83211837e-01 1.75424411e-04 9.78731346e+00] [-1.22957573e-03 4.97690811e-05 9.99999243e-01 -3.80681385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16719347000003 meters 0.06999834485386147 Centerline is valid? [True, True] Translation: X:150.05, Y:9.79, Z:-3.81 [[ 9.80930231e-01 -1.94295205e-01 5.02554909e-03 1.50047062e+02] [ 1.94294030e-01 9.80943068e-01 7.25696272e-04 9.79426020e+00] [-5.07077685e-03 2.64576773e-04 9.99987109e-01 -3.80507252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22719347 meters 0.0770592918807633 Centerline is valid? [True, True] Translation: X:150.11, Y:9.80, Z:-3.80 [[ 9.78482225e-01 -2.06115844e-01 9.42303450e-03 1.50105221e+02] [ 2.06112259e-01 9.78527407e-01 1.36059213e-03 9.80239192e+00] [-9.50113710e-03 6.10887712e-04 9.99954677e-01 -3.80464705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28719347 meters 0.08035570503867015 Centerline is valid? [True, True] Translation: X:150.16, Y:9.82, Z:-3.81 [[ 9.77721347e-01 -2.09776839e-01 7.39225127e-03 1.50163750e+02] [ 2.09774734e-01 9.77749161e-01 1.06774542e-03 9.82030257e+00] [-7.45175573e-03 5.06750050e-04 9.99972107e-01 -3.81030350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34719347 meters 0.07954054382551583 Centerline is valid? [True, True] Translation: X:150.22, Y:9.86, Z:-3.82 [[ 9.77933167e-01 -2.08877880e-01 4.09296911e-03 1.50217763e+02] [ 2.08877252e-01 9.77941691e-01 5.85273660e-04 9.85851204e+00] [-4.12493586e-03 2.82569615e-04 9.99991452e-01 -3.81805369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40719347 meters 0.08173520100684169 Centerline is valid? [True, True] Translation: X:150.27, Y:9.88, Z:-3.82 [[ 9.78036904e-01 -2.08411793e-01 2.88784359e-03 1.50273407e+02] [ 2.08411470e-01 9.78041148e-01 4.15795221e-04 9.87838036e+00] [-2.91108649e-03 1.95196657e-04 9.99995744e-01 -3.82369404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46719347 meters 0.08343425525115804 Centerline is valid? [True, True] Translation: X:150.33, Y:9.91, Z:-3.83 [[ 9.77977866e-01 -2.08705585e-01 1.12824341e-03 1.50328266e+02] [ 2.08705539e-01 9.77978513e-01 1.59989776e-04 9.90535062e+00] [-1.13678857e-03 7.90041884e-05 9.99999351e-01 -3.82719267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52719347000001 meters 0.07755372544159035 Centerline is valid? [True, True] Translation: X:150.38, Y:9.95, Z:-3.82 [[ 9.78871959e-01 -2.04419710e-01 4.71907390e-03 1.50383027e+02] [ 2.04418779e-01 9.78883290e-01 6.83849548e-04 9.94872336e+00] [-4.75921491e-03 2.95266177e-04 9.99988631e-01 -3.82464317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58719347000002 meters 0.07439663096937489 Centerline is valid? [True, True] Translation: X:150.44, Y:9.98, Z:-3.83 [[ 9.80337620e-01 -1.97229006e-01 6.23456607e-03 1.50439200e+02] [ 1.97227234e-01 9.80357384e-01 9.03859104e-04 9.98198530e+00] [-6.29037011e-03 3.43539137e-04 9.99980156e-01 -3.82568028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64719347000002 meters 0.07050699655133182 Centerline is valid? [True, True] Translation: X:150.50, Y:10.01, Z:-3.83 [[ 9.81012763e-01 -1.93842386e-01 6.25207796e-03 1.50495054e+02] [ 1.93840539e-01 9.81032632e-01 9.05948431e-04 1.00124976e+01] [-6.30910370e-03 3.23159188e-04 9.99980045e-01 -3.82695978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70719347000002 meters 0.07457745777347621 Centerline is valid? [True, True] Translation: X:150.55, Y:10.03, Z:-3.84 [[ 9.81226373e-01 -1.92852337e-01 1.66734983e-03 1.50550876e+02] [ 1.92852210e-01 9.81227786e-01 2.38325794e-04 1.00294446e+01] [-1.68201167e-03 8.77005448e-05 9.99998582e-01 -3.83671233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76719347000002 meters 0.07103879475768263 Centerline is valid? [True, True] Translation: X:150.61, Y:10.06, Z:-3.84 [[ 9.80773497e-01 -1.95133930e-01 -2.46908007e-03 1.50607327e+02] [ 1.95133642e-01 9.80776597e-01 -3.59170336e-04 1.00601733e+01] [ 2.49170227e-03 -1.29535840e-04 9.99996887e-01 -3.83821448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82719347000003 meters 0.08295915246731103 Centerline is valid? [True, True] Translation: X:150.67, Y:10.06, Z:-3.84 [[ 9.78828823e-01 -2.04664824e-01 -2.53859095e-03 1.50666670e+02] [ 2.04664550e-01 9.78832103e-01 -3.69833465e-04 1.00638739e+01] [ 2.56054622e-03 -1.57555921e-04 9.99996709e-01 -3.84420815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88719347000003 meters 0.07957300796781126 Centerline is valid? [True, True] Translation: X:150.72, Y:10.09, Z:-3.84 [[ 9.77440465e-01 -2.11190437e-01 -2.95569972e-03 1.50723524e+02] [ 2.11190097e-01 9.77444913e-01 -4.29979080e-04 1.00908382e+01] [ 2.97984112e-03 -2.03935559e-04 9.99995539e-01 -3.84011818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94719347000003 meters 0.0791857039521938 Centerline is valid? [True, True] Translation: X:150.78, Y:10.11, Z:-3.84 [[ 9.76758078e-01 -2.14334728e-01 -2.06908812e-03 1.50781702e+02] [ 2.14334568e-01 9.76760258e-01 -3.01230050e-04 1.01102513e+01] [ 2.08556710e-03 -1.49248223e-04 9.99997814e-01 -3.83933611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00719347 meters 0.07616057786037132 Centerline is valid? [True, True] Translation: X:150.84, Y:10.14, Z:-3.84 [[ 9.77804682e-01 -2.09455861e-01 5.12308260e-03 1.50838180e+02] [ 2.09454825e-01 9.77818042e-01 7.44003404e-04 1.01400488e+01] [-5.16527847e-03 3.45564358e-04 9.99986600e-01 -3.83583125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06719347 meters 0.07391948842903881 Centerline is valid? [True, True] Translation: X:150.89, Y:10.17, Z:-3.84 [[ 9.79502515e-01 -2.01269450e-01 8.08900160e-03 1.50893583e+02] [ 2.01266582e-01 9.79535799e-01 1.17548097e-03 1.01736980e+01] [-8.16005505e-03 4.76659142e-04 9.99966593e-01 -3.83606648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12719347 meters 0.07243509287050753 Centerline is valid? [True, True] Translation: X:150.95, Y:10.20, Z:-3.84 [[ 9.79430528e-01 -2.01706935e-01 5.49112112e-03 1.50949550e+02] [ 2.01705649e-01 9.79445865e-01 7.92755337e-04 1.01954426e+01] [-5.53816012e-03 3.31141369e-04 9.99984609e-01 -3.83997274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18719347 meters 0.07683345869504954 Centerline is valid? [True, True] Translation: X:151.01, Y:10.21, Z:-3.85 [[ 9.78047478e-01 -2.08381264e-01 6.16620524e-04 1.51007507e+02] [ 2.08381249e-01 9.78047671e-01 8.88880266e-05 1.02075562e+01] [-6.21606868e-04 4.15554448e-05 9.99999806e-01 -3.84744543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24719347 meters 0.07853118418647292 Centerline is valid? [True, True] Translation: X:151.07, Y:10.22, Z:-3.85 [[ 9.77378330e-01 -2.11498435e-01 -1.13390581e-04 1.51065736e+02] [ 2.11498434e-01 9.77378336e-01 -1.70309285e-05 1.02216141e+01] [ 1.14427512e-04 -7.33626982e-06 9.99999993e-01 -3.85048433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30719347000002 meters 0.08093775923145924 Centerline is valid? [True, True] Translation: X:151.12, Y:10.24, Z:-3.85 [[ 9.76863631e-01 -2.13861042e-01 -9.49407425e-04 1.51122096e+02] [ 2.13861005e-01 9.76864090e-01 -1.40839986e-04 1.02378742e+01] [ 9.57562206e-04 -6.54597664e-05 9.99999539e-01 -3.85351210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36719347000002 meters 0.08170851781821355 Centerline is valid? [True, True] Translation: X:151.18, Y:10.25, Z:-3.85 [[ 9.76649484e-01 -2.14837458e-01 -8.07641443e-04 1.51179269e+02] [ 2.14837432e-01 9.76649816e-01 -1.20309207e-04 1.02494659e+01] [ 8.14629790e-04 -5.60116880e-05 9.99999667e-01 -3.85408573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42719347000002 meters 0.0779681927731601 Centerline is valid? [True, True] Translation: X:151.23, Y:10.28, Z:-3.85 [[ 9.76271097e-01 -2.16547293e-01 1.41943048e-03 1.51234371e+02] [ 2.16547229e-01 9.76272123e-01 2.00336650e-04 1.02794977e+01] [-1.42913276e-03 1.11790856e-04 9.99998973e-01 -3.84962046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48719347000002 meters 0.07857139468922605 Centerline is valid? [True, True] Translation: X:151.29, Y:10.30, Z:-3.85 [[ 9.76330459e-01 -2.16264355e-01 2.92636392e-03 1.51292578e+02] [ 2.16264041e-01 9.76334821e-01 4.27119464e-04 1.02952744e+01] [-2.94948171e-03 2.15857543e-04 9.99995627e-01 -3.85074954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54719347000002 meters 0.07792010853979128 Centerline is valid? [True, True] Translation: X:151.35, Y:10.32, Z:-3.85 [[ 9.76798098e-01 -2.14127257e-01 3.87226011e-03 1.51351312e+02] [ 2.14126683e-01 9.76805734e-01 5.66941987e-04 1.03162802e+01] [-3.90384361e-03 2.75366361e-04 9.99992342e-01 -3.85418933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60719347000003 meters 0.07736122168201823 Centerline is valid? [True, True] Translation: X:151.41, Y:10.34, Z:-3.86 [[ 9.77545320e-01 -2.10708066e-01 2.69425563e-03 1.51409886e+02] [ 2.10707775e-01 9.77549016e-01 3.94556649e-04 1.03358002e+01] [-2.71690321e-03 1.82003604e-04 9.99996293e-01 -3.85511739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66719347000003 meters 0.07368018941524944 Centerline is valid? [True, True] Translation: X:151.47, Y:10.36, Z:-3.86 [[ 9.78847101e-01 -2.04593122e-01 8.98017504e-05 1.51467584e+02] [ 2.04593121e-01 9.78847105e-01 1.31616718e-05 1.03602551e+01] [-9.05949714e-05 5.48955614e-06 9.99999996e-01 -3.85933098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72719347 meters 0.07235172380018555 Centerline is valid? [True, True] Translation: X:151.53, Y:10.38, Z:-3.86 [[ 9.79710757e-01 -2.00382384e-01 -3.70566936e-03 1.51527494e+02] [ 2.00381771e-01 9.79717742e-01 -5.39787171e-04 1.03773731e+01] [ 3.73867386e-03 -2.13713290e-04 9.99992988e-01 -3.86488291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78719347 meters 0.06841821921319337 Centerline is valid? [True, True] Translation: X:151.58, Y:10.41, Z:-3.87 [[ 9.82401285e-01 -1.86670663e-01 -6.46370738e-03 1.51583196e+02] [ 1.86668476e-01 9.82422509e-01 -9.45363270e-04 1.04054234e+01] [ 6.52656321e-03 -2.77844317e-04 9.99978663e-01 -3.86909813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84719347 meters 0.06417478266933693 Centerline is valid? [True, True] Translation: X:151.64, Y:10.43, Z:-3.87 [[ 9.84160857e-01 -1.77187584e-01 -5.65406706e-03 1.51640855e+02] [ 1.77185755e-01 9.84177080e-01 -8.26619965e-04 1.04312602e+01] [ 5.71107000e-03 -1.88293131e-04 9.99983674e-01 -3.86680078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90719347 meters 0.06348144322110631 Centerline is valid? [True, True] Translation: X:151.70, Y:10.45, Z:-3.87 [[ 9.84666234e-01 -1.74257895e-01 -8.16046550e-03 1.51701579e+02] [ 1.74254009e-01 9.84700017e-01 -1.19022721e-03 1.04457095e+01] [ 8.24301701e-03 -2.50017291e-04 9.99965994e-01 -3.87130111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96719347 meters 0.06473548597762221 Centerline is valid? [True, True] Translation: X:151.76, Y:10.45, Z:-3.87 [[ 9.83751408e-01 -1.79434582e-01 -6.03314334e-03 1.51763490e+02] [ 1.79432572e-01 9.83769883e-01 -8.77186576e-04 1.04485956e+01] [ 6.09262233e-03 -2.19608898e-04 9.99981416e-01 -3.87334057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02719347000001 meters 0.06716993229768962 Centerline is valid? [True, True] Translation: X:151.82, Y:10.45, Z:-3.87 [[ 9.82471055e-01 -1.86325279e-01 -5.78926047e-03 1.51823944e+02] [ 1.86323528e-01 9.82488081e-01 -8.45056087e-04 1.04486695e+01] [ 5.84533472e-03 -2.48432292e-04 9.99982885e-01 -3.87476301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08719347000002 meters 0.06763695571074034 Centerline is valid? [True, True] Translation: X:151.88, Y:10.46, Z:-3.88 [[ 9.81412992e-01 -1.91723341e-01 -8.40833973e-03 1.51883898e+02] [ 1.91719847e-01 9.81448926e-01 -1.22720726e-03 1.04560279e+01] [ 8.48764027e-03 -4.07648455e-04 9.99963896e-01 -3.87566206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14719347000002 meters 0.06914187836860777 Centerline is valid? [True, True] Translation: X:151.95, Y:10.46, Z:-3.88 [[ 9.80848878e-01 -1.94628302e-01 -7.43659033e-03 1.51945961e+02] [ 1.94625667e-01 9.80876993e-01 -1.08341007e-03 1.04586897e+01] [ 7.50524262e-03 -3.84689805e-04 9.99971761e-01 -3.87813241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20719347000002 meters 0.0702157721309559 Centerline is valid? [True, True] Translation: X:152.01, Y:10.46, Z:-3.88 [[ 9.80545056e-01 -1.96069064e-01 -9.39766233e-03 1.52005525e+02] [ 1.96064903e-01 9.80589962e-01 -1.37108871e-03 1.04643900e+01] [ 9.48408143e-03 -4.98137494e-04 9.99954901e-01 -3.88126368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26719347000002 meters 0.07287110654080038 Centerline is valid? [True, True] Translation: X:152.07, Y:10.47, Z:-3.89 [[ 9.80880420e-01 -1.94344654e-01 -1.01861258e-02 1.52066311e+02] [ 1.94339695e-01 9.80933168e-01 -1.48398239e-03 1.04678910e+01] [ 1.02803127e-02 -5.23959317e-04 9.99947019e-01 -3.88782892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32719347000003 meters 0.06929090595440619 Centerline is valid? [True, True] Translation: X:152.13, Y:10.48, Z:-3.89 [[ 9.81421958e-01 -1.91468807e-01 -1.22734253e-02 1.52127598e+02] [ 1.91461407e-01 9.81498517e-01 -1.78605471e-03 1.04822173e+01] [ 1.23883225e-02 -5.97013978e-04 9.99923084e-01 -3.88885658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38719347000003 meters 0.06997421002674015 Centerline is valid? [True, True] Translation: X:152.19, Y:10.49, Z:-3.89 [[ 9.81441590e-01 -1.91051497e-01 -1.64842397e-02 1.52187899e+02] [ 1.91038048e-01 9.81579695e-01 -2.40137660e-03 1.04911648e+01] [ 1.66393816e-02 -7.92306112e-04 9.99861242e-01 -3.89323947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44719347000003 meters 0.07120938061324389 Centerline is valid? [True, True] Translation: X:152.25, Y:10.50, Z:-3.90 [[ 9.81438904e-01 -1.91016971e-01 -1.70351081e-02 1.52248174e+02] [ 1.91002639e-01 9.81586391e-01 -2.47953637e-03 1.04955896e+01] [ 1.71950638e-02 -8.20237126e-04 9.99851818e-01 -3.89619988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50719347 meters 0.0715214067133676 Centerline is valid? [True, True] Translation: X:152.31, Y:10.50, Z:-3.89 [[ 9.81268293e-01 -1.92086686e-01 -1.46711252e-02 1.52308986e+02] [ 1.92076178e-01 9.81377696e-01 -2.13519847e-03 1.05034623e+01] [ 1.48080582e-02 -7.22771094e-04 9.99890093e-01 -3.89465832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56719347 meters 0.06730462043706437 Centerline is valid? [True, True] Translation: X:152.37, Y:10.52, Z:-3.88 [[ 9.81243291e-01 -1.92669606e-01 -6.32672075e-03 1.52368342e+02] [ 1.92667666e-01 9.81263636e-01 -9.20517470e-04 1.05191783e+01] [ 6.38553674e-03 -3.15702928e-04 9.99979562e-01 -3.88324570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62719347 meters 0.06893815090434102 Centerline is valid? [True, True] Translation: X:152.43, Y:10.52, Z:-3.88 [[ 9.80529134e-01 -1.96351920e-01 -2.92242454e-03 1.52430540e+02] [ 1.96351528e-01 9.80533476e-01 -4.23095185e-04 1.05249026e+01] [ 2.94861064e-03 -1.58965368e-04 9.99995640e-01 -3.88204522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68719347 meters 0.07065797003805444 Centerline is valid? [True, True] Translation: X:152.49, Y:10.53, Z:-3.88 [[ 9.79461013e-01 -2.01630858e-01 -1.05860739e-03 1.52491728e+02] [ 2.01630810e-01 9.79461583e-01 -1.53473339e-04 1.05293572e+01] [ 1.06781023e-03 -6.31267125e-05 9.99999428e-01 -3.88320442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74719347 meters 0.07718632166861605 Centerline is valid? [True, True] Translation: X:152.55, Y:10.53, Z:-3.88 [[ 9.76889492e-01 -2.13744858e-01 -2.35095308e-04 1.52552505e+02] [ 2.13744856e-01 9.76889521e-01 -3.41985828e-05 1.05271549e+01] [ 2.36971914e-04 -1.68421766e-05 9.99999972e-01 -3.88469147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80719347000002 meters 0.07798809756516019 Centerline is valid? [True, True] Translation: X:152.61, Y:10.54, Z:-3.89 [[ 9.75566765e-01 -2.19695929e-01 -1.78482367e-03 1.52612611e+02] [ 2.19695821e-01 9.75568388e-01 -2.58693184e-04 1.05390916e+01] [ 1.79805139e-03 -1.39745829e-04 9.99998374e-01 -3.88696934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86719347000002 meters 0.08147980566409664 Centerline is valid? [True, True] Translation: X:152.67, Y:10.55, Z:-3.89 [[ 9.75235284e-01 -2.21112326e-01 -5.04774887e-03 1.52671513e+02] [ 2.21111483e-01 9.75248264e-01 -7.31422964e-04 1.05487759e+01] [ 5.08453496e-03 -4.02805759e-04 9.99986993e-01 -3.89234057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92719347000002 meters 0.07940484352855269 Centerline is valid? [True, True] Translation: X:152.73, Y:10.57, Z:-3.90 [[ 9.75453049e-01 -2.20004129e-01 -9.46217429e-03 1.52730543e+02] [ 2.20001103e-01 9.75498658e-01 -1.37240079e-03 1.05735206e+01] [ 9.53227216e-03 -7.42976244e-04 9.99954291e-01 -3.89737096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98719347000002 meters 0.08065499391720471 Centerline is valid? [True, True] Translation: X:152.79, Y:10.59, Z:-3.90 [[ 9.75514063e-01 -2.19797243e-01 -7.84124120e-03 1.52790343e+02] [ 2.19795160e-01 9.75545383e-01 -1.13700669e-03 1.05887620e+01] [ 7.89939758e-03 -6.14300846e-04 9.99968611e-01 -3.90077187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04719347000002 meters 0.07912352706178614 Centerline is valid? [True, True] Translation: X:152.85, Y:10.62, Z:-3.90 [[ 9.75550297e-01 -2.19579718e-01 -9.29334163e-03 1.52849060e+02] [ 2.19576792e-01 9.75594290e-01 -1.34654310e-03 1.06163511e+01] [ 9.36220459e-03 -7.26981622e-04 9.99955909e-01 -3.90155561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10719347000003 meters 0.07944668930002155 Centerline is valid? [True, True] Translation: X:152.91, Y:10.63, Z:-3.90 [[ 9.75523470e-01 -2.19698588e-01 -9.30002500e-03 1.52909326e+02] [ 2.19695671e-01 9.75567526e-01 -1.34673527e-03 1.06332920e+01] [ 9.36867822e-03 -7.29403369e-04 9.99955847e-01 -3.90423385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16719347000003 meters 0.08041173130816966 Centerline is valid? [True, True] Translation: X:152.97, Y:10.66, Z:-3.90 [[ 9.75522450e-01 -2.19722730e-01 -8.82448681e-03 1.52967767e+02] [ 2.19720106e-01 9.75562116e-01 -1.27775407e-03 1.06550895e+01] [ 8.88958664e-03 -6.92439392e-04 9.99960247e-01 -3.90384523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22719347 meters 0.08050685514055174 Centerline is valid? [True, True] Translation: X:153.03, Y:10.67, Z:-3.91 [[ 9.75526483e-01 -2.19672447e-01 -9.59668058e-03 1.53028400e+02] [ 2.19669352e-01 9.75573395e-01 -1.38843098e-03 1.06693888e+01] [ 9.66726628e-03 -7.53645416e-04 9.99952987e-01 -3.90546855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28719347 meters 0.07634679692387483 Centerline is valid? [True, True] Translation: X:153.09, Y:10.70, Z:-3.90 [[ 9.76234710e-01 -2.16573074e-01 -7.86731930e-03 1.53086417e+02] [ 2.16570885e-01 9.76266231e-01 -1.13935801e-03 1.06953152e+01] [ 7.92735243e-03 -5.91551465e-04 9.99968403e-01 -3.90459037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34719347 meters 0.07578259506474044 Centerline is valid? [True, True] Translation: X:153.14, Y:10.71, Z:-3.90 [[ 9.77070260e-01 -2.12779360e-01 -7.65842068e-03 1.53144746e+02] [ 2.12777165e-01 9.77100121e-01 -1.10972629e-03 1.07122311e+01] [ 7.71917063e-03 -5.45256486e-04 9.99970058e-01 -3.90417889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40719347 meters 0.07227449300082635 Centerline is valid? [True, True] Translation: X:153.20, Y:10.74, Z:-3.91 [[ 9.78742787e-01 -2.04852242e-01 -9.90533805e-03 1.53202608e+02] [ 2.04848167e-01 9.78792710e-01 -1.43509933e-03 1.07355758e+01] [ 9.98925598e-03 -6.24497231e-04 9.99949911e-01 -3.90614853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46719347 meters 0.06563639704132612 Centerline is valid? [True, True] Translation: X:153.26, Y:10.77, Z:-3.91 [[ 9.82360257e-01 -1.86585446e-01 -1.24176240e-02 1.53258883e+02] [ 1.86577590e-01 9.82438583e-01 -1.79838551e-03 1.07703865e+01] [ 1.25351055e-02 -5.50187915e-04 9.99921281e-01 -3.90706396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52719347000001 meters 0.0637228708172322 Centerline is valid? [True, True] Translation: X:153.32, Y:10.79, Z:-3.91 [[ 9.84335904e-01 -1.75900659e-01 -1.19074075e-02 1.53316952e+02] [ 1.75892652e-01 9.84407843e-01 -1.72454507e-03 1.07870647e+01] [ 1.20250940e-02 -3.96893864e-04 9.99927617e-01 -3.91262041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58719347000002 meters 0.06060305186508639 Centerline is valid? [True, True] Translation: X:153.37, Y:10.81, Z:-3.91 [[ 9.86608648e-01 -1.62861959e-01 -8.90833739e-03 1.53374127e+02] [ 1.62856943e-01 9.86648849e-01 -1.29042534e-03 1.08118177e+01] [ 8.99956203e-03 -1.77639802e-04 9.99959487e-01 -3.90957064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64719347000002 meters 0.05890408592394436 Centerline is valid? [True, True] Translation: X:153.44, Y:10.82, Z:-3.91 [[ 9.87620396e-01 -1.56699730e-01 -7.15185031e-03 1.53435220e+02] [ 1.56696351e-01 9.87646285e-01 -1.03389623e-03 1.08222089e+01] [ 7.22550965e-03 -9.95718378e-05 9.99973891e-01 -3.90636591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70719347000002 meters 0.0586695757383679 Centerline is valid? [True, True] Translation: X:153.50, Y:10.82, Z:-3.91 [[ 9.87628025e-01 -1.56660755e-01 -6.94929287e-03 1.53498898e+02] [ 1.56657629e-01 9.87652468e-01 -9.95276280e-04 1.08208678e+01] [ 7.01940698e-03 -1.05696999e-04 9.99975358e-01 -3.90972488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76719347000002 meters 0.05928949186276808 Centerline is valid? [True, True] Translation: X:153.56, Y:10.82, Z:-3.91 [[ 9.87090420e-01 -1.60052555e-01 -5.97341721e-03 1.53561899e+02] [ 1.60050314e-01 9.87108488e-01 -8.54393384e-04 1.08156863e+01] [ 6.03315868e-03 -1.12683774e-04 9.99981794e-01 -3.91059088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82719347000003 meters 0.059788212065468374 Centerline is valid? [True, True] Translation: X:153.63, Y:10.81, Z:-3.92 [[ 9.86974535e-01 -1.60680307e-01 -7.94394615e-03 1.53625753e+02] [ 1.60676367e-01 9.87006492e-01 -1.13585419e-03 1.08070143e+01] [ 8.02323581e-03 -1.55345251e-04 9.99967801e-01 -3.91555680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88719347000003 meters 0.059792257433065404 Centerline is valid? [True, True] Translation: X:153.69, Y:10.81, Z:-3.92 [[ 9.86932857e-01 -1.60748179e-01 -1.11157117e-02 1.53688799e+02] [ 1.60740395e-01 9.86995430e-01 -1.59606822e-03 1.08069434e+01] [ 1.12277217e-02 -2.11531719e-04 9.99936945e-01 -3.91898263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94719347000003 meters 0.05973186641019697 Centerline is valid? [True, True] Translation: X:153.75, Y:10.81, Z:-3.92 [[ 9.87540161e-01 -1.56784697e-01 -1.35273190e-02 1.53751532e+02] [ 1.56772805e-01 9.87632785e-01 -1.94167275e-03 1.08093875e+01] [ 1.36644483e-02 -2.03235934e-04 9.99906616e-01 -3.92333941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00719347 meters 0.060084431247649894 Centerline is valid? [True, True] Translation: X:153.81, Y:10.81, Z:-3.93 [[ 9.88502439e-01 -1.50240088e-01 -1.70541562e-02 1.53812638e+02] [ 1.50220360e-01 9.88649530e-01 -2.43925515e-03 1.08116803e+01] [ 1.72270574e-02 -1.50671822e-04 9.99851592e-01 -3.92844772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06719347 meters 0.05981448181389018 Centerline is valid? [True, True] Translation: X:153.88, Y:10.81, Z:-3.93 [[ 9.88799242e-01 -1.48133071e-01 -1.82387860e-02 1.53875198e+02] [ 1.48110088e-01 9.88967431e-01 -2.61202826e-03 1.08128094e+01] [ 1.84244931e-02 -1.18576641e-04 9.99830248e-01 -3.92822803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12719347 meters 0.059070684961260826 Centerline is valid? [True, True] Translation: X:153.94, Y:10.81, Z:-3.93 [[ 9.89968693e-01 -1.40497763e-01 -1.49119068e-02 1.53938064e+02] [ 1.40481545e-01 9.90080996e-01 -2.13475021e-03 1.08098888e+01] [ 1.50639232e-02 1.84881680e-05 9.99886532e-01 -3.92835019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18719347 meters 0.05956609141524419 Centerline is valid? [True, True] Translation: X:154.00, Y:10.81, Z:-3.93 [[ 9.91174411e-01 -1.31748983e-01 -1.46796733e-02 1.54001375e+02] [ 1.31732334e-01 9.91283100e-01 -2.09962473e-03 1.08092813e+01] [ 1.48283355e-02 1.47306669e-04 9.99890043e-01 -3.92718143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24719347 meters 0.059565543346690834 Centerline is valid? [True, True] Translation: X:154.07, Y:10.80, Z:-3.93 [[ 9.91119309e-01 -1.32230729e-01 -1.40552307e-02 1.54065705e+02] [ 1.32215565e-01 9.91218955e-01 -2.00677442e-03 1.08026217e+01] [ 1.41971683e-02 1.30632607e-04 9.99899207e-01 -3.92768678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30719347000002 meters 0.058811105496493286 Centerline is valid? [True, True] Translation: X:154.13, Y:10.77, Z:-3.93 [[ 9.89938553e-01 -1.41089336e-01 -1.07452368e-02 1.54131535e+02] [ 1.41080982e-01 9.89996868e-01 -1.53535492e-03 1.07738767e+01] [ 1.08543730e-02 3.95847834e-06 9.99941090e-01 -3.92877835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36719347000002 meters 0.058581094310055294 Centerline is valid? [True, True] Translation: X:154.20, Y:10.76, Z:-3.93 [[ 9.88854852e-01 -1.48629277e-01 -8.68442901e-03 1.54196647e+02] [ 1.48624128e-01 9.88892984e-01 -1.23882372e-03 1.07574138e+01] [ 8.77209639e-03 -6.56988409e-05 9.99961522e-01 -3.92637742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42719347000002 meters 0.05998705620905759 Centerline is valid? [True, True] Translation: X:154.26, Y:10.74, Z:-3.93 [[ 9.87385558e-01 -1.57882577e-01 -1.19520539e-02 1.54259953e+02] [ 1.57873477e-01 9.87457873e-01 -1.70708433e-03 1.07420151e+01] [ 1.20716686e-02 -2.01361882e-04 9.99927114e-01 -3.93017808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48719347000002 meters 0.06367032475329265 Centerline is valid? [True, True] Translation: X:154.32, Y:10.72, Z:-3.93 [[ 9.85156002e-01 -1.71079103e-01 -1.41277073e-02 1.54324380e+02] [ 1.71067732e-01 9.85257203e-01 -2.01844979e-03 1.07173576e+01] [ 1.42647399e-02 -4.28306917e-04 9.99898162e-01 -3.93459787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54719347000002 meters 0.06815539734430136 Centerline is valid? [True, True] Translation: X:154.39, Y:10.70, Z:-3.94 [[ 9.84014852e-01 -1.77437696e-01 -1.51866683e-02 1.54387173e+02] [ 1.77425286e-01 9.84131878e-01 -2.17142306e-03 1.06971742e+01] [ 1.53309767e-02 -5.57786422e-04 9.99882318e-01 -3.94068765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60719347000003 meters 0.0654115876339219 Centerline is valid? [True, True] Translation: X:154.44, Y:10.71, Z:-3.94 [[ 9.84456429e-01 -1.74738032e-01 -1.76680386e-02 1.54444218e+02] [ 1.74720568e-01 9.84614785e-01 -2.53925872e-03 1.07094773e+01] [ 1.78399171e-02 -5.87180154e-04 9.99840684e-01 -3.93746482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66719347000003 meters 0.06361085590729962 Centerline is valid? [True, True] Translation: X:154.50, Y:10.72, Z:-3.94 [[ 9.85724851e-01 -1.67358269e-01 -1.83773765e-02 1.54502388e+02] [ 1.67338215e-01 9.85896030e-01 -2.63451677e-03 1.07237244e+01] [ 1.85590907e-02 -4.78328720e-04 9.99827651e-01 -3.93848576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72719347 meters 0.06159255123776354 Centerline is valid? [True, True] Translation: X:154.56, Y:10.74, Z:-3.94 [[ 9.87557451e-01 -1.56133011e-01 -1.87820325e-02 1.54561074e+02] [ 1.56110034e-01 9.87736001e-01 -2.69239474e-03 1.07355129e+01] [ 1.89720614e-02 -2.73169254e-04 9.99819977e-01 -3.94085704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78719347 meters 0.06076310980464439 Centerline is valid? [True, True] Translation: X:154.62, Y:10.74, Z:-3.94 [[ 9.88216349e-01 -1.51919966e-01 -1.86754205e-02 1.54618896e+02] [ 1.51896250e-01 9.88392782e-01 -2.69019411e-03 1.07448720e+01] [ 1.88673451e-02 -1.78232535e-04 9.99821980e-01 -3.94002510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84719347 meters 0.06196909829748063 Centerline is valid? [True, True] Translation: X:154.68, Y:10.75, Z:-3.95 [[ 9.88518991e-01 -1.49884127e-01 -1.91037158e-02 1.54675955e+02] [ 1.49858951e-01 9.88703559e-01 -2.75082073e-03 1.07458589e+01] [ 1.93002161e-02 -1.43624274e-04 9.99813723e-01 -3.94912577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90719347 meters 0.06107033864492998 Centerline is valid? [True, True] Translation: X:154.74, Y:10.75, Z:-3.94 [[ 9.88229553e-01 -1.52028160e-01 -1.70232156e-02 1.54736061e+02] [ 1.52008338e-01 9.88376150e-01 -2.45991671e-03 1.07459708e+01] [ 1.71993169e-02 -1.56708321e-04 9.99852069e-01 -3.94280242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96719347 meters 0.06246049654566225 Centerline is valid? [True, True] Translation: X:154.80, Y:10.73, Z:-3.95 [[ 9.87080600e-01 -1.59453182e-01 -1.57025787e-02 1.54796134e+02] [ 1.59437287e-01 9.87205456e-01 -2.26700072e-03 1.07336358e+01] [ 1.58631518e-02 -2.65864118e-04 9.99874137e-01 -3.94668153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02719347000001 meters 0.06407774946228831 Centerline is valid? [True, True] Translation: X:154.86, Y:10.73, Z:-3.95 [[ 9.86005845e-01 -1.65784685e-01 -1.75474494e-02 1.54857700e+02] [ 1.65765873e-01 9.86161887e-01 -2.53128154e-03 1.07277501e+01] [ 1.77242735e-02 -4.12909881e-04 9.99842827e-01 -3.94961435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08719347000002 meters 0.06600788039144542 Centerline is valid? [True, True] Translation: X:154.92, Y:10.72, Z:-3.95 [[ 9.84270097e-01 -1.76227468e-01 -1.25002562e-02 1.54918771e+02] [ 1.76218625e-01 9.84349382e-01 -1.81401056e-03 1.07180433e+01] [ 1.26242980e-02 -4.17301620e-04 9.99920223e-01 -3.94564660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14719347000002 meters 0.06528425807997316 Centerline is valid? [True, True] Translation: X:154.98, Y:10.73, Z:-3.94 [[ 9.83756279e-01 -1.79101023e-01 -1.20998711e-02 1.54976593e+02] [ 1.79092991e-01 9.83830589e-01 -1.75295746e-03 1.07259994e+01] [ 1.22181798e-02 -4.42519206e-04 9.99925257e-01 -3.94261057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20719347000002 meters 0.06734310987647567 Centerline is valid? [True, True] Translation: X:155.03, Y:10.73, Z:-3.95 [[ 9.83556921e-01 -1.80167917e-01 -1.24621093e-02 1.55034412e+02] [ 1.80159467e-01 9.83635757e-01 -1.80668977e-03 1.07298962e+01] [ 1.25836838e-02 -4.68184738e-04 9.99920713e-01 -3.94854092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26719347000002 meters 0.06777500591369533 Centerline is valid? [True, True] Translation: X:155.09, Y:10.74, Z:-3.95 [[ 9.82852959e-01 -1.83795743e-01 -1.48049226e-02 1.55094571e+02] [ 1.83784259e-01 9.82964266e-01 -2.14423846e-03 1.07351485e+01] [ 1.49468117e-02 -6.13440608e-04 9.99888102e-01 -3.95174390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32719347000003 meters 0.07002802849524084 Centerline is valid? [True, True] Translation: X:155.15, Y:10.74, Z:-3.95 [[ 9.81904673e-01 -1.88772038e-01 -1.51106406e-02 1.55154630e+02] [ 1.88760659e-01 9.82020684e-01 -2.18867489e-03 1.07410815e+01] [ 1.52521222e-02 -7.03224381e-04 9.99883432e-01 -3.95408914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38719347000003 meters 0.07092717214084027 Centerline is valid? [True, True] Translation: X:155.21, Y:10.75, Z:-3.96 [[ 9.81822865e-01 -1.88995626e-01 -1.74503591e-02 1.55212555e+02] [ 1.88980432e-01 9.81977592e-01 -2.53063533e-03 1.07533639e+01] [ 1.76141406e-02 -8.13140775e-04 9.99844528e-01 -3.95689590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44719347000003 meters 0.06981582971832069 Centerline is valid? [True, True] Translation: X:155.27, Y:10.77, Z:-3.96 [[ 9.82715841e-01 -1.84343499e-01 -1.69425829e-02 1.55270031e+02] [ 1.84328492e-01 9.82861624e-01 -2.45665748e-03 1.07677362e+01] [ 1.71050834e-02 -7.08804542e-04 9.99853446e-01 -3.95948311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50719347 meters 0.06714259900812905 Centerline is valid? [True, True] Translation: X:155.33, Y:10.79, Z:-3.96 [[ 9.84093561e-01 -1.77011800e-01 -1.50560859e-02 1.55328335e+02] [ 1.76999099e-01 9.84208593e-01 -2.18256641e-03 1.07868890e+01] [ 1.52046692e-02 -5.17064091e-04 9.99884269e-01 -3.96057900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56719347 meters 0.06367549898305246 Centerline is valid? [True, True] Translation: X:155.38, Y:10.82, Z:-3.97 [[ 9.86799874e-01 -1.60896832e-01 -1.83906982e-02 1.55384016e+02] [ 1.60875078e-01 9.86971176e-01 -2.66597870e-03 1.08206872e+01] [ 1.85800365e-02 -3.27817558e-04 9.99827322e-01 -3.96644851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62719347 meters 0.062354286574399995 Centerline is valid? [True, True] Translation: X:155.44, Y:10.84, Z:-3.97 [[ 9.87877127e-01 -1.54296778e-01 -1.70671090e-02 1.55442393e+02] [ 1.54277045e-01 9.88024528e-01 -2.47478419e-03 1.08378559e+01] [ 1.72445735e-02 -1.88280445e-04 9.99851284e-01 -3.96706508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68719347 meters 0.06132775987657763 Centerline is valid? [True, True] Translation: X:155.50, Y:10.85, Z:-3.96 [[ 9.88294359e-01 -1.52215257e-01 -1.02359479e-02 1.55500857e+02] [ 1.52208042e-01 9.88347362e-01 -1.48478926e-03 1.08499850e+01] [ 1.03426797e-02 -9.05847393e-05 9.99946509e-01 -3.96342503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74719347 meters 0.060106542291213684 Centerline is valid? [True, True] Translation: X:155.56, Y:10.86, Z:-3.96 [[ 9.88672652e-01 -1.49774570e-01 -9.69357963e-03 1.55558781e+02] [ 1.49767883e-01 9.88720170e-01 -1.41622582e-03 1.08621222e+01] [ 9.79635232e-03 -5.16031638e-05 9.99952013e-01 -3.95623588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80719347000002 meters 0.06029799074702113 Centerline is valid? [True, True] Translation: X:155.62, Y:10.87, Z:-3.96 [[ 9.89085037e-01 -1.46886681e-01 -1.16229486e-02 1.55616576e+02] [ 1.46876903e-01 9.89153326e-01 -1.69509467e-03 1.08693534e+01] [ 1.17458651e-02 -3.05499167e-05 9.99931014e-01 -3.95934360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86719347000002 meters 0.06022566950889204 Centerline is valid? [True, True] Translation: X:155.67, Y:10.87, Z:-3.96 [[ 9.89335036e-01 -1.45441775e-01 -7.92952690e-03 1.55674932e+02] [ 1.45437177e-01 9.89366813e-01 -1.15649176e-03 1.08739731e+01] [ 8.01341297e-03 -9.09019431e-06 9.99967892e-01 -3.96182121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92719347000002 meters 0.06034105325748015 Centerline is valid? [True, True] Translation: X:155.73, Y:10.88, Z:-3.96 [[ 9.89452212e-01 -1.44530800e-01 -9.75535534e-03 1.55733428e+02] [ 1.44523720e-01 9.89500302e-01 -1.43057473e-03 1.08799039e+01] [ 9.85968916e-03 5.60508466e-06 9.99951392e-01 -3.96377509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98719347000002 meters 0.06204776228485482 Centerline is valid? [True, True] Translation: X:155.79, Y:10.88, Z:-3.98 [[ 9.89870491e-01 -1.41106596e-01 -1.56632958e-02 1.55792803e+02] [ 1.41088089e-01 9.89994407e-01 -2.28593196e-03 1.08841405e+01] [ 1.58291353e-02 5.28721239e-05 9.99874710e-01 -3.97669791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04719347000002 meters 0.06115558237318899 Centerline is valid? [True, True] Translation: X:155.85, Y:10.88, Z:-3.97 [[ 9.89679825e-01 -1.42295053e-01 -1.69104303e-02 1.55852507e+02] [ 1.42273432e-01 9.89824285e-01 -2.48099187e-03 1.08830900e+01] [ 1.70913875e-02 4.94826486e-05 9.99853930e-01 -3.97122226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10719347000003 meters 0.0618726076651548 Centerline is valid? [True, True] Translation: X:155.91, Y:10.88, Z:-3.98 [[ 9.89103473e-01 -1.45711607e-01 -2.10344071e-02 1.55913261e+02] [ 1.45679068e-01 9.89327108e-01 -3.07930053e-03 1.08764352e+01] [ 2.12585990e-02 -1.85259713e-05 9.99774010e-01 -3.97631540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16719347000003 meters 0.06307716532413034 Centerline is valid? [True, True] Translation: X:155.97, Y:10.87, Z:-3.99 [[ 9.88829973e-01 -1.47256765e-01 -2.30375579e-02 1.55972173e+02] [ 1.47218067e-01 9.89098298e-01 -3.37613164e-03 1.08734351e+01] [ 2.32835675e-02 -5.31245935e-05 9.99728900e-01 -3.98692079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22719347 meters 0.06234154242434972 Centerline is valid? [True, True] Translation: X:156.03, Y:10.87, Z:-3.98 [[ 9.88441278e-01 -1.50121223e-01 -2.11531936e-02 1.56033117e+02] [ 1.50089019e-01 9.88667593e-01 -3.11091356e-03 1.08668065e+01] [ 2.13804911e-02 -9.99067046e-05 9.99771406e-01 -3.98137325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28719347 meters 0.061860478539026154 Centerline is valid? [True, True] Translation: X:156.09, Y:10.87, Z:-3.98 [[ 9.88320530e-01 -1.51247827e-01 -1.86178584e-02 1.56092349e+02] [ 1.51223125e-01 9.88495869e-01 -2.73575261e-03 1.08669545e+01] [ 1.88174528e-02 -1.11650255e-04 9.99822930e-01 -3.97832974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34719347 meters 0.062228621223796354 Centerline is valid? [True, True] Translation: X:156.15, Y:10.87, Z:-3.98 [[ 9.88082153e-01 -1.53103604e-01 -1.59042480e-02 1.56150707e+02] [ 1.53085748e-01 9.88210135e-01 -2.34134835e-03 1.08680971e+01] [ 1.60752079e-02 -1.21269190e-04 9.99870778e-01 -3.98059662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40719347 meters 0.061830021445674774 Centerline is valid? [True, True] Translation: X:156.21, Y:10.86, Z:-3.98 [[ 9.87570175e-01 -1.56717381e-01 -1.20337775e-02 1.56210952e+02] [ 1.56707421e-01 9.87643480e-01 -1.77204567e-03 1.08645164e+01] [ 1.21627923e-02 -1.35762787e-04 9.99926021e-01 -3.97513113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46719347 meters 0.06226937873666394 Centerline is valid? [True, True] Translation: X:156.27, Y:10.86, Z:-3.98 [[ 9.87292715e-01 -1.58330235e-01 -1.35879215e-02 1.56270350e+02] [ 1.58317556e-01 9.87386201e-01 -2.01052751e-03 1.08642833e+01] [ 1.37348535e-02 -1.66227368e-04 9.99905659e-01 -3.97779614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52719347000001 meters 0.06278229159908826 Centerline is valid? [True, True] Translation: X:156.33, Y:10.87, Z:-3.98 [[ 9.86788817e-01 -1.61405041e-01 -1.40086907e-02 1.56329589e+02] [ 1.61391815e-01 9.86888225e-01 -2.07694831e-03 1.08682020e+01] [ 1.41602418e-02 -2.11378662e-04 9.99899716e-01 -3.98007832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58719347000002 meters 0.06351269041126309 Centerline is valid? [True, True] Translation: X:156.39, Y:10.87, Z:-3.98 [[ 9.86151043e-01 -1.65447518e-01 -1.15429240e-02 1.56387985e+02] [ 1.65438843e-01 9.86218570e-01 -1.70903786e-03 1.08713943e+01] [ 1.16666021e-02 -2.24278516e-04 9.99931918e-01 -3.98056263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64719347000002 meters 0.06472451130293692 Centerline is valid? [True, True] Translation: X:156.45, Y:10.87, Z:-3.99 [[ 9.85488373e-01 -1.69164885e-01 -1.39967074e-02 1.56448067e+02] [ 1.69152514e-01 9.85587711e-01 -2.07159292e-03 1.08699637e+01] [ 1.41454236e-02 -3.26047518e-04 9.99899895e-01 -3.98538578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70719347000002 meters 0.06429249926488645 Centerline is valid? [True, True] Translation: X:156.51, Y:10.88, Z:-3.99 [[ 9.86140909e-01 -1.65246683e-01 -1.48202804e-02 1.56505792e+02] [ 1.65232220e-01 9.86252228e-01 -2.20357043e-03 1.08802864e+01] [ 1.49806672e-02 -2.75756877e-04 9.99887745e-01 -3.98936978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76719347000002 meters 0.06194735995797727 Centerline is valid? [True, True] Translation: X:156.56, Y:10.90, Z:-3.98 [[ 9.88335897e-01 -1.51775063e-01 -1.25093817e-02 1.56563804e+02] [ 1.51763732e-01 9.88415058e-01 -1.85561667e-03 1.09013520e+01] [ 1.26460976e-02 -6.44978949e-05 9.99920033e-01 -3.98468124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82719347000003 meters 0.06212533533551346 Centerline is valid? [True, True] Translation: X:156.62, Y:10.91, Z:-3.99 [[ 9.89624081e-01 -1.43074155e-01 -1.31895680e-02 1.56621553e+02] [ 1.43060641e-01 9.89711970e-01 -1.96735595e-03 1.09142787e+01] [ 1.33353511e-02 6.00347807e-05 9.99911078e-01 -3.98866266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88719347000003 meters 0.062254142602698806 Centerline is valid? [True, True] Translation: X:156.68, Y:10.91, Z:-3.99 [[ 9.90178619e-01 -1.39200398e-01 -1.30211956e-02 1.56681303e+02] [ 1.39186832e-01 9.90264225e-01 -1.94675146e-03 1.09145780e+01] [ 1.31654127e-02 1.15252714e-04 9.99913326e-01 -3.99203785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94719347000003 meters 0.06230402616112115 Centerline is valid? [True, True] Translation: X:156.74, Y:10.92, Z:-3.99 [[ 9.90551245e-01 -1.36770874e-01 -1.00974614e-02 1.56740185e+02] [ 1.36762541e-01 9.90602702e-01 -1.51445991e-03 1.09151232e+01] [ 1.02097066e-02 1.19195670e-04 9.99947872e-01 -3.99343465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00719347 meters 0.06312329472889557 Centerline is valid? [True, True] Translation: X:156.80, Y:10.92, Z:-3.99 [[ 9.91711872e-01 -1.28332580e-01 -6.18969760e-03 1.56797433e+02] [ 1.28329267e-01 9.91731180e-01 -9.31010744e-04 1.09194556e+01] [ 6.25799511e-03 1.28975050e-04 9.99980410e-01 -3.99365750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06719347 meters 0.0634473402697499 Centerline is valid? [True, True] Translation: X:156.86, Y:10.93, Z:-3.99 [[ 9.92042247e-01 -1.25748737e-01 -6.27973066e-03 1.56856235e+02] [ 1.25745254e-01 9.92062111e-01 -9.47990479e-04 1.09261263e+01] [ 6.34909146e-03 1.50800277e-04 9.99979833e-01 -3.99450322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12719347 meters 0.06430019488868738 Centerline is valid? [True, True] Translation: X:156.92, Y:10.92, Z:-4.00 [[ 9.92091206e-01 -1.25229994e-01 -8.51395920e-03 1.56915973e+02] [ 1.25223629e-01 9.92127717e-01 -1.27873659e-03 1.09182470e+01] [ 8.60707109e-03 2.02474461e-04 9.99962938e-01 -4.00066251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18719347 meters 0.06316824335468067 Centerline is valid? [True, True] Translation: X:156.98, Y:10.91, Z:-4.00 [[ 9.91738619e-01 -1.27923865e-01 -9.48661434e-03 1.56976471e+02] [ 1.27916013e-01 9.91783969e-01 -1.43239278e-03 1.09107917e+01] [ 9.59190924e-03 2.07069348e-04 9.99953975e-01 -4.00043916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24719347 meters 0.06265636799771514 Centerline is valid? [True, True] Translation: X:157.04, Y:10.90, Z:-4.00 [[ 9.91651404e-01 -1.28772322e-01 -6.72176952e-03 1.57037112e+02] [ 1.28768417e-01 9.91674175e-01 -1.01230304e-03 1.09038324e+01] [ 6.79616186e-03 1.38300109e-04 9.99976896e-01 -3.99959715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30719347000002 meters 0.06215555216331034 Centerline is valid? [True, True] Translation: X:157.10, Y:10.90, Z:-4.00 [[ 9.91584224e-01 -1.29297988e-01 -6.53893765e-03 1.57095977e+02] [ 1.29294244e-01 9.91605774e-01 -9.93828349e-04 1.09000778e+01] [ 6.61254834e-03 1.40017512e-04 9.99978127e-01 -3.99915859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36719347000002 meters 0.061860555232862796 Centerline is valid? [True, True] Translation: X:157.16, Y:10.89, Z:-4.01 [[ 9.90564913e-01 -1.36735142e-01 -9.20072211e-03 1.57156520e+02] [ 1.36728130e-01 9.90607635e-01 -1.38982165e-03 1.08866577e+01] [ 9.30434303e-03 1.18711032e-04 9.99956707e-01 -4.00711894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42719347000002 meters 0.061594337006701076 Centerline is valid? [True, True] Translation: X:157.22, Y:10.87, Z:-4.01 [[ 9.88885103e-01 -1.48175952e-01 -1.22531751e-02 1.57218124e+02] [ 1.48164298e-01 9.88961014e-01 -1.85852674e-03 1.08726601e+01] [ 1.23933014e-02 2.23863225e-05 9.99923200e-01 -4.01045288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48719347000002 meters 0.06293314902951216 Centerline is valid? [True, True] Translation: X:157.28, Y:10.86, Z:-4.01 [[ 9.86744422e-01 -1.61723106e-01 -1.34566649e-02 1.57280647e+02] [ 1.61710373e-01 9.86836161e-01 -2.03621846e-03 1.08550002e+01] [ 1.36088271e-02 -1.66855094e-04 9.99907382e-01 -4.01267006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54719347000002 meters 0.06554320748412373 Centerline is valid? [True, True] Translation: X:157.34, Y:10.83, Z:-4.01 [[ 9.84303729e-01 -1.76012720e-01 -1.28721397e-02 1.57344483e+02] [ 1.76002302e-01 9.84387830e-01 -1.94660618e-03 1.08340563e+01] [ 1.30138052e-02 -3.49474501e-04 9.99915256e-01 -4.01049912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60719347000003 meters 0.06732390614451206 Centerline is valid? [True, True] Translation: X:157.40, Y:10.84, Z:-4.01 [[ 9.82314254e-01 -1.86737730e-01 -1.37013149e-02 1.57404572e+02] [ 1.86726961e-01 9.82409664e-01 -2.07237433e-03 1.08363256e+01] [ 1.38472947e-02 -5.22682053e-04 9.99903985e-01 -4.00990573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66719347000003 meters 0.06771676476481239 Centerline is valid? [True, True] Translation: X:157.46, Y:10.85, Z:-4.01 [[ 9.82093900e-01 -1.88121771e-01 -1.00881699e-02 1.57462432e+02] [ 1.88115896e-01 9.82145635e-01 -1.53670170e-03 1.08474713e+01] [ 1.01971391e-02 -3.88559756e-04 9.99947932e-01 -4.00881632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72719347 meters 0.06610922795793191 Centerline is valid? [True, True] Translation: X:157.52, Y:10.87, Z:-4.01 [[ 9.83045956e-01 -1.83202815e-01 -7.57474394e-03 1.57520733e+02] [ 1.83199396e-01 9.83075105e-01 -1.14862093e-03 1.08654332e+01] [ 7.65697278e-03 -2.58541353e-04 9.99970652e-01 -4.00602402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78719347 meters 0.06371301088537139 Centerline is valid? [True, True] Translation: X:157.58, Y:10.89, Z:-4.01 [[ 9.84693973e-01 -1.74080906e-01 -8.58012545e-03 1.57577556e+02] [ 1.74076172e-01 9.84731330e-01 -1.30119935e-03 1.08913895e+01] [ 8.67563231e-03 -2.12312236e-04 9.99962343e-01 -4.00745451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84719347 meters 0.06141564658100382 Centerline is valid? [True, True] Translation: X:157.63, Y:10.93, Z:-4.01 [[ 9.87772561e-01 -1.55500556e-01 -1.11778371e-02 1.57631147e+02] [ 1.55491319e-01 9.87835803e-01 -1.69600976e-03 1.09315660e+01] [ 1.13055982e-02 -6.27847366e-05 9.99936088e-01 -4.01405891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90719347 meters 0.06130777085853377 Centerline is valid? [True, True] Translation: X:157.69, Y:10.95, Z:-4.02 [[ 9.89236119e-01 -1.45928543e-01 -1.08055955e-02 1.57687237e+02] [ 1.45919231e-01 9.89295132e-01 -1.64941830e-03 1.09541894e+01] [ 1.09306202e-02 5.49199694e-05 9.99940257e-01 -4.01628852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96719347 meters 0.06191221900542629 Centerline is valid? [True, True] Translation: X:157.74, Y:10.97, Z:-4.02 [[ 9.89689919e-01 -1.42714263e-01 -1.21038289e-02 1.57743686e+02] [ 1.42702394e-01 9.89763926e-01 -1.84313209e-03 1.09666929e+01] [ 1.22429745e-02 9.68838840e-05 9.99925047e-01 -4.02203633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02719347000001 meters 0.06139879957625744 Centerline is valid? [True, True] Translation: X:157.80, Y:10.97, Z:-4.02 [[ 9.88701566e-01 -1.49302039e-01 -1.33459883e-02 1.57802635e+02] [ 1.49288085e-01 9.88791636e-01 -2.04137775e-03 1.09683461e+01] [ 1.35011835e-02 2.59163377e-05 9.99908855e-01 -4.02073629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08719347000002 meters 0.0626109350089 Centerline is valid? [True, True] Translation: X:157.86, Y:10.96, Z:-4.03 [[ 9.86976523e-01 -1.60077155e-01 -1.58948857e-02 1.57862943e+02] [ 1.60058860e-01 9.87104494e-01 -2.42478540e-03 1.09616316e+01] [ 1.60780659e-02 -1.50911031e-04 9.99870728e-01 -4.02766079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14719347000002 meters 0.06379272510623538 Centerline is valid? [True, True] Translation: X:157.92, Y:10.96, Z:-4.03 [[ 9.85915172e-01 -1.66322856e-01 -1.75493761e-02 1.57923762e+02] [ 1.66301541e-01 9.86071311e-01 -2.67726333e-03 1.09588468e+01] [ 1.77502264e-02 -2.78933746e-04 9.99842413e-01 -4.02887644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20719347000002 meters 0.06409649634398774 Centerline is valid? [True, True] Translation: X:157.98, Y:10.96, Z:-4.03 [[ 9.85256743e-01 -1.70422572e-01 -1.50099238e-02 1.57983470e+02] [ 1.70407285e-01 9.85371028e-01 -2.30098924e-03 1.09605728e+01] [ 1.51824846e-02 -2.90735210e-04 9.99884697e-01 -4.02706485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26719347000002 meters 0.06350040392043534 Centerline is valid? [True, True] Translation: X:158.04, Y:10.97, Z:-4.03 [[ 9.85496564e-01 -1.69308012e-01 -1.14594377e-02 1.58043031e+02] [ 1.69299083e-01 9.85563165e-01 -1.75183015e-03 1.09703693e+01] [ 1.15905985e-02 -2.13649701e-04 9.99932804e-01 -4.02541020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32719347000003 meters 0.06262426872674313 Centerline is valid? [True, True] Translation: X:158.10, Y:10.98, Z:-4.02 [[ 9.85725748e-01 -1.67877699e-01 -1.27211964e-02 1.58100669e+02] [ 1.67866431e-01 9.85807808e-01 -1.95607218e-03 1.09832138e+01] [ 1.28690356e-02 -2.07311114e-04 9.99917169e-01 -4.02423768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38719347000003 meters 0.06402724049966053 Centerline is valid? [True, True] Translation: X:158.16, Y:10.99, Z:-4.03 [[ 9.84969567e-01 -1.72290082e-01 -1.22914450e-02 1.58158789e+02] [ 1.72279947e-01 9.85046223e-01 -1.88660116e-03 1.09875001e+01] [ 1.24326841e-02 -2.59324758e-04 9.99922678e-01 -4.02973096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44719347000003 meters 0.0655280755653799 Centerline is valid? [True, True] Translation: X:158.22, Y:10.99, Z:-4.03 [[ 9.84308867e-01 -1.75750788e-01 -1.57389738e-02 1.58218677e+02] [ 1.75734668e-01 9.84434613e-01 -2.41226774e-03 1.09949953e+01] [ 1.59179485e-02 -3.91466810e-04 9.99873225e-01 -4.03437000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50719347 meters 0.06549963429542068 Centerline is valid? [True, True] Translation: X:158.28, Y:11.00, Z:-4.03 [[ 9.83731779e-01 -1.78910560e-01 -1.62110626e-02 1.58276954e+02] [ 1.78893675e-01 9.83865242e-01 -2.49755365e-03 1.10039997e+01] [ 1.63963398e-02 -4.43133661e-04 9.99865473e-01 -4.02969251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56719347 meters 0.06483251360052773 Centerline is valid? [True, True] Translation: X:158.33, Y:11.02, Z:-4.03 [[ 9.84200231e-01 -1.76471665e-01 -1.44102804e-02 1.58333603e+02] [ 1.76458099e-01 9.84305655e-01 -2.21757633e-03 1.10166981e+01] [ 1.45754598e-02 -3.60271549e-04 9.99893707e-01 -4.02952343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62719347 meters 0.06370629223975025 Centerline is valid? [True, True] Translation: X:158.39, Y:11.04, Z:-4.03 [[ 9.84566275e-01 -1.74568644e-01 -1.24514477e-02 1.58390368e+02] [ 1.74558257e-01 9.84644967e-01 -1.92454016e-03 1.10386254e+01] [ 1.25962197e-02 -2.78665675e-04 9.99920626e-01 -4.02892564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68719347 meters 0.06451274272781977 Centerline is valid? [True, True] Translation: X:158.45, Y:11.05, Z:-4.03 [[ 9.84165747e-01 -1.76893629e-01 -1.12439819e-02 1.58447777e+02] [ 1.76885239e-01 9.84229938e-01 -1.74421419e-03 1.10499107e+01] [ 1.13752040e-02 -2.72298576e-04 9.99935263e-01 -4.03217842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74719347 meters 0.0661305162734972 Centerline is valid? [True, True] Translation: X:158.51, Y:11.06, Z:-4.03 [[ 9.83145096e-01 -1.82520728e-01 -1.05785135e-02 1.58506831e+02] [ 1.82513689e-01 9.83201953e-01 -1.63519173e-03 1.10563971e+01] [ 1.06992715e-02 -3.23092788e-04 9.99942709e-01 -4.03295280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80719347000002 meters 0.06756746493325982 Centerline is valid? [True, True] Translation: X:158.57, Y:11.07, Z:-4.03 [[ 9.81420437e-01 -1.91733046e-01 -7.23642313e-03 1.58566471e+02] [ 1.91730002e-01 9.81447072e-01 -1.11857291e-03 1.10651155e+01] [ 7.31663369e-03 -2.89649102e-04 9.99973191e-01 -4.02766218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86719347000002 meters 0.06696704306652171 Centerline is valid? [True, True] Translation: X:158.62, Y:11.09, Z:-4.03 [[ 9.81295248e-01 -1.92382177e-01 -6.98094356e-03 1.58622030e+02] [ 1.92379283e-01 9.81320041e-01 -1.09008603e-03 1.10868407e+01] [ 7.06025294e-03 -2.73292675e-04 9.99975039e-01 -4.02835068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92719347000002 meters 0.06606295607550025 Centerline is valid? [True, True] Translation: X:158.68, Y:11.11, Z:-4.03 [[ 9.81995831e-01 -1.88812086e-01 -5.84679406e-03 1.58679489e+02] [ 1.88810034e-01 9.82013213e-01 -9.06033656e-04 1.11079016e+01] [ 5.91269913e-03 -2.14212112e-04 9.99982497e-01 -4.03078060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98719347000002 meters 0.06624710950449225 Centerline is valid? [True, True] Translation: X:158.74, Y:11.12, Z:-4.04 [[ 9.82397152e-01 -1.86682082e-01 -6.75548652e-03 1.58735754e+02] [ 1.86679261e-01 9.82420352e-01 -1.05141099e-03 1.11196528e+01] [ 6.83300704e-03 -2.28206072e-04 9.99976629e-01 -4.03519358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04719347000002 meters 0.06426498668218052 Centerline is valid? [True, True] Translation: X:158.79, Y:11.14, Z:-4.04 [[ 9.83541347e-01 -1.80343438e-01 -1.10753784e-02 1.58791386e+02] [ 1.80335398e-01 9.83603658e-01 -1.72858173e-03 1.11448979e+01] [ 1.12055210e-02 -2.97151167e-04 9.99937172e-01 -4.04127365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10719347000003 meters 0.06358009553062026 Centerline is valid? [True, True] Translation: X:158.85, Y:11.17, Z:-4.05 [[ 9.84199679e-01 -1.76486448e-01 -1.42662158e-02 1.58847762e+02] [ 1.76472670e-01 9.84303017e-01 -2.22895204e-03 1.11662204e+01] [ 1.44356591e-02 -3.23863316e-04 9.99895748e-01 -4.04630692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16719347000003 meters 0.063484871971059 Centerline is valid? [True, True] Translation: X:158.90, Y:11.18, Z:-4.05 [[ 9.84416947e-01 -1.75111777e-01 -1.60978438e-02 1.58904231e+02] [ 1.75093978e-01 9.84548501e-01 -2.51948573e-03 1.11837092e+01] [ 1.62902996e-02 -3.38411069e-04 9.99867247e-01 -4.05064354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22719347 meters 0.0635137329760326 Centerline is valid? [True, True] Translation: X:158.96, Y:11.20, Z:-4.05 [[ 9.84554070e-01 -1.74343687e-01 -1.60487319e-02 1.58960613e+02] [ 1.74325947e-01 9.84684808e-01 -2.50858143e-03 1.11951813e+01] [ 1.62402978e-02 -3.27876328e-04 9.99868064e-01 -4.05209894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28719347 meters 0.06285736180495326 Centerline is valid? [True, True] Translation: X:159.02, Y:11.21, Z:-4.05 [[ 9.85203573e-01 -1.70665871e-01 -1.57188042e-02 1.59016708e+02] [ 1.70648357e-01 9.85328926e-01 -2.45876637e-03 1.12111607e+01] [ 1.59078200e-02 -2.60002700e-04 9.99873429e-01 -4.05318112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34719347 meters 0.06274667957098932 Centerline is valid? [True, True] Translation: X:159.07, Y:11.23, Z:-4.06 [[ 9.85637944e-01 -1.68092239e-01 -1.62124530e-02 1.59073994e+02] [ 1.68073193e-01 9.85771246e-01 -2.53999194e-03 1.12285989e+01] [ 1.64087229e-02 -2.21366304e-04 9.99865343e-01 -4.05658039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40719347 meters 0.061838305813919144 Centerline is valid? [True, True] Translation: X:159.13, Y:11.24, Z:-4.05 [[ 9.85438200e-01 -1.69568340e-01 -1.25750249e-02 1.59132471e+02] [ 1.69556999e-01 9.85518413e-01 -1.97041434e-03 1.12382147e+01] [ 1.27270384e-02 -1.90461908e-04 9.99918990e-01 -4.05097949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46719347 meters 0.06258450628967863 Centerline is valid? [True, True] Translation: X:159.19, Y:11.24, Z:-4.05 [[ 9.84585635e-01 -1.74534495e-01 -1.13506906e-02 1.59191694e+02] [ 1.74525475e-01 9.84651035e-01 -1.78804459e-03 1.12428149e+01] [ 1.14885448e-02 -2.20501661e-04 9.99933980e-01 -4.05100681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52719347000001 meters 0.06501661609301217 Centerline is valid? [True, True] Translation: X:159.25, Y:11.25, Z:-4.05 [[ 9.83161894e-01 -1.82402366e-01 -1.10483922e-02 1.59249746e+02] [ 1.82394359e-01 9.83223923e-01 -1.73659850e-03 1.12476415e+01] [ 1.11798032e-02 -3.07806949e-04 9.99937457e-01 -4.05491472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58719347000002 meters 0.06511069363484549 Centerline is valid? [True, True] Translation: X:159.31, Y:11.26, Z:-4.05 [[ 9.82591164e-01 -1.85545383e-01 -9.35494442e-03 1.59308166e+02] [ 1.85539704e-01 9.82635655e-01 -1.47892750e-03 1.12550987e+01] [ 9.46691011e-03 -2.82532530e-04 9.99955148e-01 -4.05361677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64719347000002 meters 0.06607387490272348 Centerline is valid? [True, True] Translation: X:159.37, Y:11.26, Z:-4.05 [[ 9.81672656e-01 -1.90377065e-01 -8.68154156e-03 1.59367942e+02] [ 1.90372412e-01 9.81710994e-01 -1.36685052e-03 1.12614079e+01] [ 8.78298179e-03 -3.10926227e-04 9.99961381e-01 -4.05248582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70719347000002 meters 0.06757992676452093 Centerline is valid? [True, True] Translation: X:159.43, Y:11.27, Z:-4.05 [[ 9.80532923e-01 -1.96257606e-01 -6.17559806e-03 1.59427225e+02] [ 1.96255364e-01 9.80552337e-01 -9.72907539e-04 1.12695546e+01] [ 6.24643761e-03 -2.58026373e-04 9.99980458e-01 -4.05142437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76719347000002 meters 0.0692911476183291 Centerline is valid? [True, True] Translation: X:159.49, Y:11.28, Z:-4.05 [[ 9.79672927e-01 -2.00479182e-01 -7.00390065e-03 1.59486906e+02] [ 2.00476415e-01 9.79697909e-01 -1.10215203e-03 1.12796286e+01] [ 7.08266535e-03 -3.24368385e-04 9.99974865e-01 -4.05382501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82719347000003 meters 0.07223960265902504 Centerline is valid? [True, True] Translation: X:159.55, Y:11.29, Z:-4.06 [[ 9.78411746e-01 -2.06486646e-01 -8.58601861e-03 1.59545653e+02] [ 2.06482713e-01 9.78449315e-01 -1.35167189e-03 1.12904620e+01] [ 8.68008622e-03 -4.50372770e-04 9.99962226e-01 -4.05694590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88719347000003 meters 0.07419513901125262 Centerline is valid? [True, True] Translation: X:159.60, Y:11.30, Z:-4.06 [[ 9.77887757e-01 -2.08798646e-01 -1.17754201e-02 1.59603088e+02] [ 2.08791403e-01 9.77958440e-01 -1.85478028e-03 1.13048287e+01] [ 1.19031471e-02 -6.44839551e-04 9.99928947e-01 -4.06258288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94719347000003 meters 0.07572067251504569 Centerline is valid? [True, True] Translation: X:159.66, Y:11.32, Z:-4.07 [[ 9.77586876e-01 -2.10080110e-01 -1.37929861e-02 1.59660533e+02] [ 2.10070283e-01 9.77683871e-01 -2.17377975e-03 1.13202854e+01] [ 1.39418480e-02 -7.72437942e-04 9.99902509e-01 -4.06783703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00719347 meters 0.07824936814570423 Centerline is valid? [True, True] Translation: X:159.72, Y:11.34, Z:-4.07 [[ 9.76673480e-01 -2.14410239e-01 -1.17116497e-02 1.59718083e+02] [ 2.14403453e-01 9.76743441e-01 -1.84671417e-03 1.13371023e+01] [ 1.18352315e-02 -7.07381387e-04 9.99929711e-01 -4.06771600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06719347 meters 0.0787206697948073 Centerline is valid? [True, True] Translation: X:159.77, Y:11.35, Z:-4.07 [[ 9.76356786e-01 -2.15962308e-01 -9.36520549e-03 1.59773836e+02] [ 2.15957945e-01 9.76401534e-01 -1.48669679e-03 1.13541852e+01] [ 9.46527148e-03 -5.70944036e-04 9.99955040e-01 -4.06613535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12719347 meters 0.0736281648066847 Centerline is valid? [True, True] Translation: X:159.83, Y:11.39, Z:-4.07 [[ 9.78186865e-01 -2.07319283e-01 -1.30065914e-02 1.59828985e+02] [ 2.07310241e-01 9.78273092e-01 -2.05442222e-03 1.13880077e+01] [ 1.31499198e-02 -6.86790779e-04 9.99913300e-01 -4.06743858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18719347 meters 0.06637474382796432 Centerline is valid? [True, True] Translation: X:159.88, Y:11.43, Z:-4.06 [[ 9.80782736e-01 -1.94793429e-01 -1.09883953e-02 1.59884379e+02] [ 1.94786187e-01 9.80844192e-01 -1.73582897e-03 1.14250710e+01] [ 1.11160318e-02 -4.37916532e-04 9.99938119e-01 -4.06253034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24719347 meters 0.060286641012196954 Centerline is valid? [True, True] Translation: X:159.94, Y:11.47, Z:-4.06 [[ 9.85120462e-01 -1.71675956e-01 -8.06481555e-03 1.59938102e+02] [ 1.71671278e-01 9.85153465e-01 -1.27402907e-03 1.14731800e+01] [ 8.16380115e-03 -1.29425082e-04 9.99966667e-01 -4.06054408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30719347000002 meters 0.05873491457796188 Centerline is valid? [True, True] Translation: X:159.99, Y:11.50, Z:-4.06 [[ 9.87084232e-01 -1.60142111e-01 -4.38440192e-03 1.59994147e+02] [ 1.60140609e-01 9.87093969e-01 -6.93715341e-04 1.14985075e+01] [ 4.43890973e-03 -1.73653188e-05 9.99990148e-01 -4.06082994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36719347000002 meters 0.05894919773057722 Centerline is valid? [True, True] Translation: X:160.05, Y:11.51, Z:-4.06 [[ 9.87216910e-01 -1.59266198e-01 -6.08700059e-03 1.60051301e+02] [ 1.59263240e-01 9.87235675e-01 -9.70745829e-04 1.15121598e+01] [ 6.16391113e-03 -1.10987365e-05 9.99981003e-01 -4.06466413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42719347000002 meters 0.06020101740139192 Centerline is valid? [True, True] Translation: X:160.11, Y:11.52, Z:-4.07 [[ 9.87528127e-01 -1.56817735e-01 -1.40141620e-02 1.60109767e+02] [ 1.56802032e-01 9.87627560e-01 -2.21916360e-03 1.15207808e+01] [ 1.41887768e-02 -5.96260678e-06 9.99899334e-01 -4.07403160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48719347000002 meters 0.06134333593339486 Centerline is valid? [True, True] Translation: X:160.17, Y:11.53, Z:-4.08 [[ 9.88201647e-01 -1.51955285e-01 -1.91597301e-02 1.60169349e+02] [ 1.51925016e-01 9.88387365e-01 -3.03410943e-03 1.15286024e+01] [ 1.93982841e-02 8.74696351e-05 9.99811832e-01 -4.08080030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54719347000002 meters 0.06219025545252958 Centerline is valid? [True, True] Translation: X:160.23, Y:11.54, Z:-4.08 [[ 9.88854456e-01 -1.47417134e-01 -2.08579406e-02 1.60228516e+02] [ 1.47380223e-01 9.89074391e-01 -3.30435311e-03 1.15370945e+01] [ 2.11171732e-02 1.93476354e-04 9.99776989e-01 -4.08379436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60719347000003 meters 0.061062287193357996 Centerline is valid? [True, True] Translation: X:160.29, Y:11.53, Z:-4.08 [[ 9.88591355e-01 -1.49210039e-01 -2.05790292e-02 1.60289190e+02] [ 1.49174214e-01 9.88805510e-01 -3.27371871e-03 1.15322407e+01] [ 2.08371291e-02 1.66509516e-04 9.99782870e-01 -4.07688009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66719347000003 meters 0.06114671363580507 Centerline is valid? [True, True] Translation: X:160.35, Y:11.53, Z:-4.08 [[ 9.88047157e-01 -1.52641898e-01 -2.15236455e-02 1.60349647e+02] [ 1.52603382e-01 9.88281559e-01 -3.43043570e-03 1.15254184e+01] [ 2.17950502e-02 1.04851142e-04 9.99762454e-01 -4.08134635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72719347 meters 0.0616258783630861 Centerline is valid? [True, True] Translation: X:160.41, Y:11.51, Z:-4.08 [[ 9.86573451e-01 -1.61826760e-01 -2.20210089e-02 1.60411546e+02] [ 1.61788576e-01 9.86819178e-01 -3.51647678e-03 1.15084021e+01] [ 2.22998140e-02 -9.34850503e-05 9.99751324e-01 -4.08396265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78719347 meters 0.06324590056235871 Centerline is valid? [True, True] Translation: X:160.47, Y:11.50, Z:-4.09 [[ 9.84959688e-01 -1.70997709e-01 -2.47829802e-02 1.60473941e+02] [ 1.70952457e-01 9.85271365e-01 -3.94897662e-03 1.15019888e+01] [ 2.50932267e-02 -3.47128577e-04 9.99685055e-01 -4.08764768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84719347 meters 0.06542794157251355 Centerline is valid? [True, True] Translation: X:160.54, Y:11.49, Z:-4.09 [[ 9.82854923e-01 -1.82430729e-01 -2.67437592e-02 1.60537208e+02] [ 1.82382234e-01 9.83218468e-01 -4.26215173e-03 1.14864675e+01] [ 2.70725053e-02 -6.88509718e-04 9.99633235e-01 -4.08516141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90719347 meters 0.06638382259003592 Centerline is valid? [True, True] Translation: X:160.60, Y:11.49, Z:-4.09 [[ 9.82219766e-01 -1.85948501e-01 -2.58357447e-02 1.60597016e+02] [ 1.85904052e-01 9.82559211e-01 -4.13295571e-03 1.14866943e+01] [ 2.61536658e-02 -7.43498827e-04 9.99657658e-01 -4.08584492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96719347 meters 0.0667307373990572 Centerline is valid? [True, True] Translation: X:160.66, Y:11.49, Z:-4.08 [[ 9.81519075e-01 -1.90104586e-01 -2.19214885e-02 1.60657396e+02] [ 1.90073460e-01 9.81763582e-01 -3.51399715e-03 1.14862447e+01] [ 2.21897461e-02 -7.17637950e-04 9.99753520e-01 -4.07992881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02719347000001 meters 0.06784532567826856 Centerline is valid? [True, True] Translation: X:160.72, Y:11.49, Z:-4.08 [[ 9.81407515e-01 -1.90977413e-01 -1.91550699e-02 1.60715301e+02] [ 1.90953806e-01 9.81594220e-01 -3.07097786e-03 1.14916935e+01] [ 1.93889934e-02 -6.43852762e-04 9.99811808e-01 -4.08082769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08719347000002 meters 0.06916833086917734 Centerline is valid? [True, True] Translation: X:160.78, Y:11.49, Z:-4.08 [[ 9.79940832e-01 -1.98554706e-01 -1.70878795e-02 1.60776186e+02] [ 1.98537092e-01 9.80089550e-01 -2.73810869e-03 1.14899534e+01] [ 1.72913165e-02 -7.09393407e-04 9.99850242e-01 -4.07677562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14719347000002 meters 0.07409485891620038 Centerline is valid? [True, True] Translation: X:160.84, Y:11.49, Z:-4.08 [[ 9.77289715e-01 -2.10718026e-01 -2.24215446e-02 1.60837596e+02] [ 2.10690915e-01 9.77546132e-01 -3.59148403e-03 1.14893363e+01] [ 2.26748846e-02 -1.21409534e-03 9.99742155e-01 -4.08156594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20719347000002 meters 0.07597793621848863 Centerline is valid? [True, True] Translation: X:160.90, Y:11.50, Z:-4.09 [[ 9.76778674e-01 -2.12633240e-01 -2.62778882e-02 1.60896107e+02] [ 2.12596666e-01 9.77130970e-01 -4.21020151e-03 1.15027626e+01] [ 2.65721672e-02 -1.47415636e-03 9.99645811e-01 -4.08613245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26719347000002 meters 0.07632185900630362 Centerline is valid? [True, True] Translation: X:160.95, Y:11.52, Z:-4.09 [[ 9.77127693e-01 -2.10989432e-01 -2.65505332e-02 1.60952130e+02] [ 2.10951354e-01 9.77487283e-01 -4.25891903e-03 1.15161019e+01] [ 2.68513955e-02 -1.43936321e-03 9.99638400e-01 -4.08988161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32719347000003 meters 0.07336944017617614 Centerline is valid? [True, True] Translation: X:161.01, Y:11.54, Z:-4.08 [[ 9.77543083e-01 -2.09391299e-01 -2.37656331e-02 1.61008995e+02] [ 2.09360350e-01 9.77831131e-01 -3.81093916e-03 1.15406464e+01] [ 2.40367534e-02 -1.25022404e-03 9.99710294e-01 -4.08399425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38719347000003 meters 0.07148589276741964 Centerline is valid? [True, True] Translation: X:161.07, Y:11.56, Z:-4.08 [[ 9.78404253e-01 -2.05766338e-01 -1.96298935e-02 1.61066462e+02] [ 2.05744486e-01 9.78600682e-01 -3.14817152e-03 1.15642365e+01] [ 1.98576149e-02 -9.58557950e-04 9.99802359e-01 -4.08262033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44719347000003 meters 0.0682195455960569 Centerline is valid? [True, True] Translation: X:161.12, Y:11.60, Z:-4.09 [[ 9.81122050e-01 -1.92421117e-01 -1.93296631e-02 1.61120105e+02] [ 1.92397316e-01 9.81312211e-01 -3.10105025e-03 1.16015085e+01] [ 1.95651420e-02 -6.76466522e-04 9.99808355e-01 -4.08656999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50719347 meters 0.06626937887650675 Centerline is valid? [True, True] Translation: X:161.18, Y:11.63, Z:-4.09 [[ 9.82776767e-01 -1.83693012e-01 -2.01668926e-02 1.61176576e+02] [ 1.83665264e-01 9.82983521e-01 -3.23547254e-03 1.16301390e+01] [ 2.04180568e-02 -5.24210413e-04 9.99791392e-01 -4.09045890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56719347 meters 0.06473664584407358 Centerline is valid? [True, True] Translation: X:161.23, Y:11.66, Z:-4.09 [[ 9.84255061e-01 -1.75444275e-01 -2.14774724e-02 1.61232206e+02] [ 1.75410568e-01 9.84489296e-01 -3.45811923e-03 1.16582818e+01] [ 2.17510489e-02 -3.63704275e-04 9.99763352e-01 -4.09298728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62719347 meters 0.06465829171800931 Centerline is valid? [True, True] Translation: X:161.29, Y:11.67, Z:-4.10 [[ 9.84514094e-01 -1.74041854e-01 -2.10102596e-02 1.61288794e+02] [ 1.74009130e-01 9.84738205e-01 -3.38985309e-03 1.16738472e+01] [ 2.12795816e-02 -3.18618851e-04 9.99773513e-01 -4.09615491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68719347 meters 0.06404530247141459 Centerline is valid? [True, True] Translation: X:161.35, Y:11.68, Z:-4.09 [[ 9.83776874e-01 -1.78611943e-01 -1.67581384e-02 1.61346728e+02] [ 1.78591822e-01 9.83919540e-01 -2.70176101e-03 1.16844294e+01] [ 1.69712266e-02 -3.34936454e-04 9.99855922e-01 -4.09087739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74719347 meters 0.06455993596158158 Centerline is valid? [True, True] Translation: X:161.41, Y:11.69, Z:-4.09 [[ 9.83440656e-01 -1.80508094e-01 -1.61649312e-02 1.61405011e+02] [ 1.80489589e-01 9.83573436e-01 -2.60854614e-03 1.16891150e+01] [ 1.63702606e-02 -3.52251451e-04 9.99865936e-01 -4.09345934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80719347000002 meters 0.06383915012415885 Centerline is valid? [True, True] Translation: X:161.46, Y:11.70, Z:-4.10 [[ 9.84479221e-01 -1.74672931e-01 -1.70302965e-02 1.61461336e+02] [ 1.74651488e-01 9.84626475e-01 -2.74988793e-03 1.17009338e+01] [ 1.72488118e-02 -2.67159099e-04 9.99851192e-01 -4.09907622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86719347000002 meters 0.06207264410857888 Centerline is valid? [True, True] Translation: X:161.52, Y:11.71, Z:-4.09 [[ 9.85411891e-01 -1.69763614e-01 -1.19883074e-02 1.61520420e+02] [ 1.69752638e-01 9.85484804e-01 -1.93471598e-03 1.17136752e+01] [ 1.21427391e-02 -1.28554671e-04 9.99926266e-01 -4.09422072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92719347000002 meters 0.06171942359079232 Centerline is valid? [True, True] Translation: X:161.58, Y:11.72, Z:-4.10 [[ 9.86108607e-01 -1.65748529e-01 -1.08277382e-02 1.61577389e+02] [ 1.65739296e-01 9.86168049e-01 -1.75084938e-03 1.17234352e+01] [ 1.09681701e-02 -6.80540603e-05 9.99939845e-01 -4.09691487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98719347000002 meters 0.06112561496476974 Centerline is valid? [True, True] Translation: X:161.64, Y:11.73, Z:-4.10 [[ 9.86752639e-01 -1.61830889e-01 -1.14014779e-02 1.61635071e+02] [ 1.61820269e-01 9.86818506e-01 -1.85399949e-03 1.17311789e+01] [ 1.15512238e-02 -1.55513347e-05 9.99933282e-01 -4.09700417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04719347000002 meters 0.06046119973452971 Centerline is valid? [True, True] Translation: X:161.69, Y:11.73, Z:-4.10 [[ 9.87148532e-01 -1.59652834e-01 -6.98197339e-03 1.61694701e+02] [ 1.59648826e-01 9.87173223e-01 -1.13130398e-03 1.17345269e+01] [ 7.07303306e-03 2.10121186e-06 9.99974986e-01 -4.09662981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10719347000003 meters 0.06056577908383407 Centerline is valid? [True, True] Translation: X:161.75, Y:11.74, Z:-4.10 [[ 9.87490588e-01 -1.57607576e-01 -4.71058188e-03 1.61752767e+02] [ 1.57605717e-01 9.87501824e-01 -7.65787656e-04 1.17375904e+01] [ 4.77240213e-03 1.37934700e-05 9.99988612e-01 -4.09940116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16719347000003 meters 0.06061536325680045 Centerline is valid? [True, True] Translation: X:161.81, Y:11.73, Z:-4.10 [[ 9.87690511e-01 -1.56354499e-01 -4.55239331e-03 1.61812746e+02] [ 1.56352714e-01 9.87701002e-01 -7.47606701e-04 1.17307073e+01] [ 4.61329511e-03 2.66249948e-05 9.99989358e-01 -4.10264450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22719347 meters 0.06079512609186448 Centerline is valid? [True, True] Translation: X:161.87, Y:11.73, Z:-4.10 [[ 9.86978029e-01 -1.60733232e-01 -6.26088601e-03 1.61872861e+02] [ 1.60729957e-01 9.86997887e-01 -1.02612928e-03 1.17263722e+01] [ 6.34441433e-03 6.45512059e-06 9.99979874e-01 -4.10491093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28719347 meters 0.06169199157411612 Centerline is valid? [True, True] Translation: X:161.94, Y:11.71, Z:-4.10 [[ 9.84889091e-01 -1.73154954e-01 -3.29255124e-03 1.61935093e+02] [ 1.73154097e-01 9.84894594e-01 -5.45651748e-04 1.17069422e+01] [ 3.33729822e-03 -3.27122842e-05 9.99994431e-01 -4.10346353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34719347 meters 0.06486785152168686 Centerline is valid? [True, True] Translation: X:162.00, Y:11.69, Z:-4.11 [[ 9.82159210e-01 -1.88022633e-01 -3.28277275e-03 1.61999436e+02] [ 1.88021891e-01 9.82164691e-01 -5.36085155e-04 1.16880014e+01] [ 3.32501963e-03 -9.07121675e-05 9.99994468e-01 -4.10505810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40719347 meters 0.06789696833327107 Centerline is valid? [True, True] Translation: X:162.06, Y:11.69, Z:-4.11 [[ 9.80458989e-01 -1.96667901e-01 -4.68058015e-03 1.62060648e+02] [ 1.96666493e-01 9.80470146e-01 -7.63716414e-04 1.16856903e+01] [ 4.73936760e-03 -1.71720660e-04 9.99988754e-01 -4.10925873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46719347 meters 0.07201987720616704 Centerline is valid? [True, True] Translation: X:162.12, Y:11.68, Z:-4.11 [[ 9.78404193e-01 -2.06680050e-01 -2.93122252e-03 1.62120873e+02] [ 2.06679541e-01 9.78408574e-01 -4.78923210e-04 1.16833494e+01] [ 2.96691712e-03 -1.37243246e-04 9.99995589e-01 -4.11008173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52719347000001 meters 0.07281271156398453 Centerline is valid? [True, True] Translation: X:162.18, Y:11.69, Z:-4.11 [[ 9.77348754e-01 -2.11625599e-01 -2.00483653e-03 1.62180719e+02] [ 2.11625372e-01 9.77350804e-01 -3.27028221e-04 1.16925368e+01] [ 2.02863614e-03 -1.04653652e-04 9.99997937e-01 -4.10859687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58719347000002 meters 0.0753231068126087 Centerline is valid? [True, True] Translation: X:162.24, Y:11.70, Z:-4.11 [[ 9.76706305e-01 -2.14578381e-01 9.55259183e-04 1.62237461e+02] [ 2.14578334e-01 9.76706770e-01 1.52741409e-04 1.17008287e+01] [-9.65783116e-04 5.57944267e-05 9.99999532e-01 -4.10933968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64719347000002 meters 0.07429778037766922 Centerline is valid? [True, True] Translation: X:162.29, Y:11.72, Z:-4.11 [[ 9.77316170e-01 -2.11712780e-01 5.55008372e-03 1.62293731e+02] [ 2.11711046e-01 9.77331885e-01 9.04903943e-04 1.17199271e+01] [-5.61585352e-03 2.90636774e-04 9.99984189e-01 -4.10791902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70719347000002 meters 0.06921646620523401 Centerline is valid? [True, True] Translation: X:162.35, Y:11.75, Z:-4.10 [[ 9.78550794e-01 -2.05767638e-01 9.90069470e-03 1.62350152e+02] [ 2.05761790e-01 9.78600773e-01 1.61666561e-03 1.17503042e+01] [-1.00214850e-02 4.55195251e-04 9.99949680e-01 -4.10442473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76719347000002 meters 0.06486235307713964 Centerline is valid? [True, True] Translation: X:162.41, Y:11.78, Z:-4.11 [[ 9.80816739e-01 -1.94752222e-01 8.37242488e-03 1.62405908e+02] [ 1.94747638e-01 9.80852429e-01 1.36716682e-03 1.17825470e+01] [-8.47837206e-03 2.89569864e-04 9.99964016e-01 -4.10620848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82719347000003 meters 0.06512144982440513 Centerline is valid? [True, True] Translation: X:162.46, Y:11.80, Z:-4.11 [[ 9.81354964e-01 -1.92083022e-01 6.82261776e-03 1.62462819e+02] [ 1.92079948e-01 9.81378654e-01 1.10908704e-03 1.17953281e+01] [-6.90860823e-03 2.22079996e-04 9.99976111e-01 -4.11167015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88719347000003 meters 0.06277270691440173 Centerline is valid? [True, True] Translation: X:162.52, Y:11.82, Z:-4.12 [[ 9.82926263e-01 -1.83948753e-01 4.33790151e-03 1.62518529e+02] [ 1.83947414e-01 9.82935830e-01 7.09186484e-04 1.18244450e+01] [-4.39433280e-03 1.00867743e-04 9.99990340e-01 -4.11679341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94719347000003 meters 0.062092130362790134 Centerline is valid? [True, True] Translation: X:162.57, Y:11.84, Z:-4.12 [[ 9.83690413e-01 -1.79865143e-01 1.30461907e-03 1.62574450e+02] [ 1.79865027e-01 9.83691278e-01 2.06615160e-04 1.18442257e+01] [-1.32050527e-03 3.14099925e-05 9.99999128e-01 -4.12203591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00719347 meters 0.061244781738385684 Centerline is valid? [True, True] Translation: X:162.63, Y:11.87, Z:-4.13 [[ 9.84889406e-01 -1.73180621e-01 -1.15345617e-03 1.62630055e+02] [ 1.73180510e-01 9.84890081e-01 -1.96867889e-04 1.18673312e+01] [ 1.17012124e-03 -5.86302890e-06 9.99999315e-01 -4.12685815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06719347 meters 0.06063039958179761 Centerline is valid? [True, True] Translation: X:162.69, Y:11.88, Z:-4.13 [[ 9.85662577e-01 -1.68708555e-01 -2.59009422e-03 1.62686630e+02] [ 1.68707994e-01 9.85665980e-01 -4.35234555e-04 1.18816850e+01] [ 2.62639555e-03 -7.97518774e-06 9.99996551e-01 -4.12925020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12719347 meters 0.05987831082972649 Centerline is valid? [True, True] Translation: X:162.74, Y:11.90, Z:-4.13 [[ 9.86701875e-01 -1.62539879e-01 4.45300278e-04 1.62742984e+02] [ 1.62539866e-01 9.86701975e-01 6.59695131e-05 1.19009065e+01] [-4.50101341e-04 7.28680531e-06 9.99999899e-01 -4.12790742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18719347 meters 0.060147947729030475 Centerline is valid? [True, True] Translation: X:162.80, Y:11.91, Z:-4.13 [[ 9.86964315e-01 -1.60936098e-01 1.00607020e-03 1.62799631e+02] [ 1.60936017e-01 9.86964828e-01 1.62108384e-04 1.19122519e+01] [-1.01904499e-03 1.91774014e-06 9.99999481e-01 -4.13233046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24719347 meters 0.06001740130152392 Centerline is valid? [True, True] Translation: X:162.86, Y:11.91, Z:-4.14 [[ 9.86622697e-01 -1.63011817e-01 1.67399215e-03 1.62858536e+02] [ 1.63011593e-01 9.86624117e-01 2.69738420e-04 1.19136385e+01] [-1.69557158e-03 6.75008045e-06 9.99998562e-01 -4.13523477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30719347000002 meters 0.06033756667791311 Centerline is valid? [True, True] Translation: X:162.92, Y:11.92, Z:-4.14 [[ 9.86935129e-01 -1.61117303e-01 -5.15480465e-04 1.62917301e+02] [ 1.61117276e-01 9.86935264e-01 -9.27813303e-05 1.19198425e+01] [ 5.23694526e-04 8.51634571e-06 9.99999863e-01 -4.13908522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36719347000002 meters 0.060106485793169115 Centerline is valid? [True, True] Translation: X:162.98, Y:11.92, Z:-4.14 [[ 9.87558225e-01 -1.57252825e-01 -5.48517500e-04 1.62976420e+02] [ 1.57252794e-01 9.87558377e-01 -9.88845655e-05 1.19235448e+01] [ 5.57242929e-04 1.13983564e-05 9.99999845e-01 -4.13791662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42719347000002 meters 0.05983866972825602 Centerline is valid? [True, True] Translation: X:163.03, Y:11.93, Z:-4.14 [[ 9.87775861e-01 -1.55849077e-01 3.14873526e-03 1.63034733e+02] [ 1.55848209e-01 9.87780879e-01 5.20778262e-04 1.19261548e+01] [-3.19142329e-03 -2.36874460e-05 9.99994907e-01 -4.13777426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48719347000002 meters 0.059558702612323655 Centerline is valid? [True, True] Translation: X:163.09, Y:11.93, Z:-4.14 [[ 9.87384205e-01 -1.58287666e-01 4.17701161e-03 1.63094425e+02] [ 1.58286171e-01 9.87393039e-01 6.88238742e-04 1.19253529e+01] [-4.23329189e-03 -1.83928894e-05 9.99991039e-01 -4.13622117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54719347000002 meters 0.05978250257989848 Centerline is valid? [True, True] Translation: X:163.16, Y:11.91, Z:-4.14 [[ 9.86585956e-01 -1.63241838e-01 5.02902252e-04 1.63155641e+02] [ 1.63241821e-01 9.86586085e-01 7.63835627e-05 1.19138356e+01] [-5.08625358e-04 6.73572914e-06 9.99999871e-01 -4.14012840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60719347000003 meters 0.0598993594855323 Centerline is valid? [True, True] Translation: X:163.22, Y:11.91, Z:-4.14 [[ 9.86424904e-01 -1.64209861e-01 -1.01473495e-03 1.63215004e+02] [ 1.64209771e-01 9.86425426e-01 -1.72104166e-04 1.19109127e+01] [ 1.02922155e-03 3.13844210e-06 9.99999470e-01 -4.14399130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66719347000003 meters 0.060029089693414625 Centerline is valid? [True, True] Translation: X:163.27, Y:11.92, Z:-4.15 [[ 9.86827670e-01 -1.61769353e-01 -1.35159196e-03 1.63273606e+02] [ 1.61769185e-01 9.86828595e-01 -2.33474029e-04 1.19172300e+01] [ 1.37155854e-03 1.17527023e-05 9.99999059e-01 -4.14578693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72719347 meters 0.06062610306992231 Centerline is valid? [True, True] Translation: X:163.33, Y:11.92, Z:-4.15 [[ 9.87324667e-01 -1.58605985e-01 -5.84321267e-03 1.63333353e+02] [ 1.58602969e-01 9.87341957e-01 -9.78860840e-04 1.19196732e+01] [ 5.92450222e-03 3.97025732e-05 9.99982449e-01 -4.15103671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78719347 meters 0.06017592996511508 Centerline is valid? [True, True] Translation: X:163.39, Y:11.92, Z:-4.15 [[ 9.87222626e-01 -1.59335261e-01 -1.93934892e-03 1.63393337e+02] [ 1.59334917e-01 9.87224531e-01 -3.31762969e-04 1.19201051e+01] [ 1.96743437e-03 1.85179103e-05 9.99998064e-01 -4.14822137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84719347 meters 0.060137046592075034 Centerline is valid? [True, True] Translation: X:163.45, Y:11.91, Z:-4.15 [[ 9.86444433e-01 -1.64091031e-01 -1.23081402e-03 1.63453741e+02] [ 1.64090897e-01 9.86445200e-01 -2.10250013e-04 1.19101450e+01] [ 1.24863072e-03 5.43457913e-06 9.99999220e-01 -4.15061340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90719347 meters 0.060465856424282115 Centerline is valid? [True, True] Translation: X:163.51, Y:11.90, Z:-4.15 [[ 9.85194934e-01 -1.71407051e-01 -3.25039341e-03 1.63514547e+02] [ 1.71406158e-01 9.85200296e-01 -5.53448314e-04 1.19036994e+01] [ 3.29715349e-03 -1.18829700e-05 9.99994564e-01 -4.15220574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96719347 meters 0.06341289713921168 Centerline is valid? [True, True] Translation: X:163.58, Y:11.89, Z:-4.16 [[ 9.82739621e-01 -1.84961375e-01 -3.48246297e-03 1.63576480e+02] [ 1.84960454e-01 9.82745789e-01 -5.87617070e-04 1.18873287e+01] [ 3.53106228e-03 -6.66433558e-05 9.99993764e-01 -4.15542183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02719347000001 meters 0.067191398156865 Centerline is valid? [True, True] Translation: X:163.64, Y:11.88, Z:-4.16 [[ 9.81047191e-01 -1.93621951e-01 -7.54643093e-03 1.63637461e+02] [ 1.93617905e-01 9.81076192e-01 -1.27009329e-03 1.18809197e+01] [ 7.64954166e-03 -2.15102687e-04 9.99970719e-01 -4.16065379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08719347000002 meters 0.06794568313978454 Centerline is valid? [True, True] Translation: X:163.70, Y:11.89, Z:-4.16 [[ 9.79202267e-01 -2.02218457e-01 -1.64504063e-02 1.63697141e+02] [ 2.02200453e-01 9.79340245e-01 -2.76782904e-03 1.18889505e+01] [ 1.66702511e-02 -6.16015128e-04 9.99860852e-01 -4.16243746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14719347000002 meters 0.07444943189498175 Centerline is valid? [True, True] Translation: X:163.76, Y:11.89, Z:-4.17 [[ 9.78533019e-01 -2.05508388e-01 -1.54736439e-02 1.63755293e+02] [ 2.05492790e-01 9.78655153e-01 -2.60847885e-03 1.18881071e+01] [ 1.56794256e-02 -6.27239572e-04 9.99876874e-01 -4.17202902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20719347000002 meters 0.06757537988361464 Centerline is valid? [True, True] Translation: X:163.81, Y:11.92, Z:-4.16 [[ 9.79124576e-01 -2.02913596e-01 -1.18801513e-02 1.63811800e+02] [ 2.02904232e-01 9.79196542e-01 -2.00098859e-03 1.19183072e+01] [ 1.20390308e-02 -4.51315859e-04 9.99927426e-01 -4.15953244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26719347000002 meters 0.06412017269740515 Centerline is valid? [True, True] Translation: X:163.87, Y:11.95, Z:-4.16 [[ 9.81665987e-01 -1.90356050e-01 -9.82157430e-03 1.63866639e+02] [ 1.90349006e-01 9.81715088e-01 -1.65578585e-03 1.19484303e+01] [ 9.95717654e-03 -2.44098245e-04 9.99950396e-01 -4.15967076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32719347000003 meters 0.06253772753405133 Centerline is valid? [True, True] Translation: X:163.92, Y:11.97, Z:-4.16 [[ 9.83116003e-01 -1.82750995e-01 -9.21941650e-03 1.63923736e+02] [ 1.82744458e-01 9.83159219e-01 -1.55368886e-03 1.19706055e+01] [ 9.34809251e-03 -1.57340893e-04 9.99956293e-01 -4.16317880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38719347000003 meters 0.061642037631671316 Centerline is valid? [True, True] Translation: X:163.98, Y:11.99, Z:-4.17 [[ 9.84196036e-01 -1.76762533e-01 -1.06381404e-02 1.63980319e+02] [ 1.76753380e-01 9.84253522e-01 -1.80198622e-03 1.19916129e+01] [ 1.07891508e-02 -1.06819578e-04 9.99941790e-01 -4.16766763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44719347000003 meters 0.06121799103808119 Centerline is valid? [True, True] Translation: X:164.04, Y:12.01, Z:-4.17 [[ 9.84330059e-01 -1.76040620e-01 -1.01997537e-02 1.64037884e+02] [ 1.76032122e-01 9.84382899e-01 -1.73205190e-03 1.20058192e+01] [ 1.03453746e-02 -9.05735470e-05 9.99946481e-01 -4.16782769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50719347 meters 0.06108735720359262 Centerline is valid? [True, True] Translation: X:164.09, Y:12.02, Z:-4.17 [[ 9.84543587e-01 -1.74920286e-01 -8.76458363e-03 1.64094745e+02] [ 1.74913993e-01 9.84582596e-01 -1.48544838e-03 1.20163900e+01] [ 8.88929156e-03 -7.05596423e-05 9.99960487e-01 -4.16974632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56719347 meters 0.06150993010789127 Centerline is valid? [True, True] Translation: X:164.15, Y:12.02, Z:-4.17 [[ 9.83984934e-01 -1.78000738e-01 -9.45449711e-03 1.64152947e+02] [ 1.77993486e-01 9.84030349e-01 -1.60976815e-03 1.20234162e+01] [ 9.59005200e-03 -9.88512960e-05 9.99954010e-01 -4.17130129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62719347 meters 0.06308084456556624 Centerline is valid? [True, True] Translation: X:164.21, Y:12.03, Z:-4.17 [[ 9.82690519e-01 -1.84916356e-01 -1.11930903e-02 1.64212828e+02] [ 1.84906721e-01 9.82754242e-01 -1.89864694e-03 1.20261767e+01] [ 1.13511478e-02 -2.03895269e-04 9.99935553e-01 -4.17489853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68719347 meters 0.06597221740624591 Centerline is valid? [True, True] Translation: X:164.27, Y:12.03, Z:-4.18 [[ 9.80880606e-01 -1.94292012e-01 -1.11287971e-02 1.64273443e+02] [ 1.94283093e-01 9.80943687e-01 -1.88746023e-03 1.20264932e+01] [ 1.12834417e-02 -3.10763979e-04 9.99936292e-01 -4.17663795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74719347 meters 0.06984242062131915 Centerline is valid? [True, True] Translation: X:164.33, Y:12.03, Z:-4.18 [[ 9.78871310e-01 -2.04235913e-01 -9.93233421e-03 1.64333644e+02] [ 2.04229316e-01 9.78921625e-01 -1.68478814e-03 1.20269146e+01] [ 1.00670710e-02 -3.79283046e-04 9.99949254e-01 -4.17698434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80719347000002 meters 0.07380712548796745 Centerline is valid? [True, True] Translation: X:164.39, Y:12.03, Z:-4.18 [[ 9.76259084e-01 -2.16321274e-01 -1.11043807e-02 1.64393884e+02] [ 2.16313805e-01 9.76322073e-01 -1.88374050e-03 1.20345861e+01] [ 1.12489451e-02 -5.63012056e-04 9.99936570e-01 -4.17715627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86719347000002 meters 0.0757288575597509 Centerline is valid? [True, True] Translation: X:164.45, Y:12.05, Z:-4.18 [[ 9.75548827e-01 -2.19523871e-01 -1.06656607e-02 1.64451852e+02] [ 2.19517160e-01 9.75606959e-01 -1.81035154e-03 1.20480512e+01] [ 1.08029082e-02 -5.75209231e-04 9.99941481e-01 -4.17986457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92719347000002 meters 0.07399362653447798 Centerline is valid? [True, True] Translation: X:164.51, Y:12.07, Z:-4.18 [[ 9.75079887e-01 -2.21543563e-01 -1.17329899e-02 1.64507710e+02] [ 2.21535572e-01 9.75150255e-01 -1.99282242e-03 1.20741332e+01] [ 1.18829251e-02 -6.56113574e-04 9.99929180e-01 -4.17905349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98719347000002 meters 0.0747596598387013 Centerline is valid? [True, True] Translation: X:164.56, Y:12.10, Z:-4.18 [[ 9.74783356e-01 -2.22901870e-01 -1.05908285e-02 1.64563375e+02] [ 2.22895339e-01 9.74840704e-01 -1.80816363e-03 1.20985873e+01] [ 1.07274138e-02 -5.98078507e-04 9.99942281e-01 -4.18032834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04719347000002 meters 0.07475852017417142 Centerline is valid? [True, True] Translation: X:164.62, Y:12.12, Z:-4.18 [[ 9.74544208e-01 -2.24000384e-01 -9.34959586e-03 1.64618731e+02] [ 2.23995293e-01 9.74588910e-01 -1.60161009e-03 1.21182208e+01] [ 9.47077372e-03 -5.33425630e-04 9.99955009e-01 -4.18120839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10719347000003 meters 0.0774935893328439 Centerline is valid? [True, True] Translation: X:164.68, Y:12.13, Z:-4.18 [[ 9.73808504e-01 -2.27211692e-01 -8.47614971e-03 1.64675736e+02] [ 2.27207669e-01 9.73845255e-01 -1.44726205e-03 1.21329015e+01] [ 8.58329303e-03 -5.16490131e-04 9.99963029e-01 -4.18395570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16719347000003 meters 0.07838402908708439 Centerline is valid? [True, True] Translation: X:164.73, Y:12.16, Z:-4.18 [[ 9.72170656e-01 -2.34058343e-01 -1.00452414e-02 1.64731953e+02] [ 2.34053077e-01 9.72222311e-01 -1.71330656e-03 1.21590403e+01] [ 1.01672215e-02 -6.85493293e-04 9.99948078e-01 -4.18348158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22719347000003 meters 0.07974643442547741 Centerline is valid? [True, True] Translation: X:164.79, Y:12.18, Z:-4.18 [[ 9.71729328e-01 -2.36024713e-01 -5.86922508e-03 1.64788064e+02] [ 2.36022897e-01 9.71746969e-01 -1.00992987e-03 1.21820211e+01] [ 5.94177009e-03 -4.03893031e-04 9.99982266e-01 -4.18090621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28719347 meters 0.0759306906388672 Centerline is valid? [True, True] Translation: X:164.84, Y:12.21, Z:-4.18 [[ 9.72953018e-01 -2.30972348e-01 -3.76813912e-03 1.64844009e+02] [ 2.30971577e-01 9.72960285e-01 -6.44454378e-04 1.22124935e+01] [ 3.81510085e-03 -2.43309202e-04 9.99992693e-01 -4.17931683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34719347 meters 0.07148855555216693 Centerline is valid? [True, True] Translation: X:164.90, Y:12.25, Z:-4.18 [[ 9.76108882e-01 -2.17280238e-01 8.64716738e-04 1.64897354e+02] [ 2.17280193e-01 9.76109264e-01 1.46992815e-04 1.22536991e+01] [-8.75996654e-04 4.44048271e-05 9.99999615e-01 -4.18032095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40719347 meters 0.06499753184236404 Centerline is valid? [True, True] Translation: X:164.95, Y:12.29, Z:-4.18 [[ 9.78421967e-01 -2.06614620e-01 9.23793315e-04 1.64951965e+02] [ 2.06614564e-01 9.78422402e-01 1.57527124e-04 1.22914414e+01] [-9.36407482e-04 3.67411537e-05 9.99999561e-01 -4.17888354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46719347 meters 0.06090925428551293 Centerline is valid? [True, True] Translation: X:165.00, Y:12.33, Z:-4.18 [[ 9.81452629e-01 -1.91704493e-01 -3.53048822e-04 1.65004381e+02] [ 1.91704484e-01 9.81452692e-01 -6.16948208e-05 1.23333909e+01] [ 3.58327890e-04 -7.13049795e-06 9.99999936e-01 -4.18161195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52719347000001 meters 0.05848995827571463 Centerline is valid? [True, True] Translation: X:165.06, Y:12.37, Z:-4.18 [[ 9.83467502e-01 -1.81074805e-01 1.89402821e-03 1.65058537e+02] [ 1.81074519e-01 9.83469326e-01 3.22833709e-04 1.23677645e+01] [-1.92117570e-03 2.54637861e-05 9.99998154e-01 -4.18143885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58719347000002 meters 0.05787524674125463 Centerline is valid? [True, True] Translation: X:165.11, Y:12.38, Z:-4.18 [[ 9.83874762e-01 -1.78858162e-01 4.59946314e-04 1.65114872e+02] [ 1.78858148e-01 9.83874869e-01 7.01161720e-05 1.23842201e+01] [-4.65070469e-04 1.32796140e-05 9.99999892e-01 -4.18306931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64719347000002 meters 0.057503580731178706 Centerline is valid? [True, True] Translation: X:165.17, Y:12.40, Z:-4.19 [[ 9.84421724e-01 -1.75823181e-01 -2.78525079e-04 1.65171647e+02] [ 1.75823172e-01 9.84421764e-01 -5.66312038e-05 1.23969772e+01] [ 2.84143227e-04 6.77782454e-06 9.99999960e-01 -4.18685765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70719347000002 meters 0.057770062626062234 Centerline is valid? [True, True] Translation: X:165.23, Y:12.41, Z:-4.19 [[ 9.84983813e-01 -1.72633302e-01 -2.15198203e-03 1.65227919e+02] [ 1.72632900e-01 9.84986164e-01 -3.72465063e-04 1.24114381e+01] [ 2.18397239e-03 -4.63083945e-06 9.99997615e-01 -4.19351475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76719347000002 meters 0.05762794986522699 Centerline is valid? [True, True] Translation: X:165.29, Y:12.42, Z:-4.20 [[ 9.85596049e-01 -1.69004949e-01 -6.14459904e-03 1.65286487e+02] [ 1.69001637e-01 9.85615202e-01 -1.05799549e-03 1.24192916e+01] [ 6.23501670e-03 4.30887996e-06 9.99980562e-01 -4.19531106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82719347000003 meters 0.05833181943820807 Centerline is valid? [True, True] Translation: X:165.35, Y:12.42, Z:-4.20 [[ 9.85244225e-01 -1.70875761e-01 -9.76175424e-03 1.65345457e+02] [ 1.70867490e-01 9.85292583e-01 -1.68123126e-03 1.24188761e+01] [ 9.90546572e-03 -1.15430568e-05 9.99950940e-01 -4.20491506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88719347000003 meters 0.05882919742335274 Centerline is valid? [True, True] Translation: X:165.41, Y:12.42, Z:-4.20 [[ 9.83828233e-01 -1.78820425e-01 -1.02597490e-02 1.65405765e+02] [ 1.78811630e-01 9.83881724e-01 -1.77574584e-03 1.24155432e+01] [ 1.04119191e-02 -8.75335410e-05 9.99945791e-01 -4.20456217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94719347000003 meters 0.060044280127421905 Centerline is valid? [True, True] Translation: X:165.46, Y:12.41, Z:-4.20 [[ 9.82385600e-01 -1.86686399e-01 -8.16832135e-03 1.65464536e+02] [ 1.86681094e-01 9.82419549e-01 -1.41394576e-03 1.24119735e+01] [ 8.28868301e-03 -1.35831210e-04 9.99965639e-01 -4.20453367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00719347 meters 0.06530572698683054 Centerline is valid? [True, True] Translation: X:165.53, Y:12.39, Z:-4.21 [[ 9.78886019e-01 -2.04159813e-01 -1.00464818e-02 1.65527529e+02] [ 2.04152749e-01 9.78937509e-01 -1.73467118e-03 1.23936266e+01] [ 1.01890280e-02 -3.52971501e-04 9.99948028e-01 -4.20622701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06719347 meters 0.07039137705479663 Centerline is valid? [True, True] Translation: X:165.59, Y:12.39, Z:-4.21 [[ 9.76353638e-01 -2.15962861e-01 -9.67558103e-03 1.65588262e+02] [ 2.15956899e-01 9.76401470e-01 -1.66930345e-03 1.23878967e+01] [ 9.80775909e-03 -4.59677975e-04 9.99951797e-01 -4.20630384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12719347 meters 0.07464815063865758 Centerline is valid? [True, True] Translation: X:165.65, Y:12.39, Z:-4.20 [[ 9.74575093e-01 -2.24007316e-01 -4.91031625e-03 1.65648946e+02] [ 2.24005881e-01 9.74587424e-01 -8.47289148e-04 1.23929550e+01] [ 4.97533143e-03 -2.74192820e-04 9.99987585e-01 -4.20306080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18719347 meters 0.07787115939470829 Centerline is valid? [True, True] Translation: X:165.71, Y:12.40, Z:-4.21 [[ 9.73768063e-01 -2.27496233e-01 -4.60688928e-03 1.65707046e+02] [ 2.27495004e-01 9.73778922e-01 -7.96090813e-04 1.24020892e+01] [ 4.66719934e-03 -2.72836484e-04 9.99989071e-01 -4.20563386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24719347 meters 0.07824950378093423 Centerline is valid? [True, True] Translation: X:165.76, Y:12.42, Z:-4.21 [[ 9.73655023e-01 -2.27990757e-01 -4.01390849e-03 1.65763639e+02] [ 2.27989797e-01 9.73663269e-01 -7.01219623e-04 1.24179597e+01] [ 4.06806685e-03 -2.32384173e-04 9.99991698e-01 -4.20663545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30719347000002 meters 0.0786477875436936 Centerline is valid? [True, True] Translation: X:165.82, Y:12.44, Z:-4.21 [[ 9.73762756e-01 -2.27460301e-01 -6.92147813e-03 1.65819434e+02] [ 2.27457461e-01 9.73787272e-01 -1.20528353e-03 1.24387412e+01] [ 7.01420146e-03 -4.00681634e-04 9.99975320e-01 -4.21178938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36719347000002 meters 0.08068904293301189 Centerline is valid? [True, True] Translation: X:165.88, Y:12.45, Z:-4.22 [[ 9.73457129e-01 -2.28648363e-01 -1.00570352e-02 1.65875568e+02] [ 2.28642501e-01 9.73508893e-01 -1.74428004e-03 1.24533389e+01] [ 1.01894400e-02 -6.01483839e-04 9.99947905e-01 -4.21767699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42719347000002 meters 0.07555694018932294 Centerline is valid? [True, True] Translation: X:165.93, Y:12.49, Z:-4.22 [[ 9.73273528e-01 -2.29296991e-01 -1.27094348e-02 1.65930266e+02] [ 2.29287694e-01 9.73356203e-01 -2.20353503e-03 1.24863619e+01] [ 1.28760711e-02 -7.69474685e-04 9.99916804e-01 -4.21586289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48719347000002 meters 0.07823231483897053 Centerline is valid? [True, True] Translation: X:165.99, Y:12.50, Z:-4.22 [[ 9.73797201e-01 -2.27080343e-01 -1.23906766e-02 1.65987349e+02] [ 2.27071316e-01 9.73875761e-01 -2.14914021e-03 1.25000456e+01] [ 1.25550071e-02 -7.20740519e-04 9.99920923e-01 -4.22092981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54719347000002 meters 0.07066363026646127 Centerline is valid? [True, True] Translation: X:166.04, Y:12.54, Z:-4.21 [[ 9.75427505e-01 -2.20158914e-01 -8.44010040e-03 1.66042365e+02] [ 2.20154466e-01 9.75463924e-01 -1.46404974e-03 1.25382520e+01] [ 8.55533706e-03 -4.30051415e-04 9.99963310e-01 -4.21316903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60719347000003 meters 0.06924745083519712 Centerline is valid? [True, True] Translation: X:166.10, Y:12.56, Z:-4.22 [[ 9.76284610e-01 -2.16336333e-01 -8.18237871e-03 1.66099539e+02] [ 2.16332012e-01 9.76318823e-01 -1.42003922e-03 1.25563551e+01] [ 8.29581643e-03 -3.83748022e-04 9.99965515e-01 -4.21542930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66719347000003 meters 0.06709058944107213 Centerline is valid? [True, True] Translation: X:166.16, Y:12.58, Z:-4.22 [[ 9.77977811e-01 -2.08525262e-01 -8.75307918e-03 1.66156021e+02] [ 2.08520008e-01 9.78016922e-01 -1.51884330e-03 1.25798005e+01] [ 8.87737675e-03 -3.39797087e-04 9.99960538e-01 -4.21833994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72719347000003 meters 0.062451683857850875 Centerline is valid? [True, True] Translation: X:166.21, Y:12.61, Z:-4.22 [[ 9.80936639e-01 -1.94194076e-01 -7.20910810e-03 1.66211217e+02] [ 1.94190122e-01 9.80963114e-01 -1.25120152e-03 1.26126868e+01] [ 7.31484506e-03 -1.72588169e-04 9.99973231e-01 -4.21551415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78719347 meters 0.06002341701692366 Centerline is valid? [True, True] Translation: X:166.27, Y:12.64, Z:-4.22 [[ 9.83958345e-01 -1.78214478e-01 -8.09788846e-03 1.66265451e+02] [ 1.78208941e-01 9.83991665e-01 -1.40611376e-03 1.26449199e+01] [ 8.21884457e-03 -5.95587601e-05 9.99966223e-01 -4.21574243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84719347 meters 0.060336554050111284 Centerline is valid? [True, True] Translation: X:166.32, Y:12.66, Z:-4.22 [[ 9.85510309e-01 -1.69219465e-01 -1.15845985e-02 1.66321870e+02] [ 1.69207407e-01 9.85578394e-01 -2.02035729e-03 1.26641689e+01] [ 1.17594138e-02 3.08830569e-05 9.99930855e-01 -4.22185916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90719347 meters 0.06122551840720753 Centerline is valid? [True, True] Translation: X:166.38, Y:12.67, Z:-4.23 [[ 9.86516312e-01 -1.62927435e-01 -1.54989497e-02 1.66380443e+02] [ 1.62905160e-01 9.86638045e-01 -2.69748857e-03 1.26712042e+01] [ 1.57313483e-02 1.36257598e-04 9.99876245e-01 -4.22839041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96719347 meters 0.06124833272980481 Centerline is valid? [True, True] Translation: X:166.44, Y:12.68, Z:-4.23 [[ 9.86780564e-01 -1.61295670e-01 -1.57424900e-02 1.66438877e+02] [ 1.61272321e-01 9.86906113e-01 -2.74992126e-03 1.26761408e+01] [ 1.59799100e-02 1.74740949e-04 9.99872298e-01 -4.22734142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02719347000001 meters 0.061426164158510106 Centerline is valid? [True, True] Translation: X:166.50, Y:12.68, Z:-4.23 [[ 9.86949163e-01 -1.60161590e-01 -1.67216584e-02 1.66498915e+02] [ 1.60134993e-01 9.87090787e-01 -2.92631867e-03 1.26753394e+01] [ 1.69744788e-02 2.10405124e-04 9.99855901e-01 -4.22622476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08719347000002 meters 0.06135776902343522 Centerline is valid? [True, True] Translation: X:166.56, Y:12.67, Z:-4.23 [[ 9.86395081e-01 -1.63518295e-01 -1.69266564e-02 1.66558936e+02] [ 1.63491442e-01 9.86540289e-01 -2.96756836e-03 1.26726163e+01] [ 1.71840802e-02 1.59831363e-04 9.99852330e-01 -4.22834573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14719347000002 meters 0.06145928540992157 Centerline is valid? [True, True] Translation: X:166.62, Y:12.66, Z:-4.23 [[ 9.85203689e-01 -1.70897000e-01 -1.29578952e-02 1.66621245e+02] [ 1.70881957e-01 9.85288899e-01 -2.26751417e-03 1.26577252e+01] [ 1.31547817e-02 1.96928283e-05 9.99913472e-01 -4.23251029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20719347000002 meters 0.06136942100065808 Centerline is valid? [True, True] Translation: X:166.68, Y:12.64, Z:-4.23 [[ 9.83333986e-01 -1.81313324e-01 -1.34071190e-02 1.66683352e+02] [ 1.81298041e-01 9.83425374e-01 -2.35681940e-03 1.26420617e+01] [ 1.36122238e-02 -1.13143812e-04 9.99907343e-01 -4.23124052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26719347000002 meters 0.06260065331814155 Centerline is valid? [True, True] Translation: X:166.74, Y:12.64, Z:-4.23 [[ 9.82063953e-01 -1.88083644e-01 -1.32262741e-02 1.66744489e+02] [ 1.88069329e-01 9.82152994e-01 -2.32909012e-03 1.26357883e+01] [ 1.34282885e-02 -2.00141051e-04 9.99909816e-01 -4.23410336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32719347000003 meters 0.06544708420292648 Centerline is valid? [True, True] Translation: X:166.81, Y:12.62, Z:-4.24 [[ 9.79868342e-01 -1.99102743e-01 -1.47013880e-02 1.66808222e+02] [ 1.99086404e-01 9.79978540e-01 -2.58148719e-03 1.26176963e+01] [ 1.49210259e-02 -3.97328895e-04 9.99888596e-01 -4.23810852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38719347000003 meters 0.06792564159622716 Centerline is valid? [True, True] Translation: X:166.87, Y:12.61, Z:-4.24 [[ 9.78417404e-01 -2.06272614e-01 -1.22879037e-02 1.66869302e+02] [ 2.06261740e-01 9.78494472e-01 -2.15955614e-03 1.26116638e+01] [ 1.24691031e-02 -4.21577074e-04 9.99922169e-01 -4.23807236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44719347000003 meters 0.0702727314602656 Centerline is valid? [True, True] Translation: X:166.93, Y:12.61, Z:-4.23 [[ 9.76515610e-01 -2.15230892e-01 -9.63985596e-03 1.66931067e+02] [ 2.15224639e-01 9.76563099e-01 -1.69370310e-03 1.26084042e+01] [ 9.77846484e-03 -4.20807009e-04 9.99952101e-01 -4.23441583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50719347 meters 0.0735839485228442 Centerline is valid? [True, True] Translation: X:166.99, Y:12.61, Z:-4.24 [[ 9.75661689e-01 -2.19070400e-01 -9.61396375e-03 1.66989663e+02] [ 2.19064351e-01 9.75708948e-01 -1.69076486e-03 1.26129635e+01] [ 9.75082699e-03 -4.56462227e-04 9.99952355e-01 -4.23792478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56719347 meters 0.07180974243976694 Centerline is valid? [True, True] Translation: X:167.05, Y:12.63, Z:-4.24 [[ 9.75437005e-01 -2.19979415e-01 -1.14763247e-02 1.67045882e+02] [ 2.19970754e-01 9.75504361e-01 -2.02719519e-03 1.26331761e+01] [ 1.16411460e-02 -5.47054595e-04 9.99932090e-01 -4.23754143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62719347 meters 0.06854350043224426 Centerline is valid? [True, True] Translation: X:167.10, Y:12.67, Z:-4.24 [[ 9.77106128e-01 -2.12385915e-01 -1.24834605e-02 1.67101294e+02] [ 2.12375142e-01 9.77185739e-01 -2.19770270e-03 1.26657713e+01] [ 1.26654207e-02 -5.03787917e-04 9.99919663e-01 -4.23970331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68719347 meters 0.0652086623644573 Centerline is valid? [True, True] Translation: X:167.16, Y:12.69, Z:-4.24 [[ 9.79234769e-01 -2.02457428e-01 -1.05003617e-02 1.67157309e+02] [ 2.02449226e-01 9.79291014e-01 -1.84943930e-03 1.26931206e+01] [ 1.06573426e-02 -3.14754834e-04 9.99943159e-01 -4.23991124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74719347 meters 0.06259165654288254 Centerline is valid? [True, True] Translation: X:167.21, Y:12.72, Z:-4.24 [[ 9.81167135e-01 -1.92782917e-01 -1.20747769e-02 1.67212833e+02] [ 1.92771324e-01 9.81241402e-01 -2.12778097e-03 1.27238392e+01] [ 1.22584708e-02 -2.39961964e-04 9.99924833e-01 -4.24264742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80719347000002 meters 0.06083177850716005 Centerline is valid? [True, True] Translation: X:167.27, Y:12.76, Z:-4.25 [[ 9.83777573e-01 -1.78941928e-01 -1.27072526e-02 1.67267629e+02] [ 1.78927928e-01 9.83859635e-01 -2.23943424e-03 1.27572515e+01] [ 1.29028816e-02 -7.05772003e-05 9.99916752e-01 -4.24649846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86719347000002 meters 0.06071840722059577 Centerline is valid? [True, True] Translation: X:167.32, Y:12.77, Z:-4.25 [[ 9.84907539e-01 -1.72560399e-01 -1.34181763e-02 1.67323871e+02] [ 1.72544158e-01 9.84998938e-01 -2.36756007e-03 1.27693660e+01] [ 1.36254365e-02 1.65998492e-05 9.99907169e-01 -4.25111015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92719347000002 meters 0.060733693402259495 Centerline is valid? [True, True] Translation: X:167.38, Y:12.78, Z:-4.25 [[ 9.85061789e-01 -1.71693799e-01 -1.32102409e-02 1.67380831e+02] [ 1.71677847e-01 9.85150363e-01 -2.34074107e-03 1.27774914e+01] [ 1.34159643e-02 3.78688794e-05 9.99910001e-01 -4.25285962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98719347000002 meters 0.06142748334827156 Centerline is valid? [True, True] Translation: X:167.44, Y:12.79, Z:-4.26 [[ 9.86111791e-01 -1.65498286e-01 -1.39230777e-02 1.67437841e+02] [ 1.65480011e-01 9.86210070e-01 -2.46254685e-03 1.27851657e+01] [ 1.41386267e-02 1.24355432e-04 9.99900037e-01 -4.25517996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04719347000002 meters 0.06266364335193665 Centerline is valid? [True, True] Translation: X:167.50, Y:12.79, Z:-4.26 [[ 9.86768707e-01 -1.61297683e-01 -1.64492217e-02 1.67497157e+02] [ 1.61271611e-01 9.86905776e-01 -2.90809425e-03 1.27905605e+01] [ 1.67029007e-02 2.16823925e-04 9.99860473e-01 -4.26055632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10719347000003 meters 0.0615203673660142 Centerline is valid? [True, True] Translation: X:167.56, Y:12.78, Z:-4.26 [[ 9.86634069e-01 -1.62058663e-01 -1.70353681e-02 1.67558754e+02] [ 1.62030609e-01 9.86781100e-01 -3.02352265e-03 1.27808996e+01] [ 1.73001673e-02 2.22859385e-04 9.99850316e-01 -4.25685852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16719347000003 meters 0.06060002527840937 Centerline is valid? [True, True] Translation: X:167.62, Y:12.78, Z:-4.26 [[ 9.85531939e-01 -1.68876075e-01 -1.44107395e-02 1.67620614e+02] [ 1.68856808e-01 9.85637289e-01 -2.55223125e-03 1.27758960e+01] [ 1.46347730e-02 8.19539493e-05 9.99892903e-01 -4.25516486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22719347000003 meters 0.06019742626642224 Centerline is valid? [True, True] Translation: X:167.68, Y:12.76, Z:-4.25 [[ 9.83350291e-01 -1.81311915e-01 -1.21735562e-02 1.67684302e+02] [ 1.81298988e-01 9.83425637e-01 -2.16639481e-03 1.27572229e+01] [ 1.23645804e-02 -7.67284475e-05 9.99923553e-01 -4.25075374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28719347 meters 0.06079045762839272 Centerline is valid? [True, True] Translation: X:167.75, Y:12.74, Z:-4.25 [[ 9.81679402e-01 -1.90387483e-01 -7.62607319e-03 1.67746628e+02] [ 1.90382641e-01 9.81709017e-01 -1.36269650e-03 1.27411891e+01] [ 7.74602517e-03 -1.14140868e-04 9.99969993e-01 -4.24764030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34719347 meters 0.06114690215129878 Centerline is valid? [True, True] Translation: X:167.80, Y:12.74, Z:-4.25 [[ 9.81099819e-01 -1.93404214e-01 -6.16081227e-03 1.67804821e+02] [ 1.93401084e-01 9.81119156e-01 -1.10552999e-03 1.27429420e+01] [ 6.25830509e-03 -1.06872494e-04 9.99980411e-01 -4.24880174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40719347 meters 0.06115574301845092 Centerline is valid? [True, True] Translation: X:167.86, Y:12.75, Z:-4.26 [[ 9.81490366e-01 -1.91069166e-01 -1.30090819e-02 1.67864869e+02] [ 1.91055220e-01 9.81576553e-01 -2.31799863e-03 1.27453585e+01] [ 1.32123079e-02 -2.10359699e-04 9.99912692e-01 -4.25570055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46719347 meters 0.06113197014555098 Centerline is valid? [True, True] Translation: X:167.92, Y:12.75, Z:-4.26 [[ 9.82018265e-01 -1.88368012e-01 -1.25546739e-02 1.67922416e+02] [ 1.88354738e-01 9.82098501e-01 -2.24207294e-03 1.27509768e+01] [ 1.27522612e-02 -1.62975733e-04 9.99918673e-01 -4.25902153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52719347000001 meters 0.06067290298993237 Centerline is valid? [True, True] Translation: X:167.98, Y:12.76, Z:-4.26 [[ 9.82329588e-01 -1.86802454e-01 -1.15509319e-02 1.67981620e+02] [ 1.86791030e-01 9.82397490e-01 -2.06962566e-03 1.27571139e+01] [ 1.17342177e-02 -1.24555947e-04 9.99931144e-01 -4.26018460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58719347000002 meters 0.061045277197553025 Centerline is valid? [True, True] Translation: X:168.04, Y:12.76, Z:-4.26 [[ 9.82384828e-01 -1.86508464e-01 -1.16035196e-02 1.68038571e+02] [ 1.86496934e-01 9.82453346e-01 -2.07754407e-03 1.27633742e+01] [ 1.17873963e-02 -1.23073058e-04 9.99930519e-01 -4.26327935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64719347000002 meters 0.06196053276009381 Centerline is valid? [True, True] Translation: X:168.10, Y:12.77, Z:-4.27 [[ 9.81871949e-01 -1.88908936e-01 -1.55206097e-02 1.68098349e+02] [ 1.88888625e-01 9.81994589e-01 -2.77762761e-03 1.27654294e+01] [ 1.57658734e-02 -2.04391998e-04 9.99875690e-01 -4.26846881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70719347000002 meters 0.06303199417040825 Centerline is valid? [True, True] Translation: X:168.16, Y:12.77, Z:-4.27 [[ 9.80989913e-01 -1.93242386e-01 -1.77811761e-02 1.68158092e+02] [ 1.93216452e-01 9.81150998e-01 -3.18139912e-03 1.27699985e+01] [ 1.80607999e-02 -3.14695322e-04 9.99836841e-01 -4.27266260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76719347000002 meters 0.06510165669668455 Centerline is valid? [True, True] Translation: X:168.22, Y:12.77, Z:-4.27 [[ 9.79269469e-01 -2.01988377e-01 -1.52316275e-02 1.68218090e+02] [ 2.01970232e-01 9.79387839e-01 -2.73629966e-03 1.27689781e+01] [ 1.54703714e-02 -3.96760612e-04 9.99880248e-01 -4.27257899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82719347000003 meters 0.06576596029624422 Centerline is valid? [True, True] Translation: X:168.28, Y:12.77, Z:-4.27 [[ 9.78116301e-01 -2.07710158e-01 -1.20412435e-02 1.68277565e+02] [ 2.07699185e-01 9.78190342e-01 -2.16857077e-03 1.27724172e+01] [ 1.22290623e-02 -3.79842048e-04 9.99925150e-01 -4.26961147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88719347000003 meters 0.06857107937429895 Centerline is valid? [True, True] Translation: X:168.34, Y:12.77, Z:-4.27 [[ 9.76162600e-01 -2.16834609e-01 -9.45151267e-03 1.68339045e+02] [ 2.16828330e-01 9.76208276e-01 -1.69635346e-03 1.27732414e+01] [ 9.59447302e-03 -3.93438910e-04 9.99953895e-01 -4.26827080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94719347000003 meters 0.0727914272986018 Centerline is valid? [True, True] Translation: X:168.40, Y:12.77, Z:-4.27 [[ 9.74746515e-01 -2.23134331e-01 -8.96118586e-03 1.68399187e+02] [ 2.23128939e-01 9.74787610e-01 -1.60978008e-03 1.27718689e+01] [ 9.09445015e-03 -4.30372373e-04 9.99958552e-01 -4.27174714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00719347 meters 0.07565924069737573 Centerline is valid? [True, True] Translation: X:168.46, Y:12.78, Z:-4.28 [[ 9.73952423e-01 -2.26463676e-01 -1.14403112e-02 1.68458244e+02] [ 2.26455116e-01 9.74019433e-01 -2.05527254e-03 1.27775753e+01] [ 1.16085300e-02 -5.88979336e-04 9.99932445e-01 -4.27561695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06719347 meters 0.07142720361646031 Centerline is valid? [True, True] Translation: X:168.51, Y:12.80, Z:-4.28 [[ 9.74614014e-01 -2.23389210e-01 -1.49928484e-02 1.68514340e+02] [ 2.23373978e-01 9.74729066e-01 -2.70441444e-03 1.27998597e+01] [ 1.52181021e-02 -7.13251962e-04 9.99883944e-01 -4.27667229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12719347 meters 0.07014614674400364 Centerline is valid? [True, True] Translation: X:168.57, Y:12.82, Z:-4.28 [[ 9.75904920e-01 -2.17762743e-01 -1.37468443e-02 1.68571276e+02] [ 2.17749455e-01 9.76001564e-01 -2.47425292e-03 1.28151007e+01] [ 1.39557416e-02 -5.78732245e-04 9.99902446e-01 -4.27850854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18719347 meters 0.06840206261788281 Centerline is valid? [True, True] Translation: X:168.63, Y:12.83, Z:-4.28 [[ 9.76786005e-01 -2.13844331e-01 -1.26373776e-02 1.68629210e+02] [ 2.13832775e-01 9.76867632e-01 -2.27450361e-03 1.28333763e+01] [ 1.28314348e-02 -4.80582224e-04 9.99917558e-01 -4.27867161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24719347 meters 0.0650396233863971 Centerline is valid? [True, True] Translation: X:168.69, Y:12.86, Z:-4.28 [[ 9.79184732e-01 -2.02332980e-01 -1.60818579e-02 1.68685190e+02] [ 2.02312707e-01 9.79316695e-01 -2.89466558e-03 1.28612156e+01] [ 1.63349183e-02 -4.19151873e-04 9.99866488e-01 -4.28410694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30719347000002 meters 0.06266354770016816 Centerline is valid? [True, True] Translation: X:168.74, Y:12.88, Z:-4.28 [[ 9.80895577e-01 -1.93916089e-01 -1.55054001e-02 1.68742380e+02] [ 1.93896171e-01 9.81018083e-01 -2.79216619e-03 1.28807849e+01] [ 1.57525238e-02 -2.67614243e-04 9.99875885e-01 -4.28311448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36719347000002 meters 0.06082472877797266 Centerline is valid? [True, True] Translation: X:168.80, Y:12.91, Z:-4.28 [[ 9.82913409e-01 -1.83747635e-01 -1.08645215e-02 1.68797796e+02] [ 1.83737228e-01 9.82973449e-01 -1.95694594e-03 1.29059838e+01] [ 1.10391204e-02 -7.27086608e-05 9.99939064e-01 -4.28187290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42719347000002 meters 0.05966043865262125 Centerline is valid? [True, True] Translation: X:168.86, Y:12.92, Z:-4.28 [[ 9.83820480e-01 -1.79048294e-01 -6.24273127e-03 1.68855554e+02] [ 1.79044757e-01 9.83840286e-01 -1.12534696e-03 1.29231598e+01] [ 6.34334197e-03 -1.05889193e-05 9.99979881e-01 -4.27619532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48719347000002 meters 0.05903043840984851 Centerline is valid? [True, True] Translation: X:168.92, Y:12.93, Z:-4.27 [[ 9.84904888e-01 -1.73086914e-01 1.81160658e-03 1.68915686e+02] [ 1.73086607e-01 9.84906554e-01 3.25756663e-04 1.29307555e+01] [-1.84064741e-03 -7.27449277e-06 9.99998306e-01 -4.27087832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54719347000002 meters 0.059882565627971826 Centerline is valid? [True, True] Translation: X:168.97, Y:12.94, Z:-4.27 [[ 9.86517433e-01 -1.63653841e-01 8.80615207e-04 1.68974516e+02] [ 1.63653766e-01 9.86517826e-01 1.57585216e-04 1.29405391e+01] [-8.94532025e-04 -1.13445681e-05 9.99999600e-01 -4.27424535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60719347000003 meters 0.06243500664303509 Centerline is valid? [True, True] Translation: X:169.03, Y:12.95, Z:-4.29 [[ 9.87735952e-01 -1.56046234e-01 -5.22128615e-03 1.69032984e+02] [ 1.56043438e-01 9.87749746e-01 -9.41032574e-04 1.29515064e+01] [ 5.30416865e-03 1.14744262e-04 9.99985926e-01 -4.28540261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66719347000003 meters 0.06356891609347247 Centerline is valid? [True, True] Translation: X:169.10, Y:12.94, Z:-4.30 [[ 9.87882915e-01 -1.54579123e-01 -1.38794835e-02 1.69096048e+02] [ 1.54559233e-01 9.87980358e-01 -2.50094828e-03 1.29405687e+01] [ 1.40992515e-02 3.25441748e-04 9.99900548e-01 -4.29508703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72719347000003 meters 0.06316272792521946 Centerline is valid? [True, True] Translation: X:169.16, Y:12.93, Z:-4.30 [[ 9.87013144e-01 -1.59827719e-01 -1.61292738e-02 1.69156885e+02] [ 1.59801365e-01 9.87144877e-01 -2.91807342e-03 1.29323589e+01] [ 1.63883190e-02 3.02696861e-04 9.99865657e-01 -4.29912801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78719347 meters 0.06227240335740777 Centerline is valid? [True, True] Translation: X:169.22, Y:12.91, Z:-4.30 [[ 9.85515686e-01 -1.68639427e-01 -1.78767270e-02 1.69219979e+02] [ 1.68608418e-01 9.85677793e-01 -3.23868880e-03 1.29136774e+01] [ 1.81668635e-02 1.77611949e-04 9.99834953e-01 -4.30174338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84719347 meters 0.06184723632120642 Centerline is valid? [True, True] Translation: X:169.28, Y:12.90, Z:-4.30 [[ 9.83730513e-01 -1.78662121e-01 -1.88182084e-02 1.69281892e+02] [ 1.78629449e-01 9.83910487e-01 -3.41660819e-03 1.28999515e+01] [ 1.91258511e-02 -4.64484718e-07 9.99817084e-01 -4.30119538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90719347 meters 0.06295414714273519 Centerline is valid? [True, True] Translation: X:169.34, Y:12.88, Z:-4.30 [[ 9.80810938e-01 -1.94431491e-01 -1.43631369e-02 1.69344001e+02] [ 1.94414148e-01 9.80916072e-01 -2.60746350e-03 1.28814738e+01] [ 1.45960048e-02 -2.34968304e-04 9.99893445e-01 -4.29758917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96719347 meters 0.06582895485692936 Centerline is valid? [True, True] Translation: X:169.40, Y:12.88, Z:-4.30 [[ 9.79031896e-01 -2.03325873e-01 -1.24553889e-02 1.69404406e+02] [ 2.03313553e-01 9.79111070e-01 -2.26091601e-03 1.28753264e+01] [ 1.26549119e-02 -3.18840493e-04 9.99919873e-01 -4.30006007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02719347000001 meters 0.07067196940758964 Centerline is valid? [True, True] Translation: X:169.47, Y:12.86, Z:-4.30 [[ 9.77011978e-01 -2.12876048e-01 -1.14622605e-02 1.69465900e+02] [ 2.12866274e-01 9.77079128e-01 -2.08021838e-03 1.28649526e+01] [ 1.16423642e-02 -4.07530416e-04 9.99932142e-01 -4.30043469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08719347000002 meters 0.06698579618663895 Centerline is valid? [True, True] Translation: X:169.52, Y:12.88, Z:-4.29 [[ 9.76668349e-01 -2.14389507e-01 -1.24930066e-02 1.69522736e+02] [ 2.14377885e-01 9.76748142e-01 -2.27793145e-03 1.28839102e+01] [ 1.26908856e-02 -4.53440775e-04 9.99919365e-01 -4.29367732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14719347000002 meters 0.06478762712613606 Centerline is valid? [True, True] Translation: X:169.58, Y:12.91, Z:-4.29 [[ 9.78234834e-01 -2.07207371e-01 -1.10324228e-02 1.69578969e+02] [ 2.07197910e-01 9.78296990e-01 -2.00630460e-03 1.29067566e+01] [ 1.12087071e-02 -3.23257891e-04 9.99937128e-01 -4.29433394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20719347000002 meters 0.06234452539383293 Centerline is valid? [True, True] Translation: X:169.64, Y:12.93, Z:-4.29 [[ 9.80107838e-01 -1.98250692e-01 -9.23515337e-03 1.69636087e+02] [ 1.98243662e-01 9.80151330e-01 -1.67978042e-03 1.29299966e+01] [ 9.38486549e-03 -1.84444662e-04 9.99955944e-01 -4.29359014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26719347000002 meters 0.06224236262953003 Centerline is valid? [True, True] Translation: X:169.69, Y:12.95, Z:-4.31 [[ 9.82779083e-01 -1.84352230e-01 -1.26305230e-02 1.69689742e+02] [ 1.84337892e-01 9.82860240e-01 -2.30015934e-03 1.29547373e+01] [ 1.28380784e-02 -6.77355077e-05 9.99917586e-01 -4.31005153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32719347000003 meters 0.06096013006501134 Centerline is valid? [True, True] Translation: X:169.74, Y:12.98, Z:-4.31 [[ 9.84545254e-01 -1.74535633e-01 -1.44206936e-02 1.69744716e+02] [ 1.74515766e-01 9.84650855e-01 -2.63448952e-03 1.29817222e+01] [ 1.46591606e-02 7.71357631e-05 9.99892546e-01 -4.30674305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38719347000003 meters 0.062021021958190196 Centerline is valid? [True, True] Translation: X:169.80, Y:13.00, Z:-4.31 [[ 9.85382791e-01 -1.69464355e-01 -1.73950359e-02 1.69802284e+02] [ 1.69434775e-01 9.85536301e-01 -3.17111827e-03 1.29993150e+01] [ 1.76808309e-02 1.77441365e-04 9.99843666e-01 -4.31262108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44719347000003 meters 0.06239715696394456 Centerline is valid? [True, True] Translation: X:169.86, Y:13.01, Z:-4.32 [[ 9.85637592e-01 -1.67902040e-01 -1.80953471e-02 1.69860136e+02] [ 1.67869566e-01 9.85803659e-01 -3.30970810e-03 1.30102514e+01] [ 1.83941661e-02 2.24514658e-04 9.99830788e-01 -4.31598996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50719347 meters 0.06268625315718292 Centerline is valid? [True, True] Translation: X:169.92, Y:13.01, Z:-4.32 [[ 9.85316058e-01 -1.69542043e-01 -2.01931039e-02 1.69919240e+02] [ 1.69501844e-01 9.85522931e-01 -3.69839515e-03 1.30129211e+01] [ 2.05278004e-02 2.21319781e-04 9.99789258e-01 -4.31986868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56719347 meters 0.06293656933314581 Centerline is valid? [True, True] Translation: X:169.98, Y:13.02, Z:-4.32 [[ 9.85539194e-01 -1.68425278e-01 -1.85855485e-02 1.69976845e+02] [ 1.68390920e-01 9.85714397e-01 -3.40962959e-03 1.30219024e+01] [ 1.88943106e-02 2.30685990e-04 9.99821460e-01 -4.32175182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62719347 meters 0.06103595661582326 Centerline is valid? [True, True] Translation: X:170.04, Y:13.03, Z:-4.31 [[ 9.85934810e-01 -1.66569598e-01 -1.36791723e-02 1.70037333e+02] [ 1.66550853e-01 9.86029681e-01 -2.50629047e-03 1.30254387e+01] [ 1.39055416e-02 1.92761221e-04 9.99903295e-01 -4.30941221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68719347 meters 0.05987065070206558 Centerline is valid? [True, True] Translation: X:170.10, Y:13.02, Z:-4.31 [[ 9.84823850e-01 -1.73195399e-01 -1.11954478e-02 1.70098842e+02] [ 1.73183255e-01 9.84887479e-01 -2.05265712e-03 1.30226337e+01] [ 1.13817671e-02 8.26415961e-05 9.99935222e-01 -4.30628460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74719347 meters 0.06190778638533051 Centerline is valid? [True, True] Translation: X:170.16, Y:13.00, Z:-4.31 [[ 9.81494886e-01 -1.91369960e-01 -6.73258527e-03 1.70161496e+02] [ 1.91365977e-01 9.81517974e-01 -1.23686876e-03 1.29996326e+01] [ 6.84485298e-03 -7.44074027e-05 9.99976571e-01 -4.31460136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80719347000002 meters 0.06469457499616918 Centerline is valid? [True, True] Translation: X:170.23, Y:12.98, Z:-4.31 [[ 9.77464334e-01 -2.10934287e-01 -8.37869279e-03 1.70225706e+02] [ 2.10928860e-01 9.77500208e-01 -1.53624976e-03 1.29848085e+01] [ 8.51422169e-03 -2.65678770e-04 9.99963718e-01 -4.30733204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86719347000002 meters 0.06704857620164648 Centerline is valid? [True, True] Translation: X:170.29, Y:12.99, Z:-4.31 [[ 9.76001819e-01 -2.17453174e-01 -1.16002947e-02 1.70286750e+02] [ 2.17443224e-01 9.76070652e-01 -2.12749274e-03 1.29867254e+01] [ 1.17853373e-02 -4.45968703e-04 9.99930451e-01 -4.31135304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92719347000002 meters 0.06596193803063105 Centerline is valid? [True, True] Translation: X:170.34, Y:13.01, Z:-4.32 [[ 9.77017934e-01 -2.12566904e-01 -1.58514311e-02 1.70342492e+02] [ 2.12547488e-01 9.77146378e-01 -2.91916925e-03 1.30060859e+01] [ 1.61096872e-02 -5.17101146e-04 9.99870097e-01 -4.31670606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98719347000002 meters 0.06335078426155231 Centerline is valid? [True, True] Translation: X:170.40, Y:13.03, Z:-4.32 [[ 9.79080365e-01 -2.02668367e-01 -1.80878990e-02 1.70398740e+02] [ 2.02641518e-01 9.79247346e-01 -3.32422965e-03 1.30308716e+01] [ 1.83862433e-02 -4.10671334e-04 9.99830874e-01 -4.31876864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04719347000002 meters 0.060618149206024055 Centerline is valid? [True, True] Translation: X:170.45, Y:13.06, Z:-4.32 [[ 9.81769585e-01 -1.89614282e-01 -1.32252063e-02 1.70452928e+02] [ 1.89598726e-01 9.81858651e-01 -2.43176889e-03 1.30610522e+01] [ 1.34463813e-02 -1.20045528e-04 9.99909586e-01 -4.31642089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10719347000003 meters 0.059770245246995674 Centerline is valid? [True, True] Translation: X:170.51, Y:13.08, Z:-4.32 [[ 9.82961008e-01 -1.83465253e-01 -1.13207057e-02 1.70508886e+02] [ 1.83453423e-01 9.83026195e-01 -2.08358982e-03 1.30803412e+01] [ 1.15108166e-02 -2.87346732e-05 9.99933748e-01 -4.31560623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16719347000003 meters 0.05943903813972506 Centerline is valid? [True, True] Translation: X:170.56, Y:13.10, Z:-4.32 [[ 9.84077948e-01 -1.77370113e-01 -1.14208215e-02 1.70564971e+02] [ 1.77357535e-01 9.84144217e-01 -2.11294887e-03 1.30980941e+01] [ 1.16145094e-02 5.37376500e-05 9.99932548e-01 -4.31540951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22719347000003 meters 0.059621478786906434 Centerline is valid? [True, True] Translation: X:170.62, Y:13.11, Z:-4.32 [[ 9.85229579e-01 -1.70995345e-01 -9.12513935e-03 1.70621531e+02] [ 1.70987009e-01 9.85271831e-01 -1.69175602e-03 1.31142953e+01] [ 9.28002516e-03 1.06487789e-04 9.99956934e-01 -4.31594059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28719347 meters 0.0608691412992078 Centerline is valid? [True, True] Translation: X:170.68, Y:13.13, Z:-4.32 [[ 9.86768422e-01 -1.61918025e-01 -8.40447577e-03 1.70678445e+02] [ 1.61910666e-01 9.86804197e-01 -1.55326316e-03 1.31305092e+01] [ 8.54507327e-03 1.71936764e-04 9.99963475e-01 -4.31822105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34719347 meters 0.060716797699026374 Centerline is valid? [True, True] Translation: X:170.74, Y:13.14, Z:-4.32 [[ 9.86658517e-01 -1.62640705e-01 -7.27814626e-03 1.70737627e+02] [ 1.62635145e-01 9.86685349e-01 -1.35326362e-03 1.31360989e+01] [ 7.40133603e-03 1.51526705e-04 9.99972598e-01 -4.31872803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40719347 meters 0.05899605867065525 Centerline is valid? [True, True] Translation: X:170.80, Y:13.13, Z:-4.32 [[ 9.84874505e-01 -1.73169445e-01 -5.87816408e-03 1.70799634e+02] [ 1.73166033e-01 9.84892045e-01 -1.08840325e-03 1.31282072e+01] [ 5.97783523e-03 5.40422628e-05 9.99982131e-01 -4.31827102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46719347 meters 0.05959623432776519 Centerline is valid? [True, True] Translation: X:170.86, Y:13.11, Z:-4.32 [[ 9.81983493e-01 -1.88717581e-01 -9.70023752e-03 1.70862021e+02] [ 1.88708960e-01 9.82031400e-01 -1.80480853e-03 1.31127513e+01] [ 9.86653694e-03 -5.82295508e-05 9.99951323e-01 -4.32485792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52719347000001 meters 0.0624394137559689 Centerline is valid? [True, True] Translation: X:170.92, Y:13.10, Z:-4.33 [[ 9.79730590e-01 -1.99935681e-01 -1.23973750e-02 1.70923449e+02] [ 1.99922606e-01 9.79808998e-01 -2.29779525e-03 1.31042592e+01] [ 1.26064708e-02 -2.27295215e-04 9.99920509e-01 -4.33235653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58719347000002 meters 0.066128238569036 Centerline is valid? [True, True] Translation: X:170.99, Y:13.10, Z:-4.33 [[ 9.76445806e-01 -2.15172389e-01 -1.59509226e-02 1.70985486e+02] [ 2.15152754e-01 9.76575930e-01 -2.95730245e-03 1.30978495e+01] [ 1.62136169e-02 -5.44239350e-04 9.99868403e-01 -4.33321436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64719347000002 meters 0.06932851869691584 Centerline is valid? [True, True] Translation: X:171.05, Y:13.10, Z:-4.34 [[ 9.75215431e-01 -2.20637386e-01 -1.65531748e-02 1.71045026e+02] [ 2.20617010e-01 9.75355684e-01 -3.06989883e-03 1.31019089e+01] [ 1.68225676e-02 -6.58099224e-04 9.99858274e-01 -4.33731301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70719347000002 meters 0.06882314976354076 Centerline is valid? [True, True] Translation: X:171.10, Y:13.11, Z:-4.33 [[ 9.74679116e-01 -2.23110621e-01 -1.49087686e-02 1.71102715e+02] [ 2.23094210e-01 9.74792935e-01 -2.77619699e-03 1.31136375e+01] [ 1.51523613e-02 -6.20158721e-04 9.99885004e-01 -4.33277947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76719347000002 meters 0.06797700322035075 Centerline is valid? [True, True] Translation: X:171.16, Y:13.13, Z:-4.33 [[ 9.75412915e-01 -2.20057305e-01 -1.20177828e-02 1.71159876e+02] [ 2.20046465e-01 9.75486835e-01 -2.23338583e-03 1.31300961e+01] [ 1.22146617e-02 -4.65997229e-04 9.99925290e-01 -4.33336002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82719347000003 meters 0.06363299131416694 Centerline is valid? [True, True] Translation: X:171.21, Y:13.16, Z:-4.33 [[ 9.78047152e-01 -2.08171192e-01 -9.40872507e-03 1.71214910e+02] [ 2.08164000e-01 9.78092374e-01 -1.74823952e-03 1.31635631e+01] [ 9.56653535e-03 -2.48697160e-04 9.99954209e-01 -4.33417175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88719347000003 meters 0.06008580038841154 Centerline is valid? [True, True] Translation: X:171.27, Y:13.20, Z:-4.33 [[ 9.80767586e-01 -1.95008491e-01 -8.16278353e-03 1.71269907e+02] [ 1.95002617e-01 9.80801549e-01 -1.51703345e-03 1.31951137e+01] [ 8.30190513e-03 -1.03906917e-04 9.99965533e-01 -4.33171005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94719347000003 meters 0.059367723374441995 Centerline is valid? [True, True] Translation: X:171.33, Y:13.22, Z:-4.33 [[ 9.81917309e-01 -1.89123951e-01 -8.39816698e-03 1.71325723e+02] [ 1.89117436e-01 9.81953222e-01 -1.57045486e-03 1.32160536e+01] [ 8.54361775e-03 -4.61829880e-05 9.99963502e-01 -4.33262110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00719347 meters 0.05926384101760544 Centerline is valid? [True, True] Translation: X:171.38, Y:13.23, Z:-4.33 [[ 9.82380373e-01 -1.86725551e-01 -7.89751928e-03 1.71381927e+02] [ 1.86719727e-01 9.82412117e-01 -1.47496661e-03 1.32288759e+01] [ 8.03403259e-03 -2.56444022e-05 9.99967726e-01 -4.33428167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06719347 meters 0.0594305801034068 Centerline is valid? [True, True] Translation: X:171.44, Y:13.24, Z:-4.34 [[ 9.81525418e-01 -1.91144896e-01 -8.45473939e-03 1.71439973e+02] [ 1.91138333e-01 9.81561829e-01 -1.58509632e-03 1.32391702e+01] [ 8.60183253e-03 -6.02124713e-05 9.99963002e-01 -4.33518914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12719347 meters 0.06124798598346634 Centerline is valid? [True, True] Translation: X:171.50, Y:13.24, Z:-4.34 [[ 9.79728289e-01 -1.99984019e-01 -1.17844051e-02 1.71500852e+02] [ 1.99972024e-01 9.79799138e-01 -2.19962388e-03 1.32406212e+01] [ 1.19862396e-02 -2.01517598e-04 9.99928142e-01 -4.34187266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18719347 meters 0.06262810805697383 Centerline is valid? [True, True] Translation: X:171.56, Y:13.25, Z:-4.35 [[ 9.78782380e-01 -2.04422465e-01 -1.40181509e-02 1.71560580e+02] [ 2.04405930e-01 9.78882712e-01 -2.61762084e-03 1.32467924e+01] [ 1.42572261e-02 -3.03312022e-04 9.99898315e-01 -4.34507647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24719347 meters 0.06289018291594967 Centerline is valid? [True, True] Translation: X:171.62, Y:13.26, Z:-4.34 [[ 9.77872820e-01 -2.08834029e-01 -1.23731949e-02 1.71617401e+02] [ 2.08821459e-01 9.77951044e-01 -2.31369216e-03 1.32605517e+01] [ 1.25835565e-02 -3.21291928e-04 9.99920772e-01 -4.34361718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30719347000002 meters 0.06319202528549794 Centerline is valid? [True, True] Translation: X:171.67, Y:13.27, Z:-4.35 [[ 9.77829105e-01 -2.09050896e-01 -1.21640883e-02 1.71674587e+02] [ 2.09038645e-01 9.77904713e-01 -2.28417580e-03 1.32730563e+01] [ 1.23728283e-02 -3.09230977e-04 9.99923406e-01 -4.34620931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36719347000002 meters 0.06375644804707949 Centerline is valid? [True, True] Translation: X:171.73, Y:13.29, Z:-4.35 [[ 9.78047357e-01 -2.07832839e-01 -1.51287071e-02 1.71731117e+02] [ 2.07813832e-01 9.78164288e-01 -2.83511581e-03 1.32858291e+01] [ 1.53875911e-02 -3.71077061e-04 9.99881535e-01 -4.35083708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42719347000002 meters 0.06280767445236214 Centerline is valid? [True, True] Translation: X:171.79, Y:13.31, Z:-4.35 [[ 9.78991683e-01 -2.03360856e-01 -1.48204558e-02 1.71787021e+02] [ 2.03342092e-01 9.79103813e-01 -2.77812615e-03 1.33060787e+01] [ 1.50757269e-02 -2.93860088e-04 9.99886312e-01 -4.35361097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48719347000002 meters 0.06245044340380037 Centerline is valid? [True, True] Translation: X:171.84, Y:13.33, Z:-4.36 [[ 9.79484121e-01 -2.00922329e-01 -1.55265558e-02 1.71843543e+02] [ 2.00901274e-01 9.79607141e-01 -2.92018137e-03 1.33253376e+01] [ 1.57966546e-02 -2.59033576e-04 9.99875192e-01 -4.35694480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54719347000002 meters 0.060871698610121136 Centerline is valid? [True, True] Translation: X:171.90, Y:13.35, Z:-4.35 [[ 9.81127661e-01 -1.92926841e-01 -1.29516751e-02 1.71901394e+02] [ 1.92911547e-01 9.81213138e-01 -2.43182551e-03 1.33451133e+01] [ 1.31775182e-02 -1.12596405e-04 9.99913166e-01 -4.35484568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60719347000003 meters 0.059986958281378115 Centerline is valid? [True, True] Translation: X:171.96, Y:13.37, Z:-4.35 [[ 9.82205720e-01 -1.87338112e-01 -1.32798538e-02 1.71956935e+02] [ 1.87321382e-01 9.82295491e-01 -2.50380729e-03 1.33662296e+01] [ 1.35137990e-02 -2.83467126e-05 9.99908684e-01 -4.35354335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66719347000003 meters 0.06090282026075862 Centerline is valid? [True, True] Translation: X:172.01, Y:13.38, Z:-4.36 [[ 9.82332308e-01 -1.86431841e-01 -1.63219526e-02 1.72014149e+02] [ 1.86406550e-01 9.82467897e-01 -3.07083719e-03 1.33798520e+01] [ 1.66082963e-02 -2.59362930e-05 9.99862072e-01 -4.36097204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72719347000003 meters 0.06324160603146087 Centerline is valid? [True, True] Translation: X:172.07, Y:13.38, Z:-4.37 [[ 9.79985877e-01 -1.98431521e-01 -1.58937934e-02 1.72073425e+02] [ 1.98409070e-01 9.80114730e-01 -2.99298157e-03 1.33764820e+01] [ 1.61716429e-02 -2.20393086e-04 9.99869206e-01 -4.36777508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78719347 meters 0.06470492869979048 Centerline is valid? [True, True] Translation: X:172.13, Y:13.38, Z:-4.36 [[ 9.78202018e-01 -2.07134942e-01 -1.46944548e-02 1.72133076e+02] [ 2.07116731e-01 9.78312324e-01 -2.76718307e-03 1.33809448e+01] [ 1.49489466e-02 -3.36603382e-04 9.99888202e-01 -4.36477325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84719347 meters 0.06398064238641656 Centerline is valid? [True, True] Translation: X:172.19, Y:13.39, Z:-4.36 [[ 9.77249127e-01 -2.11704139e-01 -1.28647485e-02 1.72190505e+02] [ 2.11690440e-01 9.77333739e-01 -2.43300400e-03 1.33933374e+01] [ 1.30882297e-02 -3.45693226e-04 9.99914286e-01 -4.35635442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90719347 meters 0.06336764290830739 Centerline is valid? [True, True] Translation: X:172.25, Y:13.41, Z:-4.35 [[ 9.77407945e-01 -2.11170993e-01 -8.97334503e-03 1.72248593e+02] [ 2.11164341e-01 9.77449106e-01 -1.69326022e-03 1.34084153e+01] [ 9.12855552e-03 -2.39844495e-04 9.99958305e-01 -4.35483113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96719347 meters 0.06294701888038194 Centerline is valid? [True, True] Translation: X:172.30, Y:13.43, Z:-4.36 [[ 9.78301806e-01 -2.06752175e-01 -1.33833822e-02 1.72304127e+02] [ 2.06736827e-01 9.78393303e-01 -2.53544608e-03 1.34329073e+01] [ 1.36184205e-02 -2.86406491e-04 9.99907224e-01 -4.36227607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02719347000001 meters 0.06275640509471146 Centerline is valid? [True, True] Translation: X:172.36, Y:13.45, Z:-4.37 [[ 9.79065133e-01 -2.02824427e-01 -1.71382004e-02 1.72360430e+02] [ 2.02798741e-01 9.79215074e-01 -3.24185811e-03 1.34481154e+01] [ 1.74395122e-02 -3.01615232e-04 9.99847875e-01 -4.36830903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08719347000002 meters 0.06322381343108059 Centerline is valid? [True, True] Translation: X:172.42, Y:13.47, Z:-4.38 [[ 9.79745591e-01 -1.99311295e-01 -1.93283324e-02 1.72415071e+02] [ 1.99277906e-01 9.79936190e-01 -3.65789367e-03 1.34695815e+01] [ 1.96695919e-02 -2.67904407e-04 9.99806499e-01 -4.37574715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14719347000002 meters 0.06188470776528577 Centerline is valid? [True, True] Translation: X:172.47, Y:13.48, Z:-4.37 [[ 9.79715989e-01 -1.99661366e-01 -1.70856561e-02 1.72473339e+02] [ 1.99635157e-01 9.79864932e-01 -3.24338589e-03 1.34820162e+01] [ 1.73892141e-02 -2.33300613e-04 9.99848769e-01 -4.36738722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20719347000002 meters 0.06206868651176207 Centerline is valid? [True, True] Translation: X:172.53, Y:13.49, Z:-4.37 [[ 9.79128057e-01 -2.02761596e-01 -1.39993640e-02 1.72531730e+02] [ 2.02744229e-01 9.79228105e-01 -2.66372806e-03 1.34920600e+01] [ 1.42486724e-02 -2.30159381e-04 9.99898456e-01 -4.36619444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26719347000002 meters 0.06254303075624629 Centerline is valid? [True, True] Translation: X:172.59, Y:13.50, Z:-4.37 [[ 9.78470213e-01 -2.06027235e-01 -1.21991848e-02 1.72589221e+02] [ 2.06014241e-01 9.78546229e-01 -2.32600550e-03 1.35028493e+01] [ 1.24166868e-02 -2.37278712e-04 9.99922882e-01 -4.36605267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32719347000003 meters 0.06171667246261731 Centerline is valid? [True, True] Translation: X:172.65, Y:13.52, Z:-4.36 [[ 9.78637732e-01 -2.05379012e-01 -9.36217525e-03 1.72646430e+02] [ 2.05371355e-01 9.78682497e-01 -1.78242315e-03 1.35189944e+01] [ 9.52866936e-03 -1.78376063e-04 9.99954585e-01 -4.36276786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38719347000003 meters 0.06310051256589018 Centerline is valid? [True, True] Translation: X:172.70, Y:13.53, Z:-4.37 [[ 9.79229077e-01 -2.02478169e-01 -1.06304526e-02 1.72702582e+02] [ 2.02468110e-01 9.79286762e-01 -2.02531030e-03 1.35318023e+01] [ 1.08203426e-02 -1.69084904e-04 9.99941444e-01 -4.37354172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44719347000003 meters 0.060669768228309225 Centerline is valid? [True, True] Translation: X:172.76, Y:13.56, Z:-4.37 [[ 9.81022447e-01 -1.93461375e-01 -1.29481487e-02 1.72758125e+02] [ 1.93445560e-01 9.81107889e-01 -2.47481998e-03 1.35579719e+01] [ 1.31823130e-02 -7.69079400e-05 9.99913107e-01 -4.36903337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50719347 meters 0.060433280698364115 Centerline is valid? [True, True] Translation: X:172.81, Y:13.57, Z:-4.37 [[ 9.81573938e-01 -1.90706889e-01 -1.19785633e-02 1.72813670e+02] [ 1.90693181e-01 9.81647025e-01 -2.28690869e-03 1.35729702e+01] [ 1.21948503e-02 -3.94603638e-05 9.99925639e-01 -4.37168631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56719347 meters 0.06083720185537529 Centerline is valid? [True, True] Translation: X:172.87, Y:13.58, Z:-4.38 [[ 9.81753376e-01 -1.89589325e-01 -1.47036142e-02 1.72871052e+02] [ 1.89568496e-01 9.81863477e-01 -2.81040014e-03 1.35837787e+01] [ 1.49697636e-02 -2.82222072e-05 9.99887946e-01 -4.37658296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62719347 meters 0.06126941884825974 Centerline is valid? [True, True] Translation: X:172.93, Y:13.59, Z:-4.38 [[ 9.81301491e-01 -1.91753872e-01 -1.66683957e-02 1.72929293e+02] [ 1.91727377e-01 9.81443044e-01 -3.18822377e-03 1.35896458e+01] [ 1.69704353e-02 -6.71790564e-05 9.99855990e-01 -4.37990087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68719347 meters 0.061620623297064976 Centerline is valid? [True, True] Translation: X:172.99, Y:13.59, Z:-4.38 [[ 9.80551967e-01 -1.95611601e-01 -1.59355226e-02 1.72987480e+02] [ 1.95587724e-01 9.80681441e-01 -3.05850056e-03 1.35923437e+01] [ 1.62259495e-02 -1.17773863e-04 9.99868344e-01 -4.38245602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74719347 meters 0.06202945470000407 Centerline is valid? [True, True] Translation: X:173.04, Y:13.60, Z:-4.38 [[ 9.80200795e-01 -1.97347651e-01 -1.61340243e-02 1.73044605e+02] [ 1.97323481e-01 9.80333556e-01 -3.09233459e-03 1.36000343e+01] [ 1.64269904e-02 -1.52513006e-04 9.99865056e-01 -4.38446649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80719347000002 meters 0.06161726616883585 Centerline is valid? [True, True] Translation: X:173.10, Y:13.61, Z:-4.38 [[ 9.80035071e-01 -1.98284486e-01 -1.46465818e-02 1.73102893e+02] [ 1.98264526e-01 9.80144501e-01 -2.81700334e-03 1.36095129e+01] [ 1.49143347e-02 -1.43135541e-04 9.99888765e-01 -4.38193426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86719347000002 meters 0.06160220462275111 Centerline is valid? [True, True] Translation: X:173.16, Y:13.62, Z:-4.38 [[ 9.79383606e-01 -2.01691688e-01 -1.13231808e-02 1.73160546e+02] [ 2.01679929e-01 9.79449050e-01 -2.18279785e-03 1.36184715e+01] [ 1.15307308e-02 -1.45861863e-04 9.99933508e-01 -4.37964211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92719347000002 meters 0.060834322621994966 Centerline is valid? [True, True] Translation: X:173.22, Y:13.63, Z:-4.37 [[ 9.79074981e-01 -2.03413655e-01 -5.92169637e-03 1.73219041e+02] [ 2.03410489e-01 9.79092885e-01 -1.13839412e-03 1.36332368e+01] [ 6.02945569e-03 -8.99619571e-05 9.99981819e-01 -4.37390732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98719347000002 meters 0.06108948135630444 Centerline is valid? [True, True] Translation: X:173.28, Y:13.64, Z:-4.37 [[ 9.79035372e-01 -2.03652632e-01 -3.91747465e-03 1.73276507e+02] [ 2.03651232e-01 9.79043207e-01 -7.57274669e-04 1.36414788e+01] [ 3.98959792e-03 -5.63998517e-05 9.99992040e-01 -4.37381246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04719347000002 meters 0.06155350353060109 Centerline is valid? [True, True] Translation: X:173.33, Y:13.65, Z:-4.38 [[ 9.79114859e-01 -2.03151160e-01 -7.98120276e-03 1.73334677e+02] [ 2.03145385e-01 9.79147380e-01 -1.53627897e-03 1.36540325e+01] [ 8.12687063e-03 -1.17150940e-04 9.99966970e-01 -4.37962479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10719347000003 meters 0.0616246455582745 Centerline is valid? [True, True] Translation: X:173.39, Y:13.67, Z:-4.39 [[ 9.79814878e-01 -1.99599722e-01 -1.10795571e-02 1.73391376e+02] [ 1.99588340e-01 9.79877511e-01 -2.13497639e-03 1.36678622e+01] [ 1.12827495e-02 -1.19468773e-04 9.99936341e-01 -4.38603061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16719347000003 meters 0.0620273433561936 Centerline is valid? [True, True] Translation: X:173.45, Y:13.68, Z:-4.39 [[ 9.79836726e-01 -1.99329371e-01 -1.37037203e-02 1.73449214e+02] [ 1.99311821e-01 9.79932540e-01 -2.64850707e-03 1.36776689e+01] [ 1.39566467e-02 -1.36208953e-04 9.99902592e-01 -4.39076577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22719347000003 meters 0.06301527243893314 Centerline is valid? [True, True] Translation: X:173.51, Y:13.69, Z:-4.40 [[ 9.79645652e-01 -1.99907276e-01 -1.82064991e-02 1.73508167e+02] [ 1.99876550e-01 9.79814799e-01 -3.51052566e-03 1.36863422e+01] [ 1.85407768e-02 -1.99981021e-04 9.99828085e-01 -4.39742834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28719347 meters 0.06353780750662098 Centerline is valid? [True, True] Translation: X:173.57, Y:13.69, Z:-4.40 [[ 9.79118447e-01 -2.02018203e-01 -2.27092893e-02 1.73568737e+02] [ 2.01970982e-01 9.79381721e-01 -4.37800318e-03 1.36923673e+01] [ 2.31254992e-02 -3.00033781e-04 9.99732525e-01 -4.39892315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34719347 meters 0.06589159898241449 Centerline is valid? [True, True] Translation: X:173.63, Y:13.69, Z:-4.40 [[ 9.78131098e-01 -2.06784879e-01 -2.23510425e-02 1.73627401e+02] [ 2.06740267e-01 9.78386351e-01 -4.31386914e-03 1.36929523e+01] [ 2.27599979e-02 -4.01330931e-04 9.99740877e-01 -4.40495096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40719347 meters 0.06639058890094714 Centerline is valid? [True, True] Translation: X:173.69, Y:13.70, Z:-4.41 [[ 9.77713222e-01 -2.08765410e-01 -2.22229358e-02 1.73685750e+02] [ 2.08721584e-01 9.77965651e-01 -4.29949644e-03 1.37020097e+01] [ 2.26308540e-02 -4.34731837e-04 9.99743795e-01 -4.40669269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46719347 meters 0.06640693692307845 Centerline is valid? [True, True] Translation: X:173.74, Y:13.71, Z:-4.41 [[ 9.77768047e-01 -2.08567153e-01 -2.16653784e-02 1.73743954e+02] [ 2.08525317e-01 9.78007961e-01 -4.19766520e-03 1.37126723e+01] [ 2.20644077e-02 -4.13436997e-04 9.99756466e-01 -4.40740312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52719347000001 meters 0.064958286390127 Centerline is valid? [True, True] Translation: X:173.80, Y:13.73, Z:-4.41 [[ 9.78884821e-01 -2.03533322e-01 -1.89392044e-02 1.73800314e+02] [ 2.03500489e-01 9.79067983e-01 -3.66538958e-03 1.37322986e+01] [ 1.92887976e-02 -2.66143143e-04 9.99813918e-01 -4.40706112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58719347000002 meters 0.06393221923240813 Centerline is valid? [True, True] Translation: X:173.86, Y:13.75, Z:-4.41 [[ 9.79770024e-01 -1.99315447e-01 -1.80014341e-02 1.73857065e+02] [ 1.99284901e-01 9.79935368e-01 -3.49324735e-03 1.37510855e+01] [ 1.83365001e-02 -1.64834981e-04 9.99831859e-01 -4.40706915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64719347000002 meters 0.06161367815627815 Centerline is valid? [True, True] Translation: X:173.91, Y:13.76, Z:-4.40 [[ 9.80253479e-01 -1.96813816e-01 -1.91687065e-02 1.73914125e+02] [ 1.96778728e-01 9.80440873e-01 -3.71837184e-03 1.37648225e+01] [ 1.95256103e-02 -1.27046768e-04 9.99809349e-01 -4.39546290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70719347000002 meters 0.061173776039368126 Centerline is valid? [True, True] Translation: X:173.97, Y:13.78, Z:-4.39 [[ 9.80302240e-01 -1.96728902e-01 -1.74715953e-02 1.73972183e+02] [ 1.96699543e-01 9.80457918e-01 -3.40019422e-03 1.37758992e+01] [ 1.77990804e-02 -1.03436795e-04 9.99841578e-01 -4.39384387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76719347000002 meters 0.06122272865379624 Centerline is valid? [True, True] Translation: X:174.03, Y:13.78, Z:-4.39 [[ 9.80066120e-01 -1.97918784e-01 -1.72787507e-02 1.74030474e+02] [ 1.97890122e-01 9.80218415e-01 -3.37020797e-03 1.37804948e+01] [ 1.76039770e-02 -1.16267431e-04 9.99845031e-01 -4.39458893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82719347000003 meters 0.06205860494061156 Centerline is valid? [True, True] Translation: X:174.09, Y:13.79, Z:-4.40 [[ 9.79672053e-01 -1.99553751e-01 -2.05175286e-02 1.74089780e+02] [ 1.99513822e-01 9.79886865e-01 -3.99578659e-03 1.37851969e+01] [ 2.09022310e-02 -1.78970101e-04 9.99781508e-01 -4.40073723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88719347000003 meters 0.06190894353615507 Centerline is valid? [True, True] Translation: X:174.15, Y:13.80, Z:-4.40 [[ 9.79725665e-01 -1.99176268e-01 -2.15971240e-02 1.74147654e+02] [ 1.99131660e-01 9.79963666e-01 -4.21850387e-03 1.37968394e+01] [ 2.20046226e-02 -1.67694649e-04 9.99757855e-01 -4.40098092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94719347000003 meters 0.061975759475622644 Centerline is valid? [True, True] Translation: X:174.21, Y:13.81, Z:-4.40 [[ 9.80681708e-01 -1.94150721e-01 -2.38512901e-02 1.74205138e+02] [ 1.94094663e-01 9.80971709e-01 -4.66555877e-03 1.38080858e+01] [ 2.43032624e-02 -5.39799576e-05 9.99704631e-01 -4.40367374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00719347 meters 0.061840893662364164 Centerline is valid? [True, True] Translation: X:174.26, Y:13.83, Z:-4.40 [[ 9.81586659e-01 -1.89724827e-01 -2.21838035e-02 1.74261718e+02] [ 1.89675034e-01 9.81837302e-01 -4.34682446e-03 1.38258562e+01] [ 2.26055863e-02 5.90712170e-05 9.99744459e-01 -4.40463077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06719347 meters 0.06181320075150904 Centerline is valid? [True, True] Translation: X:174.32, Y:13.84, Z:-4.41 [[ 9.82432457e-01 -1.85573454e-01 -1.97221013e-02 1.74317280e+02] [ 1.85533300e-01 9.82630386e-01 -3.86259671e-03 1.38431601e+01] [ 2.00963314e-02 1.35633839e-04 9.99798039e-01 -4.40520144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12719347 meters 0.06143046628250312 Centerline is valid? [True, True] Translation: X:174.38, Y:13.85, Z:-4.40 [[ 9.82077994e-01 -1.87801711e-01 -1.59164028e-02 1.74377524e+02] [ 1.87775873e-01 9.82206960e-01 -3.11598237e-03 1.38496768e+01] [ 1.62183884e-02 7.14212809e-05 9.99868471e-01 -4.40477241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18719347 meters 0.0618242693468014 Centerline is valid? [True, True] Translation: X:174.44, Y:13.84, Z:-4.40 [[ 9.79606394e-01 -2.00164655e-01 -1.74763567e-02 1.74438269e+02] [ 2.00135241e-01 9.79762264e-01 -3.43400303e-03 1.38446713e+01] [ 1.78100408e-02 -1.33663521e-04 9.99841380e-01 -4.40448130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24719347 meters 0.06370219490527607 Centerline is valid? [True, True] Translation: X:174.50, Y:13.84, Z:-4.41 [[ 9.77948978e-01 -2.07856711e-01 -2.02826084e-02 1.74498698e+02] [ 2.07818883e-01 9.78159232e-01 -3.97859919e-03 1.38444015e+01] [ 2.06665992e-02 -3.24242015e-04 9.99786370e-01 -4.41032690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30719347000002 meters 0.06584633719020476 Centerline is valid? [True, True] Translation: X:174.56, Y:13.85, Z:-4.41 [[ 9.76382093e-01 -2.14922840e-01 -2.20495426e-02 1.74559871e+02] [ 2.14879932e-01 9.76630896e-01 -4.32515148e-03 1.38455379e+01] [ 2.24638384e-02 -5.15003763e-04 9.99747523e-01 -4.41431357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36719347000002 meters 0.06597610144827175 Centerline is valid? [True, True] Translation: X:174.62, Y:13.86, Z:-4.41 [[ 9.75892345e-01 -2.17257926e-01 -2.08116599e-02 1.74616742e+02] [ 2.17219902e-01 9.76114092e-01 -4.09788321e-03 1.38562815e+01] [ 2.12048521e-02 -5.21613873e-04 9.99775016e-01 -4.41259997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42719347000002 meters 0.06680628152718232 Centerline is valid? [True, True] Translation: X:174.67, Y:13.87, Z:-4.41 [[ 9.75425225e-01 -2.19614683e-01 -1.77488230e-02 1.74673572e+02] [ 2.19587466e-01 9.75586567e-01 -3.49211453e-03 1.38664247e+01] [ 1.80824329e-02 -4.91122466e-04 9.99836379e-01 -4.41199332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48719347000002 meters 0.06682322777571226 Centerline is valid? [True, True] Translation: X:174.73, Y:13.88, Z:-4.41 [[ 9.74648316e-01 -2.23137905e-01 -1.64358197e-02 1.74730377e+02] [ 2.23115030e-01 9.74786752e-01 -3.23594874e-03 1.38802098e+01] [ 1.67434821e-02 -5.13166423e-04 9.99859686e-01 -4.40995089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54719347000002 meters 0.06661171213957291 Centerline is valid? [True, True] Translation: X:174.79, Y:13.90, Z:-4.41 [[ 9.74105292e-01 -2.25589191e-01 -1.51127964e-02 1.74787211e+02] [ 2.25569984e-01 9.74222391e-01 -2.98593112e-03 1.38971389e+01] [ 1.53968184e-02 -5.00381923e-04 9.99881337e-01 -4.40979528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60719347000003 meters 0.06621390990961722 Centerline is valid? [True, True] Translation: X:174.84, Y:13.92, Z:-4.41 [[ 9.74272236e-01 -2.25064751e-01 -1.18096385e-02 1.74844071e+02] [ 2.25052929e-01 9.74343735e-01 -2.33793795e-03 1.39153429e+01] [ 1.20328348e-02 -3.80005708e-04 9.99927531e-01 -4.40968375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66719347000003 meters 0.06591625843519643 Centerline is valid? [True, True] Translation: X:174.90, Y:13.94, Z:-4.41 [[ 9.74920454e-01 -2.22289648e-01 -1.08361339e-02 1.74898795e+02] [ 2.22279534e-01 9.74980621e-01 -2.14418632e-03 1.39361087e+01] [ 1.10416509e-02 -3.18239692e-04 9.99938988e-01 -4.41317453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72719347000003 meters 0.06632412509490897 Centerline is valid? [True, True] Translation: X:174.95, Y:13.96, Z:-4.42 [[ 9.74879056e-01 -2.22455836e-01 -1.11457275e-02 1.74953608e+02] [ 2.22445049e-01 9.74942715e-01 -2.21404653e-03 1.39567151e+01] [ 1.13589734e-02 -3.20884312e-04 9.99935433e-01 -4.41677244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78719347 meters 0.06677979872990715 Centerline is valid? [True, True] Translation: X:175.01, Y:13.97, Z:-4.42 [[ 9.74984311e-01 -2.21886103e-01 -1.31206519e-02 1.75009028e+02] [ 2.21871183e-01 9.75072518e-01 -2.60036146e-03 1.39735692e+01] [ 1.33705711e-02 -3.75782927e-04 9.99910539e-01 -4.42116057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84719347 meters 0.06643478716467154 Centerline is valid? [True, True] Translation: X:175.06, Y:14.00, Z:-4.42 [[ 9.75790281e-01 -2.18507501e-01 -9.37019017e-03 1.75064660e+02] [ 2.18499740e-01 9.75835240e-01 -1.85662656e-03 1.39958426e+01] [ 9.54944861e-03 -2.35705965e-04 9.99954375e-01 -4.42245723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90719347 meters 0.06364083968140391 Centerline is valid? [True, True] Translation: X:175.12, Y:14.02, Z:-4.42 [[ 9.76856738e-01 -2.13719785e-01 -8.64678241e-03 1.75119916e+02] [ 2.13712957e-01 9.76894991e-01 -1.71692002e-03 1.40219297e+01] [ 8.81393821e-03 -1.70744540e-04 9.99961142e-01 -4.41998749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96719347 meters 0.06245420174412428 Centerline is valid? [True, True] Translation: X:175.17, Y:14.05, Z:-4.43 [[ 9.78555365e-01 -2.05681283e-01 -1.11627979e-02 1.75174761e+02] [ 2.05669307e-01 9.78619025e-01 -2.22283962e-03 1.40489732e+01] [ 1.13813229e-02 -1.20673264e-04 9.99935223e-01 -4.42691327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02719347000001 meters 0.06127641817339987 Centerline is valid? [True, True] Translation: X:175.23, Y:14.07, Z:-4.43 [[ 9.79794238e-01 -1.99645328e-01 -1.20413834e-02 1.75230508e+02] [ 1.99630888e-01 9.79868226e-01 -2.40164295e-03 1.40722176e+01] [ 1.22784458e-02 -5.07161466e-05 9.99924616e-01 -4.42571470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08719347000002 meters 0.06143329120381726 Centerline is valid? [True, True] Translation: X:175.28, Y:14.10, Z:-4.43 [[ 9.81777971e-01 -1.89638218e-01 -1.22213522e-02 1.75284136e+02] [ 1.89622588e-01 9.81854032e-01 -2.43580327e-03 1.40975551e+01] [ 1.24615053e-02 7.39735633e-05 9.99922350e-01 -4.43014144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14719347000002 meters 0.06113113033264871 Centerline is valid? [True, True] Translation: X:175.34, Y:14.11, Z:-4.43 [[ 9.82131273e-01 -1.87802010e-01 -1.21888396e-02 1.75341735e+02] [ 1.87786225e-01 9.82206900e-01 -2.43711468e-03 1.41105518e+01] [ 1.24296574e-02 1.04670364e-04 9.99922743e-01 -4.42825744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20719347000002 meters 0.06152494420805191 Centerline is valid? [True, True] Translation: X:175.40, Y:14.13, Z:-4.43 [[ 9.82916152e-01 -1.83747433e-01 -1.06168809e-02 1.75397369e+02] [ 1.83735231e-01 9.82973480e-01 -2.12190244e-03 1.41250682e+01] [ 1.08260065e-02 1.34957115e-04 9.99941388e-01 -4.42971937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26719347000002 meters 0.06108746198394765 Centerline is valid? [True, True] Translation: X:175.46, Y:14.14, Z:-4.42 [[ 9.83852596e-01 -1.78921518e-01 -4.59998869e-03 1.75455868e+02] [ 1.78919162e-01 9.83863346e-01 -9.21916003e-04 1.41363016e+01] [ 4.69071088e-03 8.40033296e-05 9.99988995e-01 -4.42242320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32719347000003 meters 0.06118690388885601 Centerline is valid? [True, True] Translation: X:175.52, Y:14.14, Z:-4.43 [[ 9.83645107e-01 -1.80021565e-01 -5.87700418e-03 1.75515147e+02] [ 1.80017710e-01 9.83662658e-01 -1.18276641e-03 1.41400857e+01] [ 5.99391301e-03 1.05457560e-04 9.99982031e-01 -4.42619665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38719347000003 meters 0.060705571802357375 Centerline is valid? [True, True] Translation: X:175.58, Y:14.13, Z:-4.43 [[ 9.81672422e-01 -1.90413826e-01 -7.86320734e-03 1.75577323e+02] [ 1.90407260e-01 9.81703912e-01 -1.58227144e-03 1.41282417e+01] [ 8.02062777e-03 5.60604722e-05 9.99967833e-01 -4.43179764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44719347000003 meters 0.06099133205342523 Centerline is valid? [True, True] Translation: X:175.64, Y:14.12, Z:-4.43 [[ 9.79828642e-01 -1.99672574e-01 -8.16667776e-03 1.75637651e+02] [ 1.99665783e-01 9.79862675e-01 -1.64691598e-03 1.41206907e+01] [ 8.33106667e-03 -1.69106640e-05 9.99965296e-01 -4.43497286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50719347 meters 0.06285211307302774 Centerline is valid? [True, True] Translation: X:175.70, Y:14.11, Z:-4.44 [[ 9.77545159e-01 -2.10307097e-01 -1.32811091e-02 1.75701054e+02] [ 2.10290290e-01 9.77635356e-01 -2.66537941e-03 1.41084944e+01] [ 1.35446300e-02 -1.87359544e-04 9.99908250e-01 -4.43973922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56719347 meters 0.06370233135641813 Centerline is valid? [True, True] Translation: X:175.76, Y:14.11, Z:-4.44 [[ 9.76362571e-01 -2.15710307e-01 -1.36085720e-02 1.75761019e+02] [ 2.15693104e-01 9.76457369e-01 -2.73690627e-03 1.41071256e+01] [ 1.38785693e-02 -2.63062301e-04 9.99903653e-01 -4.43857938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62719347 meters 0.0635956841857843 Centerline is valid? [True, True] Translation: X:175.82, Y:14.11, Z:-4.43 [[ 9.75786970e-01 -2.18483243e-01 -1.02401866e-02 1.75820064e+02] [ 2.18473572e-01 9.75840676e-01 -2.06733099e-03 1.41132853e+01] [ 1.04444678e-02 -2.19935504e-04 9.99945431e-01 -4.43435651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68719347 meters 0.06440409350865707 Centerline is valid? [True, True] Translation: X:175.88, Y:14.12, Z:-4.43 [[ 9.74788855e-01 -2.22975480e-01 -8.28391146e-03 1.75879044e+02] [ 2.22969278e-01 9.74824030e-01 -1.67655507e-03 1.41209166e+01] [ 8.44918662e-03 -2.12770556e-04 9.99964282e-01 -4.43428432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74719347 meters 0.06467329353572504 Centerline is valid? [True, True] Translation: X:175.94, Y:14.13, Z:-4.43 [[ 9.74027131e-01 -2.26363991e-01 -5.52200092e-03 1.75936281e+02] [ 2.26361257e-01 9.74042771e-01 -1.12342175e-03 1.41307123e+01] [ 5.63296731e-03 -1.55723801e-04 9.99984123e-01 -4.43221422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80719347000002 meters 0.06861485942452443 Centerline is valid? [True, True] Translation: X:175.99, Y:14.13, Z:-4.44 [[ 9.73155958e-01 -2.30126358e-01 -3.05625598e-03 1.75994972e+02] [ 2.30125545e-01 9.73160752e-01 -6.19947394e-04 1.41316371e+01] [ 3.11689461e-03 -1.00017073e-04 9.99995137e-01 -4.43624887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86719347000002 meters 0.06732400721216612 Centerline is valid? [True, True] Translation: X:176.05, Y:14.15, Z:-4.43 [[ 9.72502392e-01 -2.32847194e-01 -4.61320684e-03 1.76051518e+02] [ 2.32845382e-01 9.72513319e-01 -9.33576146e-04 1.41503270e+01] [ 4.70378568e-03 -1.66258873e-04 9.99988923e-01 -4.43490487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92719347000002 meters 0.06927779361588395 Centerline is valid? [True, True] Translation: X:176.11, Y:14.17, Z:-4.44 [[ 9.72161014e-01 -2.34204953e-01 -7.14157174e-03 1.76107689e+02] [ 2.34200650e-01 9.72187208e-01 -1.44479439e-03 1.41692720e+01] [ 7.28132270e-03 -2.67987964e-04 9.99973455e-01 -4.44233401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98719347000002 meters 0.06816486593406089 Centerline is valid? [True, True] Translation: X:176.16, Y:14.19, Z:-4.44 [[ 9.71770880e-01 -2.35892020e-01 -4.03882234e-03 1.76164017e+02] [ 2.35890628e-01 9.71779261e-01 -8.24534957e-04 1.41908299e+01] [ 4.11934501e-03 -1.51461279e-04 9.99991504e-01 -4.43798158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04719347000002 meters 0.06975017490637077 Centerline is valid? [True, True] Translation: X:176.22, Y:14.21, Z:-4.44 [[ 9.71486033e-01 -2.37088296e-01 -2.00668677e-03 1.76220030e+02] [ 2.37087953e-01 9.71488103e-01 -4.10510553e-04 1.42066232e+01] [ 2.04679957e-03 -7.69559887e-05 9.99997902e-01 -4.43823504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10719347000003 meters 0.07221049565110467 Centerline is valid? [True, True] Translation: X:176.27, Y:14.23, Z:-4.44 [[ 9.70637504e-01 -2.40534125e-01 -2.48417351e-03 1.76274605e+02] [ 2.40533619e-01 9.70640677e-01 -5.04871733e-04 1.42317387e+01] [ 2.53267874e-03 -1.07479808e-04 9.99996787e-01 -4.44195315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16719347000003 meters 0.07017246823885408 Centerline is valid? [True, True] Translation: X:176.33, Y:14.26, Z:-4.44 [[ 9.69894799e-01 -2.43516370e-01 -1.96362793e-03 1.76329324e+02] [ 2.43516046e-01 9.69896783e-01 -4.06135962e-04 1.42574978e+01] [ 2.00341717e-03 -8.42657525e-05 9.99997990e-01 -4.43940971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22719347000003 meters 0.07072715866908191 Centerline is valid? [True, True] Translation: X:176.38, Y:14.28, Z:-4.44 [[ 9.68906030e-01 -2.47410356e-01 -3.03644512e-03 1.76384779e+02] [ 2.47409635e-01 9.68910776e-01 -6.16942646e-04 1.42844719e+01] [ 3.09468240e-03 -1.53486328e-04 9.99995200e-01 -4.44102285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28719347 meters 0.06943813484778134 Centerline is valid? [True, True] Translation: X:176.44, Y:14.32, Z:-4.45 [[ 9.70311763e-01 -2.41800123e-01 -5.27099099e-03 1.76437610e+02] [ 2.41797864e-01 9.70326051e-01 -1.07120804e-03 1.43199441e+01] [ 5.37359811e-03 -2.35108598e-04 9.99985534e-01 -4.44695742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34719347 meters 0.0671590904640198 Centerline is valid? [True, True] Translation: X:176.49, Y:14.35, Z:-4.45 [[ 9.71967111e-01 -2.35050767e-01 -5.57426635e-03 1.76492877e+02] [ 2.35048129e-01 9.71983073e-01 -1.13302609e-03 1.43492197e+01] [ 5.68441119e-03 -2.08956776e-04 9.99983822e-01 -4.45058967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40719347 meters 0.06435295187613724 Centerline is valid? [True, True] Translation: X:176.55, Y:14.39, Z:-4.45 [[ 9.74120239e-01 -2.25965336e-01 -5.42457027e-03 1.76547270e+02] [ 2.25962700e-01 9.74135331e-01 -1.10205169e-03 1.43850732e+01] [ 5.53329104e-03 -1.52219693e-04 9.99984680e-01 -4.45325994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46719347 meters 0.06429727825202455 Centerline is valid? [True, True] Translation: X:176.60, Y:14.40, Z:-4.46 [[ 9.74238758e-01 -2.25459180e-01 -5.19630771e-03 1.76603033e+02] [ 2.25456708e-01 9.74252606e-01 -1.06429855e-03 1.44045829e+01] [ 5.30247220e-03 -1.34661537e-04 9.99985933e-01 -4.45601312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52719347000001 meters 0.0641873968831142 Centerline is valid? [True, True] Translation: X:176.66, Y:14.42, Z:-4.45 [[ 9.73219467e-01 -2.29847968e-01 -3.71222764e-03 1.76659473e+02] [ 2.29846723e-01 9.73226541e-01 -7.64234391e-04 1.44209142e+01] [ 3.78849618e-03 -1.09475571e-04 9.99992818e-01 -4.45431290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58719347000002 meters 0.06445228649243531 Centerline is valid? [True, True] Translation: X:176.71, Y:14.44, Z:-4.46 [[ 9.72999234e-01 -2.30758225e-01 -4.80967279e-03 1.76714921e+02] [ 2.30756151e-01 9.73011110e-01 -9.89406864e-04 1.44419010e+01] [ 4.90817883e-03 -1.47169458e-04 9.99987944e-01 -4.45643579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64719347000002 meters 0.06472025274824528 Centerline is valid? [True, True] Translation: X:176.77, Y:14.46, Z:-4.46 [[ 9.73155438e-01 -2.30018725e-01 -7.73824834e-03 1.76771323e+02] [ 2.30013352e-01 9.73186175e-01 -1.58943401e-03 1.44581754e+01] [ 7.89635589e-03 -2.33134082e-04 9.99968796e-01 -4.46032962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70719347000002 meters 0.06428153141278126 Centerline is valid? [True, True] Translation: X:176.83, Y:14.48, Z:-4.46 [[ 9.73938975e-01 -2.26677249e-01 -7.76515677e-03 1.76825583e+02] [ 2.26671771e-01 9.73969907e-01 -1.59005536e-03 1.44832956e+01] [ 7.92345839e-03 -2.11524946e-04 9.99968587e-01 -4.46284219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76719347000002 meters 0.06342095486400064 Centerline is valid? [True, True] Translation: X:176.88, Y:14.50, Z:-4.46 [[ 9.73893211e-01 -2.26903692e-01 -6.83585775e-03 1.76881040e+02] [ 2.26899393e-01 9.73917185e-01 -1.40818943e-03 1.45046343e+01] [ 6.97708271e-03 -1.79625848e-04 9.99975644e-01 -4.46097691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82719347000003 meters 0.06326644250574479 Centerline is valid? [True, True] Translation: X:176.94, Y:14.52, Z:-4.46 [[ 9.73969445e-01 -2.26630054e-01 -4.72640935e-03 1.76937139e+02] [ 2.26627977e-01 9.73980906e-01 -9.77567724e-04 1.45223958e+01] [ 4.82497868e-03 -1.19015496e-04 9.99988353e-01 -4.46177602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88719347000003 meters 0.062383705017876136 Centerline is valid? [True, True] Translation: X:176.99, Y:14.54, Z:-4.46 [[ 9.74790539e-01 -2.23041261e-01 -6.00004771e-03 1.76993391e+02] [ 2.23037846e-01 9.74808996e-01 -1.24102047e-03 1.45413855e+01] [ 6.12569926e-03 -1.28502706e-04 9.99981229e-01 -4.46271708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94719347000003 meters 0.06147444823970531 Centerline is valid? [True, True] Translation: X:177.05, Y:14.56, Z:-4.47 [[ 9.76120116e-01 -2.17116886e-01 -7.05521974e-03 1.77049042e+02] [ 2.17112051e-01 9.76145606e-01 -1.45347653e-03 1.45591902e+01] [ 7.20249605e-03 -1.13005546e-04 9.99974055e-01 -4.46592177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00719347 meters 0.061267548331588886 Centerline is valid? [True, True] Translation: X:177.10, Y:14.57, Z:-4.47 [[ 9.77390024e-01 -2.11185123e-01 -1.04682787e-02 1.77104934e+02] [ 2.11174139e-01 9.77446077e-01 -2.15641373e-03 1.45735378e+01] [ 1.06875805e-02 -1.02972480e-04 9.99942881e-01 -4.47231589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06719347 meters 0.06100593791420064 Centerline is valid? [True, True] Translation: X:177.16, Y:14.58, Z:-4.47 [[ 9.77493760e-01 -2.10776184e-01 -8.90779089e-03 1.77162539e+02] [ 2.10768138e-01 9.77534344e-01 -1.84324868e-03 1.45838722e+01] [ 9.09618446e-03 -7.57144114e-05 9.99958626e-01 -4.47323868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12719347 meters 0.06043846260045486 Centerline is valid? [True, True] Translation: X:177.22, Y:14.59, Z:-4.47 [[ 9.78038175e-01 -2.08344401e-01 -5.82568945e-03 1.77221005e+02] [ 2.08340931e-01 9.78055525e-01 -1.20313497e-03 1.45930226e+01] [ 5.94851419e-03 -3.70176289e-05 9.99982307e-01 -4.47248347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18719347 meters 0.0602089840885843 Centerline is valid? [True, True] Translation: X:177.28, Y:14.61, Z:-4.48 [[ 9.79842570e-01 -1.99650857e-01 -6.93351399e-03 1.77277175e+02] [ 1.99645716e-01 9.79867101e-01 -1.43278838e-03 1.46081080e+01] [ 7.07997968e-03 1.96606786e-05 9.99974936e-01 -4.47537860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24719347 meters 0.060422627407191044 Centerline is valid? [True, True] Translation: X:177.33, Y:14.62, Z:-4.48 [[ 9.80743551e-01 -1.95164051e-01 -7.28566208e-03 1.77334574e+02] [ 1.95158198e-01 9.80770610e-01 -1.51276954e-03 1.46203969e+01] [ 7.44080147e-03 6.17822842e-05 9.99972315e-01 -4.47641807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30719347000002 meters 0.05978578743822821 Centerline is valid? [True, True] Translation: X:177.39, Y:14.62, Z:-4.47 [[ 9.80325415e-01 -1.97358933e-01 -3.39598650e-03 1.77394783e+02] [ 1.97357678e-01 9.80331297e-01 -7.04168501e-04 1.46190324e+01] [ 3.46816579e-03 2.00902699e-05 9.99993986e-01 -4.47368951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36719347000002 meters 0.06018118167356912 Centerline is valid? [True, True] Translation: X:177.45, Y:14.61, Z:-4.48 [[ 9.78197610e-01 -2.07667803e-01 -1.87604106e-03 1.77454624e+02] [ 2.07667433e-01 9.78199409e-01 -3.92185054e-04 1.46127760e+01] [ 1.91658646e-03 -5.95814757e-06 9.99998163e-01 -4.47656658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42719347000002 meters 0.061786258944777565 Centerline is valid? [True, True] Translation: X:177.52, Y:14.60, Z:-4.47 [[ 9.75372192e-01 -2.20558786e-01 1.70552063e-03 1.77516791e+02] [ 2.20558518e-01 9.75373682e-01 3.45796868e-04 1.46029544e+01] [-1.73978847e-03 3.88864542e-05 9.99998486e-01 -4.47382495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48719347000002 meters 0.06596712077732841 Centerline is valid? [True, True] Translation: X:177.58, Y:14.59, Z:-4.47 [[ 9.71803314e-01 -2.35790735e-01 1.02346963e-03 1.77580675e+02] [ 2.35790643e-01 9.71803853e-01 2.11380859e-04 1.45899383e+01] [-1.04445338e-03 3.59039435e-05 9.99999454e-01 -4.47483937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54719347000002 meters 0.07031198844463778 Centerline is valid? [True, True] Translation: X:177.64, Y:14.58, Z:-4.48 [[ 9.69832360e-01 -2.43756485e-01 -2.82294299e-03 1.77643298e+02] [ 2.43755810e-01 9.69836461e-01 -5.85836910e-04 1.45804463e+01] [ 2.88059458e-03 -1.19945162e-04 9.99995844e-01 -4.48202006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60719347000003 meters 0.07015830943254989 Centerline is valid? [True, True] Translation: X:177.70, Y:14.59, Z:-4.48 [[ 9.69675765e-01 -2.44378422e-01 -2.84573931e-03 1.77701154e+02] [ 2.44377718e-01 9.69679933e-01 -5.97997200e-04 1.45917540e+01] [ 2.90559392e-03 -1.15571887e-04 9.99995772e-01 -4.48377592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66719347000003 meters 0.06912380249988383 Centerline is valid? [True, True] Translation: X:177.76, Y:14.61, Z:-4.49 [[ 9.70648068e-01 -2.40470420e-01 -4.03809380e-03 1.77757375e+02] [ 2.40469001e-01 9.70656455e-01 -8.40519346e-04 1.46071964e+01] [ 4.12172185e-03 -1.55187902e-04 9.99991494e-01 -4.48767592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72719347000003 meters 0.06821444438144122 Centerline is valid? [True, True] Translation: X:177.81, Y:14.62, Z:-4.49 [[ 9.71530405e-01 -2.36850484e-01 -5.52447223e-03 1.77813743e+02] [ 2.36847772e-01 9.71546093e-01 -1.14958686e-03 1.46231298e+01] [ 5.63955962e-03 -1.91600346e-04 9.99984079e-01 -4.49234451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78719347 meters 0.06398198922903263 Centerline is valid? [True, True] Translation: X:177.87, Y:14.66, Z:-4.50 [[ 9.74000074e-01 -2.26365028e-01 -9.09558545e-03 1.77868300e+02] [ 2.26357242e-01 9.74042518e-01 -1.89011052e-03 1.46551593e+01] [ 9.28734188e-03 -2.17883844e-04 9.99956848e-01 -4.49523582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84719347 meters 0.061353905377360005 Centerline is valid? [True, True] Translation: X:177.92, Y:14.69, Z:-4.50 [[ 9.77806944e-01 -2.09205037e-01 -1.12619615e-02 1.77923015e+02] [ 2.09191956e-01 9.77871795e-01 -2.34041315e-03 1.46880183e+01] [ 1.15023807e-02 -6.74395276e-05 9.99933843e-01 -4.50113896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90719347 meters 0.061036130659977324 Centerline is valid? [True, True] Translation: X:177.98, Y:14.71, Z:-4.50 [[ 9.79768459e-01 -1.99863470e-01 -1.04095969e-02 1.77978143e+02] [ 1.99851657e-01 9.79823755e-01 -2.17353344e-03 1.47102851e+01] [ 1.06339803e-02 4.91843100e-05 9.99943456e-01 -4.50283865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96719347 meters 0.06064183738525135 Centerline is valid? [True, True] Translation: X:178.04, Y:14.72, Z:-4.50 [[ 9.80704862e-01 -1.95377854e-01 -6.74303497e-03 1.78036195e+02] [ 1.95372761e-01 9.80728041e-01 -1.41226946e-03 1.47230308e+01] [ 6.88900965e-03 6.76141673e-05 9.99976268e-01 -4.49936010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02719347000001 meters 0.060566096906453856 Centerline is valid? [True, True] Translation: X:178.10, Y:14.73, Z:-4.50 [[ 9.80012517e-01 -1.98860365e-01 -5.47912685e-03 1.78095267e+02] [ 1.98857037e-01 9.80027833e-01 -1.15116107e-03 1.47277663e+01] [ 5.59861712e-03 3.85893294e-05 9.99984327e-01 -4.49965150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08719347000002 meters 0.06115764961977193 Centerline is valid? [True, True] Translation: X:178.16, Y:14.71, Z:-4.50 [[ 9.77274335e-01 -2.11918640e-01 -5.03628168e-03 1.78156922e+02] [ 2.11916014e-01 9.77287311e-01 -1.05564754e-03 1.47100659e+01] [ 5.14560557e-03 -3.56114900e-05 9.99986761e-01 -4.50053751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14719347000002 meters 0.062432597894927035 Centerline is valid? [True, True] Translation: X:178.22, Y:14.71, Z:-4.50 [[ 9.75519194e-01 -2.19833523e-01 -5.96028875e-03 1.78218454e+02] [ 2.19830007e-01 9.75537397e-01 -1.24687848e-03 1.47056647e+01] [ 6.08859026e-03 -9.38964252e-05 9.99981460e-01 -4.50330610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20719347000002 meters 0.062397031117060596 Centerline is valid? [True, True] Translation: X:178.28, Y:14.71, Z:-4.50 [[ 9.74933193e-01 -2.22387164e-01 -7.01559890e-03 1.78277325e+02] [ 2.22382296e-01 9.74958427e-01 -1.47630953e-03 1.47101695e+01] [ 7.16822956e-03 -1.20841827e-04 9.99974301e-01 -4.50166747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26719347000002 meters 0.06279936007352145 Centerline is valid? [True, True] Translation: X:178.33, Y:14.72, Z:-4.51 [[ 9.75802791e-01 -2.18525904e-01 -7.43920171e-03 1.78334983e+02] [ 2.18520356e-01 9.75831142e-01 -1.56057203e-03 1.47165570e+01] [ 7.60043011e-03 -1.02806462e-04 9.99971111e-01 -4.50845567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32719347000003 meters 0.06184597069224007 Centerline is valid? [True, True] Translation: X:178.39, Y:14.73, Z:-4.51 [[ 9.76344660e-01 -2.16003449e-01 -9.67550258e-03 1.78392662e+02] [ 2.15993868e-01 9.76392595e-01 -2.03691412e-03 1.47302436e+01] [ 9.88706955e-03 -1.01119003e-04 9.99951117e-01 -4.50834509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38719347000003 meters 0.06418582343703476 Centerline is valid? [True, True] Translation: X:178.45, Y:14.73, Z:-4.52 [[ 9.75618809e-01 -2.19116742e-01 -1.24817243e-02 1.78452235e+02] [ 2.19101137e-01 9.75698633e-01 -2.62101270e-03 1.47288341e+01] [ 1.27527091e-02 -1.77650708e-04 9.99918665e-01 -4.52038225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44719347000003 meters 0.06294185464121504 Centerline is valid? [True, True] Translation: X:178.51, Y:14.74, Z:-4.51 [[ 9.75174675e-01 -2.21039899e-01 -1.32557877e-02 1.78510024e+02] [ 2.21022448e-01 9.75264742e-01 -2.78561959e-03 1.47386414e+01] [ 1.35436354e-02 -2.13360961e-04 9.99908258e-01 -4.51406974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50719347000003 meters 0.06275490761013397 Centerline is valid? [True, True] Translation: X:178.57, Y:14.75, Z:-4.52 [[ 9.76300695e-01 -2.15850777e-01 -1.56650853e-02 1.78566941e+02] [ 2.15825718e-01 9.76426349e-01 -3.29317760e-03 1.47504503e+01] [ 1.60066370e-02 -1.65796717e-04 9.99871872e-01 -4.51801648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56719347 meters 0.06172434700845246 Centerline is valid? [True, True] Translation: X:178.62, Y:14.76, Z:-4.51 [[ 9.77397821e-01 -2.10914659e-01 -1.44397721e-02 1.78624821e+02] [ 2.10892690e-01 9.77504477e-01 -3.04493593e-03 1.47644034e+01] [ 1.47571635e-02 -6.91286482e-05 9.99891105e-01 -4.51450618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62719347 meters 0.06112529107523062 Centerline is valid? [True, True] Translation: X:178.68, Y:14.77, Z:-4.51 [[ 9.77892301e-01 -2.08874936e-01 -9.89493571e-03 1.78684404e+02] [ 2.08864545e-01 9.77942360e-01 -2.08367034e-03 1.47736390e+01] [ 1.01119033e-02 -2.90960555e-05 9.99948873e-01 -4.51098891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68719347 meters 0.06072198999118318 Centerline is valid? [True, True] Translation: X:178.74, Y:14.78, Z:-4.51 [[ 9.77933925e-01 -2.08837215e-01 -5.67941735e-03 1.78744177e+02] [ 2.08833745e-01 9.77950417e-01 -1.20397438e-03 1.47775393e+01] [ 5.80562322e-03 -8.64660338e-06 9.99983147e-01 -4.50883826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74719347 meters 0.060904613508362765 Centerline is valid? [True, True] Translation: X:178.80, Y:14.78, Z:-4.51 [[ 9.77612195e-01 -2.10307413e-01 -6.72224659e-03 1.78802890e+02] [ 2.10302576e-01 9.77635306e-01 -1.42653996e-03 1.47830881e+01] [ 6.87191753e-03 -1.91029069e-05 9.99976388e-01 -4.51098677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80719347000002 meters 0.06151111854361715 Centerline is valid? [True, True] Translation: X:178.86, Y:14.78, Z:-4.52 [[ 9.77117468e-01 -2.12440247e-01 -1.05164553e-02 1.78862454e+02] [ 2.12428628e-01 9.77174057e-01 -2.22270405e-03 1.47826982e+01] [ 1.07485991e-02 -6.21532242e-05 9.99942230e-01 -4.51664740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86719347000002 meters 0.06171908243560612 Centerline is valid? [True, True] Translation: X:178.92, Y:14.79, Z:-4.52 [[ 9.77221898e-01 -2.11850798e-01 -1.25140463e-02 1.78920842e+02] [ 2.11834185e-01 9.77302019e-01 -2.65370512e-03 1.47891813e+01] [ 1.27921922e-02 -5.76440268e-05 9.99918175e-01 -4.51922799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92719347000002 meters 0.06166618694952614 Centerline is valid? [True, True] Translation: X:178.98, Y:14.80, Z:-4.52 [[ 9.77668858e-01 -2.09501402e-01 -1.65156594e-02 1.78979164e+02] [ 2.09472248e-01 9.77808346e-01 -3.49525887e-03 1.47989886e+01] [ 1.68814113e-02 -4.23665594e-05 9.99857498e-01 -4.52195446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98719347000002 meters 0.0620470768363126 Centerline is valid? [True, True] Translation: X:179.04, Y:14.81, Z:-4.53 [[ 9.77984095e-01 -2.07764401e-01 -1.95208354e-02 1.79038610e+02] [ 2.07723323e-01 9.78178897e-01 -4.13129975e-03 1.48075855e+01] [ 1.99532062e-02 -1.45873348e-05 9.99800915e-01 -4.52559044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04719347000002 meters 0.06173183054044896 Centerline is valid? [True, True] Translation: X:179.10, Y:14.81, Z:-4.52 [[ 9.77740336e-01 -2.09084678e-01 -1.75337428e-02 1.79097943e+02] [ 2.09051530e-01 9.77897539e-01 -3.72303208e-03 1.48126606e+01] [ 1.79246329e-02 -2.52971267e-05 9.99839341e-01 -4.52426421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10719347000003 meters 0.061999959293380445 Centerline is valid? [True, True] Translation: X:179.16, Y:14.81, Z:-4.53 [[ 9.76667066e-01 -2.14132221e-01 -1.63961722e-02 1.79156375e+02] [ 2.14103952e-01 9.76804678e-01 -3.48108318e-03 1.48140323e+01] [ 1.67612698e-02 -1.10625977e-04 9.99859514e-01 -4.52625523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16719347000003 meters 0.06264297712590733 Centerline is valid? [True, True] Translation: X:179.22, Y:14.82, Z:-4.53 [[ 9.75274272e-01 -2.20412641e-01 -1.60736217e-02 1.79215503e+02] [ 2.20386316e-01 9.75406696e-01 -3.41316684e-03 1.48167056e+01] [ 1.64306233e-02 -2.13632459e-04 9.99864985e-01 -4.52594071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22719347000003 meters 0.06317714597807142 Centerline is valid? [True, True] Translation: X:179.27, Y:14.83, Z:-4.52 [[ 9.73830654e-01 -2.26656755e-01 -1.67503095e-02 1.79274482e+02] [ 2.26629104e-01 9.73974643e-01 -3.55599240e-03 1.48259858e+01] [ 1.71203664e-02 -3.33173223e-04 9.99853380e-01 -4.52342867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28719347 meters 0.06291048563529156 Centerline is valid? [True, True] Translation: X:179.33, Y:14.84, Z:-4.52 [[ 9.74184504e-01 -2.25326517e-01 -1.38749213e-02 1.79331860e+02] [ 2.25307374e-01 9.74283273e-01 -2.94805782e-03 1.48381564e+01] [ 1.41823793e-02 -2.54169833e-04 9.99899393e-01 -4.52251765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34719347 meters 0.06235847265632863 Centerline is valid? [True, True] Translation: X:179.39, Y:14.85, Z:-4.52 [[ 9.73976212e-01 -2.26485093e-01 -8.65104036e-03 1.79390716e+02] [ 2.26477702e-01 9.74014617e-01 -1.83753220e-03 1.48500507e+01] [ 8.84241341e-03 -1.69555088e-04 9.99960891e-01 -4.51854089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40719347 meters 0.06275278559489998 Centerline is valid? [True, True] Translation: X:179.45, Y:14.86, Z:-4.52 [[ 9.73104043e-01 -2.30191035e-01 -8.97819834e-03 1.79447851e+02] [ 2.30183137e-01 9.73145440e-01 -1.91734839e-03 1.48644027e+01] [ 9.17844918e-03 -2.00850397e-04 9.99957857e-01 -4.51936859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46719347 meters 0.06429155767793703 Centerline is valid? [True, True] Translation: X:179.51, Y:14.88, Z:-4.53 [[ 9.72680852e-01 -2.31845537e-01 -1.18155268e-02 1.79505395e+02] [ 2.31832064e-01 9.72752570e-01 -2.51643342e-03 1.48761824e+01] [ 1.20770079e-02 -2.91531365e-04 9.99927028e-01 -4.52666754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52719347000001 meters 0.06347046652625243 Centerline is valid? [True, True] Translation: X:179.56, Y:14.89, Z:-4.53 [[ 9.73416264e-01 -2.28621107e-01 -1.38984642e-02 1.79561300e+02] [ 2.28601977e-01 9.73515438e-01 -2.97114186e-03 1.48939783e+01] [ 1.42096352e-02 -2.85058592e-04 9.99898997e-01 -4.52927196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58719347000002 meters 0.06233268691103534 Centerline is valid? [True, True] Translation: X:179.62, Y:14.92, Z:-4.53 [[ 9.75008098e-01 -2.21803736e-01 -1.27401802e-02 1.79616267e+02] [ 2.21787159e-01 9.75091315e-01 -2.71741811e-03 1.49171095e+01] [ 1.30255725e-02 -1.76103714e-04 9.99915148e-01 -4.53444462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64719347000002 meters 0.06213432447761467 Centerline is valid? [True, True] Translation: X:179.67, Y:14.94, Z:-4.54 [[ 9.75546246e-01 -2.19308012e-01 -1.46122739e-02 1.79670465e+02] [ 2.19285883e-01 9.75655662e-01 -3.11954512e-03 1.49384800e+01] [ 1.49406890e-02 -1.61004858e-04 9.99888369e-01 -4.53947873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70719347000002 meters 0.06275679916261079 Centerline is valid? [True, True] Translation: X:179.73, Y:14.95, Z:-4.54 [[ 9.75061071e-01 -2.21300827e-01 -1.67884266e-02 1.79728362e+02] [ 2.21271932e-01 9.75205565e-01 -3.58287386e-03 1.49522881e+01] [ 1.71650600e-02 -2.21286784e-04 9.99852645e-01 -4.54420924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76719347000002 meters 0.06484027848310675 Centerline is valid? [True, True] Translation: X:179.79, Y:14.96, Z:-4.55 [[ 9.73267000e-01 -2.29059847e-01 -1.68206424e-02 1.79788418e+02] [ 2.29031985e-01 9.73412276e-01 -3.59044384e-03 1.49576710e+01] [ 1.71958464e-02 -3.58004627e-04 9.99852076e-01 -4.54739725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82719347000003 meters 0.0670207686782316 Centerline is valid? [True, True] Translation: X:179.85, Y:14.96, Z:-4.55 [[ 9.71459272e-01 -2.36826077e-01 -1.34272663e-02 1.79847590e+02] [ 2.36808924e-01 9.71551986e-01 -2.87622217e-03 1.49645444e+01] [ 1.37264516e-02 -3.85563789e-04 9.99905713e-01 -4.54749717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88719347000003 meters 0.07108336122631234 Centerline is valid? [True, True] Translation: X:179.91, Y:14.97, Z:-4.54 [[ 9.69154243e-01 -2.46336582e-01 -7.63813983e-03 1.79906185e+02] [ 2.46331335e-01 9.69184296e-01 -1.63494286e-03 1.49711393e+01] [ 7.80551141e-03 -2.97001372e-04 9.99969492e-01 -4.54382515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94719347000003 meters 0.07335249787800255 Centerline is valid? [True, True] Translation: X:179.96, Y:14.98, Z:-4.54 [[ 9.68143583e-01 -2.50316597e-01 -6.29315831e-03 1.79964501e+02] [ 2.50313119e-01 9.68163998e-01 -1.34716722e-03 1.49815495e+01] [ 6.43002763e-03 -2.71008785e-04 9.99979290e-01 -4.54325279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00719347000003 meters 0.07543249538867591 Centerline is valid? [True, True] Translation: X:180.02, Y:15.00, Z:-4.55 [[ 9.67514145e-01 -2.52664838e-01 -8.76689499e-03 1.80022305e+02] [ 2.52658190e-01 9.67553781e-01 -1.87606045e-03 1.49951015e+01] [ 8.95645691e-03 -3.99912798e-04 9.99959810e-01 -4.54783377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06719347 meters 0.07517167862343646 Centerline is valid? [True, True] Translation: X:180.08, Y:15.02, Z:-4.55 [[ 9.68054687e-01 -2.50554456e-01 -9.62220327e-03 1.80075887e+02] [ 2.50546321e-01 9.68102418e-01 -2.06127759e-03 1.50197578e+01] [ 9.83174054e-03 -4.15378195e-04 9.99951581e-01 -4.55174505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12719347 meters 0.06687146434708476 Centerline is valid? [True, True] Translation: X:180.13, Y:15.06, Z:-4.54 [[ 9.69221848e-01 -2.46022748e-01 -9.04522715e-03 1.80128908e+02] [ 2.46015375e-01 9.69263992e-01 -1.93625368e-03 1.50592167e+01] [ 9.24357542e-03 -3.48605586e-04 9.99957216e-01 -4.54354930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18719347 meters 0.07136398590596604 Centerline is valid? [True, True] Translation: X:180.19, Y:15.07, Z:-4.56 [[ 9.69988667e-01 -2.42986342e-01 -8.92318297e-03 1.80185792e+02] [ 2.42979017e-01 9.70029659e-01 -1.91255868e-03 1.50709515e+01] [ 9.12047777e-03 -3.12985977e-04 9.99958359e-01 -4.55651700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24719347 meters 0.06414533709273766 Centerline is valid? [True, True] Translation: X:180.24, Y:15.11, Z:-4.55 [[ 9.71638322e-01 -2.36199004e-01 -1.13578947e-02 1.80237724e+02] [ 2.36186585e-01 9.71704654e-01 -2.44191507e-03 1.51118455e+01] [ 1.16132971e-02 -3.09924097e-04 9.99932515e-01 -4.55244664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30719347000002 meters 0.06307361786708074 Centerline is valid? [True, True] Translation: X:180.29, Y:15.13, Z:-4.55 [[ 9.72538354e-01 -2.32538664e-01 -9.74270387e-03 1.80294192e+02] [ 2.32529386e-01 9.72587125e-01 -2.09019430e-03 1.51321839e+01] [ 9.96167934e-03 -2.32670826e-04 9.99950354e-01 -4.55333141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36719347000002 meters 0.06351007265590254 Centerline is valid? [True, True] Translation: X:180.35, Y:15.15, Z:-4.56 [[ 9.72384525e-01 -2.33133832e-01 -1.08144172e-02 1.80348170e+02] [ 2.33122389e-01 9.72444625e-01 -2.32456138e-03 1.51546322e+01] [ 1.10583558e-02 -2.60715256e-04 9.99938821e-01 -4.55728057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42719347000002 meters 0.06497515098372166 Centerline is valid? [True, True] Translation: X:180.41, Y:15.17, Z:-4.56 [[ 9.71516794e-01 -2.36684367e-01 -1.16459713e-02 1.80406524e+02] [ 2.36671382e-01 9.71586539e-01 -2.50066708e-03 1.51666324e+01] [ 1.19069378e-02 -3.26828058e-04 9.99929056e-01 -4.55891143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48719347000002 meters 0.06604649237138811 Centerline is valid? [True, True] Translation: X:180.46, Y:15.18, Z:-4.56 [[ 9.70590164e-01 -2.40569346e-01 -9.00686573e-03 1.80463587e+02] [ 2.40561665e-01 9.70631913e-01 -1.94282248e-03 1.51797288e+01] [ 9.20973485e-03 -2.81022224e-04 9.99957550e-01 -4.55773204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54719347000002 meters 0.06531314553116681 Centerline is valid? [True, True] Translation: X:180.52, Y:15.20, Z:-4.56 [[ 9.70892721e-01 -2.39438684e-01 -6.03670159e-03 1.80518655e+02] [ 2.39435229e-01 9.70911470e-01 -1.29931005e-03 1.52040229e+01] [ 6.17220790e-03 -1.83908358e-04 9.99980935e-01 -4.55607182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60719347000003 meters 0.06404621341330552 Centerline is valid? [True, True] Translation: X:180.58, Y:15.23, Z:-4.56 [[ 9.71535182e-01 -2.36870092e-01 -3.45671663e-03 1.80575295e+02] [ 2.36868944e-01 9.71541327e-01 -7.43719320e-04 1.52255244e+01] [ 3.53450793e-03 -9.62393322e-05 9.99993749e-01 -4.55570029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66719347000003 meters 0.06298580838043225 Centerline is valid? [True, True] Translation: X:180.63, Y:15.25, Z:-4.55 [[ 9.70221235e-01 -2.42194209e-01 -3.56646965e-03 1.80631837e+02] [ 2.42193017e-01 9.70227783e-01 -7.68739784e-04 1.52457376e+01] [ 3.64647227e-03 -1.17926384e-04 9.99993345e-01 -4.55193732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72719347000003 meters 0.06849616846919276 Centerline is valid? [True, True] Translation: X:180.69, Y:15.25, Z:-4.56 [[ 9.66946630e-01 -2.54933582e-01 -4.80462884e-03 1.80691420e+02] [ 2.54931581e-01 9.66958540e-01 -1.03468067e-03 1.52481537e+01] [ 4.90965174e-03 -2.24370640e-04 9.99987922e-01 -4.55636906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78719347 meters 0.07785008378521979 Centerline is valid? [True, True] Translation: X:180.75, Y:15.25, Z:-4.57 [[ 9.66063648e-01 -2.58209980e-01 -6.97381516e-03 1.80751680e+02] [ 2.58205851e-01 9.66088756e-01 -1.50161552e-03 1.52479096e+01] [ 7.12505652e-03 -3.50023709e-04 9.99974555e-01 -4.56774407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84719347 meters 0.07682187969769003 Centerline is valid? [True, True] Translation: X:180.81, Y:15.27, Z:-4.57 [[ 9.66631927e-01 -2.55973020e-01 -1.00264645e-02 1.80806748e+02] [ 2.55964289e-01 9.66683811e-01 -2.16630812e-03 1.52704104e+01] [ 1.02469374e-02 -4.72394267e-04 9.99947387e-01 -4.57227976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90719347 meters 0.06707218136447506 Centerline is valid? [True, True] Translation: X:180.86, Y:15.31, Z:-4.57 [[ 9.67807814e-01 -2.51348646e-01 -1.31108167e-02 1.80858908e+02] [ 2.51333357e-01 9.67896454e-01 -2.82787674e-03 1.53090088e+01] [ 1.34006960e-02 -5.58344377e-04 9.99910051e-01 -4.56556542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96719347 meters 0.06459352200104578 Centerline is valid? [True, True] Translation: X:180.92, Y:15.34, Z:-4.57 [[ 9.69607296e-01 -2.44388057e-01 -1.16691528e-02 1.80915109e+02] [ 2.44375457e-01 9.69677424e-01 -2.51569506e-03 1.53353038e+01] [ 1.19301199e-02 -4.12418266e-04 9.99928749e-01 -4.56690188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02719347000001 meters 0.059495529505931566 Centerline is valid? [True, True] Translation: X:180.97, Y:15.37, Z:-4.57 [[ 9.73282801e-01 -2.29308213e-01 -1.17615036e-02 1.80968000e+02] [ 2.29294300e-01 9.73353837e-01 -2.53621149e-03 1.53745659e+01] [ 1.20296788e-02 -2.28394722e-04 9.99927615e-01 -4.56517538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08719347000002 meters 0.05765886298719748 Centerline is valid? [True, True] Translation: X:181.02, Y:15.41, Z:-4.57 [[ 9.76341082e-01 -2.16036827e-01 -9.28340503e-03 1.81020772e+02] [ 2.16027541e-01 9.76385215e-01 -2.00354228e-03 1.54076548e+01] [ 9.49701833e-03 -4.93305285e-05 9.99954901e-01 -4.56678443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14719347000002 meters 0.05706485462450454 Centerline is valid? [True, True] Translation: X:181.08, Y:15.43, Z:-4.57 [[ 9.77518105e-01 -2.10720155e-01 -7.44110728e-03 1.81077158e+02] [ 2.10713968e-01 9.77546427e-01 -1.61468907e-03 1.54266626e+01] [ 7.61427536e-03 1.04425545e-05 9.99971011e-01 -4.56537734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20719347000002 meters 0.05685257146278491 Centerline is valid? [True, True] Translation: X:181.13, Y:15.44, Z:-4.57 [[ 9.78056458e-01 -2.08291956e-01 -4.47511014e-03 1.81133952e+02] [ 2.08289673e-01 9.78066695e-01 -9.75392990e-04 1.54392677e+01] [ 4.58012270e-03 2.18701856e-05 9.99989511e-01 -4.56561326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26719347000002 meters 0.05660715610287939 Centerline is valid? [True, True] Translation: X:181.19, Y:15.45, Z:-4.57 [[ 9.78005130e-01 -2.08572161e-01 -1.90235797e-03 1.81192363e+02] [ 2.08571740e-01 9.78006980e-01 -4.19391353e-04 1.54469193e+01] [ 1.94799273e-03 1.33887838e-05 9.99998103e-01 -4.56510126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32719347000003 meters 0.05681257739630033 Centerline is valid? [True, True] Translation: X:181.25, Y:15.45, Z:-4.57 [[ 9.78034811e-01 -2.08427577e-01 -2.41924979e-03 1.81251232e+02] [ 2.08426899e-01 9.78037803e-01 -5.31979387e-04 1.54514019e+01] [ 2.47699692e-03 1.60576290e-05 9.99996932e-01 -4.56848297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38719347000003 meters 0.05738333660510316 Centerline is valid? [True, True] Translation: X:181.31, Y:15.46, Z:-4.57 [[ 9.78374048e-01 -2.06758552e-01 -5.92647239e-03 1.81309332e+02] [ 2.06754543e-01 9.78391997e-01 -1.28809645e-03 1.54576684e+01] [ 6.06473811e-03 3.49150453e-05 9.99981609e-01 -4.57460249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44719347000003 meters 0.058247825370408415 Centerline is valid? [True, True] Translation: X:181.37, Y:15.46, Z:-4.58 [[ 9.77883360e-01 -2.08844964e-01 -1.13099833e-02 1.81369346e+02] [ 2.08830506e-01 9.77948761e-01 -2.45769847e-03 1.54555608e+01] [ 1.15738621e-02 4.14729135e-05 9.99933020e-01 -4.58450181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50719347000003 meters 0.059283772884724285 Centerline is valid? [True, True] Translation: X:181.43, Y:15.45, Z:-4.59 [[ 9.76239989e-01 -2.16121164e-01 -1.57202316e-02 1.81431268e+02] [ 2.16094187e-01 9.76366549e-01 -3.41520794e-03 1.54484164e+01] [ 1.60868070e-02 -6.29881051e-05 9.99870597e-01 -4.59204307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56719347 meters 0.0610960107065933 Centerline is valid? [True, True] Translation: X:181.49, Y:15.44, Z:-4.59 [[ 9.73825057e-01 -2.26757516e-01 -1.56776375e-02 1.81494284e+02] [ 2.26732057e-01 9.73951217e-01 -3.40609616e-03 1.54390385e+01] [ 1.60416120e-02 -2.37681227e-04 9.99871297e-01 -4.59341522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62719347 meters 0.06499392590287804 Centerline is valid? [True, True] Translation: X:181.56, Y:15.43, Z:-4.59 [[ 9.70923825e-01 -2.39010262e-01 -1.34543590e-02 1.81557027e+02] [ 2.38992666e-01 9.71016969e-01 -2.92445444e-03 1.54303257e+01] [ 1.37633855e-02 -3.76070636e-04 9.99905209e-01 -4.59169224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68719347 meters 0.07294053188649754 Centerline is valid? [True, True] Translation: X:181.62, Y:15.42, Z:-4.59 [[ 9.66966793e-01 -2.54755529e-01 -8.65109593e-03 1.81620872e+02] [ 2.54748878e-01 9.67005415e-01 -1.88065813e-03 1.54169620e+01] [ 8.84476466e-03 -3.85323020e-04 9.99960810e-01 -4.58547421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74719347 meters 0.07613660917636898 Centerline is valid? [True, True] Translation: X:181.68, Y:15.43, Z:-4.59 [[ 9.65817432e-01 -2.59106760e-01 -7.77008532e-03 1.81679858e+02] [ 2.59101531e-01 9.65848612e-01 -1.68969947e-03 1.54257557e+01] [ 7.94253868e-03 -3.81299802e-04 9.99968385e-01 -4.58683082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80719347000002 meters 0.07678593915874975 Centerline is valid? [True, True] Translation: X:181.74, Y:15.44, Z:-4.59 [[ 9.65855677e-01 -2.59037933e-01 -4.70750501e-03 1.81736112e+02] [ 2.59036005e-01 9.65867122e-01 -1.02524981e-03 1.54418100e+01] [ 4.81240290e-03 -2.29169947e-04 9.99988394e-01 -4.58540933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86719347000002 meters 0.06620570243780803 Centerline is valid? [True, True] Translation: X:181.79, Y:15.48, Z:-4.57 [[ 9.66243062e-01 -2.57622107e-01 -2.27950820e-03 1.81788022e+02] [ 2.57621647e-01 9.66245745e-01 -4.98027764e-04 1.54814834e+01] [ 2.33086806e-03 -1.06034785e-04 9.99997278e-01 -4.57371138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92719347000002 meters 0.06779805880558218 Centerline is valid? [True, True] Translation: X:181.84, Y:15.51, Z:-4.58 [[ 9.65949612e-01 -2.58727139e-01 -1.27037829e-03 1.81842015e+02] [ 2.58726994e-01 9.65950446e-01 -2.80608767e-04 1.55062120e+01] [ 1.29972358e-03 -5.76272257e-05 9.99999154e-01 -4.57825801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98719347000002 meters 0.06858035975926279 Centerline is valid? [True, True] Translation: X:181.90, Y:15.53, Z:-4.58 [[ 9.64532171e-01 -2.63964534e-01 -6.45086006e-04 1.81898921e+02] [ 2.63964498e-01 9.64532386e-01 -1.41152837e-04 1.55274882e+01] [ 6.59465687e-04 -3.41333517e-05 9.99999782e-01 -4.57855772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04719347000002 meters 0.07207468642202956 Centerline is valid? [True, True] Translation: X:181.96, Y:15.54, Z:-4.58 [[ 9.63214766e-01 -2.68732795e-01 -2.00558803e-05 1.81956677e+02] [ 2.68732795e-01 9.63214766e-01 -4.91057314e-06 1.55420256e+01] [ 2.06377515e-05 -6.59736188e-07 1.00000000e+00 -4.58176779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10719347000003 meters 0.07548953243927004 Centerline is valid? [True, True] Translation: X:182.01, Y:15.56, Z:-4.59 [[ 9.61987794e-01 -2.73069863e-01 -3.51191141e-03 1.82012053e+02] [ 2.73068880e-01 9.61994179e-01 -7.65690928e-04 1.55644077e+01] [ 3.58752545e-03 -2.22408387e-04 9.99993540e-01 -4.58731444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16719347000003 meters 0.07506285308673354 Centerline is valid? [True, True] Translation: X:182.07, Y:15.59, Z:-4.59 [[ 9.61630152e-01 -2.74345719e-01 -1.37018666e-03 1.82066936e+02] [ 2.74345559e-01 9.61631125e-01 -3.07313289e-04 1.55866584e+01] [ 1.40192422e-03 -8.03829008e-05 9.99999014e-01 -4.58647850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22719347000003 meters 0.0729853799361343 Centerline is valid? [True, True] Translation: X:182.12, Y:15.62, Z:-4.59 [[ 9.63180208e-01 -2.68847566e-01 -2.20752551e-03 1.82120129e+02] [ 2.68847165e-01 9.63182729e-01 -4.81980100e-04 1.56240731e+01] [ 2.25582963e-03 -1.29253284e-04 9.99997447e-01 -4.58801848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28719347 meters 0.06857772670758656 Centerline is valid? [True, True] Translation: X:182.17, Y:15.66, Z:-4.59 [[ 9.65567077e-01 -2.60118739e-01 -4.29668013e-03 1.82173319e+02] [ 2.60117136e-01 9.65576613e-01 -9.37574069e-04 1.56632747e+01] [ 4.39265443e-03 -2.12349477e-04 9.99990330e-01 -4.58908590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34719347 meters 0.06250470351781105 Centerline is valid? [True, True] Translation: X:182.22, Y:15.71, Z:-4.59 [[ 9.70072843e-01 -2.42743100e-01 -5.87079452e-03 1.82224110e+02] [ 2.42739787e-01 9.70090591e-01 -1.28127715e-03 1.57123727e+01] [ 6.00622371e-03 -1.82143238e-04 9.99981946e-01 -4.59196345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40719347 meters 0.06130868267560986 Centerline is valid? [True, True] Translation: X:182.28, Y:15.75, Z:-4.60 [[ 9.71821718e-01 -2.35659021e-01 -5.23195543e-03 1.82277543e+02] [ 2.35656282e-01 9.71835794e-01 -1.14272468e-03 1.57452744e+01] [ 5.35389494e-03 -1.22418504e-04 9.99985660e-01 -4.59561697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46719347 meters 0.059600639468021986 Centerline is valid? [True, True] Translation: X:182.33, Y:15.77, Z:-4.59 [[ 9.71960687e-01 -2.35075695e-01 -5.64278736e-03 1.82331448e+02] [ 2.35072442e-01 9.71977059e-01 -1.24247108e-03 1.57704592e+01] [ 5.77673461e-03 -1.18830760e-04 9.99983307e-01 -4.59011402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52719347000001 meters 0.05951321290785457 Centerline is valid? [True, True] Translation: X:182.39, Y:15.79, Z:-4.59 [[ 9.72913977e-01 -2.31065126e-01 -6.87763239e-03 1.82386639e+02] [ 2.31060245e-01 9.72938278e-01 -1.50696296e-03 1.57867513e+01] [ 7.03971840e-03 -1.23002093e-04 9.99975213e-01 -4.59471782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58719347000002 meters 0.05888709085640622 Centerline is valid? [True, True] Translation: X:182.44, Y:15.81, Z:-4.60 [[ 9.74277454e-01 -2.25230962e-01 -7.37943580e-03 1.82442541e+02] [ 2.25225123e-01 9.74305397e-01 -1.62374766e-03 1.58076502e+01] [ 7.55554237e-03 -8.00535953e-05 9.99971453e-01 -4.59831024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64719347000002 meters 0.05915425786309457 Centerline is valid? [True, True] Translation: X:182.50, Y:15.82, Z:-4.60 [[ 9.73353728e-01 -2.29264054e-01 -4.52916408e-03 1.82500246e+02] [ 2.29261876e-01 9.73364264e-01 -1.00129993e-03 1.58171480e+01] [ 4.63808854e-03 -6.37456293e-05 9.99989242e-01 -4.59708231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70719347000002 meters 0.06254853787563379 Centerline is valid? [True, True] Translation: X:182.56, Y:15.81, Z:-4.60 [[ 9.70559948e-01 -2.40807365e-01 -5.01989265e-03 1.82561424e+02] [ 2.40804885e-01 9.70572920e-01 -1.10179493e-03 1.58117827e+01] [ 5.13749220e-03 -1.39456639e-04 9.99986793e-01 -4.60300410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76719347000002 meters 0.06575253219279205 Centerline is valid? [True, True] Translation: X:182.62, Y:15.81, Z:-4.60 [[ 9.67647756e-01 -2.52207580e-01 -7.01116482e-03 1.82623510e+02] [ 2.52203045e-01 9.67673116e-01 -1.53809032e-03 1.58122989e+01] [ 7.17243374e-03 -2.79907473e-04 9.99974239e-01 -4.60447974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82719347000003 meters 0.0698811983225744 Centerline is valid? [True, True] Translation: X:182.68, Y:15.82, Z:-4.61 [[ 9.65893279e-01 -2.58768748e-01 -9.42910015e-03 1.82682552e+02] [ 2.58760848e-01 9.65939201e-01 -2.06947329e-03 1.58200396e+01] [ 9.64345248e-03 -4.40991613e-04 9.99953404e-01 -4.60933953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88719347000003 meters 0.06770300999915044 Centerline is valid? [True, True] Translation: X:182.74, Y:15.84, Z:-4.61 [[ 9.66490176e-01 -2.56347320e-01 -1.35200412e-02 1.82737027e+02] [ 2.56330691e-01 9.66584558e-01 -2.97820601e-03 1.58443154e+01] [ 1.38317181e-02 -5.87194651e-04 9.99904165e-01 -4.61031756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94719347000003 meters 0.06674166748583543 Centerline is valid? [True, True] Translation: X:182.79, Y:15.86, Z:-4.61 [[ 9.68028322e-01 -2.50568131e-01 -1.16953007e-02 1.82793374e+02] [ 2.50555330e-01 9.68098867e-01 -2.57093083e-03 1.58618723e+01] [ 1.19664007e-02 -4.41586064e-04 9.99928303e-01 -4.61223078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00719347000003 meters 0.06358079986439802 Centerline is valid? [True, True] Translation: X:182.85, Y:15.89, Z:-4.61 [[ 9.69860696e-01 -2.43317596e-01 -1.29142252e-02 1.82847751e+02] [ 2.43301345e-01 9.69946595e-01 -2.83884152e-03 1.58934175e+01] [ 1.32168489e-02 -3.88767549e-04 9.99912578e-01 -4.61027888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06719347 meters 0.06242637142982366 Centerline is valid? [True, True] Translation: X:182.90, Y:15.91, Z:-4.61 [[ 9.71142433e-01 -2.38182387e-01 -1.23095801e-02 1.82904601e+02] [ 2.38167196e-01 9.71220397e-01 -2.70703920e-03 1.59131565e+01] [ 1.26000843e-02 -3.02817532e-04 9.99920570e-01 -4.61108564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12719347 meters 0.06080696699593386 Centerline is valid? [True, True] Translation: X:182.96, Y:15.93, Z:-4.61 [[ 9.72487867e-01 -2.32705392e-01 -1.07493746e-02 1.82961965e+02] [ 2.32693465e-01 9.72547253e-01 -2.36463917e-03 1.59301429e+01] [ 1.10045391e-02 -2.01726335e-04 9.99939428e-01 -4.60970648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18719347 meters 0.060125728844144556 Centerline is valid? [True, True] Translation: X:183.02, Y:15.95, Z:-4.61 [[ 9.73945919e-01 -2.26566062e-01 -9.85727027e-03 1.83017976e+02] [ 2.26555696e-01 9.73995793e-01 -2.17049873e-03 1.59465245e+01] [ 1.00927011e-02 -1.19272352e-04 9.99949060e-01 -4.61238325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24719347 meters 0.06009089929324631 Centerline is valid? [True, True] Translation: X:183.08, Y:15.96, Z:-4.61 [[ 9.74480840e-01 -2.24284558e-01 -9.13948858e-03 1.83075833e+02] [ 2.24275466e-01 9.74523694e-01 -2.02110886e-03 1.59585328e+01] [ 9.35995168e-03 -8.02312035e-05 9.99956191e-01 -4.61341476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30719347000002 meters 0.0601957103909818 Centerline is valid? [True, True] Translation: X:183.13, Y:15.96, Z:-4.61 [[ 9.74093395e-01 -2.26015594e-01 -7.68173258e-03 1.83134606e+02] [ 2.26009195e-01 9.74123681e-01 -1.70247302e-03 1.59634414e+01] [ 7.86774307e-03 -7.77744740e-05 9.99969046e-01 -4.61384311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36719347000002 meters 0.06107031417185597 Centerline is valid? [True, True] Translation: X:183.19, Y:15.96, Z:-4.62 [[ 9.73301471e-01 -2.29409447e-01 -7.45333548e-03 1.83193476e+02] [ 2.29403553e-01 9.73330003e-01 -1.64791694e-03 1.59630865e+01] [ 7.63260276e-03 -1.05901663e-04 9.99970866e-01 -4.61832501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42719347000002 meters 0.061990473572784005 Centerline is valid? [True, True] Translation: X:183.25, Y:15.96, Z:-4.62 [[ 9.72067125e-01 -2.34459230e-01 -1.06945646e-02 1.83254112e+02] [ 2.34447416e-01 9.72125931e-01 -2.36296702e-03 1.59618401e+01] [ 1.09504830e-02 -2.10350483e-04 9.99940020e-01 -4.62116575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48719347000002 meters 0.06257070188654686 Centerline is valid? [True, True] Translation: X:183.31, Y:15.97, Z:-4.62 [[ 9.71851688e-01 -2.35382233e-01 -9.97497768e-03 1.83312038e+02] [ 2.35371982e-01 9.71902857e-01 -2.20621798e-03 1.59664465e+01] [ 1.02140138e-02 -2.03713596e-04 9.99947815e-01 -4.62476441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54719347000002 meters 0.06256637396161853 Centerline is valid? [True, True] Translation: X:183.37, Y:15.97, Z:-4.63 [[ 9.71958664e-01 -2.34877689e-01 -1.13501927e-02 1.83371306e+02] [ 2.34864291e-01 9.72024909e-01 -2.51820388e-03 1.59723848e+01] [ 1.16241399e-02 -2.18164888e-04 9.99932414e-01 -4.62831273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60719347000003 meters 0.06307405184845884 Centerline is valid? [True, True] Translation: X:183.43, Y:15.98, Z:-4.63 [[ 9.71808137e-01 -2.35237992e-01 -1.58755113e-02 1.83430977e+02] [ 2.35211931e-01 9.71937748e-01 -3.51583526e-03 1.59762170e+01] [ 1.62570667e-02 -3.17392340e-04 9.99867795e-01 -4.63344308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66719347000003 meters 0.06482288160609183 Centerline is valid? [True, True] Translation: X:183.49, Y:15.97, Z:-4.63 [[ 9.69665039e-01 -2.44034875e-01 -1.40247021e-02 1.83493118e+02] [ 2.44015445e-01 9.69766370e-01 -3.10652524e-03 1.59706309e+01] [ 1.43587849e-02 -4.09955015e-04 9.99896823e-01 -4.63065076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72719347000003 meters 0.06917561876522643 Centerline is valid? [True, True] Translation: X:183.56, Y:15.97, Z:-4.63 [[ 9.67098543e-01 -2.54144408e-01 -1.14467904e-02 1.83555252e+02] [ 2.54132177e-01 9.67166175e-01 -2.53497108e-03 1.59656766e+01] [ 1.17151973e-02 -4.57430934e-04 9.99931270e-01 -4.63172092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78719347 meters 0.07421076388103195 Centerline is valid? [True, True] Translation: X:183.62, Y:15.96, Z:-4.63 [[ 9.64292937e-01 -2.64702838e-01 -8.45807383e-03 1.83618154e+02] [ 2.64696560e-01 9.64329934e-01 -1.87355597e-03 1.59614563e+01] [ 8.65230935e-03 -4.32166261e-04 9.99962475e-01 -4.63057366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84719347 meters 0.07557501452062858 Centerline is valid? [True, True] Translation: X:183.68, Y:15.97, Z:-4.63 [[ 9.62101575e-01 -2.72542369e-01 -9.01205217e-03 1.83677629e+02] [ 2.72535582e-01 9.62143633e-01 -1.99647344e-03 1.59701729e+01] [ 9.21501222e-03 -5.35294639e-04 9.99957398e-01 -4.62998458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90719347 meters 0.07545466454592117 Centerline is valid? [True, True] Translation: X:183.73, Y:15.99, Z:-4.63 [[ 9.62846908e-01 -2.69958202e-01 -6.95714831e-03 1.83733529e+02] [ 2.69954084e-01 9.62871962e-01 -1.54209935e-03 1.59902516e+01] [ 7.11514541e-03 -3.93305007e-04 9.99974610e-01 -4.63172733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96719347 meters 0.07813837793199488 Centerline is valid? [True, True] Translation: X:183.79, Y:16.00, Z:-4.64 [[ 9.63500177e-01 -2.67591486e-01 -7.88703729e-03 1.83789742e+02] [ 2.67586102e-01 9.63532364e-01 -1.74975339e-03 1.60046641e+01] [ 8.06763479e-03 -4.24573868e-04 9.99967366e-01 -4.63779454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02719347000001 meters 0.07332675149232834 Centerline is valid? [True, True] Translation: X:183.84, Y:16.04, Z:-4.64 [[ 9.63567140e-01 -2.67252591e-01 -1.06966820e-02 1.83842232e+02] [ 2.67242580e-01 9.63626346e-01 -2.38105881e-03 1.60395855e+01] [ 1.09439487e-02 -5.64298858e-04 9.99939954e-01 -4.63677743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08719347000002 meters 0.07467406901446205 Centerline is valid? [True, True] Translation: X:183.90, Y:16.06, Z:-4.64 [[ 9.63105716e-01 -2.68779522e-01 -1.35995717e-02 1.83900096e+02] [ 2.68763606e-01 9.63201438e-01 -3.01896162e-03 1.60556230e+01] [ 1.39105620e-02 -7.47490724e-04 9.99902964e-01 -4.64166346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14719347000002 meters 0.07873798751560385 Centerline is valid? [True, True] Translation: X:183.96, Y:16.07, Z:-4.65 [[ 9.62505265e-01 -2.70989850e-01 -1.21702973e-02 1.83955435e+02] [ 2.70977240e-01 9.62581954e-01 -2.70491615e-03 1.60710095e+01] [ 1.24479133e-02 -6.94377525e-04 9.99922281e-01 -4.64591801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20719347000002 meters 0.07492444241574672 Centerline is valid? [True, True] Translation: X:184.01, Y:16.10, Z:-4.65 [[ 9.63426710e-01 -2.67653525e-01 -1.30600201e-02 1.84011611e+02] [ 2.67638724e-01 9.63514971e-01 -2.90070710e-03 1.60963271e+01] [ 1.33599094e-02 -7.00748406e-04 9.99910507e-01 -4.64589694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26719347000002 meters 0.07111998808428421 Centerline is valid? [True, True] Translation: X:184.07, Y:16.13, Z:-4.65 [[ 9.66154784e-01 -2.57462655e-01 -1.60597192e-02 1.84065105e+02] [ 2.57438857e-01 9.66288005e-01 -3.56743650e-03 1.61322720e+01] [ 1.64367957e-02 -6.87699898e-04 9.99864670e-01 -4.65047822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32719347000003 meters 0.06884729880311698 Centerline is valid? [True, True] Translation: X:184.12, Y:16.16, Z:-4.66 [[ 9.68371510e-01 -2.48776475e-01 -1.91542222e-02 1.84119407e+02] [ 2.48740902e-01 9.68560712e-01 -4.25581823e-03 1.61598778e+01] [ 1.96107746e-02 -6.43225373e-04 9.99807483e-01 -4.65725867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38719347000003 meters 0.0670823283010687 Centerline is valid? [True, True] Translation: X:184.17, Y:16.19, Z:-4.66 [[ 9.69725430e-01 -2.43800960e-01 -1.39169892e-02 1.84174045e+02] [ 2.43781652e-01 9.69825210e-01 -3.09333133e-03 1.61857920e+01] [ 1.42512041e-02 -3.93024560e-04 9.99898369e-01 -4.65650360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44719347000003 meters 0.06455075618273798 Centerline is valid? [True, True] Translation: X:184.23, Y:16.21, Z:-4.65 [[ 9.69409348e-01 -2.45181880e-01 -1.14613035e-02 1.84229706e+02] [ 2.45168759e-01 9.69477043e-01 -2.55793064e-03 1.62056523e+01] [ 1.17386289e-02 -3.30271678e-04 9.99931045e-01 -4.64729231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50719347000003 meters 0.06534834675996032 Centerline is valid? [True, True] Translation: X:184.29, Y:16.22, Z:-4.65 [[ 9.68539180e-01 -2.48608418e-01 -1.12120961e-02 1.84286932e+02] [ 2.48596048e-01 9.68604008e-01 -2.50599408e-03 1.62202478e+01] [ 1.14830924e-02 -3.60129326e-04 9.99934002e-01 -4.64814527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56719347 meters 0.06477629752742674 Centerline is valid? [True, True] Translation: X:184.35, Y:16.23, Z:-4.65 [[ 9.68895214e-01 -2.47380935e-01 -6.68855690e-03 1.84345287e+02] [ 2.47376523e-01 9.68918278e-01 -1.49214639e-03 1.62348895e+01] [ 6.84979361e-03 -2.08858450e-04 9.99976518e-01 -4.64644790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62719347 meters 0.06429341609518635 Centerline is valid? [True, True] Translation: X:184.40, Y:16.25, Z:-4.65 [[ 9.69937972e-01 -2.43207789e-01 -8.38460436e-03 1.84400992e+02] [ 2.43200629e-01 9.69974188e-01 -1.87875639e-03 1.62521718e+01] [ 8.58977799e-03 -2.16863892e-04 9.99963084e-01 -4.65168948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68719347 meters 0.0630294276365718 Centerline is valid? [True, True] Translation: X:184.46, Y:16.27, Z:-4.65 [[ 9.70379089e-01 -2.41395441e-01 -9.62619737e-03 1.84456559e+02] [ 2.41385877e-01 9.70426808e-01 -2.16081021e-03 1.62710099e+01] [ 9.86312972e-03 -2.26823045e-04 9.99951332e-01 -4.65104910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74719347 meters 0.06234034585337168 Centerline is valid? [True, True] Translation: X:184.51, Y:16.29, Z:-4.66 [[ 9.72011078e-01 -2.34602824e-01 -1.24891382e-02 1.84512898e+02] [ 2.34586171e-01 9.72091288e-01 -2.80279524e-03 1.62901341e+01] [ 1.27981262e-02 -2.05431090e-04 9.99918080e-01 -4.65821403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80719347000002 meters 0.06272817289185116 Centerline is valid? [True, True] Translation: X:184.57, Y:16.30, Z:-4.67 [[ 9.72482448e-01 -2.32368037e-01 -1.68221380e-02 1.84569114e+02] [ 2.32337588e-01 9.72627902e-01 -3.76947782e-03 1.63036753e+01] [ 1.72375869e-02 -2.42663938e-04 9.99851392e-01 -4.66629726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86719347000002 meters 0.06375069396012116 Centerline is valid? [True, True] Translation: X:184.63, Y:16.31, Z:-4.67 [[ 9.71116869e-01 -2.38108888e-01 -1.53683193e-02 1.84628630e+02] [ 2.38084033e-01 9.71238418e-01 -3.45377602e-03 1.63085141e+01] [ 1.57486769e-02 -3.04931301e-04 9.99875935e-01 -4.66717274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92719347000002 meters 0.06750964368798681 Centerline is valid? [True, True] Translation: X:184.69, Y:16.30, Z:-4.66 [[ 9.67189339e-01 -2.53786102e-01 -1.17216455e-02 1.84691952e+02] [ 2.53772849e-01 9.67260269e-01 -2.62928709e-03 1.63014686e+01] [ 1.20051585e-02 -4.31616917e-04 9.99927842e-01 -4.66473851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98719347000002 meters 0.07251559019897488 Centerline is valid? [True, True] Translation: X:184.75, Y:16.30, Z:-4.66 [[ 9.64417799e-01 -2.64194826e-01 -9.97009634e-03 1.84752950e+02] [ 2.64185787e-01 9.64469215e-01 -2.23688062e-03 1.62996310e+01] [ 1.02068233e-02 -4.76670266e-04 9.99947795e-01 -4.66495589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04719347000002 meters 0.07713364336903582 Centerline is valid? [True, True] Translation: X:184.81, Y:16.30, Z:-4.66 [[ 9.62242345e-01 -2.72041034e-01 -9.12937707e-03 1.84812707e+02] [ 2.72033797e-01 9.62285516e-01 -2.04920506e-03 1.63030179e+01] [ 9.34253519e-03 -5.11667223e-04 9.99956227e-01 -4.66450640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10719347000003 meters 0.07738580478925497 Centerline is valid? [True, True] Translation: X:184.87, Y:16.32, Z:-4.66 [[ 9.60434971e-01 -2.78436553e-01 -6.14431558e-03 1.84870639e+02] [ 2.78433407e-01 9.60454547e-01 -1.37893803e-03 1.63196799e+01] [ 6.28528259e-03 -3.86402411e-04 9.99980173e-01 -4.65893230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16719347000003 meters 0.08284542126887183 Centerline is valid? [True, True] Translation: X:184.93, Y:16.33, Z:-4.66 [[ 9.60115327e-01 -2.79543602e-01 -5.82520047e-03 1.84927214e+02] [ 2.79540775e-01 9.60132927e-01 -1.31063605e-03 1.63287601e+01] [ 5.95934670e-03 -3.70019296e-04 9.99982174e-01 -4.66412781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22719347000003 meters 0.08026887718852972 Centerline is valid? [True, True] Translation: X:184.98, Y:16.35, Z:-4.66 [[ 9.59580993e-01 -2.81427975e-01 -1.61655733e-03 1.84981927e+02] [ 2.81427750e-01 9.59582349e-01 -3.70136505e-04 1.63549219e+01] [ 1.65538665e-03 -9.97681371e-05 9.99998625e-01 -4.65947072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28719347 meters 0.07897955712469101 Centerline is valid? [True, True] Translation: X:185.04, Y:16.38, Z:-4.67 [[ 9.60671128e-01 -2.77665179e-01 -3.61004835e-03 1.85036730e+02] [ 2.77664079e-01 9.60677885e-01 -8.12543609e-04 1.63820116e+01] [ 3.69370868e-03 -2.21793565e-04 9.99993154e-01 -4.66522478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34719347 meters 0.07729442283341115 Centerline is valid? [True, True] Translation: X:185.09, Y:16.41, Z:-4.67 [[ 9.61638673e-01 -2.74259760e-01 -5.71369487e-03 1.85092459e+02] [ 2.74256946e-01 9.61655591e-01 -1.28570176e-03 1.64056669e+01] [ 5.84722287e-03 -3.30639966e-04 9.99982850e-01 -4.66857727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40719347 meters 0.06990306680424133 Centerline is valid? [True, True] Translation: X:185.14, Y:16.45, Z:-4.67 [[ 9.63519069e-01 -2.67400996e-01 -1.13009402e-02 1.85144829e+02] [ 2.67389528e-01 9.63585170e-01 -2.54186130e-03 1.64467909e+01] [ 1.15691146e-02 -5.72621228e-04 9.99932912e-01 -4.66829768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46719347 meters 0.06697733102304228 Centerline is valid? [True, True] Translation: X:185.20, Y:16.47, Z:-4.67 [[ 9.66037684e-01 -2.57996152e-01 -1.44630312e-02 1.85200808e+02] [ 2.57976320e-01 9.66145765e-01 -3.25266538e-03 1.64718492e+01] [ 1.48125715e-02 -5.88922234e-04 9.99890114e-01 -4.67346195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52719347000001 meters 0.06291561369424617 Centerline is valid? [True, True] Translation: X:185.26, Y:16.50, Z:-4.67 [[ 9.69454810e-01 -2.45005179e-01 -1.13944833e-02 1.85255295e+02] [ 2.44991970e-01 9.69521721e-01 -2.56258506e-03 1.65040587e+01] [ 1.16750457e-02 -3.07246501e-04 9.99931797e-01 -4.67077562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58719347000002 meters 0.06144166243163342 Centerline is valid? [True, True] Translation: X:185.31, Y:16.52, Z:-4.67 [[ 9.70517745e-01 -2.40871462e-01 -8.73183817e-03 1.85312289e+02] [ 2.40863532e-01 9.70557005e-01 -1.96444383e-03 1.65244496e+01] [ 8.94792516e-03 -1.96653790e-04 9.99959947e-01 -4.66673764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64719347000002 meters 0.061391449309062554 Centerline is valid? [True, True] Translation: X:185.37, Y:16.54, Z:-4.67 [[ 9.70853420e-01 -2.39389536e-01 -1.16741713e-02 1.85370191e+02] [ 2.39375126e-01 9.70923578e-01 -2.63701698e-03 1.65352189e+01] [ 1.19660024e-02 -2.34349269e-04 9.99928377e-01 -4.67147675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70719347000002 meters 0.06159118928194571 Centerline is valid? [True, True] Translation: X:185.43, Y:16.54, Z:-4.68 [[ 9.71336624e-01 -2.37291358e-01 -1.40703525e-02 1.85427405e+02] [ 2.37270275e-01 9.71438493e-01 -3.17337578e-03 1.65441100e+01] [ 1.44214966e-02 -2.56060285e-04 9.99895972e-01 -4.67562584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76719347000002 meters 0.0615598005721406 Centerline is valid? [True, True] Translation: X:185.49, Y:16.55, Z:-4.68 [[ 9.71525991e-01 -2.36478735e-01 -1.46648003e-02 1.85485027e+02] [ 2.36455576e-01 9.71636634e-01 -3.31849118e-03 1.65529611e+01] [ 1.50336098e-02 -2.43573356e-04 9.99886959e-01 -4.67641106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82719347000003 meters 0.06141159251287993 Centerline is valid? [True, True] Translation: X:185.54, Y:16.56, Z:-4.68 [[ 9.72209953e-01 -2.33645206e-01 -1.47555296e-02 1.85543085e+02] [ 2.33621380e-01 9.72321901e-01 -3.34249728e-03 1.65641548e+01] [ 1.51280831e-02 -1.97598067e-04 9.99885544e-01 -4.67813883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88719347000003 meters 0.060429365165246926 Centerline is valid? [True, True] Translation: X:185.60, Y:16.57, Z:-4.68 [[ 9.73496272e-01 -2.28302207e-01 -1.35318399e-02 1.85601884e+02] [ 2.28281592e-01 9.73590310e-01 -3.06962969e-03 1.65728225e+01] [ 1.38752715e-02 -1.00796896e-04 9.99903729e-01 -4.67768157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94719347000003 meters 0.060534803717735064 Centerline is valid? [True, True] Translation: X:185.66, Y:16.57, Z:-4.68 [[ 9.73559592e-01 -2.28026030e-01 -1.36326654e-02 1.85660982e+02] [ 2.28004989e-01 9.73655032e-01 -3.09897159e-03 1.65745262e+01] [ 1.39801595e-02 -9.12822217e-05 9.99902269e-01 -4.68179498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00719347000003 meters 0.0610376236415242 Centerline is valid? [True, True] Translation: X:185.72, Y:16.57, Z:-4.69 [[ 9.72829609e-01 -2.30914022e-01 -1.67709793e-02 1.85722030e+02] [ 2.30882757e-01 9.72974144e-01 -3.80363927e-03 1.65749922e+01] [ 1.71960428e-02 -1.71837024e-04 9.99852122e-01 -4.68570326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06719347 meters 0.06204771155741676 Centerline is valid? [True, True] Translation: X:185.78, Y:16.56, Z:-4.69 [[ 9.71266967e-01 -2.37543875e-01 -1.46077420e-02 1.85782520e+02] [ 2.37520776e-01 9.71376780e-01 -3.32151849e-03 1.65645260e+01] [ 1.49786277e-02 -2.43561024e-04 9.99887784e-01 -4.68742852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12719347 meters 0.062392957949473526 Centerline is valid? [True, True] Translation: X:185.84, Y:16.56, Z:-4.69 [[ 9.70998485e-01 -2.38637208e-01 -1.46364486e-02 1.85842593e+02] [ 2.38614054e-01 9.71108757e-01 -3.33396644e-03 1.65639427e+01] [ 1.50091918e-02 -2.55185974e-04 9.99887323e-01 -4.68980264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18719347 meters 0.06138514811873446 Centerline is valid? [True, True] Translation: X:185.90, Y:16.57, Z:-4.69 [[ 9.71881686e-01 -2.35125049e-01 -1.27357625e-02 1.85902213e+02] [ 2.35107256e-01 9.71965112e-01 -2.89800328e-03 1.65665285e+01] [ 1.30601100e-02 -1.77753859e-04 9.99914697e-01 -4.68747206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24719347 meters 0.060971365721475795 Centerline is valid? [True, True] Translation: X:185.96, Y:16.57, Z:-4.69 [[ 9.73039151e-01 -2.30338457e-01 -1.17900622e-02 1.85959648e+02] [ 2.30322810e-01 9.73110572e-01 -2.68664688e-03 1.65728717e+01] [ 1.20918723e-02 -1.01307668e-04 9.99926886e-01 -4.69085868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30719347000002 meters 0.060235430749456115 Centerline is valid? [True, True] Translation: X:186.02, Y:16.58, Z:-4.69 [[ 9.75332708e-01 -2.20545616e-01 -9.25958980e-03 1.86018404e+02] [ 2.20535462e-01 9.75376661e-01 -2.11641729e-03 1.65822098e+01] [ 9.49835433e-03 2.21430852e-05 9.99954889e-01 -4.69116066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36719347000002 meters 0.06029327545825543 Centerline is valid? [True, True] Translation: X:186.08, Y:16.59, Z:-4.69 [[ 9.76922843e-01 -2.13478559e-01 -6.97592892e-03 1.86076817e+02] [ 2.13472584e-01 9.76947747e-01 -1.59881500e-03 1.65924166e+01] [ 7.15643076e-03 7.27493161e-05 9.99974390e-01 -4.69177940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42719347000002 meters 0.06132356229437817 Centerline is valid? [True, True] Translation: X:186.14, Y:16.60, Z:-4.69 [[ 9.78345363e-01 -2.06824855e-01 -7.98941142e-03 1.86136456e+02] [ 2.06816853e-01 9.78377975e-01 -1.82416033e-03 1.66003508e+01] [ 8.19394586e-03 1.32313870e-04 9.99966420e-01 -4.69466120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48719347000002 meters 0.06148424982531098 Centerline is valid? [True, True] Translation: X:186.20, Y:16.59, Z:-4.70 [[ 9.77979596e-01 -2.08483108e-01 -9.52387523e-03 1.86197330e+02] [ 2.08471792e-01 9.78025957e-01 -2.17694087e-03 1.65917881e+01] [ 9.76845259e-03 1.43544417e-04 9.99952277e-01 -4.70076120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54719347000002 meters 0.061128230455085565 Centerline is valid? [True, True] Translation: X:186.26, Y:16.60, Z:-4.70 [[ 9.77583658e-01 -2.10333463e-01 -9.48824470e-03 1.86257033e+02] [ 2.10322244e-01 9.77629693e-01 -2.17634599e-03 1.65957157e+01] [ 9.73374815e-03 1.31971354e-04 9.99952617e-01 -4.70288140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60719347000003 meters 0.06051101189672206 Centerline is valid? [True, True] Translation: X:186.32, Y:16.59, Z:-4.70 [[ 9.77068425e-01 -2.12839650e-01 -6.04785789e-03 1.86318143e+02] [ 2.12835118e-01 9.77087139e-01 -1.39092521e-03 1.65936464e+01] [ 6.20532820e-03 7.18325590e-05 9.99980744e-01 -4.70326441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66719347000003 meters 0.060314885144443414 Centerline is valid? [True, True] Translation: X:186.38, Y:16.59, Z:-4.70 [[ 9.77062279e-01 -2.12927659e-01 -3.33380633e-03 1.86378679e+02] [ 2.12926284e-01 9.77067966e-01 -7.65933002e-04 1.65895335e+01] [ 3.42044370e-03 3.85092490e-05 9.99994150e-01 -4.70361484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72719347000003 meters 0.061226336620259184 Centerline is valid? [True, True] Translation: X:186.44, Y:16.59, Z:-4.71 [[ 9.78018642e-01 -2.08450365e-01 -5.28964724e-03 1.86438877e+02] [ 2.08446852e-01 9.78032943e-01 -1.21313245e-03 1.65919065e+01] [ 5.42632716e-03 8.38558382e-05 9.99985274e-01 -4.70698401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78719347 meters 0.06405647872459037 Centerline is valid? [True, True] Translation: X:186.50, Y:16.59, Z:-4.71 [[ 9.79444423e-01 -2.01563904e-01 -7.78551894e-03 1.86499871e+02] [ 2.01556087e-01 9.79475350e-01 -1.78417062e-03 1.65922262e+01] [ 7.98534828e-03 1.78277231e-04 9.99968101e-01 -4.71448735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84719347 meters 0.06567261932169813 Centerline is valid? [True, True] Translation: X:186.56, Y:16.60, Z:-4.72 [[ 9.80111613e-01 -1.98208127e-01 -9.73464924e-03 1.86559144e+02] [ 1.98195728e-01 9.80159921e-01 -2.23200461e-03 1.65986422e+01] [ 9.98391449e-03 2.58247746e-04 9.99950126e-01 -4.71786910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90719347 meters 0.0644801838301016 Centerline is valid? [True, True] Translation: X:186.62, Y:16.60, Z:-4.71 [[ 9.80449651e-01 -1.96509772e-01 -1.01188942e-02 1.86619851e+02] [ 1.96496195e-01 9.80501822e-01 -2.32874490e-03 1.65964510e+01] [ 1.03792153e-02 2.94892915e-04 9.99946091e-01 -4.71399102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96719347 meters 0.06229874727793257 Centerline is valid? [True, True] Translation: X:186.68, Y:16.58, Z:-4.71 [[ 9.80101772e-01 -1.98320457e-01 -8.33742147e-03 1.86683645e+02] [ 1.98311329e-01 9.80137208e-01 -1.91594120e-03 1.65815758e+01] [ 8.55178733e-03 2.24412239e-04 9.99963408e-01 -4.70820643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02719347000001 meters 0.06224419067673913 Centerline is valid? [True, True] Translation: X:186.75, Y:16.57, Z:-4.71 [[ 9.79870838e-01 -1.99538903e-01 -6.11291823e-03 1.86745456e+02] [ 1.99534013e-01 9.79889892e-01 -1.40583438e-03 1.65735304e+01] [ 6.27050544e-03 1.57801002e-04 9.99980328e-01 -4.70884225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08719347000002 meters 0.06329289785042615 Centerline is valid? [True, True] Translation: X:186.81, Y:16.58, Z:-4.71 [[ 9.81096851e-01 -1.93418737e-01 -6.17753419e-03 1.86805339e+02] [ 1.93413622e-01 9.81116279e-01 -1.42058001e-03 1.65784413e+01] [ 6.33564615e-03 1.98907315e-04 9.99979910e-01 -4.70966068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14719347000002 meters 0.06740633160385055 Centerline is valid? [True, True] Translation: X:186.86, Y:16.58, Z:-4.71 [[ 9.83458743e-01 -1.81022290e-01 -6.31122100e-03 1.86864658e+02] [ 1.81016708e-01 9.83478953e-01 -1.44957964e-03 1.65836727e+01] [ 6.46935925e-03 2.83165321e-04 9.99979033e-01 -4.71358266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20719347000002 meters 0.06667012614060656 Centerline is valid? [True, True] Translation: X:186.93, Y:16.58, Z:-4.71 [[ 9.83849922e-01 -1.78918709e-01 -5.23693900e-03 1.86925547e+02] [ 1.78914786e-01 9.83863827e-01 -1.21216176e-03 1.65813854e+01] [ 5.36931326e-03 2.55619433e-04 9.99985552e-01 -4.71171973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26719347000002 meters 0.06544254273669066 Centerline is valid? [True, True] Translation: X:186.99, Y:16.58, Z:-4.71 [[ 9.83372654e-01 -1.81554241e-01 -4.03498755e-03 1.86988471e+02] [ 1.81551955e-01 9.83380916e-01 -9.28744745e-04 1.65752928e+01] [ 4.13654730e-03 1.80742305e-04 9.99991428e-01 -4.71229036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32719347000003 meters 0.06288134314905484 Centerline is valid? [True, True] Translation: X:187.05, Y:16.55, Z:-4.71 [[ 9.81528560e-01 -1.91305329e-01 -1.98903729e-03 1.87053451e+02] [ 1.91304791e-01 9.81530573e-01 -4.59013718e-04 1.65549830e+01] [ 2.04011268e-03 7.00227110e-05 9.99997917e-01 -4.71208540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38719347000003 meters 0.06078836927580793 Centerline is valid? [True, True] Translation: X:187.12, Y:16.54, Z:-4.71 [[ 9.80590568e-01 -1.96066664e-01 -1.95801036e-05 1.87118080e+02] [ 1.96066664e-01 9.80590569e-01 -5.05040058e-06 1.65437150e+01] [ 2.01902795e-05 1.11336961e-06 1.00000000e+00 -4.70752614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44719347000003 meters 0.0603880276167035 Centerline is valid? [True, True] Translation: X:187.18, Y:16.53, Z:-4.71 [[ 9.79478679e-01 -2.01547640e-01 -2.57822049e-04 1.87179134e+02] [ 2.01547631e-01 9.79478713e-01 -6.20125204e-05 1.65344563e+01] [ 2.65029686e-04 8.77651824e-06 9.99999965e-01 -4.71368166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50719347000003 meters 0.059526579295029414 Centerline is valid? [True, True] Translation: X:187.24, Y:16.53, Z:-4.72 [[ 9.78772119e-01 -2.04941902e-01 -1.98913370e-03 1.87240906e+02] [ 2.04941378e-01 9.78774139e-01 -4.66070240e-04 1.65304132e+01] [ 2.04242995e-03 4.85207540e-05 9.99997913e-01 -4.71560625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56719347 meters 0.05877152020799107 Centerline is valid? [True, True] Translation: X:187.30, Y:16.52, Z:-4.71 [[ 9.77840490e-01 -2.09335842e-01 -2.54595717e-03 1.87303067e+02] [ 2.09335002e-01 9.77843803e-01 -5.95209895e-04 1.65234734e+01] [ 2.61414720e-03 4.90623872e-05 9.99996582e-01 -4.71433111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62719347 meters 0.058618335719720166 Centerline is valid? [True, True] Translation: X:187.36, Y:16.52, Z:-4.72 [[ 9.76637906e-01 -2.14816809e-01 -5.66920029e-03 1.87364192e+02] [ 2.14812778e-01 9.76654357e-01 -1.31788050e-03 1.65213006e+01] [ 5.81995204e-03 6.92753879e-05 9.99983062e-01 -4.71904349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68719347 meters 0.05821773464879907 Centerline is valid? [True, True] Translation: X:187.42, Y:16.53, Z:-4.72 [[ 9.75570174e-01 -2.19645689e-01 -4.31348604e-03 1.87423154e+02] [ 2.19643387e-01 9.75579710e-01 -1.00607353e-03 1.65266856e+01] [ 4.42912917e-03 3.40666447e-05 9.99990191e-01 -4.71832789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74719347 meters 0.0582130578765603 Centerline is valid? [True, True] Translation: X:187.48, Y:16.54, Z:-4.72 [[ 9.75120360e-01 -2.21646011e-01 -3.65081874e-03 1.87481317e+02] [ 2.21644368e-01 9.75127194e-01 -8.53633261e-04 1.65360889e+01] [ 3.74921704e-03 2.32117590e-05 9.99992971e-01 -4.72010254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80719347000002 meters 0.05872533425631823 Centerline is valid? [True, True] Translation: X:187.54, Y:16.55, Z:-4.72 [[ 9.75436188e-01 -2.20145744e-01 -7.75202098e-03 1.87538489e+02] [ 2.20138389e-01 9.75466990e-01 -1.80019127e-03 1.65468106e+01] [ 7.95814502e-03 4.94543055e-05 9.99968332e-01 -4.72432811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86719347000002 meters 0.05919537850299617 Centerline is valid? [True, True] Translation: X:187.60, Y:16.56, Z:-4.73 [[ 9.75325450e-01 -2.20532515e-01 -1.02799023e-02 1.87595638e+02] [ 2.20519529e-01 9.75379621e-01 -2.39420953e-03 1.65607627e+01] [ 1.05548083e-02 6.82142675e-05 9.99944294e-01 -4.72928793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92719347000002 meters 0.0588320433028402 Centerline is valid? [True, True] Translation: X:187.65, Y:16.57, Z:-4.73 [[ 9.73142976e-01 -2.30112179e-01 -6.41345439e-03 1.87654674e+02] [ 2.30107303e-01 9.73164110e-01 -1.49808490e-03 1.65691005e+01] [ 6.58607121e-03 -1.79318935e-05 9.99978311e-01 -4.72581943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98719347000002 meters 0.059544084055108464 Centerline is valid? [True, True] Translation: X:187.71, Y:16.57, Z:-4.72 [[ 9.70537377e-01 -2.40940281e-01 -2.23157666e-03 1.87713746e+02] [ 2.40939706e-01 9.70539943e-01 -5.27182237e-04 1.65743304e+01] [ 2.29285372e-03 -2.60253578e-05 9.99997371e-01 -4.72088118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04719347000002 meters 0.06293217253777209 Centerline is valid? [True, True] Translation: X:187.77, Y:16.58, Z:-4.72 [[ 9.66687347e-01 -2.55958866e-01 -7.94395379e-04 1.87773891e+02] [ 2.55958800e-01 9.66687674e-01 -1.85755300e-04 1.65800124e+01] [ 8.15477936e-04 -2.37651897e-05 9.99999667e-01 -4.71955124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10719347000003 meters 0.06497007522807213 Centerline is valid? [True, True] Translation: X:187.83, Y:16.60, Z:-4.72 [[ 9.65076127e-01 -2.61942254e-01 -3.78483231e-03 1.87829687e+02] [ 2.61940805e-01 9.65083538e-01 -8.82332500e-04 1.66030024e+01] [ 3.88379952e-03 -1.39883991e-04 9.99992448e-01 -4.72338017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16719347000003 meters 0.0649545745106786 Centerline is valid? [True, True] Translation: X:187.88, Y:16.63, Z:-4.73 [[ 9.65078795e-01 -2.61908719e-01 -5.17132840e-03 1.87883807e+02] [ 2.61905970e-01 9.65092633e-01 -1.21377976e-03 1.66288146e+01] [ 5.30871044e-03 -1.83008669e-04 9.99985892e-01 -4.72711118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22719347000003 meters 0.06437723746847684 Centerline is valid? [True, True] Translation: X:187.93, Y:16.67, Z:-4.74 [[ 9.67361669e-01 -2.53113777e-01 -1.20340325e-02 1.87934674e+02] [ 2.53098381e-01 9.67436463e-01 -2.81071341e-03 1.66650103e+01] [ 1.23535921e-02 -3.26817720e-04 9.99923638e-01 -4.73853500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28719347 meters 0.06169529865435734 Centerline is valid? [True, True] Translation: X:187.99, Y:16.70, Z:-4.74 [[ 9.69302259e-01 -2.45336413e-01 -1.62226825e-02 1.87986562e+02] [ 2.45307189e-01 9.69437959e-01 -3.79831484e-03 1.67007438e+01] [ 1.66587491e-02 -2.97825487e-04 9.99861189e-01 -4.74066863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34719347 meters 0.06074842939160732 Centerline is valid? [True, True] Translation: X:188.04, Y:16.73, Z:-4.74 [[ 9.70930985e-01 -2.38853046e-01 -1.55642182e-02 1.88038926e+02] [ 2.38825330e-01 9.71055709e-01 -3.64305641e-03 1.67304431e+01] [ 1.59838780e-02 -1.79973185e-04 9.99872233e-01 -4.74388672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40719347 meters 0.05945933882209251 Centerline is valid? [True, True] Translation: X:188.09, Y:16.76, Z:-4.74 [[ 9.72719013e-01 -2.31617953e-01 -1.30707800e-02 1.88092888e+02] [ 2.31597783e-01 9.72806826e-01 -3.05709306e-03 1.67635728e+01] [ 1.34234217e-02 -5.34711369e-05 9.99909900e-01 -4.74205859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46719347 meters 0.05858525358464633 Centerline is valid? [True, True] Translation: X:188.15, Y:16.78, Z:-4.74 [[ 9.73396262e-01 -2.28857762e-01 -1.11284032e-02 1.88148698e+02] [ 2.28842834e-01 9.73459873e-01 -2.61389453e-03 1.67843875e+01] [ 1.14312640e-02 -2.30016232e-06 9.99934661e-01 -4.73709652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52719347000001 meters 0.058290570897265546 Centerline is valid? [True, True] Translation: X:188.20, Y:16.81, Z:-4.74 [[ 9.74083270e-01 -2.26006615e-01 -9.09908070e-03 1.88202741e+02] [ 2.25996535e-01 9.74125767e-01 -2.13463454e-03 1.68058604e+01] [ 9.34609049e-03 2.29510784e-05 9.99956324e-01 -4.73772179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58719347000002 meters 0.05854242677069786 Centerline is valid? [True, True] Translation: X:188.26, Y:16.83, Z:-4.74 [[ 9.74593517e-01 -2.23768156e-01 -9.76165329e-03 1.88258111e+02] [ 2.23756362e-01 9.74642401e-01 -2.29809770e-03 1.68261962e+01] [ 1.00283623e-02 5.54790929e-05 9.99949713e-01 -4.74050956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64719347000002 meters 0.05882208455749012 Centerline is valid? [True, True] Translation: X:188.31, Y:16.84, Z:-4.74 [[ 9.74824245e-01 -2.22667784e-01 -1.16939929e-02 1.88314113e+02] [ 2.22650842e-01 9.74894380e-01 -2.74778567e-03 1.68428993e+01] [ 1.20122513e-02 7.49307185e-05 9.99927847e-01 -4.74384132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70719347000002 meters 0.05869344541123176 Centerline is valid? [True, True] Translation: X:188.37, Y:16.85, Z:-4.75 [[ 9.74597104e-01 -2.23685797e-01 -1.11870136e-02 1.88372112e+02] [ 2.23670262e-01 9.74661305e-01 -2.63710663e-03 1.68545500e+01] [ 1.14934326e-02 6.79142229e-05 9.99933946e-01 -4.74512200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76719347000002 meters 0.05872650072887662 Centerline is valid? [True, True] Translation: X:188.43, Y:16.86, Z:-4.75 [[ 9.73615766e-01 -2.27830645e-01 -1.28661156e-02 1.88430362e+02] [ 2.27810419e-01 9.73700774e-01 -3.03584881e-03 1.68649565e+01] [ 1.32194061e-02 2.47150709e-05 9.99912620e-01 -4.74694397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82719347000003 meters 0.05930716026008769 Centerline is valid? [True, True] Translation: X:188.49, Y:16.87, Z:-4.75 [[ 9.72218457e-01 -2.33631411e-01 -1.44095729e-02 1.88489158e+02] [ 2.33606707e-01 9.72325234e-01 -3.39807776e-03 1.68699006e+01] [ 1.48046890e-02 -6.24989441e-05 9.99890403e-01 -4.75030462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88719347000003 meters 0.060572686188150496 Centerline is valid? [True, True] Translation: X:188.55, Y:16.87, Z:-4.75 [[ 9.69533351e-01 -2.44681542e-01 -1.16629853e-02 1.88549076e+02] [ 2.44666147e-01 9.69603480e-01 -2.75104017e-03 1.68665765e+01] [ 1.19815999e-02 -1.86312473e-04 9.99928201e-01 -4.75102548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94719347000003 meters 0.06176324261659953 Centerline is valid? [True, True] Translation: X:188.61, Y:16.87, Z:-4.75 [[ 9.68531868e-01 -2.48597984e-01 -1.20442327e-02 1.88606617e+02] [ 2.48581854e-01 9.68606723e-01 -2.84212980e-03 1.68743364e+01] [ 1.23726725e-02 -2.41284408e-04 9.99923426e-01 -4.75358278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00719347000003 meters 0.06111909120266832 Centerline is valid? [True, True] Translation: X:188.66, Y:16.89, Z:-4.75 [[ 9.69124129e-01 -2.46344676e-01 -1.06171197e-02 1.88662950e+02] [ 2.46332000e-01 9.69182267e-01 -2.50601097e-03 1.68912500e+01] [ 1.09072666e-02 -1.86700628e-04 9.99940497e-01 -4.75391649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06719347 meters 0.06066178798298561 Centerline is valid? [True, True] Translation: X:188.72, Y:16.91, Z:-4.76 [[ 9.70165637e-01 -2.42079546e-01 -1.32714257e-02 1.88718983e+02] [ 2.42059228e-01 9.70256392e-01 -3.14071453e-03 1.69111060e+01] [ 1.36369883e-02 -1.65457742e-04 9.99906998e-01 -4.75749709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12719347 meters 0.059683240062194685 Centerline is valid? [True, True] Translation: X:188.77, Y:16.94, Z:-4.76 [[ 9.72299497e-01 -2.33326763e-01 -1.38675576e-02 1.88772640e+02] [ 2.33303634e-01 9.72398385e-01 -3.28548034e-03 1.69393396e+01] [ 1.42513811e-02 -4.08806999e-05 9.99898443e-01 -4.76083667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18719347 meters 0.058550028388066264 Centerline is valid? [True, True] Translation: X:188.83, Y:16.96, Z:-4.75 [[ 9.72662197e-01 -2.31971541e-01 -1.08376635e-02 1.88828822e+02] [ 2.31957355e-01 9.72722573e-01 -2.56546882e-03 1.69578136e+01] [ 1.11371557e-02 -1.85412248e-05 9.99937980e-01 -4.75415561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24719347 meters 0.059449765280450075 Centerline is valid? [True, True] Translation: X:188.89, Y:16.96, Z:-4.75 [[ 9.69953233e-01 -2.43115535e-01 -9.25004406e-03 1.88887687e+02] [ 2.43105624e-01 9.69997331e-01 -2.19833524e-03 1.69630841e+01] [ 9.50696750e-03 -1.16455354e-04 9.99954801e-01 -4.75480594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30719347000002 meters 0.0625982927093948 Centerline is valid? [True, True] Translation: X:188.95, Y:16.96, Z:-4.75 [[ 9.65763959e-01 -2.59273880e-01 -8.77672231e-03 1.88949734e+02] [ 2.59265677e-01 9.65803802e-01 -2.07960561e-03 1.69630797e+01] [ 9.01577919e-03 -2.67094707e-04 9.99959321e-01 -4.75399887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36719347000002 meters 0.06580525604687827 Centerline is valid? [True, True] Translation: X:189.01, Y:16.97, Z:-4.76 [[ 9.63693377e-01 -2.66843363e-01 -9.47068404e-03 1.89008592e+02] [ 2.66834169e-01 9.63739844e-01 -2.24479804e-03 1.69695793e+01] [ 9.72628502e-03 -3.63805103e-04 9.99952632e-01 -4.75734100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42719347000002 meters 0.06691243706379393 Centerline is valid? [True, True] Translation: X:189.07, Y:16.99, Z:-4.76 [[ 9.62930931e-01 -2.69546882e-01 -1.04163761e-02 1.89065479e+02] [ 2.69535913e-01 9.62987172e-01 -2.46938765e-03 1.69879694e+01] [ 1.06964523e-02 -4.29737705e-04 9.99942699e-01 -4.75884627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48719347000002 meters 0.06731575589120875 Centerline is valid? [True, True] Translation: X:189.12, Y:17.01, Z:-4.76 [[ 9.63074414e-01 -2.69059956e-01 -9.71661730e-03 1.89120008e+02] [ 2.69050340e-01 9.63123350e-01 -2.30814646e-03 1.70073162e+01] [ 9.97933078e-03 -3.91342389e-04 9.99950129e-01 -4.76098217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54719347000002 meters 0.06854223562148214 Centerline is valid? [True, True] Translation: X:189.17, Y:17.03, Z:-4.77 [[ 9.62936751e-01 -2.69421374e-01 -1.28427892e-02 1.89174767e+02] [ 2.69404644e-01 9.63022247e-01 -3.04791861e-03 1.70319334e+01] [ 1.31890662e-02 -5.24954222e-04 9.99912883e-01 -4.76733723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60719347000003 meters 0.0702052827632779 Centerline is valid? [True, True] Translation: X:189.23, Y:17.05, Z:-4.77 [[ 9.62650346e-01 -2.70281094e-01 -1.58884325e-02 1.89230417e+02] [ 2.70255594e-01 9.62781227e-01 -3.77139206e-03 1.70516284e+01] [ 1.63164205e-02 -6.63405903e-04 9.99866658e-01 -4.77304179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66719347000003 meters 0.06723226032947831 Centerline is valid? [True, True] Translation: X:189.28, Y:17.08, Z:-4.77 [[ 9.63230317e-01 -2.68357219e-01 -1.31056743e-02 1.89284812e+02] [ 2.68339686e-01 9.63319331e-01 -3.11130552e-03 1.70820572e+01] [ 1.34598907e-02 -5.19868741e-04 9.99909276e-01 -4.76851029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72719347000003 meters 0.06537903039872738 Centerline is valid? [True, True] Translation: X:189.34, Y:17.11, Z:-4.77 [[ 9.64772971e-01 -2.62799388e-01 -1.22309933e-02 1.89338818e+02] [ 2.62783673e-01 9.64850409e-01 -2.90345563e-03 1.71132731e+01] [ 1.25641052e-02 -4.12929824e-04 9.99920983e-01 -4.77029756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78719347 meters 0.06372908727336837 Centerline is valid? [True, True] Translation: X:189.39, Y:17.15, Z:-4.77 [[ 9.66680705e-01 -2.55755303e-01 -1.08461344e-02 1.89391498e+02] [ 2.55742489e-01 9.66741509e-01 -2.57581255e-03 1.71463368e+01] [ 1.11441861e-02 -2.83829128e-04 9.99937861e-01 -4.77204230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84719347 meters 0.06222233344402348 Centerline is valid? [True, True] Translation: X:189.45, Y:17.17, Z:-4.77 [[ 9.67198429e-01 -2.53845781e-01 -9.46141138e-03 1.89446137e+02] [ 2.53835917e-01 9.67244679e-01 -2.24915070e-03 1.71715546e+01] [ 9.72243722e-03 -2.26271009e-04 9.99952710e-01 -4.76934822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90719347 meters 0.06311955718412748 Centerline is valid? [True, True] Translation: X:189.50, Y:17.19, Z:-4.77 [[ 9.66516703e-01 -2.56446406e-01 -8.98356462e-03 1.89501588e+02] [ 2.56437547e-01 9.66558424e-01 -2.14412311e-03 1.71935116e+01] [ 9.23299272e-03 -2.31392481e-04 9.99957348e-01 -4.77209028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96719347 meters 0.063811866797229 Centerline is valid? [True, True] Translation: X:189.56, Y:17.21, Z:-4.77 [[ 9.65875100e-01 -2.58900576e-01 -7.46887175e-03 1.89556873e+02] [ 2.58894486e-01 9.65903954e-01 -1.78773061e-03 1.72132596e+01] [ 7.67705724e-03 -2.06925235e-04 9.99970510e-01 -4.77279668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02719347000001 meters 0.06320371572384066 Centerline is valid? [True, True] Translation: X:189.61, Y:17.24, Z:-4.78 [[ 9.66747611e-01 -2.55627269e-01 -7.33183911e-03 1.89610926e+02] [ 2.55621350e-01 9.66775396e-01 -1.74915259e-03 1.72399238e+01] [ 7.53537276e-03 -1.83185523e-04 9.99971592e-01 -4.77572554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08719347000002 meters 0.061510242743075656 Centerline is valid? [True, True] Translation: X:189.67, Y:17.27, Z:-4.78 [[ 9.68318322e-01 -2.49586370e-01 -8.14072924e-03 1.89665087e+02] [ 2.49578855e-01 9.68352529e-01 -1.94268692e-03 1.72669720e+01] [ 8.36796393e-03 -1.50614545e-04 9.99964977e-01 -4.77723000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14719347000002 meters 0.061182329579611686 Centerline is valid? [True, True] Translation: X:189.72, Y:17.29, Z:-4.78 [[ 9.69802476e-01 -2.43502396e-01 -1.37746068e-02 1.89719651e+02] [ 2.43480293e-01 9.69900281e-01 -3.28514342e-03 1.72938790e+01] [ 1.41599353e-02 -1.67905062e-04 9.99899729e-01 -4.78391665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20719347000002 meters 0.06300390448944787 Centerline is valid? [True, True] Translation: X:189.78, Y:17.30, Z:-4.79 [[ 9.68197868e-01 -2.49731395e-01 -1.50704312e-02 1.89777408e+02] [ 2.49705646e-01 9.68315110e-01 -3.59705577e-03 1.73015298e+01] [ 1.54912240e-02 -2.80510044e-04 9.99879964e-01 -4.78844161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26719347000002 meters 0.06434519765300412 Centerline is valid? [True, True] Translation: X:189.84, Y:17.31, Z:-4.79 [[ 9.66631144e-01 -2.55884850e-01 -1.21315443e-02 1.89835805e+02] [ 2.55868535e-01 9.66707223e-01 -2.90469065e-03 1.73092941e+01] [ 1.24709179e-02 -2.96316032e-04 9.99922191e-01 -4.78774305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32719347000003 meters 0.06449419856664435 Centerline is valid? [True, True] Translation: X:189.89, Y:17.32, Z:-4.79 [[ 9.66095763e-01 -2.57872079e-01 -1.26872938e-02 1.89893555e+02] [ 2.57854354e-01 9.66179010e-01 -3.04169765e-03 1.73223851e+01] [ 1.30425659e-02 -3.32902735e-04 9.99914887e-01 -4.78772058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38719347000003 meters 0.0644187339356298 Centerline is valid? [True, True] Translation: X:189.95, Y:17.34, Z:-4.79 [[ 9.66207378e-01 -2.57468379e-01 -1.23829515e-02 1.89950847e+02] [ 2.57451411e-01 9.66286673e-01 -2.97268791e-03 1.73371137e+01] [ 1.27308541e-02 -3.15775336e-04 9.99918910e-01 -4.78903464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44719347000003 meters 0.0634632319660982 Centerline is valid? [True, True] Translation: X:190.01, Y:17.36, Z:-4.79 [[ 9.67219002e-01 -2.53674987e-01 -1.16791396e-02 1.90006543e+02] [ 2.53659663e-01 9.67289479e-01 -2.79985487e-03 1.73557599e+01] [ 1.20073620e-02 -2.54453785e-04 9.99927877e-01 -4.78945062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50719347000003 meters 0.06175535585837946 Centerline is valid? [True, True] Translation: X:190.06, Y:17.38, Z:-4.79 [[ 9.67872023e-01 -2.51148746e-01 -1.21677492e-02 1.90061394e+02] [ 2.51131789e-01 9.67948479e-01 -2.92692498e-03 1.73804928e+01] [ 1.25128479e-02 -2.22819815e-04 9.99921686e-01 -4.78715075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56719347 meters 0.06314756999597708 Centerline is valid? [True, True] Translation: X:190.12, Y:17.39, Z:-4.80 [[ 9.68026589e-01 -2.50537198e-01 -1.24754076e-02 1.90116688e+02] [ 2.50519350e-01 9.68106948e-01 -2.99873334e-03 1.73947538e+01] [ 1.28288230e-02 -2.22477392e-04 9.99917683e-01 -4.79652051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62719347 meters 0.062351801679849383 Centerline is valid? [True, True] Translation: X:190.17, Y:17.41, Z:-4.79 [[ 9.66875036e-01 -2.55101865e-01 -8.70077398e-03 1.90174802e+02] [ 2.55093296e-01 9.66914165e-01 -2.09940087e-03 1.74070091e+01] [ 8.94846269e-03 -1.89650820e-04 9.99959944e-01 -4.78881600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68719347 meters 0.06361975368636816 Centerline is valid? [True, True] Translation: X:190.23, Y:17.42, Z:-4.79 [[ 9.65830540e-01 -2.58968841e-01 -1.03202037e-02 1.90233433e+02] [ 2.58957080e-01 9.65885637e-01 -2.48330032e-03 1.74168331e+01] [ 1.06112339e-02 -2.74042507e-04 9.99943662e-01 -4.79188565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74719347 meters 0.06489146632894623 Centerline is valid? [True, True] Translation: X:190.29, Y:17.43, Z:-4.80 [[ 9.64840752e-01 -2.62468591e-01 -1.38766575e-02 1.90292102e+02] [ 2.62447702e-01 9.64940444e-01 -3.33802429e-03 1.74291047e+01] [ 1.42662746e-02 -4.21234999e-04 9.99898143e-01 -4.79555442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80719347000002 meters 0.06491498370365106 Centerline is valid? [True, True] Translation: X:190.35, Y:17.44, Z:-4.80 [[ 9.65195108e-01 -2.61237183e-01 -1.23909867e-02 1.90348707e+02] [ 2.61220381e-01 9.65274576e-01 -2.98422774e-03 1.74399075e+01] [ 1.27402957e-02 -3.56416259e-04 9.99918776e-01 -4.79603674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86719347000002 meters 0.06283415980551323 Centerline is valid? [True, True] Translation: X:190.41, Y:17.46, Z:-4.79 [[ 9.66712876e-01 -2.55681905e-01 -9.64255227e-03 1.90406002e+02] [ 2.55671459e-01 9.66760940e-01 -2.32173436e-03 1.74567557e+01] [ 9.91566835e-03 -2.20874911e-04 9.99950814e-01 -4.79207020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92719347000002 meters 0.06282177546528345 Centerline is valid? [True, True] Translation: X:190.46, Y:17.47, Z:-4.80 [[ 9.67498428e-01 -2.52694832e-01 -9.59759780e-03 1.90461846e+02] [ 2.52684290e-01 9.67546013e-01 -2.31556797e-03 1.74728404e+01] [ 9.87124954e-03 -1.84853813e-04 9.99951261e-01 -4.79691446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98719347000002 meters 0.06218529294416414 Centerline is valid? [True, True] Translation: X:190.52, Y:17.49, Z:-4.80 [[ 9.68171796e-01 -2.50091597e-01 -9.87762247e-03 1.90518311e+02] [ 2.50080234e-01 9.68222169e-01 -2.38917218e-03 1.74919070e+01] [ 1.01612449e-02 -1.57069020e-04 9.99948361e-01 -4.79720060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04719347000002 meters 0.06295043329962435 Centerline is valid? [True, True] Translation: X:190.58, Y:17.50, Z:-4.80 [[ 9.67912130e-01 -2.50825748e-01 -1.52496607e-02 1.90578544e+02] [ 2.50798923e-01 9.68032217e-01 -3.67782630e-03 1.74996766e+01] [ 1.56846563e-02 -2.64785780e-04 9.99876953e-01 -4.80266088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10719347000003 meters 0.06371095814545802 Centerline is valid? [True, True] Translation: X:190.64, Y:17.51, Z:-4.81 [[ 9.67147574e-01 -2.53546883e-01 -1.84268219e-02 1.90636392e+02] [ 2.53508131e-01 9.67323029e-01 -4.44812909e-03 1.75125708e+01] [ 1.89524984e-02 -3.69351912e-04 9.99820317e-01 -4.80586589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16719347000003 meters 0.06320270772695703 Centerline is valid? [True, True] Translation: X:190.69, Y:17.53, Z:-4.81 [[ 9.68326813e-01 -2.49084818e-01 -1.73186501e-02 1.90690908e+02] [ 2.49049828e-01 9.68481639e-01 -4.18315575e-03 1.75333690e+01] [ 1.78147552e-02 -2.62544942e-04 9.99841270e-01 -4.80706050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22719347000003 meters 0.0611597557095119 Centerline is valid? [True, True] Translation: X:190.75, Y:17.56, Z:-4.80 [[ 9.71070749e-01 -2.38352033e-01 -1.44882694e-02 1.90745821e+02] [ 2.38326355e-01 9.71178823e-01 -3.49901459e-03 1.75600905e+01] [ 1.49046976e-02 -5.51457098e-05 9.99888917e-01 -4.80195798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28719347 meters 0.061066709416764 Centerline is valid? [True, True] Translation: X:190.80, Y:17.58, Z:-4.80 [[ 9.72266747e-01 -2.33452861e-01 -1.40404272e-02 1.90800274e+02] [ 2.33428186e-01 9.72368120e-01 -3.39419782e-03 1.75796265e+01] [ 1.44448489e-02 2.26342298e-05 9.99895667e-01 -4.80403230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34719347 meters 0.06185767332560074 Centerline is valid? [True, True] Translation: X:190.86, Y:17.59, Z:-4.81 [[ 9.72580211e-01 -2.31812520e-01 -1.87267084e-02 1.90858950e+02] [ 2.31768373e-01 9.72760480e-01 -4.52430740e-03 1.75924100e+01] [ 1.92653930e-02 5.99931045e-05 9.99814403e-01 -4.81117610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40719347 meters 0.06209648041925208 Centerline is valid? [True, True] Translation: X:190.92, Y:17.60, Z:-4.81 [[ 9.71307683e-01 -2.37058464e-01 -1.90963420e-02 1.90918211e+02] [ 2.37013310e-01 9.71495385e-01 -4.62678251e-03 1.75973625e+01] [ 1.96488261e-02 -3.20578361e-05 9.99806943e-01 -4.81412666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46719347 meters 0.062132192100690015 Centerline is valid? [True, True] Translation: X:190.98, Y:17.59, Z:-4.81 [[ 9.68775528e-01 -2.47439738e-01 -1.57337764e-02 1.90979585e+02] [ 2.47410344e-01 9.68903266e-01 -3.81875923e-03 1.75939113e+01] [ 1.61894201e-02 -1.93178537e-04 9.99868924e-01 -4.80878098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52719347000001 meters 0.06277592619835919 Centerline is valid? [True, True] Translation: X:191.04, Y:17.60, Z:-4.81 [[ 9.68016524e-01 -2.50309921e-01 -1.69986010e-02 1.91038772e+02] [ 2.50275969e-01 9.68165729e-01 -4.13050770e-03 1.76008710e+01] [ 1.74913700e-02 -2.55941641e-04 9.99846982e-01 -4.81135971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58719347000002 meters 0.0628918689443581 Centerline is valid? [True, True] Translation: X:191.10, Y:17.61, Z:-4.81 [[ 9.67425504e-01 -2.52748509e-01 -1.43556647e-02 1.91096982e+02] [ 2.52724477e-01 9.67531979e-01 -3.49410490e-03 1.76100431e+01] [ 1.47726945e-02 -2.47741663e-04 9.99890847e-01 -4.81036855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64719347000002 meters 0.06361262094653362 Centerline is valid? [True, True] Translation: X:191.15, Y:17.62, Z:-4.81 [[ 9.67056793e-01 -2.54085384e-01 -1.55492002e-02 1.91154283e+02] [ 2.54057424e-01 9.67181747e-01 -3.78077205e-03 1.76194049e+01] [ 1.59995415e-02 -2.94168449e-04 9.99871956e-01 -4.81404820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70719347000002 meters 0.06377402181262584 Centerline is valid? [True, True] Translation: X:191.21, Y:17.64, Z:-4.82 [[ 9.66374858e-01 -2.56496456e-01 -1.81439253e-02 1.91211341e+02] [ 2.56458812e-01 9.66545093e-01 -4.41154268e-03 1.76359894e+01] [ 1.86684670e-02 -3.89965586e-04 9.99825653e-01 -4.81623809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76719347000002 meters 0.06346110334352635 Centerline is valid? [True, True] Translation: X:191.27, Y:17.65, Z:-4.82 [[ 9.66425285e-01 -2.56276831e-01 -1.85568069e-02 1.91267762e+02] [ 2.56237144e-01 9.66603352e-01 -4.52609414e-03 1.76498673e+01] [ 1.90970048e-02 -3.80811375e-04 9.99817563e-01 -4.81666288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82719347000003 meters 0.0618785128193015 Centerline is valid? [True, True] Translation: X:191.32, Y:17.67, Z:-4.82 [[ 9.67387437e-01 -2.52424369e-01 -2.10590596e-02 1.91323549e+02] [ 2.52372228e-01 9.67616568e-01 -5.14165360e-03 1.76692321e+01] [ 2.16749736e-02 -3.40750676e-04 9.99765012e-01 -4.81651070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88719347000003 meters 0.06172453037348459 Centerline is valid? [True, True] Translation: X:191.38, Y:17.69, Z:-4.82 [[ 9.68458837e-01 -2.47982194e-01 -2.43374601e-02 1.91379184e+02] [ 2.47910981e-01 9.68764552e-01 -5.94880121e-03 1.76895787e+01] [ 2.50524654e-02 -2.72354494e-04 9.99686101e-01 -4.82199626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94719347000003 meters 0.06104103877014333 Centerline is valid? [True, True] Translation: X:191.44, Y:17.70, Z:-4.82 [[ 9.69814640e-01 -2.42838172e-01 -2.21175569e-02 1.91436035e+02] [ 2.42778109e-01 9.70066805e-01 -5.40226701e-03 1.77045983e+01] [ 2.27673844e-02 -1.30460993e-04 9.99740781e-01 -4.82445311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00719347000003 meters 0.06102943949948652 Centerline is valid? [True, True] Translation: X:191.50, Y:17.71, Z:-4.82 [[ 9.69093351e-01 -2.45498649e-01 -2.42588154e-02 1.91495226e+02] [ 2.45427215e-01 9.69396910e-01 -5.92566872e-03 1.77144900e+01] [ 2.49711644e-02 -2.11247347e-04 9.99688150e-01 -4.82461163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06719347 meters 0.06372058094632854 Centerline is valid? [True, True] Translation: X:191.56, Y:17.71, Z:-4.83 [[ 9.66188115e-01 -2.56646535e-01 -2.47605132e-02 1.91555171e+02] [ 2.56575680e-01 9.66505199e-01 -6.05150729e-03 1.77135688e+01] [ 2.54842631e-02 -5.06051095e-04 9.99675095e-01 -4.82948417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12719347 meters 0.0653920969675086 Centerline is valid? [True, True] Translation: X:191.61, Y:17.72, Z:-4.83 [[ 9.64466300e-01 -2.63072650e-01 -2.44445518e-02 1.91614972e+02] [ 2.63005650e-01 9.64775796e-01 -5.97430208e-03 1.77199762e+01] [ 2.51551874e-02 -6.67042225e-04 9.99683336e-01 -4.82787839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18719347 meters 0.06477345099381075 Centerline is valid? [True, True] Translation: X:191.67, Y:17.73, Z:-4.82 [[ 9.63511589e-01 -2.66795074e-01 -2.15825428e-02 1.91672484e+02] [ 2.66743471e-01 9.63753055e-01 -5.28861568e-03 1.77348633e+01] [ 2.22112182e-02 -6.61359890e-04 9.99753082e-01 -4.82147439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24719347 meters 0.06408706626974903 Centerline is valid? [True, True] Translation: X:191.73, Y:17.75, Z:-4.82 [[ 9.63241508e-01 -2.67811359e-01 -2.10445732e-02 1.91727612e+02] [ 2.67762327e-01 9.63471143e-01 -5.16654973e-03 1.77534997e+01] [ 2.16594997e-02 -6.58308753e-04 9.99765189e-01 -4.81991280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30719347000002 meters 0.06326980787685607 Centerline is valid? [True, True] Translation: X:191.78, Y:17.77, Z:-4.82 [[ 9.63312366e-01 -2.67635544e-01 -2.00125223e-02 1.91783266e+02] [ 2.67591036e-01 9.63520024e-01 -4.91949514e-03 1.77719901e+01] [ 2.05990978e-02 -6.16161081e-04 9.99787626e-01 -4.81962431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36719347000002 meters 0.06220402970864168 Centerline is valid? [True, True] Translation: X:191.84, Y:17.80, Z:-4.82 [[ 9.64769483e-01 -2.62240781e-01 -2.12041701e-02 1.91837724e+02] [ 2.62189603e-01 9.65002325e-01 -5.20819423e-03 1.77968168e+01] [ 2.18278743e-02 -5.34806079e-04 9.99761601e-01 -4.82349722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42719347000002 meters 0.06113427462005342 Centerline is valid? [True, True] Translation: X:191.89, Y:17.82, Z:-4.83 [[ 9.66654091e-01 -2.55051530e-01 -2.29909800e-02 1.91890731e+02] [ 2.54989192e-01 9.66927380e-01 -5.65272517e-03 1.78237690e+01] [ 2.36723443e-02 -3.98221501e-04 9.99719691e-01 -4.82923701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48719347000002 meters 0.06013406110069208 Centerline is valid? [True, True] Translation: X:191.94, Y:17.86, Z:-4.83 [[ 9.70161682e-01 -2.41619907e-01 -2.01527189e-02 1.91942830e+02] [ 2.41569138e-01 9.70370969e-01 -4.95328225e-03 1.78575961e+01] [ 2.07524250e-02 -6.27903029e-05 9.99784643e-01 -4.83452264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54719347000002 meters 0.06184076188905625 Centerline is valid? [True, True] Translation: X:192.00, Y:17.89, Z:-4.84 [[ 9.73492665e-01 -2.28314155e-01 -1.35896295e-02 1.91997439e+02] [ 2.28289768e-01 9.73587502e-01 -3.34030399e-03 1.78871890e+01] [ 1.39933322e-02 1.49388055e-04 9.99902077e-01 -4.83732441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60719347000003 meters 0.0633673588614057 Centerline is valid? [True, True] Translation: X:192.06, Y:17.90, Z:-4.84 [[ 9.73983175e-01 -2.26593450e-01 -3.49056029e-03 1.92055463e+02] [ 2.26591829e-01 9.73989428e-01 -8.58288566e-04 1.79037541e+01] [ 3.59425139e-03 4.50261796e-05 9.99993540e-01 -4.83753096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66719347000003 meters 0.06490396398460889 Centerline is valid? [True, True] Translation: X:192.12, Y:17.90, Z:-4.84 [[ 9.71377546e-01 -2.37394828e-01 8.32824326e-03 1.92116880e+02] [ 2.37386006e-01 9.71413247e-01 2.04660375e-03 1.79044295e+01] [-8.57601896e-03 -1.10165239e-05 9.99963225e-01 -4.83697413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72719347000003 meters 0.06730189801669481 Centerline is valid? [True, True] Translation: X:192.18, Y:17.90, Z:-4.84 [[ 9.68470361e-01 -2.48944989e-01 9.56829206e-03 1.92178399e+02] [ 2.48933945e-01 9.68517620e-01 2.34740863e-03 1.79013803e+01] [-9.85143508e-03 1.08477003e-04 9.99951468e-01 -4.84246579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78719347000003 meters 0.08471354229831247 Centerline is valid? [True, True] Translation: X:192.24, Y:17.89, Z:-4.84 [[ 9.63033342e-01 -2.69017778e-01 1.40077450e-02 1.92242767e+02] [ 2.68996063e-01 9.63135107e-01 3.44725668e-03 1.78928087e+01] [-1.44187243e-02 4.48205152e-04 9.99895944e-01 -4.84460714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84719347 meters 0.09379152601809275 Centerline is valid? [True, True] Translation: X:192.30, Y:17.90, Z:-4.84 [[ 9.60702054e-01 -2.77061454e-01 1.69857367e-02 1.92303090e+02] [ 2.77030770e-01 9.60851953e-01 4.18053037e-03 1.79006711e+01] [-1.74790421e-02 6.89327602e-04 9.99846992e-01 -4.84228481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90719347 meters 0.10137397870412948 Centerline is valid? [True, False] Translation: X:192.29, Y:17.89, Z:-4.84 [[ 9.62220992e-01 -2.71275098e-01 2.32504694e-02 1.92288563e+02] [ 2.71250723e-01 9.62499315e-01 4.25611177e-03 1.78940587e+01] [-2.35331380e-02 2.21138652e-03 9.99720612e-01 -4.84054556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96719347 meters 0.1116319113336334 Centerline is valid? [False, False] Translation: X:192.28, Y:17.90, Z:-4.84 [[ 9.63610472e-01 -2.65859806e-01 2.78104633e-02 1.92277791e+02] [ 2.65777696e-01 9.64011227e-01 6.67616270e-03 1.78951518e+01] [-2.85845221e-02 9.58180557e-04 9.99590920e-01 -4.83988748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02719347000001 meters 0.11841464910456588 Centerline is valid? [False, False] Translation: X:192.28, Y:17.90, Z:-4.84 [[ 9.66072741e-01 -2.56717657e-01 2.82754830e-02 1.92275492e+02] [ 2.56756428e-01 9.66473377e-01 2.31275281e-03 1.79026353e+01] [-2.79212260e-02 5.02562458e-03 9.99597493e-01 -4.84121180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08719347000002 meters 0.12010551267021387 Centerline is valid? [False, False] Translation: X:192.27, Y:17.91, Z:-4.84 [[ 9.69569300e-01 -2.42913170e-01 3.04723605e-02 1.92265615e+02] [ 2.43159528e-01 9.69975397e-01 -4.60136364e-03 1.79050213e+01] [-2.84397081e-02 1.18709857e-02 9.99525019e-01 -4.84331410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14719347000002 meters 0.11864287033743545 Centerline is valid? [False, False] Translation: X:192.27, Y:17.91, Z:-4.84 [[ 9.72684435e-01 -2.30226429e-01 2.96779650e-02 1.92265457e+02] [ 2.30566016e-01 9.73019276e-01 -8.53229759e-03 1.79103706e+01] [-2.69128717e-02 1.51419632e-02 9.99523095e-01 -4.84476561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20719347000002 meters 0.11587997550642128 Centerline is valid? [False, False] Translation: X:192.26, Y:17.92, Z:-4.85 [[ 9.73249185e-01 -2.27896792e-01 2.91389100e-02 1.92264652e+02] [ 2.28192751e-01 9.73589159e-01 -7.22618645e-03 1.79178251e+01] [-2.67225022e-02 1.36821681e-02 9.99549251e-01 -4.84534110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26719347000002 meters 0.11713330839239978 Centerline is valid? [False, False] Translation: X:192.27, Y:17.92, Z:-4.84 [[ 9.74037714e-01 -2.24869540e-01 2.61576285e-02 1.92268222e+02] [ 2.25173401e-01 9.74274518e-01 -9.27920552e-03 1.79247492e+01] [-2.33981002e-02 1.49282983e-02 9.99614763e-01 -4.84335609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32719347000003 meters 0.11088584114657225 Centerline is valid? [False, False] Translation: X:192.26, Y:17.93, Z:-4.84 [[ 9.74138409e-01 -2.24326638e-01 2.70540232e-02 1.92264484e+02] [ 2.24659748e-01 9.74386611e-01 -9.93627440e-03 1.79345241e+01] [-2.41321070e-02 1.57572566e-02 9.99584589e-01 -4.84274878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38719347000003 meters 0.10804086244912463 Centerline is valid? [False, False] Translation: X:192.26, Y:17.95, Z:-4.84 [[ 9.74113534e-01 -2.24350602e-01 2.77422292e-02 1.92259107e+02] [ 2.24735415e-01 9.74350863e-01 -1.15926699e-02 1.79472960e+01] [-2.44298424e-02 1.75272381e-02 9.99547887e-01 -4.83972906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44719347000003 meters 0.10596181416092965 Centerline is valid? [False, False] Translation: X:192.26, Y:17.96, Z:-4.84 [[ 9.75424779e-01 -2.18636705e-01 2.72853753e-02 1.92260555e+02] [ 2.19165016e-01 9.75519374e-01 -1.81286164e-02 1.79593321e+01] [-2.26538313e-02 2.36631014e-02 9.99463287e-01 -4.83806595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50719347000003 meters 0.0982352305551728 Centerline is valid? [False, True] Translation: X:192.26, Y:17.98, Z:-4.84 [[ 9.77486505e-01 -2.09409023e-01 2.58455666e-02 1.92259814e+02] [ 2.09900389e-01 9.77556814e-01 -1.80139631e-02 1.79776477e+01] [-2.14932233e-02 2.30334003e-02 9.99503629e-01 -4.84294097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56719347 meters 0.09274386035508475 Centerline is valid? [True, True] Translation: X:192.32, Y:17.99, Z:-4.85 [[ 9.78677690e-01 -2.03497713e-01 2.79044705e-02 1.92316524e+02] [ 2.03457864e-01 9.79074304e-01 4.28996802e-03 1.79939645e+01] [-2.81935487e-02 1.47888797e-03 9.99601389e-01 -4.85163614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62719347 meters 0.08335442651456694 Centerline is valid? [True, True] Translation: X:192.37, Y:18.03, Z:-4.85 [[ 9.80277844e-01 -1.95048551e-01 3.18026862e-02 1.92372330e+02] [ 1.94992285e-01 9.80792580e-01 4.89125977e-03 1.80309357e+01] [-3.21458718e-02 1.40648487e-03 9.99482198e-01 -4.85159835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68719347 meters 0.0830744703772375 Centerline is valid? [True, True] Translation: X:192.43, Y:18.05, Z:-4.86 [[ 9.81065244e-01 -1.91500402e-01 2.89582933e-02 1.92428257e+02] [ 1.91452824e-01 9.81491807e-01 4.43273871e-03 1.80503446e+01] [-2.92711988e-02 1.19534114e-03 9.99570792e-01 -4.85924350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74719347 meters 0.07774236838516405 Centerline is valid? [True, True] Translation: X:192.49, Y:18.07, Z:-4.86 [[ 9.81323427e-01 -1.89265125e-01 3.43954163e-02 1.92485536e+02] [ 1.89195448e-01 9.81925152e-01 5.29899876e-03 1.80713987e+01] [-3.47766400e-02 1.30742456e-03 9.99394255e-01 -4.86327520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80719347000002 meters 0.07574625176702163 Centerline is valid? [True, True] Translation: X:192.54, Y:18.09, Z:-4.87 [[ 9.81450314e-01 -1.88637086e-01 3.42247021e-02 1.92542771e+02] [ 1.88568313e-01 9.82046013e-01 5.25550660e-03 1.80854164e+01] [-3.46016157e-02 1.29567574e-03 9.99400345e-01 -4.86681093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86719347000002 meters 0.07030946539340267 Centerline is valid? [True, True] Translation: X:192.60, Y:18.11, Z:-4.87 [[ 9.83626897e-01 -1.76034164e-01 3.86018281e-02 1.92600019e+02] [ 1.75935626e-01 9.84383621e-01 5.96171635e-03 1.81058964e+01] [-3.90484730e-02 9.27332250e-04 9.99236887e-01 -4.87185357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92719347000002 meters 0.06794750046400184 Centerline is valid? [True, True] Translation: X:192.66, Y:18.13, Z:-4.88 [[ 9.85791513e-01 -1.63267053e-01 3.94837070e-02 1.92657573e+02] [ 1.63153538e-01 9.86581820e-01 6.10208679e-03 1.81307880e+01] [-3.99501772e-02 4.26521139e-04 9.99201582e-01 -4.87503821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98719347000002 meters 0.06593365392630755 Centerline is valid? [True, True] Translation: X:192.72, Y:18.15, Z:-4.88 [[ 9.87790672e-01 -1.49264091e-01 4.46073999e-02 1.92715399e+02] [ 1.49104998e-01 9.88797354e-01 6.89149907e-03 1.81519187e+01] [-4.51363323e-02 -1.56172214e-04 9.98980824e-01 -4.87894568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04719347000002 meters 0.06673163692308785 Centerline is valid? [True, True] Translation: X:192.78, Y:18.16, Z:-4.89 [[ 9.88313118e-01 -1.45471967e-01 4.55531314e-02 1.92776490e+02] [ 1.45301814e-01 9.89362315e-01 7.04217549e-03 1.81557627e+01] [-4.60929906e-02 -3.40921795e-04 9.98937095e-01 -4.88932211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10719347000003 meters 0.06723568476781666 Centerline is valid? [True, True] Translation: X:192.84, Y:18.15, Z:-4.90 [[ 9.88729430e-01 -1.42781415e-01 4.50286827e-02 1.92838711e+02] [ 1.42612557e-01 9.89754141e-01 6.95699464e-03 1.81546583e+01] [-4.55606547e-02 -4.56929747e-04 9.98961470e-01 -4.89856436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16719347000003 meters 0.06756548695402088 Centerline is valid? [True, True] Translation: X:192.90, Y:18.16, Z:-4.91 [[ 9.88845613e-01 -1.42211288e-01 4.42753161e-02 1.92900321e+02] [ 1.42047638e-01 9.89836212e-01 6.83675785e-03 1.81592165e+01] [-4.47975754e-02 -4.71293934e-04 9.98995974e-01 -4.90612170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22719347000003 meters 0.0681983846809555 Centerline is valid? [True, True] Translation: X:192.96, Y:18.16, Z:-4.92 [[ 9.89145145e-01 -1.40936066e-01 4.15801366e-02 1.92962159e+02] [ 1.40790859e-01 9.90018578e-01 6.41482361e-03 1.81556942e+01] [-4.20691877e-02 -4.91088491e-04 9.99114579e-01 -4.91639496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28719347000003 meters 0.06770804071243777 Centerline is valid? [True, True] Translation: X:193.03, Y:18.14, Z:-4.92 [[ 9.89181149e-01 -1.41027056e-01 4.03983172e-02 1.93026131e+02] [ 1.40890130e-01 9.90005630e-01 6.23091287e-03 1.81429966e+01] [-4.08732887e-02 -4.71777382e-04 9.99164227e-01 -4.92108184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34719347 meters 0.06513200539557525 Centerline is valid? [True, True] Translation: X:193.09, Y:18.12, Z:-4.92 [[ 9.88037385e-01 -1.46375167e-01 4.85431406e-02 1.93091084e+02] [ 1.46184167e-01 9.89229106e-01 7.48104134e-03 1.81217819e+01] [-4.91153263e-02 -2.95309918e-04 9.98793070e-01 -4.91947755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40719347 meters 0.06527271266821344 Centerline is valid? [True, True] Translation: X:193.15, Y:18.11, Z:-4.93 [[ 9.87079055e-01 -1.52565624e-01 4.89762113e-02 1.93150445e+02] [ 1.52379011e-01 9.88293342e-01 7.54365963e-03 1.81104494e+01] [-4.95537667e-02 1.67582229e-05 9.98771457e-01 -4.92826329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46719347 meters 0.06614224823736019 Centerline is valid? [True, True] Translation: X:193.21, Y:18.08, Z:-4.93 [[ 9.84624703e-01 -1.66364249e-01 5.32647316e-02 1.93213534e+02] [ 1.66163186e-01 9.86064071e-01 8.21238981e-03 1.80816348e+01] [-5.38886861e-02 7.64515619e-04 9.98546656e-01 -4.93290606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52719347000001 meters 0.06698854344955817 Centerline is valid? [True, True] Translation: X:193.28, Y:18.07, Z:-4.93 [[ 9.82901151e-01 -1.75453680e-01 5.58689022e-02 1.93275487e+02] [ 1.75247353e-01 9.84486791e-01 8.60954431e-03 1.80695811e+01] [-5.65127724e-02 1.32854620e-03 9.98400992e-01 -4.93417028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58719347000002 meters 0.07135627134761477 Centerline is valid? [True, True] Translation: X:193.34, Y:18.06, Z:-4.95 [[ 9.81671783e-01 -1.82761482e-01 5.40254682e-02 1.93336161e+02] [ 1.82578087e-01 9.83155873e-01 8.35288614e-03 1.80561347e+01] [-5.46420422e-02 1.66407401e-03 9.98504621e-01 -4.94666095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64719347000002 meters 0.07127657459109667 Centerline is valid? [True, True] Translation: X:193.40, Y:18.06, Z:-4.95 [[ 9.80787634e-01 -1.85657050e-01 5.98922161e-02 1.93396697e+02] [ 1.85436842e-01 9.82612525e-01 9.26299504e-03 1.80562885e+01] [-6.05705820e-02 2.02119246e-03 9.98161870e-01 -4.94850685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70719347000002 meters 0.0690076206705385 Centerline is valid? [True, True] Translation: X:193.46, Y:18.06, Z:-4.95 [[ 9.80367328e-01 -1.87251691e-01 6.17795044e-02 1.93455429e+02] [ 1.87021008e-01 9.82309519e-01 9.54737649e-03 1.80643720e+01] [-6.24743576e-02 2.19412921e-03 9.98044158e-01 -4.94714140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76719347000002 meters 0.0666239093226882 Centerline is valid? [True, True] Translation: X:193.51, Y:18.08, Z:-4.95 [[ 9.81284360e-01 -1.80639762e-01 6.67104337e-02 1.93513798e+02] [ 1.80353225e-01 9.83547525e-01 1.03430851e-02 1.80826072e+01] [-6.74812545e-02 1.88193426e-03 9.97718767e-01 -4.95304578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82719347000003 meters 0.06492397272524077 Centerline is valid? [True, True] Translation: X:193.57, Y:18.10, Z:-4.96 [[ 9.82355867e-01 -1.74647933e-01 6.68958211e-02 1.93570641e+02] [ 1.74346090e-01 9.84629839e-01 1.03692853e-02 1.81032598e+01] [-6.76785957e-02 1.47669660e-03 9.97706082e-01 -4.96074696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88719347000003 meters 0.06462391053146521 Centerline is valid? [True, True] Translation: X:193.63, Y:18.12, Z:-4.97 [[ 9.82392475e-01 -1.73706339e-01 6.87832261e-02 1.93627937e+02] [ 1.73385255e-01 9.84796418e-01 1.06568275e-02 1.81166277e+01] [-6.95886332e-02 1.45681004e-03 9.97574709e-01 -4.96594741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94719347000003 meters 0.06468658091194762 Centerline is valid? [True, True] Translation: X:193.69, Y:18.13, Z:-4.97 [[ 9.82044450e-01 -1.73590438e-01 7.38583694e-02 1.93685551e+02] [ 1.73217428e-01 9.84816753e-01 1.14754386e-02 1.81261640e+01] [-7.47289859e-02 1.52416599e-03 9.97202715e-01 -4.97085618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00719347000003 meters 0.06368314226381207 Centerline is valid? [True, True] Translation: X:193.74, Y:18.14, Z:-4.98 [[ 9.82529436e-01 -1.70400351e-01 7.48306567e-02 1.93742866e+02] [ 1.70008256e-01 9.85374057e-01 1.16258418e-02 1.81424560e+01] [-7.57172353e-02 1.29909766e-03 9.97128484e-01 -4.97632247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06719347 meters 0.06299851094440305 Centerline is valid? [True, True] Translation: X:193.80, Y:18.16, Z:-4.98 [[ 9.83572740e-01 -1.64365543e-01 7.46232772e-02 1.93798918e+02] [ 1.63956590e-01 9.86399165e-01 1.16157062e-02 1.81594231e+01] [-7.55175602e-02 8.10086105e-04 9.97144143e-01 -4.98455875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12719347 meters 0.06258354236321557 Centerline is valid? [True, True] Translation: X:193.86, Y:18.17, Z:-4.99 [[ 9.83965032e-01 -1.60706597e-01 7.73705730e-02 1.93856356e+02] [ 1.60253545e-01 9.87002086e-01 1.20699781e-02 1.81738509e+01] [-7.83046420e-02 5.22472189e-04 9.96929341e-01 -4.98983419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18719347 meters 0.06289795169717653 Centerline is valid? [True, True] Translation: X:193.91, Y:18.18, Z:-5.00 [[ 9.84162971e-01 -1.59977651e-01 7.63570436e-02 1.93913649e+02] [ 1.59532533e-01 9.87120540e-01 1.19335845e-02 1.81837442e+01] [-7.72827130e-02 4.36840601e-04 9.97009123e-01 -4.99888139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24719347 meters 0.06376647989925825 Centerline is valid? [True, True] Translation: X:193.97, Y:18.19, Z:-5.01 [[ 9.83026730e-01 -1.66934922e-01 7.60998084e-02 1.93971010e+02] [ 1.66511546e-01 9.85967455e-01 1.19198691e-02 1.81850067e+01] [-7.70217768e-02 9.53946737e-04 9.97028954e-01 -5.00730719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30719347000002 meters 0.06578932211086252 Centerline is valid? [True, True] Translation: X:194.03, Y:18.18, Z:-5.01 [[ 9.81448809e-01 -1.76037841e-01 7.59533600e-02 1.94031227e+02] [ 1.75641919e-01 9.84382022e-01 1.19143337e-02 1.81827584e+01] [-7.68644956e-02 1.64728528e-03 9.97040188e-01 -5.01448643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36719347000002 meters 0.06906885632649978 Centerline is valid? [True, True] Translation: X:194.09, Y:18.18, Z:-5.02 [[ 9.79766151e-01 -1.86006583e-01 7.38907335e-02 1.94091856e+02] [ 1.85659833e-01 9.82545668e-01 1.15947140e-02 1.81796271e+01] [-7.47577132e-02 2.35843299e-03 9.97198938e-01 -5.02283212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42719347000002 meters 0.07166030233634006 Centerline is valid? [True, True] Translation: X:194.15, Y:18.18, Z:-5.03 [[ 9.78906348e-01 -1.90876231e-01 7.28603235e-02 1.94150154e+02] [ 1.90552557e-01 9.81610420e-01 1.14326943e-02 1.81846858e+01] [-7.37026823e-02 2.69218394e-03 9.97276625e-01 -5.03144692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48719347000002 meters 0.07016600103168134 Centerline is valid? [True, True] Translation: X:194.21, Y:18.20, Z:-5.04 [[ 9.80202629e-01 -1.84988130e-01 7.05846813e-02 1.94207638e+02] [ 1.84668920e-01 9.82738347e-01 1.10784407e-02 1.82000657e+01] [-7.14156530e-02 2.17568014e-03 9.97444270e-01 -5.04029370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54719347000002 meters 0.06592054156337535 Centerline is valid? [True, True] Translation: X:194.26, Y:18.23, Z:-5.04 [[ 9.82466058e-01 -1.71867406e-01 7.22636810e-02 1.94262826e+02] [ 1.71497072e-01 9.85119303e-01 1.13452085e-02 1.82293822e+01] [-7.31382186e-02 1.24672742e-03 9.97321035e-01 -5.04494350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60719347000003 meters 0.06411618107197228 Centerline is valid? [True, True] Translation: X:194.32, Y:18.25, Z:-5.05 [[ 9.83616771e-01 -1.64403166e-01 7.39570668e-02 1.94319475e+02] [ 1.63993991e-01 9.86392975e-01 1.16133426e-02 1.82513973e+01] [-7.48600015e-02 7.05435995e-04 9.97193804e-01 -5.04861987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66719347000003 meters 0.06359047521547087 Centerline is valid? [True, True] Translation: X:194.37, Y:18.27, Z:-5.05 [[ 9.84169521e-01 -1.60550170e-01 7.50599534e-02 1.94374887e+02] [ 1.60117363e-01 9.87027593e-01 1.17881641e-02 1.82676406e+01] [-7.59788369e-02 4.16849996e-04 9.97109343e-01 -5.05354374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72719347000003 meters 0.06423037370232891 Centerline is valid? [True, True] Translation: X:194.43, Y:18.27, Z:-5.06 [[ 9.83004863e-01 -1.65986696e-01 7.84210170e-02 1.94432457e+02] [ 1.65530822e-01 9.86127611e-01 1.23240154e-02 1.82703268e+01] [-7.93787527e-02 8.66528314e-04 9.96844152e-01 -5.05777197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78719347000003 meters 0.06409967118327234 Centerline is valid? [True, True] Translation: X:194.49, Y:18.28, Z:-5.06 [[ 9.82499130e-01 -1.69945734e-01 7.62489754e-02 1.94490150e+02] [ 1.69526580e-01 9.85452749e-01 1.19840800e-02 1.82839387e+01] [-7.71764057e-02 1.15187986e-03 9.97016788e-01 -5.05927396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84719347 meters 0.0651330460595753 Centerline is valid? [True, True] Translation: X:194.55, Y:18.29, Z:-5.07 [[ 9.82933779e-01 -1.70441790e-01 6.92154782e-02 1.94547917e+02] [ 1.70095787e-01 9.85367183e-01 1.09058317e-02 1.82901129e+01] [-7.00614703e-02 1.05355091e-03 9.97542120e-01 -5.07182788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90719347 meters 0.0649682776486919 Centerline is valid? [True, True] Translation: X:194.60, Y:18.30, Z:-5.08 [[ 9.83514118e-01 -1.68244559e-01 6.62853597e-02 1.94604247e+02] [ 1.67921866e-01 9.85744917e-01 1.04501661e-02 1.83044306e+01] [-6.70986399e-02 8.52875431e-04 9.97745982e-01 -5.08010553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96719347 meters 0.06559473576920201 Centerline is valid? [True, True] Translation: X:194.66, Y:18.32, Z:-5.09 [[ 9.83951641e-01 -1.66791160e-01 6.34025073e-02 1.94659683e+02] [ 1.66492530e-01 9.85991987e-01 1.00019612e-02 1.83154072e+01] [-6.41826028e-02 7.14597642e-04 9.97937915e-01 -5.09080127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02719347000001 meters 0.06554945399662378 Centerline is valid? [True, True] Translation: X:194.72, Y:18.32, Z:-5.09 [[ 9.83121147e-01 -1.70590183e-01 6.61195835e-02 1.94718485e+02] [ 1.70273734e-01 9.85341559e-01 1.04339409e-02 1.83194287e+01] [-6.69303014e-02 1.00060043e-03 9.97757152e-01 -5.09349956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08719347000002 meters 0.06694124221958694 Centerline is valid? [True, True] Translation: X:194.78, Y:18.32, Z:-5.10 [[ 9.82388682e-01 -1.75399220e-01 6.44017983e-02 1.94776424e+02] [ 1.75107421e-01 9.84496579e-01 1.01920085e-02 1.83217536e+01] [-6.51910205e-02 1.26471899e-03 9.97872001e-01 -5.10178657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14719347000002 meters 0.06857062027248385 Centerline is valid? [True, True] Translation: X:194.83, Y:18.32, Z:-5.11 [[ 9.81889529e-01 -1.79034073e-01 6.19657474e-02 1.94834327e+02] [ 1.78770823e-01 9.83841815e-01 9.81199769e-03 1.83233651e+01] [-6.27211753e-02 1.44336987e-03 9.98030045e-01 -5.11172317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20719347000002 meters 0.0681112619836419 Centerline is valid? [True, True] Translation: X:194.89, Y:18.33, Z:-5.11 [[ 9.81482010e-01 -1.81623007e-01 6.08781330e-02 1.94892980e+02] [ 1.81374055e-01 9.83366960e-01 9.63715680e-03 1.83329930e+01] [-6.16158739e-02 1.58301779e-03 9.98098682e-01 -5.11250957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26719347000002 meters 0.06776217063220788 Centerline is valid? [True, True] Translation: X:194.95, Y:18.35, Z:-5.12 [[ 9.81880573e-01 -1.78489291e-01 6.36562157e-02 1.94950331e+02] [ 1.78208365e-01 9.83940834e-01 1.01100948e-02 1.83456274e+01] [-6.44384936e-02 1.41716445e-03 9.97920674e-01 -5.11794216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32719347000003 meters 0.06622128690737639 Centerline is valid? [True, True] Translation: X:195.01, Y:18.37, Z:-5.12 [[ 9.83453188e-01 -1.70084548e-01 6.23784756e-02 1.95006550e+02] [ 1.69798287e-01 9.85429102e-01 9.90080694e-03 1.83684955e+01] [-6.31535395e-02 8.54778158e-04 9.98003457e-01 -5.12265257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38719347000003 meters 0.06591976651382389 Centerline is valid? [True, True] Translation: X:195.06, Y:18.39, Z:-5.13 [[ 9.84726280e-01 -1.62950381e-01 6.13296528e-02 1.95062435e+02] [ 1.62658783e-01 9.86634195e-01 9.75123582e-03 1.83876637e+01] [-6.20989002e-02 3.73508487e-04 9.98069931e-01 -5.13040601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44719347000003 meters 0.06577468574284856 Centerline is valid? [True, True] Translation: X:195.12, Y:18.41, Z:-5.14 [[ 9.86390049e-01 -1.51349255e-01 6.42500993e-02 1.95116612e+02] [ 1.51002676e-01 9.88480268e-01 1.02445700e-02 1.84126143e+01] [-6.50604634e-02 -4.03204922e-04 9.97881242e-01 -5.13661156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50719347000003 meters 0.06649895989093203 Centerline is valid? [True, True] Translation: X:195.18, Y:18.43, Z:-5.14 [[ 9.87611935e-01 -1.44484053e-01 6.12129444e-02 1.95176197e+02] [ 1.44155551e-01 9.89506783e-01 9.77258144e-03 1.84274316e+01] [-6.19826058e-02 -8.27332368e-04 9.98076887e-01 -5.14239225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56719347 meters 0.0679677922401809 Centerline is valid? [True, True] Translation: X:195.24, Y:18.44, Z:-5.15 [[ 9.88691654e-01 -1.39177677e-01 5.58425184e-02 1.95235018e+02] [ 1.38896103e-01 9.90266865e-01 8.91120646e-03 1.84359824e+01] [-5.65392366e-02 -1.05412727e-03 9.98399821e-01 -5.15451472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62719347 meters 0.06885386600346423 Centerline is valid? [True, True] Translation: X:195.30, Y:18.44, Z:-5.16 [[ 9.89152294e-01 -1.37180224e-01 5.25292763e-02 1.95295242e+02] [ 1.36928259e-01 9.90545495e-01 8.38297536e-03 1.84423672e+01] [-5.31826164e-02 -1.09929697e-03 9.98584198e-01 -5.16326877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68719347 meters 0.06914964977332472 Centerline is valid? [True, True] Translation: X:195.36, Y:18.44, Z:-5.17 [[ 9.89232971e-01 -1.36031846e-01 5.39765394e-02 1.95355181e+02] [ 1.35764385e-01 9.90703753e-01 8.60845908e-03 1.84371375e+01] [-5.46457847e-02 -1.18767987e-03 9.98505096e-01 -5.17007314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74719347 meters 0.06836607247461411 Centerline is valid? [True, True] Translation: X:195.41, Y:18.43, Z:-5.18 [[ 9.88776826e-01 -1.38967149e-01 5.48499775e-02 1.95414994e+02] [ 1.38695304e-01 9.90296440e-01 8.75061619e-03 1.84342482e+01] [-5.55337857e-02 -1.04497221e-03 9.98456262e-01 -5.17582893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80719347000002 meters 0.06706963138852207 Centerline is valid? [True, True] Translation: X:195.48, Y:18.42, Z:-5.18 [[ 9.87959358e-01 -1.44030940e-01 5.64924418e-02 1.95477346e+02] [ 1.43750399e-01 9.89572869e-01 9.01995842e-03 1.84239629e+01] [-5.72025408e-02 -7.90541304e-04 9.98362281e-01 -5.17698689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86719347000002 meters 0.06682069132941158 Centerline is valid? [True, True] Translation: X:195.54, Y:18.41, Z:-5.18 [[ 9.86968411e-01 -1.51082235e-01 5.53851474e-02 1.95538833e+02] [ 1.50824230e-01 9.88521130e-01 8.83325167e-03 1.84083826e+01] [-5.60839359e-02 -3.64718130e-04 9.98425991e-01 -5.18363440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92719347000002 meters 0.06675634153766591 Centerline is valid? [True, True] Translation: X:195.60, Y:18.40, Z:-5.19 [[ 9.86520483e-01 -1.53941478e-01 5.54919637e-02 1.95598083e+02] [ 1.53685409e-01 9.88079940e-01 8.87843246e-03 1.84043064e+01] [-5.61972552e-02 -2.30450320e-04 9.98419659e-01 -5.19016261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98719347000002 meters 0.0663006765697528 Centerline is valid? [True, True] Translation: X:195.66, Y:18.41, Z:-5.20 [[ 9.86202087e-01 -1.54014627e-01 6.07036842e-02 1.95657591e+02] [ 1.53707616e-01 9.88068534e-01 9.72322589e-03 1.84054820e+01] [-6.14769193e-02 -2.58447099e-04 9.98108472e-01 -5.19556521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04719347000002 meters 0.06575523964055574 Centerline is valid? [True, True] Translation: X:195.72, Y:18.41, Z:-5.19 [[ 9.86764107e-01 -1.49867566e-01 6.19379544e-02 1.95716056e+02] [ 1.49540237e-01 9.88705943e-01 9.91337814e-03 1.84121146e+01] [-6.27241175e-02 -5.19949335e-04 9.98030768e-01 -5.19496819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10719347000003 meters 0.06585170278089028 Centerline is valid? [True, True] Translation: X:195.77, Y:18.41, Z:-5.20 [[ 9.87004855e-01 -1.47068798e-01 6.47470877e-02 1.95773879e+02] [ 1.46703203e-01 9.89125975e-01 1.03911117e-02 1.84149091e+01] [-6.55712346e-02 -7.57472555e-04 9.97847603e-01 -5.19926765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16719347000003 meters 0.06569225245782634 Centerline is valid? [True, True] Translation: X:195.83, Y:18.42, Z:-5.21 [[ 9.86639687e-01 -1.49783584e-01 6.40859207e-02 1.95832490e+02] [ 1.49430887e-01 9.88718639e-01 1.02889571e-02 1.84150362e+01] [-6.49040612e-02 -5.75077395e-04 9.97891343e-01 -5.20768301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22719347000003 meters 0.06599674522583401 Centerline is valid? [True, True] Translation: X:195.89, Y:18.41, Z:-5.22 [[ 9.85619632e-01 -1.58124702e-01 5.95862354e-02 1.95893615e+02] [ 1.57833231e-01 9.87419149e-01 9.59664871e-03 1.84057903e+01] [-6.03540571e-02 -5.39573216e-05 9.98177031e-01 -5.21500827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28719347000003 meters 0.06686485858388665 Centerline is valid? [True, True] Translation: X:195.95, Y:18.40, Z:-5.22 [[ 9.84177188e-01 -1.67171400e-01 5.87280673e-02 1.95952320e+02] [ 1.66904265e-01 9.85927726e-01 9.45966995e-03 1.83986843e+01] [-5.94830162e-02 4.91973534e-04 9.98229197e-01 -5.22280354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34719347 meters 0.06913337121997669 Centerline is valid? [True, True] Translation: X:196.01, Y:18.39, Z:-5.23 [[ 9.81786948e-01 -1.81000913e-01 5.77326521e-02 1.96014090e+02] [ 1.80765893e-01 9.83482076e-01 9.31118626e-03 1.83897584e+01] [-5.84643617e-02 1.29449327e-03 9.98288657e-01 -5.22768380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40719347 meters 0.06957048994148543 Centerline is valid? [True, True] Translation: X:196.07, Y:18.40, Z:-5.23 [[ 9.80695388e-01 -1.86670766e-01 5.82286936e-02 1.96073426e+02] [ 1.86441654e-01 9.82421149e-01 9.39120507e-03 1.83951241e+01] [-5.89581635e-02 1.64634246e-03 9.98259097e-01 -5.22880100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46719347 meters 0.0728377282645697 Centerline is valid? [True, True] Translation: X:196.13, Y:18.40, Z:-5.24 [[ 9.79850994e-01 -1.92251956e-01 5.41406884e-02 1.96131835e+02] [ 1.92062065e-01 9.81343881e-01 8.73788670e-03 1.83998086e+01] [-5.48105090e-02 1.83654542e-03 9.98495085e-01 -5.23704643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52719347000001 meters 0.07318447935404764 Centerline is valid? [True, True] Translation: X:196.19, Y:18.42, Z:-5.24 [[ 9.79824319e-01 -1.93402197e-01 5.03973588e-02 1.96189499e+02] [ 1.93239181e-01 9.81117965e-01 8.13377442e-03 1.84163041e+01] [-5.10188439e-02 1.76907434e-03 9.98696124e-01 -5.24313158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58719347000002 meters 0.07433862893134709 Centerline is valid? [True, True] Translation: X:196.25, Y:18.44, Z:-5.25 [[ 9.80162244e-01 -1.92800530e-01 4.59339857e-02 1.96245789e+02] [ 1.92664394e-01 9.81236695e-01 7.41478110e-03 1.84367641e+01] [-4.65016861e-02 1.58215503e-03 9.98916959e-01 -5.25110659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64719347000002 meters 0.07213021319101719 Centerline is valid? [True, True] Translation: X:196.30, Y:18.46, Z:-5.25 [[ 9.80413649e-01 -1.92216794e-01 4.29159839e-02 1.96302887e+02] [ 1.92097468e-01 9.81351411e-01 6.92613840e-03 1.84595703e+01] [-4.34469814e-02 1.45357123e-03 9.99054677e-01 -5.25036147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70719347000002 meters 0.0756925193969273 Centerline is valid? [True, True] Translation: X:196.36, Y:18.48, Z:-5.26 [[ 9.80437799e-01 -1.92777055e-01 3.97332178e-02 1.96358037e+02] [ 1.92675282e-01 9.81241627e-01 6.41131344e-03 1.84772373e+01] [-4.02238414e-02 1.36971489e-03 9.99189755e-01 -5.26410880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76719347000002 meters 0.07213639687189975 Centerline is valid? [True, True] Translation: X:196.41, Y:18.50, Z:-5.26 [[ 9.80875724e-01 -1.90696477e-01 3.89572431e-02 1.96414324e+02] [ 1.90597415e-01 9.81648227e-01 6.27563263e-03 1.85029311e+01] [-3.94390497e-02 1.26953411e-03 9.99221172e-01 -5.26007502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82719347000003 meters 0.0687454870620971 Centerline is valid? [True, True] Translation: X:196.47, Y:18.54, Z:-5.26 [[ 9.82459854e-01 -1.82106905e-01 4.01211969e-02 1.96470333e+02] [ 1.81993349e-01 9.83278307e-01 6.49556598e-03 1.85378236e+01] [-4.06331900e-02 9.20158202e-04 9.99173707e-01 -5.25933871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88719347000003 meters 0.06761994046969667 Centerline is valid? [True, True] Translation: X:196.53, Y:18.56, Z:-5.27 [[ 9.83801813e-01 -1.75009386e-01 3.88034471e-02 1.96525170e+02] [ 1.74898359e-01 9.84566567e-01 6.26408000e-03 1.85640662e+01] [-3.93008495e-02 6.24045955e-04 9.99227228e-01 -5.26631352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94719347000003 meters 0.06691438733062677 Centerline is valid? [True, True] Translation: X:196.58, Y:18.60, Z:-5.27 [[ 9.85705540e-01 -1.64319930e-01 3.71960866e-02 1.96576868e+02] [ 1.64209495e-01 9.86407082e-01 6.02572639e-03 1.85959711e+01] [-3.76806302e-02 1.68358728e-04 9.99289819e-01 -5.27372082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00719347000003 meters 0.06636196372319443 Centerline is valid? [True, True] Translation: X:196.63, Y:18.61, Z:-5.28 [[ 9.86304606e-01 -1.60741811e-01 3.69498860e-02 1.96632568e+02] [ 1.60630606e-01 9.86996489e-01 5.97826138e-03 1.86127796e+01] [-3.74303643e-02 3.88958447e-05 9.99299238e-01 -5.27701872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06719347 meters 0.06680258495759858 Centerline is valid? [True, True] Translation: X:196.69, Y:18.63, Z:-5.28 [[ 9.87637331e-01 -1.53476270e-01 3.18988522e-02 1.96689707e+02] [ 1.53388577e-01 9.88152306e-01 5.19283357e-03 1.86335736e+01] [-3.23179011e-02 -2.35716740e-04 9.99477612e-01 -5.28263782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12719347 meters 0.06823851002175542 Centerline is valid? [True, True] Translation: X:196.75, Y:18.65, Z:-5.29 [[ 9.88663237e-01 -1.47407164e-01 2.85680147e-02 1.96746378e+02] [ 1.47334383e-01 9.89075821e-01 4.64763862e-03 1.86497385e+01] [-2.89410278e-02 -3.85898620e-04 9.99581046e-01 -5.29330537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18719347 meters 0.06733043208326794 Centerline is valid? [True, True] Translation: X:196.81, Y:18.65, Z:-5.30 [[ 9.88079853e-01 -1.51216392e-01 2.88410775e-02 1.96806286e+02] [ 1.51144336e-01 9.88500650e-01 4.67489530e-03 1.86513622e+01] [-2.92163446e-02 -2.60004362e-04 9.99573078e-01 -5.29533128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24719347 meters 0.06762756604771702 Centerline is valid? [True, True] Translation: X:196.87, Y:18.65, Z:-5.30 [[ 9.87155539e-01 -1.57492385e-01 2.68345087e-02 1.96865444e+02] [ 1.57432193e-01 9.87520199e-01 4.35445855e-03 1.86504673e+01] [-2.71854134e-02 -7.39123248e-05 9.99630406e-01 -5.30416178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30719347000002 meters 0.06788814415070309 Centerline is valid? [True, True] Translation: X:196.93, Y:18.64, Z:-5.31 [[ 9.84684582e-01 -1.71755825e-01 2.99367803e-02 1.96928250e+02] [ 1.71686418e-01 9.85139499e-01 4.89293845e-03 1.86377937e+01] [-3.03322954e-02 3.21737512e-04 9.99539818e-01 -5.30861168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36719347000002 meters 0.06849851087875745 Centerline is valid? [True, True] Translation: X:196.99, Y:18.63, Z:-5.31 [[ 9.82877207e-01 -1.81119082e-01 3.38861849e-02 1.96989060e+02] [ 1.81035960e-01 9.83460925e-01 5.53088909e-03 1.86343195e+01] [-3.43274882e-02 6.98433187e-04 9.99410394e-01 -5.31122059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42719347000002 meters 0.07037513456220662 Centerline is valid? [True, True] Translation: X:197.05, Y:18.63, Z:-5.31 [[ 9.80557370e-01 -1.93343262e-01 3.35503559e-02 1.97051046e+02] [ 1.93268418e-01 9.81130558e-01 5.49054979e-03 1.86300447e+01] [-3.39788402e-02 1.10042516e-03 9.99421947e-01 -5.31297215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48719347000002 meters 0.07244024949733513 Centerline is valid? [True, True] Translation: X:197.11, Y:18.63, Z:-5.32 [[ 9.78267449e-01 -2.04042556e-01 3.68705067e-02 1.97111178e+02] [ 2.03959851e-01 9.78960678e-01 6.03072984e-03 1.86310619e+01] [-3.73253018e-02 1.62043634e-03 9.99301854e-01 -5.31525957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54719347000002 meters 0.07360867920206668 Centerline is valid? [True, True] Translation: X:197.17, Y:18.64, Z:-5.32 [[ 9.77309830e-01 -2.07998168e-01 4.00282202e-02 1.97169576e+02] [ 2.07904425e-01 9.78127304e-01 6.53662296e-03 1.86403230e+01] [-4.05123007e-02 1.93373824e-03 9.99177169e-01 -5.32047886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60719347000003 meters 0.0740122536782837 Centerline is valid? [True, True] Translation: X:197.23, Y:18.66, Z:-5.33 [[ 9.77145646e-01 -2.08948480e-01 3.90758071e-02 1.97226173e+02] [ 2.08859498e-01 9.77924773e-01 6.39132016e-03 1.86556049e+01] [-3.95486564e-02 1.91610279e-03 9.99215809e-01 -5.32671465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66719347000003 meters 0.07304321581734909 Centerline is valid? [True, True] Translation: X:197.28, Y:18.68, Z:-5.33 [[ 9.77233836e-01 -2.07912172e-01 4.22677005e-02 1.97283642e+02] [ 2.07805593e-01 9.78145467e-01 6.94838727e-03 1.86762005e+01] [-4.27886140e-02 1.99326542e-03 9.99082159e-01 -5.33084508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72719347000003 meters 0.07439077743150366 Centerline is valid? [True, True] Translation: X:197.34, Y:18.70, Z:-5.34 [[ 9.76648191e-01 -2.10205125e-01 4.44085225e-02 1.97338164e+02] [ 2.10090014e-01 9.77654821e-01 7.29638236e-03 1.87000910e+01] [-4.49499431e-02 2.20378847e-03 9.98986810e-01 -5.33838011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78719347000003 meters 0.07528567674281762 Centerline is valid? [True, True] Translation: X:197.40, Y:18.72, Z:-5.34 [[ 9.75780188e-01 -2.14002159e-01 4.53442442e-02 1.97395775e+02] [ 2.13885796e-01 9.76830191e-01 7.45954815e-03 1.87178847e+01] [-4.58899861e-02 2.41961046e-03 9.98943569e-01 -5.34293595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84719347 meters 0.0789169279443528 Centerline is valid? [True, True] Translation: X:197.45, Y:18.73, Z:-5.35 [[ 9.73874482e-01 -2.21588525e-01 4.96691047e-02 1.97451793e+02] [ 2.21458685e-01 9.75135516e-01 8.17163893e-03 1.87326334e+01] [-5.02448495e-02 3.04150400e-03 9.98732299e-01 -5.34943135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90719347 meters 0.079634930806566 Centerline is valid? [True, True] Translation: X:197.51, Y:18.75, Z:-5.35 [[ 9.72305633e-01 -2.28123358e-01 5.08083578e-02 1.97509290e+02] [ 2.27995919e-01 9.73626131e-01 8.36764050e-03 1.87545841e+01] [-5.13771991e-02 3.44819426e-03 9.98673367e-01 -5.35330624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96719347 meters 0.08350777213598871 Centerline is valid? [True, True] Translation: X:197.57, Y:18.77, Z:-5.36 [[ 9.70409454e-01 -2.35291662e-01 5.42524207e-02 1.97565714e+02] [ 2.35157473e-01 9.71916215e-01 8.93501873e-03 1.87745265e+01] [-5.48311428e-02 4.08723551e-03 9.98487276e-01 -5.35862239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02719347000001 meters 0.0808699999922348 Centerline is valid? [True, True] Translation: X:197.62, Y:18.80, Z:-5.36 [[ 9.70068794e-01 -2.35788497e-01 5.80544546e-02 1.97621302e+02] [ 2.35636283e-01 9.71794373e-01 9.55189162e-03 1.88022323e+01] [-5.86692185e-02 4.41374389e-03 9.98267720e-01 -5.35938445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08719347000002 meters 0.08020639808788088 Centerline is valid? [True, True] Translation: X:197.67, Y:18.84, Z:-5.37 [[ 9.71127258e-01 -2.30755248e-01 6.05298696e-02 1.97674713e+02] [ 2.30578249e-01 9.73002516e-01 9.98870703e-03 1.88359270e+01] [-6.12006620e-02 4.25656566e-03 9.98116406e-01 -5.36567230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14719347000002 meters 0.07579560830755115 Centerline is valid? [True, True] Translation: X:197.73, Y:18.87, Z:-5.37 [[ 9.71887053e-01 -2.26494021e-01 6.43118599e-02 1.97730462e+02] [ 2.26284556e-01 9.74003359e-01 1.06186791e-02 1.88707631e+01] [-6.50450349e-02 4.23262392e-03 9.97873353e-01 -5.36679333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20719347000002 meters 0.07501697658718047 Centerline is valid? [True, True] Translation: X:197.79, Y:18.90, Z:-5.37 [[ 9.72001118e-01 -2.24838701e-01 6.82743355e-02 1.97785342e+02] [ 2.24598535e-01 9.74386169e-01 1.12735246e-02 1.89041210e+01] [-6.90602928e-02 4.37643727e-03 9.97602888e-01 -5.37155624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26719347000002 meters 0.07565799838967874 Centerline is valid? [True, True] Translation: X:197.84, Y:18.93, Z:-5.38 [[ 9.71694298e-01 -2.26375727e-01 6.75590212e-02 1.97841206e+02] [ 2.26144801e-01 9.74029908e-01 1.11475224e-02 1.89261998e+01] [-6.83280357e-02 4.44613742e-03 9.97653001e-01 -5.37805455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32719347000003 meters 0.07754231514879315 Centerline is valid? [True, True] Translation: X:197.90, Y:18.96, Z:-5.39 [[ 9.71241966e-01 -2.28800141e-01 6.58751690e-02 1.97897000e+02] [ 2.28584038e-01 9.73463152e-01 1.09008702e-02 1.89556667e+01] [-6.66211703e-02 4.47062954e-03 9.97768326e-01 -5.38676766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38719347000003 meters 0.07947526214713263 Centerline is valid? [True, True] Translation: X:197.95, Y:18.97, Z:-5.40 [[ 9.70624624e-01 -2.31843260e-01 6.43159514e-02 1.97954694e+02] [ 2.31643897e-01 9.72742430e-01 1.06428544e-02 1.89746588e+01] [-6.50303289e-02 4.56818103e-03 9.97872832e-01 -5.39550302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44719347000003 meters 0.08315530074291289 Centerline is valid? [True, True] Translation: X:198.01, Y:19.00, Z:-5.40 [[ 9.69055691e-01 -2.37793942e-01 6.62201571e-02 1.98012222e+02] [ 2.37596387e-01 9.71302157e-01 1.09579578e-02 1.89976281e+01] [-6.69255173e-02 5.11479877e-03 9.97744864e-01 -5.40044426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50719347000003 meters 0.07721267622597681 Centerline is valid? [True, True] Translation: X:198.07, Y:19.04, Z:-5.40 [[ 9.67908990e-01 -2.40920623e-01 7.14803496e-02 1.98069052e+02] [ 2.40698732e-01 9.70527767e-01 1.18310561e-02 1.90409759e+01] [-7.22240095e-02 5.75384399e-03 9.97371839e-01 -5.39742243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56719347 meters 0.07776559991519948 Centerline is valid? [True, True] Translation: X:198.12, Y:19.06, Z:-5.40 [[ 9.68863540e-01 -2.36970859e-01 7.17513248e-02 1.98124942e+02] [ 2.36737250e-01 9.71501248e-01 1.18659153e-02 1.90633069e+01] [-7.25183778e-02 5.48975866e-03 9.97351968e-01 -5.40434792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62719347 meters 0.07041130845191501 Centerline is valid? [True, True] Translation: X:198.18, Y:19.11, Z:-5.41 [[ 9.73773025e-01 -2.16474053e-01 7.00362714e-02 1.98178143e+02] [ 2.16198370e-01 9.76280735e-01 1.15840964e-02 1.91115881e+01] [-7.08827188e-02 3.86144708e-03 9.97477182e-01 -5.41265951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68719347 meters 0.06476145311249401 Centerline is valid? [True, True] Translation: X:198.23, Y:19.15, Z:-5.42 [[ 9.77559037e-01 -1.99021398e-01 6.90565887e-02 1.98232545e+02] [ 1.98709889e-01 9.79991807e-01 1.14209486e-02 1.91512426e+01] [-6.99479043e-02 2.55757561e-03 9.97547367e-01 -5.41686379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74719347 meters 0.06151844380743669 Centerline is valid? [True, True] Translation: X:198.29, Y:19.19, Z:-5.42 [[ 9.81421298e-01 -1.79676999e-01 6.72934767e-02 1.98286922e+02] [ 1.79335648e-01 9.83724994e-01 1.11293180e-02 1.91904533e+01] [-6.81979574e-02 1.14556951e-03 9.97671151e-01 -5.42430551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80719347000002 meters 0.061190033852016386 Centerline is valid? [True, True] Translation: X:198.35, Y:19.21, Z:-5.43 [[ 9.82369415e-01 -1.74476021e-01 6.71449986e-02 1.98347038e+02] [ 1.74123329e-01 9.84661120e-01 1.11150725e-02 1.92060972e+01] [-6.80543832e-02 7.72403368e-04 9.97681314e-01 -5.43175321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86719347000002 meters 0.06126340849744168 Centerline is valid? [True, True] Translation: X:198.41, Y:19.21, Z:-5.44 [[ 9.81526575e-01 -1.78620244e-01 6.85593987e-02 1.98409422e+02] [ 1.78264172e-01 9.83917471e-01 1.13267720e-02 1.92115437e+01] [-6.94799809e-02 1.10415673e-03 9.97582735e-01 -5.43663936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92719347000002 meters 0.06180937332581341 Centerline is valid? [True, True] Translation: X:198.47, Y:19.22, Z:-5.44 [[ 9.81038358e-01 -1.80800245e-01 6.98212894e-02 1.98471255e+02] [ 1.80438110e-01 9.83518972e-01 1.15117263e-02 1.92163679e+01] [-7.07518857e-02 1.30497647e-03 9.97493092e-01 -5.44412959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98719347000002 meters 0.06371748448356805 Centerline is valid? [True, True] Translation: X:198.53, Y:19.21, Z:-5.45 [[ 9.79085960e-01 -1.91377062e-01 6.90326264e-02 1.98533939e+02] [ 1.91051583e-01 9.81514393e-01 1.13485222e-02 1.92110393e+01] [-6.99283633e-02 2.07761380e-03 9.97549852e-01 -5.45003026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04719347000002 meters 0.06521222732577024 Centerline is valid? [True, True] Translation: X:198.60, Y:19.21, Z:-5.46 [[ 9.77544417e-01 -1.99548690e-01 6.77291123e-02 1.98595452e+02] [ 1.99255161e-01 9.79884424e-01 1.11308683e-02 1.92112900e+01] [-6.85878524e-02 2.61445695e-03 9.97641655e-01 -5.45537447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10719347000003 meters 0.06725687972268915 Centerline is valid? [True, True] Translation: X:198.66, Y:19.21, Z:-5.46 [[ 9.76205738e-01 -2.05558381e-01 6.90515019e-02 1.98656328e+02] [ 2.05268268e-01 9.78639957e-01 1.13478164e-02 1.92123675e+01] [-6.99091976e-02 3.09627877e-03 9.97548554e-01 -5.46095739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16719347000003 meters 0.06644399617412293 Centerline is valid? [True, True] Translation: X:198.72, Y:19.22, Z:-5.46 [[ 9.76145239e-01 -2.05873399e-01 6.89682223e-02 1.98717588e+02] [ 2.05584237e-01 9.78573700e-01 1.13417292e-02 1.92229713e+01] [-6.98254488e-02 3.10760445e-03 9.97554384e-01 -5.46420458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22719347000003 meters 0.06543850905763478 Centerline is valid? [True, True] Translation: X:198.78, Y:19.24, Z:-5.47 [[ 9.77182783e-01 -2.01497488e-01 6.71756637e-02 1.98777340e+02] [ 2.01214847e-01 9.79485169e-01 1.10176337e-02 1.92377874e+01] [-6.80175918e-02 2.75049894e-03 9.97680331e-01 -5.47126676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28719347000003 meters 0.06262938876669302 Centerline is valid? [True, True] Translation: X:198.83, Y:19.26, Z:-5.48 [[ 9.80314507e-01 -1.86219716e-01 6.56177140e-02 1.98833553e+02] [ 1.85916211e-01 9.82506731e-01 1.07557093e-02 1.92619841e+01] [-6.64727708e-02 1.65541896e-03 9.97786866e-01 -5.47894025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34719347 meters 0.061192354194446935 Centerline is valid? [True, True] Translation: X:198.89, Y:19.28, Z:-5.49 [[ 9.82563271e-01 -1.74213870e-01 6.49534076e-02 1.98891922e+02] [ 1.73890253e-01 9.84707486e-01 1.06465038e-02 1.92801046e+01] [-6.58148753e-02 8.33900868e-04 9.97831502e-01 -5.48678319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40719347 meters 0.06093216519276022 Centerline is valid? [True, True] Translation: X:198.95, Y:19.30, Z:-5.49 [[ 9.85009289e-01 -1.59919495e-01 6.46719115e-02 1.98949990e+02] [ 1.59567323e-01 9.87130051e-01 1.06080633e-02 1.93015201e+01] [-6.55360234e-02 -1.29517071e-04 9.97850196e-01 -5.49147262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46719347 meters 0.061853822741749116 Centerline is valid? [True, True] Translation: X:199.01, Y:19.31, Z:-5.50 [[ 9.86442728e-01 -1.51047551e-01 6.41512397e-02 1.99011043e+02] [ 1.50683380e-01 9.88526253e-01 1.05055588e-02 1.93112738e+01] [-6.50020235e-02 -6.96606505e-04 9.97884889e-01 -5.49536470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52719347000001 meters 0.06169406260062027 Centerline is valid? [True, True] Translation: X:199.07, Y:19.31, Z:-5.50 [[ 9.86440563e-01 -1.50559348e-01 6.53215007e-02 1.99073688e+02] [ 1.50182083e-01 9.88600709e-01 1.06761155e-02 1.93118536e+01] [-6.61842710e-02 -7.21234392e-04 9.97807157e-01 -5.49992415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58719347000002 meters 0.061881558209567825 Centerline is valid? [True, True] Translation: X:199.14, Y:19.30, Z:-5.51 [[ 9.85663842e-01 -1.55324936e-01 6.58859292e-02 1.99136983e+02] [ 1.54953321e-01 9.87863360e-01 1.07447393e-02 1.93035687e+01] [-6.67552213e-02 -3.81457451e-04 9.97769309e-01 -5.50682183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64719347000002 meters 0.06200190647625211 Centerline is valid? [True, True] Translation: X:199.20, Y:19.30, Z:-5.51 [[ 9.84612203e-01 -1.60570058e-01 6.89642341e-02 1.99198272e+02] [ 1.60177890e-01 9.87024446e-01 1.12154780e-02 1.92995989e+01] [-6.98702549e-02 3.64905206e-06 9.97556087e-01 -5.51430166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70719347000002 meters 0.0634837220220052 Centerline is valid? [True, True] Translation: X:199.26, Y:19.29, Z:-5.52 [[ 9.82704411e-01 -1.68764401e-01 7.62274106e-02 1.99262020e+02] [ 1.68309804e-01 9.85656206e-01 1.23957103e-02 1.92930186e+01] [-7.72259750e-02 6.48501333e-04 9.97013404e-01 -5.51703384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76719347000002 meters 0.0651584241442613 Centerline is valid? [True, True] Translation: X:199.32, Y:19.29, Z:-5.53 [[ 9.81755697e-01 -1.72490216e-01 8.00179772e-02 1.99324772e+02] [ 1.72001683e-01 9.85010734e-01 1.30106102e-02 1.92887449e+01] [-8.10627694e-02 9.89985990e-04 9.96708507e-01 -5.52650577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82719347000003 meters 0.06686441503664159 Centerline is valid? [True, True] Translation: X:199.39, Y:19.29, Z:-5.53 [[ 9.80455063e-01 -1.75844181e-01 8.82422466e-02 1.99387138e+02] [ 1.75266071e-01 9.84416978e-01 1.43184352e-02 1.92906593e+01] [-8.93849792e-02 1.42728959e-03 9.95996129e-01 -5.53097856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88719347000003 meters 0.07052549835767515 Centerline is valid? [True, True] Translation: X:199.45, Y:19.30, Z:-5.54 [[ 9.78757395e-01 -1.78356648e-01 1.01108200e-01 1.99449801e+02] [ 1.77614265e-01 9.83964004e-01 1.63710357e-02 1.92960329e+01] [-1.02406712e-01 1.93498634e-03 9.94740731e-01 -5.53502299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94719347000003 meters 0.07516497851359344 Centerline is valid? [True, True] Translation: X:199.51, Y:19.30, Z:-5.54 [[ 9.76854349e-01 -1.82736921e-01 1.11188121e-01 1.99511183e+02] [ 1.81871488e-01 9.83158211e-01 1.79636986e-02 1.92971107e+01] [-1.12598145e-01 2.67403195e-03 9.93637010e-01 -5.54412249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00719347000003 meters 0.07950583290623234 Centerline is valid? [True, True] Translation: X:199.57, Y:19.30, Z:-5.55 [[ 9.74547021e-01 -1.88097861e-01 1.21972530e-01 1.99572216e+02] [ 1.87098355e-01 9.82143615e-01 1.97009061e-02 1.92996294e+01] [-1.23500240e-01 3.62140027e-03 9.92337935e-01 -5.55007199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06719347 meters 0.08763481292335022 Centerline is valid? [True, True] Translation: X:199.63, Y:19.30, Z:-5.56 [[ 9.71408344e-01 -1.93000314e-01 1.38263185e-01 1.99632875e+02] [ 1.91764775e-01 9.81186846e-01 2.23303602e-02 1.93008891e+01] [-1.39971785e-01 4.82211035e-03 9.90143750e-01 -5.55827456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12719347 meters 0.09239727338542075 Centerline is valid? [True, True] Translation: X:199.69, Y:19.31, Z:-5.57 [[ 9.70514595e-01 -1.92386726e-01 1.45219722e-01 1.99692710e+02] [ 1.91016860e-01 9.81306557e-01 2.34520836e-02 1.93101312e+01] [-1.47016935e-01 4.97882588e-03 9.89121445e-01 -5.56746364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18719347 meters 0.10538764416396162 Centerline is valid? [True, False] Translation: X:199.75, Y:19.30, Z:-5.55 [[ 9.81125625e-01 -1.66607853e-01 9.81546268e-02 1.99745614e+02] [ 1.65519294e-01 9.86019862e-01 1.91884066e-02 1.92976056e+01] [-9.99793508e-02 -2.57975290e-03 9.94986168e-01 -5.55153179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24719347 meters 0.11922302963100583 Centerline is valid? [False, False] Translation: X:199.81, Y:19.29, Z:-5.54 [[ 9.86659151e-01 -1.50527764e-01 6.20089599e-02 1.99809754e+02] [ 1.49973371e-01 9.88597501e-01 1.35266301e-02 1.92921037e+01] [-6.33380362e-02 -4.04648060e-03 9.97983927e-01 -5.53874881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30719347000002 meters 0.13792310949112413 Centerline is valid? [False, False] Translation: X:199.86, Y:19.28, Z:-5.53 [[ 9.89349755e-01 -1.42214723e-01 3.10166948e-02 1.99864621e+02] [ 1.41885696e-01 9.89803183e-01 1.25741142e-02 1.92792312e+01] [-3.24886474e-02 -8.03937150e-03 9.99439771e-01 -5.52579934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36719347000002 meters 0.15221271352997068 Centerline is valid? [False, False] Translation: X:199.92, Y:19.27, Z:-5.51 [[ 9.90321623e-01 -1.38790205e-01 6.02226457e-04 1.99919517e+02] [ 1.38774945e-01 9.90261133e-01 1.11536333e-02 1.92715207e+01] [-2.14437650e-03 -1.09621103e-02 9.99937615e-01 -5.51160961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1790.34 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%| | 0/6814 [00:00