+ python -m lidar_slam --no-model /working/df1a0adc-bc53-4f2e-884b-e6e3b08752bf Lidar SLAM 0.0.11 ===================================================== The recording path: /working/df1a0adc-bc53-4f2e-884b-e6e3b08752bf 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 0.017628 Adjusted end_distance from 9.223372036854776e+18 to 343.987628 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.017628 meters 0.10976554817553826 Centerline is valid? [0, False] SLAMing on 0.077628 meters 0.12792877547351195 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.00 [[ 0.99999336 0.00274561 0.00239793 0.01940845] [-0.00273357 0.99998372 -0.00500814 0.0020484 ] [-0.00241164 0.00500155 0.99998458 -0.00434657] [ 0. 0. 0. 1. ]] SLAMing on 0.137628 meters 0.1578698255395132 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 0.99997638 0.00647302 0.00231202 0.020368 ] [-0.00646947 0.99997789 -0.00153971 0.00341337] [-0.00232194 0.00152472 0.99999614 -0.00543861] [ 0. 0. 0. 1. ]] SLAMing on 0.197628 meters 0.20147479272319763 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 0.99999645 0.00146318 0.00222754 0.02212135] [-0.00144857 0.99997754 -0.00654407 0.00342777] [-0.00223707 0.00654082 0.99997611 -0.00764229] [ 0. 0. 0. 1. ]] SLAMing on 0.25762799999999997 meters 0.2209492811537772 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99998062e-01 1.01690939e-03 1.68550659e-03 2.37600718e-02] [-1.00702828e-03 9.99982364e-01 -5.85291330e-03 -7.31897555e-04] [-1.69142874e-03 5.85120461e-03 9.99981451e-01 -8.36398554e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.31762799999999997 meters 0.24577526697687274 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99998082e-01 8.69540896e-04 1.75520975e-03 2.38521587e-02] [-8.58861818e-04 9.99981173e-01 -6.07582901e-03 -2.04645569e-04] [-1.76045989e-03 6.07430987e-03 9.99980002e-01 -8.68604060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.37762799999999996 meters 0.2660984309569159 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99985252e-01 5.16130779e-03 1.68999371e-03 2.40721451e-02] [-5.15823956e-03 9.99985049e-01 -1.81487611e-03 -9.71934703e-04] [-1.69933558e-03 1.80613195e-03 9.99996925e-01 -8.70484803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.43762799999999996 meters 0.28333860520917437 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 0.99995585 0.00926197 0.00158676 0.02459942] [-0.00926544 0.99995467 0.00219303 -0.00120166] [-0.00156638 -0.00220763 0.99999634 -0.0089665 ] [ 0. 0. 0. 1. ]] SLAMing on 0.49762799999999996 meters 0.2941757678548239 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.01 [[ 9.99963519e-01 8.45964077e-03 1.18131643e-03 2.66984841e-02] [-8.46155684e-03 9.99962878e-01 1.62651434e-03 -8.82762552e-04] [-1.16751285e-03 -1.63645078e-03 9.99997979e-01 -1.05341975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.557628 meters 0.31577354158599474 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.01 [[ 9.99999428e-01 1.06717502e-03 6.94057087e-05 3.37577159e-02] [-1.06688103e-03 9.99991000e-01 -4.10628547e-03 4.05513309e-03] [-7.37872093e-05 4.10620908e-03 9.99991567e-01 -1.37447102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.617628 meters 0.32833730569083097 Centerline is valid? [False, False] Translation: X:0.06, Y:0.00, Z:-0.01 [[ 0.99999292 -0.00118576 -0.00357247 0.06334788] [ 0.001164 0.99998081 -0.00608451 0.00157603] [ 0.00357961 0.00608031 0.99997511 -0.01330297] [ 0. 0. 0. 1. ]] SLAMing on 0.6776279999999999 meters 0.34008325595644195 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.01 [[ 0.99998914 -0.00214221 -0.00413877 0.06485947] [ 0.00211271 0.99997242 -0.00712004 0.00510309] [ 0.00415391 0.00711122 0.99996609 -0.01327415] [ 0. 0. 0. 1. ]] SLAMing on 0.737628 meters 0.3465432815239155 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.01 [[ 0.99998853 0.00122371 -0.0046315 0.06581454] [-0.00124212 0.99999133 -0.00397409 0.00949159] [ 0.0046266 0.00397979 0.99998138 -0.01271385] [ 0. 0. 0. 1. ]] SLAMing on 0.797628 meters 0.34232341847120834 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.01 [[ 0.99995126 0.00821585 -0.00547549 0.06637694] [-0.00820283 0.99996348 0.00239665 0.01859335] [ 0.00549498 -0.00235162 0.99998214 -0.01041292] [ 0. 0. 0. 1. ]] SLAMing on 0.857628 meters 0.3412309741137593 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.01 [[ 9.99956683e-01 7.41120534e-03 -5.63074901e-03 6.71473963e-02] [-7.40732236e-03 9.99972313e-01 7.10144382e-04 2.46706003e-02] [ 5.63585614e-03 -6.68404848e-04 9.99983895e-01 -1.06445939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9176279999999999 meters 0.34536783576534 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.01 [[ 0.99992637 0.01061821 -0.00587503 0.06745056] [-0.01060186 0.99993986 0.00280671 0.03364653] [ 0.00590448 -0.00274422 0.9999788 -0.00966443] [ 0. 0. 0. 1. ]] SLAMing on 0.9776279999999999 meters 0.3380846585332462 Centerline is valid? [False, False] Translation: X:0.07, Y:0.04, Z:-0.01 [[ 0.99982545 0.01755702 -0.00638886 0.06768884] [-0.01750171 0.99980974 0.00861227 0.0446203 ] [ 0.00653885 -0.00849895 0.9999425 -0.00772736] [ 0. 0. 0. 1. ]] SLAMing on 1.037628 meters 0.3364996037627524 Centerline is valid? [False, False] Translation: X:0.07, Y:0.05, Z:-0.01 [[ 0.99976742 0.02049353 -0.00671661 0.06737871] [-0.02042251 0.99973653 0.01047772 0.05405864] [ 0.00692957 -0.01033811 0.99992255 -0.00593359] [ 0. 0. 0. 1. ]] SLAMing on 1.097628 meters 0.3351267919325578 Centerline is valid? [False, False] Translation: X:0.07, Y:0.06, Z:-0.01 [[ 0.99982906 0.01718617 -0.00681873 0.06626496] [-0.01714856 0.99983762 0.00553725 0.06063034] [ 0.00691278 -0.00541937 0.99996142 -0.00521798] [ 0. 0. 0. 1. ]] SLAMing on 1.1576279999999999 meters 0.30618682312153994 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:-0.01 [[ 0.99993983 0.0107377 -0.00224437 0.05841732] [-0.01072877 0.99993463 0.00395338 0.07065583] [ 0.00228667 -0.00392906 0.99998967 -0.00946356] [ 0. 0. 0. 1. ]] SLAMing on 1.217628 meters 0.2938673372079224 Centerline is valid? [False, False] Translation: X:0.05, Y:0.08, Z:-0.01 [[ 0.99999165 0.00375154 0.0016184 0.04718362] [-0.00375959 0.99998043 0.00500119 0.07711713] [-0.00159961 -0.00500723 0.99998618 -0.01175423] [ 0. 0. 0. 1. ]] SLAMing on 1.277628 meters 0.22311370324348884 Centerline is valid? [False, False] Translation: X:0.04, Y:0.08, Z:-0.01 [[ 0.99996747 -0.00181286 -0.00785998 0.03536173] [ 0.00184874 0.99998789 0.00456037 0.08453877] [ 0.00785162 -0.00457475 0.99995871 -0.00855161] [ 0. 0. 0. 1. ]] SLAMing on 1.3376279999999998 meters 0.15608180030132393 Centerline is valid? [False, False] Translation: X:0.03, Y:0.10, Z:-0.01 [[ 0.99999472 -0.00146124 -0.00290368 0.02527759] [ 0.00148688 0.99995974 0.00884968 0.09523417] [ 0.00289063 -0.00885395 0.99995662 -0.0111646 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3976279999999999 meters 0.12797035911320145 Centerline is valid? [False, False] Translation: X:0.02, Y:0.10, Z:-0.01 [[ 0.99999252 0.00283849 -0.00262761 0.02383599] [-0.00280757 0.99992767 0.01169511 0.10089212] [ 0.00266062 -0.01168764 0.99992816 -0.01053174] [ 0. 0. 0. 1. ]] SLAMing on 1.457628 meters 0.11560845982576673 Centerline is valid? [False, False] Translation: X:0.02, Y:0.11, Z:-0.01 [[ 0.99994066 0.01060108 -0.00251048 0.02318046] [-0.01055452 0.99978437 0.01788343 0.10722017] [ 0.00269952 -0.01785587 0.99983693 -0.0103904 ] [ 0. 0. 0. 1. ]] SLAMing on 1.517628 meters 0.10354352119113812 Centerline is valid? [False, False] Translation: X:0.02, Y:0.11, Z:-0.01 [[ 0.99994379 0.01023303 -0.00277589 0.02395757] [-0.01018887 0.9998282 0.01548434 0.1132898 ] [ 0.00293387 -0.01545519 0.99987626 -0.0119812 ] [ 0. 0. 0. 1. ]] SLAMing on 1.577628 meters 0.09519492596089735 Centerline is valid? [False, True] Translation: X:0.02, Y:0.12, Z:-0.01 [[ 0.99994099 0.01041776 -0.0030813 0.02424392] [-0.01037389 0.99984919 0.01392786 0.11814344] [ 0.00322593 -0.01389507 0.99989826 -0.01272486] [ 0. 0. 0. 1. ]] SLAMing on 1.6376279999999999 meters 0.08820351224367388 Centerline is valid? [True, True] Translation: X:0.09, Y:0.12, Z:-0.02 [[ 9.99836123e-01 1.70492139e-02 -6.08693292e-03 8.55630619e-02] [-1.70461613e-02 9.99854551e-01 5.53032534e-04 1.22111994e-01] [ 6.09547635e-03 -4.49183064e-04 9.99981322e-01 -1.70536437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.697628 meters 0.08056521743599272 Centerline is valid? [True, True] Translation: X:0.15, Y:0.12, Z:-0.02 [[ 9.99617868e-01 2.58290297e-02 -9.84781816e-03 1.46703009e-01] [-2.58214629e-02 9.99666170e-01 8.94763795e-04 1.21927747e-01] [ 9.86764154e-03 -6.40136806e-04 9.99951109e-01 -1.88551146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.757628 meters 0.07517961933289115 Centerline is valid? [True, True] Translation: X:0.21, Y:0.12, Z:-0.02 [[ 9.99429009e-01 3.10630151e-02 -1.32945227e-02 2.07671512e-01] [-3.10496853e-02 9.99517112e-01 1.20793537e-03 1.21148379e-01] [ 1.33256251e-02 -7.94454903e-04 9.99910894e-01 -2.01064785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8176279999999998 meters 0.06953722991337766 Centerline is valid? [True, True] Translation: X:0.27, Y:0.11, Z:-0.02 [[ 9.99175598e-01 3.73839439e-02 -1.58292786e-02 2.67837951e-01] [-3.73658366e-02 9.99300618e-01 1.43823025e-03 1.11852178e-01] [ 1.58719746e-02 -8.45570331e-04 9.99873675e-01 -2.12600457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8776279999999999 meters 0.0659812450232034 Centerline is valid? [True, True] Translation: X:0.33, Y:0.10, Z:-0.02 [[ 9.99024829e-01 4.01193532e-02 -1.84344176e-02 3.28712521e-01] [-4.00952402e-02 9.99194457e-01 1.67593326e-03 9.83837598e-02] [ 1.84868052e-02 -9.35166543e-04 9.99828667e-01 -2.21576921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.937628 meters 0.06373001487793824 Centerline is valid? [True, True] Translation: X:0.39, Y:0.08, Z:-0.02 [[ 9.99059568e-01 3.94958784e-02 -1.78900626e-02 3.90036504e-01] [-3.94729901e-02 9.99219307e-01 1.63083776e-03 8.44335719e-02] [ 1.79405073e-02 -9.23129801e-04 9.99838630e-01 -2.19789339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.997628 meters 0.06124223869335389 Centerline is valid? [True, True] Translation: X:0.45, Y:0.06, Z:-0.02 [[ 9.99141452e-01 3.81231615e-02 -1.62167733e-02 4.49966957e-01] [-3.81041455e-02 9.99272677e-01 1.48009597e-03 6.49008399e-02] [ 1.62614044e-02 -8.60898944e-04 9.99867404e-01 -1.88699672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0576280000000002 meters 0.056757376559544666 Centerline is valid? [True, True] Translation: X:0.51, Y:0.05, Z:-0.02 [[ 9.99208230e-01 3.67972397e-02 -1.51286275e-02 5.11305321e-01] [-3.67804828e-02 9.99322410e-01 1.38447206e-03 5.49659192e-02] [ 1.51693213e-02 -8.26937651e-04 9.99884597e-01 -1.56823241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1176280000000003 meters 0.054619578584348974 Centerline is valid? [True, True] Translation: X:0.57, Y:0.04, Z:-0.01 [[ 9.99440422e-01 3.00495605e-02 -1.46923801e-02 5.71063282e-01] [-3.00330279e-02 9.99548002e-01 1.34464529e-03 3.83013356e-02] [ 1.47261452e-02 -9.02636193e-04 9.99891157e-01 -1.23203214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1776280000000003 meters 0.05518829773582858 Centerline is valid? [True, True] Translation: X:0.63, Y:0.01, Z:-0.01 [[ 0.99974948 0.01738861 -0.01409275 0.62799086] [-0.01737214 0.99984826 0.00129038 0.01211446] [ 0.01411305 -0.00104523 0.99989986 -0.01070434] [ 0. 0. 0. 1. ]] SLAMing on 2.237628 meters 0.054680299860100735 Centerline is valid? [True, True] Translation: X:0.69, Y:-0.00, Z:-0.01 [[ 0.99987778 0.00931728 -0.01255435 0.68761301] [-0.00930358 0.99995606 0.00114951 -0.00245604] [ 0.0125645 -0.00103257 0.99992053 -0.00674277] [ 0. 0. 0. 1. ]] SLAMing on 2.297628 meters 0.05520597962301648 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.02, Z:-0.00 [[ 9.99924564e-01 5.20107544e-03 -1.11271874e-02 7.45300972e-01] [-5.19006201e-03 9.99986013e-01 1.01842403e-03 -2.15660509e-02] [ 1.11323287e-02 -9.60596415e-04 9.99937572e-01 -3.01855998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.357628 meters 0.051238329693856985 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.03, Z:-0.00 [[ 9.99926660e-01 8.15215323e-03 -8.95638974e-03 8.05171852e-01] [-8.14513540e-03 9.99966492e-01 8.19752649e-04 -2.86758408e-02] [ 8.96277237e-03 -7.46741521e-04 9.99959555e-01 -4.11236358e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.417628 meters 0.048545118372721775 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.04, Z:0.00 [[ 9.99807783e-01 1.85045216e-02 -6.47916966e-03 8.63903472e-01] [-1.85010655e-02 9.99828665e-01 5.92939438e-04 -3.61643736e-02] [ 6.48903161e-03 -4.72953923e-04 9.99978834e-01 2.65774718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.477628 meters 0.045077611388981996 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.04, Z:0.00 [[ 9.99639162e-01 2.65158765e-02 -4.29577844e-03 9.23833280e-01] [-2.65144308e-02 9.99648353e-01 3.93133491e-04 -4.08089894e-02] [ 4.30469213e-03 -2.79091513e-04 9.99990696e-01 4.79937626e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.537628 meters 0.04252790528461885 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.05, Z:0.00 [[ 9.99466921e-01 3.25877880e-02 -1.97754192e-03 9.83332044e-01] [-3.25874934e-02 9.99468870e-01 1.81012659e-04 -4.63334349e-02] [ 1.98239039e-03 -1.16473031e-04 9.99998028e-01 4.96838376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5976280000000003 meters 0.042360544501307336 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.06, Z:0.00 [[ 9.99490656e-01 3.18704971e-02 -1.64312610e-03 1.04450798e+00] [-3.18702916e-02 9.99492002e-01 1.51135479e-04 -5.64223839e-02] [ 1.64710816e-03 -9.86915916e-05 9.99998639e-01 4.35212469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.657628 meters 0.04380985296315736 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.07, Z:0.01 [[ 9.99643142e-01 2.67058343e-02 -6.21827912e-04 1.10479897e+00] [-2.67058039e-02 9.99643335e-01 5.71195466e-05 -7.05076059e-02] [ 6.23131552e-04 -4.04927487e-05 9.99999805e-01 5.30952490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.717628 meters 0.04961019575756733 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.09, Z:0.01 [[ 9.99891026e-01 1.47571850e-02 -4.01619013e-04 1.16238989e+00] [-1.47571713e-02 9.99891106e-01 3.69292635e-05 -9.33437881e-02] [ 4.02120251e-04 -3.09984785e-05 9.99999919e-01 7.76901737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.777628 meters 0.051834426096632975 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.10, Z:0.01 [[ 9.99952159e-01 9.77167204e-03 4.41381250e-04 1.22182705e+00] [-9.77165510e-03 9.99952255e-01 -4.05266789e-05 -1.03580511e-01] [-4.41756190e-04 3.62117147e-05 9.99999902e-01 7.94716443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.837628 meters 0.05844519029234865 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.12, Z:0.01 [[ 9.99994738e-01 -1.54992828e-03 2.85000223e-03 1.27959520e+00] [ 1.55068043e-03 9.99998763e-01 -2.61721264e-04 -1.21388183e-01] [-2.84959305e-03 2.66139330e-04 9.99995904e-01 8.39622766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.897628 meters 0.06188480327935196 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.13, Z:0.01 [[ 9.99969649e-01 -6.40561328e-03 4.43507192e-03 1.33980659e+00] [ 6.40748263e-03 9.99979389e-01 -4.07411600e-04 -1.33574699e-01] [-4.43237079e-03 4.35816881e-04 9.99990082e-01 1.02466167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.957628 meters 0.06465972373460267 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.14, Z:0.01 [[ 9.99953072e-01 -8.75386729e-03 4.15006908e-03 1.39964431e+00] [ 8.75552413e-03 9.99961597e-01 -3.81230719e-04 -1.40281725e-01] [-4.14657246e-03 4.17548859e-04 9.99991316e-01 9.80158733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.017628 meters 0.06602485102313654 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.14, Z:0.01 [[ 9.99964686e-01 -8.31393548e-03 1.22722505e-03 1.45904009e+00] [ 8.31408009e-03 9.99965431e-01 -1.12782333e-04 -1.42777120e-01] [-1.22624496e-03 1.22981597e-04 9.99999241e-01 6.38906254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0776280000000003 meters 0.06686006952344799 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.14, Z:0.00 [[ 9.99977837e-01 -6.58671143e-03 -9.69857873e-04 1.51958961e+00] [ 6.58680076e-03 9.99978303e-01 8.89439343e-05 -1.44735979e-01] [ 9.69250982e-04 -9.53302236e-05 9.99999526e-01 3.63239741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1376280000000003 meters 0.0668684582751798 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.14, Z:0.00 [[ 9.99990455e-01 -3.72164639e-03 -2.28895318e-03 1.58070715e+00] [ 3.72213668e-03 9.99993051e-01 2.09977061e-04 -1.43635283e-01] [ 2.28815582e-03 -2.18494853e-04 9.99997358e-01 2.75926635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.197628 meters 0.06411868615293068 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.14, Z:0.00 [[ 9.99993136e-01 3.68755357e-03 -3.61092296e-04 1.64121642e+00] [-3.68754186e-03 9.99993200e-01 3.30877403e-05 -1.36947211e-01] [ 3.61211853e-04 -3.17559702e-05 9.99999934e-01 4.23003185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.257628 meters 0.05982063457348513 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.13, Z:0.00 [[ 9.99922364e-01 1.24553767e-02 -3.59112267e-04 1.70248480e+00] [-1.24553656e-02 9.99922428e-01 3.29331229e-05 -1.31952848e-01] [ 3.59494605e-04 -2.84576915e-05 9.99999935e-01 4.52420636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.317628 meters 0.054150316763779995 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.13, Z:0.00 [[ 9.99740395e-01 2.27776496e-02 -5.67005878e-04 1.76437027e+00] [-2.27776237e-02 9.99740555e-01 5.20282380e-05 -1.25298807e-01] [ 5.68043852e-04 -3.90996847e-05 9.99999838e-01 4.54960694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.377628 meters 0.04629666818309403 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.11, Z:0.00 [[ 9.99343965e-01 3.62164108e-02 1.02059240e-04 1.82494668e+00] [-3.62164101e-02 9.99343971e-01 -9.35984852e-06 -1.13924201e-01] [-1.02331267e-04 5.65748883e-06 9.99999995e-01 3.94223317e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.437628 meters 0.02564016890511949 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.09, Z:0.01 [[ 9.99132310e-01 4.16305509e-02 1.23470321e-03 1.88817191e+00] [-4.16304426e-02 9.99133071e-01 -1.13255167e-04 -9.03191112e-02] [-1.23834769e-03 6.17556550e-05 9.99999231e-01 5.36083738e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.497628 meters 0.023920389200360305 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.10, Z:0.00 [[ 9.99051344e-01 4.35344743e-02 1.07789814e-03 1.95017910e+00] [-4.35343931e-02 9.99051924e-01 -9.87302486e-05 -9.51569198e-02] [-1.08117438e-03 5.17109464e-05 9.99999414e-01 4.76450832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5576280000000002 meters 0.02573955120935008 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.11, Z:0.00 [[ 9.99164243e-01 4.08605025e-02 -1.11143416e-03 2.01047271e+00] [-4.08604138e-02 9.99164859e-01 1.02351388e-04 -1.05675669e-01] [ 1.11468808e-03 -5.68521880e-05 9.99999377e-01 1.73711378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.617628 meters 0.027492094283393692 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.12, Z:0.00 [[ 9.99276046e-01 3.79761191e-02 -2.28014254e-03 2.07072724e+00] [-3.79757388e-02 9.99278639e-01 2.09885814e-04 -1.17571776e-01] [ 2.28646838e-03 -1.23143769e-04 9.99997378e-01 6.34061395e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.677628 meters 0.029606777449530844 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.13, Z:-0.00 [[ 9.99406169e-01 3.42788312e-02 -3.50312925e-03 2.13086596e+00] [-3.42779106e-02 9.99412288e-01 3.22502025e-04 -1.30496708e-01] [ 3.51212541e-03 -2.02230562e-04 9.99993812e-01 -1.47514268e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.737628 meters 0.035025221801978895 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.15, Z:-0.00 [[ 9.99705872e-01 2.39097080e-02 -4.06149624e-03 2.18892571e+00] [-2.39083855e-02 9.99714084e-01 3.73857680e-04 -1.51175978e-01] [ 4.06927382e-03 -2.76643900e-04 9.99991682e-01 -5.24609815e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.797628 meters 0.04284094091627618 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.18, Z:-0.00 [[ 9.99942535e-01 9.27371700e-03 -5.37817766e-03 2.24678629e+00] [-9.27118743e-03 9.99956899e-01 4.95080149e-04 -1.75591314e-01] [ 5.38253709e-03 -4.45189606e-04 9.99985415e-01 -5.11292833e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.857628 meters 0.0491748525985687 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.20, Z:0.00 [[ 9.99984080e-01 -1.40034071e-03 -5.46617436e-03 2.30574490e+00] [ 1.40311219e-03 9.99998889e-01 5.03221515e-04 -1.96436181e-01] [ 5.46546361e-03 -5.10883159e-04 9.99984934e-01 7.28743601e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.917628 meters 0.055774423337791014 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.22, Z:0.00 [[ 9.99923375e-01 -1.12667606e-02 -5.12875879e-03 2.36505076e+00] [ 1.12693288e-02 9.99936388e-01 4.72116256e-04 -2.16547485e-01] [ 5.12311331e-03 -5.29877750e-04 9.99986736e-01 1.90709570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.977628 meters 0.0625306104501842 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.24, Z:0.00 [[ 9.99789666e-01 -2.00201855e-02 -4.45143163e-03 2.42338216e+00] [ 2.00222059e-02 9.99799452e-01 4.09788022e-04 -2.36362307e-01] [ 4.44233487e-03 -4.98829311e-04 9.99990008e-01 2.72097082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.037628 meters 0.06558883817741601 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.25, Z:0.01 [[ 9.99771769e-01 -2.12625377e-02 -2.07695290e-03 2.48033056e+00] [ 2.12629797e-02 9.99773899e-01 1.90968672e-04 -2.50087030e-01] [ 2.07242282e-03 -2.35087294e-04 9.99997825e-01 5.95863274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.097628 meters 0.06481630623455861 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.25, Z:0.00 [[ 9.99838649e-01 -1.77441159e-02 -2.79691421e-03 2.54082517e+00] [ 1.77449042e-02 9.99842514e-01 2.57253591e-04 -2.54794933e-01] [ 2.79190900e-03 -3.06843058e-04 9.99996056e-01 4.75067594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.157628 meters 0.06370914451090734 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.26, Z:0.00 [[ 9.99921678e-01 -1.20427414e-02 -3.40741134e-03 2.60149962e+00] [ 1.20438787e-02 9.99927421e-01 3.13442018e-04 -2.58319064e-01] [ 3.40338933e-03 -3.54455917e-04 9.99994146e-01 3.93319239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.217628 meters 0.0605787533914123 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.26, Z:0.00 [[ 9.99989563e-01 -3.65014219e-04 -4.55410219e-03 2.66155287e+00] [ 3.66925664e-04 9.99999845e-01 4.18891001e-04 -2.59166449e-01] [ 4.55394858e-03 -4.20557646e-04 9.99989542e-01 2.75200581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.277628 meters 0.05750376873001819 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.26, Z:0.00 [[ 9.99954626e-01 7.29057820e-03 -6.13139853e-03 2.72173446e+00] [-7.28725623e-03 9.99973289e-01 5.63962118e-04 -2.59811901e-01] [ 6.13534636e-03 -5.19255456e-04 9.99981044e-01 5.22318641e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3376280000000005 meters 0.05319098224006667 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.26, Z:-0.00 [[ 9.99813765e-01 1.82196481e-02 -6.36237623e-03 2.78191490e+00] [-1.82162909e-02 9.99833898e-01 5.85222830e-04 -2.59405262e-01] [ 6.37198199e-03 -4.69214945e-04 9.99979589e-01 -9.34637639e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.397628 meters 0.03314651760909044 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.24, Z:0.00 [[ 9.99687596e-01 2.43704020e-02 -5.54927743e-03 2.84482191e+00] [-2.43679416e-02 9.99702927e-01 5.10552353e-04 -2.39510570e-01] [ 5.56007125e-03 -3.75168386e-04 9.99984472e-01 1.86548593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.457628 meters 0.0316485992785482 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.25, Z:0.00 [[ 9.99540177e-01 2.97529296e-02 -5.84780955e-03 2.90499919e+00] [-2.97502890e-02 9.99557217e-01 5.38041654e-04 -2.45473994e-01] [ 5.86122856e-03 -3.63820226e-04 9.99982757e-01 2.26218910e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.517628 meters 0.03216865433629718 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.25, Z:0.00 [[ 9.99538377e-01 3.00171797e-02 -4.69059492e-03 2.96688210e+00] [-3.00154768e-02 9.99549340e-01 4.33033338e-04 -2.53489486e-01] [ 4.70147950e-03 -2.92042997e-04 9.99988905e-01 3.79299635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.577628 meters 0.03515003985972289 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.27, Z:0.01 [[ 9.99610128e-01 2.77769187e-02 -2.83466357e-03 3.02570584e+00] [-2.77762875e-02 9.99614130e-01 2.61810760e-04 -2.65956144e-01] [ 2.84084205e-03 -1.82972257e-04 9.99995948e-01 5.18370125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.637628 meters 0.03828955062399047 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.28, Z:0.00 [[ 9.99682449e-01 2.48931329e-02 -3.91577182e-03 3.08486506e+00] [-2.48919070e-02 9.99690083e-01 3.61483398e-04 -2.79841782e-01] [ 3.92355671e-03 -2.63897581e-04 9.99992268e-01 3.48004858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.697628 meters 0.040535608448943126 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.29, Z:0.00 [[ 9.99701611e-01 2.37163784e-02 -5.84995574e-03 3.14591037e+00] [-2.37136134e-02 9.99718646e-01 5.41582042e-04 -2.88557236e-01] [ 5.86115419e-03 -4.02696851e-04 9.99982742e-01 4.74260796e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.757628 meters 0.02772549129772792 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.28, Z:0.00 [[ 9.99704721e-01 2.33952453e-02 -6.56756430e-03 3.20856292e+00] [-2.33917424e-02 9.99726190e-01 6.09683722e-04 -2.84387074e-01] [ 6.58002973e-03 -4.55876923e-04 9.99978247e-01 2.69881428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.817628 meters 0.025716831850685275 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.29, Z:0.00 [[ 9.99712012e-01 2.24403704e-02 -8.50432204e-03 3.26986826e+00] [-2.24344464e-02 9.99748003e-01 7.91356054e-04 -2.91276353e-01] [ 8.51993729e-03 -6.00338396e-04 9.99963524e-01 1.21853192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.877628 meters 0.030535593892735195 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.31, Z:-0.00 [[ 9.99780013e-01 1.78364363e-02 -1.10356990e-02 3.32785650e+00] [-1.78261757e-02 9.99840573e-01 1.02743974e-03 -3.09948674e-01] [ 1.10522655e-02 -8.30489404e-04 9.99938577e-01 -2.14989999e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.937628 meters 0.030053120567092268 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.32, Z:0.00 [[ 9.99843930e-01 1.44508207e-02 -1.01631857e-02 3.38757797e+00] [-1.44419455e-02 9.99895262e-01 9.46127967e-04 -3.22112967e-01] [ 1.01757935e-02 -7.99204131e-04 9.99947906e-01 7.06010889e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.997628 meters 0.02904787251768478 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.33, Z:0.00 [[ 9.99921347e-01 8.97850297e-03 -8.75709829e-03 3.44822371e+00] [-8.97170246e-03 9.99959421e-01 8.15546520e-04 -3.32056769e-01] [ 8.76406532e-03 -7.36916294e-04 9.99961323e-01 3.37931389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.057628 meters 0.03003671434439281 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.34, Z:0.01 [[ 9.99975450e-01 4.93063006e-03 -4.97879598e-03 3.50755695e+00] [-4.92838195e-03 9.99987748e-01 4.63705402e-04 -3.42811598e-01] [ 4.98102134e-03 -4.39156610e-04 9.99987498e-01 7.55536017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.117628 meters 0.029861558616705006 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.35, Z:0.01 [[ 9.99963386e-01 7.84926755e-03 -3.40820079e-03 3.56773217e+00] [-7.84823085e-03 9.99969152e-01 3.17446725e-04 -3.48773875e-01] [ 3.41058738e-03 -2.90686755e-04 9.99994142e-01 8.48247381e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.177628 meters 0.029916666298929404 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.35, Z:0.01 [[ 9.99851012e-01 1.63347101e-02 -5.57958173e-03 3.62761286e+00] [-1.63320630e-02 9.99866488e-01 5.19659943e-04 -3.53316774e-01] [ 5.58732529e-03 -4.28456439e-04 9.99984299e-01 7.17618234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.237628 meters 0.026568493762023724 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.35, Z:0.01 [[ 9.99618988e-01 2.67867878e-02 -6.65939798e-03 3.68930347e+00] [-2.67832468e-02 9.99641072e-01 6.20365265e-04 -3.50520968e-01] [ 6.67362532e-03 -4.41768599e-04 9.99977634e-01 5.58880927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.297628 meters 0.02484257875425802 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.35, Z:0.01 [[ 9.99527489e-01 3.02851638e-02 -5.25431754e-03 3.75031796e+00] [-3.02830070e-02 9.99541245e-01 4.89576902e-04 -3.53640684e-01] [ 5.26673401e-03 -3.30229037e-04 9.99986076e-01 6.91257438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.357628 meters 0.025635942536905414 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.36, Z:0.01 [[ 9.99504373e-01 3.11839994e-02 -4.30896690e-03 3.81168354e+00] [-3.11825509e-02 9.99513625e-01 4.02959450e-04 -3.62860946e-01] [ 4.31943701e-03 -2.68395153e-04 9.99990635e-01 8.65793721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.417628 meters 0.02586092170284853 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.37, Z:0.00 [[ 9.99495689e-01 3.11326981e-02 -6.25481066e-03 3.87354786e+00] [-3.11296361e-02 9.99515183e-01 5.86328443e-04 -3.69046011e-01] [ 6.27003221e-03 -3.91322771e-04 9.99980267e-01 4.62923118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.477628 meters 0.025841797908963803 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.38, Z:0.01 [[ 9.99449519e-01 3.25534928e-02 -6.39762093e-03 3.93425002e+00] [-3.25503092e-02 9.99469918e-01 6.01151081e-04 -3.77814390e-01] [ 6.41379923e-03 -3.92575620e-04 9.99979354e-01 5.22518395e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.537628 meters 0.023813218487087683 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.38, Z:0.01 [[ 9.99401206e-01 3.40749439e-02 -6.01070093e-03 3.99489988e+00] [-3.40721616e-02 9.99419216e-01 5.64713159e-04 -3.84706647e-01] [ 6.02645258e-03 -3.59577439e-04 9.99981776e-01 5.87378219e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.597628 meters 0.024056513796570977 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.39, Z:0.01 [[ 9.99286529e-01 3.74954553e-02 -4.53030482e-03 4.05448299e+00] [-3.74939100e-02 9.99296766e-01 4.25582272e-04 -3.92024897e-01] [ 4.54307636e-03 -2.55419790e-04 9.99989648e-01 7.20710382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.657628 meters 0.022576092398842215 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.40, Z:0.01 [[ 9.99046528e-01 4.34437636e-02 -4.32128907e-03 4.11529674e+00] [-4.34424130e-02 9.99055850e-01 4.05947942e-04 -3.95116633e-01] [ 4.33484503e-03 -2.17833657e-04 9.99990581e-01 6.52872408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.717628 meters 0.021198591039633955 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.40, Z:0.01 [[ 9.98820741e-01 4.83264157e-02 -4.65680558e-03 4.17642155e+00] [-4.83248997e-02 9.98831574e-01 4.37578906e-04 -3.98705024e-01] [ 4.67251107e-03 -2.12023225e-04 9.99989061e-01 5.89509587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.777628 meters 0.02017562150838816 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.40, Z:0.00 [[ 9.98604450e-01 5.23706617e-02 -6.81655302e-03 4.23722180e+00] [-5.23675057e-02 9.98627675e-01 6.40774873e-04 -4.04287171e-01] [ 6.84075630e-03 -2.82914761e-04 9.99976562e-01 4.47917635e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.837628 meters 0.01955464326012579 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.41, Z:0.01 [[ 9.98392447e-01 5.64652273e-02 -4.91938754e-03 4.29837259e+00] [-5.64636327e-02 9.98404549e-01 4.62528430e-04 -4.07304496e-01] [ 4.93765568e-03 -1.84018399e-04 9.99987793e-01 5.48931781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.897628 meters 0.020900321356861998 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.42, Z:0.01 [[ 9.98467384e-01 5.51208746e-02 -4.95699915e-03 4.35889191e+00] [-5.51192350e-02 9.98479670e-01 4.66860265e-04 -4.16343804e-01] [ 4.97519662e-03 -1.92918747e-04 9.99987605e-01 5.18641357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.957628 meters 0.0224987117210806 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.43, Z:0.00 [[ 9.98598706e-01 5.26036607e-02 -5.78604109e-03 4.42026619e+00] [-5.26013832e-02 9.98615440e-01 5.45202004e-04 -4.25700659e-01] [ 5.80670959e-03 -2.40084251e-04 9.99983112e-01 4.21581251e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.017628 meters 0.02011440533462666 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.43, Z:0.00 [[ 9.98609588e-01 5.23910038e-02 -5.83729026e-03 4.48274623e+00] [-5.23886718e-02 9.98626618e-01 5.51791650e-04 -4.26898922e-01] [ 5.85818235e-03 -2.45216548e-04 9.99982811e-01 4.34740616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.077628 meters 0.021500427613698317 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.43, Z:0.00 [[ 9.98460381e-01 5.51747566e-02 -5.71085564e-03 4.54285668e+00] [-5.51725716e-02 9.98476688e-01 5.39565106e-04 -4.34041089e-01] [ 5.73192660e-03 -2.23651790e-04 9.99983547e-01 4.45251817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.137628 meters 0.019778024813636875 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.44, Z:0.00 [[ 9.98410305e-01 5.59994711e-02 -6.39700267e-03 4.60454264e+00] [-5.59967339e-02 9.98430768e-01 6.06348427e-04 -4.37524924e-01] [ 6.42091947e-03 -2.47173262e-04 9.99979355e-01 3.99009131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.197628 meters 0.020227391696268804 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.44, Z:0.00 [[ 9.98413194e-01 5.60521518e-02 -5.40839424e-03 4.66744837e+00] [-5.60501868e-02 9.98427820e-01 5.14342151e-04 -4.41112063e-01] [ 5.42872125e-03 -2.10384482e-04 9.99985242e-01 2.14972173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.257628 meters 0.018980213809198322 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.45, Z:0.00 [[ 9.98309544e-01 5.80063997e-02 -3.64863223e-03 4.72810209e+00] [-5.80055151e-02 9.98316202e-01 3.47889173e-04 -4.47591906e-01] [ 3.66266847e-03 -1.35660290e-04 9.99993283e-01 4.93771179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.317628 meters 0.01944363745544499 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.45, Z:0.00 [[ 9.98224781e-01 5.94238414e-02 -4.01176680e-03 4.78943636e+00] [-5.94227794e-02 9.98232832e-01 3.83513337e-04 -4.54087970e-01] [ 4.02746716e-03 -1.44442183e-04 9.99991879e-01 2.76142041e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.377628 meters 0.01733310198082606 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.46, Z:0.00 [[ 9.98009577e-01 6.29788775e-02 -3.24728200e-03 4.85121833e+00] [-6.29782006e-02 9.98014855e-01 3.10358710e-04 -4.57278845e-01] [ 3.26038171e-03 -1.05232987e-04 9.99994679e-01 3.80498270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.437628 meters 0.018182856819700766 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.46, Z:-0.00 [[ 9.97683792e-01 6.78924416e-02 -4.20318232e-03 4.91240120e+00] [-6.78913508e-02 9.97692640e-01 4.01812601e-04 -4.58945300e-01] [ 4.22076410e-03 -1.15522194e-04 9.99991086e-01 -2.12491952e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.497628 meters 0.017420451156163384 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.47, Z:-0.00 [[ 9.97598300e-01 6.89114487e-02 -6.98888975e-03 4.97371411e+00] [-6.89084426e-02 9.97622763e-01 6.70298845e-04 -4.69411780e-01] [ 7.01846677e-03 -1.87095480e-04 9.99975353e-01 -8.51574302e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.557628 meters 0.019331441671598622 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.48, Z:-0.00 [[ 9.97762303e-01 6.65480301e-02 -6.46120903e-03 5.03550401e+00] [-6.65454010e-02 9.97783205e-01 6.21267020e-04 -4.77184263e-01] [ 6.48822995e-03 -1.89913066e-04 9.99978933e-01 -2.44467636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.617628 meters 0.017158707152811817 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.48, Z:0.00 [[ 9.97798911e-01 6.61665875e-02 -4.39492076e-03 5.09761269e+00] [-6.61653610e-02 9.97808581e-01 4.24036660e-04 -4.83636889e-01] [ 4.41334670e-03 -1.32311799e-04 9.99990252e-01 1.65097449e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.677628 meters 0.017734197812731105 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.49, Z:0.01 [[ 9.97951918e-01 6.39675924e-02 3.42111237e-04 5.15862164e+00] [-6.39675849e-02 9.97951976e-01 -3.26664468e-05 -4.92772751e-01] [-3.43500179e-04 1.07155136e-05 9.99999941e-01 5.80793233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.737628 meters 0.01825395513146425 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.50, Z:0.01 [[ 9.97864998e-01 6.52991514e-02 1.21089012e-03 5.21961613e+00] [-6.52990576e-02 9.97865732e-01 -1.16916820e-04 -4.99773881e-01] [-1.21594032e-03 3.75972190e-05 9.99999260e-01 5.42316225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.797628 meters 0.016695574985780653 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.50, Z:0.00 [[ 9.97577417e-01 6.95647278e-02 2.14259124e-04 5.28162650e+00] [-6.95647250e-02 9.97577440e-01 -2.06197330e-05 -5.02189582e-01] [-2.15174475e-04 5.66490297e-06 9.99999977e-01 3.94464929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.857628 meters 0.015263876072908893 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.50, Z:0.00 [[ 9.97087556e-01 7.62382422e-02 -2.03364935e-03 5.34319562e+00] [-7.62379988e-02 9.97089629e-01 1.97095039e-04 -5.04505460e-01] [ 2.04275685e-03 -4.14796540e-05 9.99997913e-01 1.08776302e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.917628 meters 0.01457190385982391 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.51, Z:0.00 [[ 9.96804243e-01 7.98132737e-02 -3.33806803e-03 5.40493469e+00] [-7.98126342e-02 9.96809830e-01 3.24576681e-04 -5.08973061e-01] [ 3.35332456e-03 -5.71194100e-05 9.99994376e-01 3.87656227e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.977628 meters 0.014039970203765965 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.51, Z:0.00 [[ 9.96519328e-01 8.32611695e-02 -4.09954965e-03 5.46722555e+00] [-8.32602304e-02 9.96527759e-01 3.99494857e-04 -5.13341239e-01] [ 4.11857743e-03 -5.67748987e-05 9.99991517e-01 5.55325867e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.037628 meters 0.013600732418279233 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.52, Z:0.00 [[ 9.96543430e-01 8.30151288e-02 -3.11142456e-03 5.53035122e+00] [-8.30145857e-02 9.96548286e-01 3.03501527e-04 -5.19767742e-01] [ 3.12588003e-03 -4.41588317e-05 9.99995113e-01 1.83147757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.097628 meters 0.013802030373247431 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.53, Z:0.00 [[ 9.96538646e-01 8.31285490e-02 -6.09652009e-04 5.59165254e+00] [-8.31285278e-02 9.96538832e-01 6.00240978e-05 -5.26316641e-01] [ 6.12531617e-04 -9.13685911e-06 9.99999812e-01 3.66711723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.157628 meters 0.013046531948931229 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.53, Z:0.01 [[ 9.96280496e-01 8.61671770e-02 6.24605663e-04 5.65406971e+00] [-8.61671558e-02 9.96280692e-01 -6.07914084e-05 -5.29312137e-01] [-6.27520786e-04 6.74480103e-06 9.99999803e-01 5.19340179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2176279999999995 meters 0.012625630831634347 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.53, Z:0.01 [[ 9.96095565e-01 8.82798452e-02 5.42907785e-04 5.71580901e+00] [-8.82798295e-02 9.96095713e-01 -5.29170093e-05 -5.33053948e-01] [-5.45459622e-04 4.78259159e-06 9.99999851e-01 6.16074263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.277628 meters 0.012755783308455346 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.54, Z:0.00 [[ 9.96138910e-01 8.77888985e-02 -6.17993586e-04 5.77837966e+00] [-8.77888773e-02 9.96139101e-01 6.13722556e-05 -5.39719930e-01] [ 6.20995378e-04 -6.88232871e-06 9.99999807e-01 4.45297986e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.337628 meters 0.013638079025590418 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.55, Z:0.00 [[ 9.96560559e-01 8.28303467e-02 -2.48711952e-03 5.83929247e+00] [-8.28299917e-02 9.96563662e-01 2.45586720e-04 -5.50592563e-01] [ 2.49891497e-03 -3.87339501e-05 9.99996877e-01 3.09071093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.397628 meters 0.01499320575938719 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.56, Z:0.00 [[ 9.96730770e-01 8.06998682e-02 -3.91188404e-03 5.89976399e+00] [-8.06989698e-02 9.96738444e-01 3.87213931e-04 -5.59279980e-01] [ 3.93037332e-03 -7.02630280e-05 9.99992274e-01 1.57634078e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.457628 meters 0.017574123985449254 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.56, Z:-0.00 [[ 9.97002316e-01 7.69814411e-02 -7.76140817e-03 5.96153744e+00] [-7.69777926e-02 9.97032512e-01 7.68172290e-04 -5.64387364e-01] [ 7.79751129e-03 -1.68413484e-04 9.99969585e-01 -3.28802688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.517628 meters 0.015141867795659125 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.57, Z:-0.00 [[ 9.97031788e-01 7.67333423e-02 -6.29351523e-03 6.02388658e+00] [-7.67309246e-02 9.97051641e-01 6.25078963e-04 -5.68757388e-01] [ 6.32292408e-03 -1.40316353e-04 9.99980000e-01 -3.92046759e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.577628 meters 0.017492169354737176 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.58, Z:0.00 [[ 9.97542263e-01 6.99174039e-02 -4.58153051e-03 6.08335652e+00] [-6.99160511e-02 9.97552775e-01 4.54971679e-04 -5.79771402e-01] [ 4.60212891e-03 -1.33530957e-04 9.99989401e-01 2.15427142e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.637628 meters 0.01909796203010436 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.59, Z:0.00 [[ 9.97915321e-01 6.45087958e-02 -1.90455941e-03 6.14398505e+00] [-6.45085521e-02 9.97917136e-01 1.89165045e-04 -5.87786555e-01] [ 1.91279528e-03 -6.59103266e-05 9.99998168e-01 4.38857622e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.697628 meters 0.021278006080314698 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.60, Z:0.01 [[ 9.98328502e-01 5.77854415e-02 -1.02243241e-03 6.20443328e+00] [-5.77853677e-02 9.98329024e-01 1.01553813e-04 -5.96356709e-01] [ 1.02659229e-03 -4.23024332e-05 9.99999472e-01 6.21541480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7576279999999995 meters 0.02101283748076752 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.60, Z:0.00 [[ 9.98617317e-01 5.24450193e-02 -3.60189611e-03 6.26474126e+00] [-5.24440693e-02 9.98623799e-01 3.57765687e-04 -5.99737993e-01] [ 3.61570221e-03 -1.68372921e-04 9.99993449e-01 4.96038533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.817628 meters 0.023211686827567544 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.61, Z:0.00 [[ 9.98902298e-01 4.66107737e-02 -4.65138271e-03 6.32494916e+00] [-4.66091262e-02 9.98913097e-01 4.62021773e-04 -6.08938339e-01] [ 4.66786230e-03 -2.44717727e-04 9.99989076e-01 4.59892024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.877628 meters 0.02402369177531585 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.62, Z:0.00 [[ 9.99146949e-01 4.09972533e-02 -4.95977867e-03 6.38526594e+00] [-4.09953111e-02 9.99159217e-01 4.92677467e-04 -6.15937760e-01] [ 4.97580700e-03 -2.88929518e-04 9.99987579e-01 4.74559113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.937628 meters 0.025422264825605 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.62, Z:0.01 [[ 9.99314538e-01 3.68316020e-02 -3.72665243e-03 6.44565558e+00] [-3.68304765e-02 9.99321459e-01 3.70217109e-04 -6.22319382e-01] [ 3.73775944e-03 -2.32708954e-04 9.99992987e-01 6.73276766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.997628 meters 0.027286259034951355 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.63, Z:0.01 [[ 9.99258506e-01 3.84045414e-02 -2.74382048e-03 6.50736168e+00] [-3.84039342e-02 9.99262259e-01 2.73659789e-04 -6.25797378e-01] [ 2.75230603e-03 -1.68083371e-04 9.99996198e-01 6.09192180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.057628 meters 0.02420043665800645 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.63, Z:0.01 [[ 9.99113494e-01 4.20443318e-02 -2.12124784e-03 6.56795121e+00] [-4.20439778e-02 9.99115739e-01 2.11249033e-04 -6.26555812e-01] [ 2.12825393e-03 -1.21876063e-04 9.99997728e-01 8.45187538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.117628 meters 0.023234414420156245 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.63, Z:0.01 [[ 9.98944718e-01 4.58119332e-02 -3.27385495e-03 6.62927856e+00] [-4.58111096e-02 9.98950067e-01 3.26147730e-04 -6.28156567e-01] [ 3.28535908e-03 -1.75824624e-04 9.99994588e-01 6.91524642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.177628 meters 0.0213163014611294 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.63, Z:0.01 [[ 9.98628065e-01 5.22055591e-02 -4.07040612e-03 6.69026276e+00] [-5.22043392e-02 9.98636342e-01 4.05452838e-04 -6.27057074e-01] [ 4.08602236e-03 -1.92403722e-04 9.99991634e-01 5.78273703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.237627999999999 meters 0.020163655782692073 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.63, Z:0.01 [[ 9.98403543e-01 5.63387339e-02 -4.03884986e-03 6.75118612e+00] [-5.63375662e-02 9.98411697e-01 4.02411809e-04 -6.29785872e-01] [ 4.05510631e-03 -1.74230404e-04 9.99991763e-01 5.60745903e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.297628 meters 0.018897653918797 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.63, Z:0.01 [[ 9.98031156e-01 6.26028890e-02 -3.83269416e-03 6.81204421e+00] [-6.26018834e-02 9.98038505e-01 3.81891899e-04 -6.32698386e-01] [ 3.84908389e-03 -1.41206140e-04 9.99992582e-01 5.14135130e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.357628 meters 0.016838456845101414 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.63, Z:0.00 [[ 9.97491164e-01 7.06172551e-02 -4.95783068e-03 6.87242788e+00] [-7.06156711e-02 9.97503475e-01 4.94033389e-04 -6.34303788e-01] [ 4.98034061e-03 -1.42693400e-04 9.99987588e-01 3.83403644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.417628 meters 0.01511843676095146 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.64, Z:0.00 [[ 9.97090143e-01 7.60344895e-02 -5.47753510e-03 6.93435109e+00] [-7.60326356e-02 9.97105180e-01 5.46187674e-04 -6.37362395e-01] [ 5.50320772e-03 -1.28126916e-04 9.99984849e-01 2.82865407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.477628 meters 0.014965761917266888 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.64, Z:0.00 [[ 9.96894942e-01 7.85561525e-02 -5.42261714e-03 6.99489521e+00] [-7.85543680e-02 9.96909684e-01 5.41618759e-04 -6.43223446e-01] [ 5.44840703e-03 -1.13966738e-04 9.99985151e-01 1.90412192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.537628 meters 0.013232861132979334 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.65, Z:0.00 [[ 9.96480098e-01 8.37090229e-02 -4.49608297e-03 7.05583315e+00] [-8.37078484e-02 9.96490238e-01 4.49105412e-04 -6.47910746e-01] [ 4.51789696e-03 -7.11671733e-05 9.99989792e-01 3.20878045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.597628 meters 0.013042725590186894 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.66, Z:0.00 [[ 9.96201744e-01 8.69676158e-02 -4.32654510e-03 7.11664301e+00] [-8.69665531e-02 9.96211138e-01 4.33496657e-04 -6.56704520e-01] [ 4.34785258e-03 -5.55854117e-05 9.99990546e-01 3.49035756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.657628 meters 0.012565086795418002 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.66, Z:0.00 [[ 9.96020587e-01 8.90519112e-02 -3.57045340e-03 7.17822540e+00] [-8.90511973e-02 9.96026985e-01 3.58728169e-04 -6.63699725e-01] [ 3.58821336e-03 -3.93474915e-05 9.99993562e-01 4.59417262e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.717628 meters 0.01245374555765392 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.67, Z:0.00 [[ 9.95919639e-01 9.01797378e-02 -3.41870692e-03 7.23935036e+00] [-9.01790871e-02 9.95925506e-01 3.44343833e-04 -6.73468155e-01] [ 3.43583025e-03 -3.46429166e-05 9.99994097e-01 3.62418034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.777628 meters 0.012631296039961187 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.68, Z:0.00 [[ 9.95981740e-01 8.94720132e-02 -3.89009902e-03 7.30071573e+00] [-8.94711617e-02 9.95989336e-01 3.92722626e-04 -6.83587320e-01] [ 3.90963483e-03 -4.30928852e-05 9.99992356e-01 2.32778563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.837628 meters 0.013011087020474604 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.70, Z:0.00 [[ 9.96098069e-01 8.81364565e-02 -4.53890790e-03 7.36137429e+00] [-8.81352786e-02 9.96108409e-01 4.59263463e-04 -6.96269969e-01] [ 4.56172218e-03 -5.74335362e-05 9.99989594e-01 2.38225898e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.897628 meters 0.013158542251452968 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.71, Z:0.01 [[ 9.96251996e-01 8.64432074e-02 -3.08730515e-03 7.42206110e+00] [-8.64426515e-02 9.96256779e-01 3.13299467e-04 -7.08954437e-01] [ 3.10283129e-03 -4.52503772e-05 9.99995185e-01 5.19471032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.957628 meters 0.012651214786047162 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.71, Z:0.01 [[ 9.95923529e-01 9.01892968e-02 -1.48852214e-03 7.48445079e+00] [-9.01891716e-02 9.95924641e-01 1.51133363e-04 -7.14389955e-01] [ 1.49608649e-03 -1.62686932e-05 9.99998881e-01 6.35387014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.017628 meters 0.012190772099271432 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.72, Z:0.01 [[ 9.95569903e-01 9.40171150e-02 -1.16211337e-03 7.54657902e+00] [-9.40170407e-02 9.95570581e-01 1.18583092e-04 -7.18000628e-01] [ 1.16811472e-03 -8.79929775e-06 9.99999318e-01 6.08760649e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.077628 meters 0.012157365013525726 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.72, Z:0.00 [[ 9.95488219e-01 9.48588308e-02 -2.23768443e-03 7.60945332e+00] [-9.48585564e-02 9.95490734e-01 2.28655085e-04 -7.24909106e-01] [ 2.24928407e-03 -1.53599290e-05 9.99997470e-01 4.95112975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.137628 meters 0.012449836271314267 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.73, Z:0.00 [[ 9.95664476e-01 9.29712026e-02 -2.93370230e-03 7.67066222e+00] [-9.29707213e-02 9.95668798e-01 3.00305858e-04 -7.32004342e-01] [ 2.94891564e-03 -2.62554557e-05 9.99995652e-01 4.13360160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.197628 meters 0.013561541676106414 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.74, Z:0.00 [[ 9.96094739e-01 8.82233928e-02 -3.45032095e-03 7.73118946e+00] [-8.82226962e-02 9.96100713e-01 3.53871377e-04 -7.41903244e-01] [ 3.46808689e-03 -4.80927996e-05 9.99993985e-01 4.50611279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.257628 meters 0.013732071264210789 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.75, Z:0.01 [[ 9.96266376e-01 8.62750495e-02 -3.15018048e-03 7.79263805e+00] [-8.62744565e-02 9.96271355e-01 3.23922546e-04 -7.47929168e-01] [ 3.16638101e-03 -5.09330321e-05 9.99994986e-01 5.27942378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.317628 meters 0.013842963393150168 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.75, Z:0.01 [[ 9.96431044e-01 8.43584483e-02 -2.97106883e-03 7.85418648e+00] [-8.43579099e-02 9.96435472e-01 3.06292601e-04 -7.53314618e-01] [ 2.98631674e-03 -5.45662987e-05 9.99995539e-01 5.31887463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.377628 meters 0.014495765055001063 Centerline is valid? [True, True] Translation: X:7.91, Y:-0.76, Z:0.00 [[ 9.96545422e-01 8.30070356e-02 -2.65595979e-03 7.91493219e+00] [-8.30065989e-02 9.96548960e-01 2.74430230e-04 -7.60548667e-01] [ 2.66957361e-03 -5.30200002e-05 9.99996435e-01 4.41273861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.437628 meters 0.014531916620847228 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.77, Z:0.00 [[ 9.96647355e-01 8.17822227e-02 -2.39112479e-03 7.97688114e+00] [-8.17818636e-02 9.96650222e-01 2.47737528e-04 -7.67369604e-01] [ 2.40337558e-03 -5.13563111e-05 9.99997111e-01 4.87220261e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.497628 meters 0.014665460584535312 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.77, Z:0.01 [[ 9.96706040e-01 8.10864549e-02 -1.43429896e-03 8.03873360e+00] [-8.10863242e-02 9.96707071e-01 1.49132579e-04 -7.74440086e-01] [ 1.44166855e-03 -3.23393121e-05 9.99998960e-01 5.89371039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.557628 meters 0.015367642522869701 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.78, Z:0.01 [[ 9.96626328e-01 8.20628415e-02 -1.28553316e-03 8.09931515e+00] [-8.20627373e-02 9.96627157e-01 1.33706882e-04 -7.82167774e-01] [ 1.29216962e-03 -2.77614295e-05 9.99999165e-01 5.46552357e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.617628 meters 0.014904320621728147 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.79, Z:0.01 [[ 9.96597311e-01 8.24041418e-02 -1.83212103e-03 8.16140280e+00] [-8.24039295e-02 9.96598995e-01 1.91208584e-04 -7.88526695e-01] [ 1.84164636e-03 -3.95839878e-05 9.99998303e-01 5.74585686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.677628 meters 0.015372185091073338 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.80, Z:0.01 [[ 9.96685980e-01 8.13251581e-02 -1.80982476e-03 8.22254655e+00] [-8.13249485e-02 9.96687623e-01 1.89209483e-04 -7.96212078e-01] [ 1.81921742e-03 -4.13985341e-05 9.99998344e-01 5.66942223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.737627999999999 meters 0.01663921421043949 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.80, Z:0.00 [[ 9.96948384e-01 7.80318254e-02 -2.22570015e-03 8.28420090e+00] [-7.80315007e-02 9.96950867e-01 2.32492084e-04 -8.04772725e-01] [ 2.23705548e-03 -5.81078850e-05 9.99997496e-01 4.67984112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.797628 meters 0.01686675890664707 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.81, Z:0.00 [[ 9.96931292e-01 7.82505477e-02 -2.20260349e-03 8.34711344e+00] [-7.82502281e-02 9.96933723e-01 2.31026166e-04 -8.09265860e-01] [ 2.21392762e-03 -5.79629890e-05 9.99997548e-01 4.50928444e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.857628 meters 0.018898944113099447 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.82, Z:0.00 [[ 9.97179838e-01 7.49200877e-02 -4.39891739e-03 8.40755785e+00] [-7.49187788e-02 9.97189532e-01 4.61812050e-04 -8.18883596e-01] [ 4.42115337e-03 -1.30948147e-04 9.99990218e-01 3.12470053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.917628 meters 0.018046362134794675 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.82, Z:0.01 [[ 9.97518720e-01 7.02914045e-02 -3.93973209e-03 8.46813147e+00] [-7.02903188e-02 9.97526491e-01 4.13543258e-04 -8.22822238e-01] [ 3.95905566e-03 -1.35592117e-04 9.99992154e-01 5.11121252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.977628 meters 0.019050469575299486 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.83, Z:0.01 [[ 9.97781060e-01 6.65031736e-02 -3.20691130e-03 8.52870992e+00] [-6.65024346e-02 9.97786206e-01 3.36644145e-04 -8.28939270e-01] [ 3.22219976e-03 -1.22629743e-04 9.99994801e-01 6.26058039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.037628 meters 0.0192857375781458 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.83, Z:0.01 [[ 9.97826948e-01 6.57925984e-02 -3.56593807e-03 8.59042980e+00] [-6.57916756e-02 9.97833310e-01 3.75607130e-04 -8.34631999e-01] [ 3.58292396e-03 -1.40181876e-04 9.99993571e-01 5.90417174e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.097628 meters 0.019025845617350087 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.84, Z:0.01 [[ 9.97784158e-01 6.64151748e-02 -3.97486294e-03 8.65247462e+00] [-6.64140293e-02 9.97792063e-01 4.19634112e-04 -8.39564898e-01] [ 3.99395676e-03 -1.54717605e-04 9.99992012e-01 5.31992003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.157627999999999 meters 0.019655823019439495 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.85, Z:0.00 [[ 9.97550070e-01 6.97566300e-02 -5.27922610e-03 8.71225970e+00] [-6.97546583e-02 9.97564022e-01 5.56908355e-04 -8.45141770e-01] [ 5.30521407e-03 -1.87293355e-04 9.99985910e-01 3.88499125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.217628 meters 0.01875797566844197 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.85, Z:0.00 [[ 9.97271699e-01 7.36699330e-02 -4.67968508e-03 8.77363816e+00] [-7.36684258e-02 9.97282668e-01 4.93854977e-04 -8.49245054e-01] [ 4.70335109e-03 -1.47762559e-04 9.99988928e-01 4.28061203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.277628 meters 0.016045108022863873 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.85, Z:0.01 [[ 9.96907053e-01 7.85780535e-02 -1.34826545e-03 8.83498050e+00] [-7.85779328e-02 9.96907964e-01 1.42375927e-04 -8.51017536e-01] [ 1.35528418e-03 -3.59916539e-05 9.99999081e-01 7.36292799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.337628 meters 0.015387513592739164 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.86, Z:0.01 [[ 9.96623509e-01 8.21046433e-02 6.38958331e-04 8.89671951e+00] [-8.21046171e-02 9.96623714e-01 -6.71896534e-05 -8.55133598e-01] [-6.42317607e-04 1.45013591e-05 9.99999794e-01 6.86304423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.397628 meters 0.015157088576464894 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.86, Z:0.01 [[ 9.96488090e-01 8.37344071e-02 1.91095540e-04 8.95904837e+00] [-8.37344048e-02 9.96488108e-01 -2.00877387e-05 -8.61238332e-01] [-1.92106468e-04 4.01592103e-06 9.99999982e-01 6.44899427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.457628 meters 0.013845624006367413 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.87, Z:0.01 [[ 9.95914269e-01 9.03020658e-02 -5.53698331e-04 9.02037700e+00] [-9.03020471e-02 9.95914422e-01 5.87136870e-05 -8.65327801e-01] [ 5.56738121e-04 -8.47370589e-06 9.99999845e-01 5.93515857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.517628 meters 0.013424490294790386 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.87, Z:0.01 [[ 9.95653328e-01 9.31363300e-02 -2.71843353e-04 9.08183335e+00] [-9.31363255e-02 9.95653365e-01 2.92748994e-05 -8.70932064e-01] [ 2.73388306e-04 -3.82916000e-06 9.99999963e-01 5.22081070e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.577627999999999 meters 0.013420974887927485 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.88, Z:0.00 [[ 9.95628966e-01 9.33966396e-02 -1.73683952e-04 9.14413436e+00] [-9.33966377e-02 9.95628981e-01 1.89632259e-05 -8.80041516e-01] [ 1.74695878e-04 -2.65883985e-06 9.99999985e-01 4.99054661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.637628 meters 0.013386364710147374 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.89, Z:0.00 [[ 9.95601774e-01 9.36585914e-02 -2.27495295e-03 9.20671254e+00] [-9.36582799e-02 9.95604373e-01 2.43319760e-04 -8.88836173e-01] [ 2.28774209e-03 -2.91814046e-05 9.99997383e-01 2.63511563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.697628 meters 0.015618994370929036 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.89, Z:-0.00 [[ 9.94997667e-01 9.97719705e-02 -5.01953339e-03 9.26858126e+00] [-9.97705284e-02 9.95010328e-01 5.37506585e-04 -8.91776726e-01] [ 5.04811566e-03 -3.40162990e-05 9.99987258e-01 -1.76948540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.757628 meters 0.01592536928627129 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.90, Z:-0.00 [[ 9.94659843e-01 1.03079638e-01 -5.13669744e-03 9.33032070e+00] [-1.03078165e-01 9.94673106e-01 5.51344599e-04 -8.98193042e-01] [ 5.16616720e-03 -1.89189859e-05 9.99986655e-01 -1.92109347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.817628 meters 0.012673524162327473 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.91, Z:0.00 [[ 9.94685552e-01 1.02920743e-01 -2.82385384e-03 9.39111568e+00] [-1.02920297e-01 9.94689560e-01 3.03498627e-04 -9.06075788e-01] [ 2.84009423e-03 -1.12538248e-05 9.99995967e-01 1.65701572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.877628 meters 0.012606502562294848 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.91, Z:0.00 [[ 9.94567775e-01 1.04082532e-01 -1.32955713e-03 9.45367193e+00] [-1.04082433e-01 9.94568664e-01 1.43633146e-04 -9.13289575e-01] [ 1.33728556e-03 -4.46935710e-06 9.99999106e-01 4.11929545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.937628 meters 0.012560455190338422 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.92, Z:0.00 [[ 9.94473573e-01 1.04987043e-01 -1.84832996e-04 9.51632628e+00] [-1.04987041e-01 9.94473590e-01 2.04331314e-05 -9.19633857e-01] [ 1.85956747e-04 -9.15139793e-07 9.99999983e-01 4.56912281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.997628 meters 0.012630973502457881 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.93, Z:0.00 [[ 9.94580719e-01 1.03964745e-01 7.24260415e-04 9.57922760e+00] [-1.03964716e-01 9.94580983e-01 -7.79296181e-05 -9.26217485e-01] [-7.28437569e-04 2.20976748e-06 9.99999735e-01 4.58488525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.057628 meters 0.01285831489404502 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.93, Z:0.00 [[ 9.94861075e-01 1.01249397e-01 -1.20974928e-05 9.63959026e+00] [-1.01249397e-01 9.94861076e-01 1.53389776e-06 -9.33810908e-01] [ 1.21906309e-05 -3.01151334e-07 1.00000000e+00 3.42950784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.117628 meters 0.013112606555649912 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.94, Z:0.00 [[ 9.95225994e-01 9.75831683e-02 -1.65707008e-03 9.70150738e+00] [-9.75830031e-02 9.95227373e-01 1.80434868e-04 -9.41409723e-01] [ 1.66676891e-03 -1.78715957e-05 9.99998611e-01 2.28039683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.177628 meters 0.015042977121341873 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.95, Z:0.00 [[ 9.96142546e-01 8.77156364e-02 -2.44854880e-03 9.76151626e+00] [-8.77152473e-02 9.96145554e-01 2.66071505e-04 -9.54236771e-01] [ 2.46244963e-03 -5.02700827e-05 9.99996967e-01 2.97777169e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.237627999999999 meters 0.01642984920862676 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.96, Z:0.00 [[ 9.96884309e-01 7.88743487e-02 -7.14660634e-04 9.82154908e+00] [-7.88743133e-02 9.96884565e-01 7.76931745e-05 -9.62391313e-01] [ 7.18562154e-04 -2.10827399e-05 9.99999742e-01 4.16779847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.297628 meters 0.021273923248237046 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.98, Z:0.00 [[ 9.97990613e-01 6.33113609e-02 2.53140601e-03 9.88035344e+00] [-6.33108664e-02 9.97993817e-01 -2.75111907e-04 -9.75044745e-01] [-2.54374525e-03 1.14293594e-04 9.99996758e-01 4.28414056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.357628 meters 0.022874327193264033 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.98, Z:0.00 [[ 9.98441421e-01 5.57665037e-02 2.19667697e-03 9.94099199e+00] [-5.57661129e-02 9.98443831e-01 -2.38783523e-04 -9.83656203e-01] [-2.20657470e-03 1.15911224e-04 9.99997559e-01 3.94528718e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.417628 meters 0.024243784104140985 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.99, Z:0.00 [[ 9.98739592e-01 5.01915198e-02 -1.97178213e-04 1.00011286e+01] [-5.01915165e-02 9.98739611e-01 2.14510602e-05 -9.90335451e-01] [ 1.98006354e-04 -1.15273495e-05 9.99999980e-01 1.65030389e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.477628 meters 0.02523716379807531 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.99, Z:-0.00 [[ 9.98742168e-01 5.01393097e-02 -3.63520684e-04 1.00628731e+01] [-5.01392985e-02 9.98742234e-01 4.00295000e-05 -9.93653407e-01] [ 3.65070511e-04 -2.17524776e-05 9.99999933e-01 -1.97341288e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.537628 meters 0.02597545562377373 Centerline is valid? [True, True] Translation: X:10.12, Y:-1.00, Z:-0.00 [[ 9.98646306e-01 5.20116978e-02 5.81725489e-04 1.01242066e+01] [-5.20116697e-02 9.98646475e-01 -6.33580951e-05 -9.98851264e-01] [-5.84233471e-04 3.30158137e-05 9.99999829e-01 -6.47939604e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.597628 meters 0.02361082630634879 Centerline is valid? [True, True] Translation: X:10.19, Y:-1.00, Z:0.00 [[ 9.98348997e-01 5.74358620e-02 6.33242575e-04 1.01852107e+01] [-5.74358297e-02 9.98349198e-01 -6.90308370e-05 -1.00120221e+00] [-6.36162062e-04 3.25460542e-05 9.99999797e-01 5.31924041e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.657627999999999 meters 0.020921666515707708 Centerline is valid? [True, True] Translation: X:10.25, Y:-1.00, Z:0.00 [[ 9.98060071e-01 6.22373065e-02 1.61653052e-03 1.02468455e+01] [-6.22371026e-02 9.98061377e-01 -1.76227479e-04 -1.00153958e+00] [-1.62436460e-03 7.52774348e-05 9.99998678e-01 4.30421453e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.717628 meters 0.019106385125607483 Centerline is valid? [True, True] Translation: X:10.31, Y:-1.00, Z:-0.00 [[ 9.97452681e-01 7.12535321e-02 3.32915203e-03 1.03080920e+01] [-7.12527167e-02 9.97458229e-01 -3.63045914e-04 -1.00117153e+00] [-3.34655839e-03 1.24909994e-04 9.99994392e-01 -5.08897395e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.777628 meters 0.019348208916467574 Centerline is valid? [True, True] Translation: X:10.37, Y:-1.01, Z:-0.00 [[ 9.97133623e-01 7.55602210e-02 3.89759101e-03 1.03696687e+01] [-7.55591357e-02 9.97141232e-01 -4.25186237e-04 -1.00560898e+00] [-3.91857587e-03 1.29468885e-04 9.99992314e-01 -1.27248425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.837628 meters 0.018543693848757283 Centerline is valid? [True, True] Translation: X:10.43, Y:-1.01, Z:-0.00 [[ 9.96844428e-01 7.93121629e-02 3.28129801e-03 1.04314334e+01] [-7.93114132e-02 9.96849824e-01 -3.58153716e-04 -1.01030111e+00] [-3.29936729e-03 9.67791536e-05 9.99994552e-01 -1.01439274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.897628 meters 0.01737152659695486 Centerline is valid? [True, True] Translation: X:10.49, Y:-1.02, Z:-0.00 [[ 9.96765329e-01 8.03021066e-02 3.23287975e-03 1.04924174e+01] [-8.03013825e-02 9.96770567e-01 -3.53352571e-04 -1.01661642e+00] [-3.25081434e-03 9.26048782e-05 9.99994712e-01 -2.36484510e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.957628 meters 0.019338503057679854 Centerline is valid? [True, True] Translation: X:10.55, Y:-1.03, Z:0.00 [[ 9.97080082e-01 7.62686806e-02 3.79456916e-03 1.05519962e+01] [-7.62676521e-02 9.97087294e-01 -4.15225482e-04 -1.02816556e+00] [-3.81518539e-03 1.24610177e-04 9.99992714e-01 5.77536269e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.017628 meters 0.022222188778192188 Centerline is valid? [True, True] Translation: X:10.61, Y:-1.04, Z:-0.00 [[ 9.97594898e-01 6.92703863e-02 2.45625381e-03 1.06116962e+01] [-6.92699341e-02 9.97597917e-01 -2.68803570e-04 -1.04215794e+00] [-2.46897381e-03 9.80125307e-05 9.99996947e-01 -6.58371030e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.077627999999999 meters 0.023747612267118617 Centerline is valid? [True, True] Translation: X:10.67, Y:-1.05, Z:-0.00 [[ 9.97877204e-01 6.51214052e-02 5.36394944e-04 1.06718915e+01] [-6.51213830e-02 9.97877348e-01 -5.86849776e-05 -1.05407320e+00] [-5.39078012e-04 2.36296208e-05 9.99999854e-01 -2.62621987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.137628 meters 0.0267386789419476 Centerline is valid? [True, True] Translation: X:10.73, Y:-1.07, Z:-0.00 [[ 9.97967913e-01 6.37132159e-02 -8.18647546e-04 1.07315483e+01] [-6.37131633e-02 9.97968248e-01 9.01481022e-05 -1.06933096e+00] [ 8.22727882e-04 -3.78062887e-05 9.99999661e-01 -2.72171804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.197628 meters 0.0220010542631396 Centerline is valid? [True, True] Translation: X:10.79, Y:-1.07, Z:-0.01 [[ 9.97828919e-01 6.57940124e-02 -2.93187513e-03 1.07937989e+01] [-6.57933476e-02 9.97833218e-01 3.22713829e-04 -1.06772917e+00] [ 2.94675503e-03 -1.29115312e-04 9.99995650e-01 -6.06019233e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.257628 meters 0.02263424697890789 Centerline is valid? [True, True] Translation: X:10.85, Y:-1.08, Z:-0.01 [[ 9.97529546e-01 7.01162944e-02 -4.30231396e-03 1.08525473e+01] [-7.01149062e-02 9.97538809e-01 4.72841033e-04 -1.07589808e+00] [ 4.32487901e-03 -1.70016561e-04 9.99990633e-01 -7.31564869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.317628 meters 0.018134727487403367 Centerline is valid? [True, True] Translation: X:10.91, Y:-1.08, Z:-0.00 [[ 9.97092021e-01 7.60993580e-02 -4.04828270e-03 1.09131149e+01] [-7.60981774e-02 9.97100230e-01 4.45088428e-04 -1.08122325e+00] [ 4.07041455e-03 -1.35727185e-04 9.99991707e-01 -4.05013431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.377628 meters 0.017022524385545846 Centerline is valid? [True, True] Translation: X:10.97, Y:-1.09, Z:-0.00 [[ 9.96710158e-01 8.09499381e-02 -3.99599707e-03 1.09738885e+01] [-8.09488260e-02 9.96718162e-01 4.39503190e-04 -1.08766432e+00] [ 4.01846061e-03 -1.14586022e-04 9.99991919e-01 -3.63824971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.437628 meters 0.015197656950718017 Centerline is valid? [True, True] Translation: X:11.03, Y:-1.09, Z:-0.00 [[ 9.96016882e-01 8.91570188e-02 -1.18176788e-03 1.10331074e+01] [-8.91569274e-02 9.96017583e-01 1.29910237e-04 -1.09343535e+00] [ 1.18864399e-03 -2.40299960e-05 9.99999293e-01 -2.49173192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.497628 meters 0.016758097580777356 Centerline is valid? [True, True] Translation: X:11.09, Y:-1.10, Z:-0.00 [[ 9.95508904e-01 9.46613763e-02 -1.11652338e-03 1.10946406e+01] [-9.46612980e-02 9.95509530e-01 1.22909502e-04 -1.09939827e+00] [ 1.12314445e-03 -1.66659515e-05 9.99999369e-01 -4.08309712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.557628 meters 0.011996263057472232 Centerline is valid? [True, True] Translation: X:11.16, Y:-1.10, Z:-0.00 [[ 9.94317596e-01 1.06454275e-01 7.74460211e-05 1.11567308e+01] [-1.06454275e-01 9.94317599e-01 -8.43334921e-06 -1.10145283e+00] [-7.79037078e-05 1.40967517e-07 9.99999997e-01 -1.21333839e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.617628 meters 0.012287528492530566 Centerline is valid? [True, True] Translation: X:11.22, Y:-1.10, Z:-0.00 [[ 9.93188720e-01 1.16499989e-01 -1.97961331e-03 1.12178968e+01] [-1.16499785e-01 9.93190693e-01 2.18370706e-04 -1.10245134e+00] [ 1.99157370e-03 1.37412023e-05 9.99998017e-01 -2.96844333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.677628 meters 0.012724886006954882 Centerline is valid? [True, True] Translation: X:11.28, Y:-1.11, Z:-0.00 [[ 9.92656700e-01 1.20909077e-01 -3.69752798e-03 1.12798181e+01] [-1.20908393e-01 9.92663585e-01 4.08805267e-04 -1.10724796e+00] [ 3.71982965e-03 4.12588795e-05 9.99993081e-01 -3.80151154e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.737627999999999 meters 0.012919483686533772 Centerline is valid? [True, True] Translation: X:11.34, Y:-1.11, Z:-0.01 [[ 9.92517654e-01 1.21968831e-01 -5.68433452e-03 1.13413859e+01] [-1.21967225e-01 9.92533929e-01 6.29662431e-04 -1.11208240e+00] [ 5.71869406e-03 6.83514286e-05 9.99983646e-01 -5.00341132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.797628 meters 0.012322412243965087 Centerline is valid? [True, True] Translation: X:11.40, Y:-1.12, Z:-0.01 [[ 9.93047580e-01 1.17458381e-01 -7.74812913e-03 1.14023794e+01] [-1.17455246e-01 9.93077804e-01 8.60016434e-04 -1.12031221e+00] [ 7.79551120e-03 5.60211728e-05 9.99969613e-01 -7.40896376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.857628 meters 0.011943127135427407 Centerline is valid? [True, True] Translation: X:11.46, Y:-1.13, Z:-0.01 [[ 9.93268053e-01 1.15655635e-01 -6.50767512e-03 1.14637538e+01] [-1.15653374e-01 9.93289370e-01 7.24047975e-04 -1.12927475e+00] [ 6.54774475e-03 3.34608603e-05 9.99978563e-01 -5.22414321e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.917628 meters 0.011680384864145136 Centerline is valid? [True, True] Translation: X:11.52, Y:-1.14, Z:-0.00 [[ 9.93862653e-01 1.10561969e-01 -3.61635267e-03 1.15246625e+01] [-1.10561233e-01 9.93869232e-01 4.03437057e-04 -1.13877389e+00] [ 3.63878645e-03 -1.13261282e-06 9.99993380e-01 -3.69879817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.977628 meters 0.011898513614934807 Centerline is valid? [True, True] Translation: X:11.59, Y:-1.15, Z:-0.00 [[ 9.94370506e-01 1.05911884e-01 -3.15751876e-03 1.15867859e+01] [-1.05911296e-01 9.94375519e-01 3.53236982e-04 -1.14821220e+00] [ 3.17717135e-03 -1.68315315e-05 9.99994953e-01 -4.71950465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.037628 meters 0.01226990382705427 Centerline is valid? [True, True] Translation: X:11.65, Y:-1.16, Z:-0.00 [[ 9.94736078e-01 1.02405204e-01 -3.64824364e-03 1.16481955e+01] [-1.02404393e-01 9.94742767e-01 4.08902514e-04 -1.15601790e+00] [ 3.67093772e-03 -3.31539062e-05 9.99993262e-01 -4.32727325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.097628 meters 0.01344101550383732 Centerline is valid? [True, True] Translation: X:11.71, Y:-1.17, Z:-0.00 [[ 9.95285429e-01 9.68611653e-02 -4.98294160e-03 1.17096260e+01] [-9.68595833e-02 9.95297900e-01 5.58406158e-04 -1.16713391e+00] [ 5.01359918e-03 -7.31278657e-05 9.99987429e-01 -4.22427438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.157627999999999 meters 0.016323444161675107 Centerline is valid? [True, True] Translation: X:11.77, Y:-1.18, Z:-0.01 [[ 9.96091367e-01 8.81832574e-02 -5.06968195e-03 1.17688854e+01] [-8.81815054e-02 9.96104261e-01 5.68523087e-04 -1.17685256e+00] [ 5.10006601e-03 -1.19248753e-04 9.99986987e-01 -6.32949708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.217628 meters 0.01854816929689051 Centerline is valid? [True, True] Translation: X:11.83, Y:-1.19, Z:-0.01 [[ 9.96635707e-01 8.18111565e-02 -4.91951553e-03 1.18294295e+01] [-8.18094286e-02 9.96647838e-01 5.51783544e-04 -1.18699393e+00] [ 4.94816656e-03 -1.47464428e-04 9.99987747e-01 -6.86261884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.277628 meters 0.02207336135455571 Centerline is valid? [True, True] Translation: X:11.89, Y:-1.20, Z:-0.00 [[ 9.97223016e-01 7.43960864e-02 -3.38801811e-03 1.18883043e+01] [-7.43952244e-02 9.97228763e-01 3.79924757e-04 -1.19960567e+00] [ 3.40689402e-03 -1.26817345e-04 9.99994188e-01 -4.71586580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.337628 meters 0.02397546649985514 Centerline is valid? [True, True] Translation: X:11.95, Y:-1.21, Z:-0.00 [[ 9.97417307e-01 7.17561040e-02 -3.12672134e-03 1.19482618e+01] [-7.17553551e-02 9.97422200e-01 3.51186279e-04 -1.20918557e+00] [ 3.14386104e-03 -1.25920272e-04 9.99995050e-01 -3.37228429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.397628 meters 0.02210792451165739 Centerline is valid? [True, True] Translation: X:12.01, Y:-1.21, Z:-0.00 [[ 9.97379223e-01 7.23218080e-02 -2.05975369e-03 1.20102813e+01] [-7.23214827e-02 9.97381346e-01 2.32102485e-04 -1.21216761e+00] [ 2.07114598e-03 -8.25297552e-05 9.99997852e-01 -2.49524290e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.457628 meters 0.02098072128988258 Centerline is valid? [True, True] Translation: X:12.07, Y:-1.21, Z:-0.01 [[ 9.97141628e-01 7.55283705e-02 -2.00975428e-03 1.20726453e+01] [-7.55280677e-02 9.97143651e-01 2.26281601e-04 -1.21077645e+00] [ 2.02110440e-03 -7.38419467e-05 9.99997955e-01 -5.56008724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.517628 meters 0.01722360836810988 Centerline is valid? [True, True] Translation: X:12.13, Y:-1.21, Z:-0.00 [[ 9.96796647e-01 7.99364926e-02 -2.56943913e-03 1.21340296e+01] [-7.99360121e-02 9.96799955e-01 2.89335850e-04 -1.21449375e+00] [ 2.58434531e-03 -8.30182879e-05 9.99996657e-01 -3.75743761e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.577627999999999 meters 0.01880272307018811 Centerline is valid? [True, True] Translation: X:12.19, Y:-1.22, Z:-0.01 [[ 9.96513507e-01 8.33094751e-02 -4.51233685e-03 1.21949513e+01] [-8.33080271e-02 9.96523715e-01 5.08236422e-04 -1.21987164e+00] [ 4.53899159e-03 -1.30550579e-04 9.99989690e-01 -6.76551503e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.637628 meters 0.01760704466898152 Centerline is valid? [True, True] Translation: X:12.26, Y:-1.22, Z:-0.01 [[ 9.96004544e-01 8.91239154e-02 -5.64585985e-03 1.22565091e+01] [-8.91217400e-02 9.96020537e-01 6.36229929e-04 -1.22328383e+00] [ 5.68009566e-03 -1.30519047e-04 9.99983860e-01 -7.06798559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.697628 meters 0.013863252516816594 Centerline is valid? [True, True] Translation: X:12.32, Y:-1.23, Z:-0.00 [[ 9.95658922e-01 9.30021280e-02 -3.73043396e-03 1.23183504e+01] [-9.30012005e-02 9.95665907e-01 4.21693557e-04 -1.22765501e+00] [ 3.75348432e-03 -7.29281150e-05 9.99992953e-01 -4.44259204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.757628 meters 0.014237539456714594 Centerline is valid? [True, True] Translation: X:12.38, Y:-1.24, Z:-0.00 [[ 9.95651787e-01 9.31497450e-02 -8.02325576e-04 1.23791450e+01] [-9.31497018e-02 9.95652110e-01 9.11802941e-05 -1.23713016e+00] [ 8.07330574e-04 -1.60474346e-05 9.99999674e-01 -3.05266953e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.817628 meters 0.01534798807048933 Centerline is valid? [True, True] Translation: X:12.44, Y:-1.25, Z:-0.00 [[ 9.95907458e-01 9.03760597e-02 -7.08822618e-04 1.24403031e+01] [-9.03760251e-02 9.95907710e-01 8.07955037e-05 -1.25110263e+00] [ 7.13223890e-04 -1.64042740e-05 9.99999746e-01 -1.47825612e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.877628 meters 0.015194521731111526 Centerline is valid? [True, True] Translation: X:12.50, Y:-1.26, Z:-0.00 [[ 9.96053755e-01 8.87416887e-02 -1.35297785e-03 1.25015754e+01] [-8.87415611e-02 9.96054673e-01 1.54204446e-04 -1.25944452e+00] [ 1.36132427e-03 -3.35305507e-05 9.99999073e-01 -2.39672527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.937628 meters 0.014665338198817053 Centerline is valid? [True, True] Translation: X:12.56, Y:-1.26, Z:-0.00 [[ 9.95690572e-01 9.27245918e-02 -1.56024221e-03 1.25621121e+01] [-9.27244276e-02 9.95691794e-01 1.77398820e-04 -1.26312540e+00] [ 1.56996960e-03 -3.19617671e-05 9.99998767e-01 -3.80561540e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.997627999999999 meters 0.014201939849186707 Centerline is valid? [True, True] Translation: X:12.62, Y:-1.27, Z:-0.00 [[ 9.95481886e-01 9.49105550e-02 -2.79299784e-03 1.26234753e+01] [-9.49100345e-02 9.95485803e-01 3.18621624e-04 -1.26888365e+00] [ 2.81063025e-03 -5.20985342e-05 9.99996049e-01 -4.84140707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.057628 meters 0.014036262581758656 Centerline is valid? [True, True] Translation: X:12.69, Y:-1.28, Z:-0.01 [[ 9.95320564e-01 9.65159505e-02 -4.65246481e-03 1.26854569e+01] [-9.65145196e-02 9.95331435e-01 5.31625799e-04 -1.27629716e+00] [ 4.68205485e-03 -8.01076834e-05 9.99989036e-01 -6.42352108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.117628 meters 0.014223937582508497 Centerline is valid? [True, True] Translation: X:12.75, Y:-1.28, Z:-0.01 [[ 9.95335477e-01 9.63745288e-02 -4.38612593e-03 1.27480427e+01] [-9.63732499e-02 9.95345138e-01 5.02507149e-04 -1.28343221e+00] [ 4.41413801e-03 -7.74579824e-05 9.99990255e-01 -6.47422425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.177628 meters 0.015058193811051442 Centerline is valid? [True, True] Translation: X:12.81, Y:-1.29, Z:-0.01 [[ 9.95559800e-01 9.40369344e-02 -4.21177780e-03 1.28099455e+01] [-9.40357300e-02 9.95568706e-01 4.83508019e-04 -1.29164357e+00] [ 4.23858179e-03 -8.53035461e-05 9.99991014e-01 -7.02511835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.237627999999999 meters 0.01831790195537064 Centerline is valid? [True, True] Translation: X:12.87, Y:-1.30, Z:-0.01 [[ 9.95721512e-01 9.22855613e-02 -4.69521840e-03 1.28712594e+01] [-9.22840400e-02 9.95732577e-01 5.40087723e-04 -1.29917673e+00] [ 4.72502422e-03 -1.04483242e-04 9.99988832e-01 -1.03941581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.297628 meters 0.016928182578395824 Centerline is valid? [True, True] Translation: X:12.93, Y:-1.31, Z:-0.01 [[ 9.95912564e-01 9.02530899e-02 -3.54197058e-03 1.29324523e+01] [-9.02522080e-02 9.95918858e-01 4.08366375e-04 -1.31028665e+00] [ 3.56437163e-03 -8.70265375e-05 9.99993644e-01 -6.87433226e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.357628 meters 0.01782460645541936 Centerline is valid? [True, True] Translation: X:12.99, Y:-1.32, Z:-0.01 [[ 9.96024773e-01 8.90380345e-02 -2.62303255e-03 1.29931057e+01] [-8.90375459e-02 9.96028224e-01 3.02670526e-04 -1.31951222e+00] [ 2.63956364e-03 -6.79189613e-05 9.99996514e-01 -6.01352833e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.417627999999999 meters 0.017281464620003666 Centerline is valid? [True, True] Translation: X:13.05, Y:-1.33, Z:-0.01 [[ 9.96093208e-01 8.82592861e-02 -2.93600167e-03 1.30548535e+01] [-8.82586681e-02 9.96097531e-01 3.39651025e-04 -1.32518818e+00] [ 2.95452138e-03 -7.91964821e-05 9.99995632e-01 -6.20093202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.477628 meters 0.015735296918511724 Centerline is valid? [True, True] Translation: X:13.12, Y:-1.33, Z:-0.01 [[ 9.95918969e-01 9.02185647e-02 -2.45313057e-03 1.31175633e+01] [-9.02181391e-02 9.95921988e-01 2.83823538e-04 -1.32809048e+00] [ 2.46873283e-03 -6.13483703e-05 9.99996951e-01 -8.10696691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.537628 meters 0.014805381753633868 Centerline is valid? [True, True] Translation: X:13.18, Y:-1.33, Z:-0.01 [[ 9.95666552e-01 9.29512705e-02 -2.85970695e-03 1.31796174e+01] [-9.29507006e-02 9.95670657e-01 3.31828863e-04 -1.33380736e+00] [ 2.87817021e-03 -6.45791362e-05 9.99995856e-01 -8.11956024e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.597628 meters 0.014010967692010367 Centerline is valid? [True, True] Translation: X:13.24, Y:-1.34, Z:-0.01 [[ 9.95246381e-01 9.73678150e-02 -2.03684403e-03 1.32416867e+01] [-9.73675338e-02 9.95248465e-01 2.36973957e-04 -1.33885781e+00] [ 2.05023953e-03 -3.75249928e-05 9.99997898e-01 -8.46859685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.657627999999999 meters 0.013529731495001984 Centerline is valid? [True, True] Translation: X:13.30, Y:-1.35, Z:-0.01 [[ 9.95080924e-01 9.90516396e-02 -1.65126652e-03 1.33038634e+01] [-9.90514572e-02 9.95082294e-01 1.92078207e-04 -1.34631911e+00] [ 1.66217174e-03 -2.75730045e-05 9.99998618e-01 -7.74450759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.717628 meters 0.014937851597061748 Centerline is valid? [True, True] Translation: X:13.37, Y:-1.35, Z:-0.01 [[ 9.94695281e-01 1.02839316e-01 -2.31801371e-03 1.33662654e+01] [-1.02838967e-01 9.94697981e-01 2.69963636e-04 -1.35094276e+00] [ 2.33348643e-03 -3.01494207e-05 9.99997277e-01 -1.00771557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.777628 meters 0.012417926369360016 Centerline is valid? [True, True] Translation: X:13.43, Y:-1.36, Z:-0.01 [[ 9.94406949e-01 1.05588995e-01 -2.40487469e-03 1.34285970e+01] [-1.05588624e-01 9.94409857e-01 2.80890271e-04 -1.35558202e+00] [ 2.42109002e-03 -2.53918277e-05 9.99997069e-01 -1.01272518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.837628 meters 0.012400912482709654 Centerline is valid? [True, True] Translation: X:13.49, Y:-1.36, Z:-0.01 [[ 9.94284542e-01 1.06746063e-01 -1.87799470e-03 1.34901607e+01] [-1.06745838e-01 9.94286316e-01 2.19919049e-04 -1.36203958e+00] [ 1.89073992e-03 -1.81939929e-05 9.99998212e-01 -1.03611290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.897628 meters 0.012698192355614365 Centerline is valid? [True, True] Translation: X:13.55, Y:-1.37, Z:-0.01 [[ 9.94468335e-01 1.05023909e-01 -1.64607228e-03 1.35519296e+01] [-1.05023733e-01 9.94469697e-01 1.93220935e-04 -1.37040933e+00] [ 1.65726182e-03 -1.92754456e-05 9.99998627e-01 -1.06353996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.957628 meters 0.013214397529694513 Centerline is valid? [True, True] Translation: X:13.61, Y:-1.38, Z:-0.01 [[ 9.94886734e-01 1.00996772e-01 1.96124991e-04 1.36137734e+01] [-1.00996770e-01 9.94886753e-01 -2.25983489e-05 -1.37923249e+00] [-1.97404516e-04 2.67480691e-06 9.99999981e-01 -8.67107293e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.017628 meters 0.01555451439251706 Centerline is valid? [True, True] Translation: X:13.67, Y:-1.39, Z:-0.01 [[ 9.95503589e-01 9.47188478e-02 9.71475108e-04 1.36727284e+01] [-9.47187816e-02 9.95504063e-01 -1.14037024e-04 -1.39124879e+00] [-9.77908873e-04 2.15073283e-05 9.99999522e-01 -8.91153935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.077627999999999 meters 0.017175711116638355 Centerline is valid? [True, True] Translation: X:13.73, Y:-1.40, Z:-0.01 [[ 9.96529727e-01 8.31944552e-02 2.68068528e-03 1.37328540e+01] [-8.31939093e-02 9.96533328e-01 -3.14697884e-04 -1.39976895e+00] [-2.69757334e-03 9.05891088e-05 9.99996357e-01 -9.34599995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.137628 meters 0.020999125206966715 Centerline is valid? [True, True] Translation: X:13.79, Y:-1.41, Z:-0.01 [[ 9.97198657e-01 7.47588905e-02 2.43843648e-03 1.37925094e+01] [-7.47584135e-02 9.97201633e-01 -2.86307796e-04 -1.41046551e+00] [-2.45301689e-03 1.03212107e-04 9.99996986e-01 -1.03513419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.197628 meters 0.020889021271864955 Centerline is valid? [True, True] Translation: X:13.85, Y:-1.42, Z:-0.01 [[ 9.97781139e-01 6.65099709e-02 3.03670693e-03 1.38529527e+01] [-6.65091927e-02 9.97785749e-01 -3.56631636e-04 -1.41797484e+00] [-3.05370246e-03 1.53871394e-04 9.99995326e-01 -8.54138653e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.257628 meters 0.023090474812863672 Centerline is valid? [True, True] Translation: X:13.91, Y:-1.43, Z:-0.01 [[ 9.98016036e-01 6.29277613e-02 2.02195888e-03 1.39123275e+01] [-6.29274089e-02 9.98018078e-01 -2.37495470e-04 -1.42546829e+00] [-2.03289657e-03 1.09787655e-04 9.99997928e-01 -1.08181986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.317628 meters 0.02313532849769 Centerline is valid? [True, True] Translation: X:13.97, Y:-1.43, Z:-0.01 [[ 9.98063680e-01 6.21592715e-02 2.26192797e-03 1.39738463e+01] [-6.21588282e-02 9.98066235e-01 -2.65823416e-04 -1.42914810e+00] [-2.27407733e-03 1.24709905e-04 9.99997407e-01 -1.10992421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.377628 meters 0.02461241349345493 Centerline is valid? [True, True] Translation: X:14.04, Y:-1.43, Z:-0.01 [[ 9.97897049e-01 6.48038597e-02 1.39226095e-03 1.40353840e+01] [-6.48036939e-02 9.97898018e-01 -1.63849019e-04 -1.43075098e+00] [-1.39995249e-03 7.32807999e-05 9.99999017e-01 -1.34625421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.437628 meters 0.020716413363552743 Centerline is valid? [True, True] Translation: X:14.10, Y:-1.43, Z:-0.01 [[ 9.97551585e-01 6.99029140e-02 2.10165310e-03 1.40963581e+01] [-6.99025475e-02 9.97553794e-01 -2.47428909e-04 -1.43097823e+00] [-2.11380803e-03 9.99121943e-05 9.99997761e-01 -1.26534111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.497627999999999 meters 0.01903286042980865 Centerline is valid? [True, True] Translation: X:14.16, Y:-1.43, Z:-0.01 [[ 9.96940153e-01 7.81328542e-02 2.36394123e-03 1.41577828e+01] [-7.81324135e-02 9.96942951e-01 -2.78339834e-04 -1.43109320e+00] [-2.37846204e-03 9.27877230e-05 9.99997167e-01 -1.32986373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.557628 meters 0.01739975575498948 Centerline is valid? [True, True] Translation: X:14.22, Y:-1.43, Z:-0.01 [[ 9.96597169e-01 8.23895694e-02 2.45809950e-03 1.42199728e+01] [-8.23891056e-02 9.96600196e-01 -2.89500075e-04 -1.43349346e+00] [-2.47359423e-03 8.59943357e-05 9.99996937e-01 -1.33459338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.617628 meters 0.0168782256924367 Centerline is valid? [True, True] Translation: X:14.28, Y:-1.44, Z:-0.01 [[ 9.96424360e-01 8.44651428e-02 2.03346356e-03 1.42825728e+01] [-8.44648295e-02 9.96426432e-01 -2.39598211e-04 -1.43784476e+00] [-2.04643454e-03 6.69853415e-05 9.99997904e-01 -1.42804022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.677628 meters 0.017436289857755888 Centerline is valid? [True, True] Translation: X:14.35, Y:-1.45, Z:-0.02 [[ 9.96429303e-01 8.44223645e-02 1.22785462e-03 1.43452944e+01] [-8.44222503e-02 9.96430059e-01 -1.44643011e-04 -1.44677067e+00] [-1.23568236e-03 4.04682846e-05 9.99999236e-01 -1.50923037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.737627999999999 meters 0.018407632475344514 Centerline is valid? [True, True] Translation: X:14.41, Y:-1.46, Z:-0.02 [[ 9.96587848e-01 8.25286999e-02 1.29444942e-03 1.44067092e+01] [-8.25285708e-02 9.96588687e-01 -1.52901222e-04 -1.45665466e+00] [-1.30265239e-03 4.55504386e-05 9.99999151e-01 -1.53131876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.797628 meters 0.017719568073222777 Centerline is valid? [True, True] Translation: X:14.47, Y:-1.46, Z:-0.02 [[ 9.96658413e-01 8.16505644e-02 2.27897633e-03 1.44686683e+01] [-8.16501600e-02 9.96661015e-01 -2.70060660e-04 -1.46256785e+00] [-2.29341747e-03 8.30794460e-05 9.99997367e-01 -1.61843617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.857628 meters 0.01726153748528105 Centerline is valid? [True, True] Translation: X:14.53, Y:-1.47, Z:-0.02 [[ 9.96582251e-01 8.25711200e-02 2.41402628e-03 1.45308861e+01] [-8.25706677e-02 9.96585171e-01 -2.86578966e-04 -1.47008621e+00] [-2.42944594e-03 8.62717492e-05 9.99997045e-01 -1.66306455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.917627999999999 meters 0.01780762314059392 Centerline is valid? [True, True] Translation: X:14.59, Y:-1.48, Z:-0.02 [[ 9.96335469e-01 8.55177076e-02 1.53458227e-03 1.45904324e+01] [-8.55175282e-02 9.96336650e-01 -1.82270673e-04 -1.48193733e+00] [-1.54454792e-03 5.03690538e-05 9.99998806e-01 -1.63362814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.977628 meters 0.016533047509262898 Centerline is valid? [True, True] Translation: X:14.65, Y:-1.49, Z:-0.02 [[ 9.96015997e-01 8.91745164e-02 2.00767730e-04 1.46518321e+01] [-8.91745134e-02 9.96016017e-01 -2.37719106e-05 -1.48824322e+00] [-2.02087724e-04 5.77383854e-06 9.99999980e-01 -1.87931349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.037627999999998 meters 0.01610942477505748 Centerline is valid? [True, True] Translation: X:14.71, Y:-1.50, Z:-0.02 [[ 9.95737604e-01 9.22217057e-02 -1.33468561e-03 1.47136264e+01] [-9.22215748e-02 9.95738498e-01 1.59362963e-04 -1.49668447e+00] [ 1.34369457e-03 -3.55968855e-05 9.99999097e-01 -2.11275490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.097627999999997 meters 0.015362649186785336 Centerline is valid? [True, True] Translation: X:14.78, Y:-1.50, Z:-0.02 [[ 9.95564220e-01 9.40593019e-02 -2.17527788e-03 1.47754166e+01] [-9.40589581e-02 9.95566595e-01 2.60026379e-04 -1.50407082e+00] [ 2.19009189e-03 -5.42685882e-05 9.99997600e-01 -2.13893983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.157628 meters 0.01816677583096828 Centerline is valid? [True, True] Translation: X:14.84, Y:-1.52, Z:-0.02 [[ 9.95297790e-01 9.67589937e-02 -4.47283892e-03 1.48358091e+01] [-9.67575650e-02 9.95307835e-01 5.35221046e-04 -1.51545560e+00] [ 4.50363908e-03 -9.99233215e-05 9.99989854e-01 -2.48586886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.217627999999998 meters 0.016984403477432856 Centerline is valid? [True, True] Translation: X:14.90, Y:-1.52, Z:-0.02 [[ 9.95117954e-01 9.85900470e-02 -4.50118826e-03 1.48972188e+01] [-9.85886135e-02 9.95128129e-01 5.39788718e-04 -1.52304694e+00] [ 4.53247685e-03 -9.33875356e-05 9.99989724e-01 -2.46273739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.277627999999996 meters 0.0135322699675118 Centerline is valid? [True, True] Translation: X:14.96, Y:-1.53, Z:-0.02 [[ 9.94587409e-01 1.03902935e-01 2.57136854e-04 1.49584791e+01] [-1.03902931e-01 9.94587442e-01 -3.07368187e-05 -1.53039508e+00] [-2.58938731e-04 3.85318009e-06 9.99999966e-01 -1.99028922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.337628 meters 0.012955502548675403 Centerline is valid? [True, True] Translation: X:15.02, Y:-1.54, Z:-0.02 [[ 9.94176800e-01 1.07726736e-01 2.72778495e-03 1.50202179e+01] [-1.07726244e-01 9.94180542e-01 -3.27282451e-04 -1.53713311e+00] [-2.74716779e-03 3.15225929e-05 9.99996226e-01 -1.77742949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.397627999999997 meters 0.0157186658965987 Centerline is valid? [True, True] Translation: X:15.08, Y:-1.54, Z:-0.02 [[ 9.93663887e-01 1.12297634e-01 4.61756104e-03 1.50822551e+01] [-1.12296265e-01 9.93674615e-01 -5.55469935e-04 -1.54154793e+00] [-4.65073115e-03 3.34155575e-05 9.99989185e-01 -1.97571544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.457627999999996 meters 0.01318515385167313 Centerline is valid? [True, True] Translation: X:15.14, Y:-1.55, Z:-0.02 [[ 9.93079750e-01 1.17367757e-01 4.17378061e-03 1.51443598e+01] [-1.17366679e-01 9.93088520e-01 -5.03096449e-04 -1.54557369e+00] [-4.20398091e-03 9.75212526e-06 9.99991163e-01 -1.96988606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.517628 meters 0.012273136089104294 Centerline is valid? [True, True] Translation: X:15.21, Y:-1.55, Z:-0.02 [[ 9.92703508e-01 1.20580161e-01 4.11565199e-04 1.52056807e+01] [-1.20580151e-01 9.92703594e-01 -4.93178961e-05 -1.55153188e+00] [-4.14509012e-04 -6.68545558e-07 9.99999914e-01 -2.27483954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.577627999999997 meters 0.012253187968193215 Centerline is valid? [True, True] Translation: X:15.27, Y:-1.56, Z:-0.02 [[ 9.92737727e-01 1.20290019e-01 -1.45508734e-03 1.52681692e+01] [-1.20289889e-01 9.92738793e-01 1.76800529e-04 -1.55955255e+00] [ 1.46578899e-03 -4.84261039e-07 9.99998926e-01 -2.47114506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.637628 meters 0.012479614344005447 Centerline is valid? [True, True] Translation: X:15.33, Y:-1.57, Z:-0.03 [[ 9.93250386e-01 1.15980774e-01 -1.45990106e-03 1.53293823e+01] [-1.15980638e-01 9.93251459e-01 1.77726610e-04 -1.56984641e+00] [ 1.47066173e-03 -7.20676603e-06 9.99998919e-01 -2.51558749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.697627999999998 meters 0.012923208626436708 Centerline is valid? [True, True] Translation: X:15.39, Y:-1.58, Z:-0.02 [[ 9.93822747e-01 1.10978666e-01 -2.90300683e-04 1.53904281e+01] [-1.10978660e-01 9.93822789e-01 3.57556661e-05 -1.57922820e+00] [ 2.92475551e-04 -3.31761342e-06 9.99999957e-01 -2.41063563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.757627999999997 meters 0.013886698391088652 Centerline is valid? [True, True] Translation: X:15.45, Y:-1.59, Z:-0.02 [[ 9.94556416e-01 1.04198429e-01 4.71477744e-04 1.54520549e+01] [-1.04198414e-01 9.94556528e-01 -5.72921085e-05 -1.59001579e+00] [-4.74881016e-04 7.85300106e-06 9.99999887e-01 -2.29751857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.817628 meters 0.015109184361936314 Centerline is valid? [True, True] Translation: X:15.51, Y:-1.60, Z:-0.02 [[ 9.95039823e-01 9.94759636e-02 -5.32991215e-04 1.55125865e+01] [-9.94759428e-02 9.95039965e-01 6.54191914e-05 -1.60001489e+00] [ 5.36855197e-04 -1.20748970e-05 9.99999856e-01 -2.37463373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.877627999999998 meters 0.01572744831212725 Centerline is valid? [True, True] Translation: X:15.57, Y:-1.61, Z:-0.02 [[ 9.95262751e-01 9.72205710e-02 -4.66122367e-04 1.55737002e+01] [-9.72205548e-02 9.95262860e-01 5.73660428e-05 -1.60722770e+00] [ 4.69491440e-04 -1.17776104e-05 9.99999890e-01 -2.46996457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.937627999999997 meters 0.018811964486257493 Centerline is valid? [True, True] Translation: X:15.63, Y:-1.62, Z:-0.02 [[ 9.96136526e-01 8.78046920e-02 -1.53514884e-03 1.56336758e+01] [-8.78045069e-02 9.96137708e-01 1.87693457e-04 -1.61987121e+00] [ 1.54570002e-03 -5.21753214e-05 9.99998804e-01 -2.46844457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.997628 meters 0.02159411542872305 Centerline is valid? [True, True] Translation: X:15.69, Y:-1.63, Z:-0.03 [[ 9.96747127e-01 8.05796846e-02 -1.44195731e-03 1.56941445e+01] [-8.05795137e-02 9.96748168e-01 1.76311546e-04 -1.62851741e+00] [ 1.45147544e-03 -5.95458076e-05 9.99998945e-01 -2.55989893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.057627999999998 meters 0.0220233503667023 Centerline is valid? [True, True] Translation: X:15.75, Y:-1.64, Z:-0.02 [[ 9.97248594e-01 7.41201410e-02 1.20301291e-03 1.57546407e+01] [-7.41200174e-02 9.97249318e-01 -1.47077304e-04 -1.63528662e+00] [-1.21060520e-03 5.75052964e-05 9.99999266e-01 -2.18571960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.117627999999996 meters 0.023641470594905744 Centerline is valid? [True, True] Translation: X:15.82, Y:-1.64, Z:-0.02 [[ 9.97505272e-01 7.05705935e-02 1.73910645e-03 1.58152488e+01] [-7.05703297e-02 9.97506784e-01 -2.12649404e-04 -1.64339732e+00] [-1.74977727e-03 8.93895861e-05 9.99998465e-01 -2.12676717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.177628 meters 0.022715908308502453 Centerline is valid? [True, True] Translation: X:15.88, Y:-1.65, Z:-0.02 [[ 9.97547111e-01 6.99965869e-02 4.88100232e-04 1.58779059e+01] [-6.99965662e-02 9.97547231e-01 -5.93959317e-05 -1.64554987e+00] [-4.91060547e-04 2.50848999e-05 9.99999879e-01 -2.31162356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.237627999999997 meters 0.023600692714558336 Centerline is valid? [True, True] Translation: X:15.94, Y:-1.65, Z:-0.02 [[ 9.97306288e-01 7.33337685e-02 -1.52546136e-03 1.59378470e+01] [-7.33335682e-02 9.97307452e-01 1.86936661e-04 -1.65065944e+00] [ 1.53506275e-03 -7.45655828e-05 9.99998819e-01 -2.49155742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.297628 meters 0.02049492413253263 Centerline is valid? [True, True] Translation: X:16.00, Y:-1.65, Z:-0.03 [[ 9.96610990e-01 8.21655799e-02 -3.91818979e-03 1.59993526e+01] [-8.21643260e-02 9.96618680e-01 4.80205492e-04 -1.64964867e+00] [ 3.94439750e-03 -1.56642648e-04 9.99992209e-01 -2.58044689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.357628 meters 0.017815792105803342 Centerline is valid? [True, True] Translation: X:16.06, Y:-1.65, Z:-0.03 [[ 9.96006712e-01 8.91533925e-02 -4.72245515e-03 1.60604323e+01] [-8.91516490e-02 9.96017896e-01 5.78832382e-04 -1.64928588e+00] [ 4.75525471e-03 -1.55506274e-04 9.99988682e-01 -2.65162514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.417627999999997 meters 0.016100305720188543 Centerline is valid? [True, True] Translation: X:16.12, Y:-1.65, Z:-0.03 [[ 9.95096925e-01 9.87770359e-02 -5.02068938e-03 1.61203423e+01] [-9.87751880e-02 9.95109584e-01 6.15295550e-04 -1.65043782e+00] [ 5.05691319e-03 -1.16359172e-04 9.99987207e-01 -2.72900753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.477628 meters 0.013585753157314471 Centerline is valid? [True, True] Translation: X:16.18, Y:-1.65, Z:-0.03 [[ 9.94317322e-01 1.06303540e-01 -5.71147783e-03 1.61826006e+01] [-1.06301271e-01 9.94333721e-01 7.00378786e-04 -1.65196357e+00] [ 5.75356775e-03 -8.92614082e-05 9.99983444e-01 -2.65479605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.537627999999998 meters 0.01315500878361192 Centerline is valid? [True, True] Translation: X:16.24, Y:-1.66, Z:-0.03 [[ 9.93811779e-01 1.10956671e-01 -5.17352567e-03 1.62439585e+01] [-1.10954863e-01 9.93825243e-01 6.36050105e-04 -1.65772166e+00] [ 5.21215441e-03 -5.80862553e-05 9.99986415e-01 -2.67567079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.597627999999997 meters 0.01248225751314204 Centerline is valid? [True, True] Translation: X:16.31, Y:-1.66, Z:-0.03 [[ 9.93352807e-01 1.15030106e-01 -4.27491188e-03 1.63052976e+01] [-1.15028904e-01 9.93362005e-01 5.26733741e-04 -1.66429969e+00] [ 4.30712528e-03 -3.14940113e-05 9.99990724e-01 -2.55837076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.657628 meters 0.012206057573522814 Centerline is valid? [True, True] Translation: X:16.37, Y:-1.67, Z:-0.03 [[ 9.92744804e-01 1.20199765e-01 -3.12566362e-03 1.63669619e+01] [-1.20199146e-01 9.92749725e-01 3.86020551e-04 -1.67112118e+00] [ 3.14940128e-03 -7.51780014e-06 9.99995041e-01 -2.50744243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.717627999999998 meters 0.012186855131952338 Centerline is valid? [True, True] Translation: X:16.43, Y:-1.68, Z:-0.03 [[ 9.92317574e-01 1.23659146e-01 -3.77454514e-03 1.64293729e+01] [-1.23658264e-01 9.92324753e-01 4.67231721e-04 -1.67937850e+00] [ 3.80335205e-03 3.11145061e-06 9.99992767e-01 -2.60205924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.777627999999996 meters 0.012537794480926952 Centerline is valid? [True, True] Translation: X:16.49, Y:-1.69, Z:-0.03 [[ 9.91723636e-01 1.28200782e-01 -6.98496861e-03 1.64908109e+01] [-1.28197863e-01 9.91748233e-01 8.65924051e-04 -1.68973273e+00] [ 7.03834242e-03 3.67006987e-05 9.99975230e-01 -2.79427485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.837628 meters 0.01277539554226842 Centerline is valid? [True, True] Translation: X:16.55, Y:-1.70, Z:-0.03 [[ 9.91557690e-01 1.29222074e-01 -1.07239335e-02 1.65510216e+01] [-1.29215228e-01 9.91615677e-01 1.33165828e-03 -1.70130994e+00] [ 1.08061002e-02 6.52795124e-05 9.99941610e-01 -3.25167325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.897627999999997 meters 0.012750303707507264 Centerline is valid? [True, True] Translation: X:16.61, Y:-1.71, Z:-0.03 [[ 9.91664040e-01 1.28297352e-01 -1.19256285e-02 1.66131111e+01] [-1.28288778e-01 9.91735744e-01 1.48436887e-03 -1.71475358e+00] [ 1.20175126e-02 5.79290730e-05 9.99927785e-01 -3.34760925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.957627999999996 meters 0.012845003595871778 Centerline is valid? [True, True] Translation: X:16.67, Y:-1.73, Z:-0.03 [[ 9.91964252e-01 1.25917370e-01 -1.23181924e-02 1.66733381e+01] [-1.25908014e-01 9.92040733e-01 1.53522214e-03 -1.73009455e+00] [ 1.24134598e-02 2.80736606e-05 9.99922950e-01 -3.29541129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.017628 meters 0.01258663019651418 Centerline is valid? [True, True] Translation: X:16.73, Y:-1.74, Z:-0.03 [[ 9.91851830e-01 1.27043608e-01 -9.47997385e-03 1.67348640e+01] [-1.27038093e-01 9.91897132e-01 1.18407857e-03 -1.73957818e+00] [ 9.55358849e-03 2.98872996e-05 9.99954363e-01 -2.94629251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.077627999999997 meters 0.012516393050255606 Centerline is valid? [True, True] Translation: X:16.80, Y:-1.75, Z:-0.03 [[ 9.91800335e-01 1.27568350e-01 -7.64273988e-03 1.67954609e+01] [-1.27564767e-01 9.91829781e-01 9.56417274e-04 -1.74839705e+00] [ 7.70230559e-03 2.63693622e-05 9.99970336e-01 -2.78349759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.137628 meters 0.012473250081591804 Centerline is valid? [True, True] Translation: X:16.86, Y:-1.76, Z:-0.03 [[ 9.91765043e-01 1.27923659e-01 -6.13491645e-03 1.68561074e+01] [-1.27921348e-01 9.91784017e-01 7.69185747e-04 -1.75565525e+00] [ 6.18290913e-03 2.19352462e-05 9.99980885e-01 -2.74667444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.197627999999998 meters 0.0123226456826056 Centerline is valid? [True, True] Translation: X:16.92, Y:-1.76, Z:-0.03 [[ 9.92096823e-01 1.25330574e-01 -6.01181791e-03 1.69188916e+01] [-1.25328297e-01 9.92115037e-01 7.55478812e-04 -1.76434738e+00] [ 6.05909955e-03 3.94277166e-06 9.99981643e-01 -2.75303647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.257627999999997 meters 0.012372821818679072 Centerline is valid? [True, True] Translation: X:16.98, Y:-1.77, Z:-0.03 [[ 9.92699170e-01 1.20446535e-01 -6.40230035e-03 1.69800828e+01] [-1.20443841e-01 9.92719815e-01 8.06111900e-04 -1.77372759e+00] [ 6.45278381e-03 -2.91089714e-05 9.99979180e-01 -2.76733266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.317628 meters 0.013216946144288907 Centerline is valid? [True, True] Translation: X:17.04, Y:-1.78, Z:-0.03 [[ 9.93529826e-01 1.13380857e-01 -6.57770053e-03 1.70415906e+01] [-1.13377848e-01 9.93551597e-01 8.29836684e-04 -1.78473256e+00] [ 6.62937246e-03 -7.87019682e-05 9.99978022e-01 -2.78837458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.377627999999998 meters 0.01619217274890249 Centerline is valid? [True, True] Translation: X:17.10, Y:-1.80, Z:-0.03 [[ 9.95026010e-01 9.94183449e-02 -6.26353968e-03 1.71007415e+01] [-9.94153411e-02 9.95045711e-01 7.89893783e-04 -1.79791582e+00] [ 6.31103822e-03 -1.63272926e-04 9.99980072e-01 -2.76981749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.437627999999997 meters 0.020522989261759172 Centerline is valid? [True, True] Translation: X:17.16, Y:-1.81, Z:-0.03 [[ 9.96550411e-01 8.27360630e-02 -6.48241543e-03 1.71602333e+01] [-8.27324918e-02 9.96571456e-01 8.17606875e-04 -1.81037161e+00] [ 6.52783575e-03 -2.78480086e-04 9.99978655e-01 -2.85565364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.497628 meters 0.024810197773627446 Centerline is valid? [True, True] Translation: X:17.22, Y:-1.82, Z:-0.03 [[ 9.97408273e-01 7.16448292e-02 -6.61478414e-03 1.72195948e+01] [-7.16408665e-02 9.97430143e-01 8.34389495e-04 -1.82155184e+00] [ 6.65756478e-03 -3.58338118e-04 9.99977774e-01 -3.10546657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.557627999999998 meters 0.025921836531157042 Centerline is valid? [True, True] Translation: X:17.28, Y:-1.83, Z:-0.03 [[ 9.98030269e-01 6.24828778e-02 -5.61007259e-03 1.72788376e+01] [-6.24798827e-02 9.98045973e-01 7.07726086e-04 -1.83278479e+00] [ 5.64333111e-03 -3.55815379e-04 9.99984013e-01 -2.71889453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.617627999999996 meters 0.027860033154240082 Centerline is valid? [True, True] Translation: X:17.34, Y:-1.84, Z:-0.03 [[ 9.98139786e-01 6.06419781e-02 -6.28635312e-03 1.73397098e+01] [-6.06381793e-02 9.98159497e-01 7.93303986e-04 -1.83904587e+00] [ 6.32289060e-03 -4.10635263e-04 9.99979926e-01 -3.06025431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.677628 meters 0.024794009594714315 Centerline is valid? [True, True] Translation: X:17.40, Y:-1.84, Z:-0.03 [[ 9.97594563e-01 6.91703412e-02 -4.53340312e-03 1.74009259e+01] [-6.91684534e-02 9.97604830e-01 5.72084186e-04 -1.84087989e+00] [ 4.56211611e-03 -2.57139591e-04 9.99989560e-01 -2.70216969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.737627999999997 meters 0.02348365546653209 Centerline is valid? [True, True] Translation: X:17.46, Y:-1.84, Z:-0.03 [[ 9.96422107e-01 8.44032598e-02 -4.36738564e-03 1.74611998e+01] [-8.44016534e-02 9.96431662e-01 5.51175815e-04 -1.83816054e+00] [ 4.39832236e-03 -1.80589198e-04 9.99990311e-01 -3.05003563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.797627999999996 meters 0.016762577812948053 Centerline is valid? [True, True] Translation: X:17.52, Y:-1.84, Z:-0.03 [[ 9.95282742e-01 9.69385500e-02 -3.89634417e-03 1.75228878e+01] [-9.69373669e-02 9.95290362e-01 4.91806225e-04 -1.83516915e+00] [ 3.92566878e-03 -1.11784904e-04 9.99992288e-01 -2.79489508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.857628 meters 0.015590839824854215 Centerline is valid? [True, True] Translation: X:17.58, Y:-1.83, Z:-0.03 [[ 9.94256002e-01 1.06961782e-01 -3.76564371e-03 1.75842934e+01] [-1.06960749e-01 9.94263130e-01 4.75379648e-04 -1.83472355e+00] [ 3.79488816e-03 -6.98729971e-05 9.99992797e-01 -2.99047514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.917627999999997 meters 0.011976952214282029 Centerline is valid? [True, True] Translation: X:17.65, Y:-1.83, Z:-0.03 [[ 9.92751079e-01 1.20171572e-01 -2.02175328e-03 1.76459049e+01] [-1.20171301e-01 9.92753138e-01 2.55278556e-04 -1.83393733e+00] [ 2.03777914e-03 -1.04713389e-05 9.99997924e-01 -2.75653409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.977628 meters 0.011764022609727023 Centerline is valid? [True, True] Translation: X:17.71, Y:-1.84, Z:-0.03 [[ 9.92102831e-01 1.25415046e-01 -1.74339301e-03 1.77077540e+01] [-1.25414852e-01 9.92104363e-01 2.20963575e-04 -1.83856054e+00] [ 1.75733997e-03 -5.71212738e-07 9.99998456e-01 -2.82330764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.037627999999998 meters 0.01182211370524443 Centerline is valid? [True, True] Translation: X:17.77, Y:-1.85, Z:-0.03 [[ 9.91616803e-01 1.29193513e-01 -2.26996565e-03 1.77693743e+01] [-1.29193192e-01 9.91619401e-01 2.87858856e-04 -1.84660108e+00] [ 2.28813148e-03 7.81843161e-06 9.99997382e-01 -2.92868481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.097627999999997 meters 0.011893694791353496 Centerline is valid? [True, True] Translation: X:17.83, Y:-1.86, Z:-0.03 [[ 9.91467982e-01 1.30321926e-01 -2.72679229e-03 1.78313125e+01] [-1.30321466e-01 9.91471732e-01 3.46671172e-04 -1.85689069e+00] [ 2.74871633e-03 1.16462008e-05 9.99996222e-01 -2.97520101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.157628 meters 0.01187251192799724 Centerline is valid? [True, True] Translation: X:17.89, Y:-1.87, Z:-0.03 [[ 9.91652855e-01 1.28866048e-01 -4.26100859e-03 1.78925918e+01] [-1.28864906e-01 9.91662010e-01 5.42640348e-04 -1.87032878e+00] [ 4.29540826e-03 1.09836185e-05 9.99990775e-01 -3.14871461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.217627999999998 meters 0.01175581653079253 Centerline is valid? [True, True] Translation: X:17.95, Y:-1.88, Z:-0.03 [[ 9.91900332e-01 1.26918744e-01 -5.03615899e-03 1.79544786e+01] [-1.26917116e-01 9.91913117e-01 6.42750165e-04 -1.88402536e+00] [ 5.07700921e-03 1.63067274e-06 9.99987112e-01 -3.21192349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.277627999999996 meters 0.015966646706185427 Centerline is valid? [True, True] Translation: X:18.01, Y:-1.90, Z:-0.04 [[ 9.92368489e-01 1.23142142e-01 -6.38712926e-03 1.80135714e+01] [-1.23139438e-01 9.92389043e-01 8.16422372e-04 -1.90230695e+00] [ 6.43905309e-03 -2.36843274e-05 9.99979269e-01 -3.69937429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.337628 meters 0.012101573984042982 Centerline is valid? [True, True] Translation: X:18.07, Y:-1.92, Z:-0.03 [[ 9.92289171e-01 1.23878420e-01 -4.04195680e-03 1.80731613e+01] [-1.23877339e-01 9.92297403e-01 5.17648624e-04 -1.91563054e+00] [ 4.07494873e-03 -1.29502705e-05 9.99991697e-01 -3.06683060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.397627999999997 meters 0.01188257996780335 Centerline is valid? [True, True] Translation: X:18.14, Y:-1.92, Z:-0.03 [[ 9.91985760e-01 1.26305911e-01 -3.32706391e-03 1.81352367e+01] [-1.26305189e-01 9.91991339e-01 4.27229240e-04 -1.92313316e+00] [ 3.35438017e-03 -3.57988609e-06 9.99994374e-01 -2.92694550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.457627999999996 meters 0.011942850577794347 Centerline is valid? [True, True] Translation: X:18.20, Y:-1.93, Z:-0.03 [[ 9.91718241e-01 1.28394171e-01 -3.14110363e-03 1.81972951e+01] [-1.28393534e-01 9.91723216e-01 4.04293088e-04 -1.93077189e+00] [ 3.16701427e-03 2.35256569e-06 9.99994985e-01 -2.86138745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.517628 meters 0.011889515556064609 Centerline is valid? [True, True] Translation: X:18.26, Y:-1.94, Z:-0.03 [[ 9.91773374e-01 1.27974488e-01 -2.84699502e-03 1.82591964e+01] [-1.27973961e-01 9.91777460e-01 3.67318900e-04 -1.93890024e+00] [ 2.87059294e-03 4.41261098e-08 9.99995880e-01 -2.80440068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.577627999999997 meters 0.012087393190371803 Centerline is valid? [True, True] Translation: X:18.32, Y:-1.95, Z:-0.03 [[ 9.92489388e-01 1.22291967e-01 -3.08059185e-03 1.83201354e+01] [-1.22291321e-01 9.92494168e-01 3.98129243e-04 -1.94925524e+00] [ 3.10615745e-03 -1.84094033e-05 9.99995176e-01 -2.81208138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.637628 meters 0.01322410023534874 Centerline is valid? [True, True] Translation: X:18.38, Y:-1.96, Z:-0.03 [[ 9.93429134e-01 1.14430787e-01 -2.03731417e-03 1.83811258e+01] [-1.14430486e-01 9.93431223e-01 2.63921854e-04 -1.96137516e+00] [ 2.05413229e-03 -2.90568077e-05 9.99997890e-01 -2.69427119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.697627999999998 meters 0.017439486101194765 Centerline is valid? [True, True] Translation: X:18.44, Y:-1.98, Z:-0.02 [[ 9.95217360e-01 9.76831228e-02 -6.42855889e-04 1.84402832e+01] [-9.76830894e-02 9.95217568e-01 8.31747824e-05 -1.97695456e+00] [ 6.47906246e-04 -1.99808382e-05 9.99999790e-01 -2.47462563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.757627999999997 meters 0.02335934230419134 Centerline is valid? [True, True] Translation: X:18.50, Y:-1.99, Z:-0.03 [[ 9.96273249e-01 8.62528725e-02 -2.34719559e-04 1.84985183e+01] [-8.62528677e-02 9.96273277e-01 3.04882086e-05 -1.99208483e+00] [ 2.36474519e-04 -1.01293516e-05 9.99999972e-01 -2.51765609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.817628 meters 0.022586407498732995 Centerline is valid? [True, True] Translation: X:18.56, Y:-2.00, Z:-0.03 [[ 9.97237377e-01 7.42785881e-02 -5.53029018e-04 1.85588737e+01] [-7.42785598e-02 9.97237530e-01 7.16066619e-05 -1.99708251e+00] [ 5.56820134e-04 -3.03306407e-05 9.99999845e-01 -2.55905567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.877627999999998 meters 0.02684088457211454 Centerline is valid? [True, True] Translation: X:18.62, Y:-2.01, Z:-0.03 [[ 9.98209349e-01 5.98062770e-02 -1.14253947e-03 1.86182572e+01] [-5.98061466e-02 9.98209999e-01 1.47949071e-04 -2.00889240e+00] [ 1.14934261e-03 -7.93532628e-05 9.99999336e-01 -2.51991829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.937627999999997 meters 0.029081920018668165 Centerline is valid? [True, True] Translation: X:18.68, Y:-2.02, Z:-0.03 [[ 9.98409545e-01 5.63566104e-02 -1.52081477e-03 1.86780821e+01] [-5.63563754e-02 9.98410697e-01 1.96935415e-04 -2.01698044e+00] [ 1.52949635e-03 -1.10914590e-04 9.99998824e-01 -2.74656404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.997628 meters 0.031441109864969494 Centerline is valid? [True, True] Translation: X:18.74, Y:-2.02, Z:-0.03 [[ 9.98523910e-01 5.42891439e-02 -1.63993971e-03 1.87385517e+01] [-5.42888679e-02 9.98525249e-01 2.12390978e-04 -2.02153717e+00] [ 1.64905173e-03 -1.23047000e-04 9.99998633e-01 -2.79126259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.057627999999998 meters 0.026902822943352365 Centerline is valid? [True, True] Translation: X:18.80, Y:-2.02, Z:-0.02 [[ 9.98252834e-01 5.90761085e-02 -1.13738076e-03 1.87993361e+01] [-5.90759788e-02 9.98253478e-01 1.47280968e-04 -2.02043702e+00] [ 1.14409509e-03 -7.98317613e-05 9.99999342e-01 -2.44657398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.117627999999996 meters 0.02542582602221376 Centerline is valid? [True, True] Translation: X:18.86, Y:-2.02, Z:-0.03 [[ 9.97507204e-01 7.05349089e-02 -2.05049615e-03 1.88597757e+01] [-7.05345115e-02 9.97509304e-01 2.65568107e-04 -2.01702699e+00] [ 2.06412081e-03 -1.20275356e-04 9.99997862e-01 -2.52207701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.177628 meters 0.02348951927522157 Centerline is valid? [True, True] Translation: X:18.92, Y:-2.01, Z:-0.03 [[ 9.96747544e-01 8.05238652e-02 -3.20014641e-03 1.89204873e+01] [-8.05229486e-02 9.96752669e-01 4.14452954e-04 -2.01304221e+00] [ 3.22312783e-03 -1.55419739e-04 9.99994794e-01 -2.61912556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.237627999999997 meters 0.019935748072466467 Centerline is valid? [True, True] Translation: X:18.98, Y:-2.01, Z:-0.03 [[ 9.96455156e-01 8.40752725e-02 -2.91052193e-03 1.89820198e+01] [-8.40745291e-02 9.96459398e-01 3.77029554e-04 -2.01142442e+00] [ 2.93191579e-03 -1.30992282e-04 9.99995693e-01 -2.56939791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.297627999999996 meters 0.019799459170207246 Centerline is valid? [True, True] Translation: X:19.05, Y:-2.01, Z:-0.03 [[ 9.96419755e-01 8.44934323e-02 -2.92107973e-03 1.90453977e+01] [-8.44926815e-02 9.96424028e-01 3.79705937e-04 -2.01365724e+00] [ 2.94271669e-03 -1.31536637e-04 9.99995662e-01 -2.54721812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.357628 meters 0.021008136176201748 Centerline is valid? [True, True] Translation: X:19.11, Y:-2.02, Z:-0.03 [[ 9.96583399e-01 8.25004816e-02 -3.89871614e-03 1.91067085e+01] [-8.24991288e-02 9.96591008e-01 5.06812034e-04 -2.01907358e+00] [ 3.92723768e-03 -1.83439774e-04 9.99992272e-01 -2.69101057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.417627999999997 meters 0.023255794814021853 Centerline is valid? [True, True] Translation: X:19.17, Y:-2.03, Z:-0.03 [[ 9.96802141e-01 7.97669967e-02 -4.76639574e-03 1.91663635e+01] [-7.97649442e-02 9.96813508e-01 6.19474965e-04 -2.02777570e+00] [ 4.80062132e-03 -2.37302681e-04 9.99988449e-01 -2.70511213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.477628 meters 0.023075986664803903 Centerline is valid? [True, True] Translation: X:19.23, Y:-2.03, Z:-0.03 [[ 9.97125065e-01 7.54961624e-02 -6.47572491e-03 1.92273450e+01] [-7.54922830e-02 9.97146031e-01 8.41773556e-04 -2.03284423e+00] [ 6.52079406e-03 -3.50486253e-04 9.99978678e-01 -2.68732543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.537627999999998 meters 0.025275848387648188 Centerline is valid? [True, True] Translation: X:19.29, Y:-2.04, Z:-0.03 [[ 9.97287540e-01 7.30192244e-02 -9.26037366e-03 1.92880334e+01] [-7.30111833e-02 9.97330395e-01 1.20389314e-03 -2.03892239e+00] [ 9.32355947e-03 -5.24516787e-04 9.99956397e-01 -3.03323004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.597627999999997 meters 0.024340469779010943 Centerline is valid? [True, True] Translation: X:19.35, Y:-2.04, Z:-0.03 [[ 9.97421946e-01 7.10634708e-02 -9.97218626e-03 1.93486804e+01] [-7.10540424e-02 9.97471624e-01 1.29704797e-03 -2.04377226e+00] [ 1.00391456e-02 -5.85139967e-04 9.99949435e-01 -2.86127299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.657628 meters 0.024711618777935342 Centerline is valid? [True, True] Translation: X:19.41, Y:-2.05, Z:-0.03 [[ 9.97515556e-01 6.98348978e-02 -9.26299090e-03 1.94100317e+01] [-6.98266864e-02 9.97558407e-01 1.20733798e-03 -2.05065714e+00] [ 9.32468877e-03 -5.57534452e-04 9.99956369e-01 -2.85713022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.717627999999998 meters 0.02546163627121121 Centerline is valid? [True, True] Translation: X:19.47, Y:-2.06, Z:-0.02 [[ 9.97567282e-01 6.93901253e-02 -6.67294551e-03 1.94701288e+01] [-6.93858448e-02 9.97589518e-01 8.71133964e-04 -2.05850212e+00] [ 6.71730859e-03 -4.06006779e-04 9.99977356e-01 -2.49901776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.777627999999996 meters 0.02452057626538069 Centerline is valid? [True, True] Translation: X:19.53, Y:-2.06, Z:-0.02 [[ 9.97539048e-01 6.98655655e-02 -5.88653262e-03 1.95320666e+01] [-6.98622331e-02 9.97556352e-01 7.70094755e-04 -2.06260162e+00] [ 5.92595112e-03 -3.56953275e-04 9.99982378e-01 -2.42862069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.837628 meters 0.02352062635183843 Centerline is valid? [True, True] Translation: X:19.59, Y:-2.06, Z:-0.02 [[ 9.97370247e-01 7.22904578e-02 -5.16525337e-03 1.95941722e+01] [-7.22879243e-02 9.97383577e-01 6.75740048e-04 -2.06435590e+00] [ 5.20058844e-03 -3.00577573e-04 9.99986432e-01 -2.39631344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.897627999999997 meters 0.02391620251036345 Centerline is valid? [True, True] Translation: X:19.65, Y:-2.07, Z:-0.02 [[ 9.97051051e-01 7.65432635e-02 -5.50730383e-03 1.96538017e+01] [-7.65404493e-02 9.97066217e-01 7.20259686e-04 -2.06655869e+00] [ 5.54627762e-03 -2.96604167e-04 9.99984575e-01 -2.43460407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.957627999999996 meters 0.022008963812114365 Centerline is valid? [True, True] Translation: X:19.72, Y:-2.06, Z:-0.02 [[ 9.96731293e-01 8.06356267e-02 -4.96242951e-03 1.97157364e+01] [-8.06333917e-02 9.96743615e-01 6.49146314e-04 -2.06373569e+00] [ 4.99861426e-03 -2.46886921e-04 9.99987476e-01 -2.44733139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.017628 meters 0.021860569517390356 Centerline is valid? [True, True] Translation: X:19.78, Y:-2.07, Z:-0.02 [[ 9.96354413e-01 8.52506234e-02 -3.19614212e-03 1.97762303e+01] [-8.52497200e-02 9.96359529e-01 4.18075169e-04 -2.06503159e+00] [ 3.22014782e-03 -1.44080819e-04 9.99994805e-01 -2.40291059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.077627999999997 meters 0.01853895922658616 Centerline is valid? [True, True] Translation: X:19.84, Y:-2.07, Z:-0.02 [[ 9.96219525e-01 8.68298704e-02 -2.68933657e-03 1.98383660e+01] [-8.68292335e-02 9.96223148e-01 3.52914396e-04 -2.06583127e+00] [ 2.70982285e-03 -1.18067179e-04 9.99996321e-01 -2.40796974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.137627999999996 meters 0.01929476702538419 Centerline is valid? [True, True] Translation: X:19.90, Y:-2.07, Z:-0.03 [[ 9.95942094e-01 8.99823838e-02 -1.58616506e-03 1.98986052e+01] [-8.99821665e-02 9.95943355e-01 2.07953992e-04 -2.06863952e+00] [ 1.59844275e-03 -6.43835654e-05 9.99998720e-01 -2.51784967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.197627999999998 meters 0.02030130945108943 Centerline is valid? [True, True] Translation: X:19.96, Y:-2.07, Z:-0.03 [[ 9.95829126e-01 9.12080859e-02 -2.33167587e-03 1.99611047e+01] [-9.12076190e-02 9.95831852e-01 3.06005603e-04 -2.07415906e+00] [ 2.34986728e-03 -9.20626882e-05 9.99997235e-01 -2.75366610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.257627999999997 meters 0.016842416164949553 Centerline is valid? [True, True] Translation: X:20.02, Y:-2.08, Z:-0.03 [[ 9.95489591e-01 9.48631930e-02 -1.20335078e-03 2.00227443e+01] [-9.48630712e-02 9.95490318e-01 1.57956028e-04 -2.07713152e+00] [ 1.21290827e-03 -4.30900309e-05 9.99999263e-01 -2.51643880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.317628 meters 0.016117913354722083 Centerline is valid? [True, True] Translation: X:20.08, Y:-2.08, Z:-0.02 [[ 9.95153832e-01 9.83278281e-02 -6.99725502e-04 2.00843154e+01] [-9.83277877e-02 9.95154077e-01 9.19990879e-05 -2.08277847e+00] [ 7.05380757e-04 -2.27507842e-05 9.99999751e-01 -2.47080609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.377627999999998 meters 0.014548716954971607 Centerline is valid? [True, True] Translation: X:20.14, Y:-2.09, Z:-0.03 [[ 9.94310259e-01 1.06518036e-01 -1.00888775e-03 2.01449815e+01] [-1.06517956e-01 9.94310770e-01 1.32506603e-04 -2.08567107e+00] [ 1.01726230e-03 -2.42880139e-05 9.99999482e-01 -2.64411745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.437627999999997 meters 0.01327932076653274 Centerline is valid? [True, True] Translation: X:20.21, Y:-2.09, Z:-0.03 [[ 9.93696049e-01 1.12096509e-01 -1.59190849e-03 2.02059886e+01] [-1.12096318e-01 9.93697324e-01 2.09152658e-04 -2.09126254e+00] [ 1.60532049e-03 -2.93870900e-05 9.99998711e-01 -2.70781653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.497628 meters 0.01261675598910949 Centerline is valid? [True, True] Translation: X:20.27, Y:-2.10, Z:-0.03 [[ 9.93016642e-01 1.17963803e-01 -1.57817948e-03 2.02662201e+01] [-1.17963621e-01 9.93017895e-01 2.08044555e-04 -2.09947314e+00] [ 1.59170220e-03 -2.04239380e-05 9.99998733e-01 -2.77778072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.557627999999998 meters 0.012420909913130154 Centerline is valid? [True, True] Translation: X:20.33, Y:-2.11, Z:-0.03 [[ 9.92867991e-01 1.19209331e-01 -1.51280234e-03 2.03269300e+01] [-1.19209165e-01 9.92869143e-01 1.99842875e-04 -2.11055141e+00] [ 1.52583790e-03 -1.80776907e-05 9.99998836e-01 -2.67479145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.617627999999996 meters 0.01221721315147721 Centerline is valid? [True, True] Translation: X:20.39, Y:-2.12, Z:-0.03 [[ 9.92868349e-01 1.19214669e-01 -5.51344426e-04 2.03888313e+01] [-1.19214646e-01 9.92868502e-01 7.33389431e-05 -2.12177924e+00] [ 5.56155592e-04 -7.08758462e-06 9.99999845e-01 -2.53516013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.677628 meters 0.012231804740405071 Centerline is valid? [True, True] Translation: X:20.45, Y:-2.13, Z:-0.03 [[ 9.92927174e-01 1.18707466e-01 -2.04072198e-03 2.04494953e+01] [-1.18707160e-01 9.92929271e-01 2.70612135e-04 -2.13376208e+00] [ 2.05841627e-03 -2.64498316e-05 9.99997881e-01 -2.53679873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.737627999999997 meters 0.013315291233796657 Centerline is valid? [True, True] Translation: X:20.51, Y:-2.15, Z:-0.03 [[ 9.93615524e-01 1.12771448e-01 -3.28499835e-03 2.05095183e+01] [-1.12770623e-01 9.93620952e-01 4.36106836e-04 -2.15091318e+00] [ 3.31322359e-03 -6.28712127e-05 9.99994509e-01 -2.69004190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.797627999999996 meters 0.015980956458122544 Centerline is valid? [True, True] Translation: X:20.57, Y:-2.17, Z:-0.03 [[ 9.95052531e-01 9.93365474e-02 -1.64628924e-03 2.05684005e+01] [-9.93363218e-02 9.95053892e-01 2.18423514e-04 -2.17221444e+00] [ 1.65984396e-03 -5.38065520e-05 9.99998621e-01 -2.66407379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.857628 meters 0.0175243021257499 Centerline is valid? [True, True] Translation: X:20.63, Y:-2.19, Z:-0.03 [[ 9.95555080e-01 9.41703190e-02 -1.42602645e-03 2.06278004e+01] [-9.41701444e-02 9.95556100e-01 1.89227036e-04 -2.18642430e+00] [ 1.43750890e-03 -5.40968210e-05 9.99998965e-01 -2.64819854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.917627999999997 meters 0.019924464521472448 Centerline is valid? [True, True] Translation: X:20.69, Y:-2.20, Z:-0.03 [[ 9.96477308e-01 8.38565586e-02 -1.02597846e-03 2.06869782e+01] [-8.38564627e-02 9.96477835e-01 1.36193464e-04 -2.20484156e+00] [ 1.03378551e-03 -4.96787715e-05 9.99999464e-01 -2.52369846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.977628 meters 0.02310085971706708 Centerline is valid? [True, True] Translation: X:20.75, Y:-2.22, Z:-0.02 [[ 9.97244620e-01 7.41816083e-02 5.06213016e-04 2.07457958e+01] [-7.41815837e-02 9.97244748e-01 -6.71657116e-05 -2.22348349e+00] [-5.09800732e-04 2.94289614e-05 9.99999870e-01 -2.41453749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.037627999999998 meters 0.02536864005761825 Centerline is valid? [True, True] Translation: X:20.80, Y:-2.24, Z:-0.02 [[ 9.97446851e-01 7.14038611e-02 1.12613161e-03 2.08049744e+01] [-7.14037378e-02 9.97447484e-01 -1.49438487e-04 -2.23745737e+00] [-1.13392762e-03 6.86469425e-05 9.99999355e-01 -2.38288000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.097627999999997 meters 0.024737312645987847 Centerline is valid? [True, True] Translation: X:20.87, Y:-2.25, Z:-0.03 [[ 9.97389821e-01 7.22047615e-02 1.34973388e-04 2.08663647e+01] [-7.22047598e-02 9.97389830e-01 -1.75306798e-05 -2.24677312e+00] [-1.35886883e-04 7.73920057e-06 9.99999991e-01 -2.56089575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.157628 meters 0.023023811707732433 Centerline is valid? [True, True] Translation: X:20.93, Y:-2.25, Z:-0.03 [[ 9.97195391e-01 7.48389496e-02 -6.95026853e-04 2.09272047e+01] [-7.48389032e-02 9.97195633e-01 9.25111362e-05 -2.25322964e+00] [ 7.00001179e-04 -4.02366313e-05 9.99999754e-01 -2.56344732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.217627999999998 meters 0.022767498497388235 Centerline is valid? [True, True] Translation: X:20.99, Y:-2.26, Z:-0.03 [[ 9.96666780e-01 8.15665613e-02 -1.49202957e-03 2.09863172e+01] [-8.15663555e-02 9.96667894e-01 1.98405061e-04 -2.26008410e+00] [ 1.50324119e-03 -7.60443189e-05 9.99998867e-01 -2.70330545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.277627999999996 meters 0.019603624958999588 Centerline is valid? [True, True] Translation: X:21.05, Y:-2.26, Z:-0.03 [[ 9.96163368e-01 8.74873282e-02 -2.12395567e-03 2.10469125e+01] [-8.74869243e-02 9.96165628e-01 2.82504572e-04 -2.26306887e+00] [ 2.14052721e-03 -9.56023571e-05 9.99997704e-01 -2.73989608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.337628 meters 0.018090471282991242 Centerline is valid? [True, True] Translation: X:21.11, Y:-2.27, Z:-0.03 [[ 9.95272369e-01 9.70896721e-02 -2.55074108e-03 2.11067636e+01] [-9.70891211e-02 9.95275634e-01 3.39253830e-04 -2.26713076e+00] [ 2.57162849e-03 -9.00007536e-05 9.99996689e-01 -2.84089504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.397627999999997 meters 0.01843661666916708 Centerline is valid? [True, True] Translation: X:21.17, Y:-2.27, Z:-0.03 [[ 9.94743791e-01 1.02331396e-01 -3.61604588e-03 2.11682094e+01] [-1.02330322e-01 9.94750357e-01 4.81229762e-04 -2.27156029e+00] [ 3.64630785e-03 -1.08669177e-04 9.99993346e-01 -2.97592771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.457627999999996 meters 0.014269255185136356 Centerline is valid? [True, True] Translation: X:21.23, Y:-2.28, Z:-0.03 [[ 9.93770316e-01 1.11426745e-01 -2.15395173e-03 2.12288719e+01] [-1.11426385e-01 9.93772649e-01 2.86665516e-04 -2.27736081e+00] [ 2.17248052e-03 -4.48726253e-05 9.99997639e-01 -2.80302652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.517628 meters 0.013191406934987656 Centerline is valid? [True, True] Translation: X:21.29, Y:-2.28, Z:-0.03 [[ 9.93154966e-01 1.16773224e-01 -2.68833281e-03 2.12904204e+01] [-1.16772683e-01 9.93158604e-01 3.57986125e-04 -2.28400892e+00] [ 2.71174406e-03 -4.16118622e-05 9.99996322e-01 -2.90940755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.577627999999997 meters 0.012233927656445175 Centerline is valid? [True, True] Translation: X:21.35, Y:-2.29, Z:-0.03 [[ 9.92340580e-01 1.23526403e-01 -1.18372652e-03 2.13514926e+01] [-1.23526302e-01 9.92341286e-01 1.58301802e-04 -2.29294879e+00] [ 1.19421515e-03 -1.08679417e-05 9.99999287e-01 -2.90987904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.637627999999996 meters 0.011790601531984917 Centerline is valid? [True, True] Translation: X:21.41, Y:-2.30, Z:-0.03 [[ 9.91578379e-01 1.29506442e-01 -6.31936476e-04 2.14127237e+01] [-1.29506414e-01 9.91578581e-01 8.48725877e-05 -2.30391734e+00] [ 6.37606220e-04 -2.31799617e-06 9.99999797e-01 -2.85119796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.697627999999998 meters 0.011753282097038669 Centerline is valid? [True, True] Translation: X:21.47, Y:-2.32, Z:-0.03 [[ 9.91147886e-01 1.32760318e-01 -7.52927865e-04 2.14748374e+01] [-1.32760280e-01 9.91148172e-01 1.01318488e-04 -2.31605151e+00] [ 7.59714151e-04 -4.62691377e-07 9.99999711e-01 -2.91467908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.757627999999997 meters 0.011884833198196349 Centerline is valid? [True, True] Translation: X:21.54, Y:-2.33, Z:-0.03 [[ 9.90659026e-01 1.36358541e-01 -1.02078730e-03 2.15359654e+01] [-1.36358471e-01 9.90659552e-01 1.37502377e-04 -2.33219278e+00] [ 1.03000232e-03 2.97502515e-06 9.99999470e-01 -3.05175641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.817628 meters 0.011834666633944965 Centerline is valid? [True, True] Translation: X:21.60, Y:-2.35, Z:-0.03 [[ 9.90466706e-01 1.37747206e-01 -1.18806538e-03 2.15975225e+01] [-1.37747113e-01 9.90467419e-01 1.60306446e-04 -2.34578887e+00] [ 1.19882181e-03 4.87437916e-06 9.99999281e-01 -3.21655397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.877627999999998 meters 0.011785497530182999 Centerline is valid? [True, True] Translation: X:21.66, Y:-2.37, Z:-0.03 [[ 9.90583718e-01 1.36893761e-01 -1.99914526e-03 2.16571283e+01] [-1.36893495e-01 9.90585735e-01 2.69919457e-04 -2.36688705e+00] [ 2.01727506e-03 6.29216195e-06 9.99997965e-01 -3.29311520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.937627999999997 meters 0.011800103898371377 Centerline is valid? [True, True] Translation: X:21.72, Y:-2.39, Z:-0.03 [[ 9.90985517e-01 1.33939608e-01 -2.80813956e-03 2.17174503e+01] [-1.33939069e-01 9.90989496e-01 3.79795002e-04 -2.38771415e+00] [ 2.83370640e-03 -2.51748043e-07 9.99995985e-01 -3.20003870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.997628 meters 0.011942230755433075 Centerline is valid? [True, True] Translation: X:21.78, Y:-2.41, Z:-0.03 [[ 9.91663711e-01 1.28829836e-01 -2.44082132e-03 2.17764268e+01] [-1.28829412e-01 9.91666715e-01 3.30679698e-04 -2.41120742e+00] [ 2.46308267e-03 -1.34734810e-05 9.99996967e-01 -3.18096249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.057627999999998 meters 0.011691005106628603 Centerline is valid? [True, True] Translation: X:21.84, Y:-2.42, Z:-0.03 [[ 9.90765920e-01 1.35579995e-01 9.77724794e-04 2.18375608e+01] [-1.35579931e-01 9.90766403e-01 -1.32144863e-04 -2.41522702e+00] [-9.86613077e-04 -1.63523364e-06 9.99999513e-01 -3.09436142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.117627999999996 meters 0.01198029758078483 Centerline is valid? [True, True] Translation: X:21.90, Y:-2.42, Z:-0.03 [[ 9.90211842e-01 1.39571839e-01 4.57211226e-04 2.18988464e+01] [-1.39571825e-01 9.90211948e-01 -6.16739856e-05 -2.42376165e+00] [-4.61343970e-04 -2.74349452e-06 9.99999894e-01 -3.03016525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.177628 meters 0.011858356619323511 Centerline is valid? [True, True] Translation: X:21.96, Y:-2.43, Z:-0.03 [[ 9.90535016e-01 1.37259095e-01 -5.67675059e-04 2.19596843e+01] [-1.37259073e-01 9.90535179e-01 7.74044730e-05 -2.43266633e+00] [ 5.72926584e-04 1.24671130e-06 9.99999836e-01 -3.17119966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.237627999999997 meters 0.011884221813780316 Centerline is valid? [True, True] Translation: X:22.02, Y:-2.44, Z:-0.03 [[ 9.91268173e-01 1.31861006e-01 -2.89184523e-04 2.20214911e+01] [-1.31861000e-01 9.91268216e-01 3.98655610e-05 -2.44341375e+00] [ 2.91916139e-04 -1.38530156e-06 9.99999957e-01 -3.20224364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.297627999999996 meters 0.012284099927398111 Centerline is valid? [True, True] Translation: X:22.08, Y:-2.46, Z:-0.03 [[ 9.91909652e-01 1.26941245e-01 1.07803254e-03 2.20827629e+01] [-1.26941161e-01 9.91910238e-01 -1.46716819e-04 -2.45579375e+00] [-1.08793593e-03 8.68312747e-06 9.99999408e-01 -3.04985296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.357628 meters 0.013173344095194503 Centerline is valid? [True, True] Translation: X:22.14, Y:-2.47, Z:-0.03 [[ 9.92484280e-01 1.22348655e-01 2.39998636e-03 2.21430492e+01] [-1.22348220e-01 9.92487182e-01 -3.27705697e-04 -2.46705882e+00] [-2.42205005e-03 3.16086934e-05 9.99997066e-01 -2.92791840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.417627999999997 meters 0.015505110880967518 Centerline is valid? [True, True] Translation: X:22.20, Y:-2.48, Z:-0.03 [[ 9.93562379e-01 1.13268025e-01 2.03793340e-03 2.22032186e+01] [-1.13267692e-01 9.93564468e-01 -2.78598865e-04 -2.47874034e+00] [-2.05637456e-03 4.59733384e-05 9.99997885e-01 -3.07462082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.477628 meters 0.01618425690732919 Centerline is valid? [True, True] Translation: X:22.26, Y:-2.49, Z:-0.03 [[ 9.94558084e-01 1.04165790e-01 1.92526515e-03 2.22634211e+01] [-1.04165476e-01 9.94559945e-01 -2.63254237e-04 -2.48619304e+00] [-1.94221369e-03 6.12754696e-05 9.99998112e-01 -3.18948299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.537627999999998 meters 0.01758684853584994 Centerline is valid? [True, True] Translation: X:22.32, Y:-2.49, Z:-0.03 [[ 9.94965241e-01 1.00165326e-01 3.32822294e-03 2.23240641e+01] [-1.00164363e-01 9.94970800e-01 -4.55191011e-04 -2.49481643e+00] [-3.35707900e-03 1.19529904e-04 9.99994358e-01 -3.09309519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.597627999999997 meters 0.01853989194378054 Centerline is valid? [True, True] Translation: X:22.38, Y:-2.50, Z:-0.03 [[ 9.95598861e-01 9.36680140e-02 3.03505569e-03 2.23841234e+01] [-9.36671828e-02 9.95603479e-01 -4.15181563e-04 -2.50205475e+00] [-3.06060123e-03 1.29069175e-04 9.99995308e-01 -3.14526432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.657628 meters 0.021889344327776963 Centerline is valid? [True, True] Translation: X:22.44, Y:-2.51, Z:-0.03 [[ 9.95845530e-01 9.10143849e-02 2.83924440e-03 2.24440173e+01] [-9.10136458e-02 9.95849570e-01 -3.88710001e-04 -2.51336453e+00] [-2.86283851e-03 1.28685133e-04 9.99995894e-01 -3.24034527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.717627999999998 meters 0.022966455030310907 Centerline is valid? [True, True] Translation: X:22.51, Y:-2.52, Z:-0.03 [[ 9.95901145e-01 9.03803031e-02 3.50846265e-03 2.25058276e+01] [-9.03791673e-02 9.95907312e-01 -4.81263509e-04 -2.52142410e+00] [-3.53760035e-03 1.62198946e-04 9.99993730e-01 -3.27142030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.777627999999996 meters 0.02088533190036154 Centerline is valid? [True, True] Translation: X:22.57, Y:-2.52, Z:-0.03 [[ 9.95819133e-01 9.12825060e-02 3.42907763e-03 2.25677374e+01] [-9.12814234e-02 9.95825025e-01 -4.71213909e-04 -2.52440646e+00] [-3.45777490e-03 1.56232739e-04 9.99994010e-01 -3.33041385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.837628 meters 0.02028274588710813 Centerline is valid? [True, True] Translation: X:22.63, Y:-2.53, Z:-0.04 [[ 9.95468007e-01 9.50553957e-02 2.81407904e-03 2.26296022e+01] [-9.50546805e-02 9.95471977e-01 -3.87107244e-04 -2.52749767e+00] [-2.83813346e-03 1.17861492e-04 9.99995966e-01 -3.54036718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.897627999999997 meters 0.017491683164380503 Centerline is valid? [True, True] Translation: X:22.69, Y:-2.53, Z:-0.03 [[ 9.94995335e-01 9.98242770e-02 4.40431106e-03 2.26907643e+01] [-9.98225710e-02 9.95005069e-01 -6.06053321e-04 -2.53221041e+00] [-4.44281067e-03 1.63370573e-04 9.99990117e-01 -3.37860474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.957627999999996 meters 0.018350466159190847 Centerline is valid? [True, True] Translation: X:22.75, Y:-2.54, Z:-0.04 [[ 9.94487856e-01 1.04781165e-01 3.84846393e-03 2.27503767e+01] [-1.04779900e-01 9.94495295e-01 -5.29592764e-04 -2.53992046e+00] [-3.88277061e-03 1.23431909e-04 9.99992454e-01 -3.58503468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.017628 meters 0.016696715567272806 Centerline is valid? [True, True] Translation: X:22.81, Y:-2.55, Z:-0.04 [[ 9.94249853e-01 1.07040112e-01 3.10549672e-03 2.28119596e+01] [-1.07039297e-01 9.94254699e-01 -4.27716533e-04 -2.54638032e+00] [-3.13343753e-03 9.28469134e-05 9.99995086e-01 -3.65009545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.077627999999997 meters 0.015878726901494628 Centerline is valid? [True, True] Translation: X:22.87, Y:-2.56, Z:-0.04 [[ 9.93972931e-01 1.09581720e-01 3.10789614e-03 2.28734749e+01] [-1.09580915e-01 9.93977786e-01 -4.28831148e-04 -2.55587346e+00] [-3.13617178e-03 8.56804513e-05 9.99995079e-01 -3.62253956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.137627999999996 meters 0.01610531894664675 Centerline is valid? [True, True] Translation: X:22.93, Y:-2.57, Z:-0.04 [[ 9.93737535e-01 1.11716153e-01 2.28294084e-03 2.29342093e+01] [-1.11715723e-01 9.93740156e-01 -3.15456601e-04 -2.56516155e+00] [-2.30389159e-03 5.84406783e-05 9.99997344e-01 -3.87969705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.197627999999998 meters 0.015547057613730077 Centerline is valid? [True, True] Translation: X:23.00, Y:-2.57, Z:-0.04 [[ 9.93692882e-01 1.12128344e-01 1.30012059e-03 2.29961697e+01] [-1.12128205e-01 9.93693732e-01 -1.79766134e-04 -2.57409626e+00] [-1.31207856e-03 3.28521405e-05 9.99999139e-01 -4.02213545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.257627999999997 meters 0.016160402513442907 Centerline is valid? [True, True] Translation: X:23.06, Y:-2.59, Z:-0.04 [[ 9.93767145e-01 1.11470791e-01 1.06042133e-03 2.30568856e+01] [-1.11470698e-01 9.93767710e-01 -1.46866564e-04 -2.58783259e+00] [-1.07018381e-03 2.77452606e-05 9.99999427e-01 -4.06243953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.317628 meters 0.017240472481568316 Centerline is valid? [True, True] Translation: X:23.12, Y:-2.60, Z:-0.04 [[ 9.93733076e-01 1.11772767e-01 1.19228981e-03 2.31182002e+01] [-1.11772649e-01 9.93733791e-01 -1.65473578e-04 -2.59959190e+00] [-1.20331411e-03 3.11711771e-05 9.99999276e-01 -4.00612445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.377627999999998 meters 0.015566903630103632 Centerline is valid? [True, True] Translation: X:23.18, Y:-2.60, Z:-0.04 [[ 9.93390427e-01 1.14776213e-01 1.37165624e-03 2.31799592e+01] [-1.14776059e-01 9.93391373e-01 -1.90799023e-04 -2.60436711e+00] [-1.38449067e-03 3.21046253e-05 9.99999041e-01 -4.05507965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.437627999999997 meters 0.015064505991976654 Centerline is valid? [True, True] Translation: X:23.24, Y:-2.61, Z:-0.04 [[ 9.93208852e-01 1.16341404e-01 9.23767180e-04 2.32412159e+01] [-1.16341335e-01 9.93209282e-01 -1.28591149e-04 -2.61191529e+00] [-9.32454612e-04 2.02455609e-05 9.99999565e-01 -4.16159328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.497628 meters 0.014870743552746568 Centerline is valid? [True, True] Translation: X:23.30, Y:-2.62, Z:-0.04 [[ 9.93091053e-01 1.17345195e-01 5.16147667e-04 2.33025371e+01] [-1.17345173e-01 9.93091187e-01 -7.17935886e-05 -2.61834762e+00] [-5.21006332e-04 1.07301331e-05 9.99999864e-01 -4.29123331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.557627999999998 meters 0.016068758938387953 Centerline is valid? [True, True] Translation: X:23.36, Y:-2.63, Z:-0.04 [[ 9.93309779e-01 1.15479443e-01 -4.26080147e-04 2.33627542e+01] [-1.15479428e-01 9.93309870e-01 6.00934224e-05 -2.62780797e+00] [ 4.30169170e-04 -1.04878924e-05 9.99999907e-01 -4.42617260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.617627999999996 meters 0.016836474153725123 Centerline is valid? [True, True] Translation: X:23.42, Y:-2.64, Z:-0.04 [[ 9.93463532e-01 1.14149193e-01 4.16076647e-04 2.34240123e+01] [-1.14149178e-01 9.93463619e-01 -5.80085050e-05 -2.63744189e+00] [-4.19978635e-04 1.01345269e-05 9.99999912e-01 -4.28494186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.677628 meters 0.016785230533462578 Centerline is valid? [True, True] Translation: X:23.49, Y:-2.65, Z:-0.04 [[ 9.93726113e-01 1.11827296e-01 1.75164669e-03 2.34854332e+01] [-1.11827036e-01 9.93727656e-01 -2.45923673e-04 -2.64506092e+00] [-1.76816074e-03 4.84993177e-05 9.99998436e-01 -4.22460273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.737627999999997 meters 0.0181765731132698 Centerline is valid? [True, True] Translation: X:23.55, Y:-2.66, Z:-0.04 [[ 9.93950569e-01 1.09783196e-01 3.14907003e-03 2.35455007e+01] [-1.09782342e-01 9.93955553e-01 -4.43198303e-04 -2.65583962e+00] [-3.17869137e-03 9.48049217e-05 9.99994943e-01 -4.12406745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.797627999999996 meters 0.018127659356477574 Centerline is valid? [True, True] Translation: X:23.61, Y:-2.66, Z:-0.04 [[ 9.93845341e-01 1.10740452e-01 2.82685216e-03 2.36076296e+01] [-1.10739767e-01 9.93849357e-01 -3.98289131e-04 -2.66410002e+00] [-2.85357192e-03 8.27928467e-05 9.99995925e-01 -4.22532783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.857628 meters 0.016922468005617614 Centerline is valid? [True, True] Translation: X:23.67, Y:-2.67, Z:-0.04 [[ 9.93270744e-01 1.15789367e-01 2.46001450e-03 2.36674342e+01] [-1.15788863e-01 9.93273789e-01 -3.46741942e-04 -2.67022813e+00] [-2.48361696e-03 5.95663440e-05 9.99996914e-01 -4.29521692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.917627999999997 meters 0.015684243293776354 Centerline is valid? [True, True] Translation: X:23.73, Y:-2.68, Z:-0.04 [[ 9.92713579e-01 1.20450075e-01 3.39554368e-03 2.37281565e+01] [-1.20449142e-01 9.92719384e-01 -4.78703964e-04 -2.67647355e+00] [-3.42848196e-03 6.62256013e-05 9.99994121e-01 -4.25644284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.977628 meters 0.013573696303556424 Centerline is valid? [True, True] Translation: X:23.79, Y:-2.68, Z:-0.04 [[ 9.92098884e-01 1.25398215e-01 3.88487352e-03 2.37898629e+01] [-1.25397030e-01 9.92106488e-01 -5.48311500e-04 -2.68135854e+00] [-3.92296551e-03 5.68276274e-05 9.99992304e-01 -4.35827566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.037627999999998 meters 0.013260057582997035 Centerline is valid? [True, True] Translation: X:23.85, Y:-2.69, Z:-0.04 [[ 9.91744642e-01 1.28182707e-01 3.42918439e-03 2.38500836e+01] [-1.28181797e-01 9.91750569e-01 -4.84765673e-04 -2.69287738e+00] [-3.46303414e-03 4.12047420e-05 9.99994003e-01 -4.39021020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.097627999999997 meters 0.012936268360521343 Centerline is valid? [True, True] Translation: X:23.91, Y:-2.70, Z:-0.04 [[ 9.91398065e-01 1.30824491e-01 3.85090661e-03 2.39122419e+01] [-1.30823359e-01 9.91405543e-01 -5.45339259e-04 -2.69898036e+00] [-3.88915389e-03 3.68597465e-05 9.99992437e-01 -4.44159059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.157628 meters 0.01358319809034742 Centerline is valid? [True, True] Translation: X:23.97, Y:-2.71, Z:-0.05 [[ 9.91738731e-01 1.28224121e-01 3.58672806e-03 2.39724557e+01] [-1.28223121e-01 9.91745216e-01 -5.08552004e-04 -2.70827891e+00] [-3.62232903e-03 4.44492545e-05 9.99993438e-01 -4.60944116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.217627999999998 meters 0.014890467763068349 Centerline is valid? [True, True] Translation: X:24.03, Y:-2.72, Z:-0.05 [[ 9.92362609e-01 1.23281878e-01 4.24638208e-03 2.40334332e+01] [-1.23280428e-01 9.92371691e-01 -6.02512785e-04 -2.72065237e+00] [-4.28826827e-03 7.44153596e-05 9.99990803e-01 -4.53708502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.277627999999996 meters 0.015509801221493102 Centerline is valid? [True, True] Translation: X:24.09, Y:-2.73, Z:-0.05 [[ 9.93099369e-01 1.17157143e-01 5.27699777e-03 2.40935854e+01] [-1.17154817e-01 9.93113381e-01 -7.48950552e-04 -2.72861421e+00] [-5.32840201e-03 1.25556615e-04 9.99985796e-01 -4.52602177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.337628 meters 0.016869064254979582 Centerline is valid? [True, True] Translation: X:24.15, Y:-2.74, Z:-0.05 [[ 9.93624983e-01 1.12679190e-01 3.57672907e-03 2.41549192e+01] [-1.12678092e-01 9.93631415e-01 -5.07792339e-04 -2.73870410e+00] [-3.61116800e-03 1.01536147e-04 9.99993475e-01 -4.73453711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.397627999999997 meters 0.018494839713580805 Centerline is valid? [True, True] Translation: X:24.22, Y:-2.75, Z:-0.05 [[ 9.94112021e-01 1.08335481e-01 2.17110192e-03 2.42150818e+01] [-1.08335065e-01 9.94114389e-01 -3.08314055e-04 -2.74760838e+00] [-2.19172501e-03 7.12922398e-05 9.99997596e-01 -4.89388877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.457627999999996 meters 0.019294419681387828 Centerline is valid? [True, True] Translation: X:24.28, Y:-2.76, Z:-0.05 [[ 9.94188469e-01 1.07639725e-01 1.72540796e-03 2.42767232e+01] [-1.07639462e-01 9.94189965e-01 -2.45062897e-04 -2.75672683e+00] [-1.74176178e-03 5.79167234e-05 9.99998481e-01 -4.93913551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.517628 meters 0.017765903961330373 Centerline is valid? [True, True] Translation: X:24.34, Y:-2.76, Z:-0.05 [[ 9.94005647e-01 1.09319921e-01 1.38872836e-03 2.43388489e+01] [-1.09319751e-01 9.94006616e-01 -1.97501791e-04 -2.76060259e+00] [-1.40199606e-03 4.45024570e-05 9.99999016e-01 -5.01408787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.577627999999997 meters 0.016668913156579736 Centerline is valid? [True, True] Translation: X:24.40, Y:-2.77, Z:-0.05 [[ 9.93739310e-01 1.11702577e-01 2.17208555e-03 2.44009707e+01] [-1.11702167e-01 9.93741682e-01 -3.09690500e-04 -2.76652431e+00] [-2.19308517e-03 6.51249625e-05 9.99997593e-01 -5.04276705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.637627999999996 meters 0.01671526191110811 Centerline is valid? [True, True] Translation: X:24.46, Y:-2.77, Z:-0.05 [[ 9.93424343e-01 1.14464435e-01 2.44289629e-03 2.44613224e+01] [-1.14463923e-01 9.93427344e-01 -3.48891701e-04 -2.77488257e+00] [-2.46677567e-03 6.69740161e-05 9.99996955e-01 -5.03768073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.697627999999998 meters 0.01609276671830141 Centerline is valid? [True, True] Translation: X:24.52, Y:-2.78, Z:-0.05 [[ 9.93013574e-01 1.17986868e-01 1.77214108e-03 2.45224603e+01] [-1.17986604e-01 9.93015155e-01 -2.53272768e-04 -2.78202629e+00] [-1.78964581e-03 4.24143888e-05 9.99998398e-01 -5.20619969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.757627999999997 meters 0.014174182951234581 Centerline is valid? [True, True] Translation: X:24.58, Y:-2.79, Z:-0.05 [[ 9.92161532e-01 1.24957393e-01 1.06998365e-03 2.45841885e+01] [-1.24957301e-01 9.92162109e-01 -1.52925182e-04 -2.78767495e+00] [-1.08070637e-03 1.80242140e-05 9.99999416e-01 -5.30917394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.817628 meters 0.012873123902592667 Centerline is valid? [True, True] Translation: X:24.65, Y:-2.79, Z:-0.05 [[ 9.91116759e-01 1.32982883e-01 1.76738543e-03 2.46453678e+01] [-1.32982644e-01 9.91118334e-01 -2.52750255e-04 -2.79330711e+00] [-1.78529956e-03 1.54734268e-05 9.99998406e-01 -5.26999360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.877627999999998 meters 0.012487479280049452 Centerline is valid? [True, True] Translation: X:24.71, Y:-2.80, Z:-0.05 [[ 9.90468163e-01 1.37702406e-01 3.29620331e-03 2.47066457e+01] [-1.37701598e-01 9.90473648e-01 -4.71908453e-04 -2.80088321e+00] [-3.32978545e-03 1.35178357e-05 9.99994456e-01 -5.29335077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.937627999999997 meters 0.012392932652895622 Centerline is valid? [True, True] Translation: X:24.77, Y:-2.81, Z:-0.05 [[ 9.89740965e-01 1.42821451e-01 3.85428892e-03 2.47686228e+01] [-1.42820380e-01 9.89748470e-01 -5.52933944e-04 -2.81013867e+00] [-3.89374739e-03 -3.20963473e-06 9.99992419e-01 -5.26679479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.997628 meters 0.012517920279525982 Centerline is valid? [True, True] Translation: X:24.83, Y:-2.82, Z:-0.05 [[ 9.89257361e-01 1.46107351e-01 4.74499068e-03 2.48306402e+01] [-1.46105759e-01 9.89268741e-01 -6.82196723e-04 -2.81972194e+00] [-4.79374491e-03 -1.84023369e-05 9.99988510e-01 -5.25157864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.057627999999998 meters 0.01307839009092032 Centerline is valid? [True, True] Translation: X:24.89, Y:-2.83, Z:-0.05 [[ 9.88459364e-01 1.51387117e-01 5.47963726e-03 2.48916436e+01] [-1.51385070e-01 9.88474551e-01 -7.88880773e-04 -2.82500059e+00] [-5.53590837e-03 -4.97586832e-05 9.99984676e-01 -5.38510990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.117627999999996 meters 0.013356218392549296 Centerline is valid? [True, True] Translation: X:24.95, Y:-2.83, Z:-0.06 [[ 9.88077409e-01 1.53912706e-01 3.72989528e-03 2.49533331e+01] [-1.53911773e-01 9.88084448e-01 -5.37651387e-04 -2.83015492e+00] [-3.76820290e-03 -4.28336053e-05 9.99992899e-01 -5.67984398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.177628 meters 0.01299364224854956 Centerline is valid? [True, True] Translation: X:25.01, Y:-2.84, Z:-0.06 [[ 9.88483341e-01 1.51328601e-01 5.82850341e-04 2.50141090e+01] [-1.51328578e-01 9.88483512e-01 -8.39286359e-05 -2.83733518e+00] [-5.88838755e-04 -5.23985484e-06 9.99999827e-01 -6.06541276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.237627999999997 meters 0.01245695908526285 Centerline is valid? [True, True] Translation: X:25.07, Y:-2.85, Z:-0.06 [[ 9.88998074e-01 1.47927869e-01 -3.93754274e-04 2.50747488e+01] [-1.47927858e-01 9.88998152e-01 5.73722776e-05 -2.84917939e+00] [ 3.97909208e-04 1.50615427e-06 9.99999921e-01 -6.14853691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.297627999999996 meters 0.012360806731981375 Centerline is valid? [True, True] Translation: X:25.14, Y:-2.86, Z:-0.06 [[ 9.89977678e-01 1.41223772e-01 2.05604274e-04 2.51357882e+01] [-1.41223769e-01 9.89977700e-01 -2.96082047e-05 -2.86480017e+00] [-2.07725028e-04 2.75251201e-07 9.99999978e-01 -6.08174344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.357628 meters 0.012564208228674743 Centerline is valid? [True, True] Translation: X:25.20, Y:-2.88, Z:-0.06 [[ 9.90542212e-01 1.37196734e-01 1.78395268e-03 2.51972291e+01] [-1.37196492e-01 9.90543818e-01 -2.58249867e-04 -2.87517250e+00] [-1.80251434e-03 1.10553456e-05 9.99998375e-01 -6.04266668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.417627999999997 meters 0.014708574149991625 Centerline is valid? [True, True] Translation: X:25.26, Y:-2.89, Z:-0.06 [[ 9.91871121e-01 1.27204885e-01 3.25510439e-03 2.52561350e+01] [-1.27204020e-01 9.91876461e-01 -4.72204438e-04 -2.89169356e+00] [-3.28872813e-03 5.43035808e-05 9.99994591e-01 -5.86326429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.477627999999996 meters 0.015554864525868848 Centerline is valid? [True, True] Translation: X:25.32, Y:-2.90, Z:-0.06 [[ 9.92845122e-01 1.19297275e-01 5.16945942e-03 2.53162783e+01] [-1.19294985e-01 9.92858572e-01 -7.50309868e-04 -2.90287545e+00] [-5.22205202e-03 1.28250910e-04 9.99986357e-01 -5.69976800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.537627999999998 meters 0.018824506459354084 Centerline is valid? [True, True] Translation: X:25.38, Y:-2.91, Z:-0.05 [[ 9.94013131e-01 1.09017741e-01 7.28199815e-03 2.53755349e+01] [-1.09012919e-01 9.94039771e-01 -1.05699599e-03 -2.91495924e+00] [-7.35382708e-03 2.56836021e-04 9.99972927e-01 -5.46344870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.597627999999997 meters 0.021327946742952294 Centerline is valid? [True, True] Translation: X:25.44, Y:-2.92, Z:-0.06 [[ 9.95298233e-01 9.66724060e-02 5.98942663e-03 2.54357725e+01] [-9.66689204e-02 9.95316213e-01 -8.69432217e-04 -2.92476199e+00] [-6.04542353e-03 2.86352944e-04 9.99981685e-01 -5.71969499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.657628 meters 0.024361499375177943 Centerline is valid? [True, True] Translation: X:25.50, Y:-2.93, Z:-0.06 [[ 9.95969927e-01 8.96050191e-02 3.85289790e-03 2.54959035e+01] [-8.96035236e-02 9.95977357e-01 -5.59363345e-04 -2.93452373e+00] [-3.88752083e-03 2.11875842e-04 9.99992421e-01 -5.94361652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.717627999999998 meters 0.0273779585568058 Centerline is valid? [True, True] Translation: X:25.56, Y:-2.94, Z:-0.06 [[ 9.96445145e-01 8.42433602e-02 -3.59051511e-04 2.55564793e+01] [-8.42433469e-02 9.96445210e-01 5.21635548e-05 -2.94369831e+00] [ 3.62169591e-04 -2.17304200e-05 9.99999934e-01 -6.17715309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.777627999999996 meters 0.026167622759560003 Centerline is valid? [True, True] Translation: X:25.62, Y:-2.95, Z:-0.06 [[ 9.96460998e-01 8.40504169e-02 -1.00307017e-03 2.56190030e+01] [-8.40503121e-02 9.96461501e-01 1.46324914e-04 -2.94805447e+00] [ 1.01181948e-03 -6.14987093e-05 9.99999486e-01 -6.19447561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.837628 meters 0.024481349625892757 Centerline is valid? [True, True] Translation: X:25.68, Y:-2.95, Z:-0.06 [[ 9.96045098e-01 8.88480078e-02 4.40432447e-04 2.56801759e+01] [-8.88479881e-02 9.96045195e-01 -6.40582877e-05 -2.94868778e+00] [-4.44382073e-04 2.46734067e-05 9.99999901e-01 -5.96056045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.897627999999997 meters 0.024230550283980416 Centerline is valid? [True, True] Translation: X:25.74, Y:-2.95, Z:-0.06 [[ 9.95607316e-01 9.36071483e-02 1.94291812e-03 2.57394959e+01] [-9.36067744e-02 9.95609206e-01 -2.82648364e-04 -2.95246579e+00] [-1.96084508e-03 9.95364807e-05 9.99998073e-01 -5.85988463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.957627999999996 meters 0.0198015517125542 Centerline is valid? [True, True] Translation: X:25.80, Y:-2.95, Z:-0.06 [[ 9.94723002e-01 1.02546850e-01 3.20836505e-03 2.58008439e+01] [-1.02545877e-01 9.94728166e-01 -4.66913343e-04 -2.94936122e+00] [-3.23933158e-03 1.35444834e-04 9.99994744e-01 -5.58534136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.017628 meters 0.01800295338542673 Centerline is valid? [True, True] Translation: X:25.86, Y:-2.95, Z:-0.06 [[ 9.93929812e-01 1.09980894e-01 2.78047317e-03 2.58618126e+01] [-1.09980191e-01 9.93933697e-01 -4.04648551e-04 -2.95033012e+00] [-2.80810959e-03 9.63952868e-05 9.99996053e-01 -5.57998534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.077627999999997 meters 0.014480873842880075 Centerline is valid? [True, True] Translation: X:25.92, Y:-2.95, Z:-0.06 [[ 9.92525517e-01 1.22034398e-01 8.38562635e-04 2.59236000e+01] [-1.22034338e-01 9.92525871e-01 -1.22039371e-04 -2.94545726e+00] [-8.47188111e-04 1.87937532e-05 9.99999641e-01 -5.83990739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.137627999999996 meters 0.014014868354795927 Centerline is valid? [True, True] Translation: X:25.98, Y:-2.95, Z:-0.06 [[ 9.91841885e-01 1.27462884e-01 -1.69928760e-03 2.59841783e+01] [-1.27462647e-01 9.91843341e-01 2.47373209e-04 -2.94926886e+00] [ 1.71695800e-03 -2.87594146e-05 9.99998526e-01 -6.12978315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.197627999999998 meters 0.013202553726693454 Centerline is valid? [True, True] Translation: X:26.05, Y:-2.95, Z:-0.06 [[ 9.91482392e-01 1.30066770e-01 -6.73065215e-03 2.60468807e+01] [-1.30063099e-01 9.91505232e-01 9.82119960e-04 -2.95390702e+00] [ 6.80121800e-03 -9.83451678e-05 9.99976867e-01 -6.48643436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.257627999999997 meters 0.01363580876611513 Centerline is valid? [True, True] Translation: X:26.11, Y:-2.96, Z:-0.07 [[ 9.91839089e-01 1.27255199e-01 -7.83177932e-03 2.61077510e+01] [-1.27250126e-01 9.91869999e-01 1.14466709e-03 -2.96423843e+00] [ 7.91377179e-03 -1.38730658e-04 9.99968676e-01 -6.56311616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.317628 meters 0.01655897299522806 Centerline is valid? [True, True] Translation: X:26.17, Y:-2.98, Z:-0.06 [[ 9.93466105e-01 1.13916568e-01 -6.93641231e-03 2.61667693e+01] [-1.13912265e-01 9.93490296e-01 1.01358815e-03 -2.98260202e+00] [ 7.00672280e-03 -2.16823035e-04 9.99975429e-01 -6.39448831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.377627999999998 meters 0.021375003540789472 Centerline is valid? [True, True] Translation: X:26.22, Y:-3.01, Z:-0.06 [[ 9.95280264e-01 9.69331622e-02 -4.59989505e-03 2.62247868e+01] [-9.69310884e-02 9.95290868e-01 6.72168078e-04 -3.00547933e+00] [ 4.64338892e-03 -2.23122788e-04 9.99989195e-01 -6.05068542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.437627999999997 meters 0.023610982540429037 Centerline is valid? [True, True] Translation: X:26.28, Y:-3.02, Z:-0.06 [[ 9.96137064e-01 8.77157961e-02 -4.10965404e-03 2.62846190e+01] [-8.77140619e-02 9.96145513e-01 6.00680526e-04 -3.01984474e+00] [ 4.14650260e-03 -2.37885686e-04 9.99991375e-01 -5.96970764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.497628 meters 0.027917527574014438 Centerline is valid? [True, True] Translation: X:26.34, Y:-3.03, Z:-0.06 [[ 9.96640381e-01 8.16789252e-02 -6.04193732e-03 2.63445763e+01] [-8.16750653e-02 9.96658619e-01 8.83264701e-04 -3.03310837e+00] [ 6.09389302e-03 -3.86821642e-04 9.99981357e-01 -6.17567064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.557627999999998 meters 0.027724985246444483 Centerline is valid? [True, True] Translation: X:26.40, Y:-3.04, Z:-0.06 [[ 9.96550756e-01 8.27724064e-02 -5.94304860e-03 2.64049677e+01] [-8.27686850e-02 9.96568406e-01 8.69840516e-04 -3.04356030e+00] [ 5.99465326e-03 -3.74941906e-04 9.99981962e-01 -6.01154161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.617627999999996 meters 0.024394701766154957 Centerline is valid? [True, True] Translation: X:26.47, Y:-3.05, Z:-0.06 [[ 9.96206494e-01 8.66940075e-02 -7.53460712e-03 2.64657134e+01] [-8.66881400e-02 9.96234887e-01 1.10248787e-03 -3.04569121e+00] [ 7.60181757e-03 -4.45144496e-04 9.99971007e-01 -6.08094643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.677628 meters 0.022638963639264723 Centerline is valid? [True, True] Translation: X:26.53, Y:-3.05, Z:-0.06 [[ 9.95218551e-01 9.72105306e-02 -9.49464351e-03 2.65256894e+01] [-9.72016894e-02 9.95263735e-01 1.38933525e-03 -3.04751716e+00] [ 9.58473238e-03 -4.59796823e-04 9.99953960e-01 -6.20869514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.737627999999997 meters 0.018978393548774536 Centerline is valid? [True, True] Translation: X:26.59, Y:-3.05, Z:-0.06 [[ 9.94032745e-01 1.08607408e-01 -1.01652879e-02 2.65875383e+01] [-1.08597865e-01 9.94084650e-01 1.48764927e-03 -3.04720372e+00] [ 1.02667263e-02 -3.74843520e-04 9.99947226e-01 -6.15732243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.797627999999996 meters 0.017632960052388087 Centerline is valid? [True, True] Translation: X:26.65, Y:-3.05, Z:-0.06 [[ 9.93294823e-01 1.15263360e-01 -8.93046438e-03 2.66471073e+01] [-1.15256264e-01 9.93334931e-01 1.30688177e-03 -3.05137043e+00] [ 9.02157780e-03 -2.68826931e-04 9.99959269e-01 -6.02067522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.857628 meters 0.016111654869558466 Centerline is valid? [True, True] Translation: X:26.71, Y:-3.05, Z:-0.06 [[ 9.92509248e-01 1.22067382e-01 -4.99476030e-03 2.67066237e+01] [-1.22065246e-01 9.92521809e-01 7.31396009e-04 -3.05465194e+00] [ 5.04668813e-03 -1.16230656e-04 9.99987259e-01 -5.71342083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.917627999999997 meters 0.014134491959734652 Centerline is valid? [True, True] Translation: X:26.77, Y:-3.06, Z:-0.06 [[ 9.92197640e-01 1.24637294e-01 -3.06390083e-03 2.67693055e+01] [-1.24636502e-01 9.92202369e-01 4.49012750e-04 -3.05956147e+00] [ 3.09597340e-03 -6.36355099e-05 9.99995205e-01 -5.53759661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.977627999999996 meters 0.013720154092939064 Centerline is valid? [True, True] Translation: X:26.83, Y:-3.07, Z:-0.05 [[ 9.91876561e-01 1.27173175e-01 -2.80550083e-03 2.68309274e+01] [-1.27172518e-01 9.91880528e-01 4.12130064e-04 -3.06721151e+00] [ 2.83513354e-03 -5.19995461e-05 9.99995980e-01 -5.46666135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.037627999999998 meters 0.013803790425886588 Centerline is valid? [True, True] Translation: X:26.89, Y:-3.08, Z:-0.06 [[ 9.91736727e-01 1.28212347e-01 -4.45624035e-03 2.68929881e+01] [-1.28210695e-01 9.91746736e-01 6.55703295e-04 -3.07536689e+00] [ 4.50353107e-03 -7.89473696e-05 9.99989856e-01 -5.69038383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.097627999999997 meters 0.013706280486901607 Centerline is valid? [True, True] Translation: X:26.95, Y:-3.08, Z:-0.06 [[ 9.91868630e-01 1.27152385e-01 -5.37517283e-03 2.69546746e+01] [-1.27149959e-01 9.91883189e-01 7.92145061e-04 -3.08405466e+00] [ 5.43226670e-03 -1.02250833e-04 9.99985240e-01 -5.78255349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.157628 meters 0.014673772554338013 Centerline is valid? [True, True] Translation: X:27.01, Y:-3.10, Z:-0.06 [[ 9.92620820e-01 1.21067764e-01 -6.81939435e-03 2.70140743e+01] [-1.21063718e-01 9.92644230e-01 1.00460481e-03 -3.09715272e+00] [ 6.89085771e-03 -1.71610422e-04 9.99976243e-01 -5.80968503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.217627999999998 meters 0.020513176821240552 Centerline is valid? [True, True] Translation: X:27.07, Y:-3.12, Z:-0.06 [[ 9.93472647e-01 1.13834722e-01 -7.33185254e-03 2.70716854e+01] [-1.13829847e-01 9.93499673e-01 1.08006485e-03 -3.11823770e+00] [ 7.40714198e-03 -2.38431230e-04 9.99972538e-01 -6.00889671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.277627999999996 meters 0.021660342861338295 Centerline is valid? [True, True] Translation: X:27.13, Y:-3.13, Z:-0.06 [[ 9.95013355e-01 9.95198411e-02 -6.65008279e-03 2.71308142e+01] [-9.95155107e-02 9.95035529e-01 9.79761203e-04 -3.13229320e+00] [ 6.71457432e-03 -3.13089098e-04 9.99977408e-01 -5.85218390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.337628 meters 0.02278414008743183 Centerline is valid? [True, True] Translation: X:27.19, Y:-3.15, Z:-0.06 [[ 9.95873771e-01 9.05471171e-02 -6.05414764e-03 2.71906295e+01] [-9.05433613e-02 9.95892115e-01 8.92154536e-04 -3.14535091e+00] [ 6.11005991e-03 -3.40310425e-04 9.99981276e-01 -5.82018439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.397627999999997 meters 0.025252106786919793 Centerline is valid? [True, True] Translation: X:27.25, Y:-3.16, Z:-0.06 [[ 9.96514201e-01 8.31515849e-02 -6.72766536e-03 2.72497391e+01] [-8.31467788e-02 9.96536818e-01 9.91435563e-04 -3.16222624e+00] [ 6.78680567e-03 -4.28595915e-04 9.99976878e-01 -5.69003513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.457627999999996 meters 0.02597474316434965 Centerline is valid? [True, True] Translation: X:27.31, Y:-3.17, Z:-0.06 [[ 9.96529063e-01 8.28535900e-02 -8.06908387e-03 2.73106239e+01] [-8.28466479e-02 9.96561595e-01 1.19138839e-03 -3.17159721e+00] [ 8.14004990e-03 -5.18756602e-04 9.99966735e-01 -5.85070907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.517628 meters 0.024690379612589203 Centerline is valid? [True, True] Translation: X:27.37, Y:-3.18, Z:-0.06 [[ 9.96107427e-01 8.76760361e-02 -9.10531596e-03 2.73712651e+01] [-8.76674007e-02 9.96148895e-01 1.34399726e-03 -3.17612442e+00] [ 9.18808678e-03 -5.40526269e-04 9.99957643e-01 -6.02060482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.577627999999997 meters 0.02310661253645336 Centerline is valid? [True, True] Translation: X:27.43, Y:-3.18, Z:-0.06 [[ 9.95246061e-01 9.70244035e-02 -8.45831645e-03 2.74310624e+01] [-9.70172889e-02 9.95281913e-01 1.24840072e-03 -3.18112310e+00] [ 8.53953472e-03 -4.21862968e-04 9.99963449e-01 -5.89824003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.637627999999996 meters 0.023135059549643275 Centerline is valid? [True, True] Translation: X:27.49, Y:-3.19, Z:-0.06 [[ 9.94547485e-01 1.04065319e-01 -6.76085499e-03 2.74901546e+01] [-1.04060937e-01 9.94570423e-01 9.97730633e-04 -3.18759990e+00] [ 6.82797556e-03 -2.88749587e-04 9.99976647e-01 -5.89276502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.697627999999998 meters 0.01777879151651768 Centerline is valid? [True, True] Translation: X:27.55, Y:-3.18, Z:-0.06 [[ 9.93385787e-01 1.14698646e-01 -5.37575827e-03 2.75519187e+01] [-1.14696031e-01 9.93400318e-01 7.93336823e-04 -3.18447815e+00] [ 5.43127463e-03 -1.71511387e-04 9.99985236e-01 -5.86661626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.757627999999997 meters 0.016098445078135213 Centerline is valid? [True, True] Translation: X:27.61, Y:-3.19, Z:-0.06 [[ 9.92426240e-01 1.22768244e-01 -4.25626592e-03 2.76118217e+01] [-1.22766679e-01 9.92435362e-01 6.28124307e-04 -3.18943906e+00] [ 4.30118253e-03 -1.00839414e-04 9.99990745e-01 -5.84015016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.817627999999996 meters 0.012861105332098681 Centerline is valid? [True, True] Translation: X:27.67, Y:-3.19, Z:-0.06 [[ 9.90987131e-01 1.33873038e-01 -4.74518084e-03 2.76726106e+01] [-1.33871220e-01 9.90998489e-01 7.00277727e-04 -3.19133713e+00] [ 4.79621535e-03 -5.87230697e-05 9.99988496e-01 -5.81773030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.877627999999998 meters 0.011928762672498979 Centerline is valid? [True, True] Translation: X:27.73, Y:-3.20, Z:-0.06 [[ 9.89857653e-01 1.41994586e-01 -4.40045659e-03 2.77334903e+01] [-1.41993096e-01 9.89867434e-01 6.50795788e-04 -3.19753800e+00] [ 4.44827815e-03 -1.93607366e-05 9.99990106e-01 -5.88178911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.937627999999997 meters 0.011659321897422036 Centerline is valid? [True, True] Translation: X:27.80, Y:-3.21, Z:-0.06 [[ 9.89117533e-01 1.47036111e-01 -5.18530570e-03 2.77960661e+01] [-1.47034103e-01 9.89131125e-01 7.68424924e-04 -3.20637704e+00] [ 5.24193347e-03 2.35420672e-06 9.99986261e-01 -5.89635806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.997628 meters 0.012006004422536538 Centerline is valid? [True, True] Translation: X:27.86, Y:-3.22, Z:-0.06 [[ 9.88253018e-01 1.52666720e-01 -6.98896753e-03 2.78569398e+01] [-1.52663201e-01 9.88277730e-01 1.03727777e-03 -3.21772430e+00] [ 7.06539875e-03 4.18652743e-05 9.99975039e-01 -6.07245519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.057627999999998 meters 0.012285131405982783 Centerline is valid? [True, True] Translation: X:27.92, Y:-3.23, Z:-0.06 [[ 9.87989674e-01 1.54365255e-01 -6.91173717e-03 2.79177782e+01] [-1.54361841e-01 9.88013849e-01 1.02790538e-03 -3.23345245e+00] [ 6.98756492e-03 5.13485738e-05 9.99975585e-01 -6.11415344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.117627999999996 meters 0.012079585945372477 Centerline is valid? [True, True] Translation: X:27.98, Y:-3.25, Z:-0.06 [[ 9.88285713e-01 1.52481488e-01 -6.38322889e-03 2.79784058e+01] [-1.52478526e-01 9.88306326e-01 9.50928221e-04 -3.25018602e+00] [ 6.45358444e-03 3.35165581e-05 9.99979175e-01 -6.03512380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.177628 meters 0.012152125060223068 Centerline is valid? [True, True] Translation: X:28.04, Y:-3.27, Z:-0.06 [[ 9.89079381e-01 1.47252707e-01 -6.21438250e-03 2.80375050e+01] [-1.47249786e-01 9.89098903e-01 9.27367768e-04 -3.27303200e+00] [ 6.28319633e-03 -2.17384155e-06 9.99980261e-01 -6.01070023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.237627999999997 meters 0.012400977979433356 Centerline is valid? [True, True] Translation: X:28.10, Y:-3.29, Z:-0.06 [[ 9.89601166e-01 1.43641398e-01 -7.52870861e-03 2.80975409e+01] [-1.43636993e-01 9.89629803e-01 1.12533369e-03 -3.29326351e+00] [ 7.61227892e-03 -3.22304657e-05 9.99971026e-01 -6.02917779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.297627999999996 meters 0.013219801978988152 Centerline is valid? [True, True] Translation: X:28.16, Y:-3.32, Z:-0.06 [[ 9.90392919e-01 1.37983354e-01 -9.08077397e-03 2.81562609e+01] [-1.37976700e-01 9.90434544e-01 1.35821657e-03 -3.31775255e+00] [ 9.18132350e-03 -9.22328508e-05 9.99957847e-01 -6.12563257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.357628 meters 0.012630855865075731 Centerline is valid? [True, True] Translation: X:28.22, Y:-3.33, Z:-0.06 [[ 9.89613225e-01 1.43597469e-01 -6.74030251e-03 2.82171515e+01] [-1.43593921e-01 9.89636179e-01 1.00991551e-03 -3.32601525e+00] [ 6.81546853e-03 -3.15592802e-05 9.99976774e-01 -5.97140364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.417627999999997 meters 0.012605104881821044 Centerline is valid? [True, True] Translation: X:28.28, Y:-3.34, Z:-0.06 [[ 9.89277557e-01 1.45841707e-01 -7.75322320e-03 2.82796832e+01] [-1.45837063e-01 9.89307938e-01 1.16394666e-03 -3.33511075e+00] [ 7.84007723e-03 -2.07590094e-05 9.99969266e-01 -5.89238759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.477627999999996 meters 0.012684061711331764 Centerline is valid? [True, True] Translation: X:28.34, Y:-3.35, Z:-0.06 [[ 9.89290027e-01 1.45720772e-01 -8.40831165e-03 2.83413929e+01] [-1.45715286e-01 9.89325758e-01 1.26467298e-03 -3.34507565e+00] [ 8.50284843e-03 -2.59088301e-05 9.99963850e-01 -5.94224758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.537627999999998 meters 0.012954526775690573 Centerline is valid? [True, True] Translation: X:28.40, Y:-3.36, Z:-0.06 [[ 9.89681304e-01 1.43055373e-01 -8.12875307e-03 2.84036780e+01] [-1.43050137e-01 9.89714685e-01 1.22497042e-03 -3.35528921e+00] [ 8.22038488e-03 -4.95110855e-05 9.99966211e-01 -5.92231545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.597627999999997 meters 0.013916431987000677 Centerline is valid? [True, True] Translation: X:28.46, Y:-3.37, Z:-0.06 [[ 9.90377646e-01 1.38145362e-01 -8.24479183e-03 2.84633632e+01] [-1.38139806e-01 9.90411960e-01 1.24232758e-03 -3.36618986e+00] [ 8.33736223e-03 -9.14395225e-05 9.99965239e-01 -6.06398033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.657628 meters 0.01611821883025125 Centerline is valid? [True, True] Translation: X:28.52, Y:-3.38, Z:-0.06 [[ 9.91630987e-01 1.28917837e-01 -6.94092014e-03 2.85234787e+01] [-1.28913672e-01 9.91655268e-01 1.04610761e-03 -3.37943463e+00] [ 7.01786195e-03 -1.42573218e-04 9.99975364e-01 -6.05650853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.717627999999998 meters 0.018424516338854197 Centerline is valid? [True, True] Translation: X:28.58, Y:-3.39, Z:-0.06 [[ 9.92997496e-01 1.17980097e-01 -6.05555879e-03 2.85825203e+01] [-1.17976724e-01 9.93015941e-01 9.12580584e-04 -3.39238829e+00] [ 6.12093276e-03 -1.91775249e-04 9.99981249e-01 -5.82023540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.777627999999996 meters 0.019498254578469 Centerline is valid? [True, True] Translation: X:28.64, Y:-3.40, Z:-0.06 [[ 9.93758347e-01 1.11448500e-01 -4.85592607e-03 2.86424679e+01] [-1.11446252e-01 9.93770193e-01 7.31917653e-04 -3.40303775e+00] [ 4.90724571e-03 -1.86174519e-04 9.99987942e-01 -5.69927501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.837628 meters 0.02036583196228729 Centerline is valid? [True, True] Translation: X:28.70, Y:-3.41, Z:-0.06 [[ 9.94288859e-01 1.06636683e-01 -4.27583955e-03 2.87027324e+01] [-1.06634895e-01 9.94298036e-01 6.44565248e-04 -3.41201198e+00] [ 4.32019317e-03 -1.84930342e-04 9.99990651e-01 -5.67884612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.897627999999997 meters 0.020890381283783815 Centerline is valid? [True, True] Translation: X:28.76, Y:-3.42, Z:-0.06 [[ 9.94315192e-01 1.06391467e-01 -4.26085871e-03 2.87647177e+01] [-1.06389683e-01 9.94324304e-01 6.43773119e-04 -3.42033234e+00] [ 4.30516733e-03 -1.86801984e-04 9.99990715e-01 -5.70121356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.957627999999996 meters 0.022538422726327008 Centerline is valid? [True, True] Translation: X:28.82, Y:-3.43, Z:-0.06 [[ 9.94018099e-01 1.09111200e-01 -4.77128300e-03 2.88242959e+01] [-1.09108994e-01 9.94029530e-01 7.21111418e-04 -3.42777550e+00] [ 4.82147754e-03 -1.96207913e-04 9.99988357e-01 -5.91256492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.017628 meters 0.01946629403952079 Centerline is valid? [True, True] Translation: X:28.89, Y:-3.43, Z:-0.06 [[ 9.93422444e-01 1.14423419e-01 -4.37364471e-03 2.88852074e+01] [-1.14421617e-01 9.93432060e-01 6.60852461e-04 -3.42984841e+00] [ 4.42053587e-03 -1.56066168e-04 9.99990217e-01 -5.89491035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.077627999999997 meters 0.017905287358724285 Centerline is valid? [True, True] Translation: X:28.95, Y:-3.43, Z:-0.06 [[ 9.93094609e-01 1.17212112e-01 -4.94151615e-03 2.89475442e+01] [-1.17209838e-01 9.93106889e-01 7.48327281e-04 -3.43474742e+00] [ 4.99516676e-03 -1.63965480e-04 9.99987511e-01 -5.92538648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.137627999999996 meters 0.018306327026259714 Centerline is valid? [True, True] Translation: X:29.01, Y:-3.44, Z:-0.06 [[ 9.92970311e-01 1.18235242e-01 -5.51253821e-03 2.90081793e+01] [-1.18232421e-01 9.92985597e-01 8.35993838e-04 -3.44379063e+00] [ 5.57271497e-03 -1.78356325e-04 9.99984456e-01 -6.04190065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.197627999999998 meters 0.017310368583205997 Centerline is valid? [True, True] Translation: X:29.07, Y:-3.45, Z:-0.06 [[ 9.92735273e-01 1.20195720e-01 -5.44666093e-03 2.90694052e+01] [-1.20192988e-01 9.92750201e-01 8.27422397e-04 -3.45195531e+00] [ 5.50662636e-03 -1.66760948e-04 9.99984825e-01 -6.12193582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.257627999999997 meters 0.016877928197159497 Centerline is valid? [True, True] Translation: X:29.13, Y:-3.46, Z:-0.06 [[ 9.92534407e-01 1.21843364e-01 -5.44469285e-03 2.91309473e+01] [-1.21840651e-01 9.92549328e-01 8.28507859e-04 -3.46257110e+00] [ 5.50507441e-03 -1.58937635e-04 9.99984834e-01 -6.13685107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.317627999999996 meters 0.01790466407421399 Centerline is valid? [True, True] Translation: X:29.19, Y:-3.47, Z:-0.06 [[ 9.92536846e-01 1.21824716e-01 -5.41734073e-03 2.91917501e+01] [-1.21822021e-01 9.92551617e-01 8.25826371e-04 -3.47454847e+00] [ 5.47759637e-03 -1.59711704e-04 9.99984985e-01 -6.19271451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.377627999999998 meters 0.016563421626790295 Centerline is valid? [True, True] Translation: X:29.25, Y:-3.48, Z:-0.06 [[ 9.92545991e-01 1.21772709e-01 -4.88502598e-03 2.92537034e+01] [-1.21770510e-01 9.92558001e-01 7.46205217e-04 -3.48387246e+00] [ 4.93953905e-03 -1.45790893e-04 9.99987790e-01 -6.04753555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.437627999999997 meters 0.0179806884121813 Centerline is valid? [True, True] Translation: X:29.31, Y:-3.50, Z:-0.06 [[ 9.92472185e-01 1.22403358e-01 -4.04713607e-03 2.93131432e+01] [-1.22401852e-01 9.92480430e-01 6.18637486e-04 -3.49878563e+00] [ 4.09242666e-03 -1.18603547e-04 9.99991619e-01 -5.98264792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.497628 meters 0.016833918781581487 Centerline is valid? [True, True] Translation: X:29.38, Y:-3.51, Z:-0.06 [[ 9.92304451e-01 1.23728844e-01 -4.80103980e-03 2.93752535e+01] [-1.23726739e-01 9.92316056e-01 7.34175934e-04 -3.50664715e+00] [ 4.85498761e-03 -1.34509048e-04 9.99988205e-01 -6.06517645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.557627999999998 meters 0.016148316475969187 Centerline is valid? [True, True] Translation: X:29.44, Y:-3.52, Z:-0.06 [[ 9.91940101e-01 1.26601490e-01 -5.18641152e-03 2.94365922e+01] [-1.26599064e-01 9.91953651e-01 7.94663069e-04 -3.51573318e+00] [ 5.24528537e-03 -1.31663321e-04 9.99986235e-01 -6.17988625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.617627999999996 meters 0.015053600230762128 Centerline is valid? [True, True] Translation: X:29.50, Y:-3.53, Z:-0.06 [[ 9.91541769e-01 1.29732719e-01 -3.78719617e-03 2.94977271e+01] [-1.29731444e-01 9.91548997e-01 5.81362753e-04 -3.52702282e+00] [ 3.83061233e-03 -8.51270244e-05 9.99992660e-01 -5.90774779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.677628 meters 0.014703048522634916 Centerline is valid? [True, True] Translation: X:29.56, Y:-3.54, Z:-0.06 [[ 9.91152266e-01 1.32695850e-01 -2.99963775e-03 2.95594583e+01] [-1.32695064e-01 9.91156803e-01 4.60551738e-04 -3.53795525e+00] [ 3.03422467e-03 -5.84397763e-05 9.99995395e-01 -5.86539877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.737627999999997 meters 0.014316786367659737 Centerline is valid? [True, True] Translation: X:29.62, Y:-3.55, Z:-0.06 [[ 9.90774253e-01 1.35457519e-01 -4.19992757e-03 2.96212272e+01] [-1.35455997e-01 9.90783153e-01 6.46094951e-04 -3.54703719e+00] [ 4.24873590e-03 -7.12288654e-05 9.99990972e-01 -6.07230074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.797627999999996 meters 0.013070804324512107 Centerline is valid? [True, True] Translation: X:29.68, Y:-3.55, Z:-0.06 [[ 9.89770153e-01 1.42550666e-01 -5.86105116e-03 2.96832458e+01] [-1.42547819e-01 9.89787505e-01 9.02931041e-04 -3.55399114e+00] [ 5.92990863e-03 -5.82141362e-05 9.99982416e-01 -6.20340344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.857628 meters 0.012300397973762624 Centerline is valid? [True, True] Translation: X:29.74, Y:-3.56, Z:-0.06 [[ 9.88888508e-01 1.48573660e-01 -5.03839713e-03 2.97446293e+01] [-1.48571627e-01 9.88901344e-01 7.77557276e-04 -3.56063209e+00] [ 5.09800222e-03 -2.03545978e-05 9.99987005e-01 -6.06859292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.917627999999997 meters 0.012176448828583512 Centerline is valid? [True, True] Translation: X:29.81, Y:-3.57, Z:-0.06 [[ 9.88668104e-01 1.50087177e-01 -3.03623376e-03 2.98061339e+01] [-1.50086442e-01 9.88672767e-01 4.69504746e-04 -3.56878076e+00] [ 3.07230828e-03 -8.48684350e-06 9.99995280e-01 -6.05827886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.977627999999996 meters 0.012138774524630596 Centerline is valid? [True, True] Translation: X:29.87, Y:-3.58, Z:-0.06 [[ 9.88645555e-01 1.50264133e-01 -8.10012842e-04 2.98674763e+01] [-1.50264081e-01 9.88645887e-01 1.25802882e-04 -3.57979439e+00] [ 8.19719526e-04 -2.65862559e-06 9.99999664e-01 -5.97895055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.037627999999998 meters 0.012077912691523652 Centerline is valid? [True, True] Translation: X:29.93, Y:-3.59, Z:-0.06 [[ 9.88677015e-01 1.50057802e-01 -6.44674427e-04 2.99297765e+01] [-1.50057768e-01 9.88677225e-01 1.00401659e-04 -3.59164602e+00] [ 6.52440976e-04 -2.52640636e-06 9.99999787e-01 -5.88425060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.097627999999997 meters 0.01213308434737456 Centerline is valid? [True, True] Translation: X:29.99, Y:-3.60, Z:-0.06 [[ 9.88611972e-01 1.50478244e-01 -1.63331681e-03 2.99921943e+01] [-1.50478029e-01 9.88613321e-01 2.54142469e-04 -3.60038209e+00] [ 1.65296167e-03 -5.46999265e-06 9.99998634e-01 -5.99318450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.157628 meters 0.012063750433976898 Centerline is valid? [True, True] Translation: X:30.05, Y:-3.61, Z:-0.06 [[ 9.88640087e-01 1.50264543e-01 -3.36822762e-03 3.00546319e+01] [-1.50263628e-01 9.88645825e-01 5.24582850e-04 -3.60864132e+00] [ 3.40881038e-03 -1.25015325e-05 9.99994190e-01 -6.24356062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.217627999999998 meters 0.0122038527415252 Centerline is valid? [True, True] Translation: X:30.12, Y:-3.62, Z:-0.06 [[ 9.88593478e-01 1.50545922e-01 -4.34287327e-03 3.01154227e+01] [-1.50544399e-01 9.88603017e-01 6.77354336e-04 -3.61836025e+00] [ 4.39535055e-03 -1.58328309e-05 9.99990340e-01 -6.44135993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.277627999999996 meters 0.011988706076849171 Centerline is valid? [True, True] Translation: X:30.18, Y:-3.63, Z:-0.06 [[ 9.88522205e-01 1.51000693e-01 -4.75831609e-03 3.01778654e+01] [-1.50998864e-01 9.88533657e-01 7.43549102e-04 -3.62647828e+00] [ 4.81603203e-03 -1.65144762e-05 9.99988403e-01 -6.38823029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.337628 meters 0.012028372435503056 Centerline is valid? [True, True] Translation: X:30.24, Y:-3.64, Z:-0.07 [[ 9.88600033e-01 1.50439561e-01 -6.15741121e-03 3.02398114e+01] [-1.50436478e-01 9.88619208e-01 9.63518655e-04 -3.63513408e+00] [ 6.23228631e-03 -2.62353205e-05 9.99980579e-01 -6.50741726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.397627999999997 meters 0.012719623671545404 Centerline is valid? [True, True] Translation: X:30.30, Y:-3.65, Z:-0.07 [[ 9.88940323e-01 1.48166648e-01 -6.60928966e-03 3.02998778e+01] [-1.48163040e-01 9.88962407e-01 1.03490794e-03 -3.64661483e+00] [ 6.68967785e-03 -4.42097388e-05 9.99977623e-01 -6.67806907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.457627999999996 meters 0.013213924412683532 Centerline is valid? [True, True] Translation: X:30.36, Y:-3.66, Z:-0.06 [[ 9.89825839e-01 1.42230773e-01 -3.90076321e-03 3.03605165e+01] [-1.42229465e-01 9.89833524e-01 6.12051985e-04 -3.66065309e+00] [ 3.94815882e-03 -5.10214038e-05 9.99992205e-01 -6.19092994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.517628 meters 0.015377630609947048 Centerline is valid? [True, True] Translation: X:30.42, Y:-3.68, Z:-0.06 [[ 9.91031194e-01 1.33601979e-01 -2.77184278e-03 3.04200473e+01] [-1.33601285e-01 9.91035069e-01 4.34703078e-04 -3.67503551e+00] [ 2.80507059e-03 -6.04825524e-05 9.99996064e-01 -6.16567514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.577627999999997 meters 0.01737515743727469 Centerline is valid? [True, True] Translation: X:30.48, Y:-3.69, Z:-0.06 [[ 9.91729514e-01 1.28325785e-01 -2.25048314e-03 3.04793831e+01] [-1.28325314e-01 9.91732065e-01 3.52983291e-04 -3.68767482e+00] [ 2.27717315e-03 -6.12699923e-05 9.99997405e-01 -6.19922446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.637627999999996 meters 0.018042736598341942 Centerline is valid? [True, True] Translation: X:30.54, Y:-3.70, Z:-0.06 [[ 9.92406764e-01 1.22963988e-01 -2.94479500e-03 3.05393353e+01] [-1.22963158e-01 9.92411129e-01 4.61929256e-04 -3.69774107e+00] [ 2.97924799e-03 -9.63204246e-05 9.99995557e-01 -6.11169163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.697627999999998 meters 0.019106229680748994 Centerline is valid? [True, True] Translation: X:30.60, Y:-3.71, Z:-0.06 [[ 9.92733936e-01 1.20256556e-01 -4.20627767e-03 3.06007088e+01] [-1.20254837e-01 9.92742836e-01 6.60185827e-04 -3.70912986e+00] [ 4.25514369e-03 -1.49563638e-04 9.99990936e-01 -6.11379394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.757627999999997 meters 0.019386572172314733 Centerline is valid? [True, True] Translation: X:30.66, Y:-3.72, Z:-0.06 [[ 9.92910581e-01 1.18749204e-01 -5.21588704e-03 3.06628244e+01] [-1.18746531e-01 9.92924261e-01 8.20224387e-04 -3.71603077e+00] [ 5.27638178e-03 -1.95040980e-04 9.99986061e-01 -6.24483154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.817627999999996 meters 0.02086878861953738 Centerline is valid? [True, True] Translation: X:30.72, Y:-3.73, Z:-0.06 [[ 9.92805368e-01 1.19602543e-01 -5.72122585e-03 3.07227606e+01] [-1.19599334e-01 9.92821831e-01 9.00926558e-04 -3.72533630e+00] [ 5.78791103e-03 -2.10189920e-04 9.99983228e-01 -6.40181675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.877627999999998 meters 0.01865348435463052 Centerline is valid? [True, True] Translation: X:30.78, Y:-3.73, Z:-0.06 [[ 9.92378792e-01 1.23089350e-01 -5.77456720e-03 3.07844512e+01] [-1.23086140e-01 9.92395574e-01 9.09339928e-04 -3.72932513e+00] [ 5.84258500e-03 -1.91640470e-04 9.99982914e-01 -6.23128658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.937627999999997 meters 0.01867972568429537 Centerline is valid? [True, True] Translation: X:30.84, Y:-3.74, Z:-0.06 [[ 9.91982075e-01 1.26280025e-01 -4.99172410e-03 3.08446873e+01] [-1.26277666e-01 9.91994623e-01 7.86220340e-04 -3.73694288e+00] [ 5.05104739e-03 -1.49573216e-04 9.99987232e-01 -6.20194200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.997628 meters 0.015104260202956087 Centerline is valid? [True, True] Translation: X:30.91, Y:-3.74, Z:-0.06 [[ 9.91363117e-01 1.31062908e-01 -4.65662249e-03 3.09071955e+01] [-1.31060907e-01 9.91374047e-01 7.33737778e-04 -3.73639677e+00] [ 4.71262048e-03 -1.17099407e-04 9.99988889e-01 -6.09885347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.057628 meters 0.016702938014685045 Centerline is valid? [True, True] Translation: X:30.97, Y:-3.75, Z:-0.06 [[ 9.91059307e-01 1.33313753e-01 -5.37516691e-03 3.09677052e+01] [-1.33311111e-01 9.91073876e-01 8.48516624e-04 -3.74704893e+00] [ 5.44030644e-03 -1.24360825e-04 9.99985194e-01 -6.28983641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.117628 meters 0.014757897908315944 Centerline is valid? [True, True] Translation: X:31.03, Y:-3.75, Z:-0.06 [[ 9.90804830e-01 1.35093287e-01 -7.45610943e-03 3.10293515e+01] [-1.35088240e-01 9.90832871e-01 1.17879713e-03 -3.75452564e+00] [ 7.54700589e-03 -1.60725191e-04 9.99971508e-01 -6.13835060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.177628 meters 0.015016221332289127 Centerline is valid? [True, True] Translation: X:31.09, Y:-3.76, Z:-0.06 [[ 9.90707499e-01 1.35795854e-01 -7.62480790e-03 3.10917896e+01] [-1.35790579e-01 9.90736827e-01 1.20771690e-03 -3.76362633e+00] [ 7.71818093e-03 -1.61117111e-04 9.99970201e-01 -6.22616180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.237628 meters 0.014761973210859492 Centerline is valid? [True, True] Translation: X:31.15, Y:-3.77, Z:-0.06 [[ 9.90632131e-01 1.36382689e-01 -6.90965978e-03 3.11529584e+01] [-1.36378359e-01 9.90656218e-01 1.09619264e-03 -3.77246278e+00] [ 6.99459913e-03 -1.43595584e-04 9.99975527e-01 -6.17275032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.297628 meters 0.014236735025314534 Centerline is valid? [True, True] Translation: X:31.21, Y:-3.78, Z:-0.06 [[ 9.90475928e-01 1.37613481e-01 -4.46820778e-03 3.12138724e+01] [-1.37611677e-01 9.90486003e-01 7.10171816e-04 -3.78362575e+00] [ 4.52342648e-03 -8.85305226e-05 9.99989765e-01 -5.83900100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.357628 meters 0.013911317125291037 Centerline is valid? [True, True] Translation: X:31.28, Y:-3.79, Z:-0.06 [[ 9.90005660e-01 1.40991648e-01 -3.18573889e-03 3.12752945e+01] [-1.40990746e-01 9.90010784e-01 5.07262335e-04 -3.79284911e+00] [ 3.22543561e-03 -5.30328802e-05 9.99994797e-01 -5.81739111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.417628 meters 0.013650489027280128 Centerline is valid? [True, True] Translation: X:31.34, Y:-3.80, Z:-0.06 [[ 9.89396086e-01 1.45199074e-01 -3.55152670e-03 3.13362257e+01] [-1.45197976e-01 9.89402460e-01 5.66249707e-04 -3.80099283e+00] [ 3.59610818e-03 -4.45707548e-05 9.99993533e-01 -5.94385273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.477628 meters 0.01253512354844908 Centerline is valid? [True, True] Translation: X:31.40, Y:-3.81, Z:-0.06 [[ 9.88366883e-01 1.51950244e-01 -6.48296220e-03 3.13977320e+01] [-1.51946723e-01 9.88388143e-01 1.03499918e-03 -3.80742525e+00] [ 6.56495135e-03 -3.78940459e-05 9.99978450e-01 -6.05398622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.537628 meters 0.012470944444611502 Centerline is valid? [True, True] Translation: X:31.46, Y:-3.82, Z:-0.06 [[ 9.87906075e-01 1.54806190e-01 -8.75387260e-03 3.14597392e+01] [-1.54799862e-01 9.87944858e-01 1.39998410e-03 -3.81620105e+00] [ 8.86506963e-03 -2.79545205e-05 9.99960704e-01 -6.27272406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.597628 meters 0.012491028298253314 Centerline is valid? [True, True] Translation: X:31.52, Y:-3.83, Z:-0.06 [[ 9.87636823e-01 1.56449745e-01 -9.84795432e-03 3.15217758e+01] [-1.56441791e-01 9.87685920e-01 1.57769318e-03 -3.82755519e+00] [ 9.97351552e-03 -1.75562663e-05 9.99950263e-01 -6.42302182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.657628 meters 0.012828079038852901 Centerline is valid? [True, True] Translation: X:31.58, Y:-3.85, Z:-0.06 [[ 9.88045322e-01 1.53886760e-01 -9.23615170e-03 3.15814153e+01] [-1.53879629e-01 9.88088490e-01 1.48209664e-03 -3.84510940e+00] [ 9.35421023e-03 -4.31230556e-05 9.99956247e-01 -6.33906975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.717628 meters 0.012844115507838552 Centerline is valid? [True, True] Translation: X:31.64, Y:-3.86, Z:-0.06 [[ 9.88369524e-01 1.51893333e-01 -7.35522107e-03 3.16429602e+01] [-1.51888739e-01 9.88396890e-01 1.18243151e-03 -3.85952360e+00] [ 7.44948109e-03 -5.15040148e-05 9.99972251e-01 -6.19244974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.777628 meters 0.012560024006783356 Centerline is valid? [True, True] Translation: X:31.70, Y:-3.87, Z:-0.06 [[ 9.88294835e-01 1.52499526e-01 -4.14902744e-03 3.17040464e+01] [-1.52498064e-01 9.88303543e-01 6.68207143e-04 -3.87186196e+00] [ 4.20239979e-03 -2.76670154e-05 9.99991169e-01 -5.96278746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.837628 meters 0.012357112789080372 Centerline is valid? [True, True] Translation: X:31.77, Y:-3.88, Z:-0.06 [[ 9.87873008e-01 1.55229705e-01 -3.26491068e-03 3.17651910e+01] [-1.55228812e-01 9.87878403e-01 5.26728457e-04 -3.88252916e+00] [ 3.30709865e-03 -1.35326185e-05 9.99994531e-01 -5.87938985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.897628 meters 0.015201396306126234 Centerline is valid? [True, True] Translation: X:31.83, Y:-3.89, Z:-0.06 [[ 9.87118433e-01 1.59929648e-01 -4.43916323e-03 3.18274260e+01] [-1.59928039e-01 9.87128415e-01 7.17366203e-04 -3.89251784e+00] [ 4.49675229e-03 1.82126934e-06 9.99989890e-01 -6.17684476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.957628 meters 0.012464374247301 Centerline is valid? [True, True] Translation: X:31.89, Y:-3.90, Z:-0.06 [[ 9.86368488e-01 1.64496090e-01 -4.27107589e-03 3.18893872e+01] [-1.64494638e-01 9.86377735e-01 6.91454631e-04 -3.90046557e+00] [ 4.32663575e-03 2.05400235e-05 9.99990640e-01 -5.96879233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.017628 meters 0.013116022092171846 Centerline is valid? [True, True] Translation: X:31.95, Y:-3.91, Z:-0.06 [[ 9.85335457e-01 1.70485324e-01 -6.98503795e-03 3.19506786e+01] [-1.70481581e-01 9.85360213e-01 1.13208207e-03 -3.90745778e+00] [ 7.07578186e-03 7.53397115e-05 9.99974964e-01 -6.13236042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.077628000000004 meters 0.013568223770904216 Centerline is valid? [True, True] Translation: X:32.01, Y:-3.91, Z:-0.06 [[ 9.84848358e-01 1.73180711e-01 -9.06378775e-03 3.20124475e+01] [-1.73174503e-01 9.84890058e-01 1.47120891e-03 -3.91435548e+00] [ 9.18161945e-03 1.20699264e-04 9.99957841e-01 -6.35074515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.137628 meters 0.01656915594155564 Centerline is valid? [True, True] Translation: X:32.07, Y:-3.92, Z:-0.07 [[ 9.84731316e-01 1.73732478e-01 -1.10118836e-02 3.20738468e+01] [-1.73723320e-01 9.84792873e-01 1.79012808e-03 -3.92262049e+00] [ 1.11554279e-02 1.50225795e-04 9.99937765e-01 -6.73610405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.197628 meters 0.013410189871696752 Centerline is valid? [True, True] Translation: X:32.13, Y:-3.94, Z:-0.06 [[ 9.85132939e-01 1.71651963e-01 -6.97824920e-03 3.21345752e+01] [-1.71648220e-01 9.85157651e-01 1.13629751e-03 -3.93548253e+00] [ 7.06972329e-03 7.83999502e-05 9.99975006e-01 -6.14818117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.257628000000004 meters 0.012651512227644013 Centerline is valid? [True, True] Translation: X:32.19, Y:-3.95, Z:-0.06 [[ 9.85888643e-01 1.67337898e-01 -4.64883108e-03 3.21948397e+01] [-1.67336183e-01 9.85899603e-01 7.58295709e-04 -3.95027760e+00] [ 4.71017233e-03 3.03225200e-05 9.99988907e-01 -5.87840130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.317628 meters 0.012404042807663397 Centerline is valid? [True, True] Translation: X:32.26, Y:-3.96, Z:-0.06 [[ 9.86317168e-01 1.64816496e-01 -3.73719520e-03 3.22557208e+01] [-1.64815365e-01 9.86324248e-01 6.10635504e-04 -3.96296372e+00] [ 3.78672905e-03 1.36669117e-05 9.99992830e-01 -5.76786190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.377628 meters 0.012409764128055004 Centerline is valid? [True, True] Translation: X:32.32, Y:-3.98, Z:-0.06 [[ 9.87232026e-01 1.59273344e-01 -2.22008487e-03 3.23167579e+01] [-1.59272929e-01 9.87234522e-01 3.63480239e-04 -3.97501798e+00] [ 2.24963714e-03 -5.23991328e-06 9.99997470e-01 -5.75589360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.437628000000004 meters 0.01272550820615412 Centerline is valid? [True, True] Translation: X:32.38, Y:-3.99, Z:-0.06 [[ 9.87888992e-01 1.55059122e-01 -5.65761305e-03 3.23779559e+01] [-1.55056355e-01 9.87905191e-01 9.27071614e-04 -3.98675676e+00] [ 5.73293622e-03 -3.85949849e-05 9.99983566e-01 -5.94843119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.497628 meters 0.013201791794456923 Centerline is valid? [True, True] Translation: X:32.44, Y:-4.00, Z:-0.06 [[ 9.88359922e-01 1.51941520e-01 -7.64450466e-03 3.24385942e+01] [-1.51936362e-01 9.88389482e-01 1.25443860e-03 -3.99834364e+00] [ 7.74634931e-03 -7.83586053e-05 9.99969994e-01 -6.06997483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.557628 meters 0.014355798764242008 Centerline is valid? [True, True] Translation: X:32.50, Y:-4.01, Z:-0.06 [[ 9.89195786e-01 1.46313117e-01 -9.17438559e-03 3.24993928e+01] [-1.46305443e-01 9.89238318e-01 1.50576221e-03 -4.00980052e+00] [ 9.29596653e-03 -1.47231081e-04 9.99956781e-01 -6.26021884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.617628 meters 0.015083424316213193 Centerline is valid? [True, True] Translation: X:32.56, Y:-4.02, Z:-0.06 [[ 9.89683964e-01 1.43030316e-01 -8.24498450e-03 3.25602669e+01] [-1.43023994e-01 9.89718295e-01 1.35441643e-03 -4.01994702e+00] [ 8.35393461e-03 -1.61213615e-04 9.99965092e-01 -6.16179033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.677628 meters 0.01603935936481411 Centerline is valid? [True, True] Translation: X:32.62, Y:-4.03, Z:-0.06 [[ 9.89908293e-01 1.41509507e-01 -7.52533108e-03 3.26203590e+01] [-1.41504188e-01 9.89936884e-01 1.23723069e-03 -4.02966448e+00] [ 7.62468270e-03 -1.59879054e-04 9.99970919e-01 -6.02731940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.737628 meters 0.014507597998882583 Centerline is valid? [True, True] Translation: X:32.68, Y:-4.03, Z:-0.06 [[ 9.89457098e-01 1.44671122e-01 -6.70201732e-03 3.26823730e+01] [-1.44666963e-01 9.89479788e-01 1.10378414e-03 -4.03380480e+00] [ 6.79119637e-03 -1.22586562e-04 9.99976932e-01 -5.80669681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.797628 meters 0.015597889393937019 Centerline is valid? [True, True] Translation: X:32.74, Y:-4.04, Z:-0.06 [[ 9.88922819e-01 1.48256618e-01 -7.18565065e-03 3.27434075e+01] [-1.48251926e-01 9.88948919e-01 1.18425138e-03 -4.04025466e+00] [ 7.28181454e-03 -1.05846666e-04 9.99973482e-01 -6.10459587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.857628 meters 0.012537191234515603 Centerline is valid? [True, True] Translation: X:32.81, Y:-4.04, Z:-0.06 [[ 9.87842598e-01 1.55278936e-01 -7.44671504e-03 3.28059977e+01] [-1.55274081e-01 9.87870664e-01 1.22936303e-03 -4.04152284e+00] [ 7.54728552e-03 -5.81353375e-05 9.99971517e-01 -6.03876034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.917628 meters 0.015027547644468954 Centerline is valid? [True, True] Translation: X:32.87, Y:-4.05, Z:-0.06 [[ 9.87198496e-01 1.59194116e-01 -9.81642492e-03 3.28688342e+01] [-1.59185843e-01 9.87247300e-01 1.62337438e-03 -4.04909699e+00] [ 9.94967065e-03 -3.99568675e-05 9.99950500e-01 -6.45534734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.977628 meters 0.015010152912240305 Centerline is valid? [True, True] Translation: X:32.93, Y:-4.06, Z:-0.06 [[ 9.86278635e-01 1.64742962e-01 -1.06869246e-02 3.29314861e+01] [-1.64733450e-01 9.86336533e-01 1.77036875e-03 -4.05701691e+00] [ 1.08325600e-02 1.44170906e-05 9.99941326e-01 -6.39903889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.037628 meters 0.012084392546929815 Centerline is valid? [True, True] Translation: X:32.99, Y:-4.07, Z:-0.06 [[ 9.86271185e-01 1.64969198e-01 -7.36970174e-03 3.29928387e+01] [-1.64964666e-01 9.86298719e-01 1.22278274e-03 -4.06710489e+00] [ 7.47044888e-03 9.74501082e-06 9.99972096e-01 -5.99636777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.097628 meters 0.012111838826001123 Centerline is valid? [True, True] Translation: X:33.05, Y:-4.08, Z:-0.06 [[ 9.86833150e-01 1.61620840e-01 -6.24798978e-03 3.30543166e+01] [-1.61617504e-01 9.86852929e-01 1.03857516e-03 -4.08082393e+00] [ 6.33370241e-03 -1.51158816e-05 9.99979942e-01 -5.96210259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.157628 meters 0.013314748107680376 Centerline is valid? [True, True] Translation: X:33.11, Y:-4.10, Z:-0.06 [[ 9.88330533e-01 1.52190437e-01 -6.38974012e-03 3.31139845e+01] [-1.52186740e-01 9.88351185e-01 1.06365911e-03 -4.10159448e+00] [ 6.47718596e-03 -7.88130604e-05 9.99979020e-01 -5.85323223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.217628 meters 0.014909398953319185 Centerline is valid? [True, True] Translation: X:33.17, Y:-4.12, Z:-0.06 [[ 9.89434365e-01 1.44839182e-01 -6.42250981e-03 3.31737034e+01] [-1.44835283e-01 9.89455201e-01 1.07057832e-03 -4.11936514e+00] [ 6.50984742e-03 -1.29060953e-04 9.99978802e-01 -5.74805980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.277628 meters 0.018517623887857652 Centerline is valid? [True, True] Translation: X:33.23, Y:-4.14, Z:-0.06 [[ 9.90659522e-01 1.36191320e-01 -6.75540272e-03 3.32316731e+01] [-1.36186806e-01 9.90682535e-01 1.12595508e-03 -4.13856986e+00] [ 6.84580480e-03 -1.95441403e-04 9.99976548e-01 -5.83414024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.337628 meters 0.017490255561489452 Centerline is valid? [True, True] Translation: X:33.29, Y:-4.15, Z:-0.06 [[ 9.90945150e-01 1.33976719e-01 -8.82881344e-03 3.32925993e+01] [-1.33968915e-01 9.90984441e-01 1.47223153e-03 -4.15074378e+00] [ 8.94646151e-03 -2.76114144e-04 9.99959941e-01 -5.80116663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.397628 meters 0.017966757501910888 Centerline is valid? [True, True] Translation: X:33.35, Y:-4.16, Z:-0.06 [[ 9.90706724e-01 1.35547441e-01 -1.12728940e-02 3.33527635e+01] [-1.35534786e-01 9.90770800e-01 1.88264288e-03 -4.16256253e+00] [ 1.14240416e-02 -3.37277687e-04 9.99934687e-01 -6.01756997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.457628 meters 0.019882387442031454 Centerline is valid? [True, True] Translation: X:33.41, Y:-4.17, Z:-0.06 [[ 9.90445136e-01 1.37321570e-01 -1.26971869e-02 3.34144696e+01] [-1.37305650e-01 9.90526455e-01 2.12133848e-03 -4.17341587e+00] [ 1.28682051e-02 -3.57673872e-04 9.99917137e-01 -6.39736050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.517628 meters 0.01578351391316353 Centerline is valid? [True, True] Translation: X:33.48, Y:-4.18, Z:-0.06 [[ 9.89900757e-01 1.41485350e-01 -8.85364349e-03 3.34753245e+01] [-1.41477773e-01 9.89940327e-01 1.47947386e-03 -4.18030225e+00] [ 8.97390261e-03 -2.11938531e-04 9.99959711e-01 -5.78327037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.577628000000004 meters 0.01448798936941597 Centerline is valid? [True, True] Translation: X:33.54, Y:-4.19, Z:-0.05 [[ 9.89094817e-01 1.47188189e-01 -5.20382325e-03 3.35364674e+01] [-1.47185649e-01 9.89108502e-01 8.69913109e-04 -4.18902977e+00] [ 5.27518675e-03 -9.44984457e-05 9.99986082e-01 -5.34798105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.637628 meters 0.013408984295765449 Centerline is valid? [True, True] Translation: X:33.60, Y:-4.20, Z:-0.05 [[ 9.88267943e-01 1.52661879e-01 -4.56316275e-03 3.35981401e+01] [-1.52659983e-01 9.88278477e-01 7.63202936e-04 -4.19567051e+00] [ 4.62618753e-03 -5.76366501e-05 9.99989297e-01 -5.30332515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.697628 meters 0.012351948025697735 Centerline is valid? [True, True] Translation: X:33.66, Y:-4.20, Z:-0.06 [[ 9.86917723e-01 1.61127150e-01 -5.60791395e-03 3.36608000e+01] [-1.61124412e-01 9.86933656e-01 9.39650322e-04 -4.19882524e+00] [ 5.68604220e-03 -2.37857182e-05 9.99983834e-01 -5.62493905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.757628000000004 meters 0.015537880191754437 Centerline is valid? [True, True] Translation: X:33.72, Y:-4.21, Z:-0.06 [[ 9.86206133e-01 1.65335281e-01 -7.85544542e-03 3.37235412e+01] [-1.65330024e-01 9.86237418e-01 1.31846182e-03 -4.20711746e+00] [ 7.96532246e-03 -1.53415141e-06 9.99968276e-01 -6.05674137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.817628 meters 0.012359347746171244 Centerline is valid? [True, True] Translation: X:33.78, Y:-4.22, Z:-0.06 [[ 9.85237444e-01 1.71047169e-01 -7.07426045e-03 3.37847995e+01] [-1.71043038e-01 9.85262840e-01 1.18928919e-03 -4.21627509e+00] [ 7.17343049e-03 3.82707601e-05 9.99974270e-01 -5.73153775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.877628 meters 0.012415945384864617 Centerline is valid? [True, True] Translation: X:33.85, Y:-4.23, Z:-0.06 [[ 9.84864093e-01 1.73181878e-01 -7.12431909e-03 3.38465617e+01] [-1.73177730e-01 9.84889859e-01 1.19983408e-03 -4.22721762e+00] [ 7.22445914e-03 5.20999055e-05 9.99973902e-01 -5.71233986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.937628000000004 meters 0.012390329392529025 Centerline is valid? [True, True] Translation: X:33.91, Y:-4.24, Z:-0.06 [[ 9.84857148e-01 1.73253069e-01 -6.30645572e-03 3.39081856e+01] [-1.73249808e-01 9.84877339e-01 1.06397754e-03 -4.23945153e+00] [ 6.39542270e-03 4.47263575e-05 9.99979548e-01 -5.70212439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.997628 meters 0.01218034514830026 Centerline is valid? [True, True] Translation: X:33.97, Y:-4.25, Z:-0.06 [[ 9.85095629e-01 1.71895213e-01 -6.21598583e-03 3.39686873e+01] [-1.71892007e-01 9.85115239e-01 1.05025584e-03 -4.25349724e+00] [ 6.30399632e-03 3.38758446e-05 9.99980129e-01 -5.80405266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.057628 meters 0.012130097629417422 Centerline is valid? [True, True] Translation: X:34.03, Y:-4.27, Z:-0.06 [[ 9.85303851e-01 1.70703093e-01 -6.06426249e-03 3.40293990e+01] [-1.70700009e-01 9.85322512e-01 1.02629006e-03 -4.26633876e+00] [ 6.15044524e-03 2.39621128e-05 9.99981086e-01 -5.88328436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.117628 meters 0.012113233872038559 Centerline is valid? [True, True] Translation: X:34.09, Y:-4.28, Z:-0.06 [[ 9.85139818e-01 1.71674024e-01 -5.25048372e-03 3.40913517e+01] [-1.71671718e-01 9.85153810e-01 8.90179187e-04 -4.27761600e+00] [ 5.32535469e-03 2.44085989e-05 9.99985820e-01 -5.61150963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.177628 meters 0.012125839971843577 Centerline is valid? [True, True] Translation: X:34.15, Y:-4.29, Z:-0.06 [[ 9.85168421e-01 1.71500330e-01 -5.55147156e-03 3.41534646e+01] [-1.71497741e-01 9.85184062e-01 9.42773680e-04 -4.28814368e+00] [ 5.63090730e-03 2.32739714e-05 9.99984146e-01 -5.66025639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.237628 meters 0.011985249201555878 Centerline is valid? [True, True] Translation: X:34.21, Y:-4.30, Z:-0.06 [[ 9.85821169e-01 1.67695240e-01 -5.91011297e-03 3.42147984e+01] [-1.67692228e-01 9.85838885e-01 1.00518202e-03 -4.29900251e+00] [ 5.99498342e-03 1.50293377e-07 9.99982030e-01 -5.88301746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.297628 meters 0.015355854602093115 Centerline is valid? [True, True] Translation: X:34.28, Y:-4.31, Z:-0.06 [[ 9.86834205e-01 1.61614901e-01 -6.23507374e-03 3.42750603e+01] [-1.61611417e-01 9.86853901e-01 1.06190452e-03 -4.31319886e+00] [ 6.32472644e-03 -4.02645948e-05 9.99979998e-01 -6.06010213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.357628 meters 0.015360516292841474 Centerline is valid? [True, True] Translation: X:34.33, Y:-4.33, Z:-0.06 [[ 9.88791408e-01 1.49249580e-01 -4.01434410e-03 3.43343733e+01] [-1.49248034e-01 9.88799554e-01 6.83624608e-04 -4.33083990e+00] [ 4.07141234e-03 -7.68291729e-05 9.99991709e-01 -5.55960890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.417628 meters 0.017171951913330055 Centerline is valid? [True, True] Translation: X:34.39, Y:-4.34, Z:-0.05 [[ 9.90309326e-01 1.38834119e-01 -3.53930202e-03 3.43944587e+01] [-1.38832851e-01 9.90315645e-01 6.02759435e-04 -4.34279823e+00] [ 3.58870974e-03 -1.05546901e-04 9.99993555e-01 -5.42003153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.477628 meters 0.021040201312278566 Centerline is valid? [True, True] Translation: X:34.45, Y:-4.36, Z:-0.05 [[ 9.92472538e-01 1.22390174e-01 -4.34809666e-03 3.44537334e+01] [-1.22388102e-01 9.92482042e-01 7.40506175e-04 -4.35549580e+00] [ 4.40603853e-03 -2.02776748e-04 9.99990273e-01 -5.44718648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.537628 meters 0.02309554087202667 Centerline is valid? [True, True] Translation: X:34.51, Y:-4.37, Z:-0.05 [[ 9.93550400e-01 1.13346506e-01 -3.18946868e-03 3.45138157e+01] [-1.13345344e-01 9.93555503e-01 5.43324783e-04 -4.36665503e+00] [ 3.23049813e-03 -1.78309130e-04 9.99994766e-01 -5.37483386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.597628 meters 0.025681786155029775 Centerline is valid? [True, True] Translation: X:34.57, Y:-4.38, Z:-0.05 [[ 9.94249975e-01 1.07057088e-01 -2.40162084e-03 3.45745275e+01] [-1.07056411e-01 9.94252864e-01 4.09208699e-04 -4.37590486e+00] [ 2.43162709e-03 -1.49746831e-04 9.99997032e-01 -5.30215533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.657628 meters 0.02481381011707264 Centerline is valid? [True, True] Translation: X:34.64, Y:-4.38, Z:-0.05 [[ 9.93905048e-01 1.10227747e-01 -1.61224953e-03 3.46361330e+01] [-1.10227446e-01 9.93906351e-01 2.74732359e-04 -4.37905435e+00] [ 1.63270817e-03 -9.53437309e-05 9.99998663e-01 -5.21803629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.717628 meters 0.026882805231317197 Centerline is valid? [True, True] Translation: X:34.70, Y:-4.39, Z:-0.05 [[ 9.93277366e-01 1.15745440e-01 -1.75165813e-03 3.46954037e+01] [-1.15745093e-01 9.93278906e-01 2.98416006e-04 -4.38762107e+00] [ 1.77442536e-03 -9.36640307e-05 9.99998421e-01 -5.22612489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.777628 meters 0.023488700637795817 Centerline is valid? [True, True] Translation: X:34.76, Y:-4.38, Z:-0.06 [[ 9.92337408e-01 1.23535184e-01 -2.35087617e-03 3.47578364e+01] [-1.23534581e-01 9.92340187e-01 4.00529465e-04 -4.38130845e+00] [ 2.38234838e-03 -1.07045869e-04 9.99997156e-01 -5.52102935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.837628 meters 0.02093853705748735 Centerline is valid? [True, True] Translation: X:34.82, Y:-4.39, Z:-0.05 [[ 9.91827957e-01 1.27576872e-01 -1.20258981e-03 3.48188545e+01] [-1.27576717e-01 9.91828684e-01 2.04940715e-04 -4.38623642e+00] [ 1.21890877e-03 -4.98434704e-05 9.99999256e-01 -5.28387159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.897628 meters 0.02299595354848471 Centerline is valid? [True, True] Translation: X:34.88, Y:-4.40, Z:-0.05 [[ 9.92074173e-01 1.25653619e-01 -5.51040324e-05 3.48795189e+01] [-1.25653618e-01 9.92074175e-01 9.77782110e-06 -4.39552343e+00] [ 5.58959060e-05 -2.77630273e-06 9.99999998e-01 -5.10045781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.957628 meters 0.022250337210714705 Centerline is valid? [True, True] Translation: X:34.94, Y:-4.40, Z:-0.05 [[ 9.92536297e-01 1.21947228e-01 7.56583340e-04 3.49409510e+01] [-1.21947165e-01 9.92536585e-01 -1.29056441e-04 -4.40112575e+00] [-7.66674719e-04 3.58300082e-05 9.99999705e-01 -5.09398108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.017628 meters 0.02256972231266682 Centerline is valid? [True, True] Translation: X:35.00, Y:-4.41, Z:-0.05 [[ 9.92938477e-01 1.18623614e-01 1.27262089e-03 3.50021807e+01] [-1.18623433e-01 9.92939290e-01 -2.17167140e-04 -4.40602767e+00] [-1.28939643e-03 6.46709512e-05 9.99999167e-01 -5.13276312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.077628 meters 0.02263700075182064 Centerline is valid? [True, True] Translation: X:35.06, Y:-4.41, Z:-0.05 [[ 9.92643939e-01 1.21069874e-01 -3.08878407e-04 3.50636171e+01] [-1.21069864e-01 9.92643987e-01 5.27942240e-05 -4.41037631e+00] [ 3.12998083e-04 -1.50099999e-05 9.99999951e-01 -5.28155391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.137628 meters 0.01943861205842059 Centerline is valid? [True, True] Translation: X:35.13, Y:-4.41, Z:-0.05 [[ 9.91962222e-01 1.26510307e-01 -2.46824639e-03 3.51255748e+01] [-1.26509649e-01 9.91965287e-01 4.21476881e-04 -4.41114358e+00] [ 2.50173591e-03 -1.05832158e-04 9.99996865e-01 -5.44728609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.197628 meters 0.017996287703221366 Centerline is valid? [True, True] Translation: X:35.19, Y:-4.41, Z:-0.06 [[ 9.90538537e-01 1.37149835e-01 -4.83000915e-03 3.51854794e+01] [-1.37147443e-01 9.90550301e-01 8.24598643e-04 -4.41278993e+00] [ 4.89746059e-03 -1.54373331e-04 9.99987995e-01 -5.65831667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.257628000000004 meters 0.01872913146973989 Centerline is valid? [True, True] Translation: X:35.25, Y:-4.42, Z:-0.06 [[ 9.89658397e-01 1.43351408e-01 -5.16051268e-03 3.52457217e+01] [-1.43348761e-01 9.89671843e-01 8.81054186e-04 -4.41744988e+00] [ 5.23351446e-03 -1.32189574e-04 9.99986296e-01 -5.80884817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.317628 meters 0.013850976383121594 Centerline is valid? [True, True] Translation: X:35.31, Y:-4.42, Z:-0.06 [[ 9.88162342e-01 1.53387348e-01 -2.73998981e-03 3.53070380e+01] [-1.53386641e-01 9.88166140e-01 4.67877026e-04 -4.41943518e+00] [ 2.77933157e-03 -4.20606261e-05 9.99996137e-01 -5.54444048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.377628 meters 0.012761635195499858 Centerline is valid? [True, True] Translation: X:35.37, Y:-4.43, Z:-0.06 [[ 9.87063053e-01 1.60314395e-01 -2.41328552e-03 3.53681459e+01] [-1.60313865e-01 9.87066003e-01 4.12638209e-04 -4.42556009e+00] [ 2.44822393e-03 -2.04168029e-05 9.99997003e-01 -5.54741404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.437628000000004 meters 0.012065563360011869 Centerline is valid? [True, True] Translation: X:35.43, Y:-4.43, Z:-0.05 [[ 9.85306355e-01 1.70789998e-01 -1.47097585e-03 3.54302837e+01] [-1.70789811e-01 9.85307453e-01 2.52173297e-04 -4.42934685e+00] [ 1.49243215e-03 2.75973625e-06 9.99998886e-01 -5.45280365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.497628 meters 0.012455893446737823 Centerline is valid? [True, True] Translation: X:35.49, Y:-4.44, Z:-0.06 [[ 9.84379654e-01 1.76051452e-01 -1.60700992e-03 3.54908075e+01] [-1.76051236e-01 9.84380966e-01 2.75798035e-04 -4.43638809e+00] [ 1.63046463e-03 1.14261092e-05 9.99998671e-01 -5.52010758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.557628 meters 0.012739516721473708 Centerline is valid? [True, True] Translation: X:35.55, Y:-4.45, Z:-0.06 [[ 9.83936598e-01 1.78499391e-01 -2.59591846e-03 3.55515020e+01] [-1.78498835e-01 9.83940022e-01 4.45982864e-04 -4.44813995e+00] [ 2.63383574e-03 2.45495604e-05 9.99996531e-01 -5.61726775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.617628 meters 0.012428462502554612 Centerline is valid? [True, True] Translation: X:35.61, Y:-4.47, Z:-0.06 [[ 9.84430631e-01 1.75680707e-01 -5.71155598e-03 3.56124596e+01] [-1.75677964e-01 9.84447199e-01 9.82469067e-04 -4.46518581e+00] [ 5.79532615e-03 3.62218787e-05 9.99983206e-01 -6.01275100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.677628 meters 0.012456143525614805 Centerline is valid? [True, True] Translation: X:35.67, Y:-4.48, Z:-0.06 [[ 9.85087639e-01 1.71868423e-01 -7.97426828e-03 3.56735315e+01] [-1.71862933e-01 9.85119914e-01 1.37385664e-03 -4.48241204e+00] [ 8.09173306e-03 1.71119414e-05 9.99967261e-01 -6.25001017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.737628 meters 0.01305954594515116 Centerline is valid? [True, True] Translation: X:35.73, Y:-4.51, Z:-0.06 [[ 9.86346079e-01 1.64398999e-01 -9.71502868e-03 3.57317017e+01] [-1.64390478e-01 9.86393920e-01 1.67473362e-03 -4.50526682e+00] [ 9.85816976e-03 -5.48087316e-05 9.99951406e-01 -6.45832594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.797628 meters 0.01360407699797222 Centerline is valid? [True, True] Translation: X:35.79, Y:-4.53, Z:-0.06 [[ 9.87156390e-01 1.59515497e-01 -8.77877546e-03 3.57912935e+01] [-1.59508324e-01 9.87195420e-01 1.51576546e-03 -4.52503711e+00] [ 8.90815501e-03 -9.60097984e-05 9.99960317e-01 -6.22716860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.857628 meters 0.01712280018081723 Centerline is valid? [True, True] Translation: X:35.85, Y:-4.55, Z:-0.06 [[ 9.88422105e-01 1.51549112e-01 -7.38978019e-03 3.58500039e+01] [-1.51543805e-01 9.88449719e-01 1.27624736e-03 -4.54906112e+00] [ 7.49784031e-03 -1.41595694e-04 9.99971881e-01 -6.17742164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.917628 meters 0.01712961870605736 Centerline is valid? [True, True] Translation: X:35.91, Y:-4.57, Z:-0.06 [[ 9.89241311e-01 1.46177657e-01 -5.80707992e-03 3.59100355e+01] [-1.46174284e-01 9.89258344e-01 1.00336810e-03 -4.56725039e+00] [ 5.89137226e-03 -1.43727423e-04 9.99982635e-01 -6.02952138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.977628 meters 0.01778467044068279 Centerline is valid? [True, True] Translation: X:35.97, Y:-4.59, Z:-0.06 [[ 9.90192799e-01 1.39642881e-01 -4.25290455e-03 3.59677001e+01] [-1.39641011e-01 9.90201923e-01 7.34850069e-04 -4.59160532e+00] [ 4.31385084e-03 -1.33763354e-04 9.99990686e-01 -5.77350902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.037628 meters 0.019512742421538453 Centerline is valid? [True, True] Translation: X:36.03, Y:-4.61, Z:-0.06 [[ 9.90339527e-01 1.38506518e-01 -6.60039022e-03 3.60281710e+01] [-1.38501976e-01 9.90361498e-01 1.14251437e-03 -4.60724468e+00] [ 6.69501803e-03 -2.17310048e-04 9.99977565e-01 -6.07321491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.097628 meters 0.01747690474364183 Centerline is valid? [True, True] Translation: X:36.09, Y:-4.62, Z:-0.06 [[ 9.90125940e-01 1.40002522e-01 -7.06518830e-03 3.60886613e+01] [-1.39997343e-01 9.90151122e-01 1.22476832e-03 -4.61967390e+00] [ 7.16707478e-03 -2.23567292e-04 9.99974291e-01 -6.06169131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.157628 meters 0.01996208844089132 Centerline is valid? [True, True] Translation: X:36.15, Y:-4.64, Z:-0.06 [[ 9.89749259e-01 1.42605763e-01 -7.74599756e-03 3.61480488e+01] [-1.42599604e-01 9.89779544e-01 1.34453710e-03 -4.63508748e+00] [ 7.85856867e-03 -2.26178407e-04 9.99969095e-01 -6.33574615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.217628 meters 0.0170733254161285 Centerline is valid? [True, True] Translation: X:36.21, Y:-4.65, Z:-0.06 [[ 9.89112022e-01 1.47030579e-01 -6.27832147e-03 3.62085420e+01] [-1.47026621e-01 9.89131935e-01 1.08988545e-03 -4.64847710e+00] [ 6.37033475e-03 -1.54938414e-04 9.99979697e-01 -6.10298014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.277628 meters 0.01575093479399222 Centerline is valid? [True, True] Translation: X:36.27, Y:-4.66, Z:-0.06 [[ 9.88657915e-01 1.50118266e-01 -4.47585480e-03 3.62694119e+01] [-1.50116285e-01 9.88668042e-01 7.77253452e-04 -4.65858797e+00] [ 4.54181454e-03 -9.65390848e-05 9.99989681e-01 -5.99171585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.337628 meters 0.015141313022792237 Centerline is valid? [True, True] Translation: X:36.33, Y:-4.67, Z:-0.06 [[ 9.87997711e-01 1.54440714e-01 -2.93063680e-03 3.63286173e+01] [-1.54439884e-01 9.88002056e-01 5.08941520e-04 -4.67109298e+00] [ 2.97407648e-03 -5.02258494e-05 9.99995576e-01 -5.94973765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.397628 meters 0.014239081187240474 Centerline is valid? [True, True] Translation: X:36.39, Y:-4.68, Z:-0.06 [[ 9.87299652e-01 1.58830274e-01 -3.51302425e-03 3.63893547e+01] [-1.58829104e-01 9.87305901e-01 6.11300676e-04 -4.68405071e+00] [ 3.56552262e-03 -4.55664497e-05 9.99993642e-01 -6.02241080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.457628 meters 0.01371982540298445 Centerline is valid? [True, True] Translation: X:36.45, Y:-4.69, Z:-0.06 [[ 9.86885913e-01 1.61366033e-01 -4.14712577e-03 3.64509326e+01] [-1.61364421e-01 9.86894625e-01 7.22596333e-04 -4.69444900e+00] [ 4.20937863e-03 -4.39215947e-05 9.99991140e-01 -6.24759774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.517628 meters 0.013276473237743915 Centerline is valid? [True, True] Translation: X:36.51, Y:-4.70, Z:-0.06 [[ 9.86204230e-01 1.65436426e-01 -5.65733880e-03 3.65124071e+01] [-1.65433486e-01 9.86220456e-01 9.87014933e-04 -4.70185174e+00] [ 5.74267147e-03 -3.74850222e-05 9.99983510e-01 -6.45826784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.577628 meters 0.013344617265064642 Centerline is valid? [True, True] Translation: X:36.57, Y:-4.71, Z:-0.06 [[ 9.86427120e-01 1.64086996e-01 -6.08234034e-03 3.65734948e+01] [-1.64083562e-01 9.86445870e-01 1.06269832e-03 -4.71308102e+00] [ 6.17427448e-03 -5.02623766e-05 9.99980938e-01 -6.30799044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.637628 meters 0.014494536712517056 Centerline is valid? [True, True] Translation: X:36.63, Y:-4.73, Z:-0.06 [[ 9.87435502e-01 1.57953109e-01 -4.68462262e-03 3.66332244e+01] [-1.57950997e-01 9.87446612e-01 8.19647291e-04 -4.72771292e+00] [ 4.75528057e-03 -6.94080183e-05 9.99988691e-01 -6.20840329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.697628 meters 0.016646731110515428 Centerline is valid? [True, True] Translation: X:36.69, Y:-4.74, Z:-0.06 [[ 9.89218830e-01 1.46444409e-01 -3.74957205e-04 3.66927658e+01] [-1.46444395e-01 9.89218901e-01 6.56101920e-05 -4.74049331e+00] [ 3.80523000e-04 -9.99245632e-06 9.99999928e-01 -5.98474841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.757628000000004 meters 0.018778145897932287 Centerline is valid? [True, True] Translation: X:36.75, Y:-4.75, Z:-0.06 [[ 9.90520589e-01 1.37364113e-01 -2.52587560e-04 3.67526439e+01] [-1.37364106e-01 9.90520621e-01 4.42122579e-05 -4.75381820e+00] [ 2.56266364e-04 -9.09668738e-06 9.99999967e-01 -5.98103242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.817628 meters 0.021696800913421205 Centerline is valid? [True, True] Translation: X:36.81, Y:-4.77, Z:-0.06 [[ 9.91747128e-01 1.28155078e-01 -3.72961815e-03 3.68127190e+01] [-1.28153528e-01 9.91754126e-01 6.52541036e-04 -4.76718878e+00] [ 3.78249064e-03 -1.69191972e-04 9.99992832e-01 -6.09814324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.877628 meters 0.023240408326682834 Centerline is valid? [True, True] Translation: X:36.87, Y:-4.78, Z:-0.06 [[ 9.92085135e-01 1.25382300e-01 -6.80902733e-03 3.68731281e+01] [-1.25377070e-01 9.92108447e-01 1.19138673e-03 -4.77587958e+00] [ 6.90467234e-03 -3.28261170e-04 9.99976109e-01 -6.45121417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.937628000000004 meters 0.021482044035533252 Centerline is valid? [True, True] Translation: X:36.93, Y:-4.78, Z:-0.06 [[ 9.91699257e-01 1.28300246e-01 -8.46350571e-03 3.69349721e+01] [-1.28292266e-01 9.91735297e-01 1.48139079e-03 -4.78160622e+00] [ 8.58362015e-03 -3.83291817e-04 9.99963087e-01 -6.43148529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.997628 meters 0.021235941759928136 Centerline is valid? [True, True] Translation: X:36.99, Y:-4.79, Z:-0.07 [[ 9.90389728e-01 1.37931410e-01 -1.01544149e-02 3.69949170e+01] [-1.37920427e-01 9.90441718e-01 1.77741686e-03 -4.78684864e+00] [ 1.03025178e-02 -3.59834154e-04 9.99946863e-01 -6.63305690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.057628 meters 0.017982462755224998 Centerline is valid? [True, True] Translation: X:37.06, Y:-4.79, Z:-0.07 [[ 9.89064762e-01 1.47133159e-01 -1.01356067e-02 3.70560151e+01] [-1.47122697e-01 9.89116658e-01 1.77432475e-03 -4.79071663e+00] [ 1.02863595e-02 -2.63744294e-04 9.99947059e-01 -6.57521483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.117628 meters 0.013544334487690988 Centerline is valid? [True, True] Translation: X:37.12, Y:-4.79, Z:-0.06 [[ 9.86883638e-01 1.61319612e-01 -6.05533242e-03 3.71177949e+01] [-1.61316144e-01 9.86902213e-01 1.06008303e-03 -4.79032255e+00] [ 6.14703314e-03 -6.93557200e-05 9.99981104e-01 -6.17083225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.177628 meters 0.012273967961229601 Centerline is valid? [True, True] Translation: X:37.18, Y:-4.79, Z:-0.06 [[ 9.85352819e-01 1.70510431e-01 -2.45266947e-03 3.71800826e+01] [-1.70509888e-01 9.85355871e-01 4.30365654e-04 -4.79284880e+00] [ 2.49013409e-03 -5.85761308e-06 9.99996900e-01 -5.98016309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.237628 meters 0.01282227389117965 Centerline is valid? [True, True] Translation: X:37.24, Y:-4.80, Z:-0.06 [[ 9.83438621e-01 1.81239803e-01 7.81926789e-04 3.72420806e+01] [-1.81239752e-01 9.83438932e-01 -1.36861066e-04 -4.79622506e+00] [-7.93781919e-04 -7.12175883e-06 9.99999685e-01 -5.72325395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.297628 meters 0.013376628785655464 Centerline is valid? [True, True] Translation: X:37.30, Y:-4.81, Z:-0.06 [[ 9.82774092e-01 1.84808299e-01 9.88152665e-04 3.73036504e+01] [-1.84808218e-01 9.82774589e-01 -1.73312494e-04 -4.80624286e+00] [-1.00316092e-03 -1.22917044e-05 9.99999497e-01 -5.72793773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.357628 meters 0.013411120497607714 Centerline is valid? [True, True] Translation: X:37.37, Y:-4.82, Z:-0.06 [[ 9.82701045e-01 1.85193730e-01 -1.39250372e-03 3.73650118e+01] [-1.85193568e-01 9.82702031e-01 2.45678750e-04 -4.81909094e+00] [ 1.41391440e-03 1.64539687e-05 9.99999000e-01 -6.03820559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.417628 meters 0.012780278127310429 Centerline is valid? [True, True] Translation: X:37.42, Y:-4.84, Z:-0.07 [[ 9.83391405e-01 1.81426494e-01 -5.07654678e-03 3.74237231e+01] [-1.81424289e-01 9.83404508e-01 8.95477477e-04 -4.83628406e+00] [ 5.15476233e-03 4.04040349e-05 9.99986713e-01 -6.59625106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.477628 meters 0.012494945063613087 Centerline is valid? [True, True] Translation: X:37.48, Y:-4.86, Z:-0.07 [[ 9.84115186e-01 1.77377305e-01 -7.38858954e-03 3.74837425e+01] [-1.77372505e-01 9.84142922e-01 1.30527589e-03 -4.85578837e+00] [ 7.50295442e-03 2.59908043e-05 9.99971852e-01 -6.80042326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.537628 meters 0.01571814973754419 Centerline is valid? [True, True] Translation: X:37.54, Y:-4.88, Z:-0.07 [[ 9.85443593e-01 1.69697364e-01 -1.01847860e-02 3.75424106e+01] [-1.69687809e-01 9.85496221e-01 1.80146460e-03 -4.88118923e+00] [ 1.03427719e-02 -4.70077314e-05 9.99946511e-01 -7.18962668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.597628 meters 0.015426190355580616 Centerline is valid? [True, True] Translation: X:37.60, Y:-4.89, Z:-0.07 [[ 9.84911352e-01 1.72915031e-01 -7.07257284e-03 3.76045077e+01] [-1.72910502e-01 9.84936745e-01 1.25144885e-03 -4.88958894e+00] [ 7.18243119e-03 -9.64405261e-06 9.99974206e-01 -6.97960247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.657628 meters 0.01222432011914254 Centerline is valid? [True, True] Translation: X:37.66, Y:-4.90, Z:-0.06 [[ 9.84445929e-01 1.75622852e-01 -4.77763505e-03 3.76644299e+01] [-1.75620812e-01 9.84457523e-01 8.46676859e-04 -4.90122057e+00] [ 4.85207457e-03 5.54455796e-06 9.99988229e-01 -6.49229965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.717628 meters 0.012218790419603439 Centerline is valid? [True, True] Translation: X:37.72, Y:-4.91, Z:-0.06 [[ 9.84511179e-01 1.75315377e-01 -1.50255859e-03 3.77243976e+01] [-1.75315174e-01 9.84512325e-01 2.66839000e-04 -4.91189966e+00] [ 1.52606843e-03 7.15342557e-07 9.99998836e-01 -6.23538798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.777628 meters 0.012160494050708466 Centerline is valid? [True, True] Translation: X:37.79, Y:-4.92, Z:-0.06 [[ 9.84687747e-01 1.74326735e-01 -4.79710258e-04 3.77867114e+01] [-1.74326714e-01 9.84687864e-01 8.56332549e-05 -4.92259139e+00] [ 4.87293035e-04 -6.95703904e-07 9.99999881e-01 -6.23998180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.837628 meters 0.012330159146471852 Centerline is valid? [True, True] Translation: X:37.85, Y:-4.93, Z:-0.07 [[ 9.85247356e-01 1.71126405e-01 -1.84412939e-03 3.78465499e+01] [-1.71126090e-01 9.85249082e-01 3.28274532e-04 -4.93416687e+00] [ 1.87310323e-03 -7.85296232e-06 9.99998246e-01 -6.50430412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.897628 meters 0.012490477438776156 Centerline is valid? [True, True] Translation: X:37.91, Y:-4.95, Z:-0.06 [[ 9.85637400e-01 1.68859523e-01 -2.31879400e-03 3.79079318e+01] [-1.68859018e-01 9.85640128e-01 4.13315032e-04 -4.94507787e+00] [ 2.35528860e-03 -1.58294753e-05 9.99997226e-01 -6.49161823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.957628 meters 0.013565672569830668 Centerline is valid? [True, True] Translation: X:37.97, Y:-4.96, Z:-0.07 [[ 9.86043650e-01 1.66446793e-01 -3.65870595e-03 3.79673589e+01] [-1.66445517e-01 9.86050437e-01 6.52702651e-04 -4.95813426e+00] [ 3.71630886e-03 -3.46180999e-05 9.99993094e-01 -6.67765385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.017628 meters 0.01477659630512257 Centerline is valid? [True, True] Translation: X:38.03, Y:-4.97, Z:-0.07 [[ 9.86509094e-01 1.63661068e-01 -3.85509323e-03 3.80272360e+01] [-1.63659627e-01 9.86516626e-01 6.88463255e-04 -4.97142359e+00] [ 3.91578820e-03 -4.82521432e-05 9.99992332e-01 -6.71150143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.077628 meters 0.01936955483095768 Centerline is valid? [True, True] Translation: X:38.09, Y:-4.98, Z:-0.07 [[ 9.87218192e-01 1.59326584e-01 -3.90899151e-03 3.80870078e+01] [-1.59325066e-01 9.87225929e-01 6.98860620e-04 -4.98338611e+00] [ 3.97040485e-03 -6.71275893e-05 9.99992116e-01 -6.99469382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.137628 meters 0.014617739456612778 Centerline is valid? [True, True] Translation: X:38.15, Y:-4.99, Z:-0.07 [[ 9.87430444e-01 1.58021889e-01 -3.19374607e-03 3.81493926e+01] [-1.58020866e-01 9.87435608e-01 5.71922510e-04 -4.98966801e+00] [ 3.24399486e-03 -6.00551803e-05 9.99994736e-01 -6.59936102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.197628 meters 0.01575708566808519 Centerline is valid? [True, True] Translation: X:38.21, Y:-5.00, Z:-0.07 [[ 9.87710363e-01 1.56274567e-01 -2.54932627e-03 3.82091715e+01] [-1.56273908e-01 9.87713651e-01 4.57150127e-04 -5.00282390e+00] [ 2.58944530e-03 -5.31387401e-05 9.99996646e-01 -6.52324709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.257628000000004 meters 0.015378932639864708 Centerline is valid? [True, True] Translation: X:38.27, Y:-5.01, Z:-0.07 [[ 9.87329392e-01 1.58671940e-01 -1.97158893e-03 3.82710637e+01] [-1.58671549e-01 9.87331360e-01 3.54117268e-04 -5.01137496e+00] [ 2.00280005e-03 -3.67953192e-05 9.99997994e-01 -6.51891390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.317628 meters 0.013361794101491749 Centerline is valid? [True, True] Translation: X:38.33, Y:-5.02, Z:-0.06 [[ 9.86481740e-01 1.63861043e-01 -1.82652384e-03 3.83335412e+01] [-1.63860715e-01 9.86483430e-01 3.28575982e-04 -5.01637169e+00] [ 1.85567631e-03 -2.48387027e-05 9.99998278e-01 -6.49006136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.377628 meters 0.012038230337177887 Centerline is valid? [True, True] Translation: X:38.40, Y:-5.02, Z:-0.07 [[ 9.84919863e-01 1.73005748e-01 -1.36924798e-03 3.83957292e+01] [-1.73005572e-01 9.84920815e-01 2.46776311e-04 -5.02023106e+00] [ 1.39129455e-03 -6.16736089e-06 9.99999032e-01 -6.55302468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.437628000000004 meters 0.014562944742740133 Centerline is valid? [True, True] Translation: X:38.46, Y:-5.03, Z:-0.07 [[ 9.83881715e-01 1.78806431e-01 -2.24292163e-03 3.84584579e+01] [-1.78805973e-01 9.83884272e-01 4.04696595e-04 -5.02780437e+00] [ 2.27913767e-03 2.87420417e-06 9.99997403e-01 -6.81739154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.497628 meters 0.011937343031128483 Centerline is valid? [True, True] Translation: X:38.52, Y:-5.04, Z:-0.07 [[ 9.83667785e-01 1.79974895e-01 -2.59324591e-03 3.85200690e+01] [-1.79974285e-01 9.83671204e-01 4.68580686e-04 -5.03964357e+00] [ 2.63523409e-03 5.78985397e-06 9.99996528e-01 -6.67722223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.557628 meters 0.01204657532112975 Centerline is valid? [True, True] Translation: X:38.58, Y:-5.06, Z:-0.07 [[ 9.84303186e-01 1.76451417e-01 -3.48355475e-03 3.85811253e+01] [-1.76450291e-01 9.84309351e-01 6.30317615e-04 -5.05683418e+00] [ 3.54011595e-03 -5.74938716e-06 9.99993734e-01 -6.74891914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.617628 meters 0.012317500707218732 Centerline is valid? [True, True] Translation: X:38.64, Y:-5.07, Z:-0.07 [[ 9.84921246e-01 1.72961018e-01 -3.82418306e-03 3.86412385e+01] [-1.72959632e-01 9.84928670e-01 6.92817250e-04 -5.07238504e+00] [ 3.88637791e-03 -2.09411351e-05 9.99992448e-01 -6.76066801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.677628 meters 0.015692104171019235 Centerline is valid? [True, True] Translation: X:38.70, Y:-5.08, Z:-0.07 [[ 9.85205191e-01 1.71324220e-01 -4.32940568e-03 3.87021498e+01] [-1.71322423e-01 9.85214703e-01 7.85382204e-04 -5.08351086e+00] [ 4.39994912e-03 -3.20383549e-05 9.99990320e-01 -6.99579790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.737628 meters 0.012807631714128602 Centerline is valid? [True, True] Translation: X:38.76, Y:-5.10, Z:-0.07 [[ 9.85605223e-01 1.68968753e-01 -5.64843087e-03 3.87627497e+01] [-1.68965647e-01 9.85621407e-01 1.02597963e-03 -5.09743353e+00] [ 5.74057288e-03 -5.68201019e-05 9.99983521e-01 -6.75623883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.797628 meters 0.012957222920843888 Centerline is valid? [True, True] Translation: X:38.82, Y:-5.11, Z:-0.07 [[ 9.85611778e-01 1.68961956e-01 -4.61307141e-03 3.88234667e+01] [-1.68959878e-01 9.85622572e-01 8.39258790e-04 -5.10853212e+00] [ 4.68855012e-03 -4.77593647e-05 9.99989008e-01 -6.66448698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.857628 meters 0.01522505535162858 Centerline is valid? [True, True] Translation: X:38.88, Y:-5.12, Z:-0.07 [[ 9.85837816e-01 1.67611059e-01 -5.50756291e-03 3.88849919e+01] [-1.67608070e-01 9.85853198e-01 1.00328421e-03 -5.11702294e+00] [ 5.59781004e-03 -6.59635309e-05 9.99984330e-01 -7.02040398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.917628 meters 0.014079493141117776 Centerline is valid? [True, True] Translation: X:38.94, Y:-5.13, Z:-0.07 [[ 9.86196910e-01 1.65478782e-01 -5.69453274e-03 3.89444192e+01] [-1.65475543e-01 9.86213347e-01 1.03861709e-03 -5.13006778e+00] [ 5.78789329e-03 -8.19750678e-05 9.99983247e-01 -6.90675963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.977628 meters 0.01497641333629694 Centerline is valid? [True, True] Translation: X:39.00, Y:-5.14, Z:-0.07 [[ 9.87307633e-01 1.58725350e-01 -5.46818981e-03 3.90045004e+01] [-1.58722260e-01 9.87322769e-01 9.97226546e-04 -5.14273716e+00] [ 5.55715343e-03 -1.16645938e-04 9.99984552e-01 -6.71845392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.037628 meters 0.016655481803627244 Centerline is valid? [True, True] Translation: X:39.06, Y:-5.16, Z:-0.07 [[ 9.88280156e-01 1.52590590e-01 -4.29487191e-03 3.90646798e+01] [-1.52588625e-01 9.88289481e-01 7.83417175e-04 -5.15503352e+00] [ 4.36411881e-03 -1.18887048e-04 9.99990470e-01 -6.64191095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.097628 meters 0.016808788864972644 Centerline is valid? [True, True] Translation: X:39.13, Y:-5.17, Z:-0.07 [[ 9.88486912e-01 1.51241573e-01 -4.42854555e-03 3.91255401e+01] [-1.51239463e-01 9.88496823e-01 8.09280510e-04 -5.16565782e+00] [ 4.50000007e-03 -1.30192339e-04 9.99989866e-01 -6.65427187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.157628 meters 0.016938958156215645 Centerline is valid? [True, True] Translation: X:39.19, Y:-5.18, Z:-0.07 [[ 9.88562326e-01 1.50711871e-01 -5.51896221e-03 3.91869107e+01] [-1.50708580e-01 9.88577718e-01 1.00985176e-03 -5.17571755e+00] [ 5.60811972e-03 -1.66546450e-04 9.99984261e-01 -6.76026455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.217628 meters 0.018719593961105264 Centerline is valid? [True, True] Translation: X:39.25, Y:-5.18, Z:-0.07 [[ 9.88535901e-01 1.50880975e-01 -5.63068552e-03 3.92488557e+01] [-1.50877542e-01 9.88551922e-01 1.03200046e-03 -5.18489805e+00] [ 5.72193423e-03 -1.70625507e-04 9.99983615e-01 -7.02613393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.277628 meters 0.017663966645125626 Centerline is valid? [True, True] Translation: X:39.31, Y:-5.20, Z:-0.07 [[ 9.88128393e-01 1.53565662e-01 -4.45711561e-03 3.93084999e+01] [-1.53563536e-01 9.88138438e-01 8.17408236e-04 -5.19660219e+00] [ 4.52977309e-03 -1.23253856e-04 9.99989733e-01 -6.67936628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.337628 meters 0.01547840677262212 Centerline is valid? [True, True] Translation: X:39.37, Y:-5.20, Z:-0.07 [[ 9.87185723e-01 1.59501056e-01 -4.87447047e-03 3.93704215e+01] [-1.59498586e-01 9.87197752e-01 8.93931820e-04 -5.19900483e+00] [ 4.95464937e-03 -1.05005583e-04 9.99987720e-01 -6.86737545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.397628 meters 0.015160540076079579 Centerline is valid? [True, True] Translation: X:39.43, Y:-5.21, Z:-0.07 [[ 9.86308760e-01 1.64855792e-01 -4.19490062e-03 3.94301407e+01] [-1.64854010e-01 9.86317679e-01 7.69360336e-04 -5.20642581e+00] [ 4.26433815e-03 -6.72806507e-05 9.99990905e-01 -6.97761965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.457628 meters 0.012201249821340179 Centerline is valid? [True, True] Translation: X:39.49, Y:-5.21, Z:-0.07 [[ 9.84900758e-01 1.73097502e-01 -2.78436759e-03 3.94920357e+01] [-1.73096749e-01 9.84904693e-01 5.10885600e-04 -5.21134694e+00] [ 2.83076973e-03 -2.12066362e-05 9.99995993e-01 -6.79911740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.517628 meters 0.011667042731897316 Centerline is valid? [True, True] Translation: X:39.55, Y:-5.22, Z:-0.07 [[ 9.83692199e-01 1.79844574e-01 -2.36375504e-03 3.95539863e+01] [-1.79844049e-01 9.83695039e-01 4.34662368e-04 -5.21884372e+00] [ 2.40338577e-03 -2.46670496e-06 9.99997112e-01 -6.84737573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.577628 meters 0.011774867414338603 Centerline is valid? [True, True] Translation: X:39.61, Y:-5.23, Z:-0.07 [[ 9.83130470e-01 1.82885398e-01 -2.72212413e-03 3.96146350e+01] [-1.82884711e-01 9.83134239e-01 5.01262819e-04 -5.22873145e+00] [ 2.76788709e-03 5.02813327e-06 9.99996169e-01 -7.02394342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.637628 meters 0.011838359623236188 Centerline is valid? [True, True] Translation: X:39.68, Y:-5.24, Z:-0.07 [[ 9.82797249e-01 1.84658392e-01 -3.29324648e-03 3.96761044e+01] [-1.84657394e-01 9.82802767e-01 6.07327971e-04 -5.24148211e+00] [ 3.34875996e-03 1.12420524e-05 9.99994393e-01 -7.17883224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.697628 meters 0.011813932694339897 Centerline is valid? [True, True] Translation: X:39.74, Y:-5.26, Z:-0.07 [[ 9.82810737e-01 1.84579994e-01 -3.64440178e-03 3.97371504e+01] [-1.84578767e-01 9.82817494e-01 6.73104148e-04 -5.25614613e+00] [ 3.70602338e-03 1.11452049e-05 9.99993133e-01 -7.18634264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.757628000000004 meters 0.01186213084216953 Centerline is valid? [True, True] Translation: X:39.80, Y:-5.27, Z:-0.07 [[ 9.83216174e-01 1.82389053e-01 -4.49328670e-03 3.97964832e+01] [-1.82387160e-01 9.83226441e-01 8.30951039e-04 -5.27470373e+00] [ 4.56947466e-03 2.51329689e-06 9.99989560e-01 -7.24990635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.817628 meters 0.011855444010129739 Centerline is valid? [True, True] Translation: X:39.86, Y:-5.29, Z:-0.07 [[ 9.83443098e-01 1.81176440e-01 -3.84337536e-03 3.98577978e+01] [-1.81175041e-01 9.83450608e-01 7.11945496e-04 -5.29076964e+00] [ 3.90875758e-03 -3.83419453e-06 9.99992361e-01 -7.24732625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.877628 meters 0.011891596568900544 Centerline is valid? [True, True] Translation: X:39.92, Y:-5.30, Z:-0.07 [[ 9.83259536e-01 1.82202894e-01 -1.67034356e-03 3.99186511e+01] [-1.82202630e-01 9.83260955e-01 3.10027272e-04 -5.30373096e+00] [ 1.69887147e-03 -4.96282354e-07 9.99998557e-01 -7.08337224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.937628000000004 meters 0.01180434480685046 Centerline is valid? [True, True] Translation: X:39.98, Y:-5.32, Z:-0.07 [[ 9.83094377e-01 1.83089890e-01 -1.88073538e-03 3.99802825e+01] [-1.83089556e-01 9.83096176e-01 3.49618725e-04 -5.31501218e+00] [ 1.91295542e-03 6.34804226e-07 9.99998170e-01 -7.10426355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.997628 meters 0.011965473121921378 Centerline is valid? [True, True] Translation: X:40.04, Y:-5.33, Z:-0.07 [[ 9.83084824e-01 1.83109262e-01 -3.90213627e-03 4.00407602e+01] [-1.83107824e-01 9.83092568e-01 7.25876620e-04 -5.32744394e+00] [ 3.96907590e-03 9.13390217e-07 9.99992123e-01 -7.28007956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.057628 meters 0.012179347281811165 Centerline is valid? [True, True] Translation: X:40.10, Y:-5.34, Z:-0.07 [[ 9.83841377e-01 1.79003589e-01 -3.72292424e-03 4.01021724e+01] [-1.79002245e-01 9.83848421e-01 6.93682995e-04 -5.34273820e+00] [ 3.78696488e-03 -1.60622344e-05 9.99992829e-01 -7.23906105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.117628 meters 0.014863760537460382 Centerline is valid? [True, True] Translation: X:40.16, Y:-5.35, Z:-0.07 [[ 9.84288553e-01 1.76541169e-01 -3.04301238e-03 4.01640670e+01] [-1.76540256e-01 9.84293257e-01 5.67978746e-04 -5.35482549e+00] [ 3.09548820e-03 -2.18407930e-05 9.99995209e-01 -7.32283953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.177628 meters 0.012621964900250394 Centerline is valid? [True, True] Translation: X:40.23, Y:-5.37, Z:-0.07 [[ 9.84695159e-01 1.74253471e-01 -3.34237896e-03 4.02253768e+01] [-1.74252354e-01 9.84700831e-01 6.24616558e-04 -5.36635807e+00] [ 3.40008494e-03 -3.26394978e-05 9.99994219e-01 -7.00241292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.237628 meters 0.01302954995266756 Centerline is valid? [True, True] Translation: X:40.29, Y:-5.38, Z:-0.07 [[ 9.85218015e-01 1.71268541e-01 -3.54247410e-03 4.02863021e+01] [-1.71267265e-01 9.85224383e-01 6.62918415e-04 -5.37673505e+00] [ 3.60366893e-03 -4.64093158e-05 9.99993506e-01 -7.03782596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.297628 meters 0.013763615369440783 Centerline is valid? [True, True] Translation: X:40.35, Y:-5.39, Z:-0.07 [[ 9.85546387e-01 1.69384656e-01 -2.67547122e-03 4.03459054e+01] [-1.69383920e-01 9.85550017e-01 5.00954759e-04 -5.38978991e+00] [ 2.72166476e-03 -4.05323493e-05 9.99996295e-01 -6.95326009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.357628 meters 0.014480573905285777 Centerline is valid? [True, True] Translation: X:40.41, Y:-5.40, Z:-0.07 [[ 9.85900421e-01 1.67329965e-01 -1.02078938e-03 4.04058527e+01] [-1.67329856e-01 9.85900950e-01 1.91401612e-04 -5.40124805e+00] [ 1.03842444e-03 -1.78943903e-05 9.99999461e-01 -6.79045546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.417628 meters 0.01404742216053533 Centerline is valid? [True, True] Translation: X:40.47, Y:-5.41, Z:-0.07 [[ 9.85906073e-01 1.67293408e-01 -1.45937938e-03 4.04678437e+01] [-1.67293186e-01 9.85907153e-01 2.74231274e-04 -5.41074339e+00] [ 1.48468965e-03 -2.62220531e-05 9.99998898e-01 -6.84244646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.477628 meters 0.017543345014597186 Centerline is valid? [True, True] Translation: X:40.53, Y:-5.42, Z:-0.07 [[ 9.85932702e-01 1.67100919e-01 -3.74024587e-03 4.05275358e+01] [-1.67099457e-01 9.85939794e-01 7.02342954e-04 -5.42225081e+00] [ 3.80501940e-03 -6.74698327e-05 9.99992759e-01 -7.23940009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.537628 meters 0.01664181623656492 Centerline is valid? [True, True] Translation: X:40.59, Y:-5.43, Z:-0.07 [[ 9.85673679e-01 1.68573560e-01 -5.50946978e-03 4.05890668e+01] [-1.68570402e-01 9.85689072e-01 1.03606836e-03 -5.43136000e+00] [ 5.60527788e-03 -9.24917756e-05 9.99984286e-01 -7.41532105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.597628 meters 0.013828327553102688 Centerline is valid? [True, True] Translation: X:40.65, Y:-5.44, Z:-0.07 [[ 9.85420012e-01 1.70061180e-01 -5.15709553e-03 4.06498241e+01] [-1.70058426e-01 9.85433503e-01 9.71166163e-04 -5.44226277e+00] [ 5.24713238e-03 -7.99990251e-05 9.99986231e-01 -7.19683778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.657628 meters 0.013956679970317938 Centerline is valid? [True, True] Translation: X:40.71, Y:-5.46, Z:-0.07 [[ 9.85522974e-01 1.69474084e-01 -4.79603677e-03 4.07118095e+01] [-1.69471688e-01 9.85534641e-01 9.04685337e-04 -5.45548974e+00] [ 4.87998110e-03 -7.87957385e-05 9.99988090e-01 -7.07122335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.717628 meters 0.01454309557763163 Centerline is valid? [True, True] Translation: X:40.77, Y:-5.47, Z:-0.07 [[ 9.86109226e-01 1.66066507e-01 -3.24182915e-03 4.07720072e+01] [-1.66065393e-01 9.86114553e-01 6.11846425e-04 -5.46852897e+00] [ 3.29842210e-03 -6.49917739e-05 9.99994558e-01 -7.02332860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.777628 meters 0.015674588779700505 Centerline is valid? [True, True] Translation: X:40.83, Y:-5.48, Z:-0.07 [[ 9.86580445e-01 1.63273080e-01 -9.62898864e-04 4.08315584e+01] [-1.63272980e-01 9.86580914e-01 1.82284249e-04 -5.48316705e+00] [ 9.79739752e-04 -2.26227085e-05 9.99999520e-01 -6.89309526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.837628 meters 0.017411507875832094 Centerline is valid? [True, True] Translation: X:40.89, Y:-5.50, Z:-0.07 [[ 9.86841529e-01 1.61688591e-01 -7.72181812e-04 4.08927747e+01] [-1.61688526e-01 9.86841831e-01 1.46496378e-04 -5.49504991e+00] [ 7.85708106e-04 -1.97157700e-05 9.99999691e-01 -7.05475386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.897628 meters 0.015300656725260039 Centerline is valid? [True, True] Translation: X:40.95, Y:-5.51, Z:-0.07 [[ 9.86463375e-01 1.63969309e-01 -2.01860898e-03 4.09542843e+01] [-1.63968869e-01 9.86465440e-01 3.82795664e-04 -5.50550775e+00] [ 2.05405474e-03 -4.66248716e-05 9.99997889e-01 -7.10603634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.957628 meters 0.017016286646704612 Centerline is valid? [True, True] Translation: X:41.02, Y:-5.52, Z:-0.07 [[ 9.86084319e-01 1.66210434e-01 -3.43605804e-03 4.10152899e+01] [-1.66209170e-01 9.86090303e-01 6.52172878e-04 -5.51574523e+00] [ 3.49666145e-03 -7.19930933e-05 9.99993884e-01 -7.49381417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.017628 meters 0.016656940216450887 Centerline is valid? [True, True] Translation: X:41.08, Y:-5.52, Z:-0.08 [[ 9.85368604e-01 1.70344251e-01 -5.61694130e-03 4.10770742e+01] [-1.70340934e-01 9.85384609e-01 1.06727835e-03 -5.52461834e+00] [ 5.71665224e-03 -9.48675455e-05 9.99983655e-01 -7.63373180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.077628 meters 0.014327374023836235 Centerline is valid? [True, True] Translation: X:41.14, Y:-5.53, Z:-0.07 [[ 9.84898765e-01 1.73042500e-01 -5.54210712e-03 4.11375105e+01] [-1.73039307e-01 9.84914355e-01 1.05432982e-03 -5.53471658e+00] [ 5.64094473e-03 -7.94057675e-05 9.99984087e-01 -7.40599228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.137628 meters 0.014018240201574422 Centerline is valid? [True, True] Translation: X:41.20, Y:-5.55, Z:-0.07 [[ 9.84888776e-01 1.73158436e-01 -3.20223730e-03 4.11984043e+01] [-1.73157367e-01 9.84893981e-01 6.10220820e-04 -5.54532889e+00] [ 3.25952912e-03 -4.65086584e-05 9.99994687e-01 -7.16465044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.197628 meters 0.01740780444664546 Centerline is valid? [True, True] Translation: X:41.26, Y:-5.56, Z:-0.07 [[ 9.85703978e-01 1.68475501e-01 -1.91672964e-03 4.12580719e+01] [-1.68475108e-01 9.85705841e-01 3.65837893e-04 -5.55889662e+00] [ 1.95096633e-03 -3.76866339e-05 9.99998096e-01 -7.47420838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.257628 meters 0.015832530438352272 Centerline is valid? [True, True] Translation: X:41.32, Y:-5.57, Z:-0.07 [[ 9.86417838e-01 1.64254700e-01 -4.92384619e-04 4.13187741e+01] [-1.64254673e-01 9.86417961e-01 9.40371462e-05 -5.57315710e+00] [ 5.01143075e-04 -1.18834437e-05 9.99999874e-01 -7.03738358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.317628 meters 0.019019800653438963 Centerline is valid? [True, True] Translation: X:41.38, Y:-5.59, Z:-0.07 [[ 9.87678280e-01 1.56475770e-01 2.63616132e-03 4.13762798e+01] [-1.56474985e-01 9.87681794e-01 -5.02815629e-04 -5.59073153e+00] [-2.68236701e-03 8.41267729e-05 9.99996399e-01 -6.66320028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.377628 meters 0.019878433005618482 Centerline is valid? [True, True] Translation: X:41.44, Y:-5.60, Z:-0.07 [[ 9.88965402e-01 1.48117017e-01 2.96374176e-03 4.14367302e+01] [-1.48115987e-01 9.88969835e-01 -5.65327453e-04 -5.60044817e+00] [-3.01478582e-03 1.20111754e-04 9.99995448e-01 -6.80429093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.437628000000004 meters 0.020758203786622877 Centerline is valid? [True, True] Translation: X:41.50, Y:-5.61, Z:-0.07 [[ 9.89574976e-01 1.44004842e-01 1.99324058e-03 4.14965471e+01] [-1.44004367e-01 9.89576979e-01 -3.80247379e-04 -5.61231723e+00] [-2.02722245e-03 8.92479423e-05 9.99997941e-01 -6.86111726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.497628 meters 0.025118173518982958 Centerline is valid? [True, True] Translation: X:41.55, Y:-5.63, Z:-0.07 [[ 9.90037523e-01 1.40798945e-01 -1.16614140e-03 4.15548850e+01] [-1.40798780e-01 9.90038208e-01 2.22506127e-04 -5.62662830e+00] [ 1.18585317e-03 -5.60981276e-05 9.99999295e-01 -7.07354512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.557628 meters 0.0249742906703787 Centerline is valid? [True, True] Translation: X:41.62, Y:-5.63, Z:-0.08 [[ 9.89958656e-01 1.41310351e-01 -3.63924711e-03 4.16182311e+01] [-1.41308746e-01 9.89965330e-01 6.95904079e-04 -5.63058506e+00] [ 3.70106692e-03 -1.74658822e-04 9.99993136e-01 -7.60473352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.617628 meters 0.020836975896994823 Centerline is valid? [True, True] Translation: X:41.68, Y:-5.63, Z:-0.07 [[ 9.89065198e-01 1.47472115e-01 -1.41787134e-03 4.16796692e+01] [-1.47471878e-01 9.89066212e-01 2.71009091e-04 -5.63203900e+00] [ 1.44233492e-03 -5.89495111e-05 9.99998958e-01 -7.21247869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.677628 meters 0.01898687730375978 Centerline is valid? [True, True] Translation: X:41.74, Y:-5.64, Z:-0.07 [[ 9.88134120e-01 1.53593392e-01 -1.76177215e-04 4.17409562e+01] [-1.53593388e-01 9.88134136e-01 3.37016933e-05 -5.63769994e+00] [ 1.79263078e-04 -6.24213760e-06 9.99999984e-01 -6.93865810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.737628 meters 0.015587691370239841 Centerline is valid? [True, True] Translation: X:41.80, Y:-5.64, Z:-0.07 [[ 9.85970712e-01 1.66911821e-01 1.48286923e-03 4.18025099e+01] [-1.66911584e-01 9.85971827e-01 -2.83422002e-04 -5.63528047e+00] [-1.50937377e-03 3.19377407e-05 9.99998860e-01 -6.82619757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.797628 meters 0.014166508027026459 Centerline is valid? [True, True] Translation: X:41.86, Y:-5.64, Z:-0.07 [[ 9.85142320e-01 1.71731708e-01 1.68213235e-03 4.18639302e+01] [-1.71731409e-01 9.85143756e-01 -3.21515738e-04 -5.64007640e+00] [-1.71235662e-03 2.78638018e-05 9.99998534e-01 -6.84952354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.857628 meters 0.012488208344985301 Centerline is valid? [True, True] Translation: X:41.93, Y:-5.64, Z:-0.07 [[ 9.82883602e-01 1.84201384e-01 3.11041131e-03 4.19269226e+01] [-1.84200424e-01 9.82888524e-01 -5.94706043e-04 -5.63903566e+00] [-3.16673326e-03 1.15877358e-05 9.99994986e-01 -6.73389811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.917628 meters 0.012480055891696632 Centerline is valid? [True, True] Translation: X:41.99, Y:-5.64, Z:-0.07 [[ 9.81634303e-01 1.90751492e-01 2.82186856e-03 4.19894153e+01] [-1.90750728e-01 9.81638359e-01 -5.39950787e-04 -5.64355908e+00] [-2.87305084e-03 -8.23926701e-06 9.99995873e-01 -6.87146953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.977628 meters 0.012465738408269339 Centerline is valid? [True, True] Translation: X:42.05, Y:-5.65, Z:-0.07 [[ 9.81455411e-01 1.91683236e-01 1.67741712e-03 4.20515227e+01] [-1.91682966e-01 9.81456844e-01 -3.21248294e-04 -5.65321204e+00] [-1.70789043e-03 -6.24141429e-06 9.99998542e-01 -7.12086659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.037628 meters 0.012443942976366652 Centerline is valid? [True, True] Translation: X:42.11, Y:-5.67, Z:-0.07 [[ 9.81555228e-01 1.91178800e-01 -1.76324653e-05 4.21125428e+01] [-1.91178800e-01 9.81555228e-01 3.86891418e-06 -5.66637273e+00] [ 1.80468928e-05 -4.26599381e-07 1.00000000e+00 -7.26738853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.097628 meters 0.012410991710386562 Centerline is valid? [True, True] Translation: X:42.17, Y:-5.68, Z:-0.07 [[ 9.81897073e-01 1.89412365e-01 -1.04611481e-03 4.21733543e+01] [-1.89412258e-01 9.81897630e-01 2.01739006e-04 -5.68178069e+00] [ 1.06538951e-03 6.00278634e-08 9.99999432e-01 -7.37868088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.157628 meters 0.012394524688012538 Centerline is valid? [True, True] Translation: X:42.23, Y:-5.70, Z:-0.08 [[ 9.82064531e-01 1.88532243e-01 -2.20251981e-03 4.22342504e+01] [-1.88531764e-01 9.82067000e-01 4.24864392e-04 -5.69583000e+00] [ 2.24312266e-03 -1.99930549e-06 9.99997484e-01 -7.57209553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.217628 meters 0.012499598565547887 Centerline is valid? [True, True] Translation: X:42.30, Y:-5.71, Z:-0.08 [[ 9.82111676e-01 1.88256573e-01 -4.01483237e-03 4.22950662e+01] [-1.88254977e-01 9.82119882e-01 7.75251885e-04 -5.71201854e+00] [ 4.08899296e-03 -5.57175335e-06 9.99991640e-01 -7.76081740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.277628 meters 0.012532832355898091 Centerline is valid? [True, True] Translation: X:42.36, Y:-5.73, Z:-0.08 [[ 9.82107551e-01 1.88264124e-01 -4.62350931e-03 4.23561836e+01] [-1.88262001e-01 9.82118435e-01 8.94066482e-04 -5.72903419e+00] [ 4.70915437e-03 -7.63832716e-06 9.99988912e-01 -7.84264870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.337628 meters 0.01259741288584134 Centerline is valid? [True, True] Translation: X:42.42, Y:-5.75, Z:-0.08 [[ 9.82241946e-01 1.87571150e-01 -4.22170554e-03 4.24174019e+01] [-1.87569368e-01 9.82251019e-01 8.17646950e-04 -5.74563077e+00] [ 4.30014155e-03 -1.12644897e-05 9.99990754e-01 -7.78835331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.397628 meters 0.0161177281304892 Centerline is valid? [True, True] Translation: X:42.48, Y:-5.76, Z:-0.08 [[ 9.82603656e-01 1.85620908e-01 -5.91046538e-03 4.24755807e+01] [-1.85617378e-01 9.82621432e-01 1.14500110e-03 -5.76415133e+00] [ 6.02028610e-03 -2.79971804e-05 9.99981878e-01 -8.09540994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.457628 meters 0.012806847545969615 Centerline is valid? [True, True] Translation: X:42.54, Y:-5.78, Z:-0.08 [[ 9.82532838e-01 1.85983132e-01 -6.28467823e-03 4.25354985e+01] [-1.85979135e-01 9.82552937e-01 1.21960558e-03 -5.78321902e+00] [ 6.40185512e-03 -2.94835082e-05 9.99979507e-01 -7.95834974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.517628 meters 0.015154215278001058 Centerline is valid? [True, True] Translation: X:42.59, Y:-5.80, Z:-0.08 [[ 9.82770140e-01 1.84648088e-01 -8.24233268e-03 4.25947465e+01] [-1.84641153e-01 9.82804701e-01 1.60120124e-03 -5.80025947e+00] [ 8.39626206e-03 -5.17389585e-05 9.99964749e-01 -8.27075296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.577628 meters 0.013121830732936466 Centerline is valid? [True, True] Translation: X:42.65, Y:-5.82, Z:-0.08 [[ 9.83182233e-01 1.82551548e-01 -5.25639416e-03 4.26549838e+01] [-1.82548688e-01 9.83196283e-01 1.02291314e-03 -5.82087680e+00] [ 5.35480158e-03 -4.61621682e-05 9.99985662e-01 -7.91984328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.637628 meters 0.013306462207596452 Centerline is valid? [True, True] Translation: X:42.71, Y:-5.84, Z:-0.08 [[ 9.83383699e-01 1.81525056e-01 -2.27033731e-03 4.27142459e+01] [-1.81524519e-01 9.83386320e-01 4.42163598e-04 -5.83820571e+00] [ 2.31288242e-03 -2.26945872e-05 9.99997325e-01 -7.58457982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.697628 meters 0.013130584098176266 Centerline is valid? [True, True] Translation: X:42.78, Y:-5.85, Z:-0.08 [[ 9.83153805e-01 1.82774963e-01 -1.38160418e-03 4.27750573e+01] [-1.82774765e-01 9.83154776e-01 2.69700306e-04 -5.84955926e+00] [ 1.40762522e-03 -1.26345021e-05 9.99999009e-01 -7.55526994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.757628 meters 0.01308122506049378 Centerline is valid? [True, True] Translation: X:42.84, Y:-5.86, Z:-0.08 [[ 9.83023006e-01 1.83467482e-01 -2.33531713e-03 4.28368901e+01] [-1.83466915e-01 9.83025779e-01 4.56334293e-04 -5.86017406e+00] [ 2.37939945e-03 -2.01336767e-05 9.99997169e-01 -7.72837132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.817628 meters 0.013958818601348734 Centerline is valid? [True, True] Translation: X:42.90, Y:-5.87, Z:-0.08 [[ 9.83981667e-01 1.78258437e-01 -2.00226502e-03 4.28975598e+01] [-1.78258009e-01 9.83983703e-01 3.91765686e-04 -5.87372867e+00] [ 2.04003168e-03 -2.85704775e-05 9.99997919e-01 -7.74351468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.877628 meters 0.01597597253172033 Centerline is valid? [True, True] Translation: X:42.96, Y:-5.89, Z:-0.08 [[ 9.85524424e-01 1.69519491e-01 -2.17994076e-03 4.29574681e+01] [-1.69518963e-01 9.85526833e-01 4.26215799e-04 -5.88776796e+00] [ 2.22064200e-03 -5.05047816e-05 9.99997533e-01 -7.79218457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.937628000000004 meters 0.02214089418105519 Centerline is valid? [True, True] Translation: X:43.01, Y:-5.91, Z:-0.08 [[ 9.88097304e-01 1.53805924e-01 -2.73030795e-03 4.30149205e+01] [-1.53805036e-01 9.88101071e-01 5.33738387e-04 -5.90613089e+00] [ 2.77991234e-03 -1.07450349e-04 9.99996130e-01 -7.94228877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.997628 meters 0.022033131126070006 Centerline is valid? [True, True] Translation: X:43.08, Y:-5.92, Z:-0.08 [[ 9.89441346e-01 1.44907381e-01 -2.77024859e-03 4.30753038e+01] [-1.44906431e-01 9.89445215e-01 5.41683234e-04 -5.91707045e+00] [ 2.81950311e-03 -1.34536953e-04 9.99996016e-01 -7.89221210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.057628 meters 0.022864123192481614 Centerline is valid? [True, True] Translation: X:43.14, Y:-5.93, Z:-0.08 [[ 9.90433867e-01 1.37965905e-01 -2.48264930e-03 4.31352277e+01] [-1.37965120e-01 9.90436969e-01 4.85580465e-04 -5.92622367e+00] [ 2.52590120e-03 -1.38416328e-04 9.99996800e-01 -8.03644251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.117628 meters 0.023756784102069873 Centerline is valid? [True, True] Translation: X:43.20, Y:-5.94, Z:-0.08 [[ 9.90006803e-01 1.41000350e-01 -2.33052004e-03 4.31951527e+01] [-1.40999667e-01 9.90009538e-01 4.55832646e-04 -5.93513750e+00] [ 2.37150964e-03 -1.22674871e-04 9.99997180e-01 -8.04228237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.177628 meters 0.021716453197348717 Centerline is valid? [True, True] Translation: X:43.26, Y:-5.94, Z:-0.08 [[ 9.89013101e-01 1.47814651e-01 -1.97849328e-03 4.32557486e+01] [-1.47814172e-01 9.89015076e-01 3.86984413e-04 -5.93995445e+00] [ 2.01396165e-03 -9.02833088e-05 9.99997968e-01 -7.98801587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.237628 meters 0.017473286171128092 Centerline is valid? [True, True] Translation: X:43.32, Y:-5.94, Z:-0.08 [[ 9.86643548e-01 1.62877103e-01 -2.35767653e-03 4.33177689e+01] [-1.62876466e-01 9.86646362e-01 4.61178964e-04 -5.93838430e+00] [ 2.40130847e-03 -7.10092278e-05 9.99997114e-01 -8.10589994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.297628 meters 0.015049046726189109 Centerline is valid? [True, True] Translation: X:43.38, Y:-5.94, Z:-0.08 [[ 9.84880508e-01 1.73225991e-01 -1.77254891e-03 4.33788751e+01] [-1.73225647e-01 9.84882102e-01 3.46763842e-04 -5.94174568e+00] [ 1.80582021e-03 -3.44700162e-05 9.99998369e-01 -8.08468357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.357628 meters 0.013002920511599403 Centerline is valid? [True, True] Translation: X:43.44, Y:-5.94, Z:-0.08 [[ 9.82805908e-01 1.84634073e-01 -1.67496306e-03 4.34414270e+01] [-1.84633783e-01 9.82807336e-01 3.27829020e-04 -5.94301227e+00] [ 1.70669439e-03 -1.29375328e-05 9.99998544e-01 -8.23320074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.417628 meters 0.01261669417243502 Centerline is valid? [True, True] Translation: X:43.50, Y:-5.95, Z:-0.08 [[ 9.81923194e-01 1.89275855e-01 -1.22135436e-03 4.35029498e+01] [-1.89275703e-01 9.81923954e-01 2.39705747e-04 -5.95088764e+00] [ 1.24464761e-03 -4.19992756e-06 9.99999225e-01 -8.30262322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.477628 meters 0.012649527101834363 Centerline is valid? [True, True] Translation: X:43.56, Y:-5.96, Z:-0.08 [[ 9.81963880e-01 1.89067675e-01 -5.94031180e-04 4.35639865e+01] [-1.89067639e-01 9.81964059e-01 1.17048449e-04 -5.96409176e+00] [ 6.05447347e-04 -2.62527664e-06 9.99999817e-01 -8.31437985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.537628 meters 0.013155532572958706 Centerline is valid? [True, True] Translation: X:43.62, Y:-5.98, Z:-0.08 [[ 9.82978630e-01 1.83716204e-01 -1.17032088e-03 4.36237169e+01] [-1.83716060e-01 9.82979326e-01 2.30364947e-04 -5.98270519e+00] [ 1.19272300e-03 -1.14370789e-05 9.99999289e-01 -8.34494119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.597628 meters 0.013934903230352685 Centerline is valid? [True, True] Translation: X:43.68, Y:-6.00, Z:-0.08 [[ 9.83727441e-01 1.79655688e-01 -2.03876520e-03 4.36831289e+01] [-1.79655242e-01 9.83729553e-01 4.01517774e-04 -6.00105969e+00] [ 2.07772853e-03 -2.87091975e-05 9.99997841e-01 -8.38945827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.657628 meters 0.014707643202890423 Centerline is valid? [True, True] Translation: X:43.74, Y:-6.02, Z:-0.08 [[ 9.84387185e-01 1.75992926e-01 -2.89121980e-03 4.37423691e+01] [-1.75992010e-01 9.84391430e-01 5.69963916e-04 -6.01973159e+00] [ 2.94640161e-03 -5.22335895e-05 9.99995658e-01 -8.49635846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.717628 meters 0.01480031841008414 Centerline is valid? [True, True] Translation: X:43.80, Y:-6.03, Z:-0.09 [[ 9.84506732e-01 1.75291897e-01 -4.38696548e-03 4.38026151e+01] [-1.75289779e-01 9.84516503e-01 8.65743838e-04 -6.03466898e+00] [ 4.47079779e-03 -8.33404281e-05 9.99990002e-01 -8.66609694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.777628 meters 0.01503375096084479 Centerline is valid? [True, True] Translation: X:43.86, Y:-6.05, Z:-0.09 [[ 9.84680308e-01 1.74283348e-01 -5.47774562e-03 4.38622126e+01] [-1.74280023e-01 9.84695538e-01 1.08232000e-03 -6.05165838e+00] [ 5.58254202e-03 -1.11077559e-04 9.99984411e-01 -8.72724113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.837628 meters 0.015459184394339992 Centerline is valid? [True, True] Translation: X:43.92, Y:-6.07, Z:-0.09 [[ 9.85047504e-01 1.72177334e-01 -6.03161715e-03 4.39217996e+01] [-1.72173253e-01 9.85065961e-01 1.19328424e-03 -6.07053921e+00] [ 6.14699724e-03 -1.36958518e-04 9.99981098e-01 -8.76562085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.897628 meters 0.015139922828946197 Centerline is valid? [True, True] Translation: X:43.98, Y:-6.08, Z:-0.09 [[ 9.84557263e-01 1.74968038e-01 -5.76027432e-03 4.39818922e+01] [-1.74964355e-01 9.84574107e-01 1.14108614e-03 -6.08361044e+00] [ 5.87107055e-03 -1.15621968e-04 9.99982758e-01 -8.76349620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.957628 meters 0.013784118614837573 Centerline is valid? [True, True] Translation: X:44.04, Y:-6.09, Z:-0.09 [[ 9.83374085e-01 1.81494123e-01 -5.94077297e-03 4.40427065e+01] [-1.81490326e-01 9.83392026e-01 1.17668904e-03 -6.09338151e+00] [ 6.05567091e-03 -7.89326796e-05 9.99981661e-01 -8.69257740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.017628 meters 0.012873595270700493 Centerline is valid? [True, True] Translation: X:44.10, Y:-6.10, Z:-0.09 [[ 9.82116708e-01 1.88224687e-01 -4.27064929e-03 4.41040700e+01] [-1.88222782e-01 9.82125993e-01 8.47356704e-04 -6.10174153e+00] [ 4.35380912e-03 -2.83696879e-05 9.99990522e-01 -8.58710268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.077628 meters 0.015139515552308903 Centerline is valid? [True, True] Translation: X:44.17, Y:-6.11, Z:-0.09 [[ 9.81586528e-01 1.90984835e-01 -3.56101409e-03 4.41655000e+01] [-1.90983525e-01 9.81592987e-01 7.07561695e-04 -6.11098045e+00] [ 3.63060001e-03 -1.44380034e-05 9.99993409e-01 -8.80177982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.137628 meters 0.012293100786004586 Centerline is valid? [True, True] Translation: X:44.23, Y:-6.12, Z:-0.08 [[ 9.80877357e-01 1.94620307e-01 1.59596461e-03 4.42272137e+01] [-1.94620049e-01 9.80878655e-01 -3.16910882e-04 -6.11893919e+00] [-1.62712492e-03 2.43997509e-07 9.99998676e-01 -8.37138445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.197628 meters 0.01246934634951323 Centerline is valid? [True, True] Translation: X:44.29, Y:-6.13, Z:-0.08 [[ 9.80500239e-01 1.96475028e-01 4.10426686e-03 4.42882902e+01] [-1.96473331e-01 9.80508829e-01 -8.16751658e-04 -6.12928215e+00] [-4.18474119e-03 -5.55378397e-06 9.99991244e-01 -8.15036252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.257628 meters 0.012417723156444446 Centerline is valid? [True, True] Translation: X:44.35, Y:-6.14, Z:-0.08 [[ 9.80385079e-01 1.97059326e-01 3.56629281e-03 4.43502297e+01] [-1.97058045e-01 9.80391566e-01 -7.10630547e-04 -6.14067496e+00] [-3.63639977e-03 -6.07510166e-06 9.99993388e-01 -8.25720980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.317628 meters 0.012366327593602865 Centerline is valid? [True, True] Translation: X:44.41, Y:-6.15, Z:-0.09 [[ 9.80550135e-01 1.96260820e-01 1.76730894e-03 4.44124534e+01] [-1.96260504e-01 9.80551728e-01 -3.52426642e-04 -6.15273937e+00] [-1.80210538e-03 -1.28095232e-06 9.99998376e-01 -8.64269668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.377628 meters 0.012233806437782555 Centerline is valid? [True, True] Translation: X:44.47, Y:-6.17, Z:-0.09 [[ 9.80864508e-01 1.94691508e-01 -1.82761548e-04 4.44736543e+01] [-1.94691504e-01 9.80864525e-01 3.70094170e-05 -6.16713176e+00] [ 1.86469738e-04 -7.19102865e-07 9.99999983e-01 -8.81063992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.437628000000004 meters 0.012797028264822381 Centerline is valid? [True, True] Translation: X:44.53, Y:-6.19, Z:-0.09 [[ 9.81940204e-01 1.89188053e-01 -1.14764178e-03 4.45332849e+01] [-1.89187913e-01 9.81940874e-01 2.30167705e-04 -6.18518915e+00] [ 1.17046135e-03 -8.89097011e-06 9.99999315e-01 -9.00114871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.497628 meters 0.014062091675004681 Centerline is valid? [True, True] Translation: X:44.59, Y:-6.20, Z:-0.09 [[ 9.83083166e-01 1.83159726e-01 6.57834556e-05 4.45931605e+01] [-1.83159725e-01 9.83083168e-01 -1.27893265e-05 -6.20249099e+00] [-6.70130975e-05 5.24091892e-07 9.99999998e-01 -9.02627647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.557628 meters 0.01454450076739015 Centerline is valid? [True, True] Translation: X:44.65, Y:-6.22, Z:-0.09 [[ 9.83576939e-01 1.80488723e-01 4.75647007e-04 4.46537839e+01] [-1.80488698e-01 9.83577054e-01 -9.50564777e-05 -6.21703986e+00] [-4.84992104e-04 7.64645017e-06 9.99999882e-01 -9.01853556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.617628 meters 0.01453028076745696 Centerline is valid? [True, True] Translation: X:44.72, Y:-6.23, Z:-0.09 [[ 9.83901037e-01 1.78713389e-01 5.22849838e-04 4.47150531e+01] [-1.78713358e-01 9.83901176e-01 -1.04650164e-04 -6.22918633e+00] [-5.33134956e-04 9.52515421e-06 9.99999858e-01 -9.01374828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.677628 meters 0.01466863910211984 Centerline is valid? [True, True] Translation: X:44.78, Y:-6.24, Z:-0.09 [[ 9.83946594e-01 1.78461687e-01 7.25641069e-04 4.47770783e+01] [-1.78461628e-01 9.83946861e-01 -1.45554021e-04 -6.24093975e+00] [-7.39968068e-04 1.37182963e-05 9.99999726e-01 -9.08909604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.737628 meters 0.014562751880056575 Centerline is valid? [True, True] Translation: X:44.84, Y:-6.25, Z:-0.09 [[ 9.83834761e-01 1.79078634e-01 -7.93210598e-05 4.48388202e+01] [-1.79078633e-01 9.83834764e-01 1.64659145e-05 -6.25164770e+00] [ 8.09875096e-05 -1.99503204e-06 9.99999997e-01 -9.15759516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.797628 meters 0.014221942757238598 Centerline is valid? [True, True] Translation: X:44.90, Y:-6.26, Z:-0.09 [[ 9.83699404e-01 1.79820681e-01 -7.17505007e-05 4.49004496e+01] [-1.79820681e-01 9.83699407e-01 1.49019955e-05 -6.26125302e+00] [ 7.32606119e-05 -1.75686027e-06 9.99999997e-01 -9.11231925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.857628 meters 0.014372731132892702 Centerline is valid? [True, True] Translation: X:44.96, Y:-6.27, Z:-0.09 [[ 9.83663097e-01 1.80018582e-01 4.71009367e-04 4.49625190e+01] [-1.80018557e-01 9.83663210e-01 -9.47060958e-05 -6.27209667e+00] [-4.80363443e-04 8.36846493e-06 9.99999885e-01 -9.03700799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.917628 meters 0.014195098920206761 Centerline is valid? [True, True] Translation: X:45.03, Y:-6.28, Z:-0.09 [[ 9.83652345e-01 1.80077303e-01 -4.78174852e-04 4.50250154e+01] [-1.80077277e-01 9.83652461e-01 9.72630625e-05 -6.28123346e+00] [ 4.87872740e-04 -9.56461442e-06 9.99999881e-01 -9.15696191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.977628 meters 0.014005209115233555 Centerline is valid? [True, True] Translation: X:45.09, Y:-6.29, Z:-0.09 [[ 9.83344166e-01 1.81749536e-01 -1.16505695e-03 4.50865988e+01] [-1.81749384e-01 9.83344856e-01 2.36052293e-04 -6.29252468e+00] [ 1.18855516e-03 -2.03722618e-05 9.99999293e-01 -9.18456965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.037628 meters 0.013796870915953217 Centerline is valid? [True, True] Translation: X:45.15, Y:-6.30, Z:-0.09 [[ 9.82990912e-01 1.83653442e-01 -5.28586434e-04 4.51464313e+01] [-1.83653411e-01 9.82991055e-01 1.07537028e-04 -6.30344068e+00] [ 5.39345281e-04 -8.63122041e-06 9.99999855e-01 -9.18951025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.097628 meters 0.012992709690796342 Centerline is valid? [True, True] Translation: X:45.21, Y:-6.31, Z:-0.09 [[ 9.82294354e-01 1.87342027e-01 -8.75555512e-04 4.52070589e+01] [-1.87341942e-01 9.82294744e-01 1.78133147e-04 -6.31495246e+00] [ 8.93425403e-04 -1.09509146e-05 9.99999601e-01 -9.13429087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.157628 meters 0.012553254612882783 Centerline is valid? [True, True] Translation: X:45.27, Y:-6.33, Z:-0.09 [[ 9.81423167e-01 1.91850465e-01 -1.40232183e-03 4.52667822e+01] [-1.91850253e-01 9.81424169e-01 2.85344993e-04 -6.32633756e+00] [ 1.43101610e-03 -1.10083902e-05 9.99998976e-01 -9.12967290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.217628 meters 0.012154226087557141 Centerline is valid? [True, True] Translation: X:45.33, Y:-6.33, Z:-0.09 [[ 9.79879508e-01 1.99567353e-01 -3.00366442e-03 4.53275413e+01] [-1.99566417e-01 9.79884111e-01 6.11023805e-04 -6.33465284e+00] [ 3.06518345e-03 7.00841820e-07 9.99995302e-01 -9.31010099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.277628 meters 0.012558297907821397 Centerline is valid? [True, True] Translation: X:45.39, Y:-6.34, Z:-0.09 [[ 9.78397997e-01 2.06691287e-01 -4.00886724e-03 4.53889477e+01] [-2.06689676e-01 9.78406210e-01 8.16585222e-04 -6.34402000e+00] [ 4.09108166e-03 2.96461258e-05 9.99991631e-01 -9.40479173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.337628 meters 0.0129798525309 Centerline is valid? [True, True] Translation: X:45.45, Y:-6.36, Z:-0.09 [[ 9.77650208e-01 2.10203493e-01 -3.81603613e-03 4.54494211e+01] [-2.10202056e-01 9.77657655e-01 7.78312015e-04 -6.35758565e+00] [ 3.89438084e-03 4.12217376e-05 9.99992416e-01 -9.28586843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.397628 meters 0.013559330359180817 Centerline is valid? [True, True] Translation: X:45.51, Y:-6.37, Z:-0.09 [[ 9.76982083e-01 2.13294090e-01 -3.41196331e-03 4.55098852e+01] [-2.13292956e-01 9.76988039e-01 6.96807785e-04 -6.37227216e+00] [ 3.48207232e-03 4.69790203e-05 9.99993936e-01 -9.13962418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.457628 meters 0.013007533819135535 Centerline is valid? [True, True] Translation: X:45.57, Y:-6.39, Z:-0.09 [[ 9.77357097e-01 2.11532134e-01 -5.22113579e-03 4.55696077e+01] [-2.11529450e-01 9.77371041e-01 1.06743589e-03 -6.38774478e+00] [ 5.32878391e-03 6.11579354e-05 9.99985800e-01 -9.25571501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.517628 meters 0.012513951078965798 Centerline is valid? [True, True] Translation: X:45.63, Y:-6.40, Z:-0.10 [[ 9.78374725e-01 2.06637229e-01 -9.16260014e-03 4.56292552e+01] [-2.06628730e-01 9.78417627e-01 1.87507558e-03 -6.40011529e+00] [ 9.35230990e-03 5.87298658e-05 9.99956264e-01 -9.66461127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.577628 meters 0.012469411329206294 Centerline is valid? [True, True] Translation: X:45.69, Y:-6.41, Z:-0.10 [[ 9.78734050e-01 2.04863871e-01 -1.05097362e-02 4.56908361e+01] [-2.04852553e-01 9.78790474e-01 2.15385706e-03 -6.41310649e+00] [ 1.07280771e-02 4.48930502e-05 9.99942452e-01 -9.76203926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.637628 meters 0.012393825711010475 Centerline is valid? [True, True] Translation: X:45.75, Y:-6.43, Z:-0.10 [[ 9.79477458e-01 2.01213033e-01 -1.17143313e-02 4.57517585e+01] [-2.01198671e-01 9.79547505e-01 2.40408626e-03 -6.42709036e+00] [ 1.19584775e-02 2.15959195e-06 9.99928495e-01 -9.73973528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.697628 meters 0.012629938781133146 Centerline is valid? [True, True] Translation: X:45.81, Y:-6.44, Z:-0.09 [[ 9.80558783e-01 1.95925874e-01 -1.08409285e-02 4.58122914e+01] [-1.95913214e-01 9.80618707e-01 2.22804517e-03 -6.44424914e+00] [ 1.10673490e-02 -6.08481104e-05 9.99938753e-01 -9.45725469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.757628 meters 0.012957582375190378 Centerline is valid? [True, True] Translation: X:45.87, Y:-6.46, Z:-0.09 [[ 9.81353728e-01 1.91971667e-01 -9.57808636e-03 4.58725484e+01] [-1.91961572e-01 9.81400464e-01 1.97098063e-03 -6.45882726e+00] [ 9.77831083e-03 -9.56046715e-05 9.99952187e-01 -9.28650283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.817628 meters 0.0138520180433207 Centerline is valid? [True, True] Translation: X:45.93, Y:-6.47, Z:-0.09 [[ 9.82492352e-01 1.86158717e-01 -7.32878765e-03 4.59327696e+01] [-1.86152630e-01 9.82519678e-01 1.51011625e-03 -6.47302721e+00] [ 7.48179939e-03 -1.19404565e-04 9.99972004e-01 -9.24446125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.877628 meters 0.014886026157481804 Centerline is valid? [True, True] Translation: X:45.99, Y:-6.49, Z:-0.09 [[ 9.83416147e-01 1.81263971e-01 -6.00451623e-03 4.59934821e+01] [-1.81259793e-01 9.83434470e-01 1.23746497e-03 -6.48808911e+00] [ 6.12935605e-03 -1.28565663e-04 9.99981207e-01 -8.98967788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.937628000000004 meters 0.0155580403418986 Centerline is valid? [True, True] Translation: X:46.05, Y:-6.50, Z:-0.09 [[ 9.83645069e-01 1.80004101e-01 -6.39547198e-03 4.60537545e+01] [-1.79999323e-01 9.83665849e-01 1.31981122e-03 -6.50059865e+00] [ 6.52857880e-03 -1.47045178e-04 9.99978678e-01 -9.01027048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.997628 meters 0.016115564814071424 Centerline is valid? [True, True] Translation: X:46.12, Y:-6.51, Z:-0.09 [[ 9.83513072e-01 1.80648237e-01 -8.26150932e-03 4.61152092e+01] [-1.80640268e-01 9.83547752e-01 1.70706738e-03 -6.50971169e+00] [ 8.43396763e-03 -1.86561830e-04 9.99964416e-01 -9.34154895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.057628 meters 0.01629521059159622 Centerline is valid? [True, True] Translation: X:46.18, Y:-6.52, Z:-0.10 [[ 9.83258298e-01 1.81969791e-01 -9.49287807e-03 4.61758075e+01] [-1.81959320e-01 9.83304101e-01 1.96253976e-03 -6.52021184e+00] [ 9.69150888e-03 -2.02365862e-04 9.99953016e-01 -9.50127969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.117628 meters 0.01561150065896555 Centerline is valid? [True, True] Translation: X:46.24, Y:-6.53, Z:-0.09 [[ 9.82948474e-01 1.83614027e-01 -9.90887540e-03 4.62370900e+01] [-1.83602675e-01 9.82998398e-01 2.05113690e-03 -6.53014137e+00] [ 1.01170261e-02 -1.96865858e-04 9.99948802e-01 -9.34523531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.177628 meters 0.015018725385701596 Centerline is valid? [True, True] Translation: X:46.30, Y:-6.54, Z:-0.09 [[ 9.82270668e-01 1.87287704e-01 -8.22496213e-03 4.62984475e+01] [-1.87279994e-01 9.82305094e-01 1.70461167e-03 -6.53809125e+00] [ 8.39867500e-03 -1.34019187e-04 9.99964722e-01 -9.24459597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.237628 meters 0.012803716808965925 Centerline is valid? [True, True] Translation: X:46.36, Y:-6.54, Z:-0.09 [[ 9.81218816e-01 1.92792685e-01 -6.37302697e-03 4.63601512e+01] [-1.92788173e-01 9.81239510e-01 1.32079387e-03 -6.54370541e+00] [ 6.50810526e-03 -6.73435682e-05 9.99978820e-01 -8.92558066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.297628 meters 0.012509786272430226 Centerline is valid? [True, True] Translation: X:46.42, Y:-6.55, Z:-0.09 [[ 9.80475970e-01 1.96527315e-01 -6.62468065e-03 4.64214041e+01] [-1.96522511e-01 9.80498349e-01 1.37500739e-03 -6.55375790e+00] [ 6.76571495e-03 -4.62628305e-05 9.99977111e-01 -8.97042263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.357628 meters 0.012172141873153002 Centerline is valid? [True, True] Translation: X:46.48, Y:-6.56, Z:-0.09 [[ 9.79383332e-01 2.01914059e-01 -6.24507067e-03 4.64829140e+01] [-2.01909888e-01 9.79403243e-01 1.29782412e-03 -6.56185344e+00] [ 6.37849140e-03 -1.01257929e-05 9.99979657e-01 -9.12123548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.417628 meters 0.012073250248078194 Centerline is valid? [True, True] Translation: X:46.55, Y:-6.57, Z:-0.09 [[ 9.78571751e-01 2.05837646e-01 -5.30965908e-03 4.65451425e+01] [-2.05834680e-01 9.78586155e-01 1.10512682e-03 -6.57315617e+00] [ 5.42343557e-03 1.14660921e-05 9.99985293e-01 -9.05019108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.477628 meters 0.012621478228456136 Centerline is valid? [True, True] Translation: X:46.61, Y:-6.58, Z:-0.09 [[ 9.77480947e-01 2.10919165e-01 -6.64107361e-03 4.66053321e+01] [-2.10914638e-01 9.77503506e-01 1.38277461e-03 -6.58388966e+00] [ 6.78332640e-03 4.90638061e-05 9.99976992e-01 -9.28989826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.537628 meters 0.012998198749829094 Centerline is valid? [True, True] Translation: X:46.67, Y:-6.60, Z:-0.10 [[ 9.76911391e-01 2.13471899e-01 -8.59547387e-03 4.66663623e+01] [-2.13464393e-01 9.76949201e-01 1.79202507e-03 -6.59669262e+00] [ 8.77988832e-03 8.41779123e-05 9.99961452e-01 -9.50518304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.597628 meters 0.012953479885696216 Centerline is valid? [True, True] Translation: X:46.73, Y:-6.61, Z:-0.10 [[ 9.76877449e-01 2.13548802e-01 -1.03614105e-02 4.67261744e+01] [-2.13537873e-01 9.76932392e-01 2.16278728e-03 -6.61442250e+00] [ 1.05842581e-02 9.97754266e-05 9.99943980e-01 -9.57789424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.657628 meters 0.01251802259650535 Centerline is valid? [True, True] Translation: X:46.79, Y:-6.63, Z:-0.09 [[ 9.77434012e-01 2.11070522e-01 -8.48455301e-03 4.67862119e+01] [-2.11063095e-01 9.77470834e-01 1.77163224e-03 -6.63339998e+00] [ 8.66734245e-03 5.91224051e-05 9.99962436e-01 -9.35248259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.717628 meters 0.012229435931929152 Centerline is valid? [True, True] Translation: X:46.84, Y:-6.65, Z:-0.09 [[ 9.78440600e-01 2.06412835e-01 -6.90902209e-03 4.68448763e+01] [-2.06407779e-01 9.78464992e-01 1.44475511e-03 -6.65420579e+00] [ 7.05845225e-03 1.24688528e-05 9.99975089e-01 -9.16907947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.777628 meters 0.012424383298424175 Centerline is valid? [True, True] Translation: X:46.90, Y:-6.67, Z:-0.09 [[ 9.79391573e-01 2.01877459e-01 -6.13504202e-03 4.69046666e+01] [-2.01873372e-01 9.79410788e-01 1.28466199e-03 -6.67217850e+00] [ 6.26807063e-03 -1.96855080e-05 9.99980355e-01 -9.23009055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.837628 meters 0.01263769993069249 Centerline is valid? [True, True] Translation: X:46.97, Y:-6.69, Z:-0.09 [[ 9.80082032e-01 1.98506058e-01 -5.87839822e-03 4.69650593e+01] [-1.98502237e-01 9.80099660e-01 1.23244982e-03 -6.68648655e+00] [ 6.00606485e-03 -4.10267269e-05 9.99981963e-01 -9.12304361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.897628 meters 0.013438656973013554 Centerline is valid? [True, True] Translation: X:47.02, Y:-6.70, Z:-0.09 [[ 9.80949139e-01 1.94109123e-01 -7.77400199e-03 4.70248962e+01] [-1.94102287e-01 9.80979939e-01 1.63156111e-03 -6.70110555e+00] [ 7.94284089e-03 -9.15269046e-05 9.99968451e-01 -9.15687216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.957628 meters 0.014309040908088204 Centerline is valid? [True, True] Translation: X:47.09, Y:-6.72, Z:-0.09 [[ 9.82020599e-01 1.88614833e-01 -7.74524763e-03 4.70851590e+01] [-1.88607874e-01 9.82051132e-01 1.62583588e-03 -6.71621598e+00] [ 7.91288597e-03 -1.35789632e-04 9.99968683e-01 -9.14776505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.017628 meters 0.016685156980603206 Centerline is valid? [True, True] Translation: X:47.14, Y:-6.73, Z:-0.09 [[ 9.83645830e-01 1.79991945e-01 -6.61666418e-03 4.71433307e+01] [-1.79986672e-01 9.83668068e-01 1.38882654e-03 -6.73008093e+00] [ 6.75857887e-03 -1.75202068e-04 9.99977145e-01 -9.22479705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.077628 meters 0.021573123534280456 Centerline is valid? [True, True] Translation: X:47.20, Y:-6.75, Z:-0.10 [[ 9.85015438e-01 1.72329108e-01 -6.87492182e-03 4.72019689e+01] [-1.72323228e-01 9.85039401e-01 1.44317476e-03 -6.74539831e+00] [ 7.02076990e-03 -2.36840703e-04 9.99975326e-01 -9.50662663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.137628 meters 0.02311827357583491 Centerline is valid? [True, True] Translation: X:47.26, Y:-6.76, Z:-0.09 [[ 9.86285742e-01 1.64990790e-01 -4.29816977e-03 4.72596247e+01] [-1.64988421e-01 9.86295091e-01 9.02518402e-04 -6.76242738e+00] [ 4.38817097e-03 -1.80992789e-04 9.99990356e-01 -8.94853916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.197628 meters 0.01964875710326281 Centerline is valid? [True, True] Translation: X:47.32, Y:-6.76, Z:-0.09 [[ 9.86175455e-01 1.65693818e-01 -1.87912203e-03 4.73224216e+01] [-1.65693365e-01 9.86177242e-01 3.95457008e-04 -6.76478125e+00] [ 1.91867216e-03 -7.86319427e-05 9.99998156e-01 -8.75357452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.257628 meters 0.018520812616220034 Centerline is valid? [True, True] Translation: X:47.38, Y:-6.77, Z:-0.09 [[ 9.85391009e-01 1.70303289e-01 -1.16145788e-03 4.73838328e+01] [-1.70303120e-01 9.85391693e-01 2.44214765e-04 -6.76963158e+00] [ 1.18608152e-03 -4.28471340e-05 9.99999296e-01 -8.85307388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.317628 meters 0.016427868229062774 Centerline is valid? [True, True] Translation: X:47.44, Y:-6.77, Z:-0.09 [[ 9.83492710e-01 1.80939170e-01 -1.76222442e-03 4.74441587e+01] [-1.80938797e-01 9.83494288e-01 3.70465720e-04 -6.77245997e+00] [ 1.80016941e-03 -4.54955690e-05 9.99998379e-01 -8.85050435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.377628 meters 0.014075909157144895 Centerline is valid? [True, True] Translation: X:47.51, Y:-6.77, Z:-0.09 [[ 9.81617956e-01 1.90826729e-01 -3.36857523e-03 4.75060627e+01] [-1.90825422e-01 9.81623735e-01 7.08184445e-04 -6.77179746e+00] [ 3.44181392e-03 -5.23567759e-05 9.99994076e-01 -9.12832480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.437628000000004 meters 0.013242862024064916 Centerline is valid? [True, True] Translation: X:47.57, Y:-6.78, Z:-0.09 [[ 9.80429551e-01 1.96825785e-01 -4.18390604e-03 4.75677945e+01] [-1.96823820e-01 9.80438478e-01 8.80435128e-04 -6.77691484e+00] [ 4.27535480e-03 -3.97122491e-05 9.99990860e-01 -9.32133411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.497628 meters 0.012892039785479066 Centerline is valid? [True, True] Translation: X:47.63, Y:-6.79, Z:-0.09 [[ 9.79864561e-01 1.99615155e-01 -4.38544408e-03 4.76289031e+01] [-1.99613018e-01 9.79874374e-01 9.24134701e-04 -6.78675685e+00] [ 4.48165557e-03 -3.01351145e-05 9.99989957e-01 -9.35646827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.557628 meters 0.012651879826102623 Centerline is valid? [True, True] Translation: X:47.69, Y:-6.80, Z:-0.09 [[ 9.79099407e-01 2.03314066e-01 -5.26712694e-03 4.76900411e+01] [-2.03311030e-01 9.79113574e-01 1.11116475e-03 -6.79521392e+00] [ 5.38303091e-03 -1.70757384e-05 9.99985511e-01 -9.46132446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.617628 meters 0.012619897976404084 Centerline is valid? [True, True] Translation: X:47.75, Y:-6.81, Z:-0.10 [[ 9.78799144e-01 2.04733849e-01 -6.02388005e-03 4.77519315e+01] [-2.04729894e-01 9.78817680e-01 1.27257258e-03 -6.80550682e+00] [ 6.15681898e-03 -1.23246286e-05 9.99981047e-01 -9.54758913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.677628 meters 0.012603333831605735 Centerline is valid? [True, True] Translation: X:47.81, Y:-6.82, Z:-0.09 [[ 9.78240585e-01 2.07437972e-01 -3.85296319e-03 4.78118346e+01] [-2.07436371e-01 9.78248173e-01 8.14929574e-04 -6.81678590e+00] [ 3.93820154e-03 2.04752023e-06 9.99992245e-01 -9.31815556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.737628 meters 0.012686769131622326 Centerline is valid? [True, True] Translation: X:47.87, Y:-6.83, Z:-0.09 [[ 9.78076292e-01 2.08239798e-01 -1.71856290e-03 4.78723207e+01] [-2.08239480e-01 9.78077802e-01 3.64192255e-04 -6.83097335e+00] [ 1.75672755e-03 1.66483428e-06 9.99998457e-01 -9.00508361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.797628 meters 0.01258872719672203 Centerline is valid? [True, True] Translation: X:47.93, Y:-6.85, Z:-0.09 [[ 9.78226201e-01 2.07532872e-01 -1.89920265e-03 4.79336285e+01] [-2.07532480e-01 9.78228045e-01 4.03043803e-04 -6.84597566e+00] [ 1.94149814e-03 -1.21770423e-07 9.99998115e-01 -9.04120861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.857628 meters 0.012952420067758933 Centerline is valid? [True, True] Translation: X:47.99, Y:-6.87, Z:-0.09 [[ 9.78811581e-01 2.04734940e-01 -3.39010156e-03 4.79935443e+01] [-2.04733674e-01 9.78817452e-01 7.20057812e-04 -6.86501162e+00] [ 3.46571156e-03 -1.07329791e-05 9.99993994e-01 -9.19552636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.917628 meters 0.013147951239452095 Centerline is valid? [True, True] Translation: X:48.05, Y:-6.88, Z:-0.09 [[ 9.79315009e-01 2.02264541e-01 -5.58284008e-03 4.80518040e+01] [-2.02261064e-01 9.79330922e-01 1.18644655e-03 -6.88238590e+00] [ 5.70742399e-03 -3.27137366e-05 9.99983712e-01 -9.37526257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.977628 meters 0.01385150544822861 Centerline is valid? [True, True] Translation: X:48.11, Y:-6.90, Z:-0.09 [[ 9.80590203e-01 1.95912847e-01 -7.81085317e-03 4.81109228e+01] [-1.95905837e-01 9.80621307e-01 1.66019374e-03 -6.90389046e+00] [ 7.98474232e-03 -9.77779863e-05 9.99968117e-01 -9.41165571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.037628 meters 0.015273447835565045 Centerline is valid? [True, True] Translation: X:48.17, Y:-6.93, Z:-0.09 [[ 9.82029748e-01 1.88564389e-01 -7.81315725e-03 4.81685868e+01] [-1.88557140e-01 9.82060816e-01 1.66091116e-03 -6.92711859e+00] [ 7.98618429e-03 -1.57837575e-04 9.99968097e-01 -9.35372893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.097628 meters 0.01904365281898505 Centerline is valid? [True, True] Translation: X:48.22, Y:-6.95, Z:-0.09 [[ 9.83220139e-01 1.82344005e-01 -5.36860494e-03 4.82244159e+01] [-1.82340489e-01 9.83234785e-01 1.14133745e-03 -6.95372434e+00] [ 5.48671517e-03 -1.43271914e-04 9.99984938e-01 -9.15414009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.157628 meters 0.018324237687085302 Centerline is valid? [True, True] Translation: X:48.28, Y:-6.97, Z:-0.09 [[ 9.83879715e-01 1.78803104e-01 -3.18700292e-03 4.82847582e+01] [-1.78801846e-01 9.83884872e-01 6.77871249e-04 -6.96942426e+00] [ 3.25684944e-03 -9.71017668e-05 9.99994692e-01 -8.88896260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.217628 meters 0.01843083747443216 Centerline is valid? [True, True] Translation: X:48.34, Y:-6.99, Z:-0.09 [[ 9.84769556e-01 1.73855789e-01 -1.75666914e-03 4.83441337e+01] [-1.73855399e-01 9.84771121e-01 3.73702289e-04 -6.98513654e+00] [ 1.79488734e-03 -6.26042250e-05 9.99998387e-01 -8.86850601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.277628 meters 0.01906476402328084 Centerline is valid? [True, True] Translation: X:48.40, Y:-7.00, Z:-0.09 [[ 9.85032808e-01 1.72353922e-01 -2.11944755e-03 4.84040975e+01] [-1.72353349e-01 9.85035085e-01 4.51779652e-04 -7.00056415e+00] [ 2.16559619e-03 -7.97238968e-05 9.99997652e-01 -8.89310121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.337628 meters 0.020400198837931833 Centerline is valid? [True, True] Translation: X:48.46, Y:-7.02, Z:-0.09 [[ 9.85283385e-01 1.70917810e-01 -1.93754426e-03 4.84635924e+01] [-1.70917327e-01 9.85285287e-01 4.13465751e-04 -7.01563039e+00] [ 1.97970251e-03 -7.62210485e-05 9.99998037e-01 -8.78390020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.397628 meters 0.02052573640554254 Centerline is valid? [True, True] Translation: X:48.52, Y:-7.03, Z:-0.09 [[ 9.85111656e-01 1.71905532e-01 -1.87435456e-03 4.85245864e+01] [-1.71905080e-01 9.85113437e-01 4.00491143e-04 -7.02610731e+00] [ 1.91529851e-03 -7.23174218e-05 9.99998163e-01 -8.86226040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.457628 meters 0.01805637948440934 Centerline is valid? [True, True] Translation: X:48.59, Y:-7.03, Z:-0.09 [[ 9.84192386e-01 1.77073186e-01 -3.23015174e-03 4.85857852e+01] [-1.77071875e-01 9.84197681e-01 6.89562434e-04 -7.03198500e+00] [ 3.30121087e-03 -1.06693072e-04 9.99994545e-01 -8.95523102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.517628 meters 0.016580678203430125 Centerline is valid? [True, True] Translation: X:48.65, Y:-7.04, Z:-0.09 [[ 9.82792684e-01 1.84668776e-01 -3.99790009e-03 4.86459079e+01] [-1.84666831e-01 9.82800810e-01 8.53421605e-04 -7.03684012e+00] [ 4.08673978e-03 -1.00456967e-04 9.99991644e-01 -9.11220357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.577628 meters 0.014358429713984884 Centerline is valid? [True, True] Translation: X:48.71, Y:-7.04, Z:-0.09 [[ 9.81246555e-01 1.92699325e-01 -4.70839730e-03 4.87078554e+01] [-1.92696719e-01 9.81257848e-01 1.00527424e-03 -7.03957015e+00] [ 4.81386747e-03 -7.91291701e-05 9.99988410e-01 -9.35998259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.637628 meters 0.012999932736448349 Centerline is valid? [True, True] Translation: X:48.77, Y:-7.05, Z:-0.09 [[ 9.79840378e-01 1.99708533e-01 -5.41614368e-03 4.87693951e+01] [-1.99705190e-01 9.79855346e-01 1.15672054e-03 -7.04752046e+00] [ 5.53804431e-03 -5.17694915e-05 9.99984664e-01 -9.23452480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.697628 meters 0.012518866989558949 Centerline is valid? [True, True] Translation: X:48.83, Y:-7.06, Z:-0.09 [[ 9.78841909e-01 2.04540582e-01 -5.62735951e-03 4.88310545e+01] [-2.04537042e-01 9.78858085e-01 1.20360089e-03 -7.05602249e+00] [ 5.75457158e-03 -2.71315200e-05 9.99983442e-01 -9.34931582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.757628 meters 0.012270767737162014 Centerline is valid? [True, True] Translation: X:48.89, Y:-7.06, Z:-0.09 [[ 9.77402393e-01 2.11317244e-01 -5.43919060e-03 4.88925777e+01] [-2.11314034e-01 9.77417527e-01 1.16475814e-03 -7.06397376e+00] [ 5.56249370e-03 1.09399204e-05 9.99984529e-01 -9.47616510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.817628 meters 0.012422097840471774 Centerline is valid? [True, True] Translation: X:48.95, Y:-7.08, Z:-0.09 [[ 9.76724556e-01 2.14452692e-01 -4.37989809e-03 4.89528293e+01] [-2.14450640e-01 9.76734376e-01 9.38561604e-04 -7.07604609e+00] [ 4.47927410e-03 2.25557812e-05 9.99989968e-01 -9.39432956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.877628 meters 0.012463603619649415 Centerline is valid? [True, True] Translation: X:49.01, Y:-7.09, Z:-0.09 [[ 9.76260238e-01 2.16585357e-01 -2.59457087e-03 4.90139877e+01] [-2.16584641e-01 9.76263685e-01 5.57079249e-04 -7.09036751e+00] [ 2.65364052e-03 1.80898804e-05 9.99996479e-01 -9.22126594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.937628000000004 meters 0.012642761257120189 Centerline is valid? [True, True] Translation: X:49.07, Y:-7.10, Z:-0.09 [[ 9.76138074e-01 2.17140752e-01 -2.08674362e-03 4.90741928e+01] [-2.17140289e-01 9.76140304e-01 4.48671948e-04 -7.10423590e+00] [ 2.13437952e-03 1.51503430e-05 9.99997722e-01 -9.18047602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.997628 meters 0.012545860195793426 Centerline is valid? [True, True] Translation: X:49.13, Y:-7.12, Z:-0.09 [[ 9.76001372e-01 2.17734281e-01 -3.62003893e-03 4.91347640e+01] [-2.17732889e-01 9.76008085e-01 7.79140106e-04 -7.12097939e+00] [ 3.70283277e-03 2.77597202e-05 9.99993144e-01 -9.26987426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.057628 meters 0.012460052512519828 Centerline is valid? [True, True] Translation: X:49.20, Y:-7.14, Z:-0.09 [[ 9.76015662e-01 2.17638539e-01 -5.18593920e-03 4.91957510e+01] [-2.17635673e-01 9.76029439e-01 1.11749449e-03 -7.13601521e+00] [ 5.30483919e-03 3.79532475e-05 9.99985929e-01 -9.39858144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.117628 meters 0.012239804395180812 Centerline is valid? [True, True] Translation: X:49.26, Y:-7.15, Z:-0.10 [[ 9.76552048e-01 2.15155336e-01 -7.36741395e-03 4.92561453e+01] [-2.15149466e-01 9.76579838e-01 1.58955687e-03 -7.15312074e+00] [ 7.53686956e-03 3.28101614e-05 9.99971597e-01 -9.59184796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.177628 meters 0.012256190913175877 Centerline is valid? [True, True] Translation: X:49.32, Y:-7.18, Z:-0.09 [[ 9.78104121e-01 2.07961963e-01 -8.00937782e-03 4.93150473e+01] [-2.07954766e-01 9.78136913e-01 1.73042813e-03 -7.17650592e+00] [ 8.19413133e-03 -2.69505963e-05 9.99966427e-01 -9.38249838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.237628 meters 0.012936894589343665 Centerline is valid? [True, True] Translation: X:49.37, Y:-7.20, Z:-0.09 [[ 9.79650841e-01 2.00616748e-01 -6.09502312e-03 4.93743472e+01] [-2.00612428e-01 9.79669799e-01 1.31847267e-03 -7.19670688e+00] [ 6.23561778e-03 -6.89054712e-05 9.99980556e-01 -9.29449614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.297628 meters 0.015740072070043108 Centerline is valid? [True, True] Translation: X:49.43, Y:-7.22, Z:-0.09 [[ 9.82496120e-01 1.86236975e-01 -4.14289384e-03 4.94311105e+01] [-1.86234851e-01 9.82504849e-01 8.96007285e-04 -7.22184213e+00] [ 4.23728297e-03 -1.08772464e-04 9.99991017e-01 -9.18328531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.357628 meters 0.02120542191735342 Centerline is valid? [True, True] Translation: X:49.49, Y:-7.25, Z:-0.09 [[ 9.85142389e-01 1.71721956e-01 -2.45822979e-03 4.94865108e+01] [-1.71721163e-01 9.85145451e-01 5.31629936e-04 -7.24862314e+00] [ 2.51300643e-03 -1.01601107e-04 9.99996837e-01 -8.94053892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.417628 meters 0.021898455999842744 Centerline is valid? [True, True] Translation: X:49.55, Y:-7.26, Z:-0.09 [[ 9.85811681e-01 1.67843410e-01 -1.97956306e-03 4.95452826e+01] [-1.67842887e-01 9.85813665e-01 4.28275776e-04 -7.26391834e+00] [ 2.02336358e-03 -8.99436834e-05 9.99997949e-01 -8.83041536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.477628 meters 0.02479463265830611 Centerline is valid? [True, True] Translation: X:49.60, Y:-7.28, Z:-0.09 [[ 9.86832322e-01 1.61745131e-01 -6.93731073e-04 4.96040994e+01] [-1.61745065e-01 9.86832565e-01 1.50135707e-04 -7.28067903e+00] [ 7.08880134e-04 -3.59511908e-05 9.99999748e-01 -8.70760936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.537628 meters 0.025339093036200803 Centerline is valid? [True, True] Translation: X:49.67, Y:-7.29, Z:-0.09 [[ 9.86774051e-01 1.62100807e-01 -5.48854972e-04 4.96655763e+01] [-1.62100765e-01 9.86774203e-01 1.19360743e-04 -7.29226829e+00] [ 5.60944400e-04 -2.88122727e-05 9.99999842e-01 -8.76219544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.597628 meters 0.025010148250184758 Centerline is valid? [True, True] Translation: X:49.72, Y:-7.30, Z:-0.09 [[ 9.86104353e-01 1.66122422e-01 -1.24311685e-03 4.97247376e+01] [-1.66122214e-01 9.86105135e-01 2.69243090e-04 -7.30006555e+00] [ 1.27057123e-03 -5.89924595e-05 9.99999191e-01 -8.72535635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.657628 meters 0.024643219214467067 Centerline is valid? [True, True] Translation: X:49.78, Y:-7.31, Z:-0.09 [[ 9.85481936e-01 1.69762963e-01 -2.42694328e-03 4.97842971e+01] [-1.69762181e-01 9.85484919e-01 5.26005980e-04 -7.30733617e+00] [ 2.48101233e-03 -1.06366207e-04 9.99996917e-01 -8.80114936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.717628 meters 0.01761292189618904 Centerline is valid? [True, True] Translation: X:49.85, Y:-7.30, Z:-0.09 [[ 9.84079107e-01 1.77697380e-01 -3.45708041e-03 4.98478987e+01] [-1.77695843e-01 9.84085172e-01 7.49179167e-04 -7.30104486e+00] [ 3.53518874e-03 -1.22942747e-04 9.99993744e-01 -8.88097670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.777628 meters 0.015843077584319895 Centerline is valid? [True, True] Translation: X:49.91, Y:-7.30, Z:-0.09 [[ 9.82974449e-01 1.83697513e-01 -4.05666226e-03 4.99092322e+01] [-1.83695448e-01 9.82982812e-01 8.79190631e-04 -7.30454787e+00] [ 4.14913441e-03 -1.19031535e-04 9.99991385e-01 -8.98440470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.837628 meters 0.014284508076582382 Centerline is valid? [True, True] Translation: X:49.97, Y:-7.31, Z:-0.09 [[ 9.81547303e-01 1.91136364e-01 -5.63760414e-03 4.99711902e+01] [-1.91132497e-01 9.81563485e-01 1.22191778e-03 -7.30715227e+00] [ 5.76721929e-03 -1.21840748e-04 9.99983362e-01 -9.11071587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.897628 meters 0.01302492668052461 Centerline is valid? [True, True] Translation: X:50.03, Y:-7.31, Z:-0.09 [[ 9.80095851e-01 1.98406606e-01 -6.85133938e-03 5.00329002e+01] [-1.98401070e-01 9.80119793e-01 1.48526790e-03 -7.31280225e+00] [ 7.00982030e-03 -9.63918444e-05 9.99975426e-01 -9.08571846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.957628 meters 0.01174103049139834 Centerline is valid? [True, True] Translation: X:50.10, Y:-7.31, Z:-0.09 [[ 9.77990689e-01 2.08525424e-01 -7.16658089e-03 5.00958223e+01] [-2.08519621e-01 9.78016946e-01 1.55584989e-03 -7.31443876e+00] [ 7.33347181e-03 -2.72339793e-05 9.99973109e-01 -9.15657011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.017628 meters 0.011620378462114058 Centerline is valid? [True, True] Translation: X:50.16, Y:-7.32, Z:-0.09 [[ 9.76519413e-01 2.15329148e-01 -6.57216112e-03 5.01582644e+01] [-2.15324408e-01 9.76541529e-01 1.42886721e-03 -7.32128343e+00] [ 6.72566503e-03 1.98301282e-05 9.99977382e-01 -9.19266119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.077628 meters 0.0122927861990823 Centerline is valid? [True, True] Translation: X:50.22, Y:-7.33, Z:-0.09 [[ 9.74783664e-01 2.23068500e-01 -6.10354496e-03 5.02203157e+01] [-2.23064553e-01 9.74802770e-01 1.32855596e-03 -7.32903677e+00] [ 6.24611152e-03 6.64298849e-05 9.99980491e-01 -9.10521179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.137628 meters 0.015983345049094842 Centerline is valid? [True, True] Translation: X:50.28, Y:-7.34, Z:-0.09 [[ 9.73996218e-01 2.26469808e-01 -6.54160309e-03 5.02814751e+01] [-2.26465340e-01 9.74018181e-01 1.42560647e-03 -7.33995428e+00] [ 6.69449717e-03 9.29110570e-05 9.99977587e-01 -9.30098028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.197628 meters 0.013289403681318005 Centerline is valid? [True, True] Translation: X:50.34, Y:-7.35, Z:-0.09 [[ 9.73681870e-01 2.27813281e-01 -6.68770845e-03 5.03415841e+01] [-2.27808638e-01 9.73704831e-01 1.45819288e-03 -7.35175196e+00] [ 6.84404973e-03 1.03701784e-04 9.99976574e-01 -9.24778818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.257628 meters 0.012886684192955425 Centerline is valid? [True, True] Translation: X:50.40, Y:-7.37, Z:-0.09 [[ 9.74197802e-01 2.25511926e-01 -9.11117650e-03 5.04009207e+01] [-2.25503185e-01 9.74240400e-01 1.98905474e-03 -7.36879880e+00] [ 9.32503180e-03 1.16866558e-04 9.99956514e-01 -9.44427972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.317628 meters 0.01235667626159464 Centerline is valid? [True, True] Translation: X:50.46, Y:-7.39, Z:-0.10 [[ 9.74935514e-01 2.22156203e-01 -1.21394122e-02 5.04615812e+01] [-2.22140380e-01 9.75011082e-01 2.65370615e-03 -7.38750732e+00] [ 1.24255987e-02 1.09461277e-04 9.99922793e-01 -9.67634280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.377628 meters 0.012240603978691544 Centerline is valid? [True, True] Translation: X:50.52, Y:-7.41, Z:-0.10 [[ 9.76712615e-01 2.14002624e-01 -1.53409343e-02 5.05185880e+01] [-2.13976322e-01 9.76833085e-01 3.35513514e-03 -7.41068166e+00] [ 1.57035399e-02 5.59387193e-06 9.99876692e-01 -9.96819961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.437628 meters 0.012698305828982598 Centerline is valid? [True, True] Translation: X:50.58, Y:-7.43, Z:-0.10 [[ 9.78293990e-01 2.06660646e-01 -1.52396306e-02 5.05772272e+01] [-2.06633732e-01 9.78412676e-01 3.33716778e-03 -7.43403199e+00] [ 1.56003090e-02 -1.15709426e-04 9.99878301e-01 -9.74120960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.497628 meters 0.01547845921858663 Centerline is valid? [True, True] Translation: X:50.63, Y:-7.46, Z:-0.09 [[ 9.81144317e-01 1.92878683e-01 -1.23953208e-02 5.06334462e+01] [-1.92859773e-01 9.81222574e-01 2.71448990e-03 -7.46392832e+00] [ 1.26861358e-02 -2.72747579e-04 9.99919491e-01 -9.43003667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.557628 meters 0.02095647962729528 Centerline is valid? [True, True] Translation: X:50.69, Y:-7.50, Z:-0.09 [[ 9.83895081e-01 1.78540138e-01 -8.59580570e-03 5.06876288e+01] [-1.78530490e-01 9.83932578e-01 1.88324188e-03 -7.49593415e+00] [ 8.79392753e-03 -3.18299026e-04 9.99961282e-01 -9.02564795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.617628 meters 0.021976729750277584 Centerline is valid? [True, True] Translation: X:50.75, Y:-7.51, Z:-0.09 [[ 9.85391027e-01 1.70157828e-01 -7.13009629e-03 5.07464328e+01] [-1.70150969e-01 9.85416768e-01 1.56224121e-03 -7.51341287e+00] [ 7.29194402e-03 -3.26225673e-04 9.99973360e-01 -8.95963596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.677628 meters 0.021945595664775063 Centerline is valid? [True, True] Translation: X:50.80, Y:-7.54, Z:-0.09 [[ 9.86295325e-01 1.64918507e-01 -4.83929993e-03 5.08041006e+01] [-1.64915284e-01 9.86307165e-01 1.06039667e-03 -7.53529317e+00] [ 4.94791523e-03 -2.47789758e-04 9.99987728e-01 -8.58196506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.737628 meters 0.02282742390475552 Centerline is valid? [True, True] Translation: X:50.86, Y:-7.55, Z:-0.09 [[ 9.86053824e-01 1.66322079e-01 -5.90100461e-03 5.08632188e+01] [-1.66317301e-01 9.86071437e-01 1.29480533e-03 -7.55094057e+00] [ 6.03416680e-03 -2.95308582e-04 9.99981751e-01 -8.71943856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.797628 meters 0.021626960212834993 Centerline is valid? [True, True] Translation: X:50.92, Y:-7.56, Z:-0.09 [[ 9.84624936e-01 1.74531614e-01 -7.24236166e-03 5.09219965e+01] [-1.74524643e-01 9.84651525e-01 1.58856428e-03 -7.56095916e+00] [ 7.40845714e-03 -3.00169418e-04 9.99972512e-01 -9.05821601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.857628 meters 0.01788198519418537 Centerline is valid? [True, True] Translation: X:50.98, Y:-7.57, Z:-0.09 [[ 9.83168293e-01 1.82508255e-01 -8.41692159e-03 5.09824492e+01] [-1.82499129e-01 9.83204281e-01 1.84638508e-03 -7.56774667e+00] [ 8.61253387e-03 -2.79226402e-04 9.99962872e-01 -9.10296702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.917628 meters 0.016513470283521892 Centerline is valid? [True, True] Translation: X:51.04, Y:-7.58, Z:-0.09 [[ 9.82301359e-01 1.87125205e-01 -8.25820128e-03 5.10430867e+01] [-1.87116580e-01 9.82336044e-01 1.81190748e-03 -7.57726282e+00] [ 8.45138233e-03 -2.34592803e-04 9.99964259e-01 -9.07230740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.977628 meters 0.014511353689421747 Centerline is valid? [True, True] Translation: X:51.10, Y:-7.58, Z:-0.09 [[ 9.80819227e-01 1.94833042e-01 -5.80768801e-03 5.11043659e+01] [-1.94828911e-01 9.80836414e-01 1.27434185e-03 -7.58315146e+00] [ 5.94467578e-03 -1.18393462e-04 9.99982323e-01 -8.95501596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.037628 meters 0.013054481314346526 Centerline is valid? [True, True] Translation: X:51.17, Y:-7.59, Z:-0.09 [[ 9.79597145e-01 2.00946516e-01 -3.15121729e-03 5.11655878e+01] [-2.00945331e-01 9.79602213e-01 6.91613288e-04 -7.58927210e+00] [ 3.22591671e-03 -4.42800014e-05 9.99994796e-01 -8.84845941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.097628 meters 0.012588968659111015 Centerline is valid? [True, True] Translation: X:51.23, Y:-7.60, Z:-0.09 [[ 9.79136102e-01 2.03198472e-01 -1.69543135e-03 5.12271892e+01] [-2.03198131e-01 9.79137570e-01 3.72949164e-04 -7.59907972e+00] [ 1.73584323e-03 -2.06595097e-05 9.99998493e-01 -8.80151704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.157628 meters 0.012528965418753464 Centerline is valid? [True, True] Translation: X:51.29, Y:-7.61, Z:-0.09 [[ 9.78855588e-01 2.04547992e-01 -1.36237673e-03 5.12875890e+01] [-2.04547773e-01 9.78856536e-01 3.00062492e-04 -7.60977431e+00] [ 1.39494855e-03 -1.50467215e-05 9.99999027e-01 -8.88793598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.217628 meters 0.012756315805981765 Centerline is valid? [True, True] Translation: X:51.35, Y:-7.62, Z:-0.09 [[ 9.79147884e-01 2.03123388e-01 -3.21104058e-03 5.13484912e+01] [-2.03122160e-01 9.79153148e-01 7.07559470e-04 -7.62331264e+00] [ 3.28782237e-03 -4.05718609e-05 9.99994594e-01 -9.04613121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.277628 meters 0.013575515446079081 Centerline is valid? [True, True] Translation: X:51.41, Y:-7.64, Z:-0.09 [[ 9.79833776e-01 1.99790107e-01 -3.11201112e-03 5.14081785e+01] [-1.99788936e-01 9.79838717e-01 6.85968073e-04 -7.63899560e+00] [ 3.18631862e-03 -5.03892970e-05 9.99994922e-01 -9.09950162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.337628 meters 0.014289415331784199 Centerline is valid? [True, True] Translation: X:51.47, Y:-7.65, Z:-0.09 [[ 9.80717662e-01 1.95398785e-01 -3.49038098e-03 5.14683450e+01] [-1.95397283e-01 9.80723870e-01 7.69505639e-04 -7.65446949e+00] [ 3.57346041e-03 -7.26568096e-05 9.99993613e-01 -9.16091724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.397628 meters 0.01496342122172704 Centerline is valid? [True, True] Translation: X:51.53, Y:-7.67, Z:-0.09 [[ 9.81615263e-01 1.90833098e-01 -3.76885259e-03 5.15278494e+01] [-1.90831309e-01 9.81622493e-01 8.32100755e-04 -7.67085095e+00] [ 3.85838284e-03 -9.75877305e-05 9.99992552e-01 -9.11797652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.457628 meters 0.016812096792901503 Centerline is valid? [True, True] Translation: X:51.59, Y:-7.69, Z:-0.09 [[ 9.82327821e-01 1.87160030e-01 -1.78196883e-03 5.15866851e+01] [-1.87159623e-01 9.82329436e-01 3.94068163e-04 -7.68897600e+00] [ 1.82423425e-03 -5.35915053e-05 9.99998335e-01 -8.92495923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.517628 meters 0.016417364517523726 Centerline is valid? [True, True] Translation: X:51.65, Y:-7.70, Z:-0.09 [[ 9.82067072e-01 1.88516990e-01 -2.36866671e-03 5.16475809e+01] [-1.88516274e-01 9.82069926e-01 5.24312776e-04 -7.70013508e+00] [ 2.42503820e-03 -6.83780916e-05 9.99997057e-01 -8.95612274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.577628 meters 0.015228255345495054 Centerline is valid? [True, True] Translation: X:51.71, Y:-7.71, Z:-0.09 [[ 9.81444209e-01 1.91718252e-01 -3.37290381e-03 5.17096285e+01] [-1.91716818e-01 9.81450001e-01 7.46474131e-04 -7.71002871e+00] [ 3.45344916e-03 -8.59803264e-05 9.99994033e-01 -9.09877655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.637628 meters 0.013835756083368395 Centerline is valid? [True, True] Translation: X:51.77, Y:-7.72, Z:-0.09 [[ 9.80182387e-01 1.98042307e-01 -4.66191259e-03 5.17709715e+01] [-1.98039639e-01 9.80193469e-01 1.03189386e-03 -7.71845311e+00] [ 4.77393491e-03 -8.82007033e-05 9.99988601e-01 -9.08249490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.697628 meters 0.013381050014861682 Centerline is valid? [True, True] Translation: X:51.83, Y:-7.73, Z:-0.09 [[ 9.79357000e-01 2.02077482e-01 -4.95551535e-03 5.18321061e+01] [-2.02074510e-01 9.79369535e-01 1.09847425e-03 -7.72759846e+00] [ 5.07525767e-03 -7.44151131e-05 9.99987118e-01 -9.18423043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.757628 meters 0.012518199866390594 Centerline is valid? [True, True] Translation: X:51.89, Y:-7.74, Z:-0.09 [[ 9.78276404e-01 2.07254687e-01 -4.55756696e-03 5.18932071e+01] [-2.07252224e-01 9.78287020e-01 1.01142454e-03 -7.73636098e+00] [ 4.66823107e-03 -4.48868786e-05 9.99989103e-01 -9.21773491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.817628 meters 0.012139760795164095 Centerline is valid? [True, True] Translation: X:51.95, Y:-7.75, Z:-0.09 [[ 9.77763338e-01 2.09669964e-01 -4.16663208e-03 5.19539327e+01] [-2.09667923e-01 9.77772215e-01 9.25746206e-04 -7.74944079e+00] [ 4.26811826e-03 -3.15516054e-05 9.99990891e-01 -9.11178075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.877628 meters 0.012371683687674502 Centerline is valid? [True, True] Translation: X:52.01, Y:-7.76, Z:-0.09 [[ 9.77924045e-01 2.08937233e-01 -3.12981555e-03 5.20144518e+01] [-2.08936076e-01 9.77929053e-01 6.95918337e-04 -7.76416350e+00] [ 3.20614081e-03 -2.66238962e-05 9.99994860e-01 -9.13292120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.937628 meters 0.01221755655085826 Centerline is valid? [True, True] Translation: X:52.08, Y:-7.78, Z:-0.09 [[ 9.78204681e-01 2.07641874e-01 -6.74418176e-04 5.20754875e+01] [-2.07641820e-01 9.78204913e-01 1.50589495e-04 -7.77998464e+00] [ 6.90987859e-04 -7.26993176e-06 9.99999761e-01 -8.90162995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.997628 meters 0.012393072390089566 Centerline is valid? [True, True] Translation: X:52.14, Y:-7.80, Z:-0.09 [[ 9.78248396e-01 2.07436060e-01 -5.96568669e-04 5.21358610e+01] [-2.07436018e-01 9.78248578e-01 1.33433751e-04 -7.79704876e+00] [ 6.11271424e-04 -6.78152441e-06 9.99999813e-01 -8.81267263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.057628 meters 0.012162210286074957 Centerline is valid? [True, True] Translation: X:52.20, Y:-7.81, Z:-0.09 [[ 9.77870302e-01 2.09209187e-01 -1.09032296e-03 5.21965340e+01] [-2.09209046e-01 9.77870910e-01 2.43687828e-04 -7.81104608e+00] [ 1.11717683e-03 -1.01896650e-05 9.99999376e-01 -8.89114475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.117628 meters 0.014330503753758005 Centerline is valid? [True, True] Translation: X:52.26, Y:-7.82, Z:-0.09 [[ 9.77328379e-01 2.11688038e-01 -4.17297453e-03 5.22585147e+01] [-2.11685985e-01 9.77337288e-01 9.32762018e-04 -7.82373067e+00] [ 4.27585817e-03 -2.82545692e-05 9.99990858e-01 -9.41668551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.177628 meters 0.011947331214116818 Centerline is valid? [True, True] Translation: X:52.32, Y:-7.84, Z:-0.09 [[ 9.76992335e-01 2.13210722e-01 -5.21209982e-03 5.23195507e+01] [-2.13207533e-01 9.77006237e-01 1.16644173e-03 -7.83717189e+00] [ 5.34095192e-03 -2.83456805e-05 9.99985737e-01 -9.43718093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.237628 meters 0.012143635362190834 Centerline is valid? [True, True] Translation: X:52.38, Y:-7.85, Z:-0.10 [[ 9.77358876e-01 2.11488477e-01 -6.50018442e-03 5.23795673e+01] [-2.11483469e-01 9.77380490e-01 1.45621909e-03 -7.85341977e+00] [ 6.66112699e-03 -4.85671096e-05 9.99977813e-01 -9.55082096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.297628 meters 0.012670386226783561 Centerline is valid? [True, True] Translation: X:52.44, Y:-7.87, Z:-0.09 [[ 9.77955826e-01 2.08713622e-01 -6.40511671e-03 5.24395447e+01] [-2.08708689e-01 9.77976799e-01 1.43655922e-03 -7.87132793e+00] [ 6.56388501e-03 -6.80879437e-05 9.99978455e-01 -9.48211963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.357628 meters 0.013330204619935943 Centerline is valid? [True, True] Translation: X:52.50, Y:-7.89, Z:-0.09 [[ 9.79064216e-01 2.03479762e-01 -5.40803375e-03 5.24994933e+01] [-2.03476157e-01 9.79079148e-01 1.21442162e-03 -7.88930696e+00] [ 5.54200330e-03 -8.85908270e-05 9.99984639e-01 -9.48345000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.417628 meters 0.01493972740271737 Centerline is valid? [True, True] Translation: X:52.56, Y:-7.91, Z:-0.09 [[ 9.80370763e-01 1.97120911e-01 -4.06367734e-03 5.25578509e+01] [-1.97118821e-01 9.80379181e-01 9.12480093e-04 -7.91065078e+00] [ 4.16381357e-03 -9.35415182e-05 9.99991327e-01 -9.36347680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.477628 meters 0.016070869991700185 Centerline is valid? [True, True] Translation: X:52.62, Y:-7.93, Z:-0.09 [[ 9.80930459e-01 1.94337852e-01 -2.86948791e-03 5.26170797e+01] [-1.94336795e-01 9.80934653e-01 6.45420678e-04 -7.92891318e+00] [ 2.94020980e-03 -7.54657175e-05 9.99995675e-01 -9.23285737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.537628 meters 0.01621731401107946 Centerline is valid? [True, True] Translation: X:52.68, Y:-7.94, Z:-0.09 [[ 9.80661788e-01 1.95673362e-01 -3.79385832e-03 5.26761916e+01] [-1.95671524e-01 9.80669122e-01 8.53566300e-04 -7.94395400e+00] [ 3.88753989e-03 -9.47098155e-05 9.99992439e-01 -9.38647225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.597628 meters 0.013852568912649204 Centerline is valid? [True, True] Translation: X:52.74, Y:-7.95, Z:-0.09 [[ 9.79441342e-01 2.01666688e-01 -5.02037052e-03 5.27375028e+01] [-2.01663547e-01 9.79454204e-01 1.12957975e-03 -7.95359844e+00] [ 5.14502162e-03 -9.39313805e-05 9.99986760e-01 -9.48172702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.657628 meters 0.013602944694158764 Centerline is valid? [True, True] Translation: X:52.80, Y:-7.97, Z:-0.10 [[ 9.78563412e-01 2.05887652e-01 -4.89124387e-03 5.27970652e+01] [-2.05884715e-01 9.78575633e-01 1.10199888e-03 -7.96644898e+00] [ 5.01334002e-03 -7.13434286e-05 9.99987431e-01 -9.54314913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.717628 meters 0.012548383598351434 Centerline is valid? [True, True] Translation: X:52.86, Y:-7.98, Z:-0.09 [[ 9.77402976e-01 2.11358873e-01 -3.29391066e-03 5.28584112e+01] [-2.11357569e-01 9.77408526e-01 7.43109108e-04 -7.97667696e+00] [ 3.37655907e-03 -3.01241041e-05 9.99994299e-01 -9.46684330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.777628 meters 0.012026839244273618 Centerline is valid? [True, True] Translation: X:52.92, Y:-7.99, Z:-0.10 [[ 9.75990192e-01 2.17785346e-01 -3.56204424e-03 5.29190352e+01] [-2.17783860e-01 9.75996692e-01 8.04452284e-04 -7.98755574e+00] [ 3.65174132e-03 -9.38179472e-06 9.99993332e-01 -9.50969251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.837628 meters 0.011945930233813 Centerline is valid? [True, True] Translation: X:52.98, Y:-8.00, Z:-0.10 [[ 9.74896454e-01 2.22631491e-01 -3.48183195e-03 5.29810695e+01] [-2.22630098e-01 9.74902672e-01 7.87399862e-04 -7.99759683e+00] [ 3.56974728e-03 7.52725588e-06 9.99993628e-01 -9.55492075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.897628 meters 0.01258185483947431 Centerline is valid? [True, True] Translation: X:53.04, Y:-8.01, Z:-0.10 [[ 9.73329169e-01 2.29369728e-01 -4.45612830e-03 5.30429780e+01] [-2.29367514e-01 9.73339368e-01 1.00869087e-03 -8.00618465e+00] [ 4.56868825e-03 4.03028211e-05 9.99989563e-01 -9.81939542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.957628 meters 0.01288742007947557 Centerline is valid? [True, True] Translation: X:53.10, Y:-8.02, Z:-0.10 [[ 9.72662501e-01 2.32172040e-01 -4.87876053e-03 5.31034158e+01] [-2.32169414e-01 9.72674735e-01 1.10561596e-03 -8.01913745e+00] [ 5.00214022e-03 5.73077855e-05 9.99987488e-01 -9.90663564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.017628 meters 0.013072700618120337 Centerline is valid? [True, True] Translation: X:53.16, Y:-8.03, Z:-0.10 [[ 9.72568591e-01 2.32567944e-01 -4.74208735e-03 5.31632784e+01] [-2.32565465e-01 9.72580150e-01 1.07542308e-03 -8.03426899e+00] [ 4.86216897e-03 5.69230374e-05 9.99988178e-01 -9.79018473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.077628 meters 0.012425072784175022 Centerline is valid? [True, True] Translation: X:53.22, Y:-8.05, Z:-0.10 [[ 9.73482585e-01 2.28689057e-01 -5.74203513e-03 5.32224696e+01] [-2.28685345e-01 9.73499519e-01 1.30373326e-03 -8.05250926e+00] [ 5.88801796e-03 4.39576615e-05 9.99982665e-01 -9.90910971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.137628 meters 0.012152099221357454 Centerline is valid? [True, True] Translation: X:53.28, Y:-8.07, Z:-0.10 [[ 9.74364762e-01 2.24901432e-01 -5.71463161e-03 5.32826108e+01] [-2.24897681e-01 9.74381520e-01 1.29902145e-03 -8.06943576e+00] [ 5.86038322e-03 1.94866697e-05 9.99982828e-01 -9.93389518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.197628 meters 0.011992262199578043 Centerline is valid? [True, True] Translation: X:53.34, Y:-8.08, Z:-0.10 [[ 9.75385988e-01 2.20465386e-01 -4.14588634e-03 5.33415876e+01] [-2.20463367e-01 9.75394799e-01 9.43498107e-04 -8.08408369e+00] [ 4.25188465e-03 -6.25876980e-06 9.99990961e-01 -9.74632991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.257628 meters 0.012121076572802286 Centerline is valid? [True, True] Translation: X:53.40, Y:-8.10, Z:-0.10 [[ 9.75833342e-01 2.18483843e-01 -3.75494085e-03 5.34023152e+01] [-2.18482168e-01 9.75840566e-01 8.55750950e-04 -8.09925547e+00] [ 3.85119137e-03 -1.46826924e-05 9.99992584e-01 -9.66950422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.317628 meters 0.013393553975457259 Centerline is valid? [True, True] Translation: X:53.46, Y:-8.12, Z:-0.10 [[ 9.78156660e-01 2.07860685e-01 -1.86670203e-03 5.34616105e+01] [-2.07860252e-01 9.78158441e-01 4.25444438e-04 -8.11787706e+00] [ 1.91436352e-03 -2.81381556e-05 9.99998167e-01 -9.52462565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.377628 meters 0.016441913694896882 Centerline is valid? [True, True] Translation: X:53.52, Y:-8.14, Z:-0.10 [[ 9.80467134e-01 1.96656836e-01 -3.20754883e-03 5.35198428e+01] [-1.96655497e-01 9.80472377e-01 7.30920321e-04 -8.13722464e+00] [ 3.28865350e-03 -8.58612441e-05 9.99994589e-01 -9.65651514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.437628 meters 0.019140039467020455 Centerline is valid? [True, True] Translation: X:53.58, Y:-8.15, Z:-0.10 [[ 9.81707443e-01 1.90306929e-01 -5.81108069e-03 5.35782717e+01] [-1.90302419e-01 9.81724623e-01 1.32441322e-03 -8.15289780e+00] [ 5.95692601e-03 -1.94323606e-04 9.99982238e-01 -9.84826255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.497628 meters 0.022354200784531243 Centerline is valid? [True, True] Translation: X:53.64, Y:-8.17, Z:-0.10 [[ 9.83494369e-01 1.80745763e-01 -8.35439141e-03 5.36378474e+01] [-1.80736095e-01 9.83529785e-01 1.90429176e-03 -8.16651425e+00] [ 8.56098545e-03 -3.62920143e-04 9.99963288e-01 -1.02443498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.557628 meters 0.022033004586483957 Centerline is valid? [True, True] Translation: X:53.70, Y:-8.18, Z:-0.10 [[ 9.84252323e-01 1.76628118e-01 -7.06207922e-03 5.36980350e+01] [-1.76621102e-01 9.84277600e-01 1.61000055e-03 -8.17919571e+00] [ 7.23541776e-03 -3.37334566e-04 9.99973767e-01 -9.90852266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.617628 meters 0.025389630839184184 Centerline is valid? [True, True] Translation: X:53.76, Y:-8.19, Z:-0.10 [[ 9.84414073e-01 1.75838179e-01 -3.14130334e-03 5.37575717e+01] [-1.75836783e-01 9.84419073e-01 7.17246249e-04 -8.19226771e+00] [ 3.21847819e-03 -1.53710628e-04 9.99994809e-01 -9.66221344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.677628 meters 0.025118708551160978 Centerline is valid? [True, True] Translation: X:53.82, Y:-8.20, Z:-0.09 [[ 9.83972669e-01 1.78318079e-01 -6.69678880e-04 5.38191432e+01] [-1.78318016e-01 9.83972897e-01 1.52944284e-04 -8.20102255e+00] [ 6.86218599e-04 -3.10771859e-05 9.99999764e-01 -9.44485776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.737628 meters 0.01934604062840282 Centerline is valid? [True, True] Translation: X:53.88, Y:-8.20, Z:-0.09 [[ 9.82993886e-01 1.83621489e-01 2.48355161e-03 5.38818824e+01] [-1.83620642e-01 9.82997019e-01 -5.66905666e-04 -8.19847616e+00] [-2.54541989e-03 1.01233464e-04 9.99996755e-01 -9.14947412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.797628 meters 0.017833536413269544 Centerline is valid? [True, True] Translation: X:53.94, Y:-8.20, Z:-0.09 [[ 9.81892810e-01 1.89396206e-01 3.94799166e-03 5.39443682e+01] [-1.89394111e-01 9.81900738e-01 -9.01275493e-04 -8.19919931e+00] [-4.04723408e-03 1.37229556e-04 9.99991800e-01 -9.17859335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.857628 meters 0.017360671794345774 Centerline is valid? [True, True] Translation: X:54.01, Y:-8.21, Z:-0.09 [[ 9.81284808e-01 1.92535663e-01 3.18492804e-03 5.40060406e+01] [-1.92534316e-01 9.81289972e-01 -7.27159277e-04 -8.20534160e+00] [-3.26534204e-03 1.00342407e-04 9.99994664e-01 -9.30936228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.917628 meters 0.01603907869233556 Centerline is valid? [True, True] Translation: X:54.07, Y:-8.21, Z:-0.10 [[ 9.80675087e-01 1.95643269e-01 2.90339306e-04 5.40690318e+01] [-1.95643258e-01 9.80675130e-01 -6.62190869e-05 -8.20727930e+00] [-2.97683855e-04 8.13648106e-06 9.99999956e-01 -9.68957954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.977628 meters 0.01593950140760759 Centerline is valid? [True, True] Translation: X:54.13, Y:-8.21, Z:-0.10 [[ 9.80376764e-01 1.97119191e-01 -2.32917343e-03 5.41314174e+01] [-1.97118481e-01 9.80379529e-01 5.32974396e-04 -8.21202235e+00] [ 2.38853344e-03 -6.33925837e-05 9.99997145e-01 -9.96620848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.037628 meters 0.015140058467338516 Centerline is valid? [True, True] Translation: X:54.19, Y:-8.22, Z:-0.10 [[ 9.79915948e-01 1.99402538e-01 -1.83360521e-03 5.41930439e+01] [-1.99402101e-01 9.79917663e-01 4.20142490e-04 -8.22016176e+00] [ 1.88055961e-03 -4.60795965e-05 9.99998231e-01 -9.92916435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.097628 meters 0.013839178543826837 Centerline is valid? [True, True] Translation: X:54.25, Y:-8.23, Z:-0.10 [[ 9.78502843e-01 2.06233328e-01 3.98411490e-05 5.42543568e+01] [-2.06233327e-01 9.78502843e-01 -9.06156568e-06 -8.22558942e+00] [-4.08534744e-05 6.50195048e-07 9.99999999e-01 -9.83019407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.157628 meters 0.011854946704444423 Centerline is valid? [True, True] Translation: X:54.32, Y:-8.23, Z:-0.10 [[ 9.76730934e-01 2.14466858e-01 8.05684202e-04 5.43162635e+01] [-2.14466779e-01 9.76731266e-01 -1.84422957e-04 -8.22952336e+00] [-8.26489563e-04 7.33911178e-06 9.99999658e-01 -9.81630036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.217628 meters 0.01171248108388446 Centerline is valid? [True, True] Translation: X:54.38, Y:-8.24, Z:-0.10 [[ 9.76045831e-01 2.17555826e-01 1.99941658e-03 5.43775027e+01] [-2.17555345e-01 9.76047879e-01 -4.57924179e-04 -8.24045423e+00] [-2.05115038e-03 1.19712236e-05 9.99997896e-01 -9.71596192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.277628 meters 0.011741840461139645 Centerline is valid? [True, True] Translation: X:54.44, Y:-8.25, Z:-0.10 [[ 9.75765934e-01 2.18783031e-01 3.85049896e-03 5.44383457e+01] [-2.18781249e-01 9.75773532e-01 -8.83327863e-04 -8.25366793e+00] [-3.95047211e-03 1.95042669e-05 9.99992197e-01 -9.50584816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.337628 meters 0.011666763896316016 Centerline is valid? [True, True] Translation: X:54.50, Y:-8.27, Z:-0.10 [[ 9.75622800e-01 2.19429697e-01 3.28013730e-03 5.44996707e+01] [-2.19428404e-01 9.75628314e-01 -7.53364455e-04 -8.26751930e+00] [-3.36550536e-03 1.52442460e-05 9.99994337e-01 -9.53589895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.397628 meters 0.011573288391682375 Centerline is valid? [True, True] Translation: X:54.56, Y:-8.28, Z:-0.10 [[ 9.75489998e-01 2.20034299e-01 2.04235111e-03 5.45610367e+01] [-2.20033799e-01 9.75492136e-01 -4.69505120e-04 -8.28092521e+00] [-2.09560468e-03 8.61127470e-06 9.99997804e-01 -9.72226407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.457628 meters 0.011688191608836315 Centerline is valid? [True, True] Translation: X:54.62, Y:-8.30, Z:-0.10 [[ 9.75372278e-01 2.20564488e-01 -4.75410497e-04 5.46207973e+01] [-2.20564461e-01 9.75372394e-01 1.09996694e-04 -8.29561328e+00] [ 4.87963639e-04 -2.42906606e-06 9.99999881e-01 -9.95891821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.517628 meters 0.011939054942856457 Centerline is valid? [True, True] Translation: X:54.68, Y:-8.32, Z:-0.10 [[ 9.75720437e-01 2.19012784e-01 -1.74070220e-03 5.46800958e+01] [-2.19012415e-01 9.75721989e-01 4.01948060e-04 -8.31568558e+00] [ 1.78647318e-03 -1.09535428e-05 9.99998404e-01 -1.00133497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.577628 meters 0.012237593287926661 Centerline is valid? [True, True] Translation: X:54.74, Y:-8.33, Z:-0.10 [[ 9.76290264e-01 2.16462631e-01 -1.11819919e-03 5.47400225e+01] [-2.16462477e-01 9.76290904e-01 2.58658388e-04 -8.33413696e+00] [ 1.14767757e-03 -1.04775006e-05 9.99999341e-01 -9.97837228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.637628 meters 0.013244271571591172 Centerline is valid? [True, True] Translation: X:54.80, Y:-8.36, Z:-0.10 [[ 9.77579872e-01 2.10564621e-01 -3.66741062e-04 5.47983968e+01] [-2.10564604e-01 9.77579941e-01 8.52149072e-05 -8.35776087e+00] [ 3.76461950e-04 -6.08169158e-06 9.99999929e-01 -9.90477156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.697628 meters 0.013930165826037958 Centerline is valid? [True, True] Translation: X:54.86, Y:-8.38, Z:-0.10 [[ 9.78351811e-01 2.06945606e-01 1.11829194e-03 5.48574741e+01] [-2.06945446e-01 9.78352450e-01 -2.58408721e-04 -8.37840104e+00] [-1.14756021e-03 2.13892153e-05 9.99999341e-01 -9.79978566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.757628 meters 0.014926859968982496 Centerline is valid? [True, True] Translation: X:54.91, Y:-8.40, Z:-0.10 [[ 9.78833569e-01 2.04647232e-01 2.08685512e-03 5.49149601e+01] [-2.04646667e-01 9.78835792e-01 -4.83135837e-04 -8.40000336e+00] [-2.14156090e-03 4.58416294e-05 9.99997706e-01 -9.69674157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.817628 meters 0.014904706571935471 Centerline is valid? [True, True] Translation: X:54.97, Y:-8.42, Z:-0.10 [[ 9.78472158e-01 2.06378213e-01 5.19935645e-04 5.49745088e+01] [-2.06378178e-01 9.78472296e-01 -1.20188615e-04 -8.41649191e+00] [-5.33546935e-04 1.02978420e-05 9.99999858e-01 -9.87036183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.877628 meters 0.014197835594343807 Centerline is valid? [True, True] Translation: X:55.03, Y:-8.43, Z:-0.10 [[ 9.78040864e-01 2.08412988e-01 -3.06919967e-04 5.50349564e+01] [-2.08412976e-01 9.78040912e-01 7.16933498e-05 -8.43082201e+00] [ 3.15122110e-04 -6.15292201e-06 9.99999950e-01 -9.89792804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.937628 meters 0.01352492010896776 Centerline is valid? [True, True] Translation: X:55.10, Y:-8.45, Z:-0.10 [[ 9.77220794e-01 2.12221641e-01 -1.22269456e-03 5.50954876e+01] [-2.12221451e-01 9.77221559e-01 2.84667278e-04 -8.44506888e+00] [ 1.25525604e-03 -1.87007704e-05 9.99999212e-01 -9.96170341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.997628 meters 0.01322599617733143 Centerline is valid? [True, True] Translation: X:55.15, Y:-8.46, Z:-0.10 [[ 9.76483826e-01 2.15576300e-01 -2.48917937e-03 5.51543727e+01] [-2.15575524e-01 9.76486998e-01 5.79274777e-04 -8.45983120e+00] [ 2.55552920e-03 -2.90463055e-05 9.99996734e-01 -1.01785493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.057628 meters 0.012775288984804026 Centerline is valid? [True, True] Translation: X:55.21, Y:-8.48, Z:-0.10 [[ 9.76120618e-01 2.17210690e-01 -2.83822819e-03 5.52146442e+01] [-2.17209685e-01 9.76124744e-01 6.61383951e-04 -8.47559784e+00] [ 2.91412443e-03 -2.90998586e-05 9.99995754e-01 -1.02152881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.117628 meters 0.012528503482207718 Centerline is valid? [True, True] Translation: X:55.27, Y:-8.49, Z:-0.10 [[ 9.75478797e-01 2.20074090e-01 -2.91750750e-03 5.52740587e+01] [-2.20073039e-01 9.75483159e-01 6.80584692e-04 -8.49252136e+00] [ 2.99575849e-03 -2.18311939e-05 9.99995512e-01 -1.02989139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.177628 meters 0.012385231969557134 Centerline is valid? [True, True] Translation: X:55.34, Y:-8.51, Z:-0.10 [[ 9.75185750e-01 2.21365136e-01 -3.19831296e-03 5.53352285e+01] [-2.21363876e-01 9.75190995e-01 7.47061923e-04 -8.50749201e+00] [ 3.28433946e-03 -2.05331868e-05 9.99994606e-01 -1.03341213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.237628 meters 0.012208341875993046 Centerline is valid? [True, True] Translation: X:55.40, Y:-8.52, Z:-0.10 [[ 9.74118204e-01 2.26014251e-01 -3.35906508e-03 5.53954489e+01] [-2.26012887e-01 9.74123995e-01 7.85395576e-04 -8.52415590e+00] [ 3.44965649e-03 -5.87613199e-06 9.99994050e-01 -1.04312638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.297628 meters 0.012263960086637332 Centerline is valid? [True, True] Translation: X:55.45, Y:-8.54, Z:-0.11 [[ 9.73399064e-01 2.29095848e-01 -3.05837626e-03 5.54549567e+01] [-2.29094729e-01 9.73403869e-01 7.15988057e-04 -8.54189985e+00] [ 3.14106518e-03 3.71577702e-06 9.99995067e-01 -1.05158186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.357628 meters 0.012292363533245676 Centerline is valid? [True, True] Translation: X:55.52, Y:-8.56, Z:-0.11 [[ 9.73622805e-01 2.28144281e-01 -2.96985307e-03 5.55153098e+01] [-2.28143219e-01 9.73627335e-01 6.96229889e-04 -8.56127944e+00] [ 3.05037099e-03 -3.13460249e-07 9.99995348e-01 -1.05422929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.417628 meters 0.012755188281190051 Centerline is valid? [True, True] Translation: X:55.57, Y:-8.59, Z:-0.11 [[ 9.74650951e-01 2.23705757e-01 -3.35537000e-03 5.55724456e+01] [-2.23704373e-01 9.74656726e-01 7.87257853e-04 -8.58520304e+00] [ 3.44644805e-03 -1.66906748e-05 9.99994061e-01 -1.07067699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.477628 meters 0.013010942182526889 Centerline is valid? [True, True] Translation: X:55.63, Y:-8.61, Z:-0.11 [[ 9.75361741e-01 2.20589456e-01 -3.12509459e-03 5.56312711e+01] [-2.20588236e-01 9.75366747e-01 7.34102182e-04 -8.60809668e+00] [ 3.21004855e-03 -2.66560782e-05 9.99994847e-01 -1.06580944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.537628 meters 0.012851117478361916 Centerline is valid? [True, True] Translation: X:55.69, Y:-8.62, Z:-0.11 [[ 9.75051807e-01 2.21956023e-01 -3.08169139e-03 5.56917429e+01] [-2.21954841e-01 9.75056677e-01 7.24708678e-04 -8.62256504e+00] [ 3.16567723e-03 -2.26321834e-05 9.99994989e-01 -1.06169096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.597628 meters 0.01264377939889011 Centerline is valid? [True, True] Translation: X:55.75, Y:-8.63, Z:-0.11 [[ 9.74198209e-01 2.25635129e-01 -5.16127492e-03 5.57519958e+01] [-2.25631863e-01 9.74211881e-01 1.21402677e-03 -8.63419518e+00] [ 5.30210243e-03 -1.81546249e-05 9.99985944e-01 -1.08586145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.657628 meters 0.014433182676341796 Centerline is valid? [True, True] Translation: X:55.81, Y:-8.65, Z:-0.11 [[ 9.73963075e-01 2.26595008e-01 -7.11548279e-03 5.58112367e+01] [-2.26588815e-01 9.73989067e-01 1.67540774e-03 -8.64807468e+00] [ 7.31004147e-03 -1.94964615e-05 9.99973281e-01 -1.11318870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.717628 meters 0.012722107144205195 Centerline is valid? [True, True] Translation: X:55.87, Y:-8.66, Z:-0.11 [[ 9.74074176e-01 2.26137311e-01 -6.43552730e-03 5.58718478e+01] [-2.26132222e-01 9.74095435e-01 1.51726426e-03 -8.66315203e+00] [ 6.61192782e-03 -2.26478443e-05 9.99978141e-01 -1.09629805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.777628 meters 0.013216662716917602 Centerline is valid? [True, True] Translation: X:55.93, Y:-8.68, Z:-0.11 [[ 9.75324922e-01 2.20672080e-01 -6.71787691e-03 5.59317711e+01] [-2.20666393e-01 9.75348055e-01 1.58552440e-03 -8.67887584e+00] [ 6.90214915e-03 -6.39917949e-05 9.99976178e-01 -1.10448052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.837628 meters 0.016292593969056437 Centerline is valid? [True, True] Translation: X:55.99, Y:-8.70, Z:-0.11 [[ 9.76452067e-01 2.15623133e-01 -6.93000825e-03 5.59910177e+01] [-2.15616943e-01 9.76476653e-01 1.63721196e-03 -8.69583729e+00] [ 7.12001203e-03 -1.04431804e-04 9.99974647e-01 -1.11706487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.897628 meters 0.0164642744192392 Centerline is valid? [True, True] Translation: X:56.05, Y:-8.71, Z:-0.11 [[ 9.77639310e-01 2.10266524e-01 -3.06092133e-03 5.60511776e+01] [-2.10265287e-01 9.77644099e-01 7.24137275e-04 -8.71265720e+00] [ 3.14475351e-03 -6.43395652e-05 9.99995053e-01 -1.08313702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.957628 meters 0.014881210955610541 Centerline is valid? [True, True] Translation: X:56.11, Y:-8.73, Z:-0.10 [[ 9.77777446e-01 2.09645239e-01 3.73759868e-04 5.61130052e+01] [-2.09645220e-01 9.77777518e-01 -8.79957716e-05 -8.72566060e+00] [-3.83901891e-04 7.68331089e-06 9.99999926e-01 -1.04414808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.017628 meters 0.01452020601867473 Centerline is valid? [True, True] Translation: X:56.17, Y:-8.74, Z:-0.10 [[ 9.77349764e-01 2.11624624e-01 1.56786426e-03 5.61739642e+01] [-2.11624300e-01 9.77351021e-01 -3.71167921e-04 -8.73910811e+00] [-1.61090201e-03 3.09627030e-05 9.99998702e-01 -1.03229520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.077628 meters 0.01383569172484948 Centerline is valid? [True, True] Translation: X:56.23, Y:-8.75, Z:-0.10 [[ 9.76127023e-01 2.17186549e-01 2.45728912e-03 5.62338775e+01] [-2.17185771e-01 9.76130115e-01 -5.82486282e-04 -8.74861092e+00] [-2.52514210e-03 3.48923674e-05 9.99996811e-01 -1.03252913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.137628 meters 0.014838859563785313 Centerline is valid? [True, True] Translation: X:56.30, Y:-8.76, Z:-0.11 [[ 9.75083069e-01 2.21835592e-01 1.40692616e-03 5.62955054e+01] [-2.21835342e-01 9.75084083e-01 -3.33548493e-04 -8.75696774e+00] [-1.44586424e-03 1.31315421e-05 9.99998955e-01 -1.06226572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.197628 meters 0.01208798741138052 Centerline is valid? [True, True] Translation: X:56.36, Y:-8.77, Z:-0.11 [[ 9.73345692e-01 2.29339273e-01 1.28913062e-03 5.63568758e+01] [-2.29339069e-01 9.73346546e-01 -3.05927015e-04 -8.76647273e+00] [-1.32493191e-03 2.12472731e-06 9.99999122e-01 -1.06079669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.257628 meters 0.012126557759204225 Centerline is valid? [True, True] Translation: X:56.42, Y:-8.78, Z:-0.11 [[ 9.72778732e-01 2.31731631e-01 -1.41082727e-03 5.64174187e+01] [-2.31731388e-01 9.72779755e-01 3.36119971e-04 -8.78127893e+00] [ 1.45031383e-03 -3.73989330e-08 9.99998948e-01 -1.09741890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.317628 meters 0.012290514696966954 Centerline is valid? [True, True] Translation: X:56.48, Y:-8.80, Z:-0.11 [[ 9.73499086e-01 2.28680021e-01 -2.23122373e-03 5.64780273e+01] [-2.28679402e-01 9.73501643e-01 5.31998810e-04 -8.80029546e+00] [ 2.29375746e-03 -7.66544734e-06 9.99997369e-01 -1.11043085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.377628 meters 0.012953103021521807 Centerline is valid? [True, True] Translation: X:56.54, Y:-8.82, Z:-0.11 [[ 9.75095654e-01 2.21784440e-01 -3.57912157e-04 5.65368276e+01] [-2.21784423e-01 9.75095720e-01 8.57806260e-05 -8.82245529e+00] [ 3.68023420e-04 -4.26497447e-06 9.99999932e-01 -1.08856707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.437628 meters 0.013379713839884075 Centerline is valid? [True, True] Translation: X:56.60, Y:-8.84, Z:-0.11 [[ 9.75693707e-01 2.19135297e-01 1.22962900e-03 5.65969759e+01] [-2.19135102e-01 9.75694481e-01 -2.93139057e-04 -8.83727579e+00] [-1.26397934e-03 1.65590569e-05 9.99999201e-01 -1.08104337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.497628 meters 0.013769465570794831 Centerline is valid? [True, True] Translation: X:56.66, Y:-8.85, Z:-0.11 [[ 9.76194445e-01 2.16893073e-01 1.34154435e-03 5.66564302e+01] [-2.16892838e-01 9.76195367e-01 -3.20216117e-04 -8.85332058e+00] [-1.37906204e-03 2.16218334e-05 9.99999049e-01 -1.07200294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.557628 meters 0.014029061982437661 Centerline is valid? [True, True] Translation: X:56.72, Y:-8.87, Z:-0.11 [[ 9.76321329e-01 2.16321367e-01 1.31472313e-03 5.67166689e+01] [-2.16321140e-01 9.76322214e-01 -3.14121877e-04 -8.86755484e+00] [-1.35154467e-03 2.22814817e-05 9.99999086e-01 -1.07841653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.617627999999996 meters 0.013921535630634736 Centerline is valid? [True, True] Translation: X:56.78, Y:-8.88, Z:-0.11 [[ 9.76141448e-01 2.17132072e-01 -1.23992260e-03 5.67786395e+01] [-2.17131869e-01 9.76142235e-01 2.97501057e-04 -8.87801964e+00] [ 1.27493784e-03 -2.11764009e-05 9.99999187e-01 -1.10901777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.677628 meters 0.013678473189219073 Centerline is valid? [True, True] Translation: X:56.84, Y:-8.89, Z:-0.11 [[ 9.75662382e-01 2.19253844e-01 -3.26611902e-03 5.68396070e+01] [-2.19252449e-01 9.75667848e-01 7.83646557e-04 -8.88922689e+00] [ 3.35846483e-03 -4.84698747e-05 9.99994359e-01 -1.12708657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.737628 meters 0.012974829098415396 Centerline is valid? [True, True] Translation: X:56.90, Y:-8.90, Z:-0.11 [[ 9.74852217e-01 2.22807355e-01 -4.47627331e-03 5.69009711e+01] [-2.22804767e-01 9.74862493e-01 1.07501191e-03 -8.89910777e+00] [ 4.60327152e-03 -5.06427078e-05 9.99989404e-01 -1.12644031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.797628 meters 0.012760439381669552 Centerline is valid? [True, True] Translation: X:56.96, Y:-8.91, Z:-0.11 [[ 9.74742995e-01 2.23305642e-01 -3.26868164e-03 5.69615782e+01] [-2.23304262e-01 9.74748475e-01 7.85979637e-04 -8.91201628e+00] [ 3.36165613e-03 -3.62176039e-05 9.99994349e-01 -1.12238224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.857628 meters 0.01337108580855643 Centerline is valid? [True, True] Translation: X:57.02, Y:-8.93, Z:-0.11 [[ 9.75157207e-01 2.21495962e-01 -2.82158780e-03 5.70199864e+01] [-2.21494924e-01 9.75161288e-01 6.79174868e-04 -8.92874478e+00] [ 2.90193768e-03 -3.73348935e-05 9.99995789e-01 -1.12488022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.917628 meters 0.014279738174401636 Centerline is valid? [True, True] Translation: X:57.08, Y:-8.95, Z:-0.11 [[ 9.76181131e-01 2.16956152e-01 -6.53424670e-04 5.70798543e+01] [-2.16956095e-01 9.76181350e-01 1.57786560e-04 -8.94668153e+00] [ 6.72093741e-04 -1.22637977e-05 9.99999774e-01 -1.11615143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.977628 meters 0.01636654575506575 Centerline is valid? [True, True] Translation: X:57.14, Y:-8.97, Z:-0.11 [[ 9.77108191e-01 2.12741687e-01 7.46566053e-04 5.71372150e+01] [-2.12741612e-01 9.77108476e-01 -1.79762277e-04 -8.96827861e+00] [-7.67718949e-04 1.68215274e-05 9.99999705e-01 -1.09976912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.037628 meters 0.015359019060669292 Centerline is valid? [True, True] Translation: X:57.20, Y:-8.98, Z:-0.11 [[ 9.77224571e-01 2.12203930e-01 1.27693526e-03 5.71980729e+01] [-2.12203710e-01 9.77225404e-01 -3.07479498e-04 -8.98172785e+00] [-1.31310193e-03 2.95061209e-05 9.99999137e-01 -1.09296567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.097628 meters 0.015210643951562493 Centerline is valid? [True, True] Translation: X:57.26, Y:-9.00, Z:-0.11 [[ 9.76748482e-01 2.14366349e-01 3.07743044e-03 5.72574058e+01] [-2.14365074e-01 9.76753328e-01 -7.42400062e-04 -8.99604145e+00] [-3.16503602e-03 6.54445307e-05 9.99994989e-01 -1.08540681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.157628 meters 0.014291585876332343 Centerline is valid? [True, True] Translation: X:57.32, Y:-9.01, Z:-0.11 [[ 9.75958698e-01 2.17925975e-01 3.59021484e-03 5.73185855e+01] [-2.17924261e-01 9.75965299e-01 -8.66739318e-04 -9.00895910e+00] [-3.69281012e-03 6.35068607e-05 9.99993180e-01 -1.08601058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.217628 meters 0.013443276935890511 Centerline is valid? [True, True] Translation: X:57.38, Y:-9.02, Z:-0.11 [[ 9.75004011e-01 2.22162694e-01 3.30393979e-03 5.73796260e+01] [-2.22161264e-01 9.75009608e-01 -7.98205042e-04 -9.02117354e+00] [-3.39870443e-03 4.42456768e-05 9.99994223e-01 -1.09879542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.277628 meters 0.012677938014943326 Centerline is valid? [True, True] Translation: X:57.44, Y:-9.03, Z:-0.11 [[ 9.73568303e-01 2.28387901e-01 1.93044670e-03 5.74402468e+01] [-2.28387425e-01 9.73570217e-01 -4.66708078e-04 -9.03488965e+00] [-1.98601589e-03 1.34824415e-05 9.99998028e-01 -1.11509754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.337628 meters 0.012381571125854758 Centerline is valid? [True, True] Translation: X:57.50, Y:-9.05, Z:-0.11 [[ 9.71896028e-01 2.35410512e-01 -4.55153536e-05 5.75018851e+01] [-2.35410511e-01 9.71896029e-01 1.12481073e-05 -9.04636278e+00] [ 4.68841141e-05 -2.17198128e-07 9.99999999e-01 -1.13791792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.397628 meters 0.012879391110223369 Centerline is valid? [True, True] Translation: X:57.56, Y:-9.06, Z:-0.12 [[ 9.69897302e-01 2.43501775e-01 -2.47164668e-03 5.75633893e+01] [-2.43501038e-01 9.69900451e-01 5.99525661e-04 -9.05560992e+00] [ 2.54323679e-03 2.03702102e-05 9.99996766e-01 -1.16144233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.457628 meters 0.01307698581397789 Centerline is valid? [True, True] Translation: X:57.62, Y:-9.07, Z:-0.12 [[ 9.69688732e-01 2.44319123e-01 -3.45386991e-03 5.76235284e+01] [-2.44317686e-01 9.69694883e-01 8.38601737e-04 -9.06857697e+00] [ 3.55408642e-03 3.06588486e-05 9.99993684e-01 -1.18488920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.517628 meters 0.012708698695332352 Centerline is valid? [True, True] Translation: X:57.68, Y:-9.08, Z:-0.12 [[ 9.70330989e-01 2.41769006e-01 -2.34926758e-03 5.76836074e+01] [-2.41768332e-01 9.70333833e-01 5.71136213e-04 -9.08408449e+00] [ 2.41765685e-03 1.37873356e-05 9.99997077e-01 -1.17087797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.577628 meters 0.012454627327130992 Centerline is valid? [True, True] Translation: X:57.74, Y:-9.10, Z:-0.11 [[ 9.72122933e-01 2.34469671e-01 9.88598581e-04 5.77428866e+01] [-2.34469548e-01 9.72123435e-01 -2.39995659e-04 -9.10220503e+00] [-1.01731155e-03 1.50902140e-06 9.99999483e-01 -1.14882684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.637628 meters 0.013000969007839992 Centerline is valid? [True, True] Translation: X:57.80, Y:-9.12, Z:-0.11 [[ 9.73560173e-01 2.28410333e-01 3.05115953e-03 5.78018479e+01] [-2.28409128e-01 9.73564954e-01 -7.42392710e-04 -9.12237575e+00] [-3.14007216e-03 2.58512855e-05 9.99995070e-01 -1.12568868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.697628 meters 0.014448187086480973 Centerline is valid? [True, True] Translation: X:57.86, Y:-9.14, Z:-0.11 [[ 9.75452913e-01 2.20152630e-01 4.94306908e-03 5.78608777e+01] [-2.20149356e-01 9.75465434e-01 -1.20365276e-03 -9.14269495e+00] [-5.08678034e-03 8.58931097e-05 9.99987059e-01 -1.12089045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.757628 meters 0.015386232593485366 Centerline is valid? [True, True] Translation: X:57.92, Y:-9.16, Z:-0.11 [[ 9.76447882e-01 2.15700687e-01 4.76941051e-03 5.79217158e+01] [-2.15697585e-01 9.76459524e-01 -1.16171666e-03 -9.15685555e+00] [-4.90771939e-03 1.05605444e-04 9.99987951e-01 -1.14116086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.817628 meters 0.015595464205510093 Centerline is valid? [True, True] Translation: X:57.98, Y:-9.17, Z:-0.12 [[ 9.76404059e-01 2.15933820e-01 2.77476606e-03 5.79831603e+01] [-2.15932770e-01 9.76408000e-01 -6.76278272e-04 -9.17167664e+00] [-2.85533513e-03 6.11579286e-05 9.99995922e-01 -1.15915604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.877628 meters 0.014760684485583873 Centerline is valid? [True, True] Translation: X:58.04, Y:-9.18, Z:-0.12 [[ 9.75634523e-01 2.19398747e-01 -1.21130533e-03 5.80442379e+01] [-2.19398549e-01 9.75635275e-01 2.96160850e-04 -9.18255714e+00] [ 1.24676952e-03 -2.31861190e-05 9.99999223e-01 -1.20189113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.937628 meters 0.013226668018760601 Centerline is valid? [True, True] Translation: X:58.11, Y:-9.19, Z:-0.12 [[ 9.74027273e-01 2.26407537e-01 -3.24010951e-03 5.81054016e+01] [-2.26406157e-01 9.74032662e-01 7.91266871e-04 -9.19051732e+00] [ 3.33512127e-03 -3.71347709e-05 9.99994438e-01 -1.22359423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.997628 meters 0.012597652607568541 Centerline is valid? [True, True] Translation: X:58.17, Y:-9.20, Z:-0.12 [[ 9.72565606e-01 2.32597832e-01 -3.79351343e-03 5.81658669e+01] [-2.32595983e-01 9.72573004e-01 9.27638410e-04 -9.20058454e+00] [ 3.90523544e-03 -1.98332269e-05 9.99992374e-01 -1.23391243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.057628 meters 0.012199231291521393 Centerline is valid? [True, True] Translation: X:58.23, Y:-9.21, Z:-0.12 [[ 9.70844130e-01 2.39711469e-01 -2.93676414e-04 5.82272377e+01] [-2.39711458e-01 9.70844175e-01 7.22923357e-05 -9.21238663e+00] [ 3.02443338e-04 2.13011717e-07 9.99999954e-01 -1.20286156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.117627999999996 meters 0.01259972078698249 Centerline is valid? [True, True] Translation: X:58.29, Y:-9.23, Z:-0.12 [[ 9.69711196e-01 2.44203938e-01 4.96314056e-03 5.82876071e+01] [-2.44200916e-01 9.69723897e-01 -1.21536037e-03 -9.22628860e+00] [-5.10967179e-03 -3.34549128e-05 9.99986945e-01 -1.16548348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.177628 meters 0.0128244867564814 Centerline is valid? [True, True] Translation: X:58.35, Y:-9.24, Z:-0.12 [[ 9.69238376e-01 2.46044426e-01 6.25383262e-03 5.83465911e+01] [-2.46039657e-01 9.69258550e-01 -1.53293830e-03 -9.24027204e+00] [-6.43875167e-03 -5.29082066e-05 9.99979270e-01 -1.16531915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.237628 meters 0.012639603253666629 Centerline is valid? [True, True] Translation: X:58.41, Y:-9.26, Z:-0.12 [[ 9.69463404e-01 2.45200624e-01 4.16691582e-03 5.84064762e+01] [-2.45198495e-01 9.69472358e-01 -1.02229162e-03 -9.25769883e+00] [-4.29037625e-03 -3.06471766e-05 9.99990796e-01 -1.20483375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.297628 meters 0.012551287568919817 Centerline is valid? [True, True] Translation: X:58.47, Y:-9.27, Z:-0.12 [[ 9.69384350e-01 2.45546552e-01 9.34820336e-04 5.84667671e+01] [-2.45546445e-01 9.69384800e-01 -2.29249060e-04 -9.27253991e+00] [-9.62491941e-04 -7.31135932e-06 9.99999537e-01 -1.24416341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.357628 meters 0.013083225359226493 Centerline is valid? [True, True] Translation: X:58.53, Y:-9.28, Z:-0.13 [[ 9.68523931e-01 2.48919746e-01 -5.95730525e-04 5.85284664e+01] [-2.48919702e-01 9.68524114e-01 1.46950925e-04 -9.28325146e+00] [ 6.13558366e-04 5.96357711e-06 9.99999812e-01 -1.25926064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.417628 meters 0.014151232201239641 Centerline is valid? [True, True] Translation: X:58.59, Y:-9.29, Z:-0.13 [[ 9.67361893e-01 2.53389131e-01 -2.21707859e-03 5.85898119e+01] [-2.53388545e-01 9.67364434e-01 5.45843221e-04 -9.28924875e+00] [ 2.28303371e-03 3.37543871e-05 9.99997393e-01 -1.28989259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.477628 meters 0.013652034605971326 Centerline is valid? [True, True] Translation: X:58.65, Y:-9.31, Z:-0.13 [[ 9.67752185e-01 2.51903254e-01 -6.77442121e-04 5.86503373e+01] [-2.51903199e-01 9.67752422e-01 1.66929880e-04 -9.30537937e+00] [ 6.97646433e-04 9.10308109e-06 9.99999757e-01 -1.28037772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.537628 meters 0.012860805569052877 Centerline is valid? [True, True] Translation: X:58.71, Y:-9.33, Z:-0.13 [[ 9.68298970e-01 2.49794056e-01 1.84129475e-04 5.87089519e+01] [-2.49794052e-01 9.68298988e-01 -4.49512026e-05 -9.32548463e+00] [-1.89520927e-04 -2.46824434e-06 9.99999982e-01 -1.26902822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.597628 meters 0.012349738353611778 Centerline is valid? [True, True] Translation: X:58.77, Y:-9.35, Z:-0.13 [[ 9.69415471e-01 2.45425436e-01 -2.65141609e-05 5.87677258e+01] [-2.45425436e-01 9.69415471e-01 6.96452007e-06 -9.34590104e+00] [ 2.74125081e-05 -2.44263996e-07 1.00000000e+00 -1.28568145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.657628 meters 0.012269720221177024 Centerline is valid? [True, True] Translation: X:58.83, Y:-9.36, Z:-0.13 [[ 9.69974110e-01 2.43207575e-01 -5.49610958e-04 5.88276401e+01] [-2.43207537e-01 9.69974265e-01 1.36175691e-04 -9.36213048e+00] [ 5.66227445e-04 1.58263287e-06 9.99999840e-01 -1.29378064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.717628 meters 0.012200500079954029 Centerline is valid? [True, True] Translation: X:58.89, Y:-9.37, Z:-0.13 [[ 9.70386501e-01 2.41557077e-01 4.66370051e-04 5.88889747e+01] [-2.41557050e-01 9.70386613e-01 -1.14837691e-04 -9.37499953e+00] [-4.80299111e-04 -1.21802897e-06 9.99999885e-01 -1.27766335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.777628 meters 0.012377959794047615 Centerline is valid? [True, True] Translation: X:58.95, Y:-9.39, Z:-0.13 [[ 9.71052312e-01 2.38850927e-01 2.76449268e-03 5.89495264e+01] [-2.38849948e-01 9.71056247e-01 -6.83840784e-04 -9.38745784e+00] [-2.84781389e-03 3.74624263e-06 9.99995945e-01 -1.26299627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.837628 meters 0.01233617360874055 Centerline is valid? [True, True] Translation: X:59.01, Y:-9.40, Z:-0.13 [[ 9.71442545e-01 2.37239143e-01 4.11956132e-03 5.90107801e+01] [-2.37236949e-01 9.71451280e-01 -1.02023899e-03 -9.40355896e+00] [-4.24399374e-03 1.37913987e-05 9.99990994e-01 -1.26471705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.897628 meters 0.012625377103297817 Centerline is valid? [True, True] Translation: X:59.07, Y:-9.42, Z:-0.13 [[ 9.72033496e-01 2.34826959e-01 2.67978767e-03 5.90704729e+01] [-2.34826020e-01 9.72037190e-01 -6.64286916e-04 -9.42209602e+00] [-2.76084576e-03 1.64252609e-05 9.99996189e-01 -1.27810445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.957628 meters 0.012643706126192495 Centerline is valid? [True, True] Translation: X:59.13, Y:-9.44, Z:-0.13 [[ 9.72011188e-01 2.34930668e-01 1.35329332e-03 5.91314933e+01] [-2.34930429e-01 9.72012130e-01 -3.35617703e-04 -9.43780640e+00] [-1.39426441e-03 8.29438255e-06 9.99999028e-01 -1.29064850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.017628 meters 0.012409083369952282 Centerline is valid? [True, True] Translation: X:59.19, Y:-9.45, Z:-0.13 [[ 9.71305203e-01 2.37812696e-01 -3.36520779e-03 5.91930499e+01] [-2.37811222e-01 9.71311032e-01 8.37266793e-04 -9.45196985e+00] [ 3.46777613e-03 -1.29574142e-05 9.99993987e-01 -1.32916401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.077628 meters 0.012204458233669925 Centerline is valid? [True, True] Translation: X:59.26, Y:-9.46, Z:-0.13 [[ 9.69985800e-01 2.43113861e-01 -4.81638795e-03 5.92552486e+01] [-2.43110902e-01 9.69997758e-01 1.19957733e-03 -9.46337114e+00] [ 4.96351938e-03 7.34344316e-06 9.99987682e-01 -1.32979056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.137628 meters 0.012277287272157529 Centerline is valid? [True, True] Translation: X:59.32, Y:-9.48, Z:-0.13 [[ 9.69195947e-01 2.46257042e-01 -4.08489118e-03 5.93164370e+01] [-2.46254935e-01 9.69204555e-01 1.01867985e-03 -9.47602777e+00] [ 4.20995223e-03 1.86242282e-05 9.99991138e-01 -1.33027614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.197628 meters 0.012315440723028717 Centerline is valid? [True, True] Translation: X:59.38, Y:-9.49, Z:-0.13 [[ 9.68922601e-01 2.47363653e-01 -4.64965942e-04 5.93774036e+01] [-2.47363626e-01 9.68922713e-01 1.16092720e-04 -9.49037623e+00] [ 4.79233181e-04 2.53080111e-06 9.99999885e-01 -1.30834304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.257628 meters 0.01209251766356995 Centerline is valid? [True, True] Translation: X:59.44, Y:-9.51, Z:-0.13 [[ 9.69553043e-01 2.44858248e-01 3.36669688e-03 5.94372654e+01] [-2.44856807e-01 9.69558889e-01 -8.39951314e-04 -9.50786450e+00] [-3.46987990e-03 -9.98129729e-06 9.99993980e-01 -1.28711858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.317628 meters 0.012261607073974246 Centerline is valid? [True, True] Translation: X:59.50, Y:-9.52, Z:-0.13 [[ 9.69610243e-01 2.44618399e-01 4.22092506e-03 5.94974336e+01] [-2.44616127e-01 9.69619430e-01 -1.05431718e-03 -9.52361202e+00] [-4.35059633e-03 -1.02296024e-05 9.99990536e-01 -1.28404499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.377628 meters 0.01223329259838679 Centerline is valid? [True, True] Translation: X:59.56, Y:-9.54, Z:-0.13 [[ 9.69082951e-01 2.46701638e-01 4.06634175e-03 5.95592801e+01] [-2.46699543e-01 9.69091482e-01 -1.01686953e-03 -9.53613904e+00] [-4.19152053e-03 -1.77337224e-05 9.99991215e-01 -1.30179409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.437628 meters 0.012229679080307879 Centerline is valid? [True, True] Translation: X:59.62, Y:-9.55, Z:-0.14 [[ 9.68770639e-01 2.47957791e-01 -6.19009697e-04 5.96212142e+01] [-2.47957742e-01 9.68770837e-01 1.55536608e-04 -9.54893722e+00] [ 6.38245056e-04 2.80894782e-06 9.99999796e-01 -1.36957670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.497628 meters 0.012315806443775714 Centerline is valid? [True, True] Translation: X:59.68, Y:-9.56, Z:-0.14 [[ 9.68597432e-01 2.48582191e-01 -5.09006028e-03 5.96815434e+01] [-2.48578914e-01 9.68610806e-01 1.27677128e-03 -9.56285284e+00] [ 5.24766999e-03 2.86042773e-05 9.99986230e-01 -1.41497500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.557628 meters 0.012479233018439617 Centerline is valid? [True, True] Translation: X:59.74, Y:-9.58, Z:-0.14 [[ 9.68486487e-01 2.48872358e-01 -9.82208558e-03 5.97410549e+01] [-2.48860149e-01 9.68536291e-01 2.46567600e-03 -9.57570883e+00] [ 1.01266849e-02 5.63518015e-05 9.99948722e-01 -1.44475715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.617627999999996 meters 0.012368403317409803 Centerline is valid? [True, True] Translation: X:59.80, Y:-9.59, Z:-0.14 [[ 9.68770302e-01 2.47753243e-01 -1.01208944e-02 5.98024566e+01] [-2.47740186e-01 9.68823167e-01 2.54384921e-03 -9.59019353e+00] [ 1.04356038e-02 4.29466950e-05 9.99945547e-01 -1.43277530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.677628 meters 0.015684336456583615 Centerline is valid? [True, True] Translation: X:59.86, Y:-9.60, Z:-0.14 [[ 9.69794977e-01 2.43728754e-01 -9.69519580e-03 5.98628717e+01] [-2.43716547e-01 9.69843438e-01 2.43936486e-03 -9.60360349e+00] [ 9.99736539e-03 -2.80414408e-06 9.99950025e-01 -1.44238904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.737628 meters 0.012108301333460192 Centerline is valid? [True, True] Translation: X:59.92, Y:-9.62, Z:-0.14 [[ 9.70510596e-01 2.40946818e-01 -7.33579120e-03 5.99224876e+01] [-2.40939735e-01 9.70538320e-01 1.84775370e-03 -9.62058148e+00] [ 7.56487685e-03 -2.57809575e-05 9.99971386e-01 -1.40200321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.797628 meters 0.012267911591157943 Centerline is valid? [True, True] Translation: X:59.98, Y:-9.64, Z:-0.14 [[ 9.70761561e-01 2.39914936e-01 -7.92556551e-03 5.99823502e+01] [-2.39906615e-01 9.70793913e-01 1.99849383e-03 -9.63709429e+00] [ 8.17355927e-03 -3.86653933e-05 9.99966595e-01 -1.41169911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.857628 meters 0.012227279654264882 Centerline is valid? [True, True] Translation: X:60.04, Y:-9.65, Z:-0.14 [[ 9.70567122e-01 2.40680833e-01 -8.49690189e-03 6.00433952e+01] [-2.40671277e-01 9.70604314e-01 2.14509280e-03 -9.65236470e+00] [ 8.76341236e-03 -3.69963255e-05 9.99961600e-01 -1.41510451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.917628 meters 0.015417548866241748 Centerline is valid? [True, True] Translation: X:60.10, Y:-9.67, Z:-0.14 [[ 9.69825984e-01 2.43610897e-01 -9.55462686e-03 6.01032389e+01] [-2.43598931e-01 9.69873049e-01 2.41465208e-03 -9.66799265e+00] [ 9.85501064e-03 -1.42954421e-05 9.99951438e-01 -1.43244234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.977628 meters 0.012291190666798494 Centerline is valid? [True, True] Translation: X:60.16, Y:-9.68, Z:-0.14 [[ 9.68970956e-01 2.46963363e-01 -1.02168660e-02 6.01644066e+01] [-2.46949835e-01 9.69024817e-01 2.58497214e-03 -9.68361414e+00] [ 1.05387901e-02 1.82904419e-05 9.99944465e-01 -1.41858830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.037628 meters 0.01284179917695705 Centerline is valid? [True, True] Translation: X:60.22, Y:-9.70, Z:-0.15 [[ 9.67616950e-01 2.52001015e-01 -1.45920177e-02 6.02246090e+01] [-2.51973982e-01 9.67726964e-01 3.69247866e-03 -9.69845913e+00] [ 1.50515974e-02 1.03903878e-04 9.99886713e-01 -1.45301949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.097628 meters 0.014981623480961164 Centerline is valid? [True, True] Translation: X:60.29, Y:-9.71, Z:-0.15 [[ 9.66431153e-01 2.56455973e-01 -1.55293630e-02 6.02850037e+01] [-2.56425859e-01 9.66555897e-01 3.93415989e-03 -9.71185969e+00] [ 1.60189361e-02 1.80035558e-04 9.99871672e-01 -1.45617282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.157628 meters 0.014826243124118229 Centerline is valid? [True, True] Translation: X:60.35, Y:-9.72, Z:-0.14 [[ 9.64711305e-01 2.63108592e-01 -1.02940156e-02 6.03460253e+01] [-2.63095710e-01 9.64766206e-01 2.61049728e-03 -9.72040590e+00] [ 1.06181626e-02 1.89935098e-04 9.99943608e-01 -1.39962377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.217628 meters 0.015836875251407284 Centerline is valid? [True, True] Translation: X:60.41, Y:-9.74, Z:-0.14 [[ 9.64518574e-01 2.63923578e-01 -6.94735755e-03 6.04064565e+01] [-2.63917717e-01 9.64543585e-01 1.76382837e-03 -9.73505410e+00] [ 7.16654506e-03 1.32285525e-04 9.99974311e-01 -1.36676629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.277628 meters 0.013814268765554624 Centerline is valid? [True, True] Translation: X:60.47, Y:-9.75, Z:-0.13 [[ 9.65039957e-01 2.62088895e-01 -2.70054136e-03 6.04658200e+01] [-2.62088000e-01 9.65043734e-01 6.86604243e-04 -9.75222602e+00] [ 2.78609186e-03 4.51789538e-05 9.99996118e-01 -1.32779641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.337628 meters 0.013317430634894177 Centerline is valid? [True, True] Translation: X:60.52, Y:-9.77, Z:-0.14 [[ 9.65967428e-01 2.58614754e-01 -5.03353614e-03 6.05235733e+01] [-2.58611592e-01 9.65980541e-01 1.28057276e-03 -9.77268504e+00] [ 5.19347297e-03 6.47392190e-05 9.99986512e-01 -1.35509187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.397628 meters 0.012867702181467006 Centerline is valid? [True, True] Translation: X:60.58, Y:-9.79, Z:-0.14 [[ 9.66319985e-01 2.57111213e-01 -1.09320883e-02 6.05829775e+01] [-2.57096171e-01 9.66381814e-01 2.78371107e-03 -9.79131417e+00] [ 1.12802946e-02 1.20642399e-04 9.99936368e-01 -1.40742459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.457628 meters 0.013395847809412689 Centerline is valid? [True, True] Translation: X:60.64, Y:-9.80, Z:-0.14 [[ 9.65794174e-01 2.58870882e-01 -1.50824295e-02 6.06436018e+01] [-2.58842454e-01 9.65911916e-01 3.84120698e-03 -9.80455257e+00] [ 1.55626750e-02 1.94157732e-04 9.99878875e-01 -1.43969468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.517628 meters 0.01436767522763479 Centerline is valid? [True, True] Translation: X:60.70, Y:-9.81, Z:-0.15 [[ 9.64791473e-01 2.62461535e-01 -1.70691561e-02 6.07047154e+01] [-2.62425608e-01 9.64942415e-01 4.35157249e-03 -9.81376208e+00] [ 1.76128731e-02 2.81023625e-04 9.99844842e-01 -1.46150968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.577628 meters 0.013985520817359617 Centerline is valid? [True, True] Translation: X:60.77, Y:-9.83, Z:-0.14 [[ 9.64653296e-01 2.63108152e-01 -1.47688474e-02 6.07655499e+01] [-2.63081314e-01 9.64766312e-01 3.76635582e-03 -9.82872605e+00] [ 1.52394454e-02 2.52180234e-04 9.99883841e-01 -1.42753289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.637628 meters 0.013445357846677115 Centerline is valid? [True, True] Translation: X:60.82, Y:-9.85, Z:-0.14 [[ 9.65448679e-01 2.60409789e-01 -9.77706240e-03 6.08233009e+01] [-2.60397886e-01 9.65498173e-01 2.49367597e-03 -9.84749689e+00] [ 1.00891135e-02 1.38410208e-04 9.99949094e-01 -1.37435509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.697628 meters 0.012633927644825464 Centerline is valid? [True, True] Translation: X:60.88, Y:-9.87, Z:-0.14 [[ 9.66837082e-01 2.55323953e-01 -5.97796975e-03 6.08811768e+01] [-2.55319404e-01 9.66855561e-01 1.52494656e-03 -9.86673532e+00] [ 6.16918868e-03 5.19167955e-05 9.99980969e-01 -1.36678044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.757628 meters 0.012121882724057871 Centerline is valid? [True, True] Translation: X:60.94, Y:-9.89, Z:-0.14 [[ 9.67496733e-01 2.52838867e-01 -4.75168078e-03 6.09401624e+01] [-2.52835955e-01 9.67508401e-01 1.21377297e-03 -9.88588723e+00] [ 4.90418006e-03 2.70743651e-05 9.99987974e-01 -1.35476574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.817628 meters 0.012081375091601159 Centerline is valid? [True, True] Translation: X:61.00, Y:-9.90, Z:-0.14 [[ 9.67668070e-01 2.52181447e-01 -4.79830867e-03 6.10009301e+01] [-2.52178462e-01 9.67679966e-01 1.22719288e-03 -9.90301495e+00] [ 4.95270245e-03 2.25147362e-05 9.99987735e-01 -1.35250082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.877628 meters 0.012069019379890912 Centerline is valid? [True, True] Translation: X:61.06, Y:-9.92, Z:-0.14 [[ 9.67537743e-01 2.52647557e-01 -6.31887060e-03 6.10618672e+01] [-2.52642378e-01 9.67558376e-01 1.61785501e-03 -9.91935171e+00] [ 6.52262330e-03 3.10787086e-05 9.99978727e-01 -1.35071426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.937628 meters 0.012358505267267847 Centerline is valid? [True, True] Translation: X:61.12, Y:-9.93, Z:-0.14 [[ 9.67146090e-01 2.54074833e-01 -8.62666235e-03 6.11218318e+01] [-2.54065231e-01 9.67184562e-01 2.20951546e-03 -9.93213882e+00] [ 8.90495692e-03 5.48107267e-05 9.99960349e-01 -1.37745692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.997628 meters 0.012396476308891494 Centerline is valid? [True, True] Translation: X:61.18, Y:-9.95, Z:-0.14 [[ 9.67169722e-01 2.53829629e-01 -1.23793349e-02 6.11824453e+01] [-2.53809793e-01 9.67248941e-01 3.17409775e-03 -9.94638326e+00] [ 1.27795786e-02 7.21052016e-05 9.99918335e-01 -1.40806674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.057628 meters 0.012408844199882918 Centerline is valid? [True, True] Translation: X:61.24, Y:-9.97, Z:-0.14 [[ 9.68697538e-01 2.47934985e-01 -1.23823469e-02 6.12411378e+01] [-2.47914619e-01 9.68776673e-01 3.17786521e-03 -9.96513809e+00] [ 1.27836328e-02 -8.62540318e-06 9.99918286e-01 -1.42046187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.117627999999996 meters 0.015936798342668635 Centerline is valid? [True, True] Translation: X:61.30, Y:-9.99, Z:-0.14 [[ 9.71016961e-01 2.38786533e-01 -1.03466368e-02 6.13002174e+01] [-2.38771762e-01 9.71072077e-01 2.65823717e-03 -9.98513185e+00] [ 1.06820813e-02 -1.10708670e-04 9.99942939e-01 -1.41564859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.177628 meters 0.015272703462671011 Centerline is valid? [True, True] Translation: X:61.36, Y:-10.00, Z:-0.14 [[ 9.71804214e-01 2.35633685e-01 -8.56365330e-03 6.13595022e+01] [-2.35623424e-01 9.71841937e-01 2.20247970e-03 -1.00025159e+01] [ 8.84149582e-03 -1.22581742e-04 9.99960906e-01 -1.38808224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.237628 meters 0.013366866853399285 Centerline is valid? [True, True] Translation: X:61.42, Y:-10.02, Z:-0.14 [[ 9.71679821e-01 2.36222829e-01 -6.09097277e-03 6.14203106e+01] [-2.36217647e-01 9.71698908e-01 1.56695088e-03 -1.00174098e+01] [ 6.28874116e-03 -8.37792983e-05 9.99980222e-01 -1.35599179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.297628 meters 0.012995168882621536 Centerline is valid? [True, True] Translation: X:61.48, Y:-10.03, Z:-0.14 [[ 9.70713276e-01 2.40127333e-01 -7.38915838e-03 6.14802172e+01] [-2.40119803e-01 9.70741396e-01 1.90305146e-03 -1.00317968e+01] [ 7.62993659e-03 -7.30340681e-05 9.99970889e-01 -1.37384856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.357628 meters 0.012746733651333504 Centerline is valid? [True, True] Translation: X:61.54, Y:-10.05, Z:-0.14 [[ 9.69940176e-01 2.43122971e-01 -1.03573916e-02 6.15413003e+01] [-2.43108316e-01 9.69995472e-01 2.67042111e-03 -1.00455564e+01] [ 1.06958637e-02 -7.21806867e-05 9.99942795e-01 -1.39665050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.417628 meters 0.012323913415759878 Centerline is valid? [True, True] Translation: X:61.60, Y:-10.06, Z:-0.14 [[ 9.68487043e-01 2.48630489e-01 -1.46876469e-02 6.16023744e+01] [-2.48601593e-01 9.68598410e-01 3.79051864e-03 -1.00568064e+01] [ 1.51688699e-02 -1.96957788e-05 9.99884946e-01 -1.43117715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.477628 meters 0.012269932996690148 Centerline is valid? [True, True] Translation: X:61.66, Y:-10.07, Z:-0.14 [[ 9.67099581e-01 2.54025756e-01 -1.37592023e-02 6.16634932e+01] [-2.54000884e-01 9.67197452e-01 3.55511247e-03 -1.00714204e+01] [ 1.42109556e-02 5.67017703e-05 9.99899018e-01 -1.41761214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.537628 meters 0.012278900473014042 Centerline is valid? [True, True] Translation: X:61.72, Y:-10.09, Z:-0.14 [[ 9.66630105e-01 2.55865504e-01 -1.26128313e-02 6.17238720e+01] [-2.55844719e-01 9.66712386e-01 3.26217218e-03 -1.00869147e+01] [ 1.30276575e-02 7.36124241e-05 9.99915134e-01 -1.40427425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.597628 meters 0.012096427637241633 Centerline is valid? [True, True] Translation: X:61.78, Y:-10.11, Z:-0.14 [[ 9.66403842e-01 2.56860808e-01 -9.28110610e-03 6.17836164e+01] [-2.56849575e-01 9.66448406e-01 2.40298520e-03 -1.01051561e+01] [ 9.58694291e-03 6.15940285e-05 9.99954042e-01 -1.36606215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.657628 meters 0.011981617750404482 Centerline is valid? [True, True] Translation: X:61.84, Y:-10.12, Z:-0.13 [[ 9.66484328e-01 2.56659674e-01 -5.81858003e-03 6.18431065e+01] [-2.56655245e-01 9.66501842e-01 1.50818197e-03 -1.01234271e+01] [ 6.01075781e-03 3.57348493e-05 9.99981935e-01 -1.33652715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.717628 meters 0.011827929802816094 Centerline is valid? [True, True] Translation: X:61.90, Y:-10.14, Z:-0.13 [[ 9.66947525e-01 2.54897905e-01 -6.28825239e-03 6.19034739e+01] [-2.54892683e-01 9.66967971e-01 1.63180230e-03 -1.01419502e+01] [ 6.49648164e-03 2.49623275e-05 9.99978897e-01 -1.34991459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.777628 meters 0.011813465271509383 Centerline is valid? [True, True] Translation: X:61.96, Y:-10.16, Z:-0.14 [[ 9.67222429e-01 2.53826524e-01 -7.27107280e-03 6.19642011e+01] [-2.53819496e-01 9.67249758e-01 1.88897804e-03 -1.01597432e+01] [ 7.51241614e-03 1.84781052e-05 9.99971781e-01 -1.35872074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.837628 meters 0.01198021539795671 Centerline is valid? [True, True] Translation: X:62.02, Y:-10.17, Z:-0.14 [[ 9.66945075e-01 2.54842339e-01 -8.52081498e-03 6.20232615e+01] [-2.54832709e-01 9.66982617e-01 2.21552687e-03 -1.01739675e+01] [ 8.80409001e-03 2.90895692e-05 9.99961243e-01 -1.37138225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.897628 meters 0.01209163502237865 Centerline is valid? [True, True] Translation: X:62.08, Y:-10.19, Z:-0.14 [[ 9.66796259e-01 2.55338508e-01 -1.03556871e-02 6.20832241e+01] [-2.55324289e-01 9.66851718e-01 2.69494098e-03 -1.01856430e+01] [ 1.07005361e-02 3.85995983e-05 9.99942747e-01 -1.38615033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.957628 meters 0.012093566710697072 Centerline is valid? [True, True] Translation: X:62.14, Y:-10.20, Z:-0.14 [[ 9.66506111e-01 2.56407301e-01 -1.10105985e-02 6.21440829e+01] [-2.56391264e-01 9.66568825e-01 2.86816586e-03 -1.01998294e+01] [ 1.13779199e-02 5.09214367e-05 9.99935268e-01 -1.37416538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.017628 meters 0.011960912752936106 Centerline is valid? [True, True] Translation: X:62.20, Y:-10.22, Z:-0.14 [[ 9.66470101e-01 2.56503253e-01 -1.19006728e-02 6.22046708e+01] [-2.56484480e-01 9.66543366e-01 3.10369919e-03 -1.02151549e+01] [ 1.22986253e-02 5.27054033e-05 9.99924368e-01 -1.36844904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.077628 meters 0.011874643996459499 Centerline is valid? [True, True] Translation: X:62.26, Y:-10.23, Z:-0.14 [[ 9.66849418e-01 2.55090414e-01 -1.14491881e-02 6.22642306e+01] [-2.55072905e-01 9.66917204e-01 2.98893085e-03 -1.02317128e+01] [ 1.18328646e-02 3.05316057e-05 9.99929989e-01 -1.37248243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.137628 meters 0.011823553090566636 Centerline is valid? [True, True] Translation: X:62.32, Y:-10.25, Z:-0.13 [[ 9.66869974e-01 2.55141812e-01 -8.06907781e-03 6.23226805e+01] [-2.55133100e-01 9.66903643e-01 2.10855571e-03 -1.02487557e+01] [ 8.34000145e-03 1.99896333e-05 9.99965221e-01 -1.33716046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.197628 meters 0.011788095342498027 Centerline is valid? [True, True] Translation: X:62.38, Y:-10.26, Z:-0.13 [[ 9.66469386e-01 2.56682385e-01 -7.14696516e-03 6.23839328e+01] [-2.56675575e-01 9.66495811e-01 1.86991723e-03 -1.02634439e+01] [ 7.38748670e-03 2.72336365e-05 9.99972712e-01 -1.32161034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.257628 meters 0.012198906541110667 Centerline is valid? [True, True] Translation: X:62.44, Y:-10.28, Z:-0.13 [[ 9.65399227e-01 2.60629352e-01 -8.75627122e-03 6.24441365e+01] [-2.60619273e-01 9.65438934e-01 2.29310127e-03 -1.02771289e+01] [ 9.05129466e-03 6.82948506e-05 9.99959034e-01 -1.33824365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.317628 meters 0.012830659095513734 Centerline is valid? [True, True] Translation: X:62.50, Y:-10.29, Z:-0.14 [[ 9.64476071e-01 2.63949740e-01 -1.07909207e-02 6.25043143e+01] [-2.63934610e-01 9.64536428e-01 2.82865414e-03 -1.02920103e+01] [ 1.11548587e-02 1.19928219e-04 9.99937775e-01 -1.35340476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.377628 meters 0.013238425572599822 Centerline is valid? [True, True] Translation: X:62.56, Y:-10.31, Z:-0.14 [[ 9.63729017e-01 2.66611480e-01 -1.20291342e-02 6.25639932e+01] [-2.66592847e-01 9.63804073e-01 3.15635853e-03 -1.03076330e+01] [ 1.24352500e-02 1.65006824e-04 9.99922666e-01 -1.35736357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.437628 meters 0.012807214485006855 Centerline is valid? [True, True] Translation: X:62.62, Y:-10.33, Z:-0.14 [[ 9.64682887e-01 2.63159859e-01 -1.15678599e-02 6.26221499e+01] [-2.63142346e-01 9.64752236e-01 3.03809932e-03 -1.03267799e+01] [ 1.19596245e-02 1.13191364e-04 9.99928475e-01 -1.35875772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.497628 meters 0.012013565114696022 Centerline is valid? [True, True] Translation: X:62.68, Y:-10.35, Z:-0.13 [[ 9.66310351e-01 2.57185548e-01 -9.99498681e-03 6.26803571e+01] [-2.57172127e-01 9.66362040e-01 2.62759445e-03 -1.03499415e+01] [ 1.03345552e-02 3.13603035e-05 9.99946597e-01 -1.33674433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.557628 meters 0.012423789480787241 Centerline is valid? [True, True] Translation: X:62.74, Y:-10.38, Z:-0.13 [[ 9.69076099e-01 2.46624097e-01 -8.25044858e-03 6.27381124e+01] [-2.46614545e-01 9.69111217e-01 2.17163245e-03 -1.03758962e+01] [ 8.53117915e-03 -6.97964770e-05 9.99963606e-01 -1.30367791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.617627999999996 meters 0.013617354983626572 Centerline is valid? [True, True] Translation: X:62.80, Y:-10.39, Z:-0.13 [[ 9.70574945e-01 2.40695989e-01 -7.05108849e-03 6.27965451e+01] [-2.40688843e-01 9.70600551e-01 1.85762385e-03 -1.03945783e+01] [ 7.29091299e-03 -1.05844834e-04 9.99973415e-01 -1.30189873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.677628 meters 0.014411360819941743 Centerline is valid? [True, True] Translation: X:62.86, Y:-10.41, Z:-0.13 [[ 9.71580272e-01 2.36606574e-01 -7.00748082e-03 6.28563158e+01] [-2.36599397e-01 9.71605532e-01 1.84796832e-03 -1.04125754e+01] [ 7.24574859e-03 -1.37483825e-04 9.99973740e-01 -1.28822590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.737628 meters 0.017040476609459947 Centerline is valid? [True, True] Translation: X:62.91, Y:-10.43, Z:-0.13 [[ 9.72842805e-01 2.31350039e-01 -7.35095569e-03 6.29137781e+01] [-2.31341994e-01 9.72870559e-01 1.93811341e-03 -1.04291336e+01] [ 7.59991099e-03 -1.84894941e-04 9.99971103e-01 -1.30775778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.797628 meters 0.01782928330414923 Centerline is valid? [True, True] Translation: X:62.97, Y:-10.44, Z:-0.13 [[ 9.73081170e-01 2.30310681e-01 -8.36816124e-03 6.29746874e+01] [-2.30300195e-01 9.73117126e-01 2.20889994e-03 -1.04425854e+01] [ 8.65193427e-03 -2.22249770e-04 9.99962547e-01 -1.32521214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.857628 meters 0.015791731311357433 Centerline is valid? [True, True] Translation: X:63.04, Y:-10.45, Z:-0.13 [[ 9.73104514e-01 2.30233479e-01 -7.75566595e-03 6.30374656e+01] [-2.30224450e-01 9.73135397e-01 2.04967934e-03 -1.04524392e+01] [ 8.01921787e-03 -2.09008286e-04 9.99967824e-01 -1.29810430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.917628 meters 0.016832372236404054 Centerline is valid? [True, True] Translation: X:63.10, Y:-10.47, Z:-0.13 [[ 9.72659856e-01 2.32100971e-01 -7.87042168e-03 6.30972818e+01] [-2.32091720e-01 9.72691678e-01 2.08181018e-03 -1.04658759e+01] [ 8.13868383e-03 -1.98233490e-04 9.99966861e-01 -1.30172591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.977628 meters 0.014307292096474019 Centerline is valid? [True, True] Translation: X:63.16, Y:-10.47, Z:-0.13 [[ 9.71707627e-01 2.36075820e-01 -7.24528011e-03 6.31603357e+01] [-2.36068089e-01 9.71734626e-01 1.91659986e-03 -1.04694254e+01] [ 7.49295245e-03 -1.51995277e-04 9.99971916e-01 -1.28362487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.037628 meters 0.013245756376655858 Centerline is valid? [True, True] Translation: X:63.22, Y:-10.48, Z:-0.13 [[ 9.70338339e-01 2.41669903e-01 -6.25820589e-03 6.32225408e+01] [-2.41664248e-01 9.70358516e-01 1.65585173e-03 -1.04765115e+01] [ 6.47287291e-03 -9.43517915e-05 9.99979046e-01 -1.27489632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.097628 meters 0.01251819390725117 Centerline is valid? [True, True] Translation: X:63.28, Y:-10.49, Z:-0.13 [[ 9.69337645e-01 2.45677931e-01 -5.18490887e-03 6.32842316e+01] [-2.45674098e-01 9.69351510e-01 1.37356486e-03 -1.04856550e+01] [ 5.36345382e-03 -5.76503136e-05 9.99985615e-01 -1.27363621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.157628 meters 0.011723184295770501 Centerline is valid? [True, True] Translation: X:63.35, Y:-10.49, Z:-0.13 [[ 9.68083940e-01 2.50608938e-01 -2.94042322e-03 6.33464961e+01] [-2.50607725e-01 9.68088405e-01 7.79941671e-04 -1.04918227e+01] [ 3.04204997e-03 -1.81562346e-05 9.99995373e-01 -1.26762513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.217628 meters 0.011421206006977574 Centerline is valid? [True, True] Translation: X:63.41, Y:-10.50, Z:-0.12 [[ 9.67086708e-01 2.54444991e-01 -1.02251521e-03 6.34086057e+01] [-2.54444847e-01 9.67087249e-01 2.71447305e-04 -1.05020476e+01] [ 1.05792983e-03 -2.33935459e-06 9.99999440e-01 -1.24648105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27762799999999 meters 0.011426099633999359 Centerline is valid? [True, True] Translation: X:63.47, Y:-10.51, Z:-0.13 [[ 9.66784128e-01 2.55591691e-01 -1.15636086e-03 6.34706396e+01] [-2.55591506e-01 9.66784820e-01 3.07558648e-04 -1.05125544e+01] [ 1.19656156e-03 -1.78680561e-06 9.99999284e-01 -1.25934483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.337628 meters 0.014496557545420015 Centerline is valid? [True, True] Translation: X:63.53, Y:-10.53, Z:-0.13 [[ 9.67021958e-01 2.54673531e-01 -3.15036245e-03 6.35316370e+01] [-2.54672152e-01 9.67027090e-01 8.38003217e-04 -1.05273369e+01] [ 3.25990307e-03 -8.05792671e-06 9.99994686e-01 -1.29768350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.397628 meters 0.011521366348626992 Centerline is valid? [True, True] Translation: X:63.59, Y:-10.54, Z:-0.13 [[ 9.67676682e-01 2.52182824e-01 -2.37950943e-03 6.35922996e+01] [-2.52182028e-01 9.67679608e-01 6.33824803e-04 -1.05423526e+01] [ 2.46244248e-03 -1.32679671e-05 9.99996968e-01 -1.27851265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.457628 meters 0.015264339725906257 Centerline is valid? [True, True] Translation: X:63.65, Y:-10.56, Z:-0.13 [[ 9.68515015e-01 2.48894590e-01 -5.49081737e-03 6.36515244e+01] [-2.48890294e-01 9.68530578e-01 1.46322213e-03 -1.05591588e+01] [ 5.68221260e-03 -5.05414549e-05 9.99983855e-01 -1.31656026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.517628 meters 0.013159787621855336 Centerline is valid? [True, True] Translation: X:63.71, Y:-10.58, Z:-0.13 [[ 9.70054165e-01 2.42812521e-01 -6.08246135e-03 6.37098282e+01] [-2.42807126e-01 9.70073229e-01 1.62146751e-03 -1.05761677e+01] [ 6.29414553e-03 -9.60463511e-05 9.99980187e-01 -1.31371721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.577628 meters 0.015409808104227797 Centerline is valid? [True, True] Translation: X:63.77, Y:-10.60, Z:-0.13 [[ 9.72398738e-01 2.33199111e-01 -7.67262393e-03 6.37680456e+01] [-2.33190228e-01 9.72428987e-01 2.04527796e-03 -1.05953572e+01] [ 7.93803892e-03 -1.99644784e-04 9.99968473e-01 -1.32341139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.637628 meters 0.022450218260245566 Centerline is valid? [True, True] Translation: X:63.82, Y:-10.62, Z:-0.14 [[ 9.75139825e-01 2.21325157e-01 -1.08395768e-02 6.38245548e+01] [-2.21306686e-01 9.75199979e-01 2.88994449e-03 -1.06178365e+01] [ 1.12103725e-02 -4.19229146e-04 9.99937074e-01 -1.35877144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.697628 meters 0.022268240231466015 Centerline is valid? [True, True] Translation: X:63.88, Y:-10.63, Z:-0.13 [[ 9.76704556e-01 2.14391577e-01 -9.19028574e-03 6.38831307e+01] [-2.14377991e-01 9.76747702e-01 2.45038087e-03 -1.06349239e+01] [ 9.50193149e-03 -4.23103165e-04 9.99954766e-01 -1.33347001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.757628 meters 0.022894900255880906 Centerline is valid? [True, True] Translation: X:63.94, Y:-10.65, Z:-0.13 [[ 9.78513004e-01 2.06034082e-01 -7.89033548e-03 6.39431641e+01] [-2.06023794e-01 9.78544720e-01 2.10405737e-03 -1.06482777e+01] [ 8.15455366e-03 -4.33250642e-04 9.99966657e-01 -1.30249263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.817628 meters 0.02224405937371827 Centerline is valid? [True, True] Translation: X:64.00, Y:-10.66, Z:-0.13 [[ 9.78919323e-01 2.04139754e-01 -6.62719063e-03 6.40038945e+01] [-2.04132448e-01 9.78941683e-01 1.76782036e-03 -1.06616754e+01] [ 6.84851556e-03 -3.77728857e-04 9.99976477e-01 -1.27615678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.877628 meters 0.022037980263872818 Centerline is valid? [True, True] Translation: X:64.06, Y:-10.67, Z:-0.13 [[ 9.77886923e-01 2.09084544e-01 -4.56274271e-03 6.40633151e+01] [-2.09081136e-01 9.77897539e-01 1.21702012e-03 -1.06708139e+01] [ 4.71635496e-03 -2.36124629e-04 9.99988850e-01 -1.25626807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.937628 meters 0.021156166763436478 Centerline is valid? [True, True] Translation: X:64.12, Y:-10.68, Z:-0.12 [[ 9.76543290e-01 2.15303898e-01 -2.72665279e-03 6.41232291e+01] [-2.15302705e-01 9.76547089e-01 7.27262209e-04 -1.06797220e+01] [ 2.81928723e-03 -1.23147309e-04 9.99996018e-01 -1.24046034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.997628 meters 0.018039251644982636 Centerline is valid? [True, True] Translation: X:64.19, Y:-10.68, Z:-0.12 [[ 9.74233055e-01 2.25539533e-01 -1.36864864e-03 6.41857977e+01] [-2.25539242e-01 9.74234015e-01 3.65121013e-04 -1.06827742e+01] [ 1.41573328e-03 -4.70289821e-05 9.99998997e-01 -1.23201599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.057628 meters 0.01522350882682027 Centerline is valid? [True, True] Translation: X:64.25, Y:-10.69, Z:-0.12 [[ 9.71972789e-01 2.35079691e-01 -2.53689505e-03 6.42476965e+01] [-2.35078725e-01 9.71976098e-01 6.76778198e-04 -1.06860658e+01] [ 2.62489816e-03 -6.14399391e-05 9.99996553e-01 -1.24328128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.117628 meters 0.012619880680533326 Centerline is valid? [True, True] Translation: X:64.31, Y:-10.69, Z:-0.13 [[ 9.69627669e-01 2.44554708e-01 -3.89595393e-03 6.43098761e+01] [-2.44552505e-01 9.69635494e-01 1.03943202e-03 -1.06891669e+01] [ 4.03185321e-03 -5.50967499e-05 9.99991871e-01 -1.25671995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.177628 meters 0.012308575348868764 Centerline is valid? [True, True] Translation: X:64.37, Y:-10.70, Z:-0.13 [[ 9.68143489e-01 2.50362788e-01 -4.08153460e-03 6.43704863e+01] [-2.50360419e-01 9.68152092e-01 1.08977835e-03 -1.07001538e+01] [ 4.22438620e-03 -3.32070989e-05 9.99991077e-01 -1.26651758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.237628 meters 0.01161799632649475 Centerline is valid? [True, True] Translation: X:64.43, Y:-10.71, Z:-0.13 [[ 9.65680314e-01 2.59691721e-01 -4.66275401e-03 6.44327097e+01] [-2.59688730e-01 9.65691571e-01 1.24634357e-03 -1.07089279e+01] [ 4.82644735e-03 7.29521611e-06 9.99988353e-01 -1.26290900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.297628 meters 0.011832211325797004 Centerline is valid? [True, True] Translation: X:64.49, Y:-10.72, Z:-0.13 [[ 9.64455840e-01 2.64209897e-01 -4.25008171e-03 6.44930626e+01] [-2.64207451e-01 9.64465204e-01 1.13718469e-03 -1.07219411e+01] [ 4.39951137e-03 2.61388361e-05 9.99990322e-01 -1.26232777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.357628 meters 0.012155911818968813 Centerline is valid? [True, True] Translation: X:64.55, Y:-10.74, Z:-0.13 [[ 9.63946980e-01 2.66028341e-01 -5.92799093e-03 6.45529689e+01] [-2.66023608e-01 9.63965207e-01 1.58753547e-03 -1.07391170e+01] [ 6.13670643e-03 4.66855184e-05 9.99981169e-01 -1.27656916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.417628 meters 0.012170056463509897 Centerline is valid? [True, True] Translation: X:64.61, Y:-10.76, Z:-0.13 [[ 9.63902359e-01 2.66190755e-01 -5.89270790e-03 6.46127377e+01] [-2.66186071e-01 9.63920370e-01 1.57990071e-03 -1.07597839e+01] [ 6.10065614e-03 4.56867419e-05 9.99981390e-01 -1.27442375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.477628 meters 0.012549206739251056 Centerline is valid? [True, True] Translation: X:64.67, Y:-10.78, Z:-0.13 [[ 9.63305322e-01 2.68322248e-01 -6.78443605e-03 6.46703640e+01] [-2.68316083e-01 9.63329210e-01 1.82013054e-03 -1.07790713e+01] [ 7.02402694e-03 6.70318774e-05 9.99975329e-01 -1.27650819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.537628 meters 0.013063819793827577 Centerline is valid? [True, True] Translation: X:64.73, Y:-10.80, Z:-0.13 [[ 9.62706226e-01 2.70426318e-01 -8.14423420e-03 6.47294510e+01] [-2.70417493e-01 9.62740670e-01 2.18683239e-03 -1.07964041e+01] [ 8.43216252e-03 9.70662400e-05 9.99964444e-01 -1.29121137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.597628 meters 0.013030045222089634 Centerline is valid? [True, True] Translation: X:64.79, Y:-10.82, Z:-0.13 [[ 9.62176940e-01 2.72283320e-01 -8.79370368e-03 6.47872818e+01] [-2.72273088e-01 9.62217116e-01 2.36355972e-03 -1.08197598e+01] [ 9.10501009e-03 1.20126196e-04 9.99958541e-01 -1.28293760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.657628 meters 0.01359582147345751 Centerline is valid? [True, True] Translation: X:64.85, Y:-10.84, Z:-0.13 [[ 9.62089611e-01 2.72584590e-01 -9.01224562e-03 6.48467539e+01] [-2.72573833e-01 9.62131813e-01 2.42482532e-03 -1.08368930e+01] [ 9.33193823e-03 1.23603086e-04 9.99956449e-01 -1.29416692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.717628 meters 0.013695105019481074 Centerline is valid? [True, True] Translation: X:64.90, Y:-10.86, Z:-0.13 [[ 9.62310000e-01 2.71774672e-01 -9.89902247e-03 6.49042863e+01] [-2.71761625e-01 9.62360905e-01 2.66596607e-03 -1.08611754e+01] [ 1.02509743e-02 1.24688616e-04 9.99947450e-01 -1.30283350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77762799999999 meters 0.012168675213512222 Centerline is valid? [True, True] Translation: X:64.96, Y:-10.89, Z:-0.13 [[ 9.63513890e-01 2.67465043e-01 -1.01702260e-02 6.49606958e+01] [-2.67451001e-01 9.63567561e-01 2.74185563e-03 -1.08900884e+01] [ 1.05330504e-02 7.82211387e-05 9.99944523e-01 -1.27474003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.837628 meters 0.012328687031644026 Centerline is valid? [True, True] Translation: X:65.02, Y:-10.92, Z:-0.13 [[ 9.66033398e-01 2.58267069e-01 -8.80882525e-03 6.50154358e+01] [-2.58256130e-01 9.66073559e-01 2.37708885e-03 -1.09226884e+01] [ 9.12389692e-03 -2.14140950e-05 9.99958376e-01 -1.28058345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.897628 meters 0.012800262085198489 Centerline is valid? [True, True] Translation: X:65.07, Y:-10.95, Z:-0.13 [[ 9.67857253e-01 2.51356134e-01 -8.51064093e-03 6.50723094e+01] [-2.51345637e-01 9.67894667e-01 2.29869478e-03 -1.09485036e+01] [ 8.81519501e-03 -8.56959497e-05 9.99961142e-01 -1.25846547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.957628 meters 0.01422861336617354 Centerline is valid? [True, True] Translation: X:65.13, Y:-10.98, Z:-0.13 [[ 9.69813099e-01 2.43695858e-01 -8.65339278e-03 6.51279440e+01] [-2.43684681e-01 9.69851691e-01 2.33939253e-03 -1.09783663e+01] [ 8.96260789e-03 -1.60074256e-04 9.99959822e-01 -1.25922281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.017628 meters 0.014668328131773456 Centerline is valid? [True, True] Translation: X:65.19, Y:-11.00, Z:-0.12 [[ 9.70628872e-01 2.40485482e-01 -6.80627601e-03 6.51855075e+01] [-2.40478475e-01 9.70652724e-01 1.84198916e-03 -1.10044819e+01] [ 7.04950200e-03 -1.51124987e-04 9.99975141e-01 -1.23481941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.077628 meters 0.014291390519984534 Centerline is valid? [True, True] Translation: X:65.24, Y:-11.03, Z:-0.12 [[ 9.70369574e-01 2.41562972e-01 -5.49728401e-03 6.52438185e+01] [-2.41558409e-01 9.70385138e-01 1.48931423e-03 -1.10256691e+01] [ 5.69424588e-03 -1.17270038e-04 9.99983781e-01 -1.21582952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.137628 meters 0.01380041502034027 Centerline is valid? [True, True] Translation: X:65.30, Y:-11.05, Z:-0.12 [[ 9.69162312e-01 2.46336392e-01 -6.54182066e-03 6.53016814e+01] [-2.46330029e-01 9.69184384e-01 1.77380002e-03 -1.10465075e+01] [ 6.77718193e-03 -1.07653254e-04 9.99977029e-01 -1.23473643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.197628 meters 0.012926219660830735 Centerline is valid? [True, True] Translation: X:65.36, Y:-11.07, Z:-0.12 [[ 9.67844981e-01 2.51440296e-01 -7.33962713e-03 6.53607559e+01] [-2.51432430e-01 9.67872807e-01 1.99052853e-03 -1.10674831e+01] [ 7.60432459e-03 -8.11027596e-05 9.99971083e-01 -1.24540456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.257628 meters 0.014821183911965186 Centerline is valid? [True, True] Translation: X:65.42, Y:-11.09, Z:-0.13 [[ 9.66687114e-01 2.55850185e-01 -7.53036957e-03 6.54194341e+01] [-2.55842021e-01 9.66716442e-01 2.04454506e-03 -1.10884509e+01] [ 7.80282931e-03 -4.98503988e-05 9.99969556e-01 -1.27206700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.317628 meters 0.01231581200620277 Centerline is valid? [True, True] Translation: X:65.48, Y:-11.11, Z:-0.13 [[ 9.65605309e-01 2.59906461e-01 -7.41741767e-03 6.54780712e+01] [-2.59898644e-01 9.65633798e-01 2.01583292e-03 -1.11075728e+01] [ 7.68643719e-03 -1.87221734e-05 9.99970459e-01 -1.25243149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.377628 meters 0.012329560668209222 Centerline is valid? [True, True] Translation: X:65.54, Y:-11.13, Z:-0.13 [[ 9.64358132e-01 2.64527920e-01 -6.19452462e-03 6.55360520e+01] [-2.64522553e-01 9.64378027e-01 1.68500821e-03 -1.11281394e+01] [ 6.41959515e-03 1.36400978e-05 9.99979394e-01 -1.25288197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.437628 meters 0.012495994501157341 Centerline is valid? [True, True] Translation: X:65.59, Y:-11.15, Z:-0.12 [[ 9.63670821e-01 2.67055656e-01 -4.45260988e-03 6.55946682e+01] [-2.67052904e-01 9.63681107e-01 1.21270375e-03 -1.11512681e+01] [ 4.61475542e-03 2.04351776e-05 9.99989352e-01 -1.23038154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.497628 meters 0.012781934511371532 Centerline is valid? [True, True] Translation: X:65.65, Y:-11.17, Z:-0.12 [[ 9.62625650e-01 2.70810687e-01 -3.66474492e-03 6.56544328e+01] [-2.70808846e-01 9.62632625e-01 9.99108190e-04 -1.11677846e+01] [ 3.79837220e-03 3.06781718e-05 9.99992786e-01 -1.22588275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.557628 meters 0.014221107566305917 Centerline is valid? [True, True] Translation: X:65.72, Y:-11.18, Z:-0.12 [[ 9.60646721e-01 2.77736812e-01 -4.48779264e-03 6.57155426e+01] [-2.77734121e-01 9.60657201e-01 1.22445058e-03 -1.11780836e+01] [ 4.65130532e-03 7.01487140e-05 9.99989180e-01 -1.23520996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.617628 meters 0.013657187970490921 Centerline is valid? [True, True] Translation: X:65.78, Y:-11.19, Z:-0.13 [[ 9.60998557e-01 2.76434803e-01 -8.09767700e-03 6.57771540e+01] [-2.76425979e-01 9.61032667e-01 2.21162871e-03 -1.11909447e+01] [ 8.39350327e-03 1.13036294e-04 9.99964768e-01 -1.28280843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.677628 meters 0.01367410915274304 Centerline is valid? [True, True] Translation: X:65.84, Y:-11.21, Z:-0.13 [[ 9.61709818e-01 2.73867310e-01 -1.05319846e-02 6.58372750e+01] [-2.73852198e-01 9.61767479e-01 2.87926567e-03 -1.12068525e+01] [ 1.09178571e-02 1.15189088e-04 9.99940392e-01 -1.32193132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.737628 meters 0.012944880592861106 Centerline is valid? [True, True] Translation: X:65.90, Y:-11.23, Z:-0.13 [[ 9.62638707e-01 2.70535289e-01 -1.17208221e-02 6.58951470e+01] [-2.70516289e-01 9.62710055e-01 3.20728636e-03 -1.12306751e+01] [ 1.21514374e-02 8.32153050e-05 9.99926165e-01 -1.29216802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.797628 meters 0.012792662970162799 Centerline is valid? [True, True] Translation: X:65.96, Y:-11.25, Z:-0.13 [[ 9.62631623e-01 2.70567093e-01 -1.15674679e-02 6.59562793e+01] [-2.70548546e-01 9.62701118e-01 3.16892589e-03 -1.12470406e+01] [ 1.19934214e-02 7.90533637e-05 9.99928073e-01 -1.28615788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.857628 meters 0.01574068448555006 Centerline is valid? [True, True] Translation: X:66.02, Y:-11.27, Z:-0.13 [[ 9.63701634e-01 2.66677861e-01 -1.27310053e-02 6.60167422e+01] [-2.66655006e-01 9.63785722e-01 3.49149058e-03 -1.12650560e+01] [ 1.32010644e-02 3.00311183e-05 9.99912862e-01 -1.32755509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.917628 meters 0.012522191259711843 Centerline is valid? [True, True] Translation: X:66.08, Y:-11.29, Z:-0.13 [[ 9.64582970e-01 2.63622389e-01 -9.10663649e-03 6.60762206e+01] [-2.63610547e-01 9.64625957e-01 2.49871018e-03 -1.12851162e+01] [ 9.44321388e-03 -9.60786398e-06 9.99955412e-01 -1.25847982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.977628 meters 0.012771668727808593 Centerline is valid? [True, True] Translation: X:66.13, Y:-11.31, Z:-0.12 [[ 9.66213157e-01 2.57700741e-01 -4.73961270e-03 6.61343445e+01] [-2.57697455e-01 9.66224781e-01 1.30204307e-03 -1.13065404e+01] [ 4.91506870e-03 -3.66650136e-05 9.99987920e-01 -1.19752921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.037628 meters 0.013617939373673787 Centerline is valid? [True, True] Translation: X:66.19, Y:-11.33, Z:-0.12 [[ 9.67672576e-01 2.52181701e-01 -3.76512656e-03 6.61935257e+01] [-2.52179580e-01 9.67679899e-01 1.03543103e-03 -1.13252304e+01] [ 3.90455404e-03 -5.24701774e-05 9.99992376e-01 -1.19677626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.097628 meters 0.013900977340073756 Centerline is valid? [True, True] Translation: X:66.25, Y:-11.34, Z:-0.12 [[ 9.67883954e-01 2.51357104e-01 -4.50082961e-03 6.62536154e+01] [-2.51354061e-01 9.67894416e-01 1.23886930e-03 -1.13423452e+01] [ 4.66772645e-03 -6.77799222e-05 9.99989104e-01 -1.20769716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.157628 meters 0.01672250921176795 Centerline is valid? [True, True] Translation: X:66.31, Y:-11.36, Z:-0.12 [[ 9.67120967e-01 2.54230551e-01 -6.62286354e-03 6.63131924e+01] [-2.54224018e-01 9.67143640e-01 1.82434247e-03 -1.13564719e+01] [ 6.86906395e-03 -8.06688742e-05 9.99976404e-01 -1.24199800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.217628 meters 0.013374859698330417 Centerline is valid? [True, True] Translation: X:66.37, Y:-11.37, Z:-0.13 [[ 9.65577845e-01 2.59962663e-01 -8.87916785e-03 6.63743577e+01] [-2.59951142e-01 9.65618667e-01 2.44807998e-03 -1.13675933e+01] [ 9.21029962e-03 -5.56619739e-05 9.99957583e-01 -1.25247002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27762799999999 meters 0.01367807658265706 Centerline is valid? [True, True] Translation: X:66.43, Y:-11.38, Z:-0.13 [[ 9.65055060e-01 2.61877779e-01 -9.42125709e-03 6.64346695e+01] [-2.61864874e-01 9.65101045e-01 2.60014012e-03 -1.13831436e+01] [ 9.77338398e-03 -4.21820726e-05 9.99952238e-01 -1.26793788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.337628 meters 0.013673907525182813 Centerline is valid? [True, True] Translation: X:66.50, Y:-11.40, Z:-0.13 [[ 9.65080033e-01 2.61811772e-01 -8.66748307e-03 6.64954389e+01] [-2.61800823e-01 9.65118954e-01 2.39469615e-03 -1.14001756e+01] [ 8.99211183e-03 -4.19192420e-05 9.99959569e-01 -1.26525681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.397628 meters 0.013752012371246911 Centerline is valid? [True, True] Translation: X:66.56, Y:-11.42, Z:-0.12 [[ 9.65854651e-01 2.59008815e-01 -6.26314571e-03 6.65560654e+01] [-2.59003025e-01 9.65874956e-01 1.73247647e-03 -1.14182159e+01] [ 6.49814227e-03 -5.11467701e-05 9.99978886e-01 -1.24542653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.457628 meters 0.01716678330929423 Centerline is valid? [True, True] Translation: X:66.61, Y:-11.44, Z:-0.12 [[ 9.66763071e-01 2.55632371e-01 -4.61037429e-03 6.66148334e+01] [-2.55629190e-01 9.66774062e-01 1.27657466e-03 -1.14392715e+01] [ 4.78352409e-03 -5.55989941e-05 9.99988557e-01 -1.24893261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.517628 meters 0.01414051931099862 Centerline is valid? [True, True] Translation: X:66.67, Y:-11.46, Z:-0.12 [[ 9.66420359e-01 2.56962755e-01 -1.35332302e-03 6.66746071e+01] [-2.56962481e-01 9.66421307e-01 3.75377638e-04 -1.14564742e+01] [ 1.40433827e-03 -1.50193516e-05 9.99999014e-01 -1.21234346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.577628 meters 0.014079713981796319 Centerline is valid? [True, True] Translation: X:66.73, Y:-11.47, Z:-0.12 [[ 9.66041523e-01 2.58384725e-01 -1.05338573e-03 6.67339587e+01] [-2.58384560e-01 9.66042097e-01 2.92494214e-04 -1.14725409e+01] [ 1.09319100e-03 -1.03829480e-05 9.99999402e-01 -1.21702003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.637628 meters 0.013711701332985658 Centerline is valid? [True, True] Translation: X:66.79, Y:-11.49, Z:-0.12 [[ 9.65198195e-01 2.61504223e-01 -2.82583514e-03 6.67937116e+01] [-2.61503046e-01 9.65202332e-01 7.84753962e-04 -1.14876367e+01] [ 2.93271915e-03 -1.84786093e-05 9.99995699e-01 -1.23906468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.697628 meters 0.013533669089764453 Centerline is valid? [True, True] Translation: X:66.85, Y:-11.50, Z:-0.13 [[ 9.64048992e-01 2.65683727e-01 -4.65811921e-03 6.68547034e+01] [-2.65680572e-01 9.64060246e-01 1.29478242e-03 -1.15012248e+01] [ 4.83471017e-03 -1.06619118e-05 9.99988313e-01 -1.25598404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.757628 meters 0.013534516002518999 Centerline is valid? [True, True] Translation: X:66.91, Y:-11.51, Z:-0.13 [[ 9.63200418e-01 2.68702686e-01 -6.61982852e-03 6.69146889e+01] [-2.68696377e-01 9.63223165e-01 1.84134820e-03 -1.15145392e+01] [ 6.87114739e-03 5.13658408e-06 9.99976393e-01 -1.28036258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.817628 meters 0.01371031977537746 Centerline is valid? [True, True] Translation: X:66.98, Y:-11.53, Z:-0.13 [[ 9.62937579e-01 2.69557009e-01 -9.49933320e-03 6.69753417e+01] [-2.69544036e-01 9.62984433e-01 2.64459512e-03 -1.15290813e+01] [ 9.86057915e-03 1.39085853e-05 9.99951383e-01 -1.30818439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.877628 meters 0.014005033819347515 Centerline is valid? [True, True] Translation: X:67.03, Y:-11.55, Z:-0.13 [[ 9.64245308e-01 2.64846809e-01 -9.33559716e-03 6.70348998e+01] [-2.64834032e-01 9.64290499e-01 2.60176600e-03 -1.15486146e+01] [ 9.69129707e-03 -3.63568213e-05 9.99953038e-01 -1.31826199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.937628 meters 0.01473776409861912 Centerline is valid? [True, True] Translation: X:67.09, Y:-11.57, Z:-0.13 [[ 9.65959997e-01 2.58634770e-01 -5.41663073e-03 6.70947373e+01] [-2.58630361e-01 9.65975182e-01 1.51131413e-03 -1.15687001e+01] [ 5.62320924e-03 -5.89638356e-05 9.99984188e-01 -1.28511250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.997628 meters 0.016725313804081456 Centerline is valid? [True, True] Translation: X:67.15, Y:-11.59, Z:-0.13 [[ 9.67772515e-01 2.51797511e-01 -3.79118571e-03 6.71531266e+01] [-2.51795299e-01 9.67779938e-01 1.05785253e-03 -1.15917407e+01] [ 3.93539810e-03 -6.91578637e-05 9.99992254e-01 -1.25790720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.057628 meters 0.021118323791665946 Centerline is valid? [True, True] Translation: X:67.21, Y:-11.62, Z:-0.12 [[ 9.70596142e-01 2.40707017e-01 -1.80581460e-03 6.72085860e+01] [-2.40706496e-01 9.70597820e-01 5.03848354e-04 -1.16170500e+01] [ 1.87399955e-03 -5.43619644e-05 9.99998243e-01 -1.23256572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.117628 meters 0.019342767518872154 Centerline is valid? [True, True] Translation: X:67.27, Y:-11.63, Z:-0.12 [[ 9.72035709e-01 2.34828197e-01 -1.51583548e-03 6.72683047e+01] [-2.34827822e-01 9.72036890e-01 4.22989124e-04 -1.16300950e+01] [ 1.57277778e-03 -5.52001874e-05 9.99998762e-01 -1.22620006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.177628 meters 0.019490517286933393 Centerline is valid? [True, True] Translation: X:67.33, Y:-11.65, Z:-0.12 [[ 9.71911851e-01 2.35326984e-01 -2.92644086e-03 6.73294236e+01] [-2.35325587e-01 9.71916251e-01 8.17930411e-04 -1.16453247e+01] [ 3.03673653e-03 -1.06289847e-04 9.99995383e-01 -1.24339527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.237628 meters 0.018784184498559682 Centerline is valid? [True, True] Translation: X:67.39, Y:-11.66, Z:-0.12 [[ 9.71348647e-01 2.37632480e-01 -3.55101753e-03 6.73897605e+01] [-2.37630435e-01 9.71355131e-01 9.93281040e-04 -1.16598770e+01] [ 3.68533493e-03 -1.20992354e-04 9.99993202e-01 -1.24508211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.297628 meters 0.018325710504343437 Centerline is valid? [True, True] Translation: X:67.45, Y:-11.67, Z:-0.12 [[ 9.70117594e-01 2.42619051e-01 -2.80176589e-03 6.74486615e+01] [-2.42617800e-01 9.70121636e-01 7.83422555e-04 -1.16722098e+01] [ 2.90812695e-03 -8.02537287e-05 9.99995768e-01 -1.23523529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.357628 meters 0.016177565735328914 Centerline is valid? [True, True] Translation: X:67.51, Y:-11.68, Z:-0.12 [[ 9.68824026e-01 2.47743054e-01 -1.84023649e-03 6.75098241e+01] [-2.47742523e-01 9.68825773e-01 5.14679918e-04 -1.16813696e+01] [ 1.91037692e-03 -4.27294386e-05 9.99998174e-01 -1.22089061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.417628 meters 0.015175879968063428 Centerline is valid? [True, True] Translation: X:67.57, Y:-11.69, Z:-0.12 [[ 9.67516612e-01 2.52804698e-01 -1.17915871e-03 6.75705810e+01] [-2.52804484e-01 9.67517330e-01 3.29906403e-04 -1.16941370e+01] [ 1.22425838e-03 -2.10933146e-05 9.99999250e-01 -1.22444779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.477628 meters 0.014310337145121295 Centerline is valid? [True, True] Translation: X:67.63, Y:-11.71, Z:-0.12 [[ 9.66801720e-01 2.55524477e-01 -1.29469929e-03 6.76315114e+01] [-2.55524220e-01 9.66802586e-01 3.62919499e-04 -1.17073089e+01] [ 1.34445344e-03 -2.00441684e-05 9.99999096e-01 -1.23183081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.537628 meters 0.014284684397634603 Centerline is valid? [True, True] Translation: X:67.69, Y:-11.72, Z:-0.12 [[ 9.66462806e-01 2.56806491e-01 -2.64886430e-04 6.76901444e+01] [-2.56806480e-01 9.66462843e-01 7.46257383e-05 -1.17227143e+01] [ 2.75167266e-04 -4.09844886e-06 9.99999962e-01 -1.23934420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.597628 meters 0.014299885182894162 Centerline is valid? [True, True] Translation: X:67.75, Y:-11.74, Z:-0.12 [[ 9.66541668e-01 2.56509449e-01 3.25375563e-04 6.77500882e+01] [-2.56509433e-01 9.66541723e-01 -9.07888515e-05 -1.17418859e+01] [-3.37777256e-04 4.28930668e-06 9.99999943e-01 -1.21321314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.657628 meters 0.013991374237118721 Centerline is valid? [True, True] Translation: X:67.81, Y:-11.76, Z:-0.12 [[ 9.66221606e-01 2.57709926e-01 -1.18381568e-03 6.78101236e+01] [-2.57709712e-01 9.66222331e-01 3.32847777e-04 -1.17562582e+01] [ 1.22960733e-03 -1.65239146e-05 9.99999244e-01 -1.22921615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.717628 meters 0.013879351988728666 Centerline is valid? [True, True] Translation: X:67.87, Y:-11.77, Z:-0.12 [[ 9.65530585e-01 2.60279003e-01 -2.35158242e-03 6.78693137e+01] [-2.60278165e-01 9.65533448e-01 6.61297576e-04 -1.17717758e+01] [ 2.44265336e-03 -2.64374783e-05 9.99997016e-01 -1.24312408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77762799999999 meters 0.013407578927128856 Centerline is valid? [True, True] Translation: X:67.93, Y:-11.79, Z:-0.12 [[ 9.65097075e-01 2.61890963e-01 -8.71238667e-04 6.79295224e+01] [-2.61890848e-01 9.65097468e-01 2.45516668e-04 -1.17883054e+01] [ 9.05128828e-04 -8.77798489e-06 9.99999590e-01 -1.22826901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.837628 meters 0.01348318653506448 Centerline is valid? [True, True] Translation: X:67.99, Y:-11.81, Z:-0.12 [[ 9.64993421e-01 2.62272916e-01 -7.83510296e-04 6.79891834e+01] [-2.62272823e-01 9.64993740e-01 2.21081452e-04 -1.18063180e+01] [ 8.14066208e-04 -7.84868885e-06 9.99999669e-01 -1.22864763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.897628 meters 0.013358342189832416 Centerline is valid? [True, True] Translation: X:68.05, Y:-11.82, Z:-0.12 [[ 9.64620994e-01 2.63627275e-01 -2.64551400e-03 6.80499448e+01] [-2.63626219e-01 9.64624621e-01 7.46252063e-04 -1.18232222e+01] [ 2.74866034e-03 -2.24235532e-05 9.99996222e-01 -1.24413461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.957628 meters 0.012982792695367082 Centerline is valid? [True, True] Translation: X:68.11, Y:-11.84, Z:-0.13 [[ 9.63584069e-01 2.67336714e-01 -6.06816827e-03 6.81101871e+01] [-2.67331227e-01 9.63603176e-01 1.71291915e-03 -1.18403035e+01] [ 6.30523240e-03 -2.83307353e-05 9.99980121e-01 -1.27566387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.017628 meters 0.01272834194540883 Centerline is valid? [True, True] Translation: X:68.17, Y:-11.86, Z:-0.13 [[ 9.62039236e-01 2.72838813e-01 -6.28416868e-03 6.81711606e+01] [-2.72833034e-01 9.62059760e-01 1.77576219e-03 -1.18554389e+01] [ 6.53024266e-03 6.17590680e-06 9.99978678e-01 -1.28528447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.077628 meters 0.01499577005724119 Centerline is valid? [True, True] Translation: X:68.23, Y:-11.87, Z:-0.13 [[ 9.60222347e-01 2.79166252e-01 -6.26480343e-03 6.82312475e+01] [-2.79160632e-01 9.60242783e-01 1.77188887e-03 -1.18714405e+01] [ 6.51038385e-03 4.74792016e-05 9.99978806e-01 -1.30120439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.137628 meters 0.01340811148859224 Centerline is valid? [True, True] Translation: X:68.29, Y:-11.89, Z:-0.13 [[ 9.59580310e-01 2.81399469e-01 -4.46854513e-03 6.82915251e+01] [-2.81396627e-01 9.59590713e-01 1.26538930e-03 -1.18902427e+01] [ 4.64405429e-03 4.31908740e-05 9.99989215e-01 -1.26328137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.197628 meters 0.012926803729081969 Centerline is valid? [True, True] Translation: X:68.35, Y:-11.91, Z:-0.12 [[ 9.60637193e-01 2.77802733e-01 -1.35091342e-03 6.83498213e+01] [-2.77802470e-01 9.60638143e-01 3.82683194e-04 -1.19144492e+01] [ 1.40404939e-03 7.66737382e-06 9.99999014e-01 -1.23425357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.257628 meters 0.012851329818450644 Centerline is valid? [True, True] Translation: X:68.41, Y:-11.94, Z:-0.12 [[ 9.61697356e-01 2.74112926e-01 5.46864774e-04 6.84076780e+01] [-2.74112882e-01 9.61697512e-01 -1.54573663e-04 -1.19362217e+01] [-5.68289131e-04 -1.24959615e-06 9.99999839e-01 -1.22479864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.317628 meters 0.013005936779638098 Centerline is valid? [True, True] Translation: X:68.47, Y:-11.96, Z:-0.12 [[ 9.62819459e-01 2.70142753e-01 1.25784947e-03 6.84671639e+01] [-2.70142518e-01 9.62820281e-01 -3.56402262e-04 -1.19580101e+01] [-1.30736246e-03 3.35241162e-06 9.99999145e-01 -1.21788330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.377628 meters 0.013161148145250809 Centerline is valid? [True, True] Translation: X:68.53, Y:-11.97, Z:-0.12 [[ 9.63441063e-01 2.67920243e-01 -2.47490094e-04 6.85273039e+01] [-2.67920233e-01 9.63441095e-01 7.07150934e-05 -1.19723538e+01] [ 2.57388132e-04 -1.82222095e-06 9.99999967e-01 -1.23547323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.437628 meters 0.014018947182780505 Centerline is valid? [True, True] Translation: X:68.59, Y:-11.99, Z:-0.13 [[ 9.65417951e-01 2.60696819e-01 -2.31260526e-03 6.85868957e+01] [-2.60695993e-01 9.65420720e-01 6.57076679e-04 -1.19892630e+01] [ 2.40393484e-03 -3.14666960e-05 9.99997110e-01 -1.26044665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.497628 meters 0.014794944832443459 Centerline is valid? [True, True] Translation: X:68.65, Y:-12.01, Z:-0.13 [[ 9.66239528e-01 2.57633950e-01 -2.43353484e-03 6.86459844e+01] [-2.57633023e-01 9.66242592e-01 6.92376976e-04 -1.20079313e+01] [ 2.52976483e-03 -4.20430663e-05 9.99996799e-01 -1.26337595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.557628 meters 0.018837967625791954 Centerline is valid? [True, True] Translation: X:68.70, Y:-12.03, Z:-0.13 [[ 9.69442986e-01 2.45288891e-01 -3.69562599e-03 6.87033466e+01] [-2.45286665e-01 9.69450023e-01 1.05098308e-03 -1.20298065e+01] [ 3.84051917e-03 -1.12380401e-04 9.99992619e-01 -1.29305303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.617628 meters 0.0197299485942884 Centerline is valid? [True, True] Translation: X:68.76, Y:-12.05, Z:-0.13 [[ 9.71277643e-01 2.37928397e-01 -3.13338843e-03 6.87601891e+01] [-2.37926758e-01 9.71282690e-01 8.91370400e-04 -1.20502831e+01] [ 3.25548827e-03 -1.20251192e-04 9.99994694e-01 -1.28339706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.677628 meters 0.023156702262488192 Centerline is valid? [True, True] Translation: X:68.82, Y:-12.07, Z:-0.13 [[ 9.72811535e-01 2.31582807e-01 -2.66836640e-03 6.88173555e+01] [-2.31581594e-01 9.72815188e-01 7.59015414e-04 -1.20681725e+01] [ 2.77160228e-03 -1.20434407e-04 9.99996152e-01 -1.28206825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.737628 meters 0.020888595815139962 Centerline is valid? [True, True] Translation: X:68.88, Y:-12.08, Z:-0.13 [[ 9.72901886e-01 2.31211057e-01 -1.83506840e-03 6.88786691e+01] [-2.31210481e-01 9.72903613e-01 5.22905580e-04 -1.20797815e+01] [ 1.90624623e-03 -8.44487767e-05 9.99998180e-01 -1.26415568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.797628 meters 0.019731370496186458 Centerline is valid? [True, True] Translation: X:68.94, Y:-12.09, Z:-0.12 [[ 9.71894388e-01 2.35412514e-01 1.49890496e-03 6.89393073e+01] [-2.35412135e-01 9.71895542e-01 -4.26758351e-04 -1.20892206e+01] [-1.55724331e-03 6.19036285e-05 9.99998786e-01 -1.22702018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.857628 meters 0.018594323684253476 Centerline is valid? [True, True] Translation: X:69.00, Y:-12.09, Z:-0.12 [[ 9.70348380e-01 2.41686355e-01 3.42454885e-03 6.89999321e+01] [-2.41684417e-01 9.70354415e-01 -9.75103510e-04 -1.20937426e+01] [-3.55869531e-03 1.18530018e-04 9.99993661e-01 -1.23582279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.917628 meters 0.01790836784210031 Centerline is valid? [True, True] Translation: X:69.06, Y:-12.10, Z:-0.12 [[ 9.69462897e-01 2.45215883e-01 3.29584366e-03 6.90602542e+01] [-2.45214108e-01 9.69468494e-01 -9.38497468e-04 -1.21047919e+01] [-3.42535107e-03 1.01651113e-04 9.99994128e-01 -1.23603993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.977628 meters 0.016538009053075352 Centerline is valid? [True, True] Translation: X:69.12, Y:-12.11, Z:-0.12 [[ 9.68710057e-01 2.48188375e-01 1.83164206e-03 6.91222193e+01] [-2.48187832e-01 9.68711788e-01 -5.21657238e-04 -1.21144219e+01] [-1.90380251e-03 5.07433415e-05 9.99998186e-01 -1.23780369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.037628 meters 0.01585618099478347 Centerline is valid? [True, True] Translation: X:69.18, Y:-12.12, Z:-0.13 [[ 9.68310678e-01 2.49747396e-01 -8.17741915e-04 6.91838846e+01] [-2.49747288e-01 9.68311023e-01 2.33740247e-04 -1.21241778e+01] [ 8.50204528e-04 -2.21043519e-05 9.99999638e-01 -1.26733578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.097628 meters 0.016173075772521205 Centerline is valid? [True, True] Translation: X:69.25, Y:-12.14, Z:-0.13 [[ 9.68180068e-01 2.50239049e-01 -2.78832037e-03 6.92456064e+01] [-2.50237791e-01 9.68184080e-01 7.96864642e-04 -1.21378628e+01] [ 2.89901404e-03 -7.37653309e-05 9.99995795e-01 -1.30438324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.157628 meters 0.01779803526432997 Centerline is valid? [True, True] Translation: X:69.30, Y:-12.16, Z:-0.13 [[ 9.69058516e-01 2.46790646e-01 -4.46869481e-03 6.93037906e+01] [-2.46787375e-01 9.69068810e-01 1.27778666e-03 -1.21558005e+01] [ 4.64581856e-03 -1.35432580e-04 9.99989199e-01 -1.30990632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.217628 meters 0.019821291773541565 Centerline is valid? [True, True] Translation: X:69.36, Y:-12.18, Z:-0.13 [[ 9.70347630e-01 2.41682187e-01 -3.89845905e-03 6.93617208e+01] [-2.41679657e-01 9.70355451e-01 1.11459555e-03 -1.21761795e+01] [ 4.05226888e-03 -1.39366905e-04 9.99991780e-01 -1.29508938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27762799999999 meters 0.023548353972800997 Centerline is valid? [True, True] Translation: X:69.42, Y:-12.20, Z:-0.13 [[ 9.72316155e-01 2.33655482e-01 -2.53193821e-03 6.94178889e+01] [-2.33654386e-01 9.72319445e-01 7.24201861e-04 -1.21967341e+01] [ 2.63106649e-03 -1.12554699e-04 9.99996532e-01 -1.28242658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.337628 meters 0.02627003651699863 Centerline is valid? [True, True] Translation: X:69.47, Y:-12.22, Z:-0.13 [[ 9.73232331e-01 2.29821384e-01 -9.80779701e-04 6.94747927e+01] [-2.29821217e-01 9.73232824e-01 2.80664262e-04 -1.22154892e+01] [ 1.01902965e-03 -4.77475488e-05 9.99999480e-01 -1.27585134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.397628 meters 0.02860105434590356 Centerline is valid? [True, True] Translation: X:69.53, Y:-12.23, Z:-0.13 [[ 9.73985612e-01 2.26606141e-01 -1.29810982e-03 6.95336187e+01] [-2.26605847e-01 9.73986474e-01 3.71421434e-04 -1.22327546e+01] [ 1.34850778e-03 -6.75998580e-05 9.99999088e-01 -1.27491714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.457628 meters 0.02844675188471165 Centerline is valid? [True, True] Translation: X:69.59, Y:-12.24, Z:-0.13 [[ 9.73155133e-01 2.30134831e-01 -2.65453669e-03 6.95929397e+01] [-2.30133613e-01 9.73158745e-01 7.59424952e-04 -1.22437801e+01] [ 2.75805573e-03 -1.28140170e-04 9.99996188e-01 -1.28098156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.517628 meters 0.02487956478157339 Centerline is valid? [True, True] Translation: X:69.66, Y:-12.25, Z:-0.13 [[ 9.70859446e-01 2.39567795e-01 -6.26160279e-03 6.96552842e+01] [-2.39561216e-01 9.70879609e-01 1.79150798e-03 -1.22476186e+01] [ 6.50845009e-03 -2.39265266e-04 9.99978791e-01 -1.32623217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.577628 meters 0.02211668957970443 Centerline is valid? [True, True] Translation: X:69.72, Y:-12.26, Z:-0.13 [[ 9.69125515e-01 2.46422904e-01 -8.45505115e-03 6.97161932e+01] [-2.46411168e-01 9.69162362e-01 2.41920037e-03 -1.22568775e+01] [ 8.79046373e-03 -2.61089778e-04 9.99961329e-01 -1.34546269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63762799999999 meters 0.01412256548098372 Centerline is valid? [True, True] Translation: X:69.78, Y:-12.25, Z:-0.13 [[ 9.66457229e-01 2.56662360e-01 -9.21176575e-03 6.97798486e+01] [-2.56648890e-01 9.66501112e-01 2.63589966e-03 -1.22545825e+01] [ 9.57971806e-03 -1.83294831e-04 9.99954097e-01 -1.32181369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.697628 meters 0.013613548132935539 Centerline is valid? [True, True] Translation: X:69.84, Y:-12.27, Z:-0.13 [[ 9.64746388e-01 2.63022158e-01 -9.15152400e-03 6.98387068e+01] [-2.63009147e-01 9.64789785e-01 2.61884021e-03 -1.22685959e+01] [ 9.51810988e-03 -1.19582106e-04 9.99954695e-01 -1.32797456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.757628 meters 0.012380434033727718 Centerline is valid? [True, True] Translation: X:69.90, Y:-12.28, Z:-0.13 [[ 9.62514893e-01 2.71119952e-01 -7.68459333e-03 6.98992148e+01] [-2.71111031e-01 9.62545568e-01 2.19956570e-03 -1.22822388e+01] [ 7.99311740e-03 -3.37367272e-05 9.99968054e-01 -1.30614811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.817628 meters 0.012116346755098324 Centerline is valid? [True, True] Translation: X:69.96, Y:-12.30, Z:-0.13 [[ 9.60793345e-01 2.77215823e-01 -5.24743854e-03 6.99588817e+01] [-2.77211744e-01 9.60807675e-01 1.50373516e-03 -1.22977980e+01] [ 5.45863840e-03 9.87285728e-06 9.99985101e-01 -1.29162528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.877628 meters 0.012213460266984654 Centerline is valid? [True, True] Translation: X:70.02, Y:-12.32, Z:-0.13 [[ 9.59953051e-01 2.80132249e-01 -4.00792796e-03 7.00190183e+01] [-2.80129890e-01 9.59961417e-01 1.14992959e-03 -1.23168694e+01] [ 4.16958857e-03 1.88619990e-05 9.99991307e-01 -1.28431551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.937628 meters 0.012213377514048067 Centerline is valid? [True, True] Translation: X:70.08, Y:-12.34, Z:-0.13 [[ 9.59796636e-01 2.80670049e-01 -3.83937256e-03 7.00769143e+01] [-2.80667883e-01 9.59804315e-01 1.10276340e-03 -1.23419977e+01] [ 3.99455901e-03 1.91599644e-05 9.99992022e-01 -1.27712469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.997628 meters 0.012172620450715049 Centerline is valid? [True, True] Translation: X:70.14, Y:-12.36, Z:-0.13 [[ 9.60113722e-01 2.79570099e-01 -4.71164553e-03 7.01363132e+01] [-2.79566818e-01 9.60125283e-01 1.35463099e-03 -1.23648305e+01] [ 4.90248432e-03 1.66199490e-05 9.99987983e-01 -1.29335982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.057628 meters 0.0122805475365676 Centerline is valid? [True, True] Translation: X:70.19, Y:-12.39, Z:-0.13 [[ 9.61152109e-01 2.75921404e-01 -7.34862818e-03 7.01924274e+01] [-2.75913303e-01 9.61180201e-01 2.11441826e-03 -1.23930543e+01] [ 7.64676917e-03 -4.69330201e-06 9.99970763e-01 -1.32724829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.117628 meters 0.013012075426499563 Centerline is valid? [True, True] Translation: X:70.25, Y:-12.43, Z:-0.13 [[ 9.63138217e-01 2.68830280e-01 -9.74964447e-03 7.02474438e+01] [-2.68815631e-01 9.63187559e-01 2.80770843e-03 -1.24271939e+01] [ 1.01455333e-02 -8.33544595e-05 9.99948529e-01 -1.33723488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.177628 meters 0.01397791670383243 Centerline is valid? [True, True] Translation: X:70.30, Y:-12.46, Z:-0.13 [[ 9.64935081e-01 2.62308285e-01 -9.72898885e-03 7.03041428e+01] [-2.62293361e-01 9.64984114e-01 2.80220857e-03 -1.24556019e+01] [ 1.01233622e-02 -1.52100169e-04 9.99948746e-01 -1.33008212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.237628 meters 0.016858924126515244 Centerline is valid? [True, True] Translation: X:70.36, Y:-12.49, Z:-0.13 [[ 9.67685340e-01 2.52008838e-01 -8.75376620e-03 7.03566463e+01] [-2.51996334e-01 9.67724905e-01 2.52120715e-03 -1.24891228e+01] [ 9.10660404e-03 -2.33818206e-04 9.99958507e-01 -1.32584471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.297628 meters 0.018882136887426994 Centerline is valid? [True, True] Translation: X:70.41, Y:-12.52, Z:-0.13 [[ 9.69630440e-01 2.44458832e-01 -7.52917948e-03 7.04109003e+01] [-2.44449353e-01 9.69659637e-01 2.16868137e-03 -1.25203280e+01] [ 7.83089475e-03 -2.62316417e-04 9.99969304e-01 -1.30589574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.357628 meters 0.021534242701862584 Centerline is valid? [True, True] Translation: X:70.47, Y:-12.55, Z:-0.13 [[ 9.70413795e-01 2.41366568e-01 -6.26472603e-03 7.04670231e+01] [-2.41359935e-01 9.70433986e-01 1.80540990e-03 -1.25469285e+01] [ 6.51526865e-03 -2.39940799e-04 9.99978747e-01 -1.29512205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.417628 meters 0.02104124979602878 Centerline is valid? [True, True] Translation: X:70.53, Y:-12.57, Z:-0.13 [[ 9.70464916e-01 2.41192951e-01 -4.87923751e-03 7.05274791e+01] [-2.41188916e-01 9.70477163e-01 1.40789147e-03 -1.25658018e+01] [ 5.07476208e-03 -1.89491271e-04 9.99987105e-01 -1.28311902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.477628 meters 0.02110147559468854 Centerline is valid? [True, True] Translation: X:70.59, Y:-12.58, Z:-0.13 [[ 9.69382740e-01 2.45525974e-01 -3.75498163e-03 7.05854169e+01] [-2.45523618e-01 9.69390004e-01 1.08323903e-03 -1.25834573e+01] [ 3.90600497e-03 -1.28136547e-04 9.99992363e-01 -1.27328051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.537628 meters 0.017127165578460675 Centerline is valid? [True, True] Translation: X:70.65, Y:-12.59, Z:-0.13 [[ 9.68527278e-01 2.48886054e-01 -3.26255045e-03 7.06466547e+01] [-2.48884293e-01 9.68532768e-01 9.41433013e-04 -1.25941392e+01] [ 3.39419656e-03 -9.98059907e-05 9.99994235e-01 -1.25837804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.597628 meters 0.01669821468875467 Centerline is valid? [True, True] Translation: X:70.71, Y:-12.61, Z:-0.13 [[ 9.67688054e-01 2.52116935e-01 -4.10877741e-03 7.07072320e+01] [-2.52114165e-01 9.67696770e-01 1.18701486e-03 -1.26082316e+01] [ 4.27531718e-03 -1.12779110e-04 9.99990854e-01 -1.26723766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.657628 meters 0.016614900645354445 Centerline is valid? [True, True] Translation: X:70.77, Y:-12.62, Z:-0.13 [[ 9.67493112e-01 2.52860462e-01 -4.32018255e-03 7.07681683e+01] [-2.52857403e-01 9.67502751e-01 1.24920915e-03 -1.26225881e+01] [ 4.49566410e-03 -1.16211104e-04 9.99989888e-01 -1.28164848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.717628 meters 0.01689926828530872 Centerline is valid? [True, True] Translation: X:70.83, Y:-12.64, Z:-0.13 [[ 9.67568799e-01 2.52589215e-01 -3.05089174e-03 7.08283043e+01] [-2.52587685e-01 9.67573605e-01 8.83286757e-04 -1.26401381e+01] [ 3.17507103e-03 -8.40230257e-05 9.99994956e-01 -1.25648141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77762799999999 meters 0.016545807440961395 Centerline is valid? [True, True] Translation: X:70.89, Y:-12.65, Z:-0.13 [[ 9.67791600e-01 2.51732792e-01 -3.16560578e-03 7.08886246e+01] [-2.51731137e-01 9.67796773e-01 9.17278033e-04 -1.26540264e+01] [ 3.29457201e-03 -9.08524323e-05 9.99994569e-01 -1.25020475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.837628 meters 0.017774644475433792 Centerline is valid? [True, True] Translation: X:70.95, Y:-12.67, Z:-0.13 [[ 9.68184011e-01 2.50208033e-01 -3.95731883e-03 7.09474811e+01] [-2.50205430e-01 9.68192091e-01 1.14751470e-03 -1.26716717e+01] [ 4.11856219e-03 -1.20862723e-04 9.99991511e-01 -1.26569575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.897628 meters 0.01807630741420605 Centerline is valid? [True, True] Translation: X:71.01, Y:-12.69, Z:-0.13 [[ 9.69290514e-01 2.45876218e-01 -4.55912656e-03 7.10061522e+01] [-2.45872717e-01 9.69301222e-01 1.32188513e-03 -1.26882353e+01] [ 4.74418707e-03 -1.60325885e-04 9.99988733e-01 -1.27465900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.957628 meters 0.01978001033341099 Centerline is valid? [True, True] Translation: X:71.06, Y:-12.71, Z:-0.13 [[ 9.69838352e-01 2.43697449e-01 -5.01242341e-03 7.10641045e+01] [-2.43693188e-01 9.69851286e-01 1.45347788e-03 -1.27064174e+01] [ 5.21551415e-03 -1.88145153e-04 9.99986381e-01 -1.28217151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.017628 meters 0.01950665144244372 Centerline is valid? [True, True] Translation: X:71.12, Y:-12.72, Z:-0.13 [[ 9.69125156e-01 2.46500068e-01 -5.84363784e-03 7.11236221e+01] [-2.46494325e-01 9.69142753e-01 1.69471467e-03 -1.27214835e+01] [ 6.08106655e-03 -2.01967060e-04 9.99981490e-01 -1.29906495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.077628 meters 0.019044542473124752 Centerline is valid? [True, True] Translation: X:71.18, Y:-12.74, Z:-0.13 [[ 9.68354572e-01 2.49528551e-01 -4.99258035e-03 7.11825479e+01] [-2.49524398e-01 9.68367429e-01 1.44809040e-03 -1.27382779e+01] [ 5.19599210e-03 -1.56494349e-04 9.99986488e-01 -1.30045312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13762799999999 meters 0.015836713284586735 Centerline is valid? [True, True] Translation: X:71.24, Y:-12.75, Z:-0.13 [[ 9.66856691e-01 2.55225928e-01 -6.91836530e-03 7.12426413e+01] [-2.55218097e-01 9.66881428e-01 2.00690883e-03 -1.27510733e+01] [ 7.20145409e-03 -1.74701199e-04 9.99974054e-01 -1.31329050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.197628 meters 0.015295986517686402 Centerline is valid? [True, True] Translation: X:71.30, Y:-12.77, Z:-0.13 [[ 9.65537863e-01 2.60146416e-01 -7.77675337e-03 7.13002981e+01] [-2.60136679e-01 9.65569168e-01 2.25602102e-03 -1.27679585e+01] [ 8.09588906e-03 -1.55254912e-04 9.99967216e-01 -1.32335486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.257628 meters 0.013042469701351068 Centerline is valid? [True, True] Translation: X:71.36, Y:-12.78, Z:-0.13 [[ 9.63089056e-01 2.69101177e-01 -6.63529696e-03 7.13600337e+01] [-2.69094298e-01 9.63111910e-01 1.92533915e-03 -1.27829360e+01] [ 6.90864456e-03 -6.87524835e-05 9.99976133e-01 -1.30661338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.317628 meters 0.012291646476619974 Centerline is valid? [True, True] Translation: X:71.42, Y:-12.80, Z:-0.13 [[ 9.60538116e-01 2.78054089e-01 -7.24233722e-03 7.14194179e+01] [-2.78046132e-01 9.60565419e-01 2.10356606e-03 -1.27986250e+01] [ 7.54164383e-03 -6.85153207e-06 9.99971561e-01 -1.31985311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.377628 meters 0.012385648826030696 Centerline is valid? [True, True] Translation: X:71.48, Y:-12.82, Z:-0.13 [[ 9.59296569e-01 2.82314777e-01 -6.96123376e-03 7.14792239e+01] [-2.82307521e-01 9.59321826e-01 2.02412058e-03 -1.28168927e+01] [ 7.24950263e-03 2.34767262e-05 9.99973722e-01 -1.32672978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.437628 meters 0.012293941174262805 Centerline is valid? [True, True] Translation: X:71.54, Y:-12.84, Z:-0.13 [[ 9.59008022e-01 2.83342187e-01 -4.56273172e-03 7.15374711e+01] [-2.83339075e-01 9.59018876e-01 1.32806296e-03 -1.28402452e+01] [ 4.75204211e-03 1.91771489e-05 9.99988709e-01 -1.29993221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.497628 meters 0.012343226795140312 Centerline is valid? [True, True] Translation: X:71.60, Y:-12.86, Z:-0.13 [[ 9.58762391e-01 2.84194273e-01 -2.87953518e-03 7.15976627e+01] [-2.84193035e-01 9.58766716e-01 8.39149216e-04 -1.28565347e+01] [ 2.99928388e-03 1.37991308e-05 9.99995502e-01 -1.28838598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.557628 meters 0.01222493892526225 Centerline is valid? [True, True] Translation: X:71.66, Y:-12.87, Z:-0.13 [[ 9.59368354e-01 2.82125943e-01 -4.16098360e-03 7.16579289e+01] [-2.82123332e-01 9.59377377e-01 1.21370276e-03 -1.28748809e+01] [ 4.33437057e-03 9.52254300e-06 9.99990607e-01 -1.28561988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.617628 meters 0.012408648756688838 Centerline is valid? [True, True] Translation: X:71.72, Y:-12.89, Z:-0.13 [[ 9.60701792e-01 2.77535221e-01 -5.12512934e-03 7.17169409e+01] [-2.77531188e-01 9.60715463e-01 1.49623987e-03 -1.28939992e+01] [ 5.33905027e-03 -1.50570867e-05 9.99985747e-01 -1.31439203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.677628 meters 0.013420249085720122 Centerline is valid? [True, True] Translation: X:71.78, Y:-12.92, Z:-0.13 [[ 9.63361031e-01 2.68151810e-01 -5.48913595e-03 7.17753211e+01] [-2.68147031e-01 9.63376667e-01 1.60256464e-03 -1.29154012e+01] [ 5.71783610e-03 -7.19528229e-05 9.99983650e-01 -1.31487605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.737628 meters 0.015515715899138657 Centerline is valid? [True, True] Translation: X:71.83, Y:-12.94, Z:-0.13 [[ 9.66162012e-01 2.57892103e-01 -4.75706225e-03 7.18327397e+01] [-2.57888386e-01 9.66173716e-01 1.38938955e-03 -1.29366263e+01] [ 4.95446110e-03 -1.15584299e-04 9.99987720e-01 -1.29860321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.797628 meters 0.018161441564273708 Centerline is valid? [True, True] Translation: X:71.89, Y:-12.96, Z:-0.13 [[ 9.68473732e-01 2.49076787e-01 -4.40291327e-03 7.18906771e+01] [-2.49073511e-01 9.68483728e-01 1.28596690e-03 -1.29577335e+01] [ 4.58445436e-03 -1.48776097e-04 9.99989480e-01 -1.29423526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.857628 meters 0.023186569530890783 Centerline is valid? [True, True] Translation: X:71.95, Y:-12.98, Z:-0.13 [[ 9.71551935e-01 2.36808007e-01 -2.96748796e-03 7.19469626e+01] [-2.36806461e-01 9.71556457e-01 8.67032666e-04 -1.29802232e+01] [ 3.08840237e-03 -1.39646940e-04 9.99995221e-01 -1.29105091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.917628 meters 0.022683026081032336 Centerline is valid? [True, True] Translation: X:72.01, Y:-13.00, Z:-0.13 [[ 9.72917251e-01 2.31147707e-01 -1.66158896e-03 7.20065094e+01] [-2.31147214e-01 9.72918666e-01 4.85501018e-04 -1.29956476e+01] [ 1.72881336e-03 -8.82806579e-05 9.99998502e-01 -1.27842667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.977628 meters 0.02526884863745737 Centerline is valid? [True, True] Translation: X:72.06, Y:-13.01, Z:-0.13 [[ 9.73961889e-01 2.26697966e-01 -2.50433834e-03 7.20645428e+01] [-2.26696830e-01 9.73965098e-01 7.31944079e-04 -1.30123916e+01] [ 2.60506837e-03 -1.45160073e-04 9.99996596e-01 -1.27847291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.037628 meters 0.026160742005167808 Centerline is valid? [True, True] Translation: X:72.13, Y:-13.02, Z:-0.13 [[ 9.73732617e-01 2.27668610e-01 -3.43440560e-03 7.21259300e+01] [-2.27666477e-01 9.73738653e-01 1.00494575e-03 -1.30245288e+01] [ 3.57300809e-03 -1.96649432e-04 9.99993597e-01 -1.29635543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.097628 meters 0.026996959819023683 Centerline is valid? [True, True] Translation: X:72.18, Y:-13.04, Z:-0.13 [[ 9.73317044e-01 2.29441345e-01 -3.25604843e-03 7.21846225e+01] [-2.29439439e-01 9.73322473e-01 9.52449627e-04 -1.30381182e+01] [ 3.38771643e-03 -1.79969530e-04 9.99994245e-01 -1.29823178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.157628 meters 0.025716076262807783 Centerline is valid? [True, True] Translation: X:72.25, Y:-13.05, Z:-0.13 [[ 9.72753073e-01 2.31828566e-01 -2.64102077e-03 7.22462804e+01] [-2.31827320e-01 9.72756648e-01 7.72676420e-04 -1.30461678e+01] [ 2.74819898e-03 -1.39362595e-04 9.99996214e-01 -1.29797536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.217628 meters 0.02134881541447372 Centerline is valid? [True, True] Translation: X:72.31, Y:-13.05, Z:-0.13 [[ 9.71835042e-01 2.35662061e-01 2.10491864e-04 7.23079878e+01] [-2.35662053e-01 9.71835065e-01 -6.15669567e-05 -1.30507013e+01] [-2.19072370e-04 1.02279813e-05 9.99999976e-01 -1.26600624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27762799999999 meters 0.021107208712172133 Centerline is valid? [True, True] Translation: X:72.37, Y:-13.07, Z:-0.13 [[ 9.71396334e-01 2.37461063e-01 1.18555372e-03 7.23687938e+01] [-2.37460816e-01 9.71397056e-01 -3.46797722e-04 -1.30655648e+01] [-1.23399435e-03 5.53554824e-05 9.99999237e-01 -1.25892975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.337628 meters 0.022990765607275063 Centerline is valid? [True, True] Translation: X:72.43, Y:-13.08, Z:-0.13 [[ 9.70229770e-01 2.42178433e-01 1.94953377e-03 7.24273302e+01] [-2.42177774e-01 9.70231725e-01 -5.70530624e-04 -1.30801284e+01] [-2.02966972e-03 8.14120473e-05 9.99997937e-01 -1.25151558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.397628 meters 0.017039863513024504 Centerline is valid? [True, True] Translation: X:72.49, Y:-13.08, Z:-0.13 [[ 9.67220082e-01 2.53938264e-01 8.19658905e-04 7.24914884e+01] [-2.53938151e-01 9.67220429e-01 -2.39848558e-04 -1.30788309e+01] [-8.53697563e-04 2.38436744e-05 9.99999635e-01 -1.27765198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.457628 meters 0.013173100731415964 Centerline is valid? [True, True] Translation: X:72.55, Y:-13.08, Z:-0.13 [[ 9.63245100e-01 2.68621527e-01 -1.16285948e-03 7.25543194e+01] [-2.68621312e-01 9.63245802e-01 3.40424064e-04 -1.30802607e+01] [ 1.21156475e-03 -1.55429722e-05 9.99999266e-01 -1.30822213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.517628 meters 0.011971880002509329 Centerline is valid? [True, True] Translation: X:72.62, Y:-13.09, Z:-0.13 [[ 9.59385092e-01 2.82085409e-01 -2.84037556e-03 7.26175201e+01] [-2.82084181e-01 9.59389296e-01 8.32613435e-04 -1.30852764e+01] [ 2.95989402e-03 2.42809771e-06 9.99995619e-01 -1.32880991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.577628 meters 0.01275159695577043 Centerline is valid? [True, True] Translation: X:72.68, Y:-13.10, Z:-0.13 [[ 9.56484821e-01 2.91754967e-01 -3.97818264e-03 7.26792515e+01] [-2.91752636e-01 9.56493093e-01 1.16705437e-03 -1.30962196e+01] [ 4.14559813e-03 4.43754830e-05 9.99991406e-01 -1.34075386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63762799999999 meters 0.013323826959583101 Centerline is valid? [True, True] Translation: X:72.74, Y:-13.11, Z:-0.13 [[ 9.55701505e-01 2.94328284e-01 -2.34390620e-03 7.27376745e+01] [-2.94327482e-01 9.55704379e-01 6.87938642e-04 -1.31131464e+01] [ 2.44256122e-03 3.24120136e-05 9.99997016e-01 -1.33544883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.697628 meters 0.012548394588831314 Centerline is valid? [True, True] Translation: X:72.80, Y:-13.14, Z:-0.13 [[ 9.56771596e-01 2.90833512e-01 -1.99532424e-03 7.27953212e+01] [-2.90832921e-01 9.56773677e-01 5.86399477e-04 -1.31382314e+01] [ 2.07961833e-03 1.92556137e-05 9.99997837e-01 -1.33725896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.757628 meters 0.011878554542108476 Centerline is valid? [True, True] Translation: X:72.85, Y:-13.16, Z:-0.13 [[ 9.58443287e-01 2.85280239e-01 -1.28475958e-03 7.28522021e+01] [-2.85279988e-01 9.58444148e-01 3.78064948e-04 -1.31637715e+01] [ 1.33922476e-03 4.16238578e-06 9.99999103e-01 -1.33366118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.817628 meters 0.012196873594310874 Centerline is valid? [True, True] Translation: X:72.91, Y:-13.20, Z:-0.13 [[ 9.60817919e-01 2.77178554e-01 -9.87617845e-04 7.29088192e+01] [-2.77178401e-01 9.60818427e-01 2.91098779e-04 -1.31957368e+01] [ 1.02960776e-03 -5.94658780e-06 9.99999470e-01 -1.32507242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.877628 meters 0.01290334620917103 Centerline is valid? [True, True] Translation: X:72.97, Y:-13.22, Z:-0.14 [[ 9.62439246e-01 2.71474007e-01 -3.54417517e-03 7.29652780e+01] [-2.71472002e-01 9.62445771e-01 1.04424740e-03 -1.32245455e+01] [ 3.69456242e-03 -4.28803502e-05 9.99993174e-01 -1.35090406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.937628 meters 0.013959461737910156 Centerline is valid? [True, True] Translation: X:73.02, Y:-13.25, Z:-0.14 [[ 9.63234397e-01 2.68580492e-01 -6.63452111e-03 7.30208867e+01] [-2.68573400e-01 9.63257239e-01 1.95428542e-03 -1.32502993e+01] [ 6.91563342e-03 -1.00579047e-04 9.99976082e-01 -1.37152097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.997628 meters 0.01524777787942644 Centerline is valid? [True, True] Translation: X:73.08, Y:-13.28, Z:-0.14 [[ 9.64964044e-01 2.62258743e-01 -8.04651996e-03 7.30762251e+01] [-2.62248089e-01 9.64997575e-01 2.37050181e-03 -1.32792007e+01] [ 8.38655708e-03 -1.77264530e-04 9.99964816e-01 -1.38043736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.057628 meters 0.01816865239530228 Centerline is valid? [True, True] Translation: X:73.13, Y:-13.31, Z:-0.14 [[ 9.67573365e-01 2.52516970e-01 -6.07968602e-03 7.31304254e+01] [-2.52510695e-01 9.67592446e-01 1.79121777e-03 -1.33112455e+01] [ 6.33497115e-03 -1.97948866e-04 9.99979914e-01 -1.36378595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.117628 meters 0.019099951197948245 Centerline is valid? [True, True] Translation: X:73.19, Y:-13.34, Z:-0.13 [[ 9.69498984e-01 2.45049708e-01 -4.72874866e-03 7.31866187e+01] [-2.45045822e-01 9.69510497e-01 1.39334125e-03 -1.33362328e+01] [ 4.92600933e-03 -1.92082822e-04 9.99987849e-01 -1.34608323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.177628 meters 0.020199644379715293 Centerline is valid? [True, True] Translation: X:73.24, Y:-13.36, Z:-0.13 [[ 9.70899986e-01 2.39485268e-01 -1.50295698e-04 7.32434014e+01] [-2.39485264e-01 9.70899998e-01 4.43179922e-05 -1.33582614e+01] [ 1.56535599e-04 -7.03473304e-06 9.99999988e-01 -1.30803896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.237628 meters 0.023876045645463213 Centerline is valid? [True, True] Translation: X:73.30, Y:-13.38, Z:-0.13 [[ 9.70956835e-01 2.39253469e-01 7.76568078e-04 7.33009319e+01] [-2.39253362e-01 9.70957144e-01 -2.28620481e-04 -1.33796027e+01] [-8.08712566e-04 3.61840955e-05 9.99999672e-01 -1.30979068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.297628 meters 0.02061813049056801 Centerline is valid? [True, True] Translation: X:73.36, Y:-13.39, Z:-0.13 [[ 9.70690088e-01 2.40330589e-01 -1.40013057e-03 7.33620313e+01] [-2.40330242e-01 9.70691096e-01 4.13731743e-04 -1.33903598e+01] [ 1.45852667e-03 -6.51115834e-05 9.99998934e-01 -1.32955135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.357628 meters 0.023969472910349565 Centerline is valid? [True, True] Translation: X:73.42, Y:-13.41, Z:-0.14 [[ 9.70134827e-01 2.42549926e-01 -2.81959481e-03 7.34209581e+01] [-2.42548526e-01 9.70138917e-01 8.33481102e-04 -1.34083798e+01] [ 2.93755943e-03 -1.24700481e-04 9.99995678e-01 -1.35389128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.417628 meters 0.01999725374834692 Centerline is valid? [True, True] Translation: X:73.48, Y:-13.41, Z:-0.14 [[ 9.69195616e-01 2.46282635e-01 -2.17290100e-03 7.34841316e+01] [-2.46281813e-01 9.69198048e-01 6.42200922e-04 -1.34118641e+01] [ 2.26413434e-03 -8.72723224e-05 9.99997433e-01 -1.36125261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.477628 meters 0.01901230799426636 Centerline is valid? [True, True] Translation: X:73.54, Y:-13.43, Z:-0.14 [[ 9.68363442e-01 2.49542581e-01 -8.62856245e-04 7.35437194e+01] [-2.49542453e-01 9.68363826e-01 2.55075063e-04 -1.34255564e+01] [ 8.99210864e-04 -3.16861028e-05 9.99999595e-01 -1.35133235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.537628 meters 0.018170458365697837 Centerline is valid? [True, True] Translation: X:73.60, Y:-13.44, Z:-0.13 [[ 9.67044261e-01 2.54600376e-01 2.01138710e-03 7.36033375e+01] [-2.54599689e-01 9.67046351e-01 -5.94465155e-04 -1.34366356e+01] [-2.09645561e-03 6.27755857e-05 9.99997800e-01 -1.33533178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.597628 meters 0.015834265725581612 Centerline is valid? [True, True] Translation: X:73.67, Y:-13.44, Z:-0.13 [[ 9.65175735e-01 2.61584857e-01 3.02708753e-03 7.36650609e+01] [-2.61583337e-01 9.65180479e-01 -8.94751660e-04 -1.34435407e+01] [-3.15573928e-03 7.17569338e-05 9.99995018e-01 -1.34956074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.657628 meters 0.013969256497967228 Centerline is valid? [True, True] Translation: X:73.73, Y:-13.46, Z:-0.14 [[ 9.63205675e-01 2.68749576e-01 2.91442759e-03 7.37262474e+01] [-2.68748199e-01 9.63210083e-01 -8.61584270e-04 -1.34552214e+01] [-3.03875644e-03 4.66356943e-05 9.99995382e-01 -1.35531460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.717628 meters 0.01181325442072371 Centerline is valid? [True, True] Translation: X:73.79, Y:-13.46, Z:-0.14 [[ 9.59447590e-01 2.81884399e-01 1.22752833e-03 7.37872966e+01] [-2.81884166e-01 9.59448376e-01 -3.62921197e-04 -1.34609327e+01] [-1.28005189e-03 2.18306813e-06 9.99999181e-01 -1.37037854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77762799999999 meters 0.013039125203305977 Centerline is valid? [True, True] Translation: X:73.85, Y:-13.47, Z:-0.14 [[ 9.55887325e-01 2.93730225e-01 -1.40629907e-03 7.38499237e+01] [-2.93729930e-01 9.55888359e-01 4.16561574e-04 -1.34675948e+01] [ 1.46662164e-03 1.48861999e-05 9.99998924e-01 -1.41824053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.837628 meters 0.013091425284494017 Centerline is valid? [True, True] Translation: X:73.91, Y:-13.49, Z:-0.14 [[ 9.54504848e-01 2.98182505e-01 -2.77275623e-03 7.39089514e+01] [-2.98181378e-01 9.54508875e-01 8.21152265e-04 -1.34855938e+01] [ 2.89147367e-03 4.29904535e-05 9.99995819e-01 -1.42860981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.897628 meters 0.013380925534268532 Centerline is valid? [True, True] Translation: X:73.97, Y:-13.51, Z:-0.14 [[ 9.54016256e-01 2.99719369e-01 -4.61336188e-03 7.39670381e+01] [-2.99716259e-01 9.54027407e-01 1.36757131e-03 -1.35073085e+01] [ 4.81116129e-03 7.80143052e-05 9.99988423e-01 -1.43454223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.957628 meters 0.013185926541559317 Centerline is valid? [True, True] Translation: X:74.02, Y:-13.53, Z:-0.15 [[ 9.54641500e-01 2.97697398e-01 -5.98887495e-03 7.40239699e+01] [-2.97692109e-01 9.54660281e-01 1.77665467e-03 -1.35304778e+01] [ 6.24624651e-03 8.67725331e-05 9.99980488e-01 -1.45937168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.017628 meters 0.012645250303365583 Centerline is valid? [True, True] Translation: X:74.08, Y:-13.56, Z:-0.15 [[ 9.55632047e-01 2.94468260e-01 -7.47220469e-03 7.40807895e+01] [-2.94459913e-01 9.55661257e-01 2.21860664e-03 -1.35584456e+01] [ 7.79420576e-03 8.00931354e-05 9.99969622e-01 -1.47313985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.077628 meters 0.012524266325291059 Centerline is valid? [True, True] Translation: X:74.14, Y:-13.58, Z:-0.15 [[ 9.56052311e-01 2.93080648e-01 -8.22878329e-03 7.41388166e+01] [-2.93070452e-01 9.56087720e-01 2.44578224e-03 -1.35842132e+01] [ 8.58425010e-03 7.33174835e-05 9.99963152e-01 -1.46711787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13762799999999 meters 0.012330783696971983 Centerline is valid? [True, True] Translation: X:74.20, Y:-13.61, Z:-0.15 [[ 9.56411814e-01 2.91878495e-01 -9.13157667e-03 7.41964361e+01] [-2.91865858e-01 9.56455404e-01 2.71691370e-03 -1.36111370e+01] [ 9.52695454e-03 6.67070952e-05 9.99954615e-01 -1.46910420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.197628 meters 0.012597956384205102 Centerline is valid? [True, True] Translation: X:74.25, Y:-13.63, Z:-0.15 [[ 9.56174804e-01 2.92648438e-01 -9.30785203e-03 7.42543102e+01] [-2.92635319e-01 9.56220104e-01 2.77198405e-03 -1.36330129e+01] [ 9.71157204e-03 7.33049429e-05 9.99952839e-01 -1.47056339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.257628 meters 0.012902853264260189 Centerline is valid? [True, True] Translation: X:74.31, Y:-13.65, Z:-0.14 [[ 9.54975066e-01 2.96546982e-01 -9.08357131e-03 7.43135833e+01] [-2.96534640e-01 9.55018260e-01 2.70763410e-03 -1.36505692e+01] [ 9.47791718e-03 1.07870499e-04 9.99955078e-01 -1.44942919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.317628 meters 0.01369541408672308 Centerline is valid? [True, True] Translation: X:74.37, Y:-13.66, Z:-0.15 [[ 9.53913147e-01 2.99910552e-01 -1.01670582e-02 7.43745505e+01] [-2.99895255e-01 9.53967314e-01 3.03303205e-03 -1.36615586e+01] [ 1.06086795e-02 1.55803361e-04 9.99943714e-01 -1.45612789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.377628 meters 0.01347032836099978 Centerline is valid? [True, True] Translation: X:74.44, Y:-13.68, Z:-0.15 [[ 9.54118451e-01 2.99239932e-01 -1.06510420e-02 7.44355718e+01] [-2.99223065e-01 9.54177887e-01 3.18074666e-03 -1.36762692e+01] [ 1.11147951e-02 1.52228343e-04 9.99938217e-01 -1.46045646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.437628 meters 0.012945921747642974 Centerline is valid? [True, True] Translation: X:74.49, Y:-13.70, Z:-0.14 [[ 9.54940024e-01 2.96674223e-01 -8.59972118e-03 7.44934501e+01] [-2.96663105e-01 9.54978741e-01 2.57024882e-03 -1.36953300e+01] [ 8.97507748e-03 9.67865197e-05 9.99959718e-01 -1.43023582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.497628 meters 0.012379435689270059 Centerline is valid? [True, True] Translation: X:74.55, Y:-13.72, Z:-0.14 [[ 9.55492528e-01 2.94908886e-01 -7.92331144e-03 7.45515475e+01] [-2.94899369e-01 9.55525376e-01 2.37033045e-03 -1.37167962e+01] [ 8.26995665e-03 7.17465107e-05 9.99965801e-01 -1.40862484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.557628 meters 0.012313231891789712 Centerline is valid? [True, True] Translation: X:74.61, Y:-13.74, Z:-0.14 [[ 9.55948638e-01 2.93371927e-01 -9.75266501e-03 7.46116009e+01] [-2.93357397e-01 9.55998383e-01 2.92056201e-03 -1.37359847e+01] [ 1.01803429e-02 6.91091461e-05 9.99948177e-01 -1.43582006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.617628 meters 0.01244471179139433 Centerline is valid? [True, True] Translation: X:74.67, Y:-13.76, Z:-0.14 [[ 9.56351621e-01 2.91999986e-01 -1.12953413e-02 7.46704517e+01] [-2.91980364e-01 9.56418321e-01 3.38563378e-03 -1.37556439e+01] [ 1.17916764e-02 6.01615040e-05 9.99930474e-01 -1.44840027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.677628 meters 0.011944013999975795 Centerline is valid? [True, True] Translation: X:74.73, Y:-13.78, Z:-0.14 [[ 9.56917587e-01 2.90196839e-01 -9.72244957e-03 7.47288515e+01] [-2.90182181e-01 9.56966976e-01 2.91684729e-03 -1.37755315e+01] [ 1.01505230e-02 3.00991531e-05 9.99948482e-01 -1.41390221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.737628 meters 0.011884706904445876 Centerline is valid? [True, True] Translation: X:74.79, Y:-13.79, Z:-0.14 [[ 9.56958179e-01 2.90129919e-01 -7.46146878e-03 7.47884785e+01] [-2.90121267e-01 9.56987267e-01 2.24064780e-03 -1.37930724e+01] [ 7.79060958e-03 2.05245363e-05 9.99969653e-01 -1.39752879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.797628 meters 0.011814352500926667 Centerline is valid? [True, True] Translation: X:74.85, Y:-13.81, Z:-0.14 [[ 9.56865171e-01 2.90459299e-01 -6.51456109e-03 7.48486584e+01] [-2.90452697e-01 9.56887347e-01 1.95844317e-03 -1.38107407e+01] [ 6.80254911e-03 1.82057821e-05 9.99976862e-01 -1.38345523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.857628 meters 0.011736972657843351 Centerline is valid? [True, True] Translation: X:74.91, Y:-13.83, Z:-0.14 [[ 9.57548771e-01 2.88157139e-01 -8.11257477e-03 7.49089270e+01] [-2.88146798e-01 9.57583136e-01 2.44121236e-03 -1.38302231e+01] [ 8.47191756e-03 3.25433822e-08 9.99964113e-01 -1.41041739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.917628 meters 0.011956001836634042 Centerline is valid? [True, True] Translation: X:74.97, Y:-13.85, Z:-0.14 [[ 9.58499863e-01 2.84908634e-01 -1.02510016e-02 7.49672388e+01] [-2.84891909e-01 9.58554677e-01 3.08728750e-03 -1.38503904e+01] [ 1.07057404e-02 -3.87372307e-05 9.99942691e-01 -1.41558208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.977628 meters 0.012170620143974712 Centerline is valid? [True, True] Translation: X:75.03, Y:-13.87, Z:-0.14 [[ 9.58776002e-01 2.83948656e-01 -1.10335221e-02 7.50265130e+01] [-2.83929183e-01 9.58839485e-01 3.32586504e-03 -1.38679658e+01] [ 1.15237516e-02 -5.60206697e-05 9.99933598e-01 -1.42350909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.037628 meters 0.012513312129317939 Centerline is valid? [True, True] Translation: X:75.09, Y:-13.89, Z:-0.14 [[ 9.58923241e-01 2.83390959e-01 -1.24812843e-02 7.50854483e+01] [-2.83365973e-01 9.59004463e-01 3.76380003e-03 -1.38851238e+01] [ 1.30362342e-02 -7.24240558e-05 9.99915022e-01 -1.44223687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.097628 meters 0.01217404618378352 Centerline is valid? [True, True] Translation: X:75.15, Y:-13.90, Z:-0.14 [[ 9.58887283e-01 2.83456709e-01 -1.36920283e-02 7.51452127e+01] [-2.83426591e-01 9.58985030e-01 4.13280648e-03 -1.39013815e+01] [ 1.43019219e-02 -8.22106635e-05 9.99897719e-01 -1.43591086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.157628 meters 0.01232523337099999 Centerline is valid? [True, True] Translation: X:75.21, Y:-13.92, Z:-0.15 [[ 9.58637963e-01 2.84281260e-01 -1.40506896e-02 7.52050549e+01] [-2.84249595e-01 9.58740924e-01 4.24361688e-03 -1.39180201e+01] [ 1.46773519e-02 -7.41894176e-05 9.99892279e-01 -1.45108892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.217628 meters 0.011917539080622212 Centerline is valid? [True, True] Translation: X:75.27, Y:-13.93, Z:-0.14 [[ 9.57662089e-01 2.87587572e-01 -1.32933101e-02 7.52650141e+01] [-2.87559495e-01 9.57754346e-01 4.01855373e-03 -1.39330595e+01] [ 1.38874117e-02 -2.57990054e-05 9.99903565e-01 -1.43330032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27762799999999 meters 0.011665823189144768 Centerline is valid? [True, True] Translation: X:75.33, Y:-13.95, Z:-0.14 [[ 9.57015724e-01 2.89777880e-01 -1.22345192e-02 7.53250358e+01] [-2.89754234e-01 9.57093924e-01 3.70183992e-03 -1.39486431e+01] [ 1.27822953e-02 2.28473257e-06 9.99918303e-01 -1.41627190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.337628 meters 0.011779354374082845 Centerline is valid? [True, True] Translation: X:75.38, Y:-13.97, Z:-0.14 [[ 9.56849920e-01 2.90326883e-01 -1.21873692e-02 7.53846139e+01] [-2.90303414e-01 9.56927532e-01 3.69139925e-03 -1.39680040e+01] [ 1.27341415e-02 5.91980605e-06 9.99918918e-01 -1.41581805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.397628 meters 0.011808876216283381 Centerline is valid? [True, True] Translation: X:75.44, Y:-13.99, Z:-0.14 [[ 9.56948896e-01 2.90005222e-01 -1.20739892e-02 7.54444843e+01] [-2.89982115e-01 9.57025063e-01 3.66082431e-03 -1.39882258e+01] [ 1.26167685e-02 -1.98085379e-06 9.99920405e-01 -1.41387874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.457628 meters 0.011956397324954111 Centerline is valid? [True, True] Translation: X:75.50, Y:-14.01, Z:-0.14 [[ 9.57276739e-01 2.88929118e-01 -1.18831321e-02 7.55025478e+01] [-2.88906611e-01 9.57350492e-01 3.60633640e-03 -1.40087191e+01] [ 1.24182980e-02 -1.91465125e-05 9.99922890e-01 -1.42282192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.517628 meters 0.012283951063824829 Centerline is valid? [True, True] Translation: X:75.56, Y:-14.03, Z:-0.14 [[ 9.57965326e-01 2.86667873e-01 -1.11339704e-02 7.55607289e+01] [-2.86647926e-01 9.58030025e-01 3.38207408e-03 -1.40317140e+01] [ 1.16362099e-02 -4.83801697e-05 9.99932296e-01 -1.41397275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.577628 meters 0.012089100308833077 Centerline is valid? [True, True] Translation: X:75.62, Y:-14.05, Z:-0.14 [[ 9.57533021e-01 2.88184534e-01 -8.95478327e-03 7.56206287e+01] [-2.88171676e-01 9.57574892e-01 2.72245207e-03 -1.40495677e+01] [ 9.35944420e-03 -2.63228545e-05 9.99956199e-01 -1.40030367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63762799999999 meters 0.011989976971023168 Centerline is valid? [True, True] Translation: X:75.68, Y:-14.07, Z:-0.14 [[ 9.56778047e-01 2.90649294e-01 -9.93762860e-03 7.56812426e+01] [-2.90633559e-01 9.56829655e-01 3.02429359e-03 -1.40666710e+01] [ 1.03876265e-02 -5.36934130e-06 9.99946047e-01 -1.39956075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.697628 meters 0.012118986795015925 Centerline is valid? [True, True] Translation: X:75.74, Y:-14.08, Z:-0.14 [[ 9.55448569e-01 2.94883011e-01 -1.27295618e-02 7.57417901e+01] [-2.94857525e-01 9.55533363e-01 3.87720974e-03 -1.40821703e+01] [ 1.33068443e-02 4.89325850e-05 9.99911459e-01 -1.41778541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.757628 meters 0.012477858068461247 Centerline is valid? [True, True] Translation: X:75.80, Y:-14.10, Z:-0.14 [[ 9.54436043e-01 2.98082942e-01 -1.40854678e-02 7.58024669e+01] [-2.98052030e-01 9.54539968e-01 4.29391989e-03 -1.40974717e+01] [ 1.47250863e-02 9.99303726e-05 9.99891575e-01 -1.43215026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.817628 meters 0.012613965436267933 Centerline is valid? [True, True] Translation: X:75.86, Y:-14.11, Z:-0.14 [[ 9.54059207e-01 2.99263571e-01 -1.45720544e-02 7.58623601e+01] [-2.99230564e-01 9.54170478e-01 4.44617777e-03 -1.41136164e+01] [ 1.52348032e-02 1.18487233e-04 9.99883937e-01 -1.43380474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.877628 meters 0.012388636295243812 Centerline is valid? [True, True] Translation: X:75.92, Y:-14.13, Z:-0.14 [[ 9.54236355e-01 2.98783105e-01 -1.27135585e-02 7.59212538e+01] [-2.98757892e-01 9.54321040e-01 3.88258546e-03 -1.41319514e+01] [ 1.32928673e-02 9.33717520e-05 9.99911642e-01 -1.41568270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.937628 meters 0.012070010295879173 Centerline is valid? [True, True] Translation: X:75.98, Y:-14.15, Z:-0.14 [[ 9.55385425e-01 2.95171497e-01 -1.06055495e-02 7.59794391e+01] [-2.95153697e-01 9.55444287e-01 3.24178390e-03 -1.41534515e+01] [ 1.10898939e-02 3.31140668e-05 9.99938505e-01 -1.39057536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.997628 meters 0.012056780889119226 Centerline is valid? [True, True] Translation: X:76.04, Y:-14.18, Z:-0.14 [[ 9.57415018e-01 2.88618993e-01 -7.45385033e-03 7.60368762e+01] [-2.88609985e-01 9.57444033e-01 2.28055495e-03 -1.41788498e+01] [ 7.79485599e-03 -3.21819246e-05 9.99969619e-01 -1.35382811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.057628 meters 0.012317707251512055 Centerline is valid? [True, True] Translation: X:76.10, Y:-14.20, Z:-0.13 [[ 9.58268958e-01 2.85816759e-01 -5.42065801e-03 7.60961557e+01] [-2.85811940e-01 9.58284289e-01 1.66032897e-03 -1.42002510e+01] [ 5.66908125e-03 -4.17529324e-05 9.99983930e-01 -1.33765281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.117628 meters 0.01239953108622956 Centerline is valid? [True, True] Translation: X:76.16, Y:-14.22, Z:-0.13 [[ 9.58331717e-01 2.85626379e-01 -4.22998484e-03 7.61550499e+01] [-2.85623437e-01 9.58341051e-01 1.29689762e-03 -1.42191031e+01] [ 4.42419629e-03 -3.46753215e-05 9.99990213e-01 -1.33555191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.177628 meters 0.012219230608574867 Centerline is valid? [True, True] Translation: X:76.21, Y:-14.24, Z:-0.13 [[ 9.57400413e-01 2.88714753e-01 -5.31417491e-03 7.62139721e+01] [-2.88710151e-01 9.57415161e-01 1.63040541e-03 -1.42353904e+01] [ 5.55859372e-03 -2.66945692e-05 9.99984551e-01 -1.34051710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.237628 meters 0.012184867529280701 Centerline is valid? [True, True] Translation: X:76.27, Y:-14.25, Z:-0.14 [[ 9.56697063e-01 2.90968633e-01 -8.24528057e-03 7.62745743e+01] [-2.90957620e-01 9.56732593e-01 2.53163700e-03 -1.42501883e+01] [ 8.62515562e-03 -2.29824740e-05 9.99962802e-01 -1.37713269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.297628 meters 0.012105233306373045 Centerline is valid? [True, True] Translation: X:76.33, Y:-14.27, Z:-0.14 [[ 9.56319685e-01 2.92177031e-01 -9.23265529e-03 7.63349917e+01] [-2.92163251e-01 9.56364252e-01 2.83769062e-03 -1.42663239e+01] [ 9.65888949e-03 -1.62968202e-05 9.99953352e-01 -1.38548449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.357628 meters 0.012231554160640664 Centerline is valid? [True, True] Translation: X:76.40, Y:-14.28, Z:-0.14 [[ 9.57046334e-01 2.89818019e-01 -8.23595704e-03 7.63951125e+01] [-2.89806944e-01 9.57081770e-01 2.53397930e-03 -1.42848888e+01] [ 8.61687720e-03 -3.82980610e-05 9.99962873e-01 -1.37355724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.417628 meters 0.012696184670032482 Centerline is valid? [True, True] Translation: X:76.45, Y:-14.30, Z:-0.14 [[ 9.58328299e-01 2.85590702e-01 -6.69486206e-03 7.64535229e+01] [-2.85583269e-01 9.58351682e-01 2.06150778e-03 -1.43045518e+01] [ 7.00477977e-03 -6.36606497e-05 9.99975464e-01 -1.36661228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.477628 meters 0.013401511833057033 Centerline is valid? [True, True] Translation: X:76.51, Y:-14.33, Z:-0.14 [[ 9.59292208e-01 2.82351201e-01 -6.02152110e-03 7.65117632e+01] [-2.82345113e-01 9.59311103e-01 1.85584664e-03 -1.43251145e+01] [ 6.30051258e-03 -8.01521677e-05 9.99980148e-01 -1.35859351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.537628 meters 0.01645265117849719 Centerline is valid? [True, True] Translation: X:76.57, Y:-14.35, Z:-0.14 [[ 9.60439583e-01 2.78443181e-01 -5.02010202e-03 7.65704171e+01] [-2.78438889e-01 9.60452699e-01 1.54862831e-03 -1.43457806e+01] [ 5.25277552e-03 -8.95722985e-05 9.99986200e-01 -1.36592553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.597628 meters 0.014284476939157426 Centerline is valid? [True, True] Translation: X:76.63, Y:-14.36, Z:-0.13 [[ 9.60469372e-01 2.78331517e-01 -5.49110840e-03 7.66305354e+01] [-2.78326370e-01 9.60485063e-01 1.69563608e-03 -1.43635550e+01] [ 5.74607656e-03 -1.00286257e-04 9.99983486e-01 -1.34533610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.657628 meters 0.01612129554074342 Centerline is valid? [True, True] Translation: X:76.69, Y:-14.38, Z:-0.14 [[ 9.60236398e-01 2.79104870e-01 -6.82133890e-03 7.66906834e+01] [-2.79096932e-01 9.60260619e-01 2.10840249e-03 -1.43806972e+01] [ 7.13872852e-03 -1.20750057e-04 9.99974512e-01 -1.37547294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.717628 meters 0.013798028061230531 Centerline is valid? [True, True] Translation: X:76.75, Y:-14.40, Z:-0.13 [[ 9.59538126e-01 2.81504922e-01 -6.44693683e-03 7.67505624e+01] [-2.81497884e-01 9.59559779e-01 1.99298325e-03 -1.43988882e+01] [ 6.74725588e-03 -9.75443381e-05 9.99977232e-01 -1.34273734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77762799999999 meters 0.013219019473435994 Centerline is valid? [True, True] Translation: X:76.81, Y:-14.41, Z:-0.13 [[ 9.58859146e-01 2.83836665e-01 -5.08778340e-03 7.68110142e+01] [-2.83832305e-01 9.58872642e-01 1.57451636e-03 -1.44146783e+01] [ 5.32544178e-03 -6.56621268e-05 9.99985818e-01 -1.33329903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.837628 meters 0.013005759872304864 Centerline is valid? [True, True] Translation: X:76.87, Y:-14.43, Z:-0.13 [[ 9.58093530e-01 2.86412052e-01 -4.99244913e-03 7.68710492e+01] [-2.86407882e-01 9.58106536e-01 1.54635961e-03 -1.44309459e+01] [ 5.22619417e-03 -5.16803579e-05 9.99986342e-01 -1.33808699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.897628 meters 0.012659952986407279 Centerline is valid? [True, True] Translation: X:76.93, Y:-14.45, Z:-0.13 [[ 9.57116082e-01 2.89657214e-01 -5.24445527e-03 7.69307850e+01] [-2.89652654e-01 9.57130449e-01 1.62579961e-03 -1.44480997e+01] [ 5.49055241e-03 -3.70085641e-05 9.99984926e-01 -1.33348049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.957628 meters 0.012294640667175229 Centerline is valid? [True, True] Translation: X:76.99, Y:-14.46, Z:-0.13 [[ 9.55620707e-01 2.94565824e-01 -4.47652359e-03 7.69902138e+01] [-2.94562550e-01 9.55631192e-01 1.38886380e-03 -1.44639373e+01] [ 4.68701738e-03 -8.61080421e-06 9.99989016e-01 -1.33099442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.017628 meters 0.012393107105903757 Centerline is valid? [True, True] Translation: X:77.05, Y:-14.48, Z:-0.13 [[ 9.53585136e-01 3.01104775e-01 -3.36198067e-03 7.70519553e+01] [-3.01102965e-01 9.53591062e-01 1.04426274e-03 -1.44780246e+01] [ 3.52038722e-03 1.65089154e-05 9.99993803e-01 -1.32591468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.077628 meters 0.01296690948861212 Centerline is valid? [True, True] Translation: X:77.11, Y:-14.49, Z:-0.13 [[ 9.52160997e-01 3.05573076e-01 -3.81199688e-03 7.71119000e+01] [-3.05570781e-01 9.52168627e-01 1.18491193e-03 -1.44937357e+01] [ 3.99174102e-03 3.66079440e-05 9.99992032e-01 -1.32608381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13762799999999 meters 0.013147900070981216 Centerline is valid? [True, True] Translation: X:77.17, Y:-14.51, Z:-0.13 [[ 9.51482543e-01 3.07675121e-01 -4.12184704e-03 7.71718544e+01] [-3.07672453e-01 9.51491470e-01 1.28232304e-03 -1.45112422e+01] [ 4.31644119e-03 4.80707990e-05 9.99990683e-01 -1.33481321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.197628 meters 0.012935075911372763 Centerline is valid? [True, True] Translation: X:77.23, Y:-14.53, Z:-0.13 [[ 9.51806319e-01 3.06665110e-01 -4.60878193e-03 7.72308093e+01] [-3.06661756e-01 9.51817476e-01 1.43501820e-03 -1.45303738e+01] [ 4.82678920e-03 4.74777677e-05 9.99988350e-01 -1.34430315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.257628 meters 0.012436866713122413 Centerline is valid? [True, True] Translation: X:77.29, Y:-14.55, Z:-0.13 [[ 9.53187877e-01 3.02335749e-01 -5.09561557e-03 7.72888101e+01] [-3.02331580e-01 9.53201497e-01 1.58793581e-03 -1.45536697e+01] [ 5.33723815e-03 2.69643473e-05 9.99985756e-01 -1.33340868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.317628 meters 0.012359255285799283 Centerline is valid? [True, True] Translation: X:77.35, Y:-14.58, Z:-0.13 [[ 9.54619394e-01 2.97784167e-01 -5.13825332e-03 7.73469478e+01] [-2.97779855e-01 9.54633223e-01 1.60265655e-03 -1.45760317e+01] [ 5.38239307e-03 1.41300346e-07 9.99985515e-01 -1.33275036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.377628 meters 0.013038344208113718 Centerline is valid? [True, True] Translation: X:77.40, Y:-14.60, Z:-0.13 [[ 9.57498171e-01 2.88376809e-01 -6.00563407e-03 7.74029983e+01] [-2.88370723e-01 9.57517003e-01 1.87460770e-03 -1.46021470e+01] [ 6.29109013e-03 -6.30844053e-05 9.99980209e-01 -1.33972127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.437628 meters 0.015577914466080223 Centerline is valid? [True, True] Translation: X:77.46, Y:-14.63, Z:-0.14 [[ 9.60861973e-01 2.76939430e-01 -6.98726549e-03 7.74584963e+01] [-2.76930888e-01 9.60887364e-01 2.18099615e-03 -1.46288205e+01] [ 7.31797895e-03 -1.60646630e-04 9.99973210e-01 -1.35574717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.497628 meters 0.018180335090545702 Centerline is valid? [True, True] Translation: X:77.52, Y:-14.65, Z:-0.14 [[ 9.63227957e-01 2.68592800e-01 -7.05771836e-03 7.75150256e+01] [-2.68583860e-01 9.63253786e-01 2.20313924e-03 -1.46530919e+01] [ 7.39012127e-03 -2.26536071e-04 9.99972667e-01 -1.35082807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.557628 meters 0.021113961241919908 Centerline is valid? [True, True] Translation: X:77.57, Y:-14.68, Z:-0.13 [[ 9.66493857e-01 2.56644878e-01 -4.79900141e-03 7.75713785e+01] [-2.56640596e-01 9.66505748e-01 1.49816847e-03 -1.46766838e+01] [ 5.02275971e-03 -2.16352044e-04 9.99987362e-01 -1.32347286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.617628 meters 0.023301523899168116 Centerline is valid? [True, True] Translation: X:77.63, Y:-14.70, Z:-0.13 [[ 9.68064485e-01 2.50661515e-01 -4.46742126e-03 7.76292270e+01] [-2.50657740e-01 9.68074766e-01 1.39480913e-03 -1.46971352e+01] [ 4.67442276e-03 -2.30471460e-04 9.99989048e-01 -1.31754124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.677628 meters 0.02513158565631602 Centerline is valid? [True, True] Translation: X:77.69, Y:-14.71, Z:-0.13 [[ 9.68879369e-01 2.47499637e-01 -4.08626904e-03 7.76877149e+01] [-2.47496451e-01 9.68887960e-01 1.27587056e-03 -1.47139886e+01] [ 4.27491437e-03 -2.24827582e-04 9.99990837e-01 -1.30978376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.737628 meters 0.024558504675360412 Centerline is valid? [True, True] Translation: X:77.75, Y:-14.72, Z:-0.13 [[ 9.67777304e-01 2.51774798e-01 -4.06709285e-03 7.77489187e+01] [-2.51771678e-01 9.67785828e-01 1.27000142e-03 -1.47242720e+01] [ 4.25582917e-03 -2.05099759e-04 9.99990923e-01 -1.30807380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.797628 meters 0.02204122843948101 Centerline is valid? [True, True] Translation: X:77.81, Y:-14.73, Z:-0.13 [[ 9.65435663e-01 2.60623634e-01 -3.04984213e-03 7.78113779e+01] [-2.60621924e-01 9.65440472e-01 9.52472213e-04 -1.47292889e+01] [ 3.19267780e-03 -1.24694918e-04 9.99994896e-01 -1.30357380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.857628 meters 0.01721070482789669 Centerline is valid? [True, True] Translation: X:77.87, Y:-14.73, Z:-0.13 [[ 9.63176048e-01 2.68845685e-01 -3.72790130e-03 7.78748911e+01] [-2.68843191e-01 9.63183255e-01 1.16430606e-03 -1.47311123e+01] [ 3.90367077e-03 -1.19210833e-04 9.99992374e-01 -1.30680641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.917628 meters 0.015009405660052898 Centerline is valid? [True, True] Translation: X:77.94, Y:-14.74, Z:-0.13 [[ 9.61699307e-01 2.74062150e-01 -4.93771285e-03 7.79370948e+01] [-2.74057840e-01 9.61711974e-01 1.54236567e-03 -1.47377541e+01] [ 5.17136162e-03 -1.30073081e-04 9.99986620e-01 -1.33005536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.977628 meters 0.01546068755875625 Centerline is valid? [True, True] Translation: X:78.00, Y:-14.75, Z:-0.13 [[ 9.60853973e-01 2.76998184e-01 -5.62576365e-03 7.79964152e+01] [-2.76992630e-01 9.60870433e-01 1.75920737e-03 -1.47539830e+01] [ 5.89292720e-03 -1.32046323e-04 9.99982628e-01 -1.34186689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.037628 meters 0.013629793232872995 Centerline is valid? [True, True] Translation: X:78.06, Y:-14.76, Z:-0.13 [[ 9.59149083e-01 2.82855608e-01 -5.07368735e-03 7.80585215e+01] [-2.82851172e-01 9.59162498e-01 1.58643712e-03 -1.47608176e+01] [ 5.31522327e-03 -8.65312983e-05 9.99985870e-01 -1.32412033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.097628 meters 0.013326331606587668 Centerline is valid? [True, True] Translation: X:78.12, Y:-14.77, Z:-0.13 [[ 9.58426392e-01 2.85320918e-01 -3.29000796e-03 7.81194514e+01] [-2.85319063e-01 9.58432038e-01 1.02990526e-03 -1.47698764e+01] [ 3.44710255e-03 -4.83863970e-05 9.99994058e-01 -1.32058361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.157628 meters 0.013575336444751788 Centerline is valid? [True, True] Translation: X:78.18, Y:-14.78, Z:-0.13 [[ 9.58673335e-01 2.84501192e-01 -2.12307171e-03 7.81796795e+01] [-2.84500416e-01 9.58675686e-01 6.65410655e-04 -1.47831645e+01] [ 2.22464735e-03 -3.38966683e-05 9.99997525e-01 -1.31986885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.217628 meters 0.013967577375643267 Centerline is valid? [True, True] Translation: X:78.24, Y:-14.80, Z:-0.13 [[ 9.58962806e-01 2.83523461e-01 -2.18700725e-03 7.82398421e+01] [-2.83522634e-01 9.58965300e-01 6.85978722e-04 -1.47997082e+01] [ 2.29175513e-03 -3.77620234e-05 9.99997373e-01 -1.31423961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27762799999999 meters 0.01474963042848713 Centerline is valid? [True, True] Translation: X:78.30, Y:-14.81, Z:-0.13 [[ 9.59309276e-01 2.82349167e-01 -2.15906090e-03 7.82993028e+01] [-2.82348357e-01 9.59311704e-01 6.77703897e-04 -1.48142131e+01] [ 2.26256152e-03 -4.05203382e-05 9.99997440e-01 -1.31244255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.337628 meters 0.014446747083604354 Centerline is valid? [True, True] Translation: X:78.36, Y:-14.83, Z:-0.13 [[ 9.58808559e-01 2.84035613e-01 -3.14937065e-03 7.83597097e+01] [-2.84033895e-01 9.58813730e-01 9.89201557e-04 -1.48284195e+01] [ 3.30062829e-03 -5.39269046e-05 9.99994551e-01 -1.31872467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.397628 meters 0.014576447451126599 Centerline is valid? [True, True] Translation: X:78.42, Y:-14.85, Z:-0.13 [[ 9.58573141e-01 2.84818705e-01 -3.97971298e-03 7.84205055e+01] [-2.84815965e-01 9.58581400e-01 1.25110048e-03 -1.48450571e+01] [ 4.17121566e-03 -6.57855255e-05 9.99991298e-01 -1.33751916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.457628 meters 0.013820776501902991 Centerline is valid? [True, True] Translation: X:78.48, Y:-14.86, Z:-0.14 [[ 9.58722913e-01 2.84261212e-01 -6.77790098e-03 7.84816553e+01] [-2.84253239e-01 9.58746864e-01 2.13224843e-03 -1.48584672e+01] [ 7.10440684e-03 -1.17595111e-04 9.99974756e-01 -1.36096146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.517628 meters 0.014033415251451882 Centerline is valid? [True, True] Translation: X:78.54, Y:-14.88, Z:-0.14 [[ 9.58880044e-01 2.83706060e-01 -7.74168841e-03 7.85408456e+01] [-2.83695624e-01 9.58911285e-01 2.43748213e-03 -1.48775606e+01] [ 8.11512083e-03 -1.40969843e-04 9.99967062e-01 -1.36149733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.577628 meters 0.014005310696894318 Centerline is valid? [True, True] Translation: X:78.60, Y:-14.90, Z:-0.13 [[ 9.58550844e-01 2.84839521e-01 -6.83563622e-03 7.85989631e+01] [-2.84831407e-01 9.58575210e-01 2.15311944e-03 -1.48959638e+01] [ 7.16576494e-03 -1.16870573e-04 9.99974319e-01 -1.34331439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63762799999999 meters 0.01286387214321113 Centerline is valid? [True, True] Translation: X:78.66, Y:-14.91, Z:-0.13 [[ 9.57471226e-01 2.88491888e-01 -4.61316122e-03 7.86592760e+01] [-2.88488228e-01 9.57482337e-01 1.45461477e-03 -1.49112000e+01] [ 4.83666495e-03 -6.19090828e-05 9.99988301e-01 -1.31587540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.697628 meters 0.012458724256267973 Centerline is valid? [True, True] Translation: X:78.72, Y:-14.93, Z:-0.13 [[ 9.56762285e-01 2.90864373e-01 -1.96113994e-03 7.87191524e+01] [-2.90863715e-01 9.56764295e-01 6.19174229e-04 -1.49285789e+01] [ 2.05644440e-03 -2.19781015e-05 9.99997885e-01 -1.30597591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.757628 meters 0.012397332418657873 Centerline is valid? [True, True] Translation: X:78.78, Y:-14.95, Z:-0.13 [[ 9.56838449e-01 2.90619839e-01 -5.39533317e-04 7.87784740e+01] [-2.90619789e-01 9.56838601e-01 1.70900146e-04 -1.49481410e+01] [ 5.65913277e-04 -6.72477133e-06 9.99999840e-01 -1.29779651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.817628 meters 0.01305063459923972 Centerline is valid? [True, True] Translation: X:78.84, Y:-14.97, Z:-0.13 [[ 9.57750873e-01 2.87599001e-01 2.82395746e-04 7.88352594e+01] [-2.87598987e-01 9.57750915e-01 -8.88523425e-05 -1.49714778e+01] [-2.96018629e-04 3.88167806e-06 9.99999956e-01 -1.29101007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.877628 meters 0.013639775484401316 Centerline is valid? [True, True] Translation: X:78.89, Y:-14.99, Z:-0.13 [[ 9.58550521e-01 2.84922602e-01 -9.25770991e-05 7.88926321e+01] [-2.84922601e-01 9.58550526e-01 2.96854670e-05 -1.49942761e+01] [ 9.71978875e-05 -2.07771198e-06 9.99999995e-01 -1.29840952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.937628 meters 0.014880410166166126 Centerline is valid? [True, True] Translation: X:78.95, Y:-15.02, Z:-0.13 [[ 9.59817497e-01 2.80608834e-01 -3.00918234e-03 7.89498447e+01] [-2.80607227e-01 9.59822211e-01 9.52230011e-04 -1.50197129e+01] [ 3.15548420e-03 -6.95687141e-05 9.99995019e-01 -1.32957752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.997628 meters 0.01604061956924231 Centerline is valid? [True, True] Translation: X:79.01, Y:-15.04, Z:-0.14 [[ 9.60498186e-01 2.78206718e-01 -6.65254114e-03 7.90067092e+01] [-2.78198793e-01 9.60521209e-01 2.10691114e-03 -1.50443938e+01] [ 6.97606369e-03 -1.72955407e-04 9.99975652e-01 -1.36656433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.057628 meters 0.018070545886192477 Centerline is valid? [True, True] Translation: X:79.06, Y:-15.07, Z:-0.14 [[ 9.60578457e-01 2.77881056e-01 -8.43485515e-03 7.90644372e+01] [-2.77868285e-01 9.60615463e-01 2.67358232e-03 -1.50674724e+01] [ 8.84559017e-03 -2.24406853e-04 9.99960852e-01 -1.39823493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.117628 meters 0.015683928429682786 Centerline is valid? [True, True] Translation: X:79.12, Y:-15.09, Z:-0.14 [[ 9.60084015e-01 2.79630510e-01 -6.74258977e-03 7.91227671e+01] [-2.79622379e-01 9.60107676e-01 2.13907841e-03 -1.50884543e+01] [ 7.07176378e-03 -1.68315993e-04 9.99974981e-01 -1.36735468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.177628 meters 0.01365483630562438 Centerline is valid? [True, True] Translation: X:79.18, Y:-15.11, Z:-0.13 [[ 9.58409246e-01 2.85352225e-01 -5.08172815e-03 7.91814194e+01] [-2.85347687e-01 9.58422714e-01 1.61224978e-03 -1.51077875e+01] [ 5.33050275e-03 -9.51357278e-05 9.99985788e-01 -1.34957668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.237628 meters 0.012354644393360217 Centerline is valid? [True, True] Translation: X:79.24, Y:-15.13, Z:-0.13 [[ 9.55443691e-01 2.95148139e-01 -3.86376256e-03 7.92384851e+01] [-2.95145595e-01 9.55451503e-01 1.22586899e-03 -1.51268050e+01] [ 4.05345070e-03 -3.08762924e-05 9.99991784e-01 -1.34673099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.297628 meters 0.012033912514971393 Centerline is valid? [True, True] Translation: X:79.30, Y:-15.14, Z:-0.13 [[ 9.51798602e-01 3.06711076e-01 -2.78157463e-03 7.92979521e+01] [-3.06709803e-01 9.51802666e-01 8.83690873e-04 -1.51449846e+01] [ 2.91854793e-03 1.20404704e-05 9.99995741e-01 -1.34901002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.357628 meters 0.012668018914139562 Centerline is valid? [True, True] Translation: X:79.36, Y:-15.17, Z:-0.13 [[ 9.49931661e-01 3.12449123e-01 -2.32055596e-03 7.93563389e+01] [-3.12448252e-01 9.49934495e-01 7.37932444e-04 -1.51662742e+01] [ 2.43494250e-03 2.40682619e-05 9.99997035e-01 -1.34043418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.417628 meters 0.013421025408944286 Centerline is valid? [True, True] Translation: X:79.41, Y:-15.19, Z:-0.13 [[ 9.48786589e-01 3.15901600e-01 -3.19189017e-03 7.94128092e+01] [-3.15899970e-01 9.48791957e-01 1.01561889e-03 -1.51918101e+01] [ 3.34927535e-03 4.47124240e-05 9.99994390e-01 -1.34839208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.477628 meters 0.013112916097780088 Centerline is valid? [True, True] Translation: X:79.47, Y:-15.22, Z:-0.14 [[ 9.49204821e-01 3.14637161e-01 -3.69656479e-03 7.94688824e+01] [-3.14634962e-01 9.49212018e-01 1.17718425e-03 -1.52212405e+01] [ 3.87920963e-03 4.56795547e-05 9.99992475e-01 -1.36886041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.537628 meters 0.012781219438928241 Centerline is valid? [True, True] Translation: X:79.53, Y:-15.25, Z:-0.14 [[ 9.50004403e-01 3.12207334e-01 -4.26791537e-03 7.95252498e+01] [-3.12204373e-01 9.50013989e-01 1.36024104e-03 -1.52493802e+01] [ 4.47925653e-03 4.02268658e-05 9.99989967e-01 -1.37553020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.597628 meters 0.012541396360538548 Centerline is valid? [True, True] Translation: X:79.58, Y:-15.28, Z:-0.14 [[ 9.51603681e-01 3.07289183e-01 -4.87775718e-03 7.95797208e+01] [-3.07285244e-01 9.51616182e-01 1.55587170e-03 -1.52819853e+01] [ 5.11985520e-03 1.82895706e-05 9.99986893e-01 -1.39536064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.657628 meters 0.012559785139261153 Centerline is valid? [True, True] Translation: X:79.64, Y:-15.31, Z:-0.14 [[ 9.52546874e-01 3.04344592e-01 -5.36866440e-03 7.96362886e+01] [-3.04339765e-01 9.52562003e-01 1.71414443e-03 -1.53127799e+01] [ 5.63567630e-03 1.09513950e-06 9.99984119e-01 -1.40167955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.717628 meters 0.012897231080298449 Centerline is valid? [True, True] Translation: X:79.70, Y:-15.33, Z:-0.14 [[ 9.50304047e-01 3.11280299e-01 -5.17633965e-03 7.96963576e+01] [-3.11275907e-01 9.50318144e-01 1.65410692e-03 -1.53285273e+01] [ 5.43406038e-03 3.93653208e-05 9.99985235e-01 -1.39365486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77762799999999 meters 0.013182945122050777 Centerline is valid? [True, True] Translation: X:79.76, Y:-15.35, Z:-0.14 [[ 9.49799327e-01 3.12793719e-01 -6.42861838e-03 7.97563769e+01] [-3.12786968e-01 9.49821081e-01 2.05589558e-03 -1.53456073e+01] [ 6.74910849e-03 5.80998107e-05 9.99977223e-01 -1.41305269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.837628 meters 0.012697086055272672 Centerline is valid? [True, True] Translation: X:79.81, Y:-15.37, Z:-0.14 [[ 9.51527322e-01 3.07494015e-01 -6.57156015e-03 7.98142433e+01] [-3.07486822e-01 9.51550015e-01 2.10336593e-03 -1.53683616e+01] [ 6.89994059e-03 1.92579886e-05 9.99976195e-01 -1.42145075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.897628 meters 0.012657912789723535 Centerline is valid? [True, True] Translation: X:79.87, Y:-15.39, Z:-0.14 [[ 9.53234961e-01 3.02203395e-01 -4.02697969e-03 7.98721146e+01] [-3.02200641e-01 9.53243467e-01 1.29021023e-03 -1.53897509e+01] [ 4.22859799e-03 -1.29176542e-05 9.99991059e-01 -1.39266140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.957628 meters 0.013307009188932534 Centerline is valid? [True, True] Translation: X:79.93, Y:-15.41, Z:-0.14 [[ 9.55581410e-01 2.94719314e-01 -2.16665744e-03 7.99296968e+01] [-2.94718496e-01 9.55583866e-01 6.94977761e-04 -1.54130393e+01] [ 2.27524626e-03 -2.55538080e-05 9.99997411e-01 -1.36514766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.017628 meters 0.015655251390912277 Centerline is valid? [True, True] Translation: X:79.99, Y:-15.43, Z:-0.14 [[ 9.58873206e-01 2.83832222e-01 -1.20192934e-03 7.99872631e+01] [-2.83831962e-01 9.58873959e-01 3.85556250e-04 -1.54341808e+01] [ 1.26193203e-03 -2.85535964e-05 9.99999203e-01 -1.37575959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.077628 meters 0.01834016325000249 Centerline is valid? [True, True] Translation: X:80.04, Y:-15.46, Z:-0.14 [[ 9.61507962e-01 2.74771773e-01 -1.70659471e-03 8.00447138e+01] [-2.74771233e-01 9.61509475e-01 5.47331312e-04 -1.54567921e+01] [ 1.79129818e-03 -5.73402803e-05 9.99998394e-01 -1.37841402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13762799999999 meters 0.01792211232379618 Centerline is valid? [True, True] Translation: X:80.11, Y:-15.47, Z:-0.14 [[ 9.61663753e-01 2.74228411e-01 -1.26705942e-03 8.01052886e+01] [-2.74228112e-01 9.61664586e-01 4.07107348e-04 -1.54723042e+01] [ 1.33012657e-03 -4.40370678e-05 9.99999114e-01 -1.38195084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.197628 meters 0.01639810431532344 Centerline is valid? [True, True] Translation: X:80.17, Y:-15.48, Z:-0.14 [[ 9.59978568e-01 2.80072225e-01 -8.35175111e-04 8.01653705e+01] [-2.80072097e-01 9.59978931e-01 2.68155886e-04 -1.54849386e+01] [ 8.76853526e-04 -2.35146583e-05 9.99999615e-01 -1.38313759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.257628 meters 0.014810857790003297 Centerline is valid? [True, True] Translation: X:80.23, Y:-15.49, Z:-0.14 [[ 9.55048989e-01 2.96445348e-01 -1.25900075e-03 8.02281825e+01] [-2.96445072e-01 9.55049818e-01 4.04216737e-04 -1.54899654e+01] [ 1.32223661e-03 -1.28222172e-05 9.99999126e-01 -1.41314710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.317628 meters 0.01264156180854522 Centerline is valid? [True, True] Translation: X:80.29, Y:-15.50, Z:-0.14 [[ 9.50409309e-01 3.11001011e-01 -7.18308744e-04 8.02900362e+01] [-3.11000925e-01 9.50409581e-01 2.31218571e-04 -1.54994407e+01] [ 7.54596722e-04 3.64240166e-06 9.99999715e-01 -1.39523985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.377628 meters 0.013452360850927072 Centerline is valid? [True, True] Translation: X:80.35, Y:-15.51, Z:-0.14 [[ 9.48121087e-01 3.17908020e-01 9.46350931e-04 8.03504286e+01] [-3.17907875e-01 9.48121559e-01 -3.03882042e-04 -1.55140333e+01] [-9.93862259e-04 -1.27354420e-05 9.99999506e-01 -1.39554379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.437628 meters 0.013621974958715855 Centerline is valid? [True, True] Translation: X:80.41, Y:-15.53, Z:-0.14 [[ 9.47903135e-01 3.18554706e-01 1.59530666e-03 8.04103006e+01] [-3.18554294e-01 9.47904478e-01 -5.13008953e-04 -1.55346908e+01] [-1.67561975e-03 -2.19089926e-05 9.99998596e-01 -1.38773620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.497628 meters 0.015465270494070834 Centerline is valid? [True, True] Translation: X:80.47, Y:-15.56, Z:-0.14 [[ 9.49194639e-01 3.14687557e-01 1.13059830e-03 8.04672185e+01] [-3.14687347e-01 9.49195313e-01 -3.63795269e-04 -1.55611333e+01] [-1.18764045e-03 -1.04724608e-05 9.99999295e-01 -1.40131932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.557628 meters 0.012424851842284243 Centerline is valid? [True, True] Translation: X:80.52, Y:-15.59, Z:-0.14 [[ 9.51657947e-01 3.07159193e-01 6.17515605e-04 8.05227678e+01] [-3.07159129e-01 9.51658148e-01 -1.98675430e-04 -1.55894814e+01] [-6.48688741e-04 -6.04503607e-07 9.99999790e-01 -1.38394727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.617628 meters 0.013421575054959322 Centerline is valid? [True, True] Translation: X:80.58, Y:-15.62, Z:-0.14 [[ 9.54554530e-01 2.98032399e-01 -1.52914803e-03 8.05772145e+01] [-2.98031991e-01 9.54555755e-01 4.93827791e-04 -1.56203998e+01] [ 1.60683374e-03 -1.56505230e-05 9.99998709e-01 -1.40714844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.677628 meters 0.013719037282511327 Centerline is valid? [True, True] Translation: X:80.64, Y:-15.64, Z:-0.14 [[ 9.55156588e-01 2.96091593e-01 -2.37947731e-03 8.06351841e+01] [-2.96090596e-01 9.55159551e-01 7.68888671e-04 -1.56417460e+01] [ 2.50044195e-03 -2.98682249e-05 9.99996873e-01 -1.41216821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.737628 meters 0.013198303197029288 Centerline is valid? [True, True] Translation: X:80.70, Y:-15.66, Z:-0.14 [[ 9.54339572e-01 2.98701097e-01 -3.69263988e-03 8.06951965e+01] [-2.98698713e-01 9.54346716e-01 1.19399465e-03 -1.56579325e+01] [ 3.88070625e-03 -3.64895694e-05 9.99992469e-01 -1.42319650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.797628 meters 0.013633330199334808 Centerline is valid? [True, True] Translation: X:80.75, Y:-15.68, Z:-0.14 [[ 9.54935751e-01 2.96763542e-01 -5.39548164e-03 8.07543685e+01] [-2.96758414e-01 9.54950991e-01 1.74585855e-03 -1.56776936e+01] [ 5.67052771e-03 -6.60281745e-05 9.99983920e-01 -1.44378269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.857628 meters 0.014422919325396029 Centerline is valid? [True, True] Translation: X:80.81, Y:-15.70, Z:-0.14 [[ 9.56258273e-01 2.92479911e-01 -5.06139576e-03 8.08124808e+01] [-2.92475336e-01 9.56271663e-01 1.63828942e-03 -1.56985984e+01] [ 5.31923609e-03 -8.62943912e-05 9.99985849e-01 -1.44113722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.917628 meters 0.016732702211512185 Centerline is valid? [True, True] Translation: X:80.87, Y:-15.72, Z:-0.14 [[ 9.59659675e-01 2.81140719e-01 -3.63377192e-03 8.08697312e+01] [-2.81138278e-01 9.59666549e-01 1.17664054e-03 -1.57216921e+01] [ 3.81801093e-03 -1.07582098e-04 9.99992706e-01 -1.42323147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.977628 meters 0.019879626139445068 Centerline is valid? [True, True] Translation: X:80.93, Y:-15.75, Z:-0.14 [[ 9.62874445e-01 2.69948370e-01 -8.25294469e-04 8.09267351e+01] [-2.69948240e-01 9.62874798e-01 2.67313520e-04 -1.57455150e+01] [ 8.66816094e-04 -3.46025677e-05 9.99999624e-01 -1.40223375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.037628 meters 0.02223909208764695 Centerline is valid? [True, True] Translation: X:80.98, Y:-15.77, Z:-0.14 [[ 9.64591334e-01 2.63745809e-01 1.30629914e-03 8.09848835e+01] [-2.63745478e-01 9.64592216e-01 -4.22977837e-04 -1.57654390e+01] [-1.37160461e-03 6.34702662e-05 9.99999057e-01 -1.38709439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.097628 meters 0.021239768587125646 Centerline is valid? [True, True] Translation: X:81.05, Y:-15.78, Z:-0.14 [[ 9.64130693e-01 2.65421284e-01 1.88355736e-03 8.10458868e+01] [-2.65420598e-01 9.64132529e-01 -6.10046915e-04 -1.57783838e+01] [-1.97791836e-03 8.82300351e-05 9.99998040e-01 -1.39521232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.157628 meters 0.02058030696779963 Centerline is valid? [True, True] Translation: X:81.10, Y:-15.79, Z:-0.14 [[ 9.62802981e-01 2.70200954e-01 1.36543665e-03 8.11048910e+01] [-2.70200597e-01 9.62803948e-01 -4.42549435e-04 -1.57929432e+01] [-1.43422508e-03 5.71461171e-05 9.99998970e-01 -1.40593085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.217628 meters 0.016885585947283916 Centerline is valid? [True, True] Translation: X:81.17, Y:-15.80, Z:-0.14 [[ 9.59756434e-01 2.80832776e-01 -7.34536224e-04 8.11670248e+01] [-2.80832676e-01 9.59756715e-01 2.38185533e-04 -1.58003786e+01] [ 7.71866378e-04 -2.23183243e-05 9.99999702e-01 -1.43127885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27762799999999 meters 0.014463769798495393 Centerline is valid? [True, True] Translation: X:81.23, Y:-15.81, Z:-0.15 [[ 9.56502149e-01 2.91717471e-01 -2.13432193e-03 8.12284043e+01] [-2.91716653e-01 9.56504530e-01 6.91991405e-04 -1.58103763e+01] [ 2.24335457e-03 -3.92740174e-05 9.99997483e-01 -1.46057231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.337628 meters 0.013048194542203552 Centerline is valid? [True, True] Translation: X:81.29, Y:-15.82, Z:-0.15 [[ 9.53972660e-01 2.99881755e-01 -2.66395090e-03 8.12888667e+01] [-2.99880511e-01 9.53976379e-01 8.64009532e-04 -1.58238975e+01] [ 2.80044693e-03 -2.53745121e-05 9.99996078e-01 -1.47283019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.397628 meters 0.012831236400735654 Centerline is valid? [True, True] Translation: X:81.35, Y:-15.84, Z:-0.15 [[ 9.53279790e-01 3.02079185e-01 -2.40997354e-03 8.13474073e+01] [-3.02078172e-01 9.53282836e-01 7.82605157e-04 -1.58435042e+01] [ 2.53379514e-03 -1.80412788e-05 9.99996790e-01 -1.47611326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.457628 meters 0.013054438821481842 Centerline is valid? [True, True] Translation: X:81.41, Y:-15.87, Z:-0.15 [[ 9.53668948e-01 3.00848645e-01 -2.37284903e-03 8.14050880e+01] [-3.00847659e-01 9.53671900e-01 7.70715219e-04 -1.58653966e+01] [ 2.49478808e-03 -2.11410960e-05 9.99996888e-01 -1.47658007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.517628 meters 0.014099621509060125 Centerline is valid? [True, True] Translation: X:81.46, Y:-15.89, Z:-0.14 [[ 9.55229505e-01 2.95864341e-01 9.40914877e-04 8.14599995e+01] [-2.95864183e-01 9.55229968e-01 -3.05360707e-04 -1.58934733e+01] [-9.89135432e-04 1.33065450e-05 9.99999511e-01 -1.42866739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.577628 meters 0.014993325978086553 Centerline is valid? [True, True] Translation: X:81.52, Y:-15.92, Z:-0.14 [[ 9.56837669e-01 2.90616629e-01 1.91057630e-03 8.15167594e+01] [-2.90615968e-01 9.56839576e-01 -6.20872784e-04 -1.59189288e+01] [-2.00855097e-03 3.88304859e-05 9.99997982e-01 -1.41838956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63762799999999 meters 0.015215176674594882 Centerline is valid? [True, True] Translation: X:81.57, Y:-15.94, Z:-0.15 [[ 9.57584651e-01 2.88151093e-01 -7.64149665e-04 8.15744231e+01] [-2.88150986e-01 9.57584956e-01 2.48978564e-04 -1.59408498e+01] [ 8.03481669e-04 -1.82275722e-05 9.99999677e-01 -1.46214458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.697628 meters 0.015422280859556083 Centerline is valid? [True, True] Translation: X:81.63, Y:-15.96, Z:-0.15 [[ 9.57652259e-01 2.87903786e-01 -3.68252603e-03 8.16325835e+01] [-2.87901301e-01 9.57659335e-01 1.19934435e-03 -1.59636145e+01] [ 3.87190121e-03 -8.83507897e-05 9.99992500e-01 -1.48832519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.757628 meters 0.01814678299598967 Centerline is valid? [True, True] Translation: X:81.69, Y:-15.98, Z:-0.15 [[ 9.57091254e-01 2.89687048e-01 -7.59906873e-03 8.16917555e+01] [-2.89676508e-01 9.57121406e-01 2.47687047e-03 -1.59834688e+01] [ 7.99074864e-03 -1.69319370e-04 9.99968059e-01 -1.54231479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.817628 meters 0.01544969527036949 Centerline is valid? [True, True] Translation: X:81.75, Y:-16.00, Z:-0.15 [[ 9.56704124e-01 2.90969187e-01 -7.35874721e-03 8.17510225e+01] [-2.90959327e-01 9.56732412e-01 2.40047116e-03 -1.60026218e+01] [ 7.73881511e-03 -1.55444520e-04 9.99970043e-01 -1.52161660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.877628 meters 0.015646668460686238 Centerline is valid? [True, True] Translation: X:81.81, Y:-16.02, Z:-0.15 [[ 9.56636340e-01 2.91192715e-01 -7.32905493e-03 8.18102019e+01] [-2.91182923e-01 9.56664402e-01 2.39308956e-03 -1.60241312e+01] [ 7.70829620e-03 -1.55220803e-04 9.99970279e-01 -1.50747984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.937628 meters 0.016020699474563756 Centerline is valid? [True, True] Translation: X:81.87, Y:-16.04, Z:-0.15 [[ 9.57217502e-01 2.89347811e-01 -3.53524505e-03 8.18689344e+01] [-2.89345516e-01 9.57224027e-01 1.15547157e-03 -1.60443767e+01] [ 3.71835468e-03 -8.31303068e-05 9.99993083e-01 -1.47606806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.997628 meters 0.016187235940777533 Centerline is valid? [True, True] Translation: X:81.93, Y:-16.06, Z:-0.15 [[ 9.58067815e-01 2.86541500e-01 -1.77933288e-04 8.19285239e+01] [-2.86541494e-01 9.58067831e-01 5.86184903e-05 -1.60612209e+01] [ 1.87268789e-04 -5.17521886e-06 9.99999982e-01 -1.46089364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.057628 meters 0.01689529458128776 Centerline is valid? [True, True] Translation: X:81.99, Y:-16.08, Z:-0.15 [[ 9.58688470e-01 2.84456654e-01 9.10799531e-04 8.19869582e+01] [-2.84456500e-01 9.58688902e-01 -2.97644344e-04 -1.60810692e+01] [-9.57840316e-04 2.62653543e-05 9.99999541e-01 -1.45047101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.117628 meters 0.017744100320347355 Centerline is valid? [True, True] Translation: X:82.05, Y:-16.10, Z:-0.14 [[ 9.59434775e-01 2.81930329e-01 4.49903384e-04 8.20464686e+01] [-2.81930291e-01 9.59434880e-01 -1.47151485e-04 -1.60996574e+01] [-4.73139466e-04 1.43408597e-05 9.99999888e-01 -1.43993925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.177628 meters 0.01757668537803517 Centerline is valid? [True, True] Translation: X:82.11, Y:-16.11, Z:-0.15 [[ 9.59110914e-01 2.83020641e-01 -2.36050998e-03 8.21076049e+01] [-2.83019594e-01 9.59113816e-01 7.73091432e-04 -1.61142042e+01] [ 2.48279856e-03 -7.34098541e-05 9.99996915e-01 -1.47359921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.237628 meters 0.01659478444365413 Centerline is valid? [True, True] Translation: X:82.17, Y:-16.13, Z:-0.15 [[ 9.58171860e-01 2.86132707e-01 -5.89587166e-03 8.21685559e+01] [-2.86126228e-01 9.58189985e-01 1.93261927e-03 -1.61275513e+01] [ 6.20235076e-03 -1.64817885e-04 9.99980752e-01 -1.50969444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.297628 meters 0.016409572754169276 Centerline is valid? [True, True] Translation: X:82.23, Y:-16.14, Z:-0.15 [[ 9.57463397e-01 2.88498257e-01 -5.70951253e-03 8.22275011e+01] [-2.88492214e-01 9.57480409e-01 1.87293692e-03 -1.61437230e+01] [ 6.00708543e-03 -1.46118631e-04 9.99981947e-01 -1.51433672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.357628 meters 0.01842756918690397 Centerline is valid? [True, True] Translation: X:82.29, Y:-16.16, Z:-0.15 [[ 9.57137229e-01 2.89585770e-01 -5.32985213e-03 8.22871164e+01] [-2.89580513e-01 9.57152059e-01 1.74992412e-03 -1.61618808e+01] [ 5.60823206e-03 -1.31496205e-04 9.99984265e-01 -1.53585132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.417628 meters 0.014761700867642774 Centerline is valid? [True, True] Translation: X:82.35, Y:-16.18, Z:-0.15 [[ 9.55769976e-01 2.94098262e-01 -3.15678170e-03 8.23458030e+01] [-2.94096443e-01 9.55775187e-01 1.03637703e-03 -1.61802308e+01] [ 3.32197030e-03 -6.21397861e-05 9.99994480e-01 -1.49498800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.477628 meters 0.01359583988575762 Centerline is valid? [True, True] Translation: X:82.40, Y:-16.20, Z:-0.15 [[ 9.53917994e-01 3.00060122e-01 -2.09389511e-03 8.24040875e+01] [-3.00059336e-01 9.53920291e-01 6.87529592e-04 -1.61977536e+01] [ 2.20370925e-03 -2.75540740e-05 9.99997571e-01 -1.48758983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.537628 meters 0.012698004973674872 Centerline is valid? [True, True] Translation: X:82.46, Y:-16.22, Z:-0.15 [[ 9.52003248e-01 3.06068856e-01 -3.41636608e-03 8.24637165e+01] [-3.06066797e-01 9.52009378e-01 1.12300921e-03 -1.62156885e+01] [ 3.59613069e-03 -2.34721963e-05 9.99993534e-01 -1.50228282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.597628 meters 0.012582191868986395 Centerline is valid? [True, True] Translation: X:82.52, Y:-16.24, Z:-0.15 [[ 9.51733864e-01 3.06899539e-01 -3.91482598e-03 8.25226667e+01] [-3.06896837e-01 9.51741915e-01 1.28807771e-03 -1.62373084e+01] [ 4.12121443e-03 -2.44594611e-05 9.99991507e-01 -1.51307093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.657628 meters 0.013846337383867436 Centerline is valid? [True, True] Translation: X:82.58, Y:-16.26, Z:-0.15 [[ 9.53802230e-01 3.00412883e-01 -3.66151158e-03 8.25775460e+01] [-3.00410472e-01 9.53809256e-01 1.20447194e-03 -1.62649708e+01] [ 3.85422253e-03 -4.88716015e-05 9.99992571e-01 -1.53626242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.717628 meters 0.015325342282437725 Centerline is valid? [True, True] Translation: X:82.63, Y:-16.29, Z:-0.15 [[ 9.56920130e-01 2.90342393e-01 -2.27137071e-03 8.26324569e+01] [-2.90341436e-01 9.56922824e-01 7.47622155e-04 -1.62933992e+01] [ 2.39059288e-03 -5.59416569e-05 9.99997141e-01 -1.50588517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77762799999999 meters 0.01576897260308086 Centerline is valid? [True, True] Translation: X:82.69, Y:-16.31, Z:-0.15 [[ 9.57120120e-01 2.89687735e-01 -1.44666149e-03 8.26916945e+01] [-2.89687345e-01 9.57121212e-01 4.76874352e-04 -1.63121704e+01] [ 1.52277505e-03 -3.73465110e-05 9.99998840e-01 -1.50344944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.837628 meters 0.015413021733477705 Centerline is valid? [True, True] Translation: X:82.75, Y:-16.33, Z:-0.15 [[ 9.56652631e-01 2.91214375e-01 -3.15159169e-03 8.27509240e+01] [-2.91212530e-01 9.56657819e-01 1.03923714e-03 -1.63297124e+01] [ 3.31763562e-03 -7.64059590e-05 9.99994494e-01 -1.52143680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.897628 meters 0.015235210286228198 Centerline is valid? [True, True] Translation: X:82.81, Y:-16.35, Z:-0.15 [[ 9.56272978e-01 2.92450329e-01 -3.84659037e-03 8.28108987e+01] [-2.92447588e-01 9.56280710e-01 1.26937351e-03 -1.63473901e+01] [ 4.04964887e-03 -8.89415156e-05 9.99991796e-01 -1.53688204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.957628 meters 0.015815614152345437 Centerline is valid? [True, True] Translation: X:82.87, Y:-16.36, Z:-0.16 [[ 9.55726070e-01 2.94215821e-01 -4.97296716e-03 8.28715660e+01] [-2.94211257e-01 9.55739002e-01 1.64232502e-03 -1.63617975e+01] [ 5.23605667e-03 -1.06509922e-04 9.99986286e-01 -1.56060325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.017628 meters 0.01491564188856986 Centerline is valid? [True, True] Translation: X:82.93, Y:-16.38, Z:-0.16 [[ 9.54651998e-01 2.97677029e-01 -5.28670098e-03 8.29301844e+01] [-2.97671916e-01 9.54666632e-01 1.74720502e-03 -1.63796797e+01] [ 5.56713981e-03 -9.42703536e-05 9.99984499e-01 -1.55269407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.077628 meters 0.01351158466865495 Centerline is valid? [True, True] Translation: X:82.99, Y:-16.39, Z:-0.16 [[ 9.53291850e-01 3.02012975e-01 -4.77624153e-03 8.29914755e+01] [-3.02008855e-01 9.53303813e-01 1.57874815e-03 -1.63939378e+01] [ 5.03001169e-03 -6.25405054e-05 9.99987347e-01 -1.55598743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13762799999999 meters 0.012982982998333602 Centerline is valid? [True, True] Translation: X:83.05, Y:-16.41, Z:-0.16 [[ 9.52316199e-01 3.05100172e-01 -2.78248074e-03 8.30506390e+01] [-3.05098785e-01 9.52320263e-01 9.20296631e-04 -1.64105772e+01] [ 2.93059545e-03 -2.74818953e-05 9.99995705e-01 -1.55643475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.197628 meters 0.012331936273719226 Centerline is valid? [True, True] Translation: X:83.11, Y:-16.43, Z:-0.15 [[ 9.50925964e-01 3.09416897e-01 -9.97824120e-04 8.31108683e+01] [-3.09416721e-01 9.50926487e-01 3.30183028e-04 -1.64281106e+01] [ 1.05102159e-03 -5.23614619e-06 9.99999448e-01 -1.54140163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.257628 meters 0.01218513014702845 Centerline is valid? [True, True] Translation: X:83.17, Y:-16.45, Z:-0.15 [[ 9.49630101e-01 3.13369559e-01 -1.48004726e-03 8.31688787e+01] [-3.13369175e-01 9.49631255e-01 4.90265986e-04 -1.64461218e+01] [ 1.55913357e-03 -1.77014833e-06 9.99998785e-01 -1.54961788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.317628 meters 0.012239710511775333 Centerline is valid? [True, True] Translation: X:83.23, Y:-16.47, Z:-0.16 [[ 9.48331229e-01 3.17277934e-01 -1.61047815e-03 8.32285621e+01] [-3.17277484e-01 9.48332596e-01 5.34093974e-04 -1.64656451e+01] [ 1.69672515e-03 4.47045978e-06 9.99998561e-01 -1.55020901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.377628 meters 0.012547447556991836 Centerline is valid? [True, True] Translation: X:83.29, Y:-16.49, Z:-0.16 [[ 9.47433018e-01 3.19941119e-01 -2.89084811e-03 8.32863719e+01] [-3.19939682e-01 9.47437428e-01 9.58948795e-04 -1.64858171e+01] [ 3.04570485e-03 1.63572763e-05 9.99995362e-01 -1.57760633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.437628 meters 0.012701205679430814 Centerline is valid? [True, True] Translation: X:83.34, Y:-16.51, Z:-0.16 [[ 9.46603166e-01 3.22373886e-01 -4.18604820e-03 8.33448079e+01] [-3.22370893e-01 9.46612421e-01 1.38960508e-03 -1.65059377e+01] [ 4.41053762e-03 3.40555281e-05 9.99990273e-01 -1.58980433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49762799999999 meters 0.012828786411453555 Centerline is valid? [True, True] Translation: X:83.40, Y:-16.53, Z:-0.16 [[ 9.46233834e-01 3.23445112e-01 -4.97897767e-03 8.34031093e+01] [-3.23440886e-01 9.46246933e-01 1.65412843e-03 -1.65273567e+01] [ 5.24636210e-03 4.52126587e-05 9.99986237e-01 -1.59674996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.557628 meters 0.012378191060463003 Centerline is valid? [True, True] Translation: X:83.46, Y:-16.56, Z:-0.16 [[ 9.48518008e-01 3.16701015e-01 -3.74919108e-03 8.34578981e+01] [-3.16698561e-01 9.48525417e-01 1.24659067e-03 -1.65558210e+01] [ 3.95099956e-03 4.94972425e-06 9.99992195e-01 -1.57915864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.617628 meters 0.012934105856386189 Centerline is valid? [True, True] Translation: X:83.51, Y:-16.58, Z:-0.15 [[ 9.51902769e-01 3.06398857e-01 -9.26922402e-04 8.35134905e+01] [-3.06398701e-01 9.51903220e-01 3.08798698e-04 -1.65848906e+01] [ 9.76955987e-04 -9.93851493e-06 9.99999523e-01 -1.53236691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.677628 meters 0.013311898499832036 Centerline is valid? [True, True] Translation: X:83.57, Y:-16.61, Z:-0.15 [[ 9.52685243e-01 3.03958593e-01 4.69633844e-05 8.35720569e+01] [-3.03958593e-01 9.52685244e-01 -1.51971540e-05 -1.66055203e+01] [-4.93606289e-05 2.03180064e-07 9.99999999e-01 -1.52110207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.737628 meters 0.014855021153231979 Centerline is valid? [True, True] Translation: X:83.63, Y:-16.63, Z:-0.15 [[ 9.55323679e-01 2.95557251e-01 -1.60595273e-03 8.36302180e+01] [-2.95556769e-01 9.55325029e-01 5.34867644e-04 -1.66260307e+01] [ 1.69229085e-03 -3.63215256e-05 9.99998567e-01 -1.54240069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.797628 meters 0.01788582466659048 Centerline is valid? [True, True] Translation: X:83.69, Y:-16.65, Z:-0.16 [[ 9.57721396e-01 2.87677245e-01 -3.39555389e-03 8.36862715e+01] [-2.87675042e-01 9.57727410e-01 1.13098046e-03 -1.66492353e+01] [ 3.57737237e-03 -1.06348082e-04 9.99993596e-01 -1.55389097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.857628 meters 0.017773957184467646 Centerline is valid? [True, True] Translation: X:83.75, Y:-16.67, Z:-0.15 [[ 9.58529256e-01 2.84971672e-01 -3.57929675e-03 8.37458666e+01] [-2.84969203e-01 9.58535931e-01 1.19250111e-03 -1.66665619e+01] [ 3.77071358e-03 -1.23057860e-04 9.99992883e-01 -1.54101145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.917628 meters 0.017988453333092614 Centerline is valid? [True, True] Translation: X:83.81, Y:-16.68, Z:-0.16 [[ 9.58086369e-01 2.86440219e-01 -4.74446707e-03 8.38074293e+01] [-2.86435896e-01 9.58098104e-01 1.58146110e-03 -1.66796952e+01] [ 4.99865897e-03 -1.56190646e-04 9.99987494e-01 -1.55097960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.977628 meters 0.01629305946154891 Centerline is valid? [True, True] Translation: X:83.87, Y:-16.69, Z:-0.15 [[ 9.55984662e-01 2.93387947e-01 -4.10344646e-03 8.38668751e+01] [-2.93384778e-01 9.55993463e-01 1.36755783e-03 -1.66905191e+01] [ 4.32409298e-03 -1.03475586e-04 9.99990646e-01 -1.53963516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.037628 meters 0.014250470916607787 Centerline is valid? [True, True] Translation: X:83.93, Y:-16.70, Z:-0.15 [[ 9.53084292e-01 3.02680613e-01 -3.84421360e-03 8.39268229e+01] [-3.02677905e-01 9.53092043e-01 1.28167090e-03 -1.66996280e+01] [ 4.05182633e-03 -5.79818817e-05 9.99991790e-01 -1.53883971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.097628 meters 0.012190747003108682 Centerline is valid? [True, True] Translation: X:83.99, Y:-16.71, Z:-0.15 [[ 9.49379804e-01 3.14111290e-01 -3.47646836e-03 8.39896673e+01] [-3.14109151e-01 9.49386169e-01 1.15913032e-03 -1.67057657e+01] [ 3.66460690e-03 -8.46438675e-06 9.99993285e-01 -1.53920972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.157628 meters 0.012685338721229017 Centerline is valid? [True, True] Translation: X:84.05, Y:-16.72, Z:-0.15 [[ 9.45913747e-01 3.24407876e-01 -2.59113414e-03 8.40518693e+01] [-3.24406723e-01 9.45917295e-01 8.65029547e-04 -1.67165470e+01] [ 2.73162100e-03 2.23379979e-05 9.99996269e-01 -1.52811561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.217628 meters 0.01335451600675033 Centerline is valid? [True, True] Translation: X:84.11, Y:-16.73, Z:-0.15 [[ 9.44209155e-01 3.29337683e-01 -2.40040505e-03 8.41119166e+01] [-3.29336708e-01 9.44212206e-01 8.02058192e-04 -1.67317985e+01] [ 2.53063974e-03 3.32308092e-05 9.99996797e-01 -1.52764943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27762799999999 meters 0.013536335818045938 Centerline is valid? [True, True] Translation: X:84.17, Y:-16.75, Z:-0.15 [[ 9.44033869e-01 3.29838165e-01 -2.61509782e-03 8.41714011e+01] [-3.29837007e-01 9.44037491e-01 8.74635277e-04 -1.67508944e+01] [ 2.75723847e-03 3.68707131e-05 9.99996198e-01 -1.52639528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.337628 meters 0.013081126572816636 Centerline is valid? [True, True] Translation: X:84.23, Y:-16.77, Z:-0.16 [[ 9.44773887e-01 3.27687353e-01 -4.82720126e-03 8.42306376e+01] [-3.27683377e-01 9.44786217e-01 1.61531303e-03 -1.67707541e+01] [ 5.08999087e-03 5.56880351e-05 9.99987044e-01 -1.55455203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.397628 meters 0.012602628543665917 Centerline is valid? [True, True] Translation: X:84.29, Y:-16.80, Z:-0.16 [[ 9.46684153e-01 3.22022610e-01 -9.51589201e-03 8.42888949e+01] [-3.22006844e-01 9.46731977e-01 3.18684779e-03 -1.67958100e+01] [ 1.00352363e-02 4.72440541e-05 9.99949645e-01 -1.60364811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.457628 meters 0.012816170726558667 Centerline is valid? [True, True] Translation: X:84.34, Y:-16.83, Z:-0.16 [[ 9.49982955e-01 3.12094389e-01 -1.13788053e-02 8.43439285e+01] [-3.12071095e-01 9.50051097e-01 3.81370042e-03 -1.68266098e+01] [ 1.20006809e-02 -7.19541711e-05 9.99927987e-01 -1.60350911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.517628 meters 0.01623956318841977 Centerline is valid? [True, True] Translation: X:84.40, Y:-16.86, Z:-0.16 [[ 9.53840156e-01 3.00061342e-01 -1.23348499e-02 8.43961894e+01] [-3.00032964e-01 9.53919877e-01 4.13371332e-03 -1.68590237e+01] [ 1.30068261e-02 -2.42040175e-04 9.99915378e-01 -1.61129457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.577628 meters 0.01656583949355872 Centerline is valid? [True, True] Translation: X:84.45, Y:-16.88, Z:-0.16 [[ 9.56463193e-01 2.91566218e-01 -1.29345246e-02 8.44523817e+01] [-2.91534230e-01 9.56550574e-01 4.33506999e-03 -1.68825582e+01] [ 1.36364868e-02 -3.75478223e-04 9.99906948e-01 -1.58834817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63762799999999 meters 0.02021494270717958 Centerline is valid? [True, True] Translation: X:84.51, Y:-16.91, Z:-0.16 [[ 9.60212765e-01 2.79034349e-01 -1.14576360e-02 8.45069104e+01] [-2.79008349e-01 9.60280996e-01 3.84056453e-03 -1.69130252e+01] [ 1.20741996e-02 -4.90982982e-04 9.99926984e-01 -1.57110971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.697628 meters 0.022907004022602158 Centerline is valid? [True, True] Translation: X:84.56, Y:-16.94, Z:-0.16 [[ 9.63149973e-01 2.68782501e-01 -9.90434980e-03 8.45623282e+01] [-2.68762529e-01 9.63200747e-01 3.32013639e-03 -1.69384954e+01] [ 1.04322717e-02 -5.35871181e-04 9.99945439e-01 -1.55111280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.757628 meters 0.027118133016713945 Centerline is valid? [True, True] Translation: X:84.62, Y:-16.96, Z:-0.16 [[ 9.64654151e-01 2.63356668e-01 -9.25393325e-03 8.46179605e+01] [-2.63338982e-01 9.64698376e-01 3.10220497e-03 -1.69608229e+01] [ 9.74424074e-03 -5.55633540e-04 9.99952369e-01 -1.55082251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.817628 meters 0.025879170339518035 Centerline is valid? [True, True] Translation: X:84.68, Y:-16.98, Z:-0.15 [[ 9.64167388e-01 2.65169844e-01 -8.13648403e-03 8.46781004e+01] [-2.65156231e-01 9.64201602e-01 2.72814570e-03 -1.69764535e+01] [ 8.56863291e-03 -4.72949670e-04 9.99963177e-01 -1.51959225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.877628 meters 0.026223269992574398 Centerline is valid? [True, True] Translation: X:84.74, Y:-16.99, Z:-0.15 [[ 9.62886887e-01 2.69789297e-01 -7.91063809e-03 8.47366652e+01] [-2.69776585e-01 9.62919290e-01 2.65240163e-03 -1.69908962e+01] [ 8.33289559e-03 -4.19857819e-04 9.99965193e-01 -1.52998119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.937628 meters 0.023322029290312345 Centerline is valid? [True, True] Translation: X:84.80, Y:-17.00, Z:-0.15 [[ 9.59999056e-01 2.79900910e-01 -7.56922528e-03 8.47976832e+01] [-2.79889584e-01 9.60028843e-01 2.53797909e-03 -1.69976153e+01] [ 7.97705725e-03 -3.17910220e-04 9.99968132e-01 -1.52781178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99762799999999 meters 0.019616982065617374 Centerline is valid? [True, True] Translation: X:84.86, Y:-17.00, Z:-0.15 [[ 9.56858625e-01 2.90465992e-01 -7.14697880e-03 8.48599164e+01] [-2.90456186e-01 9.56885291e-01 2.39652973e-03 -1.70025464e+01] [ 7.53494927e-03 -2.17255934e-04 9.99971588e-01 -1.52480382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.057628 meters 0.01972901250178689 Centerline is valid? [True, True] Translation: X:84.92, Y:-17.01, Z:-0.15 [[ 9.54687000e-01 2.97538298e-01 -6.61010044e-03 8.49221053e+01] [-2.97530078e-01 9.54709872e-01 2.21667931e-03 -1.70090595e+01] [ 6.97027513e-03 -1.49531214e-04 9.99975696e-01 -1.53831027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.117628 meters 0.015504440358932664 Centerline is valid? [True, True] Translation: X:84.98, Y:-17.02, Z:-0.15 [[ 9.53171793e-01 3.02364674e-01 -6.25593251e-03 8.49833635e+01] [-3.02357414e-01 9.53192316e-01 2.09815323e-03 -1.70184488e+01] [ 6.59751422e-03 -1.08372899e-04 9.99978230e-01 -1.51436648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.177628 meters 0.014933096733498349 Centerline is valid? [True, True] Translation: X:85.04, Y:-17.03, Z:-0.15 [[ 9.52381328e-01 3.04835030e-01 -6.73872535e-03 8.50439189e+01] [-3.04826653e-01 9.52405163e-01 2.26205477e-03 -1.70318132e+01] [ 7.10755035e-03 -1.00195636e-04 9.99974736e-01 -1.53050672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.237628 meters 0.012711172287531936 Centerline is valid? [True, True] Translation: X:85.11, Y:-17.04, Z:-0.15 [[ 9.50871774e-01 3.09490571e-01 -7.64559452e-03 8.51065876e+01] [-3.09479922e-01 9.50902509e-01 2.56854635e-03 -1.70414659e+01] [ 8.06515588e-03 -7.62002306e-05 9.99967473e-01 -1.51118451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.297628 meters 0.01199877981010175 Centerline is valid? [True, True] Translation: X:85.17, Y:-17.05, Z:-0.15 [[ 9.48002744e-01 3.18159802e-01 -8.07079984e-03 8.51686341e+01] [-3.18148230e-01 9.48037098e-01 2.71357567e-03 -1.70514946e+01] [ 8.51476836e-03 -4.76649675e-06 9.99963749e-01 -1.52232423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.357628 meters 0.012399595062198461 Centerline is valid? [True, True] Translation: X:85.23, Y:-17.06, Z:-0.15 [[ 9.45191904e-01 3.26429533e-01 -7.48500026e-03 8.52297765e+01] [-3.26419822e-01 9.45221538e-01 2.51868215e-03 -1.70646247e+01] [ 7.89715570e-03 6.26144839e-05 9.99968815e-01 -1.52552622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.417628 meters 0.012670997164802475 Centerline is valid? [True, True] Translation: X:85.29, Y:-17.09, Z:-0.15 [[ 9.44056136e-01 3.29679336e-01 -8.33953530e-03 8.52881094e+01] [-3.29667388e-01 9.44092965e-01 2.80852886e-03 -1.70851628e+01] [ 8.79921054e-03 9.78639125e-05 9.99961281e-01 -1.51707784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.477628 meters 0.012653246976419614 Centerline is valid? [True, True] Translation: X:85.35, Y:-17.11, Z:-0.15 [[ 9.44073071e-01 3.29551782e-01 -1.10299623e-02 8.53463102e+01] [-3.29530838e-01 9.44137494e-01 3.71751684e-03 -1.71067454e+01] [ 1.16389153e-02 1.25105189e-04 9.99932258e-01 -1.53313253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.537628 meters 0.01260710902791587 Centerline is valid? [True, True] Translation: X:85.40, Y:-17.13, Z:-0.16 [[ 9.44734996e-01 3.27553400e-01 -1.35852023e-02 8.54022767e+01] [-3.27521398e-01 9.44832660e-01 4.58026796e-03 -1.71304723e+01] [ 1.43360252e-02 1.22305014e-04 9.99897226e-01 -1.55992085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.597628 meters 0.01256532553098032 Centerline is valid? [True, True] Translation: X:85.46, Y:-17.15, Z:-0.16 [[ 9.45091116e-01 3.26517124e-01 -1.37604751e-02 8.54611407e+01] [-3.26484115e-01 9.45191280e-01 4.64388366e-03 -1.71533442e+01] [ 1.45225886e-02 1.03683336e-04 9.99894536e-01 -1.56101112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.657628 meters 0.012136635116848744 Centerline is valid? [True, True] Translation: X:85.52, Y:-17.19, Z:-0.15 [[ 9.47983569e-01 3.18092526e-01 -1.20124445e-02 8.55152118e+01] [-3.18066651e-01 9.48059673e-01 4.05723688e-03 -1.71865620e+01] [ 1.26790909e-02 -2.54359044e-05 9.99919617e-01 -1.52770365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.717628 meters 0.012730779261793028 Centerline is valid? [True, True] Translation: X:85.57, Y:-17.22, Z:-0.15 [[ 9.51279765e-01 3.08198431e-01 -8.97415591e-03 8.55699839e+01] [-3.08183523e-01 9.51322087e-01 3.03372814e-03 -1.72176027e+01] [ 9.47230298e-03 -1.20237211e-04 9.99955130e-01 -1.48654218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77762799999999 meters 0.013857798964036562 Centerline is valid? [True, True] Translation: X:85.63, Y:-17.25, Z:-0.15 [[ 9.53438216e-01 3.01514951e-01 -6.65606095e-03 8.56258370e+01] [-3.01506584e-01 9.53461439e-01 2.25042644e-03 -1.72458414e+01] [ 7.02483467e-03 -1.38796369e-04 9.99975316e-01 -1.46207211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.837628 meters 0.0164885205919201 Centerline is valid? [True, True] Translation: X:85.68, Y:-17.27, Z:-0.15 [[ 9.54925031e-01 2.96785442e-01 -6.04860523e-03 8.56802941e+01] [-2.96778427e-01 9.54944174e-01 2.04689801e-03 -1.72748304e+01] [ 6.38356986e-03 -1.59538606e-04 9.99979612e-01 -1.46455733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.897628 meters 0.018102961682447266 Centerline is valid? [True, True] Translation: X:85.74, Y:-17.30, Z:-0.15 [[ 9.55698770e-01 2.94253002e-01 -7.41836602e-03 8.57364515e+01] [-2.94242367e-01 9.55727536e-01 2.51107537e-03 -1.72997883e+01] [ 7.82882815e-03 -2.17034057e-04 9.99969331e-01 -1.48194896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.957628 meters 0.016629385605474285 Centerline is valid? [True, True] Translation: X:85.79, Y:-17.32, Z:-0.15 [[ 9.55491096e-01 2.94819273e-01 -1.08794038e-02 8.57944439e+01] [-2.94796418e-01 9.55552981e-01 3.68417455e-03 -1.73205951e+01] [ 1.14820124e-02 -3.12986711e-04 9.99934031e-01 -1.50186003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.017628 meters 0.01922181997387702 Centerline is valid? [True, True] Translation: X:85.85, Y:-17.34, Z:-0.15 [[ 9.54990327e-01 2.96391900e-01 -1.20547522e-02 8.58516215e+01] [-2.96363922e-01 9.55066350e-01 4.08562260e-03 -1.73440531e+01] [ 1.27240336e-02 -3.29136429e-04 9.99918992e-01 -1.51356300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.077628 meters 0.014958593000777499 Centerline is valid? [True, True] Translation: X:85.91, Y:-17.36, Z:-0.15 [[ 9.54006674e-01 2.99625489e-01 -9.78942163e-03 8.59108572e+01] [-2.99607205e-01 9.54056871e-01 3.31818929e-03 -1.73623919e+01] [ 1.03338790e-02 -2.32593478e-04 9.99946577e-01 -1.47887233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13762799999999 meters 0.014276092735930973 Centerline is valid? [True, True] Translation: X:85.97, Y:-17.38, Z:-0.15 [[ 9.53026550e-01 3.02756462e-01 -8.88363115e-03 8.59702975e+01] [-3.02741527e-01 9.53067937e-01 3.01267467e-03 -1.73817928e+01] [ 9.37881073e-03 -1.81714887e-04 9.99956001e-01 -1.47785540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.197628 meters 0.013434595275732118 Centerline is valid? [True, True] Translation: X:86.03, Y:-17.40, Z:-0.15 [[ 9.51249888e-01 3.08305319e-01 -8.45462725e-03 8.60281104e+01] [-3.08292009e-01 9.51287452e-01 2.86735447e-03 -1.74005844e+01] [ 8.92680145e-03 -1.21076602e-04 9.99960148e-01 -1.48033772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.257628 meters 0.012401129156790869 Centerline is valid? [True, True] Translation: X:86.09, Y:-17.42, Z:-0.15 [[ 9.48687246e-01 3.16099538e-01 -8.57855185e-03 8.60879622e+01] [-3.16086127e-01 9.48726030e-01 2.91212842e-03 -1.74174935e+01] [ 9.05921789e-03 -5.11378548e-05 9.99958963e-01 -1.48407354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.317628 meters 0.012249171118975258 Centerline is valid? [True, True] Translation: X:86.15, Y:-17.44, Z:-0.15 [[ 9.46012592e-01 3.24022589e-01 -8.33895985e-03 8.61458633e+01] [-3.24010206e-01 9.46049344e-01 2.83288170e-03 -1.74365114e+01] [ 8.80698516e-03 2.19663357e-05 9.99961218e-01 -1.47500794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.377628 meters 0.012456705734917915 Centerline is valid? [True, True] Translation: X:86.20, Y:-17.46, Z:-0.15 [[ 9.45131381e-01 3.26548909e-01 -9.61676946e-03 8.62037411e+01] [-3.26532558e-01 9.45180304e-01 3.26821689e-03 -1.74576883e+01] [ 1.01568137e-02 5.12939934e-05 9.99948417e-01 -1.48798972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.437628 meters 0.012563138199065646 Centerline is valid? [True, True] Translation: X:86.26, Y:-17.48, Z:-0.15 [[ 9.45789629e-01 3.24628442e-01 -9.91727967e-03 8.62599502e+01] [-3.24610915e-01 9.45841622e-01 3.37348301e-03 -1.74841858e+01] [ 1.04753044e-02 2.86519834e-05 9.99945132e-01 -1.50818934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49762799999999 meters 0.012730564948571256 Centerline is valid? [True, True] Translation: X:86.31, Y:-17.52, Z:-0.15 [[ 9.47804171e-01 3.18748044e-01 -8.18158484e-03 8.63142168e+01] [-3.18735876e-01 9.47839482e-01 2.78533916e-03 -1.75161507e+01] [ 8.64265054e-03 -3.21914639e-05 9.99962651e-01 -1.47719105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.557628 meters 0.013336940982301895 Centerline is valid? [True, True] Translation: X:86.37, Y:-17.55, Z:-0.15 [[ 9.49573242e-01 3.13491047e-01 -5.83285340e-03 8.63696902e+01] [-3.13484753e-01 9.49591154e-01 1.98742450e-03 -1.75461064e+01] [ 6.16186578e-03 -5.86945173e-05 9.99981014e-01 -1.45715203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.617628 meters 0.013323503156591712 Centerline is valid? [True, True] Translation: X:86.43, Y:-17.57, Z:-0.14 [[ 9.49517456e-01 3.13679478e-01 -4.66746761e-03 8.64283502e+01] [-3.13675442e-01 9.49528927e-01 1.59196380e-03 -1.75687099e+01] [ 4.93126188e-03 -4.75274539e-05 9.99987840e-01 -1.43551477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.677628 meters 0.013132424116088783 Centerline is valid? [True, True] Translation: X:86.49, Y:-17.59, Z:-0.15 [[ 9.47996006e-01 3.18189392e-01 -7.68658180e-03 8.64872514e+01] [-3.18178589e-01 9.48027167e-01 2.62230771e-03 -1.75851949e+01] [ 8.12147887e-03 -4.02314804e-05 9.99967019e-01 -1.46188429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.737628 meters 0.01304171755817267 Centerline is valid? [True, True] Translation: X:86.55, Y:-17.60, Z:-0.15 [[ 9.47525750e-01 3.19496756e-01 -1.08062427e-02 8.65468765e+01] [-3.19475454e-01 9.47587368e-01 3.68969024e-03 -1.76028291e+01] [ 1.14187031e-02 -4.37472410e-05 9.99934804e-01 -1.49125236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.797628 meters 0.013509386874848765 Centerline is valid? [True, True] Translation: X:86.60, Y:-17.62, Z:-0.15 [[ 9.48460167e-01 3.16662012e-01 -1.21852945e-02 8.66048741e+01] [-3.16634652e-01 9.48538435e-01 4.16356986e-03 -1.76236508e+01] [ 1.28766646e-02 -9.06936817e-05 9.99917088e-01 -1.50626677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.857628 meters 0.015118781858300538 Centerline is valid? [True, True] Translation: X:86.66, Y:-17.65, Z:-0.15 [[ 9.52385608e-01 3.04776724e-01 -8.53239030e-03 8.66612631e+01] [-3.04762822e-01 9.52423812e-01 2.91642735e-03 -1.76489135e+01] [ 9.01531086e-03 -1.77208088e-04 9.99959346e-01 -1.46586491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.917628 meters 0.017541544892568765 Centerline is valid? [True, True] Translation: X:86.72, Y:-17.67, Z:-0.14 [[ 9.55386899e-01 2.95295544e-01 -6.03438563e-03 8.67167892e+01] [-2.95288394e-01 9.55405937e-01 2.06375346e-03 -1.76741227e+01] [ 6.37470506e-03 -1.89798983e-04 9.99979663e-01 -1.43965906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.977628 meters 0.021476583527028106 Centerline is valid? [True, True] Translation: X:86.77, Y:-17.70, Z:-0.14 [[ 9.58719666e-01 2.84333934e-01 -3.28859882e-03 8.67717475e+01] [-2.84331746e-01 9.58725296e-01 1.12464838e-03 -1.76992828e+01] [ 3.47263857e-03 -1.43169472e-04 9.99993960e-01 -1.42015964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.037628 meters 0.024016921478416033 Centerline is valid? [True, True] Translation: X:86.83, Y:-17.72, Z:-0.14 [[ 9.60096880e-01 2.79658922e-01 -2.20661039e-03 8.68287951e+01] [-2.79657924e-01 9.60099409e-01 7.54703878e-04 -1.77193997e+01] [ 2.32962501e-03 -1.07492756e-04 9.99997281e-01 -1.43247153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.097628 meters 0.021690207461935673 Centerline is valid? [True, True] Translation: X:86.89, Y:-17.73, Z:-0.15 [[ 9.58967128e-01 2.83496073e-01 -3.46748904e-03 8.68898386e+01] [-2.83493634e-01 9.58973385e-01 1.18611341e-03 -1.77317628e+01] [ 3.66148820e-03 -1.54432700e-04 9.99993285e-01 -1.45016126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.157628 meters 0.019823346753325113 Centerline is valid? [True, True] Translation: X:86.95, Y:-17.74, Z:-0.15 [[ 9.55767703e-01 2.94056667e-01 -6.22691188e-03 8.69517662e+01] [-2.94049021e-01 9.55787965e-01 2.13033492e-03 -1.77407992e+01] [ 6.57804663e-03 -2.05087969e-04 9.99978343e-01 -1.49582306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.217628 meters 0.015461254925961608 Centerline is valid? [True, True] Translation: X:87.01, Y:-17.75, Z:-0.15 [[ 9.52686976e-01 3.03886854e-01 -6.34868924e-03 8.70121575e+01] [-3.03879123e-01 9.52708119e-01 2.17214044e-03 -1.77526859e+01] [ 6.70853272e-03 -1.40135789e-04 9.99977488e-01 -1.47599992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27762799999999 meters 0.01297840548669197 Centerline is valid? [True, True] Translation: X:87.07, Y:-17.76, Z:-0.15 [[ 9.48302986e-01 3.17296209e-01 -6.67558901e-03 8.70739539e+01] [-3.17287990e-01 9.48326481e-01 2.28424367e-03 -1.77617525e+01] [ 7.05541969e-03 -4.80708749e-05 9.99975109e-01 -1.49178489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.337628 meters 0.01256656502806962 Centerline is valid? [True, True] Translation: X:87.14, Y:-17.77, Z:-0.15 [[ 9.44393759e-01 3.28771218e-01 -5.46932411e-03 8.71355333e+01] [-3.28765881e-01 9.44409596e-01 1.87340441e-03 -1.77737312e+01] [ 5.78120362e-03 2.88957283e-05 9.99983288e-01 -1.49166449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.397628 meters 0.01349089159402639 Centerline is valid? [True, True] Translation: X:87.19, Y:-17.79, Z:-0.15 [[ 9.42084565e-01 3.35337938e-01 -5.01390390e-03 8.71942242e+01] [-3.35333540e-01 9.42097905e-01 1.71868987e-03 -1.77911383e+01] [ 5.29993028e-03 6.21789436e-05 9.99985953e-01 -1.49327301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.457628 meters 0.013726801171341684 Centerline is valid? [True, True] Translation: X:87.25, Y:-17.81, Z:-0.15 [[ 9.41392978e-01 3.37285809e-01 -4.18856875e-03 8.72519197e+01] [-3.37282753e-01 9.41402294e-01 1.43702216e-03 -1.78145566e+01] [ 4.42781541e-03 5.99294312e-05 9.99990195e-01 -1.50293995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.517628 meters 0.013726801171341684 Centerline is valid? [True, True] Translation: X:87.31, Y:-17.83, Z:-0.15 [[ 9.41298255e-01 3.37550076e-01 -4.18814608e-03 8.73109241e+01] [-3.37547017e-01 9.41307571e-01 1.43825377e-03 -1.78348813e+01] [ 4.42781628e-03 5.98704509e-05 9.99990195e-01 -1.50398314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.577628 meters 0.013324182556374606 Centerline is valid? [True, True] Translation: X:87.37, Y:-17.86, Z:-0.15 [[ 9.41614507e-01 3.36647430e-01 -5.53420134e-03 8.73683822e+01] [-3.36642064e-01 9.41630768e-01 1.90213693e-03 -1.78619557e+01] [ 5.85152377e-03 7.19652396e-05 9.99982877e-01 -1.51172742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63762799999999 meters 0.013043825582604378 Centerline is valid? [True, True] Translation: X:87.43, Y:-17.89, Z:-0.15 [[ 9.42331041e-01 3.34633729e-01 -5.69880489e-03 8.74254358e+01] [-3.34627993e-01 9.42348271e-01 1.96021764e-03 -1.78880089e+01] [ 6.02621387e-03 5.98057132e-05 9.99981840e-01 -1.51407539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.697628 meters 0.012623776190002798 Centerline is valid? [True, True] Translation: X:87.48, Y:-17.92, Z:-0.15 [[ 9.44081003e-01 3.29673298e-01 -5.15519795e-03 8.74796212e+01] [-3.29668523e-01 9.44095078e-01 1.77455192e-03 -1.79176600e+01] [ 5.45201940e-03 2.41857379e-05 9.99985137e-01 -1.51801721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.757628 meters 0.012524645841449687 Centerline is valid? [True, True] Translation: X:87.54, Y:-17.94, Z:-0.15 [[ 9.45014632e-01 3.26992543e-01 -4.81904669e-03 8.75364371e+01] [-3.26988328e-01 9.45026919e-01 1.66024554e-03 -1.79428690e+01] [ 5.09701675e-03 6.81569563e-06 9.99987010e-01 -1.51130064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.817628 meters 0.012529355267131007 Centerline is valid? [True, True] Translation: X:87.60, Y:-17.96, Z:-0.15 [[ 9.45493392e-01 3.25604625e-01 -4.88601968e-03 8.75958688e+01] [-3.25600266e-01 9.45506017e-01 1.68491207e-03 -1.79646118e+01] [ 5.16837616e-03 -2.18392386e-06 9.99986644e-01 -1.50450816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.877628 meters 0.012813971333261677 Centerline is valid? [True, True] Translation: X:87.65, Y:-17.99, Z:-0.15 [[ 9.46866684e-01 3.21592562e-01 -4.65902019e-03 8.76548542e+01] [-3.21588542e-01 9.46878146e-01 1.60810689e-03 -1.79878562e+01] [ 4.92867961e-03 -2.43753265e-05 9.99987854e-01 -1.50219166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.937628 meters 0.013977701254624312 Centerline is valid? [True, True] Translation: X:87.71, Y:-18.01, Z:-0.15 [[ 9.49327521e-01 3.14258375e-01 -4.35105406e-03 8.77108404e+01] [-3.14254790e-01 9.49337490e-01 1.50214565e-03 -1.80119046e+01] [ 4.60268060e-03 -5.86886276e-05 9.99989406e-01 -1.50448841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99762799999999 meters 0.015565956185399184 Centerline is valid? [True, True] Translation: X:87.77, Y:-18.03, Z:-0.15 [[ 9.52287648e-01 3.05178770e-01 -3.76211102e-03 8.77687205e+01] [-3.05176018e-01 9.52295075e-01 1.29892765e-03 -1.80327216e+01] [ 3.97904494e-03 -8.88466928e-05 9.99992080e-01 -1.50941573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.057628 meters 0.018863708149329344 Centerline is valid? [True, True] Translation: X:87.82, Y:-18.06, Z:-0.15 [[ 9.55827258e-01 2.93922671e-01 -1.92779986e-03 8.78248021e+01] [-2.93921926e-01 9.55829199e-01 6.65690811e-04 -1.80570302e+01] [ 2.03830902e-03 -6.96627742e-05 9.99997920e-01 -1.48598544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.117628 meters 0.026619382708398948 Centerline is valid? [True, True] Translation: X:87.88, Y:-18.09, Z:-0.15 [[ 9.58938141e-01 2.83613263e-01 -1.07623242e-03 8.78789925e+01] [-2.83613023e-01 9.58938744e-01 3.71863765e-04 -1.80855076e+01] [ 1.13750646e-03 -5.13608181e-05 9.99999352e-01 -1.48669616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.177628 meters 0.02266710394281645 Centerline is valid? [True, True] Translation: X:87.94, Y:-18.10, Z:-0.15 [[ 9.60050751e-01 2.79825937e-01 2.65364012e-05 8.79394825e+01] [-2.79825937e-01 9.60050751e-01 -9.00421754e-06 -1.80978907e+01] [-2.79959055e-05 1.21893249e-06 1.00000000e+00 -1.47627566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.237628 meters 0.022386790416828402 Centerline is valid? [True, True] Translation: X:88.00, Y:-18.11, Z:-0.15 [[ 9.59915582e-01 2.80288316e-01 -7.31319576e-04 8.80017520e+01] [-2.80288204e-01 9.59915860e-01 2.53388520e-04 -1.81116516e+01] [ 7.73027101e-04 -3.82513379e-05 9.99999700e-01 -1.49095332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.297628 meters 0.019292054355872605 Centerline is valid? [True, True] Translation: X:88.06, Y:-18.12, Z:-0.15 [[ 9.58221939e-01 2.86022994e-01 -1.24975147e-03 8.80636322e+01] [-2.86022673e-01 9.58222753e-01 4.32252010e-04 -1.81192466e+01] [ 1.32117431e-03 -5.67361037e-05 9.99999126e-01 -1.49704758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.357628 meters 0.01885079966722979 Centerline is valid? [True, True] Translation: X:88.12, Y:-18.13, Z:-0.15 [[ 9.56229420e-01 2.92617474e-01 5.57335426e-04 8.81231541e+01] [-2.92617412e-01 9.56229582e-01 -1.92733519e-04 -1.81296351e+01] [-5.89337817e-04 2.12114109e-05 9.99999826e-01 -1.48402729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.417628 meters 0.01683508276651817 Centerline is valid? [True, True] Translation: X:88.18, Y:-18.14, Z:-0.15 [[ 9.54139937e-01 2.99353857e-01 2.06103889e-03 8.81846727e+01] [-2.99353015e-01 9.54142161e-01 -7.12805618e-04 -1.81380414e+01] [-2.17990521e-03 6.31381019e-05 9.99997622e-01 -1.47273072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.477628 meters 0.015303874330955236 Centerline is valid? [True, True] Translation: X:88.25, Y:-18.15, Z:-0.15 [[ 9.52690797e-01 3.03930168e-01 2.58820615e-03 8.82460313e+01] [-3.03928857e-01 9.52694310e-01 -8.95245820e-04 -1.81491298e+01] [-2.73786148e-03 6.62619176e-05 9.99996250e-01 -1.47742977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.537628 meters 0.013509653728090218 Centerline is valid? [True, True] Translation: X:88.31, Y:-18.16, Z:-0.15 [[ 9.50059839e-01 3.12065829e-01 1.10472526e-03 8.83079302e+01] [-3.12065596e-01 9.50060481e-01 -3.82145294e-04 -1.81573327e+01] [-1.16881030e-03 1.83141513e-05 9.99999317e-01 -1.49325735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.597628 meters 0.011752674274037906 Centerline is valid? [True, True] Translation: X:88.37, Y:-18.17, Z:-0.15 [[ 9.46475679e-01 3.22769644e-01 -1.88319233e-03 8.83706955e+01] [-3.22768987e-01 9.46477552e-01 6.51707776e-04 -1.81654035e+01] [ 1.99275075e-03 -8.98947984e-06 9.99998014e-01 -1.51453355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.657628 meters 0.011577575408738943 Centerline is valid? [True, True] Translation: X:88.43, Y:-18.18, Z:-0.15 [[ 9.44278116e-01 3.29136489e-01 -2.83035872e-03 8.84324364e+01] [-3.29135028e-01 9.44282358e-01 9.80720533e-04 -1.81786481e+01] [ 2.99544872e-03 5.49726133e-06 9.99995514e-01 -1.52741507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.717628 meters 0.011770712058070846 Centerline is valid? [True, True] Translation: X:88.49, Y:-18.19, Z:-0.15 [[ 9.42613244e-01 3.33878665e-01 -2.30405922e-03 8.84923549e+01] [-3.33877709e-01 9.42616060e-01 7.99042669e-04 -1.81942479e+01] [ 2.43862652e-03 1.60858120e-05 9.99997026e-01 -1.51795940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77762799999999 meters 0.011642865210074684 Centerline is valid? [True, True] Translation: X:88.55, Y:-18.22, Z:-0.15 [[ 9.43426593e-01 3.31578688e-01 -1.35590304e-03 8.85491755e+01] [-3.31578353e-01 9.43427567e-01 4.70715032e-04 -1.82166802e+01] [ 1.43527538e-03 5.50301885e-06 9.99998970e-01 -1.50182114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.837628 meters 0.011554910097716368 Centerline is valid? [True, True] Translation: X:88.61, Y:-18.24, Z:-0.15 [[ 9.45484273e-01 3.25664185e-01 -1.52597477e-03 8.86060998e+01] [-3.25663754e-01 9.45485504e-01 5.30177654e-04 -1.82419445e+01] [ 1.61544690e-03 -4.31996229e-06 9.99998695e-01 -1.50913863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.897628 meters 0.01289196208113018 Centerline is valid? [True, True] Translation: X:88.66, Y:-18.27, Z:-0.15 [[ 9.47860645e-01 3.18650943e-01 -4.66629446e-03 8.86619171e+01] [-3.18646821e-01 9.47872130e-01 1.62149271e-03 -1.82700148e+01] [ 4.93974065e-03 -5.00492294e-05 9.99987798e-01 -1.53626887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.957628 meters 0.013495610179393368 Centerline is valid? [True, True] Translation: X:88.72, Y:-18.30, Z:-0.15 [[ 9.49606107e-01 3.13381696e-01 -6.33674467e-03 8.87191943e+01] [-3.13373977e-01 9.49627244e-01 2.20202913e-03 -1.82953835e+01] [ 6.70762100e-03 -1.05289432e-04 9.99977498e-01 -1.53406632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.017628 meters 0.015839037307814927 Centerline is valid? [True, True] Translation: X:88.77, Y:-18.33, Z:-0.15 [[ 9.52435404e-01 3.04639988e-01 -7.82808671e-03 8.87739708e+01] [-3.04627910e-01 9.52467551e-01 2.72052197e-03 -1.83252858e+01] [ 8.28477836e-03 -2.06467753e-04 9.99965659e-01 -1.54102393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.077628 meters 0.01984420564723435 Centerline is valid? [True, True] Translation: X:88.83, Y:-18.36, Z:-0.15 [[ 9.55778194e-01 2.94001304e-01 -7.16075829e-03 8.88285729e+01] [-2.93990896e-01 9.55804979e-01 2.48897175e-03 -1.83557075e+01] [ 7.57604937e-03 -2.73707186e-04 9.99971264e-01 -1.53830156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13762799999999 meters 0.021643835201990737 Centerline is valid? [True, True] Translation: X:88.88, Y:-18.39, Z:-0.15 [[ 9.58333283e-01 2.85624395e-01 -4.00289598e-03 8.88812001e+01] [-2.85621069e-01 9.58341624e-01 1.39138812e-03 -1.83867181e+01] [ 4.23355623e-03 -1.90102114e-04 9.99991020e-01 -1.49878592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.197628 meters 0.02160100679801239 Centerline is valid? [True, True] Translation: X:88.94, Y:-18.41, Z:-0.15 [[ 9.59153846e-01 2.82864173e-01 -3.42906113e-03 8.89384769e+01] [-2.82861714e-01 9.59159960e-01 1.19210520e-03 -1.84086538e+01] [ 3.62622199e-03 -1.73462180e-04 9.99993410e-01 -1.49479504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.257628 meters 0.02042189729924478 Centerline is valid? [True, True] Translation: X:89.00, Y:-18.43, Z:-0.15 [[ 9.58346172e-01 2.85582585e-01 -3.89898149e-03 8.89967547e+01] [-2.85579428e-01 9.58354085e-01 1.35562062e-03 -1.84272279e+01] [ 4.12374648e-03 -1.85684934e-04 9.99991480e-01 -1.49558290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.317628 meters 0.01868495818622379 Centerline is valid? [True, True] Translation: X:89.06, Y:-18.44, Z:-0.15 [[ 9.55690440e-01 2.94318013e-01 -5.71760091e-03 8.90556780e+01] [-2.94311379e-01 9.55707518e-01 1.98803428e-03 -1.84434749e+01] [ 6.04946847e-03 -2.17190350e-04 9.99981678e-01 -1.50519353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.377628 meters 0.015224672469984797 Centerline is valid? [True, True] Translation: X:89.12, Y:-18.46, Z:-0.15 [[ 9.52723861e-01 3.03783081e-01 -5.75193680e-03 8.91161303e+01] [-3.03776537e-01 9.52741211e-01 2.00028337e-03 -1.84557896e+01] [ 6.08775948e-03 -1.58414251e-04 9.99981457e-01 -1.50639090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.437628 meters 0.014005868122305183 Centerline is valid? [True, True] Translation: X:89.18, Y:-18.47, Z:-0.15 [[ 9.50572710e-01 3.10463429e-01 -4.89722490e-03 8.91755610e+01] [-3.10458773e-01 9.50585319e-01 1.70322805e-03 -1.84717219e+01] [ 5.18402012e-03 -9.86556755e-05 9.99986558e-01 -1.51583965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49762799999999 meters 0.01251100218948865 Centerline is valid? [True, True] Translation: X:89.24, Y:-18.49, Z:-0.15 [[ 9.47609290e-01 3.19418080e-01 -2.95355919e-03 8.92356107e+01] [-3.19416429e-01 9.47613893e-01 1.02746590e-03 -1.84876962e+01] [ 3.12702491e-03 -3.02209084e-05 9.99995110e-01 -1.51278661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.557628 meters 0.012025152571911625 Centerline is valid? [True, True] Translation: X:89.30, Y:-18.51, Z:-0.15 [[ 9.46229273e-01 3.23491341e-01 -1.87479430e-03 8.92952808e+01] [-3.23490684e-01 9.46231130e-01 6.52472147e-04 -1.85069094e+01] [ 1.98505782e-03 -1.09097557e-05 9.99998030e-01 -1.51156342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.617628 meters 0.01188848118309779 Centerline is valid? [True, True] Translation: X:89.35, Y:-18.53, Z:-0.15 [[ 9.45468032e-01 3.25714189e-01 -6.84486965e-04 8.93532635e+01] [-3.25714101e-01 9.45468279e-01 2.38791701e-04 -1.85277328e+01] [ 7.24938558e-04 -2.82286283e-06 9.99999737e-01 -1.51552120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.677628 meters 0.011973954095627378 Centerline is valid? [True, True] Translation: X:89.41, Y:-18.55, Z:-0.15 [[ 9.45464872e-01 3.25723876e-01 -3.64386398e-04 8.94105021e+01] [-3.25723851e-01 9.45464942e-01 1.27459036e-04 -1.85515528e+01] [ 3.86031015e-04 -1.81870046e-06 9.99999925e-01 -1.50994100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.737628 meters 0.012066167716266363 Centerline is valid? [True, True] Translation: X:89.47, Y:-18.58, Z:-0.15 [[ 9.45657664e-01 3.25163884e-01 -1.73668126e-04 8.94679805e+01] [-3.25163879e-01 9.45657680e-01 6.10497482e-05 -1.85774423e+01] [ 1.84081771e-04 -1.26156078e-06 9.99999983e-01 -1.51533371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.797628 meters 0.012055281901563842 Centerline is valid? [True, True] Translation: X:89.53, Y:-18.60, Z:-0.15 [[ 9.45372944e-01 3.25989706e-01 -8.41226856e-04 8.95256638e+01] [-3.25989574e-01 9.45373318e-01 2.94178657e-04 -1.86015418e+01] [ 8.91172638e-04 -3.87735880e-06 9.99999603e-01 -1.53480354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.857628 meters 0.012107562532283058 Centerline is valid? [True, True] Translation: X:89.58, Y:-18.63, Z:-0.15 [[ 9.45044637e-01 3.26935024e-01 -2.03076670e-03 8.95831460e+01] [-3.26934253e-01 9.45046819e-01 7.10112569e-04 -1.86276290e+01] [ 2.15133028e-03 -7.16088305e-06 9.99997686e-01 -1.54279948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.917628 meters 0.012094605379301758 Centerline is valid? [True, True] Translation: X:89.64, Y:-18.65, Z:-0.15 [[ 9.44542159e-01 3.28381943e-01 -2.32567343e-03 8.96412692e+01] [-3.28380934e-01 9.44545023e-01 8.13918781e-04 -1.86530652e+01] [ 2.46397950e-03 -5.07378955e-06 9.99996964e-01 -1.53970012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.977628 meters 0.012059510570664858 Centerline is valid? [True, True] Translation: X:89.70, Y:-18.68, Z:-0.15 [[ 9.43841792e-01 3.30384175e-01 -2.99480968e-03 8.96996116e+01] [-3.30382510e-01 9.43846543e-01 1.04890838e-03 -1.86762932e+01] [ 3.17318349e-03 -5.70820531e-07 9.99994965e-01 -1.54877091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.037628 meters 0.012285996886927312 Centerline is valid? [True, True] Translation: X:89.76, Y:-18.70, Z:-0.16 [[ 9.43193691e-01 3.32215230e-01 -4.32468571e-03 8.97554685e+01] [-3.32211776e-01 9.43203605e-01 1.51485894e-03 -1.87020544e+01] [ 4.58231836e-03 7.90612265e-06 9.99989501e-01 -1.56764892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.097628 meters 0.01240491506002952 Centerline is valid? [True, True] Translation: X:89.81, Y:-18.73, Z:-0.16 [[ 9.43038878e-01 3.32622288e-01 -6.33154150e-03 8.98108112e+01] [-3.32614883e-01 9.43060132e-01 2.21945937e-03 -1.87286853e+01] [ 6.70926602e-03 1.29284617e-05 9.99977493e-01 -1.57838101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.157628 meters 0.012517906590417738 Centerline is valid? [True, True] Translation: X:89.87, Y:-18.75, Z:-0.16 [[ 9.41782446e-01 3.36175522e-01 -5.64297662e-03 8.98706987e+01] [-3.36169693e-01 9.41799351e-01 1.98001110e-03 -1.87470485e+01] [ 5.98018298e-03 3.22580221e-05 9.99982118e-01 -1.56705935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.217628 meters 0.012436492604973783 Centerline is valid? [True, True] Translation: X:89.93, Y:-18.77, Z:-0.16 [[ 9.42113424e-01 3.35248443e-01 -5.54781384e-03 8.99301202e+01] [-3.35242782e-01 9.42129758e-01 1.94837941e-03 -1.87687807e+01] [ 5.87995168e-03 2.42701478e-05 9.99982713e-01 -1.56357151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27762799999999 meters 0.012343281959182386 Centerline is valid? [True, True] Translation: X:89.99, Y:-18.79, Z:-0.16 [[ 9.44128670e-01 3.29558599e-01 -3.49048491e-03 8.99875980e+01] [-3.29556315e-01 9.44135123e-01 1.22696287e-03 -1.87928012e+01] [ 3.69984556e-03 -8.09947797e-06 9.99993156e-01 -1.55083687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.337628 meters 0.01253762468855905 Centerline is valid? [True, True] Translation: X:90.05, Y:-18.81, Z:-0.15 [[ 9.45162225e-01 3.26594934e-01 -2.02906510e-03 9.00457215e+01] [-3.26594153e-01 9.45164403e-01 7.14060451e-04 -1.88142180e+01] [ 2.15100863e-03 -1.22221668e-05 9.99997687e-01 -1.54096039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.397628 meters 0.012807794685141219 Centerline is valid? [True, True] Translation: X:90.10, Y:-18.84, Z:-0.15 [[ 9.46144981e-01 3.23741952e-01 -9.07888096e-04 9.01044160e+01] [-3.23741794e-01 9.46145416e-01 3.19982155e-04 -1.88357078e+01] [ 9.62585808e-04 -8.82818917e-06 9.99999537e-01 -1.52179521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.457628 meters 0.012726647372955409 Centerline is valid? [True, True] Translation: X:90.16, Y:-18.85, Z:-0.15 [[ 9.45747163e-01 3.24887718e-01 -3.20531105e-03 9.01643227e+01] [-3.24885755e-01 9.45752594e-01 1.12966085e-03 -1.88546330e+01] [ 3.39844418e-03 -2.70136466e-05 9.99994225e-01 -1.54759822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.517628 meters 0.012208039633607462 Centerline is valid? [True, True] Translation: X:90.22, Y:-18.87, Z:-0.16 [[ 9.43980008e-01 3.29968714e-01 -4.73198880e-03 9.02237505e+01] [-3.29964495e-01 9.43991868e-01 1.66856995e-03 -1.88704560e+01] [ 5.01753483e-03 -1.37083827e-05 9.99987412e-01 -1.57543855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.577628 meters 0.012217245612119676 Centerline is valid? [True, True] Translation: X:90.28, Y:-18.89, Z:-0.16 [[ 9.42373086e-01 3.34522254e-01 -5.27524159e-03 9.02843070e+01] [-3.34517073e-01 9.42387851e-01 1.86184324e-03 -1.88878672e+01] [ 5.59415159e-03 1.01074173e-05 9.99984353e-01 -1.57396106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63762799999999 meters 0.012585185387891194 Centerline is valid? [True, True] Translation: X:90.34, Y:-18.90, Z:-0.16 [[ 9.40115495e-01 3.40812058e-01 -5.47696410e-03 9.03438876e+01] [-3.40806572e-01 9.40131448e-01 1.93444770e-03 -1.89044858e+01] [ 5.80834929e-03 4.79811033e-05 9.99983130e-01 -1.58325338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.697628 meters 0.012803643572014658 Centerline is valid? [True, True] Translation: X:90.40, Y:-18.93, Z:-0.16 [[ 9.39393537e-01 3.42796299e-01 -5.52085948e-03 9.04022221e+01] [-3.42790749e-01 9.39409758e-01 1.95147513e-03 -1.89266195e+01] [ 5.85530773e-03 5.92964306e-05 9.99982856e-01 -1.58550312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.757628 meters 0.012454966011803228 Centerline is valid? [True, True] Translation: X:90.46, Y:-18.95, Z:-0.16 [[ 9.40046974e-01 3.41005664e-01 -5.17921921e-03 9.04599284e+01] [-3.41000745e-01 9.40061240e-01 1.83219683e-03 -1.89503963e+01] [ 5.49357273e-03 4.37665284e-05 9.99984909e-01 -1.58363808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.817628 meters 0.012040331708317913 Centerline is valid? [True, True] Translation: X:90.52, Y:-18.98, Z:-0.16 [[ 9.41987723e-01 3.35616654e-01 -4.53783664e-03 9.05167218e+01] [-3.35612809e-01 9.41998652e-01 1.60662010e-03 -1.89762967e+01] [ 4.81384447e-03 9.53969435e-06 9.99988413e-01 -1.57884656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.877628 meters 0.012162991040013105 Centerline is valid? [True, True] Translation: X:90.58, Y:-19.00, Z:-0.16 [[ 9.43895512e-01 3.30224169e-01 -3.64147031e-03 9.05752487e+01] [-3.30221647e-01 9.43902536e-01 1.29056551e-03 -1.90007971e+01] [ 3.86336898e-03 -1.56666679e-05 9.99992537e-01 -1.56019533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.937628 meters 0.012686654116908532 Centerline is valid? [True, True] Translation: X:90.63, Y:-19.02, Z:-0.16 [[ 9.45283457e-01 3.26229978e-01 -3.63155249e-03 9.06320687e+01] [-3.26227437e-01 9.45290432e-01 1.28787026e-03 -1.90237532e+01] [ 3.85301371e-03 -3.26903934e-05 9.99992577e-01 -1.55307105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99762799999999 meters 0.013539404321235397 Centerline is valid? [True, True] Translation: X:90.69, Y:-19.05, Z:-0.16 [[ 9.47504238e-01 3.19727967e-01 -3.12197520e-03 9.06895869e+01] [-3.19726053e-01 9.47509380e-01 1.10744858e-03 -1.90456332e+01] [ 3.31218307e-03 -5.11354168e-05 9.99994513e-01 -1.55199722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.057628 meters 0.01469665699028615 Centerline is valid? [True, True] Translation: X:90.75, Y:-19.07, Z:-0.16 [[ 9.49375999e-01 3.14102650e-01 -4.97362937e-03 9.07478360e+01] [-3.14097715e-01 9.49389021e-01 1.76440647e-03 -1.90665142e+01] [ 5.27611387e-03 -1.12879535e-04 9.99986075e-01 -1.56766168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.117628 meters 0.017530614465812465 Centerline is valid? [True, True] Translation: X:90.80, Y:-19.09, Z:-0.16 [[ 9.50621183e-01 3.10246988e-01 -8.13466246e-03 9.08037994e+01] [-3.10233637e-01 9.50655962e-01 2.88674303e-03 -1.90889241e+01] [ 8.62886870e-03 -2.20553159e-04 9.99962746e-01 -1.60258994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.177628 meters 0.01841233665485982 Centerline is valid? [True, True] Translation: X:90.86, Y:-19.11, Z:-0.16 [[ 9.50581841e-01 3.10352017e-01 -8.70570109e-03 9.08625784e+01] [-3.10336705e-01 9.50621675e-01 3.09205821e-03 -1.91082086e+01] [ 9.23545465e-03 -2.37555800e-04 9.99957324e-01 -1.60608734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.237628 meters 0.01823163783975744 Centerline is valid? [True, True] Translation: X:90.92, Y:-19.13, Z:-0.16 [[ 9.50010454e-01 3.12103831e-01 -8.44607157e-03 9.09213060e+01] [-3.12089470e-01 9.50047973e-01 3.00178059e-03 -1.91251231e+01] [ 8.96104041e-03 -2.15792935e-04 9.99959826e-01 -1.61636477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.297628 meters 0.015596753067724166 Centerline is valid? [True, True] Translation: X:90.98, Y:-19.14, Z:-0.16 [[ 9.49763310e-01 3.12850819e-01 -8.60349242e-03 9.09811153e+01] [-3.12835926e-01 9.49802252e-01 3.06017189e-03 -1.91411376e+01] [ 9.12899376e-03 -2.14957465e-04 9.99958307e-01 -1.59769352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.357628 meters 0.014977144028356561 Centerline is valid? [True, True] Translation: X:91.04, Y:-19.16, Z:-0.16 [[ 9.48919550e-01 3.15458559e-01 -6.13070114e-03 9.10399764e+01] [-3.15451040e-01 9.48939344e-01 2.18244202e-03 -1.91598791e+01] [ 6.50613353e-03 -1.37025848e-04 9.99978825e-01 -1.57523992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.417628 meters 0.013898238497856253 Centerline is valid? [True, True] Translation: X:91.10, Y:-19.18, Z:-0.15 [[ 9.47263977e-01 3.20447230e-01 -2.12851889e-03 9.10980830e+01] [-3.20446336e-01 9.47266368e-01 7.57644483e-04 -1.91759834e+01] [ 2.25905944e-03 -3.56132459e-05 9.99997448e-01 -1.54075628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.477628 meters 0.012942632276340476 Centerline is valid? [True, True] Translation: X:91.16, Y:-19.19, Z:-0.15 [[ 9.46012548e-01 3.24128725e-01 -9.09784988e-04 9.11574402e+01] [-3.24128563e-01 9.46012986e-01 3.24513294e-04 -1.91940102e+01] [ 9.65852493e-04 -1.21063470e-05 9.99999533e-01 -1.53025048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.537628 meters 0.012391332581833649 Centerline is valid? [True, True] Translation: X:91.22, Y:-19.21, Z:-0.15 [[ 9.44173087e-01 3.29444465e-01 -1.87768543e-03 9.12165014e+01] [-3.29443785e-01 9.44174954e-01 6.69397628e-04 -1.92113294e+01] [ 1.99339290e-03 -1.34354285e-05 9.99998013e-01 -1.54444023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.597628 meters 0.012044475289028666 Centerline is valid? [True, True] Translation: X:91.28, Y:-19.23, Z:-0.16 [[ 9.42925308e-01 3.32991025e-01 -2.97339792e-03 9.12760757e+01] [-3.32989336e-01 9.42929996e-01 1.06082420e-03 -1.92287720e+01] [ 3.15695102e-03 -1.01681845e-05 9.99995017e-01 -1.56610292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.657628 meters 0.012008550110358443 Centerline is valid? [True, True] Translation: X:91.34, Y:-19.25, Z:-0.16 [[ 9.41942313e-01 3.35730863e-01 -5.42821935e-03 9.13359558e+01] [-3.35725269e-01 9.41957954e-01 1.93809565e-03 -1.92474768e+01] [ 5.76383292e-03 -3.18389436e-06 9.99983389e-01 -1.58614052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.717628 meters 0.012081434176137107 Centerline is valid? [True, True] Translation: X:91.39, Y:-19.27, Z:-0.16 [[ 9.42218640e-01 3.34923941e-01 -7.07020168e-03 9.13928034e+01] [-3.34914417e-01 9.42245166e-01 2.52588611e-03 -1.92700683e+01] [ 7.50784309e-03 -1.20245055e-05 9.99971816e-01 -1.60699942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77762799999999 meters 0.012159958079991262 Centerline is valid? [True, True] Translation: X:91.45, Y:-19.29, Z:-0.16 [[ 9.42644002e-01 3.33737854e-01 -6.42879612e-03 9.14512750e+01] [-3.33729938e-01 9.42665924e-01 2.29882952e-03 -1.92943121e+01] [ 6.82741347e-03 -2.14961311e-05 9.99976693e-01 -1.61295044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.837628 meters 0.015164825188502255 Centerline is valid? [True, True] Translation: X:91.51, Y:-19.32, Z:-0.16 [[ 9.42817670e-01 3.33261543e-01 -5.62005609e-03 9.15086729e+01] [-3.33255474e-01 9.42834420e-01 2.01147780e-03 -1.93215463e+01] [ 5.96913052e-03 -2.35423564e-05 9.99982184e-01 -1.60628867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.897628 meters 0.011932420780019458 Centerline is valid? [True, True] Translation: X:91.57, Y:-19.35, Z:-0.16 [[ 9.42433027e-01 3.34375916e-01 -3.56889687e-03 9.15663697e+01] [-3.34373472e-01 9.42439784e-01 1.27845530e-03 -1.93455645e+01] [ 3.79095506e-03 -1.15140558e-05 9.99992814e-01 -1.57110188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.957628 meters 0.01498192354644746 Centerline is valid? [True, True] Translation: X:91.62, Y:-19.37, Z:-0.16 [[ 9.41615429e-01 3.36664177e-01 -4.19704061e-03 9.16245082e+01] [-3.36660814e-01 9.41624783e-01 1.50482294e-03 -1.93697428e+01] [ 4.45865744e-03 -3.98539144e-06 9.99990060e-01 -1.59992508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.017628 meters 0.012038834033943204 Centerline is valid? [True, True] Translation: X:91.68, Y:-19.39, Z:-0.16 [[ 9.40165725e-01 3.40685534e-01 -4.66649619e-03 9.16829497e+01] [-3.40681419e-01 9.40177306e-01 1.67459917e-03 -1.93931137e+01] [ 4.95784553e-03 1.53877999e-05 9.99987710e-01 -1.59097524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.077628 meters 0.012216750614078084 Centerline is valid? [True, True] Translation: X:91.74, Y:-19.41, Z:-0.16 [[ 9.39494868e-01 3.42508706e-01 -6.09748414e-03 9.17398184e+01] [-3.42501714e-01 9.39514654e-01 2.18862424e-03 -1.94148360e+01] [ 6.47829856e-03 3.21975308e-05 9.99979015e-01 -1.59676560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13762799999999 meters 0.012373400906496666 Centerline is valid? [True, True] Translation: X:91.80, Y:-19.43, Z:-0.16 [[ 9.38667534e-01 3.44783926e-01 -5.22539932e-03 9.17994492e+01] [-3.44778816e-01 9.38682078e-01 1.87754147e-03 -1.94349844e+01] [ 5.55233481e-03 3.92197630e-05 9.99984585e-01 -1.58706711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.197628 meters 0.012416116149795767 Centerline is valid? [True, True] Translation: X:91.86, Y:-19.46, Z:-0.16 [[ 9.38844937e-01 3.44295495e-01 -5.54940049e-03 9.18586026e+01] [-3.44289713e-01 9.38861337e-01 1.99566482e-03 -1.94553169e+01] [ 5.89721597e-03 3.69816922e-05 9.99982611e-01 -1.59498680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.257628 meters 0.01243444496298007 Centerline is valid? [True, True] Translation: X:91.92, Y:-19.48, Z:-0.16 [[ 9.40527281e-01 3.39678669e-01 -5.18034735e-03 9.19165403e+01] [-3.39673553e-01 9.40541547e-01 1.86438809e-03 -1.94787668e+01] [ 5.50562478e-03 6.11912792e-06 9.99984844e-01 -1.59831105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.317628 meters 0.013627713798790624 Centerline is valid? [True, True] Translation: X:91.97, Y:-19.51, Z:-0.16 [[ 9.43867167e-01 3.30292919e-01 -4.62145152e-03 9.19710672e+01] [-3.30288729e-01 9.43878480e-01 1.66444269e-03 -1.95074500e+01] [ 4.91184227e-03 -4.45994590e-05 9.99987936e-01 -1.59846075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.377628 meters 0.01666721162563981 Centerline is valid? [True, True] Translation: X:92.03, Y:-19.53, Z:-0.16 [[ 9.47158878e-01 3.20736957e-01 -4.22662461e-03 9.20266707e+01] [-3.20733352e-01 9.47168304e-01 1.52315192e-03 -1.95335349e+01] [ 4.49185598e-03 -8.70473828e-05 9.99989908e-01 -1.60339288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.437628 meters 0.01893509958207273 Centerline is valid? [True, True] Translation: X:92.08, Y:-19.56, Z:-0.16 [[ 9.49331804e-01 3.14253645e-01 -3.71105427e-03 9.20833080e+01] [-3.14250813e-01 9.49339052e-01 1.33821833e-03 -1.95565664e+01] [ 3.94358873e-03 -1.04211399e-04 9.99992219e-01 -1.59940302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49762799999999 meters 0.022080054899823457 Centerline is valid? [True, True] Translation: X:92.14, Y:-19.58, Z:-0.16 [[ 9.52361128e-01 3.04961690e-01 -2.57863622e-03 9.21401225e+01] [-3.04960289e-01 9.52364614e-01 9.29772628e-04 -1.95789559e+01] [ 2.73934692e-03 -9.90976641e-05 9.99996243e-01 -1.59491269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.557628 meters 0.024283973628494455 Centerline is valid? [True, True] Translation: X:92.20, Y:-19.60, Z:-0.16 [[ 9.53434604e-01 3.01594444e-01 -1.80205574e-03 9.21967709e+01] [-3.01593753e-01 9.53436304e-01 6.50132033e-04 -1.95995772e+01] [ 1.91422157e-03 -7.63696229e-05 9.99998165e-01 -1.59774446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.617628 meters 0.021939166338129368 Centerline is valid? [True, True] Translation: X:92.26, Y:-19.61, Z:-0.16 [[ 9.53071030e-01 3.02742955e-01 -1.52156506e-03 9.22595754e+01] [-3.02742462e-01 9.53072243e-01 5.49614184e-04 -1.96096152e+01] [ 1.61655325e-03 -6.31790038e-05 9.99998691e-01 -1.59990452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.677628 meters 0.01946948469158346 Centerline is valid? [True, True] Translation: X:92.32, Y:-19.62, Z:-0.16 [[ 9.50918509e-01 3.09440711e-01 -6.59519641e-04 9.23216792e+01] [-3.09440620e-01 9.50918738e-01 2.38114315e-04 -1.96188844e+01] [ 7.00831848e-04 -2.23451432e-05 9.99999754e-01 -1.59704676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.737628 meters 0.0165320139816709 Centerline is valid? [True, True] Translation: X:92.38, Y:-19.63, Z:-0.16 [[ 9.47030058e-01 3.21144758e-01 3.38295427e-04 9.23830383e+01] [-3.21144735e-01 9.47030118e-01 -1.22080428e-04 -1.96272849e+01] [-3.59581448e-04 6.97203979e-06 9.99999935e-01 -1.59136485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.797628 meters 0.01420469602539261 Centerline is valid? [True, True] Translation: X:92.44, Y:-19.64, Z:-0.16 [[ 9.43959513e-01 3.30060315e-01 7.91425116e-04 9.24447959e+01] [-3.30060192e-01 9.43959845e-01 -2.85656729e-04 -1.96375162e+01] [-8.41357480e-04 8.43046098e-06 9.99999646e-01 -1.59243509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.857628 meters 0.013117599238682906 Centerline is valid? [True, True] Translation: X:92.51, Y:-19.65, Z:-0.16 [[ 9.40269479e-01 3.40427429e-01 1.57204867e-03 9.25073944e+01] [-3.40426956e-01 9.40270794e-01 -5.67592410e-04 -1.96461062e+01] [-1.67137547e-03 -1.47792228e-06 9.99998603e-01 -1.59465059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.917628 meters 0.013322506925330208 Centerline is valid? [True, True] Translation: X:92.57, Y:-19.66, Z:-0.16 [[ 9.38204044e-01 3.46079698e-01 1.41965472e-03 9.25676872e+01] [-3.46079318e-01 9.38205118e-01 -5.12913043e-04 -1.96610624e+01] [-1.50943612e-03 -1.00960477e-05 9.99998861e-01 -1.60910007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.977628 meters 0.013257721405304056 Centerline is valid? [True, True] Translation: X:92.63, Y:-19.68, Z:-0.16 [[ 9.37778434e-01 3.47230426e-01 1.62460411e-03 9.26267400e+01] [-3.47229929e-01 9.37779841e-01 -5.87468921e-04 -1.96813694e+01] [-1.72750807e-03 -1.31954854e-05 9.99998508e-01 -1.61992981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.037628 meters 0.013278958581774749 Centerline is valid? [True, True] Translation: X:92.69, Y:-19.70, Z:-0.16 [[ 9.37919713e-01 3.46851559e-01 7.79811162e-04 9.26853452e+01] [-3.46851445e-01 9.37920037e-01 -2.81974324e-04 -1.97043229e+01] [-8.29203747e-04 -6.00935138e-06 9.99999656e-01 -1.62744297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.097628 meters 0.013170487265768686 Centerline is valid? [True, True] Translation: X:92.74, Y:-19.73, Z:-0.16 [[ 9.38076979e-01 3.46425961e-01 7.96718481e-04 9.27427787e+01] [-3.46425841e-01 9.38077317e-01 -2.88354425e-04 -1.97291445e+01] [-8.47276994e-04 -5.50522237e-06 9.99999641e-01 -1.62316965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.157628 meters 0.013205588228922689 Centerline is valid? [True, True] Translation: X:92.80, Y:-19.75, Z:-0.16 [[ 9.37772091e-01 3.47250858e-01 5.89422542e-04 9.28008324e+01] [-3.47250793e-01 9.37772276e-01 -2.13380175e-04 -1.97523485e+01] [-6.26840567e-04 -4.57547219e-06 9.99999804e-01 -1.61918662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.217628 meters 0.01341002624588028 Centerline is valid? [True, True] Translation: X:92.86, Y:-19.77, Z:-0.16 [[ 9.37166499e-01 3.48881675e-01 -7.28587938e-04 9.28584060e+01] [-3.48881574e-01 9.37166782e-01 2.64964197e-04 -1.97734616e+01] [ 7.75249566e-04 5.87533845e-06 9.99999699e-01 -1.64121806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27762799999999 meters 0.013161172637981474 Centerline is valid? [True, True] Translation: X:92.92, Y:-19.80, Z:-0.16 [[ 9.36994432e-01 3.49340470e-01 -1.63440390e-03 9.29166546e+01] [-3.49339964e-01 9.36995857e-01 5.94527343e-04 -1.97964154e+01] [ 1.73912214e-03 1.38937893e-05 9.99998488e-01 -1.64505254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.337628 meters 0.01303836000804358 Centerline is valid? [True, True] Translation: X:92.97, Y:-19.82, Z:-0.17 [[ 9.37409698e-01 3.48210286e-01 -3.55744238e-03 9.29727589e+01] [-3.48207881e-01 9.37416447e-01 1.29447834e-03 -1.98231030e+01] [ 3.78555567e-03 2.52729221e-05 9.99992834e-01 -1.65856345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.397628 meters 0.012807922674462681 Centerline is valid? [True, True] Translation: X:93.03, Y:-19.85, Z:-0.16 [[ 9.38754994e-01 3.44554878e-01 -4.58224710e-03 9.30288124e+01] [-3.44550838e-01 9.38766177e-01 1.66851644e-03 -1.98505226e+01] [ 4.87655407e-03 1.24889428e-05 9.99988109e-01 -1.64948030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.457628 meters 0.013071450055205078 Centerline is valid? [True, True] Translation: X:93.08, Y:-19.88, Z:-0.16 [[ 9.41356505e-01 3.37385611e-01 -4.34513737e-03 9.30844797e+01] [-3.37381895e-01 9.41366533e-01 1.58364927e-03 -1.98818371e+01] [ 4.62466738e-03 -2.48078647e-05 9.99989306e-01 -1.63844932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.517628 meters 0.014403244008493066 Centerline is valid? [True, True] Translation: X:93.14, Y:-19.91, Z:-0.16 [[ 9.44641377e-01 3.28077202e-01 -4.24475937e-03 9.31380999e+01] [-3.28073557e-01 9.44650912e-01 1.54808157e-03 -1.99142870e+01] [ 4.51770608e-03 -6.97886009e-05 9.99989793e-01 -1.63167496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.577628 meters 0.016856973091984792 Centerline is valid? [True, True] Translation: X:93.19, Y:-19.94, Z:-0.16 [[ 9.47262792e-01 3.20422419e-01 -4.76188730e-03 9.31919375e+01] [-3.20417730e-01 9.47274754e-01 1.73766959e-03 -1.99437431e+01] [ 5.06760391e-03 -1.20236630e-04 9.99987152e-01 -1.63652693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63762799999999 meters 0.021602135737994382 Centerline is valid? [True, True] Translation: X:93.24, Y:-19.98, Z:-0.16 [[ 9.51500996e-01 3.07587317e-01 -5.99150300e-03 9.32446791e+01] [-3.07579638e-01 9.51519830e-01 2.18639158e-03 -1.99780401e+01] [ 6.37354024e-03 -2.37489443e-04 9.99979661e-01 -1.64128535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.697628 meters 0.021614726511140613 Centerline is valid? [True, True] Translation: X:93.30, Y:-20.00, Z:-0.16 [[ 9.53764447e-01 3.00523913e-01 -4.33106199e-03 9.33017844e+01] [-3.00519827e-01 9.53774258e-01 1.58062475e-03 -2.00015679e+01] [ 4.60587097e-03 -2.05973694e-04 9.99989372e-01 -1.60949108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.757628 meters 0.02048298860117296 Centerline is valid? [True, True] Translation: X:93.36, Y:-20.02, Z:-0.16 [[ 9.53210488e-01 3.02288418e-01 -3.38799024e-03 9.33606519e+01] [-3.02285924e-01 9.53216496e-01 1.23780775e-03 -2.00202575e+01] [ 3.60366313e-03 -1.55749572e-04 9.99993495e-01 -1.59707580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.817628 meters 0.019728388465871882 Centerline is valid? [True, True] Translation: X:93.42, Y:-20.04, Z:-0.16 [[ 9.51695864e-01 3.06989795e-01 -5.67870114e-03 9.34199208e+01] [-3.06982874e-01 9.51712778e-01 2.07427624e-03 -2.00368593e+01] [ 6.04127407e-03 -2.30816125e-04 9.99981725e-01 -1.61025118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.877628 meters 0.018526498237869164 Centerline is valid? [True, True] Translation: X:93.48, Y:-20.05, Z:-0.16 [[ 9.50476190e-01 3.10739263e-01 -6.01027093e-03 9.34793632e+01] [-3.10731584e-01 9.50495167e-01 2.19562741e-03 -2.00527943e+01] [ 6.39500111e-03 -2.19310574e-04 9.99979528e-01 -1.61629067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.937628 meters 0.017001873181541498 Centerline is valid? [True, True] Translation: X:93.54, Y:-20.07, Z:-0.16 [[ 9.48267733e-01 3.17440144e-01 -4.47898653e-03 9.35402179e+01] [-3.17435953e-01 9.48278302e-01 1.63639254e-03 -2.00650272e+01] [ 4.76678243e-03 -1.29946881e-04 9.99988630e-01 -1.61822035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99762799999999 meters 0.015095502028092839 Centerline is valid? [True, True] Translation: X:93.60, Y:-20.08, Z:-0.16 [[ 9.45796258e-01 3.24734759e-01 -4.09572140e-03 9.36012665e+01] [-3.24731322e-01 9.45805122e-01 1.49654087e-03 -2.00776819e+01] [ 4.35973311e-03 -8.54137299e-05 9.99990493e-01 -1.60130700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.057628 meters 0.01395260646081939 Centerline is valid? [True, True] Translation: X:93.66, Y:-20.09, Z:-0.16 [[ 9.44031308e-01 3.29832043e-01 -3.96392118e-03 9.36616084e+01] [-3.29828867e-01 9.44039628e-01 1.44853883e-03 -2.00911445e+01] [ 4.21987319e-03 -6.00503704e-05 9.99991094e-01 -1.60660707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.117628 meters 0.01328647374550491 Centerline is valid? [True, True] Translation: X:93.72, Y:-20.11, Z:-0.16 [[ 9.43319380e-01 3.31865431e-01 -3.72587450e-03 9.37220509e+01] [-3.31862636e-01 9.43326737e-01 1.36297531e-03 -2.01078637e+01] [ 3.96704142e-03 -4.92424940e-05 9.99992130e-01 -1.60643844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.177628 meters 0.012988908997108337 Centerline is valid? [True, True] Translation: X:93.78, Y:-20.12, Z:-0.16 [[ 9.42583842e-01 3.33938958e-01 -4.52473611e-03 9.37816300e+01] [-3.33934854e-01 9.42594701e-01 1.65638559e-03 -2.01244804e+01] [ 4.81812396e-03 -5.03152038e-05 9.99988392e-01 -1.61449087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.237628 meters 0.012913204507193295 Centerline is valid? [True, True] Translation: X:93.84, Y:-20.14, Z:-0.16 [[ 9.41487450e-01 3.37006696e-01 -5.27906333e-03 9.38400986e+01] [-3.37001151e-01 9.41502249e-01 1.93376906e-03 -2.01422860e+01] [ 5.62194312e-03 -4.15688872e-05 9.99984196e-01 -1.63964482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.297628 meters 0.012387815112401734 Centerline is valid? [True, True] Translation: X:93.90, Y:-20.16, Z:-0.17 [[ 9.40392369e-01 3.40046920e-01 -5.50322813e-03 9.38980606e+01] [-3.40040938e-01 9.40408471e-01 2.01715478e-03 -2.01606324e+01] [ 5.86120962e-03 -2.55941080e-05 9.99982823e-01 -1.65190530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.357628 meters 0.012152161823169482 Centerline is valid? [True, True] Translation: X:93.96, Y:-20.18, Z:-0.17 [[ 9.38174697e-01 3.46085050e-01 -7.30592823e-03 9.39587173e+01] [-3.46074672e-01 9.38203143e-01 2.68012023e-03 -2.01791616e+01] [ 7.78199437e-03 1.39757347e-05 9.99969720e-01 -1.66568339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.417628 meters 0.012535231024170632 Centerline is valid? [True, True] Translation: X:94.02, Y:-20.20, Z:-0.17 [[ 9.36215917e-01 3.51337168e-01 -7.87095986e-03 9.40181370e+01] [-3.51325292e-01 9.36249000e-01 2.88937714e-03 -2.01984160e+01] [ 8.38432389e-03 6.01864076e-05 9.99964849e-01 -1.68173155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.477628 meters 0.012525415420803508 Centerline is valid? [True, True] Translation: X:94.08, Y:-20.22, Z:-0.17 [[ 9.35215737e-01 3.53986504e-01 -8.06722299e-03 9.40755633e+01] [-3.53974106e-01 9.35250527e-01 2.96374121e-03 -2.02215383e+01] [ 8.59399894e-03 8.38506265e-05 9.99963067e-01 -1.66804088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.537628 meters 0.012549853481991436 Centerline is valid? [True, True] Translation: X:94.13, Y:-20.25, Z:-0.17 [[ 9.34916968e-01 3.54787333e-01 -7.49742526e-03 9.41329327e+01] [-3.54776631e-01 9.34947026e-01 2.75693182e-03 -2.02475013e+01] [ 7.98781994e-03 8.24089351e-05 9.99968093e-01 -1.66039576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.597628 meters 0.012312021059233097 Centerline is valid? [True, True] Translation: X:94.19, Y:-20.27, Z:-0.16 [[ 9.35520206e-01 3.53213606e-01 -6.48787205e-03 9.41900261e+01] [-3.53205541e-01 9.35542701e-01 2.38752692e-03 -2.02723975e+01] [ 6.91298833e-03 5.79726831e-05 9.99976103e-01 -1.64976344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.657628 meters 0.011848232357031918 Centerline is valid? [True, True] Translation: X:94.24, Y:-20.30, Z:-0.16 [[ 9.37508023e-01 3.47931730e-01 -4.71365417e-03 9.42449824e+01] [-3.47927403e-01 9.37519872e-01 1.73529461e-03 -2.03009076e+01] [ 5.02290851e-03 1.31568373e-05 9.99987385e-01 -1.63779301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.717628 meters 0.011924075371322255 Centerline is valid? [True, True] Translation: X:94.30, Y:-20.33, Z:-0.16 [[ 9.39536040e-01 3.42409223e-01 -5.28706597e-03 9.43007183e+01] [-3.42403680e-01 9.39550916e-01 1.94838445e-03 -2.03316338e+01] [ 5.63461248e-03 -2.02665685e-05 9.99984125e-01 -1.62840177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77762799999999 meters 0.012193439861983972 Centerline is valid? [True, True] Translation: X:94.36, Y:-20.36, Z:-0.16 [[ 9.40611997e-01 3.39434040e-01 -5.79684102e-03 9.43561112e+01] [-3.39427311e-01 9.40629859e-01 2.13762267e-03 -2.03586315e+01] [ 6.17826365e-03 -4.30673699e-05 9.99980913e-01 -1.64000143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.837628 meters 0.012571827994753846 Centerline is valid? [True, True] Translation: X:94.41, Y:-20.39, Z:-0.16 [[ 9.41658521e-01 3.36521543e-01 -5.69910460e-03 9.44113470e+01] [-3.36514977e-01 9.41675765e-01 2.10323787e-03 -2.03870942e+01] [ 6.07449354e-03 -6.26978163e-05 9.99981548e-01 -1.64042311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.897628 meters 0.01274923249357248 Centerline is valid? [True, True] Translation: X:94.47, Y:-20.41, Z:-0.16 [[ 9.41674768e-01 3.36483454e-01 -5.24558884e-03 9.44673176e+01] [-3.36477881e-01 9.41689377e-01 1.93749914e-03 -2.04143482e+01] [ 5.59165169e-03 -5.94694337e-05 9.99984365e-01 -1.63243694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.957628 meters 0.012258594580512337 Centerline is valid? [True, True] Translation: X:94.53, Y:-20.43, Z:-0.16 [[ 9.40421836e-01 3.39984882e-01 -4.12926744e-03 9.45259834e+01] [-3.39981457e-01 9.40430901e-01 1.52640551e-03 -2.04341930e+01] [ 4.40224549e-03 -3.15907151e-05 9.99990310e-01 -1.62445498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.017628 meters 0.011835146407093058 Centerline is valid? [True, True] Translation: X:94.58, Y:-20.45, Z:-0.16 [[ 9.38242765e-01 3.45947474e-01 -4.56722531e-03 9.45841114e+01] [-3.45943352e-01 9.38253881e-01 1.68878078e-03 -2.04519157e+01] [ 4.86944632e-03 -4.48511239e-06 9.99988144e-01 -1.63761954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.077628 meters 0.011925319281151205 Centerline is valid? [True, True] Translation: X:94.64, Y:-20.47, Z:-0.16 [[ 9.37228657e-01 3.48686368e-01 -4.50117960e-03 9.46433749e+01] [-3.48682388e-01 9.37239466e-01 1.66600601e-03 -2.04726479e+01] [ 4.79959675e-03 8.05347673e-06 9.99988482e-01 -1.63992456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13762799999999 meters 0.011920823903830962 Centerline is valid? [True, True] Translation: X:94.70, Y:-20.49, Z:-0.16 [[ 9.36757730e-01 3.49956472e-01 -3.92729947e-03 9.47030083e+01] [-3.49953448e-01 9.36765962e-01 1.45486247e-03 -2.04941566e+01] [ 4.18809901e-03 1.15183277e-05 9.99991230e-01 -1.64149912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.197628 meters 0.011914331278476594 Centerline is valid? [True, True] Translation: X:94.76, Y:-20.51, Z:-0.16 [[ 9.36801425e-01 3.49852436e-01 -2.52253430e-03 9.47607639e+01] [-3.49851186e-01 9.36804821e-01 9.35165489e-04 -2.05143097e+01] [ 2.69029222e-03 6.44725481e-06 9.99996381e-01 -1.63882903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.257628 meters 0.012008981669932306 Centerline is valid? [True, True] Translation: X:94.82, Y:-20.54, Z:-0.16 [[ 9.36738268e-01 3.50023819e-01 -2.17794024e-03 9.48199905e+01] [-3.50022886e-01 9.36740800e-01 8.08204659e-04 -2.05361166e+01] [ 2.32305637e-03 5.25269684e-06 9.99997302e-01 -1.63889784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.317628 meters 0.01207560177559947 Centerline is valid? [True, True] Translation: X:94.88, Y:-20.56, Z:-0.16 [[ 9.36481133e-01 3.50713909e-01 -1.68561868e-03 9.48782846e+01] [-3.50713351e-01 9.36482650e-01 6.25747860e-04 -2.05561221e+01] [ 1.79801113e-03 5.16791005e-06 9.99998384e-01 -1.64442393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.377628 meters 0.012031394814280186 Centerline is valid? [True, True] Translation: X:94.94, Y:-20.58, Z:-0.16 [[ 9.36209177e-01 3.51440811e-01 -1.31644429e-03 9.49377734e+01] [-3.51440471e-01 9.36210103e-01 4.89325328e-04 -2.05760970e+01] [ 1.40443733e-03 4.54093805e-06 9.99999014e-01 -1.64676850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.437628 meters 0.011949716193019844 Centerline is valid? [True, True] Translation: X:95.00, Y:-20.60, Z:-0.17 [[ 9.36800097e-01 3.49859173e-01 -2.03403463e-03 9.49956385e+01] [-3.49858356e-01 9.36802305e-01 7.56320822e-04 -2.05975964e+01] [ 2.17009411e-03 3.10259368e-06 9.99997645e-01 -1.67330934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49762799999999 meters 0.012764145037149925 Centerline is valid? [True, True] Translation: X:95.05, Y:-20.63, Z:-0.17 [[ 9.39736026e-01 3.41895771e-01 -1.86601404e-03 9.50494622e+01] [-3.41895067e-01 9.39737879e-01 6.94243306e-04 -2.06276675e+01] [ 1.99092292e-03 -1.44244518e-05 9.99998018e-01 -1.66649861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.557628 meters 0.01479789877097425 Centerline is valid? [True, True] Translation: X:95.11, Y:-20.66, Z:-0.17 [[ 9.41950606e-01 3.35749499e-01 -1.15344050e-03 9.51050555e+01] [-3.35749225e-01 9.41951312e-01 4.29100517e-04 -2.06555499e+01] [ 1.23055508e-03 -1.69247376e-05 9.99999243e-01 -1.66150558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.617628 meters 0.01786102565329139 Centerline is valid? [True, True] Translation: X:95.16, Y:-20.68, Z:-0.17 [[ 9.44044932e-01 3.29816551e-01 -4.56990662e-04 9.51608478e+01] [-3.29816507e-01 9.44045043e-01 1.70355619e-04 -2.06792569e+01] [ 4.87605872e-04 -1.01002952e-05 9.99999881e-01 -1.67365211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.677628 meters 0.021629739662693905 Centerline is valid? [True, True] Translation: X:95.22, Y:-20.71, Z:-0.17 [[ 9.46058283e-01 3.23993733e-01 -1.33650198e-03 9.52154814e+01] [-3.23993354e-01 9.46059226e-01 4.97343852e-04 -2.07052430e+01] [ 1.42554632e-03 -3.74985127e-05 9.99998983e-01 -1.68322087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.737628 meters 0.023252099604398307 Centerline is valid? [True, True] Translation: X:95.27, Y:-20.73, Z:-0.17 [[ 9.46663242e-01 3.22220716e-01 -1.58615007e-03 9.52728615e+01] [-3.22220178e-01 9.46664570e-01 5.90613750e-04 -2.07279673e+01] [ 1.69186006e-03 -4.80227688e-05 9.99998568e-01 -1.68672851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.797628 meters 0.02224842050353707 Centerline is valid? [True, True] Translation: X:95.33, Y:-20.74, Z:-0.17 [[ 9.45804640e-01 3.24729781e-01 -2.03777224e-03 9.53331917e+01] [-3.24728899e-01 9.45806834e-01 7.58716751e-04 -2.07428453e+01] [ 2.17371684e-03 -5.58742866e-05 9.99997636e-01 -1.69866865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.857628 meters 0.02064958852048477 Centerline is valid? [True, True] Translation: X:95.39, Y:-20.76, Z:-0.17 [[ 9.44811662e-01 3.27607567e-01 -2.05092917e-03 9.53927810e+01] [-3.27606681e-01 9.44813886e-01 7.63656416e-04 -2.07588808e+01] [ 2.18792598e-03 -4.96133884e-05 9.99997605e-01 -1.70881260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.917628 meters 0.013847414235880973 Centerline is valid? [True, True] Translation: X:95.46, Y:-20.77, Z:-0.17 [[ 9.43207313e-01 3.32195270e-01 -2.50352472e-03 9.54554906e+01] [-3.32193966e-01 9.43210634e-01 9.32280216e-04 -2.07661610e+01] [ 2.67105022e-03 -4.76777117e-05 9.99996432e-01 -1.70168939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.977628 meters 0.01380591962428265 Centerline is valid? [True, True] Translation: X:95.51, Y:-20.79, Z:-0.17 [[ 9.42582970e-01 3.33952520e-01 -3.61369024e-03 9.55136185e+01] [-3.33949810e-01 9.42589895e-01 1.34693144e-03 -2.07857133e+01] [ 3.85603906e-03 -6.28034647e-05 9.99992563e-01 -1.72071974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.037628 meters 0.014870679184219221 Centerline is valid? [True, True] Translation: X:95.57, Y:-20.81, Z:-0.17 [[ 9.43498223e-01 3.31360698e-01 -3.34523837e-03 9.55694063e+01] [-3.31358356e-01 9.43504151e-01 1.24773861e-03 -2.08101289e+01] [ 3.56969783e-03 -6.87664752e-05 9.99993626e-01 -1.72446556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.097628 meters 0.015446154639505603 Centerline is valid? [True, True] Translation: X:95.63, Y:-20.83, Z:-0.17 [[ 9.44833585e-01 3.27542700e-01 -2.29707667e-03 9.56262807e+01] [-3.27541584e-01 9.44836376e-01 8.56821143e-04 -2.08347170e+01] [ 2.45100710e-03 -5.71652609e-05 9.99996995e-01 -1.71205252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.157628 meters 0.019307622215872504 Centerline is valid? [True, True] Translation: X:95.68, Y:-20.86, Z:-0.17 [[ 9.46798886e-01 3.21825384e-01 5.39653413e-04 9.56794083e+01] [-3.21825321e-01 9.46799040e-01 -2.01241987e-04 -2.08646277e+01] [-5.75708113e-04 1.68615560e-05 9.99999834e-01 -1.68065499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.217628 meters 0.01855021244925658 Centerline is valid? [True, True] Translation: X:95.74, Y:-20.89, Z:-0.17 [[ 9.47332824e-01 3.20241314e-01 2.45397221e-03 9.57372640e+01] [-3.20240016e-01 9.47335999e-01 -9.15389577e-04 -2.08860274e+01] [-2.61788178e-03 8.13184923e-05 9.99996570e-01 -1.65796318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27762799999999 meters 0.018325886495818677 Centerline is valid? [True, True] Translation: X:95.79, Y:-20.91, Z:-0.16 [[ 9.46464465e-01 3.22749437e-01 6.14964535e-03 9.57942664e+01] [-3.22741330e-01 9.46484424e-01 -2.29521320e-03 -2.09085338e+01] [-6.56132230e-03 1.87593010e-04 9.99978457e-01 -1.61760775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.337628 meters 0.014869277779979826 Centerline is valid? [True, True] Translation: X:95.85, Y:-20.92, Z:-0.16 [[ 9.43679374e-01 3.30812672e-01 5.67576577e-03 9.58549136e+01] [-3.30805909e-01 9.43696435e-01 -2.11873041e-03 -2.09223162e+01] [-6.05710279e-03 1.21825330e-04 9.99981648e-01 -1.64178416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.397628 meters 0.013003683633128907 Centerline is valid? [True, True] Translation: X:95.91, Y:-20.94, Z:-0.17 [[ 9.40936030e-01 3.38561318e-01 3.95223085e-03 9.59148400e+01] [-3.38558107e-01 9.40944329e-01 -1.47552834e-03 -2.09385355e+01] [-4.21838603e-03 5.03179884e-05 9.99991101e-01 -1.66856286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.457628 meters 0.011913956514577455 Centerline is valid? [True, True] Translation: X:95.97, Y:-20.95, Z:-0.17 [[ 9.37915674e-01 3.46860624e-01 1.37660721e-03 9.59747651e+01] [-3.46860244e-01 9.37916685e-01 -5.13924859e-04 -2.09545551e+01] [-1.46940316e-03 4.52787016e-06 9.99998920e-01 -1.69656002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.517628 meters 0.012332223876913842 Centerline is valid? [True, True] Translation: X:96.04, Y:-20.97, Z:-0.17 [[ 9.33927700e-01 3.57452675e-01 -2.57598817e-03 9.60355180e+01] [-3.57451377e-01 9.33931252e-01 9.63615880e-04 -2.09696657e+01] [ 2.75024294e-03 2.08429577e-05 9.99996218e-01 -1.73628041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.577628 meters 0.013416546594850755 Centerline is valid? [True, True] Translation: X:96.09, Y:-20.99, Z:-0.18 [[ 9.31564171e-01 3.63540978e-01 -5.11401799e-03 9.60936829e+01] [-3.63535952e-01 9.31578205e-01 1.91308576e-03 -2.09901711e+01] [ 5.45959276e-03 7.69672489e-05 9.99985093e-01 -1.75817763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63762799999999 meters 0.013355538481259923 Centerline is valid? [True, True] Translation: X:96.15, Y:-21.02, Z:-0.17 [[ 9.31475919e-01 3.63774015e-01 -4.59112375e-03 9.61512944e+01] [-3.63769959e-01 9.31487231e-01 1.71926935e-03 -2.10159639e+01] [ 4.90199866e-03 6.86548973e-05 9.99987983e-01 -1.74568788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.697628 meters 0.01224265459896102 Centerline is valid? [True, True] Translation: X:96.21, Y:-21.04, Z:-0.17 [[ 9.33924594e-01 3.57462155e-01 -2.37928181e-03 9.62067930e+01] [-3.57461045e-01 9.33927624e-01 8.91049826e-04 -2.10435540e+01] [ 2.54059360e-03 1.83272158e-05 9.99996773e-01 -1.73016466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.757628 meters 0.011877803171260363 Centerline is valid? [True, True] Translation: X:96.26, Y:-21.07, Z:-0.17 [[ 9.35541550e-01 3.53216604e-01 1.95297389e-04 9.62646096e+01] [-3.53216597e-01 9.35541571e-01 -7.27452464e-05 -2.10659787e+01] [-2.08403655e-04 -9.26078573e-07 9.99999978e-01 -1.70368546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.817628 meters 0.011887307879053977 Centerline is valid? [True, True] Translation: X:96.32, Y:-21.08, Z:-0.17 [[ 9.35402643e-01 3.53578257e-01 2.07632056e-03 9.63248284e+01] [-3.53577401e-01 9.35404948e-01 -7.78226875e-04 -2.10845302e+01] [-2.21736463e-03 -6.18455035e-06 9.99997542e-01 -1.68394677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.877628 meters 0.011811851552817805 Centerline is valid? [True, True] Translation: X:96.38, Y:-21.11, Z:-0.17 [[ 9.35047681e-01 3.54516155e-01 2.03244957e-03 9.63847384e+01] [-3.54515335e-01 9.35049890e-01 -7.62431670e-04 -2.11051124e+01] [-2.17073609e-03 -7.62457400e-06 9.99997644e-01 -1.68359629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.937628 meters 0.01187655230722767 Centerline is valid? [True, True] Translation: X:96.44, Y:-21.13, Z:-0.17 [[ 9.35434278e-01 3.53500138e-01 6.02295306e-04 9.64441537e+01] [-3.53500066e-01 9.35434472e-01 -2.25781213e-04 -2.11267020e+01] [-6.43221482e-04 -1.70794505e-06 9.99999793e-01 -1.71445711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99762799999999 meters 0.011799126576401288 Centerline is valid? [True, True] Translation: X:96.50, Y:-21.15, Z:-0.17 [[ 9.36649937e-01 3.50262538e-01 -1.74661106e-03 9.65021781e+01] [-3.50261921e-01 9.36651565e-01 6.57255614e-04 -2.11508573e+01] [ 1.86617800e-03 -3.84708376e-06 9.99998259e-01 -1.74395343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.057628 meters 0.012349100962067323 Centerline is valid? [True, True] Translation: X:96.56, Y:-21.18, Z:-0.18 [[ 9.39067352e-01 3.43708314e-01 -4.13552003e-03 9.65588052e+01] [-3.43704791e-01 9.39076458e-01 1.55665017e-03 -2.11763779e+01] [ 4.41860310e-03 -4.04013036e-05 9.99990237e-01 -1.76397496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.117628 meters 0.014373650651169266 Centerline is valid? [True, True] Translation: X:96.61, Y:-21.20, Z:-0.18 [[ 9.42456706e-01 3.34278109e-01 -5.78819759e-03 9.66135433e+01] [-3.34271023e-01 9.42474473e-01 2.17982568e-03 -2.12048452e+01] [ 6.18389648e-03 -1.19564597e-04 9.99980872e-01 -1.77054316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.177628 meters 0.017890832833203283 Centerline is valid? [True, True] Translation: X:96.67, Y:-21.23, Z:-0.18 [[ 9.47379589e-01 3.20084093e-01 -4.25293910e-03 9.66680571e+01] [-3.20080122e-01 9.47389122e-01 1.60216067e-03 -2.12331631e+01] [ 4.54201439e-03 -1.56573054e-04 9.99989673e-01 -1.75542889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.237628 meters 0.022422151386189533 Centerline is valid? [True, True] Translation: X:96.72, Y:-21.26, Z:-0.17 [[ 9.50588583e-01 3.10446453e-01 -2.08444184e-03 9.67226750e+01] [-3.10445475e-01 9.50590864e-01 7.85543023e-04 -2.12591889e+01] [ 2.22532041e-03 -9.96226917e-05 9.99997519e-01 -1.74764248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.297628 meters 0.02269790262508582 Centerline is valid? [True, True] Translation: X:96.78, Y:-21.28, Z:-0.17 [[ 9.51789048e-01 3.06751162e-01 -1.15464856e-03 9.67807658e+01] [-3.06750859e-01 9.51789746e-01 4.35160943e-04 -2.12793771e+01] [ 1.23246878e-03 -5.99919817e-05 9.99999239e-01 -1.73228543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.357628 meters 0.021119638112287762 Centerline is valid? [True, True] Translation: X:96.84, Y:-21.29, Z:-0.17 [[ 9.51672784e-01 3.07111351e-01 1.23713287e-03 9.68418407e+01] [-3.07111004e-01 9.51673586e-01 -4.66084062e-04 -2.12923107e+01] [-1.32048638e-03 6.36223987e-05 9.99999126e-01 -1.71510013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.417628 meters 0.020431426375258736 Centerline is valid? [True, True] Translation: X:96.90, Y:-21.31, Z:-0.17 [[ 9.50647892e-01 3.10260956e-01 2.59306073e-03 9.69022073e+01] [-3.10259440e-01 9.50651421e-01 -9.77903289e-04 -2.13064526e+01] [-2.76850208e-03 1.25120130e-04 9.99996160e-01 -1.70978389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.477628 meters 0.018255956087045232 Centerline is valid? [True, True] Translation: X:96.96, Y:-21.32, Z:-0.17 [[ 9.48065033e-01 3.18051091e-01 4.02441924e-03 9.69640731e+01] [-3.18047509e-01 9.48073562e-01 -1.51787680e-03 -2.13162994e+01] [-4.29820786e-03 1.59089408e-04 9.99990750e-01 -1.71070415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.537628 meters 0.01636793724371574 Centerline is valid? [True, True] Translation: X:97.03, Y:-21.32, Z:-0.17 [[ 9.45672900e-01 3.25104644e-01 3.12021261e-03 9.70256983e+01] [-3.25102529e-01 9.45678043e-01 -1.17692889e-03 -2.13249950e+01] [-3.33334160e-03 9.86007515e-05 9.99994440e-01 -1.73158931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.597628 meters 0.01590563582243044 Centerline is valid? [True, True] Translation: X:97.09, Y:-21.34, Z:-0.18 [[ 9.44174936e-01 3.29441608e-01 1.38490157e-03 9.70856037e+01] [-3.29441196e-01 9.44175951e-01 -5.22393840e-04 -2.13389323e+01] [-1.47968902e-03 3.69875403e-05 9.99998905e-01 -1.76497350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.657628 meters 0.014628252738858044 Centerline is valid? [True, True] Translation: X:97.15, Y:-21.35, Z:-0.18 [[ 9.42565653e-01 3.34020351e-01 6.28226294e-04 9.71462210e+01] [-3.34020267e-01 9.42565862e-01 -2.36962065e-04 -2.13520283e+01] [-6.71294810e-04 1.35119886e-05 9.99999775e-01 -1.78434441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.717628 meters 0.014488208374951586 Centerline is valid? [True, True] Translation: X:97.21, Y:-21.37, Z:-0.18 [[ 9.42224333e-01 3.34980963e-01 1.03010941e-03 9.72053517e+01] [-3.34980739e-01 9.42224896e-01 -3.88503534e-04 -2.13714582e+01] [-1.10073602e-03 2.09906716e-05 9.99999394e-01 -1.78368620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77762799999999 meters 0.014163128668275175 Centerline is valid? [True, True] Translation: X:97.27, Y:-21.39, Z:-0.18 [[ 9.41372592e-01 3.37367896e-01 7.39496010e-04 9.72654165e+01] [-3.37367780e-01 9.41372882e-01 -2.78985180e-04 -2.13878514e+01] [-7.90262133e-04 1.31468745e-05 9.99999688e-01 -1.79734003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.837628 meters 0.012845264153455247 Centerline is valid? [True, True] Translation: X:97.33, Y:-21.40, Z:-0.18 [[ 9.39056661e-01 3.43760794e-01 1.05070896e-03 9.73258649e+01] [-3.43760565e-01 9.39057249e-01 -3.96968227e-04 -2.14023961e+01] [-1.12313798e-03 1.15833514e-05 9.99999369e-01 -1.80164109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.897628 meters 0.012215668361980646 Centerline is valid? [True, True] Translation: X:97.39, Y:-21.42, Z:-0.18 [[ 9.36756089e-01 3.49982882e-01 -1.09698964e-04 9.73858652e+01] [-3.49982880e-01 9.36756095e-01 4.19430995e-05 -2.14184775e+01] [ 1.17440540e-04 -8.97694515e-07 9.99999993e-01 -1.81644023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.957628 meters 0.012273551571601876 Centerline is valid? [True, True] Translation: X:97.45, Y:-21.43, Z:-0.19 [[ 9.33277223e-01 3.59151369e-01 -1.97959999e-03 9.74476227e+01] [-3.59150587e-01 9.33279322e-01 7.49886418e-04 -2.14329123e+01] [ 2.11684247e-03 1.11225840e-05 9.99997759e-01 -1.85269250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.017628 meters 0.013111828561243268 Centerline is valid? [True, True] Translation: X:97.51, Y:-21.45, Z:-0.19 [[ 9.30743877e-01 3.65654856e-01 -3.51582428e-03 9.75071227e+01] [-3.65652432e-01 9.30750517e-01 1.33237405e-03 -2.14521938e+01] [ 3.75954431e-03 4.54707054e-05 9.99992932e-01 -1.86561828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.077628 meters 0.01348198797077189 Centerline is valid? [True, True] Translation: X:97.56, Y:-21.48, Z:-0.19 [[ 9.30144055e-01 3.67160762e-01 -5.00113090e-03 9.75638741e+01] [-3.67155871e-01 9.30157497e-01 1.89634296e-03 -2.14753384e+01] [ 5.34810212e-03 7.23224430e-05 9.99985696e-01 -1.86790692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13762799999999 meters 0.013497567518682438 Centerline is valid? [True, True] Translation: X:97.62, Y:-21.50, Z:-0.19 [[ 9.30662867e-01 3.65817196e-01 -6.66379958e-03 9.76204021e+01] [-3.65808466e-01 9.30686721e-01 2.52871518e-03 -2.15012772e+01] [ 7.12695728e-03 8.42929786e-05 9.99974599e-01 -1.88514080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.197628 meters 0.013141261525866641 Centerline is valid? [True, True] Translation: X:97.68, Y:-21.53, Z:-0.19 [[ 9.31417083e-01 3.63868000e-01 -7.89280982e-03 9.76754012e+01] [-3.63855665e-01 9.31450521e-01 2.99714732e-03 -2.15306501e+01] [ 8.44232782e-03 8.02493502e-05 9.99964360e-01 -1.88507109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.257628 meters 0.012856293019839912 Centerline is valid? [True, True] Translation: X:97.73, Y:-21.56, Z:-0.19 [[ 9.32330348e-01 3.61517579e-01 -8.07235038e-03 9.77310520e+01] [-3.61504569e-01 9.32365292e-01 3.06756532e-03 -2.15591307e+01] [ 8.63535811e-03 5.82073031e-05 9.99962713e-01 -1.87605653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.317628 meters 0.012516125613276478 Centerline is valid? [True, True] Translation: X:97.78, Y:-21.59, Z:-0.19 [[ 9.34371936e-01 3.56229520e-01 -7.04375520e-03 9.77844735e+01] [-3.56219456e-01 9.34398485e-01 2.67766431e-03 -2.15913119e+01] [ 7.53553726e-03 7.18825951e-06 9.99971607e-01 -1.86780177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.377628 meters 0.012661997947160197 Centerline is valid? [True, True] Translation: X:97.84, Y:-21.62, Z:-0.18 [[ 9.35901236e-01 3.52208648e-01 -6.15991449e-03 9.78397183e+01] [-3.52200849e-01 9.35921507e-01 2.34387505e-03 -2.16217518e+01] [ 6.59072951e-03 -2.41084367e-05 9.99978281e-01 -1.84566802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.437628 meters 0.01374746653788411 Centerline is valid? [True, True] Translation: X:97.89, Y:-21.66, Z:-0.18 [[ 9.38283068e-01 3.45830840e-01 -5.09070591e-03 9.78921114e+01] [-3.45825413e-01 9.38296876e-01 1.93829926e-03 -2.16567114e+01] [ 5.44691711e-03 -5.81779017e-05 9.99985164e-01 -1.81613957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49762799999999 meters 0.014788196086509286 Centerline is valid? [True, True] Translation: X:97.95, Y:-21.69, Z:-0.18 [[ 9.39666952e-01 3.42053988e-01 -5.00884808e-03 9.79476371e+01] [-3.42048673e-01 9.39680298e-01 1.90848418e-03 -2.16855585e+01] [ 5.35952048e-03 -8.00696759e-05 9.99985634e-01 -1.81651566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.557628 meters 0.016896767459627256 Centerline is valid? [True, True] Translation: X:98.00, Y:-21.72, Z:-0.18 [[ 9.41183550e-01 3.37844445e-01 -5.88694610e-03 9.80012423e+01] [-3.37837013e-01 9.41201953e-01 2.24437629e-03 -2.17168150e+01] [ 6.29905522e-03 -1.23541758e-04 9.99980153e-01 -1.83104807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.617628 meters 0.01592725028832255 Centerline is valid? [True, True] Translation: X:98.06, Y:-21.74, Z:-0.18 [[ 9.42720678e-01 3.33507694e-01 -7.09513727e-03 9.80575387e+01] [-3.33496773e-01 9.42747360e-01 2.70524022e-03 -2.17430464e+01] [ 7.59114035e-03 -1.84080511e-04 9.99971170e-01 -1.81778040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.677628 meters 0.01757045761807007 Centerline is valid? [True, True] Translation: X:98.11, Y:-21.77, Z:-0.18 [[ 9.44721077e-01 3.27799807e-01 -7.02656378e-03 9.81117932e+01] [-3.27788936e-01 9.44747180e-01 2.67932051e-03 -2.17726288e+01] [ 7.51660707e-03 -2.27980694e-04 9.99971724e-01 -1.81729106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.737628 meters 0.018495840738930514 Centerline is valid? [True, True] Translation: X:98.17, Y:-21.80, Z:-0.18 [[ 9.45705136e-01 3.24944002e-01 -7.29322802e-03 9.81682462e+01] [-3.24932201e-01 9.45733222e-01 2.78164953e-03 -2.17996603e+01] [ 7.80132837e-03 -2.60815614e-04 9.99969535e-01 -1.80832053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.797628 meters 0.02000557214246476 Centerline is valid? [True, True] Translation: X:98.22, Y:-21.83, Z:-0.18 [[ 9.45834033e-01 3.24565596e-01 -7.42677464e-03 9.82239647e+01] [-3.24553336e-01 9.45863151e-01 2.83381779e-03 -2.18259219e+01] [ 7.94447223e-03 -2.69936821e-04 9.99968406e-01 -1.81334228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.857628 meters 0.01692887250502162 Centerline is valid? [True, True] Translation: X:98.28, Y:-21.84, Z:-0.18 [[ 9.43976509e-01 3.29952161e-01 -6.31838870e-03 9.82829142e+01] [-3.29943408e-01 9.43997635e-01 2.41085102e-03 -2.18423309e+01] [ 6.76000949e-03 -1.91076029e-04 9.99977133e-01 -1.80226232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.917628 meters 0.01628222723974253 Centerline is valid? [True, True] Translation: X:98.34, Y:-21.86, Z:-0.18 [[ 9.43006141e-01 3.32723578e-01 -5.86843443e-03 9.83418234e+01] [-3.32716077e-01 9.43024387e-01 2.23987647e-03 -2.18633697e+01] [ 6.27933649e-03 -1.59694785e-04 9.99980272e-01 -1.79892498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.977628 meters 0.01450003165272689 Centerline is valid? [True, True] Translation: X:98.40, Y:-21.88, Z:-0.18 [[ 9.40957336e-01 3.38477984e-01 -5.65212461e-03 9.84013956e+01] [-3.38471126e-01 9.40974304e-01 2.15780278e-03 -2.18810558e+01] [ 6.04887276e-03 -1.17319368e-04 9.99981699e-01 -1.79477035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.037628 meters 0.013157872723687293 Centerline is valid? [True, True] Translation: X:98.46, Y:-21.90, Z:-0.18 [[ 9.38633780e-01 3.44861346e-01 -6.10565741e-03 9.84604869e+01] [-3.44853477e-01 9.38653634e-01 2.33111111e-03 -2.18973058e+01] [ 6.53500763e-03 -8.25024430e-05 9.99978643e-01 -1.80643485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.097628 meters 0.012762670676954269 Centerline is valid? [True, True] Translation: X:98.52, Y:-21.92, Z:-0.18 [[ 9.37470602e-01 3.47980300e-01 -7.65382624e-03 9.85195580e+01] [-3.47968018e-01 9.37501842e-01 2.92476087e-03 -2.19172858e+01] [ 8.19323537e-03 -7.85905907e-05 9.99966432e-01 -1.82604944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.157628 meters 0.012983721407405302 Centerline is valid? [True, True] Translation: X:98.58, Y:-21.94, Z:-0.18 [[ 9.37723097e-01 3.47272092e-01 -8.80263037e-03 9.85777342e+01] [-3.47255792e-01 9.37764407e-01 3.36619729e-03 -2.19398656e+01] [ 9.42377983e-03 -9.97965702e-05 9.99955590e-01 -1.84292463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.217628 meters 0.014333955781551735 Centerline is valid? [True, True] Translation: X:98.63, Y:-21.97, Z:-0.19 [[ 9.39738126e-01 3.41789534e-01 -8.49522675e-03 9.86328202e+01] [-3.41774108e-01 9.39776511e-01 3.25083688e-03 -2.19668745e+01] [ 9.09471658e-03 -1.51486811e-04 9.99958631e-01 -1.85033702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27762799999999 meters 0.015857651159018264 Centerline is valid? [True, True] Translation: X:98.69, Y:-21.99, Z:-0.18 [[ 9.41936933e-01 3.35720880e-01 -6.80482474e-03 9.86885465e+01] [-3.35710821e-01 9.41961497e-01 2.60431755e-03 -2.19949406e+01] [ 7.28420668e-03 -1.68649584e-04 9.99973456e-01 -1.83742477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.337628 meters 0.019579722744960344 Centerline is valid? [True, True] Translation: X:98.74, Y:-22.03, Z:-0.18 [[ 9.45161899e-01 3.26549157e-01 -5.88490752e-03 9.87413478e+01] [-3.26541456e-01 9.45180197e-01 2.25226301e-03 -2.20260367e+01] [ 6.29777264e-03 -2.07086915e-04 9.99980147e-01 -1.82912588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.397628 meters 0.021856349563019222 Centerline is valid? [True, True] Translation: X:98.80, Y:-22.05, Z:-0.18 [[ 9.46764413e-01 3.21870509e-01 -6.04330572e-03 9.87971362e+01] [-3.21862290e-01 9.46783669e-01 2.31317184e-03 -2.20519166e+01] [ 6.46624495e-03 -2.44916561e-04 9.99979064e-01 -1.83058371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.457628 meters 0.02003028171266596 Centerline is valid? [True, True] Translation: X:98.86, Y:-22.07, Z:-0.18 [[ 9.47664339e-01 3.19192112e-01 -6.97824334e-03 9.88558852e+01] [-3.19181077e-01 9.47689983e-01 2.67147493e-03 -2.20709076e+01] [ 7.46592503e-03 -3.04338298e-04 9.99972083e-01 -1.82354351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.517628 meters 0.02289930913378288 Centerline is valid? [True, True] Translation: X:98.91, Y:-22.09, Z:-0.19 [[ 9.47315239e-01 3.20188122e-01 -8.56769195e-03 9.89136678e+01] [-3.20171506e-01 9.47353911e-01 3.28247565e-03 -2.20917829e+01] [ 9.16764619e-03 -3.66408373e-04 9.99957909e-01 -1.86628575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.577628 meters 0.019989907705866623 Centerline is valid? [True, True] Translation: X:98.97, Y:-22.11, Z:-0.19 [[ 9.45005264e-01 3.26913593e-01 -9.62049469e-03 9.89725789e+01] [-3.26892993e-01 9.45054172e-01 3.68550936e-03 -2.21071607e+01] [ 1.02967318e-02 -3.37953443e-04 9.99946930e-01 -1.85568848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63762799999999 meters 0.01674124714359097 Centerline is valid? [True, True] Translation: X:99.03, Y:-22.12, Z:-0.18 [[ 9.42952722e-01 3.32789411e-01 -9.55887006e-03 9.90330975e+01] [-3.32769370e-01 9.43001131e-01 3.66232523e-03 -2.21213754e+01] [ 1.02328083e-02 -2.72500375e-04 9.99947606e-01 -1.84081103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.697628 meters 0.013901945928020487 Centerline is valid? [True, True] Translation: X:99.09, Y:-22.13, Z:-0.18 [[ 9.39218728e-01 3.43223848e-01 -8.09755056e-03 9.90942386e+01] [-3.43209850e-01 9.39253625e-01 3.10270199e-03 -2.21329372e+01] [ 8.67057504e-03 -1.34956698e-04 9.99962401e-01 -1.82259753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.757628 meters 0.012119049483888015 Centerline is valid? [True, True] Translation: X:99.16, Y:-22.15, Z:-0.18 [[ 9.35293158e-01 3.53816702e-01 -6.36006836e-03 9.91559520e+01] [-3.53808306e-01 9.35314782e-01 2.43760772e-03 -2.21451822e+01] [ 6.81113227e-03 -2.96328090e-05 9.99976804e-01 -1.80937683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.817628 meters 0.011896959743438707 Centerline is valid? [True, True] Translation: X:99.22, Y:-22.16, Z:-0.18 [[ 9.32764521e-01 3.60460354e-01 -4.32225415e-03 9.92157285e+01] [-3.60456540e-01 9.32774535e-01 1.65816255e-03 -2.21616223e+01] [ 4.62939047e-03 1.13095791e-05 9.99989284e-01 -1.79543366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.877628 meters 0.0128708225529597 Centerline is valid? [True, True] Translation: X:99.27, Y:-22.18, Z:-0.18 [[ 9.29751610e-01 3.68182583e-01 -1.87856855e-03 9.92747532e+01] [-3.68181878e-01 9.29753508e-01 7.20665926e-04 -2.21771059e+01] [ 2.01194234e-03 2.16145907e-05 9.99997976e-01 -1.77886495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.937628 meters 0.013337394813497862 Centerline is valid? [True, True] Translation: X:99.33, Y:-22.20, Z:-0.18 [[ 9.28639575e-01 3.70982245e-01 -8.44253165e-04 9.93329405e+01] [-3.70982104e-01 9.28639959e-01 3.24466349e-04 -2.21973396e+01] [ 9.04378479e-04 1.18905220e-05 9.99999591e-01 -1.77453926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99762799999999 meters 0.01308068249889015 Centerline is valid? [True, True] Translation: X:99.39, Y:-22.22, Z:-0.18 [[ 9.28675532e-01 3.70892444e-01 -7.42896034e-04 9.93908545e+01] [-3.70892334e-01 9.28675829e-01 2.85920102e-04 -2.22217585e+01] [ 7.95955196e-04 1.00074414e-05 9.99999683e-01 -1.77296881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.057628 meters 0.012893602947742734 Centerline is valid? [True, True] Translation: X:99.45, Y:-22.25, Z:-0.18 [[ 9.29492719e-01 3.68838675e-01 -1.14748826e-03 9.94459871e+01] [-3.68838411e-01 9.29493427e-01 4.41554016e-04 -2.22473510e+01] [ 1.22944500e-03 1.28165038e-05 9.99999244e-01 -1.77933018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.117628 meters 0.012688811864262245 Centerline is valid? [True, True] Translation: X:99.50, Y:-22.27, Z:-0.18 [[ 9.30167005e-01 3.67134850e-01 -1.15996407e-03 9.95027202e+01] [-3.67134578e-01 9.30167728e-01 4.46703793e-04 -2.22723847e+01] [ 1.24296168e-03 1.03537925e-05 9.99999227e-01 -1.77947677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.177628 meters 0.012287174375871813 Centerline is valid? [True, True] Translation: X:99.56, Y:-22.30, Z:-0.18 [[ 9.31857898e-01 3.62813613e-01 -2.67195277e-03 9.95582688e+01] [-3.62812153e-01 9.31861729e-01 1.02916335e-03 -2.22996128e+01] [ 2.86328500e-03 1.03829413e-05 9.99995901e-01 -1.79929484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.237628 meters 0.012192607341291004 Centerline is valid? [True, True] Translation: X:99.61, Y:-22.33, Z:-0.18 [[ 9.33360414e-01 3.58916560e-01 -4.15216160e-03 9.96146023e+01] [-3.58912991e-01 9.33369650e-01 1.60049606e-03 -2.23277789e+01] [ 4.44994616e-03 -3.57492968e-06 9.99990099e-01 -1.81134114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.297628 meters 0.0130370579893267 Centerline is valid? [True, True] Translation: X:99.67, Y:-22.36, Z:-0.18 [[ 9.36506115e-01 3.50618999e-01 -4.75544780e-03 9.96687387e+01] [-3.50614205e-01 9.36518187e-01 1.83423924e-03 -2.23608895e+01] [ 5.09668248e-03 -5.04487172e-05 9.99987011e-01 -1.81178748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35762799999999 meters 0.014792224946899081 Centerline is valid? [True, True] Translation: X:99.72, Y:-22.39, Z:-0.18 [[ 9.38619306e-01 3.44926530e-01 -4.41444112e-03 9.97228341e+01] [-3.44922330e-01 9.38629684e-01 1.70384238e-03 -2.23911073e+01] [ 4.73122591e-03 -7.66200385e-05 9.99988805e-01 -1.80981632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.417628 meters 0.015871836053648995 Centerline is valid? [True, True] Translation: X:99.78, Y:-22.42, Z:-0.18 [[ 9.41149802e-01 3.37973328e-01 -3.32849064e-03 9.97777761e+01] [-3.37970894e-01 9.41155684e-01 1.28550875e-03 -2.24186430e+01] [ 3.56709556e-03 -8.49233457e-05 9.99993634e-01 -1.79701972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.477628 meters 0.017901892495217706 Centerline is valid? [True, True] Translation: X:99.83, Y:-22.45, Z:-0.18 [[ 9.42782211e-01 3.33399042e-01 -2.60414785e-03 9.98326123e+01] [-3.33397534e-01 9.42785804e-01 1.00584620e-03 -2.24455323e+01] [ 2.79050178e-03 -8.00774296e-05 9.99996103e-01 -1.79216840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.537628 meters 0.018653401508110973 Centerline is valid? [True, True] Translation: X:99.89, Y:-22.47, Z:-0.18 [[ 9.45275053e-01 3.26272132e-01 -1.25256785e-03 9.98890996e+01] [-3.26271777e-01 9.45275882e-01 4.84309170e-04 -2.24696195e+01] [ 1.34203876e-03 -4.91278395e-05 9.99999098e-01 -1.77722018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.597628 meters 0.019827276143820804 Centerline is valid? [True, True] Translation: X:99.95, Y:-22.49, Z:-0.18 [[ 9.46612590e-01 3.22373221e-01 -3.33041129e-04 9.99462021e+01] [-3.22373196e-01 9.46612648e-01 1.29136126e-04 -2.24923743e+01] [ 3.56890974e-04 -1.48783496e-05 9.99999936e-01 -1.76072702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.657628 meters 0.019572464164379872 Centerline is valid? [True, True] Translation: X:100.00, Y:-22.51, Z:-0.18 [[ 9.46441616e-01 3.22874614e-01 5.00117029e-04 1.00004730e+02] [-3.22874557e-01 9.46441748e-01 -1.93061774e-04 -2.25121324e+01] [-5.35666381e-04 2.12466334e-05 9.99999856e-01 -1.75680479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.717628 meters 0.0174217186171295 Centerline is valid? [True, True] Translation: X:100.07, Y:-22.52, Z:-0.18 [[ 9.44039944e-01 3.29829827e-01 9.32000175e-04 1.00065877e+02] [-3.29829632e-01 9.44040404e-01 -3.60589581e-04 -2.25243704e+01] [-9.98779021e-04 3.30096934e-05 9.99999501e-01 -1.76026915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77762799999999 meters 0.014594430959297964 Centerline is valid? [True, True] Translation: X:100.13, Y:-22.53, Z:-0.18 [[ 9.39652470e-01 3.42129125e-01 -9.46786038e-04 1.00128039e+02] [-3.42128930e-01 9.39652947e-01 3.66446263e-04 -2.25335412e+01] [ 1.01502223e-03 -2.04092426e-05 9.99999485e-01 -1.77789356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.837628 meters 0.013594696860687514 Centerline is valid? [True, True] Translation: X:100.19, Y:-22.55, Z:-0.18 [[ 9.37972356e-01 3.46703651e-01 -2.10669498e-03 1.00187573e+02] [-3.46702692e-01 9.37974721e-01 8.16314913e-04 -2.25513009e+01] [ 2.25904599e-03 -3.52840026e-05 9.99997448e-01 -1.78693797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.897628 meters 0.01246431224092075 Centerline is valid? [True, True] Translation: X:100.25, Y:-22.56, Z:-0.18 [[ 9.34927911e-01 3.54822429e-01 -3.29325021e-03 1.00247825e+02] [-3.54820137e-01 9.34933711e-01 1.27559255e-03 -2.25645388e+01] [ 3.53157948e-03 -2.40755857e-05 9.99993764e-01 -1.79709521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.957628 meters 0.012157906211508088 Centerline is valid? [True, True] Translation: X:100.31, Y:-22.57, Z:-0.18 [[ 9.30964757e-01 3.65081080e-01 -4.51942762e-03 1.00311093e+02] [-3.65076882e-01 9.30975727e-01 1.75107241e-03 -2.25745946e+01] [ 4.84676082e-03 1.97518387e-05 9.99988254e-01 -1.81502278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.017628 meters 0.012814403654620088 Centerline is valid? [True, True] Translation: X:100.37, Y:-22.59, Z:-0.18 [[ 9.28651873e-01 3.70924681e-01 -4.53656889e-03 1.00371608e+02] [-3.70920512e-01 9.28662952e-01 1.75928134e-03 -2.25895258e+01] [ 4.86550433e-03 4.89465471e-05 9.99988162e-01 -1.82089397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.077628 meters 0.013087566509389924 Centerline is valid? [True, True] Translation: X:100.43, Y:-22.61, Z:-0.18 [[ 9.27965572e-01 3.72651781e-01 -3.24761815e-03 1.00431025e+02] [-3.72649650e-01 9.27971254e-01 1.26067754e-03 -2.26109696e+01] [ 3.48349002e-03 4.03584112e-05 9.99993932e-01 -1.80458131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13762799999999 meters 0.013172998102987951 Centerline is valid? [True, True] Translation: X:100.49, Y:-22.63, Z:-0.18 [[ 9.27988654e-01 3.72607067e-01 -1.01557278e-03 1.00489883e+02] [-3.72606858e-01 9.27989210e-01 3.94795758e-04 -2.26312144e+01] [ 1.08954427e-03 1.20433996e-05 9.99999406e-01 -1.79619331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.197628 meters 0.012937277281249798 Centerline is valid? [True, True] Translation: X:100.55, Y:-22.66, Z:-0.18 [[ 9.28077701e-01 3.72384539e-01 -1.23954380e-03 1.00548591e+02] [-3.72384227e-01 9.28078529e-01 4.82244021e-04 -2.26551122e+01] [ 1.32997420e-03 1.40266363e-05 9.99999115e-01 -1.79968661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.257628 meters 0.01285117667522987 Centerline is valid? [True, True] Translation: X:100.61, Y:-22.68, Z:-0.18 [[ 9.28198401e-01 3.72064603e-01 -3.95717994e-03 1.00606598e+02] [-3.72061420e-01 9.28206835e-01 1.53974917e-03 -2.26804014e+01] [ 4.24596764e-03 4.31212728e-05 9.99990985e-01 -1.81445544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.317628 meters 0.012726655887904646 Centerline is valid? [True, True] Translation: X:100.66, Y:-22.70, Z:-0.18 [[ 9.29107421e-01 3.69757925e-01 -6.20300642e-03 1.00663367e+02] [-3.69750040e-01 9.29128126e-01 2.41517593e-03 -2.27043344e+01] [ 6.65641817e-03 4.96039921e-05 9.99977845e-01 -1.84143670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.377628 meters 0.012414402159653105 Centerline is valid? [True, True] Translation: X:100.72, Y:-22.73, Z:-0.19 [[ 9.30901705e-01 3.65210873e-01 -6.56001720e-03 1.00719464e+02] [-3.65201929e-01 9.30924819e-01 2.55594352e-03 -2.27301803e+01] [ 7.04034119e-03 1.63987582e-05 9.99975216e-01 -1.85234861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.437628 meters 0.013279427769038406 Centerline is valid? [True, True] Translation: X:100.77, Y:-22.76, Z:-0.18 [[ 9.35387133e-01 3.53551768e-01 -7.21514670e-03 1.00772757e+02] [-3.53540584e-01 9.35414957e-01 2.81323584e-03 -2.27637093e+01] [ 7.74378064e-03 -8.06174267e-05 9.99970013e-01 -1.84719840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49762799999999 meters 0.015397463567657177 Centerline is valid? [True, True] Translation: X:100.83, Y:-22.79, Z:-0.18 [[ 9.39025882e-01 3.43751157e-01 -8.09536947e-03 1.00826550e+02] [-3.43736705e-01 9.39060759e-01 3.15739571e-03 -2.27943930e+01] [ 8.68740223e-03 -1.82200668e-04 9.99962247e-01 -1.84494624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.557628 meters 0.018577131814254723 Centerline is valid? [True, True] Translation: X:100.88, Y:-22.83, Z:-0.18 [[ 9.43557426e-01 3.31117046e-01 -7.80298120e-03 1.00880488e+02] [-3.31103183e-01 9.43589645e-01 3.04350594e-03 -2.28251360e+01] [ 8.37056896e-03 -2.88130718e-04 9.99964925e-01 -1.83433926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.617628 meters 0.01987905128419392 Centerline is valid? [True, True] Translation: X:100.94, Y:-22.85, Z:-0.18 [[ 9.45645893e-01 3.25146321e-01 -5.80643555e-03 1.00936313e+02] [-3.25138531e-01 9.45663685e-01 2.26492856e-03 -2.28499171e+01] [ 6.22736843e-03 -2.53924469e-04 9.99980578e-01 -1.81475611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.677628 meters 0.02001041305914527 Centerline is valid? [True, True] Translation: X:101.00, Y:-22.87, Z:-0.18 [[ 9.45493915e-01 3.25589527e-01 -5.71978150e-03 1.00995256e+02] [-3.25581962e-01 9.45511183e-01 2.23346142e-03 -2.28725083e+01] [ 6.13530902e-03 -2.49466495e-04 9.99981148e-01 -1.80942837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.737628 meters 0.0177044878729664 Centerline is valid? [True, True] Translation: X:101.05, Y:-22.89, Z:-0.18 [[ 9.44100706e-01 3.29614062e-01 -5.33166945e-03 1.01054610e+02] [-3.29607554e-01 9.44115738e-01 2.08170981e-03 -2.28882922e+01] [ 5.71987387e-03 -2.07985175e-04 9.99983620e-01 -1.79770842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.797628 meters 0.018579656083034905 Centerline is valid? [True, True] Translation: X:101.11, Y:-22.91, Z:-0.18 [[ 9.42464410e-01 3.34266224e-01 -5.18915964e-03 1.01111414e+02] [-3.34260129e-01 9.42478679e-01 2.02608944e-03 -2.29077085e+01] [ 5.56792559e-03 -1.74988021e-04 9.99984484e-01 -1.81095720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85762799999999 meters 0.015496462818266589 Centerline is valid? [True, True] Translation: X:101.17, Y:-22.92, Z:-0.18 [[ 9.39639129e-01 3.42110802e-01 -6.20537239e-03 1.01172564e+02] [-3.42102254e-01 9.39659606e-01 2.42324026e-03 -2.29196936e+01] [ 6.65995444e-03 -1.54099485e-04 9.99977810e-01 -1.82072477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.917628 meters 0.014284743749549541 Centerline is valid? [True, True] Translation: X:101.23, Y:-22.94, Z:-0.18 [[ 9.37468631e-01 3.48004211e-01 -6.75531577e-03 1.01232049e+02] [-3.47994232e-01 9.37492962e-01 2.63824883e-03 -2.29351064e+01] [ 7.25118269e-03 -1.22464599e-04 9.99973702e-01 -1.82629151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.977628 meters 0.01427024773712352 Centerline is valid? [True, True] Translation: X:101.29, Y:-22.95, Z:-0.18 [[ 9.36795231e-01 3.49816220e-01 -6.58090326e-03 1.01290705e+02] [-3.49806778e-01 9.36818339e-01 2.57234146e-03 -2.29542607e+01] [ 7.06495763e-03 -1.07712641e-04 9.99975037e-01 -1.83115991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.037628 meters 0.013595947331292881 Centerline is valid? [True, True] Translation: X:101.35, Y:-22.97, Z:-0.18 [[ 9.36256361e-01 3.51268040e-01 -5.89840835e-03 1.01350737e+02] [-3.51260473e-01 9.36274936e-01 2.30731428e-03 -2.29719765e+01] [ 6.33301766e-03 -8.83599589e-05 9.99979942e-01 -1.81891986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.097628 meters 0.013505019430726411 Centerline is valid? [True, True] Translation: X:101.41, Y:-22.99, Z:-0.18 [[ 9.35504632e-01 3.53261179e-01 -6.13379306e-03 1.01410243e+02] [-3.53253028e-01 9.35524737e-01 2.40110963e-03 -2.29900775e+01] [ 6.58653396e-03 -7.94682094e-05 9.99978305e-01 -1.82762373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.157628 meters 0.013167509226713604 Centerline is valid? [True, True] Translation: X:101.47, Y:-23.01, Z:-0.18 [[ 9.34583913e-01 3.55682453e-01 -6.55001810e-03 1.01469410e+02] [-3.55673205e-01 9.34606863e-01 2.56584508e-03 -2.30102783e+01] [ 7.03431794e-03 -6.83316081e-05 9.99975257e-01 -1.83408718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.217628 meters 0.01282956442754263 Centerline is valid? [True, True] Translation: X:101.53, Y:-23.03, Z:-0.18 [[ 9.33082009e-01 3.59583687e-01 -7.58527828e-03 1.01528868e+02] [-3.59571396e-01 9.33112839e-01 2.97343377e-03 -2.30296812e+01] [ 8.14711882e-03 -4.70084604e-05 9.99966811e-01 -1.84212862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27762799999999 meters 0.012504211398464131 Centerline is valid? [True, True] Translation: X:101.59, Y:-23.05, Z:-0.18 [[ 9.31691779e-01 3.63171268e-01 -7.55371429e-03 1.01587711e+02] [-3.63159180e-01 9.31722399e-01 2.96319929e-03 -2.30503339e+01] [ 8.11411364e-03 -1.75877381e-05 9.99967080e-01 -1.83813752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.337628 meters 0.012450603337077489 Centerline is valid? [True, True] Translation: X:101.65, Y:-23.07, Z:-0.19 [[ 9.29283334e-01 3.69284673e-01 -7.83039215e-03 1.01647301e+02] [-3.69271877e-01 9.29316323e-01 3.07437295e-03 -2.30694442e+01] [ 8.41223005e-03 3.45800626e-05 9.99964616e-01 -1.85282422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.397628 meters 0.01271070506187229 Centerline is valid? [True, True] Translation: X:101.71, Y:-23.09, Z:-0.19 [[ 9.27837519e-01 3.72892626e-01 -8.28420393e-03 1.01705348e+02] [-3.72878427e-01 9.27874498e-01 3.25483387e-03 -2.30921723e+01] [ 8.90040512e-03 6.90439521e-05 9.99960388e-01 -1.85665581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.457628 meters 0.013362728569838387 Centerline is valid? [True, True] Translation: X:101.76, Y:-23.12, Z:-0.19 [[ 9.26227017e-01 3.76893729e-01 -7.39119976e-03 1.01761837e+02] [-3.76882546e-01 9.26256502e-01 2.90494702e-03 -2.31155024e+01] [ 7.94100316e-03 9.49737754e-05 9.99968465e-01 -1.85912150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.517628 meters 0.013483059349532872 Centerline is valid? [True, True] Translation: X:101.82, Y:-23.14, Z:-0.19 [[ 9.25507393e-01 3.78657580e-01 -7.38252377e-03 1.01818292e+02] [-3.78646460e-01 9.25536831e-01 2.90387835e-03 -2.31419063e+01] [ 7.93237320e-03 1.07805616e-04 9.99968532e-01 -1.85825990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.577628 meters 0.013113918897118333 Centerline is valid? [True, True] Translation: X:101.87, Y:-23.17, Z:-0.19 [[ 9.26315385e-01 3.76685878e-01 -6.89611603e-03 1.01874256e+02] [-3.76676106e-01 9.26341051e-01 2.71456362e-03 -2.31697084e+01] [ 7.41069315e-03 8.30600850e-05 9.99972537e-01 -1.85673563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63762799999999 meters 0.012293865829220445 Centerline is valid? [True, True] Translation: X:101.93, Y:-23.20, Z:-0.18 [[ 9.29434488e-01 3.68944453e-01 -5.61460501e-03 1.01926056e+02] [-3.68937824e-01 9.29451446e-01 2.21163295e-03 -2.32041437e+01] [ 6.03447245e-03 1.58722199e-05 9.99981792e-01 -1.83805993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.697628 meters 0.012562778245769004 Centerline is valid? [True, True] Translation: X:101.98, Y:-23.24, Z:-0.18 [[ 9.32393236e-01 3.61411550e-01 -4.95434019e-03 1.01981618e+02] [-3.61406273e-01 9.32406398e-01 1.95332137e-03 -2.32360149e+01] [ 5.32541139e-03 -3.07340098e-05 9.99985819e-01 -1.83351927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.757628 meters 0.013489707912555141 Centerline is valid? [True, True] Translation: X:102.04, Y:-23.27, Z:-0.18 [[ 9.34925135e-01 3.54816064e-01 -4.53351707e-03 1.02035629e+02] [-3.54811561e-01 9.34936125e-01 1.78856049e-03 -2.32668433e+01] [ 4.87315887e-03 -6.36258828e-05 9.99988124e-01 -1.83600996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.817628 meters 0.014815145873266126 Centerline is valid? [True, True] Translation: X:102.09, Y:-23.30, Z:-0.18 [[ 9.36981612e-01 3.49351637e-01 -4.34649926e-03 1.02089791e+02] [-3.49347434e-01 9.36991689e-01 1.71592825e-03 -2.32971147e+01] [ 4.67209603e-03 -8.93548523e-05 9.99989082e-01 -1.83425301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.877628 meters 0.015925137576444478 Centerline is valid? [True, True] Translation: X:102.14, Y:-23.33, Z:-0.18 [[ 9.38623216e-01 3.44918431e-01 -4.21114983e-03 1.02144641e+02] [-3.44914436e-01 9.38632657e-01 1.66362239e-03 -2.33264624e+01] [ 4.52653677e-03 -1.09028234e-04 9.99989749e-01 -1.83854741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.937628 meters 0.01701931021536692 Centerline is valid? [True, True] Translation: X:102.20, Y:-23.35, Z:-0.19 [[ 9.39048877e-01 3.43736940e-01 -5.66770621e-03 1.02199317e+02] [-3.43729674e-01 9.39065968e-01 2.24036031e-03 -2.33536856e+01] [ 6.09244462e-03 -1.55649027e-04 9.99981429e-01 -1.86443582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99762799999999 meters 0.016293296696188248 Centerline is valid? [True, True] Translation: X:102.26, Y:-23.38, Z:-0.19 [[ 9.38410543e-01 3.45462541e-01 -6.42540808e-03 1.02256500e+02] [-3.45453231e-01 9.38432526e-01 2.54164785e-03 -2.33783319e+01] [ 6.90785606e-03 -1.65431156e-04 9.99976127e-01 -1.87077665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.057628 meters 0.016060066167846693 Centerline is valid? [True, True] Translation: X:102.31, Y:-23.40, Z:-0.19 [[ 9.37376162e-01 3.48256410e-01 -6.58823089e-03 1.02313080e+02] [-3.48246679e-01 9.37399302e-01 2.60769808e-03 -2.34021778e+01] [ 7.08395061e-03 -1.50064486e-04 9.99974897e-01 -1.87881865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.117628 meters 0.013962439812910347 Centerline is valid? [True, True] Translation: X:102.37, Y:-23.42, Z:-0.19 [[ 9.35052505e-01 3.54452684e-01 -6.33312149e-03 1.02371069e+02] [-3.54443833e-01 9.35073946e-01 2.50682218e-03 -2.34238376e+01] [ 6.81048675e-03 -9.92745048e-05 9.99976803e-01 -1.88043192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.177628 meters 0.012825681970354098 Centerline is valid? [True, True] Translation: X:102.43, Y:-23.44, Z:-0.19 [[ 9.32260097e-01 3.61741251e-01 -5.86335660e-03 1.02430365e+02] [-3.61733796e-01 9.32278534e-01 2.32286862e-03 -2.34428895e+01] [ 6.30655890e-03 -4.45434828e-05 9.99980112e-01 -1.89248748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.237628 meters 0.012676370823912328 Centerline is valid? [True, True] Translation: X:102.49, Y:-23.46, Z:-0.19 [[ 9.27641701e-01 3.73438716e-01 -4.93968854e-03 1.02490451e+02] [-3.73433582e-01 9.27654852e-01 1.95838646e-03 -2.34592996e+01] [ 5.31366336e-03 2.79646421e-05 9.99985882e-01 -1.89563610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.297628 meters 0.013301408267371643 Centerline is valid? [True, True] Translation: X:102.55, Y:-23.48, Z:-0.19 [[ 9.25789292e-01 3.78008361e-01 -4.88523311e-03 1.02548895e+02] [-3.78003396e-01 9.25802180e-01 1.93815990e-03 -2.34810776e+01] [ 5.25540011e-03 5.23070209e-05 9.99986189e-01 -1.88851900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35762799999999 meters 0.013986162208609727 Centerline is valid? [True, True] Translation: X:102.61, Y:-23.50, Z:-0.19 [[ 9.23781806e-01 3.82897904e-01 -4.04603191e-03 1.02606831e+02] [-3.82894540e-01 9.23790664e-01 1.60646665e-03 -2.35027610e+01] [ 4.35279921e-03 6.51788611e-05 9.99990524e-01 -1.88706365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.417628 meters 0.015393459951386782 Centerline is valid? [True, True] Translation: X:102.66, Y:-23.52, Z:-0.19 [[ 9.22800459e-01 3.85236194e-01 -5.69101072e-03 1.02664810e+02] [-3.85229574e-01 9.22818001e-01 2.26088118e-03 -2.35224994e+01] [ 6.12274040e-03 1.06003441e-04 9.99981250e-01 -1.91840003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.477628 meters 0.01443550103555022 Centerline is valid? [True, True] Translation: X:102.72, Y:-23.55, Z:-0.19 [[ 9.22595803e-01 3.85672879e-01 -8.56825055e-03 1.02721537e+02] [-3.85657871e-01 9.22635575e-01 3.40626507e-03 -2.35488147e+01] [ 9.21907683e-03 1.61807411e-04 9.99957490e-01 -1.94340904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.537628 meters 0.01473625883395813 Centerline is valid? [True, True] Translation: X:102.78, Y:-23.57, Z:-0.20 [[ 9.22658817e-01 3.85480626e-01 -1.02661797e-02 1.02777922e+02] [-3.85459039e-01 9.22715910e-01 4.08387579e-03 -2.35718024e+01] [ 1.10470223e-02 1.89167742e-04 9.99938962e-01 -1.96080528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.597628 meters 0.014585466946078597 Centerline is valid? [True, True] Translation: X:102.84, Y:-23.60, Z:-0.20 [[ 9.22653691e-01 3.85473116e-01 -1.09837313e-02 1.02835842e+02] [-3.85448362e-01 9.22719046e-01 4.37301390e-03 -2.35951459e+01] [ 1.18205773e-02 1.98883805e-04 9.99930115e-01 -1.95458300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.657628 meters 0.014458122025116392 Centerline is valid? [True, True] Translation: X:102.89, Y:-23.62, Z:-0.20 [[ 9.22885495e-01 3.84929199e-01 -1.05770363e-02 1.02893814e+02] [-3.84906175e-01 9.22946086e-01 4.21407764e-03 -2.36163056e+01] [ 1.13841557e-02 1.82055435e-04 9.99935182e-01 -1.95451637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.717628 meters 0.013520435435355431 Centerline is valid? [True, True] Translation: X:102.95, Y:-23.64, Z:-0.19 [[ 9.24835768e-01 3.80240461e-01 -9.79761562e-03 1.02950340e+02] [-3.80220411e-01 9.24887658e-01 3.90637160e-03 -2.36416831e+01] [ 1.05470543e-02 1.12501263e-04 9.99944372e-01 -1.93584615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77762799999999 meters 0.012830647128828213 Centerline is valid? [True, True] Translation: X:103.01, Y:-23.67, Z:-0.19 [[ 9.27124196e-01 3.74635734e-01 -9.42296935e-03 1.03006538e+02] [-3.74616885e-01 9.27172080e-01 3.75827197e-03 -2.36699235e+01] [ 1.01446971e-02 4.56185431e-05 9.99948540e-01 -1.92991143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.837628 meters 0.012699704106914556 Centerline is valid? [True, True] Translation: X:103.06, Y:-23.70, Z:-0.19 [[ 9.29726254e-01 3.68160413e-01 -8.18556415e-03 1.03062055e+02] [-3.68145915e-01 9.29762287e-01 3.26734215e-03 -2.36984689e+01] [ 8.81353488e-03 -2.42517683e-05 9.99961160e-01 -1.91108966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.897628 meters 0.012721463798122414 Centerline is valid? [True, True] Translation: X:103.12, Y:-23.72, Z:-0.19 [[ 9.30698497e-01 3.65721070e-01 -6.95742795e-03 1.03119774e+02] [-3.65710510e-01 9.30724501e-01 2.77955691e-03 -2.37228566e+01] [ 7.49199119e-03 -4.25249158e-05 9.99971934e-01 -1.89603660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.957628 meters 0.012598187669617008 Centerline is valid? [True, True] Translation: X:103.18, Y:-23.74, Z:-0.19 [[ 9.30394272e-01 3.66514434e-01 -5.80251638e-03 1.03178454e+02] [-3.66507093e-01 9.30412365e-01 2.31985988e-03 -2.37442287e+01] [ 6.24899512e-03 -3.17209356e-05 9.99980474e-01 -1.88474431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.017628 meters 0.012485309071859301 Centerline is valid? [True, True] Translation: X:103.24, Y:-23.77, Z:-0.19 [[ 9.29416506e-01 3.68988187e-01 -5.71622527e-03 1.03236481e+02] [-3.68981100e-01 9.29434084e-01 2.28700838e-03 -2.37652642e+01] [ 6.15673367e-03 -1.64042478e-05 9.99981047e-01 -1.88518144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.077628 meters 0.01243115523060521 Centerline is valid? [True, True] Translation: X:103.30, Y:-23.79, Z:-0.19 [[ 9.27760972e-01 3.73112889e-01 -6.80808478e-03 1.03296014e+02] [-3.73102931e-01 9.27785951e-01 2.72603201e-03 -2.37854241e+01] [ 7.33356309e-03 1.10102756e-05 9.99973109e-01 -1.89696868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13762799999999 meters 0.01248143055714226 Centerline is valid? [True, True] Translation: X:103.35, Y:-23.81, Z:-0.19 [[ 9.26745371e-01 3.75589575e-01 -8.68844924e-03 1.03353047e+02] [-3.75573456e-01 9.26786097e-01 3.47986183e-03 -2.38064348e+01] [ 9.35933379e-03 3.82050657e-05 9.99956200e-01 -1.91486523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.197628 meters 0.012472123074596969 Centerline is valid? [True, True] Translation: X:103.41, Y:-23.83, Z:-0.19 [[ 9.26008248e-01 3.77402525e-01 -8.72117993e-03 1.03411102e+02] [-3.77386335e-01 9.26049313e-01 3.49615238e-03 -2.38297187e+01] [ 9.39569942e-03 5.37881964e-05 9.99955858e-01 -1.91703983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.257628 meters 0.012301602816497288 Centerline is valid? [True, True] Translation: X:103.47, Y:-23.85, Z:-0.19 [[ 9.26282648e-01 3.76738361e-01 -8.28630009e-03 1.03468079e+02] [-3.76723698e-01 9.26319710e-01 3.32419442e-03 -2.38549027e+01] [ 8.92811466e-03 4.25020028e-05 9.99960143e-01 -1.91461662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.317628 meters 0.012079030587756936 Centerline is valid? [True, True] Translation: X:103.52, Y:-23.88, Z:-0.19 [[ 9.27783504e-01 3.73072541e-01 -5.88628854e-03 1.03522927e+02] [-3.73065057e-01 9.27802177e-01 2.36304288e-03 -2.38818641e+01] [ 6.34289774e-03 3.57637035e-06 9.99979884e-01 -1.89059060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.377628 meters 0.012162771858964232 Centerline is valid? [True, True] Translation: X:103.58, Y:-23.91, Z:-0.19 [[ 9.29465245e-01 3.68892823e-01 -3.52766901e-03 1.03578653e+02] [-3.68890100e-01 9.29471939e-01 1.41736484e-03 -2.39095875e+01] [ 3.80172507e-03 -1.60691810e-05 9.99992773e-01 -1.86227086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.437628 meters 0.012440150502777 Centerline is valid? [True, True] Translation: X:103.64, Y:-23.93, Z:-0.19 [[ 9.30559269e-01 3.66123948e-01 -3.56385925e-03 1.03635532e+02] [-3.66121145e-01 9.30566093e-01 1.43291723e-03 -2.39347226e+01] [ 3.84103189e-03 -2.86101792e-05 9.99992623e-01 -1.86297825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49762799999999 meters 0.013217450317045014 Centerline is valid? [True, True] Translation: X:103.69, Y:-23.96, Z:-0.19 [[ 9.32595731e-01 3.60893532e-01 -4.58922442e-03 1.03692734e+02] [-3.60888815e-01 9.32607020e-01 1.84637998e-03 -2.39598803e+01] [ 4.94628950e-03 -6.57263229e-05 9.99987765e-01 -1.87749180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.557628 meters 0.013984550872996932 Centerline is valid? [True, True] Translation: X:103.75, Y:-23.98, Z:-0.19 [[ 9.34137172e-01 3.56848328e-01 -6.85678237e-03 1.03750002e+02] [-3.56837688e-01 9.34162327e-01 2.75871929e-03 -2.39841626e+01] [ 7.38979214e-03 -1.30263871e-04 9.99972687e-01 -1.87938582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.617628 meters 0.01530346588277164 Centerline is valid? [True, True] Translation: X:103.81, Y:-24.01, Z:-0.19 [[ 9.34371301e-01 3.56204531e-01 -8.28271295e-03 1.03806446e+02] [-3.56188958e-01 9.34407997e-01 3.33486898e-03 -2.40081253e+01] [ 8.92732866e-03 -1.65794972e-04 9.99960137e-01 -1.90086085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.677628 meters 0.015309321906573808 Centerline is valid? [True, True] Translation: X:103.87, Y:-24.03, Z:-0.19 [[ 9.33933842e-01 3.57328884e-01 -9.14587330e-03 1.03865409e+02] [-3.57309922e-01 9.33978607e-01 3.68525007e-03 -2.40293517e+01] [ 9.85889629e-03 -1.73868480e-04 9.99951385e-01 -1.91140905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.737628 meters 0.013901477348463758 Centerline is valid? [True, True] Translation: X:103.92, Y:-24.05, Z:-0.19 [[ 9.33331923e-01 3.58896632e-01 -9.20490270e-03 1.03924630e+02] [-3.58877475e-01 9.33377299e-01 3.71163771e-03 -2.40476396e+01] [ 9.92374149e-03 -1.60757721e-04 9.99950746e-01 -1.89519977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.797628 meters 0.013507764788895035 Centerline is valid? [True, True] Translation: X:103.98, Y:-24.07, Z:-0.19 [[ 9.32410654e-01 3.61309444e-01 -8.11531319e-03 1.03982740e+02] [-3.61294627e-01 9.32445961e-01 3.27443135e-03 -2.40670565e+01] [ 8.75017398e-03 -1.21095623e-04 9.99961709e-01 -1.88623726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85762799999999 meters 0.012699971578942232 Centerline is valid? [True, True] Translation: X:104.04, Y:-24.09, Z:-0.19 [[ 9.30655162e-01 3.65825862e-01 -7.23934816e-03 1.04042308e+02] [-3.65814191e-01 9.30683315e-01 2.92310114e-03 -2.40860383e+01] [ 7.80688655e-03 -7.21428787e-05 9.99969523e-01 -1.87971693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.917628 meters 0.012064816305091533 Centerline is valid? [True, True] Translation: X:104.10, Y:-24.11, Z:-0.19 [[ 9.28776531e-01 3.70587058e-01 -6.27593109e-03 1.04100415e+02] [-3.70578383e-01 9.28797735e-01 2.53572956e-03 -2.41051800e+01] [ 6.76877914e-03 -2.94017066e-05 9.99977091e-01 -1.87492770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.977628 meters 0.012044659879420543 Centerline is valid? [True, True] Translation: X:104.16, Y:-24.12, Z:-0.19 [[ 9.24649698e-01 3.80788796e-01 -4.77788081e-03 1.04162437e+02] [-3.80783895e-01 9.24662042e-01 1.93222396e-03 -2.41199582e+01] [ 5.15369426e-03 3.27097613e-05 9.99986719e-01 -1.87117734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.037628 meters 0.013399299489437477 Centerline is valid? [True, True] Translation: X:104.22, Y:-24.14, Z:-0.19 [[ 9.20658816e-01 3.90336305e-01 -4.99132587e-03 1.04221640e+02] [-3.90331094e-01 9.20672342e-01 2.01890446e-03 -2.41374576e+01] [ 5.38342739e-03 8.95474926e-05 9.99985505e-01 -1.86563577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.097628 meters 0.014358600515762123 Centerline is valid? [True, True] Translation: X:104.28, Y:-24.16, Z:-0.19 [[ 9.19132205e-01 3.93926945e-01 -4.18949734e-03 1.04280221e+02] [-3.93923304e-01 9.19141749e-01 1.69607591e-03 -2.41590894e+01] [ 4.51887191e-03 9.14226419e-05 9.99989786e-01 -1.85676588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.157628 meters 0.015067481480737882 Centerline is valid? [True, True] Translation: X:104.34, Y:-24.18, Z:-0.18 [[ 9.18506970e-01 3.95387851e-01 -3.65964905e-03 1.04337896e+02] [-3.95385080e-01 9.18514257e-01 1.48267487e-03 -2.41819635e+01] [ 3.94767146e-03 8.51234281e-05 9.99992204e-01 -1.84794684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.217628 meters 0.014549948256192356 Centerline is valid? [True, True] Translation: X:104.39, Y:-24.21, Z:-0.19 [[ 9.19258016e-01 3.93638334e-01 -3.68266492e-03 1.04394179e+02] [-3.93635510e-01 9.19265389e-01 1.49305421e-03 -2.42084104e+01] [ 3.97306977e-03 7.71256284e-05 9.99992104e-01 -1.85163512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27762799999999 meters 0.013674937799562628 Centerline is valid? [True, True] Translation: X:104.45, Y:-24.24, Z:-0.19 [[ 9.20668065e-01 3.90328251e-01 -3.76431676e-03 1.04450082e+02] [-3.90325268e-01 9.20675759e-01 1.52722684e-03 -2.42362913e+01] [ 4.06183497e-03 6.32389701e-05 9.99991749e-01 -1.85510521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.337628 meters 0.012051570170982207 Centerline is valid? [True, True] Translation: X:104.50, Y:-24.27, Z:-0.19 [[ 9.24482799e-01 3.81189265e-01 -5.12815534e-03 1.04503459e+02] [-3.81183590e-01 9.24497022e-01 2.08037044e-03 -2.42686392e+01] [ 5.53397922e-03 3.15019710e-05 9.99984687e-01 -1.86145929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.397628 meters 0.012070862606997707 Centerline is valid? [True, True] Translation: X:104.56, Y:-24.30, Z:-0.19 [[ 9.27592728e-01 3.73532116e-01 -6.74452994e-03 1.04558159e+02] [-3.73522084e-01 9.27617247e-01 2.73768656e-03 -2.42996496e+01] [ 7.27895615e-03 -2.02272637e-05 9.99973508e-01 -1.86786942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.457628 meters 0.013894371994289228 Centerline is valid? [True, True] Translation: X:104.61, Y:-24.33, Z:-0.19 [[ 9.32452625e-01 3.61196562e-01 -8.31539686e-03 1.04610110e+02] [-3.61180816e-01 9.32489691e-01 3.37568995e-03 -2.43336407e+01] [ 8.97330945e-03 -1.44309136e-04 9.99959729e-01 -1.86494719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.517628 meters 0.01661735528826261 Centerline is valid? [True, True] Translation: X:104.66, Y:-24.36, Z:-0.19 [[ 9.36784314e-01 3.49808465e-01 -8.31790050e-03 1.04663423e+02] [-3.49792238e-01 9.36821206e-01 3.37903466e-03 -2.43643027e+01] [ 8.97440051e-03 -2.55889634e-04 9.99959697e-01 -1.87023974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.577628 meters 0.018174250403493842 Centerline is valid? [True, True] Translation: X:104.72, Y:-24.39, Z:-0.18 [[ 9.39073732e-01 3.43650111e-01 -6.71761681e-03 1.04718639e+02] [-3.43639368e-01 9.39097724e-01 2.72924498e-03 -2.43912234e+01] [ 7.24640400e-03 -2.54524677e-04 9.99973712e-01 -1.84425478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63762799999999 meters 0.01925119752787157 Centerline is valid? [True, True] Translation: X:104.77, Y:-24.42, Z:-0.18 [[ 9.39441736e-01 3.42661826e-01 -5.66557320e-03 1.04774824e+02] [-3.42654160e-01 9.39458793e-01 2.30283449e-03 -2.44151417e+01] [ 6.11166603e-03 -2.22046606e-04 9.99981299e-01 -1.82842913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.697628 meters 0.019380116773870047 Centerline is valid? [True, True] Translation: X:104.83, Y:-24.44, Z:-0.18 [[ 9.39385851e-01 3.42832942e-01 -4.44945261e-03 1.04834861e+02] [-3.42828207e-01 9.39396372e-01 1.81029509e-03 -2.44354911e+01] [ 4.80042842e-03 -1.75167730e-04 9.99988463e-01 -1.81657331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.757628 meters 0.019246434108830146 Centerline is valid? [True, True] Translation: X:104.89, Y:-24.46, Z:-0.18 [[ 9.38836043e-01 3.44332675e-01 -4.67900749e-03 1.04893827e+02] [-3.44327451e-01 9.38847686e-01 1.90492114e-03 -2.44551953e+01] [ 5.04880195e-03 -1.77297904e-04 9.99987239e-01 -1.81640427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.817628 meters 0.017857938425594508 Centerline is valid? [True, True] Translation: X:104.95, Y:-24.47, Z:-0.18 [[ 9.37513817e-01 3.47912074e-01 -5.00316765e-03 1.04954693e+02] [-3.47906154e-01 9.37527152e-01 2.03669432e-03 -2.44684529e+01] [ 5.39919606e-03 -1.68796255e-04 9.99985410e-01 -1.82807943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.877628 meters 0.01659629406513147 Centerline is valid? [True, True] Translation: X:105.02, Y:-24.48, Z:-0.18 [[ 9.36169763e-01 3.51507049e-01 -5.38232971e-03 1.05015936e+02] [-3.51500255e-01 9.36185221e-01 2.19140251e-03 -2.44820918e+01] [ 5.80915096e-03 -1.59634502e-04 9.99983114e-01 -1.83100430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.937628 meters 0.016132494521083326 Centerline is valid? [True, True] Translation: X:105.08, Y:-24.50, Z:-0.18 [[ 9.35350345e-01 3.53676330e-01 -5.72592755e-03 1.05075442e+02] [-3.53668669e-01 9.35367857e-01 2.33327658e-03 -2.45003615e+01] [ 6.18107329e-03 -1.57349874e-04 9.99980885e-01 -1.82567192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99762799999999 meters 0.015875235564063832 Centerline is valid? [True, True] Translation: X:105.14, Y:-24.52, Z:-0.18 [[ 9.34375389e-01 3.56232274e-01 -6.41872578e-03 1.05135629e+02] [-3.56222694e-01 9.34397422e-01 2.61733679e-03 -2.45165457e+01] [ 6.93002066e-03 -1.59079293e-04 9.99975974e-01 -1.82996568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.057628 meters 0.01574377856857258 Centerline is valid? [True, True] Translation: X:105.20, Y:-24.53, Z:-0.18 [[ 9.33461205e-01 3.58614132e-01 -6.78841052e-03 1.05195038e+02] [-3.58603467e-01 9.33485876e-01 2.76976953e-03 -2.45318187e+01] [ 7.33016384e-03 -1.51124850e-04 9.99973123e-01 -1.84331387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.117628 meters 0.01572720533144327 Centerline is valid? [True, True] Translation: X:105.25, Y:-24.55, Z:-0.18 [[ 9.33043469e-01 3.59699099e-01 -6.81500335e-03 1.05254639e+02] [-3.59688376e-01 9.33068346e-01 2.78103699e-03 -2.45514864e+01] [ 7.35920040e-03 -1.43550904e-04 9.99972910e-01 -1.84191793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.177628 meters 0.015357663922484045 Centerline is valid? [True, True] Translation: X:105.32, Y:-24.57, Z:-0.18 [[ 9.32429205e-01 3.61314603e-01 -5.24741419e-03 1.05315473e+02] [-3.61308269e-01 9.32443965e-01 2.14188164e-03 -2.45681922e+01] [ 5.66681281e-03 -1.01218854e-04 9.99983938e-01 -1.83156140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.237628 meters 0.015165070881715082 Centerline is valid? [True, True] Translation: X:105.38, Y:-24.59, Z:-0.18 [[ 9.31884817e-01 3.62718486e-01 -5.09775771e-03 1.05375429e+02] [-3.62712520e-01 9.31898756e-01 2.08242550e-03 -2.45866908e+01] [ 5.50592830e-03 -9.15601596e-05 9.99984838e-01 -1.83918523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.297628 meters 0.014003556052282097 Centerline is valid? [True, True] Translation: X:105.44, Y:-24.60, Z:-0.18 [[ 9.30123712e-01 3.67200421e-01 -5.80785071e-03 1.05435963e+02] [-3.67192755e-01 9.30141841e-01 2.37397607e-03 -2.46027086e+01] [ 6.27384997e-03 -7.54907367e-05 9.99980316e-01 -1.83915692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35762799999999 meters 0.012673919625392212 Centerline is valid? [True, True] Translation: X:105.50, Y:-24.62, Z:-0.18 [[ 9.27593444e-01 3.73550908e-01 -5.48835382e-03 1.05495919e+02] [-3.73544165e-01 9.27609680e-01 2.24470220e-03 -2.46165282e+01] [ 5.92956067e-03 -3.20285024e-05 9.99982419e-01 -1.84051392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.417628 meters 0.01212676526410633 Centerline is valid? [True, True] Translation: X:105.56, Y:-24.63, Z:-0.18 [[ 9.26079902e-01 3.77272955e-01 -6.41347620e-03 1.05557252e+02] [-3.77263821e-01 9.26102109e-01 2.62528258e-03 -2.46324640e+01] [ 6.92998195e-03 -1.16488964e-05 9.99975987e-01 -1.84240982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.477628 meters 0.012119834221636983 Centerline is valid? [True, True] Translation: X:105.62, Y:-24.65, Z:-0.18 [[ 9.25650855e-01 3.78305577e-01 -7.44207632e-03 1.05616073e+02] [-3.78293291e-01 9.25680771e-01 3.04875979e-03 -2.46538117e+01] [ 8.04234978e-03 -6.79955890e-06 9.99967660e-01 -1.84914409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.537628 meters 0.012184442982511116 Centerline is valid? [True, True] Translation: X:105.67, Y:-24.68, Z:-0.19 [[ 9.25769134e-01 3.78006630e-01 -7.90552796e-03 1.05674807e+02] [-3.77992734e-01 9.25802888e-01 3.24121471e-03 -2.46768742e+01] [ 8.54416127e-03 -1.23844035e-05 9.99963498e-01 -1.85128954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.597628 meters 0.01232232955258388 Centerline is valid? [True, True] Translation: X:105.73, Y:-24.70, Z:-0.18 [[ 9.26439337e-01 3.76346385e-01 -8.57632297e-03 1.05732371e+02] [-3.76329937e-01 9.26479033e-01 3.51859614e-03 -2.47002703e+01] [ 9.26999435e-03 -3.22387923e-05 9.99957032e-01 -1.84724312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.657628 meters 0.012542560516517587 Centerline is valid? [True, True] Translation: X:105.79, Y:-24.72, Z:-0.18 [[ 9.27288670e-01 3.74257227e-01 -8.20060366e-03 1.05791048e+02] [-3.74242083e-01 9.27324930e-01 3.36722327e-03 -2.47225817e+01] [ 8.86483185e-03 -5.33769949e-05 9.99960705e-01 -1.84225259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.717628 meters 0.01251947992834941 Centerline is valid? [True, True] Translation: X:105.85, Y:-24.75, Z:-0.18 [[ 9.27829028e-01 3.72935819e-01 -7.22288642e-03 1.05849738e+02] [-3.72924012e-01 9.27857139e-01 2.96822376e-03 -2.47462044e+01] [ 7.80876369e-03 -6.04163879e-05 9.99969509e-01 -1.83223602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77762799999999 meters 0.01233845252753373 Centerline is valid? [True, True] Translation: X:105.91, Y:-24.77, Z:-0.18 [[ 9.27729089e-01 3.73205645e-01 -6.02355747e-03 1.05907946e+02] [-3.73197427e-01 9.27748643e-01 2.47711884e-03 -2.47677471e+01] [ 6.51282200e-03 -5.01190559e-05 9.99978790e-01 -1.83292948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.837628 meters 0.0122666830754924 Centerline is valid? [True, True] Translation: X:105.96, Y:-24.79, Z:-0.18 [[ 9.27237505e-01 3.74438420e-01 -5.14580410e-03 1.05964756e+02] [-3.74432434e-01 9.27251783e-01 2.11753821e-03 -2.47895655e+01] [ 5.56434369e-03 -3.67048937e-05 9.99984518e-01 -1.83256036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.897628 meters 0.011892054987166065 Centerline is valid? [True, True] Translation: X:106.02, Y:-24.81, Z:-0.18 [[ 9.26384077e-01 3.76553538e-01 -4.46937471e-03 1.06023372e+02] [-3.76549040e-01 9.26394858e-01 1.84057444e-03 -2.48094757e+01] [ 4.83348056e-03 -2.21400955e-05 9.99988318e-01 -1.82870701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.957628 meters 0.011772238337496476 Centerline is valid? [True, True] Translation: X:106.08, Y:-24.83, Z:-0.18 [[ 9.25714855e-01 3.78187080e-01 -5.15166456e-03 1.06082502e+02] [-3.78181120e-01 9.25729189e-01 2.12324808e-03 -2.48317763e+01] [ 5.57203125e-03 -1.72600159e-05 9.99984476e-01 -1.83874371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.017628 meters 0.011786610283180263 Centerline is valid? [True, True] Translation: X:106.14, Y:-24.86, Z:-0.18 [[ 9.25697852e-01 3.78219947e-01 -5.75827417e-03 1.06140043e+02] [-3.78212492e-01 9.25715761e-01 2.37491778e-03 -2.48557613e+01] [ 6.22876644e-03 -2.06050692e-05 9.99980601e-01 -1.84770672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.077628 meters 0.011813831078960623 Centerline is valid? [True, True] Translation: X:106.20, Y:-24.88, Z:-0.18 [[ 9.26274217e-01 3.76819509e-01 -4.80956710e-03 1.06197614e+02] [-3.76814280e-01 9.26286704e-01 1.98534376e-03 -2.48809807e+01] [ 5.20315431e-03 -2.66591726e-05 9.99986463e-01 -1.84546328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13762799999999 meters 0.01192566418860942 Centerline is valid? [True, True] Translation: X:106.25, Y:-24.91, Z:-0.18 [[ 9.26230469e-01 3.76945066e-01 -3.08808789e-03 1.06254262e+02] [-3.76942909e-01 9.26235616e-01 1.27515085e-03 -2.49050192e+01] [ 3.34095881e-03 -1.70507326e-05 9.99994419e-01 -1.84102822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.197628 meters 0.011539749910063804 Centerline is valid? [True, True] Translation: X:106.31, Y:-24.93, Z:-0.18 [[ 9.24720023e-01 3.80643079e-01 -1.92993667e-03 1.06312534e+02] [-3.80642243e-01 9.24722037e-01 7.97795692e-04 -2.49269996e+01] [ 2.08833038e-03 -3.12222668e-06 9.99997819e-01 -1.82718395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.257628 meters 0.011826918010174221 Centerline is valid? [True, True] Translation: X:106.37, Y:-24.95, Z:-0.19 [[ 9.21531978e-01 3.88280654e-01 -4.11668343e-03 1.06371390e+02] [-3.88276927e-01 9.21541172e-01 1.70166687e-03 -2.49454837e+01] [ 4.45441760e-03 3.02727483e-05 9.99990079e-01 -1.85516597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.317628 meters 0.012644545928695624 Centerline is valid? [True, True] Translation: X:106.43, Y:-24.97, Z:-0.19 [[ 9.18741236e-01 3.94826034e-01 -5.19077569e-03 1.06429751e+02] [-3.94820203e-01 9.18755896e-01 2.14721574e-03 -2.49655682e+01] [ 5.61683244e-03 7.66874613e-05 9.99984223e-01 -1.86699753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.377628 meters 0.014108751705362571 Centerline is valid? [True, True] Translation: X:106.49, Y:-24.99, Z:-0.19 [[ 9.16052267e-01 4.01026582e-01 -5.09169516e-03 1.06488123e+02] [-4.01021066e-01 9.16066410e-01 2.10637519e-03 -2.49873194e+01] [ 5.50904335e-03 1.12327248e-04 9.99984819e-01 -1.86581370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.437628 meters 0.014233790442722102 Centerline is valid? [True, True] Translation: X:106.54, Y:-25.01, Z:-0.19 [[ 9.15960409e-01 4.01251018e-01 -3.76157442e-03 1.06544378e+02] [-4.01248003e-01 9.15968129e-01 1.55758490e-03 -2.50131344e+01] [ 4.07046481e-03 8.26381237e-05 9.99991712e-01 -1.86313449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49762799999999 meters 0.01328523624128006 Centerline is valid? [True, True] Translation: X:106.60, Y:-25.04, Z:-0.19 [[ 9.17181980e-01 3.98460837e-01 -2.48526631e-03 1.06599873e+02] [-3.98459508e-01 9.17185346e-01 1.02999348e-03 -2.50418287e+01] [ 2.68986191e-03 4.55865289e-05 9.99996381e-01 -1.85929155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.557628 meters 0.012506752030591846 Centerline is valid? [True, True] Translation: X:106.65, Y:-25.07, Z:-0.18 [[ 9.19174196e-01 3.93849470e-01 -1.18030248e-03 1.06652987e+02] [-3.93849166e-01 9.19174953e-01 4.89687294e-04 -2.50736516e+01] [ 1.27776756e-03 1.47532245e-05 9.99999184e-01 -1.83643147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.617628 meters 0.011953662600137329 Centerline is valid? [True, True] Translation: X:106.71, Y:-25.10, Z:-0.18 [[ 9.20292635e-01 3.91222831e-01 -2.48250062e-03 1.06707482e+02] [-3.91221475e-01 9.20295983e-01 1.03023192e-03 -2.51039016e+01] [ 2.68768560e-03 2.30927039e-05 9.99996388e-01 -1.84298335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.677628 meters 0.012040618395924902 Centerline is valid? [True, True] Translation: X:106.76, Y:-25.13, Z:-0.19 [[ 9.20121093e-01 3.91608734e-01 -4.44668196e-03 1.06763074e+02] [-3.91604384e-01 9.20131837e-01 1.84628333e-03 -2.51307451e+01] [ 4.81455432e-03 4.25359138e-05 9.99988409e-01 -1.86242551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.737628 meters 0.012399929398921776 Centerline is valid? [True, True] Translation: X:106.82, Y:-25.16, Z:-0.19 [[ 9.19343577e-01 3.93386380e-01 -7.38535105e-03 1.06818145e+02] [-3.93374423e-01 9.19373237e-01 3.06824744e-03 -2.51597545e+01] [ 7.99690085e-03 8.44346290e-05 9.99968021e-01 -1.88072163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.797628 meters 0.012674781039461309 Centerline is valid? [True, True] Translation: X:106.87, Y:-25.19, Z:-0.19 [[ 9.19249920e-01 3.93574308e-01 -8.87963856e-03 1.06871799e+02] [-3.93557011e-01 9.19292801e-01 3.69124406e-03 -2.51891386e+01] [ 9.61576663e-03 1.01468198e-04 9.99953762e-01 -1.90317314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85762799999999 meters 0.012516821447966769 Centerline is valid? [True, True] Translation: X:106.92, Y:-25.22, Z:-0.19 [[ 9.19992238e-01 3.91830059e-01 -9.13712333e-03 1.06924738e+02] [-3.91811633e-01 9.20037607e-01 3.80081735e-03 -2.52245443e+01] [ 9.89577157e-03 8.33087519e-05 9.99951032e-01 -1.89168564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.917628 meters 0.012170303151544232 Centerline is valid? [True, True] Translation: X:106.98, Y:-25.26, Z:-0.19 [[ 9.20861535e-01 3.89793550e-01 -8.66147015e-03 1.06978535e+02] [-3.89776880e-01 9.20902267e-01 3.60535536e-03 -2.52572535e+01] [ 9.38171176e-03 5.60077350e-05 9.99955989e-01 -1.87142941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.977628 meters 0.011823138735024559 Centerline is valid? [True, True] Translation: X:107.03, Y:-25.29, Z:-0.19 [[ 9.22076467e-01 3.86942041e-01 -7.13056071e-03 1.07031140e+02] [-3.86930642e-01 9.22104038e-01 2.97024603e-03 -2.52933894e+01] [ 7.72443188e-03 2.02384660e-05 9.99970166e-01 -1.85565726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.037628 meters 0.011863214560028063 Centerline is valid? [True, True] Translation: X:107.08, Y:-25.33, Z:-0.18 [[ 9.22616625e-01 3.85673759e-01 -5.85785098e-03 1.07082294e+02] [-3.85666029e-01 9.22635221e-01 2.44184889e-03 -2.53313219e+01] [ 6.34641668e-03 6.28374880e-06 9.99979861e-01 -1.82895448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.097628 meters 0.011917426895158682 Centerline is valid? [True, True] Translation: X:107.14, Y:-25.36, Z:-0.18 [[ 9.22379781e-01 3.86232138e-01 -6.34632658e-03 1.07136462e+02] [-3.86223065e-01 9.22401613e-01 2.64737494e-03 -2.53615833e+01] [ 6.87636316e-03 9.21259219e-06 9.99976357e-01 -1.83989097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.157628 meters 0.012265900135792682 Centerline is valid? [True, True] Translation: X:107.19, Y:-25.39, Z:-0.19 [[ 9.20886271e-01 3.89740837e-01 -8.39969236e-03 1.07190207e+02] [-3.89725071e-01 9.20924578e-01 3.50593275e-03 -2.53926814e+01] [ 9.10188831e-03 4.50053627e-05 9.99958576e-01 -1.86299205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.217628 meters 0.013386713246714841 Centerline is valid? [True, True] Translation: X:107.25, Y:-25.42, Z:-0.19 [[ 9.17640104e-01 3.97294096e-01 -9.69746123e-03 1.07247364e+02] [-3.97273496e-01 9.17691333e-01 4.04807044e-03 -2.54177553e+01] [ 1.05075506e-02 1.37872548e-04 9.99944785e-01 -1.85103476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27762799999999 meters 0.013994781725997095 Centerline is valid? [True, True] Translation: X:107.31, Y:-25.44, Z:-0.19 [[ 9.16388949e-01 4.00145137e-01 -1.07313845e-02 1.07305909e+02] [-4.00120066e-01 9.16451763e-01 4.48309421e-03 -2.54379431e+01] [ 1.16286846e-02 1.85584281e-04 9.99932367e-01 -1.85930066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.337628 meters 0.013231647211483764 Centerline is valid? [True, True] Translation: X:107.36, Y:-25.46, Z:-0.19 [[ 9.17848160e-01 3.96818151e-01 -9.49263876e-03 1.07363868e+02] [-3.96798348e-01 9.17897238e-01 3.96634229e-03 -2.54614944e+01] [ 1.02871835e-02 1.26163401e-04 9.99947078e-01 -1.85340742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.397628 meters 0.012212350989070713 Centerline is valid? [True, True] Translation: X:107.42, Y:-25.49, Z:-0.18 [[ 9.21645583e-01 3.87955990e-01 -7.71806880e-03 1.07416457e+02] [-3.87942572e-01 9.21677899e-01 3.22668658e-03 -2.54937596e+01] [ 8.36538582e-03 2.03060269e-05 9.99965009e-01 -1.82512099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.457628 meters 0.012109362158817562 Centerline is valid? [True, True] Translation: X:107.47, Y:-25.52, Z:-0.18 [[ 9.22755710e-01 3.85311527e-01 -7.54498012e-03 1.07473175e+02] [-3.85298593e-01 9.22786556e-01 3.15703639e-03 -2.55208553e+01] [ 8.17884873e-03 -6.10313379e-06 9.99966553e-01 -1.81977845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.517628 meters 0.012387306055488337 Centerline is valid? [True, True] Translation: X:107.53, Y:-25.55, Z:-0.18 [[ 9.24480864e-01 3.81151077e-01 -7.68043149e-03 1.07530439e+02] [-3.81137513e-01 9.24512766e-01 3.21588037e-03 -2.55457230e+01] [ 8.32639323e-03 -4.57193081e-05 9.99965334e-01 -1.81956428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.577628 meters 0.012785533372967799 Centerline is valid? [True, True] Translation: X:107.59, Y:-25.57, Z:-0.18 [[ 9.25422274e-01 3.78800440e-01 -1.01902605e-02 1.07587732e+02] [-3.78776389e-01 9.25478373e-01 4.26957853e-03 -2.55702319e+01] [ 1.10481840e-02 -9.13329798e-05 9.99938963e-01 -1.83997686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63762799999999 meters 0.014105640610324686 Centerline is valid? [True, True] Translation: X:107.64, Y:-25.60, Z:-0.19 [[ 9.27149861e-01 3.74528856e-01 -1.10123190e-02 1.07642901e+02] [-3.74500431e-01 9.27215246e-01 4.61685489e-03 -2.55963289e+01] [ 1.19399355e-02 -1.56398139e-04 9.99928704e-01 -1.85590482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.697628 meters 0.015346721487582695 Centerline is valid? [True, True] Translation: X:107.70, Y:-25.62, Z:-0.19 [[ 9.28706375e-01 3.70677147e-01 -1.01450459e-02 1.07698968e+02] [-3.70652762e-01 9.28761765e-01 4.25609566e-03 -2.56221959e+01] [ 1.09999682e-02 -1.92373873e-04 9.99939480e-01 -1.86032168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.757628 meters 0.015473197511575157 Centerline is valid? [True, True] Translation: X:107.76, Y:-25.65, Z:-0.19 [[ 9.29015714e-01 3.69923905e-01 -9.27940013e-03 1.07757067e+02] [-3.69903436e-01 9.29062037e-01 3.89598552e-03 -2.56463123e+01] [ 1.00623566e-02 -1.86949773e-04 9.99949356e-01 -1.85219489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.817628 meters 0.014307691804490222 Centerline is valid? [True, True] Translation: X:107.82, Y:-25.67, Z:-0.18 [[ 9.28615868e-01 3.70938032e-01 -8.80606232e-03 1.07815476e+02] [-3.70919619e-01 9.28657605e-01 3.69981104e-03 -2.56670513e+01] [ 9.55021737e-03 -1.69361955e-04 9.99954381e-01 -1.83863581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.877628 meters 0.014216210307194147 Centerline is valid? [True, True] Translation: X:107.87, Y:-25.69, Z:-0.18 [[ 9.28338884e-01 3.71639260e-01 -8.43657132e-03 1.07873108e+02] [-3.71622366e-01 9.28377205e-01 3.54706420e-03 -2.56905384e+01] [ 9.15054882e-03 -1.57659025e-04 9.99958120e-01 -1.83867130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.937628 meters 0.014425641646824205 Centerline is valid? [True, True] Translation: X:107.93, Y:-25.72, Z:-0.18 [[ 9.28300981e-01 3.71736212e-01 -8.33528234e-03 1.07929567e+02] [-3.71719702e-01 9.28338389e-01 3.50708708e-03 -2.57162948e+01] [ 9.04167384e-03 -1.57243715e-04 9.99959111e-01 -1.83172931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99762799999999 meters 0.014490583219922987 Centerline is valid? [True, True] Translation: X:107.99, Y:-25.74, Z:-0.18 [[ 9.28741859e-01 3.70642435e-01 -7.92118985e-03 1.07986760e+02] [-3.70627465e-01 9.28775624e-01 3.33516961e-03 -2.57404082e+01] [ 8.59316343e-03 -1.61701106e-04 9.99963065e-01 -1.83363000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.057628 meters 0.017872408614155157 Centerline is valid? [True, True] Translation: X:108.04, Y:-25.77, Z:-0.19 [[ 9.29760854e-01 3.68066278e-01 -8.48351641e-03 1.08043362e+02] [-3.68048976e-01 9.29799535e-01 3.57439353e-03 -2.57664746e+01] [ 9.20358333e-03 -2.00981654e-04 9.99957626e-01 -1.86135766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.117628 meters 0.01567251433782023 Centerline is valid? [True, True] Translation: X:108.10, Y:-25.79, Z:-0.18 [[ 9.29872313e-01 3.67807611e-01 -7.41904342e-03 1.08099521e+02] [-3.67794352e-01 9.29901892e-01 3.12827429e-03 -2.57922468e+01] [ 8.04958560e-03 -1.80213389e-04 9.99967585e-01 -1.83575923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.177628 meters 0.015455388836435907 Centerline is valid? [True, True] Translation: X:108.16, Y:-25.82, Z:-0.18 [[ 9.29641173e-01 3.68426192e-01 -5.42501059e-03 1.08156475e+02] [-3.68419103e-01 9.29656993e-01 2.28913358e-03 -2.58163026e+01] [ 5.88677580e-03 -1.29395285e-04 9.99982664e-01 -1.82110767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.237628 meters 0.01578599381982542 Centerline is valid? [True, True] Translation: X:108.21, Y:-25.84, Z:-0.18 [[ 9.29527678e-01 3.68718554e-01 -4.99238177e-03 1.08213169e+02] [-3.68712546e-01 9.29541077e-01 2.10815864e-03 -2.58415383e+01] [ 5.41794113e-03 -1.18838015e-04 9.99985316e-01 -1.82150736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.297628 meters 0.016346816089258122 Centerline is valid? [True, True] Translation: X:108.27, Y:-25.87, Z:-0.18 [[ 9.29826107e-01 3.67963427e-01 -5.13108731e-03 1.08269438e+02] [-3.67957061e-01 9.29840255e-01 2.16811707e-03 -2.58679044e+01] [ 5.56887932e-03 -1.27952048e-04 9.99984485e-01 -1.82940851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35762799999999 meters 0.015829585438150145 Centerline is valid? [True, True] Translation: X:108.33, Y:-25.89, Z:-0.18 [[ 9.29702409e-01 3.68260471e-01 -6.13639048e-03 1.08327227e+02] [-3.68251361e-01 9.29722648e-01 2.59490584e-03 -2.58918037e+01] [ 6.66074245e-03 -1.52756071e-04 9.99977805e-01 -1.83458169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.417628 meters 0.014951158733483058 Centerline is valid? [True, True] Translation: X:108.38, Y:-25.91, Z:-0.18 [[ 9.29482009e-01 3.68822673e-01 -5.74718171e-03 1.08384747e+02] [-3.68814682e-01 9.29499766e-01 2.43201236e-03 -2.59139179e+01] [ 6.23898535e-03 -1.40866740e-04 9.99980527e-01 -1.82648270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.477628 meters 0.015618398139153495 Centerline is valid? [True, True] Translation: X:108.44, Y:-25.94, Z:-0.18 [[ 9.29846974e-01 3.67922010e-01 -4.24246262e-03 1.08440545e+02] [-3.67917640e-01 9.29856646e-01 1.79649987e-03 -2.59380322e+01] [ 4.60585391e-03 -1.09593134e-04 9.99989387e-01 -1.82579264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.537628 meters 0.0162990791005558 Centerline is valid? [True, True] Translation: X:108.50, Y:-25.96, Z:-0.18 [[ 9.31076361e-01 3.64812607e-01 -2.92778393e-03 1.08497802e+02] [-3.64810511e-01 9.31080960e-01 1.23987650e-03 -2.59629414e+01] [ 3.17832645e-03 -8.63333463e-05 9.99994945e-01 -1.81580179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.597628 meters 0.017414135762606055 Centerline is valid? [True, True] Translation: X:108.55, Y:-25.99, Z:-0.18 [[ 9.31931220e-01 3.62627585e-01 -2.33153282e-03 1.08553302e+02] [-3.62626248e-01 9.31934133e-01 9.87588183e-04 -2.59872905e+01] [ 2.53096173e-03 -7.48892627e-05 9.99996794e-01 -1.81065605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.657628 meters 0.017960181730716104 Centerline is valid? [True, True] Translation: X:108.61, Y:-26.01, Z:-0.18 [[ 9.33256603e-01 3.59210096e-01 -4.67927577e-04 1.08611075e+02] [-3.59210042e-01 9.33256720e-01 1.98345691e-04 -2.60108886e+01] [ 5.07944331e-04 -1.70231408e-05 9.99999871e-01 -1.79841190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.717628 meters 0.0180157819378023 Centerline is valid? [True, True] Translation: X:108.67, Y:-26.03, Z:-0.18 [[ 9.33562212e-01 3.58415356e-01 -1.68474045e-04 1.08669457e+02] [-3.58415349e-01 9.33562227e-01 7.18659277e-05 -2.60327805e+01] [ 1.83038857e-04 -6.70763075e-06 9.99999983e-01 -1.80264296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77762799999999 meters 0.017196350432592464 Centerline is valid? [True, True] Translation: X:108.73, Y:-26.05, Z:-0.18 [[ 9.33003819e-01 3.59865395e-01 -8.78430423e-04 1.08727982e+02] [-3.59865203e-01 9.33004232e-01 3.73084177e-04 -2.60547052e+01] [ 9.53839387e-04 -3.19724186e-05 9.99999545e-01 -1.81255635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.837628 meters 0.016790482148146994 Centerline is valid? [True, True] Translation: X:108.79, Y:-26.08, Z:-0.18 [[ 9.31907501e-01 3.62689602e-01 -2.15939959e-03 1.08786749e+02] [-3.62688449e-01 9.31910000e-01 9.17103666e-04 -2.60756921e+01] [ 2.34499004e-03 -7.14664966e-05 9.99997248e-01 -1.83644476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.897628 meters 0.016703928255307778 Centerline is valid? [True, True] Translation: X:108.84, Y:-26.10, Z:-0.18 [[ 9.31304114e-01 3.64225187e-01 -3.55807845e-03 1.08844496e+02] [-3.64222066e-01 9.31310904e-01 1.51187078e-03 -2.60995491e+01] [ 3.86433867e-03 -1.12080789e-04 9.99992527e-01 -1.84799057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.957628 meters 0.01725969896667362 Centerline is valid? [True, True] Translation: X:108.90, Y:-26.12, Z:-0.19 [[ 9.31248975e-01 3.64362425e-01 -3.92034026e-03 1.08901798e+02] [-3.64358633e-01 9.31257219e-01 1.66710331e-03 -2.61246865e+01] [ 4.25827497e-03 -1.24078433e-04 9.99990926e-01 -1.85127805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.017628 meters 0.01704218001820254 Centerline is valid? [True, True] Translation: X:108.96, Y:-26.15, Z:-0.18 [[ 9.31139043e-01 3.64655142e-01 -2.59043220e-03 1.08960121e+02] [-3.64653485e-01 9.31142642e-01 1.10259963e-03 -2.61491452e+01] [ 2.81413051e-03 -8.20634303e-05 9.99996037e-01 -1.84946544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.077628 meters 0.01762485176373498 Centerline is valid? [True, True] Translation: X:109.02, Y:-26.17, Z:-0.19 [[ 9.30559906e-01 3.66131920e-01 -2.38290790e-03 1.09016175e+02] [-3.66130521e-01 9.30562954e-01 1.01491533e-03 -2.61744779e+01] [ 2.58903871e-03 -7.19842041e-05 9.99996646e-01 -1.85327910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13762799999999 meters 0.016091945787530225 Centerline is valid? [True, True] Translation: X:109.07, Y:-26.20, Z:-0.19 [[ 9.28613170e-01 3.71040151e-01 -2.60495317e-03 1.09074090e+02] [-3.71038499e-01 9.28616822e-01 1.10925926e-03 -2.61965960e+01] [ 2.83058306e-03 -6.35348478e-05 9.99995992e-01 -1.85239371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.197628 meters 0.013041038901580145 Centerline is valid? [True, True] Translation: X:109.13, Y:-26.21, Z:-0.18 [[ 9.24786255e-01 3.80481687e-01 -2.01680958e-03 1.09132702e+02] [-3.80480719e-01 9.24788454e-01 8.58853714e-04 -2.62144256e+01] [ 2.19190033e-03 -2.68989501e-05 9.99997597e-01 -1.83948902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.257628 meters 0.01205305207768165 Centerline is valid? [True, True] Translation: X:109.19, Y:-26.23, Z:-0.18 [[ 9.19918504e-01 3.92107252e-01 -1.35978488e-03 1.09191956e+02] [-3.92106823e-01 9.19919509e-01 5.79862331e-04 -2.62328087e+01] [ 1.47826086e-03 -2.45160452e-07 9.99998907e-01 -1.83918745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.317628 meters 0.012635129026017745 Centerline is valid? [True, True] Translation: X:109.25, Y:-26.25, Z:-0.18 [[ 9.16339054e-01 4.00398822e-01 -1.87645378e-03 1.09250406e+02] [-4.00398022e-01 9.16340975e-01 8.00549821e-04 -2.62541909e+01] [ 2.04001069e-03 1.77533154e-05 9.99997919e-01 -1.84830949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.377628 meters 0.013080406626309982 Centerline is valid? [True, True] Translation: X:109.31, Y:-26.28, Z:-0.19 [[ 9.15465585e-01 4.02387827e-01 -2.60747373e-03 1.09308176e+02] [-4.02386289e-01 9.15469298e-01 1.11298649e-03 -2.62780957e+01] [ 2.83491436e-03 3.03108547e-05 9.99995981e-01 -1.86059908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.437628 meters 0.013313128749429536 Centerline is valid? [True, True] Translation: X:109.36, Y:-26.30, Z:-0.19 [[ 9.14296730e-01 4.05018946e-01 -4.59812463e-03 1.09364392e+02] [-4.05014191e-01 9.14308290e-01 1.96371541e-03 -2.63045889e+01] [ 4.99944541e-03 6.68871469e-05 9.99987500e-01 -1.87889861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49762799999999 meters 0.013308462237453633 Centerline is valid? [True, True] Translation: X:109.42, Y:-26.33, Z:-0.19 [[ 9.14638604e-01 4.04213329e-01 -6.91445408e-03 1.09420293e+02] [-4.04202537e-01 9.14664734e-01 2.95507577e-03 -2.63349454e+01] [ 7.51888832e-03 9.20135034e-05 9.99971729e-01 -1.91005589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.557628 meters 0.01279223441003031 Centerline is valid? [True, True] Translation: X:109.47, Y:-26.37, Z:-0.19 [[ 9.15681388e-01 4.01827822e-01 -7.87376076e-03 1.09474860e+02] [-4.01813722e-01 9.15715237e-01 3.36723117e-03 -2.63660824e+01] [ 8.56316987e-03 8.04742055e-05 9.99963332e-01 -1.90564814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.617628 meters 0.012489254658784248 Centerline is valid? [True, True] Translation: X:109.53, Y:-26.39, Z:-0.19 [[ 9.16054774e-01 4.01014740e-01 -5.55241548e-03 1.09531547e+02] [-4.01007702e-01 9.16071600e-01 2.37628004e-03 -2.63914234e+01] [ 6.03933346e-03 4.97586987e-05 9.99981762e-01 -1.87240396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.677628 meters 0.012040522370360157 Centerline is valid? [True, True] Translation: X:109.59, Y:-26.41, Z:-0.19 [[ 9.17241581e-01 3.98320148e-01 -2.99034069e-03 1.09589903e+02] [-3.98318089e-01 9.17246455e-01 1.28087460e-03 -2.64128113e+01] [ 3.25307755e-03 1.62353420e-05 9.99994709e-01 -1.85615301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.737628 meters 0.011896523867973458 Centerline is valid? [True, True] Translation: X:109.64, Y:-26.44, Z:-0.18 [[ 9.20499728e-01 3.90742612e-01 6.78927771e-04 1.09644861e+02] [-3.90742504e-01 9.20499979e-01 -2.90457378e-04 -2.64412882e+01] [-7.38447074e-04 2.08000037e-06 9.99999727e-01 -1.82444792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.797628 meters 0.012834290232441066 Centerline is valid? [True, True] Translation: X:109.70, Y:-26.47, Z:-0.18 [[ 9.23461171e-01 3.83690693e-01 9.58615739e-04 1.09698814e+02] [-3.83690473e-01 9.23461668e-01 -4.10578790e-04 -2.64724515e+01] [-1.04278015e-03 1.13418434e-05 9.99999456e-01 -1.81410767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85762799999999 meters 0.014285137704847283 Centerline is valid? [True, True] Translation: X:109.75, Y:-26.50, Z:-0.19 [[ 9.26539241e-01 3.76192797e-01 -2.00356922e-03 1.09753859e+02] [-3.76191817e-01 9.26541406e-01 8.59974450e-04 -2.64992491e+01] [ 2.17990604e-03 -4.30737292e-05 9.99997623e-01 -1.85251754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.917628 meters 0.018387420124601712 Centerline is valid? [True, True] Translation: X:109.81, Y:-26.52, Z:-0.19 [[ 9.28114957e-01 3.72217547e-01 -7.53150551e-03 1.09811060e+02] [-3.72203569e-01 9.28145495e-01 3.23168420e-03 -2.65217446e+01] [ 8.19322247e-03 -1.96121209e-04 9.99966416e-01 -1.92979549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.977628 meters 0.016189435781217235 Centerline is valid? [True, True] Translation: X:109.87, Y:-26.55, Z:-0.19 [[ 9.29046188e-01 3.69896191e-01 -7.07028870e-03 1.09868214e+02] [-3.69883786e-01 9.29073068e-01 3.03626985e-03 -2.65468189e+01] [ 7.69191946e-03 -2.05649774e-04 9.99970396e-01 -1.88237306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.037628 meters 0.015649431808305816 Centerline is valid? [True, True] Translation: X:109.93, Y:-26.57, Z:-0.19 [[ 9.28955695e-01 3.70146469e-01 -5.73648134e-03 1.09925802e+02] [-3.70138297e-01 9.28973392e-01 2.46525236e-03 -2.65699944e+01] [ 6.24154299e-03 -1.66818787e-04 9.99980507e-01 -1.86400653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.097628 meters 0.014222573335957481 Centerline is valid? [True, True] Translation: X:109.99, Y:-26.59, Z:-0.19 [[ 9.27035238e-01 3.74956394e-01 -3.65638957e-03 1.09985581e+02] [-3.74953112e-01 9.27042445e-01 1.57137620e-03 -2.65869663e+01] [ 3.97882588e-03 -8.57464643e-05 9.99992081e-01 -1.86495256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.157628 meters 0.013327283355111318 Centerline is valid? [True, True] Translation: X:110.04, Y:-26.61, Z:-0.19 [[ 9.25124397e-01 3.79656077e-01 -2.47253727e-03 1.10043912e+02] [-3.79654592e-01 9.25127700e-01 1.06278853e-03 -2.66074237e+01] [ 2.69090684e-03 -4.45014667e-05 9.99996379e-01 -1.85685107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.217628 meters 0.012103053216762662 Centerline is valid? [True, True] Translation: X:110.10, Y:-26.63, Z:-0.18 [[ 9.22119181e-01 3.86904673e-01 -9.95081438e-04 1.10102202e+02] [-3.86904437e-01 9.22119718e-01 4.27789964e-04 -2.66266029e+01] [ 1.08309815e-03 -9.47190794e-06 9.99999413e-01 -1.83927777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27762799999999 meters 0.011406706884397497 Centerline is valid? [True, True] Translation: X:110.16, Y:-26.64, Z:-0.18 [[ 9.19158194e-01 3.93888497e-01 2.58542603e-04 1.10162172e+02] [-3.93888481e-01 9.19158230e-01 -1.10765827e-04 -2.66440449e+01] [-2.81270947e-04 -2.56353488e-08 9.99999960e-01 -1.84673321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.337628 meters 0.011492887029987147 Centerline is valid? [True, True] Translation: X:110.22, Y:-26.67, Z:-0.19 [[ 9.17739608e-01 3.97175224e-01 -2.41944384e-03 1.10220462e+02] [-3.97173858e-01 9.17742797e-01 1.04186994e-03 -2.66654984e+01] [ 2.63423208e-03 4.77453613e-06 9.99996530e-01 -1.89875871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.397628 meters 0.011461226721361463 Centerline is valid? [True, True] Translation: X:110.28, Y:-26.69, Z:-0.19 [[ 9.18353518e-01 3.95741319e-01 -3.95271609e-03 1.10277236e+02] [-3.95737654e-01 9.18362025e-01 1.70316052e-03 -2.66923033e+01] [ 4.30403535e-03 1.35139966e-07 9.99990738e-01 -1.91760941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.457628 meters 0.011717604289580314 Centerline is valid? [True, True] Translation: X:110.33, Y:-26.72, Z:-0.19 [[ 9.20149944e-01 3.91548852e-01 -3.68476810e-03 1.10332408e+02] [-3.91545628e-01 9.20157321e-01 1.58893018e-03 -2.67223495e+01] [ 4.01271013e-03 -1.92991791e-05 9.99991949e-01 -1.92829705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.517628 meters 0.011875752535993638 Centerline is valid? [True, True] Translation: X:110.39, Y:-26.75, Z:-0.19 [[ 9.21247136e-01 3.88965515e-01 -3.08913399e-03 1.10387575e+02] [-3.88963232e-01 9.21252315e-01 1.33304535e-03 -2.67505530e+01] [ 3.36438051e-03 -2.65046743e-05 9.99994340e-01 -1.92135567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.577628 meters 0.012390437145532195 Centerline is valid? [True, True] Translation: X:110.44, Y:-26.78, Z:-0.19 [[ 9.22182273e-01 3.86741222e-01 -3.32893057e-03 1.10440930e+02] [-3.86738553e-01 9.22188281e-01 1.43735660e-03 -2.67821194e+01] [ 3.62578581e-03 -3.80789865e-05 9.99993426e-01 -1.92499947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63762799999999 meters 0.012119863998055124 Centerline is valid? [True, True] Translation: X:110.50, Y:-26.81, Z:-0.19 [[ 9.21488221e-01 3.88381984e-01 -4.34655166e-03 1.10497132e+02] [-3.88377445e-01 9.21498471e-01 1.87817456e-03 -2.68108151e+01] [ 4.73478988e-03 -4.26131025e-05 9.99988790e-01 -1.93553186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.697628 meters 0.011574201689416995 Centerline is valid? [True, True] Translation: X:110.55, Y:-26.83, Z:-0.20 [[ 9.18504107e-01 3.95373398e-01 -5.48473822e-03 1.10554609e+02] [-3.95366287e-01 9.18520482e-01 2.37123014e-03 -2.68326945e+01] [ 5.97536572e-03 -9.50403465e-06 9.99982147e-01 -1.95710910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.757628 meters 0.011647488364189286 Centerline is valid? [True, True] Translation: X:110.61, Y:-26.86, Z:-0.20 [[ 9.16539119e-01 3.99893816e-01 -6.40146026e-03 1.10611954e+02] [-3.99884229e-01 9.16561474e-01 2.76921871e-03 -2.68552499e+01] [ 6.97472528e-03 2.17457238e-05 9.99975676e-01 -1.95985794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.817628 meters 0.012206276525301252 Centerline is valid? [True, True] Translation: X:110.67, Y:-26.88, Z:-0.20 [[ 9.14667691e-01 4.04152539e-01 -6.61372676e-03 1.10669503e+02] [-4.04142403e-01 9.14691600e-01 2.86278028e-03 -2.68770710e+01] [ 7.20652023e-03 5.43947969e-05 9.99974031e-01 -1.96343122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.877628 meters 0.01203747876470471 Centerline is valid? [True, True] Translation: X:110.73, Y:-26.90, Z:-0.19 [[ 9.14511795e-01 4.04522965e-01 -5.41730609e-03 1.10726033e+02] [-4.04516162e-01 9.14527839e-01 2.34657749e-03 -2.69024858e+01] [ 5.90352172e-03 4.54150762e-05 9.99982573e-01 -1.94758844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.937628 meters 0.011791556921595146 Centerline is valid? [True, True] Translation: X:110.78, Y:-26.93, Z:-0.19 [[ 9.15545961e-01 4.02202021e-01 -3.02110619e-03 1.10781648e+02] [-4.02199889e-01 9.15550946e-01 1.30959074e-03 -2.69283161e+01] [ 3.29269667e-03 1.60980573e-05 9.99994579e-01 -1.93527627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99762799999999 meters 0.011622772387548948 Centerline is valid? [True, True] Translation: X:110.84, Y:-26.96, Z:-0.19 [[ 9.17675415e-01 3.97328028e-01 -1.50675461e-03 1.10836479e+02] [-3.97327490e-01 9.17676652e-01 6.53839108e-04 -2.69569562e+01] [ 1.64250213e-03 -1.33704562e-06 9.99998651e-01 -1.91925354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.057628 meters 0.011664888036907677 Centerline is valid? [True, True] Translation: X:110.89, Y:-26.98, Z:-0.19 [[ 9.18652874e-01 3.95064390e-01 -1.01231420e-03 1.10893837e+02] [-3.95064145e-01 9.18653432e-01 4.39827281e-04 -2.69834777e+01] [ 1.10372601e-03 -4.11955362e-06 9.99999391e-01 -1.91843100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.117628 meters 0.0119845550558711 Centerline is valid? [True, True] Translation: X:110.95, Y:-27.01, Z:-0.19 [[ 9.19408167e-01 3.93301533e-01 -1.58941641e-03 1.10950403e+02] [-3.93300927e-01 9.19409541e-01 6.90806824e-04 -2.70099289e+01] [ 1.73302000e-03 -1.00144879e-05 9.99998498e-01 -1.92523043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.177628 meters 0.012025418049842395 Centerline is valid? [True, True] Translation: X:111.01, Y:-27.03, Z:-0.19 [[ 9.19570894e-01 3.92913404e-01 -2.90314594e-03 1.11008824e+02] [-3.92911377e-01 9.19575476e-01 1.26234939e-03 -2.70341498e+01] [ 3.16565581e-03 -2.01406846e-05 9.99994989e-01 -1.93882577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.237628 meters 0.012119550328083623 Centerline is valid? [True, True] Translation: X:111.07, Y:-27.06, Z:-0.20 [[ 9.19439052e-01 3.93216583e-01 -3.54226221e-03 1.11066600e+02] [-3.93213563e-01 9.19445876e-01 1.54130439e-03 -2.70582000e+01] [ 3.86298482e-03 -2.42699040e-05 9.99992538e-01 -1.95170821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.297628 meters 0.012247797750612768 Centerline is valid? [True, True] Translation: X:111.12, Y:-27.08, Z:-0.20 [[ 9.19409746e-01 3.93284774e-01 -3.57858567e-03 1.11123448e+02] [-3.93281688e-01 9.19416710e-01 1.55815993e-03 -2.70834223e+01] [ 3.90301203e-03 -2.51952180e-05 9.99992383e-01 -1.95714200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35762799999999 meters 0.012332058578105492 Centerline is valid? [True, True] Translation: X:111.18, Y:-27.11, Z:-0.19 [[ 9.20377270e-01 3.91028812e-01 -1.46584045e-03 1.11180204e+02] [-3.91028291e-01 9.20378437e-01 6.39052740e-04 -2.71099568e+01] [ 1.59901597e-03 -1.49845319e-05 9.99998721e-01 -1.94051213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.417628 meters 0.012945008539541643 Centerline is valid? [True, True] Translation: X:111.24, Y:-27.14, Z:-0.19 [[ 9.21684398e-01 3.87939854e-01 7.34505272e-04 1.11236441e+02] [-3.87939723e-01 9.21684691e-01 -3.19727786e-04 -2.71368203e+01] [-8.01017416e-04 9.74434023e-06 9.99999679e-01 -1.93152115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.477628 meters 0.013812526727813183 Centerline is valid? [True, True] Translation: X:111.29, Y:-27.16, Z:-0.19 [[ 9.23464645e-01 3.83674696e-01 2.60313720e-03 1.11291791e+02] [-3.83673020e-01 9.23468313e-01 -1.13502423e-03 -2.71642014e+01] [-2.83939479e-03 4.94012351e-05 9.99995968e-01 -1.91977757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.537628 meters 0.014101543448654993 Centerline is valid? [True, True] Translation: X:111.35, Y:-27.19, Z:-0.19 [[ 9.23786092e-01 3.82906646e-01 1.32509893e-03 1.11347907e+02] [-3.82906211e-01 9.23787042e-01 -5.77929186e-04 -2.71895531e+01] [-1.44540215e-03 2.64943332e-05 9.99998955e-01 -1.92796475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.597628 meters 0.013512402923792579 Centerline is valid? [True, True] Translation: X:111.41, Y:-27.21, Z:-0.19 [[ 9.22527859e-01 3.85930499e-01 1.02310981e-05 1.11405951e+02] [-3.85930499e-01 9.22527859e-01 -4.02585539e-06 -2.72116105e+01] [-1.09921734e-05 -2.34529041e-07 1.00000000e+00 -1.94290584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.657628 meters 0.013129338920005191 Centerline is valid? [True, True] Translation: X:111.46, Y:-27.23, Z:-0.19 [[ 9.21164109e-01 3.89173873e-01 6.16186011e-04 1.11462640e+02] [-3.89173781e-01 9.21164316e-01 -2.68873389e-04 -2.72344885e+01] [-6.72247064e-04 7.87307674e-06 9.99999774e-01 -1.93710238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.717628 meters 0.012347404341791317 Centerline is valid? [True, True] Translation: X:111.52, Y:-27.26, Z:-0.19 [[ 9.19447425e-01 3.93212617e-01 5.19023327e-04 1.11520652e+02] [-3.93212552e-01 9.19447572e-01 -2.26534944e-04 -2.72563928e+01] [-5.66291136e-04 4.20048351e-06 9.99999840e-01 -1.93699063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77762799999999 meters 0.011961271826317997 Centerline is valid? [True, True] Translation: X:111.58, Y:-27.28, Z:-0.20 [[ 9.18215385e-01 3.96077933e-01 -1.66672320e-03 1.11577647e+02] [-3.96077261e-01 9.18216898e-01 7.29744059e-04 -2.72802187e+01] [ 1.81944892e-03 -9.91106297e-06 9.99998345e-01 -1.95664077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.837628 meters 0.011790710488267745 Centerline is valid? [True, True] Translation: X:111.63, Y:-27.30, Z:-0.20 [[ 9.16992653e-01 3.98885387e-01 -3.86304055e-03 1.11634103e+02] [-3.98881799e-01 9.17000789e-01 1.69197490e-03 -2.73048008e+01] [ 4.21731529e-03 -1.06319900e-05 9.99991107e-01 -1.98284905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.897628 meters 0.011757166146861057 Centerline is valid? [True, True] Translation: X:111.69, Y:-27.33, Z:-0.20 [[ 9.15923405e-01 4.01330797e-01 -4.23177888e-03 1.11692124e+02] [-4.01326511e-01 9.15933181e-01 1.85482016e-03 -2.73297219e+01] [ 4.62042314e-03 -5.48146479e-07 9.99989326e-01 -1.99249407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.957628 meters 0.011993524457649951 Centerline is valid? [True, True] Translation: X:111.75, Y:-27.36, Z:-0.20 [[ 9.14158509e-01 4.05339522e-01 -3.75402580e-03 1.11749837e+02] [-4.05336178e-01 9.14166217e-01 1.64665005e-03 -2.73552129e+01] [ 4.09925591e-03 1.63433165e-05 9.99991598e-01 -1.98512618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.017628 meters 0.012241394134964946 Centerline is valid? [True, True] Translation: X:111.81, Y:-27.38, Z:-0.20 [[ 9.12391362e-01 4.09310709e-01 -2.59718613e-03 1.11806423e+02] [-4.09309122e-01 9.12395058e-01 1.14011363e-03 -2.73815205e+01] [ 2.83632051e-03 2.28221500e-05 9.99995977e-01 -1.96291051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.077628 meters 0.012450994354184714 Centerline is valid? [True, True] Translation: X:111.86, Y:-27.41, Z:-0.20 [[ 9.11695581e-01 4.10858427e-01 -2.55370137e-03 1.11862907e+02] [-4.10856896e-01 9.11699157e-01 1.12196313e-03 -2.74081513e+01] [ 2.78917539e-03 2.63169930e-05 9.99996110e-01 -1.95730534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13762799999999 meters 0.013058923486980095 Centerline is valid? [True, True] Translation: X:111.92, Y:-27.43, Z:-0.20 [[ 9.10537098e-01 4.13416061e-01 -3.05838988e-03 1.11920092e+02] [-4.13413877e-01 9.10542233e-01 1.34441274e-03 -2.74316538e+01] [ 3.34059497e-03 4.02431427e-05 9.99994419e-01 -1.96598782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.197628 meters 0.01315786385394914 Centerline is valid? [True, True] Translation: X:111.98, Y:-27.45, Z:-0.20 [[ 9.09928170e-01 4.14739850e-01 -4.64573420e-03 1.11977729e+02] [-4.14734822e-01 9.09940027e-01 2.04333265e-03 -2.74542504e+01] [ 5.07479098e-03 6.74618155e-05 9.99987121e-01 -1.97450861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.257628 meters 0.013152499205823632 Centerline is valid? [True, True] Translation: X:112.04, Y:-27.48, Z:-0.20 [[ 9.10053582e-01 4.14458436e-01 -5.16555118e-03 1.12036167e+02] [-4.14452206e-01 9.10068239e-01 2.27371127e-03 -2.74772149e+01] [ 5.64336289e-03 7.16749932e-05 9.99984074e-01 -1.98527254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.317628 meters 0.013000883874351037 Centerline is valid? [True, True] Translation: X:112.09, Y:-27.50, Z:-0.20 [[ 9.10639007e-01 4.13154085e-01 -6.34832596e-03 1.12092077e+02] [-4.13144632e-01 9.10661131e-01 2.79582040e-03 -2.75006330e+01] [ 6.93627831e-03 7.67936833e-05 9.99975941e-01 -1.99293896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.377628 meters 0.012735671443549534 Centerline is valid? [True, True] Translation: X:112.15, Y:-27.53, Z:-0.20 [[ 9.11101528e-01 4.12120613e-01 -7.11382070e-03 1.12149250e+02] [-4.12108694e-01 9.11129296e-01 3.13531148e-03 -2.75274246e+01] [ 7.77373693e-03 7.50802767e-05 9.99969781e-01 -2.00073811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.437628 meters 0.012239589698320678 Centerline is valid? [True, True] Translation: X:112.20, Y:-27.56, Z:-0.20 [[ 9.12888315e-01 4.08126334e-01 -8.23525002e-03 1.12204135e+02] [-4.08110177e-01 9.12925459e-01 3.63183499e-03 -2.75575012e+01] [ 9.00041690e-03 4.54296092e-05 9.99959494e-01 -1.99861733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49762799999999 meters 0.012084472714307218 Centerline is valid? [True, True] Translation: X:112.26, Y:-27.59, Z:-0.20 [[ 9.15136585e-01 4.03050053e-01 -8.69974561e-03 1.12259798e+02] [-4.03031764e-01 9.15177936e-01 3.83958723e-03 -2.75877090e+01] [ 9.50936107e-03 -7.47292046e-06 9.99954785e-01 -1.99629387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.557628 meters 0.01226113516029449 Centerline is valid? [True, True] Translation: X:112.32, Y:-27.61, Z:-0.20 [[ 9.16010031e-01 4.01064021e-01 -8.56006001e-03 1.12315987e+02] [-4.01046214e-01 9.16050026e-01 3.77949400e-03 -2.76145302e+01] [ 9.35726225e-03 -2.90747633e-05 9.99956219e-01 -1.99268866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.617628 meters 0.01231421582285951 Centerline is valid? [True, True] Translation: X:112.37, Y:-27.64, Z:-0.20 [[ 9.16774266e-01 3.99350081e-01 -6.66772640e-03 1.12372058e+02] [-3.99339217e-01 9.16798512e-01 2.94586074e-03 -2.76397584e+01] [ 7.28939136e-03 -3.80046831e-05 9.99973431e-01 -1.98204201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.677628 meters 0.012437766197485116 Centerline is valid? [True, True] Translation: X:112.43, Y:-27.67, Z:-0.20 [[ 9.16965592e-01 3.98909985e-01 -6.70280664e-03 1.12429485e+02] [-3.98898979e-01 9.16990088e-01 2.96357375e-03 -2.76657591e+01] [ 7.32860641e-03 -4.37524319e-05 9.99973144e-01 -1.97480134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.737628 meters 0.012420787128804579 Centerline is valid? [True, True] Translation: X:112.49, Y:-27.69, Z:-0.20 [[ 9.16794943e-01 3.99306450e-01 -6.43364703e-03 1.12486448e+02] [-3.99296306e-01 9.16817516e-01 2.84643485e-03 -2.76905293e+01] [ 7.03508009e-03 -4.06655777e-05 9.99975253e-01 -1.97535098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.797628 meters 0.012307192424150536 Centerline is valid? [True, True] Translation: X:112.54, Y:-27.71, Z:-0.20 [[ 9.16067298e-01 4.00955503e-01 -7.44245188e-03 1.12544034e+02] [-4.00941967e-01 9.16097529e-01 3.29481356e-03 -2.77132803e+01] [ 8.13908541e-03 -3.42796608e-05 9.99966877e-01 -1.98370664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85762799999999 meters 0.012045902016719522 Centerline is valid? [True, True] Translation: X:112.60, Y:-27.74, Z:-0.20 [[ 9.15588304e-01 4.02048406e-01 -7.42544819e-03 1.12602542e+02] [-4.02034948e-01 9.15618413e-01 3.28969755e-03 -2.77356462e+01] [ 8.12149474e-03 -2.67189230e-05 9.99967020e-01 -1.99012640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.917628 meters 0.01195967809810554 Centerline is valid? [True, True] Translation: X:112.66, Y:-27.76, Z:-0.20 [[ 9.15670118e-01 4.01860848e-01 -7.48963872e-03 1.12660109e+02] [-4.01847128e-01 9.15700747e-01 3.32071827e-03 -2.77612053e+01] [ 8.19273443e-03 -3.09926744e-05 9.99966439e-01 -1.97674798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.977628 meters 0.011977899177705479 Centerline is valid? [True, True] Translation: X:112.72, Y:-27.79, Z:-0.20 [[ 9.16176222e-01 4.00725725e-01 -6.32646036e-03 1.12716258e+02] [-4.00715893e-01 9.16198064e-01 2.80722928e-03 -2.77889619e+01] [ 6.92121972e-03 -3.68034977e-05 9.99976047e-01 -1.96959221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.037628 meters 0.012108538346667854 Centerline is valid? [True, True] Translation: X:112.77, Y:-27.82, Z:-0.20 [[ 9.16469797e-01 4.00065820e-01 -5.51828039e-03 1.12773235e+02] [-4.00058317e-01 9.16486409e-01 2.45052977e-03 -2.78159775e+01] [ 6.03780218e-03 -3.82025581e-05 9.99981772e-01 -1.96065431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.097628 meters 0.012093699832854495 Centerline is valid? [True, True] Translation: X:112.83, Y:-27.84, Z:-0.20 [[ 9.16248146e-01 4.00580523e-01 -4.95777563e-03 1.12830398e+02] [-4.00574464e-01 9.16261559e-01 2.20335114e-03 -2.78420884e+01] [ 5.42523878e-03 -3.28580773e-05 9.99985283e-01 -1.95652363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.157628 meters 0.011863138725128843 Centerline is valid? [True, True] Translation: X:112.89, Y:-27.87, Z:-0.20 [[ 9.15555915e-01 4.02162286e-01 -4.78144715e-03 1.12886222e+02] [-4.02156666e-01 9.15568400e-01 2.12619404e-03 -2.78669372e+01] [ 5.23281697e-03 -2.37586871e-05 9.99986308e-01 -1.95652689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21762799999999 meters 0.011766037348172283 Centerline is valid? [True, True] Translation: X:112.94, Y:-27.89, Z:-0.20 [[ 9.14528648e-01 4.04488418e-01 -5.14503694e-03 1.12944094e+02] [-4.04481938e-01 9.14543121e-01 2.28962815e-03 -2.78911352e+01] [ 5.63148621e-03 -1.28560225e-05 9.99984143e-01 -1.96922302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27762799999999 meters 0.011636730358168274 Centerline is valid? [True, True] Translation: X:113.00, Y:-27.91, Z:-0.20 [[ 9.12782305e-01 4.08412305e-01 -5.27760011e-03 1.13002820e+02] [-4.08405541e-01 9.12797562e-01 2.35039573e-03 -2.79148572e+01] [ 5.77731105e-03 1.00014926e-05 9.99983311e-01 -1.97112385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.337628 meters 0.01195213378605014 Centerline is valid? [True, True] Translation: X:113.06, Y:-27.94, Z:-0.20 [[ 9.11407600e-01 4.11470199e-01 -5.33500288e-03 1.13060016e+02] [-4.11463330e-01 9.11423214e-01 2.37757477e-03 -2.79387990e+01] [ 5.84074664e-03 2.82183388e-05 9.99982942e-01 -1.97054595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.397628 meters 0.012437322984524848 Centerline is valid? [True, True] Translation: X:113.12, Y:-27.96, Z:-0.20 [[ 9.09729156e-01 4.15155781e-01 -6.20811265e-03 1.13117493e+02] [-4.15146555e-01 9.09750336e-01 2.76833774e-03 -2.79626162e+01] [ 6.79712399e-03 5.88390280e-05 9.99976898e-01 -1.97429987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.457628 meters 0.012625512988777045 Centerline is valid? [True, True] Translation: X:113.17, Y:-27.99, Z:-0.20 [[ 9.09011099e-01 4.16713650e-01 -6.96823386e-03 1.13174646e+02] [-4.16702057e-01 9.09037803e-01 3.10928229e-03 -2.79871224e+01] [ 7.63006838e-03 7.73052719e-05 9.99970888e-01 -1.98863912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.517628 meters 0.012540714120659 Centerline is valid? [True, True] Translation: X:113.23, Y:-28.01, Z:-0.20 [[ 9.09012969e-01 4.16706812e-01 -7.13129553e-03 1.13231484e+02] [-4.16694650e-01 9.09040938e-01 3.18453492e-03 -2.80136718e+01] [ 7.80965697e-03 7.67891539e-05 9.99969501e-01 -1.98488237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.577628 meters 0.012084796656952959 Centerline is valid? [True, True] Translation: X:113.29, Y:-28.04, Z:-0.20 [[ 9.10836271e-01 4.12733298e-01 -5.33963668e-03 1.13286078e+02] [-4.12726402e-01 9.10851922e-01 2.38608236e-03 -2.80424217e+01] [ 5.84843397e-03 3.04786753e-05 9.99982897e-01 -1.95751507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63762799999999 meters 0.01186419354127884 Centerline is valid? [True, True] Translation: X:113.34, Y:-28.07, Z:-0.19 [[ 9.12957101e-01 4.08033928e-01 -4.20059094e-03 1.13341297e+02] [-4.08029605e-01 9.12966765e-01 1.87841711e-03 -2.80716726e+01] [ 4.60145783e-03 -9.48781186e-07 9.99989413e-01 -1.94280120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.697628 meters 0.012672088762669235 Centerline is valid? [True, True] Translation: X:113.39, Y:-28.10, Z:-0.19 [[ 9.16105847e-01 4.00919622e-01 -3.67884550e-03 1.13394788e+02] [-4.00916244e-01 9.16113233e-01 1.64611106e-03 -2.81019605e+01] [ 4.03019727e-03 -3.31030484e-05 9.99991878e-01 -1.93543809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.757628 meters 0.01343016932917848 Centerline is valid? [True, True] Translation: X:113.45, Y:-28.13, Z:-0.19 [[ 9.17447452e-01 3.97845020e-01 -3.08428976e-03 1.13450845e+02] [-3.97842625e-01 9.17452635e-01 1.38103275e-03 -2.81285048e+01] [ 3.37912677e-03 -3.99630384e-05 9.99994290e-01 -1.93053680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.817628 meters 0.01464340339281012 Centerline is valid? [True, True] Translation: X:113.51, Y:-28.16, Z:-0.19 [[ 9.20422929e-01 3.90906671e-01 -3.68865774e-03 1.13506291e+02] [-3.90903190e-01 9.20430317e-01 1.65153860e-03 -2.81560680e+01] [ 4.04074987e-03 -7.82059181e-05 9.99991833e-01 -1.93073833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.877628 meters 0.017267968822117327 Centerline is valid? [True, True] Translation: X:113.56, Y:-28.18, Z:-0.19 [[ 9.22102188e-01 3.86933772e-01 -3.13226865e-03 1.13560006e+02] [-3.86931237e-01 9.22107504e-01 1.40308599e-03 -2.81845740e+01] [ 3.43118978e-03 -8.18160777e-05 9.99994110e-01 -1.92822070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.937628 meters 0.019541862966618345 Centerline is valid? [True, True] Translation: X:113.61, Y:-28.21, Z:-0.19 [[ 9.23732479e-01 3.83028526e-01 -2.73042399e-03 1.13614851e+02] [-3.83026582e-01 9.23736511e-01 1.22321314e-03 -2.82107858e+01] [ 2.99071786e-03 -8.40967387e-05 9.99995524e-01 -1.91521366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99762799999999 meters 0.01737027899186267 Centerline is valid? [True, True] Translation: X:113.67, Y:-28.23, Z:-0.19 [[ 9.23019403e-01 3.84727310e-01 -4.48097951e-03 1.13674504e+02] [-3.84722087e-01 9.23030270e-01 2.00894970e-03 -2.82286936e+01] [ 4.90897755e-03 -1.30367766e-04 9.99987942e-01 -1.92593539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.057628 meters 0.015024054794633946 Centerline is valid? [True, True] Translation: X:113.73, Y:-28.25, Z:-0.19 [[ 9.21327837e-01 3.88742584e-01 -5.84985874e-03 1.13734104e+02] [-3.88733756e-01 9.21346397e-01 2.62373636e-03 -2.82455514e+01] [ 6.40970432e-03 -1.43283783e-04 9.99979447e-01 -1.93465759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.117628 meters 0.014014090354673655 Centerline is valid? [True, True] Translation: X:113.79, Y:-28.26, Z:-0.19 [[ 9.18280282e-01 3.95903567e-01 -4.65715974e-03 1.13793360e+02] [-3.95898063e-01 9.18292089e-01 2.08878598e-03 -2.82621270e+01] [ 5.10359076e-03 -7.43304599e-05 9.99986974e-01 -1.93206247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.177628 meters 0.012554888057038627 Centerline is valid? [True, True] Translation: X:113.85, Y:-28.28, Z:-0.19 [[ 9.16362076e-01 4.00335983e-01 -3.41265838e-03 1.13852753e+02] [-4.00333054e-01 9.16368430e-01 1.53204466e-03 -2.82806590e+01] [ 3.74058501e-03 -3.77076731e-05 9.99993003e-01 -1.91350619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.237628 meters 0.012211051893597735 Centerline is valid? [True, True] Translation: X:113.91, Y:-28.30, Z:-0.19 [[ 9.14353362e-01 4.04910064e-01 -2.40192232e-03 1.13911475e+02] [-4.04908626e-01 9.14356517e-01 1.07913007e-03 -2.83001225e+01] [ 2.63316395e-03 -1.41471360e-05 9.99996533e-01 -1.90596134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.297628 meters 0.012126332074682262 Centerline is valid? [True, True] Translation: X:113.97, Y:-28.32, Z:-0.19 [[ 9.13797231e-01 4.06169686e-01 -8.97984348e-04 1.13969361e+02] [-4.06169485e-01 9.13797672e-01 4.03996355e-04 -2.83225615e+01] [ 9.84667080e-04 -4.43691034e-06 9.99999515e-01 -1.90200602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35762799999999 meters 0.012172301397924088 Centerline is valid? [True, True] Translation: X:114.03, Y:-28.35, Z:-0.19 [[ 9.13729576e-01 4.06322080e-01 -7.93429345e-04 1.14027156e+02] [-4.06321923e-01 9.13729920e-01 3.57348371e-04 -2.83462315e+01] [ 8.70178666e-04 -4.13203872e-06 9.99999621e-01 -1.90713616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.417628 meters 0.012205744814598792 Centerline is valid? [True, True] Translation: X:114.08, Y:-28.37, Z:-0.19 [[ 9.13851904e-01 4.06042816e-01 -1.98208948e-03 1.14084805e+02] [-4.06041835e-01 9.13854054e-01 8.92594256e-04 -2.83722318e+01] [ 2.17377199e-03 -1.08877115e-05 9.99997637e-01 -1.92405673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.477628 meters 0.012503499390393566 Centerline is valid? [True, True] Translation: X:114.14, Y:-28.40, Z:-0.20 [[ 9.14509846e-01 4.04542979e-01 -4.08895689e-03 1.14141056e+02] [-4.04538786e-01 9.14518987e-01 1.84195415e-03 -2.83979656e+01] [ 4.48457833e-03 -3.03435517e-05 9.99989944e-01 -1.95215891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.537628 meters 0.0129286352589419 Centerline is valid? [True, True] Translation: X:114.20, Y:-28.43, Z:-0.20 [[ 9.14899930e-01 4.03641814e-01 -5.60404988e-03 1.14196113e+02] [-4.03633914e-01 9.14917091e-01 2.52575494e-03 -2.84251254e+01] [ 6.14674132e-03 -4.88284302e-05 9.99981107e-01 -1.97273901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.597628 meters 0.013144715741945699 Centerline is valid? [True, True] Translation: X:114.25, Y:-28.45, Z:-0.20 [[ 9.14969721e-01 4.03467973e-01 -6.63361669e-03 1.14251815e+02] [-4.03456886e-01 9.14993766e-01 2.99162143e-03 -2.84521339e+01] [ 7.27674135e-03 -6.08646892e-05 9.99973522e-01 -1.97707736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.657628 meters 0.012842395245600694 Centerline is valid? [True, True] Translation: X:114.31, Y:-28.48, Z:-0.20 [[ 9.14377678e-01 4.04822073e-01 -5.70547086e-03 1.14308076e+02] [-4.04813887e-01 9.14395477e-01 2.57478028e-03 -2.84783666e+01] [ 6.25938463e-03 -4.46677813e-05 9.99980409e-01 -1.95985240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71762799999999 meters 0.012841839063681169 Centerline is valid? [True, True] Translation: X:114.37, Y:-28.50, Z:-0.20 [[ 9.13657941e-01 4.06444781e-01 -5.63981156e-03 1.14365126e+02] [-4.06436804e-01 9.13675346e-01 2.54678159e-03 -2.85035252e+01] [ 6.18808287e-03 -3.46602434e-05 9.99980853e-01 -1.96365022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77762799999999 meters 0.012728978763010917 Centerline is valid? [True, True] Translation: X:114.42, Y:-28.53, Z:-0.20 [[ 9.12884575e-01 4.08176171e-01 -5.82803332e-03 1.14422029e+02] [-4.08167673e-01 9.12903178e-01 2.63385211e-03 -2.85298670e+01] [ 6.39550581e-03 -2.55881675e-05 9.99979548e-01 -1.95995641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.837628 meters 0.012793219487353794 Centerline is valid? [True, True] Translation: X:114.48, Y:-28.56, Z:-0.20 [[ 9.12944045e-01 4.08043862e-01 -5.77735345e-03 1.14478564e+02] [-4.08035497e-01 9.12962324e-01 2.61294603e-03 -2.85582137e+01] [ 6.34070262e-03 -2.81082320e-05 9.99979897e-01 -1.95402753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.897628 meters 0.013235110577684802 Centerline is valid? [True, True] Translation: X:114.53, Y:-28.59, Z:-0.20 [[ 9.13881236e-01 4.05945490e-01 -5.41727768e-03 1.14532727e+02] [-4.05938087e-01 9.13897291e-01 2.45180877e-03 -2.85890669e+01] [ 5.94613610e-03 -4.15826872e-05 9.99982321e-01 -1.95058470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.957628 meters 0.013576734672478056 Centerline is valid? [True, True] Translation: X:114.59, Y:-28.62, Z:-0.19 [[ 9.14873908e-01 4.03705053e-01 -5.28787485e-03 1.14587780e+02] [-4.03697954e-01 9.14889188e-01 2.39478031e-03 -2.86181737e+01] [ 5.80460444e-03 -5.62177578e-05 9.99983152e-01 -1.94699992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.017628 meters 0.014235500412076836 Centerline is valid? [True, True] Translation: X:114.64, Y:-28.65, Z:-0.19 [[ 9.16750328e-01 3.99427673e-01 -5.13523181e-03 1.14641260e+02] [-3.99420902e-01 9.16764707e-01 2.32722599e-03 -2.86497111e+01] [ 5.63735774e-03 -8.23662674e-05 9.99984107e-01 -1.94576705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.077628 meters 0.016130700134266207 Centerline is valid? [True, True] Translation: X:114.69, Y:-28.68, Z:-0.19 [[ 9.19471452e-01 3.93134561e-01 -4.17916452e-03 1.14692929e+02] [-3.93130006e-01 9.19480944e-01 1.89514559e-03 -2.86833224e+01] [ 4.58770936e-03 -9.95772941e-05 9.99989471e-01 -1.94564464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13762799999999 meters 0.016451678727882214 Centerline is valid? [True, True] Translation: X:114.75, Y:-28.71, Z:-0.19 [[ 9.20360212e-01 3.91054796e-01 -3.63692386e-03 1.14748876e+02] [-3.91051325e-01 9.20367393e-01 1.65042395e-03 -2.87110563e+01] [ 3.99271233e-03 -9.67606412e-05 9.99992024e-01 -1.94069000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.197628 meters 0.017232052284449458 Centerline is valid? [True, True] Translation: X:114.80, Y:-28.74, Z:-0.19 [[ 9.21884759e-01 3.87453410e-01 -2.88886140e-03 1.14803187e+02] [-3.87451202e-01 9.21889281e-01 1.31097375e-03 -2.87411112e+01] [ 3.17115161e-03 -8.92738935e-05 9.99994968e-01 -1.93091647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.257628 meters 0.01733453534563948 Centerline is valid? [True, True] Translation: X:114.86, Y:-28.77, Z:-0.19 [[ 9.21457445e-01 3.88471016e-01 -2.53894067e-03 1.14860074e+02] [-3.88469312e-01 9.21460940e-01 1.15326035e-03 -2.87666860e+01] [ 2.78754287e-03 -7.63798001e-05 9.99996112e-01 -1.93090640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.317628 meters 0.016982972127720215 Centerline is valid? [True, True] Translation: X:114.92, Y:-28.79, Z:-0.20 [[ 9.19623129e-01 3.92778317e-01 -4.30043993e-03 1.14915848e+02] [-3.92773475e-01 9.19633178e-01 1.95334940e-03 -2.87897900e+01] [ 4.72206053e-03 -1.07246551e-04 9.99988845e-01 -1.95745234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.377628 meters 0.01650042811968997 Centerline is valid? [True, True] Translation: X:114.97, Y:-28.81, Z:-0.20 [[ 9.18436250e-01 3.95532577e-01 -5.36988556e-03 1.14971973e+02] [-3.95525064e-01 9.18451940e-01 2.44067404e-03 -2.88130185e+01] [ 5.89734791e-03 -1.17679181e-04 9.99982604e-01 -1.97428428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.437628 meters 0.014988394226150732 Centerline is valid? [True, True] Translation: X:115.03, Y:-28.83, Z:-0.20 [[ 9.17566003e-01 3.97542364e-01 -5.71835033e-03 1.15030843e+02] [-3.97533873e-01 9.17583814e-01 2.60078555e-03 -2.88336997e+01] [ 6.28098814e-03 -1.13154445e-04 9.99980268e-01 -1.97400868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49762799999999 meters 0.016891794760211316 Centerline is valid? [True, True] Translation: X:115.09, Y:-28.86, Z:-0.20 [[ 9.17546335e-01 3.97590357e-01 -5.53452647e-03 1.15088523e+02] [-3.97582392e-01 9.17563020e-01 2.51918744e-03 -2.88580508e+01] [ 6.07988145e-03 -1.11040929e-04 9.99981511e-01 -1.99794399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.557628 meters 0.01552380795400137 Centerline is valid? [True, True] Translation: X:115.14, Y:-28.88, Z:-0.20 [[ 9.17570851e-01 3.97559378e-01 -3.20525961e-03 1.15143245e+02] [-3.97556703e-01 9.17576447e-01 1.45996291e-03 -2.88844796e+01] [ 3.52149267e-03 -6.53469715e-05 9.99993797e-01 -1.96482625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.617628 meters 0.01486840697362143 Centerline is valid? [True, True] Translation: X:115.20, Y:-28.91, Z:-0.20 [[ 9.17366047e-01 3.98035321e-01 -2.72384432e-03 1.15200765e+02] [-3.98033387e-01 9.17370089e-01 1.24176422e-03 -2.89094217e+01] [ 2.99303933e-03 -5.49713545e-05 9.99995519e-01 -1.95753161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.677628 meters 0.014690078055647291 Centerline is valid? [True, True] Translation: X:115.26, Y:-28.93, Z:-0.20 [[ 9.16797205e-01 3.99350663e-01 -1.38994525e-03 1.15257949e+02] [-3.99350160e-01 9.16798259e-01 6.34245677e-04 -2.89346289e+01] [ 1.52758582e-03 -2.63998042e-05 9.99998833e-01 -1.95293109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.737628 meters 0.013850425854965103 Centerline is valid? [True, True] Translation: X:115.32, Y:-28.96, Z:-0.20 [[ 9.15611126e-01 4.02064283e-01 -7.60115023e-04 1.15315608e+02] [-4.02064133e-01 9.15611442e-01 3.47282991e-04 -2.89579289e+01] [ 8.35600099e-04 -1.23611832e-05 9.99999651e-01 -1.95991030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.797628 meters 0.013835963085735984 Centerline is valid? [True, True] Translation: X:115.37, Y:-28.98, Z:-0.20 [[ 9.14754738e-01 4.04007398e-01 -1.33843471e-03 1.15371278e+02] [-4.04006935e-01 9.14755717e-01 6.11488876e-04 -2.89841006e+01] [ 1.47138683e-03 -1.86254415e-05 9.99998917e-01 -1.96810447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85762799999999 meters 0.01352521691196392 Centerline is valid? [True, True] Translation: X:115.43, Y:-29.01, Z:-0.20 [[ 9.14173066e-01 4.05318310e-01 -2.16144497e-03 1.15427335e+02] [-4.05317107e-01 9.14175621e-01 9.87887753e-04 -2.90110995e+01] [ 2.37634929e-03 -2.70297538e-05 9.99997176e-01 -1.96815178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.917628 meters 0.01332591136982311 Centerline is valid? [True, True] Translation: X:115.48, Y:-29.04, Z:-0.20 [[ 9.13783681e-01 4.06195117e-01 -2.21618111e-03 1.15484942e+02] [-4.06193853e-01 9.13786368e-01 1.01371374e-03 -2.90372662e+01] [ 2.43688166e-03 -2.61159234e-05 9.99997030e-01 -1.97377339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.977628 meters 0.013222999331160773 Centerline is valid? [True, True] Translation: X:115.54, Y:-29.07, Z:-0.20 [[ 9.13306444e-01 4.07261467e-01 -3.07199218e-03 1.15541426e+02] [-4.07259041e-01 9.13311610e-01 1.40601867e-03 -2.90652968e+01] [ 3.37830335e-03 -3.30293212e-05 9.99994293e-01 -1.98977910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.037628 meters 0.013410652367396237 Centerline is valid? [True, True] Translation: X:115.60, Y:-29.09, Z:-0.20 [[ 9.13397636e-01 4.07048394e-01 -4.04508257e-03 1.15596105e+02] [-4.07044182e-01 9.13406592e-01 1.85245587e-03 -2.90943972e+01] [ 4.44884427e-03 -4.55014924e-05 9.99990103e-01 -1.99382769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.097628 meters 0.013614234099649732 Centerline is valid? [True, True] Translation: X:115.65, Y:-29.12, Z:-0.20 [[ 9.13591271e-01 4.06615384e-01 -3.86252756e-03 1.15650032e+02] [-4.06611534e-01 9.13599435e-01 1.77005170e-03 -2.91242861e+01] [ 4.24853325e-03 -4.65555247e-05 9.99990974e-01 -1.99267572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.157628 meters 0.012744606864331145 Centerline is valid? [True, True] Translation: X:115.71, Y:-29.15, Z:-0.20 [[ 9.11878200e-01 4.10458009e-01 -1.53966994e-03 1.15708065e+02] [-4.10457402e-01 9.11879500e-01 7.06307043e-04 -2.91467415e+01] [ 1.69390284e-03 -1.20970716e-05 9.99998565e-01 -1.97657139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21762799999999 meters 0.012535481702444347 Centerline is valid? [True, True] Translation: X:115.76, Y:-29.17, Z:-0.20 [[ 9.10828142e-01 4.12782952e-01 -1.52661109e-03 1.15764688e+02] [-4.12782357e-01 9.10829421e-01 7.00777218e-04 -2.91722473e+01] [ 1.67975119e-03 -8.12948591e-06 9.99998589e-01 -1.97543674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27762799999999 meters 0.012533698174948395 Centerline is valid? [True, True] Translation: X:115.82, Y:-29.20, Z:-0.20 [[ 9.11054477e-01 4.12284266e-01 -1.19295386e-03 1.15821064e+02] [-4.12283902e-01 9.11055258e-01 5.48195804e-04 -2.92001419e+01] [ 1.31285939e-03 -7.60057159e-06 9.99999138e-01 -1.96797569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.337628 meters 0.012566330094910089 Centerline is valid? [True, True] Translation: X:115.88, Y:-29.23, Z:-0.20 [[ 9.11130128e-01 4.12118704e-01 -2.53039429e-04 1.15878214e+02] [-4.12118688e-01 9.11130163e-01 1.16774273e-04 -2.92261995e+01] [ 2.78676718e-04 -2.11428036e-06 9.99999961e-01 -1.96490194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.397628 meters 0.012624781670087298 Centerline is valid? [True, True] Translation: X:115.93, Y:-29.25, Z:-0.20 [[ 9.11670042e-01 4.10922502e-01 -6.56979396e-04 1.15934844e+02] [-4.10922390e-01 9.11670279e-01 3.02574692e-04 -2.92527546e+01] [ 7.23283338e-04 -5.88073797e-06 9.99999738e-01 -1.96510599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.457628 meters 0.013022229331496299 Centerline is valid? [True, True] Translation: X:115.99, Y:-29.28, Z:-0.20 [[ 9.12720201e-01 4.08583145e-01 -1.28407053e-03 1.15990045e+02] [-4.08582717e-01 9.12721104e-01 5.91206467e-04 -2.92802395e+01] [ 1.41355527e-03 -1.49570585e-05 9.99999001e-01 -1.96919221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.517628 meters 0.013223620248576075 Centerline is valid? [True, True] Translation: X:116.05, Y:-29.31, Z:-0.20 [[ 9.12962221e-01 4.08040453e-01 -1.72421370e-03 1.16045957e+02] [-4.08039680e-01 9.12963848e-01 7.94266039e-04 -2.93070823e+01] [ 1.89823745e-03 -2.15872805e-05 9.99998198e-01 -1.97315994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.577628 meters 0.012872943515329376 Centerline is valid? [True, True] Translation: X:116.10, Y:-29.33, Z:-0.20 [[ 9.12318995e-01 4.09474118e-01 -2.23581293e-03 1.16102887e+02] [-4.09472822e-01 9.12321734e-01 1.03041712e-03 -2.93308655e+01] [ 2.46170987e-03 -2.45644822e-05 9.99996970e-01 -1.97934725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63762799999999 meters 0.012598712721524772 Centerline is valid? [True, True] Translation: X:116.16, Y:-29.35, Z:-0.20 [[ 9.11533626e-01 4.11218040e-01 -2.48431407e-03 1.16160085e+02] [-4.11216445e-01 9.11537011e-01 1.14563999e-03 -2.93546981e+01] [ 2.73565206e-03 -2.26985775e-05 9.99996258e-01 -1.98129612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.697628 meters 0.012389366968517595 Centerline is valid? [True, True] Translation: X:116.22, Y:-29.38, Z:-0.20 [[ 9.10738067e-01 4.12973406e-01 -3.02320585e-03 1.16215975e+02] [-4.12971051e-01 9.10743084e-01 1.39483824e-03 -2.93792249e+01] [ 3.32939492e-03 -2.18357862e-05 9.99994457e-01 -1.99391742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.757628 meters 0.012193610781834998 Centerline is valid? [True, True] Translation: X:116.27, Y:-29.41, Z:-0.20 [[ 9.10610014e-01 4.13259359e-01 -2.47065327e-03 1.16272786e+02] [-4.13257784e-01 9.10613366e-01 1.14091665e-03 -2.94058640e+01] [ 2.72130437e-03 -1.79134341e-05 9.99996297e-01 -1.99415831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.817628 meters 0.012492514575154321 Centerline is valid? [True, True] Translation: X:116.33, Y:-29.43, Z:-0.20 [[ 9.11142942e-01 4.12087370e-01 -1.59322869e-03 1.16327957e+02] [-4.12086712e-01 9.11144335e-01 7.36374316e-04 -2.94347943e+01] [ 1.75511185e-03 -1.43938883e-05 9.99998460e-01 -1.98542862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.877628 meters 0.012270357087776318 Centerline is valid? [True, True] Translation: X:116.39, Y:-29.46, Z:-0.20 [[ 9.11365913e-01 4.11594707e-01 -1.40335564e-03 1.16385121e+02] [-4.11594195e-01 9.11366993e-01 6.49209787e-04 -2.94610117e+01] [ 1.54618332e-03 -1.40546352e-05 9.99998805e-01 -1.98218436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.937628 meters 0.012929016154127006 Centerline is valid? [True, True] Translation: X:116.44, Y:-29.49, Z:-0.20 [[ 9.11882028e-01 4.10445514e-01 -2.37650176e-03 1.16439498e+02] [-4.10444042e-01 9.11885124e-01 1.09958755e-03 -2.94897004e+01] [ 2.61841738e-03 -2.72731316e-05 9.99996572e-01 -1.99919211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99762799999999 meters 0.01304176948745001 Centerline is valid? [True, True] Translation: X:116.50, Y:-29.52, Z:-0.20 [[ 9.11911223e-01 4.10379179e-01 -2.61743567e-03 1.16496760e+02] [-4.10377391e-01 9.11914979e-01 1.21193353e-03 -2.95162420e+01] [ 2.88423108e-03 -3.10393625e-05 9.99995840e-01 -1.99994819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.057628 meters 0.012667148116145862 Centerline is valid? [True, True] Translation: X:116.56, Y:-29.54, Z:-0.20 [[ 9.11606255e-01 4.11059175e-01 -2.09515643e-03 1.16555234e+02] [-4.11058029e-01 9.11608663e-01 9.70944946e-04 -2.95407460e+01] [ 2.30907858e-03 -2.38886124e-05 9.99997334e-01 -1.98903173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.117628 meters 0.012585995010107808 Centerline is valid? [True, True] Translation: X:116.61, Y:-29.57, Z:-0.20 [[ 9.11602122e-01 4.11066092e-01 -2.49777442e-03 1.16612546e+02] [-4.11064461e-01 9.11605543e-01 1.15830531e-03 -2.95656698e+01] [ 2.75312504e-03 -2.91672834e-05 9.99996210e-01 -1.98613698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.177628 meters 0.013056940061077212 Centerline is valid? [True, True] Translation: X:116.67, Y:-29.59, Z:-0.20 [[ 9.12025788e-01 4.10105815e-01 -4.70976026e-03 1.16667190e+02] [-4.10100000e-01 9.12037947e-01 2.18481308e-03 -2.95922489e+01] [ 5.19148463e-03 -6.11331912e-05 9.99986522e-01 -2.00962390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.237628 meters 0.013304977512758576 Centerline is valid? [True, True] Translation: X:116.72, Y:-29.62, Z:-0.20 [[ 9.12580645e-01 4.08840450e-01 -6.78629353e-03 1.16723651e+02] [-4.08828336e-01 9.12605872e-01 3.14881407e-03 -2.96171417e+01] [ 7.48057388e-03 -9.91176810e-05 9.99972015e-01 -2.02674610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.297628 meters 0.01350612729579077 Centerline is valid? [True, True] Translation: X:116.78, Y:-29.64, Z:-0.20 [[ 9.13227939e-01 4.07392844e-01 -6.76772270e-03 1.16779625e+02] [-4.07380741e-01 9.13253009e-01 3.14226706e-03 -2.96427693e+01] [ 7.46078023e-03 -1.12566180e-04 9.99972162e-01 -2.01794608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35762799999999 meters 0.01490850784152526 Centerline is valid? [True, True] Translation: X:116.83, Y:-29.67, Z:-0.20 [[ 9.14442834e-01 4.04682125e-01 -5.16544860e-03 1.16833038e+02] [-4.04675022e-01 9.14457417e-01 2.39983916e-03 -2.96723142e+01] [ 5.69475480e-03 -1.04187695e-04 9.99983779e-01 -1.99692566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.417628 meters 0.014957119283108136 Centerline is valid? [True, True] Translation: X:116.89, Y:-29.70, Z:-0.20 [[ 9.16914953e-01 3.99066914e-01 -3.54508174e-03 1.16888798e+02] [-3.99063522e-01 9.16921801e-01 1.64817990e-03 -2.96990048e+01] [ 3.90829680e-03 -9.65279896e-05 9.99992358e-01 -1.96138340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.477628 meters 0.01975201994455199 Centerline is valid? [True, True] Translation: X:116.94, Y:-29.73, Z:-0.20 [[ 9.18798905e-01 3.94713209e-01 -3.17091658e-03 1.16940629e+02] [-3.94710468e-01 9.18804371e-01 1.47451145e-03 -2.97305394e+01] [ 3.49546117e-03 -1.03185539e-04 9.99993886e-01 -1.97841290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.537628 meters 0.01783385917372174 Centerline is valid? [True, True] Translation: X:117.00, Y:-29.75, Z:-0.20 [[ 9.21353009e-01 3.88714462e-01 -3.11455491e-03 1.16998052e+02] [-3.88711780e-01 9.21358264e-01 1.44932285e-03 -2.97519758e+01] [ 3.43299366e-03 -1.24673788e-04 9.99994099e-01 -1.97430121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.597628 meters 0.020306114777966604 Centerline is valid? [True, True] Translation: X:117.05, Y:-29.78, Z:-0.20 [[ 9.22272197e-01 3.86526772e-01 -3.32396268e-03 1.17052158e+02] [-3.86523700e-01 9.22278176e-01 1.54768803e-03 -2.97803608e+01] [ 3.66384109e-03 -1.42599289e-04 9.99993278e-01 -1.97672351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.657628 meters 0.01901779515056942 Centerline is valid? [True, True] Translation: X:117.11, Y:-29.80, Z:-0.20 [[ 9.21678319e-01 3.87939470e-01 -3.47030914e-03 1.17110432e+02] [-3.87936127e-01 9.21684841e-01 1.61688383e-03 -2.98017477e+01] [ 3.82578438e-03 -1.43988481e-04 9.99992671e-01 -1.96774481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71762799999999 meters 0.018558414343577266 Centerline is valid? [True, True] Translation: X:117.17, Y:-29.82, Z:-0.20 [[ 9.20423303e-01 3.90893399e-01 -4.82629536e-03 1.17168034e+02] [-3.90886971e-01 9.20435938e-01 2.24931781e-03 -2.98238215e+01] [ 5.32153918e-03 -1.83788554e-04 9.99985824e-01 -1.98723373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77762799999999 meters 0.01763116920168444 Centerline is valid? [True, True] Translation: X:117.23, Y:-29.85, Z:-0.20 [[ 9.18398679e-01 3.95608935e-01 -6.11864312e-03 1.17225663e+02] [-3.95598704e-01 9.18419039e-01 2.85208136e-03 -2.98452541e+01] [ 6.74778721e-03 -1.98820459e-04 9.99977214e-01 -2.00402526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.837628 meters 0.016360075881762068 Centerline is valid? [True, True] Translation: X:117.28, Y:-29.87, Z:-0.20 [[ 9.16772502e-01 3.99344564e-01 -7.21794499e-03 1.17283264e+02] [-3.99330439e-01 9.16800893e-01 3.36485455e-03 -2.98676328e+01] [ 7.96115479e-03 -2.02460981e-04 9.99968289e-01 -2.00521542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.897628 meters 0.017619306981165643 Centerline is valid? [True, True] Translation: X:117.34, Y:-29.90, Z:-0.20 [[ 9.16298649e-01 4.00444545e-01 -6.39942168e-03 1.17338058e+02] [-4.00433454e-01 9.16320979e-01 2.98532449e-03 -2.98950644e+01] [ 7.05938124e-03 -1.72906265e-04 9.99975067e-01 -2.00441764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.957628 meters 0.01569706668880144 Centerline is valid? [True, True] Translation: X:117.40, Y:-29.92, Z:-0.20 [[ 9.16605220e-01 3.99755875e-01 -5.48738679e-03 1.17395807e+02] [-3.99747698e-01 9.16621632e-01 2.56161507e-03 -2.99177768e+01] [ 6.05387811e-03 -1.54419506e-04 9.99981663e-01 -1.98880233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.017628 meters 0.01655012555955313 Centerline is valid? [True, True] Translation: X:117.45, Y:-29.95, Z:-0.20 [[ 9.17193863e-01 3.98411555e-01 -4.86323563e-03 1.17451348e+02] [-3.98405105e-01 9.17206744e-01 2.27173661e-03 -2.99461688e+01] [ 5.36567864e-03 -1.46084972e-04 9.99985594e-01 -1.98814372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.077628 meters 0.016410547054191416 Centerline is valid? [True, True] Translation: X:117.51, Y:-29.97, Z:-0.20 [[ 9.17661226e-01 3.97343043e-01 -4.04738769e-03 1.17507290e+02] [-3.97338559e-01 9.17670142e-01 1.89193789e-03 -2.99738531e+01] [ 4.46591519e-03 -1.27974853e-04 9.99990020e-01 -1.97211521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13762799999999 meters 0.016485865544556822 Centerline is valid? [True, True] Translation: X:117.56, Y:-30.00, Z:-0.20 [[ 9.17331404e-01 3.98104605e-01 -3.97726665e-03 1.17562941e+02] [-3.98100277e-01 9.17340018e-01 1.86035318e-03 -3.00011007e+01] [ 4.38912102e-03 -1.23209437e-04 9.99990360e-01 -1.96391857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.197628 meters 0.016566292533112013 Centerline is valid? [True, True] Translation: X:117.62, Y:-30.03, Z:-0.20 [[ 9.16501032e-01 3.99998052e-01 -5.23612914e-03 1.17618277e+02] [-3.99990579e-01 9.16515977e-01 2.44972611e-03 -3.00266152e+01] [ 5.77888169e-03 -1.50774182e-04 9.99983291e-01 -1.99254620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.257628 meters 0.016699762149630995 Centerline is valid? [True, True] Translation: X:117.67, Y:-30.05, Z:-0.20 [[ 9.15920777e-01 4.01318450e-01 -5.71249457e-03 1.17673223e+02] [-4.01309570e-01 9.15938577e-01 2.67425291e-03 -3.00530592e+01] [ 6.30552118e-03 -1.56925060e-04 9.99980108e-01 -2.00642293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.317628 meters 0.017657341207479405 Centerline is valid? [True, True] Translation: X:117.73, Y:-30.08, Z:-0.20 [[ 9.16177717e-01 4.00694655e-01 -7.88573270e-03 1.17726814e+02] [-4.00677707e-01 9.16211626e-01 3.69199982e-03 -3.00816217e+01] [ 8.70436457e-03 -2.22890670e-04 9.99962091e-01 -2.02859450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.377628 meters 0.019135886710716435 Centerline is valid? [True, True] Translation: X:117.78, Y:-30.11, Z:-0.20 [[ 9.17383135e-01 3.97915211e-01 -8.46575697e-03 1.17781408e+02] [-3.97895554e-01 9.17422156e-01 3.96420339e-03 -3.01113683e+01] [ 9.34408984e-03 -2.68206273e-04 9.99956307e-01 -2.03256739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.437628 meters 0.019040302517126947 Centerline is valid? [True, True] Translation: X:117.84, Y:-30.14, Z:-0.20 [[ 9.19912873e-01 3.92061854e-01 -6.91437339e-03 1.17836034e+02] [-3.92048560e-01 9.19938819e-01 3.23983992e-03 -3.01394981e+01] [ 7.63101813e-03 -2.69600322e-04 9.99970847e-01 -1.98955611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49762799999999 meters 0.027427181647116588 Centerline is valid? [True, True] Translation: X:117.88, Y:-30.18, Z:-0.20 [[ 9.23074126e-01 3.84595735e-01 -4.50323505e-03 1.17884784e+02] [-3.84590005e-01 9.23085085e-01 2.11040167e-03 -3.01779417e+01] [ 4.96852059e-03 -2.16157980e-04 9.99987633e-01 -1.97912046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.557628 meters 0.022941409254541807 Centerline is valid? [True, True] Translation: X:117.94, Y:-30.20, Z:-0.20 [[ 9.25019997e-01 3.79907613e-01 -2.86560535e-03 1.17942280e+02] [-3.79905267e-01 9.25024422e-01 1.34397809e-03 -3.01987362e+01] [ 3.16134244e-03 -1.54548042e-04 9.99994991e-01 -1.95284648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.617628 meters 0.023054029404126403 Centerline is valid? [True, True] Translation: X:118.00, Y:-30.22, Z:-0.19 [[ 9.26706336e-01 3.75785516e-01 -7.83413809e-04 1.17998767e+02] [-3.75785339e-01 9.26706666e-01 3.67473046e-04 -3.02239385e+01] [ 8.64085847e-04 -4.61441762e-05 9.99999626e-01 -1.93440084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.677628 meters 0.023461042922513574 Centerline is valid? [True, True] Translation: X:118.06, Y:-30.25, Z:-0.19 [[ 9.26274207e-01 3.76848631e-01 -1.09696652e-03 1.18055443e+02] [-3.76848284e-01 9.26274854e-01 5.15186645e-04 -3.02486253e+01] [ 1.21023988e-03 -6.38141513e-05 9.99999266e-01 -1.93914765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.737628 meters 0.022182963221120656 Centerline is valid? [True, True] Translation: X:118.11, Y:-30.27, Z:-0.20 [[ 9.24696214e-01 3.80688204e-01 -3.66093064e-03 1.18113715e+02] [-3.80684376e-01 9.24703441e-01 1.71850517e-03 -3.02680413e+01] [ 4.03948981e-03 -1.95436126e-04 9.99991822e-01 -1.97064900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.797628 meters 0.020628290039966996 Centerline is valid? [True, True] Translation: X:118.17, Y:-30.29, Z:-0.20 [[ 9.23782264e-01 3.82885011e-01 -5.03951605e-03 1.18172356e+02] [-3.82877787e-01 9.23795975e-01 2.36579689e-03 -3.02884500e+01] [ 5.56131281e-03 -2.55962456e-04 9.99984503e-01 -1.99126238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85762799999999 meters 0.023398488010376944 Centerline is valid? [True, True] Translation: X:118.23, Y:-30.31, Z:-0.20 [[ 9.22905770e-01 3.85003649e-01 -4.13894301e-03 1.18226802e+02] [-3.84998796e-01 9.22915029e-01 1.94326444e-03 -3.03136284e+01] [ 4.56805661e-03 -1.99961889e-04 9.99989546e-01 -1.98398895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.917628 meters 0.020711128166043404 Centerline is valid? [True, True] Translation: X:118.29, Y:-30.34, Z:-0.20 [[ 9.22582297e-01 3.85785006e-01 -3.44007189e-03 1.18285774e+02] [-3.85781657e-01 9.22588696e-01 1.61587102e-03 -3.03352366e+01] [ 3.79715025e-03 -1.63657364e-04 9.99992777e-01 -1.97391026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.977628 meters 0.020856317168696355 Centerline is valid? [True, True] Translation: X:118.34, Y:-30.36, Z:-0.20 [[ 9.21286416e-01 3.88879366e-01 -2.04391516e-03 1.18342513e+02] [-3.88878191e-01 9.21288679e-01 9.60073230e-04 -3.03570703e+01] [ 2.25638857e-03 -8.96683953e-05 9.99997450e-01 -1.96178353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.037628 meters 0.01809409866700857 Centerline is valid? [True, True] Translation: X:118.40, Y:-30.38, Z:-0.20 [[ 9.19154131e-01 3.93895852e-01 -1.31948369e-03 1.18402161e+02] [-3.93895367e-01 9.19155077e-01 6.19884409e-04 -3.03750618e+01] [ 1.45698003e-03 -5.00308011e-05 9.99998937e-01 -1.95340303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.097628 meters 0.016499150112834964 Centerline is valid? [True, True] Translation: X:118.46, Y:-30.40, Z:-0.20 [[ 9.16921962e-01 3.99063330e-01 -1.60418125e-03 1.18460560e+02] [-3.99062622e-01 9.16923364e-01 7.53713309e-04 -3.03957634e+01] [ 1.77169062e-03 -5.09275090e-05 9.99998429e-01 -1.96645372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.157628 meters 0.013624857869213287 Centerline is valid? [True, True] Translation: X:118.52, Y:-30.41, Z:-0.20 [[ 9.12544922e-01 4.08966785e-01 -2.81689817e-03 1.18519385e+02] [-4.08964647e-01 9.12549268e-01 1.32345082e-03 -3.04135423e+01] [ 3.11180579e-03 -5.56965543e-05 9.99995157e-01 -1.97226452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21762799999999 meters 0.012361388615106605 Centerline is valid? [True, True] Translation: X:118.58, Y:-30.43, Z:-0.20 [[ 9.09202998e-01 4.16335774e-01 -3.79888349e-03 1.18577606e+02] [-4.16331950e-01 9.09210933e-01 1.78499588e-03 -3.04337121e+01] [ 4.19714405e-03 -4.13270359e-05 9.99991191e-01 -1.99440301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27762799999999 meters 0.011604918071789113 Centerline is valid? [True, True] Translation: X:118.64, Y:-30.45, Z:-0.20 [[ 9.04976771e-01 4.25427057e-01 -5.37235293e-03 1.18636070e+02] [-4.25419556e-01 9.04992718e-01 2.52629582e-03 -3.04549363e+01] [ 5.93669488e-03 -7.35036738e-07 9.99982378e-01 -2.01013454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.337628 meters 0.011705341758493198 Centerline is valid? [True, True] Translation: X:118.69, Y:-30.48, Z:-0.20 [[ 9.03418035e-01 4.28719250e-01 -5.97152242e-03 1.18692995e+02] [-4.28710041e-01 9.03437770e-01 2.81013696e-03 -3.04815303e+01] [ 6.59965871e-03 2.13232088e-05 9.99978222e-01 -2.01644640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.397628 meters 0.011898530569216493 Centerline is valid? [True, True] Translation: X:118.75, Y:-30.51, Z:-0.20 [[ 9.02738139e-01 4.30137007e-01 -6.78286448e-03 1.18746926e+02] [-4.30125151e-01 9.02763620e-01 3.19388673e-03 -3.05132888e+01] [ 7.49713217e-03 3.42372469e-05 9.99971896e-01 -2.01270114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.457628 meters 0.011899367732546798 Centerline is valid? [True, True] Translation: X:118.80, Y:-30.55, Z:-0.20 [[ 9.02983922e-01 4.29641132e-01 -5.34170310e-03 1.18799645e+02] [-4.29633759e-01 9.02999722e-01 2.51699970e-03 -3.05463758e+01] [ 5.90496301e-03 2.21657176e-05 9.99982565e-01 -2.00520205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.517628 meters 0.011786103195195534 Centerline is valid? [True, True] Translation: X:118.85, Y:-30.58, Z:-0.20 [[ 9.03361303e-01 4.28852299e-01 -4.90533502e-03 1.18854019e+02] [-4.28846061e-01 9.03374621e-01 2.31319348e-03 -3.05786733e+01] [ 5.42337351e-03 1.39841240e-05 9.99985293e-01 -2.00550958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.577628 meters 0.011816228619503558 Centerline is valid? [True, True] Translation: X:118.91, Y:-30.61, Z:-0.20 [[ 9.03764927e-01 4.27993820e-01 -5.49974807e-03 1.18906428e+02] [-4.27985951e-01 9.03781661e-01 2.59536225e-03 -3.06147111e+01] [ 6.08137045e-03 8.21752996e-06 9.99981508e-01 -2.01126507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63762799999999 meters 0.011934964559587728 Centerline is valid? [True, True] Translation: X:118.96, Y:-30.65, Z:-0.20 [[ 9.03921878e-01 4.27660436e-01 -5.63826955e-03 1.18960661e+02] [-4.27652147e-01 9.03939462e-01 2.66264920e-03 -3.06480783e+01] [ 6.23536406e-03 4.39121098e-06 9.99980560e-01 -2.01216832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.697628 meters 0.011964560580891393 Centerline is valid? [True, True] Translation: X:119.01, Y:-30.68, Z:-0.20 [[ 9.04354091e-01 4.26744091e-01 -5.75840741e-03 1.19013731e+02] [-4.26735413e-01 9.04372424e-01 2.72137370e-03 -3.06837007e+01] [ 6.36907501e-03 -3.76907064e-06 9.99979717e-01 -2.00562636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.757628 meters 0.012129813369962262 Centerline is valid? [True, True] Translation: X:119.07, Y:-30.72, Z:-0.20 [[ 9.04893904e-01 4.25591202e-01 -6.25701831e-03 1.19066736e+02] [-4.25580916e-01 9.04915537e-01 2.95892702e-03 -3.07166152e+01] [ 6.92136638e-03 -1.46474395e-05 9.99976047e-01 -2.01048261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.817628 meters 0.01195915963784194 Centerline is valid? [True, True] Translation: X:119.12, Y:-30.74, Z:-0.20 [[ 9.03928114e-01 4.27643382e-01 -5.92481185e-03 1.19124269e+02] [-4.27634190e-01 9.03947531e-01 2.80389305e-03 -3.07426550e+01] [ 6.55478535e-03 -8.65643242e-07 9.99978517e-01 -2.00461216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.877628 meters 0.011996171240363443 Centerline is valid? [True, True] Translation: X:119.18, Y:-30.77, Z:-0.20 [[ 9.04468520e-01 4.26496979e-01 -6.08469751e-03 1.19180335e+02] [-4.26487245e-01 9.04488986e-01 2.88160170e-03 -3.07702236e+01] [ 6.73253631e-03 -1.12721443e-05 9.99977336e-01 -2.00448222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.937628 meters 0.013018287761260733 Centerline is valid? [True, True] Translation: X:119.23, Y:-30.80, Z:-0.20 [[ 9.07853114e-01 4.19256652e-01 -5.15583061e-03 1.19233481e+02] [-4.19249538e-01 9.07867753e-01 2.44307727e-03 -3.08017054e+01] [ 5.70508874e-03 -5.63757064e-05 9.99983724e-01 -1.98709348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99762799999999 meters 0.01614106074480153 Centerline is valid? [True, True] Translation: X:119.29, Y:-30.83, Z:-0.20 [[ 9.12460202e-01 4.09144089e-01 -4.18269279e-03 1.19285547e+02] [-4.09139298e-01 9.12469783e-01 1.98234396e-03 -3.08323542e+01] [ 4.62764509e-03 -9.75059789e-05 9.99989288e-01 -1.98700356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.057628 meters 0.019943834549587317 Centerline is valid? [True, True] Translation: X:119.34, Y:-30.86, Z:-0.20 [[ 9.16868038e-01 3.99166395e-01 -4.38065890e-03 1.19339070e+02] [-3.99161025e-01 9.16878490e-01 2.07639476e-03 -3.08627948e+01] [ 4.84535893e-03 -1.55191692e-04 9.99988249e-01 -1.99767142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.117628 meters 0.02187824257580825 Centerline is valid? [True, True] Translation: X:119.39, Y:-30.89, Z:-0.20 [[ 9.23299049e-01 3.84064182e-01 -3.68381675e-03 1.19394921e+02] [-3.84060263e-01 9.23306376e-01 1.74632251e-03 -3.08896271e+01] [ 4.07199142e-03 -1.97570284e-04 9.99991690e-01 -1.97948723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.177628 meters 0.02344433192167556 Centerline is valid? [True, True] Translation: X:119.45, Y:-30.92, Z:-0.20 [[ 9.26492445e-01 3.76293293e-01 -3.88680603e-03 1.19449839e+02] [-3.76288855e-01 9.26500565e-01 1.84387549e-03 -3.09163197e+01] [ 4.29496596e-03 -2.45774922e-04 9.99990746e-01 -1.97319694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.237628 meters 0.02548449705180912 Centerline is valid? [True, True] Translation: X:119.51, Y:-30.94, Z:-0.20 [[ 9.28437956e-01 3.71460736e-01 -4.45905051e-03 1.19506690e+02] [-3.71454840e-01 9.28448613e-01 2.11540916e-03 -3.09400065e+01] [ 4.92579070e-03 -3.07690267e-04 9.99987821e-01 -1.99418896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.297628 meters 0.02483706380958377 Centerline is valid? [True, True] Translation: X:119.56, Y:-30.96, Z:-0.20 [[ 9.27615629e-01 3.73511598e-01 -4.28135353e-03 1.19564676e+02] [-3.73506183e-01 9.27625466e-01 2.03136063e-03 -3.09616099e+01] [ 4.73022932e-03 -2.85209855e-04 9.99988772e-01 -2.00438034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35762799999999 meters 0.02260275893912074 Centerline is valid? [True, True] Translation: X:119.62, Y:-30.98, Z:-0.20 [[ 9.23260333e-01 3.84151897e-01 -4.20460130e-03 1.19624383e+02] [-3.84146778e-01 9.23269878e-01 1.99605803e-03 -3.09780830e+01] [ 4.64877120e-03 -2.27697156e-04 9.99989168e-01 -2.00610163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.417628 meters 0.018342996388907483 Centerline is valid? [True, True] Translation: X:119.69, Y:-30.99, Z:-0.20 [[ 9.17084150e-01 3.98680382e-01 -3.25800678e-03 1.19685663e+02] [-3.98677399e-01 9.17089930e-01 1.54680214e-03 -3.09914029e+01] [ 3.60456488e-03 -1.19654051e-04 9.99993496e-01 -1.99952637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.477628 meters 0.01566211973362142 Centerline is valid? [True, True] Translation: X:119.75, Y:-31.01, Z:-0.20 [[ 9.13037934e-01 4.07869007e-01 -2.14571745e-03 1.19745258e+02] [-4.07867738e-01 9.13040454e-01 1.01887676e-03 -3.10078693e+01] [ 2.37469508e-03 -5.51042134e-05 9.99997179e-01 -2.00434684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.537628 meters 0.013332091407610021 Centerline is valid? [True, True] Translation: X:119.81, Y:-31.02, Z:-0.20 [[ 9.08671903e-01 4.17507803e-01 -1.61497778e-03 1.19805057e+02] [-4.17507099e-01 9.08673338e-01 7.66864980e-04 -3.10236143e+01] [ 1.78765936e-03 -2.25639725e-05 9.99998402e-01 -2.01823471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.597628 meters 0.01247597801750073 Centerline is valid? [True, True] Translation: X:119.86, Y:-31.05, Z:-0.20 [[ 9.07328548e-01 4.20418686e-01 -1.74210009e-03 1.19863747e+02] [-4.20417871e-01 9.07330220e-01 8.28145657e-04 -3.10457083e+01] [ 1.92882797e-03 -1.89901860e-05 9.99998140e-01 -2.02907946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.657628 meters 0.012504744688357603 Centerline is valid? [True, True] Translation: X:119.92, Y:-31.07, Z:-0.20 [[ 9.07563707e-01 4.19907349e-01 -2.43641873e-03 1.19920317e+02] [-4.19905751e-01 9.07566977e-01 1.15894969e-03 -3.10721499e+01] [ 2.69786468e-03 -2.87544382e-05 9.99996360e-01 -2.03437218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71762799999999 meters 0.014027802124930546 Centerline is valid? [True, True] Translation: X:119.97, Y:-31.10, Z:-0.20 [[ 9.10287682e-01 4.13964703e-01 -3.09208837e-03 1.19973543e+02] [-4.13962092e-01 9.10292932e-01 1.47145162e-03 -3.11035461e+01] [ 3.42383522e-03 -5.94369124e-05 9.99994137e-01 -2.04772454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77762799999999 meters 0.014495141504270385 Centerline is valid? [True, True] Translation: X:120.03, Y:-31.13, Z:-0.20 [[ 9.11426426e-01 4.11452366e-01 -2.97002190e-03 1.20028103e+02] [-4.11449941e-01 9.11431263e-01 1.41421571e-03 -3.11323566e+01] [ 3.28885321e-03 -6.69382325e-05 9.99994589e-01 -2.04761314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.837628 meters 0.015619111980247556 Centerline is valid? [True, True] Translation: X:120.08, Y:-31.16, Z:-0.20 [[ 9.13641381e-01 4.06510516e-01 -2.93734063e-03 1.20081040e+02] [-4.06508116e-01 9.13646099e-01 1.39941394e-03 -3.11635482e+01] [ 3.25256629e-03 -8.45096779e-05 9.99994707e-01 -2.04549780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.897628 meters 0.019651408629864624 Centerline is valid? [True, True] Translation: X:120.13, Y:-31.20, Z:-0.20 [[ 9.17842642e-01 3.96933070e-01 -3.00385043e-03 1.20131003e+02] [-3.96930507e-01 9.17847549e-01 1.43149495e-03 -3.12000647e+01] [ 3.32528443e-03 -1.21567230e-04 9.99994464e-01 -2.04758727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.957628 meters 0.02202069953743293 Centerline is valid? [True, True] Translation: X:120.18, Y:-31.23, Z:-0.21 [[ 9.21133038e-01 3.89230202e-01 -3.71165824e-03 1.20183908e+02] [-3.89226227e-01 9.21140497e-01 1.76873586e-03 -3.12321012e+01] [ 4.10740414e-03 -1.84566304e-04 9.99991548e-01 -2.05634572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.017628 meters 0.024568174062299716 Centerline is valid? [True, True] Translation: X:120.24, Y:-31.27, Z:-0.20 [[ 9.24905663e-01 3.80176720e-01 -3.89570834e-03 1.20235572e+02] [-3.80172260e-01 9.24913837e-01 1.85680052e-03 -3.12666398e+01] [ 4.30910688e-03 -2.36325073e-04 9.99990688e-01 -2.03738176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.077628 meters 0.025625633991651624 Centerline is valid? [True, True] Translation: X:120.29, Y:-31.30, Z:-0.20 [[ 9.26777296e-01 3.75589075e-01 -4.08540075e-03 1.20289591e+02] [-3.75584120e-01 9.26786261e-01 1.94818379e-03 -3.12962396e+01] [ 4.51800983e-03 -2.71120858e-04 9.99989757e-01 -2.02861472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13762799999999 meters 0.024882927402975995 Centerline is valid? [True, True] Translation: X:120.35, Y:-31.32, Z:-0.20 [[ 9.26683634e-01 3.75815361e-01 -4.50077211e-03 1.20347196e+02] [-3.75809341e-01 9.26694516e-01 2.14803750e-03 -3.13218005e+01] [ 4.97810632e-03 -2.99118993e-04 9.99987564e-01 -2.03150342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.197628 meters 0.025737569838765732 Centerline is valid? [True, True] Translation: X:120.40, Y:-31.35, Z:-0.20 [[ 9.25576759e-01 3.78518281e-01 -5.61916922e-03 1.20403079e+02] [-3.78508946e-01 9.25593747e-01 2.68199211e-03 -3.13470137e+01] [ 6.21625094e-03 -3.55483744e-04 9.99980616e-01 -2.03345090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.257628 meters 0.02275999267363163 Centerline is valid? [True, True] Translation: X:120.46, Y:-31.37, Z:-0.20 [[ 9.24215026e-01 3.81848861e-01 -4.24661396e-03 1.20460399e+02] [-3.81843563e-01 9.24224748e-01 2.02721542e-03 -3.13689658e+01] [ 4.69891561e-03 -2.52040747e-04 9.99988928e-01 -2.00042530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.317628 meters 0.02188137171702049 Centerline is valid? [True, True] Translation: X:120.52, Y:-31.39, Z:-0.20 [[ 9.21576330e-01 3.88181491e-01 -3.49261320e-03 1.20517234e+02] [-3.88177952e-01 9.21582930e-01 1.66737668e-03 -3.13895663e+01] [ 3.86597747e-03 -1.80859441e-04 9.99992511e-01 -1.98900188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.377628 meters 0.020851457644914674 Centerline is valid? [True, True] Translation: X:120.57, Y:-31.41, Z:-0.20 [[ 9.19102565e-01 3.94010348e-01 -2.51417554e-03 1.20573944e+02] [-3.94008535e-01 9.19105997e-01 1.20043902e-03 -3.14114304e+01] [ 2.78377921e-03 -1.12719965e-04 9.99996119e-01 -1.98375757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.437628 meters 0.01756562033316409 Centerline is valid? [True, True] Translation: X:120.63, Y:-31.43, Z:-0.20 [[ 9.15204480e-01 4.02981536e-01 -2.57712050e-03 1.20633494e+02] [-4.02979666e-01 9.15208104e-01 1.23085777e-03 -3.14288195e+01] [ 2.85461452e-03 -8.79593839e-05 9.99995922e-01 -1.97819931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49762799999999 meters 0.014948719454438306 Centerline is valid? [True, True] Translation: X:120.69, Y:-31.45, Z:-0.20 [[ 9.11362229e-01 4.11590822e-01 -3.44719613e-03 1.20692434e+02] [-4.11587537e-01 9.11368745e-01 1.64630870e-03 -3.14465366e+01] [ 3.81927236e-03 -8.15606040e-05 9.99992703e-01 -1.99291295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.557628 meters 0.01379990916795329 Centerline is valid? [True, True] Translation: X:120.75, Y:-31.47, Z:-0.20 [[ 9.08981827e-01 4.16816902e-01 -3.96342685e-03 1.20750234e+02] [-4.16812608e-01 9.08990465e-01 1.89316535e-03 -3.14690675e+01] [ 4.39182053e-03 -6.88466157e-05 9.99990354e-01 -2.00073255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.617628 meters 0.012723520601698207 Centerline is valid? [True, True] Translation: X:120.81, Y:-31.49, Z:-0.20 [[ 9.06410718e-01 4.22372262e-01 -4.61341679e-03 1.20808269e+02] [-4.22366507e-01 9.06422457e-01 2.20539324e-03 -3.14912690e+01] [ 5.11320151e-03 -5.04393365e-05 9.99986926e-01 -1.99982258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.677628 meters 0.01226215738341332 Centerline is valid? [True, True] Translation: X:120.87, Y:-31.52, Z:-0.20 [[ 9.04524113e-01 4.26391742e-01 -5.11976842e-03 1.20865270e+02] [-4.26384710e-01 9.04538601e-01 2.44897157e-03 -3.15155262e+01] [ 5.67524942e-03 -3.21628616e-05 9.99983895e-01 -2.00240548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.737628 meters 0.012196127148144666 Centerline is valid? [True, True] Translation: X:120.92, Y:-31.54, Z:-0.20 [[ 9.04072534e-01 4.27339440e-01 -5.81865136e-03 1.20921998e+02] [-4.27330364e-01 9.04091257e-01 2.78529743e-03 -3.15438184e+01] [ 6.45085927e-03 -3.16244990e-05 9.99979192e-01 -2.00213875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.797628 meters 0.012620950287718796 Centerline is valid? [True, True] Translation: X:120.98, Y:-31.58, Z:-0.20 [[ 9.05827629e-01 4.23600708e-01 -6.22476466e-03 1.20975383e+02] [-4.23590220e-01 9.05849014e-01 2.98149901e-03 -3.15761858e+01] [ 6.90166202e-03 -6.39747443e-05 9.99976181e-01 -1.99883096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85762799999999 meters 0.013544430557626108 Centerline is valid? [True, True] Translation: X:121.03, Y:-31.61, Z:-0.20 [[ 9.08469892e-01 4.17897718e-01 -6.62963462e-03 1.21027918e+02] [-4.17885656e-01 9.08494075e-01 3.17724852e-03 -3.16090565e+01] [ 7.35074868e-03 -1.16005410e-04 9.99972976e-01 -1.99577758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.917628 meters 0.016820568876614924 Centerline is valid? [True, True] Translation: X:121.08, Y:-31.65, Z:-0.20 [[ 9.13542169e-01 4.06659746e-01 -8.27982466e-03 1.21077745e+02] [-4.06640466e-01 9.13579654e-01 3.96830144e-03 -3.16480332e+01] [ 9.17802781e-03 -2.58298946e-04 9.99957848e-01 -2.00481869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.977628 meters 0.020344079310219695 Centerline is valid? [True, True] Translation: X:121.13, Y:-31.69, Z:-0.20 [[ 9.18728796e-01 3.94761181e-01 -1.00503328e-02 1.21127974e+02] [-3.94732050e-01 9.18783652e-01 4.81759307e-03 -3.16862643e+01] [ 1.11358802e-02 -4.58873012e-04 9.99937889e-01 -2.00564782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.037628 meters 0.024438840992561023 Centerline is valid? [True, True] Translation: X:121.18, Y:-31.72, Z:-0.20 [[ 9.21511252e-01 3.88224377e-01 -9.94205151e-03 1.21178191e+02] [-3.88195480e-01 9.21564728e-01 4.76665453e-03 -3.17217414e+01] [ 1.10127755e-02 -5.33066336e-04 9.99939215e-01 -2.00689858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.097628 meters 0.024630059589840526 Centerline is valid? [True, True] Translation: X:121.23, Y:-31.75, Z:-0.20 [[ 9.23521644e-01 3.83437328e-01 -9.14268304e-03 1.21231335e+02] [-3.83412629e-01 9.23566737e-01 4.38604847e-03 -3.17525170e+01] [ 1.01256526e-02 -5.45190552e-04 9.99948586e-01 -1.99088974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.157628 meters 0.024790252183583092 Centerline is valid? [True, True] Translation: X:121.29, Y:-31.78, Z:-0.20 [[ 9.23518737e-01 3.83463467e-01 -8.30133008e-03 1.21286893e+02] [-3.83443078e-01 9.23555912e-01 3.98543471e-03 -3.17817253e+01] [ 9.19501108e-03 -4.97536068e-04 9.99957601e-01 -1.98163772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21762799999999 meters 0.02264156646764734 Centerline is valid? [True, True] Translation: X:121.34, Y:-31.81, Z:-0.20 [[ 9.22537386e-01 3.85840121e-01 -7.22309895e-03 1.21344123e+02] [-3.85824757e-01 9.22565570e-01 3.46790496e-03 -3.18055561e+01] [ 8.00183927e-03 -4.12421578e-04 9.99967900e-01 -1.97663156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27762799999999 meters 0.021826684868552812 Centerline is valid? [True, True] Translation: X:121.40, Y:-31.83, Z:-0.20 [[ 9.19927308e-01 3.92013595e-01 -7.68694520e-03 1.21400775e+02] [-3.91996404e-01 9.19959344e-01 3.69113899e-03 -3.18287834e+01] [ 8.51865373e-03 -3.82324679e-04 9.99963643e-01 -1.98513923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.337628 meters 0.020800971637352766 Centerline is valid? [True, True] Translation: X:121.46, Y:-31.85, Z:-0.20 [[ 9.17928776e-01 3.96659636e-01 -8.23983673e-03 1.21457430e+02] [-3.96640061e-01 9.17965686e-01 3.95748337e-03 -3.18519431e+01] [ 9.13366128e-03 -3.64438516e-04 9.99958221e-01 -1.99234336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.397628 meters 0.018244696951925207 Centerline is valid? [True, True] Translation: X:121.52, Y:-31.87, Z:-0.20 [[ 9.15124904e-01 4.03084882e-01 -8.30591514e-03 1.21515957e+02] [-4.03065239e-01 9.15162546e-01 3.99095358e-03 -3.18721510e+01] [ 9.20995550e-03 -3.04395337e-04 9.99957541e-01 -2.00210199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.457628 meters 0.01746165663286253 Centerline is valid? [True, True] Translation: X:121.57, Y:-31.90, Z:-0.20 [[ 9.14002185e-01 4.05632673e-01 -7.88293326e-03 1.21572723e+02] [-4.05615071e-01 9.14036140e-01 3.78804936e-03 -3.18964227e+01] [ 8.74184247e-03 -2.64848856e-04 9.99961754e-01 -2.00136197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.517628 meters 0.016596518211595343 Centerline is valid? [True, True] Translation: X:121.63, Y:-31.92, Z:-0.20 [[ 9.12831732e-01 4.08271665e-01 -7.24406014e-03 1.21630201e+02] [-4.08256863e-01 9.12860448e-01 3.48361645e-03 -3.19202069e+01] [ 8.03507787e-03 -2.22518368e-04 9.99967693e-01 -1.99892578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.577628 meters 0.01620513565705674 Centerline is valid? [True, True] Translation: X:121.69, Y:-31.95, Z:-0.20 [[ 9.11777563e-01 4.10631207e-01 -6.60959202e-03 1.21687344e+02] [-4.10618943e-01 9.11801501e-01 3.17896335e-03 -3.19460612e+01] [ 7.33201748e-03 -1.84483765e-04 9.99973103e-01 -1.99126605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63762799999999 meters 0.014739117899845628 Centerline is valid? [True, True] Translation: X:121.75, Y:-31.97, Z:-0.20 [[ 9.09526841e-01 4.15612298e-01 -5.22911082e-03 1.21745429e+02] [-4.15604702e-01 9.09541865e-01 2.51531452e-03 -3.19681970e+01] [ 5.80149086e-03 -1.14503021e-04 9.99983165e-01 -1.99168236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.697628 meters 0.014130762938536157 Centerline is valid? [True, True] Translation: X:121.80, Y:-31.99, Z:-0.20 [[ 9.08411726e-01 4.18046302e-01 -5.04232168e-03 1.21802616e+02] [-4.18039266e-01 9.08425715e-01 2.42735975e-03 -3.19933931e+01] [ 5.59532345e-03 -9.71536093e-05 9.99984341e-01 -1.99658030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.757628 meters 0.01283772054728804 Centerline is valid? [True, True] Translation: X:121.86, Y:-32.02, Z:-0.20 [[ 9.04717872e-01 4.25975050e-01 -5.55244025e-03 1.21859285e+02] [-4.25966668e-01 9.04734908e-01 2.67272958e-03 -3.20159460e+01] [ 6.16200264e-03 -5.29117489e-05 9.99981013e-01 -2.01240383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.817628 meters 0.015493207816294423 Centerline is valid? [True, True] Translation: X:121.92, Y:-32.04, Z:-0.21 [[ 9.02253993e-01 4.31150645e-01 -6.84493677e-03 1.21916259e+02] [-4.31138038e-01 9.02279957e-01 3.29731495e-03 -3.20402981e+01] [ 7.59768872e-03 -2.39029743e-05 9.99971137e-01 -2.05115869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.877628 meters 0.01243905134807822 Centerline is valid? [True, True] Translation: X:121.97, Y:-32.06, Z:-0.20 [[ 8.98902449e-01 4.38071931e-01 -8.20794223e-03 1.21972975e+02] [-4.38054067e-01 8.98939921e-01 3.95631818e-03 -3.20648555e+01] [ 9.11159888e-03 3.91783740e-05 9.99958488e-01 -2.04447587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.937628 meters 0.012629408660887794 Centerline is valid? [True, True] Translation: X:122.03, Y:-32.09, Z:-0.20 [[ 8.97749492e-01 4.40427151e-01 -8.35309599e-03 1.22028055e+02] [-4.40408728e-01 8.97788350e-01 4.02884233e-03 -3.20926637e+01] [ 9.27372382e-03 6.18852291e-05 9.99956996e-01 -2.04862432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99762799999999 meters 0.012635967709493188 Centerline is valid? [True, True] Translation: X:122.08, Y:-32.13, Z:-0.20 [[ 8.98153278e-01 4.39620821e-01 -7.36363491e-03 1.22081250e+02] [-4.39606458e-01 8.98183462e-01 3.55388954e-03 -3.21253422e+01] [ 8.17625893e-03 4.51639255e-05 9.99966573e-01 -2.03493270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.057628 meters 0.012334434387630483 Centerline is valid? [True, True] Translation: X:122.13, Y:-32.16, Z:-0.20 [[ 8.99983458e-01 4.35883561e-01 -5.94111047e-03 1.22133054e+02] [-4.35874118e-01 9.00003067e-01 2.86924055e-03 -3.21612280e+01] [ 6.59767243e-03 7.30725311e-06 9.99978235e-01 -2.01380338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.117628 meters 0.012495175079745024 Centerline is valid? [True, True] Translation: X:122.19, Y:-32.20, Z:-0.20 [[ 9.01979159e-01 4.31739227e-01 -5.90222805e-03 1.22186117e+02] [-4.31729803e-01 9.01998470e-01 2.85264276e-03 -3.21960103e+01] [ 6.55539845e-03 -2.48565681e-05 9.99978513e-01 -2.00537058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.177628 meters 0.014008542588491452 Centerline is valid? [True, True] Translation: X:122.23, Y:-32.24, Z:-0.20 [[ 9.06273072e-01 4.22641258e-01 -6.59436708e-03 1.22234560e+02] [-4.22629240e-01 9.06297058e-01 3.18886652e-03 -3.22360638e+01] [ 7.32420203e-03 -1.03011508e-04 9.99973172e-01 -2.02204094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.237628 meters 0.014367805737156411 Centerline is valid? [True, True] Translation: X:122.29, Y:-32.27, Z:-0.20 [[ 9.07558277e-01 4.19882237e-01 -6.07296907e-03 1.22288212e+02] [-4.19871970e-01 9.07578588e-01 2.93848623e-03 -3.22666988e+01] [ 6.74551487e-03 -1.16978006e-04 9.99977242e-01 -2.00955563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.297628 meters 0.014361237126787023 Centerline is valid? [True, True] Translation: X:122.34, Y:-32.30, Z:-0.20 [[ 9.07363362e-01 4.20289517e-01 -6.96066443e-03 1.22344569e+02] [-4.20276023e-01 9.07390051e-01 3.37048018e-03 -3.22956177e+01] [ 7.73261513e-03 -1.32849870e-04 9.99970094e-01 -2.01389708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35762799999999 meters 0.014846452485846177 Centerline is valid? [True, True] Translation: X:122.40, Y:-32.32, Z:-0.20 [[ 9.08215767e-01 4.18454374e-01 -6.32907040e-03 1.22399811e+02] [-4.18443160e-01 9.08237809e-01 3.06657838e-03 -3.23243436e+01] [ 7.03152417e-03 -1.36758613e-04 9.99975269e-01 -2.01080488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.417628 meters 0.016954262475009505 Centerline is valid? [True, True] Translation: X:122.45, Y:-32.35, Z:-0.20 [[ 9.10565481e-01 4.13337712e-01 -4.73725469e-03 1.22454077e+02] [-4.13331357e-01 9.10577794e-01 2.29583575e-03 -3.23531743e+01] [ 5.26259442e-03 -1.32452870e-04 9.99986144e-01 -2.01371950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.477628 meters 0.019564038657714486 Centerline is valid? [True, True] Translation: X:122.51, Y:-32.38, Z:-0.20 [[ 9.13082798e-01 4.07750102e-01 -4.43381323e-03 1.22509132e+02] [-4.07744462e-01 9.13093550e-01 2.15020084e-03 -3.23797263e+01] [ 4.92523087e-03 -1.55448606e-04 9.99987859e-01 -2.02835864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.537628 meters 0.020139992726507575 Centerline is valid? [True, True] Translation: X:122.56, Y:-32.41, Z:-0.20 [[ 9.16208812e-01 4.00695743e-01 -2.08196317e-03 1.22561879e+02] [-4.00694480e-01 9.16211173e-01 1.01015803e-03 -3.24103276e+01] [ 2.31228394e-03 -9.12845359e-05 9.99997322e-01 -1.97510620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.597628 meters 0.021929044078932182 Centerline is valid? [True, True] Translation: X:122.62, Y:-32.44, Z:-0.20 [[ 9.17649061e-01 3.97389876e-01 -1.21977355e-03 1.22616872e+02] [-3.97389439e-01 9.17649870e-01 5.92377260e-04 -3.24381027e+01] [ 1.35472977e-03 -5.88693094e-05 9.99999081e-01 -1.96808271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.657628 meters 0.022694760970327587 Centerline is valid? [True, True] Translation: X:122.67, Y:-32.46, Z:-0.20 [[ 9.17333281e-01 3.98115041e-01 -2.01626674e-03 1.22674485e+02] [-3.98113847e-01 9.17335492e-01 9.79567739e-04 -3.24619835e+01] [ 2.23957369e-03 -9.58863801e-05 9.99997488e-01 -1.98920194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71762799999999 meters 0.022469663987254366 Centerline is valid? [True, True] Translation: X:122.73, Y:-32.49, Z:-0.20 [[ 9.15863102e-01 4.01479092e-01 -3.05241475e-03 1.22730134e+02] [-4.01476377e-01 9.15868179e-01 1.48248739e-03 -3.24854869e+01] [ 3.39079723e-03 -1.32283084e-04 9.99994242e-01 -2.01102883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77762799999999 meters 0.019017588712712717 Centerline is valid? [True, True] Translation: X:122.79, Y:-32.50, Z:-0.20 [[ 9.12232997e-01 4.09645285e-01 -4.65825228e-03 1.22789606e+02] [-4.09639061e-01 9.12244877e-01 2.26369973e-03 -3.25028581e+01] [ 5.17678070e-03 -1.56819505e-04 9.99986588e-01 -2.03379025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.837628 meters 0.016599529244013193 Centerline is valid? [True, True] Translation: X:122.85, Y:-32.52, Z:-0.20 [[ 9.08824592e-01 4.17146461e-01 -5.16639594e-03 1.22848377e+02] [-4.17138925e-01 9.08839268e-01 2.51057933e-03 -3.25220503e+01] [ 5.74270279e-03 -1.26571383e-04 9.99983503e-01 -2.04500136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.897628 meters 0.015858754350568494 Centerline is valid? [True, True] Translation: X:122.91, Y:-32.55, Z:-0.20 [[ 9.07633732e-01 4.19739683e-01 -4.42795358e-03 1.22905399e+02] [-4.19734170e-01 9.07644528e-01 2.15337000e-03 -3.25467835e+01] [ 4.92286268e-03 -9.59078259e-05 9.99987878e-01 -2.04898230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.957628 meters 0.01620243679008521 Centerline is valid? [True, True] Translation: X:122.96, Y:-32.58, Z:-0.20 [[ 9.07438544e-01 4.20165369e-01 -4.04367605e-03 1.22959901e+02] [-4.20160771e-01 9.07447550e-01 1.96754982e-03 -3.25750105e+01] [ 4.49612022e-03 -8.64364972e-05 9.99989889e-01 -2.04605412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.017628 meters 0.015526960156862694 Centerline is valid? [True, True] Translation: X:123.02, Y:-32.60, Z:-0.20 [[ 9.07591710e-01 4.19835169e-01 -3.96461113e-03 1.23017001e+02] [-4.19830739e-01 9.07600365e-01 1.93052527e-03 -3.26017253e+01] [ 4.40878491e-03 -8.76631080e-05 9.99990277e-01 -2.04680089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.077628 meters 0.017641100171470064 Centerline is valid? [True, True] Translation: X:123.07, Y:-32.63, Z:-0.21 [[ 9.07412627e-01 4.20226064e-01 -3.51852749e-03 1.23070451e+02] [-4.20222573e-01 9.07419445e-01 1.71441725e-03 -3.26336500e+01] [ 3.91322307e-03 -7.71191854e-05 9.99992340e-01 -2.05388790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13762799999999 meters 0.01449967752501982 Centerline is valid? [True, True] Translation: X:123.13, Y:-32.66, Z:-0.20 [[ 9.06712531e-01 4.21732326e-01 -3.77246086e-03 1.23127744e+02] [-4.21728322e-01 9.06720376e-01 1.83924426e-03 -3.26568036e+01] [ 4.19623588e-03 -7.67122270e-05 9.99991193e-01 -2.03825795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.197628 meters 0.013717752022318343 Centerline is valid? [True, True] Translation: X:123.18, Y:-32.68, Z:-0.20 [[ 9.05113515e-01 4.25150676e-01 -4.05311201e-03 1.23184270e+02] [-4.25146088e-01 9.05122587e-01 1.97618893e-03 -3.26839727e+01] [ 4.50874129e-03 -6.55105919e-05 9.99989833e-01 -2.04192259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.257628 meters 0.013353494364581359 Centerline is valid? [True, True] Translation: X:123.24, Y:-32.71, Z:-0.21 [[ 9.03712204e-01 4.28112013e-01 -4.93529958e-03 1.23240254e+02] [-4.28105245e-01 9.03725678e-01 2.40805672e-03 -3.27105332e+01] [ 5.49107497e-03 -6.33626095e-05 9.99984922e-01 -2.06038398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.317628 meters 0.012952141165758775 Centerline is valid? [True, True] Translation: X:123.30, Y:-32.74, Z:-0.21 [[ 9.02471437e-01 4.30681084e-01 -7.68829333e-03 1.23295863e+02] [-4.30664732e-01 9.02504182e-01 3.75382502e-03 -3.27404030e+01] [ 8.55541831e-03 -7.66430779e-05 9.99963399e-01 -2.07838273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.377628 meters 0.013011780214495757 Centerline is valid? [True, True] Translation: X:123.35, Y:-32.77, Z:-0.21 [[ 9.02034819e-01 4.31580512e-01 -8.45259979e-03 1.23350298e+02] [-4.31560759e-01 9.02074418e-01 4.12985924e-03 -3.27719671e+01] [ 9.40724080e-03 -7.74664589e-05 9.99955748e-01 -2.08310814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.437628 meters 0.012976896800960747 Centerline is valid? [True, True] Translation: X:123.40, Y:-32.80, Z:-0.21 [[ 9.01873511e-01 4.31945589e-01 -6.86872317e-03 1.23404843e+02] [-4.31932539e-01 9.01899664e-01 3.35808882e-03 -3.28025098e+01] [ 7.64541078e-03 -6.17463116e-05 9.99970772e-01 -2.06599660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49762799999999 meters 0.012681075120722573 Centerline is valid? [True, True] Translation: X:123.46, Y:-32.83, Z:-0.20 [[ 9.01870819e-01 4.31983822e-01 -4.35921461e-03 1.23458437e+02] [-4.31978559e-01 9.01881353e-01 2.13274803e-03 -3.28339328e+01] [ 4.85280701e-03 -4.03759649e-05 9.99988224e-01 -2.02715695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.557628 meters 0.012397456851100306 Centerline is valid? [True, True] Translation: X:123.51, Y:-32.86, Z:-0.20 [[ 8.99768052e-01 4.36357187e-01 -3.13980284e-03 1.23514071e+02] [-4.36354481e-01 8.99773530e-01 1.53663153e-03 -3.28589958e+01] [ 3.49563170e-03 -1.25449145e-05 9.99993890e-01 -2.02373563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.617628 meters 0.012334414957868044 Centerline is valid? [True, True] Translation: X:123.57, Y:-32.89, Z:-0.20 [[ 8.98838549e-01 4.38269017e-01 -3.08746717e-03 1.23570439e+02] [-4.38266408e-01 8.98843851e-01 1.51224393e-03 -3.28852622e+01] [ 3.43792054e-03 -6.12999602e-06 9.99994090e-01 -2.02825910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.677628 meters 0.012259974684537553 Centerline is valid? [True, True] Translation: X:123.63, Y:-32.91, Z:-0.20 [[ 8.98371505e-01 4.39226272e-01 -2.98685096e-03 1.23628273e+02] [-4.39223832e-01 8.98376470e-01 1.46407421e-03 -3.29111481e+01] [ 3.32637647e-03 -3.38642287e-06 9.99994468e-01 -2.02385262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.737628 meters 0.012474666011966916 Centerline is valid? [True, True] Translation: X:123.68, Y:-32.94, Z:-0.20 [[ 9.00065140e-01 4.35748442e-01 -2.45751147e-03 1.23683955e+02] [-4.35746774e-01 9.00068495e-01 1.20555123e-03 -3.29403450e+01] [ 2.73724572e-03 -1.42219430e-05 9.99996254e-01 -2.01820237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.797628 meters 0.014364489210849747 Centerline is valid? [True, True] Translation: X:123.74, Y:-32.97, Z:-0.20 [[ 9.05127887e-01 4.25137688e-01 -1.20632769e-03 1.23737241e+02] [-4.25137277e-01 9.05128690e-01 5.91724930e-04 -3.29727465e+01] [ 1.34344637e-03 -2.27318645e-05 9.99999097e-01 -2.01340083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85762799999999 meters 0.01630760568018333 Centerline is valid? [True, True] Translation: X:123.79, Y:-33.00, Z:-0.20 [[ 9.09250727e-01 4.16242119e-01 -2.36950300e-03 1.23790776e+02] [-4.16240500e-01 9.09253811e-01 1.16312889e-03 -3.30031998e+01] [ 2.63862287e-03 -7.12926720e-05 9.99996516e-01 -2.01713713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.917628 meters 0.020129717901176902 Centerline is valid? [True, True] Translation: X:123.85, Y:-33.03, Z:-0.20 [[ 9.15246246e-01 4.02882320e-01 -3.18519265e-03 1.23845014e+02] [-4.02879314e-01 9.15251776e-01 1.56337780e-03 -3.30333192e+01] [ 3.54511051e-03 -1.47627431e-04 9.99993705e-01 -2.03288686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.977628 meters 0.02294650381688089 Centerline is valid? [True, True] Translation: X:123.90, Y:-33.06, Z:-0.20 [[ 9.18808131e-01 3.94692524e-01 -3.07077001e-03 1.23899123e+02] [-3.94689681e-01 9.18813246e-01 1.50826556e-03 -3.30625615e+01] [ 3.41676530e-03 -1.73805427e-04 9.99994148e-01 -2.03501881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.037628 meters 0.027678274214912705 Centerline is valid? [True, True] Translation: X:123.95, Y:-33.09, Z:-0.20 [[ 9.22273211e-01 3.86530703e-01 -2.47763920e-03 1.23951457e+02] [-3.86528822e-01 9.22276525e-01 1.21711531e-03 -3.30919392e+01] [ 2.75552091e-03 -1.64833879e-04 9.99996190e-01 -2.03202541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.097628 meters 0.026049159108556392 Centerline is valid? [True, True] Translation: X:124.01, Y:-33.11, Z:-0.20 [[ 9.22930969e-01 3.84954646e-01 -2.88922267e-03 1.24009536e+02] [-3.84952080e-01 9.22935470e-01 1.41947188e-03 -3.31140979e+01] [ 3.21299837e-03 -1.97862282e-04 9.99994819e-01 -2.03704814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.157628 meters 0.024551777856787933 Centerline is valid? [True, True] Translation: X:124.07, Y:-33.13, Z:-0.21 [[ 9.20654662e-01 3.90358832e-01 -3.86983596e-03 1.24068868e+02] [-3.90354271e-01 9.20662764e-01 1.90232956e-03 -3.31322363e+01] [ 4.30540502e-03 -2.40781585e-04 9.99990703e-01 -2.05526212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21762799999999 meters 0.021956191630236647 Centerline is valid? [True, True] Translation: X:124.13, Y:-33.15, Z:-0.21 [[ 9.17504221e-01 3.97702067e-01 -4.36708897e-03 1.24128307e+02] [-3.97696340e-01 9.17514584e-01 2.14686953e-03 -3.31512758e+01] [ 4.86068227e-03 -2.32986550e-04 9.99988160e-01 -2.06083922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27762799999999 meters 0.020765818693358584 Centerline is valid? [True, True] Translation: X:124.19, Y:-33.17, Z:-0.21 [[ 9.12228041e-01 4.09658082e-01 -4.50085495e-03 1.24187089e+02] [-4.09652142e-01 9.12239127e-01 2.21283550e-03 -3.31673252e+01] [ 5.01236194e-03 -1.74825718e-04 9.99987423e-01 -2.08905993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.337628 meters 0.016104725520899532 Centerline is valid? [True, True] Translation: X:124.25, Y:-33.18, Z:-0.21 [[ 9.08611565e-01 4.17626675e-01 -3.60347792e-03 1.24247137e+02] [-4.17622925e-01 9.08618704e-01 1.77289960e-03 -3.31833678e+01] [ 4.01459760e-03 -1.05982090e-04 9.99991936e-01 -2.07672716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.397628 meters 0.01371288691411595 Centerline is valid? [True, True] Translation: X:124.31, Y:-33.20, Z:-0.21 [[ 9.03467249e-01 4.28647583e-01 -2.86013072e-03 1.24306228e+02] [-4.28645276e-01 9.03471775e-01 1.40695143e-03 -3.32006399e+01] [ 3.18713370e-03 -4.51530132e-05 9.99994920e-01 -2.07576581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.457628 meters 0.012094346040969333 Centerline is valid? [True, True] Translation: X:124.37, Y:-33.22, Z:-0.21 [[ 8.99174805e-01 4.37583173e-01 -2.37406121e-03 1.24366152e+02] [-4.37581614e-01 8.99177939e-01 1.16806510e-03 -3.32190078e+01] [ 2.64582910e-03 -1.14491759e-05 9.99996500e-01 -2.06177804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.517628 meters 0.011832101274446312 Centerline is valid? [True, True] Translation: X:124.42, Y:-33.24, Z:-0.21 [[ 8.96757050e-01 4.42518486e-01 -2.04491264e-03 1.24423982e+02] [-4.42517340e-01 8.96759382e-01 1.00714800e-03 -3.32411579e+01] [ 2.27947620e-03 1.74223433e-06 9.99997402e-01 -2.06154001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.577628 meters 0.011991120099139465 Centerline is valid? [True, True] Translation: X:124.48, Y:-33.26, Z:-0.21 [[ 8.94619786e-01 4.46823394e-01 -2.07181140e-03 1.24481328e+02] [-4.46822228e-01 8.94622185e-01 1.02102739e-03 -3.32648437e+01] [ 2.30970737e-03 1.23000781e-05 9.99997333e-01 -2.07492482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63762799999999 meters 0.0121030374843486 Centerline is valid? [True, True] Translation: X:124.54, Y:-33.29, Z:-0.21 [[ 8.93958819e-01 4.48142736e-01 -2.39141514e-03 1.24537535e+02] [-4.48141184e-01 8.93962017e-01 1.17939924e-03 -3.32925081e+01] [ 2.66637351e-03 1.73572606e-05 9.99996445e-01 -2.07952688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.697628 meters 0.011988933034869162 Centerline is valid? [True, True] Translation: X:124.59, Y:-33.32, Z:-0.21 [[ 8.94847822e-01 4.46357928e-01 -3.46067286e-03 1.24590486e+02] [-4.46354665e-01 8.94854513e-01 1.70682104e-03 -3.33227110e+01] [ 3.85865183e-03 1.73423811e-05 9.99992555e-01 -2.09149296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.757628 meters 0.011891943586113875 Centerline is valid? [True, True] Translation: X:124.64, Y:-33.36, Z:-0.21 [[ 8.96241380e-01 4.43546796e-01 -4.19870137e-03 1.24644898e+02] [-4.43541954e-01 8.96251215e-01 2.07246862e-03 -3.33554184e+01] [ 4.68232801e-03 4.86807455e-06 9.99989038e-01 -2.10003737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.817628 meters 0.012522236971487013 Centerline is valid? [True, True] Translation: X:124.70, Y:-33.39, Z:-0.21 [[ 9.00031605e-01 4.35795545e-01 -5.03506730e-03 1.24695772e+02] [-4.35788453e-01 9.00045688e-01 2.48664440e-03 -3.33930026e+01] [ 5.61545916e-03 -4.38343626e-05 9.99984232e-01 -2.11266458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.877628 meters 0.013487024436375733 Centerline is valid? [True, True] Translation: X:124.75, Y:-33.43, Z:-0.21 [[ 9.03066687e-01 4.29471624e-01 -4.96824959e-03 1.24747825e+02] [-4.29464622e-01 9.03080350e-01 2.45377234e-03 -3.34282506e+01] [ 5.54055417e-03 -8.22326266e-05 9.99984648e-01 -2.10904462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.937628 meters 0.015944417053867035 Centerline is valid? [True, True] Translation: X:124.80, Y:-33.47, Z:-0.21 [[ 9.07582350e-01 4.19860059e-01 -3.43627706e-03 1.24796937e+02] [-4.19856636e-01 9.07588850e-01 1.69837793e-03 -3.34672711e+01] [ 3.83180781e-03 -9.86741114e-05 9.99992654e-01 -2.10031103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99762799999999 meters 0.018434187032333606 Centerline is valid? [True, True] Translation: X:124.85, Y:-33.50, Z:-0.21 [[ 9.10636467e-01 4.13195033e-01 -3.33014681e-03 1.24847662e+02] [-4.13191770e-01 9.10642548e-01 1.64680815e-03 -3.35024876e+01] [ 3.71302632e-03 -1.23654304e-04 9.99993099e-01 -2.09951730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.057628 meters 0.021241324870088698 Centerline is valid? [True, True] Translation: X:124.90, Y:-33.54, Z:-0.21 [[ 9.14420640e-01 4.04758498e-01 -2.33502355e-03 1.24898520e+02] [-4.04756866e-01 9.14423614e-01 1.15463666e-03 -3.35387968e+01] [ 2.60254967e-03 -1.10706780e-04 9.99996607e-01 -2.09487834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.117628 meters 0.020737800479423595 Centerline is valid? [True, True] Translation: X:124.95, Y:-33.57, Z:-0.21 [[ 9.15631233e-01 4.02015137e-01 -1.80983610e-03 1.24952754e+02] [-4.02014151e-01 9.15633017e-01 8.95125836e-04 -3.35685988e+01] [ 2.01699982e-03 -9.20254497e-05 9.99997962e-01 -2.07761049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.177628 meters 0.0205405604505558 Centerline is valid? [True, True] Translation: X:125.01, Y:-33.60, Z:-0.21 [[ 9.15612479e-01 4.02060723e-01 -9.81308871e-04 1.25008841e+02] [-4.02060432e-01 9.15613004e-01 4.86166425e-04 -3.35980563e+01] [ 1.09396759e-03 -5.05945776e-05 9.99999400e-01 -2.07411037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.237628 meters 0.020206735508865592 Centerline is valid? [True, True] Translation: X:125.06, Y:-33.63, Z:-0.21 [[ 9.14608636e-01 4.04338922e-01 -1.03915466e-03 1.25063892e+02] [-4.04338598e-01 9.14609225e-01 5.14522566e-04 -3.36252728e+01] [ 1.15846194e-03 -5.04164432e-05 9.99999328e-01 -2.07901759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.297628 meters 0.018213286680876867 Centerline is valid? [True, True] Translation: X:125.12, Y:-33.65, Z:-0.21 [[ 9.11683272e-01 4.10892309e-01 -1.05930702e-03 1.25120893e+02] [-4.10891976e-01 9.11683886e-01 5.25032174e-04 -3.36487370e+01] [ 1.18148482e-03 -4.34022962e-05 9.99999301e-01 -2.07809852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.357628 meters 0.016826730500707314 Centerline is valid? [True, True] Translation: X:125.18, Y:-33.67, Z:-0.21 [[ 9.09169718e-01 4.16421525e-01 -1.88048061e-03 1.25177593e+02] [-4.16420488e-01 9.09171661e-01 9.31506656e-04 -3.36736443e+01] [ 2.09757910e-03 -6.38269916e-05 9.99997798e-01 -2.07812103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.417628 meters 0.014479332271562935 Centerline is valid? [True, True] Translation: X:125.24, Y:-33.69, Z:-0.21 [[ 9.05329083e-01 4.24700672e-01 -2.93096664e-03 1.25236025e+02] [-4.24698195e-01 9.05333825e-01 1.45197565e-03 -3.36942643e+01] [ 3.27015827e-03 -6.97395460e-05 9.99994651e-01 -2.10189444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.477628 meters 0.013614473125562921 Centerline is valid? [True, True] Translation: X:125.29, Y:-33.72, Z:-0.21 [[ 9.02800944e-01 4.30039228e-01 -4.08882538e-03 1.25291100e+02] [-4.30034462e-01 9.02810200e-01 2.02589148e-03 -3.37181879e+01] [ 4.56264607e-03 -7.06409203e-05 9.99989589e-01 -2.11449600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.53762799999998 meters 0.012463194668995325 Centerline is valid? [True, True] Translation: X:125.35, Y:-33.74, Z:-0.21 [[ 9.00239699e-01 4.35367938e-01 -4.82098535e-03 1.25349082e+02] [-4.35361386e-01 9.00252607e-01 2.38919408e-03 -3.37423434e+01] [ 5.38028312e-03 -5.19764978e-05 9.99985525e-01 -2.12700298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.597628 meters 0.011854923345165833 Centerline is valid? [True, True] Translation: X:125.41, Y:-33.77, Z:-0.21 [[ 8.97914531e-01 4.40140945e-01 -5.04407925e-03 1.25406194e+02] [-4.40133837e-01 8.97928698e-01 2.50152727e-03 -3.37673737e+01] [ 5.63024809e-03 -2.60877322e-05 9.99984150e-01 -2.13127292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.657628 meters 0.011465665652705447 Centerline is valid? [True, True] Translation: X:125.46, Y:-33.79, Z:-0.21 [[ 8.95682391e-01 4.44663499e-01 -5.23712522e-03 1.25463450e+02] [-4.44655902e-01 8.95697702e-01 2.59920213e-03 -3.37933205e+01] [ 5.84665133e-03 6.59058970e-07 9.99982908e-01 -2.12908873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.717628 meters 0.011577984291827112 Centerline is valid? [True, True] Translation: X:125.52, Y:-33.82, Z:-0.21 [[ 8.94586249e-01 4.46869371e-01 -4.81740460e-03 1.25519931e+02] [-4.46862966e-01 8.94599220e-01 2.39263632e-03 -3.38218108e+01] [ 5.37884229e-03 1.23001553e-05 9.99985534e-01 -2.12957008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.777628 meters 0.011743448511674161 Centerline is valid? [True, True] Translation: X:125.58, Y:-33.85, Z:-0.21 [[ 8.93183879e-01 4.49671814e-01 -4.22117132e-03 1.25575253e+02] [-4.49666920e-01 8.93193853e-01 2.09807030e-03 -3.38521290e+01] [ 4.71376735e-03 2.41585382e-05 9.99988890e-01 -2.11840503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.837628 meters 0.011932397894375493 Centerline is valid? [True, True] Translation: X:125.63, Y:-33.88, Z:-0.21 [[ 8.92100033e-01 4.51812216e-01 -4.82205047e-03 1.25629787e+02] [-4.51805854e-01 8.92113065e-01 2.39795799e-03 -3.38807505e+01] [ 5.38524094e-03 3.94122304e-05 9.99985499e-01 -2.12189176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.897628 meters 0.012445715406742278 Centerline is valid? [True, True] Translation: X:125.68, Y:-33.91, Z:-0.22 [[ 8.91070064e-01 4.53792100e-01 -8.17747050e-03 1.25683910e+02] [-4.53773866e-01 8.91107582e-01 4.06882873e-03 -3.39114391e+01] [ 9.13340830e-03 8.51109276e-05 9.99958286e-01 -2.15275181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.957628 meters 0.01389790413581281 Centerline is valid? [True, True] Translation: X:125.74, Y:-33.94, Z:-0.22 [[ 8.91013256e-01 4.53837957e-01 -1.12465859e-02 1.25738041e+02] [-4.53803430e-01 8.91084225e-01 5.59920162e-03 -3.39426301e+01] [ 1.25627855e-02 1.14776375e-04 9.99921079e-01 -2.19405936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.017628 meters 0.012502895596132834 Centerline is valid? [True, True] Translation: X:125.79, Y:-33.97, Z:-0.22 [[ 8.91124180e-01 4.53631111e-01 -1.07940190e-02 1.25793414e+02] [-4.53599252e-01 8.91189544e-01 5.37722358e-03 -3.39717408e+01] [ 1.20587928e-02 1.04385004e-04 9.99927285e-01 -2.17229781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.077628 meters 0.01196295844359198 Centerline is valid? [True, True] Translation: X:125.85, Y:-34.00, Z:-0.21 [[ 8.93772912e-01 4.48419685e-01 -9.47460780e-03 1.25846742e+02] [-4.48394816e-01 8.93823129e-01 4.72261624e-03 -3.40013424e+01] [ 1.05863377e-02 2.74185525e-05 9.99943963e-01 -2.14520552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.137628 meters 0.014037282939672931 Centerline is valid? [True, True] Translation: X:125.90, Y:-34.03, Z:-0.21 [[ 8.97346669e-01 4.41244669e-01 -8.49107230e-03 1.25900679e+02] [-4.41224344e-01 8.97386839e-01 4.23550956e-03 -3.40337039e+01] [ 9.48867255e-03 -5.42525944e-05 9.99954980e-01 -2.13090680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.197628 meters 0.013420189603232427 Centerline is valid? [True, True] Translation: X:125.95, Y:-34.07, Z:-0.21 [[ 9.01190497e-01 4.33384294e-01 -5.80879813e-03 1.25954537e+02] [-4.33374605e-01 9.01209213e-01 2.89941821e-03 -3.40656214e+01] [ 6.49150470e-03 -9.55425389e-05 9.99978925e-01 -2.10152273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.257628 meters 0.017037764657896328 Centerline is valid? [True, True] Translation: X:126.01, Y:-34.10, Z:-0.21 [[ 9.07941222e-01 4.19077961e-01 -4.04975600e-03 1.26006496e+02] [-4.19073104e-01 9.07950243e-01 2.02246057e-03 -3.40983200e+01] [ 4.52454560e-03 -1.39131504e-04 9.99989755e-01 -2.08897743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31762799999998 meters 0.01863542703267126 Centerline is valid? [True, True] Translation: X:126.06, Y:-34.13, Z:-0.21 [[ 9.12297376e-01 4.09506807e-01 -4.20386853e-03 1.26061378e+02] [-4.09501471e-01 9.12307041e-01 2.09940274e-03 -3.41268911e+01] [ 4.69493857e-03 -1.93789264e-04 9.99988960e-01 -2.08673514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.377628 meters 0.022558979458294357 Centerline is valid? [True, True] Translation: X:126.12, Y:-34.16, Z:-0.21 [[ 9.17575058e-01 3.97509465e-01 -6.49916902e-03 1.26115724e+02] [-3.97496407e-01 9.17597989e-01 3.24602155e-03 -3.41567105e+01] [ 7.25394871e-03 -3.95072075e-04 9.99973612e-01 -2.11409717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.437628 meters 0.024749104809588484 Centerline is valid? [True, True] Translation: X:126.17, Y:-34.18, Z:-0.21 [[ 9.19206068e-01 3.93698573e-01 -7.85104708e-03 1.26170421e+02] [-3.93679374e-01 9.19239452e-01 3.92188582e-03 -3.41846866e+01] [ 8.76103306e-03 -5.14225939e-04 9.99961489e-01 -2.12081013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.497628 meters 0.024598653526503627 Centerline is valid? [True, True] Translation: X:126.23, Y:-34.21, Z:-0.21 [[ 9.18432192e-01 3.95514587e-01 -7.10781473e-03 1.26229137e+02] [-3.95498902e-01 9.18459585e-01 3.55107082e-03 -3.42050851e+01] [ 7.93274087e-03 -4.50284838e-04 9.99968434e-01 -2.12873786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.557628 meters 0.02229858966929209 Centerline is valid? [True, True] Translation: X:126.29, Y:-34.22, Z:-0.21 [[ 9.13973056e-01 4.05740610e-01 -5.27349493e-03 1.26288632e+02] [-4.05732143e-01 9.13988230e-01 2.63497672e-03 -3.42205704e+01] [ 5.88902936e-03 -2.68671328e-04 9.99982623e-01 -2.11603492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.617628 meters 0.01795735350567568 Centerline is valid? [True, True] Translation: X:126.35, Y:-34.24, Z:-0.21 [[ 9.10076566e-01 4.14423980e-01 -3.66194816e-03 1.26348934e+02] [-4.14419962e-01 9.10083921e-01 1.83079031e-03 -3.42362233e+01] [ 4.09140354e-03 -1.48574939e-04 9.99991619e-01 -2.09607663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.677628 meters 0.01594800660182521 Centerline is valid? [True, True] Translation: X:126.41, Y:-34.26, Z:-0.21 [[ 9.06032087e-01 4.23199535e-01 -2.83047875e-03 1.26406652e+02] [-4.23197177e-01 9.06036504e-01 1.41514174e-03 -3.42552843e+01] [ 3.16340440e-03 -8.43132055e-05 9.99994993e-01 -2.08718532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.737628 meters 0.012946679200205813 Centerline is valid? [True, True] Translation: X:126.47, Y:-34.27, Z:-0.21 [[ 9.00418227e-01 4.35020227e-01 -2.10209537e-03 1.26468036e+02] [-4.35018958e-01 9.00420680e-01 1.05104518e-03 -3.42695946e+01] [ 2.34999605e-03 -3.19289029e-05 9.99997238e-01 -2.09137915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.797628 meters 0.01182353169471258 Centerline is valid? [True, True] Translation: X:126.53, Y:-34.29, Z:-0.21 [[ 8.97137620e-01 4.41744422e-01 -2.44062695e-03 1.26527809e+02] [-4.41742734e-01 8.97140939e-01 1.22146667e-03 -3.42892962e+01] [ 2.72916244e-03 -1.76944740e-05 9.99996276e-01 -2.10325799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.857628 meters 0.011393510757718111 Centerline is valid? [True, True] Translation: X:126.59, Y:-34.31, Z:-0.21 [[ 8.93975156e-01 4.48109790e-01 -2.45682701e-03 1.26586789e+02] [-4.48108101e-01 8.93978532e-01 1.23034489e-03 -3.43099172e+01] [ 2.74768019e-03 1.02632228e-06 9.99996225e-01 -2.10465173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.917628 meters 0.011442947982703634 Centerline is valid? [True, True] Translation: X:126.64, Y:-34.34, Z:-0.21 [[ 8.92760331e-01 4.50526539e-01 -2.19740244e-03 1.26642697e+02] [-4.50525193e-01 8.92763035e-01 1.10123272e-03 -3.43354421e+01] [ 2.45789424e-03 6.84827254e-06 9.99996979e-01 -2.11333353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.977628 meters 0.01142745316028136 Centerline is valid? [True, True] Translation: X:126.70, Y:-34.36, Z:-0.21 [[ 8.92653015e-01 4.50737106e-01 -2.57993120e-03 1.26698675e+02] [-4.50735249e-01 8.92656743e-01 1.29378576e-03 -3.43644858e+01] [ 2.88615024e-03 7.96417743e-06 9.99995835e-01 -2.12370515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.03762799999998 meters 0.011460366127509475 Centerline is valid? [True, True] Translation: X:126.75, Y:-34.40, Z:-0.21 [[ 8.94380799e-01 4.47301748e-01 -2.03288193e-03 1.26751948e+02] [-4.47300584e-01 8.94383109e-01 1.02028529e-03 -3.43987553e+01] [ 2.27455066e-03 -3.21429982e-06 9.99997413e-01 -2.11619245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.097628 meters 0.0117358152316917 Centerline is valid? [True, True] Translation: X:126.81, Y:-34.43, Z:-0.21 [[ 8.96113144e-01 4.43823089e-01 -1.51627227e-03 1.26805623e+02] [-4.43822436e-01 8.96114427e-01 7.61667187e-04 -3.44323116e+01] [ 1.69679894e-03 -9.58432728e-06 9.99998560e-01 -2.10526454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.157628 meters 0.012700407100921154 Centerline is valid? [True, True] Translation: X:126.86, Y:-34.47, Z:-0.21 [[ 8.99226725e-01 4.37479972e-01 -1.60356328e-03 1.26856654e+02] [-4.37479231e-01 8.99228154e-01 8.05455105e-04 -3.44678578e+01] [ 1.79433973e-03 -2.27611245e-05 9.99998390e-01 -2.10230501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.217628 meters 0.013310784916404075 Centerline is valid? [True, True] Translation: X:126.91, Y:-34.50, Z:-0.21 [[ 9.00759878e-01 4.34312720e-01 -2.02562566e-03 1.26910478e+02] [-4.34311528e-01 9.00762155e-01 1.01825686e-03 -3.44998418e+01] [ 2.26684884e-03 -3.74523455e-05 9.99997430e-01 -2.11527814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.277628 meters 0.01426051054166757 Centerline is valid? [True, True] Translation: X:126.96, Y:-34.53, Z:-0.21 [[ 9.02941658e-01 4.29753314e-01 -2.90716350e-03 1.26962467e+02] [-4.29750836e-01 9.02946335e-01 1.46112073e-03 -3.45346855e+01] [ 3.25293411e-03 -6.99508275e-05 9.99994707e-01 -2.12090861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.337628 meters 0.015541602866995043 Centerline is valid? [True, True] Translation: X:127.01, Y:-34.57, Z:-0.21 [[ 9.03730643e-01 4.28091008e-01 -3.00238319e-03 1.27014527e+02] [-4.28088352e-01 9.03735627e-01 1.51013337e-03 -3.45667236e+01] [ 3.35983517e-03 -7.94685336e-05 9.99994353e-01 -2.11900367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.397628 meters 0.016059157335083313 Centerline is valid? [True, True] Translation: X:127.07, Y:-34.60, Z:-0.21 [[ 9.04135526e-01 4.27233438e-01 -3.24659119e-03 1.27068342e+02] [-4.27230323e-01 9.04141350e-01 1.63393481e-03 -3.45978119e+01] [ 3.63344893e-03 -9.02562993e-05 9.99993395e-01 -2.11614068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.457628 meters 0.016224743625392987 Centerline is valid? [True, True] Translation: X:127.12, Y:-34.63, Z:-0.21 [[ 9.04427533e-01 4.26615974e-01 -3.10621048e-03 1.27122920e+02] [-4.26613116e-01 9.04432862e-01 1.56425239e-03 -3.46282592e+01] [ 3.47669390e-03 -8.96027994e-05 9.99993952e-01 -2.11095510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.517628 meters 0.015992184748911287 Centerline is valid? [True, True] Translation: X:127.18, Y:-34.66, Z:-0.21 [[ 9.04349489e-01 4.26785682e-01 -2.44596008e-03 1.27178778e+02] [-4.26783907e-01 9.04352794e-01 1.23278415e-03 -3.46582103e+01] [ 2.73814545e-03 -7.09713126e-05 9.99996249e-01 -2.10372398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.577628 meters 0.01483984083075257 Centerline is valid? [True, True] Translation: X:127.23, Y:-34.69, Z:-0.21 [[ 9.02776938e-01 4.30104209e-01 -2.04201792e-03 1.27233773e+02] [-4.30102979e-01 9.02779246e-01 1.02985073e-03 -3.46862111e+01] [ 2.28643453e-03 -5.14475006e-05 9.99997385e-01 -2.10034822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.637628 meters 0.014814649411787307 Centerline is valid? [True, True] Translation: X:127.29, Y:-34.71, Z:-0.21 [[ 9.00863445e-01 4.34096264e-01 -2.34248611e-03 1.27288235e+02] [-4.34094658e-01 9.00866489e-01 1.18194062e-03 -3.47144704e+01] [ 2.62334325e-03 -4.79063928e-05 9.99996558e-01 -2.11376867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.697628 meters 0.012588808190721498 Centerline is valid? [True, True] Translation: X:127.34, Y:-34.74, Z:-0.21 [[ 8.97635667e-01 4.40725089e-01 -3.40658808e-03 1.27344996e+02] [-4.40721740e-01 8.97642130e-01 1.71867503e-03 -3.47387288e+01] [ 3.81536018e-03 -4.13865790e-05 9.99992721e-01 -2.12177213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.757628 meters 0.012188120890410497 Centerline is valid? [True, True] Translation: X:127.40, Y:-34.77, Z:-0.21 [[ 8.95467120e-01 4.45112678e-01 -3.65242627e-03 1.27399240e+02] [-4.45108859e-01 8.95474568e-01 1.84402390e-03 -3.47658952e+01] [ 4.09145326e-03 -2.55354761e-05 9.99991630e-01 -2.12820563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81762799999998 meters 0.011816712685746017 Centerline is valid? [True, True] Translation: X:127.45, Y:-34.79, Z:-0.21 [[ 8.92962181e-01 4.50117066e-01 -3.62892052e-03 1.27454553e+02] [-4.50113333e-01 8.92969555e-01 1.83332087e-03 -3.47931488e+01] [ 4.06572456e-03 -3.66069564e-06 9.99991735e-01 -2.12329885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.877628 meters 0.011943441555548339 Centerline is valid? [True, True] Translation: X:127.51, Y:-34.82, Z:-0.21 [[ 8.91501850e-01 4.52999183e-01 -4.02396708e-03 1.27510010e+02] [-4.52994615e-01 8.91510931e-01 2.03432340e-03 -3.48221477e+01] [ 4.50895747e-03 9.23234118e-06 9.99989835e-01 -2.13089145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.937628 meters 0.012242379204564576 Centerline is valid? [True, True] Translation: X:127.56, Y:-34.85, Z:-0.21 [[ 8.89914677e-01 4.56104890e-01 -4.49415191e-03 1.27564533e+02] [-4.56099226e-01 8.89926024e-01 2.27329912e-03 -3.48519950e+01] [ 5.03632559e-03 2.67369526e-05 9.99987317e-01 -2.14511682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.997628 meters 0.012431922915029212 Centerline is valid? [True, True] Translation: X:127.62, Y:-34.88, Z:-0.21 [[ 8.88965663e-01 4.57958637e-01 -3.73334951e-03 1.27618442e+02] [-4.57954739e-01 8.88973501e-01 1.88978591e-03 -3.48830770e+01] [ 4.18429257e-03 2.97503181e-05 9.99991245e-01 -2.13999548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.057628 meters 0.01244577726620222 Centerline is valid? [True, True] Translation: X:127.67, Y:-34.92, Z:-0.21 [[ 8.88605038e-01 4.58662338e-01 -3.15381975e-03 1.27672482e+02] [-4.58659556e-01 8.88610634e-01 1.59768996e-03 -3.49151829e+01] [ 3.53531798e-03 2.68142182e-05 9.99993750e-01 -2.13280721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.117628 meters 0.013008232095284747 Centerline is valid? [True, True] Translation: X:127.73, Y:-34.95, Z:-0.21 [[ 8.87806554e-01 4.60203458e-01 -3.50699781e-03 1.27725619e+02] [-4.60200027e-01 8.87813480e-01 1.77744726e-03 -3.49453976e+01] [ 3.93154731e-03 3.58911641e-05 9.99992271e-01 -2.12907264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.177628 meters 0.01274712481755573 Centerline is valid? [True, True] Translation: X:127.78, Y:-34.97, Z:-0.21 [[ 8.87801371e-01 4.60204980e-01 -4.48361295e-03 1.27781900e+02] [-4.60199363e-01 8.87812691e-01 2.27401552e-03 -3.49743043e+01] [ 5.02712175e-03 4.44817246e-05 9.99987363e-01 -2.14029972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.237628 meters 0.012724399623201339 Centerline is valid? [True, True] Translation: X:127.84, Y:-35.00, Z:-0.22 [[ 8.87861249e-01 4.60073277e-01 -5.91459540e-03 1.27838779e+02] [-4.60063488e-01 8.87880947e-01 3.00175051e-03 -3.50014518e+01] [ 6.63248176e-03 5.59514306e-05 9.99978003e-01 -2.16215423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.297628 meters 0.012633911862289102 Centerline is valid? [True, True] Translation: X:127.89, Y:-35.03, Z:-0.22 [[ 8.88258211e-01 4.59288771e-01 -7.15370628e-03 1.27894908e+02] [-4.59274405e-01 8.88287015e-01 3.63304195e-03 -3.50295973e+01] [ 8.02315977e-03 5.84348479e-05 9.99967812e-01 -2.17595034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.357628 meters 0.012586625098248384 Centerline is valid? [True, True] Translation: X:127.95, Y:-35.06, Z:-0.22 [[ 8.88503518e-01 4.58816598e-01 -6.98766741e-03 1.27951187e+02] [-4.58802858e-01 8.88530994e-01 3.55118590e-03 -3.50586919e+01] [ 7.83810210e-03 5.07206068e-05 9.99969280e-01 -2.17166296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.417628 meters 0.012299964408889183 Centerline is valid? [True, True] Translation: X:128.01, Y:-35.09, Z:-0.21 [[ 8.89743824e-01 4.56432346e-01 -5.04394207e-03 1.28006201e+02] [-4.56425139e-01 8.89758120e-01 2.56500406e-03 -3.50881212e+01] [ 5.65863924e-03 1.99854465e-05 9.99983990e-01 -2.14892813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.477628 meters 0.012310448578028006 Centerline is valid? [True, True] Translation: X:128.06, Y:-35.12, Z:-0.21 [[ 8.93075752e-01 4.49894896e-01 -3.20672265e-03 1.28059698e+02] [-4.49891936e-01 8.93081509e-01 1.63188061e-03 -3.51206770e+01] [ 3.59803946e-03 -1.47143388e-05 9.99993527e-01 -2.13025626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53762799999998 meters 0.013241867093908276 Centerline is valid? [True, True] Translation: X:128.11, Y:-35.15, Z:-0.21 [[ 8.96175993e-01 4.43691968e-01 -2.45510962e-03 1.28112689e+02] [-4.43690208e-01 8.96179355e-01 1.25024712e-03 -3.51539143e+01] [ 2.75494316e-03 -3.11333536e-05 9.99996205e-01 -2.12367053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.597628 meters 0.015788502341806458 Centerline is valid? [True, True] Translation: X:128.16, Y:-35.19, Z:-0.21 [[ 9.01322437e-01 4.33144287e-01 -1.97248066e-03 1.28163923e+02] [-4.33143124e-01 9.01324594e-01 1.00506427e-03 -3.51883715e+01] [ 2.21318318e-03 -5.15205424e-05 9.99997550e-01 -2.11937722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.657628 meters 0.016630858683159253 Centerline is valid? [True, True] Translation: X:128.22, Y:-35.22, Z:-0.21 [[ 9.04267607e-01 4.26962639e-01 -1.73220117e-03 1.28219026e+02] [-4.26961729e-01 9.04269264e-01 8.83192990e-04 -3.52159013e+01] [ 1.94346669e-03 -5.90592025e-05 9.99998110e-01 -2.13273875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.717628 meters 0.019891662089796293 Centerline is valid? [True, True] Translation: X:128.27, Y:-35.25, Z:-0.21 [[ 9.09066373e-01 4.16636960e-01 -3.46008744e-03 1.28272022e+02] [-4.16633259e-01 9.09072944e-01 1.76369628e-03 -3.52481395e+01] [ 3.88029293e-03 -1.61729475e-04 9.99992459e-01 -2.14030057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.777628 meters 0.022902795789030327 Centerline is valid? [True, True] Translation: X:128.32, Y:-35.28, Z:-0.21 [[ 9.11544138e-01 4.11185850e-01 -3.67161490e-03 1.28324543e+02] [-4.11181636e-01 9.11551511e-01 1.87202396e-03 -3.52792445e+01] [ 4.11661587e-03 -1.96731851e-04 9.99991507e-01 -2.13706682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.837628 meters 0.02350191619196097 Centerline is valid? [True, True] Translation: X:128.38, Y:-35.31, Z:-0.21 [[ 9.13052601e-01 4.07827827e-01 -3.37799749e-03 1.28380377e+02] [-4.07824232e-01 9.13058829e-01 1.72347504e-03 -3.53052500e+01] [ 3.78719151e-03 -1.95994141e-04 9.99992809e-01 -2.14008887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.897628 meters 0.022875188205794875 Centerline is valid? [True, True] Translation: X:128.44, Y:-35.33, Z:-0.21 [[ 9.12472057e-01 4.09127086e-01 -3.12619134e-03 1.28439386e+02] [-4.09124011e-01 9.12477395e-01 1.59606394e-03 -3.53268471e+01] [ 3.50557192e-03 -1.77363801e-04 9.99993840e-01 -2.14493167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.957628 meters 0.02092624806218489 Centerline is valid? [True, True] Translation: X:128.50, Y:-35.35, Z:-0.21 [[ 9.10291165e-01 4.13963829e-01 -1.98595207e-03 1.28497571e+02] [-4.13962598e-01 9.10293325e-01 1.01456903e-03 -3.53486537e+01] [ 2.22779379e-03 -1.01443348e-04 9.99997513e-01 -2.13312990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.017628 meters 0.0181780499160228 Centerline is valid? [True, True] Translation: X:128.56, Y:-35.37, Z:-0.21 [[ 9.05423013e-01 4.24507863e-01 -1.49711404e-03 1.28558157e+02] [-4.24507178e-01 9.05424249e-01 7.64781719e-04 -3.53660379e+01] [ 1.68017921e-03 -5.69153122e-05 9.99998587e-01 -2.13375139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.077628 meters 0.01611838801169087 Centerline is valid? [True, True] Translation: X:128.62, Y:-35.39, Z:-0.21 [[ 9.01203357e-01 4.33392675e-01 -1.81600290e-03 1.28616041e+02] [-4.33391685e-01 9.01205186e-01 9.27791607e-04 -3.53860221e+01] [ 2.03868932e-03 -4.90883524e-05 9.99997921e-01 -2.14274993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.137628 meters 0.012872368916586004 Centerline is valid? [True, True] Translation: X:128.68, Y:-35.40, Z:-0.22 [[ 8.94237797e-01 4.47581772e-01 -3.05300100e-03 1.28677852e+02] [-4.47579053e-01 8.94243008e-01 1.56035769e-03 -3.54000700e+01] [ 3.42851246e-03 -2.88715248e-05 9.99994122e-01 -2.15735962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.197628 meters 0.012473106902619437 Centerline is valid? [True, True] Translation: X:128.74, Y:-35.42, Z:-0.22 [[ 8.88520526e-01 4.58818756e-01 -4.07721014e-03 1.28738275e+02] [-4.58814018e-01 8.88529880e-01 2.08522472e-03 -3.54183673e+01] [ 4.57946325e-03 1.79161967e-05 9.99989514e-01 -2.17698565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.257628 meters 0.012868896780388477 Centerline is valid? [True, True] Translation: X:128.80, Y:-35.44, Z:-0.22 [[ 8.86173236e-01 4.63343049e-01 -3.19599412e-03 1.28795026e+02] [-4.63340163e-01 8.86178999e-01 1.63562882e-03 -3.54430563e+01] [ 3.59008011e-03 3.13819514e-05 9.99993555e-01 -2.17697736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31762799999998 meters 0.012902917872106479 Centerline is valid? [True, True] Translation: X:128.85, Y:-35.47, Z:-0.22 [[ 8.85593465e-01 4.64453316e-01 -2.70775509e-03 1.28851117e+02] [-4.64451246e-01 8.85597604e-01 1.38688920e-03 -3.54714579e+01] [ 3.04212671e-03 2.94002158e-05 9.99995372e-01 -2.17474739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.377628 meters 0.012842140053213207 Centerline is valid? [True, True] Translation: X:128.90, Y:-35.50, Z:-0.22 [[ 8.86109886e-01 4.63472481e-01 -1.59028491e-03 1.28904618e+02] [-4.63471765e-01 8.86111313e-01 8.14761454e-04 -3.55013759e+01] [ 1.78678897e-03 1.50839760e-05 9.99998404e-01 -2.17251490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.437628 meters 0.012447619213186883 Centerline is valid? [True, True] Translation: X:128.96, Y:-35.53, Z:-0.22 [[ 8.87869136e-01 4.60092639e-01 -1.77790419e-03 1.28957996e+02] [-4.60091736e-01 8.87870916e-01 9.11592677e-04 -3.55341637e+01] [ 1.99796650e-03 8.62402345e-06 9.99998004e-01 -2.18226591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.497628 meters 0.012383518755127262 Centerline is valid? [True, True] Translation: X:129.01, Y:-35.57, Z:-0.22 [[ 8.90637428e-01 4.54707643e-01 -2.43540885e-03 1.29009994e+02] [-4.54705927e-01 8.90640758e-01 1.24944959e-03 -3.55706476e+01] [ 2.73720866e-03 -5.41173069e-06 9.99996254e-01 -2.19855191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.557628 meters 0.012778413138775304 Centerline is valid? [True, True] Translation: X:129.06, Y:-35.60, Z:-0.22 [[ 8.92472178e-01 4.51092141e-01 -3.04830543e-03 1.29062053e+02] [-4.51089428e-01 8.92477383e-01 1.56459419e-03 -3.56044450e+01] [ 3.42631980e-03 -2.12984327e-05 9.99994130e-01 -2.20686992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.617628 meters 0.014295457801642318 Centerline is valid? [True, True] Translation: X:129.11, Y:-35.64, Z:-0.22 [[ 8.95763450e-01 4.44515322e-01 -3.73778975e-03 1.29112575e+02] [-4.44511186e-01 8.95771246e-01 1.91838019e-03 -3.56422676e+01] [ 4.20095397e-03 -5.69255054e-05 9.99991174e-01 -2.21557108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.677628 meters 0.014850671110267237 Centerline is valid? [True, True] Translation: X:129.17, Y:-35.68, Z:-0.22 [[ 8.98435446e-01 4.39078048e-01 -4.92106995e-03 1.29165509e+02] [-4.39070795e-01 8.98448917e-01 2.52610054e-03 -3.56752714e+01] [ 5.53048526e-03 -1.08840177e-04 9.99984701e-01 -2.21344989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.737628 meters 0.016808370991911705 Centerline is valid? [True, True] Translation: X:129.22, Y:-35.71, Z:-0.22 [[ 9.03183338e-01 4.29215407e-01 -5.83023774e-03 1.29215097e+02] [-4.29205008e-01 9.03202133e-01 2.99473468e-03 -3.57129592e+01] [ 6.55126943e-03 -2.02427231e-04 9.99978520e-01 -2.21450676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.797628 meters 0.018815683649772853 Centerline is valid? [True, True] Translation: X:129.27, Y:-35.75, Z:-0.22 [[ 9.05894571e-01 4.23470298e-01 -5.28512985e-03 1.29266335e+02] [-4.23461646e-01 9.05909961e-01 2.71622524e-03 -3.57468469e+01] [ 5.93809249e-03 -2.22563912e-04 9.99982345e-01 -2.21044957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.857628 meters 0.020680462787157898 Centerline is valid? [True, True] Translation: X:129.32, Y:-35.78, Z:-0.22 [[ 9.08259830e-01 4.18398389e-01 -2.62082481e-03 1.29318911e+02] [-4.18396240e-01 9.08263603e-01 1.34711640e-03 -3.57782576e+01] [ 2.94403112e-03 -1.26988466e-04 9.99995658e-01 -2.19735184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.917628 meters 0.023340690425371638 Centerline is valid? [True, True] Translation: X:129.37, Y:-35.81, Z:-0.22 [[ 9.09228602e-01 4.16294579e-01 -1.47397186e-03 1.29371431e+02] [-4.16293895e-01 9.09229794e-01 7.58399048e-04 -3.58099106e+01] [ 1.65589654e-03 -7.59526219e-05 9.99998626e-01 -2.18920809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.977628 meters 0.02188497344421668 Centerline is valid? [True, True] Translation: X:129.43, Y:-35.83, Z:-0.22 [[ 9.10055817e-01 4.14485601e-01 -3.08974054e-04 1.29428691e+02] [-4.14485571e-01 9.10055870e-01 1.59047779e-04 -3.58347235e+01] [ 3.47106666e-04 -1.66770690e-05 9.99999940e-01 -2.18818355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03762799999998 meters 0.021873566072111845 Centerline is valid? [True, True] Translation: X:129.49, Y:-35.86, Z:-0.22 [[ 9.10294247e-01 4.13961814e-01 1.31784439e-05 1.29485751e+02] [-4.13961814e-01 9.10294247e-01 -6.31498199e-06 -3.58601709e+01] [-1.46104231e-05 2.93119220e-07 1.00000000e+00 -2.19669718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.097628 meters 0.025114599156054924 Centerline is valid? [True, True] Translation: X:129.54, Y:-35.89, Z:-0.22 [[ 9.10503764e-01 4.13500709e-01 2.44857047e-04 1.29540907e+02] [-4.13500690e-01 9.10503796e-01 -1.25657451e-04 -3.58866933e+01] [-2.74902716e-04 1.31630244e-05 9.99999962e-01 -2.21026053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.157628 meters 0.021692166672685798 Centerline is valid? [True, True] Translation: X:129.60, Y:-35.91, Z:-0.22 [[ 9.10566609e-01 4.13362162e-01 4.15450433e-04 1.29600135e+02] [-4.13362108e-01 9.10566704e-01 -2.13590456e-04 -3.59072840e+01] [-4.66585545e-04 2.27568708e-05 9.99999891e-01 -2.20362686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.217628 meters 0.023079378001211414 Centerline is valid? [True, True] Translation: X:129.66, Y:-35.93, Z:-0.22 [[ 9.10792303e-01 4.12864629e-01 4.22482623e-04 1.29656264e+02] [-4.12864572e-01 9.10792401e-01 -2.17422409e-04 -3.59307911e+01] [-4.74559985e-04 2.35985490e-05 9.99999887e-01 -2.20546233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.277628 meters 0.022863513586213448 Centerline is valid? [True, True] Translation: X:129.72, Y:-35.95, Z:-0.22 [[ 9.10719634e-01 4.13025003e-01 -3.08933000e-04 1.29715288e+02] [-4.13024972e-01 9.10719686e-01 1.59533854e-04 -3.59547748e+01] [ 3.47242836e-04 -1.76935692e-05 9.99999940e-01 -2.22232336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.337628 meters 0.022500733881596534 Centerline is valid? [True, True] Translation: X:129.77, Y:-35.98, Z:-0.22 [[ 9.09379911e-01 4.15964723e-01 -1.23603285e-03 1.29772806e+02] [-4.15964239e-01 9.09380748e-01 6.37679265e-04 -3.59764248e+01] [ 1.38927656e-03 -6.57472473e-05 9.99999033e-01 -2.23229674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.397628 meters 0.020372429103779968 Centerline is valid? [True, True] Translation: X:129.83, Y:-36.00, Z:-0.22 [[ 9.07459762e-01 4.20134568e-01 -1.92978410e-03 1.29831698e+02] [-4.20133399e-01 9.07461810e-01 9.95509805e-04 -3.59968584e+01] [ 2.16945345e-03 -9.26183377e-05 9.99997642e-01 -2.24093771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.457628 meters 0.01758668825859819 Centerline is valid? [True, True] Translation: X:129.89, Y:-36.01, Z:-0.23 [[ 9.02840760e-01 4.29965196e-01 -2.91401206e-03 1.29892089e+02] [-4.29962580e-01 9.02845457e-01 1.50345639e-03 -3.60145600e+01] [ 3.27733647e-03 -1.04465569e-04 9.99994624e-01 -2.25595322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.517628 meters 0.015122520492909408 Centerline is valid? [True, True] Translation: X:129.95, Y:-36.04, Z:-0.23 [[ 8.99047425e-01 4.37837547e-01 -3.46564487e-03 1.29950843e+02] [-4.37833904e-01 8.99054100e-01 1.78828485e-03 -3.60351106e+01] [ 3.89878048e-03 -9.03760615e-05 9.99992396e-01 -2.26006139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.577628 meters 0.012353110943175923 Centerline is valid? [True, True] Translation: X:130.01, Y:-36.05, Z:-0.23 [[ 8.91483066e-01 4.53030794e-01 -4.58731413e-03 1.30010780e+02] [-4.53024611e-01 8.91494868e-01 2.36704912e-03 -3.60509600e+01] [ 5.16191314e-03 -3.20180046e-05 9.99986677e-01 -2.26803290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.637628 meters 0.012593093887025878 Centerline is valid? [True, True] Translation: X:130.07, Y:-36.07, Z:-0.23 [[ 8.84185365e-01 4.67107411e-01 -5.18723079e-03 1.30071347e+02] [-4.67099733e-01 8.84200579e-01 2.67868470e-03 -3.60685854e+01] [ 5.83778594e-03 5.45003126e-05 9.99982958e-01 -2.27023924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.697628 meters 0.013755260147986661 Centerline is valid? [True, True] Translation: X:130.13, Y:-36.09, Z:-0.23 [[ 8.81053184e-01 4.72990929e-01 -4.98677697e-03 1.30128330e+02] [-4.72983919e-01 8.81067292e-01 2.57659937e-03 -3.60925216e+01] [ 5.61239421e-03 8.85442365e-05 9.99984246e-01 -2.26874149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.757628 meters 0.013831080807460051 Centerline is valid? [True, True] Translation: X:130.18, Y:-36.12, Z:-0.23 [[ 8.80696724e-01 4.73648259e-01 -5.53228853e-03 1.30182876e+02] [-4.73639634e-01 8.80714094e-01 2.86017826e-03 -3.61226539e+01] [ 6.22708293e-03 1.01361492e-04 9.99980606e-01 -2.27517842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81762799999998 meters 0.013255942976282168 Centerline is valid? [True, True] Translation: X:130.24, Y:-36.16, Z:-0.23 [[ 8.82220111e-01 4.70802650e-01 -5.70439894e-03 1.30235503e+02] [-4.70793409e-01 8.82238549e-01 2.95091526e-03 -3.61554943e+01] [ 6.42193937e-03 8.22366411e-05 9.99979376e-01 -2.28469842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.877628 meters 0.012191749058231437 Centerline is valid? [True, True] Translation: X:130.29, Y:-36.20, Z:-0.23 [[ 8.85939477e-01 4.63752323e-01 -6.71011420e-03 1.30285239e+02] [-4.63739318e-01 8.85964888e-01 3.47315650e-03 -3.61952004e+01] [ 7.55560996e-03 3.47373290e-05 9.99971455e-01 -2.28882128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.937628 meters 0.012114843887700648 Centerline is valid? [True, True] Translation: X:130.34, Y:-36.23, Z:-0.23 [[ 8.88544479e-01 4.58717458e-01 -8.18549673e-03 1.30337514e+02] [-4.58697865e-01 8.88582182e-01 4.23975369e-03 -3.62318743e+01] [ 9.21833558e-03 -1.25398658e-05 9.99957510e-01 -2.29806059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.997628 meters 0.012622979422178292 Centerline is valid? [True, True] Translation: X:130.39, Y:-36.27, Z:-0.23 [[ 8.91283983e-01 4.53356036e-01 -9.00925681e-03 1.30388176e+02] [-4.53331998e-01 8.91329512e-01 4.66913939e-03 -3.62695491e+01] [ 1.01469990e-02 -7.73447636e-05 9.99948515e-01 -2.30387075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.057628 meters 0.014184295333839041 Centerline is valid? [True, True] Translation: X:130.44, Y:-36.31, Z:-0.23 [[ 8.95500945e-01 4.44988005e-01 -7.98331370e-03 1.30436237e+02] [-4.44968792e-01 8.95536516e-01 4.13786886e-03 -3.63125449e+01] [ 8.99065095e-03 -1.53140016e-04 9.99959572e-01 -2.28970615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.117628 meters 0.0157757762972917 Centerline is valid? [True, True] Translation: X:130.48, Y:-36.35, Z:-0.23 [[ 8.99161047e-01 4.37567279e-01 -6.65491238e-03 1.30484533e+02] [-4.37553708e-01 8.99185654e-01 3.45150542e-03 -3.63526524e+01] [ 7.49426757e-03 -1.91577637e-04 9.99971899e-01 -2.27729689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.177628 meters 0.016855128829844943 Centerline is valid? [True, True] Translation: X:130.54, Y:-36.39, Z:-0.23 [[ 9.01523339e-01 4.32680716e-01 -6.56251376e-03 1.30535289e+02] [-4.32667389e-01 9.01547195e-01 3.40378149e-03 -3.63890265e+01] [ 7.38916649e-03 -2.29202759e-04 9.99972673e-01 -2.27118733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.237628 meters 0.018028951363826266 Centerline is valid? [True, True] Translation: X:130.59, Y:-36.42, Z:-0.23 [[ 9.02693663e-01 4.30229987e-01 -6.80505316e-03 1.30587327e+02] [-4.30215568e-01 9.02719276e-01 3.53189321e-03 -3.64222034e+01] [ 7.66257903e-03 -2.60577812e-04 9.99970608e-01 -2.27136825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.297628 meters 0.01868071875721388 Centerline is valid? [True, True] Translation: X:130.64, Y:-36.46, Z:-0.23 [[ 9.05046203e-01 4.25261999e-01 -6.60324114e-03 1.30638211e+02] [-4.25248289e-01 9.05070244e-01 3.42732713e-03 -3.64586364e+01] [ 7.43390905e-03 -2.93872404e-04 9.99972325e-01 -2.26105290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.357628 meters 0.01870401459905479 Centerline is valid? [True, True] Translation: X:130.69, Y:-36.49, Z:-0.23 [[ 9.03880606e-01 4.27742450e-01 -6.02054913e-03 1.30692336e+02] [-4.27731103e-01 9.03900622e-01 3.12565190e-03 -3.64862628e+01] [ 6.77895210e-03 -2.50040019e-04 9.99976991e-01 -2.25600921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.417628 meters 0.017240344730558552 Centerline is valid? [True, True] Translation: X:130.75, Y:-36.51, Z:-0.23 [[ 9.00799332e-01 4.34176148e-01 -7.18584601e-03 1.30748037e+02] [-4.34160185e-01 9.00827960e-01 3.73091259e-03 -3.65122186e+01] [ 8.09308426e-03 -2.40995333e-04 9.99967221e-01 -2.26266945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.477628 meters 0.015778383105590044 Centerline is valid? [True, True] Translation: X:130.80, Y:-36.54, Z:-0.23 [[ 8.98674059e-01 4.38553222e-01 -7.48375266e-03 1.30803703e+02] [-4.38536053e-01 8.98705195e-01 3.88622091e-03 -3.65376797e+01] [ 8.43000210e-03 -2.10550561e-04 9.99964445e-01 -2.26589857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.53762799999998 meters 0.014680811854189747 Centerline is valid? [True, True] Translation: X:130.86, Y:-36.56, Z:-0.23 [[ 8.96471499e-01 4.43063159e-01 -5.82131448e-03 1.30861396e+02] [-4.43052863e-01 8.96490390e-01 3.02333144e-03 -3.65609738e+01] [ 6.55827927e-03 -1.31180422e-04 9.99978486e-01 -2.26584303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.597628 meters 0.014205324002959641 Centerline is valid? [True, True] Translation: X:130.92, Y:-36.59, Z:-0.23 [[ 8.95217079e-01 4.45608272e-01 -4.43265960e-03 1.30918115e+02] [-4.45602325e-01 8.95228049e-01 2.30385799e-03 -3.65872284e+01] [ 4.99485939e-03 -8.72495987e-05 9.99987522e-01 -2.25992068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.657628 meters 0.012706909357784953 Centerline is valid? [True, True] Translation: X:130.97, Y:-36.61, Z:-0.22 [[ 8.92694145e-01 4.50640767e-01 -4.47902483e-03 1.30974945e+02] [-4.50634751e-01 8.92705380e-01 2.32936851e-03 -3.66129695e+01] [ 5.04815798e-03 -6.10093935e-05 9.99987256e-01 -2.24103483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.717628 meters 0.012353828564774115 Centerline is valid? [True, True] Translation: X:131.03, Y:-36.64, Z:-0.23 [[ 8.90991198e-01 4.53990914e-01 -5.18993147e-03 1.31031096e+02] [-4.53982884e-01 8.91006312e-01 2.70064665e-03 -3.66396695e+01] [ 5.85033074e-03 -5.01123320e-05 9.99982885e-01 -2.25416427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.777628 meters 0.012334065872757916 Centerline is valid? [True, True] Translation: X:131.09, Y:-36.67, Z:-0.23 [[ 8.88188237e-01 4.59426526e-01 -6.99457657e-03 1.31086884e+02] [-4.59412094e-01 8.88215777e-01 3.64152654e-03 -3.66652664e+01] [ 7.88570715e-03 -2.09679627e-05 9.99968907e-01 -2.29442192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.837628 meters 0.012317981370391378 Centerline is valid? [True, True] Translation: X:131.14, Y:-36.69, Z:-0.23 [[ 8.86399483e-01 4.62867753e-01 -7.02855597e-03 1.31143252e+02] [-4.62853267e-01 8.86427348e-01 3.66185485e-03 -3.66939375e+01] [ 7.92525876e-03 7.32384933e-06 9.99968595e-01 -2.29314535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.897628 meters 0.01289679575054841 Centerline is valid? [True, True] Translation: X:131.20, Y:-36.72, Z:-0.23 [[ 8.84031591e-01 4.67377008e-01 -6.84671121e-03 1.31197321e+02] [-4.67363384e-01 8.84058103e-01 3.56899605e-03 -3.67225323e+01] [ 7.72095722e-03 4.47968581e-05 9.99970192e-01 -2.28955426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.957628 meters 0.013294154083393819 Centerline is valid? [True, True] Translation: X:131.25, Y:-36.75, Z:-0.23 [[ 8.82431199e-01 4.70394849e-01 -6.62305020e-03 1.31252145e+02] [-4.70382168e-01 8.82456051e-01 3.45460421e-03 -3.67519093e+01] [ 7.46957875e-03 6.69141743e-05 9.99972100e-01 -2.27689288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.017628 meters 0.014169223006174722 Centerline is valid? [True, True] Translation: X:131.31, Y:-36.78, Z:-0.23 [[ 8.79580157e-01 4.75707696e-01 -6.39811609e-03 1.31308581e+02] [-4.75695987e-01 8.79603420e-01 3.33932427e-03 -3.67771996e+01] [ 7.21634705e-03 1.06354781e-04 9.99973956e-01 -2.27877651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.077628 meters 0.014734107754743899 Centerline is valid? [True, True] Translation: X:131.36, Y:-36.80, Z:-0.23 [[ 8.78405410e-01 4.77868797e-01 -6.73413511e-03 1.31363435e+02] [-4.77855882e-01 8.78431213e-01 3.51558171e-03 -3.68039003e+01] [ 7.59546128e-03 1.29840080e-04 9.99971146e-01 -2.28743747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.137628 meters 0.014276826866044178 Centerline is valid? [True, True] Translation: X:131.42, Y:-36.83, Z:-0.23 [[ 8.78922622e-01 4.76905387e-01 -7.50178454e-03 1.31417911e+02] [-4.76889304e-01 8.78954626e-01 3.91891880e-03 -3.68345277e+01] [ 8.46268171e-03 1.33094422e-04 9.99964182e-01 -2.28543590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.197628 meters 0.013547594503397932 Centerline is valid? [True, True] Translation: X:131.47, Y:-36.86, Z:-0.23 [[ 8.81239181e-01 4.72594682e-01 -8.47180481e-03 1.31470726e+02] [-4.72573948e-01 8.81279897e-01 4.42801882e-03 -3.68649115e+01] [ 9.55868942e-03 1.01410567e-04 9.99954310e-01 -2.29674387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.257628 meters 0.013066754986456383 Centerline is valid? [True, True] Translation: X:131.52, Y:-36.89, Z:-0.23 [[ 8.83517551e-01 4.68333643e-01 -7.76763132e-03 1.31523932e+02] [-4.68316028e-01 8.83551694e-01 4.06221636e-03 -3.68946129e+01] [ 8.76557640e-03 4.86667935e-05 9.99961580e-01 -2.29682708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.31762799999998 meters 0.012648792289274804 Centerline is valid? [True, True] Translation: X:131.58, Y:-36.93, Z:-0.23 [[ 8.86651326e-01 4.62387560e-01 -6.86812055e-03 1.31577050e+02] [-4.62373592e-01 8.86677926e-01 3.59398175e-03 -3.69266554e+01] [ 7.75162333e-03 -1.09711123e-05 9.99969956e-01 -2.27204686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.377628 meters 0.014951228076815084 Centerline is valid? [True, True] Translation: X:131.63, Y:-36.96, Z:-0.23 [[ 8.94684677e-01 4.46652775e-01 -6.37399707e-03 1.31626725e+02] [-4.46640329e-01 8.94707371e-01 3.33723900e-03 -3.69642823e+01] [ 7.19344922e-03 -1.38892445e-04 9.99974117e-01 -2.26019335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.437628 meters 0.018208901742657355 Centerline is valid? [True, True] Translation: X:131.68, Y:-37.00, Z:-0.22 [[ 9.00949617e-01 4.33899060e-01 -4.62540270e-03 1.31677829e+02] [-4.33892335e-01 9.00961473e-01 2.42213220e-03 -3.69983089e+01] [ 5.21827051e-03 -1.75292296e-04 9.99986369e-01 -2.24818731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.497628 meters 0.022237290408345083 Centerline is valid? [True, True] Translation: X:131.73, Y:-37.03, Z:-0.22 [[ 9.07878432e-01 4.19229904e-01 -1.74380459e-03 1.31730937e+02] [-4.19228921e-01 9.07880101e-01 9.13311646e-04 -3.70295812e+01] [ 1.96605304e-03 -9.81226302e-05 9.99998062e-01 -2.22836922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.557628 meters 0.023792544824725096 Centerline is valid? [True, True] Translation: X:131.79, Y:-37.06, Z:-0.22 [[ 9.10472936e-01 4.13556597e-01 -3.15797900e-03 1.31786413e+02] [-4.13553338e-01 9.10478391e-01 1.65407399e-03 -3.70571851e+01] [ 3.55932485e-03 -1.99996844e-04 9.99993646e-01 -2.23124223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.617628 meters 0.02458411225620519 Centerline is valid? [True, True] Translation: X:131.84, Y:-37.08, Z:-0.22 [[ 9.09699389e-01 4.15231398e-01 -5.46877874e-03 1.31842687e+02] [-4.15221641e-01 9.09715765e-01 2.86643609e-03 -3.70836702e+01] [ 6.16526850e-03 -3.36839874e-04 9.99980938e-01 -2.24573164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.677628 meters 0.0216250888957502 Centerline is valid? [True, True] Translation: X:131.90, Y:-37.10, Z:-0.23 [[ 9.07259731e-01 4.20522356e-01 -6.38186378e-03 1.31903875e+02] [-4.20509198e-01 9.07282109e-01 3.34512047e-03 -3.70993556e+01] [ 7.19684877e-03 -3.51260679e-04 9.99974041e-01 -2.26644454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.737628 meters 0.021802538250984882 Centerline is valid? [True, True] Translation: X:131.96, Y:-37.12, Z:-0.23 [[ 9.05350260e-01 4.24620011e-01 -6.22519995e-03 1.31959739e+02] [-4.24607580e-01 9.05371608e-01 3.26403322e-03 -3.71233354e+01] [ 7.02209312e-03 -3.11826244e-04 9.99975296e-01 -2.26573566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.797628 meters 0.01846128941000846 Centerline is valid? [True, True] Translation: X:132.02, Y:-37.14, Z:-0.22 [[ 9.03321971e-01 4.28950061e-01 -3.35583068e-03 1.32018597e+02] [-4.28946478e-01 9.03328192e-01 1.75970126e-03 -3.71432160e+01] [ 3.78624043e-03 -1.50105063e-04 9.99992821e-01 -2.21758537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.857628 meters 0.01858858650388077 Centerline is valid? [True, True] Translation: X:132.07, Y:-37.17, Z:-0.22 [[ 9.02190655e-01 4.31332579e-01 -2.05639414e-03 1.32074327e+02] [-4.31331239e-01 9.02192994e-01 1.07850186e-03 -3.71673767e+01] [ 2.32045738e-03 -8.60272643e-05 9.99997304e-01 -2.20955304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.917628 meters 0.018142853011837407 Centerline is valid? [True, True] Translation: X:132.13, Y:-37.19, Z:-0.22 [[ 9.00757158e-01 4.34323024e-01 -2.28986990e-04 1.32132389e+02] [-4.34323007e-01 9.00757187e-01 1.20247911e-04 -3.71893342e+01] [ 2.58488113e-04 -8.85984844e-06 9.99999967e-01 -2.20565049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.977628 meters 0.017342520575279314 Centerline is valid? [True, True] Translation: X:132.19, Y:-37.21, Z:-0.22 [[ 8.99588095e-01 4.36738875e-01 -6.43431157e-04 1.32189281e+02] [-4.36738745e-01 8.99588325e-01 3.37628270e-04 -3.72140638e+01] [ 7.26278547e-04 -2.27150570e-05 9.99999736e-01 -2.20271524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.03762799999998 meters 0.015781956668499682 Centerline is valid? [True, True] Translation: X:132.25, Y:-37.24, Z:-0.22 [[ 8.96929935e-01 4.42168326e-01 -1.96547779e-03 1.32248064e+02] [-4.42167127e-01 8.96932087e-01 1.03125055e-03 -3.72351485e+01] [ 2.21888642e-03 -5.58898238e-05 9.99997537e-01 -2.22350658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.097628 meters 0.014393884760194148 Centerline is valid? [True, True] Translation: X:132.31, Y:-37.26, Z:-0.22 [[ 8.94985186e-01 4.46089554e-01 -2.37205715e-03 1.32305445e+02] [-4.46087821e-01 8.94988328e-01 1.24464268e-03 -3.72580249e+01] [ 2.67818556e-03 -5.57909533e-05 9.99996412e-01 -2.22842403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.157628 meters 0.013471595602016157 Centerline is valid? [True, True] Translation: X:132.36, Y:-37.28, Z:-0.22 [[ 8.93061194e-01 4.49928376e-01 -2.48215043e-03 1.32362946e+02] [-4.49926492e-01 8.93064642e-01 1.30278635e-03 -3.72829496e+01] [ 2.80288133e-03 -4.66826926e-05 9.99996071e-01 -2.22818854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.217628 meters 0.012880463563584516 Centerline is valid? [True, True] Translation: X:132.42, Y:-37.31, Z:-0.22 [[ 8.91440478e-01 4.53128610e-01 -2.88753961e-03 1.32419762e+02] [-4.53126077e-01 8.91445153e-01 1.51585328e-03 -3.73092926e+01] [ 3.26095968e-03 -4.28734798e-05 9.99994682e-01 -2.23376192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.277628 meters 0.012133979547304862 Centerline is valid? [True, True] Translation: X:132.48, Y:-37.33, Z:-0.22 [[ 8.89473966e-01 4.56970509e-01 -3.74407633e-03 1.32477051e+02] [-4.56966277e-01 8.89481845e-01 1.96693519e-03 -3.73339273e+01] [ 4.22911929e-03 -3.86210265e-05 9.99991056e-01 -2.24785410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.337628 meters 0.012033682392953474 Centerline is valid? [True, True] Translation: X:132.53, Y:-37.36, Z:-0.23 [[ 8.88750672e-01 4.58370904e-01 -4.28456454e-03 1.32532844e+02] [-4.58365372e-01 8.88760999e-01 2.25240029e-03 -3.73624433e+01] [ 4.84038862e-03 -3.79262492e-05 9.99988285e-01 -2.25679163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.397628 meters 0.011926932243872302 Centerline is valid? [True, True] Translation: X:132.59, Y:-37.39, Z:-0.23 [[ 8.88240813e-01 4.59350362e-01 -5.05000027e-03 1.32588081e+02] [-4.59342682e-01 8.88255168e-01 2.65648861e-03 -3.73924617e+01] [ 5.70594784e-03 -3.99209303e-05 9.99983720e-01 -2.26197722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.457628 meters 0.011994043253682904 Centerline is valid? [True, True] Translation: X:132.64, Y:-37.42, Z:-0.23 [[ 8.87967403e-01 4.59875812e-01 -5.30370694e-03 1.32643352e+02] [-4.59867340e-01 8.87983241e-01 2.79177973e-03 -3.74232945e+01] [ 5.99347484e-03 -4.00077977e-05 9.99982038e-01 -2.26649743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.517628 meters 0.011910037308427693 Centerline is valid? [True, True] Translation: X:132.70, Y:-37.45, Z:-0.23 [[ 8.87362754e-01 4.61024911e-01 -6.58589772e-03 1.32698928e+02] [-4.61011862e-01 8.87387193e-01 3.46895431e-03 -3.74537922e+01] [ 7.44351564e-03 -4.20438859e-05 9.99972296e-01 -2.26960676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.577628 meters 0.011791360496901507 Centerline is valid? [True, True] Translation: X:132.75, Y:-37.49, Z:-0.23 [[ 8.86345723e-01 4.62965267e-01 -7.37708137e-03 1.32752598e+02] [-4.62948940e-01 8.86376421e-01 3.88828846e-03 -3.74860751e+01] [ 8.33901349e-03 -3.11558502e-05 9.99965229e-01 -2.26703770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.637628 meters 0.011653427667469695 Centerline is valid? [True, True] Translation: X:132.81, Y:-37.52, Z:-0.23 [[ 8.85607603e-01 4.64379790e-01 -7.11230770e-03 1.32806966e+02] [-4.64364638e-01 8.85636162e-01 3.75133525e-03 -3.75174685e+01] [ 8.04096117e-03 -1.95068268e-05 9.99967671e-01 -2.25810871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.697628 meters 0.011573212834024911 Centerline is valid? [True, True] Translation: X:132.86, Y:-37.55, Z:-0.23 [[ 8.85044623e-01 4.65446043e-01 -7.48309168e-03 1.32860676e+02] [-4.65429285e-01 8.85076257e-01 3.94957383e-03 -3.75499694e+01] [ 8.46142029e-03 -1.26990731e-05 9.99964201e-01 -2.26188389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.757628 meters 0.011523408949277931 Centerline is valid? [True, True] Translation: X:132.91, Y:-37.58, Z:-0.23 [[ 8.84787864e-01 4.65945275e-01 -6.74056164e-03 1.32912757e+02] [-4.65931686e-01 8.84813540e-01 3.55862983e-03 -3.75822371e+01] [ 7.62226696e-03 -7.99123733e-06 9.99970950e-01 -2.25988132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.81762799999998 meters 0.011506736889703743 Centerline is valid? [True, True] Translation: X:132.96, Y:-37.62, Z:-0.22 [[ 8.84428658e-01 4.66635539e-01 -6.10093849e-03 1.32964756e+02] [-4.66624406e-01 8.84449701e-01 3.22340217e-03 -3.76175971e+01] [ 6.90012723e-03 -4.02245967e-06 9.99976194e-01 -2.24365997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.877628 meters 0.011647781744797844 Centerline is valid? [True, True] Translation: X:133.02, Y:-37.65, Z:-0.23 [[ 8.84729211e-01 4.66060036e-01 -6.50120424e-03 1.33016397e+02] [-4.66047363e-01 8.84753097e-01 3.43693985e-03 -3.76525681e+01] [ 7.35378089e-03 -1.08919856e-05 9.99972961e-01 -2.25694090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.937628 meters 0.011762458217044061 Centerline is valid? [True, True] Translation: X:133.07, Y:-37.69, Z:-0.23 [[ 8.85622059e-01 4.64351282e-01 -7.17326997e-03 1.33068709e+02] [-4.64335780e-01 8.85651109e-01 3.79430794e-03 -3.76867889e+01] [ 8.11490626e-03 -2.95169019e-05 9.99967073e-01 -2.26872578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.997628 meters 0.012132440835204043 Centerline is valid? [True, True] Translation: X:133.12, Y:-37.72, Z:-0.23 [[ 8.87208009e-01 4.61317903e-01 -6.90950564e-03 1.33119950e+02] [-4.61303411e-01 8.87234912e-01 3.65696664e-03 -3.77222058e+01] [ 7.81737881e-03 -5.71115692e-05 9.99969442e-01 -2.26149948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.057628 meters 0.013907283422664462 Centerline is valid? [True, True] Translation: X:133.17, Y:-37.76, Z:-0.23 [[ 8.91132298e-01 4.53713812e-01 -5.19650610e-03 1.33167491e+02] [-4.53705482e-01 8.91147445e-01 2.75097808e-03 -3.77627401e+01] [ 5.87900989e-03 -9.38021136e-05 9.99982714e-01 -2.25767687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.117628 meters 0.017013845407350483 Centerline is valid? [True, True] Translation: X:133.22, Y:-37.80, Z:-0.22 [[ 8.94117063e-01 4.47815655e-01 -3.97697117e-03 1.33215741e+02] [-4.47810715e-01 8.94125902e-01 2.10582086e-03 -3.78017011e+01] [ 4.49893248e-03 -1.01920058e-04 9.99989875e-01 -2.24858261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.177628 meters 0.01668433275910105 Centerline is valid? [True, True] Translation: X:133.27, Y:-37.84, Z:-0.22 [[ 8.96990656e-01 4.42046198e-01 -1.70929095e-03 1.33266097e+02] [-4.42045273e-01 8.96992283e-01 9.05892438e-04 -3.78371835e+01] [ 1.93366710e-03 -5.69930679e-05 9.99998129e-01 -2.22381998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.237628 meters 0.017146219844876888 Centerline is valid? [True, True] Translation: X:133.32, Y:-37.87, Z:-0.22 [[ 8.97272181e-01 4.41475267e-01 -1.49073655e-03 1.33318750e+02] [-4.41474562e-01 8.97273417e-01 7.90634435e-04 -3.78705351e+01] [ 1.68664383e-03 -5.12920164e-05 9.99998576e-01 -2.22788127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.297628 meters 0.015917267912058768 Centerline is valid? [True, True] Translation: X:133.37, Y:-37.90, Z:-0.22 [[ 8.94380327e-01 4.47304929e-01 -1.46028078e-03 1.33371830e+02] [-4.47304260e-01 8.94381518e-01 7.74224798e-04 -3.78987402e+01] [ 1.65236271e-03 -3.92616143e-05 9.99998634e-01 -2.24472542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.357628 meters 0.013862222291292768 Centerline is valid? [True, True] Translation: X:133.43, Y:-37.92, Z:-0.23 [[ 8.90613514e-01 4.54759133e-01 -1.30389579e-03 1.33427739e+02] [-4.54758608e-01 8.90614468e-01 6.91570715e-04 -3.79235982e+01] [ 1.47576656e-03 -2.29643901e-05 9.99998911e-01 -2.25124483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.417628 meters 0.011922610295933533 Centerline is valid? [True, True] Translation: X:133.49, Y:-37.95, Z:-0.23 [[ 8.85339623e-01 4.64942104e-01 -1.60969538e-03 1.33485241e+02] [-4.64941320e-01 8.85341087e-01 8.53745500e-04 -3.79467681e+01] [ 1.82207168e-03 -7.44082553e-06 9.99998340e-01 -2.26146105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.477628 meters 0.011729810669903884 Centerline is valid? [True, True] Translation: X:133.54, Y:-37.97, Z:-0.23 [[ 8.82447444e-01 4.70407452e-01 -1.82688846e-03 1.33541857e+02] [-4.70406452e-01 8.82449335e-01 9.69938310e-04 -3.79716018e+01] [ 2.06840272e-03 3.46053737e-06 9.99997861e-01 -2.27273781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.53762799999998 meters 0.011774185787029372 Centerline is valid? [True, True] Translation: X:133.60, Y:-38.00, Z:-0.23 [[ 8.81658612e-01 4.71884212e-01 -1.83919874e-03 1.33598526e+02] [-4.71883200e-01 8.81660530e-01 9.77155928e-04 -3.79986732e+01] [ 2.08265339e-03 6.36904724e-06 9.99997831e-01 -2.28585180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.597628 meters 0.011818634673332844 Centerline is valid? [True, True] Translation: X:133.65, Y:-38.02, Z:-0.23 [[ 8.81098072e-01 4.72928861e-01 -2.11665073e-03 1.33654407e+02] [-4.72927524e-01 8.81100614e-01 1.12474119e-03 -3.80249480e+01] [ 2.39690483e-03 1.00150916e-05 9.99997127e-01 -2.29899148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.657628 meters 0.012045078562061858 Centerline is valid? [True, True] Translation: X:133.71, Y:-38.05, Z:-0.23 [[ 8.80573407e-01 4.73907382e-01 -1.50596043e-03 1.33710430e+02] [-4.73906706e-01 8.80574695e-01 8.01026313e-04 -3.80536641e+01] [ 1.70572293e-03 8.32227520e-06 9.99998545e-01 -2.29803702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.717628 meters 0.012120866465631373 Centerline is valid? [True, True] Translation: X:133.77, Y:-38.08, Z:-0.23 [[ 8.80295558e-01 4.74425509e-01 -4.08895273e-04 1.33767106e+02] [-4.74425459e-01 8.80295653e-01 2.17992626e-04 -3.80816080e+01] [ 4.63369994e-04 2.09238724e-06 9.99999893e-01 -2.30517846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.777628 meters 0.012016242593299153 Centerline is valid? [True, True] Translation: X:133.82, Y:-38.11, Z:-0.23 [[ 8.80605188e-01 4.73850716e-01 -3.42628156e-05 1.33822255e+02] [-4.73850716e-01 8.80605189e-01 1.87293616e-05 -3.81116965e+01] [ 3.90469346e-05 -2.57713338e-07 9.99999999e-01 -2.31260123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.837628 meters 0.01188055074282875 Centerline is valid? [True, True] Translation: X:133.88, Y:-38.14, Z:-0.23 [[ 8.81144208e-01 4.72847481e-01 -3.81132785e-04 1.33877369e+02] [-4.72847437e-01 8.81144290e-01 2.03468238e-04 -3.81428219e+01] [ 4.32042421e-04 9.32800966e-07 9.99999907e-01 -2.31931865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.897628 meters 0.011913079880185968 Centerline is valid? [True, True] Translation: X:133.93, Y:-38.17, Z:-0.23 [[ 8.82268844e-01 4.70741458e-01 -2.04113818e-03 1.33930391e+02] [-4.70740201e-01 8.82271205e-01 1.08777195e-03 -3.81743558e+01] [ 2.31289680e-03 1.13849927e-06 9.99997325e-01 -2.33069361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.957628 meters 0.01207517622924718 Centerline is valid? [True, True] Translation: X:133.98, Y:-38.20, Z:-0.23 [[ 8.83874179e-01 4.67714452e-01 -3.10274621e-03 1.33984106e+02] [-4.67711526e-01 8.83879625e-01 1.65444437e-03 -3.82047978e+01] [ 3.51626170e-03 -1.11304917e-05 9.99993818e-01 -2.34449742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.017628 meters 0.012433289384603634 Centerline is valid? [True, True] Translation: X:134.04, Y:-38.24, Z:-0.23 [[ 8.84589601e-01 4.66359522e-01 -3.16774562e-03 1.34039370e+02] [-4.66356460e-01 8.84595272e-01 1.69012773e-03 -3.82350182e+01] [ 3.59037996e-03 -1.77707772e-05 9.99993554e-01 -2.34413954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.077628 meters 0.013539334276667597 Centerline is valid? [True, True] Translation: X:134.09, Y:-38.27, Z:-0.23 [[ 8.86796557e-01 4.62154168e-01 -2.32206094e-03 1.34093136e+02] [-4.62152506e-01 8.86799597e-01 1.23961932e-03 -3.82670726e+01] [ 2.63209794e-03 -2.61438581e-05 9.99996536e-01 -2.33218066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.137628 meters 0.01809786600041955 Centerline is valid? [True, True] Translation: X:134.14, Y:-38.30, Z:-0.23 [[ 8.92710838e-01 4.50625646e-01 -1.97134216e-03 1.34142306e+02] [-4.50624419e-01 8.92713013e-01 1.05289125e-03 -3.83042547e+01] [ 2.23430260e-03 -5.15925105e-05 9.99997503e-01 -2.31073893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.197628 meters 0.025186741302554994 Centerline is valid? [True, True] Translation: X:134.19, Y:-38.34, Z:-0.23 [[ 8.96793706e-01 4.42445999e-01 -1.60847493e-03 1.34190598e+02] [-4.42445169e-01 8.96795147e-01 8.59089781e-04 -3.83413370e+01] [ 1.82257335e-03 -5.87643458e-05 9.99998337e-01 -2.30589401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.257628 meters 0.03331901964572118 Centerline is valid? [True, True] Translation: X:134.24, Y:-38.38, Z:-0.23 [[ 9.01772694e-01 4.32202534e-01 -2.64138431e-03 1.34240094e+02] [-4.32200251e-01 9.01776553e-01 1.41090724e-03 -3.83763668e+01] [ 2.99173612e-03 -1.30710663e-04 9.99995516e-01 -2.31998274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.31762799999998 meters 0.021164382874242486 Centerline is valid? [True, True] Translation: X:134.30, Y:-38.39, Z:-0.23 [[ 9.04506353e-01 4.26446193e-01 -3.44988254e-03 1.34303906e+02] [-4.26442254e-01 9.04512911e-01 1.84320749e-03 -3.83864207e+01] [ 3.90649212e-03 -1.96017192e-04 9.99992350e-01 -2.30610525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.377628 meters 0.022818391072059595 Centerline is valid? [True, True] Translation: X:134.36, Y:-38.41, Z:-0.23 [[ 9.04574706e-01 4.26301016e-01 -3.47068352e-03 1.34358593e+02] [-4.26297026e-01 9.04581342e-01 1.85500560e-03 -3.84144960e+01] [ 3.93030633e-03 -1.98449086e-04 9.99992257e-01 -2.29947938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.437628 meters 0.02067931998870583 Centerline is valid? [True, True] Translation: X:134.42, Y:-38.44, Z:-0.23 [[ 9.02750953e-01 4.30151235e-01 -3.26066631e-03 1.34416689e+02] [-4.30147739e-01 9.02756825e-01 1.74278980e-03 -3.84357513e+01] [ 3.69325196e-03 -1.70736913e-04 9.99993165e-01 -2.28483197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.497628 meters 0.02145908150023985 Centerline is valid? [True, True] Translation: X:134.47, Y:-38.46, Z:-0.23 [[ 9.00966806e-01 4.33876927e-01 -3.10259463e-03 1.34471382e+02] [-4.33873781e-01 9.00972136e-01 1.65882530e-03 -3.84617018e+01] [ 3.51507733e-03 -1.48412074e-04 9.99993811e-01 -2.28407321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.557628 meters 0.019188544353429312 Centerline is valid? [True, True] Translation: X:134.53, Y:-38.48, Z:-0.23 [[ 8.98540864e-01 4.38879892e-01 -2.95886192e-03 1.34530700e+02] [-4.38877058e-01 8.98545728e-01 1.58203331e-03 -3.84816284e+01] [ 3.35299534e-03 -1.22944960e-04 9.99994371e-01 -2.28281520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.617628 meters 0.01849241065070091 Centerline is valid? [True, True] Translation: X:134.59, Y:-38.51, Z:-0.23 [[ 8.97288641e-01 4.41440060e-01 -1.94100870e-03 1.34587266e+02] [-4.41438845e-01 8.97290738e-01 1.03843637e-03 -3.85056297e+01] [ 2.20005654e-03 -7.49405246e-05 9.99997577e-01 -2.27238689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.677628 meters 0.01711060131460522 Centerline is valid? [True, True] Translation: X:134.65, Y:-38.53, Z:-0.23 [[ 8.96315608e-01 4.43415481e-01 -1.02136636e-03 1.34645031e+02] [-4.43415145e-01 8.96316189e-01 5.47073362e-04 -3.85294293e+01] [ 1.15804800e-03 -3.74610794e-05 9.99999329e-01 -2.25806191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.737628 meters 0.017078891072971218 Centerline is valid? [True, True] Translation: X:134.70, Y:-38.55, Z:-0.23 [[ 8.95386333e-01 4.45286897e-01 -1.70125281e-03 1.34702336e+02] [-4.45285968e-01 8.95387947e-01 9.11461827e-04 -3.85533243e+01] [ 1.92914327e-03 -5.85664601e-05 9.99998137e-01 -2.26194266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.797628 meters 0.016945852664289773 Centerline is valid? [True, True] Translation: X:134.76, Y:-38.58, Z:-0.23 [[ 8.94395476e-01 4.47264207e-01 -3.38548180e-03 1.34758833e+02] [-4.47260540e-01 8.94401877e-01 1.81439929e-03 -3.85785751e+01] [ 3.83949713e-03 -1.08598101e-04 9.99992623e-01 -2.28219688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.857628 meters 0.017963989972646664 Centerline is valid? [True, True] Translation: X:134.82, Y:-38.60, Z:-0.23 [[ 8.91940214e-01 4.52112356e-01 -6.08864171e-03 1.34816939e+02] [-4.52100610e-01 8.91960982e-01 3.26279597e-03 -3.86010688e+01] [ 6.90598121e-03 -1.57540313e-04 9.99976141e-01 -2.33048126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.917628 meters 0.013455301469804977 Centerline is valid? [True, True] Translation: X:134.87, Y:-38.62, Z:-0.23 [[ 8.88687294e-01 4.58466096e-01 -6.61302815e-03 1.34874747e+02] [-4.58452412e-01 8.88711891e-01 3.54407828e-03 -3.86228038e+01] [ 7.50191648e-03 -1.17818628e-04 9.99971853e-01 -2.31163470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.977628 meters 0.013576235887322142 Centerline is valid? [True, True] Translation: X:134.93, Y:-38.65, Z:-0.23 [[ 8.86913816e-01 4.61886792e-01 -6.66891555e-03 1.34928925e+02] [-4.61872954e-01 8.86938884e-01 3.57639673e-03 -3.86515187e+01] [ 7.56681092e-03 -9.17639399e-05 9.99971367e-01 -2.32708986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.03762799999998 meters 0.012396423867224783 Centerline is valid? [True, True] Translation: X:134.98, Y:-38.68, Z:-0.23 [[ 8.84245406e-01 4.66982240e-01 -6.13595663e-03 1.34984488e+02] [-4.66970634e-01 8.84266693e-01 3.29262324e-03 -3.86785572e+01] [ 6.96341866e-03 -4.61754165e-05 9.99975754e-01 -2.30571213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.097628 meters 0.012075072107814026 Centerline is valid? [True, True] Translation: X:135.04, Y:-38.71, Z:-0.23 [[ 8.82477435e-01 4.70326202e-01 -5.18086313e-03 1.35039900e+02] [-4.70317975e-01 8.82492642e-01 2.78182029e-03 -3.87072215e+01] [ 5.88043656e-03 -1.82405777e-05 9.99982710e-01 -2.30660648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.157628 meters 0.011956847260860692 Centerline is valid? [True, True] Translation: X:135.09, Y:-38.74, Z:-0.23 [[ 8.81397467e-01 4.72357024e-01 -4.16486251e-03 1.35093472e+02] [-4.72351728e-01 8.81407307e-01 2.23691173e-03 -3.87371311e+01] [ 4.72756122e-03 -4.32833369e-06 9.99988825e-01 -2.30002253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.217628 meters 0.011955926777353593 Centerline is valid? [True, True] Translation: X:135.15, Y:-38.77, Z:-0.23 [[ 8.81228679e-01 4.72670408e-01 -4.32438226e-03 1.35146933e+02] [-4.72664692e-01 8.81239290e-01 2.32447865e-03 -3.87709028e+01] [ 4.90952782e-03 -4.41444409e-06 9.99987948e-01 -2.28567655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.277628 meters 0.011963177088838772 Centerline is valid? [True, True] Translation: X:135.20, Y:-38.80, Z:-0.23 [[ 8.82345399e-01 4.70579171e-01 -4.67343380e-03 1.35199405e+02] [-4.70572458e-01 8.82357775e-01 2.51362560e-03 -3.88045208e+01] [ 5.30650050e-03 -1.86967520e-05 9.99985920e-01 -2.29721383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.337628 meters 0.013048299118974385 Centerline is valid? [True, True] Translation: X:135.25, Y:-38.84, Z:-0.23 [[ 8.86054928e-01 4.63558923e-01 -4.44845160e-03 1.35248464e+02] [-4.63552752e-01 8.86066093e-01 2.39268595e-03 -3.88413659e+01] [ 5.05077305e-03 -5.79591960e-05 9.99987243e-01 -2.30441318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.397628 meters 0.014753275675891618 Centerline is valid? [True, True] Translation: X:135.30, Y:-38.88, Z:-0.23 [[ 8.90506764e-01 4.54957799e-01 -3.33246253e-03 1.35297526e+02] [-4.54954273e-01 8.90512995e-01 1.79282212e-03 -3.88795523e+01] [ 3.78325960e-03 -8.04021559e-05 9.99992840e-01 -2.27817198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.457628 meters 0.01664553170659012 Centerline is valid? [True, True] Translation: X:135.35, Y:-38.92, Z:-0.23 [[ 8.93090409e-01 4.49871007e-01 -2.36620778e-03 1.35348803e+02] [-4.49869211e-01 8.93093540e-01 1.27316129e-03 -3.89152687e+01] [ 2.68600324e-03 -7.25641122e-05 9.99996390e-01 -2.26886868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.517628 meters 0.017806078703670444 Centerline is valid? [True, True] Translation: X:135.40, Y:-38.95, Z:-0.23 [[ 8.95006601e-01 4.46046872e-01 -2.31764441e-03 1.35401125e+02] [-4.46045136e-01 8.95009598e-01 1.24722119e-03 -3.89485935e+01] [ 2.63063310e-03 -8.24971774e-05 9.99996536e-01 -2.26797110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.577628 meters 0.019242930234597926 Centerline is valid? [True, True] Translation: X:135.45, Y:-38.98, Z:-0.23 [[ 8.96777189e-01 4.42476334e-01 -2.31658056e-03 1.35453384e+02] [-4.42474587e-01 8.96780177e-01 1.24680695e-03 -3.89824672e+01] [ 2.62914609e-03 -9.30800035e-05 9.99996539e-01 -2.27199662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.637628 meters 0.019415737182616927 Centerline is valid? [True, True] Translation: X:135.51, Y:-39.01, Z:-0.23 [[ 8.97656877e-01 4.40684822e-01 -3.00328894e-03 1.35506415e+02] [-4.40681874e-01 8.97661892e-01 1.61694447e-03 -3.90137951e+01] [ 3.40850092e-03 -1.27966328e-04 9.99994183e-01 -2.26650075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.697628 meters 0.019090057857109512 Centerline is valid? [True, True] Translation: X:135.56, Y:-39.04, Z:-0.23 [[ 8.98256321e-01 4.39452385e-01 -4.14529305e-03 1.35561397e+02] [-4.39446749e-01 8.98265867e-01 2.23327905e-03 -3.90425137e+01] [ 4.70499506e-03 -1.84421470e-04 9.99988914e-01 -2.27759022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.75762799999998 meters 0.019134486225332006 Centerline is valid? [True, True] Translation: X:135.62, Y:-39.07, Z:-0.23 [[ 8.98576243e-01 4.38790080e-01 -4.89907602e-03 1.35615738e+02] [-4.38782195e-01 8.98589571e-01 2.63992124e-03 -3.90717116e+01] [ 5.56062987e-03 -2.22543179e-04 9.99984515e-01 -2.27759063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.81762799999998 meters 0.01917860469750807 Centerline is valid? [True, True] Translation: X:135.67, Y:-39.10, Z:-0.23 [[ 8.99472137e-01 4.36962558e-01 -3.68738037e-03 1.35670466e+02] [-4.36958075e-01 8.99479678e-01 1.98727500e-03 -3.91004617e+01] [ 4.18508848e-03 -1.76267863e-04 9.99991227e-01 -2.26885383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.877628 meters 0.020002467371534497 Centerline is valid? [True, True] Translation: X:135.73, Y:-39.13, Z:-0.23 [[ 9.00189899e-01 4.35492594e-01 -2.08451209e-03 1.35725023e+02] [-4.35491155e-01 9.00192307e-01 1.12441370e-03 -3.91291282e+01] [ 2.36613558e-03 -1.04399275e-04 9.99997195e-01 -2.25783611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.937628 meters 0.021488372912029673 Centerline is valid? [True, True] Translation: X:135.78, Y:-39.16, Z:-0.23 [[ 9.01157290e-01 4.33491922e-01 -5.41033156e-04 1.35779290e+02] [-4.33491824e-01 9.01157452e-01 2.92320123e-04 -3.91584479e+01] [ 6.14274472e-04 -2.88929604e-05 9.99999811e-01 -2.25512501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.997628 meters 0.022875384308654746 Centerline is valid? [True, True] Translation: X:135.83, Y:-39.19, Z:-0.22 [[ 9.02297039e-01 4.31114892e-01 -5.67296689e-05 1.35833292e+02] [-4.31114891e-01 9.02297041e-01 3.07245998e-05 -3.91885344e+01] [ 6.44328449e-05 -3.26571040e-06 9.99999998e-01 -2.24661902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.057628 meters 0.024936301444138526 Centerline is valid? [True, True] Translation: X:135.89, Y:-39.22, Z:-0.23 [[ 9.03592002e-01 4.28392836e-01 -1.03515758e-03 1.35887184e+02] [-4.28392476e-01 9.03592593e-01 5.58887661e-04 -3.92153796e+01] [ 1.17478419e-03 -6.15527029e-05 9.99999308e-01 -2.25857000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.117628 meters 0.02622504541901268 Centerline is valid? [True, True] Translation: X:135.94, Y:-39.24, Z:-0.23 [[ 9.03668477e-01 4.28228522e-01 -1.90176002e-03 1.35943524e+02] [-4.28227305e-01 9.03670471e-01 1.02743034e-03 -3.92421923e+01] [ 2.15853935e-03 -1.14070841e-04 9.99997664e-01 -2.28029929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.177628 meters 0.026919981359375587 Centerline is valid? [True, True] Translation: X:136.00, Y:-39.27, Z:-0.23 [[ 9.02895028e-01 4.29851682e-01 -2.84603524e-03 1.36000503e+02] [-4.29848961e-01 9.02899498e-01 1.53820271e-03 -3.92663542e+01] [ 3.23088281e-03 -1.65470291e-04 9.99994767e-01 -2.30167900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.237628 meters 0.027160661434439085 Centerline is valid? [True, True] Translation: X:136.06, Y:-39.29, Z:-0.23 [[ 9.02095046e-01 4.31521537e-01 -3.70023714e-03 1.36056649e+02] [-4.31516949e-01 9.02102610e-01 2.00083230e-03 -3.92927860e+01] [ 4.20139581e-03 -2.08225863e-04 9.99991152e-01 -2.31164202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.297628 meters 0.021459185316440206 Centerline is valid? [True, True] Translation: X:136.12, Y:-39.31, Z:-0.23 [[ 9.00268250e-01 4.35311994e-01 -4.53282823e-03 1.36118296e+02] [-4.35305157e-01 9.00279631e-01 2.45081046e-03 -3.93086658e+01] [ 5.14768011e-03 -2.33223338e-04 9.99986723e-01 -2.32816319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.357628 meters 0.0198388002262456 Centerline is valid? [True, True] Translation: X:136.18, Y:-39.33, Z:-0.23 [[ 8.97364811e-01 4.41272352e-01 -3.88682892e-03 1.36176121e+02] [-4.41267379e-01 8.97373212e-01 2.10182541e-03 -3.93312649e+01] [ 4.41541360e-03 -1.70973347e-04 9.99990237e-01 -2.31872846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.417628 meters 0.017252884196027756 Centerline is valid? [True, True] Translation: X:136.23, Y:-39.35, Z:-0.23 [[ 8.94674521e-01 4.46704193e-01 -3.58690748e-03 1.36233992e+02] [-4.46700001e-01 8.94681701e-01 1.93979159e-03 -3.93533394e+01] [ 4.07565352e-03 -1.33210535e-04 9.99991686e-01 -2.31263359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.477628 meters 0.014256377957560606 Centerline is valid? [True, True] Translation: X:136.29, Y:-39.37, Z:-0.23 [[ 8.89455388e-01 4.57015019e-01 -2.52699288e-03 1.36293901e+02] [-4.57012979e-01 8.89458975e-01 1.36668928e-03 -3.93711385e+01] [ 2.87225403e-03 -6.07405981e-05 9.99995873e-01 -2.31380296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.53762799999998 meters 0.01234916339406272 Centerline is valid? [True, True] Translation: X:136.35, Y:-39.39, Z:-0.23 [[ 8.85460666e-01 4.64711673e-01 -1.57165457e-03 1.36351962e+02] [-4.64710896e-01 8.85462060e-01 8.50275882e-04 -3.93934072e+01] [ 1.78677362e-03 -2.25208462e-05 9.99998403e-01 -2.31531556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.597628 meters 0.011124455368930808 Centerline is valid? [True, True] Translation: X:136.41, Y:-39.41, Z:-0.23 [[ 8.80017389e-01 4.74937315e-01 -1.98563238e-03 1.36411271e+02] [-4.74936098e-01 8.80019629e-01 1.07514011e-03 -3.94147370e+01] [ 2.25801963e-03 -3.09349171e-06 9.99997451e-01 -2.32257276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.657628 meters 0.01123858274146618 Centerline is valid? [True, True] Translation: X:136.47, Y:-39.44, Z:-0.23 [[ 8.77042661e-01 4.80402554e-01 -3.09126347e-03 1.36468309e+02] [-4.80399636e-01 8.77048109e-01 1.67455623e-03 -3.94403417e+01] [ 3.51564787e-03 1.63845892e-05 9.99993820e-01 -2.34084057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.717628 meters 0.01153623891054199 Centerline is valid? [True, True] Translation: X:136.52, Y:-39.47, Z:-0.24 [[ 8.75063800e-01 4.83993889e-01 -3.64165837e-03 1.36524029e+02] [-4.83989865e-01 8.75071377e-01 1.97381870e-03 -3.94685958e+01] [ 4.14202720e-03 3.53084512e-05 9.99991421e-01 -2.35598098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.777628 meters 0.012026603005459461 Centerline is valid? [True, True] Translation: X:136.58, Y:-39.50, Z:-0.24 [[ 8.73916073e-01 4.86062599e-01 -3.72107792e-03 1.36576318e+02] [-4.86058412e-01 8.73923994e-01 2.01792568e-03 -3.95004440e+01] [ 4.23277748e-03 4.51635368e-05 9.99991041e-01 -2.35972550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.837628 meters 0.012076636910054691 Centerline is valid? [True, True] Translation: X:136.63, Y:-39.54, Z:-0.24 [[ 8.73775793e-01 4.86311026e-01 -4.17726092e-03 1.36629475e+02] [-4.86305745e-01 8.73785777e-01 2.26690081e-03 -3.95350726e+01] [ 4.75245004e-03 5.06629336e-05 9.99988706e-01 -2.36729271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.897628 meters 0.011979242735269614 Centerline is valid? [True, True] Translation: X:136.68, Y:-39.57, Z:-0.24 [[ 8.74296291e-01 4.85367331e-01 -4.95481165e-03 1.36680890e+02] [-4.85359876e-01 8.74310329e-01 2.69056247e-03 -3.95724142e+01] [ 5.63795412e-03 5.25179821e-05 9.99984105e-01 -2.38491729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.957628 meters 0.011737124957552024 Centerline is valid? [True, True] Translation: X:136.73, Y:-39.61, Z:-0.24 [[ 8.75429541e-01 4.83322319e-01 -4.75961311e-03 1.36730084e+02] [-4.83315402e-01 8.75442479e-01 2.58603316e-03 -3.96115955e+01] [ 5.41665504e-03 3.65045015e-05 9.99985329e-01 -2.38246327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.017628 meters 0.011528319162649339 Centerline is valid? [True, True] Translation: X:136.78, Y:-39.65, Z:-0.24 [[ 8.76528941e-01 4.81330024e-01 -4.29241063e-03 1.36780471e+02] [-4.81324367e-01 8.76539450e-01 2.33361005e-03 -3.96488583e+01] [ 4.88570384e-03 2.05650868e-05 9.99988065e-01 -2.37190212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.077628 meters 0.011394605872561421 Centerline is valid? [True, True] Translation: X:136.83, Y:-39.69, Z:-0.24 [[ 8.77914425e-01 4.78805898e-01 -3.34282401e-03 1.36831405e+02] [-4.78802449e-01 8.77920789e-01 1.81754217e-03 -3.96863561e+01] [ 3.80498461e-03 4.90583671e-06 9.99992761e-01 -2.36464262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.137628 meters 0.011692936106662433 Centerline is valid? [True, True] Translation: X:136.88, Y:-39.73, Z:-0.24 [[ 8.80765515e-01 4.73540480e-01 -3.39435095e-03 1.36879647e+02] [-4.73536877e-01 8.80772056e-01 1.84713367e-03 -3.97285549e+01] [ 3.86434203e-03 -1.95412913e-05 9.99992533e-01 -2.37183910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.197628 meters 0.01247125316867653 Centerline is valid? [True, True] Translation: X:136.93, Y:-39.77, Z:-0.24 [[ 8.83018867e-01 4.69323838e-01 -3.57987591e-03 1.36928775e+02] [-4.69319792e-01 8.83026123e-01 1.94911168e-03 -3.97680771e+01] [ 4.07588852e-03 -4.09957715e-05 9.99991693e-01 -2.36800601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.25762799999998 meters 0.015418486188437403 Centerline is valid? [True, True] Translation: X:136.97, Y:-39.81, Z:-0.24 [[ 8.87143457e-01 4.61464393e-01 -5.20576846e-03 1.36973592e+02] [-4.61455695e-01 8.87158724e-01 2.83549494e-03 -3.98131769e+01] [ 5.92682286e-03 -1.13259276e-04 9.99982430e-01 -2.38405241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.31762799999998 meters 0.01750899068261801 Centerline is valid? [True, True] Translation: X:137.02, Y:-39.85, Z:-0.24 [[ 8.90523990e-01 4.54900081e-01 -5.73937314e-03 1.37021822e+02] [-4.54889362e-01 8.90542467e-01 3.12762872e-03 -3.98521888e+01] [ 6.53391408e-03 -1.74448622e-04 9.99978639e-01 -2.38726741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.377628 meters 0.02248568114609736 Centerline is valid? [True, True] Translation: X:137.07, Y:-39.90, Z:-0.24 [[ 8.95301778e-01 4.45425755e-01 -5.53380565e-03 1.37066694e+02] [-4.45415605e-01 8.95318849e-01 3.01615092e-03 -3.98953274e+01] [ 6.29799180e-03 -2.35521885e-04 9.99980140e-01 -2.38034245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.437628 meters 0.02398310915089114 Centerline is valid? [True, True] Translation: X:137.12, Y:-39.93, Z:-0.24 [[ 8.96077151e-01 4.43874651e-01 -4.58627268e-03 1.37120134e+02] [-4.43867651e-01 8.96088864e-01 2.50130512e-03 -3.99271723e+01] [ 5.21997381e-03 -2.05664285e-04 9.99986355e-01 -2.37368259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.497628 meters 0.021514330039746475 Centerline is valid? [True, True] Translation: X:137.18, Y:-39.95, Z:-0.24 [[ 8.97402840e-01 4.41182447e-01 -5.11775742e-03 1.37177170e+02] [-4.41173678e-01 8.97417398e-01 2.79260401e-03 -3.99515140e+01] [ 5.82481241e-03 -2.48270903e-04 9.99983005e-01 -2.37904203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.557628 meters 0.020583497632923442 Centerline is valid? [True, True] Translation: X:137.23, Y:-39.98, Z:-0.24 [[ 8.98536173e-01 4.38877828e-01 -4.35873944e-03 1.37231876e+02] [-4.38871433e-01 8.98546716e-01 2.37982100e-03 -3.99800842e+01] [ 4.96098169e-03 -2.25429027e-04 9.99987669e-01 -2.36260630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.617628 meters 0.02198320486431132 Centerline is valid? [True, True] Translation: X:137.29, Y:-40.01, Z:-0.24 [[ 9.00762258e-01 4.34291212e-01 -4.30087490e-03 1.37286843e+02] [-4.34284928e-01 9.00772491e-01 2.34946402e-03 -4.00072591e+01] [ 4.89446138e-03 -2.48503369e-04 9.99987991e-01 -2.37720035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.677628 meters 0.022363968940889257 Centerline is valid? [True, True] Translation: X:137.34, Y:-40.03, Z:-0.24 [[ 9.01409313e-01 4.32949462e-01 -4.00169926e-03 1.37343089e+02] [-4.32944003e-01 9.01418164e-01 2.18728148e-03 -4.00325210e+01] [ 4.55418674e-03 -2.39124196e-04 9.99989601e-01 -2.37807327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.737628 meters 0.022985934099825765 Centerline is valid? [True, True] Translation: X:137.40, Y:-40.06, Z:-0.24 [[ 9.00165316e-01 4.35532250e-01 -3.75014637e-03 1.37396540e+02] [-4.35527477e-01 9.00173102e-01 2.05008664e-03 -4.00602906e+01] [ 4.26865974e-03 -2.12125098e-04 9.99990867e-01 -2.36277371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.797628 meters 0.021500445771629618 Centerline is valid? [True, True] Translation: X:137.45, Y:-40.08, Z:-0.24 [[ 8.97425964e-01 4.41149525e-01 -3.70610031e-03 1.37453999e+02] [-4.41144906e-01 8.97433598e-01 2.02722406e-03 -4.00822060e+01] [ 4.22028787e-03 -1.84356238e-04 9.99991078e-01 -2.37569364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.857628 meters 0.020069012324049167 Centerline is valid? [True, True] Translation: X:137.51, Y:-40.11, Z:-0.24 [[ 8.96701309e-01 4.42623095e-01 -3.39972760e-03 1.37510612e+02] [-4.42619214e-01 8.96707739e-01 1.86083369e-03 -4.01076218e+01] [ 3.87221001e-03 -1.63827251e-04 9.99992490e-01 -2.38331284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.917628 meters 0.020274999876127874 Centerline is valid? [True, True] Translation: X:137.57, Y:-40.13, Z:-0.24 [[ 8.96337403e-01 4.43362084e-01 -3.05327704e-03 1.37566890e+02] [-4.43358954e-01 8.96342592e-01 1.67222304e-03 -4.01347084e+01] [ 3.47818254e-03 -1.45178340e-04 9.99993941e-01 -2.39299052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.977628 meters 0.018804760409672622 Centerline is valid? [True, True] Translation: X:137.62, Y:-40.16, Z:-0.24 [[ 8.96015699e-01 4.44003540e-01 -4.08953585e-03 1.37622621e+02] [-4.43997926e-01 8.96025011e-01 2.24095593e-03 -4.01618316e+01] [ 4.65931877e-03 -1.92186257e-04 9.99989127e-01 -2.38644944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.03762799999998 meters 0.020554286276022255 Centerline is valid? [True, True] Translation: X:137.68, Y:-40.19, Z:-0.24 [[ 8.94408700e-01 4.47224652e-01 -4.81547028e-03 1.37675644e+02] [-4.47216916e-01 8.94421639e-01 2.63845554e-03 -4.01900128e+01] [ 5.48704318e-03 -2.06297823e-04 9.99984925e-01 -2.40802103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.097628 meters 0.018134415985011323 Centerline is valid? [True, True] Translation: X:137.73, Y:-40.21, Z:-0.24 [[ 8.92855325e-01 4.50318413e-01 -4.76389980e-03 1.37732763e+02] [-4.50310884e-01 8.92868015e-01 2.61056490e-03 -4.02138573e+01] [ 5.42911920e-03 -1.85620843e-04 9.99985245e-01 -2.41191477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.157628 meters 0.01630073386568512 Centerline is valid? [True, True] Translation: X:137.79, Y:-40.24, Z:-0.24 [[ 8.90440464e-01 4.55067357e-01 -5.42956458e-03 1.37788817e+02] [-4.55057660e-01 8.90457000e-01 2.97612219e-03 -4.02388071e+01] [ 6.18912985e-03 -1.79294672e-04 9.99980831e-01 -2.41658050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.217628 meters 0.014903108266238467 Centerline is valid? [True, True] Translation: X:137.85, Y:-40.26, Z:-0.24 [[ 8.87335618e-01 4.61076197e-01 -6.65152271e-03 1.37845523e+02] [-4.61061808e-01 8.87360531e-01 3.64650219e-03 -4.02642240e+01] [ 7.58361409e-03 -1.68908182e-04 9.99971230e-01 -2.42804946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.277628 meters 0.013963868975601031 Centerline is valid? [True, True] Translation: X:137.90, Y:-40.29, Z:-0.24 [[ 8.85150405e-01 4.65259573e-01 -6.50307878e-03 1.37901082e+02] [-4.65245929e-01 8.85174284e-01 3.56552523e-03 -4.02914902e+01] [ 7.41525285e-03 -1.30495176e-04 9.99972498e-01 -2.43051939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.337628 meters 0.01319767575166425 Centerline is valid? [True, True] Translation: X:137.96, Y:-40.32, Z:-0.24 [[ 8.83543622e-01 4.68322804e-01 -4.94158989e-03 1.37956505e+02] [-4.68314968e-01 8.83557437e-01 2.71042509e-03 -4.03203652e+01] [ 5.63553238e-03 -8.05582844e-05 9.99984117e-01 -2.41555561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.397628 meters 0.012755321596911624 Centerline is valid? [True, True] Translation: X:138.01, Y:-40.35, Z:-0.24 [[ 8.82201590e-01 4.70855195e-01 -3.96724015e-03 1.38011173e+02] [-4.70850163e-01 8.82210509e-01 2.17754101e-03 -4.03505053e+01] [ 4.52524745e-03 -5.30544711e-05 9.99989760e-01 -2.40338133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.457628 meters 0.01285298245722814 Centerline is valid? [True, True] Translation: X:138.07, Y:-40.38, Z:-0.24 [[ 8.82175867e-01 4.70898957e-01 -4.46226791e-03 1.38066023e+02] [-4.70892583e-01 8.82187151e-01 2.45088359e-03 -4.03820557e+01] [ 5.09067394e-03 -6.08614977e-05 9.99987041e-01 -2.42321063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.517628 meters 0.013383019786998369 Centerline is valid? [True, True] Translation: X:138.12, Y:-40.42, Z:-0.24 [[ 8.83158686e-01 4.69055024e-01 -4.25675750e-03 1.38118014e+02] [-4.69049196e-01 8.83168942e-01 2.33930582e-03 -4.04158226e+01] [ 4.85669916e-03 -6.93495762e-05 9.99988204e-01 -2.42401370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.577628 meters 0.01582911071321477 Centerline is valid? [True, True] Translation: X:138.17, Y:-40.46, Z:-0.24 [[ 8.86609301e-01 4.62514031e-01 -2.17207684e-03 1.38165331e+02] [-4.62512493e-01 8.86611960e-01 1.19398047e-03 -4.04551975e+01] [ 2.47802202e-03 -5.39815129e-05 9.99996928e-01 -2.40245790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.637628 meters 0.016496607564770095 Centerline is valid? [True, True] Translation: X:138.22, Y:-40.49, Z:-0.24 [[ 8.90533847e-01 4.54916331e-01 -7.73570616e-04 1.38215707e+02] [-4.54916133e-01 8.90534183e-01 4.25805723e-04 -4.04904232e+01] [ 8.82597054e-04 -2.72846551e-05 9.99999610e-01 -2.39031371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.697628 meters 0.017506251551080945 Centerline is valid? [True, True] Translation: X:138.27, Y:-40.52, Z:-0.24 [[ 8.92346679e-01 4.51350090e-01 -7.07193081e-04 1.38266598e+02] [-4.51349923e-01 8.92346959e-01 3.89504240e-04 -4.05248108e+01] [ 8.06864369e-04 -2.83812732e-05 9.99999674e-01 -2.39328018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.75762799999998 meters 0.018268053873761812 Centerline is valid? [True, True] Translation: X:138.32, Y:-40.56, Z:-0.24 [[ 8.93553543e-01 4.48954049e-01 -1.52562467e-03 1.38318022e+02] [-4.48953269e-01 8.93554843e-01 8.39642834e-04 -4.05604597e+01] [ 1.74019036e-03 -6.53316464e-05 9.99998484e-01 -2.39057267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.81762799999998 meters 0.018209099543703023 Centerline is valid? [True, True] Translation: X:138.37, Y:-40.59, Z:-0.24 [[ 8.93677815e-01 4.48707566e-01 -1.21775587e-03 1.38371081e+02] [-4.48707067e-01 8.93678643e-01 6.70912372e-04 -4.05918303e+01] [ 1.38932587e-03 -5.31638395e-05 9.99999033e-01 -2.38767871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.877628 meters 0.0190543390109205 Centerline is valid? [True, True] Translation: X:138.42, Y:-40.62, Z:-0.24 [[ 8.93423835e-01 4.49214302e-01 -6.02216639e-04 1.38423035e+02] [-4.49214180e-01 8.93424037e-01 3.31946437e-04 -4.06231982e+01] [ 6.87149908e-04 -2.60446047e-05 9.99999764e-01 -2.39663646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.937628 meters 0.018479830513742686 Centerline is valid? [True, True] Translation: X:138.48, Y:-40.65, Z:-0.24 [[ 8.93464075e-01 4.49131683e-01 -1.63616676e-03 1.38477132e+02] [-4.49130783e-01 8.93465571e-01 9.02143133e-04 -4.06541954e+01] [ 1.86703973e-03 -7.11796211e-05 9.99998255e-01 -2.40222088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.997628 meters 0.018126807732780987 Centerline is valid? [True, True] Translation: X:138.53, Y:-40.68, Z:-0.24 [[ 8.93930027e-01 4.48197450e-01 -2.85516725e-03 1.38531762e+02] [-4.48194702e-01 8.93934578e-01 1.57486629e-03 -4.06838106e+01] [ 3.25818378e-03 -1.28149429e-04 9.99994684e-01 -2.41772935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.057628 meters 0.019264015258294392 Centerline is valid? [True, True] Translation: X:138.58, Y:-40.72, Z:-0.24 [[ 8.94106671e-01 4.47840005e-01 -3.54837316e-03 1.38584265e+02] [-4.47835756e-01 8.94113698e-01 1.95751543e-03 -4.07150130e+01] [ 4.04930276e-03 -1.61139226e-04 9.99991789e-01 -2.43318242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.117628 meters 0.020278409825421975 Centerline is valid? [True, True] Translation: X:138.64, Y:-40.75, Z:-0.24 [[ 8.94551400e-01 4.46957749e-01 -2.56193396e-03 1.38637372e+02] [-4.46955528e-01 8.94555060e-01 1.41433580e-03 -4.07462559e+01] [ 2.92393934e-03 -1.20125526e-04 9.99995718e-01 -2.42673438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.177628 meters 0.021229541915491052 Centerline is valid? [True, True] Translation: X:138.69, Y:-40.78, Z:-0.24 [[ 8.94708015e-01 4.46649371e-01 -1.38096352e-03 1.38691124e+02] [-4.46648724e-01 8.94709079e-01 7.63030638e-04 -4.07767692e+01] [ 1.57636775e-03 -6.58840344e-05 9.99998755e-01 -2.42095721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.237628 meters 0.018862966286052538 Centerline is valid? [True, True] Translation: X:138.75, Y:-40.80, Z:-0.24 [[ 8.94220966e-01 4.47625371e-01 -6.26378052e-04 1.38747358e+02] [-4.47625237e-01 8.94221184e-01 3.46571598e-04 -4.08034886e+01] [ 7.15254764e-04 -2.95289648e-05 9.99999744e-01 -2.40928225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.297628 meters 0.017098264333229876 Centerline is valid? [True, True] Translation: X:138.80, Y:-40.83, Z:-0.24 [[ 8.91115771e-01 4.53775729e-01 -5.20195004e-04 1.38803068e+02] [-4.53775638e-01 8.91115923e-01 2.87619652e-04 -4.08297594e+01] [ 5.94068868e-04 -2.02505886e-05 9.99999823e-01 -2.39729911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.357628 meters 0.015854878460603145 Centerline is valid? [True, True] Translation: X:138.86, Y:-40.86, Z:-0.24 [[ 8.87611974e-01 4.60588666e-01 -1.75035277e-03 1.38857623e+02] [-4.60587652e-01 8.87613699e-01 9.67731145e-04 -4.08551319e+01] [ 1.99936309e-03 -5.27788806e-05 9.99998000e-01 -2.39877232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.417628 meters 0.0131497225118983 Centerline is valid? [True, True] Translation: X:138.92, Y:-40.88, Z:-0.24 [[ 8.81645752e-01 4.71898874e-01 -3.49594213e-03 1.38915941e+02] [-4.71894915e-01 8.81652681e-01 1.93359275e-03 -4.08767100e+01] [ 3.99466700e-03 -5.50265195e-05 9.99992020e-01 -2.42301783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.477628 meters 0.012229359054794206 Centerline is valid? [True, True] Translation: X:138.97, Y:-40.90, Z:-0.24 [[ 8.77940388e-01 4.78737079e-01 -5.61107073e-03 1.38972517e+02] [-4.78727010e-01 8.77958318e-01 3.10514091e-03 -4.09026229e+01] [ 6.41283231e-03 -3.99574986e-05 9.99979437e-01 -2.44414861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.53762799999998 meters 0.012130844166921185 Centerline is valid? [True, True] Translation: X:139.03, Y:-40.93, Z:-0.25 [[ 8.76850999e-01 4.80711522e-01 -6.98271366e-03 1.39028119e+02] [-4.80695972e-01 8.76878801e-01 3.86668390e-03 -4.09323136e+01] [ 7.98175309e-03 -3.39433107e-05 9.99968145e-01 -2.45947098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.597628 meters 0.012267607031740653 Centerline is valid? [True, True] Translation: X:139.08, Y:-40.96, Z:-0.25 [[ 8.76947399e-01 4.80523906e-01 -7.74821484e-03 1.39081710e+02] [-4.80504728e-01 8.76981627e-01 4.29334213e-03 -4.09646407e+01] [ 8.85809558e-03 -4.19813509e-05 9.99960765e-01 -2.46231812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.657628 meters 0.012346414664104775 Centerline is valid? [True, True] Translation: X:139.13, Y:-41.00, Z:-0.24 [[ 8.77905760e-01 4.78782554e-01 -6.98159753e-03 1.39133417e+02] [-4.78766907e-01 8.77933518e-01 3.87117409e-03 -4.10002571e+01] [ 7.98282910e-03 -5.59681740e-05 9.99968135e-01 -2.44402561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.717628 meters 0.01248336552372648 Centerline is valid? [True, True] Translation: X:139.19, Y:-41.03, Z:-0.24 [[ 8.78282165e-01 4.78108006e-01 -5.75968337e-03 1.39186689e+02] [-4.78097327e-01 8.78301049e-01 3.19590535e-03 -4.10330350e+01] [ 6.58672387e-03 -5.32174482e-05 9.99978306e-01 -2.43775709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.777628 meters 0.012660107285739929 Centerline is valid? [True, True] Translation: X:139.24, Y:-41.07, Z:-0.24 [[ 8.78619644e-01 4.77498943e-01 -4.72027857e-03 1.39239583e+02] [-4.77491752e-01 8.78632322e-01 2.62100304e-03 -4.10664618e+01] [ 5.39891550e-03 -4.89706740e-05 9.99985425e-01 -2.43724300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.837628 meters 0.01291051659409543 Centerline is valid? [True, True] Translation: X:139.29, Y:-41.10, Z:-0.24 [[ 8.78900265e-01 4.76989196e-01 -3.95366463e-03 1.39292600e+02] [-4.76984139e-01 8.78909156e-01 2.19687145e-03 -4.11003372e+01] [ 4.52279599e-03 -4.49955804e-05 9.99989771e-01 -2.43038713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.897628 meters 0.015260624425211812 Centerline is valid? [True, True] Translation: X:139.34, Y:-41.13, Z:-0.25 [[ 8.79044334e-01 4.76670818e-01 -8.12341691e-03 1.39344947e+02] [-4.76649437e-01 8.79081863e-01 4.51577912e-03 -4.11345430e+01] [ 9.29368860e-03 -9.75479502e-05 9.99956808e-01 -2.47938524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.957628 meters 0.012879487016504697 Centerline is valid? [True, True] Translation: X:139.40, Y:-41.16, Z:-0.25 [[ 8.76687368e-01 4.80968434e-01 -9.41401427e-03 1.39399966e+02] [-4.80939938e-01 8.76737909e-01 5.23586044e-03 -4.11606543e+01] [ 1.07719068e-02 -6.26372666e-05 9.99941979e-01 -2.48120614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.017628 meters 0.01286758696146736 Centerline is valid? [True, True] Translation: X:139.46, Y:-41.19, Z:-0.25 [[ 8.74918895e-01 4.84114662e-01 -1.22442121e-02 1.39455160e+02] [-4.84066717e-01 8.75004567e-01 6.81331213e-03 -4.11878154e+01] [ 1.40121658e-02 -3.40799619e-05 9.99901824e-01 -2.50567242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.077628 meters 0.012795501423769068 Centerline is valid? [True, True] Translation: X:139.51, Y:-41.22, Z:-0.25 [[ 8.75325165e-01 4.83356149e-01 -1.31410813e-02 1.39508770e+02] [-4.83300772e-01 8.75423800e-01 7.31663927e-03 -4.12182901e+01] [ 1.50405579e-02 -5.33437378e-05 9.99886883e-01 -2.49540108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.137628 meters 0.01310394059722525 Centerline is valid? [True, True] Translation: X:139.56, Y:-41.25, Z:-0.25 [[ 8.77735440e-01 4.79043835e-01 -9.87429262e-03 1.39560956e+02] [-4.79012258e-01 8.77790974e-01 5.50108055e-03 -4.12521578e+01] [ 1.13028237e-02 -9.85861587e-05 9.99936116e-01 -2.45020129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.197628 meters 0.013640839608583255 Centerline is valid? [True, True] Translation: X:139.61, Y:-41.29, Z:-0.24 [[ 8.79617843e-01 4.75628416e-01 -7.07537800e-03 1.39614808e+02] [-4.75612070e-01 8.79646292e-01 3.94457235e-03 -4.12850741e+01] [ 8.09998072e-03 -1.04581045e-04 9.99967189e-01 -2.41757421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25762799999998 meters 0.014231585175962189 Centerline is valid? [True, True] Translation: X:139.67, Y:-41.32, Z:-0.24 [[ 8.81323158e-01 4.72491383e-01 -4.62423262e-03 1.39667989e+02] [-4.72484350e-01 8.81335285e-01 2.57966734e-03 -4.13167026e+01] [ 5.29436996e-03 -8.86430280e-05 9.99985981e-01 -2.38913820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.31762799999998 meters 0.014313520589227177 Centerline is valid? [True, True] Translation: X:139.72, Y:-41.35, Z:-0.24 [[ 8.81057367e-01 4.72990294e-01 -4.25413206e-03 1.39723655e+02] [-4.72984338e-01 8.81067634e-01 2.37486822e-03 -4.13469262e+01] [ 4.87146769e-03 -8.02573060e-05 9.99988131e-01 -2.39219173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.377628 meters 0.013581772750094635 Centerline is valid? [True, True] Translation: X:139.78, Y:-41.37, Z:-0.24 [[ 8.79181375e-01 4.76459085e-01 -5.18173360e-03 1.39780317e+02] [-4.76450301e-01 8.79196642e-01 2.89421073e-03 -4.13729902e+01] [ 5.93473578e-03 -7.56976397e-05 9.99982386e-01 -2.41282273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.437628 meters 0.013062714818752279 Centerline is valid? [True, True] Translation: X:139.84, Y:-41.40, Z:-0.24 [[ 8.76755949e-01 4.80875856e-01 -7.57737487e-03 1.39836531e+02] [-4.80857217e-01 8.76788689e-01 4.23448938e-03 -4.13999781e+01] [ 8.68002029e-03 -6.89783612e-05 9.99962326e-01 -2.43562201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.497628 meters 0.01292482027451482 Centerline is valid? [True, True] Translation: X:139.89, Y:-41.43, Z:-0.25 [[ 8.75269096e-01 4.83565635e-01 -8.26355525e-03 1.39890907e+02] [-4.83543564e-01 8.75308103e-01 4.62030105e-03 -4.14278866e+01] [ 9.46737568e-03 -4.82177654e-05 9.99955182e-01 -2.45381223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.557628 meters 0.012688764328485641 Centerline is valid? [True, True] Translation: X:139.95, Y:-41.46, Z:-0.25 [[ 8.73718061e-01 4.86363476e-01 -8.20487961e-03 1.39946871e+02] [-4.86341816e-01 8.73756585e-01 4.59009422e-03 -4.14553613e+01] [ 9.40152177e-03 -2.00721665e-05 9.99955805e-01 -2.45965996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.617628 meters 0.012620638448828827 Centerline is valid? [True, True] Translation: X:140.00, Y:-41.49, Z:-0.24 [[ 8.73395388e-01 4.86965243e-01 -6.73419899e-03 1.40001289e+02] [-4.86950653e-01 8.73421349e-01 3.76957831e-03 -4.14860784e+01] [ 7.71744678e-03 -1.31097157e-05 9.99970220e-01 -2.44173645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.677628 meters 0.012589993071224194 Centerline is valid? [True, True] Translation: X:140.05, Y:-41.52, Z:-0.24 [[ 8.73589359e-01 4.86639257e-01 -4.88520324e-03 1.40052717e+02] [-4.86631570e-01 8.73603018e-01 2.73537041e-03 -4.15187948e+01] [ 5.59886692e-03 -1.22963609e-05 9.99984326e-01 -2.42507829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.737628 meters 0.012533532053884085 Centerline is valid? [True, True] Translation: X:140.11, Y:-41.55, Z:-0.24 [[ 8.72807750e-01 4.88038729e-01 -4.98305824e-03 1.40107233e+02] [-4.88030741e-01 8.72821975e-01 2.79216069e-03 -4.15506105e+01] [ 5.71200529e-03 -5.13388036e-06 9.99983686e-01 -2.43424222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.797628 meters 0.013110725064495942 Centerline is valid? [True, True] Translation: X:140.16, Y:-41.58, Z:-0.25 [[ 8.69949919e-01 4.93035887e-01 -1.01367114e-02 1.40162231e+02] [-4.93003163e-01 8.70008972e-01 5.68069189e-03 -4.15787282e+01] [ 1.16198148e-02 5.55133125e-05 9.99932486e-01 -2.48087799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.857628 meters 0.013088190430218635 Centerline is valid? [True, True] Translation: X:140.22, Y:-41.61, Z:-0.25 [[ 8.70080573e-01 4.92807415e-01 -1.00323644e-02 1.40216705e+02] [-4.92775301e-01 8.70138408e-01 5.62608956e-03 -4.16093611e+01] [ 1.15021242e-02 4.85501576e-05 9.99933847e-01 -2.48159510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.917628 meters 0.013088190430218635 Centerline is valid? [True, True] Translation: X:140.27, Y:-41.64, Z:-0.25 [[ 8.69946594e-01 4.93043919e-01 -1.00308346e-02 1.40271087e+02] [-4.93011790e-01 8.70004420e-01 5.62881668e-03 -4.16399654e+01] [ 1.15021243e-02 4.85498345e-05 9.99933847e-01 -2.48263850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.977628 meters 0.012882017191986601 Centerline is valid? [True, True] Translation: X:140.32, Y:-41.67, Z:-0.25 [[ 8.71679224e-01 4.89997639e-01 -8.81160127e-03 1.40323589e+02] [-4.89972662e-01 8.71723760e-01 4.94742029e-03 -4.16730916e+01] [ 1.01055064e-02 4.88024846e-06 9.99948938e-01 -2.46792638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03762799999998 meters 0.013110952614310152 Centerline is valid? [True, True] Translation: X:140.38, Y:-41.71, Z:-0.24 [[ 8.74796596e-01 4.84445146e-01 -6.61940557e-03 1.40375666e+02] [-4.84430872e-01 8.74821638e-01 3.71921820e-03 -4.17082727e+01] [ 7.59255643e-03 -4.69150123e-05 9.99971175e-01 -2.43567090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.097628 meters 0.014779862244422745 Centerline is valid? [True, True] Translation: X:140.43, Y:-41.74, Z:-0.24 [[ 8.79977535e-01 4.75005589e-01 -3.03796373e-03 1.40426915e+02] [-4.75002525e-01 8.79982777e-01 1.70709270e-03 -4.17441017e+01] [ 3.48423433e-03 -5.91627826e-05 9.99993928e-01 -2.39691134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.157628 meters 0.018069153422956855 Centerline is valid? [True, True] Translation: X:140.48, Y:-41.78, Z:-0.24 [[ 8.84851686e-01 4.65867085e-01 -2.31369537e-03 1.40477276e+02] [-4.65865275e-01 8.84854708e-01 1.30080957e-03 -4.17785427e+01] [ 2.65328860e-03 -7.31532140e-05 9.99996477e-01 -2.38907332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.217628 meters 0.01894119726796753 Centerline is valid? [True, True] Translation: X:140.53, Y:-41.81, Z:-0.24 [[ 8.90075745e-01 4.55782947e-01 -5.20330583e-03 1.40532839e+02] [-4.55773619e-01 8.90090923e-01 2.92524409e-03 -4.18065154e+01] [ 5.96469166e-03 -2.32159290e-04 9.99982184e-01 -2.41485057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.277628 meters 0.019905674322693714 Centerline is valid? [True, True] Translation: X:140.59, Y:-41.84, Z:-0.24 [[ 8.90860132e-01 4.54242330e-01 -5.66849778e-03 1.40586270e+02] [-4.54231215e-01 8.90878126e-01 3.18882201e-03 -4.18369042e+01] [ 6.49843862e-03 -2.65985763e-04 9.99978850e-01 -2.42509021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.337628 meters 0.025156320205164676 Centerline is valid? [True, True] Translation: X:140.64, Y:-41.87, Z:-0.24 [[ 8.91510228e-01 4.52963799e-01 -5.77150150e-03 1.40636068e+02] [-4.52952243e-01 8.91528865e-01 3.24769257e-03 -4.18721709e+01] [ 6.61654735e-03 -2.81136598e-04 9.99978071e-01 -2.44635908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.397628 meters 0.021182557428273397 Centerline is valid? [True, True] Translation: X:140.69, Y:-41.89, Z:-0.24 [[ 8.92071906e-01 4.51847130e-01 -6.47194619e-03 1.40694820e+02] [-4.51832553e-01 8.92095322e-01 3.64411652e-03 -4.18938355e+01] [ 7.42017651e-03 -3.26578002e-04 9.99972417e-01 -2.43441518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.457628 meters 0.02034637012044089 Centerline is valid? [True, True] Translation: X:140.75, Y:-41.92, Z:-0.24 [[ 8.91298759e-01 4.53369785e-01 -6.50854603e-03 1.40751028e+02] [-4.53355067e-01 8.91322465e-01 3.66686887e-03 -4.19201496e+01] [ 7.46366084e-03 -3.17593351e-04 9.99972096e-01 -2.43666963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.517628 meters 0.019849367629191542 Centerline is valid? [True, True] Translation: X:140.81, Y:-41.94, Z:-0.24 [[ 8.88832077e-01 4.58211002e-01 -4.49626673e-03 1.40806097e+02] [-4.58204037e-01 8.88843429e-01 2.53359730e-03 -4.19448166e+01] [ 5.15739929e-03 -1.91734986e-04 9.99986682e-01 -2.42575341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.577628 meters 0.018305320930761728 Centerline is valid? [True, True] Translation: X:140.86, Y:-41.97, Z:-0.24 [[ 8.86495891e-01 4.62722525e-01 -3.59159385e-03 1.40863119e+02] [-4.62718117e-01 8.86503157e-01 2.02398509e-03 -4.19693076e+01] [ 4.12050278e-03 -1.32358920e-04 9.99991502e-01 -2.42107669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.637628 meters 0.01602601004068511 Centerline is valid? [True, True] Translation: X:140.92, Y:-41.99, Z:-0.24 [[ 8.83938475e-01 4.67562426e-01 -6.17657551e-03 1.40920595e+02] [-4.67549506e-01 8.83960034e-01 3.48110562e-03 -4.19930314e+01] [ 7.08748009e-03 -1.89228361e-04 9.99974866e-01 -2.44137876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.697628 meters 0.01562688706438925 Centerline is valid? [True, True] Translation: X:140.97, Y:-42.02, Z:-0.25 [[ 8.81434378e-01 4.72255000e-01 -6.97516614e-03 1.40974457e+02] [-4.72238659e-01 8.81461959e-01 3.93226171e-03 -4.20197630e+01] [ 8.00537387e-03 -1.72087547e-04 9.99967942e-01 -2.45589309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.75762799999998 meters 0.014382738480383277 Centerline is valid? [True, True] Translation: X:141.03, Y:-42.05, Z:-0.24 [[ 8.78497032e-01 4.77712679e-01 -5.79320721e-03 1.41030440e+02] [-4.77701523e-01 8.78516127e-01 3.26632706e-03 -4.20456945e+01] [ 6.64979181e-03 -1.02034721e-04 9.99977885e-01 -2.44645724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81762799999998 meters 0.013188280848896946 Centerline is valid? [True, True] Translation: X:141.09, Y:-42.07, Z:-0.24 [[ 8.74971103e-01 4.84159266e-01 -3.92085730e-03 1.41087594e+02] [-4.84154215e-01 8.74979888e-01 2.21188205e-03 -4.20692968e+01] [ 4.50157447e-03 -3.70332893e-05 9.99989867e-01 -2.42992187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.877628 meters 0.012711913993023707 Centerline is valid? [True, True] Translation: X:141.15, Y:-42.09, Z:-0.24 [[ 8.69509205e-01 4.93905893e-01 -3.27294312e-03 1.41146242e+02] [-4.93902437e-01 8.69515364e-01 1.84762536e-03 -4.20917040e+01] [ 3.75842738e-03 9.98732670e-06 9.99992937e-01 -2.43135631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.937628 meters 0.013573060048018178 Centerline is valid? [True, True] Translation: X:141.20, Y:-42.12, Z:-0.24 [[ 8.65261223e-01 5.01317264e-01 -2.00435513e-03 1.41202210e+02] [-5.01315986e-01 8.65263544e-01 1.13231887e-03 -4.21185742e+01] [ 2.30194642e-03 2.50636580e-05 9.99997350e-01 -2.41353690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.997628 meters 0.017275111593986626 Centerline is valid? [True, True] Translation: X:141.26, Y:-42.15, Z:-0.24 [[ 8.62731741e-01 5.05653884e-01 -2.84467910e-03 1.41257842e+02] [-5.05651331e-01 8.62736430e-01 1.60776948e-03 -4.21469061e+01] [ 3.26718318e-03 5.13420101e-05 9.99994661e-01 -2.44122659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.057628 meters 0.015548952527156372 Centerline is valid? [True, True] Translation: X:141.31, Y:-42.18, Z:-0.25 [[ 8.60419115e-01 5.09545784e-01 -6.48391776e-03 1.41312777e+02] [-5.09532631e-01 8.60443532e-01 3.66427396e-03 -4.21764307e+01] [ 7.44616045e-03 1.50956321e-04 9.99972266e-01 -2.45738973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.117628 meters 0.015393551663120163 Centerline is valid? [True, True] Translation: X:141.37, Y:-42.21, Z:-0.25 [[ 8.60514322e-01 5.09382852e-01 -6.64918989e-03 1.41365304e+02] [-5.09368993e-01 8.60539998e-01 3.76056662e-03 -4.22111434e+01] [ 7.63746200e-03 1.50869715e-04 9.99970823e-01 -2.45181581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.177628 meters 0.01423988799132831 Centerline is valid? [True, True] Translation: X:141.42, Y:-42.25, Z:-0.24 [[ 8.62660159e-01 5.05750908e-01 -5.78530533e-03 1.41415248e+02] [-5.05740321e-01 8.62679552e-01 3.27391212e-03 -4.22484751e+01] [ 6.64664864e-03 1.01588626e-04 9.99977906e-01 -2.43431835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.237628 meters 0.013271296790908731 Centerline is valid? [True, True] Translation: X:141.47, Y:-42.29, Z:-0.24 [[ 8.65732084e-01 5.00483094e-01 -4.96296781e-03 1.41465478e+02] [-5.00475206e-01 8.65746308e-01 2.81028693e-03 -4.22851740e+01] [ 5.70317216e-03 5.08867786e-05 9.99983735e-01 -2.43002845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.297628 meters 0.012899023020152644 Centerline is valid? [True, True] Translation: X:141.51, Y:-42.33, Z:-0.24 [[ 8.71451676e-01 4.90470710e-01 -3.23414373e-03 1.41512369e+02] [-4.90467286e-01 8.71457677e-01 1.83258315e-03 -4.23279352e+01] [ 3.71724774e-03 -1.07659601e-05 9.99993091e-01 -2.40755650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.357628 meters 0.01411196967420083 Centerline is valid? [True, True] Translation: X:141.56, Y:-42.37, Z:-0.24 [[ 8.77087396e-01 4.80329529e-01 -1.11512794e-03 1.41560120e+02] [-4.80329113e-01 8.77088104e-01 6.32498008e-04 -4.23687969e+01] [ 1.28187292e-03 -1.91276183e-05 9.99999178e-01 -2.38585028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.417628 meters 0.015378486960732676 Centerline is valid? [True, True] Translation: X:141.61, Y:-42.40, Z:-0.24 [[ 8.79876644e-01 4.75201042e-01 -1.03010765e-03 1.41611308e+02] [-4.75200683e-01 8.79877246e-01 5.84613241e-04 -4.24036243e+01] [ 1.18417711e-03 -2.48796758e-05 9.99999299e-01 -2.39962874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.477628 meters 0.015903963469467382 Centerline is valid? [True, True] Translation: X:141.66, Y:-42.43, Z:-0.24 [[ 8.80815371e-01 4.73455734e-01 -1.98758568e-03 1.41664906e+02] [-4.73454392e-01 8.80817612e-01 1.12827575e-03 -4.24346937e+01] [ 2.28488910e-03 -5.27714509e-05 9.99997388e-01 -2.42277371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53762799999998 meters 0.017351188537771085 Centerline is valid? [True, True] Translation: X:141.72, Y:-42.47, Z:-0.25 [[ 8.83377116e-01 4.68626821e-01 -5.81144527e-03 1.41715541e+02] [-4.68615243e-01 8.83396211e-01 3.29970575e-03 -4.24700654e+01] [ 6.68013935e-03 -1.91552704e-04 9.99977669e-01 -2.45272894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.597628 meters 0.01857883913787504 Centerline is valid? [True, True] Translation: X:141.77, Y:-42.50, Z:-0.25 [[ 8.85525057e-01 4.64535988e-01 -7.18955016e-03 1.41768533e+02] [-4.64518131e-01 8.85554199e-01 4.08239872e-03 -4.25025220e+01] [ 8.26315746e-03 -2.75389949e-04 9.99965822e-01 -2.46884842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.657628 meters 0.021271380595050442 Centerline is valid? [True, True] Translation: X:141.82, Y:-42.53, Z:-0.25 [[ 8.88590496e-01 4.58658375e-01 -6.27900332e-03 1.41822578e+02] [-4.58644603e-01 8.88612633e-01 3.56590371e-03 -4.25328107e+01] [ 7.21513327e-03 -2.88797154e-04 9.99973929e-01 -2.48644919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.717628 meters 0.02154985965116447 Centerline is valid? [True, True] Translation: X:141.87, Y:-42.56, Z:-0.24 [[ 8.90145727e-01 4.55658837e-01 -3.95069515e-03 1.41874817e+02] [-4.55653351e-01 8.90154472e-01 2.24471568e-03 -4.25638815e+01] [ 4.53955350e-03 -1.97976587e-04 9.99989677e-01 -2.44022480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.777628 meters 0.022096563133486877 Centerline is valid? [True, True] Translation: X:141.93, Y:-42.59, Z:-0.24 [[ 8.91396023e-01 4.53217892e-01 -2.58319529e-03 1.41930280e+02] [-4.53215536e-01 8.91399755e-01 1.46788853e-03 -4.25925319e+01] [ 2.96793300e-03 -1.37725763e-04 9.99995586e-01 -2.42564249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.837628 meters 0.02214404806565403 Centerline is valid? [True, True] Translation: X:141.99, Y:-42.62, Z:-0.24 [[ 8.90701281e-01 4.54583122e-01 -2.32655544e-03 1.41987094e+02] [-4.54581213e-01 8.90704311e-01 1.32315376e-03 -4.26185902e+01] [ 2.67375633e-03 -1.20926353e-04 9.99996418e-01 -2.43355662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.897628 meters 0.02018162878187876 Centerline is valid? [True, True] Translation: X:142.05, Y:-42.64, Z:-0.24 [[ 8.87513230e-01 4.60777767e-01 -2.02890476e-03 1.42046239e+02] [-4.60776330e-01 8.87515544e-01 1.15443748e-03 -4.26390233e+01] [ 2.33262364e-03 -8.97072431e-05 9.99997275e-01 -2.42693575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.957628 meters 0.01654013895665596 Centerline is valid? [True, True] Translation: X:142.11, Y:-42.66, Z:-0.24 [[ 8.82432537e-01 4.70430509e-01 -2.82009759e-03 1.42106591e+02] [-4.70427779e-01 8.82437039e-01 1.60512962e-03 -4.26560047e+01] [ 3.24366051e-03 -8.97663604e-05 9.99994735e-01 -2.43386811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.017628 meters 0.014460353061959641 Centerline is valid? [True, True] Translation: X:142.17, Y:-42.67, Z:-0.25 [[ 8.77603018e-01 4.79379274e-01 -2.90775108e-03 1.42166407e+02] [-4.79376421e-01 8.77607833e-01 1.65509008e-03 -4.26732112e+01] [ 3.34528100e-03 -5.86047411e-05 9.99994403e-01 -2.45397934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.077628 meters 0.013212661340369266 Centerline is valid? [True, True] Translation: X:142.22, Y:-42.70, Z:-0.25 [[ 8.74816777e-01 4.84443557e-01 -3.16982494e-03 1.42224321e+02] [-4.84440198e-01 8.74822518e-01 1.80441584e-03 -4.26965074e+01] [ 3.64717187e-03 -4.29426248e-05 9.99993348e-01 -2.47095033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.137628 meters 0.012238576025273975 Centerline is valid? [True, True] Translation: X:142.28, Y:-42.72, Z:-0.25 [[ 8.71993706e-01 4.89499956e-01 -4.09497134e-03 1.42281748e+02] [-4.89494399e-01 8.72003321e-01 2.33271595e-03 -4.27216060e+01] [ 4.71269297e-03 -2.96480872e-05 9.99988895e-01 -2.47268452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.197628 meters 0.011758935979655317 Centerline is valid? [True, True] Translation: X:142.34, Y:-42.75, Z:-0.25 [[ 8.68319584e-01 4.95987195e-01 -4.21921791e-03 1.42339776e+02] [-4.95981365e-01 8.68329835e-01 2.40486907e-03 -4.27450228e+01] [ 4.85645706e-03 4.45854997e-06 9.99988207e-01 -2.47611725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25762799999998 meters 0.0119719892920439 Centerline is valid? [True, True] Translation: X:142.40, Y:-42.77, Z:-0.25 [[ 8.66193822e-01 4.99696784e-01 -3.37432165e-03 1.42395751e+02] [-4.99693081e-01 8.66200394e-01 1.92403256e-03 -4.27717436e+01] [ 3.88427162e-03 1.95400642e-05 9.99992456e-01 -2.48051162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31762799999998 meters 0.011992465155108673 Centerline is valid? [True, True] Translation: X:142.45, Y:-42.80, Z:-0.25 [[ 8.64530477e-01 5.02570515e-01 -3.15151647e-03 1.42450219e+02] [-5.02567299e-01 8.64536221e-01 1.79818994e-03 -4.28017717e+01] [ 3.62831738e-03 2.92591161e-05 9.99993417e-01 -2.46570569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.377628 meters 0.012150379390255466 Centerline is valid? [True, True] Translation: X:142.50, Y:-42.83, Z:-0.25 [[ 8.63386078e-01 5.04533592e-01 -3.21483903e-03 1.42503661e+02] [-5.04530255e-01 8.63392062e-01 1.83539924e-03 -4.28329164e+01] [ 3.70168707e-03 3.73254054e-05 9.99993148e-01 -2.45935893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.437628 meters 0.012176675930481978 Centerline is valid? [True, True] Translation: X:142.56, Y:-42.86, Z:-0.25 [[ 8.63642463e-01 5.04091264e-01 -3.70050052e-03 1.42557267e+02] [-5.04086833e-01 8.63650390e-01 2.11393721e-03 -4.28647621e+01] [ 4.26155600e-03 3.96876520e-05 9.99990919e-01 -2.46403608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.497628 meters 0.011847671626032915 Centerline is valid? [True, True] Translation: X:142.61, Y:-42.90, Z:-0.25 [[ 8.65425886e-01 5.01017846e-01 -4.37636677e-03 1.42608076e+02] [-5.01011603e-01 8.65436951e-01 2.50132078e-03 -4.29009598e+01] [ 5.04067586e-03 2.79027814e-05 9.99987295e-01 -2.46993959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.557628 meters 0.01171901540474976 Centerline is valid? [True, True] Translation: X:142.66, Y:-42.93, Z:-0.25 [[ 8.66361157e-01 4.99400642e-01 -4.16463875e-03 1.42660102e+02] [-4.99394963e-01 8.66371167e-01 2.38167773e-03 -4.29342336e+01] [ 4.79753432e-03 1.64065415e-05 9.99988492e-01 -2.46896810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.617628 meters 0.011673777406148333 Centerline is valid? [True, True] Translation: X:142.71, Y:-42.97, Z:-0.25 [[ 8.68936676e-01 4.94902753e-01 -4.50758376e-03 1.42711336e+02] [-4.94896030e-01 8.68948368e-01 2.57948573e-03 -4.29717339e+01] [ 5.19345214e-03 -1.06244429e-05 9.99986514e-01 -2.47032710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.677628 meters 0.012889399474576672 Centerline is valid? [True, True] Translation: X:142.76, Y:-43.01, Z:-0.25 [[ 8.74101236e-01 4.85729661e-01 -3.70466457e-03 1.42758954e+02] [-4.85725033e-01 8.74109085e-01 2.12122120e-03 -4.30137184e+01] [ 4.26862101e-03 -5.47137575e-05 9.99990888e-01 -2.45312138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.737628 meters 0.015818287564387867 Centerline is valid? [True, True] Translation: X:142.80, Y:-43.06, Z:-0.24 [[ 8.79409505e-01 4.76057742e-01 -2.81944061e-03 1.42804661e+02] [-4.76055010e-01 8.79414021e-01 1.61460114e-03 -4.30554096e+01] [ 3.24809898e-03 -7.76867620e-05 9.99994722e-01 -2.43042303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.797628 meters 0.019683091413112624 Centerline is valid? [True, True] Translation: X:142.85, Y:-43.09, Z:-0.24 [[ 8.84112869e-01 4.67261859e-01 -3.28475990e-03 1.42852185e+02] [-4.67258088e-01 8.84118962e-01 1.88177135e-03 -4.30946172e+01] [ 3.78339849e-03 -1.28867641e-04 9.99992835e-01 -2.44071678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.857628 meters 0.02459984503801213 Centerline is valid? [True, True] Translation: X:142.90, Y:-43.14, Z:-0.24 [[ 8.88640565e-01 4.58589663e-01 -3.66981520e-03 1.42898588e+02] [-4.58584880e-01 8.88648123e-01 2.10270276e-03 -4.31351435e+01] [ 4.22545214e-03 -1.85625203e-04 9.99991056e-01 -2.44099510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.917628 meters 0.02615356985638165 Centerline is valid? [True, True] Translation: X:142.95, Y:-43.17, Z:-0.24 [[ 8.89882329e-01 4.56169649e-01 -4.32333858e-03 1.42950241e+02] [-4.56162976e-01 8.89892801e-01 2.47848957e-03 -4.31688247e+01] [ 4.97791960e-03 -2.33417075e-04 9.99987583e-01 -2.44489680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.977628 meters 0.023070198140056355 Centerline is valid? [True, True] Translation: X:143.00, Y:-43.20, Z:-0.24 [[ 8.92734189e-01 4.50541235e-01 -6.18573816e-03 1.43004480e+02] [-4.50527438e-01 8.92755539e-01 3.54625035e-03 -4.31978443e+01] [ 7.12008402e-03 -3.79014161e-04 9.99974580e-01 -2.44502357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03762799999998 meters 0.027332074489999393 Centerline is valid? [True, True] Translation: X:143.05, Y:-43.23, Z:-0.25 [[ 8.92196324e-01 4.51586513e-01 -7.43913792e-03 1.43054986e+02] [-4.51566572e-01 8.92227225e-01 4.26734996e-03 -4.32326929e+01] [ 8.56447907e-03 -4.48047936e-04 9.99963224e-01 -2.45522320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.097628 meters 0.032891541662836185 Centerline is valid? [True, True] Translation: X:143.10, Y:-43.27, Z:-0.25 [[ 8.90851089e-01 4.54231542e-01 -7.61866569e-03 1.43104646e+02] [-4.54210723e-01 8.90883561e-01 4.37034450e-03 -4.32673437e+01] [ 8.77249234e-03 -4.32846509e-04 9.99961427e-01 -2.47813678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.157628 meters 0.020067011472538667 Centerline is valid? [True, True] Translation: X:143.17, Y:-43.28, Z:-0.24 [[ 8.88379534e-01 4.59077564e-01 -5.43993903e-03 1.43165838e+02] [-4.59067028e-01 8.88396147e-01 3.12252799e-03 -4.32831798e+01] [ 6.26630341e-03 -2.76693321e-04 9.99980328e-01 -2.40787479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.217628 meters 0.018704907258339995 Centerline is valid? [True, True] Translation: X:143.22, Y:-43.31, Z:-0.24 [[ 8.84774117e-01 4.66005188e-01 -3.73186732e-03 1.43222460e+02] [-4.66000291e-01 8.84781973e-01 2.14215866e-03 -4.33084784e+01] [ 4.30014598e-03 -1.56275283e-04 9.99990742e-01 -2.40054542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.277628 meters 0.018083425230989297 Centerline is valid? [True, True] Translation: X:143.28, Y:-43.33, Z:-0.24 [[ 8.82083691e-01 4.71079560e-01 -3.52280471e-03 1.43276434e+02] [-4.71075235e-01 8.82090717e-01 2.02244277e-03 -4.33349353e+01] [ 4.06016478e-03 -1.24457725e-04 9.99991750e-01 -2.40198945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.337628 meters 0.014951211863761095 Centerline is valid? [True, True] Translation: X:143.33, Y:-43.36, Z:-0.24 [[ 8.77737900e-01 4.79114229e-01 -5.07300179e-03 1.43334509e+02] [-4.79105392e-01 8.77752550e-01 2.91263908e-03 -4.33574514e+01] [ 5.84832709e-03 -1.26031193e-04 9.99982890e-01 -2.40445343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.397628 meters 0.014138600455767363 Centerline is valid? [True, True] Translation: X:143.39, Y:-43.38, Z:-0.24 [[ 8.75377321e-01 4.83403326e-01 -5.98074204e-03 1.43390084e+02] [-4.83391141e-01 8.75397744e-01 3.43423450e-03 -4.33848452e+01] [ 6.89564847e-03 -1.15213280e-04 9.99976218e-01 -2.41814709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.457628 meters 0.013707612950194218 Centerline is valid? [True, True] Translation: X:143.44, Y:-43.41, Z:-0.24 [[ 8.73361116e-01 4.87030696e-01 -6.43911832e-03 1.43444848e+02] [-4.87016659e-01 8.73384848e-01 3.69879032e-03 -4.34128771e+01] [ 7.42525279e-03 -9.44217493e-05 9.99972428e-01 -2.43378322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.517628 meters 0.013399509961300227 Centerline is valid? [True, True] Translation: X:143.50, Y:-43.44, Z:-0.24 [[ 8.72706610e-01 4.88209054e-01 -5.92394139e-03 1.43499372e+02] [-4.88197197e-01 8.72726712e-01 3.40345049e-03 -4.34436511e+01] [ 6.83157723e-03 -7.81621535e-05 9.99976661e-01 -2.42884916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.577628 meters 0.01265533232133835 Centerline is valid? [True, True] Translation: X:143.55, Y:-43.47, Z:-0.25 [[ 8.70394883e-01 4.92308366e-01 -6.72464774e-03 1.43554140e+02] [-4.92293190e-01 8.70420858e-01 3.86584728e-03 -4.34721017e+01] [ 7.75646261e-03 -5.43154016e-05 9.99969917e-01 -2.45216770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.637628 meters 0.0120356030580049 Centerline is valid? [True, True] Translation: X:143.61, Y:-43.50, Z:-0.24 [[ 8.67621567e-01 4.97171029e-01 -7.33382951e-03 1.43609033e+02] [-4.97153132e-01 8.67652562e-01 4.21846922e-03 -4.35008992e+01] [ 8.46051664e-03 -1.39985622e-05 9.99964209e-01 -2.44735096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.697628 meters 0.012302796173454969 Centerline is valid? [True, True] Translation: X:143.66, Y:-43.53, Z:-0.24 [[ 8.63664405e-01 5.04000063e-01 -8.22998001e-03 1.43662823e+02] [-5.03977809e-01 8.63703614e-01 4.73658455e-03 -4.35316045e+01] [ 9.49550239e-03 5.69078126e-05 9.99954915e-01 -2.44352590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75762799999998 meters 0.012906857854548738 Centerline is valid? [True, True] Translation: X:143.72, Y:-43.56, Z:-0.25 [[ 8.61735616e-01 5.07274408e-01 -9.18709503e-03 1.43716197e+02] [-5.07246831e-01 8.61784581e-01 5.29036400e-03 -4.35628582e+01] [ 1.06009631e-02 1.01229754e-04 9.99943803e-01 -2.45029288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81762799999998 meters 0.013415374716880493 Centerline is valid? [True, True] Translation: X:143.77, Y:-43.60, Z:-0.24 [[ 8.59812693e-01 5.10523027e-01 -9.40061334e-03 1.43768006e+02] [-5.10494331e-01 8.59864070e-01 5.41475592e-03 -4.35962735e+01] [ 1.08476072e-02 1.43283947e-04 9.99941153e-01 -2.44604898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.877628 meters 0.013500851333786684 Centerline is valid? [True, True] Translation: X:143.82, Y:-43.63, Z:-0.24 [[ 8.59592790e-01 5.10870219e-01 -1.05761209e-02 1.43819860e+02] [-5.10833878e-01 8.59657835e-01 6.09559246e-03 -4.36311520e+01] [ 1.22059019e-02 1.62913532e-04 9.99925492e-01 -2.44999553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.937628 meters 0.01317390045426991 Centerline is valid? [True, True] Translation: X:143.87, Y:-43.67, Z:-0.25 [[ 8.60415556e-01 5.09469304e-01 -1.12294052e-02 1.43870245e+02] [-5.09428167e-01 8.60488818e-01 6.47587142e-03 -4.36677184e+01] [ 1.29620353e-02 1.48634776e-04 9.99915978e-01 -2.45070699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.997628 meters 0.012669258262634004 Centerline is valid? [True, True] Translation: X:143.92, Y:-43.71, Z:-0.24 [[ 8.63039103e-01 5.05066510e-01 -8.44554226e-03 1.43918262e+02] [-5.05043026e-01 8.63080423e-01 4.87089796e-03 -4.37084130e+01] [ 9.74930962e-03 6.15868189e-05 9.99952472e-01 -2.42015802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.057628 meters 0.012448873415300947 Centerline is valid? [True, True] Translation: X:143.97, Y:-43.75, Z:-0.24 [[ 8.65249329e-01 5.01314558e-01 -5.22616544e-03 1.43967339e+02] [-5.01305489e-01 8.65265112e-01 3.01533326e-03 -4.37457148e+01] [ 6.03364909e-03 1.08903414e-05 9.99981797e-01 -2.39221800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.117628 meters 0.012679063718924294 Centerline is valid? [True, True] Translation: X:144.02, Y:-43.79, Z:-0.24 [[ 8.68664342e-01 4.95390849e-01 -3.18882870e-03 1.44015918e+02] [-4.95387427e-01 8.68670194e-01 1.84146411e-03 -4.37874510e+01] [ 3.68228492e-03 -1.99085672e-05 9.99993220e-01 -2.36423390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.177628 meters 0.012564916437026747 Centerline is valid? [True, True] Translation: X:144.07, Y:-43.82, Z:-0.24 [[ 8.67890988e-01 4.96750018e-01 -2.15700976e-03 1.44070013e+02] [-4.96748454e-01 8.67893668e-01 1.24642624e-03 -4.38181946e+01] [ 2.49121737e-03 -1.02708338e-05 9.99996897e-01 -2.36500913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.237628 meters 0.012577615635509748 Centerline is valid? [True, True] Translation: X:144.12, Y:-43.85, Z:-0.24 [[ 8.66349565e-01 4.99417849e-01 -4.49925436e-03 1.44124345e+02] [-4.99411076e-01 8.66361248e-01 2.60097145e-03 -4.38483063e+01] [ 5.19695119e-03 -6.37302502e-06 9.99986496e-01 -2.38661192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.297628 meters 0.01258272634330719 Centerline is valid? [True, True] Translation: X:144.18, Y:-43.88, Z:-0.24 [[ 8.65244253e-01 5.01275822e-01 -8.65639494e-03 1.44180012e+02] [-5.01250820e-01 8.65287554e-01 5.00651780e-03 -4.38768155e+01] [ 9.99991712e-03 7.16430486e-06 9.99950000e-01 -2.42701830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.357628 meters 0.01271597436225244 Centerline is valid? [True, True] Translation: X:144.23, Y:-43.91, Z:-0.24 [[ 8.66730522e-01 4.98687298e-01 -9.44358027e-03 1.44233175e+02] [-4.98657355e-01 8.66781967e-01 5.46482329e-03 -4.39084239e+01] [ 1.09107630e-02 -2.74183822e-05 9.99940475e-01 -2.44112575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.417628 meters 0.016466281317585235 Centerline is valid? [True, True] Translation: X:144.28, Y:-43.94, Z:-0.25 [[ 8.70599652e-01 4.91938089e-01 -7.29126177e-03 1.44283959e+02] [-4.91919983e-01 8.70630179e-01 4.22155877e-03 -4.39430699e+01] [ 8.42473809e-03 -8.85702220e-05 9.99964507e-01 -2.45251250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.477628 meters 0.014067672436492725 Centerline is valid? [True, True] Translation: X:144.34, Y:-43.98, Z:-0.24 [[ 8.71550315e-01 4.90268834e-01 -6.04299986e-03 1.44337918e+02] [-4.90256341e-01 8.71571260e-01 3.50116329e-03 -4.39753107e+01] [ 6.98341626e-03 -8.88209695e-05 9.99975612e-01 -2.41424918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53762799999998 meters 0.015221647381253266 Centerline is valid? [True, True] Translation: X:144.39, Y:-44.01, Z:-0.24 [[ 8.73516680e-01 4.86771534e-01 -4.69929112e-03 1.44390569e+02] [-4.86763920e-01 8.73529315e-01 2.72416767e-03 -4.40080587e+01] [ 5.43101583e-03 -9.21605348e-05 9.99985248e-01 -2.39891304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.597628 meters 0.014848440149416959 Centerline is valid? [True, True] Translation: X:144.45, Y:-44.04, Z:-0.24 [[ 8.74384142e-01 4.85223823e-01 -3.19593388e-03 1.44445286e+02] [-4.85220286e-01 8.74389980e-01 1.85389088e-03 -4.40370429e+01] [ 3.69404458e-03 -7.02808317e-05 9.99993175e-01 -2.39005124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.657628 meters 0.014402324112372756 Centerline is valid? [True, True] Translation: X:144.50, Y:-44.07, Z:-0.24 [[ 8.73386897e-01 4.87014353e-01 -3.51402502e-03 1.44500849e+02] [-4.87010087e-01 8.73393963e-01 2.03951603e-03 -4.40653491e+01] [ 4.06240182e-03 -6.99209420e-05 9.99991746e-01 -2.39944874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.717628 meters 0.013807599245475465 Centerline is valid? [True, True] Translation: X:144.56, Y:-44.09, Z:-0.24 [[ 8.71208137e-01 4.90886307e-01 -5.19760980e-03 1.44556821e+02] [-4.90877035e-01 8.71223638e-01 3.01812176e-03 -4.40930583e+01] [ 6.00983517e-03 -7.80249455e-05 9.99981938e-01 -2.42604182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.777628 meters 0.01281364424751121 Centerline is valid? [True, True] Translation: X:144.61, Y:-44.12, Z:-0.24 [[ 8.67590159e-01 4.97229465e-01 -7.08337520e-03 1.44613230e+02] [-4.97212437e-01 8.67619073e-01 4.11528612e-03 -4.41187421e+01] [ 8.19191294e-03 -4.84394910e-05 9.99966445e-01 -2.44629580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.837628 meters 0.01245926023924743 Centerline is valid? [True, True] Translation: X:144.67, Y:-44.15, Z:-0.24 [[ 8.65260742e-01 5.01271657e-01 -7.11148737e-03 1.44669162e+02] [-5.01254611e-01 8.65289966e-01 4.13397154e-03 -4.41468339e+01] [ 8.22574143e-03 -1.22974445e-05 9.99966168e-01 -2.44493183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.897628 meters 0.01224499001457006 Centerline is valid? [True, True] Translation: X:144.72, Y:-44.18, Z:-0.24 [[ 8.63243864e-01 5.04755988e-01 -5.60565945e-03 1.44723869e+02] [-5.04745458e-01 8.63262065e-01 3.26037351e-03 -4.41750589e+01] [ 6.48484620e-03 1.49337200e-05 9.99978973e-01 -2.43687362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.957628 meters 0.012194040991013263 Centerline is valid? [True, True] Translation: X:144.78, Y:-44.21, Z:-0.24 [[ 8.63694304e-01 5.03992698e-01 -4.84859176e-03 1.44775878e+02] [-5.03984800e-01 8.63707914e-01 2.82153611e-03 -4.42066695e+01] [ 5.60980068e-03 6.67188017e-06 9.99984265e-01 -2.43917819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.017628 meters 0.012164977807817333 Centerline is valid? [True, True] Translation: X:144.83, Y:-44.24, Z:-0.24 [[ 8.66417161e-01 4.99304843e-01 -3.99715142e-03 1.44827636e+02] [-4.99299418e-01 8.66426381e-01 2.32769121e-03 -4.42435059e+01] [ 4.62546493e-03 -2.09762367e-05 9.99989302e-01 -2.43334630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.077628 meters 0.01289868790153159 Centerline is valid? [True, True] Translation: X:144.88, Y:-44.28, Z:-0.24 [[ 8.68619409e-01 4.95464316e-01 -3.92858690e-03 1.44878312e+02] [-4.95459031e-01 8.68628292e-01 2.28893761e-03 -4.42791128e+01] [ 4.54656863e-03 -4.17617807e-05 9.99989663e-01 -2.42897967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.137628 meters 0.013844777025192035 Centerline is valid? [True, True] Translation: X:144.93, Y:-44.31, Z:-0.24 [[ 8.70801485e-01 4.91603119e-01 -5.58086450e-03 1.44929022e+02] [-4.91592363e-01 8.70819364e-01 3.25318335e-03 -4.43149177e+01] [ 6.45919996e-03 -8.93665268e-05 9.99979135e-01 -2.44202390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.197628 meters 0.014838093499800944 Centerline is valid? [True, True] Translation: X:144.98, Y:-44.35, Z:-0.25 [[ 8.71929496e-01 4.89582443e-01 -6.92706441e-03 1.44980332e+02] [-4.89565794e-01 8.71957002e-01 4.03975652e-03 -4.43493548e+01] [ 8.01789618e-03 -1.31129080e-04 9.99967848e-01 -2.46366906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25762799999998 meters 0.015638492807332767 Centerline is valid? [True, True] Translation: X:145.03, Y:-44.38, Z:-0.25 [[ 8.73637034e-01 4.86497143e-01 -8.88047588e-03 1.45030805e+02] [-4.86469594e-01 8.73682143e-01 5.18145448e-03 -4.43847595e+01] [ 1.02794760e-02 -2.06629024e-04 9.99947143e-01 -2.46612144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31762799999998 meters 0.01608927084115982 Centerline is valid? [True, True] Translation: X:145.08, Y:-44.42, Z:-0.25 [[ 8.74246893e-01 4.85408348e-01 -8.43241086e-03 1.45083088e+02] [-4.85383432e-01 8.74287533e-01 4.92272306e-03 -4.44175708e+01] [ 9.76188255e-03 -2.10722820e-04 9.99952329e-01 -2.46457540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.377628 meters 0.017390537849254727 Centerline is valid? [True, True] Translation: X:145.14, Y:-44.45, Z:-0.24 [[ 8.74884690e-01 4.84287418e-01 -6.51735574e-03 1.45137411e+02] [-4.84272482e-01 8.74908947e-01 3.80746644e-03 -4.44485303e+01] [ 7.54600094e-03 -1.74918056e-04 9.99971513e-01 -2.44420245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.437628 meters 0.015097578111384199 Centerline is valid? [True, True] Translation: X:145.19, Y:-44.48, Z:-0.24 [[ 8.74801946e-01 4.84466798e-01 -3.67118410e-03 1.45189209e+02] [-4.84462055e-01 8.74809643e-01 2.14598692e-03 -4.44815527e+01] [ 4.25124667e-03 -9.87641367e-05 9.99990959e-01 -2.38629875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.497628 meters 0.014718767852720646 Centerline is valid? [True, True] Translation: X:145.24, Y:-44.51, Z:-0.24 [[ 8.73561504e-01 4.86707820e-01 -2.40741896e-03 1.45243689e+02] [-4.86705787e-01 8.73564820e-01 1.40823046e-03 -4.45114791e+01] [ 2.78843329e-03 -5.84711819e-05 9.99996111e-01 -2.36824178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.557628 meters 0.013882707471744407 Centerline is valid? [True, True] Translation: X:145.30, Y:-44.54, Z:-0.24 [[ 8.71559552e-01 4.90279647e-01 -3.13296431e-03 1.45299692e+02] [-4.90276222e-01 8.71565181e-01 1.83354133e-03 -4.45389711e+01] [ 3.62953060e-03 -6.20225542e-05 9.99993411e-01 -2.38311993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.617628 meters 0.012726075277518565 Centerline is valid? [True, True] Translation: X:145.36, Y:-44.56, Z:-0.24 [[ 8.68268039e-01 4.96063033e-01 -5.66386762e-03 1.45356877e+02] [-4.96051953e-01 8.68286509e-01 3.31624364e-03 -4.45644876e+01] [ 6.56292572e-03 -6.98157665e-05 9.99978461e-01 -2.40914647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.677628 meters 0.012553133376693781 Centerline is valid? [True, True] Translation: X:145.41, Y:-44.59, Z:-0.24 [[ 8.66609732e-01 4.98938295e-01 -6.93901907e-03 1.45412430e+02] [-4.98921738e-01 8.66637510e-01 4.06502678e-03 -4.45931181e+01] [ 8.04181174e-03 -6.07643096e-05 9.99967662e-01 -2.42826173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.737628 meters 0.01238246547993864 Centerline is valid? [True, True] Translation: X:145.47, Y:-44.62, Z:-0.24 [[ 8.65114253e-01 5.01522004e-01 -7.28068135e-03 1.45466798e+02] [-5.01503849e-01 8.65144888e-01 4.26751913e-03 -4.46227080e+01] [ 8.43909900e-03 -4.06019007e-05 9.99964389e-01 -2.42947192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.797628 meters 0.012211452444456102 Centerline is valid? [True, True] Translation: X:145.52, Y:-44.65, Z:-0.24 [[ 8.64894693e-01 5.01919423e-01 -5.83627908e-03 1.45520106e+02] [-5.01907753e-01 8.64914384e-01 3.42292199e-03 -4.46543507e+01] [ 6.76591276e-03 -3.11933427e-05 9.99977110e-01 -2.39627637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.857628 meters 0.01197116678814136 Centerline is valid? [True, True] Translation: X:145.57, Y:-44.69, Z:-0.24 [[ 8.64743778e-01 5.02195841e-01 -4.18771406e-03 1.45573487e+02] [-5.02189828e-01 8.64753917e-01 2.45758141e-03 -4.46851150e+01] [ 4.85552929e-03 -2.21508293e-05 9.99988212e-01 -2.38246737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.917628 meters 0.011970169034406094 Centerline is valid? [True, True] Translation: X:145.63, Y:-44.72, Z:-0.24 [[ 8.64266876e-01 5.03018691e-01 -3.86819593e-03 1.45626652e+02] [-5.03013563e-01 8.64275532e-01 2.27149086e-03 -4.47159598e+01] [ 4.48578946e-03 -1.74192910e-05 9.99989939e-01 -2.38770861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.977628 meters 0.012057345945939652 Centerline is valid? [True, True] Translation: X:145.68, Y:-44.75, Z:-0.24 [[ 8.63274073e-01 5.04713317e-01 -4.72672891e-03 1.45680952e+02] [-5.04705676e-01 8.63287013e-01 2.77730865e-03 -4.47479894e+01] [ 5.48226834e-03 -1.19716381e-05 9.99984972e-01 -2.39018095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03762799999998 meters 0.01197950891908378 Centerline is valid? [True, True] Translation: X:145.74, Y:-44.78, Z:-0.24 [[ 8.61057249e-01 5.08475042e-01 -5.79183691e-03 1.45736855e+02] [-5.08463640e-01 8.61076728e-01 3.40512569e-03 -4.47776334e+01] [ 6.71863741e-03 1.29303224e-05 9.99977430e-01 -2.39928741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.097628 meters 0.012238652991680253 Centerline is valid? [True, True] Translation: X:145.79, Y:-44.81, Z:-0.24 [[ 8.59109238e-01 5.11761740e-01 -5.58911904e-03 1.45791885e+02] [-5.11751178e-01 8.59127418e-01 3.28811820e-03 -4.48083686e+01] [ 6.48449850e-03 3.53855269e-05 9.99978975e-01 -2.38961427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.157628 meters 0.01354683724652016 Centerline is valid? [True, True] Translation: X:145.85, Y:-44.84, Z:-0.24 [[ 8.56209074e-01 5.16596543e-01 -5.83375290e-03 1.45846105e+02] [-5.16585144e-01 8.56228945e-01 3.43261744e-03 -4.48358972e+01] [ 6.76830639e-03 7.45918781e-05 9.99977092e-01 -2.40069855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.217628 meters 0.014358888371270988 Centerline is valid? [True, True] Translation: X:145.90, Y:-44.87, Z:-0.24 [[ 8.55079388e-01 5.18463983e-01 -5.85988541e-03 1.45899815e+02] [-5.18452511e-01 8.55099463e-01 3.44999411e-03 -4.48668579e+01] [ 6.79948256e-03 8.80534558e-05 9.99976879e-01 -2.40768563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.277628 meters 0.013712546207966322 Centerline is valid? [True, True] Translation: X:145.95, Y:-44.90, Z:-0.24 [[ 8.54736552e-01 5.19035643e-01 -5.23716119e-03 1.45951428e+02] [-5.19026478e-01 8.54752593e-01 3.08550708e-03 -4.49030081e+01] [ 6.07796526e-03 8.09296423e-05 9.99981526e-01 -2.38970991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.337628 meters 0.013429455813509595 Centerline is valid? [True, True] Translation: X:146.00, Y:-44.94, Z:-0.24 [[ 8.55305949e-01 5.18102364e-01 -4.65559459e-03 1.46002721e+02] [-5.18095099e-01 8.55318617e-01 2.74442767e-03 -4.49379590e+01] [ 5.40391119e-03 6.47154277e-05 9.99985397e-01 -2.37956503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.397628 meters 0.013379738815741908 Centerline is valid? [True, True] Translation: X:146.06, Y:-44.97, Z:-0.24 [[ 8.55823705e-01 5.17249525e-01 -4.32600742e-03 1.46055115e+02] [-5.17243234e-01 8.55834637e-01 2.55160609e-03 -4.49712586e+01] [ 5.02216403e-03 5.38730928e-05 9.99987387e-01 -2.37833402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.457628 meters 0.012977144335064954 Centerline is valid? [True, True] Translation: X:146.10, Y:-45.01, Z:-0.24 [[ 8.57822378e-01 5.13920774e-01 -5.11918778e-03 1.46104796e+02] [-5.13911897e-01 8.57837652e-01 3.02087036e-03 -4.50072290e+01] [ 5.94392006e-03 3.94413031e-05 9.99982334e-01 -2.39883334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.517628 meters 0.01281489916186777 Centerline is valid? [True, True] Translation: X:146.16, Y:-45.04, Z:-0.24 [[ 8.59042700e-01 5.11875549e-01 -5.39095796e-03 1.46155733e+02] [-5.11865653e-01 8.59059615e-01 3.18303156e-03 -4.50433955e+01] [ 6.26047029e-03 2.50861954e-05 9.99980403e-01 -2.40607821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.577628 meters 0.013068116230500573 Centerline is valid? [True, True] Translation: X:146.21, Y:-45.08, Z:-0.24 [[ 8.58972080e-01 5.11975661e-01 -6.92015880e-03 1.46207725e+02] [-5.11959340e-01 8.58999954e-01 4.08807964e-03 -4.50767505e+01] [ 8.03741337e-03 3.12936591e-05 9.99967699e-01 -2.41157536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.637628 meters 0.01298410380512637 Centerline is valid? [True, True] Translation: X:146.26, Y:-45.11, Z:-0.24 [[ 8.59403279e-01 5.11234679e-01 -8.06892071e-03 1.46262169e+02] [-5.11212429e-01 8.59441157e-01 4.76971835e-03 -4.51087531e+01] [ 9.37320798e-03 2.58209587e-05 9.99956070e-01 -2.42372962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.697628 meters 0.012866505021250781 Centerline is valid? [True, True] Translation: X:146.31, Y:-45.14, Z:-0.24 [[ 8.61841691e-01 5.07134803e-01 -6.57197130e-03 1.46313896e+02] [-5.07119907e-01 8.61866748e-01 3.88704082e-03 -4.51424850e+01] [ 7.63541721e-03 -1.72363640e-05 9.99970850e-01 -2.40855570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75762799999998 meters 0.013479372455336201 Centerline is valid? [True, True] Translation: X:146.36, Y:-45.18, Z:-0.24 [[ 8.65081367e-01 5.01614284e-01 -4.16393263e-03 1.46364275e+02] [-5.01608237e-01 8.65091387e-01 2.46349070e-03 -4.51776823e+01] [ 4.83790438e-03 -4.24570012e-05 9.99988296e-01 -2.38546044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81762799999998 meters 0.013801594193266578 Centerline is valid? [True, True] Translation: X:146.42, Y:-45.21, Z:-0.24 [[ 8.65833265e-01 5.00319091e-01 -3.68298245e-03 1.46416788e+02] [-5.00314342e-01 8.65841097e-01 2.18035968e-03 -4.52100186e+01] [ 4.27975313e-03 -4.51790012e-05 9.99990841e-01 -2.38091021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.877628 meters 0.014968011079364175 Centerline is valid? [True, True] Translation: X:146.47, Y:-45.24, Z:-0.24 [[ 8.68029352e-01 4.96506317e-01 -2.55374189e-03 1.46468951e+02] [-4.96504015e-01 8.68033107e-01 1.51268908e-03 -4.52412408e+01] [ 2.96779219e-03 -4.51154210e-05 9.99995595e-01 -2.38842737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.937628 meters 0.015334388076757187 Centerline is valid? [True, True] Translation: X:146.52, Y:-45.27, Z:-0.24 [[ 8.69528273e-01 4.93876663e-01 -2.53462426e-03 1.46522673e+02] [-4.93874381e-01 8.69531965e-01 1.50223411e-03 -4.52721516e+01] [ 2.94585518e-03 -5.44490454e-05 9.99995659e-01 -2.38888701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.997628 meters 0.015532142581918176 Centerline is valid? [True, True] Translation: X:146.58, Y:-45.30, Z:-0.24 [[ 8.70988532e-01 4.91296581e-01 -2.57798086e-03 1.46576719e+02] [-4.91294207e-01 8.70992345e-01 1.52880254e-03 -4.53030036e+01] [ 2.99649706e-03 -6.50224179e-05 9.99995508e-01 -2.38286908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.057628 meters 0.017591065797100028 Centerline is valid? [True, True] Translation: X:146.63, Y:-45.33, Z:-0.24 [[ 8.73104107e-01 4.87530882e-01 -1.69062725e-03 1.46628769e+02] [-4.87529853e-01 8.73105742e-01 1.00278198e-03 -4.53343262e+01] [ 1.96498354e-03 -5.13018124e-05 9.99998068e-01 -2.38431127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.117628 meters 0.016874135126798473 Centerline is valid? [True, True] Translation: X:146.69, Y:-45.36, Z:-0.24 [[ 8.73993450e-01 4.85937332e-01 -5.99809120e-04 1.46685059e+02] [-4.85937201e-01 8.73993655e-01 3.56372146e-04 -4.53610332e+01] [ 6.97403895e-04 -1.99973565e-05 9.99999757e-01 -2.37138489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.177628 meters 0.017005481896824503 Centerline is valid? [True, True] Translation: X:146.74, Y:-45.39, Z:-0.24 [[ 8.73455440e-01 4.86904091e-01 -2.84386066e-05 1.46739985e+02] [-4.86904091e-01 8.73455440e-01 1.73584986e-05 -4.53896229e+01] [ 3.32917796e-05 -1.31500113e-06 9.99999999e-01 -2.36627415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.237628 meters 0.015463334995968667 Centerline is valid? [True, True] Translation: X:146.80, Y:-45.41, Z:-0.24 [[ 8.71159981e-01 4.90998745e-01 7.20601962e-04 1.46797867e+02] [-4.90998559e-01 8.71160279e-01 -4.27618272e-04 -4.54118413e+01] [-8.37719841e-04 1.87094003e-05 9.99999649e-01 -2.37203468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.297628 meters 0.014512696723641758 Centerline is valid? [True, True] Translation: X:146.85, Y:-45.44, Z:-0.24 [[ 8.69028093e-01 4.94762524e-01 4.67520908e-04 1.46854560e+02] [-4.94762446e-01 8.69028219e-01 -2.77343984e-04 -4.54377820e+01] [-5.43508271e-04 9.70792546e-06 9.99999852e-01 -2.38350053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.357628 meters 0.01340850326539409 Centerline is valid? [True, True] Translation: X:146.91, Y:-45.46, Z:-0.24 [[ 8.65699242e-01 5.00564487e-01 -1.29774974e-04 1.46911964e+02] [-5.00564481e-01 8.65699252e-01 7.72343867e-05 -4.54620873e+01] [ 1.51006889e-04 -1.90100765e-06 9.99999989e-01 -2.39186313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.417628 meters 0.012889660378427018 Centerline is valid? [True, True] Translation: X:146.97, Y:-45.49, Z:-0.24 [[ 8.63290764e-01 5.04706271e-01 -7.97548225e-04 1.46967373e+02] [-5.04706048e-01 8.63291133e-01 4.74764953e-04 -4.54895146e+01] [ 9.28133159e-04 -7.33278630e-06 9.99999569e-01 -2.39266423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.477628 meters 0.012584326044558261 Centerline is valid? [True, True] Translation: X:147.02, Y:-45.51, Z:-0.24 [[ 8.59713947e-01 5.10767730e-01 -2.87312324e-03 1.47023311e+02] [-5.10764868e-01 8.59718748e-01 1.70990088e-03 -4.55144679e+01] [ 3.34344010e-03 -2.53522583e-06 9.99994411e-01 -2.42019380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53762799999998 meters 0.012630033871596604 Centerline is valid? [True, True] Translation: X:147.08, Y:-45.54, Z:-0.24 [[ 8.57294932e-01 5.14823726e-01 -1.38958122e-03 1.47079299e+02] [-5.14823060e-01 8.57296058e-01 8.27873031e-04 -4.55434071e+01] [ 1.61749118e-03 5.65710123e-06 9.99998692e-01 -2.41316764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.597628 meters 0.012700137995869488 Centerline is valid? [True, True] Translation: X:147.13, Y:-45.58, Z:-0.24 [[ 8.56731206e-01 5.15763136e-01 -1.65980162e-04 1.47134005e+02] [-5.15763127e-01 8.56731222e-01 9.94402422e-05 -4.55752674e+01] [ 1.93487998e-04 4.12888786e-07 9.99999981e-01 -2.40360390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.657628 meters 0.012685529087050243 Centerline is valid? [True, True] Translation: X:147.19, Y:-45.61, Z:-0.24 [[ 8.56702659e-01 5.15809502e-01 1.05393627e-03 1.47187340e+02] [-5.15809120e-01 8.56703308e-01 -6.27745731e-04 -4.56087240e+01] [-1.22670790e-03 -5.83850377e-06 9.99999248e-01 -2.39535837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.717628 meters 0.012648542791162898 Centerline is valid? [True, True] Translation: X:147.24, Y:-45.64, Z:-0.24 [[ 8.56850737e-01 5.15563166e-01 1.19873961e-03 1.47240882e+02] [-5.15562671e-01 8.56851575e-01 -7.14529540e-04 -4.56417801e+01] [-1.39552704e-03 -5.78023190e-06 9.99999026e-01 -2.39756284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.777628 meters 0.012677786931416097 Centerline is valid? [True, True] Translation: X:147.29, Y:-45.68, Z:-0.24 [[ 8.57210500e-01 5.14966150e-01 -1.51552264e-04 1.47293590e+02] [-5.14966142e-01 8.57210513e-01 9.10010113e-05 -4.56754416e+01] [ 1.76774635e-04 3.72623196e-08 9.99999984e-01 -2.41257741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.837628 meters 0.012696355191438606 Centerline is valid? [True, True] Translation: X:147.34, Y:-45.71, Z:-0.24 [[ 8.59529314e-01 5.11075388e-01 -3.36240782e-03 1.47344072e+02] [-5.11071440e-01 8.59535891e-01 2.00887768e-03 -4.57134246e+01] [ 3.91679814e-03 -8.25864821e-06 9.99992329e-01 -2.44565403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.897628 meters 0.013319773279950367 Centerline is valid? [True, True] Translation: X:147.39, Y:-45.75, Z:-0.25 [[ 8.62447951e-01 5.06124487e-01 -4.64054792e-03 1.47392387e+02] [-5.06116891e-01 8.62460435e-01 2.77333690e-03 -4.57508457e+01] [ 5.40594269e-03 -4.31990472e-05 9.99985387e-01 -2.46458544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.957628 meters 0.014823236861613085 Centerline is valid? [True, True] Translation: X:147.44, Y:-45.79, Z:-0.25 [[ 8.66369448e-01 4.99379378e-01 -4.92098379e-03 1.47440746e+02] [-4.99370725e-01 8.66383419e-01 2.94112703e-03 -4.57907105e+01] [ 5.73219695e-03 -9.07073560e-05 9.99983567e-01 -2.46560197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.017628 meters 0.017682629002613543 Centerline is valid? [True, True] Translation: X:147.49, Y:-45.83, Z:-0.24 [[ 8.73297964e-01 4.87168099e-01 -4.23203571e-03 1.47486995e+02] [-4.87161547e-01 8.73308205e-01 2.53097563e-03 -4.58340450e+01] [ 4.92888210e-03 -1.48610795e-04 9.99987842e-01 -2.44357375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.077628 meters 0.02214807125628651 Centerline is valid? [True, True] Translation: X:147.53, Y:-45.88, Z:-0.24 [[ 8.79990728e-01 4.74986344e-01 -2.07144041e-03 1.47531824e+02] [-4.74984739e-01 8.79993160e-01 1.23966342e-03 -4.58782810e+01] [ 2.41167658e-03 -1.06989731e-04 9.99997086e-01 -2.41419929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.137628 meters 0.0227849491353926 Centerline is valid? [True, True] Translation: X:147.58, Y:-45.91, Z:-0.24 [[ 8.83205990e-01 4.68984509e-01 -8.42109407e-04 1.47582909e+02] [-4.68984240e-01 8.83206390e-01 5.04499007e-04 -4.59129391e+01] [ 9.80358629e-04 -5.06405040e-05 9.99999518e-01 -2.40569263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.197628 meters 0.023831852942131596 Centerline is valid? [True, True] Translation: X:147.64, Y:-45.94, Z:-0.24 [[ 8.83953167e-01 4.67575371e-01 -2.66271899e-04 1.47636454e+02] [-4.67575344e-01 8.83953207e-01 1.59543644e-04 -4.59439603e+01] [ 3.09970577e-04 -1.65269348e-05 9.99999952e-01 -2.41212109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25762799999998 meters 0.0232739429890957 Centerline is valid? [True, True] Translation: X:147.69, Y:-45.97, Z:-0.24 [[ 8.83293622e-01 4.68819299e-01 -9.18102663e-04 1.47690490e+02] [-4.68818979e-01 8.83294097e-01 5.50417173e-04 -4.59746137e+01] [ 1.06900086e-03 -5.57560250e-05 9.99999427e-01 -2.42245537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31762799999998 meters 0.022302326781824845 Centerline is valid? [True, True] Translation: X:147.75, Y:-46.00, Z:-0.25 [[ 8.80881759e-01 4.73311076e-01 -4.89406791e-03 1.47747564e+02] [-4.73302063e-01 8.80895314e-01 2.93299732e-03 -4.59991647e+01] [ 5.69938161e-03 -2.67251402e-04 9.99983723e-01 -2.47342456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.377628 meters 0.01933504347919643 Centerline is valid? [True, True] Translation: X:147.80, Y:-46.02, Z:-0.25 [[ 8.76345706e-01 4.81646331e-01 -5.91741627e-03 1.47804648e+02] [-4.81633337e-01 8.76365646e-01 3.54727217e-03 -4.60205669e+01] [ 6.89435096e-03 -2.58611786e-04 9.99976200e-01 -2.48062176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.437628 meters 0.016787941445764273 Centerline is valid? [True, True] Translation: X:147.86, Y:-46.04, Z:-0.25 [[ 8.73241086e-01 4.87267058e-01 -4.56282253e-03 1.47862341e+02] [-4.87259402e-01 8.73252991e-01 2.73650904e-03 -4.60442055e+01] [ 5.31790913e-03 -1.66353946e-04 9.99985846e-01 -2.47231061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.497628 meters 0.015941727841827943 Centerline is valid? [True, True] Translation: X:147.92, Y:-46.07, Z:-0.25 [[ 8.70139321e-01 4.92792401e-01 -3.63471587e-03 1.47917138e+02] [-4.92787587e-01 8.70146906e-01 2.18090231e-03 -4.60712756e+01] [ 4.23746885e-03 -1.06545989e-04 9.99991016e-01 -2.45691868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.557628 meters 0.01437037230460787 Centerline is valid? [True, True] Translation: X:147.97, Y:-46.09, Z:-0.24 [[ 8.65769152e-01 5.00440848e-01 -1.65331548e-03 1.47973298e+02] [-5.00439866e-01 8.65770730e-01 9.92099976e-04 -4.60944925e+01] [ 1.92787950e-03 -3.15445783e-05 9.99998141e-01 -2.44268425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.617628 meters 0.012801312140835849 Centerline is valid? [True, True] Translation: X:148.03, Y:-46.12, Z:-0.24 [[ 8.61664005e-01 5.07479204e-01 -4.09005098e-06 1.48032011e+02] [-5.07479204e-01 8.61664005e-01 2.60273709e-06 -4.61167023e+01] [ 4.84508464e-06 -1.67069048e-07 1.00000000e+00 -2.44668671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.677628 meters 0.012458822014188608 Centerline is valid? [True, True] Translation: X:148.09, Y:-46.14, Z:-0.25 [[ 8.58922606e-01 5.12105403e-01 1.12314462e-04 1.48087420e+02] [-5.12105399e-01 8.58922613e-01 -6.69601823e-05 -4.61448379e+01] [-1.30760102e-04 -3.22809496e-09 9.99999991e-01 -2.45002227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.737628 meters 0.012316988775582061 Centerline is valid? [True, True] Translation: X:148.14, Y:-46.17, Z:-0.24 [[ 8.56275117e-01 5.16519611e-01 -6.44572970e-04 1.48142869e+02] [-5.16519465e-01 8.56275360e-01 3.87827263e-04 -4.61746539e+01] [ 7.52252339e-04 8.47650558e-07 9.99999717e-01 -2.44863782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.797628 meters 0.012528227723330678 Centerline is valid? [True, True] Translation: X:148.20, Y:-46.20, Z:-0.25 [[ 8.53403736e-01 5.21250278e-01 -4.59634034e-04 1.48197906e+02] [-5.21250205e-01 8.53403859e-01 2.76806847e-04 -4.62039148e+01] [ 5.36539104e-04 3.35633654e-06 9.99999856e-01 -2.45656471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.857628 meters 0.012643377200743369 Centerline is valid? [True, True] Translation: X:148.25, Y:-46.24, Z:-0.25 [[ 8.52359261e-01 5.22956676e-01 6.50319807e-05 1.48251423e+02] [-5.22956675e-01 8.52359264e-01 -3.86221723e-05 -4.62355377e+01] [-7.56283341e-05 -1.08894207e-06 9.99999997e-01 -2.46564055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.917628 meters 0.012848550648799266 Centerline is valid? [True, True] Translation: X:148.30, Y:-46.27, Z:-0.25 [[ 8.51574109e-01 5.24234235e-01 -6.42214622e-05 1.48303649e+02] [-5.24234233e-01 8.51574111e-01 3.92130466e-05 -4.62714495e+01] [ 7.52461560e-05 2.74273751e-07 9.99999997e-01 -2.46380065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.977628 meters 0.012897858999378975 Centerline is valid? [True, True] Translation: X:148.36, Y:-46.31, Z:-0.25 [[ 8.51374169e-01 5.24558863e-01 -1.56728858e-04 1.48355490e+02] [-5.24558854e-01 8.51374183e-01 9.49513427e-05 -4.63065380e+01] [ 1.83242472e-04 1.37438965e-06 9.99999983e-01 -2.46935177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03762799999998 meters 0.01283418791939996 Centerline is valid? [True, True] Translation: X:148.41, Y:-46.34, Z:-0.25 [[ 8.51611706e-01 5.24167464e-01 -2.44372288e-03 1.48406122e+02] [-5.24165394e-01 8.51615212e-01 1.47332863e-03 -4.63436903e+01] [ 2.85338251e-03 2.62110558e-05 9.99995929e-01 -2.49584896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.097628 meters 0.01259071757015186 Centerline is valid? [True, True] Translation: X:148.46, Y:-46.38, Z:-0.25 [[ 8.53154994e-01 5.21648393e-01 -3.08388632e-03 1.48455003e+02] [-5.21645079e-01 8.53160567e-01 1.85944614e-03 -4.63803453e+01] [ 3.60102729e-03 2.22983645e-05 9.99993516e-01 -2.50785814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.157628 meters 0.012347541250669001 Centerline is valid? [True, True] Translation: X:148.50, Y:-46.42, Z:-0.25 [[ 8.57149152e-01 5.15058664e-01 -3.14702712e-03 1.48499888e+02] [-5.15055164e-01 8.57154929e-01 1.89861776e-03 -4.64233901e+01] [ 3.67538934e-03 -6.50603227e-06 9.99993246e-01 -2.50529587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.217628 meters 0.013227405170195689 Centerline is valid? [True, True] Translation: X:148.55, Y:-46.46, Z:-0.25 [[ 8.60950337e-01 5.08679772e-01 -3.06694851e-03 1.48547614e+02] [-5.08676404e-01 8.60955799e-01 1.85130609e-03 -4.64642919e+01] [ 3.58222906e-03 -3.37982658e-05 9.99993583e-01 -2.50343603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.277628 meters 0.014296105323874698 Centerline is valid? [True, True] Translation: X:148.60, Y:-46.50, Z:-0.25 [[ 8.65059508e-01 5.01669218e-01 -2.07262009e-04 1.48597137e+02] [-5.01669202e-01 8.65059533e-01 1.25587327e-04 -4.65016570e+01] [ 2.42297272e-04 -4.66354478e-06 9.99999971e-01 -2.46920787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.337628 meters 0.01569872411084163 Centerline is valid? [True, True] Translation: X:148.65, Y:-46.54, Z:-0.24 [[ 8.68399680e-01 4.95860748e-01 2.02843625e-03 1.48647650e+02] [-4.95859238e-01 8.68402047e-01 -1.22483700e-03 -4.65371578e+01] [-2.36884679e-03 5.78292022e-05 9.99997193e-01 -2.43456354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.397628 meters 0.016404552979515808 Centerline is valid? [True, True] Translation: X:148.70, Y:-46.57, Z:-0.24 [[ 8.70874659e-01 4.91502122e-01 1.72984568e-03 1.48700878e+02] [-4.91501015e-01 8.70876375e-01 -1.04472399e-03 -4.65693166e+01] [-2.01996579e-03 5.96027347e-05 9.99997958e-01 -2.44608990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.457628 meters 0.0183761865683068 Centerline is valid? [True, True] Translation: X:148.75, Y:-46.60, Z:-0.25 [[ 8.73916219e-01 4.86076395e-01 4.24772076e-04 1.48751837e+02] [-4.86076328e-01 8.73916322e-01 -2.56260200e-04 -4.66033612e+01] [-4.95777284e-04 1.74782938e-05 9.99999877e-01 -2.45597948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.517628 meters 0.020851913804887576 Centerline is valid? [True, True] Translation: X:148.80, Y:-46.63, Z:-0.25 [[ 8.77742755e-01 4.79131802e-01 -6.11022748e-04 1.48804558e+02] [-4.79131660e-01 8.77742967e-01 3.69849247e-04 -4.66345377e+01] [ 7.13527456e-04 -3.18721535e-05 9.99999745e-01 -2.47968116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.577628 meters 0.02274683792060194 Centerline is valid? [True, True] Translation: X:148.86, Y:-46.67, Z:-0.25 [[ 8.78714330e-01 4.77345333e-01 -1.59979756e-03 1.48856913e+02] [-4.77344359e-01 8.78715782e-01 9.67956737e-04 -4.66654025e+01] [ 1.86781700e-03 -8.69031144e-05 9.99998252e-01 -2.49102000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.637628 meters 0.020969994839562873 Centerline is valid? [True, True] Translation: X:148.91, Y:-46.69, Z:-0.25 [[ 8.77679505e-01 4.79247425e-01 -7.69297297e-04 1.48913853e+02] [-4.79247201e-01 8.77679841e-01 4.65939910e-04 -4.66896412e+01] [ 8.98497232e-04 -4.02623331e-05 9.99999596e-01 -2.48506955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.697628 meters 0.0200347937859179 Centerline is valid? [True, True] Translation: X:148.97, Y:-46.72, Z:-0.25 [[ 8.75609580e-01 4.83019449e-01 -2.72887921e-04 1.48969577e+02] [-4.83019421e-01 8.75609623e-01 1.65250111e-04 -4.67165188e+01] [ 3.18762307e-04 -1.28844141e-05 9.99999949e-01 -2.47909686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75762799999998 meters 0.018746225645683134 Centerline is valid? [True, True] Translation: X:149.03, Y:-46.74, Z:-0.25 [[ 8.72837236e-01 4.88011353e-01 2.81088051e-04 1.49025683e+02] [-4.88011324e-01 8.72837281e-01 -1.70041415e-04 -4.67425708e+01] [-3.28326271e-04 1.12443263e-05 9.99999946e-01 -2.48041995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81762799999998 meters 0.01658332365069769 Centerline is valid? [True, True] Translation: X:149.08, Y:-46.76, Z:-0.25 [[ 8.68151860e-01 4.96295534e-01 1.75818874e-03 1.49082938e+02] [-4.96294396e-01 8.68153639e-01 -1.06422406e-03 -4.67642808e+01] [-2.05454761e-03 5.13288790e-05 9.99997888e-01 -2.47927300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.877628 meters 0.01485516975935151 Centerline is valid? [True, True] Translation: X:149.14, Y:-46.79, Z:-0.25 [[ 8.64928770e-01 5.01884237e-01 3.23038081e-03 1.49139260e+02] [-5.01880431e-01 8.64934800e-01 -1.95595223e-03 -4.67898657e+01] [-3.77573037e-03 7.04944477e-05 9.99992869e-01 -2.47189243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.937628 meters 0.012314501861666924 Centerline is valid? [True, True] Translation: X:149.20, Y:-46.81, Z:-0.25 [[ 8.59795763e-01 5.10625548e-01 3.57701818e-03 1.49198330e+02] [-5.10620955e-01 8.59803203e-01 -2.16616883e-03 -4.68118124e+01] [-4.18163283e-03 3.59623422e-05 9.99991256e-01 -2.47734573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.997628 meters 0.011759823450940418 Centerline is valid? [True, True] Translation: X:149.25, Y:-46.84, Z:-0.25 [[ 8.56022070e-01 5.16936609e-01 1.66074957e-03 1.49253836e+02] [-5.16935630e-01 8.56023681e-01 -1.00583480e-03 -4.68385207e+01] [-1.94159380e-03 2.51616540e-06 9.99998115e-01 -2.51556287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.057628 meters 0.011727783472724084 Centerline is valid? [True, True] Translation: X:149.31, Y:-46.87, Z:-0.25 [[ 8.55070435e-01 5.18511806e-01 -2.42696146e-04 1.49307085e+02] [-5.18511785e-01 8.55070469e-01 1.47439764e-04 -4.68708998e+01] [ 2.83971566e-04 -2.30571718e-07 9.99999960e-01 -2.53759079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.117628 meters 0.011730441469911779 Centerline is valid? [True, True] Translation: X:149.36, Y:-46.91, Z:-0.25 [[ 8.54975463e-01 5.18667219e-01 -1.12849591e-03 1.49358973e+02] [-5.18666766e-01 8.54976208e-01 6.85027877e-04 -4.69058483e+01] [ 1.32013866e-03 -3.68700576e-07 9.99999129e-01 -2.54384039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.177628 meters 0.011835596328885995 Centerline is valid? [True, True] Translation: X:149.41, Y:-46.94, Z:-0.25 [[ 8.55340041e-01 5.18066251e-01 -8.79375693e-04 1.49410903e+02] [-5.18065976e-01 8.55340493e-01 5.34268361e-04 -4.69423634e+01] [ 1.02895205e-03 -1.40649552e-06 9.99999471e-01 -2.54154979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.237628 meters 0.01189861260848613 Centerline is valid? [True, True] Translation: X:149.46, Y:-46.98, Z:-0.25 [[ 8.55723514e-01 5.17432777e-01 -7.67243703e-04 1.49461512e+02] [-5.17432567e-01 8.55723858e-01 4.66498227e-04 -4.69793899e+01] [ 8.97930214e-04 -2.19662315e-06 9.99999597e-01 -2.53788975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.297628 meters 0.01213875768835485 Centerline is valid? [True, True] Translation: X:149.51, Y:-47.02, Z:-0.26 [[ 8.55987868e-01 5.16990686e-01 -2.32399204e-03 1.49511005e+02] [-5.16988756e-01 8.55991022e-01 1.41281868e-03 -4.70184556e+01] [ 2.71973042e-03 -7.87789524e-06 9.99996301e-01 -2.55537608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.357628 meters 0.012206859624005683 Centerline is valid? [True, True] Translation: X:149.56, Y:-47.06, Z:-0.26 [[ 8.55851287e-01 5.17215527e-01 -2.58329913e-03 1.49562291e+02] [-5.17213140e-01 8.55855185e-01 1.57140816e-03 -4.70555852e+01] [ 3.02368666e-03 -8.77543595e-06 9.99995429e-01 -2.55713298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.417628 meters 0.012219692295302583 Centerline is valid? [True, True] Translation: X:149.61, Y:-47.09, Z:-0.26 [[ 8.55244894e-01 5.18218921e-01 -2.30671681e-03 1.49612793e+02] [-5.18217019e-01 8.55248005e-01 1.40410414e-03 -4.70942908e+01] [ 2.70044828e-03 -5.47298496e-06 9.99996354e-01 -2.55753879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.477628 meters 0.01239194055196462 Centerline is valid? [True, True] Translation: X:149.66, Y:-47.13, Z:-0.26 [[ 8.54728489e-01 5.19069491e-01 -2.46460992e-03 1.49663872e+02] [-5.19067320e-01 8.54732042e-01 1.50110863e-03 -4.71311831e+01] [ 2.88576076e-03 -3.74184443e-06 9.99995836e-01 -2.55925200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53762799999998 meters 0.012498125449254304 Centerline is valid? [True, True] Translation: X:149.72, Y:-47.17, Z:-0.25 [[ 8.52471152e-01 5.22773529e-01 -8.78651319e-04 1.49716982e+02] [-5.22773255e-01 8.52471605e-01 5.35854680e-04 -4.71653190e+01] [ 1.02915594e-03 2.53475350e-06 9.99999470e-01 -2.54267210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.597628 meters 0.012798250885991801 Centerline is valid? [True, True] Translation: X:149.77, Y:-47.20, Z:-0.25 [[ 8.50521505e-01 5.25939755e-01 -7.36864295e-04 1.49771143e+02] [-5.25939563e-01 8.50521824e-01 4.49662390e-04 -4.71950956e+01] [ 8.63214491e-04 5.09855225e-06 9.99999627e-01 -2.54633573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.657628 meters 0.01267369578987639 Centerline is valid? [True, True] Translation: X:149.82, Y:-47.23, Z:-0.26 [[ 8.51955053e-01 5.23611477e-01 -1.89969244e-03 1.49824639e+02] [-5.23610194e-01 8.51957171e-01 1.15912675e-03 -4.72256441e+01] [ 2.22538867e-03 7.17443461e-06 9.99997524e-01 -2.57434785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.717628 meters 0.01265365176392246 Centerline is valid? [True, True] Translation: X:149.88, Y:-47.26, Z:-0.26 [[ 8.53333761e-01 5.21363702e-01 -1.17588339e-03 1.49877673e+02] [-5.21363208e-01 8.53334571e-01 7.18178875e-04 -4.72586403e+01] [ 1.37785434e-03 2.16054426e-07 9.99999051e-01 -2.57103196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.777628 meters 0.012623524339722478 Centerline is valid? [True, True] Translation: X:149.93, Y:-47.29, Z:-0.25 [[ 8.53719688e-01 5.20731915e-01 9.83169236e-04 1.49931598e+02] [-5.20731570e-01 8.53720254e-01 -5.99850512e-04 -4.72917479e+01] [-1.15171280e-03 1.36932011e-07 9.99999337e-01 -2.54886483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.837628 meters 0.012472421038411131 Centerline is valid? [True, True] Translation: X:149.98, Y:-47.32, Z:-0.26 [[ 8.53278361e-01 5.21453479e-01 1.51892638e-03 1.49984917e+02] [-5.21452654e-01 8.53279713e-01 -9.27606869e-04 -4.73241415e+01] [-1.77977289e-03 -5.41321394e-07 9.99998416e-01 -2.55269249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.897628 meters 0.012493947028845527 Centerline is valid? [True, True] Translation: X:150.04, Y:-47.36, Z:-0.26 [[ 8.53064371e-01 5.21805657e-01 -1.87726337e-04 1.50038994e+02] [-5.21805645e-01 8.53064391e-01 1.15293097e-04 -4.73571770e+01] [ 2.20303243e-04 -3.95770824e-07 9.99999976e-01 -2.57799023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.957628 meters 0.012495340795575757 Centerline is valid? [True, True] Translation: X:150.09, Y:-47.39, Z:-0.26 [[ 8.52310317e-01 5.23032924e-01 -1.91941571e-03 1.50092654e+02] [-5.23031605e-01 8.52312478e-01 1.17458933e-03 -4.73898463e+01] [ 2.25029085e-03 2.80047105e-06 9.99997468e-01 -2.59838146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.017628 meters 0.012446680740889914 Centerline is valid? [True, True] Translation: X:150.15, Y:-47.42, Z:-0.26 [[ 8.51054083e-01 5.25074240e-01 -1.99739301e-03 1.50146920e+02] [-5.25072816e-01 8.51056427e-01 1.22303966e-03 -4.74208208e+01] [ 2.34208078e-03 7.90387078e-06 9.99997257e-01 -2.59847482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.077628 meters 0.01316008409566238 Centerline is valid? [True, True] Translation: X:150.20, Y:-47.45, Z:-0.26 [[ 8.48253791e-01 5.29589352e-01 -7.89911893e-04 1.50201804e+02] [-5.29589130e-01 8.48254159e-01 4.84130500e-04 -4.74473335e+01] [ 9.26436406e-04 7.66322030e-06 9.99999571e-01 -2.59987919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.137628 meters 0.0135403483922796 Centerline is valid? [True, True] Translation: X:150.26, Y:-47.48, Z:-0.26 [[ 8.47185918e-01 5.31296470e-01 2.85088019e-04 1.50256118e+02] [-5.31296442e-01 8.47185966e-01 -1.74210728e-04 -4.74781428e+01] [-3.34080114e-04 -3.87737480e-06 9.99999944e-01 -2.59045871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.197628 meters 0.012732395527464661 Centerline is valid? [True, True] Translation: X:150.31, Y:-47.51, Z:-0.26 [[ 8.48659865e-01 5.28938364e-01 8.00580781e-04 1.50306441e+02] [-5.28938136e-01 8.48660243e-01 -4.90277645e-04 -4.75139846e+01] [-9.38747736e-04 -7.37874629e-06 9.99999559e-01 -2.59139906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25762799999998 meters 0.01242557519977969 Centerline is valid? [True, True] Translation: X:150.36, Y:-47.55, Z:-0.26 [[ 8.51057892e-01 5.25071063e-01 9.18527155e-04 1.50357509e+02] [-5.25070761e-01 8.51058388e-01 -5.62895744e-04 -4.75489008e+01] [-1.07728051e-03 -3.23488710e-06 9.99999420e-01 -2.59514448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31762799999998 meters 0.012323979377665165 Centerline is valid? [True, True] Translation: X:150.41, Y:-47.58, Z:-0.26 [[ 8.54117013e-01 5.20080088e-01 9.11027299e-04 1.50408235e+02] [-5.20079788e-01 8.54117499e-01 -5.58660652e-04 -4.75847184e+01] [-1.06867264e-03 3.35468328e-06 9.99999429e-01 -2.59966577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.377628 meters 0.012557102311970016 Centerline is valid? [True, True] Translation: X:150.46, Y:-47.62, Z:-0.26 [[ 8.55193359e-01 5.18309086e-01 -1.00714329e-04 1.50462215e+02] [-5.18309082e-01 8.55193365e-01 6.23845510e-05 -4.76171940e+01] [ 1.18464705e-04 -1.14970242e-06 9.99999993e-01 -2.61938465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.437628 meters 0.013301368585457241 Centerline is valid? [True, True] Translation: X:150.51, Y:-47.65, Z:-0.27 [[ 8.58128144e-01 5.13428719e-01 -2.65287640e-03 1.50513660e+02] [-5.13426133e-01 8.58132244e-01 1.63010558e-03 -4.76511528e+01] [ 3.11346179e-03 -3.67834050e-05 9.99995152e-01 -2.65663764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.497628 meters 0.014062950669260709 Centerline is valid? [True, True] Translation: X:150.57, Y:-47.69, Z:-0.27 [[ 8.60280907e-01 5.09813159e-01 -2.70254480e-03 1.50565742e+02] [-5.09810454e-01 8.60285150e-01 1.66156591e-03 -4.76856719e+01] [ 3.17204733e-03 -5.16278400e-05 9.99994968e-01 -2.65233272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.557628 meters 0.018033425416620393 Centerline is valid? [True, True] Translation: X:150.62, Y:-47.72, Z:-0.27 [[ 8.62945303e-01 5.05294179e-01 -1.78805055e-03 1.50617768e+02] [-5.05292986e-01 8.62947154e-01 1.09931143e-03 -4.77194629e+01] [ 2.09846880e-03 -4.51562306e-05 9.99997797e-01 -2.66076637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.617628 meters 0.015405785000265517 Centerline is valid? [True, True] Translation: X:150.67, Y:-47.75, Z:-0.26 [[ 8.62004152e-01 5.06900671e-01 7.42787243e-04 1.50670940e+02] [-5.06900466e-01 8.62004472e-01 -4.56407684e-04 -4.77496202e+01] [-8.71639287e-04 1.69061186e-05 9.99999620e-01 -2.63671835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.677628 meters 0.013998665027211192 Centerline is valid? [True, True] Translation: X:150.73, Y:-47.78, Z:-0.26 [[ 8.59372166e-01 5.11350060e-01 7.72741057e-04 1.50726148e+02] [-5.11349839e-01 8.59372513e-01 -4.75051707e-04 -4.77779436e+01] [-9.06990143e-04 1.31051991e-05 9.99999589e-01 -2.64421047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.737628 meters 0.012493840234557695 Centerline is valid? [True, True] Translation: X:150.78, Y:-47.80, Z:-0.27 [[ 8.54490678e-01 5.19466035e-01 -8.47657303e-04 1.50782107e+02] [-5.19465773e-01 8.54491099e-01 5.22291375e-04 -4.78042053e+01] [ 9.95628250e-04 -5.96415552e-06 9.99999504e-01 -2.65372296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.797628 meters 0.012348463018009655 Centerline is valid? [True, True] Translation: X:150.84, Y:-47.83, Z:-0.27 [[ 8.51764857e-01 5.23923471e-01 -9.08673239e-04 1.50836310e+02] [-5.23923171e-01 8.51765341e-01 5.60233612e-04 -4.78348672e+01] [ 1.06749591e-03 -1.11233714e-06 9.99999430e-01 -2.65826336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.857628 meters 0.01244092476879132 Centerline is valid? [True, True] Translation: X:150.89, Y:-47.87, Z:-0.27 [[ 8.50130401e-01 5.26571464e-01 -8.91522797e-04 1.50889805e+02] [-5.26571177e-01 8.50130868e-01 5.50105649e-04 -4.78684390e+01] [ 1.04758099e-03 1.78867235e-06 9.99999451e-01 -2.66142614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.917628 meters 0.01243601983281406 Centerline is valid? [True, True] Translation: X:150.94, Y:-47.90, Z:-0.27 [[ 8.50609260e-01 5.25797799e-01 -7.49940397e-04 1.50941152e+02] [-5.25797595e-01 8.50609590e-01 4.63065303e-04 -4.79025864e+01] [ 8.81385211e-04 4.29222308e-07 9.99999612e-01 -2.67482538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.977628 meters 0.012576211391113756 Centerline is valid? [True, True] Translation: X:150.99, Y:-47.94, Z:-0.27 [[ 8.52515622e-01 5.22701620e-01 3.62638111e-04 1.50992873e+02] [-5.22701572e-01 8.52515699e-01 -2.23255081e-04 -4.79394564e+01] [-4.25850475e-04 7.76933889e-07 9.99999909e-01 -2.68063210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03762799999998 meters 0.012706643906406224 Centerline is valid? [True, True] Translation: X:151.05, Y:-47.97, Z:-0.27 [[ 8.52799711e-01 5.22235509e-01 1.65120322e-03 1.51045965e+02] [-5.22234515e-01 8.52801309e-01 -1.01914774e-03 -4.79723718e+01] [-1.94038340e-03 6.81358699e-06 9.99998117e-01 -2.66965626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.097628 meters 0.01273107246206673 Centerline is valid? [True, True] Translation: X:151.10, Y:-48.00, Z:-0.27 [[ 8.52680393e-01 5.22428457e-01 2.15763201e-03 1.51099203e+02] [-5.22426758e-01 8.52683122e-01 -1.33261621e-03 -4.80046367e+01] [-2.53597303e-03 9.09101539e-06 9.99996784e-01 -2.66822242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.157628 meters 0.012870021304269588 Centerline is valid? [True, True] Translation: X:151.15, Y:-48.04, Z:-0.27 [[ 8.53285361e-01 5.21441906e-01 1.55938483e-03 1.51152571e+02] [-5.21441016e-01 8.53286785e-01 -9.63420412e-04 -4.80383274e+01] [-1.83297025e-03 8.94532136e-06 9.99998320e-01 -2.68142960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.217628 meters 0.013175896006452989 Centerline is valid? [True, True] Translation: X:151.20, Y:-48.07, Z:-0.27 [[ 8.54424807e-01 5.19574994e-01 2.73595839e-04 1.51204222e+02] [-5.19574966e-01 8.54424851e-01 -1.68735962e-04 -4.80725170e+01] [-3.21438070e-04 2.01864264e-06 9.99999948e-01 -2.70531903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.277628 meters 0.01313774117580466 Centerline is valid? [True, True] Translation: X:151.26, Y:-48.10, Z:-0.27 [[ 8.54395676e-01 5.19618237e-01 -2.21726353e-03 1.51258162e+02] [-5.19616424e-01 8.54398553e-01 1.37287023e-03 -4.81048144e+01] [ 2.60779516e-03 -2.08478443e-05 9.99996599e-01 -2.73580175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.337628 meters 0.013166278839549685 Centerline is valid? [True, True] Translation: X:151.31, Y:-48.14, Z:-0.28 [[ 8.54283863e-01 5.19761738e-01 -6.84224464e-03 1.51310984e+02] [-5.19744467e-01 8.54311262e-01 4.23766547e-03 -4.81371622e+01] [ 8.04798301e-03 -6.39504380e-05 9.99967612e-01 -2.77958887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.397628 meters 0.013320811082437534 Centerline is valid? [True, True] Translation: X:151.36, Y:-48.17, Z:-0.28 [[ 8.54174285e-01 5.19926949e-01 -7.89046854e-03 1.51362075e+02] [-5.19903976e-01 8.54210725e-01 4.88805854e-03 -4.81708698e+01] [ 9.28155622e-03 -7.29679443e-05 9.99956923e-01 -2.79206149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.457628 meters 0.013190321310300927 Centerline is valid? [True, True] Translation: X:151.41, Y:-48.20, Z:-0.28 [[ 8.55389257e-01 5.17954216e-01 -5.71396994e-03 1.51414639e+02] [-5.17942108e-01 8.55408338e-01 3.54236954e-03 -4.82046835e+01] [ 6.72256276e-03 -7.05992141e-05 9.99977401e-01 -2.75734296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.517628 meters 0.013735593842074694 Centerline is valid? [True, True] Translation: X:151.46, Y:-48.24, Z:-0.27 [[ 8.57541509e-01 5.14410811e-01 -2.01911610e-03 1.51463882e+02] [-5.14409288e-01 8.57543886e-01 1.25218665e-03 -4.82405028e+01] [ 2.37561902e-03 -3.51499542e-05 9.99997178e-01 -2.71574780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.577628 meters 0.014182348514110281 Centerline is valid? [True, True] Translation: X:151.52, Y:-48.28, Z:-0.27 [[ 8.58626738e-01 5.12600528e-01 -9.07150614e-04 1.51515040e+02] [-5.12600219e-01 8.58627217e-01 5.63254001e-04 -4.82754118e+01] [ 1.06762851e-03 -1.86193423e-05 9.99999430e-01 -2.69348216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.637628 meters 0.014078639353024312 Centerline is valid? [True, True] Translation: X:151.57, Y:-48.31, Z:-0.27 [[ 8.58531665e-01 5.12758329e-01 -1.50828493e-03 1.51568623e+02] [-5.12757475e-01 8.58532990e-01 9.36854453e-04 -4.83081846e+01] [ 1.77529230e-03 -3.09348416e-05 9.99998424e-01 -2.69116080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.697628 meters 0.013293385489722207 Centerline is valid? [True, True] Translation: X:151.62, Y:-48.34, Z:-0.27 [[ 8.56325386e-01 5.16417755e-01 -4.41994655e-03 1.51623270e+02] [-5.16410460e-01 8.56336790e-01 2.74580809e-03 -4.83383368e+01] [ 5.20294689e-03 -6.87985372e-05 9.99986462e-01 -2.70192725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75762799999998 meters 0.012861090428863433 Centerline is valid? [True, True] Translation: X:151.68, Y:-48.37, Z:-0.27 [[ 8.54018574e-01 5.20207013e-01 -6.07763594e-03 1.51676885e+02] [-5.20193303e-01 8.54040198e-01 3.77732324e-03 -4.83682058e+01] [ 7.15553544e-03 -6.43586904e-05 9.99974397e-01 -2.71901182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81762799999998 meters 0.012367021477243504 Centerline is valid? [True, True] Translation: X:151.73, Y:-48.40, Z:-0.27 [[ 8.50961717e-01 5.25167239e-01 -7.97041162e-03 1.51731205e+02] [-5.25143851e-01 8.50999042e-01 4.95636941e-03 -4.83980691e+01] [ 9.38573549e-03 -3.20679672e-05 9.99955952e-01 -2.72304343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.877628 meters 0.012296317256313282 Centerline is valid? [True, True] Translation: X:151.79, Y:-48.43, Z:-0.27 [[ 8.49522632e-01 5.27495202e-01 -7.75299795e-03 1.51785284e+02] [-5.27473141e-01 8.49558009e-01 4.82428640e-03 -4.84311195e+01] [ 9.13140944e-03 -8.84229336e-06 9.99958308e-01 -2.72237202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.937628 meters 0.012355353931522428 Centerline is valid? [True, True] Translation: X:151.84, Y:-48.46, Z:-0.27 [[ 8.48080975e-01 5.29791992e-01 -8.89411271e-03 1.51836964e+02] [-5.29763054e-01 8.48127612e-01 5.53725056e-03 -4.84649924e+01] [ 1.04769336e-02 1.57354547e-05 9.99945115e-01 -2.71620594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.997628 meters 0.012454646198788803 Centerline is valid? [True, True] Translation: X:151.89, Y:-48.50, Z:-0.27 [[ 8.47744152e-01 5.30317673e-01 -9.64462511e-03 1.51887077e+02] [-5.30283662e-01 8.47799013e-01 6.00604590e-03 -4.84993117e+01] [ 1.13618159e-02 2.27968291e-05 9.99935452e-01 -2.71954987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.057628 meters 0.012316234534812386 Centerline is valid? [True, True] Translation: X:151.94, Y:-48.53, Z:-0.27 [[ 8.47551515e-01 5.30641403e-01 -8.72527037e-03 1.51939449e+02] [-5.30613551e-01 8.47596426e-01 5.43677891e-03 -4.85330913e+01] [ 1.02804880e-02 2.17964973e-05 9.99947154e-01 -2.69701820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.117628 meters 0.012300702953378135 Centerline is valid? [True, True] Translation: X:151.99, Y:-48.56, Z:-0.27 [[ 8.46533236e-01 5.32270603e-01 -8.33576907e-03 1.51993782e+02] [-5.32245228e-01 8.46574275e-01 5.19750518e-03 -4.85644171e+01] [ 9.82332687e-03 3.68124264e-05 9.99951749e-01 -2.68067176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.177628 meters 0.012588033924925895 Centerline is valid? [True, True] Translation: X:152.05, Y:-48.59, Z:-0.27 [[ 8.45036649e-01 5.34620876e-01 -9.67369581e-03 1.52047109e+02] [-5.34586821e-01 8.45092015e-01 6.03461005e-03 -4.85937975e+01] [ 1.14013916e-02 7.19636387e-05 9.99934999e-01 -2.69789257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.237628 meters 0.012877556916017125 Centerline is valid? [True, True] Translation: X:152.10, Y:-48.62, Z:-0.27 [[ 8.43870721e-01 5.36405708e-01 -1.22932272e-02 1.52100835e+02] [-5.36350841e-01 8.43960250e-01 7.67282958e-03 -4.86249982e+01] [ 1.44907447e-02 1.18606512e-04 9.99894997e-01 -2.73222822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.297628 meters 0.01310997473770483 Centerline is valid? [True, True] Translation: X:152.15, Y:-48.66, Z:-0.28 [[ 8.43415790e-01 5.37053886e-01 -1.49307933e-02 1.52152514e+02] [-5.36972961e-01 8.43547924e-01 9.32408421e-03 -4.86593521e+01] [ 1.76023753e-02 1.53352410e-04 9.99845054e-01 -2.75841155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.357628 meters 0.013073151450321379 Centerline is valid? [True, True] Translation: X:152.20, Y:-48.69, Z:-0.28 [[ 8.43418081e-01 5.37082139e-01 -1.37374149e-02 1.52204185e+02] [-5.37013569e-01 8.43529938e-01 8.58313358e-03 -4.86925687e+01] [ 1.61977685e-02 1.38008142e-04 9.99868798e-01 -2.75154023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.417628 meters 0.012837979050749057 Centerline is valid? [True, True] Translation: X:152.26, Y:-48.73, Z:-0.27 [[ 8.43247132e-01 5.37380324e-01 -1.25164604e-02 1.52256280e+02] [-5.37323369e-01 8.43340009e-01 7.82471351e-03 -4.87261303e+01] [ 1.47604789e-02 1.27219471e-04 9.99891050e-01 -2.72987143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.477628 meters 0.012800394258114592 Centerline is valid? [True, True] Translation: X:152.31, Y:-48.76, Z:-0.27 [[ 8.42672745e-01 5.38309058e-01 -1.12251254e-02 1.52309587e+02] [-5.38263279e-01 8.42747496e-01 7.02139973e-03 -4.87577310e+01] [ 1.32396294e-02 1.25330597e-04 9.99912344e-01 -2.71388590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53762799999998 meters 0.012540079697894547 Centerline is valid? [True, True] Translation: X:152.36, Y:-48.79, Z:-0.27 [[ 8.43016317e-01 5.37786254e-01 -1.04610559e-02 1.52361863e+02] [-5.37746410e-01 8.43081214e-01 6.54716256e-03 -4.87911348e+01] [ 1.23404938e-02 1.06030400e-04 9.99923848e-01 -2.70807538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.597628 meters 0.012354414890945131 Centerline is valid? [True, True] Translation: X:152.41, Y:-48.83, Z:-0.27 [[ 8.44653073e-01 5.35223835e-01 -9.83022975e-03 1.52412470e+02] [-5.35188441e-01 8.44710272e-01 6.15548520e-03 -4.88257397e+01] [ 1.15982584e-02 6.17758377e-05 9.99932736e-01 -2.70947145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.657628 meters 0.01219830045432753 Centerline is valid? [True, True] Translation: X:152.46, Y:-48.86, Z:-0.27 [[ 8.47043512e-01 5.31448440e-01 -8.93560073e-03 1.52463186e+02] [-5.31418975e-01 8.47090642e-01 5.59614225e-03 -4.88628120e+01] [ 1.05433248e-02 8.37180073e-06 9.99944418e-01 -2.70735067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.717628 meters 0.012303768646586827 Centerline is valid? [True, True] Translation: X:152.52, Y:-48.90, Z:-0.27 [[ 8.48463596e-01 5.29180062e-01 -8.83111591e-03 1.52515353e+02] [-5.29151120e-01 8.48509553e-01 5.53455366e-03 -4.88983727e+01] [ 1.04220617e-02 -2.28724236e-05 9.99945689e-01 -2.71229470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.777628 meters 0.012743074488422098 Centerline is valid? [True, True] Translation: X:152.57, Y:-48.93, Z:-0.27 [[ 8.50580845e-01 5.25759078e-01 -9.46666718e-03 1.52565066e+02] [-5.25725592e-01 8.50633521e-01 5.93426003e-03 -4.89346970e+01] [ 1.11726555e-02 -7.06987031e-05 9.99937581e-01 -2.71181272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.837628 meters 0.012947820644503517 Centerline is valid? [True, True] Translation: X:152.62, Y:-48.97, Z:-0.27 [[ 8.51929990e-01 5.23588881e-01 -8.36512067e-03 1.52617197e+02] [-5.23562594e-01 8.51971053e-01 5.24738959e-03 -4.89691528e+01] [ 9.87431551e-03 -9.07442853e-05 9.99951244e-01 -2.68780802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.897628 meters 0.013329649066529123 Centerline is valid? [True, True] Translation: X:152.67, Y:-49.00, Z:-0.27 [[ 8.52774216e-01 5.22228876e-01 -7.28953986e-03 1.52669502e+02] [-5.22208842e-01 8.52805366e-01 4.57537366e-03 -4.90029537e+01] [ 8.60595095e-03 -9.50985174e-05 9.99962964e-01 -2.68541206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.957628 meters 0.013963526377316376 Centerline is valid? [True, True] Translation: X:152.72, Y:-49.04, Z:-0.27 [[ 8.55235071e-01 5.18193483e-01 -6.96331972e-03 1.52721416e+02] [-5.18175048e-01 8.55263408e-01 4.37301971e-03 -4.90376792e+01] [ 8.22154287e-03 -1.31741295e-04 9.99966194e-01 -2.68031042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.017628 meters 0.014732195553585258 Centerline is valid? [True, True] Translation: X:152.77, Y:-49.07, Z:-0.27 [[ 8.56201729e-01 5.16594754e-01 -6.96128168e-03 1.52772197e+02] [-5.16576258e-01 8.56230015e-01 4.37389494e-03 -4.90717450e+01] [ 8.21998950e-03 -1.48903564e-04 9.99966204e-01 -2.68237613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.077628 meters 0.015974850721460418 Centerline is valid? [True, True] Translation: X:152.82, Y:-49.11, Z:-0.27 [[ 8.59395111e-01 5.11266959e-01 -6.79267973e-03 1.52823097e+02] [-5.11249176e-01 8.59421933e-01 4.26866438e-03 -4.91059979e+01] [ 8.02020500e-03 -1.95717376e-04 9.99967818e-01 -2.67962547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.137628 meters 0.01651816302064336 Centerline is valid? [True, True] Translation: X:152.88, Y:-49.14, Z:-0.27 [[ 8.61325589e-01 5.08021404e-01 -5.69941154e-03 1.52875980e+02] [-5.08008799e-01 8.61344424e-01 3.58377092e-03 -4.91379094e+01] [ 6.72978869e-03 -1.91442387e-04 9.99977336e-01 -2.66600007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.197628 meters 0.01690372069454211 Centerline is valid? [True, True] Translation: X:152.93, Y:-49.17, Z:-0.27 [[ 8.61613235e-01 5.07540856e-01 -4.99130520e-03 1.52929772e+02] [-5.07531170e-01 8.61627675e-01 3.14032685e-03 -4.91691463e+01] [ 5.89449087e-03 -1.72504208e-04 9.99982612e-01 -2.66499859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25762799999998 meters 0.016502749765111308 Centerline is valid? [True, True] Translation: X:152.99, Y:-49.20, Z:-0.27 [[ 8.60442785e-01 5.09533556e-01 -3.71065527e-03 1.52986926e+02] [-5.09528220e-01 8.60450778e-01 2.33486100e-03 -4.91958461e+01] [ 4.38252624e-03 -1.18330729e-04 9.99990390e-01 -2.66385976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31762799999998 meters 0.015852527540504827 Centerline is valid? [True, True] Translation: X:153.04, Y:-49.23, Z:-0.27 [[ 8.59733301e-01 5.10730391e-01 -3.62200479e-03 1.53041138e+02] [-5.10725311e-01 8.59740923e-01 2.28066030e-03 -4.92260655e+01] [ 4.27878827e-03 -1.10910084e-04 9.99990840e-01 -2.66801089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.377628 meters 0.014843173341588356 Centerline is valid? [True, True] Translation: X:153.10, Y:-49.25, Z:-0.27 [[ 8.58079561e-01 5.13501615e-01 -3.94430272e-03 1.53096844e+02] [-5.13495613e-01 8.58088620e-01 2.48495489e-03 -4.92545400e+01] [ 4.66058963e-03 -1.06906859e-04 9.99989134e-01 -2.67299261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.437628 meters 0.014247136539047488 Centerline is valid? [True, True] Translation: X:153.15, Y:-49.28, Z:-0.27 [[ 8.54682409e-01 5.19131902e-01 -4.47762554e-03 1.53151278e+02] [-5.19124239e-01 8.54694133e-01 2.82191788e-03 -4.92817411e+01] [ 5.29194787e-03 -8.73996213e-05 9.99985994e-01 -2.69923509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.497628 meters 0.013047292946015752 Centerline is valid? [True, True] Translation: X:153.21, Y:-49.31, Z:-0.27 [[ 8.51955701e-01 5.23590656e-01 -4.93030242e-03 1.53206769e+02] [-5.23581430e-01 8.51969965e-01 3.10897485e-03 -4.93094350e+01] [ 5.82829976e-03 -6.72940622e-05 9.99983013e-01 -2.71431372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.557628 meters 0.011928059976798704 Centerline is valid? [True, True] Translation: X:153.26, Y:-49.33, Z:-0.27 [[ 8.46791190e-01 5.31896526e-01 -5.54665550e-03 1.53263885e+02] [-5.31885014e-01 8.46809356e-01 3.49948750e-03 -4.93349415e+01] [ 6.55832501e-03 -1.31522478e-05 9.99978494e-01 -2.73522352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.617628 meters 0.012120812446536091 Centerline is valid? [True, True] Translation: X:153.32, Y:-49.36, Z:-0.27 [[ 8.43168240e-01 5.37631593e-01 -4.42594926e-03 1.53319565e+02] [-5.37624337e-01 8.43179856e-01 2.79344684e-03 -4.93628350e+01] [ 5.23371653e-03 2.41523814e-05 9.99986304e-01 -2.74076495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.677628 meters 0.01261969976435281 Centerline is valid? [True, True] Translation: X:153.37, Y:-49.39, Z:-0.27 [[ 8.38867854e-01 5.44327417e-01 -2.89603647e-03 1.53374771e+02] [-5.44324345e-01 8.38872852e-01 1.82913464e-03 -4.93912477e+01] [ 3.42505450e-03 4.19809042e-05 9.99994134e-01 -2.71752522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.737628 meters 0.013082425009958865 Centerline is valid? [True, True] Translation: X:153.43, Y:-49.42, Z:-0.27 [[ 8.37725115e-01 5.46090248e-01 -1.43941123e-03 1.53427210e+02] [-5.46089491e-01 8.37726352e-01 9.09804580e-04 -4.94221259e+01] [ 1.70266812e-03 2.38811976e-05 9.99998550e-01 -2.70500032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.797628 meters 0.015632453512346024 Centerline is valid? [True, True] Translation: X:153.48, Y:-49.46, Z:-0.27 [[ 8.37904668e-01 5.45816560e-01 2.24654876e-04 1.53478849e+02] [-5.45816542e-01 8.37904698e-01 -1.41513171e-04 -4.94565537e+01] [-2.65479608e-04 -4.04580059e-06 9.99999965e-01 -2.71715872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.857628 meters 0.01313443940824023 Centerline is valid? [True, True] Translation: X:153.53, Y:-49.49, Z:-0.27 [[ 8.37344704e-01 5.46674673e-01 -8.04759573e-04 1.53530970e+02] [-5.46674436e-01 8.37345091e-01 5.09451860e-04 -4.94910617e+01] [ 9.52365907e-04 1.33546688e-05 9.99999546e-01 -2.71622150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.917628 meters 0.013726819762061486 Centerline is valid? [True, True] Translation: X:153.58, Y:-49.52, Z:-0.27 [[ 8.35937011e-01 5.48810027e-01 -4.10709477e-03 1.53583903e+02] [-5.48803877e-01 8.35947096e-01 2.59940065e-03 -4.95233857e+01] [ 4.85989109e-03 8.10543222e-05 9.99988187e-01 -2.74548844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.977628 meters 0.013664857706953996 Centerline is valid? [True, True] Translation: X:153.64, Y:-49.56, Z:-0.28 [[ 8.35783688e-01 5.49022515e-01 -6.31703783e-03 1.53635841e+02] [-5.49007957e-01 8.35807551e-01 4.00001791e-03 -4.95577839e+01] [ 7.47592781e-03 1.24954312e-04 9.99972047e-01 -2.76419497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03762799999998 meters 0.013442703857648392 Centerline is valid? [True, True] Translation: X:153.69, Y:-49.59, Z:-0.28 [[ 8.36415923e-01 5.48059941e-01 -6.22136852e-03 1.53687162e+02] [-5.48045779e-01 8.36439052e-01 3.94157196e-03 -4.95932256e+01] [ 7.36401329e-03 1.12801202e-04 9.99972879e-01 -2.76448488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.097628 meters 0.0126856753379706 Centerline is valid? [True, True] Translation: X:153.74, Y:-49.63, Z:-0.27 [[ 8.37872414e-01 5.45849123e-01 -4.30733206e-03 1.53736199e+02] [-5.45842296e-01 8.37883483e-01 2.73058749e-03 -4.96311977e+01] [ 5.09953118e-03 6.32400925e-05 9.99986995e-01 -2.73809489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.157628 meters 0.011682497216817763 Centerline is valid? [True, True] Translation: X:153.78, Y:-49.67, Z:-0.27 [[ 8.42099965e-01 5.39316666e-01 -2.27650620e-03 1.53782768e+02] [-5.39314732e-01 8.42103042e-01 1.44408636e-03 -4.96715489e+01] [ 2.69587263e-03 1.16882588e-05 9.99996366e-01 -2.71241584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.217628 meters 0.012052822816623994 Centerline is valid? [True, True] Translation: X:153.83, Y:-49.71, Z:-0.27 [[ 8.48027824e-01 5.29947561e-01 -2.09581027e-03 1.53828109e+02] [-5.29945892e-01 8.48030413e-01 1.33012540e-03 -4.97149991e+01] [ 2.48220756e-03 -1.73173044e-05 9.99996919e-01 -2.70406268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.277628 meters 0.013829578403915195 Centerline is valid? [True, True] Translation: X:153.87, Y:-49.76, Z:-0.27 [[ 8.53362399e-01 5.21317878e-01 -5.35982741e-04 1.53874921e+02] [-5.21317767e-01 8.53362567e-01 3.40245945e-04 -4.97571590e+01] [ 6.34763901e-04 -1.09357702e-05 9.99999798e-01 -2.67874748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.337628 meters 0.015182725341366788 Centerline is valid? [True, True] Translation: X:153.92, Y:-49.79, Z:-0.27 [[ 8.55736213e-01 5.17411809e-01 -7.44335262e-04 1.53924726e+02] [-5.17411594e-01 8.55736536e-01 4.72527268e-04 -4.97948670e+01] [ 8.81446068e-04 -1.92310002e-05 9.99999611e-01 -2.68293310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.397628 meters 0.016301447428209742 Centerline is valid? [True, True] Translation: X:153.97, Y:-49.83, Z:-0.27 [[ 8.56626088e-01 5.15935149e-01 -1.63345984e-03 1.53973884e+02] [-5.15934109e-01 8.56627644e-01 1.03717978e-03 -4.98304691e+01] [ 1.93438436e-03 -4.57176117e-05 9.99998128e-01 -2.68812583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.457628 meters 0.016020656909151432 Centerline is valid? [True, True] Translation: X:154.03, Y:-49.86, Z:-0.27 [[ 8.55965863e-01 5.17032330e-01 -1.01024570e-04 1.54025973e+02] [-5.17032326e-01 8.55965869e-01 6.46277556e-05 -4.98642039e+01] [ 1.19888223e-04 -3.08618439e-06 9.99999993e-01 -2.67132222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.517628 meters 0.013513692361705203 Centerline is valid? [True, True] Translation: X:154.08, Y:-49.89, Z:-0.27 [[ 8.53892513e-01 5.20449121e-01 5.36732246e-04 1.54081183e+02] [-5.20449010e-01 8.53892682e-01 -3.40592896e-04 -4.98924867e+01] [-6.35573011e-04 1.14879579e-05 9.99999798e-01 -2.66462269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.577628 meters 0.012716218937359478 Centerline is valid? [True, True] Translation: X:154.14, Y:-49.92, Z:-0.27 [[ 8.50205282e-01 5.26451275e-01 1.86226174e-04 1.54135081e+02] [-5.26451261e-01 8.50205302e-01 -1.17997207e-04 -4.99212225e+01] [-2.20450260e-04 2.28284487e-06 9.99999976e-01 -2.68535733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.637628 meters 0.011936912644549973 Centerline is valid? [True, True] Translation: X:154.19, Y:-49.95, Z:-0.27 [[ 8.47712448e-01 5.30455721e-01 -5.77174223e-04 1.54189268e+02] [-5.30455593e-01 8.47712645e-01 3.67639587e-04 -4.99518561e+01] [ 6.84294410e-04 -5.48735968e-06 9.99999766e-01 -2.69778029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.697628 meters 0.011534209069977843 Centerline is valid? [True, True] Translation: X:154.24, Y:-49.98, Z:-0.27 [[ 8.45650600e-01 5.33736118e-01 -9.05058758e-04 1.54243029e+02] [-5.33735806e-01 8.45651084e-01 5.76537470e-04 -4.99830310e+01] [ 1.07308279e-03 -4.48699090e-06 9.99999424e-01 -2.70307934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75762799999998 meters 0.011384413507786257 Centerline is valid? [True, True] Translation: X:154.30, Y:-50.01, Z:-0.27 [[ 8.43192347e-01 5.37610743e-01 -1.16411733e-03 1.54298160e+02] [-5.37610231e-01 8.43193151e-01 7.41948939e-04 -5.00130500e+01] [ 1.38045548e-03 2.35718587e-07 9.99999047e-01 -2.70724432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81762799999998 meters 0.011433890402388793 Centerline is valid? [True, True] Translation: X:154.35, Y:-50.04, Z:-0.27 [[ 8.42140449e-01 5.39256570e-01 -1.34764352e-03 1.54352250e+02] [-5.39255886e-01 8.42141527e-01 8.59366608e-04 -5.00448158e+01] [ 1.59832566e-03 3.01731718e-06 9.99998723e-01 -2.71877426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.877628 meters 0.011466184164961694 Centerline is valid? [True, True] Translation: X:154.40, Y:-50.08, Z:-0.27 [[ 8.41727268e-01 5.39900848e-01 -1.51023522e-03 1.54404798e+02] [-5.39899988e-01 8.41728623e-01 9.63490574e-04 -5.00775556e+01] [ 1.79139759e-03 4.37969001e-06 9.99998395e-01 -2.72546528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.937628 meters 0.011468536254002184 Centerline is valid? [True, True] Translation: X:154.46, Y:-50.11, Z:-0.27 [[ 8.41501078e-01 5.40251616e-01 -2.03148085e-03 1.54457876e+02] [-5.40250060e-01 8.41503530e-01 1.29667285e-03 -5.01108994e+01] [ 2.41002792e-03 6.35604953e-06 9.99997096e-01 -2.73560071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.997628 meters 0.011427218896200506 Centerline is valid? [True, True] Translation: X:154.51, Y:-50.15, Z:-0.28 [[ 8.42061293e-01 5.39373116e-01 -3.06931519e-03 1.54509897e+02] [-5.39369555e-01 8.42066886e-01 1.96001034e-03 -5.01460848e+01] [ 3.64174557e-03 5.04633052e-06 9.99993369e-01 -2.75132085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.057628 meters 0.011532854140652086 Centerline is valid? [True, True] Translation: X:154.56, Y:-50.18, Z:-0.28 [[ 8.42709992e-01 5.38347372e-01 -4.68787749e-03 1.54561302e+02] [-5.38339040e-01 8.42723031e-01 2.99521536e-03 -5.01825775e+01] [ 5.56304864e-03 -4.30443020e-07 9.99984526e-01 -2.75583342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.117628 meters 0.011589114772611805 Centerline is valid? [True, True] Translation: X:154.61, Y:-50.22, Z:-0.28 [[ 8.42678060e-01 5.38382801e-01 -6.13570102e-03 1.54612035e+02] [-5.38368516e-01 8.42700397e-01 3.92194900e-03 -5.02173730e+01] [ 7.28206758e-03 -1.67211730e-06 9.99973485e-01 -2.77214307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.177628 meters 0.011707754890411348 Centerline is valid? [True, True] Translation: X:154.66, Y:-50.25, Z:-0.28 [[ 8.42626718e-01 5.38444852e-01 -7.57334648e-03 1.54663661e+02] [-5.38423068e-01 8.42660751e-01 4.84338837e-03 -5.02518956e+01] [ 8.98965937e-03 -3.50400079e-06 9.99959592e-01 -2.79220102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.237628 meters 0.011746539560311903 Centerline is valid? [True, True] Translation: X:154.71, Y:-50.29, Z:-0.28 [[ 8.43619622e-01 5.36873290e-01 -8.54421073e-03 1.54714107e+02] [-5.36845453e-01 8.43662889e-01 5.46718830e-03 -5.02884934e+01] [ 1.01436209e-02 -2.53066524e-05 9.99948552e-01 -2.79761357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.297628 meters 0.01201976294261155 Centerline is valid? [True, True] Translation: X:154.76, Y:-50.33, Z:-0.28 [[ 8.44723571e-01 5.35123250e-01 -9.23013992e-03 1.54764498e+02] [-5.35090625e-01 8.44773996e-01 5.90923868e-03 -5.03256094e+01] [ 1.09595532e-02 -5.27118645e-05 9.99939941e-01 -2.78528725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.357628 meters 0.012110926348212089 Centerline is valid? [True, True] Translation: X:154.82, Y:-50.36, Z:-0.27 [[ 8.46493526e-01 5.32367823e-01 -5.76299395e-03 1.54815571e+02] [-5.32355025e-01 8.46513141e-01 3.69172167e-03 -5.03611361e+01] [ 6.84380394e-03 -5.70597008e-05 9.99976579e-01 -2.73638589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.417628 meters 0.013260700906165145 Centerline is valid? [True, True] Translation: X:154.87, Y:-50.40, Z:-0.27 [[ 8.48926648e-01 5.28502088e-01 -3.01474079e-03 1.54865273e+02] [-5.28498557e-01 8.48932000e-01 1.93236409e-03 -5.03972583e+01] [ 3.58056839e-03 -4.71492134e-05 9.99993589e-01 -2.71253731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.477628 meters 0.015263396137233149 Centerline is valid? [True, True] Translation: X:154.91, Y:-50.43, Z:-0.27 [[ 8.54684774e-01 5.19142953e-01 -2.12858261e-03 1.54914292e+02] [-5.19141162e-01 8.54687422e-01 1.36515490e-03 -5.04341282e+01] [ 2.52798333e-03 -6.17422578e-05 9.99996803e-01 -2.69940411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53762799999998 meters 0.01782552666879548 Centerline is valid? [True, True] Translation: X:154.96, Y:-50.47, Z:-0.27 [[ 8.58451250e-01 5.12887563e-01 -2.79263173e-03 1.54964097e+02] [-5.12884444e-01 8.58455786e-01 1.79175533e-03 -5.04705056e+01] [ 3.31631989e-03 -1.05837236e-04 9.99994495e-01 -2.70915040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.597628 meters 0.020218117312357366 Centerline is valid? [True, True] Translation: X:155.02, Y:-50.50, Z:-0.27 [[ 8.62529834e-01 5.05996357e-01 -3.15793262e-03 1.55015885e+02] [-5.05992319e-01 8.62535602e-01 2.02707565e-03 -5.05038821e+01] [ 3.74952220e-03 -1.50523577e-04 9.99992959e-01 -2.71044076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.657628 meters 0.02082136208552463 Centerline is valid? [True, True] Translation: X:155.07, Y:-50.53, Z:-0.27 [[ 8.64933217e-01 5.01861246e-01 -5.08129787e-03 1.55070664e+02] [-5.01850712e-01 8.64948100e-01 3.26301565e-03 -5.05323473e+01] [ 6.03264004e-03 -2.72237666e-04 9.99981766e-01 -2.72436167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.717628 meters 0.02152685016048972 Centerline is valid? [True, True] Translation: X:155.12, Y:-50.56, Z:-0.27 [[ 8.65494199e-01 5.00898961e-01 -4.47465954e-03 1.55124856e+02] [-5.00890771e-01 8.65505731e-01 2.87511296e-03 -5.05630294e+01] [ 5.31298457e-03 -2.47077922e-04 9.99985855e-01 -2.72133633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.777628 meters 0.020194417592306554 Centerline is valid? [True, True] Translation: X:155.18, Y:-50.59, Z:-0.27 [[ 8.63093921e-01 5.05037638e-01 -2.42241816e-03 1.55181397e+02] [-5.05035252e-01 8.63097312e-01 1.55707847e-03 -5.05883457e+01] [ 2.87716584e-03 -1.20498389e-04 9.99995854e-01 -2.70084540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.837628 meters 0.01719996540037779 Centerline is valid? [True, True] Translation: X:155.24, Y:-50.61, Z:-0.27 [[ 8.58721940e-01 5.12438553e-01 -1.83261375e-03 1.55240297e+02] [-5.12437204e-01 8.58723893e-01 1.17808716e-03 -5.06112408e+01] [ 2.17740649e-03 -7.25498231e-05 9.99997627e-01 -2.70540808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.897628 meters 0.013721100968965427 Centerline is valid? [True, True] Translation: X:155.30, Y:-50.63, Z:-0.27 [[ 8.50272456e-01 5.26341246e-01 -1.28167980e-03 1.55300120e+02] [-5.26340602e-01 8.50273422e-01 8.24087754e-04 -5.06294956e+01] [ 1.52352964e-03 -2.60990038e-05 9.99998839e-01 -2.72218923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.957628 meters 0.011897699661924343 Centerline is valid? [True, True] Translation: X:155.36, Y:-50.65, Z:-0.27 [[ 8.44980294e-01 5.34795592e-01 -1.40659809e-03 1.55356929e+02] [-5.34794827e-01 8.44981464e-01 9.04447988e-04 -5.06543755e+01] [ 1.67224411e-03 -1.19993433e-05 9.99998602e-01 -2.72216270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.017628 meters 0.011882402364951288 Centerline is valid? [True, True] Translation: X:155.42, Y:-50.68, Z:-0.27 [[ 8.37267949e-01 5.46792583e-01 -5.03534656e-04 1.55417160e+02] [-5.46792487e-01 8.37268100e-01 3.24444772e-04 -5.06755085e+01] [ 5.98997499e-04 3.68175774e-06 9.99999821e-01 -2.72274460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.077628 meters 0.012390103984193237 Centerline is valid? [True, True] Translation: X:155.47, Y:-50.71, Z:-0.27 [[ 8.35093213e-01 5.50108425e-01 -2.13655398e-04 1.55471639e+02] [-5.50108408e-01 8.35093240e-01 1.38008072e-04 -5.07059719e+01] [ 2.54341582e-04 2.28402684e-06 9.99999968e-01 -2.72189193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.137628 meters 0.012633533230928173 Centerline is valid? [True, True] Translation: X:155.52, Y:-50.74, Z:-0.27 [[ 8.33749028e-01 5.52143386e-01 -4.89279363e-04 1.55524754e+02] [-5.52143296e-01 8.33749172e-01 3.15594407e-04 -5.07375305e+01] [ 5.82189628e-04 7.02578995e-06 9.99999831e-01 -2.72574908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.197628 meters 0.012777306959901901 Centerline is valid? [True, True] Translation: X:155.58, Y:-50.77, Z:-0.27 [[ 8.33161048e-01 5.53029183e-01 -1.17949426e-03 1.55577108e+02] [-5.53028661e-01 8.33161882e-01 7.60516281e-04 -5.07704352e+01] [ 1.40329735e-03 1.86615875e-05 9.99999015e-01 -2.73948903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25762799999998 meters 0.012188028552459807 Centerline is valid? [True, True] Translation: X:155.63, Y:-50.81, Z:-0.28 [[ 8.34444795e-01 5.51084544e-01 -2.77660382e-03 1.55628146e+02] [-5.51081636e-01 8.34449414e-01 1.79064656e-03 -5.08061394e+01] [ 3.30373307e-03 3.59396683e-05 9.99994542e-01 -2.75862979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31762799999998 meters 0.01186469020834051 Centerline is valid? [True, True] Translation: X:155.68, Y:-50.84, Z:-0.28 [[ 8.36465160e-01 5.48008696e-01 -3.53628482e-03 1.55678718e+02] [-5.48003947e-01 8.36472634e-01 2.28168637e-03 -5.08429094e+01] [ 4.20838945e-03 2.93468844e-05 9.99991144e-01 -2.76610143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.377628 meters 0.011678487634637441 Centerline is valid? [True, True] Translation: X:155.73, Y:-50.88, Z:-0.28 [[ 8.40953942e-01 5.41090129e-01 -4.23554074e-03 1.55726075e+02] [-5.41083220e-01 8.40964608e-01 2.73426498e-03 -5.08833393e+01] [ 5.04142365e-03 -7.61088865e-06 9.99987292e-01 -2.76762077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.437628 meters 0.01218432079580567 Centerline is valid? [True, True] Translation: X:155.78, Y:-50.92, Z:-0.28 [[ 8.44221173e-01 5.35981225e-01 -3.83883243e-03 1.55775286e+02] [-5.35975491e-01 8.44229901e-01 2.47955345e-03 -5.09216641e+01] [ 4.56985122e-03 -3.57714284e-05 9.99989558e-01 -2.76536224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.497628 meters 0.013660411976992583 Centerline is valid? [True, True] Translation: X:155.82, Y:-50.96, Z:-0.28 [[ 8.49158841e-01 5.28118815e-01 -4.44749705e-03 1.55822816e+02] [-5.28111009e-01 8.49170483e-01 2.87269575e-03 -5.09625834e+01] [ 5.29380790e-03 -9.06028364e-05 9.99985984e-01 -2.76319733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.557628 meters 0.015148094762660682 Centerline is valid? [True, True] Translation: X:155.87, Y:-51.00, Z:-0.28 [[ 8.52413066e-01 5.22849483e-01 -4.51477051e-03 1.55871528e+02] [-5.22841364e-01 8.52425013e-01 2.91654058e-03 -5.10013215e+01] [ 5.37341504e-03 -1.25588524e-04 9.99985555e-01 -2.76519599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.617628 meters 0.01537241433356307 Centerline is valid? [True, True] Translation: X:155.92, Y:-51.04, Z:-0.28 [[ 8.52762764e-01 5.22278087e-01 -4.61175622e-03 1.55922958e+02] [-5.22269596e-01 8.52775224e-01 2.98117750e-03 -5.10362133e+01] [ 5.48979512e-03 -1.33657110e-04 9.99984922e-01 -2.76498894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.677628 meters 0.014306467805542077 Centerline is valid? [True, True] Translation: X:155.98, Y:-51.07, Z:-0.28 [[ 8.50265803e-01 5.26334341e-01 -4.49726863e-03 1.55975505e+02] [-5.26326317e-01 8.50277690e-01 2.90820259e-03 -5.10679210e+01] [ 5.35461408e-03 -1.05714376e-04 9.99985658e-01 -2.75268867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.737628 meters 0.014333771946764346 Centerline is valid? [True, True] Translation: X:156.03, Y:-51.10, Z:-0.27 [[ 8.47621266e-01 5.30590151e-01 -3.50450206e-03 1.56026096e+02] [-5.30585311e-01 8.47628508e-01 2.26718484e-03 -5.11012487e+01] [ 4.17346180e-03 -6.22767679e-05 9.99991289e-01 -2.74149482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.797628 meters 0.012431383728989177 Centerline is valid? [True, True] Translation: X:156.08, Y:-51.13, Z:-0.27 [[ 8.44193135e-01 5.36032048e-01 -2.75576443e-03 1.56081479e+02] [-5.36029080e-01 8.44197632e-01 1.78401139e-03 -5.11298559e+01] [ 3.28269708e-03 -2.88802967e-05 9.99994612e-01 -2.72790939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.857628 meters 0.012012809787170217 Centerline is valid? [True, True] Translation: X:156.14, Y:-51.16, Z:-0.27 [[ 8.38660266e-01 5.44650467e-01 -2.19680094e-03 1.56136773e+02] [-5.44648608e-01 8.38663144e-01 1.42303566e-03 -5.11580502e+01] [ 2.61743302e-03 3.04110855e-06 9.99996575e-01 -2.73712062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.917628 meters 0.012279975535079118 Centerline is valid? [True, True] Translation: X:156.19, Y:-51.19, Z:-0.27 [[ 8.35739179e-01 5.49121717e-01 -2.31612132e-03 1.56189983e+02] [-5.49119665e-01 8.35742388e-01 1.50115496e-03 -5.11893605e+01] [ 2.75999755e-03 1.72537489e-05 9.99996191e-01 -2.74000572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.977628 meters 0.012802998568482313 Centerline is valid? [True, True] Translation: X:156.24, Y:-51.22, Z:-0.28 [[ 8.33669475e-01 5.52255790e-01 -2.95777180e-03 1.56241649e+02] [-5.52252462e-01 8.33674722e-01 1.91761120e-03 -5.12210478e+01] [ 3.52483147e-03 3.47828321e-05 9.99993787e-01 -2.75994998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03762799999998 meters 0.012788532988039406 Centerline is valid? [True, True] Translation: X:156.29, Y:-51.26, Z:-0.28 [[ 8.33635286e-01 5.52301779e-01 -3.86701166e-03 1.56293256e+02] [-5.52296083e-01 8.33644254e-01 2.50871815e-03 -5.12576113e+01] [ 4.60928155e-03 4.43794185e-05 9.99989376e-01 -2.77679000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.097628 meters 0.012292587382180496 Centerline is valid? [True, True] Translation: X:156.34, Y:-51.30, Z:-0.28 [[ 8.36421462e-01 5.48059921e-01 -5.42780363e-03 1.56340994e+02] [-5.48048599e-01 8.36439072e-01 3.52286853e-03 -5.12978764e+01] [ 6.47077008e-03 2.80973356e-05 9.99979064e-01 -2.79102940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.157628 meters 0.012371827361809643 Centerline is valid? [True, True] Translation: X:156.39, Y:-51.34, Z:-0.28 [[ 8.39754830e-01 5.42935690e-01 -5.71511313e-03 1.56390200e+02] [-5.42923002e-01 8.39774277e-01 3.71171914e-03 -5.13384226e+01] [ 6.81462979e-03 -1.40676978e-05 9.99976780e-01 -2.79310303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.217628 meters 0.01301523197176198 Centerline is valid? [True, True] Translation: X:156.44, Y:-51.38, Z:-0.28 [[ 8.43529849e-01 5.37049969e-01 -5.89270899e-03 1.56437696e+02] [-5.37036323e-01 8.43550429e-01 3.82903865e-03 -5.13791215e+01] [ 7.02718229e-03 -6.53096318e-05 9.99975307e-01 -2.79670787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.277628 meters 0.014859546567059068 Centerline is valid? [True, True] Translation: X:156.48, Y:-51.42, Z:-0.28 [[ 8.49141749e-01 5.28135454e-01 -5.58862132e-03 1.56483366e+02] [-5.28122985e-01 8.49160129e-01 3.63162813e-03 -5.14229272e+01] [ 6.66362597e-03 -1.32287688e-04 9.99977789e-01 -2.79279327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.337628 meters 0.01657604395938314 Centerline is valid? [True, True] Translation: X:156.53, Y:-51.46, Z:-0.28 [[ 8.52289013e-01 5.23050385e-01 -4.66194117e-03 1.56530121e+02] [-5.23041621e-01 8.52301751e-01 3.03126470e-03 -5.14640628e+01] [ 5.55888479e-03 -1.45124331e-04 9.99984539e-01 -2.78710425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.397628 meters 0.017209494934546446 Centerline is valid? [True, True] Translation: X:156.58, Y:-51.50, Z:-0.28 [[ 8.52442673e-01 5.22794464e-01 -5.23813054e-03 1.56579151e+02] [-5.22783386e-01 8.52458750e-01 3.40753117e-03 -5.15004995e+01] [ 6.24672865e-03 -1.66317354e-04 9.99980475e-01 -2.78849797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.457628 meters 0.016247083214567644 Centerline is valid? [True, True] Translation: X:156.63, Y:-51.53, Z:-0.28 [[ 8.50049773e-01 5.26657837e-01 -6.84887552e-03 1.56630495e+02] [-5.26639007e-01 8.50077343e-01 4.45717874e-03 -5.15336995e+01] [ 8.16948202e-03 -1.81938770e-04 9.99966613e-01 -2.80068818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.517628 meters 0.014903864681292645 Centerline is valid? [True, True] Translation: X:156.68, Y:-51.56, Z:-0.28 [[ 8.47078924e-01 5.31412874e-01 -7.59305173e-03 1.56682970e+02] [-5.31389900e-01 8.47112941e-01 4.94367018e-03 -5.15647839e+01] [ 9.05930235e-03 -1.52807814e-04 9.99958952e-01 -2.80829376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.577628 meters 0.01346256989203222 Centerline is valid? [True, True] Translation: X:156.74, Y:-51.59, Z:-0.28 [[ 8.43279917e-01 5.37404480e-01 -8.68365251e-03 1.56738215e+02] [-5.37374741e-01 8.43324620e-01 5.65452012e-03 -5.15946476e+01] [ 1.03619024e-02 -1.01967746e-04 9.99946309e-01 -2.82955452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.637628 meters 0.012811946062284337 Centerline is valid? [True, True] Translation: X:156.79, Y:-51.63, Z:-0.28 [[ 8.40955878e-01 5.41044436e-01 -8.00808710e-03 1.56791533e+02] [-5.41019278e-01 8.40994005e-01 5.21777744e-03 -5.16267726e+01] [ 9.55780269e-03 -5.53911032e-05 9.99954322e-01 -2.82005677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.697628 meters 0.012756972808966186 Centerline is valid? [True, True] Translation: X:156.84, Y:-51.66, Z:-0.28 [[ 8.40706763e-01 5.41449590e-01 -6.66927696e-03 1.56843561e+02] [-5.41432135e-01 8.40733215e-01 4.34789623e-03 -5.16612403e+01] [ 7.96124930e-03 -4.43449102e-05 9.99968308e-01 -2.80558397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75762799999998 meters 0.012708168616482572 Centerline is valid? [True, True] Translation: X:156.89, Y:-51.70, Z:-0.28 [[ 8.40938069e-01 5.41115473e-01 -4.14833073e-03 1.56894044e+02] [-5.41108712e-01 8.40948300e-01 2.70521201e-03 -5.16954298e+01] [ 4.95236375e-03 -3.02178706e-05 9.99987737e-01 -2.78355982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81762799999998 meters 0.012972039079048345 Centerline is valid? [True, True] Translation: X:156.95, Y:-51.73, Z:-0.28 [[ 8.41680754e-01 5.39971427e-01 -2.08957556e-03 1.56945655e+02] [-5.39969705e-01 8.41683347e-01 1.36378546e-03 -5.17301377e+01] [ 2.49516613e-03 -1.95644753e-05 9.99996887e-01 -2.76829364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.877628 meters 0.01340197156364807 Centerline is valid? [True, True] Translation: X:157.00, Y:-51.77, Z:-0.28 [[ 8.42836374e-01 5.38168809e-01 -1.08612929e-03 1.56996371e+02] [-5.38168341e-01 8.42837074e-01 7.09444187e-04 -5.17653339e+01] [ 1.29723077e-03 -1.34249676e-05 9.99999159e-01 -2.76042558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.937628 meters 0.013586528096098715 Centerline is valid? [True, True] Translation: X:157.05, Y:-51.80, Z:-0.28 [[ 8.44168602e-01 5.36073761e-01 -2.07236044e-03 1.57047511e+02] [-5.36072052e-01 8.44171145e-01 1.35397008e-03 -5.18007177e+01] [ 2.47525472e-03 -3.20445154e-05 9.99996936e-01 -2.76487893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.997628 meters 0.013801907480492658 Centerline is valid? [True, True] Translation: X:157.10, Y:-51.83, Z:-0.28 [[ 8.44767849e-01 5.35118789e-01 -3.89393565e-03 1.57098984e+02] [-5.35112741e-01 8.44776821e-01 2.54490460e-03 -5.18345183e+01] [ 4.65133285e-03 -6.61590074e-05 9.99989180e-01 -2.78925573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.057628 meters 0.013976835087434568 Centerline is valid? [True, True] Translation: X:157.15, Y:-51.87, Z:-0.28 [[ 8.44751575e-01 5.35137419e-01 -4.76651204e-03 1.57151876e+02] [-5.35128347e-01 8.44765018e-01 3.11708955e-03 -5.18681813e+01] [ 5.69465389e-03 -8.24705977e-05 9.99983782e-01 -2.80817516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.117628 meters 0.013882264964656877 Centerline is valid? [True, True] Translation: X:157.20, Y:-51.90, Z:-0.28 [[ 8.44502817e-01 5.35520621e-01 -5.71453592e-03 1.57204548e+02] [-5.35507576e-01 8.44522146e-01 3.73925638e-03 -5.19028254e+01] [ 6.82850103e-03 -9.76352721e-05 9.99976681e-01 -2.81139584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.177628 meters 0.013790335939057746 Centerline is valid? [True, True] Translation: X:157.26, Y:-51.94, Z:-0.28 [[ 8.44062126e-01 5.36208107e-01 -6.32396287e-03 1.57257125e+02] [-5.36192131e-01 8.44085810e-01 4.14053018e-03 -5.19374667e+01] [ 7.55815317e-03 -1.04005580e-04 9.99971431e-01 -2.81510382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.237628 meters 0.015467267279193344 Centerline is valid? [True, True] Translation: X:157.31, Y:-51.97, Z:-0.28 [[ 8.42555316e-01 5.38566161e-01 -6.85777311e-03 1.57309820e+02] [-5.38547433e-01 8.42583219e-01 4.49234231e-03 -5.19702145e+01] [ 8.19766810e-03 -9.18107893e-05 9.99966394e-01 -2.83997110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.297628 meters 0.012670710656680578 Centerline is valid? [True, True] Translation: X:157.36, Y:-52.00, Z:-0.28 [[ 8.38741521e-01 5.44517761e-01 -3.61504867e-03 1.57363477e+02] [-5.44512605e-01 8.38749312e-01 2.36963226e-03 -5.20015426e+01] [ 4.32242643e-03 -1.90693995e-05 9.99990658e-01 -2.79041097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.357628 meters 0.012472352881644146 Centerline is valid? [True, True] Translation: X:157.42, Y:-52.03, Z:-0.28 [[ 8.36122511e-01 5.48535797e-01 -2.76154298e-03 1.57417115e+02] [-5.48532807e-01 8.36127071e-01 1.81126182e-03 -5.20333768e+01] [ 3.30254279e-03 3.60138912e-07 9.99994547e-01 -2.77825548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.417628 meters 0.01282010601285482 Centerline is valid? [True, True] Translation: X:157.47, Y:-52.06, Z:-0.28 [[ 8.32864716e-01 5.53468763e-01 -2.94849621e-03 1.57470401e+02] [-5.53465381e-01 8.32869935e-01 1.93476166e-03 -5.20641092e+01] [ 3.52654399e-03 2.04958568e-05 9.99993782e-01 -2.78931515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.477628 meters 0.015499861668108253 Centerline is valid? [True, True] Translation: X:157.52, Y:-52.10, Z:-0.28 [[ 8.31931824e-01 5.54868084e-01 -3.29400388e-03 1.57523072e+02] [-5.54863869e-01 8.31938344e-01 2.16288591e-03 -5.20993459e+01] [ 3.94052450e-03 2.83501185e-05 9.99992236e-01 -2.81026392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53762799999998 meters 0.013022050007922356 Centerline is valid? [True, True] Translation: X:157.57, Y:-52.13, Z:-0.28 [[ 8.31321830e-01 5.55774576e-01 -4.31691448e-03 1.57574364e+02] [-5.55767343e-01 8.31333037e-01 2.83583360e-03 -5.21336605e+01] [ 5.16487784e-03 4.17097145e-05 9.99986661e-01 -2.80561114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.597628 meters 0.015789125955409836 Centerline is valid? [True, True] Translation: X:157.63, Y:-52.17, Z:-0.29 [[ 8.32188913e-01 5.54453393e-01 -6.56103695e-03 1.57626100e+02] [-5.54436624e-01 8.32214775e-01 4.31250184e-03 -5.21701975e+01] [ 7.85127317e-03 4.88629589e-05 9.99969177e-01 -2.85617962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.657628 meters 0.012695634382980521 Centerline is valid? [True, True] Translation: X:157.68, Y:-52.21, Z:-0.28 [[ 8.33840998e-01 5.51971368e-01 -6.06615670e-03 1.57676454e+02] [-5.51956952e-01 8.33863063e-01 3.98935801e-03 -5.22072561e+01] [ 7.26035540e-03 2.17670918e-05 9.99973643e-01 -2.81825860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.717628 meters 0.012680994275990978 Centerline is valid? [True, True] Translation: X:157.73, Y:-52.24, Z:-0.28 [[ 8.34222795e-01 5.51396150e-01 -5.88332452e-03 1.57728578e+02] [-5.51382558e-01 8.34243541e-01 3.87159646e-03 -5.22417854e+01] [ 7.04290886e-03 1.41885028e-05 9.99975198e-01 -2.81516198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.777628 meters 0.012876796957237062 Centerline is valid? [True, True] Translation: X:157.78, Y:-52.28, Z:-0.28 [[ 8.37033221e-01 5.47127648e-01 -5.16940171e-03 1.57780195e+02] [-5.47117060e-01 8.37049184e-01 3.40398434e-03 -5.22769970e+01] [ 6.18945743e-03 -2.09801089e-05 9.99980845e-01 -2.81295653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.837628 meters 0.013388816773668554 Centerline is valid? [True, True] Translation: X:157.83, Y:-52.31, Z:-0.28 [[ 8.40192650e-01 5.42271970e-01 -4.17387219e-03 1.57829108e+02] [-5.42265004e-01 8.40203016e-01 2.74904441e-03 -5.23143093e+01] [ 4.99762973e-03 -4.63820950e-05 9.99987511e-01 -2.80071348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.897628 meters 0.014725331302694345 Centerline is valid? [True, True] Translation: X:157.88, Y:-52.35, Z:-0.28 [[ 8.45070888e-01 5.34652050e-01 -1.54293277e-03 1.57878788e+02] [-5.34651085e-01 8.45072295e-01 1.01642498e-03 -5.23517284e+01] [ 1.84732344e-03 -3.40204825e-05 9.99998293e-01 -2.76521346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.957628 meters 0.01599690079656353 Centerline is valid? [True, True] Translation: X:157.93, Y:-52.39, Z:-0.28 [[ 8.48231048e-01 5.29624428e-01 -1.43353951e-03 1.57928764e+02] [-5.29623586e-01 8.48232258e-01 9.45147750e-04 -5.23873291e+01] [ 1.71654779e-03 -4.24673318e-05 9.99998526e-01 -2.76493077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.017628 meters 0.01710894366355019 Centerline is valid? [True, True] Translation: X:157.98, Y:-52.42, Z:-0.28 [[ 8.51297832e-01 5.24675869e-01 -2.68954619e-03 1.57980071e+02] [-5.24672883e-01 8.51302075e-01 1.77294513e-03 -5.24212396e+01] [ 3.21983778e-03 -9.81723957e-05 9.99994811e-01 -2.78433428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.077628 meters 0.01790602168599224 Centerline is valid? [True, True] Translation: X:158.03, Y:-52.45, Z:-0.28 [[ 8.52256307e-01 5.23112827e-01 -3.48663520e-03 1.58032545e+02] [-5.23107789e-01 8.52263428e-01 2.29988292e-03 -5.24547851e+01] [ 4.17462992e-03 -1.36203689e-04 9.99991277e-01 -2.79449303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.137628 meters 0.017569550047027663 Centerline is valid? [True, True] Translation: X:158.09, Y:-52.49, Z:-0.28 [[ 8.51833024e-01 5.23801476e-01 -3.53728351e-03 1.58086094e+02] [-5.23796292e-01 8.51840358e-01 2.33455527e-03 -5.24867813e+01] [ 4.23604434e-03 -1.35835289e-04 9.99991019e-01 -2.79588269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.197628 meters 0.016951630083316727 Centerline is valid? [True, True] Translation: X:158.14, Y:-52.52, Z:-0.28 [[ 8.50313191e-01 5.26266955e-01 -3.25114036e-03 1.58139956e+02] [-5.26262589e-01 8.50319398e-01 2.14690718e-03 -5.25177336e+01] [ 3.89435402e-03 -1.14589955e-04 9.99992410e-01 -2.79658398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25762799999998 meters 0.015351129620448673 Centerline is valid? [True, True] Translation: X:158.19, Y:-52.55, Z:-0.28 [[ 8.46100137e-01 5.33018132e-01 -2.49593964e-03 1.58193994e+02] [-5.33015587e-01 8.46103816e-01 1.64839840e-03 -5.25450538e+01] [ 2.99045029e-03 -6.43353773e-05 9.99995527e-01 -2.79657889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31762799999998 meters 0.013953114590776847 Centerline is valid? [True, True] Translation: X:158.25, Y:-52.57, Z:-0.28 [[ 8.42733908e-01 5.38326326e-01 -2.08015910e-03 1.58248564e+02] [-5.38324572e-01 8.42736474e-01 1.37454795e-03 -5.25734605e+01] [ 2.49298129e-03 -3.85774072e-05 9.99996892e-01 -2.80334552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.377628 meters 0.012637515461517113 Centerline is valid? [True, True] Translation: X:158.30, Y:-52.60, Z:-0.28 [[ 8.38115257e-01 5.45492123e-01 -1.07686574e-03 1.58303922e+02] [-5.45491658e-01 8.38115949e-01 7.12037855e-04 -5.26003666e+01] [ 1.29094939e-03 -9.34851110e-06 9.99999167e-01 -2.80568910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.437628 meters 0.01221641686089181 Centerline is valid? [True, True] Translation: X:158.36, Y:-52.63, Z:-0.28 [[ 8.35025212e-01 5.50211353e-01 -6.01146050e-04 1.58357982e+02] [-5.50211209e-01 8.35025429e-01 3.97994939e-04 -5.26311349e+01] [ 7.20953572e-04 -1.57851283e-06 9.99999740e-01 -2.80601081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.497628 meters 0.012263358342962187 Centerline is valid? [True, True] Translation: X:158.41, Y:-52.66, Z:-0.28 [[ 8.31467176e-01 5.55573303e-01 -8.00537753e-04 1.58411960e+02] [-5.55573050e-01 8.31467561e-01 5.30170616e-04 -5.26613361e+01] [ 9.60169813e-04 3.93773603e-06 9.99999539e-01 -2.81504799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.557628 meters 0.012434036468749103 Centerline is valid? [True, True] Translation: X:158.46, Y:-52.69, Z:-0.28 [[ 8.30300482e-01 5.57314443e-01 -1.31233815e-03 1.58464789e+02] [-5.57313765e-01 8.30301519e-01 8.69291492e-04 -5.26945961e+01] [ 1.57410506e-03 9.61097032e-06 9.99998761e-01 -2.83026172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.617628 meters 0.012355939250668828 Centerline is valid? [True, True] Translation: X:158.52, Y:-52.73, Z:-0.28 [[ 8.30818430e-01 5.56540955e-01 -1.70357227e-03 1.58516093e+02] [-5.56539810e-01 8.30820176e-01 1.12901797e-03 -5.27316312e+01] [ 2.04370695e-03 1.00968552e-05 9.99997912e-01 -2.83919391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.677628 meters 0.012203282534221566 Centerline is valid? [True, True] Translation: X:158.57, Y:-52.77, Z:-0.28 [[ 8.32791243e-01 5.53585707e-01 -1.26899750e-03 1.58566621e+02] [-5.53585068e-01 8.32792210e-01 8.40924362e-04 -5.27687924e+01] [ 1.52233494e-03 2.18362117e-06 9.99998841e-01 -2.84136346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.737628 meters 0.012244423211988688 Centerline is valid? [True, True] Translation: X:158.62, Y:-52.81, Z:-0.29 [[ 8.34621712e-01 5.50822169e-01 -1.23973326e-03 1.58616781e+02] [-5.50821555e-01 8.34622632e-01 8.22345723e-04 -5.28058742e+01] [ 1.48767569e-03 -3.47579475e-06 9.99998893e-01 -2.85157219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.797628 meters 0.013083020384322663 Centerline is valid? [True, True] Translation: X:158.66, Y:-52.85, Z:-0.29 [[ 8.38933816e-01 5.44230751e-01 -1.71505643e-03 1.58663635e+02] [-5.44229562e-01 8.38935569e-01 1.13799517e-03 -5.28477103e+01] [ 2.05815380e-03 -2.13182178e-05 9.99997882e-01 -2.85598930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.857628 meters 0.014772870732938143 Centerline is valid? [True, True] Translation: X:158.71, Y:-52.89, Z:-0.29 [[ 8.42664262e-01 5.38434296e-01 -2.33456226e-03 1.58710107e+02] [-5.38432070e-01 8.42667495e-01 1.54911026e-03 -5.28874024e+01] [ 2.80135382e-03 -4.83766683e-05 9.99996075e-01 -2.86325887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.917628 meters 0.017201329720795067 Centerline is valid? [True, True] Translation: X:158.76, Y:-52.93, Z:-0.29 [[ 8.46988895e-01 5.31603222e-01 -2.79744689e-03 1.58757579e+02] [-5.31599988e-01 8.46993511e-01 1.85639087e-03 -5.29272183e+01] [ 3.35628273e-03 -8.52197158e-05 9.99994364e-01 -2.87891709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.977628 meters 0.024600424330276798 Centerline is valid? [True, True] Translation: X:158.80, Y:-52.97, Z:-0.29 [[ 8.54496529e-01 5.19439124e-01 -4.32178948e-03 1.58800746e+02] [-5.19431244e-01 8.54507433e-01 2.86854762e-03 -5.29714548e+01] [ 5.18303710e-03 -2.06291504e-04 9.99986547e-01 -2.92493114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.03762799999998 meters 0.021089664697588124 Centerline is valid? [True, True] Translation: X:158.85, Y:-53.00, Z:-0.29 [[ 8.57378828e-01 5.14677079e-01 -3.00816461e-03 1.58853841e+02] [-5.14673228e-01 8.57384090e-01 1.99791365e-03 -5.30020464e+01] [ 3.60743284e-03 -1.64747074e-04 9.99993480e-01 -2.87931629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.097628 meters 0.02522458295911622 Centerline is valid? [True, True] Translation: X:158.90, Y:-53.04, Z:-0.29 [[ 8.61894095e-01 5.07079292e-01 -3.02670124e-03 1.58904348e+02] [-5.07075346e-01 8.61899387e-01 2.01016238e-03 -5.30380264e+01] [ 3.62802366e-03 -1.97781509e-04 9.99993399e-01 -2.90683780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.157628 meters 0.025862465328787096 Centerline is valid? [True, True] Translation: X:158.96, Y:-53.07, Z:-0.29 [[ 8.63219598e-01 5.04826921e-01 -1.30580870e-03 1.58955067e+02] [-5.04826184e-01 8.63220581e-01 8.67553045e-04 -5.30720040e+01] [ 1.56516507e-03 -8.96823688e-05 9.99998771e-01 -2.86569590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.217628 meters 0.02426606287241877 Centerline is valid? [True, True] Translation: X:159.01, Y:-53.10, Z:-0.29 [[ 8.61994868e-01 5.06916993e-01 1.01074961e-04 1.59010886e+02] [-5.06916988e-01 8.61994874e-01 -6.70398615e-05 -5.30999355e+01] [-1.21109743e-04 6.55140198e-06 9.99999993e-01 -2.86312010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.277628 meters 0.019589146538013066 Centerline is valid? [True, True] Translation: X:159.07, Y:-53.12, Z:-0.28 [[ 8.57263383e-01 5.14872013e-01 2.51035506e-03 1.59070779e+02] [-5.14869330e-01 8.57267048e-01 -1.66779039e-03 -5.31218341e+01] [-3.01074326e-03 1.37230807e-04 9.99995458e-01 -2.84041786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.337628 meters 0.021113723161484042 Centerline is valid? [True, True] Translation: X:159.12, Y:-53.15, Z:-0.28 [[ 8.52546725e-01 5.22633240e-01 4.31029217e-03 1.59123106e+02] [-5.22625423e-01 8.52557600e-01 -2.86478061e-03 -5.31529244e+01] [-5.17200192e-03 1.89691059e-04 9.99986607e-01 -2.81790217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.397628 meters 0.015931711804070013 Centerline is valid? [True, True] Translation: X:159.18, Y:-53.17, Z:-0.28 [[ 8.47708293e-01 5.30444420e-01 4.40076212e-03 1.59182113e+02] [-5.30436368e-01 8.47719704e-01 -2.92627931e-03 -5.31746906e+01] [-5.28284130e-03 1.46306961e-04 9.99986035e-01 -2.82898762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.457628 meters 0.013156935176506231 Centerline is valid? [True, True] Translation: X:159.24, Y:-53.20, Z:-0.28 [[ 8.41881293e-01 5.39646054e-01 4.24550408e-03 1.59241017e+02] [-5.39638671e-01 8.41891994e-01 -2.82410380e-03 -5.31963713e+01] [-5.09827236e-03 8.65219825e-05 9.99987000e-01 -2.84670740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.517628 meters 0.012362654462943514 Centerline is valid? [True, True] Translation: X:159.30, Y:-53.22, Z:-0.29 [[ 8.38860902e-01 5.44331241e-01 3.98582266e-03 1.59295982e+02] [-5.44324781e-01 8.38870370e-01 -2.65251756e-03 -5.32239980e+01] [-4.78743671e-03 5.55112289e-05 9.99988539e-01 -2.85552606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.577628 meters 0.012405004915844621 Centerline is valid? [True, True] Translation: X:159.35, Y:-53.26, Z:-0.29 [[ 8.38362295e-01 5.45098207e-01 4.07511322e-03 1.59349584e+02] [-5.45091455e-01 8.38372198e-01 -2.71349813e-03 -5.32564747e+01] [-4.89558459e-03 5.35851276e-05 9.99988015e-01 -2.85828680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.637628 meters 0.012168312124165064 Centerline is valid? [True, True] Translation: X:159.40, Y:-53.29, Z:-0.29 [[ 8.38279147e-01 5.45220741e-01 4.73445732e-03 1.59403200e+02] [-5.45211619e-01 8.38292514e-01 -3.15457469e-03 -5.32889634e+01] [-5.68879968e-03 6.31330378e-05 9.99983817e-01 -2.85708400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.697628 meters 0.012200499335372617 Centerline is valid? [True, True] Translation: X:159.46, Y:-53.32, Z:-0.29 [[ 8.37917980e-01 5.45766961e-01 5.64641460e-03 1.59456638e+02] [-5.45753982e-01 8.37937001e-01 -3.76465130e-03 -5.33229969e+01] [-6.78596202e-03 7.29157619e-05 9.99976972e-01 -2.85329070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75762799999998 meters 0.01189102957270764 Centerline is valid? [True, True] Translation: X:159.51, Y:-53.36, Z:-0.29 [[ 8.36383362e-01 5.48115047e-01 5.72426350e-03 1.59509723e+02] [-5.48101747e-01 8.36402949e-01 -3.81870068e-03 -5.33555482e+01] [-6.88087817e-03 5.64188861e-05 9.99976325e-01 -2.86001600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81762799999998 meters 0.011628138275042256 Centerline is valid? [True, True] Translation: X:159.56, Y:-53.39, Z:-0.29 [[ 8.34971442e-01 5.50268822e-01 5.18800275e-03 1.59561972e+02] [-5.50257927e-01 8.34987558e-01 -3.46276802e-03 -5.33894591e+01] [-6.23737103e-03 3.65727622e-05 9.99980547e-01 -2.86850167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.877628 meters 0.011430300773806468 Centerline is valid? [True, True] Translation: X:159.61, Y:-53.42, Z:-0.29 [[ 8.33528129e-01 5.52464378e-01 3.73753832e-03 1.59614032e+02] [-5.52458740e-01 8.33536509e-01 -2.49583057e-03 -5.34239560e+01] [-4.49423212e-03 1.55092701e-05 9.99989901e-01 -2.89257265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.937628 meters 0.01143458789355097 Centerline is valid? [True, True] Translation: X:159.67, Y:-53.46, Z:-0.29 [[ 8.33510132e-01 5.52500321e-01 2.06305228e-03 1.59665619e+02] [-5.52498602e-01 8.33512685e-01 -1.37819876e-03 -5.34606727e+01] [-2.48103550e-03 8.90913207e-06 9.99996922e-01 -2.92019011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.997628 meters 0.015243340888952706 Centerline is valid? [True, True] Translation: X:159.71, Y:-53.50, Z:-0.30 [[ 8.36797996e-01 5.47507555e-01 -2.14247912e-03 1.59712975e+02] [-5.47505681e-01 8.36800739e-01 1.43302880e-03 -5.35007088e+01] [ 2.57742220e-03 -2.61361422e-05 9.99996678e-01 -2.98616426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.057628 meters 0.014162733408419587 Centerline is valid? [True, True] Translation: X:159.76, Y:-53.55, Z:-0.30 [[ 8.42549820e-01 5.38614761e-01 -1.98486711e-03 1.59757090e+02] [-5.38613128e-01 8.42552157e-01 1.32746232e-03 -5.35457978e+01] [ 2.38734486e-03 -4.93776604e-05 9.99997149e-01 -2.96014059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.117628 meters 0.016985289369239404 Centerline is valid? [True, True] Translation: X:159.80, Y:-53.59, Z:-0.29 [[ 8.47195958e-01 5.31279169e-01 -1.20539924e-03 1.59802865e+02] [-5.31278558e-01 8.47196815e-01 8.06883143e-04 -5.35880420e+01] [ 1.44989061e-03 -4.31853660e-05 9.99998948e-01 -2.94913444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.177628 meters 0.01935501187764403 Centerline is valid? [True, True] Translation: X:159.85, Y:-53.63, Z:-0.29 [[ 8.52576455e-01 5.22601879e-01 -8.14880642e-04 1.59848730e+02] [-5.22601596e-01 8.52576844e-01 5.45340648e-04 -5.36301145e+01] [ 9.79744413e-04 -3.90866720e-05 9.99999519e-01 -2.94031464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.237628 meters 0.02066920966781948 Centerline is valid? [True, True] Translation: X:159.90, Y:-53.67, Z:-0.30 [[ 8.54799818e-01 5.18956404e-01 -1.23315424e-03 1.59897038e+02] [-5.18955752e-01 8.54800705e-01 8.25330967e-04 -5.36689495e+01] [ 1.48241190e-03 -6.55402760e-05 9.99998899e-01 -2.95098666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.297628 meters 0.021428782190689034 Centerline is valid? [True, True] Translation: X:159.95, Y:-53.70, Z:-0.30 [[ 8.53594335e-01 5.20936609e-01 -1.32681223e-03 1.59946951e+02] [-5.20935855e-01 8.53595364e-01 8.88729167e-04 -5.37039844e+01] [ 1.59553233e-03 -6.74301165e-05 9.99998725e-01 -2.96277978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.357628 meters 0.01613823288272722 Centerline is valid? [True, True] Translation: X:160.00, Y:-53.73, Z:-0.30 [[ 8.45316801e-01 5.34261365e-01 -2.07358048e-03 1.60000169e+02] [-5.34259564e-01 8.45319342e-01 1.38889926e-03 -5.37327424e+01] [ 2.49487290e-03 -6.62296724e-05 9.99996886e-01 -2.96236767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.417628 meters 0.013026825154689725 Centerline is valid? [True, True] Translation: X:160.05, Y:-53.76, Z:-0.30 [[ 8.40003364e-01 5.42562949e-01 -4.44922762e-03 1.60053567e+02] [-5.42554772e-01 8.40015142e-01 2.97996821e-03 -5.37630327e+01] [ 5.35423891e-03 -8.92336418e-05 9.99985662e-01 -2.97710307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.477628 meters 0.012998230382852485 Centerline is valid? [True, True] Translation: X:160.10, Y:-53.80, Z:-0.30 [[ 8.38596562e-01 5.44728959e-01 -5.11545371e-03 1.60104116e+02] [-5.44718177e-01 8.38612159e-01 3.42842500e-03 -5.37981086e+01] [ 6.15744406e-03 -8.85847943e-05 9.99981039e-01 -2.98592460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53762799999998 meters 0.012765086917881046 Centerline is valid? [True, True] Translation: X:160.16, Y:-53.83, Z:-0.30 [[ 8.37775780e-01 5.45988743e-01 -5.29478923e-03 1.60155234e+02] [-5.45977205e-01 8.37792507e-01 3.55045444e-03 -5.38329112e+01] [ 6.37444290e-03 -8.36505107e-05 9.99979680e-01 -2.98936263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.597628 meters 0.01266839242820301 Centerline is valid? [True, True] Translation: X:160.21, Y:-53.87, Z:-0.30 [[ 8.37692321e-01 5.46126138e-01 -4.22089110e-03 1.60206203e+02] [-5.46118798e-01 8.37702952e-01 2.83225071e-03 -5.38700657e+01] [ 5.08261908e-03 -6.74466982e-05 9.99987081e-01 -2.97840543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.657628 meters 0.01346506755069422 Centerline is valid? [True, True] Translation: X:160.25, Y:-53.91, Z:-0.29 [[ 8.40239465e-01 5.42214594e-01 -9.87508784e-04 1.60253552e+02] [-5.42214188e-01 8.40240045e-01 6.63351954e-04 -5.39110031e+01] [ 1.18942354e-03 -2.19332175e-05 9.99999292e-01 -2.94144463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.717628 meters 0.015379896701837585 Centerline is valid? [True, True] Translation: X:160.30, Y:-53.95, Z:-0.29 [[ 8.44305870e-01 5.35861332e-01 -4.79581097e-04 1.60300020e+02] [-5.35861235e-01 8.44306006e-01 3.22522418e-04 -5.39523343e+01] [ 5.77740493e-04 -1.53186515e-05 9.99999833e-01 -2.93303795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.777628 meters 0.016927652642263067 Centerline is valid? [True, True] Translation: X:160.35, Y:-53.99, Z:-0.29 [[ 8.46730867e-01 5.32020797e-01 -8.43271772e-04 1.60349325e+02] [-5.32020496e-01 8.46731286e-01 5.66521501e-04 -5.39902292e+01] [ 1.01542581e-03 -3.10533751e-05 9.99999484e-01 -2.94611922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.837628 meters 0.01656111926286805 Centerline is valid? [True, True] Translation: X:160.40, Y:-54.02, Z:-0.30 [[ 8.47606235e-01 5.30623979e-01 -1.36453589e-03 1.60401533e+02] [-5.30623189e-01 8.47607332e-01 9.17504414e-04 -5.40240633e+01] [ 1.64344047e-03 -5.36280757e-05 9.99998648e-01 -2.95553009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.897628 meters 0.018842875533360174 Centerline is valid? [True, True] Translation: X:160.45, Y:-54.06, Z:-0.30 [[ 8.47637716e-01 5.30555150e-01 -4.64067569e-03 1.60454277e+02] [-5.30546003e-01 8.47650399e-01 3.12081745e-03 -5.40573438e+01] [ 5.58943637e-03 -1.83230637e-04 9.99984362e-01 -3.01219818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.957628 meters 0.01752375858941709 Centerline is valid? [True, True] Translation: X:160.51, Y:-54.09, Z:-0.30 [[ 8.47603251e-01 5.30600223e-01 -5.66854728e-03 1.60506163e+02] [-5.30586563e-01 8.47622175e-01 3.81397578e-03 -5.40921612e+01] [ 6.82848278e-03 -2.25083250e-04 9.99976660e-01 -2.99983597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.017628 meters 0.018454306766692654 Centerline is valid? [True, True] Translation: X:160.56, Y:-54.13, Z:-0.30 [[ 8.48575901e-01 5.29043281e-01 -5.66978872e-03 1.60557718e+02] [-5.29029567e-01 8.48594808e-01 3.81682485e-03 -5.41264134e+01] [ 6.83061882e-03 -2.39379711e-04 9.99976642e-01 -3.01022317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.077628 meters 0.01858081550583363 Centerline is valid? [True, True] Translation: X:160.61, Y:-54.16, Z:-0.30 [[ 8.48381764e-01 5.29355813e-01 -5.55029840e-03 1.60610050e+02] [-5.29342662e-01 8.48399887e-01 3.73871350e-03 -5.41607851e+01] [ 6.68798226e-03 -2.33846628e-04 9.99977608e-01 -3.00644546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.137628 meters 0.01850458752008668 Centerline is valid? [True, True] Translation: X:160.66, Y:-54.20, Z:-0.30 [[ 8.46649976e-01 5.32090324e-01 -7.98160231e-03 1.60661898e+02] [-5.32063224e-01 8.46687541e-01 5.37891337e-03 -5.41952777e+01] [ 9.61999100e-03 -3.07339812e-04 9.99953680e-01 -3.01722114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.197628 meters 0.017886791958014358 Centerline is valid? [True, True] Translation: X:160.71, Y:-54.23, Z:-0.30 [[ 8.44470514e-01 5.35511780e-01 -9.83284740e-03 1.60713314e+02] [-5.35470855e-01 8.44527692e-01 6.62873017e-03 -5.42282601e+01] [ 1.18538750e-02 -3.32563969e-04 9.99929685e-01 -3.04237101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25762799999998 meters 0.01445007339914754 Centerline is valid? [True, True] Translation: X:160.77, Y:-54.26, Z:-0.30 [[ 8.39582042e-01 5.43177865e-01 -7.73318542e-03 1.60767540e+02] [-5.43152856e-01 8.39617636e-01 5.21542514e-03 -5.42573014e+01] [ 9.32582235e-03 -1.78475540e-04 9.99956498e-01 -3.02209311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31762799999998 meters 0.012752283744535712 Centerline is valid? [True, True] Translation: X:160.82, Y:-54.29, Z:-0.30 [[ 8.35856056e-01 5.48924312e-01 -5.17247759e-03 1.60820484e+02] [-5.48913229e-01 8.35872056e-01 3.48889202e-03 -5.42882860e+01] [ 6.23866713e-03 -7.69701468e-05 9.99980536e-01 -2.98984158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.377628 meters 0.011458275137313435 Centerline is valid? [True, True] Translation: X:160.87, Y:-54.32, Z:-0.29 [[ 8.30343888e-01 5.57247834e-01 -1.96956143e-03 1.60873621e+02] [-5.57246249e-01 8.30346224e-01 1.32931536e-03 -5.43189007e+01] [ 2.37617600e-03 -6.25816334e-06 9.99997177e-01 -2.94735107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.437628 meters 0.011568432178392365 Centerline is valid? [True, True] Translation: X:160.93, Y:-54.35, Z:-0.29 [[ 8.25914901e-01 5.63793655e-01 -1.13609912e-03 1.60926671e+02] [-5.63793133e-01 8.25915682e-01 7.67241167e-04 -5.43518924e+01] [ 1.37088778e-03 6.84897105e-06 9.99999060e-01 -2.92997429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.497628 meters 0.011820489048872519 Centerline is valid? [True, True] Translation: X:160.98, Y:-54.39, Z:-0.29 [[ 8.24765135e-01 5.65474426e-01 -1.07074556e-03 1.60978483e+02] [-5.65473963e-01 8.24765830e-01 7.23717292e-04 -5.43855417e+01] [ 1.29235797e-03 8.58194547e-06 9.99999165e-01 -2.93858890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.557628 meters 0.012309014464749914 Centerline is valid? [True, True] Translation: X:161.03, Y:-54.42, Z:-0.29 [[ 8.23328719e-01 5.67561519e-01 -1.93436421e-03 1.61029862e+02] [-5.67560013e-01 8.23330991e-01 1.30754305e-03 -5.44187996e+01] [ 2.33473312e-03 2.13300316e-05 9.99997274e-01 -2.94978063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.617628 meters 0.011898010784196413 Centerline is valid? [True, True] Translation: X:161.08, Y:-54.46, Z:-0.30 [[ 8.23705378e-01 5.67009137e-01 -3.17633238e-03 1.61080437e+02] [-5.67005068e-01 8.23711502e-01 2.14823487e-03 -5.44560359e+01] [ 3.83445031e-03 3.14839401e-05 9.99992648e-01 -2.96156387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.677628 meters 0.011550236256913498 Centerline is valid? [True, True] Translation: X:161.13, Y:-54.50, Z:-0.30 [[ 8.27381463e-01 5.61618215e-01 -4.98953033e-03 1.61127753e+02] [-5.61608070e-01 8.27396507e-01 3.37577078e-03 -5.44957666e+01] [ 6.02421433e-03 9.11032790e-06 9.99981854e-01 -2.98681502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.737628 meters 0.011855025925312184 Centerline is valid? [True, True] Translation: X:161.18, Y:-54.54, Z:-0.30 [[ 8.30994437e-01 5.56259117e-01 -4.90308848e-03 1.61175766e+02] [-5.56249213e-01 8.31008901e-01 3.31941477e-03 -5.45364015e+01] [ 5.92096490e-03 -3.10760996e-05 9.99982470e-01 -2.98191473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.797628 meters 0.013585930284915037 Centerline is valid? [True, True] Translation: X:161.22, Y:-54.58, Z:-0.30 [[ 8.36548377e-01 5.47865302e-01 -5.51575217e-03 1.61221683e+02] [-5.47852585e-01 8.36566555e-01 3.73425115e-03 -5.45792042e+01] [ 6.66016042e-03 -1.02062653e-04 9.99977816e-01 -2.97955979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.857628 meters 0.015094383895637295 Centerline is valid? [True, True] Translation: X:161.27, Y:-54.62, Z:-0.30 [[ 8.39343471e-01 5.43574276e-01 -5.43548356e-03 1.61270923e+02] [-5.43561832e-01 8.39361060e-01 3.68045225e-03 -5.46173256e+01] [ 6.56293241e-03 -1.34642164e-04 9.99978455e-01 -2.98202447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.917628 meters 0.01518232828012437 Centerline is valid? [True, True] Translation: X:161.32, Y:-54.65, Z:-0.30 [[ 8.40878206e-01 5.41211010e-01 -3.80595213e-03 1.61322675e+02] [-5.41204877e-01 8.40886812e-01 2.57883863e-03 -5.46517680e+01] [ 4.59607081e-03 -1.08689340e-04 9.99989432e-01 -2.96218464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97762799999998 meters 0.015232630216506728 Centerline is valid? [True, True] Translation: X:161.38, Y:-54.69, Z:-0.30 [[ 8.41183288e-01 5.40737922e-01 -3.62979241e-03 1.61375493e+02] [-5.40732333e-01 8.41191113e-01 2.46081348e-03 -5.46852777e+01] [ 4.38400429e-03 -1.07249053e-04 9.99990384e-01 -2.96291393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03762799999998 meters 0.017449598737322766 Centerline is valid? [True, True] Translation: X:161.43, Y:-54.72, Z:-0.30 [[ 8.41961015e-01 5.39525896e-01 -3.66823742e-03 1.61425467e+02] [-5.39520172e-01 8.41968998e-01 2.48804180e-03 -5.47206064e+01] [ 4.43090517e-03 -1.15746119e-04 9.99990177e-01 -2.96937035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.097628 meters 0.016544741315563983 Centerline is valid? [True, True] Translation: X:161.48, Y:-54.75, Z:-0.30 [[ 8.42220735e-01 5.39118308e-01 -3.96022345e-03 1.61479318e+02] [-5.39111625e-01 8.42230036e-01 2.68748202e-03 -5.47525912e+01] [ 4.78428990e-03 -1.28450585e-04 9.99988547e-01 -2.96561767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.157628 meters 0.017632982074454524 Centerline is valid? [True, True] Translation: X:161.53, Y:-54.78, Z:-0.30 [[ 8.42486519e-01 5.38694012e-01 -5.02257636e-03 1.61532324e+02] [-5.38683245e-01 8.42501474e-01 3.40986864e-03 -5.47836545e+01] [ 6.06840380e-03 -1.67190625e-04 9.99981573e-01 -2.99163403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.217628 meters 0.017912483612931632 Centerline is valid? [True, True] Translation: X:161.59, Y:-54.82, Z:-0.30 [[ 8.42767479e-01 5.38256173e-01 -4.82376710e-03 1.61585397e+02] [-5.38246226e-01 8.42781267e-01 3.27659803e-03 -5.48167814e+01] [ 5.82902967e-03 -1.65035830e-04 9.99982997e-01 -2.99375452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.277628 meters 0.017988597269508303 Centerline is valid? [True, True] Translation: X:161.64, Y:-54.85, Z:-0.30 [[ 8.42155353e-01 5.39223902e-01 -3.45611968e-03 1.61638628e+02] [-5.39218799e-01 8.42162437e-01 2.34890452e-03 -5.48485999e+01] [ 4.17719963e-03 -1.14537807e-04 9.99991269e-01 -2.97615916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.337628 meters 0.015218689428300562 Centerline is valid? [True, True] Translation: X:161.69, Y:-54.88, Z:-0.30 [[ 8.40432415e-01 5.41910060e-01 -2.61596393e-03 1.61694659e+02] [-5.41907145e-01 8.40436482e-01 1.77899392e-03 -5.48771530e+01] [ 3.16260622e-03 -7.75146123e-05 9.99994996e-01 -2.95886858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.397628 meters 0.014016661202790987 Centerline is valid? [True, True] Translation: X:161.75, Y:-54.90, Z:-0.30 [[ 8.37181931e-01 5.46920549e-01 -2.08026226e-03 1.61750718e+02] [-5.46918722e-01 8.37184514e-01 1.41455737e-03 -5.49049545e+01] [ 2.51521384e-03 -4.65074894e-05 9.99996836e-01 -2.95946367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.457628 meters 0.012649189495192495 Centerline is valid? [True, True] Translation: X:161.81, Y:-54.93, Z:-0.30 [[ 8.32916066e-01 5.53393400e-01 -2.56334092e-03 1.61805213e+02] [-5.53390656e-01 8.32920010e-01 1.74315872e-03 -5.49325559e+01] [ 3.09971048e-03 -3.33759956e-05 9.99995195e-01 -2.96993071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.517628 meters 0.01188337182858034 Centerline is valid? [True, True] Translation: X:161.86, Y:-54.96, Z:-0.30 [[ 8.30031264e-01 5.57707291e-01 -3.26773600e-03 1.61860200e+02] [-5.57702858e-01 8.30037696e-01 2.22367441e-03 -5.49618114e+01] [ 3.95250349e-03 -2.32935756e-05 9.99992189e-01 -2.99027975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.577628 meters 0.011444760789314638 Centerline is valid? [True, True] Translation: X:161.92, Y:-54.99, Z:-0.30 [[ 8.26236245e-01 5.63306705e-01 -4.38440995e-03 1.61917114e+02] [-5.63298795e-01 8.26247878e-01 2.98519349e-03 -5.49904686e+01] [ 5.30418893e-03 3.25778592e-06 9.99985933e-01 -3.01540924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.637628 meters 0.01156999794985406 Centerline is valid? [True, True] Translation: X:161.97, Y:-55.02, Z:-0.30 [[ 8.24511575e-01 5.65827428e-01 -4.47047700e-03 1.61970771e+02] [-5.65819231e-01 8.24523694e-01 3.04569754e-03 -5.50240330e+01] [ 5.40935341e-03 1.82689840e-05 9.99985369e-01 -3.00815646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.697628 meters 0.011736785600155255 Centerline is valid? [True, True] Translation: X:162.02, Y:-55.06, Z:-0.30 [[ 8.23478872e-01 5.67332062e-01 -4.10848046e-03 1.62022893e+02] [-5.67325148e-01 8.23489120e-01 2.80086722e-03 -5.50585775e+01] [ 4.97231073e-03 2.43893099e-05 9.99987638e-01 -2.99851837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75762799999998 meters 0.011704123444398406 Centerline is valid? [True, True] Translation: X:162.07, Y:-55.09, Z:-0.30 [[ 8.23112482e-01 5.67865861e-01 -3.76897911e-03 1.62074196e+02] [-5.67860042e-01 8.23121111e-01 2.57089682e-03 -5.50935966e+01] [ 4.56225081e-03 2.41153730e-05 9.99989593e-01 -2.99077975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81762799999998 meters 0.011762199600089925 Centerline is valid? [True, True] Translation: X:162.13, Y:-55.13, Z:-0.30 [[ 8.22972576e-01 5.68066764e-01 -4.03619525e-03 1.62125750e+02] [-5.68060085e-01 8.22982473e-01 2.75482184e-03 -5.51296044e+01] [ 4.88664068e-03 2.56585885e-05 9.99988060e-01 -2.99483261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.877628 meters 0.011747155070335899 Centerline is valid? [True, True] Translation: X:162.18, Y:-55.17, Z:-0.30 [[ 8.23063792e-01 5.67915682e-01 -6.14589099e-03 1.62176586e+02] [-5.67900178e-01 8.23086737e-01 4.19661664e-03 -5.51652969e+01] [ 7.44192576e-03 3.61693823e-05 9.99972308e-01 -3.01719735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.937628 meters 0.011639463576625087 Centerline is valid? [True, True] Translation: X:162.23, Y:-55.20, Z:-0.30 [[ 8.23828059e-01 5.66799242e-01 -6.77854513e-03 1.62228187e+02] [-5.66780320e-01 8.23855945e-01 4.63148429e-03 -5.52015851e+01] [ 8.20966649e-03 2.63992671e-05 9.99966300e-01 -3.02762875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.997628 meters 0.011764891677630712 Centerline is valid? [True, True] Translation: X:162.28, Y:-55.24, Z:-0.30 [[ 8.27021861e-01 5.62117375e-01 -7.67445019e-03 1.62276971e+02] [-5.62092889e-01 8.27057468e-01 5.24672589e-03 -5.52410492e+01] [ 9.29648713e-03 -2.54031315e-05 9.99956786e-01 -3.03226824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.057628 meters 0.012504867626177122 Centerline is valid? [True, True] Translation: X:162.33, Y:-55.28, Z:-0.30 [[ 8.30750734e-01 5.56593777e-01 -7.52235658e-03 1.62325034e+02] [-5.56570000e-01 8.30784786e-01 5.14539386e-03 -5.52812552e+01] [ 9.11335360e-03 -8.78217275e-05 9.99958469e-01 -3.03252409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.117628 meters 0.014623396278632786 Centerline is valid? [True, True] Translation: X:162.37, Y:-55.32, Z:-0.30 [[ 8.37510090e-01 5.46388330e-01 -6.05334833e-03 1.62370720e+02] [-5.46372650e-01 8.37531950e-01 4.14257519e-03 -5.53229909e+01] [ 7.33332737e-03 -1.62064550e-04 9.99973098e-01 -3.02621241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.177628 meters 0.017760655936279526 Centerline is valid? [True, True] Translation: X:162.42, Y:-55.36, Z:-0.30 [[ 8.41773440e-01 5.39804474e-01 -5.34842126e-03 1.62416398e+02] [-5.39792096e-01 8.41790408e-01 3.66077662e-03 -5.53632717e+01] [ 6.47835331e-03 -1.94509006e-04 9.99978996e-01 -3.02380233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.237628 meters 0.02003718638305682 Centerline is valid? [True, True] Translation: X:162.46, Y:-55.40, Z:-0.30 [[ 8.45815388e-01 5.33461360e-01 -3.91252001e-03 1.62463860e+02] [-5.33454661e-01 8.45824418e-01 2.67944735e-03 -5.54029354e+01] [ 4.73868659e-03 -1.79165764e-04 9.99988756e-01 -3.00325183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.297628 meters 0.019740233591768238 Centerline is valid? [True, True] Translation: X:162.52, Y:-55.44, Z:-0.30 [[ 8.46466436e-01 5.32429241e-01 -3.69809195e-03 1.62515792e+02] [-5.32423240e-01 8.46474496e-01 2.53401820e-03 -5.54370884e+01] [ 4.47952591e-03 -1.76011260e-04 9.99989951e-01 -3.00482554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.357628 meters 0.019569199644201826 Centerline is valid? [True, True] Translation: X:162.57, Y:-55.47, Z:-0.30 [[ 8.45255420e-01 5.34336930e-01 -5.22698082e-03 1.62568489e+02] [-5.34324967e-01 8.45271548e-01 3.58330285e-03 -5.54696200e+01] [ 6.33290921e-03 -2.35899806e-04 9.99979919e-01 -3.03056058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.417628 meters 0.017489721852235695 Centerline is valid? [True, True] Translation: X:162.62, Y:-55.50, Z:-0.30 [[ 8.44237434e-01 5.35938404e-01 -5.76034490e-03 1.62622503e+02] [-5.35923898e-01 8.44257049e-01 3.95104249e-03 -5.55012909e+01] [ 6.98072719e-03 -2.48511484e-04 9.99975604e-01 -3.02808195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.47762799999998 meters 0.017651965028029477 Centerline is valid? [True, True] Translation: X:162.67, Y:-55.54, Z:-0.30 [[ 8.43771274e-01 5.36674627e-01 -5.51198680e-03 1.62673995e+02] [-5.36661346e-01 8.43789245e-01 3.78273616e-03 -5.55359246e+01] [ 6.68105370e-03 -2.33693850e-04 9.99977654e-01 -3.02935919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.53762799999998 meters 0.017167863512073323 Centerline is valid? [True, True] Translation: X:162.73, Y:-55.57, Z:-0.30 [[ 8.42054873e-01 5.39358944e-01 -5.95994509e-03 1.62727391e+02] [-5.39343483e-01 8.42075933e-01 4.09038232e-03 -5.55676123e+01] [ 7.22491061e-03 -2.29868817e-04 9.99973874e-01 -3.03560637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.597628 meters 0.01656954526907267 Centerline is valid? [True, True] Translation: X:162.78, Y:-55.60, Z:-0.30 [[ 8.40519286e-01 5.41753458e-01 -5.52447998e-03 1.62780128e+02] [-5.41740209e-01 8.40537419e-01 3.79388687e-03 -5.56009307e+01] [ 6.69888347e-03 -1.96002144e-04 9.99977543e-01 -3.03241593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.657628 meters 0.015119922789925267 Centerline is valid? [True, True] Translation: X:162.83, Y:-55.63, Z:-0.30 [[ 8.37490485e-01 5.46421860e-01 -5.73049389e-03 1.62833875e+02] [-5.46407711e-01 8.37510074e-01 3.93570542e-03 -5.56310640e+01] [ 6.94990184e-03 -1.64929792e-04 9.99975836e-01 -3.04153455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.717628 meters 0.0145264717135641 Centerline is valid? [True, True] Translation: X:162.88, Y:-55.66, Z:-0.30 [[ 8.35025635e-01 5.50174752e-01 -6.31919138e-03 1.62884708e+02] [-5.50157644e-01 8.35049532e-01 4.34128280e-03 -5.56631557e+01] [ 7.66530199e-03 -1.48530987e-04 9.99970610e-01 -3.04907361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.777628 meters 0.012921031178934898 Centerline is valid? [True, True] Translation: X:162.94, Y:-55.69, Z:-0.30 [[ 8.31887465e-01 5.54907067e-01 -6.43367178e-03 1.62938041e+02] [-5.54889472e-01 8.31912336e-01 4.42028701e-03 -5.56943649e+01] [ 7.80509942e-03 -1.07204620e-04 9.99969534e-01 -3.04154026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.837628 meters 0.01263235050469702 Centerline is valid? [True, True] Translation: X:162.99, Y:-55.73, Z:-0.30 [[ 8.30376776e-01 5.57172558e-01 -5.75768948e-03 1.62988831e+02] [-5.57158504e-01 8.30396733e-01 3.95815614e-03 -5.57281869e+01] [ 6.98654251e-03 -7.88152825e-05 9.99975591e-01 -3.04186471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.897628 meters 0.01221800692643185 Centerline is valid? [True, True] Translation: X:163.04, Y:-55.76, Z:-0.30 [[ 8.29040708e-01 5.59165119e-01 -5.08660345e-03 1.63040024e+02] [-5.59154176e-01 8.29056311e-01 3.49874103e-03 -5.57626528e+01] [ 6.17345463e-03 -5.64031821e-05 9.99980942e-01 -3.03968983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.957628 meters 0.01219469377762871 Centerline is valid? [True, True] Translation: X:163.09, Y:-55.80, Z:-0.30 [[ 8.28389469e-01 5.60131164e-01 -4.89550967e-03 1.63089238e+02] [-5.60121035e-01 8.28403933e-01 3.36889700e-03 -5.57983152e+01] [ 5.94248367e-03 -4.86808493e-05 9.99982342e-01 -3.03643229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.017628 meters 0.011942448820614677 Centerline is valid? [True, True] Translation: X:163.14, Y:-55.84, Z:-0.30 [[ 8.27625827e-01 5.61248578e-01 -5.96021913e-03 1.63139806e+02] [-5.61233574e-01 8.27647287e-01 4.10408992e-03 -5.58356520e+01] [ 7.23637383e-03 -5.15757308e-05 9.99973816e-01 -3.03769526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.077628 meters 0.011863517419558208 Centerline is valid? [True, True] Translation: X:163.19, Y:-55.87, Z:-0.31 [[ 8.26867264e-01 5.62347565e-01 -7.46610983e-03 1.63190617e+02] [-5.62324040e-01 8.26900969e-01 5.14402403e-03 -5.58721995e+01] [ 9.06646284e-03 -5.50520348e-05 9.99958897e-01 -3.05337459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.137628 meters 0.011987985167816734 Centerline is valid? [True, True] Translation: X:163.24, Y:-55.91, Z:-0.31 [[ 8.26594082e-01 5.62729513e-01 -8.81581778e-03 1.63238208e+02] [-5.62696720e-01 8.26641090e-01 6.07529624e-03 -5.59115309e+01] [ 1.07062657e-02 -6.11721684e-05 9.99942684e-01 -3.07168780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.197628 meters 0.014016668519261883 Centerline is valid? [True, True] Translation: X:163.29, Y:-55.95, Z:-0.31 [[ 8.26734269e-01 5.62502877e-01 -1.00479567e-02 1.63286208e+02] [-5.62460214e-01 8.26795324e-01 6.92823438e-03 -5.59504963e+01] [ 1.22047554e-02 -7.62329332e-05 9.99925516e-01 -3.08936131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25762799999998 meters 0.012391057338851083 Centerline is valid? [True, True] Translation: X:163.33, Y:-55.99, Z:-0.31 [[ 8.27445674e-01 5.61450183e-01 -1.03608531e-02 1.63332115e+02] [-5.61404697e-01 8.27510533e-01 7.14735332e-03 -5.59923488e+01] [ 1.25865979e-02 -9.74149869e-05 9.99920781e-01 -3.08948898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31762799999998 meters 0.012380929726413265 Centerline is valid? [True, True] Translation: X:163.38, Y:-56.03, Z:-0.31 [[ 8.28467554e-01 5.59963508e-01 -9.07642451e-03 1.63379876e+02] [-5.59928500e-01 8.28517265e-01 6.26225622e-03 -5.60334293e+01] [ 1.10266094e-02 -1.05927332e-04 9.99939199e-01 -3.07220450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.377628 meters 0.012988960847477736 Centerline is valid? [True, True] Translation: X:163.42, Y:-56.08, Z:-0.30 [[ 8.29307683e-01 5.58754309e-01 -6.51066697e-03 1.63424527e+02] [-5.58736239e-01 8.29333235e-01 4.49450194e-03 -5.60770313e+01] [ 7.91083483e-03 -8.95794159e-05 9.99968705e-01 -3.04417159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.437628 meters 0.012501741734961222 Centerline is valid? [True, True] Translation: X:163.47, Y:-56.12, Z:-0.30 [[ 8.29737936e-01 5.58124313e-01 -5.67524866e-03 1.63473567e+02] [-5.58110551e-01 8.29757340e-01 3.92038295e-03 -5.61161987e+01] [ 6.89714027e-03 -8.54743010e-05 9.99976211e-01 -3.01976453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.497628 meters 0.012482120830201669 Centerline is valid? [True, True] Translation: X:163.52, Y:-56.16, Z:-0.30 [[ 8.29629724e-01 5.58298991e-01 -4.09369168e-03 1.63520601e+02] [-5.58291831e-01 8.29639822e-01 2.82816081e-03 -5.61582533e+01] [ 4.97524896e-03 -6.08516495e-05 9.99987622e-01 -3.00882264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.557628 meters 0.012255248198260916 Centerline is valid? [True, True] Translation: X:163.57, Y:-56.19, Z:-0.30 [[ 8.28302590e-01 5.60270009e-01 -3.51242201e-03 1.63570487e+02] [-5.60264749e-01 8.28310036e-01 2.42819062e-03 -5.61947472e+01] [ 4.26981678e-03 -4.33903421e-05 9.99990883e-01 -2.99839045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.617628 meters 0.01163107962304629 Centerline is valid? [True, True] Translation: X:163.62, Y:-56.23, Z:-0.30 [[ 8.24772956e-01 5.65445648e-01 -4.55968751e-03 1.63623599e+02] [-5.65436854e-01 8.24785559e-01 3.15365456e-03 -5.62272679e+01] [ 5.54398466e-03 -2.28336315e-05 9.99984632e-01 -3.01556670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.677628 meters 0.011556977594143918 Centerline is valid? [True, True] Translation: X:163.68, Y:-56.26, Z:-0.30 [[ 8.23290288e-01 5.67597108e-01 -5.15989519e-03 1.63675936e+02] [-5.67585875e-01 8.23306457e-01 3.57096065e-03 -5.62613077e+01] [ 6.27504197e-03 -1.12535936e-05 9.99980312e-01 -3.01529890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.737628 meters 0.011558223987573347 Centerline is valid? [True, True] Translation: X:163.73, Y:-56.30, Z:-0.30 [[ 8.24393313e-01 5.65990417e-01 -5.52380598e-03 1.63726998e+02] [-5.65977493e-01 8.24411819e-01 3.82508617e-03 -5.62979522e+01] [ 6.71885305e-03 -2.70256015e-05 9.99977428e-01 -3.02379058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.797628 meters 0.012250949879482836 Centerline is valid? [True, True] Translation: X:163.78, Y:-56.34, Z:-0.30 [[ 8.27311659e-01 5.61715521e-01 -5.57608651e-03 1.63776379e+02] [-5.61702240e-01 8.27330448e-01 3.86322014e-03 -5.63358826e+01] [ 6.78329686e-03 -6.39867768e-05 9.99976991e-01 -3.01847616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.857628 meters 0.015160225609264142 Centerline is valid? [True, True] Translation: X:163.82, Y:-56.38, Z:-0.30 [[ 8.35021130e-01 5.50206032e-01 -3.61030959e-03 1.63822765e+02] [-5.50200355e-01 8.35028929e-01 2.50158717e-03 -5.63767709e+01] [ 4.39110129e-03 -1.02484528e-04 9.99990354e-01 -2.99834351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.917628 meters 0.019167984732171815 Centerline is valid? [True, True] Translation: X:163.87, Y:-56.42, Z:-0.30 [[ 8.40414924e-01 5.41938171e-01 -2.40294661e-03 1.63869242e+02] [-5.41935621e-01 8.40418354e-01 1.66546954e-03 -5.64169183e+01] [ 2.92206195e-03 -9.74430947e-05 9.99995726e-01 -2.98463072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97762799999998 meters 0.02049971919255446 Centerline is valid? [True, True] Translation: X:163.92, Y:-56.45, Z:-0.30 [[ 8.47195778e-01 5.31278267e-01 -1.64819699e-03 1.63919353e+02] [-5.31277045e-01 8.47197376e-01 1.14324538e-03 -5.64523076e+01] [ 2.00372959e-03 -9.29034271e-05 9.99997988e-01 -2.98314048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03762799999998 meters 0.02353389839887849 Centerline is valid? [True, True] Translation: X:163.97, Y:-56.49, Z:-0.30 [[ 8.49440867e-01 5.27676952e-01 -2.69236828e-03 1.63967985e+02] [-5.27673673e-01 8.49445117e-01 1.86743870e-03 -5.64877777e+01] [ 3.27242345e-03 -1.65586887e-04 9.99994632e-01 -2.99488177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.097628 meters 0.02231733934479136 Centerline is valid? [True, True] Translation: X:164.02, Y:-56.52, Z:-0.30 [[ 8.49255455e-01 5.27962632e-01 -4.54207281e-03 1.64023775e+02] [-5.27953294e-01 8.49267556e-01 3.15249225e-03 -5.65181065e+01] [ 5.52183318e-03 -2.79268938e-04 9.99984716e-01 -3.00508001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.157628 meters 0.022138603156463543 Centerline is valid? [True, True] Translation: X:164.08, Y:-56.55, Z:-0.30 [[ 8.46572696e-01 5.32249768e-01 -4.98543149e-03 1.64078064e+02] [-5.32238585e-01 8.46587330e-01 3.46133170e-03 -5.65465726e+01] [ 6.06289613e-03 -2.76829908e-04 9.99981582e-01 -3.01203333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.217628 meters 0.019166725363020363 Centerline is valid? [True, True] Translation: X:164.13, Y:-56.57, Z:-0.30 [[ 8.44354008e-01 5.35759827e-01 -5.26463415e-03 1.64133287e+02] [-5.35747424e-01 8.44370379e-01 3.65529232e-03 -5.65748167e+01] [ 6.40365992e-03 -2.65846542e-04 9.99979461e-01 -3.00311799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.277628 meters 0.017955925922804303 Centerline is valid? [True, True] Translation: X:164.19, Y:-56.60, Z:-0.30 [[ 8.40540851e-01 5.41726014e-01 -4.89932092e-03 1.64188165e+02] [-5.41715361e-01 8.40555104e-01 3.40359728e-03 -5.66037035e+01] [ 5.96196639e-03 -2.06825153e-04 9.99982206e-01 -3.00662982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.337628 meters 0.01774432153965744 Centerline is valid? [True, True] Translation: X:164.24, Y:-56.64, Z:-0.30 [[ 8.38785664e-01 5.44433951e-01 -5.50304254e-03 1.64239216e+02] [-5.44420558e-01 8.38803689e-01 3.82462960e-03 -5.66367491e+01] [ 6.69823058e-03 -2.12074984e-04 9.99977544e-01 -3.01120534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.397628 meters 0.015339878327782016 Centerline is valid? [True, True] Translation: X:164.29, Y:-56.67, Z:-0.30 [[ 8.35070396e-01 5.50110114e-01 -6.02458184e-03 1.64294062e+02] [-5.50094209e-01 8.35092108e-01 4.18714696e-03 -5.66657769e+01] [ 7.33447264e-03 -1.82474891e-04 9.99973086e-01 -3.01982867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.457628 meters 0.013137706434877994 Centerline is valid? [True, True] Translation: X:164.35, Y:-56.69, Z:-0.30 [[ 8.28684646e-01 5.59671080e-01 -7.07387390e-03 1.64349055e+02] [-5.59649486e-01 8.28714830e-01 4.91772373e-03 -5.66928686e+01] [ 8.61453195e-03 -1.16352256e-04 9.99962887e-01 -3.03679324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.517628 meters 0.011976098184103773 Centerline is valid? [True, True] Translation: X:164.40, Y:-56.72, Z:-0.30 [[ 8.25444621e-01 5.64459175e-01 -5.19788529e-03 1.64402763e+02] [-5.64447597e-01 8.25460985e-01 3.61576124e-03 -5.67248610e+01] [ 6.33160112e-03 -5.06768037e-05 9.99979954e-01 -3.01210085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.577628 meters 0.011623816681755376 Centerline is valid? [True, True] Translation: X:164.45, Y:-56.76, Z:-0.30 [[ 8.23750768e-01 5.66944862e-01 -2.86286395e-03 1.64454656e+02] [-5.66941360e-01 8.23755743e-01 1.99274355e-03 -5.67591504e+01] [ 3.48807633e-03 -1.84480491e-05 9.99993916e-01 -2.97988645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.637628 meters 0.011474637342053104 Centerline is valid? [True, True] Translation: X:164.51, Y:-56.79, Z:-0.30 [[ 8.22606111e-01 5.68610355e-01 -1.20429004e-03 1.64506248e+02] [-5.68609736e-01 8.22606992e-01 8.39006449e-04 -5.67935590e+01] [ 1.46772516e-03 -5.40078882e-06 9.99998923e-01 -2.97549474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.697628 meters 0.011357874990866693 Centerline is valid? [True, True] Translation: X:164.56, Y:-56.83, Z:-0.30 [[ 8.21359966e-01 5.70409586e-01 -8.43123592e-04 1.64556923e+02] [-5.70409283e-01 8.21360398e-01 5.87979040e-04 -5.68303412e+01] [ 1.02789721e-03 -2.01692042e-06 9.99999472e-01 -2.97531853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75762799999998 meters 0.011517365518065507 Centerline is valid? [True, True] Translation: X:164.61, Y:-56.87, Z:-0.30 [[ 8.20726607e-01 5.71315814e-01 -2.46521349e-03 1.64608490e+02] [-5.71313228e-01 8.20730309e-01 1.71910230e-03 -5.68672035e+01] [ 3.00542575e-03 -2.50392052e-06 9.99995484e-01 -2.99820756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81762799999998 meters 0.011641591900415929 Centerline is valid? [True, True] Translation: X:164.66, Y:-56.91, Z:-0.30 [[ 8.19899843e-01 5.72470867e-01 -6.43064654e-03 1.64656098e+02] [-5.72453295e-01 8.19925061e-01 4.48549297e-03 -5.69051022e+01] [ 7.84046231e-03 3.58981268e-06 9.99969263e-01 -3.04902104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.877628 meters 0.011750182936637764 Centerline is valid? [True, True] Translation: X:164.71, Y:-56.94, Z:-0.31 [[ 8.18812930e-01 5.73999127e-01 -8.38975261e-03 1.64705439e+02] [-5.73969265e-01 8.18855910e-01 5.85501139e-03 -5.69429606e+01] [ 1.02307699e-02 2.13011149e-05 9.99947664e-01 -3.06488397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.937628 meters 0.012191136925710368 Centerline is valid? [True, True] Translation: X:164.75, Y:-56.98, Z:-0.31 [[ 8.17234231e-01 5.76219185e-01 -9.98306092e-03 1.64752743e+02] [-5.76177049e-01 8.17295202e-01 6.96857004e-03 -5.69820374e+01] [ 1.21745315e-02 5.70565987e-05 9.99925886e-01 -3.09400456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.997628 meters 0.012017976870142121 Centerline is valid? [True, True] Translation: X:164.80, Y:-57.02, Z:-0.31 [[ 8.16584574e-01 5.77151310e-01 -9.27352516e-03 1.64801426e+02] [-5.77114964e-01 8.16637227e-01 6.47745199e-03 -5.70214315e+01] [ 1.13115758e-02 6.25027582e-05 9.99936020e-01 -3.08224314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.057628 meters 0.01195125013948588 Centerline is valid? [True, True] Translation: X:164.85, Y:-57.06, Z:-0.30 [[ 8.16666609e-01 5.77080145e-01 -5.84427751e-03 1.64847223e+02] [-5.77065691e-01 8.16687520e-01 4.08444787e-03 -5.70638763e+01] [ 7.13000227e-03 3.68998500e-05 9.99974581e-01 -3.04208949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.117628 meters 0.011883134696855353 Centerline is valid? [True, True] Translation: X:164.89, Y:-57.11, Z:-0.30 [[ 8.17777413e-01 5.75527029e-01 -2.95665587e-03 1.64892993e+02] [-5.75523315e-01 8.17782757e-01 2.06769097e-03 -5.71068897e+01] [ 3.60791423e-03 1.07134229e-05 9.99993491e-01 -3.01154474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.177628 meters 0.011990666236253587 Centerline is valid? [True, True] Translation: X:164.94, Y:-57.14, Z:-0.30 [[ 8.17733204e-01 5.75596111e-01 -1.23400838e-03 1.64942045e+02] [-5.75595464e-01 8.17734136e-01 8.63307821e-04 -5.71440308e+01] [ 1.50600740e-03 4.33415788e-06 9.99998866e-01 -2.99423124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.237628 meters 0.012119113178708427 Centerline is valid? [True, True] Translation: X:164.99, Y:-57.18, Z:-0.30 [[ 8.16414198e-01 5.77457960e-01 -3.18785412e-03 1.64994329e+02] [-5.77453650e-01 8.16420421e-01 2.23119206e-03 -5.71770758e+01] [ 3.89104882e-03 1.92611219e-05 9.99992430e-01 -3.02247229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.297628 meters 0.012262947923330795 Centerline is valid? [True, True] Translation: X:165.05, Y:-57.21, Z:-0.31 [[ 8.16219336e-01 5.77716379e-01 -5.45718635e-03 1.65046194e+02] [-5.77703743e-01 8.16237578e-01 3.82114296e-03 -5.72106063e+01] [ 6.66189745e-03 3.37462110e-05 9.99977809e-01 -3.05530104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.357628 meters 0.015437630129421294 Centerline is valid? [True, True] Translation: X:165.10, Y:-57.25, Z:-0.31 [[ 8.16501173e-01 5.77294131e-01 -7.57105434e-03 1.65097339e+02] [-5.77269767e-01 8.16536273e-01 5.30388281e-03 -5.72452709e+01] [ 9.24394091e-03 3.99142372e-05 9.99957273e-01 -3.10188539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.417628 meters 0.014888564564672914 Centerline is valid? [True, True] Translation: X:165.15, Y:-57.28, Z:-0.31 [[ 8.16997514e-01 5.76601153e-01 -6.79501994e-03 1.65148254e+02] [-5.76581482e-01 8.17025771e-01 4.76281160e-03 -5.72803824e+01] [ 8.29794906e-03 2.66774329e-05 9.99965571e-01 -3.08799571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47762799999998 meters 0.012100227201701192 Centerline is valid? [True, True] Translation: X:165.20, Y:-57.32, Z:-0.31 [[ 8.17781909e-01 5.75508886e-01 -4.71915792e-03 1.65198829e+02] [-5.75499370e-01 8.17795526e-01 3.30964964e-03 -5.73170667e+01] [ 5.76403902e-03 9.30080718e-06 9.99983388e-01 -3.05163407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53762799999998 meters 0.012163939885699224 Centerline is valid? [True, True] Translation: X:165.25, Y:-57.36, Z:-0.30 [[ 8.20903913e-01 5.71061651e-01 -2.31425204e-03 1.65247632e+02] [-5.71059342e-01 8.20907175e-01 1.62414687e-03 -5.73557487e+01] [ 2.82727410e-03 -1.16932692e-05 9.99996003e-01 -3.03277984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.597628 meters 0.01386379368467354 Centerline is valid? [True, True] Translation: X:165.30, Y:-57.39, Z:-0.30 [[ 8.23505269e-01 5.67308201e-01 -6.90705744e-04 1.65295798e+02] [-5.67307993e-01 8.23505559e-01 4.85357294e-04 -5.73944187e+01] [ 8.44147193e-04 -7.85140035e-06 9.99999644e-01 -3.03457665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.657628 meters 0.01261112383158599 Centerline is valid? [True, True] Translation: X:165.35, Y:-57.43, Z:-0.30 [[ 8.23233596e-01 5.67702515e-01 5.49015957e-04 1.65346287e+02] [-5.67702385e-01 8.23233779e-01 -3.85064265e-04 -5.74304621e+01] [-6.70570433e-04 5.32017133e-06 9.99999775e-01 -3.01388062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.717628 meters 0.012200481260440519 Centerline is valid? [True, True] Translation: X:165.40, Y:-57.46, Z:-0.30 [[ 8.20764755e-01 5.71266074e-01 -5.37240066e-04 1.65399036e+02] [-5.71265949e-01 8.20764931e-01 3.78046351e-04 -5.74626676e+01] [ 6.56912861e-04 -3.38016459e-06 9.99999784e-01 -3.03647394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.777628 meters 0.012086606012269754 Centerline is valid? [True, True] Translation: X:165.45, Y:-57.50, Z:-0.31 [[ 8.18452178e-01 5.74567517e-01 -2.86369485e-03 1.65452135e+02] [-5.74563986e-01 8.18457188e-01 2.01419703e-03 -5.74966608e+01] [ 3.50110382e-03 -3.14801539e-06 9.99993871e-01 -3.06686494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.837628 meters 0.012081629714924685 Centerline is valid? [True, True] Translation: X:165.50, Y:-57.53, Z:-0.31 [[ 8.17076710e-01 5.76515565e-01 -3.93096020e-03 1.65504490e+02] [-5.76508928e-01 8.17086166e-01 2.76632385e-03 -5.75323482e+01] [ 4.80676195e-03 5.93486096e-06 9.99988447e-01 -3.08100716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.897628 meters 0.012095053384648804 Centerline is valid? [True, True] Translation: X:165.56, Y:-57.57, Z:-0.31 [[ 8.15756799e-01 5.78384606e-01 -3.47750499e-03 1.65556850e+02] [-5.78379422e-01 8.15764211e-01 2.44876812e-03 -5.75677454e+01] [ 4.25315389e-03 1.37180858e-05 9.99990955e-01 -3.07816847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.957628 meters 0.012155708313257517 Centerline is valid? [True, True] Translation: X:165.61, Y:-57.60, Z:-0.31 [[ 8.14398931e-01 5.80299910e-01 -2.52879232e-03 1.65609213e+02] [-5.80297174e-01 8.14402857e-01 1.78194744e-03 -5.76022663e+01] [ 3.09351963e-03 1.62349422e-05 9.99995215e-01 -3.07790086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.017628 meters 0.012286579826127218 Centerline is valid? [True, True] Translation: X:165.66, Y:-57.64, Z:-0.31 [[ 8.13315567e-01 5.81822603e-01 -4.96590007e-04 1.65662042e+02] [-5.81822498e-01 8.13315719e-01 3.50601891e-04 -5.76371527e+01] [ 6.07872564e-04 3.77726225e-06 9.99999815e-01 -3.06851957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.077628 meters 0.012177323965424081 Centerline is valid? [True, True] Translation: X:165.71, Y:-57.67, Z:-0.31 [[ 8.13430163e-01 5.81661436e-01 1.15910659e-03 1.65713405e+02] [-5.81660863e-01 8.13430989e-01 -8.16916605e-04 -5.76739404e+01] [-1.41802211e-03 -9.70233247e-06 9.99998995e-01 -3.06016418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.137628 meters 0.011869590275899419 Centerline is valid? [True, True] Translation: X:165.76, Y:-57.71, Z:-0.31 [[ 8.15147376e-01 5.79253619e-01 6.95753646e-06 1.65763520e+02] [-5.79253619e-01 8.15147376e-01 -4.40950629e-06 -5.77109487e+01] [-8.22564009e-06 -4.35780685e-07 1.00000000e+00 -3.07631693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.197628 meters 0.011747341965898364 Centerline is valid? [True, True] Translation: X:165.81, Y:-57.75, Z:-0.31 [[ 8.16211396e-01 5.77749744e-01 -2.04695967e-03 1.65813806e+02] [-5.77747936e-01 8.16213963e-01 1.44531541e-03 -5.77474955e+01] [ 2.50578767e-03 2.94381095e-06 9.99996861e-01 -3.10884769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25762799999998 meters 0.0117779336352392 Centerline is valid? [True, True] Translation: X:165.86, Y:-57.78, Z:-0.31 [[ 8.16859756e-01 5.76826019e-01 -3.44717488e-03 1.65863521e+02] [-5.76820878e-01 8.16867030e-01 2.43521649e-03 -5.77843367e+01] [ 4.22057973e-03 -8.27902873e-07 9.99991093e-01 -3.12516923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.31762799999998 meters 0.011717434058864553 Centerline is valid? [True, True] Translation: X:165.92, Y:-57.82, Z:-0.31 [[ 8.16883172e-01 5.76791115e-01 -3.72738409e-03 1.65915416e+02] [-5.76785097e-01 8.16891676e-01 2.63473714e-03 -5.78206464e+01] [ 4.56456201e-03 -2.37283286e-06 9.99989582e-01 -3.12134253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.377628 meters 0.01181545094206147 Centerline is valid? [True, True] Translation: X:165.97, Y:-57.86, Z:-0.31 [[ 8.18137047e-01 5.75016041e-01 -2.88507891e-03 1.65965550e+02] [-5.75012421e-01 8.18142134e-01 2.04054705e-03 -5.78564917e+01] [ 3.53375191e-03 -1.04909256e-05 9.99993756e-01 -3.12553051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.437628 meters 0.012173651867663953 Centerline is valid? [True, True] Translation: X:166.02, Y:-57.89, Z:-0.31 [[ 8.19924221e-01 5.72468843e-01 -1.92226477e-03 1.66015912e+02] [-5.72467226e-01 8.19926475e-01 1.36050851e-03 -5.78946744e+01] [ 2.35496451e-03 -1.50802955e-05 9.99997227e-01 -3.11649293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.497628 meters 0.012473175353262572 Centerline is valid? [True, True] Translation: X:166.06, Y:-57.93, Z:-0.31 [[ 8.22254682e-01 5.69119298e-01 -6.79317346e-04 1.66064915e+02] [-5.69119095e-01 8.22254963e-01 4.81308570e-04 -5.79321004e+01] [ 8.32494054e-04 -9.14575253e-06 9.99999653e-01 -3.09416113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.557628 meters 0.012599987662317205 Centerline is valid? [True, True] Translation: X:166.12, Y:-57.97, Z:-0.31 [[ 8.22476331e-01 5.68799336e-01 -2.73574759e-05 1.66116419e+02] [-5.68799336e-01 8.22476331e-01 1.99481001e-05 -5.79685040e+01] [ 3.38473425e-05 -8.45926057e-07 9.99999999e-01 -3.08790574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.617628 meters 0.012231616741186615 Centerline is valid? [True, True] Translation: X:166.17, Y:-58.00, Z:-0.31 [[ 8.21368631e-01 5.70397290e-01 -7.09603881e-04 1.66169789e+02] [-5.70397068e-01 8.21368938e-01 5.03344478e-04 -5.80013179e+01] [ 8.69952912e-04 -8.67539218e-06 9.99999622e-01 -3.11257545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.677628 meters 0.011978162741028132 Centerline is valid? [True, True] Translation: X:166.22, Y:-58.04, Z:-0.31 [[ 8.19842324e-01 5.72585788e-01 -2.01974086e-03 1.66222053e+02] [-5.72583997e-01 8.19844812e-01 1.43247212e-03 -5.80356419e+01] [ 2.47608724e-03 -1.79299749e-05 9.99996934e-01 -3.12432588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.737628 meters 0.011711934025600378 Centerline is valid? [True, True] Translation: X:166.27, Y:-58.07, Z:-0.31 [[ 8.17467852e-01 5.75965506e-01 -3.16949365e-03 1.66273433e+02] [-5.75961116e-01 8.17473997e-01 2.24881113e-03 -5.80698253e+01] [ 3.88621628e-03 -1.28257071e-05 9.99992449e-01 -3.13104203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.797628 meters 0.011616249855713322 Centerline is valid? [True, True] Translation: X:166.33, Y:-58.10, Z:-0.31 [[ 8.16448869e-01 5.77408066e-01 -3.34220974e-03 1.66325406e+02] [-5.77403190e-01 8.16455709e-01 2.37282422e-03 -5.81049134e+01] [ 4.09885407e-03 -7.48708567e-06 9.99991600e-01 -3.13334194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.857628 meters 0.011657480015157512 Centerline is valid? [True, True] Translation: X:166.38, Y:-58.14, Z:-0.31 [[ 8.15368060e-01 5.78936464e-01 -2.73818691e-03 1.66377957e+02] [-5.78933196e-01 8.15372658e-01 1.94526997e-03 -5.81401489e+01] [ 3.35883046e-03 -8.83696756e-07 9.99994359e-01 -3.12999161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.917628 meters 0.011650318367572804 Centerline is valid? [True, True] Translation: X:166.43, Y:-58.18, Z:-0.31 [[ 8.15067770e-01 5.79362638e-01 -1.86150286e-03 1.66429341e+02] [-5.79361126e-01 8.15069895e-01 1.32342854e-03 -5.81767970e+01] [ 2.28399999e-03 -2.01556259e-07 9.99997392e-01 -3.12161937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97762799999998 meters 0.011645956489210876 Centerline is valid? [True, True] Translation: X:166.48, Y:-58.22, Z:-0.31 [[ 8.15909695e-01 5.78179153e-01 4.85920728e-04 1.66478134e+02] [-5.78179050e-01 8.15909840e-01 -3.44937022e-04 -5.82160767e+01] [-5.95902898e-04 4.88275505e-07 9.99999822e-01 -3.09917272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03762799999998 meters 0.011726967705918455 Centerline is valid? [True, True] Translation: X:166.53, Y:-58.25, Z:-0.31 [[ 8.16707986e-01 5.77049378e-01 1.44234454e-03 1.66528394e+02] [-5.77048467e-01 8.16709260e-01 -1.02563609e-03 -5.82534995e+01] [-1.76981882e-03 5.34248076e-06 9.99998434e-01 -3.09216620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.097628 meters 0.012095074755776014 Centerline is valid? [True, True] Translation: X:166.58, Y:-58.29, Z:-0.31 [[ 8.18456693e-01 5.74567544e-01 8.82827200e-04 1.66577580e+02] [-5.74567201e-01 8.18457169e-01 -6.27949954e-04 -5.82913992e+01] [-1.08335591e-03 6.70628997e-06 9.99999413e-01 -3.10619439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.157628 meters 0.012397111386840985 Centerline is valid? [True, True] Translation: X:166.63, Y:-58.33, Z:-0.31 [[ 8.20164786e-01 5.72125427e-01 -1.48974553e-03 1.66626957e+02] [-5.72124442e-01 8.20166139e-01 1.06155114e-03 -5.83293852e+01] [ 1.82917924e-03 -1.83270387e-05 9.99998327e-01 -3.12435127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.217628 meters 0.012992354491620974 Centerline is valid? [True, True] Translation: X:166.68, Y:-58.37, Z:-0.31 [[ 8.21613484e-01 5.70040344e-01 -2.29999061e-03 1.66677096e+02] [-5.70037987e-01 8.21616702e-01 1.63947785e-03 -5.83658067e+01] [ 2.82427921e-03 -3.59350895e-05 9.99996011e-01 -3.13407245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.277628 meters 0.014955268650814136 Centerline is valid? [True, True] Translation: X:166.73, Y:-58.40, Z:-0.32 [[ 8.26269583e-01 5.63266503e-01 -3.06961267e-03 1.66725993e+02] [-5.63262256e-01 8.26275281e-01 2.18888469e-03 -5.84031809e+01] [ 3.76927049e-03 -7.96118825e-05 9.99992893e-01 -3.15468250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.337628 meters 0.016019718989947213 Centerline is valid? [True, True] Translation: X:166.78, Y:-58.44, Z:-0.32 [[ 8.30029737e-01 5.57709159e-01 -3.33629124e-03 1.66775712e+02] [-5.57704096e-01 8.30036434e-01 2.37902316e-03 -5.84403890e+01] [ 4.09604629e-03 -1.13996678e-04 9.99991605e-01 -3.15805236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.397628 meters 0.017893944025061625 Centerline is valid? [True, True] Translation: X:166.82, Y:-58.48, Z:-0.32 [[ 8.33619828e-01 5.52329754e-01 -3.13439295e-03 1.66824805e+02] [-5.52325247e-01 8.33625710e-01 2.23536383e-03 -5.84786247e+01] [ 3.84756851e-03 -1.32239253e-04 9.99992589e-01 -3.16139330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.457628 meters 0.02173937826551785 Centerline is valid? [True, True] Translation: X:166.87, Y:-58.52, Z:-0.32 [[ 8.37989567e-01 5.45681115e-01 -2.36775416e-03 1.66872653e+02] [-5.45678513e-01 8.37992903e-01 1.68963617e-03 -5.85164394e+01] [ 2.90616373e-03 -1.23864913e-04 9.99995769e-01 -3.16737854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.517628 meters 0.021498012498298233 Centerline is valid? [True, True] Translation: X:166.92, Y:-58.55, Z:-0.32 [[ 8.39206338e-01 5.43809866e-01 -1.88462204e-03 1.66924641e+02] [-5.43808211e-01 8.39208448e-01 1.34565968e-03 -5.85496218e+01] [ 2.31337374e-03 -1.04413192e-04 9.99997319e-01 -3.16887165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.577628 meters 0.022797170505691976 Centerline is valid? [True, True] Translation: X:166.97, Y:-58.58, Z:-0.32 [[ 8.37902159e-01 5.45815951e-01 -2.21806849e-03 1.66974688e+02] [-5.45813665e-01 8.37905087e-01 1.58393006e-03 -5.85834233e+01] [ 2.72306517e-03 -1.16526324e-04 9.99996286e-01 -3.17690828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.637628 meters 0.018971550592340822 Centerline is valid? [True, True] Translation: X:167.03, Y:-58.61, Z:-0.32 [[ 8.35597234e-01 5.49334980e-01 -2.88814380e-03 1.67030025e+02] [-5.49331126e-01 8.35602214e-01 2.06240606e-03 -5.86125224e+01] [ 3.54629114e-03 -1.36793512e-04 9.99993703e-01 -3.18649995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.697628 meters 0.0168510386541814 Centerline is valid? [True, True] Translation: X:167.08, Y:-58.64, Z:-0.32 [[ 8.31452449e-01 5.55591605e-01 -2.18940827e-03 1.67084237e+02] [-5.55589408e-01 8.31455327e-01 1.56455272e-03 -5.86429112e+01] [ 2.68964753e-03 -8.44391471e-05 9.99996379e-01 -3.18993474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75762799999998 meters 0.014546719984665753 Centerline is valid? [True, True] Translation: X:167.14, Y:-58.67, Z:-0.32 [[ 8.27608982e-01 5.61304877e-01 -4.55410007e-04 1.67137731e+02] [-5.61304783e-01 8.27609108e-01 3.25480884e-04 -5.86745815e+01] [ 5.59595477e-04 -1.37470882e-05 9.99999843e-01 -3.17411643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.81762799999998 meters 0.012507734452460338 Centerline is valid? [True, True] Translation: X:167.19, Y:-58.71, Z:-0.32 [[ 8.20612728e-01 5.71482263e-01 1.66542283e-03 1.67189508e+02] [-5.71481024e-01 8.20614418e-01 -1.18997269e-03 -5.87057549e+01] [-2.04671827e-03 2.47491900e-05 9.99997905e-01 -3.15684032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.877628 meters 0.011534117236810191 Centerline is valid? [True, True] Translation: X:167.24, Y:-58.74, Z:-0.32 [[ 8.14018217e-01 5.80835635e-01 2.07539288e-03 1.67244325e+02] [-5.80833740e-01 8.14020863e-01 -1.48360969e-03 -5.87363956e+01] [-2.55114648e-03 2.22711261e-06 9.99996746e-01 -3.16956189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.937628 meters 0.011664596881934929 Centerline is valid? [True, True] Translation: X:167.30, Y:-58.77, Z:-0.32 [[ 8.10572080e-01 5.85637127e-01 1.43498776e-03 1.67297085e+02] [-5.85636228e-01 8.10573350e-01 -1.02620042e-03 -5.87710244e+01] [-1.76414390e-03 -8.57140989e-06 9.99998444e-01 -3.18409553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.997628 meters 0.01219905963193665 Centerline is valid? [True, True] Translation: X:167.35, Y:-58.81, Z:-0.32 [[ 8.07651330e-01 5.89660239e-01 3.62367433e-04 1.67346844e+02] [-5.89660183e-01 8.07651411e-01 -2.58935246e-04 -5.88073822e+01] [-4.45350388e-04 -4.54425034e-06 9.99999901e-01 -3.20729141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.057628 meters 0.012515106718310288 Centerline is valid? [True, True] Translation: X:167.40, Y:-58.84, Z:-0.32 [[ 8.06911931e-01 5.90671494e-01 -5.67892187e-04 1.67395668e+02] [-5.90671354e-01 8.06912130e-01 4.07221762e-04 -5.88436905e+01] [ 6.98773380e-04 6.84554875e-06 9.99999756e-01 -3.22225614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.117628 meters 0.012277799969193079 Centerline is valid? [True, True] Translation: X:167.44, Y:-58.88, Z:-0.32 [[ 8.07175486e-01 5.90307949e-01 -2.06384559e-03 1.67444066e+02] [-5.90306095e-01 8.07178124e-01 1.47967769e-03 -5.88834673e+01] [ 2.53935652e-03 2.39410696e-05 9.99996776e-01 -3.24332627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.177628 meters 0.012042863890978379 Centerline is valid? [True, True] Translation: X:167.49, Y:-58.92, Z:-0.33 [[ 8.08798109e-01 5.88070602e-01 -4.31112496e-03 1.67489964e+02] [-5.88062477e-01 8.08809598e-01 3.09159165e-03 -5.89235946e+01] [ 5.30495341e-03 3.47373481e-05 9.99985928e-01 -3.26793339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.237628 meters 0.01183104743146368 Centerline is valid? [True, True] Translation: X:167.54, Y:-58.96, Z:-0.33 [[ 8.10527999e-01 5.85677403e-01 -5.13243319e-03 1.67538193e+02] [-5.85665825e-01 8.10544249e-01 3.68275068e-03 -5.89634446e+01] [ 6.31696806e-03 2.09181747e-05 9.99980048e-01 -3.27553145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.297628 meters 0.011937664780434303 Centerline is valid? [True, True] Translation: X:167.59, Y:-59.00, Z:-0.33 [[ 8.11750951e-01 5.83983372e-01 -4.87999371e-03 1.67589647e+02] [-5.83972861e-01 8.11765620e-01 3.50375780e-03 -5.89990838e+01] [ 6.00754741e-03 5.60515480e-06 9.99981955e-01 -3.27481949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.357628 meters 0.0125427695132766 Centerline is valid? [True, True] Translation: X:167.64, Y:-59.04, Z:-0.33 [[ 8.14968534e-01 5.79489480e-01 -4.26991451e-03 1.67639072e+02] [-5.79481365e-01 8.14979719e-01 3.06671387e-03 -5.90365155e+01] [ 5.25702215e-03 -2.49394152e-05 9.99986181e-01 -3.27838609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.417628 meters 0.014674599041546263 Centerline is valid? [True, True] Translation: X:167.68, Y:-59.08, Z:-0.32 [[ 8.22970700e-01 5.68083158e-01 -8.68154498e-04 1.67683929e+02] [-5.68082815e-01 8.22971157e-01 6.24197222e-04 -5.90797049e+01] [ 1.06906204e-03 -2.05123733e-05 9.99999428e-01 -3.22488670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.47762799999998 meters 0.016789371206953646 Centerline is valid? [True, True] Translation: X:167.73, Y:-59.12, Z:-0.32 [[ 8.28371851e-01 5.60178602e-01 -1.06843128e-04 1.67732531e+02] [-5.60178596e-01 8.28371857e-01 7.72589320e-05 -5.91175251e+01] [ 1.31784641e-04 -4.14789071e-06 9.99999991e-01 -3.21882180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53762799999998 meters 0.022134494565251055 Centerline is valid? [True, True] Translation: X:167.78, Y:-59.16, Z:-0.33 [[ 8.34636506e-01 5.50796051e-01 -2.36898872e-03 1.67779836e+02] [-5.50793430e-01 8.34639860e-01 1.70335793e-03 -5.91563045e+01] [ 2.91545524e-03 -1.16861293e-04 9.99995743e-01 -3.25306011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.597628 meters 0.0231324348961604 Centerline is valid? [True, True] Translation: X:167.83, Y:-59.19, Z:-0.33 [[ 8.36943755e-01 5.47274501e-01 -3.97119168e-03 1.67832671e+02] [-5.47267088e-01 8.36953149e-01 2.85682910e-03 -5.91880905e+01] [ 4.88717110e-03 -2.17702772e-04 9.99988034e-01 -3.27156685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.657628 meters 0.02157960226237872 Centerline is valid? [True, True] Translation: X:167.89, Y:-59.22, Z:-0.32 [[ 8.36453336e-01 5.48030064e-01 -2.97740288e-03 1.67885253e+02] [-5.48025897e-01 8.36458620e-01 2.14317798e-03 -5.92209675e+01] [ 3.66500027e-03 -1.60974490e-04 9.99993271e-01 -3.24422496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.717628 meters 0.018172994261438258 Centerline is valid? [True, True] Translation: X:167.94, Y:-59.25, Z:-0.32 [[ 8.32779854e-01 5.53603114e-01 -1.14336460e-03 1.67941816e+02] [-5.53602504e-01 8.32780637e-01 8.23088947e-04 -5.92480120e+01] [ 1.40783651e-03 -5.24823842e-05 9.99999008e-01 -3.22442291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.777628 meters 0.01661963833216234 Centerline is valid? [True, True] Translation: X:168.00, Y:-59.28, Z:-0.32 [[ 8.28871500e-01 5.59439037e-01 1.53909613e-05 1.67995224e+02] [-5.59439037e-01 8.28871500e-01 -1.06794464e-05 -5.92788935e+01] [-1.87316284e-05 2.41584169e-07 1.00000000e+00 -3.21900263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.837628 meters 0.013715809399864054 Centerline is valid? [True, True] Translation: X:168.05, Y:-59.31, Z:-0.32 [[ 8.21499280e-01 5.70209508e-01 2.22440717e-04 1.68050079e+02] [-5.70209486e-01 8.21499310e-01 -1.59824086e-04 -5.93068589e+01] [-2.73868109e-04 4.45756508e-06 9.99999962e-01 -3.21350014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.897628 meters 0.012114033967751164 Centerline is valid? [True, True] Translation: X:168.10, Y:-59.34, Z:-0.32 [[ 8.16698830e-01 5.77063856e-01 -5.71791091e-04 1.68104098e+02] [-5.77063709e-01 8.16699030e-01 4.12045764e-04 -5.93371104e+01] [ 7.04757947e-04 -6.55740525e-06 9.99999752e-01 -3.22657825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.957628 meters 0.011497309275348165 Centerline is valid? [True, True] Translation: X:168.16, Y:-59.37, Z:-0.32 [[ 8.10040014e-01 5.86372171e-01 -1.68896101e-03 1.68158836e+02] [-5.86370906e-01 8.10041775e-01 1.21793012e-03 -5.93668917e+01] [ 2.08228930e-03 3.78546133e-06 9.99997832e-01 -3.24094583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.017628 meters 0.011652631841763872 Centerline is valid? [True, True] Translation: X:168.21, Y:-59.40, Z:-0.32 [[ 8.07698630e-01 5.89591823e-01 -2.09862619e-03 1.68210455e+02] [-5.89589880e-01 8.07701357e-01 1.51402907e-03 -5.94017180e+01] [ 2.58772238e-03 1.44495574e-05 9.99996652e-01 -3.24720208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.077628 meters 0.011385883574350771 Centerline is valid? [True, True] Translation: X:168.26, Y:-59.44, Z:-0.32 [[ 8.08764174e-01 5.88125138e-01 -3.05481935e-03 1.68258952e+02] [-5.88121005e-01 8.08769944e-01 2.20502714e-03 -5.94421828e+01] [ 3.76747796e-03 1.32564733e-05 9.99992903e-01 -3.24167057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.137628 meters 0.011347206163121825 Centerline is valid? [True, True] Translation: X:168.31, Y:-59.48, Z:-0.32 [[ 8.11950631e-01 5.83719867e-01 -2.69996394e-03 1.68306902e+02] [-5.83716610e-01 8.11955120e-01 1.95010740e-03 -5.94840230e+01] [ 3.33056598e-03 -7.37713421e-06 9.99994454e-01 -3.23814580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.197628 meters 0.012668819241220585 Centerline is valid? [True, True] Translation: X:168.35, Y:-59.53, Z:-0.32 [[ 8.18081134e-01 5.75097143e-01 -2.55616654e-03 1.68350502e+02] [-5.75094181e-01 8.18085127e-01 1.84611706e-03 -5.95295869e+01] [ 3.15285847e-03 -4.02370335e-05 9.99995029e-01 -3.23113324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25762799999998 meters 0.014174032659632203 Centerline is valid? [True, True] Translation: X:168.40, Y:-59.57, Z:-0.32 [[ 8.21783514e-01 5.69790695e-01 -3.22802409e-03 1.68396701e+02] [-5.69785929e-01 8.21789850e-01 2.33165063e-03 -5.95717636e+01] [ 3.98131027e-03 -7.68293408e-05 9.99992072e-01 -3.23572162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31762799999998 meters 0.015683086427893397 Centerline is valid? [True, True] Translation: X:168.44, Y:-59.61, Z:-0.33 [[ 8.25173487e-01 5.64854193e-01 -5.33453145e-03 1.68442208e+02] [-5.64841073e-01 8.25190713e-01 3.85356633e-03 -5.96144787e+01] [ 6.57870891e-03 -1.66698300e-04 9.99978346e-01 -3.25263711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.377628 meters 0.016382474720113713 Centerline is valid? [True, True] Translation: X:168.49, Y:-59.65, Z:-0.33 [[ 8.25856750e-01 5.63843248e-01 -6.43578169e-03 1.68489390e+02] [-5.63824100e-01 8.25881799e-01 4.65162803e-03 -5.96544892e+01] [ 7.93798402e-03 -2.12929589e-04 9.99968471e-01 -3.26191181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.437628 meters 0.015918211200840637 Centerline is valid? [True, True] Translation: X:168.54, Y:-59.69, Z:-0.33 [[ 8.24411882e-01 5.65917241e-01 -9.09529412e-03 1.68537966e+02] [-5.65879088e-01 8.24462007e-01 6.57706811e-03 -5.96928920e+01] [ 1.12208007e-02 -2.75376362e-04 9.99937007e-01 -3.28430608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.497628 meters 0.014885933481341278 Centerline is valid? [True, True] Translation: X:168.59, Y:-59.73, Z:-0.33 [[ 8.22285719e-01 5.68992725e-01 -9.66820878e-03 1.68588001e+02] [-5.68949783e-01 8.22342517e-01 6.99493484e-03 -5.97293905e+01] [ 1.19306462e-02 -2.51109738e-04 9.99928796e-01 -3.28880656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.557628 meters 0.013386477428186251 Centerline is valid? [True, True] Translation: X:168.64, Y:-59.77, Z:-0.33 [[ 8.18998523e-01 5.73702255e-01 -1.03508790e-02 1.68638209e+02] [-5.73653403e-01 8.19063907e-01 7.48925758e-03 -5.97651827e+01] [ 1.27746353e-02 -1.95873942e-04 9.99918382e-01 -3.29636828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.617628 meters 0.012871238678688753 Centerline is valid? [True, True] Translation: X:168.69, Y:-59.80, Z:-0.33 [[ 8.16858441e-01 5.76763630e-01 -9.27376000e-03 1.68687599e+02] [-5.76724569e-01 8.16911070e-01 6.71378023e-03 -5.98018623e+01] [ 1.14481015e-02 -1.35802814e-04 9.99934459e-01 -3.29194447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.677628 meters 0.01186588858572393 Centerline is valid? [True, True] Translation: X:168.74, Y:-59.84, Z:-0.33 [[ 8.13988879e-01 5.80839977e-01 -6.85754501e-03 1.68737992e+02] [-5.80818740e-01 8.14017762e-01 4.96729820e-03 -5.98383823e+01] [ 8.46736882e-03 -6.03348489e-05 9.99964149e-01 -3.25340366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.737628 meters 0.011531855718101678 Centerline is valid? [True, True] Translation: X:168.79, Y:-59.88, Z:-0.32 [[ 8.12757665e-01 5.82577156e-01 -5.36994033e-03 1.68787526e+02] [-5.82564157e-01 8.12775403e-01 3.89188343e-03 -5.98759933e+01] [ 6.63187779e-03 -3.48233268e-05 9.99978008e-01 -3.22871933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.797628 meters 0.01153912573963893 Centerline is valid? [True, True] Translation: X:168.84, Y:-59.91, Z:-0.32 [[ 8.13193530e-01 5.81975301e-01 -4.58607179e-03 1.68837829e+02] [-5.81965798e-01 8.13206461e-01 3.32594876e-03 -5.99134028e+01] [ 5.66504324e-03 -3.57030814e-05 9.99983953e-01 -3.22368071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.857628 meters 0.012255401312193312 Centerline is valid? [True, True] Translation: X:168.89, Y:-59.95, Z:-0.33 [[ 8.14410927e-01 5.80269459e-01 -4.71131525e-03 1.68886245e+02] [-5.80259398e-01 8.14424553e-01 3.41742880e-03 -5.99504682e+01] [ 5.82004037e-03 -4.94064064e-05 9.99983062e-01 -3.25085158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.917628 meters 0.013223742072470951 Centerline is valid? [True, True] Translation: X:168.93, Y:-59.99, Z:-0.32 [[ 8.18624288e-01 5.74305440e-01 -5.24754895e-03 1.68934582e+02] [-5.74292832e-01 8.18641100e-01 3.80679413e-03 -5.99897308e+01] [ 6.48212182e-03 -1.02704383e-04 9.99978986e-01 -3.24660113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97762799999998 meters 0.01502250674621236 Centerline is valid? [True, True] Translation: X:168.98, Y:-60.03, Z:-0.33 [[ 8.22251342e-01 5.69096481e-01 -5.65025098e-03 1.68982688e+02] [-5.69081725e-01 8.22270740e-01 4.10114861e-03 -6.00285952e+01] [ 6.97998530e-03 -1.56720376e-04 9.99975627e-01 -3.25371361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03762799999998 meters 0.016688582725028104 Centerline is valid? [True, True] Translation: X:169.03, Y:-60.07, Z:-0.33 [[ 8.25994667e-01 5.63650439e-01 -5.56711813e-03 1.69031361e+02] [-5.63635977e-01 8.26013403e-01 4.04271550e-03 -6.00661106e+01] [ 6.87719256e-03 -2.01433372e-04 9.99976332e-01 -3.25610297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.097628 meters 0.02115884640770046 Centerline is valid? [True, True] Translation: X:169.08, Y:-60.10, Z:-0.33 [[ 8.29441124e-01 5.58546135e-01 -7.32367023e-03 1.69080412e+02] [-5.58520905e-01 8.29473394e-01 5.31849432e-03 -6.01041917e+01] [ 9.04541405e-03 -3.20954988e-04 9.99959038e-01 -3.29326669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.157628 meters 0.020542331632982025 Centerline is valid? [True, True] Translation: X:169.13, Y:-60.14, Z:-0.33 [[ 8.33370814e-01 5.52650335e-01 -8.40791662e-03 1.69130445e+02] [-5.52616752e-01 8.33413109e-01 6.10869164e-03 -6.01392986e+01] [ 1.03832384e-02 -4.44449755e-04 9.99945994e-01 -3.28647099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.217628 meters 0.02111665703187867 Centerline is valid? [True, True] Translation: X:169.18, Y:-60.17, Z:-0.33 [[ 8.34487320e-01 5.50964937e-01 -8.27953192e-03 1.69181712e+02] [-5.50932282e-01 8.34528266e-01 6.01605903e-03 -6.01745048e+01] [ 1.02241410e-02 -4.58863554e-04 9.99947627e-01 -3.28280266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.277628 meters 0.01905963307056832 Centerline is valid? [True, True] Translation: X:169.24, Y:-60.20, Z:-0.33 [[ 8.32358632e-01 5.54189119e-01 -7.31629416e-03 1.69237350e+02] [-5.54163739e-01 8.32390703e-01 5.31671212e-03 -6.02034006e+01] [ 9.03647924e-03 -3.70986298e-04 9.99959101e-01 -3.26896330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.337628 meters 0.018333313017185007 Centerline is valid? [True, True] Translation: X:169.29, Y:-60.23, Z:-0.33 [[ 8.28556175e-01 5.59861064e-01 -7.08896688e-03 1.69289094e+02] [-5.59837426e-01 8.28586446e-01 5.15355288e-03 -6.02347774e+01] [ 8.75909547e-03 -3.01339094e-04 9.99961593e-01 -3.26727749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.397628 meters 0.016120211694607114 Centerline is valid? [True, True] Translation: X:169.34, Y:-60.26, Z:-0.33 [[ 8.21755349e-01 5.69803872e-01 -6.45716191e-03 1.69342847e+02] [-5.69784559e-01 8.21780698e-01 4.69468544e-03 -6.02630083e+01] [ 7.98142096e-03 -1.78691724e-04 9.99968132e-01 -3.26949316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.457628 meters 0.012615030089937678 Centerline is valid? [True, True] Translation: X:169.40, Y:-60.29, Z:-0.33 [[ 8.16063857e-01 5.77918388e-01 -7.07940661e-03 1.69398918e+02] [-5.77895467e-01 8.16094556e-01 5.14823368e-03 -6.02900130e+01] [ 8.75272410e-03 -1.10130449e-04 9.99961688e-01 -3.26919610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.517628 meters 0.011336720169713679 Centerline is valid? [True, True] Translation: X:169.46, Y:-60.32, Z:-0.33 [[ 8.08010291e-01 5.89139364e-01 -5.84627031e-03 1.69455387e+02] [-5.89124020e-01 8.08031441e-01 4.25190502e-03 -6.03175834e+01] [ 7.22893484e-03 8.59525635e-06 9.99973871e-01 -3.25423206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.577628 meters 0.011678691310675306 Centerline is valid? [True, True] Translation: X:169.51, Y:-60.35, Z:-0.32 [[ 8.03977001e-01 5.94635817e-01 -5.40624854e-03 1.69508223e+02] [-5.94622804e-01 8.03995176e-01 3.93434441e-03 -6.03505035e+01] [ 6.68609985e-03 5.15562432e-05 9.99977646e-01 -3.24833372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.637628 meters 0.012378494717024692 Centerline is valid? [True, True] Translation: X:169.56, Y:-60.39, Z:-0.33 [[ 8.01867806e-01 5.97477516e-01 -5.35150958e-03 1.69558139e+02] [-5.97464816e-01 8.01885660e-01 3.89632657e-03 -6.03850112e+01] [ 6.61926632e-03 7.29998480e-05 9.99978090e-01 -3.25599723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.697628 meters 0.015235145625570079 Centerline is valid? [True, True] Translation: X:169.61, Y:-60.43, Z:-0.33 [[ 8.02839872e-01 5.96163085e-01 -6.14129728e-03 1.69605233e+02] [-5.96146304e-01 8.02863358e-01 4.47363176e-03 -6.04254962e+01] [ 7.59763667e-03 6.95017196e-05 9.99971135e-01 -3.27252961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75762799999998 meters 0.011941137322248578 Centerline is valid? [True, True] Translation: X:169.65, Y:-60.46, Z:-0.32 [[ 8.03517825e-01 5.95248164e-01 -6.22315518e-03 1.69652777e+02] [-5.95230888e-01 8.03541921e-01 4.53556055e-03 -6.04649895e+01] [ 7.70035016e-03 5.98104326e-05 9.99970350e-01 -3.24884732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.81762799999998 meters 0.011726477587230973 Centerline is valid? [True, True] Translation: X:169.70, Y:-60.51, Z:-0.33 [[ 8.05048832e-01 5.93163897e-01 -7.27796360e-03 1.69701325e+02] [-5.93140154e-01 8.05081728e-01 5.30737344e-03 -6.05056544e+01] [ 9.00749782e-03 4.41576616e-05 9.99959431e-01 -3.27377956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.877628 meters 0.01170176413067777 Centerline is valid? [True, True] Translation: X:169.75, Y:-60.55, Z:-0.33 [[ 8.05729568e-01 5.92232477e-01 -7.78184031e-03 1.69749413e+02] [-5.92205258e-01 8.05767145e-01 5.67800565e-03 -6.05462947e+01] [ 9.63305060e-03 3.35097162e-05 9.99953601e-01 -3.28177136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.937628 meters 0.01184893082980366 Centerline is valid? [True, True] Translation: X:169.80, Y:-60.59, Z:-0.33 [[ 8.06575559e-01 5.91064091e-01 -8.89425258e-03 1.69795743e+02] [-5.91028430e-01 8.06624597e-01 6.49271275e-03 -6.05876125e+01] [ 1.10119323e-02 1.98927195e-05 9.99939367e-01 -3.28403804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.997628 meters 0.012071154537845586 Centerline is valid? [True, True] Translation: X:169.84, Y:-60.63, Z:-0.33 [[ 8.08440788e-01 5.88505479e-01 -9.20838292e-03 1.69842621e+02] [-5.88467048e-01 8.08493229e-01 6.72553044e-03 -6.06290805e+01] [ 1.14029267e-02 -1.83632190e-05 9.99934984e-01 -3.29010920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.057628 meters 0.01261024436536975 Centerline is valid? [True, True] Translation: X:169.89, Y:-60.67, Z:-0.33 [[ 8.10747602e-01 5.85320180e-01 -9.41337606e-03 1.69888668e+02] [-5.85279766e-01 8.10802246e-01 6.87848614e-03 -6.06708305e+01] [ 1.16585032e-02 -6.72576079e-05 9.99932035e-01 -3.28682753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.117628 meters 0.01419563352476097 Centerline is valid? [True, True] Translation: X:169.93, Y:-60.72, Z:-0.33 [[ 8.15897712e-01 5.78123624e-01 -9.16507336e-03 1.69931787e+02] [-5.78084822e-01 8.15949169e-01 6.70010471e-03 -6.07159780e+01] [ 1.13517228e-02 -1.68410300e-04 9.99935553e-01 -3.26809130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.177628 meters 0.016492126679258833 Centerline is valid? [True, True] Translation: X:169.98, Y:-60.76, Z:-0.33 [[ 8.19855624e-01 5.72506064e-01 -8.57686932e-03 1.69977100e+02] [-5.72471769e-01 8.19900454e-01 6.27059544e-03 -6.07588020e+01] [ 1.06221330e-02 -2.30967391e-04 9.99943557e-01 -3.25797941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.237628 meters 0.019347057390470792 Centerline is valid? [True, True] Translation: X:170.02, Y:-60.80, Z:-0.32 [[ 8.23444432e-01 5.67355118e-01 -6.88742673e-03 1.70022377e+02] [-5.67332802e-01 8.23473201e-01 5.03788431e-03 -6.07997067e+01] [ 8.52988078e-03 -2.40954684e-04 9.99963591e-01 -3.22981972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.297628 meters 0.01846116774372489 Centerline is valid? [True, True] Translation: X:170.07, Y:-60.83, Z:-0.32 [[ 8.24267668e-01 5.66158423e-01 -6.88844381e-03 1.70073034e+02] [-5.66136038e-01 8.24296412e-01 5.04098803e-03 -6.08349499e+01] [ 8.53211735e-03 -2.55327161e-04 9.99963568e-01 -3.21018544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.357628 meters 0.021513866266561505 Centerline is valid? [True, True] Translation: X:170.12, Y:-60.87, Z:-0.32 [[ 8.24561285e-01 5.65732248e-01 -6.76103882e-03 1.70119919e+02] [-5.65710650e-01 8.24588963e-01 4.95000092e-03 -6.08742186e+01] [ 8.37545313e-03 -2.56787453e-04 9.99964892e-01 -3.21936704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.417628 meters 0.018014699451761762 Centerline is valid? [True, True] Translation: X:170.17, Y:-60.90, Z:-0.32 [[ 8.23758793e-01 5.66906297e-01 -6.22103883e-03 1.70174464e+02] [-5.66888026e-01 8.23782252e-01 4.55699889e-03 -6.09045471e+01] [ 7.70817275e-03 -2.27235478e-04 9.99970266e-01 -3.20041247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.47762799999998 meters 0.01759503139034904 Centerline is valid? [True, True] Translation: X:170.23, Y:-60.94, Z:-0.32 [[ 8.22283444e-01 5.69039834e-01 -6.60339023e-03 1.70227365e+02] [-5.69019299e-01 8.22309928e-01 4.83942077e-03 -6.09373346e+01] [ 8.18385654e-03 -2.21919104e-04 9.99966487e-01 -3.21371648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.53762799999998 meters 0.017561714832845923 Centerline is valid? [True, True] Translation: X:170.28, Y:-60.97, Z:-0.32 [[ 8.19694961e-01 5.72742183e-01 -8.15855251e-03 1.70283185e+02] [-5.72710988e-01 8.19735529e-01 5.98220372e-03 -6.09666450e+01] [ 1.01141158e-02 -2.31089580e-04 9.99948824e-01 -3.23662814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.597628 meters 0.013597943383161079 Centerline is valid? [True, True] Translation: X:170.34, Y:-61.00, Z:-0.32 [[ 8.16444538e-01 5.77342874e-01 -9.67072641e-03 1.70335595e+02] [-5.77299357e-01 8.16501784e-01 7.09145041e-03 -6.09999617e+01] [ 1.19903637e-02 -2.06871812e-04 9.99928092e-01 -3.22815605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.657628 meters 0.013382779121683737 Centerline is valid? [True, True] Translation: X:170.39, Y:-61.04, Z:-0.32 [[ 8.14742109e-01 5.79739242e-01 -9.88474579e-03 1.70385337e+02] [-5.79693907e-01 8.14802049e-01 7.25221490e-03 -6.10353098e+01] [ 1.22585047e-02 -1.78557953e-04 9.99924846e-01 -3.23406965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.717628 meters 0.015707347975134973 Centerline is valid? [True, True] Translation: X:170.44, Y:-61.07, Z:-0.33 [[ 8.12371913e-01 5.83054102e-01 -9.98944264e-03 1.70437828e+02] [-5.83008004e-01 8.12433318e-01 7.33283499e-03 -6.10693670e+01] [ 1.23911955e-02 -1.33064181e-04 9.99923217e-01 -3.25200778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.777628 meters 0.012289018953924083 Centerline is valid? [True, True] Translation: X:170.49, Y:-61.11, Z:-0.32 [[ 8.10873143e-01 5.85157001e-01 -8.71955494e-03 1.70487657e+02] [-5.85121964e-01 8.10920018e-01 6.40403036e-03 -6.11058959e+01] [ 1.08182248e-02 -9.08531158e-05 9.99941477e-01 -3.22025531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.837628 meters 0.012090905831653608 Centerline is valid? [True, True] Translation: X:170.54, Y:-61.14, Z:-0.32 [[ 8.10132688e-01 5.86177453e-01 -9.00116549e-03 1.70537045e+02] [-5.86140134e-01 8.10182687e-01 6.61486789e-03 -6.11445353e+01] [ 1.11700749e-02 -8.29763530e-05 9.99937609e-01 -3.21071699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.897628 meters 0.011925061899487912 Centerline is valid? [True, True] Translation: X:170.59, Y:-61.18, Z:-0.32 [[ 8.09824046e-01 5.86606563e-01 -8.81787329e-03 1.70587018e+02] [-5.86570731e-01 8.09872048e-01 6.48410095e-03 -6.11819778e+01] [ 1.09449653e-02 -7.86744821e-05 9.99940099e-01 -3.21108218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.957628 meters 0.012342291656972327 Centerline is valid? [True, True] Translation: X:170.63, Y:-61.22, Z:-0.32 [[ 8.09984083e-01 5.86389998e-01 -8.51795645e-03 1.70634911e+02] [-5.86356513e-01 8.10028866e-01 6.26703049e-03 -6.12207527e+01] [ 1.05747146e-02 -8.16356986e-05 9.99944083e-01 -3.22296466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.017628 meters 0.015126498081862208 Centerline is valid? [True, True] Translation: X:170.68, Y:-61.26, Z:-0.32 [[ 8.11384340e-01 5.84437498e-01 -9.39484509e-03 1.70682478e+02] [-5.84396593e-01 8.11438720e-01 6.91569340e-03 -6.12614585e+01] [ 1.16651316e-02 -1.20969864e-04 9.99931953e-01 -3.23076792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.077628 meters 0.01265420885326418 Centerline is valid? [True, True] Translation: X:170.73, Y:-61.30, Z:-0.32 [[ 8.11473814e-01 5.84307503e-01 -9.74636733e-03 1.70731172e+02] [-5.84263417e-01 8.11532331e-01 7.17874539e-03 -6.13015767e+01] [ 1.21040870e-02 -1.30918017e-04 9.99926734e-01 -3.21445755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.137628 meters 0.012828702959557585 Centerline is valid? [True, True] Translation: X:170.78, Y:-61.34, Z:-0.32 [[ 8.11529911e-01 5.84215262e-01 -1.05703114e-02 1.70779472e+02] [-5.84163348e-01 8.11598735e-01 7.78947444e-03 -6.13409622e+01] [ 1.31295812e-02 -1.46602976e-04 9.99913793e-01 -3.22325510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.197628 meters 0.012846792215078121 Centerline is valid? [True, True] Translation: X:170.83, Y:-61.38, Z:-0.32 [[ 8.11211727e-01 5.84636224e-01 -1.16627447e-02 1.70827054e+02] [-5.84573005e-01 8.11295545e-01 8.59890010e-03 -6.13809809e+01] [ 1.44891613e-02 -1.57802876e-04 9.99895014e-01 -3.22907620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25762799999998 meters 0.012932340186105047 Centerline is valid? [True, True] Translation: X:170.88, Y:-61.42, Z:-0.32 [[ 8.08889214e-01 5.87880871e-01 -9.71184883e-03 1.70875615e+02] [-5.87837226e-01 8.08947510e-01 7.16393038e-03 -6.14175587e+01] [ 1.20679136e-02 -8.58397432e-05 9.99927176e-01 -3.20462397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.31762799999998 meters 0.01293665882380564 Centerline is valid? [True, True] Translation: X:170.93, Y:-61.45, Z:-0.32 [[ 8.07900492e-01 5.89258237e-01 -8.45724436e-03 1.70925614e+02] [-5.89225180e-01 8.07944755e-01 6.24178956e-03 -6.14540921e+01] [ 1.05110121e-02 -5.95235275e-05 9.99944756e-01 -3.18052687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.377628 meters 0.013309043245761978 Centerline is valid? [True, True] Translation: X:170.98, Y:-61.49, Z:-0.32 [[ 8.06693335e-01 5.90932847e-01 -6.65084615e-03 1.70976022e+02] [-5.90912440e-01 8.06720750e-01 4.91119004e-03 -6.14907707e+01] [ 8.26755911e-03 -3.17565448e-05 9.99965823e-01 -3.17766429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.437628 meters 0.013291345584663066 Centerline is valid? [True, True] Translation: X:171.03, Y:-61.53, Z:-0.32 [[ 8.05858019e-01 5.92073843e-01 -6.43568390e-03 1.71026381e+02] [-5.92054747e-01 8.05883716e-01 4.75517596e-03 -6.15284764e+01] [ 8.00182816e-03 -2.17194766e-05 9.99967985e-01 -3.16862183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.497628 meters 0.013734249865601506 Centerline is valid? [True, True] Translation: X:171.08, Y:-61.56, Z:-0.32 [[ 8.04630748e-01 5.93731334e-01 -7.24308064e-03 1.71078142e+02] [-5.93707186e-01 8.04663348e-01 5.35474538e-03 -6.15638086e+01] [ 9.00752163e-03 -8.32375568e-06 9.99959431e-01 -3.18125616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.557628 meters 0.013922084410803932 Centerline is valid? [True, True] Translation: X:171.13, Y:-61.60, Z:-0.32 [[ 8.03641109e-01 5.95068487e-01 -7.38001581e-03 1.71129256e+02] [-5.95043444e-01 8.03674994e-01 5.45927571e-03 -6.15999755e+01] [ 9.17977710e-03 4.13163672e-06 9.99957865e-01 -3.16969838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.617628 meters 0.014397225839356471 Centerline is valid? [True, True] Translation: X:171.18, Y:-61.64, Z:-0.32 [[ 8.03231558e-01 5.95622036e-01 -7.31125215e-03 1.71179108e+02] [-5.95597454e-01 8.03264832e-01 5.41136852e-03 -6.16371692e+01] [ 9.09600207e-03 7.98119646e-06 9.99958630e-01 -3.17669159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.677628 meters 0.014300144042210724 Centerline is valid? [True, True] Translation: X:171.23, Y:-61.68, Z:-0.32 [[ 8.03535568e-01 5.95204614e-01 -7.87771110e-03 1.71228709e+02] [-5.95176022e-01 8.03574183e-01 5.83405137e-03 -6.16752667e+01] [ 9.80277956e-03 7.56972353e-07 9.99951952e-01 -3.16903911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.737628 meters 0.01434109822707208 Centerline is valid? [True, True] Translation: X:171.28, Y:-61.71, Z:-0.32 [[ 8.04875728e-01 5.93376051e-01 -8.94010557e-03 1.71277790e+02] [-5.93339077e-01 8.04925376e-01 6.62407837e-03 -6.17139524e+01] [ 1.11266873e-02 -2.70459142e-05 9.99938096e-01 -3.18845571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.797628 meters 0.014499864623078397 Centerline is valid? [True, True] Translation: X:171.33, Y:-61.75, Z:-0.32 [[ 8.06186439e-01 5.91601915e-01 -8.40238094e-03 1.71325822e+02] [-5.91569122e-01 8.06230223e-01 6.22909129e-03 -6.17526743e+01] [ 1.04593958e-02 -5.12198075e-05 9.99945298e-01 -3.19525606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.857628 meters 0.01492674646128353 Centerline is valid? [True, True] Translation: X:171.37, Y:-61.79, Z:-0.32 [[ 8.08215414e-01 5.88850089e-01 -6.58923705e-03 1.71373948e+02] [-5.88829806e-01 8.08242270e-01 4.88787867e-03 -6.17931279e+01] [ 8.20392770e-03 -7.05197048e-05 9.99966345e-01 -3.18190381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.917628 meters 0.01511072488207339 Centerline is valid? [True, True] Translation: X:171.42, Y:-61.83, Z:-0.32 [[ 8.09090824e-01 5.87656151e-01 -5.68211293e-03 1.71424344e+02] [-5.87641022e-01 8.09110773e-01 4.21749787e-03 -6.18307899e+01] [ 7.07589735e-03 -7.32961765e-05 9.99974963e-01 -3.18426588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97762799999998 meters 0.01506141305801781 Centerline is valid? [True, True] Translation: X:171.47, Y:-61.87, Z:-0.32 [[ 8.10240838e-01 5.86076837e-01 -4.87085446e-03 1.71474673e+02] [-5.86065679e-01 8.10255475e-01 3.61723192e-03 -6.18678337e+01] [ 6.06661233e-03 -7.61883940e-05 9.99981595e-01 -3.18134034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03762799999998 meters 0.015150085329695999 Centerline is valid? [True, True] Translation: X:171.52, Y:-61.91, Z:-0.32 [[ 8.10734248e-01 5.85399751e-01 -4.13654870e-03 1.71524873e+02] [-5.85391685e-01 8.10744797e-01 3.07388542e-03 -6.19055198e+01] [ 5.15313710e-03 -7.06029725e-05 9.99986720e-01 -3.17019014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.097628 meters 0.015621518692414427 Centerline is valid? [True, True] Translation: X:171.58, Y:-61.94, Z:-0.32 [[ 8.10545070e-01 5.85661855e-01 -4.10870278e-03 1.71575302e+02] [-5.85653892e-01 8.10555480e-01 3.05481866e-03 -6.19421306e+01] [ 5.11942232e-03 -6.97904220e-05 9.99986893e-01 -3.18474546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.157628 meters 0.015792397379296868 Centerline is valid? [True, True] Translation: X:171.63, Y:-61.98, Z:-0.32 [[ 8.09868022e-01 5.86595011e-01 -4.48118416e-03 1.71626974e+02] [-5.86585542e-01 8.09880416e-01 3.33367084e-03 -6.19785337e+01] [ 5.58473798e-03 -7.12355704e-05 9.99984403e-01 -3.19797642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.217628 meters 0.015672237655067454 Centerline is valid? [True, True] Translation: X:171.68, Y:-62.01, Z:-0.32 [[ 8.09035171e-01 5.87738570e-01 -5.04627760e-03 1.71678063e+02] [-5.87726572e-01 8.09050906e-01 3.75621085e-03 -6.20147165e+01] [ 6.29036546e-03 -7.30752502e-05 9.99980213e-01 -3.19382683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.277628 meters 0.015656412690059785 Centerline is valid? [True, True] Translation: X:171.73, Y:-62.05, Z:-0.32 [[ 8.08759383e-01 5.88113844e-01 -5.51066450e-03 1.71728461e+02] [-5.88099528e-01 8.08778153e-01 4.10421503e-03 -6.20518092e+01] [ 6.87065073e-03 -7.85032262e-05 9.99976394e-01 -3.19408094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.337628 meters 0.015160421574365255 Centerline is valid? [True, True] Translation: X:171.78, Y:-62.09, Z:-0.32 [[ 8.07677337e-01 5.89607618e-01 -4.49179099e-03 1.71780267e+02] [-5.89598120e-01 8.07689825e-01 3.34717056e-03 -6.20855058e+01] [ 5.60149114e-03 -5.50822856e-05 9.99984310e-01 -3.18135325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.397628 meters 0.014996970869129685 Centerline is valid? [True, True] Translation: X:171.83, Y:-62.12, Z:-0.32 [[ 8.06841485e-01 5.90754395e-01 -4.00778137e-03 1.71829930e+02] [-5.90746841e-01 8.06851438e-01 2.98793322e-03 -6.21204669e+01] [ 4.99881885e-03 -4.32042898e-05 9.99987505e-01 -3.17602525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.457628 meters 0.014808130721623597 Centerline is valid? [True, True] Translation: X:171.88, Y:-62.16, Z:-0.32 [[ 8.06192191e-01 5.91645604e-01 -3.10325782e-03 1.71882036e+02] [-5.91641079e-01 8.06198163e-01 2.31411073e-03 -6.21553571e+01] [ 3.87097420e-03 -2.96031940e-05 9.99992507e-01 -3.17346136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.517628 meters 0.014898938718418374 Centerline is valid? [True, True] Translation: X:171.93, Y:-62.19, Z:-0.32 [[ 8.05922687e-01 5.92009576e-01 -3.64474391e-03 1.71933526e+02] [-5.92003330e-01 8.05930928e-01 2.71970509e-03 -6.21922856e+01] [ 4.54750330e-03 -3.41715089e-05 9.99989659e-01 -3.17890919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.577628 meters 0.015111391141784749 Centerline is valid? [True, True] Translation: X:171.98, Y:-62.23, Z:-0.32 [[ 8.07153612e-01 5.90322233e-01 -4.76528790e-03 1.71982988e+02] [-5.90311517e-01 8.07167677e-01 3.55729808e-03 -6.22289168e+01] [ 5.94633851e-03 -5.82816689e-05 9.99982319e-01 -3.18277429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.637628 meters 0.015639441583406678 Centerline is valid? [True, True] Translation: X:172.03, Y:-62.27, Z:-0.32 [[ 8.08775518e-01 5.88104932e-01 -3.84064828e-03 1.72031453e+02] [-5.88097939e-01 8.08784635e-01 2.86863669e-03 -6.22674149e+01] [ 4.79331670e-03 -6.14057886e-05 9.99988510e-01 -3.17211379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.697628 meters 0.01646543467687538 Centerline is valid? [True, True] Translation: X:172.08, Y:-62.31, Z:-0.32 [[ 8.11642529e-01 5.84150648e-01 -2.10396950e-03 1.72078475e+02] [-5.84148533e-01 8.11645254e-01 1.57242856e-03 -6.23074442e+01] [ 2.62621202e-03 -4.72191983e-05 9.99996550e-01 -3.15658896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75762799999998 meters 0.016905119218331408 Centerline is valid? [True, True] Translation: X:172.13, Y:-62.35, Z:-0.32 [[ 8.12564857e-01 5.82860085e-01 -3.53193848e-03 1.72126142e+02] [-5.82854110e-01 8.12572528e-01 2.64055567e-03 -6.23464901e+01] [ 4.40903068e-03 -8.70178770e-05 9.99990276e-01 -3.16666714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.81762799999998 meters 0.01636225109226251 Centerline is valid? [True, True] Translation: X:172.18, Y:-62.38, Z:-0.32 [[ 8.11429669e-01 5.84421663e-01 -5.76297483e-03 1.72175627e+02] [-5.84405781e-01 8.11450123e-01 4.31046627e-03 -6.23844865e+01] [ 7.19549650e-03 -1.29724413e-04 9.99974104e-01 -3.18354957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.877628 meters 0.016143661472675045 Centerline is valid? [True, True] Translation: X:172.22, Y:-62.42, Z:-0.32 [[ 8.10571454e-01 5.85602466e-01 -6.60836955e-03 1.72224997e+02] [-5.85581601e-01 8.10598380e-01 4.94522325e-03 -6.24215244e+01] [ 8.25266857e-03 -1.38717175e-04 9.99965937e-01 -3.18758019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.937628 meters 0.01582739146866982 Centerline is valid? [True, True] Translation: X:172.28, Y:-62.46, Z:-0.32 [[ 8.09639127e-01 5.86875947e-01 -7.81712017e-03 1.72276110e+02] [-5.86846778e-01 8.09676849e-01 5.85314563e-03 -6.24586536e+01] [ 9.76441161e-03 -1.51483937e-04 9.99952316e-01 -3.20016510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.997628 meters 0.01591004477134035 Centerline is valid? [True, True] Translation: X:172.33, Y:-62.50, Z:-0.32 [[ 8.08936727e-01 5.87838309e-01 -8.21548257e-03 1.72325157e+02] [-5.87806108e-01 8.08978430e-01 6.15464858e-03 -6.24965274e+01] [ 1.02640864e-02 -1.49610447e-04 9.99947312e-01 -3.19418734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.057628 meters 0.01598444974843634 Centerline is valid? [True, True] Translation: X:172.37, Y:-62.53, Z:-0.32 [[ 8.09098486e-01 5.87635266e-01 -6.66594661e-03 1.72372925e+02] [-5.87614041e-01 8.09125935e-01 4.99609419e-03 -6.25347329e+01] [ 8.32947142e-03 -1.25328417e-04 9.99965301e-01 -3.17529442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.117628 meters 0.015344519798093249 Centerline is valid? [True, True] Translation: X:172.42, Y:-62.57, Z:-0.31 [[ 8.09668030e-01 5.86857034e-01 -6.04171474e-03 1.72422879e+02] [-5.86839555e-01 8.09690562e-01 4.53107596e-03 -6.25728703e+01] [ 7.55101320e-03 -1.23150161e-04 9.99971483e-01 -3.14716330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.177628 meters 0.01581240568189704 Centerline is valid? [True, True] Translation: X:172.47, Y:-62.61, Z:-0.31 [[ 8.10739224e-01 5.85385253e-01 -5.10059265e-03 1.72470893e+02] [-5.85372761e-01 8.10755260e-01 3.82610139e-03 -6.26107102e+01] [ 6.37507565e-03 -1.16222472e-04 9.99979672e-01 -3.14663635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.237628 meters 0.015412902140736253 Centerline is valid? [True, True] Translation: X:172.52, Y:-62.65, Z:-0.31 [[ 8.10752957e-01 5.85372068e-01 -4.38006218e-03 1.72521999e+02] [-5.85362843e-01 8.10764782e-01 3.28788300e-03 -6.26478384e+01] [ 5.47583503e-03 -1.01735208e-04 9.99985002e-01 -3.13438648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.297628 meters 0.014924849534714188 Centerline is valid? [True, True] Translation: X:172.57, Y:-62.68, Z:-0.31 [[ 8.09637247e-01 5.86918950e-01 -3.69775145e-03 1.72572418e+02] [-5.86912385e-01 8.09645688e-01 2.77714839e-03 -6.26847637e+01] [ 4.62382953e-03 -7.82266541e-05 9.99989307e-01 -3.12096887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.357628 meters 0.01475136508181881 Centerline is valid? [True, True] Translation: X:172.62, Y:-62.72, Z:-0.31 [[ 8.08512234e-01 5.88463459e-01 -4.32727513e-03 1.72621268e+02] [-5.88454483e-01 8.08523809e-01 3.25133513e-03 -6.27207606e+01] [ 5.41199689e-03 -8.23397785e-05 9.99985352e-01 -3.12530642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.417628 meters 0.014165180807831367 Centerline is valid? [True, True] Translation: X:172.67, Y:-62.76, Z:-0.31 [[ 8.06361082e-01 5.91396171e-01 -5.68983070e-03 1.72672205e+02] [-5.91380710e-01 8.06381152e-01 4.27713517e-03 -6.27556689e+01] [ 7.11765360e-03 -8.40592235e-05 9.99974666e-01 -3.14443130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47762799999998 meters 0.013563321985486662 Centerline is valid? [True, True] Translation: X:172.72, Y:-62.79, Z:-0.32 [[ 8.04408377e-01 5.94036426e-01 -6.92017004e-03 1.72723708e+02] [-5.94013630e-01 8.04438139e-01 5.20459745e-03 -6.27905010e+01] [ 8.65856917e-03 -7.59464565e-05 9.99962511e-01 -3.15080970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53762799999998 meters 0.01344103980955486 Centerline is valid? [True, True] Translation: X:172.77, Y:-62.83, Z:-0.32 [[ 8.02995264e-01 5.95943996e-01 -7.02569420e-03 1.72774747e+02] [-5.95920549e-01 8.03025996e-01 5.28663804e-03 -6.28264503e+01] [ 8.79235528e-03 -5.83897577e-05 9.99961345e-01 -3.16061152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.597628 meters 0.013217095480868071 Centerline is valid? [True, True] Translation: X:172.83, Y:-62.86, Z:-0.32 [[ 8.01990392e-01 5.97305380e-01 -6.13956389e-03 1.72825428e+02] [-5.97287497e-01 8.02013891e-01 4.62227112e-03 -6.28618837e+01] [ 7.68492293e-03 -3.99322773e-05 9.99970470e-01 -3.15735707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.657628 meters 0.013263530557299298 Centerline is valid? [True, True] Translation: X:172.88, Y:-62.90, Z:-0.31 [[ 8.02308368e-01 5.96885595e-01 -5.37299821e-03 1.72875063e+02] [-5.96871872e-01 8.02326358e-01 4.04765260e-03 -6.29001272e+01] [ 6.72688362e-03 -4.04740556e-05 9.99977373e-01 -3.14361169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.717628 meters 0.01384010746812835 Centerline is valid? [True, True] Translation: X:172.92, Y:-62.94, Z:-0.31 [[ 8.04355237e-01 5.94134366e-01 -4.12403428e-03 1.72921809e+02] [-5.94126237e-01 8.04365808e-01 3.10823476e-03 -6.29389481e+01] [ 5.16394126e-03 -4.99279381e-05 9.99986666e-01 -3.13947289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.777628 meters 0.014277322269361058 Centerline is valid? [True, True] Translation: X:172.97, Y:-62.98, Z:-0.31 [[ 8.05884155e-01 5.92054555e-01 -4.70462477e-03 1.72970504e+02] [-5.92043931e-01 8.05897884e-01 3.54755702e-03 -6.29780513e+01] [ 5.89179444e-03 -7.35754477e-05 9.99982641e-01 -3.13957703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.837628 meters 0.015087273548990296 Centerline is valid? [True, True] Translation: X:173.02, Y:-63.02, Z:-0.31 [[ 8.07624415e-01 5.89671764e-01 -5.47858094e-03 1.73017869e+02] [-5.89657290e-01 8.07642990e-01 4.13293401e-03 -6.30175299e+01] [ 6.86181198e-03 -1.07373218e-04 9.99976452e-01 -3.14359332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.897628 meters 0.01620232282529558 Centerline is valid? [True, True] Translation: X:173.07, Y:-63.06, Z:-0.32 [[ 8.10424542e-01 5.85801258e-01 -6.99635723e-03 1.73066008e+02] [-5.85777505e-01 8.10454721e-01 5.27822620e-03 -6.30572176e+01] [ 8.76222229e-03 -1.79295357e-04 9.99961595e-01 -3.16309678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.957628 meters 0.01827416706532078 Centerline is valid? [True, True] Translation: X:173.11, Y:-63.10, Z:-0.32 [[ 8.12579305e-01 5.82807379e-01 -7.10161605e-03 1.73111748e+02] [-5.82782768e-01 8.12610308e-01 5.36039774e-03 -6.30979588e+01] [ 8.89492576e-03 -2.17048807e-04 9.99960416e-01 -3.16969948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.017628 meters 0.01707478831852546 Centerline is valid? [True, True] Translation: X:173.16, Y:-63.13, Z:-0.31 [[ 8.13189390e-01 5.81971727e-01 -5.65027415e-03 1.73161765e+02] [-5.81956111e-01 8.13208999e-01 4.26720663e-03 -6.31341947e+01] [ 7.07824740e-03 -1.81835586e-04 9.99974932e-01 -3.14647020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.077628 meters 0.01687742683970679 Centerline is valid? [True, True] Translation: X:173.21, Y:-63.17, Z:-0.31 [[ 8.11851419e-01 5.83849334e-01 -4.15075196e-03 1.73211217e+02] [-5.83840923e-01 8.11862020e-01 3.13627823e-03 -6.31699244e+01] [ 5.20095182e-03 -1.22813075e-04 9.99986467e-01 -3.13124701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.137628 meters 0.016104377030556505 Centerline is valid? [True, True] Translation: X:173.26, Y:-63.20, Z:-0.31 [[ 8.09651026e-01 5.86897909e-01 -4.00749918e-03 1.73262762e+02] [-5.86890106e-01 8.09660938e-01 3.02815789e-03 -6.32048081e+01] [ 5.02193508e-03 -9.97895281e-05 9.99987385e-01 -3.13257616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.197628 meters 0.014857268632706384 Centerline is valid? [True, True] Translation: X:173.31, Y:-63.24, Z:-0.31 [[ 8.06394247e-01 5.91361659e-01 -4.43927974e-03 1.73313695e+02] [-5.91352146e-01 8.06406462e-01 3.35516048e-03 -6.32373632e+01] [ 5.56397713e-03 -8.04045065e-05 9.99984518e-01 -3.14100005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.25762799999998 meters 0.014178320971715206 Centerline is valid? [True, True] Translation: X:173.37, Y:-63.27, Z:-0.31 [[ 8.04109067e-01 5.94463217e-01 -4.70023920e-03 1.73365272e+02] [-5.94452595e-01 8.04122801e-01 3.55435254e-03 -6.32724864e+01] [ 5.89250136e-03 -6.40177162e-05 9.99982637e-01 -3.14777905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.31762799999998 meters 0.013324131520611782 Centerline is valid? [True, True] Translation: X:173.42, Y:-63.31, Z:-0.31 [[ 8.01454377e-01 5.98040631e-01 -4.27606237e-03 1.73417503e+02] [-5.98031882e-01 8.01465784e-01 3.23515170e-03 -6.33062325e+01] [ 5.36186984e-03 -3.56048629e-05 9.99985624e-01 -3.14864172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.377628 meters 0.013048801087870923 Centerline is valid? [True, True] Translation: X:173.47, Y:-63.34, Z:-0.31 [[ 7.99949440e-01 6.00060990e-01 -2.77526688e-03 1.73468089e+02] [-6.00057313e-01 7.99954254e-01 2.10083163e-03 -6.33428394e+01] [ 3.48071365e-03 -1.52398981e-05 9.99993942e-01 -3.12696733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.437628 meters 0.01280181875911188 Centerline is valid? [True, True] Translation: X:173.52, Y:-63.38, Z:-0.31 [[ 7.99335246e-01 6.00883222e-01 -1.58678267e-03 1.73516929e+02] [-6.00882021e-01 7.99336821e-01 1.20147459e-03 -6.33798895e+01] [ 1.99031974e-03 -6.91180768e-06 9.99998019e-01 -3.11100941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.497628 meters 0.012813096101274311 Centerline is valid? [True, True] Translation: X:173.57, Y:-63.42, Z:-0.31 [[ 7.99623974e-01 6.00499579e-01 -1.32506853e-03 1.73567049e+02] [-6.00498740e-01 7.99625072e-01 1.00415820e-03 -6.34185510e+01] [ 1.66255459e-03 -7.24699085e-06 9.99998618e-01 -3.11023505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.557628 meters 0.01322293377568689 Centerline is valid? [True, True] Translation: X:173.61, Y:-63.46, Z:-0.31 [[ 8.00893322e-01 5.98806505e-01 -8.10723189e-04 1.73614460e+02] [-5.98806189e-01 8.00893732e-01 6.14462102e-04 -6.34568231e+01] [ 1.01724702e-03 -6.65253037e-06 9.99999483e-01 -3.11747413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.617628 meters 0.01358118211505503 Centerline is valid? [True, True] Translation: X:173.66, Y:-63.50, Z:-0.31 [[ 8.01669196e-01 5.97765588e-01 -1.67390509e-03 1.73663211e+02] [-5.97764240e-01 8.01670944e-01 1.26918135e-03 -6.34959589e+01] [ 2.10059401e-03 -1.68629899e-05 9.99997794e-01 -3.13477058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.677628 meters 0.014522157968430129 Centerline is valid? [True, True] Translation: X:173.71, Y:-63.54, Z:-0.32 [[ 8.03045616e-01 5.95903756e-01 -4.05619753e-03 1.73710708e+02] [-5.95895819e-01 8.03055858e-01 3.07605987e-03 -6.35354078e+01] [ 5.09038882e-03 -5.31452385e-05 9.99987042e-01 -3.17058263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.737628 meters 0.014896994107324311 Centerline is valid? [True, True] Translation: X:173.76, Y:-63.57, Z:-0.32 [[ 8.03318369e-01 5.95529605e-01 -4.90795251e-03 1.73759412e+02] [-5.95517968e-01 8.03333358e-01 3.72358552e-03 -6.35738159e+01] [ 6.16022739e-03 -6.84507351e-05 9.99981023e-01 -3.18295138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.797628 meters 0.01683899536788669 Centerline is valid? [True, True] Translation: X:173.80, Y:-63.61, Z:-0.32 [[ 8.05514558e-01 5.92538710e-01 -6.64630573e-03 1.73804423e+02] [-5.92517269e-01 8.05541968e-01 5.04222177e-03 -6.36149746e+01] [ 8.34158978e-03 -1.23532118e-04 9.99965201e-01 -3.20457225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.857628 meters 0.018520838028421045 Centerline is valid? [True, True] Translation: X:173.85, Y:-63.66, Z:-0.32 [[ 8.08036930e-01 5.89093004e-01 -6.76407431e-03 1.73850564e+02] [-5.89070670e-01 8.08065224e-01 5.13226986e-03 -6.36568563e+01] [ 8.48919750e-03 -1.62545797e-04 9.99963953e-01 -3.19764227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.917628 meters 0.024174651509295108 Centerline is valid? [True, True] Translation: X:173.89, Y:-63.70, Z:-0.32 [[ 8.13924416e-01 5.80949089e-01 -5.01994497e-03 1.73891914e+02] [-5.80936629e-01 8.13939876e-01 3.80944296e-03 -6.37026041e+01] [ 6.29902580e-03 -1.84328728e-04 9.99980144e-01 -3.17670892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97762799999998 meters 0.02451615601535953 Centerline is valid? [True, True] Translation: X:173.94, Y:-63.74, Z:-0.31 [[ 8.18864898e-01 5.73976430e-01 -3.36697437e-03 1.73938866e+02] [-5.73970763e-01 8.18871805e-01 2.55556340e-03 -6.37415618e+01] [ 4.22395354e-03 -1.60116316e-04 9.99991066e-01 -3.14318110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03762799999998 meters 0.03178809638553047 Centerline is valid? [True, True] Translation: X:173.98, Y:-63.79, Z:-0.31 [[ 8.26209360e-01 5.63360539e-01 -1.73108295e-03 1.73979292e+02] [-5.63359017e-01 8.26211166e-01 1.31418087e-03 -6.37882770e+01] [ 2.17059770e-03 -1.10567345e-04 9.99997638e-01 -3.11676043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.097628 meters 0.03722414531924046 Centerline is valid? [True, True] Translation: X:174.02, Y:-63.83, Z:-0.31 [[ 8.30707740e-01 5.56708141e-01 -8.33975256e-04 1.74023837e+02] [-5.56707784e-01 8.30708157e-01 6.33460136e-04 -6.38299040e+01] [ 1.04544246e-03 -6.19397217e-05 9.99999452e-01 -3.10454254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.157628 meters 0.03863289787777034 Centerline is valid? [True, True] Translation: X:174.07, Y:-63.87, Z:-0.31 [[ 8.30678486e-01 5.56748048e-01 -2.20533683e-03 1.74074213e+02] [-5.56745551e-01 8.30681397e-01 1.67562085e-03 -6.38657055e+01] [ 2.76483091e-03 -1.64090721e-04 9.99996164e-01 -3.12769765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.217628 meters 0.032223394339296295 Centerline is valid? [True, True] Translation: X:174.13, Y:-63.89, Z:-0.32 [[ 8.28826705e-01 5.59485401e-01 -4.73068808e-03 1.74131518e+02] [-5.59473950e-01 8.28840138e-01 3.59507683e-03 -6.38912975e+01] [ 5.93237717e-03 -3.32998936e-04 9.99982348e-01 -3.17563946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.277628 meters 0.020685914046726293 Centerline is valid? [True, True] Translation: X:174.19, Y:-63.91, Z:-0.31 [[ 8.23153770e-01 5.67797581e-01 -4.87630816e-03 1.74193476e+02] [-5.67785547e-01 8.23168164e-01 3.70759203e-03 -6.39116164e+01] [ 6.11918342e-03 -2.83221065e-04 9.99981238e-01 -3.12951135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.337628 meters 0.02694972899993727 Centerline is valid? [True, True] Translation: X:174.24, Y:-63.95, Z:-0.31 [[ 8.19722968e-01 5.72749626e-01 -3.48172804e-03 1.74239423e+02] [-5.72743530e-01 8.19730343e-01 2.64839005e-03 -6.39508800e+01] [ 4.37094253e-03 -1.76808944e-04 9.99990432e-01 -3.13412910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.397628 meters 0.017349211359820878 Centerline is valid? [True, True] Translation: X:174.30, Y:-63.97, Z:-0.31 [[ 8.15613167e-01 5.78591433e-01 -2.66736984e-03 1.74301444e+02] [-5.78587886e-01 8.15617521e-01 2.02911627e-03 -6.39705585e+01] [ 3.34958287e-03 -1.11666067e-04 9.99994384e-01 -3.10787191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.457628 meters 0.017082731927702998 Centerline is valid? [True, True] Translation: X:174.35, Y:-64.00, Z:-0.31 [[ 8.13915887e-01 5.80980238e-01 -1.70065897e-03 1.74353577e+02] [-5.80978801e-01 8.13917661e-01 1.29387501e-03 -6.40038884e+01] [ 2.13591218e-03 -6.50586211e-05 9.99997717e-01 -3.10387571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.517628 meters 0.017913937501777857 Centerline is valid? [True, True] Translation: X:174.41, Y:-64.04, Z:-0.31 [[ 8.14137057e-01 5.80671911e-01 -9.91624681e-04 1.74405618e+02] [-5.80671421e-01 8.14137660e-01 7.55202220e-04 -6.40365756e+01] [ 1.24584371e-03 -3.90299996e-05 9.99999223e-01 -3.10443149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.577628 meters 0.018373416544074483 Centerline is valid? [True, True] Translation: X:174.46, Y:-64.07, Z:-0.31 [[ 8.15642166e-01 5.78553824e-01 -1.82443233e-03 1.74456495e+02] [-5.78552161e-01 8.15644203e-01 1.38971345e-03 -6.40714525e+01] [ 2.29211168e-03 -7.79796192e-05 9.99997370e-01 -3.11204323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.637628 meters 0.01938328512713703 Centerline is valid? [True, True] Translation: X:174.51, Y:-64.11, Z:-0.31 [[ 8.18525954e-01 5.74463629e-01 -2.60790694e-03 1.74507941e+02] [-5.74460210e-01 8.18530099e-01 1.98617838e-03 -6.41059653e+01] [ 3.27563756e-03 -1.27599785e-04 9.99994627e-01 -3.13078787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.697628 meters 0.021560761725111004 Centerline is valid? [True, True] Translation: X:174.56, Y:-64.14, Z:-0.31 [[ 8.20242173e-01 5.72009033e-01 -2.90597979e-03 1.74555567e+02] [-5.72004769e-01 8.20247306e-01 2.21380743e-03 -6.41429946e+01] [ 3.64993994e-03 -1.53623915e-04 9.99993327e-01 -3.13840990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75762799999998 meters 0.021856741139618812 Centerline is valid? [True, True] Translation: X:174.61, Y:-64.18, Z:-0.31 [[ 8.21553120e-01 5.70124704e-01 -2.87975234e-03 1.74606514e+02] [-5.70120505e-01 8.21558152e-01 2.19405883e-03 -6.41788500e+01] [ 3.61677115e-03 -1.60730015e-04 9.99993447e-01 -3.14069552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.81762799999998 meters 0.02213243843741475 Centerline is valid? [True, True] Translation: X:174.66, Y:-64.21, Z:-0.31 [[ 8.23950887e-01 5.66653987e-01 -2.86264034e-03 1.74657523e+02] [-5.66649815e-01 8.23955842e-01 2.18137422e-03 -6.42134260e+01] [ 3.59477363e-03 -1.75230605e-04 9.99993523e-01 -3.13298114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.877628 meters 0.024448195224901773 Centerline is valid? [True, True] Translation: X:174.71, Y:-64.25, Z:-0.32 [[ 8.26445929e-01 5.63009668e-01 -2.69080645e-03 1.74707428e+02] [-5.63005959e-01 8.26450289e-01 2.05165945e-03 -6.42493859e+01] [ 3.37892187e-03 -1.80645540e-04 9.99994275e-01 -3.16154032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.937628 meters 0.025208191161228417 Centerline is valid? [True, True] Translation: X:174.76, Y:-64.29, Z:-0.31 [[ 8.29652008e-01 5.58273690e-01 -2.83416240e-03 1.74757000e+02] [-5.58269548e-01 8.29656822e-01 2.16076992e-03 -6.42859329e+01] [ 3.55768317e-03 -2.10460533e-04 9.99993649e-01 -3.13898290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.997628 meters 0.02770667352493305 Centerline is valid? [True, True] Translation: X:174.81, Y:-64.32, Z:-0.31 [[ 8.31591084e-01 5.55378369e-01 -3.33719032e-03 1.74807120e+02] [-5.55372600e-01 8.31597738e-01 2.54488342e-03 -6.43203835e+01] [ 4.18857312e-03 -2.62918297e-04 9.99991193e-01 -3.14497582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.057628 meters 0.02719080003217595 Centerline is valid? [True, True] Translation: X:174.86, Y:-64.35, Z:-0.31 [[ 8.30609201e-01 5.56847379e-01 -3.05787460e-03 1.74859669e+02] [-5.56842545e-01 8.30614797e-01 2.33200432e-03 -6.43529711e+01] [ 3.83848638e-03 -2.34229574e-04 9.99992606e-01 -3.14620831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.117628 meters 0.022997952401858025 Centerline is valid? [True, True] Translation: X:174.92, Y:-64.38, Z:-0.31 [[ 8.27037149e-01 5.62143354e-01 -2.09849801e-03 1.74917440e+02] [-5.62141092e-01 8.27039799e-01 1.60127506e-03 -6.43783401e+01] [ 2.63568751e-03 -1.44661996e-04 9.99996516e-01 -3.13465807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.177628 meters 0.023184062321390954 Centerline is valid? [True, True] Translation: X:174.97, Y:-64.41, Z:-0.32 [[ 8.23494910e-01 5.67319311e-01 -2.22114771e-03 1.74971664e+02] [-5.67316795e-01 8.23497894e-01 1.69480461e-03 -6.44088718e+01] [ 2.79060584e-03 -1.35568572e-04 9.99996097e-01 -3.16066743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.237628 meters 0.019135879097669624 Centerline is valid? [True, True] Translation: X:175.03, Y:-64.44, Z:-0.31 [[ 8.16870398e-01 5.76820199e-01 -1.09998614e-03 1.75027367e+02] [-5.76819591e-01 8.16871137e-01 8.39316579e-04 -6.44357878e+01] [ 1.38268168e-03 -5.11193142e-05 9.99999043e-01 -3.14331099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.297628 meters 0.017263578973073082 Centerline is valid? [True, True] Translation: X:175.08, Y:-64.47, Z:-0.31 [[ 8.12636485e-01 5.82769461e-01 -1.30290874e-03 1.75079696e+02] [-5.82768615e-01 8.12637528e-01 9.94160419e-04 -6.44672094e+01] [ 1.63815887e-03 -4.85967049e-05 9.99998657e-01 -3.14286690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.357628 meters 0.014152229162178608 Centerline is valid? [True, True] Translation: X:175.13, Y:-64.50, Z:-0.31 [[ 8.07717724e-01 5.89568650e-01 -9.41356348e-04 1.75134351e+02] [-5.89568213e-01 8.07718272e-01 7.18387164e-04 -6.44968409e+01] [ 1.18388927e-03 -2.52602649e-05 9.99999299e-01 -3.14249009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.417628 meters 0.013918724856415958 Centerline is valid? [True, True] Translation: X:175.18, Y:-64.53, Z:-0.31 [[ 8.05746334e-01 5.92260789e-01 -4.36051886e-05 1.75183816e+02] [-5.92260788e-01 8.05746336e-01 3.35822275e-05 -6.45325285e+01] [ 5.50241574e-05 -1.23311336e-06 9.99999998e-01 -3.14171054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47762799999998 meters 0.013151892730239615 Centerline is valid? [True, True] Translation: X:175.23, Y:-64.57, Z:-0.32 [[ 8.05269710e-01 5.92908633e-01 2.17500240e-04 1.75234592e+02] [-5.92908610e-01 8.05269739e-01 -1.65570234e-04 -6.45676692e+01] [-2.73314383e-04 4.37092935e-06 9.99999963e-01 -3.15333990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53762799999998 meters 0.014467761337685193 Centerline is valid? [True, True] Translation: X:175.28, Y:-64.61, Z:-0.32 [[ 8.07284337e-01 5.90161473e-01 -1.19760273e-03 1.75280206e+02] [-5.90160764e-01 8.07285225e-01 9.15530029e-04 -6.46090884e+01] [ 1.50711754e-03 -3.23149119e-05 9.99998864e-01 -3.17173074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.597628 meters 0.015372151521015955 Centerline is valid? [True, True] Translation: X:175.33, Y:-64.65, Z:-0.32 [[ 8.10230557e-01 5.86110125e-01 -1.16848119e-03 1.75327401e+02] [-5.86109446e-01 8.10231399e-01 8.93020092e-04 -6.46492653e+01] [ 1.47014827e-03 -3.86943055e-05 9.99998919e-01 -3.17767159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.657628 meters 0.016409281423222885 Centerline is valid? [True, True] Translation: X:175.38, Y:-64.69, Z:-0.32 [[ 8.11983218e-01 5.83679892e-01 -1.01875908e-03 1.75375579e+02] [-5.83679374e-01 8.11983856e-01 7.78750775e-04 -6.46890948e+01] [ 1.28175710e-03 -3.77038968e-05 9.99999178e-01 -3.18325878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.717628 meters 0.019530014708142363 Centerline is valid? [True, True] Translation: X:175.42, Y:-64.73, Z:-0.32 [[ 8.17508315e-01 5.75914825e-01 -1.50636432e-03 1.75418084e+02] [-5.75913679e-01 8.17509700e-01 1.15141853e-03 -6.47340650e+01] [ 1.89458644e-03 -7.37584026e-05 9.99998203e-01 -3.18962976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.777628 meters 0.02140281646986844 Centerline is valid? [True, True] Translation: X:175.46, Y:-64.78, Z:-0.32 [[ 8.20504117e-01 5.71634902e-01 -2.55600435e-03 1.75462422e+02] [-5.71631577e-01 8.20508086e-01 1.95473360e-03 -6.47761284e+01] [ 3.21461619e-03 -1.42774170e-04 9.99994823e-01 -3.19569729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.837628 meters 0.022166480155795344 Centerline is valid? [True, True] Translation: X:175.51, Y:-64.82, Z:-0.32 [[ 8.21425474e-01 5.70303326e-01 -3.78244117e-03 1.75509967e+02] [-5.70296026e-01 8.21434153e-01 2.89392933e-03 -6.48152685e+01] [ 4.75744388e-03 -2.20036108e-04 9.99988659e-01 -3.21200403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.897628 meters 0.019998429942178975 Centerline is valid? [True, True] Translation: X:175.56, Y:-64.85, Z:-0.32 [[ 8.19853551e-01 5.72561118e-01 -3.73112669e-03 1.75559938e+02] [-5.72554038e-01 8.19862015e-01 2.85462914e-03 -6.48519508e+01] [ 4.69345870e-03 -2.04106180e-04 9.99988965e-01 -3.21034338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.957628 meters 0.022191564159583507 Centerline is valid? [True, True] Translation: X:175.61, Y:-64.89, Z:-0.32 [[ 8.17832249e-01 5.75438959e-01 -4.51853468e-03 1.75605716e+02] [-5.75428619e-01 8.17844700e-01 3.45709132e-03 -6.48914251e+01] [ 5.68480467e-03 -2.27226601e-04 9.99983816e-01 -3.22216453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.017628 meters 0.021214137906240525 Centerline is valid? [True, True] Translation: X:175.65, Y:-64.93, Z:-0.32 [[ 8.15702390e-01 5.78463754e-01 -3.04906603e-03 1.75654462e+02] [-5.78459066e-01 8.15708077e-01 2.33303075e-03 -6.49286062e+01] [ 3.83672151e-03 -1.39298871e-04 9.99992630e-01 -3.20431910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.077628 meters 0.01605205504377321 Centerline is valid? [True, True] Translation: X:175.71, Y:-64.96, Z:-0.32 [[ 8.11292462e-01 5.84640000e-01 -7.81999256e-04 1.75705325e+02] [-5.84639694e-01 8.11292838e-01 5.98447047e-04 -6.49630307e+01] [ 9.84306478e-04 -2.83277725e-05 9.99999515e-01 -3.16801586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.137628 meters 0.01583420008439028 Centerline is valid? [True, True] Translation: X:175.75, Y:-65.00, Z:-0.32 [[ 8.08921831e-01 5.87916050e-01 4.36109918e-04 1.75752489e+02] [-5.87915955e-01 8.08921948e-01 -3.33682221e-04 -6.50010774e+01] [-5.48956018e-04 1.35268539e-05 9.99999849e-01 -3.15751923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.197628 meters 0.01468834529638406 Centerline is valid? [True, True] Translation: X:175.80, Y:-65.04, Z:-0.31 [[ 8.06179826e-01 5.91670037e-01 8.10211804e-04 1.75801490e+02] [-5.91669712e-01 8.06180233e-01 -6.19947214e-04 -6.50388384e+01] [-1.01998093e-03 2.04111517e-05 9.99999480e-01 -3.14698716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25762799999998 meters 0.012295107349677056 Centerline is valid? [True, True] Translation: X:175.85, Y:-65.07, Z:-0.32 [[ 8.01656774e-01 5.97784589e-01 3.59906949e-05 1.75852639e+02] [-5.97784589e-01 8.01656775e-01 -2.74340358e-05 -6.50740059e+01] [-4.52518282e-05 4.77997929e-07 9.99999999e-01 -3.16225391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.31762799999998 meters 0.011677829469551971 Centerline is valid? [True, True] Translation: X:175.90, Y:-65.11, Z:-0.32 [[ 7.98525894e-01 6.01959043e-01 -1.30676245e-03 1.75901310e+02] [-6.01958211e-01 7.98526963e-01 1.00120181e-03 -6.51116106e+01] [ 1.64616754e-03 -1.28691859e-05 9.99998645e-01 -3.18057529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.377628 meters 0.011173938278260409 Centerline is valid? [True, True] Translation: X:175.95, Y:-65.15, Z:-0.32 [[ 7.95307300e-01 6.06200476e-01 -2.69849382e-03 1.75949307e+02] [-6.06196948e-01 7.95311878e-01 2.06808694e-03 -6.51512795e+01] [ 3.39981948e-03 -8.94591934e-06 9.99994221e-01 -3.18739322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.437628 meters 0.011260359424398198 Centerline is valid? [True, True] Translation: X:175.99, Y:-65.19, Z:-0.32 [[ 7.94164180e-01 6.07697233e-01 -2.70708057e-03 1.75993514e+02] [-6.07693688e-01 7.94168794e-01 2.07587022e-03 -6.51948396e+01] [ 3.41137950e-03 -3.50599557e-06 9.99994181e-01 -3.18565432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.497628 meters 0.011289624228191197 Centerline is valid? [True, True] Translation: X:176.04, Y:-65.24, Z:-0.32 [[ 7.94332797e-01 6.07477248e-01 -2.60765787e-03 1.76039942e+02] [-6.07473953e-01 7.94337078e-01 2.00085843e-03 -6.52383639e+01] [ 3.28683531e-03 -5.26323739e-06 9.99994598e-01 -3.18881208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.557628 meters 0.011548648308335274 Centerline is valid? [True, True] Translation: X:176.08, Y:-65.29, Z:-0.32 [[ 7.95046615e-01 6.06542619e-01 -2.63261363e-03 1.76082394e+02] [-6.06539252e-01 7.95050974e-01 2.02118592e-03 -6.52862175e+01] [ 3.31899743e-03 -1.01535278e-05 9.99994492e-01 -3.19249658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.617628 meters 0.011596158320645837 Centerline is valid? [True, True] Translation: X:176.13, Y:-65.33, Z:-0.32 [[ 7.95348514e-01 6.06143385e-01 -3.30718979e-03 1.76126249e+02] [-6.06138062e-01 7.95355390e-01 2.54027014e-03 -6.53300442e+01] [ 4.17015917e-03 -1.57864712e-05 9.99991305e-01 -3.19337238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.677628 meters 0.011773987572270599 Centerline is valid? [True, True] Translation: X:176.17, Y:-65.38, Z:-0.32 [[ 7.95060268e-01 6.06516442e-01 -4.12006145e-03 1.76169826e+02] [-6.06508177e-01 7.95070943e-01 3.16640223e-03 -6.53768033e+01] [ 5.19621616e-03 -1.86296399e-05 9.99986499e-01 -3.18557770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.737628 meters 0.01186002528921068 Centerline is valid? [True, True] Translation: X:176.21, Y:-65.42, Z:-0.32 [[ 7.95166635e-01 6.06375979e-01 -4.26549033e-03 1.76214707e+02] [-6.06367109e-01 7.95178076e-01 3.27987347e-03 -6.54206470e+01] [ 5.38066088e-03 -2.15929156e-05 9.99985524e-01 -3.18967275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.797628 meters 0.012230007586679807 Centerline is valid? [True, True] Translation: X:176.26, Y:-65.47, Z:-0.32 [[ 7.97609771e-01 6.03146491e-01 -5.74135081e-03 1.76255888e+02] [-6.03130332e-01 7.97630432e-01 4.41547027e-03 -6.54681105e+01] [ 7.24265153e-03 -5.90394120e-05 9.99973770e-01 -3.19929800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.857628 meters 0.013282099791419495 Centerline is valid? [True, True] Translation: X:176.30, Y:-65.51, Z:-0.32 [[ 8.00872037e-01 5.98801809e-01 -6.35394987e-03 1.76298494e+02] [-5.98781859e-01 8.00897235e-01 4.88928482e-03 -6.55148544e+01] [ 8.01657348e-03 -1.11061587e-04 9.99967861e-01 -3.20922341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.917628 meters 0.015947199374695128 Centerline is valid? [True, True] Translation: X:176.34, Y:-65.57, Z:-0.32 [[ 8.06415912e-01 5.91323231e-01 -5.49672669e-03 1.76335197e+02] [-5.91308116e-01 8.06434629e-01 4.23095553e-03 -6.55667553e+01] [ 6.93461304e-03 -1.61650756e-04 9.99975942e-01 -3.18984489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.97762799999998 meters 0.016297466872389064 Centerline is valid? [True, True] Translation: X:176.38, Y:-65.61, Z:-0.32 [[ 8.05986946e-01 5.91928181e-01 -2.46390392e-03 1.76381674e+02] [-5.91925144e-01 8.05990709e-01 1.89769639e-03 -6.56063136e+01] [ 3.10918364e-03 -7.10718297e-05 9.99995164e-01 -3.15372951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.03762799999998 meters 0.017474392275209402 Centerline is valid? [True, True] Translation: X:176.43, Y:-65.64, Z:-0.32 [[ 8.04479794e-01 5.93974266e-01 -2.61385992e-03 1.76431824e+02] [-5.93970855e-01 8.04484037e-01 2.01418245e-03 -6.56427623e+01] [ 3.29918113e-03 -6.78124705e-05 9.99994555e-01 -3.17267074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.097628 meters 0.017404053987622826 Centerline is valid? [True, True] Translation: X:176.48, Y:-65.68, Z:-0.32 [[ 8.02372440e-01 5.96806498e-01 -4.52449532e-03 1.76481388e+02] [-5.96796316e-01 8.02385190e-01 3.48762817e-03 -6.56789463e+01] [ 5.71182720e-03 -9.81745886e-05 9.99983683e-01 -3.20307366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.157628 meters 0.01696217866005674 Centerline is valid? [True, True] Translation: X:176.53, Y:-65.72, Z:-0.32 [[ 8.02119026e-01 5.97142624e-01 -5.07482991e-03 1.76532217e+02] [-5.97129807e-01 8.02135073e-01 3.91395829e-03 -6.57164321e+01] [ 6.40789038e-03 -1.09128209e-04 9.99979463e-01 -3.21503333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.217628 meters 0.016185308719852055 Centerline is valid? [True, True] Translation: X:176.58, Y:-65.75, Z:-0.32 [[ 8.04590094e-01 5.93804694e-01 -5.54668770e-03 1.76582393e+02] [-5.93789298e-01 8.04609199e-01 4.27858192e-03 -6.57523825e+01] [ 7.00355798e-03 -1.48940839e-04 9.99975464e-01 -3.20667200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.277628 meters 0.017532350962801656 Centerline is valid? [True, True] Translation: X:176.63, Y:-65.79, Z:-0.32 [[ 8.10357772e-01 5.85913050e-01 -5.11660221e-03 1.76628797e+02] [-5.85899778e-01 8.10373899e-01 3.94892412e-03 -6.57934635e+01] [ 6.46008706e-03 -2.02225256e-04 9.99979113e-01 -3.17999529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.337628 meters 0.018850376164673416 Centerline is valid? [True, True] Translation: X:176.68, Y:-65.83, Z:-0.32 [[ 8.14725254e-01 5.79823402e-01 -5.25188253e-03 1.76677792e+02] [-5.79809288e-01 8.14742141e-01 4.05378356e-03 -6.58316955e+01] [ 6.62940859e-03 -2.57629573e-04 9.99977992e-01 -3.17529637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.397628 meters 0.020650465216524076 Centerline is valid? [True, True] Translation: X:176.73, Y:-65.87, Z:-0.32 [[ 8.16206020e-01 5.77730599e-01 -5.92353194e-03 1.76727741e+02] [-5.77712571e-01 8.16227454e-01 4.57471773e-03 -6.58675822e+01] [ 7.47790381e-03 -3.11813283e-04 9.99971991e-01 -3.20135948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.457628 meters 0.020656133083397143 Centerline is valid? [True, True] Translation: X:176.78, Y:-65.90, Z:-0.32 [[ 8.15211358e-01 5.79137950e-01 -5.44763520e-03 1.76775710e+02] [-5.79122719e-01 8.15229513e-01 4.20922849e-03 -6.59047940e+01] [ 6.87879694e-03 -2.76561566e-04 9.99976303e-01 -3.19048904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.517628 meters 0.018148148266105103 Centerline is valid? [True, True] Translation: X:176.83, Y:-65.94, Z:-0.32 [[ 8.12007797e-01 5.83629203e-01 -4.50456311e-03 1.76828504e+02] [-5.83618850e-01 8.12020267e-01 3.48191532e-03 -6.59363166e+01] [ 5.68994401e-03 -1.98394443e-04 9.99983792e-01 -3.17760284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.577628 meters 0.019485734257550173 Centerline is valid? [True, True] Translation: X:176.88, Y:-65.97, Z:-0.32 [[ 8.10464480e-01 5.85775027e-01 -3.86568649e-03 1.76876151e+02] [-5.85767420e-01 8.10473684e-01 2.98954156e-03 -6.59744481e+01] [ 4.88423596e-03 -1.58524041e-04 9.99988059e-01 -3.18009386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.637628 meters 0.016591559181909247 Centerline is valid? [True, True] Translation: X:176.93, Y:-66.01, Z:-0.32 [[ 8.06780825e-01 5.90847875e-01 -1.86778554e-03 1.76928807e+02] [-5.90846111e-01 8.06782985e-01 1.44515372e-03 -6.60061609e+01] [ 2.36076360e-03 -6.23484929e-05 9.99997211e-01 -3.15243776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.697628 meters 0.017179970273481886 Centerline is valid? [True, True] Translation: X:176.98, Y:-66.04, Z:-0.32 [[ 8.05184647e-01 5.93021124e-01 -1.90566190e-03 1.76981555e+02] [-5.93019293e-01 8.05186900e-01 1.47454313e-03 -6.60404636e+01] [ 2.40884922e-03 -5.71852169e-05 9.99997097e-01 -3.17800670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.75762799999998 meters 0.01403783742334625 Centerline is valid? [True, True] Translation: X:177.03, Y:-66.08, Z:-0.32 [[ 8.02707672e-01 5.96368075e-01 -2.34780740e-03 1.77031597e+02] [-5.96365310e-01 8.02711103e-01 1.81700880e-03 -6.60772293e+01] [ 2.96821711e-03 -5.83760173e-05 9.99995593e-01 -3.15321635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.81762799999998 meters 0.013489073385058203 Centerline is valid? [True, True] Translation: X:177.08, Y:-66.11, Z:-0.32 [[ 7.99784299e-01 6.00284343e-01 -1.94502014e-03 1.77081725e+02] [-6.00282454e-01 7.99786663e-01 1.50631194e-03 -6.61126266e+01] [ 2.45981664e-03 -3.71631755e-05 9.99996974e-01 -3.16991949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.877628 meters 0.012960184856312168 Centerline is valid? [True, True] Translation: X:177.13, Y:-66.15, Z:-0.32 [[ 7.97450315e-01 6.03383247e-01 -1.28525112e-03 1.77131158e+02] [-6.03382426e-01 7.97451350e-01 9.96055656e-04 -6.61505610e+01] [ 1.62592853e-03 -1.88069599e-05 9.99998678e-01 -3.15938040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.937628 meters 0.012724387074373442 Centerline is valid? [True, True] Translation: X:177.18, Y:-66.19, Z:-0.32 [[ 7.96348696e-01 6.04836044e-01 -1.45430605e-03 1.77179477e+02] [-6.04834993e-01 7.96350023e-01 1.12757118e-03 -6.61891564e+01] [ 1.84013235e-03 -1.83246438e-05 9.99998307e-01 -3.16198256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.997628 meters 0.012606529541086667 Centerline is valid? [True, True] Translation: X:177.23, Y:-66.23, Z:-0.32 [[ 7.95368409e-01 6.06123082e-01 -1.97581154e-03 1.77226128e+02] [-6.06121145e-01 7.95370862e-01 1.53250193e-03 -6.62295831e+01] [ 2.50038772e-03 -2.13224673e-05 9.99996874e-01 -3.17440543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.057628 meters 0.012549948118783629 Centerline is valid? [True, True] Translation: X:177.27, Y:-66.27, Z:-0.32 [[ 7.94699018e-01 6.06997900e-01 -2.64939412e-03 1.77274328e+02] [-6.06994419e-01 7.94703434e-01 2.05607204e-03 -6.62704957e+01] [ 3.35351402e-03 -2.57909884e-05 9.99994377e-01 -3.17559890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.117628 meters 0.012533275564011145 Centerline is valid? [True, True] Translation: X:177.32, Y:-66.31, Z:-0.32 [[ 7.93680703e-01 6.08329656e-01 -2.44365745e-03 1.77320306e+02] [-6.08326698e-01 7.93684465e-01 1.89722673e-03 -6.63110158e+01] [ 3.09363224e-03 -1.92501731e-05 9.99995215e-01 -3.18766860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.177628 meters 0.012653496615733216 Centerline is valid? [True, True] Translation: X:177.37, Y:-66.35, Z:-0.32 [[ 7.93475190e-01 6.08600081e-01 -1.75058200e-03 1.77366890e+02] [-6.08598562e-01 7.93477121e-01 1.36005805e-03 -6.63526135e+01] [ 2.21677820e-03 -1.37706368e-05 9.99997543e-01 -3.18842321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.237628 meters 0.012937710045142738 Centerline is valid? [True, True] Translation: X:177.41, Y:-66.40, Z:-0.32 [[ 7.93986924e-01 6.07934835e-01 3.42484662e-05 1.77413277e+02] [-6.07934834e-01 7.93986925e-01 -2.60455868e-05 -6.63957380e+01] [-4.30268539e-05 -1.40980248e-07 9.99999999e-01 -3.17269022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.297628 meters 0.012803662372062449 Centerline is valid? [True, True] Translation: X:177.46, Y:-66.43, Z:-0.32 [[ 7.93746863e-01 6.08245815e-01 1.71659015e-03 1.77464174e+02] [-6.08244352e-01 7.93748719e-01 -1.33403051e-03 -6.64333016e+01] [-2.17395971e-03 1.47762733e-05 9.99997637e-01 -3.16654047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.357628 meters 0.013006757216968381 Centerline is valid? [True, True] Translation: X:177.51, Y:-66.47, Z:-0.32 [[ 7.95052464e-01 6.06536313e-01 2.29785903e-03 1.77513704e+02] [-6.06533681e-01 7.95055784e-01 -1.78693981e-03 -6.64714347e+01] [-2.91077000e-03 2.69820052e-05 9.99995763e-01 -3.17263688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.417628 meters 0.01325966626059076 Centerline is valid? [True, True] Translation: X:177.56, Y:-66.51, Z:-0.32 [[ 7.96311997e-01 6.04881959e-01 2.24038043e-03 1.77561988e+02] [-6.04879449e-01 7.96315147e-01 -1.74312387e-03 -6.65101434e+01] [-2.83843306e-03 3.29103694e-05 9.99995971e-01 -3.17335910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.47762799999998 meters 0.014618646318969433 Centerline is valid? [True, True] Translation: X:177.61, Y:-66.55, Z:-0.32 [[ 8.00216615e-01 5.99708973e-01 1.58657608e-03 1.77610087e+02] [-5.99707703e-01 8.00218187e-01 -1.23490564e-03 -6.65488186e+01] [-2.01019103e-03 3.67101188e-05 9.99997979e-01 -3.20282782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.53762799999998 meters 0.01636242976189172 Centerline is valid? [True, True] Translation: X:177.66, Y:-66.59, Z:-0.32 [[ 8.03984756e-01 5.94648347e-01 1.36193344e-03 1.77656990e+02] [-5.94647403e-01 8.03985909e-01 -1.06048791e-03 -6.65882953e+01] [-1.72559268e-03 4.27459344e-05 9.99998510e-01 -3.21560265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.597628 meters 0.01816441967160408 Centerline is valid? [True, True] Translation: X:177.70, Y:-66.63, Z:-0.32 [[ 8.09489112e-01 5.87132558e-01 1.65452378e-03 1.77704657e+02] [-5.87131148e-01 8.09490799e-01 -1.28893279e-03 -6.66269784e+01] [-2.09609618e-03 7.19546155e-05 9.99997801e-01 -3.21706219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.657628 meters 0.018547597817676124 Centerline is valid? [True, True] Translation: X:177.75, Y:-66.66, Z:-0.32 [[ 8.11576209e-01 5.84243508e-01 1.89204336e-03 1.77754040e+02] [-5.84241655e-01 8.11578410e-01 -1.47440530e-03 -6.66639656e+01] [-2.39695327e-03 9.11817255e-05 9.99997123e-01 -3.22535269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.717628 meters 0.019141206588149388 Centerline is valid? [True, True] Translation: X:177.80, Y:-66.70, Z:-0.32 [[ 8.11236995e-01 5.84714891e-01 1.74195544e-03 1.77803591e+02] [-5.84713320e-01 8.11238860e-01 -1.35807038e-03 -6.67008201e+01] [-2.20722593e-03 8.31723836e-05 9.99997561e-01 -3.23800286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.777628 meters 0.019693565686763632 Centerline is valid? [True, True] Translation: X:177.85, Y:-66.74, Z:-0.32 [[ 8.08345591e-01 5.88701167e-01 2.88826815e-03 1.77852799e+02] [-5.88696868e-01 8.08350742e-01 -2.25310549e-03 -6.67364723e+01] [-3.66113953e-03 1.20973470e-04 9.99993291e-01 -3.24455359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.837628 meters 0.01471725915982565 Centerline is valid? [True, True] Translation: X:177.91, Y:-66.76, Z:-0.33 [[ 8.00653471e-01 5.99124415e-01 1.98838408e-03 1.77909293e+02] [-5.99122409e-01 8.00655939e-01 -1.55146407e-03 -6.67634966e+01] [-2.52153153e-03 5.08996307e-05 9.99996820e-01 -3.27248763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.897628 meters 0.013454154321357468 Centerline is valid? [True, True] Translation: X:177.96, Y:-66.80, Z:-0.33 [[ 7.95780595e-01 6.05583970e-01 1.13988859e-03 1.77959698e+02] [-6.05583318e-01 7.95781411e-01 -8.89449362e-04 -6.67979751e+01] [-1.44573842e-03 1.75090312e-05 9.99998955e-01 -3.28375103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.957628 meters 0.01239857197348082 Centerline is valid? [True, True] Translation: X:178.01, Y:-66.83, Z:-0.33 [[ 7.91018558e-01 6.11791045e-01 1.16547412e-03 1.78010310e+02] [-6.11790369e-01 7.91019416e-01 -9.09751109e-04 -6.68343646e+01] [-1.47849024e-03 6.60416955e-06 9.99998907e-01 -3.28023716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.017628 meters 0.01235127304817127 Centerline is valid? [True, True] Translation: X:178.06, Y:-66.87, Z:-0.33 [[ 7.89660833e-01 6.13540329e-01 2.00818792e-03 1.78060198e+02] [-6.13538324e-01 7.89663387e-01 -1.56878539e-03 -6.68731815e+01] [-2.54830558e-03 6.70812966e-06 9.99996753e-01 -3.27991036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.077628 meters 0.012431540261331872 Centerline is valid? [True, True] Translation: X:178.11, Y:-66.92, Z:-0.33 [[ 7.89596860e-01 6.13620416e-01 2.60457434e-03 1.78107676e+02] [-6.13617039e-01 7.89601155e-01 -2.03604961e-03 -6.69153643e+01] [-3.30593651e-03 9.44718934e-06 9.99994535e-01 -3.28282922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.137628 meters 0.01268196189435393 Centerline is valid? [True, True] Translation: X:178.15, Y:-66.96, Z:-0.33 [[ 7.91473754e-01 6.11200630e-01 1.75708157e-03 1.78152395e+02] [-6.11199085e-01 7.91475704e-01 -1.37412488e-03 -6.69592522e+01] [-2.23055336e-03 1.36571261e-05 9.99997512e-01 -3.29575709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.197628 meters 0.012758827352396706 Centerline is valid? [True, True] Translation: X:178.20, Y:-67.00, Z:-0.33 [[ 7.91723232e-01 6.10876566e-01 2.03586372e-03 1.78200650e+02] [-6.10874489e-01 7.91725849e-01 -1.59307396e-03 -6.69991695e+01] [-2.58501748e-03 1.76164482e-05 9.99996659e-01 -3.29445281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25762799999998 meters 0.012803117000683966 Centerline is valid? [True, True] Translation: X:178.25, Y:-67.04, Z:-0.33 [[ 7.92234981e-01 6.10215394e-01 9.52956796e-04 1.78250718e+02] [-6.10214939e-01 7.92235554e-01 -7.45801482e-04 -6.70371345e+01] [-1.21006580e-03 9.34155009e-06 9.99999268e-01 -3.31353694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.31762799999998 meters 0.013217105421269632 Centerline is valid? [True, True] Translation: X:178.30, Y:-67.08, Z:-0.33 [[ 7.93819264e-01 6.08153697e-01 -2.37782446e-04 1.78298349e+02] [-6.08153668e-01 7.93819300e-01 1.86821755e-04 -6.70759206e+01] [ 3.02372636e-04 -3.69444156e-06 9.99999954e-01 -3.32284828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.377628 meters 0.017404133714197342 Centerline is valid? [True, True] Translation: X:178.34, Y:-67.12, Z:-0.33 [[ 8.02816462e-01 5.96223371e-01 -1.84928120e-03 1.78343507e+02] [-5.96221611e-01 8.02818590e-01 1.45032408e-03 -6.71187314e+01] [ 2.34935444e-03 -6.17626289e-05 9.99997238e-01 -3.34923555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.437628 meters 0.017424913927579798 Centerline is valid? [True, True] Translation: X:178.39, Y:-67.16, Z:-0.33 [[ 8.05522247e-01 5.92563473e-01 -1.56204221e-03 1.78391650e+02] [-5.92562210e-01 8.05523760e-01 1.22495030e-03 -6.71575312e+01] [ 1.98412292e-03 -6.11175357e-05 9.99998030e-01 -3.34345925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.497628 meters 0.01878375457730264 Centerline is valid? [True, True] Translation: X:178.44, Y:-67.20, Z:-0.34 [[ 8.08515779e-01 5.88471784e-01 -1.78740416e-03 1.78439490e+02] [-5.88470118e-01 8.08517750e-01 1.40264419e-03 -6.71963604e+01] [ 2.27056452e-03 -8.22260189e-05 9.99997419e-01 -3.35155984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.557628 meters 0.02319033638409251 Centerline is valid? [True, True] Translation: X:178.48, Y:-67.24, Z:-0.33 [[ 8.15935551e-01 5.78139611e-01 -1.94078636e-03 1.78484565e+02] [-5.78137616e-01 8.15937850e-01 1.52367911e-03 -6.72382057e+01] [ 2.46446030e-03 -1.21182356e-04 9.99996956e-01 -3.34850950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.617628 meters 0.024036587270508242 Centerline is valid? [True, True] Translation: X:178.53, Y:-67.28, Z:-0.33 [[ 8.18050774e-01 5.75143807e-01 -1.59128622e-03 1.78533988e+02] [-5.75142459e-01 8.18052315e-01 1.24994302e-03 -6.72751542e+01] [ 2.02065237e-03 -1.07300589e-04 9.99997953e-01 -3.34962548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.677628 meters 0.023468815602950232 Centerline is valid? [True, True] Translation: X:178.59, Y:-67.31, Z:-0.33 [[ 8.15622665e-01 5.78584140e-01 -2.48997427e-04 1.78585112e+02] [-5.78584107e-01 8.15622703e-01 1.95822284e-04 -6.73073341e+01] [ 3.16387622e-04 -1.56511392e-05 9.99999950e-01 -3.33591506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.737628 meters 0.02038011664699076 Centerline is valid? [True, True] Translation: X:178.64, Y:-67.34, Z:-0.33 [[ 8.10889774e-01 5.85198728e-01 4.72410350e-04 1.78639047e+02] [-5.85198611e-01 8.10889911e-01 -3.70938183e-04 -6.73382165e+01] [-6.00145340e-04 2.43360987e-05 9.99999820e-01 -3.32972167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.797628 meters 0.014870481388280163 Centerline is valid? [True, True] Translation: X:178.70, Y:-67.36, Z:-0.33 [[ 7.97991815e-01 6.02667330e-01 1.07353415e-03 1.78696855e+02] [-6.02666741e-01 7.97992537e-01 -8.43234849e-04 -6.73624183e+01] [-1.36486233e-03 2.59111824e-05 9.99999068e-01 -3.33357484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.857628 meters 0.013237240091549892 Centerline is valid? [True, True] Translation: X:178.75, Y:-67.40, Z:-0.33 [[ 7.94637540e-01 6.07083098e-01 1.13634591e-03 1.78748564e+02] [-6.07082442e-01 7.94638352e-01 -8.92678978e-04 -6.73961859e+01] [-1.44491436e-03 1.95005785e-05 9.99998956e-01 -3.33281649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.917628 meters 0.011813001679930935 Centerline is valid? [True, True] Translation: X:178.80, Y:-67.43, Z:-0.33 [[ 7.85872998e-01 6.18386102e-01 1.50346448e-03 1.78803977e+02] [-6.18384973e-01 7.85874436e-01 -1.18168778e-03 -6.74254696e+01] [-1.91227360e-03 -1.06332913e-06 9.99998172e-01 -3.34174470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.97762799999998 meters 0.012241613721204048 Centerline is valid? [True, True] Translation: X:178.85, Y:-67.46, Z:-0.34 [[ 7.81565359e-01 6.23821853e-01 1.37335133e-03 1.78853902e+02] [-6.23820918e-01 7.81566565e-01 -1.07958757e-03 -6.74609944e+01] [-1.74683580e-03 -1.29570426e-05 9.99998474e-01 -3.35121349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.03762799999998 meters 0.012238619640155397 Centerline is valid? [True, True] Translation: X:178.90, Y:-67.50, Z:-0.34 [[ 7.81731832e-01 6.23613681e-01 1.14908012e-03 1.78901609e+02] [-6.23613026e-01 7.81732676e-01 -9.03624191e-04 -6.75022325e+01] [-1.46178589e-03 -1.01895389e-05 9.99998932e-01 -3.35032004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.097628 meters 0.011970859431855723 Centerline is valid? [True, True] Translation: X:178.95, Y:-67.55, Z:-0.34 [[ 7.84550056e-01 6.20065271e-01 5.18962442e-04 1.78945257e+02] [-6.20065137e-01 7.84550228e-01 -4.08056541e-04 -6.75467079e+01] [-6.60173792e-04 -1.64973538e-06 9.99999782e-01 -3.35436375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.157628 meters 0.0119665747529497 Centerline is valid? [True, True] Translation: X:178.99, Y:-67.59, Z:-0.34 [[ 7.87089533e-01 6.16837892e-01 -1.04018694e-03 1.78991167e+02] [-6.16837347e-01 7.87090221e-01 8.20027771e-04 -6.75907641e+01] [ 1.32454517e-03 -3.80912476e-06 9.99999123e-01 -3.36618451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.217628 meters 0.012599714150993596 Centerline is valid? [True, True] Translation: X:179.03, Y:-67.64, Z:-0.34 [[ 7.91364644e-01 6.11344414e-01 -9.04556999e-05 1.79033534e+02] [-6.11344410e-01 7.91364649e-01 7.18232622e-05 -6.76376110e+01] [ 1.15492193e-04 -1.53880380e-06 9.99999993e-01 -3.36472245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.277628 meters 0.013830951030465917 Centerline is valid? [True, True] Translation: X:179.08, Y:-67.68, Z:-0.34 [[ 7.94988977e-01 6.06623863e-01 1.22922933e-04 1.79076102e+02] [-6.06623856e-01 7.94988986e-01 -9.64474179e-05 -6.76821912e+01] [-1.56229683e-04 2.10665058e-06 9.99999988e-01 -3.36293831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.337628 meters 0.01502689589300365 Centerline is valid? [True, True] Translation: X:179.12, Y:-67.73, Z:-0.34 [[ 7.99732813e-01 6.00355398e-01 -9.08165229e-04 1.79120544e+02] [-6.00354971e-01 7.99733328e-01 7.16383055e-04 -6.77259679e+01] [ 1.15637443e-03 -2.76935255e-05 9.99999331e-01 -3.36603858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.397628 meters 0.015467820857271037 Centerline is valid? [True, True] Translation: X:179.17, Y:-67.76, Z:-0.34 [[ 8.00304490e-01 5.99592483e-01 -1.25582542e-03 1.79169371e+02] [-5.99591665e-01 8.00305474e-01 9.91457669e-04 -6.77649565e+01] [ 1.59951452e-03 -4.04855714e-05 9.99998720e-01 -3.37565453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.457628 meters 0.017485269353252533 Centerline is valid? [True, True] Translation: X:179.21, Y:-67.81, Z:-0.34 [[ 8.03440232e-01 5.95377481e-01 -3.07378409e-03 1.79214890e+02] [-5.95372549e-01 8.03446103e-01 2.42623500e-03 -6.78051764e+01] [ 3.91414554e-03 -1.19288139e-04 9.99992333e-01 -3.38863989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.517628 meters 0.019263529214812142 Centerline is valid? [True, True] Translation: X:179.26, Y:-67.84, Z:-0.34 [[ 8.06952579e-01 5.90601971e-01 -4.10452477e-03 1.79262569e+02] [-5.90593114e-01 8.06962995e-01 3.24005781e-03 -6.78447299e+01] [ 5.22578413e-03 -1.90468942e-04 9.99986327e-01 -3.40161663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.577628 meters 0.021733307809051985 Centerline is valid? [True, True] Translation: X:179.31, Y:-67.88, Z:-0.34 [[ 8.12763973e-01 5.82582077e-01 -3.58428461e-03 1.79311934e+02] [-5.82575238e-01 8.12771849e-01 2.83101642e-03 -6.78816426e+01] [ 4.56250505e-03 -2.12832691e-04 9.99989569e-01 -3.40382591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.637628 meters 0.02262133736276659 Centerline is valid? [True, True] Translation: X:179.36, Y:-67.92, Z:-0.34 [[ 8.15947356e-01 5.78120811e-01 -2.49796685e-03 1.79361408e+02] [-5.78117465e-01 8.15951163e-01 1.97409704e-03 -6.79182986e+01] [ 3.17948554e-03 -1.66641004e-04 9.99994932e-01 -3.39008266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.697628 meters 0.024442562805998064 Centerline is valid? [True, True] Translation: X:179.41, Y:-67.95, Z:-0.34 [[ 8.17432782e-01 5.76022089e-01 -1.48294694e-03 1.79411199e+02] [-5.76020905e-01 8.17434121e-01 1.17266482e-03 -6.79543475e+01] [ 1.88769227e-03 -1.04366230e-04 9.99998213e-01 -3.38070492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.75762799999998 meters 0.023461744319202376 Centerline is valid? [True, True] Translation: X:179.46, Y:-67.99, Z:-0.34 [[ 8.15126837e-01 5.79282512e-01 -1.02151925e-04 1.79463197e+02] [-5.79282506e-01 8.15126844e-01 8.11790986e-05 -6.79870339e+01] [ 1.30292408e-04 -6.99643909e-06 9.99999991e-01 -3.37160184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.81762799999998 meters 0.01963366416959454 Centerline is valid? [True, True] Translation: X:179.52, Y:-68.01, Z:-0.34 [[ 8.07882659e-01 5.89340583e-01 1.81297342e-03 1.79520760e+02] [-5.89338846e-01 8.07884688e-01 -1.43379411e-03 -6.80129852e+01] [-2.30966652e-03 8.98817306e-05 9.99997329e-01 -3.36351078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.877628 meters 0.017548057224818607 Centerline is valid? [True, True] Translation: X:179.57, Y:-68.04, Z:-0.34 [[ 8.02785922e-01 5.96265453e-01 1.50763246e-03 1.79574766e+02] [-5.96264263e-01 8.02787336e-01 -1.19271986e-03 -6.80441777e+01] [-1.92148589e-03 5.85513567e-05 9.99998152e-01 -3.37926273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.937628 meters 0.014762358043885263 Centerline is valid? [True, True] Translation: X:179.63, Y:-68.07, Z:-0.34 [[ 7.96609944e-01 6.04491324e-01 1.68407003e-03 1.79630055e+02] [-6.04489856e-01 7.96611723e-01 -1.33259109e-03 -6.80735700e+01] [-2.14708968e-03 4.35520655e-05 9.99997694e-01 -3.38726745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.997628 meters 0.014046326114432336 Centerline is valid? [True, True] Translation: X:179.68, Y:-68.11, Z:-0.34 [[ 7.94568123e-01 6.07172849e-01 1.62154145e-03 1.79681304e+02] [-6.07171493e-01 7.94569777e-01 -1.28367694e-03 -6.81088354e+01] [-2.06784162e-03 3.54150295e-05 9.99997861e-01 -3.39253427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.057628 meters 0.014460344177948815 Centerline is valid? [True, True] Translation: X:179.73, Y:-68.15, Z:-0.34 [[ 7.96942871e-01 6.04052813e-01 1.50320501e-03 1.79730398e+02] [-6.04051642e-01 7.96944287e-01 -1.19055665e-03 -6.81462176e+01] [-1.91712974e-03 4.07921777e-05 9.99998161e-01 -3.41214967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.117628 meters 0.01705352582705286 Centerline is valid? [True, True] Translation: X:179.77, Y:-68.19, Z:-0.34 [[ 8.03809601e-01 5.94885364e-01 1.23619532e-03 1.79773778e+02] [-5.94884560e-01 8.03810550e-01 -9.79465678e-04 -6.81909737e+01] [-1.57633663e-03 5.19104096e-05 9.99998756e-01 -3.41518474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.177628 meters 0.022588034879344507 Centerline is valid? [True, True] Translation: X:179.81, Y:-68.24, Z:-0.34 [[ 8.07817133e-01 5.89431648e-01 1.34640397e-03 1.79814655e+02] [-5.89430685e-01 8.07818252e-01 -1.06732626e-03 -6.82361404e+01] [-1.71676558e-03 6.85926264e-05 9.99998524e-01 -3.41456616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.237628 meters 0.02067319166023797 Centerline is valid? [True, True] Translation: X:179.86, Y:-68.27, Z:-0.34 [[ 8.10636564e-01 5.85547122e-01 1.71142536e-03 1.79864153e+02] [-5.85545558e-01 8.10638364e-01 -1.35712623e-03 -6.82731108e+01] [-2.18200841e-03 9.80186258e-05 9.99997615e-01 -3.40746049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.297628 meters 0.020277369116815425 Centerline is valid? [True, True] Translation: X:179.91, Y:-68.31, Z:-0.34 [[ 8.10798938e-01 5.85323029e-01 1.42652157e-03 1.79913744e+02] [-5.85321941e-01 8.10800188e-01 -1.13165159e-03 -6.83103778e+01] [-1.81900569e-03 8.25675387e-05 9.99998342e-01 -3.40961956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.357628 meters 0.022367333845631998 Centerline is valid? [True, True] Translation: X:179.96, Y:-68.35, Z:-0.34 [[ 8.09866960e-01 5.86613272e-01 6.14047735e-04 1.79960400e+02] [-5.86613071e-01 8.09867192e-01 -4.87091624e-04 -6.83494331e+01] [-7.83031525e-04 3.42709854e-05 9.99999693e-01 -3.41743826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.417628 meters 0.02140613460292668 Centerline is valid? [True, True] Translation: X:180.01, Y:-68.38, Z:-0.34 [[ 8.07929391e-01 5.89279167e-01 -4.03473686e-04 1.80011081e+02] [-5.89279080e-01 8.07929491e-01 3.20590064e-04 -6.83842451e+01] [ 5.14895335e-04 -2.12555329e-05 9.99999867e-01 -3.43139373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47762799999998 meters 0.018416048804196037 Centerline is valid? [True, True] Translation: X:180.06, Y:-68.42, Z:-0.34 [[ 8.04836169e-01 5.93496026e-01 -1.09879386e-03 1.80063475e+02] [-5.93495386e-01 8.04836918e-01 8.73046879e-04 -6.84163075e+01] [ 1.40249971e-03 -5.05306226e-05 9.99999015e-01 -3.43946194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53762799999998 meters 0.01690811282409252 Centerline is valid? [True, True] Translation: X:180.11, Y:-68.45, Z:-0.35 [[ 7.99648729e-01 6.00465625e-01 -1.71563392e-03 1.80113584e+02] [-6.00464081e-01 7.99650567e-01 1.36316527e-03 -6.84495304e+01] [ 2.19044152e-03 -5.98768333e-05 9.99997599e-01 -3.45069891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.597628 meters 0.015541367726785393 Centerline is valid? [True, True] Translation: X:180.16, Y:-68.49, Z:-0.35 [[ 7.96882007e-01 6.04128963e-01 -2.69495910e-03 1.80163645e+02] [-6.04125173e-01 7.96886560e-01 2.14138608e-03 -6.84856440e+01] [ 3.44125004e-03 -7.83394068e-05 9.99994076e-01 -3.46097620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.657628 meters 0.014778344151049724 Centerline is valid? [True, True] Translation: X:180.21, Y:-68.52, Z:-0.35 [[ 7.93893792e-01 6.08050277e-01 -2.74010526e-03 1.80210660e+02] [-6.08046382e-01 7.93898518e-01 2.17725991e-03 -6.85231531e+01] [ 3.49924900e-03 -6.24020342e-05 9.99993876e-01 -3.46232563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.717628 meters 0.013137855666923359 Centerline is valid? [True, True] Translation: X:180.26, Y:-68.56, Z:-0.34 [[ 7.89562483e-01 6.13666450e-01 -2.13885699e-03 1.80258682e+02] [-6.13664097e-01 7.89565379e-01 1.69957986e-03 -6.85597908e+01] [ 2.73174257e-03 -2.93847542e-05 9.99996268e-01 -3.44189826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.777628 meters 0.01213210885754796 Centerline is valid? [True, True] Translation: X:180.31, Y:-68.60, Z:-0.34 [[ 7.85704518e-01 6.18599519e-01 -1.74519515e-03 1.80308627e+02] [-6.18597962e-01 7.85706456e-01 1.38788260e-03 -6.85967021e+01] [ 2.22975460e-03 -1.08914609e-05 9.99997514e-01 -3.43021415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.837628 meters 0.011883647837551923 Centerline is valid? [True, True] Translation: X:180.36, Y:-68.63, Z:-0.34 [[ 7.80521418e-01 6.25128787e-01 -5.62655787e-04 1.80358282e+02] [-6.25128626e-01 7.80521620e-01 4.48068192e-04 -6.86337429e+01] [ 7.19265332e-04 2.00541841e-06 9.99999741e-01 -3.41692050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.897628 meters 0.012069410689074666 Centerline is valid? [True, True] Translation: X:180.41, Y:-68.67, Z:-0.34 [[ 7.78631281e-01 6.27481720e-01 -1.37306019e-04 1.80405752e+02] [-6.27481710e-01 7.78631293e-01 1.09839741e-04 -6.86737544e+01] [ 1.75833193e-04 6.32357315e-07 9.99999985e-01 -3.40705482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.957628 meters 0.011881517131312073 Centerline is valid? [True, True] Translation: X:180.45, Y:-68.72, Z:-0.34 [[ 7.78730572e-01 6.27358505e-01 5.66033175e-05 1.80450840e+02] [-6.27358503e-01 7.78730574e-01 -4.44592795e-05 -6.87176283e+01] [-7.19706410e-05 -8.88772402e-07 9.99999997e-01 -3.40316839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.017628 meters 0.011813197327779865 Centerline is valid? [True, True] Translation: X:180.49, Y:-68.76, Z:-0.34 [[ 7.80377898e-01 6.25307421e-01 -9.82626713e-04 1.80494157e+02] [-6.25306930e-01 7.80378517e-01 7.83319250e-04 -6.87612295e+01] [ 1.25663612e-03 3.15826341e-06 9.99999210e-01 -3.41341604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.077628 meters 0.012124091095282907 Centerline is valid? [True, True] Translation: X:180.53, Y:-68.81, Z:-0.34 [[ 7.85235603e-01 6.19188767e-01 -3.21221159e-03 1.80532964e+02] [-6.19183472e-01 7.85242173e-01 2.56090255e-03 -6.88115162e+01] [ 4.10804610e-03 -2.19635324e-05 9.99991562e-01 -3.42887579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.137628 meters 0.013052606110302829 Centerline is valid? [True, True] Translation: X:180.57, Y:-68.86, Z:-0.34 [[ 7.89127302e-01 6.14211426e-01 -4.73559702e-03 1.80574582e+02] [-6.14199818e-01 7.89141507e-01 3.77689032e-03 -6.88580583e+01] [ 6.05686536e-03 -7.18444375e-05 9.99981654e-01 -3.44202088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.197628 meters 0.017694700672934962 Centerline is valid? [True, True] Translation: X:180.61, Y:-68.91, Z:-0.35 [[ 7.95551046e-01 6.05853773e-01 -6.30390833e-03 1.80613552e+02] [-6.05832921e-01 7.95576001e-01 5.02981552e-03 -6.89082875e+01] [ 8.06257089e-03 -1.82359801e-04 9.99967480e-01 -3.46691532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25762799999998 meters 0.01560295797191256 Centerline is valid? [True, True] Translation: X:180.66, Y:-68.95, Z:-0.34 [[ 7.96087407e-01 6.05166741e-01 -4.24920841e-03 1.80661817e+02] [-6.05157245e-01 7.96098737e-01 3.39262455e-03 -6.89479682e+01] [ 5.43589299e-03 -1.29386425e-04 9.99985217e-01 -3.42897380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.31762799999998 meters 0.015716843837489218 Centerline is valid? [True, True] Translation: X:180.71, Y:-68.99, Z:-0.34 [[ 7.96700036e-01 6.04363741e-01 -3.67719113e-03 1.80709876e+02] [-6.04356614e-01 7.96708513e-01 2.93742157e-03 -6.89873673e+01] [ 4.70492057e-03 -1.17909092e-04 9.99988925e-01 -3.41708722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.377628 meters 0.01776099544245597 Centerline is valid? [True, True] Translation: X:180.76, Y:-69.03, Z:-0.34 [[ 7.98264694e-01 6.02287790e-01 -4.78497446e-03 1.80755092e+02] [-6.02275679e-01 7.98279017e-01 3.82329499e-03 -6.90278891e+01] [ 6.12246859e-03 -1.70127665e-04 9.99981243e-01 -3.42427902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.437628 meters 0.02022310053740843 Centerline is valid? [True, True] Translation: X:180.81, Y:-69.06, Z:-0.35 [[ 8.00200803e-01 5.99693169e-01 -6.83949907e-03 1.80805572e+02] [-5.99668326e-01 8.00229985e-01 5.46527820e-03 -6.90639279e+01] [ 8.75066224e-03 -2.71889044e-04 9.99961675e-01 -3.48642826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.497628 meters 0.01974392395198956 Centerline is valid? [True, True] Translation: X:180.85, Y:-69.10, Z:-0.35 [[ 8.01140982e-01 5.98435932e-01 -6.89647853e-03 1.80854644e+02] [-5.98410600e-01 8.01170613e-01 5.51390157e-03 -6.91018698e+01] [ 8.82497276e-03 -2.90486665e-04 9.99961017e-01 -3.48100650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.557628 meters 0.018206620892533408 Centerline is valid? [True, True] Translation: X:180.91, Y:-69.14, Z:-0.34 [[ 8.01447306e-01 5.98031223e-01 -6.39308787e-03 1.80905072e+02] [-5.98009420e-01 8.01472757e-01 5.11404887e-03 -6.91389008e+01] [ 8.18224666e-03 -2.75513925e-04 9.99966487e-01 -3.44599104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.617628 meters 0.017942827987398907 Centerline is valid? [True, True] Translation: X:180.95, Y:-69.18, Z:-0.34 [[ 8.00305666e-01 5.99560030e-01 -6.21373707e-03 1.80954352e+02] [-5.99539459e-01 8.00329748e-01 4.97307804e-03 -6.91769847e+01] [ 7.95469744e-03 -2.54601970e-04 9.99968328e-01 -3.43718530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.677628 meters 0.01592202504052442 Centerline is valid? [True, True] Translation: X:181.01, Y:-69.21, Z:-0.35 [[ 7.97229752e-01 6.03643079e-01 -6.30524349e-03 1.81006196e+02] [-6.03622010e-01 7.97254656e-01 5.04812570e-03 -6.92104601e+01] [ 8.07415087e-03 -2.18532256e-04 9.99967380e-01 -3.45833433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.737628 meters 0.015351660495557532 Centerline is valid? [True, True] Translation: X:181.06, Y:-69.25, Z:-0.35 [[ 7.94946567e-01 6.06645528e-01 -6.41547597e-03 1.81056291e+02] [-6.06623791e-01 7.94972431e-01 5.13907232e-03 -6.92473104e+01] [ 8.21772177e-03 -1.93507544e-04 9.99966215e-01 -3.48822039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.797628 meters 0.016519358004926224 Centerline is valid? [True, True] Translation: X:181.10, Y:-69.29, Z:-0.35 [[ 7.94190225e-01 6.07633539e-01 -6.58553504e-03 1.81103040e+02] [-6.07610648e-01 7.94217506e-01 5.27766884e-03 -6.92863386e+01] [ 8.43723581e-03 -1.90031789e-04 9.99964388e-01 -3.50571453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.857628 meters 0.014172977556267456 Centerline is valid? [True, True] Translation: X:181.15, Y:-69.32, Z:-0.35 [[ 7.91967466e-01 6.10533129e-01 -6.06886900e-03 1.81151264e+02] [-6.10513755e-01 7.91990705e-01 4.86614382e-03 -6.93248909e+01] [ 7.77742985e-03 -1.48699591e-04 9.99969744e-01 -3.47659855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.917628 meters 0.01534212257698437 Centerline is valid? [True, True] Translation: X:181.20, Y:-69.36, Z:-0.35 [[ 7.87060646e-01 6.16851334e-01 -5.47466455e-03 1.81200832e+02] [-6.16835718e-01 7.87079682e-01 4.38996407e-03 -6.93603553e+01] [ 7.01695242e-03 -7.81993208e-05 9.99975378e-01 -3.50974812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.97762799999998 meters 0.011532806302172138 Centerline is valid? [True, True] Translation: X:181.25, Y:-69.40, Z:-0.35 [[ 7.81768650e-01 6.23549528e-01 -4.87479913e-03 1.81252239e+02] [-6.23537261e-01 7.81783848e-01 3.91130469e-03 -6.93954412e+01] [ 6.24993142e-03 -1.81164850e-05 9.99980469e-01 -3.50173369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.03762799999998 meters 0.01143163409657684 Centerline is valid? [True, True] Translation: X:181.30, Y:-69.43, Z:-0.35 [[ 7.79054631e-01 6.26930992e-01 -5.60469231e-03 1.81301725e+02] [-6.26914845e-01 7.79074792e-01 4.49957866e-03 -6.94348919e+01] [ 7.18739981e-03 8.24722159e-06 9.99974170e-01 -3.51218761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.097628 meters 0.011623492960577323 Centerline is valid? [True, True] Translation: X:181.35, Y:-69.48, Z:-0.35 [[ 7.77107866e-01 6.29338512e-01 -6.03336907e-03 1.81347829e+02] [-6.29319854e-01 7.77131287e-01 4.84606110e-03 -6.94769521e+01] [ 7.73853275e-03 3.10067420e-05 9.99970057e-01 -3.50941157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.157628 meters 0.011816824482866925 Centerline is valid? [True, True] Translation: X:181.40, Y:-69.52, Z:-0.35 [[ 7.75314152e-01 6.31551238e-01 -5.56763080e-03 1.81396478e+02] [-6.31535388e-01 7.75334142e-01 4.47467174e-03 -6.95160890e+01] [ 7.14275872e-03 4.68795498e-05 9.99974489e-01 -3.50990769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.217628 meters 0.012328154344938865 Centerline is valid? [True, True] Translation: X:181.45, Y:-69.55, Z:-0.35 [[ 7.72640346e-01 6.34812355e-01 -6.33789136e-03 1.81446925e+02] [-6.34791905e-01 7.72666335e-01 5.09616035e-03 -6.95529451e+01] [ 8.13218085e-03 8.57430347e-05 9.99966930e-01 -3.52045324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.277628 meters 0.012488472263754703 Centerline is valid? [True, True] Translation: X:181.50, Y:-69.59, Z:-0.35 [[ 7.72159763e-01 6.35389214e-01 -7.06032213e-03 1.81495882e+02] [-6.35363835e-01 7.72192034e-01 5.67983899e-03 -6.95910358e+01] [ 9.06083294e-03 1.00130220e-04 9.99958945e-01 -3.53275652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.337628 meters 0.012631532868792855 Centerline is valid? [True, True] Translation: X:181.55, Y:-69.63, Z:-0.35 [[ 7.72673625e-01 6.34758107e-01 -7.59049517e-03 1.81545313e+02] [-6.34728723e-01 7.72710901e-01 6.10831368e-03 -6.96289938e+01] [ 9.74255998e-03 9.81724401e-05 9.99952535e-01 -3.54525259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.397628 meters 0.01188589883486197 Centerline is valid? [True, True] Translation: X:181.59, Y:-69.67, Z:-0.35 [[ 7.74193243e-01 6.32916322e-01 -6.46162862e-03 1.81592370e+02] [-6.32894941e-01 7.74220205e-01 5.20274918e-03 -6.96699512e+01] [ 8.29562831e-03 6.15988064e-05 9.99965589e-01 -3.51994887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.457628 meters 0.01517461255269548 Centerline is valid? [True, True] Translation: X:181.64, Y:-69.71, Z:-0.35 [[ 7.78567823e-01 6.27543915e-01 -4.55849446e-03 1.81637912e+02] [-6.27533169e-01 7.78581168e-01 3.67238541e-03 -6.97129375e+01] [ 5.85374106e-03 1.40536642e-06 9.99982867e-01 -3.52263175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.517628 meters 0.011839600758165375 Centerline is valid? [True, True] Translation: X:181.68, Y:-69.76, Z:-0.35 [[ 7.81465941e-01 6.23937867e-01 -3.53854299e-03 1.81683391e+02] [-6.23931346e-01 7.81473952e-01 2.85253375e-03 -6.97565798e+01] [ 4.54508300e-03 -2.13500797e-05 9.99989671e-01 -3.47746729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.577628 meters 0.01221857071149989 Centerline is valid? [True, True] Translation: X:181.73, Y:-69.80, Z:-0.35 [[ 7.83346967e-01 6.21581450e-01 -2.00781423e-03 1.81731398e+02] [-6.21579340e-01 7.83349539e-01 1.61975581e-03 -6.97966793e+01] [ 2.57963052e-03 -2.08149588e-05 9.99996673e-01 -3.46607857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.637628 meters 0.01293273744994182 Centerline is valid? [True, True] Translation: X:181.78, Y:-69.84, Z:-0.35 [[ 7.85496472e-01 6.18862190e-01 -2.20971997e-03 1.81779016e+02] [-6.18859621e-01 7.85499579e-01 1.78337512e-03 -6.98363768e+01] [ 2.83939753e-03 -3.33284007e-05 9.99995968e-01 -3.47451507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.697628 meters 0.015709321585392517 Centerline is valid? [True, True] Translation: X:181.83, Y:-69.88, Z:-0.35 [[ 7.87235426e-01 6.16646525e-01 -2.72886813e-03 1.81826825e+02] [-6.16642591e-01 7.87240154e-01 2.20336365e-03 -6.98756275e+01] [ 3.50697110e-03 -5.18296102e-05 9.99993849e-01 -3.50627105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75762799999998 meters 0.01619666165564428 Centerline is valid? [True, True] Translation: X:181.88, Y:-69.91, Z:-0.35 [[ 7.88854097e-01 6.14575017e-01 -2.60048060e-03 1.81875563e+02] [-6.14571429e-01 7.88858381e-01 2.10079387e-03 -6.99140758e+01] [ 3.34250635e-03 -5.90387753e-05 9.99994412e-01 -3.51310239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.81762799999998 meters 0.017323980709431124 Centerline is valid? [True, True] Translation: X:181.92, Y:-69.95, Z:-0.35 [[ 7.89367102e-01 6.13910746e-01 -3.62960561e-03 1.81924695e+02] [-6.13903744e-01 7.89375442e-01 2.93328176e-03 -6.99512014e+01] [ 4.66589473e-03 -8.72076479e-05 9.99989111e-01 -3.53541615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.877628 meters 0.014410100775789756 Centerline is valid? [True, True] Translation: X:181.97, Y:-69.99, Z:-0.35 [[ 7.88764456e-01 6.14690849e-01 -2.40674531e-03 1.81972695e+02] [-6.14687771e-01 7.88768126e-01 1.94617865e-03 -6.99899324e+01] [ 3.09466219e-03 -5.56796344e-05 9.99995210e-01 -3.48801772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.937628 meters 0.013956060309184611 Centerline is valid? [True, True] Translation: X:182.02, Y:-70.03, Z:-0.35 [[ 7.87775771e-01 6.15961346e-01 -9.77246642e-04 1.82022831e+02] [-6.15960838e-01 7.87776377e-01 7.90946248e-04 -7.00262049e+01] [ 1.25704413e-03 -2.11426294e-05 9.99999210e-01 -3.47465765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.997628 meters 0.013417420267934825 Centerline is valid? [True, True] Translation: X:182.07, Y:-70.06, Z:-0.35 [[ 7.85792035e-01 6.18490582e-01 -5.26603517e-04 1.82072943e+02] [-6.18490435e-01 7.85792212e-01 4.26665548e-04 -7.00627681e+01] [ 6.77689566e-04 -9.57115133e-06 9.99999770e-01 -3.48061038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.057628 meters 0.012900881540180252 Centerline is valid? [True, True] Translation: X:182.12, Y:-70.10, Z:-0.35 [[ 7.84203430e-01 6.20503795e-01 1.41107978e-04 1.82122918e+02] [-6.20503785e-01 7.84203443e-01 -1.14020389e-04 -7.01005669e+01] [-1.81407446e-04 1.85714555e-06 9.99999984e-01 -3.48255867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.117628 meters 0.012588801991284648 Centerline is valid? [True, True] Translation: X:182.17, Y:-70.14, Z:-0.35 [[ 7.82366814e-01 6.22817720e-01 -5.05940422e-04 1.82171500e+02] [-6.22817585e-01 7.82366978e-01 4.10220854e-04 -7.01385346e+01] [ 6.51323896e-04 -5.83459069e-06 9.99999788e-01 -3.48742763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.177628 meters 0.012156473358573052 Centerline is valid? [True, True] Translation: X:182.22, Y:-70.18, Z:-0.35 [[ 7.79311685e-01 6.26634355e-01 -1.63769886e-03 1.82221274e+02] [-6.26632950e-01 7.79313406e-01 1.32737975e-03 -7.01752854e+01] [ 2.10806243e-03 -8.20647802e-06 9.99997778e-01 -3.49837793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.237628 meters 0.01204392663594846 Centerline is valid? [True, True] Translation: X:182.27, Y:-70.21, Z:-0.35 [[ 7.77446204e-01 6.28949194e-01 -5.58019344e-04 1.82269134e+02] [-6.28949031e-01 7.77446405e-01 4.52800367e-04 -7.02135891e+01] [ 7.18618559e-04 -1.06220134e-06 9.99999742e-01 -3.49985941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.297628 meters 0.012148563542327918 Centerline is valid? [True, True] Translation: X:182.32, Y:-70.25, Z:-0.35 [[ 7.77498882e-01 6.28884178e-01 -4.24277008e-04 1.82316281e+02] [-6.28884083e-01 7.77498998e-01 3.44704668e-04 -7.02545856e+01] [ 5.46654260e-04 -1.18643708e-06 9.99999851e-01 -3.49601779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.357628 meters 0.012295880207469877 Centerline is valid? [True, True] Translation: X:182.36, Y:-70.30, Z:-0.35 [[ 7.78708839e-01 6.27384182e-01 -1.27744305e-03 1.82361873e+02] [-6.27383325e-01 7.78709887e-01 1.03724518e-03 -7.02977588e+01] [ 1.64550875e-03 -6.26551859e-06 9.99998646e-01 -3.50439722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.417628 meters 0.01247562738098717 Centerline is valid? [True, True] Translation: X:182.41, Y:-70.34, Z:-0.35 [[ 7.79563794e-01 6.26319035e-01 -2.18101752e-03 1.82408119e+02] [-6.26316530e-01 7.79566845e-01 1.77151931e-03 -7.03407947e+01] [ 2.80978521e-03 -1.50049850e-05 9.99996052e-01 -3.50635786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.47762799999998 meters 0.01242837462740306 Centerline is valid? [True, True] Translation: X:182.46, Y:-70.38, Z:-0.35 [[ 7.78461480e-01 6.27688271e-01 -2.27143374e-03 1.82456893e+02] [-6.27685557e-01 7.78464793e-01 1.84598522e-03 -7.03798893e+01] [ 2.92693447e-03 -1.12822322e-05 9.99995716e-01 -3.51355782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.53762799999998 meters 0.012412868266783133 Centerline is valid? [True, True] Translation: X:182.51, Y:-70.42, Z:-0.35 [[ 7.77367657e-01 6.29039970e-01 -2.87104625e-03 1.82505463e+02] [-6.29035641e-01 7.77372958e-01 2.33372774e-03 -7.04182414e+01] [ 3.69988175e-03 -8.17404548e-06 9.99993155e-01 -3.52036418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.597628 meters 0.01245607990296324 Centerline is valid? [True, True] Translation: X:182.56, Y:-70.46, Z:-0.35 [[ 7.77055578e-01 6.29423332e-01 -3.30106709e-03 1.82555462e+02] [-6.29417606e-01 7.77062590e-01 2.68494952e-03 -7.04560933e+01] [ 4.25510561e-03 -8.60525548e-06 9.99990947e-01 -3.53125691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.657628 meters 0.012873690148271779 Centerline is valid? [True, True] Translation: X:182.60, Y:-70.50, Z:-0.35 [[ 7.79735284e-01 6.26096225e-01 -4.05017321e-03 1.82601647e+02] [-6.26087557e-01 7.79745802e-01 3.29466090e-03 -7.04958527e+01] [ 5.22088031e-03 -3.32003051e-05 9.99986371e-01 -3.54352340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.717628 meters 0.013493928973657797 Centerline is valid? [True, True] Translation: X:182.65, Y:-70.54, Z:-0.35 [[ 7.83318133e-01 6.21608297e-01 -3.97826197e-03 1.82647550e+02] [-6.21599867e-01 7.83328233e-01 3.23805288e-03 -7.05375406e+01] [ 5.12908545e-03 -6.35384300e-05 9.99986844e-01 -3.54349506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.777628 meters 0.01737825417498372 Centerline is valid? [True, True] Translation: X:182.69, Y:-70.58, Z:-0.35 [[ 7.89363451e-01 6.13911231e-01 -4.28281413e-03 1.82691094e+02] [-6.13901338e-01 7.89375060e-01 3.48744376e-03 -7.05811971e+01] [ 5.52172755e-03 -1.23635312e-04 9.99984747e-01 -3.54982582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.837628 meters 0.018504286418219395 Centerline is valid? [True, True] Translation: X:182.74, Y:-70.62, Z:-0.35 [[ 7.91970778e-01 6.10542239e-01 -4.52346458e-03 1.82737851e+02] [-6.10531137e-01 7.91983681e-01 3.68515293e-03 -7.06214102e+01] [ 5.83245165e-03 -1.56817456e-04 9.99982979e-01 -3.54523144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.897628 meters 0.02034799008988698 Centerline is valid? [True, True] Translation: X:182.78, Y:-70.66, Z:-0.36 [[ 7.94573120e-01 6.07149088e-01 -4.85200884e-03 1.82783748e+02] [-6.07136245e-01 7.94587910e-01 3.95392453e-03 -7.06609037e+01] [ 6.25596924e-03 -1.95851722e-04 9.99980412e-01 -3.55868527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.957628 meters 0.020987501201055737 Centerline is valid? [True, True] Translation: X:182.83, Y:-70.70, Z:-0.36 [[ 7.95265396e-01 6.06246346e-01 -4.27980870e-03 1.82830145e+02] [-6.06236331e-01 7.95276892e-01 3.48940495e-03 -7.07006734e+01] [ 5.51907196e-03 -1.80427482e-04 9.99984754e-01 -3.55555406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.017628 meters 0.017353125338151767 Centerline is valid? [True, True] Translation: X:182.88, Y:-70.74, Z:-0.35 [[ 7.93099654e-01 6.09083062e-01 -3.28070542e-03 1.82880826e+02] [-6.09077197e-01 7.93106429e-01 2.67584079e-03 -7.07350878e+01] [ 4.23175787e-03 -1.24005540e-04 9.99991038e-01 -3.52324894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.077628 meters 0.01588087205672586 Centerline is valid? [True, True] Translation: X:182.93, Y:-70.77, Z:-0.35 [[ 7.89556179e-01 6.13673202e-01 -2.49836624e-03 1.82931047e+02] [-6.13669820e-01 7.89560128e-01 2.03862527e-03 -7.07701198e+01] [ 3.22366006e-03 -7.64372212e-05 9.99994801e-01 -3.52154108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.137628 meters 0.013853370694210424 Centerline is valid? [True, True] Translation: X:182.98, Y:-70.80, Z:-0.35 [[ 7.82618605e-01 6.22500490e-01 -1.12201731e-03 1.82984290e+02] [-6.22499817e-01 7.82619410e-01 9.15557263e-04 -7.08024949e+01] [ 1.44804737e-03 -1.80765771e-05 9.99998951e-01 -3.52445476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.197628 meters 0.013315702867918954 Centerline is valid? [True, True] Translation: X:183.03, Y:-70.84, Z:-0.35 [[ 7.80222707e-01 6.25500986e-01 -1.02206845e-03 1.83034826e+02] [-6.25500430e-01 7.80223376e-01 8.34246150e-04 -7.08395257e+01] [ 1.31926349e-03 -1.15935319e-05 9.99999130e-01 -3.53342997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.25762799999998 meters 0.012973061863666892 Centerline is valid? [True, True] Translation: X:183.09, Y:-70.88, Z:-0.36 [[ 7.75967104e-01 6.30770907e-01 -1.76530840e-03 1.83085743e+02] [-6.30769259e-01 7.75969112e-01 1.44184079e-03 -7.08755721e+01] [ 2.27929601e-03 -5.31875125e-06 9.99997402e-01 -3.55112249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.31762799999998 meters 0.013332134483553647 Centerline is valid? [True, True] Translation: X:183.14, Y:-70.91, Z:-0.36 [[ 7.72104854e-01 6.35488553e-01 -2.89716156e-03 1.83135294e+02] [-6.35484144e-01 7.72110289e-01 2.36725454e-03 -7.09135624e+01] [ 3.74129141e-03 1.33315110e-05 9.99993001e-01 -3.56059271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.377628 meters 0.013342206212523775 Centerline is valid? [True, True] Translation: X:183.18, Y:-70.95, Z:-0.36 [[ 7.71165167e-01 6.36626034e-01 -3.40271443e-03 1.83183602e+02] [-6.36619956e-01 7.71172674e-01 2.78191502e-03 -7.09537535e+01] [ 4.39511991e-03 2.09199436e-05 9.99990341e-01 -3.57148457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.437628 meters 0.013223081945824592 Centerline is valid? [True, True] Translation: X:183.23, Y:-71.00, Z:-0.36 [[ 7.71641823e-01 6.36048515e-01 -3.34420839e-03 1.83229226e+02] [-6.36042632e-01 7.71649070e-01 2.73551770e-03 -7.09955019e+01] [ 4.32047726e-03 1.62192459e-05 9.99990667e-01 -3.57711528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.497628 meters 0.013128970732812514 Centerline is valid? [True, True] Translation: X:183.27, Y:-71.04, Z:-0.36 [[ 7.73042750e-01 6.34349500e-01 -2.37027795e-03 1.83274296e+02] [-6.34346533e-01 7.73046384e-01 1.93997728e-03 -7.10383886e+01] [ 3.06295841e-03 3.89222792e-06 9.99995309e-01 -3.56917674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.557628 meters 0.013231186837431064 Centerline is valid? [True, True] Translation: X:183.32, Y:-71.08, Z:-0.36 [[ 7.76911815e-01 6.29608563e-01 -1.04349136e-03 1.83316558e+02] [-6.29607983e-01 7.76912516e-01 8.54845853e-04 -7.10843980e+01] [ 1.34891977e-03 -7.14935173e-06 9.99999090e-01 -3.55710636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.617628 meters 0.013407117576384351 Centerline is valid? [True, True] Translation: X:183.36, Y:-71.13, Z:-0.35 [[ 7.77828816e-01 6.28476198e-01 -4.47126067e-05 1.83363293e+02] [-6.28476197e-01 7.77828817e-01 3.72369338e-05 -7.11259750e+01] [ 5.81812805e-05 -8.63151099e-07 9.99999998e-01 -3.54189699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.677628 meters 0.013281656833250083 Centerline is valid? [True, True] Translation: X:183.41, Y:-71.16, Z:-0.36 [[ 7.76802156e-01 6.29743715e-01 -1.12442772e-03 1.83411565e+02] [-6.29743040e-01 7.76802969e-01 9.21773968e-04 -7.11645362e+01] [ 1.45394015e-03 -7.93547624e-06 9.99998943e-01 -3.56007907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.737628 meters 0.013240600158914005 Centerline is valid? [True, True] Translation: X:183.46, Y:-71.20, Z:-0.36 [[ 7.76698594e-01 6.29859866e-01 -3.98026472e-03 1.83461384e+02] [-6.29851411e-01 7.76708792e-01 3.26377529e-03 -7.12013781e+01] [ 5.14722768e-03 -2.79943296e-05 9.99986753e-01 -3.60348459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.797628 meters 0.01319855715763463 Centerline is valid? [True, True] Translation: X:183.51, Y:-71.24, Z:-0.36 [[ 7.76738757e-01 6.29801553e-01 -5.18709837e-03 1.83509930e+02] [-6.29787179e-01 7.76756076e-01 4.25533312e-03 -7.12405281e+01] [ 6.70912559e-03 -3.85141145e-05 9.99977493e-01 -3.61928012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.857628 meters 0.0134827152986314 Centerline is valid? [True, True] Translation: X:183.56, Y:-71.28, Z:-0.36 [[ 7.77413483e-01 6.28959951e-01 -6.13648963e-03 1.83558735e+02] [-6.28939787e-01 7.77437700e-01 5.03659881e-03 -7.12794737e+01] [ 7.93855733e-03 -5.60373403e-05 9.99968488e-01 -3.62637266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.917628 meters 0.013495545293566771 Centerline is valid? [True, True] Translation: X:183.61, Y:-71.32, Z:-0.36 [[ 7.78267584e-01 6.27905819e-01 -5.81814781e-03 1.83607284e+02] [-6.27887642e-01 7.78289328e-01 4.77819177e-03 -7.13191858e+01] [ 7.52845676e-03 -6.55686600e-05 9.99971659e-01 -3.61467134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.97762799999998 meters 0.013868048277067396 Centerline is valid? [True, True] Translation: X:183.65, Y:-71.36, Z:-0.36 [[ 7.79920363e-01 6.25863720e-01 -4.33949547e-03 1.83653998e+02] [-6.25853566e-01 7.79932433e-01 3.56568673e-03 -7.13596384e+01] [ 5.61614722e-03 -6.50629693e-05 9.99984227e-01 -3.59011791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.03762799999998 meters 0.014300560203371232 Centerline is valid? [True, True] Translation: X:183.70, Y:-71.40, Z:-0.36 [[ 7.81309306e-01 6.24137690e-01 -2.81307239e-03 1.83700915e+02] [-6.24133407e-01 7.81314368e-01 2.31278519e-03 -7.14008676e+01] [ 3.64139028e-03 -5.12681382e-05 9.99993369e-01 -3.56084008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.097628 meters 0.01509741618507632 Centerline is valid? [True, True] Translation: X:183.75, Y:-71.44, Z:-0.35 [[ 7.83183245e-01 6.21790955e-01 1.13823630e-04 1.83747674e+02] [-6.21790948e-01 7.83183254e-01 -9.31204485e-05 -7.14407092e+01] [-1.47046214e-04 2.15587215e-06 9.99999989e-01 -3.52889082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.157628 meters 0.014960053222493193 Centerline is valid? [True, True] Translation: X:183.80, Y:-71.48, Z:-0.35 [[ 7.83642179e-01 6.21212455e-01 1.46740680e-04 1.83796165e+02] [-6.21212443e-01 7.83642193e-01 -1.20201951e-04 -7.14788252e+01] [-1.89663137e-04 3.03818227e-06 9.99999982e-01 -3.52343036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.217628 meters 0.015101528818886226 Centerline is valid? [True, True] Translation: X:183.84, Y:-71.52, Z:-0.35 [[ 7.83472132e-01 6.21422660e-01 -2.30121026e-03 1.83844295e+02] [-6.21419773e-01 7.83475510e-01 1.89488958e-03 -7.15177145e+01] [ 2.98046921e-03 -5.45756207e-05 9.99995557e-01 -3.54637394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.277628 meters 0.014586206039411282 Centerline is valid? [True, True] Translation: X:183.89, Y:-71.56, Z:-0.36 [[ 7.83663039e-01 6.21169442e-01 -4.55686526e-03 1.83893284e+02] [-6.21158111e-01 7.83676280e-01 3.75363775e-03 -7.15552655e+01] [ 5.90275228e-03 -1.11053355e-04 9.99982572e-01 -3.57160872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.337628 meters 0.01608001458238665 Centerline is valid? [True, True] Translation: X:183.94, Y:-71.60, Z:-0.36 [[ 7.84143250e-01 6.20539608e-01 -7.06808921e-03 1.83938534e+02] [-6.20512308e-01 7.84175084e-01 5.82348547e-03 -7.15957964e+01] [ 9.15632284e-03 -1.80610472e-04 9.99958064e-01 -3.60878767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.397628 meters 0.014783792695002743 Centerline is valid? [True, True] Translation: X:183.99, Y:-71.63, Z:-0.36 [[ 7.83076309e-01 6.21878385e-01 -7.66607980e-03 1.83988199e+02] [-6.21846301e-01 7.83113811e-01 6.31955138e-03 -7.16336190e+01] [ 9.93340537e-03 -1.81567600e-04 9.99950646e-01 -3.59487555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.457628 meters 0.013527593152178505 Centerline is valid? [True, True] Translation: X:184.04, Y:-71.67, Z:-0.36 [[ 7.79321206e-01 6.26586464e-01 -6.91819053e-03 1.84038688e+02] [-6.26560517e-01 7.79351904e-01 5.70327800e-03 -7.16694898e+01] [ 8.96530176e-03 -1.10020449e-04 9.99959805e-01 -3.58627788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.517628 meters 0.01575654848567694 Centerline is valid? [True, True] Translation: X:184.09, Y:-71.70, Z:-0.36 [[ 7.73922174e-01 6.33241094e-01 -7.08416259e-03 1.84089755e+02] [-6.33214133e-01 7.73954595e-01 5.84349684e-03 -7.17049758e+01] [ 9.18316252e-03 -3.66199018e-05 9.99957833e-01 -3.59952238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.577628 meters 0.012308370425148258 Centerline is valid? [True, True] Translation: X:184.14, Y:-71.74, Z:-0.36 [[ 7.71278622e-01 6.36461818e-01 -6.75585164e-03 1.84136821e+02] [-6.36437399e-01 7.71308209e-01 5.57525793e-03 -7.17435393e+01] [ 8.75928263e-03 -4.00608118e-07 9.99961637e-01 -3.57110143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.637628 meters 0.012359583931964874 Centerline is valid? [True, True] Translation: X:184.19, Y:-71.78, Z:-0.36 [[ 7.69234175e-01 6.38934912e-01 -6.40016886e-03 1.84185069e+02] [-6.38913055e-01 7.69260799e-01 5.28493725e-03 -7.17835064e+01] [ 8.30012993e-03 2.37970954e-05 9.99965553e-01 -3.55258201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.697628 meters 0.012342222777274316 Centerline is valid? [True, True] Translation: X:184.23, Y:-71.82, Z:-0.36 [[ 7.68159086e-01 6.40226690e-01 -6.43458186e-03 1.84234226e+02] [-6.40204617e-01 7.68186035e-01 5.31639210e-03 -7.18232296e+01] [ 8.34665204e-03 3.56141219e-05 9.99965165e-01 -3.55388691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.75762799999998 meters 0.012532999644412192 Centerline is valid? [True, True] Translation: X:184.28, Y:-71.86, Z:-0.36 [[ 7.66676914e-01 6.41987257e-01 -7.67278957e-03 1.84282820e+02] [-6.41955930e-01 7.66715304e-01 6.34236088e-03 -7.18620347e+01] [ 9.95456006e-03 6.30511038e-05 9.99950450e-01 -3.56850626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.81762799999998 meters 0.012770596490908809 Centerline is valid? [True, True] Translation: X:184.33, Y:-71.90, Z:-0.36 [[ 7.65939402e-01 6.42852603e-01 -8.79565512e-03 1.84330143e+02] [-6.42811454e-01 7.65989898e-01 7.27401104e-03 -7.19018220e+01] [ 1.14134999e-02 8.24961906e-05 9.99934860e-01 -3.58310476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.877628 meters 0.012632684178358743 Centerline is valid? [True, True] Translation: X:184.38, Y:-71.94, Z:-0.36 [[ 7.65955538e-01 6.42829524e-01 -9.07284690e-03 1.84377180e+02] [-6.42785687e-01 7.66009267e-01 7.50757432e-03 -7.19439742e+01] [ 1.17759752e-02 8.14279951e-05 9.99930657e-01 -3.58017511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.937628 meters 0.012713127688838376 Centerline is valid? [True, True] Translation: X:184.42, Y:-71.99, Z:-0.36 [[ 7.66185063e-01 6.42565220e-01 -8.38973662e-03 1.84422497e+02] [-6.42527684e-01 7.66230992e-01 6.94567087e-03 -7.19864455e+01] [ 1.08915227e-02 6.89687677e-05 9.99940683e-01 -3.56933112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.997628 meters 0.012860036919180114 Centerline is valid? [True, True] Translation: X:184.47, Y:-72.03, Z:-0.36 [[ 7.65097569e-01 6.43865010e-01 -7.97236055e-03 1.84470802e+02] [-6.43831147e-01 7.65139100e-01 6.60390824e-03 -7.20263160e+01] [ 1.03519902e-02 8.02198912e-05 9.99946413e-01 -3.57032532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.057628 meters 0.013073904672465506 Centerline is valid? [True, True] Translation: X:184.52, Y:-72.07, Z:-0.36 [[ 7.62273218e-01 6.47198407e-01 -8.58854264e-03 1.84519315e+02] [-6.47159278e-01 7.62321589e-01 7.11789354e-03 -7.20655987e+01] [ 1.11539208e-02 1.32375440e-04 9.99937784e-01 -3.57265420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.117628 meters 0.013649055588949108 Centerline is valid? [True, True] Translation: X:184.57, Y:-72.10, Z:-0.36 [[ 7.61414374e-01 6.48202121e-01 -9.06429692e-03 1.84567594e+02] [-6.48158567e-01 7.61468310e-01 7.51563335e-03 -7.21037433e+01] [ 1.17738243e-02 1.52590438e-04 9.99930674e-01 -3.59056697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.177628 meters 0.013684381300234498 Centerline is valid? [True, True] Translation: X:184.61, Y:-72.14, Z:-0.36 [[ 7.60097099e-01 6.49746853e-01 -9.02370601e-03 1.84614460e+02] [-6.49703756e-01 7.60150641e-01 7.48551139e-03 -7.21437001e+01] [ 1.17230634e-02 1.73020197e-04 9.99931268e-01 -3.57233696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.237628 meters 0.013669208449714336 Centerline is valid? [True, True] Translation: X:184.66, Y:-72.18, Z:-0.36 [[ 7.60038950e-01 6.49829715e-01 -7.88258054e-03 1.84662234e+02] [-6.49796799e-01 7.60079811e-01 6.54229196e-03 -7.21840532e+01] [ 1.02427660e-02 1.49678890e-04 9.99947530e-01 -3.55130086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.297628 meters 0.013312975058143271 Centerline is valid? [True, True] Translation: X:184.71, Y:-72.22, Z:-0.35 [[ 7.60206805e-01 6.49651391e-01 -6.21966474e-03 1.84711206e+02] [-6.49630869e-01 7.60232239e-01 5.16491936e-03 -7.22219582e+01] [ 8.08378670e-03 1.14079366e-04 9.99967319e-01 -3.54335995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.357628 meters 0.013405432190368423 Centerline is valid? [True, True] Translation: X:184.76, Y:-72.26, Z:-0.36 [[ 7.60296959e-01 6.49548215e-01 -5.97085534e-03 1.84758832e+02] [-6.49529290e-01 7.60320396e-01 4.95950370e-03 -7.22597723e+01] [ 7.76119988e-03 1.07549849e-04 9.99969876e-01 -3.55260352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.417628 meters 0.013133974557537594 Centerline is valid? [True, True] Translation: X:184.81, Y:-72.30, Z:-0.36 [[ 7.61349706e-01 6.48306731e-01 -6.70877379e-03 1.84805721e+02] [-6.48282764e-01 7.61379256e-01 5.57545777e-03 -7.23003315e+01] [ 8.72252800e-03 1.04309288e-04 9.99961953e-01 -3.56889767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.47762799999998 meters 0.012886063431498604 Centerline is valid? [True, True] Translation: X:184.85, Y:-72.34, Z:-0.36 [[ 7.62782082e-01 6.46605192e-01 -8.07603718e-03 1.84852856e+02] [-6.46570325e-01 7.62824827e-01 6.71557028e-03 -7.23424669e+01] [ 1.05029243e-02 9.92093044e-05 9.99944838e-01 -3.57993397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.53762799999998 meters 0.015112537348220951 Centerline is valid? [True, True] Translation: X:184.90, Y:-72.39, Z:-0.36 [[ 7.67067539e-01 6.41493960e-01 -9.63792792e-03 1.84897898e+02] [-6.41443848e-01 7.67128085e-01 8.01821020e-03 -7.23859873e+01] [ 1.25371586e-02 3.16808072e-05 9.99921406e-01 -3.61414010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.597628 meters 0.012627421619441376 Centerline is valid? [True, True] Translation: X:184.94, Y:-72.43, Z:-0.36 [[ 7.70828981e-01 6.36976770e-01 -9.12565795e-03 1.84942269e+02] [-6.36931476e-01 7.70882996e-01 7.59614241e-03 -7.24288479e+01] [ 1.18733808e-02 -4.29079211e-05 9.99929508e-01 -3.59509324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.657628 meters 0.014280485707490917 Centerline is valid? [True, True] Translation: X:184.98, Y:-72.47, Z:-0.36 [[ 7.76852027e-01 6.29645196e-01 -6.91772889e-03 1.84983642e+02] [-6.29618865e-01 7.76882818e-01 5.75949593e-03 -7.24739262e+01] [ 9.00070366e-03 -1.18743486e-04 9.99959486e-01 -3.57496276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.717628 meters 0.014882368778074008 Centerline is valid? [True, True] Translation: X:185.03, Y:-72.51, Z:-0.36 [[ 7.80288216e-01 6.25393081e-01 -5.81333769e-03 1.85030796e+02] [-6.25374355e-01 7.80309858e-01 4.84173180e-03 -7.25143944e+01] [ 7.56419027e-03 -1.42433956e-04 9.99971381e-01 -3.55484797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.777628 meters 0.01658505441581845 Centerline is valid? [True, True] Translation: X:185.08, Y:-72.56, Z:-0.35 [[ 7.85617244e-01 6.18696154e-01 -4.54034053e-03 1.85076157e+02] [-6.18684617e-01 7.85630347e-01 3.78186218e-03 -7.25569618e+01] [ 5.90685290e-03 -1.62057300e-04 9.99982541e-01 -3.53253524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.837628 meters 0.01759403099916005 Centerline is valid? [True, True] Translation: X:185.12, Y:-72.60, Z:-0.35 [[ 7.88458956e-01 6.15078773e-01 -3.25234953e-03 1.85123710e+02] [-6.15072820e-01 7.88465652e-01 2.70945747e-03 -7.25971285e+01] [ 4.23089567e-03 -1.35864210e-04 9.99991040e-01 -3.52037557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.897628 meters 0.019044853578727296 Centerline is valid? [True, True] Translation: X:185.17, Y:-72.63, Z:-0.35 [[ 7.90449592e-01 6.12523305e-01 -2.15468020e-03 1.85173402e+02] [-6.12520682e-01 7.90452523e-01 1.79532706e-03 -7.26348962e+01] [ 2.80285206e-03 -9.93293594e-05 9.99996067e-01 -3.52067054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.957628 meters 0.01945188191767224 Centerline is valid? [True, True] Translation: X:185.22, Y:-72.67, Z:-0.35 [[ 7.89779148e-01 6.13387375e-01 -2.19648631e-03 1.85223620e+02] [-6.13384649e-01 7.89782196e-01 1.83143692e-03 -7.26717820e+01] [ 2.85812607e-03 -9.91397088e-05 9.99995911e-01 -3.52904237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.017628 meters 0.018881279204424936 Centerline is valid? [True, True] Translation: X:185.27, Y:-72.71, Z:-0.35 [[ 7.86945398e-01 6.17015482e-01 -2.97235523e-03 1.85274311e+02] [-6.17010513e-01 7.86951003e-01 2.47894755e-03 -7.27056029e+01] [ 3.86864695e-03 -1.16821945e-04 9.99992510e-01 -3.53843935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.077628 meters 0.01804826442428882 Centerline is valid? [True, True] Translation: X:185.32, Y:-72.74, Z:-0.35 [[ 7.84316942e-01 6.20349213e-01 -3.71343272e-03 1.85324275e+02] [-6.20341496e-01 7.84325722e-01 3.09679516e-03 -7.27394029e+01] [ 4.83363524e-03 -1.25272497e-04 9.99988310e-01 -3.54948208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.137628 meters 0.016722277115558206 Centerline is valid? [True, True] Translation: X:185.38, Y:-72.77, Z:-0.36 [[ 7.80780075e-01 6.24793644e-01 -3.92129324e-03 1.85377623e+02] [-6.24785094e-01 7.80789915e-01 3.27021128e-03 -7.27697970e+01] [ 5.10491344e-03 -1.03350244e-04 9.99986965e-01 -3.56734665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.197628 meters 0.016031974242197128 Centerline is valid? [True, True] Translation: X:185.43, Y:-72.81, Z:-0.36 [[ 7.78948126e-01 6.27079106e-01 -3.40763307e-03 1.85429028e+02] [-6.27072664e-01 7.78955575e-01 2.84361331e-03 -7.28052440e+01] [ 4.43756527e-03 -7.81937109e-05 9.99990151e-01 -3.57254156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.25762799999998 meters 0.015474115412827765 Centerline is valid? [True, True] Translation: X:185.48, Y:-72.84, Z:-0.36 [[ 7.77389402e-01 6.29014780e-01 -2.47485027e-03 1.85478758e+02] [-6.29011388e-01 7.77393339e-01 2.06618910e-03 -7.28411818e+01] [ 3.22359560e-03 -4.95244994e-05 9.99994803e-01 -3.55494863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.31762799999998 meters 0.015258637544023453 Centerline is valid? [True, True] Translation: X:185.53, Y:-72.88, Z:-0.36 [[ 7.76608553e-01 6.29980096e-01 -2.05794803e-03 1.85526980e+02] [-6.29977752e-01 7.76611278e-01 1.71891022e-03 -7.28780578e+01] [ 2.68110487e-03 -3.84589015e-05 9.99996405e-01 -3.55031331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.377628 meters 0.014784564196413197 Centerline is valid? [True, True] Translation: X:185.58, Y:-72.91, Z:-0.36 [[ 7.75435854e-01 6.31425861e-01 -7.86351594e-04 1.85577825e+02] [-6.31425519e-01 7.75436252e-01 6.57340311e-04 -7.29131034e+01] [ 1.02482720e-03 -1.32027819e-05 9.99999475e-01 -3.55068782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.437628 meters 0.014527218914783131 Centerline is valid? [True, True] Translation: X:185.63, Y:-72.95, Z:-0.35 [[ 7.74666059e-01 6.32370213e-01 -6.40885294e-04 1.85626396e+02] [-6.32369986e-01 7.74666324e-01 5.36078386e-04 -7.29514669e+01] [ 8.35472257e-04 -1.00051059e-05 9.99999651e-01 -3.54971181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.497628 meters 0.013087235161276488 Centerline is valid? [True, True] Translation: X:185.68, Y:-72.99, Z:-0.35 [[ 7.73765113e-01 6.33470429e-01 -1.66290150e-03 1.85677987e+02] [-6.33468902e-01 7.73766900e-01 1.39117465e-03 -7.29882101e+01] [ 2.16796614e-03 -2.30460237e-05 9.99997650e-01 -3.54888325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.557628 meters 0.013043166925832163 Centerline is valid? [True, True] Translation: X:185.73, Y:-73.03, Z:-0.36 [[ 7.73222159e-01 6.34127709e-01 -3.08889554e-03 1.85727121e+02] [-6.34122441e-01 7.73228328e-01 2.58509483e-03 -7.30273866e+01] [ 4.02770179e-03 -4.01146271e-05 9.99991888e-01 -3.56861367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.617628 meters 0.013198377651778073 Centerline is valid? [True, True] Translation: X:185.77, Y:-73.07, Z:-0.36 [[ 7.73142600e-01 6.34217102e-01 -4.38033194e-03 1.85774720e+02] [-6.34206501e-01 7.73155007e-01 3.66735758e-03 -7.30668928e+01] [ 5.71257647e-03 -5.73553846e-05 9.99983681e-01 -3.58400527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.677628 meters 0.013483234292708639 Centerline is valid? [True, True] Translation: X:185.82, Y:-73.11, Z:-0.36 [[ 7.75150521e-01 6.31762051e-01 -4.28719032e-03 1.85821456e+02] [-6.31751849e-01 7.75162373e-01 3.59122081e-03 -7.31074585e+01] [ 5.59206564e-03 -7.52962708e-05 9.99984361e-01 -3.57889695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.737628 meters 0.01829238491337704 Centerline is valid? [True, True] Translation: X:185.87, Y:-73.15, Z:-0.36 [[ 7.80316707e-01 6.25357651e-01 -5.80045607e-03 1.85865328e+02] [-6.25338782e-01 7.80338248e-01 4.86070830e-03 -7.31505542e+01] [ 7.56599885e-03 -1.65641760e-04 9.99971364e-01 -3.61637812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.797628 meters 0.017235662666971536 Centerline is valid? [True, True] Translation: X:185.91, Y:-73.19, Z:-0.36 [[ 7.85518547e-01 6.18803491e-01 -6.54609001e-03 1.85909238e+02] [-6.18779229e-01 7.85545780e-01 5.48575348e-03 -7.31945548e+01] [ 8.53685679e-03 -2.58576581e-04 9.99963527e-01 -3.58975997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.857628 meters 0.02046048424497386 Centerline is valid? [True, True] Translation: X:185.95, Y:-73.24, Z:-0.36 [[ 7.88251549e-01 6.15309142e-01 -7.35904049e-03 1.85954867e+02] [-6.15278297e-01 7.88285828e-01 6.17012050e-03 -7.32360644e+01] [ 9.59755888e-03 -3.35749141e-04 9.99953886e-01 -3.60667759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.917628 meters 0.021271512606606348 Centerline is valid? [True, True] Translation: X:186.00, Y:-73.28, Z:-0.36 [[ 7.88883470e-01 6.14496530e-01 -7.54230394e-03 1.85999968e+02] [-6.14464063e-01 7.88919443e-01 6.32670097e-03 -7.32779811e+01] [ 9.83800602e-03 -3.56555094e-04 9.99951542e-01 -3.59870772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.97762799999998 meters 0.021590265208926228 Centerline is valid? [True, True] Translation: X:186.05, Y:-73.32, Z:-0.36 [[ 7.88624802e-01 6.14827609e-01 -7.61133060e-03 1.86049756e+02] [-6.14794524e-01 7.88661450e-01 6.38833354e-03 -7.33159764e+01] [ 9.93048686e-03 -3.58593909e-04 9.99950627e-01 -3.61200314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.03762799999998 meters 0.017714150709583185 Centerline is valid? [True, True] Translation: X:186.10, Y:-73.35, Z:-0.36 [[ 7.86686181e-01 6.17322066e-01 -6.19023948e-03 1.86099474e+02] [-6.17300258e-01 7.86710490e-01 5.19577284e-03 -7.33528234e+01] [ 8.07739156e-03 -2.66206266e-04 9.99967342e-01 -3.57202240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.097628 meters 0.0182666040263953 Centerline is valid? [True, True] Translation: X:186.15, Y:-73.39, Z:-0.36 [[ 7.82067579e-01 6.23169290e-01 -5.50794593e-03 1.86149260e+02] [-6.23152165e-01 7.82086953e-01 4.62348232e-03 -7.33889408e+01] [ 7.18890485e-03 -1.83587195e-04 9.99974143e-01 -3.58177717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.157628 meters 0.01426180820774487 Centerline is valid? [True, True] Translation: X:186.20, Y:-73.43, Z:-0.36 [[ 7.77793582e-01 6.28507030e-01 -4.00707083e-03 1.86199071e+02] [-6.28498035e-01 7.77803898e-01 3.36400505e-03 -7.34255984e+01] [ 5.23101613e-03 -9.80653985e-05 9.99986313e-01 -3.55056085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.217628 meters 0.012689753173703737 Centerline is valid? [True, True] Translation: X:186.25, Y:-73.46, Z:-0.36 [[ 7.72180997e-01 6.35392411e-01 -3.60432073e-03 1.86249014e+02] [-6.35385206e-01 7.72189408e-01 3.02633994e-03 -7.34614113e+01] [ 4.70613172e-03 -4.67501221e-05 9.99988925e-01 -3.55800293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.277628 meters 0.012242422058000921 Centerline is valid? [True, True] Translation: X:186.30, Y:-73.50, Z:-0.36 [[ 7.68818494e-01 6.39454747e-01 -3.96858959e-03 1.86297098e+02] [-6.39446056e-01 7.68828736e-01 3.33406038e-03 -7.34989503e+01] [ 5.18314646e-03 -2.55883148e-05 9.99986567e-01 -3.56099292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.337628 meters 0.011965578020695802 Centerline is valid? [True, True] Translation: X:186.35, Y:-73.54, Z:-0.36 [[ 7.65189729e-01 6.43792731e-01 -3.94935430e-03 1.86346135e+02] [-6.43784173e-01 7.65199921e-01 3.31958270e-03 -7.35372878e+01] [ 5.15916881e-03 2.42120175e-06 9.99986691e-01 -3.56347092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.397628 meters 0.012088936366813925 Centerline is valid? [True, True] Translation: X:186.39, Y:-73.58, Z:-0.36 [[ 7.64201713e-01 6.44955931e-01 -5.25255916e-03 1.86392149e+02] [-6.44940805e-01 7.64219764e-01 4.41703521e-03 -7.35784422e+01] [ 6.86290258e-03 1.20838678e-05 9.99976450e-01 -3.57238064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.457628 meters 0.012119982063040049 Centerline is valid? [True, True] Translation: X:186.44, Y:-73.62, Z:-0.36 [[ 7.63953467e-01 6.45237468e-01 -6.61130180e-03 1.86436634e+02] [-6.45213492e-01 7.63982074e-01 5.56240512e-03 -7.36218868e+01] [ 8.63998826e-03 1.62824424e-05 9.99962674e-01 -3.58806506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.517628 meters 0.012195855333483394 Centerline is valid? [True, True] Translation: X:186.48, Y:-73.66, Z:-0.36 [[ 7.63755254e-01 6.45474502e-01 -6.37012397e-03 1.86481768e+02] [-6.45452227e-01 7.63781819e-01 5.36247948e-03 -7.36638305e+01] [ 8.32672864e-03 1.59888239e-05 9.99965332e-01 -3.59959175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.577628 meters 0.012300864137799296 Centerline is valid? [True, True] Translation: X:186.53, Y:-73.71, Z:-0.36 [[ 7.63103456e-01 6.46249234e-01 -5.91969793e-03 1.86526168e+02] [-6.46229998e-01 7.63126416e-01 4.98618789e-03 -7.37081179e+01] [ 7.73979797e-03 2.05091744e-05 9.99970047e-01 -3.60552459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.637628 meters 0.012491646424716419 Centerline is valid? [True, True] Translation: X:186.57, Y:-73.75, Z:-0.36 [[ 7.62045601e-01 6.47488221e-01 -6.74576817e-03 1.86569423e+02] [-6.47463267e-01 7.62075457e-01 5.68460169e-03 -7.37528374e+01] [ 8.82149700e-03 3.57113866e-05 9.99961089e-01 -3.61062354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.697628 meters 0.012570611285654665 Centerline is valid? [True, True] Translation: X:186.62, Y:-73.80, Z:-0.36 [[ 7.61756878e-01 6.47823912e-01 -7.11602138e-03 1.86615325e+02] [-6.47796127e-01 7.61790114e-01 6.00008780e-03 -7.37965375e+01] [ 9.30791509e-03 3.91229400e-05 9.99956680e-01 -3.62018216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.75762799999998 meters 0.012605245182588076 Centerline is valid? [True, True] Translation: X:186.66, Y:-73.84, Z:-0.36 [[ 7.62109662e-01 6.47402540e-01 -7.66902644e-03 1.86659974e+02] [-6.47370211e-01 7.62148246e-01 6.46994203e-03 -7.38409203e+01] [ 1.00335920e-02 3.38939368e-05 9.99949662e-01 -3.63081802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.81762799999998 meters 0.012575062754383316 Centerline is valid? [True, True] Translation: X:186.70, Y:-73.89, Z:-0.36 [[ 7.62983751e-01 6.46362999e-01 -8.40654029e-03 1.86701778e+02] [-6.46324045e-01 7.63030061e-01 7.09615756e-03 -7.38883897e+01] [ 1.10011366e-02 1.90962090e-05 9.99939485e-01 -3.62940497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.877628 meters 0.012637834282678253 Centerline is valid? [True, True] Translation: X:186.75, Y:-73.93, Z:-0.36 [[ 7.64189511e-01 6.44938029e-01 -8.32650346e-03 1.86745479e+02] [-6.44899685e-01 7.64234872e-01 7.03262931e-03 -7.39338728e+01] [ 1.08990144e-02 -4.50209875e-06 9.99940604e-01 -3.62840335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.937628 meters 0.012776132983915058 Centerline is valid? [True, True] Translation: X:186.79, Y:-73.98, Z:-0.36 [[ 7.65658444e-01 6.43200608e-01 -7.75402006e-03 1.86789367e+02] [-6.43167229e-01 7.65697706e-01 6.55283540e-03 -7.39795425e+01] [ 1.01520231e-02 -3.01021561e-05 9.99948466e-01 -3.62563729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.997628 meters 0.012574360486779538 Centerline is valid? [True, True] Translation: X:186.84, Y:-74.02, Z:-0.36 [[ 7.64459535e-01 6.44640443e-01 -6.34970738e-03 1.86837445e+02] [-6.44618086e-01 7.64485905e-01 5.36881173e-03 -7.40186413e+01] [ 8.31521496e-03 -1.11030960e-05 9.99965428e-01 -3.60889462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.057628 meters 0.012448634034833945 Centerline is valid? [True, True] Translation: X:186.88, Y:-74.06, Z:-0.36 [[ 7.64142661e-01 6.45009186e-01 -7.01022464e-03 1.86884847e+02] [-6.44981920e-01 7.64174816e-01 5.93070357e-03 -7.40597581e+01] [ 9.18239541e-03 -1.04354586e-05 9.99957841e-01 -3.61747834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.117628 meters 0.012572382713227748 Centerline is valid? [True, True] Translation: X:186.93, Y:-74.10, Z:-0.36 [[ 7.63331558e-01 6.45963103e-01 -7.52340846e-03 1.86933012e+02] [-6.45931713e-01 7.63368632e-01 6.36812927e-03 -7.40987023e+01] [ 9.85671058e-03 -1.38592249e-06 9.99951421e-01 -3.62922474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.177628 meters 0.012535481805358987 Centerline is valid? [True, True] Translation: X:186.98, Y:-74.14, Z:-0.37 [[ 7.63752304e-01 6.45454834e-01 -8.39499948e-03 1.86981545e+02] [-6.45415680e-01 7.63798440e-01 7.10933028e-03 -7.41374365e+01] [ 1.10008391e-02 -1.15030833e-05 9.99939489e-01 -3.65064366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.237628 meters 0.012803071383955146 Centerline is valid? [True, True] Translation: X:187.03, Y:-74.18, Z:-0.37 [[ 7.67535895e-01 6.40939166e-01 -9.25394055e-03 1.87027615e+02] [-6.40891213e-01 7.67591674e-01 7.84064086e-03 -7.41797627e+01] [ 1.21286215e-02 -8.72041063e-05 9.99926442e-01 -3.65692570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.297628 meters 0.015904549335189463 Centerline is valid? [True, True] Translation: X:187.07, Y:-74.22, Z:-0.37 [[ 7.70619878e-01 6.37224932e-01 -9.45463828e-03 1.87073774e+02] [-6.37174546e-01 7.70677859e-01 8.01472278e-03 -7.42214166e+01] [ 1.23936616e-02 -1.52049843e-04 9.99923184e-01 -3.67575631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.357628 meters 0.014844470416661605 Centerline is valid? [True, True] Translation: X:187.12, Y:-74.26, Z:-0.36 [[ 7.74938445e-01 6.31982583e-01 -8.27177773e-03 1.87117267e+02] [-6.31943690e-01 7.74982562e-01 7.01432347e-03 -7.42636928e+01] [ 1.08434138e-02 -2.08371181e-04 9.99941187e-01 -3.63946907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.417628 meters 0.015534340256690603 Centerline is valid? [True, True] Translation: X:187.16, Y:-74.30, Z:-0.36 [[ 7.77569036e-01 6.28766079e-01 -6.29380350e-03 1.87163662e+02] [-6.28743434e-01 7.77594483e-01 5.33996637e-03 -7.43049622e+01] [ 8.25161660e-03 -1.95004879e-04 9.99965936e-01 -3.62325381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.47762799999998 meters 0.015853655410358856 Centerline is valid? [True, True] Translation: X:187.21, Y:-74.35, Z:-0.36 [[ 7.79699838e-01 6.26149971e-01 -2.09204158e-03 1.87210740e+02] [-6.26147456e-01 7.79702641e-01 1.77625816e-03 -7.43457705e+01] [ 2.74337433e-03 -7.50216885e-05 9.99996234e-01 -3.58149520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.53762799999998 meters 0.016066952648294133 Centerline is valid? [True, True] Translation: X:187.26, Y:-74.39, Z:-0.36 [[ 7.79893740e-01 6.25911928e-01 -1.12772329e-04 1.87259301e+02] [-6.25911921e-01 7.79893748e-01 9.63988921e-05 -7.43858802e+01] [ 1.48287651e-04 -4.59534717e-06 9.99999989e-01 -3.57020213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.597628 meters 0.015752038319742635 Centerline is valid? [True, True] Translation: X:187.31, Y:-74.42, Z:-0.36 [[ 7.77449786e-01 6.28944075e-01 -1.08686644e-03 1.87306891e+02] [-6.28943397e-01 7.77450545e-01 9.23908092e-04 -7.44236000e+01] [ 1.42607143e-03 -3.47146784e-05 9.99998983e-01 -3.58279695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.657628 meters 0.014673301508084805 Centerline is valid? [True, True] Translation: X:187.36, Y:-74.46, Z:-0.36 [[ 7.74449798e-01 6.32628900e-01 -2.86103724e-03 1.87356083e+02] [-6.32624233e-01 7.74455079e-01 2.43123259e-03 -7.44610137e+01] [ 3.75381282e-03 -7.29060946e-05 9.99992952e-01 -3.60653110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.717628 meters 0.013226018544531787 Centerline is valid? [True, True] Translation: X:187.41, Y:-74.50, Z:-0.36 [[ 7.69720956e-01 6.38360541e-01 -5.04678007e-03 1.87405644e+02] [-6.38346129e-01 7.69737496e-01 4.29034680e-03 -7.44970803e+01] [ 6.62348396e-03 -8.07773195e-05 9.99978061e-01 -3.64027264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.777628 meters 0.012639987552279273 Centerline is valid? [True, True] Translation: X:187.45, Y:-74.54, Z:-0.37 [[ 7.67144956e-01 6.41449972e-01 -5.52725979e-03 1.87454525e+02] [-6.41432747e-01 7.67164865e-01 4.70117746e-03 -7.45354161e+01] [ 7.25588966e-03 -6.11191455e-05 9.99973674e-01 -3.65201575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.837628 meters 0.012208242676394088 Centerline is valid? [True, True] Translation: X:187.50, Y:-74.57, Z:-0.36 [[ 7.64415888e-01 6.44704839e-01 -4.90108490e-03 1.87501681e+02] [-6.44691350e-01 7.64431599e-01 4.17044676e-03 -7.45743338e+01] [ 6.43525137e-03 -2.82687187e-05 9.99979293e-01 -3.64266383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.897628 meters 0.012141185796305286 Centerline is valid? [True, True] Translation: X:187.55, Y:-74.62, Z:-0.36 [[ 7.63834522e-01 6.45396537e-01 -4.48688682e-03 1.87549011e+02] [-6.45385232e-01 7.63847700e-01 3.82019353e-03 -7.46154668e+01] [ 5.89283786e-03 -2.22252056e-05 9.99982637e-01 -3.63560980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.957628 meters 0.012054068892802253 Centerline is valid? [True, True] Translation: X:187.59, Y:-74.66, Z:-0.36 [[ 7.63597652e-01 6.45687684e-01 -2.45793468e-03 1.87594693e+02] [-6.45684288e-01 7.63601608e-01 2.09394768e-03 -7.46578845e+01] [ 3.22891910e-03 -1.18837299e-05 9.99994787e-01 -3.60332752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.017628 meters 0.012133160878625572 Centerline is valid? [True, True] Translation: X:187.64, Y:-74.70, Z:-0.36 [[ 7.63529266e-01 6.45772199e-01 -1.15190244e-03 1.87641007e+02] [-6.45771452e-01 7.63530135e-01 9.82228834e-04 -7.46998174e+01] [ 1.51380830e-03 -6.09474942e-06 9.99998854e-01 -3.57887365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.077628 meters 0.012121388079668716 Centerline is valid? [True, True] Translation: X:187.69, Y:-74.74, Z:-0.36 [[ 7.62752803e-01 6.46688212e-01 -1.58653516e-03 1.87688028e+02] [-6.46686796e-01 7.62754453e-01 1.35338223e-03 -7.47417171e+01] [ 2.08535309e-03 -6.30474849e-06 9.99997826e-01 -3.58151087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.137628 meters 0.012048890686499355 Centerline is valid? [True, True] Translation: X:187.74, Y:-74.78, Z:-0.36 [[ 7.61861711e-01 6.47730532e-01 -3.44828310e-03 1.87735635e+02] [-6.47723849e-01 7.61869515e-01 2.94249290e-03 -7.47830579e+01] [ 4.53308426e-03 -8.23748141e-06 9.99989725e-01 -3.60048874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.19762799999998 meters 0.012142682996391877 Centerline is valid? [True, True] Translation: X:187.78, Y:-74.82, Z:-0.36 [[ 7.60792243e-01 6.48970796e-01 -5.66293765e-03 1.87781332e+02] [-6.48952790e-01 7.60813319e-01 4.83420503e-03 -7.48245050e+01] [ 7.44569627e-03 -2.84650034e-06 9.99972280e-01 -3.62141419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.25762799999998 meters 0.012215445472387834 Centerline is valid? [True, True] Translation: X:187.83, Y:-74.87, Z:-0.36 [[ 7.60905003e-01 6.48830741e-01 -6.49976231e-03 1.87827577e+02] [-6.48806988e-01 7.60932763e-01 5.55173492e-03 -7.48664720e+01] [ 8.54801837e-03 -7.25166678e-06 9.99963465e-01 -3.62722061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.31762799999998 meters 0.012342942893011211 Centerline is valid? [True, True] Translation: X:187.87, Y:-74.91, Z:-0.36 [[ 7.62205877e-01 6.47300265e-01 -6.67588191e-03 1.87872248e+02] [-6.47275134e-01 7.62235112e-01 5.70390902e-03 -7.49089693e+01] [ 8.78073342e-03 -2.64206190e-05 9.99961448e-01 -3.62062807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.377628 meters 0.012711408432316568 Centerline is valid? [True, True] Translation: X:187.92, Y:-74.95, Z:-0.36 [[ 7.64372998e-01 6.44752258e-01 -5.33351306e-03 1.87917142e+02] [-6.44736137e-01 7.64391604e-01 4.55958402e-03 -7.49510909e+01] [ 7.01669469e-03 -4.65142946e-05 9.99975382e-01 -3.59554956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.437628 meters 0.013003116368500824 Centerline is valid? [True, True] Translation: X:187.96, Y:-74.99, Z:-0.36 [[ 7.67125102e-01 6.41477853e-01 -5.02417328e-03 1.87963408e+02] [-6.41463463e-01 7.67141551e-01 4.29730686e-03 -7.49918656e+01] [ 6.61087926e-03 -7.37483719e-05 9.99978145e-01 -3.58059916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.497628 meters 0.01452854199157422 Centerline is valid? [True, True] Translation: X:188.01, Y:-75.03, Z:-0.36 [[ 7.72697670e-01 6.34756826e-01 -4.69925779e-03 1.88008460e+02] [-6.34744111e-01 7.72711950e-01 4.01957501e-03 -7.50347214e+01] [ 6.18262532e-03 -1.23090039e-04 9.99980880e-01 -3.57504874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.557628 meters 0.016531280457747648 Centerline is valid? [True, True] Translation: X:188.05, Y:-75.08, Z:-0.36 [[ 7.76419194e-01 6.30199048e-01 -4.73225463e-03 1.88052905e+02] [-6.30186056e-01 7.76433599e-01 4.04995035e-03 -7.50765489e+01] [ 6.22655635e-03 -1.62258311e-04 9.99980602e-01 -3.57247938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.617628 meters 0.018777044291221377 Centerline is valid? [True, True] Translation: X:188.10, Y:-75.12, Z:-0.36 [[ 7.79937462e-01 6.25837878e-01 -4.95043173e-03 1.88099891e+02] [-6.25823559e-01 7.79953145e-01 4.23850246e-03 -7.51164479e+01] [ 6.51372018e-03 -2.07670044e-04 9.99978764e-01 -3.57136765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.677628 meters 0.018469057382074116 Centerline is valid? [True, True] Translation: X:188.15, Y:-75.15, Z:-0.36 [[ 7.80634545e-01 6.24965867e-01 -5.23196420e-03 1.88149175e+02] [-6.24949847e-01 7.80652044e-01 4.48049914e-03 -7.51536611e+01] [ 6.88450257e-03 -2.27917182e-04 9.99976276e-01 -3.56052070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.737628 meters 0.018718338104248368 Centerline is valid? [True, True] Translation: X:188.20, Y:-75.19, Z:-0.36 [[ 7.79103285e-01 6.26869437e-01 -5.72550350e-03 1.88199814e+02] [-6.26850286e-01 7.79124287e-01 4.90553648e-03 -7.51885704e+01] [ 7.53600972e-03 -2.32886078e-04 9.99971577e-01 -3.57253411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.797628 meters 0.016465870423291312 Centerline is valid? [True, True] Translation: X:188.25, Y:-75.22, Z:-0.36 [[ 7.77634956e-01 6.28690410e-01 -5.67835930e-03 1.88252333e+02] [-6.28671603e-01 7.77655658e-01 4.86764253e-03 -7.52224005e+01] [ 7.47604842e-03 -2.15425742e-04 9.99972031e-01 -3.56482495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.857628 meters 0.01596462656311422 Centerline is valid? [True, True] Translation: X:188.30, Y:-75.26, Z:-0.36 [[ 7.75931775e-01 6.30793290e-01 -5.45029925e-03 1.88303918e+02] [-6.30775998e-01 7.75950894e-01 4.67448783e-03 -7.52570164e+01] [ 7.17780013e-03 -1.89165688e-04 9.99974221e-01 -3.56889527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.917628 meters 0.015125588779057179 Centerline is valid? [True, True] Translation: X:188.35, Y:-75.29, Z:-0.36 [[ 7.74914664e-01 6.32043345e-01 -5.33612608e-03 1.88354243e+02] [-6.32026783e-01 7.74933016e-01 4.57890372e-03 -7.52941978e+01] [ 7.02920590e-03 -1.75685041e-04 9.99975279e-01 -3.56613007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.97762799999998 meters 0.014379406367043095 Centerline is valid? [True, True] Translation: X:188.40, Y:-75.33, Z:-0.36 [[ 7.72158008e-01 6.35407293e-01 -5.43902307e-03 1.88403123e+02] [-6.35390166e-01 7.72177150e-01 4.66761199e-03 -7.53295301e+01] [ 7.16572403e-03 -1.48232212e-04 9.99974315e-01 -3.56849733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.03762799999998 meters 0.013360767584387628 Centerline is valid? [True, True] Translation: X:188.45, Y:-75.37, Z:-0.36 [[ 7.68847698e-01 6.39401538e-01 -6.23618937e-03 1.88453652e+02] [-6.39379129e-01 7.68872978e-01 5.35470362e-03 -7.53656847e+01] [ 8.21864322e-03 -1.29662219e-04 9.99966218e-01 -3.57255421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.097628 meters 0.012063178800679615 Centerline is valid? [True, True] Translation: X:188.51, Y:-75.40, Z:-0.36 [[ 7.63259548e-01 6.46051967e-01 -7.19162493e-03 1.88506422e+02] [-6.46022430e-01 7.63293424e-01 6.17801336e-03 -7.53984690e+01] [ 9.48063770e-03 -6.94766644e-05 9.99955055e-01 -3.59329282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.157628 meters 0.01544592248452896 Centerline is valid? [True, True] Translation: X:188.56, Y:-75.44, Z:-0.36 [[ 7.60441522e-01 6.49363905e-01 -7.43039518e-03 1.88556006e+02] [-6.49332502e-01 7.60477823e-01 6.38619981e-03 -7.54358607e+01] [ 9.79761839e-03 -3.15344153e-05 9.99952002e-01 -3.61305529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.217628 meters 0.01147378534966875 Centerline is valid? [True, True] Translation: X:188.61, Y:-75.47, Z:-0.36 [[ 7.57455945e-01 6.52867024e-01 -5.01400825e-03 1.88605711e+02] [-6.52852788e-01 7.57472540e-01 4.31142665e-03 -7.54719729e+01] [ 6.61276185e-03 7.69351348e-06 9.99978135e-01 -3.56591691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.277628 meters 0.011498852031948531 Centerline is valid? [True, True] Translation: X:188.66, Y:-75.51, Z:-0.36 [[ 7.56177504e-01 6.54343227e-01 -5.52477201e-03 1.88655278e+02] [-6.54325963e-01 7.56197686e-01 4.75324627e-03 -7.55101265e+01] [ 7.28807432e-03 2.07038682e-05 9.99973441e-01 -3.58022175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.337628 meters 0.012015218835804503 Centerline is valid? [True, True] Translation: X:188.70, Y:-75.55, Z:-0.36 [[ 7.54735229e-01 6.55972981e-01 -8.61290264e-03 1.88703320e+02] [-6.55931132e-01 7.54784370e-01 7.40977585e-03 -7.55473405e+01] [ 1.13614970e-02 5.70521105e-05 9.99935454e-01 -3.62197154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.397628 meters 0.014830514433568403 Centerline is valid? [True, True] Translation: X:188.75, Y:-75.59, Z:-0.37 [[ 7.54344551e-01 6.56396476e-01 -1.03905965e-02 1.88748677e+02] [-6.56335551e-01 7.54416106e-01 8.94332848e-03 -7.55881582e+01] [ 1.37092027e-02 7.33667908e-05 9.99906022e-01 -3.65218614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.457628 meters 0.011758159636206614 Centerline is valid? [True, True] Translation: X:188.80, Y:-75.63, Z:-0.36 [[ 7.53606807e-01 6.57253293e-01 -9.74107308e-03 1.88795754e+02] [-6.57199754e-01 7.53669757e-01 8.38934334e-03 -7.56305378e+01] [ 1.28554757e-02 7.95645749e-05 9.99917362e-01 -3.59975613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.517628 meters 0.011832545786963659 Centerline is valid? [True, True] Translation: X:188.84, Y:-75.67, Z:-0.36 [[ 7.52739483e-01 6.58252249e-01 -9.34066455e-03 1.88843146e+02] [-6.58203041e-01 7.52797429e-01 8.04913219e-03 -7.56716758e+01] [ 1.23299876e-02 8.91542091e-05 9.99923979e-01 -3.60766294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.577628 meters 0.012092497328290534 Centerline is valid? [True, True] Translation: X:188.89, Y:-75.71, Z:-0.36 [[ 7.51267041e-01 6.59948012e-01 -8.15197087e-03 1.88889789e+02] [-6.59910588e-01 7.51311261e-01 7.02887435e-03 -7.57143922e+01] [ 1.07633592e-02 9.90102530e-05 9.99942068e-01 -3.58739340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.637628 meters 0.012124815495862185 Centerline is valid? [True, True] Translation: X:188.94, Y:-75.76, Z:-0.36 [[ 7.50261537e-01 6.61115534e-01 -5.82027803e-03 1.88935945e+02] [-6.61096472e-01 7.50284109e-01 5.02101980e-03 -7.57554672e+01] [ 7.68633630e-03 8.06872398e-05 9.99970456e-01 -3.56049207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.69762799999998 meters 0.012111224097946006 Centerline is valid? [True, True] Translation: X:188.98, Y:-75.80, Z:-0.36 [[ 7.50480791e-01 6.60875698e-01 -4.67907058e-03 1.88982061e+02] [-6.60863361e-01 7.50495375e-01 4.03861558e-03 -7.57970009e+01] [ 6.18064372e-03 6.13228945e-05 9.99980898e-01 -3.55320424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.75762799999998 meters 0.011732197330479976 Centerline is valid? [True, True] Translation: X:189.03, Y:-75.84, Z:-0.35 [[ 7.51535564e-01 6.59678929e-01 -4.24340593e-03 1.89025070e+02] [-6.59668752e-01 7.51547543e-01 3.66449665e-03 -7.58419691e+01] [ 5.60651252e-03 4.52427364e-05 9.99984282e-01 -3.53910228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.81762799999998 meters 0.011591270264256248 Centerline is valid? [True, True] Translation: X:189.07, Y:-75.88, Z:-0.35 [[ 7.52155646e-01 6.58971340e-01 -4.31939221e-03 1.89071193e+02] [-6.58960771e-01 7.52168048e-01 3.73232997e-03 -7.58849424e+01] [ 5.70840729e-03 3.90169614e-05 9.99983706e-01 -3.54126353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.877628 meters 0.011389503454320337 Centerline is valid? [True, True] Translation: X:189.11, Y:-75.93, Z:-0.36 [[ 7.54530082e-01 6.56249015e-01 -4.64605288e-03 1.89114686e+02] [-6.56236724e-01 7.54544385e-01 4.01651329e-03 -7.59296000e+01] [ 6.14148601e-03 1.83304206e-05 9.99981141e-01 -3.55603167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.937628 meters 0.011470454776617971 Centerline is valid? [True, True] Translation: X:189.16, Y:-75.97, Z:-0.36 [[ 7.55650803e-01 6.54949124e-01 -5.78861864e-03 1.89158178e+02] [-6.54929999e-01 7.55672974e-01 5.00523975e-03 -7.59725484e+01] [ 7.65248006e-03 8.92656141e-06 9.99970719e-01 -3.57880900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.997628 meters 0.011638904225028307 Centerline is valid? [True, True] Translation: X:189.20, Y:-76.02, Z:-0.36 [[ 7.57521011e-01 6.52773139e-01 -7.01053534e-03 1.89199692e+02] [-6.52744963e-01 7.57553450e-01 6.06502714e-03 -7.60195049e+01] [ 9.26994203e-03 -1.82938568e-05 9.99957033e-01 -3.57260516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.057628 meters 0.01564209273009947 Centerline is valid? [True, True] Translation: X:189.24, Y:-76.06, Z:-0.36 [[ 7.60525412e-01 6.49270095e-01 -7.03155995e-03 1.89242495e+02] [-6.49241573e-01 7.60557914e-01 6.08597722e-03 -7.60641556e+01] [ 9.29935157e-03 -6.33592780e-05 9.99956758e-01 -3.60125710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.117628 meters 0.013440403028391673 Centerline is valid? [True, True] Translation: X:189.28, Y:-76.11, Z:-0.36 [[ 7.65894573e-01 6.42946771e-01 -4.99523282e-03 1.89282981e+02] [-6.42932226e-01 7.65910856e-01 4.32584012e-03 -7.61120281e+01] [ 6.60718798e-03 -1.01541313e-04 9.99978167e-01 -3.55913160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.177628 meters 0.017387287206801102 Centerline is valid? [True, True] Translation: X:189.32, Y:-76.16, Z:-0.36 [[ 7.71284394e-01 6.36476868e-01 -4.19280151e-03 1.89323414e+02] [-6.36466523e-01 7.71295779e-01 3.63135635e-03 -7.61592312e+01] [ 5.54516442e-03 -1.32230686e-04 9.99984617e-01 -3.57115698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.237628 meters 0.019918135943969326 Centerline is valid? [True, True] Translation: X:189.36, Y:-76.21, Z:-0.36 [[ 7.77919686e-01 6.28353242e-01 -3.62846552e-03 1.89363706e+02] [-6.28345396e-01 7.77928130e-01 3.14444373e-03 -7.62074215e+01] [ 4.79850681e-03 -1.66195073e-04 9.99988473e-01 -3.56156317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.297628 meters 0.019324446935421173 Centerline is valid? [True, True] Translation: X:189.41, Y:-76.25, Z:-0.35 [[ 7.76940333e-01 6.29569020e-01 -2.56294969e-03 1.89409145e+02] [-6.29565108e-01 7.76944552e-01 2.22222127e-03 -7.62483064e+01] [ 3.39031146e-03 -1.12989634e-04 9.99994246e-01 -3.53345534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.357628 meters 0.01869195721297731 Centerline is valid? [True, True] Translation: X:189.46, Y:-76.29, Z:-0.36 [[ 7.75502402e-01 6.31327008e-01 -4.71515644e-03 1.89458038e+02] [-6.31313791e-01 7.75516712e-01 4.08987961e-03 -7.62868182e+01] [ 6.23873408e-03 -1.94968177e-04 9.99980520e-01 -3.56027999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.417628 meters 0.020987913501624 Centerline is valid? [True, True] Translation: X:189.51, Y:-76.33, Z:-0.36 [[ 7.74968656e-01 6.31975134e-01 -5.56888491e-03 1.89506477e+02] [-6.31956697e-01 7.74988632e-01 4.83262169e-03 -7.63261065e+01] [ 7.36991924e-03 -2.25836225e-04 9.99972816e-01 -3.60339326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.47762799999998 meters 0.01982385251521539 Centerline is valid? [True, True] Translation: X:189.56, Y:-76.36, Z:-0.36 [[ 7.73009321e-01 6.34376832e-01 -4.75660354e-03 1.89556605e+02] [-6.34363415e-01 7.73023936e-01 4.12946084e-03 -7.63613140e+01] [ 6.29660267e-03 -1.74696452e-04 9.99980161e-01 -3.59403524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.53762799999998 meters 0.014864561696495674 Centerline is valid? [True, True] Translation: X:189.61, Y:-76.40, Z:-0.35 [[ 7.70338079e-01 6.37626499e-01 -3.41926471e-03 1.89607207e+02] [-6.37619591e-01 7.70345660e-01 2.96990988e-03 -7.63962981e+01] [ 4.52770897e-03 -1.07644501e-04 9.99989744e-01 -3.54614261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.597628 meters 0.013417781294051145 Centerline is valid? [True, True] Translation: X:189.66, Y:-76.43, Z:-0.36 [[ 7.64552932e-01 6.44547873e-01 -4.10531937e-03 1.89655876e+02] [-6.44538012e-01 7.64563950e-01 3.56628938e-03 -7.64321637e+01] [ 5.43742342e-03 -8.05826180e-05 9.99985214e-01 -3.55901593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.657628 meters 0.014934149584584642 Centerline is valid? [True, True] Translation: X:189.71, Y:-76.47, Z:-0.36 [[ 7.56718889e-01 6.53716795e-01 -5.55658646e-03 1.89707696e+02] [-6.53698958e-01 7.56739289e-01 4.82916155e-03 -7.64656376e+01] [ 7.36179130e-03 -2.19829818e-05 9.99972901e-01 -3.61474853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.717628 meters 0.015152908665158534 Centerline is valid? [True, True] Translation: X:189.76, Y:-76.50, Z:-0.36 [[ 7.51378254e-01 6.59844536e-01 -5.99237769e-03 1.89758392e+02] [-6.59823964e-01 7.51402148e-01 5.21051586e-03 -7.65016950e+01] [ 7.94081588e-03 3.88460938e-05 9.99968470e-01 -3.62903216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.777628 meters 0.013277451515280494 Centerline is valid? [True, True] Translation: X:189.81, Y:-76.54, Z:-0.36 [[ 7.47130571e-01 6.64651782e-01 -5.82389193e-03 1.89806894e+02] [-6.64632488e-01 7.47153265e-01 5.06507333e-03 -7.65397541e+01] [ 7.71784988e-03 8.64766528e-05 9.99970213e-01 -3.60106593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.837628 meters 0.014339552874370054 Centerline is valid? [True, True] Translation: X:189.85, Y:-76.58, Z:-0.36 [[ 7.44173588e-01 6.67975206e-01 -3.84659971e-03 1.89852896e+02] [-6.67966824e-01 7.44183525e-01 3.34721279e-03 -7.65796473e+01] [ 5.09843128e-03 7.84936427e-05 9.99987000e-01 -3.57898788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.897628 meters 0.014565154091401428 Centerline is valid? [True, True] Translation: X:189.90, Y:-76.62, Z:-0.36 [[ 7.44281288e-01 6.67863251e-01 -2.01051437e-03 1.89896429e+02] [-6.67860959e-01 7.44284002e-01 1.75049790e-03 -7.66229348e+01] [ 2.66548690e-03 3.98812206e-05 9.99996447e-01 -3.55105121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.957628 meters 0.014497891502955423 Centerline is valid? [True, True] Translation: X:189.94, Y:-76.67, Z:-0.36 [[ 7.44709456e-01 6.67387070e-01 -1.52475740e-03 1.89941223e+02] [-6.67385748e-01 7.44711017e-01 1.32832976e-03 -7.66657029e+01] [ 2.02201374e-03 2.83816255e-05 9.99997955e-01 -3.55105225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.017628 meters 0.014033851512265431 Centerline is valid? [True, True] Translation: X:189.98, Y:-76.71, Z:-0.36 [[ 7.46266256e-01 6.65637140e-01 -3.72476116e-03 1.89983287e+02] [-6.65629230e-01 7.46275549e-01 3.24552099e-03 -7.67109417e+01] [ 4.94003749e-03 5.72871110e-05 9.99987796e-01 -3.58311778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.077628 meters 0.013679763623496941 Centerline is valid? [True, True] Translation: X:190.03, Y:-76.76, Z:-0.36 [[ 7.47464820e-01 6.64271780e-01 -6.27263114e-03 1.90028159e+02] [-6.64249277e-01 7.47491135e-01 5.46820563e-03 -7.67557018e+01] [ 8.32111085e-03 7.92993695e-05 9.99965376e-01 -3.61984845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.137628 meters 0.013862715953405333 Centerline is valid? [True, True] Translation: X:190.08, Y:-76.79, Z:-0.37 [[ 7.47459855e-01 6.64244758e-01 -9.09208095e-03 1.90075127e+02] [-6.64197442e-01 7.47515143e-01 7.92900566e-03 -7.67943360e+01] [ 1.20632686e-02 1.12323495e-04 9.99927230e-01 -3.66083868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.19762799999998 meters 0.013664876757705583 Centerline is valid? [True, True] Translation: X:190.12, Y:-76.84, Z:-0.37 [[ 7.49097892e-01 6.62371675e-01 -1.07755497e-02 1.90121213e+02] [-6.62304962e-01 7.49175383e-01 9.40121092e-03 -7.68360824e+01] [ 1.42998724e-02 9.42727627e-05 9.99897747e-01 -3.68453279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.25762799999998 meters 0.012599834375527533 Centerline is valid? [True, True] Translation: X:190.16, Y:-76.88, Z:-0.36 [[ 7.53875719e-01 6.56947126e-01 -9.58505871e-03 1.90162937e+02] [-6.56893845e-01 7.53936651e-01 8.36682455e-03 -7.68826744e+01] [ 1.27230884e-02 -1.11798069e-05 9.99919058e-01 -3.61529008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.31762799999998 meters 0.012816594869115716 Centerline is valid? [True, True] Translation: X:190.21, Y:-76.93, Z:-0.36 [[ 7.57622021e-01 6.52648204e-01 -7.69380283e-03 1.90207342e+02] [-6.52613617e-01 7.57661083e-01 6.71944936e-03 -7.69260544e+01] [ 1.02147315e-02 -6.97223150e-05 9.99947826e-01 -3.59157877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.377628 meters 0.016952176611679068 Centerline is valid? [True, True] Translation: X:190.25, Y:-76.97, Z:-0.36 [[ 7.63772943e-01 6.45450509e-01 -6.67314607e-03 1.90250910e+02] [-6.45424189e-01 7.63802081e-01 5.83077244e-03 -7.69695221e+01] [ 8.86043789e-03 -1.46376337e-04 9.99960735e-01 -3.61929009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.437628 meters 0.015045714307156868 Centerline is valid? [True, True] Translation: X:190.30, Y:-77.01, Z:-0.36 [[ 7.66243423e-01 6.42530428e-01 -5.06618697e-03 1.90295970e+02] [-6.42515178e-01 7.66260158e-01 4.42901682e-03 -7.70124357e+01] [ 6.72779530e-03 -1.38602987e-04 9.99977359e-01 -3.57638449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.497628 meters 0.01547687145855115 Centerline is valid? [True, True] Translation: X:190.34, Y:-77.05, Z:-0.35 [[ 7.67860520e-01 6.40608773e-01 -3.25897913e-03 1.90342886e+02] [-6.40602438e-01 7.67867430e-01 2.85071787e-03 -7.70537063e+01] [ 4.32865880e-03 -1.01243727e-04 9.99990626e-01 -3.54237284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.557628 meters 0.01598684971983344 Centerline is valid? [True, True] Translation: X:190.39, Y:-77.09, Z:-0.35 [[ 7.67586743e-01 6.40937668e-01 -3.08172839e-03 1.90389733e+02] [-6.40932004e-01 7.67592924e-01 2.69620416e-03 -7.70930089e+01] [ 4.09361171e-03 -9.43922128e-05 9.99991617e-01 -3.54663672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.617628 meters 0.015271931334075247 Centerline is valid? [True, True] Translation: X:190.44, Y:-77.13, Z:-0.35 [[ 7.66139046e-01 6.42664279e-01 -3.68613894e-03 1.90438542e+02] [-6.42656186e-01 7.66147906e-01 3.22678287e-03 -7.71321025e+01] [ 4.89786572e-03 -1.03244350e-04 9.99988000e-01 -3.54459101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.677628 meters 0.01499065411655514 Centerline is valid? [True, True] Translation: X:190.49, Y:-77.17, Z:-0.36 [[ 7.64987049e-01 6.44030221e-01 -4.45967799e-03 1.90486754e+02] [-6.44018388e-01 7.65000040e-01 3.90573786e-03 -7.71715985e+01] [ 5.92706706e-03 -1.15724247e-04 9.99982428e-01 -3.56560659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.737628 meters 0.014510197756532176 Centerline is valid? [True, True] Translation: X:190.54, Y:-77.21, Z:-0.36 [[ 7.63940922e-01 6.45264724e-01 -5.26350101e-03 1.90536243e+02] [-6.45248254e-01 7.63959044e-01 4.61192953e-03 -7.72097204e+01] [ 6.99701463e-03 -1.26976860e-04 9.99975513e-01 -3.58856222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.797628 meters 0.014549918973784767 Centerline is valid? [True, True] Translation: X:190.58, Y:-77.25, Z:-0.36 [[ 7.63387180e-01 6.45915009e-01 -5.81504729e-03 1.90584720e+02] [-6.45894904e-01 7.63409315e-01 5.09810349e-03 -7.72495023e+01] [ 7.73220284e-03 -1.35917437e-04 9.99970097e-01 -3.60275283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.857628 meters 0.014226004683509494 Centerline is valid? [True, True] Translation: X:190.63, Y:-77.29, Z:-0.36 [[ 7.62512496e-01 6.46949282e-01 -5.59640833e-03 1.90632155e+02] [-6.46930670e-01 7.62533023e-01 4.90881740e-03 -7.72899338e+01] [ 7.44320205e-03 -1.22546420e-04 9.99972291e-01 -3.59180240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.917628 meters 0.013778702914228868 Centerline is valid? [True, True] Translation: X:190.68, Y:-77.33, Z:-0.36 [[ 7.60769873e-01 6.49003382e-01 -4.87963263e-03 1.90678974e+02] [-6.48989268e-01 7.60785516e-01 4.28114610e-03 -7.73293026e+01] [ 6.49083213e-03 -9.01377582e-05 9.99978930e-01 -3.58701589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.97762799999998 meters 0.012513849658971137 Centerline is valid? [True, True] Translation: X:190.73, Y:-77.36, Z:-0.36 [[ 7.54908016e-01 6.55814703e-01 -4.57852117e-03 1.90729607e+02] [-6.55802390e-01 7.54921899e-01 4.01880658e-03 -7.73647831e+01] [ 6.09201834e-03 -3.12241730e-05 9.99981443e-01 -3.59216710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.03762799999998 meters 0.012206962801878185 Centerline is valid? [True, True] Translation: X:190.78, Y:-77.40, Z:-0.36 [[ 7.49867714e-01 6.61566486e-01 -5.31003687e-03 1.90780274e+02] [-6.61550047e-01 7.49886515e-01 4.66368316e-03 -7.74024852e+01] [ 7.06726152e-03 1.57097152e-05 9.99975026e-01 -3.60643279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.097628 meters 0.012906286954946437 Centerline is valid? [True, True] Translation: X:190.83, Y:-77.44, Z:-0.36 [[ 7.44488122e-01 6.67609611e-01 -5.90287164e-03 1.90829376e+02] [-6.67589466e-01 7.44511519e-01 5.18679689e-03 -7.74407106e+01] [ 7.85751138e-03 7.91862571e-05 9.99969126e-01 -3.62273382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.157628 meters 0.013384971520113505 Centerline is valid? [True, True] Translation: X:190.88, Y:-77.48, Z:-0.36 [[ 7.42340766e-01 6.70001525e-01 -5.30500532e-03 1.90875500e+02] [-6.69985301e-01 7.42359716e-01 4.66361098e-03 -7.74814876e+01] [ 7.06284871e-03 9.22870354e-05 9.99975054e-01 -3.61355333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.217628 meters 0.013720554551455846 Centerline is valid? [True, True] Translation: X:190.92, Y:-77.52, Z:-0.36 [[ 7.41396660e-01 6.71049843e-01 -4.80623749e-03 1.90920856e+02] [-6.71036532e-01 7.41412233e-01 4.22770574e-03 -7.75246843e+01] [ 6.40040455e-03 9.07540229e-05 9.99979513e-01 -3.60777236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.277628 meters 0.013460016969787754 Centerline is valid? [True, True] Translation: X:190.97, Y:-77.57, Z:-0.36 [[ 7.41609087e-01 6.70813460e-01 -5.02641934e-03 1.90966410e+02] [-6.70798878e-01 7.41626115e-01 4.42388256e-03 -7.75685314e+01] [ 6.69532382e-03 9.09249477e-05 9.99977582e-01 -3.62028232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.337628 meters 0.012693084044102763 Centerline is valid? [True, True] Translation: X:191.01, Y:-77.62, Z:-0.36 [[ 7.44637934e-01 6.67445518e-01 -5.55225745e-03 1.91007126e+02] [-6.67427615e-01 7.44658631e-01 4.88901130e-03 -7.76160387e+01] [ 7.39768511e-03 6.51866764e-05 9.99972635e-01 -3.61818381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.397628 meters 0.012387460856935066 Centerline is valid? [True, True] Translation: X:191.05, Y:-77.66, Z:-0.36 [[ 7.47932942e-01 6.63751737e-01 -5.47223405e-03 1.91049307e+02] [-6.63734231e-01 7.47952960e-01 4.82073108e-03 -7.76610715e+01] [ 7.29274228e-03 2.65254798e-05 9.99973407e-01 -3.63323187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.457628 meters 0.012153915103120307 Centerline is valid? [True, True] Translation: X:191.09, Y:-77.71, Z:-0.36 [[ 7.50937784e-01 6.60357714e-01 -4.48711114e-03 1.91093564e+02] [-6.60345880e-01 7.50951190e-01 3.95337459e-03 -7.77055561e+01] [ 5.98024286e-03 -5.69299972e-06 9.99982118e-01 -3.61698929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.517628 meters 0.01221456631455373 Centerline is valid? [True, True] Translation: X:191.14, Y:-77.75, Z:-0.36 [[ 7.52786675e-01 6.58243458e-01 -5.27001535e-03 1.91138655e+02] [-6.58227063e-01 7.52805121e-01 4.64582321e-03 -7.77488822e+01] [ 7.02537727e-03 -2.84470797e-05 9.99975321e-01 -3.61275334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.577628 meters 0.01316389626738373 Centerline is valid? [True, True] Translation: X:191.18, Y:-77.79, Z:-0.36 [[ 7.58024159e-01 6.52209526e-01 -4.70195781e-03 1.91181747e+02] [-6.52196347e-01 7.58038738e-01 4.14697674e-03 -7.77932830e+01] [ 6.26896390e-03 -7.69088511e-05 9.99980347e-01 -3.60756913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.637628 meters 0.01444179200234337 Centerline is valid? [True, True] Translation: X:191.23, Y:-77.84, Z:-0.36 [[ 7.61968233e-01 6.47599796e-01 -4.34925153e-03 1.91226559e+02] [-6.47588440e-01 7.61980638e-01 3.83661182e-03 -7.78357980e+01] [ 5.79863448e-03 -1.06851314e-04 9.99983182e-01 -3.59522244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.69762799999998 meters 0.017838631772391558 Centerline is valid? [True, True] Translation: X:191.27, Y:-77.88, Z:-0.36 [[ 7.69324298e-01 6.38834452e-01 -5.53779505e-03 1.91269327e+02] [-6.38815795e-01 7.69344197e-01 4.88742516e-03 -7.78807781e+01] [ 7.38272606e-03 -2.22383986e-04 9.99972723e-01 -3.60462382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.75762799999998 meters 0.023232003579962475 Centerline is valid? [True, True] Translation: X:191.31, Y:-77.92, Z:-0.36 [[ 7.75716423e-01 6.31047483e-01 -6.56546092e-03 1.91314816e+02] [-6.31020977e-01 7.75744127e-01 5.79459778e-03 -7.79231760e+01] [ 8.74978409e-03 -3.52021097e-04 9.99961658e-01 -3.63532497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81762799999998 meters 0.0239592019443832 Centerline is valid? [True, True] Translation: X:191.36, Y:-77.96, Z:-0.36 [[ 7.78330394e-01 6.27833035e-01 -5.24194853e-03 1.91359933e+02] [-6.27816053e-01 7.78347984e-01 4.62819407e-03 -7.79638458e+01] [ 6.98579320e-03 -3.11284678e-04 9.99975551e-01 -3.60077584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.877628 meters 0.024831397248368785 Centerline is valid? [True, True] Translation: X:191.41, Y:-78.00, Z:-0.36 [[ 7.79989559e-01 6.25786094e-01 -2.83780124e-03 1.91409397e+02] [-6.25781102e-01 7.79994701e-01 2.50583712e-03 -7.80014880e+01] [ 3.78158795e-03 -1.78684400e-04 9.99992834e-01 -3.56068624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.937628 meters 0.02487230935884713 Centerline is valid? [True, True] Translation: X:191.46, Y:-78.04, Z:-0.35 [[ 7.78348078e-01 6.27829688e-01 -2.03756835e-03 1.91459083e+02] [-6.27827121e-01 7.78350736e-01 1.79948071e-03 -7.80372935e+01] [ 2.71571024e-03 -1.21381681e-04 9.99996305e-01 -3.54989605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.997628 meters 0.019115157757303262 Centerline is valid? [True, True] Translation: X:191.52, Y:-78.06, Z:-0.35 [[ 7.72551940e-01 6.34949490e-01 -1.62620205e-03 1.91517862e+02] [-6.34947870e-01 7.72553648e-01 1.43638747e-03 -7.80636572e+01] [ 2.16836182e-03 -7.71303936e-05 9.99997646e-01 -3.54572656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.057628 meters 0.01759240069214247 Centerline is valid? [True, True] Translation: X:191.57, Y:-78.10, Z:-0.36 [[ 7.68282934e-01 6.40105894e-01 -2.40376076e-03 1.91570025e+02] [-6.40102379e-01 7.68286689e-01 2.12325281e-03 -7.80980890e+01] [ 3.20588404e-03 -9.26059194e-05 9.99994857e-01 -3.55457998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.117628 meters 0.015929689989551382 Centerline is valid? [True, True] Translation: X:191.62, Y:-78.13, Z:-0.36 [[ 7.63542280e-01 6.45747499e-01 -3.65444094e-03 1.91623331e+02] [-6.45739440e-01 7.63551018e-01 3.22789904e-03 -7.81284032e+01] [ 4.87475984e-03 -1.04820747e-04 9.99988113e-01 -3.57068175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.177628 meters 0.014871512571213006 Centerline is valid? [True, True] Translation: X:191.67, Y:-78.16, Z:-0.36 [[ 7.60875962e-01 6.48885018e-01 -4.00047736e-03 1.91674906e+02] [-6.48875396e-01 7.60886473e-01 3.53476431e-03 -7.81619494e+01] [ 5.33756471e-03 -9.37058634e-05 9.99985751e-01 -3.57497451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.237628 meters 0.01452751871696115 Centerline is valid? [True, True] Translation: X:191.72, Y:-78.20, Z:-0.36 [[ 7.59648680e-01 6.50319055e-01 -4.35996623e-03 1.91724246e+02] [-6.50307640e-01 7.59661186e-01 3.85434966e-03 -7.82005129e+01] [ 5.81865415e-03 -9.26322850e-05 9.99983067e-01 -3.57823850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.297628 meters 0.014025329011243006 Centerline is valid? [True, True] Translation: X:191.77, Y:-78.24, Z:-0.36 [[ 7.58027083e-01 6.52206063e-01 -4.71106145e-03 1.91774772e+02] [-6.52192759e-01 7.58041717e-01 4.16656081e-03 -7.82373026e+01] [ 6.28863733e-03 -8.58457693e-05 9.99980223e-01 -3.58673644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.357628 meters 0.01359642745316207 Centerline is valid? [True, True] Translation: X:191.82, Y:-78.27, Z:-0.36 [[ 7.56601124e-01 6.53863081e-01 -4.22035266e-03 1.91823777e+02] [-6.53852421e-01 7.56612891e-01 3.73411894e-03 -7.82744586e+01] [ 5.63477574e-03 -6.57507811e-05 9.99984122e-01 -3.59307984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.417628 meters 0.011915515555971163 Centerline is valid? [True, True] Translation: X:191.87, Y:-78.31, Z:-0.36 [[ 7.53818017e-01 6.57070264e-01 -4.13102174e-03 1.91874739e+02] [-6.57060089e-01 7.53829335e-01 3.65698529e-03 -7.83109317e+01] [ 5.51698166e-03 -4.23718858e-05 9.99984780e-01 -3.56926721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.47762799999998 meters 0.014155643667846116 Centerline is valid? [True, True] Translation: X:191.92, Y:-78.35, Z:-0.36 [[ 7.52531203e-01 6.58539013e-01 -4.81220356e-03 1.91924175e+02] [-6.58525220e-01 7.52546588e-01 4.26240750e-03 -7.83506194e+01] [ 6.42836899e-03 -3.86372372e-05 9.99979337e-01 -3.59134690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.53762799999998 meters 0.011631706141631164 Centerline is valid? [True, True] Translation: X:191.97, Y:-78.39, Z:-0.36 [[ 7.51067648e-01 6.60193385e-01 -6.48700790e-03 1.91972545e+02] [-6.60168356e-01 7.51095661e-01 5.74886452e-03 -7.83908885e+01] [ 8.66772582e-03 -3.52688168e-05 9.99962434e-01 -3.59704547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.597628 meters 0.011564900589142897 Centerline is valid? [True, True] Translation: X:192.02, Y:-78.43, Z:-0.36 [[ 7.50540608e-01 6.60782648e-01 -7.42213045e-03 1.92019704e+02] [-6.60749873e-01 7.50577305e-01 6.58137563e-03 -7.84319304e+01] [ 9.91974149e-03 -3.54179161e-05 9.99950798e-01 -3.59947811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.657628 meters 0.011897705628396383 Centerline is valid? [True, True] Translation: X:192.06, Y:-78.47, Z:-0.36 [[ 7.48446755e-01 6.63100984e-01 -1.11597669e-02 1.92064493e+02] [-6.63027080e-01 7.48529949e-01 9.89979939e-03 -7.84731933e+01] [ 1.49179865e-02 -1.02450410e-05 9.99888721e-01 -3.63965587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.717628 meters 0.015734424117928317 Centerline is valid? [True, True] Translation: X:192.11, Y:-78.52, Z:-0.37 [[ 7.47636887e-01 6.63988801e-01 -1.25681235e-02 1.92110715e+02] [-6.63895097e-01 7.47742517e-01 1.11546970e-02 -7.85152574e+01] [ 1.68043142e-02 4.25261085e-06 9.99858798e-01 -3.65674474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.777628 meters 0.011527345574669537 Centerline is valid? [True, True] Translation: X:192.15, Y:-78.56, Z:-0.36 [[ 7.47305140e-01 6.64403061e-01 -1.01784766e-02 1.92154304e+02] [-6.64341580e-01 7.47374453e-01 9.03835529e-03 -7.85598851e+01] [ 1.36122443e-02 7.57585643e-06 9.99907349e-01 -3.61553695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.837628 meters 0.01456667247356277 Centerline is valid? [True, True] Translation: X:192.20, Y:-78.61, Z:-0.36 [[ 7.49244266e-01 6.62236473e-01 -8.71114435e-03 1.92195538e+02] [-6.62191249e-01 7.49294904e-01 7.73925049e-03 -7.86066034e+01] [ 1.16524300e-02 -3.01454962e-05 9.99932108e-01 -3.60386597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.897628 meters 0.01162892691696178 Centerline is valid? [True, True] Translation: X:192.24, Y:-78.66, Z:-0.35 [[ 7.52835403e-01 6.58188551e-01 -5.16600901e-03 1.92235361e+02] [-6.58172533e-01 7.52853126e-01 4.59221956e-03 -7.86551990e+01] [ 6.91179236e-03 -5.70602289e-05 9.99976112e-01 -3.53341033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.957628 meters 0.01234709081365875 Centerline is valid? [True, True] Translation: X:192.28, Y:-78.70, Z:-0.35 [[ 7.55019911e-01 6.55694386e-01 -3.13147407e-03 1.92277085e+02] [-6.55688475e-01 7.55026404e-01 2.78439256e-03 -7.87008763e+01] [ 4.19005618e-03 -4.90003703e-05 9.99991220e-01 -3.52063123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.017628 meters 0.012663349794184181 Centerline is valid? [True, True] Translation: X:192.32, Y:-78.75, Z:-0.35 [[ 7.55921752e-01 6.54654963e-01 -3.03059577e-03 1.92319400e+02] [-6.54649413e-01 7.55927825e-01 2.69612451e-03 -7.87459618e+01] [ 4.05594297e-03 -5.40814191e-05 9.99991773e-01 -3.52586648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.077628 meters 0.012628856407298316 Centerline is valid? [True, True] Translation: X:192.36, Y:-78.79, Z:-0.35 [[ 7.55534078e-01 6.55090183e-01 -5.01078154e-03 1.92364602e+02] [-6.55075009e-01 7.55550689e-01 4.45970465e-03 -7.87888843e+01] [ 6.70740818e-03 -8.70210819e-05 9.99977501e-01 -3.54561404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.137628 meters 0.017313663987722876 Centerline is valid? [True, True] Translation: X:192.41, Y:-78.83, Z:-0.36 [[ 7.56412310e-01 6.54040574e-01 -8.44662875e-03 1.92407683e+02] [-6.53997350e-01 7.56459451e-01 7.52099966e-03 -7.88336874e+01] [ 1.13085711e-02 -1.64903910e-04 9.99936042e-01 -3.60535833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.19762799999998 meters 0.016294125933461794 Centerline is valid? [True, True] Translation: X:192.45, Y:-78.88, Z:-0.36 [[ 7.58891606e-01 6.51150252e-01 -9.32090350e-03 1.92449447e+02] [-6.51097377e-01 7.58948810e-01 8.30113082e-03 -7.88795322e+01] [ 1.24793720e-02 -2.30842680e-04 9.99922103e-01 -3.60033211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.25762799999998 meters 0.01538898001481267 Centerline is valid? [True, True] Translation: X:192.49, Y:-78.92, Z:-0.36 [[ 7.60259775e-01 6.49553221e-01 -9.25675980e-03 1.92491615e+02] [-6.49500929e-01 7.60316083e-01 8.24603460e-03 -7.89233609e+01] [ 1.23943017e-02 -2.56854319e-04 9.99923155e-01 -3.58837983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31762799999998 meters 0.015671890319186824 Centerline is valid? [True, True] Translation: X:192.54, Y:-78.97, Z:-0.36 [[ 7.61710845e-01 6.47872764e-01 -7.58097186e-03 1.92535383e+02] [-6.47837571e-01 7.61748532e-01 6.75683512e-03 -7.89680691e+01] [ 1.01523636e-02 -2.35516189e-04 9.99948436e-01 -3.57058441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.377628 meters 0.01614126523657958 Centerline is valid? [True, True] Translation: X:192.58, Y:-79.01, Z:-0.36 [[ 7.60684788e-01 6.49086141e-01 -6.77015949e-03 1.92581025e+02] [-6.49058093e-01 7.60714889e-01 6.03728441e-03 -7.90101479e+01] [ 9.06887876e-03 -1.98243599e-04 9.99958857e-01 -3.56679811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.437628 meters 0.015174917816250525 Centerline is valid? [True, True] Translation: X:192.62, Y:-79.05, Z:-0.36 [[ 7.58286201e-01 6.51893558e-01 -6.06851949e-03 1.92624412e+02] [-6.51871092e-01 7.58310469e-01 5.41410041e-03 -7.90531345e+01] [ 8.13123903e-03 -1.49545203e-04 9.99966930e-01 -3.55790133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.497628 meters 0.01559659374647202 Centerline is valid? [True, True] Translation: X:192.67, Y:-79.09, Z:-0.36 [[ 7.53911748e-01 6.56938531e-01 -6.98877528e-03 1.92673208e+02] [-6.56908922e-01 7.53944132e-01 6.23817153e-03 -7.90921328e+01] [ 9.36724135e-03 -1.12041972e-04 9.99956120e-01 -3.58290426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.557628 meters 0.012329812965386284 Centerline is valid? [True, True] Translation: X:192.72, Y:-79.13, Z:-0.36 [[ 7.50119515e-01 6.61269449e-01 -6.59007514e-03 1.92720449e+02] [-6.61243262e-01 7.50148460e-01 5.88524702e-03 -7.91326994e+01] [ 8.83526877e-03 -5.69958571e-05 9.99960967e-01 -3.56398302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.617628 meters 0.014838559557979091 Centerline is valid? [True, True] Translation: X:192.77, Y:-79.17, Z:-0.36 [[ 7.45302788e-01 6.66689943e-01 -6.94790939e-03 1.92766592e+02] [-6.66661040e-01 7.45335173e-01 6.20792194e-03 -7.91743661e+01] [ 9.31728037e-03 5.11897341e-06 9.99956593e-01 -3.58501734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.677628 meters 0.01236677259753383 Centerline is valid? [True, True] Translation: X:192.81, Y:-79.22, Z:-0.36 [[ 7.42063129e-01 6.70300144e-01 -6.32680996e-03 1.92813910e+02] [-6.70276280e-01 7.42090099e-01 5.65631754e-03 -7.92161791e+01] [ 8.48649349e-03 4.33659496e-05 9.99963988e-01 -3.56651019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.737628 meters 0.012751936083907445 Centerline is valid? [True, True] Translation: X:192.86, Y:-79.26, Z:-0.36 [[ 7.39221532e-01 6.73432802e-01 -6.30771317e-03 1.92858840e+02] [-6.73409172e-01 7.39248439e-01 5.64196984e-03 -7.92589796e+01] [ 8.46245468e-03 7.70063116e-05 9.99964190e-01 -3.57475787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.797628 meters 0.013434327193201855 Centerline is valid? [True, True] Translation: X:192.90, Y:-79.30, Z:-0.36 [[ 7.37546740e-01 6.75266696e-01 -6.30043134e-03 1.92903429e+02] [-6.75243166e-01 7.37573643e-01 5.63797443e-03 -7.93011202e+01] [ 8.45416846e-03 9.60535468e-05 9.99964258e-01 -3.57695348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.857628 meters 0.014105284778609211 Centerline is valid? [True, True] Translation: X:192.95, Y:-79.35, Z:-0.36 [[ 7.35798386e-01 6.77157971e-01 -7.60375702e-03 1.92946775e+02] [-6.77123768e-01 7.35837660e-01 6.80742823e-03 -7.93454176e+01] [ 1.02048351e-02 1.39789901e-04 9.99947920e-01 -3.60009380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.917628 meters 0.014101169577918526 Centerline is valid? [True, True] Translation: X:192.99, Y:-79.39, Z:-0.36 [[ 7.34645601e-01 6.78398434e-01 -8.45018766e-03 1.92991854e+02] [-6.78356232e-01 7.34694178e-01 7.56889890e-03 -7.93881608e+01] [ 1.13430328e-02 1.71779171e-04 9.99935651e-01 -3.60894637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.97762799999998 meters 0.013899227923009088 Centerline is valid? [True, True] Translation: X:193.04, Y:-79.43, Z:-0.36 [[ 7.34593658e-01 6.78448135e-01 -8.96030094e-03 1.93039136e+02] [-6.78400630e-01 7.34648281e-01 8.03046610e-03 -7.94289864e+01] [ 1.20309244e-02 1.79544344e-04 9.99927610e-01 -3.61732599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.03762799999998 meters 0.013421247509332717 Centerline is valid? [True, True] Translation: X:193.09, Y:-79.47, Z:-0.36 [[ 7.36207192e-01 6.76691725e-01 -9.34237831e-03 1.93085748e+02] [-6.76639890e-01 7.36266450e-01 8.37697824e-03 -7.94704667e+01] [ 1.25471116e-02 1.54234205e-04 9.99921270e-01 -3.61579839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.097628 meters 0.015302918135806505 Centerline is valid? [True, True] Translation: X:193.13, Y:-79.51, Z:-0.36 [[ 7.38029341e-01 6.74707384e-01 -9.09058507e-03 1.93130671e+02] [-6.74658109e-01 7.38085316e-01 8.15489401e-03 -7.95117640e+01] [ 1.22117945e-02 1.14485885e-04 9.99925427e-01 -3.62807557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.157628 meters 0.013239776085291833 Centerline is valid? [True, True] Translation: X:193.18, Y:-79.55, Z:-0.36 [[ 7.37054851e-01 6.75790145e-01 -7.60437004e-03 1.93177131e+02] [-6.75755688e-01 7.37094070e-01 6.82508194e-03 -7.95524770e+01] [ 1.02174592e-02 1.08236552e-04 9.99947795e-01 -3.59296057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.217628 meters 0.013197446404904499 Centerline is valid? [True, True] Translation: X:193.22, Y:-79.59, Z:-0.36 [[ 7.36661690e-01 6.76229024e-01 -6.62279189e-03 1.93224130e+02] [-6.76202880e-01 7.36691454e-01 5.94707944e-03 -7.95934023e+01] [ 8.90054191e-03 9.73653572e-05 9.99960385e-01 -3.58963550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.277628 meters 0.013046285234086834 Centerline is valid? [True, True] Translation: X:193.27, Y:-79.64, Z:-0.36 [[ 7.37375504e-01 6.75446927e-01 -6.98679099e-03 1.93270951e+02] [-6.75417762e-01 7.37408598e-01 6.27746846e-03 -7.96353889e+01] [ 9.39221653e-03 9.01512677e-05 9.99955888e-01 -3.59673855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.337628 meters 0.012594160808604557 Centerline is valid? [True, True] Translation: X:193.31, Y:-79.68, Z:-0.36 [[ 7.40023941e-01 6.72553152e-01 -6.06828783e-03 1.93313638e+02] [-6.72531031e-01 7.40048820e-01 5.45488467e-03 -7.96809629e+01] [ 8.15952913e-03 4.43666145e-05 9.99966710e-01 -3.57327921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.397628 meters 0.012498802951913064 Centerline is valid? [True, True] Translation: X:193.36, Y:-79.72, Z:-0.36 [[ 7.41515981e-01 6.70911435e-01 -5.64765031e-03 1.93356921e+02] [-6.70892210e-01 7.41537488e-01 5.07902169e-03 -7.97237627e+01] [ 7.59551815e-03 2.27888435e-05 9.99971153e-01 -3.57144327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.457628 meters 0.012458490730672218 Centerline is valid? [True, True] Translation: X:193.40, Y:-79.77, Z:-0.36 [[ 7.42105992e-01 6.70252531e-01 -6.34361689e-03 1.93402194e+02] [-6.70228225e-01 7.42133104e-01 5.70803276e-03 -7.97671489e+01] [ 8.53363150e-03 1.57057734e-05 9.99963588e-01 -3.58980085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.517628 meters 0.012393384449137424 Centerline is valid? [True, True] Translation: X:193.45, Y:-79.81, Z:-0.36 [[ 7.41529911e-01 6.70888997e-01 -6.43002772e-03 1.93448813e+02] [-6.70864020e-01 7.41557789e-01 5.78908609e-03 -7.98087666e+01] [ 8.65207129e-03 2.08937466e-05 9.99962570e-01 -3.58799964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.577628 meters 0.015969890233258704 Centerline is valid? [True, True] Translation: X:193.49, Y:-79.85, Z:-0.36 [[ 7.40644375e-01 6.71853836e-01 -7.63754244e-03 1.93494513e+02] [-6.71818634e-01 7.40683753e-01 6.87761975e-03 -7.98495876e+01] [ 1.02777588e-02 3.71729474e-05 9.99947182e-01 -3.61764030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.637628 meters 0.012514070201306652 Centerline is valid? [True, True] Translation: X:193.54, Y:-79.89, Z:-0.36 [[ 7.39769922e-01 6.72827649e-01 -6.58917274e-03 1.93540332e+02] [-6.72801458e-01 7.39799265e-01 5.93679365e-03 -7.98914529e+01] [ 8.86910407e-03 4.13436552e-05 9.99960668e-01 -3.57038028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.69762799999998 meters 0.012450636744017989 Centerline is valid? [True, True] Translation: X:193.59, Y:-79.93, Z:-0.36 [[ 7.41000369e-01 6.71485001e-01 -5.13288462e-03 1.93585575e+02] [-6.71469059e-01 7.41018146e-01 4.62709487e-03 -7.99342433e+01] [ 6.91058545e-03 1.78942008e-05 9.99976121e-01 -3.55549239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.75762799999998 meters 0.016170351958743515 Centerline is valid? [True, True] Translation: X:193.63, Y:-79.98, Z:-0.36 [[ 7.43965642e-01 6.68195028e-01 -5.52525069e-03 1.93631702e+02] [-6.68176443e-01 7.43986159e-01 4.98364812e-03 -7.99774211e+01] [ 7.44075893e-03 -1.58206253e-05 9.99972317e-01 -3.59606117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81762799999998 meters 0.012629559953505771 Centerline is valid? [True, True] Translation: X:193.68, Y:-80.02, Z:-0.36 [[ 7.44330081e-01 6.67784791e-01 -6.01698566e-03 1.93678542e+02] [-6.67762713e-01 7.44354400e-01 5.43017707e-03 -8.00194568e+01] [ 8.10495941e-03 -2.39254682e-05 9.99967154e-01 -3.56992414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.877628 meters 0.01603833173700068 Centerline is valid? [True, True] Translation: X:193.72, Y:-80.06, Z:-0.36 [[ 7.47884167e-01 6.63780339e-01 -8.05813216e-03 1.93721279e+02] [-6.63740476e-01 7.47927572e-01 7.27518807e-03 -8.00633661e+01] [ 1.08560260e-02 -9.24894988e-05 9.99941067e-01 -3.61847511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.937628 meters 0.013756459994172826 Centerline is valid? [True, True] Translation: X:193.77, Y:-80.11, Z:-0.36 [[ 7.49575814e-01 6.61870114e-01 -8.00324588e-03 1.93766506e+02] [-6.61830646e-01 7.49618528e-01 7.22895377e-03 -8.01052442e+01] [ 1.07840098e-02 -1.21855513e-04 9.99941843e-01 -3.58761557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.997628 meters 0.014480189628682059 Centerline is valid? [True, True] Translation: X:193.81, Y:-80.15, Z:-0.36 [[ 7.51500024e-01 6.59700063e-01 -6.59855787e-03 1.93811877e+02] [-6.59673124e-01 7.51528982e-01 5.96317940e-03 -8.01471033e+01] [ 8.89291730e-03 -1.28438182e-04 9.99960449e-01 -3.58063388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.057628 meters 0.014115953166769278 Centerline is valid? [True, True] Translation: X:193.86, Y:-80.19, Z:-0.36 [[ 7.51510414e-01 6.59698275e-01 -5.50300431e-03 1.93859261e+02] [-6.59679534e-01 7.51530554e-01 4.97375198e-03 -8.01880468e+01] [ 7.41685148e-03 -1.07607094e-04 9.99972489e-01 -3.56743416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.117628 meters 0.013737897396861341 Centerline is valid? [True, True] Translation: X:193.91, Y:-80.23, Z:-0.36 [[ 7.49340997e-01 6.62163153e-01 -5.29419568e-03 1.93906230e+02] [-6.62145849e-01 7.49359695e-01 4.78772176e-03 -8.02280142e+01] [ 7.13750980e-03 -8.21065000e-05 9.99974524e-01 -3.56411548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.177628 meters 0.013110618818513447 Centerline is valid? [True, True] Translation: X:193.95, Y:-80.27, Z:-0.36 [[ 7.46216754e-01 6.65676567e-01 -5.93829660e-03 1.93954639e+02] [-6.65654887e-01 7.46240380e-01 5.37282328e-03 -8.02667012e+01] [ 8.00795927e-03 -5.64345997e-05 9.99967934e-01 -3.57544097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.237628 meters 0.015292709489914139 Centerline is valid? [True, True] Translation: X:194.01, Y:-80.30, Z:-0.36 [[ 7.40947287e-01 6.71516847e-01 -7.88938780e-03 1.94005829e+02] [-6.71478865e-01 7.40989287e-01 7.14210616e-03 -8.03043382e+01] [ 1.06419965e-02 5.63299414e-06 9.99943372e-01 -3.62678080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.297628 meters 0.01276643440873287 Centerline is valid? [True, True] Translation: X:194.05, Y:-80.34, Z:-0.36 [[ 7.37345226e-01 6.75473578e-01 -7.58044242e-03 1.94054887e+02] [-6.75438680e-01 7.37384189e-01 6.86634983e-03 -8.03442020e+01] [ 1.02277363e-02 5.72537610e-05 9.99947694e-01 -3.61217542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.357628 meters 0.01316072789680117 Centerline is valid? [True, True] Translation: X:194.10, Y:-80.38, Z:-0.36 [[ 7.35161259e-01 6.77852268e-01 -7.36386668e-03 1.94100225e+02] [-6.77819426e-01 7.35198134e-01 6.67309840e-03 -8.03849749e+01] [ 9.93727593e-03 8.55684684e-05 9.99950620e-01 -3.60508174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.417628 meters 0.013208470281009363 Centerline is valid? [True, True] Translation: X:194.14, Y:-80.43, Z:-0.36 [[ 7.34956927e-01 6.78090172e-01 -5.65991112e-03 1.94144258e+02] [-6.78070759e-01 7.34978717e-01 5.13136921e-03 -8.04278829e+01] [ 7.63944524e-03 6.64848840e-05 9.99970817e-01 -3.59024634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.47762799999998 meters 0.013041844978340876 Centerline is valid? [True, True] Translation: X:194.19, Y:-80.47, Z:-0.36 [[ 7.35053382e-01 6.77997524e-01 -3.98546631e-03 1.94188475e+02] [-6.77987886e-01 7.35064185e-01 3.61521846e-03 -8.04713840e+01] [ 5.38068270e-03 4.47193258e-05 9.99985523e-01 -3.57302124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.53762799999998 meters 0.01290161638004505 Centerline is valid? [True, True] Translation: X:194.23, Y:-80.52, Z:-0.36 [[ 7.34506716e-01 6.78593421e-01 -3.29447066e-03 1.94232884e+02] [-6.78586833e-01 7.34514103e-01 2.99032061e-03 -8.05158673e+01] [ 4.44904706e-03 3.91738381e-05 9.99990102e-01 -3.57530262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.597628 meters 0.013046739724551459 Centerline is valid? [True, True] Translation: X:194.28, Y:-80.56, Z:-0.36 [[ 7.34039518e-01 6.79089675e-01 -4.81655330e-03 1.94277476e+02] [-6.79075593e-01 7.34055318e-01 4.37366821e-03 -8.05588769e+01] [ 6.50572949e-03 6.03584848e-05 9.99978836e-01 -3.59118713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.657628 meters 0.013515312430635319 Centerline is valid? [True, True] Translation: X:194.33, Y:-80.60, Z:-0.36 [[ 7.32335734e-01 6.80912841e-01 -6.48657867e-03 1.94325742e+02] [-6.80887349e-01 7.32364454e-01 5.89283941e-03 -8.05981202e+01] [ 8.76304967e-03 1.01092471e-04 9.99961599e-01 -3.62516007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.717628 meters 0.01407035063374842 Centerline is valid? [True, True] Translation: X:194.37, Y:-80.64, Z:-0.36 [[ 7.30768753e-01 6.82582543e-01 -7.62243627e-03 1.94373326e+02] [-6.82547401e-01 7.30808492e-01 6.92772087e-03 -8.06368126e+01] [ 1.02992825e-02 1.40112121e-04 9.99946951e-01 -3.64023182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.777628 meters 0.016951608451732908 Centerline is valid? [True, True] Translation: X:194.42, Y:-80.68, Z:-0.37 [[ 7.31417634e-01 6.81877434e-01 -8.45042051e-03 1.94421110e+02] [-6.81834146e-01 7.31466435e-01 7.68454506e-03 -8.06773779e+01] [ 1.14211168e-02 1.41173489e-04 9.99934767e-01 -3.67418005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.837628 meters 0.012808425919803733 Centerline is valid? [True, True] Translation: X:194.46, Y:-80.72, Z:-0.36 [[ 7.34359775e-01 6.78714890e-01 -7.86246581e-03 1.94464556e+02] [-6.78677197e-01 7.34401860e-01 7.15338472e-03 -8.07218271e+01] [ 1.06293182e-02 8.29182626e-05 9.99943504e-01 -3.63426806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.897628 meters 0.01501828982022235 Centerline is valid? [True, True] Translation: X:194.50, Y:-80.77, Z:-0.36 [[ 7.43919761e-01 6.68236203e-01 -6.61564633e-03 1.94501854e+02] [-6.68209072e-01 7.43949174e-01 6.02176425e-03 -8.07716416e+01] [ 8.94566550e-03 -5.90745233e-05 9.99959985e-01 -3.63830520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.957628 meters 0.014497712981326122 Centerline is valid? [True, True] Translation: X:194.54, Y:-80.82, Z:-0.36 [[ 7.50977890e-01 6.60313197e-01 -4.32331451e-03 1.94543480e+02] [-6.60301476e-01 7.50990327e-01 3.93559143e-03 -8.08180927e+01] [ 5.84549034e-03 -1.00851191e-04 9.99982910e-01 -3.58592380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.017628 meters 0.017572710241797157 Centerline is valid? [True, True] Translation: X:194.59, Y:-80.86, Z:-0.36 [[ 7.59725890e-01 6.50240880e-01 -1.83577055e-03 1.94586386e+02] [-6.50238734e-01 7.59728104e-01 1.67238812e-03 -8.08624966e+01] [ 2.48214160e-03 -7.68674381e-05 9.99996917e-01 -3.56073558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.077628 meters 0.020929109812841 Centerline is valid? [True, True] Translation: X:194.63, Y:-80.91, Z:-0.36 [[ 7.64871230e-01 6.44180217e-01 -1.96212117e-03 1.94631110e+02] [-6.44177743e-01 7.64873739e-01 1.78834498e-03 -8.09057933e+01] [ 2.65279141e-03 -1.03898833e-04 9.99996476e-01 -3.58892710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.137628 meters 0.02297143445434277 Centerline is valid? [True, True] Translation: X:194.68, Y:-80.95, Z:-0.36 [[ 7.68214485e-01 6.40186471e-01 -2.79037089e-03 1.94675696e+02] [-6.40181438e-01 7.68219535e-01 2.54416369e-03 -8.09484584e+01] [ 3.77235660e-03 -1.68119756e-04 9.99992871e-01 -3.60172494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.19762799999998 meters 0.021984439597451756 Centerline is valid? [True, True] Translation: X:194.72, Y:-80.99, Z:-0.36 [[ 7.66861147e-01 6.41804536e-01 -3.30454574e-03 1.94723373e+02] [-6.41797486e-01 7.66868243e-01 3.01424132e-03 -8.09868234e+01] [ 4.46870493e-03 -1.90655407e-04 9.99989997e-01 -3.60625000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.25762799999998 meters 0.020681313275826035 Centerline is valid? [True, True] Translation: X:194.78, Y:-81.02, Z:-0.36 [[ 7.62649983e-01 6.46805346e-01 -2.80138174e-03 1.94776256e+02] [-6.46800308e-01 7.62655116e-01 2.55654285e-03 -8.10207228e+01] [ 3.79007370e-03 -1.37812788e-04 9.99992808e-01 -3.61702636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31762799999998 meters 0.017012144951220543 Centerline is valid? [True, True] Translation: X:194.83, Y:-81.06, Z:-0.36 [[ 7.58532384e-01 6.51634113e-01 -1.26691518e-03 1.94825183e+02] [-6.51633088e-01 7.58533441e-01 1.15691533e-03 -8.10578264e+01] [ 1.71488303e-03 -5.19938901e-05 9.99998528e-01 -3.56749576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.377628 meters 0.014423219111123363 Centerline is valid? [True, True] Translation: X:194.88, Y:-81.09, Z:-0.36 [[ 7.52086504e-01 6.59063264e-01 1.22677297e-03 1.94878378e+02] [-6.59062314e-01 7.52087503e-01 -1.11979654e-03 -8.10912204e+01] [-1.66065739e-03 3.36640332e-05 9.99998621e-01 -3.55177037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.437628 meters 0.0172240721948092 Centerline is valid? [True, True] Translation: X:194.93, Y:-81.13, Z:-0.36 [[ 7.50486956e-01 6.60884534e-01 9.80726084e-04 1.94925883e+02] [-6.60883928e-01 7.50487596e-01 -8.95500418e-04 -8.11305437e+01] [-1.32784514e-03 2.39152758e-05 9.99999118e-01 -3.58687287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.497628 meters 0.01272704023426336 Centerline is valid? [True, True] Translation: X:194.98, Y:-81.16, Z:-0.36 [[ 7.45556862e-01 6.66438375e-01 2.20400148e-03 1.94977969e+02] [-6.66435332e-01 7.45560119e-01 -2.01407211e-03 -8.11641886e+01] [-2.98547055e-03 3.27808236e-05 9.99995543e-01 -3.56134900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.557628 meters 0.012347833769408916 Centerline is valid? [True, True] Translation: X:195.03, Y:-81.20, Z:-0.36 [[ 7.43760048e-01 6.68441770e-01 2.56753101e-03 1.95025863e+02] [-6.68437649e-01 7.43764479e-01 -2.34739268e-03 -8.12034786e+01] [-3.47873368e-03 2.96625028e-05 9.99993949e-01 -3.55923452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.617628 meters 0.012245754202040979 Centerline is valid? [True, True] Translation: X:195.08, Y:-81.24, Z:-0.36 [[ 7.42777806e-01 6.69533859e-01 2.35425120e-03 1.95075460e+02] [-6.69530397e-01 7.42781536e-01 -2.15341145e-03 -8.12413873e+01] [-3.19047621e-03 2.32634917e-05 9.99994910e-01 -3.57978653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.677628 meters 0.012524167124182136 Centerline is valid? [True, True] Translation: X:195.12, Y:-81.28, Z:-0.36 [[ 7.43425790e-01 6.68816835e-01 1.46158145e-03 1.95121815e+02] [-6.68815498e-01 7.43427226e-01 -1.33731211e-03 -8.12822461e+01] [-1.98099630e-03 1.66639915e-05 9.99998038e-01 -3.60205709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.737628 meters 0.013248767461528605 Centerline is valid? [True, True] Translation: X:195.17, Y:-81.33, Z:-0.36 [[ 7.48102083e-01 6.63583569e-01 -3.46571064e-04 1.95165356e+02] [-6.63583493e-01 7.48102163e-01 3.17880562e-04 -8.13260601e+01] [ 4.70210881e-04 -7.82827317e-06 9.99999889e-01 -3.61166553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.797628 meters 0.014852384885090223 Centerline is valid? [True, True] Translation: X:195.21, Y:-81.37, Z:-0.36 [[ 7.53012879e-01 6.58005394e-01 -7.10606109e-04 1.95207864e+02] [-6.58005073e-01 7.53013214e-01 6.50919321e-04 -8.13713637e+01] [ 9.63404215e-04 -2.25682074e-05 9.99999536e-01 -3.62269569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.857628 meters 0.018084333092632184 Centerline is valid? [True, True] Translation: X:195.25, Y:-81.42, Z:-0.36 [[ 7.59762685e-01 6.50200440e-01 -2.24218909e-04 1.95247474e+02] [-6.50200408e-01 7.59762718e-01 2.05606389e-04 -8.14172193e+01] [ 3.04038532e-04 -1.04248364e-05 9.99999954e-01 -3.63179150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.917628 meters 0.01953660602254342 Centerline is valid? [True, True] Translation: X:195.29, Y:-81.46, Z:-0.36 [[ 7.62516775e-01 6.46967136e-01 -1.30110368e-03 1.95290996e+02] [-6.46966040e-01 7.62517882e-01 1.19282067e-03 -8.14610769e+01] [ 1.76383059e-03 -6.77758772e-05 9.99998442e-01 -3.64008697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.97762799999998 meters 0.020414934799661805 Centerline is valid? [True, True] Translation: X:195.34, Y:-81.50, Z:-0.37 [[ 7.63990558e-01 6.45224743e-01 -1.85975613e-03 1.95336103e+02] [-6.45222499e-01 7.63992815e-01 1.70465860e-03 -8.15036208e+01] [ 2.52072823e-03 -1.02386573e-04 9.99996818e-01 -3.65185369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.03762799999998 meters 0.021105304550644226 Centerline is valid? [True, True] Translation: X:195.38, Y:-81.54, Z:-0.37 [[ 7.62791449e-01 6.46638746e-01 -2.74529539e-03 1.95383751e+02] [-6.46633861e-01 7.62796375e-01 2.51793050e-03 -8.15430666e+01] [ 3.72229279e-03 -1.45454900e-04 9.99993062e-01 -3.66538472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.097628 meters 0.017557715285545023 Centerline is valid? [True, True] Translation: X:195.43, Y:-81.58, Z:-0.37 [[ 7.56676073e-01 6.53787315e-01 -1.86215697e-03 1.95433117e+02] [-6.53785086e-01 7.56678360e-01 1.70876651e-03 -8.15795059e+01] [ 2.52622375e-03 -7.55322753e-05 9.99996806e-01 -3.65121340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.157628 meters 0.013344459279694606 Centerline is valid? [True, True] Translation: X:195.49, Y:-81.61, Z:-0.37 [[ 7.47724499e-01 6.64005689e-01 -2.12557390e-03 1.95485202e+02] [-6.64002824e-01 7.47727519e-01 1.95127858e-03 -8.16129924e+01] [ 2.88501018e-03 -4.76317251e-05 9.99995837e-01 -3.65145215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.217628 meters 0.012164801259456676 Centerline is valid? [True, True] Translation: X:195.53, Y:-81.65, Z:-0.37 [[ 7.41672123e-01 6.70757931e-01 -2.50223328e-03 1.95534396e+02] [-6.70753997e-01 7.41676343e-01 2.29731771e-03 -8.16497960e+01] [ 3.39679131e-03 -2.54735301e-05 9.99994231e-01 -3.66076581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.277628 meters 0.01167417990817539 Centerline is valid? [True, True] Translation: X:195.58, Y:-81.69, Z:-0.36 [[ 7.34145013e-01 6.78991370e-01 -1.34899487e-03 1.95583754e+02] [-6.78990238e-01 7.34146252e-01 1.23956133e-03 -8.16879867e+01] [ 1.83201097e-03 5.93657905e-06 9.99998322e-01 -3.64673299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.337628 meters 0.01226454827075979 Centerline is valid? [True, True] Translation: X:195.63, Y:-81.73, Z:-0.36 [[ 7.30378860e-01 6.83041780e-01 -8.04772416e-04 1.95630289e+02] [-6.83041380e-01 7.30379303e-01 7.40083401e-04 -8.17287061e+01] [ 1.09329700e-03 9.15159078e-06 9.99999402e-01 -3.63581302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.397628 meters 0.013158112384977355 Centerline is valid? [True, True] Translation: X:195.68, Y:-81.77, Z:-0.36 [[ 7.25905715e-01 6.87793485e-01 -1.00700015e-03 1.95676787e+02] [-6.87792862e-01 7.25906414e-01 9.26369931e-04 -8.17694410e+01] [ 1.36813907e-03 2.01502849e-05 9.99999064e-01 -3.64165843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.457628 meters 0.014460262118772238 Centerline is valid? [True, True] Translation: X:195.72, Y:-81.81, Z:-0.37 [[ 7.23760288e-01 6.90050100e-01 -1.38032563e-03 1.95721999e+02] [-6.90048932e-01 7.23761604e-01 1.26963378e-03 -8.18099613e+01] [ 1.87513761e-03 3.35817173e-05 9.99998241e-01 -3.65103641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.517628 meters 0.015013955907995513 Centerline is valid? [True, True] Translation: X:195.77, Y:-81.85, Z:-0.37 [[ 7.22337719e-01 6.91538078e-01 -1.81870313e-03 1.95765010e+02] [-6.91536053e-01 7.22340006e-01 1.67385374e-03 -8.18549222e+01] [ 2.47125563e-03 4.86110909e-05 9.99996945e-01 -3.65407305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.577628 meters 0.014165591405639572 Centerline is valid? [True, True] Translation: X:195.81, Y:-81.90, Z:-0.37 [[ 7.22413875e-01 6.91458632e-01 -1.77579903e-03 1.95807616e+02] [-6.91456699e-01 7.22416056e-01 1.63544428e-03 -8.19008104e+01] [ 2.41370779e-03 4.64205013e-05 9.99997086e-01 -3.65445698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.637628 meters 0.014233903504852707 Centerline is valid? [True, True] Translation: X:195.85, Y:-81.95, Z:-0.37 [[ 7.23592238e-01 6.90225693e-01 -1.66302494e-03 1.95848103e+02] [-6.90223994e-01 7.23594148e-01 1.53220746e-03 -8.19469357e+01] [ 2.26092407e-03 3.91662964e-05 9.99997443e-01 -3.65892020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.69762799999998 meters 0.013192534280459835 Centerline is valid? [True, True] Translation: X:195.89, Y:-82.00, Z:-0.37 [[ 7.26198262e-01 6.87477321e-01 -3.31932549e-03 1.95886752e+02] [-6.87470517e-01 7.26205845e-01 3.05929171e-03 -8.19970957e+01] [ 4.51370724e-03 6.02860866e-05 9.99989811e-01 -3.67679860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.75762799999998 meters 0.01326595225362561 Centerline is valid? [True, True] Translation: X:195.93, Y:-82.04, Z:-0.37 [[ 7.27331016e-01 6.86276285e-01 -3.80177153e-03 1.95927633e+02] [-6.86267339e-01 7.27340949e-01 3.50460622e-03 -8.20422670e+01] [ 5.17031225e-03 6.00228329e-05 9.99986632e-01 -3.68597323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81762799999998 meters 0.012937988762366848 Centerline is valid? [True, True] Translation: X:195.97, Y:-82.09, Z:-0.37 [[ 7.28396731e-01 6.85134183e-01 -5.41798728e-03 1.95969089e+02] [-6.85115959e-01 7.28416877e-01 4.99755923e-03 -8.20903178e+01] [ 7.37055203e-03 7.17437541e-05 9.99972835e-01 -3.70406683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.877628 meters 0.016413523587450976 Centerline is valid? [True, True] Translation: X:196.01, Y:-82.14, Z:-0.37 [[ 7.29925003e-01 6.83493176e-01 -6.82411621e-03 1.96011795e+02] [-6.83464162e-01 7.29956899e-01 6.29803052e-03 -8.21374927e+01] [ 9.28597159e-03 6.69489236e-05 9.99956882e-01 -3.74403869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.937628 meters 0.012427960902783485 Centerline is valid? [True, True] Translation: X:196.05, Y:-82.19, Z:-0.37 [[ 7.32534257e-01 6.80712815e-01 -4.86068054e-03 1.96052626e+02] [-6.80698018e-01 7.32550383e-01 4.48828549e-03 -8.21851697e+01] [ 6.61592684e-03 2.08327316e-05 9.99978114e-01 -3.68953002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.997628 meters 0.012270378861392133 Centerline is valid? [True, True] Translation: X:196.10, Y:-82.23, Z:-0.37 [[ 7.33909259e-01 6.79243386e-01 -2.37085637e-03 1.96097016e+02] [-6.79239854e-01 7.33913089e-01 2.19062205e-03 -8.22280507e+01] [ 3.22796806e-03 2.66232878e-06 9.99994790e-01 -3.66005506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.057628 meters 0.012480629519089022 Centerline is valid? [True, True] Translation: X:196.14, Y:-82.27, Z:-0.36 [[ 7.37506533e-01 6.75338620e-01 -1.36447665e-03 1.96140841e+02] [-6.75337442e-01 7.37507795e-01 1.26177812e-03 -8.22727250e+01] [ 1.85843966e-03 -9.08743717e-06 9.99998273e-01 -3.63577932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.117628 meters 0.012816658344841173 Centerline is valid? [True, True] Translation: X:196.19, Y:-82.32, Z:-0.36 [[ 7.39635964e-01 6.73005947e-01 -1.27929623e-03 1.96185306e+02] [-6.73004906e-01 7.39637070e-01 1.18355845e-03 -8.23160642e+01] [ 1.74275679e-03 -1.44297547e-05 9.99998481e-01 -3.63190635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.177628 meters 0.013287771079999426 Centerline is valid? [True, True] Translation: X:196.23, Y:-82.36, Z:-0.36 [[ 7.42011130e-01 6.70387089e-01 -7.96497956e-04 1.96230834e+02] [-6.70386684e-01 7.42011557e-01 7.37468863e-04 -8.23581375e+01] [ 1.08540029e-03 -1.32484810e-05 9.99999411e-01 -3.63151669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.237628 meters 0.013634349074506436 Centerline is valid? [True, True] Translation: X:196.28, Y:-82.40, Z:-0.36 [[ 7.42818859e-01 6.69491782e-01 -9.46925617e-04 1.96277931e+02] [-6.69491208e-01 7.42819462e-01 8.77068426e-04 -8.23992055e+01] [ 1.29058488e-03 -1.75445916e-05 9.99999167e-01 -3.64869941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.297628 meters 0.013797027186654699 Centerline is valid? [True, True] Translation: X:196.33, Y:-82.44, Z:-0.37 [[ 7.43882222e-01 6.68308200e-01 -1.84109701e-03 1.96325743e+02] [-6.68306024e-01 7.43884500e-01 1.70558867e-03 -8.24391152e+01] [ 2.50942242e-03 -3.83408672e-05 9.99996851e-01 -3.66857576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.357628 meters 0.017071857280921726 Centerline is valid? [True, True] Translation: X:196.37, Y:-82.48, Z:-0.37 [[ 7.44543358e-01 6.67569172e-01 -2.56682995e-03 1.96372050e+02] [-6.67564936e-01 7.44547780e-01 2.37890961e-03 -8.24803361e+01] [ 3.49921427e-03 -5.76756777e-05 9.99993876e-01 -3.70357581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.417628 meters 0.01433373385965661 Centerline is valid? [True, True] Translation: X:196.42, Y:-82.52, Z:-0.37 [[ 7.45810494e-01 6.66156442e-01 -1.51736991e-03 1.96417031e+02] [-6.66154957e-01 7.45812036e-01 1.40712023e-03 -8.25212486e+01] [ 2.06903495e-03 -3.86415449e-05 9.99997859e-01 -3.67468463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.47762799999998 meters 0.014915063003049579 Centerline is valid? [True, True] Translation: X:196.46, Y:-82.56, Z:-0.37 [[ 7.46742324e-01 6.65112408e-01 -1.17710007e-03 1.96461290e+02] [-6.65111513e-01 7.46743251e-01 1.09171235e-03 -8.25627387e+01] [ 1.60510296e-03 -3.23250078e-05 9.99998711e-01 -3.68162182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53762799999998 meters 0.015113649280233064 Centerline is valid? [True, True] Translation: X:196.51, Y:-82.61, Z:-0.37 [[ 7.46634735e-01 6.65232388e-01 -1.56286456e-03 1.96508146e+02] [-6.65230808e-01 7.46636369e-01 1.45056043e-03 -8.26052699e+01] [ 2.13185130e-03 -4.33731487e-05 9.99997727e-01 -3.69398249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.597628 meters 0.015126550233028608 Centerline is valid? [True, True] Translation: X:196.55, Y:-82.65, Z:-0.37 [[ 7.45606108e-01 6.66384534e-01 -1.78424588e-03 1.96554971e+02] [-6.66382477e-01 7.45608242e-01 1.65670663e-03 -8.26459365e+01] [ 2.43435211e-03 -4.62603896e-05 9.99997036e-01 -3.70422985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.657628 meters 0.013605504039238055 Centerline is valid? [True, True] Translation: X:196.60, Y:-82.69, Z:-0.37 [[ 7.41700609e-01 6.70730544e-01 -8.62739797e-04 1.96599942e+02] [-6.70730065e-01 7.41701110e-01 8.01369003e-04 -8.26859396e+01] [ 1.17739773e-03 -1.57103562e-05 9.99999307e-01 -3.68394044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.717628 meters 0.012721498416901404 Centerline is valid? [True, True] Translation: X:196.65, Y:-82.73, Z:-0.37 [[ 7.38129498e-01 6.74658736e-01 -6.58803005e-04 1.96647970e+02] [-6.74658458e-01 7.38129792e-01 6.12535208e-04 -8.27250388e+01] [ 8.99534354e-04 -7.66328593e-06 9.99999595e-01 -3.69141319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.777628 meters 0.01213525315698346 Centerline is valid? [True, True] Translation: X:196.70, Y:-82.76, Z:-0.37 [[ 7.32811735e-01 6.80430588e-01 -1.08411408e-03 1.96697100e+02] [-6.80429842e-01 7.32812537e-01 1.00809857e-03 -8.27634493e+01] [ 1.48039349e-03 -1.08288937e-06 9.99998904e-01 -3.72189924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.837628 meters 0.012291805931801021 Centerline is valid? [True, True] Translation: X:196.74, Y:-82.80, Z:-0.37 [[ 7.29570501e-01 6.83901493e-01 -2.37329250e-03 1.96742741e+02] [-6.83897933e-01 7.29574361e-01 2.20658437e-03 -8.28048510e+01] [ 3.24057970e-03 1.32309643e-05 9.99994749e-01 -3.73840602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.897628 meters 0.012679317345142263 Centerline is valid? [True, True] Translation: X:196.79, Y:-82.85, Z:-0.38 [[ 7.27143210e-01 6.86473700e-01 -4.07564602e-03 1.96786500e+02] [-6.86463234e-01 7.27154631e-01 3.79104060e-03 -8.28475409e+01] [ 5.56607455e-03 4.11517144e-05 9.99984508e-01 -3.76894010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.957628 meters 0.013782872429060762 Centerline is valid? [True, True] Translation: X:196.83, Y:-82.89, Z:-0.38 [[ 7.28968283e-01 6.84531486e-01 -4.67843270e-03 1.96827772e+02] [-6.84517640e-01 7.28983295e-01 4.35385409e-03 -8.28937149e+01] [ 6.39084949e-03 2.86481733e-05 9.99979578e-01 -3.79333943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.017628 meters 0.012232854254270273 Centerline is valid? [True, True] Translation: X:196.87, Y:-82.94, Z:-0.37 [[ 7.30803941e-01 6.82581496e-01 -2.84627507e-03 1.96869458e+02] [-6.82576350e-01 7.30809484e-01 2.65034704e-03 -8.29397203e+01] [ 3.88916266e-03 5.91598789e-06 9.99992437e-01 -3.74303038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.077628 meters 0.012157202463638462 Centerline is valid? [True, True] Translation: X:196.91, Y:-82.98, Z:-0.37 [[ 7.32520153e-01 6.80744080e-01 -1.31252997e-03 1.96914279e+02] [-6.80742982e-01 7.32521329e-01 1.22308448e-03 -8.29821590e+01] [ 1.79406372e-03 -2.43847100e-06 9.99998391e-01 -3.72943899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.137628 meters 0.012206057619345774 Centerline is valid? [True, True] Translation: X:196.96, Y:-83.03, Z:-0.37 [[ 7.34029543e-01 6.79116558e-01 -1.15352979e-03 1.96959800e+02] [-6.79115706e-01 7.34030449e-01 1.07566740e-03 -8.30257446e+01] [ 1.57722953e-03 -6.19145647e-06 9.99998756e-01 -3.73235004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.19762799999998 meters 0.012309000498032647 Centerline is valid? [True, True] Translation: X:197.01, Y:-83.07, Z:-0.37 [[ 7.35184433e-01 6.77866532e-01 -9.02586188e-04 1.97005436e+02] [-6.77866008e-01 7.35184987e-01 8.42286315e-04 -8.30696450e+01] [ 1.23452552e-03 -7.40329080e-06 9.99999238e-01 -3.73145574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.25762799999998 meters 0.012256248309243777 Centerline is valid? [True, True] Translation: X:197.05, Y:-83.11, Z:-0.37 [[ 7.34522158e-01 6.78582909e-01 -1.56068836e-03 1.97052699e+02] [-6.78581345e-01 7.34523816e-01 1.45677422e-03 -8.31115571e+01] [ 2.13490486e-03 -1.09789374e-05 9.99997721e-01 -3.73930296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31762799999998 meters 0.014832536736408705 Centerline is valid? [True, True] Translation: X:197.10, Y:-83.15, Z:-0.38 [[ 7.33212891e-01 6.79990346e-01 -3.46212809e-03 1.97100777e+02] [-6.79982662e-01 7.33221065e-01 3.23265895e-03 -8.31527258e+01] [ 4.73668212e-03 -1.60401431e-05 9.99988782e-01 -3.78283850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.377628 meters 0.014736786452790984 Centerline is valid? [True, True] Translation: X:197.15, Y:-83.19, Z:-0.38 [[ 7.31009956e-01 6.82350217e-01 -4.75662811e-03 1.97148638e+02] [-6.82335756e-01 7.31025431e-01 4.44242339e-03 -8.31924460e+01] [ 6.50850468e-03 -1.83828469e-06 9.99978819e-01 -3.80479772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.437628 meters 0.01229122411165044 Centerline is valid? [True, True] Translation: X:197.20, Y:-83.23, Z:-0.38 [[ 7.27185384e-01 6.86423830e-01 -4.87266711e-03 1.97196547e+02] [-6.86408729e-01 7.27201708e-01 4.55318445e-03 -8.32315341e+01] [ 6.66882615e-03 3.36320597e-05 9.99977763e-01 -3.78508815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.497628 meters 0.012406547562893227 Centerline is valid? [True, True] Translation: X:197.24, Y:-83.27, Z:-0.38 [[ 7.26043486e-01 6.87636234e-01 -4.15531311e-03 1.97242622e+02] [-6.87625259e-01 7.26055375e-01 3.88525798e-03 -8.32739190e+01] [ 5.68863158e-03 3.64320058e-05 9.99983819e-01 -3.78002217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.557628 meters 0.012083002046260715 Centerline is valid? [True, True] Translation: X:197.29, Y:-83.32, Z:-0.38 [[ 7.27275933e-01 6.86342109e-01 -2.05608326e-03 1.97285865e+02] [-6.86339413e-01 7.27278839e-01 1.92368158e-03 -8.33180567e+01] [ 2.81564952e-03 1.21236627e-05 9.99996036e-01 -3.76458729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.617628 meters 0.011903202899357009 Centerline is valid? [True, True] Translation: X:197.33, Y:-83.36, Z:-0.38 [[ 7.30551903e-01 6.82857038e-01 -4.27994862e-04 1.97326981e+02] [-6.82856920e-01 7.30552028e-01 4.01023844e-04 -8.33641514e+01] [ 5.86514469e-04 -7.09478554e-07 9.99999828e-01 -3.75179501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.677628 meters 0.012033359218867114 Centerline is valid? [True, True] Translation: X:197.37, Y:-83.41, Z:-0.37 [[ 7.32410672e-01 6.80863114e-01 1.66901035e-04 1.97369975e+02] [-6.80863096e-01 7.32410691e-01 -1.55621241e-04 -8.34096267e+01] [-2.28196866e-04 3.41902250e-07 9.99999974e-01 -3.74458234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.737628 meters 0.012087642683663953 Centerline is valid? [True, True] Translation: X:197.42, Y:-83.45, Z:-0.37 [[ 7.32375507e-01 6.80898984e-01 1.64015925e-03 1.97415651e+02] [-6.80897252e-01 7.32377343e-01 -1.53588471e-03 -8.34524355e+01] [-2.24699782e-03 8.06441566e-06 9.99997475e-01 -3.73088795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.797628 meters 0.011940386174790858 Centerline is valid? [True, True] Translation: X:197.46, Y:-83.49, Z:-0.37 [[ 7.31742273e-01 6.81580780e-01 9.41306561e-04 1.97462790e+02] [-6.81580210e-01 7.31742878e-01 -8.81690627e-04 -8.34946892e+01] [-1.28973776e-03 3.59437921e-06 9.99999168e-01 -3.73139452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.857628 meters 0.012009346337176052 Centerline is valid? [True, True] Translation: X:197.51, Y:-83.54, Z:-0.38 [[ 7.31081317e-01 6.82286714e-01 -2.22427273e-03 1.97511456e+02] [-6.82283523e-01 7.31084701e-01 2.08678370e-03 -8.35350157e+01] [ 3.04991656e-03 -8.02394394e-06 9.99995349e-01 -3.78360486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.917628 meters 0.015165906183139207 Centerline is valid? [True, True] Translation: X:197.56, Y:-83.58, Z:-0.38 [[ 7.31444074e-01 6.81890146e-01 -3.92380655e-03 1.97556975e+02] [-6.81880202e-01 7.31454598e-01 3.68250582e-03 -8.35766500e+01] [ 5.38115077e-03 -1.79810587e-05 9.99985521e-01 -3.82828718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.97762799999998 meters 0.015550181651815025 Centerline is valid? [True, True] Translation: X:197.60, Y:-83.62, Z:-0.38 [[ 7.32353478e-01 6.80914121e-01 -3.78727219e-03 1.97602351e+02] [-6.80904833e-01 7.32363270e-01 3.55648764e-03 -8.36197245e+01] [ 5.19532170e-03 -2.58341592e-05 9.99986504e-01 -3.82074214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03762799999998 meters 0.012206473678378868 Centerline is valid? [True, True] Translation: X:197.65, Y:-83.66, Z:-0.38 [[ 7.32318186e-01 6.80955241e-01 -3.16755048e-03 1.97648415e+02] [-6.80948737e-01 7.32325036e-01 2.97631982e-03 -8.36620694e+01] [ 4.34641710e-03 -2.26736353e-05 9.99990554e-01 -3.79230672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.097628 meters 0.012164240969956901 Centerline is valid? [True, True] Translation: X:197.69, Y:-83.71, Z:-0.38 [[ 7.32079007e-01 6.81213091e-01 -3.00859734e-03 1.97694678e+02] [-6.81207219e-01 7.32085189e-01 2.82859110e-03 -8.37053009e+01] [ 4.12942283e-03 -2.12739372e-05 9.99991474e-01 -3.79094155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.157628 meters 0.015220424148367617 Centerline is valid? [True, True] Translation: X:197.74, Y:-83.75, Z:-0.38 [[ 7.32501974e-01 6.80761364e-01 -2.19630255e-03 1.97740129e+02] [-6.80758228e-01 7.32505266e-01 2.06623706e-03 -8.37488573e+01] [ 3.01541754e-03 -1.83716984e-05 9.99995453e-01 -3.80579607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.217628 meters 0.012111096119856985 Centerline is valid? [True, True] Translation: X:197.79, Y:-83.79, Z:-0.38 [[ 7.31973594e-01 6.81332914e-01 -3.43314135e-04 1.97785145e+02] [-6.81332837e-01 7.31973674e-01 3.23611926e-04 -8.37911976e+01] [ 4.71784365e-04 -2.96419021e-06 9.99999889e-01 -3.77101543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.277628 meters 0.012135323318005754 Centerline is valid? [True, True] Translation: X:197.83, Y:-83.83, Z:-0.38 [[ 7.31263539e-01 6.82094469e-01 8.78223747e-04 1.97831068e+02] [-6.82093969e-01 7.31264066e-01 -8.26188466e-04 -8.38335077e+01] [-1.20575205e-03 5.13037983e-06 9.99999273e-01 -3.76900241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.337628 meters 0.011996194392105253 Centerline is valid? [True, True] Translation: X:197.88, Y:-83.87, Z:-0.38 [[ 7.29121640e-01 6.84383379e-01 1.01281813e-03 1.97877402e+02] [-6.84382714e-01 7.29122343e-01 -9.53460812e-04 -8.38745348e+01] [-1.39100106e-03 2.03368913e-06 9.99999033e-01 -3.76466968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.397628 meters 0.011927105964057666 Centerline is valid? [True, True] Translation: X:197.92, Y:-83.92, Z:-0.38 [[ 7.27913799e-01 6.85668308e-01 6.87505796e-04 1.97923841e+02] [-6.85668002e-01 7.27914124e-01 -6.47317326e-04 -8.39176861e+01] [-9.44290155e-04 -2.09511990e-07 9.99999554e-01 -3.77352138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.457628 meters 0.011974898836641441 Centerline is valid? [True, True] Translation: X:197.97, Y:-83.96, Z:-0.38 [[ 7.27229827e-01 6.86393995e-01 -2.51585030e-04 1.97969041e+02] [-6.86393953e-01 7.27229870e-01 2.37896975e-04 -8.39611898e+01] [ 3.46251204e-04 -3.19332637e-07 9.99999940e-01 -3.79316877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.517628 meters 0.011924081973021323 Centerline is valid? [True, True] Translation: X:198.01, Y:-84.01, Z:-0.38 [[ 7.27252888e-01 6.86369490e-01 -4.00891389e-04 1.98013647e+02] [-6.86369385e-01 7.27252998e-01 3.78921016e-04 -8.40060375e+01] [ 5.51629289e-04 -4.11827216e-07 9.99999848e-01 -3.79972010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.577628 meters 0.011907515111946657 Centerline is valid? [True, True] Translation: X:198.06, Y:-84.05, Z:-0.38 [[ 7.28208814e-01 6.85355193e-01 -4.26962785e-04 1.98057483e+02] [-6.85355074e-01 7.28208939e-01 4.03684126e-04 -8.40498644e+01] [ 5.87585129e-04 -1.34522737e-06 9.99999827e-01 -3.80799689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.637628 meters 0.011949166925185075 Centerline is valid? [True, True] Translation: X:198.10, Y:-84.09, Z:-0.38 [[ 7.29361258e-01 6.84128469e-01 -6.27043196e-04 1.98103760e+02] [-6.84128212e-01 7.29361527e-01 5.92950362e-04 -8.40924523e+01] [ 8.62995407e-04 -3.49708148e-06 9.99999628e-01 -3.82381889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.69762799999998 meters 0.012122634833358067 Centerline is valid? [True, True] Translation: X:198.15, Y:-84.14, Z:-0.38 [[ 7.30562276e-01 6.82845427e-01 -9.40081967e-04 1.98148836e+02] [-6.82844849e-01 7.30562880e-01 8.89065078e-04 -8.41356048e+01] [ 1.29388301e-03 -7.58727772e-06 9.99999163e-01 -3.83398457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.75762799999998 meters 0.01515408978653215 Centerline is valid? [True, True] Translation: X:198.19, Y:-84.18, Z:-0.39 [[ 7.32674903e-01 6.80574519e-01 -2.41062749e-03 1.98192652e+02] [-6.80570701e-01 7.32678868e-01 2.27991999e-03 -8.41802010e+01] [ 3.31787127e-03 -2.98377169e-05 9.99994495e-01 -3.87116538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81762799999998 meters 0.01265686515614925 Centerline is valid? [True, True] Translation: X:198.24, Y:-84.22, Z:-0.39 [[ 7.33464545e-01 6.79721826e-01 -2.82829719e-03 1.98238699e+02] [-6.79716559e-01 7.33469997e-01 2.67620835e-03 -8.42216662e+01] [ 3.89354836e-03 -4.04635043e-05 9.99992419e-01 -3.85878822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.877628 meters 0.015173953873487482 Centerline is valid? [True, True] Translation: X:198.28, Y:-84.26, Z:-0.39 [[ 7.34726162e-01 6.78355660e-01 -3.32648379e-03 1.98283708e+02] [-6.78348353e-01 7.34733690e-01 3.14907547e-03 -8.42641477e+01] [ 4.58027288e-03 -5.71933350e-05 9.99989509e-01 -3.88483321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.937628 meters 0.01312168900688813 Centerline is valid? [True, True] Translation: X:198.33, Y:-84.31, Z:-0.39 [[ 7.34609556e-01 6.78487763e-01 -1.77616615e-03 1.98328969e+02] [-6.78485678e-01 7.34611703e-01 1.68253700e-03 -8.43061269e+01] [ 2.44637321e-03 -3.09044661e-05 9.99997007e-01 -3.85900101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.997628 meters 0.014843965516673885 Centerline is valid? [True, True] Translation: X:198.38, Y:-84.35, Z:-0.39 [[ 7.32647340e-01 6.80606005e-01 -1.82765151e-03 1.98376173e+02] [-6.80603802e-01 7.32649619e-01 1.73214480e-03 -8.43467701e+01] [ 2.51793633e-03 -2.51447106e-05 9.99996830e-01 -3.87836761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.057628 meters 0.012199305872641359 Centerline is valid? [True, True] Translation: X:198.42, Y:-84.39, Z:-0.39 [[ 7.28701885e-01 6.84830205e-01 -1.07349774e-03 1.98424553e+02] [-6.84829449e-01 7.28702676e-01 1.01745781e-03 -8.43868442e+01] [ 1.47904651e-03 -6.26055751e-06 9.99998906e-01 -3.86523336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.117628 meters 0.011959328364620362 Centerline is valid? [True, True] Translation: X:198.47, Y:-84.43, Z:-0.39 [[ 7.26452851e-01 6.87215685e-01 -9.25354975e-04 1.98469985e+02] [-6.87215125e-01 7.26453441e-01 8.77437760e-04 -8.44284245e+01] [ 1.27521630e-03 -1.49922818e-06 9.99999187e-01 -3.87149056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.177628 meters 0.012074467220515382 Centerline is valid? [True, True] Translation: X:198.52, Y:-84.47, Z:-0.39 [[ 7.23584896e-01 6.90233876e-01 -1.44769235e-03 1.98515328e+02] [-6.90232509e-01 7.23586344e-01 1.37367860e-03 -8.44714224e+01] [ 1.99568992e-03 5.27123541e-06 9.99998009e-01 -3.88394368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.237628 meters 0.012133507157991344 Centerline is valid? [True, True] Translation: X:198.56, Y:-84.51, Z:-0.39 [[ 7.21997572e-01 6.91894381e-01 -1.29281169e-03 1.98560744e+02] [-6.91893292e-01 7.21998730e-01 1.22738970e-03 -8.45140926e+01] [ 1.78263243e-03 8.31535846e-06 9.99998411e-01 -3.88619173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.297628 meters 0.012290608732017292 Centerline is valid? [True, True] Translation: X:198.61, Y:-84.56, Z:-0.39 [[ 7.20528229e-01 6.93424893e-01 -9.94006938e-04 1.98605030e+02] [-6.93424250e-01 7.20528915e-01 9.44427758e-04 -8.45585433e+01] [ 1.37110046e-03 8.78165569e-06 9.99999060e-01 -3.87973626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.357628 meters 0.01221163207536618 Centerline is valid? [True, True] Translation: X:198.65, Y:-84.60, Z:-0.39 [[ 7.19775433e-01 6.94206785e-01 -5.15677442e-04 1.98650404e+02] [-6.94206611e-01 7.19775618e-01 4.90554258e-04 -8.46018798e+01] [ 7.11718144e-04 4.89778612e-06 9.99999747e-01 -3.87579873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.417628 meters 0.01217261091661585 Centerline is valid? [True, True] Translation: X:198.70, Y:-84.65, Z:-0.39 [[ 7.19864347e-01 6.94114690e-01 3.44758946e-04 1.98695723e+02] [-6.94114613e-01 7.19864429e-01 -3.27050563e-04 -8.46453917e+01] [-4.75190302e-04 -3.87018267e-06 9.99999887e-01 -3.87169206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.47762799999998 meters 0.012032438364230956 Centerline is valid? [True, True] Translation: X:198.74, Y:-84.69, Z:-0.39 [[ 7.21594165e-01 6.92316143e-01 4.68289250e-04 1.98739088e+02] [-6.92316000e-01 7.21594317e-01 -4.44809744e-04 -8.46884623e+01] [-6.45863828e-04 -3.23202419e-06 9.99999791e-01 -3.87371102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53762799999998 meters 0.011972584017143241 Centerline is valid? [True, True] Translation: X:198.78, Y:-84.74, Z:-0.39 [[ 7.26659584e-01 6.86997403e-01 -6.45789044e-04 1.98779452e+02] [-6.86997128e-01 7.26659871e-01 6.15059905e-04 -8.47359234e+01] [ 8.91813541e-04 -3.28395523e-06 9.99999602e-01 -3.88489519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.597628 meters 0.012382614656022346 Centerline is valid? [True, True] Translation: X:198.82, Y:-84.78, Z:-0.39 [[ 7.30453393e-01 6.82961790e-01 -1.01735981e-03 1.98822694e+02] [-6.82961102e-01 7.30454101e-01 9.69065924e-04 -8.47811651e+01] [ 1.40496965e-03 -1.30403118e-05 9.99999013e-01 -3.87730949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.657628 meters 0.014059481270483284 Centerline is valid? [True, True] Translation: X:198.86, Y:-84.83, Z:-0.39 [[ 7.36803147e-01 6.76102226e-01 -2.62723631e-03 1.98864811e+02] [-6.76097597e-01 7.36807828e-01 2.50267090e-03 -8.48260974e+01] [ 3.62782965e-03 -6.77076336e-05 9.99993417e-01 -3.88463036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.717628 meters 0.01586457990067029 Centerline is valid? [True, True] Translation: X:198.91, Y:-84.87, Z:-0.39 [[ 7.42741025e-01 6.69558429e-01 -5.22306422e-03 1.98909149e+02] [-6.69539973e-01 7.42759363e-01 4.97527090e-03 -8.48697925e+01] [ 7.21071442e-03 -1.98287533e-04 9.99973983e-01 -3.90431509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.777628 meters 0.018792720278522232 Centerline is valid? [True, True] Translation: X:198.95, Y:-84.91, Z:-0.39 [[ 7.45998114e-01 6.65918273e-01 -6.29823391e-03 1.98951361e+02] [-6.65891289e-01 7.46024646e-01 6.00157187e-03 -8.49130496e+01] [ 8.69519410e-03 -2.83222201e-04 9.99962156e-01 -3.91620557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.837628 meters 0.02224424751594845 Centerline is valid? [True, True] Translation: X:199.00, Y:-84.95, Z:-0.39 [[ 7.50692538e-01 6.60626204e-01 -5.80789299e-03 1.98997791e+02] [-6.60603093e-01 7.50714937e-01 5.53500951e-03 -8.49531903e+01] [ 8.01664435e-03 -3.18378259e-04 9.99967816e-01 -3.91325023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.897628 meters 0.018751402115824482 Centerline is valid? [True, True] Translation: X:199.05, Y:-84.99, Z:-0.39 [[ 7.49646054e-01 6.61828192e-01 -3.77343679e-03 1.99047629e+02] [-6.61818440e-01 7.49655524e-01 3.59839382e-03 -8.49907799e+01] [ 5.21029621e-03 -2.00191678e-04 9.99986406e-01 -3.85504879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.957628 meters 0.01651958713986823 Centerline is valid? [True, True] Translation: X:199.10, Y:-85.03, Z:-0.38 [[ 7.45308574e-01 6.66715237e-01 -2.43371704e-03 1.99097075e+02] [-6.66711202e-01 7.45312540e-01 2.32199859e-03 -8.50285031e+01] [ 3.36199166e-03 -1.08019045e-04 9.99994343e-01 -3.82416200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.017628 meters 0.013171824927326353 Centerline is valid? [True, True] Translation: X:199.15, Y:-85.06, Z:-0.38 [[ 7.34238670e-01 6.78890755e-01 -9.58189272e-04 1.99151669e+02] [-6.78890139e-01 7.34239295e-01 9.14773983e-04 -8.50599251e+01] [ 1.32457182e-03 -2.11571851e-05 9.99999123e-01 -3.82288854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.077628 meters 0.014367424275548548 Centerline is valid? [True, True] Translation: X:199.21, Y:-85.09, Z:-0.39 [[ 7.23722207e-01 6.90087999e-01 -2.17262198e-03 1.99205119e+02] [-6.90084883e-01 7.23725468e-01 2.07369879e-03 -8.50931846e+01] [ 3.00341651e-03 -1.48827919e-06 9.99995490e-01 -3.86098959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.137628 meters 0.011875678031957248 Centerline is valid? [True, True] Translation: X:199.25, Y:-85.13, Z:-0.38 [[ 7.18557298e-01 6.95464828e-01 -2.02055900e-03 1.99252807e+02] [-6.95462150e-01 7.18560139e-01 1.92992161e-03 -8.51325615e+01] [ 2.79408575e-03 1.84630466e-05 9.99996096e-01 -3.84453440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.19762799999998 meters 0.012209988721771588 Centerline is valid? [True, True] Translation: X:199.30, Y:-85.17, Z:-0.38 [[ 7.16826871e-01 6.97247387e-01 -2.30615164e-03 1.99298396e+02] [-6.97243905e-01 7.16830580e-01 2.20371622e-03 -8.51747687e+01] [ 3.18965539e-03 2.82671774e-05 9.99994913e-01 -3.84998730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.25762799999998 meters 0.012420200039146078 Centerline is valid? [True, True] Translation: X:199.34, Y:-85.22, Z:-0.39 [[ 7.15501324e-01 6.98600720e-01 -3.85867423e-03 1.99342112e+02] [-6.98590983e-01 7.15511727e-01 3.68873558e-03 -8.52191142e+01] [ 5.33787999e-03 5.63398331e-05 9.99985752e-01 -3.86111580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31762799999998 meters 0.012274606073477771 Centerline is valid? [True, True] Translation: X:199.39, Y:-85.27, Z:-0.39 [[ 7.16048481e-01 6.98035078e-01 -4.64786393e-03 1.99385385e+02] [-6.98020923e-01 7.16063563e-01 4.44567135e-03 -8.52650969e+01] [ 6.43140055e-03 6.09900466e-05 9.99979316e-01 -3.87775756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.377628 meters 0.0121360349377283 Centerline is valid? [True, True] Translation: X:199.42, Y:-85.31, Z:-0.39 [[ 7.18299902e-01 6.95703220e-01 -6.50232615e-03 1.99423863e+02] [-6.95675394e-01 7.18329330e-01 6.22242694e-03 -8.53138040e+01] [ 8.99977405e-03 5.39396394e-05 9.99959500e-01 -3.90892229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.437628 meters 0.01199203200461627 Centerline is valid? [True, True] Translation: X:199.46, Y:-85.36, Z:-0.39 [[ 7.21801830e-01 6.92060919e-01 -7.33497217e-03 1.99461892e+02] [-6.92025282e-01 7.21839098e-01 7.02315736e-03 -8.53649039e+01] [ 1.01551224e-02 6.65834340e-06 9.99948435e-01 -3.91100273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.497628 meters 0.012350997438165177 Centerline is valid? [True, True] Translation: X:199.50, Y:-85.41, Z:-0.39 [[ 7.25325261e-01 6.88371305e-01 -6.94354538e-03 1.99500335e+02] [-6.88339167e-01 7.25358494e-01 6.65181568e-03 -8.54138613e+01] [ 9.61547866e-03 -4.52157040e-05 9.99953769e-01 -3.90751157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.557628 meters 0.013780097207440055 Centerline is valid? [True, True] Translation: X:199.54, Y:-85.47, Z:-0.39 [[ 7.31785592e-01 6.81504217e-01 -6.46912894e-03 1.99535795e+02] [-6.81476046e-01 7.31814174e-01 6.19780550e-03 -8.54665104e+01] [ 8.95803084e-03 -1.26908356e-04 9.99959868e-01 -3.89321978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.617628 meters 0.01403561161171392 Centerline is valid? [True, True] Translation: X:199.58, Y:-85.51, Z:-0.39 [[ 7.33697095e-01 6.79449236e-01 -6.10814209e-03 1.99578493e+02] [-6.79424021e-01 7.33722505e-01 5.85529399e-03 -8.55111698e+01] [ 8.46005634e-03 -1.45993727e-04 9.99964202e-01 -3.88585175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.677628 meters 0.014125325688969763 Centerline is valid? [True, True] Translation: X:199.62, Y:-85.55, Z:-0.39 [[ 7.33687951e-01 6.79446432e-01 -7.38491469e-03 1.99623677e+02] [-6.79409540e-01 7.33725094e-01 7.08260374e-03 -8.55542183e+01] [ 1.02307471e-02 -1.79039533e-04 9.99947649e-01 -3.89214314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.737628 meters 0.016637202856916534 Centerline is valid? [True, True] Translation: X:199.67, Y:-85.60, Z:-0.39 [[ 7.36244504e-01 6.76653906e-01 -9.13896980e-03 1.99668752e+02] [-6.76597171e-01 7.36301173e-01 8.76644357e-03 -8.55964963e+01] [ 1.26608825e-02 -2.70844792e-04 9.99919811e-01 -3.93238267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.797628 meters 0.016255275015420276 Centerline is valid? [True, True] Translation: X:199.71, Y:-85.64, Z:-0.39 [[ 7.38920964e-01 6.73728981e-01 -9.22326480e-03 1.99713306e+02] [-6.73670951e-01 7.38978453e-01 8.84844419e-03 -8.56400827e+01] [ 1.27772472e-02 -3.24855338e-04 9.99918315e-01 -3.92314009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.857628 meters 0.018633140886172187 Centerline is valid? [True, True] Translation: X:199.76, Y:-85.68, Z:-0.39 [[ 7.44373345e-01 6.67714354e-01 -8.11571700e-03 1.99757009e+02] [-6.67669022e-01 7.44417488e-01 7.78971094e-03 -8.56834232e+01] [ 1.12427835e-02 -3.79840356e-04 9.99936726e-01 -3.91094083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.917628 meters 0.020489151373867694 Centerline is valid? [True, True] Translation: X:199.80, Y:-85.73, Z:-0.39 [[ 7.47174964e-01 6.64599170e-01 -6.12508051e-03 1.99800696e+02] [-6.64573239e-01 7.47200000e-01 5.87960636e-03 -8.57272831e+01] [ 8.48424166e-03 -3.22530079e-04 9.99963956e-01 -3.87928848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.97762799999998 meters 0.018887447471554235 Centerline is valid? [True, True] Translation: X:199.85, Y:-85.77, Z:-0.38 [[ 7.46190374e-01 6.65728358e-01 -2.38296258e-03 1.99850189e+02] [-6.65724434e-01 7.46194169e-01 2.28909413e-03 -8.57655620e+01] [ 3.30206766e-03 -1.21703592e-04 9.99994541e-01 -3.83217253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03762799999998 meters 0.018526886564349723 Centerline is valid? [True, True] Translation: X:199.90, Y:-85.80, Z:-0.38 [[ 7.42578498e-01 6.69758851e-01 -5.05270530e-04 1.99896759e+02] [-6.69758675e-01 7.42578670e-01 4.85846748e-04 -8.58045327e+01] [ 7.00603278e-04 -2.23700279e-05 9.99999754e-01 -3.82486614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.097628 meters 0.014689581399654815 Centerline is valid? [True, True] Translation: X:199.95, Y:-85.84, Z:-0.38 [[ 7.34731794e-01 6.78357595e-01 4.04897187e-04 1.99948951e+02] [-6.78357484e-01 7.34731905e-01 -3.88676401e-04 -8.58384181e+01] [-5.61152471e-04 1.09078724e-05 9.99999842e-01 -3.82124290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.157628 meters 0.012689551482340328 Centerline is valid? [True, True] Translation: X:200.00, Y:-85.88, Z:-0.38 [[ 7.28638540e-01 6.84898438e-01 -8.45573037e-05 1.99998831e+02] [-6.84898434e-01 7.28638545e-01 8.14623764e-05 -8.58751456e+01] [ 1.17405165e-04 -1.44346212e-06 9.99999993e-01 -3.83711623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.217628 meters 0.011587983230006987 Centerline is valid? [True, True] Translation: X:200.05, Y:-85.91, Z:-0.39 [[ 7.20538466e-01 6.93413607e-01 -1.37456939e-03 2.00049975e+02] [-6.93412346e-01 7.20539777e-01 1.32252291e-03 -8.59113731e+01] [ 1.90748730e-03 2.14757674e-07 9.99998181e-01 -3.85950070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.277628 meters 0.0118401358856462 Centerline is valid? [True, True] Translation: X:200.10, Y:-85.95, Z:-0.39 [[ 7.17172500e-01 6.96893295e-01 -1.82805921e-03 2.00095976e+02] [-6.96891073e-01 7.17174829e-01 1.75957561e-03 -8.59527908e+01] [ 2.53727450e-03 1.20389133e-05 9.99996781e-01 -3.86517233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.337628 meters 0.012023784024441741 Centerline is valid? [True, True] Translation: X:200.14, Y:-86.00, Z:-0.39 [[ 7.16125573e-01 6.97966560e-01 -2.61624860e-03 2.00139583e+02] [-6.97962013e-01 7.16130352e-01 2.51936130e-03 -8.59968958e+01] [ 3.63200497e-03 2.18630875e-05 9.99993404e-01 -3.88473453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.397628 meters 0.011754233145539762 Centerline is valid? [True, True] Translation: X:200.18, Y:-86.04, Z:-0.39 [[ 7.18048713e-01 6.95988195e-01 -2.54519075e-03 2.00179468e+02] [-6.95983875e-01 7.18053224e-01 2.45211907e-03 -8.60445699e+01] [ 3.53422835e-03 1.06707816e-05 9.99993755e-01 -3.89265722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.457628 meters 0.01178468694843414 Centerline is valid? [True, True] Translation: X:200.22, Y:-86.09, Z:-0.39 [[ 7.19430123e-01 6.94561232e-01 -2.23429873e-03 2.00220473e+02] [-6.94557893e-01 7.19433593e-01 2.15394945e-03 -8.60920834e+01] [ 3.10347935e-03 2.23369674e-06 9.99995184e-01 -3.89469281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.517628 meters 0.01195710829293693 Centerline is valid? [True, True] Translation: X:200.26, Y:-86.14, Z:-0.39 [[ 7.21600727e-01 6.92306451e-01 -2.04171245e-03 2.00259284e+02] [-6.92303650e-01 7.21603615e-01 1.96942747e-03 -8.61429598e+01] [ 2.83675443e-03 -7.65530995e-06 9.99995976e-01 -3.88695656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.577628 meters 0.012081986763903914 Centerline is valid? [True, True] Translation: X:200.30, Y:-86.19, Z:-0.39 [[ 7.23022087e-01 6.90821402e-01 -2.20273703e-03 2.00299962e+02] [-6.90818131e-01 7.23025443e-01 2.12592791e-03 -8.61916553e+01] [ 3.06127141e-03 -1.54021608e-05 9.99995314e-01 -3.89738877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.637628 meters 0.012027385103549821 Centerline is valid? [True, True] Translation: X:200.34, Y:-86.24, Z:-0.39 [[ 7.21616551e-01 6.92290426e-01 -1.87616591e-03 2.00343645e+02] [-6.92288055e-01 7.21618990e-01 1.81164866e-03 -8.62357493e+01] [ 2.60806397e-03 -8.46840408e-06 9.99996599e-01 -3.89704031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.69762799999998 meters 0.011847833481351594 Centerline is valid? [True, True] Translation: X:200.39, Y:-86.28, Z:-0.39 [[ 7.20211591e-01 6.93749352e-01 -2.66479285e-03 2.00390189e+02] [-6.93744575e-01 7.20216521e-01 2.57448869e-03 -8.62786475e+01] [ 3.70527769e-03 -5.49101422e-06 9.99993135e-01 -3.90631800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.75762799999998 meters 0.012047393459149435 Centerline is valid? [True, True] Translation: X:200.44, Y:-86.32, Z:-0.39 [[ 7.22274619e-01 6.91593281e-01 -4.25533024e-03 2.00435115e+02] [-6.91581053e-01 7.22287154e-01 4.11269035e-03 -8.63217725e+01] [ 5.91787938e-03 -2.75860874e-05 9.99982489e-01 -3.93437155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81762799999998 meters 0.01257757474584797 Centerline is valid? [True, True] Translation: X:200.48, Y:-86.37, Z:-0.39 [[ 7.25978242e-01 6.87707731e-01 -3.69714623e-03 2.00478316e+02] [-6.87698440e-01 7.25987654e-01 3.57506828e-03 -8.63668037e+01] [ 5.14268462e-03 -5.29000904e-05 9.99986775e-01 -3.92873229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.877628 meters 0.01722575242485934 Centerline is valid? [True, True] Translation: X:200.52, Y:-86.41, Z:-0.39 [[ 7.34532661e-01 6.78567740e-01 -2.75540403e-03 2.00518208e+02] [-6.78562515e-01 7.34537824e-01 2.66448089e-03 -8.64148673e+01] [ 3.83197926e-03 -8.74343467e-05 9.99992654e-01 -3.94567190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.937628 meters 0.017149686820526536 Centerline is valid? [True, True] Translation: X:200.56, Y:-86.46, Z:-0.39 [[ 7.39339224e-01 6.73331606e-01 -1.43531228e-03 2.00559837e+02] [-6.73330176e-01 7.39340614e-01 1.38900709e-03 -8.64603939e+01] [ 1.99644703e-03 -6.05083541e-05 9.99998005e-01 -3.90698464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.997628 meters 0.01852762153096827 Centerline is valid? [True, True] Translation: X:200.60, Y:-86.50, Z:-0.39 [[ 7.43856421e-01 6.68339367e-01 -3.41420521e-04 2.00604348e+02] [-6.68339285e-01 7.43856499e-01 3.30972949e-04 -8.65031916e+01] [ 4.75170125e-04 -1.80116063e-05 9.99999887e-01 -3.90009083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.057628 meters 0.019270441321942798 Centerline is valid? [True, True] Translation: X:200.65, Y:-86.55, Z:-0.39 [[ 7.44137736e-01 6.68026154e-01 2.94999774e-04 2.00648527e+02] [-6.68026093e-01 7.44137795e-01 -2.85079222e-04 -8.65462828e+01] [-4.09960858e-04 1.50706599e-05 9.99999916e-01 -3.89890968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.117628 meters 0.017946595337724996 Centerline is valid? [True, True] Translation: X:200.70, Y:-86.59, Z:-0.39 [[ 7.41939033e-01 6.70465015e-01 1.77055200e-03 2.00696709e+02] [-6.70462828e-01 7.41941141e-01 -1.71451213e-03 -8.65852517e+01] [-2.46316577e-03 8.49741727e-05 9.99996963e-01 -3.89179506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.177628 meters 0.016889729398179013 Centerline is valid? [True, True] Translation: X:200.74, Y:-86.62, Z:-0.39 [[ 7.37624813e-01 6.75207773e-01 2.02465150e-03 2.00743321e+02] [-6.75204929e-01 7.37627587e-01 -1.96106270e-03 -8.66244698e+01] [-2.81756358e-03 7.94738367e-05 9.99996027e-01 -3.89471312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.237628 meters 0.013408160433364544 Centerline is valid? [True, True] Translation: X:200.80, Y:-86.66, Z:-0.39 [[ 7.29621146e-01 6.83850862e-01 9.90320106e-04 2.00796266e+02] [-6.83850190e-01 7.29621818e-01 -9.59394659e-04 -8.66587489e+01] [-1.37864202e-03 2.27640387e-05 9.99999049e-01 -3.91817615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.297628 meters 0.012500389106247164 Centerline is valid? [True, True] Translation: X:200.84, Y:-86.70, Z:-0.39 [[ 7.24862314e-01 6.88893681e-01 3.49109996e-04 2.00842674e+02] [-6.88893598e-01 7.24862398e-01 -3.37950057e-04 -8.66982917e+01] [-4.85868367e-04 4.46761930e-06 9.99999882e-01 -3.93133779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.357628 meters 0.011696301257853372 Centerline is valid? [True, True] Translation: X:200.89, Y:-86.74, Z:-0.39 [[ 7.20559098e-01 6.93393405e-01 -4.14607960e-04 2.00889131e+02] [-6.93393288e-01 7.20559218e-01 4.02647535e-04 -8.67391951e+01] [ 5.77942733e-04 -2.64496814e-06 9.99999833e-01 -3.93906706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.417628 meters 0.011540867828023906 Centerline is valid? [True, True] Translation: X:200.93, Y:-86.78, Z:-0.40 [[ 7.19334618e-01 6.94663676e-01 -2.90634930e-04 2.00933966e+02] [-6.94663618e-01 7.19334677e-01 2.82672996e-04 -8.67828713e+01] [ 4.05426446e-04 -1.44295993e-06 9.99999918e-01 -3.95215703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.47762799999998 meters 0.011783713068210315 Centerline is valid? [True, True] Translation: X:200.98, Y:-86.83, Z:-0.40 [[ 7.20561022e-01 6.93391357e-01 -4.90184471e-04 2.00976316e+02] [-6.93391193e-01 7.20561188e-01 4.76565828e-04 -8.68300175e+01] [ 6.83654531e-04 -3.50516492e-06 9.99999766e-01 -3.95304409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53762799999998 meters 0.012717087486273494 Centerline is valid? [True, True] Translation: X:201.01, Y:-86.88, Z:-0.39 [[ 7.25020740e-01 6.88726896e-01 4.35846026e-04 2.01014098e+02] [-6.88726766e-01 7.25020871e-01 -4.22824763e-04 -8.68790061e+01] [-6.07208252e-04 6.37789845e-06 9.99999816e-01 -3.94180579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.597628 meters 0.014003363478950644 Centerline is valid? [True, True] Translation: X:201.05, Y:-86.93, Z:-0.39 [[ 7.28436706e-01 6.85112895e-01 5.36216887e-04 2.01053383e+02] [-6.85112697e-01 7.28436903e-01 -5.20555642e-04 -8.69259518e+01] [-7.47239551e-04 1.18228397e-05 9.99999721e-01 -3.94444422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.657628 meters 0.01614010351169397 Centerline is valid? [True, True] Translation: X:201.09, Y:-86.97, Z:-0.39 [[ 7.32421045e-01 6.80851915e-01 2.85594342e-04 2.01091793e+02] [-6.80851859e-01 7.32421101e-01 -2.77141150e-04 -8.69748267e+01] [-3.97867405e-04 8.53657213e-06 9.99999921e-01 -3.94781303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.717628 meters 0.016479378995533273 Centerline is valid? [True, True] Translation: X:201.14, Y:-87.02, Z:-0.40 [[ 7.32310852e-01 6.80970495e-01 -3.34744200e-05 2.01137405e+02] [-6.80970495e-01 7.32310852e-01 3.31765429e-05 -8.70185570e+01] [ 4.71059278e-05 -1.50045002e-06 9.99999999e-01 -3.95603220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.777628 meters 0.01709969416179324 Centerline is valid? [True, True] Translation: X:201.18, Y:-87.06, Z:-0.40 [[ 7.32150766e-01 6.81137366e-01 -2.67302056e-03 2.01181393e+02] [-6.81132402e-01 7.32155641e-01 2.60160129e-03 -8.70610284e+01] [ 3.72911493e-03 -8.40834637e-05 9.99993043e-01 -3.98259953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.837628 meters 0.014883363262484087 Centerline is valid? [True, True] Translation: X:201.23, Y:-87.10, Z:-0.40 [[ 7.31162079e-01 6.82189419e-01 -4.42840136e-03 2.01229950e+02] [-6.82175805e-01 7.31175477e-01 4.31195611e-03 -8.70994875e+01] [ 6.17950931e-03 -1.31790531e-04 9.99980898e-01 -3.99707263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.897628 meters 0.01703860266194519 Centerline is valid? [True, True] Translation: X:201.28, Y:-87.14, Z:-0.40 [[ 7.30615576e-01 6.82760336e-01 -6.26126441e-03 2.01276033e+02] [-6.82733115e-01 7.30642382e-01 6.09936672e-03 -8.71411085e+01] [ 8.73915081e-03 -1.81519777e-04 9.99961796e-01 -4.03579452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.957628 meters 0.013916153374075695 Centerline is valid? [True, True] Translation: X:201.32, Y:-87.18, Z:-0.40 [[ 7.28876305e-01 6.84626584e-01 -5.07666325e-03 2.01323663e+02] [-6.84608726e-01 7.28893973e-01 4.94659209e-03 -8.71820641e+01] [ 7.08691769e-03 -1.29925807e-04 9.99974879e-01 -4.00331521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.017628 meters 0.013636292187836265 Centerline is valid? [True, True] Translation: X:201.37, Y:-87.22, Z:-0.40 [[ 7.26681729e-01 6.86964410e-01 -3.68293426e-03 2.01368226e+02] [-6.86955036e-01 7.26691058e-01 3.58968374e-03 -8.72233931e+01] [ 5.14234037e-03 -7.85473515e-05 9.99986775e-01 -3.98257416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.077628 meters 0.012235584282548357 Centerline is valid? [True, True] Translation: X:201.42, Y:-87.26, Z:-0.40 [[ 7.21703684e-01 6.92200056e-01 -1.69576421e-03 2.01415287e+02] [-6.92198081e-01 7.21705676e-01 1.65369387e-03 -8.72628708e+01] [ 2.36852964e-03 -1.96722241e-05 9.99997195e-01 -3.96265518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.137628 meters 0.011785543347801193 Centerline is valid? [True, True] Translation: X:201.46, Y:-87.30, Z:-0.40 [[ 7.18455712e-01 6.95571647e-01 -1.21373383e-03 2.01462297e+02] [-6.95570640e-01 7.18456738e-01 1.18374431e-03 -8.73042900e+01] [ 1.69539423e-03 -6.23023891e-06 9.99998563e-01 -3.96805318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.19762799999998 meters 0.011760464439479115 Centerline is valid? [True, True] Translation: X:201.51, Y:-87.35, Z:-0.40 [[ 7.14574130e-01 6.99559349e-01 -7.27190399e-04 2.01507807e+02] [-6.99558989e-01 7.14574500e-01 7.10163156e-04 -8.73471210e+01] [ 1.01643299e-03 1.24836078e-06 9.99999483e-01 -3.96680093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.25762799999998 meters 0.01189304788154966 Centerline is valid? [True, True] Translation: X:201.55, Y:-87.39, Z:-0.40 [[ 7.12790098e-01 7.01375833e-01 -1.48868189e-03 2.01552260e+02] [-7.01374326e-01 7.12791653e-01 1.45395946e-03 -8.73910365e+01] [ 2.08089205e-03 7.75535598e-06 9.99997835e-01 -3.97522717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31762799999998 meters 0.01198982747973633 Centerline is valid? [True, True] Translation: X:201.60, Y:-87.44, Z:-0.40 [[ 7.11453717e-01 7.02723303e-01 -3.68334674e-03 2.01595454e+02] [-7.02714092e-01 7.11463252e-01 3.59817780e-03 -8.74362006e+01] [ 5.14908924e-03 2.84026906e-05 9.99986743e-01 -4.00251041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.377628 meters 0.011981561914244999 Centerline is valid? [True, True] Translation: X:201.64, Y:-87.48, Z:-0.40 [[ 7.11175290e-01 7.03002490e-01 -4.14800253e-03 2.01638093e+02] [-7.02990800e-01 7.11187386e-01 4.05439264e-03 -8.74824191e+01] [ 5.80025520e-03 3.26237534e-05 9.99983178e-01 -4.01799825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.437628 meters 0.011927387702262718 Centerline is valid? [True, True] Translation: X:201.68, Y:-87.53, Z:-0.40 [[ 7.12092399e-01 7.02071193e-01 -4.52281647e-03 2.01681147e+02] [-7.02057259e-01 7.12106762e-01 4.42328710e-03 -8.75285930e+01] [ 6.32619064e-03 2.54870095e-05 9.99979989e-01 -4.01460258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.497628 meters 0.01200004473603083 Centerline is valid? [True, True] Translation: X:201.73, Y:-87.57, Z:-0.40 [[ 7.11717157e-01 7.02457525e-01 -3.48045950e-03 2.01727064e+02] [-7.02449271e-01 7.11725667e-01 3.40547232e-03 -8.75686084e+01] [ 4.86933202e-03 2.11131579e-05 9.99988145e-01 -4.01832557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.557628 meters 0.012079713434013789 Centerline is valid? [True, True] Translation: X:201.77, Y:-87.61, Z:-0.40 [[ 7.11070753e-01 7.03112726e-01 -3.29825975e-03 2.01774183e+02] [-7.03105311e-01 7.11078402e-01 3.22914605e-03 -8.76109547e+01] [ 4.61577496e-03 2.28726322e-05 9.99989347e-01 -4.01883134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.617628 meters 0.012174909646202079 Centerline is valid? [True, True] Translation: X:201.82, Y:-87.65, Z:-0.40 [[ 7.11669539e-01 7.02504832e-01 -3.66433172e-03 2.01820740e+02] [-7.02495662e-01 7.11678973e-01 3.58954348e-03 -8.76535747e+01] [ 5.12949948e-03 1.96083886e-05 9.99986844e-01 -4.03753839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.677628 meters 0.012161332921215538 Centerline is valid? [True, True] Translation: X:201.86, Y:-87.70, Z:-0.41 [[ 7.12411373e-01 7.01746381e-01 -4.69609228e-03 2.01864940e+02] [-7.01731287e-01 7.12426850e-01 4.60267721e-03 -8.76986952e+01] [ 6.57553430e-03 1.63952926e-05 9.99978381e-01 -4.05298792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.737628 meters 0.014582605938533602 Centerline is valid? [True, True] Translation: X:201.91, Y:-87.74, Z:-0.41 [[ 7.14369397e-01 6.99737218e-01 -6.64759375e-03 2.01908524e+02] [-6.99706858e-01 7.14400326e-01 6.51827496e-03 -8.77427433e+01] [ 9.31012273e-03 -5.08921592e-06 9.99956660e-01 -4.10183299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.797628 meters 0.012283902932943713 Centerline is valid? [True, True] Translation: X:201.95, Y:-87.79, Z:-0.41 [[ 7.15103708e-01 6.98986356e-01 -6.69036463e-03 2.01952623e+02] [-6.98955537e-01 7.15135004e-01 6.56372063e-03 -8.77864430e+01] [ 9.37246510e-03 -1.74735526e-05 9.99956077e-01 -4.09494281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.857628 meters 0.012165012159101877 Centerline is valid? [True, True] Translation: X:202.00, Y:-87.83, Z:-0.41 [[ 7.16322582e-01 6.97752066e-01 -4.90025064e-03 2.01995586e+02] [-6.97735488e-01 7.16339342e-01 4.80999163e-03 -8.78313284e+01] [ 6.86642392e-03 -2.64268521e-05 9.99976425e-01 -4.07075640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.917628 meters 0.015607032555980394 Centerline is valid? [True, True] Translation: X:202.04, Y:-87.88, Z:-0.41 [[ 7.18684770e-01 6.95331375e-01 -2.54556091e-03 2.02038056e+02] [-6.95326880e-01 7.18689278e-01 2.50047685e-03 -8.78774440e+01] [ 3.56812734e-03 -2.70577057e-05 9.99993634e-01 -4.06551498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.97762799999998 meters 0.012366779763224804 Centerline is valid? [True, True] Translation: X:202.08, Y:-87.92, Z:-0.40 [[ 7.18561140e-01 6.95462048e-01 -1.55851701e-03 2.02082402e+02] [-6.95460360e-01 7.18562830e-01 1.53205014e-03 -8.79217100e+01] [ 2.18537512e-03 -1.69848964e-05 9.99997612e-01 -4.04343999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03762799999998 meters 0.012516211261201655 Centerline is valid? [True, True] Translation: X:202.13, Y:-87.97, Z:-0.40 [[ 7.18905709e-01 6.95107475e-01 4.24974767e-04 2.02125320e+02] [-6.95107350e-01 7.18905834e-01 -4.17178140e-04 -8.79662853e+01] [-5.95500483e-04 4.50866200e-06 9.99999823e-01 -4.04505473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.097628 meters 0.012438371691409093 Centerline is valid? [True, True] Translation: X:202.17, Y:-88.01, Z:-0.40 [[ 7.18764963e-01 6.95251654e-01 1.43709409e-03 2.02168986e+02] [-6.95250219e-01 7.18766399e-01 -1.41295387e-03 -8.80117987e+01] [-2.01529346e-03 1.64417550e-05 9.99997969e-01 -4.02860658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.157628 meters 0.012084885205095824 Centerline is valid? [True, True] Translation: X:202.22, Y:-88.05, Z:-0.40 [[ 7.16866878e-01 6.97209757e-01 6.58112822e-04 2.02215521e+02] [-6.97209457e-01 7.16867180e-01 -6.47100641e-04 -8.80529499e+01] [-9.22944363e-04 5.04253341e-06 9.99999574e-01 -4.04457823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.217628 meters 0.011693657482651257 Centerline is valid? [True, True] Translation: X:202.26, Y:-88.09, Z:-0.41 [[ 7.14549953e-01 6.99584202e-01 -5.55596004e-04 2.02262780e+02] [-6.99583988e-01 7.14550169e-01 5.47563146e-04 -8.80919794e+01] [ 7.80067745e-04 -2.57515265e-06 9.99999696e-01 -4.06655410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.277628 meters 0.011660914918991837 Centerline is valid? [True, True] Translation: X:202.31, Y:-88.13, Z:-0.41 [[ 7.12042685e-01 7.02128664e-01 -3.24867402e-03 2.02311976e+02] [-7.02121369e-01 7.12050095e-01 3.20076230e-03 -8.81306171e+01] [ 4.56056561e-03 1.88407113e-06 9.99989601e-01 -4.10742918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.337628 meters 0.01162337631678449 Centerline is valid? [True, True] Translation: X:202.36, Y:-88.17, Z:-0.41 [[ 7.11897929e-01 7.02271946e-01 -3.93094834e-03 2.02358111e+02] [-7.02261255e-01 7.11908782e-01 3.87513974e-03 -8.81734926e+01] [ 5.51987857e-03 1.84875863e-06 9.99984765e-01 -4.12355160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.397628 meters 0.01163769143440877 Centerline is valid? [True, True] Translation: X:202.40, Y:-88.22, Z:-0.41 [[ 7.14336506e-01 6.99798021e-01 -2.46688466e-03 2.02401199e+02] [-6.99793790e-01 7.14340766e-01 2.43347843e-03 -8.82197216e+01] [ 3.46513967e-03 -1.20119106e-05 9.99993996e-01 -4.10228008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.457628 meters 0.011841361833167767 Centerline is valid? [True, True] Translation: X:202.45, Y:-88.26, Z:-0.41 [[ 7.16375289e-01 6.97713981e-01 -1.28276889e-03 2.02445184e+02] [-6.97712832e-01 7.16376438e-01 1.26643628e-03 -8.82647317e+01] [ 1.80255571e-03 -1.22393420e-05 9.99998375e-01 -4.09277492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.517628 meters 0.012223760062482807 Centerline is valid? [True, True] Translation: X:202.49, Y:-88.31, Z:-0.41 [[ 7.18064786e-01 6.95975915e-01 -6.99508625e-04 2.02487711e+02] [-6.95975572e-01 7.18065126e-01 6.91155093e-04 -8.83106386e+01] [ 9.83320047e-04 -9.45321825e-06 9.99999516e-01 -4.08953388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.577628 meters 0.01204071856058056 Centerline is valid? [True, True] Translation: X:202.53, Y:-88.35, Z:-0.41 [[ 7.17251470e-01 6.96809353e-01 -2.65621954e-03 2.02532557e+02] [-6.96804411e-01 7.17256387e-01 2.62449177e-03 -8.83549773e+01] [ 3.73396084e-03 -3.15550911e-05 9.99993028e-01 -4.11196827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.637628 meters 0.011978050004491654 Centerline is valid? [True, True] Translation: X:202.58, Y:-88.40, Z:-0.41 [[ 7.15083156e-01 6.99024989e-01 -4.48832967e-03 2.02576649e+02] [-6.99010917e-01 7.15097241e-01 4.43556158e-03 -8.83978326e+01] [ 6.31016055e-03 -3.44039323e-05 9.99980090e-01 -4.13325339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.69762799999998 meters 0.01161521393021405 Centerline is valid? [True, True] Translation: X:202.63, Y:-88.44, Z:-0.41 [[ 7.11477985e-01 7.02680488e-01 -6.26161951e-03 2.02625059e+02] [-7.02653209e-01 7.11505539e-01 6.19163438e-03 -8.84389852e+01] [ 8.80591763e-03 -5.46451748e-06 9.99961227e-01 -4.14880272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75762799999998 meters 0.011653022571846926 Centerline is valid? [True, True] Translation: X:202.67, Y:-88.48, Z:-0.42 [[ 7.09797303e-01 7.04375467e-01 -6.55659960e-03 2.02671838e+02] [-7.04345595e-01 7.09827585e-01 6.48703966e-03 -8.84815184e+01] [ 9.22336686e-03 1.36287880e-05 9.99957464e-01 -4.15368226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81762799999998 meters 0.011780897152443097 Centerline is valid? [True, True] Translation: X:202.71, Y:-88.53, Z:-0.41 [[ 7.09831871e-01 7.04338239e-01 -6.80883047e-03 2.02714794e+02] [-7.04305989e-01 7.09864526e-01 6.74011180e-03 -8.85263461e+01] [ 9.58066569e-03 1.11539051e-05 9.99954104e-01 -4.14810276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.877628 meters 0.011693275231838425 Centerline is valid? [True, True] Translation: X:202.76, Y:-88.57, Z:-0.41 [[ 7.10417006e-01 7.03751572e-01 -6.43440007e-03 2.02757772e+02] [-7.03722714e-01 7.10446145e-01 6.37319880e-03 -8.85720724e+01] [ 9.05644340e-03 4.04665724e-07 9.99958990e-01 -4.13777174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.937628 meters 0.011719743006906454 Centerline is valid? [True, True] Translation: X:202.80, Y:-88.62, Z:-0.41 [[ 7.10118268e-01 7.04056417e-01 -6.05046545e-03 2.02801683e+02] [-7.04030881e-01 7.10144043e-01 5.99636202e-03 -8.86166447e+01] [ 8.51847916e-03 1.58831431e-06 9.99963717e-01 -4.13443081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.997628 meters 0.011719833143928014 Centerline is valid? [True, True] Translation: X:202.85, Y:-88.66, Z:-0.41 [[ 7.09258562e-01 7.04922133e-01 -6.08925116e-03 2.02846432e+02] [-7.04896272e-01 7.09284700e-01 6.03822279e-03 -8.86606193e+01] [ 8.57548957e-03 9.62922683e-06 9.99963230e-01 -4.13177755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.057628 meters 0.011812872656143204 Centerline is valid? [True, True] Translation: X:202.89, Y:-88.70, Z:-0.41 [[ 7.07547014e-01 7.06635290e-01 -6.61743924e-03 2.02890884e+02] [-7.06604796e-01 7.07577958e-01 6.56476501e-03 -8.87023189e+01] [ 9.32124876e-03 3.10344230e-05 9.99956556e-01 -4.14355358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.117628 meters 0.011814368345628098 Centerline is valid? [True, True] Translation: X:202.94, Y:-88.75, Z:-0.41 [[ 7.06224246e-01 7.07957156e-01 -6.63168721e-03 2.02936285e+02] [-7.07926552e-01 7.06255381e-01 6.58286780e-03 -8.87456052e+01] [ 9.34405314e-03 4.57666142e-05 9.99956342e-01 -4.13308132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.177628 meters 0.012044340097461638 Centerline is valid? [True, True] Translation: X:202.98, Y:-88.79, Z:-0.41 [[ 7.04969986e-01 7.09206281e-01 -6.61581895e-03 2.02981679e+02] [-7.09175846e-01 7.05001026e-01 6.57059008e-03 -8.87870677e+01] [ 9.32406291e-03 5.97102043e-05 9.99956528e-01 -4.13930591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.237628 meters 0.011976601420514953 Centerline is valid? [True, True] Translation: X:203.03, Y:-88.83, Z:-0.41 [[ 7.05298803e-01 7.08872998e-01 -7.25755474e-03 2.03025603e+02] [-7.08836312e-01 7.05336140e-01 7.21205152e-03 -8.88323937e+01] [ 1.02314442e-02 5.77670339e-05 9.99947656e-01 -4.13763239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.297628 meters 0.01180581280337724 Centerline is valid? [True, True] Translation: X:203.07, Y:-88.88, Z:-0.41 [[ 7.08763707e-01 7.05414001e-01 -6.71526139e-03 2.03066134e+02] [-7.05382409e-01 7.08795518e-01 6.67612374e-03 -8.88788122e+01] [ 9.46917833e-03 5.03304676e-06 9.99955166e-01 -4.13206249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.357628 meters 0.012038108237598493 Centerline is valid? [True, True] Translation: X:203.11, Y:-88.92, Z:-0.41 [[ 7.11068536e-01 7.03090097e-01 -6.77152338e-03 2.03109081e+02] [-7.03057830e-01 7.11100777e-01 6.73594009e-03 -8.89247087e+01] [ 9.55120831e-03 -2.89425238e-05 9.99954386e-01 -4.14388440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.417628 meters 0.012494599046972902 Centerline is valid? [True, True] Translation: X:203.15, Y:-88.97, Z:-0.41 [[ 7.14259898e-01 6.99841338e-01 -7.40945552e-03 2.03150948e+02] [-6.99802492e-01 7.14298324e-01 7.37402257e-03 -8.89711095e+01] [ 1.04532075e-02 -8.18131710e-05 9.99945360e-01 -4.14785846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.47762799999998 meters 0.012413336905515658 Centerline is valid? [True, True] Translation: X:203.20, Y:-89.01, Z:-0.42 [[ 7.14599143e-01 6.99493818e-01 -7.51420573e-03 2.03196380e+02] [-6.99453801e-01 7.14638643e-01 7.48265755e-03 -8.90147511e+01] [ 1.06040145e-02 -9.12609061e-05 9.99943772e-01 -4.15438037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53762799999998 meters 0.012283082802241479 Centerline is valid? [True, True] Translation: X:203.24, Y:-89.06, Z:-0.41 [[ 7.13456060e-01 7.00667154e-01 -6.78161596e-03 2.03241858e+02] [-7.00634580e-01 7.13488287e-01 6.75648920e-03 -8.90567458e+01] [ 9.57265361e-03 -6.90235140e-05 9.99954179e-01 -4.13918855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.597628 meters 0.012084814297935172 Centerline is valid? [True, True] Translation: X:203.29, Y:-89.10, Z:-0.41 [[ 7.12266580e-01 7.01888591e-01 -5.35956552e-03 2.03286354e+02] [-7.01868262e-01 7.12286742e-01 5.34221547e-03 -8.90982323e+01] [ 7.56718756e-03 -4.33726061e-05 9.99971367e-01 -4.11642980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.657628 meters 0.011863521597868857 Centerline is valid? [True, True] Translation: X:203.33, Y:-89.14, Z:-0.41 [[ 7.09553483e-01 7.04641199e-01 -3.82569482e-03 2.03333788e+02] [-7.04630869e-01 7.09563796e-01 3.81539671e-03 -8.91381031e+01] [ 5.40306025e-03 -1.15253559e-05 9.99985403e-01 -4.10168854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.717628 meters 0.01173653749930493 Centerline is valid? [True, True] Translation: X:203.38, Y:-89.18, Z:-0.41 [[ 7.07754346e-01 7.06448776e-01 -3.72995564e-03 2.03381031e+02] [-7.06438970e-01 7.07764175e-01 3.72211064e-03 -8.91804332e+01] [ 5.26940948e-03 6.46035379e-07 9.99986117e-01 -4.11554208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.777628 meters 0.011857545288041116 Centerline is valid? [True, True] Translation: X:203.43, Y:-89.22, Z:-0.41 [[ 7.06104714e-01 7.08097346e-01 -3.77910707e-03 2.03426296e+02] [-7.08087298e-01 7.06114827e-01 3.77220657e-03 -8.92227807e+01] [ 5.33957300e-03 1.23648726e-05 9.99985744e-01 -4.12106157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.837628 meters 0.011850470529161437 Centerline is valid? [True, True] Translation: X:203.47, Y:-89.27, Z:-0.41 [[ 7.05986912e-01 7.08216901e-01 -3.36181965e-03 2.03470482e+02] [-7.08208941e-01 7.05994916e-01 3.35783766e-03 -8.92670963e+01] [ 4.75150496e-03 1.02812910e-05 9.99988711e-01 -4.11819876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.897628 meters 0.01166111078770309 Centerline is valid? [True, True] Translation: X:203.51, Y:-89.31, Z:-0.41 [[ 7.08215179e-01 7.05990667e-01 -2.90499154e-03 2.03513087e+02] [-7.05984697e-01 7.08221136e-01 2.90325059e-03 -8.93131196e+01] [ 4.10704423e-03 -5.24656157e-06 9.99991566e-01 -4.11276184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.957628 meters 0.011996989566587834 Centerline is valid? [True, True] Translation: X:203.55, Y:-89.36, Z:-0.41 [[ 7.10758304e-01 7.03427812e-01 -3.45635583e-03 2.03553116e+02] [-7.03419325e-01 7.10766707e-01 3.45556020e-03 -8.93596533e+01] [ 4.88739980e-03 -2.48006217e-05 9.99988056e-01 -4.11482244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.017628 meters 0.012335306288041937 Centerline is valid? [True, True] Translation: X:203.60, Y:-89.41, Z:-0.41 [[ 7.12058331e-01 7.02108073e-01 -4.14558392e-03 2.03595623e+02] [-7.02095830e-01 7.12070398e-01 4.14649847e-03 -8.94054194e+01] [ 5.86323765e-03 -4.19515973e-05 9.99982810e-01 -4.12778390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.077628 meters 0.013015392550339766 Centerline is valid? [True, True] Translation: X:204.24, Y:-88.91, Z:0.51 [[ 7.52574653e-01 -6.58466778e-01 -7.27281859e-03 2.04244989e+02] [-6.58435617e-01 -7.52609793e-01 6.40608454e-03 -8.89102695e+01] [-9.69178835e-03 -3.23740549e-05 -9.99953033e-01 5.12372149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.137628 meters 0.012565125040208092 Centerline is valid? [True, True] Translation: X:204.26, Y:-88.94, Z:0.51 [[ 8.01520668e-01 -5.97936742e-01 -6.02256150e-03 2.04263664e+02] [-5.97919362e-01 -8.01543293e-01 4.55928108e-03 -8.89353845e+01] [-7.55350545e-03 -5.33518937e-05 -9.99971470e-01 5.09027506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.19762799999998 meters 0.012389857597600732 Centerline is valid? [True, True] Translation: X:204.28, Y:-88.96, Z:0.51 [[ 8.46218978e-01 -5.32801759e-01 -5.97714029e-03 2.04283305e+02] [-5.32787940e-01 -8.46240085e-01 3.83784891e-03 -8.89589814e+01] [-7.10290836e-03 -6.31123178e-05 -9.99974772e-01 5.08156240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25762799999998 meters 0.012264388120757532 Centerline is valid? [True, True] Translation: X:204.30, Y:-88.98, Z:0.51 [[ 8.85692435e-01 -4.64235492e-01 -5.85821361e-03 2.04303750e+02] [-4.64224793e-01 -8.85711805e-01 3.15269479e-03 -8.89819095e+01] [-6.65228178e-03 -7.27899226e-05 -9.99977871e-01 5.08709899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31762799999998 meters 0.012148131213028449 Centerline is valid? [True, True] Translation: X:204.33, Y:-89.00, Z:0.51 [[ 9.19542116e-01 -3.92941505e-01 -6.26667254e-03 2.04326684e+02] [-3.92931822e-01 -9.19563466e-01 2.75966654e-03 -8.90022732e+01] [-6.84699065e-03 -7.52545495e-05 -9.99976556e-01 5.08002298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.377628 meters 0.01223145334779469 Centerline is valid? [True, True] Translation: X:204.35, Y:-89.02, Z:0.51 [[ 9.47351259e-01 -3.20141729e-01 -5.90464345e-03 2.04350752e+02] [-3.20135001e-01 -9.47369657e-01 2.07704605e-03 -8.90206481e+01] [-6.25882915e-03 -7.74091585e-05 -9.99980410e-01 5.07245199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.437628 meters 0.012570454007038913 Centerline is valid? [True, True] Translation: X:204.38, Y:-89.03, Z:0.51 [[ 9.68917730e-01 -2.47302033e-01 -6.33532604e-03 2.04377276e+02] [-2.47296344e-01 -9.68938440e-01 1.67850508e-03 -8.90346687e+01] [-6.55363865e-03 -5.96303691e-05 -9.99978523e-01 5.07134650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.497628 meters 0.012695612003242323 Centerline is valid? [True, True] Translation: X:204.40, Y:-89.05, Z:0.51 [[ 9.85068587e-01 -1.72076850e-01 -5.42551669e-03 2.04401441e+02] [-1.72073891e-01 -9.85083526e-01 1.01109336e-03 -8.90481343e+01] [-5.51857288e-03 -6.24065400e-05 -9.99984771e-01 5.06266919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.557628 meters 0.01300435734601005 Centerline is valid? [True, True] Translation: X:204.43, Y:-89.06, Z:0.51 [[ 9.95395621e-01 -9.56961641e-02 -5.45904921e-03 2.04425688e+02] [-9.56944196e-02 -9.95410589e-01 5.80477262e-04 -8.90588543e+01] [-5.48954484e-03 -5.54039792e-05 -9.99984931e-01 5.06180935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.617628 meters 0.012854955364646673 Centerline is valid? [True, True] Translation: X:204.45, Y:-89.07, Z:0.51 [[ 9.99827498e-01 -1.78604052e-02 -5.09705147e-03 2.04451172e+02] [-1.78598765e-02 -9.99840489e-01 1.49221928e-04 -8.90699755e+01] [-5.09890359e-03 -5.81634768e-05 -9.99986999e-01 5.05028999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.677628 meters 0.012966143438925565 Centerline is valid? [True, True] Translation: X:204.48, Y:-89.08, Z:0.50 [[ 9.98059428e-01 6.21949009e-02 -3.02875221e-03 2.04476105e+02] [ 6.21948909e-02 -9.98064019e-01 -9.75757918e-05 -8.90782608e+01] [-3.02895732e-03 -9.09864744e-05 -9.99995409e-01 5.02344759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.737628 meters 0.012322473924708848 Centerline is valid? [True, True] Translation: X:204.50, Y:-89.09, Z:0.50 [[ 9.89739933e-01 1.42862179e-01 -2.29385125e-03 2.04503735e+02] [ 1.42862042e-01 -9.89742586e-01 -2.24484091e-04 -8.90878669e+01] [-2.30239256e-03 -1.05523405e-04 -9.99997344e-01 5.01828053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.797628 meters 0.011873774997147217 Centerline is valid? [True, True] Translation: X:204.53, Y:-89.10, Z:0.51 [[ 9.74605064e-01 2.23888149e-01 -4.36637177e-03 2.04532817e+02] [ 2.23886379e-01 -9.74614840e-01 -8.96202654e-04 -8.90976799e+01] [-4.45617988e-03 -1.04127521e-04 -9.99990066e-01 5.05070122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.857628 meters 0.01175877238540236 Centerline is valid? [True, True] Translation: X:204.56, Y:-89.10, Z:0.51 [[ 9.53410192e-01 3.01618031e-01 -5.96399437e-03 2.04562168e+02] [ 3.01612843e-01 -9.53428839e-01 -1.77228791e-03 -8.91028717e+01] [-6.22079822e-03 -1.09099941e-04 -9.99980645e-01 5.06017843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.917628 meters 0.011777848685426402 Centerline is valid? [True, True] Translation: X:204.59, Y:-89.10, Z:0.51 [[ 9.26148138e-01 3.77102808e-01 -6.56498385e-03 2.04590308e+02] [ 3.77094249e-01 -9.26171398e-01 -2.54349344e-03 -8.91040517e+01] [-7.03945878e-03 -1.19965947e-04 -9.99975216e-01 5.06581846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.97762799999998 meters 0.011776408917072727 Centerline is valid? [True, True] Translation: X:204.62, Y:-89.10, Z:0.51 [[ 8.93164026e-01 4.49682319e-01 -6.62080560e-03 2.04619002e+02] [ 4.49671036e-01 -8.93188555e-01 -3.18819607e-03 -8.91009204e+01] [-7.34730319e-03 -1.29602478e-04 -9.99973000e-01 5.06185869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03762799999998 meters 0.011743970373423056 Centerline is valid? [True, True] Translation: X:204.65, Y:-89.10, Z:0.51 [[ 8.55136635e-01 5.18354610e-01 -7.05936817e-03 2.04647251e+02] [ 5.18338207e-01 -8.55165763e-01 -4.12576045e-03 -8.90951494e+01] [-8.17553691e-03 -1.31051329e-04 -9.99966571e-01 5.05729215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.097628 meters 0.011955347746483862 Centerline is valid? [True, True] Translation: X:204.68, Y:-89.09, Z:0.51 [[ 8.13442257e-01 5.81594050e-01 -7.74955696e-03 2.04675039e+02] [ 5.81568907e-01 -8.13479163e-01 -5.40897704e-03 -8.90866740e+01] [-9.44993198e-03 -1.07010877e-04 -9.99955343e-01 5.06685727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.157628 meters 0.012166291363836259 Centerline is valid? [True, True] Translation: X:204.70, Y:-89.07, Z:0.51 [[ 7.67002310e-01 6.41598737e-01 -7.64966144e-03 2.04699575e+02] [ 6.41567883e-01 -7.67040452e-01 -6.29267042e-03 -8.90738996e+01] [-9.90496916e-03 -8.12843474e-05 -9.99950941e-01 5.05974121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.217628 meters 0.012755810224625602 Centerline is valid? [True, True] Translation: X:204.72, Y:-89.06, Z:0.51 [[ 7.17387882e-01 6.96630195e-01 -7.81015805e-03 2.04723414e+02] [ 6.96589375e-01 -7.17430394e-01 -7.54134235e-03 -8.90593577e+01] [-1.08567716e-02 -3.04055042e-05 -9.99941063e-01 5.06175267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.277628 meters 0.012809573091466393 Centerline is valid? [True, True] Translation: X:204.75, Y:-89.05, Z:0.51 [[ 6.62124743e-01 7.49353132e-01 -7.79154974e-03 2.04750873e+02] [ 7.49301240e-01 -6.62170585e-01 -8.81863795e-03 -8.90482233e+01] [-1.17676090e-02 8.20504123e-07 -9.99930759e-01 5.06129867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.337628 meters 0.013240841630661877 Centerline is valid? [True, True] Translation: X:204.77, Y:-89.03, Z:0.51 [[ 6.02223755e-01 7.98295470e-01 -7.13378590e-03 2.04773551e+02] [ 7.98239191e-01 -6.02266006e-01 -9.47903803e-03 -8.90326386e+01] [-1.18635099e-02 1.40343951e-05 -9.99929626e-01 5.05569951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.397628 meters 0.013107427596040711 Centerline is valid? [True, True] Translation: X:204.80, Y:-89.02, Z:0.51 [[ 5.37790390e-01 8.43053189e-01 -6.54349391e-03 2.04797926e+02] [ 8.42990406e-01 -5.37830197e-01 -1.02885595e-02 -8.90163715e+01] [-1.21930915e-02 1.69858128e-05 -9.99925661e-01 5.05667720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.457628 meters 0.013025969458306459 Centerline is valid? [True, True] Translation: X:204.82, Y:-89.00, Z:0.51 [[ 4.69776068e-01 8.82764130e-01 -6.15926313e-03 2.04822529e+02] [ 8.82687627e-01 -4.69816443e-01 -1.16216873e-02 -8.89994773e+01] [-1.31529318e-02 2.28852219e-05 -9.99913496e-01 5.06475978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.517628 meters 0.01336408689989232 Centerline is valid? [True, True] Translation: X:204.84, Y:-88.98, Z:0.51 [[ 3.99328079e-01 9.16790482e-01 -5.68319456e-03 2.04840977e+02] [ 9.16696267e-01 -3.99368516e-01 -1.31431819e-02 -8.89800222e+01] [-1.43192331e-02 3.86783568e-05 -9.99897474e-01 5.07862494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.577628 meters 0.013324976213253955 Centerline is valid? [True, True] Translation: X:204.86, Y:-88.96, Z:0.51 [[ 3.26542003e-01 9.45169875e-01 -4.92221798e-03 2.04858508e+02] [ 9.45060053e-01 -3.26579094e-01 -1.44080173e-02 -8.89582602e+01] [-1.52255174e-02 5.30312505e-05 -9.99884084e-01 5.07447385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.637628 meters 0.013474343488314059 Centerline is valid? [True, True] Translation: X:204.87, Y:-88.94, Z:0.51 [[ 2.51843702e-01 9.67760068e-01 -3.89889325e-03 2.04873640e+02] [ 9.67640098e-01 -2.51873872e-01 -1.52378951e-02 -8.89351742e+01] [-1.57286557e-02 6.48424730e-05 -9.99876295e-01 5.08350318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.69762799999998 meters 0.013244183729448307 Centerline is valid? [True, True] Translation: X:204.89, Y:-88.91, Z:0.50 [[ 1.76107601e-01 9.84368106e-01 -2.35458333e-03 2.04887512e+02] [ 9.84276115e-01 -1.76123333e-01 -1.34573900e-02 -8.89111633e+01] [-1.36617226e-02 5.23885447e-05 -9.99906673e-01 5.04738338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75762799999998 meters 0.013156243452191095 Centerline is valid? [True, True] Translation: X:204.90, Y:-88.89, Z:0.50 [[ 9.84387204e-02 9.95142421e-01 -1.17450113e-03 2.04900375e+02] [ 9.95067271e-01 -9.84457206e-02 -1.22297537e-02 -8.88858672e+01] [-1.22859713e-02 3.51736694e-05 -9.99924524e-01 5.03582946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81762799999998 meters 0.012938508585554873 Centerline is valid? [True, True] Translation: X:204.91, Y:-88.86, Z:0.50 [[ 1.85671721e-02 9.99827597e-01 -1.93392306e-04 2.04909568e+02] [ 9.99779667e-01 -1.85681756e-02 -9.78977766e-03 -8.88612496e+01] [-9.79168081e-03 -1.15812092e-05 -9.99952060e-01 5.02414828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.877628 meters 0.01247328032240202 Centerline is valid? [True, True] Translation: X:204.92, Y:-88.83, Z:0.50 [[-6.23245321e-02 9.98055787e-01 5.45726353e-04 2.04918752e+02] [ 9.98011827e-01 6.23269090e-02 -9.36750685e-03 -8.88347874e+01] [-9.38330786e-03 -3.91841262e-05 -9.99955975e-01 5.02519004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.937628 meters 0.012169902609887215 Centerline is valid? [True, True] Translation: X:204.92, Y:-88.81, Z:0.50 [[-1.44993610e-01 9.89431478e-01 1.48411995e-03 2.04923118e+02] [ 9.89374004e-01 1.45001184e-01 -1.06647654e-02 -8.88085276e+01] [-1.07672537e-02 -7.79731352e-05 -9.99942028e-01 5.04264602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.997628 meters 0.012003619962635206 Centerline is valid? [True, True] Translation: X:204.93, Y:-88.78, Z:0.51 [[-2.26207702e-01 9.74075564e-01 2.62138463e-03 2.04925556e+02] [ 9.74003676e-01 2.26222856e-01 -1.18346320e-02 -8.87808185e+01] [-1.21208429e-02 -1.23846635e-04 -9.99926532e-01 5.06045980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.057628 meters 0.012083408097254257 Centerline is valid? [True, True] Translation: X:204.93, Y:-88.75, Z:0.51 [[-3.03992430e-01 9.52665115e-01 4.21669542e-03 2.04925780e+02] [ 9.52566147e-01 3.04021633e-01 -1.37325586e-02 -8.87531876e+01] [-1.43644962e-02 -1.57912564e-04 -9.99896813e-01 5.06350615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.117628 meters 0.012495798237240873 Centerline is valid? [True, True] Translation: X:204.92, Y:-88.73, Z:0.51 [[-3.79684534e-01 9.25096585e-01 5.99695835e-03 2.04921170e+02] [ 9.24972809e-01 3.79731839e-01 -1.51338593e-02 -8.87281300e+01] [-1.62775176e-02 -1.99068921e-04 -9.99867493e-01 5.09469585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.177628 meters 0.012402584951047856 Centerline is valid? [True, True] Translation: X:204.91, Y:-88.70, Z:0.51 [[-4.50737434e-01 8.92627651e-01 7.18620593e-03 2.04912536e+02] [ 8.92507273e-01 4.50794674e-01 -1.46604691e-02 -8.87045237e+01] [-1.63258434e-02 -1.94281159e-04 -9.99866706e-01 5.08886698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.237628 meters 0.012514134851907171 Centerline is valid? [True, True] Translation: X:204.90, Y:-88.69, Z:0.51 [[-5.18673203e-01 8.54938891e-01 7.58956789e-03 2.04898431e+02] [ 8.54842352e-01 5.18728697e-01 -1.28487800e-02 -8.86850843e+01] [-1.49218484e-02 -1.76433819e-04 -9.99888647e-01 5.07602397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.297628 meters 0.015127334569027593 Centerline is valid? [True, True] Translation: X:204.89, Y:-88.66, Z:0.51 [[-5.83918211e-01 8.11771395e-01 8.16858159e-03 2.04885712e+02] [ 8.11687847e-01 5.83975319e-01 -1.16475644e-02 -8.86646731e+01] [-1.42254096e-02 -1.70886553e-04 -9.99898799e-01 5.07073613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.357628 meters 0.012467198816439703 Centerline is valid? [True, True] Translation: X:204.87, Y:-88.64, Z:0.50 [[-6.47281199e-01 7.62223186e-01 6.54708549e-03 2.04873654e+02] [ 7.62181407e-01 6.47314285e-01 -7.98241727e-03 -8.86432210e+01] [-1.03224055e-02 -1.76801791e-04 -9.99946707e-01 5.02679847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.417628 meters 0.012641858137175499 Centerline is valid? [True, True] Translation: X:204.86, Y:-88.62, Z:0.50 [[-7.06271456e-01 7.07904852e-01 7.16596001e-03 2.04860670e+02] [ 7.07865588e-01 7.06307781e-01 -7.45839818e-03 -8.86216835e+01] [-1.03412096e-02 -1.95117247e-04 -9.99946509e-01 5.02363988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.47762799999998 meters 0.012889692427514273 Centerline is valid? [True, True] Translation: X:204.84, Y:-88.61, Z:0.50 [[-7.59411727e-01 6.50554346e-01 8.53646036e-03 2.04843928e+02] [ 6.50510256e-01 7.59459678e-01 -7.57657817e-03 -8.86055285e+01] [-1.14120733e-02 -2.00687298e-04 -9.99934860e-01 5.03414991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53762799999998 meters 0.012663140961587318 Centerline is valid? [True, True] Translation: X:205.40, Y:-88.00, Z:-0.42 [[-7.08731040e-01 -7.05425717e-01 8.65281194e-03 2.05395156e+02] [ 7.05377127e-01 -7.08783820e-01 -8.28278126e-03 -8.79950288e+01] [ 1.19758600e-02 2.33231453e-04 9.99928260e-01 -4.16506087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.597628 meters 0.012783447296859722 Centerline is valid? [True, True] Translation: X:204.81, Y:-88.59, Z:0.51 [[-7.53925653e-01 6.56866518e-01 1.10673802e-02 2.04812738e+02] [ 6.56794955e-01 7.54006880e-01 -9.69597394e-03 -8.85876950e+01] [-1.47138415e-02 -4.10439849e-05 -9.99891745e-01 5.06769701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.657628 meters 0.014087210531406092 Centerline is valid? [True, True] Translation: X:204.84, Y:-88.58, Z:0.50 [[-7.93623983e-01 6.08318486e-01 1.04686798e-02 2.04838695e+02] [ 6.08266538e-01 7.93693024e-01 -7.95005887e-03 -8.85823546e+01] [-1.31450859e-02 5.83902087e-05 -9.99913598e-01 5.03123741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.717628 meters 0.015313318428776711 Centerline is valid? [True, True] Translation: X:204.86, Y:-88.57, Z:0.50 [[-8.31188080e-01 5.55908076e-01 9.62217601e-03 2.04860218e+02] [ 5.55872356e-01 8.31243766e-01 -6.30276030e-03 -8.85685292e+01] [-1.15021292e-02 1.09922410e-04 -9.99933842e-01 5.01098668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.777628 meters 0.018352145489116352 Centerline is valid? [True, True] Translation: X:205.34, Y:-87.86, Z:-0.41 [[-8.19031238e-01 -5.73728730e-01 4.81411529e-03 2.05335884e+02] [ 5.73716752e-01 -8.19045337e-01 -3.71813790e-03 -8.78618728e+01] [ 6.07618121e-03 -2.83332497e-04 9.99981500e-01 -4.08802781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.837628 meters 0.019456694583233465 Centerline is valid? [True, True] Translation: X:204.82, Y:-88.55, Z:0.50 [[-8.27363671e-01 5.61644967e-01 4.92820949e-03 2.04824533e+02] [ 5.61635491e-01 8.27378345e-01 -3.26339031e-03 -8.85490571e+01] [-5.91036056e-03 6.78467713e-05 -9.99982531e-01 4.95810480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.897628 meters 0.01605493034358197 Centerline is valid? [True, True] Translation: X:204.85, Y:-88.52, Z:0.49 [[-8.66882093e-01 4.98498950e-01 3.77276308e-03 2.04852742e+02] [ 4.98494262e-01 8.66890303e-01 -2.16194408e-03 -8.85247885e+01] [-4.34829858e-03 6.55013966e-06 -9.99990546e-01 4.92879230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.957628 meters 0.013077087374186286 Centerline is valid? [True, True] Translation: X:204.87, Y:-88.49, Z:0.50 [[-9.05704778e-01 4.23877873e-01 5.13853652e-03 2.04866767e+02] [ 4.23870832e-01 9.05719354e-01 -2.44337749e-03 -8.84854121e+01] [-5.68976563e-03 -3.49029150e-05 -9.99983813e-01 4.96052531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.017628 meters 0.011908580980744536 Centerline is valid? [True, True] Translation: X:204.88, Y:-88.45, Z:0.50 [[-9.37887145e-01 3.46816263e-01 9.28347747e-03 2.04879927e+02] [ 3.46798116e-01 9.37933083e-01 -3.54943672e-03 -8.84494590e+01] [-9.93828302e-03 -1.09478573e-04 -9.99950608e-01 4.99751639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.077628 meters 0.012437896523149078 Centerline is valid? [True, True] Translation: X:205.15, Y:-87.72, Z:-0.41 [[-9.09328267e-01 -4.15968371e-01 9.61342732e-03 2.05152383e+02] [ 4.15946839e-01 -9.09379070e-01 -4.23490713e-03 -8.77174004e+01] [ 1.05038370e-02 1.47753939e-04 9.99944822e-01 -4.11961120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.137628 meters 0.012967097351763376 Centerline is valid? [True, True] Translation: X:204.83, Y:-88.43, Z:0.50 [[-9.42642175e-01 3.33536079e-01 1.33945635e-02 2.04832397e+02] [ 3.33498446e-01 9.42737299e-01 -5.01710643e-03 -8.84263077e+01] [-1.43009407e-02 -2.62270004e-04 -9.99897702e-01 5.02130169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.19762799999998 meters 0.013062022076657605 Centerline is valid? [True, True] Translation: X:204.84, Y:-88.40, Z:0.50 [[-9.63896028e-01 2.66015218e-01 1.18469761e-02 2.04844187e+02] [ 2.65992053e-01 9.63968799e-01 -3.51882578e-03 -8.84027766e+01] [-1.23561765e-02 -2.40580703e-04 -9.99923631e-01 5.00290305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25762799999998 meters 0.012516033556983377 Centerline is valid? [True, True] Translation: X:204.86, Y:-88.38, Z:0.50 [[-9.79716980e-01 2.00219022e-01 8.18427917e-03 2.04857316e+02] [ 2.00210593e-01 9.79751149e-01 -1.84501496e-03 -8.83826772e+01] [-8.38796401e-03 -1.69013097e-04 -9.99964806e-01 4.97354928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31762799999998 meters 0.012067450600719868 Centerline is valid? [True, True] Translation: X:205.03, Y:-87.61, Z:-0.41 [[-9.61084547e-01 -2.76233054e-01 3.43413474e-03 2.05033701e+02] [ 2.76230751e-01 -9.61090672e-01 -1.13736359e-03 -8.76113580e+01] [ 3.61469229e-03 -1.44488952e-04 9.99993457e-01 -4.05076126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.377628 meters 0.012104244509812831 Centerline is valid? [True, True] Translation: X:204.81, Y:-88.39, Z:0.50 [[-9.79301934e-01 2.02249871e-01 7.91900417e-03 2.04810928e+02] [ 2.02242282e-01 9.79333945e-01 -1.75609055e-03 -8.83866134e+01] [-8.11051869e-03 -1.18185399e-04 -9.99967102e-01 4.97015463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.437628 meters 0.012346222182896141 Centerline is valid? [True, True] Translation: X:204.98, Y:-87.60, Z:-0.41 [[-9.61240340e-01 -2.75627087e-01 6.83497486e-03 2.04980664e+02] [ 2.75620477e-01 -9.61264639e-01 -1.90939644e-03 -8.76017091e+01] [ 7.09650102e-03 4.84701517e-05 9.99974818e-01 -4.09815916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.497628 meters 0.012591630463805735 Centerline is valid? [True, True] Translation: X:204.76, Y:-88.37, Z:0.50 [[-9.81128358e-01 1.92902457e-01 1.32584492e-02 2.04763564e+02] [ 1.92882023e-01 9.81217917e-01 -2.81517560e-03 -8.83700570e+01] [-1.35524822e-02 -2.04732106e-04 -9.99908140e-01 5.02932028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.557628 meters 0.012324247489979562 Centerline is valid? [True, True] Translation: X:204.76, Y:-88.34, Z:0.50 [[-9.91823804e-01 1.26566767e-01 1.63216397e-02 2.04763247e+02] [ 1.26546898e-01 9.91958077e-01 -2.24858353e-03 -8.83447177e+01] [-1.64749783e-02 -1.64745795e-04 -9.99864265e-01 5.04184708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.617628 meters 0.012459382439458756 Centerline is valid? [True, True] Translation: X:204.77, Y:-88.32, Z:0.50 [[-9.97829607e-01 6.37444561e-02 1.65142169e-02 2.04774739e+02] [ 6.37351680e-02 9.97966254e-01 -1.08866237e-03 -8.83237171e+01] [-1.65500273e-02 -3.37631601e-05 -9.99863038e-01 5.02449959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.677628 meters 0.01281339781775021 Centerline is valid? [True, True] Translation: X:204.84, Y:-87.52, Z:-0.41 [[-9.92792338e-01 -1.19133009e-01 1.30652289e-02 2.04837761e+02] [ 1.19120592e-01 -9.92878291e-01 -1.72731929e-03 -8.75184444e+01] [ 1.31779629e-02 -1.58531554e-04 9.99913154e-01 -4.11822014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.737628 meters 0.014727708938052085 Centerline is valid? [True, True] Translation: X:204.72, Y:-88.33, Z:0.50 [[-9.97182718e-01 7.34287449e-02 1.53246887e-02 2.04717875e+02] [ 7.34229319e-02 9.97300449e-01 -9.42366033e-04 -8.83263930e+01] [-1.53525156e-02 1.85472451e-04 -9.99882126e-01 5.01552516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.797628 meters 0.0161479908144478 Centerline is valid? [True, True] Translation: X:204.72, Y:-88.30, Z:0.50 [[-9.99854877e-01 9.25244466e-03 1.43044420e-02 2.04724173e+02] [ 9.25530758e-03 9.99957160e-01 1.33954205e-04 -8.83011445e+01] [-1.43025898e-02 2.66326776e-04 -9.99897677e-01 5.00250729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.857628 meters 0.017707992050750587 Centerline is valid? [True, True] Translation: X:204.73, Y:-88.28, Z:0.50 [[-9.98404166e-01 -5.52632265e-02 1.16231590e-02 2.04726607e+02] [-5.52562579e-02 9.98471782e-01 9.20080095e-04 -8.82752565e+01] [-1.16562429e-02 2.76359527e-04 -9.99932025e-01 4.95905816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.917628 meters 0.017671921770213577 Centerline is valid? [True, True] Translation: X:204.71, Y:-88.25, Z:0.50 [[-9.91934917e-01 -1.26267498e-01 1.10289890e-02 2.04713160e+02] [-1.26256778e-01 9.91996195e-01 1.66573577e-03 -8.82471693e+01] [-1.11510434e-02 2.59816855e-04 -9.99937791e-01 4.95392545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.97762799999998 meters 0.016185692369915183 Centerline is valid? [True, True] Translation: X:204.70, Y:-88.21, Z:0.50 [[-9.79247146e-01 -2.02374843e-01 1.09293340e-02 2.04699415e+02] [-2.02359961e-01 9.79308115e-01 2.46229658e-03 -8.82144106e+01] [-1.12014924e-02 1.99537294e-04 -9.99937241e-01 4.95591447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03762799999998 meters 0.014814187704534387 Centerline is valid? [True, True] Translation: X:204.67, Y:-88.19, Z:0.50 [[-9.60157408e-01 -2.79232843e-01 1.12592365e-02 2.04665091e+02] [-2.79212055e-01 9.60223413e-01 3.40970110e-03 -8.81872936e+01] [-1.17634831e-02 1.30135202e-04 -9.99930799e-01 4.96845986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.097628 meters 0.014115959972064582 Centerline is valid? [True, True] Translation: X:204.61, Y:-88.17, Z:0.50 [[-9.36323763e-01 -3.50977038e-01 1.06268660e-02 2.04613786e+02] [-3.50953284e-01 9.36384061e-01 4.08439414e-03 -8.81740277e+01] [-1.13843565e-02 9.47817634e-05 -9.99935192e-01 4.96144941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.157628 meters 0.01467692724736235 Centerline is valid? [True, True] Translation: X:204.55, Y:-88.17, Z:0.49 [[-9.09302910e-01 -4.16055107e-01 8.14647016e-03 2.04549488e+02] [-4.16037604e-01 9.09339398e-01 3.81718746e-03 -8.81745161e+01] [-8.99606661e-03 8.17417401e-05 -9.99959531e-01 4.93572200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.217628 meters 0.0157950685018538 Centerline is valid? [True, True] Translation: X:204.48, Y:-88.18, Z:0.49 [[-8.78198976e-01 -4.78251436e-01 6.49016715e-03 2.04483041e+02] [-4.78237650e-01 8.78222954e-01 3.63232632e-03 -8.81814499e+01] [-7.43697905e-03 8.60629732e-05 -9.99972342e-01 4.92248774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.277628 meters 0.018715437791035783 Centerline is valid? [True, True] Translation: X:204.41, Y:-88.20, Z:0.49 [[-8.43720907e-01 -5.36763758e-01 4.43841251e-03 2.04407710e+02] [-5.36755901e-01 8.43732578e-01 2.90509666e-03 -8.82009837e+01] [-5.30418383e-03 6.87466818e-05 -9.99985930e-01 4.91459485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.337628 meters 0.01878897747827792 Centerline is valid? [True, True] Translation: X:204.32, Y:-88.23, Z:0.49 [[-8.02271498e-01 -5.96941850e-01 4.56850209e-03 2.04322413e+02] [-5.96931479e-01 8.02284500e-01 3.52012687e-03 -8.82282275e+01] [-5.76654946e-03 9.70147522e-05 -9.99983369e-01 4.91857099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.397628 meters 0.01724870204409254 Centerline is valid? [True, True] Translation: X:204.23, Y:-88.27, Z:0.49 [[-7.53176035e-01 -6.57797926e-01 5.26775192e-03 2.04230639e+02] [-6.57780662e-01 7.53194445e-01 4.76742210e-03 -8.82659911e+01] [-7.10364185e-03 1.25682725e-04 -9.99974761e-01 4.92074329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.457628 meters 0.016183986155008507 Centerline is valid? [True, True] Translation: X:204.14, Y:-88.31, Z:0.49 [[-6.96905534e-01 -7.17141611e-01 5.53059915e-03 2.04137219e+02] [-7.17117787e-01 6.96927470e-01 5.84642263e-03 -8.83140803e+01] [-8.04713941e-03 1.08313262e-04 -9.99967615e-01 4.92886656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.517628 meters 0.015595327609560597 Centerline is valid? [True, True] Translation: X:204.05, Y:-88.37, Z:0.49 [[-6.37890407e-01 -7.70113311e-01 4.61705220e-03 2.04049300e+02] [-7.70092403e-01 6.37907112e-01 5.67507834e-03 -8.83731690e+01] [-7.31570381e-03 6.45212054e-05 -9.99973238e-01 4.91727196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.577628 meters 0.017437436668985895 Centerline is valid? [True, True] Translation: X:203.96, Y:-88.44, Z:0.50 [[-5.73405689e-01 -8.19254293e-01 5.32158055e-03 2.03963009e+02] [-8.19217928e-01 5.73430379e-01 7.71926120e-03 -8.84392709e+01] [-9.37559382e-03 6.67340903e-05 -9.99956046e-01 4.95231596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.637628 meters 0.01336846401235438 Centerline is valid? [True, True] Translation: X:203.88, Y:-88.52, Z:0.50 [[-5.04029397e-01 -8.63667115e-01 5.78634850e-03 2.03879484e+02] [-8.63609343e-01 5.04062608e-01 9.98945532e-03 -8.85167648e+01] [-1.15442460e-02 3.78345135e-05 -9.99933362e-01 4.95657080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.69762799999998 meters 0.013008243161307696 Centerline is valid? [True, True] Translation: X:203.80, Y:-88.61, Z:0.49 [[-4.34109710e-01 -9.00847863e-01 4.67835745e-03 2.03802889e+02] [-9.00795544e-01 4.34134918e-01 9.70884413e-03 -8.86059340e+01] [-1.07772298e-02 4.59962564e-07 -9.99941924e-01 4.94266493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75762799999998 meters 0.012727581143156601 Centerline is valid? [True, True] Translation: X:203.74, Y:-88.70, Z:0.49 [[-3.63758231e-01 -9.31487807e-01 3.22729907e-03 2.03737395e+02] [-9.31451587e-01 3.63772546e-01 8.21434836e-03 -8.86962397e+01] [-8.82556814e-03 -1.80360189e-05 -9.99961054e-01 4.91016147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81762799999998 meters 0.013798266268182006 Centerline is valid? [True, True] Translation: X:203.68, Y:-88.80, Z:0.49 [[-2.96792157e-01 -9.54939672e-01 2.15383290e-03 2.03681655e+02] [-9.54914276e-01 2.96799972e-01 6.96430104e-03 -8.87983567e+01] [-7.28974490e-03 1.02241373e-05 -9.99973429e-01 4.89835204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.877628 meters 0.01510860428471345 Centerline is valid? [True, True] Translation: X:203.63, Y:-88.90, Z:0.49 [[-2.28087484e-01 -9.73639831e-01 1.25639823e-03 2.03634247e+02] [-9.73624670e-01 2.28090943e-01 5.43355103e-03 -8.88963903e+01] [-5.57689477e-03 1.60646699e-05 -9.99984449e-01 4.88444036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.937628 meters 0.016679573566237497 Centerline is valid? [True, True] Translation: X:203.59, Y:-89.00, Z:0.49 [[-1.59899823e-01 -9.87132996e-01 7.04000378e-04 2.03593074e+02] [-9.87122578e-01 1.59901370e-01 4.53516548e-03 -8.90045210e+01] [-4.58938211e-03 3.02374895e-05 -9.99989468e-01 4.87578644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.997628 meters 0.018975908956731815 Centerline is valid? [True, True] Translation: X:203.56, Y:-89.12, Z:0.49 [[-8.74633995e-02 -9.96167676e-01 3.38629468e-04 2.03559725e+02] [-9.96158230e-01 8.74640449e-02 4.33843680e-03 -8.91232995e+01] [-4.35142841e-03 4.21258989e-05 -9.99990532e-01 4.87675302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.057628 meters 0.019357621898295208 Centerline is valid? [True, True] Translation: X:203.53, Y:-89.24, Z:0.49 [[-1.53735793e-02 -9.99881819e-01 -1.46077520e-05 2.03531124e+02] [-9.99869027e-01 1.53733087e-02 5.05859768e-03 -8.92373043e+01] [-5.05777528e-03 9.23745913e-05 -9.99987205e-01 4.88981261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.117628 meters 0.02118023389137778 Centerline is valid? [True, True] Translation: X:202.72, Y:-89.37, Z:-0.41 [[-2.67670377e-03 9.99996406e-01 1.53320160e-04 2.02724404e+02] [-9.99991678e-01 -2.67716310e-03 3.07839964e-03 -8.93705846e+01] [ 3.07879904e-03 -1.45078921e-04 9.99995250e-01 -4.07641054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.177628 meters 0.02135030149166097 Centerline is valid? [True, True] Translation: X:203.54, Y:-89.54, Z:0.49 [[-9.69611001e-03 -9.99952986e-01 -1.05490849e-04 2.03538630e+02] [-9.99933341e-01 9.69525805e-03 6.27018712e-03 -8.95354548e+01] [-6.26886957e-03 1.66280241e-04 -9.99980337e-01 4.90417730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.237628 meters 0.021424347205284553 Centerline is valid? [True, True] Translation: X:203.52, Y:-89.66, Z:0.49 [[ 7.11392934e-02 -9.97466173e-01 -6.59816937e-04 2.03517528e+02] [-9.97442540e-01 -7.11421512e-02 6.86828502e-03 -8.96623665e+01] [-6.89782276e-03 1.69524540e-04 -9.99976195e-01 4.91227797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.297628 meters 0.01926576419056519 Centerline is valid? [True, True] Translation: X:203.50, Y:-89.79, Z:0.49 [[ 1.52734386e-01 -9.88266171e-01 -1.47766582e-03 2.03501879e+02] [-9.88231182e-01 -1.52741415e-01 8.31807966e-03 -8.97875458e+01] [-8.44617750e-03 1.89818650e-04 -9.99964312e-01 4.92779783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.357628 meters 0.01693344597868598 Centerline is valid? [True, True] Translation: X:202.75, Y:-90.05, Z:-0.41 [[ 1.45390264e-01 9.89374318e-01 -3.59607567e-04 2.02750663e+02] [-9.89362692e-01 1.45390303e-01 4.80863921e-03 -9.00532068e+01] [ 4.80982760e-03 -3.43347012e-04 9.99988374e-01 -4.10684153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.417628 meters 0.0151294114414868 Centerline is valid? [True, True] Translation: X:203.54, Y:-90.09, Z:0.49 [[ 1.77734054e-01 -9.84078006e-01 -1.04149484e-03 2.03540329e+02] [-9.84061388e-01 -1.77737106e-01 5.71884108e-03 -9.00857273e+01] [-5.81289800e-03 8.46204234e-06 -9.99983105e-01 4.90950870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47762799999998 meters 0.013572001829331692 Centerline is valid? [True, True] Translation: X:203.53, Y:-90.22, Z:0.49 [[ 2.62398500e-01 -9.64958962e-01 -1.10880122e-03 2.03534683e+02] [-9.64949351e-01 -2.62400836e-01 4.30709962e-03 -9.02155103e+01] [-4.44712475e-03 -6.02394617e-05 -9.99990110e-01 4.89285417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53762799999998 meters 0.013176710470516611 Centerline is valid? [True, True] Translation: X:203.54, Y:-90.34, Z:0.49 [[ 3.40613924e-01 -9.40202387e-01 -1.27498948e-03 2.03541935e+02] [-9.40194844e-01 -3.40616300e-01 3.76710640e-03 -9.03387640e+01] [-3.97612463e-03 -8.43903592e-05 -9.99992092e-01 4.88660876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.597628 meters 0.013045195831397167 Centerline is valid? [True, True] Translation: X:203.56, Y:-90.46, Z:0.49 [[ 4.15304026e-01 -9.09681145e-01 -1.66762462e-03 2.03559195e+02] [-9.09672829e-01 -4.15307363e-01 3.89089867e-03 -9.04576565e+01] [-4.23205393e-03 -9.89130788e-05 -9.99991040e-01 4.89127366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.657628 meters 0.013210844623488231 Centerline is valid? [True, True] Translation: X:203.59, Y:-90.57, Z:0.49 [[ 4.85033219e-01 -8.74492861e-01 -2.23894971e-03 2.03586346e+02] [-8.74482534e-01 -4.85038376e-01 4.25117077e-03 -9.05714565e+01] [-4.80359502e-03 -1.04036625e-04 -9.99988457e-01 4.90144487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.717628 meters 0.013298784022809654 Centerline is valid? [True, True] Translation: X:203.63, Y:-90.68, Z:0.49 [[ 5.49431485e-01 -8.35531752e-01 -3.42550879e-03 2.03625429e+02] [-8.35514427e-01 -5.49442155e-01 5.38144238e-03 -9.06785859e+01] [-6.37848491e-03 -9.46718651e-05 -9.99979653e-01 4.92571461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.777628 meters 0.013551431387828087 Centerline is valid? [True, True] Translation: X:203.67, Y:-90.78, Z:0.49 [[ 6.09864975e-01 -7.92492787e-01 -4.46033212e-03 2.03672079e+02] [-7.92470694e-01 -6.09881281e-01 5.91801248e-03 -9.07796435e+01] [-7.41025527e-03 -7.45060422e-05 -9.99972541e-01 4.93688581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.837628 meters 0.013989858052940769 Centerline is valid? [True, True] Translation: X:203.73, Y:-90.87, Z:0.49 [[ 6.66171854e-01 -7.45776280e-01 -5.72717553e-03 2.03729274e+02] [-7.45748208e-01 -6.66196471e-01 6.47078404e-03 -9.08742330e+01] [-8.64118138e-03 -3.96233142e-05 -9.99962664e-01 4.93838590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.897628 meters 0.014464933677901401 Centerline is valid? [True, True] Translation: X:203.79, Y:-90.96, Z:0.49 [[ 7.19464548e-01 -6.94504913e-01 -5.80421054e-03 2.03790638e+02] [-6.94482066e-01 -7.19487960e-01 5.63340848e-03 -9.09608650e+01] [-8.08848947e-03 -2.21175656e-05 -9.99967287e-01 4.92391424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.957628 meters 0.014867830077823654 Centerline is valid? [True, True] Translation: X:203.81, Y:-90.98, Z:0.49 [[ 7.69938822e-01 -6.38086729e-01 -6.28782780e-03 2.03813644e+02] [-6.38065423e-01 -7.69964496e-01 5.21436451e-03 -9.09804988e+01] [-8.16862097e-03 -2.69616043e-06 -9.99966636e-01 4.91593954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.017628 meters 0.017266967001453484 Centerline is valid? [True, True] Translation: X:203.84, Y:-91.00, Z:0.49 [[ 8.14847867e-01 -5.79630803e-01 -7.14742217e-03 2.03838925e+02] [-5.79608976e-01 -8.14879212e-01 5.03041550e-03 -9.09955464e+01] [-8.74006953e-03 4.36866989e-05 -9.99961804e-01 4.92262708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.077628 meters 0.01503889318307998 Centerline is valid? [True, True] Translation: X:203.86, Y:-91.02, Z:0.49 [[ 8.59720040e-01 -5.10724219e-01 -6.49812814e-03 2.03856842e+02] [-5.10709582e-01 -8.59744597e-01 3.86652809e-03 -9.10198598e+01] [-7.56146010e-03 -5.47537250e-06 -9.99971412e-01 4.90299463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.137628 meters 0.014845538889081083 Centerline is valid? [True, True] Translation: X:203.88, Y:-91.04, Z:0.49 [[ 8.97668527e-01 -4.40585741e-01 -8.68455510e-03 2.03877024e+02] [-4.40565195e-01 -8.97710535e-01 4.25487939e-03 -9.10414344e+01] [-9.67085579e-03 6.64139879e-06 -9.99953236e-01 4.90969545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.19762799999998 meters 0.015084102378124626 Centerline is valid? [True, True] Translation: X:203.90, Y:-91.06, Z:0.49 [[ 9.29013318e-01 -3.69887001e-01 -1.08564194e-02 2.03900445e+02] [-3.69862244e-01 -9.29076749e-01 4.27970949e-03 -9.10582836e+01] [-1.16694557e-02 3.94725112e-05 -9.99931909e-01 4.91591106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25762799999998 meters 0.01597622755365155 Centerline is valid? [True, True] Translation: X:203.92, Y:-91.07, Z:0.49 [[ 9.53609562e-01 -3.00859890e-01 -1.05891026e-02 2.03924999e+02] [-3.00842364e-01 -9.53668348e-01 3.24855365e-03 -9.10725036e+01] [-1.10758515e-02 8.77988424e-05 -9.99938657e-01 4.91274440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31762799999998 meters 0.016113290033519367 Centerline is valid? [True, True] Translation: X:203.95, Y:-91.09, Z:0.49 [[ 9.73601661e-01 -2.28056621e-01 -9.48597597e-03 2.03946599e+02] [-2.28046726e-01 -9.73647867e-01 2.12648078e-03 -9.10870027e+01] [-9.72095829e-03 9.29005463e-05 -9.99952746e-01 4.89262047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.377628 meters 0.016299416422155058 Centerline is valid? [True, True] Translation: X:203.97, Y:-91.10, Z:0.49 [[ 9.88128824e-01 -1.53486234e-01 -6.58817293e-03 2.03968993e+02] [-1.53483148e-01 -9.88150785e-01 9.74447396e-04 -9.11007929e+01] [-6.65967252e-03 4.82939649e-05 -9.99977823e-01 4.86627913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.437628 meters 0.016212154608448066 Centerline is valid? [True, True] Translation: X:203.99, Y:-91.11, Z:0.48 [[ 9.97186384e-01 -7.48552346e-02 -4.00114807e-03 2.03992283e+02] [-7.48545787e-02 -9.97194411e-01 3.13617077e-04 -9.11134815e+01] [-4.01339837e-03 -1.32304260e-05 -9.99991946e-01 4.84938060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.497628 meters 0.015145237456467574 Centerline is valid? [True, True] Translation: X:204.02, Y:-91.13, Z:0.48 [[ 9.99966436e-01 8.04404545e-03 -1.55579516e-03 2.04016760e+02] [ 8.04414839e-03 -9.99967644e-01 5.99169400e-05 -9.11263137e+01] [-1.55526285e-03 -7.24299761e-05 -9.99998788e-01 4.84026460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.557628 meters 0.014239687002237243 Centerline is valid? [True, True] Translation: X:204.04, Y:-91.14, Z:0.48 [[ 9.95735277e-01 9.22551251e-02 -4.99450032e-04 2.04042776e+02] [ 9.22551598e-02 -9.95735398e-01 4.69234420e-05 -9.11362524e+01] [-4.92991149e-04 -9.28001691e-05 -9.99999874e-01 4.84852914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.617628 meters 0.013713549991732518 Centerline is valid? [True, True] Translation: X:204.07, Y:-91.14, Z:0.49 [[ 9.84759702e-01 1.73919896e-01 -4.46035446e-04 2.04069544e+02] [ 1.73919921e-01 -9.84759799e-01 1.75661390e-05 -9.11417563e+01] [-4.36182675e-04 -9.48728754e-05 -9.99999900e-01 4.86456681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.677628 meters 0.013450734705505337 Centerline is valid? [True, True] Translation: X:204.09, Y:-91.14, Z:0.49 [[ 9.67477309e-01 2.52956785e-01 -7.22309982e-04 2.04094970e+02] [ 2.52956786e-01 -9.67477574e-01 -9.12018196e-05 -9.11409173e+01] [-7.21888828e-04 -9.44775207e-05 -9.99999735e-01 4.86888985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.737628 meters 0.013469960692136086 Centerline is valid? [True, True] Translation: X:204.12, Y:-91.14, Z:0.49 [[ 9.45258715e-01 3.26316065e-01 -1.94614714e-03 2.04120676e+02] [ 3.26315559e-01 -9.45260714e-01 -5.81466896e-04 -9.11390880e+01] [-2.02935843e-03 -8.54214412e-05 -9.99997937e-01 4.88799371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.797628 meters 0.013807333639125575 Centerline is valid? [True, True] Translation: X:204.14, Y:-91.13, Z:0.49 [[ 9.18302456e-01 3.95868432e-01 -2.96383423e-03 2.04144538e+02] [ 3.95866602e-01 -9.18307236e-01 -1.20544859e-03 -9.11318806e+01] [-3.19890946e-03 -6.63165821e-05 -9.99994881e-01 4.89645575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.857628 meters 0.014938360086729729 Centerline is valid? [True, True] Translation: X:204.17, Y:-91.12, Z:0.49 [[ 8.87443332e-01 4.60905369e-01 -3.25165822e-03 2.04166621e+02] [ 4.60902434e-01 -8.87449288e-01 -1.64541434e-03 -9.11205834e+01] [-3.64406207e-03 -3.84852084e-05 -9.99993360e-01 4.90869615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.917628 meters 0.014706393431356605 Centerline is valid? [True, True] Translation: X:204.19, Y:-91.12, Z:0.49 [[ 8.48490224e-01 5.29203948e-01 -2.74235310e-03 2.04192841e+02] [ 5.29201359e-01 -8.48494655e-01 -1.65605498e-03 -9.11168342e+01] [-3.20326278e-03 -4.61105250e-05 -9.99994868e-01 4.91046301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97762799999998 meters 0.014472139410182907 Centerline is valid? [True, True] Translation: X:204.22, Y:-91.11, Z:0.49 [[ 8.02890141e-01 5.96101699e-01 -5.49412150e-03 2.04218355e+02] [ 5.96087802e-01 -8.02908939e-01 -4.07047324e-03 -9.11100936e+01] [-6.83769528e-03 -6.83598022e-06 -9.99976623e-01 4.93784485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03762799999998 meters 0.014066240676779567 Centerline is valid? [True, True] Translation: X:204.24, Y:-91.10, Z:0.50 [[ 7.52404045e-01 6.58666592e-01 -6.81723332e-03 2.04243197e+02] [ 6.58639508e-01 -7.52434928e-01 -5.97304551e-03 -9.11024377e+01] [-9.06376999e-03 4.04439885e-06 -9.99958923e-01 4.95047733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.097628 meters 0.014045225445411666 Centerline is valid? [True, True] Translation: X:204.27, Y:-91.09, Z:0.50 [[ 6.97450016e-01 7.16601693e-01 -6.74445956e-03 2.04265012e+02] [ 7.16568238e-01 -6.97482626e-01 -6.92435691e-03 -9.10911136e+01] [-9.66614925e-03 -3.47266924e-06 -9.99953282e-01 4.96088609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.157628 meters 0.013535610310310094 Centerline is valid? [True, True] Translation: X:204.29, Y:-91.08, Z:0.50 [[ 6.36070523e-01 7.71601752e-01 -6.71017536e-03 2.04286184e+02] [ 7.71559447e-01 -6.36105915e-01 -8.07989290e-03 -9.10768832e+01] [-1.05028418e-02 -3.79174930e-05 -9.99944843e-01 4.97019888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.217628 meters 0.013230559821673985 Centerline is valid? [True, True] Translation: X:204.30, Y:-91.06, Z:0.50 [[ 5.71224618e-01 8.20776712e-01 -5.29383552e-03 2.04304752e+02] [ 8.20742642e-01 -5.71249144e-01 -7.47873979e-03 -9.10602705e+01] [-9.16247446e-03 -7.28362666e-05 -9.99958021e-01 4.95787912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.277628 meters 0.01311318295376391 Centerline is valid? [True, True] Translation: X:204.32, Y:-91.04, Z:0.49 [[ 5.03768361e-01 8.63834848e-01 -2.60652242e-03 2.04319163e+02] [ 8.63824203e-01 -5.03775096e-01 -4.28937284e-03 -9.10408276e+01] [-5.01841082e-03 -9.07268292e-05 -9.99987404e-01 4.91794663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.337628 meters 0.013075751515036529 Centerline is valid? [True, True] Translation: X:204.34, Y:-91.02, Z:0.49 [[ 4.33502640e-01 9.01152025e-01 -6.99059677e-04 2.04336050e+02] [ 9.01151185e-01 -4.33503193e-01 -1.23438992e-03 -9.10219249e+01] [-1.41541758e-03 -9.48471673e-05 -9.99998994e-01 4.88788265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.397628 meters 0.013233058646970074 Centerline is valid? [True, True] Translation: X:204.35, Y:-91.00, Z:0.49 [[ 3.59088280e-01 9.33303515e-01 3.96251635e-04 2.04352769e+02] [ 9.33302641e-01 -3.59088487e-01 1.27995910e-03 -9.10029122e+01] [ 1.33687973e-03 -8.97956155e-05 -9.99999102e-01 4.88208167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.457628 meters 0.013354623931547927 Centerline is valid? [True, True] Translation: X:204.37, Y:-90.98, Z:0.49 [[ 2.83797284e-01 9.58884218e-01 3.97871777e-04 2.04367443e+02] [ 9.58882803e-01 -2.83797550e-01 1.64946473e-03 -9.09824084e+01] [ 1.69456073e-03 -8.66012051e-05 -9.99998560e-01 4.88154375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.517628 meters 0.013901471044902098 Centerline is valid? [True, True] Translation: X:204.38, Y:-90.96, Z:0.49 [[ 2.04720467e-01 9.78820463e-01 1.77428308e-04 2.04377335e+02] [ 9.78819657e-01 -2.04720527e-01 1.25918493e-03 -9.09617152e+01] [ 1.26883919e-03 -8.41106116e-05 -9.99999191e-01 4.89666782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.577628 meters 0.014082868879214026 Centerline is valid? [True, True] Translation: X:204.39, Y:-90.94, Z:0.49 [[ 1.25632426e-01 9.92076859e-01 -3.34171932e-07 2.04388122e+02] [ 9.92076623e-01 -1.25632396e-01 6.89107678e-04 -9.09397014e+01] [ 6.83605798e-04 -8.69057938e-05 -9.99999763e-01 4.90234094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.637628 meters 0.014411522858848719 Centerline is valid? [True, True] Translation: X:204.40, Y:-90.92, Z:0.49 [[ 4.49682238e-02 9.98988408e-01 -1.40538724e-04 2.04400346e+02] [ 9.98988061e-01 -4.49683262e-02 -8.38459460e-04 -9.09184885e+01] [-8.43931073e-04 -1.02692475e-04 -9.99999639e-01 4.93905562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.69762799999998 meters 0.015407375130181162 Centerline is valid? [True, True] Translation: X:204.41, Y:-90.90, Z:0.50 [[-3.45941395e-02 9.99401443e-01 -4.67871715e-05 2.04409863e+02] [ 9.99399225e-01 3.45939640e-02 -2.10869262e-03 -9.08958132e+01] [-2.10581190e-03 -1.19707470e-04 -9.99997776e-01 4.95985798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75762799999998 meters 0.014465426882304037 Centerline is valid? [True, True] Translation: X:204.42, Y:-90.87, Z:0.50 [[-1.12290877e-01 9.93675367e-01 1.54300906e-04 2.04415350e+02] [ 9.93672332e-01 1.12290916e-01 -2.45917039e-03 -9.08720271e+01] [-2.46094363e-03 -1.22817860e-04 -9.99996964e-01 4.97407005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81762799999998 meters 0.014506503699443767 Centerline is valid? [True, True] Translation: X:204.42, Y:-90.85, Z:0.50 [[-1.89600110e-01 9.81861126e-01 7.26695265e-04 2.04421036e+02] [ 9.81850615e-01 1.89601444e-01 -4.54564485e-03 -9.08484977e+01] [-4.60097444e-03 -1.48348569e-04 -9.99989404e-01 4.99428736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.877628 meters 0.014595023252707536 Centerline is valid? [True, True] Translation: X:204.42, Y:-90.82, Z:0.50 [[-2.66046250e-01 9.63959557e-01 1.16809605e-03 2.04423328e+02] [ 9.63947587e-01 2.66048771e-01 -4.80639878e-03 -9.08236526e+01] [-4.94394456e-03 -1.52741007e-04 -9.99987767e-01 4.99875002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.937628 meters 0.01466401408686899 Centerline is valid? [True, True] Translation: X:204.42, Y:-90.80, Z:0.50 [[-3.40884269e-01 9.40104213e-01 1.40872923e-03 2.04421678e+02] [ 9.40094301e-01 3.40887148e-01 -4.31937706e-03 -9.07991047e+01] [-4.54088226e-03 -1.48069372e-04 -9.99989679e-01 5.00171314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.997628 meters 0.014276709403754034 Centerline is valid? [True, True] Translation: X:204.42, Y:-90.77, Z:0.50 [[-4.13268092e-01 9.10608494e-01 1.28655683e-03 2.04419248e+02] [ 9.10603034e-01 4.13270073e-01 -3.15603215e-03 -9.07733639e+01] [-3.40560511e-03 -1.32744835e-04 -9.99994192e-01 4.98844299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.057628 meters 0.014291927112691344 Centerline is valid? [True, True] Translation: X:204.41, Y:-90.75, Z:0.50 [[-4.82197152e-01 8.76062248e-01 9.18372140e-04 2.04413921e+02] [ 8.76060185e-01 4.82198013e-01 -1.90467478e-03 -9.07499651e+01] [-2.11145089e-03 -1.13879487e-04 -9.99997764e-01 4.98176585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.117628 meters 0.014071127037885904 Centerline is valid? [True, True] Translation: X:204.40, Y:-90.73, Z:0.50 [[-5.47988696e-01 8.36485682e-01 3.05060014e-04 2.04402983e+02] [ 8.36485440e-01 5.47988773e-01 -6.42867854e-04 -9.07283797e+01] [-7.04919218e-04 -9.71060574e-05 -9.99999747e-01 4.97027079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.177628 meters 0.013763809349553891 Centerline is valid? [True, True] Translation: X:204.39, Y:-90.71, Z:0.50 [[-6.10790859e-01 7.91791970e-01 6.31837709e-05 2.04394130e+02] [ 7.91791941e-01 6.10790855e-01 -2.32578688e-04 -9.07053170e+01] [-2.22746007e-04 -9.20285361e-05 -9.99999971e-01 4.96879170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.237628 meters 0.013546560071592531 Centerline is valid? [True, True] Translation: X:204.38, Y:-90.68, Z:0.50 [[-6.69703859e-01 7.42626770e-01 1.49075913e-03 2.04384031e+02] [ 7.42624572e-01 6.69705510e-01 -1.80976498e-03 -9.06834007e+01] [-2.34234952e-03 -1.04932228e-04 -9.99997251e-01 4.98360423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.297628 meters 0.013431295870853224 Centerline is valid? [True, True] Translation: X:204.37, Y:-90.66, Z:0.50 [[-7.24489593e-01 6.89274487e-01 3.93835620e-03 2.04373204e+02] [ 6.89263436e-01 7.24500288e-01 -3.90476789e-03 -9.06598485e+01] [-5.54479709e-03 -1.14398769e-04 -9.99984621e-01 5.01982719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.357628 meters 0.013281574782600699 Centerline is valid? [True, True] Translation: X:204.40, Y:-90.65, Z:0.50 [[-7.69157468e-01 6.39041962e-01 4.70748526e-03 2.04397508e+02] [ 6.39029300e-01 7.69171868e-01 -4.02372799e-03 -9.06467790e+01] [-6.19219626e-03 -8.66594260e-05 -9.99980824e-01 5.02815087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.41762799999998 meters 0.013477807556594872 Centerline is valid? [True, True] Translation: X:204.42, Y:-90.64, Z:0.50 [[-8.08386939e-01 5.88643207e-01 3.11962961e-03 2.04418689e+02] [ 5.88638548e-01 8.08392956e-01 -2.34257138e-03 -9.06363189e+01] [-3.90082533e-03 -5.73698566e-05 -9.99992390e-01 4.98957959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47762799999998 meters 0.01393499023211035 Centerline is valid? [True, True] Translation: X:204.44, Y:-90.62, Z:0.50 [[-8.44697300e-01 5.35243776e-01 7.55747583e-04 2.04436925e+02] [ 5.35243487e-01 8.44697636e-01 -5.60521262e-04 -9.06183642e+01] [-9.38393714e-04 -6.89618254e-05 -9.99999557e-01 4.95942784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53762799999998 meters 0.014292699847275612 Centerline is valid? [True, True] Translation: X:204.46, Y:-90.60, Z:0.50 [[-8.79420604e-01 4.76045489e-01 3.07328976e-04 2.04461286e+02] [ 4.76045429e-01 8.79420654e-01 -2.51243978e-04 -9.05998591e+01] [-3.89875011e-04 -7.46465768e-05 -9.99999921e-01 4.97349271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.597628 meters 0.014337750171742129 Centerline is valid? [True, True] Translation: X:204.48, Y:-90.58, Z:0.50 [[-9.10836629e-01 4.12749039e-01 3.85565065e-03 2.04478986e+02] [ 4.12745252e-01 9.10844790e-01 -1.76807429e-03 -9.05788715e+01] [-4.24167026e-03 -1.90253228e-05 -9.99991004e-01 4.99377128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.657628 meters 0.013870757294467548 Centerline is valid? [True, True] Translation: X:204.81, Y:-89.84, Z:-0.43 [[-8.92630626e-01 -4.50748455e-01 6.03286713e-03 2.04811680e+02] [ 4.50739216e-01 -8.92651002e-01 -2.88926056e-03 -8.98354041e+01] [ 6.68757462e-03 1.40207335e-04 9.99977628e-01 -4.31791987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.717628 meters 0.013495248165842336 Centerline is valid? [True, True] Translation: X:204.43, Y:-90.55, Z:0.51 [[-9.15521230e-01 4.02112677e-01 1.12371278e-02 2.04434778e+02] [ 4.02082343e-01 9.15590190e-01 -4.93903941e-03 -9.05544231e+01] [-1.22746543e-02 -3.54477557e-06 -9.99924664e-01 5.07425064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.777628 meters 0.013293839800180562 Centerline is valid? [True, True] Translation: X:204.76, Y:-89.82, Z:-0.44 [[-8.89729970e-01 -4.56362232e-01 1.06814905e-02 2.04759962e+02] [ 4.56329184e-01 -8.89794085e-01 -5.49202953e-03 -8.98197528e+01] [ 1.20106819e-02 -1.21474347e-05 9.99927869e-01 -4.36912422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.837628 meters 0.015139516734120654 Centerline is valid? [True, True] Translation: X:204.39, Y:-90.53, Z:0.51 [[-9.19607796e-01 3.92658226e-01 1.18751524e-02 2.04388827e+02] [ 3.92624281e-01 9.19684462e-01 -5.16365317e-03 -9.05343062e+01] [-1.29489440e-02 -8.60625534e-05 -9.99916155e-01 5.07603273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.897628 meters 0.012907220342333704 Centerline is valid? [True, True] Translation: X:204.41, Y:-90.51, Z:0.50 [[-9.45091542e-01 3.26653591e-01 9.97040174e-03 2.04406877e+02] [ 3.26634476e-01 9.45144129e-01 -3.53477591e-03 -9.05144064e+01] [-1.05781139e-02 -8.40098684e-05 -9.99944047e-01 5.04520127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.957628 meters 0.012750677783869818 Centerline is valid? [True, True] Translation: X:204.41, Y:-90.49, Z:0.50 [[-9.65730054e-01 2.59424754e-01 8.01620342e-03 2.04413603e+02] [ 2.59415138e-01 9.65763320e-01 -2.23501365e-03 -9.04899735e+01] [-8.32157310e-03 -7.88953338e-05 -9.99965372e-01 5.03281117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.017628 meters 0.012663947120735472 Centerline is valid? [True, True] Translation: X:204.43, Y:-90.47, Z:0.50 [[-9.81554600e-01 1.91049754e-01 7.11043792e-03 2.04429985e+02] [ 1.91044198e-01 9.81580351e-01 -1.45882202e-03 -9.04683233e+01] [-7.25817374e-03 -7.35055486e-05 -9.99973656e-01 5.02533027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.077628 meters 0.012502254692847997 Centerline is valid? [True, True] Translation: X:204.43, Y:-90.44, Z:0.50 [[-9.92786652e-01 1.19695685e-01 6.89977419e-03 2.04433860e+02] [ 1.19692216e-01 9.92810625e-01 -9.15018438e-04 -9.04393490e+01] [-6.95969288e-03 -8.25688305e-05 -9.99975778e-01 5.03237390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.137628 meters 0.015095788431645281 Centerline is valid? [True, True] Translation: X:204.54, Y:-89.64, Z:-0.43 [[-9.82171644e-01 -1.87909931e-01 5.35913520e-03 2.04540954e+02] [ 1.87907052e-01 -9.82186264e-01 -1.04033670e-03 -8.96386784e+01] [ 5.45915858e-03 -1.47699104e-05 9.99985099e-01 -4.34240772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.19762799999998 meters 0.012736996053769739 Centerline is valid? [True, True] Translation: X:204.38, Y:-90.43, Z:0.51 [[-9.93610473e-01 1.12497727e-01 9.08231830e-03 2.04382492e+02] [ 1.12491990e-01 9.93651976e-01 -1.14173719e-03 -9.04303157e+01] [-9.15310636e-03 -1.12753965e-04 -9.99958103e-01 5.06597550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25762799999998 meters 0.013029156363247585 Centerline is valid? [True, True] Translation: X:204.48, Y:-89.63, Z:-0.44 [[-9.82395808e-01 -1.86555760e-01 9.76859552e-03 2.04482548e+02] [ 1.86548195e-01 -9.82444361e-01 -1.68796861e-03 -8.96349316e+01] [ 9.91200185e-03 1.64060575e-04 9.99950861e-01 -4.37990096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31762799999998 meters 0.012515954726538776 Centerline is valid? [True, True] Translation: X:204.33, Y:-90.43, Z:0.51 [[-9.93985574e-01 1.08784590e-01 1.25933427e-02 2.04329519e+02] [ 1.08774325e-01 9.94065339e-01 -1.49929664e-03 -9.04255441e+01] [-1.26817059e-02 -1.20446883e-04 -9.99919577e-01 5.06641312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.377628 meters 0.01436469007620297 Centerline is valid? [True, True] Translation: X:204.43, Y:-89.63, Z:-0.44 [[-9.83728287e-01 -1.79382614e-01 1.00267588e-02 2.04429483e+02] [ 1.79372883e-01 -9.83779384e-01 -1.86884792e-03 -8.96269276e+01] [ 1.01993574e-02 -3.99099284e-05 9.99947984e-01 -4.35975066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.437628 meters 0.012506599877190876 Centerline is valid? [True, True] Translation: X:204.28, Y:-90.42, Z:0.50 [[-9.93938574e-01 1.09451823e-01 1.03154796e-02 2.04277375e+02] [ 1.09445274e-01 9.93992100e-01 -1.19894130e-03 -9.04236650e+01] [-1.03847315e-02 -6.26935080e-05 -9.99946075e-01 5.03785962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.497628 meters 0.012653936763519655 Centerline is valid? [True, True] Translation: X:204.38, Y:-89.62, Z:-0.43 [[-9.85661078e-01 -1.68666044e-01 4.89956521e-03 2.04377897e+02] [ 1.68662700e-01 -9.85673223e-01 -1.09101739e-03 -8.96186220e+01] [ 5.01338782e-03 -2.48999480e-04 9.99987402e-01 -4.30271585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.557628 meters 0.012886166348497843 Centerline is valid? [True, True] Translation: X:204.22, Y:-90.42, Z:0.50 [[-9.93716597e-01 1.11768223e-01 5.93209088e-03 2.04222260e+02] [ 1.11766044e-01 9.93734302e-01 -6.98623516e-04 -9.04206591e+01] [-5.97300610e-03 -3.12274505e-05 -9.99982161e-01 4.99898266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.617628 meters 0.013197473559067552 Centerline is valid? [True, True] Translation: X:204.32, Y:-89.61, Z:-0.43 [[-9.86928098e-01 -1.61088842e-01 4.82844608e-03 2.04321726e+02] [ 1.61086778e-01 -9.86939909e-01 -8.15957942e-04 -8.96145007e+01] [ 4.89682786e-03 -2.74929973e-05 9.99988010e-01 -4.30524116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.677628 meters 0.016072125141349817 Centerline is valid? [True, True] Translation: X:204.17, Y:-90.41, Z:0.51 [[-9.93973592e-01 1.09045625e-01 1.12048678e-02 2.04167942e+02] [ 1.09039016e-01 9.94036745e-01 -1.20087642e-03 -9.04107467e+01] [-1.12690006e-02 2.81283158e-05 -9.99936502e-01 5.05924352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.737628 meters 0.01734435890486537 Centerline is valid? [True, True] Translation: X:204.26, Y:-89.61, Z:-0.44 [[-9.87557398e-01 -1.56887628e-01 1.08008690e-02 2.04263558e+02] [ 1.56877737e-01 -9.87616459e-01 -1.76226175e-03 -8.96126198e+01] [ 1.09435931e-02 -4.59187384e-05 9.99940116e-01 -4.36998040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.797628 meters 0.01655547635013571 Centerline is valid? [True, True] Translation: X:204.12, Y:-90.40, Z:0.51 [[-9.94414097e-01 1.04544441e-01 1.45280271e-02 2.04115691e+02] [ 1.04534102e-01 9.94520214e-01 -1.47125205e-03 -9.04041714e+01] [-1.46022278e-02 5.56404903e-05 -9.99893380e-01 5.07375916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.857628 meters 0.01646522181476189 Centerline is valid? [True, True] Translation: X:204.20, Y:-89.61, Z:-0.44 [[-9.88197735e-01 -1.52758038e-01 1.14113160e-02 2.04201428e+02] [ 1.52745273e-01 -9.88263595e-01 -1.98703893e-03 -8.96081534e+01] [ 1.15809244e-02 -2.20562786e-04 9.99932915e-01 -4.35967325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.91762799999998 meters 0.01316065062795917 Centerline is valid? [True, True] Translation: X:204.06, Y:-90.40, Z:0.50 [[-9.94885588e-01 1.00461460e-01 1.04957708e-02 2.04060513e+02] [ 1.00456089e-01 9.94940950e-01 -1.03904526e-03 -9.04014936e+01] [-1.05470561e-02 2.06329229e-05 -9.99944378e-01 5.02676616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97762799999998 meters 0.012985151663007717 Centerline is valid? [True, True] Translation: X:204.06, Y:-90.38, Z:0.50 [[-9.99550612e-01 2.87434619e-02 8.50807818e-03 2.04062494e+02] [ 2.87423779e-02 9.99586821e-01 -2.49680260e-04 -9.03767897e+01] [-8.51173950e-03 -5.02565853e-06 -9.99963774e-01 5.00341611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03762799999998 meters 0.012848201117208403 Centerline is valid? [True, True] Translation: X:204.06, Y:-90.35, Z:0.50 [[-9.99022699e-01 -4.33949383e-02 8.39802119e-03 2.04062793e+02] [-4.33935290e-02 9.99057996e-01 3.50045648e-04 -9.03497861e+01] [-8.40530042e-03 -1.47162281e-05 -9.99964675e-01 5.00008363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.097628 meters 0.014120649368859341 Centerline is valid? [True, True] Translation: X:204.06, Y:-90.32, Z:0.50 [[-9.93139141e-01 -1.16375128e-01 1.14663405e-02 2.04056392e+02] [-1.16367533e-01 9.93205331e-01 1.32959748e-03 -9.03221833e+01] [-1.15431625e-02 -1.38344571e-05 -9.99933375e-01 5.04775089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.157628 meters 0.015084563272404738 Centerline is valid? [True, True] Translation: X:203.97, Y:-89.52, Z:-0.44 [[-9.98218709e-01 5.83743162e-02 1.23226747e-02 2.03966825e+02] [-5.83690697e-02 -9.98294764e-01 7.85281078e-04 -8.95210275e+01] [ 1.23475019e-02 6.46192042e-05 9.99923765e-01 -4.36589498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.217628 meters 0.012905232515425752 Centerline is valid? [True, True] Translation: X:203.95, Y:-90.33, Z:0.51 [[-9.91584085e-01 -1.28303335e-01 1.72990393e-02 2.03953297e+02] [-1.28285307e-01 9.91734968e-01 2.15247077e-03 -9.03299641e+01] [-1.74322314e-02 -8.48568092e-05 -9.99848044e-01 5.07248924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.277628 meters 0.012990920851046677 Centerline is valid? [True, True] Translation: X:203.86, Y:-89.54, Z:-0.44 [[-9.98088153e-01 5.99095933e-02 1.51947464e-02 2.03859201e+02] [-5.99036497e-02 -9.98203805e-01 8.46405653e-04 -8.95393180e+01] [ 1.52181615e-02 -6.54333097e-05 9.99884195e-01 -4.36470799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.337628 meters 0.013100418279236631 Centerline is valid? [True, True] Translation: X:203.85, Y:-90.34, Z:0.51 [[-9.90622406e-01 -1.35628546e-01 1.64968324e-02 2.03852586e+02] [-1.35611458e-01 9.90759753e-01 2.15529160e-03 -9.03383376e+01] [-1.66367166e-02 -1.02079336e-04 -9.99861595e-01 5.05621161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.397628 meters 0.013071056983600511 Centerline is valid? [True, True] Translation: X:203.75, Y:-89.55, Z:-0.43 [[-9.97680942e-01 6.65769999e-02 1.41506588e-02 2.03753663e+02] [-6.65712143e-02 -9.97781288e-01 8.80025060e-04 -8.95527704e+01] [ 1.41778520e-02 -6.40423097e-05 9.99899487e-01 -4.34776543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.457628 meters 0.012989828538475441 Centerline is valid? [True, True] Translation: X:203.75, Y:-90.35, Z:0.50 [[-9.89908279e-01 -1.40896117e-01 1.51618851e-02 2.03750190e+02] [-1.40880893e-01 9.90024382e-01 2.07288506e-03 -9.03540178e+01] [-1.53026974e-02 -8.40538326e-05 -9.99882903e-01 5.04811662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.517628 meters 0.012953658482776395 Centerline is valid? [True, True] Translation: X:203.74, Y:-90.33, Z:0.50 [[-9.77284290e-01 -2.11430653e-01 1.45772213e-02 2.03743513e+02] [-2.11408429e-01 9.77392998e-01 3.06669494e-03 -9.03296332e+01] [-1.48960674e-02 -8.47146728e-05 -9.99889044e-01 5.02556209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.577628 meters 0.01302465609498643 Centerline is valid? [True, True] Translation: X:203.72, Y:-90.31, Z:0.50 [[-9.59251127e-01 -2.82186243e-01 1.44291259e-02 2.03720191e+02] [-2.82155923e-01 9.59359637e-01 4.13777925e-03 -9.03078463e+01] [-1.50103454e-02 -1.02093939e-04 -9.99887333e-01 5.01938545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.637628 meters 0.013211132383562548 Centerline is valid? [True, True] Translation: X:203.68, Y:-90.29, Z:0.50 [[-9.35399570e-01 -3.53240287e-01 1.57779702e-02 2.03679750e+02] [-3.53192656e-01 9.35532618e-01 5.80252214e-03 -9.02929279e+01] [-1.68104904e-02 -1.44986491e-04 -9.99858683e-01 5.02618240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.69762799999998 meters 0.013588810280659724 Centerline is valid? [True, True] Translation: X:203.62, Y:-90.29, Z:0.50 [[-9.05902023e-01 -4.23153334e-01 1.68160542e-02 2.03615928e+02] [-4.23084414e-01 9.06058066e-01 7.63942821e-03 -9.02896319e+01] [-1.84689711e-02 -1.94036953e-04 -9.99829415e-01 5.03270350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75762799999998 meters 0.013965785020691809 Centerline is valid? [True, True] Translation: X:203.55, Y:-90.29, Z:0.50 [[-8.70570388e-01 -4.91762242e-01 1.66462260e-02 2.03550136e+02] [-4.91677914e-01 8.70729483e-01 9.11016466e-03 -9.02880319e+01] [-1.89743948e-02 -2.53542098e-04 -9.99819938e-01 5.04517468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81762799999998 meters 0.01395524954313674 Centerline is valid? [True, True] Translation: X:203.47, Y:-90.30, Z:0.50 [[-8.30968268e-01 -5.56119680e-01 1.49211185e-02 2.03473946e+02] [-5.56035664e-01 8.31102180e-01 9.66988149e-03 -9.03003233e+01] [-1.77785855e-02 -2.61309388e-04 -9.99841914e-01 5.02885646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.877628 meters 0.013815162482288952 Centerline is valid? [True, True] Translation: X:203.39, Y:-90.33, Z:0.50 [[-7.86964676e-01 -6.16886508e-01 1.17317577e-02 2.03391658e+02] [-6.16822333e-01 7.87052084e-01 8.90097908e-03 -9.03261990e+01] [-1.47243983e-02 -2.31654044e-04 -9.99891563e-01 4.99372496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.937628 meters 0.013682003258082904 Centerline is valid? [True, True] Translation: X:203.31, Y:-90.36, Z:0.50 [[-7.38675175e-01 -6.73988882e-01 9.89808439e-03 2.03312811e+02] [-6.73932118e-01 7.38741459e-01 8.74970265e-03 -9.03574821e+01] [-1.32093276e-02 -2.07448835e-04 -9.99912732e-01 4.98034178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.997628 meters 0.013696275125570851 Centerline is valid? [True, True] Translation: X:203.23, Y:-90.40, Z:0.50 [[-6.86395187e-01 -7.27160375e-01 9.97177129e-03 2.03229431e+02] [-7.27087847e-01 6.86467588e-01 1.02719412e-02 -9.04032249e+01] [-1.43146464e-02 -1.99742740e-04 -9.99897520e-01 4.99251349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.057628 meters 0.013861995278807533 Centerline is valid? [True, True] Translation: X:203.15, Y:-90.46, Z:0.50 [[-6.28828598e-01 -7.77461026e-01 1.13554626e-02 2.03146975e+02] [-7.77340916e-01 6.28931076e-01 1.36675166e-02 -9.04596948e+01] [-1.77677648e-02 -2.32540398e-04 -9.99842114e-01 5.00599327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.117628 meters 0.014312210448832505 Centerline is valid? [True, True] Translation: X:203.06, Y:-90.52, Z:0.50 [[-5.65467614e-01 -8.24678605e-01 1.23116201e-02 2.03061424e+02] [-8.24495392e-01 5.65601534e-01 1.73854387e-02 -9.05243198e+01] [-2.13008706e-02 -3.19971510e-04 -9.99773060e-01 5.03506753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.177628 meters 0.01520038157869708 Centerline is valid? [True, True] Translation: X:202.98, Y:-90.60, Z:0.51 [[-4.97812194e-01 -8.67202479e-01 1.19532238e-02 2.02976123e+02] [-8.66972616e-01 4.97955502e-01 1.99699942e-02 -9.06002775e+01] [-2.32702020e-02 -4.21811133e-04 -9.99729123e-01 5.06240464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.237628 meters 0.016326531952534907 Centerline is valid? [True, True] Translation: X:202.90, Y:-90.68, Z:0.50 [[-4.30133915e-01 -9.02709887e-01 9.98375327e-03 2.02903349e+02] [-9.02488134e-01 4.30249577e-01 2.00117200e-02 -9.06802072e+01] [-2.23602832e-02 -4.02499373e-04 -9.99749897e-01 5.04838448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.297628 meters 0.014679722765428307 Centerline is valid? [True, True] Translation: X:202.83, Y:-90.77, Z:0.50 [[-3.59861054e-01 -9.32972795e-01 7.86041813e-03 2.02832880e+02] [-9.32772532e-01 3.59946696e-01 1.93333994e-02 -9.07730570e+01] [-2.08668672e-02 -3.74644611e-04 -9.99782193e-01 5.01844571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.357628 meters 0.013905248134835723 Centerline is valid? [True, True] Translation: X:202.78, Y:-90.87, Z:0.50 [[-2.90569682e-01 -9.56841469e-01 4.86445731e-03 2.02775574e+02] [-9.56721216e-01 2.90610294e-01 1.51714446e-02 -9.08667209e+01] [-1.59303287e-02 -2.45567667e-04 -9.99873074e-01 4.96467745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.41762799999998 meters 0.013211690641902944 Centerline is valid? [True, True] Translation: X:202.73, Y:-90.97, Z:0.49 [[-2.22035263e-01 -9.75035406e-01 2.50992028e-03 2.02725713e+02] [-9.74979326e-01 2.22049414e-01 1.04580857e-02 -9.09660819e+01] [-1.07543301e-02 -1.25056581e-04 -9.99942163e-01 4.92368967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47762799999998 meters 0.013139266089511305 Centerline is valid? [True, True] Translation: X:202.68, Y:-91.08, Z:0.49 [[-1.50412749e-01 -9.88622090e-01 1.53877189e-03 2.02680555e+02] [-9.88575548e-01 1.50420599e-01 9.59317708e-03 -9.10756131e+01] [-9.71548977e-03 -7.82561291e-05 -9.99952800e-01 4.92744871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53762799999998 meters 0.013508363318632526 Centerline is valid? [True, True] Translation: X:202.65, Y:-91.19, Z:0.49 [[-7.96137120e-02 -9.96825372e-01 9.13964657e-04 2.02645090e+02] [-9.96760891e-01 7.96189576e-02 1.13379006e-02 -9.11906214e+01] [-1.13746758e-02 -8.35187683e-06 -9.99935306e-01 4.94011693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.597628 meters 0.013530852438977708 Centerline is valid? [True, True] Translation: X:202.61, Y:-91.30, Z:0.49 [[-2.96594250e-03 -9.99995601e-01 2.92542502e-05 2.02613129e+02] [-9.99917034e-01 2.96607618e-03 1.25350369e-02 -9.13046396e+01] [-1.25350685e-02 7.92637565e-06 -9.99921433e-01 4.93725641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.657628 meters 0.013799759329285921 Centerline is valid? [True, True] Translation: X:202.59, Y:-91.42, Z:0.50 [[ 7.28765077e-02 -9.97340350e-01 -1.11357089e-03 2.02589424e+02] [-9.97232719e-01 -7.28850025e-02 1.46519992e-02 -9.14182771e+01] [-1.46941927e-02 4.27027899e-05 -9.99892034e-01 4.95386624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.717628 meters 0.015987583651285085 Centerline is valid? [True, True] Translation: X:202.58, Y:-91.54, Z:0.50 [[ 1.47006686e-01 -9.89132668e-01 -2.36620245e-03 2.02577405e+02] [-9.89014388e-01 -1.47025699e-01 1.52965491e-02 -9.15423369e+01] [-1.54782090e-02 9.15132876e-05 -9.99880201e-01 4.98031696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.777628 meters 0.014295737424255996 Centerline is valid? [True, True] Translation: X:202.57, Y:-91.66, Z:0.50 [[ 2.22179442e-01 -9.75001013e-01 -3.05293880e-03 2.02573889e+02] [-9.74913862e-01 -2.22200401e-01 1.30362505e-02 -9.16637900e+01] [-1.33887217e-02 7.99654922e-05 -9.99910364e-01 4.95012679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.837628 meters 0.01423791479096974 Centerline is valid? [True, True] Translation: X:202.58, Y:-91.78, Z:0.49 [[ 2.96555777e-01 -9.55009686e-01 -3.34229488e-03 2.02579056e+02] [-9.54951147e-01 -2.96574606e-01 1.05740113e-02 -9.17819963e+01] [-1.10895230e-02 5.59441890e-05 -9.99938508e-01 4.91944528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.897628 meters 0.013909922634514656 Centerline is valid? [True, True] Translation: X:202.59, Y:-91.90, Z:0.49 [[ 3.71262272e-01 -9.28521124e-01 -3.58450592e-03 2.02592146e+02] [-9.28478310e-01 -3.71279575e-01 8.91653168e-03 -9.19023535e+01] [-9.61004185e-03 1.77641910e-05 -9.99953822e-01 4.90975733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.957628 meters 0.013113239014313285 Centerline is valid? [True, True] Translation: X:202.61, Y:-92.03, Z:0.49 [[ 4.48094937e-01 -8.93977052e-01 -3.99468213e-03 2.02613141e+02] [-8.93940479e-01 -4.48112739e-01 8.08655876e-03 -9.20263278e+01] [-9.01926591e-03 -5.25379805e-05 -9.99959324e-01 4.91004034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.017628 meters 0.012989120887670527 Centerline is valid? [True, True] Translation: X:202.64, Y:-92.14, Z:0.49 [[ 5.19829508e-01 -8.54255724e-01 -4.94376957e-03 2.02641979e+02] [-8.54215267e-01 -5.19853007e-01 8.31441683e-03 -9.21408732e+01] [-9.67267165e-03 -9.90357683e-05 -9.99953214e-01 4.91176493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.077628 meters 0.013377317364119429 Centerline is valid? [True, True] Translation: X:202.68, Y:-92.26, Z:0.49 [[ 5.88466939e-01 -8.08500030e-01 -5.86197102e-03 2.02682043e+02] [-8.08457238e-01 -5.88496114e-01 8.31969690e-03 -9.22578405e+01] [-1.01762224e-02 -1.56713669e-04 -9.99948209e-01 4.92328134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.137628 meters 0.013328891531416484 Centerline is valid? [True, True] Translation: X:202.73, Y:-92.36, Z:0.49 [[ 6.49439091e-01 -7.60379459e-01 -7.20737062e-03 2.02728860e+02] [-7.60329616e-01 -6.49479059e-01 8.70781587e-03 -9.23603697e+01] [-1.13022806e-02 -1.75218683e-04 -9.99936112e-01 4.93516667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.19762799999998 meters 0.013123927693980858 Centerline is valid? [True, True] Translation: X:202.78, Y:-92.45, Z:0.49 [[ 7.04198101e-01 -7.09953281e-01 -8.44827902e-03 2.02782150e+02] [-7.09899533e-01 -7.04248759e-01 8.73724095e-03 -9.24530516e+01] [-1.21527229e-02 -1.55319156e-04 -9.99926141e-01 4.93792928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25762799999998 meters 0.012845339850662704 Centerline is valid? [True, True] Translation: X:202.84, Y:-92.54, Z:0.49 [[ 7.53058113e-01 -6.57905047e-01 -8.02667638e-03 2.02842111e+02] [-6.57866388e-01 -7.53100884e-01 7.13260163e-03 -9.25353492e+01] [-1.07374717e-02 -9.07829293e-05 -9.99942348e-01 4.91929087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31762799999998 meters 0.012753353318809576 Centerline is valid? [True, True] Translation: X:202.86, Y:-92.56, Z:0.49 [[ 7.99932246e-01 -6.00045543e-01 -7.33134361e-03 2.02864100e+02] [-6.00019703e-01 -7.99965839e-01 5.56886973e-03 -9.25559438e+01] [-9.20639990e-03 -5.57678523e-05 -9.99957619e-01 4.90330890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.377628 meters 0.01289250674003909 Centerline is valid? [True, True] Translation: X:202.89, Y:-92.58, Z:0.49 [[ 8.43436993e-01 -5.37192193e-01 -6.21184553e-03 2.02885026e+02] [-5.37177215e-01 -8.43459866e-01 4.01180900e-03 -9.25769165e+01] [-7.39455487e-03 -4.68462400e-05 -9.99972659e-01 4.88363944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.437628 meters 0.014989121454316788 Centerline is valid? [True, True] Translation: X:202.91, Y:-92.60, Z:0.49 [[ 8.82183082e-01 -4.70849030e-01 -7.36207841e-03 2.02905197e+02] [-4.70832344e-01 -8.82213801e-01 3.96404401e-03 -9.25992731e+01] [-8.36139345e-03 -3.07079276e-05 -9.99965042e-01 4.90031090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.497628 meters 0.012850085801214365 Centerline is valid? [True, True] Translation: X:202.93, Y:-92.62, Z:0.49 [[ 9.16039997e-01 -4.01013614e-01 -7.66845540e-03 2.02926803e+02] [-4.00999332e-01 -9.16072094e-01 3.38452327e-03 -9.26200334e+01] [-8.38209790e-03 -2.53131932e-05 -9.99964869e-01 4.88437811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.557628 meters 0.013235280782514803 Centerline is valid? [True, True] Translation: X:202.95, Y:-92.64, Z:0.49 [[ 9.43472732e-01 -3.31303820e-01 -9.84795199e-03 2.02950525e+02] [-3.31286020e-01 -9.43524127e-01 3.43433563e-03 -9.26376990e+01] [-1.04295888e-02 2.22867990e-05 -9.99945610e-01 4.89913430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.617628 meters 0.013632353165827466 Centerline is valid? [True, True] Translation: X:202.98, Y:-92.65, Z:0.49 [[ 9.65830886e-01 -2.58924335e-01 -1.13529402e-02 2.02975992e+02] [-2.58907231e-01 -9.65897606e-01 2.97678280e-03 -9.26523857e+01] [-1.17365392e-02 6.42895296e-05 -9.99931122e-01 4.91292254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.677628 meters 0.014997980394017478 Centerline is valid? [True, True] Translation: X:203.00, Y:-92.67, Z:0.49 [[ 9.82379007e-01 -1.86519079e-01 -1.19213612e-02 2.02998556e+02] [-1.86506805e-01 -9.82451332e-01 2.14303915e-03 -9.26660219e+01] [-1.21118749e-02 1.18138325e-04 -9.99926642e-01 4.91588167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.737628 meters 0.016057384101858745 Centerline is valid? [True, True] Translation: X:203.02, Y:-92.67, Z:0.49 [[ 9.93371868e-01 -1.14515779e-01 -9.92314112e-03 2.03021094e+02] [-1.14511462e-01 -9.93421420e-01 1.00402556e-03 -9.26731107e+01] [-9.97283770e-03 1.38942650e-04 -9.99950260e-01 4.88687091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.797628 meters 0.017637459464506032 Centerline is valid? [True, True] Translation: X:203.04, Y:-92.68, Z:0.49 [[ 9.99176210e-01 -3.98069525e-02 -7.89352260e-03 2.03044839e+02] [-3.98066660e-02 -9.99207382e-01 1.93468353e-04 -9.26829392e+01] [-7.89496744e-03 1.20905842e-04 -9.99968827e-01 4.86621504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.857628 meters 0.01534520089072978 Centerline is valid? [True, True] Translation: X:203.07, Y:-92.70, Z:0.48 [[ 9.99239908e-01 3.85363834e-02 -5.87829041e-03 2.03069655e+02] [ 3.85352997e-02 -9.99257195e-01 -2.97548725e-04 -9.26958453e+01] [-5.88539044e-03 7.08008776e-05 -9.99982678e-01 4.83217854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.91762799999998 meters 0.015143621013728568 Centerline is valid? [True, True] Translation: X:203.10, Y:-92.71, Z:0.48 [[ 9.93009044e-01 1.17983610e-01 -3.59244923e-03 2.03095641e+02] [ 1.17982803e-01 -9.93015543e-01 -4.36256337e-04 -9.27058420e+01] [-3.61882902e-03 9.35925637e-06 -9.99993452e-01 4.81229713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97762799999998 meters 0.01457825740375495 Centerline is valid? [True, True] Translation: X:203.12, Y:-92.71, Z:0.48 [[ 9.80146436e-01 1.98237061e-01 -3.87705729e-03 2.03123142e+02] [ 1.98235485e-01 -9.80154104e-01 -7.90353785e-04 -9.27130137e+01] [-3.95679103e-03 6.09211130e-06 -9.99992172e-01 4.80878133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03762799999998 meters 0.013361845390661565 Centerline is valid? [True, True] Translation: X:203.15, Y:-92.72, Z:0.48 [[ 9.59764873e-01 2.80776387e-01 -4.00105248e-03 2.03151644e+02] [ 2.80774021e-01 -9.59773213e-01 -1.15264326e-03 -9.27192320e+01] [-4.16373800e-03 -1.71250836e-05 -9.99991331e-01 4.81119835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.097628 meters 0.011867490676117825 Centerline is valid? [True, True] Translation: X:203.18, Y:-92.73, Z:0.48 [[ 9.31404307e-01 3.63965526e-01 -3.88755592e-03 2.03181173e+02] [ 3.63962609e-01 -9.31412418e-01 -1.45841919e-03 -9.27257940e+01] [-4.15173217e-03 -5.65470749e-05 -9.99991380e-01 4.81783334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.157628 meters 0.011685249463915465 Centerline is valid? [True, True] Translation: X:203.21, Y:-92.73, Z:0.48 [[ 8.97428648e-01 4.41147213e-01 -3.31020211e-03 2.03210817e+02] [ 4.41144541e-01 -8.97434750e-01 -1.53747503e-03 -9.27256401e+01] [-3.64894323e-03 -8.05034552e-05 -9.99993339e-01 4.81957600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.217628 meters 0.01178564050395615 Centerline is valid? [True, True] Translation: X:203.24, Y:-92.72, Z:0.48 [[ 8.58802691e-01 5.12297918e-01 -2.96336621e-03 2.03240029e+02] [ 5.12295223e-01 -8.58807799e-01 -1.66433118e-03 -9.27222091e+01] [-3.39759541e-03 -8.87862574e-05 -9.99994224e-01 4.81594521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.277628 meters 0.012142615521788377 Centerline is valid? [True, True] Translation: X:203.27, Y:-92.71, Z:0.48 [[ 8.14154419e-01 5.80639104e-01 -3.28835826e-03 2.03267329e+02] [ 5.80634878e-01 -8.14161053e-01 -2.21778603e-03 -9.27144943e+01] [-3.96498651e-03 -1.03715200e-04 -9.99992134e-01 4.81749007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.337628 meters 0.012039924497331019 Centerline is valid? [True, True] Translation: X:203.29, Y:-92.70, Z:0.48 [[ 7.66418799e-01 6.42330473e-01 -3.71327538e-03 2.03292457e+02] [ 6.42323606e-01 -7.66427787e-01 -2.97197764e-03 -9.27033000e+01] [-4.75494924e-03 -1.07344899e-04 -9.99988689e-01 4.81575355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.397628 meters 0.01187764581985301 Centerline is valid? [True, True] Translation: X:203.31, Y:-92.69, Z:0.48 [[ 7.15191868e-01 6.98916080e-01 -4.11154092e-03 2.03313660e+02] [ 6.98905341e-01 -7.15203679e-01 -3.87582748e-03 -9.26884807e+01] [-5.64946734e-03 -1.01617613e-04 -9.99984036e-01 4.82210628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.457628 meters 0.011892453723358011 Centerline is valid? [True, True] Translation: X:203.33, Y:-92.67, Z:0.48 [[ 6.59563229e-01 7.51633264e-01 -4.87673245e-03 2.03333492e+02] [ 7.51613794e-01 -6.59581251e-01 -5.41088898e-03 -9.26723341e+01] [-7.28360544e-03 -9.65959725e-05 -9.99973470e-01 4.82987690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.517628 meters 0.011994625400842514 Centerline is valid? [True, True] Translation: X:203.35, Y:-92.66, Z:0.48 [[ 5.98756200e-01 8.00912680e-01 -5.46732883e-03 2.03352134e+02] [ 8.00880820e-01 -5.98781153e-01 -7.14445899e-03 -9.26561239e+01] [-8.99582126e-03 -1.00889683e-04 -9.99959532e-01 4.84234171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.577628 meters 0.012141412635660554 Centerline is valid? [True, True] Translation: X:203.37, Y:-92.64, Z:0.49 [[ 5.33983800e-01 8.45468114e-01 -6.70595180e-03 2.03370047e+02] [ 8.45404111e-01 -5.34025894e-01 -1.04035181e-02 -9.26385978e+01] [-1.23769947e-02 -1.13929090e-04 -9.99923396e-01 4.87350007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.637628 meters 0.01223993391689193 Centerline is valid? [True, True] Translation: X:203.39, Y:-92.62, Z:0.49 [[ 4.66378828e-01 8.84557417e-01 -6.99755609e-03 2.03385340e+02] [ 8.84461588e-01 -4.66431306e-01 -1.30206084e-02 -9.26189970e+01] [-1.47813550e-02 -1.16533483e-04 -9.99890743e-01 4.89003315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69762799999998 meters 0.012336944191482126 Centerline is valid? [True, True] Translation: X:203.40, Y:-92.60, Z:0.49 [[ 3.94542661e-01 9.18859692e-01 -5.74071186e-03 2.03402490e+02] [ 9.18767277e-01 -3.94584401e-01 -1.30322789e-02 -9.26009875e+01] [-1.42400311e-02 -1.32588223e-04 -9.99898597e-01 4.88502681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75762799999998 meters 0.012196191132252314 Centerline is valid? [True, True] Translation: X:203.42, Y:-92.58, Z:0.49 [[ 3.22294704e-01 9.46630566e-01 -4.08607094e-03 2.03417352e+02] [ 9.46558870e-01 -3.22320585e-01 -1.16510376e-02 -9.25812937e+01] [-1.23462531e-02 -1.12638991e-04 -9.99923776e-01 4.85289572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81762799999998 meters 0.012104557412393373 Centerline is valid? [True, True] Translation: X:203.43, Y:-92.56, Z:0.48 [[ 2.48879181e-01 9.68530284e-01 -2.87088182e-03 2.03431239e+02] [ 9.68469907e-01 -2.48895723e-01 -1.08147365e-02 -9.25606333e+01] [-1.11889500e-02 -8.87998855e-05 -9.99937398e-01 4.83900684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.877628 meters 0.012244028385132666 Centerline is valid? [True, True] Translation: X:203.44, Y:-92.54, Z:0.49 [[ 1.75820209e-01 9.84420465e-01 -1.89786094e-03 2.03440436e+02] [ 9.84366140e-01 -1.75830444e-01 -1.03420266e-02 -9.25398965e+01] [-1.05146044e-02 -4.98527724e-05 -9.99944719e-01 4.85545515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.937628 meters 0.01238054884896693 Centerline is valid? [True, True] Translation: X:203.45, Y:-92.52, Z:0.49 [[ 1.01655287e-01 9.94819045e-01 -1.12707882e-03 2.03449999e+02] [ 9.94759038e-01 -1.01661535e-01 -1.09265512e-02 -9.25171109e+01] [-1.09845218e-02 -1.04301410e-05 -9.99939668e-01 4.85212657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.997628 meters 0.012991526578897758 Centerline is valid? [True, True] Translation: X:203.46, Y:-92.49, Z:0.49 [[ 2.75772091e-02 9.99619642e-01 -2.60683500e-04 2.03457204e+02] [ 9.99563259e-01 -2.75784224e-02 -1.06170874e-02 -9.24946798e+01] [-1.06202383e-02 3.22199899e-05 -9.99943603e-01 4.85713825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.057628 meters 0.015383802020948937 Centerline is valid? [True, True] Translation: X:203.46, Y:-92.47, Z:0.49 [[-4.89889051e-02 9.98799166e-01 5.59888275e-04 2.03462943e+02] [ 9.98744913e-01 4.89920797e-02 -1.04103162e-02 -9.24712471e+01] [-1.04252453e-02 4.91955727e-05 -9.99945654e-01 4.86441250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.117628 meters 0.013920738200673482 Centerline is valid? [True, True] Translation: X:203.47, Y:-92.45, Z:0.48 [[-1.26552612e-01 9.91959468e-01 9.22148853e-04 2.03471119e+02] [ 9.91934002e-01 1.26555971e-01 -7.10781582e-03 -9.24473347e+01] [-7.16736864e-03 1.51981469e-05 -9.99974314e-01 4.82458136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.177628 meters 0.015461560274530621 Centerline is valid? [True, True] Translation: X:203.48, Y:-92.42, Z:0.48 [[-2.05045982e-01 9.78751275e-01 1.44444791e-03 2.03476634e+02] [ 9.78727169e-01 2.05051069e-01 -6.86932110e-03 -9.24236417e+01] [-7.01954238e-03 5.19372463e-06 -9.99975363e-01 4.83413567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.237628 meters 0.012271318115195842 Centerline is valid? [True, True] Translation: X:203.48, Y:-92.40, Z:0.48 [[-2.85493867e-01 9.58377918e-01 2.24022763e-03 2.03483838e+02] [ 9.58347830e-01 2.85502656e-01 -7.59416010e-03 -9.23972814e+01] [-7.91766628e-03 -2.11688475e-05 -9.99968655e-01 4.83443563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.297628 meters 0.011920547751909533 Centerline is valid? [True, True] Translation: X:203.48, Y:-92.37, Z:0.48 [[-3.64538437e-01 9.31184473e-01 2.68419245e-03 2.03484625e+02] [ 9.31157957e-01 3.64548314e-01 -7.02745226e-03 -9.23723369e+01] [-7.52237226e-03 -6.23693041e-05 -9.99971705e-01 4.82883411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.357628 meters 0.011872795780859823 Centerline is valid? [True, True] Translation: X:203.48, Y:-92.35, Z:0.48 [[-4.38547352e-01 8.98702477e-01 3.17454812e-03 2.03481275e+02] [ 8.98677593e-01 4.38558834e-01 -6.68825431e-03 -9.23484190e+01] [-7.40297684e-03 -8.02209579e-05 -9.99972594e-01 4.82289580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.41762799999998 meters 0.011930475045002529 Centerline is valid? [True, True] Translation: X:203.48, Y:-92.32, Z:0.48 [[-5.08807321e-01 8.60873209e-01 3.52544534e-03 2.03476885e+02] [ 8.60851317e-01 5.08819527e-01 -6.13996222e-03 -9.23241599e+01] [-7.07954440e-03 -8.91734663e-05 -9.99974936e-01 4.81723930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47762799999998 meters 0.012055394350534874 Centerline is valid? [True, True] Translation: X:203.47, Y:-92.30, Z:0.48 [[-5.74246671e-01 8.18671547e-01 4.20229712e-03 2.03468863e+02] [ 8.18648523e-01 5.74262040e-01 -6.14042473e-03 -9.23021775e+01] [-7.44021073e-03 -8.59141276e-05 -9.99972318e-01 4.83112722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53762799999998 meters 0.01216635660451231 Centerline is valid? [True, True] Translation: X:203.46, Y:-92.28, Z:0.48 [[-6.34815556e-01 7.72645511e-01 5.30326796e-03 2.03456495e+02] [ 7.72617650e-01 6.34837704e-01 -6.56181033e-03 -9.22814381e+01] [-8.43666774e-03 -6.81408467e-05 -9.99964408e-01 4.82508268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.597628 meters 0.012188852588927086 Centerline is valid? [True, True] Translation: X:203.45, Y:-92.26, Z:0.48 [[-6.93390106e-01 7.20541630e-01 5.46995864e-03 2.03445227e+02] [ 7.20518433e-01 6.93411678e-01 -5.78214731e-03 -9.22613607e+01] [-7.95921105e-03 -6.80777129e-05 -9.99968323e-01 4.82786191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.657628 meters 0.012404857275175363 Centerline is valid? [True, True] Translation: X:203.43, Y:-92.24, Z:0.48 [[-7.50190900e-01 6.61184958e-01 6.93290519e-03 2.03434805e+02] [ 6.61155454e-01 7.50222927e-01 -6.24702499e-03 -9.22380573e+01] [-9.33166338e-03 -1.02733218e-04 -9.99956454e-01 4.83869836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.717628 meters 0.012473941992632015 Centerline is valid? [True, True] Translation: X:203.46, Y:-92.22, Z:0.49 [[-7.93664730e-01 6.08290510e-01 8.88550922e-03 2.03463086e+02] [ 6.08248863e-01 7.93714428e-01 -7.12232094e-03 -9.22228648e+01] [-1.13849971e-02 -2.48134047e-04 -9.99935158e-01 4.85078413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.777628 meters 0.012415363218352026 Centerline is valid? [True, True] Translation: X:203.48, Y:-92.20, Z:0.48 [[-8.34456899e-01 5.50991417e-01 9.49430658e-03 2.03484130e+02] [ 5.50954232e-01 8.34510902e-01 -6.40219494e-03 -9.22049372e+01] [-1.14506568e-02 -1.11427348e-04 -9.99934433e-01 4.84472796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.837628 meters 0.012276098951590214 Centerline is valid? [True, True] Translation: X:203.50, Y:-92.18, Z:0.48 [[-8.70253830e-01 4.92518349e-01 9.16229238e-03 2.03501842e+02] [ 4.92490036e-01 8.70302056e-01 -5.28158035e-03 -9.21846638e+01] [-1.05752371e-02 -8.39778212e-05 -9.99944077e-01 4.83647926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.897628 meters 0.012315858711982099 Centerline is valid? [True, True] Translation: X:203.52, Y:-92.17, Z:0.48 [[-9.00071907e-01 4.35682228e-01 7.18043424e-03 2.03523712e+02] [ 4.35668140e-01 9.00100547e-01 -3.50369368e-03 -9.21702783e+01] [-7.98960986e-03 -2.52898143e-05 -9.99968082e-01 4.81152350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.957628 meters 0.016357740151094157 Centerline is valid? [True, True] Translation: X:203.54, Y:-92.15, Z:0.48 [[-9.25986627e-01 3.77482006e-01 7.49010725e-03 2.03538428e+02] [ 3.77469946e-01 9.26016919e-01 -3.01765747e-03 -9.21514299e+01] [-8.07507743e-03 3.29799100e-05 -9.99967395e-01 4.83624918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.017628 meters 0.014592652614899984 Centerline is valid? [True, True] Translation: X:203.86, Y:-91.39, Z:-0.42 [[-9.11813211e-01 -4.10570204e-01 5.36430891e-03 2.03860922e+02] [ 4.10562312e-01 -9.11828982e-01 -2.54866459e-03 -9.13852994e+01] [ 5.93773807e-03 -1.21522976e-04 9.99982364e-01 -4.24217565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.077628 meters 0.018379781564511876 Centerline is valid? [True, True] Translation: X:203.50, Y:-92.15, Z:0.48 [[-9.22920319e-01 3.84902566e-01 8.25218578e-03 2.03501252e+02] [ 3.84888597e-01 9.22957200e-01 -3.28246585e-03 -9.21456927e+01] [-8.87984381e-03 1.46717776e-04 -9.99960563e-01 4.84738994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.137628 meters 0.018757817815778788 Centerline is valid? [True, True] Translation: X:203.52, Y:-92.12, Z:0.49 [[-9.47504393e-01 3.19585884e-01 1.00143927e-02 2.03520336e+02] [ 3.19570225e-01 9.47557293e-01 -3.16982900e-03 -9.21225921e+01] [-1.05022435e-02 1.96874823e-04 -9.99944831e-01 4.85876540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19762799999998 meters 0.018127742553496504 Centerline is valid? [True, True] Translation: X:203.53, Y:-92.10, Z:0.49 [[-9.67997182e-01 2.50699509e-01 1.14547610e-02 2.03528972e+02] [ 2.50684604e-01 9.68064930e-01 -2.74228773e-03 -9.20959448e+01] [-1.17764426e-02 2.17005427e-04 -9.99930632e-01 4.85506923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25762799999998 meters 0.01419175027256762 Centerline is valid? [True, True] Translation: X:203.54, Y:-92.06, Z:0.48 [[-9.84070674e-01 1.77537742e-01 9.23354313e-03 2.03540224e+02] [ 1.77531093e-01 9.84113985e-01 -1.54134623e-03 -9.20624230e+01] [-9.36050606e-03 1.22447382e-04 -9.99956182e-01 4.80232210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31762799999998 meters 0.013299341357384175 Centerline is valid? [True, True] Translation: X:203.54, Y:-92.03, Z:0.48 [[-9.94918678e-01 1.00420275e-01 7.25209008e-03 2.03543457e+02] [ 1.00417839e-01 9.94945108e-01 -7.00158844e-04 -9.20294805e+01] [-7.28574168e-03 3.16381042e-05 -9.99973458e-01 4.79475202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.377628 meters 0.01263546913564205 Centerline is valid? [True, True] Translation: X:203.55, Y:-92.00, Z:0.48 [[-9.99682064e-01 2.43658791e-02 6.48657833e-03 2.03545565e+02] [ 2.43652864e-02 9.99703108e-01 -1.70391935e-04 -9.19982762e+01] [-6.48880426e-03 -1.22904220e-05 -9.99978947e-01 4.79546344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.437628 meters 0.012356832166455075 Centerline is valid? [True, True] Translation: X:203.54, Y:-91.97, Z:0.48 [[-9.98674643e-01 -5.10601064e-02 6.46703308e-03 2.03536444e+02] [-5.10592989e-02 9.98695581e-01 2.90002641e-04 -9.19708360e+01] [-6.47340493e-03 -4.05838911e-05 -9.99979046e-01 4.79469565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.497628 meters 0.012339748704177096 Centerline is valid? [True, True] Translation: X:203.50, Y:-91.17, Z:-0.42 [[-9.99879805e-01 -1.43775308e-02 5.80191687e-03 2.03502445e+02] [ 1.43772638e-02 -9.99896638e-01 -8.77101375e-05 -9.11715936e+01] [ 5.80257823e-03 -4.28390544e-06 9.99983165e-01 -4.22060087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.557628 meters 0.012482975077429992 Centerline is valid? [True, True] Translation: X:203.45, Y:-91.98, Z:0.48 [[-9.97872271e-01 -6.44536030e-02 9.83172748e-03 2.03449450e+02] [-6.44515588e-02 9.97920699e-01 5.24941268e-04 -9.19758847e+01] [-9.84511871e-03 -1.09845826e-04 -9.99951530e-01 4.81735622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.617628 meters 0.012760533083244777 Centerline is valid? [True, True] Translation: X:203.41, Y:-91.17, Z:-0.43 [[-9.99846770e-01 -1.42199042e-02 1.02093280e-02 2.03412407e+02] [ 1.42205530e-02 -9.99898883e-01 -9.04117576e-06 -9.11733090e+01] [ 1.02084243e-02 1.36142500e-04 9.99947883e-01 -4.27070300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.677628 meters 0.01322991137462611 Centerline is valid? [True, True] Translation: X:203.36, Y:-91.99, Z:0.48 [[-9.97095991e-01 -7.51623304e-02 1.22559780e-02 2.03362906e+02] [-7.51589091e-02 9.97171294e-01 7.40157201e-04 -9.19854716e+01] [-1.22769414e-02 -1.83138161e-04 -9.99924619e-01 4.83560924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.737628 meters 0.014014552810952832 Centerline is valid? [True, True] Translation: X:203.32, Y:-91.18, Z:-0.43 [[-9.99833906e-01 -1.60832148e-02 8.57263179e-03 2.03315570e+02] [ 1.60816640e-02 -9.99870650e-01 -2.49809327e-04 -9.11801952e+01] [ 8.57554066e-03 -1.11905651e-04 9.99963223e-01 -4.25389020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.797628 meters 0.014281036393445003 Centerline is valid? [True, True] Translation: X:203.27, Y:-91.98, Z:0.48 [[-9.96230887e-01 -8.62860504e-02 8.87345407e-03 2.03272902e+02] [-8.62844016e-02 9.96270384e-01 5.69196710e-04 -9.19848130e+01] [-8.88947323e-03 -1.98589331e-04 -9.99960468e-01 4.80250681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.857628 meters 0.013958322756196266 Centerline is valid? [True, True] Translation: X:203.22, Y:-91.19, Z:-0.42 [[-9.99929665e-01 -1.02306027e-02 6.00003196e-03 2.03224766e+02] [ 1.02302296e-02 -9.99947666e-01 -9.28597546e-05 -9.11883993e+01] [ 6.00066796e-03 -3.14715186e-05 9.99981995e-01 -4.23629053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.91762799999998 meters 0.01307711121773832 Centerline is valid? [True, True] Translation: X:203.18, Y:-92.00, Z:0.48 [[-9.96243894e-01 -8.59434525e-02 1.05747867e-02 2.03180394e+02] [-8.59402724e-02 9.96300004e-01 7.55611231e-04 -9.19955829e+01] [-1.06005998e-02 -1.56026970e-04 -9.99943800e-01 4.83599655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97762799999998 meters 0.01277330284337932 Centerline is valid? [True, True] Translation: X:203.13, Y:-91.19, Z:-0.43 [[-9.99916108e-01 5.39080276e-03 1.17777756e-02 2.03130637e+02] [-5.38761011e-03 -9.99985441e-01 3.02785972e-04 -9.11880070e+01] [ 1.17792364e-02 2.39306508e-04 9.99930594e-01 -4.30449409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03762799999998 meters 0.015059186321007554 Centerline is valid? [True, True] Translation: X:203.09, Y:-92.00, Z:0.49 [[-9.96317613e-01 -8.44856435e-02 1.46078647e-02 2.03090762e+02] [-8.44777398e-02 9.96424693e-01 1.15837506e-03 -9.20044963e+01] [-1.46535032e-02 -7.99299193e-05 -9.99892628e-01 4.88794341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.097628 meters 0.01279999963431806 Centerline is valid? [True, True] Translation: X:203.09, Y:-91.98, Z:0.49 [[-9.88480902e-01 -1.50741097e-01 1.35140016e-02 2.03089288e+02] [-1.50727211e-01 9.88573276e-01 2.04608549e-03 -9.19799702e+01] [-1.36680100e-02 -1.44113335e-05 -9.99906588e-01 4.85272265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.157628 meters 0.013824876443678965 Centerline is valid? [True, True] Translation: X:203.08, Y:-91.96, Z:0.48 [[-9.77188060e-01 -2.12072335e-01 1.13498774e-02 2.03077284e+02] [-2.12057013e-01 9.77253968e-01 2.55058602e-03 -9.19610486e+01] [-1.16326214e-02 8.55811050e-05 -9.99932335e-01 4.82811375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.217628 meters 0.01738686278844662 Centerline is valid? [True, True] Translation: X:203.05, Y:-91.94, Z:0.48 [[-9.61554901e-01 -2.74465991e-01 8.97733699e-03 2.03048735e+02] [-2.74452712e-01 9.61596798e-01 2.70316563e-03 -9.19415934e+01] [-9.37450553e-03 1.35387672e-04 -9.99956049e-01 4.83520314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.277628 meters 0.016254705738424875 Centerline is valid? [True, True] Translation: X:202.99, Y:-91.93, Z:0.48 [[-9.40082256e-01 -3.40898485e-01 5.79446791e-03 2.02993685e+02] [-3.40891413e-01 9.40100109e-01 2.19771391e-03 -9.19331869e+01] [-6.19657726e-03 9.07475031e-05 -9.99980797e-01 4.81063471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.337628 meters 0.019044991634294104 Centerline is valid? [True, True] Translation: X:202.93, Y:-91.93, Z:0.48 [[-9.14048217e-01 -4.05565824e-01 5.67623399e-03 2.02933205e+02] [-4.05557183e-01 9.14065834e-01 2.65015705e-03 -9.19314625e+01] [-6.26326468e-03 1.20333868e-04 -9.99980378e-01 4.80712934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.397628 meters 0.01786775198331945 Centerline is valid? [True, True] Translation: X:202.86, Y:-91.94, Z:0.48 [[-8.80996707e-01 -4.73107829e-01 3.71278055e-03 2.02858853e+02] [-4.73103348e-01 8.81004528e-01 2.06010202e-03 -9.19408079e+01] [-4.24562687e-03 5.84141864e-05 -9.99990986e-01 4.77944285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.457628 meters 0.0188821523454407 Centerline is valid? [True, True] Translation: X:202.77, Y:-91.95, Z:0.49 [[-8.39892346e-01 -5.42703947e-01 7.29885832e-03 2.02770945e+02] [-5.42682049e-01 8.39924049e-01 4.87713285e-03 -9.19514859e+01] [-8.77732588e-03 1.35307160e-04 -9.99961469e-01 4.85556460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.517628 meters 0.013934292603468488 Centerline is valid? [True, True] Translation: X:202.68, Y:-91.98, Z:0.49 [[-7.92845100e-01 -6.09372921e-01 7.82888679e-03 2.02682042e+02] [-6.09341985e-01 7.92883745e-01 6.14101704e-03 -9.19757864e+01] [-9.94956657e-03 9.84058579e-05 -9.99950497e-01 4.85410583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.577628 meters 0.013357052583884088 Centerline is valid? [True, True] Translation: X:202.59, Y:-92.01, Z:0.48 [[-7.43231366e-01 -6.68985907e-01 8.06177399e-03 2.02594701e+02] [-6.68945187e-01 7.43275082e-01 7.38167485e-03 -9.20142097e+01] [-1.09303522e-02 9.34073765e-05 -9.99940258e-01 4.84451919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.637628 meters 0.013024114058119644 Centerline is valid? [True, True] Translation: X:202.50, Y:-92.06, Z:0.48 [[-6.88867978e-01 -7.24868571e-01 5.14426632e-03 2.02504164e+02] [-7.24848050e-01 6.88887185e-01 5.45438071e-03 -9.20638269e+01] [-7.49752830e-03 2.85368003e-05 -9.99971893e-01 4.83953321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69762799999998 meters 0.012564955711537954 Centerline is valid? [True, True] Translation: X:202.42, Y:-92.12, Z:0.48 [[-6.29099558e-01 -7.77315517e-01 3.78580746e-03 2.02420081e+02] [-7.77301537e-01 6.29110949e-01 4.66207026e-03 -9.21210622e+01] [-6.00559248e-03 -9.80761341e-06 -9.99981966e-01 4.83676221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75762799999998 meters 0.012264529601518666 Centerline is valid? [True, True] Translation: X:202.34, Y:-92.19, Z:0.48 [[-5.66379508e-01 -8.24138419e-01 3.18101876e-03 2.02336547e+02] [-8.24125656e-01 5.66388441e-01 4.58668601e-03 -9.21918502e+01] [-5.58175641e-03 -2.37542049e-05 -9.99984422e-01 4.82981000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81762799999998 meters 0.01213404110239726 Centerline is valid? [True, True] Translation: X:202.26, Y:-92.27, Z:0.48 [[-4.99773094e-01 -8.66152164e-01 2.69872660e-03 2.02258425e+02] [-8.66139930e-01 4.99780379e-01 4.60365121e-03 -9.22693393e+01] [-5.33623306e-03 -3.66938635e-05 -9.99985762e-01 4.82785054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.877628 meters 0.012140755609805747 Centerline is valid? [True, True] Translation: X:202.18, Y:-92.36, Z:0.49 [[-4.29764121e-01 -9.02935388e-01 3.23820723e-03 2.02183405e+02] [-9.02910507e-01 4.29776318e-01 6.70314523e-03 -9.23553529e+01] [-7.44421182e-03 -4.30400154e-05 -9.99972291e-01 4.85899839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.937628 meters 0.012316265069706726 Centerline is valid? [True, True] Translation: X:202.12, Y:-92.45, Z:0.49 [[-3.59161077e-01 -9.33268241e-01 3.70298728e-03 2.02116148e+02] [-9.33219630e-01 3.59180164e-01 9.52534763e-03 -9.24515341e+01] [-1.02197440e-02 -3.45663054e-05 -9.99947776e-01 4.87839782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.997628 meters 0.01220283466283946 Centerline is valid? [True, True] Translation: X:202.06, Y:-92.55, Z:0.49 [[-2.86625131e-01 -9.58036929e-01 3.35813081e-03 2.02055966e+02] [-9.57972205e-01 2.86644802e-01 1.11360989e-02 -9.25504536e+01] [-1.16313847e-02 -2.51101683e-05 -9.99932353e-01 4.88005893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.057628 meters 0.012732275346430323 Centerline is valid? [True, True] Translation: X:202.01, Y:-92.66, Z:0.49 [[-2.13800299e-01 -9.76872865e-01 2.97292566e-03 2.02005424e+02] [-9.76777801e-01 2.13820967e-01 1.36280030e-02 -9.26585551e+01] [-1.39485002e-02 9.78333219e-06 -9.99902715e-01 4.91150154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.117628 meters 0.012281361427378002 Centerline is valid? [True, True] Translation: X:201.18, Y:-92.60, Z:-0.44 [[-2.72561723e-01 9.62132565e-01 3.32181177e-03 2.01177196e+02] [-9.62068312e-01 -2.72581914e-01 1.11203955e-02 -9.25968200e+01] [ 1.16047605e-02 -1.64815685e-04 9.99932649e-01 -4.36804919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.177628 meters 0.011942477600532266 Centerline is valid? [True, True] Translation: X:201.93, Y:-92.95, Z:0.49 [[-1.98021489e-01 -9.80195415e-01 2.10676188e-03 2.01933536e+02] [-9.80143638e-01 1.98032683e-01 1.00749956e-02 -9.29493123e+01] [-1.02926722e-02 -6.98636286e-05 -9.99947027e-01 4.87227942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.237628 meters 0.011910999931205875 Centerline is valid? [True, True] Translation: X:201.89, Y:-93.06, Z:0.49 [[-1.21265783e-01 -9.92619336e-01 1.20975952e-03 2.01887084e+02] [-9.92575794e-01 1.21271795e-01 9.29755870e-03 -9.30611438e+01] [-9.37564625e-03 -7.33022822e-05 -9.99956045e-01 4.86868945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.297628 meters 0.014670945370454295 Centerline is valid? [True, True] Translation: X:201.85, Y:-93.17, Z:0.49 [[-4.79962912e-02 -9.98847397e-01 4.83965247e-04 2.01854028e+02] [-9.98804197e-01 4.79987165e-02 9.28970774e-03 -9.31742860e+01] [-9.30223010e-03 -3.75150027e-05 -9.99956733e-01 4.87796771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.357628 meters 0.012081687472129586 Centerline is valid? [True, True] Translation: X:201.83, Y:-93.29, Z:0.48 [[ 2.71043769e-02 -9.99632596e-01 -1.59295368e-04 2.01829358e+02] [-9.99608754e-01 -2.71048306e-02 6.90418746e-03 -9.32939587e+01] [-6.90596851e-03 -2.79006543e-05 -9.99976153e-01 4.82881671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.41762799999998 meters 0.012506632632092495 Centerline is valid? [True, True] Translation: X:201.81, Y:-93.41, Z:0.48 [[ 9.83194893e-02 -9.95154730e-01 -5.84541667e-04 2.01812454e+02] [-9.95137355e-01 -9.83212269e-02 5.88048699e-03 -9.34111176e+01] [-5.90946730e-03 3.53277018e-06 -9.99982539e-01 4.80677618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47762799999998 meters 0.014227535563505 Centerline is valid? [True, True] Translation: X:201.81, Y:-93.53, Z:0.48 [[ 1.68614733e-01 -9.85681648e-01 -8.71655539e-04 2.01807151e+02] [-9.85669285e-01 -1.68616984e-01 4.93686242e-03 -9.35279904e+01] [-5.01315062e-03 2.67363515e-05 -9.99987434e-01 4.80064289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53762799999998 meters 0.016730267071718694 Centerline is valid? [True, True] Translation: X:201.81, Y:-93.64, Z:0.48 [[ 2.34133738e-01 -9.72203746e-01 -1.12651543e-03 2.01809717e+02] [-9.72193819e-01 -2.34136439e-01 4.39381503e-03 -9.36431014e+01] [-4.53544174e-03 6.64510027e-05 -9.99989713e-01 4.79788802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.597628 meters 0.018744386022458957 Centerline is valid? [True, True] Translation: X:201.82, Y:-93.76, Z:0.48 [[ 3.02042701e-01 -9.53293623e-01 -1.21464895e-03 2.01820678e+02] [-9.53286847e-01 -3.02045135e-01 3.59502616e-03 -9.37623214e+01] [-3.79399432e-03 7.20574593e-05 -9.99992800e-01 4.79201986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.657628 meters 0.018818410905254587 Centerline is valid? [True, True] Translation: X:201.83, Y:-93.88, Z:0.48 [[ 3.72564681e-01 -9.28005324e-01 -1.29488309e-03 2.01834322e+02] [-9.28000294e-01 -3.72566926e-01 3.05598598e-03 -9.38815063e+01] [-3.31840188e-03 6.30994486e-05 -9.99994492e-01 4.79852074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.717628 meters 0.01874843031066376 Centerline is valid? [True, True] Translation: X:201.86, Y:-94.00, Z:0.48 [[ 4.43769764e-01 -8.96139158e-01 -1.73382863e-03 2.01861011e+02] [-8.96132976e-01 -4.43773145e-01 3.32951407e-03 -9.40023390e+01] [-3.75313451e-03 7.62033339e-05 -9.99992954e-01 4.80228000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.777628 meters 0.01660300000525802 Centerline is valid? [True, True] Translation: X:201.89, Y:-94.12, Z:0.48 [[ 5.17376642e-01 -8.55752807e-01 -2.92297530e-03 2.01894133e+02] [-8.55740239e-01 -5.17384889e-01 4.63892790e-03 -9.41245953e+01] [-5.48207882e-03 1.01234637e-04 -9.99984968e-01 4.79927950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.837628 meters 0.014274104450871121 Centerline is valid? [True, True] Translation: X:201.93, Y:-94.24, Z:0.48 [[ 5.89219340e-01 -8.07961273e-01 -4.37613553e-03 2.01928643e+02] [-8.07940065e-01 -5.89235585e-01 5.85470625e-03 -9.42367641e+01] [-7.30895069e-03 8.59490671e-05 -9.99973286e-01 4.81277813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.897628 meters 0.013596429638016308 Centerline is valid? [True, True] Translation: X:201.98, Y:-94.34, Z:0.48 [[ 6.52697124e-01 -7.57605152e-01 -4.57147166e-03 2.01975235e+02] [-7.57587092e-01 -6.52713131e-01 5.23124734e-03 -9.43419829e+01] [-6.94707951e-03 4.88678313e-05 -9.99975868e-01 4.81408673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.957628 meters 0.012726558182219334 Centerline is valid? [True, True] Translation: X:202.03, Y:-94.44, Z:0.48 [[ 7.11585746e-01 -7.02591023e-01 -3.40301559e-03 2.02027444e+02] [-7.02582961e-01 -7.11593883e-01 3.36571297e-03 -9.44427383e+01] [-4.78628480e-03 -4.09260152e-06 -9.99988546e-01 4.79621910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.017628 meters 0.01253248611063565 Centerline is valid? [True, True] Translation: X:202.04, Y:-94.47, Z:0.48 [[ 7.65009360e-01 -6.44013297e-01 -2.74819248e-03 2.02043994e+02] [-6.44009035e-01 -7.65014296e-01 2.34323993e-03 -9.44699541e+01] [-3.61148421e-03 -2.27396904e-05 -9.99993478e-01 4.77723541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.077628 meters 0.012540395453279791 Centerline is valid? [True, True] Translation: X:202.06, Y:-94.49, Z:0.48 [[ 8.13651267e-01 -5.81350426e-01 -1.81573478e-03 2.02062222e+02] [-5.81348871e-01 -8.13653292e-01 1.34537980e-03 -9.44941315e+01] [-2.25951570e-03 -3.90946193e-05 -9.99997447e-01 4.77235302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.137628 meters 0.012209985391550679 Centerline is valid? [True, True] Translation: X:202.08, Y:-94.52, Z:0.48 [[ 8.57625707e-01 -5.14271958e-01 -1.58110693e-03 2.02084064e+02] [-5.14270984e-01 -8.57627163e-01 1.00201920e-03 -9.45169571e+01] [-1.87131063e-03 -4.62400051e-05 -9.99998248e-01 4.78476644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19762799999998 meters 0.011888455088476954 Centerline is valid? [True, True] Translation: X:202.10, Y:-94.54, Z:0.48 [[ 8.96165865e-01 -4.43712941e-01 -2.35978744e-03 2.02104722e+02] [-4.43711266e-01 -8.96168971e-01 1.21992209e-03 -9.45433677e+01] [-2.65606350e-03 -4.61882591e-05 -9.99996472e-01 4.79994299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25762799999998 meters 0.012040839020675369 Centerline is valid? [True, True] Translation: X:202.13, Y:-94.56, Z:0.48 [[ 9.28359743e-01 -3.71615454e-01 -7.08112344e-03 2.02129557e+02] [-3.71604426e-01 -9.28386748e-01 2.86295727e-03 -9.45627146e+01] [-7.63794033e-03 -2.64774626e-05 -9.99970830e-01 4.83312166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31762799999998 meters 0.012842749229645284 Centerline is valid? [True, True] Translation: X:202.16, Y:-94.57, Z:0.49 [[ 9.52936591e-01 -3.02964191e-01 -1.11603087e-02 2.02157442e+02] [-3.02944064e-01 -9.53001939e-01 3.49248606e-03 -9.45747530e+01] [-1.16938940e-02 5.28315136e-05 -9.99931623e-01 4.86582131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.377628 meters 0.01651386077270354 Centerline is valid? [True, True] Translation: X:202.19, Y:-94.59, Z:0.49 [[ 9.72383783e-01 -2.33054353e-01 -1.24678659e-02 2.02185114e+02] [-2.33036993e-01 -9.72463701e-01 2.84779128e-03 -9.45853981e+01] [-1.27882372e-02 1.36327934e-04 -9.99918218e-01 4.88485972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.437628 meters 0.01664447232459522 Centerline is valid? [True, True] Translation: X:202.21, Y:-94.59, Z:0.49 [[ 9.86319094e-01 -1.64424720e-01 -1.17964258e-02 2.02210077e+02] [-1.64415654e-01 -9.86389610e-01 1.74086525e-03 -9.45875119e+01] [-1.19221131e-02 2.22468426e-04 -9.99928904e-01 4.85125152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.497628 meters 0.0165955184651956 Centerline is valid? [True, True] Translation: X:202.23, Y:-94.60, Z:0.48 [[ 9.95787167e-01 -9.11920687e-02 -9.58777687e-03 2.02234690e+02] [-9.11898875e-02 -9.95833300e-01 6.65328299e-04 -9.45958043e+01] [-9.60850014e-03 2.11782912e-04 -9.99953815e-01 4.81650743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.557628 meters 0.017315381242948392 Centerline is valid? [True, True] Translation: X:202.26, Y:-94.60, Z:0.48 [[ 9.99871152e-01 -1.43750796e-02 -7.14400286e-03 2.02259818e+02] [-1.43758044e-02 -9.99896662e-01 -5.01154658e-05 -9.46031083e+01] [-7.14254419e-03 1.52809797e-04 -9.99974480e-01 4.79658159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.617628 meters 0.017219278535180127 Centerline is valid? [True, True] Translation: X:202.29, Y:-94.61, Z:0.48 [[ 9.97834778e-01 6.54426413e-02 -6.55863047e-03 2.02285049e+02] [ 6.54403941e-02 -9.97856325e-01 -5.56875459e-04 -9.46084735e+01] [-6.58101430e-03 1.26470337e-04 -9.99978337e-01 4.78544230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.677628 meters 0.01460670820506389 Centerline is valid? [True, True] Translation: X:202.31, Y:-94.62, Z:0.48 [[ 9.88399996e-01 1.51699426e-01 -7.26173142e-03 2.02312122e+02] [ 1.51694687e-01 -9.88426667e-01 -1.20221717e-03 -9.46228974e+01] [-7.36006464e-03 8.67053743e-05 -9.99972911e-01 4.79317332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.737628 meters 0.01335355905315161 Centerline is valid? [True, True] Translation: X:202.34, Y:-94.63, Z:0.48 [[ 9.71314786e-01 2.37610908e-01 -9.41503155e-03 2.02340106e+02] [ 2.37599316e-01 -9.71360414e-01 -2.34740309e-03 -9.46318229e+01] [-9.70315753e-03 4.30622734e-05 -9.99952922e-01 4.81466609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.797628 meters 0.014631288225716145 Centerline is valid? [True, True] Translation: X:202.37, Y:-94.64, Z:0.48 [[ 9.45728935e-01 3.24723507e-01 -1.23054681e-02 2.02369130e+02] [ 3.24697183e-01 -9.45808985e-01 -4.13552419e-03 -9.46390095e+01] [-1.29815243e-02 -8.44659564e-05 -9.99915733e-01 4.84971318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.857628 meters 0.012939001295916526 Centerline is valid? [True, True] Translation: X:202.40, Y:-94.64, Z:0.48 [[ 9.15857542e-01 4.01325339e-01 -1.19555687e-02 2.02397173e+02] [ 4.01293060e-01 -9.15935562e-01 -5.09170416e-03 -9.46376211e+01] [-1.29939605e-02 -1.34411112e-04 -9.99915566e-01 4.83774632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.91762799999998 meters 0.01280885012886012 Centerline is valid? [True, True] Translation: X:202.42, Y:-94.63, Z:0.48 [[ 8.82019434e-01 4.71097013e-01 -1.04557157e-02 2.02422947e+02] [ 4.71065498e-01 -8.82081397e-01 -5.45033906e-03 -9.46309143e+01] [-1.17904307e-02 -1.18021934e-04 -9.99930483e-01 4.82406780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97762799999998 meters 0.012672378500055396 Centerline is valid? [True, True] Translation: X:202.45, Y:-94.62, Z:0.48 [[ 8.44319010e-01 5.35801420e-01 -6.49981051e-03 2.02445592e+02] [ 5.35786181e-01 -8.44344026e-01 -4.04160907e-03 -9.46189685e+01] [-7.65357605e-03 -7.01012805e-05 -9.99970708e-01 4.76265623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03762799999998 meters 0.012587223890408885 Centerline is valid? [True, True] Translation: X:202.47, Y:-94.61, Z:0.48 [[ 8.01387933e-01 5.98123311e-01 -5.08776338e-03 2.02469729e+02] [ 5.98111660e-01 -8.01404082e-01 -3.73363131e-03 -9.46099682e+01] [-6.31052626e-03 -5.09635172e-05 -9.99980087e-01 4.75152144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.097628 meters 0.012926822628429086 Centerline is valid? [True, True] Translation: X:202.49, Y:-94.60, Z:0.48 [[ 7.54945535e-01 6.55772650e-01 -4.41268126e-03 2.02490420e+02] [ 6.55761650e-01 -7.54958430e-01 -3.79835049e-03 -9.45976716e+01] [-5.82224528e-03 -2.61194026e-05 -9.99983050e-01 4.75016491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.157628 meters 0.013152211913944284 Centerline is valid? [True, True] Translation: X:202.51, Y:-94.58, Z:0.47 [[ 7.03322594e-01 7.10863683e-01 -3.18634589e-03 2.02510010e+02] [ 7.10856516e-01 -7.03329811e-01 -3.19206990e-03 -9.45829976e+01] [-4.51017862e-03 -1.99798596e-05 -9.99989829e-01 4.73779827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.217628 meters 0.013211906183342975 Centerline is valid? [True, True] Translation: X:202.53, Y:-94.57, Z:0.47 [[ 6.45691717e-01 7.63591713e-01 -3.14691087e-03 2.02531276e+02] [ 7.63582763e-01 -6.45699385e-01 -3.69706309e-03 -9.45692656e+01] [-4.85500516e-03 -1.57638825e-05 -9.99988214e-01 4.74660493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.277628 meters 0.013101377019479917 Centerline is valid? [True, True] Translation: X:202.55, Y:-94.56, Z:0.48 [[ 5.82242341e-01 8.13002942e-01 -4.48028293e-03 2.02552573e+02] [ 8.12978970e-01 -5.82259578e-01 -6.24315177e-03 -9.45558171e+01] [-7.68438841e-03 -7.34849855e-06 -9.99970475e-01 4.77206765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.337628 meters 0.014715234561289845 Centerline is valid? [True, True] Translation: X:202.58, Y:-94.54, Z:0.48 [[ 5.13281084e-01 8.58195758e-01 -6.52455920e-03 2.02576349e+02] [ 8.58127090e-01 -5.13322550e-01 -1.08562155e-02 -9.45418983e+01] [-1.26659615e-02 -2.66109363e-05 -9.99919783e-01 4.82039442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.397628 meters 0.013155271701257054 Centerline is valid? [True, True] Translation: X:202.60, Y:-94.53, Z:0.48 [[ 4.41838901e-01 8.97067841e-01 -6.90470574e-03 2.02595708e+02] [ 8.96960642e-01 -4.41892843e-01 -1.38680314e-02 -9.45261394e+01] [-1.54917050e-02 -6.58135305e-05 -9.99879994e-01 4.84141317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.457628 meters 0.013113293657616413 Centerline is valid? [True, True] Translation: X:202.61, Y:-94.51, Z:0.48 [[ 3.70396718e-01 9.28852450e-01 -6.27663968e-03 2.02609931e+02] [ 9.28721988e-01 -3.70449890e-01 -1.55675187e-02 -9.45061652e+01] [-1.67851083e-02 -6.30954571e-05 -9.99859118e-01 4.83959236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.517628 meters 0.012849439114850958 Centerline is valid? [True, True] Translation: X:202.62, Y:-94.49, Z:0.48 [[ 2.97254714e-01 9.54791032e-01 -3.70399077e-03 2.02624069e+02] [ 9.54719087e-01 -2.97277786e-01 -1.17210491e-02 -9.44855462e+01] [-1.22922667e-02 -5.21335941e-05 -9.99924446e-01 4.79388714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.577628 meters 0.012771130420734213 Centerline is valid? [True, True] Translation: X:202.64, Y:-94.46, Z:0.48 [[ 2.22796779e-01 9.74862894e-01 -1.98348412e-03 2.02635544e+02] [ 9.74825912e-01 -2.22805604e-01 -8.49139641e-03 -9.44640514e+01] [-8.71987865e-03 -4.16959497e-05 -9.99961980e-01 4.75423186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.637628 meters 0.01280576130916597 Centerline is valid? [True, True] Translation: X:202.65, Y:-94.44, Z:0.47 [[ 1.46173103e-01 9.89258580e-01 -9.41268359e-04 2.02647364e+02] [ 9.89239923e-01 -1.46176127e-01 -6.07569954e-03 -9.44426639e+01] [-6.14802886e-03 -4.30363848e-05 -9.99981100e-01 4.74002025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69762799999998 meters 0.012805171274775855 Centerline is valid? [True, True] Translation: X:202.66, Y:-94.42, Z:0.47 [[ 6.70700393e-02 9.97748196e-01 -3.83286869e-04 2.02660840e+02] [ 9.97735969e-01 -6.70711150e-02 -4.93987881e-03 -9.44202254e+01] [-4.95446265e-03 -5.11012294e-05 -9.99987725e-01 4.73469260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75762799999998 meters 0.012873364674827997 Centerline is valid? [True, True] Translation: X:202.67, Y:-94.40, Z:0.48 [[-1.11889708e-02 9.99937401e-01 2.58073471e-05 2.02670269e+02] [ 9.99915176e-01 1.11888942e-02 -6.66705669e-03 -9.43981960e+01] [-6.66692809e-03 -4.87923448e-05 -9.99977775e-01 4.76472461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81762799999998 meters 0.012919064217723627 Centerline is valid? [True, True] Translation: X:202.67, Y:-94.37, Z:0.48 [[-8.86631923e-02 9.96061380e-01 7.52300241e-04 2.02674396e+02] [ 9.96021680e-01 8.86663752e-02 -8.89309527e-03 -9.43743479e+01] [-8.92477248e-03 -3.91828655e-05 -9.99960173e-01 4.78177406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.877628 meters 0.013465202024177806 Centerline is valid? [True, True] Translation: X:202.67, Y:-94.35, Z:0.48 [[-1.63133311e-01 9.86601483e-01 2.24408712e-03 2.02672468e+02] [ 9.86509410e-01 1.63148744e-01 -1.34785181e-02 -9.43518841e+01] [-1.36640460e-02 1.50177848e-05 -9.99906642e-01 4.81931774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.937628 meters 0.013567960488687096 Centerline is valid? [True, True] Translation: X:202.67, Y:-94.33, Z:0.49 [[-2.39316783e-01 9.70933984e-01 3.83085519e-03 2.02674293e+02] [ 9.70812047e-01 2.39347439e-01 -1.53874468e-02 -9.43280177e+01] [-1.58571004e-02 3.65661149e-05 -9.99874268e-01 4.85355896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.997628 meters 0.013444370915375729 Centerline is valid? [True, True] Translation: X:202.68, Y:-94.30, Z:0.48 [[-3.13916626e-01 9.49438620e-01 4.76007805e-03 2.02675300e+02] [ 9.49331577e-01 3.13952711e-01 -1.42566373e-02 -9.43039547e+01] [-1.50302415e-02 4.34969081e-05 -9.99887039e-01 4.83229493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.057628 meters 0.013843832970275166 Centerline is valid? [True, True] Translation: X:202.67, Y:-94.28, Z:0.48 [[-3.85268248e-01 9.22795297e-01 4.14926140e-03 2.02671906e+02] [ 9.22742882e-01 3.85290588e-01 -9.83550260e-03 -9.42816338e+01] [-1.06748269e-02 3.93945727e-05 -9.99943022e-01 4.80319747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.117628 meters 0.013563791310743098 Centerline is valid? [True, True] Translation: X:202.67, Y:-94.26, Z:0.48 [[-4.56052562e-01 8.89945564e-01 3.59907261e-03 2.02668550e+02] [ 8.89918157e-01 4.56066763e-01 -6.98434316e-03 -9.42583780e+01] [-7.85710261e-03 1.76524699e-05 -9.99969132e-01 4.77252932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.177628 meters 0.016576269578256572 Centerline is valid? [True, True] Translation: X:202.66, Y:-94.23, Z:0.48 [[-5.25088414e-01 8.51035905e-01 4.47716288e-03 2.02664884e+02] [ 8.51005239e-01 5.25107501e-01 -7.22469059e-03 -9.42334629e+01] [-8.49946291e-03 1.64877439e-05 -9.99963879e-01 4.80202386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.237628 meters 0.01309340363528402 Centerline is valid? [True, True] Translation: X:202.66, Y:-94.21, Z:0.48 [[-5.92141901e-01 8.05819124e-01 4.84852628e-03 2.02660733e+02] [ 8.05792024e-01 5.92161750e-01 -6.60874883e-03 -9.42072437e+01] [-8.19656801e-03 -6.41328712e-06 -9.99966408e-01 4.78378579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.297628 meters 0.012923438450069795 Centerline is valid? [True, True] Translation: X:202.65, Y:-94.18, Z:0.48 [[-6.55271251e-01 7.55370640e-01 5.89777433e-03 2.02654272e+02] [ 7.55339725e-01 6.55297792e-01 -6.83401560e-03 -9.41814951e+01] [-9.02701323e-03 -2.33107103e-05 -9.99959255e-01 4.79942838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.357628 meters 0.012973968590672716 Centerline is valid? [True, True] Translation: X:202.64, Y:-94.16, Z:0.48 [[-7.13455696e-01 7.00642754e-01 8.98338579e-03 2.02643773e+02] [ 7.00586694e-01 7.13512250e-01 -8.86305492e-03 -9.41600012e+01] [-1.26195910e-02 -2.97564731e-05 -9.99920369e-01 4.84019461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41762799999998 meters 0.013233257389045405 Centerline is valid? [True, True] Translation: X:202.67, Y:-94.15, Z:0.49 [[-7.60982879e-01 6.48685395e-01 1.05979349e-02 2.02670157e+02] [ 6.48622170e-01 7.61056672e-01 -9.05664560e-03 -9.41515643e+01] [-1.39405428e-02 -1.78966915e-05 -9.99902826e-01 4.85432966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47762799999998 meters 0.013157165686440668 Centerline is valid? [True, True] Translation: X:203.21, Y:-93.54, Z:-0.44 [[-7.19053885e-01 -6.94897634e-01 8.87630166e-03 2.03206443e+02] [ 6.94843547e-01 -7.19108666e-01 -8.67021126e-03 -9.35431297e+01] [ 1.24079347e-02 -6.67081627e-05 9.99923016e-01 -4.38942140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53762799999998 meters 0.013012607842916843 Centerline is valid? [True, True] Translation: X:202.64, Y:-94.13, Z:0.48 [[-7.64381722e-01 6.44705207e-01 8.70511129e-03 2.02638398e+02] [ 6.44662762e-01 7.64431288e-01 -7.39790024e-03 -9.41309437e+01] [-1.14239242e-02 -4.29586345e-05 -9.99934744e-01 4.80799016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.597628 meters 0.013063954415669935 Centerline is valid? [True, True] Translation: X:202.66, Y:-94.11, Z:0.48 [[-8.11447449e-01 5.84393807e-01 6.07590903e-03 2.02658877e+02] [ 5.84376611e-01 8.11470191e-01 -4.48383558e-03 -9.41056046e+01] [-7.55074480e-03 -8.77778131e-05 -9.99971489e-01 4.79138108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.657628 meters 0.013223612351129649 Centerline is valid? [True, True] Translation: X:202.68, Y:-94.08, Z:0.48 [[-8.52409440e-01 5.22849184e-01 5.18428700e-03 2.02676370e+02] [ 5.22838800e-01 8.52425200e-01 -3.29669747e-03 -9.40823259e+01] [-6.14289246e-03 -9.95896543e-05 -9.99981127e-01 4.78402197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.717628 meters 0.013171361500203442 Centerline is valid? [True, True] Translation: X:203.11, Y:-93.41, Z:-0.43 [[-8.06236008e-01 -5.91578548e-01 4.28032575e-03 2.03111035e+02] [ 5.91570490e-01 -8.06247369e-01 -3.08797137e-03 -9.34087890e+01] [ 5.27777899e-03 4.24806880e-05 9.99986072e-01 -4.32469680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.777628 meters 0.013010514271249655 Centerline is valid? [True, True] Translation: X:202.64, Y:-94.07, Z:0.48 [[-8.51838018e-01 5.23760401e-01 6.85812765e-03 2.02642942e+02] [ 5.23742683e-01 8.51865621e-01 -4.30888113e-03 -9.40674515e+01] [-8.09902448e-03 -7.85745877e-05 -9.99967199e-01 4.80311882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.837628 meters 0.012968497556465237 Centerline is valid? [True, True] Translation: X:202.66, Y:-94.05, Z:0.48 [[-8.86343010e-01 4.62959797e-01 8.01838120e-03 2.02662857e+02] [ 4.62940095e-01 8.86379276e-01 -4.27172284e-03 -9.40495492e+01] [-9.08496286e-03 -7.41815232e-05 -9.99958728e-01 4.79867402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.897628 meters 0.015131832313045927 Centerline is valid? [True, True] Translation: X:202.68, Y:-94.03, Z:0.48 [[-9.15832595e-01 4.01440160e-01 9.82124130e-03 2.02675745e+02] [ 4.01416483e-01 9.15885252e-01 -4.36024298e-03 -9.40279425e+01] [-1.07455067e-02 -5.08445035e-05 -9.99942264e-01 4.83786672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.957628 meters 0.015977808522276697 Centerline is valid? [True, True] Translation: X:202.69, Y:-94.00, Z:0.48 [[-9.42043767e-01 3.35308304e-01 1.10400322e-02 2.02694958e+02] [ 3.35284603e-01 9.42108454e-01 -3.98705877e-03 -9.40029941e+01] [-1.17378016e-02 -5.44310576e-05 -9.99931108e-01 4.84796968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.017628 meters 0.013933303281381352 Centerline is valid? [True, True] Translation: X:202.71, Y:-93.98, Z:0.48 [[-9.64001828e-01 2.65637015e-01 1.17240278e-02 2.02707741e+02] [ 2.65616355e-01 9.64073114e-01 -3.31390153e-03 -9.39750192e+01] [-1.21831149e-02 -8.05135912e-05 -9.99925780e-01 4.84797738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.077628 meters 0.012958131165419752 Centerline is valid? [True, True] Translation: X:202.71, Y:-93.95, Z:0.48 [[-9.80755276e-01 1.94950737e-01 1.06442023e-02 2.02712340e+02] [ 1.94938195e-01 9.80813031e-01 -2.21346229e-03 -9.39483613e+01] [-1.08714884e-02 -9.59032394e-05 -9.99940899e-01 4.82036594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.137628 meters 0.012872182980074013 Centerline is valid? [True, True] Translation: X:202.73, Y:-93.93, Z:0.48 [[-9.92015762e-01 1.25873320e-01 7.78688598e-03 2.02725611e+02] [ 1.25868848e-01 9.92046320e-01 -1.06366469e-03 -9.39255004e+01] [-7.85883859e-03 -7.50457741e-05 -9.99969116e-01 4.78610564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19762799999998 meters 0.01273865394368994 Centerline is valid? [True, True] Translation: X:202.84, Y:-93.13, Z:-0.43 [[-9.80349015e-01 -1.97223764e-01 4.31233816e-03 2.02837758e+02] [ 1.97221194e-01 -9.80358488e-01 -1.01751436e-03 -9.31308110e+01] [ 4.42831533e-03 -1.47034726e-04 9.99990184e-01 -4.33262612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25762799999998 meters 0.012696296722987308 Centerline is valid? [True, True] Translation: X:202.68, Y:-93.92, Z:0.48 [[-9.91720187e-01 1.28314775e-01 5.13699581e-03 2.02675851e+02] [ 1.28312889e-01 9.91733491e-01 -6.96421178e-04 -9.39243646e+01] [-5.18389191e-03 -3.15121674e-05 -9.99986563e-01 4.77703104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31762799999998 meters 0.013100434330991595 Centerline is valid? [True, True] Translation: X:202.79, Y:-93.12, Z:-0.43 [[-9.82837715e-01 -1.84433886e-01 3.76401090e-03 2.02788335e+02] [ 1.84432362e-01 -9.82844922e-01 -7.50850408e-04 -9.31155366e+01] [ 3.83792126e-03 -4.37586764e-05 9.99992634e-01 -4.31686683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.377628 meters 0.013228890164240333 Centerline is valid? [True, True] Translation: X:202.63, Y:-93.92, Z:0.48 [[-9.91364773e-01 1.31032487e-01 5.13565751e-03 2.02625497e+02] [ 1.31030751e-01 9.91378075e-01 -6.74564179e-04 -9.39243900e+01] [-5.17976808e-03 4.18989467e-06 -9.99986585e-01 4.78029612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.437628 meters 0.013091668341957758 Centerline is valid? [True, True] Translation: X:202.63, Y:-93.89, Z:0.48 [[-9.98140977e-01 6.05529202e-02 6.92342397e-03 2.02630070e+02] [ 6.05516257e-02 9.98164988e-01 -3.96626282e-04 -9.38946320e+01] [-6.93473629e-03 2.33356319e-05 -9.99975954e-01 4.81548990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.497628 meters 0.012843173490086386 Centerline is valid? [True, True] Translation: X:202.63, Y:-93.87, Z:0.48 [[-9.99882356e-01 -1.25287435e-02 8.84900320e-03 2.02632467e+02] [-1.25280333e-02 9.99921512e-01 1.35685219e-04 -9.38655049e+01] [-8.85000863e-03 2.48086493e-05 -9.99960838e-01 4.83438417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.557628 meters 0.013378405428984504 Centerline is valid? [True, True] Translation: X:202.63, Y:-93.84, Z:0.49 [[-9.96266854e-01 -8.57887013e-02 9.62576446e-03 2.02626990e+02] [-8.57845994e-02 9.96313354e-01 8.38971781e-04 -9.38374406e+01] [-9.66225197e-03 1.00974279e-05 -9.99953319e-01 4.85686061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.617628 meters 0.012317666144872999 Centerline is valid? [True, True] Translation: X:202.62, Y:-93.81, Z:0.49 [[-9.87014704e-01 -1.60314054e-01 1.00686568e-02 2.02617927e+02] [-1.60305986e-01 9.87066058e-01 1.60854408e-03 -9.38063710e+01] [-1.01963016e-02 -2.64092901e-05 -9.99948016e-01 4.85486660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.677628 meters 0.012242641170786505 Centerline is valid? [True, True] Translation: X:202.61, Y:-93.78, Z:0.49 [[-9.72538601e-01 -2.32576256e-01 8.77244549e-03 2.02609455e+02] [-2.32567245e-01 9.72578163e-01 2.04783628e-03 -9.37798007e+01] [-9.00816701e-03 -4.85836486e-05 -9.99959424e-01 4.85085762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.737628 meters 0.012207066197704888 Centerline is valid? [True, True] Translation: X:202.41, Y:-93.01, Z:-0.44 [[-9.86010204e-01 1.66576051e-01 6.02465668e-03 2.02410661e+02] [-1.66573839e-01 -9.86028599e-01 8.70620220e-04 -9.30058176e+01] [ 6.08550827e-03 -1.45109774e-04 9.99981473e-01 -4.39309262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.797628 meters 0.012218396709516433 Centerline is valid? [True, True] Translation: X:202.48, Y:-93.82, Z:0.48 [[-9.71686474e-01 -2.36235020e-01 4.29097217e-03 2.02476292e+02] [-2.36232871e-01 9.71695947e-01 1.00830637e-03 -9.38164213e+01] [-4.40771754e-03 -3.39110166e-05 -9.99990285e-01 4.80996247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.857628 meters 0.012314913438608136 Centerline is valid? [True, True] Translation: X:202.27, Y:-93.03, Z:-0.44 [[-9.84160948e-01 1.77267411e-01 1.86896415e-03 2.02265105e+02] [-1.77267330e-01 -9.84162715e-01 2.10377131e-04 -9.30327163e+01] [ 1.87665784e-03 -1.24261327e-04 9.99998231e-01 -4.35367117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91762799999998 meters 0.012357264633650314 Centerline is valid? [True, True] Translation: X:202.33, Y:-93.85, Z:0.48 [[-9.70565133e-01 -2.40802442e-01 4.18409429e-03 2.02334293e+02] [-2.40800307e-01 9.70574151e-01 1.01423074e-03 -9.38522586e+01] [-4.30520301e-03 -2.31541955e-05 -9.99990732e-01 4.82468894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97762799999998 meters 0.012298220028166641 Centerline is valid? [True, True] Translation: X:202.31, Y:-93.83, Z:0.48 [[-9.50049599e-01 -3.12036367e-01 6.25022753e-03 2.02305661e+02] [-3.12029772e-01 9.50070158e-01 2.02892183e-03 -9.38321068e+01] [-6.57125206e-03 -2.26807027e-05 -9.99978409e-01 4.83930613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03762799999998 meters 0.014931818812654195 Centerline is valid? [True, True] Translation: X:202.26, Y:-93.82, Z:0.49 [[-9.23860730e-01 -3.82646535e-01 7.93609027e-03 2.02255707e+02] [-3.82632737e-01 9.23894815e-01 3.24960446e-03 -9.38182977e+01] [-8.57556253e-03 -3.44259910e-05 -9.99963229e-01 4.87650306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.097628 meters 0.012221976583430225 Centerline is valid? [True, True] Translation: X:202.19, Y:-93.81, Z:0.49 [[-8.91787529e-01 -4.52413653e-01 6.07372741e-03 2.02192776e+02] [-4.52403599e-01 8.91808210e-01 3.01666627e-03 -9.38113986e+01] [-6.78138098e-03 -5.75507813e-05 -9.99977005e-01 4.85663243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.157628 meters 0.012229798590060804 Centerline is valid? [True, True] Translation: X:202.12, Y:-93.82, Z:0.48 [[-8.55108429e-01 -5.18429510e-01 4.51867460e-03 2.02121286e+02] [-5.18422653e-01 8.55120365e-01 2.66722788e-03 -9.38189012e+01] [-5.24678032e-03 -6.18142286e-05 -9.99986234e-01 4.84206751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.217628 meters 0.012228176573066827 Centerline is valid? [True, True] Translation: X:202.04, Y:-93.84, Z:0.48 [[-8.14830797e-01 -5.79685802e-01 3.89147780e-03 2.02044666e+02] [-5.79679502e-01 8.14840088e-01 2.70301569e-03 -9.38395054e+01] [-4.73783193e-03 -5.33094870e-05 -9.99988775e-01 4.83650104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.277628 meters 0.012267057735916341 Centerline is valid? [True, True] Translation: X:201.97, Y:-93.87, Z:0.48 [[-7.72074357e-01 -6.35527039e-01 2.56313271e-03 2.01966851e+02] [-6.35523686e-01 7.72078611e-01 2.06472887e-03 -9.38716208e+01] [-3.29113097e-03 -3.48073346e-05 -9.99994584e-01 4.82679988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.337628 meters 0.01436457261368652 Centerline is valid? [True, True] Translation: X:201.88, Y:-93.92, Z:0.48 [[-7.24714278e-01 -6.89044697e-01 2.57310265e-03 2.01881446e+02] [-6.89040447e-01 7.24718845e-01 2.42026835e-03 -9.39159440e+01] [-3.53244905e-03 -1.89687668e-05 -9.99993761e-01 4.83524150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.397628 meters 0.014052863256723886 Centerline is valid? [True, True] Translation: X:201.80, Y:-93.96, Z:0.49 [[-6.74364889e-01 -7.38389246e-01 3.64937605e-03 2.01802687e+02] [-7.38378217e-01 6.74374763e-01 4.03572208e-03 -9.39648088e+01] [-5.44098089e-03 2.69294891e-05 -9.99985197e-01 4.85201674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.457628 meters 0.014065541508633213 Centerline is valid? [True, True] Translation: X:201.72, Y:-94.03, Z:0.49 [[-6.18005378e-01 -7.86155831e-01 5.32568177e-03 2.01718317e+02] [-7.86125323e-01 6.18028318e-01 6.92640574e-03 -9.40282747e+01] [-8.73665640e-03 9.39026920e-05 -9.99961830e-01 4.86242461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.517628 meters 0.013801922490155268 Centerline is valid? [True, True] Translation: X:201.63, Y:-94.10, Z:0.49 [[-5.55158412e-01 -8.31729198e-01 5.06740797e-03 2.01633826e+02] [-8.31693017e-01 5.55181531e-01 7.75847449e-03 -9.40979004e+01] [-9.26628108e-03 9.26545528e-05 -9.99957063e-01 4.85652952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.577628 meters 0.013652926889611247 Centerline is valid? [True, True] Translation: X:201.55, Y:-94.18, Z:0.49 [[-4.88048074e-01 -8.72805015e-01 4.52582075e-03 2.01550107e+02] [-8.72766039e-01 4.88069052e-01 8.24871690e-03 -9.41790227e+01] [-9.40843452e-03 7.57877409e-05 -9.99955737e-01 4.85171809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.637628 meters 0.014865610554016024 Centerline is valid? [True, True] Translation: X:201.47, Y:-94.27, Z:0.48 [[-4.18284045e-01 -9.08309114e-01 3.60716115e-03 2.01474828e+02] [-9.08274200e-01 4.18299595e-01 7.96403006e-03 -9.42656030e+01] [-8.74267513e-03 5.49352963e-05 -9.99961781e-01 4.84309041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69762799999998 meters 0.012929363359938257 Centerline is valid? [True, True] Translation: X:201.41, Y:-94.36, Z:0.48 [[-3.44875123e-01 -9.38645144e-01 2.53813345e-03 2.01405849e+02] [-9.38619270e-01 3.44884462e-01 6.96953657e-03 -9.43619423e+01] [-7.41728445e-03 2.12788159e-05 -9.99972491e-01 4.81393991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75762799999998 meters 0.012597074052719683 Centerline is valid? [True, True] Translation: X:201.34, Y:-94.46, Z:0.48 [[-2.68873797e-01 -9.63173038e-01 2.14033778e-03 2.01343030e+02] [-9.63142394e-01 2.68882316e-01 7.68298937e-03 -9.44633852e+01] [-7.97554719e-03 4.30447146e-06 -9.99968195e-01 4.81596979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81762799999998 meters 0.012307622783976211 Centerline is valid? [True, True] Translation: X:201.29, Y:-94.57, Z:0.48 [[-1.88514756e-01 -9.82068742e-01 1.78129146e-03 2.01286815e+02] [-9.82026791e-01 1.88523167e-01 9.07727977e-03 -9.45746470e+01] [-9.25032743e-03 -3.80747535e-05 -9.99957214e-01 4.81367327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.877628 meters 0.012408811592654828 Centerline is valid? [True, True] Translation: X:201.24, Y:-94.69, Z:0.48 [[-1.07216095e-01 -9.94235031e-01 1.18824226e-03 2.01238821e+02] [-9.94182832e-01 1.07222643e-01 1.01882578e-02 -9.46859843e+01] [-1.02569293e-02 -8.89848371e-05 -9.99947392e-01 4.83019687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.937628 meters 0.012681094819622277 Centerline is valid? [True, True] Translation: X:201.20, Y:-94.80, Z:0.48 [[-2.80598917e-02 -9.99606157e-01 4.17185873e-04 2.01203815e+02] [-9.99547811e-01 2.80627616e-02 1.08006677e-02 -9.48014979e+01] [-1.08081213e-02 -1.13931660e-04 -9.99941584e-01 4.83011315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.997628 meters 0.012757605512112392 Centerline is valid? [True, True] Translation: X:201.18, Y:-94.92, Z:0.48 [[ 5.05807449e-02 -9.98719882e-01 -4.31359205e-04 2.01179830e+02] [-9.98658033e-01 -5.05824134e-02 1.11154058e-02 -9.49194825e+01] [-1.11229959e-02 -1.31445167e-04 -9.99938129e-01 4.82030832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.057628 meters 0.012723597351492843 Centerline is valid? [True, True] Translation: X:201.17, Y:-95.04, Z:0.48 [[ 1.27596136e-01 -9.91825286e-01 -1.35242885e-03 2.01165061e+02] [-9.91757728e-01 -1.27603231e-01 1.15768919e-02 -9.50402075e+01] [-1.16548284e-02 -1.35884904e-04 -9.99932071e-01 4.81232131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.117628 meters 0.012711853203791257 Centerline is valid? [True, True] Translation: X:201.16, Y:-95.16, Z:0.48 [[ 2.04292661e-01 -9.78907273e-01 -2.24941620e-03 2.01159428e+02] [-9.78840077e-01 -2.04304995e-01 1.14704905e-02 -9.51603957e+01] [-1.16881136e-02 -1.41518300e-04 -9.99931682e-01 4.80309833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.177628 meters 0.012941559139850912 Centerline is valid? [True, True] Translation: X:201.17, Y:-95.30, Z:0.48 [[ 2.80369429e-01 -9.59887328e-01 -3.04976877e-03 2.01167946e+02] [-9.59824519e-01 -2.80385974e-01 1.09817331e-02 -9.52950928e+01] [-1.13963388e-02 -1.51699396e-04 -9.99935048e-01 4.78264394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.237628 meters 0.013057498259534452 Centerline is valid? [True, True] Translation: X:201.18, Y:-95.40, Z:0.48 [[ 3.54785860e-01 -9.34939481e-01 -3.89376599e-03 2.01175237e+02] [-9.34877993e-01 -3.54807188e-01 1.07236443e-02 -9.54020518e+01] [-1.14074946e-02 -1.64401219e-04 -9.99934919e-01 4.77559233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.297628 meters 0.013315067493786385 Centerline is valid? [True, True] Translation: X:201.19, Y:-95.52, Z:0.48 [[ 4.27994733e-01 -9.03767035e-01 -5.06502241e-03 2.01193529e+02] [-9.03698067e-01 -4.28024655e-01 1.11668422e-02 -9.55223304e+01] [-1.22601784e-02 -2.02098693e-04 -9.99924821e-01 4.78219463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.357628 meters 0.0131674714526631 Centerline is valid? [True, True] Translation: X:201.22, Y:-95.63, Z:0.48 [[ 4.95982471e-01 -8.68307422e-01 -6.60368758e-03 2.01219712e+02] [-8.68224661e-01 -4.96026385e-01 1.19901319e-02 -9.56345020e+01] [-1.36867238e-02 -2.13410820e-04 -9.99906310e-01 4.77653088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41762799999998 meters 0.012931316815714853 Centerline is valid? [True, True] Translation: X:201.26, Y:-95.75, Z:0.48 [[ 5.59629595e-01 -8.28708035e-01 -7.59664441e-03 2.01257200e+02] [-8.28627124e-01 -5.59681121e-01 1.15815646e-02 -9.57462584e+01] [-1.38494341e-02 -1.86600698e-04 -9.99904075e-01 4.77193601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47762799999998 meters 0.012413206412799586 Centerline is valid? [True, True] Translation: X:201.30, Y:-95.85, Z:0.48 [[ 6.17255242e-01 -7.86722543e-01 -7.97537695e-03 2.01301510e+02] [-7.86654692e-01 -6.17306755e-01 1.03327603e-02 -9.58480169e+01] [-1.30522695e-02 -1.04082752e-04 -9.99914810e-01 4.76640279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53762799999998 meters 0.012744955630569295 Centerline is valid? [True, True] Translation: X:201.35, Y:-95.94, Z:0.48 [[ 6.67455124e-01 -7.44602339e-01 -8.42697424e-03 2.01351388e+02] [-7.44543772e-01 -6.67508318e-01 9.33900347e-03 -9.59398808e+01] [-1.25789192e-02 4.08854661e-05 -9.99920881e-01 4.77219863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.597628 meters 0.014619770821310748 Centerline is valid? [True, True] Translation: X:201.41, Y:-96.03, Z:0.48 [[ 7.15365112e-01 -6.98690065e-01 -9.21685197e-03 2.01407505e+02] [-6.98635181e-01 -7.15424464e-01 8.75901087e-03 -9.60250583e+01] [-1.27137953e-02 1.73326258e-04 -9.99919161e-01 4.75549748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.657628 meters 0.017591839306149198 Centerline is valid? [True, True] Translation: X:201.43, Y:-96.05, Z:0.47 [[ 7.58581859e-01 -6.51529221e-01 -7.95218266e-03 2.01429186e+02] [-6.51497199e-01 -7.58623489e-01 6.46544406e-03 -9.60462809e+01] [-1.02451383e-02 2.76256157e-04 -9.99947479e-01 4.71616573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.717628 meters 0.02123149120873459 Centerline is valid? [True, True] Translation: X:201.45, Y:-96.06, Z:0.47 [[ 8.04090970e-01 -5.94461801e-01 -7.27183453e-03 2.01448984e+02] [-5.94440589e-01 -8.04123802e-01 5.02952648e-03 -9.60642999e+01] [-8.83731660e-03 2.78476786e-04 -9.99960911e-01 4.70753871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.777628 meters 0.01902392136374008 Centerline is valid? [True, True] Translation: X:201.46, Y:-96.09, Z:0.47 [[ 8.49812116e-01 -5.27007880e-01 -9.05878670e-03 2.01462643e+02] [-5.26981722e-01 -8.49860343e-01 5.25951475e-03 -9.60938020e+01] [-1.04705093e-02 3.04215653e-04 -9.99945136e-01 4.72989518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.837628 meters 0.01657102259077718 Centerline is valid? [True, True] Translation: X:201.48, Y:-96.12, Z:0.47 [[ 8.90979933e-01 -4.53932089e-01 -1.00208677e-02 2.01479464e+02] [-4.53906673e-01 -8.91036245e-01 4.81062572e-03 -9.61214603e+01] [-1.11126537e-02 2.62367745e-04 -9.99938218e-01 4.73447237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.897628 meters 0.01631876381718417 Centerline is valid? [True, True] Translation: X:201.50, Y:-96.15, Z:0.47 [[ 9.26178729e-01 -3.76936411e-01 -1.05784975e-02 2.01499024e+02] [-3.76914234e-01 -9.26239118e-01 4.09344441e-03 -9.61466214e+01] [-1.13411864e-02 1.95925149e-04 -9.99935667e-01 4.73684049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.957628 meters 0.012942597044433624 Centerline is valid? [True, True] Translation: X:201.52, Y:-96.17, Z:0.47 [[ 9.55706624e-01 -2.94204647e-01 -8.27493686e-03 2.01520808e+02] [-2.94194123e-01 -9.55742446e-01 2.48910880e-03 -9.61740553e+01] [-8.64101577e-03 5.55800271e-05 -9.99962664e-01 4.69997385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.017628 meters 0.012236767130218597 Centerline is valid? [True, True] Translation: X:201.55, Y:-96.20, Z:0.47 [[ 9.76938457e-01 -2.13397991e-01 -7.24897654e-03 2.01545905e+02] [-2.13392132e-01 -9.76965351e-01 1.58137684e-03 -9.61951231e+01] [-7.41946156e-03 1.96670383e-06 -9.99972475e-01 4.70289373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.077628 meters 0.011970604511166839 Centerline is valid? [True, True] Translation: X:201.57, Y:-96.21, Z:0.47 [[ 9.91205228e-01 -1.32032430e-01 -8.92377349e-03 2.01569580e+02] [-1.32026840e-01 -9.91245397e-01 1.21533095e-03 -9.62098335e+01] [-9.00611249e-03 -2.64647771e-05 -9.99959444e-01 4.72053200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.137628 meters 0.011958506536305055 Centerline is valid? [True, True] Translation: X:201.60, Y:-96.22, Z:0.47 [[ 9.98471498e-01 -5.46182798e-02 -8.45638764e-03 2.01595181e+02] [-5.46161328e-02 -9.98507307e-01 4.84781441e-04 -9.62171950e+01] [-8.47024278e-03 -2.21852613e-05 -9.99964127e-01 4.70733035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19762799999998 meters 0.012006633233871342 Centerline is valid? [True, True] Translation: X:201.62, Y:-96.22, Z:0.47 [[ 9.99708669e-01 2.32028419e-02 -6.64875300e-03 2.01621819e+02] [ 2.32024833e-02 -9.99730778e-01 -1.31075763e-04 -9.62233944e+01] [-6.65000433e-03 -2.32300031e-05 -9.99977888e-01 4.69229254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25762799999998 meters 0.011896786599588488 Centerline is valid? [True, True] Translation: X:201.65, Y:-96.23, Z:0.47 [[ 9.94654347e-01 1.03187162e-01 -3.89094024e-03 2.01648556e+02] [ 1.03186524e-01 -9.94661957e-01 -3.64852576e-04 -9.62302288e+01] [-3.90781833e-03 -3.85903973e-05 -9.99992364e-01 4.67181959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.31762799999998 meters 0.011843644553017074 Centerline is valid? [True, True] Translation: X:201.68, Y:-96.24, Z:0.47 [[ 9.82854339e-01 1.84323780e-01 -4.70031680e-03 2.01676242e+02] [ 1.84321938e-01 -9.82865576e-01 -8.25816461e-04 -9.62360592e+01] [-4.77199719e-03 -5.47142088e-05 -9.99988612e-01 4.68522529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.377628 meters 0.012131269093546039 Centerline is valid? [True, True] Translation: X:201.70, Y:-96.24, Z:0.47 [[ 9.64845066e-01 2.62724177e-01 -7.07151460e-03 2.01702468e+02] [ 2.62717696e-01 -9.64870976e-01 -1.84699116e-03 -9.62372113e+01] [-7.30834843e-03 -7.57517133e-05 -9.99973291e-01 4.71299116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.437628 meters 0.012268002474098155 Centerline is valid? [True, True] Translation: X:201.73, Y:-96.23, Z:0.47 [[ 9.40893398e-01 3.38600358e-01 -8.33136222e-03 2.01729518e+02] [ 3.38587961e-01 -9.40930278e-01 -2.89897884e-03 -9.62339760e+01] [-8.82082625e-03 -9.32688976e-05 -9.99961091e-01 4.71543148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.497628 meters 0.012206752882742453 Centerline is valid? [True, True] Translation: X:201.76, Y:-96.23, Z:0.47 [[ 9.11900512e-01 4.10294695e-01 -9.78359800e-03 2.01756019e+02] [ 4.10272173e-01 -9.11952989e-01 -4.29995225e-03 -9.62294406e+01] [-1.06864290e-02 -9.28093503e-05 -9.99942894e-01 4.72704386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.557628 meters 0.012257058707194986 Centerline is valid? [True, True] Translation: X:201.78, Y:-96.22, Z:0.47 [[ 8.78572662e-01 4.77514593e-01 -9.48113688e-03 2.01779420e+02] [ 4.77487495e-01 -8.78623816e-01 -5.08744552e-03 -9.62192274e+01] [-1.07596821e-02 -5.74337426e-05 -9.99942111e-01 4.74281194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.617628 meters 0.012333134572925947 Centerline is valid? [True, True] Translation: X:201.80, Y:-96.21, Z:0.47 [[ 8.39307564e-01 5.43579455e-01 -9.17540704e-03 2.01803422e+02] [ 5.43547514e-01 -8.39357715e-01 -5.89291797e-03 -9.62094588e+01] [-1.09047178e-02 -4.12990511e-05 -9.99940541e-01 4.73902147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.677628 meters 0.012614740614004482 Centerline is valid? [True, True] Translation: X:201.82, Y:-96.19, Z:0.48 [[ 7.96764579e-01 6.04212408e-01 -9.67318478e-03 2.01821333e+02] [ 6.04167714e-01 -7.96823296e-01 -7.34900832e-03 -9.61934341e+01] [-1.21481810e-02 1.12035851e-05 -9.99926208e-01 4.75281199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.737628 meters 0.012958858536930214 Centerline is valid? [True, True] Translation: X:201.84, Y:-96.18, Z:0.48 [[ 7.47781342e-01 6.63872439e-01 -9.82087009e-03 2.01838602e+02] [ 6.63814638e-01 -7.47845829e-01 -8.76026639e-03 -9.61762781e+01] [-1.31601961e-02 3.15264303e-05 -9.99913400e-01 4.75931506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.797628 meters 0.012720598851658821 Centerline is valid? [True, True] Translation: X:201.86, Y:-96.16, Z:0.47 [[ 6.92233495e-01 7.21619911e-01 -8.80296897e-03 2.01856233e+02] [ 7.21561449e-01 -6.92289465e-01 -9.18539410e-03 -9.61605493e+01] [-1.27225660e-02 6.55441071e-06 -9.99919065e-01 4.74939710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.857628 meters 0.012393281779256662 Centerline is valid? [True, True] Translation: X:201.88, Y:-96.15, Z:0.47 [[ 6.30793368e-01 7.75924094e-01 -6.44415317e-03 2.01877891e+02] [ 7.75884255e-01 -6.30826282e-01 -7.86283170e-03 -9.61474633e+01] [-1.01661018e-02 -4.00948973e-05 -9.99948323e-01 4.71283349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91762799999998 meters 0.012324189558675827 Centerline is valid? [True, True] Translation: X:201.90, Y:-96.13, Z:0.47 [[ 5.66603102e-01 8.23975251e-01 -5.07059794e-03 2.01899093e+02] [ 8.23943144e-01 -5.66625787e-01 -7.27405206e-03 -9.61335073e+01] [-8.86677042e-03 -5.63839482e-05 -9.99960688e-01 4.71305414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97762799999998 meters 0.012364000947121399 Centerline is valid? [True, True] Translation: X:201.91, Y:-96.12, Z:0.47 [[ 4.99325242e-01 8.66408229e-01 -3.32929445e-03 2.01914939e+02] [ 8.66389767e-01 -4.99336337e-01 -5.65629562e-03 -9.61157837e+01] [-6.56309876e-03 -6.01354689e-05 -9.99978461e-01 4.68410958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03762799999998 meters 0.012390838250283065 Centerline is valid? [True, True] Translation: X:201.93, Y:-96.10, Z:0.47 [[ 4.28627490e-01 9.03478929e-01 -2.07346526e-03 2.01933200e+02] [ 9.03469045e-01 -4.28632501e-01 -4.22668780e-03 -9.60988552e+01] [-4.70747797e-03 -6.16370978e-05 -9.99988918e-01 4.67122606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.097628 meters 0.01253760110461438 Centerline is valid? [True, True] Translation: X:201.95, Y:-96.08, Z:0.47 [[ 3.55161889e-01 9.34803940e-01 -1.27498348e-03 2.01952729e+02] [ 9.34798522e-01 -3.55164172e-01 -3.18347005e-03 -9.60816724e+01] [-3.42874880e-03 -6.12054329e-05 -9.99994120e-01 4.67605910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.157628 meters 0.01262560908939701 Centerline is valid? [True, True] Translation: X:201.97, Y:-96.06, Z:0.47 [[ 2.78959105e-01 9.60302116e-01 -1.28981729e-03 2.01971566e+02] [ 9.60293058e-01 -2.78962077e-01 -4.17159690e-03 -9.60637086e+01] [-4.36580344e-03 -7.48976495e-05 -9.99990467e-01 4.69213686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.217628 meters 0.012604095104659539 Centerline is valid? [True, True] Translation: X:201.99, Y:-96.04, Z:0.47 [[ 2.03723867e-01 9.79027223e-01 -1.51089257e-03 2.01985204e+02] [ 9.79003433e-01 -2.03729451e-01 -6.82557722e-03 -9.60431910e+01] [-6.99023922e-03 -8.86360295e-05 -9.99975564e-01 4.71132617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.277628 meters 0.012422054703039441 Centerline is valid? [True, True] Translation: X:202.00, Y:-96.02, Z:0.47 [[ 1.28988694e-01 9.91645418e-01 -1.13200481e-03 2.01995620e+02] [ 9.91612182e-01 -1.28993639e-01 -8.11924972e-03 -9.60211596e+01] [-8.19743821e-03 -7.52183391e-05 -9.99966398e-01 4.72339563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.337628 meters 0.01237866311950315 Centerline is valid? [True, True] Translation: X:202.00, Y:-96.00, Z:0.47 [[ 5.78930878e-02 9.98322679e-01 -4.68356452e-04 2.02001807e+02] [ 9.98292604e-01 -5.78949792e-02 -7.74907078e-03 -9.59985451e+01] [-7.76318859e-03 -1.89391464e-05 -9.99969866e-01 4.72215460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.397628 meters 0.012894072478510819 Centerline is valid? [True, True] Translation: X:202.01, Y:-95.98, Z:0.47 [[-1.47622237e-02 9.99891025e-01 1.22866657e-04 2.02008715e+02] [ 9.99866287e-01 1.47627227e-02 -7.03346684e-03 -9.59759431e+01] [-7.03451421e-03 1.90206174e-05 -9.99975257e-01 4.71833536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.457628 meters 0.014456843662316905 Centerline is valid? [True, True] Translation: X:202.01, Y:-95.95, Z:0.47 [[-8.47985281e-02 9.96398017e-01 4.49299400e-04 2.02010300e+02] [ 9.96386437e-01 8.47997089e-02 -4.80400771e-03 -9.59543650e+01] [-4.82480421e-03 4.03030456e-05 -9.99988360e-01 4.70481422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.517628 meters 0.015328948149042985 Centerline is valid? [True, True] Translation: X:202.01, Y:-95.93, Z:0.47 [[-1.58454656e-01 9.87366066e-01 6.10675385e-04 2.02012366e+02] [ 9.87359571e-01 1.58455828e-01 -3.58159485e-03 -9.59314682e+01] [-3.63311029e-03 3.54358079e-05 -9.99993400e-01 4.69595098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.577628 meters 0.015939948995604452 Centerline is valid? [True, True] Translation: X:202.02, Y:-95.91, Z:0.47 [[-2.31633009e-01 9.72802654e-01 1.06997460e-03 2.02015242e+02] [ 9.72793568e-01 2.31635471e-01 -4.20508072e-03 -9.59079471e+01] [-4.33855776e-03 6.68289093e-05 -9.99990586e-01 4.70109862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.637628 meters 0.016307770936262848 Centerline is valid? [True, True] Translation: X:202.02, Y:-95.88, Z:0.47 [[-3.06524684e-01 9.51859903e-01 2.31146906e-03 2.02018520e+02] [ 9.51836192e-01 3.06533367e-01 -6.72006952e-03 -9.58843239e+01] [-7.10510712e-03 1.40272722e-04 -9.99974749e-01 4.73075573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69762799999998 meters 0.016291104185549275 Centerline is valid? [True, True] Translation: X:202.02, Y:-95.86, Z:0.47 [[-3.81681819e-01 9.24286957e-01 3.55097996e-03 2.02018631e+02] [ 9.24251034e-01 3.81698299e-01 -8.15073408e-03 -9.58605772e+01] [-8.88902021e-03 1.71009888e-04 -9.99960477e-01 4.74129838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75762799999998 meters 0.01517248905907388 Centerline is valid? [True, True] Translation: X:202.02, Y:-95.83, Z:0.47 [[-4.56765237e-01 8.89577066e-01 4.26178920e-03 2.02020526e+02] [ 8.89541092e-01 4.56785098e-01 -8.00117958e-03 -9.58344721e+01] [-9.06438765e-03 1.36375933e-04 -9.99958908e-01 4.73443981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.81762799999998 meters 0.014609743471900583 Centerline is valid? [True, True] Translation: X:202.02, Y:-95.81, Z:0.47 [[-5.26628248e-01 8.50084628e-01 4.33752024e-03 2.02019685e+02] [ 8.50057379e-01 5.26646100e-01 -6.80712556e-03 -9.58082386e+01] [-8.07097092e-03 1.02316482e-04 -9.99967424e-01 4.72608097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.877628 meters 0.017599401476528023 Centerline is valid? [True, True] Translation: X:202.01, Y:-95.78, Z:0.47 [[-5.90682251e-01 8.06890298e-01 4.74616582e-03 2.02013748e+02] [ 8.06865712e-01 5.90701308e-01 -6.29976222e-03 -9.57841265e+01] [-7.88678338e-03 1.08360738e-04 -9.99968893e-01 4.74288939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.937628 meters 0.015380872981581023 Centerline is valid? [True, True] Translation: X:202.00, Y:-95.76, Z:0.47 [[-6.50324958e-01 7.59647929e-01 3.53172207e-03 2.02003839e+02] [ 7.59637332e-01 6.50334544e-01 -4.01305721e-03 -9.57618431e+01] [-5.34531146e-03 7.30366677e-05 -9.99985711e-01 4.70275157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.997628 meters 0.016890609650691717 Centerline is valid? [True, True] Translation: X:201.99, Y:-95.74, Z:0.47 [[-7.06845634e-01 7.07362626e-01 2.71386502e-03 2.01991042e+02] [ 7.07357658e-01 7.06850843e-01 -2.65143012e-03 -9.57432591e+01] [-3.79382035e-03 4.55214001e-05 -9.99992802e-01 4.69217413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.057628 meters 0.018086059444800708 Centerline is valid? [True, True] Translation: X:202.02, Y:-95.73, Z:0.47 [[-7.55788874e-01 6.54811531e-01 2.24431154e-03 2.02015200e+02] [ 6.54808751e-01 7.55792205e-01 -1.90845680e-03 -9.57260972e+01] [-2.94591268e-03 2.72044211e-05 -9.99995660e-01 4.70260230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.117628 meters 0.01464571067858201 Centerline is valid? [True, True] Translation: X:202.04, Y:-95.71, Z:0.47 [[-8.01643307e-01 5.97794426e-01 3.13561463e-03 2.02038290e+02] [ 5.97790038e-01 8.01649439e-01 -2.29078316e-03 -9.57050810e+01] [-3.88308112e-03 3.80481993e-05 -9.99992460e-01 4.68901466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.177628 meters 0.014999412327304722 Centerline is valid? [True, True] Translation: X:202.06, Y:-95.68, Z:0.47 [[-8.42404138e-01 5.38784685e-01 8.14440918e-03 2.02057051e+02] [ 5.38761078e-01 8.42443496e-01 -5.04539429e-03 -9.56842716e+01] [-9.57958571e-03 1.37629643e-04 -9.99954105e-01 4.74609802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.237628 meters 0.015464689055870008 Centerline is valid? [True, True] Translation: X:202.07, Y:-95.67, Z:0.48 [[-8.77545984e-01 4.79373384e-01 1.06866932e-02 2.02074120e+02] [ 4.79340664e-01 8.77611028e-01 -5.60451163e-03 -9.56658053e+01] [-1.20654135e-02 2.04349946e-04 -9.99927189e-01 4.76438958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.297628 meters 0.019638037069738698 Centerline is valid? [True, True] Translation: X:202.09, Y:-95.65, Z:0.48 [[-9.06028722e-01 4.23045490e-01 1.20195063e-02 2.02093118e+02] [ 4.23013029e-01 9.06108386e-01 -5.25077055e-03 -9.56505907e+01] [-1.31122902e-02 3.27058823e-04 -9.99913977e-01 4.78863823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.357628 meters 0.019798927741262257 Centerline is valid? [True, True] Translation: X:202.11, Y:-95.64, Z:0.47 [[-9.30678916e-01 3.65681038e-01 1.06833278e-02 2.02111827e+02] [ 3.65661524e-01 9.30740157e-01 -3.79610594e-03 -9.56374571e+01] [-1.13315661e-02 3.73526156e-04 -9.99935726e-01 4.73975646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41762799999998 meters 0.020358656232573838 Centerline is valid? [True, True] Translation: X:202.41, Y:-94.83, Z:-0.43 [[-9.33898601e-01 -3.57444845e-01 8.16004854e-03 2.02409208e+02] [ 3.57427184e-01 -9.33934153e-01 -3.57855420e-03 -9.48342938e+01] [ 8.90008377e-03 -4.25383588e-04 9.99960303e-01 -4.34227678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47762799999998 meters 0.02115848297019068 Centerline is valid? [True, True] Translation: X:202.07, Y:-95.63, Z:0.47 [[-9.30225668e-01 3.66891233e-01 8.42790506e-03 2.02069115e+02] [ 3.66879386e-01 9.30263787e-01 -2.96707129e-03 -9.56264316e+01] [-8.92876731e-03 3.31978760e-04 -9.99960083e-01 4.71156087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53762799999998 meters 0.02092339766292983 Centerline is valid? [True, True] Translation: X:202.08, Y:-95.60, Z:0.47 [[-9.54330891e-01 2.98617960e-01 8.93664224e-03 2.02084356e+02] [ 2.98608104e-01 9.54372676e-01 -2.44876326e-03 -9.56011920e+01] [-9.26013186e-03 3.31623371e-04 -9.99957069e-01 4.71239490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.597628 meters 0.020639025671438913 Centerline is valid? [True, True] Translation: X:202.31, Y:-94.78, Z:-0.43 [[-9.55418173e-01 -2.95167477e-01 7.23015095e-03 2.02308922e+02] [ 2.95155996e-01 -9.55445455e-01 -2.63079604e-03 -9.47773339e+01] [ 7.68454029e-03 -3.79487944e-04 9.99970401e-01 -4.33155346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.657628 meters 0.01921228499295625 Centerline is valid? [True, True] Translation: X:202.03, Y:-95.58, Z:0.47 [[-9.59706959e-01 2.80905614e-01 7.38838035e-03 2.02032080e+02] [ 2.80898537e-01 9.59735386e-01 -2.00001075e-03 -9.55751596e+01] [-7.65270431e-03 1.55960997e-04 -9.99970705e-01 4.71867897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.717628 meters 0.014380475764293367 Centerline is valid? [True, True] Translation: X:202.25, Y:-94.78, Z:-0.43 [[-9.51863387e-01 -3.06471130e-01 5.61590995e-03 2.02247657e+02] [ 3.06464342e-01 -9.51879925e-01 -2.05315903e-03 -9.47806099e+01] [ 5.97490591e-03 -2.33250766e-04 9.99982123e-01 -4.31271424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.777628 meters 0.013534368439951169 Centerline is valid? [True, True] Translation: X:201.98, Y:-95.55, Z:0.47 [[-9.64616299e-01 2.63569668e-01 6.81367293e-03 2.01983939e+02] [ 2.63563393e-01 9.64640362e-01 -1.81916095e-03 -9.55474192e+01] [-7.05221957e-03 4.10424530e-05 -9.99975132e-01 4.69107326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.837628 meters 0.012991544753227058 Centerline is valid? [True, True] Translation: X:201.99, Y:-95.52, Z:0.47 [[-9.81963360e-01 1.88965178e-01 6.33412756e-03 2.01989893e+02] [ 1.88961235e-01 9.81983789e-01 -1.22064955e-03 -9.55171168e+01] [-6.45067084e-03 -1.72857019e-06 -9.99979194e-01 4.68588180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.897628 meters 0.01283231238191435 Centerline is valid? [True, True] Translation: X:201.99, Y:-95.49, Z:0.47 [[-9.93133757e-01 1.16866340e-01 5.25358391e-03 2.01992716e+02] [ 1.16864608e-01 9.93147652e-01 -6.36509538e-04 -9.54886978e+01] [-5.29197107e-03 -1.81810866e-05 -9.99985997e-01 4.67176379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.957628 meters 0.012955698099063148 Centerline is valid? [True, True] Translation: X:202.00, Y:-95.46, Z:0.47 [[-9.98899112e-01 4.67870846e-02 3.39600674e-03 2.01998937e+02] [ 4.67867417e-02 9.98904884e-01 -1.80368004e-04 -9.54625230e+01] [-3.40072661e-03 -2.12813487e-05 -9.99994217e-01 4.66106845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.017628 meters 0.013114059332203509 Centerline is valid? [True, True] Translation: X:202.04, Y:-94.67, Z:-0.43 [[-9.94602957e-01 -1.03753742e-01 -3.45456352e-04 2.02040010e+02] [ 1.03753802e-01 -9.94602998e-01 -1.59133920e-04 -9.46699070e+01] [-3.27081183e-04 -1.94117477e-04 9.99999928e-01 -4.27188425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.077628 meters 0.013518073824979803 Centerline is valid? [True, True] Translation: X:201.94, Y:-95.46, Z:0.46 [[-9.98881790e-01 4.72634043e-02 -1.15739103e-03 2.01938681e+02] [ 4.72634228e-02 9.98882460e-01 1.13963117e-05 -9.54646690e+01] [ 1.15663623e-03 -4.33186934e-05 -9.99999330e-01 4.62521716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.137628 meters 0.013662817805199044 Centerline is valid? [True, True] Translation: X:201.98, Y:-94.66, Z:-0.43 [[-9.95416878e-01 -9.56298037e-02 -4.23714976e-04 2.01975197e+02] [ 9.56297594e-02 -9.95416965e-01 1.23694324e-04 -9.46648841e+01] [-4.33601939e-04 8.26076563e-05 9.99999903e-01 -4.27641408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19762799999998 meters 0.014608663116241758 Centerline is valid? [True, True] Translation: X:201.87, Y:-95.47, Z:0.47 [[-9.98803296e-01 4.87372586e-02 4.08102787e-03 2.01872649e+02] [ 4.87369659e-02 9.98811633e-01 -1.71206844e-04 -9.54653875e+01] [-4.08452226e-03 2.78949560e-05 -9.99991658e-01 4.67452086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25762799999998 meters 0.01612796462525744 Centerline is valid? [True, True] Translation: X:201.91, Y:-94.66, Z:-0.43 [[-9.96680851e-01 -8.12975584e-02 4.24132869e-03 2.01910071e+02] [ 8.12967365e-02 -9.96689875e-01 -3.66122709e-04 -9.46553395e+01] [ 4.25705424e-03 -2.01013128e-05 9.99990938e-01 -4.30326132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.31762799999998 meters 0.019216913326249783 Centerline is valid? [True, True] Translation: X:201.80, Y:-95.47, Z:0.47 [[-9.98322407e-01 5.75979440e-02 5.90320803e-03 2.01800900e+02] [ 5.75977555e-02 9.98339851e-01 -2.02078721e-04 -9.54741533e+01] [-5.90504714e-03 1.38271817e-04 -9.99982555e-01 4.67282871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.377628 meters 0.021021287998085093 Centerline is valid? [True, True] Translation: X:201.84, Y:-94.64, Z:-0.43 [[-9.98432641e-01 -5.58014889e-02 4.29597840e-03 2.01838674e+02] [ 5.58002017e-02 -9.98441867e-01 -4.18992469e-04 -9.46431204e+01] [ 4.31266510e-03 -1.78619296e-04 9.99990684e-01 -4.29661197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.437628 meters 0.021886875394186878 Centerline is valid? [True, True] Translation: X:201.73, Y:-95.48, Z:0.46 [[-9.97501095e-01 7.05671768e-02 3.44088397e-03 2.01726002e+02] [ 7.05672073e-02 9.97507021e-01 -1.12703854e-04 -9.54776543e+01] [-3.44025911e-03 1.30391355e-04 -9.99994074e-01 4.63022575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.497628 meters 0.02335338512184221 Centerline is valid? [True, True] Translation: X:201.73, Y:-95.45, Z:0.46 [[-9.99995593e-01 1.27107293e-03 2.68299809e-03 2.01725502e+02] [ 1.27133654e-03 9.99999187e-01 9.65463728e-05 -9.54497204e+01] [-2.68287319e-03 9.99569408e-05 -9.99996396e-01 4.62624528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.557628 meters 0.022275787903939134 Centerline is valid? [True, True] Translation: X:201.69, Y:-94.62, Z:-0.43 [[-9.99640667e-01 2.67681011e-02 1.41651345e-03 2.01689983e+02] [-2.67682520e-02 -9.99641662e-01 -8.76534595e-05 -9.46178146e+01] [ 1.41365954e-03 -1.25539552e-04 9.99998993e-01 -4.25100615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.617628 meters 0.0179907178823065 Centerline is valid? [True, True] Translation: X:201.63, Y:-95.43, Z:0.46 [[-9.99775655e-01 -2.10608655e-02 2.25387856e-03 2.01628268e+02] [-2.10607206e-02 9.99778195e-01 8.79952856e-05 -9.54335003e+01] [-2.25523189e-03 4.05072378e-05 -9.99997456e-01 4.61922441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.677628 meters 0.016215897279263498 Centerline is valid? [True, True] Translation: X:201.61, Y:-95.40, Z:0.46 [[-9.94728871e-01 -1.02500904e-01 2.83518538e-03 2.01614595e+02] [-1.02500397e-01 9.94732911e-01 3.23728364e-04 -9.53988915e+01] [-2.85343466e-03 3.14143222e-05 -9.99995928e-01 4.62641586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.737628 meters 0.013333715410728088 Centerline is valid? [True, True] Translation: X:201.52, Y:-94.64, Z:-0.43 [[-9.97795187e-01 6.63349102e-02 2.10813499e-03 2.01515845e+02] [-6.63349193e-02 -9.97797411e-01 6.56667530e-05 -9.46369715e+01] [ 2.10784763e-03 -7.43209942e-05 9.99997776e-01 -4.26469498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.797628 meters 0.01277556301287165 Centerline is valid? [True, True] Translation: X:201.51, Y:-95.39, Z:0.46 [[-9.91228583e-01 -1.32140779e-01 2.17053563e-03 2.01508266e+02] [-1.32140544e-01 9.91230959e-01 2.52105685e-04 -9.53877421e+01] [-2.18481556e-03 -3.69213985e-05 -9.99997613e-01 4.64055408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.857628 meters 0.013060366597730622 Centerline is valid? [True, True] Translation: X:201.49, Y:-95.36, Z:0.47 [[-9.78290834e-01 -2.07216651e-01 2.88167813e-03 2.01490532e+02] [-2.07215907e-01 9.78295077e-01 5.57522933e-04 -9.53599310e+01] [-2.93465957e-03 -5.17099738e-05 -9.99995693e-01 4.65229536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91762799999998 meters 0.013122492743760601 Centerline is valid? [True, True] Translation: X:201.48, Y:-95.34, Z:0.47 [[-9.60462935e-01 -2.78385677e-01 3.51634480e-03 2.01479019e+02] [-2.78384050e-01 9.60469370e-01 9.53822237e-04 -9.53364592e+01] [-3.64287192e-03 -6.27833983e-05 -9.99993363e-01 4.66592701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97762799999998 meters 0.012923081393357233 Centerline is valid? [True, True] Translation: X:201.45, Y:-95.32, Z:0.47 [[-9.38645765e-01 -3.44851832e-01 4.61978012e-03 2.01452873e+02] [-3.44847986e-01 9.38657131e-01 1.63000910e-03 -9.53216960e+01] [-4.89850117e-03 -6.31207320e-05 -9.99988000e-01 4.67608061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03762799999998 meters 0.01257994489938187 Centerline is valid? [True, True] Translation: X:201.40, Y:-95.32, Z:0.47 [[-9.13221028e-01 -4.07427864e-01 5.46706637e-03 2.01397696e+02] [-4.07420798e-01 9.13237392e-01 2.39989896e-03 -9.53248925e+01] [-5.97051514e-03 -3.57583474e-05 -9.99982176e-01 4.68354879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.097628 meters 0.01294151641877019 Centerline is valid? [True, True] Translation: X:201.34, Y:-95.33, Z:0.47 [[-8.84202379e-01 -4.67073774e-01 5.31437360e-03 2.01343490e+02] [-4.67065258e-01 8.84218349e-01 2.82051698e-03 -9.53329675e+01] [-6.01645616e-03 1.17485509e-05 -9.99981901e-01 4.68850815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.157628 meters 0.014018806550901645 Centerline is valid? [True, True] Translation: X:201.27, Y:-95.35, Z:0.47 [[-8.50241689e-01 -5.26350219e-01 6.67216240e-03 2.01272109e+02] [-5.26333305e-01 8.50267864e-01 4.22028701e-03 -9.53530504e+01] [-7.89447427e-03 7.64826634e-05 -9.99968835e-01 4.70130121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.217628 meters 0.01661504610523761 Centerline is valid? [True, True] Translation: X:201.20, Y:-95.39, Z:0.47 [[-8.14471148e-01 -5.80157768e-01 7.32887018e-03 2.01199334e+02] [-5.80132146e-01 8.14504099e-01 5.45581692e-03 -9.53864257e+01] [-9.13462937e-03 1.91892287e-04 -9.99958260e-01 4.70913828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.277628 meters 0.01868530156287666 Centerline is valid? [True, True] Translation: X:201.12, Y:-95.43, Z:0.47 [[-7.73777730e-01 -6.33416117e-01 7.21442863e-03 2.01119083e+02] [-6.33385098e-01 7.73811309e-01 6.27504266e-03 -9.54285158e+01] [-9.55731961e-03 2.85976675e-04 -9.99954287e-01 4.71152412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.337628 meters 0.019308952758880737 Centerline is valid? [True, True] Translation: X:201.03, Y:-95.48, Z:0.47 [[-7.25401850e-01 -6.88292830e-01 6.71837911e-03 2.01034814e+02] [-6.88259230e-01 7.25432892e-01 6.80820926e-03 -9.54766480e+01] [-9.55977481e-03 3.14701161e-04 -9.99954255e-01 4.71134344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.397628 meters 0.018331717848816584 Centerline is valid? [True, True] Translation: X:200.95, Y:-95.53, Z:0.47 [[-6.69849517e-01 -7.42480875e-01 4.87592782e-03 2.00945622e+02] [-7.42458655e-01 6.69867224e-01 5.74870025e-03 -9.55328926e+01] [-7.53452422e-03 2.30589275e-04 -9.99971588e-01 4.70049962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.457628 meters 0.020635337051476407 Centerline is valid? [True, True] Translation: X:200.86, Y:-95.61, Z:0.47 [[-6.10938582e-01 -7.91666555e-01 4.25606551e-03 2.00857170e+02] [-7.91644800e-01 6.10953368e-01 5.87314391e-03 -9.56051972e+01] [-7.24982917e-03 2.18838090e-04 -9.99973696e-01 4.72018041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.517628 meters 0.018994501819137383 Centerline is valid? [True, True] Translation: X:200.77, Y:-95.68, Z:0.47 [[-5.47039293e-01 -8.37098246e-01 3.81280185e-03 2.00773120e+02] [-8.37075209e-01 5.47052541e-01 6.21384096e-03 -9.56796067e+01] [-7.28739831e-03 2.07613264e-04 -9.99973425e-01 4.70306762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.577628 meters 0.018478792260989533 Centerline is valid? [True, True] Translation: X:200.69, Y:-95.76, Z:0.47 [[-4.81429908e-01 -8.76479331e-01 3.03750383e-03 2.00694897e+02] [-8.76459339e-01 4.81439453e-01 5.92277385e-03 -9.57596996e+01] [-6.65356304e-03 1.89151868e-04 -9.99977847e-01 4.68559283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.637628 meters 0.019461822402372646 Centerline is valid? [True, True] Translation: X:200.62, Y:-95.85, Z:0.47 [[-4.13907167e-01 -9.10317052e-01 1.92941844e-03 2.00620796e+02] [-9.10305541e-01 4.13911640e-01 4.57991653e-03 -9.58491426e+01] [-4.96778486e-03 1.39299982e-04 -9.99987651e-01 4.69544021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69762799999998 meters 0.018333282570447446 Centerline is valid? [True, True] Translation: X:200.55, Y:-95.95, Z:0.47 [[-3.42630311e-01 -9.39470072e-01 6.73005016e-04 2.00551912e+02] [-9.39468035e-01 3.42630970e-01 1.95715316e-03 -9.59477185e+01] [-2.06927919e-03 3.83132973e-05 -9.99997858e-01 4.66177616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75762799999998 meters 0.016935647468155596 Centerline is valid? [True, True] Translation: X:200.49, Y:-96.06, Z:0.46 [[-2.65722571e-01 -9.64049537e-01 7.92144262e-05 2.00487159e+02] [-9.64049520e-01 2.65722581e-01 1.83159272e-04 -9.60575177e+01] [-1.97623673e-04 -2.76970770e-05 -9.99999980e-01 4.64757189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.81762799999998 meters 0.016276542418197128 Centerline is valid? [True, True] Translation: X:200.43, Y:-96.16, Z:0.46 [[-1.86763160e-01 -9.82404942e-01 -2.30125122e-04 2.00434194e+02] [-9.82403591e-01 1.86763285e-01 -1.63112494e-03 -9.61630099e+01] [ 1.64540412e-03 -7.85583002e-05 -9.99998643e-01 4.63682712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.877628 meters 0.014633042484639855 Centerline is valid? [True, True] Translation: X:200.38, Y:-96.28, Z:0.46 [[-1.03006420e-01 -9.94680687e-01 -9.38552261e-05 2.00383785e+02] [-9.94679517e-01 1.03006443e-01 -1.52667439e-03 -9.62801004e+01] [ 1.52822122e-03 -6.39013928e-05 -9.99998830e-01 4.64933192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.937628 meters 0.01283585583430601 Centerline is valid? [True, True] Translation: X:200.35, Y:-96.40, Z:0.47 [[-1.80077212e-02 -9.99837847e-01 3.62786904e-05 2.00346058e+02] [-9.99837755e-01 1.80077352e-02 4.31157704e-04 -9.64029890e+01] [-4.31741087e-04 -2.85086367e-05 -9.99999906e-01 4.66947359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.997628 meters 0.01214305123472911 Centerline is valid? [True, True] Translation: X:200.32, Y:-96.53, Z:0.47 [[ 6.45912211e-02 -9.97911806e-01 -4.19754132e-05 2.00322264e+02] [-9.97911240e-01 -6.45912291e-02 1.06297312e-03 -9.65278255e+01] [-1.06346467e-03 -2.67709954e-05 -9.99999434e-01 4.68198605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.057628 meters 0.011948627866011566 Centerline is valid? [True, True] Translation: X:200.31, Y:-96.65, Z:0.47 [[ 1.43832981e-01 -9.89601966e-01 -1.47234539e-04 2.00308699e+02] [-9.89601224e-01 -1.43833054e-01 1.21220396e-03 -9.66475940e+01] [-1.22077662e-03 -2.86514287e-05 -9.99999254e-01 4.69351738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.117628 meters 0.011968400623422262 Centerline is valid? [True, True] Translation: X:200.31, Y:-96.77, Z:0.47 [[ 2.21001276e-01 -9.75273488e-01 -2.45061204e-04 2.00309331e+02] [-9.75272729e-01 -2.21001410e-01 1.21720275e-03 -9.67715996e+01] [-1.24126444e-03 -3.00018517e-05 -9.99999229e-01 4.69467930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.177628 meters 0.011976174649344714 Centerline is valid? [True, True] Translation: X:200.32, Y:-96.89, Z:0.47 [[ 2.96262372e-01 -9.55106419e-01 -5.79300923e-04 2.00319983e+02] [-9.55104396e-01 -2.96262937e-01 1.96579625e-03 -9.68945247e+01] [-2.04917001e-03 -2.90986013e-05 -9.99997900e-01 4.69788002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.237628 meters 0.012110984023244165 Centerline is valid? [True, True] Translation: X:200.34, Y:-97.01, Z:0.47 [[ 3.69274551e-01 -9.29319202e-01 -1.45825983e-03 2.00336218e+02] [-9.29311681e-01 -3.69277429e-01 3.73906581e-03 -9.70057252e+01] [-4.01328810e-03 -2.55639507e-05 -9.99991946e-01 4.71715073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.297628 meters 0.012248867002012023 Centerline is valid? [True, True] Translation: X:200.36, Y:-97.12, Z:0.47 [[ 4.38549255e-01 -8.98705320e-01 -1.81628426e-03 2.00363488e+02] [-8.98697435e-01 -4.38553016e-01 3.76479055e-03 -9.71231498e+01] [-4.17997424e-03 -1.87560863e-05 -9.99991264e-01 4.72028916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.357628 meters 0.012423583333971264 Centerline is valid? [True, True] Translation: X:200.39, Y:-97.24, Z:0.47 [[ 5.04974917e-01 -8.63132347e-01 -1.69838688e-03 2.00394327e+02] [-8.63127364e-01 -5.04977773e-01 2.93312833e-03 -9.72360371e+01] [-3.38932557e-03 -1.52320433e-05 -9.99994256e-01 4.72373601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41762799999998 meters 0.012663282593889645 Centerline is valid? [True, True] Translation: X:200.43, Y:-97.34, Z:0.47 [[ 5.68141949e-01 -8.22928004e-01 -2.05577691e-03 2.00431947e+02] [-8.22922578e-01 -5.68145669e-01 2.98827246e-03 -9.73440897e+01] [-3.62711384e-03 -6.01770590e-06 -9.99993422e-01 4.71890885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47762799999998 meters 0.013383423064092752 Centerline is valid? [True, True] Translation: X:200.48, Y:-97.44, Z:0.47 [[ 6.26590837e-01 -7.79343252e-01 -2.83173017e-03 2.00478019e+02] [-7.79335427e-01 -6.26597236e-01 3.49237036e-03 -9.74449316e+01] [-4.49610956e-03 1.85803732e-05 -9.99989892e-01 4.71186503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53762799999998 meters 0.015759427562881286 Centerline is valid? [True, True] Translation: X:200.53, Y:-97.54, Z:0.47 [[ 6.77579869e-01 -7.35445867e-01 -2.21292254e-03 2.00533580e+02] [-7.35442113e-01 -6.77583482e-01 2.35018109e-03 -9.75422082e+01] [-3.22787072e-03 3.50410329e-05 -9.99994790e-01 4.70701312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.597628 meters 0.021881488342907762 Centerline is valid? [True, True] Translation: X:200.59, Y:-97.62, Z:0.48 [[ 7.24183540e-01 -6.89599499e-01 -3.27588983e-03 2.00587096e+02] [-6.89593122e-01 -7.24190941e-01 2.96770310e-03 -9.76244795e+01] [-4.41889631e-03 1.09869365e-04 -9.99990231e-01 4.75447455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.657628 meters 0.02152308088195354 Centerline is valid? [True, True] Translation: X:200.61, Y:-97.64, Z:0.47 [[ 7.72825437e-01 -6.34610558e-01 -3.20687800e-03 2.00607411e+02] [-6.34605715e-01 -7.72832081e-01 2.48196964e-03 -9.76442148e+01] [-4.05346234e-03 1.16973835e-04 -9.99991778e-01 4.72214023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.717628 meters 0.020338768944509894 Centerline is valid? [True, True] Translation: X:200.62, Y:-97.67, Z:0.47 [[ 8.19685826e-01 -5.72799706e-01 -3.95518437e-03 2.00623738e+02] [-5.72793882e-01 -8.19695355e-01 2.58702778e-03 -9.76695638e+01] [-4.72389502e-03 1.44955406e-04 -9.99988832e-01 4.71285057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.777628 meters 0.02118219309067939 Centerline is valid? [True, True] Translation: X:200.64, Y:-97.69, Z:0.47 [[ 8.64474895e-01 -5.02662986e-01 -3.61646107e-03 2.00642366e+02] [-5.02659077e-01 -8.64482453e-01 1.98503896e-03 -9.76896981e+01] [-4.12417275e-03 1.01830638e-04 -9.99991490e-01 4.71043341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.837628 meters 0.015192014083695788 Centerline is valid? [True, True] Translation: X:200.66, Y:-97.72, Z:0.47 [[ 9.06349141e-01 -4.22528404e-01 -9.90777567e-04 2.00656900e+02] [-4.22528139e-01 -9.06349683e-01 4.73090217e-04 -9.77241792e+01] [-1.09788499e-03 -1.01535104e-05 -9.99999397e-01 4.68530567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.897628 meters 0.01289964734284615 Centerline is valid? [True, True] Translation: X:200.68, Y:-97.75, Z:0.47 [[ 9.41074749e-01 -3.38197810e-01 7.46809038e-04 2.00677668e+02] [-3.38197735e-01 -9.41075045e-01 -2.27694271e-04 -9.77517682e+01] [ 7.79809053e-04 -3.82917965e-05 -9.99999695e-01 4.66747726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.957628 meters 0.01255888146265114 Centerline is valid? [True, True] Translation: X:200.70, Y:-97.77, Z:0.47 [[ 9.66410605e-01 -2.56999267e-01 1.38544066e-03 2.00702460e+02] [-2.56999052e-01 -9.66411597e-01 -3.34014065e-04 -9.77736997e+01] [ 1.42474729e-03 -3.32622013e-05 -9.99998984e-01 4.66517711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.017628 meters 0.012856792678669769 Centerline is valid? [True, True] Translation: X:200.73, Y:-97.79, Z:0.47 [[ 9.84494059e-01 -1.75417393e-01 4.30795264e-04 2.00728498e+02] [-1.75417389e-01 -9.84494153e-01 -4.60725994e-05 -9.77916289e+01] [ 4.32197354e-04 -3.02107803e-05 -9.99999906e-01 4.68049637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.077628 meters 0.012956068833728525 Centerline is valid? [True, True] Translation: X:200.75, Y:-97.80, Z:0.47 [[ 9.95372205e-01 -9.60585435e-02 -2.63239702e-03 2.00754567e+02] [-9.60580765e-02 -9.95375685e-01 3.03570490e-04 -9.78014380e+01] [-2.64938452e-03 -4.93026338e-05 -9.99996489e-01 4.71119715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.137628 meters 0.012835980941249974 Centerline is valid? [True, True] Translation: X:200.78, Y:-97.81, Z:0.47 [[ 9.99813775e-01 -1.87440918e-02 -4.59058878e-03 2.00781068e+02] [-1.87436297e-02 -9.99824312e-01 1.43660011e-04 -9.78075189e+01] [-4.59247505e-03 -5.75889615e-05 -9.99989453e-01 4.72088465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19762799999998 meters 0.012710385884855104 Centerline is valid? [True, True] Translation: X:200.81, Y:-97.81, Z:0.47 [[ 9.98465462e-01 5.49634840e-02 -6.76284586e-03 2.00807412e+02] [ 5.49624832e-02 -9.98488364e-01 -3.33889362e-04 -9.78060060e+01] [-6.77097462e-03 -3.83258051e-05 -9.99977076e-01 4.73987645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25762799999998 meters 0.013021895645379856 Centerline is valid? [True, True] Translation: X:200.83, Y:-97.80, Z:0.47 [[ 9.91931580e-01 1.26594677e-01 -6.74747224e-03 2.00832833e+02] [ 1.26591710e-01 -9.91954529e-01 -8.66770589e-04 -9.78002303e+01] [-6.80291420e-03 5.60306917e-06 -9.99976860e-01 4.74016291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.31762799999998 meters 0.013209738653968201 Centerline is valid? [True, True] Translation: X:200.86, Y:-97.80, Z:0.47 [[ 9.79455489e-01 2.01563827e-01 -6.24247964e-03 2.00858155e+02] [ 2.01559613e-01 -9.79475382e-01 -1.30344811e-03 -9.77999939e+01] [-6.37708312e-03 1.84376213e-05 -9.99979666e-01 4.73887447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.377628 meters 0.01474499136496996 Centerline is valid? [True, True] Translation: X:200.88, Y:-97.79, Z:0.47 [[ 9.62915402e-01 2.69758553e-01 -4.92470762e-03 2.00880507e+02] [ 2.69754756e-01 -9.62927994e-01 -1.43214330e-03 -9.77885273e+01] [-5.12847173e-03 5.05695369e-05 -9.99986848e-01 4.71637931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.437628 meters 0.015604484419638642 Centerline is valid? [True, True] Translation: X:200.91, Y:-97.78, Z:0.47 [[ 9.40066437e-01 3.40985001e-01 -2.07918900e-03 2.00905321e+02] [ 3.40984139e-01 -9.40068736e-01 -7.66731303e-04 -9.77845303e+01] [-2.21602445e-03 1.18078935e-05 -9.99997545e-01 4.69664989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.497628 meters 0.01617989092875043 Centerline is valid? [True, True] Translation: X:200.93, Y:-97.78, Z:0.47 [[ 9.11872249e-01 4.10470811e-01 -1.64777355e-03 2.00930731e+02] [ 4.10470121e-01 -9.11873737e-01 -7.52745851e-04 -9.77817451e+01] [-1.81154162e-03 1.00462436e-05 -9.99998359e-01 4.70087291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.557628 meters 0.015948813382588956 Centerline is valid? [True, True] Translation: X:200.96, Y:-97.78, Z:0.47 [[ 8.77094002e-01 4.80307103e-01 -3.34636356e-03 2.00957199e+02] [ 4.80303353e-01 -8.77100384e-01 -1.89873976e-03 -9.77804213e+01] [-3.84707496e-03 5.81036165e-05 -9.99992598e-01 4.71651881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.617628 meters 0.015907006566325432 Centerline is valid? [True, True] Translation: X:200.98, Y:-97.78, Z:0.47 [[ 8.36419309e-01 5.48072503e-01 -4.38991842e-03 2.00983593e+02] [ 5.48064396e-01 -8.36430824e-01 -2.98229135e-03 -9.77771017e+01] [-5.30637496e-03 8.84880795e-05 -9.99985917e-01 4.73034176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.677628 meters 0.015745045227557045 Centerline is valid? [True, True] Translation: X:201.01, Y:-97.77, Z:0.47 [[ 7.90299655e-01 6.12704325e-01 -4.45696830e-03 2.01010586e+02] [ 6.12693924e-01 -7.90312218e-01 -3.57133040e-03 -9.77715926e+01] [-5.71056608e-03 9.16637869e-05 -9.99983690e-01 4.73392890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.737628 meters 0.014994278084075245 Centerline is valid? [True, True] Translation: X:201.04, Y:-97.76, Z:0.47 [[ 7.37366144e-01 6.75480141e-01 -4.21303027e-03 2.01037863e+02] [ 6.75468559e-01 -7.37378176e-01 -3.95611419e-03 -9.77645742e+01] [-5.77887315e-03 7.13351753e-05 -9.99983300e-01 4.72503393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.797628 meters 0.013747560730467255 Centerline is valid? [True, True] Translation: X:201.07, Y:-97.76, Z:0.47 [[ 6.78454028e-01 7.34640288e-01 -1.94413681e-03 2.01066238e+02] [ 7.34637250e-01 -6.78456813e-01 -2.11262517e-03 -9.77574326e+01] [-2.87103243e-03 5.08373460e-06 -9.99995879e-01 4.70490222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.857628 meters 0.013475160388160675 Centerline is valid? [True, True] Translation: X:201.09, Y:-97.75, Z:0.47 [[ 6.17721065e-01 7.86397108e-01 -5.24213486e-04 2.01090157e+02] [ 7.86396854e-01 -6.17721287e-01 -6.32064914e-04 -9.77458491e+01] [-8.20871849e-04 -2.18000247e-05 -9.99999663e-01 4.70329880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91762799999998 meters 0.014022134752785562 Centerline is valid? [True, True] Translation: X:201.11, Y:-97.73, Z:0.47 [[ 5.56416752e-01 8.30902779e-01 9.84625147e-04 2.01107986e+02] [ 8.30901295e-01 -5.56417620e-01 1.57162133e-03 -9.77270345e+01] [ 1.85372732e-03 -5.63501279e-05 -9.99998280e-01 4.67592227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97762799999998 meters 0.015208806218473257 Centerline is valid? [True, True] Translation: X:201.12, Y:-97.71, Z:0.47 [[ 4.95175689e-01 8.68792070e-01 1.17325834e-03 2.01123645e+02] [ 8.68789230e-01 -4.95177073e-01 2.22271960e-03 -9.77067709e+01] [ 2.51205179e-03 -8.13224942e-05 -9.99996841e-01 4.66336021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03762799999998 meters 0.016450592847136448 Centerline is valid? [True, True] Translation: X:201.14, Y:-97.69, Z:0.47 [[ 4.29664159e-01 9.02988700e-01 3.43517034e-04 2.01138801e+02] [ 9.02988306e-01 -4.29664293e-01 8.45548057e-04 -9.76863998e+01] [ 9.11117344e-04 -5.31098303e-05 -9.99999584e-01 4.68395027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.097628 meters 0.016116090845906397 Centerline is valid? [True, True] Translation: X:201.16, Y:-97.67, Z:0.47 [[ 3.59102839e-01 9.33297943e-01 -3.16752051e-04 2.01158956e+02] [ 9.33297599e-01 -3.59102979e-01 -8.00927199e-04 -9.76679028e+01] [-8.61250313e-04 -8.00869793e-06 -9.99999629e-01 4.70868195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.157628 meters 0.016804811339162215 Centerline is valid? [True, True] Translation: X:201.17, Y:-97.65, Z:0.47 [[ 2.84254752e-01 9.58748666e-01 -4.80216852e-04 2.01172533e+02] [ 9.58747214e-01 -2.84255158e-01 -1.66861225e-03 -9.76474561e+01] [-1.73628389e-03 1.39043935e-05 -9.99998493e-01 4.71105368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.217628 meters 0.01583337990880048 Centerline is valid? [True, True] Translation: X:201.19, Y:-97.63, Z:0.47 [[ 2.06518685e-01 9.78442625e-01 -2.49330465e-04 2.01187207e+02] [ 9.78441923e-01 -2.06518836e-01 -1.17212226e-03 -9.76256838e+01] [-1.19834581e-03 -1.89023221e-06 -9.99999282e-01 4.69574882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.277628 meters 0.015339342919435846 Centerline is valid? [True, True] Translation: X:201.20, Y:-97.60, Z:0.47 [[ 1.24704965e-01 9.92193866e-01 -6.01534502e-05 2.01201254e+02] [ 9.92193827e-01 -1.24704977e-01 -2.79469462e-04 -9.76042813e+01] [-2.84789320e-04 -2.48326525e-05 -9.99999959e-01 4.70646985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.337628 meters 0.01369929997390728 Centerline is valid? [True, True] Translation: X:201.21, Y:-97.58, Z:0.47 [[ 3.90708706e-02 9.99236442e-01 -2.76135774e-05 2.01211400e+02] [ 9.99236438e-01 -3.90708678e-02 9.47368618e-05 -9.75802063e+01] [ 9.35856383e-05 -3.12939443e-05 -9.99999995e-01 4.70907240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.397628 meters 0.012616253155190906 Centerline is valid? [True, True] Translation: X:201.22, Y:-97.55, Z:0.47 [[-4.49583236e-02 9.98988863e-01 2.86127405e-05 2.01223077e+02] [ 9.98988200e-01 4.49583267e-02 -1.15078718e-03 -9.75547559e+01] [-1.15090996e-03 -2.31536724e-05 -9.99999337e-01 4.72039585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.457628 meters 0.012390942515710388 Centerline is valid? [True, True] Translation: X:201.23, Y:-97.53, Z:0.47 [[-1.30995273e-01 9.91382940e-01 3.22139233e-04 2.01231872e+02] [ 9.91379245e-01 1.30995665e-01 -2.70695559e-03 -9.75290469e+01] [-2.72582844e-03 -3.52362380e-05 -9.99996284e-01 4.73470984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.517628 meters 0.012758093265079033 Centerline is valid? [True, True] Translation: X:201.24, Y:-97.50, Z:0.48 [[-2.14307444e-01 9.76766018e-01 6.81818252e-04 2.01237955e+02] [ 9.76760181e-01 2.14308520e-01 -3.37744600e-03 -9.75024861e+01] [-3.44509394e-03 -5.78388977e-05 -9.99994064e-01 4.75455443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.577628 meters 0.013042173141394981 Centerline is valid? [True, True] Translation: X:201.24, Y:-97.48, Z:0.48 [[-2.92443898e-01 9.56282168e-01 9.90985648e-04 2.01237502e+02] [ 9.56275868e-01 2.92445570e-01 -3.47184407e-03 -9.74770196e+01] [-3.60987194e-03 -6.76639556e-05 -9.99993482e-01 4.75103288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.637628 meters 0.013166698536633178 Centerline is valid? [True, True] Translation: X:201.23, Y:-97.45, Z:0.47 [[-3.67480601e-01 9.30031082e-01 4.41849133e-04 2.01234973e+02] [ 9.30030255e-01 3.67480864e-01 -1.24066575e-03 -9.74508924e+01] [-1.31622881e-03 -4.49875349e-05 -9.99999133e-01 4.73684016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69762799999998 meters 0.01296085276601604 Centerline is valid? [True, True] Translation: X:201.23, Y:-97.43, Z:0.47 [[-4.38179266e-01 8.98887576e-01 -2.39641081e-04 2.01229886e+02] [ 8.98887470e-01 4.38179331e-01 4.35731066e-04 -9.74261465e+01] [ 4.96679010e-04 -2.44820465e-05 -9.99999876e-01 4.72049750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75762799999998 meters 0.012431038958620771 Centerline is valid? [True, True] Translation: X:201.22, Y:-97.40, Z:0.47 [[-5.02954927e-01 8.64311917e-01 -1.11850253e-03 2.01222003e+02] [ 8.64309857e-01 5.02956171e-01 1.88697581e-03 -9.74022222e+01] [ 2.19349343e-03 -1.76689834e-05 -9.99997594e-01 4.71398731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.81762799999998 meters 0.012131477327509573 Centerline is valid? [True, True] Translation: X:201.22, Y:-97.38, Z:0.47 [[-5.65887375e-01 8.24481538e-01 -1.29308431e-03 2.01215341e+02] [ 8.24479490e-01 5.65888852e-01 1.83788195e-03 -9.73775270e+01] [ 2.24704173e-03 -2.60873057e-05 -9.99997475e-01 4.73000365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.877628 meters 0.012137727903132764 Centerline is valid? [True, True] Translation: X:201.21, Y:-97.35, Z:0.48 [[-6.27545094e-01 7.78580204e-01 -1.48107292e-04 2.01207305e+02] [ 7.78580192e-01 6.27545110e-01 1.36918650e-04 -9.73526143e+01] [ 1.99546157e-04 -2.93907766e-05 -9.99999980e-01 4.75870921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.937628 meters 0.012134068867161837 Centerline is valid? [True, True] Translation: X:201.20, Y:-97.33, Z:0.48 [[-6.87272850e-01 7.26397607e-01 1.59554122e-03 2.01197751e+02] [ 7.26395543e-01 6.87274701e-01 -1.73209681e-03 -9.73276996e+01] [-2.35476609e-03 -3.14290797e-05 -9.99997227e-01 4.78644465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.997628 meters 0.0122090167120984 Centerline is valid? [True, True] Translation: X:201.18, Y:-97.31, Z:0.48 [[-7.42915694e-01 6.69374179e-01 3.80529745e-03 2.01184633e+02] [ 6.69365119e-01 7.42925438e-01 -3.48287232e-03 -9.73057678e+01] [-5.15839708e-03 -4.03471246e-05 -9.99986695e-01 4.80814962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.057628 meters 0.012163301720815598 Centerline is valid? [True, True] Translation: X:201.20, Y:-97.29, Z:0.48 [[-7.87861880e-01 6.15831840e-01 4.98034544e-03 2.01204121e+02] [ 6.15819258e-01 7.87877620e-01 -3.93663324e-03 -9.72878876e+01] [-6.34820680e-03 -3.45306277e-05 -9.99979849e-01 4.81028503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.117628 meters 0.01545414471017085 Centerline is valid? [True, True] Translation: X:201.23, Y:-97.27, Z:0.49 [[-8.27869930e-01 5.60886787e-01 6.11485423e-03 2.01230564e+02] [ 5.60871355e-01 8.27892512e-01 -4.16066246e-03 -9.72725033e+01] [-7.39610263e-03 -1.48407634e-05 -9.99972648e-01 4.85372741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.177628 meters 0.012356620088275705 Centerline is valid? [True, True] Translation: X:201.25, Y:-97.25, Z:0.48 [[-8.64869837e-01 5.01975354e-01 4.57270564e-03 2.01247835e+02] [ 5.01968267e-01 8.64881925e-01 -2.66731035e-03 -9.72514683e+01] [-5.29377451e-03 -1.15231415e-05 -9.99985988e-01 4.80447914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.237628 meters 0.012339514410636694 Centerline is valid? [True, True] Translation: X:201.27, Y:-97.23, Z:0.48 [[-8.97979828e-01 4.40023070e-01 3.45344448e-03 2.01266466e+02] [ 4.40019759e-01 8.97986469e-01 -1.70692818e-03 -9.72313440e+01] [-3.85223419e-03 -1.32032598e-05 -9.99992580e-01 4.79205074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.297628 meters 0.012342546552180563 Centerline is valid? [True, True] Translation: X:201.28, Y:-97.21, Z:0.48 [[-9.27523577e-01 3.73760194e-01 1.82523601e-03 2.01282258e+02] [ 3.73759422e-01 9.27525373e-01 -7.60174237e-04 -9.72082972e+01] [-1.97707558e-03 -2.28803733e-05 -9.99998045e-01 4.77397578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.357628 meters 0.012432854581142423 Centerline is valid? [True, True] Translation: X:201.29, Y:-97.18, Z:0.48 [[-9.52381843e-01 3.04902473e-01 1.81850487e-03 2.01293455e+02] [ 3.04901862e-01 9.52383579e-01 -6.11019524e-04 -9.71814790e+01] [-1.91821554e-03 -2.74583786e-05 -9.99998160e-01 4.78504054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41762799999998 meters 0.012584550341326002 Centerline is valid? [True, True] Translation: X:201.30, Y:-97.16, Z:0.48 [[-9.72117436e-01 2.34466514e-01 3.62546327e-03 2.01302886e+02] [ 2.34464740e-01 9.72124196e-01 -9.12827961e-04 -9.71568812e+01] [-3.73842816e-03 -3.73326736e-05 -9.99993011e-01 4.81154613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47762799999998 meters 0.012820089248012397 Centerline is valid? [True, True] Translation: X:201.31, Y:-97.13, Z:0.48 [[-9.86688092e-01 1.62556687e-01 4.68319181e-03 2.01307174e+02] [ 1.62554605e-01 9.86699205e-01 -8.24465706e-04 -9.71320020e+01] [-4.75492404e-03 -5.22161027e-05 -9.99988694e-01 4.81213774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53762799999998 meters 0.013065769631901964 Centerline is valid? [True, True] Translation: X:201.45, Y:-96.36, Z:-0.45 [[-9.70282859e-01 -2.41933934e-01 4.37546492e-03 2.01445991e+02] [ 2.41931633e-01 -9.70292724e-01 -1.05576335e-03 -9.63645307e+01] [ 4.50090675e-03 3.41742943e-05 9.99989870e-01 -4.50112856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.597628 meters 0.013487356474141728 Centerline is valid? [True, True] Translation: X:201.26, Y:-97.12, Z:0.48 [[-9.88161866e-01 1.53325285e-01 5.24250800e-03 2.01258737e+02] [ 1.53322671e-01 9.88175769e-01 -8.99291063e-04 -9.71191915e+01] [-5.31840343e-03 -8.48498061e-05 -9.99985854e-01 4.83136901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.657628 meters 0.013473147887578741 Centerline is valid? [True, True] Translation: X:201.26, Y:-97.09, Z:0.48 [[-9.96535932e-01 8.30402633e-02 4.52217107e-03 2.01262249e+02] [ 8.30390660e-02 9.96546190e-01 -4.52196785e-04 -9.70924408e+01] [-4.54410289e-03 -7.51134829e-05 -9.99989673e-01 4.82684010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.717628 meters 0.013001554992765786 Centerline is valid? [True, True] Translation: X:201.27, Y:-97.07, Z:0.48 [[-9.99868118e-01 1.60886795e-02 2.21366344e-03 2.01267868e+02] [ 1.60885494e-02 9.99870568e-01 -7.65521536e-05 -9.70688872e+01] [-2.21460855e-03 -4.09274241e-05 -9.99997547e-01 4.81089829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.777628 meters 0.012882187162517633 Centerline is valid? [True, True] Translation: X:201.25, Y:-97.05, Z:0.48 [[-9.98664642e-01 -5.16042552e-02 2.43574905e-03 2.01245124e+02] [-5.16041855e-02 9.98667612e-01 9.14871866e-05 -9.70450662e+01] [-2.43722482e-03 -3.43298274e-05 -9.99997029e-01 4.81961651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.837628 meters 0.012878435235331626 Centerline is valid? [True, True] Translation: X:201.27, Y:-97.02, Z:0.49 [[-9.92696670e-01 -1.20515440e-01 5.41759994e-03 2.01268888e+02] [-1.20513830e-01 9.92711452e-01 6.23859123e-04 -9.70181651e+01] [-5.45329816e-03 -3.35928456e-05 -9.99985130e-01 4.85678591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.897628 meters 0.013170409472152455 Centerline is valid? [True, True] Translation: X:201.18, Y:-96.24, Z:-0.46 [[-9.98825785e-01 4.77763107e-02 8.02968703e-03 2.01175894e+02] [-4.77730234e-02 -9.98858037e-01 6.00806117e-04 -9.62428678e+01] [ 8.04922172e-03 2.16498214e-04 9.99967581e-01 -4.58189166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.957628 meters 0.013442234660090927 Centerline is valid? [True, True] Translation: X:201.16, Y:-97.02, Z:0.49 [[-9.91118617e-01 -1.32356894e-01 1.28662282e-02 2.01164711e+02] [-1.32347319e-01 9.91202118e-01 1.59656200e-03 -9.70214758e+01] [-1.29643487e-02 -1.20428492e-04 -9.99915952e-01 4.92064982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.017628 meters 0.013598241006437296 Centerline is valid? [True, True] Translation: X:201.07, Y:-96.26, Z:-0.46 [[-9.98662214e-01 4.98072929e-02 1.38929849e-02 2.01070688e+02] [-4.97998005e-02 -9.98758828e-01 8.84940154e-04 -9.62615127e+01] [ 1.39198178e-02 1.91888418e-04 9.99903096e-01 -4.62028791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.077628 meters 0.014979117774837788 Centerline is valid? [True, True] Translation: X:201.06, Y:-97.03, Z:0.50 [[-9.90514234e-01 -1.36525090e-01 1.55708959e-02 2.01061540e+02] [-1.36509948e-01 9.90636607e-01 2.03621542e-03 -9.70321648e+01] [-1.57030940e-02 -1.08681833e-04 -9.99876693e-01 4.95575870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.137628 meters 0.013357608191048065 Centerline is valid? [True, True] Translation: X:201.06, Y:-97.01, Z:0.49 [[-9.79555039e-01 -2.00712020e-01 1.36605605e-02 2.01057127e+02] [-2.00692654e-01 9.79650287e-01 2.78807716e-03 -9.70095574e+01] [-1.39421726e-02 -1.04991186e-05 -9.99902803e-01 4.93582683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19762799999998 meters 0.013620823177096246 Centerline is valid? [True, True] Translation: X:201.04, Y:-96.99, Z:0.49 [[-9.64114821e-01 -2.65258610e-01 1.09763764e-02 2.01041873e+02] [-2.65240824e-01 9.64177301e-01 3.07213202e-03 -9.69902950e+01] [-1.13980824e-02 5.05049011e-05 -9.99935038e-01 4.90539858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25762799999998 meters 0.013742508460528005 Centerline is valid? [True, True] Translation: X:201.00, Y:-96.98, Z:0.49 [[-9.42990032e-01 -3.32679430e-01 9.70552247e-03 2.01002339e+02] [-3.32661138e-01 9.43039974e-01 3.48913582e-03 -9.69761407e+01] [-1.03134594e-02 6.15701469e-05 -9.99946813e-01 4.89609096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.31762799999998 meters 0.013897193259235366 Centerline is valid? [True, True] Translation: X:200.95, Y:-96.97, Z:0.49 [[-9.15745176e-01 -4.01628258e-01 1.02720926e-02 2.00949323e+02] [-4.01602215e-01 9.15802784e-01 4.57411810e-03 -9.69703863e+01] [-1.12443061e-02 6.34314498e-05 -9.99936779e-01 4.90538200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.377628 meters 0.01365184612380319 Centerline is valid? [True, True] Translation: X:200.88, Y:-96.97, Z:0.49 [[-8.82508918e-01 -4.70198384e-01 9.56501070e-03 2.00881733e+02] [-4.70170320e-01 8.82560751e-01 5.13730453e-03 -9.69736791e+01] [-1.08572553e-02 3.65329230e-05 -9.99941058e-01 4.90475768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.437628 meters 0.013432550455488471 Centerline is valid? [True, True] Translation: X:200.80, Y:-96.99, Z:0.49 [[-8.41388766e-01 -5.40351032e-01 9.25777446e-03 2.00804550e+02] [-5.40318833e-01 8.41439695e-01 5.89898015e-03 -9.69852353e+01] [-1.09773789e-02 -3.88142604e-05 -9.99939746e-01 4.90399355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.497628 meters 0.013673810768337286 Centerline is valid? [True, True] Translation: X:200.72, Y:-97.01, Z:0.49 [[-7.94757813e-01 -6.06869106e-01 8.36100790e-03 2.00719554e+02] [-6.06836919e-01 7.94801785e-01 6.25116327e-03 -9.70065192e+01] [-1.04389819e-02 -1.05607417e-04 -9.99945507e-01 4.90399758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.557628 meters 0.014978602994734637 Centerline is valid? [True, True] Translation: X:200.64, Y:-97.03, Z:0.49 [[-7.41123783e-01 -6.71341553e-01 6.00474942e-03 2.00637476e+02] [-6.71321213e-01 7.41148092e-01 5.22820998e-03 -9.70335753e+01] [-7.96032318e-03 -1.56364900e-04 -9.99968304e-01 4.88520136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.617628 meters 0.015509906347176857 Centerline is valid? [True, True] Translation: X:200.55, Y:-97.08, Z:0.49 [[-6.86650339e-01 -7.26973357e-01 4.58814778e-03 2.00553288e+02] [-7.26958553e-01 6.86665651e-01 4.64166431e-03 -9.70777889e+01] [-6.52488977e-03 -1.48192902e-04 -9.99978702e-01 4.86811116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.677628 meters 0.014446052062226617 Centerline is valid? [True, True] Translation: X:200.48, Y:-97.13, Z:0.49 [[-6.34643047e-01 -7.72791864e-01 4.57583835e-03 2.00476823e+02] [-7.72773027e-01 6.34659533e-01 5.39680884e-03 -9.71282970e+01] [-7.07470939e-03 -1.11037251e-04 -9.99974968e-01 4.88196046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.737628 meters 0.013377022887345307 Centerline is valid? [True, True] Translation: X:200.40, Y:-97.19, Z:0.49 [[-5.81473067e-01 -8.13551625e-01 4.77755278e-03 2.00401491e+02] [-8.13524828e-01 5.81492692e-01 6.60323296e-03 -9.71931028e+01] [-8.15018294e-03 -4.70556787e-05 -9.99966786e-01 4.88392167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.797628 meters 0.013441921073041645 Centerline is valid? [True, True] Translation: X:200.32, Y:-97.27, Z:0.49 [[-5.21464173e-01 -8.53261517e-01 4.46086100e-03 2.00321435e+02] [-8.53230441e-01 5.21483253e-01 7.28226474e-03 -9.72686970e+01] [-8.53994057e-03 -8.70224416e-06 -9.99963534e-01 4.88342213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.857628 meters 0.013647999114051276 Centerline is valid? [True, True] Translation: X:200.25, Y:-97.35, Z:0.49 [[-4.57780930e-01 -8.89054892e-01 4.24493358e-03 2.00247825e+02] [-8.89016103e-01 4.57800610e-01 8.30487974e-03 -9.73456141e+01] [-9.32682714e-03 2.80012552e-05 -9.99956504e-01 4.87205908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91762799999998 meters 0.014288171290834003 Centerline is valid? [True, True] Translation: X:200.18, Y:-97.44, Z:0.49 [[-3.93154956e-01 -9.19462426e-01 4.24587988e-03 2.00175091e+02] [-9.19406080e-01 3.93177870e-01 1.01795732e-02 -9.74361638e+01] [-1.10291211e-02 9.84618814e-05 -9.99939173e-01 4.88481248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97762799999998 meters 0.015228416102746244 Centerline is valid? [True, True] Translation: X:200.11, Y:-97.53, Z:0.49 [[-3.27155926e-01 -9.44963692e-01 3.55268007e-03 2.00113203e+02] [-9.44902086e-01 3.27175169e-01 1.07914975e-02 -9.75278809e+01] [-1.13599220e-02 1.73567554e-04 -9.99935459e-01 4.86926300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.037628 meters 0.015396145471231063 Centerline is valid? [True, True] Translation: X:200.06, Y:-97.63, Z:0.48 [[-2.56536129e-01 -9.66531054e-01 2.63383892e-03 2.00055884e+02] [-9.66471685e-01 2.56549569e-01 1.07144789e-02 -9.76286325e+01] [-1.10315869e-02 2.03120212e-04 -9.99939130e-01 4.84225421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.097628 meters 0.0165599513263676 Centerline is valid? [True, True] Translation: X:200.01, Y:-97.74, Z:0.48 [[-1.83350045e-01 -9.83046326e-01 1.63749543e-03 2.00005094e+02] [-9.82996624e-01 1.83357245e-01 9.88726102e-03 -9.77402846e+01] [-1.00198823e-02 2.03177275e-04 -9.99949779e-01 4.83651369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.157628 meters 0.01587347946380978 Centerline is valid? [True, True] Translation: X:199.96, Y:-97.85, Z:0.48 [[-1.06413871e-01 -9.94321518e-01 8.98656808e-04 1.99959730e+02] [-9.94267919e-01 1.06417467e-01 1.03261189e-02 -9.78523478e+01] [-1.03631150e-02 2.05336648e-04 -9.99946280e-01 4.82329809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.217628 meters 0.016023693347378472 Centerline is valid? [True, True] Translation: X:199.93, Y:-97.97, Z:0.48 [[-2.77694222e-02 -9.99614351e-01 9.19293663e-05 1.99926091e+02] [-9.99571101e-01 2.77690760e-02 9.30011416e-03 -9.79705783e+01] [-9.29908037e-03 1.66368858e-04 -9.99956749e-01 4.81724303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.277628 meters 0.015272581949005522 Centerline is valid? [True, True] Translation: X:199.90, Y:-98.09, Z:0.48 [[ 5.18957130e-02 -9.98652319e-01 -6.17136301e-04 1.99899920e+02] [-9.98610315e-01 -5.18991910e-02 9.16040287e-03 -9.80919628e+01] [-9.18008645e-03 1.40893037e-04 -9.99957852e-01 4.80675691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.337628 meters 0.01622005062370873 Centerline is valid? [True, True] Translation: X:199.88, Y:-98.21, Z:0.48 [[ 1.30471559e-01 -9.91451144e-01 -1.34224299e-03 1.99882698e+02] [-9.91408264e-01 -1.30478401e-01 9.22179341e-03 -9.82131910e+01] [-9.31809134e-03 1.27529026e-04 -9.99956578e-01 4.82374486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.397628 meters 0.014090707449488794 Centerline is valid? [True, True] Translation: X:199.87, Y:-98.34, Z:0.48 [[ 2.11074828e-01 -9.77468256e-01 -1.79618877e-03 1.99874249e+02] [-9.77435636e-01 -2.11082459e-01 7.98582447e-03 -9.83414443e+01] [-8.18503386e-03 7.00523823e-05 -9.99966500e-01 4.81819451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.457628 meters 0.013763321532686732 Centerline is valid? [True, True] Translation: X:199.88, Y:-98.46, Z:0.48 [[ 2.88532030e-01 -9.57467263e-01 -2.38921978e-03 1.99876451e+02] [-9.57435738e-01 -2.88541918e-01 7.76969570e-03 -9.84596227e+01] [-8.12861934e-03 4.57183287e-05 -9.99966961e-01 4.81419395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.517628 meters 0.013350641537233433 Centerline is valid? [True, True] Translation: X:199.89, Y:-98.58, Z:0.48 [[ 3.64985055e-01 -9.31007938e-01 -3.18250176e-03 1.99885752e+02] [-9.30972927e-01 -3.64998930e-01 8.07407286e-03 -9.85807177e+01] [-8.67863567e-03 1.59070465e-05 -9.99962340e-01 4.82129723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.577628 meters 0.013273001687701938 Centerline is valid? [True, True] Translation: X:199.91, Y:-98.70, Z:0.48 [[ 4.36691769e-01 -8.99601703e-01 -4.13225458e-03 1.99906420e+02] [-8.99561581e-01 -4.36711319e-01 8.49622730e-03 -9.87021359e+01] [-9.44782290e-03 6.98492818e-06 -9.99955368e-01 4.83815807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.637628 meters 0.013170799612709705 Centerline is valid? [True, True] Translation: X:199.94, Y:-98.82, Z:0.48 [[ 5.04363787e-01 -8.63472506e-01 -5.69214832e-03 1.99935592e+02] [-8.63417862e-01 -5.04395906e-01 9.71415826e-03 -9.88156318e+01] [-1.12590049e-02 1.52328809e-05 -9.99936615e-01 4.84071974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.697628 meters 0.013348789134665896 Centerline is valid? [True, True] Translation: X:199.97, Y:-98.92, Z:0.49 [[ 5.68523584e-01 -8.22635915e-01 -7.14744144e-03 1.99971155e+02] [-8.22571552e-01 -5.68568510e-01 1.02903139e-02 -9.89196100e+01] [-1.25289920e-02 2.89958360e-05 -9.99921509e-01 4.85729692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.757628 meters 0.013133146899090835 Centerline is valid? [True, True] Translation: X:200.02, Y:-99.02, Z:0.48 [[ 6.29096299e-01 -7.77287931e-01 -7.83067869e-03 2.00018046e+02] [-7.77228512e-01 -6.29145032e-01 9.61087554e-03 -9.90237390e+01] [-1.23970502e-02 4.00605144e-05 -9.99923153e-01 4.84874122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.817628 meters 0.012748319433931826 Centerline is valid? [True, True] Translation: X:200.07, Y:-99.12, Z:0.48 [[ 6.87752278e-01 -7.25898040e-01 -8.29702368e-03 2.00067242e+02] [-7.25845564e-01 -6.87802323e-01 8.72822391e-03 -9.91206091e+01] [-1.20425128e-02 1.95019562e-05 -9.99927486e-01 4.84547592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.877628 meters 0.015590453082707635 Centerline is valid? [True, True] Translation: X:200.12, Y:-99.21, Z:0.49 [[ 7.42206036e-01 -6.70084390e-01 -1.08217641e-02 2.00124293e+02] [-6.70013264e-01 -7.42284925e-01 9.76299571e-03 -9.92106500e+01] [-1.45748634e-02 4.57114166e-06 -9.99893781e-01 4.88454442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.937628 meters 0.012709459587728185 Centerline is valid? [True, True] Translation: X:200.14, Y:-99.23, Z:0.49 [[ 7.93236776e-01 -6.08821200e-01 -1.05907227e-02 2.00144957e+02] [-6.08766626e-01 -7.93307473e-01 8.15156337e-03 -9.92328573e+01] [-1.33645441e-02 -1.88413230e-05 -9.99910690e-01 4.86215451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.997628 meters 0.012556601200519301 Centerline is valid? [True, True] Translation: X:200.17, Y:-99.26, Z:0.49 [[ 8.38627494e-01 -5.44598038e-01 -1.08122001e-02 2.00166030e+02] [-5.44552404e-01 -8.38697190e-01 7.05001254e-03 -9.92573454e+01] [-1.29075848e-02 -2.45247959e-05 -9.99916693e-01 4.85659161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.05762799999997 meters 0.012550493440748177 Centerline is valid? [True, True] Translation: X:200.19, Y:-99.28, Z:0.49 [[ 8.79106844e-01 -4.76481340e-01 -1.16914463e-02 2.00189147e+02] [-4.76438635e-01 -8.79184583e-01 6.37934080e-03 -9.92794699e+01] [-1.33185762e-02 -3.78654620e-05 -9.99911303e-01 4.85790964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.11762799999997 meters 0.012528426983303802 Centerline is valid? [True, True] Translation: X:200.21, Y:-99.30, Z:0.48 [[ 9.13969460e-01 -4.05636873e-01 -1.08882350e-02 2.00214576e+02] [-4.05607507e-01 -9.14034313e-01 4.88108525e-03 -9.92955132e+01] [-1.19321686e-02 -4.48129750e-05 -9.99928808e-01 4.84539176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.17762799999997 meters 0.012483580992657653 Centerline is valid? [True, True] Translation: X:200.24, Y:-99.31, Z:0.48 [[ 9.42122046e-01 -3.35118466e-01 -1.00828728e-02 2.00242344e+02] [-3.35099067e-01 -9.42175999e-01 3.60590368e-03 -9.93083185e+01] [-1.07082456e-02 -1.84401093e-05 -9.99942665e-01 4.84175300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.237628 meters 0.012702535900440426 Centerline is valid? [True, True] Translation: X:200.27, Y:-99.32, Z:0.48 [[ 9.64164246e-01 -2.65130185e-01 -9.65875258e-03 2.00270391e+02] [-2.65117188e-01 -9.64212624e-01 2.62532258e-03 -9.93199523e+01] [-1.00091434e-02 2.94591569e-05 -9.99949907e-01 4.84083953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.297628 meters 0.015601445123386914 Centerline is valid? [True, True] Translation: X:200.30, Y:-99.33, Z:0.48 [[ 9.81293201e-01 -1.92184747e-01 -1.13435993e-02 2.00295413e+02] [-1.92172821e-01 -9.81358761e-01 2.14239008e-03 -9.93289319e+01] [-1.15438752e-02 7.76186582e-05 -9.99933364e-01 4.84545552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.357628 meters 0.013038909356433719 Centerline is valid? [True, True] Translation: X:200.32, Y:-99.34, Z:0.48 [[ 9.93407830e-01 -1.14097179e-01 -1.10777473e-02 2.00318796e+02] [-1.14090832e-01 -9.93469592e-01 1.20532355e-03 -9.93403213e+01] [-1.11429291e-02 6.64915477e-05 -9.99937913e-01 4.83404756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.417628 meters 0.01280573724146119 Centerline is valid? [True, True] Translation: X:200.34, Y:-99.36, Z:0.48 [[ 9.99376530e-01 -3.37618292e-02 -1.03290572e-02 2.00343357e+02] [-3.37604098e-02 -9.99429906e-01 3.11801309e-04 -9.93555816e+01] [-1.03336956e-02 3.71062922e-05 -9.99946605e-01 4.84229778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.477628 meters 0.01276171675730568 Centerline is valid? [True, True] Translation: X:200.37, Y:-99.37, Z:0.48 [[ 9.98840462e-01 4.71510168e-02 -9.72179613e-03 2.00368390e+02] [ 4.71487001e-02 -9.98887772e-01 -4.67480446e-04 -9.93656670e+01] [-9.73302545e-03 8.56833449e-06 -9.99952633e-01 4.84993782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.537628 meters 0.012650390474624983 Centerline is valid? [True, True] Translation: X:200.39, Y:-99.37, Z:0.48 [[ 9.91748478e-01 1.27881683e-01 -9.01284868e-03 2.00394716e+02] [ 1.27876567e-01 -9.91789431e-01 -1.14402638e-03 -9.93728533e+01] [-9.08514808e-03 -1.79457254e-05 -9.99958729e-01 4.83198680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.597628 meters 0.012480765120230627 Centerline is valid? [True, True] Translation: X:200.42, Y:-99.38, Z:0.48 [[ 9.78357659e-01 2.06795617e-01 -7.20170300e-03 2.00421975e+02] [ 2.06790256e-01 -9.78384164e-01 -1.48942704e-03 -9.93776700e+01] [-7.35403915e-03 -3.20496548e-05 -9.99972958e-01 4.83729384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.657628 meters 0.012473952550183721 Centerline is valid? [True, True] Translation: X:200.45, Y:-99.38, Z:0.48 [[ 9.58998063e-01 2.83335030e-01 -6.63145634e-03 2.00449848e+02] [ 2.83328515e-01 -9.59020990e-01 -1.92177096e-03 -9.93793412e+01] [-6.90421085e-03 -3.59060494e-05 -9.99976165e-01 4.82999457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.717628 meters 0.012519608051587474 Centerline is valid? [True, True] Translation: X:200.48, Y:-99.38, Z:0.48 [[ 9.33582512e-01 3.58340174e-01 -4.00163741e-03 2.00478934e+02] [ 3.58337046e-01 -9.33591087e-01 -1.49761757e-03 -9.93813278e+01] [-4.27254956e-03 -3.57853519e-05 -9.99990872e-01 4.81242097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.777628 meters 0.012620747826775969 Centerline is valid? [True, True] Translation: X:200.51, Y:-99.38, Z:0.48 [[ 9.02056208e-01 4.31595229e-01 -4.48953974e-03 2.00505947e+02] [ 4.31590127e-01 -9.02067379e-01 -2.09896076e-03 -9.93802678e+01] [-4.95576879e-03 -4.42604414e-05 -9.99987719e-01 4.82080860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.837628 meters 0.012822171469679506 Centerline is valid? [True, True] Translation: X:200.53, Y:-99.38, Z:0.49 [[ 8.64170533e-01 5.03155815e-01 -6.59665188e-03 2.00533420e+02] [ 5.03141807e-01 -8.64195707e-01 -3.75532555e-03 -9.93758159e+01] [-7.59031212e-03 -7.38096641e-05 -9.99971190e-01 4.86245129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.897628 meters 0.013007684379397576 Centerline is valid? [True, True] Translation: X:200.56, Y:-99.37, Z:0.49 [[ 8.21402600e-01 5.70302620e-01 -7.25882041e-03 2.00557497e+02] [ 5.70281344e-01 -8.21434668e-01 -4.92705290e-03 -9.93670062e+01] [-8.77255791e-03 -9.24757979e-05 -9.99961516e-01 4.87797301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.957628 meters 0.013000196697951667 Centerline is valid? [True, True] Translation: X:200.58, Y:-99.36, Z:0.49 [[ 7.74048260e-01 6.33078528e-01 -7.80185551e-03 2.00582574e+02] [ 6.33047731e-01 -7.74087570e-01 -6.24527216e-03 -9.93574185e+01] [-9.99306708e-03 -1.04804875e-04 -9.99950063e-01 4.88421183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.017628 meters 0.012486090452786326 Centerline is valid? [True, True] Translation: X:200.60, Y:-99.34, Z:0.49 [[ 7.26198099e-01 6.87454837e-01 -6.49367824e-03 2.00604707e+02] [ 6.87427883e-01 -7.26227131e-01 -6.08772274e-03 -9.93438076e+01] [-8.90091976e-03 -4.30427973e-05 -9.99960385e-01 4.87155295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.077628 meters 0.012486090452786326 Centerline is valid? [True, True] Translation: X:200.63, Y:-99.33, Z:0.49 [[ 6.70140527e-01 7.42210023e-01 -5.99631174e-03 2.00627357e+02] [ 7.42180885e-01 -6.70167352e-01 -6.57682438e-03 -9.93307191e+01] [-8.89991733e-03 -4.29514014e-05 -9.99960394e-01 4.87136577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.137628 meters 0.016696647232215242 Centerline is valid? [True, True] Translation: X:200.64, Y:-99.31, Z:0.49 [[ 6.18400015e-01 7.85841413e-01 -5.89027039e-03 2.00644515e+02] [ 7.85804863e-01 -6.18428064e-01 -7.57939992e-03 -9.93115925e+01] [-9.59891485e-03 5.84979061e-05 -9.99953928e-01 4.89699733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.197628 meters 0.017364780703953416 Centerline is valid? [True, True] Translation: X:200.66, Y:-99.29, Z:0.49 [[ 5.64818751e-01 8.25202291e-01 -4.57793837e-03 2.00657004e+02] [ 8.25173057e-01 -5.64837284e-01 -6.94756153e-03 -9.92911262e+01] [-8.31893397e-03 1.46521621e-04 -9.99965386e-01 4.88504044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.257628 meters 0.019628084834069044 Centerline is valid? [True, True] Translation: X:200.68, Y:-99.27, Z:0.49 [[ 5.06541091e-01 8.62209590e-01 -3.27794832e-03 2.00676629e+02] [ 8.62189206e-01 -5.06551666e-01 -5.93144719e-03 -9.92749969e+01] [-6.77460083e-03 1.78310069e-04 -9.99977036e-01 4.87575268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.317628 meters 0.02002687142258513 Centerline is valid? [True, True] Translation: X:200.69, Y:-99.26, Z:0.49 [[ 4.40826825e-01 8.97588336e-01 -2.62460193e-03 2.00692859e+02] [ 8.97569794e-01 -4.40834598e-01 -5.77259323e-03 -9.92579411e+01] [-6.33842769e-03 1.88950530e-04 -9.99979894e-01 4.87215028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.377628 meters 0.018602954282184437 Centerline is valid? [True, True] Translation: X:200.71, Y:-99.24, Z:0.49 [[ 3.70436749e-01 9.28854860e-01 -2.29452931e-03 2.00714733e+02] [ 9.28833354e-01 -3.70443795e-01 -6.32424901e-03 -9.92409581e+01] [-6.72430357e-03 2.11498882e-04 -9.99977369e-01 4.86386944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.437628 meters 0.017075736791283425 Centerline is valid? [True, True] Translation: X:200.74, Y:-99.22, Z:0.49 [[ 2.91674663e-01 9.56515946e-01 -1.77081284e-03 2.00739955e+02] [ 9.56494504e-01 -2.91679985e-01 -6.40709282e-03 -9.92237670e+01] [-6.64499711e-03 1.75013889e-04 -9.99977906e-01 4.86045106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.497628 meters 0.01613146101231088 Centerline is valid? [True, True] Translation: X:200.76, Y:-99.20, Z:0.49 [[ 2.10708484e-01 9.77548314e-01 -1.10853057e-03 2.00760043e+02] [ 9.77531652e-01 -2.10711366e-01 -5.70880089e-03 -9.92031203e+01] [-5.81420867e-03 1.19269064e-04 -9.99983090e-01 4.85357094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.55762799999997 meters 0.014127850369339211 Centerline is valid? [True, True] Translation: X:200.78, Y:-99.18, Z:0.48 [[ 1.24804527e-01 9.92181306e-01 -2.94920559e-04 2.00781876e+02] [ 9.92178247e-01 -1.24804874e-01 -2.46352649e-03 -9.91811453e+01] [-2.48107245e-03 1.48454949e-05 -9.99996922e-01 4.82557647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.61762799999997 meters 0.013057413519645213 Centerline is valid? [True, True] Translation: X:200.80, Y:-99.16, Z:0.48 [[ 3.88505528e-02 9.99245032e-01 3.52168821e-05 2.00802849e+02] [ 9.99243111e-01 -3.88505472e-02 1.95949411e-03 -9.91559591e+01] [ 1.95938295e-03 -4.09372026e-05 -9.99998080e-01 4.79538250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.67762799999997 meters 0.012789527219762236 Centerline is valid? [True, True] Translation: X:200.82, Y:-99.13, Z:0.48 [[-4.52674387e-02 9.98974894e-01 -1.38600536e-04 2.00819253e+02] [ 9.98972058e-01 4.52676405e-02 2.38088239e-03 -9.91301601e+01] [ 2.38471586e-03 -3.06816149e-05 -9.99997156e-01 4.79351786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.737628 meters 0.0127861347512744 Centerline is valid? [True, True] Translation: X:200.83, Y:-99.10, Z:0.48 [[-1.26510475e-01 9.91965228e-01 -2.92351810e-04 2.00830026e+02] [ 9.91962988e-01 1.26510811e-01 2.10835020e-03 -9.91020407e+01] [ 2.12839575e-03 -2.32737889e-05 -9.99997735e-01 4.79470941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.797628 meters 0.012976906954336776 Centerline is valid? [True, True] Translation: X:200.84, Y:-99.07, Z:0.48 [[-2.06639040e-01 9.78417221e-01 -2.21739908e-04 2.00837868e+02] [ 9.78416763e-01 2.06639157e-01 9.47115021e-04 -9.90722331e+01] [ 9.72493794e-04 -2.12431051e-05 -9.99999527e-01 4.79506938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.857628 meters 0.013023825096864287 Centerline is valid? [True, True] Translation: X:200.85, Y:-99.04, Z:0.48 [[-2.83929651e-01 9.58844961e-01 5.41802812e-04 2.00845165e+02] [ 9.58842977e-01 2.83930166e-01 -1.95094214e-03 -9.90410381e+01] [-2.02448521e-03 -3.44265005e-05 -9.99997950e-01 4.82524134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.917628 meters 0.013131491896469122 Centerline is valid? [True, True] Translation: X:200.85, Y:-99.01, Z:0.48 [[-3.58852246e-01 9.33393551e-01 1.24306036e-03 2.00845266e+02] [ 9.33387512e-01 3.58854396e-01 -3.35772243e-03 -9.90127358e+01] [-3.58015414e-03 -4.46692218e-05 -9.99993590e-01 4.82163996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.977628 meters 0.013097163408381142 Centerline is valid? [True, True] Translation: X:200.84, Y:-98.98, Z:0.48 [[-4.31231472e-01 9.02240226e-01 1.41127554e-03 2.00841854e+02] [ 9.02235049e-01 4.31233779e-01 -3.05675569e-03 -9.89838946e+01] [-3.36651763e-03 -4.48670014e-05 -9.99994332e-01 4.79409060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.037628 meters 0.012920035008322851 Centerline is valid? [True, True] Translation: X:200.84, Y:-98.96, Z:0.48 [[-4.98469548e-01 8.66904114e-01 2.31651650e-03 2.00835140e+02] [ 8.66894363e-01 4.98474929e-01 -4.11192142e-03 -9.89566294e+01] [-4.71936700e-03 -4.14925169e-05 -9.99988863e-01 4.77884585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.097628 meters 0.012967364490078164 Centerline is valid? [True, True] Translation: X:200.83, Y:-98.93, Z:0.48 [[-5.59037645e-01 8.29129628e-01 4.57946400e-03 2.00825698e+02] [ 8.29101863e-01 5.59056402e-01 -6.78535710e-03 -9.89287900e+01] [-8.18611928e-03 3.57207717e-06 -9.99966493e-01 4.78679562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.157628 meters 0.013770567062060857 Centerline is valid? [True, True] Translation: X:200.81, Y:-98.91, Z:0.48 [[-6.15948118e-01 7.87760351e-01 6.44548033e-03 2.00812278e+02] [ 7.87718811e-01 6.15981834e-01 -8.09040080e-03 -9.89056050e+01] [-1.03435958e-02 9.39589453e-05 -9.99946499e-01 4.78518565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.217628 meters 0.014822312780610969 Centerline is valid? [True, True] Translation: X:200.80, Y:-98.88, Z:0.48 [[-6.70534309e-01 7.41829922e-01 8.49161037e-03 2.00800657e+02] [ 7.41774290e-01 6.70588044e-01 -9.08722080e-03 -9.88793409e+01] [-1.24355447e-02 2.05564930e-04 -9.99922654e-01 4.77523418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.277628 meters 0.01642874985251902 Centerline is valid? [True, True] Translation: X:200.79, Y:-98.86, Z:0.48 [[-7.22912832e-01 6.90860698e-01 1.04179238e-02 2.00786081e+02] [ 6.90795108e-01 7.22987827e-01 -9.52473746e-03 -9.88554174e+01] [-1.41122989e-02 3.11095869e-04 -9.99900368e-01 4.78060394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.337628 meters 0.018559276140597453 Centerline is valid? [True, True] Translation: X:200.81, Y:-98.84, Z:0.48 [[-7.64979030e-01 6.43946414e-01 1.18363978e-02 2.00808311e+02] [ 6.43878401e-01 7.65070461e-01 -9.36981606e-03 -9.88438012e+01] [-1.50893378e-02 4.53488122e-04 -9.99886047e-01 4.75673094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.397628 meters 0.019163586398389644 Centerline is valid? [True, True] Translation: X:200.83, Y:-98.82, Z:0.47 [[-8.05149820e-01 5.92936736e-01 1.26409656e-02 2.00830302e+02] [ 5.92874241e-01 8.05248859e-01 -8.62604333e-03 -9.88230831e+01] [-1.52938211e-02 5.49245674e-04 -9.99882892e-01 4.73938611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.457628 meters 0.020801720800374048 Centerline is valid? [True, True] Translation: X:200.85, Y:-98.80, Z:0.47 [[-8.44448491e-01 5.35499467e-01 1.21271399e-02 2.00848963e+02] [ 5.35452977e-01 8.44535406e-01 -7.07514675e-03 -9.88016272e+01] [-1.40305363e-02 5.18916188e-04 -9.99901433e-01 4.74158834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.517628 meters 0.021841372247149923 Centerline is valid? [True, True] Translation: X:200.86, Y:-98.77, Z:0.47 [[-8.81132042e-01 4.72715560e-01 1.20964248e-02 2.00864561e+02] [ 4.72678315e-01 8.81214943e-01 -5.95270460e-03 -9.87746664e+01] [-1.34734863e-02 4.72598909e-04 -9.99909117e-01 4.72745387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.577628 meters 0.016872556762106413 Centerline is valid? [True, True] Translation: X:200.87, Y:-98.74, Z:0.47 [[-9.16178416e-01 4.00593920e-01 1.19004879e-02 2.00873685e+02] [ 4.00564773e-01 9.16255643e-01 -4.84352827e-03 -9.87357032e+01] [-1.28441772e-02 3.29380189e-04 -9.99917456e-01 4.70268552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.637628 meters 0.013769064597558814 Centerline is valid? [True, True] Translation: X:200.88, Y:-98.69, Z:0.47 [[-9.46920755e-01 3.21260229e-01 1.15303279e-02 2.00877241e+02] [ 3.21238184e-01 9.46990943e-01 -3.76603602e-03 -9.86936108e+01] [-1.21289937e-02 1.37843933e-04 -9.99926432e-01 4.70342940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.697628 meters 0.01274011428952482 Centerline is valid? [True, True] Translation: X:200.88, Y:-98.66, Z:0.47 [[-9.69688487e-01 2.44051042e-01 1.19718875e-02 2.00879988e+02] [ 2.44032731e-01 9.69762388e-01 -2.98961672e-03 -9.86597419e+01] [-1.23395053e-02 2.25354884e-05 -9.99923865e-01 4.69996052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.757628 meters 0.01299461521122896 Centerline is valid? [True, True] Translation: X:200.88, Y:-98.62, Z:0.47 [[-9.86496540e-01 1.63254360e-01 1.31373669e-02 2.00875590e+02] [ 1.63238148e-01 9.86584004e-01 -2.30432951e-03 -9.86219915e+01] [-1.33373079e-02 -1.28693646e-04 -9.99911046e-01 4.71724690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.817628 meters 0.013980360905684714 Centerline is valid? [True, True] Translation: X:200.87, Y:-98.59, Z:0.47 [[-9.96010040e-01 8.81630485e-02 1.38303077e-02 2.00873737e+02] [ 8.81517770e-02 9.96106037e-01 -1.42367908e-03 -9.85902601e+01] [-1.39019689e-02 -1.98832456e-04 -9.99903343e-01 4.74425109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.877628 meters 0.014236564338338661 Centerline is valid? [True, True] Translation: X:200.94, Y:-97.97, Z:-0.45 [[-9.83187847e-01 -1.82080406e-01 1.37252461e-02 2.00937835e+02] [ 1.82065507e-01 -9.83283624e-01 -2.33783167e-03 -9.79660213e+01] [ 1.39214830e-02 2.00366201e-04 9.99903071e-01 -4.46089059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.937628 meters 0.013995900200931971 Centerline is valid? [True, True] Translation: X:200.82, Y:-98.60, Z:0.47 [[-9.96336059e-01 8.43783055e-02 1.39555929e-02 2.00822777e+02] [ 8.43672412e-02 9.96433772e-01 -1.38071213e-03 -9.85976493e+01] [-1.40223263e-02 -1.98258409e-04 -9.99901663e-01 4.72038304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.997628 meters 0.013886984524191836 Centerline is valid? [True, True] Translation: X:200.82, Y:-98.57, Z:0.47 [[-9.99797506e-01 1.42757009e-02 1.41828108e-02 2.00821634e+02] [ 1.42715977e-02 9.99898079e-01 -3.90482487e-04 -9.85728549e+01] [-1.41869397e-02 -1.87992046e-04 -9.99899343e-01 4.72569617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.05762799999997 meters 0.013718282278260928 Centerline is valid? [True, True] Translation: X:200.82, Y:-98.55, Z:0.47 [[-9.98467284e-01 -5.35349369e-02 1.40390021e-02 2.00815331e+02] [-5.35316203e-02 9.98565967e-01 6.12192860e-04 -9.85547331e+01] [-1.40516434e-02 -1.40275988e-04 -9.99901261e-01 4.73247386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.11762799999997 meters 0.013323809167398403 Centerline is valid? [True, True] Translation: X:200.81, Y:-98.54, Z:0.47 [[-9.92941058e-01 -1.17816554e-01 1.36862865e-02 2.00813944e+02] [-1.17806004e-01 9.93035376e-01 1.57734515e-03 -9.85404710e+01] [-1.37768040e-02 -4.61159514e-05 -9.99905094e-01 4.73125475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.17762799999997 meters 0.01362212584547194 Centerline is valid? [True, True] Translation: X:200.81, Y:-98.52, Z:0.47 [[-9.83126361e-01 -1.82346284e-01 1.45736163e-02 2.00814553e+02] [-1.82325611e-01 9.83234372e-01 2.74600516e-03 -9.85226073e+01] [-1.48300044e-02 4.25265558e-05 -9.99890029e-01 4.73297478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.237628 meters 0.014827524540072969 Centerline is valid? [True, True] Translation: X:200.80, Y:-98.51, Z:0.47 [[-9.69907788e-01 -2.43094686e-01 1.35594009e-02 2.00797858e+02] [-2.43068423e-01 9.70002548e-01 3.57746130e-03 -9.85123127e+01] [-1.40223152e-02 1.73945388e-04 -9.99901667e-01 4.72789311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.297628 meters 0.016167183171296638 Centerline is valid? [True, True] Translation: X:200.77, Y:-98.50, Z:0.47 [[-9.51526032e-01 -3.07269233e-01 1.35583325e-02 2.00766153e+02] [-3.07234126e-01 9.51622588e-01 4.65203638e-03 -9.85024659e+01] [-1.43318431e-02 2.60951279e-04 -9.99897260e-01 4.73176360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.357628 meters 0.0176912542927641 Centerline is valid? [True, True] Translation: X:200.72, Y:-98.50, Z:0.47 [[-9.29328584e-01 -3.69032626e-01 1.27790165e-02 2.00715377e+02] [-3.68992327e-01 9.29416370e-01 5.46573809e-03 -9.85049876e+01] [-1.38940628e-02 3.64107607e-04 -9.99903407e-01 4.72654319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.417628 meters 0.019134778960312973 Centerline is valid? [True, True] Translation: X:200.65, Y:-98.51, Z:0.47 [[-9.01325945e-01 -4.32939605e-01 1.32226650e-02 2.00650768e+02] [-4.32885495e-01 9.01422813e-01 6.86012462e-03 -9.85148981e+01] [-1.48892315e-02 4.59308441e-04 -9.99889044e-01 4.73739622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.477628 meters 0.019982351392902532 Centerline is valid? [True, True] Translation: X:200.58, Y:-98.53, Z:0.47 [[-8.67467255e-01 -4.97368161e-01 1.12015303e-02 2.00576826e+02] [-4.97320238e-01 8.67539467e-01 6.91763755e-03 -9.85339746e+01] [-1.31583823e-02 4.30076331e-04 -9.99913332e-01 4.71608511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.537628 meters 0.019646830947983335 Centerline is valid? [True, True] Translation: X:200.49, Y:-98.56, Z:0.47 [[-8.27107065e-01 -5.61980552e-01 8.47121559e-03 2.00492327e+02] [-5.61946995e-01 8.27150381e-01 6.14993147e-03 -9.85588787e+01] [-1.04631111e-02 3.26277620e-04 -9.99945207e-01 4.69879971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.597628 meters 0.018246609374050662 Centerline is valid? [True, True] Translation: X:200.40, Y:-98.59, Z:0.47 [[-7.78104061e-01 -6.28112567e-01 5.35472302e-03 2.00403174e+02] [-6.28096242e-01 7.78122469e-01 4.53147478e-03 -9.85902958e+01] [-7.01290656e-03 1.62677521e-04 -9.99975396e-01 4.68998513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.657628 meters 0.015860885318896397 Centerline is valid? [True, True] Translation: X:200.31, Y:-98.63, Z:0.47 [[-7.23709237e-01 -6.90095469e-01 3.63090387e-03 2.00313786e+02] [-6.90086244e-01 7.23718342e-01 3.56906809e-03 -9.86334143e+01] [-5.09074944e-03 7.73307296e-05 -9.99987039e-01 4.65406167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.717628 meters 0.013783558498609598 Centerline is valid? [True, True] Translation: X:200.22, Y:-98.68, Z:0.46 [[-6.62031466e-01 -7.49473584e-01 1.91960162e-03 2.00219795e+02] [-7.49470406e-01 6.62034249e-01 2.18272978e-03 -9.86832924e+01] [-2.90674033e-03 6.35119204e-06 -9.99995775e-01 4.64570418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.777628 meters 0.013196673560760156 Centerline is valid? [True, True] Translation: X:200.13, Y:-98.74, Z:0.46 [[-5.97093760e-01 -8.02170498e-01 1.23814849e-03 2.00130385e+02] [-8.02168834e-01 5.97095044e-01 1.63418176e-03 -9.87437072e+01] [-2.05018472e-03 -1.74444016e-05 -9.99997898e-01 4.64435448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.837628 meters 0.013260220095761669 Centerline is valid? [True, True] Translation: X:200.05, Y:-98.82, Z:0.46 [[-5.31658517e-01 -8.46958233e-01 9.86570620e-04 2.00047821e+02] [-8.46956855e-01 5.31659432e-01 1.52779950e-03 -9.88166607e+01] [-1.81850194e-03 -2.33151309e-05 -9.99998346e-01 4.63620043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.897628 meters 0.013331157314696375 Centerline is valid? [True, True] Translation: X:199.97, Y:-98.90, Z:0.47 [[-4.63871103e-01 -8.85900662e-01 1.90194680e-03 1.99972496e+02] [-8.85893492e-01 4.63875001e-01 3.56445144e-03 -9.88968328e+01] [-4.04001547e-03 -3.14762734e-05 -9.99991839e-01 4.66052803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.957628 meters 0.01598068904291594 Centerline is valid? [True, True] Translation: X:199.91, Y:-98.99, Z:0.47 [[-3.96208698e-01 -9.18156082e-01 2.84195673e-03 1.99905479e+02] [-9.18132926e-01 3.96218889e-01 6.52093135e-03 -9.89876035e+01] [-7.11326972e-03 -2.56443315e-05 -9.99974700e-01 4.71957884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.017628 meters 0.013449064688337748 Centerline is valid? [True, True] Translation: X:199.85, Y:-99.09, Z:0.47 [[-3.25227227e-01 -9.45632616e-01 2.49144243e-03 1.99845795e+02] [-9.45605321e-01 3.25236769e-01 7.18479504e-03 -9.90858990e+01] [-7.60448521e-03 -1.92302508e-05 -9.99971085e-01 4.68892922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.077628 meters 0.013741349309537944 Centerline is valid? [True, True] Translation: X:199.80, Y:-99.19, Z:0.47 [[-2.52727105e-01 -9.67535315e-01 2.10350582e-03 1.99795656e+02] [-9.67502093e-01 2.52735859e-01 8.01787272e-03 -9.91937638e+01] [-8.28920635e-03 -8.81252537e-06 -9.99965644e-01 4.68709610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.137628 meters 0.013603399023669078 Centerline is valid? [True, True] Translation: X:199.75, Y:-99.30, Z:0.47 [[-1.74830872e-01 -9.84597421e-01 1.44408201e-03 1.99745017e+02] [-9.84565206e-01 1.74836834e-01 7.96468957e-03 -9.92964030e+01] [-8.09449153e-03 -2.93192760e-05 -9.99967239e-01 4.67980423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.197628 meters 0.013702776130849468 Centerline is valid? [True, True] Translation: X:199.70, Y:-99.41, Z:0.47 [[-9.59978068e-02 -9.95381139e-01 8.99409372e-04 1.99700604e+02] [-9.95342240e-01 9.60020068e-02 8.80003408e-03 -9.94094315e+01] [-8.84573306e-03 -5.04361660e-05 -9.99960874e-01 4.67207343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.257628 meters 0.0138308685989038 Centerline is valid? [True, True] Translation: X:199.67, Y:-99.52, Z:0.47 [[-2.33122484e-02 -9.99728204e-01 2.37498871e-04 1.99668954e+02] [-9.99679948e-01 2.33134566e-02 9.82267659e-03 -9.95248865e+01] [-9.82554375e-03 -8.43418195e-06 -9.99951728e-01 4.67108201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.317628 meters 0.01412802704433147 Centerline is valid? [True, True] Translation: X:199.65, Y:-99.65, Z:0.47 [[ 4.92062567e-02 -9.98788488e-01 -5.48870711e-04 1.99646716e+02] [-9.98735563e-01 -4.92092997e-02 1.02820166e-02 -9.96482106e+01] [-1.02965694e-02 4.22371501e-05 -9.99946988e-01 4.66652330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.377628 meters 0.015034719084933378 Centerline is valid? [True, True] Translation: X:199.63, Y:-99.76, Z:0.47 [[ 1.19373484e-01 -9.92848422e-01 -1.40791692e-03 1.99632673e+02] [-9.92790836e-01 -1.19381725e-01 1.06939464e-02 -9.97621995e+01] [-1.07855474e-02 1.21193372e-04 -9.99941827e-01 4.67145111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.437628 meters 0.015708465872280666 Centerline is valid? [True, True] Translation: X:199.63, Y:-99.88, Z:0.47 [[ 1.91107193e-01 -9.81565963e-01 -2.51029942e-03 1.99626461e+02] [-9.81494345e-01 -1.91123577e-01 1.18586921e-02 -9.98791258e+01] [-1.21198660e-02 1.97563318e-04 -9.99926532e-01 4.67134645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.497628 meters 0.017837491782506064 Centerline is valid? [True, True] Translation: X:199.63, Y:-100.00, Z:0.47 [[ 2.61731629e-01 -9.65132333e-01 -4.01680448e-03 1.99631368e+02] [-9.65035931e-01 -2.61762272e-01 1.36442300e-02 -9.99973615e+01] [-1.42199354e-02 3.05234101e-04 -9.99898845e-01 4.68737226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.55762799999997 meters 0.017872609478517505 Centerline is valid? [True, True] Translation: X:199.64, Y:-100.12, Z:0.47 [[ 3.36439633e-01 -9.41691078e-01 -5.12710185e-03 1.99642275e+02] [-9.41594737e-01 -3.36478568e-01 1.34730659e-02 -1.00120280e+02] [-1.44126259e-02 2.94778752e-04 -9.99896089e-01 4.67968118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.61762799999997 meters 0.016555663657970482 Centerline is valid? [True, True] Translation: X:199.66, Y:-100.24, Z:0.47 [[ 4.12397449e-01 -9.10992278e-01 -4.62737101e-03 1.99658799e+02] [-9.10939366e-01 -4.12423376e-01 9.81987707e-03 -1.00241471e+02] [-1.08542682e-02 1.65562156e-04 -9.99941077e-01 4.65384152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.67762799999997 meters 0.015090635923481763 Centerline is valid? [True, True] Translation: X:199.69, Y:-100.36, Z:0.46 [[ 4.84618913e-01 -8.74716209e-01 -4.00782556e-03 1.99685213e+02] [-8.74687785e-01 -4.84635478e-01 7.05212132e-03 -1.00361383e+02] [-8.11093928e-03 8.80046859e-05 -9.99967102e-01 4.62613805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.737628 meters 0.01396349030329707 Centerline is valid? [True, True] Translation: X:199.72, Y:-100.47, Z:0.46 [[ 5.56004685e-01 -8.31175014e-01 -2.62418755e-03 1.99718930e+02] [-8.31165848e-01 -5.56010877e-01 3.90343859e-03 -1.00473522e+02] [-4.70351745e-03 1.08049320e-05 -9.99988938e-01 4.60000501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.797628 meters 0.013565269542788796 Centerline is valid? [True, True] Translation: X:199.76, Y:-100.58, Z:0.46 [[ 6.22248550e-01 -7.82816693e-01 -2.18347985e-03 1.99762291e+02] [-7.82811787e-01 -6.22252381e-01 2.77158309e-03 -1.00583704e+02] [-3.52831704e-03 -1.53597970e-05 -9.99993775e-01 4.58420754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.857628 meters 0.013568433317854296 Centerline is valid? [True, True] Translation: X:199.81, Y:-100.69, Z:0.46 [[ 6.83987944e-01 -7.29489637e-01 -2.31565442e-03 1.99812488e+02] [-7.29485295e-01 -6.83991863e-01 2.51689671e-03 -1.00689782e+02] [-3.41993885e-03 -3.22911568e-05 -9.99994151e-01 4.59276112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.917628 meters 0.013770005203534916 Centerline is valid? [True, True] Translation: X:199.87, Y:-100.79, Z:0.46 [[ 7.40416334e-01 -6.72142255e-01 -2.90535972e-03 1.99867787e+02] [-6.72136816e-01 -7.40422032e-01 2.70458345e-03 -1.00786692e+02] [-3.96905717e-03 -4.97185323e-05 -9.99992122e-01 4.60488186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.977628 meters 0.013829664296565293 Centerline is valid? [True, True] Translation: X:199.89, Y:-100.81, Z:0.46 [[ 7.91073753e-01 -6.11702420e-01 -4.73987413e-03 1.99886908e+02] [-6.11690914e-01 -7.91087950e-01 3.75252785e-03 -1.00812919e+02] [-6.04508768e-03 -6.91883514e-05 -9.99981726e-01 4.63304246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.037628 meters 0.013574203972692671 Centerline is valid? [True, True] Translation: X:199.91, Y:-100.83, Z:0.47 [[ 8.31939322e-01 -5.54830960e-01 -6.29044007e-03 1.99912177e+02] [-5.54814925e-01 -8.31963103e-01 4.21820587e-03 -1.00829849e+02] [-7.57380526e-03 -1.92612947e-05 -9.99971318e-01 4.65479131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.097628 meters 0.014794395379526145 Centerline is valid? [True, True] Translation: X:199.94, Y:-100.84, Z:0.47 [[ 8.66126892e-01 -4.99765374e-01 -7.66671591e-03 1.99938554e+02] [-4.99746804e-01 -8.66160817e-01 4.30936810e-03 -1.00841078e+02] [-8.79428187e-03 9.89571710e-05 -9.99961325e-01 4.65589407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.157628 meters 0.016235639048579387 Centerline is valid? [True, True] Translation: X:199.96, Y:-100.85, Z:0.47 [[ 8.99420209e-01 -4.36998927e-01 -8.67326730e-03 1.99963271e+02] [-4.36980509e-01 -8.99462009e-01 4.01606704e-03 -1.00854337e+02] [-9.55629142e-03 1.77916902e-04 -9.99954322e-01 4.65286388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.217628 meters 0.016389305297551643 Centerline is valid? [True, True] Translation: X:199.99, Y:-100.87, Z:0.46 [[ 9.30331889e-01 -3.66632162e-01 -7.96450538e-03 1.99985059e+02] [-3.66620262e-01 -9.30365965e-01 2.95877485e-03 -1.00872917e+02] [-8.49468676e-03 1.67306450e-04 -9.99963905e-01 4.64556277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.277628 meters 0.01632405320076039 Centerline is valid? [True, True] Translation: X:200.01, Y:-100.89, Z:0.47 [[ 9.55868843e-01 -2.93660369e-01 -8.85115935e-03 2.00008208e+02] [-2.93649627e-01 -9.55909803e-01 2.51906712e-03 -1.00892144e+02] [-9.20066017e-03 1.91241860e-04 -9.99957655e-01 4.65232413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.337628 meters 0.016075760635254368 Centerline is valid? [True, True] Translation: X:200.03, Y:-100.91, Z:0.47 [[ 9.76371533e-01 -2.15926298e-01 -8.62919524e-03 2.00028950e+02] [-2.15919347e-01 -9.76409651e-01 1.74025281e-03 -1.00908654e+02] [-8.80139586e-03 1.64076896e-04 -9.99961254e-01 4.65834940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.397628 meters 0.015006829553259288 Centerline is valid? [True, True] Translation: X:200.05, Y:-100.93, Z:0.47 [[ 9.90895247e-01 -1.34402282e-01 -7.91426043e-03 2.00051478e+02] [-1.34398892e-01 -9.90926846e-01 9.61175356e-04 -1.00927384e+02] [-7.97163729e-03 1.11243736e-04 -9.99968220e-01 4.65522287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.457628 meters 0.014244783900795536 Centerline is valid? [True, True] Translation: X:200.07, Y:-100.94, Z:0.47 [[ 9.98616769e-01 -5.19516155e-02 -8.09798517e-03 2.00074963e+02] [-5.19505348e-02 -9.98649600e-01 3.43894854e-04 -1.00942647e+02] [-8.10491555e-03 7.72754919e-05 -9.99967152e-01 4.65415096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.517628 meters 0.013316729481727137 Centerline is valid? [True, True] Translation: X:200.10, Y:-100.96, Z:0.47 [[ 9.99315728e-01 3.58894978e-02 -8.94542218e-03 2.00100637e+02] [ 3.58880401e-02 -9.99355764e-01 -3.23474184e-04 -1.00958120e+02] [-8.95126854e-03 2.21916976e-06 -9.99959937e-01 4.67497361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.577628 meters 0.013419957348988801 Centerline is valid? [True, True] Translation: X:200.13, Y:-100.97, Z:0.47 [[ 9.92514722e-01 1.21842855e-01 -8.29736606e-03 2.00126423e+02] [ 1.21839145e-01 -9.92549402e-01 -9.53015641e-04 -1.00967207e+02] [-8.35166387e-03 -6.50619344e-05 -9.99965122e-01 4.67245360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.637628 meters 0.01362216798604225 Centerline is valid? [True, True] Translation: X:200.15, Y:-100.97, Z:0.47 [[ 9.79406525e-01 2.01721818e-01 -8.43610796e-03 2.00154244e+02] [ 2.01715113e-01 -9.79442852e-01 -1.64705137e-03 -1.00973548e+02] [-8.59493184e-03 -8.85576104e-05 -9.99963059e-01 4.67712025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.697628 meters 0.013300320678635043 Centerline is valid? [True, True] Translation: X:200.18, Y:-100.97, Z:0.47 [[ 9.61258580e-01 2.75569927e-01 -6.56949720e-03 2.00180328e+02] [ 2.75563909e-01 -9.61281026e-01 -1.82223718e-03 -1.00972474e+02] [-6.81728678e-03 -5.86752034e-05 -9.99976760e-01 4.65465207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.757628 meters 0.013034618580495448 Centerline is valid? [True, True] Translation: X:200.20, Y:-100.97, Z:0.46 [[ 9.39262255e-01 3.43172265e-01 -4.38326281e-03 2.00204117e+02] [ 3.43168591e-01 -9.39272483e-01 -1.58789422e-03 -1.00965535e+02] [-4.66199939e-03 -1.27490217e-05 -9.99989133e-01 4.63662236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.817628 meters 0.013312500454536852 Centerline is valid? [True, True] Translation: X:200.23, Y:-100.96, Z:0.46 [[ 9.11332997e-01 4.11651489e-01 -3.90142787e-03 2.00229595e+02] [ 4.11647691e-01 -9.11341348e-01 -1.76836292e-03 -1.00960284e+02] [-4.28348176e-03 5.55370656e-06 -9.99990826e-01 4.62752866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.877628 meters 0.013934578218610084 Centerline is valid? [True, True] Translation: X:200.25, Y:-100.95, Z:0.46 [[ 8.79094741e-01 4.76619562e-01 -5.12150645e-03 2.00253794e+02] [ 4.76611147e-01 -8.79109658e-01 -2.83273677e-03 -1.00952079e+02] [-5.85250354e-03 4.92769328e-05 -9.99982873e-01 4.64946720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.937628 meters 0.014516116095419912 Centerline is valid? [True, True] Translation: X:200.28, Y:-100.94, Z:0.47 [[ 8.41062550e-01 5.40890519e-01 -7.15777867e-03 2.00277623e+02] [ 5.40869779e-01 -8.41093000e-01 -4.73798294e-03 -1.00943906e+02] [-8.58308758e-03 1.13513846e-04 -9.99963158e-01 4.66952487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.997628 meters 0.016489151195486995 Centerline is valid? [True, True] Translation: X:200.30, Y:-100.93, Z:0.47 [[ 8.00014204e-01 5.99923180e-01 -8.33381541e-03 2.00296967e+02] [ 5.99887830e-01 -8.00057581e-01 -6.51598156e-03 -1.00931821e+02] [-1.05766206e-02 2.13523357e-04 -9.99944043e-01 4.70067375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.05762799999997 meters 0.020427363946821524 Centerline is valid? [True, True] Translation: X:200.32, Y:-100.92, Z:0.47 [[ 7.56758142e-01 6.53633243e-01 -8.98326307e-03 2.00316969e+02] [ 6.53581414e-01 -7.56811371e-01 -8.23911132e-03 -1.00918480e+02] [-1.21839927e-02 3.63720790e-04 -9.99925706e-01 4.71334970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.11762799999997 meters 0.0201908002888176 Centerline is valid? [True, True] Translation: X:200.34, Y:-100.91, Z:0.47 [[ 7.07298095e-01 7.06875035e-01 -7.55576126e-03 2.00336355e+02] [ 7.06828682e-01 -7.07338343e-01 -8.10449414e-03 -1.00905963e+02] [-1.10733442e-02 3.91664497e-04 -9.99938612e-01 4.69540260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.17762799999997 meters 0.02232955714708534 Centerline is valid? [True, True] Translation: X:200.36, Y:-100.89, Z:0.47 [[ 6.54755806e-01 7.55815831e-01 -6.10448390e-03 2.00355598e+02] [ 7.55777022e-01 -6.54784135e-01 -7.67002998e-03 -1.00892683e+02] [-9.79424929e-03 4.08367997e-04 -9.99951952e-01 4.69480633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.237628 meters 0.022283845178660944 Centerline is valid? [True, True] Translation: X:200.38, Y:-100.88, Z:0.47 [[ 5.96146458e-01 8.02864489e-01 -4.24402486e-03 2.00377493e+02] [ 8.02840012e-01 -5.96161471e-01 -6.27829207e-03 -1.00880388e+02] [-7.57074186e-03 3.35508613e-04 -9.99971285e-01 4.65447351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.297628 meters 0.022434890775143896 Centerline is valid? [True, True] Translation: X:200.40, Y:-100.87, Z:0.46 [[ 5.31059314e-01 8.47329067e-01 -3.07526449e-03 2.00399810e+02] [ 8.47311816e-01 -5.31068150e-01 -5.41350212e-03 -1.00867316e+02] [-6.22019272e-03 2.69182784e-04 -9.99980618e-01 4.64130819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.357628 meters 0.019290552934166635 Centerline is valid? [True, True] Translation: X:200.43, Y:-100.86, Z:0.46 [[ 4.58262147e-01 8.88815643e-01 -1.59944464e-03 2.00432812e+02] [ 8.88809169e-01 -4.58264918e-01 -3.39488292e-03 -1.00857699e+02] [-3.75039441e-03 1.34145277e-04 -9.99992958e-01 4.62959852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.417628 meters 0.01739977781276823 Centerline is valid? [True, True] Translation: X:200.46, Y:-100.84, Z:0.46 [[ 3.79734570e-01 9.25094610e-01 -1.27255653e-03 2.00464515e+02] [ 9.25088514e-01 -3.79736689e-01 -3.35967219e-03 -1.00844448e+02] [-3.59125103e-03 9.85562458e-05 -9.99993547e-01 4.63874056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.477628 meters 0.01644422709717666 Centerline is valid? [True, True] Translation: X:200.49, Y:-100.83, Z:0.46 [[ 3.01005029e-01 9.53621800e-01 -1.19839292e-03 2.00487721e+02] [ 9.53612883e-01 -3.01007398e-01 -4.12492543e-03 -1.00826244e+02] [-4.29434395e-03 9.88203665e-05 -9.99990774e-01 4.64188243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.537628 meters 0.014799738652876105 Centerline is valid? [True, True] Translation: X:200.51, Y:-100.81, Z:0.46 [[ 2.18848504e-01 9.75758559e-01 -7.52839670e-04 2.00513705e+02] [ 9.75751845e-01 -2.18849791e-01 -3.62026332e-03 -1.00806782e+02] [-3.69726173e-03 5.77045150e-05 -9.99993163e-01 4.64563406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.597628 meters 0.014207173001508814 Centerline is valid? [True, True] Translation: X:200.53, Y:-100.78, Z:0.47 [[ 1.38556619e-01 9.90354399e-01 -4.76429508e-04 2.00531345e+02] [ 9.90347317e-01 -1.38557430e-01 -3.74578078e-03 -1.00783125e+02] [-3.77566332e-03 4.71720342e-05 -9.99992871e-01 4.65481818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.657628 meters 0.013062841480009491 Centerline is valid? [True, True] Translation: X:200.55, Y:-100.76, Z:0.47 [[ 5.60302041e-02 9.98429036e-01 -2.75113412e-04 2.00548252e+02] [ 9.98411279e-01 -5.60308485e-02 -5.95507883e-03 -1.00757572e+02] [-5.96113846e-03 5.89879491e-05 -9.99982231e-01 4.67142608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.717628 meters 0.012231606522980092 Centerline is valid? [True, True] Translation: X:200.56, Y:-100.73, Z:0.47 [[-2.77031617e-02 9.99616171e-01 2.13866667e-04 2.00558781e+02] [ 9.99594578e-01 2.77039690e-02 -6.57035750e-03 -1.00730890e+02] [-6.57376056e-03 3.17602839e-05 -9.99978392e-01 4.67551401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.777628 meters 0.012000237657341394 Centerline is valid? [True, True] Translation: X:200.56, Y:-100.70, Z:0.47 [[-1.08295171e-01 9.94118531e-01 7.08611248e-04 2.00562776e+02] [ 9.94098150e-01 1.08297488e-01 -6.36568999e-03 -1.00703668e+02] [-6.40499120e-03 1.50556466e-05 -9.99979488e-01 4.67401505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.837628 meters 0.011531326690985654 Centerline is valid? [True, True] Translation: X:200.57, Y:-100.68, Z:0.47 [[-1.92693580e-01 9.81258327e-01 1.13116273e-03 2.00566864e+02] [ 9.81240532e-01 1.92696898e-01 -5.90964276e-03 -1.00675304e+02] [-6.01685772e-03 -2.88074989e-05 -9.99981898e-01 4.67358852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.897628 meters 0.011810617362258321 Centerline is valid? [True, True] Translation: X:200.57, Y:-100.65, Z:0.47 [[-2.72853044e-01 9.62053578e-01 2.03214138e-03 2.00565458e+02] [ 9.62025175e-01 2.72860604e-01 -7.39275952e-03 -1.00646885e+02] [-7.66672207e-03 -6.21657721e-05 -9.99970608e-01 4.68235367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.957628 meters 0.011895486097016432 Centerline is valid? [True, True] Translation: X:200.56, Y:-100.62, Z:0.47 [[-3.47027519e-01 9.37850316e-01 2.94700966e-03 2.00557636e+02] [ 9.37814907e-01 3.47040026e-01 -8.14984846e-03 -1.00621517e+02] [-8.66606827e-03 -6.44721013e-05 -9.99962447e-01 4.69071878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.017628 meters 0.01168088365754115 Centerline is valid? [True, True] Translation: X:200.54, Y:-100.60, Z:0.47 [[-4.15877358e-01 9.09412580e-01 3.84481424e-03 2.00543054e+02] [ 9.09373021e-01 4.15895129e-01 -8.48234950e-03 -1.00598808e+02] [-9.31299486e-03 -3.12467546e-05 -9.99956633e-01 4.69865781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.077628 meters 0.012172500411302283 Centerline is valid? [True, True] Translation: X:200.52, Y:-100.58, Z:0.47 [[-4.80089859e-01 8.77206114e-01 4.81255090e-03 2.00521592e+02] [ 8.77162740e-01 4.80113978e-01 -8.72330560e-03 -1.00580861e+02] [-9.96270997e-03 3.34197780e-05 -9.99950370e-01 4.69626259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.137628 meters 0.01281916569058263 Centerline is valid? [True, True] Translation: X:200.50, Y:-100.56, Z:0.47 [[-5.42693443e-01 8.39913391e-01 5.41499885e-03 2.00504344e+02] [ 8.39873181e-01 5.42720451e-01 -8.21899821e-03 -1.00560996e+02] [-9.84207728e-03 8.75158687e-05 -9.99951562e-01 4.66973456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.197628 meters 0.013086250170291086 Centerline is valid? [True, True] Translation: X:200.49, Y:-100.54, Z:0.47 [[-6.04725679e-01 7.96412129e-01 5.88006430e-03 2.00491555e+02] [ 7.96376241e-01 6.04754255e-01 -7.56128920e-03 -1.00538282e+02] [-9.57789634e-03 1.10237764e-04 -9.99954125e-01 4.66956461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.257628 meters 0.013832611730833704 Centerline is valid? [True, True] Translation: X:200.47, Y:-100.52, Z:0.47 [[-6.62787906e-01 7.48774680e-01 6.97634394e-03 2.00474608e+02] [ 7.48735638e-01 6.62824603e-01 -7.64793518e-03 -1.00519086e+02] [-1.03506726e-02 1.54478384e-04 -9.99946418e-01 4.66825728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.317628 meters 0.017351415543947073 Centerline is valid? [True, True] Translation: X:200.46, Y:-100.50, Z:0.47 [[-7.16812869e-01 6.97225692e-01 7.45959872e-03 2.00455248e+02] [ 6.97190682e-01 7.16851657e-01 -6.98966067e-03 -1.00504308e+02] [-1.02207967e-02 1.90484002e-04 -9.99947748e-01 4.68056236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.377628 meters 0.015713757528026544 Centerline is valid? [True, True] Translation: X:200.47, Y:-100.49, Z:0.47 [[-7.64086027e-01 6.45071102e-01 7.47100228e-03 2.00474887e+02] [ 6.45042606e-01 7.64122529e-01 -6.06610347e-03 -1.00493736e+02] [-9.62182921e-03 1.84089873e-04 -9.99953692e-01 4.66328632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.437628 meters 0.015830883970998924 Centerline is valid? [True, True] Translation: X:200.99, Y:-99.87, Z:-0.44 [[-7.46655650e-01 -6.65164294e-01 7.86138072e-03 2.00988743e+02] [ 6.65125381e-01 -7.46697021e-01 -7.19633330e-03 -9.98726883e+01] [ 1.06568135e-02 -1.44379080e-04 9.99943204e-01 -4.43789012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.497628 meters 0.014119733134345893 Centerline is valid? [True, True] Translation: X:200.44, Y:-100.47, Z:0.47 [[-7.69848514e-01 6.38173678e-01 8.22327478e-03 2.00438819e+02] [ 6.38139277e-01 7.69892419e-01 -6.62777579e-03 -1.00468119e+02] [-1.05607090e-02 1.45211281e-04 -9.99944224e-01 4.65504070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.55762799999997 meters 0.012671978977875246 Centerline is valid? [True, True] Translation: X:200.46, Y:-100.45, Z:0.46 [[-8.15195301e-01 5.79142572e-01 7.10654578e-03 2.00455769e+02] [ 5.79121465e-01 8.15226272e-01 -4.94510534e-03 -1.00448497e+02] [-8.65736384e-03 8.43265717e-05 -9.99962521e-01 4.63040657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.61762799999997 meters 0.011790303448220312 Centerline is valid? [True, True] Translation: X:200.47, Y:-100.42, Z:0.46 [[-8.58344894e-01 5.13030042e-01 6.64972784e-03 2.00474808e+02] [ 5.13014739e-01 8.58370652e-01 -3.96260129e-03 -1.00424755e+02] [-7.74086473e-03 1.01298064e-05 -9.99970039e-01 4.63598099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.67762799999997 meters 0.011970138788179801 Centerline is valid? [True, True] Translation: X:200.89, Y:-99.73, Z:-0.44 [[-8.20506250e-01 -5.71598158e-01 6.71116497e-03 2.00887202e+02] [ 5.71579213e-01 -8.20533695e-01 -4.65379065e-03 -9.97328049e+01] [ 8.16683516e-03 1.74980862e-05 9.99966651e-01 -4.41742055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.737628 meters 0.01296821617127265 Centerline is valid? [True, True] Translation: X:200.43, Y:-100.39, Z:0.47 [[-8.68375202e-01 4.95844776e-01 7.90360559e-03 2.00428698e+02] [ 4.95822820e-01 8.68411159e-01 -4.66803057e-03 -1.00394263e+02] [-9.17819786e-03 -1.34813978e-04 -9.99957870e-01 4.66304424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.797628 meters 0.013902421275038232 Centerline is valid? [True, True] Translation: X:200.45, Y:-100.37, Z:0.47 [[-9.01676257e-01 4.32298528e-01 9.89496131e-03 2.00446621e+02] [ 4.32270431e-01 9.01730533e-01 -4.93157499e-03 -1.00374791e+02] [-1.10545013e-02 -1.69384887e-04 -9.99938883e-01 4.68541985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.857628 meters 0.013372701543823468 Centerline is valid? [True, True] Translation: X:200.47, Y:-100.35, Z:0.47 [[-9.28703933e-01 3.70601419e-01 1.27903578e-02 2.00465381e+02] [ 3.70563901e-01 9.28791991e-01 -5.27570685e-03 -1.00352441e+02] [-1.38347664e-02 -1.59924806e-04 -9.99904282e-01 4.72902143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.917628 meters 0.012696953347054698 Centerline is valid? [True, True] Translation: X:200.48, Y:-100.33, Z:0.47 [[-9.51921477e-01 3.05962193e-01 1.52524801e-02 2.00480630e+02] [ 3.05920433e-01 9.52043652e-01 -5.05705727e-03 -1.00328731e+02] [-1.60682952e-02 -1.47876110e-04 -9.99870886e-01 4.73316640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.977628 meters 0.012223734040272863 Centerline is valid? [True, True] Translation: X:200.74, Y:-99.58, Z:-0.45 [[-9.24048835e-01 -3.82057231e-01 1.28849392e-02 2.00741648e+02] [ 3.82020174e-01 -9.24138665e-01 -5.32115770e-03 -9.95750629e+01] [ 1.39404573e-02 5.29714866e-06 9.99902827e-01 -4.47803145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.037628 meters 0.014859647147551103 Centerline is valid? [True, True] Translation: X:200.44, Y:-100.32, Z:0.47 [[-9.51183659e-01 3.08368367e-01 1.25934983e-02 2.00440805e+02] [ 3.08340749e-01 9.51267023e-01 -4.12726326e-03 -1.00319515e+02] [-1.32524971e-02 -4.26966643e-05 -9.99912181e-01 4.72397050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.097628 meters 0.012247282269196039 Centerline is valid? [True, True] Translation: X:200.70, Y:-99.56, Z:-0.45 [[-9.28259102e-01 -3.71762873e-01 1.12874641e-02 2.00703234e+02] [ 3.71735103e-01 -9.28327726e-01 -4.54389446e-03 -9.95570160e+01] [ 1.21677172e-02 -2.19647419e-05 9.99925970e-01 -4.48298548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.157628 meters 0.013466307425764677 Centerline is valid? [True, True] Translation: X:200.40, Y:-100.32, Z:0.47 [[-9.48415419e-01 3.16844156e-01 1.08616163e-02 2.00400931e+02] [ 3.16824659e-01 9.48477606e-01 -3.51647036e-03 -1.00319609e+02] [-1.14161729e-02 1.06153171e-04 -9.99934828e-01 4.71023852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.217628 meters 0.014933504960387022 Centerline is valid? [True, True] Translation: X:200.42, Y:-100.30, Z:0.47 [[-9.67143763e-01 2.54017870e-01 1.03857416e-02 2.00415565e+02] [ 2.54004956e-01 9.67199513e-01 -2.56613406e-03 -1.00301248e+02] [-1.06969281e-02 1.56209285e-04 -9.99942774e-01 4.67604638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.277628 meters 0.014018023321672816 Centerline is valid? [True, True] Translation: X:200.43, Y:-100.27, Z:0.47 [[-9.82660079e-01 1.85083808e-01 1.10974596e-02 2.00427209e+02] [ 1.85073941e-01 9.82722726e-01 -1.91855357e-03 -1.00271094e+02] [-1.12608189e-02 1.68564581e-04 -9.99936581e-01 4.67559647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.337628 meters 0.014244773487380435 Centerline is valid? [True, True] Translation: X:200.57, Y:-99.46, Z:-0.45 [[-9.75686033e-01 -2.18699034e-01 1.44047673e-02 2.00573543e+02] [ 2.18675119e-01 -9.75792361e-01 -3.23416460e-03 -9.94598645e+01] [ 1.47633706e-02 -5.56501711e-06 9.99891015e-01 -4.49098020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.397628 meters 0.014804060906398986 Centerline is valid? [True, True] Translation: X:200.38, Y:-100.26, Z:0.47 [[-9.83013144e-01 1.82713266e-01 1.73499375e-02 2.00376546e+02] [ 1.82690194e-01 9.83166198e-01 -2.91900909e-03 -1.00260166e+02] [-1.75912137e-02 3.00239140e-04 -9.99845218e-01 4.74184729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.457628 meters 0.015866447326150182 Centerline is valid? [True, True] Translation: X:200.52, Y:-99.45, Z:-0.45 [[-9.77578132e-01 -2.09891344e-01 1.69298416e-02 2.00520605e+02] [ 2.09854394e-01 -9.77724669e-01 -3.95035231e-03 -9.94486998e+01] [ 1.73818685e-02 -3.08976386e-04 9.99848876e-01 -4.48517791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.517628 meters 0.016105698379069708 Centerline is valid? [True, True] Translation: X:200.32, Y:-100.26, Z:0.47 [[-9.82918531e-01 1.83428320e-01 1.50071029e-02 2.00320574e+02] [ 1.83412041e-01 9.83033033e-01 -2.46580524e-03 -1.00255496e+02] [-1.52047764e-02 3.28797703e-04 -9.99884347e-01 4.68394318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.577628 meters 0.014873107226832914 Centerline is valid? [True, True] Translation: X:200.33, Y:-100.23, Z:0.46 [[-9.93881870e-01 1.10085406e-01 8.94609118e-03 2.00330553e+02] [ 1.10082384e-01 9.93922119e-01 -8.31077605e-04 -1.00227128e+02] [-8.98320741e-03 1.58814079e-04 -9.99959638e-01 4.62286086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.637628 meters 0.013611954666992802 Centerline is valid? [True, True] Translation: X:200.41, Y:-99.41, Z:-0.44 [[-9.89486872e-01 -1.44583253e-01 3.37829916e-03 2.00411918e+02] [ 1.44580883e-01 -9.89492542e-01 -9.36851784e-04 -9.94113445e+01] [ 3.47825490e-03 -4.38565067e-04 9.99993855e-01 -4.36615450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.697628 meters 0.013273151056640774 Centerline is valid? [True, True] Translation: X:200.27, Y:-100.22, Z:0.46 [[-9.95338052e-01 9.64049242e-02 2.87267720e-03 2.00271573e+02] [ 9.64045609e-02 9.95342198e-01 -2.65007968e-04 -1.00215674e+02] [-2.88484491e-03 1.31666698e-05 -9.99995839e-01 4.59044836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.757628 meters 0.012707247468217234 Centerline is valid? [True, True] Translation: X:200.26, Y:-100.18, Z:0.46 [[-9.99889786e-01 1.48463912e-02 -3.31756965e-06 2.00264767e+02] [ 1.48463912e-02 9.99889786e-01 -1.60018573e-05 -1.00182697e+02] [ 3.07963419e-06 -1.60493476e-05 -1.00000000e+00 4.56816470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.817628 meters 0.01485277375633 Centerline is valid? [True, True] Translation: X:200.27, Y:-100.15, Z:0.46 [[-9.98004898e-01 -6.31349007e-02 4.56924133e-04 2.00266181e+02] [-6.31349029e-02 9.98005002e-01 9.43126708e-06 -1.00151566e+02] [-4.56608013e-04 -1.94354101e-05 -9.99999896e-01 4.59220620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.877628 meters 0.01430238587783717 Centerline is valid? [True, True] Translation: X:200.22, Y:-99.37, Z:-0.44 [[-9.99634779e-01 -2.67405248e-02 3.90561162e-03 2.00221497e+02] [ 2.67414764e-02 -9.99642364e-01 1.91624509e-04 -9.93652841e+01] [ 3.89909069e-03 2.95996345e-04 9.99992355e-01 -4.40056148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.937628 meters 0.014782512319413278 Centerline is valid? [True, True] Translation: X:200.17, Y:-100.15, Z:0.47 [[-9.97019853e-01 -7.63533762e-02 1.10260747e-02 2.00173255e+02] [-7.63507482e-02 9.97080803e-01 6.59703266e-04 -1.00154883e+02] [-1.10442580e-02 -1.84111800e-04 -9.99938993e-01 4.70531720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.997628 meters 0.014001563995742018 Centerline is valid? [True, True] Translation: X:200.17, Y:-100.14, Z:0.47 [[-9.89643181e-01 -1.42940241e-01 1.32084193e-02 2.00168147e+02] [-1.42929699e-01 9.89731308e-01 1.74350519e-03 -1.00136546e+02] [-1.33220032e-02 -1.62427377e-04 -9.99911245e-01 4.71434848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.05762799999997 meters 0.013340513565416745 Centerline is valid? [True, True] Translation: X:200.17, Y:-100.11, Z:0.47 [[-9.77575022e-01 -2.10272333e-01 1.15162085e-02 2.00167506e+02] [-2.10259076e-01 9.77642846e-01 2.36371735e-03 -1.00110777e+02] [-1.17557632e-02 -1.10676324e-04 -9.99930893e-01 4.68846327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.11762799999997 meters 0.012808611296878361 Centerline is valid? [True, True] Translation: X:200.15, Y:-100.09, Z:0.47 [[-9.62264809e-01 -2.71941447e-01 9.71015601e-03 2.00151670e+02] [-2.71927735e-01 9.62313800e-01 2.73097495e-03 -1.00089428e+02] [-1.00868824e-02 -1.25396348e-05 -9.99949126e-01 4.67488828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.17762799999997 meters 0.013175565407219186 Centerline is valid? [True, True] Translation: X:200.11, Y:-100.08, Z:0.47 [[-9.42300027e-01 -3.34666479e-01 8.30708730e-03 2.00110926e+02] [-3.34652998e-01 9.42336641e-01 3.00423140e-03 -1.00079566e+02] [-8.83348829e-03 5.08956572e-05 -9.99960983e-01 4.65570018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.237628 meters 0.015133308511441927 Centerline is valid? [True, True] Translation: X:200.06, Y:-100.08, Z:0.47 [[-9.18978681e-01 -3.94207713e-01 8.85795854e-03 2.00056483e+02] [-3.94187773e-01 9.19021357e-01 3.96792774e-03 -1.00080839e+02] [-9.70484080e-03 1.54742042e-04 -9.99952895e-01 4.65896527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.297628 meters 0.017229667527386545 Centerline is valid? [True, True] Translation: X:199.98, Y:-100.09, Z:0.47 [[-8.89995570e-01 -4.55836687e-01 1.09909483e-02 1.99983407e+02] [-4.55797959e-01 8.90063388e-01 5.94866101e-03 -1.00086962e+02] [-1.24942586e-02 2.84630159e-04 -9.99921903e-01 4.68924313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.357628 meters 0.01790942294306961 Centerline is valid? [True, True] Translation: X:199.90, Y:-100.10, Z:0.47 [[-8.56308995e-01 -5.16287538e-01 1.34938220e-02 1.99903587e+02] [-5.16214813e-01 8.56415181e-01 8.67789462e-03 -1.00101161e+02] [-1.60366028e-02 4.65248444e-04 -9.99871297e-01 4.69118557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.417628 meters 0.01817623992604671 Centerline is valid? [True, True] Translation: X:199.82, Y:-100.12, Z:0.47 [[-8.15886434e-01 -5.78078651e-01 1.24258076e-02 1.99820719e+02] [-5.78002641e-01 8.15980911e-01 9.38616490e-03 -1.00124446e+02] [-1.55651634e-02 4.75894999e-04 -9.99878742e-01 4.67693616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.477628 meters 0.01837713688281285 Centerline is valid? [True, True] Translation: X:199.73, Y:-100.16, Z:0.46 [[-7.70001634e-01 -6.37960024e-01 1.02221472e-02 1.99729716e+02] [-6.37896536e-01 7.70069370e-01 9.00972687e-03 -1.00161005e+02] [-1.36196081e-02 4.16832092e-04 -9.99907162e-01 4.64434573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.537628 meters 0.0177606613066266 Centerline is valid? [True, True] Translation: X:199.64, Y:-100.20, Z:0.46 [[-7.17216867e-01 -6.96816329e-01 6.85346918e-03 1.99639482e+02] [-6.96780948e-01 7.17249562e-01 7.02684558e-03 -1.00204692e+02] [-9.81206851e-03 2.64405416e-04 -9.99951826e-01 4.61156784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.597628 meters 0.01637772791450372 Centerline is valid? [True, True] Translation: X:199.55, Y:-100.26, Z:0.46 [[-6.59171387e-01 -7.51980569e-01 4.27856827e-03 1.99547804e+02] [-7.51963257e-01 6.59185256e-01 5.10480683e-03 -1.00259939e+02] [-6.65908467e-03 1.47616470e-04 -9.99977817e-01 4.57789054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.657628 meters 0.015088153149706756 Centerline is valid? [True, True] Translation: X:199.46, Y:-100.32, Z:0.45 [[-5.95842854e-01 -8.03098552e-01 2.00196236e-03 1.99460069e+02] [-8.03093735e-01 5.95846216e-01 2.78205820e-03 -1.00323383e+02] [-3.42712861e-03 4.99060706e-05 -9.99994126e-01 4.54403798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.717628 meters 0.013756143092292564 Centerline is valid? [True, True] Translation: X:199.37, Y:-100.40, Z:0.45 [[-5.26519099e-01 -8.50162408e-01 1.23258481e-03 1.99372936e+02] [-8.50160027e-01 5.26520541e-01 2.01218322e-03 -1.00397161e+02] [-2.35966375e-03 1.15585645e-05 -9.99997216e-01 4.53878033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.777628 meters 0.012900231398165105 Centerline is valid? [True, True] Translation: X:199.29, Y:-100.48, Z:0.45 [[-4.54310787e-01 -8.90841965e-01 1.51729523e-03 1.99290899e+02] [-8.90836975e-01 4.54313321e-01 2.98178507e-03 -1.00479214e+02] [-3.34562671e-03 2.99443163e-06 -9.99994403e-01 4.54285657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.837628 meters 0.012864407989831362 Centerline is valid? [True, True] Translation: X:199.22, Y:-100.57, Z:0.46 [[-3.83236218e-01 -9.23647987e-01 2.09697626e-03 1.99216656e+02] [-9.23634048e-01 3.83241955e-01 5.07445978e-03 -1.00569758e+02] [-5.49066385e-03 7.87810669e-06 -9.99984926e-01 4.57100893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.897628 meters 0.013180848757463854 Centerline is valid? [True, True] Translation: X:199.15, Y:-100.67, Z:0.46 [[-3.13952197e-01 -9.49437044e-01 1.82141173e-03 1.99154348e+02] [-9.49420556e-01 3.13957479e-01 5.59548517e-03 -1.00665895e+02] [-5.88440674e-03 2.74291213e-05 -9.99982686e-01 4.58270581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.957628 meters 0.01480034517632942 Centerline is valid? [True, True] Translation: X:199.11, Y:-100.77, Z:0.46 [[-2.48706867e-01 -9.68577517e-01 1.57705021e-03 1.99106477e+02] [-9.68555545e-01 2.48711849e-01 6.52470688e-03 -1.00767949e+02] [-6.71191547e-03 9.52786799e-05 -9.99977470e-01 4.58983473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.017628 meters 0.016577437765358433 Centerline is valid? [True, True] Translation: X:199.06, Y:-100.88, Z:0.46 [[-1.82633620e-01 -9.83180403e-01 1.12036935e-03 1.99064810e+02] [-9.83155825e-01 1.82636979e-01 6.95401592e-03 -1.00876066e+02] [-7.04167305e-03 1.68539453e-04 -9.99975193e-01 4.58655614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.077628 meters 0.019776764010870505 Centerline is valid? [True, True] Translation: X:199.03, Y:-100.98, Z:0.46 [[-1.10587138e-01 -9.93866192e-01 6.91451866e-04 1.99028543e+02] [-9.93830834e-01 1.10589038e-01 8.38678830e-03 -1.00984048e+02] [-8.41181235e-03 2.40284729e-04 -9.99964591e-01 4.61565053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.137628 meters 0.017827675478835292 Centerline is valid? [True, True] Translation: X:199.00, Y:-101.10, Z:0.46 [[-3.40792219e-02 -9.99419134e-01 3.78779057e-05 1.98998592e+02] [-9.99396074e-01 3.40786930e-02 6.79190782e-03 -1.01103582e+02] [-6.78925346e-03 1.93607903e-04 -9.99976934e-01 4.58391466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.197628 meters 0.017876919101958887 Centerline is valid? [True, True] Translation: X:198.98, Y:-101.22, Z:0.46 [[ 4.47726479e-02 -9.98997086e-01 -4.80902308e-04 1.98976374e+02] [-9.98974711e-01 -4.47748649e-02 6.68862241e-03 -1.01222184e+02] [-6.70344664e-03 1.80941908e-04 -9.99977515e-01 4.57613406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.257628 meters 0.016162729846690208 Centerline is valid? [True, True] Translation: X:198.96, Y:-101.35, Z:0.46 [[ 1.25964860e-01 -9.92034275e-01 -9.22220822e-04 1.98959366e+02] [-9.92015239e-01 -1.25968157e-01 6.14732674e-03 -1.01347864e+02] [-6.21452928e-03 1.40509958e-04 -9.99980680e-01 4.57466572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.317628 meters 0.015344479042840026 Centerline is valid? [True, True] Translation: X:198.95, Y:-101.48, Z:0.46 [[ 2.07554352e-01 -9.78222300e-01 -1.52368630e-03 1.98954603e+02] [-9.78199961e-01 -2.07559912e-01 6.61200488e-03 -1.01475160e+02] [-6.78426682e-03 1.18119486e-04 -9.99976980e-01 4.57974022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.377628 meters 0.013802255752416961 Centerline is valid? [True, True] Translation: X:198.96, Y:-101.60, Z:0.46 [[ 2.89303200e-01 -9.57234345e-01 -2.46318806e-03 1.98955603e+02] [-9.57202191e-01 -2.89313673e-01 7.84632940e-03 -1.01601338e+02] [-8.22340997e-03 8.78008060e-05 -9.99966183e-01 4.60420243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.437628 meters 0.013119231767969317 Centerline is valid? [True, True] Translation: X:198.97, Y:-101.73, Z:0.46 [[ 3.66918815e-01 -9.30247991e-01 -3.04263673e-03 1.98969570e+02] [-9.30217055e-01 -3.66931427e-01 7.58670469e-03 -1.01726383e+02] [-8.17395583e-03 4.66078823e-05 -9.99966592e-01 4.59917067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.497628 meters 0.012544442598784133 Centerline is valid? [True, True] Translation: X:198.99, Y:-101.85, Z:0.46 [[ 4.41595362e-01 -8.97210634e-01 -2.57169523e-03 1.98990548e+02] [-8.97195445e-01 -4.41602851e-01 5.22074699e-03 -1.01845666e+02] [-5.81977766e-03 1.85558373e-06 -9.99983065e-01 4.58407991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.55762799999997 meters 0.01263183285735414 Centerline is valid? [True, True] Translation: X:199.02, Y:-101.96, Z:0.46 [[ 5.09600259e-01 -8.60406975e-01 -2.72265589e-03 1.99023481e+02] [-8.60394684e-01 -5.09607532e-01 4.59902010e-03 -1.01962070e+02] [-5.34451492e-03 -1.10318104e-06 -9.99985718e-01 4.58074320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.61762799999997 meters 0.012551897099043407 Centerline is valid? [True, True] Translation: X:199.06, Y:-102.07, Z:0.46 [[ 5.73566012e-01 -8.19153844e-01 -3.00181667e-03 1.99060724e+02] [-8.19142655e-01 -5.73573867e-01 4.28129431e-03 -1.02065193e+02] [-5.22880228e-03 3.31117744e-06 -9.99986330e-01 4.58242528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.67762799999997 meters 0.012817437020458315 Centerline is valid? [True, True] Translation: X:199.11, Y:-102.16, Z:0.46 [[ 6.31081991e-01 -7.75711617e-01 -2.64717153e-03 1.99108760e+02] [-7.75704921e-01 -6.31087543e-01 3.22317968e-03 -1.02164961e+02] [-4.17085490e-03 1.93333320e-05 -9.99991302e-01 4.57696021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.737628 meters 0.013504266557656847 Centerline is valid? [True, True] Translation: X:199.16, Y:-102.26, Z:0.46 [[ 6.85592512e-01 -7.27978017e-01 -3.30378444e-03 1.99162187e+02] [-7.27969880e-01 -6.85600470e-01 3.44214423e-03 -1.02259987e+02] [-4.77088149e-03 4.51472498e-05 -9.99988618e-01 4.58919947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.797628 meters 0.01676411672842353 Centerline is valid? [True, True] Translation: X:199.22, Y:-102.35, Z:0.46 [[ 7.34588700e-01 -6.78495131e-01 -4.87843952e-03 1.99221216e+02] [-6.78481187e-01 -7.34604890e-01 4.35133062e-03 -1.02346274e+02] [-6.53608217e-03 1.13491139e-04 -9.99978633e-01 4.62585318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.857628 meters 0.017664118002722086 Centerline is valid? [True, True] Translation: X:199.24, Y:-102.36, Z:0.46 [[ 7.81382680e-01 -6.24031583e-01 -5.06861554e-03 1.99243473e+02] [-6.24019693e-01 -7.81399105e-01 3.85521100e-03 -1.02363377e+02] [-6.36638507e-03 1.50520811e-04 -9.99979723e-01 4.60594972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.917628 meters 0.018331738080127818 Centerline is valid? [True, True] Translation: X:199.26, Y:-102.38, Z:0.46 [[ 8.25767325e-01 -5.63982925e-01 -5.62016180e-03 1.99264254e+02] [-5.63971356e-01 -8.25786429e-01 3.61697703e-03 -1.02382677e+02] [-6.68096663e-03 1.82828825e-04 -9.99977665e-01 4.60276645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.977628 meters 0.01873039366641698 Centerline is valid? [True, True] Translation: X:199.29, Y:-102.40, Z:0.46 [[ 8.67162757e-01 -4.97986846e-01 -6.15249869e-03 1.99286347e+02] [-4.97975888e-01 -8.67184561e-01 3.30935839e-03 -1.02399761e+02] [-6.98336883e-03 1.94043648e-04 -9.99975597e-01 4.59525298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.037628 meters 0.01758707307300001 Centerline is valid? [True, True] Translation: X:199.31, Y:-102.42, Z:0.46 [[ 9.05894208e-01 -4.23450714e-01 -6.72136795e-03 1.99306584e+02] [-4.23440383e-01 -9.05919128e-01 2.96232423e-03 -1.02417870e+02] [-7.34341410e-03 1.62546260e-04 -9.99973024e-01 4.60668009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.097628 meters 0.01521223468068833 Centerline is valid? [True, True] Translation: X:199.33, Y:-102.43, Z:0.46 [[ 9.38942323e-01 -3.43997271e-01 -7.29326990e-03 1.99330276e+02] [-3.43987813e-01 -9.38970641e-01 2.55336193e-03 -1.02434861e+02] [-7.72651585e-03 1.11336380e-04 -9.99970144e-01 4.61696451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.157628 meters 0.01221586807406457 Centerline is valid? [True, True] Translation: X:199.35, Y:-102.46, Z:0.46 [[ 9.66468612e-01 -2.56703298e-01 -6.46821144e-03 1.99352541e+02] [-2.56697586e-01 -9.66490257e-01 1.71256232e-03 -1.02459962e+02] [-6.69108373e-03 5.23653402e-06 -9.99977614e-01 4.59780919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.217628 meters 0.012322379610057192 Centerline is valid? [True, True] Translation: X:199.38, Y:-102.48, Z:0.46 [[ 9.85479351e-01 -1.69748458e-01 -3.98881506e-03 1.99376525e+02] [-1.69746874e-01 -9.85487422e-01 7.34609468e-04 -1.02479956e+02] [-4.05562589e-03 -4.68535725e-05 -9.99991775e-01 4.57018546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.277628 meters 0.013027628996546524 Centerline is valid? [True, True] Translation: X:199.40, Y:-102.49, Z:0.46 [[ 9.96189336e-01 -8.71341285e-02 -3.80131371e-03 1.99400704e+02] [-8.71332483e-02 -9.96196587e-01 3.96872026e-04 -1.02493843e+02] [-3.82143684e-03 -6.41388689e-05 -9.99992696e-01 4.56273833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.337628 meters 0.01393836047168892 Centerline is valid? [True, True] Translation: X:199.43, Y:-102.50, Z:0.46 [[ 9.99983043e-01 -4.47083371e-03 -3.73160268e-03 1.99425728e+02] [-4.47050644e-03 -9.99990003e-01 9.60396187e-05 -1.02504873e+02] [-3.73199476e-03 -7.93558364e-05 -9.99993033e-01 4.56360332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.397628 meters 0.014120611019474165 Centerline is valid? [True, True] Translation: X:199.45, Y:-102.51, Z:0.46 [[ 9.97259749e-01 7.38367914e-02 -4.59589438e-03 1.99451527e+02] [ 7.38364410e-02 -9.97270334e-01 -2.46100679e-04 -1.02509649e+02] [-4.60152040e-03 -9.39181828e-05 -9.99989409e-01 4.56762099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.457628 meters 0.013417697481680774 Centerline is valid? [True, True] Translation: X:199.48, Y:-102.51, Z:0.46 [[ 9.88888098e-01 1.48535963e-01 -6.11529851e-03 1.99477085e+02] [ 1.48533752e-01 -9.88907002e-01 -8.16704615e-04 -1.02510563e+02] [-6.16877152e-03 -1.00698757e-04 -9.99980968e-01 4.59310668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.517628 meters 0.012655077261799862 Centerline is valid? [True, True] Translation: X:199.50, Y:-102.50, Z:0.46 [[ 9.75433957e-01 2.20197253e-01 -6.46260237e-03 1.99502043e+02] [ 2.20192900e-01 -9.75455363e-01 -1.38640186e-03 -1.02504738e+02] [-6.60926202e-03 -7.06757077e-05 -9.99978156e-01 4.58539396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.577628 meters 0.012279741772459165 Centerline is valid? [True, True] Translation: X:199.53, Y:-102.50, Z:0.46 [[ 9.56447458e-01 2.91876014e-01 -4.08079096e-03 1.99526093e+02] [ 2.91873508e-01 -9.56456163e-01 -1.21011718e-03 -1.02499143e+02] [-4.25630184e-03 -3.36612730e-05 -9.99990941e-01 4.55790532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.637628 meters 0.012302527154148089 Centerline is valid? [True, True] Translation: X:199.55, Y:-102.49, Z:0.46 [[ 9.30905175e-01 3.65240433e-01 -3.87067400e-03 1.99551023e+02] [ 3.65237412e-01 -9.30913221e-01 -1.48583502e-03 -1.02494422e+02] [-4.14594863e-03 -3.05434467e-05 -9.99991405e-01 4.55986320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.697628 meters 0.012433782319912635 Centerline is valid? [True, True] Translation: X:199.58, Y:-102.49, Z:0.46 [[ 8.98546695e-01 4.38831726e-01 -6.36809755e-03 1.99576342e+02] [ 4.38821139e-01 -8.98569259e-01 -3.04870851e-03 -1.02490950e+02] [-7.06004672e-03 -5.50488671e-05 -9.99975076e-01 4.57204363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.757628 meters 0.0127273008949987 Centerline is valid? [True, True] Translation: X:199.60, Y:-102.49, Z:0.46 [[ 8.59841070e-01 5.10507147e-01 -7.46912092e-03 1.99604182e+02] [ 5.10488798e-01 -8.59873505e-01 -4.32929407e-03 -1.02490207e+02] [-8.63263474e-03 -9.03977136e-05 -9.99962734e-01 4.58381271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.817628 meters 0.012740639533706095 Centerline is valid? [True, True] Translation: X:199.63, Y:-102.48, Z:0.46 [[ 8.17620701e-01 5.75693532e-01 -8.56425377e-03 1.99629980e+02] [ 5.75663207e-01 -8.17665547e-01 -5.90970627e-03 -1.02484842e+02] [-1.04048749e-02 -9.82276075e-05 -9.99945863e-01 4.60532036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.877628 meters 0.012365031066952845 Centerline is valid? [True, True] Translation: X:199.65, Y:-102.47, Z:0.46 [[ 7.72318297e-01 6.35180856e-01 -8.35035924e-03 1.99651863e+02] [ 6.35144606e-01 -7.72363435e-01 -6.78623464e-03 -1.02473833e+02] [-1.07599985e-02 -6.25524587e-05 -9.99942108e-01 4.58665075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.937628 meters 0.012349922674000018 Centerline is valid? [True, True] Translation: X:199.67, Y:-102.46, Z:0.46 [[ 7.21621312e-01 6.92254426e-01 -6.81845878e-03 1.99674551e+02] [ 6.92224019e-01 -7.21653524e-01 -6.48845652e-03 -1.02463283e+02] [-9.41222755e-03 -3.76924288e-05 -9.99955703e-01 4.55620595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.997628 meters 0.012349604518304512 Centerline is valid? [True, True] Translation: X:199.70, Y:-102.45, Z:0.46 [[ 6.66896153e-01 7.45131916e-01 -5.28658791e-03 1.99698055e+02] [ 7.45108704e-01 -6.66917107e-01 -5.88157235e-03 -1.02453453e+02] [-7.90826319e-03 -1.66846863e-05 -9.99968729e-01 4.56255052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.05762799999997 meters 0.015736258617567014 Centerline is valid? [True, True] Translation: X:199.72, Y:-102.44, Z:0.46 [[ 6.09698075e-01 7.92622370e-01 -4.24687324e-03 1.99719851e+02] [ 7.92603008e-01 -6.09712866e-01 -5.54010035e-03 -1.02440749e+02] [-6.98058072e-03 1.17040157e-05 -9.99975635e-01 4.57673777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.11762799999997 meters 0.013051377183059617 Centerline is valid? [True, True] Translation: X:199.73, Y:-102.42, Z:0.45 [[ 5.50874658e-01 8.34586593e-01 -1.52641749e-03 1.99734963e+02] [ 8.34583328e-01 -5.50876773e-01 -2.33436963e-03 -1.02422432e+02] [-2.78910154e-03 1.20224823e-05 -9.99996110e-01 4.52518523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.17762799999997 meters 0.014029553203455437 Centerline is valid? [True, True] Translation: X:199.75, Y:-102.40, Z:0.45 [[ 4.88046313e-01 8.72815978e-01 -1.75099328e-03 1.99748829e+02] [ 8.72810073e-01 -4.88049452e-01 -3.21062101e-03 -1.02404263e+02] [-3.65685262e-03 3.86471743e-05 -9.99993313e-01 4.53671757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.237628 meters 0.014148924603383548 Centerline is valid? [True, True] Translation: X:199.77, Y:-102.39, Z:0.46 [[ 4.18327442e-01 9.08292692e-01 -2.55680179e-03 1.99765001e+02] [ 9.08274554e-01 -4.18335248e-01 -5.74063891e-03 -1.02387378e+02] [-6.28378068e-03 7.91887869e-05 -9.99980254e-01 4.55718627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.297628 meters 0.015951378736679046 Centerline is valid? [True, True] Translation: X:199.78, Y:-102.37, Z:0.46 [[ 3.45356600e-01 9.38463269e-01 -3.93854650e-03 1.99783267e+02] [ 9.38396970e-01 -3.45379022e-01 -1.11560940e-02 -1.02370075e+02] [-1.18298758e-02 1.56910591e-04 -9.99930012e-01 4.61862422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.357628 meters 0.013413421139344883 Centerline is valid? [True, True] Translation: X:199.80, Y:-102.35, Z:0.46 [[ 2.68065372e-01 9.63396116e-01 -2.97997588e-03 1.99799502e+02] [ 9.63331506e-01 -2.68081908e-01 -1.11579288e-02 -1.02351737e+02] [-1.15483829e-02 1.20349686e-04 -9.99933308e-01 4.60420669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.417628 meters 0.012764856209258279 Centerline is valid? [True, True] Translation: X:199.81, Y:-102.33, Z:0.46 [[ 1.87715141e-01 9.82222177e-01 -1.61871664e-03 1.99814266e+02] [ 9.82183227e-01 -1.87722113e-01 -8.74740817e-03 -1.02331393e+02] [-8.89576721e-03 5.21446241e-05 -9.99960431e-01 4.58609343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.477628 meters 0.012545941013043554 Centerline is valid? [True, True] Translation: X:199.83, Y:-102.31, Z:0.46 [[ 1.08880844e-01 9.94054460e-01 -8.31778781e-04 1.99828730e+02] [ 9.94022995e-01 -1.08884015e-01 -7.90922919e-03 -1.02309938e+02] [-7.95277197e-03 3.43563121e-05 -9.99968376e-01 4.57410157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.537628 meters 0.012275873524723735 Centerline is valid? [True, True] Translation: X:199.84, Y:-102.29, Z:0.46 [[ 2.71060628e-02 9.99632545e-01 -1.89132708e-04 1.99841287e+02] [ 9.99607293e-01 -2.71067224e-02 -7.10527571e-03 -1.02288449e+02] [-7.10779162e-03 3.53761599e-06 -9.99974739e-01 4.57673667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.597628 meters 0.01215750207204706 Centerline is valid? [True, True] Translation: X:199.85, Y:-102.26, Z:0.46 [[-5.63691010e-02 9.98409958e-01 2.82413896e-04 1.99853045e+02] [ 9.98394719e-01 5.63698010e-02 -5.51647775e-03 -1.02264702e+02] [-5.52362593e-03 -2.89983495e-05 -9.99984744e-01 4.58380610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.657628 meters 0.012750442759929115 Centerline is valid? [True, True] Translation: X:199.86, Y:-102.24, Z:0.46 [[-1.40313070e-01 9.90106796e-01 8.80875179e-04 1.99859672e+02] [ 9.90083910e-01 1.40315816e-01 -6.73222928e-03 -1.02241058e+02] [-6.78922668e-03 -7.24794154e-05 -9.99976950e-01 4.58989918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.717628 meters 0.013218954400127894 Centerline is valid? [True, True] Translation: X:199.86, Y:-102.22, Z:0.46 [[-2.20930926e-01 9.75287958e-01 1.71012453e-03 1.99864618e+02] [ 9.75254626e-01 2.20937515e-01 -8.06410350e-03 -1.02215836e+02] [-8.24265371e-03 -1.13803000e-04 -9.99966022e-01 4.60724467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.777628 meters 0.013746303724526574 Centerline is valid? [True, True] Translation: X:199.87, Y:-102.19, Z:0.47 [[-2.98506327e-01 9.54401113e-01 3.53378130e-03 1.99865367e+02] [ 9.54326595e-01 2.98527184e-01 -1.19277267e-02 -1.02190732e+02] [-1.24387655e-02 -1.88120426e-04 -9.99922618e-01 4.65131072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.837628 meters 0.0134047188423374 Centerline is valid? [True, True] Translation: X:199.86, Y:-102.17, Z:0.47 [[-3.70039874e-01 9.29003512e-01 4.79227664e-03 1.99858359e+02] [ 9.28919653e-01 3.70070867e-01 -1.24832396e-02 -1.02167838e+02] [-1.33704554e-02 -1.67656458e-04 -9.99910597e-01 4.66665100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.897628 meters 0.012579352154316652 Centerline is valid? [True, True] Translation: X:199.85, Y:-102.15, Z:0.46 [[-4.37432959e-01 8.99236236e-01 5.15731623e-03 1.99849443e+02] [ 8.99171154e-01 4.37463350e-01 -1.08191171e-02 -1.02146476e+02] [-1.19850790e-02 -9.53284181e-05 -9.99928172e-01 4.64342850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.957628 meters 0.01566162821890693 Centerline is valid? [True, True] Translation: X:199.84, Y:-102.13, Z:0.46 [[-4.99801151e-01 8.66131377e-01 3.90482530e-03 1.99839235e+02] [ 8.66104841e-01 4.99816404e-01 -6.77981945e-03 -1.02126255e+02] [-7.82391010e-03 -6.57346197e-06 -9.99969393e-01 4.63128475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.017628 meters 0.012297510474207697 Centerline is valid? [True, True] Translation: X:199.83, Y:-102.11, Z:0.46 [[-5.62812283e-01 8.26582779e-01 1.80088789e-03 1.99830165e+02] [ 8.26578554e-01 5.62815164e-01 -2.64285370e-03 -1.02106077e+02] [-3.19810437e-03 1.14478084e-06 -9.99994886e-01 4.55687838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.077628 meters 0.01245747938137969 Centerline is valid? [True, True] Translation: X:199.82, Y:-102.08, Z:0.45 [[-6.23431092e-01 7.81878044e-01 6.30298548e-04 1.99824123e+02] [ 7.81877633e-01 6.23431411e-01 -8.01690345e-04 -1.02082808e+02] [-1.01977199e-03 -6.98234996e-06 -9.99999480e-01 4.54286644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.137628 meters 0.012910480637195337 Centerline is valid? [True, True] Translation: X:199.82, Y:-102.06, Z:0.46 [[-6.80713159e-01 7.32548325e-01 1.59578597e-03 1.99816159e+02] [ 7.32546348e-01 6.80715029e-01 -1.70200751e-03 -1.02059940e+02] [-2.33307824e-03 1.04082756e-05 -9.99997278e-01 4.57929261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.197628 meters 0.013916618550705482 Centerline is valid? [True, True] Translation: X:199.81, Y:-102.04, Z:0.46 [[-7.31788555e-01 6.81513737e-01 4.95350321e-03 1.99805369e+02] [ 6.81499038e-01 7.31805313e-01 -4.47712719e-03 -1.02037709e+02] [-6.67622365e-03 9.94972348e-05 -9.99977709e-01 4.62067319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.257628 meters 0.015967280364130882 Centerline is valid? [True, True] Translation: X:199.83, Y:-102.03, Z:0.46 [[-7.74033654e-01 6.33088686e-01 8.40347065e-03 1.99828313e+02] [ 6.33054703e-01 7.74079233e-01 -6.56391765e-03 -1.02025781e+02] [-1.06604941e-02 2.39163452e-04 -9.99943147e-01 4.64648548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.317628 meters 0.017429009847773378 Centerline is valid? [True, True] Translation: X:199.85, Y:-102.01, Z:0.46 [[-8.14316023e-01 5.80354557e-01 8.83188943e-03 1.99851349e+02] [ 5.80324195e-01 8.14363866e-01 -5.94323921e-03 -1.02009872e+02] [-1.06415576e-02 2.85684208e-04 -9.99943336e-01 4.64447537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.377628 meters 0.019426122014492283 Centerline is valid? [True, True] Translation: X:200.33, Y:-101.32, Z:-0.44 [[-8.10278691e-01 -5.86024164e-01 4.91152837e-03 2.00330562e+02] [ 5.86010334e-01 -8.10293477e-01 -4.04581842e-03 -1.01321915e+02] [ 6.35072676e-03 -4.00034071e-04 9.99979754e-01 -4.40564292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.437628 meters 0.01811836385695087 Centerline is valid? [True, True] Translation: X:199.82, Y:-101.99, Z:0.46 [[-8.13624429e-01 5.81387480e-01 1.97123332e-03 1.99819180e+02] [ 5.81385967e-01 8.13626815e-01 -1.32816161e-03 -1.01987523e+02] [-2.37602482e-03 6.54226618e-05 -9.99997175e-01 4.55270209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.497628 meters 0.01764162450354251 Centerline is valid? [True, True] Translation: X:199.84, Y:-101.96, Z:0.45 [[-8.53960709e-01 5.20327917e-01 -3.15697225e-03 1.99840153e+02] [ 5.20324890e-01 8.53966535e-01 1.77905540e-03 -1.01962604e+02] [ 3.62164084e-03 -1.23407834e-04 -9.99993434e-01 4.50265520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.55762799999997 meters 0.016628823790271155 Centerline is valid? [True, True] Translation: X:200.25, Y:-101.25, Z:-0.43 [[-8.48366198e-01 -5.29380293e-01 -5.59452175e-03 2.00250982e+02] [ 5.29368598e-01 -8.48384644e-01 3.51890019e-03 -1.01253918e+02] [-6.60914276e-03 2.37518460e-05 9.99978159e-01 -4.26993216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.61762799999997 meters 0.014098686047377327 Centerline is valid? [True, True] Translation: X:199.80, Y:-101.93, Z:0.45 [[-8.62575246e-01 5.05905611e-01 -4.84324107e-03 1.99803215e+02] [ 5.05898338e-01 8.62588836e-01 2.71486845e-03 -1.01925435e+02] [ 5.55119286e-03 -1.08409288e-04 -9.99984586e-01 4.48025755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.67762799999997 meters 0.012912977037658119 Centerline is valid? [True, True] Translation: X:199.82, Y:-101.89, Z:0.46 [[-8.99254161e-01 4.37426058e-01 -6.30367720e-04 1.99821935e+02] [ 4.37425966e-01 8.99254382e-01 2.85196008e-04 -1.01894100e+02] [ 6.91613100e-04 -1.92755118e-05 -9.99999761e-01 4.55163585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.737628 meters 0.012380840427217108 Centerline is valid? [True, True] Translation: X:199.83, Y:-101.87, Z:0.46 [[-9.29071086e-01 3.69885863e-01 3.37135810e-03 1.99834723e+02] [ 3.69883486e-01 9.29077202e-01 -1.32612919e-03 -1.01865876e+02] [-3.62276839e-03 1.49414017e-05 -9.99993438e-01 4.59333481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.797628 meters 0.01235486397977679 Centerline is valid? [True, True] Translation: X:199.85, Y:-101.84, Z:0.46 [[-9.52891614e-01 3.03284954e-01 3.97595287e-03 1.99848462e+02] [ 3.03282396e-01 9.52899909e-01 -1.24576184e-03 -1.01842280e+02] [-4.16650595e-03 1.87605017e-05 -9.99991320e-01 4.59232576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.857628 meters 0.012419426876346878 Centerline is valid? [True, True] Translation: X:199.86, Y:-101.82, Z:0.46 [[-9.71960587e-01 2.35120396e-01 3.31905426e-03 1.99859321e+02] [ 2.35119073e-01 9.71966254e-01 -7.88719890e-04 -1.01818404e+02] [-3.41145287e-03 1.37683126e-05 -9.99994181e-01 4.59424926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.917628 meters 0.012278088057485816 Centerline is valid? [True, True] Translation: X:199.86, Y:-101.79, Z:0.46 [[-9.86339509e-01 1.64688911e-01 3.45484902e-03 1.99864819e+02] [ 1.64687941e-01 9.86345559e-01 -5.65440134e-04 -1.01793390e+02] [-3.50079671e-03 1.12560274e-05 -9.99993872e-01 4.59304431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.977628 meters 0.012083182432152475 Centerline is valid? [True, True] Translation: X:199.99, Y:-101.03, Z:-0.44 [[-9.75517925e-01 -2.19899897e-01 2.96878465e-03 1.99989313e+02] [ 2.19898762e-01 -9.75522441e-01 -7.07653521e-04 -1.01028801e+02] [ 3.05172899e-03 -3.74966253e-05 9.99995343e-01 -4.39608180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.037628 meters 0.011951177932255155 Centerline is valid? [True, True] Translation: X:199.81, Y:-101.79, Z:0.46 [[-9.87712702e-01 1.56237932e-01 3.65050374e-03 1.99811467e+02] [ 1.56236848e-01 9.87719448e-01 -5.82019844e-04 -1.01787969e+02] [-3.69660712e-03 -4.52519611e-06 -9.99993168e-01 4.60374003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.097628 meters 0.012065632056995063 Centerline is valid? [True, True] Translation: X:199.82, Y:-101.76, Z:0.46 [[-9.96630241e-01 8.18827508e-02 4.83509178e-03 1.99815551e+02] [ 8.18816833e-02 9.96641969e-01 -4.18642819e-04 -1.01762708e+02] [-4.85313502e-03 -2.13266393e-05 -9.99988223e-01 4.61465216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.157628 meters 0.012334596989740284 Centerline is valid? [True, True] Translation: X:199.88, Y:-100.98, Z:-0.44 [[-9.87701111e-01 -1.56238618e-01 6.00075871e-03 1.99883699e+02] [ 1.56236379e-01 -9.87719334e-01 -8.43034980e-04 -1.00984392e+02] [ 6.05878002e-03 1.04870225e-04 9.99981640e-01 -4.43215246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.217628 meters 0.012955415204065587 Centerline is valid? [True, True] Translation: X:199.75, Y:-101.76, Z:0.47 [[-9.97521338e-01 6.96190468e-02 1.02160765e-02 1.99754500e+02] [ 6.96142124e-02 9.97573644e-01 -8.28486287e-04 -1.01761777e+02] [-1.02489671e-02 -1.15248631e-04 -9.99947471e-01 4.66718197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.277628 meters 0.015933660804648222 Centerline is valid? [True, True] Translation: X:199.76, Y:-101.74, Z:0.47 [[-9.99907237e-01 -8.92547287e-04 1.35911749e-02 1.99755964e+02] [-8.94390357e-04 9.99999592e-01 -1.29530179e-04 -1.01741231e+02] [-1.35910538e-02 -1.41673979e-04 -9.99907627e-01 4.70978989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.337628 meters 0.012619860372544173 Centerline is valid? [True, True] Translation: X:199.76, Y:-101.72, Z:0.46 [[-9.97422039e-01 -7.11160301e-02 9.58056093e-03 1.99755336e+02] [-7.11136727e-02 9.97468045e-01 5.86928180e-04 -1.01722185e+02] [-9.59804338e-03 -9.58937727e-05 -9.99953933e-01 4.64057296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.397628 meters 0.012634166858875277 Centerline is valid? [True, True] Translation: X:199.75, Y:-101.70, Z:0.46 [[-9.89801945e-01 -1.42291350e-01 6.72915133e-03 1.99750638e+02] [-1.42288572e-01 9.89824816e-01 8.92332628e-04 -1.01695300e+02] [-6.78765219e-03 -7.42487618e-05 -9.99976961e-01 4.61303726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.457628 meters 0.012636432538237595 Centerline is valid? [True, True] Translation: X:199.74, Y:-101.67, Z:0.46 [[-9.77295189e-01 -2.11771897e-01 6.83937089e-03 1.99742707e+02] [-2.11767221e-01 9.77319118e-01 1.40902393e-03 -1.01666721e+02] [-6.98263960e-03 -7.13222541e-05 -9.99975619e-01 4.62144893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.517628 meters 0.012407456471600447 Centerline is valid? [True, True] Translation: X:199.72, Y:-101.64, Z:0.46 [[-9.60095293e-01 -2.79593157e-01 6.68543102e-03 1.99724754e+02] [-2.79586807e-01 9.60118567e-01 1.88531763e-03 -1.01640170e+02] [-6.94592836e-03 -5.90737298e-05 -9.99975875e-01 4.63742791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.577628 meters 0.01245248410049728 Centerline is valid? [True, True] Translation: X:199.69, Y:-101.62, Z:0.46 [[-9.37253248e-01 -3.48617942e-01 4.67756458e-03 1.99693682e+02] [-3.48613846e-01 9.37264919e-01 1.69062897e-03 -1.01623080e+02] [-4.97350078e-03 -4.61162843e-05 -9.99987631e-01 4.61588858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.637628 meters 0.012518642965429918 Centerline is valid? [True, True] Translation: X:199.64, Y:-101.62, Z:0.46 [[-9.08576446e-01 -4.17705313e-01 3.33354853e-03 1.99636899e+02] [-4.17702670e-01 9.08582561e-01 1.48643222e-03 -1.01617671e+02] [-3.64969470e-03 -4.18948205e-05 -9.99993339e-01 4.60034409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.697628 meters 0.01280114652017989 Centerline is valid? [True, True] Translation: X:199.57, Y:-101.62, Z:0.46 [[-8.74179229e-01 -4.85585963e-01 4.11691038e-03 1.99572442e+02] [-4.85580901e-01 8.74188921e-01 2.21802129e-03 -1.01617387e+02] [-4.67599744e-03 -6.01449107e-05 -9.99989066e-01 4.61830762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.757628 meters 0.012849277754073381 Centerline is valid? [True, True] Translation: X:199.50, Y:-101.63, Z:0.46 [[-8.35207553e-01 -5.49910423e-01 5.18357656e-03 1.99499073e+02] [-5.49900423e-01 8.35223635e-01 3.31731436e-03 -1.01630676e+02] [-6.15367140e-03 -7.98049333e-05 -9.99981063e-01 4.63112564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.817628 meters 0.013193765804946363 Centerline is valid? [True, True] Translation: X:199.42, Y:-101.66, Z:0.46 [[-7.91198522e-01 -6.11521214e-01 6.83399767e-03 1.99416602e+02] [-6.11499621e-01 7.91228028e-01 5.14009302e-03 -1.01658657e+02] [-8.55052643e-03 -1.12152986e-04 -9.99963437e-01 4.64037965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.877628 meters 0.013295717938933138 Centerline is valid? [True, True] Translation: X:199.34, Y:-101.69, Z:0.46 [[-7.42837109e-01 -6.69443126e-01 6.23946770e-03 1.99337678e+02] [-6.69420735e-01 7.42863304e-01 5.47636939e-03 -1.01689763e+02] [-8.30118944e-03 -1.08778644e-04 -9.99965539e-01 4.63733943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.937628 meters 0.01289299707704929 Centerline is valid? [True, True] Translation: X:199.25, Y:-101.73, Z:0.46 [[-6.91333219e-01 -7.22517429e-01 5.19080434e-03 1.99253528e+02] [-7.22497975e-01 6.91352701e-01 5.30267394e-03 -1.01731281e+02] [-7.41995095e-03 -8.44309796e-05 -9.99972468e-01 4.63569651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.997628 meters 0.012210044606950106 Centerline is valid? [True, True] Translation: X:199.17, Y:-101.78, Z:0.46 [[-6.39185510e-01 -7.69043867e-01 3.66255556e-03 1.99171543e+02] [-7.69031529e-01 6.39196002e-01 4.35630439e-03 -1.01783743e+02] [-5.69128004e-03 -3.21340590e-05 -9.99983804e-01 4.61946399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.05762799999997 meters 0.01216281714253749 Centerline is valid? [True, True] Translation: X:199.09, Y:-101.85, Z:0.46 [[-5.82548660e-01 -8.12792058e-01 2.47566487e-03 1.99092823e+02] [-8.12784766e-01 5.82553920e-01 3.44287763e-03 -1.01847934e+02] [-4.24055187e-03 -6.53894606e-06 -9.99991009e-01 4.60059372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.11762799999997 meters 0.012759512913103104 Centerline is valid? [True, True] Translation: X:199.02, Y:-101.92, Z:0.46 [[-5.25195912e-01 -8.50980756e-01 1.00329684e-03 1.99018983e+02] [-8.50979185e-01 5.25196871e-01 1.63541403e-03 -1.01921327e+02] [-1.91863423e-03 5.12803573e-06 -9.99998159e-01 4.58185070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.17762799999997 meters 0.014052847439826228 Centerline is valid? [True, True] Translation: X:198.95, Y:-102.00, Z:0.46 [[-4.65714414e-01 -8.84934693e-01 8.20715787e-04 1.98946355e+02] [-8.84933246e-01 4.65715137e-01 1.60052169e-03 -1.02003253e+02] [-1.79857693e-03 1.91073345e-05 -9.99998382e-01 4.59862344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.237628 meters 0.015085095807329247 Centerline is valid? [True, True] Translation: X:198.88, Y:-102.10, Z:0.46 [[-4.00702516e-01 -9.16207348e-01 1.26049873e-03 1.98875147e+02] [-9.16202323e-01 4.00704494e-01 3.03520691e-03 -1.02095520e+02] [-3.28596638e-03 6.13431794e-05 -9.99994599e-01 4.61002986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.297628 meters 0.017072619798465187 Centerline is valid? [True, True] Translation: X:198.81, Y:-102.19, Z:0.46 [[-3.33618529e-01 -9.42706289e-01 1.87863360e-03 1.98812375e+02] [-9.42688629e-01 3.33623783e-01 5.77230699e-03 -1.02194186e+02] [-6.06834695e-03 1.54782035e-04 -9.99981575e-01 4.62520515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.357628 meters 0.01814835636646056 Centerline is valid? [True, True] Translation: X:198.75, Y:-102.30, Z:0.46 [[-2.63226522e-01 -9.64732190e-01 1.89752304e-03 1.98753424e+02] [-9.64700183e-01 2.63233253e-01 7.86206636e-03 -1.02296412e+02] [-8.08427966e-03 2.38963556e-04 -9.99967293e-01 4.63969028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.417628 meters 0.018593596991689325 Centerline is valid? [True, True] Translation: X:198.70, Y:-102.41, Z:0.46 [[-1.89468151e-01 -9.81886061e-01 1.25790100e-03 1.98700762e+02] [-9.81854961e-01 1.89472167e-01 7.81874995e-03 -1.02405456e+02] [-7.91545882e-03 2.46327756e-04 -9.99968642e-01 4.64291517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.477628 meters 0.01891310702607345 Centerline is valid? [True, True] Translation: X:198.66, Y:-102.51, Z:0.46 [[-1.12621606e-01 -9.93637774e-01 5.90296664e-04 1.98655315e+02] [-9.93612461e-01 1.12622952e-01 7.09562277e-03 -1.02509573e+02] [-7.11695976e-03 2.12594311e-04 -9.99974652e-01 4.64808133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.537628 meters 0.018462219354287653 Centerline is valid? [True, True] Translation: X:198.62, Y:-102.63, Z:0.46 [[-3.16582943e-02 -9.99498750e-01 4.15677393e-05 1.98619712e+02] [-9.99471808e-01 3.16577463e-02 7.34108349e-03 -1.02632698e+02] [-7.33871971e-03 1.90860398e-04 -9.99973053e-01 4.64862726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.597628 meters 0.014801570055319275 Centerline is valid? [True, True] Translation: X:198.59, Y:-102.75, Z:0.46 [[ 5.22597523e-02 -9.98633475e-01 -3.18258277e-04 1.98586935e+02] [-9.98623320e-01 -5.22606564e-02 4.50425048e-03 -1.02754697e+02] [-4.51472769e-03 8.24291232e-05 -9.99989805e-01 4.61139546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.657628 meters 0.012944991659707519 Centerline is valid? [True, True] Translation: X:198.56, Y:-102.88, Z:0.46 [[ 1.36557715e-01 -9.90631991e-01 -4.97873372e-04 1.98563570e+02] [-9.90626270e-01 -1.36558619e-01 3.36690478e-03 -1.02882371e+02] [-3.40335249e-03 3.34296168e-05 -9.99994208e-01 4.61209275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.717628 meters 0.01207593557276256 Centerline is valid? [True, True] Translation: X:198.55, Y:-103.01, Z:0.46 [[ 2.18158622e-01 -9.75912741e-01 -1.06652327e-03 1.98554533e+02] [-9.75901616e-01 -2.18161228e-01 4.65992205e-03 -1.03006774e+02] [-4.78035132e-03 2.42196104e-05 -9.99988574e-01 4.63530690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.777628 meters 0.011732756561959028 Centerline is valid? [True, True] Translation: X:198.56, Y:-103.13, Z:0.46 [[ 2.97827501e-01 -9.54618715e-01 -1.37455119e-03 1.98558196e+02] [-9.54608520e-01 -2.97830673e-01 4.41165866e-03 -1.03129438e+02] [-4.62083543e-03 -1.75500094e-06 -9.99989324e-01 4.62448637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.837628 meters 0.01180004505184088 Centerline is valid? [True, True] Translation: X:198.57, Y:-103.25, Z:0.46 [[ 3.72411479e-01 -9.28066833e-01 -1.28163978e-03 1.98571291e+02] [-9.28061229e-01 -3.72413685e-01 3.22538187e-03 -1.03249083e+02] [-3.47067013e-03 -1.17290502e-05 -9.99993977e-01 4.63507413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.897628 meters 0.011785930226533863 Centerline is valid? [True, True] Translation: X:198.59, Y:-103.37, Z:0.47 [[ 4.43484882e-01 -8.96280094e-01 -1.77536035e-03 1.98594991e+02] [-8.96272776e-01 -4.43488436e-01 3.62183393e-03 -1.03365009e+02] [-4.03352944e-03 -1.50214471e-05 -9.99991865e-01 4.65095980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.957628 meters 0.01190903975301364 Centerline is valid? [True, True] Translation: X:198.63, Y:-103.48, Z:0.47 [[ 5.10656985e-01 -8.59780563e-01 -2.61284808e-03 1.98628862e+02] [-8.59769176e-01 -5.10663669e-01 4.42497117e-03 -1.03475764e+02] [-5.13879079e-03 -1.31961900e-05 -9.99986796e-01 4.66257105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.017628 meters 0.012060768002512377 Centerline is valid? [True, True] Translation: X:198.67, Y:-103.58, Z:0.47 [[ 5.72260954e-01 -8.20064796e-01 -3.33620372e-03 1.98671961e+02] [-8.20050938e-01 -5.72270679e-01 4.76757343e-03 -1.03580133e+02] [-5.81893070e-03 7.56087166e-06 -9.99983070e-01 4.68022134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.077628 meters 0.012612055976433775 Centerline is valid? [True, True] Translation: X:198.72, Y:-103.68, Z:0.47 [[ 6.29762208e-01 -7.76777906e-01 -3.95547526e-03 1.98721670e+02] [-7.76762973e-01 -6.29774628e-01 4.81672272e-03 -1.03678135e+02] [-6.23258175e-03 3.90767911e-05 -9.99980577e-01 4.69245951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.137628 meters 0.013540505862158412 Centerline is valid? [True, True] Translation: X:198.78, Y:-103.77, Z:0.47 [[ 6.84352627e-01 -7.29134802e-01 -4.89106576e-03 1.98777263e+02] [-7.29116967e-01 -6.84370101e-01 5.10037584e-03 -1.03771247e+02] [-7.06616070e-03 7.57034258e-05 -9.99975032e-01 4.70128286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.197628 meters 0.014272692990827417 Centerline is valid? [True, True] Translation: X:198.84, Y:-103.86, Z:0.47 [[ 7.34360034e-01 -6.78730287e-01 -6.36697597e-03 1.98836216e+02] [-6.78706429e-01 -7.34387621e-01 5.69258891e-03 -1.03857593e+02] [-8.53956083e-03 1.40897739e-04 -9.99963527e-01 4.70919545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.257628 meters 0.013735233382707894 Centerline is valid? [True, True] Translation: X:198.85, Y:-103.89, Z:0.47 [[ 7.86408326e-01 -6.17671184e-01 -6.65228823e-03 1.98851468e+02] [-6.17650375e-01 -7.86436452e-01 5.07158058e-03 -1.03886475e+02] [-8.36417114e-03 1.20455120e-04 -9.99965012e-01 4.70593529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.317628 meters 0.013472045103857924 Centerline is valid? [True, True] Translation: X:198.87, Y:-103.91, Z:0.47 [[ 8.32717081e-01 -5.53654660e-01 -6.98438214e-03 1.98870050e+02] [-5.53636316e-01 -8.32746363e-01 4.50824067e-03 -1.03912167e+02] [-8.31222728e-03 1.12718585e-04 -9.99965446e-01 4.70912276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.377628 meters 0.01618147274993092 Centerline is valid? [True, True] Translation: X:198.89, Y:-103.93, Z:0.47 [[ 8.73445162e-01 -4.86869826e-01 -7.16389958e-03 1.98890032e+02] [-4.86854479e-01 -8.73474533e-01 3.86727699e-03 -1.03933070e+02] [-8.14034432e-03 1.09922226e-04 -9.99966861e-01 4.73171095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.437628 meters 0.013647943527765688 Centerline is valid? [True, True] Translation: X:198.91, Y:-103.95, Z:0.47 [[ 9.08750635e-01 -4.17303522e-01 -5.48218284e-03 1.98912283e+02] [-4.17296452e-01 -9.08767167e-01 2.43041718e-03 -1.03952641e+02] [-5.99624942e-03 7.90522985e-05 -9.99982019e-01 4.68823288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.497628 meters 0.01394391192554317 Centerline is valid? [True, True] Translation: X:198.94, Y:-103.97, Z:0.47 [[ 9.38445862e-01 -3.45400825e-01 -4.19919930e-03 1.98935310e+02] [-3.45397641e-01 -9.38455255e-01 1.48431722e-03 -1.03970009e+02] [-4.45344504e-03 5.74421818e-05 -9.99990082e-01 4.67537794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.55762799999997 meters 0.013509135203109113 Centerline is valid? [True, True] Translation: X:198.96, Y:-103.99, Z:0.47 [[ 9.62751235e-01 -2.70361477e-01 -3.83810242e-03 1.98960006e+02] [-2.70359525e-01 -9.62758884e-01 1.02849396e-03 -1.03986863e+02] [-3.97323235e-03 4.74837191e-05 -9.99992106e-01 4.66714734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.61762799999997 meters 0.013622509232160709 Centerline is valid? [True, True] Translation: X:198.98, Y:-104.00, Z:0.47 [[ 9.81372218e-01 -1.92078117e-01 -3.81676284e-03 1.98983531e+02] [-1.92076814e-01 -9.81379639e-01 7.08323815e-04 -1.03998150e+02] [-3.88174685e-03 3.79823354e-05 -9.99992465e-01 4.66663877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.67762799999997 meters 0.012525481650054904 Centerline is valid? [True, True] Translation: X:199.01, Y:-104.01, Z:0.47 [[ 9.93882516e-01 -1.10372834e-01 -3.92202979e-03 1.99007390e+02] [-1.10372061e-01 -9.93890254e-01 4.13724258e-04 -1.04012931e+02] [-3.94373110e-03 2.16892029e-05 -9.99992223e-01 4.66734365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.737628 meters 0.012457029561016405 Centerline is valid? [True, True] Translation: X:199.03, Y:-104.02, Z:0.47 [[ 9.99560173e-01 -2.95295130e-02 -2.73287185e-03 1.99030900e+02] [-2.95294138e-02 -9.99563909e-01 7.66441572e-05 -1.04019290e+02] [-2.73394333e-03 4.08965690e-06 -9.99996263e-01 4.65817482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.797628 meters 0.012170939500437893 Centerline is valid? [True, True] Translation: X:199.06, Y:-104.03, Z:0.46 [[ 9.98725167e-01 5.04162746e-02 -2.49781434e-03 1.99056597e+02] [ 5.04161199e-02 -9.98728291e-01 -1.24912311e-04 -1.04026149e+02] [-2.50093546e-03 -1.17703895e-06 -9.99996873e-01 4.64772021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.857628 meters 0.01219491672014839 Centerline is valid? [True, True] Translation: X:199.08, Y:-104.03, Z:0.47 [[ 9.91481219e-01 1.30222810e-01 -2.64797078e-03 1.99081225e+02] [ 1.30222360e-01 -9.91484755e-01 -3.42537013e-04 -1.04028542e+02] [-2.67002879e-03 -5.20598766e-06 -9.99996435e-01 4.65167246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.917628 meters 0.012405125434955084 Centerline is valid? [True, True] Translation: X:199.11, Y:-104.03, Z:0.47 [[ 9.78702137e-01 2.05254271e-01 -3.57917532e-03 1.99107210e+02] [ 2.05252878e-01 -9.78708682e-01 -7.56138076e-04 -1.04028514e+02] [-3.65817053e-03 5.39791483e-06 -9.99993309e-01 4.66077896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.977628 meters 0.012886019880389819 Centerline is valid? [True, True] Translation: X:199.13, Y:-104.03, Z:0.47 [[ 9.61119928e-01 2.76078912e-01 -5.37757147e-03 1.99132871e+02] [ 2.76074329e-01 -9.61134971e-01 -1.59146562e-03 -1.04026553e+02] [-5.60794210e-03 4.49798918e-05 -9.99984274e-01 4.66694420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.037628 meters 0.013417351870882723 Centerline is valid? [True, True] Translation: X:199.16, Y:-104.02, Z:0.47 [[ 9.37567646e-01 3.47762325e-01 -5.31725858e-03 1.99158995e+02] [ 3.47756354e-01 -9.37582722e-01 -2.03888631e-03 -1.04024984e+02] [-5.69441762e-03 6.24833824e-05 -9.99983785e-01 4.66207924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.097628 meters 0.014303870490356453 Centerline is valid? [True, True] Translation: X:199.18, Y:-104.02, Z:0.47 [[ 9.09412738e-01 4.15843259e-01 -6.54639478e-03 1.99184222e+02] [ 4.15831556e-01 -9.09436292e-01 -3.12200030e-03 -1.04021947e+02] [-7.25179178e-03 1.16989315e-04 -9.99973699e-01 4.66760169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.157628 meters 0.014966650642561976 Centerline is valid? [True, True] Translation: X:199.21, Y:-104.02, Z:0.47 [[ 8.75634022e-01 4.82914262e-01 -7.67294614e-03 1.99210088e+02] [ 4.82893967e-01 -8.75667622e-01 -4.43071373e-03 -1.04018363e+02] [-8.85860536e-03 1.74464286e-04 -9.99960747e-01 4.68501868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.217628 meters 0.015118469978499706 Centerline is valid? [True, True] Translation: X:199.24, Y:-104.01, Z:0.47 [[ 8.35461576e-01 5.49490054e-01 -8.03961317e-03 1.99235707e+02] [ 5.49462303e-01 -8.35500234e-01 -5.52597487e-03 -1.04013358e+02] [-9.75356691e-03 1.99275311e-04 -9.99952413e-01 4.69323650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.277628 meters 0.014946488350530047 Centerline is valid? [True, True] Translation: X:199.26, Y:-104.01, Z:0.47 [[ 7.89298016e-01 6.13961866e-01 -7.71160465e-03 1.99260738e+02] [ 6.13930147e-01 -7.89335663e-01 -6.24385565e-03 -1.04006538e+02] [-9.92053384e-03 1.93876300e-04 -9.99950771e-01 4.68087417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.337628 meters 0.013689688582664169 Centerline is valid? [True, True] Translation: X:199.29, Y:-104.00, Z:0.47 [[ 7.35173462e-01 6.77847262e-01 -6.56279846e-03 1.99288445e+02] [ 6.77818700e-01 -7.35202743e-01 -6.22378825e-03 -1.04000662e+02] [-9.04376526e-03 1.27176435e-04 -9.99959096e-01 4.65675201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.397628 meters 0.012696345279212753 Centerline is valid? [True, True] Translation: X:199.32, Y:-103.99, Z:0.47 [[ 6.75576848e-01 7.37266374e-01 -5.84950932e-03 1.99316166e+02] [ 7.37237813e-01 -6.75602168e-01 -6.48979941e-03 -1.03992133e+02] [-8.73665206e-03 7.18787759e-05 -9.99961832e-01 4.65771939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.457628 meters 0.014236645938175327 Centerline is valid? [True, True] Translation: X:199.34, Y:-103.98, Z:0.47 [[ 6.13401650e-01 7.89753146e-01 -5.32772800e-03 1.99337229e+02] [ 7.89722709e-01 -6.13424785e-01 -6.93373167e-03 -1.03978725e+02] [-8.74409680e-03 4.57346609e-05 -9.99961769e-01 4.68254088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.517628 meters 0.012169469370217617 Centerline is valid? [True, True] Translation: X:199.35, Y:-103.96, Z:0.46 [[ 5.47937529e-01 8.36509162e-01 -4.10941239e-03 1.99352837e+02] [ 8.36485334e-01 -5.47952938e-01 -6.31379885e-03 -1.03960079e+02] [-7.53331518e-03 2.21041393e-05 -9.99971624e-01 4.64913665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.577628 meters 0.012088454414400195 Centerline is valid? [True, True] Translation: X:199.37, Y:-103.94, Z:0.46 [[ 4.79172319e-01 8.77711969e-01 -3.94812532e-03 1.99365570e+02] [ 8.77681994e-01 -4.79188584e-01 -7.25390895e-03 -1.03940619e+02] [-8.25873929e-03 1.06738727e-05 -9.99965896e-01 4.64140029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.637628 meters 0.011882159220959037 Centerline is valid? [True, True] Translation: X:199.38, Y:-103.92, Z:0.46 [[ 4.07054082e-01 9.13398909e-01 -3.06722180e-03 1.99382984e+02] [ 9.13373110e-01 -4.07065638e-01 -6.86505025e-03 -1.03922014e+02] [-7.51909000e-03 -7.07118370e-06 -9.99971731e-01 4.62836948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.697628 meters 0.012020584407710979 Centerline is valid? [True, True] Translation: X:199.40, Y:-103.90, Z:0.46 [[ 3.30389532e-01 9.43840528e-01 -2.79555839e-03 1.99399968e+02] [ 9.43807783e-01 -3.30401357e-01 -7.86203975e-03 -1.03901543e+02] [-8.34416803e-03 -4.09341346e-05 -9.99965186e-01 4.63299268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.757628 meters 0.01208638462370456 Centerline is valid? [True, True] Translation: X:199.41, Y:-103.88, Z:0.46 [[ 2.53937283e-01 9.67217595e-01 -2.44547717e-03 1.99413413e+02] [ 9.67174970e-01 -2.53949051e-01 -9.08052737e-03 -1.03879437e+02] [-9.40387245e-03 -5.93198530e-05 -9.99955781e-01 4.64429003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.817628 meters 0.012400551747221194 Centerline is valid? [True, True] Translation: X:199.43, Y:-103.86, Z:0.46 [[ 1.74342281e-01 9.84683771e-01 -1.62470586e-03 1.99425827e+02] [ 9.84645391e-01 -1.74349831e-01 -8.69431646e-03 -1.03857518e+02] [-8.84441951e-03 -8.39721695e-05 -9.99960884e-01 4.63549360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.877628 meters 0.012804538419671944 Centerline is valid? [True, True] Translation: X:199.43, Y:-103.83, Z:0.46 [[ 9.45036564e-02 9.95524222e-01 -7.63431852e-04 1.99434578e+02] [ 9.95498683e-01 -9.45067008e-02 -7.13133913e-03 -1.03834415e+02] [-7.17157027e-03 -8.60577802e-05 -9.99974280e-01 4.61797480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.937628 meters 0.012705935085343175 Centerline is valid? [True, True] Translation: X:199.44, Y:-103.81, Z:0.46 [[ 1.78968332e-02 9.99839809e-01 -2.43423123e-04 1.99437952e+02] [ 9.99801905e-01 -1.78982744e-02 -8.70641390e-03 -1.03811589e+02] [-8.70937607e-03 -8.75576651e-05 -9.99962069e-01 4.63659887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.997628 meters 0.012588789896495593 Centerline is valid? [True, True] Translation: X:199.44, Y:-103.79, Z:0.46 [[-5.95002113e-02 9.98228185e-01 4.64584839e-04 1.99442794e+02] [ 9.98185964e-01 5.95019678e-02 -9.18137035e-03 -1.03788306e+02] [-9.19274637e-03 -8.25514107e-05 -9.99957742e-01 4.63528437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.05762799999997 meters 0.012600692005603403 Centerline is valid? [True, True] Translation: X:199.45, Y:-103.76, Z:0.46 [[-1.37121370e-01 9.90553385e-01 1.31202168e-03 1.99450776e+02] [ 9.90501824e-01 1.37127620e-01 -1.01070532e-02 -1.03763839e+02] [-1.01914901e-02 -8.63331085e-05 -9.99948062e-01 4.64811874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.11762799999997 meters 0.012283813053391653 Centerline is valid? [True, True] Translation: X:199.45, Y:-103.74, Z:0.46 [[-2.12077314e-01 9.77251290e-01 1.76905530e-03 1.99452568e+02] [ 9.77215096e-01 2.12084685e-01 -8.41081902e-03 -1.03739481e+02] [-8.59467327e-03 -5.49963668e-05 -9.99963064e-01 4.62291355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.17762799999997 meters 0.012095891844644826 Centerline is valid? [True, True] Translation: X:199.45, Y:-103.71, Z:0.46 [[-2.87117329e-01 9.57893008e-01 2.15059279e-03 1.99453676e+02] [ 9.57865001e-01 2.87125380e-01 -7.32505773e-03 -1.03714786e+02] [-7.63411135e-03 -4.31734520e-05 -9.99970859e-01 4.60797085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.237628 meters 0.011896888680968701 Centerline is valid? [True, True] Translation: X:199.45, Y:-103.69, Z:0.46 [[-3.57639448e-01 9.33857851e-01 1.88129834e-03 1.99453155e+02] [ 9.33844744e-01 3.57644395e-01 -4.94786941e-03 -1.03690026e+02] [-5.29344250e-03 -1.27127132e-05 -9.99985990e-01 4.58685492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.297628 meters 0.012014626354783458 Centerline is valid? [True, True] Translation: X:199.45, Y:-103.67, Z:0.46 [[-4.27849603e-01 9.03846884e-01 2.35114779e-03 1.99450987e+02] [ 9.03833219e-01 4.27856063e-01 -4.97001938e-03 -1.03666147e+02] [-5.49808937e-03 -1.37534793e-06 -9.99984885e-01 4.58773647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.357628 meters 0.012136880061986292 Centerline is valid? [True, True] Translation: X:199.45, Y:-103.64, Z:0.46 [[-4.95630768e-01 8.68529468e-01 2.58963339e-03 1.99446030e+02] [ 8.68517701e-01 4.95637533e-01 -4.52105068e-03 -1.03642199e+02] [-5.21018525e-03 8.37061833e-06 -9.99986427e-01 4.59191216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.417628 meters 0.0124494553966133 Centerline is valid? [True, True] Translation: X:199.44, Y:-103.62, Z:0.46 [[-5.60054654e-01 8.28452485e-01 2.29455532e-03 1.99438210e+02] [ 8.28445637e-01 5.60059354e-01 -3.36839689e-03 -1.03619208e+02] [-4.07564394e-03 1.44279965e-05 -9.99991694e-01 4.58058736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.477628 meters 0.013046606019997348 Centerline is valid? [True, True] Translation: X:199.43, Y:-103.60, Z:0.46 [[-6.19365492e-01 7.85098577e-01 2.57144197e-03 1.99428400e+02] [ 7.85092044e-01 6.19370829e-01 -3.20300782e-03 -1.03597593e+02] [-4.10735302e-03 3.49861155e-05 -9.99991564e-01 4.57833463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.537628 meters 0.013631735843612285 Centerline is valid? [True, True] Translation: X:199.42, Y:-103.58, Z:0.46 [[-6.76508023e-01 7.36432048e-01 2.17568323e-03 1.99416730e+02] [ 7.36428406e-01 6.76511521e-01 -2.31630581e-03 -1.03576135e+02] [-3.17767660e-03 3.52354687e-05 -9.99994951e-01 4.57256891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.597628 meters 0.014136537844451761 Centerline is valid? [True, True] Translation: X:199.41, Y:-103.55, Z:0.46 [[-7.29874097e-01 6.83579092e-01 1.85121948e-03 1.99406494e+02] [ 6.83577010e-01 7.29876444e-01 -1.68747727e-03 -1.03553145e+02] [-2.50468567e-03 3.38051320e-05 -9.99996863e-01 4.56996161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.657628 meters 0.014026719221402988 Centerline is valid? [True, True] Translation: X:199.43, Y:-103.53, Z:0.46 [[-7.75990084e-01 6.30742602e-01 1.77747828e-03 1.99429631e+02] [ 6.30741041e-01 7.75992120e-01 -1.40336701e-03 -1.03534639e+02] [-2.26447250e-03 3.21296153e-05 -9.99997436e-01 4.57473793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.717628 meters 0.014763926536917799 Centerline is valid? [True, True] Translation: X:199.45, Y:-103.52, Z:0.46 [[-8.18571118e-01 5.74403351e-01 1.45401366e-03 1.99449925e+02] [ 5.74402495e-01 8.18572409e-01 -9.92002724e-04 -1.03516228e+02] [-1.76002515e-03 2.31642948e-05 -9.99998451e-01 4.58997767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.777628 meters 0.014933108901368756 Centerline is valid? [True, True] Translation: X:199.47, Y:-103.50, Z:0.46 [[-8.57180624e-01 5.15010381e-01 2.38421770e-03 1.99472392e+02] [ 5.15008520e-01 8.57183939e-01 -1.38510278e-03 -1.03496775e+02] [-2.75705543e-03 4.06091655e-05 -9.99996198e-01 4.60757693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.837628 meters 0.013900183660461375 Centerline is valid? [True, True] Translation: X:199.88, Y:-102.80, Z:-0.44 [[-8.38664434e-01 -5.44643753e-01 2.26917104e-03 1.99882206e+02] [ 5.44641625e-01 -8.38667503e-01 -1.52336380e-03 -1.02801738e+02] [ 2.73277059e-03 -4.17060366e-05 9.99996265e-01 -4.43568957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.897628 meters 0.012241167213964637 Centerline is valid? [True, True] Translation: X:199.44, Y:-103.46, Z:0.46 [[-8.65214952e-01 5.01393525e-01 2.76045159e-03 1.99436128e+02] [ 5.01391008e-01 8.65219355e-01 -1.58884286e-03 -1.03463816e+02] [-3.18503166e-03 9.37500740e-06 -9.99994928e-01 4.61449221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.957628 meters 0.01194560183628161 Centerline is valid? [True, True] Translation: X:199.45, Y:-103.44, Z:0.46 [[-9.00827591e-01 4.34162054e-01 3.60014284e-03 1.99454452e+02] [ 4.34158553e-01 9.00834785e-01 -1.74374430e-03 -1.03437931e+02] [-4.00020151e-03 -7.78017161e-06 -9.99991999e-01 4.62841242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.017628 meters 0.012294551752851688 Centerline is valid? [True, True] Translation: X:199.79, Y:-102.74, Z:-0.45 [[-8.66933297e-01 -4.98407170e-01 4.11728116e-03 1.99792692e+02] [ 4.98401849e-01 -8.66943072e-01 -2.30371588e-03 -1.02740109e+02] [ 4.71763688e-03 5.48925379e-05 9.99988870e-01 -4.47552064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.077628 meters 0.012602078134696418 Centerline is valid? [True, True] Translation: X:199.41, Y:-103.41, Z:0.46 [[-9.05797693e-01 4.23691627e-01 3.99292759e-03 1.99411865e+02] [ 4.23687301e-01 9.05806493e-01 -1.91522793e-03 -1.03414518e+02] [-4.42828578e-03 -4.30563227e-05 -9.99990194e-01 4.64373819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.137628 meters 0.01252350764129549 Centerline is valid? [True, True] Translation: X:199.75, Y:-102.72, Z:-0.44 [[-8.68227121e-01 -4.96160143e-01 2.60369375e-03 1.99753694e+02] [ 4.96157736e-01 -8.68231023e-01 -1.54646038e-03 -1.02717522e+02] [ 3.02789970e-03 -5.08360470e-05 9.99995415e-01 -4.44060943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.197628 meters 0.01240232593621287 Centerline is valid? [True, True] Translation: X:199.75, Y:-102.75, Z:-0.44 [[-8.33909806e-01 -5.51894758e-01 2.57122683e-03 1.99748604e+02] [ 5.51892159e-01 -8.33913770e-01 -1.69385543e-03 -1.02745983e+02] [ 3.07901139e-03 6.51727581e-06 9.99995260e-01 -4.44824994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.257628 meters 0.0123175106282413 Centerline is valid? [True, True] Translation: X:199.32, Y:-103.41, Z:0.47 [[-8.74099731e-01 4.85728842e-01 4.14152300e-03 1.99319024e+02] [ 4.85723297e-01 8.74109542e-01 -2.32101298e-03 -1.03409886e+02] [-4.74752772e-03 -1.71626167e-05 -9.99988730e-01 4.65091292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.317628 meters 0.012378383251219923 Centerline is valid? [True, True] Translation: X:199.34, Y:-103.39, Z:0.46 [[-9.04841928e-01 4.25725493e-01 4.34617456e-03 1.99335806e+02] [ 4.25720578e-01 9.04852366e-01 -2.04560117e-03 -1.03394137e+02] [-4.80351090e-03 -6.89762790e-07 -9.99988463e-01 4.64960870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.377628 meters 0.012873077530675518 Centerline is valid? [True, True] Translation: X:199.35, Y:-103.38, Z:0.46 [[-9.30846454e-01 3.65381812e-01 4.58369112e-03 1.99348257e+02] [ 3.65377512e-01 9.30857739e-01 -1.77270354e-03 -1.03378479e+02] [-4.91447798e-03 2.46628554e-05 -9.99987924e-01 4.64645681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.437628 meters 0.013027848368659058 Centerline is valid? [True, True] Translation: X:199.36, Y:-103.36, Z:0.46 [[-9.53646198e-01 3.00919373e-01 2.54182948e-03 1.99363934e+02] [ 3.00918348e-01 9.53649585e-01 -7.85548698e-04 -1.03358874e+02] [-2.66040145e-03 1.57475989e-05 -9.99996461e-01 4.61933443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.497628 meters 0.012979863455023603 Centerline is valid? [True, True] Translation: X:199.38, Y:-103.33, Z:0.46 [[-9.72663400e-01 2.32214030e-01 1.59852176e-03 1.99376844e+02] [ 2.32213725e-01 9.72664713e-01 -3.75946098e-04 -1.03333424e+02] [-1.64212567e-03 5.52968318e-06 -9.99998652e-01 4.61302427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.55762799999997 meters 0.013003242153964192 Centerline is valid? [True, True] Translation: X:199.57, Y:-102.53, Z:-0.44 [[-9.60003168e-01 -2.79986263e-01 1.26840140e-03 1.99569168e+02] [ 2.79985988e-01 -9.60004006e-01 -3.93158307e-04 -1.02534242e+02] [ 1.32774935e-03 -2.22986016e-05 9.99999118e-01 -4.43362180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.61762799999997 meters 0.012987443504356778 Centerline is valid? [True, True] Translation: X:199.33, Y:-103.32, Z:0.46 [[-9.73752503e-01 2.27599501e-01 2.12852616e-03 1.99327846e+02] [ 2.27598977e-01 9.73754829e-01 -4.88864515e-04 -1.03320472e+02] [-2.18392794e-03 8.41733034e-06 -9.99997615e-01 4.61763671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.67762799999997 meters 0.013097556481920345 Centerline is valid? [True, True] Translation: X:199.34, Y:-103.29, Z:0.46 [[-9.87249502e-01 1.59159149e-01 2.60504971e-03 1.99337025e+02] [ 1.59158635e-01 9.87252939e-01 -4.04438603e-04 -1.03292525e+02] [-2.63621309e-03 1.53343480e-05 -9.99996525e-01 4.61423972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.737628 meters 0.013229523449295273 Centerline is valid? [True, True] Translation: X:199.35, Y:-103.26, Z:0.46 [[-9.95921861e-01 9.01990436e-02 1.94381287e-03 1.99345554e+02] [ 9.01988951e-02 9.95923758e-01 -1.64121897e-04 -1.03264648e+02] [-1.95069306e-03 1.18771881e-05 -9.99998097e-01 4.60901123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.797628 meters 0.013056810256730087 Centerline is valid? [True, True] Translation: X:199.42, Y:-102.46, Z:-0.44 [[-9.90629870e-01 -1.36572586e-01 6.23686203e-04 1.99418337e+02] [ 1.36572506e-01 -9.90630063e-01 -1.69509782e-04 -1.02460070e+02] [ 6.40992692e-04 -8.27430654e-05 9.99999791e-01 -4.41695427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.857628 meters 0.012573076910985586 Centerline is valid? [True, True] Translation: X:199.29, Y:-103.25, Z:0.46 [[-9.96704715e-01 8.11153132e-02 -1.30774282e-04 1.99289186e+02] [ 8.11153137e-02 9.96704724e-01 8.89537609e-07 -1.03253253e+02] [ 1.30415500e-04 -9.72119059e-06 -9.99999991e-01 4.58160457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.917628 meters 0.012121805074333325 Centerline is valid? [True, True] Translation: X:199.29, Y:-103.22, Z:0.46 [[-9.99976363e-01 6.87380444e-03 -1.53437427e-04 1.99290499e+02] [ 6.87380578e-03 9.99976375e-01 -8.19767781e-06 -1.03219959e+02] [ 1.53377452e-04 -9.25218312e-06 -9.99999988e-01 4.59685781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.977628 meters 0.012074543970682985 Centerline is valid? [True, True] Translation: X:199.28, Y:-103.19, Z:0.46 [[-9.97932075e-01 -6.42770400e-02 1.88211297e-04 1.99279882e+02] [-6.42770405e-02 9.97932093e-01 3.75544166e-06 -1.03192984e+02] [-1.88063482e-04 -8.34998948e-06 -9.99999982e-01 4.60244058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.037628 meters 0.012169394860783087 Centerline is valid? [True, True] Translation: X:199.25, Y:-102.41, Z:-0.44 [[-9.99992827e-01 3.40646088e-03 1.65612687e-03 1.99245270e+02] [-3.40629089e-03 -9.99994193e-01 1.05451573e-04 -1.02409883e+02] [ 1.65647647e-03 9.98095670e-05 9.99998623e-01 -4.43522309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.097628 meters 0.012289024331247345 Centerline is valid? [True, True] Translation: X:199.20, Y:-103.20, Z:0.46 [[-9.97658973e-01 -6.83449016e-02 2.35560372e-03 1.99201457e+02] [-6.83447098e-02 9.97661754e-01 1.61941427e-04 -1.03200713e+02] [-2.36116361e-03 5.69265740e-07 -9.99997212e-01 4.62362825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.157628 meters 0.012315016163285066 Centerline is valid? [True, True] Translation: X:199.14, Y:-102.41, Z:-0.45 [[-9.99944729e-01 9.89031412e-03 3.56649123e-03 1.99144398e+02] [-9.88999016e-03 -9.99951087e-01 1.08459338e-04 -1.02413706e+02] [ 3.56738948e-03 7.31807807e-05 9.99993634e-01 -4.46612059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.217628 meters 0.012508118670093842 Centerline is valid? [True, True] Translation: X:199.10, Y:-103.21, Z:0.47 [[-9.97338942e-01 -7.27122562e-02 5.28789667e-03 1.99101273e+02] [-7.27111166e-02 9.97352960e-01 4.07688811e-04 -1.03213965e+02] [-5.30354337e-03 2.21150561e-05 -9.99985936e-01 4.65658091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.277628 meters 0.012532183805368495 Centerline is valid? [True, True] Translation: X:199.05, Y:-102.41, Z:-0.45 [[-9.99813467e-01 1.85753004e-02 5.29056043e-03 1.99048254e+02] [-1.85751613e-02 -9.99827464e-01 7.54345180e-05 -1.02411847e+02] [ 5.29104883e-03 -2.28525662e-05 9.99986002e-01 -4.47087254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.337628 meters 0.012716198452857774 Centerline is valid? [True, True] Translation: X:199.01, Y:-103.23, Z:0.46 [[-9.97034624e-01 -7.68143320e-02 4.63854784e-03 1.99006016e+02] [-7.68133706e-02 9.97045414e-01 3.85324241e-04 -1.03228328e+02] [-4.65444127e-03 2.78791162e-05 -9.99989168e-01 4.63965691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.397628 meters 0.012454542814917261 Centerline is valid? [True, True] Translation: X:199.00, Y:-103.20, Z:0.46 [[-9.88528867e-01 -1.50966666e-01 4.44358701e-03 1.98997114e+02] [-1.50965088e-01 9.88538854e-01 6.90306671e-04 -1.03200469e+02] [-4.49687170e-03 1.15615668e-05 -9.99989889e-01 4.62733590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.457628 meters 0.01226590599182724 Centerline is valid? [True, True] Translation: X:198.88, Y:-102.40, Z:-0.45 [[-9.95982989e-01 8.93930202e-02 5.17440183e-03 1.98875091e+02] [-8.93916324e-02 -9.95996429e-01 4.99322296e-04 -1.02402627e+02] [ 5.19832167e-03 3.47682869e-05 9.99986488e-01 -4.46005081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.517628 meters 0.012449610539867541 Centerline is valid? [True, True] Translation: X:198.89, Y:-103.21, Z:0.46 [[-9.86145505e-01 -1.65759774e-01 6.38282596e-03 1.98891247e+02] [-1.65756528e-01 9.86166160e-01 1.03791595e-03 -1.03207249e+02] [-6.46657169e-03 -3.44589188e-05 -9.99979091e-01 4.64468074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.577628 meters 0.01255390658890545 Centerline is valid? [True, True] Translation: X:198.88, Y:-103.18, Z:0.47 [[-9.71883671e-01 -2.35354491e-01 7.09887412e-03 1.98878641e+02] [-2.35348471e-01 9.71909596e-01 1.68373302e-03 -1.03181777e+02] [-7.29573801e-03 -3.43165404e-05 -9.99973385e-01 4.66420391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.637628 meters 0.012632602175055605 Centerline is valid? [True, True] Translation: X:198.86, Y:-103.16, Z:0.47 [[-9.53303298e-01 -3.01895470e-01 8.48213152e-03 1.98857819e+02] [-3.01883646e-01 9.53341033e-01 2.67188841e-03 -1.03162295e+02] [-8.89299503e-03 -1.34967616e-05 -9.99960456e-01 4.67713714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.697628 meters 0.012963790536205185 Centerline is valid? [True, True] Translation: X:198.81, Y:-103.16, Z:0.47 [[-9.29868668e-01 -3.67783751e-01 8.90916127e-03 1.98810375e+02] [-3.67766701e-01 9.29911347e-01 3.54135527e-03 -1.03155143e+02] [-9.58718307e-03 1.65024561e-05 -9.99954042e-01 4.68028984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.757628 meters 0.013016904074103964 Centerline is valid? [True, True] Translation: X:198.75, Y:-103.15, Z:0.47 [[-9.00903577e-01 -4.33952178e-01 7.63231563e-03 1.98748060e+02] [-4.33936361e-01 9.00935906e-01 3.70508464e-03 -1.03152630e+02] [-8.48405674e-03 2.59847313e-05 -9.99964009e-01 4.68605258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.817628 meters 0.013032064088296103 Centerline is valid? [True, True] Translation: X:198.68, Y:-103.16, Z:0.47 [[-8.65863344e-01 -5.00240730e-01 6.31518241e-03 1.98680420e+02] [-5.00227286e-01 8.65886373e-01 3.66757447e-03 -1.03156287e+02] [-7.30290052e-03 1.65917400e-05 -9.99973333e-01 4.67233378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.877628 meters 0.012811027791913204 Centerline is valid? [True, True] Translation: X:198.60, Y:-103.17, Z:0.47 [[-8.25480684e-01 -5.64411254e-01 4.64506283e-03 1.98602495e+02] [-5.64402288e-01 8.25493753e-01 3.18133005e-03 -1.03171897e+02] [-5.63004883e-03 4.44241669e-06 -9.99984151e-01 4.65866053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.937628 meters 0.012694716901219108 Centerline is valid? [True, True] Translation: X:198.52, Y:-103.20, Z:0.47 [[-7.80602208e-01 -6.25019220e-01 3.34166965e-03 1.98516489e+02] [-6.25013495e-01 7.80609361e-01 2.67513904e-03 -1.03201035e+02] [-4.28055192e-03 -3.69184317e-07 -9.99990838e-01 4.65423241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99762799999996 meters 0.01267710290143139 Centerline is valid? [True, True] Translation: X:198.44, Y:-103.23, Z:0.46 [[-7.32691903e-01 -6.80558901e-01 1.46918141e-03 1.98437773e+02] [-6.80557535e-01 7.32693376e-01 1.36317335e-03 -1.03234271e+02] [-2.00417924e-03 -1.07640222e-06 -9.99997992e-01 4.64584695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.05762799999997 meters 0.012765002493660796 Centerline is valid? [True, True] Translation: X:198.35, Y:-103.28, Z:0.46 [[-6.80530469e-01 -7.32719513e-01 6.29149189e-04 1.98351568e+02] [-7.32719206e-01 6.80530760e-01 6.71260388e-04 -1.03284915e+02] [-9.20000960e-04 -4.17654768e-06 -9.99999577e-01 4.64115911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.11762799999997 meters 0.012811680364415016 Centerline is valid? [True, True] Translation: X:198.27, Y:-103.34, Z:0.46 [[-6.22657057e-01 -7.82494393e-01 8.44938866e-04 1.98269477e+02] [-7.82493676e-01 6.22657630e-01 1.05956928e-03 -1.03342160e+02] [-1.35521466e-03 -1.41102792e-06 -9.99999082e-01 4.64497024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.17762799999997 meters 0.012453228640754582 Centerline is valid? [True, True] Translation: X:198.18, Y:-103.41, Z:0.47 [[-5.57845098e-01 -8.29941978e-01 2.27156145e-03 1.98184289e+02] [-8.29935094e-01 5.57849723e-01 3.38017099e-03 -1.03411771e+02] [-4.07253572e-03 3.63252583e-07 -9.99991707e-01 4.67789660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.237628 meters 0.012575078184428526 Centerline is valid? [True, True] Translation: X:198.10, Y:-103.49, Z:0.47 [[-4.86400108e-01 -8.73730483e-01 3.15884979e-03 1.98100233e+02] [-8.73712588e-01 4.86410364e-01 5.59212569e-03 -1.03488433e+02] [-6.42250795e-03 -3.99162884e-05 -9.99979375e-01 4.71363299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.297628 meters 0.013346649890428986 Centerline is valid? [True, True] Translation: X:198.02, Y:-103.57, Z:0.47 [[-4.11872053e-01 -9.11238616e-01 2.36586681e-03 1.98020190e+02] [-9.11224600e-01 4.11878841e-01 5.05456204e-03 -1.03574149e+02] [-5.58036260e-03 -7.40032002e-05 -9.99984427e-01 4.69659105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.357628 meters 0.014111549163266563 Centerline is valid? [True, True] Translation: X:197.95, Y:-103.67, Z:0.47 [[-3.38321290e-01 -9.41028666e-01 1.93752455e-03 1.97947969e+02] [-9.41014679e-01 3.38326827e-01 5.13154165e-03 -1.03665618e+02] [-5.48444433e-03 -8.71292476e-05 -9.99984957e-01 4.69941187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.417628 meters 0.013495458071446824 Centerline is valid? [True, True] Translation: X:197.89, Y:-103.76, Z:0.47 [[-2.65660560e-01 -9.64065387e-01 1.54782636e-03 1.97887853e+02] [-9.64050826e-01 2.65665055e-01 5.29939184e-03 -1.03760082e+02] [-5.52016362e-03 -8.43438779e-05 -9.99984760e-01 4.70140608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.477628 meters 0.013119150853344742 Centerline is valid? [True, True] Translation: X:197.83, Y:-103.86, Z:0.47 [[-1.93187094e-01 -9.81161461e-01 9.66207319e-04 1.97834784e+02] [-9.81150723e-01 1.93189500e-01 4.59087034e-03 -1.03863656e+02] [-4.69104616e-03 -6.10981106e-05 -9.99988995e-01 4.70525339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.537628 meters 0.012395149416622698 Centerline is valid? [True, True] Translation: X:197.80, Y:-103.97, Z:0.47 [[-1.22669016e-01 -9.92447444e-01 6.19097841e-04 1.97796054e+02] [-9.92436172e-01 1.22670574e-01 4.73023598e-03 -1.03971788e+02] [-4.77045570e-03 -3.41616972e-05 -9.99988621e-01 4.70046976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.597628 meters 0.012184658504322807 Centerline is valid? [True, True] Translation: X:197.77, Y:-104.09, Z:0.47 [[-5.45868682e-02 -9.98508995e-01 2.47724579e-04 1.97766234e+02] [-9.98498013e-01 5.45874297e-02 4.68305664e-03 -1.04085940e+02] [-4.68959683e-03 8.28089631e-06 -9.99989004e-01 4.71246322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.657628 meters 0.012575290437397288 Centerline is valid? [True, True] Translation: X:197.74, Y:-104.20, Z:0.47 [[ 1.92016090e-02 -9.99815627e-01 -1.03868893e-04 1.97739006e+02] [-9.99806472e-01 -1.92018776e-02 4.27853104e-03 -1.04198809e+02] [-4.27973667e-03 2.16941114e-05 -9.99990842e-01 4.71499660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.717628 meters 0.0154313117344378 Centerline is valid? [True, True] Translation: X:196.94, Y:-104.33, Z:-0.46 [[-2.90138787e-02 9.99579006e-01 7.32602316e-05 1.96939687e+02] [-9.99554838e-01 -2.90136867e-02 6.95214134e-03 -1.04333615e+02] [ 6.95134008e-03 1.28480967e-04 9.99975831e-01 -4.58262329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.777628 meters 0.014676992781203614 Centerline is valid? [True, True] Translation: X:197.75, Y:-104.49, Z:0.48 [[ 2.31226319e-02 -9.99732585e-01 -3.18713189e-04 1.97745698e+02] [-9.99692367e-01 -2.31245607e-02 8.96810137e-03 -1.04493279e+02] [-8.97307327e-03 1.11249036e-04 -9.99959735e-01 4.76317794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.837628 meters 0.015332892124136547 Centerline is valid? [True, True] Translation: X:197.73, Y:-104.61, Z:0.48 [[ 9.91190741e-02 -9.95074925e-01 -1.14137627e-03 1.97726027e+02] [-9.95024113e-01 -9.91255482e-02 1.00568844e-02 -1.04611964e+02] [-1.01204930e-02 1.38867839e-04 -9.99948777e-01 4.78306162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.897628 meters 0.013769800480821126 Centerline is valid? [True, True] Translation: X:197.72, Y:-104.74, Z:0.48 [[ 1.75444482e-01 -9.84487610e-01 -1.83836695e-03 1.97715069e+02] [-9.84441336e-01 -1.75454061e-01 9.54616491e-03 -1.04736449e+02] [-9.72063002e-03 1.34942465e-04 -9.99952744e-01 4.77929085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.957628 meters 0.013732747683487555 Centerline is valid? [True, True] Translation: X:197.71, Y:-104.86, Z:0.48 [[ 2.51457092e-01 -9.67864802e-01 -2.65610606e-03 1.97713541e+02] [-9.67816313e-01 -2.51471084e-01 9.68907178e-03 -1.04856745e+02] [-1.00456454e-02 1.34236953e-04 -9.99949532e-01 4.77516960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.017628 meters 0.012999348374561326 Centerline is valid? [True, True] Translation: X:197.72, Y:-104.98, Z:0.48 [[ 3.26708203e-01 -9.45119590e-01 -3.27276335e-03 1.97720787e+02] [-9.45075621e-01 -3.26724574e-01 9.11721730e-03 -1.04982810e+02] [-9.68615289e-03 1.14339175e-04 -9.99953082e-01 4.76894807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.077628 meters 0.012925470046977005 Centerline is valid? [True, True] Translation: X:197.73, Y:-105.10, Z:0.48 [[ 4.00976171e-01 -9.16082969e-01 -3.17887142e-03 1.97734046e+02] [-9.16055525e-01 -4.00988765e-01 7.09125192e-03 -1.05100224e+02] [-7.77086684e-03 6.85996889e-05 -9.99969804e-01 4.76638402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.137628 meters 0.012465012496222533 Centerline is valid? [True, True] Translation: X:197.76, Y:-105.22, Z:0.48 [[ 4.72259982e-01 -8.81452768e-01 -3.39525762e-03 1.97758771e+02] [-8.81430676e-01 -4.72272184e-01 6.24080026e-03 -1.05219151e+02] [-7.10445640e-03 4.54040009e-05 -9.99974762e-01 4.76587815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.197628 meters 0.011797475378545688 Centerline is valid? [True, True] Translation: X:197.79, Y:-105.33, Z:0.48 [[ 5.41824160e-01 -8.40482884e-01 -3.88610183e-03 1.97790303e+02] [-8.40461508e-01 -5.41838096e-01 5.99430753e-03 -1.05330817e+02] [-7.14375089e-03 1.82583587e-05 -9.99974483e-01 4.76404912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.257628 meters 0.011795106625264236 Centerline is valid? [True, True] Translation: X:197.83, Y:-105.44, Z:0.48 [[ 6.07038551e-01 -7.94654008e-01 -5.40418519e-03 1.97833114e+02] [-7.94622502e-01 -6.07062606e-01 7.07612355e-03 -1.05440736e+02] [-8.90374868e-03 -1.19262796e-06 -9.99960361e-01 4.77120161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.317628 meters 0.015858932834303858 Centerline is valid? [True, True] Translation: X:197.88, Y:-105.55, Z:0.48 [[ 6.70248080e-01 -7.42100189e-01 -7.40412575e-03 1.97880915e+02] [-7.42053905e-01 -6.70288972e-01 8.28831080e-03 -1.05546151e+02] [-1.11136609e-02 -6.09639763e-05 -9.99938240e-01 4.81359095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.377628 meters 0.012936004102637828 Centerline is valid? [True, True] Translation: X:197.94, Y:-105.65, Z:0.48 [[ 7.29759075e-01 -6.83645689e-01 -8.95897065e-03 1.97935068e+02] [-6.83591561e-01 -7.29814050e-01 8.60407627e-03 -1.05645718e+02] [-1.24205223e-02 -1.54626010e-04 -9.99922850e-01 4.80309141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.437628 meters 0.013717090025665483 Centerline is valid? [True, True] Translation: X:197.95, Y:-105.67, Z:0.48 [[ 7.81816035e-01 -6.23417195e-01 -1.07092908e-02 1.97954333e+02] [-6.23355370e-01 -7.81889356e-01 8.78169894e-03 -1.05669971e+02] [-1.38481426e-02 -1.89979117e-04 -9.99904092e-01 4.83065743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49762799999996 meters 0.013445348110742265 Centerline is valid? [True, True] Translation: X:197.98, Y:-105.68, Z:0.48 [[ 8.27342113e-01 -5.61605467e-01 -1.02141452e-02 1.97982169e+02] [-5.61560364e-01 -8.27405146e-01 7.11909891e-03 -1.05684344e+02] [-1.24493612e-02 -1.54071221e-04 -9.99922492e-01 4.80492743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.55762799999997 meters 0.012217599142584225 Centerline is valid? [True, True] Translation: X:198.01, Y:-105.70, Z:0.47 [[ 8.66561414e-01 -4.99014994e-01 -7.43988533e-03 1.98011260e+02] [-4.98995883e-01 -8.66593348e-01 4.36786357e-03 -1.05695196e+02] [-8.62698455e-03 -7.25498773e-05 -9.99962784e-01 4.74684917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.61762799999997 meters 0.011842602650970258 Centerline is valid? [True, True] Translation: X:198.04, Y:-105.71, Z:0.47 [[ 9.01697789e-01 -4.32334054e-01 -5.32576623e-03 1.98038297e+02] [-4.32326277e-01 -9.01713516e-01 2.59346493e-03 -1.05708346e+02] [-5.92355860e-03 -3.60529091e-05 -9.99982455e-01 4.72438559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.67762799999997 meters 0.011764118340168047 Centerline is valid? [True, True] Translation: X:198.06, Y:-105.72, Z:0.47 [[ 9.32422041e-01 -3.61349942e-01 -3.91878246e-03 1.98064081e+02] [-3.61346638e-01 -9.32430276e-01 1.54551536e-03 -1.05723703e+02] [-4.21246330e-03 -2.50337171e-05 -9.99991127e-01 4.70569536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.737628 meters 0.011961574112966182 Centerline is valid? [True, True] Translation: X:198.09, Y:-105.74, Z:0.47 [[ 9.58704415e-01 -2.84366997e-01 -4.61039282e-03 1.98087380e+02] [-2.84363498e-01 -9.58715500e-01 1.41130361e-03 -1.05742720e+02] [-4.82138323e-03 -4.19955723e-05 -9.99988376e-01 4.70883460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.797628 meters 0.013747481970445109 Centerline is valid? [True, True] Translation: X:198.11, Y:-105.76, Z:0.48 [[ 9.78872360e-01 -2.04246974e-01 -9.59560493e-03 1.98112369e+02] [-2.04235983e-01 -9.78919384e-01 2.12217860e-03 -1.05763445e+02] [-9.82677222e-03 -1.17574173e-04 -9.99951709e-01 4.77406125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.857628 meters 0.013466480344854816 Centerline is valid? [True, True] Translation: X:198.14, Y:-105.77, Z:0.48 [[ 9.92004914e-01 -1.25525926e-01 -1.30188935e-02 1.98139545e+02] [-1.25512837e-01 -9.92090325e-01 1.82084079e-03 -1.05772482e+02] [-1.31444810e-02 -1.72244741e-04 -9.99913593e-01 4.78733323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.917628 meters 0.012628304487884424 Centerline is valid? [True, True] Translation: X:198.17, Y:-105.78, Z:0.48 [[ 9.98662311e-01 -5.00803572e-02 -1.28665004e-02 1.98166109e+02] [-5.00744581e-02 -9.98745183e-01 7.80434161e-04 -1.05778354e+02] [-1.28894397e-02 -1.35107148e-04 -9.99916919e-01 4.78343995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.977628 meters 0.011743786012990746 Centerline is valid? [True, True] Translation: X:198.19, Y:-105.78, Z:0.47 [[ 9.99686179e-01 2.23047785e-02 -1.14035529e-02 1.98193124e+02] [ 2.23039334e-02 -9.99751216e-01 -2.01293783e-04 -1.05780292e+02] [-1.14052057e-02 -5.31134730e-05 -9.99934957e-01 4.74869563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.037628 meters 0.011642121927104662 Centerline is valid? [True, True] Translation: X:198.22, Y:-105.78, Z:0.47 [[ 9.95207981e-01 9.72861711e-02 -9.82219308e-03 1.98217972e+02] [ 9.72815830e-02 -9.95256450e-01 -9.44944233e-04 -1.05782587e+02] [-9.86753102e-03 -1.51024494e-05 -9.99951315e-01 4.73335971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.097628 meters 0.011537832613458324 Centerline is valid? [True, True] Translation: X:198.24, Y:-105.78, Z:0.47 [[ 9.84537483e-01 1.74977574e-01 -8.29420017e-03 1.98244502e+02] [ 1.74971496e-01 -9.84572419e-01 -1.45849846e-03 -1.05784118e+02] [-8.42144525e-03 -1.53022066e-05 -9.99964539e-01 4.71867284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.157628 meters 0.011510324092767083 Centerline is valid? [True, True] Translation: X:198.27, Y:-105.79, Z:0.47 [[ 9.67488186e-01 2.52809431e-01 -7.34860382e-03 1.98272847e+02] [ 2.52802336e-01 -9.67516093e-01 -1.89422309e-03 -1.05787989e+02] [-7.58876993e-03 -2.51057516e-05 -9.99971205e-01 4.70546639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.217628 meters 0.011604280158685653 Centerline is valid? [True, True] Translation: X:198.30, Y:-105.79, Z:0.47 [[ 9.44028851e-01 3.29747447e-01 -8.72632908e-03 1.98300562e+02] [ 3.29733826e-01 -9.44069181e-01 -2.99751928e-03 -1.05787926e+02] [-9.22668268e-03 -4.76211915e-05 -9.99957432e-01 4.71656678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.277628 meters 0.011873817272427258 Centerline is valid? [True, True] Translation: X:198.33, Y:-105.78, Z:0.47 [[ 9.14554662e-01 4.04332092e-01 -1.02630016e-02 1.98325865e+02] [ 4.04307565e-01 -9.14612242e-01 -4.45413854e-03 -1.05783951e+02] [-1.11876181e-02 -7.58560148e-05 -9.99937414e-01 4.73362238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.337628 meters 0.01192655716972776 Centerline is valid? [True, True] Translation: X:198.35, Y:-105.78, Z:0.47 [[ 8.80229119e-01 4.74400083e-01 -1.18852181e-02 1.98350499e+02] [ 4.74358128e-01 -8.80309351e-01 -6.30973948e-03 -1.05775110e+02] [-1.34560096e-02 -8.38333675e-05 -9.99909460e-01 4.74022635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.397628 meters 0.011757819798032166 Centerline is valid? [True, True] Translation: X:198.37, Y:-105.76, Z:0.47 [[ 8.42153296e-01 5.39128487e-01 -1.08765640e-02 1.98373200e+02] [ 5.39084128e-01 -8.42223529e-01 -6.91596015e-03 -1.05763514e+02] [-1.28890892e-02 -3.90843832e-05 -9.99916931e-01 4.71775498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.457628 meters 0.011767464316056598 Centerline is valid? [True, True] Translation: X:198.39, Y:-105.75, Z:0.47 [[ 8.00148494e-01 5.99758814e-01 -7.19392178e-03 1.98393269e+02] [ 5.99734453e-01 -8.00180833e-01 -5.40559062e-03 -1.05750904e+02] [-8.99848894e-03 1.08324512e-05 -9.99959513e-01 4.69006906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.517628 meters 0.011974517964703578 Centerline is valid? [True, True] Translation: X:198.41, Y:-105.74, Z:0.47 [[ 7.53415594e-01 6.57518767e-01 -5.83209286e-03 1.98413477e+02] [ 6.57498662e-01 -7.53438166e-01 -5.14201585e-03 -1.05737468e+02] [-7.77509326e-03 3.94816784e-05 -9.99969773e-01 4.67636700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.577628 meters 0.01334035149919189 Centerline is valid? [True, True] Translation: X:198.43, Y:-105.72, Z:0.47 [[ 7.04575134e-01 7.09612825e-01 -4.84956852e-03 1.98431355e+02] [ 7.09595204e-01 -7.04591819e-01 -5.00147732e-03 -1.05720731e+02] [-6.96607876e-03 8.26859904e-05 -9.99975733e-01 4.67467371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.637628 meters 0.017323141668953893 Centerline is valid? [True, True] Translation: X:198.45, Y:-105.70, Z:0.47 [[ 6.49379751e-01 7.60439683e-01 -6.11784951e-03 1.98447186e+02] [ 7.60403747e-01 -6.49408551e-01 -7.39433404e-03 -1.05704346e+02] [-9.59592882e-03 1.49695111e-04 -9.99953947e-01 4.72597922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.697628 meters 0.014008438736326402 Centerline is valid? [True, True] Translation: X:198.47, Y:-105.69, Z:0.47 [[ 5.85085976e-01 8.10936327e-01 -7.52825692e-03 1.98465511e+02] [ 8.10865556e-01 -5.85134383e-01 -1.07146797e-02 -1.05689148e+02] [-1.30939649e-02 1.64604571e-04 -9.99914257e-01 4.72998712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.757628 meters 0.013773514329219853 Centerline is valid? [True, True] Translation: X:198.48, Y:-105.67, Z:0.48 [[ 5.17071241e-01 8.55903739e-01 -8.13152008e-03 1.98481763e+02] [ 8.55793249e-01 -5.17135153e-01 -1.37531290e-02 -1.05672678e+02] [-1.59764494e-02 1.52447458e-04 -9.99872357e-01 4.76540786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.817628 meters 0.012463897160990637 Centerline is valid? [True, True] Translation: X:198.50, Y:-105.66, Z:0.47 [[ 4.43618163e-01 8.96192559e-01 -6.46704439e-03 1.98501144e+02] [ 8.96095357e-01 -4.43665294e-01 -1.31991656e-02 -1.05655156e+02] [-1.46981972e-02 6.03011576e-05 -9.99891974e-01 4.73293721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.877628 meters 0.012008626837258379 Centerline is valid? [True, True] Translation: X:198.52, Y:-105.64, Z:0.47 [[ 3.68848803e-01 9.29478217e-01 -4.56111896e-03 1.98516289e+02] [ 9.29406946e-01 -3.68877003e-01 -1.15102576e-02 -1.05635133e+02] [-1.23810257e-02 6.40912119e-06 -9.99923352e-01 4.70710269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.937628 meters 0.011910053515061076 Centerline is valid? [True, True] Translation: X:198.53, Y:-105.61, Z:0.47 [[ 2.91681570e-01 9.56510713e-01 -3.01965921e-03 1.98528381e+02] [ 9.56460554e-01 -2.91697198e-01 -9.79560630e-03 -1.05612891e+02] [-1.02504285e-02 -3.09870982e-05 -9.99947462e-01 4.68357413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99762799999996 meters 0.011926075177438643 Centerline is valid? [True, True] Translation: X:198.54, Y:-105.59, Z:0.47 [[ 2.13531774e-01 9.76934756e-01 -1.63214010e-03 1.98538356e+02] [ 9.76907746e-01 -2.13538007e-01 -7.26465213e-03 -1.05589574e+02] [-7.44561510e-03 -4.32162498e-05 -9.99972280e-01 4.65752498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.05762799999997 meters 0.011972104084675216 Centerline is valid? [True, True] Translation: X:198.55, Y:-105.57, Z:0.46 [[ 1.35160037e-01 9.90823642e-01 -5.24401983e-04 1.98552438e+02] [ 9.90817041e-01 -1.35161051e-01 -3.61671828e-03 -1.05565917e+02] [-3.65440870e-03 -3.07506439e-05 -9.99993322e-01 4.62267344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.11762799999997 meters 0.011878901972236075 Centerline is valid? [True, True] Translation: X:198.56, Y:-105.54, Z:0.46 [[ 5.79900107e-02 9.98317090e-01 -3.82427826e-04 1.98564060e+02] [ 9.98299530e-01 -5.79912590e-02 -5.92139245e-03 -1.05541363e+02] [-5.93360475e-03 -3.83959073e-05 -9.99982395e-01 4.64314918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.17762799999997 meters 0.011935557804558263 Centerline is valid? [True, True] Translation: X:198.57, Y:-105.52, Z:0.47 [[-1.69180760e-02 9.99856866e-01 1.61018957e-04 1.98571944e+02] [ 9.99797050e-01 1.69188251e-02 -1.09367346e-02 -1.05516130e+02] [-1.09378934e-02 -2.40422277e-05 -9.99940179e-01 4.68739491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.237628 meters 0.01226072801867453 Centerline is valid? [True, True] Translation: X:198.58, Y:-105.49, Z:0.47 [[-9.12492382e-02 9.95827103e-01 1.39888370e-03 1.98576501e+02] [ 9.95715124e-01 9.12599553e-02 -1.49336046e-02 -1.05490852e+02] [-1.49989503e-02 3.02096127e-05 -9.99887509e-01 4.72473510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.297628 meters 0.01652231981408184 Centerline is valid? [True, True] Translation: X:198.58, Y:-105.47, Z:0.48 [[-1.61857852e-01 9.86809754e-01 2.92335392e-03 1.98577861e+02] [ 9.86666090e-01 1.61884171e-01 -1.68387102e-02 -1.05465271e+02] [-1.70898482e-02 1.58896721e-04 -9.99853945e-01 4.75266509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.357628 meters 0.013679779449808355 Centerline is valid? [True, True] Translation: X:198.58, Y:-105.44, Z:0.47 [[-2.34903157e-01 9.72011849e-01 3.67032355e-03 1.98577428e+02] [ 9.71905776e-01 2.34931750e-01 -1.43608706e-02 -1.05440994e+02] [-1.48212119e-02 1.93794813e-04 -9.99890141e-01 4.69715311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.417628 meters 0.013978309128315039 Centerline is valid? [True, True] Translation: X:198.58, Y:-105.42, Z:0.46 [[-3.06244981e-01 9.51947043e-01 3.29235352e-03 1.98577708e+02] [ 9.51897999e-01 3.06262629e-01 -9.66441590e-03 -1.05415137e+02] [-1.02083370e-02 1.74305865e-04 -9.99947878e-01 4.64808201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.477628 meters 0.014602061256132599 Centerline is valid? [True, True] Translation: X:198.58, Y:-105.39, Z:0.46 [[-3.78030152e-01 9.25788731e-01 2.90349313e-03 1.98576900e+02] [ 9.25764161e-01 3.78041277e-01 -6.74618796e-03 -1.05389232e+02] [-7.34318504e-03 1.37687421e-04 -9.99973029e-01 4.62675586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.537628 meters 0.01489365931728491 Centerline is valid? [True, True] Translation: X:198.57, Y:-105.36, Z:0.46 [[-4.48610410e-01 8.93721611e-01 3.22223122e-03 1.98574285e+02] [ 8.93700678e-01 4.48621962e-01 -6.11832402e-03 -1.05363418e+02] [-6.91364209e-03 1.34966377e-04 -9.99976091e-01 4.62730896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.597628 meters 0.015740197469755128 Centerline is valid? [True, True] Translation: X:198.57, Y:-105.34, Z:0.46 [[-5.16868389e-01 8.56054735e-01 4.16643709e-03 1.98569404e+02] [ 8.56029336e-01 5.16885157e-01 -6.59627395e-03 -1.05339570e+02] [-7.80034104e-03 1.57186885e-04 -9.99969565e-01 4.63724146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.657628 meters 0.017636159187896815 Centerline is valid? [True, True] Translation: X:198.57, Y:-105.31, Z:0.47 [[-5.82437804e-01 8.12848843e-01 6.55465679e-03 1.98567470e+02] [ 8.12801623e-01 5.82474643e-01 -8.76430338e-03 -1.05310007e+02] [-1.09419752e-02 2.22974061e-04 -9.99940110e-01 4.67333985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.717628 meters 0.0147946465746083 Centerline is valid? [True, True] Translation: X:198.56, Y:-105.28, Z:0.46 [[-6.46334061e-01 7.63014647e-01 7.80577969e-03 1.98562684e+02] [ 7.62962907e-01 6.46381160e-01 -8.88807748e-03 -1.05280771e+02] [-1.18272422e-02 2.10853154e-04 -9.99930033e-01 4.64912580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.777628 meters 0.016583724541777773 Centerline is valid? [True, True] Translation: X:198.56, Y:-105.25, Z:0.47 [[-7.04820458e-01 7.09331107e-01 8.80354985e-03 1.98556662e+02] [ 7.09279423e-01 7.04875406e-01 -8.56517056e-03 -1.05250946e+02] [-1.22809477e-02 2.07269319e-04 -9.99924565e-01 4.66348236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.837628 meters 0.013584950816138799 Centerline is valid? [True, True] Translation: X:198.58, Y:-105.23, Z:0.46 [[-7.55610602e-01 6.54986987e-01 6.68310447e-03 1.98578516e+02] [ 6.54962698e-01 7.55640148e-01 -5.64186413e-03 -1.05229713e+02] [-8.74536964e-03 1.14131782e-04 -9.99961752e-01 4.60228221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.897628 meters 0.012797899320289253 Centerline is valid? [True, True] Translation: X:198.60, Y:-105.20, Z:0.46 [[-8.02643734e-01 5.96438449e-01 4.92068395e-03 1.98598096e+02] [ 5.96427627e-01 8.02658815e-01 -3.59328739e-03 -1.05203515e+02] [-6.09280511e-03 5.07022501e-05 -9.99981437e-01 4.58435879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.957628 meters 0.012056098414310507 Centerline is valid? [True, True] Translation: X:198.62, Y:-105.17, Z:0.46 [[-8.47600489e-01 5.30631447e-01 1.91825581e-03 1.98615217e+02] [ 5.30630069e-01 8.47602659e-01 -1.20902314e-03 -1.05172821e+02] [-2.26746443e-03 -6.88439262e-06 -9.99997429e-01 4.55847189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.017628 meters 0.012580587750027874 Centerline is valid? [True, True] Translation: X:198.63, Y:-105.14, Z:0.46 [[-8.87034141e-01 4.61690474e-01 3.51271105e-03 1.98629482e+02] [ 4.61686676e-01 8.87041095e-01 -1.87312338e-03 -1.05139964e+02] [-3.98072228e-03 -3.97525007e-05 -9.99992076e-01 4.58362617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.077628 meters 0.01332599526028234 Centerline is valid? [True, True] Translation: X:198.96, Y:-104.53, Z:-0.45 [[-8.42665163e-01 -5.38388019e-01 7.33241668e-03 1.98955710e+02] [ 5.38371409e-01 -8.42696982e-01 -4.24529626e-03 -1.04527728e+02] [ 8.46462205e-03 3.70200238e-04 9.99964106e-01 -4.46965927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.137628 meters 0.01338966835258136 Centerline is valid? [True, True] Translation: X:198.94, Y:-104.55, Z:-0.45 [[-8.04105113e-01 -5.94431618e-01 8.12518550e-03 1.98940977e+02] [ 5.94402972e-01 -8.04146152e-01 -5.83722387e-03 -1.04554598e+02] [ 1.00036671e-02 1.35892852e-04 9.99949953e-01 -4.48181566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.197628 meters 0.013029209489780393 Centerline is valid? [True, True] Translation: X:198.54, Y:-105.11, Z:0.47 [[-8.57314440e-01 5.14694350e-01 1.00834857e-02 1.98542990e+02] [ 5.14656858e-01 8.57373727e-01 -6.21378374e-03 -1.05114330e+02] [-1.18435151e-02 -1.37631439e-04 -9.99929854e-01 4.65118328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.257628 meters 0.012517518421886056 Centerline is valid? [True, True] Translation: X:198.91, Y:-104.53, Z:-0.45 [[-8.11245090e-01 -5.84620491e-01 1.00142554e-02 1.98912077e+02] [ 5.84578416e-01 -8.11306881e-01 -7.01576167e-03 -1.04534792e+02] [ 1.22261923e-02 1.62615345e-04 9.99925244e-01 -4.49749650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.317628 meters 0.012375881405757875 Centerline is valid? [True, True] Translation: X:198.51, Y:-105.10, Z:0.46 [[-8.51435887e-01 5.24377629e-01 9.22132304e-03 1.98510346e+02] [ 5.24347316e-01 8.51485819e-01 -5.63843466e-03 -1.05104922e+02] [-1.08084948e-02 3.44103750e-05 -9.99941586e-01 4.64619059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.377628 meters 0.013291037676685168 Centerline is valid? [True, True] Translation: X:198.53, Y:-105.09, Z:0.46 [[-8.81961715e-01 4.71257317e-01 7.75083470e-03 1.98528520e+02] [ 4.71240211e-01 8.81995765e-01 -4.01670392e-03 -1.05091058e+02] [-8.72910450e-03 1.09925905e-04 -9.99961895e-01 4.61917180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.437628 meters 0.0173410136555495 Centerline is valid? [True, True] Translation: X:198.54, Y:-105.07, Z:0.46 [[-9.10795374e-01 4.12782615e-01 7.89305425e-03 1.98543813e+02] [ 4.12768599e-01 9.10829561e-01 -3.40518053e-03 -1.05073402e+02] [-8.59482645e-03 1.56582269e-04 -9.99963052e-01 4.63236595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49762799999996 meters 0.016390498655362535 Centerline is valid? [True, True] Translation: X:198.55, Y:-105.05, Z:0.46 [[-9.38395893e-01 3.45425930e-01 9.69924248e-03 1.98550342e+02] [ 3.45409342e-01 9.38446002e-01 -3.38937990e-03 -1.05045087e+02] [-1.02729950e-02 1.69628787e-04 -9.99947217e-01 4.63745891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.55762799999997 meters 0.01613685956696407 Centerline is valid? [True, True] Translation: X:198.56, Y:-105.01, Z:0.47 [[-9.63067598e-01 2.68932472e-01 1.32713140e-02 1.98559510e+02] [ 2.68908364e-01 9.63159029e-01 -3.60220876e-03 -1.05011401e+02] [-1.37511369e-02 9.95968171e-05 -9.99905444e-01 4.65672319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.61762799999997 meters 0.015376729385994475 Centerline is valid? [True, True] Translation: X:198.56, Y:-104.98, Z:0.47 [[-9.81634035e-01 1.90046283e-01 1.66442771e-02 1.98558119e+02] [ 1.90018171e-01 9.81775131e-01 -3.26904699e-03 -1.04975897e+02] [-1.69622076e-02 -4.62927009e-05 -9.99856130e-01 4.70035902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.67762799999997 meters 0.015656655087177618 Centerline is valid? [True, True] Translation: X:198.56, Y:-104.95, Z:0.46 [[-9.93127660e-01 1.16112594e-01 1.46736663e-02 1.98560341e+02] [ 1.16098455e-01 9.93236052e-01 -1.81463327e-03 -1.04951334e+02] [-1.47851161e-02 -9.85725074e-05 -9.99890689e-01 4.64122110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.737628 meters 0.012541499538012413 Centerline is valid? [True, True] Translation: X:198.56, Y:-104.93, Z:0.46 [[-9.98979044e-01 4.42352204e-02 9.17139071e-03 1.98560007e+02] [ 4.42326606e-02 9.99021141e-01 -4.81861961e-04 -1.04925604e+02] [-9.18372848e-03 -7.56949881e-05 -9.99957826e-01 4.57035110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.797628 meters 0.012435204680141991 Centerline is valid? [True, True] Translation: X:198.56, Y:-104.90, Z:0.45 [[-9.99594023e-01 -2.80299722e-02 5.10979772e-03 1.98558331e+02] [-2.80298772e-02 9.99607082e-01 9.02340886e-05 -1.04899345e+02] [-5.11031924e-03 -5.30295466e-05 -9.99986941e-01 4.53742048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.857628 meters 0.015013614889427998 Centerline is valid? [True, True] Translation: X:198.55, Y:-104.87, Z:0.45 [[-9.94911166e-01 -1.00692966e-01 3.56356163e-03 1.98554700e+02] [-1.00692487e-01 9.94917547e-01 3.14053717e-04 -1.04872475e+02] [-3.57707299e-03 -4.63683319e-05 -9.99993601e-01 4.54253137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.917628 meters 0.015860840474839193 Centerline is valid? [True, True] Translation: X:198.49, Y:-104.18, Z:-0.44 [[-9.99934321e-01 1.13115104e-02 1.84497930e-03 1.98492860e+02] [-1.13116543e-02 -9.99936019e-01 -6.75986905e-05 -1.04179331e+02] [ 1.84409661e-03 -8.84640188e-05 9.99998296e-01 -4.37345125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.977628 meters 0.016590798229819233 Centerline is valid? [True, True] Translation: X:198.48, Y:-104.88, Z:0.45 [[-9.93964974e-01 -1.09684994e-01 1.68332550e-03 1.98475618e+02] [-1.09684894e-01 9.93966398e-01 1.51786560e-04 -1.04882046e+02] [-1.68981769e-03 -3.37648547e-05 -9.99998572e-01 4.53163062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.037628 meters 0.013496163282540215 Centerline is valid? [True, True] Translation: X:198.41, Y:-104.18, Z:-0.44 [[-9.99918382e-01 1.27454045e-02 8.85101216e-04 1.98414024e+02] [-1.27454278e-02 -9.99918774e-01 -2.06420166e-05 -1.04181802e+02] [ 8.84766231e-04 -3.19213254e-05 9.99999608e-01 -4.36210113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.097628 meters 0.013299170303034421 Centerline is valid? [True, True] Translation: X:198.39, Y:-104.90, Z:0.46 [[-9.93306091e-01 -1.15438848e-01 4.10866639e-03 1.98394892e+02] [-1.15438151e-01 9.93314586e-01 4.07207094e-04 -1.04897837e+02] [-4.12820577e-03 -6.98155642e-05 -9.99991476e-01 4.55263009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.157628 meters 0.012384907373645563 Centerline is valid? [True, True] Translation: X:198.33, Y:-104.18, Z:-0.44 [[-9.99664802e-01 2.48113590e-02 7.39466228e-03 1.98332592e+02] [-2.48083357e-02 -9.99692101e-01 5.00306010e-04 -1.04177319e+02] [ 7.40479874e-03 3.16689043e-04 9.99972534e-01 -4.44360214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.217628 meters 0.011959105334599065 Centerline is valid? [True, True] Translation: X:198.31, Y:-104.92, Z:0.46 [[-9.93916022e-01 -1.09875507e-01 7.63641344e-03 1.98310546e+02] [-1.09872511e-01 9.93945357e-01 8.12019537e-04 -1.04923258e+02] [-7.67939873e-03 -3.19526894e-05 -9.99970512e-01 4.59507851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.277628 meters 0.014771269562134292 Centerline is valid? [True, True] Translation: X:198.31, Y:-104.91, Z:0.46 [[-9.85471258e-01 -1.69701224e-01 6.92056664e-03 1.98309983e+02] [-1.69696704e-01 9.85495557e-01 1.23953747e-03 -1.04911255e+02] [-7.03053870e-03 4.71312083e-05 -9.99975284e-01 4.58865671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.337628 meters 0.01357009581015855 Centerline is valid? [True, True] Translation: X:198.30, Y:-104.89, Z:0.46 [[-9.71968579e-01 -2.35075805e-01 4.05541003e-03 1.98298080e+02] [-2.35073568e-01 9.71977039e-01 1.02659797e-03 -1.04893554e+02] [-4.18309378e-03 4.45012665e-05 -9.99991250e-01 4.56757962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.397628 meters 0.015411476941666793 Centerline is valid? [True, True] Translation: X:198.27, Y:-104.89, Z:0.46 [[-9.54097913e-01 -2.99466102e-01 4.15040615e-03 1.98265866e+02] [-2.99462937e-01 9.54106938e-01 1.37859296e-03 -1.04887704e+02] [-4.37277316e-03 7.24198547e-05 -9.99990437e-01 4.56611597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.457628 meters 0.01609843848674497 Centerline is valid? [True, True] Translation: X:198.21, Y:-104.89, Z:0.46 [[-9.29578816e-01 -3.68573125e-01 6.08909477e-03 1.98211253e+02] [-3.68564394e-01 9.29598751e-01 2.53956185e-03 -1.04885259e+02] [-6.59642914e-03 1.16499375e-04 -9.99978237e-01 4.59437706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.517628 meters 0.012302411497498318 Centerline is valid? [True, True] Translation: X:198.14, Y:-104.88, Z:0.46 [[-8.94736843e-01 -4.46511976e-01 8.54619005e-03 1.98139843e+02] [-4.46490941e-01 8.94777654e-01 4.33460206e-03 -1.04875746e+02] [-9.58239162e-03 6.25317220e-05 -9.99954086e-01 4.61566763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.577628 meters 0.011924883099478204 Centerline is valid? [True, True] Translation: X:198.06, Y:-104.88, Z:0.46 [[-8.55800619e-01 -5.17199682e-01 1.04780273e-02 1.98063030e+02] [-5.17160842e-01 8.55864761e-01 6.33832183e-03 -1.04882806e+02] [-1.22459524e-02 5.51430720e-06 -9.99925015e-01 4.64227457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.637628 meters 0.01512681520466924 Centerline is valid? [True, True] Translation: X:197.98, Y:-104.90, Z:0.47 [[-8.12628482e-01 -5.82674877e-01 1.11775553e-02 1.97980186e+02] [-5.82620460e-01 8.12705350e-01 7.96325704e-03 -1.04901691e+02] [-1.37240488e-02 -4.11029137e-05 -9.99905820e-01 4.66112652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.697628 meters 0.011635575035711072 Centerline is valid? [True, True] Translation: X:197.90, Y:-104.93, Z:0.46 [[-7.66365748e-01 -6.42350316e-01 8.34333757e-03 1.97899424e+02] [-6.42312784e-01 7.66411162e-01 6.94389531e-03 -1.04928958e+02] [-1.08548404e-02 -3.74688596e-05 -9.99941084e-01 4.62155539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.757628 meters 0.01403831217356365 Centerline is valid? [True, True] Translation: X:197.81, Y:-104.98, Z:0.46 [[-7.19668453e-01 -6.94289632e-01 6.26305526e-03 1.97808702e+02] [-6.94263124e-01 7.19695705e-01 6.06690943e-03 -1.04979046e+02] [-8.71968628e-03 1.79550117e-05 -9.99961983e-01 4.60942212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.817628 meters 0.012301944278929501 Centerline is valid? [True, True] Translation: X:197.74, Y:-105.02, Z:0.46 [[-6.70228927e-01 -7.42146377e-01 3.45549686e-03 1.97738387e+02] [-7.42136166e-01 6.70237833e-01 3.89344262e-03 -1.05022773e+02] [-5.20550906e-03 4.50486741e-05 -9.99986450e-01 4.55650521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.877628 meters 0.013352277162091771 Centerline is valid? [True, True] Translation: X:197.66, Y:-105.09, Z:0.45 [[-6.15711831e-01 -7.87971058e-01 7.43018271e-04 1.97655092e+02] [-7.87970468e-01 6.15712280e-01 9.64139318e-04 -1.05086975e+02] [-1.21719935e-03 8.15553022e-06 -9.99999259e-01 4.53498552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.937628 meters 0.013543763373933265 Centerline is valid? [True, True] Translation: X:197.57, Y:-105.16, Z:0.45 [[-5.54184143e-01 -8.32393630e-01 8.83897174e-04 1.97574146e+02] [-8.32392525e-01 5.54184847e-01 1.35590894e-03 -1.05155128e+02] [-1.61849238e-03 1.56738312e-05 -9.99998690e-01 4.54129351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99762799999996 meters 0.01352668434688883 Centerline is valid? [True, True] Translation: X:197.49, Y:-105.24, Z:0.46 [[-4.87704061e-01 -8.73004653e-01 2.76127971e-03 1.97490014e+02] [-8.72989741e-01 4.87711872e-01 5.10308801e-03 -1.05240152e+02] [-5.80172847e-03 7.82278906e-05 -9.99983167e-01 4.58215684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.05762799999997 meters 0.013103531948129788 Centerline is valid? [True, True] Translation: X:197.42, Y:-105.32, Z:0.46 [[-4.16641539e-01 -9.09062347e-01 3.93400615e-03 1.97415101e+02] [-9.09019281e-01 4.16660097e-01 8.84929473e-03 -1.05323634e+02] [-9.68370402e-03 1.10896333e-04 -9.99953106e-01 4.61209139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.11762799999997 meters 0.013258261672035242 Centerline is valid? [True, True] Translation: X:197.35, Y:-105.42, Z:0.46 [[-3.44865892e-01 -9.38644003e-01 3.86675218e-03 1.97346358e+02] [-9.38580817e-01 3.44887545e-01 1.08918001e-02 -1.05417736e+02] [-1.15571175e-02 1.26950921e-04 -9.99933206e-01 4.63385010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.17762799999997 meters 0.016788571455991313 Centerline is valid? [True, True] Translation: X:197.29, Y:-105.52, Z:0.47 [[-2.73557095e-01 -9.61849174e-01 3.56132530e-03 1.97285003e+02] [-9.61758896e-01 2.73580216e-01 1.31791950e-02 -1.05520401e+02] [-1.36507060e-02 1.80126021e-04 -9.99906809e-01 4.66410234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.237628 meters 0.017597161110401046 Centerline is valid? [True, True] Translation: X:197.24, Y:-105.63, Z:0.47 [[-2.02246776e-01 -9.79331283e-01 2.54555267e-03 1.97237539e+02] [-9.79238586e-01 2.02262661e-01 1.34762089e-02 -1.05625564e+02] [-1.37125432e-02 2.32816415e-04 -9.99905952e-01 4.66185465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.297628 meters 0.01715048722999993 Centerline is valid? [True, True] Translation: X:197.20, Y:-105.74, Z:0.47 [[-1.28358807e-01 -9.91726691e-01 1.47863904e-03 1.97196256e+02] [-9.91635605e-01 1.28367062e-01 1.34433626e-02 -1.05737279e+02] [-1.35219501e-02 2.59302872e-04 -9.99908541e-01 4.65529675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.357628 meters 0.015094672566419606 Centerline is valid? [True, True] Translation: X:196.38, Y:-105.76, Z:-0.45 [[-1.56021038e-01 9.87751328e-01 2.17929728e-03 1.96376676e+02] [-9.87683274e-01 -1.56035881e-01 1.15997711e-02 -1.05761737e+02] [ 1.17977379e-02 -3.42647135e-04 9.99930346e-01 -4.47833699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.417628 meters 0.013317438914813547 Centerline is valid? [True, True] Translation: X:197.16, Y:-106.04, Z:0.46 [[-1.13080269e-01 -9.93585370e-01 9.82078074e-04 1.97158610e+02] [-9.93536800e-01 1.13084452e-01 9.82513421e-03 -1.06035789e+02] [-9.87316737e-03 1.35298108e-04 -9.99951250e-01 4.59511889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.477628 meters 0.012069333162631826 Centerline is valid? [True, True] Translation: X:197.12, Y:-106.16, Z:0.46 [[-2.73624097e-02 -9.99625560e-01 1.96230347e-04 1.97121860e+02] [-9.99587431e-01 2.73630799e-02 8.73099376e-03 -1.06160009e+02] [-8.73309399e-03 4.27516404e-05 -9.99961865e-01 4.57170199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.537628 meters 0.01490771580168453 Centerline is valid? [True, True] Translation: X:196.32, Y:-106.26, Z:-0.44 [[-8.90233299e-02 9.96029196e-01 8.28725815e-04 1.96320857e+02] [-9.95987571e-01 -8.90271859e-02 9.10601458e-03 -1.06255113e+02] [ 9.14363551e-03 -1.47528717e-05 9.99958196e-01 -4.44594066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.597628 meters 0.011910313270136027 Centerline is valid? [True, True] Translation: X:197.10, Y:-106.46, Z:0.46 [[-4.60670696e-03 -9.99989385e-01 8.86226945e-05 1.97102881e+02] [-9.99965447e-01 4.60720991e-03 6.91941083e-03 -1.06460439e+02] [-6.91974568e-03 -5.67439343e-05 -9.99976057e-01 4.59376454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.657628 meters 0.011593987808662491 Centerline is valid? [True, True] Translation: X:197.09, Y:-106.58, Z:0.46 [[ 7.07490591e-02 -9.97494092e-01 -3.26589404e-04 1.97085201e+02] [-9.97481069e-01 -7.07498043e-02 5.09734241e-03 -1.06576656e+02] [-5.10767508e-03 -3.48654318e-05 -9.99986955e-01 4.56960083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.717628 meters 0.011559344862582014 Centerline is valid? [True, True] Translation: X:197.07, Y:-106.70, Z:0.46 [[ 1.45742815e-01 -9.89322345e-01 -5.73737617e-04 1.97073927e+02] [-9.89314071e-01 -1.45743943e-01 4.04624569e-03 -1.06696772e+02] [-4.08666006e-03 -2.21045396e-05 -9.99991649e-01 4.55702392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.777628 meters 0.011567903141118167 Centerline is valid? [True, True] Translation: X:197.08, Y:-106.81, Z:0.45 [[ 2.15731094e-01 -9.76452703e-01 -4.63231611e-04 1.97075878e+02] [-9.76450417e-01 -2.15731591e-01 2.11258712e-03 -1.06810066e+02] [-2.16277509e-03 -3.42802902e-06 -9.99997661e-01 4.54311908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.837628 meters 0.01178059887492743 Centerline is valid? [True, True] Translation: X:197.08, Y:-106.93, Z:0.45 [[ 2.87941201e-01 -9.57648055e-01 -2.61165172e-04 1.97083569e+02] [-9.57647645e-01 -2.87941320e-01 8.85273353e-04 -1.06934202e+02] [-9.22980549e-04 -4.80246124e-06 -9.99999574e-01 4.54227531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.897628 meters 0.01179108462924214 Centerline is valid? [True, True] Translation: X:197.09, Y:-107.05, Z:0.46 [[ 3.60787355e-01 -9.32648042e-01 -3.36739474e-04 1.97094052e+02] [-9.32647625e-01 -3.60787512e-01 8.82445081e-04 -1.07052204e+02] [-9.44502074e-04 -4.31575562e-06 -9.99999554e-01 4.55222085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.957628 meters 0.011718719615345976 Centerline is valid? [True, True] Translation: X:197.11, Y:-107.17, Z:0.46 [[ 4.31704317e-01 -9.02014787e-01 -8.41195192e-04 1.97114688e+02] [-9.02013083e-01 -4.31705136e-01 1.75317415e-03 -1.07169621e+02] [-1.94453729e-03 1.91622078e-06 -9.99998109e-01 4.56558162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.017628 meters 0.01189147443295589 Centerline is valid? [True, True] Translation: X:197.14, Y:-107.28, Z:0.46 [[ 4.98961718e-01 -8.66623591e-01 -8.68497831e-04 1.97144330e+02] [-8.66622288e-01 -4.98962474e-01 1.50312031e-03 -1.07283814e+02] [-1.73598735e-03 2.66008370e-06 -9.99998493e-01 4.56519920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.077628 meters 0.011868972869757362 Centerline is valid? [True, True] Translation: X:197.18, Y:-107.39, Z:0.46 [[ 5.63715433e-01 -8.25969074e-01 -2.26657164e-05 1.97178568e+02] [-8.25969072e-01 -5.63715433e-01 5.04493421e-05 -1.07391883e+02] [-5.44466105e-05 -9.71789194e-06 -9.99999998e-01 4.55948095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.137628 meters 0.01180988670506425 Centerline is valid? [True, True] Translation: X:197.22, Y:-107.50, Z:0.46 [[ 6.26906087e-01 -7.79094191e-01 -9.99881207e-04 1.97223823e+02] [-7.79093199e-01 -6.26906884e-01 1.24302650e-03 -1.07499317e+02] [-1.59526714e-03 -2.60230469e-07 -9.99998728e-01 4.57771404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.197628 meters 0.011771836584430515 Centerline is valid? [True, True] Translation: X:197.28, Y:-107.60, Z:0.46 [[ 6.85364980e-01 -7.28197249e-01 -1.90008707e-03 1.97277221e+02] [-7.28194470e-01 -6.85367614e-01 2.01178414e-03 -1.07602933e+02] [-2.76723382e-03 4.82649451e-06 -9.99996171e-01 4.59527663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.257628 meters 0.014229012648923097 Centerline is valid? [True, True] Translation: X:197.33, Y:-107.69, Z:0.46 [[ 7.38241126e-01 -6.74527483e-01 -3.56577598e-03 1.97332635e+02] [-6.74519757e-01 -7.38249737e-01 3.22845698e-03 -1.07692911e+02] [-4.81011614e-03 2.18066321e-05 -9.99988431e-01 4.63823220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.317628 meters 0.01217405340157222 Centerline is valid? [True, True] Translation: X:197.35, Y:-107.72, Z:0.46 [[ 7.87460576e-01 -6.16362074e-01 -1.90663435e-03 1.97353243e+02] [-6.16360300e-01 -7.87462884e-01 1.47887281e-03 -1.07715842e+02] [-2.41292490e-03 1.06196838e-05 -9.99997089e-01 4.61086728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.377628 meters 0.012175702736159331 Centerline is valid? [True, True] Translation: X:197.37, Y:-107.74, Z:0.46 [[ 8.33239476e-01 -5.52910748e-01 -1.29630753e-03 1.97374445e+02] [-5.52910084e-01 -8.33240485e-01 8.56348848e-04 -1.07736676e+02] [-1.55362040e-03 3.19784237e-06 -9.99998793e-01 4.59775205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.437628 meters 0.012035715020086147 Centerline is valid? [True, True] Translation: X:197.39, Y:-107.76, Z:0.46 [[ 8.74603630e-01 -4.84837176e-01 -1.18424524e-03 1.97394089e+02] [-4.84836731e-01 -8.74604432e-01 6.56940272e-04 -1.07758652e+02] [-1.35425520e-03 -3.96756933e-07 -9.99999083e-01 4.59838898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49762799999996 meters 0.01214672051027399 Centerline is valid? [True, True] Translation: X:197.42, Y:-107.78, Z:0.46 [[ 9.09991039e-01 -4.14627831e-01 2.67328036e-04 1.97415903e+02] [-4.14627817e-01 -9.09991078e-01 -1.08561939e-04 -1.07778255e+02] [ 2.88278929e-04 -1.20512483e-05 -9.99999958e-01 4.60363782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.55762799999997 meters 0.012381441037413541 Centerline is valid? [True, True] Translation: X:197.44, Y:-107.79, Z:0.46 [[ 9.38961707e-01 -3.44018579e-01 1.45972781e-03 1.97440768e+02] [-3.44018202e-01 -9.38962841e-01 -5.09759648e-04 -1.07794078e+02] [ 1.54599696e-03 -2.35281484e-05 -9.99998805e-01 4.59281507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.61762799999997 meters 0.013276431201439468 Centerline is valid? [True, True] Translation: X:197.47, Y:-107.81, Z:0.46 [[ 9.61396389e-01 -2.75158200e-01 2.22453185e-03 1.97466570e+02] [-2.75157568e-01 -9.61398961e-01 -5.91486803e-04 -1.07808235e+02] [ 2.30141505e-03 -4.34434974e-05 -9.99997351e-01 4.59271112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.67762799999997 meters 0.013957128497436626 Centerline is valid? [True, True] Translation: X:197.49, Y:-107.82, Z:0.46 [[ 9.78956793e-01 -2.04064365e-01 1.15410242e-03 1.97488624e+02] [-2.04064262e-01 -9.78957473e-01 -2.06850721e-04 -1.07822406e+02] [ 1.17202805e-03 -3.30131416e-05 -9.99999313e-01 4.60964400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.737628 meters 0.01561489170414199 Centerline is valid? [True, True] Translation: X:197.51, Y:-107.83, Z:0.47 [[ 9.91336549e-01 -1.31313675e-01 -2.92673062e-03 1.97511083e+02] [-1.31313285e-01 -9.91340867e-01 3.25875287e-04 -1.07832787e+02] [-2.94417955e-03 6.12665307e-05 -9.99995664e-01 4.65862980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.797628 meters 0.01843823267743429 Centerline is valid? [True, True] Translation: X:197.53, Y:-107.85, Z:0.47 [[ 9.98501102e-01 -5.44451189e-02 -5.59273590e-03 1.97534648e+02] [-5.44450037e-02 -9.98516756e-01 1.72957557e-04 -1.07846255e+02] [-5.59385720e-03 1.31798216e-04 -9.99984346e-01 4.70955503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.857628 meters 0.014814695467701732 Centerline is valid? [True, True] Translation: X:197.56, Y:-107.86, Z:0.47 [[ 9.99562291e-01 2.89800692e-02 -5.94819612e-03 1.97558935e+02] [ 2.89788963e-02 -9.99579983e-01 -2.83299996e-04 -1.07857174e+02] [-5.95390784e-03 1.10803835e-04 -9.99982269e-01 4.68467976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.917628 meters 0.012566818398418094 Centerline is valid? [True, True] Translation: X:197.59, Y:-107.87, Z:0.47 [[ 9.92997085e-01 1.18050530e-01 -4.56754415e-03 1.97585647e+02] [ 1.18049128e-01 -9.93007589e-01 -5.76260528e-04 -1.07871263e+02] [-4.60363387e-03 3.30304192e-05 -9.99989403e-01 4.67772807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.977628 meters 0.011819918178642346 Centerline is valid? [True, True] Translation: X:197.61, Y:-107.88, Z:0.47 [[ 9.78334080e-01 2.07028327e-01 -1.30398600e-03 1.97614317e+02] [ 2.07028161e-01 -9.78334949e-01 -2.62419927e-04 -1.07882100e+02] [-1.33006343e-03 -1.32274654e-05 -9.99999115e-01 4.65418797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.037628 meters 0.012328397329985176 Centerline is valid? [True, True] Translation: X:197.64, Y:-107.89, Z:0.47 [[ 9.57647275e-01 2.87943843e-01 1.97589897e-04 1.97642879e+02] [ 2.87943835e-01 -9.57647296e-01 6.79924658e-05 -1.07886846e+02] [ 2.08799442e-04 -8.21800687e-06 -9.99999978e-01 4.65747130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.097628 meters 0.01267389975099318 Centerline is valid? [True, True] Translation: X:197.67, Y:-107.89, Z:0.47 [[ 9.31297484e-01 3.64259513e-01 6.35811350e-05 1.97670741e+02] [ 3.64259511e-01 -9.31297486e-01 3.46204543e-05 -1.07885226e+02] [ 7.18237809e-05 -9.08190883e-06 -9.99999997e-01 4.66510196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.157628 meters 0.012272647446562273 Centerline is valid? [True, True] Translation: X:197.69, Y:-107.87, Z:0.47 [[ 9.01684461e-01 4.32394370e-01 -4.91071225e-04 1.97694085e+02] [ 4.32394313e-01 -9.01684595e-01 -2.21038734e-04 -1.07874919e+02] [-5.38367262e-04 -1.30292127e-05 -9.99999855e-01 4.67613823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.217628 meters 0.01201771967993293 Centerline is valid? [True, True] Translation: X:197.72, Y:-107.86, Z:0.47 [[ 8.68356834e-01 4.95932577e-01 -2.69949453e-03 1.97717711e+02] [ 4.95930210e-01 -8.68361030e-01 -1.53232481e-03 -1.07863725e+02] [-3.10406564e-03 -8.15616750e-06 -9.99995182e-01 4.69037500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.277628 meters 0.01213353205050789 Centerline is valid? [True, True] Translation: X:197.74, Y:-107.86, Z:0.47 [[ 8.29107686e-01 5.59081648e-01 -2.85587444e-03 1.97744094e+02] [ 5.59078308e-01 -8.29112604e-01 -1.93267308e-03 -1.07857876e+02] [-3.44836354e-03 5.73665263e-06 -9.99994054e-01 4.69106241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.337628 meters 0.012505312402706524 Centerline is valid? [True, True] Translation: X:197.77, Y:-107.85, Z:0.47 [[ 7.85336670e-01 6.19063354e-01 -2.62270947e-03 1.97769532e+02] [ 6.19059820e-01 -7.85341049e-01 -2.09188066e-03 -1.07849300e+02] [-3.35472806e-03 1.92165345e-05 -9.99994373e-01 4.69709021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.397628 meters 0.012983141843137242 Centerline is valid? [True, True] Translation: X:197.79, Y:-107.84, Z:0.47 [[ 7.36792187e-01 6.76117273e-01 -1.64527838e-03 1.97793091e+02] [ 6.76115534e-01 -7.36794024e-01 -1.53347439e-03 -1.07838241e+02] [-2.24903980e-03 1.74536793e-05 -9.99997471e-01 4.68097859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.457628 meters 0.01322680619654346 Centerline is valid? [True, True] Translation: X:197.82, Y:-107.83, Z:0.47 [[ 6.82549500e-01 7.30839345e-01 -1.81930185e-04 1.97818938e+02] [ 7.30839321e-01 -6.82549524e-01 -1.85787128e-04 -1.07828382e+02] [-2.59956904e-04 -6.15282172e-06 -9.99999966e-01 4.68999984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.517628 meters 0.013759839572939853 Centerline is valid? [True, True] Translation: X:197.84, Y:-107.82, Z:0.47 [[ 6.25552619e-01 7.80181832e-01 4.79835468e-04 1.97840959e+02] [ 7.80181574e-01 -6.25552802e-01 6.34613129e-04 -1.07815017e+02] [ 7.95276056e-04 -2.26251134e-05 -9.99999684e-01 4.67717626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.577628 meters 0.015582344546930452 Centerline is valid? [True, True] Translation: X:197.86, Y:-107.80, Z:0.47 [[ 5.68031839e-01 8.23006208e-01 7.81332621e-04 1.97858811e+02] [ 8.23005324e-01 -5.68032375e-01 1.20713745e-03 -1.07798549e+02] [ 1.43730384e-03 -4.26515963e-05 -9.99998966e-01 4.66456523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.637628 meters 0.016097047278594977 Centerline is valid? [True, True] Translation: X:197.88, Y:-107.78, Z:0.47 [[ 5.04654704e-01 8.63321019e-01 6.69092151e-04 1.97878879e+02] [ 8.63320135e-01 -5.04655145e-01 1.23683438e-03 -1.07782290e+02] [ 1.40544592e-03 -4.65335642e-05 -9.99999011e-01 4.66226583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.697628 meters 0.016673511572965833 Centerline is valid? [True, True] Translation: X:197.90, Y:-107.76, Z:0.47 [[ 4.37217108e-01 8.99355890e-01 4.28723921e-04 1.97898726e+02] [ 8.99355365e-01 -4.37217317e-01 9.72296297e-04 -1.07764681e+02] [ 1.06188592e-03 -3.95294171e-05 -9.99999435e-01 4.67014881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.757628 meters 0.016851326138741372 Centerline is valid? [True, True] Translation: X:197.92, Y:-107.75, Z:0.47 [[ 3.66742972e-01 9.30322306e-01 3.16932266e-07 1.97920388e+02] [ 9.30322306e-01 -3.66742971e-01 2.88487866e-05 -1.07746576e+02] [ 2.69549024e-05 -1.02852406e-05 -1.00000000e+00 4.69037662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.817628 meters 0.01600583427033454 Centerline is valid? [True, True] Translation: X:197.94, Y:-107.73, Z:0.47 [[ 2.89979436e-01 9.57032877e-01 4.89940648e-06 1.97941663e+02] [ 9.57032875e-01 -2.89979435e-01 5.36779859e-05 -1.07727599e+02] [ 5.27923244e-05 -1.08766190e-05 -9.99999999e-01 4.68687849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.877628 meters 0.014760839496601426 Centerline is valid? [True, True] Translation: X:197.96, Y:-107.71, Z:0.47 [[ 2.08170889e-01 9.78092445e-01 2.24251323e-04 1.97960169e+02] [ 9.78091681e-01 -2.08171007e-01 1.22251825e-03 -1.07705873e+02] [ 1.24241849e-03 -3.51543581e-05 -9.99999228e-01 4.67288273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.937628 meters 0.012240860918398632 Centerline is valid? [True, True] Translation: X:197.99, Y:-107.68, Z:0.47 [[ 1.15880114e-01 9.93263113e-01 4.33972406e-04 1.97985742e+02] [ 9.93255087e-01 -1.15880923e-01 3.99286124e-03 -1.07683857e+02] [ 4.01625091e-03 -3.16479180e-05 -9.99991934e-01 4.65873424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99762799999996 meters 0.012842376205214605 Centerline is valid? [True, True] Translation: X:198.01, Y:-107.66, Z:0.47 [[ 2.34016040e-02 9.99726131e-01 1.65710291e-04 1.98006699e+02] [ 9.99711359e-01 -2.34021591e-02 5.43479595e-03 -1.07659095e+02] [ 5.43718551e-03 3.84795177e-05 -9.99985218e-01 4.67058825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.05762799999997 meters 0.016585000941661973 Centerline is valid? [True, True] Translation: X:198.02, Y:-107.63, Z:0.47 [[-6.21945693e-02 9.98064022e-01 -2.09645906e-04 1.98016736e+02] [ 9.98054625e-01 6.21948936e-02 4.33131658e-03 -1.07632180e+02] [ 4.33597015e-03 6.01463035e-05 -9.99990598e-01 4.71978138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.11762799999997 meters 0.014467586425438972 Centerline is valid? [True, True] Translation: X:198.02, Y:-107.60, Z:0.47 [[-1.42150815e-01 9.89844901e-01 -4.67407442e-04 1.98020260e+02] [ 9.89838148e-01 1.42151572e-01 3.65666659e-03 -1.07604952e+02] [ 3.68597548e-03 5.71404206e-05 -9.99993205e-01 4.71029066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.17762799999997 meters 0.014578411625801802 Centerline is valid? [True, True] Translation: X:198.02, Y:-107.58, Z:0.47 [[-2.17885654e-01 9.75974234e-01 -3.69590327e-04 1.98016198e+02] [ 9.75972666e-01 2.17885966e-01 1.74969816e-03 -1.07579276e+02] [ 1.78818887e-03 2.05240710e-05 -9.99998401e-01 4.73838557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.237628 meters 0.013770006509955409 Centerline is valid? [True, True] Translation: X:198.01, Y:-107.56, Z:0.48 [[-2.89386292e-01 9.57212300e-01 4.32205749e-04 1.98006119e+02] [ 9.57211080e-01 2.89386614e-01 -1.52844609e-03 -1.07555975e+02] [-1.58812195e-03 -2.85992146e-05 -9.99998739e-01 4.78177515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.297628 meters 0.015408553994684332 Centerline is valid? [True, True] Translation: X:198.00, Y:-107.53, Z:0.48 [[-3.59559334e-01 9.33120898e-01 1.57327819e-03 1.97995530e+02] [ 9.33111412e-01 3.59562773e-01 -4.20777362e-03 -1.07532552e+02] [-4.49205377e-03 -4.49004446e-05 -9.99989910e-01 4.83233386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.357628 meters 0.012496370224872483 Centerline is valid? [True, True] Translation: X:197.98, Y:-107.51, Z:0.48 [[-4.28310939e-01 9.03630725e-01 1.11928084e-03 1.97984783e+02] [ 9.03627512e-01 4.28312401e-01 -2.40977804e-03 -1.07510916e+02] [-2.65695134e-03 -2.07213398e-05 -9.99996470e-01 4.77605168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.417628 meters 0.0125386695957771 Centerline is valid? [True, True] Translation: X:197.98, Y:-107.49, Z:0.48 [[-4.98248182e-01 8.67033964e-01 -9.24343337e-04 1.97984311e+02] [ 8.67032473e-01 4.98249039e-01 1.60812304e-03 -1.07485394e+02] [ 1.85485047e-03 -1.91309434e-07 -9.99998280e-01 4.75688904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.477628 meters 0.012443437387682079 Centerline is valid? [True, True] Translation: X:197.98, Y:-107.46, Z:0.48 [[-5.64768291e-01 8.25248090e-01 -1.53861196e-03 1.97982008e+02] [ 8.25245006e-01 5.64770387e-01 2.25620464e-03 -1.07458043e+02] [ 2.73089105e-03 4.50100131e-06 -9.99996271e-01 4.76493178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.537628 meters 0.012304723703757556 Centerline is valid? [True, True] Translation: X:197.97, Y:-107.43, Z:0.48 [[-6.26502687e-01 7.79418961e-01 -6.83243562e-04 1.97972327e+02] [ 7.79418507e-01 6.26503059e-01 8.41532678e-04 -1.07434882e+02] [ 1.08396071e-03 -5.31019375e-06 -9.99999413e-01 4.77033035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.597628 meters 0.012764905679724712 Centerline is valid? [True, True] Translation: X:197.96, Y:-107.42, Z:0.48 [[-6.81826497e-01 7.31510637e-01 2.19450334e-03 1.97957422e+02] [ 7.31506830e-01 6.81830029e-01 -2.35982564e-03 -1.07415567e+02] [-3.22251583e-03 -3.69746670e-06 -9.99994808e-01 4.80933255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.657628 meters 0.012307042427341377 Centerline is valid? [True, True] Translation: X:197.94, Y:-107.39, Z:0.48 [[-7.37146703e-01 6.75724888e-01 3.25793169e-03 1.97944637e+02] [ 6.75718274e-01 7.37153903e-01 -2.98973736e-03 -1.07393167e+02] [-4.42183700e-03 -2.43106262e-06 -9.99990224e-01 4.81132168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.717628 meters 0.012224894455471992 Centerline is valid? [True, True] Translation: X:197.97, Y:-107.37, Z:0.48 [[-7.84481484e-01 6.20142527e-01 3.47089856e-03 1.97967590e+02] [ 6.20136393e-01 7.84489162e-01 -2.75836413e-03 -1.07373705e+02] [-4.43346121e-03 -1.14550705e-05 -9.99990172e-01 4.79354880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.777628 meters 0.01207750827827951 Centerline is valid? [True, True] Translation: X:197.99, Y:-107.35, Z:0.48 [[-8.27438169e-01 5.61556310e-01 7.66441958e-04 1.97987282e+02] [ 5.61556058e-01 8.27438524e-01 -5.32950024e-04 -1.07349413e+02] [-9.33465051e-04 -1.05830675e-05 -9.99999564e-01 4.76649543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.837628 meters 0.012114591114065465 Centerline is valid? [True, True] Translation: X:198.01, Y:-107.33, Z:0.47 [[-8.64195566e-01 5.03150222e-01 -2.42426864e-03 1.98007872e+02] [ 5.03148261e-01 8.64198967e-01 1.40489764e-03 -1.07332278e+02] [ 2.80192502e-03 -5.66023431e-06 -9.99996075e-01 4.74097664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.897628 meters 0.012412365326244136 Centerline is valid? [True, True] Translation: X:198.02, Y:-107.32, Z:0.47 [[-8.94748853e-01 4.46519766e-01 -6.67741602e-03 1.98024792e+02] [ 4.46507748e-01 8.94773768e-01 3.27643643e-03 -1.07316978e+02] [ 7.43777032e-03 -4.99302528e-05 -9.99972338e-01 4.71992277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.957628 meters 0.01278985053005375 Centerline is valid? [True, True] Translation: X:198.04, Y:-107.30, Z:0.47 [[-9.23080127e-01 3.84500967e-01 -9.06012191e-03 1.98040890e+02] [ 3.84483393e-01 9.23124585e-01 3.67725428e-03 -1.07296532e+02] [ 9.77752910e-03 -8.90660657e-05 -9.99952195e-01 4.71606530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.017628 meters 0.012607977491627523 Centerline is valid? [True, True] Translation: X:198.05, Y:-107.27, Z:0.47 [[-9.48516181e-01 3.16606424e-01 -8.79930480e-03 1.98052231e+02] [ 3.16593475e-01 9.48556992e-01 2.86424461e-03 -1.07270969e+02] [ 9.25348034e-03 -6.90201234e-05 -9.99957183e-01 4.72148190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.077628 meters 0.012320316414536465 Centerline is valid? [True, True] Translation: X:198.31, Y:-106.52, Z:-0.46 [[-9.29143635e-01 -3.69678552e-01 -5.46562345e-03 1.98305625e+02] [ 3.69670524e-01 -9.29159676e-01 2.44961893e-03 -1.06524308e+02] [-5.98400849e-03 2.55567952e-04 9.99982063e-01 -4.61890211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.137628 meters 0.012162843879670234 Centerline is valid? [True, True] Translation: X:198.01, Y:-107.25, Z:0.48 [[-9.50892365e-01 3.09503292e-01 -3.37967375e-03 1.98011558e+02] [ 3.09501409e-01 9.50898371e-01 1.07983129e-03 -1.07252443e+02] [ 3.54793761e-03 -1.92104581e-05 -9.99993706e-01 4.78759661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.197628 meters 0.012159722337616004 Centerline is valid? [True, True] Translation: X:198.26, Y:-106.51, Z:-0.47 [[-9.29550425e-01 -3.68692970e-01 -1.22507353e-03 1.98256850e+02] [ 3.68692434e-01 -9.29551220e-01 6.46098163e-04 -1.06512013e+02] [-1.37698045e-03 1.48905480e-04 9.99999041e-01 -4.66847867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.257628 meters 0.012082939893480062 Centerline is valid? [True, True] Translation: X:197.97, Y:-107.24, Z:0.48 [[-9.52480833e-01 3.04596419e-01 -1.13335445e-03 1.97966339e+02] [ 3.04596218e-01 9.52481507e-01 3.50355590e-04 -1.07236734e+02] [ 1.18621621e-03 -1.15084934e-05 -9.99999296e-01 4.82295428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.317628 meters 0.012102716498902275 Centerline is valid? [True, True] Translation: X:197.98, Y:-107.21, Z:0.48 [[-9.71511285e-01 2.36992221e-01 -7.13601224e-04 1.97982931e+02] [ 2.36992166e-01 9.71511547e-01 1.62895151e-04 -1.07214235e+02] [ 7.31876713e-04 -1.08634222e-05 -9.99999732e-01 4.81922198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.377628 meters 0.012064033559282789 Centerline is valid? [True, True] Translation: X:197.99, Y:-107.19, Z:0.48 [[-9.85969189e-01 1.66915547e-01 -1.98987690e-03 1.97987193e+02] [ 1.66915230e-01 9.85971196e-01 3.25221298e-04 -1.07188480e+02] [ 2.01624580e-03 -1.14825808e-05 -9.99997967e-01 4.80151342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.437628 meters 0.013947701354503319 Centerline is valid? [True, True] Translation: X:198.13, Y:-106.42, Z:-0.47 [[-9.72189750e-01 -2.34194522e-01 1.28444411e-04 1.98125282e+02] [ 2.34194538e-01 -9.72189747e-01 1.22322515e-04 -1.06422997e+02] [ 9.62250762e-05 1.49001675e-04 9.99999984e-01 -4.69133063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49762799999996 meters 0.014988066440013768 Centerline is valid? [True, True] Translation: X:197.94, Y:-107.18, Z:0.49 [[-9.87244255e-01 1.59186761e-01 2.89081733e-03 1.97940365e+02] [ 1.59186020e-01 9.87248487e-01 -4.86114196e-04 -1.07177703e+02] [-2.93133798e-03 -1.97357421e-05 -9.99995703e-01 4.86757373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.55762799999997 meters 0.012176398831615245 Centerline is valid? [True, True] Translation: X:197.95, Y:-107.15, Z:0.48 [[-9.96060409e-01 8.86400520e-02 2.56969390e-03 1.97946157e+02] [ 8.86397080e-02 9.96063723e-01 -2.47657801e-04 -1.07152789e+02] [-2.58153128e-03 -1.89052128e-05 -9.99996668e-01 4.84808351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.61762799999997 meters 0.01227389013727742 Centerline is valid? [True, True] Translation: X:198.02, Y:-106.38, Z:-0.47 [[-9.86668233e-01 -1.62636429e-01 5.93207438e-03 1.98019249e+02] [ 1.62634998e-01 -9.86686034e-01 -7.26146263e-04 -1.06380058e+02] [ 5.97119278e-03 2.48297453e-04 9.99982141e-01 -4.73214676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.67762799999997 meters 0.016160797843122743 Centerline is valid? [True, True] Translation: X:197.89, Y:-107.15, Z:0.49 [[-9.96572881e-01 8.18652918e-02 1.18560812e-02 1.97887821e+02] [ 8.18585358e-02 9.96643400e-01 -1.05481118e-03 -1.07145080e+02] [-1.19026375e-02 -8.06747664e-05 -9.99929158e-01 4.92748687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.737628 meters 0.01524712797623907 Centerline is valid? [True, True] Translation: X:197.96, Y:-106.38, Z:-0.48 [[-9.87339523e-01 -1.58097832e-01 1.28740546e-02 1.97963085e+02] [ 1.58086449e-01 -9.87423441e-01 -1.90347505e-03 -1.06379793e+02] [ 1.30130786e-02 1.55837435e-04 9.99915314e-01 -4.80025667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.797628 meters 0.016018063802698917 Centerline is valid? [True, True] Translation: X:197.83, Y:-107.14, Z:0.49 [[-9.96067708e-01 8.76518737e-02 1.28945992e-02 1.97830578e+02] [ 8.76450942e-02 9.96151167e-01 -1.09101044e-03 -1.07143611e+02] [-1.29405991e-02 4.34280923e-05 -9.99916266e-01 4.92759463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.857628 meters 0.014480627764303824 Centerline is valid? [True, True] Translation: X:197.85, Y:-107.12, Z:0.49 [[-9.99537666e-01 2.92054569e-02 8.45554158e-03 1.97846755e+02] [ 2.92055157e-02 9.99573421e-01 -1.16553631e-04 -1.07124899e+02] [-8.45533863e-03 1.30448708e-04 -9.99964244e-01 4.85806047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.917628 meters 0.016993562161877744 Centerline is valid? [True, True] Translation: X:197.87, Y:-106.33, Z:-0.47 [[-9.98544261e-01 -5.34608049e-02 7.16250336e-03 1.97866862e+02] [ 5.34581346e-02 -9.98569932e-01 -5.63886340e-04 -1.06330505e+02] [ 7.18240631e-03 -1.80171399e-04 9.99974190e-01 -4.71803372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.977628 meters 0.02022217078966489 Centerline is valid? [True, True] Translation: X:197.77, Y:-107.13, Z:0.49 [[-9.99134086e-01 4.10315126e-02 6.89158647e-03 1.97769388e+02] [ 4.10320698e-02 9.99157828e-01 -6.05784746e-05 -1.07133555e+02] [-6.88826820e-03 2.22250039e-04 -9.99976251e-01 4.85775334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.037628 meters 0.019870092431235595 Centerline is valid? [True, True] Translation: X:197.78, Y:-106.32, Z:-0.47 [[-9.99038354e-01 -4.31720740e-02 7.65106061e-03 1.97780881e+02] [ 4.31693063e-02 -9.99067632e-01 -5.26603673e-04 -1.06323646e+02] [ 7.66666158e-03 -1.95806288e-04 9.99970592e-01 -4.71013523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.097628 meters 0.016387288504983406 Centerline is valid? [True, True] Translation: X:197.69, Y:-107.12, Z:0.49 [[-9.99705969e-01 2.19875921e-02 1.02236071e-02 1.97693481e+02] [ 2.19883913e-02 9.99758226e-01 -3.42348382e-05 -1.07122392e+02] [-1.02218880e-02 1.90575901e-04 -9.99947737e-01 4.88349999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.157628 meters 0.012239153607743124 Centerline is valid? [True, True] Translation: X:197.69, Y:-106.35, Z:-0.47 [[-9.97737319e-01 -6.66219683e-02 9.04190162e-03 1.97690631e+02] [ 6.66168599e-02 -9.97778255e-01 -8.65311430e-04 -1.06346363e+02] [ 9.07946156e-03 -2.61010412e-04 9.99958747e-01 -4.71904472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.217628 meters 0.012436109191730932 Centerline is valid? [True, True] Translation: X:197.61, Y:-107.10, Z:0.48 [[-9.99917943e-01 -9.55307339e-03 8.53495877e-03 1.97611830e+02] [-9.55334567e-03 9.99954366e-01 8.86856085e-06 -1.07101861e+02] [-8.53465400e-03 -7.26695782e-05 -9.99963577e-01 4.83924059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.277628 meters 0.013859547747026737 Centerline is valid? [True, True] Translation: X:197.61, Y:-106.36, Z:-0.47 [[-9.96714265e-01 -8.08225934e-02 5.32752222e-03 1.97612066e+02] [ 8.08204566e-02 -9.96728486e-01 -6.15523031e-04 -1.06360249e+02] [ 5.35984133e-03 -1.82927807e-04 9.99985619e-01 -4.68328806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.337628 meters 0.01378804168458302 Centerline is valid? [True, True] Translation: X:197.54, Y:-107.10, Z:0.48 [[-9.99749641e-01 -2.22683359e-02 2.18543881e-03 1.97544546e+02] [-2.22683775e-02 9.99752029e-01 5.27666560e-06 -1.07097518e+02] [-2.18501438e-03 -4.33908319e-05 -9.99997612e-01 4.80147872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.397628 meters 0.013057205039458716 Centerline is valid? [True, True] Translation: X:197.54, Y:-107.08, Z:0.48 [[-9.96025671e-01 -8.90208269e-02 2.85560867e-03 1.97542932e+02] [-8.90205803e-02 9.96029764e-01 2.13601320e-04 -1.07076616e+02] [-2.86328620e-03 -4.14555436e-05 -9.99995900e-01 4.80348979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.457628 meters 0.012733228081984255 Centerline is valid? [True, True] Translation: X:197.49, Y:-106.33, Z:-0.47 [[-9.99968273e-01 2.16665662e-03 7.66547014e-03 1.97486453e+02] [-2.16353545e-03 -9.99997573e-01 4.15440949e-04 -1.06325440e+02] [ 7.66635166e-03 3.98843252e-04 9.99970534e-01 -4.72346273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.517628 meters 0.012620040665742526 Centerline is valid? [True, True] Translation: X:197.45, Y:-107.09, Z:0.49 [[-9.95892412e-01 -8.98258775e-02 1.13848632e-02 1.97451107e+02] [-8.98209115e-02 9.95957482e-01 9.47789485e-04 -1.07089732e+02] [-1.14239757e-02 -7.87024304e-05 -9.99934741e-01 4.88231767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.577628 meters 0.012408542663944006 Centerline is valid? [True, True] Translation: X:197.45, Y:-107.07, Z:0.49 [[-9.88101981e-01 -1.53384077e-01 1.13048659e-02 1.97452446e+02] [-1.53373980e-01 9.88166648e-01 1.75988488e-03 -1.07068669e+02] [-1.14410297e-02 5.07345886e-06 -9.99934549e-01 4.87447841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.637628 meters 0.01278958392085756 Centerline is valid? [True, True] Translation: X:197.44, Y:-107.05, Z:0.48 [[-9.76153277e-01 -2.16932221e-01 8.07410907e-03 1.97444277e+02] [-2.16924314e-01 9.76186667e-01 1.85301819e-03 -1.07048274e+02] [-8.28381697e-03 5.73592047e-05 -9.99965687e-01 4.84273320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.697628 meters 0.013349551552730165 Centerline is valid? [True, True] Translation: X:197.42, Y:-107.03, Z:0.48 [[-9.59047681e-01 -2.83172630e-01 6.38806814e-03 1.97422928e+02] [-2.83165877e-01 9.59068953e-01 1.95681696e-03 -1.07027140e+02] [-6.68071483e-03 6.77978546e-05 -9.99977681e-01 4.82804193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.757628 meters 0.013519554662590078 Centerline is valid? [True, True] Translation: X:197.37, Y:-107.02, Z:0.48 [[-9.36008990e-01 -3.51903729e-01 7.13692533e-03 1.97374684e+02] [-3.51892823e-01 9.36036195e-01 2.77179907e-03 -1.07015094e+02] [-7.65582686e-03 8.29960443e-05 -9.99970690e-01 4.83632110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.817628 meters 0.016200264552185057 Centerline is valid? [True, True] Translation: X:197.31, Y:-107.01, Z:0.49 [[-9.07983602e-01 -4.18884928e-01 1.00596189e-02 1.97311416e+02] [-4.18857525e-01 9.08039315e-01 4.79324707e-03 -1.07011032e+02] [-1.11423484e-02 1.38642652e-04 -9.99937912e-01 4.88422456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.877628 meters 0.013690861965273714 Centerline is valid? [True, True] Translation: X:197.24, Y:-107.01, Z:0.49 [[-8.74039802e-01 -4.85747816e-01 1.01727527e-02 1.97241798e+02] [-4.85713065e-01 8.74098988e-01 5.81191762e-03 -1.07014467e+02] [-1.17151191e-02 1.38808435e-04 -9.99931366e-01 4.86666215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.937628 meters 0.013423503703964267 Centerline is valid? [True, True] Translation: X:197.16, Y:-107.03, Z:0.48 [[-8.34874571e-01 -5.50363249e-01 9.20571136e-03 1.97161276e+02] [-5.50328191e-01 8.34925314e-01 6.21305159e-03 -1.07031295e+02] [-1.11055167e-02 1.20956300e-04 -9.99938325e-01 4.84511880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99762799999996 meters 0.013108860066782642 Centerline is valid? [True, True] Translation: X:197.08, Y:-107.05, Z:0.48 [[-7.89290918e-01 -6.13986852e-01 6.32404256e-03 1.97078861e+02] [-6.13966550e-01 7.89316250e-01 4.99326915e-03 -1.07054744e+02] [-8.05747117e-03 5.83913910e-05 -9.99967536e-01 4.82344793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.05762799999997 meters 0.012371700334458611 Centerline is valid? [True, True] Translation: X:196.99, Y:-107.09, Z:0.48 [[-7.36738068e-01 -6.76159777e-01 4.99745971e-03 1.96989788e+02] [-6.76144169e-01 7.36755017e-01 4.59424024e-03 -1.07088713e+02] [-6.78834397e-03 5.74843364e-06 -9.99976959e-01 4.81544335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.11762799999997 meters 0.012605507643577454 Centerline is valid? [True, True] Translation: X:196.90, Y:-107.14, Z:0.48 [[-6.77890768e-01 -7.35150031e-01 4.30570948e-03 1.96895821e+02] [-7.35135621e-01 6.77904440e-01 4.60310342e-03 -1.07137718e+02] [-6.30283120e-03 -4.48790996e-05 -9.99980136e-01 4.80241583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.17762799999997 meters 0.012654925345372757 Centerline is valid? [True, True] Translation: X:196.82, Y:-107.19, Z:0.48 [[-6.17496488e-01 -7.86566553e-01 3.33832127e-03 1.96815773e+02] [-7.86555558e-01 6.17505509e-01 4.15934846e-03 -1.07185526e+02] [-5.33303616e-03 -5.73920834e-05 -9.99985778e-01 4.80030456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.237628 meters 0.01318086754138735 Centerline is valid? [True, True] Translation: X:196.73, Y:-107.25, Z:0.48 [[-5.53393915e-01 -8.32916027e-01 2.46307740e-03 1.96731080e+02] [-8.32908273e-01 5.53399393e-01 3.59463752e-03 -1.07251405e+02] [-4.35709674e-03 -6.22670117e-05 -9.99990506e-01 4.80116102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.297628 meters 0.013779572422488333 Centerline is valid? [True, True] Translation: X:196.65, Y:-107.33, Z:0.48 [[-4.86460456e-01 -8.73699483e-01 2.33190259e-03 1.96653664e+02] [-8.73690176e-01 4.86466039e-01 4.03360986e-03 -1.07325764e+02] [-4.65855426e-03 -7.51686960e-05 -9.99989146e-01 4.79946804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.357628 meters 0.013589489753359715 Centerline is valid? [True, True] Translation: X:196.58, Y:-107.41, Z:0.48 [[-4.18393867e-01 -9.08262290e-01 2.48688051e-03 1.96583105e+02] [-9.08247485e-01 4.18401248e-01 5.18667529e-03 -1.07407958e+02] [-5.75137549e-03 -8.86298394e-05 -9.99983457e-01 4.81381277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.417628 meters 0.013317578664100865 Centerline is valid? [True, True] Translation: X:196.52, Y:-107.50, Z:0.48 [[-3.49595252e-01 -9.36897283e-01 2.57704548e-03 1.96517899e+02] [-9.36873720e-01 3.49604738e-01 6.64525866e-03 -1.07497681e+02] [-7.12687209e-03 -9.12153125e-05 -9.99974599e-01 4.83688493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.477628 meters 0.012462642459347669 Centerline is valid? [True, True] Translation: X:196.46, Y:-107.60, Z:0.48 [[-2.82558631e-01 -9.59246867e-01 2.46323753e-03 1.96463675e+02] [-9.59212046e-01 2.82569363e-01 8.17344109e-03 -1.07597931e+02] [-8.53638322e-03 -5.32907877e-05 -9.99963563e-01 4.84602750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.537628 meters 0.012600741265552096 Centerline is valid? [True, True] Translation: X:196.42, Y:-107.70, Z:0.49 [[-2.15932268e-01 -9.76406136e-01 2.07659965e-03 1.96416964e+02] [-9.76360004e-01 2.15942252e-01 9.49142156e-03 -1.07703072e+02] [-9.71590786e-03 2.19953423e-05 -9.99952799e-01 4.86480058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.597628 meters 0.012575339545345473 Centerline is valid? [True, True] Translation: X:196.37, Y:-107.81, Z:0.48 [[-1.42906863e-01 -9.89735459e-01 1.16164288e-03 1.96369182e+02] [-9.89700349e-01 1.42911578e-01 8.33669333e-03 -1.07810723e+02] [-8.41713322e-03 4.16923260e-05 -9.99964574e-01 4.84771820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.657628 meters 0.012721255622687425 Centerline is valid? [True, True] Translation: X:196.33, Y:-107.92, Z:0.48 [[-6.81592198e-02 -9.97674348e-01 4.63877550e-04 1.96330059e+02] [-9.97645758e-01 6.81607785e-02 7.55309793e-03 -1.07921404e+02] [-7.56715031e-03 5.20277917e-05 -9.99971367e-01 4.84955611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.717628 meters 0.013384218605339024 Centerline is valid? [True, True] Translation: X:196.30, Y:-108.03, Z:0.48 [[ 4.10882594e-03 -9.99991552e-01 -1.18724475e-04 1.96302119e+02] [-9.99963613e-01 -4.10959868e-03 7.47558525e-03 -1.08033930e+02] [-7.47601000e-03 8.80042767e-05 -9.99972050e-01 4.83761438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.777628 meters 0.014347332240531908 Centerline is valid? [True, True] Translation: X:196.28, Y:-108.15, Z:0.48 [[ 7.65820388e-02 -9.97062974e-01 -7.85665708e-04 1.96281915e+02] [-9.97027474e-01 -7.65859429e-02 8.41479541e-03 -1.08145552e+02] [-8.45025189e-03 1.38908108e-04 -9.99964286e-01 4.84094492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.837628 meters 0.01451781715329236 Centerline is valid? [True, True] Translation: X:196.27, Y:-108.27, Z:0.49 [[ 1.53087220e-01 -9.88210889e-01 -1.88197463e-03 1.96268091e+02] [-9.88150579e-01 -1.53098672e-01 1.09192612e-02 -1.08270044e+02] [-1.10786606e-02 1.88074986e-04 -9.99938612e-01 4.86319272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.897628 meters 0.014141061334273008 Centerline is valid? [True, True] Translation: X:196.27, Y:-108.40, Z:0.48 [[ 2.30241246e-01 -9.73129963e-01 -2.65414988e-03 1.96265445e+02] [-9.73073382e-01 -2.30256484e-01 1.04949715e-02 -1.08395011e+02] [-1.08241065e-02 1.66307276e-04 -9.99941404e-01 4.84940094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.957628 meters 0.013502805978832617 Centerline is valid? [True, True] Translation: X:196.27, Y:-108.51, Z:0.48 [[ 3.08201323e-01 -9.51317289e-01 -2.71294164e-03 1.96267370e+02] [-9.51283115e-01 -3.08213249e-01 8.06400128e-03 -1.08511872e+02] [-8.50758839e-03 9.54397091e-05 -9.99963805e-01 4.83253071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.017628 meters 0.012232222378768984 Centerline is valid? [True, True] Translation: X:196.28, Y:-108.63, Z:0.48 [[ 3.87618395e-01 -9.21816933e-01 -2.34970838e-03 1.96277925e+02] [-9.21800247e-01 -3.87625517e-01 5.54648715e-03 -1.08633287e+02] [-6.02365270e-03 1.60413129e-05 -9.99981858e-01 4.80789750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.077628 meters 0.012103697456152735 Centerline is valid? [True, True] Translation: X:196.30, Y:-108.75, Z:0.48 [[ 4.63466607e-01 -8.86112785e-01 -1.68404811e-03 1.96302500e+02] [-8.86106777e-01 -4.63469666e-01 3.26320595e-03 -1.08754909e+02] [-3.67207373e-03 -2.01405489e-05 -9.99993258e-01 4.79203667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.137628 meters 0.012248471013398616 Centerline is valid? [True, True] Translation: X:196.34, Y:-108.87, Z:0.48 [[ 5.33054593e-01 -8.46080289e-01 -9.72702049e-04 1.96335137e+02] [-8.46078804e-01 -5.33055480e-01 1.58541843e-03 -1.08866561e+02] [-1.85989544e-03 -2.21319895e-05 -9.99998270e-01 4.77952776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.197628 meters 0.012775893582063574 Centerline is valid? [True, True] Translation: X:196.38, Y:-108.98, Z:0.48 [[ 5.99732460e-01 -8.00199240e-01 -1.46740887e-03 1.96380220e+02] [-8.00196696e-01 -5.99734254e-01 2.01823331e-03 -1.08978266e+02] [-2.49504413e-03 -3.61842936e-05 -9.99996887e-01 4.78296028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.257628 meters 0.013151421396592727 Centerline is valid? [True, True] Translation: X:196.43, Y:-109.08, Z:0.48 [[ 6.60965455e-01 -7.50408414e-01 -3.44684158e-03 1.96428359e+02] [-7.50397607e-01 -6.60974438e-01 4.02795005e-03 -1.09078340e+02] [-5.30088178e-03 -7.58341615e-05 -9.99985947e-01 4.81300953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.317628 meters 0.013157466533443025 Centerline is valid? [True, True] Translation: X:196.48, Y:-109.17, Z:0.48 [[ 7.14792622e-01 -6.99319023e-01 -4.94088085e-03 1.96482458e+02] [-6.99301538e-01 -7.14809693e-01 4.94586997e-03 -1.09170478e+02] [-6.99053048e-03 -8.01057841e-05 -9.99975563e-01 4.83992319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.377628 meters 0.012364144895169744 Centerline is valid? [True, True] Translation: X:196.51, Y:-109.19, Z:0.48 [[ 7.63840524e-01 -6.45371741e-01 -6.55508888e-03 1.96505403e+02] [-6.45347407e-01 -7.63868649e-01 5.60461831e-03 -1.09191351e+02] [-8.62428917e-03 -5.07249798e-05 -9.99962809e-01 4.84939570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.437628 meters 0.012281937243333506 Centerline is valid? [True, True] Translation: X:196.53, Y:-109.21, Z:0.49 [[ 8.10295075e-01 -5.85981944e-01 -6.85946657e-03 1.96526893e+02] [-5.85960678e-01 -8.10324108e-01 4.99234849e-03 -1.09213128e+02] [-8.48381721e-03 -2.58977154e-05 -9.99964011e-01 4.85068447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49762799999996 meters 0.012112405625295638 Centerline is valid? [True, True] Translation: X:196.55, Y:-109.24, Z:0.48 [[ 8.53735469e-01 -5.20668301e-01 -6.34581175e-03 1.96546601e+02] [-5.20653694e-01 -8.53759053e-01 3.90012549e-03 -1.09237748e+02] [-7.44846594e-03 -2.57051367e-05 -9.99972259e-01 4.84009170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.55762799999997 meters 0.012381205243427345 Centerline is valid? [True, True] Translation: X:196.57, Y:-109.26, Z:0.49 [[ 8.93488015e-01 -4.49030200e-01 -7.14470804e-03 1.96567548e+02] [-4.49015337e-01 -8.93516579e-01 3.65383687e-03 -1.09263236e+02] [-8.02459818e-03 -5.65759611e-05 -9.99967801e-01 4.85292918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.61762799999997 meters 0.0127756731018492 Centerline is valid? [True, True] Translation: X:196.59, Y:-109.28, Z:0.49 [[ 9.26973422e-01 -3.74995946e-01 -9.91540531e-03 1.96591772e+02] [-3.74973286e-01 -9.27026445e-01 4.12377357e-03 -1.09284816e+02] [-1.07382413e-02 -1.04616394e-04 -9.99942338e-01 4.87795966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.67762799999997 meters 0.01273998502040799 Centerline is valid? [True, True] Translation: X:196.62, Y:-109.30, Z:0.49 [[ 9.53375664e-01 -3.01523010e-01 -1.25983345e-02 1.96618361e+02] [-3.01494955e-01 -9.53458892e-01 4.11503558e-03 -1.09302847e+02] [-1.32527719e-02 -1.24840493e-04 -9.99912170e-01 4.90177813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.737628 meters 0.01545575564413199 Centerline is valid? [True, True] Translation: X:196.65, Y:-109.31, Z:0.49 [[ 9.72364779e-01 -2.32869970e-01 -1.66827107e-02 1.96647221e+02] [-2.32835016e-01 -9.72507879e-01 4.03480680e-03 -1.09311051e+02] [-1.71636530e-02 -3.89847979e-05 -9.99852693e-01 4.94326815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.797628 meters 0.012837481022491423 Centerline is valid? [True, True] Translation: X:196.67, Y:-109.32, Z:0.49 [[ 9.86823484e-01 -1.60930560e-01 -1.67561029e-02 1.96673649e+02] [-1.60908148e-01 -9.86965730e-01 2.68606811e-03 -1.09315513e+02] [-1.69699698e-02 4.55184007e-05 -9.99855999e-01 4.92139617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.857628 meters 0.013497288376754745 Centerline is valid? [True, True] Translation: X:196.70, Y:-109.32, Z:0.49 [[ 9.95619769e-01 -9.26832877e-02 -1.22916201e-02 1.96699359e+02] [-9.26780621e-02 -9.95695629e-01 9.95288230e-04 -1.09317072e+02] [-1.23309590e-02 1.48234897e-04 -9.99923960e-01 4.85611753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.917628 meters 0.01488910829709663 Centerline is valid? [True, True] Translation: X:196.73, Y:-109.32, Z:0.48 [[ 9.99730613e-01 -2.23519324e-02 -6.25243744e-03 1.96725110e+02] [-2.23522399e-02 -9.99750157e-01 2.07032708e-05 -1.09321800e+02] [-6.25133807e-03 1.19058288e-04 -9.99980453e-01 4.80982119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.977628 meters 0.0152803399205155 Centerline is valid? [True, True] Translation: X:196.75, Y:-109.33, Z:0.48 [[ 9.98585326e-01 5.29755890e-02 -4.57524505e-03 1.96751131e+02] [ 5.29745814e-02 -9.98595803e-01 -3.41208061e-04 -1.09330460e+02] [-4.58689620e-03 9.83536712e-05 -9.99989475e-01 4.79251357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.037628 meters 0.015851875894949942 Centerline is valid? [True, True] Translation: X:196.78, Y:-109.34, Z:0.48 [[ 9.91883182e-01 1.27101776e-01 -3.59043938e-03 1.96777802e+02] [ 1.27100616e-01 -9.91889677e-01 -5.50550091e-04 -1.09340481e+02] [-3.63129565e-03 8.97343211e-05 -9.99993403e-01 4.79201231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.097628 meters 0.01695431108286246 Centerline is valid? [True, True] Translation: X:196.80, Y:-109.35, Z:0.48 [[ 9.79033386e-01 2.03592205e-01 -6.62137397e-03 1.96804434e+02] [ 2.03586282e-01 -9.79055760e-01 -1.56366091e-03 -1.09345137e+02] [-6.80104350e-03 1.82855326e-04 -9.99976856e-01 4.82156154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.157628 meters 0.016478357631883392 Centerline is valid? [True, True] Translation: X:196.83, Y:-109.35, Z:0.48 [[ 9.59957081e-01 2.80000177e-01 -9.07208921e-03 1.96832981e+02] [ 2.79985133e-01 -9.59999914e-01 -2.91388922e-03 -1.09351911e+02] [-9.52509436e-03 2.57158492e-04 -9.99954602e-01 4.84015422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.217628 meters 0.015990457767701523 Centerline is valid? [True, True] Translation: X:196.86, Y:-109.36, Z:0.48 [[ 9.34504050e-01 3.55855889e-01 -8.29259119e-03 1.96863159e+02] [ 3.55839718e-01 -9.34540815e-01 -3.40002144e-03 -1.09356324e+02] [-8.95968258e-03 2.26500489e-04 -9.99959836e-01 4.83851333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.277628 meters 0.014933356863757267 Centerline is valid? [True, True] Translation: X:196.89, Y:-109.36, Z:0.48 [[ 9.02494454e-01 4.30645343e-01 -6.95327488e-03 1.96893039e+02] [ 4.30631085e-01 -9.02521223e-01 -3.50854398e-03 -1.09356952e+02] [-7.78641628e-03 1.72145176e-04 -9.99969671e-01 4.81751764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.337628 meters 0.013827016418803378 Centerline is valid? [True, True] Translation: X:196.92, Y:-109.36, Z:0.48 [[ 8.63637082e-01 5.04093019e-01 -4.60637173e-03 1.96924482e+02] [ 5.04085289e-01 -8.63649362e-01 -2.79301583e-03 -1.09357142e+02] [-5.38622979e-03 9.01478167e-05 -9.99985490e-01 4.80216196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.397628 meters 0.01176761898708497 Centerline is valid? [True, True] Translation: X:196.96, Y:-109.36, Z:0.48 [[ 8.15113738e-01 5.79299314e-01 -1.37765435e-03 1.96958808e+02] [ 5.79298483e-01 -8.15114903e-01 -9.81439682e-04 -1.09358621e+02] [-1.69149392e-03 1.91189611e-06 -9.99998569e-01 4.79804251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.457628 meters 0.011413143719938599 Centerline is valid? [True, True] Translation: X:196.99, Y:-109.35, Z:0.48 [[ 7.61193261e-01 6.48524309e-01 1.01973721e-03 1.96990185e+02] [ 6.48523712e-01 -7.61193944e-01 8.79964934e-04 -1.09352087e+02] [ 1.34689644e-03 -8.49961681e-06 -9.99999093e-01 4.77873489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.517628 meters 0.013204228790521286 Centerline is valid? [True, True] Translation: X:197.02, Y:-109.34, Z:0.48 [[ 6.99815151e-01 7.14323210e-01 1.05144746e-03 1.97023263e+02] [ 7.14322423e-01 -6.99815941e-01 1.06010532e-03 -1.09344887e+02] [ 1.49307753e-03 9.19473753e-06 -9.99998885e-01 4.78655018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.577628 meters 0.014341831158958995 Centerline is valid? [True, True] Translation: X:197.05, Y:-109.33, Z:0.48 [[ 6.37411167e-01 7.70523812e-01 -2.41370677e-04 1.97050062e+02] [ 7.70523767e-01 -6.37411213e-01 -2.63995205e-04 -1.09331628e+02] [-3.57266968e-04 -1.77083511e-05 -9.99999936e-01 4.80626183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.637628 meters 0.013845130102119433 Centerline is valid? [True, True] Translation: X:197.07, Y:-109.31, Z:0.49 [[ 5.75614032e-01 8.17715535e-01 -3.12896724e-03 1.97071699e+02] [ 8.17704463e-01 -5.75622526e-01 -4.25667288e-03 -1.09312121e+02] [-5.28185156e-03 -1.08369834e-04 -9.99986045e-01 4.85217916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.697628 meters 0.012660338665255427 Centerline is valid? [True, True] Translation: X:197.09, Y:-109.29, Z:0.49 [[ 5.15419272e-01 8.56924462e-01 -4.84166807e-03 1.97086682e+02] [ 8.56888822e-01 -5.15441998e-01 -7.81630951e-03 -1.09287382e+02] [-9.19358588e-03 -1.20094698e-04 -9.99957731e-01 4.89020422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.757628 meters 0.0117660385209231 Centerline is valid? [True, True] Translation: X:197.10, Y:-109.26, Z:0.49 [[ 4.53745883e-01 8.91120500e-01 -4.35070959e-03 1.97096989e+02] [ 8.91080576e-01 -4.53766738e-01 -8.43529856e-03 -1.09262773e+02] [-9.49107477e-03 -4.93508140e-05 -9.99954958e-01 4.89542740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.817628 meters 0.012441164784620177 Centerline is valid? [True, True] Translation: X:197.10, Y:-109.23, Z:0.49 [[ 3.94753289e-01 9.18783267e-01 -2.67397308e-03 1.97098750e+02] [ 9.18761282e-01 -3.94762342e-01 -6.35608673e-03 -1.09234447e+02] [-6.89545001e-03 5.23432057e-05 -9.99976225e-01 4.86406105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.877628 meters 0.014989688490536973 Centerline is valid? [True, True] Translation: X:197.10, Y:-109.21, Z:0.48 [[ 3.31205063e-01 9.43558424e-01 -8.40852515e-04 1.97097341e+02] [ 9.43555065e-01 -3.31206127e-01 -2.51804494e-03 -1.09207475e+02] [-2.65441802e-03 4.05985806e-05 -9.99996476e-01 4.80361818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.937628 meters 0.017118161422140375 Centerline is valid? [True, True] Translation: X:197.10, Y:-109.18, Z:0.48 [[ 2.61759878e-01 9.65132984e-01 -2.97876832e-04 1.97100729e+02] [ 9.65132272e-01 -2.61760046e-01 -1.17307276e-03 -1.09183324e+02] [-1.21014346e-03 1.95728377e-05 -9.99999268e-01 4.79000175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99762799999996 meters 0.01659519163852509 Centerline is valid? [True, True] Translation: X:197.11, Y:-109.16, Z:0.48 [[ 1.87488496e-01 9.82266538e-01 -7.15504198e-04 1.97113208e+02] [ 9.82257015e-01 -1.87489830e-01 -4.32672679e-03 -1.09160992e+02] [-4.38414871e-03 1.08402482e-04 -9.99990384e-01 4.82106175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.05762799999997 meters 0.019867440634019115 Centerline is valid? [True, True] Translation: X:197.12, Y:-109.14, Z:0.48 [[ 1.10545027e-01 9.93870926e-01 -6.15241455e-04 1.97117006e+02] [ 9.93844411e-01 -1.10546574e-01 -7.26231702e-03 -1.09139015e+02] [-7.28581858e-03 1.91358751e-04 -9.99973440e-01 4.84760676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.11762799999997 meters 0.0163742372084813 Centerline is valid? [True, True] Translation: X:197.13, Y:-109.12, Z:0.48 [[ 3.20550617e-02 9.99486103e-01 -5.42215237e-05 1.97134724e+02] [ 9.99442667e-01 -3.20541743e-02 -9.32122550e-03 -1.09115822e+02] [-9.31817338e-03 2.44601155e-04 -9.99956555e-01 4.84199821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.17762799999997 meters 0.015495969164470172 Centerline is valid? [True, True] Translation: X:197.15, Y:-109.09, Z:0.48 [[-4.88443623e-02 9.98806121e-01 7.48656943e-04 1.97148971e+02] [ 9.98753249e-01 4.88494820e-02 -1.02798427e-02 -1.09091012e+02] [-1.03041413e-02 2.45611195e-04 -9.99946881e-01 4.84546972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.237628 meters 0.014949319740865441 Centerline is valid? [True, True] Translation: X:197.16, Y:-109.07, Z:0.48 [[-1.33419451e-01 9.91058802e-01 1.30436893e-03 1.97158158e+02] [ 9.91021712e-01 1.33425744e-01 -8.57540159e-03 -1.09066438e+02] [-8.67276362e-03 1.48532559e-04 -9.99962380e-01 4.83247675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.297628 meters 0.01181114384141891 Centerline is valid? [True, True] Translation: X:197.17, Y:-109.04, Z:0.48 [[-2.22288351e-01 9.74980387e-01 1.06534107e-03 1.97172005e+02] [ 9.74969607e-01 2.22290903e-01 -4.58469279e-03 -1.09037576e+02] [-4.70680118e-03 1.95513635e-05 -9.99988923e-01 4.78629399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.357628 meters 0.011470952091413893 Centerline is valid? [True, True] Translation: X:197.18, Y:-109.01, Z:0.48 [[-3.07201012e-01 9.51644341e-01 7.65877566e-04 1.97179523e+02] [ 9.51641229e-01 3.07201967e-01 -2.43377702e-03 -1.09008051e+02] [-2.55136922e-03 -1.88180954e-05 -9.99996745e-01 4.77565750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.417628 meters 0.01304846947464368 Centerline is valid? [True, True] Translation: X:197.18, Y:-108.98, Z:0.48 [[-3.91044738e-01 9.20371577e-01 4.17365395e-04 1.97183552e+02] [ 9.20370977e-01 3.91044960e-01 -1.05056834e-03 -1.08977906e+02] [-1.13012188e-03 -2.66882257e-05 -9.99999361e-01 4.76023641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.477628 meters 0.013863358845768071 Centerline is valid? [True, True] Translation: X:197.18, Y:-108.95, Z:0.48 [[-4.65129849e-01 8.85242236e-01 6.38589162e-04 1.97180921e+02] [ 8.85241291e-01 4.65130286e-01 -1.29345322e-03 -1.08949876e+02] [-1.44204658e-03 -3.63182051e-05 -9.99998960e-01 4.76402093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.537628 meters 0.013096936024581047 Centerline is valid? [True, True] Translation: X:197.17, Y:-108.93, Z:0.48 [[-5.29974775e-01 8.48011318e-01 1.88203146e-03 1.97170348e+02] [ 8.48005545e-01 5.29978113e-01 -3.12988270e-03 -1.08925028e+02] [-3.65161143e-03 -6.27857674e-05 -9.99993331e-01 4.79204781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.597628 meters 0.012193386676386182 Centerline is valid? [True, True] Translation: X:197.16, Y:-108.90, Z:0.48 [[-5.91271815e-01 8.06468990e-01 2.32574918e-03 1.97157792e+02] [ 8.06462412e-01 5.91276387e-01 -3.25770266e-03 -1.08901275e+02] [-4.00239675e-03 -5.05584734e-05 -9.99991989e-01 4.79612313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.657628 meters 0.011557047642762443 Centerline is valid? [True, True] Translation: X:197.14, Y:-108.88, Z:0.48 [[-6.47386261e-01 7.62154387e-01 3.42330455e-03 1.97141210e+02] [ 7.62143510e-01 6.47395312e-01 -4.07196130e-03 -1.08881114e+02] [-5.31969449e-03 -2.70824585e-05 -9.99985850e-01 4.80172307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.717628 meters 0.011603187347461057 Centerline is valid? [True, True] Translation: X:197.13, Y:-108.86, Z:0.48 [[-7.01916216e-01 7.12244911e-01 4.56208875e-03 1.97125469e+02] [ 7.12229854e-01 7.01931041e-01 -4.63121802e-03 -1.08862333e+02] [-6.50083317e-03 -1.47122288e-06 -9.99978869e-01 4.81381719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.777628 meters 0.011696462439985277 Centerline is valid? [True, True] Translation: X:197.11, Y:-108.84, Z:0.48 [[-7.53887231e-01 6.56990276e-01 4.22139694e-03 1.97109236e+02] [ 6.56980061e-01 7.53899049e-01 -3.66364709e-03 -1.08842267e+02] [-5.58948765e-03 1.13968605e-05 -9.99984379e-01 4.81095130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.837628 meters 0.011619165306605828 Centerline is valid? [True, True] Translation: X:197.13, Y:-108.83, Z:0.48 [[-7.98877015e-01 6.01488064e-01 2.76108207e-03 1.97130346e+02] [ 6.01484480e-01 7.98881787e-01 -2.07643771e-03 -1.08828807e+02] [-3.45473067e-03 1.92965512e-06 -9.99994032e-01 4.78411516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.897628 meters 0.011546219168703834 Centerline is valid? [True, True] Translation: X:197.15, Y:-108.81, Z:0.48 [[-8.40893299e-01 5.41182764e-01 4.43568998e-03 1.97151394e+02] [ 5.41175191e-01 8.40904998e-01 -2.86296178e-03 -1.08807791e+02] [-5.27937945e-03 -6.96000573e-06 -9.99986064e-01 4.81232669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.957628 meters 0.01173584056314973 Centerline is valid? [True, True] Translation: X:197.17, Y:-108.79, Z:0.48 [[-8.77692347e-01 4.79170727e-01 7.18042421e-03 1.97165246e+02] [ 4.79154537e-01 8.77721718e-01 -3.93906480e-03 -1.08785060e+02] [-8.18989882e-03 -1.67541887e-05 -9.99966462e-01 4.83412346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.017628 meters 0.012024289203034588 Centerline is valid? [True, True] Translation: X:197.18, Y:-108.76, Z:0.49 [[-9.09394629e-01 4.15774818e-01 1.15200104e-02 1.97182767e+02] [ 4.15741148e-01 9.09467592e-01 -5.29127647e-03 -1.08761849e+02] [-1.26770557e-02 -2.25160349e-05 -9.99919643e-01 4.85716534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.077628 meters 0.012206056093468894 Centerline is valid? [True, True] Translation: X:197.51, Y:-108.06, Z:-0.47 [[-8.78720410e-01 -4.77169927e-01 1.26214964e-02 1.97512690e+02] [ 4.77122683e-01 -8.78811041e-01 -6.71563193e-03 -1.08064520e+02] [ 1.42964080e-02 1.20839366e-04 9.99897794e-01 -4.74978470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.137628 meters 0.012356221477141953 Centerline is valid? [True, True] Translation: X:197.15, Y:-108.75, Z:0.48 [[-9.07949776e-01 4.18946228e-01 1.05480982e-02 1.97149066e+02] [ 4.18918733e-01 9.08011043e-01 -4.80011892e-03 -1.08745756e+02] [-1.15887814e-02 6.05290381e-05 -9.99932846e-01 4.83615229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.197628 meters 0.014143209945256308 Centerline is valid? [True, True] Translation: X:197.17, Y:-108.73, Z:0.48 [[-9.31311772e-01 3.64128018e-01 8.31687758e-03 1.97168195e+02] [ 3.64114874e-01 9.31348896e-01 -3.09727818e-03 -1.08731246e+02] [-8.87372052e-03 1.43767204e-04 -9.99960617e-01 4.79569453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.257628 meters 0.01507599242491197 Centerline is valid? [True, True] Translation: X:197.18, Y:-108.71, Z:0.48 [[-9.53643984e-01 3.00843421e-01 7.50923090e-03 1.97182483e+02] [ 3.00835375e-01 9.53673535e-01 -2.20582141e-03 -1.08709418e+02] [-7.82496163e-03 1.55473978e-04 -9.99969372e-01 4.79125064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.317628 meters 0.01651859098451012 Centerline is valid? [True, True] Translation: X:197.19, Y:-108.68, Z:0.48 [[-9.70618075e-01 2.40571997e-01 5.06624438e-03 1.97193172e+02] [ 2.40569487e-01 9.70631286e-01 -1.10825543e-03 -1.08684835e+02] [-5.18407052e-03 1.43091057e-04 -9.99986552e-01 4.77963662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.377628 meters 0.01660832348573128 Centerline is valid? [True, True] Translation: X:197.37, Y:-107.92, Z:-0.47 [[-9.68536736e-01 -2.48832997e-01 4.32796649e-03 1.97367472e+02] [ 2.48829745e-01 -9.68546391e-01 -1.28281073e-03 -1.07916906e+02] [ 4.51104196e-03 -1.65522522e-04 9.99989811e-01 -4.66280364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.437628 meters 0.01531205857064082 Centerline is valid? [True, True] Translation: X:197.14, Y:-108.67, Z:0.48 [[-9.72872520e-01 2.31300440e-01 4.37792643e-03 1.97143385e+02] [ 2.31298546e-01 9.72882366e-01 -9.41033880e-04 -1.08672215e+02] [-4.47686898e-03 9.71020153e-05 -9.99989974e-01 4.76831285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49762799999996 meters 0.012601705993733649 Centerline is valid? [True, True] Translation: X:197.14, Y:-108.63, Z:0.48 [[-9.88757092e-01 1.49433941e-01 5.37685766e-03 1.97144831e+02] [ 1.49432019e-01 9.88771710e-01 -7.59705092e-04 -1.08634060e+02] [-5.43001047e-03 5.23108971e-05 -9.99985256e-01 4.79391154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.55762799999997 meters 0.011812030136844148 Centerline is valid? [True, True] Translation: X:197.14, Y:-108.60, Z:0.48 [[-9.97597489e-01 6.86693744e-02 9.15247246e-03 1.97142531e+02] [ 6.86664876e-02 9.97639472e-01 -6.29651428e-04 -1.08600432e+02] [-9.17410556e-03 3.29453057e-07 -9.99957917e-01 4.83687547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.61762799999997 meters 0.01182699866852826 Centerline is valid? [True, True] Translation: X:197.19, Y:-107.85, Z:-0.47 [[-9.90283661e-01 -1.38887647e-01 6.96359316e-03 1.97193102e+02] [ 1.38883182e-01 -9.90308134e-01 -1.12304659e-03 -1.07851986e+02] [ 7.05208024e-03 -1.45008710e-04 9.99975123e-01 -4.68299077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.67762799999997 meters 0.011746330390847985 Centerline is valid? [True, True] Translation: X:197.08, Y:-108.60, Z:0.48 [[-9.98268431e-01 5.86327918e-02 4.72601529e-03 1.97080682e+02] [ 5.86319845e-02 9.98279618e-01 -3.09318012e-04 -1.08596939e+02] [-4.73602091e-03 -3.16867519e-05 -9.99988784e-01 4.78926013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.737628 meters 0.011634696785914845 Centerline is valid? [True, True] Translation: X:197.14, Y:-107.84, Z:-0.46 [[-9.91383337e-01 -1.30976556e-01 2.05438878e-03 1.97138304e+02] [ 1.30975982e-01 -9.91385456e-01 -4.12063636e-04 -1.07842721e+02] [ 2.09066184e-03 -1.39437434e-04 9.99997805e-01 -4.64946169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.797628 meters 0.012435708828593942 Centerline is valid? [True, True] Translation: X:197.02, Y:-108.61, Z:0.48 [[-9.97633269e-01 6.87376513e-02 1.73073858e-03 1.97022971e+02] [ 6.87375635e-02 9.97634770e-01 -1.10237602e-04 -1.08612983e+02] [-1.73422246e-03 8.99005311e-06 -9.99998496e-01 4.76239783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.857628 meters 0.013230648286747965 Centerline is valid? [True, True] Translation: X:197.08, Y:-107.82, Z:-0.47 [[-9.93736262e-01 -1.11714610e-01 2.84381552e-03 1.97083245e+02] [ 1.11714289e-01 -9.93740330e-01 -2.72076209e-04 -1.07823809e+02] [ 2.85640906e-03 4.73228339e-05 9.99995919e-01 -4.66537564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.917628 meters 0.013658563128489842 Centerline is valid? [True, True] Translation: X:196.97, Y:-108.61, Z:0.48 [[-9.97426934e-01 7.14724110e-02 5.58618682e-03 1.96968072e+02] [ 7.14717806e-02 9.97442573e-01 -3.12661961e-04 -1.08613302e+02] [-5.59424726e-03 8.73972577e-05 -9.99984348e-01 4.79909384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.977628 meters 0.014072265010974671 Centerline is valid? [True, True] Translation: X:196.97, Y:-108.59, Z:0.48 [[-9.99963997e-01 8.46298073e-04 8.44330012e-03 1.96967073e+02] [ 8.47448772e-04 9.99999632e-01 1.32708750e-04 -1.08585038e+02] [-8.44318470e-03 1.39859236e-04 -9.99964346e-01 4.82440232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.037628 meters 0.01676886999078306 Centerline is valid? [True, True] Translation: X:196.96, Y:-108.56, Z:0.49 [[-9.97484916e-01 -6.94364945e-02 1.42272915e-02 1.96960177e+02] [-6.94257879e-02 9.97586341e-01 1.24565298e-03 -1.08558131e+02] [-1.42794454e-02 2.54779136e-04 -9.99898011e-01 4.86470612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.097628 meters 0.014512457364539804 Centerline is valid? [True, True] Translation: X:196.90, Y:-107.77, Z:-0.47 [[-9.99122879e-01 3.95688313e-02 1.37032683e-02 1.96897222e+02] [-3.95689798e-02 -9.99216807e-01 2.60396845e-04 -1.07771409e+02] [ 1.37028396e-02 -2.82055899e-04 9.99906072e-01 -4.72740372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.157628 meters 0.014196739395182553 Centerline is valid? [True, True] Translation: X:196.86, Y:-108.56, Z:0.48 [[-9.97080050e-01 -7.53446634e-02 1.24320290e-02 1.96863898e+02] [-7.53359828e-02 9.97157526e-01 1.16574515e-03 -1.08560059e+02] [-1.24845239e-02 2.25762106e-04 -9.99922040e-01 4.83871969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.217628 meters 0.013194140743441529 Centerline is valid? [True, True] Translation: X:196.86, Y:-108.53, Z:0.48 [[-9.88634825e-01 -1.49922526e-01 1.11542787e-02 1.96856022e+02] [-1.49911150e-01 9.88697735e-01 1.85389235e-03 -1.08527877e+02] [-1.13061503e-02 1.60671791e-04 -9.99936071e-01 4.83198750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.277628 meters 0.012251941523185117 Centerline is valid? [True, True] Translation: X:196.84, Y:-108.50, Z:0.48 [[-9.74277810e-01 -2.25176605e-01 8.84565744e-03 1.96838892e+02] [-2.25166578e-01 9.74317962e-01 2.12646677e-03 -1.08499333e+02] [-9.09731349e-03 8.00229639e-05 -9.99958615e-01 4.81625252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.337628 meters 0.011710211480799494 Centerline is valid? [True, True] Translation: X:196.81, Y:-108.48, Z:0.48 [[-9.54408446e-01 -2.98440918e-01 6.12668475e-03 1.96810889e+02] [-2.98434582e-01 9.54428110e-01 1.94491852e-03 -1.08476609e+02] [-6.42792342e-03 2.78320590e-05 -9.99979340e-01 4.80457744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.397628 meters 0.011275465789051883 Centerline is valid? [True, True] Translation: X:196.77, Y:-108.46, Z:0.48 [[-9.27880770e-01 -3.72831896e-01 5.80117100e-03 1.96769875e+02] [-3.72824699e-01 9.27898905e-01 2.31653230e-03 -1.08460506e+02] [-6.24657735e-03 -1.33540635e-05 -9.99980490e-01 4.80071655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.457628 meters 0.011784615161129273 Centerline is valid? [True, True] Translation: X:196.71, Y:-108.46, Z:0.48 [[-8.95163624e-01 -4.45640383e-01 9.31323235e-03 1.96706072e+02] [-4.45617205e-01 8.95212066e-01 4.54578451e-03 -1.08460273e+02] [-1.03631031e-02 -8.09156269e-05 -9.99946298e-01 4.82791885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.517628 meters 0.012299293843591241 Centerline is valid? [True, True] Translation: X:196.64, Y:-108.47, Z:0.49 [[-8.58135385e-01 -5.13286265e-01 1.18689032e-02 1.96636437e+02] [-5.13239524e-01 8.58217448e-01 6.92840606e-03 -1.08467747e+02] [-1.37423555e-02 -1.46079838e-04 -9.99905559e-01 4.85401023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.577628 meters 0.01582098737238086 Centerline is valid? [True, True] Translation: X:196.56, Y:-108.49, Z:0.49 [[-8.18472681e-01 -5.74378722e-01 1.38402871e-02 1.96562968e+02] [-5.74299608e-01 8.18589679e-01 9.53401170e-03 -1.08488122e+02] [-1.68056496e-02 -1.45143329e-04 -9.99858765e-01 4.89450460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.637628 meters 0.011619155339725932 Centerline is valid? [True, True] Translation: X:196.49, Y:-108.52, Z:0.48 [[-7.77951803e-01 -6.28227133e-01 1.10300609e-02 1.96490985e+02] [-6.28164203e-01 7.78029993e-01 8.89182125e-03 -1.08520090e+02] [-1.41678016e-02 -1.12810656e-05 -9.99899632e-01 4.84027420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.697628 meters 0.011624243061612602 Centerline is valid? [True, True] Translation: X:196.41, Y:-108.56, Z:0.48 [[-7.32764104e-01 -6.80452143e-01 6.45365831e-03 1.96410450e+02] [-6.80425177e-01 7.32792521e-01 6.05804880e-03 -1.08559340e+02] [-8.85140483e-03 4.78891024e-05 -9.99960824e-01 4.78349884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.757628 meters 0.012581337690884714 Centerline is valid? [True, True] Translation: X:196.33, Y:-108.61, Z:0.48 [[-6.84486549e-01 -7.29017435e-01 3.42700595e-03 1.96326822e+02] [-7.29007844e-01 6.84495125e-01 3.74004296e-03 -1.08607257e+02] [-5.07232539e-03 6.16948754e-05 -9.99987134e-01 4.75985532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.817628 meters 0.013463405824167909 Centerline is valid? [True, True] Translation: X:196.25, Y:-108.66, Z:0.48 [[-6.30801982e-01 -7.75939209e-01 2.68367437e-03 1.96245645e+02] [-7.75931690e-01 6.30807687e-01 3.41692225e-03 -1.08664366e+02] [-4.34420637e-03 7.30533431e-05 -9.99990561e-01 4.76152009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.877628 meters 0.015475817208781446 Centerline is valid? [True, True] Translation: X:196.17, Y:-108.73, Z:0.48 [[-5.75001825e-01 -8.18142909e-01 3.88352923e-03 1.96165211e+02] [-8.18122236e-01 5.75014914e-01 5.81848813e-03 -1.08732251e+02] [-6.99344203e-03 1.68439677e-04 -9.99975531e-01 4.78551372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.937628 meters 0.015509917188894549 Centerline is valid? [True, True] Translation: X:196.08, Y:-108.81, Z:0.48 [[-5.13309769e-01 -8.58191861e-01 4.45079977e-03 1.96082399e+02] [-8.58155283e-01 5.13329004e-01 7.92743428e-03 -1.08808562e+02] [-9.08798419e-03 2.49752127e-04 -9.99958672e-01 4.80175595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99762799999996 meters 0.018502111818548137 Centerline is valid? [True, True] Translation: X:196.01, Y:-108.90, Z:0.48 [[-4.46892931e-01 -8.94578287e-01 4.04922303e-03 1.96007576e+02] [-8.94535835e-01 4.46911191e-01 8.71932736e-03 -1.08896069e+02] [-9.60976402e-03 2.74430651e-04 -9.99953787e-01 4.81649046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.05762799999997 meters 0.014941759770309723 Centerline is valid? [True, True] Translation: X:195.93, Y:-108.99, Z:0.48 [[-3.73984199e-01 -9.27431695e-01 2.50393905e-03 1.95934038e+02] [-9.27407589e-01 3.73992538e-01 6.68917197e-03 -1.08988635e+02] [-7.14020461e-03 1.79472544e-04 -9.99974492e-01 4.76780290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.11762799999997 meters 0.01414359392398329 Centerline is valid? [True, True] Translation: X:195.87, Y:-109.09, Z:0.48 [[-2.95684304e-01 -9.55284771e-01 1.34138225e-03 1.95865179e+02] [-9.55273545e-01 2.95687333e-01 4.63199247e-03 -1.09088432e+02] [-4.82150161e-03 8.82204869e-05 -9.99988373e-01 4.76320302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.17762799999997 meters 0.012410293774132723 Centerline is valid? [True, True] Translation: X:195.80, Y:-109.20, Z:0.48 [[-2.15071725e-01 -9.76598054e-01 6.28164640e-04 1.95803169e+02] [-9.76593426e-01 2.15072640e-01 3.00671246e-03 -1.09196659e+02] [-3.07145057e-03 3.31973787e-05 -9.99995283e-01 4.75818347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.237628 meters 0.014370085923693453 Centerline is valid? [True, True] Translation: X:195.75, Y:-109.31, Z:0.48 [[-1.33204977e-01 -9.91088495e-01 1.71883337e-04 1.95752538e+02] [-9.91087659e-01 1.33205088e-01 1.28729574e-03 -1.09310339e+02] [-1.29871973e-03 1.12274531e-06 -9.99999157e-01 4.76227701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.297628 meters 0.011110277431902361 Centerline is valid? [True, True] Translation: X:195.71, Y:-109.42, Z:0.47 [[-4.82762556e-02 -9.98834019e-01 -7.02887721e-05 1.95709117e+02] [-9.98832748e-01 4.82763063e-02 -1.59360727e-03 -1.09424199e+02] [ 1.59514244e-03 -6.72666468e-06 -9.99998728e-01 4.72902873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.357628 meters 0.011221529259531389 Centerline is valid? [True, True] Translation: X:195.68, Y:-109.55, Z:0.47 [[ 3.12204890e-02 -9.99512520e-01 6.00176545e-05 1.95678817e+02] [-9.99510781e-01 -3.12205467e-02 -1.86442896e-03 -1.09546288e+02] [ 1.86539388e-03 -1.77990869e-06 -9.99998260e-01 4.73717629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.417628 meters 0.011284356066234793 Centerline is valid? [True, True] Translation: X:195.66, Y:-109.66, Z:0.47 [[ 1.08365266e-01 -9.94111145e-01 3.06314555e-05 1.95661007e+02] [-9.94111122e-01 -1.08365270e-01 -2.10823077e-04 -1.09657895e+02] [ 2.12900957e-04 -7.60517167e-06 -9.99999977e-01 4.74823238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.477628 meters 0.011100890210899491 Centerline is valid? [True, True] Translation: X:195.65, Y:-109.78, Z:0.48 [[ 1.82267024e-01 -9.83248705e-01 -8.46223477e-04 1.95654131e+02] [-9.83237709e-01 -1.82268987e-01 4.65019611e-03 -1.09775385e+02] [-4.72653960e-03 -1.55385723e-05 -9.99988830e-01 4.80056084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.537628 meters 0.015060051927709308 Centerline is valid? [True, True] Translation: X:195.66, Y:-109.89, Z:0.49 [[ 2.54382796e-01 -9.67100699e-01 -2.37314173e-03 1.95656656e+02] [-9.67058860e-01 -2.54393865e-01 8.99572835e-03 -1.09894560e+02] [-9.30348787e-03 6.60920182e-06 -9.99956722e-01 4.87535653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.597628 meters 0.012247598893443349 Centerline is valid? [True, True] Translation: X:195.67, Y:-110.01, Z:0.49 [[ 3.21729252e-01 -9.46827456e-01 -2.83852259e-03 1.95674610e+02] [-9.46792353e-01 -3.21741767e-01 8.15323045e-03 -1.10008016e+02] [-8.63297372e-03 6.43587514e-05 -9.99962733e-01 4.87409608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.657628 meters 0.01476962946406316 Centerline is valid? [True, True] Translation: X:195.70, Y:-110.12, Z:0.49 [[ 3.86445212e-01 -9.22307240e-01 -3.07471312e-03 1.95702306e+02] [-9.22280427e-01 -3.86457426e-01 7.03361986e-03 -1.10119638e+02] [-7.67540423e-03 1.17639010e-04 -9.99970537e-01 4.86010698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.717628 meters 0.013636558049196341 Centerline is valid? [True, True] Translation: X:195.73, Y:-110.23, Z:0.48 [[ 4.54969733e-01 -8.90502656e-01 -2.74985677e-03 1.95730517e+02] [-8.90487656e-01 -4.54978033e-01 5.16961009e-03 -1.10230345e+02] [-5.85467594e-03 9.66973888e-05 -9.99982857e-01 4.82642085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.777628 meters 0.015530001110940451 Centerline is valid? [True, True] Translation: X:195.76, Y:-110.35, Z:0.49 [[ 5.25076766e-01 -8.51050602e-01 -2.69481111e-03 1.95762573e+02] [-8.51040016e-01 -5.25083677e-01 4.24531682e-03 -1.10346905e+02] [-5.02798076e-03 6.42748660e-05 -9.99987358e-01 4.85523835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.837628 meters 0.012469276760472166 Centerline is valid? [True, True] Translation: X:195.80, Y:-110.46, Z:0.49 [[ 5.94295846e-01 -8.04235702e-01 -4.16939801e-03 1.95800957e+02] [-8.04216440e-01 -5.94310469e-01 5.56625162e-03 -1.10459293e+02] [-6.95449517e-03 4.50982098e-05 -9.99975816e-01 4.86386238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.897628 meters 0.014625063817559706 Centerline is valid? [True, True] Translation: X:195.85, Y:-110.57, Z:0.49 [[ 6.58360691e-01 -7.52671013e-01 -6.89543633e-03 1.95848180e+02] [-7.52629941e-01 -6.58396800e-01 7.86290870e-03 -1.10569288e+02] [-1.04581167e-02 1.30818356e-05 -9.99945312e-01 4.92223953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.957628 meters 0.011791663943156354 Centerline is valid? [True, True] Translation: X:195.90, Y:-110.67, Z:0.49 [[ 7.15060367e-01 -6.99010927e-01 -8.50854341e-03 1.95901153e+02] [-6.98961390e-01 -7.15110987e-01 8.32176165e-03 -1.10666802e+02] [-1.19015552e-02 -3.41861645e-06 -9.99929174e-01 4.91936227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.017628 meters 0.01158694045666248 Centerline is valid? [True, True] Translation: X:195.92, Y:-110.69, Z:0.49 [[ 7.66891264e-01 -6.41731140e-01 -7.67671462e-03 1.95921336e+02] [-6.41699066e-01 -7.66929686e-01 6.41600624e-03 -1.10690307e+02] [-1.00048513e-02 5.76146841e-06 -9.99949950e-01 4.88685038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.077628 meters 0.011490486038251629 Centerline is valid? [True, True] Translation: X:195.94, Y:-110.71, Z:0.48 [[ 8.15109552e-01 -5.79284879e-01 -5.04458226e-03 1.95943971e+02] [-5.79273757e-01 -8.15125162e-01 3.58953114e-03 -1.10711543e+02] [-6.19132704e-03 -3.66699972e-06 -9.99980834e-01 4.84222902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.137628 meters 0.011508565174246827 Centerline is valid? [True, True] Translation: X:195.97, Y:-110.73, Z:0.48 [[ 8.59734760e-01 -5.10739460e-01 -1.16014090e-03 1.95965347e+02] [-5.10738976e-01 -8.59735543e-01 7.03196804e-04 -1.10733457e+02] [-1.35656472e-03 -1.20335609e-05 -9.99999080e-01 4.80118439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.197628 meters 0.011612970109603342 Centerline is valid? [True, True] Translation: X:195.99, Y:-110.75, Z:0.48 [[ 8.97247538e-01 -4.41526481e-01 1.10556771e-03 1.95988412e+02] [-4.41526151e-01 -8.97248219e-01 -5.39452960e-04 -1.10753877e+02] [ 1.23015143e-03 -4.11421686e-06 -9.99999243e-01 4.78050702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.257628 meters 0.011588858451915011 Centerline is valid? [True, True] Translation: X:196.01, Y:-110.77, Z:0.48 [[ 9.27715563e-01 -3.73287593e-01 4.55106261e-04 1.96013132e+02] [-3.73287552e-01 -9.27715675e-01 -1.74220057e-04 -1.10770817e+02] [ 4.87243398e-04 -8.25884352e-06 -9.99999881e-01 4.79699973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.317628 meters 0.012039768123170666 Centerline is valid? [True, True] Translation: X:196.04, Y:-110.79, Z:0.48 [[ 9.51594593e-01 -3.07356032e-01 1.69065647e-05 1.96039536e+02] [-3.07356032e-01 -9.51594593e-01 3.24294488e-06 -1.10785965e+02] [ 1.50914569e-05 -8.28230347e-06 -1.00000000e+00 4.79728808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.377628 meters 0.013201144126476735 Centerline is valid? [True, True] Translation: X:196.07, Y:-110.80, Z:0.48 [[ 9.70964215e-01 -2.39222905e-01 9.45957926e-04 1.96065681e+02] [-2.39222815e-01 -9.70964676e-01 -2.09022381e-04 -1.10800806e+02] [ 9.68494671e-04 -2.33414657e-05 -9.99999531e-01 4.79449662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.437628 meters 0.016924741307270345 Centerline is valid? [True, True] Translation: X:196.09, Y:-110.81, Z:0.48 [[ 9.86051337e-01 -1.66439660e-01 -7.74942934e-04 1.96089275e+02] [-1.66439614e-01 -9.86051641e-01 1.23358634e-04 -1.10811854e+02] [-7.84665521e-04 7.34325643e-06 -9.99999692e-01 4.83638991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49762799999996 meters 0.015780788300859785 Centerline is valid? [True, True] Translation: X:196.11, Y:-110.82, Z:0.49 [[ 9.96273738e-01 -8.62157504e-02 -2.34169429e-03 1.96114241e+02] [-8.62155883e-02 -9.96276489e-01 1.70248985e-04 -1.10823844e+02] [-2.34765311e-03 3.22759576e-05 -9.99997244e-01 4.85537856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.55762799999997 meters 0.012750956043232047 Centerline is valid? [True, True] Translation: X:196.14, Y:-110.84, Z:0.48 [[ 9.99991627e-01 -3.36824009e-03 -2.32389239e-03 1.96140233e+02] [-3.36828017e-03 -9.99994327e-01 -1.33352420e-05 -1.10836802e+02] [-2.32383429e-03 2.11626510e-05 -9.99997300e-01 4.84579532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.61762799999997 meters 0.011860511063643843 Centerline is valid? [True, True] Translation: X:196.17, Y:-110.85, Z:0.48 [[ 9.96615493e-01 8.21941157e-02 -1.29839816e-03 1.96167063e+02] [ 8.21940474e-02 -9.96616339e-01 -1.05949676e-04 -1.10846955e+02] [-1.30271326e-03 -1.12951157e-06 -9.99999151e-01 4.82687653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.67762799999997 meters 0.011723645445401474 Centerline is valid? [True, True] Translation: X:196.19, Y:-110.86, Z:0.48 [[ 9.85992114e-01 1.66791607e-01 -3.33003521e-04 1.96194992e+02] [ 1.66791601e-01 -9.85992170e-01 -4.76590212e-05 -1.10856219e+02] [-3.36287989e-04 -8.55077118e-06 -9.99999943e-01 4.81739830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.737628 meters 0.011933220497777241 Centerline is valid? [True, True] Translation: X:196.22, Y:-110.86, Z:0.48 [[ 9.69301461e-01 2.45872495e-01 -1.18046092e-03 1.96223890e+02] [ 2.45872329e-01 -9.69302180e-01 -2.86135821e-04 -1.10859295e+02] [-1.21457627e-03 -1.28908058e-05 -9.99999262e-01 4.82442770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.797628 meters 0.011987295159506778 Centerline is valid? [True, True] Translation: X:196.25, Y:-110.86, Z:0.48 [[ 9.47046002e-01 3.21078212e-01 -3.55709221e-03 1.96251425e+02] [ 3.21076039e-01 -9.47052681e-01 -1.18137363e-03 -1.10857823e+02] [-3.74806705e-03 -2.32819059e-05 -9.99992976e-01 4.84200491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.857628 meters 0.012001470056017618 Centerline is valid? [True, True] Translation: X:196.28, Y:-110.85, Z:0.49 [[ 9.19435445e-01 3.93190453e-01 -6.30317344e-03 1.96278365e+02] [ 3.93181424e-01 -9.19457050e-01 -2.66478422e-03 -1.10852661e+02] [-6.84326497e-03 -2.81936423e-05 -9.99976584e-01 4.85881860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.917628 meters 0.01525698606674986 Centerline is valid? [True, True] Translation: X:196.31, Y:-110.85, Z:0.49 [[ 8.86411694e-01 4.62824095e-01 -8.25626564e-03 1.96307021e+02] [ 4.62804265e-01 -8.86450143e-01 -4.28429916e-03 -1.10849674e+02] [-9.30164475e-03 -2.33820770e-05 -9.99956738e-01 4.90475258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.977628 meters 0.012024763397768314 Centerline is valid? [True, True] Translation: X:196.34, Y:-110.84, Z:0.49 [[ 8.48119547e-01 5.29752157e-01 -7.47570591e-03 1.96335000e+02] [ 5.29731698e-01 -8.48152493e-01 -4.65578109e-03 -1.10843831e+02] [-8.80694868e-03 -1.14594373e-05 -9.99961218e-01 4.87467061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.037628 meters 0.012019762895915224 Centerline is valid? [True, True] Translation: X:196.36, Y:-110.84, Z:0.49 [[ 8.04780198e-01 5.93530295e-01 -7.11492250e-03 1.96361547e+02] [ 5.93507106e-01 -8.04811648e-01 -5.24661434e-03 -1.10835602e+02] [-8.84019706e-03 -3.85739945e-07 -9.99960925e-01 4.86468016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.097628 meters 0.01260250460076614 Centerline is valid? [True, True] Translation: X:196.38, Y:-110.82, Z:0.49 [[ 7.60993886e-01 6.48737758e-01 -5.25604649e-03 1.96384303e+02] [ 6.48721804e-01 -7.61012035e-01 -4.55004915e-03 -1.10821904e+02] [-6.95170332e-03 5.28476245e-05 -9.99975835e-01 4.85036051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.157628 meters 0.01770437897301523 Centerline is valid? [True, True] Translation: X:196.40, Y:-110.80, Z:0.49 [[ 7.17530177e-01 6.96510549e-01 -4.84783079e-03 1.96401476e+02] [ 6.96493250e-01 -7.17546538e-01 -4.91113504e-03 -1.10802931e+02] [-6.89920157e-03 1.47406171e-04 -9.99976189e-01 4.86994946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.217628 meters 0.017544143780130545 Centerline is valid? [True, True] Translation: X:196.42, Y:-110.79, Z:0.48 [[ 6.66133010e-01 7.45822432e-01 -3.96402411e-03 1.96421442e+02] [ 7.45807641e-01 -6.66144782e-01 -4.70023963e-03 -1.10787134e+02] [-6.14615812e-03 1.74585307e-04 -9.99981097e-01 4.83883087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.277628 meters 0.019365994367657176 Centerline is valid? [True, True] Translation: X:196.45, Y:-110.78, Z:0.49 [[ 6.06397013e-01 7.95148495e-01 -4.64042616e-03 1.96448155e+02] [ 7.95122182e-01 -6.06414723e-01 -6.47295045e-03 -1.10775703e+02] [-7.96097955e-03 2.35472050e-04 -9.99968283e-01 4.87243532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.337628 meters 0.015766082170185578 Centerline is valid? [True, True] Translation: X:196.48, Y:-110.76, Z:0.49 [[ 5.37888822e-01 8.43005805e-01 -4.10226620e-03 1.96478135e+02] [ 8.42978498e-01 -5.37904430e-01 -6.78798622e-03 -1.10764936e+02] [-7.92893894e-03 1.93059713e-04 -9.99968547e-01 4.85038855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.397628 meters 0.018309237530059357 Centerline is valid? [True, True] Translation: X:196.50, Y:-110.75, Z:0.49 [[ 4.67038950e-01 8.84228800e-01 -3.74820639e-03 1.96499899e+02] [ 8.84197280e-01 -4.67053958e-01 -7.46791493e-03 -1.10748601e+02] [-8.35396009e-03 1.73653252e-04 -9.99965090e-01 4.88040002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.457628 meters 0.013986675948143073 Centerline is valid? [True, True] Translation: X:196.53, Y:-110.73, Z:0.48 [[ 3.91683940e-01 9.20096621e-01 -2.42876309e-03 1.96528169e+02] [ 9.20077332e-01 -3.91691457e-01 -5.95863307e-03 -1.10732885e+02] [-6.43384391e-03 9.92510132e-05 -9.99979298e-01 4.84699621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.517628 meters 0.013536325086778862 Centerline is valid? [True, True] Translation: X:196.55, Y:-110.71, Z:0.49 [[ 3.14607323e-01 9.49220116e-01 -1.84466008e-03 1.96548844e+02] [ 9.49202497e-01 -3.14612723e-01 -5.78390920e-03 -1.10713089e+02] [-6.07055649e-03 6.87042388e-05 -9.99981572e-01 4.85402057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.577628 meters 0.01324402597266426 Centerline is valid? [True, True] Translation: X:196.56, Y:-110.69, Z:0.49 [[ 2.37051439e-01 9.71495545e-01 -1.73815523e-03 1.96563001e+02] [ 9.71467198e-01 -2.37057801e-01 -7.42169876e-03 -1.10689264e+02] [-7.62219053e-03 7.07635833e-05 -9.99970948e-01 4.85536768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.637628 meters 0.016735786571041748 Centerline is valid? [True, True] Translation: X:196.57, Y:-110.66, Z:0.49 [[ 1.60294459e-01 9.87068424e-01 -1.27010928e-03 1.96572266e+02] [ 9.87033374e-01 -1.60299471e-01 -8.31859420e-03 -1.10663938e+02] [-8.41461951e-03 7.97843063e-05 -9.99964593e-01 4.89908751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.697628 meters 0.013248230365558793 Centerline is valid? [True, True] Translation: X:196.58, Y:-110.64, Z:0.49 [[ 8.00216160e-02 9.96792910e-01 -6.60553781e-04 1.96576716e+02] [ 9.96752022e-01 -8.00243166e-02 -9.02861682e-03 -1.10639343e+02] [-9.05252159e-03 6.40761912e-05 -9.99959023e-01 4.87434639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.757628 meters 0.013622363144752061 Centerline is valid? [True, True] Translation: X:196.58, Y:-110.61, Z:0.49 [[ 1.22409338e-03 9.99999250e-01 4.40097525e-05 1.96578941e+02] [ 9.99964648e-01 -1.22368491e-03 -8.31901168e-03 -1.10613460e+02] [-8.31895158e-03 5.41914438e-05 -9.99965395e-01 4.87101918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.817628 meters 0.012858109241818223 Centerline is valid? [True, True] Translation: X:196.58, Y:-110.59, Z:0.49 [[-7.88588119e-02 9.96885475e-01 7.98612349e-04 1.96581704e+02] [ 9.96840192e-01 7.88628417e-02 -9.50181699e-03 -1.10587439e+02] [-9.53520418e-03 4.67868886e-05 -9.99954538e-01 4.85518815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.877628 meters 0.012839726152539283 Centerline is valid? [True, True] Translation: X:196.58, Y:-110.56, Z:0.49 [[-1.57862909e-01 9.87459784e-01 1.57416870e-03 1.96580186e+02] [ 9.87412975e-01 1.57870753e-01 -9.61463942e-03 -1.10563063e+02] [-9.74258496e-03 3.65596542e-05 -9.99952539e-01 4.85875933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.937628 meters 0.012842770004936978 Centerline is valid? [True, True] Translation: X:196.58, Y:-110.54, Z:0.48 [[-2.34031369e-01 9.72226992e-01 1.99834011e-03 1.96575741e+02] [ 9.72192870e-01 2.34039898e-01 -8.14556409e-03 -1.10538352e+02] [-8.38702859e-03 3.64544947e-05 -9.99964828e-01 4.83842593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99762799999996 meters 0.012708755883944467 Centerline is valid? [True, True] Translation: X:196.58, Y:-110.51, Z:0.48 [[-3.10120865e-01 9.50695280e-01 1.88002167e-03 1.96576351e+02] [ 9.50678200e-01 3.10126562e-01 -5.69872211e-03 -1.10512892e+02] [-6.00079287e-03 2.00029906e-05 -9.99981995e-01 4.82042466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.05762799999997 meters 0.012828986903454189 Centerline is valid? [True, True] Translation: X:196.58, Y:-110.49, Z:0.48 [[-3.81620961e-01 9.24315844e-01 2.37972734e-03 1.96575909e+02] [ 9.24298426e-01 3.81628379e-01 -5.67445167e-03 -1.10486790e+02] [-6.15315707e-03 3.40885300e-05 -9.99981069e-01 4.82322817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.11762799999997 meters 0.01339759431528959 Centerline is valid? [True, True] Translation: X:196.57, Y:-110.46, Z:0.48 [[-4.49287772e-01 8.93381874e-01 3.05379489e-03 1.96571070e+02] [ 8.93362200e-01 4.49298146e-01 -5.92926825e-03 -1.10462491e+02] [-6.66916516e-03 6.41971948e-05 -9.99977759e-01 4.82670247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.17762799999997 meters 0.01430081933955065 Centerline is valid? [True, True] Translation: X:196.56, Y:-110.44, Z:0.48 [[-5.14623555e-01 8.57406256e-01 4.13611866e-03 1.96562703e+02] [ 8.57380218e-01 5.14640165e-01 -6.68301218e-03 -1.10439818e+02] [-7.85866925e-03 1.06990825e-04 -9.99969114e-01 4.83616878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.237628 meters 0.0151228996538266 Centerline is valid? [True, True] Translation: X:196.55, Y:-110.42, Z:0.49 [[-5.78191314e-01 8.15877559e-01 6.21388694e-03 1.96552048e+02] [ 8.15833594e-01 5.78224678e-01 -8.47162055e-03 -1.10417077e+02] [-1.05048279e-02 1.71280295e-04 -9.99944808e-01 4.85805340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.297628 meters 0.015460087179442725 Centerline is valid? [True, True] Translation: X:196.54, Y:-110.39, Z:0.49 [[-6.39546288e-01 7.68711123e-01 7.98468317e-03 1.96542008e+02] [ 7.68655337e-01 6.39596095e-01 -9.26329082e-03 -1.10393659e+02] [-1.22277669e-02 2.13166069e-04 -9.99925215e-01 4.87649745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.357628 meters 0.014122604696589271 Centerline is valid? [True, True] Translation: X:196.53, Y:-110.37, Z:0.49 [[-7.01069480e-01 7.13042927e-01 8.44803771e-03 1.96532537e+02] [ 7.12993773e-01 7.01120361e-01 -8.37369819e-03 -1.10367259e+02] [-1.18938975e-02 1.52854051e-04 -9.99929253e-01 4.87281283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.417628 meters 0.012859032360160607 Centerline is valid? [True, True] Translation: X:197.07, Y:-109.83, Z:-0.47 [[-6.66126145e-01 -7.45808650e-01 6.73919070e-03 1.97070320e+02] [ 7.45766927e-01 -6.66160195e-01 -7.89213723e-03 -1.09828182e+02] [ 1.03754048e-02 -2.31293415e-04 9.99946147e-01 -4.73882189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.477628 meters 0.012450364241481366 Centerline is valid? [True, True] Translation: X:197.03, Y:-109.79, Z:-0.47 [[-6.61988023e-01 -7.49502511e-01 4.22407453e-03 1.97031265e+02] [ 7.49487247e-01 -6.62001500e-01 -4.78338567e-03 -1.09786385e+02] [ 6.38150325e-03 -6.54031403e-07 9.99979638e-01 -4.71147097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.537628 meters 0.012511114424655138 Centerline is valid? [True, True] Translation: X:196.99, Y:-109.74, Z:-0.47 [[-6.59904397e-01 -7.51342777e-01 3.19662653e-03 1.96993828e+02] [ 7.51334068e-01 -6.59912139e-01 -3.61754664e-03 -1.09742844e+02] [ 4.82751019e-03 1.44994814e-05 9.99988347e-01 -4.69164988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.597628 meters 0.012810111176274286 Centerline is valid? [True, True] Translation: X:196.96, Y:-109.70, Z:-0.47 [[-6.56845264e-01 -7.54017010e-01 3.55629669e-03 1.96957849e+02] [ 7.54006283e-01 -6.56854891e-01 -4.02210583e-03 -1.09697715e+02] [ 5.36870709e-03 3.95688786e-05 9.99985588e-01 -4.69741978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.657628 meters 0.012973304398990814 Centerline is valid? [True, True] Translation: X:196.92, Y:-109.65, Z:-0.47 [[-6.56656319e-01 -7.54172821e-01 5.08286913e-03 1.96922504e+02] [ 7.54150940e-01 -6.56675988e-01 -5.74516622e-03 -1.09652565e+02] [ 7.67064632e-03 6.06508379e-05 9.99970578e-01 -4.71325461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.717628 meters 0.012941443047327137 Centerline is valid? [True, True] Translation: X:196.88, Y:-109.61, Z:-0.47 [[-6.56630348e-01 -7.54189420e-01 5.90799665e-03 1.96881908e+02] [ 7.54159897e-01 -6.56656922e-01 -6.67356869e-03 -1.09612329e+02] [ 8.91266180e-03 7.35064159e-05 9.99960279e-01 -4.72524146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.777628 meters 0.012704051361130484 Centerline is valid? [True, True] Translation: X:196.84, Y:-109.57, Z:-0.47 [[-6.58809620e-01 -7.52291457e-01 5.23909980e-03 1.96840501e+02] [ 7.52268210e-01 -6.58830450e-01 -5.91422591e-03 -1.09572424e+02] [ 7.90090010e-03 4.48593042e-05 9.99968786e-01 -4.73075327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.837628 meters 0.012429895451434384 Centerline is valid? [True, True] Translation: X:196.81, Y:-109.53, Z:-0.47 [[-6.62330698e-01 -7.49205031e-01 3.14141168e-03 1.96805385e+02] [ 7.49196648e-01 -6.62338147e-01 -3.54416314e-03 -1.09526316e+02] [ 4.73598165e-03 6.12705330e-06 9.99988785e-01 -4.69661983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.897628 meters 0.013984329087678497 Centerline is valid? [True, True] Translation: X:196.77, Y:-109.48, Z:-0.47 [[-6.66181710e-01 -7.45784404e-01 2.74801329e-03 1.96771946e+02] [ 7.45777966e-01 -6.66187378e-01 -3.09878526e-03 -1.09480554e+02] [ 4.14171749e-03 -1.49463015e-05 9.99991423e-01 -4.71223754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.957628 meters 0.013161701232890583 Centerline is valid? [True, True] Translation: X:196.74, Y:-109.43, Z:-0.47 [[-6.69414231e-01 -7.42882011e-01 3.30241434e-03 1.96736377e+02] [ 7.42872688e-01 -6.69422376e-01 -3.72193967e-03 -1.09434248e+02] [ 4.97567208e-03 -3.82459644e-05 9.99987621e-01 -4.71595120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.017628 meters 0.013434369286326782 Centerline is valid? [True, True] Translation: X:196.70, Y:-109.39, Z:-0.47 [[-6.71408552e-01 -7.41074790e-01 4.32572027e-03 1.96697751e+02] [ 7.41058775e-01 -6.71422483e-01 -4.87252283e-03 -1.09390947e+02] [ 6.51528968e-03 -6.58405287e-05 9.99978773e-01 -4.74309829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.077628 meters 0.013365190992824346 Centerline is valid? [True, True] Translation: X:196.66, Y:-109.35, Z:-0.47 [[-6.71539679e-01 -7.40948846e-01 5.40990422e-03 1.96658963e+02] [ 7.40923824e-01 -6.71561464e-01 -6.08990877e-03 -1.09349150e+02] [ 8.14539408e-03 -8.12884582e-05 9.99966822e-01 -4.74791706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.137628 meters 0.015663333439868782 Centerline is valid? [True, True] Translation: X:196.62, Y:-109.31, Z:-0.48 [[-6.70174256e-01 -7.42178139e-01 6.17065010e-03 1.96619008e+02] [ 7.42145677e-01 -6.70202659e-01 -6.94186034e-03 -1.09307999e+02] [ 9.28768310e-03 -7.27347917e-05 9.99956866e-01 -4.76472753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.197628 meters 0.012737619143668569 Centerline is valid? [True, True] Translation: X:196.58, Y:-109.27, Z:-0.47 [[-6.67713570e-01 -7.44399866e-01 5.23710216e-03 1.96577265e+02] [ 7.44376578e-01 -6.67734107e-01 -5.88831172e-03 -1.09267054e+02] [ 7.88025019e-03 -3.33294571e-05 9.99968950e-01 -4.73250693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.257628 meters 0.012422529455480587 Centerline is valid? [True, True] Translation: X:196.54, Y:-109.23, Z:-0.47 [[-6.66184426e-01 -7.45776391e-01 3.98558772e-03 1.96536329e+02] [ 7.45762945e-01 -6.66196348e-01 -4.47832044e-03 -1.09226779e+02] [ 5.99500963e-03 -1.10836991e-05 9.99982030e-01 -4.72385293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.317628 meters 0.012476088398842282 Centerline is valid? [True, True] Translation: X:196.50, Y:-109.18, Z:-0.47 [[-6.67804638e-01 -7.44326483e-01 3.87976700e-03 1.96500074e+02] [ 7.44313733e-01 -6.67815908e-01 -4.35668732e-03 -1.09182178e+02] [ 5.83376787e-03 -2.16521469e-05 9.99982983e-01 -4.72459767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.377628 meters 0.012578435237144723 Centerline is valid? [True, True] Translation: X:196.46, Y:-109.14, Z:-0.47 [[-6.68910342e-01 -7.43333087e-01 3.85697385e-03 1.96463651e+02] [ 7.43320486e-01 -6.68921461e-01 -4.32841500e-03 -1.09137576e+02] [ 5.79746667e-03 -2.83538784e-05 9.99983194e-01 -4.72604700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.437628 meters 0.012607350121133617 Centerline is valid? [True, True] Translation: X:196.43, Y:-109.09, Z:-0.47 [[-6.68918867e-01 -7.43329710e-01 2.91411462e-03 1.96429084e+02] [ 7.43322525e-01 -6.68925214e-01 -3.26819848e-03 -1.09092813e+02] [ 4.37867377e-03 -2.00325877e-05 9.99990413e-01 -4.71419516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49762799999996 meters 0.012400121342081872 Centerline is valid? [True, True] Translation: X:196.39, Y:-109.05, Z:-0.47 [[-6.66133720e-01 -7.45823419e-01 3.64620954e-03 1.96389106e+02] [ 7.45812223e-01 -6.66143699e-01 -4.08666624e-03 -1.09051592e+02] [ 5.47683090e-03 -2.87854324e-06 9.99985002e-01 -4.72511316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.55762799999997 meters 0.014106563880867111 Centerline is valid? [True, True] Translation: X:196.35, Y:-109.01, Z:-0.48 [[-6.63317454e-01 -7.48322434e-01 4.84668903e-03 1.96345382e+02] [ 7.48302741e-01 -6.63335160e-01 -5.42897386e-03 -1.09013764e+02] [ 7.27760218e-03 2.56575633e-05 9.99973518e-01 -4.78848469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.61762799999997 meters 0.015525207447979555 Centerline is valid? [True, True] Translation: X:196.30, Y:-108.97, Z:-0.48 [[-6.61412738e-01 -7.50001987e-01 5.49631240e-03 1.96303565e+02] [ 7.49976748e-01 -6.61435573e-01 -6.15317122e-03 -1.08972974e+02] [ 8.25034718e-03 5.23206700e-05 9.99965964e-01 -4.79641813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.67762799999997 meters 0.012490205014661268 Centerline is valid? [True, True] Translation: X:196.27, Y:-108.93, Z:-0.48 [[-6.64152574e-01 -7.47581283e-01 4.85630591e-03 1.96268003e+02] [ 7.47561540e-01 -6.64170329e-01 -5.43316215e-03 -1.08927784e+02] [ 7.28714462e-03 2.19388976e-05 9.99973448e-01 -4.75564219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.737628 meters 0.012610271702028279 Centerline is valid? [True, True] Translation: X:196.24, Y:-108.88, Z:-0.48 [[-6.69774570e-01 -7.42551960e-01 4.31423502e-03 1.96235013e+02] [ 7.42536293e-01 -6.69788464e-01 -4.82360570e-03 -1.08880852e+02] [ 6.47140272e-03 -2.72523558e-05 9.99979060e-01 -4.75581106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.797628 meters 0.012748663603736964 Centerline is valid? [True, True] Translation: X:196.20, Y:-108.84, Z:-0.47 [[-6.71515257e-01 -7.40981764e-01 3.64490492e-03 1.96198514e+02] [ 7.40970573e-01 -6.71525148e-01 -4.07261465e-03 -1.08836453e+02] [ 5.46537851e-03 -3.40555829e-05 9.99985064e-01 -4.74754803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.857628 meters 0.01428307320459167 Centerline is valid? [True, True] Translation: X:196.16, Y:-108.80, Z:-0.48 [[-6.70498948e-01 -7.41905269e-01 2.78081326e-03 1.96156242e+02] [ 7.41898771e-01 -6.70504714e-01 -3.10511991e-03 -1.08797567e+02] [ 4.16825323e-03 -1.88976921e-05 9.99991313e-01 -4.76779560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.917628 meters 0.012310096301972766 Centerline is valid? [True, True] Translation: X:196.11, Y:-108.76, Z:-0.47 [[-6.67395769e-01 -7.44701465e-01 1.61710176e-03 1.96114765e+02] [ 7.44699279e-01 -6.67397729e-01 -1.80446866e-03 -1.08759539e+02] [ 2.42304050e-03 -4.02333061e-08 9.99997064e-01 -4.73475500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.977628 meters 0.01254506820696057 Centerline is valid? [True, True] Translation: X:196.07, Y:-108.72, Z:-0.47 [[-6.63818498e-01 -7.47893080e-01 9.70640703e-04 1.96071894e+02] [ 7.47892297e-01 -6.63819208e-01 -1.08247092e-03 -1.08719918e+02] [ 1.45390246e-03 7.37048141e-06 9.99998943e-01 -4.73411057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.037628 meters 0.012706120861542434 Centerline is valid? [True, True] Translation: X:196.03, Y:-108.68, Z:-0.48 [[-6.62795109e-01 -7.48796204e-01 2.62438142e-03 1.96032813e+02] [ 7.48790492e-01 -6.62800304e-01 -2.92491715e-03 -1.08677498e+02] [ 3.92960767e-03 2.64910737e-05 9.99992279e-01 -4.76673261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.097628 meters 0.012674379978788128 Centerline is valid? [True, True] Translation: X:196.00, Y:-108.63, Z:-0.48 [[-6.65129238e-01 -7.46703340e-01 6.10065260e-03 1.95996812e+02] [ 7.46672419e-01 -6.65157215e-01 -6.79548492e-03 -1.08632351e+02] [ 9.13210438e-03 3.53133245e-05 9.99958301e-01 -4.82685152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.157628 meters 0.012740465909475142 Centerline is valid? [True, True] Translation: X:195.96, Y:-108.59, Z:-0.48 [[-6.66617394e-01 -7.45361865e-01 7.54582414e-03 1.95960698e+02] [ 7.45314532e-01 -6.66660100e-01 -8.39994745e-03 -1.08587853e+02] [ 1.12915004e-02 2.44613039e-05 9.99936249e-01 -4.84299527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.217628 meters 0.015566659033636618 Centerline is valid? [True, True] Translation: X:195.92, Y:-108.55, Z:-0.49 [[-6.66551236e-01 -7.45410935e-01 8.48457153e-03 1.95919670e+02] [ 7.45351166e-01 -6.66605233e-01 -9.43943246e-03 -1.08546384e+02] [ 1.26921160e-02 3.21199084e-05 9.99919451e-01 -4.85735820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.277628 meters 0.012579210566765267 Centerline is valid? [True, True] Translation: X:195.88, Y:-108.51, Z:-0.48 [[-6.66818981e-01 -7.45203534e-01 4.91320542e-03 1.95880398e+02] [ 7.45183509e-01 -6.66837081e-01 -5.46305386e-03 -1.08505346e+02] [ 7.34739460e-03 1.83716494e-05 9.99973007e-01 -4.79616094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.337628 meters 0.012443725360603935 Centerline is valid? [True, True] Translation: X:195.84, Y:-108.46, Z:-0.48 [[-6.67951455e-01 -7.44200889e-01 2.42717756e-03 1.95844774e+02] [ 7.44196000e-01 -6.67955865e-01 -2.69746130e-03 -1.08462246e+02] [ 3.62870059e-03 4.52263654e-06 9.99993416e-01 -4.76092057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.397628 meters 0.012552887563636485 Centerline is valid? [True, True] Translation: X:195.81, Y:-108.42, Z:-0.47 [[-6.69793086e-01 -7.42547378e-01 7.83713845e-04 1.95809961e+02] [ 7.42546867e-01 -6.69793544e-01 -8.70405024e-04 -1.08416878e+02] [ 1.17124344e-03 -1.04700667e-06 9.99999314e-01 -4.74148717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.457628 meters 0.012466761774291698 Centerline is valid? [True, True] Translation: X:195.77, Y:-108.37, Z:-0.47 [[-6.69268527e-01 -7.43020425e-01 5.36032590e-04 1.95771737e+02] [ 7.43020186e-01 -6.69268742e-01 -5.94943458e-04 -1.08374087e+02] [ 8.00804998e-04 1.06102516e-07 9.99999679e-01 -4.74390285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.517628 meters 0.012642327633331167 Centerline is valid? [True, True] Translation: X:195.73, Y:-108.34, Z:-0.47 [[-6.65797164e-01 -7.46132210e-01 9.27933931e-04 1.95729317e+02] [ 7.46131500e-01 -6.65797811e-01 -1.02931040e-03 -1.08335142e+02] [ 1.38581802e-03 7.04878992e-06 9.99999040e-01 -4.74199367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.577628 meters 0.012912176546123734 Centerline is valid? [True, True] Translation: X:195.69, Y:-108.30, Z:-0.48 [[-6.63385047e-01 -7.48271188e-01 3.24184875e-03 1.95686820e+02] [ 7.48262557e-01 -6.63392967e-01 -3.59406919e-03 -1.08295216e+02] [ 4.83995808e-03 4.15022729e-05 9.99988286e-01 -4.77619146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.637628 meters 0.012651957317961544 Centerline is valid? [True, True] Translation: X:195.65, Y:-108.25, Z:-0.48 [[-6.65680831e-01 -7.46203996e-01 6.97334879e-03 1.95647985e+02] [ 7.46163994e-01 -6.65717352e-01 -7.72668988e-03 -1.08252216e+02] [ 1.04079662e-02 5.97524413e-05 9.99945834e-01 -4.83380304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.697628 meters 0.012459953805931949 Centerline is valid? [True, True] Translation: X:195.61, Y:-108.21, Z:-0.48 [[-6.69671779e-01 -7.42629693e-01 6.39126543e-03 1.95613393e+02] [ 7.42595969e-01 -6.69702277e-01 -7.07727635e-03 -1.08205836e+02] [ 9.53604057e-03 6.67569608e-06 9.99954531e-01 -4.82258956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.757628 meters 0.01634764992219936 Centerline is valid? [True, True] Translation: X:195.58, Y:-108.16, Z:-0.48 [[-6.75235112e-01 -7.37579176e-01 5.87389481e-03 1.95579018e+02] [ 7.37550535e-01 -6.75260658e-01 -6.50021031e-03 -1.08159258e+02] [ 8.76082984e-03 -5.68759816e-05 9.99961622e-01 -4.83451464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.817628 meters 0.016160949119245115 Centerline is valid? [True, True] Translation: X:195.54, Y:-108.12, Z:-0.48 [[-6.77306429e-01 -7.35693455e-01 3.33775319e-03 1.95540384e+02] [ 7.35684197e-01 -6.77314652e-01 -3.69117862e-03 -1.08118192e+02] [ 4.97628509e-03 -4.45267339e-05 9.99987617e-01 -4.81111732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.877628 meters 0.012968612145888628 Centerline is valid? [True, True] Translation: X:195.50, Y:-108.08, Z:-0.48 [[-6.77689530e-01 -7.35347077e-01 1.25597989e-03 1.95500535e+02] [ 7.35345767e-01 -6.77690694e-01 -1.38805770e-03 -1.08077256e+02] [ 1.87187005e-03 -1.70926775e-05 9.99998248e-01 -4.77757789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.937628 meters 0.013080298999680554 Centerline is valid? [True, True] Translation: X:195.46, Y:-108.04, Z:-0.48 [[-6.77729991e-01 -7.35310783e-01 -3.33673226e-04 1.95460610e+02] [ 7.35310691e-01 -6.77730073e-01 3.68567617e-04 -1.08037539e+02] [-4.97152123e-04 4.43583790e-06 9.99999876e-01 -4.76656358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99762799999996 meters 0.012866083878760343 Centerline is valid? [True, True] Translation: X:195.42, Y:-108.00, Z:-0.48 [[-6.76471030e-01 -7.36469240e-01 6.07577183e-05 1.95420662e+02] [ 7.36469237e-01 -6.76471033e-01 -6.70219525e-05 -1.07996139e+02] [ 9.04604429e-05 -5.92218793e-07 9.99999996e-01 -4.77815060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.05762799999997 meters 0.014763372186169237 Centerline is valid? [True, True] Translation: X:195.38, Y:-107.96, Z:-0.48 [[-6.76645552e-01 -7.36305882e-01 2.10817970e-03 1.95381075e+02] [ 7.36302210e-01 -6.76648836e-01 -2.32538054e-03 -1.07955109e+02] [ 3.13868871e-03 -2.12010319e-05 9.99995074e-01 -4.82814281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.11762799999997 meters 0.01664099588183529 Centerline is valid? [True, True] Translation: X:195.34, Y:-107.91, Z:-0.49 [[-6.76984187e-01 -7.35983339e-01 4.57547711e-03 1.95342802e+02] [ 7.35966057e-01 -6.76999647e-01 -5.04394753e-03 -1.07913158e+02] [ 6.80985774e-03 -4.72768777e-05 9.99976812e-01 -4.87202815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.17762799999997 meters 0.013192527489359448 Centerline is valid? [True, True] Translation: X:195.30, Y:-107.87, Z:-0.49 [[-6.76194428e-01 -7.36707421e-01 4.82411936e-03 1.95304173e+02] [ 7.36688251e-01 -6.76211634e-01 -5.31477696e-03 -1.07870794e+02] [ 7.17756127e-03 -3.99505108e-05 9.99974240e-01 -4.85974264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.237628 meters 0.014422886256206469 Centerline is valid? [True, True] Translation: X:195.26, Y:-107.83, Z:-0.49 [[-6.75757398e-01 -7.37101292e-01 5.79859621e-03 1.95262890e+02] [ 7.37073641e-01 -6.75782275e-01 -6.38471002e-03 -1.07829844e+02] [ 8.62476655e-03 -4.05226125e-05 9.99962805e-01 -4.87384398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.297628 meters 0.016046141769862753 Centerline is valid? [True, True] Translation: X:195.22, Y:-107.79, Z:-0.49 [[-6.75715281e-01 -7.37138240e-01 6.00617515e-03 1.95222905e+02] [ 7.37108615e-01 -6.75741973e-01 -6.60882989e-03 -1.07790612e+02] [ 8.93024588e-03 -3.84839006e-05 9.99960124e-01 -4.89892568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.357628 meters 0.013238669924270545 Centerline is valid? [True, True] Translation: X:195.18, Y:-107.75, Z:-0.49 [[-6.78331930e-01 -7.34743104e-01 4.28532237e-03 1.95184772e+02] [ 7.34727994e-01 -6.78345465e-01 -4.71233446e-03 -1.07747996e+02] [ 6.36928424e-03 -4.79806239e-05 9.99979715e-01 -4.87636793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.417628 meters 0.015389493859649252 Centerline is valid? [True, True] Translation: X:195.15, Y:-107.70, Z:-0.49 [[-6.83812686e-01 -7.29642632e-01 4.67321798e-03 1.95149639e+02] [ 7.29624563e-01 -6.83828647e-01 -5.13592491e-03 -1.07701233e+02] [ 6.94307010e-03 -1.02315981e-04 9.99975891e-01 -4.87899426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.477628 meters 0.014684444458409142 Centerline is valid? [True, True] Translation: X:195.11, Y:-107.66, Z:-0.49 [[-6.85839331e-01 -7.27738317e-01 4.62118265e-03 1.95111536e+02] [ 7.27720625e-01 -6.85854889e-01 -5.07581622e-03 -1.07656983e+02] [ 6.86332666e-03 -1.18264478e-04 9.99976440e-01 -4.87671000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.537628 meters 0.014859940978529617 Centerline is valid? [True, True] Translation: X:195.07, Y:-107.62, Z:-0.49 [[-6.85390620e-01 -7.28150769e-01 6.01292918e-03 1.95070619e+02] [ 7.28120869e-01 -6.85416980e-01 -6.60028038e-03 -1.07617355e+02] [ 8.92736300e-03 -1.45631041e-04 9.99960140e-01 -4.89993991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.597628 meters 0.016956631260930992 Centerline is valid? [True, True] Translation: X:195.03, Y:-107.58, Z:-0.49 [[-6.83055886e-01 -7.30313943e-01 8.72932301e-03 1.95025688e+02] [ 7.30251178e-01 -6.83111643e-01 -9.57600090e-03 -1.07580948e+02] [ 1.29565892e-02 -1.66345369e-04 9.99916046e-01 -4.93891660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.657628 meters 0.01416683617674188 Centerline is valid? [True, True] Translation: X:194.98, Y:-107.54, Z:-0.49 [[-6.82116220e-01 -7.31188716e-01 8.97351495e-03 1.94983687e+02] [ 7.31122549e-01 -6.82175226e-01 -9.83761801e-03 -1.07542390e+02] [ 1.33146649e-02 -1.49659682e-04 9.99911345e-01 -4.92624539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.717628 meters 0.014853505276869142 Centerline is valid? [True, True] Translation: X:194.94, Y:-107.50, Z:-0.49 [[-6.84908156e-01 -7.28578139e-01 8.64366065e-03 1.94943024e+02] [ 7.28516607e-01 -6.84962670e-01 -9.47071101e-03 -1.07500983e+02] [ 1.28207379e-02 -1.89516897e-04 9.99917793e-01 -4.91624105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.777628 meters 0.015674902562420445 Centerline is valid? [True, True] Translation: X:194.90, Y:-107.46, Z:-0.49 [[-6.87730007e-01 -7.25919474e-01 8.26774236e-03 1.94903682e+02] [ 7.25863050e-01 -6.87779665e-01 -9.05349184e-03 -1.07458767e+02] [ 1.22584911e-02 -2.25109315e-04 9.99924837e-01 -4.90439614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.837628 meters 0.019233465270580754 Centerline is valid? [True, True] Translation: X:194.86, Y:-107.42, Z:-0.49 [[-6.91398289e-01 -7.22429066e-01 8.04053707e-03 1.94864152e+02] [ 7.22375527e-01 -6.91444986e-01 -8.79942849e-03 -1.07416754e+02] [ 1.19165519e-02 -2.75622603e-04 9.99928957e-01 -4.89350480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.897628 meters 0.015804561600198174 Centerline is valid? [True, True] Translation: X:194.82, Y:-107.37, Z:-0.48 [[-6.91561349e-01 -7.22293308e-01 5.93943318e-03 1.94824425e+02] [ 7.22264122e-01 -6.91586824e-01 -6.49631984e-03 -1.07374213e+02] [ 8.79988208e-03 -2.02764220e-04 9.99961260e-01 -4.84192351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.957628 meters 0.014899119592417293 Centerline is valid? [True, True] Translation: X:194.78, Y:-107.33, Z:-0.48 [[-6.87792065e-01 -7.25885671e-01 5.66289133e-03 1.94783799e+02] [ 7.25859291e-01 -6.87815361e-01 -6.19026454e-03 -1.07333815e+02] [ 8.38844797e-03 -1.47152540e-04 9.99964806e-01 -4.84027632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.017628 meters 0.015029214067897053 Centerline is valid? [True, True] Translation: X:194.74, Y:-107.30, Z:-0.48 [[-6.81671494e-01 -7.31637571e-01 5.51713029e-03 1.94740501e+02] [ 7.31612747e-01 -6.81693816e-01 -6.02742365e-03 -1.07295444e+02] [ 8.17088321e-03 -7.23200409e-05 9.99966615e-01 -4.83927760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.077628 meters 0.012397583048922724 Centerline is valid? [True, True] Translation: X:194.70, Y:-107.26, Z:-0.48 [[-6.77205836e-01 -7.35771789e-01 5.66841250e-03 1.94698774e+02] [ 7.35745757e-01 -6.77229558e-01 -6.18924124e-03 -1.07255413e+02] [ 8.39268559e-03 -2.08798458e-05 9.99964781e-01 -4.82117898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.137628 meters 0.012266480057010459 Centerline is valid? [True, True] Translation: X:194.66, Y:-107.22, Z:-0.48 [[-6.72587107e-01 -7.40003706e-01 4.59327642e-03 1.94657449e+02] [ 7.39986733e-01 -6.72602791e-01 -5.01209680e-03 -1.07215205e+02] [ 6.79842074e-03 2.78919229e-05 9.99976890e-01 -4.79339368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.197628 meters 0.012492816138769321 Centerline is valid? [True, True] Translation: X:194.62, Y:-107.17, Z:-0.48 [[-6.71009007e-01 -7.41437792e-01 4.11259351e-03 1.94617002e+02] [ 7.41424229e-01 -6.71021609e-01 -4.48473218e-03 -1.07174577e+02] [ 6.08478904e-03 3.98807889e-05 9.99981487e-01 -4.78729392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.257628 meters 0.01236302120400011 Centerline is valid? [True, True] Translation: X:194.58, Y:-107.13, Z:-0.48 [[-6.71455557e-01 -7.41031889e-01 4.37885617e-03 1.94577062e+02] [ 7.41016523e-01 -6.71469834e-01 -4.77233482e-03 -1.07131735e+02] [ 6.47672211e-03 4.03940373e-05 9.99979025e-01 -4.79263155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.317628 meters 0.012327408131730192 Centerline is valid? [True, True] Translation: X:194.54, Y:-107.09, Z:-0.48 [[-6.73349026e-01 -7.39315391e-01 3.72051392e-03 1.94539625e+02] [ 7.39304285e-01 -6.73359304e-01 -4.05236788e-03 -1.07087697e+02] [ 5.50122061e-03 2.19339229e-05 9.99984868e-01 -4.77683640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.377628 meters 0.01240050814202871 Centerline is valid? [True, True] Translation: X:194.50, Y:-107.04, Z:-0.48 [[-6.74084961e-01 -7.38643401e-01 3.92328230e-03 1.94500974e+02] [ 7.38631054e-01 -6.74096378e-01 -4.27078354e-03 -1.07044156e+02] [ 5.79925647e-03 1.89871880e-05 9.99983184e-01 -4.76982579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.437628 meters 0.012867994893494732 Centerline is valid? [True, True] Translation: X:194.46, Y:-107.00, Z:-0.48 [[-6.72485339e-01 -7.40099227e-01 4.07459446e-03 1.94460267e+02] [ 7.40085952e-01 -6.72497682e-01 -4.43296509e-03 -1.07002953e+02] [ 6.02098937e-03 3.44460920e-05 9.99981873e-01 -4.78225131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49762799999996 meters 0.013373670508823123 Centerline is valid? [True, True] Translation: X:194.42, Y:-106.96, Z:-0.48 [[-6.70681100e-01 -7.41729733e-01 4.88521808e-03 1.94419909e+02] [ 7.41710716e-01 -6.70698889e-01 -5.31171416e-03 -1.06961936e+02] [ 7.21636666e-03 6.09523040e-05 9.99973960e-01 -4.79894613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.55762799999997 meters 0.013323612391683944 Centerline is valid? [True, True] Translation: X:194.38, Y:-106.92, Z:-0.48 [[-6.72489359e-01 -7.40071394e-01 7.23834799e-03 1.94382804e+02] [ 7.40029604e-01 -6.72528309e-01 -7.86498396e-03 -1.06918924e+02] [ 1.06886436e-02 6.74737751e-05 9.99942873e-01 -4.82565998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.61762799999997 meters 0.013138067270146185 Centerline is valid? [True, True] Translation: X:194.35, Y:-106.87, Z:-0.48 [[-6.75740306e-01 -7.37087956e-01 8.73978618e-03 1.94345414e+02] [ 7.37026849e-01 -6.75796822e-01 -9.49096674e-03 -1.06874271e+02] [ 1.29019970e-02 2.80283064e-05 9.99916765e-01 -4.83957085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.67762799999997 meters 0.01412194210932899 Centerline is valid? [True, True] Translation: X:194.31, Y:-106.83, Z:-0.49 [[-6.81208200e-01 -7.32000428e-01 1.14351249e-02 1.94309466e+02] [ 7.31895219e-01 -6.81304166e-01 -1.24105317e-02 -1.06830031e+02] [ 1.68753127e-02 -8.48427604e-05 9.99857598e-01 -4.86552790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.737628 meters 0.014173373205167993 Centerline is valid? [True, True] Translation: X:194.27, Y:-106.79, Z:-0.49 [[-6.86350718e-01 -7.27183676e-01 1.12514060e-02 1.94272191e+02] [ 7.27081285e-01 -6.86442906e-01 -1.22041425e-02 -1.06785567e+02] [ 1.65981010e-02 -1.95635186e-04 9.99862223e-01 -4.85403108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.797628 meters 0.014223269542249126 Centerline is valid? [True, True] Translation: X:194.23, Y:-106.74, Z:-0.48 [[-6.87814017e-01 -7.25803587e-01 1.10014467e-02 1.94233656e+02] [ 7.25705631e-01 -6.87901959e-01 -1.19261122e-02 -1.06742216e+02] [ 1.62239317e-02 -2.19135311e-04 9.99868359e-01 -4.84091677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.857628 meters 0.015546972598224643 Centerline is valid? [True, True] Translation: X:194.20, Y:-106.70, Z:-0.48 [[-6.91039941e-01 -7.22756548e-01 9.31512761e-03 1.94197681e+02] [ 7.22686128e-01 -6.91102679e-01 -1.00919471e-02 -1.06697579e+02] [ 1.37317305e-02 -2.42025057e-04 9.99905686e-01 -4.81422940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.917628 meters 0.014727016264392327 Centerline is valid? [True, True] Translation: X:194.16, Y:-106.66, Z:-0.48 [[-6.91532569e-01 -7.22307259e-01 7.41141323e-03 1.94156924e+02] [ 7.22262706e-01 -6.91572256e-01 -8.02487338e-03 -1.06655784e+02] [ 1.09219521e-02 -1.96473928e-04 9.99940334e-01 -4.78089663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.977628 meters 0.01570222339719867 Centerline is valid? [True, True] Translation: X:194.12, Y:-106.62, Z:-0.48 [[-6.88658834e-01 -7.25062019e-01 5.83771883e-03 1.94115466e+02] [ 7.25034500e-01 -6.88683566e-01 -6.31823283e-03 -1.06616330e+02] [ 8.60145168e-03 -1.18559296e-04 9.99963000e-01 -4.76323501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.037628 meters 0.012715809997584647 Centerline is valid? [True, True] Translation: X:194.07, Y:-106.58, Z:-0.48 [[-6.81741272e-01 -7.31570447e-01 5.78953824e-03 1.94072499e+02] [ 7.31543640e-01 -6.81765854e-01 -6.26281402e-03 -1.06578967e+02] [ 8.52879913e-03 -3.43189163e-05 9.99963629e-01 -4.76173711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.097628 meters 0.01249438080766506 Centerline is valid? [True, True] Translation: X:194.03, Y:-106.54, Z:-0.48 [[-6.77241481e-01 -7.35727026e-01 7.05124740e-03 1.94029534e+02] [ 7.35687538e-01 -6.77278187e-01 -7.62260081e-03 -1.06541364e+02] [ 1.03838095e-02 2.51733805e-05 9.99946086e-01 -4.78143853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.157628 meters 0.012701368938567313 Centerline is valid? [True, True] Translation: X:193.99, Y:-106.50, Z:-0.48 [[-6.72830154e-01 -7.39755626e-01 7.82289881e-03 1.93988643e+02] [ 7.39707346e-01 -6.72875623e-01 -8.45212472e-03 -1.06499914e+02] [ 1.15163447e-02 9.98113257e-05 9.99933680e-01 -4.77580280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.217628 meters 0.013075586575208985 Centerline is valid? [True, True] Translation: X:193.95, Y:-106.46, Z:-0.48 [[-6.71849170e-01 -7.40640672e-01 8.37183965e-03 1.93949158e+02] [ 7.40585515e-01 -6.71901317e-01 -9.03965117e-03 -1.06458132e+02] [ 1.23201834e-02 1.26781041e-04 9.99924096e-01 -4.78377678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.277628 meters 0.01296065775293193 Centerline is valid? [True, True] Translation: X:193.91, Y:-106.41, Z:-0.48 [[-6.71585997e-01 -7.40876878e-01 8.58485939e-03 1.93909790e+02] [ 7.40818966e-01 -6.71640850e-01 -9.26434213e-03 -1.06414969e+02] [ 1.26296791e-02 1.38024212e-04 9.99920233e-01 -4.77544478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.337628 meters 0.012619477541882905 Centerline is valid? [True, True] Translation: X:193.87, Y:-106.37, Z:-0.48 [[-6.73507644e-01 -7.39151410e-01 6.53048239e-03 1.93871720e+02] [ 7.39117854e-01 -6.73539298e-01 -7.04358335e-03 -1.06370459e+02] [ 9.60481109e-03 8.28888992e-05 9.99953869e-01 -4.75528980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.397628 meters 0.012100533232896785 Centerline is valid? [True, True] Translation: X:193.84, Y:-106.32, Z:-0.47 [[-6.79778195e-01 -7.33397007e-01 5.51691994e-03 1.93838253e+02] [ 7.33372894e-01 -6.79800581e-01 -5.94703243e-03 -1.06321963e+02] [ 8.11194117e-03 3.29657189e-06 9.99967098e-01 -4.73866908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.457628 meters 0.012580045933850698 Centerline is valid? [True, True] Translation: X:193.80, Y:-106.28, Z:-0.47 [[-6.85191999e-01 -7.28343616e-01 5.24414526e-03 1.93803502e+02] [ 7.28321705e-01 -6.85212065e-01 -5.64981351e-03 -1.06275048e+02] [ 7.70835720e-03 -5.17821980e-05 9.99970289e-01 -4.73700514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.517628 meters 0.014669867466953316 Centerline is valid? [True, True] Translation: X:193.77, Y:-106.23, Z:-0.47 [[-6.93002189e-01 -7.20919503e-01 4.79964127e-03 1.93771088e+02] [ 7.20900990e-01 -6.93018799e-01 -5.16785141e-03 -1.06227021e+02] [ 7.05184650e-03 -1.21266193e-04 9.99975128e-01 -4.74090704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.577628 meters 0.01616663331544982 Centerline is valid? [True, True] Translation: X:193.74, Y:-106.18, Z:-0.48 [[-6.98565749e-01 -7.15517808e-01 6.33721781e-03 1.93736327e+02] [ 7.15485349e-01 -6.98594456e-01 -6.81923275e-03 -1.06180697e+02] [ 9.30642770e-03 -2.29495942e-04 9.99956668e-01 -4.75866836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.637628 meters 0.018678517708847715 Centerline is valid? [True, True] Translation: X:193.70, Y:-106.13, Z:-0.48 [[-7.00574892e-01 -7.13528569e-01 8.47359531e-03 1.93700582e+02] [ 7.13470453e-01 -7.00626053e-01 -9.11292600e-03 -1.06134481e+02] [ 1.24391547e-02 -3.38627261e-04 9.99922573e-01 -4.78717068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.697628 meters 0.016667521450261312 Centerline is valid? [True, True] Translation: X:193.66, Y:-106.09, Z:-0.48 [[-6.99100528e-01 -7.14977666e-01 8.08636128e-03 1.93662329e+02] [ 7.14924895e-01 -6.99147231e-01 -8.69159794e-03 -1.06091098e+02] [ 1.18678555e-02 -2.95159719e-04 9.99929531e-01 -4.77988090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.757628 meters 0.01585444215217212 Centerline is valid? [True, True] Translation: X:193.62, Y:-106.05, Z:-0.48 [[-6.94469046e-01 -7.19479630e-01 7.86169155e-03 1.93621883e+02] [ 7.19430098e-01 -6.94513512e-01 -8.44483357e-03 -1.06050668e+02] [ 1.15359367e-02 -2.08737992e-04 9.99933437e-01 -4.78482335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.817628 meters 0.014809157606617688 Centerline is valid? [True, True] Translation: X:193.58, Y:-106.01, Z:-0.48 [[-6.90532194e-01 -7.23266111e-01 7.17091432e-03 1.93583095e+02] [ 7.23225144e-01 -6.90569414e-01 -7.69899976e-03 -1.06009418e+02] [ 1.05204397e-02 -1.30221657e-04 9.99944650e-01 -4.78471434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.877628 meters 0.012027857346233597 Centerline is valid? [True, True] Translation: X:193.54, Y:-105.97, Z:-0.48 [[-6.85151705e-01 -7.28381546e-01 5.24071660e-03 1.93543211e+02] [ 7.28359836e-01 -6.85171747e-01 -5.62372810e-03 -1.05966546e+02] [ 7.68701071e-03 -3.59794099e-05 9.99970454e-01 -4.76514515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.937628 meters 0.014680389035977567 Centerline is valid? [True, True] Translation: X:193.50, Y:-105.92, Z:-0.48 [[-6.82178792e-01 -7.31167163e-01 5.16483336e-03 1.93504826e+02] [ 7.31146181e-01 -6.82198343e-01 -5.53914293e-03 -1.05923391e+02] [ 7.57348018e-03 -2.43764659e-06 9.99971321e-01 -4.78760896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99762799999996 meters 0.011732257930098822 Centerline is valid? [True, True] Translation: X:193.47, Y:-105.88, Z:-0.48 [[-6.80810116e-01 -7.32445678e-01 4.57330493e-03 1.93470113e+02] [ 7.32429275e-01 -6.80825476e-01 -4.90178649e-03 -1.05878039e+02] [ 6.70391483e-03 1.24365861e-05 9.99977528e-01 -4.76110523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.05762799999997 meters 0.011945398558776714 Centerline is valid? [True, True] Translation: X:193.43, Y:-105.83, Z:-0.48 [[-6.80043414e-01 -7.33152206e-01 5.36637498e-03 1.93433913e+02] [ 7.33129671e-01 -6.80064587e-01 -5.74837781e-03 -1.05833575e+02] [ 7.86391745e-03 2.51022489e-05 9.99969079e-01 -4.77252022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.11762799999997 meters 0.012574290902133413 Centerline is valid? [True, True] Translation: X:193.40, Y:-105.79, Z:-0.48 [[-6.77845853e-01 -7.35165789e-01 7.50082816e-03 1.93395862e+02] [ 7.35121939e-01 -6.77887349e-01 -8.02976380e-03 -1.05792350e+02] [ 1.09879242e-02 7.10812539e-05 9.99939628e-01 -4.80616076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.17762799999997 meters 0.013143646605843358 Centerline is valid? [True, True] Translation: X:193.35, Y:-105.75, Z:-0.48 [[-6.75769675e-01 -7.37057569e-01 9.02697618e-03 1.93352103e+02] [ 7.36994295e-01 -6.75829952e-01 -9.65841122e-03 -1.05753292e+02] [ 1.32195060e-02 1.25968545e-04 9.99912611e-01 -4.83316477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.237628 meters 0.012805905642756132 Centerline is valid? [True, True] Translation: X:193.31, Y:-105.71, Z:-0.48 [[-6.77148362e-01 -7.35764257e-01 1.10024956e-02 1.93311089e+02] [ 7.35670190e-01 -6.77237730e-01 -1.17655955e-02 -1.05711953e+02] [ 1.61080097e-02 1.27154275e-04 9.99870250e-01 -4.84113384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.297628 meters 0.013749526500408202 Centerline is valid? [True, True] Translation: X:193.27, Y:-105.67, Z:-0.48 [[-6.81453884e-01 -7.31793852e-01 9.91780562e-03 1.93273374e+02] [ 7.31717048e-01 -6.81526050e-01 -1.06020790e-02 -1.05667208e+02] [ 1.45177791e-02 3.21995580e-05 9.99894611e-01 -4.83709446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.357628 meters 0.015897918830852713 Centerline is valid? [True, True] Translation: X:193.24, Y:-105.62, Z:-0.48 [[-6.88144678e-01 -7.25518219e-01 8.95637913e-03 1.93240474e+02] [ 7.25455128e-01 -6.88202955e-01 -9.56819717e-03 -1.05621082e+02] [ 1.31057080e-02 -8.68527954e-05 9.99914113e-01 -4.84737714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.417628 meters 0.013181154602461366 Centerline is valid? [True, True] Translation: X:193.20, Y:-105.58, Z:-0.48 [[-6.91576996e-01 -7.22258726e-01 7.97443731e-03 1.93203892e+02] [ 7.22208549e-01 -6.91622958e-01 -8.51441089e-03 -1.05575150e+02] [ 1.16649115e-02 -1.29163902e-04 9.99931954e-01 -4.79941169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.477628 meters 0.013295515169911757 Centerline is valid? [True, True] Translation: X:193.16, Y:-105.53, Z:-0.48 [[-6.92748384e-01 -7.21140778e-01 7.46024880e-03 1.93164480e+02] [ 7.21096853e-01 -6.92788540e-01 -7.96035852e-03 -1.05533706e+02] [ 1.09089140e-02 -1.34963564e-04 9.99940487e-01 -4.78274821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.537628 meters 0.014387295722830862 Centerline is valid? [True, True] Translation: X:193.12, Y:-105.49, Z:-0.48 [[-6.91987958e-01 -7.21872681e-01 7.24557776e-03 1.93123786e+02] [ 7.21831340e-01 -6.92025880e-01 -7.72637732e-03 -1.05492948e+02] [ 1.05915880e-02 -1.16474957e-04 9.99943901e-01 -4.78762451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.597628 meters 0.012464567933526101 Centerline is valid? [True, True] Translation: X:193.08, Y:-105.45, Z:-0.48 [[-6.89077856e-01 -7.24646164e-01 7.72302928e-03 1.93083731e+02] [ 7.24599428e-01 -6.89121129e-01 -8.23030927e-03 -1.05452538e+02] [ 1.12861647e-02 -7.52212699e-05 9.99936306e-01 -4.78126448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.657628 meters 0.012362426867175496 Centerline is valid? [True, True] Translation: X:193.04, Y:-105.41, Z:-0.48 [[-6.88611268e-01 -7.25086001e-01 8.05059148e-03 1.93044571e+02] [ 7.25035311e-01 -6.88658323e-01 -8.57389263e-03 -1.05410892e+02] [ 1.17609163e-02 -6.71159806e-05 9.99930836e-01 -4.78120553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.717628 meters 0.012452420096634638 Centerline is valid? [True, True] Translation: X:193.01, Y:-105.37, Z:-0.48 [[-6.87806631e-01 -7.25838097e-01 9.00526482e-03 1.93006504e+02] [ 7.25774820e-01 -6.87865578e-01 -9.58424211e-03 -1.05369820e+02] [ 1.31510197e-02 -5.63108235e-05 9.99913520e-01 -4.79913586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.777628 meters 0.012884546563588126 Centerline is valid? [True, True] Translation: X:192.97, Y:-105.33, Z:-0.48 [[-6.86737057e-01 -7.26841456e-01 9.68052370e-03 1.92966029e+02] [ 7.26768525e-01 -6.86805283e-01 -1.02963533e-02 -1.05329776e+02] [ 1.41324512e-02 -3.53874373e-05 9.99900131e-01 -4.81262419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.837628 meters 0.013365507068161408 Centerline is valid? [True, True] Translation: X:192.93, Y:-105.29, Z:-0.48 [[-6.86101267e-01 -7.27452687e-01 8.81133512e-03 1.92927522e+02] [ 7.27392374e-01 -6.86157845e-01 -9.36729748e-03 -1.05288426e+02] [ 1.28602324e-02 -1.76166960e-05 9.99917304e-01 -4.79135585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.897628 meters 0.011986832519711827 Centerline is valid? [True, True] Translation: X:192.89, Y:-105.25, Z:-0.47 [[-6.84924278e-01 -7.28587876e-01 6.19998115e-03 1.92886314e+02] [ 7.28558096e-01 -6.84952339e-01 -6.58744085e-03 -1.05247709e+02] [ 9.04622113e-03 5.14828857e-06 9.99959082e-01 -4.74973258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.957628 meters 0.01213547126838547 Centerline is valid? [True, True] Translation: X:192.85, Y:-105.21, Z:-0.48 [[-6.84888466e-01 -7.28616111e-01 6.80823672e-03 1.92847524e+02] [ 7.28580240e-01 -6.84922304e-01 -7.22993730e-03 -1.05207628e+02] [ 9.93096197e-03 8.64607665e-06 9.99950687e-01 -4.76529256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.017628 meters 0.01222326764478259 Centerline is valid? [True, True] Translation: X:192.81, Y:-105.16, Z:-0.48 [[-6.85144952e-01 -7.28356957e-01 8.51693842e-03 1.92809418e+02] [ 7.28300862e-01 -6.85197886e-01 -9.03939728e-03 -1.05164256e+02] [ 1.24196961e-02 9.59618072e-06 9.99922873e-01 -4.78736975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.077628 meters 0.01459196371000196 Centerline is valid? [True, True] Translation: X:192.77, Y:-105.12, Z:-0.48 [[-6.85171925e-01 -7.28320067e-01 9.45057932e-03 1.92771727e+02] [ 7.28251083e-01 -6.85237097e-01 -1.00239681e-02 -1.05120553e+02] [ 1.37765446e-02 1.42531254e-05 9.99905099e-01 -4.80205858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.137628 meters 0.012454007480633538 Centerline is valid? [True, True] Translation: X:192.73, Y:-105.08, Z:-0.48 [[-6.82813224e-01 -7.30543891e-01 8.46898606e-03 1.92730421e+02] [ 7.30488737e-01 -6.82865741e-01 -8.97691011e-03 -1.05082559e+02] [ 1.23412073e-02 5.69459965e-05 9.99923843e-01 -4.78825819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.197628 meters 0.012796647620632207 Centerline is valid? [True, True] Translation: X:192.69, Y:-105.04, Z:-0.48 [[-6.80664205e-01 -7.32547390e-01 8.40015055e-03 1.92688297e+02] [ 7.32493341e-01 -6.80716029e-01 -8.89902827e-03 -1.05042402e+02] [ 1.22370771e-02 9.58043421e-05 9.99925120e-01 -4.78048819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.257628 meters 0.01258022564028112 Centerline is valid? [True, True] Translation: X:192.65, Y:-105.00, Z:-0.48 [[-6.82219249e-01 -7.31106011e-01 7.80369852e-03 1.92651406e+02] [ 7.31059311e-01 -6.82263876e-01 -8.26362258e-03 -1.04997860e+02] [ 1.13657657e-02 6.73640768e-05 9.99935405e-01 -4.76546966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.317628 meters 0.012416512772880585 Centerline is valid? [True, True] Translation: X:192.62, Y:-104.95, Z:-0.48 [[-6.88361876e-01 -7.25332388e-01 7.13128517e-03 1.92618447e+02] [ 7.25293127e-01 -6.88398814e-01 -7.54674687e-03 -1.04952015e+02] [ 1.03830682e-02 -2.26207169e-05 9.99946094e-01 -4.76182236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.377628 meters 0.013698566936467252 Centerline is valid? [True, True] Translation: X:192.58, Y:-104.91, Z:-0.48 [[-6.94947636e-01 -7.19035520e-01 5.97535693e-03 1.92583000e+02] [ 7.19007751e-01 -6.94973318e-01 -6.31993155e-03 -1.04907459e+02] [ 8.69696890e-03 -9.56935419e-05 9.99962176e-01 -4.75244101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.437628 meters 0.014677364365206738 Centerline is valid? [True, True] Translation: X:192.54, Y:-104.87, Z:-0.48 [[-6.97711950e-01 -7.16355987e-01 5.66878703e-03 1.92543011e+02] [ 7.16330935e-01 -6.97734968e-01 -5.99216864e-03 -1.04865978e+02] [ 8.24783682e-03 -1.20080156e-04 9.99965979e-01 -4.75601949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49762799999996 meters 0.015507032323062254 Centerline is valid? [True, True] Translation: X:192.50, Y:-104.82, Z:-0.48 [[-6.99015852e-01 -7.15083524e-01 5.69139437e-03 1.92504089e+02] [ 7.15058260e-01 -6.99039009e-01 -6.01240569e-03 -1.04824733e+02] [ 8.27787893e-03 -1.33088338e-04 9.99965729e-01 -4.75799263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.55762799999997 meters 0.01539347355401561 Centerline is valid? [True, True] Translation: X:192.46, Y:-104.79, Z:-0.48 [[-6.98361118e-01 -7.15725127e-01 5.41211158e-03 1.92463755e+02] [ 7.15702330e-01 -6.98382080e-01 -5.71359031e-03 -1.04786098e+02] [ 7.86908190e-03 -1.16688449e-04 9.99969031e-01 -4.76111668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.61762799999997 meters 0.013017928605505328 Centerline is valid? [True, True] Translation: X:192.42, Y:-104.75, Z:-0.48 [[-6.95857770e-01 -7.18157859e-01 5.59047067e-03 1.92416679e+02] [ 7.18133640e-01 -6.95880221e-01 -5.89856227e-03 -1.04751077e+02] [ 8.12639681e-03 -8.98553356e-05 9.99966976e-01 -4.75832047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.67762799999997 meters 0.013593389785160356 Centerline is valid? [True, True] Translation: X:192.38, Y:-104.71, Z:-0.48 [[-6.93604950e-01 -7.20326432e-01 6.48110012e-03 1.92375736e+02] [ 7.20294007e-01 -6.93635226e-01 -6.83495368e-03 -1.04712552e+02] [ 9.41891714e-03 -7.24601239e-05 9.99955638e-01 -4.78120060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.737628 meters 0.012106133999698933 Centerline is valid? [True, True] Translation: X:192.33, Y:-104.67, Z:-0.48 [[-6.91477922e-01 -7.22370880e-01 6.21246178e-03 1.92334847e+02] [ 7.22341204e-01 -6.91505828e-01 -6.54789987e-03 -1.04671733e+02] [ 9.02596571e-03 -4.02110762e-05 9.99959264e-01 -4.75810393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.797628 meters 0.011856632293605736 Centerline is valid? [True, True] Translation: X:192.29, Y:-104.63, Z:-0.47 [[-6.89951517e-01 -7.23845114e-01 3.89289630e-03 1.92294426e+02] [ 7.23833497e-01 -6.89962499e-01 -4.10106023e-03 -1.04632112e+02] [ 5.65448487e-03 -1.17239886e-05 9.99984013e-01 -4.74176139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.857628 meters 0.011715783545082157 Centerline is valid? [True, True] Translation: X:192.25, Y:-104.59, Z:-0.47 [[-6.88435408e-01 -7.25296824e-01 1.09850749e-03 1.92253706e+02] [ 7.25295902e-01 -6.88436284e-01 -1.15655555e-03 -1.04590525e+02] [ 1.59509848e-03 5.29191877e-07 9.99998728e-01 -4.71111181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.917628 meters 0.011800730485305458 Centerline is valid? [True, True] Translation: X:192.22, Y:-104.55, Z:-0.47 [[-6.87424029e-01 -7.26256234e-01 -2.95617734e-04 1.92215514e+02] [ 7.26256167e-01 -6.87424092e-01 3.11086614e-04 -1.04548026e+02] [-4.29143345e-04 -8.45788895e-07 9.99999908e-01 -4.69089915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.977628 meters 0.011952327760495719 Centerline is valid? [True, True] Translation: X:192.18, Y:-104.50, Z:-0.47 [[-6.86186898e-01 -7.27425280e-01 5.49274385e-05 1.92177259e+02] [ 7.27425278e-01 -6.86186900e-01 -5.77263051e-05 -1.04504524e+02] [ 7.96820624e-05 3.44573078e-07 9.99999997e-01 -4.69548504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.037628 meters 0.01194192647806901 Centerline is valid? [True, True] Translation: X:192.14, Y:-104.46, Z:-0.47 [[-6.85770990e-01 -7.27816729e-01 9.78747129e-04 1.92137061e+02] [ 7.27816003e-01 -6.85771688e-01 -1.02860461e-03 -1.04462581e+02] [ 1.41983272e-03 6.96062025e-06 9.99998992e-01 -4.72341798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.097628 meters 0.015006337229858628 Centerline is valid? [True, True] Translation: X:192.10, Y:-104.42, Z:-0.48 [[-6.88403054e-01 -7.25320591e-01 3.35797381e-03 1.92102956e+02] [ 7.25312014e-01 -6.88411244e-01 -3.52735077e-03 -1.04418062e+02] [ 4.87012707e-03 7.33970619e-06 9.99988141e-01 -4.77557896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.157628 meters 0.014642083086431718 Centerline is valid? [True, True] Translation: X:192.07, Y:-104.37, Z:-0.48 [[-6.91735413e-01 -7.22139136e-01 4.14559666e-03 1.92067356e+02] [ 7.22126023e-01 -6.91747835e-01 -4.35194784e-03 -1.04373170e+02] [ 6.01041937e-03 -1.67532069e-05 9.99981937e-01 -4.77301270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.217628 meters 0.014151582589989874 Centerline is valid? [True, True] Translation: X:192.02, Y:-104.33, Z:-0.48 [[-6.91622976e-01 -7.22251431e-01 3.24491569e-03 1.92023907e+02] [ 7.22243407e-01 -6.91630588e-01 -3.40445797e-03 -1.04334882e+02] [ 4.70315758e-03 -1.09823901e-05 9.99988940e-01 -4.76610879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.277628 meters 0.014952774099137367 Centerline is valid? [True, True] Translation: X:191.98, Y:-104.30, Z:-0.48 [[-6.90700549e-01 -7.23138556e-01 1.83835570e-03 1.91980892e+02] [ 7.23135987e-01 -6.90702996e-01 -1.92762286e-03 -1.04296215e+02] [ 2.66369620e-03 -2.02900704e-06 9.99996452e-01 -4.75956484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.337628 meters 0.014927322747466425 Centerline is valid? [True, True] Translation: X:191.94, Y:-104.26, Z:-0.47 [[-6.89813142e-01 -7.23986798e-01 9.72955954e-04 1.91939816e+02] [ 7.23986080e-01 -6.89813828e-01 -1.01959641e-03 -1.04255109e+02] [ 1.40933281e-03 1.07556457e-06 9.99999007e-01 -4.73991428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.397628 meters 0.011809356242300718 Centerline is valid? [True, True] Translation: X:191.90, Y:-104.21, Z:-0.47 [[-6.89846490e-01 -7.23955358e-01 6.78256731e-04 1.91901465e+02] [ 7.23955010e-01 -6.89846823e-01 -7.10274879e-04 -1.04214113e+02] [ 9.82100555e-04 1.04672629e-06 9.99999518e-01 -4.71824412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.457628 meters 0.011873585378931252 Centerline is valid? [True, True] Translation: X:191.86, Y:-104.17, Z:-0.47 [[-6.91884755e-01 -7.22007192e-01 1.04932891e-03 1.91862004e+02] [ 7.22006356e-01 -6.91885551e-01 -1.09818589e-03 -1.04171997e+02] [ 1.51891362e-03 -2.19593513e-06 9.99998846e-01 -4.73919959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.517628 meters 0.01189546258007595 Centerline is valid? [True, True] Translation: X:191.82, Y:-104.13, Z:-0.48 [[-6.93362537e-01 -7.20583704e-01 2.74186203e-03 1.91822908e+02] [ 7.20577997e-01 -6.93367958e-01 -2.86794479e-03 -1.04129635e+02] [ 3.96771356e-03 -1.28000244e-05 9.99992129e-01 -4.75488455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.577628 meters 0.011875427063524823 Centerline is valid? [True, True] Translation: X:191.78, Y:-104.09, Z:-0.48 [[-6.93840905e-01 -7.20120776e-01 3.29661241e-03 1.91783535e+02] [ 7.20112530e-01 -6.93848736e-01 -3.44623328e-03 -1.04087219e+02] [ 4.76905454e-03 -1.72057203e-05 9.99988628e-01 -4.75654094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.637628 meters 0.01215959802388893 Centerline is valid? [True, True] Translation: X:191.75, Y:-104.04, Z:-0.48 [[-6.95884023e-01 -7.18142182e-01 4.15120868e-03 1.91745871e+02] [ 7.18129086e-01 -6.95896404e-01 -4.33713533e-03 -1.04042589e+02] [ 6.00349102e-03 -3.70394877e-05 9.99981978e-01 -4.75994647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.697628 meters 0.012553903280286391 Centerline is valid? [True, True] Translation: X:191.71, Y:-104.00, Z:-0.48 [[-6.98674611e-01 -7.15427507e-01 4.15575505e-03 1.91706650e+02] [ 7.15414349e-01 -6.98686968e-01 -4.33942484e-03 -1.03999512e+02] [ 6.00811579e-03 -5.87591729e-05 9.99981949e-01 -4.76908429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.757628 meters 0.012728373309793378 Centerline is valid? [True, True] Translation: X:191.67, Y:-103.96, Z:-0.48 [[-7.00333759e-01 -7.13806537e-01 3.58530843e-03 1.91666229e+02] [ 7.13796733e-01 -7.00342933e-01 -3.74159728e-03 -1.03957909e+02] [ 5.18172202e-03 -6.11854421e-05 9.99986573e-01 -4.76042092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.817628 meters 0.01345678800780584 Centerline is valid? [True, True] Translation: X:191.63, Y:-103.92, Z:-0.48 [[-7.03298446e-01 -7.10886961e-01 3.32024934e-03 1.91626607e+02] [ 7.10878530e-01 -7.03306280e-01 -3.46299357e-03 -1.03915402e+02] [ 4.79694918e-03 -7.52240292e-05 9.99988492e-01 -4.75245525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.877628 meters 0.015785456331072773 Centerline is valid? [True, True] Translation: X:191.59, Y:-103.87, Z:-0.48 [[-7.05516960e-01 -7.08679990e-01 4.30005139e-03 1.91588705e+02] [ 7.08665820e-01 -7.05530055e-01 -4.48308302e-03 -1.03872949e+02] [ 6.21088672e-03 -1.15591658e-04 9.99980706e-01 -4.77006332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.937628 meters 0.013828029827208719 Centerline is valid? [True, True] Translation: X:191.55, Y:-103.83, Z:-0.48 [[-7.04782017e-01 -7.09411138e-01 4.25978776e-03 1.91546555e+02] [ 7.09397260e-01 -7.04794883e-01 -4.43856289e-03 -1.03832650e+02] [ 6.15104256e-03 -1.06337547e-04 9.99981077e-01 -4.75929096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99762799999996 meters 0.012986265025565805 Centerline is valid? [True, True] Translation: X:191.50, Y:-103.79, Z:-0.48 [[-7.01533783e-01 -7.12621456e-01 4.58380911e-03 1.91502474e+02] [ 7.12605472e-01 -7.01548754e-01 -4.77367263e-03 -1.03793750e+02] [ 6.61758711e-03 -8.24451703e-05 9.99978100e-01 -4.76864353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.05762799999997 meters 0.012010884385991483 Centerline is valid? [True, True] Translation: X:191.46, Y:-103.76, Z:-0.48 [[-6.97006944e-01 -7.17050141e-01 4.51842039e-03 1.91459129e+02] [ 7.17034719e-01 -6.97021588e-01 -4.70286828e-03 -1.03755180e+02] [ 6.52162892e-03 -3.80675548e-05 9.99978733e-01 -4.76833572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.11762799999997 meters 0.011827152525752302 Centerline is valid? [True, True] Translation: X:191.42, Y:-103.72, Z:-0.48 [[-6.94475356e-01 -7.19500994e-01 4.72226406e-03 1.91417324e+02] [ 7.19484227e-01 -6.94491411e-01 -4.91189318e-03 -1.03715350e+02] [ 6.81368385e-03 -1.35942553e-05 9.99976786e-01 -4.77163878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.17762799999997 meters 0.014969305242398232 Centerline is valid? [True, True] Translation: X:191.38, Y:-103.67, Z:-0.48 [[-6.91761093e-01 -7.22115158e-01 4.03599619e-03 1.91375568e+02] [ 7.22102969e-01 -6.91772866e-01 -4.19566729e-03 -1.03674711e+02] [ 5.82174760e-03 1.20054413e-05 9.99983053e-01 -4.78806593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.237628 meters 0.011857174176834486 Centerline is valid? [True, True] Translation: X:191.34, Y:-103.63, Z:-0.47 [[-6.90818545e-01 -7.23026141e-01 1.71404321e-03 1.91336298e+02] [ 7.23023948e-01 -6.90820671e-01 -1.78069974e-03 -1.03633260e+02] [ 2.47158894e-03 9.15388423e-06 9.99996946e-01 -4.74666571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.297628 meters 0.011893717156012042 Centerline is valid? [True, True] Translation: X:191.30, Y:-103.59, Z:-0.47 [[-6.90922219e-01 -7.22927046e-01 1.72405631e-03 1.91297986e+02] [ 7.22924830e-01 -6.90924370e-01 -1.79008126e-03 -1.03589157e+02] [ 2.48529068e-03 9.55619983e-06 9.99996912e-01 -4.74484762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.357628 meters 0.01194654297756947 Centerline is valid? [True, True] Translation: X:191.26, Y:-103.55, Z:-0.48 [[-6.91435994e-01 -7.22433223e-01 2.55042745e-03 1.91260275e+02] [ 7.22428376e-01 -6.91440698e-01 -2.64642692e-03 -1.03546146e+02] [ 3.67533606e-03 1.26663302e-05 9.99993246e-01 -4.75797376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.417628 meters 0.012105416776635548 Centerline is valid? [True, True] Translation: X:191.22, Y:-103.50, Z:-0.48 [[-6.90538950e-01 -7.23274087e-01 5.52760292e-03 1.91219777e+02] [ 7.23251370e-01 -6.90561072e-01 -5.73248156e-03 -1.03504798e+02] [ 7.96330277e-03 3.93445850e-05 9.99968292e-01 -4.80948090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.477628 meters 0.012428770054586041 Centerline is valid? [True, True] Translation: X:191.17, Y:-103.47, Z:-0.48 [[-6.88738850e-01 -7.24982244e-01 6.28833140e-03 1.91174848e+02] [ 7.24952948e-01 -6.88767553e-01 -6.51776826e-03 -1.03467903e+02] [ 9.05646488e-03 6.97041693e-05 9.99958987e-01 -4.84143152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.537628 meters 0.01264600704144259 Centerline is valid? [True, True] Translation: X:191.13, Y:-103.43, Z:-0.48 [[-6.88846606e-01 -7.24875586e-01 6.76300853e-03 1.91132555e+02] [ 7.24841741e-01 -6.88879800e-01 -7.00517989e-03 -1.03430733e+02] [ 9.73678384e-03 7.66164854e-05 9.99952593e-01 -4.84505119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.597628 meters 0.01216571175283512 Centerline is valid? [True, True] Translation: X:191.09, Y:-103.39, Z:-0.48 [[-6.92446604e-01 -7.21446864e-01 5.66763475e-03 1.91093820e+02] [ 7.21423005e-01 -6.92469798e-01 -5.86741880e-03 -1.03387467e+02] [ 8.15769679e-03 2.58878666e-05 9.99966725e-01 -4.81707570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.657628 meters 0.012435834829139512 Centerline is valid? [True, True] Translation: X:191.06, Y:-103.34, Z:-0.48 [[-6.98435848e-01 -7.15651950e-01 5.44549229e-03 1.91058172e+02] [ 7.15629775e-01 -6.98457075e-01 -5.63387078e-03 -1.03342522e+02] [ 7.83533322e-03 -3.79408914e-05 9.99969303e-01 -4.80962755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.717628 meters 0.01318586905669754 Centerline is valid? [True, True] Translation: X:191.02, Y:-103.30, Z:-0.48 [[-7.03280458e-01 -7.10893499e-01 5.19912867e-03 1.91021463e+02] [ 7.10873178e-01 -7.03299670e-01 -5.37576346e-03 -1.03297920e+02] [ 7.47814077e-03 -8.47482684e-05 9.99972035e-01 -4.82052305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.777628 meters 0.017214210502422958 Centerline is valid? [True, True] Translation: X:190.99, Y:-103.25, Z:-0.48 [[-7.08962376e-01 -7.05232274e-01 4.44851833e-03 1.90985582e+02] [ 7.05217303e-01 -7.08976322e-01 -4.59683487e-03 -1.03252393e+02] [ 6.39573047e-03 -1.21810868e-04 9.99979540e-01 -4.83393831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.837628 meters 0.014965713598574595 Centerline is valid? [True, True] Translation: X:190.95, Y:-103.21, Z:-0.48 [[-7.09581214e-01 -7.04612089e-01 4.03792509e-03 1.90947376e+02] [ 7.04599760e-01 -7.09592694e-01 -4.16976165e-03 -1.03210576e+02] [ 5.80334661e-03 -1.13663483e-04 9.99983154e-01 -4.79355678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.897628 meters 0.01345294548532714 Centerline is valid? [True, True] Translation: X:190.90, Y:-103.17, Z:-0.48 [[-7.04970060e-01 -7.09231267e-01 2.86799264e-03 1.90903002e+02] [ 7.09225092e-01 -7.04975891e-01 -2.95988944e-03 -1.03173127e+02] [ 4.12111181e-03 -5.25810922e-05 9.99991507e-01 -4.77961008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.957628 meters 0.012347764028749398 Centerline is valid? [True, True] Translation: X:190.86, Y:-103.14, Z:-0.48 [[-6.97314845e-01 -7.16758236e-01 3.10453888e-03 1.90857641e+02] [ 7.16751082e-01 -6.97321756e-01 -3.20233604e-03 -1.03135745e+02] [ 4.46016323e-03 -7.85485161e-06 9.99990053e-01 -4.78394662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.017628 meters 0.012404282546668054 Centerline is valid? [True, True] Translation: X:190.81, Y:-103.10, Z:-0.48 [[-6.93712036e-01 -7.20238861e-01 4.42651032e-03 1.90814224e+02] [ 7.20224406e-01 -6.93726159e-01 -4.56305833e-03 -1.03097683e+02] [ 6.35727793e-03 2.26322821e-05 9.99979792e-01 -4.79906560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.077628 meters 0.012598953657112222 Centerline is valid? [True, True] Translation: X:190.77, Y:-103.06, Z:-0.48 [[-6.91954363e-01 -7.21926243e-01 4.65398621e-03 1.90771822e+02] [ 7.21910323e-01 -6.91970013e-01 -4.79448218e-03 -1.03059613e+02] [ 6.68168140e-03 4.21978245e-05 9.99977676e-01 -4.80657391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.137628 meters 0.012413417664670582 Centerline is valid? [True, True] Translation: X:190.73, Y:-103.02, Z:-0.48 [[-6.94282393e-01 -7.19697737e-01 2.66943725e-03 1.90734388e+02] [ 7.19692490e-01 -6.94287524e-01 -2.74824522e-03 -1.03016122e+02] [ 3.83126284e-03 1.31156749e-05 9.99992661e-01 -4.77533003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.197628 meters 0.012410305486932621 Centerline is valid? [True, True] Translation: X:190.70, Y:-102.97, Z:-0.48 [[-6.97728879e-01 -7.16361446e-01 8.30697701e-04 1.90697463e+02] [ 7.16360936e-01 -6.97729374e-01 -8.54645796e-04 -1.02971691e+02] [ 1.19183748e-03 -1.23167065e-06 9.99999290e-01 -4.75537574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.257628 meters 0.012872612491853695 Centerline is valid? [True, True] Translation: X:190.66, Y:-102.93, Z:-0.48 [[-7.02366076e-01 -7.11815632e-01 -6.33040455e-04 1.90660468e+02] [ 7.11815334e-01 -7.02366362e-01 6.50982099e-04 -1.02926703e+02] [-9.08005555e-04 6.61983951e-06 9.99999588e-01 -4.75737404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.317628 meters 0.013183275321778744 Centerline is valid? [True, True] Translation: X:190.62, Y:-102.88, Z:-0.47 [[-7.04729209e-01 -7.09472104e-01 -2.46477343e-03 1.90623282e+02] [ 7.09467583e-01 -7.04733519e-01 2.53309138e-03 -1.02881775e+02] [-3.53416612e-03 3.64666415e-05 9.99993754e-01 -4.73362705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.377628 meters 0.01316220247960057 Centerline is valid? [True, True] Translation: X:190.59, Y:-102.84, Z:-0.47 [[-7.04455063e-01 -7.09736329e-01 -4.17223887e-03 1.90585423e+02] [ 7.09723395e-01 -7.04467416e-01 4.28511536e-03 -1.02838967e+02] [-5.98050838e-03 5.75356702e-05 9.99982115e-01 -4.70469814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.437628 meters 0.012894778883228495 Centerline is valid? [True, True] Translation: X:190.54, Y:-102.80, Z:-0.47 [[-7.01689474e-01 -7.12473999e-01 -3.56131504e-03 1.90544347e+02] [ 7.12464622e-01 -7.01698510e-01 3.65559876e-03 -1.02798986e+02] [-5.10348853e-03 2.77842005e-05 9.99986977e-01 -4.70873259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49762799999996 meters 0.012674918881018307 Centerline is valid? [True, True] Translation: X:190.50, Y:-102.76, Z:-0.47 [[-6.98231135e-01 -7.15868936e-01 -2.22453925e-03 1.90501563e+02] [ 7.15865298e-01 -6.98234679e-01 2.28213948e-03 -1.02759950e+02] [-3.18696321e-03 9.90388088e-07 9.99994922e-01 -4.73152749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.55762799999997 meters 0.012800053322667357 Centerline is valid? [True, True] Translation: X:190.46, Y:-102.72, Z:-0.48 [[-6.95226602e-01 -7.18790608e-01 -1.85578563e-04 1.90458656e+02] [ 7.18790583e-01 -6.95226626e-01 1.90297358e-04 -1.02721984e+02] [-2.65803112e-04 -1.09233726e-06 9.99999965e-01 -4.76486859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.61762799999997 meters 0.013034967150559297 Centerline is valid? [True, True] Translation: X:190.41, Y:-102.69, Z:-0.48 [[-6.92893728e-01 -7.21036935e-01 2.00494011e-03 1.90413076e+02] [ 7.21034009e-01 -6.92896629e-01 -2.05431091e-03 -1.02685414e+02] [ 2.87045029e-03 2.22108609e-05 9.99995880e-01 -4.80987075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.67762799999997 meters 0.012839317899227312 Centerline is valid? [True, True] Translation: X:190.37, Y:-102.65, Z:-0.48 [[-6.94451067e-01 -7.19539261e-01 9.83410508e-04 1.90368912e+02] [ 7.19538557e-01 -6.94451763e-01 -1.00702915e-03 -1.02646854e+02] [ 1.40752817e-03 8.26930811e-06 9.99999009e-01 -4.80799535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.737628 meters 0.012634466674818412 Centerline is valid? [True, True] Translation: X:190.33, Y:-102.60, Z:-0.48 [[-6.97706046e-01 -7.16383313e-01 -1.10599218e-03 1.90329892e+02] [ 7.16382419e-01 -6.97706922e-01 1.13190490e-03 -1.02604563e+02] [-1.58253619e-03 -2.57646316e-06 9.99998748e-01 -4.78267070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.797628 meters 0.012780185190306124 Centerline is valid? [True, True] Translation: X:190.29, Y:-102.56, Z:-0.48 [[-7.02011265e-01 -7.12162000e-01 -2.33882746e-03 1.90293270e+02] [ 7.12157982e-01 -7.02015160e-01 2.39218608e-03 -1.02558447e+02] [-3.34551636e-03 1.37269249e-05 9.99994404e-01 -4.75879232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.857628 meters 0.01308787293204977 Centerline is valid? [True, True] Translation: X:190.25, Y:-102.52, Z:-0.48 [[-7.05072606e-01 -7.09131225e-01 -2.35078494e-03 1.90254727e+02] [ 7.09127154e-01 -7.05076524e-01 2.40293722e-03 -1.02515573e+02] [-3.36148109e-03 2.72397704e-05 9.99994350e-01 -4.77256815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.917628 meters 0.014402813588810182 Centerline is valid? [True, True] Translation: X:190.22, Y:-102.47, Z:-0.48 [[-7.09103346e-01 -7.05103567e-01 1.18498692e-03 1.90216794e+02] [ 7.05102528e-01 -7.09104336e-01 -1.21072673e-03 -1.02473092e+02] [ 1.69396710e-03 -2.29931058e-05 9.99998565e-01 -4.83131431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.977628 meters 0.015316879895926215 Centerline is valid? [True, True] Translation: X:190.18, Y:-102.43, Z:-0.49 [[-7.08434551e-01 -7.05762958e-01 4.37421890e-03 1.90177465e+02] [ 7.05748830e-01 -7.08448051e-01 -4.46633191e-03 -1.02433141e+02] [ 6.25107848e-03 -7.70039728e-05 9.99980459e-01 -4.86864565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.037628 meters 0.013193309464616504 Centerline is valid? [True, True] Translation: X:190.13, Y:-102.40, Z:-0.48 [[-7.04682271e-01 -7.09510474e-01 4.21711429e-03 1.90132214e+02] [ 7.09497423e-01 -7.04694889e-01 -4.30350190e-03 -1.02395961e+02] [ 6.02515856e-03 -4.05697686e-05 9.99981848e-01 -4.84688362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.097628 meters 0.012822332970240885 Centerline is valid? [True, True] Translation: X:190.09, Y:-102.36, Z:-0.49 [[-6.98624880e-01 -7.15475021e-01 4.33261131e-03 1.90085255e+02] [ 7.15461377e-01 -6.98638315e-01 -4.41853421e-03 -1.02361812e+02] [ 6.18827912e-03 1.29181176e-05 9.99980852e-01 -4.85250564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.157628 meters 0.013773062121784389 Centerline is valid? [True, True] Translation: X:190.05, Y:-102.32, Z:-0.49 [[-6.98277954e-01 -7.15812626e-01 4.49259784e-03 1.90045059e+02] [ 7.15797980e-01 -6.98292406e-01 -4.57904995e-03 -1.02319200e+02] [ 6.41488873e-03 1.83428326e-05 9.99979424e-01 -4.85847088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.217628 meters 0.015085582456741162 Centerline is valid? [True, True] Translation: X:190.01, Y:-102.28, Z:-0.49 [[-7.00672956e-01 -7.13466682e-01 4.76469260e-03 1.90008109e+02] [ 7.13450176e-01 -7.00689156e-01 -4.85309944e-03 -1.02276720e+02] [ 6.80109319e-03 -1.06475158e-06 9.99976872e-01 -4.87264269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.277628 meters 0.01557827746561583 Centerline is valid? [True, True] Translation: X:189.97, Y:-102.23, Z:-0.49 [[-7.03481304e-01 -7.10703354e-01 3.84676247e-03 1.89971274e+02] [ 7.10692568e-01 -7.03491821e-01 -3.91566146e-03 -1.02232483e+02] [ 5.48903967e-03 -2.07291346e-05 9.99984935e-01 -4.86669795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.337628 meters 0.01299894010456145 Centerline is valid? [True, True] Translation: X:189.93, Y:-102.19, Z:-0.48 [[-7.04307464e-01 -7.09893629e-01 1.42517072e-03 1.89932762e+02] [ 7.09892149e-01 -7.04308906e-01 -1.44974069e-03 -1.02189600e+02] [ 2.03292211e-03 -9.34568129e-06 9.99997934e-01 -4.81199022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.397628 meters 0.013030577807172187 Centerline is valid? [True, True] Translation: X:189.89, Y:-102.15, Z:-0.48 [[-7.04955631e-01 -7.09251354e-01 -2.75026193e-04 1.89893835e+02] [ 7.09251298e-01 -7.04955685e-01 2.79648784e-04 -1.02146390e+02] [-3.92222557e-04 2.07730055e-06 9.99999923e-01 -4.79207181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.457628 meters 0.013208412615382765 Centerline is valid? [True, True] Translation: X:189.86, Y:-102.11, Z:-0.48 [[-7.05946540e-01 -7.08265001e-01 -4.12766465e-04 1.89855639e+02] [ 7.08264877e-01 -7.05946661e-01 4.19476113e-04 -1.02105637e+02] [-5.88491357e-04 3.77972087e-06 9.99999827e-01 -4.79360065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.517628 meters 0.013529412647352966 Centerline is valid? [True, True] Translation: X:189.82, Y:-102.06, Z:-0.48 [[-7.08754524e-01 -7.05455090e-01 -3.76079888e-04 1.89816502e+02] [ 7.05454986e-01 -7.08754623e-01 3.81983513e-04 -1.02062258e+02] [-5.36020573e-04 5.42511067e-06 9.99999856e-01 -4.79942861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.577628 meters 0.017161868562353317 Centerline is valid? [True, True] Translation: X:189.78, Y:-102.02, Z:-0.48 [[-7.12185548e-01 -7.01990117e-01 1.27330968e-03 1.89777175e+02] [ 7.01988927e-01 -7.12186686e-01 -1.29241713e-03 -1.02019888e+02] [ 1.81409825e-03 -2.65915010e-05 9.99998354e-01 -4.83445709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.637628 meters 0.015811497092217394 Centerline is valid? [True, True] Translation: X:189.74, Y:-101.98, Z:-0.48 [[-7.17316701e-01 -6.96747203e-01 2.91837235e-04 1.89737603e+02] [ 6.96747140e-01 -7.17316761e-01 -2.96022052e-04 -1.01977213e+02] [ 4.15592277e-04 -9.00480306e-06 9.99999914e-01 -4.80596426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.697628 meters 0.016872350337043263 Centerline is valid? [True, True] Translation: X:189.70, Y:-101.94, Z:-0.48 [[-7.19945095e-01 -6.94029844e-01 1.27885915e-03 1.89695378e+02] [ 6.94028634e-01 -7.19946230e-01 -1.29658973e-03 -1.01937550e+02] [ 1.82058179e-03 -4.59085507e-05 9.99998342e-01 -4.81970130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.757628 meters 0.019035171673833392 Centerline is valid? [True, True] Translation: X:189.65, Y:-101.90, Z:-0.48 [[-7.20382779e-01 -6.93572189e-01 2.50404829e-03 1.89651722e+02] [ 6.93567554e-01 -7.20387125e-01 -2.53734465e-03 -1.01899518e+02] [ 3.56371583e-03 -9.11327416e-05 9.99993646e-01 -4.84379163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.817628 meters 0.015976962387967378 Centerline is valid? [True, True] Translation: X:189.60, Y:-101.86, Z:-0.48 [[-7.19016579e-01 -6.94989792e-01 2.08521650e-03 1.89604926e+02] [ 6.94986586e-01 -7.19019599e-01 -2.11220097e-03 -1.01863490e+02] [ 2.96726964e-03 -6.95100214e-05 9.99995595e-01 -4.83933483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.877628 meters 0.01790724455638698 Centerline is valid? [True, True] Translation: X:189.56, Y:-101.83, Z:-0.49 [[-7.18222922e-01 -6.95804743e-01 3.40515281e-03 1.89562017e+02] [ 6.95796212e-01 -7.18230986e-01 -3.44702001e-03 -1.01825697e+02] [ 4.84413913e-03 -1.06436359e-04 9.99988261e-01 -4.86167908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.937628 meters 0.016966571381127206 Centerline is valid? [True, True] Translation: X:189.52, Y:-101.79, Z:-0.48 [[-7.16254995e-01 -6.97832396e-01 2.95457047e-03 1.89515233e+02] [ 6.97825998e-01 -7.16261085e-01 -2.98919715e-03 -1.01789887e+02] [ 4.20220245e-03 -7.92513030e-05 9.99991168e-01 -4.84664879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99762799999996 meters 0.015108334896920353 Centerline is valid? [True, True] Translation: X:189.47, Y:-101.75, Z:-0.48 [[-7.15709168e-01 -6.98397370e-01 1.22470981e-03 1.89473369e+02] [ 6.98396273e-01 -7.15710215e-01 -1.23821399e-03 -1.01752092e+02] [ 1.74130272e-03 -3.08683349e-05 9.99998483e-01 -4.82079902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.05762799999997 meters 0.015253555969163054 Centerline is valid? [True, True] Translation: X:189.43, Y:-101.71, Z:-0.48 [[-7.16497042e-01 -6.97588964e-01 -1.27521598e-03 1.89430265e+02] [ 6.97587775e-01 -7.16498176e-01 1.28853976e-03 -1.01713852e+02] [-1.81256104e-03 3.36598477e-05 9.99998357e-01 -4.79883436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.11762799999997 meters 0.015363260185129457 Centerline is valid? [True, True] Translation: X:189.39, Y:-101.67, Z:-0.48 [[-7.18014012e-01 -6.96027631e-01 -1.18956099e-03 1.89387861e+02] [ 6.96026595e-01 -7.18014997e-01 1.20130340e-03 -1.01674247e+02] [-1.69026299e-03 3.45865850e-05 9.99998571e-01 -4.79876647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.17762799999997 meters 0.015217244690704996 Centerline is valid? [True, True] Translation: X:189.34, Y:-101.64, Z:-0.48 [[-7.18900338e-01 -6.95112814e-01 -6.92720130e-04 1.89344398e+02] [ 6.95112462e-01 -7.18900672e-01 6.99166327e-04 -1.01635947e+02] [-9.83996440e-04 2.11125137e-05 9.99999516e-01 -4.81170017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.237628 meters 0.015985997667439425 Centerline is valid? [True, True] Translation: X:189.30, Y:-101.60, Z:-0.48 [[-7.19350324e-01 -6.94647468e-01 -7.41473938e-05 1.89304541e+02] [ 6.94647464e-01 -7.19350328e-01 7.48275641e-05 -1.01595791e+02] [-1.05316730e-04 2.32093335e-06 9.99999994e-01 -4.81933100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.297628 meters 0.016402184885401003 Centerline is valid? [True, True] Translation: X:189.26, Y:-101.56, Z:-0.48 [[-7.20906664e-01 -6.93031347e-01 1.06464401e-03 1.89261108e+02] [ 6.93030516e-01 -7.20907450e-01 -1.07345703e-03 -1.01556661e+02] [ 1.51144917e-03 -3.60315365e-05 9.99998857e-01 -4.84244833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.357628 meters 0.015567953139208852 Centerline is valid? [True, True] Translation: X:189.21, Y:-101.52, Z:-0.49 [[-7.20190383e-01 -6.93772609e-01 2.31915630e-03 1.89214485e+02] [ 6.93768677e-01 -7.20194113e-01 -2.33706441e-03 -1.01520504e+02] [ 3.29163399e-03 -7.41733178e-05 9.99994580e-01 -4.86438532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.417628 meters 0.015226113391139223 Centerline is valid? [True, True] Translation: X:189.17, Y:-101.48, Z:-0.49 [[-7.19316015e-01 -6.94676666e-01 2.96671675e-03 1.89171375e+02] [ 6.94670245e-01 -7.19322127e-01 -2.98792905e-03 -1.01481219e+02] [ 4.20966959e-03 -8.83753676e-05 9.99991135e-01 -4.87540019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.477628 meters 0.0169227414871796 Centerline is valid? [True, True] Translation: X:189.13, Y:-101.44, Z:-0.49 [[-7.17503368e-01 -6.96536956e-01 5.01860609e-03 1.89127354e+02] [ 6.96518648e-01 -7.17520908e-01 -5.05170837e-03 -1.01442550e+02] [ 7.11965637e-03 -1.29065042e-04 9.99974647e-01 -4.89657412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.537628 meters 0.014102166015008931 Centerline is valid? [True, True] Translation: X:189.08, Y:-101.41, Z:-0.49 [[-7.15454373e-01 -6.98640783e-01 5.10843227e-03 1.89084194e+02] [ 6.98621889e-01 -7.15472602e-01 -5.13926829e-03 -1.01405499e+02] [ 7.24544575e-03 -1.08049375e-04 9.99973746e-01 -4.90000423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.597628 meters 0.013954624630238287 Centerline is valid? [True, True] Translation: X:189.04, Y:-101.37, Z:-0.49 [[-7.14345229e-01 -6.99764604e-01 6.35558861e-03 1.89041939e+02] [ 6.99735438e-01 -7.14373492e-01 -6.38993337e-03 -1.01366196e+02] [ 9.01171321e-03 -1.17387833e-04 9.99959387e-01 -4.91683047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.657628 meters 0.013176847842507984 Centerline is valid? [True, True] Translation: X:189.00, Y:-101.33, Z:-0.49 [[-7.12100807e-01 -7.02049947e-01 6.18976753e-03 1.88999409e+02] [ 7.02022400e-01 -7.12127703e-01 -6.21966594e-03 -1.01326175e+02] [ 8.77442107e-03 -8.36736728e-05 9.99961501e-01 -4.91052304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.717628 meters 0.012905429001232305 Centerline is valid? [True, True] Translation: X:188.96, Y:-101.28, Z:-0.49 [[-7.11064935e-01 -7.03098233e-01 6.28757910e-03 1.88959114e+02] [ 7.03069882e-01 -7.11092730e-01 -6.31429985e-03 -1.01284503e+02] [ 8.91062485e-03 -6.92697126e-05 9.99960297e-01 -4.90531562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.777628 meters 0.01315529431809808 Centerline is valid? [True, True] Translation: X:188.92, Y:-101.24, Z:-0.49 [[-7.12053977e-01 -7.02104030e-01 5.39117619e-03 1.88920765e+02] [ 7.02083176e-01 -7.12074383e-01 -5.41182752e-03 -1.01241636e+02] [ 7.63858437e-03 -6.84592057e-05 9.99970823e-01 -4.91084242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.837628 meters 0.01308677329027501 Centerline is valid? [True, True] Translation: X:188.88, Y:-101.20, Z:-0.49 [[-7.13000433e-01 -7.01141618e-01 5.55098310e-03 1.88884649e+02] [ 7.01119505e-01 -7.13022037e-01 -5.56904847e-03 -1.01195521e+02] [ 7.86266493e-03 -7.88314518e-05 9.99969086e-01 -4.89916126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.897628 meters 0.012924144587427565 Centerline is valid? [True, True] Translation: X:188.85, Y:-101.15, Z:-0.49 [[-7.11848065e-01 -7.02309377e-01 5.81997235e-03 1.88845534e+02] [ 7.02285135e-01 -7.11871853e-01 -5.83560720e-03 -1.01152303e+02] [ 8.24147615e-03 -6.67856237e-05 9.99966036e-01 -4.90437965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.957628 meters 0.01264512298021105 Centerline is valid? [True, True] Translation: X:188.81, Y:-101.11, Z:-0.49 [[-7.09831613e-01 -7.04331883e-01 7.46188379e-03 1.88806995e+02] [ 7.04292195e-01 -7.09870831e-01 -7.47717885e-03 -1.01110030e+02] [ 1.05633891e-02 -5.21914141e-05 9.99944204e-01 -4.93517441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.017628 meters 0.01539210810710109 Centerline is valid? [True, True] Translation: X:188.77, Y:-101.07, Z:-0.50 [[-7.10475994e-01 -7.03659037e-01 9.37130074e-03 1.88767715e+02] [ 7.03596451e-01 -7.10537792e-01 -9.38511482e-03 -1.01067367e+02] [ 1.32625842e-02 -7.42848420e-05 9.99912045e-01 -4.96060944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.077628 meters 0.012932085011766415 Centerline is valid? [True, True] Translation: X:188.74, Y:-101.02, Z:-0.49 [[-7.12114825e-01 -7.02024020e-01 7.39941629e-03 1.88735200e+02] [ 7.01984963e-01 -7.12153262e-01 -7.40558856e-03 -1.01019668e+02] [ 1.04684195e-02 -7.93504366e-05 9.99945201e-01 -4.94051485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.137628 meters 0.017446255653313515 Centerline is valid? [True, True] Translation: X:188.70, Y:-100.97, Z:-0.49 [[-7.14508715e-01 -6.99578394e-01 8.20774105e-03 1.88700474e+02] [ 6.99530231e-01 -7.14555845e-01 -8.20977102e-03 -1.00973570e+02] [ 1.16082678e-02 -1.24389946e-04 9.99932614e-01 -4.94995702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.197628 meters 0.012772533607939372 Centerline is valid? [True, True] Translation: X:188.66, Y:-100.93, Z:-0.49 [[-7.14090667e-01 -7.00033331e-01 5.27784138e-03 1.88664337e+02] [ 7.00013450e-01 -7.14110167e-01 -5.27628471e-03 -1.00926946e+02] [ 7.46253535e-03 -7.31857134e-05 9.99972152e-01 -4.90262568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.257628 meters 0.01455430311769383 Centerline is valid? [True, True] Translation: X:188.14, Y:-101.46, Z:0.50 [[-7.51220972e-01 6.60019000e-01 6.47846116e-03 1.88135710e+02] [ 6.59995023e-01 7.51248905e-01 -5.62609419e-03 -1.01457387e+02] [-8.58026591e-03 4.93121780e-05 -9.99963188e-01 4.99667529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.317628 meters 0.012008245390213031 Centerline is valid? [True, True] Translation: X:188.15, Y:-101.44, Z:0.50 [[-7.98746563e-01 6.01640694e-01 5.69248254e-03 1.88152290e+02] [ 6.01625484e-01 7.98766847e-01 -4.27808362e-03 -1.01438906e+02] [-7.12083553e-03 7.63797495e-06 -9.99974647e-01 4.97629955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.377628 meters 0.015410552349806844 Centerline is valid? [True, True] Translation: X:188.17, Y:-101.41, Z:0.50 [[-8.44328210e-01 5.35756761e-01 8.63515719e-03 1.88167222e+02] [ 5.35727743e-01 8.44372362e-01 -5.57673359e-03 -1.01408328e+02] [-1.02790608e-02 -8.25002231e-05 -9.99947166e-01 5.00407072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.437628 meters 0.012806288354054864 Centerline is valid? [True, True] Translation: X:188.57, Y:-100.79, Z:-0.49 [[-7.94786081e-01 -6.06844709e-01 7.38813535e-03 1.88574780e+02] [ 6.06818630e-01 -7.94820419e-01 -5.62599389e-03 -1.00794815e+02] [ 9.28634546e-03 1.17965393e-05 9.99956881e-01 -4.91625356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49762799999996 meters 0.01273340749990816 Centerline is valid? [True, True] Translation: X:188.13, Y:-101.38, Z:0.50 [[-8.48237502e-01 5.29557758e-01 7.85635857e-03 1.88133329e+02] [ 5.29533840e-01 8.48273876e-01 -5.03420492e-03 -1.01375023e+02] [-9.33024601e-03 -1.09993681e-04 -9.99956466e-01 5.00641866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.55762799999997 meters 0.01205888029843419 Centerline is valid? [True, True] Translation: X:188.15, Y:-101.36, Z:0.50 [[-8.81238757e-01 4.72609000e-01 7.68024714e-03 1.88154762e+02] [ 4.72590460e-01 8.81272222e-01 -4.18660523e-03 -1.01360592e+02] [-8.74701578e-03 -5.97872609e-05 -9.99961742e-01 4.99775388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.61762799999997 meters 0.012141671206495567 Centerline is valid? [True, True] Translation: X:188.17, Y:-101.35, Z:0.50 [[-9.07976074e-01 4.18960179e-01 7.19843804e-03 1.88173582e+02] [ 4.18947291e-01 9.08004608e-01 -3.28633140e-03 -1.01350714e+02] [-7.91305690e-03 3.18558352e-05 -9.99968691e-01 4.99500837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.67762799999997 meters 0.01565193272527551 Centerline is valid? [True, True] Translation: X:188.50, Y:-100.67, Z:-0.49 [[-8.85818948e-01 -4.63967285e-01 7.69091121e-03 1.88495008e+02] [ 4.63949848e-01 -8.85852335e-01 -4.02238727e-03 -1.00669679e+02] [ 8.67926775e-03 5.09022543e-06 9.99962334e-01 -4.93566164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.737628 meters 0.014672849447412345 Centerline is valid? [True, True] Translation: X:188.14, Y:-101.34, Z:0.50 [[-9.04450206e-01 4.26505240e-01 7.94389070e-03 1.88137610e+02] [ 4.26490144e-01 9.04485080e-01 -3.59121333e-03 -1.01340343e+02] [-8.71680192e-03 1.39917452e-04 -9.99961998e-01 5.00934430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.797628 meters 0.014156739678936629 Centerline is valid? [True, True] Translation: X:188.15, Y:-101.32, Z:0.50 [[-9.32335074e-01 3.61476176e-01 9.28889783e-03 1.88150759e+02] [ 3.61459952e-01 9.32381332e-01 -3.42852255e-03 -1.01315484e+02] [-9.90012416e-03 1.61032734e-04 -9.99950980e-01 5.01313915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.857628 meters 0.01710988222383384 Centerline is valid? [True, True] Translation: X:188.16, Y:-101.29, Z:0.50 [[-9.55777474e-01 2.93882508e-01 1.10676040e-02 1.88163583e+02] [ 2.93864994e-01 9.55841534e-01 -3.21347642e-03 -1.01287378e+02] [-1.15232601e-02 1.81013008e-04 -9.99933589e-01 5.03210552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.917628 meters 0.01643517617178182 Centerline is valid? [True, True] Translation: X:188.17, Y:-101.26, Z:0.50 [[-9.74127539e-01 2.25799225e-01 9.49990824e-03 1.88170315e+02] [ 2.25790044e-01 9.74173848e-01 -2.04209755e-03 -1.01264460e+02] [-9.71566621e-03 1.55721236e-04 -9.99952790e-01 5.02962328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.977628 meters 0.019206422812254077 Centerline is valid? [True, True] Translation: X:188.17, Y:-101.24, Z:0.51 [[-9.87524469e-01 1.57124098e-01 1.03653330e-02 1.88174171e+02] [ 1.57117344e-01 9.87578850e-01 -1.46785889e-03 -1.01238614e+02] [-1.04672197e-02 1.79027027e-04 -9.99945201e-01 5.05267800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.037628 meters 0.016596979687302393 Centerline is valid? [True, True] Translation: X:188.28, Y:-100.49, Z:-0.49 [[-9.82000739e-01 -1.88622833e-01 9.79666922e-03 1.88283452e+02] [ 1.88611414e-01 -9.82049585e-01 -2.08505978e-03 -1.00493325e+02] [ 1.00141048e-02 -1.99766611e-04 9.99949838e-01 -4.92733453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.097628 meters 0.01447851366593966 Centerline is valid? [True, True] Translation: X:188.13, Y:-101.23, Z:0.50 [[-9.88013628e-01 1.54196690e-01 7.24241340e-03 1.88125110e+02] [ 1.54193517e-01 9.88040163e-01 -9.97801069e-04 -1.01232859e+02] [-7.30965294e-03 1.30892138e-04 -9.99973276e-01 4.96930811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.157628 meters 0.016237652527655962 Centerline is valid? [True, True] Translation: X:188.13, Y:-101.21, Z:0.50 [[-9.96327420e-01 8.55738211e-02 2.96522771e-03 1.88128350e+02] [ 8.55736076e-02 9.96331831e-01 -1.99049956e-04 -1.01207224e+02] [-2.97138422e-03 5.54263033e-05 -9.99995584e-01 4.95652829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.217628 meters 0.0148525664979177 Centerline is valid? [True, True] Translation: X:188.18, Y:-100.45, Z:-0.48 [[-9.93730850e-01 -1.11796013e-01 8.05292531e-04 1.88184890e+02] [ 1.11795853e-01 -9.93731165e-01 -2.40935704e-04 -1.00449700e+02] [ 8.27179937e-04 -1.49396877e-04 9.99999647e-01 -4.83244444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.277628 meters 0.017225269093490286 Centerline is valid? [True, True] Translation: X:188.07, Y:-101.20, Z:0.49 [[-9.96850868e-01 7.92989193e-02 1.66285024e-04 1.88069620e+02] [ 7.92989178e-02 9.96850882e-01 -1.52259512e-05 -1.01204760e+02] [-1.66968775e-04 -1.99178023e-06 -9.99999986e-01 4.93361110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.337628 meters 0.016711911413034 Centerline is valid? [True, True] Translation: X:188.07, Y:-101.18, Z:0.49 [[-9.99987656e-01 4.81553928e-03 1.22395983e-03 1.88068048e+02] [ 4.81555217e-03 9.99988405e-01 7.58758173e-06 -1.01175762e+02] [-1.22390910e-03 1.34815305e-05 -9.99999251e-01 4.94755666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.397628 meters 0.01278224187278162 Centerline is valid? [True, True] Translation: X:188.06, Y:-101.14, Z:0.49 [[-9.97343355e-01 -7.28128780e-02 2.12528178e-03 1.88061064e+02] [-7.28126845e-02 9.97345619e-01 1.68379127e-04 -1.01144604e+02] [-2.13190064e-03 1.31843316e-05 -9.99997727e-01 4.93454099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.457628 meters 0.012195463587550028 Centerline is valid? [True, True] Translation: X:188.05, Y:-101.12, Z:0.49 [[-9.88974942e-01 -1.48051280e-01 3.06311192e-03 1.88050869e+02] [-1.48050547e-01 9.88979686e-01 4.65980529e-04 -1.01115918e+02] [-3.09834448e-03 7.34766953e-06 -9.99995200e-01 4.94029247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.517628 meters 0.012164120700228284 Centerline is valid? [True, True] Translation: X:188.04, Y:-101.09, Z:0.50 [[-9.74343528e-01 -2.25008618e-01 5.08054918e-03 1.88036552e+02] [-2.25005670e-01 9.74356773e-01 1.15187764e-03 -1.01088756e+02] [-5.20944990e-03 -2.08278548e-05 -9.99986431e-01 4.95105981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.577628 meters 0.01250198262611084 Centerline is valid? [True, True] Translation: X:188.02, Y:-101.07, Z:0.50 [[-9.54581167e-01 -2.97909463e-01 4.97461609e-03 1.88016089e+02] [-2.97905640e-01 9.54594128e-01 1.50973954e-03 -1.01066618e+02] [-5.19850501e-03 -4.07972559e-05 -9.99986487e-01 4.95109511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.637628 meters 0.012729749900400843 Centerline is valid? [True, True] Translation: X:187.98, Y:-101.05, Z:0.49 [[-9.29883562e-01 -3.67836915e-01 3.54457249e-03 1.87983940e+02] [-3.67834401e-01 9.29890317e-01 1.36050840e-03 -1.01052455e+02] [-3.79650885e-03 -3.87013006e-05 -9.99992792e-01 4.93992106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.697628 meters 0.01250932101854396 Centerline is valid? [True, True] Translation: X:187.93, Y:-101.05, Z:0.49 [[-9.01226337e-01 -4.33345615e-01 1.63354701e-03 1.87927242e+02] [-4.33344938e-01 9.01227817e-01 7.65990103e-04 -1.01049681e+02] [-1.80413646e-03 -1.75588721e-05 -9.99998372e-01 4.92950221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.757628 meters 0.012532931801196844 Centerline is valid? [True, True] Translation: X:187.86, Y:-101.05, Z:0.49 [[-8.67325659e-01 -4.97739208e-01 1.37230136e-03 1.87864123e+02] [-4.97738610e-01 8.67326744e-01 7.71228929e-04 -1.01051682e+02] [-1.57410455e-03 -1.41407343e-05 -9.99998761e-01 4.92514150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.817628 meters 0.012401651628444255 Centerline is valid? [True, True] Translation: X:187.79, Y:-101.06, Z:0.49 [[-8.29141663e-01 -5.59024583e-01 3.95212231e-03 1.87789176e+02] [-5.59018357e-01 8.29151081e-01 2.63827856e-03 -1.01063410e+02] [-4.75176905e-03 -2.18022522e-05 -9.99988710e-01 4.94059955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.877628 meters 0.012379433803893947 Centerline is valid? [True, True] Translation: X:187.71, Y:-101.09, Z:0.50 [[-7.86624670e-01 -6.17415522e-01 4.43862702e-03 1.87711317e+02] [-6.17405761e-01 7.86637193e-01 3.47183219e-03 -1.01085168e+02] [-5.63515218e-03 -9.40504751e-06 -9.99984122e-01 4.95399850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.937628 meters 0.012864542269231236 Centerline is valid? [True, True] Translation: X:187.63, Y:-101.12, Z:0.50 [[-7.43557534e-01 -6.68653127e-01 5.01898354e-03 1.87631548e+02] [-6.68637464e-01 7.43574471e-01 4.57691320e-03 -1.01121063e+02] [-6.79235535e-03 4.73178710e-05 -9.99976931e-01 4.97218277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99762799999996 meters 0.017726629274185106 Centerline is valid? [True, True] Translation: X:187.55, Y:-101.17, Z:0.50 [[-6.97789700e-01 -7.16285477e-01 4.96484137e-03 1.87554606e+02] [-7.16266092e-01 6.97807352e-01 5.27116619e-03 -1.01168377e+02] [-7.24016260e-03 1.22017952e-04 -9.99973782e-01 5.00947728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.05762799999997 meters 0.0156803137215875 Centerline is valid? [True, True] Translation: X:187.47, Y:-101.22, Z:0.50 [[-6.44481760e-01 -7.64607117e-01 4.38389245e-03 1.87471594e+02] [-7.64587871e-01 6.44496653e-01 5.42693703e-03 -1.01224928e+02] [-6.97487869e-03 1.45690934e-04 -9.99975665e-01 4.96569558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.11762799999997 meters 0.015526640278867434 Centerline is valid? [True, True] Translation: X:187.39, Y:-101.29, Z:0.50 [[-5.83718107e-01 -8.11949059e-01 3.44916752e-03 1.87385287e+02] [-8.11933642e-01 5.83728285e-01 5.00508726e-03 -1.01289458e+02] [-6.07725253e-03 1.21064913e-04 -9.99981526e-01 4.96560919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.17762799999997 meters 0.014451774433366843 Centerline is valid? [True, True] Translation: X:187.30, Y:-101.37, Z:0.50 [[-5.15677866e-01 -8.56777540e-01 2.93001904e-03 1.87299359e+02] [-8.56762758e-01 5.15686183e-01 5.03360284e-03 -1.01370027e+02] [-5.82364819e-03 8.53863805e-05 -9.99983039e-01 4.95907937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.237628 meters 0.013067976052835438 Centerline is valid? [True, True] Translation: X:187.22, Y:-101.45, Z:0.50 [[-4.41966065e-01 -8.97027666e-01 2.71380581e-03 1.87222095e+02] [-8.97010123e-01 4.41974394e-01 5.61014724e-03 -1.01449837e+02] [-6.23188996e-03 4.51834105e-05 -9.99980581e-01 4.96849587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.297628 meters 0.014636922463043057 Centerline is valid? [True, True] Translation: X:187.15, Y:-101.55, Z:0.50 [[-3.69180249e-01 -9.29353674e-01 2.77365466e-03 1.87150644e+02] [-9.29326769e-01 3.69190667e-01 7.07159391e-03 -1.01545551e+02] [-7.59601919e-03 3.30612797e-05 -9.99971149e-01 4.99576188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.357628 meters 0.012343872497473913 Centerline is valid? [True, True] Translation: X:187.09, Y:-101.64, Z:0.49 [[-2.93169180e-01 -9.56058820e-01 1.83424747e-03 1.87087592e+02] [-9.56040049e-01 2.93174918e-01 5.99102061e-03 -1.01643104e+02] [-6.26552344e-03 2.76855901e-06 -9.99980371e-01 4.93979295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.417628 meters 0.012295879384418278 Centerline is valid? [True, True] Translation: X:187.03, Y:-101.74, Z:0.49 [[-2.17174627e-01 -9.76132641e-01 4.98776563e-04 1.87032089e+02] [-9.76130133e-01 2.17175200e-01 2.21285767e-03 -1.01742671e+02] [-2.26836450e-03 -6.29429379e-06 -9.99997427e-01 4.90002323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.477628 meters 0.012408259353597111 Centerline is valid? [True, True] Translation: X:186.98, Y:-101.85, Z:0.49 [[-1.41091893e-01 -9.89996485e-01 -1.93499003e-04 1.86984172e+02] [-9.89995515e-01 1.41092026e-01 -1.38571019e-03 -1.01851042e+02] [ 1.39914939e-03 -3.94932925e-06 -9.99999021e-01 4.87605499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.537628 meters 0.012499152235383604 Centerline is valid? [True, True] Translation: X:186.95, Y:-101.97, Z:0.49 [[-6.72851530e-02 -9.97733783e-01 -8.32404085e-05 1.86948024e+02] [-9.97732870e-01 6.72852040e-02 -1.34950160e-03 -1.01966002e+02] [ 1.35204418e-03 -7.74973001e-06 -9.99999086e-01 4.87696476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.597628 meters 0.012629070666180877 Centerline is valid? [True, True] Translation: X:186.92, Y:-102.08, Z:0.49 [[ 7.18029009e-03 -9.99974221e-01 1.46849235e-05 1.86919431e+02] [-9.99973888e-01 -7.18029969e-03 -8.16663761e-04 -1.02080705e+02] [ 8.16748150e-04 -8.82065737e-06 -9.99999666e-01 4.88431759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.657628 meters 0.01288626853465246 Centerline is valid? [True, True] Translation: X:186.18, Y:-102.19, Z:-0.48 [[-4.86586248e-02 9.98815464e-01 -8.62977844e-05 1.86176109e+02] [-9.98812716e-01 -4.86582878e-02 2.35128754e-03 -1.02194583e+02] [ 2.34430325e-03 2.00605743e-04 9.99997232e-01 -4.83838474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.717628 meters 0.013028518467078344 Centerline is valid? [True, True] Translation: X:186.92, Y:-102.36, Z:0.49 [[ 1.37988822e-02 -9.99904785e-01 -1.07461889e-04 1.86920269e+02] [-9.99890854e-01 -1.37992572e-02 5.27836999e-03 -1.02364534e+02] [-5.27935030e-03 3.46145539e-05 -9.99986064e-01 4.94584734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.777628 meters 0.012975041530717315 Centerline is valid? [True, True] Translation: X:186.90, Y:-102.49, Z:0.50 [[ 9.18633543e-02 -9.95771500e-01 -4.94398234e-04 1.86898623e+02] [-9.95758652e-01 -9.18646806e-02 5.05847536e-03 -1.02485083e+02] [-5.08250333e-03 2.76128039e-05 -9.99987084e-01 4.95355214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.837628 meters 0.015857378741005193 Centerline is valid? [True, True] Translation: X:186.89, Y:-102.61, Z:0.50 [[ 1.71755248e-01 -9.85139168e-01 -9.76658184e-04 1.86886564e+02] [-9.85123610e-01 -1.71758025e-01 5.53668462e-03 -1.02611179e+02] [-5.62215377e-03 1.11743934e-05 -9.99984196e-01 4.97036195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.897628 meters 0.012555470560314653 Centerline is valid? [True, True] Translation: X:186.88, Y:-102.73, Z:0.49 [[ 2.50230033e-01 -9.68185732e-01 -1.14871574e-03 1.86881993e+02] [-9.68175405e-01 -2.50232670e-01 4.47171744e-03 -1.02727231e+02] [-4.61689922e-03 -6.79967597e-06 -9.99989342e-01 4.92792880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.957628 meters 0.012713340705172504 Centerline is valid? [True, True] Translation: X:186.89, Y:-102.85, Z:0.49 [[ 3.27509057e-01 -9.44846595e-01 -1.65196014e-03 1.86885061e+02] [-9.44834168e-01 -3.27513222e-01 4.84610242e-03 -1.02848794e+02] [-5.11986216e-03 -2.63140497e-05 -9.99986893e-01 4.94796686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.017628 meters 0.012703512782536452 Centerline is valid? [True, True] Translation: X:186.90, Y:-102.97, Z:0.50 [[ 4.00740078e-01 -9.16188857e-01 -2.31683999e-03 1.86903891e+02] [-9.16172975e-01 -4.00746773e-01 5.39470439e-03 -1.02971566e+02] [-5.87103420e-03 -3.92480732e-05 -9.99982765e-01 4.96569199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.077628 meters 0.012608285496636598 Centerline is valid? [True, True] Translation: X:186.93, Y:-103.08, Z:0.50 [[ 4.68717357e-01 -8.83344399e-01 -2.59079098e-03 1.86929569e+02] [-8.83330549e-01 -4.68724516e-01 4.94657552e-03 -1.03081368e+02] [-5.58389703e-03 -3.00209894e-05 -9.99984409e-01 4.96704732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.137628 meters 0.012462003209415455 Centerline is valid? [True, True] Translation: X:186.97, Y:-103.19, Z:0.49 [[ 5.32365503e-01 -8.46512051e-01 -2.07809410e-03 1.86965952e+02] [-8.46505531e-01 -5.32369558e-01 3.32259053e-03 -1.03185335e+02] [-3.91892696e-03 -9.71443094e-06 -9.99992321e-01 4.94548563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.197628 meters 0.012475967400462992 Centerline is valid? [True, True] Translation: X:187.01, Y:-103.29, Z:0.49 [[ 5.95044877e-01 -8.03689249e-01 -2.27708807e-03 1.87009251e+02] [-8.03683323e-01 -5.95049234e-01 3.08641615e-03 -1.03293465e+02] [-3.83549898e-03 -6.49841233e-06 -9.99992644e-01 4.93342555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.257628 meters 0.012405819310639105 Centerline is valid? [True, True] Translation: X:187.05, Y:-103.39, Z:0.50 [[ 6.54213161e-01 -7.56301809e-01 -3.56570217e-03 1.87053890e+02] [-7.56290556e-01 -6.54222878e-01 4.12564787e-03 -1.03391789e+02] [-5.45299888e-03 -2.34625758e-06 -9.99985132e-01 4.95670364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.317628 meters 0.012373059893071177 Centerline is valid? [True, True] Translation: X:187.11, Y:-103.49, Z:0.50 [[ 7.09143919e-01 -7.05045301e-01 -5.10156935e-03 1.87108468e+02] [-7.05027139e-01 -7.09162269e-01 5.06062364e-03 -1.03486271e+02] [-7.18580941e-03 8.03436512e-06 -9.99974182e-01 4.97115634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.377628 meters 0.012755101818115464 Centerline is valid? [True, True] Translation: X:187.13, Y:-103.51, Z:0.50 [[ 7.59709359e-01 -6.50228561e-01 -6.67142473e-03 1.87128968e+02] [-6.50203983e-01 -7.59738650e-01 5.65368984e-03 -1.03509765e+02] [-8.74472982e-03 4.26258458e-05 -9.99961763e-01 4.99170145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.437628 meters 0.01291627291267052 Centerline is valid? [True, True] Translation: X:187.15, Y:-103.53, Z:0.50 [[ 8.07455971e-01 -5.89885557e-01 -7.06284809e-03 1.87149974e+02] [-5.89863573e-01 -8.07486858e-01 5.09299402e-03 -1.03532736e+02] [-8.70744063e-03 5.37483753e-05 -9.99962088e-01 4.97773077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49762799999996 meters 0.01273950931662664 Centerline is valid? [True, True] Translation: X:187.17, Y:-103.56, Z:0.49 [[ 8.51589507e-01 -5.24195094e-01 -3.84897131e-03 1.87171241e+02] [-5.24189850e-01 -8.51598205e-01 2.34481648e-03 -1.03556040e+02] [-4.50691836e-03 2.07705821e-05 -9.99989844e-01 4.93464860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.55762799999997 meters 0.012706360339262389 Centerline is valid? [True, True] Translation: X:187.19, Y:-103.58, Z:0.49 [[ 8.90733672e-01 -4.54524563e-01 -9.73223924e-04 1.87193035e+02] [-4.54524290e-01 -8.90734204e-01 4.98180053e-04 -1.03579418e+02] [-1.09331891e-03 -1.39183493e-06 -9.99999402e-01 4.88932645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.61762799999997 meters 0.012568710764232443 Centerline is valid? [True, True] Translation: X:187.22, Y:-103.60, Z:0.49 [[ 9.24461287e-01 -3.81274265e-01 -1.12421307e-03 1.87216979e+02] [-3.81273978e-01 -9.24461970e-01 4.67792299e-04 -1.03600744e+02] [-1.21764939e-03 -3.82268296e-06 -9.99999259e-01 4.89274706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.67762799999997 meters 0.012503844183242786 Centerline is valid? [True, True] Translation: X:187.24, Y:-103.62, Z:0.49 [[ 9.52449997e-01 -3.04668979e-01 -3.97699767e-03 1.87241394e+02] [-3.04666270e-01 -9.52458300e-01 1.28485017e-03 -1.03624245e+02] [-4.17937842e-03 -1.20984915e-05 -9.99991266e-01 4.93916305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.737628 meters 0.012592263570026624 Centerline is valid? [True, True] Translation: X:187.27, Y:-103.64, Z:0.50 [[ 9.73735383e-01 -2.27610833e-01 -5.71944698e-03 1.87269357e+02] [-2.27606759e-01 -9.73752180e-01 1.36202131e-03 -1.03642604e+02] [-5.87933477e-03 -2.44635542e-05 -9.99982716e-01 4.96115636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.797628 meters 0.012481317611459852 Centerline is valid? [True, True] Translation: X:187.30, Y:-103.66, Z:0.50 [[ 9.88509819e-01 -1.51006378e-01 -6.73882788e-03 1.87296743e+02] [-1.51002695e-01 -9.88532788e-01 1.05494229e-03 -1.03657344e+02] [-6.82085532e-03 -2.52396381e-05 -9.99976737e-01 4.98593698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.857628 meters 0.01244885028392243 Centerline is valid? [True, True] Translation: X:187.32, Y:-103.67, Z:0.50 [[ 9.97225619e-01 -7.38443559e-02 -9.38489435e-03 1.87324180e+02] [-7.38408427e-02 -9.97269778e-01 7.20769155e-04 -1.03665391e+02] [-9.41249624e-03 -2.57809587e-05 -9.99955701e-01 4.99206453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.917628 meters 0.012358455420089932 Centerline is valid? [True, True] Translation: X:187.35, Y:-103.67, Z:0.50 [[ 9.99956345e-01 3.57240150e-03 -8.63400073e-03 1.87351678e+02] [ 3.57241308e-03 -9.99993619e-01 -1.40812437e-05 -1.03670489e+02] [-8.63399594e-03 -1.67635882e-05 -9.99962726e-01 4.98846973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.977628 meters 0.012351425435876862 Centerline is valid? [True, True] Translation: X:187.38, Y:-103.67, Z:0.50 [[ 9.97008959e-01 7.70370519e-02 -6.19900263e-03 1.87379444e+02] [ 7.70354607e-02 -9.97028230e-01 -4.95408827e-04 -1.03671493e+02] [-6.21874546e-03 1.63840153e-05 -9.99980663e-01 4.96369430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.037628 meters 0.014477687606434152 Centerline is valid? [True, True] Translation: X:187.41, Y:-103.67, Z:0.50 [[ 9.88500893e-01 1.51097102e-01 -5.97071679e-03 1.87406789e+02] [ 1.51094109e-01 -9.88518925e-01 -9.51834503e-04 -1.03671588e+02] [-6.04598597e-03 3.87491248e-05 -9.99981722e-01 4.98127379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.097628 meters 0.013308317356472657 Centerline is valid? [True, True] Translation: X:187.43, Y:-103.67, Z:0.50 [[ 9.74366770e-01 2.24925653e-01 -4.22463609e-03 1.87432482e+02] [ 2.24923361e-01 -9.74375928e-01 -1.01621235e-03 -1.03665584e+02] [-4.34495593e-03 3.99441970e-05 -9.99990560e-01 4.95260637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.157628 meters 0.013484159263656205 Centerline is valid? [True, True] Translation: X:187.46, Y:-103.66, Z:0.50 [[ 9.53980767e-01 2.99848371e-01 -3.41316883e-03 1.87459237e+02] [ 2.99846323e-01 -9.53986873e-01 -1.10899705e-03 -1.03661460e+02] [-3.58864922e-03 3.45357328e-05 -9.99993560e-01 4.95618225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.217628 meters 0.012757300700000125 Centerline is valid? [True, True] Translation: X:187.49, Y:-103.66, Z:0.49 [[ 9.26811126e-01 3.75522207e-01 -2.05170649e-03 1.87488800e+02] [ 3.75521252e-01 -9.26813396e-01 -8.47026738e-04 -1.03663299e+02] [-2.21962641e-03 1.45744125e-05 -9.99997537e-01 4.93754914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.277628 meters 0.012485590256599384 Centerline is valid? [True, True] Translation: X:187.52, Y:-103.66, Z:0.49 [[ 8.93915611e-01 4.48233823e-01 -1.14903728e-03 1.87517359e+02] [ 4.48233447e-01 -8.93916349e-01 -5.80749417e-04 -1.03659122e+02] [-1.28745474e-03 4.10402799e-06 -9.99999171e-01 4.92433656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.337628 meters 0.012569088406766831 Centerline is valid? [True, True] Translation: X:187.54, Y:-103.65, Z:0.49 [[ 8.55618354e-01 5.17607092e-01 -3.61924424e-04 1.87543421e+02] [ 5.17607047e-01 -8.55618430e-01 -2.15439816e-04 -1.03651300e+02] [-4.21182384e-04 -3.00037128e-06 -9.99999911e-01 4.91393501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.397628 meters 0.012126949618712033 Centerline is valid? [True, True] Translation: X:187.57, Y:-103.65, Z:0.49 [[ 8.10675159e-01 5.85495812e-01 -6.63034449e-04 1.87573394e+02] [ 5.85495619e-01 -8.10675431e-01 -4.75441790e-04 -1.03646465e+02] [-8.15874914e-04 -2.77491581e-06 -9.99999667e-01 4.92178983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.457628 meters 0.01192663845391338 Centerline is valid? [True, True] Translation: X:187.60, Y:-103.64, Z:0.49 [[ 7.60557278e-01 6.49267880e-01 -1.96121401e-03 1.87602272e+02] [ 6.49265732e-01 -7.60559807e-01 -1.67018065e-03 -1.03637825e+02] [-2.57601520e-03 -3.08099804e-06 -9.99996682e-01 4.94352850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.517628 meters 0.011687863213510992 Centerline is valid? [True, True] Translation: X:187.63, Y:-103.63, Z:0.50 [[ 7.07145976e-01 7.07064949e-01 -1.93037125e-03 1.87631038e+02] [ 7.07062330e-01 -7.07148610e-01 -1.92460959e-03 -1.03627559e+02] [-2.72588333e-03 -3.91287237e-06 -9.99996285e-01 4.95572937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.577628 meters 0.011692824739520753 Centerline is valid? [True, True] Translation: X:187.66, Y:-103.61, Z:0.49 [[ 6.48908797e-01 7.60863668e-01 -1.96272043e-03 1.87656672e+02] [ 7.60860217e-01 -6.48911765e-01 -2.29146593e-03 -1.03613321e+02] [-3.01712555e-03 -6.40348850e-06 -9.99995448e-01 4.93991102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.637628 meters 0.011615374820119343 Centerline is valid? [True, True] Translation: X:187.68, Y:-103.60, Z:0.49 [[ 5.86819493e-01 8.09717327e-01 -8.56300199e-04 1.87679382e+02] [ 8.09716482e-01 -5.86820117e-01 -1.16967009e-03 -1.03597067e+02] [-1.44959632e-03 -6.97517876e-06 -9.99998949e-01 4.91869595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.697628 meters 0.011550742664376671 Centerline is valid? [True, True] Translation: X:187.70, Y:-103.58, Z:0.49 [[ 5.22582757e-01 8.52588487e-01 -3.65153168e-04 1.87702980e+02] [ 8.52588286e-01 -5.22582885e-01 -5.85160399e-04 -1.03579343e+02] [-6.89723815e-04 -5.53057929e-06 -9.99999762e-01 4.91411355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.757628 meters 0.011505996862072597 Centerline is valid? [True, True] Translation: X:187.72, Y:-103.56, Z:0.49 [[ 4.54700302e-01 8.90644108e-01 -8.41509623e-04 1.87723565e+02] [ 8.90642599e-01 -4.54701081e-01 -1.63930375e-03 -1.03559465e+02] [-1.84267156e-03 -4.09240517e-06 -9.99998302e-01 4.92609298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.817628 meters 0.011875000398510225 Centerline is valid? [True, True] Translation: X:187.74, Y:-103.54, Z:0.50 [[ 3.86601603e-01 9.22244176e-01 -2.20913261e-03 1.87738199e+02] [ 9.22228843e-01 -3.86607914e-01 -5.31802159e-03 -1.03537614e+02] [-5.75858259e-03 1.86298564e-05 -9.99983419e-01 4.95959307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.877628 meters 0.01229722083620908 Centerline is valid? [True, True] Translation: X:187.75, Y:-103.51, Z:0.50 [[ 3.17124744e-01 9.48380803e-01 -2.39755884e-03 1.87750608e+02] [ 9.48352266e-01 -3.17133802e-01 -7.35736970e-03 -1.03512988e+02] [-7.73793514e-03 5.94736235e-05 -9.99970060e-01 4.97087901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.937628 meters 0.016539380724168294 Centerline is valid? [True, True] Translation: X:187.76, Y:-103.49, Z:0.50 [[ 2.48544842e-01 9.68618216e-01 -2.05270526e-03 1.87758640e+02] [ 9.68580784e-01 -2.48553285e-01 -8.51646251e-03 -1.03488001e+02] [-8.75940736e-03 1.28511959e-04 -9.99961627e-01 4.97798641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99762799999996 meters 0.017144988450258133 Centerline is valid? [True, True] Translation: X:187.77, Y:-103.46, Z:0.49 [[ 1.76179793e-01 9.84357375e-01 -1.11271688e-03 1.87770724e+02] [ 9.84332697e-01 -1.76183257e-01 -6.97153098e-03 -1.03463022e+02] [-7.05852002e-03 1.32959278e-04 -9.99975079e-01 4.94961419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.05762799999997 meters 0.016153469577067543 Centerline is valid? [True, True] Translation: X:187.78, Y:-103.44, Z:0.49 [[ 1.05810537e-01 9.94386291e-01 -1.84881976e-04 1.87777968e+02] [ 9.94383721e-01 -1.05810684e-01 -2.26152355e-03 -1.03437720e+02] [-2.26839050e-03 5.54493935e-05 -9.99997426e-01 4.90826068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.11762799999997 meters 0.016776882886303104 Centerline is valid? [True, True] Translation: X:187.79, Y:-103.41, Z:0.49 [[ 3.05462109e-02 9.99533356e-01 -7.07263012e-06 1.87786486e+02] [ 9.99530942e-01 -3.05461527e-02 -2.19737576e-03 -1.03412020e+02] [-2.19656641e-03 6.00521909e-05 -9.99997586e-01 4.90304314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.17762799999997 meters 0.019485055567387555 Centerline is valid? [True, True] Translation: X:187.79, Y:-103.39, Z:0.49 [[-4.26534581e-02 9.99089905e-01 2.12685265e-04 1.87789697e+02] [ 9.99085978e-01 4.26538871e-02 -2.80267255e-03 -1.03387603e+02] [-2.80919370e-03 9.29471902e-05 -9.99996050e-01 4.91708283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.237628 meters 0.019856216109252846 Centerline is valid? [True, True] Translation: X:187.80, Y:-103.36, Z:0.50 [[-1.21400464e-01 9.92603366e-01 6.96246082e-04 1.87801808e+02] [ 9.92593368e-01 1.21402368e-01 -4.45758114e-03 -1.03360113e+02] [-4.50913597e-03 1.49936826e-04 -9.99989823e-01 4.95243052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.297628 meters 0.015375902767186676 Centerline is valid? [True, True] Translation: X:187.82, Y:-103.33, Z:0.50 [[-2.06947773e-01 9.78351135e-01 1.29476629e-03 1.87817434e+02] [ 9.78336014e-01 2.06951776e-01 -5.44124779e-03 -1.03329621e+02] [-5.59140514e-03 1.40662381e-04 -9.99984358e-01 4.95490960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.357628 meters 0.017688075881762137 Centerline is valid? [True, True] Translation: X:187.82, Y:-103.30, Z:0.50 [[-2.88238975e-01 9.57555636e-01 2.34468363e-03 1.87824354e+02] [ 9.57528113e-01 2.88248471e-01 -7.26169736e-03 -1.03299246e+02] [-7.62933070e-03 1.51996282e-04 -9.99970885e-01 4.99038998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.417628 meters 0.014173958872532547 Centerline is valid? [True, True] Translation: X:187.83, Y:-103.27, Z:0.50 [[-3.71333596e-01 9.28497268e-01 2.04525248e-03 1.87829227e+02] [ 9.28483970e-01 3.71339224e-01 -4.96960965e-03 -1.03268070e+02] [-5.37375145e-03 5.36011220e-05 -9.99985560e-01 4.95253908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.477628 meters 0.011184361952633387 Centerline is valid? [True, True] Translation: X:187.83, Y:-103.23, Z:0.49 [[-4.51568936e-01 8.92234008e-01 1.99285767e-03 1.87834947e+02] [ 8.92225322e-01 4.51573334e-01 -3.93682794e-03 -1.03234108e+02] [-4.41249315e-03 3.28867571e-07 -9.99990265e-01 4.94110641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.537628 meters 0.012992227991518107 Centerline is valid? [True, True] Translation: X:187.83, Y:-103.20, Z:0.50 [[-5.25041920e-01 8.51072417e-01 2.59303855e-03 1.87833978e+02] [ 8.51061773e-01 5.25048322e-01 -4.25663844e-03 -1.03201195e+02] [-4.98417810e-03 -2.80776350e-05 -9.99987579e-01 4.97399183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.597628 meters 0.012069482825849302 Centerline is valid? [True, True] Translation: X:187.83, Y:-103.17, Z:0.50 [[-5.95101846e-01 8.03645833e-01 2.67726889e-03 1.87826898e+02] [ 8.03637283e-01 5.95107866e-01 -3.70743243e-03 -1.03171002e+02] [-4.57272640e-03 -5.47467858e-05 -9.99989544e-01 4.96414438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.657628 meters 0.012383633233024294 Centerline is valid? [True, True] Translation: X:187.81, Y:-103.14, Z:0.50 [[-6.57014313e-01 7.53871557e-01 3.14142354e-03 1.87813353e+02] [ 7.53862478e-01 6.57021820e-01 -3.70033148e-03 -1.03144652e+02] [-4.85355847e-03 -6.29694092e-05 -9.99988219e-01 4.96486447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.717628 meters 0.011993768609526407 Centerline is valid? [True, True] Translation: X:187.79, Y:-103.12, Z:0.49 [[-7.11900941e-01 7.02272850e-01 3.14549566e-03 1.87792577e+02] [ 7.02265717e-01 7.11907889e-01 -3.16549902e-03 -1.03124367e+02] [-4.46234719e-03 -4.45479644e-05 -9.99990043e-01 4.94706473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.777628 meters 0.011428285097395298 Centerline is valid? [True, True] Translation: X:187.77, Y:-103.11, Z:0.49 [[-7.59368842e-01 6.50652855e-01 3.13424098e-03 1.87768493e+02] [ 6.50647273e-01 7.59375310e-01 -2.69524895e-03 -1.03108095e+02] [-4.13373664e-03 -7.40272716e-06 -9.99991456e-01 4.94180582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.837628 meters 0.011872527292516394 Centerline is valid? [True, True] Translation: X:188.24, Y:-102.58, Z:-0.49 [[-7.18318138e-01 -6.95705215e-01 3.64782509e-03 1.88235305e+02] [ 6.95696623e-01 -7.18327398e-01 -3.45813606e-03 -1.02580944e+02] [ 5.02617600e-03 5.37377402e-05 9.99987367e-01 -4.87841658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.897628 meters 0.013103250705078832 Centerline is valid? [True, True] Translation: X:187.73, Y:-103.10, Z:0.50 [[-7.52431074e-01 6.58649780e-01 5.28635845e-03 1.87731668e+02] [ 6.58634357e-01 7.52449639e-01 -4.50828459e-03 -1.03098358e+02] [-6.94709916e-03 8.96038878e-05 -9.99975865e-01 4.96054123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.957628 meters 0.015412424608421519 Centerline is valid? [True, True] Translation: X:187.75, Y:-103.09, Z:0.50 [[-7.91251003e-01 6.11458213e-01 6.38001883e-03 1.87753667e+02] [ 6.11440154e-01 7.91276704e-01 -4.70281961e-03 -1.03090617e+02] [-7.92393794e-03 1.79888964e-04 -9.99968589e-01 4.96765072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.017628 meters 0.018140200646045507 Centerline is valid? [True, True] Translation: X:187.78, Y:-103.08, Z:0.50 [[-8.26826220e-01 5.62416863e-01 6.75825926e-03 1.87776268e+02] [ 5.62400637e-01 8.26853798e-01 -4.28009503e-03 -1.03080459e+02] [-7.99528995e-03 2.61954518e-04 -9.99968003e-01 4.97697294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.077628 meters 0.019401745993945164 Centerline is valid? [True, True] Translation: X:187.79, Y:-103.06, Z:0.50 [[-8.62551023e-01 5.05922468e-01 6.94190852e-03 1.87792599e+02] [ 5.05908758e-01 8.62578908e-01 -3.73575744e-03 -1.03064105e+02] [-7.87794750e-03 2.89690921e-04 -9.99968927e-01 4.96743526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.137628 meters 0.021182564941763137 Centerline is valid? [True, True] Translation: X:187.80, Y:-103.04, Z:0.50 [[-8.96235000e-01 4.43474237e-01 9.66572630e-03 1.87801246e+02] [ 4.43453095e-01 8.96287035e-01 -4.34775556e-03 -1.03036505e+02] [-1.05913827e-02 3.89685545e-04 -9.99943834e-01 5.00644177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.197628 meters 0.021623670567409974 Centerline is valid? [True, True] Translation: X:187.82, Y:-103.01, Z:0.50 [[-9.26305475e-01 3.76613311e-01 1.09809427e-02 1.87815871e+02] [ 3.76591946e-01 9.26370473e-01 -4.03143057e-03 -1.03008889e+02] [-1.16907115e-02 4.00998380e-04 -9.99931581e-01 5.04082029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.257628 meters 0.01998814437186065 Centerline is valid? [True, True] Translation: X:188.08, Y:-102.31, Z:-0.50 [[-9.23637766e-01 -3.83105651e-01 1.11056975e-02 1.88080696e+02] [ 3.83072937e-01 -9.23704451e-01 -5.02111182e-03 -1.02305572e+02] [ 1.21819985e-02 -3.83396362e-04 9.99925723e-01 -4.96658804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.317628 meters 0.014693402686755048 Centerline is valid? [True, True] Translation: X:187.77, Y:-102.98, Z:0.50 [[-9.34285267e-01 3.56356381e-01 1.10076953e-02 1.87768415e+02] [ 3.56334034e-01 9.34350092e-01 -3.99525883e-03 -1.02981995e+02] [-1.17087771e-02 1.89705012e-04 -9.99931432e-01 5.01872684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.377628 meters 0.011834810030588717 Centerline is valid? [True, True] Translation: X:187.77, Y:-102.94, Z:0.50 [[-9.61355932e-01 2.75128717e-01 9.94795303e-03 1.87772899e+02] [ 2.75114136e-01 9.61407400e-01 -2.83246138e-03 -1.02943713e+02] [-1.03433271e-02 1.38189594e-05 -9.99946506e-01 4.99693454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.437628 meters 0.0125891485239133 Centerline is valid? [True, True] Translation: X:187.96, Y:-102.26, Z:-0.49 [[-9.37997111e-01 -3.46584783e-01 6.35682023e-03 1.87963770e+02] [ 3.46574922e-01 -9.38018614e-01 -2.62744012e-03 -1.02264523e+02] [ 6.87344646e-03 -2.61416763e-04 9.99976343e-01 -4.90120139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49762799999996 meters 0.012953254937379498 Centerline is valid? [True, True] Translation: X:187.72, Y:-102.92, Z:0.49 [[-9.66370144e-01 2.57112127e-01 4.70093490e-03 1.87722694e+02] [ 2.57108743e-01 9.66381576e-01 -1.32078328e-03 -1.02923811e+02] [-4.88248627e-03 -6.77140704e-05 -9.99988078e-01 4.93512845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.55762799999997 meters 0.012493259970953085 Centerline is valid? [True, True] Translation: X:187.92, Y:-102.25, Z:-0.48 [[-9.38803665e-01 -3.44449674e-01 1.44941350e-03 1.87921144e+02] [ 3.44448975e-01 -9.38804768e-01 -7.14642423e-04 -1.02245013e+02] [ 1.60687465e-03 -1.71659932e-04 9.99998694e-01 -4.82968929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.61762799999997 meters 0.011950634069424532 Centerline is valid? [True, True] Translation: X:187.68, Y:-102.92, Z:0.49 [[-9.65827515e-01 2.59184954e-01 6.09100003e-04 1.87677788e+02] [ 2.59184898e-01 9.65827707e-01 -1.70820762e-04 -1.02920817e+02] [-6.32559831e-04 -7.11387044e-06 -9.99999800e-01 4.91256606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.67762799999997 meters 0.011644702026753974 Centerline is valid? [True, True] Translation: X:187.69, Y:-102.90, Z:0.49 [[-9.80606597e-01 1.95956891e-01 3.40582059e-03 1.87688654e+02] [ 1.95955684e-01 9.80612511e-01 -6.87838600e-04 -1.02903096e+02] [-3.47457700e-03 -7.10916525e-06 -9.99993964e-01 4.94814560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.737628 meters 0.012930076043705488 Centerline is valid? [True, True] Translation: X:187.70, Y:-102.88, Z:0.50 [[-9.91440299e-01 1.30320701e-01 7.91505556e-03 1.87695483e+02] [ 1.30316730e-01 9.91471893e-01 -1.01762808e-03 -1.02884674e+02] [-7.98017313e-03 2.25466669e-05 -9.99968158e-01 4.99625219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.797628 meters 0.014464006546546268 Centerline is valid? [True, True] Translation: X:187.80, Y:-102.14, Z:-0.49 [[-9.81803680e-01 -1.89623289e-01 1.02245431e-02 1.87796071e+02] [ 1.89614286e-01 -9.81856911e-01 -1.85172935e-03 -1.02140421e+02] [ 1.03901693e-02 1.20684746e-04 9.99946013e-01 -4.92567207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.857628 meters 0.011991014868355005 Centerline is valid? [True, True] Translation: X:187.64, Y:-102.88, Z:0.50 [[-9.92141006e-01 1.24602403e-01 1.14221653e-02 1.87641839e+02] [ 1.24594288e-01 9.92206753e-01 -1.42213917e-03 -1.02876371e+02] [-1.15103515e-02 1.21739646e-05 -9.99933754e-01 5.00615951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.917628 meters 0.011857968570511164 Centerline is valid? [True, True] Translation: X:187.74, Y:-102.14, Z:-0.49 [[-9.81383542e-01 -1.91776973e-01 1.03892407e-02 1.87739332e+02] [ 1.91765451e-01 -9.81438530e-01 -2.10338030e-03 -1.02143978e+02] [ 1.05997810e-02 -7.19253766e-05 9.99943818e-01 -4.92713230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.977628 meters 0.015624436966866363 Centerline is valid? [True, True] Translation: X:187.59, Y:-102.86, Z:0.50 [[-9.93062229e-01 1.17020410e-01 1.15599440e-02 1.87590177e+02] [ 1.17012122e-01 9.93129510e-01 -1.39300584e-03 -1.02863123e+02] [-1.16435317e-02 -3.06878974e-05 -9.99932211e-01 5.03266330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.037628 meters 0.012965489242087243 Centerline is valid? [True, True] Translation: X:187.69, Y:-102.14, Z:-0.49 [[-9.82269056e-01 -1.87170804e-01 1.07047388e-02 1.87685188e+02] [ 1.87159495e-01 -9.82327384e-01 -2.05755177e-03 -1.02139328e+02] [ 1.09006717e-02 -1.75759241e-05 9.99940586e-01 -4.94560713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.097628 meters 0.014516039590181338 Centerline is valid? [True, True] Translation: X:187.54, Y:-102.86, Z:0.50 [[-9.92763371e-01 1.19451633e-01 1.23367764e-02 1.87543092e+02] [ 1.19443031e-01 9.92840020e-01 -1.43433516e-03 -1.02864892e+02] [-1.24197790e-02 4.95865650e-05 -9.99922870e-01 5.04314297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.157628 meters 0.015085434459776474 Centerline is valid? [True, True] Translation: X:187.55, Y:-102.84, Z:0.50 [[-9.98670821e-01 4.98027063e-02 1.32771111e-02 1.87547440e+02] [ 4.97992102e-02 9.98759073e-01 -5.94002108e-04 -1.02840652e+02] [-1.32902181e-02 6.79770718e-05 -9.99911679e-01 5.04774548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.217628 meters 0.012236140889025688 Centerline is valid? [True, True] Translation: X:187.58, Y:-102.10, Z:-0.50 [[-9.93714275e-01 -1.10994785e-01 1.45635542e-02 1.87579053e+02] [ 1.10983143e-01 -9.93820989e-01 -1.60768718e-03 -1.02099536e+02] [ 1.46520107e-02 1.87273132e-05 9.99892653e-01 -4.96815199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.277628 meters 0.012158593610043318 Centerline is valid? [True, True] Translation: X:187.48, Y:-102.83, Z:0.51 [[-9.99079171e-01 4.01143930e-02 1.52199056e-02 1.87480875e+02] [ 4.01097308e-02 9.99195094e-01 -6.11575445e-04 -1.02828483e+02] [-1.52321879e-02 -5.45973309e-07 -9.99883983e-01 5.05061488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.337628 meters 0.0166413900656673 Centerline is valid? [True, True] Translation: X:187.48, Y:-102.81, Z:0.51 [[-9.99558366e-01 -2.55184713e-02 1.52276054e-02 1.87478072e+02] [-2.55142584e-02 9.99674347e-01 4.70901246e-04 -1.02806873e+02] [-1.52346632e-02 8.21722203e-05 -9.99883942e-01 5.06556965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.397628 meters 0.014822218762480712 Centerline is valid? [True, True] Translation: X:187.49, Y:-102.79, Z:0.50 [[-9.96222702e-01 -8.58383681e-02 1.31188121e-02 1.87486343e+02] [-8.58281143e-02 9.96309053e-01 1.34366822e-03 -1.02789564e+02] [-1.31857296e-02 2.12629876e-04 -9.99913042e-01 5.01173721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.457628 meters 0.016085329449928524 Centerline is valid? [True, True] Translation: X:187.48, Y:-102.77, Z:0.50 [[-9.88858074e-01 -1.48330657e-01 1.25588526e-02 1.87478571e+02] [-1.48314668e-01 9.88937773e-01 2.20023162e-03 -1.02766112e+02] [-1.27462855e-02 3.13054754e-04 -9.99918714e-01 5.00765186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.517628 meters 0.01830170392658868 Centerline is valid? [True, True] Translation: X:187.46, Y:-102.74, Z:0.50 [[-9.76157310e-01 -2.16686489e-01 1.28012403e-02 1.87460949e+02] [-2.16663070e-01 9.76241179e-01 3.20546217e-03 -1.02742624e+02] [-1.31916783e-02 3.55479294e-04 -9.99912923e-01 5.02643259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.577628 meters 0.01889271529874013 Centerline is valid? [True, True] Translation: X:187.43, Y:-102.72, Z:0.50 [[-9.57447628e-01 -2.88289994e-01 1.35247869e-02 1.87426294e+02] [-2.88255915e-01 9.57543080e-01 4.44719300e-03 -1.02722829e+02] [-1.42326473e-02 3.59354586e-04 -9.99898646e-01 5.03097961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.637628 meters 0.015860674229961198 Centerline is valid? [True, True] Translation: X:187.37, Y:-102.71, Z:0.50 [[-9.31045944e-01 -3.64714210e-01 1.17044838e-02 1.87372774e+02] [-3.64682448e-01 9.31119486e-01 4.81812611e-03 -1.02707866e+02] [-1.26555120e-02 2.17476952e-04 -9.99919892e-01 4.99810751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.697628 meters 0.01563640931511498 Centerline is valid? [True, True] Translation: X:187.31, Y:-102.70, Z:0.50 [[-8.97134729e-01 -4.41629106e-01 1.06306224e-02 1.87305594e+02] [-4.41597039e-01 8.97197707e-01 5.32245241e-03 -1.02700925e+02] [-1.18883199e-02 8.05055464e-05 -9.99929328e-01 4.98008229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.757628 meters 0.011687242926585984 Centerline is valid? [True, True] Translation: X:187.23, Y:-102.71, Z:0.50 [[-8.58715108e-01 -5.12368345e-01 9.32970422e-03 1.87233630e+02] [-5.12338077e-01 8.58765789e-01 5.56912423e-03 -1.02705900e+02] [-1.08654738e-02 2.32839237e-06 -9.99940969e-01 4.95479645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.817628 meters 0.011656863687048949 Centerline is valid? [True, True] Translation: X:187.16, Y:-102.72, Z:0.49 [[-8.15562200e-01 -5.78623916e-01 7.25677669e-03 1.87156660e+02] [-5.78601445e-01 8.15594484e-01 5.09959130e-03 -1.02722337e+02] [-8.86933253e-03 -3.97475823e-05 -9.99960666e-01 4.93974862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.877628 meters 0.011720291260282675 Centerline is valid? [True, True] Translation: X:187.08, Y:-102.75, Z:0.49 [[-7.69243022e-01 -6.38926224e-01 6.20104605e-03 1.87076528e+02] [-6.38905936e-01 7.69268014e-01 5.09179924e-03 -1.02750789e+02] [-8.02355044e-03 -4.50540969e-05 -9.99967810e-01 4.93189349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.937628 meters 0.014664511272967574 Centerline is valid? [True, True] Translation: X:187.00, Y:-102.79, Z:0.50 [[-7.20303897e-01 -6.93634407e-01 5.79704710e-03 1.86998136e+02] [-6.93612261e-01 7.20327223e-01 5.54282630e-03 -1.02790593e+02] [-8.02046587e-03 -2.83835662e-05 -9.99967835e-01 4.95196285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99762799999996 meters 0.011601026322885946 Centerline is valid? [True, True] Translation: X:186.92, Y:-102.84, Z:0.49 [[-6.66919563e-01 -7.45121217e-01 3.55915083e-03 1.86917991e+02] [-7.45110701e-01 6.66929060e-01 3.95881168e-03 -1.02841964e+02] [-5.32349570e-03 -1.17524134e-05 -9.99985830e-01 4.90123424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.05762799999997 meters 0.01167763937517651 Centerline is valid? [True, True] Translation: X:186.84, Y:-102.90, Z:0.49 [[-6.09334378e-01 -7.92907043e-01 3.16817557e-03 1.86835695e+02] [-7.92896370e-01 6.09342614e-01 4.11407433e-03 -1.02902669e+02] [-5.19258290e-03 -5.18798653e-06 -9.99986518e-01 4.89461229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.11762799999997 meters 0.011841022170830353 Centerline is valid? [True, True] Translation: X:186.76, Y:-102.97, Z:0.49 [[-5.51040244e-01 -8.34471581e-01 3.43942247e-03 1.86757618e+02] [-8.34455054e-01 5.51050977e-01 5.25207692e-03 -1.02973133e+02] [-6.27800605e-03 2.40622890e-05 -9.99980293e-01 4.89168428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.17762799999997 meters 0.012227665747012461 Centerline is valid? [True, True] Translation: X:186.68, Y:-103.05, Z:0.49 [[-4.87947772e-01 -8.72864123e-01 3.89807191e-03 1.86681774e+02] [-8.72835393e-01 4.87963339e-01 7.08213183e-03 -1.03049452e+02] [-8.08385497e-03 5.33353238e-05 -9.99967324e-01 4.91285682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.237628 meters 0.014530120487774358 Centerline is valid? [True, True] Translation: X:186.61, Y:-103.13, Z:0.49 [[-4.22850423e-01 -9.06189753e-01 4.20136075e-03 1.86609930e+02] [-9.06142554e-01 4.22871282e-01 9.24937112e-03 -1.03133258e+02] [-1.01583201e-02 1.04068730e-04 -9.99948398e-01 4.94371372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.297628 meters 0.013069356817166132 Centerline is valid? [True, True] Translation: X:186.54, Y:-103.22, Z:0.49 [[-3.54336702e-01 -9.35114909e-01 2.36824194e-03 1.86541038e+02] [-9.35092360e-01 3.54344605e-01 6.49455502e-03 -1.03222537e+02] [-6.91232898e-03 8.67342646e-05 -9.99976106e-01 4.90521517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.357628 meters 0.013156060348553666 Centerline is valid? [True, True] Translation: X:186.48, Y:-103.32, Z:0.49 [[-2.82337374e-01 -9.59313496e-01 1.79538911e-03 1.86478113e+02] [-9.59292032e-01 2.82343068e-01 6.41793076e-03 -1.03319279e+02] [-6.66372326e-03 8.97192524e-05 -9.99977793e-01 4.91040284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.417628 meters 0.013093824127095957 Centerline is valid? [True, True] Translation: X:186.42, Y:-103.43, Z:0.49 [[-2.08148183e-01 -9.78096686e-01 1.09867987e-03 1.86423856e+02] [-9.78081020e-01 2.08151068e-01 5.53631930e-03 -1.03427198e+02] [-5.64374695e-03 7.77768750e-05 -9.99984071e-01 4.89808510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.477628 meters 0.013266076557956955 Centerline is valid? [True, True] Translation: X:186.38, Y:-103.54, Z:0.49 [[-1.32092901e-01 -9.91236950e-01 8.80430386e-04 1.86375899e+02] [-9.91209486e-01 1.32095796e-01 7.37938529e-03 -1.03537615e+02] [-7.43102051e-03 1.02073460e-04 -9.99972384e-01 4.92185539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.537628 meters 0.01305864806902171 Centerline is valid? [True, True] Translation: X:186.34, Y:-103.65, Z:0.49 [[-5.45440415e-02 -9.98511299e-01 3.65845359e-04 1.86335820e+02] [-9.98472664e-01 5.45451496e-02 8.78444785e-03 -1.03650067e+02] [-8.79132552e-03 1.13852698e-04 -9.99961349e-01 4.93481355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.597628 meters 0.012349630997980442 Centerline is valid? [True, True] Translation: X:186.31, Y:-103.76, Z:0.49 [[ 2.69184506e-02 -9.99637592e-01 -2.84924521e-04 1.86306291e+02] [-9.99604295e-01 -2.69198796e-02 8.15924821e-03 -1.03764172e+02] [-8.16396137e-03 6.51774552e-05 -9.99966672e-01 4.92363002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.657628 meters 0.013952527436615837 Centerline is valid? [True, True] Translation: X:186.29, Y:-103.89, Z:0.49 [[ 1.07416327e-01 -9.94213798e-01 -8.10109332e-04 1.86286730e+02] [-9.94187672e-01 -1.07419377e-01 7.20764873e-03 -1.03885913e+02] [-7.25296526e-03 3.11815578e-05 -9.99973696e-01 4.92813759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.717628 meters 0.01166522507755166 Centerline is valid? [True, True] Translation: X:186.28, Y:-104.01, Z:0.49 [[ 1.87272037e-01 -9.82307657e-01 -9.22700992e-04 1.86277019e+02] [-9.82295783e-01 -1.87274310e-01 4.82990989e-03 -1.04006276e+02] [-4.91725565e-03 1.85823278e-06 -9.99987910e-01 4.88481426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.777628 meters 0.011642645921449975 Centerline is valid? [True, True] Translation: X:186.28, Y:-104.13, Z:0.49 [[ 2.62889336e-01 -9.64825492e-01 -9.83304058e-04 1.86275723e+02] [-9.64818721e-01 -2.62891175e-01 3.61460404e-03 -1.04125402e+02] [-3.74596409e-03 -1.53069267e-06 -9.99992984e-01 4.88459073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.837628 meters 0.011633286071027888 Centerline is valid? [True, True] Translation: X:186.29, Y:-104.24, Z:0.49 [[ 3.34461455e-01 -9.42409265e-01 -5.57876194e-04 1.86287524e+02] [-9.42407960e-01 -3.34461921e-01 1.56873737e-03 -1.04243515e+02] [-1.66498097e-03 1.06478386e-06 -9.99998614e-01 4.86056994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.897628 meters 0.012089048478484686 Centerline is valid? [True, True] Translation: X:186.31, Y:-104.36, Z:0.49 [[ 4.01786512e-01 -9.15732966e-01 -8.57101867e-04 1.86310357e+02] [-9.15730944e-01 -4.01787426e-01 1.92423475e-03 -1.04359627e+02] [-2.10645794e-03 1.17431358e-05 -9.99997781e-01 4.85540181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.957628 meters 0.015936295892106666 Centerline is valid? [True, True] Translation: X:186.34, Y:-104.47, Z:0.49 [[ 4.65447590e-01 -8.85073596e-01 -1.80879020e-03 1.86335714e+02] [-8.85067304e-01 -4.65451102e-01 3.33747925e-03 -1.04466448e+02] [-3.79581815e-03 4.74793934e-05 -9.99992795e-01 4.89997596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.017628 meters 0.017500657243597628 Centerline is valid? [True, True] Translation: X:186.37, Y:-104.58, Z:0.49 [[ 5.26356764e-01 -8.50258187e-01 -3.09387198e-03 1.86371023e+02] [-8.50244719e-01 -5.26365845e-01 4.78699475e-03 -1.04575267e+02] [-5.69869002e-03 1.10881246e-04 -9.99983756e-01 4.93140992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.077628 meters 0.016780802961413984 Centerline is valid? [True, True] Translation: X:186.41, Y:-104.68, Z:0.49 [[ 5.88457862e-01 -8.08521488e-01 -3.21673365e-03 1.86414940e+02] [-8.08510445e-01 -5.88466643e-01 4.22738137e-03 -1.04682957e+02] [-5.31086913e-03 1.13126947e-04 -9.99985891e-01 4.91553824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.137628 meters 0.014422297316373126 Centerline is valid? [True, True] Translation: X:186.46, Y:-104.78, Z:0.48 [[ 6.48755608e-01 -7.60996008e-01 -1.11174451e-03 1.86460281e+02] [-7.60994978e-01 -6.48756560e-01 1.25259022e-03 -1.04779759e+02] [-1.67446770e-03 3.34070615e-05 -9.99998598e-01 4.84856800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.197628 meters 0.013911736077900179 Centerline is valid? [True, True] Translation: X:186.51, Y:-104.88, Z:0.48 [[ 7.06864913e-01 -7.07347658e-01 1.13377015e-03 1.86512689e+02] [-7.07346821e-01 -7.06865821e-01 -1.08875485e-03 -1.04877962e+02] [ 1.57155156e-03 -3.23661094e-05 -9.99998765e-01 4.82567817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.257628 meters 0.012966757327408892 Centerline is valid? [True, True] Translation: X:186.53, Y:-104.91, Z:0.48 [[ 7.63738390e-01 -6.45518223e-01 3.14579973e-03 1.86526601e+02] [-6.45513047e-01 -7.63744866e-01 -2.58572214e-03 -1.04908833e+02] [ 4.07171915e-03 -5.58395008e-05 -9.99991709e-01 4.80517970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.317628 meters 0.01228210042179414 Centerline is valid? [True, True] Translation: X:186.55, Y:-104.93, Z:0.48 [[ 8.15234833e-01 -5.79120077e-01 3.47919093e-03 1.86545050e+02] [-5.79114978e-01 -8.15242256e-01 -2.43032409e-03 -1.04934873e+02] [ 4.24383293e-03 -3.35667246e-05 -9.99990994e-01 4.79798441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.377628 meters 0.012073658212132726 Centerline is valid? [True, True] Translation: X:186.57, Y:-104.96, Z:0.48 [[ 8.59043985e-01 -5.11896106e-01 2.41002659e-03 1.86567661e+02] [-5.11894148e-01 -8.59047366e-01 -1.41585322e-03 -1.04959930e+02] [ 2.79509674e-03 -1.73983210e-05 -9.99996094e-01 4.82484497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.437628 meters 0.0121437286036605 Centerline is valid? [True, True] Translation: X:186.59, Y:-104.98, Z:0.48 [[ 8.96346071e-01 -4.43353714e-01 1.09785887e-03 1.86592945e+02] [-4.43353394e-01 -8.96346743e-01 -5.32551132e-04 -1.04979261e+02] [ 1.22017074e-03 -9.38934049e-06 -9.99999256e-01 4.84558023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49762799999996 meters 0.012272919175357062 Centerline is valid? [True, True] Translation: X:186.62, Y:-105.00, Z:0.49 [[ 9.27510878e-01 -3.73793071e-01 -1.52024683e-03 1.86618227e+02] [-3.73792586e-01 -9.27512124e-01 6.02577353e-04 -1.05002618e+02] [-1.63528661e-03 9.35994394e-06 -9.99998663e-01 4.87034744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.55762799999997 meters 0.012538576114411632 Centerline is valid? [True, True] Translation: X:186.65, Y:-105.02, Z:0.49 [[ 9.53240796e-01 -3.02202489e-01 -2.37520330e-03 1.86645111e+02] [-3.02201606e-01 -9.53243754e-01 7.30914798e-04 -1.05019322e+02] [-2.48503198e-03 2.10524479e-05 -9.99996912e-01 4.86548387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.61762799999997 meters 0.012994255658953742 Centerline is valid? [True, True] Translation: X:186.67, Y:-105.04, Z:0.49 [[ 9.73199847e-01 -2.29952046e-01 -2.02815082e-03 1.86673864e+02] [-2.29951598e-01 -9.73201961e-01 4.54500472e-04 -1.05035381e+02] [-2.07831367e-03 2.40567327e-05 -9.99997840e-01 4.86632209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.67762799999997 meters 0.017287221420251485 Centerline is valid? [True, True] Translation: X:186.70, Y:-105.04, Z:0.49 [[ 9.88159823e-01 -1.53405936e-01 -2.60433684e-03 1.86700672e+02] [-1.53405489e-01 -9.88163255e-01 3.71783324e-04 -1.05044594e+02] [-2.63054374e-03 3.21382237e-05 -9.99996540e-01 4.89208972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.737628 meters 0.012358555710828233 Centerline is valid? [True, True] Translation: X:186.73, Y:-105.06, Z:0.49 [[ 9.97497303e-01 -7.06644524e-02 -2.38010261e-03 1.86728237e+02] [-7.06642923e-02 -9.97500143e-01 1.51393492e-04 -1.05056334e+02] [-2.38485083e-03 1.71736663e-05 -9.99997156e-01 4.85574942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.797628 meters 0.011808222249959328 Centerline is valid? [True, True] Translation: X:186.76, Y:-105.07, Z:0.49 [[ 9.99899901e-01 1.28295229e-02 -5.96582392e-03 1.86756617e+02] [ 1.28291983e-02 -9.99917698e-01 -9.26819247e-05 -1.05072206e+02] [-5.96652199e-03 1.61359093e-05 -9.99982200e-01 4.90731178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.857628 meters 0.011720593062646265 Centerline is valid? [True, True] Translation: X:186.79, Y:-105.08, Z:0.49 [[ 9.95736685e-01 9.19290295e-02 -7.58341527e-03 1.86785405e+02] [ 9.19262508e-02 -9.95765561e-01 -7.14911101e-04 -1.05078440e+02] [-7.61702485e-03 1.47482751e-05 -9.99970990e-01 4.93622384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.917628 meters 0.011929363771509643 Centerline is valid? [True, True] Translation: X:186.81, Y:-105.07, Z:0.49 [[ 9.85781941e-01 1.67870795e-01 -7.30482572e-03 1.86813385e+02] [ 1.67865981e-01 -9.85809006e-01 -1.27169229e-03 -1.05073458e+02] [-7.41464297e-03 2.73795638e-05 -9.99972511e-01 4.92142209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.977628 meters 0.012026695408827011 Centerline is valid? [True, True] Translation: X:186.84, Y:-105.07, Z:0.49 [[ 9.69941546e-01 2.43216085e-01 -7.70274450e-03 1.86841796e+02] [ 2.43208085e-01 -9.69972131e-01 -1.97308956e-03 -1.05071508e+02] [-7.95133462e-03 4.04117969e-05 -9.99968387e-01 4.92572168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.037628 meters 0.01190658663487385 Centerline is valid? [True, True] Translation: X:186.87, Y:-105.07, Z:0.49 [[ 9.47647794e-01 3.19239683e-01 -7.04867373e-03 1.86870520e+02] [ 3.19230608e-01 -9.47674007e-01 -2.40732399e-03 -1.05067253e+02] [-7.44835823e-03 3.11428646e-05 -9.99972260e-01 4.91625539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.097628 meters 0.01188886063072755 Centerline is valid? [True, True] Translation: X:186.90, Y:-105.06, Z:0.49 [[ 9.19105841e-01 3.93945345e-01 -7.17764615e-03 1.86898732e+02] [ 3.93933161e-01 -9.19133867e-01 -3.09836871e-03 -1.05063402e+02] [-7.81780559e-03 2.02159468e-05 -9.99969440e-01 4.92817402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.157628 meters 0.011815326215284453 Centerline is valid? [True, True] Translation: X:186.93, Y:-105.06, Z:0.50 [[ 8.84049160e-01 4.67313016e-01 -8.69642228e-03 1.86927092e+02] [ 4.67290439e-01 -8.84091933e-01 -4.59352045e-03 -1.05058470e+02] [-9.83504868e-03 -2.85708547e-06 -9.99951635e-01 4.96753746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.217628 meters 0.011917922651350154 Centerline is valid? [True, True] Translation: X:186.95, Y:-105.05, Z:0.50 [[ 8.44730893e-01 5.35121364e-01 -8.65124786e-03 1.86953653e+02] [ 5.35093341e-01 -8.44775192e-01 -5.47638616e-03 -1.05049618e+02] [-1.02388908e-02 -3.15255215e-06 -9.99947581e-01 4.98498356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.277628 meters 0.011834472487729975 Centerline is valid? [True, True] Translation: X:186.98, Y:-105.04, Z:0.50 [[ 8.01042988e-01 5.98557283e-01 -7.70123787e-03 1.86980823e+02] [ 5.98529511e-01 -8.01080007e-01 -5.76589381e-03 -1.05038758e+02] [-9.62052543e-03 9.31066349e-06 -9.99953722e-01 4.96614754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.337628 meters 0.011951468324111363 Centerline is valid? [True, True] Translation: X:187.00, Y:-105.02, Z:0.49 [[ 7.51281088e-01 6.59935249e-01 -7.88632811e-03 1.87003647e+02] [ 6.59898846e-01 -7.51322479e-01 -6.93151339e-03 -1.05023771e+02] [-1.04995256e-02 3.33609736e-06 -9.99944878e-01 4.94213928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.397628 meters 0.012038938422371913 Centerline is valid? [True, True] Translation: X:187.03, Y:-105.02, Z:0.50 [[ 6.94615114e-01 7.19326388e-01 -8.91019438e-03 1.87034825e+02] [ 7.19268004e-01 -6.94672258e-01 -9.16474180e-03 -1.05016384e+02] [-1.27821055e-02 -4.28495520e-05 -9.99918305e-01 4.97186127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.457628 meters 0.01591311935393518 Centerline is valid? [True, True] Translation: X:187.06, Y:-105.00, Z:0.50 [[ 6.35243450e-01 7.72248163e-01 -9.92642559e-03 1.87059696e+02] [ 7.72155610e-01 -6.35320998e-01 -1.19558955e-02 -1.05002667e+02] [-1.55393850e-02 -6.98408748e-05 -9.99879254e-01 5.01484023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.517628 meters 0.0152123645281267 Centerline is valid? [True, True] Translation: X:187.08, Y:-104.98, Z:0.50 [[ 5.72261026e-01 8.20027429e-01 -8.50491043e-03 1.87080895e+02] [ 8.19938873e-01 -5.72324217e-01 -1.20513657e-02 -1.04983842e+02] [-1.47500167e-02 -7.69797519e-05 -9.99891210e-01 4.99981842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.577628 meters 0.014558823706068525 Centerline is valid? [True, True] Translation: X:187.10, Y:-104.96, Z:0.50 [[ 5.07568013e-01 8.61580863e-01 -7.28888359e-03 1.87102675e+02] [ 8.61493553e-01 -5.07620343e-01 -1.22656155e-02 -1.04964964e+02] [-1.42678052e-02 -5.36921352e-05 -9.99898208e-01 5.00288821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.637628 meters 0.011961277170046894 Centerline is valid? [True, True] Translation: X:187.12, Y:-104.94, Z:0.50 [[ 4.40162791e-01 8.97902418e-01 -5.28811096e-03 1.87121910e+02] [ 8.97838280e-01 -4.40194555e-01 -1.07320003e-02 -1.04943823e+02] [-1.19640867e-02 -2.40412375e-05 -9.99928427e-01 4.96034152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.697628 meters 0.011965764905346527 Centerline is valid? [True, True] Translation: X:187.14, Y:-104.92, Z:0.49 [[ 3.71171218e-01 9.28556442e-01 -3.85494373e-03 1.87136127e+02] [ 9.28506118e-01 -3.71191236e-01 -9.66720846e-03 -1.04922146e+02] [-1.04074700e-02 8.85070507e-06 -9.99945841e-01 4.94479253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.757628 meters 0.01203666855198523 Centerline is valid? [True, True] Translation: X:187.15, Y:-104.90, Z:0.50 [[ 2.97539183e-01 9.54703570e-01 -3.39523470e-03 1.87152372e+02] [ 9.54640933e-01 -2.97558554e-01 -1.09360308e-02 -1.04899454e+02] [-1.14509487e-02 1.26676383e-05 -9.99934436e-01 4.95332725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.817628 meters 0.012122983632376854 Centerline is valid? [True, True] Translation: X:187.17, Y:-104.88, Z:0.50 [[ 2.21002545e-01 9.75269245e-01 -2.78837147e-03 1.87165144e+02] [ 9.75191461e-01 -2.21020135e-01 -1.23172158e-02 -1.04876431e+02] [-1.26288880e-02 2.93999705e-06 -9.99920252e-01 4.98031763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.877628 meters 0.012038209498000768 Centerline is valid? [True, True] Translation: X:187.18, Y:-104.85, Z:0.50 [[ 1.43768009e-01 9.89609820e-01 -1.77883792e-03 1.87178359e+02] [ 9.89533999e-01 -1.43779014e-01 -1.22499062e-02 -1.04851538e+02] [-1.23783870e-02 9.24021071e-07 -9.99923385e-01 4.97779053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.937628 meters 0.01223767193050681 Centerline is valid? [True, True] Translation: X:187.19, Y:-104.83, Z:0.50 [[ 6.83053738e-02 9.97664132e-01 -8.09875347e-04 1.87188061e+02] [ 9.97588448e-01 -6.83101676e-02 -1.22886025e-02 -1.04827334e+02] [-1.23152207e-02 3.14552963e-05 -9.99924164e-01 4.98776545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99762799999996 meters 0.015186920001124407 Centerline is valid? [True, True] Translation: X:187.20, Y:-104.80, Z:0.50 [[-6.56091539e-03 9.99978465e-01 1.55290897e-04 1.87196972e+02] [ 9.99902236e-01 6.56233270e-03 -1.23472346e-02 -1.04800884e+02] [-1.23479878e-02 7.42665538e-05 -9.99923758e-01 5.00232639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.05762799999997 meters 0.012948723221846219 Centerline is valid? [True, True] Translation: X:187.20, Y:-104.77, Z:0.50 [[-7.99378021e-02 9.96799464e-01 8.81322521e-04 1.87203016e+02] [ 9.96752606e-01 7.99425903e-02 -9.66565730e-03 -1.04773858e+02] [-9.70517722e-03 1.05809119e-04 -9.99952898e-01 4.96794673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.11762799999997 meters 0.01609291822848683 Centerline is valid? [True, True] Translation: X:187.21, Y:-104.75, Z:0.50 [[-1.54069633e-01 9.88058849e-01 1.50284497e-03 1.87208091e+02] [ 9.88019737e-01 1.54076907e-01 -8.79238006e-03 -1.04746999e+02] [-8.91894263e-03 1.30201724e-04 -9.99960217e-01 4.98674457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.17762799999997 meters 0.016192552238065958 Centerline is valid? [True, True] Translation: X:187.21, Y:-104.72, Z:0.50 [[-2.29397117e-01 9.73330914e-01 1.97355618e-03 1.87209606e+02] [ 9.73299638e-01 2.29405569e-01 -7.80382152e-03 -1.04721150e+02] [-8.04844551e-03 1.30687354e-04 -9.99967602e-01 4.98291520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.237628 meters 0.013416117542873475 Centerline is valid? [True, True] Translation: X:187.21, Y:-104.69, Z:0.50 [[-3.07345277e-01 9.51594512e-01 2.60102004e-03 1.87212619e+02] [ 9.51563441e-01 3.07356263e-01 -7.69062238e-03 -1.04693445e+02] [-8.11779385e-03 1.11359117e-04 -9.99967044e-01 4.96785678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.297628 meters 0.012992604185005146 Centerline is valid? [True, True] Translation: X:187.21, Y:-104.67, Z:0.50 [[-3.82695344e-01 9.23868811e-01 3.27004035e-03 1.87212503e+02] [ 9.23837243e-01 3.82709302e-01 -7.63792087e-03 -1.04665524e+02] [-8.30791174e-03 9.79883048e-05 -9.99965484e-01 4.96674585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.357628 meters 0.012809402860408667 Centerline is valid? [True, True] Translation: X:187.21, Y:-104.64, Z:0.49 [[-4.54729953e-01 8.90623261e-01 3.29793630e-03 1.87206293e+02] [ 8.90601046e-01 4.54741906e-01 -6.29102323e-03 -1.04639870e+02] [-7.10264146e-03 7.64288223e-05 -9.99974773e-01 4.94087377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.417628 meters 0.01652075609303131 Centerline is valid? [True, True] Translation: X:187.20, Y:-104.61, Z:0.50 [[-5.21857853e-01 8.53027780e-01 2.82610791e-03 1.87199515e+02] [ 8.53015934e-01 5.21865501e-01 -4.49613244e-03 -1.04614271e+02] [-5.31017410e-03 6.43730538e-05 -9.99985899e-01 4.96486583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.477628 meters 0.016385544883775343 Centerline is valid? [True, True] Translation: X:187.19, Y:-104.59, Z:0.49 [[-5.85585006e-01 8.10607437e-01 2.40506734e-03 1.87188417e+02] [ 8.10600987e-01 5.85589942e-01 -3.23408302e-03 -1.04589774e+02] [-4.02995500e-03 5.57194365e-05 -9.99991878e-01 4.94794775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.537628 meters 0.014084177764265206 Centerline is valid? [True, True] Translation: X:187.18, Y:-104.57, Z:0.49 [[-6.46321633e-01 7.63064983e-01 4.23238815e-04 1.87175979e+02] [ 7.63064827e-01 6.46321771e-01 -4.87875921e-04 -1.04567850e+02] [-6.45829492e-04 7.63389089e-06 -9.99999791e-01 4.90635759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.597628 meters 0.01319864733146288 Centerline is valid? [True, True] Translation: X:187.16, Y:-104.54, Z:0.49 [[-7.05441609e-01 7.08767963e-01 -3.33465669e-04 1.87164128e+02] [ 7.08767889e-01 7.05441688e-01 3.22467407e-04 -1.04542621e+02] [ 4.63795151e-04 -8.86783147e-06 -9.99999892e-01 4.88466403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.657628 meters 0.012857030217786341 Centerline is valid? [True, True] Translation: X:187.69, Y:-104.02, Z:-0.48 [[-6.75102514e-01 -7.37723597e-01 -7.00400138e-04 1.87686389e+02] [ 7.37723225e-01 -6.75102877e-01 7.40259919e-04 -1.04018970e+02] [-1.01894936e-03 -1.69501164e-05 9.99999481e-01 -4.81068193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.717628 meters 0.012232719464001654 Centerline is valid? [True, True] Translation: X:187.64, Y:-103.98, Z:-0.48 [[-6.73281923e-01 -7.39385690e-01 -5.03598793e-04 1.87643558e+02] [ 7.39385476e-01 -6.73282111e-01 5.62961173e-04 -1.03979447e+02] [-7.55309494e-04 6.67794798e-06 9.99999715e-01 -4.82532786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.777628 meters 0.012297712941399485 Centerline is valid? [True, True] Translation: X:187.61, Y:-103.94, Z:-0.48 [[-6.72985489e-01 -7.39655652e-01 -2.18038769e-04 1.87606196e+02] [ 7.39655612e-01 -6.72985525e-01 2.43586543e-04 -1.03937836e+02] [-3.26907099e-04 2.65660950e-06 9.99999947e-01 -4.83189578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.837628 meters 0.015386517837983468 Centerline is valid? [True, True] Translation: X:187.57, Y:-103.89, Z:-0.49 [[-6.74412911e-01 -7.38353113e-01 1.38038364e-03 1.87569934e+02] [ 7.38351505e-01 -6.74414323e-01 -1.54108436e-03 -1.03893313e+02] [ 2.06881494e-03 -2.01188527e-05 9.99997860e-01 -4.85456435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.897628 meters 0.012440796079525808 Centerline is valid? [True, True] Translation: X:187.53, Y:-103.85, Z:-0.48 [[-6.75328107e-01 -7.37517380e-01 2.49326902e-04 1.87530290e+02] [ 7.37517328e-01 -6.75328153e-01 -2.78181026e-04 -1.03850898e+02] [ 3.73540817e-04 -3.98055523e-06 9.99999930e-01 -4.82969226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.957628 meters 0.012562332042449815 Centerline is valid? [True, True] Translation: X:187.49, Y:-103.81, Z:-0.48 [[-6.76558295e-01 -7.36388805e-01 -6.33564426e-04 1.87491761e+02] [ 7.36388466e-01 -6.76558592e-01 7.06522207e-04 -1.03807157e+02] [-9.48918499e-04 1.14539245e-05 9.99999550e-01 -4.82070193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.017628 meters 0.012422864198652633 Centerline is valid? [True, True] Translation: X:187.45, Y:-103.76, Z:-0.48 [[-6.75911241e-01 -7.36982844e-01 -5.31491378e-04 1.87452125e+02] [ 7.36982606e-01 -6.75911449e-01 5.92355387e-04 -1.03764252e+02] [-7.95796865e-04 8.67976345e-06 9.99999683e-01 -4.82262971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.077628 meters 0.012123282113193504 Centerline is valid? [True, True] Translation: X:187.41, Y:-103.72, Z:-0.48 [[-6.74560043e-01 -7.38219959e-01 -2.02348984e-04 1.87412763e+02] [ 7.38219925e-01 -6.74560073e-01 2.25396210e-04 -1.03722011e+02] [-3.02888526e-04 2.66522571e-06 9.99999954e-01 -4.83058765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.137628 meters 0.012065791327700536 Centerline is valid? [True, True] Translation: X:187.38, Y:-103.68, Z:-0.48 [[-6.74538305e-01 -7.38239841e-01 -1.10165989e-04 1.87375890e+02] [ 7.38239831e-01 -6.74538314e-01 1.22644487e-04 -1.03678358e+02] [-1.64852227e-04 1.39948325e-06 9.99999986e-01 -4.83769741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.197628 meters 0.012196642746775415 Centerline is valid? [True, True] Translation: X:187.34, Y:-103.63, Z:-0.49 [[-6.75127448e-01 -7.37700253e-01 1.12458464e-03 1.87338655e+02] [ 7.37699193e-01 -6.75128385e-01 -1.25101086e-03 -1.03634335e+02] [ 1.68211004e-03 -1.49865851e-05 9.99998585e-01 -4.85360560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.257628 meters 0.015061504108971694 Centerline is valid? [True, True] Translation: X:187.30, Y:-103.59, Z:-0.49 [[-6.75206413e-01 -7.37620948e-01 3.41120279e-03 1.87303162e+02] [ 7.37611201e-01 -6.75215029e-01 -3.79219598e-03 -1.03590776e+02] [ 5.10049858e-03 -4.43736567e-05 9.99986991e-01 -4.89223191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.317628 meters 0.011885905033064447 Centerline is valid? [True, True] Translation: X:187.26, Y:-103.55, Z:-0.49 [[-6.72557749e-01 -7.40033189e-01 4.11750363e-03 1.87263848e+02] [ 7.40019051e-01 -6.72570352e-01 -4.57448957e-03 -1.03548965e+02] [ 6.15458497e-03 -2.95772857e-05 9.99981060e-01 -4.90149715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.377628 meters 0.01506672913203578 Centerline is valid? [True, True] Translation: X:187.22, Y:-103.51, Z:-0.49 [[-6.71263082e-01 -7.41196991e-01 5.73552156e-03 1.87223740e+02] [ 7.41169632e-01 -6.71287584e-01 -6.36842411e-03 -1.03506339e+02] [ 8.57044120e-03 -2.38935943e-05 9.99963273e-01 -4.94412291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.437628 meters 0.01161638418127529 Centerline is valid? [True, True] Translation: X:187.18, Y:-103.47, Z:-0.49 [[-6.68658313e-01 -7.43549624e-01 5.47868055e-03 1.87183265e+02] [ 7.43524771e-01 -6.68680758e-01 -6.07934194e-03 -1.03465649e+02] [ 8.18378068e-03 8.53217408e-06 9.99966512e-01 -4.91593546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49762799999996 meters 0.011614017174491282 Centerline is valid? [True, True] Translation: X:187.14, Y:-103.42, Z:-0.49 [[-6.68575122e-01 -7.43630131e-01 4.64053052e-03 1.87144214e+02] [ 7.43612323e-01 -6.68591227e-01 -5.14634202e-03 -1.03422696e+02] [ 6.92959298e-03 1.00394291e-05 9.99975990e-01 -4.89208247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.55762799999997 meters 0.015034839584264189 Centerline is valid? [True, True] Translation: X:187.11, Y:-103.38, Z:-0.49 [[-6.70279216e-01 -7.42090173e-01 5.28664301e-03 1.87107743e+02] [ 7.42067039e-01 -6.70300064e-01 -5.85951138e-03 -1.03377033e+02] [ 7.89192295e-03 -4.46516585e-06 9.99968858e-01 -4.90953353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.61762799999997 meters 0.011701640161796869 Centerline is valid? [True, True] Translation: X:187.07, Y:-103.33, Z:-0.49 [[-6.72159639e-01 -7.40398375e-01 3.41564837e-03 1.87073556e+02] [ 7.40388706e-01 -6.72168317e-01 -3.78389436e-03 -1.03332323e+02] [ 5.09747985e-03 -1.44735889e-05 9.99987008e-01 -4.86797428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.67762799999997 meters 0.015857949483126233 Centerline is valid? [True, True] Translation: X:187.03, Y:-103.29, Z:-0.49 [[-6.74263410e-01 -7.38476658e-01 4.59129232e-03 1.87034240e+02] [ 7.38459162e-01 -6.74279041e-01 -5.08340174e-03 -1.03289579e+02] [ 6.84978570e-03 -3.70699082e-05 9.99976539e-01 -4.91107358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.737628 meters 0.011947074831675302 Centerline is valid? [True, True] Translation: X:187.00, Y:-103.25, Z:-0.49 [[-6.75028740e-01 -7.37781861e-01 3.75843413e-03 1.86995824e+02] [ 7.37770141e-01 -6.75039202e-01 -4.15862260e-03 -1.03247628e+02] [ 5.60524670e-03 -3.43292917e-05 9.99984290e-01 -4.88147286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.797628 meters 0.01238694157453701 Centerline is valid? [True, True] Translation: X:186.96, Y:-103.20, Z:-0.49 [[-6.77771715e-01 -7.35262898e-01 3.73825204e-03 1.86958221e+02] [ 7.35251278e-01 -6.77782022e-01 -4.13396221e-03 -1.03203071e+02] [ 5.57326906e-03 -5.33280597e-05 9.99984468e-01 -4.87469270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.857628 meters 0.012827402278004316 Centerline is valid? [True, True] Translation: X:186.92, Y:-103.16, Z:-0.48 [[-6.80549750e-01 -7.32696319e-01 2.85335815e-03 1.86922634e+02] [ 7.32689535e-01 -6.80555729e-01 -3.15360453e-03 -1.03157485e+02] [ 4.25250367e-03 -5.55591145e-05 9.99990957e-01 -4.84679166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.917628 meters 0.014248010671060459 Centerline is valid? [True, True] Translation: X:186.88, Y:-103.11, Z:-0.49 [[-6.82337965e-01 -7.31030694e-01 3.00442812e-03 1.86884256e+02] [ 7.31023164e-01 -6.82344576e-01 -3.31870272e-03 -1.03114358e+02] [ 4.47612878e-03 -6.81703113e-05 9.99989980e-01 -4.87462388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.977628 meters 0.01547182881302599 Centerline is valid? [True, True] Translation: X:186.84, Y:-103.07, Z:-0.49 [[-6.83364015e-01 -7.30068851e-01 3.61884166e-03 1.86843778e+02] [ 7.30057925e-01 -6.83373591e-01 -3.99509213e-03 -1.03072295e+02] [ 5.38971315e-03 -8.81381657e-05 9.99985472e-01 -4.88472440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.037628 meters 0.014555466303066974 Centerline is valid? [True, True] Translation: X:186.81, Y:-103.03, Z:-0.49 [[-6.82588746e-01 -7.30789697e-01 4.36149842e-03 1.86805450e+02] [ 7.30773859e-01 -6.82602674e-01 -4.81222004e-03 -1.03029193e+02] [ 6.49389130e-03 -9.74982141e-05 9.99978910e-01 -4.87157533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.097628 meters 0.016724608299447455 Centerline is valid? [True, True] Translation: X:186.77, Y:-102.99, Z:-0.49 [[-6.81272316e-01 -7.32015282e-01 4.65394001e-03 1.86765970e+02] [ 7.31997295e-01 -6.81288206e-01 -5.13235911e-03 -1.02988498e+02] [ 6.92763974e-03 -8.98626788e-05 9.99976000e-01 -4.88791917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.157628 meters 0.015619758607695648 Centerline is valid? [True, True] Translation: X:186.72, Y:-102.95, Z:-0.49 [[-6.78608605e-01 -7.34496730e-01 2.21699118e-03 1.86724134e+02] [ 7.34492666e-01 -6.78612225e-01 -2.44357633e-03 -1.02947362e+02] [ 3.29927615e-03 -2.98681629e-05 9.99994557e-01 -4.86103241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.217628 meters 0.011762597466694063 Centerline is valid? [True, True] Translation: X:186.69, Y:-102.90, Z:-0.48 [[-6.76115165e-01 -7.36795830e-01 -4.34050859e-04 1.86685579e+02] [ 7.36795675e-01 -6.76115304e-01 4.78153547e-04 -1.02903569e+02] [-6.45769968e-04 3.48006854e-06 9.99999791e-01 -4.80197392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.277628 meters 0.011626524238276573 Centerline is valid? [True, True] Translation: X:186.65, Y:-102.86, Z:-0.48 [[-6.74493792e-01 -7.38280294e-01 -5.75245049e-04 1.86647932e+02] [ 7.38280023e-01 -6.74494038e-01 6.33282823e-04 -1.02860859e+02] [-8.55539585e-04 2.45340544e-06 9.99999634e-01 -4.78553458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.337628 meters 0.011654764846693068 Centerline is valid? [True, True] Translation: X:186.61, Y:-102.82, Z:-0.48 [[-6.71333949e-01 -7.41154996e-01 2.68449124e-05 1.86607224e+02] [ 7.41154996e-01 -6.71333949e-01 -2.95230894e-05 -1.02819361e+02] [ 3.99030863e-05 7.63887586e-08 9.99999999e-01 -4.80021246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.397628 meters 0.011652909252920875 Centerline is valid? [True, True] Translation: X:186.57, Y:-102.78, Z:-0.48 [[-6.69988330e-01 -7.42370786e-01 1.11974082e-03 1.86567650e+02] [ 7.42369765e-01 -6.69989266e-01 -1.23117640e-03 -1.02777313e+02] [ 1.66420372e-03 6.38790584e-06 9.99998615e-01 -4.81951229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.457628 meters 0.011583036205947228 Centerline is valid? [True, True] Translation: X:186.53, Y:-102.73, Z:-0.48 [[-6.72135730e-01 -7.40424590e-01 2.23312927e-03 1.86530901e+02] [ 7.40420524e-01 -6.72139440e-01 -2.45383100e-03 -1.02733367e+02] [ 3.31785106e-03 4.14725245e-06 9.99994496e-01 -4.83200246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.517628 meters 0.01254417960972697 Centerline is valid? [True, True] Translation: X:186.49, Y:-102.69, Z:-0.49 [[-6.75446135e-01 -7.37400423e-01 3.62423135e-03 1.86492173e+02] [ 7.37389682e-01 -6.75455858e-01 -3.98013795e-03 -1.02689448e+02] [ 5.38296370e-03 -1.58979935e-05 9.99985512e-01 -4.85936091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.577628 meters 0.0139198240915662 Centerline is valid? [True, True] Translation: X:186.45, Y:-102.65, Z:-0.49 [[-6.80634249e-01 -7.32613162e-01 3.86971376e-03 1.86453388e+02] [ 7.32600852e-01 -6.80645247e-01 -4.24727523e-03 -1.02646260e+02] [ 5.74551201e-03 -5.58853883e-05 9.99983493e-01 -4.87120802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.637628 meters 0.012765888668363303 Centerline is valid? [True, True] Translation: X:186.41, Y:-102.60, Z:-0.48 [[-6.84146751e-01 -7.29340394e-01 2.41108606e-03 1.86413815e+02] [ 7.29335600e-01 -6.84150997e-01 -2.64482251e-03 -1.02603830e+02] [ 3.57852282e-03 -5.09558259e-05 9.99993596e-01 -4.84929545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.697628 meters 0.01402423238925262 Centerline is valid? [True, True] Translation: X:186.38, Y:-102.56, Z:-0.49 [[-6.87673461e-01 -7.26014601e-01 2.83023793e-03 1.86376988e+02] [ 7.26007975e-01 -6.87679280e-01 -3.10276571e-03 -1.02560252e+02] [ 4.19894919e-03 -7.89143280e-05 9.99991181e-01 -4.86323750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.757628 meters 0.013558749721906382 Centerline is valid? [True, True] Translation: X:186.34, Y:-102.52, Z:-0.49 [[-6.88986089e-01 -7.24768919e-01 2.86058170e-03 1.86336117e+02] [ 7.24762147e-01 -6.88992022e-01 -3.13429569e-03 -1.02517836e+02] [ 4.24255807e-03 -8.62447887e-05 9.99990997e-01 -4.86672605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.817628 meters 0.016624254101591157 Centerline is valid? [True, True] Translation: X:186.29, Y:-102.48, Z:-0.49 [[-6.89274648e-01 -7.24492015e-01 3.43223303e-03 1.86294442e+02] [ 7.24482273e-01 -6.89283185e-01 -3.75847773e-03 -1.02477355e+02] [ 5.08876762e-03 -1.04031429e-04 9.99987047e-01 -4.90258370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.877628 meters 0.014081561347897497 Centerline is valid? [True, True] Translation: X:186.25, Y:-102.44, Z:-0.49 [[-6.87099092e-01 -7.26561216e-01 1.90706214e-03 1.86254047e+02] [ 7.26558220e-01 -6.87101737e-01 -2.08714417e-03 -1.02436275e+02] [ 2.82678372e-03 -4.84831911e-05 9.99996003e-01 -4.88220454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.937628 meters 0.015454222444224003 Centerline is valid? [True, True] Translation: X:186.22, Y:-102.40, Z:-0.49 [[-6.83009850e-01 -7.30405320e-01 2.36926734e-03 1.86215084e+02] [ 7.30400723e-01 -6.83013958e-01 -2.59179626e-03 -1.02395432e+02] [ 3.51130444e-03 -3.97077979e-05 9.99993835e-01 -4.88943203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99762799999996 meters 0.011480276356196667 Centerline is valid? [True, True] Translation: X:186.17, Y:-102.36, Z:-0.49 [[-6.79179861e-01 -7.33971799e-01 3.39684890e-04 1.86173032e+02] [ 7.33971705e-01 -6.79179946e-01 -3.71362247e-04 -1.02355429e+02] [ 5.03276582e-04 -2.90266124e-06 9.99999873e-01 -4.86584414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.05762799999997 meters 0.011265731682964056 Centerline is valid? [True, True] Translation: X:186.13, Y:-102.31, Z:-0.49 [[-6.77229613e-01 -7.35771690e-01 2.67063702e-04 1.86132328e+02] [ 7.35771632e-01 -6.77229666e-01 -2.91798072e-04 -1.02313599e+02] [ 3.95560223e-04 -1.11639994e-06 9.99999922e-01 -4.88607265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.11762799999997 meters 0.011268535226374485 Centerline is valid? [True, True] Translation: X:186.10, Y:-102.27, Z:-0.49 [[-6.76780041e-01 -7.36185125e-01 4.87657663e-04 1.86097973e+02] [ 7.36184932e-01 -6.76780217e-01 -5.32471630e-04 -1.02269134e+02] [ 7.22034753e-04 -1.35994774e-06 9.99999739e-01 -4.88679334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.17762799999997 meters 0.014165633566102825 Centerline is valid? [True, True] Translation: X:186.06, Y:-102.23, Z:-0.49 [[-6.76377700e-01 -7.36554353e-01 9.44547417e-04 1.86060320e+02] [ 7.36553632e-01 -6.76378359e-01 -1.03070515e-03 -1.02225639e+02] [ 1.39804180e-03 -1.43614916e-06 9.99999023e-01 -4.90173442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.237628 meters 0.011256486292836805 Centerline is valid? [True, True] Translation: X:186.02, Y:-102.19, Z:-0.49 [[-6.74736743e-01 -7.38058413e-01 3.26677531e-04 1.86016577e+02] [ 7.38058327e-01 -6.74736822e-01 -3.56260405e-04 -1.02187569e+02] [ 4.83362348e-04 7.25086136e-07 9.99999883e-01 -4.89132662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.297628 meters 0.011385461501736744 Centerline is valid? [True, True] Translation: X:185.97, Y:-102.15, Z:-0.49 [[-6.79226446e-01 -7.33924469e-01 2.51163949e-03 1.85974211e+02] [ 7.33919362e-01 -6.79231090e-01 -2.73802137e-03 -1.02148809e+02] [ 3.71548450e-03 -1.63956758e-05 9.99993097e-01 -4.93550618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.357628 meters 0.014423222146546412 Centerline is valid? [True, True] Translation: X:185.94, Y:-102.10, Z:-0.49 [[-6.83139497e-01 -7.30284376e-01 2.27113371e-03 1.85938670e+02] [ 7.30280183e-01 -6.83143271e-01 -2.47481416e-03 -1.02104003e+02] [ 3.35882783e-03 -3.20793561e-05 9.99994359e-01 -4.94062114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.417628 meters 0.01226351902572924 Centerline is valid? [True, True] Translation: X:185.90, Y:-102.06, Z:-0.49 [[-6.84834703e-01 -7.28697523e-01 1.16179137e-03 1.85902842e+02] [ 7.28696425e-01 -6.84835688e-01 -1.26525380e-03 -1.02058507e+02] [ 1.71762350e-03 -1.98964957e-05 9.99998525e-01 -4.89801888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.477628 meters 0.014630970808574797 Centerline is valid? [True, True] Translation: X:185.86, Y:-102.02, Z:-0.50 [[-6.84861910e-01 -7.28668688e-01 2.47133620e-03 1.85861663e+02] [ 7.28663725e-01 -6.84866367e-01 -2.68988685e-03 -1.02018003e+02] [ 3.65257137e-03 -4.14280115e-05 9.99993328e-01 -4.96213241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.537628 meters 0.01524178746545451 Centerline is valid? [True, True] Translation: X:185.82, Y:-101.98, Z:-0.50 [[-6.83546397e-01 -7.29898363e-01 3.56397575e-03 1.85820393e+02] [ 7.29888068e-01 -6.83555687e-01 -3.87693463e-03 -1.01976934e+02] [ 5.26594413e-03 -4.87613244e-05 9.99986134e-01 -4.97418381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.597628 meters 0.011684613282485877 Centerline is valid? [True, True] Translation: X:185.78, Y:-101.94, Z:-0.49 [[-6.80944957e-01 -7.32325513e-01 3.64822584e-03 1.85781730e+02] [ 7.32314774e-01 -6.80954729e-01 -3.96591387e-03 -1.01936505e+02] [ 5.38861654e-03 -2.89193680e-05 9.99985481e-01 -4.92774632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.657628 meters 0.015316264190457523 Centerline is valid? [True, True] Translation: X:185.74, Y:-101.89, Z:-0.49 [[-6.80503034e-01 -7.32734975e-01 3.88309628e-03 1.85742056e+02] [ 7.32722830e-01 -6.80514112e-01 -4.21880848e-03 -1.01894731e+02] [ 5.73377034e-03 -2.56786761e-05 9.99983561e-01 -4.94360284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.717628 meters 0.011380496498948126 Centerline is valid? [True, True] Translation: X:185.70, Y:-101.86, Z:-0.49 [[-6.77925885e-01 -7.35125363e-01 2.68258563e-03 1.85700274e+02] [ 7.35119593e-01 -6.77931192e-01 -2.91254078e-03 -1.01856477e+02] [ 3.95969107e-03 -2.46552782e-06 9.99992160e-01 -4.92693337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.777628 meters 0.011387266239870167 Centerline is valid? [True, True] Translation: X:185.66, Y:-101.82, Z:-0.50 [[-6.77624570e-01 -7.35400173e-01 3.39520789e-03 1.85659897e+02] [ 7.35390946e-01 -6.77633076e-01 -3.68390050e-03 -1.01816104e+02] [ 5.00984623e-03 5.03655957e-07 9.99987451e-01 -4.95622653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.837628 meters 0.014461675629608678 Centerline is valid? [True, True] Translation: X:185.63, Y:-101.77, Z:-0.50 [[-6.80233395e-01 -7.32976297e-01 5.31754918e-03 1.85625022e+02] [ 7.32953615e-01 -6.80254178e-01 -5.76646055e-03 -1.01768948e+02] [ 7.84396395e-03 -2.50221454e-05 9.99969235e-01 -4.98768024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.897628 meters 0.01540657462157432 Centerline is valid? [True, True] Translation: X:185.59, Y:-101.73, Z:-0.50 [[-6.80539677e-01 -7.32691273e-01 5.40792507e-03 1.85585274e+02] [ 7.32667835e-01 -6.80561164e-01 -5.86061106e-03 -1.01728613e+02] [ 7.97444236e-03 -2.61656128e-05 9.99968203e-01 -4.99278689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.957628 meters 0.01172608875393999 Centerline is valid? [True, True] Translation: X:185.55, Y:-101.69, Z:-0.50 [[-6.82079563e-01 -7.31259574e-01 5.18697196e-03 1.85545656e+02] [ 7.31237997e-01 -6.82099284e-01 -5.61761425e-03 -1.01687314e+02] [ 7.64596407e-03 -3.87488875e-05 9.99970768e-01 -4.98070152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.017628 meters 0.01301733841120941 Centerline is valid? [True, True] Translation: X:185.51, Y:-101.64, Z:-0.50 [[-6.84305310e-01 -7.29179789e-01 4.80388729e-03 1.85508834e+02] [ 7.29161254e-01 -6.84322170e-01 -5.19944393e-03 -1.01642896e+02] [ 7.07873601e-03 -5.51986112e-05 9.99974944e-01 -4.97022790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.077628 meters 0.015296342493200747 Centerline is valid? [True, True] Translation: X:185.47, Y:-101.60, Z:-0.50 [[-6.87379833e-01 -7.26277146e-01 5.52025129e-03 1.85471937e+02] [ 7.26252603e-01 -6.87401992e-01 -5.97145075e-03 -1.01597376e+02] [ 8.13155994e-03 -9.55579501e-05 9.99966934e-01 -4.98668764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.137628 meters 0.01604868192232955 Centerline is valid? [True, True] Translation: X:185.43, Y:-101.56, Z:-0.50 [[-6.86804146e-01 -7.26797346e-01 8.10444382e-03 1.85430906e+02] [ 7.26744541e-01 -6.86851950e-01 -8.76186758e-03 -1.01556291e+02] [ 1.19346551e-02 -1.27826677e-04 9.99928771e-01 -5.02790830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.197628 meters 0.015714441190632547 Centerline is valid? [True, True] Translation: X:185.39, Y:-101.52, Z:-0.50 [[-6.84778498e-01 -7.28704636e-01 8.24390074e-03 1.85388956e+02] [ 7.28650198e-01 -6.84828113e-01 -8.90756164e-03 -1.01515410e+02] [ 1.21366365e-02 -9.27867772e-05 9.99926344e-01 -5.02800718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.257628 meters 0.012182877854474226 Centerline is valid? [True, True] Translation: X:185.35, Y:-101.47, Z:-0.50 [[-6.85325692e-01 -7.28213818e-01 5.77339154e-03 1.85351639e+02] [ 7.28187132e-01 -6.85350006e-01 -6.23462961e-03 -1.01472725e+02] [ 8.49693736e-03 -6.86424245e-05 9.99963898e-01 -4.97730395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.317628 meters 0.012185474485767301 Centerline is valid? [True, True] Translation: X:185.31, Y:-101.43, Z:-0.50 [[-6.86619172e-01 -7.27005571e-01 4.12452740e-03 1.85313178e+02] [ 7.26991947e-01 -6.86631558e-01 -4.45120410e-03 -1.01430052e+02] [ 6.06808086e-03 -5.77838706e-05 9.99981587e-01 -4.95073118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.377628 meters 0.014721068809439016 Centerline is valid? [True, True] Translation: X:185.27, Y:-101.39, Z:-0.50 [[-6.87508448e-01 -7.26162462e-01 4.49592297e-03 1.85274402e+02] [ 7.26146275e-01 -6.87523145e-01 -4.84896004e-03 -1.01388523e+02] [ 6.61218386e-03 -6.90032700e-05 9.99978137e-01 -4.97565386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.437628 meters 0.012468987503181825 Centerline is valid? [True, True] Translation: X:185.24, Y:-101.35, Z:-0.50 [[-6.87606065e-01 -7.26066516e-01 5.03135750e-03 1.85235988e+02] [ 7.26046267e-01 -6.87624468e-01 -5.42302663e-03 -1.01345740e+02] [ 7.39716258e-03 -7.59076672e-05 9.99972638e-01 -4.98747039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49762799999996 meters 0.012118140615559414 Centerline is valid? [True, True] Translation: X:185.20, Y:-101.31, Z:-0.50 [[-6.85422889e-01 -7.28120716e-01 5.97382805e-03 1.85196789e+02] [ 7.28092276e-01 -6.85448918e-01 -6.43576674e-03 -1.01305448e+02] [ 8.78076905e-03 -6.17237702e-05 9.99961446e-01 -5.00493740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.55762799999997 meters 0.011557975013648266 Centerline is valid? [True, True] Translation: X:185.16, Y:-101.27, Z:-0.50 [[-6.83289770e-01 -7.30123927e-01 5.84311759e-03 1.85155475e+02] [ 7.30096825e-01 -6.83314752e-01 -6.29093501e-03 -1.01265981e+02] [ 8.58585062e-03 -3.24899389e-05 9.99963140e-01 -4.98318556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.61762799999997 meters 0.01527808969706496 Centerline is valid? [True, True] Translation: X:185.11, Y:-101.23, Z:-0.50 [[-6.83331750e-01 -7.30088994e-01 5.27074119e-03 1.85113026e+02] [ 7.30066968e-01 -6.83352077e-01 -5.67111979e-03 -1.01227498e+02] [ 7.74219408e-03 -2.72621702e-05 9.99970028e-01 -4.99931463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.67762799999997 meters 0.01157174803263364 Centerline is valid? [True, True] Translation: X:185.07, Y:-101.19, Z:-0.50 [[-6.85031272e-01 -7.28500565e-01 4.36841593e-03 1.85073968e+02] [ 7.28485422e-01 -6.85045199e-01 -4.69731941e-03 -1.01185322e+02] [ 6.41456220e-03 -3.54833654e-05 9.99979426e-01 -4.97893748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.737628 meters 0.012529228779383297 Centerline is valid? [True, True] Translation: X:185.04, Y:-101.14, Z:-0.50 [[-6.88997363e-01 -7.24755587e-01 3.46023093e-03 1.85041598e+02] [ 7.24746049e-01 -6.89006049e-01 -3.71859724e-03 -1.01137588e+02] [ 5.07919416e-03 -5.43149939e-05 9.99987099e-01 -4.95775434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.797628 meters 0.01651803307212501 Centerline is valid? [True, True] Translation: X:185.00, Y:-101.09, Z:-0.50 [[-6.90946937e-01 -7.22896114e-01 3.67958931e-03 1.85004656e+02] [ 7.22885314e-01 -6.90956731e-01 -3.95209809e-03 -1.01094552e+02] [ 5.39939335e-03 -7.07689915e-05 9.99985421e-01 -4.99776526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.857628 meters 0.012172092374175252 Centerline is valid? [True, True] Translation: X:184.96, Y:-101.05, Z:-0.50 [[-6.88671721e-01 -7.25062698e-01 3.91727198e-03 1.84963505e+02] [ 7.25050506e-01 -6.88682860e-01 -4.20505278e-03 -1.01053221e+02] [ 5.74668498e-03 -5.56809042e-05 9.99983486e-01 -4.96827505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.917628 meters 0.014335437281752756 Centerline is valid? [True, True] Translation: X:184.92, Y:-101.01, Z:-0.50 [[-6.84528375e-01 -7.28970019e-01 4.85950075e-03 1.84919596e+02] [ 7.28951376e-01 -6.84545624e-01 -5.21356841e-03 -1.01014870e+02] [ 7.12708504e-03 -2.64957617e-05 9.99974602e-01 -4.98815135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.977628 meters 0.011322826802738975 Centerline is valid? [True, True] Translation: X:184.88, Y:-100.97, Z:-0.50 [[-6.84167208e-01 -7.29315798e-01 3.70118225e-03 1.84880569e+02] [ 7.29305002e-01 -6.84177219e-01 -3.96823155e-03 -1.00973907e+02] [ 5.42635854e-03 -1.56431769e-05 9.99985277e-01 -4.95761510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.037628 meters 0.011593361437628295 Centerline is valid? [True, True] Translation: X:184.84, Y:-100.93, Z:-0.49 [[-6.87814488e-01 -7.25880769e-01 2.88772667e-03 1.84841532e+02] [ 7.25874174e-01 -6.87820550e-01 -3.09434824e-03 -1.00930772e+02] [ 4.23236563e-03 -3.22113395e-05 9.99991043e-01 -4.94961707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.097628 meters 0.012983434806690383 Centerline is valid? [True, True] Translation: X:184.81, Y:-100.88, Z:-0.49 [[-6.92862720e-01 -7.21064617e-01 2.65870208e-03 1.84807891e+02] [ 7.21058998e-01 -6.92867819e-01 -2.84736414e-03 -1.00882735e+02] [ 3.89526264e-03 -5.57514048e-05 9.99992412e-01 -4.93571057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.157628 meters 0.013056151623099166 Centerline is valid? [True, True] Translation: X:184.77, Y:-100.84, Z:-0.49 [[-6.94744778e-01 -7.19251645e-01 2.60094373e-03 1.84767471e+02] [ 7.19246260e-01 -6.94749644e-01 -2.78392213e-03 -1.00841458e+02] [ 3.80934530e-03 -6.33963149e-05 9.99992742e-01 -4.94117243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.217628 meters 0.012589690970033332 Centerline is valid? [True, True] Translation: X:184.72, Y:-100.80, Z:-0.49 [[-6.93959459e-01 -7.20010704e-01 2.20354342e-03 1.84724122e+02] [ 7.20006847e-01 -6.93962955e-01 -2.35721257e-03 -1.00802487e+02] [ 3.22639579e-03 -4.92436087e-05 9.99994794e-01 -4.94462203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.277628 meters 0.015775061557796077 Centerline is valid? [True, True] Translation: X:184.68, Y:-100.76, Z:-0.50 [[-6.93294428e-01 -7.20649410e-01 2.69534520e-03 1.84680911e+02] [ 7.20643648e-01 -6.93299665e-01 -2.88228634e-03 -1.00762736e+02] [ 3.94579987e-03 -5.58896572e-05 9.99992214e-01 -4.96471946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.337628 meters 0.015101146289705594 Centerline is valid? [True, True] Translation: X:184.65, Y:-100.72, Z:-0.49 [[-6.93004439e-01 -7.20930044e-01 2.17257117e-03 1.84645045e+02] [ 7.20926306e-01 -6.93007843e-01 -2.32168446e-03 -1.00719673e+02] [ 3.17938094e-03 -4.26739250e-05 9.99994945e-01 -4.93775186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.397628 meters 0.012281966447995974 Centerline is valid? [True, True] Translation: X:184.60, Y:-100.68, Z:-0.50 [[-6.92486177e-01 -7.21422906e-01 3.44758503e-03 1.84604494e+02] [ 7.21413513e-01 -6.92494756e-01 -3.68189577e-03 -1.00679690e+02] [ 5.04363850e-03 -6.25274912e-05 9.99987279e-01 -4.95029320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.457628 meters 0.014541884979679672 Centerline is valid? [True, True] Translation: X:184.56, Y:-100.64, Z:-0.50 [[-6.91744169e-01 -7.22126545e-01 4.82251900e-03 1.84564183e+02] [ 7.22108206e-01 -6.91760975e-01 -5.14706781e-03 -1.00639617e+02] [ 7.05286474e-03 -7.80735986e-05 9.99975125e-01 -4.98745434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.517628 meters 0.011653275718919434 Centerline is valid? [True, True] Translation: X:184.52, Y:-100.60, Z:-0.50 [[-6.90618588e-01 -7.23211405e-01 3.35105854e-03 1.84522990e+02] [ 7.23202573e-01 -6.90626717e-01 -3.57456216e-03 -1.00598423e+02] [ 4.89949468e-03 -4.51649149e-05 9.99987996e-01 -4.95601625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.577628 meters 0.011309167125983956 Centerline is valid? [True, True] Translation: X:184.48, Y:-100.56, Z:-0.49 [[-6.89343576e-01 -7.24433042e-01 1.48380867e-03 1.84483319e+02] [ 7.24431316e-01 -6.89345172e-01 -1.58186595e-03 -1.00555821e+02] [ 2.16881231e-03 -1.55316625e-05 9.99997648e-01 -4.92468533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.637628 meters 0.0109109919404473 Centerline is valid? [True, True] Translation: X:184.44, Y:-100.52, Z:-0.49 [[-6.86167980e-01 -7.27443064e-01 3.01718939e-04 1.84443866e+02] [ 7.27442993e-01 -6.86168046e-01 -3.21432063e-04 -1.00515101e+02] [ 4.40853420e-04 -1.07306127e-06 9.99999903e-01 -4.90314509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.697628 meters 0.010838674434359805 Centerline is valid? [True, True] Translation: X:184.41, Y:-100.47, Z:-0.49 [[-6.84565738e-01 -7.28951117e-01 1.37772204e-04 1.84405782e+02] [ 7.28951102e-01 -6.84565752e-01 -1.46674165e-04 -1.00471723e+02] [ 2.01232429e-04 2.10919787e-08 9.99999980e-01 -4.91371070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.757628 meters 0.01091148171420743 Centerline is valid? [True, True] Translation: X:184.37, Y:-100.43, Z:-0.49 [[-6.83446485e-01 -7.30000164e-01 8.14238939e-04 1.84366526e+02] [ 7.29999650e-01 -6.83446970e-01 -8.66376016e-04 -1.00429961e+02] [ 1.18894377e-03 2.27249789e-06 9.99999293e-01 -4.92943197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.817628 meters 0.011140402485017907 Centerline is valid? [True, True] Translation: X:184.32, Y:-100.39, Z:-0.49 [[-6.81638227e-01 -7.31689230e-01 4.44942554e-04 1.84324657e+02] [ 7.31689077e-01 -6.81638372e-01 -4.73134295e-04 -1.00390385e+02] [ 6.49477186e-04 3.05318542e-06 9.99999789e-01 -4.93761992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.877628 meters 0.011366351460239425 Centerline is valid? [True, True] Translation: X:184.28, Y:-100.35, Z:-0.49 [[-6.80907355e-01 -7.32367577e-01 1.70469516e-03 1.84283907e+02] [ 7.32365336e-01 -6.80909489e-01 -1.81188700e-03 -1.00351772e+02] [ 2.48771041e-03 1.47324614e-05 9.99996906e-01 -4.94959917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.937628 meters 0.011316609618487026 Centerline is valid? [True, True] Translation: X:184.24, Y:-100.31, Z:-0.50 [[-6.82321844e-01 -7.31047563e-01 2.52212354e-03 1.84243788e+02] [ 7.31042654e-01 -6.82326505e-01 -2.67910830e-03 -1.00311403e+02] [ 3.67946733e-03 1.57657709e-05 9.99993231e-01 -4.97518323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99762799999996 meters 0.011103545186388921 Centerline is valid? [True, True] Translation: X:184.21, Y:-100.27, Z:-0.50 [[-6.84726708e-01 -7.28792531e-01 3.28349745e-03 1.84206936e+02] [ 7.28784195e-01 -6.84734581e-01 -3.48572011e-03 -1.00268064e+02] [ 4.78869103e-03 6.19539407e-06 9.99988534e-01 -4.98957586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.05762799999997 meters 0.012897957031814572 Centerline is valid? [True, True] Translation: X:184.17, Y:-100.23, Z:-0.50 [[-6.85674615e-01 -7.27894605e-01 4.44586687e-03 1.84167828e+02] [ 7.27879323e-01 -6.85689028e-01 -4.71669305e-03 -1.00225751e+02] [ 6.48173756e-03 1.93787738e-06 9.99978993e-01 -5.02173015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.11762799999997 meters 0.01137910022760642 Centerline is valid? [True, True] Translation: X:184.13, Y:-100.19, Z:-0.50 [[-6.85420351e-01 -7.28133514e-01 4.53089912e-03 1.84126553e+02] [ 7.28117667e-01 -6.85435326e-01 -4.80386190e-03 -1.00186421e+02] [ 6.60349116e-03 6.36298597e-06 9.99978197e-01 -5.02001088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.17762799999997 meters 0.011420164478850425 Centerline is valid? [True, True] Translation: X:184.08, Y:-100.15, Z:-0.50 [[-6.84794957e-01 -7.28725605e-01 3.85470195e-03 1.84083520e+02] [ 7.28714160e-01 -6.84805806e-01 -4.08423745e-03 -1.00149047e+02] [ 5.61601068e-03 1.21106862e-05 9.99984230e-01 -5.02102026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.237628 meters 0.011441550783113794 Centerline is valid? [True, True] Translation: X:184.04, Y:-100.11, Z:-0.50 [[-6.84276238e-01 -7.29214992e-01 3.39500828e-03 1.84041705e+02] [ 7.29206130e-01 -6.84284660e-01 -3.59509711e-03 -1.00109278e+02] [ 4.94475079e-03 1.56213243e-05 9.99987775e-01 -5.00745928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.297628 meters 0.011586054114937903 Centerline is valid? [True, True] Translation: X:184.00, Y:-100.07, Z:-0.50 [[-6.84744147e-01 -7.28770796e-01 4.31040465e-03 1.84000873e+02] [ 7.28756519e-01 -6.84757714e-01 -4.56176273e-03 -1.00067972e+02] [ 6.27606229e-03 1.75951546e-05 9.99980305e-01 -5.03561349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.357628 meters 0.011829427053334295 Centerline is valid? [True, True] Translation: X:183.97, Y:-100.02, Z:-0.51 [[-6.84498278e-01 -7.29001834e-01 4.29337270e-03 1.83965313e+02] [ 7.28987686e-01 -6.84511742e-01 -4.54180935e-03 -1.00022382e+02] [ 6.24985137e-03 2.09551505e-05 9.99980469e-01 -5.05402660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.417628 meters 0.012119120740479553 Centerline is valid? [True, True] Translation: X:183.92, Y:-99.98, Z:-0.50 [[-6.81843929e-01 -7.31494066e-01 2.29951810e-03 1.83924661e+02] [ 7.31490027e-01 -6.81847806e-01 -2.43117016e-03 -9.99802320e+01] [ 3.34630791e-03 2.43959428e-05 9.99994401e-01 -5.03512036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.477628 meters 0.012538467679297248 Centerline is valid? [True, True] Translation: X:183.88, Y:-99.94, Z:-0.50 [[-6.80044117e-01 -7.33168546e-01 1.97023788e-03 1.83881743e+02] [ 7.33165591e-01 -6.80046970e-01 -2.08177293e-03 -9.99414976e+01] [ 2.86614473e-03 2.88131897e-05 9.99995892e-01 -5.02961454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.537628 meters 0.016285409259439065 Centerline is valid? [True, True] Translation: X:183.84, Y:-99.90, Z:-0.51 [[-6.79282323e-01 -7.33868464e-01 3.55009340e-03 1.83839255e+02] [ 7.33858890e-01 -6.79291597e-01 -3.74895672e-03 -9.99013407e+01] [ 5.16278973e-03 5.86675771e-05 9.99986671e-01 -5.07196545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.597628 meters 0.012773452672457088 Centerline is valid? [True, True] Translation: X:183.80, Y:-99.86, Z:-0.51 [[-6.81397082e-01 -7.31899821e-01 4.54632361e-03 1.83802385e+02] [ 7.31884095e-01 -6.81412246e-01 -4.79822020e-03 -9.98568078e+01] [ 6.60973709e-03 5.78886937e-05 9.99978154e-01 -5.07036642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.657628 meters 0.014631199395004069 Centerline is valid? [True, True] Translation: X:183.77, Y:-99.81, Z:-0.51 [[-6.83803022e-01 -7.29654621e-01 4.19072163e-03 1.83765636e+02] [ 7.29641232e-01 -6.83815862e-01 -4.42037375e-03 -9.98115258e+01] [ 6.09102806e-03 3.50583623e-05 9.99981449e-01 -5.08811045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.717628 meters 0.012623786107480852 Centerline is valid? [True, True] Translation: X:183.73, Y:-99.77, Z:-0.51 [[-6.86707954e-01 -7.26930027e-01 2.21829375e-03 1.83726208e+02] [ 7.26926266e-01 -6.86711537e-01 -2.33848687e-03 -9.97692561e+01] [ 3.22324423e-03 6.67845518e-06 9.99994805e-01 -5.05008290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.777628 meters 0.012785689130012472 Centerline is valid? [True, True] Translation: X:183.68, Y:-99.73, Z:-0.50 [[-6.88412039e-01 -7.25319356e-01 8.34573126e-04 1.83683762e+02] [ 7.25318823e-01 -6.88412545e-01 -8.79276441e-04 -9.97293774e+01] [ 1.21228683e-03 2.71098179e-08 9.99999265e-01 -5.03658386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.837628 meters 0.012998573969396576 Centerline is valid? [True, True] Translation: X:183.65, Y:-99.69, Z:-0.50 [[-6.90282360e-01 -7.23538324e-01 -1.59877512e-03 1.83647546e+02] [ 7.23536366e-01 -6.90284212e-01 1.68354835e-03 -9.96868855e+01] [-2.32172097e-03 5.35178663e-06 9.99997305e-01 -4.99507141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.897628 meters 0.013127412165848788 Centerline is valid? [True, True] Translation: X:183.61, Y:-99.64, Z:-0.50 [[-6.91181411e-01 -7.22679140e-01 -1.76603888e-03 1.83613047e+02] [ 7.22676750e-01 -6.91183667e-01 1.85851245e-03 -9.96413523e+01] [-2.56376540e-03 8.29402047e-06 9.99996714e-01 -4.98507343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.957628 meters 0.013236009804300982 Centerline is valid? [True, True] Translation: X:183.57, Y:-99.60, Z:-0.50 [[-6.87776646e-01 -7.25920787e-01 -1.51533053e-03 1.83571442e+02] [ 7.25919037e-01 -6.87778315e-01 1.59376395e-03 -9.96003319e+01] [-2.19915786e-03 -3.85365533e-06 9.99997582e-01 -5.01287257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.017628 meters 0.013779277043574316 Centerline is valid? [True, True] Translation: X:183.53, Y:-99.56, Z:-0.50 [[-6.82976277e-01 -7.30440555e-01 1.75746109e-05 1.83526773e+02] [ 7.30440555e-01 -6.82976277e-01 -1.84608710e-05 -9.95629167e+01] [ 2.54876113e-05 2.28871605e-07 1.00000000e+00 -5.04136667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.077628 meters 0.014108744606120223 Centerline is valid? [True, True] Translation: X:183.48, Y:-99.52, Z:-0.51 [[-6.81659659e-01 -7.31668145e-01 1.35444144e-03 1.83484853e+02] [ 7.31666761e-01 -6.81661004e-01 -1.42313449e-03 -9.95246882e+01] [ 1.96453208e-03 2.09064108e-05 9.99998070e-01 -5.05482382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.137628 meters 0.014206720546304431 Centerline is valid? [True, True] Translation: X:183.44, Y:-99.48, Z:-0.51 [[-6.81469211e-01 -7.31843267e-01 2.26844830e-03 1.83444004e+02] [ 7.31839392e-01 -6.81472986e-01 -2.38197069e-03 -9.94841431e+01] [ 3.28911545e-03 3.69001373e-05 9.99994590e-01 -5.06400658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.197628 meters 0.0145017726929837 Centerline is valid? [True, True] Translation: X:183.41, Y:-99.44, Z:-0.51 [[-6.81331150e-01 -7.31972337e-01 2.08849839e-03 1.83405166e+02] [ 7.31969057e-01 -6.81334350e-01 -2.19155354e-03 -9.94434628e+01] [ 3.02712226e-03 3.55425042e-05 9.99995418e-01 -5.06425906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.257628 meters 0.014705275448632291 Centerline is valid? [True, True] Translation: X:183.37, Y:-99.40, Z:-0.51 [[-6.81605004e-01 -7.31715595e-01 2.62814650e-03 1.83366919e+02] [ 7.31710406e-01 -6.81610069e-01 -2.75603450e-03 -9.94024832e+01] [ 3.80800454e-03 4.45152386e-05 9.99992749e-01 -5.07983832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.317628 meters 0.014182170006480792 Centerline is valid? [True, True] Translation: X:183.33, Y:-99.36, Z:-0.51 [[-6.82568605e-01 -7.30814642e-01 3.17153811e-03 1.83328058e+02] [ 7.30807084e-01 -6.82575972e-01 -3.32394132e-03 -9.93595478e+01] [ 4.59400069e-03 4.89645320e-05 9.99989446e-01 -5.08444837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.377628 meters 0.014078369390887052 Centerline is valid? [True, True] Translation: X:183.29, Y:-99.32, Z:-0.51 [[-6.83735817e-01 -7.29721899e-01 3.35905348e-03 1.83285912e+02] [ 7.29713418e-01 -6.83744066e-01 -3.51845920e-03 -9.93201722e+01] [ 4.86422961e-03 4.54498247e-05 9.99988169e-01 -5.09068425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.437628 meters 0.013852312146475672 Centerline is valid? [True, True] Translation: X:183.24, Y:-99.28, Z:-0.51 [[-6.84856166e-01 -7.28674531e-01 2.33669088e-03 1.83244874e+02] [ 7.28670426e-01 -6.84860151e-01 -2.44609644e-03 -9.92795053e+01] [ 3.38271465e-03 2.74533108e-05 9.99994278e-01 -5.09114835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49762799999996 meters 0.013740201979045066 Centerline is valid? [True, True] Translation: X:183.21, Y:-99.24, Z:-0.51 [[-6.85738279e-01 -7.27845667e-01 1.92307861e-03 1.83206541e+02] [ 7.27842887e-01 -6.85740975e-01 -2.01184017e-03 -9.92373786e+01] [ 2.78304295e-03 2.01032709e-05 9.99996127e-01 -5.08842982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.55762799999997 meters 0.01370037634204027 Centerline is valid? [True, True] Translation: X:183.17, Y:-99.19, Z:-0.51 [[-6.86674140e-01 -7.26964527e-01 1.09633386e-03 1.83173699e+02] [ 7.26963623e-01 -6.86675016e-01 -1.14617416e-03 -9.91916076e+01] [ 1.58605303e-03 9.94667879e-06 9.99998742e-01 -5.05986717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.61762799999997 meters 0.014264522909001822 Centerline is valid? [True, True] Translation: X:183.13, Y:-99.15, Z:-0.51 [[-6.82811684e-01 -7.30588701e-01 2.89039743e-03 1.83129709e+02] [ 7.30582459e-01 -6.82817800e-01 -3.02055511e-03 -9.91539406e+01] [ 4.18039825e-03 4.92033449e-05 9.99991261e-01 -5.09911846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.67762799999997 meters 0.014782679941622237 Centerline is valid? [True, True] Translation: X:183.09, Y:-99.12, Z:-0.51 [[-6.81770289e-01 -7.31545885e-01 5.46728534e-03 1.83087375e+02] [ 7.31523601e-01 -6.81792202e-01 -5.71086646e-03 -9.91161629e+01] [ 7.90531337e-03 1.05949181e-04 9.99968747e-01 -5.14243030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.737628 meters 0.014854050767170916 Centerline is valid? [True, True] Translation: X:183.05, Y:-99.08, Z:-0.51 [[-6.81097848e-01 -7.32174103e-01 5.17730695e-03 1.83045939e+02] [ 7.32154164e-01 -6.81117517e-01 -5.40452559e-03 -9.90761910e+01] [ 7.48340812e-03 1.09576092e-04 9.99971993e-01 -5.14743773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.797628 meters 0.015398978579019389 Centerline is valid? [True, True] Translation: X:183.01, Y:-99.03, Z:-0.51 [[-6.79968669e-01 -7.33221933e-01 5.31084623e-03 1.83005784e+02] [ 7.33201008e-01 -6.79989397e-01 -5.54082472e-03 -9.90340994e+01] [ 7.67397334e-03 1.26330599e-04 9.99970547e-01 -5.13444289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.857628 meters 0.016759343916454342 Centerline is valid? [True, True] Translation: X:182.96, Y:-99.00, Z:-0.52 [[-6.77205860e-01 -7.35771693e-01 5.67789702e-03 1.82962606e+02] [ 7.35747894e-01 -6.77229641e-01 -5.92030458e-03 -9.89962657e+01] [ 8.20123269e-03 1.68235815e-04 9.99966355e-01 -5.16596159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.917628 meters 0.017571606156578913 Centerline is valid? [True, True] Translation: X:182.92, Y:-98.96, Z:-0.52 [[-6.76307612e-01 -7.36583251e-01 7.28890440e-03 1.82922351e+02] [ 7.36544112e-01 -6.76346850e-01 -7.59675219e-03 -9.89564742e+01] [ 1.05254680e-02 2.30858283e-04 9.99944579e-01 -5.20057446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.977628 meters 0.017644260370949415 Centerline is valid? [True, True] Translation: X:182.88, Y:-98.92, Z:-0.52 [[-6.76793748e-01 -7.36131434e-01 7.79324984e-03 1.82881294e+02] [ 7.36086715e-01 -6.76838573e-01 -8.11749438e-03 -9.89164341e+01] [ 1.12503149e-02 2.42638232e-04 9.99936684e-01 -5.21097408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.037628 meters 0.016919557318280574 Centerline is valid? [True, True] Translation: X:182.84, Y:-98.88, Z:-0.53 [[-6.75809637e-01 -7.36993054e-01 1.10713067e-02 1.82838121e+02] [ 7.36903029e-01 -6.75900216e-01 -1.15249114e-02 -9.88780853e+01] [ 1.59768782e-02 3.69833318e-04 9.99872293e-01 -5.25081166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.097628 meters 0.01733955270710639 Centerline is valid? [True, True] Translation: X:182.80, Y:-98.84, Z:-0.53 [[-6.76120939e-01 -7.36667152e-01 1.34900943e-02 1.82800425e+02] [ 7.36533549e-01 -6.76255357e-01 -1.40364784e-02 -9.88358610e+01] [ 1.94629611e-02 4.45550065e-04 9.99810479e-01 -5.27707608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.157628 meters 0.020502593256049292 Centerline is valid? [True, True] Translation: X:182.76, Y:-98.79, Z:-0.53 [[-6.75074294e-01 -7.37607903e-01 1.44665168e-02 1.82761246e+02] [ 7.37454658e-01 -6.75229086e-01 -1.50435493e-02 -9.87937547e+01] [ 2.08644537e-02 5.12886808e-04 9.99782182e-01 -5.28849502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.217628 meters 0.02205816047271051 Centerline is valid? [True, True] Translation: X:182.72, Y:-98.76, Z:-0.53 [[-6.74666323e-01 -7.37932321e-01 1.67702699e-02 1.82717547e+02] [ 7.37726708e-01 -6.74874443e-01 -1.74296019e-02 -9.87551056e+01] [ 2.41796932e-02 6.12710601e-04 9.99707441e-01 -5.33141008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.277628 meters 0.01886168520934459 Centerline is valid? [True, True] Translation: X:182.68, Y:-98.72, Z:-0.53 [[-6.77019625e-01 -7.35776344e-01 1.66613186e-02 1.82676165e+02] [ 7.35572954e-01 -6.77224396e-01 -1.73074225e-02 -9.87159083e+01] [ 2.40178435e-02 5.38150626e-04 9.99711385e-01 -5.30533992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.337628 meters 0.016865859776641318 Centerline is valid? [True, True] Translation: X:182.64, Y:-98.67, Z:-0.53 [[-6.79829302e-01 -7.33192049e-01 1.61721848e-02 1.82639428e+02] [ 7.32999836e-01 -6.80021490e-01 -1.67932386e-02 -9.86700678e+01] [ 2.33101022e-02 4.37673140e-04 9.99728187e-01 -5.26084504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.397628 meters 0.018694613142170025 Centerline is valid? [True, True] Translation: X:182.61, Y:-98.62, Z:-0.53 [[-6.83124902e-01 -7.30091361e-01 1.75206206e-02 1.82605741e+02] [ 7.29865023e-01 -6.83349449e-01 -1.81818170e-02 -9.86228794e+01] [ 2.52470939e-02 3.67236238e-04 9.99681174e-01 -5.26568004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.457628 meters 0.01650500176101598 Centerline is valid? [True, True] Translation: X:182.56, Y:-98.58, Z:-0.52 [[-6.81712723e-01 -7.31436432e-01 1.63862303e-02 1.82562241e+02] [ 7.31239103e-01 -6.81909516e-01 -1.69937262e-02 -9.85847650e+01] [ 2.36037568e-02 3.97413016e-04 9.99721314e-01 -5.24089960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.517628 meters 0.016654020212845858 Centerline is valid? [True, True] Translation: X:182.52, Y:-98.54, Z:-0.53 [[-6.82821874e-01 -7.30383068e-01 1.71715760e-02 1.82522041e+02] [ 7.30166327e-01 -6.83037646e-01 -1.77963460e-02 -9.85447591e+01] [ 2.47269826e-02 3.86372265e-04 9.99694167e-01 -5.25260006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.577628 meters 0.015638482465612273 Centerline is valid? [True, True] Translation: X:182.49, Y:-98.50, Z:-0.52 [[-6.86623655e-01 -7.26834015e-01 1.61329078e-02 1.82486158e+02] [ 7.26641943e-01 -6.86813113e-01 -1.67102973e-02 -9.84990540e+01] [ 2.32259051e-02 2.49162086e-04 9.99730211e-01 -5.21018162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.637628 meters 0.014772599999916652 Centerline is valid? [True, True] Translation: X:182.45, Y:-98.45, Z:-0.52 [[-6.93169339e-01 -7.20628208e-01 1.45345530e-02 1.82451774e+02] [ 7.20471119e-01 -6.93321703e-01 -1.50460182e-02 -9.84514992e+01] [ 2.09197062e-02 4.22871975e-05 9.99781158e-01 -5.15075472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.697628 meters 0.014649474885417667 Centerline is valid? [True, True] Translation: X:182.41, Y:-98.41, Z:-0.51 [[-6.97863720e-01 -7.16108833e-01 1.32048543e-02 1.82413362e+02] [ 7.15978508e-01 -6.97988634e-01 -1.36617323e-02 -9.84080473e+01] [ 1.90001254e-02 -7.96354032e-05 9.99819478e-01 -5.13410957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.757628 meters 0.015369284033376673 Centerline is valid? [True, True] Translation: X:182.38, Y:-98.36, Z:-0.51 [[-7.05274281e-01 -7.08878015e-01 8.95259139e-03 1.82380598e+02] [ 7.08817602e-01 -7.05331076e-01 -9.25642397e-03 -9.83597972e+01] [ 1.28762164e-02 -1.82563396e-04 9.99917081e-01 -5.06134564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.817628 meters 0.015928431922447896 Centerline is valid? [True, True] Translation: X:182.34, Y:-98.32, Z:-0.50 [[-7.07598358e-01 -7.06576635e-01 7.35001435e-03 1.82342754e+02] [ 7.06535836e-01 -7.07636507e-01 -7.59519171e-03 -9.83157951e+01] [ 1.05677235e-02 -1.81296654e-04 9.99944144e-01 -5.03669723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.877628 meters 0.018586903257333438 Centerline is valid? [True, True] Translation: X:182.31, Y:-98.27, Z:-0.50 [[-7.10672212e-01 -7.03493493e-01 6.47394671e-03 1.82306500e+02] [ 7.03461748e-01 -7.10701671e-01 -6.68610387e-03 -9.82703661e+01] [ 9.30467531e-03 -1.97454364e-04 9.99956691e-01 -5.03805025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.937628 meters 0.016814049129136113 Centerline is valid? [True, True] Translation: X:182.27, Y:-98.23, Z:-0.50 [[-7.11499915e-01 -7.02669669e-01 4.81746071e-03 1.82269932e+02] [ 7.02652094e-01 -7.11516207e-01 -4.97203177e-03 -9.82274659e+01] [ 6.92139729e-03 -1.52601326e-04 9.99976035e-01 -4.97869428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99762799999996 meters 0.019683319698200294 Centerline is valid? [True, True] Translation: X:182.23, Y:-98.18, Z:-0.50 [[-7.13370717e-01 -7.00776150e-01 3.87405934e-03 1.82231576e+02] [ 7.00764769e-01 -7.13381223e-01 -3.99615724e-03 -9.81836311e+01] [ 5.56409288e-03 -1.35937259e-04 9.99984511e-01 -4.99956955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.05762799999997 meters 0.01809931391337126 Centerline is valid? [True, True] Translation: X:182.19, Y:-98.14, Z:-0.50 [[-7.14054344e-01 -7.00079554e-01 3.87451007e-03 1.82194656e+02] [ 7.00068174e-01 -7.14064842e-01 -3.99404701e-03 -9.81407987e+01] [ 5.56280207e-03 -1.39545430e-04 9.99984518e-01 -4.95915090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.11762799999997 meters 0.0195069431190114 Centerline is valid? [True, True] Translation: X:182.16, Y:-98.10, Z:-0.49 [[-7.16359410e-01 -6.97731219e-01 5.84681071e-04 1.82159651e+02] [ 6.97730959e-01 -7.16359649e-01 -6.02478328e-04 -9.80954545e+01] [ 8.39209864e-04 -2.36409357e-05 9.99999648e-01 -4.89923297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.17762799999997 meters 0.018747432465029152 Centerline is valid? [True, True] Translation: X:182.12, Y:-98.06, Z:-0.49 [[-7.17863686e-01 -6.96183478e-01 -5.41160872e-04 1.82117571e+02] [ 6.96183255e-01 -7.17863890e-01 5.57423822e-04 -9.80560443e+01] [-7.76549103e-04 2.34071822e-05 9.99999698e-01 -4.89018725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.237628 meters 0.021230405813380294 Centerline is valid? [True, True] Translation: X:182.08, Y:-98.01, Z:-0.49 [[-7.18467926e-01 -6.95556939e-01 -2.09359719e-03 1.82079557e+02] [ 6.95553605e-01 -7.18470970e-01 2.15565954e-03 -9.80141432e+01] [-3.00357276e-03 9.25631607e-05 9.99995485e-01 -4.90190340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.297628 meters 0.018420639130992615 Centerline is valid? [True, True] Translation: X:182.04, Y:-97.97, Z:-0.49 [[-7.16286309e-01 -6.97803373e-01 -2.09209068e-03 1.82036851e+02] [ 6.97800056e-01 -7.16289359e-01 2.15286696e-03 -9.79749496e+01] [-3.00082012e-03 8.22081339e-05 9.99995494e-01 -4.88291689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.357628 meters 0.019549731835799576 Centerline is valid? [True, True] Translation: X:182.00, Y:-97.93, Z:-0.49 [[-7.16609133e-01 -6.97471605e-01 -2.17037667e-03 1.81997199e+02] [ 6.97468038e-01 -7.16612414e-01 2.23233519e-03 -9.79346259e+01] [-3.11230927e-03 8.59434259e-05 9.99995153e-01 -4.89806780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.417628 meters 0.020013960224937333 Centerline is valid? [True, True] Translation: X:181.96, Y:-97.89, Z:-0.49 [[-7.18382725e-01 -6.95646176e-01 -1.63072959e-03 1.81956249e+02] [ 6.95644159e-01 -7.18384572e-01 1.67635127e-03 -9.78932678e+01] [-2.33763832e-03 6.98542772e-05 9.99997265e-01 -4.93223941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.477628 meters 0.02096906889938903 Centerline is valid? [True, True] Translation: X:181.92, Y:-97.85, Z:-0.50 [[-7.23473144e-01 -6.90350582e-01 1.63789240e-03 1.81921626e+02] [ 6.90348536e-01 -7.23474993e-01 -1.68297214e-03 -9.78474992e+01] [ 2.34681499e-03 -8.68685239e-05 9.99997242e-01 -4.95573483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.537628 meters 0.023041701559820816 Centerline is valid? [True, True] Translation: X:181.88, Y:-97.81, Z:-0.50 [[-7.26595622e-01 -6.87060500e-01 2.58309407e-03 1.81882510e+02] [ 6.87055394e-01 -7.26600197e-01 -2.65309514e-03 -9.78058296e+01] [ 3.69971353e-03 -1.52998600e-04 9.99993144e-01 -4.97375197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.597628 meters 0.02595967836137439 Centerline is valid? [True, True] Translation: X:181.85, Y:-97.76, Z:-0.50 [[-7.30631645e-01 -6.82761119e-01 3.82795029e-03 1.81845712e+02] [ 6.82749857e-01 -7.30641628e-01 -3.93000163e-03 -9.77618968e+01] [ 5.48011214e-03 -2.57851044e-04 9.99984951e-01 -4.98515682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.657628 meters 0.03211562063717884 Centerline is valid? [True, True] Translation: X:181.81, Y:-97.72, Z:-0.50 [[-7.37016571e-01 -6.75865496e-01 3.52222650e-03 1.81811387e+02] [ 6.75855890e-01 -7.37024933e-01 -3.61448354e-03 -9.77163584e+01] [ 5.03887346e-03 -2.83416739e-04 9.99987265e-01 -4.99883427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.717628 meters 0.03462608984532798 Centerline is valid? [True, True] Translation: X:181.77, Y:-97.68, Z:-0.50 [[-7.39437143e-01 -6.73220376e-01 2.65273874e-03 1.81771951e+02] [ 6.73214916e-01 -7.39441866e-01 -2.72092808e-03 -9.76762093e+01] [ 3.79333031e-03 -2.26091992e-04 9.99992780e-01 -4.99701112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.777628 meters 0.03503559184542652 Centerline is valid? [True, True] Translation: X:181.73, Y:-97.63, Z:-0.50 [[-7.39855323e-01 -6.72764258e-01 1.53464079e-03 1.81732037e+02] [ 6.72762431e-01 -7.39856903e-01 -1.57318070e-03 -9.76347006e+01] [ 2.19379433e-03 -1.31477444e-04 9.99997585e-01 -4.96222468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.837628 meters 0.02798564702601284 Centerline is valid? [True, True] Translation: X:181.69, Y:-97.60, Z:-0.49 [[-7.40507064e-01 -6.72047850e-01 -9.87658392e-04 1.81685160e+02] [ 6.72047093e-01 -7.40507718e-01 1.01192152e-03 -9.75994714e+01] [-1.41142835e-03 8.55820849e-05 9.99999000e-01 -4.92040607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.897628 meters 0.027790779014965166 Centerline is valid? [True, True] Translation: X:181.64, Y:-97.56, Z:-0.49 [[-7.40296049e-01 -6.72279448e-01 -1.45035621e-03 1.81643809e+02] [ 6.72277819e-01 -7.40297459e-01 1.48511013e-03 -9.75591514e+01] [-2.07210404e-03 1.24378848e-04 9.99997845e-01 -4.92505334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.957628 meters 0.027826443622904484 Centerline is valid? [True, True] Translation: X:181.61, Y:-97.52, Z:-0.49 [[-7.37291807e-01 -6.75570539e-01 -2.28867397e-03 1.81607195e+02] [ 6.75566504e-01 -7.37295337e-01 2.34204761e-03 -9.75158648e+01] [-3.26964701e-03 1.80621047e-04 9.99994638e-01 -4.91088280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.017628 meters 0.026730855833915712 Centerline is valid? [True, True] Translation: X:181.57, Y:-97.47, Z:-0.49 [[-7.34200105e-01 -6.78932043e-01 -1.21908837e-03 1.81567540e+02] [ 6.78930904e-01 -7.34201112e-01 1.24678945e-03 -9.74738319e+01] [-1.74154135e-03 8.77161770e-05 9.99998480e-01 -4.92099582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.077628 meters 0.02437852137449913 Centerline is valid? [True, True] Translation: X:181.53, Y:-97.43, Z:-0.49 [[-7.28378620e-01 -6.85173996e-01 -1.08695868e-03 1.81528797e+02] [ 6.85173098e-01 -7.28379428e-01 1.11101069e-03 -9.74332717e+01] [-1.55295398e-03 6.44815847e-05 9.99998792e-01 -4.94069645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.137628 meters 0.021378781532434915 Centerline is valid? [True, True] Translation: X:181.49, Y:-97.39, Z:-0.49 [[-7.24125370e-01 -6.89658955e-01 -3.60206313e-03 1.81487381e+02] [ 6.89649162e-01 -7.24134306e-01 3.67959030e-03 -9.73936262e+01] [-5.14603988e-03 1.80324863e-04 9.99986743e-01 -4.91340880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.197628 meters 0.01751408832547464 Centerline is valid? [True, True] Translation: X:181.45, Y:-97.35, Z:-0.49 [[-7.19126892e-01 -6.94850763e-01 -6.23942853e-03 1.81445647e+02] [ 6.94821610e-01 -7.19153917e-01 6.36973519e-03 -9.73546295e+01] [-8.91312483e-03 2.45358090e-04 9.99960247e-01 -4.88286228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.257628 meters 0.018786974452922205 Centerline is valid? [True, True] Translation: X:181.40, Y:-97.31, Z:-0.49 [[-7.17903516e-01 -6.96112128e-01 -6.51515174e-03 1.81404314e+02] [ 6.96080428e-01 -7.17933039e-01 6.64748221e-03 -9.73134115e+01] [-9.30483568e-03 2.37181239e-04 9.99956681e-01 -4.91539870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.317628 meters 0.0163325578911004 Centerline is valid? [True, True] Translation: X:181.36, Y:-97.28, Z:-0.49 [[-7.15847033e-01 -6.98207942e-01 -8.28826093e-03 1.81360346e+02] [ 6.98156833e-01 -7.15894965e-01 8.45201324e-03 -9.72770952e+01] [-1.18347870e-02 2.63842601e-04 9.99929932e-01 -4.89563468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.377628 meters 0.016511294393900304 Centerline is valid? [True, True] Translation: X:181.32, Y:-97.24, Z:-0.49 [[-7.16008180e-01 -6.98055690e-01 -7.10917178e-03 1.81318299e+02] [ 6.98018126e-01 -7.16043437e-01 7.24516272e-03 -9.72375700e+01] [-1.01480028e-02 2.25265004e-04 9.99948482e-01 -4.91981108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.437628 meters 0.017028610133891984 Centerline is valid? [True, True] Translation: X:181.28, Y:-97.20, Z:-0.50 [[-7.16817489e-01 -6.97243914e-01 -4.85915045e-03 1.81276975e+02] [ 6.97226368e-01 -7.16833941e-01 4.94909377e-03 -9.71980156e+01] [-6.93392948e-03 1.59669147e-04 9.99975947e-01 -4.95970007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49762799999996 meters 0.01752708233239731 Centerline is valid? [True, True] Translation: X:181.24, Y:-97.16, Z:-0.50 [[-7.17393532e-01 -6.96653339e-01 -4.54381427e-03 1.81236511e+02] [ 6.96638002e-01 -7.17407905e-01 4.62513907e-03 -9.71569065e+01] [-6.48188685e-03 1.52651156e-04 9.99978981e-01 -4.96454151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.55762799999997 meters 0.018691228902954722 Centerline is valid? [True, True] Translation: X:181.19, Y:-97.12, Z:-0.50 [[-7.20199645e-01 -6.93761585e-01 -2.70831512e-03 1.81194727e+02] [ 6.93756121e-01 -7.20204729e-01 2.75531775e-03 -9.71163264e+01] [-3.86207497e-03 1.05468671e-04 9.99992537e-01 -5.00090637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.61762799999997 meters 0.019229516486474852 Centerline is valid? [True, True] Translation: X:181.15, Y:-97.08, Z:-0.50 [[-7.22923679e-01 -6.90926583e-01 -1.34581609e-03 1.81153092e+02] [ 6.90925231e-01 -7.22924929e-01 1.36842753e-03 -9.70761665e+01] [-1.91840696e-03 5.94103701e-05 9.99998158e-01 -5.02219426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.67762799999997 meters 0.020338504802967703 Centerline is valid? [True, True] Translation: X:181.11, Y:-97.03, Z:-0.51 [[-7.24259718e-01 -6.89527076e-01 5.22248300e-04 1.81112302e+02] [ 6.89526872e-01 -7.24259906e-01 -5.30720459e-04 -9.70349146e+01] [ 7.44189631e-04 -2.42752136e-05 9.99999723e-01 -5.05275158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.737628 meters 0.020329800079843027 Centerline is valid? [True, True] Translation: X:181.07, Y:-96.99, Z:-0.51 [[-7.22675771e-01 -6.91184768e-01 1.82905437e-03 1.81072587e+02] [ 6.91182276e-01 -7.22678082e-01 -1.85775665e-03 -9.69934314e+01] [ 2.60587060e-03 -7.83457501e-05 9.99996602e-01 -5.06902803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.797628 meters 0.01945773617405862 Centerline is valid? [True, True] Translation: X:181.03, Y:-96.95, Z:-0.51 [[-7.21814795e-01 -6.92084130e-01 1.71974366e-03 1.81031796e+02] [ 6.92081932e-01 -7.21816841e-01 -1.74580185e-03 -9.69518339e+01] [ 2.44958169e-03 -6.99420925e-05 9.99996997e-01 -5.06803188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.857628 meters 0.016424602640014135 Centerline is valid? [True, True] Translation: X:180.99, Y:-96.91, Z:-0.50 [[-7.19848427e-01 -6.94131270e-01 1.47270291e-04 1.80988942e+02] [ 6.94131254e-01 -7.19848442e-01 -1.49403656e-04 -9.69128852e+01] [ 2.09718040e-04 -5.32307504e-06 9.99999978e-01 -5.03848024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.917628 meters 0.015863250567582983 Centerline is valid? [True, True] Translation: X:180.95, Y:-96.87, Z:-0.50 [[-7.18039925e-01 -6.96000433e-01 -1.43651788e-03 1.80948203e+02] [ 6.95998910e-01 -7.18041360e-01 1.45662953e-03 -9.68716848e+01] [-2.04529403e-03 4.61032779e-05 9.99997907e-01 -5.00809792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.977628 meters 0.015251937573342356 Centerline is valid? [True, True] Translation: X:180.91, Y:-96.83, Z:-0.50 [[-7.16408725e-01 -6.97679109e-01 -1.54924306e-03 1.80906255e+02] [ 6.97677343e-01 -7.16410399e-01 1.57008869e-03 -9.68306676e+01] [-2.20531191e-03 4.39534533e-05 9.99997567e-01 -4.99346846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.037628 meters 0.014763744446914638 Centerline is valid? [True, True] Translation: X:180.86, Y:-96.79, Z:-0.50 [[-7.14829791e-01 -6.99295176e-01 -2.15119001e-03 1.80864834e+02] [ 6.99291783e-01 -7.14833025e-01 2.17888912e-03 -9.67903837e+01] [-3.06142831e-03 5.32253580e-05 9.99995312e-01 -4.98608113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.097628 meters 0.014195276606639483 Centerline is valid? [True, True] Translation: X:180.82, Y:-96.75, Z:-0.50 [[-7.13772282e-01 -7.00374479e-01 -2.17249814e-03 1.80821687e+02] [ 7.00371028e-01 -7.13775586e-01 2.19918329e-03 -9.67511193e+01] [-3.09092799e-03 4.81613232e-05 9.99995222e-01 -5.00193615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.157628 meters 0.014300502569133329 Centerline is valid? [True, True] Translation: X:180.78, Y:-96.71, Z:-0.50 [[-7.12633789e-01 -7.01534040e-01 -1.75309527e-03 1.80781657e+02] [ 7.01531799e-01 -7.12635945e-01 1.77358983e-03 -9.67101401e+01] [-2.49355234e-03 3.40679594e-05 9.99996891e-01 -5.00548027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.217628 meters 0.01369646043787758 Centerline is valid? [True, True] Translation: X:180.74, Y:-96.67, Z:-0.50 [[-7.09877560e-01 -7.04323647e-01 1.43215720e-03 1.80738062e+02] [ 7.04322158e-01 -7.09879004e-01 -1.44806423e-03 -9.66713025e+01] [ 2.03656421e-03 -1.92482527e-05 9.99997926e-01 -5.03510843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.277628 meters 0.013407100194618932 Centerline is valid? [True, True] Translation: X:180.70, Y:-96.63, Z:-0.50 [[-7.08879222e-01 -7.05327106e-01 1.98052734e-03 1.80696905e+02] [ 7.05324267e-01 -7.08881988e-01 -2.00126068e-03 -9.66318567e+01] [ 2.81550356e-03 -2.17381175e-05 9.99996036e-01 -5.04090640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.337628 meters 0.013241398023941125 Centerline is valid? [True, True] Translation: X:180.66, Y:-96.59, Z:-0.50 [[-7.07997556e-01 -7.06209346e-01 2.79627973e-03 1.80655525e+02] [ 7.06203701e-01 -7.08003078e-01 -2.82394312e-03 -9.65908588e+01] [ 3.97406968e-03 -2.46017290e-05 9.99992103e-01 -5.04302528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.397628 meters 0.014919976856178824 Centerline is valid? [True, True] Translation: X:180.62, Y:-96.55, Z:-0.51 [[-7.10209681e-01 -7.03987122e-01 2.08353308e-03 1.80615820e+02] [ 7.03983982e-01 -7.10212737e-01 -2.10292591e-03 -9.65479579e+01] [ 2.96018449e-03 -2.67444287e-05 9.99995618e-01 -5.05210499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.457628 meters 0.013867935947971203 Centerline is valid? [True, True] Translation: X:180.58, Y:-96.51, Z:-0.51 [[-7.12113509e-01 -7.02059334e-01 2.65379245e-03 1.80577624e+02] [ 7.02054232e-01 -7.12118452e-01 -2.67687955e-03 -9.65060056e+01] [ 3.76914285e-03 -4.31358631e-05 9.99992896e-01 -5.05365621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.517628 meters 0.013479806994898981 Centerline is valid? [True, True] Translation: X:180.54, Y:-96.46, Z:-0.50 [[-7.10703526e-01 -7.03484572e-01 3.15507402e-03 1.80537245e+02] [ 7.03477383e-01 -7.10710528e-01 -3.18068768e-03 -9.64645339e+01] [ 4.47990904e-03 -4.10027307e-05 9.99989964e-01 -5.04452219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.577628 meters 0.014544341947947062 Centerline is valid? [True, True] Translation: X:180.49, Y:-96.43, Z:-0.51 [[-7.06967189e-01 -7.07237506e-01 3.53615678e-03 1.80493629e+02] [ 7.07228531e-01 -7.06976032e-01 -3.56295985e-03 -9.64253072e+01] [ 5.01983693e-03 -1.80247420e-05 9.99987400e-01 -5.06215680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.637628 meters 0.013039529096380034 Centerline is valid? [True, True] Translation: X:180.45, Y:-96.38, Z:-0.50 [[-7.07172404e-01 -7.07036603e-01 2.53654714e-03 1.80452889e+02] [ 7.07031989e-01 -7.07176953e-01 -2.55413330e-03 -9.63848081e+01] [ 3.59965341e-03 -1.27926110e-05 9.99993521e-01 -5.02600298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.697628 meters 0.01590990059543471 Centerline is valid? [True, True] Translation: X:180.41, Y:-96.34, Z:-0.50 [[-7.10649549e-01 -7.03546079e-01 -3.64914559e-04 1.80414738e+02] [ 7.03545983e-01 -7.10649643e-01 3.67247731e-04 -9.63413430e+01] [-5.17702102e-04 4.25026219e-06 9.99999866e-01 -5.02455843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.757628 meters 0.013218349561814278 Centerline is valid? [True, True] Translation: X:180.37, Y:-96.30, Z:-0.50 [[-7.10530298e-01 -7.03664760e-01 -1.61277072e-03 1.80374598e+02] [ 7.03662891e-01 -7.10532128e-01 1.62200811e-03 -9.63003612e+01] [-2.28727536e-03 1.76389935e-05 9.99997384e-01 -4.97772626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.817628 meters 0.012911945598583191 Centerline is valid? [True, True] Translation: X:180.33, Y:-96.26, Z:-0.50 [[-7.08948975e-01 -7.05257704e-01 -1.70935860e-03 1.80332423e+02] [ 7.05255611e-01 -7.08951036e-01 1.71814433e-03 -9.62601460e+01] [-2.42358608e-03 1.25419189e-05 9.99997063e-01 -4.97903071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.877628 meters 0.013003631647228665 Centerline is valid? [True, True] Translation: X:180.29, Y:-96.22, Z:-0.50 [[-7.08741661e-01 -7.05466919e-01 -1.29789552e-03 1.80290952e+02] [ 7.05465714e-01 -7.08742849e-01 1.30377343e-03 -9.62203013e+01] [-1.83964320e-03 8.41775877e-06 9.99998308e-01 -4.98454213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.937628 meters 0.013056071779006535 Centerline is valid? [True, True] Translation: X:180.25, Y:-96.18, Z:-0.50 [[-7.10156987e-01 -7.04043325e-01 -2.23753124e-04 1.80248469e+02] [ 7.04043290e-01 -7.10157022e-01 2.24647897e-04 -9.61803180e+01] [-3.17061705e-04 2.00338778e-06 9.99999950e-01 -5.01160177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99762799999996 meters 0.013061319648290807 Centerline is valid? [True, True] Translation: X:180.21, Y:-96.14, Z:-0.50 [[-7.10005666e-01 -7.04195541e-01 7.70283899e-04 1.80208955e+02] [ 7.04195117e-01 -7.10006084e-01 -7.72868535e-04 -9.61383183e+01] [ 1.09115683e-03 -6.31087827e-06 9.99999405e-01 -5.00314049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.05762799999997 meters 0.013021266981429028 Centerline is valid? [True, True] Translation: X:180.17, Y:-96.10, Z:-0.50 [[-7.08508632e-01 -7.05701874e-01 6.20017075e-04 1.80169126e+02] [ 7.05701600e-01 -7.08508903e-01 -6.21697928e-04 -9.60976237e+01] [ 8.78021010e-04 -2.93130683e-06 9.99999615e-01 -4.99434391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.11762799999997 meters 0.013108416727992794 Centerline is valid? [True, True] Translation: X:180.13, Y:-96.06, Z:-0.50 [[-7.07594043e-01 -7.06618450e-01 1.01831952e-03 1.80125339e+02] [ 7.06617713e-01 -7.07594776e-01 -1.02043668e-03 -9.60597815e+01] [ 1.44161695e-03 -2.49230282e-06 9.99998961e-01 -5.01168560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.17762799999997 meters 0.0158799316323727 Centerline is valid? [True, True] Translation: X:180.08, Y:-96.02, Z:-0.50 [[-7.08336544e-01 -7.05874539e-01 6.89274279e-04 1.80084123e+02] [ 7.05874202e-01 -7.08336880e-01 -6.90310749e-04 -9.60195492e+01] [ 9.75511174e-04 -2.43139851e-06 9.99999524e-01 -5.04077791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.237628 meters 0.0158553544867153 Centerline is valid? [True, True] Translation: X:180.04, Y:-95.98, Z:-0.50 [[-7.08741516e-01 -7.05467719e-01 -8.72342942e-04 1.80044869e+02] [ 7.05467179e-01 -7.08742053e-01 8.73180032e-04 -9.59770062e+01] [-1.23426645e-03 3.44962516e-06 9.99999238e-01 -5.00875806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.297628 meters 0.01635966041448836 Centerline is valid? [True, True] Translation: X:180.00, Y:-95.94, Z:-0.50 [[-7.10153503e-01 -7.04040930e-01 -2.89335915e-03 1.80004493e+02] [ 7.04034980e-01 -7.10159397e-01 2.89444064e-03 -9.59350177e+01] [-4.09255087e-03 1.84711037e-05 9.99991625e-01 -4.99506050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.357628 meters 0.013819287440466302 Centerline is valid? [True, True] Translation: X:179.97, Y:-95.89, Z:-0.49 [[-7.10352533e-01 -7.03834516e-01 -4.03143545e-03 1.79965766e+02] [ 7.03822978e-01 -7.10363972e-01 4.03022560e-03 -9.58947944e+01] [-5.70039838e-03 2.54640607e-05 9.99983752e-01 -4.93788102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.417628 meters 0.01384212987786084 Centerline is valid? [True, True] Translation: X:179.46, Y:-96.41, Z:0.50 [[-7.53409246e-01 6.57532751e-01 -5.01896216e-03 1.79455338e+02] [ 6.57518363e-01 7.53425962e-01 4.34993637e-03 -9.64051441e+01] [ 6.64164203e-03 -2.27775032e-05 -9.99977944e-01 5.00463754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.477628 meters 0.016650352822870473 Centerline is valid? [True, True] Translation: X:179.47, Y:-96.38, Z:0.50 [[-7.99449430e-01 6.00712840e-01 -4.96924455e-03 1.79473183e+02] [ 6.00701289e-01 7.99464874e-01 3.72521660e-03 -9.63846722e+01] [ 6.21052191e-03 -6.90932017e-06 -9.99980715e-01 5.04234323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.537628 meters 0.014097921600527768 Centerline is valid? [True, True] Translation: X:179.49, Y:-96.36, Z:0.50 [[-8.41602549e-01 5.40085136e-01 -3.63247140e-03 1.79491446e+02] [ 5.40080066e-01 8.41610388e-01 2.34032773e-03 -9.63601476e+01] [ 4.32110189e-03 7.80038837e-06 -9.99990664e-01 5.02858398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.597628 meters 0.01722050522598958 Centerline is valid? [True, True] Translation: X:179.50, Y:-96.33, Z:0.51 [[-8.78097149e-01 4.78481321e-01 -1.01140403e-03 1.79503872e+02] [ 4.78481001e-01 8.78097731e-01 5.52788173e-04 -9.63345441e+01] [ 1.15261040e-03 1.46410522e-06 -9.99999336e-01 5.11005463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.657628 meters 0.014048300048420656 Centerline is valid? [True, True] Translation: X:179.52, Y:-96.31, Z:0.51 [[-9.09339215e-01 4.16055228e-01 4.88774141e-04 1.79518076e+02] [ 4.16055166e-01 9.09339347e-01 -2.27125344e-04 -9.63093046e+01] [-5.38958244e-04 -3.17697594e-06 -9.99999855e-01 5.09102633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.717628 meters 0.014128658528216782 Centerline is valid? [True, True] Translation: X:179.53, Y:-96.29, Z:0.51 [[-9.36807487e-01 3.49843375e-01 1.15990018e-03 1.79532787e+02] [ 3.49843100e-01 9.36808205e-01 -4.39128602e-04 -9.62861525e+01] [-1.24023024e-03 -5.59588774e-06 -9.99999231e-01 5.09511273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.777628 meters 0.01474289601055393 Centerline is valid? [True, True] Translation: X:179.54, Y:-96.26, Z:0.51 [[-9.60639846e-01 2.77788984e-01 2.08987886e-03 1.79539375e+02] [ 2.77788283e-01 9.60642119e-01 -6.24333670e-04 -9.62559915e+01] [-2.18105867e-03 -1.92159419e-05 -9.99997621e-01 5.10168813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.837628 meters 0.01763294677236472 Centerline is valid? [True, True] Translation: X:179.54, Y:-96.23, Z:0.51 [[-9.78872681e-01 2.04442677e-01 3.38604946e-03 1.79542513e+02] [ 2.04441293e-01 9.78878537e-01 -7.53629455e-04 -9.62271036e+01] [-3.46860516e-03 -4.54589555e-05 -9.99993983e-01 5.14517632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.897628 meters 0.019077779067600362 Centerline is valid? [True, True] Translation: X:179.55, Y:-96.20, Z:0.52 [[-9.90888764e-01 1.34625247e-01 3.93693237e-03 1.79549199e+02] [ 1.34623978e-01 9.90896584e-01 -5.86879015e-04 -9.61976497e+01] [-3.98010157e-03 -5.15263247e-05 -9.99992078e-01 5.17291360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.957628 meters 0.015301985903194003 Centerline is valid? [True, True] Translation: X:179.66, Y:-95.52, Z:-0.50 [[-9.75126468e-01 -2.21631517e-01 2.80050030e-03 1.79655880e+02] [ 2.21630521e-01 -9.75130489e-01 -6.65048272e-04 -9.55194767e+01] [ 2.87824888e-03 -2.78298302e-05 9.99995857e-01 -5.03823642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.017628 meters 0.015128276603944061 Centerline is valid? [True, True] Translation: X:179.51, Y:-96.20, Z:0.51 [[-9.90041968e-01 1.40750960e-01 2.46366502e-03 1.79505682e+02] [ 1.40750505e-01 9.90045033e-01 -3.58023063e-04 -9.61965627e+01] [-2.48953141e-03 -7.69576220e-06 -9.99996901e-01 5.08199570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.077628 meters 0.01537745702053516 Centerline is valid? [True, True] Translation: X:179.51, Y:-96.17, Z:0.51 [[-9.97381137e-01 7.22148266e-02 3.98582682e-03 1.79508598e+02] [ 7.22142382e-02 9.97389101e-01 -2.91547235e-04 -9.61678731e+01] [-3.99647426e-03 -2.95026582e-06 -9.99992014e-01 5.09974649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.137628 meters 0.01793016453701383 Centerline is valid? [True, True] Translation: X:179.51, Y:-96.14, Z:0.51 [[-9.99989651e-01 5.99959747e-04 4.50973303e-03 1.79507298e+02] [ 5.99927427e-04 9.99999820e-01 -8.51906918e-06 -9.61392382e+01] [-4.50973733e-03 -5.81346848e-06 -9.99989831e-01 5.14889706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.197628 meters 0.016159433780111292 Centerline is valid? [True, True] Translation: X:179.50, Y:-96.10, Z:0.51 [[-9.97150200e-01 -7.52193490e-02 5.79041047e-03 1.79499746e+02] [-7.52182834e-02 9.97167011e-01 4.01888731e-04 -9.61047200e+01] [-5.80423611e-03 -3.48013073e-05 -9.99983155e-01 5.12286361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.257628 meters 0.01730153477960185 Centerline is valid? [True, True] Translation: X:179.45, Y:-95.44, Z:-0.51 [[-9.99934533e-01 -9.07742909e-03 6.96640312e-03 1.79450498e+02] [ 9.07807198e-03 -9.99958792e-01 6.06682845e-05 -9.54426487e+01] [ 6.96556533e-03 1.23905822e-04 9.99975732e-01 -5.07039275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.317628 meters 0.017468304285222787 Centerline is valid? [True, True] Translation: X:179.43, Y:-96.11, Z:0.51 [[-9.96278068e-01 -8.57673300e-02 8.60090899e-03 1.79426434e+02] [-8.57650111e-02 9.96315189e-01 6.38757869e-04 -9.61057863e+01] [-8.62400082e-03 -1.01276599e-04 -9.99962807e-01 5.12588752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.377628 meters 0.01794804052410603 Centerline is valid? [True, True] Translation: X:179.42, Y:-96.08, Z:0.51 [[-9.87510653e-01 -1.57363946e-01 7.70055715e-03 1.79415301e+02] [-1.57359945e-01 9.87540672e-01 1.12656418e-03 -9.60800881e+01] [-7.78189396e-03 -9.92651223e-05 -9.99969716e-01 5.10334781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.437628 meters 0.020564795722449198 Centerline is valid? [True, True] Translation: X:179.41, Y:-96.06, Z:0.51 [[-9.74248571e-01 -2.25401449e-01 5.82305799e-03 1.79408126e+02] [-2.25397819e-01 9.74265971e-01 1.28088626e-03 -9.60582914e+01] [-5.96192087e-03 -6.46029605e-05 -9.99982226e-01 5.11475040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49762799999996 meters 0.02030976404680725 Centerline is valid? [True, True] Translation: X:179.39, Y:-96.04, Z:0.51 [[-9.56573958e-01 -2.91474568e-01 2.97307554e-03 1.79393260e+02] [-2.91473240e-01 9.56578578e-01 8.80042519e-04 -9.60406645e+01] [-3.10049039e-03 -2.47462061e-05 -9.99995193e-01 5.07764321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.55762799999997 meters 0.019533044550833708 Centerline is valid? [True, True] Translation: X:179.37, Y:-96.02, Z:0.50 [[-9.34564843e-01 -3.55784400e-01 -2.45270754e-03 1.79370428e+02] [-3.55783194e-01 9.34568061e-01 -9.26634980e-04 -9.60246672e+01] [ 2.62190440e-03 6.63164906e-06 -9.99996563e-01 5.03418561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.61762799999997 meters 0.020140752531493188 Centerline is valid? [True, True] Translation: X:179.32, Y:-96.02, Z:0.50 [[-9.07324887e-01 -4.20415138e-01 -3.55836075e-03 1.79322164e+02] [-4.20411905e-01 9.07331864e-01 -1.64861077e-03 -9.60185548e+01] [ 3.92171502e-03 1.51641373e-07 -9.99992310e-01 5.02587960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.67762799999997 meters 0.020164093568180826 Centerline is valid? [True, True] Translation: X:179.27, Y:-96.03, Z:0.49 [[-8.76318641e-01 -4.81660362e-01 -8.30270999e-03 1.79269043e+02] [-4.81638251e-01 8.76357971e-01 -4.61540456e-03 -9.60251304e+01] [ 9.49920351e-03 -4.56623349e-05 -9.99954881e-01 4.94479450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.737628 meters 0.021027474361690928 Centerline is valid? [True, True] Translation: X:179.20, Y:-96.04, Z:0.49 [[-8.42960223e-01 -5.37899294e-01 -9.07812295e-03 1.79202537e+02] [-5.37866182e-01 8.43009091e-01 -5.97011217e-03 -9.60396210e+01] [ 1.08642593e-02 -1.49751750e-04 -9.99940971e-01 4.93803423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.797628 meters 0.01952538263313442 Centerline is valid? [True, True] Translation: X:179.13, Y:-96.06, Z:0.49 [[-8.02718273e-01 -5.96326192e-01 -6.20054894e-03 1.79126201e+02] [-5.96307057e-01 8.02742208e-01 -4.77917181e-03 -9.60620277e+01] [ 7.82738768e-03 -1.38897452e-04 -9.99969356e-01 4.94770764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.857628 meters 0.021209116778633096 Centerline is valid? [True, True] Translation: X:179.05, Y:-96.10, Z:0.50 [[-7.60871068e-01 -6.48900048e-01 -1.98644127e-03 1.79045310e+02] [-6.48897592e-01 7.60873658e-01 -1.78662715e-03 -9.60983594e+01] [ 2.67077328e-03 -7.03959491e-05 -9.99996431e-01 4.98895582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.917628 meters 0.024346033745556304 Centerline is valid? [True, True] Translation: X:178.97, Y:-96.14, Z:0.50 [[-7.15690282e-01 -6.98415321e-01 -1.85991866e-03 1.78966937e+02] [-6.98412614e-01 7.15692693e-01 -1.94683306e-03 -9.61445411e+01] [ 2.69082823e-03 -9.43388497e-05 -9.99996375e-01 4.99192153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.977628 meters 0.030066672171667138 Centerline is valid? [True, True] Translation: X:178.89, Y:-96.20, Z:0.50 [[-6.72125207e-01 -7.40437448e-01 -3.03667717e-04 1.78888865e+02] [-7.40437354e-01 6.72125275e-01 -3.73393153e-04 -9.61992778e+01] [ 4.80577021e-04 -2.61200293e-05 -9.99999884e-01 5.04558523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.037628 meters 0.03247369538703166 Centerline is valid? [True, True] Translation: X:178.81, Y:-96.27, Z:0.50 [[-6.21502083e-01 -7.83412401e-01 -4.14600239e-04 1.78809902e+02] [-7.83412175e-01 6.21502219e-01 -5.95902115e-04 -9.62675432e+01] [ 7.24512075e-04 -4.55515305e-05 -9.99999737e-01 5.03823241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.097628 meters 0.03188616114222725 Centerline is valid? [True, True] Translation: X:178.73, Y:-96.34, Z:0.50 [[-5.64199177e-01 -8.25638543e-01 -5.33475119e-04 1.78729610e+02] [-8.25638049e-01 5.64199425e-01 -9.05882352e-04 -9.63424630e+01] [ 1.04891774e-03 -7.06407214e-05 -9.99999447e-01 5.01135935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.157628 meters 0.0327202704347599 Centerline is valid? [True, True] Translation: X:178.65, Y:-96.43, Z:0.50 [[-4.99101703e-01 -8.66543171e-01 -6.50280809e-04 1.78653682e+02] [-8.66542163e-01 4.99102117e-01 -1.32532125e-03 -9.64317012e+01] [ 1.47300460e-03 -9.79743527e-05 -9.99998910e-01 4.97608522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.217628 meters 0.03644255805308317 Centerline is valid? [True, True] Translation: X:178.58, Y:-96.53, Z:0.50 [[-4.31308580e-01 -9.02204103e-01 -8.15291908e-04 1.78584775e+02] [-9.02201804e-01 4.31309326e-01 -2.04228980e-03 -9.65283804e+01] [ 2.19420524e-03 -1.45299282e-04 -9.99997582e-01 4.99612632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.277628 meters 0.032135256234956784 Centerline is valid? [True, True] Translation: X:178.52, Y:-96.63, Z:0.50 [[-3.60685751e-01 -9.32686356e-01 -1.39649857e-03 1.78515129e+02] [-9.32675738e-01 3.60688324e-01 -4.46092186e-03 -9.66266136e+01] [ 4.66434169e-03 -3.06510619e-04 -9.99989075e-01 4.97677125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.337628 meters 0.03165401440743183 Centerline is valid? [True, True] Translation: X:178.46, Y:-96.73, Z:0.50 [[-2.86960289e-01 -9.57940274e-01 -2.05503239e-03 1.78458196e+02] [-9.57898995e-01 2.86967043e-01 -8.91249268e-03 -9.67345611e+01] [ 9.12736225e-03 -5.89018019e-04 -9.99958171e-01 4.95802803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.397628 meters 0.031837705880699195 Centerline is valid? [True, True] Translation: X:178.41, Y:-96.85, Z:0.49 [[-2.10167282e-01 -9.77663992e-01 -1.68319992e-03 1.78409643e+02] [-9.77600480e-01 2.10172852e-01 -1.11657761e-02 -9.68495034e+01] [ 1.12701401e-02 -7.01183756e-04 -9.99936244e-01 4.94256519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.457628 meters 0.031147338817511083 Centerline is valid? [True, True] Translation: X:178.37, Y:-96.97, Z:0.49 [[-1.28753636e-01 -9.91676229e-01 -8.70851796e-04 1.78367690e+02] [-9.91604048e-01 1.28754788e-01 -1.19839791e-02 -9.69710883e+01] [ 1.19963535e-02 -6.79440716e-04 -9.99927810e-01 4.93943322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.517628 meters 0.03029869942106838 Centerline is valid? [True, True] Translation: X:178.33, Y:-97.09, Z:0.49 [[-4.99141331e-02 -9.98753511e-01 6.02902239e-05 1.78334162e+02] [-9.98665598e-01 4.99089384e-02 -1.32710759e-02 -9.70898688e+01] [ 1.32515246e-02 -7.22624020e-04 -9.99911934e-01 4.94839983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.577628 meters 0.030640808115145746 Centerline is valid? [True, True] Translation: X:178.31, Y:-97.21, Z:0.49 [[ 2.68920256e-02 -9.99637689e-01 1.14436595e-03 1.78314905e+02] [-9.99540479e-01 -2.69053936e-02 -1.39617237e-02 -9.72122755e+01] [ 1.39874549e-02 -7.68381060e-04 -9.99901876e-01 4.93249283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.637628 meters 0.03323830592295848 Centerline is valid? [True, True] Translation: X:178.30, Y:-97.34, Z:0.49 [[ 1.00834766e-01 -9.94901007e-01 2.08225630e-03 1.78303391e+02] [-9.94816598e-01 -1.00853381e-01 -1.29820189e-02 -9.73364920e+01] [ 1.31258263e-02 -7.62424291e-04 -9.99913562e-01 4.94944682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.697628 meters 0.034077756688040035 Centerline is valid? [True, True] Translation: X:178.30, Y:-97.46, Z:0.50 [[ 1.73980665e-01 -9.84745260e-01 2.73870829e-03 1.78298692e+02] [-9.84679813e-01 -1.74000739e-01 -1.13758246e-02 -9.74578419e+01] [ 1.16788266e-02 -7.17577243e-04 -9.99931543e-01 4.97426724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.757628 meters 0.035640233129699134 Centerline is valid? [True, True] Translation: X:178.31, Y:-97.58, Z:0.50 [[ 2.43727550e-01 -9.69836444e-01 3.76215584e-03 1.78307049e+02] [-9.69767314e-01 -2.43755209e-01 -1.16084431e-02 -9.75807864e+01] [ 1.21753363e-02 -8.19118353e-04 -9.99925542e-01 4.96781944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.817628 meters 0.035785201000852924 Centerline is valid? [True, True] Translation: X:178.32, Y:-97.70, Z:0.50 [[ 3.11006542e-01 -9.50398020e-01 4.30523745e-03 1.78318975e+02] [-9.50340842e-01 -3.11035208e-01 -1.04586605e-02 -9.76978916e+01] [ 1.12789706e-02 -8.38731148e-04 -9.99936039e-01 4.98252121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.877628 meters 0.03746116671840817 Centerline is valid? [True, True] Translation: X:178.34, Y:-97.81, Z:0.50 [[ 3.77503595e-01 -9.25993011e-01 5.28962115e-03 1.78342769e+02] [-9.25934209e-01 -3.77539476e-01 -1.04778058e-02 -9.78136467e+01] [ 1.16994157e-02 -9.42431837e-04 -9.99931115e-01 4.98377425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93762799999996 meters 0.04099542327857818 Centerline is valid? [True, True] Translation: X:178.38, Y:-97.93, Z:0.50 [[ 4.44639621e-01 -8.95678260e-01 7.48746028e-03 1.78378319e+02] [-8.95593656e-01 -4.44701024e-01 -1.23694459e-02 -9.79261125e+01] [ 1.44087250e-02 -1.20577619e-03 -9.99895462e-01 4.96968643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99762799999996 meters 0.03759162146874862 Centerline is valid? [True, True] Translation: X:178.41, Y:-98.04, Z:0.50 [[ 5.12787124e-01 -8.58471130e-01 8.75695181e-03 1.78414810e+02] [-8.58384783e-01 -5.12860389e-01 -1.22387374e-02 -9.80380472e+01] [ 1.49976964e-02 -1.24096724e-03 -9.99886758e-01 4.96716063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.05762799999997 meters 0.0379402592194037 Centerline is valid? [True, True] Translation: X:178.46, Y:-98.14, Z:0.50 [[ 5.77709668e-01 -8.16184865e-01 9.68530689e-03 1.78462847e+02] [-8.16104016e-01 -5.77789541e-01 -1.15534447e-02 -9.81445710e+01] [ 1.50258157e-02 -1.22968112e-03 -9.99886350e-01 4.96517002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.11762799999997 meters 0.038517944273570824 Centerline is valid? [True, True] Translation: X:178.52, Y:-98.25, Z:0.50 [[ 6.41549754e-01 -7.67016161e-01 1.00061325e-02 1.78519715e+02] [-7.66948678e-01 -6.41626824e-01 -1.02344439e-02 -9.82490529e+01] [ 1.42701869e-02 -1.10828517e-03 -9.99897561e-01 4.98093592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.17762799999997 meters 0.03534336964821676 Centerline is valid? [True, True] Translation: X:178.57, Y:-98.34, Z:0.50 [[ 7.01754997e-01 -7.12321546e-01 1.17447841e-02 1.78572139e+02] [-7.12247811e-01 -7.01852363e-01 -1.03109161e-02 -9.83443049e+01] [ 1.55877922e-02 -1.12945989e-03 -9.99877865e-01 4.97919582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.237628 meters 0.03474616248655853 Centerline is valid? [True, True] Translation: X:178.59, Y:-98.37, Z:0.50 [[ 7.59935934e-01 -6.49865189e-01 1.31382132e-02 1.78591429e+02] [-6.49791746e-01 -7.60048745e-01 -9.82811670e-03 -9.83671990e+01] [ 1.63726333e-02 -1.06836344e-03 -9.99865389e-01 4.95942120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.297628 meters 0.03532721595446242 Centerline is valid? [True, True] Translation: X:178.61, Y:-98.39, Z:0.49 [[ 8.10081218e-01 -5.86116079e-01 1.53740850e-02 1.78613839e+02] [-5.86036486e-01 -8.10226303e-01 -9.72498344e-03 -9.83851328e+01] [ 1.81564572e-02 -1.13174834e-03 -9.99834517e-01 4.94852167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.357628 meters 0.029645927544237182 Centerline is valid? [True, True] Translation: X:178.63, Y:-98.41, Z:0.50 [[ 8.53971542e-01 -5.19969651e-01 1.90831969e-02 1.78631196e+02] [-5.19873672e-01 -8.54183722e-01 -1.00764375e-02 -9.84142833e+01] [ 2.15399979e-02 -1.31586080e-03 -9.99767121e-01 4.95723886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.417628 meters 0.02858636672120692 Centerline is valid? [True, True] Translation: X:178.65, Y:-98.44, Z:0.50 [[ 8.90721123e-01 -4.54077308e-01 2.07286932e-02 1.78653045e+02] [-4.53991375e-01 -8.90961126e-01 -8.95001279e-03 -9.84385721e+01] [ 2.25324576e-02 -1.43868249e-03 -9.99745077e-01 4.95475448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.477628 meters 0.03154331291882959 Centerline is valid? [True, True] Translation: X:178.68, Y:-98.45, Z:0.50 [[ 9.22424164e-01 -3.85594568e-01 2.12247853e-02 1.78678912e+02] [-3.85529197e-01 -9.22667116e-01 -7.25477345e-03 -9.84546641e+01] [ 2.23808127e-02 -1.49079611e-03 -9.99748407e-01 4.95138258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.537628 meters 0.03730269297895826 Centerline is valid? [True, True] Translation: X:178.71, Y:-98.46, Z:0.49 [[ 9.49040496e-01 -3.14398898e-01 2.18052602e-02 1.78707331e+02] [-3.14352952e-01 -9.49289703e-01 -5.59289570e-03 -9.84603995e+01] [ 2.24579093e-02 -1.54666342e-03 -9.99746593e-01 4.90169092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.597628 meters 0.030288376719279687 Centerline is valid? [True, True] Translation: X:178.73, Y:-98.49, Z:0.50 [[ 9.70406213e-01 -2.40753448e-01 1.86964837e-02 1.78727551e+02] [-2.40735076e-01 -9.70585386e-01 -3.26072542e-03 -9.84914579e+01] [ 1.89315647e-02 -1.33667122e-03 -9.99819888e-01 4.99911088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.657628 meters 0.030620506790762822 Centerline is valid? [True, True] Translation: X:178.75, Y:-98.50, Z:0.50 [[ 9.86336378e-01 -1.64006491e-01 1.55698830e-02 1.78752212e+02] [-1.64003586e-01 -9.86458644e-01 -1.47192390e-03 -9.85048086e+01] [ 1.56004507e-02 -1.10170455e-03 -9.99877699e-01 5.01441649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.717628 meters 0.02922540073948526 Centerline is valid? [True, True] Translation: X:178.78, Y:-98.52, Z:0.50 [[ 9.96142728e-01 -8.65491750e-02 1.44535864e-02 1.78778620e+02] [-8.65549091e-02 -9.96247055e-01 -2.29524975e-04 -9.85171974e+01] [ 1.44192081e-02 -1.02238922e-03 -9.99895515e-01 5.02457832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.777628 meters 0.029633464557962917 Centerline is valid? [True, True] Translation: X:178.81, Y:-98.53, Z:0.51 [[ 9.99917914e-01 -5.24759645e-03 1.16887777e-02 1.78806046e+02] [-5.25650832e-03 -9.99985917e-01 7.31838072e-04 -9.85279843e+01] [ 1.16847727e-02 -7.93220156e-04 -9.99931416e-01 5.06087524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.837628 meters 0.028033571383536307 Centerline is valid? [True, True] Translation: X:178.83, Y:-98.54, Z:0.51 [[ 9.96785206e-01 7.93726767e-02 1.09192798e-02 1.78834348e+02] [ 7.93604566e-02 -9.96844782e-01 1.54859552e-03 -9.85383185e+01] [ 1.10077433e-02 -6.77058067e-04 -9.99939184e-01 5.06426700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.897628 meters 0.026691286416089248 Centerline is valid? [True, True] Translation: X:178.86, Y:-98.54, Z:0.50 [[ 9.86989233e-01 1.60196193e-01 1.37635216e-02 1.78862650e+02] [ 1.60168958e-01 -9.87084852e-01 3.06593588e-03 -9.85423872e+01] [ 1.40769149e-02 -8.21556792e-04 -9.99900578e-01 5.01840591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.957628 meters 0.025624450675477733 Centerline is valid? [True, True] Translation: X:178.89, Y:-98.55, Z:0.50 [[ 9.70350064e-01 2.41085238e-01 1.72818183e-02 1.78892292e+02] [ 2.41028972e-01 -9.70503454e-01 5.29905331e-03 -9.85463489e+01] [ 1.80495879e-02 -9.76517827e-04 -9.99836616e-01 5.00030189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.017628 meters 0.025141707282091995 Centerline is valid? [True, True] Translation: X:178.92, Y:-98.55, Z:0.50 [[ 9.48236359e-01 3.17038810e-01 1.82811311e-02 1.78922382e+02] [ 3.16958436e-01 -9.48411987e-01 7.21481097e-03 -9.85484207e+01] [ 1.96254189e-02 -1.04698738e-03 -9.99806855e-01 4.99461445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.077628 meters 0.02583502264548948 Centerline is valid? [True, True] Translation: X:178.95, Y:-98.55, Z:0.50 [[ 9.19564069e-01 3.92477039e-01 1.90708437e-02 1.78951468e+02] [ 3.92368016e-01 -9.19761167e-01 9.31318775e-03 -9.85473395e+01] [ 2.11958338e-02 -1.08128372e-03 -9.99774758e-01 5.00045311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.137628 meters 0.025003708972300965 Centerline is valid? [True, True] Translation: X:178.98, Y:-98.54, Z:0.50 [[ 8.85429900e-01 4.64392184e-01 1.88093705e-02 1.78981251e+02] [ 4.64261066e-01 -8.85628998e-01 1.10878749e-02 -9.85440047e+01] [ 2.18072464e-02 -1.08507757e-03 -9.99761605e-01 4.99293654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.197628 meters 0.025943046826150947 Centerline is valid? [True, True] Translation: X:179.01, Y:-98.54, Z:0.50 [[ 8.45789737e-01 5.33262442e-01 1.64587094e-02 1.79008714e+02] [ 5.33138712e-01 -8.45949299e-01 1.15281029e-02 -9.85365059e+01] [ 2.00707380e-02 -9.75576014e-04 -9.99798086e-01 5.00471307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.257628 meters 0.023826469048152162 Centerline is valid? [True, True] Translation: X:179.03, Y:-98.53, Z:0.50 [[ 7.99258900e-01 6.00820085e-01 1.41575396e-02 1.79033018e+02] [ 6.00707308e-01 -7.99383856e-01 1.16696687e-02 -9.85262345e+01] [ 1.83286800e-02 -8.22549075e-04 -9.99831677e-01 4.95888685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.317628 meters 0.02362234778339736 Centerline is valid? [True, True] Translation: X:179.06, Y:-98.52, Z:0.50 [[ 7.49234542e-01 6.62224831e-01 1.02894762e-02 1.79061650e+02] [ 6.62150644e-01 -7.49304930e-01 9.93208710e-03 -9.85171051e+01] [ 1.42872300e-02 -6.28279425e-04 -9.99897735e-01 5.02078988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.377628 meters 0.026378077804405962 Centerline is valid? [True, True] Translation: X:179.08, Y:-98.50, Z:0.51 [[ 6.98120809e-01 7.15953119e-01 6.20210419e-03 1.79083665e+02] [ 7.15918978e-01 -6.98148213e-01 7.00645370e-03 -9.85021572e+01] [ 9.34628034e-03 -4.51147038e-04 -9.99956221e-01 5.07043476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43762799999996 meters 0.027274736131591114 Centerline is valid? [True, True] Translation: X:179.11, Y:-98.49, Z:0.51 [[ 6.46511720e-01 7.62882882e-01 5.68373735e-03 1.79108735e+02] [ 7.62845846e-01 -6.46536481e-01 7.53620089e-03 -9.84880784e+01] [ 9.42398220e-03 -5.36426767e-04 -9.99955449e-01 5.06109201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49762799999996 meters 0.030537495934064032 Centerline is valid? [True, True] Translation: X:179.13, Y:-98.47, Z:0.50 [[ 5.93552374e-01 8.04775687e-01 5.62796535e-03 1.79126863e+02] [ 8.04727628e-01 -5.93578632e-01 8.82340183e-03 -9.84690676e+01] [ 1.04414992e-02 -7.08171891e-04 -9.99945235e-01 5.02771119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.55762799999997 meters 0.034872228328392645 Centerline is valid? [True, True] Translation: X:179.14, Y:-98.45, Z:0.50 [[ 5.40437779e-01 8.41362714e-01 5.98251689e-03 1.79142700e+02] [ 8.41288385e-01 -5.40469896e-01 1.12314539e-02 -9.84489752e+01] [ 1.26830968e-02 -1.03688003e-03 -9.99919029e-01 4.99119909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.61762799999997 meters 0.03729315516752269 Centerline is valid? [True, True] Translation: X:179.16, Y:-98.43, Z:0.50 [[ 4.77672033e-01 8.78520912e-01 5.51695310e-03 1.79160064e+02] [ 8.78430564e-01 -4.77702386e-01 1.26560279e-02 -9.84291558e+01] [ 1.37540468e-02 -1.19917034e-03 -9.99904690e-01 4.97679245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.67762799999997 meters 0.03747466335435073 Centerline is valid? [True, True] Translation: X:179.18, Y:-98.41, Z:0.50 [[ 4.08307114e-01 9.12830137e-01 5.14220675e-03 1.79177120e+02] [ 9.12709874e-01 -4.08337152e-01 1.48814101e-02 -9.84097559e+01] [ 1.56839536e-02 -1.38284273e-03 -9.99876043e-01 4.95319489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.737628 meters 0.03704563672104037 Centerline is valid? [True, True] Translation: X:179.19, Y:-98.39, Z:0.50 [[ 3.31451782e-01 9.43464492e-01 3.80374301e-03 1.79193904e+02] [ 9.43351811e-01 -3.31471202e-01 1.46356899e-02 -9.83891676e+01] [ 1.50690850e-02 -1.26275766e-03 -9.99885658e-01 4.96028780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.797628 meters 0.032744736965987974 Centerline is valid? [True, True] Translation: X:179.21, Y:-98.37, Z:0.50 [[ 2.48805793e-01 9.68550002e-01 2.56359650e-03 1.79214638e+02] [ 9.68443170e-01 -2.48816537e-01 1.44276283e-02 -9.83682781e+01] [ 1.46117446e-02 -1.10697996e-03 -9.99892630e-01 4.95823322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.857628 meters 0.029732576388587506 Centerline is valid? [True, True] Translation: X:179.23, Y:-98.35, Z:0.49 [[ 1.56940938e-01 9.87606755e-01 1.56168449e-03 1.79230039e+02] [ 9.87478144e-01 -1.56945749e-01 1.59670488e-02 -9.83466349e+01] [ 1.60142650e-02 -9.63754317e-04 -9.99871299e-01 4.94000152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.917628 meters 0.02700836722902524 Centerline is valid? [True, True] Translation: X:179.25, Y:-98.32, Z:0.49 [[ 7.07839054e-02 9.97491614e-01 3.43411393e-04 1.79248249e+02] [ 9.97330003e-01 -7.07786269e-02 1.79791896e-02 -9.83226983e+01] [ 1.79583970e-02 -9.30142770e-04 -9.99838302e-01 4.94953787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.977628 meters 0.024437093755558838 Centerline is valid? [True, True] Translation: X:179.27, Y:-98.30, Z:0.50 [[-1.18692632e-02 9.99928822e-01 -1.21309742e-03 1.79266780e+02] [ 9.99720194e-01 1.18915940e-02 2.04480636e-02 -9.82962580e+01] [ 2.04610338e-02 -9.70054538e-04 -9.99790181e-01 4.96349623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.037628 meters 0.025792078272446627 Centerline is valid? [True, True] Translation: X:179.27, Y:-98.27, Z:0.49 [[-9.15754885e-02 9.95792401e-01 -3.37984087e-03 1.79272924e+02] [ 9.95493933e-01 9.16308747e-02 2.44051629e-02 -9.82702286e+01] [ 2.46121736e-02 -1.12969636e-03 -9.99696436e-01 4.93008883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.097628 meters 0.023124709120081913 Centerline is valid? [True, True] Translation: X:179.28, Y:-98.24, Z:0.49 [[-1.70808761e-01 9.85282881e-01 -6.48159868e-03 1.79284303e+02] [ 9.84840823e-01 1.70926461e-01 2.95414493e-02 -9.82418906e+01] [ 3.02145610e-02 -1.33740464e-03 -9.99542541e-01 4.90234365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.157628 meters 0.025639510536990148 Centerline is valid? [True, True] Translation: X:179.29, Y:-98.22, Z:0.49 [[-2.47134178e-01 9.68932933e-01 -9.67831152e-03 1.79287250e+02] [ 9.68408062e-01 2.47319169e-01 3.19226117e-02 -9.82155163e+01] [ 3.33245017e-02 -1.48338649e-03 -9.99443484e-01 4.87619118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.217628 meters 0.025566584143937733 Centerline is valid? [True, True] Translation: X:179.29, Y:-98.19, Z:0.49 [[-3.22167354e-01 9.46587312e-01 -1.34408856e-02 1.79289007e+02] [ 9.45964577e-01 3.22443429e-01 3.43693623e-02 -9.81874189e+01] [ 3.68675275e-02 -1.64191516e-03 -9.99318813e-01 4.86932860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.277628 meters 0.02388871617738011 Centerline is valid? [True, True] Translation: X:179.29, Y:-98.16, Z:0.49 [[-3.97094614e-01 9.17636455e-01 -1.60998083e-02 1.79292445e+02] [ 9.17035986e-01 3.97417757e-01 3.32284055e-02 -9.81576761e+01] [ 3.68899459e-02 -1.56928275e-03 -9.99318102e-01 4.88055577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.337628 meters 0.024528583573205677 Centerline is valid? [True, True] Translation: X:179.29, Y:-98.13, Z:0.49 [[-4.66109434e-01 8.84539672e-01 -1.82089103e-02 1.79291366e+02] [ 8.83993938e-01 4.66462238e-01 3.11078464e-02 -9.81285692e+01] [ 3.60098933e-02 -1.59690560e-03 -9.99350158e-01 4.90704441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.397628 meters 0.02529814948019912 Centerline is valid? [True, True] Translation: X:179.28, Y:-98.10, Z:0.49 [[-5.31991088e-01 8.46495955e-01 -2.07383870e-02 1.79284038e+02] [ 8.45972919e-01 5.32392469e-01 2.98006728e-02 -9.81023960e+01] [ 3.62671100e-02 -1.69042138e-03 -9.99340702e-01 4.90917807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.457628 meters 0.027390030430272834 Centerline is valid? [True, True] Translation: X:179.28, Y:-98.08, Z:0.49 [[-5.91071128e-01 8.06306808e-01 -2.24555895e-02 1.79275512e+02] [ 8.05843031e-01 5.91494498e-01 2.74092718e-02 -9.80754463e+01] [ 3.53826401e-02 -1.89485112e-03 -9.99372042e-01 4.93646995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.517628 meters 0.02678620238363013 Centerline is valid? [True, True] Translation: X:179.27, Y:-98.04, Z:0.50 [[-6.49500598e-01 7.59964198e-01 -2.45640222e-02 1.79269795e+02] [ 7.59535728e-01 6.49961759e-01 2.55966730e-02 -9.80441987e+01] [ 3.54182302e-02 -2.03219812e-03 -9.99370511e-01 4.97331881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.577628 meters 0.027691628699377954 Centerline is valid? [True, True] Translation: X:179.26, Y:-98.02, Z:0.50 [[-7.05781352e-01 7.07936047e-01 -2.64430689e-02 1.79259217e+02] [ 7.07547391e-01 7.06273449e-01 2.35479177e-02 -9.80159289e+01] [ 3.53464572e-02 -2.09004328e-03 -9.99372933e-01 4.99054361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.637628 meters 0.028635176103019095 Centerline is valid? [True, True] Translation: X:179.75, Y:-97.47, Z:-0.49 [[-7.39490698e-01 -6.72721679e-01 -2.44754993e-02 1.79752050e+02] [ 6.72257362e-01 -7.39892676e-01 2.50772079e-02 -9.74714504e+01] [-3.49792240e-02 2.09052738e-03 9.99385853e-01 -4.92521003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.697628 meters 0.026495144245470673 Centerline is valid? [True, True] Translation: X:179.71, Y:-97.43, Z:-0.50 [[-7.39329224e-01 -6.72864476e-01 -2.54105419e-02 1.79706353e+02] [ 6.72369510e-01 -7.39762924e-01 2.58854746e-02 -9.74348786e+01] [-3.62151931e-02 2.05261423e-03 9.99341907e-01 -4.97684038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.757628 meters 0.02675760298857134 Centerline is valid? [True, True] Translation: X:179.66, Y:-97.40, Z:-0.50 [[-7.39455601e-01 -6.72685515e-01 -2.64501802e-02 1.79663483e+02] [ 6.72149639e-01 -7.39925428e-01 2.69299765e-02 -9.73952496e+01] [-3.76865660e-02 2.13504292e-03 9.99287328e-01 -5.00396708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.817628 meters 0.02872104918505154 Centerline is valid? [True, True] Translation: X:179.62, Y:-97.35, Z:-0.50 [[-7.38184279e-01 -6.74019831e-01 -2.79506227e-02 1.79623644e+02] [ 6.73423003e-01 -7.38710057e-01 2.84413513e-02 -9.73540864e+01] [-3.98174409e-02 2.17236614e-03 9.99204610e-01 -5.01201020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.877628 meters 0.027718166967913172 Centerline is valid? [True, True] Translation: X:179.58, Y:-97.31, Z:-0.50 [[-7.38493114e-01 -6.73607888e-01 -2.96704186e-02 1.79582271e+02] [ 6.72935760e-01 -7.39085278e-01 3.01730810e-02 -9.73141162e+01] [-4.22537949e-02 2.31632688e-03 9.99104225e-01 -5.02866975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93762799999996 meters 0.029419845587200698 Centerline is valid? [True, True] Translation: X:179.54, Y:-97.27, Z:-0.51 [[-7.40375019e-01 -6.71460839e-01 -3.13874524e-02 1.79542609e+02] [ 6.70707553e-01 -7.41035596e-01 3.19002071e-02 -9.72722244e+01] [-4.46789594e-02 2.56631506e-03 9.98998100e-01 -5.06129770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99762799999996 meters 0.03034491213629943 Centerline is valid? [True, True] Translation: X:179.50, Y:-97.23, Z:-0.51 [[-7.42120905e-01 -6.69479047e-01 -3.24710442e-02 1.79502811e+02] [ 6.68671790e-01 -7.42825795e-01 3.29829703e-02 -9.72297814e+01] [-4.62017367e-02 2.76488055e-03 9.98928303e-01 -5.09607666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.05762799999997 meters 0.03180933409713932 Centerline is valid? [True, True] Translation: X:179.46, Y:-97.19, Z:-0.51 [[-7.43228448e-01 -6.68261675e-01 -3.22150136e-02 1.79462285e+02] [ 6.67466800e-01 -7.43921009e-01 3.27047968e-02 -9.71878792e+01] [-4.58207877e-02 2.80468328e-03 9.98945739e-01 -5.13532346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.11762799999997 meters 0.03167902400363397 Centerline is valid? [True, True] Translation: X:179.42, Y:-97.15, Z:-0.52 [[-7.44119768e-01 -6.67250805e-01 -3.25904001e-02 1.79419994e+02] [ 6.66436950e-01 -7.44827503e-01 3.30723798e-02 -9.71485746e+01] [-4.63417984e-02 2.89036465e-03 9.98921460e-01 -5.19901218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.17762799999997 meters 0.030056335192373655 Centerline is valid? [True, True] Translation: X:179.38, Y:-97.11, Z:-0.53 [[-7.44624683e-01 -6.66623570e-01 -3.38688277e-02 1.79378329e+02] [ 6.65744868e-01 -7.45388378e-01 3.43502055e-02 -9.71082311e+01] [-4.81440872e-02 3.03001269e-03 9.98835805e-01 -5.25409057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.237628 meters 0.032862382408035566 Centerline is valid? [True, True] Translation: X:179.34, Y:-97.06, Z:-0.53 [[-7.46595267e-01 -6.64461801e-01 -3.29548559e-02 1.79340888e+02] [ 6.63628749e-01 -7.47315928e-01 3.34034093e-02 -9.70643989e+01] [-4.68229782e-02 3.06903750e-03 9.98898488e-01 -5.31590795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.297628 meters 0.03256043419668831 Centerline is valid? [True, True] Translation: X:179.30, Y:-97.02, Z:-0.53 [[-7.48835243e-01 -6.61797271e-01 -3.56391803e-02 1.79301607e+02] [ 6.60820659e-01 -7.49674731e-01 3.61089241e-02 -9.70220922e+01] [-5.06145804e-02 3.48852827e-03 9.98712168e-01 -5.34324600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.357628 meters 0.03637663163792891 Centerline is valid? [True, True] Translation: X:179.27, Y:-96.97, Z:-0.53 [[-7.50992700e-01 -6.59272502e-01 -3.70098981e-02 1.79268993e+02] [ 6.58217432e-01 -7.51894580e-01 3.74746958e-02 -9.69741215e+01] [-5.25335783e-02 3.78266284e-03 9.98611994e-01 -5.29012219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.417628 meters 0.03899415854315473 Centerline is valid? [True, True] Translation: X:179.23, Y:-96.93, Z:-0.53 [[-7.53795302e-01 -6.55951426e-01 -3.89919123e-02 1.79229806e+02] [ 6.54777111e-01 -7.54791350e-01 3.94582370e-02 -9.69317319e+01] [-5.53134450e-02 4.21242195e-03 9.98460154e-01 -5.29030511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.477628 meters 0.036654661271934494 Centerline is valid? [True, True] Translation: X:179.19, Y:-96.89, Z:-0.53 [[-7.55584248e-01 -6.53849649e-01 -3.96620834e-02 1.79185494e+02] [ 6.52633059e-01 -7.56611570e-01 4.01126265e-02 -9.68940737e+01] [-5.62364179e-02 4.42368188e-03 9.98407680e-01 -5.34379521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.537628 meters 0.03601188813976184 Centerline is valid? [True, True] Translation: X:179.15, Y:-96.85, Z:-0.54 [[-7.57992107e-01 -6.51138524e-01 -3.82960728e-02 1.79145274e+02] [ 6.50002212e-01 -7.58945876e-01 3.87076465e-02 -9.68526681e+01] [-5.42686863e-02 4.44755851e-03 9.98516464e-01 -5.38917648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.597628 meters 0.03546493231883172 Centerline is valid? [True, True] Translation: X:179.10, Y:-96.81, Z:-0.54 [[-7.56735372e-01 -6.52603466e-01 -3.82137867e-02 1.79104909e+02] [ 6.51475135e-01 -7.57687331e-01 3.86012511e-02 -9.68115421e+01] [-5.41454123e-02 4.31560023e-03 9.98523735e-01 -5.42692710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.657628 meters 0.036297314843620095 Centerline is valid? [True, True] Translation: X:179.06, Y:-96.77, Z:-0.54 [[-7.50983499e-01 -6.59314593e-01 -3.64424433e-02 1.79063702e+02] [ 6.58297445e-01 -7.51858386e-01 3.67891518e-02 -9.67722738e+01] [-5.16551812e-02 3.63807859e-03 9.98658353e-01 -5.39669537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.717628 meters 0.03254423399907723 Centerline is valid? [True, True] Translation: X:179.02, Y:-96.74, Z:-0.55 [[-7.48798618e-01 -6.61872034e-01 -3.50148646e-02 1.79015998e+02] [ 6.60936877e-01 -7.49609534e-01 3.53269103e-02 -9.67382369e+01] [-4.96293703e-02 3.31012638e-03 9.98762218e-01 -5.45257299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.777628 meters 0.037026653639365255 Centerline is valid? [True, True] Translation: X:178.98, Y:-96.69, Z:-0.55 [[-7.52855584e-01 -6.57421966e-01 -3.16990358e-02 1.78980830e+02] [ 6.56652559e-01 -7.53515634e-01 3.19625841e-02 -9.66926348e+01] [-4.48986239e-02 3.24795695e-03 9.98986268e-01 -5.47756992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.837628 meters 0.033409754905341024 Centerline is valid? [True, True] Translation: X:178.94, Y:-96.65, Z:-0.55 [[-7.55224113e-01 -6.54757093e-01 -3.04907885e-02 1.78937434e+02] [ 6.54043910e-01 -7.55832327e-01 3.07255269e-02 -9.66549894e+01] [-4.31636803e-02 3.26234429e-03 9.99062688e-01 -5.50197442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.897628 meters 0.03593144971462109 Centerline is valid? [True, True] Translation: X:178.90, Y:-96.61, Z:-0.55 [[-7.55247966e-01 -6.54726493e-01 -3.05569986e-02 1.78898912e+02] [ 6.54011013e-01 -7.55858858e-01 3.07730515e-02 -9.66130891e+01] [-4.32447101e-02 3.25667093e-03 9.99059202e-01 -5.49226262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.957628 meters 0.03173909059183135 Centerline is valid? [True, True] Translation: X:178.85, Y:-96.57, Z:-0.55 [[-7.53434559e-01 -6.56806781e-01 -3.06792592e-02 1.78854924e+02] [ 6.56088032e-01 -7.54052395e-01 3.08784808e-02 -9.65748047e+01] [-4.34149644e-02 3.13661982e-03 9.99052202e-01 -5.47831771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.017628 meters 0.032726361678979674 Centerline is valid? [True, True] Translation: X:178.81, Y:-96.53, Z:-0.55 [[-7.53432595e-01 -6.56807051e-01 -3.07217003e-02 1.78814779e+02] [ 6.56087159e-01 -7.54052203e-01 3.09017117e-02 -9.65346336e+01] [-4.34622279e-02 3.12624378e-03 9.99050180e-01 -5.47198225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.077628 meters 0.03240271379331355 Centerline is valid? [True, True] Translation: X:178.77, Y:-96.49, Z:-0.54 [[-7.49732026e-01 -6.61046948e-01 -3.03120587e-02 1.78773702e+02] [ 6.60350356e-01 -7.50339211e-01 3.04709009e-02 -9.64946069e+01] [-4.28870223e-02 2.82843148e-03 9.99075925e-01 -5.43329459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.137628 meters 0.029319068531519096 Centerline is valid? [True, True] Translation: X:178.73, Y:-96.46, Z:-0.54 [[-7.48409078e-01 -6.62584917e-01 -2.94122421e-02 1.78730146e+02] [ 6.61930965e-01 -7.48982127e-01 2.95494823e-02 -9.64559715e+01] [-4.16082849e-02 2.64622703e-03 9.99130496e-01 -5.44050196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.197628 meters 0.02933791824493986 Centerline is valid? [True, True] Translation: X:178.69, Y:-96.42, Z:-0.54 [[-7.48683850e-01 -6.62104695e-01 -3.30131294e-02 1.78688973e+02] [ 6.61280870e-01 -7.49405383e-01 3.31539231e-02 -9.64152917e+01] [-4.66915850e-02 2.99085586e-03 9.98904876e-01 -5.41777383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.257628 meters 0.03753127636237338 Centerline is valid? [True, True] Translation: X:178.66, Y:-96.37, Z:-0.53 [[-7.48752916e-01 -6.61890997e-01 -3.56283488e-02 1.78657394e+02] [ 6.60931988e-01 -7.49593139e-01 3.57635669e-02 -9.63668092e+01] [-5.03783487e-02 3.23015961e-03 9.98724981e-01 -5.29670701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.317628 meters 0.031219980628871487 Centerline is valid? [True, True] Translation: X:178.61, Y:-96.33, Z:-0.53 [[-7.47545764e-01 -6.63154998e-01 -3.74269911e-02 1.78614367e+02] [ 6.62099456e-01 -7.48474881e-01 3.75454818e-02 -9.63292368e+01] [-5.29116366e-02 3.28657542e-03 9.98593790e-01 -5.32270095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.377628 meters 0.030334905630555284 Centerline is valid? [True, True] Translation: X:178.57, Y:-96.29, Z:-0.53 [[-7.46689650e-01 -6.64109380e-01 -3.75938630e-02 1.78573026e+02] [ 6.63046734e-01 -7.47628504e-01 3.76914817e-02 -9.62888221e+01] [-5.31375102e-02 3.21735117e-03 9.98582022e-01 -5.32305250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43762799999996 meters 0.031420864311760915 Centerline is valid? [True, True] Translation: X:178.53, Y:-96.25, Z:-0.53 [[-7.47898043e-01 -6.62761466e-01 -3.73598241e-02 1.78532829e+02] [ 6.61711451e-01 -7.48823411e-01 3.74360087e-02 -9.62464325e+01] [-5.27870549e-02 3.27689428e-03 9.98600415e-01 -5.32841856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49762799999996 meters 0.034960779253448065 Centerline is valid? [True, True] Translation: X:178.49, Y:-96.20, Z:-0.53 [[-7.49316809e-01 -6.61095022e-01 -3.84407453e-02 1.78494865e+02] [ 6.59982437e-01 -7.50294140e-01 3.84952860e-02 -9.62046390e+01] [-5.42909079e-02 3.47494814e-03 9.98519115e-01 -5.28054393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.55762799999997 meters 0.03384658372733311 Centerline is valid? [True, True] Translation: X:178.45, Y:-96.17, Z:-0.53 [[-7.51835572e-01 -6.57949692e-01 -4.29589949e-02 1.78452633e+02] [ 6.56555927e-01 -7.53050587e-01 4.30014898e-02 -9.61659531e+01] [-6.06431133e-02 4.12506695e-03 9.98150989e-01 -5.28771405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.61762799999997 meters 0.03570070097557584 Centerline is valid? [True, True] Translation: X:178.42, Y:-96.12, Z:-0.52 [[-7.57089510e-01 -6.51866596e-01 -4.34213644e-02 1.78416114e+02] [ 6.50433797e-01 -7.58319405e-01 4.34460123e-02 -9.61209084e+01] [-6.12482674e-02 4.64979728e-03 9.98111732e-01 -5.23475881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.67762799999997 meters 0.034251930364906404 Centerline is valid? [True, True] Translation: X:178.37, Y:-96.08, Z:-0.53 [[-7.60994341e-01 -6.47212510e-01 -4.47613613e-02 1.78373096e+02] [ 6.45683496e-01 -7.62292158e-01 4.47603527e-02 -9.60826725e+01] [-6.30906949e-02 5.16070289e-03 9.97994455e-01 -5.25837311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.737628 meters 0.034132357543890005 Centerline is valid? [True, True] Translation: X:177.86, Y:-96.61, Z:0.53 [[-6.94082426e-01 7.18175936e-01 -4.97283716e-02 1.77858381e+02] [ 7.16902109e-01 6.95838135e-01 4.31353127e-02 -9.66074247e+01] [ 6.55816409e-02 -5.71091193e-03 -9.97830864e-01 5.31611854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.797628 meters 0.03879478310869802 Centerline is valid? [True, True] Translation: X:177.88, Y:-96.59, Z:0.53 [[-7.41738572e-01 6.68583259e-01 -5.31066543e-02 1.77880747e+02] [ 6.67420147e-01 7.43614034e-01 3.98561760e-02 -9.65919958e+01] [ 6.61380255e-02 -5.88158800e-03 -9.97793149e-01 5.31531054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.857628 meters 0.041262871138737535 Centerline is valid? [True, True] Translation: X:178.33, Y:-96.00, Z:-0.52 [[-8.10948002e-01 -5.82890202e-01 -5.10132265e-02 1.78325153e+02] [ 5.81268485e-01 -8.12529451e-01 4.38501938e-02 -9.60045547e+01] [-6.70095973e-02 5.90784623e-03 9.97734840e-01 -5.23232308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.917628 meters 0.040193230165955246 Centerline is valid? [True, True] Translation: X:177.84, Y:-96.56, Z:0.54 [[-7.42659991e-01 6.67625322e-01 -5.22739699e-02 1.77841360e+02] [ 6.66514844e-01 7.44473899e-01 3.89432444e-02 -9.65563031e+01] [ 6.49161023e-02 -5.91978744e-03 -9.97873166e-01 5.35669815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.977628 meters 0.04206894112819068 Centerline is valid? [True, True] Translation: X:178.29, Y:-95.99, Z:-0.53 [[-8.15006967e-01 -5.77324857e-01 -4.95949014e-02 1.78287977e+02] [ 5.75803392e-01 -8.16493090e-01 4.23023411e-02 -9.59868335e+01] [-6.49160873e-02 5.91979024e-03 9.97873167e-01 -5.29568121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.037628 meters 0.04393602099897779 Centerline is valid? [True, True] Translation: X:177.82, Y:-96.54, Z:0.53 [[-7.43142056e-01 6.67045735e-01 -5.28192334e-02 1.77817048e+02] [ 6.65928908e-01 7.44991469e-01 3.90691788e-02 -9.65417393e+01] [ 6.54108074e-02 -6.13990450e-03 -9.97839530e-01 5.34068217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.097628 meters 0.0466092392443065 Centerline is valid? [True, True] Translation: X:177.83, Y:-96.52, Z:0.53 [[-7.86155692e-01 6.15392350e-01 -5.70217731e-02 1.77832565e+02] [ 6.14358422e-01 7.88193872e-01 3.62512167e-02 -9.65236766e+01] [ 6.72529336e-02 -6.53270613e-03 -9.97714572e-01 5.30924517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.157628 meters 0.04888912701699762 Centerline is valid? [True, True] Translation: X:178.24, Y:-95.90, Z:-0.52 [[-8.58589767e-01 -5.09597880e-01 -5.59786755e-02 1.78236809e+02] [ 5.08004183e-01 -8.60387377e-01 4.08082239e-02 -9.59022544e+01] [-6.89591302e-02 6.60012213e-03 9.97597653e-01 -5.20980166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.217628 meters 0.04889040019750581 Centerline is valid? [True, True] Translation: X:178.22, Y:-95.94, Z:-0.52 [[-8.24149555e-01 -5.63651305e-01 -5.54501253e-02 1.78222719e+02] [ 5.61754453e-01 -8.25979542e-01 4.67945570e-02 -9.59371963e+01] [-7.21764822e-02 7.41635855e-03 9.97364303e-01 -5.19697475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.277628 meters 0.0431666488187666 Centerline is valid? [True, True] Translation: X:177.76, Y:-96.49, Z:0.53 [[-7.35747661e-01 6.74057969e-01 -6.57360862e-02 1.77757659e+02] [ 6.72410729e-01 7.38624428e-01 4.79350169e-02 -9.64924329e+01] [ 8.08652592e-02 -8.93357309e-03 -9.96685006e-01 5.29329624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.337628 meters 0.04733091545376801 Centerline is valid? [True, True] Translation: X:177.77, Y:-96.47, Z:0.52 [[-7.77357968e-01 6.24031774e-01 -7.93658291e-02 1.77773144e+02] [ 6.22144239e-01 7.81324894e-01 4.96785343e-02 -9.64650751e+01] [ 9.30114819e-02 -1.07589889e-02 -9.95606905e-01 5.19986682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.397628 meters 0.043857403579367064 Centerline is valid? [True, True] Translation: X:177.80, Y:-96.43, Z:0.51 [[-8.19899399e-01 5.64871604e-01 -9.31935980e-02 1.77796322e+02] [ 5.62821262e-01 8.25093757e-01 4.95229209e-02 -9.64317550e+01] [ 1.04867548e-01 -1.18475254e-02 -9.94415624e-01 5.14307045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.457628 meters 0.04373303565495394 Centerline is valid? [True, True] Translation: X:177.81, Y:-96.40, Z:0.50 [[-8.59910752e-01 4.99517230e-01 -1.05052537e-01 1.77807261e+02] [ 4.97486982e-01 8.66218305e-01 4.66106257e-02 -9.64037683e+01] [ 1.14281241e-01 -1.21812911e-02 -9.93373753e-01 5.02939874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.517628 meters 0.04815292912784694 Centerline is valid? [True, True] Translation: X:177.80, Y:-96.38, Z:0.50 [[-8.88661990e-01 4.44437413e-01 -1.12939163e-01 1.77802455e+02] [ 4.42772920e-01 8.95704536e-01 4.08108426e-02 -9.63822007e+01] [ 1.19297986e-01 -1.37393583e-02 -9.92763426e-01 4.96670993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.577628 meters 0.04592916807262628 Centerline is valid? [True, True] Translation: X:177.84, Y:-96.36, Z:0.50 [[-9.14844634e-01 3.84999538e-01 -1.21797586e-01 1.77835094e+02] [ 3.83753704e-01 9.22791616e-01 3.44779371e-02 -9.63596243e+01] [ 1.25667781e-01 -1.51983190e-02 -9.91955957e-01 5.00053855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.637628 meters 0.04983174392519813 Centerline is valid? [True, True] Translation: X:177.83, Y:-96.33, Z:0.50 [[-9.42770436e-01 3.08674731e-01 -1.26110330e-01 1.77827911e+02] [ 3.07882449e-01 9.51063032e-01 2.62203382e-02 -9.63263652e+01] [ 1.28032429e-01 -1.41073976e-02 -9.91669642e-01 4.96904009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.697628 meters 0.050008252179491584 Centerline is valid? [True, True] Translation: X:177.93, Y:-95.65, Z:-0.50 [[-9.76920629e-01 -1.74957780e-01 -1.22539220e-01 1.77925621e+02] [ 1.71801456e-01 -9.84475433e-01 3.59497172e-02 -9.56535486e+01] [-1.26926534e-01 1.40676040e-02 9.91812360e-01 -4.96205258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.757628 meters 0.04256775302332621 Centerline is valid? [True, True] Translation: X:177.76, Y:-96.28, Z:0.53 [[-9.52332931e-01 2.79258333e-01 -1.22787508e-01 1.77762107e+02] [ 2.78324192e-01 9.60160538e-01 2.50476473e-02 -9.62794116e+01] [ 1.24890484e-01 -1.03210345e-02 -9.92116850e-01 5.25897751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.817628 meters 0.038320354877727676 Centerline is valid? [True, True] Translation: X:177.89, Y:-95.68, Z:-0.53 [[-9.74904371e-01 -1.88931837e-01 -1.17754953e-01 1.77894510e+02] [ 1.86303995e-01 -9.81936484e-01 3.30388203e-02 -9.56839379e+01] [-1.21869970e-01 1.02714722e-02 9.92492926e-01 -5.33989591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.877628 meters 0.039642058600034454 Centerline is valid? [True, True] Translation: X:177.72, Y:-96.25, Z:0.55 [[-9.57213631e-01 2.66706930e-01 -1.12291932e-01 1.77723443e+02] [ 2.65889891e-01 9.63741511e-01 2.24692113e-02 -9.62462937e+01] [ 1.14213091e-01 -8.34945435e-03 -9.93421188e-01 5.53226020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93762799999996 meters 0.03935442788888892 Centerline is valid? [True, True] Translation: X:177.72, Y:-96.20, Z:0.57 [[-9.75700780e-01 1.93982330e-01 -1.01876608e-01 1.77721498e+02] [ 1.93678096e-01 9.80979464e-01 1.29648267e-02 -9.62040929e+01] [ 1.02453808e-01 -7.08147601e-03 -9.94712556e-01 5.72118995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2638.65 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%| | 0/11466 [00:00