+ python -m lidar_slam --no-model /working/910217d2-2dd4-4806-a3b7-a019c7e66750 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/910217d2-2dd4-4806-a3b7-a019c7e66750 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 0.028040942 Adjusted end_distance from 9.223372036854776e+18 to 199.178040942 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028040942 meters 0.029246978389196883 Centerline is valid? [0, True] SLAMing on 0.088040942 meters 0.03031195573010091 Centerline is valid? [True, True] Translation: X:0.06, Y:0.02, Z:0.00 [[ 9.99999849e-01 -4.81576420e-04 -2.66047862e-04 6.07525356e-02] [ 4.81578699e-04 9.99999884e-01 8.50160559e-06 1.50751019e-02] [ 2.66043737e-04 -8.62972729e-06 9.99999965e-01 3.01416628e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.148040942 meters 0.03365186707565632 Centerline is valid? [True, True] Translation: X:0.12, Y:0.02, Z:0.00 [[ 9.99999224e-01 -1.24486614e-03 -4.08377274e-05 1.20591919e-01] [ 1.24486620e-03 9.99999225e-01 1.31208216e-06 2.12702523e-02] [ 4.08360624e-05 -1.36291865e-06 9.99999999e-01 5.55587579e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.208040942 meters 0.03619160406326581 Centerline is valid? [True, True] Translation: X:0.18, Y:0.04, Z:-0.00 [[ 9.99998600e-01 1.68632629e-04 1.66470761e-03 1.82031430e-01] [-1.68543824e-04 9.99999984e-01 -5.34856686e-05 4.07311755e-02] [-1.66471660e-03 5.32050175e-05 9.99998613e-01 -1.12785388e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.268040942 meters 0.04269290047057276 Centerline is valid? [True, True] Translation: X:0.24, Y:0.05, Z:-0.00 [[ 9.99992951e-01 3.32249323e-03 1.74908217e-03 2.43297312e-01] [-3.32239988e-03 9.99994479e-01 -5.62727298e-05 4.82577447e-02] [-1.74925948e-03 5.04611828e-05 9.99998469e-01 -6.69698037e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.328040942 meters 0.055399937854854794 Centerline is valid? [True, True] Translation: X:0.30, Y:0.06, Z:-0.00 [[ 9.99970997e-01 7.05171663e-03 2.87721629e-03 3.04853884e-01] [-7.05147912e-03 9.99975134e-01 -9.26853240e-05 5.80795377e-02] [-2.87779833e-03 7.23940053e-05 9.99995857e-01 -8.53984318e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.388040942 meters 0.07088594124759984 Centerline is valid? [True, True] Translation: X:0.37, Y:0.07, Z:-0.00 [[ 9.99941455e-01 9.96896626e-03 4.20788460e-03 3.66542689e-01] [-9.96848313e-03 9.99950304e-01 -1.35772611e-04 6.71418094e-02] [-4.20902900e-03 9.38184355e-05 9.99991138e-01 -2.25479798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.448040942 meters 0.08243013987420725 Centerline is valid? [True, True] Translation: X:0.43, Y:0.08, Z:-0.00 [[ 9.99889385e-01 1.27731833e-02 7.61994341e-03 4.28732080e-01] [-1.27716632e-02 9.99918408e-01 -2.48108238e-04 7.75402912e-02] [-7.62249082e-03 1.50761442e-04 9.99970937e-01 -3.10130298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5080409419999999 meters 0.09288765579606631 Centerline is valid? [True, True] Translation: X:0.49, Y:0.09, Z:-0.00 [[ 9.99790933e-01 1.53159690e-02 1.35466312e-02 4.91581835e-01] [-1.53113604e-02 9.99882676e-01 -4.43853029e-04 8.52421105e-02] [-1.35518399e-02 2.36342880e-04 9.99908142e-01 -2.38291042e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.568040942 meters 0.0996133441990626 Centerline is valid? [True, True] Translation: X:0.55, Y:0.09, Z:-0.00 [[ 9.99697393e-01 1.68911274e-02 1.78833041e-02 5.53832827e-01] [-1.68832712e-02 9.99857293e-01 -5.90194222e-04 9.24988103e-02] [-1.78907211e-02 2.88086950e-04 9.99839907e-01 -4.53754339e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6280409419999999 meters 0.10830411891624296 Centerline is valid? [True, False] Translation: X:0.56, Y:0.10, Z:-0.00 [[ 9.99672053e-01 1.89760626e-02 1.71957986e-02 5.55049495e-01] [-1.89911023e-02 9.99819399e-01 7.11727355e-04 1.00238447e-01] [-1.71791873e-02 -1.03806112e-03 9.99851888e-01 -3.77966371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6880409419999999 meters 0.11788950703826995 Centerline is valid? [False, False] Translation: X:0.56, Y:0.11, Z:-0.00 [[ 0.99974247 0.01623017 0.01586107 0.55671843] [-0.01618772 0.99986505 -0.00280095 0.11078885] [-0.01590439 0.00254348 0.99987028 -0.00181978] [ 0. 0. 0. 1. ]] SLAMing on 0.7480409419999999 meters 0.12374615089137779 Centerline is valid? [False, False] Translation: X:0.56, Y:0.12, Z:-0.00 [[ 0.99978118 0.01448248 0.01509475 0.55815321] [-0.01440592 0.99988287 -0.00516837 0.11740118] [-0.01516783 0.00494978 0.99987271 -0.00129675] [ 0. 0. 0. 1. ]] SLAMing on 0.808040942 meters 0.12680150971545315 Centerline is valid? [False, False] Translation: X:0.55, Y:0.13, Z:-0.00 [[ 9.99895674e-01 9.35576079e-03 1.10050355e-02 5.53027857e-01] [-9.37837370e-03 9.99954012e-01 2.00496810e-03 1.25025998e-01] [-1.09857714e-02 -2.10796827e-03 9.99937433e-01 -5.07106863e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8680409419999999 meters 0.12999065433210993 Centerline is valid? [False, False] Translation: X:0.55, Y:0.14, Z:0.00 [[ 0.99988795 0.01108256 0.01006319 0.55431284] [-0.01111197 0.99993414 0.00287104 0.13518513] [-0.01003071 -0.00298254 0.99994524 0.00103202] [ 0. 0. 0. 1. ]] SLAMing on 0.9280409419999999 meters 0.13003885202995086 Centerline is valid? [False, False] Translation: X:0.55, Y:0.14, Z:0.00 [[ 0.99980632 0.01702637 0.00987028 0.55433833] [-0.01710358 0.99982336 0.00779152 0.14383188] [-0.00973587 -0.00795883 0.99992093 0.00229726] [ 0. 0. 0. 1. ]] SLAMing on 0.9880409419999999 meters 0.13536265002965134 Centerline is valid? [False, False] Translation: X:0.55, Y:0.15, Z:0.00 [[ 0.99974982 0.01999553 0.01002399 0.55432726] [-0.0200948 0.99974905 0.00990182 0.14850434] [-0.00982348 -0.01010077 0.99990073 0.00236745] [ 0. 0. 0. 1. ]] SLAMing on 1.048040942 meters 0.12886517993782215 Centerline is valid? [False, False] Translation: X:0.55, Y:0.16, Z:0.00 [[ 0.99959426 0.02653698 0.01034911 0.55360843] [-0.02669053 0.9995313 0.01499311 0.15645753] [-0.00994638 -0.01526325 0.99983404 0.00319694] [ 0. 0. 0. 1. ]] SLAMing on 1.1080409420000001 meters 0.12313282981416054 Centerline is valid? [False, False] Translation: X:0.55, Y:0.17, Z:0.00 [[ 0.99950216 0.0296251 0.01085275 0.55258022] [-0.02979659 0.99942798 0.015996 0.16564939] [-0.01037266 -0.01631141 0.99981316 0.00361795] [ 0. 0. 0. 1. ]] SLAMing on 1.168040942 meters 0.12521072790181806 Centerline is valid? [False, False] Translation: X:0.56, Y:0.17, Z:0.00 [[ 0.99969898 0.02366339 0.00648023 0.5617508 ] [-0.02375184 0.99962081 0.01393145 0.17167619] [-0.00614811 -0.01408117 0.99988195 0.00451954] [ 0. 0. 0. 1. ]] SLAMing on 1.228040942 meters 0.11682258990211855 Centerline is valid? [False, False] Translation: X:0.56, Y:0.18, Z:0.00 [[ 0.99970752 0.02326571 0.00660093 0.56192165] [-0.02334205 0.99965867 0.01173396 0.17799146] [-0.00632568 -0.0118846 0.99990937 0.00380131] [ 0. 0. 0. 1. ]] SLAMing on 1.288040942 meters 0.11325390436983777 Centerline is valid? [False, False] Translation: X:0.56, Y:0.18, Z:0.00 [[ 0.99972134 0.02268705 0.00652287 0.56235754] [-0.02275206 0.99969041 0.01007121 0.18220649] [-0.00629237 -0.01021681 0.99992801 0.00325118] [ 0. 0. 0. 1. ]] SLAMing on 1.348040942 meters 0.10823317168874699 Centerline is valid? [False, False] Translation: X:0.56, Y:0.19, Z:0.00 [[ 0.99974555 0.02163775 0.00637573 0.56348498] [-0.02168639 0.99973547 0.00766124 0.18743235] [-0.00620827 -0.00779755 0.99995033 0.00189055] [ 0. 0. 0. 1. ]] SLAMing on 1.408040942 meters 0.10190916736462335 Centerline is valid? [False, False] Translation: X:0.56, Y:0.19, Z:0.00 [[ 9.99822584e-01 1.77391263e-02 6.33433620e-03 5.64038232e-01] [-1.77614386e-02 9.99836184e-01 3.48372466e-03 1.87225248e-01] [-6.27150031e-03 -3.59561351e-03 9.99973870e-01 7.85040295e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.468040942 meters 0.09977252109921704 Centerline is valid? [False, True] Translation: X:0.57, Y:0.19, Z:-0.00 [[ 9.99877379e-01 1.45382171e-02 5.81961352e-03 5.65722578e-01] [-1.45344804e-02 9.99894135e-01 -6.83858273e-04 1.89218573e-01] [-5.82893950e-03 5.99189359e-04 9.99982832e-01 -5.85445257e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.528040942 meters 0.09737410223358517 Centerline is valid? [True, True] Translation: X:0.63, Y:0.18, Z:0.00 [[ 9.99889131e-01 1.42413360e-02 4.34862955e-03 6.27221785e-01] [-1.42409742e-02 9.99898586e-01 -1.14157491e-04 1.84344692e-01] [-4.34981429e-03 5.22161129e-05 9.99990538e-01 3.20987020e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5880409420000001 meters 0.09386925065471187 Centerline is valid? [True, True] Translation: X:0.69, Y:0.17, Z:-0.00 [[ 9.99937939e-01 1.10565095e-02 1.36792085e-03 6.87986961e-01] [-1.10564724e-02 9.99938875e-01 -3.46630760e-05 1.72063579e-01] [-1.36822049e-03 1.95365456e-05 9.99999064e-01 -1.87908208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.648040942 meters 0.08599836565664631 Centerline is valid? [True, True] Translation: X:0.75, Y:0.16, Z:-0.01 [[ 9.99955515e-01 8.57270031e-03 -3.93410594e-03 7.48183622e-01] [-8.57238637e-03 9.99963252e-01 9.66548532e-05 1.61133921e-01] [ 3.93478996e-03 -6.29258773e-05 9.99992257e-01 -6.75672068e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.708040942 meters 0.07848322164915834 Centerline is valid? [True, True] Translation: X:0.81, Y:0.15, Z:-0.01 [[ 9.99911203e-01 8.48841902e-03 -1.02728760e-02 8.07870932e-01] [-8.48626681e-03 9.99963959e-01 2.53077589e-04 1.49545507e-01] [ 1.02746540e-02 -1.65876750e-04 9.99947201e-01 -1.24756091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.768040942 meters 0.07727684909921276 Centerline is valid? [True, True] Translation: X:0.87, Y:0.14, Z:-0.02 [[ 9.99888758e-01 8.37570160e-03 -1.23417405e-02 8.67174979e-01] [-8.37257516e-03 9.99964903e-01 3.04969853e-04 1.42656251e-01] [ 1.23438616e-02 -2.01603778e-04 9.99923791e-01 -1.52848122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.828040942 meters 0.0743675335598265 Centerline is valid? [True, True] Translation: X:0.93, Y:0.13, Z:-0.02 [[ 9.99800292e-01 1.07958302e-02 -1.68174513e-02 9.25979013e-01] [-1.07904335e-02 9.99941697e-01 4.11607879e-04 1.33234946e-01] [ 1.68209145e-02 -2.30058086e-04 9.99858492e-01 -1.82724471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.888040942 meters 0.07305011655402306 Centerline is valid? [True, True] Translation: X:0.98, Y:0.12, Z:-0.02 [[ 9.99673004e-01 1.55667460e-02 -2.02869864e-02 9.84519382e-01] [-1.55599105e-02 9.99878815e-01 4.94756029e-04 1.24546716e-01] [ 2.02922297e-02 -1.78930553e-04 9.99794075e-01 -2.23398970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.948040942 meters 0.06813893448841819 Centerline is valid? [True, True] Translation: X:1.04, Y:0.11, Z:-0.02 [[ 9.99524719e-01 1.94553498e-02 -2.39128554e-02 1.04254872e+00] [-1.94470136e-02 9.99810720e-01 5.81128657e-04 1.13584041e-01] [ 2.39196352e-02 -1.15818834e-04 9.99713878e-01 -2.40180725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.008040942 meters 0.06318780368110909 Centerline is valid? [True, True] Translation: X:1.10, Y:0.11, Z:-0.02 [[ 9.99484649e-01 2.06507352e-02 -2.45760877e-02 1.10144533e+00] [-2.06423339e-02 9.99786747e-01 5.95518032e-04 1.06170140e-01] [ 2.45831446e-02 -8.79033228e-05 9.99697785e-01 -2.36303536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.068040942 meters 0.059931809136580985 Centerline is valid? [True, True] Translation: X:1.16, Y:0.10, Z:-0.02 [[ 9.99388873e-01 2.44312630e-02 -2.49998634e-02 1.15930858e+00] [-2.44237946e-02 9.99701512e-01 6.04082306e-04 9.63165259e-02] [ 2.50071598e-02 6.87839446e-06 9.99687272e-01 -2.15625412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.128040942 meters 0.05652632245141481 Centerline is valid? [True, True] Translation: X:1.22, Y:0.09, Z:-0.02 [[ 9.99322565e-01 2.72435590e-02 -2.47426667e-02 1.21820710e+00] [-2.72371608e-02 9.99628822e-01 5.95628789e-04 9.14719958e-02] [ 2.47497098e-02 7.86947025e-05 9.99693676e-01 -1.96867950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.188040942 meters 0.054692664136689814 Centerline is valid? [True, True] Translation: X:1.28, Y:0.09, Z:-0.02 [[ 9.99219593e-01 3.10963401e-02 -2.43561802e-02 1.27672581e+00] [-3.10913244e-02 9.99516377e-01 5.84685598e-04 8.64902529e-02] [ 2.43625826e-02 1.73036595e-04 9.99703173e-01 -1.85833293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.248040942 meters 0.05041861474101076 Centerline is valid? [True, True] Translation: X:1.33, Y:0.08, Z:-0.02 [[ 9.99221346e-01 3.17772348e-02 -2.33860967e-02 1.33476251e+00] [-3.17728294e-02 9.99494959e-01 5.60020891e-04 8.06724644e-02] [ 2.33920817e-02 1.83457634e-04 9.99726351e-01 -1.75677139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.308040942 meters 0.04648643200777105 Centerline is valid? [True, True] Translation: X:1.39, Y:0.07, Z:-0.02 [[ 9.99287098e-01 3.14435754e-02 -2.08949267e-02 1.39321259e+00] [-3.14400186e-02 9.99505516e-01 4.98786661e-04 7.37859132e-02] [ 2.09002782e-02 1.58505811e-04 9.99781553e-01 -1.69490309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.368040942 meters 0.04472163632329632 Centerline is valid? [True, True] Translation: X:1.45, Y:0.07, Z:-0.01 [[ 9.99342264e-01 3.06749248e-02 -1.93413418e-02 1.45184838e+00] [-3.06717569e-02 9.99529405e-01 4.60483791e-04 7.22950607e-02] [ 1.93463651e-02 1.33052017e-04 9.99812833e-01 -1.47693977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.428040942 meters 0.04291188476049273 Centerline is valid? [True, True] Translation: X:1.51, Y:0.07, Z:-0.01 [[ 9.99535236e-01 2.69474804e-02 -1.42528916e-02 1.51065120e+00] [-2.69453872e-02 9.99636850e-01 3.38907621e-04 7.28770103e-02] [ 1.42568483e-02 4.52995725e-05 9.99898365e-01 -1.17676361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.488040942 meters 0.03996177943940851 Centerline is valid? [True, True] Translation: X:1.57, Y:0.08, Z:-0.01 [[ 9.99612693e-01 2.51961597e-02 -1.18159781e-02 1.56877845e+00] [-2.51946005e-02 9.99682526e-01 2.80810101e-04 7.72186865e-02] [ 1.18193022e-02 1.69975075e-05 9.99930149e-01 -8.39227810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.548040942 meters 0.03772943190902115 Centerline is valid? [True, True] Translation: X:1.63, Y:0.08, Z:-0.01 [[ 9.99623196e-01 2.54437108e-02 -1.02997268e-02 1.62760711e+00] [-2.54425490e-02 9.99676256e-01 2.43827068e-04 8.28030350e-02] [ 1.03025962e-02 1.83161125e-05 9.99946927e-01 -7.04408821e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.608040942 meters 0.03685373636926479 Centerline is valid? [True, True] Translation: X:1.69, Y:0.09, Z:-0.01 [[ 9.99637315e-01 2.50096016e-02 -9.98792041e-03 1.68689469e+00] [-2.50084935e-02 9.99687211e-01 2.35839936e-04 8.63657803e-02] [ 9.99069456e-03 1.40284421e-05 9.99950092e-01 -5.18484408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6680409419999997 meters 0.03543590478469568 Centerline is valid? [True, True] Translation: X:1.74, Y:0.09, Z:0.00 [[ 9.99671805e-01 2.39284447e-02 -9.14936961e-03 1.74459818e+00] [-2.39274706e-02 9.99713674e-01 2.15930713e-04 9.10293979e-02] [ 9.15191679e-03 3.06142670e-06 9.99958120e-01 2.29700215e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.728040942 meters 0.03384434981851194 Centerline is valid? [True, True] Translation: X:1.80, Y:0.10, Z:0.00 [[ 9.99698542e-01 2.23948110e-02 -1.00646369e-02 1.80308057e+00] [-2.23935700e-02 9.99749205e-01 2.35994471e-04 9.54475055e-02] [ 1.00673977e-02 -1.05401793e-05 9.99949322e-01 1.13335491e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.788040942 meters 0.03243168025352147 Centerline is valid? [True, True] Translation: X:1.86, Y:0.10, Z:0.00 [[ 9.99762192e-01 1.96140433e-02 -9.53141370e-03 1.86136677e+00] [-1.96128057e-02 9.99807625e-01 2.23308576e-04 9.64499218e-02] [ 9.53396009e-03 -3.63177065e-05 9.99954550e-01 4.75108406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.848040942 meters 0.031020108584735143 Centerline is valid? [True, True] Translation: X:1.92, Y:0.10, Z:0.01 [[ 9.99874354e-01 1.20641516e-02 -1.02826559e-02 1.91902323e+00] [-1.20623234e-02 9.99927219e-01 2.39798841e-04 9.69799314e-02] [ 1.02848004e-02 -1.15735992e-04 9.99947103e-01 6.28738106e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.908040942 meters 0.03126312278792949 Centerline is valid? [True, True] Translation: X:1.98, Y:0.10, Z:0.01 [[ 9.99929839e-01 2.98542041e-03 -1.14631899e-02 1.97804080e+00] [-2.98257410e-03 9.99995517e-01 2.65387594e-04 9.64141655e-02] [ 1.14639308e-02 -2.31179161e-04 9.99934260e-01 7.13813976e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.968040942 meters 0.03211342762062033 Centerline is valid? [True, True] Translation: X:2.04, Y:0.10, Z:0.01 [[ 9.99892086e-01 -2.71114158e-03 -1.44383238e-02 2.03601741e+00] [ 2.71624208e-03 9.99996255e-01 3.33662975e-04 9.85060060e-02] [ 1.44373652e-02 -3.72844951e-04 9.99895706e-01 6.72339818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.028040942 meters 0.03247796880801196 Centerline is valid? [True, True] Translation: X:2.10, Y:0.10, Z:0.01 [[ 9.99852221e-01 -5.44916059e-03 -1.63046971e-02 2.09527592e+00] [ 5.45599815e-03 9.99985046e-01 3.74908220e-04 1.00933124e-01] [ 1.63024104e-02 -4.63811214e-04 9.99866999e-01 6.63796611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.088040942 meters 0.03147220411865337 Centerline is valid? [True, True] Translation: X:2.15, Y:0.11, Z:0.01 [[ 9.99809284e-01 -4.18170240e-03 -1.90764043e-02 2.15391305e+00] [ 4.19080180e-03 9.99991123e-01 4.37046005e-04 1.05194360e-01] [ 1.90744074e-02 -5.16908083e-04 9.99817933e-01 6.01484859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.148040942 meters 0.029458041024986573 Centerline is valid? [True, True] Translation: X:2.21, Y:0.11, Z:0.01 [[ 9.99807267e-01 -2.69761704e-04 -1.96305057e-02 2.21347973e+00] [ 2.78649241e-04 9.99999860e-01 4.50007232e-04 1.11591011e-01] [ 1.96303815e-02 -4.55390526e-04 9.99807202e-01 8.13767832e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.208040942 meters 0.026958319803665472 Centerline is valid? [True, True] Translation: X:2.27, Y:0.12, Z:0.01 [[ 9.99765042e-01 8.67598709e-03 -1.98642610e-02 2.27334684e+00] [-8.66877191e-03 9.99962325e-01 4.49305081e-04 1.24179765e-01] [ 1.98674107e-02 -2.77000765e-04 9.99802585e-01 1.02239561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.268040942 meters 0.025367362351545637 Centerline is valid? [True, True] Translation: X:2.33, Y:0.13, Z:0.01 [[ 9.99679331e-01 1.43251686e-02 -2.08812085e-02 2.33194578e+00] [-1.43184359e-02 9.99897375e-01 4.71911374e-04 1.31796939e-01] [ 2.08858258e-02 -1.72773801e-04 9.99781852e-01 1.15718031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.328040942 meters 0.024855927250911816 Centerline is valid? [True, True] Translation: X:2.39, Y:0.13, Z:0.01 [[ 9.99694323e-01 1.38429483e-02 -2.04849460e-02 2.39106564e+00] [-1.38363929e-02 9.99904166e-01 4.61716742e-04 1.32954682e-01] [ 2.04893744e-02 -1.78137843e-04 9.99790055e-01 1.37696908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.388040942 meters 0.02395947722115054 Centerline is valid? [True, True] Translation: X:2.45, Y:0.13, Z:0.01 [[ 9.99695705e-01 1.18412429e-02 -2.16398413e-02 2.44982852e+00] [-1.18334880e-02 9.99929864e-01 4.86384180e-04 1.32729897e-01] [ 2.16440830e-02 -2.30161373e-04 9.99765713e-01 1.34651654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.448040942 meters 0.024218062059857253 Centerline is valid? [True, True] Translation: X:2.51, Y:0.13, Z:0.01 [[ 9.99627389e-01 7.04050136e-03 -2.63726159e-02 2.50839927e+00] [-7.02737028e-03 9.99975133e-01 5.90555109e-04 1.29418995e-01] [ 2.63761179e-02 -4.05004924e-04 9.99652008e-01 1.11053150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.508040942 meters 0.025383687731173527 Centerline is valid? [True, True] Translation: X:2.57, Y:0.12, Z:0.01 [[ 9.99660832e-01 4.52038096e-03 -2.56473564e-02 2.56596668e+00] [-4.50717425e-03 9.99989679e-01 5.72719709e-04 1.24579629e-01] [ 2.56496806e-02 -4.56928357e-04 9.99670888e-01 1.45294490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.568040942 meters 0.02452853424968833 Centerline is valid? [True, True] Translation: X:2.62, Y:0.12, Z:0.02 [[ 9.99694263e-01 3.74604847e-03 -2.44407157e-02 2.62497788e+00] [-3.73384736e-03 9.99992881e-01 5.44829296e-04 1.23913121e-01] [ 2.44425827e-02 -4.53404819e-04 9.99701133e-01 1.75242013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6280409419999997 meters 0.02560504928958018 Centerline is valid? [True, True] Translation: X:2.68, Y:0.12, Z:0.02 [[ 9.99731776e-01 2.03017886e-03 -2.30706534e-02 2.68289736e+00] [-2.01899305e-03 9.99997833e-01 5.08132724e-04 1.21753260e-01] [ 2.30716350e-02 -4.61416941e-04 9.99733708e-01 2.12934888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6880409419999998 meters 0.024164855232690508 Centerline is valid? [True, True] Translation: X:2.74, Y:0.12, Z:0.02 [[ 9.99698826e-01 2.80688209e-03 -2.43798810e-02 2.74187764e+00] [-2.79465129e-03 9.99995951e-01 5.35733379e-04 1.20469633e-01] [ 2.43812860e-02 -4.67438765e-04 9.99702623e-01 2.23797726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.748040942 meters 0.021709082709015868 Centerline is valid? [True, True] Translation: X:2.80, Y:0.12, Z:0.02 [[ 9.99624328e-01 9.31816120e-03 -2.57754552e-02 2.80180372e+00] [-9.30683838e-03 9.99956534e-01 5.59218668e-04 1.21686264e-01] [ 2.57795458e-02 -3.19120589e-04 9.99667601e-01 2.26174422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.808040942 meters 0.020114731224278305 Centerline is valid? [True, True] Translation: X:2.86, Y:0.13, Z:0.02 [[ 9.99533113e-01 1.47572170e-02 -2.67540741e-02 2.86112941e+00] [-1.47469700e-02 9.99891089e-01 5.80282635e-04 1.25547075e-01] [ 2.67597236e-02 -1.85470179e-04 9.99641877e-01 2.46716129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.868040942 meters 0.019525965403384953 Centerline is valid? [True, True] Translation: X:2.92, Y:0.13, Z:0.03 [[ 9.99491367e-01 1.78166061e-02 -2.64494775e-02 2.91894264e+00] [-1.78078127e-02 9.99841267e-01 5.67988689e-04 1.25780071e-01] [ 2.64553988e-02 -9.66924499e-05 9.99649990e-01 2.76706014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.928040942 meters 0.019285826006278876 Centerline is valid? [True, True] Translation: X:2.98, Y:0.12, Z:0.03 [[ 9.99478007e-01 1.80748360e-02 -2.67771303e-02 2.97645537e+00] [-1.80660022e-02 9.99836633e-01 5.71807157e-04 1.16975489e-01] [ 2.67830911e-02 -8.77529839e-05 9.99641265e-01 2.86858147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.988040942 meters 0.019101845772865524 Centerline is valid? [True, True] Translation: X:3.03, Y:0.11, Z:0.03 [[ 9.99452123e-01 1.64265533e-02 -2.87336534e-02 3.03480596e+00] [-1.64157808e-02 9.99865065e-01 6.10774610e-04 1.12043461e-01] [ 2.87398092e-02 -1.38754624e-04 9.99586917e-01 2.92591953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.048040941999999 meters 0.02534269511911879 Centerline is valid? [True, True] Translation: X:3.09, Y:0.11, Z:0.03 [[ 9.99414519e-01 1.34728307e-02 -3.14499853e-02 3.09275960e+00] [-1.34585610e-02 9.99909208e-01 6.65379605e-04 1.08943460e-01] [ 3.14560944e-02 -2.41718493e-04 9.99505105e-01 2.90822479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108040942 meters 0.03157498697204681 Centerline is valid? [True, True] Translation: X:3.15, Y:0.10, Z:0.03 [[ 9.99370173e-01 1.03779777e-02 -3.39345571e-02 3.15184182e+00] [-1.03597277e-02 9.99946082e-01 7.13587620e-04 1.00005584e-01] [ 3.39401330e-02 -3.61585413e-04 9.99423802e-01 2.87452178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.168040941999999 meters 0.033973287919330124 Centerline is valid? [True, True] Translation: X:3.21, Y:0.09, Z:0.03 [[ 9.99489082e-01 7.32932785e-03 -3.11103710e-02 3.20916870e+00] [-7.31269843e-03 9.99973052e-01 6.48275415e-04 9.18262855e-02] [ 3.11142840e-02 -4.20443439e-04 9.99515745e-01 3.32506451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.228040942 meters 0.03540700866637419 Centerline is valid? [True, True] Translation: X:3.27, Y:0.09, Z:0.04 [[ 9.99548098e-01 3.49415300e-03 -2.98561769e-02 3.26802785e+00] [-3.47721808e-03 9.99993763e-01 6.19117687e-04 8.61232148e-02] [ 2.98581540e-02 -5.15021469e-04 9.99554013e-01 3.58369086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.288040941999999 meters 0.03836371066386699 Centerline is valid? [True, True] Translation: X:3.33, Y:0.08, Z:0.04 [[ 9.99531158e-01 -3.80071292e-04 -3.06156700e-02 3.32709084e+00] [ 3.99497000e-04 9.99999723e-01 6.28387746e-04 7.90240430e-02] [ 3.06154227e-02 -6.40324000e-04 9.99531033e-01 3.57879933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.348040942 meters 0.04014643884074431 Centerline is valid? [True, True] Translation: X:3.39, Y:0.07, Z:0.03 [[ 9.99412394e-01 -5.84319476e-03 -3.37745963e-02 3.38649290e+00] [ 5.86990409e-03 9.99982533e-01 6.91709604e-04 6.89080446e-02] [ 3.37699646e-02 -8.89556793e-04 9.99429236e-01 3.27403428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4080409419999995 meters 0.04075930787097619 Centerline is valid? [True, True] Translation: X:3.44, Y:0.07, Z:0.04 [[ 9.99449840e-01 -5.94009511e-03 -3.26302504e-02 3.44301338e+00] [ 5.96505642e-03 9.99981986e-01 6.67680274e-04 6.69399936e-02] [ 3.26256965e-02 -8.61954228e-04 9.99467269e-01 3.61650041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.468040941999999 meters 0.038918137326514966 Centerline is valid? [True, True] Translation: X:3.50, Y:0.07, Z:0.04 [[ 9.99510905e-01 -2.36302763e-03 -3.11827889e-02 3.50171621e+00] [ 2.38399117e-03 9.99996957e-01 6.35117751e-04 7.15013550e-02] [ 3.11811932e-02 -7.09146612e-04 9.99513497e-01 4.12256957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.528040942 meters 0.03576824238287256 Centerline is valid? [True, True] Translation: X:3.56, Y:0.08, Z:0.04 [[ 9.99536622e-01 1.69307209e-03 -3.03920198e-02 3.56100822e+00] [-1.67508086e-03 9.99998406e-01 6.17422919e-04 7.50681725e-02] [ 3.03930167e-02 -5.66227728e-04 9.99537865e-01 4.43295831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.588040941999999 meters 0.03323825780313888 Centerline is valid? [True, True] Translation: X:3.62, Y:0.08, Z:0.04 [[ 9.99487583e-01 1.37858131e-03 -3.19792391e-02 3.61877322e+00] [-1.35869718e-03 9.99998870e-01 6.43504848e-04 8.12000351e-02] [ 3.19800901e-02 -5.99725003e-04 9.99488326e-01 4.38081520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.648040942 meters 0.031991210928289084 Centerline is valid? [True, True] Translation: X:3.68, Y:0.08, Z:0.04 [[ 9.99443246e-01 3.52089946e-03 -3.31783289e-02 3.67703682e+00] [-3.50098995e-03 9.99993655e-01 6.58151011e-04 8.20832699e-02] [ 3.31804357e-02 -5.41627587e-04 9.99449231e-01 4.44190081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.708040941999999 meters 0.03131303218282359 Centerline is valid? [True, True] Translation: X:3.74, Y:0.09, Z:0.05 [[ 9.99377187e-01 6.67313934e-03 -3.46512294e-02 3.73593081e+00] [-6.65361729e-03 9.99977634e-01 6.78670248e-04 8.63667971e-02] [ 3.46549833e-02 -4.47691543e-04 9.99399235e-01 4.56671296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.768040942 meters 0.03092484265548555 Centerline is valid? [True, True] Translation: X:3.79, Y:0.08, Z:0.05 [[ 9.99357643e-01 8.22516825e-03 -3.48804948e-02 3.79377287e+00] [-8.20662135e-03 9.99966097e-01 6.74865023e-04 8.37104089e-02] [ 3.48848631e-02 -3.88180505e-04 9.99391263e-01 4.79003352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8280409419999994 meters 0.029906024832504086 Centerline is valid? [True, True] Translation: X:3.85, Y:0.08, Z:0.05 [[ 9.99382729e-01 9.17558974e-03 -3.39111972e-02 3.85214626e+00] [-9.15872282e-03 9.99957845e-01 6.52690968e-04 8.17702452e-02] [ 3.39157565e-02 -3.41704826e-04 9.99424637e-01 5.16042282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.888040941999999 meters 0.02947301470455161 Centerline is valid? [True, True] Translation: X:3.91, Y:0.08, Z:0.05 [[ 9.99407266e-01 1.07097862e-02 -3.27172304e-02 3.90999259e+00] [-1.06951532e-02 9.99942612e-01 6.22233045e-04 7.90689656e-02] [ 3.27220168e-02 -2.71948435e-04 9.99464454e-01 5.44246541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9480409419999996 meters 0.028641880087152086 Centerline is valid? [True, True] Translation: X:3.97, Y:0.08, Z:0.06 [[ 9.99435087e-01 1.01481978e-02 -3.20393762e-02 3.96742872e+00] [-1.01339704e-02 9.99948466e-01 6.06418590e-04 7.62278672e-02] [ 3.20438792e-02 -2.81389926e-04 9.99486423e-01 5.70595184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.008040941999999 meters 0.02830927453317061 Centerline is valid? [True, True] Translation: X:4.02, Y:0.07, Z:0.06 [[ 9.99466572e-01 9.72318493e-03 -3.11774093e-02 4.02455361e+00] [-9.70977241e-03 9.99952690e-01 5.81574544e-04 7.33063484e-02] [ 3.11815891e-02 -2.78538767e-04 9.99513697e-01 5.95494545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.068040942 meters 0.02790327261929131 Centerline is valid? [True, True] Translation: X:4.08, Y:0.06, Z:0.06 [[ 9.99527251e-01 7.48341713e-03 -2.98206845e-02 4.08335442e+00] [-7.47024958e-03 9.99971944e-01 5.52943458e-04 6.46083350e-02] [ 2.98239857e-02 -3.29914098e-04 9.99555112e-01 6.19872706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.128040941999999 meters 0.02761703559063273 Centerline is valid? [True, True] Translation: X:4.14, Y:0.06, Z:0.06 [[ 9.99497568e-01 6.99036252e-03 -3.09151499e-02 4.14094790e+00] [-6.97621925e-03 9.99975506e-01 5.65325603e-04 5.77073348e-02] [ 3.09183444e-02 -3.49370701e-04 9.99521853e-01 6.32621189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.188040942 meters 0.027137677499126368 Centerline is valid? [True, True] Translation: X:4.20, Y:0.05, Z:0.06 [[ 9.99468427e-01 6.73386446e-03 -3.18985706e-02 4.19791353e+00] [-6.71896701e-03 9.99977263e-01 5.74193733e-04 5.14351302e-02] [ 3.19017118e-02 -3.59563063e-04 9.99490946e-01 6.49394174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.248040941999999 meters 0.026418144953830762 Centerline is valid? [True, True] Translation: X:4.26, Y:0.04, Z:0.07 [[ 9.99495220e-01 4.99143167e-03 -3.13750107e-02 4.25698917e+00] [-4.97628047e-03 9.99987461e-01 5.60973138e-04 4.33410259e-02] [ 3.13774174e-02 -4.04559116e-04 9.99507526e-01 6.77877351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.308040941999999 meters 0.026353423665648367 Centerline is valid? [True, True] Translation: X:4.32, Y:0.03, Z:0.07 [[ 9.99493535e-01 1.91901532e-03 -3.17646303e-02 4.31571791e+00] [-1.90218407e-03 9.99998034e-01 5.60084175e-04 3.44767347e-02] [ 3.17656427e-02 -4.99378338e-04 9.99495220e-01 6.96358379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3680409419999995 meters 0.02570261792659329 Centerline is valid? [True, True] Translation: X:4.37, Y:0.03, Z:0.07 [[ 9.99482460e-01 8.05122627e-04 -3.21584060e-02 4.37437819e+00] [-7.87557169e-04 9.99999534e-01 5.58879534e-04 2.98782892e-02] [ 3.21588409e-02 -5.33263708e-04 9.99482628e-01 7.09217678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.428040941999999 meters 0.025980842240065718 Centerline is valid? [True, True] Translation: X:4.43, Y:0.02, Z:0.07 [[ 9.99417658e-01 -3.16692812e-04 -3.41210405e-02 4.43239699e+00] [ 3.36826362e-04 9.99999773e-01 5.84316112e-04 2.44738527e-02] [ 3.41208477e-02 -5.95468706e-04 9.99417537e-01 7.19935433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488040942 meters 0.02616319690944213 Centerline is valid? [True, True] Translation: X:4.49, Y:0.01, Z:0.07 [[ 9.99379189e-01 -1.41774518e-03 -3.52026502e-02 4.48961195e+00] [ 1.43974519e-03 9.99998784e-01 5.99611660e-04 1.40296647e-02] [ 3.52017573e-02 -6.49922261e-04 9.99380015e-01 7.35480628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.548040941999999 meters 0.025288401208914076 Centerline is valid? [True, True] Translation: X:4.55, Y:0.01, Z:0.08 [[ 9.99391810e-01 -3.46784871e-04 -3.48696121e-02 4.54860571e+00] [ 3.67591861e-04 9.99999758e-01 5.90299308e-04 9.87293924e-03] [ 3.48693990e-02 -6.02758079e-04 9.99391696e-01 7.70464112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608040942 meters 0.025186097364214764 Centerline is valid? [True, True] Translation: X:4.61, Y:0.01, Z:0.08 [[ 9.99406249e-01 1.06636465e-03 -3.44385356e-02 4.60703011e+00] [-1.04719286e-03 9.99999287e-01 5.74728202e-04 7.42345845e-03] [ 3.44391239e-02 -5.38323168e-04 9.99406652e-01 8.01170161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.668040941999999 meters 0.024408641434248778 Centerline is valid? [True, True] Translation: X:4.66, Y:0.00, Z:0.08 [[ 9.99374281e-01 4.59581118e-03 -3.50702727e-02 4.66456181e+00] [-4.57838845e-03 9.99989353e-01 5.77086263e-04 1.75099924e-03] [ 3.50725515e-02 -4.16159838e-04 9.99384682e-01 8.18087767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728040942 meters 0.023241990148051606 Centerline is valid? [True, True] Translation: X:4.72, Y:0.00, Z:0.08 [[ 9.99329649e-01 8.65794586e-03 -3.55709586e-02 4.72350946e+00] [-8.64277357e-03 9.99962482e-01 5.80281259e-04 6.91922222e-05] [ 3.55746481e-02 -2.72460526e-04 9.99366985e-01 8.39331779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788040941999999 meters 0.022503028298851802 Centerline is valid? [True, True] Translation: X:4.78, Y:0.00, Z:0.09 [[ 9.99228666e-01 1.56465679e-02 -3.60174726e-02 4.78244452e+00] [-1.56358690e-02 9.99877585e-01 5.78720910e-04 2.18811138e-04] [ 3.60221185e-02 -1.51100415e-05 9.99350993e-01 8.58920278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.848040941999999 meters 0.022673378655730943 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.01, Z:0.09 [[ 9.99176646e-01 1.96854080e-02 -3.54755651e-02 4.84045880e+00] [-1.96778493e-02 9.99806214e-01 5.62242256e-04 -5.54499450e-03] [ 3.54797584e-02 1.36303492e-04 9.99370386e-01 8.83925810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9080409419999995 meters 0.02204435431786004 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.02, Z:0.09 [[ 9.99258388e-01 1.68440211e-02 -3.46259102e-02 4.89758974e+00] [-1.68352146e-02 9.99858129e-01 5.45892860e-04 -1.76478701e-02] [ 3.46301928e-02 3.74466095e-05 9.99400194e-01 9.14964146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.968040941999999 meters 0.021986446502191427 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.02, Z:0.09 [[ 9.99271106e-01 1.45950134e-02 -3.52738113e-02 4.95498813e+00] [-1.45846074e-02 9.99893486e-01 5.52308286e-04 -2.36154855e-02] [ 3.52781151e-02 -3.74510224e-05 9.99377533e-01 9.31272884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028040942 meters 0.022012817360420423 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.03, Z:0.09 [[ 9.99246863e-01 1.03166904e-02 -3.74068599e-02 5.01240546e+00] [-1.03023395e-02 9.99946763e-01 5.76385307e-04 -3.25908432e-02] [ 3.74108149e-02 -1.90573041e-04 9.99299952e-01 9.20381821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.088040941999999 meters 0.02256262674622725 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.05, Z:0.09 [[ 9.99160268e-01 4.98911932e-03 -4.06677706e-02 5.07136856e+00] [-4.96794883e-03 9.99987466e-01 6.21615203e-04 -4.50197294e-02] [ 4.06703622e-02 -4.19057809e-04 9.99172531e-01 9.10324870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.148040942 meters 0.02250630068704953 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.05, Z:0.09 [[ 9.99148924e-01 2.05784448e-03 -4.11970001e-02 5.12958903e+00] [-2.03396124e-03 9.99997738e-01 6.21638599e-04 -5.14805162e-02] [ 4.11981861e-02 -5.37316436e-04 9.99150850e-01 9.26328867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.208040941999999 meters 0.02293727685698521 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.06, Z:0.10 [[ 9.99231909e-01 3.95910133e-04 -3.91846202e-02 5.18689189e+00] [-3.73147088e-04 9.99999757e-01 5.88229774e-04 -5.68240926e-02] [ 3.91848436e-02 -5.73156333e-04 9.99231815e-01 9.69930428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.268040942 meters 0.02234291736415885 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.06, Z:0.10 [[ 9.99305831e-01 -6.14810746e-04 -3.72488677e-02 5.24475956e+00] [ 6.35930082e-04 9.99999644e-01 5.55133977e-04 -6.13378577e-02] [ 3.72485131e-02 -5.78436296e-04 9.99305866e-01 1.02848764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3280409419999994 meters 0.0218551895989107 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.06, Z:0.11 [[ 9.99331036e-01 -8.23880496e-04 -3.65622927e-02 5.30303294e+00] [ 8.44014644e-04 9.99999501e-01 5.35249370e-04 -6.36319104e-02] [ 3.65618335e-02 -5.65750418e-04 9.99331233e-01 1.05115239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.388040941999999 meters 0.02072780981535926 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.06, Z:0.11 [[ 9.99312250e-01 1.13051764e-03 -3.70641224e-02 5.36160357e+00] [-1.11153788e-03 9.99999240e-01 5.32680945e-04 -6.35304191e-02] [ 3.70646965e-02 -4.91116418e-04 9.99312747e-01 1.06696204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4480409419999996 meters 0.020455948280327683 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.06, Z:0.11 [[ 9.99298297e-01 4.93203198e-03 -3.71293430e-02 5.42052133e+00] [-4.91592953e-03 9.99987779e-01 5.24967472e-04 -6.16418687e-02] [ 3.71314784e-02 -3.42073867e-04 9.99310330e-01 1.07975133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.508040941999999 meters 0.019200572841180527 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.06, Z:0.11 [[ 9.99320692e-01 8.76104913e-03 -3.57966269e-02 5.47971966e+00] [-8.74882343e-03 9.99961604e-01 4.98160183e-04 -6.01237968e-02] [ 3.57996169e-02 -1.84643411e-04 9.99358971e-01 1.11187302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568040942 meters 0.01947191651055749 Centerline is valid? [True, True] Translation: X:5.54, Y:-0.06, Z:0.11 [[ 9.99266857e-01 1.46199886e-02 -3.53836625e-02 5.53858885e+00] [-1.46120018e-02 9.99893122e-01 4.84319542e-04 -6.13815272e-02] [ 3.53869615e-02 3.30616728e-05 9.99373685e-01 1.14245603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628040941999999 meters 0.01947855010059072 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.06, Z:0.11 [[ 9.99264401e-01 1.62857193e-02 -3.47193465e-02 5.59599290e+00] [-1.62793216e-02 9.99867374e-01 4.66968551e-04 -6.08936170e-02] [ 3.47223468e-02 9.85823575e-05 9.99396993e-01 1.14683744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.688040942 meters 0.01799324930643292 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.06, Z:0.12 [[ 9.99261429e-01 1.56511581e-02 -3.50947077e-02 5.65427607e+00] [-1.56444100e-02 9.99877510e-01 4.66893296e-04 -6.42721241e-02] [ 3.50977164e-02 8.24875356e-05 9.99383882e-01 1.17524412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.748040941999999 meters 0.01806480376439946 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.07, Z:0.12 [[ 9.99253109e-01 1.18308639e-02 -3.67866164e-02 5.71237542e+00] [-1.18212606e-02 9.99930012e-01 4.78557106e-04 -7.24671547e-02] [ 3.67897035e-02 -4.33354991e-05 9.99323029e-01 1.18310976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.808040941999999 meters 0.01794536295527549 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.08, Z:0.12 [[ 9.99392669e-01 5.35115468e-03 -3.44333966e-02 5.77120404e+00] [-5.33920484e-03 9.99985650e-01 4.38984373e-04 -8.17131264e-02] [ 3.44352515e-02 -2.54870806e-04 9.99406898e-01 1.23126513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8680409419999995 meters 0.017981095230218222 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.09, Z:0.13 [[ 9.99431919e-01 2.10873402e-03 -3.36361909e-02 5.82955000e+00] [-2.09576482e-03 9.99997715e-01 4.20824674e-04 -8.65869596e-02] [ 3.36370015e-02 -3.50092066e-04 9.99434055e-01 1.26203456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.928040941999999 meters 0.01847816804545442 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.09, Z:0.13 [[ 9.99414193e-01 8.35842085e-04 -3.42136375e-02 5.88820348e+00] [-8.21962848e-04 9.99999574e-01 4.19727153e-04 -9.03101310e-02] [ 3.42139738e-02 -3.91358935e-04 9.99414454e-01 1.26630240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.988040942 meters 0.019100511968867282 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.09, Z:0.13 [[ 9.99375707e-01 -9.85358261e-04 -3.53160730e-02 5.94700943e+00] [ 1.00098046e-03 9.99999409e-01 4.24675730e-04 -9.44712983e-02] [ 3.53156336e-02 -4.59761307e-04 9.99376103e-01 1.27460741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.048040941999999 meters 0.019241530598228664 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.10, Z:0.13 [[ 9.99389380e-01 -3.94732063e-03 -3.47172372e-02 6.00533092e+00] [ 3.96392612e-03 9.99992060e-01 4.09490455e-04 -9.98938961e-02] [ 3.47153451e-02 -5.46856976e-04 9.99397091e-01 1.30123903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.108040942 meters 0.019648320627876817 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.10, Z:0.13 [[ 9.99324208e-01 -5.42766046e-03 -3.63547555e-02 6.06400316e+00] [ 5.44653279e-03 9.99985079e-01 4.20098929e-04 -1.04954591e-01] [ 3.63519329e-02 -6.17822397e-04 9.99338859e-01 1.30913433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.168040941999999 meters 0.01988512139895341 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.11, Z:0.13 [[ 9.99331506e-01 -5.47253676e-03 -3.61468241e-02 6.12193369e+00] [ 5.49092092e-03 9.99984841e-01 4.09343623e-04 -1.07689364e-01] [ 3.61440360e-02 -6.07549332e-04 9.99346406e-01 1.33399036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.228040941999999 meters 0.020158981055604343 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.11, Z:0.14 [[ 9.99375933e-01 -6.69907127e-03 -3.46823798e-02 6.18083213e+00] [ 6.71643864e-03 9.99977371e-01 3.84271777e-04 -1.09909628e-01] [ 3.46790207e-02 -6.16974042e-04 9.99398311e-01 1.36848623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.288040941999999 meters 0.020414711711715047 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.11, Z:0.14 [[ 9.99309491e-01 -7.73391931e-03 -3.63418186e-02 6.23946002e+00] [ 7.75336825e-03 9.99969864e-01 3.94262946e-04 -1.13637555e-01] [ 3.63376743e-02 -6.75762207e-04 9.99339340e-01 1.37548659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.348040941999999 meters 0.019697113747167323 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.12, Z:0.14 [[ 9.99312752e-01 -8.53860725e-03 -3.60709919e-02 6.29811146e+00] [ 8.55800337e-03 9.99963306e-01 3.83354025e-04 -1.15647841e-01] [ 3.60663950e-02 -6.91786236e-04 9.99349156e-01 1.40939886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4080409419999995 meters 0.02106181821208219 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.12, Z:0.14 [[ 9.99339611e-01 -8.47145519e-03 -3.53352132e-02 6.35545715e+00] [ 8.48976445e-03 9.99963894e-01 3.68148057e-04 -1.18865284e-01] [ 3.53308186e-02 -6.67892573e-04 9.99375449e-01 1.43189162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.468040941999999 meters 0.02082730693654586 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.12, Z:0.15 [[ 9.99372541e-01 -7.54563354e-03 -3.46061835e-02 6.41352389e+00] [ 7.56254478e-03 9.99971340e-01 3.57806256e-04 -1.20207570e-01] [ 3.46024918e-02 -6.19292560e-04 9.99400963e-01 1.45285630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.528040942 meters 0.018297841610455248 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.12, Z:0.15 [[ 9.99410290e-01 -7.15332793e-03 -3.35842510e-02 6.47270473e+00] [ 7.16893556e-03 9.99974244e-01 3.44336634e-04 -1.18244227e-01] [ 3.35809228e-02 -5.84896906e-04 9.99435831e-01 1.50056920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.588040941999999 meters 0.019192483942154313 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.12, Z:0.15 [[ 9.99399489e-01 -6.54671751e-03 -3.40265020e-02 6.53072099e+00] [ 6.56212064e-03 9.99978411e-01 3.41023412e-04 -1.20802418e-01] [ 3.40235348e-02 -5.64104634e-04 9.99420873e-01 1.51418879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.648040942 meters 0.018768319817286227 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.12, Z:0.15 [[ 9.99380405e-01 -4.53682675e-03 -3.49030605e-02 6.58891660e+00] [ 4.55170419e-03 9.99989581e-01 3.46803338e-04 -1.21417225e-01] [ 3.49011234e-02 -5.05456868e-04 9.99390642e-01 1.52945605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.708040941999999 meters 0.018429477522780884 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.12, Z:0.16 [[ 9.99416274e-01 -4.09841601e-03 -3.39162969e-02 6.64786830e+00] [ 4.11210976e-03 9.99991489e-01 3.34006949e-04 -1.22817449e-01] [ 3.39146393e-02 -4.73279515e-04 9.99424621e-01 1.56089635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.768040941999999 meters 0.017047118215150973 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.12, Z:0.16 [[ 9.99445511e-01 -3.88427579e-03 -3.30693578e-02 6.70566867e+00] [ 3.89694168e-03 9.99992356e-01 3.18566071e-04 -1.20629326e-01] [ 3.30678676e-02 -4.47258788e-04 9.99453008e-01 1.59145932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8280409419999994 meters 0.016622184998760274 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.12, Z:0.16 [[ 9.99368514e-01 -2.77345220e-03 -3.54243062e-02 6.76356707e+00] [ 2.78691993e-03 9.99996062e-01 3.30810924e-04 -1.21769715e-01] [ 3.54232492e-02 -4.29326727e-04 9.99372308e-01 1.58762137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.888040941999999 meters 0.016123439716372916 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.12, Z:0.16 [[ 9.99335801e-01 -1.96470525e-03 -3.63881331e-02 6.82206006e+00] [ 1.97800452e-03 9.99997989e-01 3.29487426e-04 -1.22201508e-01] [ 3.63874126e-02 -4.01244473e-04 9.99337678e-01 1.60456864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9480409419999996 meters 0.01564029754809764 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.12, Z:0.16 [[ 9.99377287e-01 1.29895945e-03 -3.52611781e-02 6.88103712e+00] [-1.28882788e-03 9.99999121e-01 3.10057665e-04 -1.22437360e-01] [ 3.52615499e-02 -2.64418999e-04 9.99378083e-01 1.63126130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.008040942 meters 0.015251443021158797 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.12, Z:0.17 [[ 9.99381628e-01 5.87385421e-03 -3.46678417e-02 6.94014480e+00] [-5.86711281e-03 9.99982744e-01 2.96185122e-04 -1.21556320e-01] [ 3.46689832e-02 -9.26018312e-05 9.99398846e-01 1.65746226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.068040942 meters 0.01508480408613587 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.12, Z:0.17 [[ 9.99406985e-01 6.72218698e-03 -3.37711505e-02 6.99659722e+00] [-6.71654223e-03 9.99977404e-01 2.80590681e-04 -1.23779268e-01] [ 3.37722736e-02 -5.35989275e-05 9.99429553e-01 1.68150186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.128040942 meters 0.015165041841874746 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.13, Z:0.17 [[ 9.99489923e-01 4.40988199e-03 -3.16298359e-02 7.05423869e+00] [-4.40389278e-03 9.99990269e-01 2.59015701e-04 -1.27655839e-01] [ 3.16306703e-02 -1.19589177e-04 9.99499618e-01 1.71067797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.188040942 meters 0.015196326821599288 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.13, Z:0.17 [[ 9.99496321e-01 2.48998419e-03 -3.16370742e-02 7.11211898e+00] [-2.48331872e-03 9.99996885e-01 2.49975989e-04 -1.30871888e-01] [ 3.16375981e-02 -1.71285143e-04 9.99499391e-01 1.72254220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.248040942 meters 0.015231951830718004 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.13, Z:0.17 [[ 9.99462975e-01 3.97809434e-04 -3.27658783e-02 7.16990181e+00] [-3.89838598e-04 9.99999893e-01 2.49654407e-04 -1.32885603e-01] [ 3.27659742e-02 -2.36746932e-04 9.99463023e-01 1.72693201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.308040942 meters 0.015444334952785058 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.13, Z:0.17 [[ 9.99482681e-01 -1.94463906e-03 -3.21027876e-02 7.22838679e+00] [ 1.95340466e-03 9.99998063e-01 2.41687194e-04 -1.33945164e-01] [ 3.21022554e-02 -3.04271899e-04 9.99484543e-01 1.74465436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.368040942 meters 0.0157292705376448 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.14, Z:0.18 [[ 9.99483623e-01 -3.55035100e-03 -3.19355925e-02 7.28633159e+00] [ 3.55960524e-03 9.99993637e-01 2.32929169e-04 -1.35608499e-01] [ 3.19345624e-02 -3.46486992e-04 9.99489902e-01 1.76156350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.428040942 meters 0.015297099191176677 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.13, Z:0.18 [[ 9.99491592e-01 -2.93495433e-03 -3.17481402e-02 7.34471229e+00] [ 2.94369976e-03 9.99995641e-01 2.28725790e-04 -1.34487946e-01] [ 3.17473305e-02 -3.22066497e-04 9.99495875e-01 1.77102099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.488040942 meters 0.01511218310130284 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.14, Z:0.18 [[ 9.99471927e-01 -1.88584005e-03 -3.24393437e-02 7.40238816e+00] [ 1.89411821e-03 9.99998181e-01 2.24460509e-04 -1.35437988e-01] [ 3.24388614e-02 -2.85785929e-04 9.99473681e-01 1.78599090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.548040942 meters 0.014927855816515914 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.13, Z:0.18 [[ 9.99461743e-01 -1.41944078e-03 -3.27751497e-02 7.46080498e+00] [ 1.42753313e-03 9.99998956e-01 2.23506337e-04 -1.33817777e-01] [ 3.27747982e-02 -2.70173645e-04 9.99462725e-01 1.78902052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.608040942 meters 0.014962775661624569 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.13, Z:0.18 [[ 9.99492923e-01 -2.22307846e-03 -3.17640465e-02 7.51882140e+00] [ 2.23081104e-03 9.99997490e-01 2.08001429e-04 -1.34243492e-01] [ 3.17635044e-02 -2.78755542e-04 9.99495374e-01 1.81258904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.668040942000001 meters 0.014780328868716452 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.13, Z:0.18 [[ 9.99551826e-01 -2.87161106e-03 -2.97976645e-02 7.57694922e+00] [ 2.87847524e-03 9.99995840e-01 1.87466967e-04 -1.33227344e-01] [ 2.97970022e-02 -2.73154788e-04 9.99555933e-01 1.84320444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.728040942 meters 0.01469608679232463 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.13, Z:0.19 [[ 9.99564242e-01 -2.64634177e-03 -2.93993705e-02 7.63458322e+00] [ 2.65267943e-03 9.99996466e-01 1.76571566e-04 -1.32184018e-01] [ 2.93987994e-02 -2.54481729e-04 9.99567729e-01 1.85440366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.788040942 meters 0.014683905249597347 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.13, Z:0.19 [[ 9.99565081e-01 -2.45060675e-03 -2.93878208e-02 7.69164515e+00] [ 2.45660002e-03 9.99996968e-01 1.67834039e-04 -1.32654085e-01] [ 2.93873204e-02 -2.39955166e-04 9.99568071e-01 1.87286461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.848040942 meters 0.014533462920875095 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.13, Z:0.19 [[ 9.99536865e-01 -2.06381351e-03 -3.03611092e-02 7.74973592e+00] [ 2.06991761e-03 9.99997843e-01 1.69621560e-04 -1.32170201e-01] [ 3.03606937e-02 -2.32387997e-04 9.99538981e-01 1.87287627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.908040942 meters 0.014544979632526201 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.13, Z:0.19 [[ 9.99511827e-01 -2.38093828e-03 -3.11518671e-02 7.80763269e+00] [ 2.38723933e-03 9.99997137e-01 1.65077669e-04 -1.31878758e-01] [ 3.11513849e-02 -2.39364045e-04 9.99514649e-01 1.87554519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.968040942 meters 0.014813490087939736 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.14, Z:0.19 [[ 9.99606439e-01 -4.82486076e-03 -2.76348857e-02 7.86635186e+00] [ 4.83056502e-03 9.99988323e-01 1.39659898e-04 -1.35523228e-01] [ 2.76338892e-02 -2.73097046e-04 9.99618074e-01 1.91309541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.028040942 meters 0.014909855446332896 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.14, Z:0.19 [[ 9.99625429e-01 -4.79647385e-03 -2.69442969e-02 7.92337070e+00] [ 4.80170059e-03 9.99988463e-01 1.29285103e-04 -1.36908765e-01] [ 2.69433659e-02 -2.58615123e-04 9.99636928e-01 1.92542726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.088040942000001 meters 0.01459744050406483 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.14, Z:0.19 [[ 9.99612496e-01 -2.81920787e-03 -2.76931283e-02 7.98256285e+00] [ 2.82388734e-03 9.99996004e-01 1.29868719e-04 -1.35489382e-01] [ 2.76926515e-02 -2.08020669e-04 9.99616463e-01 1.92365327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.148040942 meters 0.014610101746437667 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.14, Z:0.19 [[ 9.99599065e-01 -6.15211856e-04 -2.83077980e-02 8.04019365e+00] [ 6.19002005e-04 9.99999801e-01 1.25127784e-04 -1.36614894e-01] [ 2.83077154e-02 -1.42600200e-04 9.99599246e-01 1.93807625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.208040942 meters 0.014415313769228718 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.13, Z:0.19 [[ 9.99588478e-01 1.63606469e-03 -2.86391020e-02 8.09830552e+00] [-1.63316826e-03 9.99998659e-01 1.24526270e-04 -1.34988694e-01] [ 2.86392674e-02 -7.77025524e-05 9.99589809e-01 1.94484187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.268040942 meters 0.014496925853267997 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.13, Z:0.20 [[ 9.99583519e-01 5.27422261e-03 -2.83720304e-02 8.15637015e+00] [-5.27307499e-03 9.99986091e-01 1.15268242e-04 -1.34242421e-01] [ 2.83722437e-02 3.43876089e-05 9.99597426e-01 1.95510629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.328040942 meters 0.014601365533784024 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.13, Z:0.20 [[ 9.99551771e-01 8.80294931e-03 -2.86140886e-02 8.21483324e+00] [-8.80346623e-03 9.99961243e-01 1.07914568e-04 -1.34195884e-01] [ 2.86139295e-02 1.44036965e-04 9.99590527e-01 1.96895450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.388040942 meters 0.01491739961414799 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.14, Z:0.20 [[ 9.99488236e-01 1.12833557e-02 -2.99324497e-02 8.27349295e+00] [-1.12852660e-02 9.99936314e-01 1.05119299e-04 -1.37391122e-01] [ 2.99317295e-02 2.32730153e-04 9.99551918e-01 1.97712133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.448040942 meters 0.015159113807559348 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.14, Z:0.20 [[ 9.99494257e-01 1.07976452e-02 -2.99105498e-02 8.33073319e+00] [-1.07995668e-02 9.99941678e-01 9.73062213e-05 -1.42223234e-01] [ 2.99098560e-02 2.25763971e-04 9.99552575e-01 2.00477055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.508040942000001 meters 0.014847370289929336 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.15, Z:0.20 [[ 9.99478939e-01 7.41360342e-03 -3.14147870e-02 8.38985851e+00] [-7.41418100e-03 9.99972510e-01 9.81022180e-05 -1.50658443e-01] [ 3.14146507e-02 1.34863816e-04 9.99506429e-01 2.01299314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.568040942 meters 0.014569855737144847 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.16, Z:0.20 [[ 9.99480057e-01 4.02963016e-03 -3.19902704e-02 8.44890945e+00] [-4.02856622e-03 9.99991881e-01 9.77122855e-05 -1.58315718e-01] [ 3.19904044e-02 3.12134422e-05 9.99488176e-01 2.02049557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.628040942 meters 0.014646130363571392 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.17, Z:0.20 [[ 9.99488836e-01 -2.00879711e-03 -3.19066204e-02 8.50788579e+00] [ 2.01285331e-03 9.99997970e-01 9.50078599e-05 -1.68185405e-01] [ 3.19063648e-02 -1.59182642e-04 9.99490850e-01 2.04249749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.688040942 meters 0.015714779756915053 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.18, Z:0.21 [[ 9.99438259e-01 -8.43627715e-03 -3.24344873e-02 8.56706738e+00] [ 8.44357693e-03 9.99964348e-01 8.80986941e-05 -1.78461690e-01] [ 3.24325877e-02 -3.61912294e-04 9.99473860e-01 2.05783756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.748040942 meters 0.01598683721332609 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.19, Z:0.21 [[ 9.99401576e-01 -1.21251423e-02 -3.23955243e-02 8.62506398e+00] [ 1.21341034e-02 9.99926376e-01 8.00276336e-05 -1.87185853e-01] [ 3.23921688e-02 -4.73070386e-04 9.99475124e-01 2.08351973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.808040942 meters 0.01600927689959429 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.19, Z:0.21 [[ 9.99377341e-01 -1.20235667e-02 -3.31717449e-02 8.68345606e+00] [ 1.20327928e-02 9.99927600e-01 7.85083456e-05 -1.90429729e-01] [ 3.31683993e-02 -4.77608196e-04 9.99449663e-01 2.09664871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.868040942 meters 0.015376156777174913 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.19, Z:0.21 [[ 9.99358229e-01 -8.41100382e-03 -3.48193319e-02 8.74261540e+00] [ 8.41863020e-03 9.99964560e-01 7.24203982e-05 -1.92162520e-01] [ 3.48174887e-02 -3.65505000e-04 9.99393621e-01 2.10383733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.928040942 meters 0.0144353880669126 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.19, Z:0.21 [[ 9.99359139e-01 -3.48841601e-03 -3.56250170e-02 8.80179367e+00] [ 3.49295969e-03 9.99993897e-01 6.53043577e-05 -1.93722978e-01] [ 3.56245718e-02 -1.89699255e-04 9.99365225e-01 2.12416956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.988040942 meters 0.01413137780259026 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.19, Z:0.21 [[ 9.99370340e-01 1.66595352e-03 -3.54421894e-02 8.86014216e+00] [-1.66501272e-03 9.99998612e-01 5.60598029e-05 -1.94969992e-01] [ 3.54422336e-02 2.98719176e-06 9.99371727e-01 2.14972061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.048040942 meters 0.013999845198759782 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.20, Z:0.22 [[ 9.99365202e-01 3.26637231e-03 -3.54756926e-02 8.91848051e+00] [-3.26676035e-03 9.99994663e-01 4.70253891e-05 -1.97506609e-01] [ 3.54756568e-02 6.88950484e-05 9.99370538e-01 2.16810721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.108040942 meters 0.01396762489564801 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.20, Z:0.22 [[ 9.99382727e-01 4.98553450e-03 -3.47751382e-02 8.97672054e+00] [-4.98729350e-03 9.99987563e-01 3.61612313e-05 -2.04621767e-01] [ 3.47748860e-02 1.37294911e-04 9.99395161e-01 2.19746680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.168040942 meters 0.014074919272501771 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.21, Z:0.22 [[ 9.99415772e-01 6.85498285e-03 -3.34831763e-02 9.03464716e+00] [-6.85796346e-03 9.99976484e-01 2.58278267e-05 -2.09511710e-01] [ 3.34825659e-02 2.03813662e-04 9.99439281e-01 2.22688942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.228040942 meters 0.014096511593210627 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.21, Z:0.22 [[ 9.99393672e-01 8.21539061e-03 -3.38348214e-02 9.09351976e+00] [-8.21933289e-03 9.99966220e-01 2.25750367e-05 -2.13711562e-01] [ 3.38338639e-02 2.55538311e-04 9.99427438e-01 2.24072175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.288040942 meters 0.014110721870700116 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.22, Z:0.23 [[ 9.99388537e-01 8.15824217e-03 -3.39999404e-02 9.15155488e+00] [-8.16247657e-03 9.99966686e-01 1.42610036e-05 -2.19339298e-01] [ 3.39989240e-02 2.63271433e-04 9.99421835e-01 2.26024193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.348040942 meters 0.013683796678827256 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.23, Z:0.23 [[ 9.99389769e-01 5.26374569e-03 -3.45308861e-02 9.21061669e+00] [-5.26671697e-03 9.99986131e-01 4.91251162e-06 -2.30963119e-01] [ 3.45304331e-02 1.76954890e-04 9.99403631e-01 2.27959915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.408040942 meters 0.013395074450806042 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.24, Z:0.23 [[ 9.99406621e-01 -4.31152408e-04 -3.44415414e-02 9.26881206e+00] [ 4.31295851e-04 9.99999907e-01 -3.26461961e-06 -2.40185902e-01] [ 3.44415396e-02 -1.15918115e-05 9.99406714e-01 2.29160214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.468040942 meters 0.013440592134416406 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.25, Z:0.23 [[ 9.99400516e-01 -4.64973313e-03 -3.43072785e-02 9.32716558e+00] [ 4.65223165e-03 9.99989178e-01 -6.99860177e-06 -2.47588399e-01] [ 3.43069397e-02 -1.52611001e-04 9.99411332e-01 2.31332109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.528040942 meters 0.014098305395900311 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.26, Z:0.24 [[ 9.99376392e-01 -1.11329785e-02 -3.35094704e-02 9.38449852e+00] [ 1.11386911e-02 9.99937963e-01 -1.61997268e-05 -2.59724913e-01] [ 3.35075719e-02 -3.57062016e-04 9.99438400e-01 2.35099780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.588040942 meters 0.015190158530083769 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.27, Z:0.24 [[ 9.99298658e-01 -1.63690550e-02 -3.36785616e-02 9.44214935e+00] [ 1.63776228e-02 9.99865878e-01 -2.14683109e-05 -2.66908951e-01] [ 3.36743960e-02 -5.30121525e-04 9.99432716e-01 2.35930339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.648040942 meters 0.01528754303339485 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.27, Z:0.24 [[ 9.99260459e-01 -1.74707309e-02 -3.42535867e-02 9.50069132e+00] [ 1.74801169e-02 9.99847211e-01 -2.54547522e-05 -2.69774560e-01] [ 3.42487979e-02 -5.73320772e-04 9.99413173e-01 2.37086007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.708040942 meters 0.015445494851392993 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.27, Z:0.24 [[ 9.99247079e-01 -1.78180851e-02 -3.44643487e-02 9.55871423e+00] [ 1.78274905e-02 9.99841077e-01 -3.44001007e-05 -2.74151335e-01] [ 3.44594845e-02 -5.80038650e-04 9.99405927e-01 2.39221503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.768040942 meters 0.01534987019834419 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.28, Z:0.24 [[ 9.99236164e-01 -1.78166970e-02 -3.47800919e-02 9.61723758e+00] [ 1.78259298e-02 9.99841104e-01 -4.46299943e-05 -2.76200043e-01] [ 3.47753606e-02 -5.75391572e-04 9.99394989e-01 2.40820140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.828040942 meters 0.015135513275024616 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.28, Z:0.24 [[ 9.99251113e-01 -1.70286149e-02 -3.47453395e-02 9.67577178e+00] [ 1.70370148e-02 9.99854858e-01 -5.43187122e-05 -2.76771265e-01] [ 3.47412215e-02 -5.37678830e-04 9.99396197e-01 2.42677385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.888040942 meters 0.014490301851295342 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.28, Z:0.25 [[ 9.99341829e-01 -1.35107497e-02 -3.36655407e-02 9.73456906e+00] [ 1.35163665e-02 9.99908648e-01 -6.07455195e-05 -2.77540213e-01] [ 3.36632860e-02 -3.94330249e-04 9.99433153e-01 2.45327503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.948040942 meters 0.013949680957187476 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.28, Z:0.25 [[ 9.99411995e-01 -8.79680890e-03 -3.31403155e-02 9.79388266e+00] [ 8.79939647e-03 9.99961282e-01 -6.77701435e-05 -2.76365165e-01] [ 3.31396286e-02 -2.23884481e-04 9.99450707e-01 2.48039789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.008040942000001 meters 0.013834420911747922 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.27, Z:0.25 [[ 9.99395463e-01 -5.36283081e-03 -3.43503828e-02 9.85135681e+00] [ 5.36331869e-03 9.99985614e-01 -7.79407442e-05 -2.74407867e-01] [ 3.43503066e-02 -1.06338424e-04 9.99409848e-01 2.48665411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.068040942 meters 0.014034779793470162 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.28, Z:0.25 [[ 9.99479145e-01 -4.25111693e-03 -3.19900930e-02 9.90898938e+00] [ 4.25088723e-03 9.99990962e-01 -7.51910265e-05 -2.76260153e-01] [ 3.19901235e-02 -6.08344150e-05 9.99488183e-01 2.52962413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.128040942 meters 0.014223831995979815 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.28, Z:0.26 [[ 9.99481513e-01 -4.67696897e-03 -3.18564113e-02 9.96679344e+00] [ 4.67686517e-03 9.99989060e-01 -7.77716140e-05 -2.77773399e-01] [ 3.18564265e-02 -7.12568499e-05 9.99492453e-01 2.55496275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.188040942 meters 0.014572436307784244 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.28, Z:0.26 [[ 9.99469393e-01 -7.34731252e-03 -3.17324642e-02 1.00249954e+01] [ 7.34828356e-03 9.99972997e-01 -8.60196186e-05 -2.79275773e-01] [ 3.17322394e-02 -1.47205169e-04 9.99496395e-01 2.57256950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.248040942 meters 0.014872843634413841 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.28, Z:0.26 [[ 9.99458146e-01 -1.03251452e-02 -3.12538867e-02 1.00832838e+01] [ 1.03272648e-02 9.99946668e-01 -9.36091165e-05 -2.81700502e-01] [ 3.12531864e-02 -2.29208770e-04 9.99511474e-01 2.59399830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.308040942 meters 0.01718616182780519 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.29, Z:0.26 [[ 9.99369036e-01 -1.45306933e-02 -3.24097045e-02 1.01417036e+01] [ 1.45350864e-02 9.99894355e-01 -1.00058830e-04 -2.85825200e-01] [ 3.24077345e-02 -3.71082160e-04 9.99474663e-01 2.57732499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.368040942 meters 0.015795763955178486 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.29, Z:0.26 [[ 9.99307478e-01 -1.76781065e-02 -3.27421598e-02 1.01999593e+01] [ 1.76841849e-02 9.99843617e-01 -1.03955672e-04 -2.89804199e-01] [ 3.27388772e-02 -4.75134727e-04 9.99463826e-01 2.60933065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.428040942 meters 0.016118879506110476 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.29, Z:0.26 [[ 9.99287962e-01 -1.83936130e-02 -3.29430481e-02 1.02583046e+01] [ 1.84000529e-02 9.99830699e-01 -1.07690548e-04 -2.91624799e-01] [ 3.29394516e-02 -4.98539959e-04 9.99457225e-01 2.63086719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.488040942 meters 0.01595925974734822 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.29, Z:0.26 [[ 9.99290202e-01 -1.70758938e-02 -3.35783444e-02 1.03176613e+01] [ 1.70816759e-02 9.99854091e-01 -1.14683540e-04 -2.91687147e-01] [ 3.35754034e-02 -4.58972259e-04 9.99436082e-01 2.64521370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.548040942 meters 0.015516134986665452 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.29, Z:0.26 [[ 9.99291600e-01 -1.09991887e-02 -3.59904960e-02 1.03767557e+01] [ 1.10015654e-02 9.99939472e-01 -1.32009841e-04 -2.91004765e-01] [ 3.59897696e-02 -2.64035470e-04 9.99352124e-01 2.64511975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.608040942 meters 0.015397537399496113 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.29, Z:0.27 [[ 9.99285196e-01 -2.82721060e-03 -3.76975190e-02 1.04354612e+01] [ 2.82363313e-03 9.99996003e-01 -1.48140253e-04 -2.87580496e-01] [ 3.76977871e-02 4.15903985e-05 9.99289185e-01 2.65300955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.668040942 meters 0.015667072554785454 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.29, Z:0.27 [[ 9.99264118e-01 1.05404479e-03 -3.83420435e-02 1.04944346e+01] [-1.06098459e-03 9.99999424e-01 -1.60649882e-04 -2.86562366e-01] [ 3.83418520e-02 2.01211980e-04 9.99264661e-01 2.67108179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.728040942 meters 0.016223360371070975 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.29, Z:0.27 [[ 9.99217976e-01 3.59414745e-03 -3.93766184e-02 1.05519739e+01] [-3.60379004e-03 9.99993491e-01 -1.73903696e-04 -2.88067808e-01] [ 3.93757371e-02 3.15672764e-04 9.99224425e-01 2.67596907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.788040942 meters 0.01636477251923854 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.29, Z:0.27 [[ 9.99166420e-01 1.97862620e-03 -4.07743758e-02 1.06095297e+01] [-1.98778780e-03 9.99998007e-01 -1.84148949e-04 -2.92770499e-01] [ 4.07739302e-02 2.65046253e-04 9.99168362e-01 2.67995527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.848040942 meters 0.016283366100343113 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.30, Z:0.27 [[ 9.99077015e-01 -1.47484072e-03 -4.29295143e-02 1.06675626e+01] [ 1.46755728e-03 9.99998903e-01 -2.01175378e-04 -2.99367404e-01] [ 4.29297639e-02 1.37988175e-04 9.99078083e-01 2.68170513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.908040942 meters 0.016600194040645316 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.31, Z:0.27 [[ 9.98958256e-01 -4.89300411e-03 -4.53702759e-02 1.07256428e+01] [ 4.88791758e-03 9.99988029e-01 -2.23051582e-04 -3.07603149e-01] [ 4.53708241e-02 1.05305013e-06 9.98970214e-01 2.67926199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.968040942 meters 0.016715349965965347 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.31, Z:0.27 [[ 9.98888479e-01 -7.17880795e-03 -4.65861773e-02 1.07846400e+01] [ 7.17561756e-03 9.99974227e-01 -2.35718368e-04 -3.11421475e-01] [ 4.65866689e-02 -9.88282306e-05 9.98914247e-01 2.69635663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.028040942 meters 0.017106085934776718 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.32, Z:0.27 [[ 9.98786933e-01 -1.03002322e-02 -4.81515126e-02 1.08429250e+01] [ 1.02999869e-02 9.99946922e-01 -2.53224742e-04 -3.19599332e-01] [ 4.81515650e-02 -2.43042386e-04 9.98840011e-01 2.70290286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.088040942 meters 0.017415589710459742 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.33, Z:0.27 [[ 9.98725305e-01 -9.85304854e-03 -4.95043747e-02 1.09011767e+01] [ 9.85198156e-03 9.99951433e-01 -2.65566832e-04 -3.25247966e-01] [ 4.95045871e-02 -2.22487872e-04 9.98773871e-01 2.70454139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.148040942 meters 0.018998434426808125 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.32, Z:0.27 [[ 9.98817761e-01 -2.62572080e-03 -4.85405595e-02 1.09600986e+01] [ 2.61576390e-03 9.99996543e-01 -2.68647090e-04 -3.17851649e-01] [ 4.85410970e-02 1.41358841e-04 9.98821176e-01 2.70570260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.208040942 meters 0.019457018223412864 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.31, Z:0.27 [[ 9.98783886e-01 5.35432715e-03 -4.90110292e-02 1.10176091e+01] [-5.37453063e-03 9.99985518e-01 -2.80446460e-04 -3.09926862e-01] [ 4.90088178e-02 5.43516682e-04 9.98798198e-01 2.70979662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.268040942 meters 0.01904065622146648 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.31, Z:0.28 [[ 9.98769650e-01 8.36475602e-03 -4.88796155e-02 1.10766150e+01] [-8.38879990e-03 9.99964772e-01 -2.86773836e-04 -3.07839541e-01] [ 4.88754948e-02 6.96462318e-04 9.98804636e-01 2.75360121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.328040942 meters 0.020018129896591994 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.31, Z:0.27 [[ 9.98649518e-01 1.07241673e-02 -5.08343531e-02 1.11349182e+01] [-1.07537214e-02 9.99942130e-01 -3.07901767e-04 -3.05574018e-01] [ 5.08281093e-02 8.54144423e-04 9.98707051e-01 2.74766139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.388040942 meters 0.019440734388364862 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.31, Z:0.28 [[ 9.98684578e-01 9.38898270e-03 -5.04079370e-02 1.11939952e+01] [-9.41672729e-03 9.99955613e-01 -3.12934349e-04 -3.06922562e-01] [ 5.04027614e-02 7.87200505e-04 9.98728663e-01 2.78252893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.448040942 meters 0.01943054585265248 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.31, Z:0.28 [[ 9.98782422e-01 7.38334680e-03 -4.87766260e-02 1.12523655e+01] [-7.40752194e-03 9.99972514e-01 -3.14881197e-04 -3.08045416e-01] [ 4.87729605e-02 6.75811732e-04 9.98809662e-01 2.81337669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.508040942000001 meters 0.018844225914721683 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.31, Z:0.28 [[ 9.98814959e-01 1.54680923e-03 -4.86444769e-02 1.13117619e+01] [-1.56450923e-03 9.99998723e-01 -3.25791763e-04 -3.12815724e-01] [ 4.86439109e-02 4.01510420e-04 9.98816104e-01 2.84165529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.568040942 meters 0.01853580249756934 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.32, Z:0.28 [[ 9.98720027e-01 -5.96822917e-03 -5.02263720e-02 1.13698225e+01] [ 5.95821311e-03 9.99982189e-01 -3.49141538e-04 -3.20809841e-01] [ 5.02275612e-02 4.94352183e-05 9.98737798e-01 2.84689525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.628040942 meters 0.018561402208997175 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.32, Z:0.29 [[ 9.98728558e-01 -8.52843844e-03 -4.96843446e-02 1.14274713e+01] [ 8.52111128e-03 9.99963630e-01 -3.59289899e-04 -3.23433174e-01] [ 4.96856018e-02 -6.45327466e-05 9.98764906e-01 2.87044528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.688040942 meters 0.018912846123963687 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.33, Z:0.29 [[ 9.98729395e-01 -1.57181661e-02 -4.78804281e-02 1.14854146e+01] [ 1.57189906e-02 9.99876384e-01 -3.59335490e-04 -3.30081647e-01] [ 4.78801575e-02 -3.93753082e-04 9.98853010e-01 2.90594234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.748040942 meters 0.019371633259263048 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.34, Z:0.30 [[ 9.98766265e-01 -1.85988522e-02 -4.60437874e-02 1.15428707e+01] [ 1.86021625e-02 9.99826901e-01 -3.56625644e-04 -3.35663556e-01] [ 4.60424502e-02 -5.00328353e-04 9.98939359e-01 2.95013483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.808040942 meters 0.01944645352800297 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.34, Z:0.30 [[ 9.98829990e-01 -1.84034343e-02 -4.47209627e-02 1.16010262e+01] [ 1.84060324e-02 9.99830532e-01 -3.53711212e-04 -3.38917626e-01] [ 4.47198934e-02 -4.69838123e-04 9.98999455e-01 2.99714425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.868040942 meters 0.018797290000008668 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.33, Z:0.30 [[ 9.98915150e-01 -1.46947785e-02 -4.41880898e-02 1.16597728e+01] [ 1.46933765e-02 9.99891983e-01 -3.56540014e-04 -3.34423835e-01] [ 4.41885560e-02 -2.93119020e-04 9.99023166e-01 3.02762859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.928040942 meters 0.018725738348870546 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.33, Z:0.30 [[ 9.98931787e-01 -1.12243361e-02 -4.48252009e-02 1.17172081e+01] [ 1.12190022e-02 9.99936996e-01 -3.70573281e-04 -3.31641066e-01] [ 4.48265362e-02 -1.32716597e-04 9.98994777e-01 3.02738031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.988040942 meters 0.01854153372316369 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.33, Z:0.31 [[ 9.98929075e-01 -8.07120628e-03 -4.55583050e-02 1.17752811e+01] [ 8.06210702e-03 9.99967427e-01 -3.83470613e-04 -3.29255239e-01] [ 4.55599162e-02 1.57640139e-05 9.98961608e-01 3.09133416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.048040942 meters 0.01944907678584096 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.32, Z:0.31 [[ 9.98949336e-01 -5.96608504e-03 -4.54382083e-02 1.18318352e+01] [ 5.95438106e-03 9.99982195e-01 -3.92925046e-04 -3.24922959e-01] [ 4.54397435e-02 1.21955807e-04 9.98967074e-01 3.11906450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.108040942 meters 0.020254993039837067 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.32, Z:0.32 [[ 9.98999927e-01 -4.53373983e-03 -4.44813610e-02 1.18901512e+01] [ 4.52077066e-03 9.99989704e-01 -3.92155229e-04 -3.23110538e-01] [ 4.44826809e-02 1.90673014e-04 9.99010137e-01 3.16778815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.168040942 meters 0.021516999498965985 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.32, Z:0.32 [[ 9.99008869e-01 -2.97979249e-03 -4.44117226e-02 1.19478463e+01] [ 2.96488843e-03 9.99995524e-01 -4.01455314e-04 -3.17890427e-01] [ 4.44127201e-02 2.69381617e-04 9.99013232e-01 3.17386897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.228040942 meters 0.020392545773758826 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.32, Z:0.32 [[ 9.99048205e-01 -1.51027299e-03 -4.35936051e-02 1.20056138e+01] [ 1.49424837e-03 9.99998804e-01 -4.00173945e-04 -3.17086907e-01] [ 4.35941573e-02 3.34653388e-04 9.99049267e-01 3.22580287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.288040942 meters 0.02011416820829029 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.31, Z:0.33 [[ 9.99176919e-01 -3.21219648e-04 -4.05632906e-02 1.20647374e+01] [ 3.05954106e-04 9.99999880e-01 -3.82546089e-04 -3.13681381e-01] [ 4.05634086e-02 3.69820717e-04 9.99176898e-01 3.27702506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.348040942 meters 0.02094115699264262 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.31, Z:0.33 [[ 9.99221326e-01 5.49780357e-04 -3.94517376e-02 1.21227824e+01] [-5.65271386e-04 9.99999767e-01 -3.81503973e-04 -3.09334030e-01] [ 3.94515187e-02 4.03507844e-04 9.99221404e-01 3.29131724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.408040942 meters 0.02011342498199466 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.31, Z:0.33 [[ 9.99213562e-01 1.17475184e-03 -3.96342993e-02 1.21811873e+01] [-1.19129622e-03 9.99999213e-01 -3.93811156e-04 -3.07913080e-01] [ 3.96338055e-02 4.40717639e-04 9.99214175e-01 3.31435873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.468040942 meters 0.020163618222700675 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.31, Z:0.33 [[ 9.99209346e-01 -1.16624520e-03 -3.97406959e-02 1.22397156e+01] [ 1.15106708e-03 9.99999256e-01 -4.04807862e-04 -3.06749205e-01] [ 3.97411384e-02 3.58743592e-04 9.99209945e-01 3.32795231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.528040942 meters 0.020302763682486374 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.31, Z:0.33 [[ 9.99187282e-01 -5.25160182e-03 -3.99649330e-02 1.22988866e+01] [ 5.23911958e-03 9.99986189e-01 -4.17056497e-04 -3.05479869e-01] [ 3.99665712e-02 2.07336485e-04 9.99200996e-01 3.33427771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.588040942 meters 0.0206791368513598 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.31, Z:0.34 [[ 9.99143917e-01 -1.09219630e-02 -3.99016849e-02 1.23564641e+01] [ 1.09136990e-02 9.99940354e-01 -4.24933497e-04 -3.08000434e-01] [ 3.99039460e-02 -1.09052611e-05 9.99203520e-01 3.35773671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.648040942 meters 0.02077789744573453 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.31, Z:0.34 [[ 9.99137780e-01 -1.49843751e-02 -3.87190651e-02 1.24147713e+01] [ 1.49794571e-02 9.99887715e-01 -4.17133862e-04 -3.07189769e-01] [ 3.87209680e-02 -1.63216375e-04 9.99250049e-01 3.37765624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.708040942 meters 0.021382049503847134 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.31, Z:0.34 [[ 9.99097596e-01 -1.98458956e-02 -3.75517518e-02 1.24739836e+01] [ 1.98443299e-02 9.99802996e-01 -4.14456632e-04 -3.05077478e-01] [ 3.75525792e-02 -3.31106727e-04 9.99294598e-01 3.40233276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.768040942 meters 0.02200117812053771 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.30, Z:0.34 [[ 9.99121683e-01 -2.22056521e-02 -3.55355079e-02 1.25319861e+01] [ 2.22054782e-02 9.99753348e-01 -3.99607050e-04 -3.02697133e-01] [ 3.55356165e-02 -3.89826878e-04 9.99368334e-01 3.43298394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.828040942 meters 0.02187164796367075 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.30, Z:0.35 [[ 9.99173170e-01 -2.23669718e-02 -3.39513745e-02 1.25900917e+01] [ 2.23667927e-02 9.99749758e-01 -3.85121277e-04 -2.95931104e-01] [ 3.39514924e-02 -3.74580510e-04 9.99423412e-01 3.46388010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.888040942 meters 0.021721010705245517 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.29, Z:0.35 [[ 9.99234817e-01 -2.03955048e-02 -3.33737092e-02 1.26475297e+01] [ 2.03939418e-02 9.99791947e-01 -3.87271225e-04 -2.86772293e-01] [ 3.33746643e-02 -2.93646593e-04 9.99442868e-01 3.47243953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.948040942 meters 0.021471730387413512 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.28, Z:0.35 [[ 9.99293460e-01 -2.00338086e-02 -3.17997920e-02 1.27054211e+01] [ 2.00321184e-02 9.99799268e-01 -3.71769546e-04 -2.78585097e-01] [ 3.18008568e-02 -2.65510324e-04 9.99494190e-01 3.49036083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.008040942 meters 0.021859225127760472 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.27, Z:0.35 [[ 9.99272745e-01 -2.15884400e-02 -3.14311854e-02 1.27638418e+01] [ 2.15872922e-02 9.99766897e-01 -3.75899487e-04 -2.73714792e-01] [ 3.14319737e-02 -3.02888070e-04 9.99505848e-01 3.50912590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.068040942 meters 0.022253387732802995 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.27, Z:0.35 [[ 9.99272780e-01 -2.24910602e-02 -3.07906284e-02 1.28211230e+01] [ 2.24901633e-02 9.99746994e-01 -3.75498441e-04 -2.66798351e-01] [ 3.07912835e-02 -3.17260890e-04 9.99525786e-01 3.51765737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.128040942 meters 0.02189214697493179 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.26, Z:0.36 [[ 9.99301124e-01 -2.17884540e-02 -3.03731237e-02 1.28789606e+01] [ 2.17871345e-02 9.99762562e-01 -3.74429770e-04 -2.57858025e-01] [ 3.03740702e-02 -2.87575242e-04 9.99538560e-01 3.55017608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.188040942 meters 0.021449621254825964 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.25, Z:0.36 [[ 9.99306500e-01 -1.92783325e-02 -3.18569319e-02 1.29365416e+01] [ 1.92753065e-02 9.99814133e-01 -4.02115281e-04 -2.50560421e-01] [ 3.18587628e-02 -2.12215713e-04 9.99492358e-01 3.56670380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.248040942 meters 0.021050477830171457 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.25, Z:0.36 [[ 9.99380334e-01 -1.69510000e-02 -3.08481866e-02 1.29953443e+01] [ 1.69469335e-02 9.99856313e-01 -3.93288235e-04 -2.45458430e-01] [ 3.08504208e-02 -1.29737640e-04 9.99524004e-01 3.59953680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.308040942 meters 0.021212929589432144 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.24, Z:0.36 [[ 9.99446759e-01 -1.52642071e-02 -2.95496187e-02 1.30532597e+01] [ 1.52595409e-02 9.99883493e-01 -3.83423199e-04 -2.39132142e-01] [ 2.95520286e-02 -6.77025430e-05 9.99563241e-01 3.63818578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.368040942 meters 0.02106967252667915 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.23, Z:0.36 [[ 9.99426812e-01 -1.41101635e-02 -3.07725790e-02 1.31112352e+01] [ 1.41042694e-02 9.99900446e-01 -4.08602142e-04 -2.33087321e-01] [ 3.07752810e-02 -2.56568096e-05 9.99526329e-01 3.64814803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.428040941999999 meters 0.02092536066057173 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.23, Z:0.37 [[ 9.99433396e-01 -1.31265936e-02 -3.09932159e-02 1.31694459e+01] [ 1.31198626e-02 9.99913842e-01 -4.20538206e-04 -2.28942027e-01] [ 3.09960659e-02 1.36731938e-05 9.99519506e-01 3.66750505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.488040942 meters 0.02029168994327927 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.22, Z:0.37 [[ 9.99388741e-01 -1.12259749e-02 -3.31077410e-02 1.32279253e+01] [ 1.12169181e-02 9.99936983e-01 -4.59283849e-04 -2.24268386e-01] [ 3.31108105e-02 8.76362893e-05 9.99451683e-01 3.67621908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.548040942 meters 0.020914265806250533 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.22, Z:0.37 [[ 9.99384016e-01 -1.08731927e-02 -3.33670914e-02 1.32859931e+01] [ 1.08634801e-02 9.99940879e-01 -4.72367267e-04 -2.22066894e-01] [ 3.33702549e-02 1.09593563e-04 9.99443052e-01 3.68628928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.608040942 meters 0.020448342015615496 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.22, Z:0.37 [[ 9.99388701e-01 -1.08945829e-02 -3.32194675e-02 1.33435971e+01] [ 1.08846547e-02 9.99940645e-01 -4.79698123e-04 -2.19445860e-01] [ 3.32227219e-02 1.17822451e-04 9.99447966e-01 3.71303709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.668040942 meters 0.020545488904251417 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.22, Z:0.37 [[ 9.99385478e-01 -1.32647378e-02 -3.24455363e-02 1.34012388e+01] [ 1.32562363e-02 9.99912018e-01 -4.77128051e-04 -2.21413054e-01] [ 3.24490106e-02 4.67291487e-05 9.99473391e-01 3.74338328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.728040942 meters 0.02015926390860385 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.22, Z:0.38 [[ 9.99338961e-01 -1.62308634e-02 -3.25299752e-02 1.34595567e+01] [ 1.62237871e-02 9.99868270e-01 -4.81487105e-04 -2.23308415e-01] [ 3.25335050e-02 -4.65905677e-05 9.99470644e-01 3.77241764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.788040942 meters 0.019915242870111205 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.22, Z:0.38 [[ 9.99315499e-01 -1.75886136e-02 -3.25449477e-02 1.35165899e+01] [ 1.75819622e-02 9.99845305e-01 -4.90565184e-04 -2.23678299e-01] [ 3.25485416e-02 -8.19746485e-05 9.99470152e-01 3.79524061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.848040942 meters 0.020075558943530664 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.22, Z:0.38 [[ 9.99285259e-01 -1.91224329e-02 -3.26083502e-02 1.35744747e+01] [ 1.91164353e-02 9.99817141e-01 -4.95709356e-04 -2.24575577e-01] [ 3.26118667e-02 -1.28000364e-04 9.99468083e-01 3.80924326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.908040942 meters 0.02059485442527997 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.22, Z:0.38 [[ 9.99204607e-01 -2.09580790e-02 -3.39250989e-02 1.36336609e+01] [ 2.09523192e-02 9.99780338e-01 -5.25318316e-04 -2.23548445e-01] [ 3.39286565e-02 -1.85909018e-04 9.99424240e-01 3.81331926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.968040942 meters 0.020626897219353332 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.23, Z:0.38 [[ 9.99111481e-01 -2.50106766e-02 -3.39221748e-02 1.36926615e+01] [ 2.50069725e-02 9.99687134e-01 -5.33524503e-04 -2.25547552e-01] [ 3.39249056e-02 -3.15240436e-04 9.99424335e-01 3.84925697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.028040942 meters 0.021238904212697134 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.23, Z:0.39 [[ 9.99047984e-01 -2.80215259e-02 -3.34353040e-02 1.37509527e+01] [ 2.80193471e-02 9.99607238e-01 -5.33802943e-04 -2.27278783e-01] [ 3.34371299e-02 -4.03540635e-04 9.99440741e-01 3.87403539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.088040942 meters 0.021399361640110443 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.22, Z:0.39 [[ 9.98997736e-01 -3.05554195e-02 -3.27091838e-02 1.38096798e+01] [ 3.05545481e-02 9.99532962e-01 -5.26598942e-04 -2.24950922e-01] [ 3.27099978e-02 -4.73343180e-04 9.99464773e-01 3.90186640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.148040942 meters 0.021207305421426164 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.22, Z:0.39 [[ 9.98932015e-01 -3.08673501e-02 -3.43807412e-02 1.38673389e+01] [ 3.08662673e-02 9.99523365e-01 -5.62380829e-04 -2.22041992e-01] [ 3.43817133e-02 -4.99424931e-04 9.99408649e-01 3.91908717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.208040942 meters 0.021233400530079962 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.22, Z:0.39 [[ 9.98860889e-01 -3.20601981e-02 -3.53421489e-02 1.39262841e+01] [ 3.20594489e-02 9.99485791e-01 -5.88045888e-04 -2.19122176e-01] [ 3.53428285e-02 -5.45673777e-04 9.99375098e-01 3.94676749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.268040942 meters 0.021322015903649412 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.22, Z:0.40 [[ 9.98789865e-01 -3.31804422e-02 -3.63023940e-02 1.39853026e+01] [ 3.31800588e-02 9.99449202e-01 -6.13182620e-04 -2.16749733e-01] [ 3.63027444e-02 -5.92074980e-04 9.99340663e-01 3.97649661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.328040942 meters 0.021143324827997665 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.22, Z:0.40 [[ 9.98725308e-01 -3.37558330e-02 -3.75273630e-02 1.40436919e+01] [ 3.37554692e-02 9.99429915e-01 -6.43474708e-04 -2.15237559e-01] [ 3.75276902e-02 -6.24099272e-04 9.99295393e-01 4.01912500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.388040942 meters 0.02122019889498715 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.21, Z:0.40 [[ 9.98731347e-01 -3.30545225e-02 -3.79881032e-02 1.41019654e+01] [ 3.30532812e-02 9.99453373e-01 -6.60889199e-04 -2.10194400e-01] [ 3.79891833e-02 -5.95580699e-04 9.99277973e-01 4.04787174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.448040942 meters 0.020957752472068825 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.21, Z:0.41 [[ 9.98736042e-01 -3.13212474e-02 -3.93102766e-02 1.41607993e+01] [ 3.13181885e-02 9.99509224e-01 -6.93766650e-04 -2.05552048e-01] [ 3.93127137e-02 -5.38236892e-04 9.99226812e-01 4.06029820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.508040942 meters 0.020706459275897846 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.20, Z:0.41 [[ 9.98721622e-01 -2.80217781e-02 -4.20701946e-02 1.42183312e+01] [ 2.80149728e-02 9.99607221e-01 -7.51426994e-04 -2.00997761e-01] [ 4.20747266e-02 -4.28128970e-04 9.99114375e-01 4.06337837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.568040942 meters 0.020711834094412247 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.20, Z:0.41 [[ 9.98655997e-01 -2.83878376e-02 -4.33627735e-02 1.42762703e+01] [ 2.83807901e-02 9.99596881e-01 -7.78262332e-04 -1.95979741e-01] [ 4.33673864e-02 -4.53453431e-04 9.99059089e-01 4.07326759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.628040942 meters 0.02162486606409182 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.19, Z:0.41 [[ 9.98475260e-01 -3.16935191e-02 -4.51959663e-02 1.43348591e+01] [ 3.16889745e-02 9.99497444e-01 -8.17202708e-04 -1.93715173e-01] [ 4.51991529e-02 -6.16257141e-04 9.98977806e-01 4.07327099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.688040942 meters 0.021418385483331748 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.19, Z:0.41 [[ 9.98446444e-01 -3.40342367e-02 -4.41176810e-02 1.43931390e+01] [ 3.40318284e-02 9.99420425e-01 -8.05873337e-04 -1.93097400e-01] [ 4.41195388e-02 -6.96783982e-04 9.99026016e-01 4.10682177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.748040942 meters 0.022085458816394614 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.19, Z:0.41 [[ 9.98360845e-01 -3.67223954e-02 -4.38986093e-02 1.44521480e+01] [ 3.67223644e-02 9.99325180e-01 -8.07395784e-04 -1.87732933e-01] [ 4.38986352e-02 -8.05988392e-04 9.99035665e-01 4.11457518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.808040942 meters 0.02291717085362238 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.19, Z:0.41 [[ 9.98238196e-01 -3.87431475e-02 -4.49385391e-02 1.45100242e+01] [ 3.87447843e-02 9.99248790e-01 -8.34912668e-04 -1.85159708e-01] [ 4.49371280e-02 -9.07692287e-04 9.98989405e-01 4.11748367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.868040942 meters 0.023392305152683122 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.18, Z:0.41 [[ 9.98269468e-01 -4.00930610e-02 -4.30187878e-02 1.45676459e+01] [ 4.00955762e-02 9.99195525e-01 -8.04708525e-04 -1.84771787e-01] [ 4.30164435e-02 -9.21547136e-04 9.99073939e-01 4.14713541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.928040941999999 meters 0.02274232954490443 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.18, Z:0.42 [[ 9.98318439e-01 -4.03087275e-02 -4.16593406e-02 1.46259375e+01] [ 4.03108509e-02 9.99186875e-01 -7.89397556e-04 -1.78182666e-01] [ 4.16572860e-02 -8.91253332e-04 9.99131561e-01 4.17802362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.988040942 meters 0.022307294648568322 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.17, Z:0.42 [[ 9.98451616e-01 -3.71623125e-02 -4.13924152e-02 1.46834783e+01] [ 3.71613756e-02 9.99308963e-01 -7.92331004e-04 -1.74030539e-01] [ 4.13932564e-02 -7.47094916e-04 9.99142653e-01 4.17490024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.048040942 meters 0.019020605369038563 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.17, Z:0.42 [[ 9.98718634e-01 -3.23819086e-02 -3.88908940e-02 1.47420815e+01] [ 3.23773431e-02 9.99475437e-01 -7.47383622e-04 -1.65987761e-01] [ 3.88946950e-02 -5.12757868e-04 9.99243184e-01 4.23569705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.108040942 meters 0.018248158823330654 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.16, Z:0.43 [[ 9.98999379e-01 -2.74034845e-02 -3.53453008e-02 1.48011205e+01] [ 2.73965077e-02 9.99624413e-01 -6.81787551e-04 -1.60383731e-01] [ 3.53507089e-02 -2.87232465e-04 9.99374927e-01 4.26487392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.168040942 meters 0.01792328777323632 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.16, Z:0.43 [[ 9.99085035e-01 -2.52848992e-02 -3.44929858e-02 1.48599676e+01] [ 2.52768328e-02 9.99680265e-01 -6.69971042e-04 -1.55874096e-01] [ 3.44988974e-02 -2.02515394e-04 9.99404715e-01 4.26546695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.228040942 meters 0.017718703550665526 Centerline is valid? [True, True] Translation: X:14.92, Y:-0.15, Z:0.43 [[ 9.99204237e-01 -2.21100894e-02 -3.31969462e-02 1.49191487e+01] [ 2.21005992e-02 9.99755539e-01 -6.52833222e-04 -1.54753509e-01] [ 3.32032651e-02 -8.13586805e-05 9.99448616e-01 4.27258593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.288040942 meters 0.0176802193636515 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.16, Z:0.43 [[ 9.99344294e-01 -2.03360605e-02 -2.99570654e-02 1.49775696e+01] [ 2.03273352e-02 9.99793201e-01 -5.95805282e-04 -1.55319315e-01] [ 2.99629866e-02 -1.35327010e-05 9.99551009e-01 4.30244846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.348040942 meters 0.017680130090916197 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.15, Z:0.43 [[ 9.99344055e-01 -2.04548526e-02 -2.98840752e-02 1.50358820e+01] [ 2.04459664e-02 9.99790778e-01 -6.02927537e-04 -1.53192100e-01] [ 2.98901555e-02 -8.47674822e-06 9.99553189e-01 4.30159528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.408040942 meters 0.01775295210239426 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.15, Z:0.43 [[ 9.99318512e-01 -2.16081181e-02 -2.99265837e-02 1.50927075e+01] [ 2.15994579e-02 9.99766517e-01 -6.12661686e-04 -1.52808603e-01] [ 2.99328348e-02 -3.41538186e-05 9.99551912e-01 4.29811296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.468040942 meters 0.017912139064602237 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.16, Z:0.43 [[ 9.99276816e-01 -2.43324848e-02 -2.92194441e-02 1.51508304e+01] [ 2.43252971e-02 9.99703915e-01 -6.01479373e-04 -1.56839960e-01] [ 2.92254282e-02 -1.09727267e-04 9.99572840e-01 4.31568587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.528040942 meters 0.018705038406503397 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.16, Z:0.44 [[ 9.99205080e-01 -3.02432389e-02 -2.59722021e-02 1.52086960e+01] [ 3.02393689e-02 9.99542539e-01 -5.41843478e-04 -1.64091664e-01] [ 2.59767080e-02 -2.43970245e-04 9.99662519e-01 4.35359272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.588040942 meters 0.019101608490333565 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.17, Z:0.43 [[ 9.99035873e-01 -3.50164478e-02 -2.64796639e-02 1.52672212e+01] [ 3.50140403e-02 9.99386667e-01 -5.54716417e-04 -1.65938869e-01] [ 2.64828472e-02 -3.72978419e-04 9.99649198e-01 4.33760408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.648040942 meters 0.019590819779241386 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.17, Z:0.44 [[ 9.98924349e-01 -3.78964646e-02 -2.67208385e-02 1.53259580e+01] [ 3.78949960e-02 9.99281569e-01 -5.61524535e-04 -1.70567168e-01] [ 2.67229213e-02 -4.51665539e-04 9.99642777e-01 4.35712798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.708040942 meters 0.019908517007385666 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.17, Z:0.44 [[ 9.98944301e-01 -3.83522616e-02 -2.52860968e-02 1.53837370e+01] [ 3.83509203e-02 9.99264188e-01 -5.38168962e-04 -1.71545509e-01] [ 2.52881310e-02 -4.32144267e-04 9.99680111e-01 4.38990484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.768040942 meters 0.019092810207472624 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.17, Z:0.44 [[ 9.99056940e-01 -3.45511067e-02 -2.62954838e-02 1.54431461e+01] [ 3.45482941e-02 9.99402872e-01 -5.61399315e-04 -1.67720355e-01] [ 2.62991790e-02 -3.47594227e-04 9.99654056e-01 4.39099244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.828040942 meters 0.018753531858907005 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.17, Z:0.44 [[ 9.99154731e-01 -3.11305097e-02 -2.68461262e-02 1.55017452e+01] [ 3.11261764e-02 9.99515295e-01 -5.79384079e-04 -1.67595409e-01] [ 2.68511502e-02 -2.56722915e-04 9.99639410e-01 4.40626747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.888040942 meters 0.018626345072136386 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.17, Z:0.44 [[ 9.99266609e-01 -2.79195099e-02 -2.62058304e-02 1.55606759e+01] [ 2.79141134e-02 9.99610162e-01 -5.71795567e-04 -1.66706921e-01] [ 2.62115786e-02 -1.60136304e-04 9.99656405e-01 4.43316305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.948040942 meters 0.01863715505344714 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.17, Z:0.45 [[ 9.99315196e-01 -2.66567324e-02 -2.56623869e-02 1.56180831e+01] [ 2.66509637e-02 9.99644639e-01 -5.66845576e-04 -1.66594527e-01] [ 2.56683777e-02 -1.17469944e-04 9.99670506e-01 4.45420895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.008040942 meters 0.018750921626506097 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.17, Z:0.45 [[ 9.99326152e-01 -2.71649037e-02 -2.46841904e-02 1.56761707e+01] [ 2.71596446e-02 9.99630958e-01 -5.48349242e-04 -1.71090839e-01] [ 2.46899768e-02 -1.22434101e-04 9.99695149e-01 4.49215196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.068040942 meters 0.01882092472968868 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.17, Z:0.45 [[ 9.99309536e-01 -2.75996001e-02 -2.48739631e-02 1.57345688e+01] [ 2.75943690e-02 9.99619050e-01 -5.53588726e-04 -1.71707241e-01] [ 2.48797662e-02 -1.33174825e-04 9.99690442e-01 4.51548562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.128040942 meters 0.018708616042842765 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.17, Z:0.45 [[ 9.99309866e-01 -2.60593247e-02 -2.64708149e-02 1.57938518e+01] [ 2.60526502e-02 9.99660394e-01 -5.97049988e-04 -1.69535437e-01] [ 2.64773840e-02 -9.29969373e-05 9.99649408e-01 4.50707613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.188040942 meters 0.018698469107887375 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.17, Z:0.45 [[ 9.99336597e-01 -2.40786875e-02 -2.73236787e-02 1.58521669e+01] [ 2.40706510e-02 9.99710066e-01 -6.23043218e-04 -1.69417043e-01] [ 2.73307587e-02 -3.50688444e-05 9.99626444e-01 4.53091980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.248040942 meters 0.01860425823928966 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.17, Z:0.46 [[ 9.99386847e-01 -2.31281986e-02 -2.62872080e-02 1.59098826e+01] [ 2.31202200e-02 9.99732507e-01 -6.07449495e-04 -1.68303960e-01] [ 2.62942255e-02 -6.88997063e-07 9.99654247e-01 4.56566897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.308040942 meters 0.018395409955620366 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.17, Z:0.46 [[ 9.99306516e-01 -2.28413471e-02 -2.94067903e-02 1.59679353e+01] [ 2.28311613e-02 9.99739102e-01 -6.82143192e-04 -1.67935140e-01] [ 2.94146992e-02 1.02789648e-05 9.99567294e-01 4.55590470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.368040942 meters 0.018327400679981832 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.17, Z:0.46 [[ 9.99224278e-01 -2.42950417e-02 -3.09934286e-02 1.60264578e+01] [ 2.42841555e-02 9.99704832e-01 -7.27666625e-04 -1.70056366e-01] [ 3.10019590e-02 -2.55470799e-05 9.99519323e-01 4.56714684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.428040942 meters 0.018415432426567676 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.17, Z:0.46 [[ 9.99210457e-01 -2.52673259e-02 -3.06598182e-02 1.60830945e+01] [ 2.52568622e-02 9.99680729e-01 -7.28574614e-04 -1.69038246e-01] [ 3.06684386e-02 -4.63714305e-05 9.99529612e-01 4.59604768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.488040942 meters 0.0182652551232779 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.17, Z:0.46 [[ 9.99189829e-01 -2.55008149e-02 -3.11351057e-02 1.61407416e+01] [ 2.54900154e-02 9.99674800e-01 -7.43789195e-04 -1.67486475e-01] [ 3.11439478e-02 -5.04477257e-05 9.99514908e-01 4.61480195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.548040942 meters 0.018258911685476272 Centerline is valid? [True, True] Translation: X:16.20, Y:-0.17, Z:0.46 [[ 9.99181147e-01 -2.49664121e-02 -3.18388722e-02 1.61974724e+01] [ 2.49545538e-02 9.99688290e-01 -7.69817040e-04 -1.68059950e-01] [ 3.18481673e-02 -2.53381763e-05 9.99492718e-01 4.63141423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.608040942 meters 0.018240256393476036 Centerline is valid? [True, True] Translation: X:16.26, Y:-0.17, Z:0.46 [[ 9.99113408e-01 -2.58593938e-02 -3.32218138e-02 1.62553979e+01] [ 2.58467485e-02 9.99665589e-01 -8.10106879e-04 -1.66987815e-01] [ 3.32316529e-02 -4.92872193e-05 9.99447675e-01 4.63970879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.668040942 meters 0.018407997924013098 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.17, Z:0.47 [[ 9.99069242e-01 -2.75747891e-02 -3.31704867e-02 1.63133492e+01] [ 2.75628223e-02 9.99619739e-01 -8.18062511e-04 -1.69069060e-01] [ 3.31804312e-02 -9.69711372e-05 9.99449373e-01 4.66929910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.728040942 meters 0.018579359018443053 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.17, Z:0.47 [[ 9.99013406e-01 -2.90362533e-02 -3.36022379e-02 1.63711282e+01] [ 2.90244764e-02 9.99578350e-01 -8.38309296e-04 -1.70439962e-01] [ 3.36124109e-02 -1.37805136e-04 9.99434934e-01 4.69375947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.788040942 meters 0.018718404566364345 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.17, Z:0.47 [[ 9.98864956e-01 -3.21476045e-02 -3.51472876e-02 1.64301351e+01] [ 3.21362912e-02 9.99483103e-01 -8.86907897e-04 -1.71167144e-01] [ 3.51576320e-02 -2.43602251e-04 9.99381750e-01 4.69251091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.848040942 meters 0.01906416188581876 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.17, Z:0.47 [[ 9.98733291e-01 -3.49610297e-02 -3.61875766e-02 1.64894559e+01] [ 3.49505538e-02 9.99388617e-01 -9.22238772e-04 -1.74973011e-01] [ 3.61976946e-02 -3.43705280e-04 9.99344590e-01 4.70601314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.908040942 meters 0.019692787695893853 Centerline is valid? [True, True] Translation: X:16.55, Y:-0.18, Z:0.47 [[ 9.98647025e-01 -3.83378278e-02 -3.51330496e-02 1.65476700e+01] [ 3.83297744e-02 9.99264736e-01 -9.02974958e-04 -1.79406028e-01] [ 3.51418356e-02 -4.44888609e-04 9.99382236e-01 4.73239197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.968040942 meters 0.02017287944545158 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.18, Z:0.48 [[ 9.98554497e-01 -4.06023682e-02 -3.52188185e-02 1.66065702e+01] [ 4.05955552e-02 9.99175247e-01 -9.08808573e-04 -1.82491764e-01] [ 3.52266715e-02 -5.22232604e-04 9.99379212e-01 4.75366958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.028040942 meters 0.021094930272820167 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.19, Z:0.48 [[ 9.98397105e-01 -4.35546229e-02 -3.61415928e-02 1.66656508e+01] [ 4.35490698e-02 9.99050846e-01 -9.41232277e-04 -1.86407472e-01] [ 3.61482839e-02 -6.34209166e-04 9.99346236e-01 4.76107635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.088040942 meters 0.02083674134405346 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.19, Z:0.48 [[ 9.98406386e-01 -4.23263402e-02 -3.73251931e-02 1.67234447e+01] [ 4.23192657e-02 9.99103658e-01 -9.79932821e-04 -1.87262837e-01] [ 3.73332140e-02 -6.01203579e-04 9.99302692e-01 4.77420648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.148040942 meters 0.01966027875674181 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.18, Z:0.48 [[ 9.98543242e-01 -4.01070046e-02 -3.60946382e-02 1.67820912e+01] [ 4.00988074e-02 9.99195267e-01 -9.51277155e-04 -1.84672756e-01] [ 3.61037445e-02 -4.97460572e-04 9.99347923e-01 4.82266519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.208040942 meters 0.018920506248176847 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.18, Z:0.49 [[ 9.98749616e-01 -3.52857283e-02 -3.54135703e-02 1.68396273e+01] [ 3.52745316e-02 9.99377217e-01 -9.41109279e-04 -1.82472796e-01] [ 3.54247231e-02 -3.09264573e-04 9.99372300e-01 4.85180475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.268040942 meters 0.01835980803529458 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.18, Z:0.48 [[ 9.98832659e-01 -2.98178521e-02 -3.80028415e-02 1.68989989e+01] [ 2.98007887e-02 9.99555342e-01 -1.01551104e-03 -1.80816660e-01] [ 3.80162235e-02 -1.18189055e-04 9.99277115e-01 4.84701085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.328040942 meters 0.018369962574074705 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.18, Z:0.49 [[ 9.98868179e-01 -2.81135321e-02 -3.83665380e-02 1.69571034e+01] [ 2.80945510e-02 9.99604736e-01 -1.03389074e-03 -1.79394070e-01] [ 3.83804394e-02 -4.51701036e-05 9.99263198e-01 4.86334748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.388040942 meters 0.018443342029682112 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.18, Z:0.49 [[ 9.99029241e-01 -2.32808619e-02 -3.73975639e-02 1.70140554e+01] [ 2.32591189e-02 9.99728953e-01 -1.01642382e-03 -1.76893318e-01] [ 3.74110906e-02 1.45602730e-04 9.99299950e-01 4.89355189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.448040942 meters 0.01847805991243155 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.18, Z:0.49 [[ 9.99174568e-01 -2.11393240e-02 -3.46887929e-02 1.70716779e+01] [ 2.11191795e-02 9.99776517e-01 -9.47068680e-04 -1.76673285e-01] [ 3.47010609e-02 2.13688096e-04 9.99397714e-01 4.93990100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.508040942 meters 0.018718793834564505 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.18, Z:0.49 [[ 9.99127515e-01 -2.13790434e-02 -3.58768013e-02 1.71284461e+01] [ 2.13573035e-02 9.99771417e-01 -9.89134417e-04 -1.77610683e-01] [ 3.58897472e-02 2.22039678e-04 9.99355731e-01 4.93572251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.568040942 meters 0.018582417973979918 Centerline is valid? [True, True] Translation: X:17.19, Y:-0.18, Z:0.49 [[ 9.99078140e-01 -2.23880484e-02 -3.66284924e-02 1.71870471e+01] [ 2.23657997e-02 9.99749337e-01 -1.01710610e-03 -1.78279287e-01] [ 3.66420820e-02 1.96942946e-04 9.99328434e-01 4.94282879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.628040942 meters 0.018378201939218644 Centerline is valid? [True, True] Translation: X:17.25, Y:-0.18, Z:0.50 [[ 9.99070398e-01 -2.42878586e-02 -3.56151537e-02 1.72459190e+01] [ 2.42677196e-02 9.99704998e-01 -9.97701869e-04 -1.80682959e-01] [ 3.56288792e-02 1.32475838e-04 9.99365081e-01 4.97917885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.688040942 meters 0.018265840145780896 Centerline is valid? [True, True] Translation: X:17.30, Y:-0.18, Z:0.50 [[ 9.98995401e-01 -2.68689099e-02 -3.58643224e-02 1.73042657e+01] [ 2.68498636e-02 9.99638964e-01 -1.01267696e-03 -1.84323027e-01] [ 3.58785836e-02 4.87074601e-05 9.99356155e-01 5.01027079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.748040942 meters 0.01817138700619665 Centerline is valid? [True, True] Translation: X:17.36, Y:-0.19, Z:0.50 [[ 9.98860684e-01 -3.26682428e-02 -3.47867680e-02 1.73622640e+01] [ 3.26537116e-02 9.99466239e-01 -9.85920510e-04 -1.86037701e-01] [ 3.48004084e-02 -1.51119855e-04 9.99394271e-01 5.03123504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.808040941999998 meters 0.018385712727843822 Centerline is valid? [True, True] Translation: X:17.42, Y:-0.19, Z:0.50 [[ 9.98646643e-01 -3.74082445e-02 -3.61317807e-02 1.74212487e+01] [ 3.73952881e-02 9.99300016e-01 -1.03455848e-03 -1.88238420e-01] [ 3.61451900e-02 -3.17999994e-04 9.99346499e-01 5.03780542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.868040942 meters 0.019281569268497063 Centerline is valid? [True, True] Translation: X:17.48, Y:-0.19, Z:0.51 [[ 9.98290802e-01 -4.45005680e-02 -3.78837023e-02 1.74807635e+01] [ 4.44911056e-02 9.99009182e-01 -1.09320280e-03 -1.94984566e-01] [ 3.78948146e-02 -5.94153496e-04 9.99281557e-01 5.05958070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.928040942 meters 0.020767105185833343 Centerline is valid? [True, True] Translation: X:17.54, Y:-0.20, Z:0.51 [[ 9.98034815e-01 -5.00712655e-02 -3.76746186e-02 1.75389650e+01] [ 5.00657930e-02 9.98745328e-01 -1.08927378e-03 -1.97761501e-01] [ 3.76818906e-02 -7.99076500e-04 9.99289466e-01 5.07427335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.988040942 meters 0.02014037405824494 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.20, Z:0.51 [[ 9.97999227e-01 -5.16110126e-02 -3.65218654e-02 1.75973967e+01] [ 5.16067709e-02 9.98666921e-01 -1.05946141e-03 -1.97032327e-01] [ 3.65278588e-02 -8.27433872e-04 9.99332293e-01 5.11275849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.048040942 meters 0.020126202930412725 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.20, Z:0.51 [[ 9.98068520e-01 -5.14027875e-02 -3.48852669e-02 1.76561416e+01] [ 5.13984959e-02 9.98677702e-01 -1.02040120e-03 -1.95689437e-01] [ 3.48915897e-02 -7.74619930e-04 9.99390803e-01 5.13627936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.108040942 meters 0.01977914241614851 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.19, Z:0.52 [[ 9.98237942e-01 -4.82490848e-02 -3.45403681e-02 1.77139286e+01] [ 4.82427166e-02 9.98835123e-01 -1.01824115e-03 -1.92010387e-01] [ 3.45492620e-02 -6.49874243e-04 9.99402785e-01 5.15026649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.168040942 meters 0.018831477876137825 Centerline is valid? [True, True] Translation: X:17.77, Y:-0.19, Z:0.52 [[ 9.98390095e-01 -4.44940193e-02 -3.51781274e-02 1.77732990e+01] [ 4.44849530e-02 9.99009512e-01 -1.04076019e-03 -1.89508741e-01] [ 3.51895915e-02 -5.25812680e-04 9.99380516e-01 5.17853106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.228040942 meters 0.01809339511355418 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.18, Z:0.52 [[ 9.98626381e-01 -4.02540919e-02 -3.35404129e-02 1.78313769e+01] [ 4.02432117e-02 9.99189414e-01 -9.99675483e-04 -1.84737743e-01] [ 3.35534665e-02 -3.51471628e-04 9.99436862e-01 5.21221018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.288040942 meters 0.017640570104214964 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.18, Z:0.52 [[ 9.98626515e-01 -3.88989372e-02 -3.50992321e-02 1.78898628e+01] [ 3.88858700e-02 9.99243101e-01 -1.05511894e-03 -1.80034960e-01] [ 3.51137085e-02 -3.11194423e-04 9.99383275e-01 5.21213295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.348040942 meters 0.017624186302538935 Centerline is valid? [True, True] Translation: X:17.95, Y:-0.18, Z:0.52 [[ 9.98599931e-01 -3.91444896e-02 -3.55793035e-02 1.79472678e+01] [ 3.91308824e-02 9.99233511e-01 -1.07897775e-03 -1.79253884e-01] [ 3.55942684e-02 -3.14782432e-04 9.99366274e-01 5.22710798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.408040942 meters 0.017962483172192033 Centerline is valid? [True, True] Translation: X:18.01, Y:-0.18, Z:0.53 [[ 9.98462797e-01 -4.28823968e-02 -3.51161433e-02 1.80062505e+01] [ 4.28712072e-02 9.99080032e-01 -1.07189848e-03 -1.80007239e-01] [ 3.51298032e-02 -4.35220699e-04 9.99382663e-01 5.25391143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.468040942 meters 0.018766534003985372 Centerline is valid? [True, True] Translation: X:18.07, Y:-0.18, Z:0.53 [[ 9.98235780e-01 -4.80012049e-02 -3.49458314e-02 1.80651711e+01] [ 4.79929573e-02 9.98847095e-01 -1.07528973e-03 -1.77265951e-01] [ 3.49571574e-02 -6.03761110e-04 9.99388629e-01 5.25445958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.528040942 meters 0.019455806308307403 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.18, Z:0.53 [[ 9.98069324e-01 -5.10844669e-02 -3.53270587e-02 1.81242786e+01] [ 5.10776589e-02 9.98694083e-01 -1.09576998e-03 -1.77727607e-01] [ 3.53369013e-02 -7.10769048e-04 9.99375204e-01 5.27724718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.588040942 meters 0.020811488837082875 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.18, Z:0.53 [[ 9.97841128e-01 -5.51664846e-02 -3.56334520e-02 1.81826480e+01] [ 5.51618792e-02 9.98476804e-01 -1.11309789e-03 -1.77740918e-01] [ 3.56405810e-02 -8.54913324e-04 9.99364307e-01 5.30307563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.648040942 meters 0.021832108798109463 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.17, Z:0.53 [[ 9.97761827e-01 -5.68732195e-02 -3.51677994e-02 1.82400217e+01] [ 5.68697251e-02 9.98381001e-01 -1.10046978e-03 -1.73060529e-01] [ 3.51734501e-02 -9.01976351e-04 9.99380816e-01 5.31320898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.708040942 meters 0.022147510668798685 Centerline is valid? [True, True] Translation: X:18.30, Y:-0.17, Z:0.53 [[ 9.97764477e-01 -5.61111716e-02 -3.62985635e-02 1.82978584e+01] [ 5.61068322e-02 9.98424121e-01 -1.13897326e-03 -1.67878800e-01] [ 3.63052705e-02 -9.00170351e-04 9.99340341e-01 5.31623800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.768040942 meters 0.02214184525829089 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.16, Z:0.53 [[ 9.97763368e-01 -5.59731882e-02 -3.65412661e-02 1.83560363e+01] [ 5.59685506e-02 9.98431869e-01 -1.15062621e-03 -1.61810349e-01] [ 3.65483689e-02 -8.97109018e-04 9.99331483e-01 5.33008643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.828040942 meters 0.022348619496028215 Centerline is valid? [True, True] Translation: X:18.41, Y:-0.16, Z:0.53 [[ 9.97805366e-01 -5.51796444e-02 -3.66013523e-02 1.84134190e+01] [ 5.51741366e-02 9.98476072e-01 -1.16129891e-03 -1.57196864e-01] [ 3.66096545e-02 -8.60697722e-04 9.99329271e-01 5.34889216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.888040942 meters 0.021785263476898933 Centerline is valid? [True, True] Translation: X:18.47, Y:-0.15, Z:0.54 [[ 9.97990813e-01 -5.27174092e-02 -3.51455688e-02 1.84719417e+01] [ 5.27106467e-02 9.98609200e-01 -1.11958894e-03 -1.51099857e-01] [ 3.51557101e-02 -7.35206181e-04 9.99381577e-01 5.38506221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.948040942 meters 0.021100387912724054 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.14, Z:0.54 [[ 9.98109979e-01 -4.98014884e-02 -3.60039149e-02 1.85304543e+01] [ 4.97922055e-02 9.98758931e-01 -1.15498985e-03 -1.43648301e-01] [ 3.60167518e-02 -6.39907434e-04 9.99350981e-01 5.38581418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.008040942 meters 0.019265574830427828 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.13, Z:0.54 [[ 9.98201735e-01 -4.83158471e-02 -3.54806403e-02 1.85889171e+01] [ 4.83056168e-02 9.98831945e-01 -1.14600756e-03 -1.34565522e-01] [ 3.54945673e-02 -5.69967483e-04 9.99369707e-01 5.42100969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.068040942 meters 0.019618386321336823 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.13, Z:0.54 [[ 9.98149125e-01 -4.93922634e-02 -3.54785737e-02 1.86471973e+01] [ 4.93824303e-02 9.98779277e-01 -1.15392306e-03 -1.33941584e-01] [ 3.54922591e-02 -6.00230897e-04 9.99369771e-01 5.43817979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.128040942 meters 0.020052939948490948 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.13, Z:0.55 [[ 9.98078749e-01 -5.13617741e-02 -3.46522658e-02 1.87063196e+01] [ 5.13534586e-02 9.98679901e-01 -1.13053727e-03 -1.34304923e-01] [ 3.46645877e-02 -6.51148471e-04 9.99398790e-01 5.46228125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.188040942 meters 0.019969981205425858 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.13, Z:0.55 [[ 9.98145902e-01 -4.97968213e-02 -3.50004858e-02 1.87638887e+01] [ 4.97871037e-02 9.98759191e-01 -1.14968036e-03 -1.30460581e-01] [ 3.50143074e-02 -5.95024077e-04 9.99386634e-01 5.48391606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.248040942 meters 0.019884834678589848 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.13, Z:0.55 [[ 9.98170312e-01 -4.91715372e-02 -3.51878906e-02 1.88230925e+01] [ 4.91612006e-02 9.98790184e-01 -1.15942354e-03 -1.27685762e-01] [ 3.52023304e-02 -5.72576790e-04 9.99380042e-01 5.50337933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.308040941999998 meters 0.020012084008904377 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.13, Z:0.55 [[ 9.98209109e-01 -4.88608266e-02 -3.45136876e-02 1.88812624e+01] [ 4.88504442e-02 9.98805449e-01 -1.14451441e-03 -1.26502658e-01] [ 3.45283811e-02 -5.43544259e-04 9.99403570e-01 5.52684568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.368040942 meters 0.0199922550152437 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.12, Z:0.55 [[ 9.98161830e-01 -4.94213424e-02 -3.50783637e-02 1.89397599e+01] [ 4.94108404e-02 9.98777857e-01 -1.16674739e-03 -1.23027319e-01] [ 3.50931551e-02 -5.68648721e-04 9.99383884e-01 5.53903178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.428040942 meters 0.01923216340303857 Centerline is valid? [True, True] Translation: X:19.00, Y:-0.12, Z:0.56 [[ 9.98152124e-01 -4.89833592e-02 -3.59578542e-02 1.89978317e+01] [ 4.89717276e-02 9.98799439e-01 -1.20467978e-03 -1.18880408e-01] [ 3.59736939e-02 -5.58464556e-04 9.99352581e-01 5.55303930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.488040942 meters 0.020217140237915977 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.12, Z:0.55 [[ 9.98193685e-01 -4.73736493e-02 -3.69473213e-02 1.90558089e+01] [ 4.73599183e-02 9.98877111e-01 -1.24724901e-03 -1.17456369e-01] [ 3.69649203e-02 -5.04826034e-04 9.99316436e-01 5.53701805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.548040942 meters 0.01902799754921618 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.11, Z:0.56 [[ 9.98245732e-01 -4.68120306e-02 -3.62504147e-02 1.91141550e+01] [ 4.67982994e-02 9.98903605e-01 -1.22766969e-03 -1.09750275e-01] [ 3.62681396e-02 -4.70941732e-04 9.99341984e-01 5.57338910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.608040942 meters 0.019686195887619617 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.11, Z:0.56 [[ 9.98151462e-01 -4.89363583e-02 -3.60401343e-02 1.91726922e+01] [ 4.89238452e-02 9.98801755e-01 -1.22954447e-03 -1.09650415e-01] [ 3.60571188e-02 -5.35950344e-04 9.99349587e-01 5.58668457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.668040942 meters 0.020439116959607324 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.11, Z:0.56 [[ 9.98042584e-01 -5.18327950e-02 -3.49908928e-02 1.92310749e+01] [ 5.18224962e-02 9.98655589e-01 -1.20181147e-03 -1.09043482e-01] [ 3.50061439e-02 -6.13856383e-04 9.99386909e-01 5.60607353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.728040942 meters 0.021496182653918016 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.11, Z:0.56 [[ 9.97954621e-01 -5.51492517e-02 -3.23285355e-02 1.92898279e+01] [ 5.51420653e-02 9.98477897e-01 -1.11449476e-03 -1.08387779e-01] [ 3.23407917e-02 -6.70447018e-04 9.99476675e-01 5.62502806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.788040942 meters 0.02236807374624382 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.11, Z:0.57 [[ 9.97978023e-01 -5.69058286e-02 -2.83123955e-02 1.93479412e+01] [ 5.69008418e-02 9.98379351e-01 -9.82421348e-04 -1.09196242e-01] [ 2.83224165e-02 -6.30564221e-04 9.99598641e-01 5.66438595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.848040942 meters 0.023035950903782878 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.11, Z:0.57 [[ 9.97971204e-01 -5.78637386e-02 -2.65567981e-02 1.94066304e+01] [ 5.78596512e-02 9.98324300e-01 -9.22950247e-04 -1.07676497e-01] [ 2.65657023e-02 -6.15489306e-04 9.99646880e-01 5.67880743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.908040942 meters 0.022350718608715556 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.10, Z:0.57 [[ 9.98054909e-01 -5.68682180e-02 -2.55422258e-02 1.94653356e+01] [ 5.68639646e-02 9.98381536e-01 -8.93415386e-04 -1.03238263e-01] [ 2.55516936e-02 -5.60754614e-04 9.99673345e-01 5.68686632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.968040942 meters 0.02209400780808248 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.10, Z:0.57 [[ 9.98252836e-01 -5.38103648e-02 -2.44073725e-02 1.95238439e+01] [ 5.38054277e-02 9.98551069e-01 -8.59430816e-04 -1.00244368e-01] [ 2.44182541e-02 -4.55319866e-04 9.99701726e-01 5.70116994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.028040942 meters 0.021663775394345455 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.10, Z:0.57 [[ 9.98455468e-01 -5.05446287e-02 -2.30633571e-02 1.95829132e+01] [ 5.05392290e-02 9.98721742e-01 -8.17317123e-04 -9.76337431e-02] [ 2.30751872e-02 -3.49549539e-04 9.99733671e-01 5.71076726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.088040942 meters 0.02120526370281453 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.10, Z:0.57 [[ 9.98652590e-01 -4.66549754e-02 -2.27226094e-02 1.96417923e+01] [ 4.66486040e-02 9.98911032e-01 -8.10664936e-04 -9.55233195e-02] [ 2.27356868e-02 -2.50405373e-04 9.99741480e-01 5.72084727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.148040941999998 meters 0.02104291632765731 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.09, Z:0.57 [[ 9.98783903e-01 -4.39096978e-02 -2.24199250e-02 1.96995866e+01] [ 4.39026521e-02 9.99035488e-01 -8.06612032e-04 -9.42239841e-02] [ 2.24337188e-02 -1.78663054e-04 9.99748316e-01 5.73751429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.208040942 meters 0.02080852913409744 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.09, Z:0.57 [[ 9.99012409e-01 -3.84381201e-02 -2.22871634e-02 1.97580178e+01] [ 3.84297838e-02 9.99260981e-01 -8.02373351e-04 -9.07475004e-02] [ 2.23015345e-02 -5.49099362e-05 9.99751288e-01 5.74164065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.268040942 meters 0.02107878617014883 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.09, Z:0.58 [[ 9.99193567e-01 -3.41542454e-02 -2.11116948e-02 1.98168843e+01] [ 3.41457108e-02 9.99416573e-01 -7.64710416e-04 -9.06546862e-02] [ 2.11254957e-02 4.32199053e-05 9.99776831e-01 5.75817807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.328040942 meters 0.021376771302877663 Centerline is valid? [True, True] Translation: X:19.88, Y:-0.09, Z:0.58 [[ 9.99287118e-01 -3.14847417e-02 -2.08318527e-02 1.98751355e+01] [ 3.14757175e-02 9.99504227e-01 -7.61018158e-04 -8.84934452e-02] [ 2.08454853e-02 1.04778134e-04 9.99782704e-01 5.77843473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.388040942 meters 0.021421391552052974 Centerline is valid? [True, True] Translation: X:19.93, Y:-0.09, Z:0.58 [[ 9.99287971e-01 -3.14239700e-02 -2.08826428e-02 1.99331009e+01] [ 3.14148608e-02 9.99506139e-01 -7.64196787e-04 -8.84240898e-02] [ 2.08963438e-02 1.07627341e-04 9.99781642e-01 5.78893286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.448040942 meters 0.021391555568649582 Centerline is valid? [True, True] Translation: X:19.99, Y:-0.09, Z:0.58 [[ 9.99242675e-01 -3.17776761e-02 -2.24556309e-02 1.99919131e+01] [ 3.17670674e-02 9.99494955e-01 -8.29080116e-04 -9.01474736e-02] [ 2.24706360e-02 1.15102694e-04 9.99747497e-01 5.79118714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.508040942 meters 0.02143639241610343 Centerline is valid? [True, True] Translation: X:20.05, Y:-0.09, Z:0.58 [[ 9.99193391e-01 -3.28452539e-02 -2.31031624e-02 2.00503348e+01] [ 3.28341769e-02 9.99460444e-01 -8.58734461e-04 -9.09709353e-02] [ 2.31189023e-02 9.94684775e-05 9.99732718e-01 5.80446715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.568040942 meters 0.02150241231591984 Centerline is valid? [True, True] Translation: X:20.11, Y:-0.09, Z:0.58 [[ 9.99156421e-01 -3.37451629e-02 -2.34031970e-02 2.01086291e+01] [ 3.37338507e-02 9.99430466e-01 -8.78099982e-04 -9.08175549e-02] [ 2.34194997e-02 8.78792809e-05 9.99725722e-01 5.83348645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.628040942 meters 0.02152811726019218 Centerline is valid? [True, True] Translation: X:20.17, Y:-0.09, Z:0.58 [[ 9.99086005e-01 -3.52798067e-02 -2.41348218e-02 2.01666168e+01] [ 3.52682034e-02 9.99377472e-01 -9.06391858e-04 -9.05675288e-02] [ 2.41517745e-02 5.43716161e-05 9.99708302e-01 5.84178745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.688040942 meters 0.02162118037053695 Centerline is valid? [True, True] Translation: X:20.23, Y:-0.09, Z:0.59 [[ 9.98942060e-01 -3.78599108e-02 -2.61034188e-02 2.02254965e+01] [ 3.78470008e-02 9.99283057e-01 -9.88625264e-04 -9.45568714e-02] [ 2.61221334e-02 -3.56753189e-07 9.99658759e-01 5.85433963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.748040942 meters 0.02170036383147637 Centerline is valid? [True, True] Translation: X:20.28, Y:-0.10, Z:0.59 [[ 9.98767335e-01 -4.05724124e-02 -2.85952788e-02 2.02827504e+01] [ 4.05577978e-02 9.99176598e-01 -1.09113858e-03 -9.61362681e-02] [ 2.86160035e-02 -6.99679628e-05 9.99590476e-01 5.86310008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.808040941999998 meters 0.021866682325490567 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.09, Z:0.59 [[ 9.98694122e-01 -4.10829090e-02 -3.03684854e-02 2.03397229e+01] [ 4.10664680e-02 9.99155737e-01 -1.16515843e-03 -9.45264825e-02] [ 3.03907145e-02 -8.34895520e-05 9.99538092e-01 5.86104744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.868040942 meters 0.021951307888732154 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.10, Z:0.59 [[ 9.98608264e-01 -4.11832935e-02 -3.29464956e-02 2.03979002e+01] [ 4.11638450e-02 9.99151604e-01 -1.26866091e-03 -9.58428615e-02] [ 3.29707915e-02 -8.93091689e-05 9.99456312e-01 5.87187622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.928040942 meters 0.02207336358470567 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.10, Z:0.59 [[ 9.98517386e-01 -4.36424867e-02 -3.25324913e-02 2.04555818e+01] [ 4.36245278e-02 9.99047200e-01 -1.26196017e-03 -9.83931432e-02] [ 3.25565694e-02 -1.59125396e-04 9.99469882e-01 5.91295406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.988040942 meters 0.02218017992880196 Centerline is valid? [True, True] Translation: X:20.51, Y:-0.10, Z:0.59 [[ 9.98443073e-01 -4.54232173e-02 -3.23753092e-02 2.05146303e+01] [ 4.54060698e-02 9.98967812e-01 -1.26504276e-03 -9.77920234e-02] [ 3.23993541e-02 -2.06962366e-04 9.99474982e-01 5.94387041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.048040942 meters 0.02207075521822538 Centerline is valid? [True, True] Translation: X:20.57, Y:-0.10, Z:0.60 [[ 9.98367606e-01 -4.60682992e-02 -3.37614495e-02 2.05730975e+01] [ 4.60497196e-02 9.98938266e-01 -1.32810110e-03 -9.97928908e-02] [ 3.37867872e-02 -2.28772165e-04 9.99429037e-01 5.96482329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.108040942 meters 0.021663381890382197 Centerline is valid? [True, True] Translation: X:20.63, Y:-0.10, Z:0.60 [[ 9.98417977e-01 -4.55183557e-02 -3.30094421e-02 2.06309322e+01] [ 4.54999877e-02 9.98963483e-01 -1.30779413e-03 -1.00155594e-01] [ 3.30347559e-02 -1.96204036e-04 9.99454184e-01 6.00028230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.168040942 meters 0.021570977780868045 Centerline is valid? [True, True] Translation: X:20.69, Y:-0.10, Z:0.60 [[ 9.98419961e-01 -4.53390334e-02 -3.31956859e-02 2.06876258e+01] [ 4.53200521e-02 9.98971641e-01 -1.32438574e-03 -9.87138051e-02] [ 3.32215952e-02 -1.82137058e-04 9.99447994e-01 6.01887659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.228040942 meters 0.02122597103840459 Centerline is valid? [True, True] Translation: X:20.75, Y:-0.10, Z:0.60 [[ 9.98392143e-01 -4.45633057e-02 -3.50320050e-02 2.07453188e+01] [ 4.45415052e-02 9.99006550e-01 -1.40287147e-03 -9.85525495e-02] [ 3.50597190e-02 -1.59762377e-04 9.99385206e-01 6.03906888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.288040942 meters 0.020992687274810556 Centerline is valid? [True, True] Translation: X:20.80, Y:-0.10, Z:0.61 [[ 9.98385138e-01 -4.37108693e-02 -3.62832740e-02 2.08033077e+01] [ 4.36865248e-02 9.99044216e-01 -1.46387201e-03 -9.82714879e-02] [ 3.63125822e-02 -1.23582094e-04 9.99340473e-01 6.05872626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.348040942 meters 0.02067297060354099 Centerline is valid? [True, True] Translation: X:20.86, Y:-0.10, Z:0.61 [[ 9.98448811e-01 -4.32724188e-02 -3.50352559e-02 2.08617062e+01] [ 4.32491066e-02 9.99063306e-01 -1.42333095e-03 -9.60495516e-02] [ 3.50640295e-02 -9.41204167e-05 9.99385063e-01 6.08704319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.408040942 meters 0.020567470359490983 Centerline is valid? [True, True] Translation: X:20.92, Y:-0.10, Z:0.61 [[ 9.98444021e-01 -4.48130606e-02 -3.31862318e-02 2.09194632e+01] [ 4.47926965e-02 9.98995382e-01 -1.35720442e-03 -9.76213095e-02] [ 3.32137128e-02 -1.31408170e-04 9.99448264e-01 6.12865890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.468040942 meters 0.020883717375484983 Centerline is valid? [True, True] Translation: X:20.98, Y:-0.10, Z:0.61 [[ 9.98332596e-01 -4.65796210e-02 -3.40934903e-02 2.09780508e+01] [ 4.65588191e-02 9.98914563e-01 -1.40422634e-03 -9.73789678e-02] [ 3.41218923e-02 -1.85467723e-04 9.99417661e-01 6.13737794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.528040942 meters 0.02045019296771468 Centerline is valid? [True, True] Translation: X:21.04, Y:-0.10, Z:0.61 [[ 9.98223887e-01 -4.59744049e-02 -3.78870122e-02 2.10359210e+01] [ 4.59479254e-02 9.98942603e-01 -1.56979801e-03 -9.58121451e-02] [ 3.79191211e-02 -1.73819736e-04 9.99280796e-01 6.13015815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.588040942 meters 0.020242270748644143 Centerline is valid? [True, True] Translation: X:21.09, Y:-0.09, Z:0.61 [[ 9.98211094e-01 -4.57763703e-02 -3.84595395e-02 2.10944398e+01] [ 4.57487479e-02 9.98951699e-01 -1.59843690e-03 -9.39459665e-02] [ 3.84923930e-02 -1.63898334e-04 9.99258880e-01 6.13740618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.648040941999998 meters 0.020193248538804314 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.09, Z:0.62 [[ 9.98210117e-01 -4.62710385e-02 -3.78887018e-02 2.11513844e+01] [ 4.62442289e-02 9.98928907e-01 -1.58413548e-03 -9.33381767e-02] [ 3.79214191e-02 -1.70833733e-04 9.99280710e-01 6.16448181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.708040942 meters 0.02011448655950445 Centerline is valid? [True, True] Translation: X:21.21, Y:-0.09, Z:0.62 [[ 9.98205548e-01 -4.65173244e-02 -3.77070542e-02 2.12088916e+01] [ 4.64907760e-02 9.98917468e-01 -1.58106743e-03 -9.25670133e-02] [ 3.77397821e-02 -1.74799928e-04 9.99287585e-01 6.18332601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.768040942 meters 0.020003973881748866 Centerline is valid? [True, True] Translation: X:21.27, Y:-0.09, Z:0.62 [[ 9.98244699e-01 -4.63096841e-02 -3.69179290e-02 2.12665040e+01] [ 4.62839028e-02 9.98927119e-01 -1.55314056e-03 -9.33688361e-02] [ 3.69502459e-02 -1.58291511e-04 9.99317094e-01 6.21172752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.828040942 meters 0.019671547258569975 Centerline is valid? [True, True] Translation: X:21.32, Y:-0.09, Z:0.62 [[ 9.98390350e-01 -4.33263280e-02 -3.65996958e-02 2.13243671e+01] [ 4.32986271e-02 9.99060973e-01 -1.54951894e-03 -8.65463325e-02] [ 3.66324627e-02 -3.76918190e-05 9.99328805e-01 6.22875280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.888040942 meters 0.019756766953278642 Centerline is valid? [True, True] Translation: X:21.38, Y:-0.08, Z:0.62 [[ 9.98538388e-01 -3.94883960e-02 -3.69019534e-02 2.13822170e+01] [ 3.94572696e-02 9.99220023e-01 -1.57166600e-03 -8.18138258e-02] [ 3.69352333e-02 1.13318509e-04 9.99317655e-01 6.23737900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.948040942 meters 0.020133637771786478 Centerline is valid? [True, True] Translation: X:21.44, Y:-0.08, Z:0.63 [[ 9.98718057e-01 -3.40407384e-02 -3.74629162e-02 2.14404659e+01] [ 3.40047017e-02 9.99420394e-01 -1.59887737e-03 -7.81488641e-02] [ 3.74956295e-02 3.22912405e-04 9.99296739e-01 6.27214240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.008040942 meters 0.020515006656064566 Centerline is valid? [True, True] Translation: X:21.50, Y:-0.07, Z:0.63 [[ 9.98715061e-01 -3.26673587e-02 -3.87436411e-02 2.14984896e+01] [ 3.26276427e-02 9.99466203e-01 -1.65711703e-03 -7.09631574e-02] [ 3.87770935e-02 3.90874060e-04 9.99247809e-01 6.25526050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.068040942 meters 0.020548674262704736 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.07, Z:0.63 [[ 9.98708996e-01 -3.19018529e-02 -3.95299053e-02 2.15573474e+01] [ 3.18597173e-02 9.99490912e-01 -1.69556981e-03 -6.64988816e-02] [ 3.95638729e-02 4.33969217e-04 9.99216949e-01 6.26938843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.128040942 meters 0.02006113425943105 Centerline is valid? [True, True] Translation: X:21.62, Y:-0.07, Z:0.63 [[ 9.98681315e-01 -3.36017676e-02 -3.88143333e-02 2.16161380e+01] [ 3.35620759e-02 9.99435233e-01 -1.67392670e-03 -6.61865867e-02] [ 3.88486591e-02 3.69029723e-04 9.99245038e-01 6.30699718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.188040942 meters 0.019536180921993062 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.06, Z:0.63 [[ 9.98546592e-01 -3.87849284e-02 -3.74223560e-02 2.16750756e+01] [ 3.87513401e-02 9.99247567e-01 -1.62273846e-03 -6.46377591e-02] [ 3.74571359e-02 1.70213517e-04 9.99298221e-01 6.33391129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.248040942 meters 0.019353338611466576 Centerline is valid? [True, True] Translation: X:21.73, Y:-0.06, Z:0.64 [[ 9.98309145e-01 -4.50049168e-02 -3.67886873e-02 2.17337825e+01] [ 4.49763537e-02 9.98986764e-01 -1.60405221e-03 -6.34433925e-02] [ 3.68236019e-02 -5.32810137e-05 9.99321780e-01 6.35906183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.308040941999998 meters 0.019512651069793507 Centerline is valid? [True, True] Translation: X:21.79, Y:-0.06, Z:0.64 [[ 9.98117957e-01 -4.80762857e-02 -3.80685566e-02 2.17927158e+01] [ 4.80475659e-02 9.98843654e-01 -1.66947549e-03 -6.23021269e-02] [ 3.81047984e-02 -1.62768018e-04 9.99273735e-01 6.38042001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.368040942 meters 0.019649287516308563 Centerline is valid? [True, True] Translation: X:21.85, Y:-0.06, Z:0.64 [[ 9.97895566e-01 -5.12084039e-02 -3.97761087e-02 2.18518952e+01] [ 5.11791362e-02 9.98687948e-01 -1.75438853e-03 -5.69033508e-02] [ 3.98137598e-02 -2.85010350e-04 9.99207077e-01 6.37397693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.428040942 meters 0.020023189778666337 Centerline is valid? [True, True] Translation: X:21.91, Y:-0.05, Z:0.64 [[ 9.97761660e-01 -5.48000003e-02 -3.83227085e-02 2.19093978e+01] [ 5.47751759e-02 9.98497269e-01 -1.69821614e-03 -5.21531373e-02] [ 3.83581820e-02 -4.04718139e-04 9.99263972e-01 6.40931995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.488040942 meters 0.020632979707787116 Centerline is valid? [True, True] Translation: X:21.97, Y:-0.05, Z:0.64 [[ 9.97411632e-01 -6.05353131e-02 -3.88009228e-02 2.19680124e+01] [ 6.05140226e-02 9.98165858e-01 -1.72399987e-03 -5.08951376e-02] [ 3.88341193e-02 -6.28462398e-04 9.99245473e-01 6.43316340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.548040942 meters 0.0214647617678039 Centerline is valid? [True, True] Translation: X:22.03, Y:-0.05, Z:0.65 [[ 9.97223478e-01 -6.42781443e-02 -3.75986107e-02 2.20252277e+01] [ 6.42605012e-02 9.97931746e-01 -1.67879391e-03 -4.62992359e-02] [ 3.76287570e-02 -7.41972873e-04 9.99291512e-01 6.46820486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.608040942 meters 0.020474192450393953 Centerline is valid? [True, True] Translation: X:22.08, Y:-0.04, Z:0.65 [[ 9.97172133e-01 -6.52147832e-02 -3.73466100e-02 2.20836132e+01] [ 6.51978019e-02 9.97870956e-01 -1.67369641e-03 -3.70346063e-02] [ 3.73762472e-02 -7.65953464e-04 9.99300970e-01 6.50180953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.668040942 meters 0.021042021850859582 Centerline is valid? [True, True] Translation: X:22.14, Y:-0.03, Z:0.65 [[ 9.97296533e-01 -6.32414869e-02 -3.74184483e-02 2.21414071e+01] [ 6.32227332e-02 9.97998019e-01 -1.68542644e-03 -3.36630149e-02] [ 3.74501262e-02 -6.84826628e-04 9.99298263e-01 6.52246689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.728040942 meters 0.019445855090581412 Centerline is valid? [True, True] Translation: X:22.20, Y:-0.02, Z:0.65 [[ 9.97623505e-01 -5.71547398e-02 -3.84795876e-02 2.21984777e+01] [ 5.71301999e-02 9.98365224e-01 -1.73791906e-03 -1.85025062e-02] [ 3.85160124e-02 -4.64557627e-04 9.99257875e-01 6.51649627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.788040942 meters 0.018638598124368373 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.01, Z:0.65 [[ 9.97777461e-01 -5.28330540e-02 -4.06055044e-02 2.22563327e+01] [ 5.28020114e-02 9.98603311e-01 -1.83733059e-03 -7.75331535e-03] [ 4.06458629e-02 -3.10805255e-04 9.99173567e-01 6.52381483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.848040942 meters 0.017905031436132954 Centerline is valid? [True, True] Translation: X:22.31, Y:0.00, Z:0.66 [[ 9.97876296e-01 -5.20810807e-02 -3.91210802e-02 2.23146752e+01] [ 5.20515187e-02 9.98642824e-01 -1.77451324e-03 2.25052129e-03] [ 3.91604046e-02 -2.65566937e-04 9.99232902e-01 6.58707519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.908040942 meters 0.01788069507609018 Centerline is valid? [True, True] Translation: X:22.37, Y:0.01, Z:0.66 [[ 9.97854820e-01 -5.29044585e-02 -3.85600296e-02 2.23719472e+01] [ 5.28759876e-02 9.98599538e-01 -1.75852249e-03 9.43971863e-03] [ 3.85990615e-02 -2.84149510e-04 9.99254738e-01 6.61561050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.968040942 meters 0.01784252197324203 Centerline is valid? [True, True] Translation: X:22.43, Y:0.02, Z:0.66 [[ 9.97772403e-01 -5.45401521e-02 -3.84135899e-02 2.24306319e+01] [ 5.45127151e-02 9.98511522e-01 -1.76207363e-03 1.61594658e-02] [ 3.84525158e-02 -3.35880638e-04 9.99260372e-01 6.64372303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.028040942 meters 0.0179164619627816 Centerline is valid? [True, True] Translation: X:22.49, Y:0.02, Z:0.67 [[ 9.97681157e-01 -5.56838702e-02 -3.91358583e-02 2.24896354e+01] [ 5.56558928e-02 9.98448378e-01 -1.80484814e-03 2.20778426e-02] [ 3.91756352e-02 -3.77478158e-04 9.99232269e-01 6.65041227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.088040942 meters 0.017980159698800378 Centerline is valid? [True, True] Translation: X:22.55, Y:0.03, Z:0.66 [[ 9.97624939e-01 -5.57827074e-02 -4.04075582e-02 2.25484910e+01] [ 5.57525621e-02 9.98442859e-01 -1.87339970e-03 3.00802787e-02] [ 4.04491412e-02 -3.83874638e-04 9.99181525e-01 6.64978406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.148040941999998 meters 0.017852055702472645 Centerline is valid? [True, True] Translation: X:22.61, Y:0.04, Z:0.67 [[ 9.97582216e-01 -5.58809519e-02 -4.13163559e-02 2.26075156e+01] [ 5.58491087e-02 9.98437364e-01 -1.92545407e-03 3.84100100e-02] [ 4.13593897e-02 -3.86682908e-04 9.99144260e-01 6.66334739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.208040942 meters 0.017188579653161076 Centerline is valid? [True, True] Translation: X:22.67, Y:0.05, Z:0.67 [[ 9.97633014e-01 -5.40933249e-02 -4.24532846e-02 2.26654404e+01] [ 5.40576287e-02 9.98535836e-01 -1.98920825e-03 4.93210327e-02] [ 4.24987290e-02 -3.10424074e-04 9.99096473e-01 6.70316328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.268040942 meters 0.017257415986650964 Centerline is valid? [True, True] Translation: X:22.72, Y:0.06, Z:0.67 [[ 9.97664566e-01 -5.22098375e-02 -4.40402759e-02 2.27228050e+01] [ 5.21691311e-02 9.98636110e-01 -2.07390675e-03 5.81912558e-02] [ 4.40884881e-02 -2.28479647e-04 9.99027604e-01 6.69046328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.328040942 meters 0.016771996858687202 Centerline is valid? [True, True] Translation: X:22.78, Y:0.07, Z:0.67 [[ 9.97623222e-01 -5.27438753e-02 -4.43394966e-02 2.27807589e+01] [ 5.27029655e-02 9.98608042e-01 -2.09194456e-03 6.50824403e-02] [ 4.43881152e-02 -2.49850488e-04 9.99014331e-01 6.74287765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.388040942 meters 0.01665120114230583 Centerline is valid? [True, True] Translation: X:22.84, Y:0.07, Z:0.68 [[ 9.97594706e-01 -5.43643722e-02 -4.30037040e-02 2.28384971e+01] [ 5.43271302e-02 9.98521117e-01 -2.03508658e-03 7.21839568e-02] [ 4.30507428e-02 -3.06076226e-04 9.99072840e-01 6.77438942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.448040942 meters 0.016523165281322007 Centerline is valid? [True, True] Translation: X:22.90, Y:0.08, Z:0.68 [[ 9.97583984e-01 -5.60214303e-02 -4.10827740e-02 2.28961179e+01] [ 5.59883758e-02 9.98429505e-01 -1.95561161e-03 8.04299341e-02] [ 4.11278099e-02 -3.49270968e-04 9.99153833e-01 6.81942581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.508040942 meters 0.017506124192571592 Centerline is valid? [True, True] Translation: X:22.95, Y:0.08, Z:0.68 [[ 9.97568497e-01 -5.68050257e-02 -4.03767541e-02 2.29529170e+01] [ 5.67733310e-02 9.98385224e-01 -1.93209701e-03 8.33467272e-02] [ 4.04213075e-02 -3.64923711e-04 9.99182658e-01 6.81282169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.568040942 meters 0.016717771910849125 Centerline is valid? [True, True] Translation: X:23.01, Y:0.09, Z:0.68 [[ 9.97401413e-01 -5.78614553e-02 -4.29240393e-02 2.30115405e+01] [ 5.78263084e-02 9.98324531e-01 -2.06104804e-03 9.17334253e-02] [ 4.29713767e-02 -4.26446505e-04 9.99076213e-01 6.83704100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.628040942 meters 0.016434740057712935 Centerline is valid? [True, True] Translation: X:23.07, Y:0.10, Z:0.68 [[ 9.97336963e-01 -5.71924525e-02 -4.52548910e-02 2.30699413e+01] [ 5.71521702e-02 9.98363089e-01 -2.18455143e-03 1.00650003e-01] [ 4.53057526e-02 -4.07681344e-04 9.98973084e-01 6.84332697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.688040942 meters 0.016381551331764808 Centerline is valid? [True, True] Translation: X:23.13, Y:0.11, Z:0.69 [[ 9.97484584e-01 -5.52962170e-02 -4.43489981e-02 2.31276040e+01] [ 5.52552357e-02 9.98469947e-01 -2.15033223e-03 1.08572724e-01] [ 4.44000470e-02 -3.05591094e-04 9.99013785e-01 6.85003292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.748040942 meters 0.016328753791579612 Centerline is valid? [True, True] Translation: X:23.19, Y:0.11, Z:0.69 [[ 9.97491513e-01 -5.43815297e-02 -4.53136957e-02 2.31850673e+01] [ 5.43374263e-02 9.98520195e-01 -2.20538364e-03 1.13229259e-01] [ 4.53665724e-02 -2.62378138e-04 9.98970373e-01 6.86301085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.808040941999998 meters 0.016270805147810156 Centerline is valid? [True, True] Translation: X:23.24, Y:0.12, Z:0.69 [[ 9.97593490e-01 -5.20632296e-02 -4.57891792e-02 2.32419946e+01] [ 5.20152665e-02 9.98643779e-01 -2.23915731e-03 1.16607855e-01] [ 4.58436568e-02 -1.47967609e-04 9.98948616e-01 6.87899902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.868040942 meters 0.01620912994062603 Centerline is valid? [True, True] Translation: X:23.30, Y:0.12, Z:0.69 [[ 9.97695523e-01 -4.96933982e-02 -4.61975090e-02 2.32998856e+01] [ 4.96416559e-02 9.98764519e-01 -2.26733296e-03 1.21871122e-01] [ 4.62531043e-02 -3.12128970e-05 9.98929752e-01 6.90672642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.928040942 meters 0.016457780048287546 Centerline is valid? [True, True] Translation: X:23.36, Y:0.12, Z:0.69 [[ 9.97838104e-01 -4.70121156e-02 -4.59236267e-02 2.33564553e+01] [ 4.69576525e-02 9.98894314e-01 -2.26462913e-03 1.24924522e-01] [ 4.59793146e-02 1.03267534e-04 9.98942387e-01 6.93370928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.988040942 meters 0.016554866724338962 Centerline is valid? [True, True] Translation: X:23.42, Y:0.13, Z:0.70 [[ 9.98143052e-01 -4.26058289e-02 -4.35337861e-02 2.34153360e+01] [ 4.25524000e-02 9.99091915e-01 -2.15365649e-03 1.29411209e-01] [ 4.35860121e-02 2.97190180e-04 9.99049634e-01 6.98290332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.048040942 meters 0.017200570468153056 Centerline is valid? [True, True] Translation: X:23.47, Y:0.13, Z:0.70 [[ 9.98320825e-01 -3.90650469e-02 -4.27721106e-02 2.34730139e+01] [ 3.90098442e-02 9.99236567e-01 -2.12483199e-03 1.32891867e-01] [ 4.28224636e-02 4.52730658e-04 9.99082595e-01 6.98851677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.108040942 meters 0.017211726916812314 Centerline is valid? [True, True] Translation: X:23.53, Y:0.13, Z:0.70 [[ 9.98349256e-01 -3.87666219e-02 -4.23781942e-02 2.35315727e+01] [ 3.87119076e-02 9.99248183e-01 -2.11128264e-03 1.31788911e-01] [ 4.24281809e-02 4.67256715e-04 9.99099410e-01 7.00196314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.168040942 meters 0.01684276774665647 Centerline is valid? [True, True] Translation: X:23.59, Y:0.13, Z:0.70 [[ 9.98354217e-01 -3.91451121e-02 -4.19108388e-02 2.35895342e+01] [ 3.90914306e-02 9.99233431e-01 -2.09993587e-03 1.29834482e-01] [ 4.19609135e-02 4.58125186e-04 9.99119148e-01 7.02634318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.228040942 meters 0.01735075097742961 Centerline is valid? [True, True] Translation: X:23.65, Y:0.13, Z:0.70 [[ 9.98380810e-01 -3.88681267e-02 -4.15334329e-02 2.36464617e+01] [ 3.88147361e-02 9.99244236e-01 -2.09142022e-03 1.30879111e-01] [ 4.15833330e-02 4.75924572e-04 9.99134926e-01 7.02757844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.288040942 meters 0.0170947941262687 Centerline is valid? [True, True] Translation: X:23.71, Y:0.13, Z:0.70 [[ 9.98347556e-01 -3.86437088e-02 -4.25302285e-02 2.37050164e+01] [ 3.85872224e-02 9.99252926e-01 -2.14858645e-03 1.29422440e-01] [ 4.25814846e-02 5.03912646e-04 9.99092870e-01 7.04152632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.348040942 meters 0.017369281734493425 Centerline is valid? [True, True] Translation: X:23.76, Y:0.13, Z:0.71 [[ 9.98300769e-01 -3.86366044e-02 -4.36209471e-02 2.37636645e+01] [ 3.85766822e-02 9.99253188e-01 -2.21495914e-03 1.27587175e-01] [ 4.36739490e-02 5.28444001e-04 9.99045698e-01 7.05395766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.408040942 meters 0.018009641564752737 Centerline is valid? [True, True] Translation: X:23.82, Y:0.13, Z:0.71 [[ 9.98333192e-01 -3.94788090e-02 -4.20982296e-02 2.38216466e+01] [ 3.94233889e-02 9.99220291e-01 -2.14615589e-03 1.26659461e-01] [ 4.21501330e-02 4.82923777e-04 9.99111172e-01 7.07329996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.468040942 meters 0.01816798001712734 Centerline is valid? [True, True] Translation: X:23.88, Y:0.12, Z:0.71 [[ 9.98245039e-01 -4.21768890e-02 -4.15686432e-02 2.38811921e+01] [ 4.21250205e-02 9.99110091e-01 -2.12330127e-03 1.23434852e-01] [ 4.16212051e-02 3.68495018e-04 9.99133394e-01 7.10411526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.528040942 meters 0.01821519359294227 Centerline is valid? [True, True] Translation: X:23.94, Y:0.12, Z:0.71 [[ 9.98112177e-01 -4.46768622e-02 -4.21433295e-02 2.39394619e+01] [ 4.46255339e-02 9.99001453e-01 -2.15838381e-03 1.22256150e-01] [ 4.21976773e-02 2.73640583e-04 9.99109244e-01 7.11682389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.588040942 meters 0.017978872565441603 Centerline is valid? [True, True] Translation: X:24.00, Y:0.12, Z:0.71 [[ 9.97964466e-01 -4.87602086e-02 -4.11018980e-02 2.39983388e+01] [ 4.87145800e-02 9.98810508e-01 -2.11155535e-03 1.20840808e-01] [ 4.11559675e-02 1.04995517e-04 9.99152729e-01 7.14144679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.648040941999998 meters 0.018039928738040726 Centerline is valid? [True, True] Translation: X:24.06, Y:0.12, Z:0.71 [[ 9.97796108e-01 -5.10753777e-02 -4.23583725e-02 2.40573187e+01] [ 5.10285485e-02 9.98694801e-01 -2.18674762e-03 1.20362787e-01] [ 4.24147754e-02 2.04419972e-05 9.99100088e-01 7.14848402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.708040942 meters 0.01810554581488792 Centerline is valid? [True, True] Translation: X:24.12, Y:0.12, Z:0.72 [[ 9.97643881e-01 -5.19652615e-02 -4.47917305e-02 2.41159932e+01] [ 5.19132762e-02 9.98648893e-01 -2.32383298e-03 1.17921089e-01] [ 4.48519707e-02 -6.92772342e-06 9.98993644e-01 7.16801488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.768040942 meters 0.018049331453876286 Centerline is valid? [True, True] Translation: X:24.17, Y:0.12, Z:0.72 [[ 9.97604243e-01 -5.27986324e-02 -4.46998804e-02 2.41745492e+01] [ 5.27471743e-02 9.98605179e-01 -2.33072023e-03 1.18383647e-01] [ 4.47605909e-02 -3.26559924e-05 9.98997742e-01 7.18496584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.828040942 meters 0.01865459560692408 Centerline is valid? [True, True] Translation: X:24.23, Y:0.12, Z:0.72 [[ 9.97532573e-01 -5.46695911e-02 -4.40454441e-02 2.42330952e+01] [ 5.46209026e-02 9.98504494e-01 -2.30904623e-03 1.16588618e-01] [ 4.41058085e-02 -1.02453084e-04 9.99026860e-01 7.22551694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.888040942 meters 0.01795803825499271 Centerline is valid? [True, True] Translation: X:24.29, Y:0.12, Z:0.73 [[ 9.97596025e-01 -5.44306306e-02 -4.28891275e-02 2.42916860e+01] [ 5.43837432e-02 9.98517551e-01 -2.26010480e-03 1.15749652e-01] [ 4.29485655e-02 -7.77997347e-05 9.99077282e-01 7.26731995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.948040942 meters 0.01813334698892939 Centerline is valid? [True, True] Translation: X:24.35, Y:0.12, Z:0.73 [[ 9.97585503e-01 -5.49854432e-02 -4.24236511e-02 2.43486961e+01] [ 5.49396820e-02 9.98487152e-01 -2.24469815e-03 1.17876920e-01] [ 4.24828963e-02 -9.14635707e-05 9.99097190e-01 7.27757254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.008040942 meters 0.01813328847547702 Centerline is valid? [True, True] Translation: X:24.41, Y:0.12, Z:0.73 [[ 9.97499011e-01 -5.73668321e-02 -4.12888541e-02 2.44068474e+01] [ 5.73253360e-02 9.98353150e-01 -2.18924835e-03 1.16955877e-01] [ 4.13464478e-02 -1.83124369e-04 9.99144853e-01 7.30141026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.068040942 meters 0.017914450072445787 Centerline is valid? [True, True] Translation: X:24.46, Y:0.12, Z:0.73 [[ 9.97444207e-01 -5.90282435e-02 -4.02581618e-02 2.44647798e+01] [ 5.89899387e-02 9.98256284e-01 -2.13975032e-03 1.16396567e-01] [ 4.03142687e-02 -2.40544934e-04 9.99187020e-01 7.34228568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.128040942 meters 0.017657183365421898 Centerline is valid? [True, True] Translation: X:24.52, Y:0.12, Z:0.74 [[ 9.97453487e-01 -5.94190845e-02 -3.94450702e-02 2.45229878e+01] [ 5.93821872e-02 9.98233096e-01 -2.10741252e-03 1.19097585e-01] [ 3.95005951e-02 -2.40288583e-04 9.99219518e-01 7.36500225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.188040942 meters 0.01763771266184181 Centerline is valid? [True, True] Translation: X:24.58, Y:0.12, Z:0.74 [[ 9.97437808e-01 -5.95031233e-02 -3.97139490e-02 2.45803171e+01] [ 5.94653964e-02 9.98228092e-01 -2.13160916e-03 1.22033174e-01] [ 3.97704169e-02 -2.35458157e-04 9.99208816e-01 7.37273629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.248040942 meters 0.017559697937851816 Centerline is valid? [True, True] Translation: X:24.64, Y:0.12, Z:0.74 [[ 9.97346904e-01 -6.12822111e-02 -3.92892437e-02 2.46388250e+01] [ 6.12464262e-02 9.98120435e-01 -2.11492151e-03 1.22334823e-01] [ 3.93450041e-02 -2.97015351e-04 9.99225641e-01 7.39740418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.308040941999998 meters 0.017612667855116167 Centerline is valid? [True, True] Translation: X:24.70, Y:0.12, Z:0.74 [[ 9.97185966e-01 -6.40605636e-02 -3.89408995e-02 2.46975838e+01] [ 6.40271063e-02 9.97945936e-01 -2.10696923e-03 1.24498289e-01] [ 3.89958860e-02 -3.92232964e-04 9.99239294e-01 7.41533195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.368040942 meters 0.018257732963745738 Centerline is valid? [True, True] Translation: X:24.76, Y:0.12, Z:0.74 [[ 9.97152398e-01 -6.47825754e-02 -3.86045690e-02 2.47559898e+01] [ 6.47499084e-02 9.97899319e-01 -2.09719796e-03 1.24796210e-01] [ 3.86593350e-02 -4.08416329e-04 9.99252365e-01 7.42230375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.428040942 meters 0.017334242797590105 Centerline is valid? [True, True] Translation: X:24.81, Y:0.13, Z:0.75 [[ 9.97208107e-01 -6.47019149e-02 -3.72780495e-02 2.48149385e+01] [ 6.46712395e-02 9.97904561e-01 -2.02938864e-03 1.26763213e-01] [ 3.73312409e-02 -3.87094856e-04 9.99302871e-01 7.48696687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.488040941999998 meters 0.01708692265209816 Centerline is valid? [True, True] Translation: X:24.87, Y:0.13, Z:0.75 [[ 9.97389015e-01 -6.21914860e-02 -3.67065759e-02 2.48732916e+01] [ 6.21597097e-02 9.98064197e-01 -2.00737743e-03 1.31382897e-01] [ 3.67603610e-02 -2.79533910e-04 9.99324070e-01 7.51165787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.548040942 meters 0.016718065356296295 Centerline is valid? [True, True] Translation: X:24.93, Y:0.14, Z:0.75 [[ 9.97547209e-01 -5.93432498e-02 -3.71206829e-02 2.49322713e+01] [ 5.93084353e-02 9.98237622e-01 -2.03930759e-03 1.36835636e-01] [ 3.71762814e-02 -1.67264025e-04 9.99308709e-01 7.53355387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.608040942 meters 0.016626627834857893 Centerline is valid? [True, True] Translation: X:24.99, Y:0.14, Z:0.76 [[ 9.97575791e-01 -5.80609075e-02 -3.83597787e-02 2.49902709e+01] [ 5.80223991e-02 9.98313036e-01 -2.11732649e-03 1.37806218e-01] [ 3.84180011e-02 -1.13532743e-04 9.99261750e-01 7.56577353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.668040942 meters 0.016562968590975564 Centerline is valid? [True, True] Translation: X:25.05, Y:0.14, Z:0.76 [[ 9.97758514e-01 -5.58460099e-02 -3.68669304e-02 2.50491941e+01] [ 5.58085662e-02 9.98439394e-01 -2.04476466e-03 1.42472929e-01] [ 3.69235876e-02 -1.73091775e-05 9.99318092e-01 7.60704450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.728040942 meters 0.016580519760223098 Centerline is valid? [True, True] Translation: X:25.11, Y:0.15, Z:0.76 [[ 9.97981336e-01 -5.26094418e-02 -3.55738674e-02 2.51060920e+01] [ 5.25722357e-02 9.98615159e-01 -1.98111750e-03 1.51265430e-01] [ 3.56288287e-02 1.06920546e-04 9.99365086e-01 7.62609330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.788040942 meters 0.01662308891924604 Centerline is valid? [True, True] Translation: X:25.16, Y:0.15, Z:0.77 [[ 9.97979006e-01 -5.19834663e-02 -3.65461658e-02 2.51639062e+01] [ 5.19436172e-02 9.98647936e-01 -2.03966410e-03 1.52925319e-01] [ 3.66027818e-02 1.37201905e-04 9.99329884e-01 7.65216815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.848040942 meters 0.016549422799427595 Centerline is valid? [True, True] Translation: X:25.22, Y:0.15, Z:0.77 [[ 9.97817639e-01 -5.42854432e-02 -3.75905659e-02 2.52219767e+01] [ 5.42447445e-02 9.98525456e-01 -2.10249791e-03 1.53554700e-01] [ 3.76492720e-02 5.88188552e-05 9.99291013e-01 7.68649126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.908040942 meters 0.01657764535179212 Centerline is valid? [True, True] Translation: X:25.28, Y:0.16, Z:0.77 [[ 9.97750387e-01 -5.48760596e-02 -3.85069217e-02 2.52796480e+01] [ 5.48333685e-02 9.98493173e-01 -2.16470676e-03 1.58054266e-01] [ 3.85676890e-02 4.83727847e-05 9.99255989e-01 7.68802505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.968040942 meters 0.016640962366490177 Centerline is valid? [True, True] Translation: X:25.34, Y:0.16, Z:0.77 [[ 9.97570087e-01 -5.67429128e-02 -4.04247815e-02 2.53370936e+01] [ 5.66969898e-02 9.98388823e-01 -2.28248198e-03 1.59385903e-01] [ 4.04891647e-02 -1.50276738e-05 9.99179977e-01 7.69219340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.028040942 meters 0.016763962330430593 Centerline is valid? [True, True] Translation: X:25.40, Y:0.16, Z:0.77 [[ 9.97359933e-01 -6.12318399e-02 -3.90362116e-02 2.53951834e+01] [ 6.11922603e-02 9.98123553e-01 -2.20905008e-03 1.60531275e-01] [ 3.90982264e-02 -1.85495978e-04 9.99235355e-01 7.73715513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.088040942 meters 0.017149283472185285 Centerline is valid? [True, True] Translation: X:25.45, Y:0.16, Z:0.77 [[ 9.97126011e-01 -6.55953728e-02 -3.79073216e-02 2.54532473e+01] [ 6.55608429e-02 9.97846247e-01 -2.15459400e-03 1.63155175e-01] [ 3.79670100e-02 -3.36834236e-04 9.99278936e-01 7.74919690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.148040941999998 meters 0.01768872143908759 Centerline is valid? [True, True] Translation: X:25.51, Y:0.16, Z:0.78 [[ 9.97013430e-01 -6.74009131e-02 -3.77006358e-02 2.55106073e+01] [ 6.73679175e-02 9.97725893e-01 -2.14632408e-03 1.64105511e-01] [ 3.77595647e-02 -3.99899386e-04 9.99286773e-01 7.76581286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.208040942 meters 0.017427944727370914 Centerline is valid? [True, True] Translation: X:25.57, Y:0.17, Z:0.78 [[ 9.96989260e-01 -6.78903346e-02 -3.74608923e-02 2.55681243e+01] [ 6.78579098e-02 9.97692705e-01 -2.13781108e-03 1.70067186e-01] [ 3.75195957e-02 -4.10643164e-04 9.99295808e-01 7.77528084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.268040942 meters 0.01763286714623698 Centerline is valid? [True, True] Translation: X:25.63, Y:0.18, Z:0.78 [[ 9.97148143e-01 -6.63230137e-02 -3.60116588e-02 2.56257420e+01] [ 6.62917009e-02 9.97798151e-01 -2.06416575e-03 1.76501522e-01] [ 3.60692682e-02 -3.28995065e-04 9.99349238e-01 7.77764125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.328040942 meters 0.0177211330130807 Centerline is valid? [True, True] Translation: X:25.68, Y:0.18, Z:0.78 [[ 9.97410719e-01 -6.36023851e-02 -3.35647686e-02 2.56836453e+01] [ 6.35735495e-02 9.97975296e-01 -1.92670334e-03 1.83621665e-01] [ 3.36193528e-02 -2.12116915e-04 9.99434687e-01 7.79044892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.388040942 meters 0.01806435393574582 Centerline is valid? [True, True] Translation: X:25.74, Y:0.19, Z:0.78 [[ 9.97479748e-01 -6.31418753e-02 -3.23613266e-02 2.57416703e+01] [ 6.31147308e-02 9.98004543e-01 -1.86063495e-03 1.88632008e-01] [ 3.24142349e-02 -1.86530736e-04 9.99474503e-01 7.80550361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.448040942 meters 0.018252654121406 Centerline is valid? [True, True] Translation: X:25.80, Y:0.19, Z:0.78 [[ 9.97447038e-01 -6.45771610e-02 -3.04827167e-02 2.57994047e+01] [ 6.45534965e-02 9.97912694e-01 -1.76082829e-03 1.93300307e-01] [ 3.05327992e-02 -2.11432986e-04 9.99533743e-01 7.82546969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.508040942 meters 0.0188708334970831 Centerline is valid? [True, True] Translation: X:25.86, Y:0.20, Z:0.78 [[ 9.97306310e-01 -6.75455682e-02 -2.85958200e-02 2.58578634e+01] [ 6.75257430e-02 9.97716152e-01 -1.65950022e-03 1.95743545e-01] [ 2.86426033e-02 -2.75923952e-04 9.99589678e-01 7.84345428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.568040942 meters 0.019401795076651348 Centerline is valid? [True, True] Translation: X:25.92, Y:0.20, Z:0.78 [[ 9.97129276e-01 -6.99079923e-02 -2.90874576e-02 2.59159311e+01] [ 6.98882670e-02 9.97553385e-01 -1.69548219e-03 1.96944536e-01] [ 2.91348195e-02 -3.42257077e-04 9.99575432e-01 7.84270455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.628040942 meters 0.01952320106647994 Centerline is valid? [True, True] Translation: X:25.97, Y:0.20, Z:0.79 [[ 9.97166872e-01 -6.97915964e-02 -2.80599924e-02 2.59735093e+01] [ 6.97731086e-02 9.97561541e-01 -1.63863412e-03 2.02959467e-01] [ 2.81059321e-02 -3.23841237e-04 9.99604898e-01 7.86487241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.688040942 meters 0.019360339551591926 Centerline is valid? [True, True] Translation: X:26.03, Y:0.21, Z:0.79 [[ 9.97292440e-01 -6.84115060e-02 -2.69750801e-02 2.60319525e+01] [ 6.83937181e-02 9.97657153e-01 -1.58258438e-03 2.09762407e-01] [ 2.70201486e-02 -2.66626581e-04 9.99634854e-01 7.88469147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.748040942 meters 0.019207537716293452 Centerline is valid? [True, True] Translation: X:26.09, Y:0.21, Z:0.79 [[ 9.97365395e-01 -6.65641319e-02 -2.88354905e-02 2.60902828e+01] [ 6.65428193e-02 9.97782124e-01 -1.69914553e-03 2.13873846e-01] [ 2.88846391e-02 -2.24125879e-04 9.99582727e-01 7.89785130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.808040941999998 meters 0.019383720787890996 Centerline is valid? [True, True] Translation: X:26.15, Y:0.22, Z:0.79 [[ 9.97329306e-01 -6.65702141e-02 -3.00443292e-02 2.61478156e+01] [ 6.65468527e-02 9.97781717e-01 -1.77791014e-03 2.17806944e-01] [ 3.00960382e-02 -2.26193662e-04 9.99546986e-01 7.91101390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.868040942 meters 0.019488294646151767 Centerline is valid? [True, True] Translation: X:26.21, Y:0.22, Z:0.79 [[ 9.97271992e-01 -6.74497832e-02 -2.99850024e-02 2.62057119e+01] [ 6.74266667e-02 9.97722640e-01 -1.78254357e-03 2.21950556e-01] [ 3.00369479e-02 -2.44107980e-04 9.99548759e-01 7.93043312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.928040942 meters 0.019842507530481005 Centerline is valid? [True, True] Translation: X:26.26, Y:0.22, Z:0.80 [[ 9.97172986e-01 -6.90458246e-02 -2.96430451e-02 2.62638468e+01] [ 6.90236862e-02 9.97613450e-01 -1.77066586e-03 2.23428565e-01] [ 2.96945576e-02 -2.80412082e-04 9.99558980e-01 7.96473331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.988040941999998 meters 0.020117595183056235 Centerline is valid? [True, True] Translation: X:26.32, Y:0.23, Z:0.80 [[ 9.96991568e-01 -7.19338189e-02 -2.88676179e-02 2.63221555e+01] [ 7.19139258e-02 9.97409345e-01 -1.72808000e-03 2.25409525e-01] [ 2.89171393e-02 -3.53102544e-04 9.99581750e-01 7.99584446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.048040942 meters 0.020602902494919514 Centerline is valid? [True, True] Translation: X:26.38, Y:0.23, Z:0.80 [[ 9.96781142e-01 -7.45614470e-02 -2.94609235e-02 2.63808949e+01] [ 7.45418054e-02 9.97216326e-01 -1.76594427e-03 2.27854265e-01] [ 2.95105852e-02 -4.35810480e-04 9.99564373e-01 8.00607856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.108040942 meters 0.02072783516320621 Centerline is valid? [True, True] Translation: X:26.44, Y:0.23, Z:0.80 [[ 9.96792467e-01 -7.46405907e-02 -2.88714313e-02 2.64381292e+01] [ 7.46215611e-02 9.97210411e-01 -1.73750152e-03 2.30805831e-01] [ 2.89205800e-02 -4.22502855e-04 9.99581623e-01 8.03077501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.168040942 meters 0.020157499389701624 Centerline is valid? [True, True] Translation: X:26.50, Y:0.24, Z:0.80 [[ 9.96905927e-01 -7.27825414e-02 -2.96862730e-02 2.64970977e+01] [ 7.27614978e-02 9.97347763e-01 -1.78993549e-03 2.36006196e-01] [ 2.97378140e-02 -3.75620389e-04 9.99557663e-01 8.04662272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.228040942 meters 0.01981694076411112 Centerline is valid? [True, True] Translation: X:26.56, Y:0.24, Z:0.81 [[ 9.97059319e-01 -7.01441596e-02 -3.08627720e-02 2.65557131e+01] [ 7.01199176e-02 9.97536819e-01 -1.86841588e-03 2.40456289e-01] [ 3.09178099e-02 -3.01173563e-04 9.99521885e-01 8.05171452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.288040942 meters 0.019582133746508523 Centerline is valid? [True, True] Translation: X:26.61, Y:0.24, Z:0.81 [[ 9.97253802e-01 -6.77582389e-02 -2.98944084e-02 2.66134279e+01] [ 6.77342163e-02 9.97701747e-01 -1.81668108e-03 2.44059284e-01] [ 2.99487986e-02 -2.13182208e-04 9.99551411e-01 8.08882901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.348040942 meters 0.019557443066309143 Centerline is valid? [True, True] Translation: X:26.67, Y:0.25, Z:0.81 [[ 9.97265722e-01 -6.78081006e-02 -2.93792605e-02 2.66716379e+01] [ 6.77848586e-02 9.97698360e-01 -1.78747741e-03 2.46120793e-01] [ 2.94328454e-02 -2.08879067e-04 9.99566738e-01 8.11720857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.408040942 meters 0.01961983082753125 Centerline is valid? [True, True] Translation: X:26.73, Y:0.25, Z:0.81 [[ 9.97211647e-01 -6.87744130e-02 -2.89656979e-02 2.67294664e+01] [ 6.87520168e-02 9.97632211e-01 -1.76960340e-03 2.48515062e-01] [ 2.90188167e-02 -2.26781024e-04 9.99578840e-01 8.13552766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.468040942 meters 0.020129186804703852 Centerline is valid? [True, True] Translation: X:26.79, Y:0.25, Z:0.82 [[ 9.97044295e-01 -7.13769507e-02 -2.84254187e-02 2.67869407e+01] [ 7.13562210e-02 9.97449371e-01 -1.74426397e-03 2.47817752e-01] [ 2.84774162e-02 -2.89222021e-04 9.99594394e-01 8.15693891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.528040942 meters 0.020676364073741575 Centerline is valid? [True, True] Translation: X:26.84, Y:0.25, Z:0.82 [[ 9.96865955e-01 -7.37489467e-02 -2.86244719e-02 2.68444296e+01] [ 7.37287811e-02 9.97276775e-01 -1.76072974e-03 2.48551577e-01] [ 2.86763730e-02 -3.55235891e-04 9.99588685e-01 8.17572376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.588040942 meters 0.021209263562204782 Centerline is valid? [True, True] Translation: X:26.90, Y:0.25, Z:0.82 [[ 9.96720593e-01 -7.55743736e-02 -2.89235877e-02 2.69036702e+01] [ 7.55544926e-02 9.97140083e-01 -1.78119469e-03 2.50635990e-01] [ 2.89754813e-02 -4.09953570e-04 9.99580039e-01 8.18493768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.648040941999998 meters 0.02164189654760585 Centerline is valid? [True, True] Translation: X:26.96, Y:0.25, Z:0.82 [[ 9.96585869e-01 -7.68188324e-02 -3.02567935e-02 2.69628853e+01] [ 7.67974374e-02 9.97044962e-01 -1.87028650e-03 2.52567525e-01] [ 3.03110567e-02 -4.59743109e-04 9.99540409e-01 8.18737129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.708040942 meters 0.022483613494156566 Centerline is valid? [True, True] Translation: X:27.02, Y:0.25, Z:0.82 [[ 9.96368889e-01 -7.86126666e-02 -3.26968717e-02 2.70206663e+01] [ 7.85884038e-02 9.96905085e-01 -2.02852542e-03 2.54094149e-01] [ 3.27551455e-02 -5.48435344e-04 9.99463256e-01 8.18283976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.768040942 meters 0.023067213539409704 Centerline is valid? [True, True] Translation: X:27.08, Y:0.26, Z:0.82 [[ 9.96306304e-01 -7.95530429e-02 -3.23274060e-02 2.70791898e+01] [ 7.95297344e-02 9.96830471e-01 -2.00824899e-03 2.56075936e-01] [ 3.23847057e-02 -5.70158891e-04 9.99475315e-01 8.20631084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.828040941999998 meters 0.025114594231803705 Centerline is valid? [True, True] Translation: X:27.14, Y:0.26, Z:0.82 [[ 9.96124927e-01 -8.13927507e-02 -3.33219256e-02 2.71366798e+01] [ 8.13687830e-02 9.96681899e-01 -2.07695922e-03 2.57352197e-01] [ 3.33804095e-02 -6.42453688e-04 9.99442512e-01 8.21711363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.888040942 meters 0.02461927147461875 Centerline is valid? [True, True] Translation: X:27.19, Y:0.26, Z:0.82 [[ 9.96142755e-01 -8.16420812e-02 -3.21586916e-02 2.71936981e+01] [ 8.16198116e-02 9.96661517e-01 -2.00681093e-03 2.61096200e-01] [ 3.22151706e-02 -6.25716186e-04 9.99480761e-01 8.24654164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.948040942 meters 0.024882695375483592 Centerline is valid? [True, True] Translation: X:27.25, Y:0.26, Z:0.83 [[ 9.96150434e-01 -8.17319744e-02 -3.16890857e-02 2.72520630e+01] [ 8.17102903e-02 9.96654155e-01 -1.98083303e-03 2.64681836e-01] [ 3.17449563e-02 -6.16116710e-04 9.99495812e-01 8.26644132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.008040942 meters 0.024227434390900374 Centerline is valid? [True, True] Translation: X:27.31, Y:0.27, Z:0.83 [[ 9.96243567e-01 -8.05240771e-02 -3.18532215e-02 2.73104486e+01] [ 8.05013141e-02 9.96752499e-01 -1.99850195e-03 2.71039188e-01] [ 3.19107056e-02 -5.73231477e-04 9.99490559e-01 8.29171535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.068040942 meters 0.023392212142282005 Centerline is valid? [True, True] Translation: X:27.37, Y:0.28, Z:0.83 [[ 9.96399543e-01 -7.83317857e-02 -3.24358198e-02 2.73680811e+01] [ 7.83068108e-02 9.96927217e-01 -2.04152663e-03 2.78195583e-01] [ 3.24960680e-02 -5.05769407e-04 9.99471735e-01 8.30864924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.128040942 meters 0.022490906344785976 Centerline is valid? [True, True] Translation: X:27.43, Y:0.29, Z:0.83 [[ 9.96520440e-01 -7.65617944e-02 -3.29439508e-02 2.74262286e+01] [ 7.65349767e-02 9.97064736e-01 -2.07615082e-03 2.86796768e-01] [ 3.30062054e-02 -4.52437779e-04 9.99455044e-01 8.32342528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.188040942 meters 0.02045781400629573 Centerline is valid? [True, True] Translation: X:27.48, Y:0.30, Z:0.84 [[ 9.96398185e-01 -7.79577269e-02 -3.33654065e-02 2.74847515e+01] [ 7.79307747e-02 9.96956541e-01 -2.10947166e-03 2.97156005e-01] [ 3.34283099e-02 -4.98318250e-04 9.99440994e-01 8.35449149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.248040942 meters 0.02062787750768724 Centerline is valid? [True, True] Translation: X:27.54, Y:0.30, Z:0.84 [[ 9.96229436e-01 -7.96700766e-02 -3.43451658e-02 2.75431427e+01] [ 7.96422387e-02 9.96821128e-01 -2.18002094e-03 3.01359556e-01] [ 3.44096694e-02 -5.63524864e-04 9.99407653e-01 8.36059669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.308040941999998 meters 0.020900963993866286 Centerline is valid? [True, True] Translation: X:27.60, Y:0.30, Z:0.84 [[ 9.96114518e-01 -8.09689927e-02 -3.46394148e-02 2.76016604e+01] [ 8.09411662e-02 9.96716437e-01 -2.20717249e-03 3.04658386e-01] [ 3.47043866e-02 -6.05158065e-04 9.99397438e-01 8.38094591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.368040942 meters 0.021390853778018033 Centerline is valid? [True, True] Translation: X:27.66, Y:0.31, Z:0.84 [[ 9.96111881e-01 -8.10341745e-02 -3.45627517e-02 2.76583731e+01] [ 8.10062393e-02 9.96711144e-01 -2.21010948e-03 3.08885485e-01] [ 3.46281741e-02 -5.98282217e-04 9.99400086e-01 8.39049720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.428040942 meters 0.02088769660511242 Centerline is valid? [True, True] Translation: X:27.72, Y:0.32, Z:0.84 [[ 9.96198162e-01 -8.00828318e-02 -3.42923066e-02 2.77172452e+01] [ 8.00546173e-02 9.96788057e-01 -2.19721850e-03 3.15905192e-01] [ 3.43581212e-02 -5.56392449e-04 9.99409431e-01 8.40290962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.488040941999998 meters 0.019968514727257997 Centerline is valid? [True, True] Translation: X:27.78, Y:0.32, Z:0.84 [[ 9.96265453e-01 -7.93860497e-02 -3.39558828e-02 2.77759949e+01] [ 7.93577140e-02 9.96843812e-01 -2.18352498e-03 3.23032336e-01] [ 3.40220531e-02 -5.19290737e-04 9.99420947e-01 8.42023790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.548040942 meters 0.01995965541238157 Centerline is valid? [True, True] Translation: X:27.83, Y:0.33, Z:0.84 [[ 9.96299587e-01 -7.87907287e-02 -3.43387978e-02 2.78337407e+01] [ 7.87611167e-02 9.96891055e-01 -2.21628549e-03 3.27824436e-01] [ 3.44066631e-02 -4.96477741e-04 9.99407792e-01 8.42824744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.608040942 meters 0.01986402974602328 Centerline is valid? [True, True] Translation: X:27.89, Y:0.33, Z:0.84 [[ 9.96433263e-01 -7.72611178e-02 -3.39333551e-02 2.78925901e+01] [ 7.72311979e-02 9.97010798e-01 -2.19353913e-03 3.33456920e-01] [ 3.40013967e-02 -4.34998309e-04 9.99421691e-01 8.44181811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.668040942 meters 0.019279778823121638 Centerline is valid? [True, True] Translation: X:27.95, Y:0.34, Z:0.85 [[ 9.96727118e-01 -7.40937578e-02 -3.23290382e-02 2.79508773e+01] [ 7.40646922e-02 9.97251233e-01 -2.09731445e-03 3.40890567e-01] [ 3.23955711e-02 -3.03990078e-04 9.99475080e-01 8.47001198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.728040942 meters 0.019206666500367963 Centerline is valid? [True, True] Translation: X:28.01, Y:0.35, Z:0.85 [[ 9.96941530e-01 -7.13528323e-02 -3.18803907e-02 2.80088859e+01] [ 7.13229133e-02 9.97451117e-01 -2.07613327e-03 3.48234678e-01] [ 3.19472694e-02 -2.04018870e-04 9.99489535e-01 8.47707147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.788040942 meters 0.019127594295179323 Centerline is valid? [True, True] Translation: X:28.07, Y:0.35, Z:0.85 [[ 9.96987711e-01 -7.08139608e-02 -3.16368064e-02 2.80669230e+01] [ 7.07839785e-02 9.97489524e-01 -2.06807746e-03 3.53516105e-01] [ 3.17038317e-02 -1.77531216e-04 9.99497291e-01 8.48981705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.848040942 meters 0.019157767410115295 Centerline is valid? [True, True] Translation: X:28.13, Y:0.36, Z:0.85 [[ 9.96977955e-01 -7.10839735e-02 -3.13373078e-02 2.81251599e+01] [ 7.10544273e-02 9.97470319e-01 -2.05684796e-03 3.55932815e-01] [ 3.14042433e-02 -1.76022387e-04 9.99506750e-01 8.51499087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.908040942 meters 0.019635254181374358 Centerline is valid? [True, True] Translation: X:28.18, Y:0.36, Z:0.85 [[ 9.96881503e-01 -7.25017088e-02 -3.11571883e-02 2.81831207e+01] [ 7.24729197e-02 9.97368266e-01 -2.05379343e-03 3.59452266e-01] [ 3.12240944e-02 -2.10663722e-04 9.99512387e-01 8.52631690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.968040942 meters 0.019383342326936927 Centerline is valid? [True, True] Translation: X:28.24, Y:0.36, Z:0.85 [[ 9.96734768e-01 -7.44359406e-02 -3.12904646e-02 2.82422861e+01] [ 7.44075811e-02 9.97225762e-01 -2.07138381e-03 3.63792707e-01] [ 3.13578428e-02 -2.63627521e-04 9.99508187e-01 8.53605777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.028040942 meters 0.019688641472760154 Centerline is valid? [True, True] Translation: X:28.30, Y:0.36, Z:0.86 [[ 9.96425903e-01 -7.83614436e-02 -3.15421123e-02 2.83010327e+01] [ 7.83343442e-02 9.96924941e-01 -2.09586074e-03 3.64288890e-01] [ 3.16093531e-02 -3.82460750e-04 9.99500226e-01 8.55947957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.088040942 meters 0.01976029092911129 Centerline is valid? [True, True] Translation: X:28.36, Y:0.37, Z:0.86 [[ 9.96231734e-01 -8.10918755e-02 -3.07642786e-02 2.83597746e+01] [ 8.10671660e-02 9.96706529e-01 -2.05167907e-03 3.66290904e-01] [ 3.08293318e-02 -4.50025087e-04 9.99524562e-01 8.58055296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.148040941999998 meters 0.020588351682722435 Centerline is valid? [True, True] Translation: X:28.42, Y:0.37, Z:0.86 [[ 9.96006856e-01 -8.36400862e-02 -3.12198333e-02 2.84173051e+01] [ 8.36156401e-02 9.96495889e-01 -2.09005579e-03 3.68119509e-01] [ 3.12852480e-02 -5.28756446e-04 9.99510357e-01 8.58992639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.208040942 meters 0.02041338950968259 Centerline is valid? [True, True] Translation: X:28.48, Y:0.37, Z:0.86 [[ 9.95961841e-01 -8.40020428e-02 -3.16807326e-02 2.84754024e+01] [ 8.39769566e-02 9.96465433e-01 -2.12393099e-03 3.71377977e-01] [ 3.17471695e-02 -5.45097285e-04 9.99495783e-01 8.60274528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.268040942 meters 0.02011843312284181 Centerline is valid? [True, True] Translation: X:28.53, Y:0.37, Z:0.86 [[ 9.96047324e-01 -8.30760195e-02 -3.14341098e-02 2.85338178e+01] [ 8.30505870e-02 9.96543086e-01 -2.11610777e-03 3.74333567e-01] [ 3.15012426e-02 -5.02877788e-04 9.99503586e-01 8.63156895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.328040941999998 meters 0.019404682534656555 Centerline is valid? [True, True] Translation: X:28.59, Y:0.38, Z:0.87 [[ 9.96361463e-01 -7.94404811e-02 -3.08714344e-02 2.85922709e+01] [ 7.94139778e-02 9.96839541e-01 -2.08560668e-03 3.81436967e-01] [ 3.09395481e-02 -3.73605284e-04 9.99521188e-01 8.65421998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.388040942 meters 0.01861731643411589 Centerline is valid? [True, True] Translation: X:28.65, Y:0.39, Z:0.87 [[ 9.96779529e-01 -7.38195140e-02 -3.13249043e-02 2.86494042e+01] [ 7.37892093e-02 9.97271599e-01 -2.12391678e-03 3.87765283e-01] [ 3.13962239e-02 -1.94363153e-04 9.99506998e-01 8.67106047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.448040942 meters 0.018327086180186823 Centerline is valid? [True, True] Translation: X:28.71, Y:0.39, Z:0.87 [[ 9.96980850e-01 -7.07180217e-02 -3.20647187e-02 2.87081944e+01] [ 7.06845680e-02 9.97496342e-01 -2.17707462e-03 3.92920127e-01] [ 3.21383981e-02 -9.59790848e-05 9.99483424e-01 8.69323089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.508040942 meters 0.020336639035092825 Centerline is valid? [True, True] Translation: X:28.77, Y:0.40, Z:0.87 [[ 9.97271252e-01 -6.57490506e-02 -3.35724842e-02 2.87661599e+01] [ 6.57092770e-02 9.97836187e-01 -2.28785695e-03 4.00059331e-01] [ 3.36502640e-02 7.55903014e-05 9.99433667e-01 8.69095357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.568040942 meters 0.01827508437213113 Centerline is valid? [True, True] Translation: X:28.82, Y:0.40, Z:0.87 [[ 9.97475687e-01 -6.31104679e-02 -3.25472493e-02 2.88248390e+01] [ 6.30714075e-02 9.98006533e-01 -2.22641855e-03 4.02698481e-01] [ 3.26228777e-02 1.67997547e-04 9.99467718e-01 8.73297912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.628040942 meters 0.018475589125729296 Centerline is valid? [True, True] Translation: X:28.88, Y:0.41, Z:0.88 [[ 9.97554626e-01 -6.21781517e-02 -3.19162299e-02 2.88826106e+01] [ 6.21398784e-02 9.98065046e-01 -2.19063466e-03 4.05952634e-01] [ 3.19906831e-02 2.02007092e-04 9.99488147e-01 8.75692945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.688040942 meters 0.018251826367758097 Centerline is valid? [True, True] Translation: X:28.94, Y:0.41, Z:0.88 [[ 9.97494689e-01 -6.27332539e-02 -3.26938060e-02 2.89407785e+01] [ 6.26932856e-02 9.98030311e-01 -2.24719920e-03 4.06795987e-01] [ 3.27703835e-02 1.91887145e-04 9.99462888e-01 8.76765617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.748040942 meters 0.018265269948064784 Centerline is valid? [True, True] Translation: X:29.00, Y:0.41, Z:0.88 [[ 9.97377666e-01 -6.40942076e-02 -3.36113577e-02 2.89979166e+01] [ 6.40524221e-02 9.97943839e-01 -2.31958382e-03 4.06783411e-01] [ 3.36909192e-02 1.60612227e-04 9.99432287e-01 8.78145988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.808040941999998 meters 0.018161583151299576 Centerline is valid? [True, True] Translation: X:29.06, Y:0.40, Z:0.88 [[ 9.97197428e-01 -6.61765743e-02 -3.48991418e-02 2.90566453e+01] [ 6.61326222e-02 9.97807923e-01 -2.41350801e-03 4.03766963e-01] [ 3.49823579e-02 9.87722239e-05 9.99387925e-01 8.80263107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.868040942 meters 0.018234976754347775 Centerline is valid? [True, True] Translation: X:29.12, Y:0.40, Z:0.88 [[ 9.96940153e-01 -6.93708796e-02 -3.60279505e-02 2.91153094e+01] [ 6.93257401e-02 9.97590939e-01 -2.50214104e-03 4.02044300e-01] [ 3.61147327e-02 -3.17946765e-06 9.99347650e-01 8.82701530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.928040942 meters 0.01836109021623843 Centerline is valid? [True, True] Translation: X:29.17, Y:0.40, Z:0.89 [[ 9.96753679e-01 -7.20211472e-02 -3.59869213e-02 2.91736968e+01] [ 7.19774493e-02 9.97403101e-01 -2.51002928e-03 4.01624563e-01] [ 3.60742421e-02 -8.83658872e-05 9.99349109e-01 8.85503989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.988040941999998 meters 0.019787516747471347 Centerline is valid? [True, True] Translation: X:29.23, Y:0.40, Z:0.89 [[ 9.96499664e-01 -7.54553890e-02 -3.59847724e-02 2.92323404e+01] [ 7.54135780e-02 9.97149158e-01 -2.51974650e-03 3.96497151e-01] [ 3.60723140e-02 -2.02813902e-04 9.99349162e-01 8.87196610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.048040942 meters 0.01881195009226843 Centerline is valid? [True, True] Translation: X:29.29, Y:0.40, Z:0.89 [[ 9.96187141e-01 -7.95598329e-02 -3.57968195e-02 2.92912651e+01] [ 7.95209107e-02 9.96830033e-01 -2.51201346e-03 3.96157466e-01] [ 3.58832001e-02 -3.44160173e-04 9.99355931e-01 8.90443603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.108040942 meters 0.01915038104816361 Centerline is valid? [True, True] Translation: X:29.35, Y:0.40, Z:0.89 [[ 9.96028415e-01 -8.10922345e-02 -3.67620294e-02 2.93492862e+01] [ 8.10519056e-02 9.96706521e-01 -2.58848004e-03 3.95030798e-01] [ 3.68508601e-02 -4.01432868e-04 9.99320696e-01 8.91348377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.168040942 meters 0.019401710630854597 Centerline is valid? [True, True] Translation: X:29.41, Y:0.39, Z:0.89 [[ 9.95860865e-01 -8.25357779e-02 -3.80655016e-02 2.94078036e+01] [ 8.24934073e-02 9.96587993e-01 -2.68509017e-03 3.94854382e-01] [ 3.81572378e-02 -4.66176706e-04 9.99271639e-01 8.93190336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.228040942 meters 0.019326041162226065 Centerline is valid? [True, True] Translation: X:29.47, Y:0.40, Z:0.90 [[ 9.95738382e-01 -8.36206252e-02 -3.88929986e-02 2.94668944e+01] [ 8.35770336e-02 9.96497530e-01 -2.74821078e-03 3.95281838e-01] [ 3.89865841e-02 -5.14062493e-04 9.99239602e-01 8.95104379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.288040942 meters 0.01950107263955363 Centerline is valid? [True, True] Translation: X:29.53, Y:0.40, Z:0.90 [[ 9.95681948e-01 -8.49337054e-02 -3.74662960e-02 2.95251481e+01] [ 8.48938309e-02 9.96386461e-01 -2.65676530e-03 3.95050790e-01] [ 3.75565590e-02 -5.35364149e-04 9.99294360e-01 8.97805056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.348040942 meters 0.019644556158549053 Centerline is valid? [True, True] Translation: X:29.58, Y:0.40, Z:0.90 [[ 9.95730351e-01 -8.43545882e-02 -3.74882860e-02 2.95834141e+01] [ 8.43139002e-02 9.96435672e-01 -2.66780400e-03 3.97061136e-01] [ 3.75797070e-02 -5.04370191e-04 9.99293506e-01 8.99334775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.408040942 meters 0.019442194745470157 Centerline is valid? [True, True] Translation: X:29.64, Y:0.40, Z:0.90 [[ 9.95847321e-01 -8.25370350e-02 -3.84155146e-02 2.96425437e+01] [ 8.24927782e-02 9.96587900e-01 -2.73843249e-03 3.99230823e-01] [ 3.85104591e-02 -4.41941868e-04 9.99258099e-01 9.00555066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.468040942 meters 0.019297881058969266 Centerline is valid? [True, True] Translation: X:29.70, Y:0.40, Z:0.90 [[ 9.95979533e-01 -8.15170222e-02 -3.71449270e-02 2.97017584e+01] [ 8.14746068e-02 9.96671877e-01 -2.65669509e-03 4.01782371e-01] [ 3.72378700e-02 -3.80354387e-04 9.99306358e-01 9.02383369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.528040942 meters 0.019231956503312192 Centerline is valid? [True, True] Translation: X:29.76, Y:0.40, Z:0.90 [[ 9.95963373e-01 -8.13232483e-02 -3.79932873e-02 2.97596549e+01] [ 8.12784172e-02 9.96687709e-01 -2.72562790e-03 4.01750465e-01] [ 3.80890994e-02 -3.73408702e-04 9.99274277e-01 9.04165134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.588040942 meters 0.019257488379322063 Centerline is valid? [True, True] Translation: X:29.82, Y:0.40, Z:0.91 [[ 9.95990098e-01 -8.08956076e-02 -3.82050330e-02 2.98179838e+01] [ 8.08497837e-02 9.96722517e-01 -2.74543756e-03 4.03729677e-01] [ 3.83019105e-02 -3.54440027e-04 9.99266150e-01 9.05682406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.648040941999998 meters 0.01915890309557645 Centerline is valid? [True, True] Translation: X:29.88, Y:0.41, Z:0.91 [[ 9.96056256e-01 -8.00829195e-02 -3.81924144e-02 2.98755524e+01] [ 8.00361364e-02 9.96788156e-01 -2.75476831e-03 4.07900714e-01] [ 3.82903562e-02 -3.12869081e-04 9.99266606e-01 9.06575921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.708040942 meters 0.019246478899153565 Centerline is valid? [True, True] Translation: X:29.93, Y:0.41, Z:0.91 [[ 9.96049991e-01 -8.08586889e-02 -3.66917927e-02 2.99334959e+01] [ 8.08156916e-02 9.96725524e-01 -2.65591154e-03 4.10333059e-01] [ 3.67863998e-02 -3.19851929e-04 9.99323100e-01 9.09122122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.768040942 meters 0.019231010393545935 Centerline is valid? [True, True] Translation: X:29.99, Y:0.41, Z:0.91 [[ 9.95945132e-01 -8.26732543e-02 -3.54743105e-02 2.99925766e+01] [ 8.26338956e-02 9.96576640e-01 -2.57673712e-03 4.12622195e-01] [ 3.55658964e-02 -3.65091679e-04 9.99367267e-01 9.13500090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.828040941999998 meters 0.01975857298302055 Centerline is valid? [True, True] Translation: X:30.05, Y:0.41, Z:0.92 [[ 9.95725425e-01 -8.54994773e-02 -3.49387675e-02 3.00515141e+01] [ 8.54627371e-02 9.96338114e-01 -2.54639015e-03 4.13874988e-01] [ 3.50285407e-02 -4.50457288e-04 9.99386211e-01 9.15037443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.888040942 meters 0.020396724772554064 Centerline is valid? [True, True] Translation: X:30.11, Y:0.42, Z:0.92 [[ 9.95572168e-01 -8.77431241e-02 -3.37224352e-02 3.01102566e+01] [ 8.77099107e-02 9.96143007e-01 -2.46582376e-03 4.16958801e-01] [ 3.38087271e-02 -5.02886277e-04 9.99428195e-01 9.15805005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.948040942 meters 0.020304633890256024 Centerline is valid? [True, True] Translation: X:30.17, Y:0.42, Z:0.92 [[ 9.95527652e-01 -8.85584833e-02 -3.28951373e-02 3.01679904e+01] [ 8.85270619e-02 9.96070849e-01 -2.41329151e-03 4.20526475e-01] [ 3.29796048e-02 -5.09611427e-04 9.99455895e-01 9.17537774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.008040942 meters 0.020238936845573544 Centerline is valid? [True, True] Translation: X:30.23, Y:0.42, Z:0.92 [[ 9.95428151e-01 -8.95741646e-02 -3.31551730e-02 3.02264289e+01] [ 8.95424920e-02 9.95980010e-01 -2.44185299e-03 4.24535783e-01] [ 3.32406165e-02 -5.38107609e-04 9.99447233e-01 9.19294196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.068040941999996 meters 0.020751323800506052 Centerline is valid? [True, True] Translation: X:30.28, Y:0.43, Z:0.92 [[ 9.95407087e-01 -9.02115224e-02 -3.20407925e-02 3.02837497e+01] [ 9.01820233e-02 9.95922486e-01 -2.36756100e-03 4.28497731e-01] [ 3.21237270e-02 -5.32816497e-04 9.99483758e-01 9.21655586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.128040942 meters 0.02017438881161996 Centerline is valid? [True, True] Translation: X:30.34, Y:0.43, Z:0.92 [[ 9.95418183e-01 -9.04113102e-02 -3.11196980e-02 3.03413208e+01] [ 9.03833954e-02 9.95904376e-01 -2.30542681e-03 4.34261671e-01] [ 3.12006801e-02 -5.17840204e-04 9.99513006e-01 9.23515561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.18804094199999 meters 0.020315648997615097 Centerline is valid? [True, True] Translation: X:30.40, Y:0.44, Z:0.92 [[ 9.95481522e-01 -8.96910483e-02 -3.11778142e-02 3.03990788e+01] [ 8.96623919e-02 9.95969517e-01 -2.31881975e-03 4.38027094e-01] [ 3.12601299e-02 -4.87135186e-04 9.99511164e-01 9.24890735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.248040941999996 meters 0.019938664305251878 Centerline is valid? [True, True] Translation: X:30.46, Y:0.44, Z:0.93 [[ 9.95710638e-01 -8.70402635e-02 -3.13738506e-02 3.04576789e+01] [ 8.70097942e-02 9.96204713e-01 -2.33771655e-03 4.43203730e-01] [ 3.14582533e-02 -4.02143054e-04 9.99504986e-01 9.25874854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.308040942 meters 0.01972688525747875 Centerline is valid? [True, True] Translation: X:30.52, Y:0.45, Z:0.93 [[ 9.96003883e-01 -8.36631537e-02 -3.12528778e-02 3.05165961e+01] [ 8.36310094e-02 9.96494051e-01 -2.33658237e-03 4.49979202e-01] [ 3.13387927e-02 -2.86464604e-04 9.99508778e-01 9.26816721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36804094199999 meters 0.019706651281741067 Centerline is valid? [True, True] Translation: X:30.57, Y:0.45, Z:0.93 [[ 9.96165060e-01 -8.11634036e-02 -3.26753047e-02 3.05749238e+01] [ 8.11266404e-02 9.96700787e-01 -2.45150406e-03 4.54561885e-01] [ 3.27664743e-02 -2.08735004e-04 9.99463013e-01 9.27977270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.428040941999996 meters 0.019822139903402248 Centerline is valid? [True, True] Translation: X:30.63, Y:0.46, Z:0.93 [[ 9.96192024e-01 -8.08234659e-02 -3.26958513e-02 3.06333520e+01] [ 8.07862000e-02 9.96728414e-01 -2.46137905e-03 4.57837418e-01] [ 3.27878212e-02 -1.89367412e-04 9.99462317e-01 9.29552641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.488040942 meters 0.02009595456297193 Centerline is valid? [True, True] Translation: X:30.69, Y:0.46, Z:0.93 [[ 9.96000897e-01 -8.35355743e-02 -3.16862847e-02 3.06923578e+01] [ 8.35016687e-02 9.96504761e-01 -2.39411428e-03 4.60212086e-01] [ 3.17755273e-02 -2.61317677e-04 9.99494996e-01 9.31366117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54804094199999 meters 0.020830448832166927 Centerline is valid? [True, True] Translation: X:30.75, Y:0.46, Z:0.93 [[ 9.95533013e-01 -8.87054698e-02 -3.23320172e-02 3.07515281e+01] [ 8.86726296e-02 9.96057808e-01 -2.45099963e-03 4.57631141e-01] [ 3.24219753e-02 -4.26913939e-04 9.99474178e-01 9.33467365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.608040941999995 meters 0.02139358915181426 Centerline is valid? [True, True] Translation: X:30.81, Y:0.46, Z:0.94 [[ 9.95092986e-01 -9.33111859e-02 -3.29085457e-02 3.08106433e+01] [ 9.32794111e-02 9.95636825e-01 -2.50285057e-03 4.55856591e-01] [ 3.29985040e-02 -5.79120717e-04 9.99455233e-01 9.35943856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.668040942 meters 0.021323800745747527 Centerline is valid? [True, True] Translation: X:30.87, Y:0.46, Z:0.94 [[ 9.94886986e-01 -9.51721077e-02 -3.37957842e-02 3.08688380e+01] [ 9.51393967e-02 9.95460621e-01 -2.57836282e-03 4.60797887e-01] [ 3.38877605e-02 -6.50130901e-04 9.99425433e-01 9.36382370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72804094199999 meters 0.021760511892499782 Centerline is valid? [True, True] Translation: X:30.93, Y:0.46, Z:0.94 [[ 9.94704099e-01 -9.66246765e-02 -3.50346606e-02 3.09267391e+01] [ 9.65903069e-02 9.95320627e-01 -2.67619052e-03 4.62326001e-01] [ 3.51293064e-02 -7.21990933e-04 9.99382515e-01 9.37783545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.788040941999995 meters 0.021835453511993338 Centerline is valid? [True, True] Translation: X:30.99, Y:0.47, Z:0.94 [[ 9.94637269e-01 -9.72523275e-02 -3.51949898e-02 3.09853015e+01] [ 9.72178978e-02 9.95259480e-01 -2.69232865e-03 4.66090893e-01] [ 3.52899825e-02 -7.43692501e-04 9.99376838e-01 9.39532380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.848040942 meters 0.022076727882521813 Centerline is valid? [True, True] Translation: X:31.04, Y:0.47, Z:0.94 [[ 9.94564681e-01 -9.81616001e-02 -3.47188212e-02 3.10435657e+01] [ 9.81283638e-02 9.95170200e-01 -2.66410131e-03 4.69711627e-01] [ 3.48126487e-02 -7.57280048e-04 9.99393569e-01 9.40492456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90804094199999 meters 0.02271303887689374 Centerline is valid? [True, True] Translation: X:31.10, Y:0.47, Z:0.94 [[ 9.94423930e-01 -9.99643999e-02 -3.35881995e-02 3.11011632e+01] [ 9.99341777e-02 9.94990701e-01 -2.58158087e-03 4.71813490e-01] [ 3.36780124e-02 -7.89423309e-04 9.99432423e-01 9.43580133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.968040941999995 meters 0.02338831974033288 Centerline is valid? [True, True] Translation: X:31.16, Y:0.48, Z:0.95 [[ 9.94355146e-01 -1.00659634e-01 -3.35482064e-02 3.11589089e+01] [ 1.00629781e-01 9.94920592e-01 -2.58144741e-03 4.75622101e-01] [ 3.36376489e-02 -8.09073131e-04 9.99433767e-01 9.45597858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.028040942 meters 0.022730839408380363 Centerline is valid? [True, True] Translation: X:31.22, Y:0.48, Z:0.95 [[ 9.94576710e-01 -9.84937691e-02 -3.34087645e-02 3.12177867e+01] [ 9.84628430e-02 9.95137400e-01 -2.57366239e-03 4.83234148e-01] [ 3.34998007e-02 -7.29817258e-04 9.99438458e-01 9.47549493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.088040942 meters 0.023365156091397044 Centerline is valid? [True, True] Translation: X:31.28, Y:0.49, Z:0.95 [[ 9.95050964e-01 -9.35870322e-02 -3.33923168e-02 3.12752503e+01] [ 9.35532361e-02 9.95610945e-01 -2.57651394e-03 4.93202741e-01] [ 3.34868844e-02 -5.60196622e-04 9.99439000e-01 9.47588500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.148040941999994 meters 0.020349248663530096 Centerline is valid? [True, True] Translation: X:31.33, Y:0.51, Z:0.95 [[ 9.95568659e-01 -8.78617175e-02 -3.35166178e-02 3.13335254e+01] [ 8.78242803e-02 9.96132614e-01 -2.59039867e-03 5.07590142e-01] [ 3.36145930e-02 -3.64653112e-04 9.99434803e-01 9.50947589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.208040942 meters 0.019881315224766317 Centerline is valid? [True, True] Translation: X:31.39, Y:0.52, Z:0.95 [[ 9.95933522e-01 -8.34270938e-02 -3.40049886e-02 3.13915569e+01] [ 8.33856986e-02 9.96513861e-01 -2.63616841e-03 5.15814396e-01] [ 3.41063703e-02 -2.10081239e-04 9.99418186e-01 9.53648608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.268040942 meters 0.019917078822658092 Centerline is valid? [True, True] Translation: X:31.45, Y:0.52, Z:0.95 [[ 9.96072041e-01 -8.19036552e-02 -3.36493661e-02 3.14493151e+01] [ 8.18619675e-02 9.96640241e-01 -2.61703397e-03 5.24108945e-01] [ 3.37506569e-02 -1.47848945e-04 9.99430273e-01 9.54886511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.328040941999994 meters 0.01966830692970948 Centerline is valid? [True, True] Translation: X:31.51, Y:0.53, Z:0.96 [[ 9.96188262e-01 -8.05860753e-02 -3.33891003e-02 3.15071531e+01] [ 8.05439728e-02 9.96747649e-01 -2.60626455e-03 5.31769782e-01] [ 3.34905358e-02 -9.29606295e-05 9.99439030e-01 9.56364294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.388040941999996 meters 0.020935442973799782 Centerline is valid? [True, True] Translation: X:31.56, Y:0.53, Z:0.96 [[ 9.96106271e-01 -8.14825152e-02 -3.36585408e-02 3.15649306e+01] [ 8.14399161e-02 9.96674765e-01 -2.63694154e-03 5.34201703e-01] [ 3.37614828e-02 -1.14474732e-04 9.99429912e-01 9.56519556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.448040942 meters 0.019714996174004417 Centerline is valid? [True, True] Translation: X:31.62, Y:0.54, Z:0.96 [[ 9.96095718e-01 -8.18814295e-02 -3.29962324e-02 3.16227687e+01] [ 8.18404060e-02 9.96642071e-01 -2.59421818e-03 5.38869335e-01] [ 3.30978517e-02 -1.16335443e-04 9.99452109e-01 9.60243409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.508040941999994 meters 0.01965479564460284 Centerline is valid? [True, True] Translation: X:31.68, Y:0.54, Z:0.96 [[ 9.95939055e-01 -8.34442331e-02 -3.38002811e-02 3.16807562e+01] [ 8.34017544e-02 9.96512435e-01 -2.66718153e-03 5.44231107e-01] [ 3.39049614e-02 -1.62652494e-04 9.99425048e-01 9.60131847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.568040941999996 meters 0.01967692040122999 Centerline is valid? [True, True] Translation: X:31.74, Y:0.55, Z:0.96 [[ 9.95855916e-01 -8.44639537e-02 -3.37169833e-02 3.17389284e+01] [ 8.44219483e-02 9.96426518e-01 -2.67006598e-03 5.47988271e-01] [ 3.38220206e-02 -1.87452414e-04 9.99427854e-01 9.62162604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.628040942 meters 0.019677852619538003 Centerline is valid? [True, True] Translation: X:31.80, Y:0.55, Z:0.96 [[ 9.95667890e-01 -8.63950944e-02 -3.43706413e-02 3.17981273e+01] [ 8.63522629e-02 9.96260923e-01 -2.73143092e-03 5.49830101e-01] [ 3.44781090e-02 -2.48384589e-04 9.99405422e-01 9.64563008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.68804094199999 meters 0.019553677945028103 Centerline is valid? [True, True] Translation: X:31.86, Y:0.55, Z:0.97 [[ 9.95409693e-01 -8.92278909e-02 -3.46110808e-02 3.18570996e+01] [ 8.91858772e-02 9.96011178e-01 -2.75894696e-03 5.54049292e-01] [ 3.47191984e-02 -3.40537057e-04 9.99397049e-01 9.65964786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.748040941999996 meters 0.02101940554386728 Centerline is valid? [True, True] Translation: X:31.92, Y:0.56, Z:0.96 [[ 9.95314200e-01 -8.99891483e-02 -3.53779097e-02 3.19153259e+01] [ 8.99454245e-02 9.95942678e-01 -2.82874639e-03 5.56143261e-01] [ 3.54889266e-02 -3.66589662e-04 9.99370002e-01 9.64674771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.808040942 meters 0.019507530594113465 Centerline is valid? [True, True] Translation: X:31.97, Y:0.56, Z:0.97 [[ 9.95445086e-01 -8.89004666e-02 -3.44352619e-02 3.19739829e+01] [ 8.88582204e-02 9.96040465e-01 -2.75831387e-03 5.62097195e-01] [ 3.45441297e-02 -3.14106104e-04 9.99403124e-01 9.68737875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86804094199999 meters 0.019356842725855986 Centerline is valid? [True, True] Translation: X:32.03, Y:0.57, Z:0.97 [[ 9.95580278e-01 -8.74033074e-02 -3.43594592e-02 3.20331603e+01] [ 8.73600765e-02 9.96172976e-01 -2.76033497e-03 5.67102489e-01] [ 3.44692271e-02 -2.53509921e-04 9.99405727e-01 9.69490199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.928040941999996 meters 0.019134461054007235 Centerline is valid? [True, True] Translation: X:32.09, Y:0.57, Z:0.97 [[ 9.95772977e-01 -8.54310862e-02 -3.37299133e-02 3.20913243e+01] [ 8.53881315e-02 9.96344066e-01 -2.71455824e-03 5.73509578e-01] [ 3.38385067e-02 -1.77050537e-04 9.99427298e-01 9.70208295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.988040942 meters 0.02014605245456248 Centerline is valid? [True, True] Translation: X:32.15, Y:0.58, Z:0.97 [[ 9.95972110e-01 -8.34928621e-02 -3.26878797e-02 3.21501071e+01] [ 8.34512213e-02 9.96508370e-01 -2.63850020e-03 5.78391180e-01] [ 3.27940417e-02 -9.99708712e-05 9.99462126e-01 9.70963007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04804094199999 meters 0.018693560413431246 Centerline is valid? [True, True] Translation: X:32.21, Y:0.58, Z:0.97 [[ 9.96169715e-01 -8.18566648e-02 -3.07471049e-02 3.22082094e+01] [ 8.18188243e-02 9.96644112e-01 -2.48895093e-03 5.82705019e-01] [ 3.08476582e-02 -3.62744307e-05 9.99524097e-01 9.74328510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.108040941999995 meters 0.018665719541653872 Centerline is valid? [True, True] Translation: X:32.27, Y:0.59, Z:0.98 [[ 9.96179282e-01 -8.21485650e-02 -2.96386740e-02 3.22665260e+01] [ 8.21132934e-02 9.96620094e-01 -2.40729063e-03 5.87006995e-01] [ 2.97362535e-02 -3.56360861e-05 9.99557779e-01 9.76058984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.168040942 meters 0.018662177862448382 Centerline is valid? [True, True] Translation: X:32.32, Y:0.59, Z:0.98 [[ 9.96336914e-01 -8.06757965e-02 -2.83578698e-02 3.23234803e+01] [ 8.06426796e-02 9.96740395e-01 -2.31141306e-03 5.92603251e-01] [ 2.84519094e-02 1.60915509e-05 9.99595162e-01 9.77067602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22804094199999 meters 0.01882489889206924 Centerline is valid? [True, True] Translation: X:32.38, Y:0.60, Z:0.98 [[ 9.96403626e-01 -7.98834018e-02 -2.82569751e-02 3.23812223e+01] [ 7.98501147e-02 9.96804214e-01 -2.30625211e-03 5.98470639e-01] [ 2.83509031e-02 4.16352600e-05 9.99598031e-01 9.77319202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.288040941999995 meters 0.018737143172460013 Centerline is valid? [True, True] Translation: X:32.44, Y:0.60, Z:0.98 [[ 9.96374303e-01 -8.02305050e-02 -2.83075141e-02 3.24387423e+01] [ 8.01970150e-02 9.96776336e-01 -2.31825288e-03 6.04590551e-01] [ 2.84022548e-02 3.96694610e-05 9.99596574e-01 9.76803892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.348040942 meters 0.018612563500846797 Centerline is valid? [True, True] Translation: X:32.50, Y:0.61, Z:0.98 [[ 9.96185722e-01 -8.25494846e-02 -2.82770086e-02 3.24956675e+01] [ 8.25167609e-02 9.96586967e-01 -2.32419979e-03 6.06119657e-01] [ 2.83723597e-02 -1.79925035e-05 9.99597423e-01 9.77925335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40804094199999 meters 0.019681808719148156 Centerline is valid? [True, True] Translation: X:32.55, Y:0.61, Z:0.98 [[ 9.95716183e-01 -8.78086574e-02 -2.89641739e-02 3.25546989e+01] [ 8.77764482e-02 9.96137346e-01 -2.38408297e-03 6.08132516e-01] [ 2.90616384e-02 -1.68502312e-04 9.99577607e-01 9.77112810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.468040941999995 meters 0.019207185723349566 Centerline is valid? [True, True] Translation: X:32.61, Y:0.61, Z:0.98 [[ 9.95318584e-01 -9.31008430e-02 -2.59451224e-02 3.26125513e+01] [ 9.30766326e-02 9.95656644e-01 -2.14185640e-03 6.11234238e-01] [ 2.60318421e-02 -2.83055148e-04 9.99661074e-01 9.79083429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.528040942 meters 0.020651193062780446 Centerline is valid? [True, True] Translation: X:32.67, Y:0.61, Z:0.98 [[ 9.94783099e-01 -9.94284950e-02 -2.28158126e-02 3.26707128e+01] [ 9.94113950e-02 9.95044632e-01 -1.88530034e-03 6.11478708e-01] [ 2.28902044e-02 -3.92686842e-04 9.99737908e-01 9.80970841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.588040942 meters 0.021935002619075928 Centerline is valid? [True, True] Translation: X:32.73, Y:0.61, Z:0.98 [[ 9.94400180e-01 -1.03396401e-01 -2.18510158e-02 3.27296342e+01] [ 1.03381675e-01 9.94640121e-01 -1.80548796e-03 6.13347613e-01] [ 2.19205779e-02 -4.63617067e-04 9.99759608e-01 9.82196493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.648040941999994 meters 0.021998970522562902 Centerline is valid? [True, True] Translation: X:32.79, Y:0.62, Z:0.98 [[ 9.94054042e-01 -1.07025349e-01 -2.00533535e-02 3.27887743e+01] [ 1.07013561e-01 9.94256170e-01 -1.66308854e-03 6.21186542e-01] [ 2.01161631e-02 -4.92780880e-04 9.99797528e-01 9.80471786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.708040942 meters 0.02229496692934433 Centerline is valid? [True, True] Translation: X:32.85, Y:0.63, Z:0.98 [[ 9.93966046e-01 -1.08080483e-01 -1.87111947e-02 3.28473990e+01] [ 1.08070443e-01 9.94142031e-01 -1.54986563e-03 6.25513944e-01] [ 1.87690953e-02 -4.81613294e-04 9.99823729e-01 9.81292045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.768040942 meters 0.021467341723760334 Centerline is valid? [True, True] Translation: X:32.91, Y:0.63, Z:0.98 [[ 9.94039383e-01 -1.07494824e-01 -1.81815079e-02 3.29057015e+01] [ 1.07485172e-01 9.94205541e-01 -1.51007959e-03 6.32816757e-01] [ 1.82384817e-02 -4.53163926e-04 9.99833562e-01 9.81580270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.828040941999994 meters 0.021253603924020304 Centerline is valid? [True, True] Translation: X:32.96, Y:0.64, Z:0.98 [[ 9.94485436e-01 -1.03167082e-01 -1.88486477e-02 3.29633342e+01] [ 1.03155811e-01 9.94663967e-01 -1.57187024e-03 6.40244738e-01] [ 1.89102360e-02 -3.81145482e-04 9.99821113e-01 9.81200695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.888040941999996 meters 0.019046904919183906 Centerline is valid? [True, True] Translation: X:33.02, Y:0.65, Z:0.98 [[ 9.95130991e-01 -9.70578373e-02 -1.71489527e-02 3.30211417e+01] [ 9.70475581e-02 9.95278714e-01 -1.43255749e-03 6.51873687e-01] [ 1.72070285e-02 -2.38681626e-04 9.99851920e-01 9.82120903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.948040942 meters 0.01849200255708478 Centerline is valid? [True, True] Translation: X:33.08, Y:0.66, Z:0.98 [[ 9.95434203e-01 -9.42090878e-02 -1.53426181e-02 3.30795562e+01] [ 9.42005503e-02 9.95552419e-01 -1.27980679e-03 6.59223179e-01] [ 1.53949500e-02 -1.71319619e-04 9.99881476e-01 9.83645196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.008040941999994 meters 0.0186340410619094 Centerline is valid? [True, True] Translation: X:33.14, Y:0.66, Z:0.99 [[ 9.95443614e-01 -9.44128696e-02 -1.33499260e-02 3.31382362e+01] [ 9.44063930e-02 9.95533117e-01 -1.11590990e-03 6.63870187e-01] [ 1.33956497e-02 -1.49492977e-04 9.99910263e-01 9.86629541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.068040941999996 meters 0.018636697983719135 Centerline is valid? [True, True] Translation: X:33.20, Y:0.67, Z:0.99 [[ 9.95369472e-01 -9.52004508e-02 -1.32849193e-02 3.31967743e+01] [ 9.51940726e-02 9.95458110e-01 -1.11307471e-03 6.65997002e-01] [ 1.33305458e-02 -1.56724978e-04 9.99911132e-01 9.89455621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.128040942 meters 0.018079004467636075 Centerline is valid? [True, True] Translation: X:33.26, Y:0.67, Z:0.99 [[ 9.95334056e-01 -9.51465011e-02 -1.60393391e-02 3.32551001e+01] [ 9.51370903e-02 9.95463264e-01 -1.35047145e-03 6.72710461e-01] [ 1.60950655e-02 -1.81765827e-04 9.99870450e-01 9.86370327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.18804094199999 meters 0.01796353057257714 Centerline is valid? [True, True] Translation: X:33.31, Y:0.68, Z:0.99 [[ 9.95062091e-01 -9.74973599e-02 -1.85930227e-02 3.33133791e+01] [ 9.74850246e-02 9.95235752e-01 -1.57079680e-03 6.75686661e-01] [ 1.86575895e-02 -2.49500925e-04 9.99825901e-01 9.85034548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.248040941999996 meters 0.018705744885134545 Centerline is valid? [True, True] Translation: X:33.37, Y:0.68, Z:0.99 [[ 9.94854010e-01 -9.96336001e-02 -1.84022861e-02 3.33708812e+01] [ 9.96217414e-02 9.95024154e-01 -1.56229421e-03 6.77174163e-01] [ 1.84663762e-02 -2.79013132e-04 9.99829443e-01 9.87704626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.308040942 meters 0.018597757772773577 Centerline is valid? [True, True] Translation: X:33.43, Y:0.68, Z:0.99 [[ 9.94575798e-01 -1.02157100e-01 -1.95680474e-02 3.34293168e+01] [ 1.02144143e-01 9.94768218e-01 -1.66312808e-03 6.79288878e-01] [ 1.96355720e-02 -3.44654493e-04 9.99807144e-01 9.88291496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36804094199999 meters 0.018585958577821353 Centerline is valid? [True, True] Translation: X:33.49, Y:0.68, Z:0.99 [[ 9.94728569e-01 -1.00361461e-01 -2.10392511e-02 3.34869138e+01] [ 1.00346045e-01 9.94950988e-01 -1.78985312e-03 6.84731399e-01] [ 2.11126559e-02 -3.30787602e-04 9.99777048e-01 9.89846992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.428040941999996 meters 0.017296510172174016 Centerline is valid? [True, True] Translation: X:33.54, Y:0.70, Z:0.99 [[ 9.95155145e-01 -9.57444838e-02 -2.23434891e-02 3.35448116e+01] [ 9.57258859e-02 9.95405914e-01 -1.90290714e-03 6.96117960e-01] [ 2.24230341e-02 -2.45162461e-04 9.99748542e-01 9.89863886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.488040942 meters 0.017509538692275818 Centerline is valid? [True, True] Translation: X:33.60, Y:0.70, Z:0.99 [[ 9.95244601e-01 -9.46945551e-02 -2.28281867e-02 3.36029276e+01] [ 9.46747299e-02 9.95506350e-01 -1.95009886e-03 7.01167734e-01] [ 2.29102686e-02 -2.20427047e-04 9.99737501e-01 9.92397263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54804094199999 meters 0.017069982776049084 Centerline is valid? [True, True] Translation: X:33.66, Y:0.71, Z:0.99 [[ 9.95316802e-01 -9.40505249e-02 -2.23374466e-02 3.36609320e+01] [ 9.40312686e-02 9.95567406e-01 -1.91317886e-03 7.08402859e-01] [ 2.24183693e-02 -1.96199375e-04 9.99748658e-01 9.94157408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.608040941999995 meters 0.01750447365668876 Centerline is valid? [True, True] Translation: X:33.72, Y:0.71, Z:1.00 [[ 9.94917800e-01 -9.78720286e-02 -2.36566589e-02 3.37196446e+01] [ 9.78513296e-02 9.95198966e-01 -2.03376202e-03 7.10797275e-01] [ 2.37421308e-02 -2.91409485e-04 9.99718073e-01 9.96215928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.668040942 meters 0.018331422423361773 Centerline is valid? [True, True] Translation: X:33.78, Y:0.71, Z:1.00 [[ 9.94457834e-01 -1.02520134e-01 -2.33074703e-02 3.37782970e+01] [ 1.02501184e-01 9.94730853e-01 -2.00941894e-03 7.14654862e-01] [ 2.33906657e-02 -3.90760893e-04 9.99726325e-01 9.97706728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72804094199999 meters 0.01976812600839473 Centerline is valid? [True, True] Translation: X:33.84, Y:0.72, Z:1.00 [[ 9.93666797e-01 -1.09536126e-01 -2.50626124e-02 3.38381498e+01] [ 1.09516242e-01 9.93982640e-01 -2.16874401e-03 7.16021855e-01] [ 2.51493574e-02 -5.89754209e-04 9.99683531e-01 9.98466953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.788040941999995 meters 0.020378180509052393 Centerline is valid? [True, True] Translation: X:33.90, Y:0.72, Z:1.00 [[ 9.93224639e-01 -1.13134204e-01 -2.65606408e-02 3.38963042e+01] [ 1.13113136e-01 9.93579454e-01 -2.29914923e-03 7.20794808e-01] [ 2.66502194e-02 -7.20785711e-04 9.99644560e-01 9.98125700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.848040942 meters 0.020792302403191586 Centerline is valid? [True, True] Translation: X:33.95, Y:0.73, Z:1.00 [[ 9.93136517e-01 -1.13683957e-01 -2.74921231e-02 3.39542181e+01] [ 1.13661544e-01 9.93516674e-01 -2.38167431e-03 7.25830994e-01] [ 2.75846409e-02 -7.59469430e-04 9.99619183e-01 9.99445880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90804094199999 meters 0.020257445306018782 Centerline is valid? [True, True] Translation: X:34.01, Y:0.73, Z:1.00 [[ 9.93154889e-01 -1.13186345e-01 -2.88481937e-02 3.40133114e+01] [ 1.13161205e-01 9.93573476e-01 -2.50780087e-03 7.31547236e-01] [ 2.89466489e-02 -7.73861680e-04 9.99580658e-01 1.00226114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.968040941999995 meters 0.01860869501628841 Centerline is valid? [True, True] Translation: X:34.07, Y:0.74, Z:1.00 [[ 9.93746565e-01 -1.07289248e-01 -3.09318924e-02 3.40724453e+01] [ 1.07257252e-01 9.94227645e-01 -2.69657636e-03 7.40654325e-01] [ 3.10426562e-02 -6.37956291e-04 9.99517857e-01 1.00335991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.028040942 meters 0.016775707934877034 Centerline is valid? [True, True] Translation: X:34.13, Y:0.75, Z:1.00 [[ 9.94631228e-01 -9.78900109e-02 -3.35598810e-02 3.41310615e+01] [ 9.78469512e-02 9.95197170e-01 -2.92696381e-03 7.52649735e-01] [ 3.36852191e-02 -3.72482432e-04 9.99432423e-01 1.00435192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08804094199999 meters 0.016032207366658627 Centerline is valid? [True, True] Translation: X:34.19, Y:0.76, Z:1.00 [[ 9.95279292e-01 -8.96107859e-02 -3.72698083e-02 3.41881726e+01] [ 8.95518043e-02 9.95976856e-01 -3.25229498e-03 7.63954231e-01] [ 3.74113072e-02 -1.00636741e-04 9.99299947e-01 1.00284783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.148040941999994 meters 0.016076424097728893 Centerline is valid? [True, True] Translation: X:34.25, Y:0.77, Z:1.01 [[ 9.95724278e-01 -8.32796344e-02 -3.99707863e-02 3.42470255e+01] [ 8.32064806e-02 9.96526206e-01 -3.49318321e-03 7.70131295e-01] [ 4.01228470e-02 1.52418883e-04 9.99194743e-01 1.00699008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.208040942 meters 0.01633697301892537 Centerline is valid? [True, True] Translation: X:34.31, Y:0.78, Z:1.01 [[ 9.96001579e-01 -7.94332980e-02 -4.08803772e-02 3.43050051e+01] [ 7.93531708e-02 9.96840131e-01 -3.58156516e-03 7.77139017e-01] [ 4.10356961e-02 3.23256995e-04 9.99157629e-01 1.00939894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.268040942 meters 0.017794166435279375 Centerline is valid? [True, True] Translation: X:34.36, Y:0.79, Z:1.01 [[ 9.96223664e-01 -7.50483133e-02 -4.36596153e-02 3.43622249e+01] [ 7.49525262e-02 9.97179751e-01 -3.82912595e-03 7.86157162e-01] [ 4.38238538e-02 5.42267426e-04 9.99039126e-01 1.00917561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.328040941999994 meters 0.01780404518483449 Centerline is valid? [True, True] Translation: X:34.42, Y:0.79, Z:1.01 [[ 9.96232108e-01 -7.39378276e-02 -4.53297386e-02 3.44213176e+01] [ 7.38331287e-02 9.97262660e-01 -3.98195971e-03 7.86446668e-01] [ 4.55000732e-02 6.20119687e-04 9.98964143e-01 1.01296590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.388040941999996 meters 0.018218134068033305 Centerline is valid? [True, True] Translation: X:34.48, Y:0.79, Z:1.02 [[ 9.96145337e-01 -7.42383490e-02 -4.67240242e-02 3.44790573e+01] [ 7.41270081e-02 9.97240325e-01 -4.11355351e-03 7.88992366e-01] [ 4.69004645e-02 6.34185034e-04 9.98899366e-01 1.01526432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.448040942 meters 0.01792535799533764 Centerline is valid? [True, True] Translation: X:34.54, Y:0.79, Z:1.02 [[ 9.96013434e-01 -7.52167724e-02 -4.79549417e-02 3.45381635e+01] [ 7.51002833e-02 9.97167019e-01 -4.22883770e-03 7.90865178e-01] [ 4.81371658e-02 6.10549450e-04 9.98840548e-01 1.01914857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.508040941999994 meters 0.017844321866524977 Centerline is valid? [True, True] Translation: X:34.60, Y:0.80, Z:1.02 [[ 9.95895001e-01 -7.59688866e-02 -4.92125589e-02 3.45970471e+01] [ 7.58465102e-02 9.97110007e-01 -4.35207431e-03 7.95099353e-01] [ 4.94009572e-02 6.01608198e-04 9.98778846e-01 1.02116064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.568040941999996 meters 0.0183899028373892 Centerline is valid? [True, True] Translation: X:34.65, Y:0.80, Z:1.02 [[ 9.95682780e-01 -7.70572628e-02 -5.17492103e-02 3.46546431e+01] [ 7.69228882e-02 9.97026497e-01 -4.58630469e-03 7.99390326e-01] [ 5.19487419e-02 5.85805893e-04 9.98649581e-01 1.02024218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.628040942 meters 0.018020335374624996 Centerline is valid? [True, True] Translation: X:34.71, Y:0.80, Z:1.02 [[ 9.95420883e-01 -8.01494600e-02 -5.20896356e-02 3.47132919e+01] [ 8.00171375e-02 9.96782762e-01 -4.62415320e-03 8.02907796e-01] [ 5.22926742e-02 4.34915131e-04 9.98631707e-01 1.02332342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.68804094199999 meters 0.01704917989995367 Centerline is valid? [True, True] Translation: X:34.77, Y:0.81, Z:1.03 [[ 9.94947907e-01 -8.53042053e-02 -5.29325510e-02 3.47712053e+01] [ 8.51741208e-02 9.96354937e-01 -4.71265413e-03 8.07744998e-01] [ 5.31416177e-02 1.80361869e-04 9.98586970e-01 1.02837139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.748040941999996 meters 0.017719574664662358 Centerline is valid? [True, True] Translation: X:34.83, Y:0.81, Z:1.03 [[ 9.94500369e-01 -9.00473037e-02 -5.34836432e-02 3.48293920e+01] [ 8.99207561e-02 9.95937488e-01 -4.77267887e-03 8.11175467e-01] [ 5.36961321e-02 -6.28587432e-05 9.98557320e-01 1.02699147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.808040942 meters 0.017863508488486172 Centerline is valid? [True, True] Translation: X:34.89, Y:0.81, Z:1.03 [[ 9.93912839e-01 -9.75989420e-02 -5.11049492e-02 3.48884325e+01] [ 9.74929934e-02 9.95225729e-01 -4.56786206e-03 8.11001482e-01] [ 5.13067788e-02 -4.42317727e-04 9.98682842e-01 1.03477746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86804094199999 meters 0.01800950475261947 Centerline is valid? [True, True] Translation: X:34.95, Y:0.82, Z:1.04 [[ 9.93494558e-01 -1.02225874e-01 -5.01840014e-02 3.49471865e+01] [ 1.02129000e-01 9.94760996e-01 -4.49759077e-03 8.17861512e-01] [ 5.03808574e-02 -6.56909914e-04 9.98729862e-01 1.03906451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.928040941999996 meters 0.018050269528119993 Centerline is valid? [True, True] Translation: X:35.01, Y:0.83, Z:1.04 [[ 9.93531957e-01 -1.02029962e-01 -4.98411203e-02 3.50058574e+01] [ 1.01933544e-01 9.94781126e-01 -4.47917099e-03 8.26739745e-01] [ 5.00380154e-02 -6.30282514e-04 9.98747115e-01 1.04125909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.988040942 meters 0.01790022916300836 Centerline is valid? [True, True] Translation: X:35.06, Y:0.83, Z:1.05 [[ 9.93754301e-01 -1.00542653e-01 -4.84103789e-02 3.50633201e+01] [ 1.00449495e-01 9.94932607e-01 -4.35952489e-03 8.32121405e-01] [ 4.86033827e-02 -5.30501530e-04 9.98818016e-01 1.04501499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04804094199999 meters 0.01710957821045834 Centerline is valid? [True, True] Translation: X:35.12, Y:0.84, Z:1.05 [[ 9.94244875e-01 -9.62217923e-02 -4.71009001e-02 3.51212497e+01] [ 9.61284489e-02 9.95359872e-01 -4.24818192e-03 8.44884904e-01] [ 4.72911136e-02 -3.04003370e-04 9.98881103e-01 1.04776849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.108040941999995 meters 0.016936702639356798 Centerline is valid? [True, True] Translation: X:35.18, Y:0.85, Z:1.05 [[ 9.94624201e-01 -9.26320329e-02 -4.62818058e-02 3.51781796e+01] [ 9.25375881e-02 9.95700403e-01 -4.18367071e-03 8.53596258e-01] [ 4.64703546e-02 -1.21626546e-04 9.98919662e-01 1.04987041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.168040942 meters 0.01687967445897078 Centerline is valid? [True, True] Translation: X:35.24, Y:0.86, Z:1.05 [[ 9.94734773e-01 -9.20865182e-02 -4.49756006e-02 3.52362120e+01] [ 9.19964473e-02 9.95751006e-01 -4.07283260e-03 8.59691043e-01] [ 4.51595525e-02 -8.62072567e-05 9.98979783e-01 1.05433633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22804094199999 meters 0.016570963923651497 Centerline is valid? [True, True] Translation: X:35.29, Y:0.87, Z:1.06 [[ 9.94782609e-01 -9.23093250e-02 -4.34344340e-02 3.52945110e+01] [ 9.22250848e-02 9.95730376e-01 -3.94360887e-03 8.68882224e-01] [ 4.36130172e-02 -8.27108439e-05 9.99048496e-01 1.05804561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.288040941999995 meters 0.016635638535022736 Centerline is valid? [True, True] Translation: X:35.35, Y:0.88, Z:1.06 [[ 9.94814531e-01 -9.22919207e-02 -4.27346562e-02 3.53516761e+01] [ 9.22098876e-02 9.95731990e-01 -3.89102995e-03 8.76576620e-01] [ 4.29113749e-02 -6.97047123e-05 9.99078880e-01 1.05902796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.348040942 meters 0.01688136297112035 Centerline is valid? [True, True] Translation: X:35.41, Y:0.88, Z:1.06 [[ 9.94720448e-01 -9.29468264e-02 -4.34984697e-02 3.54096491e+01] [ 9.28619977e-02 9.95671070e-01 -3.97112931e-03 8.82287881e-01] [ 4.36792717e-02 -8.91912616e-05 9.99045601e-01 1.05916616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40804094199999 meters 0.016756100521124796 Centerline is valid? [True, True] Translation: X:35.47, Y:0.89, Z:1.06 [[ 9.94681629e-01 -9.32204050e-02 -4.37996831e-02 3.54677739e+01] [ 9.31343196e-02 9.95645493e-01 -4.00640531e-03 8.88352762e-01] [ 4.39824358e-02 -9.41559185e-05 9.99032300e-01 1.06248264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.468040941999995 meters 0.01663899591430962 Centerline is valid? [True, True] Translation: X:35.53, Y:0.90, Z:1.06 [[ 9.94695343e-01 -9.34982569e-02 -4.28864924e-02 3.55252004e+01] [ 9.34155422e-02 9.95619439e-01 -3.93311183e-03 8.98369320e-01] [ 4.30663646e-02 -9.40169202e-05 9.99072209e-01 1.06378682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.528040942 meters 0.01660491880147127 Centerline is valid? [True, True] Translation: X:35.58, Y:0.91, Z:1.07 [[ 9.94808828e-01 -9.28284118e-02 -4.16926974e-02 3.55829718e+01] [ 9.27493745e-02 9.95682119e-01 -3.83024485e-03 9.08200095e-01] [ 4.18682288e-02 -5.66102122e-05 9.99123140e-01 1.06633805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58804094199999 meters 0.016706097993881716 Centerline is valid? [True, True] Translation: X:35.64, Y:0.92, Z:1.07 [[ 9.94765692e-01 -9.37205931e-02 -4.07144832e-02 3.56409190e+01] [ 9.36455521e-02 9.95598535e-01 -3.75057864e-03 9.16678987e-01] [ 4.08867863e-02 -8.17833029e-05 9.99163782e-01 1.06909406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.648040941999994 meters 0.01691284654490985 Centerline is valid? [True, True] Translation: X:35.70, Y:0.92, Z:1.07 [[ 9.94755916e-01 -9.44379353e-02 -3.92701330e-02 3.56998730e+01] [ 9.43682672e-02 9.95530746e-01 -3.62810474e-03 9.24063447e-01] [ 3.94372555e-02 -9.67757485e-05 9.99222044e-01 1.07093827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.708040942 meters 0.017053307395556917 Centerline is valid? [True, True] Translation: X:35.76, Y:0.93, Z:1.07 [[ 9.94804281e-01 -9.49700835e-02 -3.66759469e-02 3.57583670e+01] [ 9.49093783e-02 9.95480122e-01 -3.39662343e-03 9.34507510e-01] [ 3.68327537e-02 -1.01915795e-04 9.99321439e-01 1.07274768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.768040942 meters 0.017530865133591544 Centerline is valid? [True, True] Translation: X:35.82, Y:0.94, Z:1.07 [[ 9.94533129e-01 -9.85691643e-02 -3.44670297e-02 3.58155573e+01] [ 9.85174280e-02 9.95130180e-01 -3.20028287e-03 9.42097805e-01] [ 3.46146307e-02 -2.12815782e-04 9.99400711e-01 1.07481088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.828040941999994 meters 0.017945251971020544 Centerline is valid? [True, True] Translation: X:35.87, Y:0.95, Z:1.08 [[ 9.94169726e-01 -1.02457167e-01 -3.36018691e-02 3.58740790e+01] [ 1.02409903e-01 9.94737362e-01 -3.12918453e-03 9.50964815e-01] [ 3.37456420e-02 -3.30223645e-04 9.99430399e-01 1.07558984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.888040941999996 meters 0.0187554956099799 Centerline is valid? [True, True] Translation: X:35.93, Y:0.96, Z:1.08 [[ 9.93723553e-01 -1.06802316e-01 -3.32680859e-02 3.59322196e+01] [ 1.06758143e-01 9.94280166e-01 -3.10639906e-03 9.60264980e-01] [ 3.34095686e-02 -4.64737143e-04 9.99441636e-01 1.07561616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.948040942 meters 0.01970899279780095 Centerline is valid? [True, True] Translation: X:35.99, Y:0.97, Z:1.08 [[ 9.93202411e-01 -1.11833886e-01 -3.22823896e-02 3.59910636e+01] [ 1.11794695e-01 9.93726730e-01 -3.02213724e-03 9.65188307e-01] [ 3.24178508e-02 -6.07405893e-04 9.99474219e-01 1.07757603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.008040941999994 meters 0.02204225646559605 Centerline is valid? [True, True] Translation: X:36.05, Y:0.97, Z:1.08 [[ 9.92443343e-01 -1.19107680e-01 -2.94885006e-02 3.60497750e+01] [ 1.19077981e-01 9.92881048e-01 -2.76746943e-03 9.70631912e-01] [ 2.96082003e-02 -7.64874507e-04 9.99561288e-01 1.08006747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.068040941999996 meters 0.0222379509502555 Centerline is valid? [True, True] Translation: X:36.11, Y:0.98, Z:1.08 [[ 9.91866660e-01 -1.24534946e-01 -2.62978312e-02 3.61083534e+01] [ 1.24513212e-01 9.92214879e-01 -2.46873531e-03 9.83396830e-01] [ 2.64005432e-02 -8.25771180e-04 9.99651104e-01 1.08092975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.128040942 meters 0.023211559620113214 Centerline is valid? [True, True] Translation: X:36.17, Y:0.99, Z:1.08 [[ 9.91637262e-01 -1.26482378e-01 -2.56466023e-02 3.61667295e+01] [ 1.26462350e-01 9.91968485e-01 -2.40791952e-03 9.88967285e-01] [ 2.57451807e-02 -8.55546880e-04 9.99668172e-01 1.08292840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.18804094199999 meters 0.025457527929801427 Centerline is valid? [True, True] Translation: X:36.22, Y:1.00, Z:1.08 [[ 9.91624240e-01 -1.26913591e-01 -2.39647130e-02 3.62243514e+01] [ 1.26896070e-01 9.91913451e-01 -2.25663676e-03 9.96873779e-01] [ 2.40573190e-02 -8.03292179e-04 9.99710258e-01 1.08477346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.248040941999996 meters 0.023779163093034867 Centerline is valid? [True, True] Translation: X:36.28, Y:1.01, Z:1.08 [[ 9.92119706e-01 -1.22727864e-01 -2.52262028e-02 3.62828994e+01] [ 1.22707030e-01 9.92440089e-01 -2.37809013e-03 1.01241705e+00] [ 2.53273529e-02 -7.36082338e-04 9.99678940e-01 1.08393532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.308040942 meters 0.02207282412254848 Centerline is valid? [True, True] Translation: X:36.34, Y:1.03, Z:1.09 [[ 9.92731918e-01 -1.17695963e-01 -2.51197083e-02 3.63421284e+01] [ 1.17673669e-01 9.93049493e-01 -2.36900213e-03 1.02577958e+00] [ 2.52239355e-02 -6.04144222e-04 9.99681643e-01 1.08625159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36804094199999 meters 0.023073539669403748 Centerline is valid? [True, True] Translation: X:36.40, Y:1.04, Z:1.09 [[ 9.93217806e-01 -1.13367377e-01 -2.58113846e-02 3.64000118e+01] [ 1.13342372e-01 9.93553008e-01 -2.43445186e-03 1.03786359e+00] [ 2.59209662e-02 -5.07582603e-04 9.99663866e-01 1.08666134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.428040941999996 meters 0.022375827465127705 Centerline is valid? [True, True] Translation: X:36.46, Y:1.05, Z:1.09 [[ 9.93946485e-01 -1.05838131e-01 -2.94732827e-02 3.64591461e+01] [ 1.05802142e-01 9.94383309e-01 -2.78229695e-03 1.05209053e+00] [ 2.96022134e-02 -3.52882180e-04 9.99561696e-01 1.08540101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.488040942 meters 0.020067330415158853 Centerline is valid? [True, True] Translation: X:36.52, Y:1.06, Z:1.09 [[ 9.94415701e-01 -1.01992241e-01 -2.71108288e-02 3.65173246e+01] [ 1.01960346e-01 9.94785170e-01 -2.55983395e-03 1.05919814e+00] [ 2.72305337e-02 -2.18690430e-04 9.99629156e-01 1.09167156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54804094199999 meters 0.019309142145577073 Centerline is valid? [True, True] Translation: X:36.57, Y:1.07, Z:1.09 [[ 9.94594239e-01 -1.00592043e-01 -2.57592896e-02 3.65744520e+01] [ 1.00562626e-01 9.94927743e-01 -2.43817095e-03 1.06994896e+00] [ 2.58738924e-02 -1.65431028e-04 9.99665201e-01 1.09484272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.608040941999995 meters 0.019191855584804816 Centerline is valid? [True, True] Translation: X:36.63, Y:1.08, Z:1.10 [[ 9.94561865e-01 -1.00906193e-01 -2.57805341e-02 3.66316822e+01] [ 1.00876642e-01 9.94895930e-01 -2.44757462e-03 1.07679851e+00] [ 2.58959239e-02 -1.66389329e-04 9.99664630e-01 1.09600915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.668040942 meters 0.0192875154724713 Centerline is valid? [True, True] Translation: X:36.69, Y:1.08, Z:1.10 [[ 9.94274063e-01 -1.03756810e-01 -2.55658208e-02 3.66900668e+01] [ 1.03728477e-01 9.94602670e-01 -2.43554003e-03 1.07702486e+00] [ 2.56805375e-02 -2.30309367e-04 9.99670174e-01 1.10015332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72804094199999 meters 0.01922462367412829 Centerline is valid? [True, True] Translation: X:36.75, Y:1.08, Z:1.10 [[ 9.93940461e-01 -1.06590749e-01 -2.68471852e-02 3.67488995e+01] [ 1.06560486e-01 9.94302928e-01 -2.55948036e-03 1.08277751e+00] [ 2.69670518e-02 -3.16878020e-04 9.99636273e-01 1.10094850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.788040941999995 meters 0.022541849073131677 Centerline is valid? [True, True] Translation: X:36.81, Y:1.09, Z:1.10 [[ 9.93611239e-01 -1.08790364e-01 -3.00227063e-02 3.68079280e+01] [ 1.08753267e-01 9.94064629e-01 -2.87065450e-03 1.08528370e+00] [ 3.01568099e-02 -4.12752815e-04 9.99545095e-01 1.09924169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.848040942 meters 0.020943998374005877 Centerline is valid? [True, True] Translation: X:36.87, Y:1.09, Z:1.10 [[ 9.93491120e-01 -1.10129246e-01 -2.91022919e-02 3.68671813e+01] [ 1.10094758e-01 9.93917181e-01 -2.78963605e-03 1.08583807e+00] [ 2.92324884e-02 -4.32531144e-04 9.99572546e-01 1.10363595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90804094199999 meters 0.020688203024749635 Centerline is valid? [True, True] Translation: X:36.92, Y:1.09, Z:1.11 [[ 9.93462249e-01 -1.10500113e-01 -2.86789908e-02 3.69247433e+01] [ 1.10466577e-01 9.93876018e-01 -2.75596487e-03 1.08869049e+00] [ 2.88078956e-02 -4.30122875e-04 9.99584874e-01 1.10543074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.968040941999995 meters 0.019025411164170645 Centerline is valid? [True, True] Translation: X:36.98, Y:1.09, Z:1.11 [[ 9.93605277e-01 -1.08871463e-01 -2.99258886e-02 3.69828209e+01] [ 1.08833938e-01 9.94055759e-01 -2.88477020e-03 1.08999933e+00] [ 3.00620710e-02 -3.90629420e-04 9.99547957e-01 1.10776795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.028040942 meters 0.018370785460226267 Centerline is valid? [True, True] Translation: X:37.04, Y:1.09, Z:1.11 [[ 9.93941362e-01 -1.05629051e-01 -3.03821156e-02 3.70417655e+01] [ 1.05588779e-01 9.94405560e-01 -2.93135494e-03 1.09135671e+00] [ 3.05217809e-02 -2.94415555e-04 9.99534059e-01 1.11122940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08804094199999 meters 0.01786341944955097 Centerline is valid? [True, True] Translation: X:37.10, Y:1.10, Z:1.11 [[ 9.94251865e-01 -1.02519196e-01 -3.08714117e-02 3.71001897e+01] [ 1.02475885e-01 9.94731007e-01 -2.98603034e-03 1.09685317e+00] [ 3.10148758e-02 -1.94708999e-04 9.99518904e-01 1.11284078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.148040941999994 meters 0.01740180127203512 Centerline is valid? [True, True] Translation: X:37.16, Y:1.10, Z:1.12 [[ 9.94615341e-01 -9.89028840e-02 -3.09603497e-02 3.71587762e+01] [ 9.88573432e-02 9.95097088e-01 -3.00196244e-03 1.09973546e+00] [ 3.11054565e-02 -7.48600137e-05 9.99516105e-01 1.11524416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.208040942 meters 0.017206242882976317 Centerline is valid? [True, True] Translation: X:37.22, Y:1.10, Z:1.12 [[ 9.94672301e-01 -9.77954030e-02 -3.26048010e-02 3.72158305e+01] [ 9.77440455e-02 9.95206540e-01 -3.16916760e-03 1.09890412e+00] [ 3.27584412e-02 -3.46419276e-05 9.99463298e-01 1.11618422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.268040942 meters 0.017114105891239906 Centerline is valid? [True, True] Translation: X:37.27, Y:1.10, Z:1.12 [[ 9.94635503e-01 -9.81786257e-02 -3.25756609e-02 3.72736325e+01] [ 9.81274329e-02 9.95168808e-01 -3.17038085e-03 1.10344660e+00] [ 3.27295452e-02 -4.31926199e-05 9.99464244e-01 1.11809766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.328040941999994 meters 0.016954950552086925 Centerline is valid? [True, True] Translation: X:37.33, Y:1.10, Z:1.12 [[ 9.94449178e-01 -9.99852660e-02 -3.27685524e-02 3.73319041e+01] [ 9.99341428e-02 9.94988913e-01 -3.19833866e-03 1.10329384e+00] [ 3.29241331e-02 -9.41119419e-05 9.99457849e-01 1.12059029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.388040941999996 meters 0.017056329800450624 Centerline is valid? [True, True] Translation: X:37.39, Y:1.10, Z:1.12 [[ 9.94080786e-01 -1.04213166e-01 -3.07084176e-02 3.73914180e+01] [ 1.04170207e-01 9.94554960e-01 -2.99981556e-03 1.09943157e+00] [ 3.08538293e-02 -2.16843215e-04 9.99523884e-01 1.12442912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.448040942 meters 0.017015684356998545 Centerline is valid? [True, True] Translation: X:37.45, Y:1.10, Z:1.13 [[ 9.93808110e-01 -1.06766242e-01 -3.07637785e-02 3.74504523e+01] [ 1.06724125e-01 9.94284107e-01 -3.01251415e-03 1.10222891e+00] [ 3.09095709e-02 -2.89376361e-04 9.99522143e-01 1.12568328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.508040941999994 meters 0.016987918351966624 Centerline is valid? [True, True] Translation: X:37.51, Y:1.10, Z:1.13 [[ 9.93691746e-01 -1.07723937e-01 -3.11812001e-02 3.75079777e+01] [ 1.07680887e-01 9.94180795e-01 -3.06147611e-03 1.10474238e+00] [ 3.13295446e-02 -3.15455749e-04 9.99509060e-01 1.12585527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.568040941999996 meters 0.01687952569563249 Centerline is valid? [True, True] Translation: X:37.57, Y:1.11, Z:1.13 [[ 9.93806449e-01 -1.06672613e-01 -3.11399501e-02 3.75670298e+01] [ 1.06629072e-01 9.94294160e-01 -3.06029432e-03 1.10847103e+00] [ 3.12887201e-02 -2.79083740e-04 9.99510349e-01 1.12760096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.628040942 meters 0.01654988026009005 Centerline is valid? [True, True] Translation: X:37.63, Y:1.11, Z:1.13 [[ 9.94129850e-01 -1.03202449e-01 -3.24822276e-02 3.76250399e+01] [ 1.03152949e-01 9.94660357e-01 -3.20048121e-03 1.11166334e+00] [ 3.26390816e-02 -1.68943660e-04 9.99467189e-01 1.12956200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.68804094199999 meters 0.016424934201141866 Centerline is valid? [True, True] Translation: X:37.68, Y:1.12, Z:1.13 [[ 9.94404897e-01 -1.00569403e-01 -3.23217504e-02 3.76827326e+01] [ 1.00518856e-01 9.94930042e-01 -3.18911023e-03 1.11821919e+00] [ 3.24786074e-02 -7.76785572e-05 9.99472428e-01 1.13107231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.748040941999996 meters 0.016295679436595514 Centerline is valid? [True, True] Translation: X:37.74, Y:1.12, Z:1.13 [[ 9.94804854e-01 -9.61872245e-02 -3.33364573e-02 3.77403669e+01] [ 9.61306718e-02 9.95363256e-01 -3.29879166e-03 1.12477490e+00] [ 3.34991863e-02 7.69979212e-05 9.99438742e-01 1.13190727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.808040942 meters 0.01635207211070234 Centerline is valid? [True, True] Translation: X:37.80, Y:1.13, Z:1.14 [[ 9.95013707e-01 -9.43536381e-02 -3.23282206e-02 3.77985476e+01] [ 9.42991909e-02 9.95538734e-01 -3.20815541e-03 1.12708082e+00] [ 3.24866969e-02 1.43633562e-04 9.99472158e-01 1.13568474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86804094199999 meters 0.01645774093442182 Centerline is valid? [True, True] Translation: X:37.86, Y:1.13, Z:1.14 [[ 9.95047529e-01 -9.44715032e-02 -3.09119861e-02 3.78556120e+01] [ 9.44215124e-02 9.95527556e-01 -3.07622102e-03 1.12944462e+00] [ 3.10643492e-02 1.42229643e-04 9.99517377e-01 1.13930252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.928040941999996 meters 0.016495516080065827 Centerline is valid? [True, True] Translation: X:37.91, Y:1.13, Z:1.14 [[ 9.94941493e-01 -9.58700297e-02 -3.00060390e-02 3.79131508e+01] [ 9.58234562e-02 9.95393856e-01 -2.98959217e-03 1.13371124e+00] [ 3.01544392e-02 9.91869237e-05 9.99545247e-01 1.14023023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.988040942 meters 0.0162628335140897 Centerline is valid? [True, True] Translation: X:37.97, Y:1.13, Z:1.14 [[ 9.94763350e-01 -9.67286912e-02 -3.30066431e-02 3.79714873e+01] [ 9.66724738e-02 9.95310782e-01 -3.29859019e-03 1.13330326e+00] [ 3.31709361e-02 9.04827865e-05 9.99449689e-01 1.14020103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04804094199999 meters 0.017954647383726527 Centerline is valid? [True, True] Translation: X:38.03, Y:1.14, Z:1.14 [[ 9.94603069e-01 -9.87000844e-02 -3.19848316e-02 3.80292753e+01] [ 9.86480288e-02 9.95117225e-01 -3.20533084e-03 1.13514578e+00] [ 3.21450233e-02 3.27913010e-05 9.99483215e-01 1.14062574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.108040941999995 meters 0.01625518191532305 Centerline is valid? [True, True] Translation: X:38.09, Y:1.14, Z:1.14 [[ 9.94497262e-01 -9.95694831e-02 -3.25747321e-02 3.80868307e+01] [ 9.95156403e-02 9.95030612e-01 -3.27406440e-03 1.14078231e+00] [ 3.27388525e-02 1.43527513e-05 9.99463940e-01 1.14314680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.168040942 meters 0.016214867138055426 Centerline is valid? [True, True] Translation: X:38.15, Y:1.14, Z:1.14 [[ 9.94237293e-01 -1.01447321e-01 -3.46503319e-02 3.81451326e+01] [ 1.01387197e-01 9.94840912e-01 -3.49238733e-03 1.13944218e+00] [ 3.48258612e-02 -4.08383111e-05 9.99393395e-01 1.14441861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22804094199999 meters 0.016276292624227574 Centerline is valid? [True, True] Translation: X:38.20, Y:1.14, Z:1.15 [[ 9.93936154e-01 -1.04401275e-01 -3.45151390e-02 3.82034269e+01] [ 1.04343270e-01 9.94535245e-01 -3.48248774e-03 1.14064409e+00] [ 3.46900984e-02 -1.40052000e-04 9.99398108e-01 1.14654561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.288040941999995 meters 0.0162488057078535 Centerline is valid? [True, True] Translation: X:38.26, Y:1.15, Z:1.15 [[ 9.93885338e-01 -1.04971287e-01 -3.42485633e-02 3.82611591e+01] [ 1.04914189e-01 9.94475242e-01 -3.46502432e-03 1.14555879e+00] [ 3.44230764e-02 -1.49323375e-04 9.99407339e-01 1.14712430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.348040942 meters 0.016381287709276535 Centerline is valid? [True, True] Translation: X:38.32, Y:1.15, Z:1.15 [[ 9.93846909e-01 -1.05638528e-01 -3.32989866e-02 3.83191070e+01] [ 1.05584631e-01 9.94404584e-01 -3.37781785e-03 1.14698187e+00] [ 3.34694926e-02 -1.58827371e-04 9.99439727e-01 1.15063100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40804094199999 meters 0.016472081858661308 Centerline is valid? [True, True] Translation: X:38.38, Y:1.15, Z:1.15 [[ 9.93724143e-01 -1.06657212e-01 -3.37130157e-02 3.83773998e+01] [ 1.06602239e-01 9.94295833e-01 -3.42901140e-03 1.14851566e+00] [ 3.38864399e-02 -1.86391563e-04 9.99425672e-01 1.15286296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.468040941999995 meters 0.01666282192777135 Centerline is valid? [True, True] Translation: X:38.44, Y:1.15, Z:1.15 [[ 9.93672036e-01 -1.06667543e-01 -3.51841037e-02 3.84357270e+01] [ 1.06607356e-01 9.94294725e-01 -3.58760468e-03 1.15027811e+00] [ 3.53660497e-02 -1.85981831e-04 9.99374408e-01 1.15395654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.528040942 meters 0.016688093696777276 Centerline is valid? [True, True] Translation: X:38.49, Y:1.15, Z:1.16 [[ 9.93867585e-01 -1.04861558e-01 -3.50895470e-02 3.84930480e+01] [ 1.04800468e-01 9.94486822e-01 -3.58082826e-03 1.15404836e+00] [ 3.52715833e-02 -1.18531818e-04 9.99377757e-01 1.15653995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58804094199999 meters 0.016610817405687497 Centerline is valid? [True, True] Translation: X:38.55, Y:1.16, Z:1.16 [[ 9.93922204e-01 -1.04414604e-01 -3.48746609e-02 3.85508799e+01] [ 1.04353857e-01 9.94533851e-01 -3.56252683e-03 1.15970206e+00] [ 3.50560106e-02 -9.84308743e-05 9.99385344e-01 1.15939790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.648040941999994 meters 0.016629144376395157 Centerline is valid? [True, True] Translation: X:38.61, Y:1.16, Z:1.16 [[ 9.94002866e-01 -1.03974763e-01 -3.38755237e-02 3.86087944e+01] [ 1.03916875e-01 9.94579933e-01 -3.46979605e-03 1.16168566e+00] [ 3.40526874e-02 -7.12513581e-05 9.99420037e-01 1.16291701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.708040942 meters 0.01662473576066818 Centerline is valid? [True, True] Translation: X:38.67, Y:1.16, Z:1.17 [[ 9.94126580e-01 -1.02906891e-01 -3.35039628e-02 3.86670047e+01] [ 1.02849347e-01 9.94690993e-01 -3.44103700e-03 1.16249469e+00] [ 3.36801965e-02 -2.50343602e-05 9.99432661e-01 1.16685288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.768040942 meters 0.016695679429945647 Centerline is valid? [True, True] Translation: X:38.72, Y:1.17, Z:1.17 [[ 9.94039558e-01 -1.03385968e-01 -3.45933365e-02 3.87247920e+01] [ 1.03324563e-01 9.94641312e-01 -3.56287979e-03 1.16687266e+00] [ 3.47763134e-02 -3.26979362e-05 9.99395121e-01 1.16635430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.828040941999994 meters 0.016862248162325223 Centerline is valid? [True, True] Translation: X:38.78, Y:1.17, Z:1.17 [[ 9.93886601e-01 -1.04532027e-01 -3.55313995e-02 3.87826589e+01] [ 1.04467618e-01 9.94521519e-01 -3.66954533e-03 1.16859361e+00] [ 3.57203264e-02 -6.47687349e-05 9.99361823e-01 1.16778121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.888040941999996 meters 0.017209037487227796 Centerline is valid? [True, True] Translation: X:38.84, Y:1.17, Z:1.17 [[ 9.93493074e-01 -1.07717149e-01 -3.69936063e-02 3.88406085e+01] [ 1.07649186e-01 9.94181565e-01 -3.82993946e-03 1.16697264e+00] [ 3.71909115e-02 -1.77313270e-04 9.99308163e-01 1.16930547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.948040942 meters 0.017638156630716318 Centerline is valid? [True, True] Translation: X:38.90, Y:1.17, Z:1.17 [[ 9.93238638e-01 -1.10311499e-01 -3.61715420e-02 3.88986043e+01] [ 1.10248133e-01 9.93897028e-01 -3.74785128e-03 1.17354617e+00] [ 3.63642192e-02 -2.65334268e-04 9.99338568e-01 1.17061024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.008040941999994 meters 0.01750624629941801 Centerline is valid? [True, True] Translation: X:38.96, Y:1.18, Z:1.17 [[ 9.93155095e-01 -1.10910620e-01 -3.66304826e-02 3.89562600e+01] [ 1.10845881e-01 9.93830344e-01 -3.79979336e-03 1.18159974e+00] [ 3.68259226e-02 -2.86553998e-04 9.99321655e-01 1.17310747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.068040941999996 meters 0.017952318261170237 Centerline is valid? [True, True] Translation: X:39.01, Y:1.19, Z:1.18 [[ 9.92718466e-01 -1.14712570e-01 -3.67569589e-02 3.90149073e+01] [ 1.14649597e-01 9.93398637e-01 -3.82345099e-03 1.18662369e+00] [ 3.69529108e-02 -4.18560132e-04 9.99316920e-01 1.17588455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.128040942 meters 0.019034434186129254 Centerline is valid? [True, True] Translation: X:39.07, Y:1.19, Z:1.18 [[ 9.92054366e-01 -1.19792245e-01 -3.84441604e-02 3.90730684e+01] [ 1.19726825e-01 9.92798784e-01 -4.00777777e-03 1.19080517e+00] [ 3.86474164e-02 -6.26863848e-04 9.99252713e-01 1.17633622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.18804094199999 meters 0.01907836037266818 Centerline is valid? [True, True] Translation: X:39.13, Y:1.20, Z:1.18 [[ 9.91822333e-01 -1.21399046e-01 -3.93793245e-02 3.91311528e+01] [ 1.21331471e-01 9.92603536e-01 -4.11027261e-03 1.19902486e+00] [ 3.95870399e-02 -7.01291190e-04 9.99215880e-01 1.17744975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.248040941999996 meters 0.020121540884109727 Centerline is valid? [True, True] Translation: X:39.19, Y:1.21, Z:1.18 [[ 9.91391657e-01 -1.24457055e-01 -4.06573961e-02 3.91884280e+01] [ 1.24387220e-01 9.92224639e-01 -4.25272492e-03 1.20848724e+00] [ 4.08705518e-02 -8.41144473e-04 9.99164096e-01 1.17653924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.308040942 meters 0.021148234813920374 Centerline is valid? [True, True] Translation: X:39.25, Y:1.21, Z:1.18 [[ 9.91054914e-01 -1.27029515e-01 -4.09103865e-02 3.92464527e+01] [ 1.26960845e-01 9.91898483e-01 -4.28287679e-03 1.21443147e+00] [ 4.11230020e-02 -9.49451133e-04 9.99153640e-01 1.17967585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36804094199999 meters 0.020887381082118107 Centerline is valid? [True, True] Translation: X:39.30, Y:1.22, Z:1.18 [[ 9.91066548e-01 -1.27202879e-01 -4.00814782e-02 3.93035507e+01] [ 1.27136889e-01 9.91876282e-01 -4.20146780e-03 1.22289376e+00] [ 4.02903064e-02 -9.31900250e-04 9.99187581e-01 1.18284041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.428040941999996 meters 0.02044811122321001 Centerline is valid? [True, True] Translation: X:39.36, Y:1.23, Z:1.19 [[ 9.91433122e-01 -1.25137613e-01 -3.74291743e-02 3.93615091e+01] [ 1.25078221e-01 9.92139086e-01 -3.93344603e-03 1.23369599e+00] [ 3.76271689e-02 -7.81825863e-04 9.99291541e-01 1.18586536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.488040942 meters 0.019766130133065794 Centerline is valid? [True, True] Translation: X:39.42, Y:1.24, Z:1.19 [[ 9.91903010e-01 -1.21428927e-01 -3.71945368e-02 3.94199562e+01] [ 1.21367323e-01 9.92599930e-01 -3.91809526e-03 1.24410820e+00] [ 3.73950647e-02 -6.27830870e-04 9.99300363e-01 1.18627704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54804094199999 meters 0.01930201789231614 Centerline is valid? [True, True] Translation: X:39.48, Y:1.25, Z:1.19 [[ 9.92362617e-01 -1.17754502e-01 -3.67466117e-02 3.94770655e+01] [ 1.17691554e-01 9.93042623e-01 -3.87903995e-03 1.25063429e+00] [ 3.69477261e-02 -4.75351595e-04 9.99317087e-01 1.18923093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.608040941999995 meters 0.019229387068510195 Centerline is valid? [True, True] Translation: X:39.54, Y:1.26, Z:1.19 [[ 9.92557584e-01 -1.16319826e-01 -3.60436019e-02 3.95356497e+01] [ 1.16258175e-01 9.93211725e-01 -3.80877903e-03 1.25858112e+00] [ 3.62419645e-02 -4.09930857e-04 9.99342960e-01 1.19064394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.668040942 meters 0.018937691918642533 Centerline is valid? [True, True] Translation: X:39.59, Y:1.27, Z:1.19 [[ 9.92763014e-01 -1.14694999e-01 -3.55900983e-02 3.95943226e+01] [ 1.14633538e-01 9.93400696e-01 -3.76945559e-03 1.26792100e+00] [ 3.57875661e-02 -3.37642788e-04 9.99359363e-01 1.19122100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72804094199999 meters 0.019364193877167615 Centerline is valid? [True, True] Translation: X:39.65, Y:1.27, Z:1.19 [[ 9.92572218e-01 -1.16537777e-01 -3.49190308e-02 3.96521703e+01] [ 1.16479481e-01 9.93186184e-01 -3.70607309e-03 1.27025687e+00] [ 3.51129965e-02 -3.88805410e-04 9.99383273e-01 1.19440578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.788040941999995 meters 0.02004564865576129 Centerline is valid? [True, True] Translation: X:39.71, Y:1.28, Z:1.20 [[ 9.92092019e-01 -1.21053498e-01 -3.31583677e-02 3.97109270e+01] [ 1.21003351e-01 9.92645849e-01 -3.52228162e-03 1.27627921e+00] [ 3.33409005e-02 -5.17846132e-04 9.99443903e-01 1.19600626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.848040942 meters 0.020817973303720035 Centerline is valid? [True, True] Translation: X:39.77, Y:1.28, Z:1.20 [[ 9.91846868e-01 -1.23265714e-01 -3.23319266e-02 3.97686509e+01] [ 1.23218970e-01 9.92373538e-01 -3.44189749e-03 1.28027301e+00] [ 3.25096164e-02 -5.70071451e-04 9.99471260e-01 1.19824076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90804094199999 meters 0.02009561687447233 Centerline is valid? [True, True] Translation: X:39.83, Y:1.29, Z:1.20 [[ 9.91663562e-01 -1.25050012e-01 -3.10785104e-02 3.98270781e+01] [ 1.25007617e-01 9.92150257e-01 -3.31106204e-03 1.28816237e+00] [ 3.12486004e-02 -6.01590956e-04 9.99511462e-01 1.20055020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.968040941999995 meters 0.022957777156878943 Centerline is valid? [True, True] Translation: X:39.88, Y:1.29, Z:1.20 [[ 9.91592810e-01 -1.25501272e-01 -3.15139695e-02 3.98847385e+01] [ 1.25457649e-01 9.92093267e-01 -3.36560929e-03 1.28954942e+00] [ 3.16871852e-02 -6.16354564e-04 9.99497645e-01 1.20046828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.028040942 meters 0.02064773220746909 Centerline is valid? [True, True] Translation: X:39.94, Y:1.30, Z:1.20 [[ 9.91477475e-01 -1.25926907e-01 -3.33890679e-02 3.99416914e+01] [ 1.25877938e-01 9.92039303e-01 -3.57305856e-03 1.30140272e+00] [ 3.35732119e-02 -6.60339929e-04 9.99436043e-01 1.20120198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08804094199999 meters 0.020946951390155982 Centerline is valid? [True, True] Translation: X:40.00, Y:1.31, Z:1.20 [[ 9.91377897e-01 -1.26411993e-01 -3.44945530e-02 3.99989626e+01] [ 1.26359696e-01 9.91977586e-01 -3.70071487e-03 1.30688136e+00] [ 3.46856382e-02 -6.89914300e-04 9.99398034e-01 1.20220787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.148040941999994 meters 0.02042076588665564 Centerline is valid? [True, True] Translation: X:40.06, Y:1.31, Z:1.21 [[ 9.91223734e-01 -1.27903744e-01 -3.34086971e-02 4.00569988e+01] [ 1.27855424e-01 9.91786328e-01 -3.58749144e-03 1.31466815e+00] [ 3.35931426e-02 -7.15476466e-04 9.99435335e-01 1.20510236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.208040942 meters 0.021143414537303205 Centerline is valid? [True, True] Translation: X:40.12, Y:1.32, Z:1.21 [[ 9.90868728e-01 -1.30743294e-01 -3.29447185e-02 4.01159655e+01] [ 1.30697600e-01 9.91415939e-01 -3.54594813e-03 1.32005806e+00] [ 3.31255279e-02 -7.92226537e-04 9.99450885e-01 1.20665767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26804094199999 meters 0.02157649474384465 Centerline is valid? [True, True] Translation: X:40.18, Y:1.32, Z:1.21 [[ 9.90768486e-01 -1.31690859e-01 -3.21764647e-02 4.01750898e+01] [ 1.31647515e-01 9.91290514e-01 -3.47118738e-03 1.32465156e+00] [ 3.23533479e-02 -7.96808553e-04 9.99476176e-01 1.20918957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.328040941999994 meters 0.021847308096152554 Centerline is valid? [True, True] Translation: X:40.23, Y:1.33, Z:1.21 [[ 9.90781592e-01 -1.31947974e-01 -3.06849820e-02 4.02327183e+01] [ 1.31908454e-01 9.91256351e-01 -3.31755369e-03 1.33046127e+00] [ 3.08544278e-02 -7.60637429e-04 9.99523599e-01 1.21310040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.388040941999996 meters 0.02172650026685666 Centerline is valid? [True, True] Translation: X:40.29, Y:1.34, Z:1.21 [[ 9.90759573e-01 -1.32128213e-01 -3.06203034e-02 4.02903540e+01] [ 1.32088682e-01 9.91232346e-01 -3.31912017e-03 1.33991237e+00] [ 3.07903846e-02 -7.56145419e-04 9.99525578e-01 1.21400597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.448040942 meters 0.022180235985898945 Centerline is valid? [True, True] Translation: X:40.35, Y:1.34, Z:1.22 [[ 9.90601662e-01 -1.33012851e-01 -3.18736266e-02 4.03494785e+01] [ 1.32970178e-01 9.91113985e-01 -3.46422722e-03 1.34438791e+00] [ 3.20511838e-02 -8.06572563e-04 9.99485903e-01 1.21647204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.508040941999994 meters 0.023425127575623417 Centerline is valid? [True, True] Translation: X:40.41, Y:1.35, Z:1.22 [[ 9.90497661e-01 -1.33622924e-01 -3.25468431e-02 4.04079002e+01] [ 1.33578495e-01 9.91031894e-01 -3.54544090e-03 1.35034100e+00] [ 3.27287118e-02 -8.35807397e-04 9.99463923e-01 1.21681769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.568040941999996 meters 0.021472819868342395 Centerline is valid? [True, True] Translation: X:40.46, Y:1.36, Z:1.22 [[ 9.90485520e-01 -1.33609065e-01 -3.29704713e-02 4.04647071e+01] [ 1.33563195e-01 9.91033761e-01 -3.59968558e-03 1.36219891e+00] [ 3.31558008e-02 -8.38205038e-04 9.99449844e-01 1.21883511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.628040942 meters 0.0235257098968827 Centerline is valid? [True, True] Translation: X:40.52, Y:1.37, Z:1.22 [[ 9.90670714e-01 -1.32176490e-01 -3.31800011e-02 4.05229394e+01] [ 1.32128915e-01 9.91225886e-01 -3.63205603e-03 1.36763396e+00] [ 3.33689484e-02 -7.85866007e-04 9.99442793e-01 1.21925190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.68804094199999 meters 0.02231304034102796 Centerline is valid? [True, True] Translation: X:40.58, Y:1.38, Z:1.22 [[ 9.90680911e-01 -1.32176361e-01 -3.28746461e-02 4.05800217e+01] [ 1.32129390e-01 9.91225916e-01 -3.60675514e-03 1.37748123e+00] [ 3.30629290e-02 -7.70563459e-04 9.99452975e-01 1.22231462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.748040941999996 meters 0.02270253600806423 Centerline is valid? [True, True] Translation: X:40.64, Y:1.38, Z:1.22 [[ 9.90500571e-01 -1.33484358e-01 -3.30234048e-02 4.06388005e+01] [ 1.33437377e-01 9.91050590e-01 -3.63239046e-03 1.38453467e+00] [ 3.32127321e-02 -8.08671691e-04 9.99447978e-01 1.22410915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.808040942 meters 0.022862833801866326 Centerline is valid? [True, True] Translation: X:40.70, Y:1.39, Z:1.23 [[ 9.90366408e-01 -1.34557568e-01 -3.26900508e-02 4.06973511e+01] [ 1.34511850e-01 9.90905432e-01 -3.60378435e-03 1.39227046e+00] [ 3.28776653e-02 -8.28132233e-04 9.99459040e-01 1.22718491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86804094199999 meters 0.0221910541403042 Centerline is valid? [True, True] Translation: X:40.76, Y:1.40, Z:1.23 [[ 9.90414353e-01 -1.34333613e-01 -3.21541588e-02 4.07550655e+01] [ 1.34289010e-01 9.90935841e-01 -3.55252661e-03 1.40262613e+00] [ 3.23399321e-02 -7.99476817e-04 9.99476608e-01 1.22967147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.928040941999996 meters 0.02235136742324846 Centerline is valid? [True, True] Translation: X:40.81, Y:1.41, Z:1.23 [[ 9.90429801e-01 -1.34492808e-01 -3.09918333e-02 4.08121111e+01] [ 1.34451222e-01 9.90914272e-01 -3.43141142e-03 1.41103554e+00] [ 3.11717501e-02 -7.68317726e-04 9.99513748e-01 1.23210735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.988040942 meters 0.022905272916050125 Centerline is valid? [True, True] Translation: X:40.87, Y:1.42, Z:1.23 [[ 9.90271885e-01 -1.35294541e-01 -3.25112521e-02 4.08695592e+01] [ 1.35248914e-01 9.90805081e-01 -3.60866747e-03 1.41879133e+00] [ 3.27005468e-02 -8.23549587e-04 9.99464855e-01 1.23282830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04804094199999 meters 0.023299333294507892 Centerline is valid? [True, True] Translation: X:40.93, Y:1.43, Z:1.23 [[ 9.90354917e-01 -1.34986429e-01 -3.12378383e-02 4.09271702e+01] [ 1.34944073e-01 9.90847141e-01 -3.46986004e-03 1.42801679e+00] [ 3.14203068e-02 -7.78968171e-04 9.99505957e-01 1.23467313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.108040941999995 meters 0.024539012344602845 Centerline is valid? [True, True] Translation: X:40.98, Y:1.44, Z:1.24 [[ 9.90317079e-01 -1.35419895e-01 -3.05537918e-02 4.09848088e+01] [ 1.35379505e-01 9.90787997e-01 -3.39632624e-03 1.43562292e+00] [ 3.07322603e-02 -7.72917314e-04 9.99527354e-01 1.23554320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.168040942 meters 0.02349639679010528 Centerline is valid? [True, True] Translation: X:41.04, Y:1.45, Z:1.24 [[ 9.90350918e-01 -1.35072357e-01 -3.09922214e-02 4.10423256e+01] [ 1.35030369e-01 9.90835442e-01 -3.45339851e-03 1.44879349e+00] [ 3.11746500e-02 -7.64814697e-04 9.99513660e-01 1.23679588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22804094199999 meters 0.02214416444320585 Centerline is valid? [True, True] Translation: X:41.10, Y:1.46, Z:1.24 [[ 9.90490756e-01 -1.33877448e-01 -3.17000141e-02 4.11006838e+01] [ 1.33832648e-01 9.90997622e-01 -3.54043547e-03 1.45945368e+00] [ 3.18886230e-02 -7.35728205e-04 9.99491158e-01 1.23821606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.288040941999995 meters 0.02046062078212048 Centerline is valid? [True, True] Translation: X:41.16, Y:1.47, Z:1.24 [[ 9.90918085e-01 -1.30705247e-01 -3.15830286e-02 4.11587479e+01] [ 1.30658909e-01 9.91421076e-01 -3.53546155e-03 1.47207145e+00] [ 3.17741836e-02 -6.23251280e-04 9.99494879e-01 1.24088025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.348040942 meters 0.019851955814242084 Centerline is valid? [True, True] Translation: X:41.22, Y:1.48, Z:1.24 [[ 9.91157506e-01 -1.29075860e-01 -3.07606992e-02 4.12171000e+01] [ 1.29030884e-01 9.91634570e-01 -3.45101822e-03 1.48360257e+00] [ 3.09488158e-02 -5.48577600e-04 9.99520820e-01 1.24347605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40804094199999 meters 0.019915632449774654 Centerline is valid? [True, True] Translation: X:41.27, Y:1.49, Z:1.25 [[ 9.91235178e-01 -1.28478066e-01 -3.07605154e-02 4.12746141e+01] [ 1.28432575e-01 9.91712213e-01 -3.45837191e-03 1.49344522e+00] [ 3.09499037e-02 -5.22592294e-04 9.99520800e-01 1.24524433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.468040941999995 meters 0.01979866636726303 Centerline is valid? [True, True] Translation: X:41.33, Y:1.50, Z:1.25 [[ 9.91288721e-01 -1.28140176e-01 -3.04428343e-02 4.13316700e+01] [ 1.28095336e-01 9.91755939e-01 -3.42670974e-03 1.50432322e+00] [ 3.06309609e-02 -5.02726363e-04 9.99530636e-01 1.24644511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.528040942 meters 0.0196308013950937 Centerline is valid? [True, True] Translation: X:41.39, Y:1.52, Z:1.25 [[ 9.91352387e-01 -1.27315667e-01 -3.17988373e-02 4.13896111e+01] [ 1.27266013e-01 9.91862128e-01 -3.58890124e-03 1.51641306e+00] [ 3.19969858e-02 -4.89045421e-04 9.99487846e-01 1.24657462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58804094199999 meters 0.019657463620334128 Centerline is valid? [True, True] Translation: X:41.45, Y:1.53, Z:1.25 [[ 9.91190190e-01 -1.28109422e-01 -3.36152137e-02 4.14480391e+01] [ 1.28054088e-01 9.91759895e-01 -3.80276580e-03 1.52624524e+00] [ 3.38253909e-02 -5.35301391e-04 9.99427614e-01 1.24652862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.648040941999994 meters 0.019538920372458614 Centerline is valid? [True, True] Translation: X:41.51, Y:1.54, Z:1.25 [[ 9.91012213e-01 -1.29569315e-01 -3.32653782e-02 4.15062843e+01] [ 1.29515673e-01 9.91570203e-01 -3.77144460e-03 1.53598358e+00] [ 3.34736213e-02 -5.70840182e-04 9.99439438e-01 1.24832906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.708040942 meters 0.020048109129121 Centerline is valid? [True, True] Translation: X:41.56, Y:1.55, Z:1.25 [[ 9.90720704e-01 -1.31942508e-01 -3.26138152e-02 4.15635808e+01] [ 1.31891971e-01 9.91257170e-01 -3.70552932e-03 1.54658529e+00] [ 3.28175950e-02 -6.30355732e-04 9.99461159e-01 1.25025489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76804094199999 meters 0.021093302033639533 Centerline is valid? [True, True] Translation: X:41.62, Y:1.56, Z:1.25 [[ 9.90482514e-01 -1.33760541e-01 -3.24423691e-02 4.16214303e+01] [ 1.33711359e-01 9.91013447e-01 -3.69058315e-03 1.55680711e+00] [ 3.26444785e-02 -6.82455203e-04 9.99466794e-01 1.25210373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.828040941999994 meters 0.021105101093530913 Centerline is valid? [True, True] Translation: X:41.68, Y:1.57, Z:1.25 [[ 9.90370356e-01 -1.34686235e-01 -3.20339817e-02 4.16796684e+01] [ 1.34638515e-01 9.90888053e-01 -3.65197579e-03 1.56644894e+00] [ 3.22339606e-02 -6.96199161e-04 9.99480108e-01 1.25448022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.888040941999996 meters 0.020621404978057895 Centerline is valid? [True, True] Translation: X:41.74, Y:1.58, Z:1.26 [[ 9.90554448e-01 -1.33577978e-01 -3.09646509e-02 4.17362656e+01] [ 1.33532621e-01 9.91038105e-01 -3.53741997e-03 1.58100315e+00] [ 3.11596704e-02 -6.30783896e-04 9.99514221e-01 1.25571484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.948040942 meters 0.020009462502070148 Centerline is valid? [True, True] Translation: X:41.79, Y:1.60, Z:1.26 [[ 9.90968291e-01 -1.30421093e-01 -3.11798865e-02 4.17942152e+01] [ 1.30373453e-01 9.91458549e-01 -3.56478930e-03 1.59619993e+00] [ 3.13784888e-02 -5.32436319e-04 9.99507432e-01 1.25669235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.008040941999994 meters 0.019242221060167878 Centerline is valid? [True, True] Translation: X:41.85, Y:1.61, Z:1.26 [[ 9.91546345e-01 -1.26037146e-01 -3.08299024e-02 4.18510428e+01] [ 1.25988239e-01 9.92025449e-01 -3.53157314e-03 1.61183206e+00] [ 3.10291572e-02 -3.82486674e-04 9.99518407e-01 1.25800536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.068040941999996 meters 0.021373897225633782 Centerline is valid? [True, True] Translation: X:41.91, Y:1.63, Z:1.26 [[ 9.91861126e-01 -1.23427258e-01 -3.12604967e-02 4.19083088e+01] [ 1.23375443e-01 9.92353578e-01 -3.58839850e-03 1.62666347e+00] [ 3.14643720e-02 -2.97584664e-04 9.99504830e-01 1.25753839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.128040942 meters 0.01763714042671282 Centerline is valid? [True, True] Translation: X:41.97, Y:1.64, Z:1.26 [[ 9.92611220e-01 -1.17927681e-01 -2.85661967e-02 4.19657071e+01] [ 1.17881962e-01 9.93022180e-01 -3.28519130e-03 1.64385257e+00] [ 2.87542820e-02 -1.06521570e-04 9.99586504e-01 1.26163206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.18804094199999 meters 0.017562328453761933 Centerline is valid? [True, True] Translation: X:42.02, Y:1.66, Z:1.26 [[ 9.93140589e-01 -1.13513522e-01 -2.80437467e-02 4.20220539e+01] [ 1.13467510e-01 9.93536451e-01 -3.23183046e-03 1.65924408e+00] [ 2.82293410e-02 2.76079066e-05 9.99601472e-01 1.26246373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.248040941999996 meters 0.01754852156365551 Centerline is valid? [True, True] Translation: X:42.08, Y:1.67, Z:1.26 [[ 9.93586470e-01 -1.09583085e-01 -2.78832132e-02 4.20794383e+01] [ 1.09535830e-01 9.93977629e-01 -3.22116261e-03 1.67303924e+00] [ 2.80682751e-02 1.46292689e-04 9.99605998e-01 1.26279466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.308040942 meters 0.018696160657399468 Centerline is valid? [True, True] Translation: X:42.14, Y:1.68, Z:1.26 [[ 9.93766664e-01 -1.07903609e-01 -2.80112199e-02 4.21370743e+01] [ 1.07855045e-01 9.94161340e-01 -3.24330770e-03 1.68174236e+00] [ 2.81976366e-02 2.01939698e-04 9.99602347e-01 1.26356403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36804094199999 meters 0.018010005393212597 Centerline is valid? [True, True] Translation: X:42.20, Y:1.69, Z:1.27 [[ 9.93995779e-01 -1.06112937e-01 -2.66914802e-02 4.21956069e+01] [ 1.06068119e-01 9.94354054e-01 -3.09336456e-03 1.68995013e+00] [ 2.68690275e-02 2.43676217e-04 9.99638933e-01 1.26658429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.428040941999996 meters 0.018367571991590566 Centerline is valid? [True, True] Translation: X:42.25, Y:1.70, Z:1.27 [[ 9.94166260e-01 -1.04400053e-01 -2.70938394e-02 4.22529103e+01] [ 1.04353035e-01 9.94535338e-01 -3.14741023e-03 1.69941404e+00] [ 2.72743705e-02 3.01724693e-04 9.99627940e-01 1.26607617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.488040942 meters 0.01842928210888859 Centerline is valid? [True, True] Translation: X:42.31, Y:1.71, Z:1.27 [[ 9.94380220e-01 -1.02181530e-01 -2.76931953e-02 4.23117997e+01] [ 1.02131493e-01 9.94765699e-01 -3.21900344e-03 1.70510793e+00] [ 2.78771634e-02 3.72565972e-04 9.99611287e-01 1.26669744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54804094199999 meters 0.019716122249318183 Centerline is valid? [True, True] Translation: X:42.37, Y:1.71, Z:1.27 [[ 9.94577459e-01 -1.00395592e-01 -2.71367468e-02 4.23686373e+01] [ 1.00346685e-01 9.94947510e-01 -3.16154510e-03 1.71232636e+00] [ 2.73170439e-02 4.21318919e-04 9.99626731e-01 1.26881811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.608040941999995 meters 0.019844305162693 Centerline is valid? [True, True] Translation: X:42.43, Y:1.72, Z:1.27 [[ 9.94674012e-01 -9.97124589e-02 -2.60966481e-02 4.24270052e+01] [ 9.96669410e-02 9.95016203e-01 -3.04239093e-03 1.71952579e+00] [ 2.62699520e-02 4.25214102e-04 9.99654795e-01 1.27042168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.668040942 meters 0.019202865240612835 Centerline is valid? [True, True] Translation: X:42.49, Y:1.72, Z:1.27 [[ 9.94615000e-01 -1.00404707e-01 -2.56884688e-02 4.24852679e+01] [ 1.00360681e-01 9.94946596e-01 -3.00066614e-03 1.72363418e+00] [ 2.58599356e-02 4.06395323e-04 9.99665493e-01 1.27111674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72804094199999 meters 0.01848109143668208 Centerline is valid? [True, True] Translation: X:42.54, Y:1.72, Z:1.27 [[ 9.94430067e-01 -1.02050191e-01 -2.63552867e-02 4.25443715e+01] [ 1.02004214e-01 9.94779178e-01 -3.08655616e-03 1.72402703e+00] [ 2.65326740e-02 3.81013942e-04 9.99647874e-01 1.27263217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.788040941999995 meters 0.0183141925569663 Centerline is valid? [True, True] Translation: X:42.60, Y:1.73, Z:1.27 [[ 9.93999599e-01 -1.06335407e-01 -2.56432734e-02 4.26028156e+01] [ 1.06293139e-01 9.94330282e-01 -3.00970009e-03 1.72772178e+00] [ 2.58179209e-02 2.65936671e-04 9.99666627e-01 1.27283133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.848040942 meters 0.017757441036219648 Centerline is valid? [True, True] Translation: X:42.66, Y:1.73, Z:1.27 [[ 9.93215119e-01 -1.13200562e-01 -2.66338348e-02 4.26624143e+01] [ 1.13157236e-01 9.93572153e-01 -3.13315437e-03 1.72582901e+00] [ 2.68173115e-02 9.80851503e-05 9.99640346e-01 1.27344885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90804094199999 meters 0.01925011974984973 Centerline is valid? [True, True] Translation: X:42.72, Y:1.72, Z:1.27 [[ 9.92622279e-01 -1.18097845e-01 -2.74574429e-02 4.27212175e+01] [ 1.18053472e-01 9.93001963e-01 -3.23718356e-03 1.72497715e+00] [ 2.76475991e-02 -2.81459576e-05 9.99617732e-01 1.27409178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.968040941999995 meters 0.017977269095095318 Centerline is valid? [True, True] Translation: X:42.78, Y:1.73, Z:1.28 [[ 9.91916827e-01 -1.23951353e-01 -2.71490255e-02 4.27789823e+01] [ 1.23909932e-01 9.92288279e-01 -3.20924831e-03 1.72564036e+00] [ 2.73374505e-02 -1.80726505e-04 9.99626246e-01 1.27817460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.028040942 meters 0.017978074790784115 Centerline is valid? [True, True] Translation: X:42.84, Y:1.73, Z:1.28 [[ 9.91840328e-01 -1.24873996e-01 -2.56758505e-02 4.28361462e+01] [ 1.24837205e-01 9.92172590e-01 -3.03714575e-03 1.73006740e+00] [ 2.58541357e-02 -1.92937791e-04 9.99665707e-01 1.28130364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08804094199999 meters 0.01812952469644497 Centerline is valid? [True, True] Translation: X:42.89, Y:1.73, Z:1.28 [[ 9.92018813e-01 -1.23515010e-01 -2.53518507e-02 4.28935767e+01] [ 1.23478657e-01 9.92342692e-01 -3.00044479e-03 1.73457121e+00] [ 2.55283237e-02 -1.53914785e-04 9.99674087e-01 1.28402146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.148040941999994 meters 0.017555354164313683 Centerline is valid? [True, True] Translation: X:42.95, Y:1.74, Z:1.29 [[ 9.92682639e-01 -1.18106047e-01 -2.51423803e-02 4.29521554e+01] [ 1.18068370e-01 9.93000988e-01 -2.98298303e-03 1.74100489e+00] [ 2.53187168e-02 -7.36440300e-06 9.99679430e-01 1.28744720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.208040942 meters 0.018477042684224055 Centerline is valid? [True, True] Translation: X:43.01, Y:1.75, Z:1.29 [[ 9.93636756e-01 -1.09792452e-01 -2.51319287e-02 4.30087491e+01] [ 1.09751965e-01 9.93954512e-01 -2.98887499e-03 1.75303303e+00] [ 2.53081499e-02 2.11577482e-04 9.99679675e-01 1.28828210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26804094199999 meters 0.02031608809858385 Centerline is valid? [True, True] Translation: X:43.07, Y:1.76, Z:1.29 [[ 9.94393032e-01 -1.02461356e-01 -2.61566112e-02 4.30670875e+01] [ 1.02414898e-01 9.94736898e-01 -3.11320622e-03 1.76077991e+00] [ 2.63379296e-02 4.16923910e-04 9.99653010e-01 1.29184126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.328040941999994 meters 0.02002444572513454 Centerline is valid? [True, True] Translation: X:43.13, Y:1.76, Z:1.29 [[ 9.94648330e-01 -9.98742475e-02 -2.64543949e-02 4.31260825e+01] [ 9.98257808e-02 9.94999946e-01 -3.14975028e-03 1.76451411e+00] [ 2.66367005e-02 4.92063227e-04 9.99645059e-01 1.29228226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.388040941999996 meters 0.020106605586902283 Centerline is valid? [True, True] Translation: X:43.18, Y:1.77, Z:1.29 [[ 9.94635851e-01 -9.98876421e-02 -2.68697448e-02 4.31839837e+01] [ 9.98374628e-02 9.94998594e-01 -3.20597430e-03 1.76795371e+00] [ 2.70555955e-02 5.06169829e-04 9.99633802e-01 1.29248634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.448040942 meters 0.01894643689452973 Centerline is valid? [True, True] Translation: X:43.24, Y:1.76, Z:1.30 [[ 9.94166397e-01 -1.04265712e-01 -2.76013794e-02 4.32438942e+01] [ 1.04214217e-01 9.94549394e-01 -3.30159349e-03 1.76379448e+00] [ 2.77951782e-02 4.05877165e-04 9.99613557e-01 1.29551648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.508040941999994 meters 0.018116794477729337 Centerline is valid? [True, True] Translation: X:43.30, Y:1.76, Z:1.30 [[ 9.93432785e-01 -1.11112023e-01 -2.73023936e-02 4.33037345e+01] [ 1.11064029e-01 9.93807864e-01 -3.27278372e-03 1.76086758e+00] [ 2.74969791e-02 2.18976816e-04 9.99621863e-01 1.29858364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.568040941999996 meters 0.0177995364952724 Centerline is valid? [True, True] Translation: X:43.36, Y:1.76, Z:1.30 [[ 9.92930424e-01 -1.15384222e-01 -2.78505788e-02 4.33625778e+01] [ 1.15335761e-01 9.93320930e-01 -3.34560754e-03 1.76107904e+00] [ 2.80505932e-02 1.09787827e-04 9.99606499e-01 1.30016560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.628040942 meters 0.01760687605726564 Centerline is valid? [True, True] Translation: X:43.42, Y:1.76, Z:1.30 [[ 9.92195603e-01 -1.21117259e-01 -2.96394220e-02 4.34223818e+01] [ 1.21064688e-01 9.92638206e-01 -3.56847463e-03 1.75767466e+00] [ 2.98534265e-02 -4.76625193e-05 9.99554286e-01 1.30142262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68804094199999 meters 0.017679295539543012 Centerline is valid? [True, True] Translation: X:43.48, Y:1.76, Z:1.30 [[ 9.91828036e-01 -1.23863844e-01 -3.05760621e-02 4.34810348e+01] [ 1.23808956e-01 9.92299215e-01 -3.68921640e-03 1.75979996e+00] [ 3.07975630e-02 -1.26522070e-04 9.99525635e-01 1.30202892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.748040941999996 meters 0.017804631388577696 Centerline is valid? [True, True] Translation: X:43.54, Y:1.76, Z:1.30 [[ 9.91552590e-01 -1.25176739e-01 -3.39741855e-02 4.35390384e+01] [ 1.25109388e-01 9.92134443e-01 -4.10948312e-03 1.75899712e+00] [ 3.42213713e-02 -1.75720916e-04 9.99414262e-01 1.30167736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.808040942 meters 0.017795542066757458 Centerline is valid? [True, True] Translation: X:43.60, Y:1.76, Z:1.30 [[ 9.91560956e-01 -1.24428509e-01 -3.63925240e-02 4.35972824e+01] [ 1.24350596e-01 9.92228563e-01 -4.40541624e-03 1.76058878e+00] [ 3.66578612e-02 -1.57193329e-04 9.99327862e-01 1.30095419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86804094199999 meters 0.01923645223281075 Centerline is valid? [True, True] Translation: X:43.66, Y:1.76, Z:1.30 [[ 9.91616487e-01 -1.23422639e-01 -3.82569589e-02 4.36550039e+01] [ 1.23335601e-01 9.92354190e-01 -4.63597041e-03 1.76486606e+00] [ 3.85366371e-02 -1.21340302e-04 9.99257181e-01 1.30198496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.928040941999996 meters 0.018074741554955254 Centerline is valid? [True, True] Translation: X:43.71, Y:1.77, Z:1.31 [[ 9.92394216e-01 -1.17242781e-01 -3.75213451e-02 4.37129445e+01] [ 1.17154232e-01 9.93103275e-01 -4.55761100e-03 1.77199849e+00] [ 3.77969177e-02 1.27162437e-04 9.99285433e-01 1.30834547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.988040942 meters 0.018424968919080097 Centerline is valid? [True, True] Translation: X:43.77, Y:1.78, Z:1.31 [[ 9.92607474e-01 -1.15095509e-01 -3.85152746e-02 4.37715126e+01] [ 1.15000159e-01 9.93354405e-01 -4.68938342e-03 1.77566551e+00] [ 3.87990446e-02 2.25454313e-04 9.99247008e-01 1.31151348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04804094199999 meters 0.018723374106638824 Centerline is valid? [True, True] Translation: X:43.83, Y:1.79, Z:1.31 [[ 9.92785467e-01 -1.13895937e-01 -3.74797611e-02 4.38283058e+01] [ 1.13804439e-01 9.93492647e-01 -4.57267434e-03 1.78549803e+00] [ 3.77566761e-02 2.74321445e-04 9.99286925e-01 1.31345265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.108040941999995 meters 0.01882530361751785 Centerline is valid? [True, True] Translation: X:43.89, Y:1.79, Z:1.32 [[ 9.92760106e-01 -1.14216652e-01 -3.71743090e-02 4.38861466e+01] [ 1.14126473e-01 9.93455829e-01 -4.54587714e-03 1.79282453e+00] [ 3.74502488e-02 2.70392716e-04 9.99298457e-01 1.31640613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.168040942 meters 0.01885187769029732 Centerline is valid? [True, True] Translation: X:43.95, Y:1.80, Z:1.32 [[ 9.92348913e-01 -1.17433202e-01 -3.81192488e-02 4.39450696e+01] [ 1.17340329e-01 9.93080770e-01 -4.67236338e-03 1.79915410e+00] [ 3.84041836e-02 1.63689543e-04 9.99262274e-01 1.31902744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22804094199999 meters 0.019220315616457987 Centerline is valid? [True, True] Translation: X:44.00, Y:1.81, Z:1.32 [[ 9.91666113e-01 -1.22744654e-01 -3.91416663e-02 4.40016213e+01] [ 1.22650504e-01 9.92438285e-01 -4.80677066e-03 1.80639944e+00] [ 3.94356935e-02 -3.40335075e-05 9.99222110e-01 1.32075947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.288040941999995 meters 0.01997640976797861 Centerline is valid? [True, True] Translation: X:44.06, Y:1.81, Z:1.32 [[ 9.90623036e-01 -1.30819759e-01 -3.93978492e-02 4.40602218e+01] [ 1.30730510e-01 9.91406106e-01 -4.84425094e-03 1.81178203e+00] [ 3.96929920e-02 -3.51674322e-04 9.99211861e-01 1.32199371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.348040942 meters 0.021115032811791327 Centerline is valid? [True, True] Translation: X:44.12, Y:1.82, Z:1.32 [[ 9.89652129e-01 -1.37665302e-01 -4.04589625e-02 4.41198646e+01] [ 1.37576558e-01 9.90478602e-01 -4.98288371e-03 1.81554847e+00] [ 4.07597068e-02 -6.34883347e-04 9.99168776e-01 1.32341142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40804094199999 meters 0.023970373711860074 Centerline is valid? [True, True] Translation: X:44.18, Y:1.82, Z:1.32 [[ 9.88033082e-01 -1.48480299e-01 -4.17639684e-02 4.41797559e+01] [ 1.48395317e-01 9.88914738e-01 -5.14495425e-03 1.81556149e+00] [ 4.20649282e-02 -1.11419232e-03 9.99114258e-01 1.32481515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.468040941999995 meters 0.02629332735425453 Centerline is valid? [True, True] Translation: X:44.24, Y:1.82, Z:1.33 [[ 9.87074245e-01 -1.54670109e-01 -4.19713165e-02 4.42392786e+01] [ 1.54589828e-01 9.87965203e-01 -5.17133569e-03 1.82025348e+00] [ 4.22660513e-02 -1.38384633e-03 9.99105433e-01 1.32672965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.528040942 meters 0.027024302189934638 Centerline is valid? [True, True] Translation: X:44.30, Y:1.83, Z:1.33 [[ 9.86991530e-01 -1.55555171e-01 -4.06239971e-02 4.42974302e+01] [ 1.55480595e-01 9.87826251e-01 -5.00815208e-03 1.82730748e+00] [ 4.09084947e-02 -1.37323956e-03 9.99161953e-01 1.33000196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58804094199999 meters 0.02411533066888702 Centerline is valid? [True, True] Translation: X:44.36, Y:1.84, Z:1.33 [[ 9.87494620e-01 -1.52231411e-01 -4.09874682e-02 4.43552204e+01] [ 1.52152306e-01 9.88344102e-01 -5.06091849e-03 1.84039749e+00] [ 4.12801532e-02 -1.23870801e-03 9.99146843e-01 1.33321978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.648040941999994 meters 0.02177359131451188 Centerline is valid? [True, True] Translation: X:44.41, Y:1.85, Z:1.34 [[ 9.88743518e-01 -1.43946210e-01 -4.08135410e-02 4.44138330e+01] [ 1.43860619e-01 9.89585117e-01 -5.04176737e-03 1.85440141e+00] [ 4.11142160e-02 -8.86446478e-04 9.99154060e-01 1.33547539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.708040942 meters 0.021245071656729432 Centerline is valid? [True, True] Translation: X:44.47, Y:1.86, Z:1.34 [[ 9.89535638e-01 -1.38623814e-01 -4.00332249e-02 4.44716010e+01] [ 1.38537062e-01 9.90344897e-01 -4.94656818e-03 1.86340571e+00] [ 4.03324121e-02 -6.51279844e-04 9.99186105e-01 1.33685521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76804094199999 meters 0.01966055324695311 Centerline is valid? [True, True] Translation: X:44.53, Y:1.88, Z:1.34 [[ 9.90526221e-01 -1.31896651e-01 -3.82240556e-02 4.45292166e+01] [ 1.31812452e-01 9.91263409e-01 -4.72564455e-03 1.87538469e+00] [ 3.85134043e-02 -3.57531662e-04 9.99258020e-01 1.34168550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.828040941999994 meters 0.019238357422232087 Centerline is valid? [True, True] Translation: X:44.59, Y:1.89, Z:1.34 [[ 9.91211357e-01 -1.27057424e-01 -3.68301123e-02 4.45870441e+01] [ 1.26975777e-01 9.91895350e-01 -4.55703603e-03 1.88616982e+00] [ 3.71106224e-02 -1.59546265e-04 9.99311151e-01 1.34369666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.888040941999996 meters 0.02016346521648227 Centerline is valid? [True, True] Translation: X:44.64, Y:1.89, Z:1.34 [[ 9.91343433e-01 -1.26015769e-01 -3.68540902e-02 4.46443778e+01] [ 1.25932937e-01 9.92028232e-01 -4.56965559e-03 1.89384098e+00] [ 3.71361466e-02 -1.11045752e-04 9.99310209e-01 1.34440729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.948040942 meters 0.019059909232587123 Centerline is valid? [True, True] Translation: X:44.70, Y:1.90, Z:1.35 [[ 9.91629628e-01 -1.24200316e-01 -3.52840191e-02 4.47019809e+01] [ 1.24122923e-01 9.92257164e-01 -4.38400479e-03 1.90222804e+00] [ 3.55553155e-02 -3.22465501e-05 9.99367709e-01 1.34555579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.008040941999994 meters 0.018885212023801643 Centerline is valid? [True, True] Translation: X:44.76, Y:1.91, Z:1.35 [[ 9.91312855e-01 -1.26816125e-01 -3.48782841e-02 4.47593872e+01] [ 1.26741980e-01 9.91926235e-01 -4.33755994e-03 1.90876160e+00] [ 3.51467576e-02 -1.20663881e-04 9.99382155e-01 1.34709891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.068040941999996 meters 0.01908199952780518 Centerline is valid? [True, True] Translation: X:44.82, Y:1.91, Z:1.35 [[ 9.90608069e-01 -1.32356516e-01 -3.43133406e-02 4.48171715e+01] [ 1.32287749e-01 9.91202129e-01 -4.27674199e-03 1.91203897e+00] [ 3.45775110e-02 -3.02659467e-04 9.99401973e-01 1.34725799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.128040942 meters 0.019298948271417204 Centerline is valid? [True, True] Translation: X:44.88, Y:1.92, Z:1.35 [[ 9.90172653e-01 -1.35700197e-01 -3.38167567e-02 4.48759469e+01] [ 1.35635188e-01 9.90749862e-01 -4.21973887e-03 1.91675330e+00] [ 3.40765664e-02 -4.08472120e-04 9.99419142e-01 1.34887806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18804094199999 meters 0.019823406851242745 Centerline is valid? [True, True] Translation: X:44.93, Y:1.92, Z:1.35 [[ 9.89596455e-01 -1.39447039e-01 -3.54030893e-02 4.49345181e+01] [ 1.39377852e-01 9.90229376e-01 -4.42692653e-03 1.92254098e+00] [ 3.56745008e-02 -5.53535718e-04 9.99363309e-01 1.34838586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.248040941999996 meters 0.01998129079310117 Centerline is valid? [True, True] Translation: X:44.99, Y:1.93, Z:1.35 [[ 9.89459795e-01 -1.40451108e-01 -3.52533754e-02 4.49925904e+01] [ 1.40382831e-01 9.90087446e-01 -4.41695557e-03 1.93068399e+00] [ 3.55242907e-02 -5.78568670e-04 9.99368646e-01 1.34950437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.308040942 meters 0.0196549092203476 Centerline is valid? [True, True] Translation: X:45.05, Y:1.94, Z:1.35 [[ 9.89574504e-01 -1.39988145e-01 -3.38470165e-02 4.50511979e+01] [ 1.39924660e-01 9.90153037e-01 -4.24884797e-03 1.93940755e+00] [ 3.41085146e-02 -5.31480670e-04 9.99417994e-01 1.35224657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36804094199999 meters 0.01951650276442668 Centerline is valid? [True, True] Translation: X:45.11, Y:1.95, Z:1.35 [[ 9.89803717e-01 -1.38151616e-01 -3.46804268e-02 4.51084754e+01] [ 1.38083549e-01 9.90410980e-01 -4.36177159e-03 1.94905394e+00] [ 3.49504612e-02 -4.71498662e-04 9.99388935e-01 1.35269733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.428040941999996 meters 0.019181960191960223 Centerline is valid? [True, True] Translation: X:45.17, Y:1.96, Z:1.35 [[ 9.89939425e-01 -1.37017277e-01 -3.53015803e-02 4.51670315e+01] [ 1.36945891e-01 9.90568562e-01 -4.44371825e-03 1.95951869e+00] [ 3.55775018e-02 -4.35394487e-04 9.99366825e-01 1.35299010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.488040942 meters 0.019345705865215432 Centerline is valid? [True, True] Translation: X:45.22, Y:1.97, Z:1.35 [[ 9.89833813e-01 -1.37562364e-01 -3.61333520e-02 4.52240408e+01] [ 1.37487650e-01 9.90493002e-01 -4.55629625e-03 1.96717775e+00] [ 3.64166072e-02 -4.57913559e-04 9.99336590e-01 1.35385328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54804094199999 meters 0.019005221039786985 Centerline is valid? [True, True] Translation: X:45.28, Y:1.98, Z:1.36 [[ 9.89764256e-01 -1.38366085e-01 -3.49505940e-02 4.52808848e+01] [ 1.38296505e-01 9.90381042e-01 -4.41222768e-03 1.97618120e+00] [ 3.52249084e-02 -4.66479747e-04 9.99379301e-01 1.35789529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.608040941999995 meters 0.01906849030609311 Centerline is valid? [True, True] Translation: X:45.34, Y:1.98, Z:1.36 [[ 9.89724619e-01 -1.38788685e-01 -3.43930106e-02 4.53386261e+01] [ 1.38721228e-01 9.90321910e-01 -4.35151233e-03 1.98438565e+00] [ 3.46640926e-02 -4.64241775e-04 9.99398912e-01 1.36095607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.668040942 meters 0.020156989258889178 Centerline is valid? [True, True] Translation: X:45.40, Y:1.99, Z:1.36 [[ 9.89678842e-01 -1.38885443e-01 -3.53075580e-02 4.53959810e+01] [ 1.38814080e-01 9.90308342e-01 -4.47651496e-03 1.99345730e+00] [ 3.55870920e-02 -4.70874045e-04 9.99366468e-01 1.36164600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72804094199999 meters 0.018961357282134148 Centerline is valid? [True, True] Translation: X:45.45, Y:2.00, Z:1.36 [[ 9.89642735e-01 -1.39196605e-01 -3.50936105e-02 4.54535884e+01] [ 1.39126161e-01 9.90264651e-01 -4.45331267e-03 2.00347162e+00] [ 3.53718480e-02 -4.75250773e-04 9.99374107e-01 1.36396571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.788040941999995 meters 0.019542117483818063 Centerline is valid? [True, True] Translation: X:45.51, Y:2.01, Z:1.37 [[ 9.89298461e-01 -1.41642277e-01 -3.50145885e-02 4.55113336e+01] [ 1.41573346e-01 9.89917754e-01 -4.45275973e-03 2.01011978e+00] [ 3.52922619e-02 -5.52024108e-04 9.99376882e-01 1.36649993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.848040942 meters 0.020010542004600448 Centerline is valid? [True, True] Translation: X:45.57, Y:2.02, Z:1.37 [[ 9.88957290e-01 -1.44189012e-01 -3.42491958e-02 4.55696626e+01] [ 1.44124420e-01 9.89549968e-01 -4.36031538e-03 2.01969959e+00] [ 3.45200002e-02 -6.23979784e-04 9.99403812e-01 1.36862765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90804094199999 meters 0.021659062573611873 Centerline is valid? [True, True] Translation: X:45.63, Y:2.03, Z:1.37 [[ 9.88739630e-01 -1.45298599e-01 -3.58086836e-02 4.56279103e+01] [ 1.45228380e-01 9.89387613e-01 -4.56813721e-03 2.03035352e+00] [ 3.60924119e-02 -6.83738822e-04 9.99348223e-01 1.36970132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.968040941999995 meters 0.020132265447135398 Centerline is valid? [True, True] Translation: X:45.68, Y:2.04, Z:1.37 [[ 9.88667743e-01 -1.46074351e-01 -3.46176016e-02 4.56849282e+01] [ 1.46008897e-01 9.89273381e-01 -4.42491060e-03 2.04106889e+00] [ 3.48926377e-02 -6.79711461e-04 9.99390835e-01 1.37216608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.028040942 meters 0.020335430725763878 Centerline is valid? [True, True] Translation: X:45.74, Y:2.05, Z:1.37 [[ 9.88649435e-01 -1.46271031e-01 -3.43086063e-02 4.57422632e+01] [ 1.46206519e-01 9.89244326e-01 -4.39524251e-03 2.05240641e+00] [ 3.45824908e-02 -6.70787880e-04 9.99401622e-01 1.37403833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08804094199999 meters 0.01978109526249821 Centerline is valid? [True, True] Translation: X:45.80, Y:2.07, Z:1.37 [[ 9.88799725e-01 -1.45083900e-01 -3.50109341e-02 4.57996738e+01] [ 1.45015622e-01 9.89419154e-01 -4.49524102e-03 2.06634633e+00] [ 3.52926759e-02 -6.32239292e-04 9.99376819e-01 1.37364104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.148040941999994 meters 0.019664591489983688 Centerline is valid? [True, True] Translation: X:45.86, Y:2.08, Z:1.37 [[ 9.88951002e-01 -1.43920231e-01 -3.55370523e-02 4.58576952e+01] [ 1.43848806e-01 9.89589116e-01 -4.57193631e-03 2.07655292e+00] [ 3.58250743e-02 -5.90541538e-04 9.99357902e-01 1.37425719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.208040942 meters 0.019490599771726114 Centerline is valid? [True, True] Translation: X:45.92, Y:2.09, Z:1.38 [[ 9.89287276e-01 -1.41990591e-01 -3.39021904e-02 4.59154135e+01] [ 1.41924175e-01 9.89867887e-01 -4.36980593e-03 2.08984002e+00] [ 3.41791608e-02 -4.88546978e-04 9.99415602e-01 1.37587823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26804094199999 meters 0.01897986419765746 Centerline is valid? [True, True] Translation: X:45.97, Y:2.10, Z:1.38 [[ 9.89794090e-01 -1.38604569e-01 -3.31124202e-02 4.59726493e+01] [ 1.38539046e-01 9.90347741e-01 -4.27611486e-03 2.10412837e+00] [ 3.33854996e-02 -3.54889907e-04 9.99442486e-01 1.37795592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.328040941999994 meters 0.018610324445984802 Centerline is valid? [True, True] Translation: X:46.03, Y:2.12, Z:1.38 [[ 9.90224248e-01 -1.35695823e-01 -3.22890486e-02 4.60300064e+01] [ 1.35631715e-01 9.90750516e-01 -4.17769808e-03 2.11688058e+00] [ 3.25572878e-02 -2.42561094e-04 9.99469842e-01 1.38049484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.388040941999996 meters 0.018580785817101587 Centerline is valid? [True, True] Translation: X:46.09, Y:2.13, Z:1.38 [[ 9.90810812e-01 -1.31756575e-01 -3.05637043e-02 4.60862209e+01] [ 1.31697030e-01 9.91282097e-01 -3.96199664e-03 2.13100907e+00] [ 3.08192720e-02 -9.95599647e-05 9.99524968e-01 1.38203428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.448040942 meters 0.018508826385623112 Centerline is valid? [True, True] Translation: X:46.14, Y:2.14, Z:1.38 [[ 9.91118516e-01 -1.29477555e-01 -3.03257442e-02 4.61417764e+01] [ 1.29417783e-01 9.91582353e-01 -3.93387887e-03 2.14333624e+00] [ 3.05798218e-02 -2.57503847e-05 9.99532328e-01 1.38339828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.508040941999994 meters 0.01851388429226545 Centerline is valid? [True, True] Translation: X:46.20, Y:2.15, Z:1.38 [[ 9.91091359e-01 -1.29478050e-01 -3.11986017e-02 4.61985318e+01] [ 1.29414659e-01 9.91582288e-01 -4.05116448e-03 2.15176590e+00] [ 3.14605178e-02 -2.24822884e-05 9.99504995e-01 1.38457200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.568040941999996 meters 0.018425074252734576 Centerline is valid? [True, True] Translation: X:46.26, Y:2.16, Z:1.39 [[ 9.90868585e-01 -1.30917328e-01 -3.22505902e-02 4.62557293e+01] [ 1.30850137e-01 9.91393287e-01 -4.19434759e-03 2.15992132e+00] [ 3.25221314e-02 -6.39468705e-05 9.99471014e-01 1.38562706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.628040942 meters 0.0184769826444857 Centerline is valid? [True, True] Translation: X:46.31, Y:2.17, Z:1.39 [[ 9.90523416e-01 -1.33512534e-01 -3.22143553e-02 4.63130412e+01] [ 1.33446563e-01 9.91047115e-01 -4.19896580e-03 2.16624698e+00] [ 3.24865584e-02 -1.39721031e-04 9.99472163e-01 1.38712113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68804094199999 meters 0.01851052134460283 Centerline is valid? [True, True] Translation: X:46.37, Y:2.17, Z:1.39 [[ 9.90138006e-01 -1.36339174e-01 -3.22235587e-02 4.63718936e+01] [ 1.36274360e-01 9.90662193e-01 -4.20942071e-03 2.17202979e+00] [ 3.24965702e-02 -2.23337390e-04 9.99471822e-01 1.38875143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.748040941999996 meters 0.01865292208983454 Centerline is valid? [True, True] Translation: X:46.43, Y:2.18, Z:1.39 [[ 9.89810239e-01 -1.38667428e-01 -3.23579224e-02 4.64302110e+01] [ 1.38603049e-01 9.90338961e-01 -4.23512666e-03 2.17703707e+00] [ 3.26325854e-02 -2.92934971e-04 9.99467372e-01 1.39013090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.808040942 meters 0.018993245069822338 Centerline is valid? [True, True] Translation: X:46.49, Y:2.18, Z:1.39 [[ 9.89318074e-01 -1.41885872e-01 -3.34387265e-02 4.64887808e+01] [ 1.41818669e-01 9.89882941e-01 -4.38510633e-03 2.18204437e+00] [ 3.37226095e-02 -4.03970728e-04 9.99431149e-01 1.39076790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86804094199999 meters 0.018956348519097107 Centerline is valid? [True, True] Translation: X:46.55, Y:2.19, Z:1.39 [[ 9.88973665e-01 -1.44213119e-01 -3.36699682e-02 4.65472776e+01] [ 1.44146048e-01 9.89546536e-01 -4.42373607e-03 2.18858430e+00] [ 3.39559612e-02 -4.78434390e-04 9.99423216e-01 1.39220981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.928040941999996 meters 0.01912830546640306 Centerline is valid? [True, True] Translation: X:46.61, Y:2.19, Z:1.39 [[ 9.88622083e-01 -1.46717101e-01 -3.31733158e-02 4.66056516e+01] [ 1.46653124e-01 9.89178342e-01 -4.36682090e-03 2.19366256e+00] [ 3.34550128e-02 -5.47834816e-04 9.99440074e-01 1.39460355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.988040942 meters 0.020123139372507703 Centerline is valid? [True, True] Translation: X:46.66, Y:2.20, Z:1.40 [[ 9.88560843e-01 -1.46926152e-01 -3.40612137e-02 4.66640125e+01] [ 1.46858538e-01 9.89147305e-01 -4.49213176e-03 2.19620987e+00] [ 3.43515694e-02 -5.61434480e-04 9.99409653e-01 1.39567178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04804094199999 meters 0.018860489906666212 Centerline is valid? [True, True] Translation: X:46.72, Y:2.21, Z:1.40 [[ 9.88811322e-01 -1.45029942e-01 -3.49067990e-02 4.67219939e+01] [ 1.44957609e-01 9.89427138e-01 -4.60756512e-03 2.20666156e+00] [ 3.52059691e-02 -5.03993545e-04 9.99379951e-01 1.39691436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.108040941999995 meters 0.01875765643404906 Centerline is valid? [True, True] Translation: X:46.78, Y:2.21, Z:1.40 [[ 9.88928943e-01 -1.44103273e-01 -3.54089235e-02 4.67795057e+01] [ 1.44027952e-01 9.89562543e-01 -4.68215294e-03 2.21283440e+00] [ 3.57140579e-02 -4.69558192e-04 9.99361939e-01 1.39855131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.168040942 meters 0.0183829029411591 Centerline is valid? [True, True] Translation: X:46.84, Y:2.22, Z:1.40 [[ 9.89206627e-01 -1.42469017e-01 -3.42465712e-02 4.68380977e+01] [ 1.42397461e-01 9.89799184e-01 -4.53199269e-03 2.21915036e+00] [ 3.45428968e-02 -3.93547569e-04 9.99403139e-01 1.40154996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22804094199999 meters 0.018279508747341248 Centerline is valid? [True, True] Translation: X:46.90, Y:2.23, Z:1.40 [[ 9.89393009e-01 -1.41398983e-01 -3.32836452e-02 4.68951709e+01] [ 1.41330531e-01 9.89952632e-01 -4.41226185e-03 2.22554511e+00] [ 3.35731215e-02 -3.38534221e-04 9.99436207e-01 1.40340501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.288040941999995 meters 0.018003018768298934 Centerline is valid? [True, True] Translation: X:46.95, Y:2.23, Z:1.41 [[ 9.89361896e-01 -1.41680642e-01 -3.30096044e-02 4.69532145e+01] [ 1.41613359e-01 9.89912359e-01 -4.37926880e-03 2.23135676e+00] [ 3.32970729e-02 -3.41919261e-04 9.99445440e-01 1.40638100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.348040942 meters 0.019491662078552154 Centerline is valid? [True, True] Translation: X:47.01, Y:2.24, Z:1.41 [[ 9.89194807e-01 -1.42871208e-01 -3.28854291e-02 4.70122339e+01] [ 1.42804782e-01 9.89741219e-01 -4.37198605e-03 2.23766965e+00] [ 3.31726956e-02 -3.71450646e-04 9.99449566e-01 1.40728745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40804094199999 meters 0.018173234944942992 Centerline is valid? [True, True] Translation: X:47.07, Y:2.24, Z:1.41 [[ 9.89239369e-01 -1.42526869e-01 -3.30387901e-02 4.70689666e+01] [ 1.42459360e-01 9.89790870e-01 -4.40047543e-03 2.24302433e+00] [ 3.33286788e-02 -3.53561357e-04 9.99444383e-01 1.41049773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.468040941999995 meters 0.017995663465919427 Centerline is valid? [True, True] Translation: X:47.13, Y:2.25, Z:1.41 [[ 9.89314437e-01 -1.41997185e-01 -3.30717974e-02 4.71272398e+01] [ 1.41929094e-01 9.89867006e-01 -4.40938035e-03 2.24825467e+00] [ 3.33628007e-02 -3.31586615e-04 9.99443252e-01 1.41183002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.528040942 meters 0.017933026969620448 Centerline is valid? [True, True] Translation: X:47.18, Y:2.26, Z:1.41 [[ 9.89466291e-01 -1.41178928e-01 -3.20151388e-02 4.71844546e+01] [ 1.41114414e-01 9.89984055e-01 -4.27709835e-03 2.25512662e+00] [ 3.22983131e-02 -2.85752913e-04 9.99478233e-01 1.41266620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58804094199999 meters 0.017745636812815435 Centerline is valid? [True, True] Translation: X:47.24, Y:2.26, Z:1.41 [[ 9.89619309e-01 -1.39907274e-01 -3.28569401e-02 4.72425527e+01] [ 1.39838508e-01 9.90164579e-01 -4.39295945e-03 2.26232982e+00] [ 3.31483852e-02 -2.47307998e-04 9.99450411e-01 1.41205341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.648040941999994 meters 0.017466028367813025 Centerline is valid? [True, True] Translation: X:47.30, Y:2.27, Z:1.41 [[ 9.89760721e-01 -1.38997916e-01 -3.24545136e-02 4.73004102e+01] [ 1.38930029e-01 9.90292652e-01 -4.34852258e-03 2.26655498e+00] [ 3.27439019e-02 -2.04909680e-04 9.99463754e-01 1.41298248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.708040942 meters 0.017425208124053862 Centerline is valid? [True, True] Translation: X:47.36, Y:2.27, Z:1.41 [[ 9.89944892e-01 -1.38034378e-01 -3.09131346e-02 4.73577044e+01] [ 1.37972052e-01 9.90427426e-01 -4.15052657e-03 2.27253545e+00] [ 3.11901317e-02 -1.56356045e-04 9.99513457e-01 1.41479519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76804094199999 meters 0.018371795752427058 Centerline is valid? [True, True] Translation: X:47.42, Y:2.28, Z:1.42 [[ 9.90102421e-01 -1.37010366e-01 -3.04196721e-02 4.74157414e+01] [ 1.36949267e-01 9.90569607e-01 -4.09286674e-03 2.27666206e+00] [ 3.06935678e-02 -1.13594532e-04 9.99528835e-01 1.41566988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.828040941999994 meters 0.01989767809166275 Centerline is valid? [True, True] Translation: X:47.47, Y:2.28, Z:1.42 [[ 9.90264731e-01 -1.35544195e-01 -3.16785896e-02 4.74725336e+01] [ 1.35476886e-01 9.90771299e-01 -4.27151603e-03 2.28006291e+00] [ 3.19652166e-02 -6.17850118e-05 9.99488980e-01 1.41515669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.888040941999996 meters 0.01730183559877002 Centerline is valid? [True, True] Translation: X:47.53, Y:2.29, Z:1.42 [[ 9.90547874e-01 -1.33762850e-01 -3.03711923e-02 4.75299062e+01] [ 1.33699976e-01 9.91013370e-01 -4.10077937e-03 2.28603039e+00] [ 3.06467895e-02 1.39061950e-06 9.99530277e-01 1.41785064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.948040942 meters 0.017236158578922228 Centerline is valid? [True, True] Translation: X:47.59, Y:2.29, Z:1.42 [[ 9.90723981e-01 -1.32500209e-01 -3.01610299e-02 4.75875261e+01] [ 1.32437367e-01 9.91182976e-01 -4.08065040e-03 2.29134273e+00] [ 3.04357864e-02 4.83508312e-05 9.99536723e-01 1.41833123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.008040941999994 meters 0.017255305122769397 Centerline is valid? [True, True] Translation: X:47.65, Y:2.30, Z:1.42 [[ 9.90770010e-01 -1.32229568e-01 -2.98350276e-02 4.76459490e+01] [ 1.32167713e-01 9.91219117e-01 -4.04454353e-03 2.29552861e+00] [ 3.01078580e-02 6.39850637e-05 9.99546654e-01 1.42009321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.068040941999996 meters 0.017147897892299323 Centerline is valid? [True, True] Translation: X:47.70, Y:2.30, Z:1.42 [[ 9.90598890e-01 -1.33512576e-01 -2.98031969e-02 4.77035690e+01] [ 1.33451173e-01 9.91047118e-01 -4.04888969e-03 2.29671849e+00] [ 3.00769501e-02 3.35540563e-05 9.99547586e-01 1.42175213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.128040942 meters 0.01716636383827489 Centerline is valid? [True, True] Translation: X:47.76, Y:2.30, Z:1.42 [[ 9.90260789e-01 -1.36237477e-01 -2.86865595e-02 4.77616168e+01] [ 1.36181643e-01 9.90676207e-01 -3.90026145e-03 2.29869855e+00] [ 2.89504537e-02 -4.43068348e-05 9.99580847e-01 1.42351800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18804094199999 meters 0.017219459965900918 Centerline is valid? [True, True] Translation: X:47.82, Y:2.30, Z:1.42 [[ 9.90023031e-01 -1.37792818e-01 -2.94539848e-02 4.78187872e+01] [ 1.37734384e-01 9.90461071e-01 -4.01337068e-03 2.29963280e+00] [ 2.97260390e-02 -8.34970566e-05 9.99558080e-01 1.42430495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.248040941999996 meters 0.017330634942377063 Centerline is valid? [True, True] Translation: X:47.88, Y:2.30, Z:1.43 [[ 9.89902816e-01 -1.38701065e-01 -2.92306315e-02 4.78769134e+01] [ 1.38643812e-01 9.90334289e-01 -3.98624270e-03 2.30473124e+00] [ 2.95009928e-02 -1.06653302e-04 9.99564745e-01 1.42548929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.308040942 meters 0.017280332212237192 Centerline is valid? [True, True] Translation: X:47.93, Y:2.32, Z:1.43 [[ 9.90244593e-01 -1.36184393e-01 -2.94865692e-02 4.79333538e+01] [ 1.36124766e-01 9.90683507e-01 -4.02960535e-03 2.31625031e+00] [ 2.97606271e-02 -2.35574129e-05 9.99557054e-01 1.42703414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36804094199999 meters 0.017509812802097915 Centerline is valid? [True, True] Translation: X:47.99, Y:2.33, Z:1.43 [[ 9.90343799e-01 -1.35109744e-01 -3.10566672e-02 4.79898014e+01] [ 1.35042979e-01 9.90830640e-01 -4.24696701e-03 2.32513737e+00] [ 3.13457041e-02 1.19725775e-05 9.99508603e-01 1.42839093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.428040941999996 meters 0.0174189930993453 Centerline is valid? [True, True] Translation: X:48.05, Y:2.33, Z:1.43 [[ 9.90046442e-01 -1.37363237e-01 -3.06493603e-02 4.80460628e+01] [ 1.37299182e-01 9.90520741e-01 -4.19480328e-03 2.33209358e+00] [ 3.09350389e-02 -5.50820534e-05 9.99521396e-01 1.43068690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.488040942 meters 0.01795135799654876 Centerline is valid? [True, True] Translation: X:48.10, Y:2.34, Z:1.43 [[ 9.89117223e-01 -1.44009318e-01 -3.01402652e-02 4.81045452e+01] [ 1.43950362e-01 9.89576299e-01 -4.12819516e-03 2.33906820e+00] [ 3.04205907e-02 -2.55433164e-04 9.99537154e-01 1.43264768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54804094199999 meters 0.01880294651285405 Centerline is valid? [True, True] Translation: X:48.16, Y:2.34, Z:1.44 [[ 9.88025747e-01 -1.51498513e-01 -2.92117149e-02 4.81634764e+01] [ 1.51446199e-01 9.88457377e-01 -4.00794664e-03 2.34409666e+00] [ 2.94817330e-02 -4.64048697e-04 9.99565212e-01 1.43511485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.608040941999995 meters 0.020225871147905288 Centerline is valid? [True, True] Translation: X:48.22, Y:2.35, Z:1.44 [[ 9.87291760e-01 -1.56123844e-01 -2.96702749e-02 4.82207156e+01] [ 1.56071897e-01 9.87737300e-01 -4.07296561e-03 2.34963583e+00] [ 2.99423243e-02 -6.09490699e-04 9.99551442e-01 1.43673641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.668040942 meters 0.01985184531139067 Centerline is valid? [True, True] Translation: X:48.28, Y:2.36, Z:1.44 [[ 9.87232895e-01 -1.56353738e-01 -3.04092145e-02 4.82774292e+01] [ 1.56299133e-01 9.87700924e-01 -4.17917651e-03 2.35988990e+00] [ 3.06886391e-02 -6.27113352e-04 9.99528796e-01 1.43789125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72804094199999 meters 0.01937932962592148 Centerline is valid? [True, True] Translation: X:48.34, Y:2.37, Z:1.44 [[ 9.87276716e-01 -1.55992627e-01 -3.08380806e-02 4.83351423e+01] [ 1.55936021e-01 9.87758028e-01 -4.24692427e-03 2.37016001e+00] [ 3.11230505e-02 -6.15878137e-04 9.99515371e-01 1.44033383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.788040941999995 meters 0.01947223410718192 Centerline is valid? [True, True] Translation: X:48.39, Y:2.38, Z:1.44 [[ 9.87538781e-01 -1.54266060e-01 -3.11309812e-02 4.83928624e+01] [ 1.54207266e-01 9.88029185e-01 -4.29520997e-03 2.37843676e+00] [ 3.14209231e-02 -5.58937068e-04 9.99506085e-01 1.44303354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.848040942 meters 0.018482156316004496 Centerline is valid? [True, True] Translation: X:48.45, Y:2.39, Z:1.45 [[ 9.88076218e-01 -1.50646353e-01 -3.17972296e-02 4.84503655e+01] [ 1.50582881e-01 9.88587618e-01 -4.39520831e-03 2.39129219e+00] [ 3.20964695e-02 -4.45317629e-04 9.99484676e-01 1.44599087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90804094199999 meters 0.018157446959915044 Centerline is valid? [True, True] Translation: X:48.51, Y:2.40, Z:1.45 [[ 9.88430271e-01 -1.48185746e-01 -3.23509610e-02 4.85079910e+01] [ 1.48118453e-01 9.88959480e-01 -4.48010541e-03 2.40200153e+00] [ 3.26576773e-02 -3.63502481e-04 9.99466530e-01 1.44809289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.968040941999995 meters 0.01787103922796591 Centerline is valid? [True, True] Translation: X:48.57, Y:2.41, Z:1.45 [[ 9.88839393e-01 -1.45492198e-01 -3.20729710e-02 4.85664575e+01] [ 1.45424382e-01 9.89359364e-01 -4.44955977e-03 2.41228731e+00] [ 3.23790704e-02 -2.64292010e-04 9.99475625e-01 1.45248870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.028040942 meters 0.018067466239451675 Centerline is valid? [True, True] Translation: X:48.62, Y:2.42, Z:1.46 [[ 9.88707910e-01 -1.46320486e-01 -3.23571347e-02 4.86238600e+01] [ 1.46251663e-01 9.89237198e-01 -4.49642653e-03 2.41917681e+00] [ 3.26668006e-02 -2.86632297e-04 9.99466257e-01 1.45575041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08804094199999 meters 0.018189904179882352 Centerline is valid? [True, True] Translation: X:48.68, Y:2.43, Z:1.46 [[ 9.88514683e-01 -1.47548154e-01 -3.26843176e-02 4.86825741e+01] [ 1.47478495e-01 9.89054819e-01 -4.54516218e-03 2.42660592e+00] [ 3.29972121e-02 -3.27274409e-04 9.99455390e-01 1.45835579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.148040941999994 meters 0.01861229666028891 Centerline is valid? [True, True] Translation: X:48.74, Y:2.43, Z:1.46 [[ 9.88037523e-01 -1.50198154e-01 -3.49623710e-02 4.87404161e+01] [ 1.50119793e-01 9.88655817e-01 -4.87068146e-03 2.43341712e+00] [ 3.52973189e-02 -4.36127850e-04 9.99376760e-01 1.45943229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.208040942 meters 0.01878027717624171 Centerline is valid? [True, True] Translation: X:48.80, Y:2.44, Z:1.46 [[ 9.87845397e-01 -1.51156097e-01 -3.62395744e-02 4.87984020e+01] [ 1.51072346e-01 9.88509789e-01 -5.05412025e-03 2.44162055e+00] [ 3.65871351e-02 -4.82108120e-04 9.99330350e-01 1.46039325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26804094199999 meters 0.019364716514781676 Centerline is valid? [True, True] Translation: X:48.86, Y:2.45, Z:1.46 [[ 9.87550805e-01 -1.52542734e-01 -3.83942806e-02 4.88561483e+01] [ 1.52449430e-01 9.88296719e-01 -5.36346072e-03 2.44816472e+00] [ 3.87630985e-02 -5.56496247e-04 9.99248274e-01 1.46086966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.328040941999994 meters 0.019047449189737563 Centerline is valid? [True, True] Translation: X:48.91, Y:2.46, Z:1.46 [[ 9.87009864e-01 -1.55587376e-01 -4.00511826e-02 4.89142662e+01] [ 1.55488083e-01 9.87821887e-01 -5.60141345e-03 2.45711631e+00] [ 4.04349439e-02 -6.98831285e-04 9.99181929e-01 1.46399194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.388040941999996 meters 0.019711747420171035 Centerline is valid? [True, True] Translation: X:48.97, Y:2.46, Z:1.47 [[ 9.86594685e-01 -1.58076718e-01 -4.05299760e-02 4.89721957e+01] [ 1.57976770e-01 9.87426508e-01 -5.67728547e-03 2.46425721e+00] [ 4.09178193e-02 -8.01615008e-04 9.99162194e-01 1.46597753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44804094199999 meters 0.02006443081490926 Centerline is valid? [True, True] Translation: X:49.03, Y:2.47, Z:1.47 [[ 9.86541236e-01 -1.58291375e-01 -4.09906216e-02 4.90300514e+01] [ 1.58189087e-01 9.87392110e-01 -5.74759467e-03 2.47277840e+00] [ 4.13836110e-02 -8.14029852e-04 9.99143000e-01 1.46769106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.508040941999994 meters 0.019653227480590976 Centerline is valid? [True, True] Translation: X:49.09, Y:2.48, Z:1.47 [[ 9.86725776e-01 -1.57148142e-01 -4.09475763e-02 4.90885155e+01] [ 1.57044621e-01 9.87574753e-01 -5.75277912e-03 2.48350226e+00] [ 4.13428311e-02 -7.54181162e-04 9.99144735e-01 1.46929399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.568040941999996 meters 0.019697821628635252 Centerline is valid? [True, True] Translation: X:49.15, Y:2.49, Z:1.47 [[ 9.87002488e-01 -1.55539348e-01 -4.04178268e-02 4.91454115e+01] [ 1.55436811e-01 9.87829470e-01 -5.68641523e-03 2.49263317e+00] [ 4.08103818e-02 -6.69912124e-04 9.99166685e-01 1.47181791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.628040942 meters 0.019669587907515673 Centerline is valid? [True, True] Translation: X:49.20, Y:2.50, Z:1.47 [[ 9.87253463e-01 -1.53465155e-01 -4.21787467e-02 4.92028887e+01] [ 1.53351428e-01 9.88153874e-01 -5.93805025e-03 2.50174947e+00] [ 4.25903757e-02 -6.05810365e-04 9.99092435e-01 1.47187693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68804094199999 meters 0.019782839434946284 Centerline is valid? [True, True] Translation: X:49.26, Y:2.51, Z:1.47 [[ 9.87350214e-01 -1.52577379e-01 -4.31242241e-02 4.92607888e+01] [ 1.52457385e-01 9.88291361e-01 -6.07717725e-03 2.51066358e+00] [ 4.35465379e-02 -5.74304183e-04 9.99051235e-01 1.47246000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.748040941999996 meters 0.01987089899191004 Centerline is valid? [True, True] Translation: X:49.32, Y:2.52, Z:1.48 [[ 9.87339929e-01 -1.52926484e-01 -4.21112253e-02 4.93195584e+01] [ 1.52811930e-01 9.88237406e-01 -5.94501872e-03 2.51841571e+00] [ 4.25250389e-02 -5.65343242e-04 9.99095241e-01 1.47549469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.808040942 meters 0.01972671994229817 Centerline is valid? [True, True] Translation: X:49.38, Y:2.53, Z:1.48 [[ 9.87210564e-01 -1.54030275e-01 -4.11093128e-02 4.93768860e+01] [ 1.53921639e-01 9.88065953e-01 -5.81384286e-03 2.52677969e+00] [ 4.15142202e-02 -5.88125699e-04 9.99137740e-01 1.47946395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86804094199999 meters 0.019687949205766837 Centerline is valid? [True, True] Translation: X:49.43, Y:2.54, Z:1.48 [[ 9.87324294e-01 -1.53542869e-01 -4.01911246e-02 4.94343452e+01] [ 1.53438245e-01 9.88141837e-01 -5.69343814e-03 2.53601975e+00] [ 4.05887185e-02 -5.45585836e-04 9.99175789e-01 1.48066307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.928040941999996 meters 0.02012495187217543 Centerline is valid? [True, True] Translation: X:49.49, Y:2.54, Z:1.48 [[ 9.87332981e-01 -1.53528459e-01 -4.00324498e-02 4.94906276e+01] [ 1.53424493e-01 9.88144079e-01 -5.67479690e-03 2.54311899e+00] [ 4.04290710e-02 -5.39044168e-04 9.99182265e-01 1.48249320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.988040942 meters 0.0201951999096449 Centerline is valid? [True, True] Translation: X:49.55, Y:2.55, Z:1.48 [[ 9.86966602e-01 -1.55675768e-01 -4.07674069e-02 4.95486217e+01] [ 1.55569522e-01 9.87808005e-01 -5.78519166e-03 2.55282485e+00] [ 4.11709851e-02 -6.32375063e-04 9.99151915e-01 1.48360585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04804094199999 meters 0.020570536170924438 Centerline is valid? [True, True] Translation: X:49.61, Y:2.56, Z:1.49 [[ 9.86584370e-01 -1.57791031e-01 -4.18720739e-02 4.96069570e+01] [ 1.57680415e-01 9.87472257e-01 -5.95225279e-03 2.56218065e+00] [ 4.22867234e-02 -7.30006389e-04 9.99105250e-01 1.48508662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.108040941999995 meters 0.020755780500054753 Centerline is valid? [True, True] Translation: X:49.66, Y:2.57, Z:1.49 [[ 9.86553360e-01 -1.58119355e-01 -4.13610550e-02 4.96637529e+01] [ 1.58011278e-01 9.87419741e-01 -5.88997190e-03 2.57127066e+00] [ 4.17720407e-02 -7.24741575e-04 9.99126905e-01 1.48779341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.168040942 meters 0.020400860410294666 Centerline is valid? [True, True] Translation: X:49.72, Y:2.58, Z:1.49 [[ 9.86655931e-01 -1.57652642e-01 -4.06905261e-02 4.97213499e+01] [ 1.57547203e-01 9.87494394e-01 -5.80524884e-03 2.58219945e+00] [ 4.10968793e-02 -6.82895373e-04 9.99154933e-01 1.49053707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22804094199999 meters 0.02040387614681354 Centerline is valid? [True, True] Translation: X:49.78, Y:2.59, Z:1.49 [[ 9.86843448e-01 -1.56559578e-01 -4.03622064e-02 4.97781375e+01] [ 1.56454583e-01 9.87668319e-01 -5.76665789e-03 2.59324379e+00] [ 4.07672981e-02 -6.24063604e-04 9.99168473e-01 1.49156175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.288040941999995 meters 0.020146532521101185 Centerline is valid? [True, True] Translation: X:49.84, Y:2.60, Z:1.49 [[ 9.87004228e-01 -1.55527350e-01 -4.04214964e-02 4.98363310e+01] [ 1.55420978e-01 9.87831418e-01 -5.78008190e-03 2.60218041e+00] [ 4.08285849e-02 -5.77383250e-04 9.99165999e-01 1.49438715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.348040942 meters 0.01940749412284708 Centerline is valid? [True, True] Translation: X:49.89, Y:2.62, Z:1.50 [[ 9.87616674e-01 -1.51830834e-01 -3.95057384e-02 4.98938052e+01] [ 1.51725904e-01 9.88406411e-01 -5.65835563e-03 2.61662101e+00] [ 3.99068379e-02 -4.05757501e-04 9.99203322e-01 1.49668035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40804094199999 meters 0.01863655302128836 Centerline is valid? [True, True] Translation: X:49.95, Y:2.63, Z:1.50 [[ 9.88683697e-01 -1.45047858e-01 -3.82840253e-02 4.99506109e+01] [ 1.44943885e-01 9.89424633e-01 -5.49230679e-03 2.63337942e+00] [ 3.86758050e-02 -1.18881173e-04 9.99251804e-01 1.50037963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.468040941999995 meters 0.018699266548776038 Centerline is valid? [True, True] Translation: X:50.01, Y:2.65, Z:1.50 [[ 9.89233136e-01 -1.41187344e-01 -3.85218858e-02 5.00068248e+01] [ 1.41078818e-01 9.89982895e-01 -5.53488919e-03 2.64675204e+00] [ 3.89174643e-02 4.06736903e-05 9.99242428e-01 1.50006658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.528040942 meters 0.018721977411339637 Centerline is valid? [True, True] Translation: X:50.06, Y:2.66, Z:1.50 [[ 9.89564596e-01 -1.38903322e-01 -3.83115865e-02 5.00640255e+01] [ 1.38794041e-01 9.90305937e-01 -5.51047111e-03 2.65729388e+00] [ 3.87056143e-02 1.35547213e-04 9.99250648e-01 1.50380807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58804094199999 meters 0.01882821562236528 Centerline is valid? [True, True] Translation: X:50.12, Y:2.67, Z:1.51 [[ 9.89532454e-01 -1.38982771e-01 -3.88498618e-02 5.01208300e+01] [ 1.38870028e-01 9.90294789e-01 -5.59882592e-03 2.66902840e+00] [ 3.92509560e-02 1.45138536e-04 9.99229374e-01 1.50506487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.648040941999994 meters 0.01884600764018551 Centerline is valid? [True, True] Translation: X:50.18, Y:2.68, Z:1.51 [[ 9.89442162e-01 -1.39482692e-01 -3.93546219e-02 5.01779928e+01] [ 1.39366959e-01 9.90224500e-01 -5.68254530e-03 2.67808580e+00] [ 3.97625275e-02 1.37815945e-04 9.99209148e-01 1.50668429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.708040942 meters 0.018633506405803052 Centerline is valid? [True, True] Translation: X:50.23, Y:2.69, Z:1.51 [[ 9.89279207e-01 -1.40543825e-01 -3.96747332e-02 5.02349582e+01] [ 1.40426609e-01 9.90074453e-01 -5.73984001e-03 2.68785117e+00] [ 4.00876388e-02 1.06916142e-04 9.99196162e-01 1.50966281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76804094199999 meters 0.01854788930757371 Centerline is valid? [True, True] Translation: X:50.29, Y:2.70, Z:1.51 [[ 9.88933187e-01 -1.42871842e-01 -3.99848420e-02 5.02917031e+01] [ 1.42754220e-01 9.89741197e-01 -5.79625789e-03 2.69759511e+00] [ 4.04027674e-02 2.41068732e-05 9.99183475e-01 1.51301651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.828040941999994 meters 0.018680460254099696 Centerline is valid? [True, True] Translation: X:50.35, Y:2.71, Z:1.51 [[ 9.88719411e-01 -1.44142578e-01 -4.07043441e-02 5.03488430e+01] [ 1.44021354e-01 9.89556930e-01 -5.91038723e-03 2.70742603e+00] [ 4.11312042e-02 -1.85801801e-05 9.99153754e-01 1.51469218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.888040941999996 meters 0.018673930183841305 Centerline is valid? [True, True] Translation: X:50.41, Y:2.72, Z:1.52 [[ 9.88619954e-01 -1.44505708e-01 -4.18173054e-02 5.04069564e+01] [ 1.44377855e-01 9.89503966e-01 -6.07746609e-03 2.71861163e+00] [ 4.22566181e-02 -2.91885918e-05 9.99106790e-01 1.51580536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94804094199999 meters 0.018619752490107142 Centerline is valid? [True, True] Translation: X:50.46, Y:2.73, Z:1.52 [[ 9.88773939e-01 -1.43025622e-01 -4.32408347e-02 5.04645019e+01] [ 1.42887023e-01 9.89718985e-01 -6.29519651e-03 2.72888717e+00] [ 4.36966494e-02 4.59721255e-05 9.99044844e-01 1.51826892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.008040941999994 meters 0.019397799385224505 Centerline is valid? [True, True] Translation: X:50.52, Y:2.74, Z:1.52 [[ 9.88988132e-01 -1.41123664e-01 -4.45711415e-02 5.05226691e+01] [ 1.40973949e-01 9.89991965e-01 -6.50041064e-03 2.73972350e+00] [ 4.50424337e-02 1.45459136e-04 9.98985064e-01 1.51998595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.068040941999996 meters 0.018793443101834232 Centerline is valid? [True, True] Translation: X:50.58, Y:2.75, Z:1.52 [[ 9.89104927e-01 -1.40415010e-01 -4.42161613e-02 5.05786141e+01] [ 1.40266542e-01 9.90092718e-01 -6.45807478e-03 2.75037034e+00] [ 4.46849099e-02 1.85665554e-04 9.99001113e-01 1.52110173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.128040942 meters 0.018307163265910524 Centerline is valid? [True, True] Translation: X:50.64, Y:2.76, Z:1.53 [[ 9.88930101e-01 -1.41634792e-01 -4.42361909e-02 5.06356500e+01] [ 1.41487062e-01 9.89918970e-01 -6.46875584e-03 2.75744349e+00] [ 4.47064454e-02 1.38298681e-04 9.99000157e-01 1.52686550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18804094199999 meters 0.018009478448560972 Centerline is valid? [True, True] Translation: X:50.69, Y:2.77, Z:1.53 [[ 9.88773506e-01 -1.43003189e-01 -4.33248379e-02 5.06937257e+01] [ 1.42862277e-01 9.89722224e-01 -6.34738875e-03 2.76647517e+00] [ 4.37872518e-02 8.66448206e-05 9.99040875e-01 1.52997821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.248040941999996 meters 0.017866765309876187 Centerline is valid? [True, True] Translation: X:50.75, Y:2.77, Z:1.53 [[ 9.88513006e-01 -1.45091691e-01 -4.23135790e-02 5.07517422e+01] [ 1.44958737e-01 9.89418213e-01 -6.20995695e-03 2.77324260e+00] [ 4.27668389e-02 4.90024550e-06 9.99085080e-01 1.53370814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.308040942 meters 0.017744709847707513 Centerline is valid? [True, True] Translation: X:50.81, Y:2.78, Z:1.54 [[ 9.88176115e-01 -1.47229122e-01 -4.27966237e-02 5.08092188e+01] [ 1.47094616e-01 9.89102411e-01 -6.29240678e-03 2.78051659e+00] [ 4.32566692e-02 -7.71468267e-05 9.99063989e-01 1.53557147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36804094199999 meters 0.01785692656565461 Centerline is valid? [True, True] Translation: X:50.87, Y:2.79, Z:1.54 [[ 9.88241779e-01 -1.46654904e-01 -4.32495708e-02 5.08662475e+01] [ 1.46516534e-01 9.89187716e-01 -6.36928972e-03 2.79041612e+00] [ 4.37160317e-02 -4.23790166e-05 9.99043996e-01 1.53578167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.428040941999996 meters 0.017872475851126564 Centerline is valid? [True, True] Translation: X:50.93, Y:2.80, Z:1.54 [[ 9.88399167e-01 -1.45147419e-01 -4.47136839e-02 5.09250229e+01] [ 1.44997687e-01 9.89410039e-01 -6.59128593e-03 2.79864854e+00] [ 4.51968759e-02 3.14407814e-05 9.98978099e-01 1.53685547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.488040942 meters 0.01799887210338575 Centerline is valid? [True, True] Translation: X:50.98, Y:2.81, Z:1.54 [[ 9.88731506e-01 -1.43012264e-01 -4.42436584e-02 5.09809622e+01] [ 1.42863116e-01 9.89720907e-01 -6.53120020e-03 2.80803090e+00] [ 4.47229154e-02 1.36816509e-04 9.98999420e-01 1.53879898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54804094199999 meters 0.0178769129290642 Centerline is valid? [True, True] Translation: X:51.04, Y:2.82, Z:1.54 [[ 9.88864340e-01 -1.42096779e-01 -4.42246820e-02 5.10382651e+01] [ 1.41946498e-01 9.89852752e-01 -6.53611940e-03 2.81731406e+00] [ 4.47046847e-02 1.85796667e-04 9.99000229e-01 1.54114874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.608040941999995 meters 0.017919783307150855 Centerline is valid? [True, True] Translation: X:51.10, Y:2.82, Z:1.54 [[ 9.88819728e-01 -1.42152970e-01 -4.50341909e-02 5.10966693e+01] [ 1.41996611e-01 9.89844682e-01 -6.66849959e-03 2.82230813e+00] [ 4.55248013e-02 1.99241462e-04 9.98963189e-01 1.54298629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.668040942 meters 0.017783008806411878 Centerline is valid? [True, True] Translation: X:51.15, Y:2.83, Z:1.55 [[ 9.88735754e-01 -1.42994826e-01 -4.42050777e-02 5.11548215e+01] [ 1.42844526e-01 9.89723422e-01 -6.55666600e-03 2.82840806e+00] [ 4.46883701e-02 1.68356734e-04 9.99000962e-01 1.54583128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72804094199999 meters 0.01763351456851994 Centerline is valid? [True, True] Translation: X:51.21, Y:2.84, Z:1.55 [[ 9.88633952e-01 -1.43853532e-01 -4.36929187e-02 5.12120483e+01] [ 1.43707037e-01 9.89598980e-01 -6.49195015e-03 2.83697010e+00] [ 4.41723577e-02 1.39182448e-04 9.99023915e-01 1.54764615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.788040941999995 meters 0.01764359855349039 Centerline is valid? [True, True] Translation: X:51.27, Y:2.84, Z:1.55 [[ 9.88600605e-01 -1.44207121e-01 -4.32798947e-02 5.12697437e+01] [ 1.44063186e-01 9.89547517e-01 -6.44284890e-03 2.84226531e+00] [ 4.37566171e-02 1.34364813e-04 9.99042212e-01 1.54902468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.848040942 meters 0.017535827899865224 Centerline is valid? [True, True] Translation: X:51.33, Y:2.85, Z:1.55 [[ 9.88393476e-01 -1.45761063e-01 -4.28024353e-02 5.13276548e+01] [ 1.45621214e-01 9.89319820e-01 -6.38398186e-03 2.84691540e+00] [ 4.32758335e-02 7.69434188e-05 9.99063159e-01 1.55242693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90804094199999 meters 0.01838849340564226 Centerline is valid? [True, True] Translation: X:51.39, Y:2.85, Z:1.55 [[ 9.88159893e-01 -1.47081049e-01 -4.36713940e-02 5.13852035e+01] [ 1.46936259e-01 9.89124443e-01 -6.52468929e-03 2.85387038e+00] [ 4.41561014e-02 3.05250130e-05 9.99024643e-01 1.55218813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.968040941999995 meters 0.017826248312624283 Centerline is valid? [True, True] Translation: X:51.44, Y:2.86, Z:1.55 [[ 9.87899254e-01 -1.48898739e-01 -4.34077210e-02 5.14426724e+01] [ 1.48757099e-01 9.88852448e-01 -6.49321615e-03 2.85905754e+00] [ 4.38906629e-02 -4.25632391e-05 9.99036340e-01 1.55422546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.028040942 meters 0.017991549573849994 Centerline is valid? [True, True] Translation: X:51.50, Y:2.86, Z:1.56 [[ 9.87726786e-01 -1.50164956e-01 -4.29683836e-02 5.15009647e+01] [ 1.50026827e-01 9.88660952e-01 -6.43992885e-03 2.86347066e+00] [ 4.34482147e-02 -8.55200169e-05 9.99055677e-01 1.55679028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08804094199999 meters 0.018184651908553652 Centerline is valid? [True, True] Translation: X:51.56, Y:2.87, Z:1.56 [[ 9.87684096e-01 -1.50560155e-01 -4.25648393e-02 5.15585663e+01] [ 1.50424447e-01 9.88600846e-01 -6.39169938e-03 2.86879950e+00] [ 4.30419714e-02 -8.98126038e-05 9.99073261e-01 1.55867583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.148040941999994 meters 0.018258131511560124 Centerline is valid? [True, True] Translation: X:51.62, Y:2.88, Z:1.56 [[ 9.87878622e-01 -1.49599897e-01 -4.14209933e-02 5.16176350e+01] [ 1.49470063e-01 9.88746615e-01 -6.23141282e-03 2.87503502e+00] [ 4.18870856e-02 -3.53189836e-05 9.99122350e-01 1.56030383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.208040942 meters 0.018357265731182477 Centerline is valid? [True, True] Translation: X:51.68, Y:2.88, Z:1.56 [[ 9.88113653e-01 -1.48167257e-01 -4.09618410e-02 5.16756511e+01] [ 1.48038607e-01 9.88962316e-01 -6.17318392e-03 2.88063324e+00] [ 4.14243809e-02 3.58734477e-05 9.99141641e-01 1.56293434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26804094199999 meters 0.018441409250623344 Centerline is valid? [True, True] Translation: X:51.73, Y:2.89, Z:1.57 [[ 9.88695388e-01 -1.44688962e-01 -3.93260011e-02 5.17333011e+01] [ 1.44567193e-01 9.89477170e-01 -5.93774734e-03 2.88720498e+00] [ 3.97713068e-02 1.85373820e-04 9.99208791e-01 1.56558302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.328040941999994 meters 0.01967283655387166 Centerline is valid? [True, True] Translation: X:51.79, Y:2.90, Z:1.57 [[ 9.89394038e-01 -1.39769718e-01 -3.95457159e-02 5.17920291e+01] [ 1.39642206e-01 9.90183957e-01 -5.98211164e-03 2.89505063e+00] [ 3.99936515e-02 3.96414599e-04 9.99199855e-01 1.56709872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.388040941999996 meters 0.01957907869641702 Centerline is valid? [True, True] Translation: X:51.85, Y:2.90, Z:1.57 [[ 9.89823211e-01 -1.36625437e-01 -3.97932267e-02 5.18501260e+01] [ 1.36493377e-01 9.90622633e-01 -6.02961288e-03 2.90318489e+00] [ 4.02438696e-02 5.36738887e-04 9.99189743e-01 1.56986599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44804094199999 meters 0.020244347617499558 Centerline is valid? [True, True] Translation: X:51.91, Y:2.91, Z:1.57 [[ 9.90314876e-01 -1.32947114e-01 -4.00188978e-02 5.19084211e+01] [ 1.32810139e-01 9.91122886e-01 -6.07390668e-03 2.91012348e+00] [ 4.04711538e-02 7.00164758e-04 9.99180462e-01 1.57177187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.508040941999994 meters 0.020948216930722924 Centerline is valid? [True, True] Translation: X:51.97, Y:2.92, Z:1.57 [[ 9.90405524e-01 -1.32223180e-01 -4.01737390e-02 5.19651211e+01] [ 1.32084169e-01 9.91219693e-01 -6.10671006e-03 2.91886485e+00] [ 4.06284498e-02 7.41804474e-04 9.99174048e-01 1.57254563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.568040941999996 meters 0.020291753428106834 Centerline is valid? [True, True] Translation: X:52.02, Y:2.92, Z:1.58 [[ 9.90372260e-01 -1.32283111e-01 -4.07917221e-02 5.20243477e+01] [ 1.32139528e-01 9.91211685e-01 -6.20817327e-03 2.91971883e+00] [ 4.12544680e-02 7.58203676e-04 9.99148384e-01 1.57696347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.628040942 meters 0.020490918939592435 Centerline is valid? [True, True] Translation: X:52.08, Y:2.92, Z:1.58 [[ 9.90046139e-01 -1.34538799e-01 -4.13274053e-02 5.20835786e+01] [ 1.34392929e-01 9.90908091e-01 -6.30050288e-03 2.92166416e+00] [ 4.17993224e-02 6.83677481e-04 9.99125792e-01 1.57978804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68804094199999 meters 0.01990251649887112 Centerline is valid? [True, True] Translation: X:52.14, Y:2.92, Z:1.58 [[ 9.89383386e-01 -1.39125554e-01 -4.20070970e-02 5.21432756e+01] [ 1.38978511e-01 9.90274619e-01 -6.41501476e-03 2.92233486e+00] [ 4.24910545e-02 5.08825246e-04 9.99096718e-01 1.58204894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.748040941999996 meters 0.02003260318137896 Centerline is valid? [True, True] Translation: X:52.20, Y:2.92, Z:1.58 [[ 9.88852064e-01 -1.42696539e-01 -4.25357879e-02 5.22026739e+01] [ 1.42548594e-01 9.89766417e-01 -6.50678022e-03 2.92499608e+00] [ 4.30289894e-02 3.70826310e-04 9.99073755e-01 1.58385973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.808040942 meters 0.020058220996455857 Centerline is valid? [True, True] Translation: X:52.26, Y:2.93, Z:1.59 [[ 9.88510694e-01 -1.45090139e-01 -4.23728660e-02 5.22611520e+01] [ 1.44945059e-01 9.89418403e-01 -6.49264879e-03 2.93004623e+00] [ 4.28665127e-02 2.76315177e-04 9.99080770e-01 1.58713095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86804094199999 meters 0.019862064445048157 Centerline is valid? [True, True] Translation: X:52.32, Y:2.94, Z:1.59 [[ 9.88458752e-01 -1.45326320e-01 -4.27733235e-02 5.23180333e+01] [ 1.45178211e-01 9.89383739e-01 -6.56541095e-03 2.93891712e+00] [ 4.32733577e-02 2.79883309e-04 9.99063230e-01 1.58975148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.928040941999996 meters 0.020034755150684903 Centerline is valid? [True, True] Translation: X:52.38, Y:2.95, Z:1.59 [[ 9.88355235e-01 -1.45508816e-01 -4.45096953e-02 5.23761647e+01] [ 1.45348043e-01 9.89356911e-01 -6.84465518e-03 2.94796959e+00] [ 4.50319324e-02 2.95553680e-04 9.98985504e-01 1.59165672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.988040942 meters 0.021202425035412073 Centerline is valid? [True, True] Translation: X:52.43, Y:2.96, Z:1.59 [[ 9.88103662e-01 -1.46886571e-01 -4.55575231e-02 5.24340131e+01] [ 1.46719059e-01 9.89153311e-01 -7.01747602e-03 2.95836041e+00] [ 4.60941478e-02 2.49836850e-04 9.98937069e-01 1.59154442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04804094199999 meters 0.020253187323167245 Centerline is valid? [True, True] Translation: X:52.49, Y:2.97, Z:1.59 [[ 9.87925270e-01 -1.48059984e-01 -4.56278590e-02 5.24907742e+01] [ 1.47892655e-01 9.88978361e-01 -7.04019783e-03 2.96830514e+00] [ 4.61673368e-02 2.07164137e-04 9.98933699e-01 1.59483813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.108040941999995 meters 0.020230626211005336 Centerline is valid? [True, True] Translation: X:52.55, Y:2.97, Z:1.60 [[ 9.87238869e-01 -1.52578703e-01 -4.55977614e-02 5.25478827e+01] [ 1.52415950e-01 9.88291323e-01 -7.04548757e-03 2.97409124e+00] [ 4.61388633e-02 5.75306910e-06 9.98935036e-01 1.59843677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.168040942 meters 0.02074578296264741 Centerline is valid? [True, True] Translation: X:52.61, Y:2.98, Z:1.60 [[ 9.86531828e-01 -1.57065076e-01 -4.56674304e-02 5.26057589e+01] [ 1.56906415e-01 9.87588235e-01 -7.06080341e-03 2.97992083e+00] [ 4.62096226e-02 -1.99805501e-04 9.98931745e-01 1.60231301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22804094199999 meters 0.021096645927511027 Centerline is valid? [True, True] Translation: X:52.66, Y:2.99, Z:1.61 [[ 9.86254454e-01 -1.58933415e-01 -4.51920428e-02 5.26630074e+01] [ 1.58779627e-01 9.87289265e-01 -6.99547662e-03 2.99034171e+00] [ 4.57294337e-02 -2.76255711e-04 9.98953824e-01 1.60749425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.288040941999995 meters 0.02051998878358243 Centerline is valid? [True, True] Translation: X:52.72, Y:3.00, Z:1.61 [[ 9.86343231e-01 -1.58349856e-01 -4.53029106e-02 5.27185906e+01] [ 1.58194189e-01 9.87383039e-01 -7.02370832e-03 3.00096241e+00] [ 4.58435287e-02 -2.38870018e-04 9.98948604e-01 1.61068948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.348040942 meters 0.023442674431737996 Centerline is valid? [True, True] Translation: X:52.78, Y:3.01, Z:1.61 [[ 9.86349640e-01 -1.58102350e-01 -4.60221151e-02 5.27762130e+01] [ 1.57941178e-01 9.87422704e-01 -7.14060741e-03 3.01063225e+00] [ 4.65722281e-02 -2.25651504e-04 9.98914900e-01 1.60914092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40804094199999 meters 0.020957708969532383 Centerline is valid? [True, True] Translation: X:52.83, Y:3.02, Z:1.61 [[ 9.86535624e-01 -1.56633756e-01 -4.70460243e-02 5.28342232e+01] [ 1.56463325e-01 9.87656744e-01 -7.30650054e-03 3.01919921e+00] [ 4.76097678e-02 -1.52854318e-04 9.98866000e-01 1.61497614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.468040941999995 meters 0.02221818943749407 Centerline is valid? [True, True] Translation: X:52.89, Y:3.03, Z:1.62 [[ 9.86641873e-01 -1.55791643e-01 -4.76106888e-02 5.28918622e+01] [ 1.55615495e-01 9.87789934e-01 -7.40701107e-03 3.02875578e+00] [ 4.81833096e-02 -1.00893642e-04 9.98838505e-01 1.61559919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.528040942 meters 0.022528630315510712 Centerline is valid? [True, True] Translation: X:52.95, Y:3.04, Z:1.62 [[ 9.86749285e-01 -1.54871400e-01 -4.83807692e-02 5.29495348e+01] [ 1.54687736e-01 9.87934637e-01 -7.54033694e-03 3.03828563e+00] [ 4.89648202e-02 -4.34895929e-05 9.98800503e-01 1.61754285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58804094199999 meters 0.02061668039533816 Centerline is valid? [True, True] Translation: X:53.01, Y:3.04, Z:1.62 [[ 9.86855299e-01 -1.53875250e-01 -4.93865038e-02 5.30077651e+01] [ 1.53681990e-01 9.88090283e-01 -7.70966668e-03 3.04471369e+00] [ 4.99846514e-02 1.85092184e-05 9.98749986e-01 1.62323697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.648040941999994 meters 0.020788313912679376 Centerline is valid? [True, True] Translation: X:53.07, Y:3.05, Z:1.63 [[ 9.86671275e-01 -1.54681492e-01 -5.05314879e-02 5.30656822e+01] [ 1.54479726e-01 9.87964390e-01 -7.89800566e-03 3.05218874e+00] [ 5.11449860e-02 -1.33550951e-05 9.98691239e-01 1.62521042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.708040942 meters 0.02097422365404207 Centerline is valid? [True, True] Translation: X:53.12, Y:3.06, Z:1.63 [[ 9.86601047e-01 -1.54795074e-01 -5.15447371e-02 5.31230133e+01] [ 1.54584998e-01 9.87946600e-01 -8.06186260e-03 3.06146092e+00] [ 5.21713844e-02 -1.42010172e-05 9.98638146e-01 1.62633783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76804094199999 meters 0.02120330782588181 Centerline is valid? [True, True] Translation: X:53.18, Y:3.07, Z:1.63 [[ 9.86241759e-01 -1.56444722e-01 -5.34063742e-02 5.31814825e+01] [ 1.56221075e-01 9.87686711e-01 -8.36275905e-03 3.06773346e+00] [ 5.40570756e-02 -9.54990033e-05 9.98537843e-01 1.62888735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.828040941999994 meters 0.021719198921245634 Centerline is valid? [True, True] Translation: X:53.24, Y:3.07, Z:1.63 [[ 9.85902273e-01 -1.58223994e-01 -5.44231136e-02 5.32391043e+01] [ 1.57993917e-01 9.87403227e-01 -8.53166009e-03 3.07312192e+00] [ 5.50874714e-02 -1.87137843e-04 9.98481515e-01 1.62986264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.888040941999996 meters 0.021972160948348366 Centerline is valid? [True, True] Translation: X:53.30, Y:3.08, Z:1.63 [[ 9.85358281e-01 -1.61439152e-01 -5.48311706e-02 5.32974143e+01] [ 1.61210111e-01 9.86882602e-01 -8.60410113e-03 3.07999779e+00] [ 5.55009671e-02 -3.61216779e-04 9.98458568e-01 1.63393425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94804094199999 meters 0.02196961550140178 Centerline is valid? [True, True] Translation: X:53.36, Y:3.09, Z:1.64 [[ 9.84930850e-01 -1.64013487e-01 -5.48707307e-02 5.33556129e+01] [ 1.63787362e-01 9.86457973e-01 -8.62363985e-03 3.08712376e+00] [ 5.55420630e-02 -4.93443327e-04 9.98456226e-01 1.63840084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.008040941999994 meters 0.022538119204371813 Centerline is valid? [True, True] Translation: X:53.41, Y:3.09, Z:1.64 [[ 9.84159355e-01 -1.68743274e-01 -5.43697740e-02 5.34140943e+01] [ 1.68527731e-01 9.85659759e-01 -8.55829116e-03 3.09246612e+00] [ 5.50342523e-02 -7.40092308e-04 9.98484193e-01 1.64294544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.068040941999996 meters 0.023659808146018636 Centerline is valid? [True, True] Translation: X:53.47, Y:3.10, Z:1.65 [[ 9.83509585e-01 -1.72396759e-01 -5.46649221e-02 5.34717064e+01] [ 1.72183962e-01 9.85027144e-01 -8.61448058e-03 3.09886990e+00] [ 5.53315406e-02 -9.39998632e-04 9.98467594e-01 1.64561641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.128040942 meters 0.02442974994482279 Centerline is valid? [True, True] Translation: X:53.53, Y:3.11, Z:1.65 [[ 9.83249741e-01 -1.74270067e-01 -5.33843718e-02 5.35277050e+01] [ 1.74069597e-01 9.84697371e-01 -8.41801513e-03 3.10691190e+00] [ 5.40344586e-02 -1.01558490e-03 9.98538555e-01 1.64821462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18804094199999 meters 0.023959309254492255 Centerline is valid? [True, True] Translation: X:53.59, Y:3.12, Z:1.65 [[ 9.83095269e-01 -1.75114930e-01 -5.34645063e-02 5.35853997e+01] [ 1.74914602e-01 9.84547434e-01 -8.43995060e-03 3.11821399e+00] [ 5.41163038e-02 -1.05444732e-03 9.98534082e-01 1.65176034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.248040941999996 meters 0.023235097715653037 Centerline is valid? [True, True] Translation: X:53.64, Y:3.13, Z:1.66 [[ 9.82911416e-01 -1.76276274e-01 -5.30266261e-02 5.36425487e+01] [ 1.76080392e-01 9.84340117e-01 -8.38033818e-03 3.12980321e+00] [ 5.36734901e-02 -1.09981903e-03 9.98557934e-01 1.65651679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.308040942 meters 0.023741183667954323 Centerline is valid? [True, True] Translation: X:53.70, Y:3.14, Z:1.66 [[ 9.82772912e-01 -1.77070271e-01 -5.29483012e-02 5.36996691e+01] [ 1.76875860e-01 9.84197555e-01 -8.37276869e-03 3.14012619e+00] [ 5.35941570e-02 -1.13674604e-03 9.98562153e-01 1.65791091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36804094199999 meters 0.02359215841972997 Centerline is valid? [True, True] Translation: X:53.76, Y:3.15, Z:1.66 [[ 9.82715459e-01 -1.77579522e-01 -5.23052635e-02 5.37564595e+01] [ 1.77390051e-01 9.84105792e-01 -8.28006774e-03 3.15347407e+00] [ 5.29442833e-02 -1.14148277e-03 9.98596815e-01 1.65999533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.428040941999996 meters 0.02351099621894555 Centerline is valid? [True, True] Translation: X:53.81, Y:3.16, Z:1.66 [[ 9.82686124e-01 -1.77870979e-01 -5.18642200e-02 5.38139589e+01] [ 1.77684314e-01 9.84053165e-01 -8.22513245e-03 3.16379395e+00] [ 5.25001622e-02 -1.13273481e-03 9.98620273e-01 1.66215402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.488040942 meters 0.023336416089746157 Centerline is valid? [True, True] Translation: X:53.87, Y:3.17, Z:1.67 [[ 9.82796033e-01 -1.77774544e-01 -5.00816299e-02 5.38716942e+01] [ 1.77599688e-01 9.84070655e-01 -7.95587438e-03 3.17428662e+00] [ 5.06982143e-02 -1.07548008e-03 9.98713440e-01 1.66586562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54804094199999 meters 0.023181872112262584 Centerline is valid? [True, True] Translation: X:53.93, Y:3.19, Z:1.67 [[ 9.83060198e-01 -1.76712240e-01 -4.86356941e-02 5.39297338e+01] [ 1.76545558e-01 9.84262069e-01 -7.73596748e-03 3.18685602e+00] [ 4.92373090e-02 -9.81494026e-04 9.98786626e-01 1.66738454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.608040941999995 meters 0.02249887838031279 Centerline is valid? [True, True] Translation: X:53.99, Y:3.20, Z:1.67 [[ 9.83461149e-01 -1.74784490e-01 -4.74821134e-02 5.39871219e+01] [ 1.74622992e-01 9.84606342e-01 -7.56051926e-03 3.20177125e+00] [ 4.80726515e-02 -8.55991761e-04 9.98843475e-01 1.66932538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.668040942 meters 0.022281564081911162 Centerline is valid? [True, True] Translation: X:54.04, Y:3.21, Z:1.67 [[ 9.83684292e-01 -1.73939057e-01 -4.59392854e-02 5.40446798e+01] [ 1.73786446e-01 9.84756112e-01 -7.32601205e-03 3.21371241e+00] [ 4.65132717e-02 -7.77142185e-04 9.98917370e-01 1.67189357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72804094199999 meters 0.022513233978355682 Centerline is valid? [True, True] Translation: X:54.10, Y:3.22, Z:1.67 [[ 9.83866397e-01 -1.73261452e-01 -4.45800565e-02 5.41012651e+01] [ 1.73116660e-01 9.84875606e-01 -7.11782372e-03 3.22469552e+00] [ 4.51390546e-02 -7.14562897e-04 9.98980458e-01 1.67294604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.788040941999995 meters 0.021515042696599797 Centerline is valid? [True, True] Translation: X:54.16, Y:3.24, Z:1.68 [[ 9.83981518e-01 -1.73345176e-01 -4.16151675e-02 5.41586448e+01] [ 1.73218860e-01 9.84860908e-01 -6.64976521e-03 3.24098150e+00] [ 4.21378564e-02 -6.65285806e-04 9.99111585e-01 1.67630449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.848040942 meters 0.0216501123936906 Centerline is valid? [True, True] Translation: X:54.22, Y:3.25, Z:1.68 [[ 9.84027320e-01 -1.73616462e-01 -3.93390207e-02 5.42154128e+01] [ 1.73503478e-01 9.84813142e-01 -6.29426689e-03 3.25165595e+00] [ 3.98343729e-02 -6.31726350e-04 9.99206097e-01 1.67815749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90804094199999 meters 0.02177503176553564 Centerline is valid? [True, True] Translation: X:54.27, Y:3.26, Z:1.68 [[ 9.83785227e-01 -1.75371696e-01 -3.75685450e-02 5.42728427e+01] [ 1.75269767e-01 9.84502069e-01 -6.01538193e-03 3.26288847e+00] [ 3.80412380e-02 -6.66786269e-04 9.99275948e-01 1.67983432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.968040941999995 meters 0.021925348176204763 Centerline is valid? [True, True] Translation: X:54.33, Y:3.27, Z:1.68 [[ 9.83546116e-01 -1.77150909e-01 -3.54202411e-02 5.43306256e+01] [ 1.77061157e-01 9.84183462e-01 -5.67986211e-03 3.27418984e+00] [ 3.58662083e-02 -6.85142544e-04 9.99356366e-01 1.68077354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.028040942 meters 0.02166073210486569 Centerline is valid? [True, True] Translation: X:54.39, Y:3.29, Z:1.68 [[ 9.83328230e-01 -1.78462490e-01 -3.48816726e-02 5.43879308e+01] [ 1.78375964e-01 9.83946457e-01 -5.60218506e-03 3.28651505e+00] [ 3.53214781e-02 -7.13265263e-04 9.99375747e-01 1.68091003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08804094199999 meters 0.021892771126051605 Centerline is valid? [True, True] Translation: X:54.44, Y:3.30, Z:1.68 [[ 9.83298818e-01 -1.78714236e-01 -3.44188268e-02 5.44438284e+01] [ 1.78629861e-01 9.83900770e-01 -5.53602632e-03 3.29642556e+00] [ 3.48540769e-02 -7.04662105e-04 9.99392164e-01 1.68169078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.148040941999994 meters 0.021545864650467348 Centerline is valid? [True, True] Translation: X:54.50, Y:3.31, Z:1.68 [[ 9.83127893e-01 -1.79862247e-01 -3.33034328e-02 5.45010863e+01] [ 1.79783762e-01 9.83691546e-01 -5.36102709e-03 3.30932637e+00] [ 3.37245517e-02 -7.16841159e-04 9.99430908e-01 1.68386508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.208040942 meters 0.021736284206924784 Centerline is valid? [True, True] Translation: X:54.56, Y:3.32, Z:1.68 [[ 9.82942631e-01 -1.80953941e-01 -3.28550700e-02 5.45583332e+01] [ 1.80877891e-01 9.83491296e-01 -5.29708253e-03 3.32345624e+00] [ 3.32712034e-02 -7.36027533e-04 9.99446089e-01 1.68385109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26804094199999 meters 0.02223374689344506 Centerline is valid? [True, True] Translation: X:54.62, Y:3.34, Z:1.69 [[ 9.82685066e-01 -1.82516417e-01 -3.19032678e-02 5.46156736e+01] [ 1.82445281e-01 9.83202513e-01 -5.15143553e-03 3.33573862e+00] [ 3.23075947e-02 -7.58361894e-04 9.99477686e-01 1.68525993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.328040941999994 meters 0.02225108362293832 Centerline is valid? [True, True] Translation: X:54.67, Y:3.35, Z:1.69 [[ 9.82680001e-01 -1.82633537e-01 -3.13848298e-02 5.46729309e+01] [ 1.82564509e-01 9.83180777e-01 -5.07542726e-03 3.34823698e+00] [ 3.17839046e-02 -7.42235176e-04 9.99494488e-01 1.68731600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.388040941999996 meters 0.020607945391973824 Centerline is valid? [True, True] Translation: X:54.73, Y:3.37, Z:1.69 [[ 9.83118166e-01 -1.80265027e-01 -3.13558948e-02 5.47294781e+01] [ 1.80194641e-01 9.83617857e-01 -5.07956817e-03 3.36740752e+00] [ 3.17578865e-02 -6.56348461e-04 9.99495376e-01 1.68860678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44804094199999 meters 0.020189324972560926 Centerline is valid? [True, True] Translation: X:54.79, Y:3.38, Z:1.69 [[ 9.83848699e-01 -1.76386105e-01 -3.04906469e-02 5.47858190e+01] [ 1.76317446e-01 9.84320925e-01 -4.94724914e-03 3.38243584e+00] [ 3.08852077e-02 -5.08688343e-04 9.99522809e-01 1.69091506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.508040941999994 meters 0.019684439107515807 Centerline is valid? [True, True] Translation: X:54.84, Y:3.40, Z:1.69 [[ 9.84336241e-01 -1.73833790e-01 -2.93935024e-02 5.48431538e+01] [ 1.73768773e-01 9.84774921e-01 -4.77167477e-03 3.39645467e+00] [ 2.97754623e-02 -4.10740441e-04 9.99556528e-01 1.69297325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.568040941999996 meters 0.0188401194252632 Centerline is valid? [True, True] Translation: X:54.90, Y:3.41, Z:1.69 [[ 9.85058745e-01 -1.69674464e-01 -2.94931274e-02 5.49000356e+01] [ 1.69606917e-01 9.85500126e-01 -4.79533425e-03 3.41247689e+00] [ 2.98791265e-02 -2.78552463e-04 9.99553480e-01 1.69378013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62804094199999 meters 0.018291427458095963 Centerline is valid? [True, True] Translation: X:54.96, Y:3.43, Z:1.69 [[ 9.85726010e-01 -1.65877609e-01 -2.87897960e-02 5.49572323e+01] [ 1.65811417e-01 9.86146336e-01 -4.68809540e-03 3.42713791e+00] [ 2.91686019e-02 -1.52499299e-04 9.99574494e-01 1.69458884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68804094199999 meters 0.01815872989464557 Centerline is valid? [True, True] Translation: X:55.01, Y:3.44, Z:1.70 [[ 9.86095080e-01 -1.63866481e-01 -2.76454107e-02 5.50140065e+01] [ 1.63804473e-01 9.86482524e-01 -4.50833269e-03 3.43855032e+00] [ 2.80104791e-02 -8.27972400e-05 9.99607626e-01 1.69795888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.748040941999996 meters 0.017990570903442752 Centerline is valid? [True, True] Translation: X:55.07, Y:3.45, Z:1.70 [[ 9.86408694e-01 -1.62005902e-01 -2.74222001e-02 5.50700617e+01] [ 1.61943935e-01 9.86789789e-01 -4.48046015e-03 3.45166319e+00] [ 2.77858080e-02 -2.12941518e-05 9.99613900e-01 1.69919990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.808040942 meters 0.017992064353289892 Centerline is valid? [True, True] Translation: X:55.13, Y:3.46, Z:1.70 [[ 9.86537666e-01 -1.61241928e-01 -2.72850511e-02 5.51261231e+01] [ 1.61180192e-01 9.86914911e-01 -4.46149063e-03 3.46320896e+00] [ 2.76474031e-02 3.61878036e-06 9.99617737e-01 1.70030340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86804094199999 meters 0.018188989840099284 Centerline is valid? [True, True] Translation: X:55.18, Y:3.47, Z:1.70 [[ 9.86587330e-01 -1.60992330e-01 -2.69612596e-02 5.51819487e+01] [ 1.60931868e-01 9.86955657e-01 -4.41186634e-03 3.47196200e+00] [ 2.73198443e-02 1.37655635e-05 9.99626743e-01 1.70212796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.928040941999996 meters 0.01829330608217967 Centerline is valid? [True, True] Translation: X:55.24, Y:3.48, Z:1.70 [[ 9.86417457e-01 -1.61856845e-01 -2.79814794e-02 5.52399471e+01] [ 1.61791977e-01 9.86814249e-01 -4.58197558e-03 3.47987775e+00] [ 2.83541467e-02 -7.43816489e-06 9.99597940e-01 1.70376476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.988040942 meters 0.018598062160318125 Centerline is valid? [True, True] Translation: X:55.30, Y:3.49, Z:1.70 [[ 9.86213382e-01 -1.62997883e-01 -2.85456740e-02 5.52973459e+01] [ 1.62930617e-01 9.86626418e-01 -4.68241450e-03 3.48714960e+00] [ 2.89271397e-02 -3.31044351e-05 9.99581522e-01 1.70388750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04804094199999 meters 0.018780235098226832 Centerline is valid? [True, True] Translation: X:55.35, Y:3.49, Z:1.70 [[ 9.85965432e-01 -1.64414184e-01 -2.89852121e-02 5.53538129e+01] [ 1.64345185e-01 9.86391389e-01 -4.76324725e-03 3.49332362e+00] [ 2.93739090e-02 -6.71829247e-05 9.99568491e-01 1.70443976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.108040941999995 meters 0.018878705090061832 Centerline is valid? [True, True] Translation: X:55.41, Y:3.50, Z:1.71 [[ 9.85588484e-01 -1.66591896e-01 -2.93680300e-02 5.54119913e+01] [ 1.66521857e-01 9.86025925e-01 -4.83188879e-03 3.49760289e+00] [ 2.97625924e-02 -1.28164959e-04 9.99556988e-01 1.70623851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.168040942 meters 0.018882880394304614 Centerline is valid? [True, True] Translation: X:55.47, Y:3.50, Z:1.71 [[ 9.85493021e-01 -1.67195495e-01 -2.91405599e-02 5.54697425e+01] [ 1.67126551e-01 9.85923754e-01 -4.80291912e-03 3.50495634e+00] [ 2.95333967e-02 -1.36918018e-04 9.99563785e-01 1.70830382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22804094199999 meters 0.018824820566929263 Centerline is valid? [True, True] Translation: X:55.53, Y:3.51, Z:1.71 [[ 9.85750190e-01 -1.65376887e-01 -3.07741434e-02 5.55277856e+01] [ 1.65298815e-01 9.86230439e-01 -5.08158912e-03 3.51293866e+00] [ 3.11907744e-02 -7.77520148e-05 9.99513446e-01 1.70893127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.288040941999995 meters 0.01882893008511333 Centerline is valid? [True, True] Translation: X:55.58, Y:3.52, Z:1.71 [[ 9.86311016e-01 -1.61919249e-01 -3.11887178e-02 5.55837433e+01] [ 1.61837064e-01 9.86804011e-01 -5.15842744e-03 3.52229669e+00] [ 3.16124005e-02 4.03232916e-05 9.99500202e-01 1.71053554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.348040942 meters 0.018970545129332342 Centerline is valid? [True, True] Translation: X:55.64, Y:3.53, Z:1.71 [[ 9.86583459e-01 -1.60295031e-01 -3.09609769e-02 5.56406419e+01] [ 1.60213122e-01 9.87069143e-01 -5.12460316e-03 3.53204245e+00] [ 3.13820734e-02 9.54939278e-05 9.99507457e-01 1.71224411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40804094199999 meters 0.019214015279920223 Centerline is valid? [True, True] Translation: X:55.70, Y:3.54, Z:1.71 [[ 9.87135186e-01 -1.56520867e-01 -3.26396051e-02 5.56989159e+01] [ 1.56427461e-01 9.87674624e-01 -5.41173199e-03 3.54048915e+00] [ 3.30843587e-02 2.36380486e-04 9.99452535e-01 1.71285093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.468040941999995 meters 0.019282616286769413 Centerline is valid? [True, True] Translation: X:55.76, Y:3.54, Z:1.72 [[ 9.87451683e-01 -1.54495262e-01 -3.27167884e-02 5.57576056e+01] [ 1.54400036e-01 9.87993480e-01 -5.43258007e-03 3.54486119e+00] [ 3.31632815e-02 3.12937025e-04 9.99449898e-01 1.71541111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.528040942 meters 0.0192908031254197 Centerline is valid? [True, True] Translation: X:55.82, Y:3.55, Z:1.72 [[ 9.87530091e-01 -1.53776817e-01 -3.37195689e-02 5.58167752e+01] [ 1.53674938e-01 9.88105543e-01 -5.60799873e-03 3.54958539e+00] [ 3.41808732e-02 3.56214823e-04 9.99415600e-01 1.71701706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58804094199999 meters 0.01977259294411077 Centerline is valid? [True, True] Translation: X:55.87, Y:3.56, Z:1.72 [[ 9.87492365e-01 -1.53803573e-01 -3.46884641e-02 5.58741272e+01] [ 1.53695474e-01 9.88101372e-01 -5.77754101e-03 3.55632411e+00] [ 3.51643254e-02 3.73817686e-04 9.99381474e-01 1.71754311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.648040941999994 meters 0.019223018057376546 Centerline is valid? [True, True] Translation: X:55.93, Y:3.56, Z:1.72 [[ 9.87259404e-01 -1.54901098e-01 -3.63939360e-02 5.59332893e+01] [ 1.54782681e-01 9.87929918e-01 -6.06617258e-03 3.55671307e+00] [ 3.68943150e-02 3.55734945e-04 9.99319110e-01 1.71941461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.708040942 meters 0.01911317412560881 Centerline is valid? [True, True] Translation: X:55.99, Y:3.56, Z:1.72 [[ 9.87076819e-01 -1.55907048e-01 -3.70451975e-02 5.59908927e+01] [ 1.55784692e-01 9.87771675e-01 -6.18453232e-03 3.55975726e+00] [ 3.75564089e-02 3.33533790e-04 9.99294454e-01 1.71936114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76804094199999 meters 0.01864206796565985 Centerline is valid? [True, True] Translation: X:56.05, Y:3.56, Z:1.72 [[ 9.86688781e-01 -1.58020829e-01 -3.84014021e-02 5.60497929e+01] [ 1.57890702e-01 9.87435742e-01 -6.41720762e-03 3.55933077e+00] [ 3.89329694e-02 2.68562415e-04 9.99241788e-01 1.72090266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.828040941999994 meters 0.018615191951337134 Centerline is valid? [True, True] Translation: X:56.11, Y:3.56, Z:1.72 [[ 9.86381169e-01 -1.59848762e-01 -3.87370975e-02 5.61078114e+01] [ 1.59717372e-01 9.87141494e-01 -6.48313183e-03 3.56274773e+00] [ 3.92753169e-02 2.07851720e-04 9.99228405e-01 1.72188982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.888040941999996 meters 0.018529593013644083 Centerline is valid? [True, True] Translation: X:56.17, Y:3.56, Z:1.72 [[ 9.86072086e-01 -1.61325715e-01 -4.04457050e-02 5.61671779e+01] [ 1.61183494e-01 9.86901205e-01 -6.77447143e-03 3.56492391e+00] [ 4.10088114e-02 1.60937131e-04 9.99158772e-01 1.72292086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94804094199999 meters 0.018656075615731883 Centerline is valid? [True, True] Translation: X:56.23, Y:3.57, Z:1.72 [[ 9.86015823e-01 -1.61836596e-01 -3.97707548e-02 5.62251740e+01] [ 1.61699161e-01 9.86817559e-01 -6.66982768e-03 3.56725711e+00] [ 4.03259014e-02 1.45657959e-04 9.99186569e-01 1.72447036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.008040941999994 meters 0.018769720161260176 Centerline is valid? [True, True] Translation: X:56.28, Y:3.57, Z:1.73 [[ 9.85920347e-01 -1.62737225e-01 -3.84403995e-02 5.62840843e+01] [ 1.62609339e-01 9.86669440e-01 -6.45130731e-03 3.57175544e+00] [ 3.89778353e-02 1.09707205e-04 9.99240069e-01 1.72705935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.068040941999996 meters 0.01888796369213176 Centerline is valid? [True, True] Translation: X:56.34, Y:3.57, Z:1.73 [[ 9.85884934e-01 -1.63374287e-01 -3.66024618e-02 5.63422140e+01] [ 1.63258483e-01 9.86564156e-01 -6.15087550e-03 3.57438543e+00] [ 3.71155718e-02 8.83931024e-05 9.99310976e-01 1.72942755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12804094199999 meters 0.01899410480871479 Centerline is valid? [True, True] Translation: X:56.40, Y:3.59, Z:1.73 [[ 9.86370462e-01 -1.61106284e-01 -3.34376523e-02 5.63994031e+01] [ 1.61008190e-01 9.86937049e-01 -5.62352104e-03 3.58598684e+00] [ 3.39068424e-02 1.63139171e-04 9.99424984e-01 1.73250609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18804094199999 meters 0.019391353883947377 Centerline is valid? [True, True] Translation: X:56.46, Y:3.60, Z:1.73 [[ 9.86865943e-01 -1.58057347e-01 -3.33689265e-02 5.64565750e+01] [ 1.57957597e-01 9.87429896e-01 -5.62129696e-03 3.59924653e+00] [ 3.38379629e-02 2.76591089e-04 9.99427294e-01 1.73380319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.248040941999996 meters 0.01999078918648874 Centerline is valid? [True, True] Translation: X:56.51, Y:3.61, Z:1.73 [[ 9.87341289e-01 -1.54899603e-01 -3.41070767e-02 5.65135924e+01] [ 1.54793201e-01 9.87930135e-01 -5.75441987e-03 3.61348808e+00] [ 3.45867663e-02 4.02032737e-04 9.99401618e-01 1.73367618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.308040942 meters 0.020046138385756727 Centerline is valid? [True, True] Translation: X:56.57, Y:3.62, Z:1.74 [[ 9.87343089e-01 -1.54681588e-01 -3.50318670e-02 5.65715545e+01] [ 1.54568879e-01 9.87964282e-01 -5.91946036e-03 3.62482494e+00] [ 3.55258648e-02 4.29701879e-04 9.99368665e-01 1.73502821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36804094199999 meters 0.01985348384312605 Centerline is valid? [True, True] Translation: X:56.63, Y:3.64, Z:1.74 [[ 9.86673406e-01 -1.58873610e-01 -3.51392421e-02 5.66280903e+01] [ 1.58762567e-01 9.87298887e-01 -5.94594056e-03 3.63564543e+00] [ 3.56375877e-02 2.87905128e-04 9.99364738e-01 1.73542778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.428040941999996 meters 0.019427758623175626 Centerline is valid? [True, True] Translation: X:56.69, Y:3.64, Z:1.74 [[ 9.85920643e-01 -1.63563505e-01 -3.47486016e-02 5.66862538e+01] [ 1.63457694e-01 9.86532800e-01 -5.88363085e-03 3.64247979e+00] [ 3.52429825e-02 1.20866838e-04 9.99378766e-01 1.73835862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.488040942 meters 0.019513357652817444 Centerline is valid? [True, True] Translation: X:56.74, Y:3.65, Z:1.74 [[ 9.84652241e-01 -1.71480419e-01 -3.24719899e-02 5.67440004e+01] [ 1.71392070e-01 9.85187518e-01 -5.50576163e-03 3.64791898e+00] [ 3.29351295e-02 -1.44181042e-04 9.99457481e-01 1.74291124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54804094199999 meters 0.020143415697112886 Centerline is valid? [True, True] Translation: X:56.80, Y:3.66, Z:1.75 [[ 9.83507144e-01 -1.78098438e-01 -3.15379865e-02 5.68019154e+01] [ 1.78018219e-01 9.84012615e-01 -5.35606958e-03 3.65541492e+00] [ 3.19876842e-02 -3.46603474e-04 9.99488203e-01 1.74503765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.608040941999995 meters 0.020195778594566508 Centerline is valid? [True, True] Translation: X:56.86, Y:3.66, Z:1.75 [[ 9.83023526e-01 -1.80715187e-01 -3.17296037e-02 5.68603414e+01] [ 1.80635210e-01 9.83535376e-01 -5.39301579e-03 3.66398114e+00] [ 3.21817876e-02 -4.30022220e-04 9.99481940e-01 1.74767707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.668040942 meters 0.020868224087494305 Centerline is valid? [True, True] Translation: X:56.92, Y:3.67, Z:1.75 [[ 9.82697345e-01 -1.82355804e-01 -3.24390127e-02 5.69176414e+01] [ 1.82272829e-01 9.83232487e-01 -5.52190012e-03 3.66970417e+00] [ 3.29020417e-02 -4.86394040e-04 9.99458463e-01 1.74926180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72804094199999 meters 0.020946967702226357 Centerline is valid? [True, True] Translation: X:56.97, Y:3.68, Z:1.75 [[ 9.82729928e-01 -1.81915152e-01 -3.38934565e-02 5.69747844e+01] [ 1.81824174e-01 9.83314110e-01 -5.77333112e-03 3.67955022e+00] [ 3.43781704e-02 -4.89024453e-04 9.99408776e-01 1.75026580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.788040941999995 meters 0.020710002288047567 Centerline is valid? [True, True] Translation: X:57.03, Y:3.69, Z:1.75 [[ 9.83026338e-01 -1.80162094e-01 -3.46531166e-02 5.70333924e+01] [ 1.80065564e-01 9.83636842e-01 -5.91233124e-03 3.68828095e+00] [ 3.51512601e-02 -4.27855659e-04 9.99381912e-01 1.75280371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.848040942 meters 0.020323133802269404 Centerline is valid? [True, True] Translation: X:57.09, Y:3.70, Z:1.76 [[ 9.83555722e-01 -1.77216804e-01 -3.48187666e-02 5.70916845e+01] [ 1.77117203e-01 9.84171786e-01 -5.94910444e-03 3.69770322e+00] [ 3.53219290e-02 -3.15726830e-04 9.99375936e-01 1.75744900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90804094199999 meters 0.02023245104066647 Centerline is valid? [True, True] Translation: X:57.15, Y:3.71, Z:1.76 [[ 9.83868808e-01 -1.75545321e-01 -3.44384696e-02 5.71499655e+01] [ 1.75446563e-01 9.84471320e-01 -5.89262466e-03 3.70891354e+00] [ 3.49381083e-02 -2.44541510e-04 9.99389448e-01 1.76064134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.968040941999995 meters 0.020045810225661646 Centerline is valid? [True, True] Translation: X:57.21, Y:3.72, Z:1.76 [[ 9.84324263e-01 -1.73299709e-01 -3.27560229e-02 5.72081739e+01] [ 1.73208877e-01 9.84869123e-01 -5.61215511e-03 3.71961440e+00] [ 3.32329804e-02 -1.49453514e-04 9.99447621e-01 1.76468308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.028040942 meters 0.01992716871422716 Centerline is valid? [True, True] Translation: X:57.27, Y:3.73, Z:1.77 [[ 9.84558421e-01 -1.72071773e-01 -3.21872662e-02 5.72659413e+01] [ 1.71983155e-01 9.85084410e-01 -5.52259687e-03 3.72874231e+00] [ 3.26574572e-02 -9.83483472e-05 9.99466598e-01 1.76829845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08804094199999 meters 0.019935999312767582 Centerline is valid? [True, True] Translation: X:57.32, Y:3.74, Z:1.77 [[ 9.84583063e-01 -1.71512281e-01 -3.43471815e-02 5.73232483e+01] [ 1.71410782e-01 9.85181979e-01 -5.90019761e-03 3.73641650e+00] [ 3.48501806e-02 -7.82426080e-05 9.99392545e-01 1.77022646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.148040941999994 meters 0.020191762910781084 Centerline is valid? [True, True] Translation: X:57.38, Y:3.75, Z:1.77 [[ 9.84745216e-01 -1.70146942e-01 -3.64263313e-02 5.73804959e+01] [ 1.70031475e-01 9.85418702e-01 -6.26737127e-03 3.74525012e+00] [ 3.69615621e-02 -2.18589433e-05 9.99316688e-01 1.77028661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.208040942 meters 0.020225727585697777 Centerline is valid? [True, True] Translation: X:57.44, Y:3.76, Z:1.77 [[ 9.84816976e-01 -1.69342935e-01 -3.81902270e-02 5.74381594e+01] [ 1.69215220e-01 9.85557188e-01 -6.57565159e-03 3.75528070e+00] [ 3.87521928e-02 1.34456684e-05 9.99248852e-01 1.77126278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26804094199999 meters 0.020152312292199347 Centerline is valid? [True, True] Translation: X:57.50, Y:3.77, Z:1.77 [[ 9.85069247e-01 -1.67478779e-01 -3.98677458e-02 5.74959581e+01] [ 1.67337652e-01 9.85875676e-01 -6.87472311e-03 3.76539139e+00] [ 4.04560110e-02 1.00703347e-04 9.99181315e-01 1.77252689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.328040941999994 meters 0.02045261856039627 Centerline is valid? [True, True] Translation: X:57.55, Y:3.78, Z:1.78 [[ 9.85493428e-01 -1.64717576e-01 -4.08757103e-02 5.75526449e+01] [ 1.64566488e-01 9.86340746e-01 -7.05711555e-03 3.77583851e+00] [ 4.14798096e-02 2.27968891e-04 9.99139316e-01 1.77515817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.388040941999996 meters 0.020590504324493573 Centerline is valid? [True, True] Translation: X:57.61, Y:3.79, Z:1.78 [[ 9.85768364e-01 -1.62948219e-01 -4.13353293e-02 5.76094354e+01] [ 1.62792007e-01 9.86634574e-01 -7.14004869e-03 3.78875042e+00] [ 4.19463232e-02 3.09372886e-04 9.99119818e-01 1.77692409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44804094199999 meters 0.020336788923996072 Centerline is valid? [True, True] Translation: X:57.67, Y:3.80, Z:1.78 [[ 9.85745384e-01 -1.63043817e-01 -4.15060530e-02 5.76662066e+01] [ 1.62886155e-01 9.86618780e-01 -7.17526591e-03 3.79840822e+00] [ 4.21205341e-02 3.12223867e-04 9.99112488e-01 1.78064991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.508040941999994 meters 0.019988696552736558 Centerline is valid? [True, True] Translation: X:57.72, Y:3.81, Z:1.78 [[ 9.85494666e-01 -1.64527107e-01 -4.16064243e-02 5.77229036e+01] [ 1.64369494e-01 9.86372527e-01 -7.20461333e-03 3.80904426e+00] [ 4.22247880e-02 2.61281082e-04 9.99108102e-01 1.78337192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.568040941999996 meters 0.019861615639501305 Centerline is valid? [True, True] Translation: X:57.78, Y:3.82, Z:1.79 [[ 9.85106575e-01 -1.66670817e-01 -4.22596148e-02 5.77788541e+01] [ 1.66509690e-01 9.86012578e-01 -7.32927604e-03 3.81834149e+00] [ 4.28900882e-02 1.83482666e-04 9.99079780e-01 1.78502130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62804094199999 meters 0.01989571851648055 Centerline is valid? [True, True] Translation: X:57.84, Y:3.83, Z:1.79 [[ 9.84131446e-01 -1.71695796e-01 -4.47867292e-02 5.78377065e+01] [ 1.71519546e-01 9.85150015e-01 -7.77768409e-03 3.82540557e+00] [ 4.54570426e-02 -2.75359712e-05 9.98966294e-01 1.78810406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68804094199999 meters 0.020180065924117252 Centerline is valid? [True, True] Translation: X:57.90, Y:3.83, Z:1.79 [[ 9.82914757e-01 -1.77886303e-01 -4.72762472e-02 5.78956076e+01] [ 1.77696583e-01 9.84050995e-01 -8.21975596e-03 3.83299583e+00] [ 4.79844201e-02 -3.21508165e-04 9.98848033e-01 1.78905087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.748040941999996 meters 0.020948830221066903 Centerline is valid? [True, True] Translation: X:57.95, Y:3.84, Z:1.79 [[ 9.81643436e-01 -1.84489448e-01 -4.83715661e-02 5.79538389e+01] [ 1.84298470e-01 9.82834278e-01 -8.41754328e-03 3.83999980e+00] [ 4.90941812e-02 -6.51779529e-04 9.98793941e-01 1.79199667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.808040942 meters 0.021356021993254044 Centerline is valid? [True, True] Translation: X:58.01, Y:3.85, Z:1.80 [[ 9.80862555e-01 -1.88647888e-01 -4.81728420e-02 5.80126239e+01] [ 1.88462886e-01 9.82044430e-01 -8.39517988e-03 3.84724056e+00] [ 4.88916041e-02 -8.44275247e-04 9.98803734e-01 1.79514793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86804094199999 meters 0.022086925164657625 Centerline is valid? [True, True] Translation: X:58.07, Y:3.86, Z:1.80 [[ 9.79866158e-01 -1.93906059e-01 -4.75684043e-02 5.80710341e+01] [ 1.93731439e-01 9.81019503e-01 -8.29846700e-03 3.85555230e+00] [ 4.82746553e-02 -1.08410842e-03 9.98833511e-01 1.79930968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.928040941999996 meters 0.022752988469704572 Centerline is valid? [True, True] Translation: X:58.13, Y:3.87, Z:1.80 [[ 9.79491435e-01 -1.95866198e-01 -4.72542263e-02 5.81278749e+01] [ 1.95695966e-01 9.80629933e-01 -8.24758902e-03 3.86515278e+00] [ 4.79543327e-02 -1.16901868e-03 9.98848845e-01 1.80143030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.988040942 meters 0.023141954635706313 Centerline is valid? [True, True] Translation: X:58.18, Y:3.87, Z:1.80 [[ 9.79565486e-01 -1.95272466e-01 -4.81676495e-02 5.81844189e+01] [ 1.95094557e-01 9.80748351e-01 -8.41340390e-03 3.87451357e+00] [ 4.88832489e-02 -1.15576616e-03 9.98803831e-01 1.80267231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04804094199999 meters 0.022701335155012388 Centerline is valid? [True, True] Translation: X:58.24, Y:3.89, Z:1.81 [[ 9.80179924e-01 -1.91883991e-01 -4.92732292e-02 5.82418307e+01] [ 1.91693115e-01 9.81417104e-01 -8.61497700e-03 3.88702996e+00] [ 5.00106661e-02 -1.00111132e-03 9.98748182e-01 1.80578366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.108040941999995 meters 0.021424470648226706 Centerline is valid? [True, True] Translation: X:58.30, Y:3.91, Z:1.81 [[ 9.81386359e-01 -1.85734982e-01 -4.88193669e-02 5.82995216e+01] [ 1.85539585e-01 9.82599646e-01 -8.54395038e-03 3.90506353e+00] [ 4.95568031e-02 -6.73008712e-04 9.98771080e-01 1.80753937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.168040942 meters 0.019824048978268283 Centerline is valid? [True, True] Translation: X:58.36, Y:3.92, Z:1.81 [[ 9.82773640e-01 -1.78486602e-01 -4.79427303e-02 5.83565991e+01] [ 1.78289251e-01 9.83942298e-01 -8.39628474e-03 3.92350599e+00] [ 4.86715046e-02 -2.96026181e-04 9.98814796e-01 1.81303100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22804094199999 meters 0.019387057249698546 Centerline is valid? [True, True] Translation: X:58.41, Y:3.94, Z:1.81 [[ 9.83835671e-01 -1.72769669e-01 -4.70957994e-02 5.84120164e+01] [ 1.72572262e-01 9.84962254e-01 -8.25670300e-03 3.94067050e+00] [ 4.78140925e-02 -4.18967793e-06 9.98856252e-01 1.81477944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.288040941999995 meters 0.019264947243402608 Centerline is valid? [True, True] Translation: X:58.47, Y:3.96, Z:1.82 [[ 9.84247089e-01 -1.70637197e-01 -4.62667772e-02 5.84686115e+01] [ 1.70444007e-01 9.85333921e-01 -8.11815491e-03 3.95593409e+00] [ 4.69734842e-02 1.04375468e-04 9.98896131e-01 1.81752536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.348040942 meters 0.01920054642634508 Centerline is valid? [True, True] Translation: X:58.53, Y:3.97, Z:1.82 [[ 9.84119917e-01 -1.71305746e-01 -4.65008700e-02 5.85251834e+01] [ 1.71110746e-01 9.85217912e-01 -8.17179626e-03 3.96685185e+00] [ 4.72133657e-02 8.52288944e-05 9.98884824e-01 1.81946670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40804094199999 meters 0.018979518581348376 Centerline is valid? [True, True] Translation: X:58.58, Y:3.98, Z:1.82 [[ 9.83760970e-01 -1.73330700e-01 -4.65920776e-02 5.85818853e+01] [ 1.73136559e-01 9.84863680e-01 -8.20143794e-03 3.97965322e+00] [ 4.73084060e-02 1.46256481e-06 9.98880331e-01 1.82088668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.468040941999995 meters 0.018871352090965465 Centerline is valid? [True, True] Translation: X:58.64, Y:3.99, Z:1.82 [[ 9.83398773e-01 -1.75991886e-01 -4.42007750e-02 5.86393821e+01] [ 1.75819322e-01 9.84391611e-01 -7.79241411e-03 3.99347900e+00] [ 4.48822738e-02 -1.08299818e-04 9.98992277e-01 1.82375997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.528040942 meters 0.018712587614532854 Centerline is valid? [True, True] Translation: X:58.70, Y:4.00, Z:1.83 [[ 9.82932153e-01 -1.78847814e-01 -4.31027015e-02 5.86960862e+01] [ 1.78685973e-01 9.83876725e-01 -7.61004978e-03 4.00466945e+00] [ 4.37687855e-02 -2.21685524e-04 9.99041663e-01 1.82562254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58804094199999 meters 0.01895742646476761 Centerline is valid? [True, True] Translation: X:58.75, Y:4.02, Z:1.83 [[ 9.82192616e-01 -1.83269151e-01 -4.13531466e-02 5.87542083e+01] [ 1.83123632e-01 9.83062697e-01 -7.31230044e-03 4.01564512e+00] [ 4.19928549e-02 -3.90650896e-04 9.99117835e-01 1.82891479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.648040941999994 meters 0.019659170397382835 Centerline is valid? [True, True] Translation: X:58.81, Y:4.03, Z:1.83 [[ 9.81338858e-01 -1.88212806e-01 -3.93698617e-02 5.88119953e+01] [ 1.88084507e-01 9.82128109e-01 -6.97110823e-03 4.02769900e+00] [ 3.99782997e-02 -5.63841656e-04 9.99200389e-01 1.83100213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.708040942 meters 0.020331771440352697 Centerline is valid? [True, True] Translation: X:58.87, Y:4.04, Z:1.83 [[ 9.80758570e-01 -1.91440559e-01 -3.82510059e-02 5.88693291e+01] [ 1.91321541e-01 9.81503983e-01 -6.78230107e-03 4.04149921e+00] [ 3.88419222e-02 -6.66441517e-04 9.99245146e-01 1.83218295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76804094199999 meters 0.020489005380507394 Centerline is valid? [True, True] Translation: X:58.93, Y:4.06, Z:1.83 [[ 9.80500219e-01 -1.92748378e-01 -3.83064301e-02 5.89261980e+01] [ 1.92629640e-01 9.81247960e-01 -6.80170099e-03 4.05621810e+00] [ 3.88991233e-02 -7.09884521e-04 9.99242891e-01 1.83285564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.828040941999994 meters 0.020361025752514535 Centerline is valid? [True, True] Translation: X:58.98, Y:4.07, Z:1.83 [[ 9.80456950e-01 -1.93309686e-01 -3.65449748e-02 5.89822491e+01] [ 1.93201670e-01 9.81137549e-01 -6.49805055e-03 4.07113273e+00] [ 3.71117831e-02 -6.89491344e-04 9.99310883e-01 1.83443930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.888040941999996 meters 0.02047717050494443 Centerline is valid? [True, True] Translation: X:59.04, Y:4.09, Z:1.84 [[ 9.80584324e-01 -1.92963367e-01 -3.49216568e-02 5.90386668e+01] [ 1.92864200e-01 9.81205755e-01 -6.21834185e-03 4.08555485e+00] [ 3.54652428e-02 -6.37528860e-04 9.99370707e-01 1.83591211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94804094199999 meters 0.020048366572489776 Centerline is valid? [True, True] Translation: X:59.10, Y:4.10, Z:1.84 [[ 9.80847708e-01 -1.92135996e-01 -3.19614422e-02 5.90951788e+01] [ 1.92052399e-01 9.81368154e-01 -5.69412025e-03 4.10129536e+00] [ 3.24599870e-02 -5.53206856e-04 9.99472883e-01 1.83864061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.008040941999994 meters 0.01942367469601924 Centerline is valid? [True, True] Translation: X:59.15, Y:4.12, Z:1.84 [[ 9.81378605e-01 -1.89669159e-01 -3.03586000e-02 5.91514423e+01] [ 1.89592330e-01 9.81847960e-01 -5.41592059e-03 4.11893434e+00] [ 3.08347625e-02 -4.40689125e-04 9.99524399e-01 1.84018106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.068040941999996 meters 0.019158089456256962 Centerline is valid? [True, True] Translation: X:59.21, Y:4.13, Z:1.84 [[ 9.81741340e-01 -1.87945664e-01 -2.93320551e-02 5.92092942e+01] [ 1.87872956e-01 9.82179359e-01 -5.24013366e-03 4.13289294e+00] [ 2.97941995e-02 -3.66244068e-04 9.99555987e-01 1.84169187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12804094199999 meters 0.018819054990701477 Centerline is valid? [True, True] Translation: X:59.27, Y:4.15, Z:1.84 [[ 9.82189465e-01 -1.85667680e-01 -2.88334492e-02 5.92669310e+01] [ 1.85596245e-01 9.82612554e-01 -5.15778640e-03 4.14634095e+00] [ 2.92897434e-02 -2.85456425e-04 9.99570923e-01 1.84259709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18804094199999 meters 0.01850394085527874 Centerline is valid? [True, True] Translation: X:59.32, Y:4.16, Z:1.84 [[ 9.83006677e-01 -1.81402039e-01 -2.81278016e-02 5.93227095e+01] [ 1.81332097e-01 9.83409009e-01 -5.03907148e-03 4.16077745e+00] [ 2.85752314e-02 -1.47032340e-04 9.99591634e-01 1.84462555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.248040941999996 meters 0.018322190120271527 Centerline is valid? [True, True] Translation: X:59.38, Y:4.17, Z:1.85 [[ 9.83523412e-01 -1.78755091e-01 -2.69873345e-02 5.93788953e+01] [ 1.78689645e-01 9.83893598e-01 -4.83711400e-03 4.17495566e+00] [ 2.74173245e-02 -6.49423609e-05 9.99624072e-01 1.84654401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.308040942 meters 0.01837103604986755 Centerline is valid? [True, True] Translation: X:59.44, Y:4.19, Z:1.85 [[ 9.84153571e-01 -1.75374210e-01 -2.61846415e-02 5.94350479e+01] [ 1.75311364e-01 9.84501846e-01 -4.69467539e-03 4.18804823e+00] [ 2.66021529e-02 2.98163360e-05 9.99646100e-01 1.84847136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36804094199999 meters 0.01841251655895296 Centerline is valid? [True, True] Translation: X:59.49, Y:4.20, Z:1.85 [[ 9.84253478e-01 -1.74669987e-01 -2.71198715e-02 5.94923520e+01] [ 1.74602082e-01 9.84627032e-01 -4.87040367e-03 4.19816488e+00] [ 2.75536719e-02 5.85257152e-05 9.99620324e-01 1.84953532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.428040941999996 meters 0.01834728755258246 Centerline is valid? [True, True] Translation: X:59.55, Y:4.21, Z:1.85 [[ 9.83993109e-01 -1.76425121e-01 -2.51344227e-02 5.95500477e+01] [ 1.76367205e-01 9.84314064e-01 -4.52020870e-03 4.20772384e+00] [ 2.55376441e-02 1.49663176e-05 9.99673861e-01 1.85059857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.488040942 meters 0.018638997338853297 Centerline is valid? [True, True] Translation: X:59.61, Y:4.21, Z:1.86 [[ 9.83779785e-01 -1.77801404e-01 -2.37485703e-02 5.96082996e+01] [ 1.77749912e-01 9.84066390e-01 -4.27882788e-03 4.21268297e+00] [ 2.41309514e-02 -1.18818917e-05 9.99708806e-01 1.85524506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54804094199999 meters 0.018628086205568037 Centerline is valid? [True, True] Translation: X:59.66, Y:4.22, Z:1.86 [[ 9.83648580e-01 -1.78501449e-01 -2.39312417e-02 5.96648577e+01] [ 1.78449320e-01 9.83939648e-01 -4.31373949e-03 4.21992586e+00] [ 2.43169063e-02 -2.73100837e-05 9.99704300e-01 1.85579009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.608040941999995 meters 0.01860616782288237 Centerline is valid? [True, True] Translation: X:59.72, Y:4.23, Z:1.85 [[ 9.83567085e-01 -1.78810097e-01 -2.49547231e-02 5.97230154e+01] [ 1.78753457e-01 9.83883605e-01 -4.50041609e-03 4.22649533e+00] [ 2.53572627e-02 -3.42818741e-05 9.99678452e-01 1.85484895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.668040942 meters 0.018698535695141454 Centerline is valid? [True, True] Translation: X:59.78, Y:4.23, Z:1.86 [[ 9.83708538e-01 -1.78068425e-01 -2.46809149e-02 5.97803570e+01] [ 1.78012592e-01 9.84018108e-01 -4.45883910e-03 4.23134513e+00] [ 2.50804457e-02 -7.31553876e-06 9.99685436e-01 1.85733223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72804094199999 meters 0.01871312539456968 Centerline is valid? [True, True] Translation: X:59.84, Y:4.24, Z:1.86 [[ 9.83836642e-01 -1.77460784e-01 -2.39401810e-02 5.98383700e+01] [ 1.77408030e-01 9.84127873e-01 -4.32678439e-03 4.23665748e+00] [ 2.43280339e-02 9.66868415e-06 9.99704030e-01 1.85930337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.788040941999995 meters 0.018738796604496084 Centerline is valid? [True, True] Translation: X:59.90, Y:4.24, Z:1.86 [[ 9.84051572e-01 -1.76190018e-01 -2.44863464e-02 5.98956643e+01] [ 1.76134236e-01 9.84356173e-01 -4.43348316e-03 4.24151126e+00] [ 2.48844217e-02 4.98921466e-05 9.99690334e-01 1.86137834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.848040942 meters 0.018558357697600537 Centerline is valid? [True, True] Translation: X:59.95, Y:4.24, Z:1.86 [[ 9.84217928e-01 -1.75239340e-01 -2.46220158e-02 5.99540478e+01] [ 1.75182591e-01 9.84525859e-01 -4.46001907e-03 4.24471966e+00] [ 2.50225820e-02 7.62822050e-05 9.99686883e-01 1.86298707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90804094199999 meters 0.01869112843699028 Centerline is valid? [True, True] Translation: X:60.01, Y:4.25, Z:1.86 [[ 9.84472565e-01 -1.73710446e-01 -2.52675500e-02 6.00120191e+01] [ 1.73649982e-01 9.84796763e-01 -4.58460217e-03 4.25013447e+00] [ 2.56797947e-02 1.25705457e-04 9.99670212e-01 1.86455037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.968040941999995 meters 0.019029031759833226 Centerline is valid? [True, True] Translation: X:60.07, Y:4.26, Z:1.87 [[ 9.84624027e-01 -1.72809006e-01 -2.55454978e-02 6.00690222e+01] [ 1.72746679e-01 9.84955340e-01 -4.64355544e-03 4.25856225e+00] [ 2.59636226e-02 1.59256356e-04 9.99662876e-01 1.86629392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.028040942 meters 0.01848264550510824 Centerline is valid? [True, True] Translation: X:60.13, Y:4.26, Z:1.87 [[ 9.84433499e-01 -1.73612646e-01 -2.73739973e-02 6.01277815e+01] [ 1.73541330e-01 9.84814006e-01 -4.97795576e-03 4.25858957e+00] [ 2.78225320e-02 1.49946493e-04 9.99612867e-01 1.86706373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08804094199999 meters 0.01819405613653653 Centerline is valid? [True, True] Translation: X:60.19, Y:4.26, Z:1.87 [[ 9.83954794e-01 -1.76122077e-01 -2.85303010e-02 6.01860760e+01] [ 1.76045401e-01 9.84368328e-01 -5.19722086e-03 4.26031833e+00] [ 2.89996700e-02 9.12021040e-05 9.99579417e-01 1.86899197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.148040941999994 meters 0.017908203109304393 Centerline is valid? [True, True] Translation: X:60.25, Y:4.26, Z:1.87 [[ 9.83303693e-01 -1.79400942e-01 -3.04819613e-02 6.02451800e+01] [ 1.79314852e-01 9.83776043e-01 -5.55713840e-03 4.26221679e+00] [ 3.09843791e-02 -1.51366826e-06 9.99519869e-01 1.87036887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.208040942 meters 0.017803651057569564 Centerline is valid? [True, True] Translation: X:60.30, Y:4.27, Z:1.87 [[ 9.82773652e-01 -1.82180619e-01 -3.10832839e-02 6.03031486e+01] [ 1.82092200e-01 9.83265079e-01 -5.67586034e-03 4.26632827e+00] [ 3.15971393e-02 -8.19375619e-05 9.99500682e-01 1.87167485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26804094199999 meters 0.017970033057118077 Centerline is valid? [True, True] Translation: X:60.36, Y:4.27, Z:1.87 [[ 9.81832868e-01 -1.87095640e-01 -3.16139483e-02 6.03622471e+01] [ 1.87006424e-01 9.82341675e-01 -5.78196021e-03 4.26608792e+00] [ 3.21374785e-02 -2.35092866e-04 9.99483430e-01 1.87388275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.328040941999994 meters 0.018084920954311242 Centerline is valid? [True, True] Translation: X:60.42, Y:4.27, Z:1.88 [[ 9.80950825e-01 -1.91300656e-01 -3.37570363e-02 6.04218974e+01] [ 1.91201239e-01 9.81531408e-01 -6.17912210e-03 4.26755981e+00] [ 3.43156615e-02 -3.92972242e-04 9.99410967e-01 1.87500688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.388040941999996 meters 0.01801652516152347 Centerline is valid? [True, True] Translation: X:60.48, Y:4.27, Z:1.88 [[ 9.80707496e-01 -1.92364407e-01 -3.47669726e-02 6.04806630e+01] [ 1.92259294e-01 9.81323467e-01 -6.37316382e-03 4.27351105e+00] [ 3.53436160e-02 -4.34064100e-04 9.99375125e-01 1.87628410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44804094199999 meters 0.018043836324416033 Centerline is valid? [True, True] Translation: X:60.54, Y:4.28, Z:1.88 [[ 9.80695798e-01 -1.92432847e-01 -3.47181636e-02 6.05379097e+01] [ 1.92327778e-01 9.81310051e-01 -6.37255476e-03 4.27748382e+00] [ 3.52955717e-02 -4.27729573e-04 9.99376826e-01 1.87920066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.508040941999994 meters 0.01728498050911387 Centerline is valid? [True, True] Translation: X:60.60, Y:4.29, Z:1.88 [[ 9.81256528e-01 -1.89593866e-01 -3.44933496e-02 6.05953782e+01] [ 1.89488229e-01 9.81862549e-01 -6.33614066e-03 4.28799450e+00] [ 3.50690216e-02 -3.18704360e-04 9.99384842e-01 1.88216997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.568040941999996 meters 0.016923850967307655 Centerline is valid? [True, True] Translation: X:60.65, Y:4.30, Z:1.89 [[ 9.81844340e-01 -1.86368950e-01 -3.53313819e-02 6.06533903e+01] [ 1.86255696e-01 9.82479809e-01 -6.49930342e-03 4.29703527e+00] [ 3.59236377e-02 -1.99366840e-04 9.99354518e-01 1.88523172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62804094199999 meters 0.016779396039866647 Centerline is valid? [True, True] Translation: X:60.71, Y:4.31, Z:1.89 [[ 9.82026857e-01 -1.85554665e-01 -3.45357626e-02 6.07104824e+01] [ 1.85445645e-01 9.82633931e-01 -6.36170603e-03 4.30817152e+00] [ 3.51164564e-02 -1.57140588e-04 9.99383215e-01 1.88611593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68804094199999 meters 0.016865664891910184 Centerline is valid? [True, True] Translation: X:60.77, Y:4.32, Z:1.89 [[ 9.81898893e-01 -1.86316558e-01 -3.40690981e-02 6.07673517e+01] [ 1.86210589e-01 9.82489751e-01 -6.28538599e-03 4.31909547e+00] [ 3.46436111e-02 -1.72413251e-04 9.99399715e-01 1.88719101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.748040941999996 meters 0.01708005515872676 Centerline is valid? [True, True] Translation: X:60.83, Y:4.33, Z:1.89 [[ 9.81485147e-01 -1.88591264e-01 -3.34700073e-02 6.08259354e+01] [ 1.88489997e-01 9.82055639e-01 -6.18409839e-03 4.32637884e+00] [ 3.40356764e-02 -2.39160877e-04 9.99420590e-01 1.89134584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.808040942 meters 0.017289879758101888 Centerline is valid? [True, True] Translation: X:60.88, Y:4.34, Z:1.89 [[ 9.81162207e-01 -1.89996413e-01 -3.49583473e-02 6.08839485e+01] [ 1.89886505e-01 9.81784741e-01 -6.46819378e-03 4.33776847e+00] [ 3.55505056e-02 -2.91771092e-04 9.99367838e-01 1.89237486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86804094199999 meters 0.0174619546838705 Centerline is valid? [True, True] Translation: X:60.94, Y:4.35, Z:1.89 [[ 9.81114692e-01 -1.90020490e-01 -3.61410359e-02 6.09405513e+01] [ 1.89902723e-01 9.81780081e-01 -6.69545475e-03 4.35275117e+00] [ 3.67548227e-02 -2.94272105e-04 9.99324270e-01 1.89166992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.928040941999996 meters 0.01766702139734578 Centerline is valid? [True, True] Translation: X:61.00, Y:4.37, Z:1.89 [[ 9.81002592e-01 -1.90506265e-01 -3.66234599e-02 6.09969699e+01] [ 1.90385504e-01 9.81685930e-01 -6.78929800e-03 4.36573626e+00] [ 3.72461391e-02 -3.12256931e-04 9.99306073e-01 1.89284377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.988040942 meters 0.018044896393112863 Centerline is valid? [True, True] Translation: X:61.05, Y:4.38, Z:1.90 [[ 9.80330355e-01 -1.93997807e-01 -3.62938896e-02 6.10544828e+01] [ 1.93881233e-01 9.81001868e-01 -6.73814040e-03 4.37688225e+00] [ 3.69115580e-02 -4.31100508e-04 9.99318443e-01 1.89509308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.048040942 meters 0.018576853848769642 Centerline is valid? [True, True] Translation: X:61.11, Y:4.39, Z:1.90 [[ 9.79723046e-01 -1.97085940e-01 -3.60539279e-02 6.11121388e+01] [ 1.96972694e-01 9.80386070e-01 -6.70168925e-03 4.38554694e+00] [ 3.66675774e-02 -5.35839886e-04 9.99327375e-01 1.89835460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.108040942 meters 0.019153001520162565 Centerline is valid? [True, True] Translation: X:61.17, Y:4.40, Z:1.90 [[ 9.79171947e-01 -1.99969682e-01 -3.51343721e-02 6.11703520e+01] [ 1.99863858e-01 9.79801887e-01 -6.53459131e-03 4.39579793e+00] [ 3.57314442e-02 -6.23602652e-04 9.99361233e-01 1.90098431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.168040942 meters 0.021315757318368135 Centerline is valid? [True, True] Translation: X:61.23, Y:4.40, Z:1.90 [[ 9.78891591e-01 -2.01252356e-01 -3.56194152e-02 6.12273332e+01] [ 2.01144143e-01 9.79539197e-01 -6.63292735e-03 4.40467803e+00] [ 3.62255056e-02 -6.71719947e-04 9.99343415e-01 1.90051410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.228040942 meters 0.01911766421084901 Centerline is valid? [True, True] Translation: X:61.28, Y:4.42, Z:1.90 [[ 9.79097650e-01 -2.00286676e-01 -3.53982825e-02 6.12844780e+01] [ 2.00179033e-01 9.79737134e-01 -6.59561673e-03 4.42071002e+00] [ 3.60020260e-02 -6.28241119e-04 9.99351519e-01 1.90456099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.288040942 meters 0.018934656482971553 Centerline is valid? [True, True] Translation: X:61.34, Y:4.43, Z:1.91 [[ 9.79444110e-01 -1.98819888e-01 -3.40571118e-02 6.13409059e+01] [ 1.98719101e-01 9.80035895e-01 -6.35325478e-03 4.43393644e+00] [ 3.46403455e-02 -5.45140689e-04 9.99399694e-01 1.90802429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.348040942 meters 0.018546894910868156 Centerline is valid? [True, True] Translation: X:61.40, Y:4.45, Z:1.91 [[ 9.79618836e-01 -1.97955627e-01 -3.40661865e-02 6.13981877e+01] [ 1.97854142e-01 9.80210849e-01 -6.35846322e-03 4.44839761e+00] [ 3.46507392e-02 -5.11265767e-04 9.99399352e-01 1.90940975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.408040942 meters 0.018317473706347585 Centerline is valid? [True, True] Translation: X:61.46, Y:4.46, Z:1.91 [[ 9.79538680e-01 -1.98431767e-01 -3.35977480e-02 6.14552336e+01] [ 1.98333052e-01 9.80114570e-01 -6.27928483e-03 4.46048851e+00] [ 3.41756520e-02 -5.12741544e-04 9.99415710e-01 1.91255667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.468040942 meters 0.01935011756193845 Centerline is valid? [True, True] Translation: X:61.51, Y:4.47, Z:1.91 [[ 9.79158794e-01 -2.00422643e-01 -3.28454069e-02 6.15122351e+01] [ 2.00329122e-01 9.79709370e-01 -6.14756203e-03 4.47025727e+00] [ 3.34110635e-02 -5.60452107e-04 9.99441537e-01 1.91459191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.528040942 meters 0.01982353950664127 Centerline is valid? [True, True] Translation: X:61.57, Y:4.48, Z:1.92 [[ 9.78598373e-01 -2.03123381e-01 -3.29562777e-02 6.15700327e+01] [ 2.03030645e-01 9.79152934e-01 -6.17167525e-03 4.48052240e+00] [ 3.35228476e-02 -6.51542958e-04 9.99437739e-01 1.91725510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.588040942 meters 0.01961802531010211 Centerline is valid? [True, True] Translation: X:61.63, Y:4.49, Z:1.92 [[ 9.78357660e-01 -2.04205137e-01 -3.34148410e-02 6.16275142e+01] [ 2.04110147e-01 9.78927876e-01 -6.26595471e-03 4.49320817e+00] [ 3.39902594e-02 -6.89963311e-04 9.99421926e-01 1.91809446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64804094200001 meters 0.021054792084323655 Centerline is valid? [True, True] Translation: X:61.69, Y:4.50, Z:1.92 [[ 9.78133874e-01 -2.05129483e-01 -3.42931427e-02 6.16851238e+01] [ 2.05029708e-01 9.78734570e-01 -6.43901517e-03 4.50114392e+00] [ 3.48847162e-02 -7.32894188e-04 9.99391074e-01 1.91885275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.708040942 meters 0.020127090795982107 Centerline is valid? [True, True] Translation: X:61.74, Y:4.51, Z:1.92 [[ 9.78336073e-01 -2.04225480e-01 -3.39187593e-02 6.17424358e+01] [ 2.04127205e-01 9.78923632e-01 -6.37231375e-03 4.51431120e+00] [ 3.45052639e-02 -6.89477102e-04 9.99404278e-01 1.92094187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.768040942 meters 0.019462588949045557 Centerline is valid? [True, True] Translation: X:61.80, Y:4.53, Z:1.92 [[ 9.78914583e-01 -2.01407870e-01 -3.40750593e-02 6.18002443e+01] [ 2.01306681e-01 9.79507289e-01 -6.41027998e-03 4.52657049e+00] [ 3.46678498e-02 -5.84420556e-04 9.99398719e-01 1.92342422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.828040942 meters 0.019037891634083773 Centerline is valid? [True, True] Translation: X:61.86, Y:4.54, Z:1.93 [[ 9.79245863e-01 -2.00017203e-01 -3.27209000e-02 6.18575178e+01] [ 1.99922860e-01 9.79792255e-01 -6.16341011e-03 4.53829144e+00] [ 3.32924724e-02 -5.06162069e-04 9.99445524e-01 1.92612584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.888040942 meters 0.01889254565382282 Centerline is valid? [True, True] Translation: X:61.92, Y:4.55, Z:1.93 [[ 9.79372273e-01 -1.99522991e-01 -3.19456823e-02 6.19150105e+01] [ 1.99432552e-01 9.79893032e-01 -6.02514501e-03 4.54855998e+00] [ 3.25055065e-02 -4.70148974e-04 9.99471446e-01 1.92972427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.948040942 meters 0.019253260671974973 Centerline is valid? [True, True] Translation: X:61.97, Y:4.56, Z:1.93 [[ 9.79241701e-01 -2.00141845e-01 -3.20769834e-02 6.19718401e+01] [ 2.00050742e-01 9.79766812e-01 -6.05757147e-03 4.55714833e+00] [ 3.26403373e-02 -4.85197736e-04 9.99467044e-01 1.93226532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00804094200001 meters 0.019142096135579177 Centerline is valid? [True, True] Translation: X:62.03, Y:4.57, Z:1.93 [[ 9.79152629e-01 -2.00685085e-01 -3.13946720e-02 6.20286093e+01] [ 2.00598006e-01 9.79655683e-01 -5.93157193e-03 4.56914902e+00] [ 3.19463469e-02 -4.89794347e-04 9.99489465e-01 1.93374112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.068040942 meters 0.018887598177706293 Centerline is valid? [True, True] Translation: X:62.09, Y:4.58, Z:1.93 [[ 9.78969518e-01 -2.01341150e-01 -3.28697956e-02 6.20864487e+01] [ 2.01245741e-01 9.79521038e-01 -6.21988386e-03 4.58074375e+00] [ 3.34489749e-02 -5.25829673e-04 9.99440288e-01 1.93469070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.128040942 meters 0.019139857467603088 Centerline is valid? [True, True] Translation: X:62.14, Y:4.59, Z:1.94 [[ 9.78766396e-01 -2.02184072e-01 -3.37334049e-02 6.21444703e+01] [ 2.02083779e-01 9.79347378e-01 -6.39212351e-03 4.58994412e+00] [ 3.43291072e-02 -5.60578247e-04 9.99410425e-01 1.93620389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.188040942 meters 0.019926278121739905 Centerline is valid? [True, True] Translation: X:62.20, Y:4.60, Z:1.94 [[ 9.78310212e-01 -2.04496793e-01 -3.30180302e-02 6.22018553e+01] [ 2.04401766e-01 9.78867037e-01 -6.26430740e-03 4.59943757e+00] [ 3.36012921e-02 -6.20507777e-04 9.99435125e-01 1.93818223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.248040942 meters 0.020071118100371918 Centerline is valid? [True, True] Translation: X:62.26, Y:4.61, Z:1.94 [[ 9.78203455e-01 -2.04913793e-01 -3.35907285e-02 6.22585366e+01] [ 2.04815561e-01 9.78779814e-01 -6.37660112e-03 4.61082301e+00] [ 3.41845805e-02 -6.42290657e-04 9.99415330e-01 1.93908443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.308040942 meters 0.02056297075335646 Centerline is valid? [True, True] Translation: X:62.32, Y:4.62, Z:1.94 [[ 9.77933302e-01 -2.06068897e-01 -3.43811854e-02 6.23167072e+01] [ 2.05966359e-01 9.78537242e-01 -6.53638549e-03 4.61965033e+00] [ 3.49902161e-02 -6.89218512e-04 9.99387417e-01 1.94072196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36804094200001 meters 0.020521223630549007 Centerline is valid? [True, True] Translation: X:62.37, Y:4.63, Z:1.94 [[ 9.77638051e-01 -2.07492467e-01 -3.42157532e-02 6.23747765e+01] [ 2.07391496e-01 9.78236344e-01 -6.51322337e-03 4.63150402e+00] [ 3.48225381e-02 -7.28481218e-04 9.99393246e-01 1.94209412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.428040942 meters 0.02131714144484183 Centerline is valid? [True, True] Translation: X:62.43, Y:4.64, Z:1.94 [[ 9.76900334e-01 -2.10825410e-01 -3.49053471e-02 6.24329257e+01] [ 2.10722138e-01 9.77523357e-01 -6.65329013e-03 4.64022279e+00] [ 3.55234747e-02 -8.55728018e-04 9.99368476e-01 1.94301074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.488040942 meters 0.022939214320024676 Centerline is valid? [True, True] Translation: X:62.49, Y:4.65, Z:1.95 [[ 9.76244689e-01 -2.13775783e-01 -3.53018538e-02 6.24905686e+01] [ 2.13671782e-01 9.76882276e-01 -6.73707474e-03 4.64681290e+00] [ 3.59259787e-02 -9.65976585e-04 9.99353987e-01 1.94522081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.548040942 meters 0.022944260022658095 Centerline is valid? [True, True] Translation: X:62.55, Y:4.66, Z:1.95 [[ 9.76031598e-01 -2.14731517e-01 -3.53934477e-02 6.25481435e+01] [ 2.14627416e-01 9.76672606e-01 -6.75973909e-03 4.65850847e+00] [ 3.60193398e-02 -9.98685275e-04 9.99350594e-01 1.94625812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.608040942 meters 0.023535012988315146 Centerline is valid? [True, True] Translation: X:62.60, Y:4.67, Z:1.95 [[ 9.76234325e-01 -2.13924710e-01 -3.46808368e-02 6.26047562e+01] [ 2.13823983e-01 9.76849697e-01 -6.63121359e-03 4.66864533e+00] [ 3.52965453e-02 -9.41976334e-04 9.99376439e-01 1.94824721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.668040942 meters 0.023560781514231775 Centerline is valid? [True, True] Translation: X:62.66, Y:4.68, Z:1.95 [[ 9.76570755e-01 -2.12608486e-01 -3.32744847e-02 6.26611541e+01] [ 2.12514909e-01 9.77137094e-01 -6.36502955e-03 4.67978430e+00] [ 3.38669925e-02 -8.55422359e-04 9.99425983e-01 1.95010075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.728040942 meters 0.02080484775474319 Centerline is valid? [True, True] Translation: X:62.72, Y:4.70, Z:1.95 [[ 9.76915438e-01 -2.11116204e-01 -3.26523268e-02 6.27181496e+01] [ 2.11025160e-01 9.77460654e-01 -6.24907026e-03 4.69663877e+00] [ 3.32356448e-02 -7.85649281e-04 9.99447235e-01 1.95283410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.788040942 meters 0.02073772484731699 Centerline is valid? [True, True] Translation: X:62.77, Y:4.71, Z:1.95 [[ 9.77466744e-01 -2.08595778e-01 -3.23506552e-02 6.27745861e+01] [ 2.08504768e-01 9.78001703e-01 -6.19921505e-03 4.70927593e+00] [ 3.29321260e-02 -6.85739326e-04 9.99457355e-01 1.95376422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.848040942 meters 0.020570371765273123 Centerline is valid? [True, True] Translation: X:62.83, Y:4.72, Z:1.95 [[ 9.77811545e-01 -2.06985199e-01 -3.22755439e-02 6.28316031e+01] [ 2.06893640e-01 9.78343873e-01 -6.18771132e-03 4.72139734e+00] [ 3.28573452e-02 -6.27189192e-04 9.99459855e-01 1.95425965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.908040942 meters 0.019900031527490206 Centerline is valid? [True, True] Translation: X:62.89, Y:4.74, Z:1.95 [[ 9.78275097e-01 -2.04722491e-01 -3.26578544e-02 6.28888114e+01] [ 2.04627382e-01 9.78819899e-01 -6.26421945e-03 4.73577500e+00] [ 3.32485844e-02 -5.54561357e-04 9.99446959e-01 1.95449618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.968040942 meters 0.01880306482476986 Centerline is valid? [True, True] Translation: X:62.95, Y:4.75, Z:1.96 [[ 9.78403611e-01 -2.04086784e-01 -3.27865765e-02 6.29463426e+01] [ 2.03990302e-01 9.78952658e-01 -6.29682836e-03 4.75040032e+00] [ 3.33816057e-02 -5.27304050e-04 9.99442540e-01 1.95635489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.028040942 meters 0.018361529631825076 Centerline is valid? [True, True] Translation: X:63.00, Y:4.76, Z:1.96 [[ 9.78991465e-01 -2.01229172e-01 -3.29018475e-02 6.30026880e+01] [ 2.01130124e-01 9.79544099e-01 -6.32710568e-03 4.76232951e+00] [ 3.35020088e-02 -4.23370216e-04 9.99438560e-01 1.95827412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.088040942 meters 0.01798209023207181 Centerline is valid? [True, True] Translation: X:63.06, Y:4.77, Z:1.96 [[ 9.79437681e-01 -1.99094395e-01 -3.26075126e-02 6.30593800e+01] [ 1.98995831e-01 9.79980257e-01 -6.27344667e-03 4.77431861e+00] [ 3.32037267e-02 -3.44308995e-04 9.99448545e-01 1.95993075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14804094200001 meters 0.017791472240361716 Centerline is valid? [True, True] Translation: X:63.12, Y:4.79, Z:1.96 [[ 9.79305798e-01 -1.99948935e-01 -3.13141663e-02 6.31163957e+01] [ 1.99858381e-01 9.79806255e-01 -6.02749115e-03 4.78660581e+00] [ 3.18870064e-02 -3.55641531e-04 9.99491417e-01 1.96120247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.208040942 meters 0.01827605852156667 Centerline is valid? [True, True] Translation: X:63.17, Y:4.79, Z:1.96 [[ 9.78926458e-01 -2.01902398e-01 -3.06334974e-02 6.31740065e+01] [ 2.01816420e-01 9.79405565e-01 -5.90526205e-03 4.79482730e+00] [ 3.11949044e-02 -4.01525523e-04 9.99513240e-01 1.96327642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.268040942 meters 0.0183791865654137 Centerline is valid? [True, True] Translation: X:63.23, Y:4.80, Z:1.97 [[ 9.77925714e-01 -2.06800714e-01 -2.99125853e-02 6.32320594e+01] [ 2.06720945e-01 9.78382937e-01 -5.76885868e-03 4.80379420e+00] [ 3.04589671e-02 -5.42042670e-04 9.99535871e-01 1.96538489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.328040942 meters 0.019213116009787083 Centerline is valid? [True, True] Translation: X:63.29, Y:4.81, Z:1.97 [[ 9.76923455e-01 -2.11506774e-01 -2.97564803e-02 6.32902103e+01] [ 2.11429778e-01 9.77376297e-01 -5.74659768e-03 4.81422506e+00] [ 3.02987228e-02 -6.77419947e-04 9.99540659e-01 1.96556031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.388040942 meters 0.0197805098723241 Centerline is valid? [True, True] Translation: X:63.35, Y:4.83, Z:1.97 [[ 9.76566569e-01 -2.13155708e-01 -2.97048738e-02 6.33482419e+01] [ 2.13079695e-01 9.77017972e-01 -5.73813577e-03 4.82549176e+00] [ 3.02453119e-02 -7.25833891e-04 9.99542242e-01 1.96720903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.448040942 meters 0.020448414411365155 Centerline is valid? [True, True] Translation: X:63.41, Y:4.84, Z:1.97 [[ 9.76283005e-01 -2.14493153e-01 -2.93969515e-02 6.34051739e+01] [ 2.14419086e-01 9.76725203e-01 -5.68626252e-03 4.83729496e+00] [ 2.99324078e-02 -7.51865999e-04 9.99551642e-01 1.96901998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50804094200001 meters 0.01980575494086556 Centerline is valid? [True, True] Translation: X:63.46, Y:4.85, Z:1.97 [[ 9.76589367e-01 -2.13203643e-01 -2.85904760e-02 6.34622566e+01] [ 2.13132968e-01 9.77007538e-01 -5.53246950e-03 4.85360006e+00] [ 2.91126532e-02 -6.90622102e-04 9.99575898e-01 1.97085683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.568040942 meters 0.01852679878918727 Centerline is valid? [True, True] Translation: X:63.52, Y:4.87, Z:1.97 [[ 9.77284079e-01 -2.10102073e-01 -2.78019417e-02 6.35186177e+01] [ 2.10033796e-01 9.77679287e-01 -5.38668210e-03 4.87136491e+00] [ 2.83131356e-02 -5.75028702e-04 9.99598937e-01 1.97241140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.628040942 meters 0.018331210654295434 Centerline is valid? [True, True] Translation: X:63.57, Y:4.89, Z:1.98 [[ 9.78014373e-01 -2.06995742e-01 -2.53110488e-02 6.35746128e+01] [ 2.06937943e-01 9.78341747e-01 -4.91061532e-03 4.88712684e+00] [ 2.57793322e-02 -4.35164031e-04 9.99667563e-01 1.97512717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.688040942 meters 0.01843009138844879 Centerline is valid? [True, True] Translation: X:63.63, Y:4.90, Z:1.98 [[ 9.78269533e-01 -2.05804666e-01 -2.51626762e-02 6.36313593e+01] [ 2.05747056e-01 9.78593011e-01 -4.88544140e-03 4.90058690e+00] [ 2.56294657e-02 -3.97868082e-04 9.99671432e-01 1.97693570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.748040942 meters 0.01809559610661991 Centerline is valid? [True, True] Translation: X:63.69, Y:4.92, Z:1.98 [[ 9.78076812e-01 -2.06908031e-01 -2.35545358e-02 6.36882162e+01] [ 2.06857852e-01 9.78360316e-01 -4.57398284e-03 4.91618082e+00] [ 2.39912169e-02 -3.98734114e-04 9.99712090e-01 1.97791019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.808040942 meters 0.018786798425469917 Centerline is valid? [True, True] Translation: X:63.75, Y:4.93, Z:1.98 [[ 9.77507357e-01 -2.09604363e-01 -2.33533509e-02 6.37462227e+01] [ 2.09555663e-01 9.77786175e-01 -4.54092880e-03 4.92815813e+00] [ 2.37863821e-02 -4.55035615e-04 9.99716960e-01 1.97907144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86804094200001 meters 0.01951503770735464 Centerline is valid? [True, True] Translation: X:63.80, Y:4.94, Z:1.98 [[ 9.76713592e-01 -2.13216532e-01 -2.38593871e-02 6.38038017e+01] [ 2.13166623e-01 9.77004815e-01 -4.64557115e-03 4.93988642e+00] [ 2.43012487e-02 -5.48632507e-04 9.99704531e-01 1.97977411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.928040942 meters 0.020551759153028915 Centerline is valid? [True, True] Translation: X:63.86, Y:4.95, Z:1.98 [[ 9.76005940e-01 -2.16390635e-01 -2.42383817e-02 6.38615236e+01] [ 2.16339949e-01 9.76306660e-01 -4.72569176e-03 4.95177064e+00] [ 2.46866889e-02 -6.31427023e-04 9.99695038e-01 1.98084818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.988040942 meters 0.022141084832720592 Centerline is valid? [True, True] Translation: X:63.92, Y:4.96, Z:1.98 [[ 9.74953772e-01 -2.21099290e-01 -2.40883111e-02 6.39200117e+01] [ 2.21050483e-01 9.75251023e-01 -4.70379942e-03 4.96498165e+00] [ 2.45321567e-02 -7.38745796e-04 9.99698768e-01 1.98040533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.048040942 meters 0.02227674024691312 Centerline is valid? [True, True] Translation: X:63.98, Y:4.98, Z:1.98 [[ 9.74078696e-01 -2.24955126e-01 -2.37883487e-02 6.39779996e+01] [ 2.24908654e-01 9.74368776e-01 -4.64605311e-03 4.98017910e+00] [ 2.42237777e-02 -8.24584151e-04 9.99706221e-01 1.98121209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.108040942 meters 0.023655393423597605 Centerline is valid? [True, True] Translation: X:64.03, Y:4.99, Z:1.98 [[ 9.73606968e-01 -2.27037857e-01 -2.33084339e-02 6.40336059e+01] [ 2.26993830e-01 9.73885555e-01 -4.55264854e-03 4.99494462e+00] [ 2.37333707e-02 -8.58380350e-04 9.99717955e-01 1.98277917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.168040942 meters 0.023489373078387655 Centerline is valid? [True, True] Translation: X:64.09, Y:5.01, Z:1.98 [[ 9.73479486e-01 -2.27596907e-01 -2.31805422e-02 6.40907753e+01] [ 2.27553486e-01 9.73755051e-01 -4.52910977e-03 5.01161067e+00] [ 2.36029814e-02 -8.65817714e-04 9.99721036e-01 1.98373863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.228040942 meters 0.02317404110634491 Centerline is valid? [True, True] Translation: X:64.15, Y:5.03, Z:1.98 [[ 9.73601778e-01 -2.26993059e-01 -2.39526546e-02 6.41469568e+01] [ 2.26946360e-01 9.73895984e-01 -4.68628288e-03 5.02945917e+00] [ 2.43911478e-02 -8.73394442e-04 9.99702110e-01 1.98436879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.288040942 meters 0.022384122038813993 Centerline is valid? [True, True] Translation: X:64.20, Y:5.05, Z:1.99 [[ 9.73998956e-01 -2.25231964e-01 -2.44253187e-02 6.42032473e+01] [ 2.25182692e-01 9.74304807e-01 -4.78513196e-03 5.05003301e+00] [ 2.48754701e-02 -8.39445492e-04 9.99690205e-01 1.98567874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.348040942 meters 0.021649967424807622 Centerline is valid? [True, True] Translation: X:64.26, Y:5.07, Z:1.99 [[ 9.74482503e-01 -2.23000276e-01 -2.55876661e-02 6.42593312e+01] [ 2.22945231e-01 9.74818043e-01 -5.02062912e-03 5.07141200e+00] [ 2.60629203e-02 -8.12132898e-04 9.99659975e-01 1.98615763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.408040942 meters 0.021967432101762947 Centerline is valid? [True, True] Translation: X:64.32, Y:5.09, Z:1.99 [[ 9.74554549e-01 -2.22649975e-01 -2.58924796e-02 6.43161410e+01] [ 2.22593457e-01 9.74898113e-01 -5.08156921e-03 5.08601645e+00] [ 2.63739407e-02 -8.11230149e-04 9.99651818e-01 1.98807555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.468040942 meters 0.022185014038242617 Centerline is valid? [True, True] Translation: X:64.37, Y:5.10, Z:1.99 [[ 9.74766542e-01 -2.21767928e-01 -2.54789030e-02 6.43724552e+01] [ 2.21712735e-01 9.75099172e-01 -5.00677120e-03 5.10397589e+00] [ 2.59547985e-02 -7.68564221e-04 9.99662822e-01 1.98961841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.528040942 meters 0.02112644851143157 Centerline is valid? [True, True] Translation: X:64.43, Y:5.12, Z:1.99 [[ 9.74912256e-01 -2.21291265e-01 -2.40056104e-02 6.44286131e+01] [ 2.21241991e-01 9.75207504e-01 -4.72278831e-03 5.12390824e+00] [ 2.44555632e-02 -7.06744832e-04 9.99700668e-01 1.99073475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.588040942 meters 0.02119149366920702 Centerline is valid? [True, True] Translation: X:64.49, Y:5.14, Z:1.99 [[ 9.75131488e-01 -2.20350792e-01 -2.37509854e-02 6.44854303e+01] [ 2.20302131e-01 9.75420463e-01 -4.67881240e-03 5.13903474e+00] [ 2.41981772e-02 -6.69935402e-04 9.99706957e-01 1.99259906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64804094200001 meters 0.020909314968394425 Centerline is valid? [True, True] Translation: X:64.54, Y:5.16, Z:1.99 [[ 9.75238475e-01 -2.19860607e-01 -2.39004459e-02 6.45416920e+01] [ 2.19811033e-01 9.75531078e-01 -4.71444991e-03 5.15669103e+00] [ 2.43521495e-02 -6.55868766e-04 9.99703227e-01 1.99383528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.708040942 meters 0.020891747471906582 Centerline is valid? [True, True] Translation: X:64.60, Y:5.17, Z:1.99 [[ 9.75555935e-01 -2.18425843e-01 -2.40991629e-02 6.45969570e+01] [ 2.18374823e-01 9.75853354e-01 -4.76101039e-03 5.17352519e+00] [ 2.45571767e-02 -6.18018500e-04 9.99698236e-01 1.99443393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.768040942 meters 0.020320469652799652 Centerline is valid? [True, True] Translation: X:64.65, Y:5.19, Z:2.00 [[ 9.75962705e-01 -2.16707875e-01 -2.31191384e-02 6.46532878e+01] [ 2.16660421e-01 9.76236341e-01 -4.56818887e-03 5.19087104e+00] [ 2.35597056e-02 -5.50620294e-04 9.99722280e-01 1.99632366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.828040942 meters 0.020384589320157843 Centerline is valid? [True, True] Translation: X:64.71, Y:5.21, Z:2.00 [[ 9.76307329e-01 -2.15164278e-01 -2.29854807e-02 6.47092126e+01] [ 2.15116777e-01 9.76577739e-01 -4.54886205e-03 5.20565404e+00] [ 2.34258613e-02 -5.03475172e-04 9.99725450e-01 1.99710544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.888040942 meters 0.01993023298305621 Centerline is valid? [True, True] Translation: X:64.77, Y:5.22, Z:2.00 [[ 9.76372856e-01 -2.14848655e-01 -2.31538496e-02 6.47659299e+01] [ 2.14800346e-01 9.76647227e-01 -4.58310188e-03 5.22044665e+00] [ 2.35978163e-02 -4.98638641e-04 9.99721408e-01 1.99731020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.948040942 meters 0.01999488042139954 Centerline is valid? [True, True] Translation: X:64.82, Y:5.23, Z:2.00 [[ 9.76328508e-01 -2.15108942e-01 -2.26005977e-02 6.48220594e+01] [ 2.15062862e-01 9.76589937e-01 -4.47889069e-03 5.23422301e+00] [ 2.30349657e-02 -4.87680537e-04 9.99734541e-01 1.99951596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00804094200001 meters 0.01979985357438461 Centerline is valid? [True, True] Translation: X:64.88, Y:5.25, Z:2.00 [[ 9.76150771e-01 -2.15849659e-01 -2.32076843e-02 6.48782722e+01] [ 2.15801113e-01 9.76426476e-01 -4.60619122e-03 5.24824704e+00] [ 2.36548422e-02 -5.11907005e-04 9.99720054e-01 2.00036819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.068040942 meters 0.019993058857767705 Centerline is valid? [True, True] Translation: X:64.94, Y:5.26, Z:2.00 [[ 9.75742321e-01 -2.17695195e-01 -2.31457524e-02 6.49357372e+01] [ 2.17647258e-01 9.76016650e-01 -4.60103940e-03 5.26032559e+00] [ 2.35922639e-02 -5.48180690e-04 9.99721514e-01 2.00094545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.128040942 meters 0.021081885701278596 Centerline is valid? [True, True] Translation: X:64.99, Y:5.27, Z:2.00 [[ 9.74946609e-01 -2.21325411e-01 -2.22299822e-02 6.49936946e+01] [ 2.21281971e-01 9.75199825e-01 -4.42619235e-03 5.27050473e+00] [ 2.26583036e-02 -6.03793050e-04 9.99743085e-01 2.00305252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.188040942 meters 0.02185706248247593 Centerline is valid? [True, True] Translation: X:65.05, Y:5.28, Z:2.00 [[ 9.74444892e-01 -2.23531925e-01 -2.21502064e-02 6.50520022e+01] [ 2.23489375e-01 9.74696390e-01 -4.40990295e-03 5.28048244e+00] [ 2.25754803e-02 -6.53128373e-04 9.99744928e-01 2.00498147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.248040942 meters 0.022757292367769258 Centerline is valid? [True, True] Translation: X:65.11, Y:5.29, Z:2.01 [[ 9.74012378e-01 -2.25520614e-01 -2.09842665e-02 6.51100359e+01] [ 2.25482781e-01 9.74238174e-01 -4.18272270e-03 5.28993350e+00] [ 2.13869636e-02 -6.57567069e-04 9.99771056e-01 2.00766042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.308040942 meters 0.021273535184773065 Centerline is valid? [True, True] Translation: X:65.17, Y:5.31, Z:2.01 [[ 9.74166107e-01 -2.24808797e-01 -2.14802430e-02 6.51667399e+01] [ 2.24768862e-01 9.74402679e-01 -4.28704405e-03 5.30636427e+00] [ 2.18941715e-02 -6.51796744e-04 9.99760081e-01 2.00607904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36804094200001 meters 0.020852360924546433 Centerline is valid? [True, True] Translation: X:65.22, Y:5.32, Z:2.01 [[ 9.74539785e-01 -2.23161480e-01 -2.17062640e-02 6.52239266e+01] [ 2.23120164e-01 9.74781296e-01 -4.33794347e-03 5.31858334e+00] [ 2.21269220e-02 -6.15606686e-04 9.99754980e-01 2.00729810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.428040942 meters 0.019808597843544242 Centerline is valid? [True, True] Translation: X:65.28, Y:5.33, Z:2.01 [[ 9.75659018e-01 -2.18313439e-01 -2.07056119e-02 6.52815629e+01] [ 2.18274641e-01 9.75878586e-01 -4.14319042e-03 5.33259685e+00] [ 2.11106774e-02 -4.77168917e-04 9.99777031e-01 2.00999503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.488040942 meters 0.018811848462519744 Centerline is valid? [True, True] Translation: X:65.34, Y:5.35, Z:2.01 [[ 9.76601581e-01 -2.14081749e-01 -2.04537678e-02 6.53386573e+01] [ 2.14042827e-01 9.76815676e-01 -4.09927753e-03 5.34743012e+00] [ 2.08571415e-02 -3.74621359e-04 9.99782396e-01 2.01083736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.548040942 meters 0.017995245905787705 Centerline is valid? [True, True] Translation: X:65.40, Y:5.36, Z:2.01 [[ 9.77717718e-01 -2.09033359e-01 -1.93162923e-02 6.53955120e+01] [ 2.08997674e-01 9.77908478e-01 -3.87055081e-03 5.36168375e+00] [ 1.96986402e-02 -2.52754054e-04 9.99805931e-01 2.01215398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.608040942 meters 0.017853683052977815 Centerline is valid? [True, True] Translation: X:65.45, Y:5.37, Z:2.01 [[ 9.78116318e-01 -2.07239427e-01 -1.84468918e-02 6.54535177e+01] [ 2.07206479e-01 9.78290232e-01 -3.70085324e-03 5.37152671e+00] [ 1.88133768e-02 -2.02450545e-04 9.99822992e-01 2.01414760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.668040942 meters 0.01785528368497 Centerline is valid? [True, True] Translation: X:65.51, Y:5.38, Z:2.01 [[ 9.77640731e-01 -2.09491126e-01 -1.82227661e-02 6.55115098e+01] [ 2.09459280e-01 9.77810519e-01 -3.66043642e-03 5.37974683e+00] [ 1.85852414e-02 -2.38335725e-04 9.99827251e-01 2.01446099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.728040942 meters 0.018341558910448023 Centerline is valid? [True, True] Translation: X:65.57, Y:5.39, Z:2.02 [[ 9.77032074e-01 -2.12311068e-01 -1.82301023e-02 6.55702376e+01] [ 2.12279597e-01 9.77202092e-01 -3.66674374e-03 5.38712679e+00] [ 1.85929844e-02 -2.87352530e-04 9.99827094e-01 2.01559220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.788040942 meters 0.019120207879797613 Centerline is valid? [True, True] Translation: X:65.63, Y:5.39, Z:2.02 [[ 9.76357207e-01 -2.15404560e-01 -1.80964040e-02 6.56279564e+01] [ 2.15373956e-01 9.76524839e-01 -3.64652458e-03 5.39147341e+00] [ 1.84570660e-02 -3.37183568e-04 9.99829597e-01 2.01758658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.848040942 meters 0.019125920659454433 Centerline is valid? [True, True] Translation: X:65.69, Y:5.40, Z:2.02 [[ 9.76284605e-01 -2.15753576e-01 -1.78539962e-02 6.56854693e+01] [ 2.15723861e-01 9.76447786e-01 -3.59680054e-03 5.40202418e+00] [ 1.82095177e-02 -3.40032010e-04 9.99834135e-01 2.01770722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.908040942 meters 0.018168054811360596 Centerline is valid? [True, True] Translation: X:65.74, Y:5.41, Z:2.02 [[ 9.76511114e-01 -2.14676420e-01 -1.84412174e-02 6.57434687e+01] [ 2.14644416e-01 9.76685174e-01 -3.72095307e-03 5.41420434e+00] [ 1.88100645e-02 -3.24752304e-04 9.99823022e-01 2.01695972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.968040942 meters 0.017584090223495927 Centerline is valid? [True, True] Translation: X:65.80, Y:5.42, Z:2.02 [[ 9.77110493e-01 -2.11811608e-01 -1.97718563e-02 6.58024516e+01] [ 2.11774114e-01 9.77310474e-01 -3.99531812e-03 5.42133342e+00] [ 2.01694970e-02 -2.83300084e-04 9.99796535e-01 2.01875669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.028040942 meters 0.017043767901298412 Centerline is valid? [True, True] Translation: X:65.86, Y:5.43, Z:2.02 [[ 9.77872052e-01 -2.08146145e-01 -2.10103079e-02 6.58603132e+01] [ 2.08102828e-01 9.78097713e-01 -4.25165945e-03 5.43172638e+00] [ 2.14351007e-02 -2.14725546e-04 9.99770219e-01 2.01907244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.088040942 meters 0.0168044796323209 Centerline is valid? [True, True] Translation: X:65.92, Y:5.44, Z:2.02 [[ 9.78426585e-01 -2.05551042e-01 -2.07409466e-02 6.59183544e+01] [ 2.05508133e-01 9.78646385e-01 -4.20247742e-03 5.44215058e+00] [ 2.11618760e-02 -1.50617584e-04 9.99776051e-01 2.02042744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14804094200001 meters 0.016526591309532858 Centerline is valid? [True, True] Translation: X:65.98, Y:5.45, Z:2.02 [[ 9.78845356e-01 -2.03511005e-01 -2.10959836e-02 6.59768158e+01] [ 2.03466018e-01 9.79072653e-01 -4.28008210e-03 5.44971444e+00] [ 2.15255445e-02 -1.02777305e-04 9.99768293e-01 2.02243355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.208040942 meters 0.016439311747631774 Centerline is valid? [True, True] Translation: X:66.04, Y:5.46, Z:2.02 [[ 9.78506221e-01 -2.04868921e-01 -2.35435947e-02 6.60354654e+01] [ 2.04813110e-01 9.78789408e-01 -4.78379159e-03 5.45600014e+00] [ 2.40242713e-02 -1.41067004e-04 9.99711366e-01 2.02231289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.268040942 meters 0.016762557487433504 Centerline is valid? [True, True] Translation: X:66.09, Y:5.46, Z:2.02 [[ 9.77596742e-01 -2.08938267e-01 -2.54835545e-02 6.60949257e+01] [ 2.08874071e-01 9.77928799e-01 -5.18519471e-03 5.45812916e+00] [ 2.60044874e-02 -2.53824304e-04 9.99661794e-01 2.02408596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.328040942 meters 0.017387536783122798 Centerline is valid? [True, True] Translation: X:66.15, Y:5.46, Z:2.03 [[ 9.77033283e-01 -2.11458604e-01 -2.62911251e-02 6.61530710e+01] [ 2.11390976e-01 9.77386901e-01 -5.35734507e-03 5.46439319e+00] [ 2.68294580e-02 -3.23402164e-04 9.99639973e-01 2.02553695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.388040942 meters 0.01765260033753283 Centerline is valid? [True, True] Translation: X:66.21, Y:5.47, Z:2.03 [[ 9.76444811e-01 -2.13919775e-01 -2.81755387e-02 6.62122132e+01] [ 2.13843056e-01 9.76851143e-01 -5.74377918e-03 5.47005343e+00] [ 2.87520151e-02 -4.16659929e-04 9.99586489e-01 2.02599242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.448040942 meters 0.017948067470156932 Centerline is valid? [True, True] Translation: X:66.27, Y:5.48, Z:2.03 [[ 9.76136537e-01 -2.15079050e-01 -2.99743701e-02 6.62713576e+01] [ 2.14992517e-01 9.76596529e-01 -6.11865858e-03 5.47536849e+00] [ 3.05888610e-02 -4.71619062e-04 9.99531940e-01 2.02817409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50804094200001 meters 0.017961908521505556 Centerline is valid? [True, True] Translation: X:66.33, Y:5.48, Z:2.03 [[ 9.75891889e-01 -2.15766015e-01 -3.28640925e-02 6.63304356e+01] [ 2.15662067e-01 9.76444952e-01 -6.71777258e-03 5.48280863e+00] [ 3.35394443e-02 -5.31718365e-04 9.99437253e-01 2.02882033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.568040942 meters 0.018049802967249777 Centerline is valid? [True, True] Translation: X:66.39, Y:5.49, Z:2.03 [[ 9.75652907e-01 -2.16518270e-01 -3.49463094e-02 6.63887636e+01] [ 2.16400868e-01 9.76278392e-01 -7.15306237e-03 5.49072868e+00] [ 3.56660954e-02 -5.83505585e-04 9.99363592e-01 2.03057808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.628040942 meters 0.02033451498991184 Centerline is valid? [True, True] Translation: X:66.45, Y:5.50, Z:2.03 [[ 9.74924899e-01 -2.19751914e-01 -3.50790095e-02 6.64461697e+01] [ 2.19635402e-01 9.75555540e-01 -7.18878465e-03 5.49619605e+00] [ 3.58012713e-02 -6.96067210e-04 9.99358687e-01 2.03058639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.688040942 meters 0.01935256865833199 Centerline is valid? [True, True] Translation: X:66.50, Y:5.50, Z:2.03 [[ 9.74385179e-01 -2.21900626e-01 -3.65189833e-02 6.65048277e+01] [ 2.21775665e-01 9.75068956e-01 -7.48900685e-03 5.50483231e+00] [ 3.72703422e-02 -8.01844517e-04 9.99304898e-01 2.03395959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.748040942 meters 0.019468134053486887 Centerline is valid? [True, True] Translation: X:66.56, Y:5.51, Z:2.04 [[ 9.73900163e-01 -2.23802104e-01 -3.78297547e-02 6.65628733e+01] [ 2.23669085e-01 9.74634195e-01 -7.76702738e-03 5.51236981e+00] [ 3.86084495e-02 -8.97037372e-04 9.99254013e-01 2.03596640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.808040942 meters 0.019844752002094814 Centerline is valid? [True, True] Translation: X:66.62, Y:5.52, Z:2.04 [[ 9.73586289e-01 -2.25000550e-01 -3.87877572e-02 6.66210448e+01] [ 2.24861395e-01 9.74358162e-01 -7.97032889e-03 5.52065067e+00] [ 3.95864962e-02 -9.62066276e-04 9.99215684e-01 2.03724117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86804094200001 meters 0.020037274614846962 Centerline is valid? [True, True] Translation: X:66.68, Y:5.53, Z:2.04 [[ 9.73625089e-01 -2.24992568e-01 -3.78487811e-02 6.66781089e+01] [ 2.24859738e-01 9.74360036e-01 -7.78582932e-03 5.52899516e+00] [ 3.86300934e-02 -9.30188253e-04 9.99253146e-01 2.03969915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.928040942 meters 0.01975602508359166 Centerline is valid? [True, True] Translation: X:66.74, Y:5.54, Z:2.04 [[ 9.74412811e-01 -2.21517528e-01 -3.80743836e-02 6.67350400e+01] [ 2.21380320e-01 9.75156067e-01 -7.83574540e-03 5.54050721e+00] [ 3.88642211e-02 -7.93668532e-04 9.99244186e-01 2.04287399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.988040942 meters 0.019226405130358146 Centerline is valid? [True, True] Translation: X:66.79, Y:5.55, Z:2.04 [[ 9.75092223e-01 -2.18456499e-01 -3.83655307e-02 6.67923089e+01] [ 2.18314627e-01 9.75846456e-01 -7.90045707e-03 5.55441790e+00] [ 3.91647734e-02 -6.72082273e-04 9.99232540e-01 2.04414790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.048040942 meters 0.01863539051719125 Centerline is valid? [True, True] Translation: X:66.85, Y:5.57, Z:2.05 [[ 9.75655830e-01 -2.15851299e-01 -3.87803909e-02 6.68492969e+01] [ 2.15703894e-01 9.76426085e-01 -7.99573385e-03 5.56936159e+00] [ 3.95920748e-02 -5.63996969e-04 9.99215767e-01 2.04537890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.108040942 meters 0.01925383297399001 Centerline is valid? [True, True] Translation: X:66.91, Y:5.58, Z:2.05 [[ 9.75270699e-01 -2.17395087e-01 -3.98301296e-02 6.69069799e+01] [ 2.17240457e-01 9.76083488e-01 -8.22246168e-03 5.58138477e+00] [ 4.06650546e-02 -6.33589630e-04 9.99172634e-01 2.04715949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.168040942 meters 0.02035463182432707 Centerline is valid? [True, True] Translation: X:66.96, Y:5.59, Z:2.05 [[ 9.74779681e-01 -2.19537997e-01 -4.00954143e-02 6.69636372e+01] [ 2.19382738e-01 9.75603685e-01 -8.28633543e-03 5.59285833e+00] [ 4.09363995e-02 -7.18890366e-04 9.99161496e-01 2.04779684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.228040942 meters 0.019504190240102987 Centerline is valid? [True, True] Translation: X:67.02, Y:5.61, Z:2.05 [[ 9.74391002e-01 -2.21345543e-01 -3.96020800e-02 6.70206324e+01] [ 2.21195313e-01 9.75195131e-01 -8.19080991e-03 5.60951008e+00] [ 4.04327548e-02 -7.78743003e-04 9.99181958e-01 2.05079158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.288040942 meters 0.02001796976139199 Centerline is valid? [True, True] Translation: X:67.08, Y:5.62, Z:2.05 [[ 9.74051682e-01 -2.22801281e-01 -3.97858099e-02 6.70783124e+01] [ 2.22650447e-01 9.74863526e-01 -8.23913556e-03 5.62102536e+00] [ 4.06214249e-02 -8.32984496e-04 9.99174262e-01 2.05343298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.348040942 meters 0.019951467592671326 Centerline is valid? [True, True] Translation: X:67.13, Y:5.63, Z:2.06 [[ 9.74012608e-01 -2.22888522e-01 -4.02510364e-02 6.71349006e+01] [ 2.22733770e-01 9.74843581e-01 -8.34624620e-03 5.63461773e+00] [ 4.10987469e-02 -8.35916040e-04 9.99154740e-01 2.05618220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.408040942 meters 0.01983728312837323 Centerline is valid? [True, True] Translation: X:67.19, Y:5.65, Z:2.06 [[ 9.74351153e-01 -2.21403877e-01 -4.02511406e-02 6.71922895e+01] [ 2.21247393e-01 9.75181902e-01 -8.35755699e-03 5.65053254e+00] [ 4.11025794e-02 -7.62264655e-04 9.99154641e-01 2.05726525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.468040942 meters 0.01933588189929638 Centerline is valid? [True, True] Translation: X:67.25, Y:5.67, Z:2.06 [[ 9.74866473e-01 -2.19174257e-01 -3.99750600e-02 6.72486267e+01] [ 2.19017645e-01 9.75685511e-01 -8.30989472e-03 5.66816431e+00] [ 4.08244019e-02 -6.54205747e-04 9.99166122e-01 2.05754176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.528040942 meters 0.019483064879794936 Centerline is valid? [True, True] Translation: X:67.31, Y:5.68, Z:2.06 [[ 9.74999039e-01 -2.18590040e-01 -3.99408100e-02 6.73052718e+01] [ 2.18432832e-01 9.75816586e-01 -8.31193381e-03 5.67896602e+00] [ 4.07918108e-02 -6.20256779e-04 9.99167475e-01 2.05962938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.588040942 meters 0.019799969550228638 Centerline is valid? [True, True] Translation: X:67.36, Y:5.69, Z:2.06 [[ 9.74952854e-01 -2.18987585e-01 -3.88763419e-02 6.73624849e+01] [ 2.18838705e-01 9.75727452e-01 -8.09691438e-03 5.69015882e+00] [ 3.97058377e-02 -6.13538536e-04 9.99211224e-01 2.06120789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.648040942 meters 0.019449952868596205 Centerline is valid? [True, True] Translation: X:67.42, Y:5.70, Z:2.06 [[ 9.74946896e-01 -2.19304263e-01 -3.72047164e-02 6.74199733e+01] [ 2.19167759e-01 9.75656339e-01 -7.75891204e-03 5.70170448e+00] [ 3.80005799e-02 -5.89547111e-04 9.99277543e-01 2.06422951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.708040942 meters 0.020073817238784618 Centerline is valid? [True, True] Translation: X:67.48, Y:5.71, Z:2.07 [[ 9.74970754e-01 -2.19289345e-01 -3.66635090e-02 6.74778078e+01] [ 2.19156457e-01 9.75659703e-01 -7.65449987e-03 5.70980424e+00] [ 3.74496586e-02 -5.72131251e-04 9.99298352e-01 2.06577642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.768040942 meters 0.019364998418130448 Centerline is valid? [True, True] Translation: X:67.53, Y:5.72, Z:2.07 [[ 9.75029672e-01 -2.19046356e-01 -3.65490539e-02 6.75346679e+01] [ 2.18913953e-01 9.75714294e-01 -7.63526497e-03 5.72162891e+00] [ 3.73339113e-02 -5.56487967e-04 9.99302692e-01 2.06758047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.828040942 meters 0.019604561604677793 Centerline is valid? [True, True] Translation: X:67.59, Y:5.73, Z:2.07 [[ 9.74834953e-01 -2.20016837e-01 -3.59082970e-02 6.75920959e+01] [ 2.19889306e-01 9.75495906e-01 -7.51198531e-03 5.73034304e+00] [ 3.66811600e-02 -5.72904676e-04 9.99326856e-01 2.06955560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.888040942 meters 0.01946411134208997 Centerline is valid? [True, True] Translation: X:67.65, Y:5.74, Z:2.07 [[ 9.74904357e-01 -2.20100927e-01 -3.34227068e-02 6.76495103e+01] [ 2.19990182e-01 9.75476962e-01 -7.00113619e-03 5.74092584e+00] [ 3.41440371e-02 -5.27229193e-04 9.99416783e-01 2.07362216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.948040942 meters 0.019526009054056728 Centerline is valid? [True, True] Translation: X:67.71, Y:5.75, Z:2.08 [[ 9.74835190e-01 -2.20534858e-01 -3.25688412e-02 6.77062033e+01] [ 2.20429667e-01 9.75378955e-01 -6.83054253e-03 5.75335285e+00] [ 3.32733351e-02 -5.20485600e-04 9.99446154e-01 2.07505044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00804094200001 meters 0.01995280820558319 Centerline is valid? [True, True] Translation: X:67.76, Y:5.76, Z:2.08 [[ 9.74383013e-01 -2.22569742e-01 -3.22560598e-02 6.77644251e+01] [ 2.22467372e-01 9.74916601e-01 -6.77416498e-03 5.76430722e+00] [ 3.29546924e-02 -5.75289575e-04 9.99456681e-01 2.07641157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.068040942 meters 0.020007706297052483 Centerline is valid? [True, True] Translation: X:67.82, Y:5.78, Z:2.08 [[ 9.73977639e-01 -2.24529425e-01 -3.08884485e-02 6.78221040e+01] [ 2.24436301e-01 9.74467121e-01 -6.49444909e-03 5.77843304e+00] [ 3.15579724e-02 -6.07040938e-04 9.99501739e-01 2.07737166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.128040942 meters 0.02038014837916377 Centerline is valid? [True, True] Translation: X:67.88, Y:5.79, Z:2.08 [[ 9.73677401e-01 -2.26039175e-01 -2.93020481e-02 6.78795594e+01] [ 2.25955842e-01 9.74118018e-01 -6.16805832e-03 5.79200527e+00] [ 2.99378758e-02 -6.15269935e-04 9.99551572e-01 2.07883155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.188040942 meters 0.02012251470924194 Centerline is valid? [True, True] Translation: X:67.94, Y:5.81, Z:2.08 [[ 9.73418399e-01 -2.27205110e-01 -2.88870060e-02 6.79373904e+01] [ 2.27124421e-01 9.73846720e-01 -6.08792269e-03 5.80523513e+00] [ 2.95147232e-02 -6.34848549e-04 9.99564144e-01 2.08029210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.248040942 meters 0.020088472319016604 Centerline is valid? [True, True] Translation: X:67.99, Y:5.82, Z:2.08 [[ 9.73600866e-01 -2.26620873e-01 -2.72824613e-02 6.79938640e+01] [ 2.26548470e-01 9.73982879e-01 -5.75695083e-03 5.81938798e+00] [ 2.78772954e-02 -5.75827541e-04 9.99611187e-01 2.08203173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.308040942 meters 0.01939582347194261 Centerline is valid? [True, True] Translation: X:68.05, Y:5.84, Z:2.08 [[ 9.74344219e-01 -2.23514695e-01 -2.63538069e-02 6.80508295e+01] [ 2.23445954e-01 9.74700447e-01 -5.56275514e-03 5.83654315e+00] [ 2.69304249e-02 -4.68613200e-04 9.99637200e-01 2.08339126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36804094200001 meters 0.018540089985318267 Centerline is valid? [True, True] Translation: X:68.11, Y:5.85, Z:2.09 [[ 9.75134199e-01 -2.20306634e-01 -2.40474896e-02 6.81078391e+01] [ 2.20248301e-01 9.75430607e-01 -5.08093008e-03 5.85401083e+00] [ 2.45760200e-02 -3.41830043e-04 9.99697906e-01 2.08503312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.428040942 meters 0.01836557645862329 Centerline is valid? [True, True] Translation: X:68.16, Y:5.87, Z:2.09 [[ 9.75484388e-01 -2.18949976e-01 -2.21611556e-02 6.81637939e+01] [ 2.18899990e-01 9.75736045e-01 -4.68662139e-03 5.86761664e+00] [ 2.26495740e-02 -2.79350743e-04 9.99743426e-01 2.08787317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.488040942 meters 0.017918921679398087 Centerline is valid? [True, True] Translation: X:68.22, Y:5.88, Z:2.09 [[ 9.76106863e-01 -2.16268260e-01 -2.10578004e-02 6.82207543e+01] [ 2.16222376e-01 9.76333959e-01 -4.45918415e-03 5.88233394e+00] [ 2.15238257e-02 -2.00527399e-04 9.99768316e-01 2.08967747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.548040942 meters 0.017542118954690884 Centerline is valid? [True, True] Translation: X:68.28, Y:5.90, Z:2.09 [[ 9.76272607e-01 -2.15526222e-01 -2.09819947e-02 6.82764745e+01] [ 2.15480392e-01 9.76498037e-01 -4.44801210e-03 5.89773060e+00] [ 2.14475399e-02 -1.78736092e-04 9.99769959e-01 2.08912217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.608040942 meters 0.0174677492940306 Centerline is valid? [True, True] Translation: X:68.33, Y:5.91, Z:2.09 [[ 9.76062455e-01 -2.16408527e-01 -2.16664286e-02 6.83335722e+01] [ 2.16359725e-01 9.76302878e-01 -4.59993912e-03 5.91015006e+00] [ 2.21484627e-02 -1.97914664e-04 9.99754673e-01 2.09005819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.668040942 meters 0.01816716563961954 Centerline is valid? [True, True] Translation: X:68.39, Y:5.92, Z:2.09 [[ 9.75425894e-01 -2.19318491e-01 -2.10647772e-02 6.83902286e+01] [ 2.19272877e-01 9.75653288e-01 -4.47972447e-03 5.92008012e+00] [ 2.15344055e-02 -2.49295056e-04 9.99768077e-01 2.09191009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.728040942 meters 0.01808424980587938 Centerline is valid? [True, True] Translation: X:68.45, Y:5.93, Z:2.09 [[ 9.75032144e-01 -2.21038207e-01 -2.13173555e-02 6.84477024e+01] [ 2.20991861e-01 9.75265106e-01 -4.53536532e-03 5.93280953e+00] [ 2.17925620e-02 -2.88835094e-04 9.99762472e-01 2.09229611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.788040942 meters 0.018606960500400154 Centerline is valid? [True, True] Translation: X:68.51, Y:5.94, Z:2.09 [[ 9.73961467e-01 -2.25763856e-01 -2.07302180e-02 6.85054802e+01] [ 2.25720991e-01 9.74181984e-01 -4.41546227e-03 5.94306066e+00] [ 2.11918567e-02 -3.78755254e-04 9.99775356e-01 2.09400719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.848040942 meters 0.02041714259610769 Centerline is valid? [True, True] Translation: X:68.56, Y:5.95, Z:2.10 [[ 9.72895098e-01 -2.30410370e-01 -1.96517170e-02 6.85634754e+01] [ 2.30372658e-01 9.73093449e-01 -4.19259181e-03 5.95299091e+00] [ 2.00889737e-02 -4.48266261e-04 9.99798096e-01 2.09671729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.908040942 meters 0.021167155888866366 Centerline is valid? [True, True] Translation: X:68.62, Y:5.97, Z:2.10 [[ 9.72513323e-01 -2.32083810e-01 -1.88399076e-02 6.86204717e+01] [ 2.32049452e-01 9.72695683e-01 -4.01998175e-03 5.96552298e+00] [ 1.92584695e-02 -4.62304433e-04 9.99814432e-01 2.09834676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.968040942 meters 0.01998545851973155 Centerline is valid? [True, True] Translation: X:68.68, Y:5.98, Z:2.10 [[ 9.72529912e-01 -2.32037661e-01 -1.85497870e-02 6.86764113e+01] [ 2.32004360e-01 9.72706696e-01 -3.95723920e-03 5.98371408e+00] [ 1.89617306e-02 -4.55097986e-04 9.99820107e-01 2.09809368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.028040942 meters 0.018750607495213217 Centerline is valid? [True, True] Translation: X:68.73, Y:6.00, Z:2.10 [[ 9.73495822e-01 -2.27863652e-01 -1.95969740e-02 6.87326658e+01] [ 2.27825468e-01 9.73692973e-01 -4.18923153e-03 6.00323075e+00] [ 2.00360095e-02 -3.86490376e-04 9.99799184e-01 2.09873330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.088040942 meters 0.017358891534105053 Centerline is valid? [True, True] Translation: X:68.79, Y:6.03, Z:2.10 [[ 9.75010495e-01 -2.21148865e-01 -2.11592719e-02 6.87891247e+01] [ 2.21102721e-01 9.75240026e-01 -4.52526935e-03 6.02517314e+00] [ 2.16361271e-02 -2.66187477e-04 9.99765876e-01 2.09938710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.148040942 meters 0.01676440599155851 Centerline is valid? [True, True] Translation: X:68.85, Y:6.04, Z:2.10 [[ 9.76116656e-01 -2.16170217e-01 -2.16034921e-02 6.88456725e+01] [ 2.16120916e-01 9.76355679e-01 -4.61931585e-03 6.04456326e+00] [ 2.20912507e-02 -1.59975354e-04 9.99755946e-01 2.10065214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.208040942 meters 0.016381339078342636 Centerline is valid? [True, True] Translation: X:68.90, Y:6.07, Z:2.10 [[ 9.77720388e-01 -2.08803759e-01 -2.15367790e-02 6.89014053e+01] [ 2.08752860e-01 9.77957560e-01 -4.61014762e-03 6.06592690e+00] [ 2.20246720e-02 1.15711044e-05 9.99757427e-01 2.10331951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.268040942 meters 0.016991890364076657 Centerline is valid? [True, True] Translation: X:68.96, Y:6.09, Z:2.11 [[ 9.78908673e-01 -2.03331089e-01 -1.98564445e-02 6.89560082e+01] [ 2.03286566e-01 9.79110030e-01 -4.25684972e-03 6.08662896e+00] [ 2.03071939e-02 1.30518697e-04 9.99793779e-01 2.10808370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.328040942 meters 0.016975127096631782 Centerline is valid? [True, True] Translation: X:69.01, Y:6.10, Z:2.11 [[ 9.79326758e-01 -2.01283805e-01 -2.00980161e-02 6.90128580e+01] [ 2.01237757e-01 9.79532949e-01 -4.30883211e-03 6.10274963e+00] [ 2.05539671e-02 1.75274894e-04 9.99788730e-01 2.10885408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.388040942 meters 0.016773712970033453 Centerline is valid? [True, True] Translation: X:69.07, Y:6.12, Z:2.11 [[ 9.79038510e-01 -2.02536040e-01 -2.15115746e-02 6.90698514e+01] [ 2.02483453e-01 9.79274795e-01 -4.61803685e-03 6.11797886e+00] [ 2.20010618e-02 1.65498009e-04 9.99757934e-01 2.11029896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.448040942 meters 0.016246266912991983 Centerline is valid? [True, True] Translation: X:69.13, Y:6.13, Z:2.11 [[ 9.77896259e-01 -2.07737763e-01 -2.37471793e-02 6.91267462e+01] [ 2.07675037e-01 9.78184552e-01 -5.10499335e-03 6.13205809e+00] [ 2.42896239e-02 6.04575618e-05 9.99704962e-01 2.11082081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50804094200001 meters 0.01605972245340921 Centerline is valid? [True, True] Translation: X:69.18, Y:6.14, Z:2.11 [[ 9.76729596e-01 -2.12953622e-01 -2.54961145e-02 6.91842787e+01] [ 2.12882902e-01 9.77062306e-01 -5.48814913e-03 6.14468529e+00] [ 2.60800137e-02 -6.72491538e-05 9.99659856e-01 2.11103164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.568040942 meters 0.01712769525143952 Centerline is valid? [True, True] Translation: X:69.24, Y:6.15, Z:2.11 [[ 9.74178922e-01 -2.24106606e-01 -2.74163473e-02 6.92418847e+01] [ 2.24029000e-01 9.74564560e-01 -5.90984031e-03 6.15202592e+00] [ 2.80434346e-02 -3.84814998e-04 9.99606631e-01 2.11216303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.628040942 meters 0.01990997093718286 Centerline is valid? [True, True] Translation: X:69.30, Y:6.16, Z:2.11 [[ 9.71510131e-01 -2.35301125e-01 -2.83098222e-02 6.93015595e+01] [ 2.35223033e-01 9.71922245e-01 -6.10525779e-03 6.16172902e+00] [ 2.89515200e-02 -7.27802444e-04 9.99580552e-01 2.11329814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.688040942 meters 0.02204578558989266 Centerline is valid? [True, True] Translation: X:69.36, Y:6.18, Z:2.11 [[ 9.69689741e-01 -2.42572383e-01 -2.93333339e-02 6.93593991e+01] [ 2.42491829e-01 9.70132817e-01 -6.32695352e-03 6.17647715e+00] [ 2.99919740e-02 -9.77911863e-04 9.99549661e-01 2.11303297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.748040942 meters 0.022421310812636742 Centerline is valid? [True, True] Translation: X:69.42, Y:6.19, Z:2.12 [[ 9.69044803e-01 -2.45179951e-01 -2.89648148e-02 6.94174841e+01] [ 2.45102552e-01 9.69477024e-01 -6.24811258e-03 6.19149046e+00] [ 2.96126344e-02 -1.04464899e-03 9.99560904e-01 2.11508201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.808040942 meters 0.023605329788528084 Centerline is valid? [True, True] Translation: X:69.47, Y:6.20, Z:2.12 [[ 9.68918876e-01 -2.45782656e-01 -2.80552427e-02 6.94737517e+01] [ 2.45710269e-01 9.69324418e-01 -6.05278802e-03 6.20436875e+00] [ 2.86823021e-02 -1.02880068e-03 9.99588049e-01 2.11789380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86804094200001 meters 0.023270404869544212 Centerline is valid? [True, True] Translation: X:69.53, Y:6.22, Z:2.12 [[ 9.69438347e-01 -2.43758313e-01 -2.77700567e-02 6.95298334e+01] [ 2.43686488e-01 9.69835537e-01 -5.99380263e-03 6.22421004e+00] [ 2.83934271e-02 -9.56565477e-04 9.99596368e-01 2.11875078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.928040942 meters 0.02166811279122955 Centerline is valid? [True, True] Translation: X:69.59, Y:6.25, Z:2.12 [[ 9.71014933e-01 -2.37325475e-01 -2.84010262e-02 6.95853101e+01] [ 2.37247534e-01 9.71429876e-01 -6.13210729e-03 6.24537053e+00] [ 2.90449107e-02 -7.83705697e-04 9.99577800e-01 2.12021789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.988040942 meters 0.02048812025789394 Centerline is valid? [True, True] Translation: X:69.64, Y:6.26, Z:2.12 [[ 9.72294289e-01 -2.31970631e-01 -2.88694027e-02 6.96419652e+01] [ 2.31887690e-01 9.72722585e-01 -6.23481277e-03 6.26218810e+00] [ 2.95282134e-02 -6.32386249e-04 9.99563747e-01 2.12190193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.048040942 meters 0.018492377780899932 Centerline is valid? [True, True] Translation: X:69.70, Y:6.28, Z:2.12 [[ 9.74159891e-01 -2.23950786e-01 -2.93010484e-02 6.96988649e+01] [ 2.23861682e-01 9.74600375e-01 -6.32908342e-03 6.28377038e+00] [ 2.99742160e-02 -3.93842758e-04 9.99550595e-01 2.12262059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.108040942 meters 0.017686452516127105 Centerline is valid? [True, True] Translation: X:69.76, Y:6.30, Z:2.12 [[ 9.75461873e-01 -2.18286792e-01 -2.87229952e-02 6.97551907e+01] [ 2.18198707e-01 9.75884640e-01 -6.20436543e-03 6.30163429e+00] [ 2.93846608e-02 -2.15198486e-04 9.99568154e-01 2.12425761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.168040942 meters 0.017374744419114192 Centerline is valid? [True, True] Translation: X:69.81, Y:6.32, Z:2.12 [[ 9.76331348e-01 -2.14279242e-01 -2.93514024e-02 6.98127319e+01] [ 2.14185233e-01 9.76772439e-01 -6.34724056e-03 6.31641430e+00] [ 3.00297228e-02 -8.96270232e-05 9.99549002e-01 2.12488892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.228040942 meters 0.017531363164109127 Centerline is valid? [True, True] Translation: X:69.87, Y:6.33, Z:2.13 [[ 9.76719551e-01 -2.12470621e-01 -2.95829898e-02 6.98684927e+01] [ 2.12374072e-01 9.77167455e-01 -6.40460779e-03 6.32912453e+00] [ 3.02683258e-02 -2.71543462e-05 9.99541809e-01 2.12656556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.288040942 meters 0.017755703085276662 Centerline is valid? [True, True] Translation: X:69.93, Y:6.34, Z:2.13 [[ 9.77218966e-01 -2.10110198e-01 -2.99465832e-02 6.99253602e+01] [ 2.10010034e-01 9.77677709e-01 -6.48716142e-03 6.34186093e+00] [ 3.06411256e-02 5.02942163e-05 9.99530449e-01 2.12725028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.348040942 meters 0.01818099400526157 Centerline is valid? [True, True] Translation: X:69.98, Y:6.35, Z:2.13 [[ 9.77757263e-01 -2.07555221e-01 -3.01921434e-02 6.99828038e+01] [ 2.07451915e-01 9.78223293e-01 -6.54925119e-03 6.35218380e+00] [ 3.08939892e-02 1.40159962e-04 9.99522657e-01 2.12887723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.408040942 meters 0.018684139857365716 Centerline is valid? [True, True] Translation: X:70.04, Y:6.36, Z:2.13 [[ 9.78018201e-01 -2.06154783e-01 -3.13146041e-02 7.00394432e+01] [ 2.06042839e-01 9.78519375e-01 -6.79564872e-03 6.36239873e+00] [ 3.20429023e-02 1.94118196e-04 9.99486476e-01 2.12978748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.468040942 meters 0.018842132793949223 Centerline is valid? [True, True] Translation: X:70.10, Y:6.37, Z:2.13 [[ 9.77955890e-01 -2.06209062e-01 -3.28648707e-02 7.00969932e+01] [ 2.06085667e-01 9.78507936e-01 -7.13563139e-03 6.37131477e+00] [ 3.36299687e-02 2.05353956e-04 9.99434332e-01 2.13054549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.528040942 meters 0.018967131848933682 Centerline is valid? [True, True] Translation: X:70.16, Y:6.38, Z:2.13 [[ 9.77449577e-01 -2.08511730e-01 -3.33943617e-02 7.01555542e+01] [ 2.08385336e-01 9.78019856e-01 -7.26031167e-03 6.37643424e+00] [ 3.41742090e-02 1.37693285e-04 9.99415882e-01 2.13274634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.588040942 meters 0.018943347871807098 Centerline is valid? [True, True] Translation: X:70.21, Y:6.39, Z:2.13 [[ 9.77200891e-01 -2.09650011e-01 -3.35453570e-02 7.02115456e+01] [ 2.09522804e-01 9.77776488e-01 -7.30296488e-03 6.38636566e+00] [ 3.43309281e-02 1.07946533e-04 9.99410514e-01 2.13474769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.648040942 meters 0.01895572090423064 Centerline is valid? [True, True] Translation: X:70.27, Y:6.39, Z:2.14 [[ 9.76157037e-01 -2.14272865e-01 -3.47070266e-02 7.02707191e+01] [ 2.14139338e-01 9.76773841e-01 -7.56352303e-03 6.38940513e+00] [ 3.55215734e-02 -4.89534729e-05 9.99368909e-01 2.13658085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.708040942 meters 0.019217531347890237 Centerline is valid? [True, True] Translation: X:70.33, Y:6.39, Z:2.14 [[ 9.74991695e-01 -2.19167356e-01 -3.68356335e-02 7.03305383e+01] [ 2.19020010e-01 9.75687254e-01 -8.03854414e-03 6.39304061e+00] [ 3.77018446e-02 -2.30227051e-04 9.99289006e-01 2.13858275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.768040942 meters 0.019724784541625743 Centerline is valid? [True, True] Translation: X:70.39, Y:6.40, Z:2.14 [[ 9.74277842e-01 -2.22430040e-01 -3.61602612e-02 7.03896169e+01] [ 2.22289948e-01 9.74948594e-01 -7.90050103e-03 6.40011047e+00] [ 3.70117046e-02 -3.40779498e-04 9.99314774e-01 2.14089241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.828040942 meters 0.020171707470201534 Centerline is valid? [True, True] Translation: X:70.45, Y:6.41, Z:2.14 [[ 9.73490174e-01 -2.25623943e-01 -3.75595234e-02 7.04490294e+01] [ 2.25474783e-01 9.74214358e-01 -8.21626889e-03 6.40538114e+00] [ 3.84448140e-02 -4.70268382e-04 9.99260614e-01 2.14119175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.888040942 meters 0.020029276144094946 Centerline is valid? [True, True] Translation: X:70.51, Y:6.41, Z:2.15 [[ 9.73500924e-01 -2.25647450e-01 -3.71372940e-02 7.05068977e+01] [ 2.25501272e-01 9.74208920e-01 -8.13366218e-03 6.41090858e+00] [ 3.80148232e-02 -4.56379362e-04 9.99277071e-01 2.14552329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.948040942 meters 0.019855910303038165 Centerline is valid? [True, True] Translation: X:70.56, Y:6.42, Z:2.15 [[ 9.73842786e-01 -2.24101679e-01 -3.75321914e-02 7.05644612e+01] [ 2.23950798e-01 9.74565691e-01 -8.23130832e-03 6.42119206e+00] [ 3.84222360e-02 -3.89363982e-04 9.99261517e-01 2.14723634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00804094200001 meters 0.019658233768016592 Centerline is valid? [True, True] Translation: X:70.62, Y:6.43, Z:2.15 [[ 9.74375338e-01 -2.21695621e-01 -3.79967503e-02 7.06214391e+01] [ 2.21538792e-01 9.75115874e-01 -8.34241028e-03 6.43033898e+00] [ 3.89007102e-02 -2.89115316e-04 9.99243039e-01 2.14852554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.068040942 meters 0.01945662315759324 Centerline is valid? [True, True] Translation: X:70.68, Y:6.44, Z:2.15 [[ 9.75013815e-01 -2.18784135e-01 -3.84910681e-02 7.06795832e+01] [ 2.18620673e-01 9.75773270e-01 -8.45738619e-03 6.43782757e+00] [ 3.94088973e-02 -1.68874839e-04 9.99223153e-01 2.15199926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.128040942 meters 0.019494517248525578 Centerline is valid? [True, True] Translation: X:70.74, Y:6.44, Z:2.16 [[ 9.75310603e-01 -2.17611973e-01 -3.76066178e-02 7.07387852e+01] [ 2.17454698e-01 9.76035357e-01 -8.27265855e-03 6.44451870e+00] [ 3.85056181e-02 -1.09324133e-04 9.99258378e-01 2.15716603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.188040942 meters 0.01963473945205954 Centerline is valid? [True, True] Translation: X:70.80, Y:6.45, Z:2.16 [[ 9.75108811e-01 -2.18479966e-01 -3.78062465e-02 7.07967859e+01] [ 2.18321347e-01 9.75841425e-01 -8.32487197e-03 6.45109566e+00] [ 3.87117192e-02 -1.36254643e-04 9.99250411e-01 2.15816913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.248040942 meters 0.019701094623675065 Centerline is valid? [True, True] Translation: X:70.86, Y:6.46, Z:2.16 [[ 9.74723706e-01 -2.19896461e-01 -3.94872592e-02 7.08557079e+01] [ 2.19724362e-01 9.75523197e-01 -8.70040175e-03 6.45774597e+00] [ 4.04339249e-02 -1.95824981e-04 9.99182195e-01 2.15941821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.308040942 meters 0.020099167116018554 Centerline is valid? [True, True] Translation: X:70.91, Y:6.46, Z:2.16 [[ 9.73750364e-01 -2.23801991e-01 -4.15078080e-02 7.09147459e+01] [ 2.23614888e-01 9.74634565e-01 -9.15678729e-03 6.46196148e+00] [ 4.25042516e-02 -3.65338867e-04 9.99096219e-01 2.16173757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36804094200001 meters 0.02120451001480054 Centerline is valid? [True, True] Translation: X:70.97, Y:6.47, Z:2.16 [[ 9.73939302e-01 -2.22972766e-01 -4.15377167e-02 7.09711908e+01] [ 2.22784255e-01 9.74824622e-01 -9.17240170e-03 6.47498366e+00] [ 4.25371847e-02 -3.20586757e-04 9.99094833e-01 2.16196905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.428040942 meters 0.022236671321859688 Centerline is valid? [True, True] Translation: X:71.03, Y:6.49, Z:2.16 [[ 9.73949957e-01 -2.22542262e-01 -4.35479368e-02 7.10282460e+01] [ 2.22334341e-01 9.74922995e-01 -9.62264992e-03 6.48882650e+00] [ 4.45973313e-02 -3.10222361e-04 9.99004996e-01 2.16171304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.488040942 meters 0.021395276500382584 Centerline is valid? [True, True] Translation: X:71.09, Y:6.50, Z:2.16 [[ 9.73836431e-01 -2.22638293e-01 -4.55499357e-02 7.10855625e+01] [ 2.22410345e-01 9.74901067e-01 -1.00771468e-02 6.50055077e+00] [ 4.66502397e-02 -3.17284224e-04 9.98911235e-01 2.16471651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.548040942 meters 0.020678650584357094 Centerline is valid? [True, True] Translation: X:71.14, Y:6.52, Z:2.17 [[ 9.73349191e-01 -2.24811836e-01 -4.52878546e-02 7.11427689e+01] [ 2.24588303e-01 9.74402110e-01 -1.00310569e-02 6.51556267e+00] [ 4.63836814e-02 -4.07401319e-04 9.98923615e-01 2.16847202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.608040942 meters 0.02309777015879367 Centerline is valid? [True, True] Translation: X:71.20, Y:6.53, Z:2.17 [[ 9.72598424e-01 -2.28113547e-01 -4.49056265e-02 7.11996701e+01] [ 2.27896854e-01 9.73634380e-01 -9.95577963e-03 6.52910367e+00] [ 4.59927100e-02 -5.50875433e-04 9.98941624e-01 2.16662544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.668040942 meters 0.022710348559480672 Centerline is valid? [True, True] Translation: X:71.26, Y:6.54, Z:2.17 [[ 9.71803835e-01 -2.31689652e-01 -4.37859695e-02 7.12568510e+01] [ 2.31487077e-01 9.72789503e-01 -9.71161153e-03 6.54030627e+00] [ 4.48446114e-02 -6.98104770e-04 9.98993730e-01 2.17154998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.728040942 meters 0.023647419213930855 Centerline is valid? [True, True] Translation: X:71.31, Y:6.55, Z:2.17 [[ 9.71700374e-01 -2.32197292e-01 -4.33912585e-02 7.13135920e+01] [ 2.31998554e-01 9.72668451e-01 -9.63095580e-03 6.55402331e+00] [ 4.44415900e-02 -7.08305877e-04 9.99011733e-01 2.17311954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.788040942 meters 0.021594972401376363 Centerline is valid? [True, True] Translation: X:71.37, Y:6.57, Z:2.18 [[ 9.72505577e-01 -2.28777174e-01 -4.35190343e-02 7.13693934e+01] [ 2.28573371e-01 9.73478664e-01 -9.66979309e-03 6.56950991e+00] [ 4.45770793e-02 -5.43364638e-04 9.99005800e-01 2.17532919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.848040942 meters 0.02114457798542002 Centerline is valid? [True, True] Translation: X:71.43, Y:6.58, Z:2.18 [[ 9.73151459e-01 -2.26072277e-01 -4.32153205e-02 7.14262735e+01] [ 2.25868368e-01 9.74110444e-01 -9.60850271e-03 6.58365995e+00] [ 4.42687111e-02 -4.10445458e-04 9.99019576e-01 2.17748493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.908040942 meters 0.020952202237893548 Centerline is valid? [True, True] Translation: X:71.48, Y:6.60, Z:2.18 [[ 9.73742143e-01 -2.23633006e-01 -4.25971520e-02 7.14835685e+01] [ 2.23432079e-01 9.74673380e-01 -9.48201301e-03 6.59500839e+00] [ 4.36388012e-02 -2.84534539e-04 9.99047333e-01 2.18185540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.968040942 meters 0.02069437985746537 Centerline is valid? [True, True] Translation: X:71.54, Y:6.61, Z:2.19 [[ 9.74049722e-01 -2.22459748e-01 -4.16989037e-02 7.15409645e+01] [ 2.22265682e-01 9.74941851e-01 -9.29264879e-03 6.60726676e+00] [ 4.27212467e-02 -2.16733286e-04 9.99087007e-01 2.18590654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.028040942 meters 0.021892120852440997 Centerline is valid? [True, True] Translation: X:71.60, Y:6.62, Z:2.19 [[ 9.74656379e-01 -2.20072931e-01 -4.01602817e-02 7.15987138e+01] [ 2.19890485e-01 9.75483416e-01 -8.95986599e-03 6.62064856e+00] [ 4.11475128e-02 -9.80732842e-05 9.99153078e-01 2.18802716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.088040942 meters 0.020265986970615293 Centerline is valid? [True, True] Translation: X:71.66, Y:6.63, Z:2.19 [[ 9.74707364e-01 -2.19745274e-01 -4.07132635e-02 7.16561195e+01] [ 2.19557108e-01 9.75557281e-01 -9.09216655e-03 6.62977042e+00] [ 4.17160812e-02 -7.66847044e-05 9.99129502e-01 2.19247358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.148040942 meters 0.020293253346852336 Centerline is valid? [True, True] Translation: X:71.71, Y:6.64, Z:2.19 [[ 9.73744236e-01 -2.23928890e-01 -4.09635861e-02 7.17149738e+01] [ 2.23741869e-01 9.74605453e-01 -9.15355475e-03 6.63803472e+00] [ 4.19730798e-02 -2.52048141e-04 9.99118710e-01 2.19475424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.208040942 meters 0.022319418577002113 Centerline is valid? [True, True] Translation: X:71.77, Y:6.65, Z:2.20 [[ 9.72751945e-01 -2.28042942e-01 -4.18338355e-02 7.17719457e+01] [ 2.27851274e-01 9.73650981e-01 -9.35758745e-03 6.64666225e+00] [ 4.28654868e-02 -4.29281323e-04 9.99080760e-01 2.19501567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.268040942 meters 0.02336375273235302 Centerline is valid? [True, True] Translation: X:71.83, Y:6.65, Z:2.20 [[ 9.71205651e-01 -2.34392201e-01 -4.26600388e-02 7.18308551e+01] [ 2.34198758e-01 9.72141852e-01 -9.54785129e-03 6.65396961e+00] [ 4.37095510e-02 -7.18000956e-04 9.99044023e-01 2.19813130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.328040942 meters 0.024871969778323226 Centerline is valid? [True, True] Translation: X:71.89, Y:6.66, Z:2.20 [[ 9.70184796e-01 -2.38547749e-01 -4.28536290e-02 7.18890200e+01] [ 2.38356488e-01 9.71130346e-01 -9.59351548e-03 6.66282718e+00] [ 4.39049711e-02 -9.06957670e-04 9.99035300e-01 2.19900789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.388040942 meters 0.024519024713475418 Centerline is valid? [True, True] Translation: X:71.95, Y:6.68, Z:2.20 [[ 9.69527204e-01 -2.41598567e-01 -4.05848836e-02 7.19463032e+01] [ 2.41429524e-01 9.70375783e-01 -9.08976504e-03 6.67737655e+00] [ 4.15786624e-02 -9.85614651e-04 9.99134747e-01 2.20231378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.448040942 meters 0.02428196327418882 Centerline is valid? [True, True] Translation: X:72.00, Y:6.69, Z:2.20 [[ 9.69439854e-01 -2.42370736e-01 -3.79841458e-02 7.20026308e+01] [ 2.42222945e-01 9.70183247e-01 -8.51542197e-03 6.69217925e+00] [ 3.89154710e-02 -9.45442216e-04 9.99242059e-01 2.20439408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50804094200001 meters 0.024056932021967653 Centerline is valid? [True, True] Translation: X:72.06, Y:6.71, Z:2.21 [[ 9.69336903e-01 -2.42811178e-01 -3.77981523e-02 7.20580627e+01] [ 2.42664925e-01 9.70073103e-01 -8.47996147e-03 6.70853092e+00] [ 3.87260003e-02 -9.52346185e-04 9.99249413e-01 2.20522288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.568040942 meters 0.02472099181525148 Centerline is valid? [True, True] Translation: X:72.11, Y:6.73, Z:2.20 [[ 9.69451222e-01 -2.42448353e-01 -3.71903886e-02 7.21144514e+01] [ 2.42306098e-01 9.70163885e-01 -8.35412754e-03 6.72721897e+00] [ 3.81062163e-02 -9.12538776e-04 9.99273278e-01 2.20436838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.628040942 meters 0.023028165419090054 Centerline is valid? [True, True] Translation: X:72.17, Y:6.75, Z:2.21 [[ 9.69772424e-01 -2.41512045e-01 -3.48335622e-02 7.21699688e+01] [ 2.41386345e-01 9.70397482e-01 -7.83322594e-03 6.74749896e+00] [ 3.56942194e-02 -8.11899753e-04 9.99362429e-01 2.20635368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.688040942 meters 0.02398358299795443 Centerline is valid? [True, True] Translation: X:72.23, Y:6.76, Z:2.21 [[ 9.69708320e-01 -2.41957163e-01 -3.35038170e-02 7.22255341e+01] [ 2.41840863e-01 9.70286612e-01 -7.54237469e-03 6.75999530e+00] [ 3.43332367e-02 -7.88688543e-04 9.99410129e-01 2.20684337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.748040942 meters 0.022308736024542683 Centerline is valid? [True, True] Translation: X:72.28, Y:6.78, Z:2.21 [[ 9.69560581e-01 -2.42693420e-01 -3.24373632e-02 7.22808379e+01] [ 2.42584673e-01 9.70102720e-01 -7.30672468e-03 6.78097240e+00] [ 3.32408683e-02 -7.84494898e-04 9.99447062e-01 2.20807292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.808040942 meters 0.022479357640171064 Centerline is valid? [True, True] Translation: X:72.34, Y:6.80, Z:2.21 [[ 9.69114607e-01 -2.44803728e-01 -2.97995479e-02 7.23379607e+01] [ 2.44712724e-01 9.69572342e-01 -6.71984801e-03 6.79543471e+00] [ 3.05378613e-02 -7.80025676e-04 9.99533306e-01 2.20957279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86804094200001 meters 0.02285169311843059 Centerline is valid? [True, True] Translation: X:72.40, Y:6.81, Z:2.21 [[ 9.68571000e-01 -2.47016362e-01 -2.92084742e-02 7.23951533e+01] [ 2.46929709e-01 9.69010957e-01 -6.59420608e-03 6.80830771e+00] [ 2.99322084e-02 -8.25483268e-04 9.99551590e-01 2.21074908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.928040942 meters 0.023979699532111782 Centerline is valid? [True, True] Translation: X:72.45, Y:6.82, Z:2.21 [[ 9.68087051e-01 -2.48959950e-01 -2.87472713e-02 7.24519175e+01] [ 2.48876638e-01 9.68513395e-01 -6.49786000e-03 6.81949514e+00] [ 2.94598242e-02 -8.64030103e-04 9.99565592e-01 2.21129823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.988040942 meters 0.023731156206991344 Centerline is valid? [True, True] Translation: X:72.51, Y:6.83, Z:2.21 [[ 9.68163379e-01 -2.48777758e-01 -2.77362158e-02 7.25089072e+01] [ 2.48700059e-01 9.68560243e-01 -6.27182684e-03 6.83171760e+00] [ 2.84244869e-02 -8.25845426e-04 9.99595601e-01 2.21277023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.048040942 meters 0.023675524496881227 Centerline is valid? [True, True] Translation: X:72.57, Y:6.85, Z:2.21 [[ 9.68266393e-01 -2.48355102e-01 -2.79273286e-02 7.25664467e+01] [ 2.48276089e-01 9.68668713e-01 -6.31725480e-03 6.84509096e+00] [ 2.86212519e-02 -8.16902403e-04 9.99589994e-01 2.21298935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.108040942 meters 0.024020767896037385 Centerline is valid? [True, True] Translation: X:72.62, Y:6.86, Z:2.21 [[ 9.68352993e-01 -2.47808965e-01 -2.97186529e-02 7.26228008e+01] [ 2.47718982e-01 9.68808549e-01 -6.73065052e-03 6.85649325e+00] [ 3.04596005e-02 -8.44228866e-04 9.99535642e-01 2.21247146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.168040942 meters 0.023677969376102708 Centerline is valid? [True, True] Translation: X:72.68, Y:6.87, Z:2.21 [[ 9.68077879e-01 -2.48906068e-01 -2.95125187e-02 7.26799608e+01] [ 2.48817763e-01 9.68527239e-01 -6.68649307e-03 6.87062801e+00] [ 3.02479870e-02 -8.70192842e-04 9.99542046e-01 2.21344945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.228040942 meters 0.023230476287622114 Centerline is valid? [True, True] Translation: X:72.74, Y:6.89, Z:2.22 [[ 9.67931857e-01 -2.49544221e-01 -2.89067832e-02 7.27368771e+01] [ 2.49459572e-01 9.68363018e-01 -6.55650301e-03 6.88614094e+00] [ 2.96283973e-02 -8.64825648e-04 9.99560609e-01 2.21567964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.288040942 meters 0.024347266957469738 Centerline is valid? [True, True] Translation: X:72.79, Y:6.90, Z:2.22 [[ 9.67993801e-01 -2.49332169e-01 -2.86613266e-02 7.27938610e+01] [ 2.49248633e-01 9.68417657e-01 -6.50854045e-03 6.89652353e+00] [ 2.93789233e-02 -8.43569677e-04 9.99567990e-01 2.21838708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.348040942 meters 0.02364754783352241 Centerline is valid? [True, True] Translation: X:72.85, Y:6.91, Z:2.22 [[ 9.68035451e-01 -2.49134845e-01 -2.89688658e-02 7.28509992e+01] [ 2.49049344e-01 9.68468438e-01 -6.58087803e-03 6.91149550e+00] [ 2.96949583e-02 -8.44153804e-04 9.99558651e-01 2.21996172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.408040942 meters 0.023584050094254193 Centerline is valid? [True, True] Translation: X:72.91, Y:6.93, Z:2.22 [[ 9.68315208e-01 -2.47996276e-01 -2.93854662e-02 7.29082504e+01] [ 2.47907542e-01 9.68760644e-01 -6.68319093e-03 6.92556517e+00] [ 3.01248896e-02 -8.13443293e-04 9.99545812e-01 2.22075020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.468040942 meters 0.02256820086015155 Centerline is valid? [True, True] Translation: X:72.97, Y:6.94, Z:2.22 [[ 9.68984024e-01 -2.45412175e-01 -2.90314580e-02 7.29651349e+01] [ 2.45324191e-01 9.69418563e-01 -6.60995917e-03 6.94023995e+00] [ 2.97657988e-02 -7.17174109e-04 9.99556643e-01 2.22342149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.528040942 meters 0.021545352402679054 Centerline is valid? [True, True] Translation: X:73.02, Y:6.95, Z:2.23 [[ 9.69889526e-01 -2.41778419e-01 -2.92831543e-02 7.30218722e+01] [ 2.41687014e-01 9.70331300e-01 -6.67499407e-03 6.95463098e+00] [ 3.00282307e-02 -6.03351284e-04 9.99548869e-01 2.22582819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.588040942 meters 0.020687601553093394 Centerline is valid? [True, True] Translation: X:73.08, Y:6.97, Z:2.23 [[ 9.71268576e-01 -2.36206221e-01 -2.90512386e-02 7.30779665e+01] [ 2.36113698e-01 9.71702856e-01 -6.62427506e-03 6.96992374e+00] [ 2.97938665e-02 -4.25445181e-04 9.99555974e-01 2.22795834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.648040942 meters 0.02023052657153253 Centerline is valid? [True, True] Translation: X:73.14, Y:6.98, Z:2.23 [[ 9.72055747e-01 -2.33054692e-01 -2.81626625e-02 7.31355064e+01] [ 2.32966358e-01 9.72463578e-01 -6.42385341e-03 6.98392176e+00] [ 2.88842727e-02 -3.16609290e-04 9.99582712e-01 2.23145205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.708040942 meters 0.01979294944715568 Centerline is valid? [True, True] Translation: X:73.19, Y:7.00, Z:2.24 [[ 9.72268197e-01 -2.32362340e-01 -2.65008512e-02 7.31926229e+01] [ 2.32283699e-01 9.72629255e-01 -6.05099466e-03 6.99576355e+00] [ 2.71815264e-02 -2.72526065e-04 9.99630477e-01 2.23585582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.768040942 meters 0.019987530812987733 Centerline is valid? [True, True] Translation: X:73.25, Y:7.01, Z:2.24 [[ 9.72127859e-01 -2.32968551e-01 -2.63264276e-02 7.32491041e+01] [ 2.32890935e-01 9.72484229e-01 -6.01962870e-03 7.00690658e+00] [ 2.70044198e-02 -2.79337582e-04 9.99635275e-01 2.23843592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.828040942 meters 0.020166298286143282 Centerline is valid? [True, True] Translation: X:73.31, Y:7.02, Z:2.24 [[ 9.71257223e-01 -2.36589888e-01 -2.61654763e-02 7.33064671e+01] [ 2.36514486e-01 9.71609532e-01 -5.98449579e-03 7.01872956e+00] [ 2.68384974e-02 -3.76029428e-04 9.99639712e-01 2.24057460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.888040942 meters 0.02049858425023382 Centerline is valid? [True, True] Translation: X:73.36, Y:7.03, Z:2.24 [[ 9.70445842e-01 -2.39630216e-01 -2.84995868e-02 7.33636517e+01] [ 2.39541824e-01 9.70864108e-01 -6.52672524e-03 7.03096686e+00] [ 2.92332265e-02 -4.93009619e-04 9.99572496e-01 2.24041592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.948040942 meters 0.02058782441988856 Centerline is valid? [True, True] Translation: X:73.42, Y:7.04, Z:2.24 [[ 9.69978541e-01 -2.41364755e-01 -2.97436430e-02 7.34206805e+01] [ 2.41269205e-01 9.70434302e-01 -6.81443998e-03 7.04474312e+00] [ 3.05090171e-02 -5.66364542e-04 9.99534331e-01 2.24096782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00804094200001 meters 0.020852084100575003 Centerline is valid? [True, True] Translation: X:73.48, Y:7.06, Z:2.24 [[ 9.69552393e-01 -2.43065565e-01 -2.97873805e-02 7.34775292e+01] [ 2.42970296e-01 9.70009668e-01 -6.83227391e-03 7.05908149e+00] [ 3.05547376e-02 -6.13201146e-04 9.99532907e-01 2.24293333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.068040942 meters 0.02079505515465473 Centerline is valid? [True, True] Translation: X:73.53, Y:7.07, Z:2.25 [[ 9.69448039e-01 -2.43328856e-01 -3.10091469e-02 7.35339007e+01] [ 2.43225478e-01 9.69943637e-01 -7.12091851e-03 7.07236514e+00] [ 3.18098497e-02 -6.38854090e-04 9.99493735e-01 2.24557509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.128040942 meters 0.020497429301479138 Centerline is valid? [True, True] Translation: X:73.59, Y:7.09, Z:2.25 [[ 9.69340110e-01 -2.43586267e-01 -3.23339132e-02 7.35895385e+01] [ 2.43473677e-01 9.69879007e-01 -7.43509976e-03 7.08775544e+00] [ 3.31710719e-02 -6.65316341e-04 9.99449467e-01 2.24712263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.188040942 meters 0.021434215413208065 Centerline is valid? [True, True] Translation: X:73.65, Y:7.10, Z:2.25 [[ 9.68997368e-01 -2.44773414e-01 -3.36166207e-02 7.36459879e+01] [ 2.44652083e-01 9.69580038e-01 -7.73997276e-03 7.10100352e+00] [ 3.44885439e-02 -7.24363056e-04 9.99404831e-01 2.24881044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.248040942 meters 0.020682009488798198 Centerline is valid? [True, True] Translation: X:73.70, Y:7.12, Z:2.25 [[ 9.68666758e-01 -2.46008953e-01 -3.41219487e-02 7.37030509e+01] [ 2.45884527e-01 9.69267246e-01 -7.86160316e-03 7.11506841e+00] [ 3.50073120e-02 -7.74785563e-04 9.99386756e-01 2.25248232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.308040942 meters 0.022586153458773708 Centerline is valid? [True, True] Translation: X:73.76, Y:7.13, Z:2.25 [[ 9.68216851e-01 -2.47697593e-01 -3.46703428e-02 7.37589369e+01] [ 2.47569900e-01 9.68837033e-01 -7.99679164e-03 7.12784662e+00] [ 3.55706981e-02 -8.40704901e-04 9.99366809e-01 2.25377263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36804094200001 meters 0.022861561995086228 Centerline is valid? [True, True] Translation: X:73.82, Y:7.14, Z:2.26 [[ 9.67951176e-01 -2.48551927e-01 -3.59508032e-02 7.38154867e+01] [ 2.48414972e-01 9.68618157e-01 -8.29872285e-03 7.14334202e+00] [ 3.68852643e-02 -8.97959205e-04 9.99319104e-01 2.25508980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.428040942 meters 0.023267083507137597 Centerline is valid? [True, True] Translation: X:73.87, Y:7.16, Z:2.26 [[ 9.67686710e-01 -2.49414313e-01 -3.70800852e-02 7.38717380e+01] [ 2.49268917e-01 9.68396404e-01 -8.56807467e-03 7.15738480e+00] [ 3.80452216e-02 -9.51700702e-04 9.99275565e-01 2.25662532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.488040942 meters 0.024128105214410518 Centerline is valid? [True, True] Translation: X:73.93, Y:7.17, Z:2.26 [[ 9.67296062e-01 -2.50732480e-01 -3.83608178e-02 7.39283660e+01] [ 2.50577704e-01 9.68055864e-01 -8.86895901e-03 7.17428349e+00] [ 3.93591507e-02 -1.03345655e-03 9.99224594e-01 2.25858584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.548040942 meters 0.022263794576157785 Centerline is valid? [True, True] Translation: X:73.98, Y:7.19, Z:2.26 [[ 9.67211837e-01 -2.50931008e-01 -3.91776971e-02 7.39846692e+01] [ 2.50769380e-01 9.68004398e-01 -9.06655591e-03 7.18958569e+00] [ 4.01992632e-02 -1.05528664e-03 9.99191126e-01 2.26159869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.608040942 meters 0.02192670725864881 Centerline is valid? [True, True] Translation: X:74.04, Y:7.21, Z:2.26 [[ 9.67140611e-01 -2.50856689e-01 -4.13516566e-02 7.40409886e+01] [ 2.50676305e-01 9.68023605e-01 -9.57546032e-03 7.20581217e+00] [ 4.24314479e-02 -1.10506393e-03 9.99098769e-01 2.26362721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.668040942 meters 0.02358475562213511 Centerline is valid? [True, True] Translation: X:74.10, Y:7.22, Z:2.26 [[ 9.66980842e-01 -2.50957238e-01 -4.43679647e-02 7.40979029e+01] [ 2.50749126e-01 9.67997456e-01 -1.02859493e-02 7.22136017e+00] [ 4.55294104e-02 -1.17891250e-03 9.98962303e-01 2.26336338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.728040942 meters 0.021885867291636704 Centerline is valid? [True, True] Translation: X:74.15, Y:7.24, Z:2.27 [[ 9.67646935e-01 -2.48203307e-01 -4.53269037e-02 7.41538905e+01] [ 2.47982533e-01 9.68707383e-01 -1.05199646e-02 7.24061559e+00] [ 4.65195962e-02 -1.06066893e-03 9.98916814e-01 2.26542396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.788040942 meters 0.020052023162321575 Centerline is valid? [True, True] Translation: X:74.21, Y:7.26, Z:2.27 [[ 9.68328085e-01 -2.45515857e-01 -4.54167859e-02 7.42099590e+01] [ 2.45290720e-01 9.69392136e-01 -1.05522162e-02 7.26102690e+00] [ 4.66174115e-02 -9.22308859e-04 9.98912392e-01 2.27099207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.848040942 meters 0.02005024382542738 Centerline is valid? [True, True] Translation: X:74.27, Y:7.28, Z:2.27 [[ 9.68776964e-01 -2.43878273e-01 -4.46607493e-02 7.42660649e+01] [ 2.43658324e-01 9.69805505e-01 -1.03876720e-02 7.27764285e+00] [ 4.58455680e-02 -8.18625959e-04 9.98948204e-01 2.27272128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.908040942 meters 0.019296104243189265 Centerline is valid? [True, True] Translation: X:74.32, Y:7.29, Z:2.28 [[ 9.69165507e-01 -2.42465782e-01 -4.39154215e-02 7.43220466e+01] [ 2.42251155e-01 9.70159685e-01 -1.02256406e-02 7.29469644e+00] [ 4.50843395e-02 -7.28223433e-04 9.98982919e-01 2.27586205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.968040942 meters 0.018340815759823652 Centerline is valid? [True, True] Translation: X:74.38, Y:7.31, Z:2.28 [[ 9.70124695e-01 -2.38814088e-01 -4.27306394e-02 7.43781110e+01] [ 2.38606872e-01 9.71065161e-01 -9.96056679e-03 7.31302339e+00] [ 4.38729589e-02 -5.32832399e-04 9.99036976e-01 2.27853843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.028040942 meters 0.018410491156381464 Centerline is valid? [True, True] Translation: X:74.43, Y:7.33, Z:2.28 [[ 9.70823207e-01 -2.35918828e-01 -4.29488969e-02 7.44348183e+01] [ 2.35706171e-01 9.71772685e-01 -1.00224225e-02 7.33077377e+00] [ 4.41010430e-02 -3.93319723e-04 9.99026998e-01 2.27881703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.088040942 meters 0.017002333249085233 Centerline is valid? [True, True] Translation: X:74.49, Y:7.35, Z:2.28 [[ 9.72223630e-01 -2.30352038e-01 -4.14626440e-02 7.44907608e+01] [ 2.30148341e-01 9.73107354e-01 -9.68598887e-03 7.34879273e+00] [ 4.25787911e-02 -1.25611470e-04 9.99093104e-01 2.28031816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.148040942 meters 0.016710998025607573 Centerline is valid? [True, True] Translation: X:74.55, Y:7.36, Z:2.28 [[ 9.73112347e-01 -2.26780156e-01 -4.02879657e-02 7.45478794e+01] [ 2.26584361e-01 9.73945973e-01 -9.42168679e-03 7.36475356e+00] [ 4.13749536e-02 3.97367942e-05 9.99143689e-01 2.28210182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.208040942 meters 0.016612889003086453 Centerline is valid? [True, True] Translation: X:74.60, Y:7.38, Z:2.28 [[ 9.73133082e-01 -2.26968438e-01 -3.86953947e-02 7.46049794e+01] [ 2.26787582e-01 9.73902113e-01 -9.05902984e-03 7.37863244e+00] [ 3.97416406e-02 4.00066111e-05 9.99209988e-01 2.28266300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.268040942 meters 0.016706909970406844 Centerline is valid? [True, True] Translation: X:74.66, Y:7.39, Z:2.28 [[ 9.72792578e-01 -2.28660463e-01 -3.72692104e-02 7.46614229e+01] [ 2.28493616e-01 9.73506236e-01 -8.73356513e-03 7.39088732e+00] [ 3.82788298e-02 -1.98293039e-05 9.99267097e-01 2.28289206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.328040942 meters 0.017944756704443267 Centerline is valid? [True, True] Translation: X:74.72, Y:7.40, Z:2.29 [[ 9.72081951e-01 -2.32042118e-01 -3.48301083e-02 7.47185427e+01] [ 2.31898426e-01 9.72705729e-01 -8.16603728e-03 7.40149803e+00] [ 3.57743105e-02 -1.38989842e-04 9.99359885e-01 2.28520809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.388040942 meters 0.017000843919334565 Centerline is valid? [True, True] Translation: X:74.77, Y:7.41, Z:2.29 [[ 9.71762213e-01 -2.34006343e-01 -3.03188542e-02 7.47745161e+01] [ 2.33898181e-01 9.72235054e-01 -7.11621725e-03 7.41374187e+00] [ 3.11422928e-02 -1.76253827e-04 9.99514946e-01 2.28659737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.448040942 meters 0.017203380623417197 Centerline is valid? [True, True] Translation: X:74.83, Y:7.43, Z:2.29 [[ 9.71614652e-01 -2.34785741e-01 -2.89935272e-02 7.48313528e+01] [ 2.34687077e-01 9.72047128e-01 -6.80851676e-03 7.42620734e+00] [ 2.97816175e-02 -1.89151513e-04 9.99556411e-01 2.28720929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50804094200001 meters 0.01737010892231898 Centerline is valid? [True, True] Translation: X:74.89, Y:7.44, Z:2.29 [[ 9.71685134e-01 -2.34614554e-01 -2.80002067e-02 7.48878531e+01] [ 2.34522230e-01 9.72088464e-01 -6.58341164e-03 7.43685158e+00] [ 2.87632421e-02 -1.69667675e-04 9.99586238e-01 2.28768874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.568040942 meters 0.017358617932193926 Centerline is valid? [True, True] Translation: X:74.94, Y:7.45, Z:2.29 [[ 9.72267699e-01 -2.32353150e-01 -2.65995500e-02 7.49444710e+01] [ 2.32268917e-01 9.72631485e-01 -6.25664816e-03 7.44978467e+00] [ 2.73253117e-02 -9.51117512e-05 9.99626589e-01 2.28836021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.628040942 meters 0.017427494008689325 Centerline is valid? [True, True] Translation: X:75.00, Y:7.46, Z:2.29 [[ 9.72877010e-01 -2.29960280e-01 -2.50717468e-02 7.50014139e+01] [ 2.29884480e-01 9.73200015e-01 -5.90392582e-03 7.46325199e+00] [ 2.57574928e-02 -1.98117811e-05 9.99668221e-01 2.29004270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.688040942 meters 0.017808848134348097 Centerline is valid? [True, True] Translation: X:75.06, Y:7.47, Z:2.29 [[ 9.73694078e-01 -2.26577910e-01 -2.41307313e-02 7.50582550e+01] [ 2.26506466e-01 9.73993042e-01 -5.68996178e-03 7.47420201e+00] [ 2.47923840e-02 7.45154245e-05 9.99692619e-01 2.29249272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.748040942 meters 0.018258917678022592 Centerline is valid? [True, True] Translation: X:75.11, Y:7.48, Z:2.30 [[ 9.73966457e-01 -2.25527325e-01 -2.29513934e-02 7.51149448e+01] [ 2.25462359e-01 9.74236838e-01 -5.41374612e-03 7.48422147e+00] [ 2.35810406e-02 9.81318263e-05 9.99721924e-01 2.29530348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.808040942 meters 0.018115040402723197 Centerline is valid? [True, True] Translation: X:75.17, Y:7.49, Z:2.30 [[ 9.73550168e-01 -2.27381622e-01 -2.23084766e-02 7.51727204e+01] [ 2.27320723e-01 9.73805728e-01 -5.26248063e-03 7.49069873e+00] [ 2.29207137e-02 5.21098552e-05 9.99737285e-01 2.29779671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86804094200001 meters 0.018069476098383695 Centerline is valid? [True, True] Translation: X:75.23, Y:7.50, Z:2.30 [[ 9.73098007e-01 -2.29280089e-01 -2.26033235e-02 7.52303261e+01] [ 2.29217937e-01 9.73360489e-01 -5.33821273e-03 7.49929711e+00] [ 2.32251279e-02 1.35169760e-05 9.99730260e-01 2.29862679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.928040942 meters 0.018102304570622424 Centerline is valid? [True, True] Translation: X:75.29, Y:7.50, Z:2.30 [[ 9.72197691e-01 -2.33177886e-01 -2.14411519e-02 7.52895813e+01] [ 2.33122789e-01 9.72434095e-01 -5.06917625e-03 7.50489483e+00] [ 2.20321269e-02 -7.01796818e-05 9.99757261e-01 2.29973055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.988040942 meters 0.01874814736105273 Centerline is valid? [True, True] Translation: X:75.35, Y:7.51, Z:2.30 [[ 9.71213582e-01 -2.37303447e-01 -2.07666135e-02 7.53480047e+01] [ 2.37252581e-01 9.71435562e-01 -4.91551928e-03 7.50834528e+00] [ 2.13398965e-02 -1.52913552e-04 9.99772267e-01 2.30328943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.048040942 meters 0.019346214049662025 Centerline is valid? [True, True] Translation: X:75.41, Y:7.52, Z:2.30 [[ 9.70289492e-01 -2.41035122e-01 -2.09850425e-02 7.54067736e+01] [ 2.40984014e-01 9.70516365e-01 -4.96896691e-03 7.51506366e+00] [ 2.15640227e-02 -2.35723407e-04 9.99767442e-01 2.30432281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.108040942 meters 0.020986355518536216 Centerline is valid? [True, True] Translation: X:75.47, Y:7.52, Z:2.30 [[ 9.68772985e-01 -2.47036109e-01 -2.12617948e-02 7.54667455e+01] [ 2.46984943e-01 9.69006205e-01 -5.04105628e-03 7.51828513e+00] [ 2.18481341e-02 -3.67704049e-04 9.99761233e-01 2.30440705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.168040942 meters 0.023096232134022066 Centerline is valid? [True, True] Translation: X:75.53, Y:7.52, Z:2.30 [[ 9.67369275e-01 -2.52312994e-01 -2.31265687e-02 7.55274777e+01] [ 2.52253933e-01 9.67645531e-01 -5.48445662e-03 7.51964137e+00] [ 2.37621205e-02 -5.28273103e-04 9.99717501e-01 2.30410179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.228040942 meters 0.02435805972050627 Centerline is valid? [True, True] Translation: X:75.59, Y:7.53, Z:2.31 [[ 9.66814111e-01 -2.54398250e-01 -2.34947849e-02 7.55861140e+01] [ 2.54337908e-01 9.67099366e-01 -5.57178624e-03 7.52642836e+00] [ 2.41392443e-02 -5.88732879e-04 9.99708433e-01 2.30584934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.288040942 meters 0.025104045082075012 Centerline is valid? [True, True] Translation: X:75.64, Y:7.53, Z:2.31 [[ 9.66499869e-01 -2.55595541e-01 -2.34290958e-02 7.56448055e+01] [ 2.55535761e-01 9.66783608e-01 -5.56144072e-03 7.53486719e+00] [ 2.40723452e-02 -6.11840106e-04 9.99710032e-01 2.30798134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.348040942 meters 0.021135640151178796 Centerline is valid? [True, True] Translation: X:75.70, Y:7.55, Z:2.31 [[ 9.66622942e-01 -2.55108663e-01 -2.36570915e-02 7.57015274e+01] [ 2.55047445e-01 9.66912203e-01 -5.62065800e-03 7.55106378e+00] [ 2.43082091e-02 -6.00623771e-04 9.99704331e-01 2.30768107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.408040942 meters 0.020205892308629465 Centerline is valid? [True, True] Translation: X:75.76, Y:7.57, Z:2.31 [[ 9.67432533e-01 -2.52048942e-01 -2.33586263e-02 7.57582151e+01] [ 2.51988224e-01 9.67714353e-01 -5.55567063e-03 7.56654748e+00] [ 2.40047788e-02 -5.11362247e-04 9.99711713e-01 2.30915255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.468040942 meters 0.01927368652113046 Centerline is valid? [True, True] Translation: X:75.82, Y:7.58, Z:2.31 [[ 9.69287270e-01 -2.44690710e-01 -2.46707059e-02 7.58159758e+01] [ 2.44620398e-01 9.69601125e-01 -5.87540010e-03 7.58265847e+00] [ 2.53584000e-02 -3.40007354e-04 9.99678366e-01 2.31024390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.528040942 meters 0.018851963601267892 Centerline is valid? [True, True] Translation: X:75.87, Y:7.60, Z:2.31 [[ 9.70434394e-01 -2.40115717e-01 -2.45260963e-02 7.58725931e+01] [ 2.40044722e-01 9.70744248e-01 -5.84261909e-03 7.59785266e+00] [ 2.52114716e-02 -2.17481460e-04 9.99682117e-01 2.31280193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.588040942 meters 0.01897916703979553 Centerline is valid? [True, True] Translation: X:75.93, Y:7.61, Z:2.32 [[ 9.70924812e-01 -2.38077285e-01 -2.49843012e-02 7.59298339e+01] [ 2.38002766e-01 9.71246200e-01 -5.95845798e-03 7.61256468e+00] [ 2.56844811e-02 -1.61118088e-04 9.99670086e-01 2.31574427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.648040942 meters 0.019212430295240886 Centerline is valid? [True, True] Translation: X:75.99, Y:7.63, Z:2.32 [[ 9.70716874e-01 -2.38694589e-01 -2.70858517e-02 7.59857815e+01] [ 2.38607032e-01 9.71094671e-01 -6.46722312e-03 7.62662566e+00] [ 2.78466174e-02 -1.85032084e-04 9.99612191e-01 2.31597318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.708040942 meters 0.019810617499307723 Centerline is valid? [True, True] Translation: X:76.04, Y:7.64, Z:2.32 [[ 9.69589396e-01 -2.43118279e-01 -2.81052619e-02 7.60436043e+01] [ 2.43025613e-01 9.69996600e-01 -6.71926327e-03 7.63723882e+00] [ 2.88955842e-02 -3.15372072e-04 9.99582386e-01 2.31761712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.768040942 meters 0.02069336465360635 Centerline is valid? [True, True] Translation: X:76.10, Y:7.65, Z:2.32 [[ 9.68570020e-01 -2.46984602e-01 -2.95079970e-02 7.61003373e+01] [ 2.46883999e-01 9.69019303e-01 -7.06273374e-03 7.64757101e+00] [ 3.03382051e-02 -4.44300119e-04 9.99539592e-01 2.31865193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.828040942 meters 0.021502017218936846 Centerline is valid? [True, True] Translation: X:76.16, Y:7.66, Z:2.32 [[ 9.67278634e-01 -2.51956000e-01 -2.98365270e-02 7.61575149e+01] [ 2.51855422e-01 9.67738502e-01 -7.14406218e-03 7.66135010e+00] [ 3.06739453e-02 -6.04192391e-04 9.99529261e-01 2.32002793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.888040942 meters 0.022984012591383527 Centerline is valid? [True, True] Translation: X:76.21, Y:7.67, Z:2.32 [[ 9.66310751e-01 -2.55540462e-01 -3.07018657e-02 7.62141002e+01] [ 2.55435518e-01 9.66798085e-01 -7.35923588e-03 7.67145387e+00] [ 3.15630875e-02 -7.31038225e-04 9.99501494e-01 2.32297392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.948040942 meters 0.02341883309099175 Centerline is valid? [True, True] Translation: X:76.27, Y:7.69, Z:2.33 [[ 9.65825782e-01 -2.57279049e-01 -3.14332611e-02 7.62706414e+01] [ 2.57169801e-01 9.66336819e-01 -7.53958663e-03 7.68559298e+00] [ 3.23148952e-02 -8.01758327e-04 9.99477416e-01 2.32524922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00804094200001 meters 0.022878515538082123 Centerline is valid? [True, True] Translation: X:76.33, Y:7.71, Z:2.33 [[ 9.65851971e-01 -2.56939695e-01 -3.33461115e-02 7.63254873e+01] [ 2.56816360e-01 9.66427079e-01 -8.00367802e-03 7.70551590e+00] [ 3.42830477e-02 -8.33458787e-04 9.99411816e-01 2.32542598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.068040942 meters 0.022186453228677638 Centerline is valid? [True, True] Translation: X:76.38, Y:7.72, Z:2.33 [[ 9.66400595e-01 -2.54661707e-01 -3.48898967e-02 7.63816951e+01] [ 2.54524817e-01 9.67029892e-01 -8.38488831e-03 7.72278337e+00] [ 3.58748830e-02 -7.77183518e-04 9.99355987e-01 2.32756347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.128040942 meters 0.023430560648200177 Centerline is valid? [True, True] Translation: X:76.44, Y:7.73, Z:2.33 [[ 9.66861437e-01 -2.52734751e-01 -3.61124190e-02 7.64381768e+01] [ 2.52586424e-01 9.67535335e-01 -8.68755612e-03 7.73361214e+00] [ 3.71356888e-02 -7.21843795e-04 9.99309972e-01 2.32857005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.188040942 meters 0.022218132817922592 Centerline is valid? [True, True] Translation: X:76.49, Y:7.75, Z:2.33 [[ 9.67136357e-01 -2.51362874e-01 -3.82618964e-02 7.64938691e+01] [ 2.51195083e-01 9.67892664e-01 -9.20979670e-03 7.75237861e+00] [ 3.93484098e-02 -7.04071013e-04 9.99225303e-01 2.33193150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.248040942 meters 0.02270421627554758 Centerline is valid? [True, True] Translation: X:76.55, Y:7.77, Z:2.33 [[ 9.66894378e-01 -2.52142662e-01 -3.92344236e-02 7.65510703e+01] [ 2.51966447e-01 9.67689787e-01 -9.45441008e-03 7.76603990e+00] [ 4.03506111e-02 -7.44342337e-04 9.99185305e-01 2.33378029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.308040942 meters 0.02344953745111996 Centerline is valid? [True, True] Translation: X:76.61, Y:7.78, Z:2.34 [[ 9.66701632e-01 -2.52899873e-01 -3.91102089e-02 7.66081395e+01] [ 2.52725044e-01 9.67492154e-01 -9.43309899e-03 7.77622983e+00] [ 4.02244498e-02 -7.65137063e-04 9.99190376e-01 2.33742364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36804094200001 meters 0.02347182613101836 Centerline is valid? [True, True] Translation: X:76.67, Y:7.79, Z:2.34 [[ 9.66479988e-01 -2.53813397e-01 -3.86677020e-02 7.66651531e+01] [ 2.53643038e-01 9.67252881e-01 -9.33129395e-03 7.78980525e+00] [ 3.97698536e-02 -7.89284543e-04 9.99208555e-01 2.34084776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.428040942 meters 0.023887693479505853 Centerline is valid? [True, True] Translation: X:76.72, Y:7.80, Z:2.34 [[ 9.66012458e-01 -2.55733594e-01 -3.76863329e-02 7.67225911e+01] [ 2.55572865e-01 9.66746931e-01 -9.10396426e-03 7.80288169e+00] [ 3.87613361e-02 -8.37061183e-04 9.99248146e-01 2.34471433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.488040942 meters 0.024817247751208797 Centerline is valid? [True, True] Translation: X:76.78, Y:7.81, Z:2.35 [[ 9.65267285e-01 -2.58586910e-01 -3.73078833e-02 7.67798932e+01] [ 2.58431203e-01 9.65987545e-01 -9.02086144e-03 7.81405587e+00] [ 3.83716273e-02 -9.33978709e-04 9.99263101e-01 2.34801393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.548040942 meters 0.02549760228345351 Centerline is valid? [True, True] Translation: X:76.84, Y:7.83, Z:2.35 [[ 9.64630765e-01 -2.60839585e-01 -3.80814716e-02 7.68373088e+01] [ 2.60678914e-01 9.65381598e-01 -9.21274707e-03 7.82650614e+00] [ 3.91662010e-02 -1.04013740e-03 9.99232169e-01 2.34999359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.608040942 meters 0.026440543428754463 Centerline is valid? [True, True] Translation: X:76.89, Y:7.84, Z:2.35 [[ 9.64065054e-01 -2.62703287e-01 -3.95670824e-02 7.68943220e+01] [ 2.62530976e-01 9.64875983e-01 -9.58250406e-03 7.84155323e+00] [ 4.06946828e-02 -1.14942748e-03 9.99170967e-01 2.35104650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.668040942 meters 0.027099203748263738 Centerline is valid? [True, True] Translation: X:76.95, Y:7.86, Z:2.35 [[ 9.63994129e-01 -2.63000527e-01 -3.93197324e-02 7.69507701e+01] [ 2.62830274e-01 9.64795008e-01 -9.53094001e-03 7.85598689e+00] [ 4.04421238e-02 -1.14664584e-03 9.99181225e-01 2.35403233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.728040942 meters 0.026214373239742128 Centerline is valid? [True, True] Translation: X:77.01, Y:7.87, Z:2.36 [[ 9.63921642e-01 -2.63230449e-01 -3.95575305e-02 7.70068309e+01] [ 2.63058103e-01 9.64732289e-01 -9.59401425e-03 7.87237688e+00] [ 4.06878636e-02 -1.15805095e-03 9.99171235e-01 2.35744368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.788040942 meters 0.02613062534693415 Centerline is valid? [True, True] Translation: X:77.06, Y:7.89, Z:2.36 [[ 9.63846849e-01 -2.63425903e-01 -4.00754928e-02 7.70626056e+01] [ 2.63248695e-01 9.64678923e-01 -9.73141057e-03 7.88871599e+00] [ 4.12234888e-02 -1.17023175e-03 9.99149265e-01 2.36132875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.848040942 meters 0.026746597187995883 Centerline is valid? [True, True] Translation: X:77.12, Y:7.91, Z:2.36 [[ 9.64337501e-01 -2.61227607e-01 -4.25831186e-02 7.71185535e+01] [ 2.61024828e-01 9.65276570e-01 -1.03528775e-02 7.90825737e+00] [ 4.38089441e-02 -1.13158325e-03 9.99039286e-01 2.36156297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.908040942 meters 0.024121744750215474 Centerline is valid? [True, True] Translation: X:77.17, Y:7.93, Z:2.37 [[ 9.65855103e-01 -2.55447862e-01 -4.32470760e-02 7.71749456e+01] [ 2.55232539e-01 9.66822437e-01 -1.05226572e-02 7.92764875e+00] [ 4.45002337e-02 -8.74698874e-04 9.99008991e-01 2.36508460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.968040942 meters 0.023173149727478214 Centerline is valid? [True, True] Translation: X:77.23, Y:7.95, Z:2.37 [[ 9.66854885e-01 -2.51617332e-01 -4.33630059e-02 7.72305530e+01] [ 2.51396799e-01 9.67826552e-01 -1.05553532e-02 7.94669657e+00] [ 4.46237783e-02 -6.95826063e-04 9.99003621e-01 2.36721157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.028040942 meters 0.022277100898452282 Centerline is valid? [True, True] Translation: X:77.29, Y:7.97, Z:2.37 [[ 9.67921198e-01 -2.47680469e-01 -4.22248716e-02 7.72868072e+01] [ 2.47467155e-01 9.68841651e-01 -1.02889295e-02 7.96518363e+00] [ 4.34575812e-02 -4.90395904e-04 9.99055153e-01 2.37192410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.088040942 meters 0.022014699888846943 Centerline is valid? [True, True] Translation: X:77.34, Y:7.98, Z:2.38 [[ 9.68194233e-01 -2.46929032e-01 -4.03234467e-02 7.73434829e+01] [ 2.46733431e-01 9.69033473e-01 -9.83576498e-03 7.98031356e+00] [ 4.15035055e-02 -4.26211415e-04 9.99138267e-01 2.37653881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.148040942 meters 0.022184022646544004 Centerline is valid? [True, True] Translation: X:77.40, Y:7.99, Z:2.38 [[ 9.67757845e-01 -2.48688488e-01 -3.99848569e-02 7.74007028e+01] [ 2.48497231e-01 9.68583398e-01 -9.76358442e-03 7.99393475e+00] [ 4.11567596e-02 -4.87340805e-04 9.99152583e-01 2.37879461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.208040942 meters 0.021959370776798763 Centerline is valid? [True, True] Translation: X:77.46, Y:8.01, Z:2.38 [[ 9.67382326e-01 -2.50172005e-01 -3.98171259e-02 7.74579780e+01] [ 2.49983176e-01 9.68201259e-01 -9.73309428e-03 8.00803129e+00] [ 4.09859392e-02 -5.37988235e-04 9.99159579e-01 2.38156422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.268040942 meters 0.022569242735027018 Centerline is valid? [True, True] Translation: X:77.52, Y:8.02, Z:2.38 [[ 9.66689525e-01 -2.52981687e-01 -3.88796594e-02 7.75151173e+01] [ 2.52803549e-01 9.67470860e-01 -9.51314750e-03 8.01904317e+00] [ 4.00215896e-02 -6.32655830e-04 9.99198615e-01 2.38395667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.328040942 meters 0.023303236443259517 Centerline is valid? [True, True] Translation: X:77.57, Y:8.03, Z:2.39 [[ 9.65271595e-01 -2.58329176e-01 -3.89459291e-02 7.75732220e+01] [ 2.58154580e-01 9.66056578e-01 -9.53415186e-03 8.03019996e+00] [ 4.00869206e-02 -8.51024013e-04 9.99195834e-01 2.38504682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.388040942 meters 0.02442128899098747 Centerline is valid? [True, True] Translation: X:77.63, Y:8.04, Z:2.39 [[ 9.63642325e-01 -2.64157514e-01 -4.01780687e-02 7.76316366e+01] [ 2.63976648e-01 9.64478896e-01 -9.83811461e-03 8.04171049e+00] [ 4.13497113e-02 -1.12564826e-03 9.99144101e-01 2.38547847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.448040942 meters 0.026829610325979168 Centerline is valid? [True, True] Translation: X:77.69, Y:8.05, Z:2.39 [[ 9.62277978e-01 -2.68971185e-01 -4.09340357e-02 7.76889165e+01] [ 2.68787683e-01 9.63147271e-01 -1.00257551e-02 8.05260436e+00] [ 4.21221440e-02 -1.35500122e-03 9.99111550e-01 2.38522874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50804094200001 meters 0.02699420813022432 Centerline is valid? [True, True] Translation: X:77.75, Y:8.07, Z:2.39 [[ 9.61494011e-01 -2.71770239e-01 -4.08681322e-02 7.77469918e+01] [ 2.71589740e-01 9.62361038e-01 -1.00122289e-02 8.06706594e+00] [ 4.20509239e-02 -1.47266732e-03 9.99114383e-01 2.38785325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.568040942 meters 0.026995930395253703 Centerline is valid? [True, True] Translation: X:77.80, Y:8.08, Z:2.39 [[ 9.61003663e-01 -2.73496775e-01 -4.08836608e-02 7.78028328e+01] [ 2.73317609e-01 9.61871676e-01 -1.00181287e-02 8.08446301e+00] [ 4.20647612e-02 -1.54676599e-03 9.99113689e-01 2.38972207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.628040942 meters 0.027512390241715208 Centerline is valid? [True, True] Translation: X:77.86, Y:8.10, Z:2.39 [[ 9.61366589e-01 -2.72172061e-01 -4.11904144e-02 7.78581353e+01] [ 2.71988800e-01 9.62247438e-01 -1.00975755e-02 8.10102696e+00] [ 4.23836487e-02 -1.49585962e-03 9.99100290e-01 2.39036472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.688040942 meters 0.025908225572781808 Centerline is valid? [True, True] Translation: X:77.91, Y:8.12, Z:2.39 [[ 9.62504184e-01 -2.68069475e-01 -4.15265126e-02 7.79138501e+01] [ 2.67879203e-01 9.63398677e-01 -1.01844262e-02 8.12374717e+00] [ 4.27367210e-02 -1.32153622e-03 9.99085495e-01 2.39105703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.748040942 meters 0.026721573905598064 Centerline is valid? [True, True] Translation: X:77.97, Y:8.14, Z:2.39 [[ 9.63457121e-01 -2.64639116e-01 -4.14308347e-02 7.79689112e+01] [ 2.64446461e-01 9.64346816e-01 -1.01630414e-02 8.14213938e+00] [ 4.26432318e-02 -1.16458301e-03 9.99089685e-01 2.39016943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.808040942 meters 0.023143282800714485 Centerline is valid? [True, True] Translation: X:78.03, Y:8.16, Z:2.39 [[ 9.64988538e-01 -2.59419761e-01 -3.87105854e-02 7.80253048e+01] [ 2.59247237e-01 9.65764274e-01 -9.49935395e-03 8.16452079e+00] [ 3.98496205e-02 -8.68844606e-04 9.99205311e-01 2.39436811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86804094200001 meters 0.022470239980235462 Centerline is valid? [True, True] Translation: X:78.08, Y:8.18, Z:2.40 [[ 9.65816077e-01 -2.56649414e-01 -3.64744146e-02 7.80818613e+01] [ 2.56494083e-01 9.66504309e-01 -8.95574561e-03 8.18339368e+00] [ 3.75511657e-02 -7.05868442e-04 9.99294457e-01 2.39711904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.928040942 meters 0.02181629285543998 Centerline is valid? [True, True] Translation: X:78.14, Y:8.20, Z:2.40 [[ 9.66494442e-01 -2.54322155e-01 -3.47668647e-02 7.81382461e+01] [ 2.54179248e-01 9.67119386e-01 -8.54423865e-03 8.20194679e+00] [ 3.57966980e-02 -5.79056358e-04 9.99358925e-01 2.39920956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.988040942 meters 0.020903339075841222 Centerline is valid? [True, True] Translation: X:78.19, Y:8.22, Z:2.40 [[ 9.66801046e-01 -2.53390384e-01 -3.30007717e-02 7.81945336e+01] [ 2.53260823e-01 9.67363972e-01 -8.11798624e-03 8.22011808e+00] [ 3.39807772e-02 -5.09325024e-04 9.99422357e-01 2.40218831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.048040942 meters 0.02080649943394302 Centerline is valid? [True, True] Translation: X:78.25, Y:8.24, Z:2.40 [[ 9.67109523e-01 -2.52250536e-01 -3.26930854e-02 7.82500477e+01] [ 2.52122457e-01 9.67661851e-01 -8.05036791e-03 8.23677854e+00] [ 3.36665612e-02 -4.57073553e-04 9.99433016e-01 2.40142816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.108040942 meters 0.02047079359346085 Centerline is valid? [True, True] Translation: X:78.31, Y:8.25, Z:2.40 [[ 9.67125832e-01 -2.52118279e-01 -3.32264739e-02 7.83066366e+01] [ 2.51985779e-01 9.67696319e-01 -8.18548766e-03 8.25180020e+00] [ 3.42168475e-02 -4.56202328e-04 9.99414328e-01 2.40197300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.168040942 meters 0.020396722880451922 Centerline is valid? [True, True] Translation: X:78.36, Y:8.27, Z:2.40 [[ 9.66723624e-01 -2.53735809e-01 -3.26124816e-02 7.83636489e+01] [ 2.53608761e-01 9.67273433e-01 -8.04375929e-03 8.26662018e+00] [ 3.35861768e-02 -4.94718894e-04 9.99435703e-01 2.40255865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.228040942 meters 0.02065842062986572 Centerline is valid? [True, True] Translation: X:78.42, Y:8.28, Z:2.40 [[ 9.65847269e-01 -2.56960896e-01 -3.33189230e-02 7.84209972e+01] [ 2.56829884e-01 9.66421608e-01 -8.22714760e-03 8.28006631e+00] [ 3.43141823e-02 -6.11127079e-04 9.99410908e-01 2.40241028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.288040942 meters 0.022506451392285833 Centerline is valid? [True, True] Translation: X:78.48, Y:8.29, Z:2.40 [[ 9.65047233e-01 -2.59910173e-01 -3.36234933e-02 7.84782382e+01] [ 2.59778249e-01 9.65632535e-01 -8.31081652e-03 8.29078408e+00] [ 3.46280048e-02 -7.14321718e-04 9.99400016e-01 2.40260702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.348040942 meters 0.023095060165345092 Centerline is valid? [True, True] Translation: X:78.54, Y:8.30, Z:2.40 [[ 9.64538473e-01 -2.61751236e-01 -3.39385385e-02 7.85355773e+01] [ 2.61617829e-01 9.65135056e-01 -8.39257841e-03 8.30392538e+00] [ 3.49520410e-02 -7.83961999e-04 9.99388683e-01 2.40406207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.408040942 meters 0.022510941493471423 Centerline is valid? [True, True] Translation: X:78.59, Y:8.32, Z:2.41 [[ 9.64235591e-01 -2.62851931e-01 -3.40380226e-02 7.85927057e+01] [ 2.62718107e-01 9.64835838e-01 -8.42628719e-03 8.31660839e+00] [ 3.50559699e-02 -8.17478829e-04 9.99385016e-01 2.40606210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.468040942 meters 0.021468586160156535 Centerline is valid? [True, True] Translation: X:78.65, Y:8.33, Z:2.41 [[ 9.64105927e-01 -2.63419459e-01 -3.33159095e-02 7.86492667e+01] [ 2.63291290e-01 9.64681051e-01 -8.25631393e-03 8.32959515e+00] [ 3.43141003e-02 -8.11827604e-04 9.99410768e-01 2.40903112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.528040942 meters 0.021624511220510012 Centerline is valid? [True, True] Translation: X:78.71, Y:8.34, Z:2.41 [[ 9.63910397e-01 -2.64113897e-01 -3.34752931e-02 7.87071359e+01] [ 2.63984575e-01 9.64491140e-01 -8.30575479e-03 8.34168967e+00] [ 3.44802888e-02 -8.30957604e-04 9.99405033e-01 2.41106516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.588040942 meters 0.02297354473072106 Centerline is valid? [True, True] Translation: X:78.76, Y:8.35, Z:2.41 [[ 9.64057832e-01 -2.63524461e-01 -3.38726346e-02 7.87644141e+01] [ 2.63391375e-01 9.64652373e-01 -8.41323696e-03 8.35441247e+00] [ 3.48924110e-02 -8.10912827e-04 9.99390745e-01 2.41096289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.648040942 meters 0.020753713729577145 Centerline is valid? [True, True] Translation: X:78.82, Y:8.37, Z:2.41 [[ 9.64429334e-01 -2.62273856e-01 -3.29921830e-02 7.88218686e+01] [ 2.62146585e-01 9.64993202e-01 -8.20289848e-03 8.36927972e+00] [ 3.39886381e-02 -7.37672201e-04 9.99421947e-01 2.41395515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.708040942 meters 0.021712733381005402 Centerline is valid? [True, True] Translation: X:78.88, Y:8.38, Z:2.42 [[ 9.64852090e-01 -2.60750251e-01 -3.27070613e-02 7.88793212e+01] [ 2.60624031e-01 9.65406058e-01 -8.13986336e-03 8.38220254e+00] [ 3.36980665e-02 -6.70481957e-04 9.99431834e-01 2.41521402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.768040942 meters 0.01994395865231415 Centerline is valid? [True, True] Translation: X:78.94, Y:8.40, Z:2.42 [[ 9.65376548e-01 -2.58996831e-01 -3.11249393e-02 7.89371647e+01] [ 2.58881378e-01 9.65878002e-01 -7.75361164e-03 8.39503406e+00] [ 3.20710550e-02 -5.72512310e-04 9.99485427e-01 2.41878710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.828040942 meters 0.01909944744712068 Centerline is valid? [True, True] Translation: X:78.99, Y:8.41, Z:2.42 [[ 9.65673587e-01 -2.57870252e-01 -3.12642896e-02 7.89941784e+01] [ 2.57753030e-01 9.66179408e-01 -7.79272638e-03 8.40956241e+00] [ 3.22164251e-02 -5.33235347e-04 9.99480774e-01 2.42017880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.888040942 meters 0.019874661088376152 Centerline is valid? [True, True] Translation: X:79.05, Y:8.42, Z:2.42 [[ 9.65833462e-01 -2.57287476e-01 -3.11268005e-02 7.90509959e+01] [ 2.57170721e-01 9.66334777e-01 -7.76654805e-03 8.41916045e+00] [ 3.20771454e-02 -5.03709731e-04 9.99485269e-01 2.42095727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.948040942 meters 0.019298084237047444 Centerline is valid? [True, True] Translation: X:79.11, Y:8.43, Z:2.42 [[ 9.66258342e-01 -2.55776361e-01 -3.03853446e-02 7.91085109e+01] [ 2.55664267e-01 9.66735879e-01 -7.58438060e-03 8.43130699e+00] [ 3.13145081e-02 -4.39975841e-04 9.99509484e-01 2.42348534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00804094200001 meters 0.018085213481740324 Centerline is valid? [True, True] Translation: X:79.17, Y:8.45, Z:2.42 [[ 9.66994842e-01 -2.52968457e-01 -3.04620142e-02 7.91654891e+01] [ 2.52854171e-01 9.67474466e-01 -7.61091325e-03 8.44713238e+00] [ 3.13965419e-02 -3.42733498e-04 9.99506948e-01 2.42421601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.068040942 meters 0.017560745090589903 Centerline is valid? [True, True] Translation: X:79.22, Y:8.46, Z:2.43 [[ 9.67806761e-01 -2.49800557e-01 -3.08180893e-02 7.92232795e+01] [ 2.49681711e-01 9.68297282e-01 -7.70821182e-03 8.45909911e+00] [ 3.17665877e-02 -2.34653759e-04 9.99495287e-01 2.42578718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.128040942 meters 0.017511569756404513 Centerline is valid? [True, True] Translation: X:79.28, Y:8.47, Z:2.43 [[ 9.68022806e-01 -2.48958335e-01 -3.08479263e-02 7.92795511e+01] [ 2.48838571e-01 9.68514175e-01 -7.72386882e-03 8.47270422e+00] [ 3.17995754e-02 -1.99272733e-04 9.99494246e-01 2.42734443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.188040942 meters 0.01729373537998394 Centerline is valid? [True, True] Translation: X:79.34, Y:8.48, Z:2.43 [[ 9.68688673e-01 -2.46331054e-01 -3.10365306e-02 7.93370498e+01] [ 2.46208163e-01 9.69185741e-01 -7.78070884e-03 8.48435377e+00] [ 3.19967931e-02 -1.04362661e-04 9.99487966e-01 2.42907136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.248040942 meters 0.017115715563543753 Centerline is valid? [True, True] Translation: X:79.39, Y:8.50, Z:2.43 [[ 9.68894060e-01 -2.45492100e-01 -3.12718590e-02 7.93943403e+01] [ 2.45366628e-01 9.69398589e-01 -7.84817657e-03 8.49583656e+00] [ 3.22415613e-02 -6.90189438e-05 9.99480103e-01 2.43067726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.308040942 meters 0.01703179786597323 Centerline is valid? [True, True] Translation: X:79.45, Y:8.51, Z:2.43 [[ 9.68658747e-01 -2.46332962e-01 -3.19422008e-02 7.94513554e+01] [ 2.46202177e-01 9.69185258e-01 -8.02645495e-03 8.50559915e+00] [ 3.29350906e-02 -8.93436093e-05 9.99457489e-01 2.43179892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36804094200001 meters 0.017048700851501224 Centerline is valid? [True, True] Translation: X:79.51, Y:8.51, Z:2.43 [[ 9.67982917e-01 -2.48950993e-01 -3.21321451e-02 7.95094871e+01] [ 2.48819775e-01 9.68516068e-01 -8.08363456e-03 8.51303633e+00] [ 3.31329277e-02 -1.70292967e-04 9.99450939e-01 2.43250748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.428040942 meters 0.017150071887213323 Centerline is valid? [True, True] Translation: X:79.57, Y:8.52, Z:2.43 [[ 9.67584710e-01 -2.50466827e-01 -3.23449770e-02 7.95675313e+01] [ 2.50334596e-01 9.68125157e-01 -8.14062592e-03 8.52222695e+00] [ 3.33529427e-02 -2.20321578e-04 9.99443612e-01 2.43389264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.488040942 meters 0.018782427013191706 Centerline is valid? [True, True] Translation: X:79.63, Y:8.53, Z:2.43 [[ 9.67252446e-01 -2.51652024e-01 -3.30751375e-02 7.96251865e+01] [ 2.51514147e-01 9.67817747e-01 -8.33318000e-03 8.53326463e+00] [ 3.41077666e-02 -2.58576262e-04 9.99418127e-01 2.43338617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.548040942 meters 0.01718330684024306 Centerline is valid? [True, True] Translation: X:79.68, Y:8.55, Z:2.44 [[ 9.68102170e-01 -2.48563543e-01 -3.15333748e-02 7.96807750e+01] [ 2.48436323e-01 9.68615583e-01 -7.95274000e-03 8.55137676e+00] [ 3.25204795e-02 -1.34970860e-04 9.99471060e-01 2.43665268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.608040942 meters 0.017102623166268805 Centerline is valid? [True, True] Translation: X:79.73, Y:8.57, Z:2.44 [[ 9.68851277e-01 -2.45455307e-01 -3.28465547e-02 7.97348931e+01] [ 2.45315192e-01 9.69407908e-01 -8.29246317e-03 8.56958733e+00] [ 3.38771389e-02 -2.35953208e-05 9.99426005e-01 2.43710902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.668040942 meters 0.01726109996268092 Centerline is valid? [True, True] Translation: X:79.79, Y:8.58, Z:2.44 [[ 9.68344823e-01 -2.47492157e-01 -3.24951809e-02 7.97898934e+01] [ 2.47356031e-01 9.68889893e-01 -8.20791231e-03 8.58248411e+00] [ 3.35156462e-02 -8.97895791e-05 9.99438189e-01 2.43975206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.728040942 meters 0.017464071919579393 Centerline is valid? [True, True] Translation: X:79.85, Y:8.60, Z:2.44 [[ 9.67462524e-01 -2.50986996e-01 -3.19654895e-02 7.98475274e+01] [ 2.50857021e-01 9.67990437e-01 -8.07885679e-03 8.59546526e+00] [ 3.29699761e-02 -2.02776297e-04 9.99456322e-01 2.44185182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.788040942 meters 0.01823994327377174 Centerline is valid? [True, True] Translation: X:79.90, Y:8.61, Z:2.45 [[ 9.65645697e-01 -2.58084547e-01 -3.03439266e-02 7.99049530e+01] [ 2.57970701e-01 9.66122246e-01 -7.67614052e-03 8.60643930e+00] [ 3.12970358e-02 -4.15411964e-04 9.99510041e-01 2.44537194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.848040942 meters 0.02097658263275078 Centerline is valid? [True, True] Translation: X:79.96, Y:8.61, Z:2.45 [[ 9.63735518e-01 -2.65101185e-01 -3.05812537e-02 7.99640512e+01] [ 2.64988984e-01 9.64220382e-01 -7.73905571e-03 8.61290948e+00] [ 3.15387010e-02 -6.45292481e-04 9.99502323e-01 2.44699899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.908040942 meters 0.020138188312146966 Centerline is valid? [True, True] Translation: X:80.02, Y:8.63, Z:2.45 [[ 9.62633340e-01 -2.69016585e-01 -3.10986950e-02 8.00206398e+01] [ 2.68902530e-01 9.63135225e-01 -7.87198906e-03 8.62834681e+00] [ 3.20699442e-02 -7.84678644e-04 9.99485319e-01 2.44833262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.968040942 meters 0.023431214198324585 Centerline is valid? [True, True] Translation: X:80.08, Y:8.64, Z:2.45 [[ 9.62452335e-01 -2.69650971e-01 -3.12066627e-02 8.00780865e+01] [ 2.69536193e-01 9.62957794e-01 -7.90747409e-03 8.63695967e+00] [ 3.21829572e-02 -8.00758172e-04 9.99481674e-01 2.45014948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.028040942 meters 0.020420464916667026 Centerline is valid? [True, True] Translation: X:80.13, Y:8.66, Z:2.45 [[ 9.62857336e-01 -2.68159702e-01 -3.15614388e-02 8.01335777e+01] [ 2.68041392e-01 9.63374176e-01 -8.00062969e-03 8.65899677e+00] [ 3.25509216e-02 -7.56307001e-04 9.99469792e-01 2.45238623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.088040942 meters 0.020349468551207683 Centerline is valid? [True, True] Translation: X:80.19, Y:8.67, Z:2.46 [[ 9.63275230e-01 -2.66759139e-01 -3.06658328e-02 8.01906566e+01] [ 2.66646491e-01 9.63762988e-01 -7.78146278e-03 8.67416669e+00] [ 3.16303710e-02 -6.81246366e-04 9.99499402e-01 2.45574080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.148040942 meters 0.02059018868826484 Centerline is valid? [True, True] Translation: X:80.25, Y:8.69, Z:2.46 [[ 9.63281283e-01 -2.66830987e-01 -2.98394608e-02 8.02465390e+01] [ 2.66724131e-01 9.63743115e-01 -7.57935343e-03 8.68800955e+00] [ 3.07799813e-02 -6.57854946e-04 9.99525968e-01 2.45791874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.208040942 meters 0.020701794942774042 Centerline is valid? [True, True] Translation: X:80.30, Y:8.70, Z:2.46 [[ 9.63077955e-01 -2.67560711e-01 -2.98683452e-02 8.03027050e+01] [ 2.67453726e-01 9.63540768e-01 -7.59552651e-03 8.70450737e+00] [ 3.08116328e-02 -6.73316080e-04 9.99524982e-01 2.45933345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.268040942 meters 0.020256637212323524 Centerline is valid? [True, True] Translation: X:80.36, Y:8.72, Z:2.46 [[ 9.63385308e-01 -2.66260369e-01 -3.15303716e-02 8.03592776e+01] [ 2.66140167e-01 9.63900919e-01 -8.02680966e-03 8.72109180e+00] [ 3.25293754e-02 -6.58587849e-04 9.99470563e-01 2.46011039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.328040942 meters 0.020649500218021637 Centerline is valid? [True, True] Translation: X:80.42, Y:8.73, Z:2.46 [[ 9.63656294e-01 -2.65151759e-01 -3.25743935e-02 8.04157029e+01] [ 2.65022542e-01 9.64206484e-01 -8.30111441e-03 8.73418008e+00] [ 3.36094965e-02 -6.33527429e-04 9.99434840e-01 2.46218483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.388040942 meters 0.01989698421237376 Centerline is valid? [True, True] Translation: X:80.47, Y:8.75, Z:2.46 [[ 9.64249248e-01 -2.62869007e-01 -3.35152505e-02 8.04724107e+01] [ 2.62730659e-01 9.64831367e-01 -8.54605948e-03 8.75101012e+00] [ 3.45830591e-02 -5.64952409e-04 9.99401667e-01 2.46442115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.448040942 meters 0.01957304032529936 Centerline is valid? [True, True] Translation: X:80.53, Y:8.77, Z:2.46 [[ 9.64970291e-01 -2.59918725e-01 -3.57014467e-02 8.05294036e+01] [ 2.59759350e-01 9.65630378e-01 -9.11338081e-03 8.76687136e+00] [ 3.68431397e-02 -4.79642839e-04 9.99320946e-01 2.46480332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.508040942 meters 0.019658341256702457 Centerline is valid? [True, True] Translation: X:80.59, Y:8.78, Z:2.47 [[ 9.65146499e-01 -2.58961476e-01 -3.78310687e-02 8.05867305e+01] [ 2.58781358e-01 9.65887542e-01 -9.66777649e-03 8.77763732e+00] [ 3.90441397e-02 -4.59154707e-04 9.99237381e-01 2.46684334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.568040942 meters 0.019856711423135248 Centerline is valid? [True, True] Translation: X:80.64, Y:8.79, Z:2.47 [[ 9.65582256e-01 -2.57380791e-01 -3.74971458e-02 8.06437848e+01] [ 2.57202219e-01 9.66309983e-01 -9.59351520e-03 8.79268355e+00] [ 3.87030528e-02 -3.81021034e-04 9.99250684e-01 2.46905591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.628040942 meters 0.019967543462526747 Centerline is valid? [True, True] Translation: X:80.70, Y:8.81, Z:2.47 [[ 9.65810330e-01 -2.56590986e-01 -3.70333906e-02 8.07006439e+01] [ 2.56415849e-01 9.66520022e-01 -9.48466497e-03 8.80986072e+00] [ 3.82271930e-02 -3.35560890e-04 9.99269017e-01 2.47045965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.688040942 meters 0.021347193146280932 Centerline is valid? [True, True] Translation: X:80.76, Y:8.83, Z:2.47 [[ 9.65751279e-01 -2.56762055e-01 -3.73860251e-02 8.07570397e+01] [ 2.56583297e-01 9.66474591e-01 -9.58527010e-03 8.82568370e+00] [ 3.85937769e-02 -3.35642728e-04 9.99254926e-01 2.47093468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.748040942 meters 0.020598056860421547 Centerline is valid? [True, True] Translation: X:80.81, Y:8.84, Z:2.47 [[ 9.65021669e-01 -2.59481427e-01 -3.74508652e-02 8.08143607e+01] [ 2.59303668e-01 9.65748000e-01 -9.61287972e-03 8.84081684e+00] [ 3.86624620e-02 -4.34509483e-04 9.99252233e-01 2.47370105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.808040942 meters 0.02136104827661523 Centerline is valid? [True, True] Translation: X:80.87, Y:8.86, Z:2.47 [[ 9.64050243e-01 -2.62883739e-01 -3.87203930e-02 8.08708300e+01] [ 2.62696100e-01 9.64827343e-01 -9.94773476e-03 8.85500737e+00] [ 3.99735916e-02 -5.81580127e-04 9.99200567e-01 2.47257305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86804094200001 meters 0.021907273478013245 Centerline is valid? [True, True] Translation: X:80.93, Y:8.87, Z:2.47 [[ 9.62422680e-01 -2.68499400e-01 -4.06282876e-02 8.09288644e+01] [ 2.68297660e-01 9.63279475e-01 -1.04412121e-02 8.86926156e+00] [ 4.19398548e-02 -8.51615156e-04 9.99119774e-01 2.47308209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.928040942 meters 0.024322280800185312 Centerline is valid? [True, True] Translation: X:80.99, Y:8.88, Z:2.47 [[ 9.60987157e-01 -2.73473614e-01 -4.14230222e-02 8.09875665e+01] [ 2.73268442e-01 9.61878890e-01 -1.06470478e-02 8.88174367e+00] [ 4.27556172e-02 -1.08792851e-03 9.99084968e-01 2.47449907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.988040942 meters 0.023073838443103702 Centerline is valid? [True, True] Translation: X:81.04, Y:8.90, Z:2.48 [[ 9.60576440e-01 -2.74959532e-01 -4.11115487e-02 8.10445774e+01] [ 2.74758619e-01 9.61455123e-01 -1.05710870e-02 8.89576871e+00] [ 4.24335302e-02 -1.14141525e-03 9.99098640e-01 2.47669745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.048040942 meters 0.02306593355226917 Centerline is valid? [True, True] Translation: X:81.10, Y:8.91, Z:2.48 [[ 9.60727179e-01 -2.74323091e-01 -4.18345465e-02 8.11015071e+01] [ 2.74113960e-01 9.61636929e-01 -1.07682140e-02 8.91232747e+00] [ 4.31836146e-02 -1.12211731e-03 9.99066522e-01 2.47683342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.108040942 meters 0.022394104209177177 Centerline is valid? [True, True] Translation: X:81.16, Y:8.93, Z:2.48 [[ 9.61725344e-01 -2.70861194e-01 -4.14557100e-02 8.11582531e+01] [ 2.70652247e-01 9.62617947e-01 -1.06793808e-02 8.92849437e+00] [ 4.27986403e-02 -9.49449838e-04 9.99083267e-01 2.47944991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.168040942 meters 0.020974705038360665 Centerline is valid? [True, True] Translation: X:81.21, Y:8.95, Z:2.48 [[ 9.63887857e-01 -2.63164052e-01 -4.08029511e-02 8.12148280e+01] [ 2.62954620e-01 9.64750915e-01 -1.05138241e-02 8.94716050e+00] [ 4.21315449e-02 -5.95177158e-04 9.99111895e-01 2.48268023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.228040942 meters 0.0199301897514411 Centerline is valid? [True, True] Translation: X:81.27, Y:8.97, Z:2.48 [[ 9.66055116e-01 -2.55170245e-01 -4.03194592e-02 8.12700821e+01] [ 2.54958697e-01 9.66896110e-01 -1.03910965e-02 8.96812095e+00] [ 4.16362269e-02 -2.41424835e-04 9.99132807e-01 2.48479708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.288040942 meters 0.019619063965608956 Centerline is valid? [True, True] Translation: X:81.33, Y:8.99, Z:2.49 [[ 9.67609785e-01 -2.49376787e-01 -3.92749542e-02 8.13256069e+01] [ 2.49171146e-01 9.68406536e-01 -1.01253157e-02 8.98610436e+00] [ 4.05591410e-02 1.11692248e-05 9.99177139e-01 2.48688861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.348040942 meters 0.019391138326705564 Centerline is valid? [True, True] Translation: X:81.38, Y:9.00, Z:2.49 [[ 9.67863947e-01 -2.48654289e-01 -3.75556286e-02 8.13828628e+01] [ 2.48465492e-01 9.68592300e-01 -9.68795880e-03 8.99992130e+00] [ 3.87850451e-02 4.53483048e-05 9.99247576e-01 2.49075932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.408040942 meters 0.0191497012793004 Centerline is valid? [True, True] Translation: X:81.44, Y:9.01, Z:2.49 [[ 9.67479882e-01 -2.50507364e-01 -3.50533569e-02 8.14408113e+01] [ 2.50343792e-01 9.68114694e-01 -9.05127673e-03 9.01259562e+00] [ 3.62030814e-02 -1.84621549e-05 9.99344453e-01 2.49370568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.468040942 meters 0.019033907142939132 Centerline is valid? [True, True] Translation: X:81.50, Y:9.03, Z:2.50 [[ 9.66919239e-01 -2.52928440e-01 -3.30815476e-02 8.14976543e+01] [ 2.52783881e-01 9.67484985e-01 -8.55068409e-03 9.02559607e+00] [ 3.41686118e-02 -9.46610403e-05 9.99416078e-01 2.49634855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.528040942 meters 0.018999344226608844 Centerline is valid? [True, True] Translation: X:81.55, Y:9.04, Z:2.50 [[ 9.66332264e-01 -2.55303290e-01 -3.19716414e-02 8.15540063e+01] [ 2.55169255e-01 9.66861005e-01 -8.27333394e-03 9.03929743e+00] [ 3.30243427e-02 -1.63390413e-04 9.99454534e-01 2.49869154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.588040942 meters 0.019303198438371194 Centerline is valid? [True, True] Translation: X:81.61, Y:9.05, Z:2.50 [[ 9.65723096e-01 -2.57619953e-01 -3.17940631e-02 8.16105638e+01] [ 2.57488340e-01 9.66246297e-01 -8.23702959e-03 9.05424757e+00] [ 3.28429189e-02 -2.31910812e-04 9.99460499e-01 2.49952677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.648040942 meters 0.01989557351023929 Centerline is valid? [True, True] Translation: X:81.67, Y:9.07, Z:2.50 [[ 9.64440417e-01 -2.62285369e-01 -3.25740119e-02 8.16663558e+01] [ 2.62149589e-01 9.64990275e-01 -8.44757206e-03 9.06794271e+00] [ 3.36492793e-02 -3.92083920e-04 9.99433626e-01 2.49966275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.708040942 meters 0.02156876397494047 Centerline is valid? [True, True] Translation: X:81.72, Y:9.08, Z:2.50 [[ 9.62428325e-01 -2.69784429e-01 -3.07909384e-02 8.17239158e+01] [ 2.69666835e-01 9.62920549e-01 -7.98838628e-03 9.08068954e+00] [ 3.18043696e-02 -6.15045704e-04 9.99493924e-01 2.50257544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.768040942 meters 0.023389142022531017 Centerline is valid? [True, True] Translation: X:81.78, Y:9.09, Z:2.51 [[ 9.60760652e-01 -2.75919522e-01 -2.84145535e-02 8.17818666e+01] [ 2.75822017e-01 9.61180446e-01 -7.37325491e-03 9.09348813e+00] [ 2.93459381e-02 -7.53426254e-04 9.99569031e-01 2.50552433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.828040942 meters 0.023424605746779906 Centerline is valid? [True, True] Translation: X:81.84, Y:9.11, Z:2.51 [[ 9.60155690e-01 -2.78102267e-01 -2.75713611e-02 8.18383010e+01] [ 2.78011316e-01 9.60551143e-01 -7.15611771e-03 9.11120878e+00] [ 2.84738350e-02 -7.94163246e-04 9.99594223e-01 2.50790441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.888040942 meters 0.021886014427512507 Centerline is valid? [True, True] Translation: X:81.89, Y:9.13, Z:2.51 [[ 9.60982099e-01 -2.75360959e-01 -2.62630372e-02 8.18930292e+01] [ 2.75277240e-01 9.61340673e-01 -6.82289794e-03 9.13420807e+00] [ 2.71264855e-02 -6.72933588e-04 9.99631783e-01 2.50983896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.948040942 meters 0.021457728558838658 Centerline is valid? [True, True] Translation: X:81.95, Y:9.15, Z:2.51 [[ 9.61981990e-01 -2.71894722e-01 -2.57664654e-02 8.19485217e+01] [ 2.71812694e-01 9.62326841e-01 -6.70145704e-03 9.15286894e+00] [ 2.66178520e-02 -5.56971385e-04 9.99645527e-01 2.51201901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.008040942 meters 0.02049432395048501 Centerline is valid? [True, True] Translation: X:82.00, Y:9.18, Z:2.51 [[ 9.63425441e-01 -2.66575427e-01 -2.73671572e-02 8.20030556e+01] [ 2.66480679e-01 9.63813962e-01 -7.11997600e-03 9.17604588e+00] [ 2.82748589e-02 -4.33252609e-04 9.99600092e-01 2.51246055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.068040942 meters 0.020389656636685564 Centerline is valid? [True, True] Translation: X:82.06, Y:9.20, Z:2.51 [[ 9.63983001e-01 -2.64483186e-01 -2.80253103e-02 8.20588742e+01] [ 2.64382887e-01 9.64390222e-01 -7.29303678e-03 9.19591454e+00] [ 2.89562208e-02 -3.79048948e-04 9.99580609e-01 2.51323107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.128040942 meters 0.02049498453314721 Centerline is valid? [True, True] Translation: X:82.11, Y:9.22, Z:2.51 [[ 9.63823946e-01 -2.65135238e-01 -2.73259475e-02 8.21132326e+01] [ 2.65039952e-01 9.64211159e-01 -7.11790977e-03 9.21662256e+00] [ 2.82351923e-02 -3.82055938e-04 9.99601234e-01 2.51496818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.188040942 meters 0.02083364538368224 Centerline is valid? [True, True] Translation: X:82.17, Y:9.24, Z:2.52 [[ 9.63300379e-01 -2.67054526e-01 -2.70972394e-02 8.21685599e+01] [ 2.66961338e-01 9.63681326e-01 -7.06720067e-03 9.23547705e+00] [ 2.80004316e-02 -4.26078226e-04 9.99607820e-01 2.51759978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.248040942 meters 0.021271270389595066 Centerline is valid? [True, True] Translation: X:82.22, Y:9.25, Z:2.52 [[ 9.62846945e-01 -2.68708749e-01 -2.68583109e-02 8.22232641e+01] [ 2.68617776e-01 9.63221360e-01 -7.00721315e-03 9.25287009e+00] [ 2.77533983e-02 -4.67745983e-04 9.99614691e-01 2.51937636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.308040942 meters 0.022042739004736862 Centerline is valid? [True, True] Translation: X:82.28, Y:9.27, Z:2.52 [[ 9.61997936e-01 -2.71538588e-01 -2.87535368e-02 8.22791970e+01] [ 2.71435435e-01 9.62427376e-01 -7.50664828e-03 9.27199097e+00] [ 2.97115357e-02 -5.83348618e-04 9.99558345e-01 2.51947403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36804094200001 meters 0.023005596522719614 Centerline is valid? [True, True] Translation: X:82.34, Y:9.29, Z:2.52 [[ 9.60990065e-01 -2.74890976e-01 -3.05458169e-02 8.23353524e+01] [ 2.74775985e-01 9.61475133e-01 -7.98295475e-03 9.28948501e+00] [ 3.15634856e-02 -7.21716708e-04 9.99501488e-01 2.51994088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.428040942 meters 0.02348929652187682 Centerline is valid? [True, True] Translation: X:82.39, Y:9.31, Z:2.52 [[ 9.60628019e-01 -2.76158885e-01 -3.04972110e-02 8.23907490e+01] [ 2.76044651e-01 9.61111701e-01 -7.97807193e-03 9.30808808e+00] [ 3.15144418e-02 -7.54632555e-04 9.99503012e-01 2.52152766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.488040942 meters 0.022537551008822914 Centerline is valid? [True, True] Translation: X:82.45, Y:9.33, Z:2.52 [[ 9.60907740e-01 -2.75117023e-01 -3.10956302e-02 8.24463235e+01] [ 2.74997572e-01 9.61410469e-01 -8.13909587e-03 9.32990827e+00] [ 3.21348682e-02 -7.30302575e-04 9.99483275e-01 2.52344359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.548040942 meters 0.021682445877022512 Centerline is valid? [True, True] Translation: X:82.50, Y:9.35, Z:2.53 [[ 9.61967872e-01 -2.71396231e-01 -3.10145020e-02 8.25017539e+01] [ 2.71275211e-01 9.62467522e-01 -8.12587316e-03 9.35245292e+00] [ 3.20557822e-02 -5.96636673e-04 9.99485903e-01 2.52524682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.608040942 meters 0.020759978265075123 Centerline is valid? [True, True] Translation: X:82.56, Y:9.38, Z:2.53 [[ 9.63547618e-01 -2.65722489e-01 -3.11054252e-02 8.25556141e+01] [ 2.65597673e-01 9.64049477e-01 -8.15361091e-03 9.37554627e+00] [ 3.21537667e-02 -4.05136198e-04 9.99482852e-01 2.52754673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.668040942 meters 0.020061578276121605 Centerline is valid? [True, True] Translation: X:82.61, Y:9.40, Z:2.53 [[ 9.64940266e-01 -2.60604062e-01 -3.12378846e-02 8.26111402e+01] [ 2.60475393e-01 9.65445736e-01 -8.19148115e-03 9.39626718e+00] [ 3.22932158e-02 -2.32410288e-04 9.99478411e-01 2.52995454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.728040942 meters 0.019626035319908103 Centerline is valid? [True, True] Translation: X:82.67, Y:9.42, Z:2.53 [[ 9.67321836e-01 -2.51749743e-01 -3.01750287e-02 8.26659193e+01] [ 2.51625130e-01 9.67792365e-01 -7.92032976e-03 9.42064366e+00] [ 3.11971034e-02 6.87124037e-05 9.99513250e-01 2.53327461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.788040942 meters 0.020062246829084914 Centerline is valid? [True, True] Translation: X:82.72, Y:9.44, Z:2.53 [[ 9.69131988e-01 -2.44655189e-01 -3.04471279e-02 8.27205676e+01] [ 2.44524562e-01 9.69610099e-01 -7.99966212e-03 9.44270486e+00] [ 3.14790015e-02 3.07657846e-04 9.99504366e-01 2.53494935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.848040942 meters 0.020486055869275807 Centerline is valid? [True, True] Translation: X:82.78, Y:9.46, Z:2.54 [[ 9.69885350e-01 -2.41563882e-01 -3.11335701e-02 8.27767140e+01] [ 2.41425438e-01 9.70384826e-01 -8.18828838e-03 9.46044641e+00] [ 3.21895387e-02 4.25265167e-04 9.99481692e-01 2.53647813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.908040942 meters 0.020997184170740524 Centerline is valid? [True, True] Translation: X:82.83, Y:9.48, Z:2.54 [[ 9.70496621e-01 -2.38972321e-01 -3.20708340e-02 8.28330582e+01] [ 2.38823714e-01 9.71026232e-01 -8.44332478e-03 9.47670242e+00] [ 3.31593420e-02 5.34942473e-04 9.99449935e-01 2.53842458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.968040942 meters 0.02173002891221826 Centerline is valid? [True, True] Translation: X:82.89, Y:9.49, Z:2.54 [[ 9.70878834e-01 -2.37225962e-01 -3.34384781e-02 8.28884703e+01] [ 2.37063082e-01 9.71454296e-01 -8.81173192e-03 9.49259205e+00] [ 3.45743248e-02 6.28095331e-04 9.99401932e-01 2.53985959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.028040942 meters 0.022334305866558376 Centerline is valid? [True, True] Translation: X:82.95, Y:9.51, Z:2.54 [[ 9.71192296e-01 -2.35707174e-01 -3.50378793e-02 8.29454923e+01] [ 2.35527197e-01 9.71823858e-01 -9.23731725e-03 9.50573029e+00] [ 3.62279490e-02 7.18837830e-04 9.99343294e-01 2.54057273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.088040942 meters 0.02142052832525234 Centerline is valid? [True, True] Translation: X:83.00, Y:9.51, Z:2.54 [[ 9.71269152e-01 -2.35262950e-01 -3.58828429e-02 8.30047511e+01] [ 2.35073539e-01 9.71931460e-01 -9.46932853e-03 9.51273385e+00] [ 3.71034461e-02 7.62159827e-04 9.99311139e-01 2.54405672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.148040942 meters 0.021468644148234555 Centerline is valid? [True, True] Translation: X:83.06, Y:9.52, Z:2.55 [[ 9.71269126e-01 -2.35196063e-01 -3.63193787e-02 8.30627829e+01] [ 2.35001593e-01 9.71947631e-01 -9.59443681e-03 9.52422647e+00] [ 3.75571079e-02 7.83668391e-04 9.99294176e-01 2.54626449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.208040942 meters 0.021960546382605882 Centerline is valid? [True, True] Translation: X:83.12, Y:9.53, Z:2.55 [[ 9.71038504e-01 -2.35839550e-01 -3.82613364e-02 8.31200988e+01] [ 2.35623848e-01 9.71791671e-01 -1.01167910e-02 9.53328167e+00] [ 3.95679875e-02 8.08510325e-04 9.99216553e-01 2.54754308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.268040942 meters 0.021038293097903386 Centerline is valid? [True, True] Translation: X:83.18, Y:9.54, Z:2.55 [[ 9.70305195e-01 -2.38984603e-01 -3.73388223e-02 8.31803115e+01] [ 2.38781329e-01 9.71023127e-01 -9.87744986e-03 9.53770850e+00] [ 3.86174184e-02 6.68327282e-04 9.99253846e-01 2.55201817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.328040942 meters 0.02041027314403566 Centerline is valid? [True, True] Translation: X:83.24, Y:9.54, Z:2.55 [[ 9.69286654e-01 -2.43024047e-01 -3.77186343e-02 8.32385616e+01] [ 2.42819355e-01 9.70020124e-01 -9.98596757e-03 9.54230093e+00] [ 3.90146646e-02 5.20450641e-04 9.99238503e-01 2.55476352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.388040942 meters 0.01957477750420579 Centerline is valid? [True, True] Translation: X:83.30, Y:9.55, Z:2.56 [[ 9.68275418e-01 -2.46966180e-01 -3.80843989e-02 8.32987756e+01] [ 2.46760354e-01 9.69024029e-01 -1.00875463e-02 9.54641162e+00] [ 3.93959804e-02 3.69803324e-04 9.99223609e-01 2.55725330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.448040942 meters 0.019351771050031403 Centerline is valid? [True, True] Translation: X:83.36, Y:9.55, Z:2.56 [[ 9.67624938e-01 -2.49530565e-01 -3.79008760e-02 8.33576271e+01] [ 2.49328320e-01 9.68366884e-01 -1.00481874e-02 9.55498917e+00] [ 3.92092831e-02 2.73114968e-04 9.99230983e-01 2.55994276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.508040942 meters 0.018973241662453802 Centerline is valid? [True, True] Translation: X:83.42, Y:9.56, Z:2.56 [[ 9.66545125e-01 -2.53796371e-01 -3.71203962e-02 8.34159301e+01] [ 2.53605198e-01 9.67257665e-01 -9.84949967e-03 9.55916563e+00] [ 3.84047550e-02 1.06060457e-04 9.99262260e-01 2.56274123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.568040942 meters 0.01886927277071804 Centerline is valid? [True, True] Translation: X:83.47, Y:9.57, Z:2.57 [[ 9.65728211e-01 -2.56998401e-01 -3.63434240e-02 8.34737190e+01] [ 2.56817242e-01 9.66411828e-01 -9.64793467e-03 9.56650465e+00] [ 3.76022186e-02 -1.63352070e-05 9.99292786e-01 2.56606565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.628040942 meters 0.019116237958304378 Centerline is valid? [True, True] Translation: X:83.53, Y:9.57, Z:2.57 [[ 9.64576564e-01 -2.61297412e-01 -3.62727834e-02 8.35320375e+01] [ 2.61119634e-01 9.65258324e-01 -9.63870808e-03 9.57104699e+00] [ 3.75311756e-02 -1.74264006e-04 9.99295442e-01 2.56796888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.688040942 meters 0.019674379493333016 Centerline is valid? [True, True] Translation: X:83.59, Y:9.57, Z:2.57 [[ 9.63617873e-01 -2.64393220e-01 -3.92023042e-02 8.35910604e+01] [ 2.64187959e-01 9.64414914e-01 -1.04209640e-02 9.57497285e+00] [ 4.05625191e-02 -3.14949570e-04 9.99176953e-01 2.56692489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.748040942 meters 0.01994725749882417 Centerline is valid? [True, True] Translation: X:83.65, Y:9.58, Z:2.57 [[ 9.63299045e-01 -2.65464388e-01 -3.97945698e-02 8.36496446e+01] [ 2.65253577e-01 9.64120599e-01 -1.05835404e-02 9.58388632e+00] [ 4.11763175e-02 -3.60537607e-04 9.99151831e-01 2.56804178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.808040942 meters 0.019660291705834453 Centerline is valid? [True, True] Translation: X:83.71, Y:9.59, Z:2.57 [[ 9.63385723e-01 -2.65339904e-01 -3.85056479e-02 8.37079097e+01] [ 2.65142064e-01 9.64154875e-01 -1.02499955e-02 9.59221951e+00] [ 3.98451410e-02 -3.34767607e-04 9.99205811e-01 2.57208458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86804094200001 meters 0.019240889240841132 Centerline is valid? [True, True] Translation: X:83.77, Y:9.60, Z:2.58 [[ 9.64390689e-01 -2.61906459e-01 -3.68185383e-02 8.37656068e+01] [ 2.61722742e-01 9.65093247e-01 -9.80973044e-03 9.60229519e+00] [ 3.81025544e-02 -1.75836078e-04 9.99273819e-01 2.57640533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.928040942 meters 0.019022163703463133 Centerline is valid? [True, True] Translation: X:83.82, Y:9.62, Z:2.58 [[ 9.65769643e-01 -2.56825570e-01 -3.64639967e-02 8.38218200e+01] [ 2.56641442e-01 9.66457772e-01 -9.72339490e-03 9.61597130e+00] [ 3.77381294e-02 3.23869175e-05 9.99287663e-01 2.57847824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.988040942 meters 0.01930016138818723 Centerline is valid? [True, True] Translation: X:83.88, Y:9.63, Z:2.58 [[ 9.66426639e-01 -2.54515797e-01 -3.52315135e-02 8.38779707e+01] [ 2.54342184e-01 9.67068609e-01 -9.39999159e-03 9.62940948e+00] [ 3.64637371e-02 1.23542197e-04 9.99334969e-01 2.58213757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.048040942 meters 0.019523742452024984 Centerline is valid? [True, True] Translation: X:83.94, Y:9.64, Z:2.59 [[ 9.66758763e-01 -2.53534234e-01 -3.31343589e-02 8.39352819e+01] [ 2.53379820e-01 9.67326402e-01 -8.84871671e-03 9.64018885e+00] [ 3.42951928e-02 1.58996532e-04 9.99411734e-01 2.58606552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.108040942 meters 0.01968221616888124 Centerline is valid? [True, True] Translation: X:83.99, Y:9.65, Z:2.59 [[ 9.66682107e-01 -2.53788565e-01 -3.34225765e-02 8.39924337e+01] [ 2.53631477e-01 9.67259707e-01 -8.92935909e-03 9.65028188e+00] [ 3.45944808e-02 1.54834208e-04 9.99401420e-01 2.58865633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.168040942 meters 0.01969598145248391 Centerline is valid? [True, True] Translation: X:84.05, Y:9.66, Z:2.59 [[ 9.65830011e-01 -2.56786594e-01 -3.51145917e-02 8.40513716e+01] [ 2.56614780e-01 9.66468127e-01 -9.39219348e-03 9.65633821e+00] [ 3.63489231e-02 6.03391068e-05 9.99339158e-01 2.58840555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.228040942 meters 0.01975682914821429 Centerline is valid? [True, True] Translation: X:84.11, Y:9.67, Z:2.59 [[ 9.65316559e-01 -2.58592282e-01 -3.59718445e-02 8.41090726e+01] [ 2.58412824e-01 9.65986559e-01 -9.63226072e-03 9.66685131e+00] [ 3.72391466e-02 2.59482579e-06 9.99306382e-01 2.58962052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.288040942 meters 0.019748687928238726 Centerline is valid? [True, True] Translation: X:84.17, Y:9.68, Z:2.59 [[ 9.64609773e-01 -2.61126120e-01 -3.66215176e-02 8.41671697e+01] [ 2.60941515e-01 9.65304689e-01 -9.81752429e-03 9.67503329e+00] [ 3.79145346e-02 -8.59944109e-05 9.99280982e-01 2.59114388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.348040942 meters 0.019942024940051355 Centerline is valid? [True, True] Translation: X:84.22, Y:9.68, Z:2.59 [[ 9.64211813e-01 -2.62636481e-01 -3.62995757e-02 8.42235172e+01] [ 2.62455806e-01 9.64894844e-01 -9.74109407e-03 9.68387656e+00] [ 3.75836401e-02 -1.34556445e-04 9.99293476e-01 2.59406600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.408040942 meters 0.020018290579826584 Centerline is valid? [True, True] Translation: X:84.28, Y:9.70, Z:2.60 [[ 9.64204372e-01 -2.62704538e-01 -3.60035519e-02 8.42804274e+01] [ 2.62526633e-01 9.64876318e-01 -9.66737933e-03 9.69753727e+00] [ 3.72786390e-02 -1.30561827e-04 9.99304901e-01 2.59724495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.468040942 meters 0.02011414521596223 Centerline is valid? [True, True] Translation: X:84.34, Y:9.71, Z:2.60 [[ 9.64304223e-01 -2.62320791e-01 -3.61271146e-02 8.43362149e+01] [ 2.62140985e-01 9.64980721e-01 -9.71146491e-03 9.71214458e+00] [ 3.74094883e-02 -1.05590797e-04 9.99300015e-01 2.59979279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.528040942 meters 0.02021666575573251 Centerline is valid? [True, True] Translation: X:84.39, Y:9.73, Z:2.60 [[ 9.64800464e-01 -2.60587198e-01 -3.54171772e-02 8.43912569e+01] [ 2.60412835e-01 9.65450315e-01 -9.53120449e-03 9.72912801e+00] [ 3.66772348e-02 -2.73770246e-05 9.99327163e-01 2.60271526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.588040942 meters 0.02035450169640312 Centerline is valid? [True, True] Translation: X:84.45, Y:9.75, Z:2.60 [[ 9.65265831e-01 -2.58713317e-01 -3.64595084e-02 8.44466097e+01] [ 2.58526817e-01 9.65954148e-01 -9.82182792e-03 9.74739568e+00] [ 3.77592511e-02 5.49142237e-05 9.99286864e-01 2.60316104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.648040942 meters 0.020389540769187073 Centerline is valid? [True, True] Translation: X:84.50, Y:9.76, Z:2.61 [[ 9.64921798e-01 -2.59793316e-01 -3.78597006e-02 8.45034399e+01] [ 2.59592841e-01 9.65664244e-01 -1.02041107e-02 9.76287112e+00] [ 3.92107189e-02 1.80616054e-05 9.99230964e-01 2.60566124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.708040942 meters 0.02034671784013174 Centerline is valid? [True, True] Translation: X:84.56, Y:9.78, Z:2.61 [[ 9.64141692e-01 -2.62762790e-01 -3.72359365e-02 8.45596052e+01] [ 2.62570691e-01 9.64860460e-01 -1.00460977e-02 9.77724076e+00] [ 3.85672235e-02 -9.12039487e-05 9.99256004e-01 2.60815440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.768040942 meters 0.020453408273166263 Centerline is valid? [True, True] Translation: X:84.62, Y:9.79, Z:2.61 [[ 9.63227901e-01 -2.66218083e-01 -3.63310211e-02 8.46160751e+01] [ 2.66037258e-01 9.63912800e-01 -9.81276777e-03 9.79176273e+00] [ 3.76322725e-02 -2.13473534e-04 9.99291632e-01 2.61066685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.828040942 meters 0.020772658575276964 Centerline is valid? [True, True] Translation: X:84.67, Y:9.81, Z:2.61 [[ 9.62223290e-01 -2.69935457e-01 -3.55132261e-02 8.46727252e+01] [ 2.69764862e-01 9.62878358e-01 -9.60140579e-03 9.80528406e+00] [ 3.67866767e-02 -3.41524257e-04 9.99323083e-01 2.61281919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.888040942 meters 0.021560046143587332 Centerline is valid? [True, True] Translation: X:84.73, Y:9.82, Z:2.62 [[ 9.60698744e-01 -2.75387733e-01 -3.49216244e-02 8.47309618e+01] [ 2.75226222e-01 9.61333089e-01 -9.44555934e-03 9.81662109e+00] [ 3.61725042e-02 -5.37009740e-04 9.99345417e-01 2.61526928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.948040942 meters 0.022040785154017403 Centerline is valid? [True, True] Translation: X:84.79, Y:9.83, Z:2.62 [[ 9.59970072e-01 -2.77937917e-01 -3.47559400e-02 8.47881949e+01] [ 2.77779278e-01 9.60598838e-01 -9.40982113e-03 9.82974546e+00] [ 3.60018617e-02 -6.21333227e-04 9.99351530e-01 2.61773822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.008040942 meters 0.022167140974610738 Centerline is valid? [True, True] Translation: X:84.85, Y:9.84, Z:2.62 [[ 9.59710994e-01 -2.78940245e-01 -3.38695784e-02 8.48451444e+01] [ 2.78789916e-01 9.60308252e-01 -9.17848507e-03 9.84323393e+00] [ 3.50854845e-02 -6.33803902e-04 9.99384114e-01 2.62056883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.068040942 meters 0.022404887409610365 Centerline is valid? [True, True] Translation: X:84.90, Y:9.86, Z:2.62 [[ 9.59988368e-01 -2.77868682e-01 -3.48041391e-02 8.49009780e+01] [ 2.77708924e-01 9.60618880e-01 -9.44040502e-03 9.85725061e+00] [ 3.60567060e-02 -6.02741013e-04 9.99349564e-01 2.62145193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.128040942 meters 0.021726942343369332 Centerline is valid? [True, True] Translation: X:84.96, Y:9.88, Z:2.62 [[ 9.60296886e-01 -2.76812227e-01 -3.47114044e-02 8.49571431e+01] [ 2.76652436e-01 9.60923869e-01 -9.42061088e-03 9.87540333e+00] [ 3.59627573e-02 -5.56411309e-04 9.99352976e-01 2.62284612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.188040942 meters 0.021463347847287366 Centerline is valid? [True, True] Translation: X:85.01, Y:9.89, Z:2.62 [[ 9.60965809e-01 -2.74535976e-01 -3.42740740e-02 8.50138109e+01] [ 2.74378421e-01 9.61576720e-01 -9.31090938e-03 9.89189014e+00] [ 3.55133313e-02 -4.56600748e-04 9.99369098e-01 2.62457460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.248040942 meters 0.021092234799263202 Centerline is valid? [True, True] Translation: X:85.07, Y:9.91, Z:2.63 [[ 9.61698026e-01 -2.72141693e-01 -3.27994686e-02 8.50704116e+01] [ 2.71995732e-01 9.62257128e-01 -8.91859975e-03 9.90900745e+00] [ 3.39886453e-02 -3.44315715e-04 9.99422160e-01 2.62732182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.308040942 meters 0.02087468019568519 Centerline is valid? [True, True] Translation: X:85.13, Y:9.93, Z:2.63 [[ 9.62356893e-01 -2.69774827e-01 -3.30265585e-02 8.51263170e+01] [ 2.69625143e-01 9.62923402e-01 -8.98909258e-03 9.92630889e+00] [ 3.42270770e-02 -2.54075352e-04 9.99414050e-01 2.62932171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36804094200001 meters 0.020751000438727542 Centerline is valid? [True, True] Translation: X:85.18, Y:9.94, Z:2.63 [[ 9.62593173e-01 -2.68910412e-01 -3.31899477e-02 8.51816234e+01] [ 2.68758415e-01 9.63165169e-01 -9.04271777e-03 9.94235365e+00] [ 3.43990826e-02 -2.15619333e-04 9.99408153e-01 2.63137039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.428040942 meters 0.020863022549182406 Centerline is valid? [True, True] Translation: X:85.24, Y:9.96, Z:2.63 [[ 9.62233945e-01 -2.70185436e-01 -3.32515456e-02 8.52376515e+01] [ 2.70033275e-01 9.62808271e-01 -9.06993036e-03 9.95641048e+00] [ 3.44654262e-02 -2.51628894e-04 9.99405859e-01 2.63306131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.488040942 meters 0.02122202765834779 Centerline is valid? [True, True] Translation: X:85.30, Y:9.97, Z:2.64 [[ 9.61494231e-01 -2.72710122e-01 -3.40298854e-02 8.52950373e+01] [ 2.72551958e-01 9.62096187e-01 -9.29283252e-03 9.97024131e+00] [ 3.52742725e-02 -3.39907030e-04 9.99377611e-01 2.63532266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.548040942 meters 0.02184649231956021 Centerline is valid? [True, True] Translation: X:85.35, Y:9.98, Z:2.64 [[ 9.60362837e-01 -2.76549283e-01 -3.49816389e-02 8.53526872e+01] [ 2.76384334e-01 9.60999615e-01 -9.56247063e-03 9.98297074e+00] [ 3.62618359e-02 -4.84935543e-04 9.99342206e-01 2.63659970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.608040942 meters 0.022763418652150206 Centerline is valid? [True, True] Translation: X:85.41, Y:9.99, Z:2.64 [[ 9.59216354e-01 -2.80455767e-01 -3.53348090e-02 8.54089786e+01] [ 2.80289785e-01 9.59866744e-01 -9.66804589e-03 9.99491780e+00] [ 3.66281673e-02 -6.30238293e-04 9.99328765e-01 2.63803190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.668040942 meters 0.023779494440751836 Centerline is valid? [True, True] Translation: X:85.47, Y:10.01, Z:2.64 [[ 9.58193866e-01 -2.83919671e-01 -3.54137669e-02 8.54658105e+01] [ 2.83755106e-01 9.58847769e-01 -9.69513115e-03 1.00081150e+01] [ 3.67090498e-02 -7.59021984e-04 9.99325707e-01 2.64034473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.728040942 meters 0.023633595056115838 Centerline is valid? [True, True] Translation: X:85.52, Y:10.02, Z:2.64 [[ 9.57935827e-01 -2.84780861e-01 -3.54797457e-02 8.55222634e+01] [ 2.84616115e-01 9.58592321e-01 -9.71744317e-03 1.00243292e+01] [ 3.67779536e-02 -7.89420434e-04 9.99323150e-01 2.64241826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.788040942 meters 0.02419961058539498 Centerline is valid? [True, True] Translation: X:85.58, Y:10.04, Z:2.64 [[ 9.57969093e-01 -2.84703151e-01 -3.52041667e-02 8.55776106e+01] [ 2.84540560e-01 9.58615419e-01 -9.65136367e-03 1.00401765e+01] [ 3.64950306e-02 -7.71305201e-04 9.99333537e-01 2.64458508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.848040942 meters 0.023704373625607324 Centerline is valid? [True, True] Translation: X:85.63, Y:10.06, Z:2.65 [[ 9.58395144e-01 -2.83012992e-01 -3.71805553e-02 8.56337724e+01] [ 2.82829921e-01 9.59115793e-01 -1.02044690e-02 1.00594920e+01] [ 3.85484551e-02 -7.35859999e-04 9.99256461e-01 2.64581030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.908040942 meters 0.023746265387134254 Centerline is valid? [True, True] Translation: X:85.69, Y:10.08, Z:2.65 [[ 9.58596841e-01 -2.82254077e-01 -3.77456144e-02 8.56895515e+01] [ 2.82064420e-01 9.59339427e-01 -1.03694901e-02 1.00781643e+01] [ 3.91376870e-02 -7.06534428e-04 9.99233577e-01 2.64637569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.968040942 meters 0.023741117864275234 Centerline is valid? [True, True] Translation: X:85.75, Y:10.09, Z:2.65 [[ 9.58331841e-01 -2.83254746e-01 -3.69706748e-02 8.57461537e+01] [ 2.83073181e-01 9.59044434e-01 -1.01660272e-02 1.00948673e+01] [ 3.83360953e-02 -7.22978907e-04 9.99264640e-01 2.65001519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.028040942 meters 0.024034836261245043 Centerline is valid? [True, True] Translation: X:85.80, Y:10.11, Z:2.65 [[ 9.57610299e-01 -2.86076450e-01 -3.38050323e-02 8.58023293e+01] [ 2.85926122e-01 9.58206498e-01 -9.30377710e-03 1.01122661e+01] [ 3.50537931e-02 -7.56348999e-04 9.99385141e-01 2.65498640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.088040942 meters 0.024651229550239104 Centerline is valid? [True, True] Translation: X:85.86, Y:10.13, Z:2.66 [[ 9.57056558e-01 -2.88128448e-01 -3.20115915e-02 8.58579055e+01] [ 2.87994541e-01 9.57591452e-01 -8.81789021e-03 1.01278952e+01] [ 3.31947114e-02 -7.79943968e-04 9.99448599e-01 2.65743342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.148040942 meters 0.02398103158104225 Centerline is valid? [True, True] Translation: X:85.91, Y:10.15, Z:2.66 [[ 9.56911871e-01 -2.88593700e-01 -3.21457291e-02 8.59127604e+01] [ 2.88458814e-01 9.57451326e-01 -8.85834130e-03 1.01469279e+01] [ 3.33344325e-02 -7.96066959e-04 9.99443936e-01 2.65820441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.208040942 meters 0.023663944700155388 Centerline is valid? [True, True] Translation: X:85.97, Y:10.17, Z:2.66 [[ 9.57108292e-01 -2.87929374e-01 -3.22551180e-02 8.59686270e+01] [ 2.87792862e-01 9.57651340e-01 -8.89831422e-03 1.01654082e+01] [ 3.34512430e-02 -7.66142379e-04 9.99440057e-01 2.65942800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.268040942 meters 0.023240478169635672 Centerline is valid? [True, True] Translation: X:86.02, Y:10.18, Z:2.66 [[ 9.57723828e-01 -2.85817417e-01 -3.27639173e-02 8.60233534e+01] [ 2.85675041e-01 9.58283842e-01 -9.04711798e-03 1.01834799e+01] [ 3.39829564e-02 -6.95192942e-04 9.99422171e-01 2.66022207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.328040942 meters 0.02253966439319758 Centerline is valid? [True, True] Translation: X:86.08, Y:10.20, Z:2.66 [[ 9.58043927e-01 -2.84817523e-01 -3.21062614e-02 8.60785112e+01] [ 2.84680132e-01 9.58581538e-01 -8.86889133e-03 1.02033923e+01] [ 3.33024851e-02 -6.43227270e-04 9.99445111e-01 2.66413125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.388040942 meters 0.022334467797466766 Centerline is valid? [True, True] Translation: X:86.13, Y:10.22, Z:2.67 [[ 9.58178158e-01 -2.84402832e-01 -3.17749402e-02 8.61343769e+01] [ 2.84267759e-01 9.58704674e-01 -8.78574213e-03 1.02226472e+01] [ 3.29614737e-02 -6.14284847e-04 9.99456434e-01 2.66534880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.448040942 meters 0.022465559819334305 Centerline is valid? [True, True] Translation: X:86.19, Y:10.24, Z:2.67 [[ 9.57838027e-01 -2.85661839e-01 -3.07185080e-02 8.61903932e+01] [ 2.85535997e-01 9.58330277e-01 -8.50150603e-03 1.02397309e+01] [ 3.18670321e-02 -6.28174027e-04 9.99491920e-01 2.66789402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.508040942 meters 0.02335247348844468 Centerline is valid? [True, True] Translation: X:86.25, Y:10.26, Z:2.67 [[ 9.56667778e-01 -2.89626611e-01 -3.00530894e-02 8.62476156e+01] [ 2.89507877e-01 9.57139428e-01 -8.32496486e-03 1.02555230e+01] [ 3.11761281e-02 -7.36380468e-04 9.99513635e-01 2.67021333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.568040942 meters 0.023223279502369295 Centerline is valid? [True, True] Translation: X:86.30, Y:10.27, Z:2.67 [[ 9.55946393e-01 -2.92099870e-01 -2.90544101e-02 8.63040416e+01] [ 2.91990012e-01 9.56387496e-01 -8.04917925e-03 1.02732958e+01] [ 3.01384388e-02 -7.89013706e-04 9.99545423e-01 2.67279370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.628040942 meters 0.023795398365895146 Centerline is valid? [True, True] Translation: X:86.36, Y:10.29, Z:2.67 [[ 9.55189841e-01 -2.94519231e-01 -2.95091454e-02 8.63600696e+01] [ 2.94406812e-01 9.55645156e-01 -8.18321357e-03 1.02900178e+01] [ 3.06103856e-02 -8.71170945e-04 9.99531013e-01 2.67438112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.688040942 meters 0.02347399936926208 Centerline is valid? [True, True] Translation: X:86.42, Y:10.31, Z:2.68 [[ 9.54626949e-01 -2.96350642e-01 -2.93885185e-02 8.64160163e+01] [ 2.96239926e-01 9.55078763e-01 -8.15244413e-03 1.03097923e+01] [ 3.04843319e-02 -9.23509665e-04 9.99534818e-01 2.67625505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.748040942 meters 0.0237050174230418 Centerline is valid? [True, True] Translation: X:86.47, Y:10.33, Z:2.68 [[ 9.54565789e-01 -2.96549014e-01 -2.93740913e-02 8.64715397e+01] [ 2.96438259e-01 9.55017190e-01 -8.15635143e-03 1.03267725e+01] [ 3.04715201e-02 -9.21830425e-04 9.99535210e-01 2.67771085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.808040942 meters 0.023593959837790966 Centerline is valid? [True, True] Translation: X:86.53, Y:10.35, Z:2.68 [[ 9.54905961e-01 -2.95381049e-01 -3.00772668e-02 8.65274874e+01] [ 2.95264055e-01 9.55379104e-01 -8.36101121e-03 1.03469747e+01] [ 3.12048764e-02 -8.96756288e-04 9.99512607e-01 2.67897872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86804094200001 meters 0.023951629848720613 Centerline is valid? [True, True] Translation: X:86.58, Y:10.36, Z:2.68 [[ 9.55059609e-01 -2.94981176e-01 -2.91075473e-02 8.65832715e+01] [ 2.94871206e-01 9.55502688e-01 -8.09849246e-03 1.03636527e+01] [ 3.02012425e-02 -8.48434551e-04 9.99543478e-01 2.68227869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.928040942 meters 0.023724546093698864 Centerline is valid? [True, True] Translation: X:86.64, Y:10.38, Z:2.69 [[ 9.55360221e-01 -2.94106043e-01 -2.80799404e-02 8.66390236e+01] [ 2.94003260e-01 9.55772469e-01 -7.81481838e-03 1.03832575e+01] [ 2.91364193e-02 -7.89627389e-04 9.99575133e-01 2.68524222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.988040942 meters 0.02323768323922185 Centerline is valid? [True, True] Translation: X:86.69, Y:10.41, Z:2.69 [[ 9.55363877e-01 -2.93929057e-01 -2.97585530e-02 8.66944741e+01] [ 2.93813276e-01 9.55826884e-01 -8.29019914e-03 1.04050589e+01] [ 3.08807554e-02 -8.23301140e-04 9.99522737e-01 2.68539012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.048040942 meters 0.023633750594127957 Centerline is valid? [True, True] Translation: X:86.75, Y:10.42, Z:2.69 [[ 9.55269904e-01 -2.94120185e-01 -3.08662848e-02 8.67493000e+01] [ 2.93995448e-01 9.55768063e-01 -8.60732777e-03 1.04239728e+01] [ 3.20325981e-02 -8.52226071e-04 9.99486461e-01 2.68541440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.108040942 meters 0.024999233104697913 Centerline is valid? [True, True] Translation: X:86.80, Y:10.44, Z:2.69 [[ 9.54329657e-01 -2.97101842e-01 -3.13910967e-02 8.68046815e+01] [ 2.96974137e-01 9.54845314e-01 -8.76285314e-03 1.04415450e+01] [ 3.25771014e-02 -9.59693222e-04 9.99468765e-01 2.68606160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.168040942 meters 0.027032267683114102 Centerline is valid? [True, True] Translation: X:86.86, Y:10.46, Z:2.69 [[ 9.52925917e-01 -3.01515978e-01 -3.19423111e-02 8.68609104e+01] [ 3.01386141e-01 9.53460457e-01 -8.91910701e-03 1.04575048e+01] [ 3.31449838e-02 -1.12772167e-03 9.99449918e-01 2.68733776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.228040942 meters 0.0283524894574262 Centerline is valid? [True, True] Translation: X:86.92, Y:10.47, Z:2.69 [[ 9.52295729e-01 -3.03537906e-01 -3.15845448e-02 8.69169821e+01] [ 3.03411997e-01 9.52818630e-01 -8.82149158e-03 1.04739099e+01] [ 3.27719998e-02 -1.18246106e-03 9.99462154e-01 2.68903379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.288040942 meters 0.02967168982774705 Centerline is valid? [True, True] Translation: X:86.97, Y:10.49, Z:2.69 [[ 9.51651384e-01 -3.05500119e-01 -3.20830305e-02 8.69727667e+01] [ 3.05371208e-01 9.52191196e-01 -8.96395829e-03 1.04925675e+01] [ 3.32876695e-02 -1.26667047e-03 9.99445009e-01 2.69017908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.348040942 meters 0.03026495776908349 Centerline is valid? [True, True] Translation: X:87.03, Y:10.51, Z:2.69 [[ 9.51491589e-01 -3.06019664e-01 -3.18703898e-02 8.70288780e+01] [ 3.05892490e-01 9.52024346e-01 -8.91230506e-03 1.05114653e+01] [ 3.30687276e-02 -1.26892961e-03 9.99452275e-01 2.69207795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.408040942 meters 0.027811897714108382 Centerline is valid? [True, True] Translation: X:87.08, Y:10.54, Z:2.69 [[ 9.51808121e-01 -3.05009944e-01 -3.20972565e-02 8.70833371e+01] [ 3.04880127e-01 9.52348365e-01 -8.98332671e-03 1.05371361e+01] [ 3.33077737e-02 -1.23541233e-03 9.99444379e-01 2.69276957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.468040942 meters 0.027609126070605092 Centerline is valid? [True, True] Translation: X:87.14, Y:10.56, Z:2.69 [[ 9.52438596e-01 -3.03051476e-01 -3.19456449e-02 8.71382636e+01] [ 3.02921646e-01 9.52973485e-01 -8.94501078e-03 1.05588494e+01] [ 3.31541512e-02 -1.15745381e-03 9.99449580e-01 2.69352466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.528040942 meters 0.027033728305531107 Centerline is valid? [True, True] Translation: X:87.19, Y:10.58, Z:2.70 [[ 9.52884912e-01 -3.01615940e-01 -3.22206244e-02 8.71938029e+01] [ 3.01482952e-01 9.53428856e-01 -9.02476675e-03 1.05790799e+01] [ 3.34420866e-02 -1.11440491e-03 9.99440036e-01 2.69522153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.588040942 meters 0.025108591443546487 Centerline is valid? [True, True] Translation: X:87.25, Y:10.60, Z:2.70 [[ 9.53346270e-01 -3.00188588e-01 -3.19014321e-02 8.72483645e+01] [ 3.00057162e-01 9.53879299e-01 -8.94329381e-03 1.06014360e+01] [ 3.31147905e-02 -1.04619739e-03 9.99451007e-01 2.69759329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.648040942 meters 0.02725036420652381 Centerline is valid? [True, True] Translation: X:87.30, Y:10.62, Z:2.70 [[ 9.53777312e-01 -2.98772525e-01 -3.23081507e-02 8.73039346e+01] [ 2.98636644e-01 9.54323831e-01 -9.06537649e-03 1.06169270e+01] [ 3.35409236e-02 -1.00204727e-03 9.99436843e-01 2.69786376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.708040942 meters 0.023709015851189504 Centerline is valid? [True, True] Translation: X:87.36, Y:10.64, Z:2.70 [[ 9.55147679e-01 -2.94481413e-01 -3.12026925e-02 8.73591733e+01] [ 2.94352291e-01 9.55656856e-01 -8.75800150e-03 1.06432677e+01] [ 3.23981357e-02 -8.19399222e-04 9.99474707e-01 2.70011469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.768040942 meters 0.02433439386601421 Centerline is valid? [True, True] Translation: X:87.41, Y:10.66, Z:2.70 [[ 9.55978996e-01 -2.91818635e-01 -3.07578278e-02 8.74147992e+01] [ 2.91691665e-01 9.56473404e-01 -8.63709592e-03 1.06583316e+01] [ 3.19395098e-02 -7.14919731e-04 9.99489548e-01 2.70227801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.828040942 meters 0.02210940492776549 Centerline is valid? [True, True] Translation: X:87.47, Y:10.68, Z:2.70 [[ 9.57248641e-01 -2.87804087e-01 -2.90490326e-02 8.74697992e+01] [ 2.87688876e-01 9.57689151e-01 -8.16088619e-03 1.06808331e+01] [ 3.01686798e-02 -5.45086332e-04 9.99544673e-01 2.70478964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.888040942 meters 0.02128921526091532 Centerline is valid? [True, True] Translation: X:87.53, Y:10.70, Z:2.71 [[ 9.58145574e-01 -2.84951594e-01 -2.75617299e-02 8.75252544e+01] [ 2.84846659e-01 9.58541811e-01 -7.74449041e-03 1.07001504e+01] [ 2.86258754e-02 -4.30517458e-04 9.99590103e-01 2.70651770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.948040942 meters 0.02049425747844487 Centerline is valid? [True, True] Translation: X:87.58, Y:10.72, Z:2.71 [[ 9.58968801e-01 -2.82211938e-01 -2.71156926e-02 8.75816006e+01] [ 2.82109094e-01 9.59352025e-01 -7.62562018e-03 1.07179824e+01] [ 2.81655357e-02 -3.36851650e-04 9.99603216e-01 2.70831705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.008040942 meters 0.020047880933548503 Centerline is valid? [True, True] Translation: X:87.64, Y:10.74, Z:2.71 [[ 9.59393910e-01 -2.80697857e-01 -2.77855761e-02 8.76369358e+01] [ 2.80589031e-01 9.59796138e-01 -7.82105035e-03 1.07352753e+01] [ 2.88638407e-02 -2.92859794e-04 9.99583310e-01 2.70875158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.068040942 meters 0.019768835671467366 Centerline is valid? [True, True] Translation: X:87.69, Y:10.75, Z:2.71 [[ 9.59610602e-01 -2.79909471e-01 -2.82520699e-02 8.76938317e+01] [ 2.79796516e-01 9.60026361e-01 -7.95580042e-03 1.07515029e+01] [ 2.93496357e-02 -2.70360299e-04 9.99569170e-01 2.70915806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.128040942 meters 0.0192477498478014 Centerline is valid? [True, True] Translation: X:87.75, Y:10.77, Z:2.71 [[ 9.58927841e-01 -2.82220209e-01 -2.84455569e-02 8.77503907e+01] [ 2.82106521e-01 9.59349592e-01 -8.01688917e-03 1.07674673e+01] [ 2.95517616e-02 -3.37058888e-04 9.99563194e-01 2.71025026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.188040942 meters 0.01989781612982049 Centerline is valid? [True, True] Translation: X:87.81, Y:10.78, Z:2.71 [[ 9.57537781e-01 -2.86873867e-01 -2.87190199e-02 8.78071807e+01] [ 2.86759830e-01 9.57968244e-01 -8.10206581e-03 1.07782760e+01] [ 2.98361800e-02 -4.77427146e-04 9.99554688e-01 2.71198857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.248040942 meters 0.02021458674084259 Centerline is valid? [True, True] Translation: X:87.86, Y:10.79, Z:2.71 [[ 9.56712604e-01 -2.89599136e-01 -2.88675258e-02 8.78649615e+01] [ 2.89485077e-01 9.57147859e-01 -8.14657945e-03 1.07916725e+01] [ 2.99897328e-02 -5.62782671e-04 9.99550048e-01 2.71368368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.308040942 meters 0.020363450436854235 Centerline is valid? [True, True] Translation: X:87.92, Y:10.81, Z:2.72 [[ 9.56419129e-01 -2.90610721e-01 -2.84228681e-02 8.79218148e+01] [ 2.90500373e-01 9.56841196e-01 -8.02859752e-03 1.08061094e+01] [ 2.95293677e-02 -5.78149552e-04 9.99563746e-01 2.71538581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36804094200001 meters 0.019842028127643078 Centerline is valid? [True, True] Translation: X:87.98, Y:10.82, Z:2.72 [[ 9.56915838e-01 -2.89065521e-01 -2.74445654e-02 8.79787001e+01] [ 2.88961806e-01 9.57309181e-01 -7.75923117e-03 1.08219690e+01] [ 2.85158607e-02 -5.05500006e-04 9.99593212e-01 2.71769273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.428040942 meters 0.01925517090076245 Centerline is valid? [True, True] Translation: X:88.03, Y:10.84, Z:2.72 [[ 9.57653167e-01 -2.86497254e-01 -2.86310236e-02 8.80345536e+01] [ 2.86382992e-01 9.58080962e-01 -8.10259138e-03 1.08393482e+01] [ 2.97522088e-02 -4.39965899e-04 9.99557208e-01 2.71797986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.488040942 meters 0.0187817522466052 Centerline is valid? [True, True] Translation: X:88.09, Y:10.86, Z:2.72 [[ 9.58256232e-01 -2.84422208e-01 -2.91376442e-02 8.80911921e+01] [ 2.84302671e-01 9.58699049e-01 -8.25371262e-03 1.08556025e+01] [ 3.02817710e-02 -3.74738532e-04 9.99541332e-01 2.71912369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.548040942 meters 0.018162299375430218 Centerline is valid? [True, True] Translation: X:88.15, Y:10.87, Z:2.72 [[ 9.58769440e-01 -2.82641379e-01 -2.95806109e-02 8.81472712e+01] [ 2.82517094e-01 9.59225600e-01 -8.38691606e-03 1.08727742e+01] [ 3.07449687e-02 -3.15909408e-04 9.99527212e-01 2.72119029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.608040942 meters 0.018124532555860762 Centerline is valid? [True, True] Translation: X:88.20, Y:10.89, Z:2.72 [[ 9.59086625e-01 -2.81614806e-01 -2.90851524e-02 8.82032163e+01] [ 2.81493941e-01 9.59527502e-01 -8.25432749e-03 1.08879318e+01] [ 3.02325445e-02 -2.70679061e-04 9.99542856e-01 2.72336888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.668040942 meters 0.017853304270458344 Centerline is valid? [True, True] Translation: X:88.26, Y:10.90, Z:2.73 [[ 9.60031924e-01 -2.78431579e-01 -2.85405293e-02 8.82592744e+01] [ 2.78313717e-01 9.60456053e-01 -8.10222766e-03 1.09044487e+01] [ 2.96678402e-02 -1.64823601e-04 9.99559799e-01 2.72562936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.728040942 meters 0.01772551628026223 Centerline is valid? [True, True] Translation: X:88.32, Y:10.92, Z:2.73 [[ 9.60836065e-01 -2.75668840e-01 -2.82974665e-02 8.83150644e+01] [ 2.75551552e-01 9.61252665e-01 -8.04093116e-03 1.09193445e+01] [ 2.94176492e-02 -7.13941584e-05 9.99567205e-01 2.72768979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.788040942 meters 0.017747380463552336 Centerline is valid? [True, True] Translation: X:88.37, Y:10.93, Z:2.73 [[ 9.61271718e-01 -2.74230536e-01 -2.74644867e-02 8.83710851e+01] [ 2.74119409e-01 9.61663981e-01 -7.80621602e-03 1.09326955e+01] [ 2.85523105e-02 -2.46541995e-05 9.99592299e-01 2.73092096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.848040942 meters 0.01781729494475814 Centerline is valid? [True, True] Translation: X:88.43, Y:10.95, Z:2.73 [[ 9.61468110e-01 -2.73548892e-01 -2.73875511e-02 8.84262134e+01] [ 2.73437855e-01 9.61858100e-01 -7.79329457e-03 1.09472839e+01] [ 2.84747849e-02 4.21097759e-06 9.99594511e-01 2.73312178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.908040942 meters 0.017670556010806925 Centerline is valid? [True, True] Translation: X:88.48, Y:10.96, Z:2.73 [[ 9.61589797e-01 -2.73175473e-01 -2.68369846e-02 8.84832065e+01] [ 2.73068627e-01 9.61964220e-01 -7.63964820e-03 1.09599049e+01] [ 2.79031835e-02 1.78692114e-05 9.99610630e-01 2.73469470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.968040942 meters 0.01765131248261425 Centerline is valid? [True, True] Translation: X:88.54, Y:10.97, Z:2.74 [[ 9.61554393e-01 -2.73310761e-01 -2.67278335e-02 8.85392047e+01] [ 2.73204594e-01 9.61925791e-01 -7.61725657e-03 1.09724144e+01] [ 2.77920706e-02 2.22396283e-05 9.99613726e-01 2.73712838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.028040942 meters 0.017543148222843752 Centerline is valid? [True, True] Translation: X:88.60, Y:10.99, Z:2.74 [[ 9.60917865e-01 -2.75520158e-01 -2.69350782e-02 8.85963859e+01] [ 2.75413119e-01 9.61295293e-01 -7.67937705e-03 1.09851772e+01] [ 2.80083870e-02 -3.90232798e-05 9.99607687e-01 2.73732577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.088040942 meters 0.017640229432551186 Centerline is valid? [True, True] Translation: X:88.65, Y:11.00, Z:2.74 [[ 9.60070450e-01 -2.78409362e-01 -2.74400846e-02 8.86532723e+01] [ 2.78299199e-01 9.60462500e-01 -7.83216412e-03 1.09985774e+01] [ 2.85357201e-02 -1.17124224e-04 9.99592767e-01 2.73845285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.148040942 meters 0.01797407106474678 Centerline is valid? [True, True] Translation: X:88.71, Y:11.01, Z:2.74 [[ 9.58350982e-01 -2.84174727e-01 -2.84274415e-02 8.87102375e+01] [ 2.84058740e-01 9.58772466e-01 -8.12351397e-03 1.10080477e+01] [ 2.95639456e-02 -2.89885631e-04 9.99562849e-01 2.73974244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.208040942 meters 0.018567628844850102 Centerline is valid? [True, True] Translation: X:88.77, Y:11.02, Z:2.74 [[ 9.56691860e-01 -2.89757438e-01 -2.79519528e-02 8.87679983e+01] [ 2.89647593e-01 9.57100007e-01 -7.99053290e-03 1.10201329e+01] [ 2.90681306e-02 -4.51738090e-04 9.99577331e-01 2.74143939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.268040942 meters 0.01881929255502823 Centerline is valid? [True, True] Translation: X:88.82, Y:11.03, Z:2.74 [[ 9.55840795e-01 -2.92570582e-01 -2.77637995e-02 8.88248880e+01] [ 2.92463182e-01 9.56243786e-01 -7.94417847e-03 1.10342265e+01] [ 2.88731936e-02 -5.26519270e-04 9.99582944e-01 2.74324100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.328040942 meters 0.018862900334968003 Centerline is valid? [True, True] Translation: X:88.88, Y:11.05, Z:2.75 [[ 9.55713504e-01 -2.93017683e-01 -2.74287396e-02 8.88810417e+01] [ 2.92912835e-01 9.56106877e-01 -7.85564391e-03 1.10491502e+01] [ 2.85266491e-02 -5.26484897e-04 9.99592894e-01 2.74565701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.388040942 meters 0.01870080494839095 Centerline is valid? [True, True] Translation: X:88.94, Y:11.07, Z:2.75 [[ 9.56080233e-01 -2.91897567e-01 -2.65781559e-02 8.89375209e+01] [ 2.91798462e-01 9.56449470e-01 -7.62024155e-03 1.10652705e+01] [ 2.76449931e-02 -4.69902709e-04 9.99617694e-01 2.74787491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.448040942 meters 0.018182437800698843 Centerline is valid? [True, True] Translation: X:88.99, Y:11.08, Z:2.75 [[ 9.57072713e-01 -2.88698244e-01 -2.57904277e-02 8.89934058e+01] [ 2.88603584e-01 9.57420072e-01 -7.40116715e-03 1.10834211e+01] [ 2.68289771e-02 -3.59754746e-04 9.99639973e-01 2.74966010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.508040942 meters 0.01787388134359312 Centerline is valid? [True, True] Translation: X:89.05, Y:11.10, Z:2.75 [[ 9.58181884e-01 -2.85030667e-01 -2.53967724e-02 8.90501937e+01] [ 2.84937406e-01 9.58518366e-01 -7.29498443e-03 1.10998996e+01] [ 2.64225671e-02 -2.46568526e-04 9.99650833e-01 2.75224467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.568040942 meters 0.017735610500202465 Centerline is valid? [True, True] Translation: X:89.11, Y:11.12, Z:2.75 [[ 9.58998449e-01 -2.82254188e-01 -2.55841357e-02 8.91061041e+01] [ 2.82158373e-01 9.59339641e-01 -7.35573097e-03 1.11168123e+01] [ 2.66200614e-02 -1.64643497e-04 9.99645610e-01 2.75451244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.628040942 meters 0.017543590917301757 Centerline is valid? [True, True] Translation: X:89.16, Y:11.13, Z:2.75 [[ 9.60094558e-01 -2.78379558e-01 -2.68935222e-02 8.91621914e+01] [ 2.78271949e-01 9.60471144e-01 -7.73973934e-03 1.11340766e+01] [ 2.79850372e-02 -5.28311973e-05 9.99608341e-01 2.75448471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.688040942 meters 0.017731293886022594 Centerline is valid? [True, True] Translation: X:89.22, Y:11.15, Z:2.76 [[ 9.60387486e-01 -2.77381193e-01 -2.67497857e-02 8.92179065e+01] [ 2.77274134e-01 9.60759946e-01 -7.70591575e-03 1.11474751e+01] [ 2.78375988e-02 -1.63586281e-05 9.99612459e-01 2.75636716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.748040942 meters 0.01755217928277376 Centerline is valid? [True, True] Translation: X:89.28, Y:11.16, Z:2.76 [[ 9.59745759e-01 -2.79447744e-01 -2.82318423e-02 8.92750017e+01] [ 2.79329201e-01 9.60160899e-01 -8.13907165e-03 1.11588638e+01] [ 2.93815563e-02 -7.45384560e-05 9.99568266e-01 2.75754020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.808040942 meters 0.01754034765217013 Centerline is valid? [True, True] Translation: X:89.33, Y:11.17, Z:2.76 [[ 9.59032159e-01 -2.81733688e-01 -2.97228274e-02 8.93318905e+01] [ 2.81603087e-01 9.59492631e-01 -8.57864761e-03 1.11694168e+01] [ 3.09357279e-02 -1.42841010e-04 9.99521366e-01 2.75885537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86804094200001 meters 0.01759833514167731 Centerline is valid? [True, True] Translation: X:89.39, Y:11.18, Z:2.76 [[ 9.58650146e-01 -2.82935982e-01 -3.06125297e-02 8.93882877e+01] [ 2.82797953e-01 9.59138779e-01 -8.83862413e-03 1.11825253e+01] [ 3.18624291e-02 -1.84012412e-04 9.99492247e-01 2.76050994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.928040942 meters 0.017806189909578652 Centerline is valid? [True, True] Translation: X:89.45, Y:11.19, Z:2.76 [[ 9.57966942e-01 -2.85022242e-01 -3.25831159e-02 8.94467470e+01] [ 2.84866718e-01 9.58520868e-01 -9.41800460e-03 1.11935806e+01] [ 3.39159373e-02 -2.59708236e-04 9.99424655e-01 2.76144506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.988040942 meters 0.018116514586065932 Centerline is valid? [True, True] Translation: X:89.51, Y:11.20, Z:2.76 [[ 9.56847983e-01 -2.88701956e-01 -3.30623259e-02 8.95056545e+01] [ 2.88543706e-01 9.57418942e-01 -9.56550569e-03 1.12031815e+01] [ 3.44160773e-02 -3.87191224e-04 9.99407516e-01 2.76325138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.048040942 meters 0.018566993722475392 Centerline is valid? [True, True] Translation: X:89.56, Y:11.21, Z:2.76 [[ 9.55922520e-01 -2.91630644e-01 -3.41131072e-02 8.95639936e+01] [ 2.91463700e-01 9.56530877e-01 -9.87893554e-03 1.12128859e+01] [ 3.55112407e-02 -4.99235498e-04 9.99369152e-01 2.76495632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.108040942 meters 0.018848717459407055 Centerline is valid? [True, True] Translation: X:89.62, Y:11.23, Z:2.77 [[ 9.55854768e-01 -2.91818487e-01 -3.44039724e-02 8.96201407e+01] [ 2.91648495e-01 9.56473585e-01 -9.97180630e-03 1.12250171e+01] [ 3.58164482e-02 -5.02268161e-04 9.99358259e-01 2.76596474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.168040942 meters 0.01857006323991972 Centerline is valid? [True, True] Translation: X:89.68, Y:11.25, Z:2.77 [[ 9.56419288e-01 -2.89947595e-01 -3.45331264e-02 8.96757464e+01] [ 2.89774918e-01 9.57042428e-01 -1.00144388e-02 1.12453463e+01] [ 3.59533296e-02 -4.28831474e-04 9.99353378e-01 2.76669495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.228040942 meters 0.018916272801702015 Centerline is valid? [True, True] Translation: X:89.73, Y:11.26, Z:2.77 [[ 9.55864860e-01 -2.91680686e-01 -3.52809815e-02 8.97328984e+01] [ 2.91501277e-01 9.56515620e-01 -1.02407807e-02 1.12604882e+01] [ 3.67338479e-02 -4.95648787e-04 9.99324962e-01 2.76826673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.288040942 meters 0.01969787931883064 Centerline is valid? [True, True] Translation: X:89.79, Y:11.27, Z:2.77 [[ 9.55361714e-01 -2.93287029e-01 -3.55909348e-02 8.97887903e+01] [ 2.93105253e-01 9.56024274e-01 -1.03392051e-02 1.12737257e+01] [ 3.70581523e-02 -5.54209242e-04 9.99312957e-01 2.77041151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.348040942 meters 0.01988157264161817 Centerline is valid? [True, True] Translation: X:89.84, Y:11.30, Z:2.77 [[ 9.55069008e-01 -2.94200196e-01 -3.59086974e-02 8.98438041e+01] [ 2.94015619e-01 9.55743635e-01 -1.04364312e-02 1.12956496e+01] [ 3.73899091e-02 -5.90205952e-04 9.99300579e-01 2.77058517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.408040942 meters 0.020245861019299528 Centerline is valid? [True, True] Translation: X:89.90, Y:11.32, Z:2.77 [[ 9.54979377e-01 -2.94473093e-01 -3.60553299e-02 8.98986844e+01] [ 2.94286835e-01 9.55659586e-01 -1.04887772e-02 1.13155831e+01] [ 3.75452843e-02 -5.94043014e-04 9.99294751e-01 2.77046761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.468040942 meters 0.020343045942009214 Centerline is valid? [True, True] Translation: X:89.96, Y:11.33, Z:2.77 [[ 9.55139411e-01 -2.93995551e-01 -3.57116332e-02 8.99553246e+01] [ 2.93812106e-01 9.55806624e-01 -1.03992158e-02 1.13326197e+01] [ 3.71907387e-02 -5.59809339e-04 9.99308028e-01 2.77348780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.528040942 meters 0.02023576884511517 Centerline is valid? [True, True] Translation: X:90.01, Y:11.35, Z:2.78 [[ 9.55506762e-01 -2.92863593e-01 -3.51815940e-02 9.00111503e+01] [ 2.92684457e-01 9.56154102e-01 -1.02538869e-02 1.13507193e+01] [ 3.66420156e-02 -4.99447459e-04 9.99328331e-01 2.77568876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.588040942 meters 0.020236307254864132 Centerline is valid? [True, True] Translation: X:90.07, Y:11.37, Z:2.78 [[ 9.55742487e-01 -2.92040965e-01 -3.56142205e-02 9.00673233e+01] [ 2.91856482e-01 9.56405698e-01 -1.03891979e-02 1.13690177e+01] [ 3.70957148e-02 -4.64843226e-04 9.99311609e-01 2.77679511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.648040942 meters 0.020386531322778238 Centerline is valid? [True, True] Translation: X:90.12, Y:11.38, Z:2.78 [[ 9.56045609e-01 -2.91043921e-01 -3.56402723e-02 9.01230053e+01] [ 2.90858174e-01 9.56709601e-01 -1.04048973e-02 1.13840123e+01] [ 3.71256728e-02 -4.18708148e-04 9.99310517e-01 2.77878064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.708040942 meters 0.020648855636693487 Centerline is valid? [True, True] Translation: X:90.18, Y:11.40, Z:2.78 [[ 9.56059063e-01 -2.90992166e-01 -3.57019222e-02 9.01786529e+01] [ 2.90805597e-01 9.56725346e-01 -1.04267162e-02 1.13985433e+01] [ 3.71910266e-02 -4.13762233e-04 9.99308089e-01 2.78080690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.768040942 meters 0.020755439028955866 Centerline is valid? [True, True] Translation: X:90.23, Y:11.41, Z:2.78 [[ 9.55856402e-01 -2.91637662e-01 -3.58610141e-02 9.02349148e+01] [ 2.91449599e-01 9.56528769e-01 -1.04807239e-02 1.14141053e+01] [ 3.73586655e-02 -4.33611164e-04 9.99301827e-01 2.78293210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.828040942 meters 0.020943855622055692 Centerline is valid? [True, True] Translation: X:90.29, Y:11.43, Z:2.79 [[ 9.55706219e-01 -2.92327546e-01 -3.42086153e-02 9.02891679e+01] [ 2.92156547e-01 9.56318158e-01 -1.00066082e-02 1.14306176e+01] [ 3.56395272e-02 -4.30893215e-04 9.99364617e-01 2.78551151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.888040942 meters 0.02069037854057878 Centerline is valid? [True, True] Translation: X:90.34, Y:11.45, Z:2.79 [[ 9.55601498e-01 -2.92783192e-01 -3.32231818e-02 9.03436671e+01] [ 2.92622017e-01 9.56178758e-01 -9.72305870e-03 1.14513141e+01] [ 3.46140488e-02 -4.30465007e-04 9.99400662e-01 2.78829550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.948040942 meters 0.02104685694811362 Centerline is valid? [True, True] Translation: X:90.40, Y:11.47, Z:2.79 [[ 9.55262237e-01 -2.93791571e-01 -3.40671571e-02 9.03988022e+01] [ 2.93622392e-01 9.55869391e-01 -9.97990901e-03 1.14693158e+01] [ 3.54957658e-02 -4.69449940e-04 9.99369716e-01 2.78853363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.008040942 meters 0.022117915452732204 Centerline is valid? [True, True] Translation: X:90.46, Y:11.49, Z:2.79 [[ 9.54049767e-01 -2.97800174e-01 -3.32279693e-02 9.04552391e+01] [ 2.97641529e-01 9.54628041e-01 -9.73775094e-03 1.14859764e+01] [ 3.46202552e-02 -5.99724560e-04 9.99400359e-01 2.78889728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.068040942 meters 0.022977338880013253 Centerline is valid? [True, True] Translation: X:90.51, Y:11.50, Z:2.79 [[ 9.52107228e-01 -3.03978096e-01 -3.30021805e-02 9.05127168e+01] [ 3.03825030e-01 9.52678676e-01 -9.67944489e-03 1.15015106e+01] [ 3.43828129e-02 -8.11019060e-04 9.99408407e-01 2.79005244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.128040942 meters 0.02530810635614458 Centerline is valid? [True, True] Translation: X:90.57, Y:11.51, Z:2.79 [[ 9.50309213e-01 -3.09642526e-01 -3.21544091e-02 9.05703362e+01] [ 3.09500415e-01 9.50852528e-01 -9.43205867e-03 1.15130336e+01] [ 3.34946676e-02 -9.88430725e-04 9.99438407e-01 2.79206324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.188040942 meters 0.025035734446192334 Centerline is valid? [True, True] Translation: X:90.63, Y:11.53, Z:2.79 [[ 9.49688633e-01 -3.11628635e-01 -3.12904887e-02 9.06266976e+01] [ 3.11495068e-01 9.50203419e-01 -9.18071451e-03 1.15309337e+01] [ 3.25933029e-02 -1.02801269e-03 9.99468168e-01 2.79448451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.248040942 meters 0.025426103385710327 Centerline is valid? [True, True] Translation: X:90.68, Y:11.55, Z:2.80 [[ 9.49452282e-01 -3.12492830e-01 -2.98093343e-02 9.06832669e+01] [ 3.12371802e-01 9.49919592e-01 -8.75367432e-03 1.15466920e+01] [ 3.10519311e-02 -1.00039942e-03 9.99517272e-01 2.79736434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.308040942 meters 0.02472342882579754 Centerline is valid? [True, True] Translation: X:90.74, Y:11.56, Z:2.80 [[ 9.49897644e-01 -3.11167444e-01 -2.94836908e-02 9.07395985e+01] [ 3.11048174e-01 9.50354639e-01 -8.66569172e-03 1.15644879e+01] [ 3.07164435e-02 -9.39328055e-04 9.99527697e-01 2.79968621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36804094200001 meters 0.024893452893687305 Centerline is valid? [True, True] Translation: X:90.79, Y:11.58, Z:2.80 [[ 9.50114649e-01 -3.10566905e-01 -2.88158203e-02 9.07945949e+01] [ 3.10452475e-01 9.50551104e-01 -8.47696961e-03 1.15808110e+01] [ 3.00235760e-02 -8.91849698e-04 9.99548793e-01 2.80211700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.428040942 meters 0.02496524491814591 Centerline is valid? [True, True] Translation: X:90.85, Y:11.60, Z:2.81 [[ 9.50035452e-01 -3.10959009e-01 -2.71502349e-02 9.08495987e+01] [ 3.10857534e-01 9.50422944e-01 -7.98883734e-03 1.15980683e+01] [ 2.82884072e-02 -8.50176402e-04 9.99599441e-01 2.80531934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.488040942 meters 0.023797778220835016 Centerline is valid? [True, True] Translation: X:90.91, Y:11.62, Z:2.81 [[ 9.49684012e-01 -3.12089207e-01 -2.64689261e-02 9.09056079e+01] [ 3.11992988e-01 9.50052418e-01 -7.79605688e-03 1.16169249e+01] [ 2.75799325e-02 -8.54328763e-04 9.99619236e-01 2.80789322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.548040942 meters 0.024540801911085822 Centerline is valid? [True, True] Translation: X:90.96, Y:11.63, Z:2.81 [[ 9.49563250e-01 -3.12444126e-01 -2.66139521e-02 9.09611160e+01] [ 3.12346774e-01 9.49935748e-01 -7.84652854e-03 1.16332954e+01] [ 2.77331462e-02 -8.62006933e-04 9.99614991e-01 2.80951218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.608040942 meters 0.023773745522677192 Centerline is valid? [True, True] Translation: X:91.02, Y:11.65, Z:2.81 [[ 9.49723223e-01 -3.11865826e-01 -2.76677883e-02 9.10168545e+01] [ 3.11760297e-01 9.50125749e-01 -8.15960585e-03 1.16533912e+01] [ 2.88325803e-02 -8.76350738e-04 9.99583871e-01 2.81002829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.668040942 meters 0.023330875464095464 Centerline is valid? [True, True] Translation: X:91.07, Y:11.67, Z:2.81 [[ 9.50104854e-01 -3.10675490e-01 -2.79554472e-02 9.10726317e+01] [ 3.10567018e-01 9.50515666e-01 -8.25202337e-03 1.16719719e+01] [ 2.91357919e-02 -8.41752428e-04 9.99575108e-01 2.81083105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.728040942 meters 0.023295815613922695 Centerline is valid? [True, True] Translation: X:91.13, Y:11.69, Z:2.81 [[ 9.50266494e-01 -3.10243032e-01 -2.72552927e-02 9.11293175e+01] [ 3.10139546e-01 9.50656941e-01 -8.05251324e-03 1.16894886e+01] [ 2.84086693e-02 -8.00910579e-04 9.99596071e-01 2.81312664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.788040942 meters 0.02358231796337007 Centerline is valid? [True, True] Translation: X:91.18, Y:11.71, Z:2.81 [[ 9.50512407e-01 -3.09565879e-01 -2.63653323e-02 9.11848626e+01] [ 3.09468609e-01 9.50877702e-01 -7.79582818e-03 1.17081686e+01] [ 2.74835290e-02 -7.49211302e-04 9.99621976e-01 2.81363369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.848040942 meters 0.023226555372014176 Centerline is valid? [True, True] Translation: X:91.24, Y:11.73, Z:2.81 [[ 9.51175408e-01 -3.07538407e-01 -2.61815264e-02 9.12407760e+01] [ 3.07441534e-01 9.51535426e-01 -7.74832186e-03 1.17266561e+01] [ 2.72955565e-02 -6.79275434e-04 9.99627176e-01 2.81471068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.908040942 meters 0.021434448476030994 Centerline is valid? [True, True] Translation: X:91.30, Y:11.75, Z:2.82 [[ 9.52634852e-01 -3.03032210e-01 -2.56577181e-02 9.12955900e+01] [ 3.02937344e-01 9.52980166e-01 -7.60059310e-03 1.17490205e+01] [ 2.67545209e-02 -5.32091086e-04 9.99641892e-01 2.81555601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.968040942 meters 0.021246122519786477 Centerline is valid? [True, True] Translation: X:91.35, Y:11.77, Z:2.82 [[ 9.53946057e-01 -2.98929881e-01 -2.50568597e-02 9.13499504e+01] [ 2.98837942e-01 9.54274993e-01 -7.42444779e-03 1.17678873e+01] [ 2.61305239e-02 -4.05417678e-04 9.99658457e-01 2.81726200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.028040942 meters 0.020563283447596656 Centerline is valid? [True, True] Translation: X:91.41, Y:11.79, Z:2.82 [[ 9.54748600e-01 -2.96325290e-01 -2.54250692e-02 9.14057885e+01] [ 2.96229657e-01 9.55087016e-01 -7.53534066e-03 1.17866726e+01] [ 2.65160654e-02 -3.37303567e-04 9.99648330e-01 2.81799540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.088040942 meters 0.021589053748246097 Centerline is valid? [True, True] Translation: X:91.46, Y:11.80, Z:2.82 [[ 9.55109808e-01 -2.95144258e-01 -2.55953398e-02 9.14616765e+01] [ 2.95046731e-01 9.55452655e-01 -7.59275646e-03 1.18048938e+01] [ 2.66960938e-02 -2.99905162e-04 9.99643551e-01 2.81862788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.148040942 meters 0.020450077831496043 Centerline is valid? [True, True] Translation: X:91.52, Y:11.82, Z:2.82 [[ 9.55197892e-01 -2.94936101e-01 -2.46917775e-02 9.15171588e+01] [ 2.94845106e-01 9.55516938e-01 -7.33105715e-03 1.18227058e+01] [ 2.57556050e-02 -2.77639414e-04 9.99668231e-01 2.82041248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.208040942 meters 0.021009904586448528 Centerline is valid? [True, True] Translation: X:91.57, Y:11.84, Z:2.82 [[ 9.53808950e-01 -2.99312879e-01 -2.56960427e-02 9.15734547e+01] [ 2.99215668e-01 9.54154934e-01 -7.63844845e-03 1.18364977e+01] [ 2.68042919e-02 -4.03038072e-04 9.99640619e-01 2.82050983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.268040942 meters 0.022134349719019095 Centerline is valid? [True, True] Translation: X:91.63, Y:11.85, Z:2.82 [[ 9.52004161e-01 -3.04931817e-01 -2.65455054e-02 9.16325826e+01] [ 3.04830173e-01 9.52374010e-01 -7.89376610e-03 1.18481095e+01] [ 2.76883098e-02 -5.76972816e-04 9.99616439e-01 2.82236423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.328040942 meters 0.02310366980646081 Centerline is valid? [True, True] Translation: X:91.69, Y:11.86, Z:2.82 [[ 9.50777112e-01 -3.08722744e-01 -2.67048723e-02 9.16896489e+01] [ 3.08621358e-01 9.51151823e-01 -7.94151419e-03 1.18625337e+01] [ 2.78521140e-02 -6.91084018e-04 9.99611816e-01 2.82383376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.388040942 meters 0.02333897862604078 Centerline is valid? [True, True] Translation: X:91.75, Y:11.88, Z:2.83 [[ 9.50590956e-01 -3.09342417e-01 -2.61553632e-02 9.17462777e+01] [ 3.09245213e-01 9.50950470e-01 -7.78477146e-03 1.18800113e+01] [ 2.72806149e-02 -6.88287515e-04 9.99627578e-01 2.82509519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.448040942 meters 0.02295696715636808 Centerline is valid? [True, True] Translation: X:91.80, Y:11.90, Z:2.83 [[ 9.50645501e-01 -3.09166810e-01 -2.62490922e-02 9.18027133e+01] [ 3.09068654e-01 9.51007583e-01 -7.81951703e-03 1.18977510e+01] [ 2.73806209e-02 -6.79182898e-04 9.99624850e-01 2.82686923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.508040942 meters 0.021838632889359253 Centerline is valid? [True, True] Translation: X:91.86, Y:11.92, Z:2.83 [[ 9.51359150e-01 -3.07030443e-01 -2.54573111e-02 9.18577769e+01] [ 3.06937185e-01 9.51699509e-01 -7.59005662e-03 1.19179680e+01] [ 2.65580889e-02 -5.92925577e-04 9.99647096e-01 2.82868300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.568040942 meters 0.021686834027228163 Centerline is valid? [True, True] Translation: X:91.91, Y:11.94, Z:2.83 [[ 9.51758703e-01 -3.05840826e-01 -2.48346748e-02 9.19138353e+01] [ 3.05751500e-01 9.52082506e-01 -7.41094135e-03 1.19362053e+01] [ 2.59112278e-02 -5.39811153e-04 9.99664102e-01 2.83079346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.628040942 meters 0.02126765034951066 Centerline is valid? [True, True] Translation: X:91.97, Y:11.96, Z:2.83 [[ 9.52316528e-01 -3.04170303e-01 -2.39511415e-02 9.19697116e+01] [ 3.04086541e-01 9.52617554e-01 -7.15337375e-03 1.19560907e+01] [ 2.49921217e-02 -4.70943702e-04 9.99687537e-01 2.83261563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.688040942 meters 0.02064501701966899 Centerline is valid? [True, True] Translation: X:92.03, Y:11.98, Z:2.83 [[ 9.53573966e-01 -3.00302144e-01 -2.27005426e-02 9.20250354e+01] [ 3.00225669e-01 9.53844067e-01 -6.78556847e-03 1.19776761e+01] [ 2.36904986e-02 -3.44744144e-04 9.99719281e-01 2.83483521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.748040942 meters 0.020047951807070422 Centerline is valid? [True, True] Translation: X:92.08, Y:12.00, Z:2.84 [[ 9.54333580e-01 -2.97929674e-01 -2.20301533e-02 9.20800485e+01] [ 2.97856890e-01 9.54587783e-01 -6.59074030e-03 1.19991899e+01] [ 2.29932923e-02 -2.72068165e-04 9.99735582e-01 2.83644314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.808040942 meters 0.01944999556011915 Centerline is valid? [True, True] Translation: X:92.13, Y:12.02, Z:2.84 [[ 9.55355549e-01 -2.94651206e-01 -2.18275446e-02 9.21349578e+01] [ 2.94578764e-01 9.55604851e-01 -6.53604481e-03 1.20211907e+01] [ 2.27843610e-02 -1.85684428e-04 9.99740386e-01 2.83861568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86804094200001 meters 0.019245584726483116 Centerline is valid? [True, True] Translation: X:92.19, Y:12.04, Z:2.84 [[ 9.55729910e-01 -2.93466372e-01 -2.13969003e-02 9.21897191e+01] [ 2.93396344e-01 9.55969386e-01 -6.41242969e-03 1.20421899e+01] [ 2.23366141e-02 -1.49221456e-04 9.99750496e-01 2.84011815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.928040942 meters 0.0192986490046156 Centerline is valid? [True, True] Translation: X:92.24, Y:12.06, Z:2.84 [[ 9.55657044e-01 -2.93741730e-01 -2.08665002e-02 9.22438840e+01] [ 2.93675013e-01 9.55884813e-01 -6.26190185e-03 1.20617424e+01] [ 2.17853525e-02 -1.43739084e-04 9.99762661e-01 2.84229398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.988040942 meters 0.019508237614890116 Centerline is valid? [True, True] Translation: X:92.30, Y:12.08, Z:2.84 [[ 9.54718869e-01 -2.96717732e-01 -2.16902969e-02 9.23000636e+01] [ 2.96646390e-01 9.54965203e-01 -6.50998015e-03 1.20800514e+01] [ 2.26451054e-02 -2.19147404e-04 9.99743543e-01 2.84282104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.048040942 meters 0.02000464951532119 Centerline is valid? [True, True] Translation: X:92.36, Y:12.10, Z:2.84 [[ 9.53492841e-01 -3.00572608e-01 -2.25279799e-02 9.23552647e+01] [ 3.00496541e-01 9.53758883e-01 -6.76914628e-03 1.20963596e+01] [ 2.35208809e-02 -3.15247498e-04 9.99723296e-01 2.84347057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.108040942 meters 0.02170771498702055 Centerline is valid? [True, True] Translation: X:92.41, Y:12.11, Z:2.84 [[ 9.50894677e-01 -3.08724264e-01 -2.21052368e-02 9.24131438e+01] [ 3.08653162e-01 9.51151447e-01 -6.64462983e-03 1.21114393e+01] [ 2.30767864e-02 -5.04508090e-04 9.99733568e-01 2.84456897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.168040942 meters 0.023404125329384844 Centerline is valid? [True, True] Translation: X:92.47, Y:12.13, Z:2.84 [[ 9.48601541e-01 -3.15619997e-01 -2.32192554e-02 9.24706995e+01] [ 3.15543582e-01 9.48885409e-01 -6.98052382e-03 1.21286599e+01] [ 2.42356056e-02 -7.04951372e-04 9.99706026e-01 2.84481106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.228040942 meters 0.025161260141948832 Centerline is valid? [True, True] Translation: X:92.53, Y:12.15, Z:2.85 [[ 9.47792870e-01 -3.18002475e-01 -2.37297631e-02 9.25258727e+01] [ 3.17923404e-01 9.48089560e-01 -7.13415329e-03 1.21457393e+01] [ 2.47666190e-02 -7.82547418e-04 9.99692954e-01 2.84534487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.288040942 meters 0.024126056562797725 Centerline is valid? [True, True] Translation: X:92.58, Y:12.17, Z:2.84 [[ 9.48081042e-01 -3.17170998e-01 -2.33430183e-02 9.25800748e+01] [ 3.17094205e-01 9.48368072e-01 -7.01893853e-03 1.21709180e+01] [ 2.43639769e-02 -7.47413277e-04 9.99702875e-01 2.84492724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.348040942 meters 0.023284952867439566 Centerline is valid? [True, True] Translation: X:92.63, Y:12.20, Z:2.84 [[ 9.48593217e-01 -3.15590780e-01 -2.39451187e-02 9.26337736e+01] [ 3.15509308e-01 9.48895117e-01 -7.20648113e-03 1.21965191e+01] [ 2.49957052e-02 -7.18888735e-04 9.99687300e-01 2.84468356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.408040942 meters 0.023561512678505057 Centerline is valid? [True, True] Translation: X:92.69, Y:12.22, Z:2.85 [[ 9.48968741e-01 -3.14426647e-01 -2.43764826e-02 9.26882553e+01] [ 3.14341658e-01 9.49281519e-01 -7.34304591e-03 1.22181255e+01] [ 2.54489938e-02 -6.94222929e-04 9.99675881e-01 2.84627216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.468040942 meters 0.022692444047208046 Centerline is valid? [True, True] Translation: X:92.74, Y:12.24, Z:2.85 [[ 9.49234561e-01 -3.13647609e-01 -2.40608732e-02 9.27434000e+01] [ 3.13564400e-01 9.49539227e-01 -7.25422884e-03 1.22404633e+01] [ 2.51220145e-02 -6.58668539e-04 9.99684175e-01 2.84800885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.528040942 meters 0.0227509589517819 Centerline is valid? [True, True] Translation: X:92.80, Y:12.26, Z:2.85 [[ 9.49817683e-01 -3.11863160e-01 -2.42433243e-02 9.27972411e+01] [ 3.11777908e-01 9.50126833e-01 -7.31689866e-03 1.22627993e+01] [ 2.53161040e-02 -6.08813190e-04 9.99679311e-01 2.84957360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.588040942 meters 0.022946796328933965 Centerline is valid? [True, True] Translation: X:92.85, Y:12.28, Z:2.85 [[ 9.49990674e-01 -3.11276192e-01 -2.49970364e-02 9.28524263e+01] [ 3.11185309e-01 9.50319294e-01 -7.54609042e-03 1.22849050e+01] [ 2.61040842e-02 -6.09994966e-04 9.99659044e-01 2.85001280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.648040942 meters 0.023270967135456747 Centerline is valid? [True, True] Translation: X:92.91, Y:12.30, Z:2.85 [[ 9.50027924e-01 -3.11175084e-01 -2.48397210e-02 9.29062774e+01] [ 3.11085129e-01 9.50352414e-01 -7.50543692e-03 1.23040218e+01] [ 2.59419938e-02 -5.96893159e-04 9.99663272e-01 2.85193734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.708040942 meters 0.022185611762189382 Centerline is valid? [True, True] Translation: X:92.96, Y:12.33, Z:2.85 [[ 9.50129329e-01 -3.10809275e-01 -2.55314185e-02 9.29605264e+01] [ 3.10713971e-01 9.50472113e-01 -7.71953667e-03 1.23271971e+01] [ 2.66662049e-02 -5.98410256e-04 9.99644214e-01 2.85243683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.768040942 meters 0.022150776356852624 Centerline is valid? [True, True] Translation: X:93.02, Y:12.35, Z:2.85 [[ 9.50343714e-01 -3.10166617e-01 -2.53672103e-02 9.30166122e+01] [ 3.10072120e-01 9.50682042e-01 -7.67694071e-03 1.23467817e+01] [ 2.64972820e-02 -5.69932323e-04 9.99648723e-01 2.85369287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.828040942 meters 0.021781375467192023 Centerline is valid? [True, True] Translation: X:93.07, Y:12.37, Z:2.86 [[ 9.51107151e-01 -3.07850149e-01 -2.49694483e-02 9.30716846e+01] [ 3.07757634e-01 9.51434729e-01 -7.56269777e-03 1.23665515e+01] [ 2.60849779e-02 -4.91602404e-04 9.99659608e-01 2.85614335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.888040942 meters 0.021572716335205515 Centerline is valid? [True, True] Translation: X:93.13, Y:12.39, Z:2.86 [[ 9.52211711e-01 -3.04402179e-01 -2.51430115e-02 9.31266304e+01] [ 3.04306966e-01 9.52543521e-01 -7.62304687e-03 1.23856797e+01] [ 2.62702847e-02 -3.92439030e-04 9.99654799e-01 2.85815625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.948040942 meters 0.021287834795220707 Centerline is valid? [True, True] Translation: X:93.18, Y:12.40, Z:2.86 [[ 9.53096916e-01 -3.01635452e-01 -2.49464099e-02 9.31832611e+01] [ 3.01540732e-01 9.53423283e-01 -7.56504641e-03 1.24029082e+01] [ 2.60663742e-02 -3.12136292e-04 9.99660166e-01 2.85983183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.008040942 meters 0.021311284483232336 Centerline is valid? [True, True] Translation: X:93.24, Y:12.42, Z:2.86 [[ 9.52963189e-01 -3.01993799e-01 -2.57080851e-02 9.32393043e+01] [ 3.01893151e-01 9.53309834e-01 -7.80292054e-03 1.24176481e+01] [ 2.68642040e-02 -3.25198789e-04 9.99639039e-01 2.86173045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.068040942 meters 0.021672989365468586 Centerline is valid? [True, True] Translation: X:93.30, Y:12.43, Z:2.86 [[ 9.52516656e-01 -3.03382692e-01 -2.59029229e-02 9.32971145e+01] [ 3.03280803e-01 9.52868728e-01 -7.87031448e-03 1.24302683e+01] [ 2.70698023e-02 -3.59253594e-04 9.99633481e-01 2.86413835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.128040942 meters 0.02245001532399036 Centerline is valid? [True, True] Translation: X:93.36, Y:12.44, Z:2.87 [[ 9.52221836e-01 -3.04301868e-01 -2.59605046e-02 9.33551559e+01] [ 3.04199676e-01 9.52575577e-01 -7.89481620e-03 1.24429876e+01] [ 2.71317500e-02 -3.79560724e-04 9.99631794e-01 2.86595973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.188040942 meters 0.021579339384511866 Centerline is valid? [True, True] Translation: X:93.41, Y:12.46, Z:2.87 [[ 9.52175240e-01 -3.04479445e-01 -2.55847664e-02 9.34110310e+01] [ 3.04380081e-01 9.52518834e-01 -7.78703298e-03 1.24569187e+01] [ 2.67409634e-02 -3.72873276e-04 9.99642327e-01 2.86906472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.248040942 meters 0.02241644305935465 Centerline is valid? [True, True] Translation: X:93.47, Y:12.47, Z:2.87 [[ 9.52070956e-01 -3.04588917e-01 -2.80443664e-02 9.34676577e+01] [ 3.04469289e-01 9.52483821e-01 -8.54531378e-03 1.24702259e+01] [ 2.93146131e-02 -4.02903257e-04 9.99570153e-01 2.86941601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.308040942 meters 0.021662291214221318 Centerline is valid? [True, True] Translation: X:93.52, Y:12.48, Z:2.87 [[ 9.52083731e-01 -3.04484428e-01 -2.87367849e-02 9.35235433e+01] [ 3.04358487e-01 9.52517229e-01 -8.76577762e-03 1.24834444e+01] [ 3.00413255e-02 -4.00530133e-04 9.99548577e-01 2.87268709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36804094200001 meters 0.02144174947969576 Centerline is valid? [True, True] Translation: X:93.58, Y:12.50, Z:2.87 [[ 9.52065500e-01 -3.04459041e-01 -2.95968999e-02 9.35794774e+01] [ 3.04325306e-01 9.52525341e-01 -9.03228943e-03 1.24980157e+01] [ 3.09417593e-02 -4.07754440e-04 9.99521106e-01 2.87406157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.428040942 meters 0.021398638185450035 Centerline is valid? [True, True] Translation: X:93.64, Y:12.51, Z:2.88 [[ 9.52031554e-01 -3.04441356e-01 -3.08444511e-02 9.36361546e+01] [ 3.04295773e-01 9.52530991e-01 -9.42306115e-03 1.25087039e+01] [ 3.22490651e-02 -4.14784541e-04 9.99479778e-01 2.87580409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.488040942 meters 0.021387251424629387 Centerline is valid? [True, True] Translation: X:93.69, Y:12.52, Z:2.88 [[ 9.51820542e-01 -3.05078278e-01 -3.10628336e-02 9.36927248e+01] [ 3.04930743e-01 9.52327179e-01 -9.49659924e-03 1.25215673e+01] [ 3.24791869e-02 -4.32954697e-04 9.99472318e-01 2.87800175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.548040942 meters 0.021638325274189556 Centerline is valid? [True, True] Translation: X:93.75, Y:12.53, Z:2.88 [[ 9.51247896e-01 -3.06826423e-01 -3.13845126e-02 9.37506148e+01] [ 3.06676456e-01 9.51765364e-01 -9.60437922e-03 1.25315788e+01] [ 3.28175693e-02 -4.88745556e-04 9.99461239e-01 2.88080299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.608040942 meters 0.021833132485520813 Centerline is valid? [True, True] Translation: X:93.81, Y:12.54, Z:2.88 [[ 9.50825819e-01 -3.08008437e-01 -3.25739870e-02 9.38088440e+01] [ 3.07847448e-01 9.51383469e-01 -9.97214413e-03 1.25423703e+01] [ 3.40618572e-02 -5.46046660e-04 9.99419577e-01 2.88248169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.668040942 meters 0.022050739684541677 Centerline is valid? [True, True] Translation: X:93.87, Y:12.55, Z:2.88 [[ 9.50693016e-01 -3.08381209e-01 -3.29214032e-02 9.38662217e+01] [ 3.08216679e-01 9.51262698e-01 -1.00875741e-02 1.25531768e+01] [ 3.44277212e-02 -5.56739274e-04 9.99407035e-01 2.88349243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.728040942 meters 0.02239271146843147 Centerline is valid? [True, True] Translation: X:93.92, Y:12.56, Z:2.89 [[ 9.50547279e-01 -3.08831476e-01 -3.29087996e-02 9.39239593e+01] [ 3.08666997e-01 9.51116608e-01 -1.00936896e-02 1.25640455e+01] [ 3.44173549e-02 -5.63331141e-04 9.99407389e-01 2.88557193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.788040942 meters 0.022752311088460212 Centerline is valid? [True, True] Translation: X:93.98, Y:12.58, Z:2.89 [[ 9.50112932e-01 -3.09921097e-01 -3.51330359e-02 9.39808355e+01] [ 3.09733968e-01 9.50762069e-01 -1.07868733e-02 1.25792651e+01] [ 3.67462375e-02 -6.33146759e-04 9.99324428e-01 2.88640890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.848040942 meters 0.02231912448365502 Centerline is valid? [True, True] Translation: X:94.04, Y:12.59, Z:2.89 [[ 9.49893846e-01 -3.10555037e-01 -3.54577232e-02 9.40389395e+01] [ 3.10364510e-01 9.50555175e-01 -1.08963213e-02 1.25896941e+01] [ 3.70884297e-02 -6.54470332e-04 9.99311773e-01 2.88931641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.908040942 meters 0.022685544559677542 Centerline is valid? [True, True] Translation: X:94.10, Y:12.60, Z:2.89 [[ 9.49901136e-01 -3.10450776e-01 -3.61683300e-02 9.40952010e+01] [ 3.10252111e-01 9.50589231e-01 -1.11238900e-02 1.26019558e+01] [ 3.78346453e-02 -6.54705002e-04 9.99283799e-01 2.89033902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.968040942 meters 0.02234058659691738 Centerline is valid? [True, True] Translation: X:94.15, Y:12.62, Z:2.89 [[ 9.49970853e-01 -3.10095044e-01 -3.73690127e-02 9.41509772e+01] [ 3.09882432e-01 9.50705335e-01 -1.14997593e-02 1.26183780e+01] [ 3.90929381e-02 -6.55564368e-04 9.99235364e-01 2.89054932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.028040942 meters 0.022266287983843062 Centerline is valid? [True, True] Translation: X:94.21, Y:12.63, Z:2.89 [[ 9.50559404e-01 -3.08432415e-01 -3.61422903e-02 9.42076874e+01] [ 3.08231971e-01 9.51246095e-01 -1.11318856e-02 1.26320110e+01] [ 3.78136469e-02 -5.58690796e-04 9.99284652e-01 2.89339306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.088040942 meters 0.02201854700412591 Centerline is valid? [True, True] Translation: X:94.26, Y:12.65, Z:2.90 [[ 9.50725110e-01 -3.07926278e-01 -3.60994894e-02 9.42645033e+01] [ 3.07725774e-01 9.51410071e-01 -1.11231988e-02 1.26491126e+01] [ 3.77705429e-02 -5.33638872e-04 9.99286296e-01 2.89689099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.148040942 meters 0.021928601695011 Centerline is valid? [True, True] Translation: X:94.32, Y:12.67, Z:2.90 [[ 9.50773038e-01 -3.07666361e-01 -3.70410782e-02 9.43201599e+01] [ 3.07454675e-01 9.51494158e-01 -1.14232609e-02 1.26657930e+01] [ 3.87589226e-02 -5.27524176e-04 9.99248451e-01 2.89855626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.208040942 meters 0.021652413592213447 Centerline is valid? [True, True] Translation: X:94.38, Y:12.68, Z:2.90 [[ 9.51080588e-01 -3.06683529e-01 -3.72951466e-02 9.43765443e+01] [ 3.06467734e-01 9.51811422e-01 -1.15128511e-02 1.26839365e+01] [ 3.90287483e-02 -4.80109870e-04 9.99237973e-01 2.90116742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.268040942 meters 0.021540225230475652 Centerline is valid? [True, True] Translation: X:94.43, Y:12.70, Z:2.90 [[ 9.51392624e-01 -3.05673592e-01 -3.76261885e-02 9.44329072e+01] [ 3.05452751e-01 9.52136265e-01 -1.16253550e-02 1.27024163e+01] [ 3.93788226e-02 -4.32745761e-04 9.99224260e-01 2.90255589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.328040942 meters 0.021457584123723887 Centerline is valid? [True, True] Translation: X:94.49, Y:12.72, Z:2.90 [[ 9.51244140e-01 -3.06058953e-01 -3.82426984e-02 9.44883973e+01] [ 3.05830690e-01 9.52012457e-01 -1.18266968e-02 1.27201259e+01] [ 4.00271917e-02 -4.45714799e-04 9.99198491e-01 2.90441027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.388040942 meters 0.023075057279777888 Centerline is valid? [True, True] Translation: X:94.54, Y:12.73, Z:2.91 [[ 9.50114622e-01 -3.09496565e-01 -3.86533368e-02 9.45442245e+01] [ 3.09265794e-01 9.50900379e-01 -1.19640001e-02 1.27342631e+01] [ 4.04582895e-02 -5.86983461e-04 9.99181056e-01 2.90667609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.448040942 meters 0.02235082699258661 Centerline is valid? [True, True] Translation: X:94.60, Y:12.75, Z:2.91 [[ 9.48846498e-01 -3.13603372e-01 -3.66503574e-02 9.46010427e+01] [ 3.13398782e-01 9.49553795e-01 -1.13487208e-02 1.27499010e+01] [ 3.83604831e-02 -7.17983396e-04 9.99263708e-01 2.91200864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.508040942 meters 0.022925555626077117 Centerline is valid? [True, True] Translation: X:94.66, Y:12.77, Z:2.91 [[ 9.48412754e-01 -3.15090875e-01 -3.50854559e-02 9.46567001e+01] [ 3.14904060e-01 9.49061220e-01 -1.08735329e-02 1.27699886e+01] [ 3.67243965e-02 -7.35955254e-04 9.99325161e-01 2.91399598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.568040942 meters 0.022635439215686042 Centerline is valid? [True, True] Translation: X:94.71, Y:12.79, Z:2.91 [[ 9.48788154e-01 -3.13992220e-01 -3.47839702e-02 9.47123752e+01] [ 3.13807521e-01 9.49425313e-01 -1.07895548e-02 1.27911024e+01] [ 3.64126180e-02 -6.78469651e-04 9.99336610e-01 2.91444968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.628040942 meters 0.022807248192914294 Centerline is valid? [True, True] Translation: X:94.77, Y:12.81, Z:2.92 [[ 9.48781854e-01 -3.14060976e-01 -3.43321526e-02 9.47674512e+01] [ 3.13880769e-01 9.49402582e-01 -1.06583508e-02 1.28097544e+01] [ 3.59424064e-02 -6.63752593e-04 9.99353643e-01 2.91514061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.688040942 meters 0.023398410927275907 Centerline is valid? [True, True] Translation: X:94.82, Y:12.83, Z:2.92 [[ 9.48433342e-01 -3.15280126e-01 -3.27511618e-02 9.48221554e+01] [ 3.15116551e-01 9.48998417e-01 -1.01766561e-02 1.28279106e+01] [ 3.42892981e-02 -6.68553190e-04 9.99411726e-01 2.91575218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.748040942 meters 0.023775948081636068 Centerline is valid? [True, True] Translation: X:94.88, Y:12.85, Z:2.92 [[ 9.48191059e-01 -3.16142716e-01 -3.14244933e-02 9.48781887e+01] [ 3.15992494e-01 9.48711408e-01 -9.76764618e-03 1.28468754e+01] [ 3.29007455e-02 -6.68309240e-04 9.99458400e-01 2.91539515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.808040942 meters 0.023605296822764042 Centerline is valid? [True, True] Translation: X:94.93, Y:12.86, Z:2.92 [[ 9.47985059e-01 -3.16867451e-01 -3.03207343e-02 9.49342886e+01] [ 3.16727721e-01 9.48469599e-01 -9.43238484e-03 1.28648316e+01] [ 3.17471105e-02 -6.61657203e-04 9.99495714e-01 2.91594502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86804094200001 meters 0.023422628016262232 Centerline is valid? [True, True] Translation: X:94.99, Y:12.88, Z:2.92 [[ 9.48119810e-01 -3.16637700e-01 -2.84498356e-02 9.49895375e+01] [ 3.16514366e-01 9.48546361e-01 -8.85761243e-03 1.28822708e+01] [ 2.97906420e-02 -6.06703866e-04 9.99555976e-01 2.91705307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.928040942 meters 0.023154429927741898 Centerline is valid? [True, True] Translation: X:95.05, Y:12.90, Z:2.92 [[ 9.48617179e-01 -3.15262953e-01 -2.71056891e-02 9.50455295e+01] [ 3.15150209e-01 9.49004210e-01 -8.44720269e-03 1.29011131e+01] [ 2.83865031e-02 -5.29202006e-04 9.99596882e-01 2.91920403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.988040942 meters 0.022841027234121243 Centerline is valid? [True, True] Translation: X:95.10, Y:12.92, Z:2.92 [[ 9.49390746e-01 -3.13066139e-01 -2.54323563e-02 9.51005820e+01] [ 3.12965909e-01 9.49731230e-01 -7.93285448e-03 1.29183112e+01] [ 2.66374111e-02 -4.28081873e-04 9.99645070e-01 2.92187224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.048040942 meters 0.022891331442118055 Centerline is valid? [True, True] Translation: X:95.16, Y:12.93, Z:2.92 [[ 9.49310284e-01 -3.13314420e-01 -2.53783061e-02 9.51557952e+01] [ 3.13214640e-01 9.49649350e-01 -7.91841809e-03 1.29345204e+01] [ 2.65814464e-02 -4.31821270e-04 9.99646558e-01 2.92288932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.108040942 meters 0.022782034743807994 Centerline is valid? [True, True] Translation: X:95.21, Y:12.95, Z:2.92 [[ 9.48737940e-01 -3.15061997e-01 -2.51447589e-02 9.52119009e+01] [ 3.14964617e-01 9.49070973e-01 -7.84710742e-03 1.29519704e+01] [ 2.63364862e-02 -4.74860845e-04 9.99653022e-01 2.92358028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.168040942 meters 0.023261017129453946 Centerline is valid? [True, True] Translation: X:95.27, Y:12.97, Z:2.92 [[ 9.47275435e-01 -3.19440406e-01 -2.50415275e-02 9.52680575e+01] [ 3.19345176e-01 9.47606185e-01 -7.82156618e-03 1.29698151e+01] [ 2.62280306e-02 -5.87713509e-04 9.99655813e-01 2.92459775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.228040942 meters 0.0236659941002969 Centerline is valid? [True, True] Translation: X:95.32, Y:12.99, Z:2.93 [[ 9.46617005e-01 -3.21368314e-01 -2.52715706e-02 9.53241215e+01] [ 3.21271827e-01 9.46954063e-01 -7.90040839e-03 1.29871697e+01] [ 2.64699574e-02 -6.40382727e-04 9.99649404e-01 2.92615262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.288040942 meters 0.025037141276903565 Centerline is valid? [True, True] Translation: X:95.38, Y:13.00, Z:2.93 [[ 9.46162656e-01 -3.22675703e-01 -2.56246033e-02 9.53798445e+01] [ 3.22576770e-01 9.46509340e-01 -8.01855674e-03 1.30028075e+01] [ 2.68413197e-02 -6.79042824e-04 9.99639476e-01 2.92812368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.348040942 meters 0.02431111326574243 Centerline is valid? [True, True] Translation: X:95.43, Y:13.02, Z:2.93 [[ 9.45752461e-01 -3.23954502e-01 -2.46122640e-02 9.54344258e+01] [ 3.23863614e-01 9.46072413e-01 -7.70377586e-03 1.30237606e+01] [ 2.57806569e-02 -6.85151799e-04 9.99667389e-01 2.92898700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.408040942 meters 0.024237900169122535 Centerline is valid? [True, True] Translation: X:95.49, Y:13.04, Z:2.93 [[ 9.45715759e-01 -3.24026068e-01 -2.50761123e-02 9.54889003e+01] [ 3.23931669e-01 9.46047896e-01 -7.85192192e-03 1.30425481e+01] [ 2.62674306e-02 -6.97260595e-04 9.99654708e-01 2.92947884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.468040942 meters 0.023743822073035284 Centerline is valid? [True, True] Translation: X:95.54, Y:13.06, Z:2.93 [[ 9.46060093e-01 -3.22969818e-01 -2.57059861e-02 9.55440145e+01] [ 3.22870003e-01 9.46409023e-01 -8.05745973e-03 1.30622504e+01] [ 2.69306935e-02 -6.76850710e-04 9.99637074e-01 2.93011572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.528040942 meters 0.023389139767050808 Centerline is valid? [True, True] Translation: X:95.60, Y:13.08, Z:2.93 [[ 9.47091291e-01 -3.19917689e-01 -2.58990136e-02 9.55986686e+01] [ 3.19815017e-01 9.47445158e-01 -8.12573381e-03 1.30818423e+01] [ 2.71374610e-02 -5.87081757e-04 9.99631539e-01 2.93199467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.588040942 meters 0.022591773047529237 Centerline is valid? [True, True] Translation: X:95.65, Y:13.10, Z:2.93 [[ 9.47826243e-01 -3.17717797e-01 -2.60924074e-02 9.56538147e+01] [ 3.17612700e-01 9.48185174e-01 -8.18832336e-03 1.31023760e+01] [ 2.73420099e-02 -5.26172184e-04 9.99625999e-01 2.93319274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.648040942 meters 0.022707879497809755 Centerline is valid? [True, True] Translation: X:95.71, Y:13.12, Z:2.94 [[ 9.48166268e-01 -3.16716362e-01 -2.59128280e-02 9.57089485e+01] [ 3.16612124e-01 9.48520168e-01 -8.13964357e-03 1.31193054e+01] [ 2.71567983e-02 -4.86580063e-04 9.99631068e-01 2.93513998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.708040942 meters 0.02283421162234001 Centerline is valid? [True, True] Translation: X:95.77, Y:13.14, Z:2.94 [[ 9.47864574e-01 -3.17663039e-01 -2.53563082e-02 9.57652374e+01] [ 3.17563525e-01 9.48203534e-01 -7.96650977e-03 1.31361922e+01] [ 2.65736067e-02 -5.01066210e-04 9.99646734e-01 2.93747125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.768040942 meters 0.022200127864990413 Centerline is valid? [True, True] Translation: X:95.82, Y:13.16, Z:2.94 [[ 9.47472544e-01 -3.18789461e-01 -2.58661376e-02 9.58212354e+01] [ 3.18686136e-01 9.47825401e-01 -8.13359869e-03 1.31559252e+01] [ 2.71094878e-02 -5.36817998e-04 9.99632326e-01 2.93887972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.828040942 meters 0.022034912340198203 Centerline is valid? [True, True] Translation: X:95.88, Y:13.17, Z:2.94 [[ 9.47520540e-01 -3.18547762e-01 -2.70582591e-02 9.58775021e+01] [ 3.18434365e-01 9.47906654e-01 -8.51649719e-03 1.31738404e+01] [ 2.83616149e-02 -5.46723523e-04 9.99597579e-01 2.94036717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.888040942 meters 0.021994789708011452 Centerline is valid? [True, True] Translation: X:95.93, Y:13.19, Z:2.94 [[ 9.48023243e-01 -3.16833546e-01 -2.94692159e-02 9.59330125e+01] [ 3.16697928e-01 9.48481008e-01 -9.28439844e-03 1.31913229e+01] [ 3.08926004e-02 -5.31014076e-04 9.99522569e-01 2.94075461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.948040942 meters 0.02187423572935914 Centerline is valid? [True, True] Translation: X:95.99, Y:13.21, Z:2.94 [[ 9.48331090e-01 -3.15881243e-01 -2.97856487e-02 9.59889512e+01] [ 3.15742132e-01 9.48798602e-01 -9.38711874e-03 1.32094623e+01] [ 3.12257966e-02 -5.02487679e-04 9.99512230e-01 2.94200482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.008040942 meters 0.02143455349851635 Centerline is valid? [True, True] Translation: X:96.05, Y:13.23, Z:2.94 [[ 9.49009716e-01 -3.13814459e-01 -3.00174047e-02 9.60456512e+01] [ 3.13671882e-01 9.49484229e-01 -9.46838004e-03 1.32268771e+01] [ 3.14723669e-02 -4.30031173e-04 9.99504530e-01 2.94468927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.068040942 meters 0.021142150155349756 Centerline is valid? [True, True] Translation: X:96.10, Y:13.24, Z:2.95 [[ 9.50142012e-01 -3.10503188e-01 -2.85994359e-02 9.61003191e+01] [ 3.10372056e-01 9.50572291e-01 -9.02806210e-03 1.32446323e+01] [ 2.99890733e-02 -2.98524619e-04 9.99550182e-01 2.94822098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.128040942 meters 0.020673912764322108 Centerline is valid? [True, True] Translation: X:96.16, Y:13.26, Z:2.95 [[ 9.50540104e-01 -3.09365802e-01 -2.76823286e-02 9.61568155e+01] [ 3.09242400e-01 9.50943078e-01 -8.74077098e-03 1.32620437e+01] [ 2.90284144e-02 -2.52096378e-04 9.99578555e-01 2.95239553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.188040942 meters 0.0205638220084835 Centerline is valid? [True, True] Translation: X:96.21, Y:13.28, Z:2.96 [[ 9.50467624e-01 -3.09702264e-01 -2.63780695e-02 9.62120790e+01] [ 3.09590165e-01 9.50833554e-01 -8.33555620e-03 1.32780619e+01] [ 2.76626942e-02 -2.43714592e-04 9.99617285e-01 2.95603646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.248040942 meters 0.020582179360863415 Centerline is valid? [True, True] Translation: X:96.27, Y:13.29, Z:2.96 [[ 9.50083303e-01 -3.10908123e-01 -2.60356786e-02 9.62682907e+01] [ 3.10799148e-01 9.50439934e-01 -8.23544980e-03 1.32947624e+01] [ 2.73058169e-02 -2.67503366e-04 9.99627091e-01 2.95781987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.308040942 meters 0.0206502541214873 Centerline is valid? [True, True] Translation: X:96.32, Y:13.31, Z:2.96 [[ 9.49570658e-01 -3.12436581e-01 -2.64376187e-02 9.63242247e+01] [ 3.12324599e-01 9.49938570e-01 -8.37005851e-03 1.33130284e+01] [ 2.77292262e-02 -3.09156697e-04 9.99615423e-01 2.95900704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.368040942 meters 0.020516471434275593 Centerline is valid? [True, True] Translation: X:96.38, Y:13.33, Z:2.96 [[ 9.49423029e-01 -3.12806166e-01 -2.73534974e-02 9.63797038e+01] [ 3.12686216e-01 9.49816929e-01 -8.66790331e-03 1.33302347e+01] [ 2.86921885e-02 -3.23554579e-04 9.99588242e-01 2.96087218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.428040942 meters 0.020065941677328114 Centerline is valid? [True, True] Translation: X:96.44, Y:13.35, Z:2.96 [[ 9.50224348e-01 -3.10215586e-01 -2.89823881e-02 9.64350074e+01] [ 3.10079420e-01 9.50666202e-01 -9.19382301e-03 1.33509925e+01] [ 3.04046440e-02 -2.50647605e-04 9.99537641e-01 2.96116944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.488040942 meters 0.019723491088840892 Centerline is valid? [True, True] Translation: X:96.49, Y:13.37, Z:2.96 [[ 9.50990083e-01 -3.07790744e-01 -2.97106018e-02 9.64901362e+01] [ 3.07646204e-01 9.51454060e-01 -9.43313225e-03 1.33716175e+01] [ 3.11717035e-02 -1.69538652e-04 9.99514030e-01 2.96226240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.548040942 meters 0.019276039371598944 Centerline is valid? [True, True] Translation: X:96.54, Y:13.39, Z:2.97 [[ 9.52249410e-01 -3.03893001e-01 -2.94975556e-02 9.65444064e+01] [ 3.03748407e-01 9.52706168e-01 -9.37348670e-03 1.33905989e+01] [ 3.09510401e-02 -3.39383415e-05 9.99520901e-01 2.96503326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.608040942 meters 0.019227077057046137 Centerline is valid? [True, True] Translation: X:96.60, Y:13.41, Z:2.97 [[ 9.52336681e-01 -3.03672016e-01 -2.89508765e-02 9.65998462e+01] [ 3.03532552e-01 9.52776630e-01 -9.20237019e-03 1.34090396e+01] [ 3.03782209e-02 -2.37787535e-05 9.99538475e-01 2.96678128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.668040942 meters 0.01924721118267355 Centerline is valid? [True, True] Translation: X:96.66, Y:13.43, Z:2.97 [[ 9.51607936e-01 -3.05940826e-01 -2.90266764e-02 9.66556767e+01] [ 3.05801395e-01 9.52050526e-01 -9.23597483e-03 1.34254287e+01] [ 3.04605243e-02 -8.73712165e-05 9.99535967e-01 2.96842118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.728040942 meters 0.0194657231999649 Centerline is valid? [True, True] Translation: X:96.71, Y:13.44, Z:2.97 [[ 9.50402220e-01 -3.09785038e-01 -2.77281454e-02 9.67116249e+01] [ 3.09659365e-01 9.50806600e-01 -8.82533542e-03 1.34418501e+01] [ 2.90980605e-02 -1.98661533e-04 9.99576542e-01 2.97151099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.788040942 meters 0.019771321057348176 Centerline is valid? [True, True] Translation: X:96.77, Y:13.46, Z:2.97 [[ 9.49167923e-01 -3.13552591e-01 -2.76591156e-02 9.67679870e+01] [ 3.13429031e-01 9.49570786e-01 -8.80712811e-03 1.34590488e+01] [ 2.90257860e-02 -3.09726329e-04 9.99578615e-01 2.97360723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.848040942 meters 0.020103457598685658 Centerline is valid? [True, True] Translation: X:96.82, Y:13.48, Z:2.97 [[ 9.48126690e-01 -3.16580951e-01 -2.88492943e-02 9.68234340e+01] [ 3.16447676e-01 9.48565407e-01 -9.19438397e-03 1.34789247e+01] [ 3.02762094e-02 -4.11851284e-04 9.99541486e-01 2.97329015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.908040942 meters 0.02056128525631302 Centerline is valid? [True, True] Translation: X:96.88, Y:13.50, Z:2.97 [[ 9.47358209e-01 -3.18749052e-01 -3.01905014e-02 9.68795722e+01] [ 3.18603922e-01 9.47839014e-01 -9.63039325e-03 1.34971075e+01] [ 3.16854138e-02 -4.95380075e-04 9.99497768e-01 2.97339057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.968040942 meters 0.02132820924810827 Centerline is valid? [True, True] Translation: X:96.94, Y:13.51, Z:2.97 [[ 9.46269711e-01 -3.21925213e-01 -3.06233707e-02 9.69363881e+01] [ 3.21777284e-01 9.46764910e-01 -9.77676869e-03 1.35137096e+01] [ 3.21405211e-02 -6.02444960e-04 9.99483178e-01 2.97485965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.028040942 meters 0.020839016392532713 Centerline is valid? [True, True] Translation: X:96.99, Y:13.54, Z:2.98 [[ 9.45939448e-01 -3.22892162e-01 -3.06465584e-02 9.69908856e+01] [ 3.22744255e-01 9.46435554e-01 -9.79228228e-03 1.35362627e+01] [ 3.21668437e-02 -6.28094573e-04 9.99482316e-01 2.97633573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.088040942 meters 0.021432693857898442 Centerline is valid? [True, True] Translation: X:97.05, Y:13.56, Z:2.98 [[ 9.46209566e-01 -3.22015152e-01 -3.15230040e-02 9.70461842e+01] [ 3.21857880e-01 9.46734320e-01 -1.00812602e-02 1.35550033e+01] [ 3.30902283e-02 -6.06942342e-04 9.99452184e-01 2.97725948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.148040942 meters 0.021008071334271787 Centerline is valid? [True, True] Translation: X:97.10, Y:13.58, Z:2.98 [[ 9.46613245e-01 -3.20835188e-01 -3.14347960e-02 9.71018268e+01] [ 3.20677864e-01 9.47134876e-01 -1.00615363e-02 1.35752794e+01] [ 3.30010864e-02 -5.56059709e-04 9.99455161e-01 2.97963538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.208040942 meters 0.02012946528143967 Centerline is valid? [True, True] Translation: X:97.16, Y:13.60, Z:2.98 [[ 9.47009308e-01 -3.19721948e-01 -3.08422846e-02 9.71559631e+01] [ 3.19569659e-01 9.47511280e-01 -9.87962142e-03 1.35990135e+01] [ 3.23821443e-02 -5.00164927e-04 9.99475436e-01 2.98187079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.268040942 meters 0.02020380212978123 Centerline is valid? [True, True] Translation: X:97.21, Y:13.62, Z:2.98 [[ 9.46768137e-01 -3.20497664e-01 -3.01884405e-02 9.72115369e+01] [ 3.20351911e-01 9.47249170e-01 -9.67801106e-03 1.36191495e+01] [ 3.16977552e-02 -5.08092117e-04 9.99497371e-01 2.98388152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.328040942 meters 0.020620307968225594 Centerline is valid? [True, True] Translation: X:97.27, Y:13.64, Z:2.98 [[ 9.46312018e-01 -3.21721107e-01 -3.14498809e-02 9.72663989e+01] [ 3.21563317e-01 9.46834310e-01 -1.00906728e-02 1.36379411e+01] [ 3.30242087e-02 -5.64203111e-04 9.99454393e-01 2.98496253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.388040942 meters 0.021220163735622292 Centerline is valid? [True, True] Translation: X:97.32, Y:13.66, Z:2.99 [[ 9.45730365e-01 -3.23415694e-01 -3.15652610e-02 9.73210663e+01] [ 3.23257590e-01 9.46256784e-01 -1.01306188e-02 1.36586434e+01] [ 3.31452435e-02 -6.22876359e-04 9.99450351e-01 2.98619585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.448040942 meters 0.022558318859616046 Centerline is valid? [True, True] Translation: X:97.37, Y:13.68, Z:2.99 [[ 9.44798528e-01 -3.26095099e-01 -3.19018565e-02 9.73749134e+01] [ 3.25935029e-01 9.45336694e-01 -1.02416282e-02 1.36786322e+01] [ 3.34977403e-02 -7.21657262e-04 9.99438533e-01 2.98661898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.508040942 meters 0.022479604701399647 Centerline is valid? [True, True] Translation: X:97.43, Y:13.70, Z:2.99 [[ 9.43468901e-01 -3.29956758e-01 -3.15431460e-02 9.74309063e+01] [ 3.29802315e-01 9.43995669e-01 -1.01296899e-02 1.36994904e+01] [ 3.31189528e-02 -8.45955188e-04 9.99451059e-01 2.98872699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.568040942 meters 0.02382375113084792 Centerline is valid? [True, True] Translation: X:97.49, Y:13.72, Z:2.99 [[ 9.42514346e-01 -3.32765978e-01 -3.05534098e-02 9.74866681e+01] [ 3.32622506e-01 9.43008997e-01 -9.81321864e-03 1.37182061e+01] [ 3.20776457e-02 -9.13652399e-04 9.99484962e-01 2.99085895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.628040942 meters 0.022965338500629366 Centerline is valid? [True, True] Translation: X:97.54, Y:13.74, Z:2.99 [[ 9.42743316e-01 -3.32005565e-01 -3.17386880e-02 9.75414210e+01] [ 3.31850025e-01 9.43276984e-01 -1.02025399e-02 1.37414941e+01] [ 3.33256740e-02 -9.14108116e-04 9.99444127e-01 2.99111565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.688040942 meters 0.022806927205504025 Centerline is valid? [True, True] Translation: X:97.60, Y:13.76, Z:2.99 [[ 9.44307463e-01 -3.27464619e-01 -3.24089379e-02 9.75963307e+01] [ 3.27299482e-01 9.44863134e-01 -1.04262125e-02 1.37635257e+01] [ 3.40362264e-02 -7.61878353e-04 9.99420309e-01 2.99245721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.748040942 meters 0.020996516495693143 Centerline is valid? [True, True] Translation: X:97.65, Y:13.79, Z:2.99 [[ 9.45806604e-01 -3.23001265e-01 -3.34671495e-02 9.76501699e+01] [ 3.22822302e-01 9.46398330e-01 -1.07685388e-02 1.37886769e+01] [ 3.51515061e-02 -6.18987153e-04 9.99381803e-01 2.99344426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.808040942 meters 0.02037725061585648 Centerline is valid? [True, True] Translation: X:97.71, Y:13.81, Z:3.00 [[ 9.46354760e-01 -3.21325722e-01 -3.40947002e-02 9.77059734e+01] [ 3.21138772e-01 9.46968565e-01 -1.09739208e-02 1.38091357e+01] [ 3.58128123e-02 -5.63907938e-04 9.99358356e-01 2.99555732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.868040942 meters 0.020527830315078856 Centerline is valid? [True, True] Translation: X:97.76, Y:13.83, Z:3.00 [[ 9.46881850e-01 -3.19900610e-01 -3.28384084e-02 9.77607476e+01] [ 3.19726071e-01 9.47450983e-01 -1.05770648e-02 1.38284428e+01] [ 3.44963918e-02 -4.84064648e-04 9.99404705e-01 2.99803845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.928040942 meters 0.020409588399093768 Centerline is valid? [True, True] Translation: X:97.82, Y:13.85, Z:3.00 [[ 9.46134547e-01 -3.22268634e-01 -3.11824830e-02 9.78164967e+01] [ 3.22112439e-01 9.46648106e-01 -1.00468617e-02 1.38471071e+01] [ 3.27566268e-02 -5.38582687e-04 9.99463213e-01 3.00154044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.988040942 meters 0.02066006365067556 Centerline is valid? [True, True] Translation: X:97.87, Y:13.86, Z:3.00 [[ 9.45868477e-01 -3.23190723e-01 -2.96745754e-02 9.78726163e+01] [ 3.23049481e-01 9.46333699e-01 -9.56885378e-03 1.38636670e+01] [ 3.11746155e-02 -5.35479040e-04 9.99513810e-01 3.00498207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.048040942 meters 0.02037724652266103 Centerline is valid? [True, True] Translation: X:97.93, Y:13.88, Z:3.01 [[ 9.46277966e-01 -3.21946358e-01 -3.01422194e-02 9.79281138e+01] [ 3.21799731e-01 9.46757782e-01 -9.72805269e-03 1.38835523e+01] [ 3.16692920e-02 -4.94316183e-04 9.99498280e-01 3.00552990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.108040942 meters 0.020377912935987987 Centerline is valid? [True, True] Translation: X:97.98, Y:13.90, Z:3.01 [[ 9.46582741e-01 -3.20910840e-01 -3.15807919e-02 9.79844267e+01] [ 3.20748997e-01 9.47109291e-01 -1.02015736e-02 1.39014903e+01] [ 3.31842570e-02 -4.72873759e-04 9.99449139e-01 3.00606399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.168040942 meters 0.020313191496904043 Centerline is valid? [True, True] Translation: X:98.04, Y:13.92, Z:3.01 [[ 9.47363518e-01 -3.18310151e-01 -3.43658637e-02 9.80398634e+01] [ 3.18116444e-01 9.47986541e-01 -1.11105969e-02 1.39174616e+01] [ 3.61149920e-02 -4.06572157e-04 9.99347558e-01 3.00549529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.228040942 meters 0.020062469478889077 Centerline is valid? [True, True] Translation: X:98.10, Y:13.93, Z:3.01 [[ 9.48112438e-01 -3.15982693e-01 -3.51815565e-02 9.80962195e+01] [ 3.15777909e-01 9.48764900e-01 -1.13788373e-02 1.39336366e+01] [ 3.69745415e-02 -3.21141196e-04 9.99316156e-01 3.00712421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.288040942 meters 0.020190236903170032 Centerline is valid? [True, True] Translation: X:98.15, Y:13.95, Z:3.01 [[ 9.48345777e-01 -3.15182136e-01 -3.60625597e-02 9.81517692e+01] [ 3.14966035e-01 9.49031158e-01 -1.16729871e-02 1.39471587e+01] [ 3.79036098e-02 -2.88453455e-04 9.99281358e-01 3.00834729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.348040942 meters 0.02019680205892736 Centerline is valid? [True, True] Translation: X:98.21, Y:13.96, Z:3.01 [[ 9.48023415e-01 -3.16196946e-01 -3.56524298e-02 9.82081738e+01] [ 3.15986256e-01 9.48693517e-01 -1.15454520e-02 1.39596319e+01] [ 3.74738656e-02 -3.20318992e-04 9.99297557e-01 3.01022907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.408040942 meters 0.02069136234444768 Centerline is valid? [True, True] Translation: X:98.27, Y:13.97, Z:3.01 [[ 9.46917010e-01 -3.19511521e-01 -3.55044176e-02 9.82664442e+01] [ 3.19304619e-01 9.47582288e-01 -1.15051381e-02 1.39698242e+01] [ 3.73193815e-02 -4.42313566e-04 9.99303291e-01 3.01346136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.468040942 meters 0.020532294457041772 Centerline is valid? [True, True] Translation: X:98.32, Y:13.98, Z:3.02 [[ 9.46084937e-01 -3.21986705e-01 -3.53249649e-02 9.83239775e+01] [ 3.21783268e-01 9.46744043e-01 -1.14562599e-02 1.39846200e+01] [ 3.71324635e-02 -5.28387722e-04 9.99310213e-01 3.01616729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.528040942 meters 0.02088285366199325 Centerline is valid? [True, True] Translation: X:98.38, Y:13.99, Z:3.02 [[ 9.45722887e-01 -3.22946506e-01 -3.62460391e-02 9.83817305e+01] [ 3.22732675e-01 9.46417047e-01 -1.17640843e-02 1.39937004e+01] [ 3.81030392e-02 -5.72217366e-04 9.99273652e-01 3.01780934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.588040942 meters 0.020376449254901154 Centerline is valid? [True, True] Translation: X:98.44, Y:14.01, Z:3.02 [[ 9.46954033e-01 -3.19173390e-01 -3.75020894e-02 9.84394413e+01] [ 3.18941318e-01 9.47696239e-01 -1.21767646e-02 1.40081912e+01] [ 3.94270883e-02 -4.30129519e-04 9.99222357e-01 3.01894095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.648040942 meters 0.019672969218076847 Centerline is valid? [True, True] Translation: X:98.50, Y:14.02, Z:3.02 [[ 9.48532985e-01 -3.14266745e-01 -3.90075593e-02 9.84972025e+01] [ 3.14011084e-01 9.49334694e-01 -1.26758473e-02 1.40222665e+01] [ 4.10148267e-02 -2.25346687e-04 9.99158513e-01 3.01865824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.708040942 meters 0.019535233195497687 Centerline is valid? [True, True] Translation: X:98.56, Y:14.03, Z:3.02 [[ 9.49565937e-01 -3.10762687e-01 -4.18459519e-02 9.85550731e+01] [ 3.10464521e-01 9.50487532e-01 -1.36100556e-02 1.40336391e+01] [ 4.40035530e-02 -6.80382062e-05 9.99031372e-01 3.01846063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.768040942 meters 0.019663765150147203 Centerline is valid? [True, True] Translation: X:98.61, Y:14.05, Z:3.02 [[ 9.49819958e-01 -3.09908304e-01 -4.24133217e-02 9.86113229e+01] [ 3.09600603e-01 9.50766450e-01 -1.38066556e-02 1.40473368e+01] [ 4.46039605e-02 -1.73529463e-05 9.99004748e-01 3.02092921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.828040942 meters 0.01956214505575808 Centerline is valid? [True, True] Translation: X:98.67, Y:14.07, Z:3.02 [[ 9.50850627e-01 -3.06990718e-01 -4.04942473e-02 9.86671127e+01] [ 3.06707098e-01 9.51712500e-01 -1.31936535e-02 1.40665384e+01] [ 4.25892105e-02 1.25320639e-04 9.99092660e-01 3.02459139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.888040942 meters 0.019425631237349274 Centerline is valid? [True, True] Translation: X:98.72, Y:14.09, Z:3.03 [[ 9.50454104e-01 -3.08482322e-01 -3.84142306e-02 9.87226253e+01] [ 3.08227917e-01 9.51230074e-01 -1.25259029e-02 1.40861771e+01] [ 4.04047910e-02 6.49575445e-05 9.99183391e-01 3.02895151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.948040942 meters 0.019442801032413474 Centerline is valid? [True, True] Translation: X:98.78, Y:14.10, Z:3.03 [[ 9.49125104e-01 -3.12850969e-01 -3.58581698e-02 9.87780471e+01] [ 3.12632104e-01 9.49802222e-01 -1.17007428e-02 1.41013654e+01] [ 3.77187581e-02 -1.04946295e-04 9.99288389e-01 3.03291658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.008040942 meters 0.019863123657664215 Centerline is valid? [True, True] Translation: X:98.83, Y:14.12, Z:3.03 [[ 9.47322122e-01 -3.18087130e-01 -3.74349350e-02 9.88346992e+01] [ 3.17852408e-01 9.48061430e-01 -1.22217895e-02 1.41166773e+01] [ 3.93782119e-02 -3.20812666e-04 9.99224326e-01 3.03326171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.068040942 meters 0.020290276367763396 Centerline is valid? [True, True] Translation: X:98.89, Y:14.13, Z:3.03 [[ 9.46816462e-01 -3.19616507e-01 -3.72004810e-02 9.88903406e+01] [ 3.19385553e-01 9.47546911e-01 -1.21540108e-02 1.41320751e+01] [ 3.91338233e-02 -3.73678645e-04 9.99233909e-01 3.03360969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.128040942 meters 0.02061101780199769 Centerline is valid? [True, True] Translation: X:98.95, Y:14.15, Z:3.04 [[ 9.45591480e-01 -3.23157090e-01 -3.77657059e-02 9.89460409e+01] [ 3.22921674e-01 9.46345192e-01 -1.23438538e-02 1.41505227e+01] [ 3.97283980e-02 -5.23121975e-04 9.99210379e-01 3.03597713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.188040942 meters 0.02064663167256864 Centerline is valid? [True, True] Translation: X:99.00, Y:14.17, Z:3.04 [[ 9.45348955e-01 -3.23709807e-01 -3.90808600e-02 9.90016534e+01] [ 3.23457719e-01 9.46156252e-01 -1.27848059e-02 1.41713066e+01] [ 4.11151670e-02 -5.54902878e-04 9.99154260e-01 3.03715604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.248040942 meters 0.021022490267824143 Centerline is valid? [True, True] Translation: X:99.06, Y:14.19, Z:3.04 [[ 9.45522135e-01 -3.23156961e-01 -3.94647981e-02 9.90559567e+01] [ 3.22899009e-01 9.46345233e-01 -1.29201032e-02 1.41896519e+01] [ 4.15225449e-02 -5.26900596e-04 9.99137428e-01 3.03863213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.308040942 meters 0.020719416121582193 Centerline is valid? [True, True] Translation: X:99.11, Y:14.21, Z:3.04 [[ 9.45523290e-01 -3.23295788e-01 -3.82823772e-02 9.91114839e+01] [ 3.23052923e-01 9.46297824e-01 -1.25394000e-02 1.42098029e+01] [ 4.02804655e-02 -5.10939149e-04 9.99188282e-01 3.04247818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.368040942 meters 0.020952285689713215 Centerline is valid? [True, True] Translation: X:99.17, Y:14.23, Z:3.05 [[ 9.45179126e-01 -3.24400947e-01 -3.74225328e-02 9.91662371e+01] [ 3.24169322e-01 9.45919520e-01 -1.22683228e-02 1.42291054e+01] [ 3.93785598e-02 -5.35474478e-04 9.99224220e-01 3.04575818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.428040942 meters 0.021438532701581903 Centerline is valid? [True, True] Translation: X:99.22, Y:14.25, Z:3.05 [[ 9.44552507e-01 -3.26293640e-01 -3.67834386e-02 9.92219389e+01] [ 3.26070860e-01 9.45268273e-01 -1.20700203e-02 1.42473876e+01] [ 3.87085884e-02 -5.93239515e-04 9.99250366e-01 3.04807146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.488040942 meters 0.021861332401370143 Centerline is valid? [True, True] Translation: X:99.28, Y:14.26, Z:3.05 [[ 9.44280276e-01 -3.27140933e-01 -3.62432186e-02 9.92773503e+01] [ 3.26924890e-01 9.44975364e-01 -1.19028495e-02 1.42640774e+01] [ 3.81428580e-02 -6.09184180e-04 9.99272111e-01 3.05139373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.548040942 meters 0.022108041784670827 Centerline is valid? [True, True] Translation: X:99.33, Y:14.28, Z:3.05 [[ 9.44468055e-01 -3.26617154e-01 -3.60739119e-02 9.93331591e+01] [ 3.26402331e-01 9.45156550e-01 -1.18580966e-02 1.42820757e+01] [ 3.79685519e-02 -5.75015495e-04 9.99278769e-01 3.05329626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.608040942 meters 0.021998552711897754 Centerline is valid? [True, True] Translation: X:99.39, Y:14.30, Z:3.05 [[ 9.45188472e-01 -3.24430612e-01 -3.69260068e-02 9.93874741e+01] [ 3.24203507e-01 9.45909371e-01 -1.21469434e-02 1.43009263e+01] [ 3.88694962e-02 -4.90389986e-04 9.99244175e-01 3.05432898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.668040942 meters 0.022191194184242702 Centerline is valid? [True, True] Translation: X:99.44, Y:14.32, Z:3.06 [[ 9.45195619e-01 -3.24454458e-01 -3.65314482e-02 9.94426978e+01] [ 3.24232014e-01 9.45901196e-01 -1.20220003e-02 1.43191806e+01] [ 3.84557322e-02 -4.81522980e-04 9.99260189e-01 3.05579660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.728040942 meters 0.02254859900405839 Centerline is valid? [True, True] Translation: X:99.50, Y:14.34, Z:3.06 [[ 9.44656630e-01 -3.26067911e-01 -3.61049572e-02 9.94989038e+01] [ 3.25851416e-01 9.45346199e-01 -1.18919945e-02 1.43369264e+01] [ 3.80092818e-02 -5.30999908e-04 9.99277245e-01 3.05847517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.788040942 meters 0.023005219000332196 Centerline is valid? [True, True] Translation: X:99.55, Y:14.35, Z:3.06 [[ 9.43975004e-01 -3.28121898e-01 -3.53158988e-02 9.95535552e+01] [ 3.27915906e-01 9.44635204e-01 -1.16400123e-02 1.43547759e+01] [ 3.71799842e-02 -5.92764244e-04 9.99308410e-01 3.06179274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.848040942 meters 0.02203822869521154 Centerline is valid? [True, True] Translation: X:99.61, Y:14.38, Z:3.07 [[ 9.43705748e-01 -3.29051908e-01 -3.38275305e-02 9.96077060e+01] [ 3.28863375e-01 9.44311645e-01 -1.11533869e-02 1.43757909e+01] [ 3.56137742e-02 -5.99120545e-04 9.99365449e-01 3.06656911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.908040942 meters 0.023227734419792985 Centerline is valid? [True, True] Translation: X:99.66, Y:14.39, Z:3.07 [[ 9.43663432e-01 -3.29225666e-01 -3.33134677e-02 9.96625659e+01] [ 3.29042591e-01 9.44251087e-01 -1.09935220e-02 1.43914453e+01] [ 3.50756277e-02 -5.87364998e-04 9.99384488e-01 3.06938523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.968040942 meters 0.02282506788113313 Centerline is valid? [True, True] Translation: X:99.72, Y:14.41, Z:3.07 [[ 9.44188623e-01 -3.27805154e-01 -3.24287641e-02 9.97177387e+01] [ 3.27630692e-01 9.44745212e-01 -1.07058250e-02 1.44132628e+01] [ 3.41463442e-02 -5.16340311e-04 9.99416710e-01 3.07265864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.028040942 meters 0.021027612910458043 Centerline is valid? [True, True] Translation: X:99.77, Y:14.44, Z:3.08 [[ 9.45399422e-01 -3.24281397e-01 -3.25807947e-02 9.97710301e+01] [ 3.24103040e-01 9.45960584e-01 -1.07607258e-02 1.44396814e+01] [ 3.43096508e-02 -3.86350674e-04 9.99411176e-01 3.07652897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.088040942 meters 0.020533598819740463 Centerline is valid? [True, True] Translation: X:99.83, Y:14.46, Z:3.08 [[ 9.46585594e-01 -3.20866796e-01 -3.19407779e-02 9.98255375e+01] [ 3.20693146e-01 9.47124299e-01 -1.05578816e-02 1.44631663e+01] [ 3.36395605e-02 -2.49249965e-04 9.99433999e-01 3.07923491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.148040942 meters 0.020314631148783794 Centerline is valid? [True, True] Translation: X:99.88, Y:14.48, Z:3.08 [[ 9.47149065e-01 -3.19347973e-01 -3.04223759e-02 9.98802732e+01] [ 3.19189411e-01 9.47637505e-01 -1.00637817e-02 1.44842495e+01] [ 3.20432326e-02 -1.78598820e-04 9.99486468e-01 3.08246360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.208040942 meters 0.020281420185000152 Centerline is valid? [True, True] Translation: X:99.93, Y:14.51, Z:3.09 [[ 9.47823771e-01 -3.17429403e-01 -2.94732757e-02 9.99345795e+01] [ 3.17279413e-01 9.48281901e-01 -9.75756755e-03 1.45052985e+01] [ 3.10463128e-02 -1.02809165e-04 9.99517942e-01 3.08623775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.268040942 meters 0.02023124448907739 Centerline is valid? [True, True] Translation: X:99.99, Y:14.53, Z:3.09 [[ 9.47917297e-01 -3.17113244e-01 -2.98661699e-02 9.99890343e+01] [ 3.16958769e-01 9.48387676e-01 -9.89724413e-03 1.45267975e+01] [ 3.14632546e-02 -8.45755291e-05 9.99504906e-01 3.08894985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.328040942 meters 0.020295978031332283 Centerline is valid? [True, True] Translation: X:100.04, Y:14.55, Z:3.09 [[ 9.47530209e-01 -3.18206639e-01 -3.05129185e-02 1.00043647e+02] [ 3.18045661e-01 9.48021372e-01 -1.01210598e-02 1.45466316e+01] [ 3.21474873e-02 -1.14491427e-04 9.99483129e-01 3.09009057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.388040942 meters 0.02107662358714076 Centerline is valid? [True, True] Translation: X:100.10, Y:14.56, Z:3.09 [[ 9.45996090e-01 -3.22666902e-01 -3.12644880e-02 1.00099010e+02] [ 3.22500221e-01 9.46512545e-01 -1.03735087e-02 1.45629864e+01] [ 3.29394180e-02 -2.69505654e-04 9.99457314e-01 3.09197634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.448040942 meters 0.021131198233737873 Centerline is valid? [True, True] Translation: X:100.15, Y:14.58, Z:3.09 [[ 9.44145964e-01 -3.28028346e-01 -3.13975097e-02 1.00154762e+02] [ 3.27863045e-01 9.44667771e-01 -1.04223546e-02 1.45821249e+01] [ 3.30790432e-02 -4.53859140e-04 9.99452636e-01 3.09415976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.508040942 meters 0.022330393738998887 Centerline is valid? [True, True] Translation: X:100.21, Y:14.60, Z:3.09 [[ 9.42241808e-01 -3.33339438e-01 -3.26373039e-02 1.00210974e+02] [ 3.33163696e-01 9.42806654e-01 -1.08426972e-02 1.45988005e+01] [ 3.43849659e-02 -6.57122219e-04 9.99408446e-01 3.09468677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.568040942 meters 0.023300348096544393 Centerline is valid? [True, True] Translation: X:100.27, Y:14.62, Z:3.10 [[ 9.40436460e-01 -3.38360708e-01 -3.30347653e-02 1.00267597e+02] [ 3.38183679e-01 9.41016106e-01 -1.09767165e-02 1.46164982e+01] [ 3.48003357e-02 -8.48914045e-04 9.99393924e-01 3.09609281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.628040942 meters 0.02422020482167315 Centerline is valid? [True, True] Translation: X:100.32, Y:14.64, Z:3.10 [[ 9.39230400e-01 -3.41652013e-01 -3.34687540e-02 1.00323218e+02] [ 3.41472284e-01 9.39826016e-01 -1.11237978e-02 1.46353183e+01] [ 3.52552736e-02 -9.80842838e-04 9.99377858e-01 3.09716154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.688040942 meters 0.025207042331128717 Centerline is valid? [True, True] Translation: X:100.38, Y:14.66, Z:3.10 [[ 9.38048401e-01 -3.44921944e-01 -3.30764360e-02 1.00379004e+02] [ 3.44748151e-01 9.38630747e-01 -1.10014818e-02 1.46572210e+01] [ 3.48412123e-02 -1.08311771e-03 9.99392274e-01 3.09795428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.748040942 meters 0.025312133757533162 Centerline is valid? [True, True] Translation: X:100.43, Y:14.68, Z:3.10 [[ 9.37335599e-01 -3.46915207e-01 -3.24316953e-02 1.00433640e+02] [ 3.46749267e-01 9.37895812e-01 -1.07884544e-02 1.46773724e+01] [ 3.41602301e-02 -1.13326417e-03 9.99415727e-01 3.10093905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.808040942 meters 0.0253692772570378 Centerline is valid? [True, True] Translation: X:100.49, Y:14.70, Z:3.10 [[ 9.37119702e-01 -3.47560336e-01 -3.17565266e-02 1.00489198e+02] [ 3.47401488e-01 9.37656940e-01 -1.05673463e-02 1.46980072e+01] [ 3.34495180e-02 -1.12939614e-03 9.99439770e-01 3.10298424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.868040942 meters 0.025227918536856155 Centerline is valid? [True, True] Translation: X:100.54, Y:14.72, Z:3.10 [[ 9.37431109e-01 -3.46754234e-01 -3.13754070e-02 1.00543447e+02] [ 3.46598443e-01 9.37955402e-01 -1.04490932e-02 1.47223309e+01] [ 3.30519998e-02 -1.07936217e-03 9.99453051e-01 3.10367435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.928040942 meters 0.02698079741433865 Centerline is valid? [True, True] Translation: X:100.60, Y:14.74, Z:3.10 [[ 9.38426572e-01 -3.43953730e-01 -3.24253114e-02 1.00598615e+02] [ 3.43785369e-01 9.38986060e-01 -1.08073660e-02 1.47408924e+01] [ 3.41641492e-02 -1.00542818e-03 9.99415729e-01 3.10318385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.988040942 meters 0.024917006266708976 Centerline is valid? [True, True] Translation: X:100.65, Y:14.76, Z:3.10 [[ 9.38635854e-01 -3.43344283e-01 -3.28243345e-02 1.00653308e+02] [ 3.43171267e-01 9.39209092e-01 -1.09436047e-02 1.47642045e+01] [ 3.45863375e-02 -9.92308759e-04 9.99401221e-01 3.10486654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.048040942 meters 0.024562095884219932 Centerline is valid? [True, True] Translation: X:100.71, Y:14.79, Z:3.10 [[ 9.39338349e-01 -3.41355868e-01 -3.34609915e-02 1.00708074e+02] [ 3.41174508e-01 9.39933673e-01 -1.11645065e-02 1.47874853e+01] [ 3.52621825e-02 -9.28788175e-04 9.99377664e-01 3.10474406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.108040942 meters 0.024591686498964125 Centerline is valid? [True, True] Translation: X:100.76, Y:14.81, Z:3.11 [[ 9.39492324e-01 -3.40940058e-01 -3.33773976e-02 1.00763046e+02] [ 3.40759162e-01 9.40084600e-01 -1.11416943e-02 1.48077274e+01] [ 3.51762274e-02 -9.06117822e-04 9.99380714e-01 3.10630058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.168040942 meters 0.024793976722206762 Centerline is valid? [True, True] Translation: X:100.82, Y:14.83, Z:3.11 [[ 9.39616352e-01 -3.40683292e-01 -3.24962493e-02 1.00818451e+02] [ 3.40511384e-01 9.40177721e-01 -1.08559129e-02 1.48260186e+01] [ 3.42506777e-02 -8.64949511e-04 9.99412899e-01 3.10883652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.228040942 meters 0.024688882776464027 Centerline is valid? [True, True] Translation: X:100.87, Y:14.85, Z:3.11 [[ 9.40030207e-01 -3.39638401e-01 -3.14478374e-02 1.00873404e+02] [ 3.39476563e-01 9.40555755e-01 -1.05135816e-02 1.48462786e+01] [ 3.31492605e-02 -7.92719513e-04 9.99450098e-01 3.11061074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.288040942 meters 0.02348576732339871 Centerline is valid? [True, True] Translation: X:100.93, Y:14.87, Z:3.11 [[ 9.41667249e-01 -3.35109885e-01 -3.10508685e-02 1.00927696e+02] [ 3.34949396e-01 9.42178849e-01 -1.03884027e-02 1.48682815e+01] [ 3.27367279e-02 -6.18051086e-04 9.99463819e-01 3.11254876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.348040942 meters 0.021960161027883018 Centerline is valid? [True, True] Translation: X:100.98, Y:14.89, Z:3.11 [[ 9.43852538e-01 -3.28929201e-01 -3.07890810e-02 1.00981619e+02] [ 3.28768042e-01 9.44354500e-01 -1.03030009e-02 1.48904082e+01] [ 3.24647650e-02 -3.97952343e-04 9.99472801e-01 3.11416239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.408040942 meters 0.020454754659469457 Centerline is valid? [True, True] Translation: X:101.04, Y:14.91, Z:3.12 [[ 9.46547345e-01 -3.21017582e-01 -3.15568651e-02 1.01035082e+02] [ 3.20843796e-01 9.47073226e-01 -1.05623257e-02 1.49137530e+01] [ 3.32773543e-02 -1.27083048e-04 9.99446147e-01 3.11507597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.468040942 meters 0.020452611498187376 Centerline is valid? [True, True] Translation: X:101.09, Y:14.94, Z:3.11 [[ 9.49053055e-01 -3.13326794e-01 -3.35353363e-02 1.01088013e+02] [ 3.13125550e-01 9.49645353e-01 -1.12291663e-02 1.49364373e+01] [ 3.53650750e-02 1.56303950e-04 9.99374448e-01 3.11488775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.528040942 meters 0.02044190986895653 Centerline is valid? [True, True] Translation: X:101.14, Y:14.95, Z:3.12 [[ 9.50281999e-01 -3.09483727e-01 -3.44084875e-02 1.01144925e+02] [ 3.09269124e-01 9.50904687e-01 -1.15275616e-02 1.49529580e+01] [ 3.62867847e-02 3.12951484e-04 9.99341369e-01 3.11775635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.588040942 meters 0.02064823867718025 Centerline is valid? [True, True] Translation: X:101.20, Y:14.97, Z:3.12 [[ 9.50933238e-01 -3.07369730e-01 -3.53528778e-02 1.01202540e+02] [ 3.07141334e-01 9.51590078e-01 -1.18542568e-02 1.49668185e+01] [ 3.72850874e-02 4.14276734e-04 9.99304584e-01 3.12035719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.648040942 meters 0.020200614219139712 Centerline is valid? [True, True] Translation: X:101.26, Y:14.98, Z:3.12 [[ 9.49825348e-01 -3.10935262e-01 -3.39274332e-02 1.01259710e+02] [ 3.10726884e-01 9.50431054e-01 -1.13848258e-02 1.49768690e+01] [ 3.57856299e-02 2.71430548e-04 9.99359452e-01 3.12360800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.708040942 meters 0.019933711938092808 Centerline is valid? [True, True] Translation: X:101.32, Y:14.98, Z:3.13 [[ 9.47564995e-01 -3.17840227e-01 -3.31386633e-02 1.01319225e+02] [ 3.17645502e-01 9.48144287e-01 -1.11240931e-02 1.49833803e+01] [ 3.49559186e-02 1.44539198e-05 9.99388855e-01 3.12708856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.768040942 meters 0.020014295844783404 Centerline is valid? [True, True] Translation: X:101.38, Y:14.99, Z:3.13 [[ 9.45975579e-01 -3.22589934e-01 -3.26487206e-02 1.01376861e+02] [ 3.22403434e-01 9.46538806e-01 -1.09687560e-02 1.49942585e+01] [ 3.44416913e-02 -1.49884340e-04 9.99406698e-01 3.12997838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.828040942 meters 0.020290308377077015 Centerline is valid? [True, True] Translation: X:101.43, Y:15.00, Z:3.13 [[ 9.44317581e-01 -3.27401344e-01 -3.27515795e-02 1.01434635e+02] [ 3.27216219e-01 9.44885315e-01 -1.10130291e-02 1.50033603e+01] [ 3.45521671e-02 -3.17050994e-04 9.99402845e-01 3.13101371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.888040942 meters 0.020582360285611046 Centerline is valid? [True, True] Translation: X:101.49, Y:15.01, Z:3.13 [[ 9.43110768e-01 -3.30770232e-01 -3.36620378e-02 1.01493707e+02] [ 3.30576664e-01 9.43711212e-01 -1.13233200e-02 1.50134855e+01] [ 3.55126597e-02 -4.48739084e-04 9.99369126e-01 3.13242375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.948040942 meters 0.020816334515368237 Centerline is valid? [True, True] Translation: X:101.55, Y:15.02, Z:3.13 [[ 9.42232065e-01 -3.33165288e-01 -3.46356200e-02 1.01552272e+02] [ 3.32961615e-01 9.42868280e-01 -1.16605909e-02 1.50244881e+01] [ 3.65417315e-02 -5.45349307e-04 9.99331979e-01 3.13281000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.008040942 meters 0.02144601383570926 Centerline is valid? [True, True] Translation: X:101.61, Y:15.03, Z:3.13 [[ 9.41507244e-01 -3.35066270e-01 -3.59819895e-02 1.01610392e+02] [ 3.34847480e-01 9.42194350e-01 -1.21232163e-02 1.50333501e+01] [ 3.79641080e-02 -6.34382549e-04 9.99278902e-01 3.13257886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.068040942 meters 0.021848207143829942 Centerline is valid? [True, True] Translation: X:101.67, Y:15.05, Z:3.13 [[ 9.41109136e-01 -3.36130182e-01 -3.64704821e-02 1.01668506e+02] [ 3.35905969e-01 9.41815289e-01 -1.22939861e-02 1.50456034e+01] [ 3.84808374e-02 -6.80670047e-04 9.99259106e-01 3.13398208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.128040942 meters 0.02058598274821784 Centerline is valid? [True, True] Translation: X:101.72, Y:15.06, Z:3.14 [[ 9.42589265e-01 -3.32069876e-01 -3.54270339e-02 1.01724496e+02] [ 3.31855103e-01 9.43254661e-01 -1.19513452e-02 1.50648571e+01] [ 3.73853966e-02 -4.91432310e-04 9.99300801e-01 3.13756138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.188040942 meters 0.021111709542686447 Centerline is valid? [True, True] Translation: X:101.78, Y:15.08, Z:3.14 [[ 9.44987409e-01 -3.25225050e-01 -3.50351756e-02 1.01778658e+02] [ 3.25009992e-01 9.45636623e-01 -1.18271933e-02 1.50846455e+01] [ 3.69770447e-02 -2.10233376e-04 9.99316093e-01 3.13844779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.248040942 meters 0.01970874022422039 Centerline is valid? [True, True] Translation: X:101.83, Y:15.11, Z:3.14 [[ 9.46524590e-01 -3.20821267e-01 -3.41308608e-02 1.01833702e+02] [ 3.20614156e-01 9.47139754e-01 -1.15260294e-02 1.51057830e+01] [ 3.60244905e-02 -3.31668675e-05 9.99350907e-01 3.14201290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.308040942 meters 0.019533067261693318 Centerline is valid? [True, True] Translation: X:101.89, Y:15.12, Z:3.14 [[ 9.46747531e-01 -3.20083114e-01 -3.48699347e-02 1.01888701e+02] [ 3.19866064e-01 9.47389466e-01 -1.17856264e-02 1.51248882e+01] [ 3.68077888e-02 4.30393943e-06 9.99322364e-01 3.14225186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.368040942 meters 0.020293841584988787 Centerline is valid? [True, True] Translation: X:101.94, Y:15.14, Z:3.14 [[ 9.46380778e-01 -3.21040080e-01 -3.60095762e-02 1.01944097e+02] [ 3.20808907e-01 9.47065608e-01 -1.21810670e-02 1.51418921e+01] [ 3.80140419e-02 -2.42651299e-05 9.99277205e-01 3.14140683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.428040942 meters 0.020766307311237638 Centerline is valid? [True, True] Translation: X:102.00, Y:15.16, Z:3.14 [[ 9.45422184e-01 -3.23774385e-01 -3.67020594e-02 1.02000006e+02] [ 3.23536099e-01 9.46134309e-01 -1.24202524e-02 1.51590429e+01] [ 3.87464372e-02 -1.32058954e-04 9.99249066e-01 3.14295738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.488040942 meters 0.019649766640331866 Centerline is valid? [True, True] Translation: X:102.06, Y:15.18, Z:3.14 [[ 9.44463063e-01 -3.26457524e-01 -3.76165851e-02 1.02055649e+02] [ 3.26208918e-01 9.45211843e-01 -1.27402181e-02 1.51777510e+01] [ 3.97147818e-02 -2.38200183e-04 9.99211028e-01 3.14423578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.548040942 meters 0.021537705974709827 Centerline is valid? [True, True] Translation: X:102.11, Y:15.20, Z:3.14 [[ 9.43872831e-01 -3.27981516e-01 -3.91433733e-02 1.02110986e+02] [ 3.27713221e-01 9.44684091e-01 -1.32669853e-02 1.51963166e+01] [ 4.13294480e-02 -3.05454021e-04 9.99145527e-01 3.14419102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.608040942 meters 0.01953273883843449 Centerline is valid? [True, True] Translation: X:102.17, Y:15.21, Z:3.15 [[ 9.43261341e-01 -3.29718952e-01 -3.92868344e-02 1.02166451e+02] [ 3.29449899e-01 9.44079060e-01 -1.33226709e-02 1.52145723e+01] [ 4.14826148e-02 -3.76283244e-04 9.99139155e-01 3.14813231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.668040942 meters 0.019452671089723695 Centerline is valid? [True, True] Translation: X:102.22, Y:15.23, Z:3.15 [[ 9.42543974e-01 -3.31786993e-01 -3.90928186e-02 1.02222165e+02] [ 3.31521919e-01 9.43354220e-01 -1.32677361e-02 1.52337830e+01] [ 4.12804377e-02 -4.54701550e-04 9.99147496e-01 3.15053422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.728040942 meters 0.019713378518444832 Centerline is valid? [True, True] Translation: X:102.28, Y:15.25, Z:3.15 [[ 9.42479279e-01 -3.32022516e-01 -3.86504585e-02 1.02277176e+02] [ 3.31763160e-01 9.43271354e-01 -1.31285392e-02 1.52530340e+01] [ 4.08168409e-02 -4.49422117e-04 9.99166544e-01 3.15236093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.788040942 meters 0.019019712104588686 Centerline is valid? [True, True] Translation: X:102.33, Y:15.27, Z:3.15 [[ 9.43315030e-01 -3.29481244e-01 -3.99857904e-02 1.02332511e+02] [ 3.29200845e-01 9.44162060e-01 -1.35944504e-02 1.52735589e+01] [ 4.22321827e-02 -3.39506560e-04 9.99107766e-01 3.15334977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.848040942 meters 0.018959036246977767 Centerline is valid? [True, True] Translation: X:102.39, Y:15.29, Z:3.16 [[ 9.43605714e-01 -3.28642719e-01 -4.00277345e-02 1.02387188e+02] [ 3.28360504e-01 9.44454275e-01 -1.36198957e-02 1.52919894e+01] [ 4.22804445e-02 -2.91715616e-04 9.99105740e-01 3.15526216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.908040942 meters 0.018696080378934218 Centerline is valid? [True, True] Translation: X:102.44, Y:15.31, Z:3.16 [[ 9.44137070e-01 -3.26985074e-01 -4.10603852e-02 1.02442425e+02] [ 3.26685972e-01 9.45029480e-01 -1.39842285e-02 1.53109149e+01] [ 4.33759084e-02 -2.10823360e-04 9.99058800e-01 3.15703782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.968040942 meters 0.018893563327515902 Centerline is valid? [True, True] Translation: X:102.50, Y:15.33, Z:3.16 [[ 9.44420193e-01 -3.26130591e-01 -4.13441311e-02 1.02496096e+02] [ 3.25826037e-01 9.45324712e-01 -1.40919255e-02 1.53298814e+01] [ 4.36794368e-02 -1.62295365e-04 9.99045585e-01 3.15652019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.028040942 meters 0.01919853131937107 Centerline is valid? [True, True] Translation: X:102.55, Y:15.35, Z:3.16 [[ 9.43945455e-01 -3.27467978e-01 -4.16137132e-02 1.02552596e+02] [ 3.27160413e-01 9.44862252e-01 -1.41911408e-02 1.53477061e+01] [ 4.39663710e-02 -2.18696791e-04 9.99032988e-01 3.15972848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.088040942 meters 0.019388555229801964 Centerline is valid? [True, True] Translation: X:102.61, Y:15.37, Z:3.16 [[ 9.43336606e-01 -3.29298806e-01 -4.09676093e-02 1.02607606e+02] [ 3.29001957e-01 9.44225721e-01 -1.39821025e-02 1.53674664e+01] [ 4.32869601e-02 -2.88594515e-04 9.99062639e-01 3.16159151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.148040942 meters 0.020250620426893743 Centerline is valid? [True, True] Translation: X:102.66, Y:15.38, Z:3.16 [[ 9.41857663e-01 -3.33693971e-01 -3.94014891e-02 1.02662393e+02] [ 3.33422819e-01 9.42681346e-01 -1.34574828e-02 1.53844282e+01] [ 4.16337297e-02 -4.62322217e-04 9.99132833e-01 3.16420236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.208040942 meters 0.020882547886363317 Centerline is valid? [True, True] Translation: X:102.72, Y:15.40, Z:3.17 [[ 9.39855958e-01 -3.39528759e-01 -3.72961121e-02 1.02718759e+02] [ 3.39290190e-01 9.40595430e-01 -1.27437737e-02 1.54003195e+01] [ 3.94074303e-02 -6.76893306e-04 9.99222996e-01 3.16940623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.268040942 meters 0.02089738716292735 Centerline is valid? [True, True] Translation: X:102.77, Y:15.42, Z:3.17 [[ 9.38903645e-01 -3.42369041e-01 -3.52616614e-02 1.02774296e+02] [ 3.42157449e-01 9.39565265e-01 -1.20579434e-02 1.54189851e+01] [ 3.72588987e-02 -7.43793113e-04 9.99305369e-01 3.17330306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.328040942 meters 0.02090837900185936 Centerline is valid? [True, True] Translation: X:102.83, Y:15.44, Z:3.17 [[ 9.39504394e-01 -3.40816406e-01 -3.42880721e-02 1.02828017e+02] [ 3.40614994e-01 9.40129644e-01 -1.17336299e-02 1.54394752e+01] [ 3.62342465e-02 -6.55234641e-04 9.99343109e-01 3.17427509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.388040942 meters 0.02050207198600024 Centerline is valid? [True, True] Translation: X:102.88, Y:15.46, Z:3.18 [[ 9.40202422e-01 -3.38938660e-01 -3.37637429e-02 1.02883670e+02] [ 3.38742006e-01 9.40808301e-01 -1.15582774e-02 1.54597898e+01] [ 3.56827566e-02 -5.70077594e-04 9.99363005e-01 3.17674645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.448040942 meters 0.019697067266003024 Centerline is valid? [True, True] Translation: X:102.94, Y:15.48, Z:3.18 [[ 9.40550067e-01 -3.38141962e-01 -3.20247434e-02 1.02939301e+02] [ 3.37964309e-01 9.41094979e-01 -1.09711791e-02 1.54800770e+01] [ 3.38481412e-02 -5.04277022e-04 9.99426860e-01 3.18148363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.508040942 meters 0.01958868601032486 Centerline is valid? [True, True] Translation: X:102.99, Y:15.50, Z:3.18 [[ 9.40898099e-01 -3.37150967e-01 -3.22489228e-02 1.02994689e+02] [ 3.36969922e-01 9.41450482e-01 -1.10571739e-02 1.55005902e+01] [ 3.40887008e-02 -4.63243090e-04 9.99418704e-01 3.18240176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.568040942 meters 0.0196921683897373 Centerline is valid? [True, True] Translation: X:103.05, Y:15.52, Z:3.18 [[ 9.40728785e-01 -3.37625784e-01 -3.22208434e-02 1.03049818e+02] [ 3.37445043e-01 9.41280302e-01 -1.10560294e-02 1.55192802e+01] [ 3.40616458e-02 -4.72038748e-04 9.99419622e-01 3.18329853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.628040942 meters 0.019745591174543182 Centerline is valid? [True, True] Translation: X:103.11, Y:15.54, Z:3.19 [[ 9.39806823e-01 -3.40173049e-01 -3.23331412e-02 1.03106514e+02] [ 3.39992422e-01 9.40362685e-01 -1.10983153e-02 1.55357520e+01] [ 3.41802272e-02 -5.62750558e-04 9.99415527e-01 3.18583434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.688040942 meters 0.02033346594605361 Centerline is valid? [True, True] Translation: X:103.16, Y:15.55, Z:3.19 [[ 9.38940221e-01 -3.42566170e-01 -3.22440688e-02 1.03161555e+02] [ 3.42387651e-01 9.39493486e-01 -1.10764003e-02 1.55546436e+01] [ 3.40874926e-02 -6.39893223e-04 9.99418648e-01 3.18577237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.748040942 meters 0.02042978471362367 Centerline is valid? [True, True] Translation: X:103.22, Y:15.58, Z:3.19 [[ 9.38491549e-01 -3.43710276e-01 -3.31188654e-02 1.03217037e+02] [ 3.43522455e-01 9.39075483e-01 -1.13824113e-02 1.55752516e+01] [ 3.50133662e-02 -6.94777131e-04 9.99386603e-01 3.18644930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.808040942 meters 0.01988802402233381 Centerline is valid? [True, True] Translation: X:103.27, Y:15.60, Z:3.19 [[ 9.38416351e-01 -3.43952523e-01 -3.27324665e-02 1.03271421e+02] [ 3.43768896e-01 9.38986789e-01 -1.12585986e-02 1.55953813e+01] [ 3.46077770e-02 -6.87150849e-04 9.99400735e-01 3.18922502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.868040942 meters 0.020985115512409138 Centerline is valid? [True, True] Translation: X:103.33, Y:15.62, Z:3.19 [[ 9.38895969e-01 -3.42442503e-01 -3.47489861e-02 1.03325490e+02] [ 3.42234129e-01 9.39538555e-01 -1.19626589e-02 1.56154968e+01] [ 3.67445351e-02 -6.60596738e-04 9.99324473e-01 3.18843383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.928040942 meters 0.019325587370693155 Centerline is valid? [True, True] Translation: X:103.38, Y:15.64, Z:3.19 [[ 9.38779481e-01 -3.42698968e-01 -3.53624646e-02 1.03379079e+02] [ 3.42483168e-01 9.39445027e-01 -1.21787286e-02 1.56371068e+01] [ 3.73947292e-02 -6.77908437e-04 9.99300343e-01 3.19044385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.988040942 meters 0.019373926071819324 Centerline is valid? [True, True] Translation: X:103.43, Y:15.66, Z:3.19 [[ 9.38401754e-01 -3.43678217e-01 -3.58808013e-02 1.03434254e+02] [ 3.43456327e-01 9.39087200e-01 -1.23685915e-02 1.56564945e+01] [ 3.79460167e-02 -7.16780314e-04 9.99279533e-01 3.19286134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.048040942 meters 0.019463985459910002 Centerline is valid? [True, True] Translation: X:103.49, Y:15.68, Z:3.20 [[ 9.38107411e-01 -3.44405154e-01 -3.66002037e-02 1.03490118e+02] [ 3.44174423e-01 9.38820816e-01 -1.26270010e-02 1.56752827e+01] [ 3.87098374e-02 -7.51370783e-04 9.99250211e-01 3.19511788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.108040942 meters 0.01950669919202567 Centerline is valid? [True, True] Translation: X:103.55, Y:15.69, Z:3.20 [[ 9.38010702e-01 -3.44716149e-01 -3.61483072e-02 1.03545143e+02] [ 3.44490923e-01 9.38706675e-01 -1.24813102e-02 1.56940671e+01] [ 3.82351664e-02 -7.45161127e-04 9.99268491e-01 3.19821765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.168040942 meters 0.01929608222127577 Centerline is valid? [True, True] Translation: X:103.60, Y:15.71, Z:3.20 [[ 9.38244182e-01 -3.44195918e-01 -3.50289101e-02 1.03600296e+02] [ 3.43983675e-01 9.38897594e-01 -1.21053567e-02 1.57135872e+01] [ 3.70551738e-02 -6.91592740e-04 9.99312982e-01 3.20015689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.228040942 meters 0.018871628505633453 Centerline is valid? [True, True] Translation: X:103.66, Y:15.73, Z:3.20 [[ 9.39081773e-01 -3.41893274e-01 -3.51341960e-02 1.03656115e+02] [ 3.41677786e-01 9.39738600e-01 -1.21512988e-02 1.57339307e+01] [ 3.71714075e-02 -5.93511084e-04 9.99308728e-01 3.20225270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.288040942 meters 0.01821185687658338 Centerline is valid? [True, True] Translation: X:103.71, Y:15.76, Z:3.20 [[ 9.40123109e-01 -3.38864384e-01 -3.65987680e-02 1.03711401e+02] [ 3.38627884e-01 9.40835105e-01 -1.26673409e-02 1.57556859e+01] [ 3.87259164e-02 -4.84503472e-04 9.99249753e-01 3.20319671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.348040942 meters 0.017756123179580464 Centerline is valid? [True, True] Translation: X:103.77, Y:15.78, Z:3.20 [[ 9.41163397e-01 -3.36005155e-01 -3.62214983e-02 1.03765474e+02] [ 3.35771073e-01 9.41860080e-01 -1.25449838e-02 1.57775784e+01] [ 3.83307624e-02 -3.55251794e-04 9.99265043e-01 3.20471180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.408040942 meters 0.01731178462134089 Centerline is valid? [True, True] Translation: X:103.82, Y:15.80, Z:3.21 [[ 9.41415424e-01 -3.35304954e-01 -3.61605811e-02 1.03819544e+02] [ 3.35070902e-01 9.42109593e-01 -1.25301826e-02 1.57995625e+01] [ 3.82686626e-02 -3.20251352e-04 9.99267435e-01 3.20686994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.468040942 meters 0.01716852086547343 Centerline is valid? [True, True] Translation: X:103.87, Y:15.82, Z:3.21 [[ 9.41390067e-01 -3.35425197e-01 -3.57026543e-02 1.03874010e+02] [ 3.35196699e-01 9.42066792e-01 -1.23827424e-02 1.58208553e+01] [ 3.77877688e-02 -3.10421192e-04 9.99285739e-01 3.20710495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.528040942 meters 0.01695693572774688 Centerline is valid? [True, True] Translation: X:103.93, Y:15.84, Z:3.21 [[ 9.41602673e-01 -3.34842850e-01 -3.55622306e-02 1.03928538e+02] [ 3.34615311e-01 9.42273946e-01 -1.23452050e-02 1.58406059e+01] [ 3.76430670e-02 -2.75388863e-04 9.99291211e-01 3.20943904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.588040942 meters 0.016747221117884903 Centerline is valid? [True, True] Translation: X:103.98, Y:15.86, Z:3.21 [[ 9.41606785e-01 -3.34974385e-01 -3.41880734e-02 1.03982806e+02] [ 3.34763798e-01 9.42227199e-01 -1.18787823e-02 1.58620084e+01] [ 3.61920205e-02 -2.59787274e-04 9.99344820e-01 3.21165226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.648040942 meters 0.016853183030399985 Centerline is valid? [True, True] Translation: X:104.04, Y:15.88, Z:3.21 [[ 9.41462183e-01 -3.35613376e-01 -3.18216740e-02 1.04035948e+02] [ 3.35430999e-01 9.41999786e-01 -1.10656683e-02 1.58839487e+01] [ 3.36897964e-02 -2.56067607e-04 9.99432305e-01 3.21435492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.708040942 meters 0.01703426303711767 Centerline is valid? [True, True] Translation: X:104.09, Y:15.91, Z:3.22 [[ 9.41557586e-01 -3.35524598e-01 -2.98756852e-02 1.04088775e+02] [ 3.35363715e-01 9.42031416e-01 -1.03917946e-02 1.59067188e+01] [ 3.16305368e-02 -2.34747794e-04 9.99499602e-01 3.21696324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.768040942 meters 0.017092380669888205 Centerline is valid? [True, True] Translation: X:104.14, Y:15.93, Z:3.22 [[ 9.41509248e-01 -3.35707571e-01 -2.93387597e-02 1.04142680e+02] [ 3.35552386e-01 9.41966227e-01 -1.02090108e-02 1.59275945e+01] [ 3.10633630e-02 -2.32812724e-04 9.99517390e-01 3.21868495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.828040942 meters 0.017297444527850973 Centerline is valid? [True, True] Translation: X:104.19, Y:15.95, Z:3.22 [[ 9.41680086e-01 -3.35399995e-01 -2.73031100e-02 1.04194873e+02] [ 3.35265234e-01 9.42075795e-01 -9.50891701e-03 1.59509966e+01] [ 2.89108898e-02 -1.99425780e-04 9.99581973e-01 3.22099452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.888040942 meters 0.017423704449556186 Centerline is valid? [True, True] Translation: X:104.25, Y:15.97, Z:3.22 [[ 9.41532317e-01 -3.35871853e-01 -2.65893728e-02 1.04248061e+02] [ 3.35744150e-01 9.41907669e-01 -9.26337030e-03 1.59747744e+01] [ 2.81560395e-02 -2.05463850e-04 9.99603519e-01 3.22245603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.948040942 meters 0.017580827288543367 Centerline is valid? [True, True] Translation: X:104.30, Y:16.00, Z:3.23 [[ 9.41393903e-01 -3.36349663e-01 -2.54248776e-02 1.04302239e+02] [ 3.36232878e-01 9.41737152e-01 -8.86504512e-03 1.59970488e+01] [ 2.69253067e-02 -2.03180330e-04 9.99637428e-01 3.22511739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.008040942 meters 0.017790553042220696 Centerline is valid? [True, True] Translation: X:104.36, Y:16.02, Z:3.23 [[ 9.41212005e-01 -3.36941835e-01 -2.42932344e-02 1.04355520e+02] [ 3.36835208e-01 9.41525443e-01 -8.47841406e-03 1.60194428e+01] [ 2.57294306e-02 -2.02831564e-04 9.99668923e-01 3.22732452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.068040942 meters 0.018085546770718563 Centerline is valid? [True, True] Translation: X:104.41, Y:16.04, Z:3.22 [[ 9.40465057e-01 -3.38819523e-01 -2.69593619e-02 1.04409395e+02] [ 3.38688908e-01 9.40851344e-01 -9.41124140e-03 1.60421739e+01] [ 2.85534642e-02 -2.79893154e-04 9.99592228e-01 3.22492987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.128040942 meters 0.018413754056810144 Centerline is valid? [True, True] Translation: X:104.46, Y:16.06, Z:3.23 [[ 9.38598732e-01 -3.43929869e-01 -2.72885722e-02 1.04464361e+02] [ 3.43797963e-01 9.38995239e-01 -9.53427198e-03 1.60636914e+01] [ 2.89029603e-02 -4.32899957e-04 9.99582128e-01 3.22531902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.188040942 meters 0.019907900553190295 Centerline is valid? [True, True] Translation: X:104.52, Y:16.08, Z:3.23 [[ 9.35851025e-01 -3.51331477e-01 -2.73688219e-02 1.04520392e+02] [ 3.51201713e-01 9.36250908e-01 -9.57043774e-03 1.60838682e+01] [ 2.89864804e-02 -6.55473152e-04 9.99579589e-01 3.22759249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.248040942 meters 0.02078310793633261 Centerline is valid? [True, True] Translation: X:104.58, Y:16.10, Z:3.23 [[ 9.34185318e-01 -3.55713032e-01 -2.76772464e-02 1.04576198e+02] [ 3.55582212e-01 9.34594885e-01 -9.67937896e-03 1.61037344e+01] [ 2.93100941e-02 -7.99202778e-04 9.99570047e-01 3.22913866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.308040942 meters 0.022142344150305925 Centerline is valid? [True, True] Translation: X:104.63, Y:16.13, Z:3.23 [[ 9.32573953e-01 -3.59875594e-01 -2.82024687e-02 1.04631922e+02] [ 3.59741606e-01 9.32999819e-01 -9.86481305e-03 1.61257325e+01] [ 2.98630036e-02 -9.45933665e-04 9.99553553e-01 3.23076931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.368040942 meters 0.022442816258877542 Centerline is valid? [True, True] Translation: X:104.69, Y:16.15, Z:3.23 [[ 9.32266179e-01 -3.60647709e-01 -2.85131719e-02 1.04685451e+02] [ 3.60511083e-01 9.32701597e-01 -9.97447676e-03 1.61505762e+01] [ 3.01915532e-02 -9.80447147e-04 9.99543650e-01 3.23174834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.428040942 meters 0.02243297910838757 Centerline is valid? [True, True] Translation: X:104.74, Y:16.17, Z:3.23 [[ 9.32252989e-01 -3.60557518e-01 -3.00439737e-02 1.04739688e+02] [ 3.60405498e-01 9.32736421e-01 -1.05188051e-02 1.61739770e+01] [ 3.18157428e-02 -1.02182577e-03 9.99493229e-01 3.23267652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.488040942 meters 0.02180698640108786 Centerline is valid? [True, True] Translation: X:104.79, Y:16.20, Z:3.23 [[ 9.32756741e-01 -3.59088451e-01 -3.19428584e-02 1.04793281e+02] [ 3.58915422e-01 9.33302971e-01 -1.11930801e-02 1.61989251e+01] [ 3.38316705e-02 -1.02436362e-03 9.99427020e-01 3.23313652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.548040942 meters 0.021761550106288212 Centerline is valid? [True, True] Translation: X:104.85, Y:16.22, Z:3.24 [[ 9.33764105e-01 -3.56514535e-01 -3.13366019e-02 1.04846793e+02] [ 3.56346286e-01 9.34289338e-01 -1.09890088e-02 1.62217475e+01] [ 3.31951944e-02 -9.05539693e-04 9.99448477e-01 3.23542861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.608040942 meters 0.021126799192879818 Centerline is valid? [True, True] Translation: X:104.90, Y:16.24, Z:3.24 [[ 9.34996707e-01 -3.53538856e-01 -2.81324652e-02 1.04900830e+02] [ 3.53401809e-01 9.35419567e-01 -9.86889988e-03 1.62443030e+01] [ 2.98046980e-02 -7.14675191e-04 9.99555486e-01 3.24076496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.668040942 meters 0.02079252507326345 Centerline is valid? [True, True] Translation: X:104.96, Y:16.27, Z:3.24 [[ 9.35914039e-01 -3.51140441e-01 -2.76640980e-02 1.04956155e+02] [ 3.51006818e-01 9.36322593e-01 -9.70646012e-03 1.62659744e+01] [ 2.93108507e-02 -6.25874711e-04 9.99570149e-01 3.24306952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.728040942 meters 0.019690445635042388 Centerline is valid? [True, True] Translation: X:105.01, Y:16.29, Z:3.24 [[ 9.37835837e-01 -3.45852706e-01 -2.91521676e-02 1.05011144e+02] [ 3.45701519e-01 9.38288696e-01 -1.02363279e-02 1.62868524e+01] [ 3.08934110e-02 -4.77953422e-04 9.99522570e-01 3.24366752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.788040942 meters 0.01873048701953347 Centerline is valid? [True, True] Translation: X:105.07, Y:16.31, Z:3.25 [[ 9.40116381e-01 -3.39612229e-01 -2.90641220e-02 1.05066591e+02] [ 3.39458897e-01 9.40565501e-01 -1.02076427e-02 1.63063508e+01] [ 3.08033507e-02 -2.69702684e-04 9.99525428e-01 3.24676050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.848040942 meters 0.01833005230171827 Centerline is valid? [True, True] Translation: X:105.12, Y:16.32, Z:3.25 [[ 9.42315948e-01 -3.33445327e-01 -2.92381225e-02 1.05121041e+02] [ 3.33287108e-01 9.42769436e-01 -1.02710285e-02 1.63247757e+01] [ 3.09896347e-02 -6.61353590e-05 9.99519704e-01 3.24942865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.908040942 meters 0.018421773523776143 Centerline is valid? [True, True] Translation: X:105.18, Y:16.34, Z:3.25 [[ 9.44331673e-01 -3.27585502e-01 -3.04208927e-02 1.05177073e+02] [ 3.27411070e-01 9.44821529e-01 -1.06897439e-02 1.63414339e+01] [ 3.22441194e-02 1.34526747e-04 9.99480014e-01 3.25198466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.968040942 meters 0.018776493159774563 Centerline is valid? [True, True] Translation: X:105.23, Y:16.36, Z:3.25 [[ 9.45538028e-01 -3.24026887e-01 -3.10550098e-02 1.05234516e+02] [ 3.23842908e-01 9.46047834e-01 -1.09209426e-02 1.63566569e+01] [ 3.29182038e-02 2.69221803e-04 9.99458013e-01 3.25422640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.028040942 meters 0.01883207068984505 Centerline is valid? [True, True] Translation: X:105.29, Y:16.37, Z:3.26 [[ 9.45591183e-01 -3.23930057e-01 -3.04406545e-02 1.05291025e+02] [ 3.23752977e-01 9.46080991e-01 -1.07129761e-02 1.63717232e+01] [ 3.22695795e-02 2.74843224e-04 9.99479164e-01 3.25666441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.088040942 meters 0.018527114948965893 Centerline is valid? [True, True] Translation: X:105.35, Y:16.38, Z:3.26 [[ 9.44341469e-01 -3.27442058e-01 -3.16368304e-02 1.05349563e+02] [ 3.27252428e-01 9.44871245e-01 -1.11435294e-02 1.63785605e+01] [ 3.35415916e-02 1.70067360e-04 9.99437308e-01 3.25900562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.148040942 meters 0.01868883684808422 Centerline is valid? [True, True] Translation: X:105.41, Y:16.38, Z:3.26 [[ 9.41605854e-01 -3.35065696e-01 -3.33075804e-02 1.05410099e+02] [ 3.34860062e-01 9.42194762e-01 -1.17375309e-02 1.63816446e+01] [ 3.53150717e-02 -1.01250593e-04 9.99376223e-01 3.26113213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.208040942 meters 0.019265859982490918 Centerline is valid? [True, True] Translation: X:105.47, Y:16.39, Z:3.26 [[ 9.39409855e-01 -3.41065226e-01 -3.44040143e-02 1.05470568e+02] [ 3.40849463e-01 9.40039576e-01 -1.21342398e-02 1.63879139e+01] [ 3.64797022e-02 -3.27565333e-04 9.99334340e-01 3.26363817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.268040942 meters 0.019600067904246878 Centerline is valid? [True, True] Translation: X:105.53, Y:16.40, Z:3.27 [[ 9.38165291e-01 -3.44465628e-01 -3.44865020e-02 1.05529795e+02] [ 3.44250792e-01 9.38798821e-01 -1.21723316e-02 1.63966766e+01] [ 3.65688373e-02 -4.52346609e-04 9.99331034e-01 3.26787936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.328040942 meters 0.020606281437579275 Centerline is valid? [True, True] Translation: X:105.59, Y:16.41, Z:3.27 [[ 9.37694507e-01 -3.45678262e-01 -3.51504148e-02 1.05587336e+02] [ 3.45455599e-01 9.38352966e-01 -1.24153640e-02 1.64072032e+01] [ 3.72752174e-02 -5.01089005e-04 9.99304912e-01 3.26902261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.388040942 meters 0.021124187615591896 Centerline is valid? [True, True] Translation: X:105.65, Y:16.42, Z:3.27 [[ 9.37200274e-01 -3.46884950e-01 -3.64208511e-02 1.05646413e+02] [ 3.46646623e-01 9.37907518e-01 -1.28688029e-02 1.64170775e+01] [ 3.86233841e-02 -5.64519404e-04 9.99253679e-01 3.27030910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.448040942 meters 0.02022871560262867 Centerline is valid? [True, True] Translation: X:105.70, Y:16.43, Z:3.27 [[ 9.37581945e-01 -3.45855534e-01 -3.63874352e-02 1.05704088e+02] [ 3.45616514e-01 9.38287635e-01 -1.28662050e-02 1.64301562e+01] [ 3.85917287e-02 -5.12977005e-04 9.99254930e-01 3.27460899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.508040942 meters 0.019621016128658287 Centerline is valid? [True, True] Translation: X:105.76, Y:16.44, Z:3.28 [[ 9.38702868e-01 -3.42851876e-01 -3.59098357e-02 1.05761792e+02] [ 3.42616527e-01 9.39389403e-01 -1.27069144e-02 1.64441686e+01] [ 3.80899085e-02 -3.75286197e-04 9.99274246e-01 3.27872491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.568040942 meters 0.019120619353183453 Centerline is valid? [True, True] Translation: X:105.82, Y:16.46, Z:3.28 [[ 9.40854729e-01 -3.37032032e-01 -3.46668269e-02 1.05817380e+02] [ 3.36808395e-01 9.41493172e-01 -1.22764551e-02 1.64645539e+01] [ 3.67761395e-02 -1.25717494e-04 9.99323521e-01 3.28181778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.628040942 meters 0.018937364245408445 Centerline is valid? [True, True] Translation: X:105.87, Y:16.49, Z:3.28 [[ 9.42412971e-01 -3.32702765e-01 -3.41564381e-02 1.05871100e+02] [ 3.32482466e-01 9.43031743e-01 -1.21054538e-02 1.64855080e+01] [ 3.62381233e-02 5.19198813e-05 9.99343182e-01 3.28475436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.688040942 meters 0.01897389960066158 Centerline is valid? [True, True] Translation: X:105.93, Y:16.51, Z:3.29 [[ 9.43052484e-01 -3.30867388e-01 -3.43334149e-02 1.05925487e+02] [ 3.30643206e-01 9.43677251e-01 -1.21785196e-02 1.65053742e+01] [ 3.64291375e-02 1.32872763e-04 9.99336230e-01 3.28700939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.748040942 meters 0.0189613279704373 Centerline is valid? [True, True] Translation: X:105.98, Y:16.52, Z:3.29 [[ 9.42862343e-01 -3.31456617e-01 -3.38690646e-02 1.05980582e+02] [ 3.31238628e-01 9.43470454e-01 -1.20196891e-02 1.65240857e+01] [ 3.59384672e-02 1.14169729e-04 9.99353998e-01 3.29091203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.808040942 meters 0.018939677729549218 Centerline is valid? [True, True] Translation: X:106.04, Y:16.54, Z:3.29 [[ 9.42049676e-01 -3.33747851e-01 -3.39820594e-02 1.06035184e+02] [ 3.33529529e-01 9.42662384e-01 -1.20698971e-02 1.65420731e+01] [ 3.60619113e-02 3.64224029e-05 9.99349557e-01 3.29288904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.868040942 meters 0.019036229874066574 Centerline is valid? [True, True] Translation: X:106.09, Y:16.56, Z:3.29 [[ 9.40090627e-01 -3.39166642e-01 -3.45774659e-02 1.06091976e+02] [ 3.38944050e-01 9.40726294e-01 -1.22869990e-02 1.65592688e+01] [ 3.66952715e-02 -1.68933770e-04 9.99326487e-01 3.29452090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.928040942 meters 0.019482433857116538 Centerline is valid? [True, True] Translation: X:106.15, Y:16.58, Z:3.29 [[ 9.37883479e-01 -3.45035104e-01 -3.64054594e-02 1.06148314e+02] [ 3.44792345e-01 9.38589692e-01 -1.29471572e-02 1.65761944e+01] [ 3.86370126e-02 -4.09398911e-04 9.99253228e-01 3.29475402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.988040942 meters 0.020321284939312744 Centerline is valid? [True, True] Translation: X:106.20, Y:16.59, Z:3.30 [[ 9.36029712e-01 -3.49906710e-01 -3.75988309e-02 1.06204132e+02] [ 3.49651299e-01 9.36784345e-01 -1.33813445e-02 1.65934566e+01] [ 3.99042185e-02 -6.21143996e-04 9.99203316e-01 3.29582759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.048040942 meters 0.021200810735127765 Centerline is valid? [True, True] Translation: X:106.26, Y:16.61, Z:3.30 [[ 9.34584256e-01 -3.53866627e-01 -3.64784557e-02 1.06260250e+02] [ 3.53628983e-01 9.35295585e-01 -1.29888873e-02 1.66126093e+01] [ 3.87144723e-02 -7.60629619e-04 9.99250024e-01 3.29716533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.108040942 meters 0.021256790649086966 Centerline is valid? [True, True] Translation: X:106.32, Y:16.63, Z:3.30 [[ 9.34116194e-01 -3.55226054e-01 -3.52333055e-02 1.06315980e+02] [ 3.55004972e-01 9.34780103e-01 -1.25550166e-02 1.66322952e+01] [ 3.73952620e-02 -7.80154262e-04 9.99300248e-01 3.30012968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.168040942 meters 0.021260430984959347 Centerline is valid? [True, True] Translation: X:106.37, Y:16.65, Z:3.30 [[ 9.34553826e-01 -3.54130510e-01 -3.46515389e-02 1.06369672e+02] [ 3.53915601e-01 9.35195739e-01 -1.23563037e-02 1.66533497e+01] [ 3.67817157e-02 -7.16089284e-04 9.99323067e-01 3.30218519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.228040942 meters 0.020832480373481017 Centerline is valid? [True, True] Translation: X:106.42, Y:16.68, Z:3.30 [[ 9.35426710e-01 -3.51855840e-01 -3.42686098e-02 1.06424123e+02] [ 3.51643975e-01 9.36053999e-01 -1.22239968e-02 1.66759499e+01] [ 3.63783539e-02 -6.15697053e-04 9.99337899e-01 3.30380021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.288040942 meters 0.019839652848646343 Centerline is valid? [True, True] Translation: X:106.48, Y:16.70, Z:3.31 [[ 9.37047591e-01 -3.47493120e-01 -3.45013653e-02 1.06477728e+02] [ 3.47275057e-01 9.37682429e-01 -1.23165321e-02 1.67002920e+01] [ 3.66312341e-02 -4.40286896e-04 9.99328754e-01 3.30561352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.348040942 meters 0.019544425364590477 Centerline is valid? [True, True] Translation: X:106.53, Y:16.72, Z:3.31 [[ 9.38446330e-01 -3.43657532e-01 -3.48996528e-02 1.06532234e+02] [ 3.43431383e-01 9.39095000e-01 -1.24685899e-02 1.67212372e+01] [ 3.70590143e-02 -2.84533599e-04 9.99313038e-01 3.30705655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.408040942 meters 0.01923644330014789 Centerline is valid? [True, True] Translation: X:106.59, Y:16.74, Z:3.31 [[ 9.39012239e-01 -3.42308181e-01 -3.28804625e-02 1.06587210e+02] [ 3.42106322e-01 9.39587710e-01 -1.17558262e-02 1.67429182e+01] [ 3.49181939e-02 -2.09749349e-04 9.99390152e-01 3.30992856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.468040942 meters 0.019241722548123192 Centerline is valid? [True, True] Translation: X:106.64, Y:16.76, Z:3.31 [[ 9.38774917e-01 -3.42933400e-01 -3.31411961e-02 1.06642248e+02] [ 3.42728387e-01 9.39359693e-01 -1.18583472e-02 1.67616954e+01] [ 3.51981271e-02 -2.26109794e-04 9.99380328e-01 3.31140815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.528040942 meters 0.019849597855092355 Centerline is valid? [True, True] Translation: X:106.70, Y:16.78, Z:3.31 [[ 9.37123050e-01 -3.47408928e-01 -3.32780018e-02 1.06699577e+02] [ 3.47204675e-01 9.37713649e-01 -1.19174651e-02 1.67771517e+01] [ 3.53454703e-02 -3.86146497e-04 9.99375079e-01 3.31317446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.588040942 meters 0.0212666453761598 Centerline is valid? [True, True] Translation: X:106.76, Y:16.79, Z:3.32 [[ 9.34801647e-01 -3.53745269e-01 -3.17831092e-02 1.06757327e+02] [ 3.53562343e-01 9.35341615e-01 -1.13900552e-02 1.67927743e+01] [ 3.37572428e-02 -5.89868192e-04 9.99429888e-01 3.31512945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.648040942 meters 0.022955212630042323 Centerline is valid? [True, True] Translation: X:106.81, Y:16.81, Z:3.32 [[ 9.33055392e-01 -3.58373628e-01 -3.12406547e-02 1.06814131e+02] [ 3.58199292e-01 9.33577954e-01 -1.12013587e-02 1.68075541e+01] [ 3.31798581e-02 -7.38892248e-04 9.99449124e-01 3.31778579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.708040942 meters 0.024108549426365335 Centerline is valid? [True, True] Translation: X:106.87, Y:16.82, Z:3.32 [[ 9.32355114e-01 -3.60276537e-01 -3.02449781e-02 1.06869596e+02] [ 3.60114084e-01 9.32845223e-01 -1.08460350e-02 1.68230996e+01] [ 3.21214553e-02 -7.79286392e-04 9.99483669e-01 3.32040709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.768040942 meters 0.02198135652011451 Centerline is valid? [True, True] Translation: X:106.92, Y:16.85, Z:3.32 [[ 9.32911229e-01 -3.58840670e-01 -3.01664212e-02 1.06923496e+02] [ 3.58678217e-01 9.33398547e-01 -1.08207905e-02 1.68485649e+01] [ 3.20402335e-02 -7.25201210e-04 9.99486317e-01 3.32235385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.828040942 meters 0.024809909959135214 Centerline is valid? [True, True] Translation: X:106.98, Y:16.87, Z:3.32 [[ 9.33902567e-01 -3.56090464e-01 -3.20246339e-02 1.06978218e+02] [ 3.55905475e-01 9.34451253e-01 -1.14956196e-02 1.68678340e+01] [ 3.40189398e-02 -6.61953935e-04 9.99420969e-01 3.31983933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.888040942 meters 0.021141473668289678 Centerline is valid? [True, True] Translation: X:107.03, Y:16.89, Z:3.32 [[ 9.34591111e-01 -3.54370882e-01 -3.09957010e-02 1.07031862e+02] [ 3.54196540e-01 9.35104777e-01 -1.11295144e-02 1.68938397e+01] [ 3.29282039e-02 -5.77024858e-04 9.99457553e-01 3.32320944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.948040942 meters 0.021014251391320085 Centerline is valid? [True, True] Translation: X:107.09, Y:16.91, Z:3.33 [[ 9.34808636e-01 -3.53849232e-01 -3.03897310e-02 1.07087302e+02] [ 3.53681117e-01 9.35302320e-01 -1.09196381e-02 1.69140563e+01] [ 3.22874914e-02 -5.40502031e-04 9.99478477e-01 3.32594171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.008040942 meters 0.020984442675324313 Centerline is valid? [True, True] Translation: X:107.14, Y:16.94, Z:3.33 [[ 9.34268100e-01 -3.55133162e-01 -3.19930473e-02 1.07142509e+02] [ 3.54947271e-01 9.34815527e-01 -1.15050576e-02 1.69352628e+01] [ 3.39934249e-02 -6.07036560e-04 9.99421872e-01 3.32610278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.068040942 meters 0.021506328652221206 Centerline is valid? [True, True] Translation: X:107.20, Y:16.95, Z:3.33 [[ 9.33417525e-01 -3.57404406e-01 -3.15248147e-02 1.07196904e+02] [ 3.57224926e-01 9.33949485e-01 -1.13451593e-02 1.69545125e+01] [ 3.34973944e-02 -6.71679122e-04 9.99438579e-01 3.32791447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.128040942 meters 0.021998655899139907 Centerline is valid? [True, True] Translation: X:107.25, Y:16.97, Z:3.33 [[ 9.32889814e-01 -3.58919540e-01 -2.98891106e-02 1.07252023e+02] [ 3.58758888e-01 9.33368252e-01 -1.07594989e-02 1.69739704e+01] [ 3.17593413e-02 -6.85557150e-04 9.99495310e-01 3.33175892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.188040942 meters 0.022850321561956842 Centerline is valid? [True, True] Translation: X:107.31, Y:16.99, Z:3.33 [[ 9.31913474e-01 -3.61507845e-01 -2.91436831e-02 1.07306950e+02] [ 3.61356126e-01 9.32368768e-01 -1.04990527e-02 1.69948689e+01] [ 3.09681499e-02 -7.47039723e-04 9.99520093e-01 3.33266926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.248040942 meters 0.02330186204438258 Centerline is valid? [True, True] Translation: X:107.36, Y:17.01, Z:3.34 [[ 9.31176341e-01 -3.63409250e-01 -2.90575073e-02 1.07362312e+02] [ 3.63259106e-01 9.31629259e-01 -1.04759744e-02 1.70136905e+01] [ 3.08778900e-02 -8.00424582e-04 9.99522844e-01 3.33505857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.308040942 meters 0.02291542487605283 Centerline is valid? [True, True] Translation: X:107.42, Y:17.03, Z:3.34 [[ 9.31218110e-01 -3.63275177e-01 -2.93934828e-02 1.07416505e+02] [ 3.63121217e-01 9.31681549e-01 -1.06052736e-02 1.70349754e+01] [ 3.12379983e-02 -7.97574441e-04 9.99511656e-01 3.33732361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.368040942 meters 0.022967588110718 Centerline is valid? [True, True] Translation: X:107.47, Y:17.06, Z:3.34 [[ 9.31217725e-01 -3.63141053e-01 -3.10181274e-02 1.07469706e+02] [ 3.62969182e-01 9.31733809e-01 -1.12018386e-02 1.70582305e+01] [ 3.29684855e-02 -8.27273668e-04 9.99456049e-01 3.33667057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.428040942 meters 0.02319039921831555 Centerline is valid? [True, True] Translation: X:107.53, Y:17.08, Z:3.34 [[ 9.30668183e-01 -3.64543238e-01 -3.10638187e-02 1.07525025e+02] [ 3.64371316e-01 9.31186057e-01 -1.12281667e-02 1.70787379e+01] [ 3.30193471e-02 -8.69066983e-04 9.99454335e-01 3.33811472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.488040942 meters 0.02351159994868192 Centerline is valid? [True, True] Translation: X:107.58, Y:17.10, Z:3.34 [[ 9.29689846e-01 -3.67021972e-01 -3.11715121e-02 1.07580746e+02] [ 3.66849955e-01 9.30211785e-01 -1.12758505e-02 1.70973250e+01] [ 3.31345928e-02 -9.52224081e-04 9.99450445e-01 3.34088185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.548040942 meters 0.024405661920988135 Centerline is valid? [True, True] Translation: X:107.64, Y:17.12, Z:3.34 [[ 9.29544416e-01 -3.67261430e-01 -3.26530199e-02 1.07635550e+02] [ 3.67072499e-01 9.30117222e-01 -1.18209210e-02 1.71171947e+01] [ 3.47125045e-02 -9.97954487e-04 9.99396841e-01 3.34082974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.608040942 meters 0.02405166187905225 Centerline is valid? [True, True] Translation: X:107.69, Y:17.14, Z:3.34 [[ 9.29424000e-01 -3.67473135e-01 -3.36826914e-02 1.07689632e+02] [ 3.67272024e-01 9.30033564e-01 -1.21996249e-02 1.71380892e+01] [ 3.58090680e-02 -1.03208607e-03 9.99358117e-01 3.34205760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.668040942 meters 0.02414626753179178 Centerline is valid? [True, True] Translation: X:107.74, Y:17.16, Z:3.34 [[ 9.29344866e-01 -3.67487919e-01 -3.56475632e-02 1.07743760e+02] [ 3.67262217e-01 9.30027665e-01 -1.29230541e-02 1.71578674e+01] [ 3.79022862e-02 -1.08202911e-03 9.99280864e-01 3.34222611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.728040942 meters 0.023764357059849337 Centerline is valid? [True, True] Translation: X:107.80, Y:17.18, Z:3.34 [[ 9.29505859e-01 -3.66888366e-01 -3.75737154e-02 1.07798198e+02] [ 3.66636627e-01 9.30264322e-01 -1.36335810e-02 1.71788271e+01] [ 3.99554891e-02 -1.10340684e-03 9.99200851e-01 3.34396095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.788040942 meters 0.023107063258582163 Centerline is valid? [True, True] Translation: X:107.85, Y:17.20, Z:3.35 [[ 9.29540208e-01 -3.66608041e-01 -3.94150540e-02 1.07851909e+02] [ 3.66330222e-01 9.30374796e-01 -1.43146047e-02 1.72004676e+01] [ 4.19186220e-02 -1.13292483e-03 9.99120386e-01 3.34578831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.848040942 meters 0.022777170395429425 Centerline is valid? [True, True] Translation: X:107.91, Y:17.22, Z:3.35 [[ 9.30002281e-01 -3.65360265e-01 -4.00952988e-02 1.07907209e+02] [ 3.65071074e-01 9.30865566e-01 -1.45742513e-02 1.72213361e+01] [ 4.26481853e-02 -1.08354676e-03 9.99089565e-01 3.34790716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.908040942 meters 0.022381392403826063 Centerline is valid? [True, True] Translation: X:107.96, Y:17.24, Z:3.35 [[ 9.30510472e-01 -3.63848874e-01 -4.20030765e-02 1.07961891e+02] [ 3.63529412e-01 9.31457402e-01 -1.52798788e-02 1.72428952e+01] [ 4.46836432e-02 -1.05126643e-03 9.99000634e-01 3.34948040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.968040942 meters 0.021690030803479282 Centerline is valid? [True, True] Translation: X:108.02, Y:17.26, Z:3.35 [[ 9.31425196e-01 -3.61451353e-01 -4.24266855e-02 1.08016651e+02] [ 3.61122390e-01 9.32390501e-01 -1.54458427e-02 1.72648727e+01] [ 4.51411593e-02 -9.34579036e-04 9.98980181e-01 3.35175183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.028040942 meters 0.021062520399057573 Centerline is valid? [True, True] Translation: X:108.07, Y:17.28, Z:3.35 [[ 9.31593610e-01 -3.60923844e-01 -4.32125528e-02 1.08071620e+02] [ 3.60581421e-01 9.32594844e-01 -1.57446997e-02 1.72844438e+01] [ 4.59824415e-02 -9.13982056e-04 9.98941830e-01 3.35430138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.088040942 meters 0.020870785671782188 Centerline is valid? [True, True] Translation: X:108.13, Y:17.30, Z:3.36 [[ 9.31574324e-01 -3.60976253e-01 -4.31905400e-02 1.08127015e+02] [ 3.60633595e-01 9.32574570e-01 -1.57505958e-02 1.73022478e+01] [ 4.59639904e-02 -9.03109069e-04 9.98942689e-01 3.35699525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.148040942 meters 0.020556372993297427 Centerline is valid? [True, True] Translation: X:108.18, Y:17.32, Z:3.36 [[ 9.31640899e-01 -3.60801755e-01 -4.32126028e-02 1.08182140e+02] [ 3.60457915e-01 9.32642115e-01 -1.57726252e-02 1.73213407e+01] [ 4.59926842e-02 -8.81901991e-04 9.98941387e-01 3.35963864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.208040942 meters 0.020189864004986364 Centerline is valid? [True, True] Translation: X:108.24, Y:17.34, Z:3.36 [[ 9.32584782e-01 -3.58302678e-01 -4.36441977e-02 1.08236789e+02] [ 3.57948558e-01 9.33605175e-01 -1.59438606e-02 1.73432586e+01] [ 4.64591768e-02 -7.53375885e-04 9.98919905e-01 3.35915000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.268040942 meters 0.019764680237396835 Centerline is valid? [True, True] Translation: X:108.29, Y:17.36, Z:3.36 [[ 9.33485300e-01 -3.55999298e-01 -4.32399744e-02 1.08291456e+02] [ 3.55648682e-01 9.34486016e-01 -1.58082601e-02 1.73641161e+01] [ 4.60348809e-02 -6.21461525e-04 9.98939640e-01 3.36162855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.328040942 meters 0.01956672571153946 Centerline is valid? [True, True] Translation: X:108.35, Y:17.39, Z:3.36 [[ 9.33774934e-01 -3.55343248e-01 -4.23739140e-02 1.08346321e+02] [ 3.55005341e-01 9.34735714e-01 -1.55033043e-02 1.73858285e+01] [ 4.51174053e-02 -5.66368828e-04 9.98981531e-01 3.36351879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.388040942 meters 0.01915512315999063 Centerline is valid? [True, True] Translation: X:108.40, Y:17.41, Z:3.36 [[ 9.33940163e-01 -3.55182540e-01 -4.00141964e-02 1.08399945e+02] [ 3.54880634e-01 9.34796821e-01 -1.46506071e-02 1.74101767e+01] [ 4.26087835e-02 -5.17472985e-04 9.99091699e-01 3.36400629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.448040942 meters 0.019012213256677887 Centerline is valid? [True, True] Translation: X:108.45, Y:17.43, Z:3.37 [[ 9.34050514e-01 -3.54914142e-01 -3.98194601e-02 1.08454293e+02] [ 3.54614440e-01 9.34898770e-01 -1.45907325e-02 1.74304039e+01] [ 4.24056215e-02 -4.92074315e-04 9.99100356e-01 3.36552429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.508040942 meters 0.018604577289870073 Centerline is valid? [True, True] Translation: X:108.51, Y:17.45, Z:3.37 [[ 9.35150380e-01 -3.52096685e-01 -3.90088460e-02 1.08508834e+02] [ 3.51806174e-01 9.35963570e-01 -1.43042594e-02 1.74539894e+01] [ 4.15473411e-02 -3.46919264e-04 9.99136476e-01 3.36685183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.568040942 meters 0.018242589354127026 Centerline is valid? [True, True] Translation: X:108.56, Y:17.48, Z:3.37 [[ 9.36861858e-01 -3.47834879e-01 -3.60660069e-02 1.08560908e+02] [ 3.47583217e-01 9.37555800e-01 -1.32298820e-02 1.74793419e+01] [ 3.84157083e-02 -1.41366837e-04 9.99261834e-01 3.36844190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.628040942 meters 0.01793557865003713 Centerline is valid? [True, True] Translation: X:108.61, Y:17.50, Z:3.37 [[ 9.38220600e-01 -3.44393211e-01 -3.36960333e-02 1.08614950e+02] [ 3.44171186e-01 9.38825498e-01 -1.23643933e-02 1.75043063e+01] [ 3.58929084e-02 3.32472578e-06 9.99355642e-01 3.37124149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.688040942 meters 0.017916229724525022 Centerline is valid? [True, True] Translation: X:108.67, Y:17.53, Z:3.37 [[ 9.38337256e-01 -3.44332595e-01 -3.09557497e-02 1.08668619e+02] [ 3.44144950e-01 9.38847732e-01 -1.13661656e-02 1.75252597e+01] [ 3.29764767e-02 1.20317241e-05 9.99456128e-01 3.37453683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.748040942 meters 0.017889187278558195 Centerline is valid? [True, True] Translation: X:108.72, Y:17.55, Z:3.38 [[ 9.37723586e-01 -3.46085239e-01 -2.99913840e-02 1.08722345e+02] [ 3.45909717e-01 9.38203073e-01 -1.10209745e-02 1.75460285e+01] [ 3.19522052e-02 -3.96834040e-05 9.99489397e-01 3.37597896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.808040942 meters 0.018152481325616386 Centerline is valid? [True, True] Translation: X:108.78, Y:17.57, Z:3.38 [[ 9.36149720e-01 -3.50243354e-01 -3.08754845e-02 1.08777160e+02] [ 3.50059257e-01 9.36658722e-01 -1.13558334e-02 1.75659237e+01] [ 3.28970970e-02 -1.77488856e-04 9.99458728e-01 3.37717164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.868040942 meters 0.018714781086094062 Centerline is valid? [True, True] Translation: X:108.83, Y:17.59, Z:3.38 [[ 9.34358245e-01 -3.55129164e-01 -2.92907188e-02 1.08832203e+02] [ 3.54965792e-01 9.34817185e-01 -1.07758029e-02 1.75863527e+01] [ 3.12082692e-02 -3.28742886e-04 9.99512849e-01 3.37964557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.928040942 meters 0.019042825247052968 Centerline is valid? [True, True] Translation: X:108.89, Y:17.61, Z:3.38 [[ 9.33541111e-01 -3.57445576e-01 -2.70860454e-02 1.08886391e+02] [ 3.57306651e-01 9.33933897e-01 -9.97161250e-03 1.76103402e+01] [ 2.88608847e-02 -3.69113977e-04 9.99583370e-01 3.38372172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.988040942 meters 0.01920413547830484 Centerline is valid? [True, True] Translation: X:108.94, Y:17.64, Z:3.39 [[ 9.33671612e-01 -3.57190578e-01 -2.59270519e-02 1.08938810e+02] [ 3.57063004e-01 9.34031464e-01 -9.55174063e-03 1.76364759e+01] [ 2.76284740e-02 -3.39401945e-04 9.99618203e-01 3.38625576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.048040942 meters 0.01919099409452513 Centerline is valid? [True, True] Translation: X:108.99, Y:17.66, Z:3.39 [[ 9.33632028e-01 -3.57408400e-01 -2.42996137e-02 1.08991453e+02] [ 3.57296232e-01 9.33948143e-01 -8.95925505e-03 1.76603073e+01] [ 2.58966921e-02 -3.17512943e-04 9.99664574e-01 3.38859855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.108040942 meters 0.019331399137526413 Centerline is valid? [True, True] Translation: X:109.04, Y:17.69, Z:3.39 [[ 9.33460987e-01 -3.57876995e-01 -2.39716887e-02 1.09043865e+02] [ 3.57767795e-01 9.33768684e-01 -8.84592044e-03 1.76852531e+01] [ 2.55497636e-02 -3.18976584e-04 9.99673501e-01 3.39127894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.168040942 meters 0.019788067655014653 Centerline is valid? [True, True] Translation: X:109.10, Y:17.71, Z:3.39 [[ 9.33252258e-01 -3.58284106e-01 -2.59368805e-02 1.09095925e+02] [ 3.58156152e-01 9.33612542e-01 -9.58083524e-03 1.77102627e+01] [ 2.76476580e-02 -3.48117204e-04 9.99617670e-01 3.39141147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22804094199999 meters 0.019648205382004125 Centerline is valid? [True, True] Translation: X:109.15, Y:17.74, Z:3.39 [[ 9.32990636e-01 -3.58946933e-01 -2.61834290e-02 1.09147541e+02] [ 3.58816707e-01 9.33357897e-01 -9.67507880e-03 1.77380119e+01] [ 2.79113501e-02 -3.68293841e-04 9.99610335e-01 3.39195713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.288040942 meters 0.019959429371363163 Centerline is valid? [True, True] Translation: X:109.20, Y:17.76, Z:3.39 [[ 9.32669112e-01 -3.59742806e-01 -2.67103325e-02 1.09199553e+02] [ 3.59607365e-01 9.33051424e-01 -9.87843033e-03 1.77641487e+01] [ 2.84758080e-02 -3.91925420e-04 9.99594405e-01 3.39398784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.348040942 meters 0.020228282696636672 Centerline is valid? [True, True] Translation: X:109.25, Y:17.79, Z:3.40 [[ 9.31901170e-01 -3.61780689e-01 -2.59796487e-02 1.09253253e+02] [ 3.61653127e-01 9.32263130e-01 -9.61621558e-03 1.77899857e+01] [ 2.76988297e-02 -4.34258629e-04 9.99616219e-01 3.39519026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.408040942 meters 0.021163393209621954 Centerline is valid? [True, True] Translation: X:109.31, Y:17.82, Z:3.40 [[ 9.30089066e-01 -3.66521541e-01 -2.44190395e-02 1.09307116e+02] [ 3.66410283e-01 9.30409413e-01 -9.04595381e-03 1.78160354e+01] [ 2.60352411e-02 -5.33844457e-04 9.99660883e-01 3.39748506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.468040942 meters 0.02220186803284628 Centerline is valid? [True, True] Translation: X:109.36, Y:17.84, Z:3.40 [[ 9.28450452e-01 -3.70674188e-01 -2.40915710e-02 1.09362243e+02] [ 3.70567268e-01 9.28762745e-01 -8.92550243e-03 1.78379381e+01] [ 2.56838069e-02 -6.40660854e-04 9.99669911e-01 3.39966924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.528040942 meters 0.023425339958264544 Centerline is valid? [True, True] Translation: X:109.42, Y:17.86, Z:3.40 [[ 9.27153274e-01 -3.73937937e-01 -2.36056426e-02 1.09417367e+02] [ 3.73836305e-01 9.27453453e-01 -8.74696401e-03 1.78608735e+01] [ 2.51639565e-02 -7.14869899e-04 9.99683082e-01 3.40129752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.588040942 meters 0.025497761807918875 Centerline is valid? [True, True] Translation: X:109.47, Y:17.89, Z:3.40 [[ 9.25378049e-01 -3.78265000e-01 -2.43116329e-02 1.09469673e+02] [ 3.78158664e-01 9.25696957e-01 -9.00937799e-03 1.78870220e+01] [ 2.59131369e-02 -8.56573980e-04 9.99663831e-01 3.40130128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.648040942 meters 0.027251981387358872 Centerline is valid? [True, True] Translation: X:109.52, Y:17.91, Z:3.40 [[ 9.23962114e-01 -3.81743352e-01 -2.37912649e-02 1.09523682e+02] [ 3.81642625e-01 9.24267897e-01 -8.81828637e-03 1.79124802e+01] [ 2.53558246e-02 -9.31998279e-04 9.99678055e-01 3.40256274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.708040942 meters 0.02857791909526403 Centerline is valid? [True, True] Translation: X:109.58, Y:17.94, Z:3.41 [[ 9.23250796e-01 -3.83490136e-01 -2.33084377e-02 1.09576917e+02] [ 3.83393987e-01 9.23544474e-01 -8.64028961e-03 1.79387934e+01] [ 2.48398447e-02 -9.59160611e-04 9.99690983e-01 3.40504591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.768040942 meters 0.02646383615273325 Centerline is valid? [True, True] Translation: X:109.63, Y:17.97, Z:3.41 [[ 9.23160257e-01 -3.83719379e-01 -2.31209622e-02 1.09626682e+02] [ 3.83624702e-01 9.23449258e-01 -8.57651667e-03 1.79703003e+01] [ 2.46420111e-02 -9.52272907e-04 9.99695886e-01 3.40501070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.828040942 meters 0.028120372709984156 Centerline is valid? [True, True] Translation: X:109.68, Y:18.00, Z:3.41 [[ 9.23958274e-01 -3.81768014e-01 -2.35434154e-02 1.09679285e+02] [ 3.81668989e-01 9.24257734e-01 -8.74210460e-03 1.79955981e+01] [ 2.50976396e-02 -9.08451663e-04 9.99684592e-01 3.40695571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.888040942 meters 0.024830006035471513 Centerline is valid? [True, True] Translation: X:109.73, Y:18.03, Z:3.41 [[ 9.25814674e-01 -3.77275258e-01 -2.30341005e-02 1.09730040e+02] [ 3.77179046e-01 9.26100853e-01 -8.55439115e-03 1.80314249e+01] [ 2.45592603e-02 -7.68199193e-04 9.99698081e-01 3.40895070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.948040942 meters 0.02302772355244018 Centerline is valid? [True, True] Translation: X:109.78, Y:18.06, Z:3.41 [[ 9.27713545e-01 -3.72458759e-01 -2.49409391e-02 1.09781221e+02] [ 3.72344026e-01 9.28048490e-01 -9.26959420e-03 1.80646510e+01] [ 2.65989425e-02 -6.87081601e-04 9.99645949e-01 3.40839427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.008040942 meters 0.022810387164545046 Centerline is valid? [True, True] Translation: X:109.83, Y:18.09, Z:3.41 [[ 9.28529864e-01 -3.70295987e-01 -2.67053092e-02 1.09833370e+02] [ 3.70163532e-01 9.28913578e-01 -9.92596463e-03 1.80914342e+01] [ 2.84824692e-02 -6.68776974e-04 9.99594068e-01 3.40982880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.068040942 meters 0.025364739606868754 Centerline is valid? [True, True] Translation: X:109.89, Y:18.12, Z:3.41 [[ 9.27774830e-01 -3.72072570e-01 -2.82111230e-02 1.09887364e+02] [ 3.71925319e-01 9.28203335e-01 -1.04940936e-02 1.81158699e+01] [ 3.00902228e-02 -7.56275061e-04 9.99546901e-01 3.40975750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.128040942 meters 0.023511250764795637 Centerline is valid? [True, True] Translation: X:109.94, Y:18.14, Z:3.41 [[ 9.26887754e-01 -3.74384264e-01 -2.67490991e-02 1.09940963e+02] [ 3.74252625e-01 9.27273322e-01 -9.95791212e-03 1.81387624e+01] [ 2.85318115e-02 -7.81053731e-04 9.99592580e-01 3.41419497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.188040942 meters 0.0235668034662458 Centerline is valid? [True, True] Translation: X:109.99, Y:18.16, Z:3.42 [[ 9.26037245e-01 -3.76520413e-01 -2.62182949e-02 1.09994422e+02] [ 3.76394730e-01 9.26407952e-01 -9.76289353e-03 1.81624013e+01] [ 2.79647656e-02 -8.27624987e-04 9.99608567e-01 3.41797092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.248040942 meters 0.02439360508415115 Centerline is valid? [True, True] Translation: X:110.05, Y:18.19, Z:3.42 [[ 9.26259505e-01 -3.75856456e-01 -2.78433715e-02 1.10048109e+02] [ 3.75714322e-01 9.26677502e-01 -1.03708728e-02 1.81868577e+01] [ 2.96997855e-02 -8.55033939e-04 9.99558498e-01 3.41859596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.308040942 meters 0.022726693200196994 Centerline is valid? [True, True] Translation: X:110.10, Y:18.21, Z:3.42 [[ 9.27631188e-01 -3.72389455e-01 -2.87484381e-02 1.10100996e+02] [ 3.72236001e-01 9.28076245e-01 -1.07165323e-02 1.82129246e+01] [ 3.06714661e-02 -7.60214041e-04 9.99529231e-01 3.42026043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.368040942 meters 0.022038078671523936 Centerline is valid? [True, True] Translation: X:110.15, Y:18.24, Z:3.42 [[ 9.29469671e-01 -3.67798662e-01 -2.84653245e-02 1.10154343e+02] [ 3.67645990e-01 9.29905255e-01 -1.06133041e-02 1.82365925e+01] [ 3.03736139e-02 -6.00418119e-04 9.99538435e-01 3.42312732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.428040942 meters 0.021438071699864093 Centerline is valid? [True, True] Translation: X:110.21, Y:18.26, Z:3.42 [[ 9.31049083e-01 -3.63727450e-01 -2.91538641e-02 1.10208593e+02] [ 3.63565229e-01 9.31505295e-01 -1.08724277e-02 1.82600966e+01] [ 3.11115792e-02 -4.76567414e-04 9.99515804e-01 3.42477573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.488040942 meters 0.020729357717592684 Centerline is valid? [True, True] Translation: X:110.26, Y:18.28, Z:3.43 [[ 9.33305826e-01 -3.57843273e-01 -2.98064902e-02 1.10261270e+02] [ 3.57670621e-01 9.33781619e-01 -1.11182522e-02 1.82838247e+01] [ 3.18113444e-02 -2.84176271e-04 9.99493851e-01 3.42670703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.548040942 meters 0.02021430265299147 Centerline is valid? [True, True] Translation: X:110.32, Y:18.31, Z:3.43 [[ 9.35583464e-01 -3.51678850e-01 -3.17106910e-02 1.10315327e+02] [ 3.51479751e-01 9.36120708e-01 -1.18323216e-02 1.83075822e+01] [ 3.38462118e-02 -7.55412935e-05 9.99427050e-01 3.42786230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.608040942 meters 0.02016724947735718 Centerline is valid? [True, True] Translation: X:110.37, Y:18.33, Z:3.43 [[ 9.36640733e-01 -3.48845588e-01 -3.17945342e-02 1.10368866e+02] [ 3.48643497e-01 9.37180215e-01 -1.18725466e-02 1.83286811e+01] [ 3.39388939e-02 3.53531807e-05 9.99423909e-01 3.43009604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.668040942 meters 0.02004260275312682 Centerline is valid? [True, True] Translation: X:110.42, Y:18.35, Z:3.43 [[ 9.36690137e-01 -3.48624120e-01 -3.27537938e-02 1.10423148e+02] [ 3.48409138e-01 9.37262621e-01 -1.22414324e-02 1.83461929e+01] [ 3.49665652e-02 5.47079650e-05 9.99388481e-01 3.43107204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72804094199999 meters 0.020069273717923955 Centerline is valid? [True, True] Translation: X:110.48, Y:18.36, Z:3.43 [[ 9.35529809e-01 -3.51695977e-01 -3.30744085e-02 1.10479521e+02] [ 3.51478405e-01 9.36114276e-01 -1.23690766e-02 1.83619799e+01] [ 3.53115804e-02 -5.33004401e-05 9.99376350e-01 3.43296825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.788040942 meters 0.020132778334433526 Centerline is valid? [True, True] Translation: X:110.54, Y:18.38, Z:3.43 [[ 9.33808481e-01 -3.56169892e-01 -3.38338490e-02 1.10536830e+02] [ 3.55944748e-01 9.34421190e-01 -1.26639366e-02 1.83767230e+01] [ 3.61255784e-02 -2.17289446e-04 9.99347235e-01 3.43492507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.848040942 meters 0.02050817033845499 Centerline is valid? [True, True] Translation: X:110.59, Y:18.39, Z:3.44 [[ 9.31973881e-01 -3.60977841e-01 -3.34616797e-02 1.10594269e+02] [ 3.60760383e-01 9.32574311e-01 -1.25339544e-02 1.83918559e+01] [ 3.57299827e-02 -3.90330218e-04 9.99361404e-01 3.43744757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.908040942 meters 0.02068529728102074 Centerline is valid? [True, True] Translation: X:110.65, Y:18.41, Z:3.44 [[ 9.31115391e-01 -3.63178805e-01 -3.35452466e-02 1.10651141e+02] [ 3.62961345e-01 9.31719345e-01 -1.25747668e-02 1.84082358e+01] [ 3.58216439e-02 -4.67068914e-04 9.99358090e-01 3.43918109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.968040942 meters 0.02096675110383052 Centerline is valid? [True, True] Translation: X:110.71, Y:18.42, Z:3.44 [[ 9.30363690e-01 -3.65052265e-01 -3.40624127e-02 1.10708102e+02] [ 3.64828944e-01 9.30986871e-01 -1.27784066e-02 1.84240259e+01] [ 3.63764453e-02 -5.38388517e-04 9.99338013e-01 3.44077757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.028040942 meters 0.020597125799545164 Centerline is valid? [True, True] Translation: X:110.76, Y:18.44, Z:3.44 [[ 9.30834776e-01 -3.63767662e-01 -3.49243270e-02 1.10764178e+02] [ 3.63531617e-01 9.31489585e-01 -1.31116889e-02 1.84418336e+01] [ 3.73012553e-02 -4.91281119e-04 9.99303945e-01 3.44248583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.088040942 meters 0.02016408956952001 Centerline is valid? [True, True] Translation: X:110.82, Y:18.46, Z:3.44 [[ 9.31640639e-01 -3.61697290e-01 -3.49398103e-02 1.10819777e+02] [ 3.61459221e-01 9.32295506e-01 -1.31271065e-02 1.84599918e+01] [ 3.73222670e-02 -3.99570767e-04 9.99303202e-01 3.44426209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.148040942 meters 0.019536821273796537 Centerline is valid? [True, True] Translation: X:110.88, Y:18.48, Z:3.45 [[ 9.32475995e-01 -3.59547071e-01 -3.48485675e-02 1.10876107e+02] [ 3.59308388e-01 9.33126900e-01 -1.31023289e-02 1.84778980e+01] [ 3.72290397e-02 -3.03775448e-04 9.99306713e-01 3.44834452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.208040942 meters 0.01938136100032297 Centerline is valid? [True, True] Translation: X:110.93, Y:18.50, Z:3.45 [[ 9.32874411e-01 -3.58449386e-01 -3.54876217e-02 1.10930786e+02] [ 3.58200680e-01 9.33549127e-01 -1.33529105e-02 1.84963176e+01] [ 3.79157809e-02 -2.55101759e-04 9.99280906e-01 3.44976321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.268040942 meters 0.018954744198411706 Centerline is valid? [True, True] Translation: X:110.99, Y:18.51, Z:3.45 [[ 9.33987866e-01 -3.55490648e-01 -3.59592089e-02 1.10985517e+02] [ 3.55232709e-01 9.34679829e-01 -1.35402917e-02 1.85141345e+01] [ 3.84237943e-02 -1.27419079e-04 9.99261525e-01 3.45138104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.328040942 meters 0.018711557138416445 Centerline is valid? [True, True] Translation: X:111.04, Y:18.53, Z:3.45 [[ 9.35443357e-01 -3.51615341e-01 -3.62267658e-02 1.11040157e+02] [ 3.51350438e-01 9.36144567e-01 -1.36461959e-02 1.85324614e+01] [ 3.87117018e-02 3.69532637e-05 9.99250420e-01 3.45408766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.388040942 meters 0.01865829699089282 Centerline is valid? [True, True] Translation: X:111.10, Y:18.55, Z:3.46 [[ 9.36095135e-01 -3.49793016e-01 -3.70235778e-02 1.11096310e+02] [ 3.49514438e-01 9.36827001e-01 -1.39580624e-02 1.85511301e+01] [ 3.95671202e-02 1.25799354e-04 9.99216907e-01 3.45535497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.448040942 meters 0.01854021035434038 Centerline is valid? [True, True] Translation: X:111.15, Y:18.57, Z:3.46 [[ 9.36224404e-01 -3.49394116e-01 -3.75182134e-02 1.11151635e+02] [ 3.49107282e-01 9.36975841e-01 -1.41555134e-02 1.85676262e+01] [ 4.00995126e-02 1.54855602e-04 9.99195679e-01 3.45809835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.508040942 meters 0.018261406116966597 Centerline is valid? [True, True] Translation: X:111.21, Y:18.58, Z:3.46 [[ 9.35979053e-01 -3.50024139e-01 -3.77665742e-02 1.11207263e+02] [ 3.49733568e-01 9.36740670e-01 -1.42600281e-02 1.85813934e+01] [ 4.03688401e-02 1.38848868e-04 9.99184836e-01 3.45901257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.568040942 meters 0.018114167090150336 Centerline is valid? [True, True] Translation: X:111.26, Y:18.60, Z:3.46 [[ 9.35714004e-01 -3.50668058e-01 -3.83564351e-02 1.11263746e+02] [ 3.50368581e-01 9.36499813e-01 -1.44899282e-02 1.85967601e+01] [ 4.10019493e-02 1.19538953e-04 9.99159059e-01 3.46060397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.628040942 meters 0.017754532620665082 Centerline is valid? [True, True] Translation: X:111.32, Y:18.61, Z:3.46 [[ 9.35186690e-01 -3.52098967e-01 -3.81073745e-02 1.11321170e+02] [ 3.51804142e-01 9.35962773e-01 -1.44059980e-02 1.86088826e+01] [ 4.07394209e-02 6.59653608e-05 9.99169803e-01 3.46189052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.688040942 meters 0.01756524135264175 Centerline is valid? [True, True] Translation: X:111.38, Y:18.62, Z:3.46 [[ 9.34188741e-01 -3.54808619e-01 -3.74464867e-02 1.11378851e+02] [ 3.54525891e-01 9.34938951e-01 -1.41616011e-02 1.86212320e+01] [ 4.00348371e-02 -4.61407032e-05 9.99198283e-01 3.46447845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.748040942 meters 0.01842571457927298 Centerline is valid? [True, True] Translation: X:111.44, Y:18.63, Z:3.47 [[ 9.33181718e-01 -3.57472777e-01 -3.72168571e-02 1.11436466e+02] [ 3.57195159e-01 9.33923547e-01 -1.40863937e-02 1.86333060e+01] [ 3.97932015e-02 -1.48516110e-04 9.99207926e-01 3.46690389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.808040942 meters 0.017304470724132825 Centerline is valid? [True, True] Translation: X:111.49, Y:18.65, Z:3.47 [[ 9.32511171e-01 -3.59357783e-01 -3.58455020e-02 1.11493440e+02] [ 3.59101207e-01 9.33199839e-01 -1.35787861e-02 1.86473349e+01] [ 3.83306592e-02 -2.09793319e-04 9.99265088e-01 3.47014870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.868040942 meters 0.01726615957051414 Centerline is valid? [True, True] Translation: X:111.55, Y:18.66, Z:3.47 [[ 9.32370663e-01 -3.59710181e-01 -3.59657012e-02 1.11548830e+02] [ 3.59451737e-01 9.33064060e-01 -1.36348632e-02 1.86612465e+01] [ 3.84629023e-02 -2.15187359e-04 9.99260006e-01 3.47255209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.928040942 meters 0.017146467432122028 Centerline is valid? [True, True] Translation: X:111.60, Y:18.68, Z:3.47 [[ 9.32703771e-01 -3.58757449e-01 -3.68343332e-02 1.11604434e+02] [ 3.58485355e-01 9.33430802e-01 -1.39709582e-02 1.86795670e+01] [ 3.93944865e-02 -1.73803584e-04 9.99223721e-01 3.47381501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.988040942 meters 0.02048077850122086 Centerline is valid? [True, True] Translation: X:111.66, Y:18.69, Z:3.47 [[ 9.33949438e-01 -3.55266369e-01 -3.90416899e-02 1.11660858e+02] [ 3.54957132e-01 9.34765108e-01 -1.48198362e-02 1.86939358e+01] [ 4.17597989e-02 -1.71486483e-05 9.99127679e-01 3.46969224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.048040942 meters 0.0171955635962677 Centerline is valid? [True, True] Translation: X:111.72, Y:18.71, Z:3.48 [[ 9.35594347e-01 -3.50889739e-01 -3.92378493e-02 1.11716196e+02] [ 3.50573226e-01 9.36416764e-01 -1.49015828e-02 1.87129219e+01] [ 4.19717924e-02 1.86097209e-04 9.99118779e-01 3.47660468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.108040942 meters 0.017378450553084707 Centerline is valid? [True, True] Translation: X:111.77, Y:18.73, Z:3.48 [[ 9.36271056e-01 -3.49076635e-01 -3.92684697e-02 1.11772587e+02] [ 3.48757571e-01 9.37094139e-01 -1.49241710e-02 1.87297371e+01] [ 4.20079322e-02 2.77893232e-04 9.99117239e-01 3.47810635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.168040942 meters 0.017810291921470166 Centerline is valid? [True, True] Translation: X:111.83, Y:18.74, Z:3.48 [[ 9.35638675e-01 -3.50759253e-01 -3.93473866e-02 1.11829672e+02] [ 3.50439907e-01 9.36465643e-01 -1.49656587e-02 1.87437775e+01] [ 4.20968190e-02 2.13554555e-04 9.99113513e-01 3.48058700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22804094199999 meters 0.01661107739009573 Centerline is valid? [True, True] Translation: X:111.89, Y:18.75, Z:3.48 [[ 9.33651015e-01 -3.56151426e-01 -3.81043800e-02 1.11888516e+02] [ 3.55855942e-01 9.34428254e-01 -1.45047333e-02 1.87538457e+01] [ 4.07716907e-02 -1.73110706e-05 9.99168489e-01 3.48469595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.288040942 meters 0.016599711047444288 Centerline is valid? [True, True] Translation: X:111.95, Y:18.76, Z:3.49 [[ 9.31607596e-01 -3.61527911e-01 -3.74814120e-02 1.11947579e+02] [ 3.61245931e-01 9.32361256e-01 -1.42781236e-02 1.87646898e+01] [ 4.01081566e-02 -2.38399186e-04 9.99195316e-01 3.48654007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.348040942 meters 0.016991692389035203 Centerline is valid? [True, True] Translation: X:112.01, Y:18.78, Z:3.49 [[ 9.30425664e-01 -3.64540845e-01 -3.76570940e-02 1.12006226e+02] [ 3.64258249e-01 9.31187330e-01 -1.43556747e-02 1.87757023e+01] [ 4.02990385e-02 -3.60018928e-04 9.99187599e-01 3.48900322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.408040942 meters 0.017860045992597103 Centerline is valid? [True, True] Translation: X:112.06, Y:18.79, Z:3.49 [[ 9.29809100e-01 -3.65920589e-01 -3.94608631e-02 1.12064202e+02] [ 3.65611019e-01 9.30645979e-01 -1.50547148e-02 1.87886917e+01] [ 4.22329237e-02 -4.29315524e-04 9.99107700e-01 3.48838670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.468040942 meters 0.01718759849819627 Centerline is valid? [True, True] Translation: X:112.12, Y:18.81, Z:3.49 [[ 9.29759497e-01 -3.65881561e-01 -4.09629179e-02 1.12120481e+02] [ 3.65547410e-01 9.30661322e-01 -1.56395548e-02 1.88062815e+01] [ 4.38448280e-02 -4.32863942e-04 9.99038259e-01 3.48958776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.528040942 meters 0.01720207542399778 Centerline is valid? [True, True] Translation: X:112.17, Y:18.83, Z:3.49 [[ 9.30872695e-01 -3.63072327e-01 -4.06756782e-02 1.12174689e+02] [ 3.62739665e-01 9.31760915e-01 -1.55413134e-02 1.88289619e+01] [ 4.35426280e-02 -2.87697623e-04 9.99051529e-01 3.49166962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.588040942 meters 0.016872174411667863 Centerline is valid? [True, True] Translation: X:112.23, Y:18.85, Z:3.49 [[ 9.30879259e-01 -3.63040384e-01 -4.08103368e-02 1.12228321e+02] [ 3.62704959e-01 9.31773365e-01 -1.56047984e-02 1.88501397e+01] [ 4.36911569e-02 -2.75928373e-04 9.99045047e-01 3.49358702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.648040942 meters 0.017076987847876396 Centerline is valid? [True, True] Translation: X:112.28, Y:18.87, Z:3.50 [[ 9.30424826e-01 -3.64281602e-01 -4.01068172e-02 1.12281739e+02] [ 3.63958338e-01 9.31288791e-01 -1.53465063e-02 1.88689417e+01] [ 4.29414792e-02 -3.18440113e-04 9.99077539e-01 3.49683092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.708040942 meters 0.016964217542825347 Centerline is valid? [True, True] Translation: X:112.34, Y:18.89, Z:3.50 [[ 9.29757233e-01 -3.66007529e-01 -3.98745063e-02 1.12335734e+02] [ 3.65689282e-01 9.30611808e-01 -1.52647247e-02 1.88926803e+01] [ 4.26946906e-02 -3.89191352e-04 9.99088090e-01 3.49874831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.768040942 meters 0.016961375830605835 Centerline is valid? [True, True] Translation: X:112.39, Y:18.91, Z:3.50 [[ 9.29441464e-01 -3.66886763e-01 -3.91493095e-02 1.12389879e+02] [ 3.66580290e-01 9.30265518e-01 -1.49985681e-02 1.89147218e+01] [ 4.19220288e-02 -4.11074158e-04 9.99120801e-01 3.50067631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.828040942 meters 0.01724619097314524 Centerline is valid? [True, True] Translation: X:112.44, Y:18.93, Z:3.50 [[ 9.29189267e-01 -3.67434305e-01 -3.99917191e-02 1.12444294e+02] [ 3.67114513e-01 9.30049376e-01 -1.53327095e-02 1.89330417e+01] [ 4.28280368e-02 -4.34551379e-04 9.99082364e-01 3.50348688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.888040942 meters 0.016916801314814704 Centerline is valid? [True, True] Translation: X:112.50, Y:18.95, Z:3.51 [[ 9.29912129e-01 -3.65479495e-01 -4.10873478e-02 1.12498228e+02] [ 3.65139649e-01 9.30819327e-01 -1.57612756e-02 1.89541977e+01] [ 4.40053205e-02 -3.46018441e-04 9.99031237e-01 3.50533638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.948040942 meters 0.01664963572025177 Centerline is valid? [True, True] Translation: X:112.55, Y:18.98, Z:3.51 [[ 9.31459989e-01 -3.61469234e-01 -4.15003864e-02 1.12551250e+02] [ 3.61118050e-01 9.32384025e-01 -1.59305724e-02 1.89769040e+01] [ 4.44527091e-02 -1.47847787e-04 9.99011479e-01 3.50584103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.008040942 meters 0.016518544533305167 Centerline is valid? [True, True] Translation: X:112.61, Y:19.00, Z:3.51 [[ 9.32570054e-01 -3.58673600e-01 -4.08208714e-02 1.12605780e+02] [ 3.58330870e-01 9.33463041e-01 -1.56760741e-02 1.89984463e+01] [ 4.37273687e-02 -8.34109708e-06 9.99043501e-01 3.50996143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.068040942 meters 0.0164986906172638 Centerline is valid? [True, True] Translation: X:112.66, Y:19.02, Z:3.51 [[ 9.33188809e-01 -3.57083377e-01 -4.06215372e-02 1.12659809e+02] [ 3.56741946e-01 9.34072511e-01 -1.56117941e-02 1.90191659e+01] [ 4.35181734e-02 7.73452887e-05 9.99052633e-01 3.51157357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.128040942 meters 0.016767870285176997 Centerline is valid? [True, True] Translation: X:112.71, Y:19.04, Z:3.51 [[ 9.34783479e-01 -3.52961209e-01 -3.99778928e-02 1.12712248e+02] [ 3.52626291e-01 9.35637916e-01 -1.53749773e-02 1.90437004e+01] [ 4.28316029e-02 2.75018706e-04 9.99082268e-01 3.51322464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.188040942 meters 0.016781424471959388 Centerline is valid? [True, True] Translation: X:112.76, Y:19.07, Z:3.52 [[ 9.35892283e-01 -3.50167017e-01 -3.85836071e-02 1.12764665e+02] [ 3.49852449e-01 9.36687197e-01 -1.48444872e-02 1.90706187e+01] [ 4.13388205e-02 3.94271564e-04 9.99145108e-01 3.51741258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.248040942 meters 0.016639826380156608 Centerline is valid? [True, True] Translation: X:112.82, Y:19.09, Z:3.52 [[ 9.35290076e-01 -3.51840553e-01 -3.79565272e-02 1.12818026e+02] [ 3.51537125e-01 9.36059891e-01 -1.46126512e-02 1.90923809e+01] [ 4.06709060e-02 3.23939247e-04 9.99172544e-01 3.51954371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.308040942 meters 0.016570830071578536 Centerline is valid? [True, True] Translation: X:112.87, Y:19.11, Z:3.52 [[ 9.34582046e-01 -3.53717734e-01 -3.79494839e-02 1.12872392e+02] [ 3.53415805e-01 9.35352182e-01 -1.46138535e-02 1.91122692e+01] [ 4.06653117e-02 2.45897697e-04 9.99172794e-01 3.52073279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.368040942 meters 0.01636902038610363 Centerline is valid? [True, True] Translation: X:112.93, Y:19.13, Z:3.52 [[ 9.31021605e-01 -3.62936752e-01 -3.84146429e-02 1.12929178e+02] [ 3.62634937e-01 9.31813764e-01 -1.47990505e-02 1.91270563e+01] [ 4.11664123e-02 -1.52255890e-04 9.99152292e-01 3.52306109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.428040942 meters 0.01832721886860205 Centerline is valid? [True, True] Translation: X:112.99, Y:19.14, Z:3.52 [[ 9.27091654e-01 -3.72814094e-01 -3.88679325e-02 1.12986173e+02] [ 3.72513326e-01 9.27905871e-01 -1.49838451e-02 1.91435631e+01] [ 4.16519714e-02 -5.87425117e-04 9.99132007e-01 3.52290051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.488040942 meters 0.019501341291613416 Centerline is valid? [True, True] Translation: X:113.04, Y:19.16, Z:3.53 [[ 9.24187921e-01 -3.79936975e-01 -3.90458875e-02 1.13044171e+02] [ 3.79639663e-01 9.25011928e-01 -1.50551786e-02 1.91590106e+01] [ 4.18379308e-02 -9.09553345e-04 9.99123996e-01 3.52527973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.548040942 meters 0.019899982052897537 Centerline is valid? [True, True] Translation: X:113.10, Y:19.18, Z:3.53 [[ 9.23023058e-01 -3.82849671e-01 -3.81387419e-02 1.13099568e+02] [ 3.82568282e-01 9.23810102e-01 -1.47107180e-02 1.91781907e+01] [ 4.08649486e-02 -1.01234109e-03 9.99164166e-01 3.52862093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.608040942 meters 0.019236246076616084 Centerline is valid? [True, True] Translation: X:113.15, Y:19.20, Z:3.53 [[ 9.22703075e-01 -3.83750008e-01 -3.68098720e-02 1.13153415e+02] [ 3.83488197e-01 9.23436473e-01 -1.42085630e-02 1.92005890e+01] [ 3.94441145e-02 -1.00586668e-03 9.99221272e-01 3.53156820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.668040942 meters 0.019467590095546154 Centerline is valid? [True, True] Translation: X:113.21, Y:19.22, Z:3.53 [[ 9.23359163e-01 -3.82371295e-01 -3.46417194e-02 1.13208249e+02] [ 3.82138062e-01 9.24008342e-01 -1.33822866e-02 1.92203929e+01] [ 3.71262399e-02 -8.81262549e-04 9.99310195e-01 3.53477476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72804094199999 meters 0.017569265399336547 Centerline is valid? [True, True] Translation: X:113.26, Y:19.25, Z:3.54 [[ 9.25113882e-01 -3.78222462e-01 -3.33477962e-02 1.13262194e+02] [ 3.78003307e-01 9.25714485e-01 -1.28915541e-02 1.92457388e+01] [ 3.57464133e-02 -6.79421600e-04 9.99360662e-01 3.53836249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.788040942 meters 0.01682963556822831 Centerline is valid? [True, True] Translation: X:113.32, Y:19.27, Z:3.54 [[ 9.26923240e-01 -3.73791197e-01 -3.30673381e-02 1.13315741e+02] [ 3.73572605e-01 9.27512746e-01 -1.27911698e-02 1.92694220e+01] [ 3.54516042e-02 -4.96619043e-04 9.99371271e-01 3.53961169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.848040942 meters 0.016300601298459057 Centerline is valid? [True, True] Translation: X:113.37, Y:19.29, Z:3.54 [[ 9.28155949e-01 -3.70750868e-01 -3.27158878e-02 1.13369367e+02] [ 3.70534907e-01 9.28732284e-01 -1.26581264e-02 1.92920588e+01] [ 3.50773125e-02 -3.73663174e-04 9.99384532e-01 3.54048759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.908040942 meters 0.016401293118482662 Centerline is valid? [True, True] Translation: X:113.42, Y:19.31, Z:3.54 [[ 9.27839896e-01 -3.71578736e-01 -3.22857485e-02 1.13423209e+02] [ 3.71368734e-01 9.28401361e-01 -1.24970471e-02 1.93130959e+01] [ 3.46177698e-02 -3.94658646e-04 9.99400547e-01 3.54270632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.968040942 meters 0.01700839504621374 Centerline is valid? [True, True] Translation: X:113.48, Y:19.33, Z:3.54 [[ 9.26782985e-01 -3.74259487e-01 -3.16723190e-02 1.13478659e+02] [ 3.74058614e-01 9.27323897e-01 -1.22696050e-02 1.93322802e+01] [ 3.39625143e-02 -4.76042599e-04 9.99422994e-01 3.54488132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.028040942 meters 0.018401048098245158 Centerline is valid? [True, True] Translation: X:113.53, Y:19.35, Z:3.55 [[ 9.24977015e-01 -3.78680692e-01 -3.19132391e-02 1.13534524e+02] [ 3.78479084e-01 9.25527163e-01 -1.23714564e-02 1.93494067e+01] [ 3.42214014e-02 -6.35180749e-04 9.99414074e-01 3.54653685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.088040942 meters 0.019791921615929225 Centerline is valid? [True, True] Translation: X:113.59, Y:19.37, Z:3.55 [[ 9.23907939e-01 -3.81225212e-01 -3.25800266e-02 1.13588987e+02] [ 3.81016547e-01 9.24481903e-01 -1.26334141e-02 1.93681609e+01] [ 3.49358209e-02 -7.41417649e-04 9.99389283e-01 3.54699622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.148040942 meters 0.01917153789760518 Centerline is valid? [True, True] Translation: X:113.64, Y:19.39, Z:3.55 [[ 9.23907350e-01 -3.81186971e-01 -3.30408937e-02 1.13641960e+02] [ 3.80972135e-01 9.24497668e-01 -1.28177663e-02 1.93924721e+01] [ 3.54321947e-02 -7.45231285e-04 9.99371805e-01 3.54794409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.208040942 meters 0.019944087356823115 Centerline is valid? [True, True] Translation: X:113.70, Y:19.41, Z:3.55 [[ 9.24180452e-01 -3.80600935e-01 -3.21468617e-02 1.13696545e+02] [ 3.80396893e-01 9.24739123e-01 -1.24803014e-02 1.94122132e+01] [ 3.44774751e-02 -6.94515724e-04 9.99405234e-01 3.55058782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.268040942 meters 0.018967507243659875 Centerline is valid? [True, True] Translation: X:113.75, Y:19.44, Z:3.55 [[ 9.24293620e-01 -3.80353622e-01 -3.18186399e-02 1.13750035e+02] [ 3.80153455e-01 9.24840887e-01 -1.23565443e-02 1.94369558e+01] [ 3.41270356e-02 -6.74890797e-04 9.99417275e-01 3.55238193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.328040942 meters 0.018548641399398585 Centerline is valid? [True, True] Translation: X:113.80, Y:19.46, Z:3.55 [[ 9.25311648e-01 -3.77910550e-01 -3.13364101e-02 1.13802235e+02] [ 3.77714724e-01 9.25841938e-01 -1.21775844e-02 1.94616318e+01] [ 3.36146003e-02 -5.68162758e-04 9.99434708e-01 3.55418809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.388040942 meters 0.018098740909992764 Centerline is valid? [True, True] Translation: X:113.85, Y:19.49, Z:3.56 [[ 9.26236332e-01 -3.75718943e-01 -3.03567802e-02 1.13854827e+02] [ 3.75533899e-01 9.26733540e-01 -1.17998199e-02 1.94861344e+01] [ 3.25660622e-02 -4.70578131e-04 9.99469474e-01 3.55622077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.448040942 meters 0.017469844154720398 Centerline is valid? [True, True] Translation: X:113.91, Y:19.51, Z:3.56 [[ 9.27618675e-01 -3.72263034e-01 -3.07217762e-02 1.13906975e+02] [ 3.72071516e-01 9.28127206e-01 -1.19447349e-02 1.95111771e+01] [ 3.29602996e-02 -3.50538702e-04 9.99456600e-01 3.55839852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.508040942 meters 0.016788668229077753 Centerline is valid? [True, True] Translation: X:113.96, Y:19.54, Z:3.56 [[ 9.29490429e-01 -3.67527766e-01 -3.11590044e-02 1.13958512e+02] [ 3.67327986e-01 9.30012531e-01 -1.21178713e-02 1.95387043e+01] [ 3.34319187e-02 -1.82128898e-04 9.99440981e-01 3.56009409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.568040942 meters 0.016632284361840523 Centerline is valid? [True, True] Translation: X:114.01, Y:19.56, Z:3.56 [[ 9.30358594e-01 -3.65380228e-01 -3.04987792e-02 1.14011381e+02] [ 3.65187529e-01 9.30858356e-01 -1.18654939e-02 1.95639021e+01] [ 3.27254603e-02 -9.86096014e-05 9.99464374e-01 3.56296854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.628040942 meters 0.016611154293482946 Centerline is valid? [True, True] Translation: X:114.06, Y:19.59, Z:3.57 [[ 9.30525205e-01 -3.65054162e-01 -2.92967783e-02 1.14063610e+02] [ 3.64875960e-01 9.30986280e-01 -1.14052802e-02 1.95882899e+01] [ 3.14384436e-02 -7.67893998e-05 9.99505687e-01 3.56601838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.688040942 meters 0.016547499906714783 Centerline is valid? [True, True] Translation: X:114.12, Y:19.61, Z:3.57 [[ 9.29997074e-01 -3.66494011e-01 -2.80638961e-02 1.14116816e+02] [ 3.66330910e-01 9.30420404e-01 -1.09332989e-02 1.96125098e+01] [ 3.01182101e-02 -1.12736581e-04 9.99546337e-01 3.56932955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.748040942 meters 0.01679222857017396 Centerline is valid? [True, True] Translation: X:114.17, Y:19.64, Z:3.57 [[ 9.29051504e-01 -3.68935678e-01 -2.73819009e-02 1.14169354e+02] [ 3.68781218e-01 9.29454912e-01 -1.06761246e-02 1.96355762e+01] [ 2.93890456e-02 -1.79261119e-04 9.99568033e-01 3.57173943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.808040942 meters 0.01660909829299239 Centerline is valid? [True, True] Translation: X:114.22, Y:19.66, Z:3.57 [[ 9.27537338e-01 -3.72716131e-01 -2.75167807e-02 1.14222847e+02] [ 3.72561672e-01 9.27945364e-01 -1.07332306e-02 1.96613607e+01] [ 2.95345172e-02 -2.96225715e-04 9.99563717e-01 3.57290874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.868040942 meters 0.01708418370538735 Centerline is valid? [True, True] Translation: X:114.28, Y:19.69, Z:3.57 [[ 9.25452135e-01 -3.77828149e-01 -2.80041906e-02 1.14276034e+02] [ 3.77670254e-01 9.25875628e-01 -1.09316526e-02 1.96867188e+01] [ 3.00586836e-02 -4.59628544e-04 9.99548030e-01 3.57312039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.928040942 meters 0.017964439455165505 Centerline is valid? [True, True] Translation: X:114.33, Y:19.71, Z:3.57 [[ 9.23870790e-01 -3.81574216e-01 -2.93918384e-02 1.14330117e+02] [ 3.81401890e-01 9.24338009e-01 -1.14823088e-02 1.97077201e+01] [ 3.15493463e-02 -6.01932959e-04 9.99502014e-01 3.57474520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.988040942 meters 0.019378019857753514 Centerline is valid? [True, True] Translation: X:114.38, Y:19.73, Z:3.58 [[ 9.21414612e-01 -3.87431024e-01 -2.98716180e-02 1.14384373e+02] [ 3.87255992e-01 9.21898336e-01 -1.16728366e-02 1.97321727e+01] [ 3.20610139e-02 -8.12440866e-04 9.99485583e-01 3.57544279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.048040942 meters 0.019972040706769223 Centerline is valid? [True, True] Translation: X:114.44, Y:19.76, Z:3.58 [[ 9.19491594e-01 -3.91953968e-01 -3.01213535e-02 1.14437240e+02] [ 3.91778354e-01 9.19984312e-01 -1.17723315e-02 1.97600879e+01] [ 3.23253847e-02 -9.76334475e-04 9.99476921e-01 3.57710766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.108040942 meters 0.020915969176452744 Centerline is valid? [True, True] Translation: X:114.49, Y:19.79, Z:3.58 [[ 9.18273462e-01 -3.94885244e-01 -2.89740116e-02 1.14490747e+02] [ 3.94724132e-01 9.18729868e-01 -1.13264548e-02 1.97875882e+01] [ 3.10919398e-02 -1.03595871e-03 9.99515992e-01 3.57965657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.168040942 meters 0.021350474223610694 Centerline is valid? [True, True] Translation: X:114.54, Y:19.82, Z:3.58 [[ 9.18148934e-01 -3.95249562e-01 -2.79342005e-02 1.14541227e+02] [ 3.95099806e-01 9.18573227e-01 -1.09256679e-02 1.98166507e+01] [ 2.99779741e-02 -1.00540686e-03 9.99550054e-01 3.58175989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22804094199999 meters 0.021403849337807392 Centerline is valid? [True, True] Translation: X:114.59, Y:19.84, Z:3.58 [[ 9.18358248e-01 -3.94729943e-01 -2.83971905e-02 1.14594671e+02] [ 3.94574642e-01 9.18796648e-01 -1.11162930e-02 1.98416353e+01] [ 3.04791771e-02 -9.96071940e-04 9.99534906e-01 3.58282687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.288040942 meters 0.020583259441619605 Centerline is valid? [True, True] Translation: X:114.64, Y:19.87, Z:3.58 [[ 9.19190447e-01 -3.92777223e-01 -2.85477846e-02 1.14644858e+02] [ 3.92619077e-01 9.19633183e-01 -1.11834581e-02 1.98747130e+01] [ 3.06460977e-02 -9.28677009e-04 9.99529867e-01 3.58404045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.348040942 meters 0.020325940382542526 Centerline is valid? [True, True] Translation: X:114.70, Y:19.91, Z:3.59 [[ 9.20339214e-01 -3.90139715e-01 -2.76899514e-02 1.14695271e+02] [ 3.89989502e-01 9.20755315e-01 -1.08553537e-02 1.99054380e+01] [ 2.97307745e-02 -8.08182652e-04 9.99557616e-01 3.58550219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.408040942 meters 0.019885580670298452 Centerline is valid? [True, True] Translation: X:114.75, Y:19.94, Z:3.59 [[ 9.20561452e-01 -3.89617941e-01 -2.76491004e-02 1.14746435e+02] [ 3.89467876e-01 9.20976242e-01 -1.08413456e-02 1.99362331e+01] [ 2.96881473e-02 -7.88311565e-04 9.99558899e-01 3.58605072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.468040942 meters 0.021847545019430512 Centerline is valid? [True, True] Translation: X:114.80, Y:19.96, Z:3.59 [[ 9.20823030e-01 -3.88948753e-01 -2.83516230e-02 1.14799017e+02] [ 3.88790390e-01 9.21259063e-01 -1.11252344e-02 1.99614163e+01] [ 3.04463357e-02 -7.78466513e-04 9.99536100e-01 3.58590413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.528040942 meters 0.02028592125048012 Centerline is valid? [True, True] Translation: X:114.85, Y:19.99, Z:3.59 [[ 9.20519223e-01 -3.89668942e-01 -2.83280014e-02 1.14852590e+02] [ 3.89511100e-01 9.20954655e-01 -1.11187316e-02 1.99868395e+01] [ 3.04214291e-02 -7.99064787e-04 9.99536842e-01 3.58854614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.588040942 meters 0.02104850325668061 Centerline is valid? [True, True] Translation: X:114.91, Y:20.01, Z:3.59 [[ 9.19828718e-01 -3.91231842e-01 -2.92023259e-02 1.14905777e+02] [ 3.91064625e-01 9.20291742e-01 -1.14703508e-02 2.00116457e+01] [ 3.13622258e-02 -8.69238548e-04 9.99507706e-01 3.58934230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.648040942 meters 0.022493798056936395 Centerline is valid? [True, True] Translation: X:114.96, Y:20.03, Z:3.59 [[ 9.18801718e-01 -3.93631553e-01 -2.92848565e-02 1.14958457e+02] [ 3.93464351e-01 9.19267809e-01 -1.15108408e-02 2.00343698e+01] [ 3.14516560e-02 -9.46366823e-04 9.99504826e-01 3.59047304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.708040942 meters 0.023724823706921725 Centerline is valid? [True, True] Translation: X:115.01, Y:20.06, Z:3.59 [[ 9.18146508e-01 -3.95130948e-01 -2.96399031e-02 1.15013276e+02] [ 3.94960280e-01 9.18624256e-01 -1.16556055e-02 2.00567424e+01] [ 3.18334244e-02 -1.00503088e-03 9.99492683e-01 3.59147051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.768040942 meters 0.024258834901616278 Centerline is valid? [True, True] Translation: X:115.07, Y:20.08, Z:3.59 [[ 9.17890346e-01 -3.95593916e-01 -3.13491096e-02 1.15066744e+02] [ 3.95402966e-01 9.18424904e-01 -1.23365220e-02 2.00810544e+01] [ 3.36720560e-02 -1.07195645e-03 9.99432361e-01 3.59123536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.828040942 meters 0.02484792955699894 Centerline is valid? [True, True] Translation: X:115.12, Y:20.11, Z:3.59 [[ 9.17690407e-01 -3.96022187e-01 -3.17922119e-02 1.15120535e+02] [ 3.95825766e-01 9.18240289e-01 -1.25193755e-02 2.01050672e+01] [ 3.41508403e-02 -1.09526581e-03 9.99416090e-01 3.59258654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.888040942 meters 0.021800892432839586 Centerline is valid? [True, True] Translation: X:115.17, Y:20.13, Z:3.60 [[ 9.17622934e-01 -3.96263304e-01 -3.07171671e-02 1.15171279e+02] [ 3.96079821e-01 9.18136303e-01 -1.21038994e-02 2.01332227e+01] [ 3.29988774e-02 -1.05963438e-03 9.99454827e-01 3.59513206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.948040942 meters 0.02096551257064717 Centerline is valid? [True, True] Translation: X:115.22, Y:20.16, Z:3.60 [[ 9.17219300e-01 -3.97197623e-01 -3.07051159e-02 1.15224699e+02] [ 3.97014480e-01 9.17732463e-01 -1.21090308e-02 2.01579528e+01] [ 3.29887599e-02 -1.08373893e-03 9.99455135e-01 3.59675799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.008040942 meters 0.021494208246805833 Centerline is valid? [True, True] Translation: X:115.28, Y:20.18, Z:3.60 [[ 9.17415001e-01 -3.96721493e-01 -3.10124792e-02 1.15278477e+02] [ 3.96534101e-01 9.17938404e-01 -1.22390102e-02 2.01786954e+01] [ 3.33230241e-02 -1.06925402e-03 9.99444062e-01 3.59784075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.068040942 meters 0.020690565147712444 Centerline is valid? [True, True] Translation: X:115.33, Y:20.20, Z:3.60 [[ 9.18234071e-01 -3.94957554e-01 -2.92356078e-02 1.15331852e+02] [ 3.94790039e-01 9.18698883e-01 -1.15407000e-02 2.02044975e+01] [ 3.14168069e-02 -9.44862774e-04 9.99505924e-01 3.60043548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.128040942 meters 0.020166487400205407 Centerline is valid? [True, True] Translation: X:115.39, Y:20.23, Z:3.60 [[ 9.19082205e-01 -3.93020612e-01 -2.86827236e-02 1.15386065e+02] [ 3.92858179e-01 9.19529265e-01 -1.13306156e-02 2.02268657e+01] [ 3.08277692e-02 -8.54475383e-04 9.99524346e-01 3.60363574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.188040942 meters 0.019233369482170852 Centerline is valid? [True, True] Translation: X:115.44, Y:20.25, Z:3.61 [[ 9.20825931e-01 -3.88949012e-01 -2.82536801e-02 1.15439654e+02] [ 3.88789238e-01 9.21259017e-01 -1.11692644e-02 2.02508831e+01] [ 3.03732319e-02 -6.99778428e-04 9.99538382e-01 3.60585769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.248040942 meters 0.017979255517984412 Centerline is valid? [True, True] Translation: X:115.49, Y:20.27, Z:3.61 [[ 9.23437364e-01 -3.82662608e-01 -2.88576455e-02 1.15493837e+02] [ 3.82492777e-01 9.23888022e-01 -1.14104384e-02 2.02748083e+01] [ 3.10275812e-02 -5.01015844e-04 9.99518403e-01 3.60707283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.308040942 meters 0.016934245379199 Centerline is valid? [True, True] Translation: X:115.55, Y:20.30, Z:3.61 [[ 9.25852015e-01 -3.76808472e-01 -2.85205476e-02 1.15547244e+02] [ 3.76639768e-01 9.26291145e-01 -1.12782808e-02 2.02988071e+01] [ 3.06680824e-02 -2.99953392e-04 9.99529579e-01 3.60941684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.368040942 meters 0.01634410301427495 Centerline is valid? [True, True] Translation: X:115.60, Y:20.32, Z:3.61 [[ 9.28066479e-01 -3.71278280e-01 -2.90697245e-02 1.15600902e+02] [ 3.71100220e-01 9.28521634e-01 -1.14978927e-02 2.03227119e+01] [ 3.12607859e-02 -1.16972393e-04 9.99511255e-01 3.61060347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.428040942 meters 0.016230766629136334 Centerline is valid? [True, True] Translation: X:115.65, Y:20.34, Z:3.61 [[ 9.29248385e-01 -3.68261202e-01 -2.96837708e-02 1.15654971e+02] [ 3.68073726e-01 9.29722371e-01 -1.17492461e-02 2.03442041e+01] [ 3.19244573e-02 -7.84817998e-06 9.99490285e-01 3.61178460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.488040942 meters 0.016320656570675426 Centerline is valid? [True, True] Translation: X:115.71, Y:20.36, Z:3.61 [[ 9.30741920e-01 -3.64416443e-01 -3.03337241e-02 1.15709588e+02] [ 3.64218295e-01 9.31236081e-01 -1.20164654e-02 2.03629518e+01] [ 3.26268559e-02 1.36130773e-04 9.99467593e-01 3.61294877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.548040942 meters 0.016346271359746953 Centerline is valid? [True, True] Translation: X:115.76, Y:20.38, Z:3.62 [[ 9.30659311e-01 -3.64680677e-01 -2.96858506e-02 1.15764713e+02] [ 3.64490894e-01 9.31132637e-01 -1.17644104e-02 2.03804366e+01] [ 3.19317175e-02 1.28435884e-04 9.99490044e-01 3.61530168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.608040942 meters 0.016206123107290495 Centerline is valid? [True, True] Translation: X:115.82, Y:20.39, Z:3.62 [[ 9.29554812e-01 -3.67490158e-01 -2.96451594e-02 1.15821766e+02] [ 3.67302025e-01 9.30027409e-01 -1.17575678e-02 2.03945841e+01] [ 3.18916013e-02 4.05765992e-05 9.99491333e-01 3.61709195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.668040942 meters 0.01620618668158093 Centerline is valid? [True, True] Translation: X:115.88, Y:20.41, Z:3.62 [[ 9.28554255e-01 -3.70018755e-01 -2.95485433e-02 1.15878671e+02] [ 3.69833027e-01 9.29024283e-01 -1.17223231e-02 2.04082383e+01] [ 3.17887937e-02 -4.32142670e-05 9.99494608e-01 3.61979690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72804094199999 meters 0.01606262431472489 Centerline is valid? [True, True] Translation: X:115.94, Y:20.42, Z:3.62 [[ 9.28403283e-01 -3.70254545e-01 -3.12876366e-02 1.15935343e+02] [ 3.70046081e-01 9.28930336e-01 -1.24228728e-02 2.04238911e+01] [ 3.36636599e-02 -4.44314097e-05 9.99433217e-01 3.62075761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.788040942 meters 0.01603213834056465 Centerline is valid? [True, True] Translation: X:115.99, Y:20.44, Z:3.62 [[ 9.29315163e-01 -3.67830342e-01 -3.27744848e-02 1.15991013e+02] [ 3.67599692e-01 9.29892917e-01 -1.30241866e-02 2.04418009e+01] [ 3.52674523e-02 5.56835215e-05 9.99377908e-01 3.62092277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.848040942 meters 0.01610813423132221 Centerline is valid? [True, True] Translation: X:116.05, Y:20.46, Z:3.62 [[ 9.29740601e-01 -3.66727116e-01 -3.30701832e-02 1.16046291e+02] [ 3.66491206e-01 9.30328550e-01 -1.31523948e-02 2.04594514e+01] [ 3.55894754e-02 1.08384108e-04 9.99366488e-01 3.62308268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.908040942 meters 0.01625720107610284 Centerline is valid? [True, True] Translation: X:116.10, Y:20.47, Z:3.63 [[ 9.29322575e-01 -3.67939395e-01 -3.13073944e-02 1.16104012e+02] [ 3.67728347e-01 9.29849771e-01 -1.24605417e-02 2.04712880e+01] [ 3.36958977e-02 6.72462492e-05 9.99432130e-01 3.62635638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.968040942 meters 0.016343486363971958 Centerline is valid? [True, True] Translation: X:116.16, Y:20.49, Z:3.63 [[ 9.28888225e-01 -3.69046129e-01 -3.11708118e-02 1.16160125e+02] [ 3.68837371e-01 9.29411079e-01 -1.24113019e-02 2.04872721e+01] [ 3.35508408e-02 3.17519619e-05 9.99437012e-01 3.62882883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.028040942 meters 0.016492618530865765 Centerline is valid? [True, True] Translation: X:116.22, Y:20.50, Z:3.63 [[ 9.28869742e-01 -3.69112043e-01 -3.09402853e-02 1.16216023e+02] [ 3.68906069e-01 9.29384903e-01 -1.23293977e-02 2.05018644e+01] [ 3.33063632e-02 3.83454219e-05 9.99445188e-01 3.63020720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.088040942 meters 0.016695025631233124 Centerline is valid? [True, True] Translation: X:116.27, Y:20.52, Z:3.63 [[ 9.28866452e-01 -3.69140963e-01 -3.06930589e-02 1.16273172e+02] [ 3.68938128e-01 9.29373417e-01 -1.22355858e-02 2.05162852e+01] [ 3.30419689e-02 4.13854636e-05 9.99453964e-01 3.63260227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.148040942 meters 0.016695315863556215 Centerline is valid? [True, True] Translation: X:116.33, Y:20.54, Z:3.63 [[ 9.28968119e-01 -3.68863510e-01 -3.09506882e-02 1.16326816e+02] [ 3.68656795e-01 9.29483570e-01 -1.23474767e-02 2.05350239e+01] [ 3.33226898e-02 6.02307037e-05 9.99444643e-01 3.63459513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.208040942 meters 0.01694366138975692 Centerline is valid? [True, True] Translation: X:116.38, Y:20.55, Z:3.64 [[ 9.29417586e-01 -3.67694181e-01 -3.13678361e-02 1.16383134e+02] [ 3.67481028e-01 9.29946761e-01 -1.25186407e-02 2.05495688e+01] [ 3.37734489e-02 1.07960188e-04 9.99429509e-01 3.63732840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.268040942 meters 0.017092731078520898 Centerline is valid? [True, True] Translation: X:116.44, Y:20.56, Z:3.64 [[ 9.29571372e-01 -3.67449401e-01 -2.96310910e-02 1.16439550e+02] [ 3.67258774e-01 9.30043506e-01 -1.18350847e-02 2.05638394e+01] [ 3.19069986e-02 1.19277768e-04 9.99490835e-01 3.64115009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.328040942 meters 0.017107305839064415 Centerline is valid? [True, True] Translation: X:116.50, Y:20.58, Z:3.64 [[ 9.29012025e-01 -3.68923845e-01 -2.88418769e-02 1.16495811e+02] [ 3.68743654e-01 9.29459623e-01 -1.15293833e-02 2.05793167e+01] [ 3.10608244e-02 7.56766470e-05 9.99517493e-01 3.64467102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.388040942 meters 0.017141974799793677 Centerline is valid? [True, True] Translation: X:116.55, Y:20.59, Z:3.65 [[ 9.27655603e-01 -3.72340688e-01 -2.85918615e-02 1.16553617e+02] [ 3.72164936e-01 9.28096122e-01 -1.14389463e-02 2.05915058e+01] [ 3.07951809e-02 -2.94856317e-05 9.99525716e-01 3.64681888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.448040942 meters 0.017357986360411803 Centerline is valid? [True, True] Translation: X:116.61, Y:20.60, Z:3.65 [[ 9.25938879e-01 -3.76603972e-01 -2.84014308e-02 1.16612082e+02] [ 3.76432264e-01 9.26374343e-01 -1.13722443e-02 2.06028130e+01] [ 3.05931892e-02 -1.61211821e-04 9.99531906e-01 3.64877661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.508040942 meters 0.018103595918835032 Centerline is valid? [True, True] Translation: X:116.67, Y:20.61, Z:3.65 [[ 9.24093271e-01 -3.81156609e-01 -2.77716855e-02 1.16669858e+02] [ 3.80994243e-01 9.24510438e-01 -1.11281612e-02 2.06127952e+01] [ 2.99167853e-02 -2.97393421e-04 9.99552349e-01 3.65161721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.568040942 meters 0.018212921597840975 Centerline is valid? [True, True] Translation: X:116.73, Y:20.63, Z:3.65 [[ 9.23278279e-01 -3.83140098e-01 -2.75841516e-02 1.16726827e+02] [ 3.82980658e-01 9.23690175e-01 -1.10578340e-02 2.06282998e+01] [ 2.97159095e-02 -3.54738573e-04 9.99558322e-01 3.65330843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.628040942 meters 0.018495757279950294 Centerline is valid? [True, True] Translation: X:116.78, Y:20.64, Z:3.65 [[ 9.22809130e-01 -3.84177709e-01 -2.88235578e-02 1.16784055e+02] [ 3.84003848e-01 9.23259081e-01 -1.15635244e-02 2.06433039e+01] [ 3.10540598e-02 -3.97431159e-04 9.99517627e-01 3.65420656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.688040942 meters 0.018727019281418202 Centerline is valid? [True, True] Translation: X:116.84, Y:20.66, Z:3.66 [[ 9.22648698e-01 -3.84557200e-01 -2.88987859e-02 1.16839503e+02] [ 3.84382354e-01 9.23101076e-01 -1.16021119e-02 2.06611312e+01] [ 3.11381760e-02 -4.03509964e-04 9.99515008e-01 3.65645457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.748040942 meters 0.018735272515220742 Centerline is valid? [True, True] Translation: X:116.89, Y:20.68, Z:3.66 [[ 9.22753142e-01 -3.84289094e-01 -2.91295749e-02 1.16894444e+02] [ 3.84111002e-01 9.23212728e-01 -1.17045512e-02 2.06797799e+01] [ 3.13907257e-02 -3.88578807e-04 9.99507114e-01 3.65830264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.808040942 meters 0.01945352255060141 Centerline is valid? [True, True] Translation: X:116.95, Y:20.69, Z:3.66 [[ 9.22447425e-01 -3.85101668e-01 -2.80616030e-02 1.16950384e+02] [ 3.84936496e-01 9.22874071e-01 -1.12846204e-02 2.06947737e+01] [ 3.02430519e-02 -3.92466126e-04 9.99542497e-01 3.66198551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.868040942 meters 0.019367855546831472 Centerline is valid? [True, True] Translation: X:117.00, Y:20.72, Z:3.67 [[ 9.22274320e-01 -3.85589352e-01 -2.70357249e-02 1.17004883e+02] [ 3.85436182e-01 9.22670417e-01 -1.08743511e-02 2.07150391e+01] [ 2.91380976e-02 -3.91411791e-04 9.99575319e-01 3.66526814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.928040942 meters 0.019525955798047594 Centerline is valid? [True, True] Translation: X:117.06, Y:20.73, Z:3.67 [[ 9.22775153e-01 -3.84429492e-01 -2.64571951e-02 1.17059368e+02] [ 3.84282067e-01 9.23154294e-01 -1.06509227e-02 2.07347961e+01] [ 2.85186020e-02 -3.38618799e-04 9.99593205e-01 3.66810237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.988040942 meters 0.01942461764851761 Centerline is valid? [True, True] Translation: X:117.11, Y:20.75, Z:3.67 [[ 9.23457102e-01 -3.82746218e-01 -2.70613023e-02 1.17113769e+02] [ 3.82591175e-01 9.23853478e-01 -1.08969956e-02 2.07549917e+01] [ 2.91714621e-02 -2.90507474e-04 9.99574380e-01 3.67055668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.048040942 meters 0.019509562119954575 Centerline is valid? [True, True] Translation: X:117.17, Y:20.78, Z:3.67 [[ 9.23155494e-01 -3.83379285e-01 -2.83594425e-02 1.17168504e+02] [ 3.83209216e-01 9.23590937e-01 -1.14226749e-02 2.07754200e+01] [ 3.05717410e-02 -3.22694594e-04 9.99532523e-01 3.67330995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.108040942 meters 0.019842931319684193 Centerline is valid? [True, True] Translation: X:117.22, Y:20.80, Z:3.68 [[ 9.22107652e-01 -3.85878067e-01 -2.85586326e-02 1.17223431e+02] [ 3.85706505e-01 9.22549705e-01 -1.15123710e-02 2.07963381e+01] [ 3.07891295e-02 -3.99604972e-04 9.99525822e-01 3.67503493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.168040942 meters 0.020060598151348936 Centerline is valid? [True, True] Translation: X:117.28, Y:20.82, Z:3.68 [[ 9.21395655e-01 -3.87579695e-01 -2.84960885e-02 1.17278267e+02] [ 3.87409444e-01 9.21836091e-01 -1.14953441e-02 2.08182963e+01] [ 3.07240848e-02 -4.47893746e-04 9.99527804e-01 3.67783866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22804094199999 meters 0.020591542992801352 Centerline is valid? [True, True] Translation: X:117.33, Y:20.84, Z:3.68 [[ 9.20280903e-01 -3.90317301e-01 -2.71194394e-02 1.17332640e+02] [ 3.90164071e-01 9.20680264e-01 -1.09475578e-02 2.08397342e+01] [ 2.92413538e-02 -5.06202470e-04 9.99572252e-01 3.68069797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.288040942 meters 0.021946590910120998 Centerline is valid? [True, True] Translation: X:117.39, Y:20.86, Z:3.68 [[ 9.18873611e-01 -3.93638823e-01 -2.68284277e-02 1.17387052e+02] [ 3.93490047e-01 9.19264989e-01 -1.08380503e-02 2.08583736e+01] [ 2.89287116e-02 -5.97920887e-04 9.99581298e-01 3.68123971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.348040942 meters 0.022845548393514565 Centerline is valid? [True, True] Translation: X:117.44, Y:20.88, Z:3.68 [[ 9.17776936e-01 -3.96153674e-01 -2.73452615e-02 1.17442208e+02] [ 3.96000079e-01 9.18183967e-01 -1.10517341e-02 2.08789688e+01] [ 2.94861657e-02 -6.85699063e-04 9.99564953e-01 3.68233813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.408040942 meters 0.02291260751869351 Centerline is valid? [True, True] Translation: X:117.50, Y:20.90, Z:3.68 [[ 9.17901910e-01 -3.95796273e-01 -2.83088920e-02 1.17496332e+02] [ 3.95631235e-01 9.18338083e-01 -1.14495416e-02 2.09033511e+01] [ 3.05288194e-02 -6.90325827e-04 9.99533649e-01 3.68222583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.468040942 meters 0.022052594075908264 Centerline is valid? [True, True] Translation: X:117.55, Y:20.93, Z:3.68 [[ 9.18764708e-01 -3.93671329e-01 -2.99047856e-02 1.17549042e+02] [ 3.93485741e-01 9.19251036e-01 -1.21039191e-02 2.09293610e+01] [ 3.22549711e-02 -6.46453057e-04 9.99479464e-01 3.68320423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.528040942 meters 0.022108755943426664 Centerline is valid? [True, True] Translation: X:117.60, Y:20.95, Z:3.69 [[ 9.19327017e-01 -3.92338980e-01 -3.01323867e-02 1.17601640e+02] [ 3.92149562e-01 9.19820509e-01 -1.22045917e-02 2.09531477e+01] [ 3.25047244e-02 -5.96391337e-04 9.99471404e-01 3.68526071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.588040942 meters 0.022299946609806307 Centerline is valid? [True, True] Translation: X:117.66, Y:20.98, Z:3.69 [[ 9.18778161e-01 -3.93660361e-01 -2.96346191e-02 1.17655049e+02] [ 3.93477735e-01 9.19255745e-01 -1.20061439e-02 2.09777775e+01] [ 3.19681368e-02 -6.29580010e-04 9.99488690e-01 3.68657582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.648040942 meters 0.023164037953619983 Centerline is valid? [True, True] Translation: X:117.71, Y:21.00, Z:3.69 [[ 9.17916682e-01 -3.95797600e-01 -2.78069292e-02 1.17708994e+02] [ 3.95637557e-01 9.18337538e-01 -1.12734463e-02 2.09992650e+01] [ 2.99981499e-02 -6.53381105e-04 9.99549741e-01 3.68925481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.708040942 meters 0.023611739168907186 Centerline is valid? [True, True] Translation: X:117.76, Y:21.02, Z:3.69 [[ 9.17196522e-01 -3.97492107e-01 -2.73964267e-02 1.17762963e+02] [ 3.97337435e-01 9.17605329e-01 -1.11095506e-02 2.10222473e+01] [ 2.95550658e-02 -6.95984771e-04 9.99562911e-01 3.69106479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.768040942 meters 0.023784631985917314 Centerline is valid? [True, True] Translation: X:117.82, Y:21.04, Z:3.69 [[ 9.17252012e-01 -3.97368509e-01 -2.73315647e-02 1.17816251e+02] [ 3.97214286e-01 9.17658870e-01 -1.10909755e-02 2.10445718e+01] [ 2.94882571e-02 -6.83268335e-04 9.99564893e-01 3.69397149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.828040942 meters 0.023232031688412258 Centerline is valid? [True, True] Translation: X:117.87, Y:21.07, Z:3.70 [[ 9.18489277e-01 -3.94467157e-01 -2.78048590e-02 1.17869572e+02] [ 3.94305938e-01 9.18909850e-01 -1.12922584e-02 2.10710066e+01] [ 3.00045838e-02 -5.91802707e-04 9.99549586e-01 3.69511111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.888040942 meters 0.022623966680546122 Centerline is valid? [True, True] Translation: X:117.92, Y:21.10, Z:3.70 [[ 9.19733200e-01 -3.91566359e-01 -2.76880502e-02 1.17922965e+02] [ 3.91404957e-01 9.20149742e-01 -1.12521675e-02 2.10969752e+01] [ 2.98831225e-02 -4.88248045e-04 9.99553281e-01 3.69646458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.948040942 meters 0.022905990306889577 Centerline is valid? [True, True] Translation: X:117.98, Y:21.12, Z:3.70 [[ 9.20541528e-01 -3.89694295e-01 -2.72332685e-02 1.17976971e+02] [ 3.89537218e-01 9.20944180e-01 -1.10712654e-02 2.11188035e+01] [ 2.93947291e-02 -4.16812066e-04 9.99567795e-01 3.69828194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.008040942 meters 0.022769883784277523 Centerline is valid? [True, True] Translation: X:118.03, Y:21.14, Z:3.70 [[ 9.20648720e-01 -3.89467130e-01 -2.68568234e-02 1.18030089e+02] [ 3.89314165e-01 9.21040278e-01 -1.09218573e-02 2.11409743e+01] [ 2.89899205e-02 -4.00547837e-04 9.99579624e-01 3.70055848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.068040942 meters 0.02206717631624782 Centerline is valid? [True, True] Translation: X:118.08, Y:21.17, Z:3.70 [[ 9.20770754e-01 -3.89194093e-01 -2.66303545e-02 1.18082960e+02] [ 3.89043354e-01 9.21155694e-01 -1.08377325e-02 2.11664422e+01] [ 2.87486842e-02 -3.81295269e-04 9.99586598e-01 3.70185931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.128040942 meters 0.021990903171295272 Centerline is valid? [True, True] Translation: X:118.14, Y:21.19, Z:3.70 [[ 9.21047388e-01 -3.88461493e-01 -2.77376693e-02 1.18137905e+02] [ 3.88297351e-01 9.21464886e-01 -1.12974183e-02 2.11863172e+01] [ 2.99479002e-02 -3.65005847e-04 9.99551394e-01 3.70295718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.188040942 meters 0.02169475568323152 Centerline is valid? [True, True] Translation: X:118.19, Y:21.21, Z:3.70 [[ 9.21664870e-01 -3.86939193e-01 -2.84943469e-02 1.18192055e+02] [ 3.86764986e-01 9.22105179e-01 -1.16140010e-02 2.12098215e+01] [ 3.07686970e-02 -3.16398991e-04 9.99526481e-01 3.70367638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.248040942 meters 0.021715654459102583 Centerline is valid? [True, True] Translation: X:118.25, Y:21.23, Z:3.71 [[ 9.21870526e-01 -3.86401399e-01 -2.91323121e-02 1.18245695e+02] [ 3.86218768e-01 9.22330673e-01 -1.18824728e-02 2.12302469e+01] [ 3.14610291e-02 -2.97344192e-04 9.99504935e-01 3.70527727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.308040942 meters 0.021812376127231813 Centerline is valid? [True, True] Translation: X:118.30, Y:21.25, Z:3.71 [[ 9.21534247e-01 -3.87163055e-01 -2.96546836e-02 1.18299720e+02] [ 3.86974103e-01 9.22011205e-01 -1.20987923e-02 2.12507709e+01] [ 3.20261560e-02 -3.26143121e-04 9.99486978e-01 3.70626544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.368040942 meters 0.0221199551568941 Centerline is valid? [True, True] Translation: X:118.35, Y:21.27, Z:3.71 [[ 9.20762987e-01 -3.88969798e-01 -2.99669534e-02 1.18354982e+02] [ 3.88777491e-01 9.21250427e-01 -1.22357660e-02 2.12710125e+01] [ 3.23664120e-02 -3.84236455e-04 9.99475997e-01 3.70765284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.428040942 meters 0.022458686303764658 Centerline is valid? [True, True] Translation: X:118.41, Y:21.29, Z:3.71 [[ 9.19489950e-01 -3.91991307e-01 -2.96824375e-02 1.18410746e+02] [ 3.91803947e-01 9.19968797e-01 -1.21276784e-02 2.12912094e+01] [ 3.20608608e-02 -4.78417724e-04 9.99485804e-01 3.71007781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.488040942 meters 0.02298046850860397 Centerline is valid? [True, True] Translation: X:118.47, Y:21.31, Z:3.71 [[ 9.17613204e-01 -3.96418998e-01 -2.89479945e-02 1.18466405e+02] [ 3.96242753e-01 9.18069499e-01 -1.18353284e-02 2.13093809e+01] [ 3.12680199e-02 -6.10179475e-04 9.99510850e-01 3.71344177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.548040942 meters 0.023985678777282603 Centerline is valid? [True, True] Translation: X:118.52, Y:21.33, Z:3.72 [[ 9.15736015e-01 -4.00767946e-01 -2.85062228e-02 1.18523362e+02] [ 4.00599054e-01 9.16179294e-01 -1.16575492e-02 2.13285986e+01] [ 3.07887831e-02 -7.44328210e-04 9.99525636e-01 3.71576405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.608040942 meters 0.02427032883557195 Centerline is valid? [True, True] Translation: X:118.58, Y:21.35, Z:3.72 [[ 9.14846387e-01 -4.02761056e-01 -2.89761830e-02 1.18577355e+02] [ 4.02587323e-01 9.15304792e-01 -1.18568670e-02 2.13505128e+01] [ 3.12975234e-02 -8.18232042e-04 9.99509778e-01 3.71730504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.668040942 meters 0.023765559529254937 Centerline is valid? [True, True] Translation: X:118.63, Y:21.37, Z:3.72 [[ 9.14632067e-01 -4.03287260e-01 -2.84177470e-02 1.18631199e+02] [ 4.03120327e-01 9.15073067e-01 -1.16311718e-02 2.13745365e+01] [ 3.06950183e-02 -8.17528790e-04 9.99528463e-01 3.71938040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72804094199999 meters 0.023999929691827824 Centerline is valid? [True, True] Translation: X:118.68, Y:21.40, Z:3.72 [[ 9.15432702e-01 -4.01443657e-01 -2.87395022e-02 1.18684244e+02] [ 4.01271751e-01 9.15883408e-01 -1.17713161e-02 2.13971119e+01] [ 3.10475534e-02 -7.56502697e-04 9.99517622e-01 3.72137414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.788040942 meters 0.022910261511893907 Centerline is valid? [True, True] Translation: X:118.74, Y:21.42, Z:3.72 [[ 9.16483946e-01 -3.99013808e-01 -2.90716096e-02 1.18737304e+02] [ 3.98836585e-01 9.16944666e-01 -1.19104211e-02 2.14239728e+01] [ 3.14094798e-02 -6.79111806e-04 9.99506370e-01 3.72278365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.848040942 meters 0.022318436450437004 Centerline is valid? [True, True] Translation: X:118.79, Y:21.45, Z:3.73 [[ 9.17696216e-01 -3.96255944e-01 -2.85461474e-02 1.18790423e+02] [ 3.96083508e-01 9.18139916e-01 -1.17025274e-02 2.14504961e+01] [ 3.08465535e-02 -5.67293080e-04 9.99523971e-01 3.72514137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.908040942 meters 0.02149950250318612 Centerline is valid? [True, True] Translation: X:118.84, Y:21.48, Z:3.73 [[ 9.18714235e-01 -3.93981477e-01 -2.72534382e-02 1.18843803e+02] [ 3.93823093e-01 9.19118263e-01 -1.11798665e-02 2.14767797e+01] [ 2.94537931e-02 -4.61930815e-04 9.99566036e-01 3.72795987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.968040942 meters 0.020623560514276516 Centerline is valid? [True, True] Translation: X:118.90, Y:21.50, Z:3.73 [[ 9.20637595e-01 -3.89451151e-01 -2.74630567e-02 1.18896261e+02] [ 3.89288082e-01 9.21047069e-01 -1.12732119e-02 2.15037007e+01] [ 2.96851333e-02 -3.12497981e-04 9.99559250e-01 3.72940206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.028040942 meters 0.02008041076551159 Centerline is valid? [True, True] Translation: X:118.95, Y:21.53, Z:3.73 [[ 9.22729126e-01 -3.84465935e-01 -2.75119079e-02 1.18948486e+02] [ 3.84299815e-01 9.23139168e-01 -1.13016648e-02 2.15293427e+01] [ 2.97424249e-02 -1.44445864e-04 9.99557586e-01 3.73160327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.088040942 meters 0.019902934596277514 Centerline is valid? [True, True] Translation: X:119.00, Y:21.56, Z:3.73 [[ 9.23944662e-01 -3.81607720e-01 -2.64916773e-02 1.19000887e+02] [ 3.81452457e-01 9.24324373e-01 -1.08847362e-02 2.15551804e+01] [ 2.86406024e-02 -4.84214753e-05 9.99589773e-01 3.73357787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.148040942 meters 0.019836818127039316 Centerline is valid? [True, True] Translation: X:119.05, Y:21.58, Z:3.74 [[ 9.24558178e-01 -3.80134165e-01 -2.62715251e-02 1.19054499e+02] [ 3.79980631e-01 9.24931358e-01 -1.08029415e-02 2.15786139e+01] [ 2.84059245e-02 5.27727319e-06 9.99596470e-01 3.73631401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.208040942 meters 0.01996312199436947 Centerline is valid? [True, True] Translation: X:119.11, Y:21.60, Z:3.74 [[ 9.24803196e-01 -3.79574986e-01 -2.57270127e-02 1.19107647e+02] [ 3.79427301e-01 9.25160975e-01 -1.05874300e-02 2.16016543e+01] [ 2.78203518e-02 2.97581145e-05 9.99612939e-01 3.73878835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.268040942 meters 0.01990522429052728 Centerline is valid? [True, True] Translation: X:119.16, Y:21.62, Z:3.74 [[ 9.24172282e-01 -3.81016713e-01 -2.70528700e-02 1.19161133e+02] [ 3.80853748e-01 9.24568150e-01 -1.11426391e-02 2.16231373e+01] [ 2.92577537e-02 -5.46869560e-06 9.99571900e-01 3.73966179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.328040942 meters 0.020361926560494945 Centerline is valid? [True, True] Translation: X:119.22, Y:21.64, Z:3.74 [[ 9.22402272e-01 -3.85243754e-01 -2.75916280e-02 1.19217512e+02] [ 3.85075839e-01 9.22814842e-01 -1.13739262e-02 2.16419312e+01] [ 2.98436979e-02 -1.33533925e-04 9.99554569e-01 3.74002969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.388040942 meters 0.021174494889421205 Centerline is valid? [True, True] Translation: X:119.27, Y:21.66, Z:3.74 [[ 9.20117409e-01 -3.90701212e-01 -2.71388350e-02 1.19273908e+02] [ 3.90540908e-01 9.20517503e-01 -1.11948857e-02 2.16600634e+01] [ 2.93556280e-02 -2.98216008e-04 9.99568986e-01 3.74059145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.448040942 meters 0.022164613313348014 Centerline is valid? [True, True] Translation: X:119.33, Y:21.68, Z:3.74 [[ 9.18069265e-01 -3.95472038e-01 -2.73987630e-02 1.19329393e+02] [ 3.95310520e-01 9.18477908e-01 -1.13104318e-02 2.16774803e+01] [ 2.96381180e-02 -4.47259430e-04 9.99560594e-01 3.74187468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.508040942 meters 0.022857032798990345 Centerline is valid? [True, True] Translation: X:119.39, Y:21.70, Z:3.74 [[ 9.16565262e-01 -3.98896422e-01 -2.81027617e-02 1.19385497e+02] [ 3.98728014e-01 9.16995812e-01 -1.16039181e-02 2.16970066e+01] [ 3.03988762e-02 -5.69610110e-04 9.99537685e-01 3.74277128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.568040942 meters 0.022479349314990647 Centerline is valid? [True, True] Translation: X:119.44, Y:21.72, Z:3.74 [[ 9.15820604e-01 -4.00584621e-01 -2.83651519e-02 1.19439700e+02] [ 4.00413617e-01 9.16259555e-01 -1.17202458e-02 2.17200279e+01] [ 3.06847916e-02 -6.24150441e-04 9.99528916e-01 3.74369965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.628040942 meters 0.02261668292321255 Centerline is valid? [True, True] Translation: X:119.49, Y:21.74, Z:3.75 [[ 9.15502948e-01 -4.01308128e-01 -2.83925844e-02 1.19494751e+02] [ 4.01136883e-01 9.15942889e-01 -1.17399446e-02 2.17420590e+01] [ 3.07173209e-02 -6.41358930e-04 9.99527906e-01 3.74543062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.688040942 meters 0.022293338034332793 Centerline is valid? [True, True] Translation: X:119.55, Y:21.76, Z:3.75 [[ 9.16012567e-01 -4.00145600e-01 -2.83632957e-02 1.19549011e+02] [ 3.99973898e-01 9.16451388e-01 -1.17360701e-02 2.17641904e+01] [ 3.06897185e-02 -5.94190200e-04 9.99528783e-01 3.74693738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.748040942 meters 0.02168072968437845 Centerline is valid? [True, True] Translation: X:119.60, Y:21.79, Z:3.75 [[ 9.17187213e-01 -3.97473850e-01 -2.79670210e-02 1.19602566e+02] [ 3.97305428e-01 9.17613371e-01 -1.15801044e-02 2.17894220e+01] [ 3.02657011e-02 -4.90325531e-04 9.99541768e-01 3.74846367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.808040942 meters 0.02121336919127188 Centerline is valid? [True, True] Translation: X:119.66, Y:21.81, Z:3.75 [[ 9.18222149e-01 -3.95025414e-01 -2.86881171e-02 1.19656171e+02] [ 3.94846731e-01 9.18670100e-01 -1.18872536e-02 2.18145049e+01] [ 3.10506826e-02 -4.12269732e-04 9.99517726e-01 3.74891364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.868040942 meters 0.021103933785461115 Centerline is valid? [True, True] Translation: X:119.71, Y:21.84, Z:3.75 [[ 9.18295577e-01 -3.94896282e-01 -2.81097845e-02 1.19709966e+02] [ 3.94724430e-01 9.18725624e-01 -1.16555723e-02 2.18368251e+01] [ 3.04279215e-02 -3.92358174e-04 9.99536887e-01 3.75041535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.928040942 meters 0.02111556182848895 Centerline is valid? [True, True] Translation: X:119.76, Y:21.86, Z:3.75 [[ 9.18067058e-01 -3.95512204e-01 -2.68881856e-02 1.19763323e+02] [ 3.95354982e-01 9.18460640e-01 -1.11575725e-02 2.18588488e+01] [ 2.91086962e-02 -3.86978332e-04 9.99576177e-01 3.75304168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.988040942 meters 0.02091618986705525 Centerline is valid? [True, True] Translation: X:119.82, Y:21.88, Z:3.76 [[ 9.18011976e-01 -3.95742011e-01 -2.53431044e-02 1.19816242e+02] [ 3.95602213e-01 9.18361654e-01 -1.05243218e-02 2.18825082e+01] [ 2.74390515e-02 -3.64334684e-04 9.99623412e-01 3.75581127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.048040942 meters 0.020837640569717274 Centerline is valid? [True, True] Translation: X:119.87, Y:21.91, Z:3.76 [[ 9.18253921e-01 -3.95217790e-01 -2.47514733e-02 1.19868808e+02] [ 3.95084035e-01 9.18587387e-01 -1.02867851e-02 2.19063531e+01] [ 2.68019116e-02 -3.33031133e-04 9.99640709e-01 3.75715722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.108040942 meters 0.020526369587197852 Centerline is valid? [True, True] Translation: X:119.92, Y:21.93, Z:3.76 [[ 9.18868565e-01 -3.93806450e-01 -2.44343951e-02 1.19922786e+02] [ 3.93675384e-01 9.19193343e-01 -1.01631992e-02 2.19308391e+01] [ 2.64622668e-02 -2.80575607e-04 9.99649774e-01 3.75854604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.168040942 meters 0.0202801020041427 Centerline is valid? [True, True] Translation: X:119.98, Y:21.96, Z:3.76 [[ 9.19516668e-01 -3.92332106e-01 -2.37616459e-02 1.19975596e+02] [ 3.92207494e-01 9.19823607e-01 -9.89008675e-03 2.19567438e+01] [ 2.57367214e-02 -2.25395972e-04 9.99668730e-01 3.75882225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22804094199999 meters 0.02019331708775649 Centerline is valid? [True, True] Translation: X:120.03, Y:21.98, Z:3.76 [[ 9.19469758e-01 -3.92435549e-01 -2.38684731e-02 1.20028622e+02] [ 3.92309671e-01 9.19779479e-01 -9.94142788e-03 2.19817947e+01] [ 2.58551014e-02 -2.22990535e-04 9.99665676e-01 3.75859763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.288040942 meters 0.0201702718375183 Centerline is valid? [True, True] Translation: X:120.08, Y:22.00, Z:3.76 [[ 9.19191447e-01 -3.93078892e-01 -2.40014379e-02 1.20082214e+02] [ 3.92951617e-01 9.19504720e-01 -1.00048379e-02 2.20034355e+01] [ 2.60021260e-02 -2.35042430e-04 9.99661860e-01 3.76039579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.348040942 meters 0.02001120374688087 Centerline is valid? [True, True] Translation: X:120.14, Y:22.03, Z:3.76 [[ 9.19216177e-01 -3.93026516e-01 -2.39118641e-02 1.20135155e+02] [ 3.92899968e-01 9.19527110e-01 -9.97536781e-03 2.20271360e+01] [ 2.59081913e-02 -2.25451179e-04 9.99664301e-01 3.76149329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.408040942 meters 0.019805629650085775 Centerline is valid? [True, True] Translation: X:120.19, Y:22.05, Z:3.76 [[ 9.19336544e-01 -3.92744986e-01 -2.39101165e-02 1.20188262e+02] [ 3.92618154e-01 9.19647395e-01 -9.98265114e-03 2.20513525e+01] [ 2.59095125e-02 -2.10129804e-04 9.99664270e-01 3.76158186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.468040942 meters 0.019808659634405708 Centerline is valid? [True, True] Translation: X:120.24, Y:22.07, Z:3.76 [[ 9.19814342e-01 -3.91694431e-01 -2.27387053e-02 1.20241244e+02] [ 3.91579201e-01 9.20095346e-01 -9.50177869e-03 2.20729945e+01] [ 2.46435707e-02 -1.64131728e-04 9.99696288e-01 3.76451562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.528040942 meters 0.019660487202085245 Centerline is valid? [True, True] Translation: X:120.29, Y:22.10, Z:3.77 [[ 9.20439563e-01 -3.90256713e-01 -2.21519430e-02 1.20293858e+02] [ 3.90146892e-01 9.20706079e-01 -9.25843393e-03 2.20967427e+01] [ 2.40085946e-02 -1.20682842e-04 9.99711745e-01 3.76562575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.588040942 meters 0.019556530454274138 Centerline is valid? [True, True] Translation: X:120.35, Y:22.12, Z:3.77 [[ 9.20903112e-01 -3.89139546e-01 -2.25359983e-02 1.20346510e+02] [ 3.89025363e-01 9.21178813e-01 -9.42660518e-03 2.21204975e+01] [ 2.44279490e-02 -8.60848639e-05 9.99701589e-01 3.76565219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.648040942 meters 0.019576600504088024 Centerline is valid? [True, True] Translation: X:120.40, Y:22.14, Z:3.77 [[ 9.21275870e-01 -3.88189534e-01 -2.36570751e-02 1.20399706e+02] [ 3.88063148e-01 9.21579558e-01 -9.90506211e-03 2.21444261e+01] [ 2.56469183e-02 -5.51443419e-05 9.99671062e-01 3.76545106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.708040942 meters 0.019825767182649855 Centerline is valid? [True, True] Translation: X:120.45, Y:22.17, Z:3.77 [[ 9.20490383e-01 -3.90021838e-01 -2.40919136e-02 1.20453910e+02] [ 3.89891349e-01 9.20805601e-01 -1.00886681e-02 2.21654048e+01] [ 2.61187699e-02 -1.06706722e-04 9.99658841e-01 3.76549719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.768040942 meters 0.020178296296194186 Centerline is valid? [True, True] Translation: X:120.51, Y:22.18, Z:3.77 [[ 9.19063126e-01 -3.93380212e-01 -2.39787237e-02 1.20509115e+02] [ 3.93251860e-01 9.19375860e-01 -1.00500331e-02 2.21831765e+01] [ 2.59989439e-02 -1.93062853e-04 9.99661952e-01 3.76760996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.828040942 meters 0.020502349758834575 Centerline is valid? [True, True] Translation: X:120.56, Y:22.20, Z:3.77 [[ 9.17333305e-01 -3.97358868e-01 -2.46076882e-02 1.20564543e+02] [ 3.97225073e-01 9.17663246e-01 -1.03154437e-02 2.22044836e+01] [ 2.66805041e-02 -3.12090724e-04 9.99643963e-01 3.76755539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.888040942 meters 0.020950644637709594 Centerline is valid? [True, True] Translation: X:120.62, Y:22.23, Z:3.77 [[ 9.15701374e-01 -4.01103470e-01 -2.46373655e-02 1.20619554e+02] [ 4.00970517e-01 9.16032660e-01 -1.03349074e-02 2.22262664e+01] [ 2.67139987e-02 -4.15168309e-04 9.99643031e-01 3.76788486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.948040942 meters 0.021200552652161843 Centerline is valid? [True, True] Translation: X:120.67, Y:22.25, Z:3.77 [[ 9.14871475e-01 -4.03019364e-01 -2.41986968e-02 1.20673977e+02] [ 4.02891594e-01 9.15191337e-01 -1.01577664e-02 2.22477046e+01] [ 2.62402143e-02 -4.56400792e-04 9.99655562e-01 3.76983884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00804094199998 meters 0.020932793731296355 Centerline is valid? [True, True] Translation: X:120.73, Y:22.27, Z:3.77 [[ 9.14905958e-01 -4.02994827e-01 -2.32864057e-02 1.20726566e+02] [ 4.02876345e-01 9.15202154e-01 -9.78105177e-03 2.22714522e+01] [ 2.52534819e-02 -4.32799471e-04 9.99680986e-01 3.77146312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06804094199998 meters 0.020706241575139207 Centerline is valid? [True, True] Translation: X:120.78, Y:22.30, Z:3.77 [[ 9.16051400e-01 -4.00414387e-01 -2.27629345e-02 1.20778704e+02] [ 4.00300164e-01 9.16334109e-01 -9.56970338e-03 2.22975798e+01] [ 2.46903002e-02 -3.45666230e-04 9.99695088e-01 3.77223011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12804094199998 meters 0.020079346778725065 Centerline is valid? [True, True] Translation: X:120.83, Y:22.32, Z:3.77 [[ 9.17434487e-01 -3.97198821e-01 -2.33892913e-02 1.20831556e+02] [ 3.97077103e-01 9.17732547e-01 -9.83601114e-03 2.23243012e+01] [ 2.53719659e-02 -2.63456206e-04 9.99678045e-01 3.77208228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.188040942 meters 0.019882236951623573 Centerline is valid? [True, True] Translation: X:120.89, Y:22.35, Z:3.77 [[ 9.18247063e-01 -3.95347103e-01 -2.28691673e-02 1.20885034e+02] [ 3.95230005e-01 9.18531778e-01 -9.62372590e-03 2.23498815e+01] [ 2.48107691e-02 -2.01623051e-04 9.99692145e-01 3.77249310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.248040942 meters 0.0199352407950649 Centerline is valid? [True, True] Translation: X:120.94, Y:22.37, Z:3.77 [[ 9.18563540e-01 -3.94624577e-01 -2.26376958e-02 1.20937443e+02] [ 3.94509431e-01 9.18842431e-01 -9.53390988e-03 2.23720473e+01] [ 2.45627906e-02 -1.73282489e-04 9.99698274e-01 3.77449101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.308040942 meters 0.01995891531135518 Centerline is valid? [True, True] Translation: X:120.99, Y:22.40, Z:3.78 [[ 9.18528423e-01 -3.94715168e-01 -2.24827264e-02 1.20989917e+02] [ 3.94601569e-01 9.18803519e-01 -9.47077793e-03 2.23958430e+01] [ 2.43954678e-02 -1.72540398e-04 9.99702371e-01 3.77517086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.368040942 meters 0.020006685261864086 Centerline is valid? [True, True] Translation: X:121.04, Y:22.42, Z:3.78 [[ 9.18205850e-01 -3.95433677e-01 -2.30266044e-02 1.21043400e+02] [ 3.95314540e-01 9.18494514e-01 -9.70788669e-03 2.24189048e+01] [ 2.49886352e-02 -1.88913188e-04 9.99687717e-01 3.77586333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.428040942 meters 0.02006022436199912 Centerline is valid? [True, True] Translation: X:121.10, Y:22.44, Z:3.78 [[ 9.17397535e-01 -3.97296231e-01 -2.31833686e-02 1.21098428e+02] [ 3.97175856e-01 9.17690389e-01 -9.78208332e-03 2.24402066e+01] [ 2.51615394e-02 -2.33815142e-04 9.99683371e-01 3.77793108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.488040942 meters 0.020285196670218542 Centerline is valid? [True, True] Translation: X:121.15, Y:22.46, Z:3.78 [[ 9.16154820e-01 -4.00073969e-01 -2.45186682e-02 1.21153478e+02] [ 3.99940117e-01 9.16482797e-01 -1.03530746e-02 2.24623814e+01] [ 2.66129332e-02 -3.20979865e-04 9.99645762e-01 3.77838687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54804094199997 meters 0.020439982342802344 Centerline is valid? [True, True] Translation: X:121.21, Y:22.48, Z:3.78 [[ 9.15319194e-01 -4.01898116e-01 -2.58587985e-02 1.21207958e+02] [ 4.01749731e-01 9.15684310e-01 -1.09269576e-02 2.24844630e+01] [ 2.80700197e-02 -3.87111289e-04 9.99605884e-01 3.77925154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60804094199997 meters 0.02062643659249728 Centerline is valid? [True, True] Translation: X:121.26, Y:22.51, Z:3.78 [[ 9.14954250e-01 -4.02648749e-01 -2.70685311e-02 1.21261462e+02] [ 4.02486241e-01 9.15354471e-01 -1.14463362e-02 2.25065173e+01] [ 2.93861539e-02 -4.21837402e-04 9.99568045e-01 3.78004497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66804094199998 meters 0.020997105898528347 Centerline is valid? [True, True] Translation: X:121.31, Y:22.53, Z:3.78 [[ 9.14424566e-01 -4.03796900e-01 -2.78527551e-02 1.21314877e+02] [ 4.03625080e-01 9.14848539e-01 -1.17875378e-02 2.25288018e+01] [ 3.02408235e-02 -4.63256309e-04 9.99542534e-01 3.78150518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72804094199998 meters 0.021206348968452013 Centerline is valid? [True, True] Translation: X:121.37, Y:22.55, Z:3.78 [[ 9.14043926e-01 -4.04592549e-01 -2.87849190e-02 1.21369470e+02] [ 4.04409331e-01 9.14496920e-01 -1.21850955e-02 2.25501618e+01] [ 3.12537186e-02 -5.03177285e-04 9.99511357e-01 3.78445270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78804094199998 meters 0.021096606541776985 Centerline is valid? [True, True] Translation: X:121.42, Y:22.57, Z:3.79 [[ 9.13828525e-01 -4.05070308e-01 -2.89045329e-02 1.21421904e+02] [ 4.04885544e-01 9.14285394e-01 -1.22439910e-02 2.25740750e+01] [ 3.13866694e-02 -5.14119326e-04 9.99507185e-01 3.78691140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84804094199998 meters 0.021253902122595116 Centerline is valid? [True, True] Translation: X:121.48, Y:22.60, Z:3.79 [[ 9.13478288e-01 -4.05818096e-01 -2.94803389e-02 1.21476209e+02] [ 4.05625961e-01 9.13953708e-01 -1.24979861e-02 2.25975845e+01] [ 3.20155740e-02 -5.41351913e-04 9.99487224e-01 3.78891423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90804094199999 meters 0.02184284134508002 Centerline is valid? [True, True] Translation: X:121.53, Y:22.62, Z:3.79 [[ 9.12558867e-01 -4.07743753e-01 -3.13264268e-02 1.21530921e+02] [ 4.07527597e-01 9.13096175e-01 -1.32903470e-02 2.26192455e+01] [ 3.40230965e-02 -6.38159472e-04 9.99420843e-01 3.79020666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.968040942 meters 0.02243131934600579 Centerline is valid? [True, True] Translation: X:121.59, Y:22.64, Z:3.79 [[ 9.11591025e-01 -4.09847491e-01 -3.20442997e-02 1.21585073e+02] [ 4.09622278e-01 9.12153775e-01 -1.36044177e-02 2.26414753e+01] [ 3.48050654e-02 -7.24393953e-04 9.99393858e-01 3.79266169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.028040942 meters 0.022843360859219498 Centerline is valid? [True, True] Translation: X:121.64, Y:22.67, Z:3.79 [[ 9.11031170e-01 -4.11062665e-01 -3.23989489e-02 1.21638169e+02] [ 4.10832870e-01 9.11606764e-01 -1.37644938e-02 2.26661032e+01] [ 3.51931704e-02 -7.70670271e-04 9.99380231e-01 3.79460906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.088040942 meters 0.02323333629883606 Centerline is valid? [True, True] Translation: X:121.69, Y:22.69, Z:3.80 [[ 9.10358588e-01 -4.12520513e-01 -3.27729577e-02 1.21691576e+02] [ 4.12285983e-01 9.10947935e-01 -1.39329615e-02 2.26911468e+01] [ 3.56020905e-02 -8.27839901e-04 9.99365702e-01 3.79702311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.148040942 meters 0.023054667901058822 Centerline is valid? [True, True] Translation: X:121.74, Y:22.72, Z:3.80 [[ 9.10137734e-01 -4.13101657e-01 -3.15646219e-02 1.21743891e+02] [ 4.12884149e-01 9.10684557e-01 -1.34281994e-02 2.27158081e+01] [ 3.42926251e-02 -8.11021106e-04 9.99411506e-01 3.80135744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.208040942 meters 0.022856488774186192 Centerline is valid? [True, True] Translation: X:121.80, Y:22.74, Z:3.80 [[ 9.10828495e-01 -4.11567748e-01 -3.16771626e-02 1.21796048e+02] [ 4.11347391e-01 9.11378863e-01 -1.34867333e-02 2.27431803e+01] [ 3.44206008e-02 -7.46217214e-04 9.99407157e-01 3.80314587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.268040942 meters 0.02244217411509523 Centerline is valid? [True, True] Translation: X:121.85, Y:22.77, Z:3.81 [[ 9.11880412e-01 -4.09279766e-01 -3.10513588e-02 1.21848606e+02] [ 4.09066397e-01 9.12408716e-01 -1.32293918e-02 2.27707105e+01] [ 3.37460528e-02 -6.38444243e-04 9.99430236e-01 3.80631705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32804094199997 meters 0.021937524805447264 Centerline is valid? [True, True] Translation: X:121.90, Y:22.80, Z:3.81 [[ 9.14032909e-01 -4.04449783e-01 -3.10517964e-02 1.21900413e+02] [ 4.04233318e-01 9.14560096e-01 -1.32384282e-02 2.27968633e+01] [ 3.37530133e-02 -4.51811616e-04 9.99430103e-01 3.81004357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38804094199998 meters 0.021490451403924717 Centerline is valid? [True, True] Translation: X:121.95, Y:22.82, Z:3.81 [[ 9.15902752e-01 -4.00225611e-01 -3.06856658e-02 1.21952489e+02] [ 4.00011725e-01 9.16416596e-01 -1.30859683e-02 2.28239016e+01] [ 3.33581930e-02 -2.89151743e-04 9.99443419e-01 3.81267126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44804094199998 meters 0.021269166170362678 Centerline is valid? [True, True] Translation: X:122.00, Y:22.85, Z:3.82 [[ 9.18068582e-01 -3.95181441e-01 -3.13322115e-02 1.22004903e+02] [ 3.94955180e-01 9.18603080e-01 -1.33711162e-02 2.28520340e+01] [ 3.40658830e-02 -9.92175373e-05 9.99419584e-01 3.81530570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50804094199998 meters 0.021317135675688933 Centerline is valid? [True, True] Translation: X:122.06, Y:22.88, Z:3.82 [[ 9.18498692e-01 -3.94146413e-01 -3.17609549e-02 1.22057565e+02] [ 3.93912962e-01 9.19047661e-01 -1.35637715e-02 2.28752347e+01] [ 3.45359432e-02 -5.27454315e-05 9.99403455e-01 3.81750793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56804094199998 meters 0.02149204007135648 Centerline is valid? [True, True] Translation: X:122.11, Y:22.90, Z:3.82 [[ 9.17803940e-01 -3.95729200e-01 -3.21609719e-02 1.22111612e+02] [ 3.95490446e-01 9.18367241e-01 -1.37447242e-02 2.28956044e+01] [ 3.49747717e-02 -1.04395105e-04 9.99388190e-01 3.82009755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62804094199998 meters 0.02162174247558161 Centerline is valid? [True, True] Translation: X:122.17, Y:22.92, Z:3.82 [[ 9.16817257e-01 -3.97914495e-01 -3.33192349e-02 1.22165533e+02] [ 3.97659541e-01 9.17422486e-01 -1.42432860e-02 2.29170030e+01] [ 3.62354253e-02 -1.91221315e-04 9.99343263e-01 3.82185824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.688040942 meters 0.021801782656848658 Centerline is valid? [True, True] Translation: X:122.22, Y:22.94, Z:3.82 [[ 9.16246976e-01 -3.99198754e-01 -3.36427522e-02 1.22220103e+02] [ 3.98939529e-01 9.16864383e-01 -1.43859427e-02 2.29388796e+01] [ 3.65886916e-02 -2.40347218e-04 9.99330381e-01 3.82422893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.748040942 meters 0.02200766842331575 Centerline is valid? [True, True] Translation: X:122.27, Y:22.96, Z:3.83 [[ 9.14697168e-01 -4.02795457e-01 -3.29379681e-02 1.22274564e+02] [ 4.02548982e-01 9.15289946e-01 -1.40937074e-02 2.29611238e+01] [ 3.58246723e-02 -3.67671333e-04 9.99358023e-01 3.82711142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.808040942 meters 0.02275167969803678 Centerline is valid? [True, True] Translation: X:122.33, Y:22.98, Z:3.83 [[ 9.12896262e-01 -4.06829309e-01 -3.33215842e-02 1.22328608e+02] [ 4.06579396e-01 9.13504045e-01 -1.42672688e-02 2.29807803e+01] [ 3.62437451e-02 -5.23333196e-04 9.99342843e-01 3.82875207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.868040942 meters 0.022966991050782343 Centerline is valid? [True, True] Translation: X:122.38, Y:23.00, Z:3.83 [[ 9.11946123e-01 -4.08845805e-01 -3.46320011e-02 1.22382990e+02] [ 4.08577024e-01 9.12603267e-01 -1.48355405e-02 2.30030656e+01] [ 3.76707258e-02 -6.20626265e-04 9.99290014e-01 3.83027328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.928040942 meters 0.02341328135766919 Centerline is valid? [True, True] Translation: X:122.44, Y:23.03, Z:3.83 [[ 9.11043201e-01 -4.10786983e-01 -3.54166681e-02 1.22437089e+02] [ 4.10506941e-01 9.11731076e-01 -1.51821390e-02 2.30266370e+01] [ 3.85271020e-02 -7.07203579e-04 9.99257305e-01 3.82997770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.988040942 meters 0.023319544296328862 Centerline is valid? [True, True] Translation: X:122.49, Y:23.05, Z:3.83 [[ 9.10479649e-01 -4.12010952e-01 -3.56901121e-02 1.22490593e+02] [ 4.11727100e-01 9.11178580e-01 -1.53098217e-02 2.30505146e+01] [ 3.88278798e-02 -7.55305219e-04 9.99245628e-01 3.83296021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04804094199997 meters 0.02440832704891043 Centerline is valid? [True, True] Translation: X:122.54, Y:23.07, Z:3.84 [[ 9.09265399e-01 -4.14817524e-01 -3.41006675e-02 1.22544569e+02] [ 4.14560045e-01 9.09904246e-01 -1.46367128e-02 2.30713969e+01] [ 3.70999071e-02 -8.28117789e-04 9.99311218e-01 3.83541647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10804094199997 meters 0.02501385678304699 Centerline is valid? [True, True] Translation: X:122.60, Y:23.09, Z:3.84 [[ 9.07989324e-01 -4.17694509e-01 -3.29649172e-02 1.22598288e+02] [ 4.17455641e-01 9.08587073e-01 -1.41534146e-02 2.30947224e+01] [ 3.58633012e-02 -9.10241268e-04 9.99356290e-01 3.83876920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16804094199998 meters 0.02501007595939935 Centerline is valid? [True, True] Translation: X:122.65, Y:23.12, Z:3.84 [[ 9.06902841e-01 -4.20213424e-01 -3.07882324e-02 1.22651348e+02] [ 4.20006234e-01 9.07424820e-01 -1.32272291e-02 2.31212123e+01] [ 3.34962655e-02 -9.35437890e-04 9.99438405e-01 3.84122682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22804094199998 meters 0.025347853495934314 Centerline is valid? [True, True] Translation: X:122.70, Y:23.15, Z:3.84 [[ 9.06494640e-01 -4.21167209e-01 -2.97598649e-02 1.22704183e+02] [ 4.20973869e-01 9.06982534e-01 -1.27939686e-02 2.31472981e+01] [ 3.23800777e-02 -9.30461550e-04 9.99475195e-01 3.84325387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28804094199998 meters 0.0251834034361749 Centerline is valid? [True, True] Translation: X:122.76, Y:23.17, Z:3.84 [[ 9.06506231e-01 -4.21085826e-01 -3.05480081e-02 1.22756246e+02] [ 4.20881752e-01 9.07020307e-01 -1.31420741e-02 2.31730170e+01] [ 3.32416048e-02 -9.43727120e-04 9.99446900e-01 3.84460183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34804094199998 meters 0.024740139197468803 Centerline is valid? [True, True] Translation: X:122.81, Y:23.20, Z:3.84 [[ 9.06925824e-01 -4.20101269e-01 -3.16302513e-02 1.22807756e+02] [ 4.19881503e-01 9.07476754e-01 -1.36185282e-02 2.32014984e+01] [ 3.44248787e-02 -9.29962542e-04 9.99406856e-01 3.84360144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40804094199999 meters 0.024084860500004048 Centerline is valid? [True, True] Translation: X:122.86, Y:23.23, Z:3.84 [[ 9.08247414e-01 -4.17236924e-01 -3.16225145e-02 1.22859513e+02] [ 4.17015230e-01 9.08797385e-01 -1.36238696e-02 2.32297875e+01] [ 3.44228399e-02 -8.13225849e-04 9.99407028e-01 3.84488928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.468040942 meters 0.023511830020694013 Centerline is valid? [True, True] Translation: X:122.91, Y:23.26, Z:3.85 [[ 9.09146474e-01 -4.15362859e-01 -3.04365686e-02 1.22912356e+02] [ 4.15156340e-01 9.09655533e-01 -1.31158311e-02 2.32563418e+01] [ 3.31346221e-02 -7.11722850e-04 9.99450644e-01 3.84658066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.528040942 meters 0.023598047664979565 Centerline is valid? [True, True] Translation: X:122.97, Y:23.28, Z:3.85 [[ 9.09136692e-01 -4.15368514e-01 -3.06508210e-02 1.22965312e+02] [ 4.15158771e-01 9.09652954e-01 -1.32173689e-02 2.32808926e+01] [ 3.33716887e-02 -7.08562120e-04 9.99442759e-01 3.84783205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.588040942 meters 0.023786129815318493 Centerline is valid? [True, True] Translation: X:123.02, Y:23.31, Z:3.85 [[ 9.09043878e-01 -4.15702569e-01 -2.88201657e-02 1.23017699e+02] [ 4.15517023e-01 9.09500371e-01 -1.24369610e-02 2.33054102e+01] [ 3.13820280e-02 -6.69526213e-04 9.99507239e-01 3.85029088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.648040942 meters 0.024066948494302496 Centerline is valid? [True, True] Translation: X:123.07, Y:23.33, Z:3.85 [[ 9.09318957e-01 -4.15239216e-01 -2.67474953e-02 1.23070452e+02] [ 4.15079128e-01 9.09712058e-01 -1.15450789e-02 2.33285992e+01] [ 2.91264885e-02 -6.04167982e-04 9.99575551e-01 3.85229562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.708040942 meters 0.02384772311520982 Centerline is valid? [True, True] Translation: X:123.12, Y:23.35, Z:3.85 [[ 9.09521247e-01 -4.14850942e-01 -2.58804289e-02 1.23124338e+02] [ 4.14700850e-01 9.09889208e-01 -1.11729423e-02 2.33534931e+01] [ 2.81834286e-02 -5.70607429e-04 9.99602605e-01 3.85383900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.768040942 meters 0.023707631021596703 Centerline is valid? [True, True] Translation: X:123.18, Y:23.38, Z:3.85 [[ 9.10222002e-01 -4.13266983e-01 -2.65764707e-02 1.23175496e+02] [ 4.13107817e-01 9.10609753e-01 -1.14808477e-02 2.33801395e+01] [ 2.89454487e-02 -5.28827661e-04 9.99580853e-01 3.85368858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82804094199997 meters 0.02312470026675613 Centerline is valid? [True, True] Translation: X:123.23, Y:23.40, Z:3.85 [[ 9.10953201e-01 -4.11585444e-01 -2.75986911e-02 1.23228943e+02] [ 4.11412900e-01 9.11371045e-01 -1.19265670e-02 2.34040902e+01] [ 3.00614493e-02 -4.89913112e-04 9.99547932e-01 3.85382294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88804094199998 meters 0.02259875290756622 Centerline is valid? [True, True] Translation: X:123.28, Y:23.43, Z:3.85 [[ 9.10895621e-01 -4.11609607e-01 -2.90981015e-02 1.23282142e+02] [ 4.11417542e-01 9.11360122e-01 -1.25831035e-02 2.34283479e+01] [ 3.16981757e-02 -5.09575549e-04 9.99497357e-01 3.85441787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94804094199998 meters 0.022400888483544826 Centerline is valid? [True, True] Translation: X:123.34, Y:23.45, Z:3.85 [[ 9.11182996e-01 -4.10849247e-01 -3.07968388e-02 1.23335610e+02] [ 4.10633314e-01 9.11703156e-01 -1.33280441e-02 2.34506524e+01] [ 3.35533919e-02 -5.01920850e-04 9.99436800e-01 3.85474936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00804094199998 meters 0.02204793777955066 Centerline is valid? [True, True] Translation: X:123.39, Y:23.47, Z:3.86 [[ 9.11240627e-01 -4.10727086e-01 -3.07210224e-02 1.23389246e+02] [ 4.10512022e-01 9.11758202e-01 -1.32989368e-02 2.34719815e+01] [ 3.34723777e-02 -4.92817462e-04 9.99439521e-01 3.85811135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06804094199998 meters 0.022187333590794642 Centerline is valid? [True, True] Translation: X:123.44, Y:23.49, Z:3.86 [[ 9.11707846e-01 -4.09780409e-01 -2.94757426e-02 1.23443647e+02] [ 4.09581636e-01 9.12184099e-01 -1.27691920e-02 2.34913889e+01] [ 3.21198684e-02 -4.30950395e-04 9.99483931e-01 3.86148375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12804094199998 meters 0.02225015114559086 Centerline is valid? [True, True] Translation: X:123.50, Y:23.51, Z:3.86 [[ 9.11551551e-01 -4.10073941e-01 -3.02180704e-02 1.23499033e+02] [ 4.09865084e-01 9.12052170e-01 -1.30939798e-02 2.35096278e+01] [ 3.29299566e-02 -4.49494311e-04 9.99457561e-01 3.86347459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.188040942 meters 0.022192427542045968 Centerline is valid? [True, True] Translation: X:123.55, Y:23.53, Z:3.87 [[ 9.11550350e-01 -4.10089330e-01 -3.00449772e-02 1.23554087e+02] [ 4.09882760e-01 9.12045253e-01 -1.30222593e-02 2.35274007e+01] [ 3.27426684e-02 -4.44473110e-04 9.99463716e-01 3.86609985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.248040942 meters 0.021628804251517295 Centerline is valid? [True, True] Translation: X:123.61, Y:23.55, Z:3.87 [[ 9.11831190e-01 -4.09461814e-01 -3.00816197e-02 1.23608171e+02] [ 4.09254094e-01 9.12327162e-01 -1.30474209e-02 2.35499948e+01] [ 3.27866994e-02 -4.13980723e-04 9.99462286e-01 3.86835251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.308040942 meters 0.02120531962563983 Centerline is valid? [True, True] Translation: X:123.66, Y:23.57, Z:3.87 [[ 9.12543299e-01 -4.07857163e-01 -3.02863431e-02 1.23662497e+02] [ 4.07645444e-01 9.13045679e-01 -1.31445776e-02 2.35698953e+01] [ 3.30139248e-02 -3.51093548e-04 9.99454830e-01 3.86888492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.368040942 meters 0.02082562889358415 Centerline is valid? [True, True] Translation: X:123.72, Y:23.59, Z:3.87 [[ 9.13018172e-01 -4.06712002e-01 -3.13554563e-02 1.23719108e+02] [ 4.06484215e-01 9.13556374e-01 -1.36137861e-02 2.35874670e+01] [ 3.41818671e-02 -3.15863943e-04 9.99415579e-01 3.87067079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.428040942 meters 0.02091649267123715 Centerline is valid? [True, True] Translation: X:123.77, Y:23.60, Z:3.87 [[ 9.13345227e-01 -4.05893936e-01 -3.24130870e-02 1.23774187e+02] [ 4.05649686e-01 9.13920144e-01 -1.40819723e-02 2.36040551e+01] [ 3.53387603e-02 -2.86656321e-04 9.99375350e-01 3.87008946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.488040942 meters 0.02047019759140972 Centerline is valid? [True, True] Translation: X:123.83, Y:23.62, Z:3.87 [[ 9.14607607e-01 -4.02894954e-01 -3.41845170e-02 1.23830046e+02] [ 4.02620955e-01 9.15246210e-01 -1.48573559e-02 2.36231045e+01] [ 3.72732034e-02 -1.74752188e-04 9.99305097e-01 3.87042234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54804094199997 meters 0.020185659390448304 Centerline is valid? [True, True] Translation: X:123.88, Y:23.64, Z:3.87 [[ 9.16092707e-01 -3.99448339e-01 -3.48593788e-02 1.23884205e+02] [ 3.99160595e-01 9.16755705e-01 -1.51590255e-02 2.36433170e+01] [ 3.80127820e-02 -2.74176650e-05 9.99277253e-01 3.87224796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60804094199997 meters 0.020197596245340566 Centerline is valid? [True, True] Translation: X:123.94, Y:23.66, Z:3.88 [[ 9.17679030e-01 -3.95883664e-01 -3.37834580e-02 1.23939430e+02] [ 3.95610832e-01 9.18300664e-01 -1.46955605e-02 2.36626686e+01] [ 3.68411042e-02 1.20705814e-04 9.99321129e-01 3.87699425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66804094199998 meters 0.020376468657213088 Centerline is valid? [True, True] Translation: X:123.99, Y:23.68, Z:3.88 [[ 9.18838341e-01 -3.93261563e-01 -3.28853577e-02 1.23992822e+02] [ 3.93001018e-01 9.19426610e-01 -1.43146510e-02 2.36840099e+01] [ 3.58650750e-02 2.28871139e-04 9.99356615e-01 3.87965688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72804094199998 meters 0.020603220604511068 Centerline is valid? [True, True] Translation: X:124.05, Y:23.71, Z:3.88 [[ 9.19968130e-01 -3.90638355e-01 -3.25624673e-02 1.24046363e+02] [ 3.90381112e-01 9.20544168e-01 -1.41782221e-02 2.37094315e+01] [ 3.55137467e-02 3.31740299e-04 9.99369133e-01 3.88273694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78804094199998 meters 0.02056261333804201 Centerline is valid? [True, True] Translation: X:124.10, Y:23.74, Z:3.88 [[ 9.19602613e-01 -3.91401559e-01 -3.37024419e-02 1.24097841e+02] [ 3.91126137e-01 9.20219928e-01 -1.46842958e-02 2.37353888e+01] [ 3.67611149e-02 3.21810849e-04 9.99324030e-01 3.88307697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84804094199998 meters 0.02025904302393255 Centerline is valid? [True, True] Translation: X:124.15, Y:23.76, Z:3.89 [[ 9.18329579e-01 -3.94375871e-01 -3.37410189e-02 1.24152668e+02] [ 3.94101531e-01 9.18949198e-01 -1.47090149e-02 2.37575527e+01] [ 3.68071628e-02 2.10336263e-04 9.99322365e-01 3.88552151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90804094199999 meters 0.02012325648398839 Centerline is valid? [True, True] Translation: X:124.21, Y:23.77, Z:3.89 [[ 9.14918242e-01 -4.02091781e-01 -3.53102061e-02 1.24207188e+02] [ 4.01796653e-01 9.15599361e-01 -1.54032017e-02 2.37742904e+01] [ 3.85235030e-02 -9.48524222e-05 9.99257690e-01 3.88594638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.968040942 meters 0.02078155038098522 Centerline is valid? [True, True] Translation: X:124.26, Y:23.79, Z:3.89 [[ 9.11199342e-01 -4.10439536e-01 -3.54280625e-02 1.24263394e+02] [ 4.10148390e-01 9.11887709e-01 -1.54630116e-02 2.37925878e+01] [ 3.86530461e-02 -4.40876823e-04 9.99252595e-01 3.88863495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.028040942 meters 0.02310752751544494 Centerline is valid? [True, True] Translation: X:124.32, Y:23.81, Z:3.89 [[ 9.08339035e-01 -4.16723261e-01 -3.55235407e-02 1.24318803e+02] [ 4.16434984e-01 9.09033130e-01 -1.55136341e-02 2.38126875e+01] [ 3.87569676e-02 -7.01605676e-04 9.99248420e-01 3.88884355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.088040942 meters 0.023061641395992313 Centerline is valid? [True, True] Translation: X:124.37, Y:23.84, Z:3.89 [[ 9.06808480e-01 -4.20077393e-01 -3.51192915e-02 1.24372909e+02] [ 4.19797983e-01 9.07487903e-01 -1.53414491e-02 2.38361139e+01] [ 3.83149281e-02 -8.31251566e-04 9.99265368e-01 3.89213454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.148040942 meters 0.02458562930425553 Centerline is valid? [True, True] Translation: X:124.43, Y:23.86, Z:3.90 [[ 9.05238560e-01 -4.23482593e-01 -3.47223728e-02 1.24427824e+02] [ 4.23211650e-01 9.05903735e-01 -1.51763526e-02 2.38562244e+01] [ 3.78820484e-02 -9.56693125e-04 9.99281760e-01 3.89649647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.208040942 meters 0.02486269755158919 Centerline is valid? [True, True] Translation: X:124.48, Y:23.88, Z:3.90 [[ 9.05227168e-01 -4.23439999e-01 -3.55294415e-02 1.24479958e+02] [ 4.23156123e-01 9.05923628e-01 -1.55330631e-02 2.38812393e+01] [ 3.87642807e-02 -9.73549971e-04 9.99247909e-01 3.89577887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.268040942 meters 0.024473037181298927 Centerline is valid? [True, True] Translation: X:124.53, Y:23.91, Z:3.90 [[ 9.05525225e-01 -4.22625526e-01 -3.75730222e-02 1.24532570e+02] [ 4.22306841e-01 9.06303868e-01 -1.64386957e-02 2.39070480e+01] [ 4.09999877e-02 -9.81690724e-04 9.99158665e-01 3.89622993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32804094199997 meters 0.02247621877186825 Centerline is valid? [True, True] Translation: X:124.58, Y:23.93, Z:3.90 [[ 9.05263178e-01 -4.23152597e-01 -3.79533745e-02 1.24584192e+02] [ 4.22827398e-01 9.06057873e-01 -1.66169124e-02 2.39348863e+01] [ 4.14194434e-02 -1.00504766e-03 9.99141341e-01 3.89985292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38804094199998 meters 0.022696792285760076 Centerline is valid? [True, True] Translation: X:124.64, Y:23.96, Z:3.90 [[ 9.04750636e-01 -4.24328172e-01 -3.70390314e-02 1.24638826e+02] [ 4.24019001e-01 9.05507899e-01 -1.62274943e-02 2.39577288e+01] [ 4.04249185e-02 -1.02341730e-03 9.99182055e-01 3.90354052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44804094199998 meters 0.022771055188457512 Centerline is valid? [True, True] Translation: X:124.69, Y:23.98, Z:3.91 [[ 9.04458288e-01 -4.24984963e-01 -3.66467927e-02 1.24693392e+02] [ 4.24682410e-01 9.05199821e-01 -1.60665344e-02 2.39797865e+01] [ 4.00007057e-02 -1.03173802e-03 9.99199119e-01 3.90719663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50804094199998 meters 0.02242189521084981 Centerline is valid? [True, True] Translation: X:124.75, Y:24.00, Z:3.91 [[ 9.05418066e-01 -4.22953020e-01 -3.64536531e-02 1.24747619e+02] [ 4.22651572e-01 9.06151137e-01 -1.59926841e-02 2.40028214e+01] [ 3.97966733e-02 -9.27128698e-04 9.99207368e-01 3.90927840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56804094199998 meters 0.021755662431761025 Centerline is valid? [True, True] Translation: X:124.80, Y:24.03, Z:3.91 [[ 9.06965235e-01 -4.19593348e-01 -3.68168953e-02 1.24801190e+02] [ 4.19282722e-01 9.07711857e-01 -1.61611829e-02 2.40273890e+01] [ 4.02002573e-02 -7.79057018e-04 9.99191339e-01 3.91056571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62804094199998 meters 0.0210951828229924 Centerline is valid? [True, True] Translation: X:124.85, Y:24.05, Z:3.91 [[ 9.08390772e-01 -4.16489885e-01 -3.69104296e-02 1.24854619e+02] [ 4.16174919e-01 9.09140125e-01 -1.62070858e-02 2.40522187e+01] [ 4.03068399e-02 -6.38827876e-04 9.99187145e-01 3.91269605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.688040942 meters 0.020100167984764362 Centerline is valid? [True, True] Translation: X:124.91, Y:24.08, Z:3.92 [[ 9.10566662e-01 -4.11689004e-01 -3.71553168e-02 1.24907484e+02] [ 4.11365396e-01 9.11324305e-01 -1.63255035e-02 2.40774179e+01] [ 4.05815736e-02 -4.18952382e-04 9.99176141e-01 3.91508629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.748040942 meters 0.019885038677129836 Centerline is valid? [True, True] Translation: X:124.96, Y:24.10, Z:3.92 [[ 9.11382385e-01 -4.09782971e-01 -3.82108012e-02 1.24961657e+02] [ 4.09438624e-01 9.12182989e-01 -1.67990596e-02 2.40982415e+01] [ 4.17392114e-02 -3.34610824e-04 9.99128483e-01 3.91700366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.808040942 meters 0.01982559667138278 Centerline is valid? [True, True] Translation: X:125.01, Y:24.12, Z:3.92 [[ 9.11386440e-01 -4.09775622e-01 -3.81928830e-02 1.25014984e+02] [ 4.09431327e-01 9.12186292e-01 -1.67975096e-02 2.41203996e+01] [ 4.17222343e-02 -3.28340258e-04 9.99129195e-01 3.91948091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.868040942 meters 0.01994752817547491 Centerline is valid? [True, True] Translation: X:125.07, Y:24.14, Z:3.92 [[ 9.11031122e-01 -4.10566814e-01 -3.81731056e-02 1.25069303e+02] [ 4.10223127e-01 9.11830448e-01 -1.67994112e-02 2.41416464e+01] [ 4.17046807e-02 -3.54704371e-04 9.99129918e-01 3.92183887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.928040942 meters 0.020238979944012754 Centerline is valid? [True, True] Translation: X:125.12, Y:24.17, Z:3.92 [[ 9.09610207e-01 -4.13850242e-01 -3.65684130e-02 1.25123409e+02] [ 4.13537291e-01 9.10344851e-01 -1.60984680e-02 2.41652631e+01] [ 3.99522214e-02 -4.79071642e-04 9.99201476e-01 3.92457003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.988040942 meters 0.020847491511784416 Centerline is valid? [True, True] Translation: X:125.18, Y:24.19, Z:3.93 [[ 9.07790346e-01 -4.17872493e-01 -3.60453581e-02 1.25177462e+02] [ 4.17571181e-01 9.08505462e-01 -1.58787596e-02 2.41881021e+01] [ 3.93827015e-02 -6.36918130e-04 9.99223997e-01 3.92750124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04804094199997 meters 0.021620539865205464 Centerline is valid? [True, True] Translation: X:125.23, Y:24.21, Z:3.93 [[ 9.06490169e-01 -4.20654457e-01 -3.64060576e-02 1.25231740e+02] [ 4.20348889e-01 9.07220622e-01 -1.60485199e-02 2.42119896e+01] [ 3.97792077e-02 -7.55420355e-04 9.99208209e-01 3.92896048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10804094199997 meters 0.021536803082376953 Centerline is valid? [True, True] Translation: X:125.28, Y:24.24, Z:3.93 [[ 9.06444449e-01 -4.20603782e-01 -3.80909325e-02 1.25283995e+02] [ 4.20268737e-01 9.07244098e-01 -1.68028272e-02 2.42396032e+01] [ 4.16251064e-02 -7.77598648e-04 9.99132997e-01 3.92817649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16804094199998 meters 0.021820065170709238 Centerline is valid? [True, True] Translation: X:125.34, Y:24.27, Z:3.93 [[ 9.06240427e-01 -4.20920835e-01 -3.94200380e-02 1.25336801e+02] [ 4.20561778e-01 9.07097016e-01 -1.74010093e-02 2.42650608e+01] [ 4.30822462e-02 -8.09063175e-04 9.99071201e-01 3.92826209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22804094199998 meters 0.02190275086494566 Centerline is valid? [True, True] Translation: X:125.39, Y:24.29, Z:3.93 [[ 9.05830950e-01 -4.21782577e-01 -3.96200342e-02 1.25389379e+02] [ 4.21420250e-01 9.06696611e-01 -1.74994162e-02 2.42903796e+01] [ 4.33042996e-02 -8.45171909e-04 9.99061571e-01 3.93035904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28804094199998 meters 0.02258333733827122 Centerline is valid? [True, True] Translation: X:125.44, Y:24.31, Z:3.93 [[ 9.05604992e-01 -4.22371589e-01 -3.84946729e-02 1.25441387e+02] [ 4.22029847e-01 9.06422379e-01 -1.70082021e-02 2.43133002e+01] [ 4.20762144e-02 -8.43188196e-04 9.99114048e-01 3.93278637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34804094199998 meters 0.021873736392622942 Centerline is valid? [True, True] Translation: X:125.49, Y:24.34, Z:3.94 [[ 9.06168987e-01 -4.21325971e-01 -3.66359608e-02 1.25494289e+02] [ 4.21015335e-01 9.06908961e-01 -1.61933443e-02 2.43392099e+01] [ 4.00481577e-02 -7.50394908e-04 9.99197469e-01 3.93732922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40804094199999 meters 0.02210608911715835 Centerline is valid? [True, True] Translation: X:125.55, Y:24.37, Z:3.94 [[ 9.07973639e-01 -4.17561123e-01 -3.50225617e-02 1.25547227e+02] [ 4.17274073e-01 9.08648670e-01 -1.54900573e-02 2.43664371e+01] [ 3.82912498e-02 -5.49443290e-04 9.99266470e-01 3.93873653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.468040942 meters 0.020571373966743377 Centerline is valid? [True, True] Translation: X:125.60, Y:24.39, Z:3.94 [[ 9.09600249e-01 -4.14023633e-01 -3.48111816e-02 1.25600054e+02] [ 4.13737070e-01 9.10266049e-01 -1.54063800e-02 2.43917249e+01] [ 3.80660422e-02 -3.89029164e-04 9.99275150e-01 3.94294241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.528040942 meters 0.020172994059663205 Centerline is valid? [True, True] Translation: X:125.65, Y:24.42, Z:3.94 [[ 9.11966982e-01 -4.08745482e-01 -3.52612282e-02 1.25653139e+02] [ 4.08447134e-01 9.12648401e-01 -1.56151935e-02 2.44183946e+01] [ 3.85637433e-02 -1.61806703e-04 9.99256129e-01 3.94477129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.588040942 meters 0.020154254756188365 Centerline is valid? [True, True] Translation: X:125.71, Y:24.44, Z:3.95 [[ 9.12726929e-01 -4.06962832e-01 -3.62050508e-02 1.25705127e+02] [ 4.06646661e-01 9.13444714e-01 -1.60389338e-02 2.44422908e+01] [ 3.95985622e-02 -8.34962311e-05 9.99215666e-01 3.94533483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.648040942 meters 0.020185075351340898 Centerline is valid? [True, True] Translation: X:125.76, Y:24.47, Z:3.95 [[ 9.12101524e-01 -4.08315299e-01 -3.67345254e-02 1.25759241e+02] [ 4.07990635e-01 9.12840948e-01 -1.62802032e-02 2.44664604e+01] [ 4.01802350e-02 -1.38144179e-04 9.99192439e-01 3.94691869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.708040942 meters 0.020550345814845775 Centerline is valid? [True, True] Translation: X:125.81, Y:24.49, Z:3.95 [[ 9.09937853e-01 -4.13233582e-01 -3.53710453e-02 1.25812415e+02] [ 4.12935945e-01 9.10625002e-01 -1.56847165e-02 2.44893264e+01] [ 3.86912098e-02 -3.33858753e-04 9.99251159e-01 3.94967171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.768040942 meters 0.021437529139693434 Centerline is valid? [True, True] Translation: X:125.87, Y:24.51, Z:3.95 [[ 9.07536340e-01 -4.18568188e-01 -3.43287487e-02 1.25866379e+02] [ 4.18291513e-01 9.08185212e-01 -1.52259958e-02 2.45116992e+01] [ 3.75499794e-02 -5.41279720e-04 9.99294604e-01 3.95330064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82804094199997 meters 0.022661766408211582 Centerline is valid? [True, True] Translation: X:125.92, Y:24.53, Z:3.96 [[ 9.05571406e-01 -4.22924947e-01 -3.27859316e-02 1.25918843e+02] [ 4.22675318e-01 9.06164454e-01 -1.45450001e-02 2.45348519e+01] [ 3.58608892e-02 -6.86267842e-04 9.99356556e-01 3.95581142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88804094199998 meters 0.023001703549218155 Centerline is valid? [True, True] Translation: X:125.97, Y:24.56, Z:3.96 [[ 9.05276087e-01 -4.23677724e-01 -3.11832012e-02 1.25970933e+02] [ 4.23452215e-01 9.05812744e-01 -1.38381353e-02 2.45609863e+01] [ 3.41090507e-02 -6.77262627e-04 9.99417888e-01 3.95991490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94804094199998 meters 0.02135133598685952 Centerline is valid? [True, True] Translation: X:126.02, Y:24.59, Z:3.96 [[ 9.07099713e-01 -4.19848123e-01 -2.99610596e-02 1.26020406e+02] [ 4.19637569e-01 9.07594237e-01 -1.33045547e-02 2.45936800e+01] [ 3.27783774e-02 -5.04228516e-04 9.99462517e-01 3.96298459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00804094199998 meters 0.020677504544649734 Centerline is valid? [True, True] Translation: X:126.07, Y:24.62, Z:3.96 [[ 9.08711256e-01 -4.16279959e-01 -3.09006423e-02 1.26071453e+02] [ 4.16053813e-01 9.09236409e-01 -1.37250377e-02 2.46232298e+01] [ 3.38094472e-02 -3.84233847e-04 9.99428223e-01 3.96374002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06804094199998 meters 0.02021201937917792 Centerline is valid? [True, True] Translation: X:126.12, Y:24.65, Z:3.96 [[ 9.10791247e-01 -4.11664295e-01 -3.14930567e-02 1.26121319e+02] [ 4.11426321e-01 9.11335539e-01 -1.39970728e-02 2.46537900e+01] [ 3.44628369e-02 -2.08661058e-04 9.99405958e-01 3.96392956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12804094199998 meters 0.019974250344293558 Centerline is valid? [True, True] Translation: X:126.17, Y:24.68, Z:3.97 [[ 9.11528123e-01 -4.10191209e-01 -2.93198376e-02 1.26172596e+02] [ 4.09984092e-01 9.11999535e-01 -1.30342501e-02 2.46837720e+01] [ 3.20862131e-02 -1.39581434e-04 9.99485095e-01 3.96767695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.188040942 meters 0.019882403836654218 Centerline is valid? [True, True] Translation: X:126.22, Y:24.71, Z:3.97 [[ 9.11852893e-01 -4.09538249e-01 -2.83323873e-02 1.26223594e+02] [ 4.09344283e-01 9.12292942e-01 -1.26034217e-02 2.47107955e+01] [ 3.10090202e-02 -1.05234188e-04 9.99519099e-01 3.97117731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.248040942 meters 0.019844072364662547 Centerline is valid? [True, True] Translation: X:126.27, Y:24.74, Z:3.97 [[ 9.12658080e-01 -4.07802886e-01 -2.74232405e-02 1.26274070e+02] [ 4.07620115e-01 9.13069989e-01 -1.22080776e-02 2.47403613e+01] [ 3.00178272e-02 -3.64638333e-05 9.99549363e-01 3.97420872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.308040942 meters 0.01984741718510015 Centerline is valid? [True, True] Translation: X:126.32, Y:24.77, Z:3.97 [[ 9.13001346e-01 -4.07014890e-01 -2.77023754e-02 1.26323767e+02] [ 4.06827718e-01 9.13421523e-01 -1.23421333e-02 2.47684896e+01] [ 3.03273780e-02 -1.70987010e-06 9.99540019e-01 3.97424198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.368040942 meters 0.019712123841912885 Centerline is valid? [True, True] Translation: X:126.37, Y:24.80, Z:3.97 [[ 9.12749592e-01 -4.07419926e-01 -2.99530611e-02 1.26374195e+02] [ 4.07201147e-01 9.13240934e-01 -1.33499801e-02 2.47978723e+01] [ 3.27934094e-02 -1.17319642e-05 9.99462151e-01 3.97308041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.428040942 meters 0.019746089094697033 Centerline is valid? [True, True] Translation: X:126.43, Y:24.82, Z:3.97 [[ 9.11906048e-01 -4.09255043e-01 -3.06214053e-02 1.26426070e+02] [ 4.09027089e-01 9.12420027e-01 -1.36577998e-02 2.48247254e+01] [ 3.35291069e-02 -7.03540088e-05 9.99437739e-01 3.97347665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.488040942 meters 0.019895159165451922 Centerline is valid? [True, True] Translation: X:126.48, Y:24.85, Z:3.98 [[ 9.10712107e-01 -4.11842139e-01 -3.14565031e-02 1.26479573e+02] [ 4.11602983e-01 9.11255192e-01 -1.40342188e-02 2.48488487e+01] [ 3.44447844e-02 -1.66457556e-04 9.99406588e-01 3.97552445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54804094199997 meters 0.02022773289268925 Centerline is valid? [True, True] Translation: X:126.53, Y:24.87, Z:3.98 [[ 9.09489793e-01 -4.14547319e-01 -3.12863779e-02 1.26532869e+02] [ 4.14312023e-01 9.10027721e-01 -1.39676172e-02 2.48740041e+01] [ 3.42617094e-02 -2.58917259e-04 9.99412862e-01 3.97751058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60804094199997 meters 0.02057186568189966 Centerline is valid? [True, True] Translation: X:126.58, Y:24.90, Z:3.98 [[ 9.08033602e-01 -4.17744550e-01 -3.10559004e-02 1.26584741e+02] [ 4.17514260e-01 9.08564447e-01 -1.38739837e-02 2.49014918e+01] [ 3.40120680e-02 -3.68237880e-04 9.99421354e-01 3.97944504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66804094199998 meters 0.021318155520619275 Centerline is valid? [True, True] Translation: X:126.64, Y:24.93, Z:3.98 [[ 9.06272611e-01 -4.21578313e-01 -3.06868031e-02 1.26637359e+02] [ 4.21355358e-01 9.06791860e-01 -1.37180256e-02 2.49260841e+01] [ 3.36097654e-02 -4.97778043e-04 9.99434908e-01 3.98142256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72804094199998 meters 0.02149794203679923 Centerline is valid? [True, True] Translation: X:126.69, Y:24.95, Z:3.98 [[ 9.05112413e-01 -4.24089490e-01 -3.03253202e-02 1.26690281e+02] [ 4.23872994e-01 9.05620102e-01 -1.35615670e-02 2.49516385e+01] [ 3.32145376e-02 -5.79341675e-04 9.99448077e-01 3.98371769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78804094199998 meters 0.02188636984761612 Centerline is valid? [True, True] Translation: X:126.74, Y:24.98, Z:3.98 [[ 9.04485750e-01 -4.25334461e-01 -3.15614225e-02 1.26742762e+02] [ 4.25100382e-01 9.05036012e-01 -1.41237850e-02 2.49762240e+01] [ 3.45715564e-02 -6.42010450e-04 9.99402019e-01 3.98466932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84804094199998 meters 0.021654081488407816 Centerline is valid? [True, True] Translation: X:126.80, Y:25.00, Z:3.99 [[ 9.05214798e-01 -4.23689088e-01 -3.27677579e-02 1.26795304e+02] [ 4.23435559e-01 9.05807484e-01 -1.46672729e-02 2.50014883e+01] [ 3.58956438e-02 -5.98001420e-04 9.99355365e-01 3.98590759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90804094199999 meters 0.02077575866032106 Centerline is valid? [True, True] Translation: X:126.85, Y:25.03, Z:3.99 [[ 9.07284417e-01 -4.19131549e-01 -3.41135145e-02 1.26847569e+02] [ 4.18853350e-01 9.07925415e-01 -1.52745451e-02 2.50290163e+01] [ 3.73745706e-02 -4.30203120e-04 9.99301234e-01 3.98816270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.968040942 meters 0.020102515246493948 Centerline is valid? [True, True] Translation: X:126.90, Y:25.06, Z:3.99 [[ 9.10544615e-01 -4.12042539e-01 -3.36072927e-02 1.26899847e+02] [ 4.11767322e-01 9.11164601e-01 -1.50579679e-02 2.50562916e+01] [ 3.68262987e-02 -1.27433321e-04 9.99321674e-01 3.99044576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.028040942 meters 0.01990682480146614 Centerline is valid? [True, True] Translation: X:126.95, Y:25.08, Z:3.99 [[ 9.12176376e-01 -4.08357312e-01 -3.43302323e-02 1.26953392e+02] [ 4.08067102e-01 9.12822165e-01 -1.53927016e-02 2.50798325e+01] [ 3.76231192e-02 3.18203707e-05 9.99291999e-01 3.99237112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.088040942 meters 0.019815597848027448 Centerline is valid? [True, True] Translation: X:127.01, Y:25.10, Z:3.99 [[ 9.13625206e-01 -4.05131786e-01 -3.40179184e-02 1.27008714e+02] [ 4.04844174e-01 9.14258282e-01 -1.52639716e-02 2.51014560e+01] [ 3.72850837e-02 1.73593109e-04 9.99304654e-01 3.99468306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.148040942 meters 0.019850124727583674 Centerline is valid? [True, True] Translation: X:127.06, Y:25.12, Z:4.00 [[ 9.14658126e-01 -4.02806930e-01 -3.38687241e-02 1.27064207e+02] [ 4.02519866e-01 9.15284929e-01 -1.52071294e-02 2.51215766e+01] [ 3.71250698e-02 2.76490208e-04 9.99310589e-01 3.99805954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.208040942 meters 0.019849350284710948 Centerline is valid? [True, True] Translation: X:127.12, Y:25.14, Z:4.00 [[ 9.15342210e-01 -4.01242465e-01 -3.39576644e-02 1.27119418e+02] [ 4.00952477e-01 9.15971813e-01 -1.52561188e-02 2.51405464e+01] [ 3.72256661e-02 3.49159866e-04 9.99306824e-01 3.99981871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.268040942 meters 0.019824600010789787 Centerline is valid? [True, True] Translation: X:127.17, Y:25.16, Z:4.00 [[ 9.15535843e-01 -4.00827922e-01 -3.36317962e-02 1.27174268e+02] [ 4.00543020e-01 9.16153285e-01 -1.51144750e-02 2.51603707e+01] [ 3.68701842e-02 3.66862380e-04 9.99319996e-01 4.00278512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32804094199997 meters 0.019665161717627458 Centerline is valid? [True, True] Translation: X:127.23, Y:25.18, Z:4.01 [[ 9.15604139e-01 -4.00678454e-01 -3.35535028e-02 1.27230309e+02] [ 4.00394356e-01 9.16218659e-01 -1.50906952e-02 2.51761350e+01] [ 3.67888617e-02 3.82469804e-04 9.99322988e-01 4.00603426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38804094199998 meters 0.019523717721236438 Centerline is valid? [True, True] Translation: X:127.29, Y:25.19, Z:4.01 [[ 9.14620914e-01 -4.02898504e-01 -3.37842994e-02 1.27286811e+02] [ 4.02611556e-01 9.15244613e-01 -1.52063564e-02 2.51928967e+01] [ 3.70475163e-02 3.06102245e-04 9.99313458e-01 4.00749040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44804094199998 meters 0.019043804239231632 Centerline is valid? [True, True] Translation: X:127.35, Y:25.21, Z:4.01 [[ 9.12230302e-01 -4.08272926e-01 -3.38982916e-02 1.27345616e+02] [ 4.07987351e-01 9.12859906e-01 -1.52680205e-02 2.52053341e+01] [ 3.71779107e-02 9.78767500e-05 9.99308658e-01 4.00966692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50804094199998 meters 0.018952572004931587 Centerline is valid? [True, True] Translation: X:127.41, Y:25.22, Z:4.01 [[ 9.09073528e-01 -4.15207151e-01 -3.44723438e-02 1.27405088e+02] [ 4.14916394e-01 9.09726877e-01 -1.55369196e-02 2.52167468e+01] [ 3.78114578e-02 -1.78938273e-04 9.99284875e-01 4.01350710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56804094199998 meters 0.019253931544054692 Centerline is valid? [True, True] Translation: X:127.46, Y:25.23, Z:4.02 [[ 9.07264318e-01 -4.19141587e-01 -3.45222762e-02 1.27461206e+02] [ 4.18852474e-01 9.07920821e-01 -1.55687754e-02 2.52335256e+01] [ 3.78690145e-02 -3.34746435e-04 9.99282656e-01 4.01505058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62804094199998 meters 0.019628477946567364 Centerline is valid? [True, True] Translation: X:127.52, Y:25.25, Z:4.02 [[ 9.05240303e-01 -4.23482469e-01 -3.46784163e-02 1.27519229e+02] [ 4.23193721e-01 9.05904153e-01 -1.56441792e-02 2.52475752e+01] [ 3.80403569e-02 -5.13946532e-04 9.99276072e-01 4.01670360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.688040942 meters 0.019964454731852793 Centerline is valid? [True, True] Translation: X:127.58, Y:25.26, Z:4.02 [[ 9.04554107e-01 -4.24883818e-01 -3.54345638e-02 1.27576499e+02] [ 4.24583043e-01 9.05247706e-01 -1.59947056e-02 2.52614182e+01] [ 3.88729491e-02 -5.76838277e-04 9.99243995e-01 4.01898072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.748040942 meters 0.01958239376948257 Centerline is valid? [True, True] Translation: X:127.63, Y:25.28, Z:4.02 [[ 9.05107268e-01 -4.23637819e-01 -3.62192303e-02 1.27633092e+02] [ 4.23322366e-01 9.05831506e-01 -1.63541100e-02 2.52803247e+01] [ 3.97367394e-02 -5.30186397e-04 9.99210043e-01 4.02022893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.808040942 meters 0.018936523171277843 Centerline is valid? [True, True] Translation: X:127.69, Y:25.30, Z:4.02 [[ 9.05779785e-01 -4.22191805e-01 -3.62913207e-02 1.27688918e+02] [ 4.21873530e-01 9.06506409e-01 -1.63968160e-02 2.52989014e+01] [ 3.98209162e-02 -4.58443037e-04 9.99206728e-01 4.02315161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.868040942 meters 0.019082842204204534 Centerline is valid? [True, True] Translation: X:127.74, Y:25.32, Z:4.03 [[ 9.05751907e-01 -4.22313565e-01 -3.55631267e-02 1.27743915e+02] [ 4.22007637e-01 9.06449698e-01 -1.60779355e-02 2.53165758e+01] [ 3.90261157e-02 -4.45290321e-04 9.99238092e-01 4.02601650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.928040942 meters 0.01890283755842005 Centerline is valid? [True, True] Translation: X:127.80, Y:25.33, Z:4.03 [[ 9.05447620e-01 -4.23023941e-01 -3.48619195e-02 1.27800359e+02] [ 4.22730152e-01 9.06118389e-01 -1.57696984e-02 2.53335111e+01] [ 3.82599863e-02 -4.58548689e-04 9.99267713e-01 4.02891365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.988040942 meters 0.018714631936993534 Centerline is valid? [True, True] Translation: X:127.86, Y:25.35, Z:4.03 [[ 9.05738031e-01 -4.22468158e-01 -3.40481246e-02 1.27856515e+02] [ 4.22187159e-01 9.06377671e-01 -1.54116786e-02 2.53500042e+01] [ 3.73714034e-02 -4.15737617e-04 9.99301359e-01 4.03119069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04804094199997 meters 0.017963013689814504 Centerline is valid? [True, True] Translation: X:127.91, Y:25.38, Z:4.03 [[ 9.08270511e-01 -4.17017459e-01 -3.37804481e-02 1.27909616e+02] [ 4.16736913e-01 9.08898457e-01 -1.52951077e-02 2.53755094e+01] [ 3.70813241e-02 -1.85464415e-04 9.99312234e-01 4.03388428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10804094199997 meters 0.01774133999600846 Centerline is valid? [True, True] Translation: X:127.96, Y:25.40, Z:4.04 [[ 9.10404291e-01 -4.12280494e-01 -3.44792856e-02 1.27960952e+02] [ 4.11984415e-01 9.11056965e-01 -1.56220359e-02 2.54021268e+01] [ 3.78532539e-02 1.74401817e-05 9.99283309e-01 4.03509532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16804094199998 meters 0.017857397908026807 Centerline is valid? [True, True] Translation: X:128.01, Y:25.43, Z:4.04 [[ 9.12688579e-01 -4.07202198e-01 -3.44373044e-02 1.28013422e+02] [ 4.06902794e-01 9.13338006e-01 -1.56141830e-02 2.54298417e+01] [ 3.78110286e-02 2.38251102e-04 9.99284879e-01 4.03666968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22804094199998 meters 0.01788085706424306 Centerline is valid? [True, True] Translation: X:128.07, Y:25.45, Z:4.04 [[ 9.13098312e-01 -4.06335059e-01 -3.38126224e-02 1.28066386e+02] [ 4.06045454e-01 9.13724106e-01 -1.53410146e-02 2.54544096e+01] [ 3.71290003e-02 2.78392878e-04 9.99310442e-01 4.03886362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28804094199998 meters 0.017809194973010648 Centerline is valid? [True, True] Translation: X:128.12, Y:25.48, Z:4.04 [[ 9.12373179e-01 -4.08057647e-01 -3.26211426e-02 1.28118299e+02] [ 4.07788848e-01 9.12956139e-01 -1.48102180e-02 2.54792711e+01] [ 3.58250951e-02 2.09907483e-04 9.99358053e-01 4.04062460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34804094199998 meters 0.01748924096769097 Centerline is valid? [True, True] Translation: X:128.17, Y:25.50, Z:4.04 [[ 9.10869445e-01 -4.11388060e-01 -3.28133849e-02 1.28172854e+02] [ 4.11118082e-01 9.11460288e-01 -1.49018534e-02 2.55008040e+01] [ 3.60385418e-02 8.34670335e-05 9.99350397e-01 4.04344766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40804094199999 meters 0.017579780401097665 Centerline is valid? [True, True] Translation: X:128.23, Y:25.52, Z:4.04 [[ 9.09311007e-01 -4.14748995e-01 -3.37159341e-02 1.28227050e+02] [ 4.14465874e-01 9.09935860e-01 -1.53221789e-02 2.55225640e+01] [ 3.70341958e-02 -4.14781521e-05 9.99313998e-01 4.04402826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.468040942 meters 0.01790819500217857 Centerline is valid? [True, True] Translation: X:128.28, Y:25.55, Z:4.04 [[ 9.07556685e-01 -4.18465788e-01 -3.50320916e-02 1.28281644e+02] [ 4.18162428e-01 9.08232541e-01 -1.59322185e-02 2.55451010e+01] [ 3.84843739e-02 -1.89713099e-04 9.99259184e-01 4.04412903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.528040942 meters 0.018576521316373617 Centerline is valid? [True, True] Translation: X:128.34, Y:25.57, Z:4.04 [[ 9.05956669e-01 -4.21838767e-01 -3.59801228e-02 1.28335298e+02] [ 4.21521041e-01 9.06670802e-01 -1.63727972e-02 2.55671976e+01] [ 3.95288074e-02 -3.33333971e-04 9.99218376e-01 4.04364050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.588040942 meters 0.01886564505956402 Centerline is valid? [True, True] Translation: X:128.39, Y:25.59, Z:4.05 [[ 9.04106377e-01 -4.25688318e-01 -3.71633382e-02 1.28389100e+02] [ 4.25352351e-01 9.04869710e-01 -1.69169884e-02 2.55915874e+01] [ 4.08293434e-02 -5.12756197e-04 9.99166003e-01 4.04590065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.648040942 meters 0.01949523764838907 Centerline is valid? [True, True] Translation: X:128.44, Y:25.61, Z:4.05 [[ 9.03043491e-01 -4.28034235e-01 -3.60436980e-02 1.28441753e+02] [ 4.27719717e-01 9.03762327e-01 -1.64164434e-02 2.56144265e+01] [ 3.96017362e-02 -5.91837945e-04 9.99215368e-01 4.05002908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.708040942 meters 0.019650905993864688 Centerline is valid? [True, True] Translation: X:128.49, Y:25.64, Z:4.05 [[ 9.02176195e-01 -4.29899228e-01 -3.55635648e-02 1.28494555e+02] [ 4.29594282e-01 9.02876635e-01 -1.62029340e-02 2.56406313e+01] [ 3.90751406e-02 -6.60002783e-04 9.99236057e-01 4.05270141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.768040942 meters 0.019956215877733708 Centerline is valid? [True, True] Translation: X:128.55, Y:25.67, Z:4.05 [[ 9.01597757e-01 -4.31045696e-01 -3.63468374e-02 1.28547291e+02] [ 4.30727716e-01 9.02329815e-01 -1.65692620e-02 2.56656240e+01] [ 3.99389441e-02 -7.16780789e-04 9.99201865e-01 4.05407402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82804094199997 meters 0.01973482184209897 Centerline is valid? [True, True] Translation: X:128.60, Y:25.69, Z:4.06 [[ 9.01186591e-01 -4.32004805e-01 -3.51365444e-02 1.28598956e+02] [ 4.31708178e-01 9.01871009e-01 -1.60228694e-02 2.56925127e+01] [ 3.86105873e-02 -7.29138519e-04 9.99254067e-01 4.05695918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88804094199998 meters 0.019528850711308207 Centerline is valid? [True, True] Translation: X:128.65, Y:25.72, Z:4.06 [[ 9.01600042e-01 -4.31292755e-01 -3.32253480e-02 1.28652557e+02] [ 4.31026654e-01 9.02211802e-01 -1.51620281e-02 2.57178018e+01] [ 3.65155740e-02 -6.50925402e-04 9.99332872e-01 4.06141333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94804094199998 meters 0.019440622030793994 Centerline is valid? [True, True] Translation: X:128.71, Y:25.74, Z:4.06 [[ 9.02091227e-01 -4.30289500e-01 -3.28992984e-02 1.28705918e+02] [ 4.30027593e-01 9.02690751e-01 -1.50225731e-02 2.57424248e+01] [ 3.61619478e-02 -5.95874667e-04 9.99345765e-01 4.06428332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00804094199998 meters 0.0191697857153419 Centerline is valid? [True, True] Translation: X:128.76, Y:25.77, Z:4.07 [[ 9.03105326e-01 -4.28088996e-01 -3.37724963e-02 1.28759009e+02] [ 4.27811071e-01 9.03736438e-01 -1.54317136e-02 2.57688228e+01] [ 3.71275823e-02 -5.11785077e-04 9.99310403e-01 4.06514532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06804094199998 meters 0.018962410751625466 Centerline is valid? [True, True] Translation: X:128.81, Y:25.79, Z:4.07 [[ 9.03301752e-01 -4.27627714e-01 -3.43581556e-02 1.28811263e+02] [ 4.27339323e-01 9.03954809e-01 -1.57100765e-02 2.57945385e+01] [ 3.77762840e-02 -4.91651355e-04 9.99286100e-01 4.06610868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12804094199998 meters 0.019601805599338766 Centerline is valid? [True, True] Translation: X:128.86, Y:25.82, Z:4.07 [[ 9.02761732e-01 -4.28759795e-01 -3.44426068e-02 1.28864646e+02] [ 4.28470409e-01 9.03418373e-01 -1.57592029e-02 2.58168450e+01] [ 3.78729964e-02 -5.30832479e-04 9.99282420e-01 4.06681307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.188040942 meters 0.019838657448265583 Centerline is valid? [True, True] Translation: X:128.92, Y:25.84, Z:4.07 [[ 9.01307183e-01 -4.31764170e-01 -3.50009131e-02 1.28918773e+02] [ 4.31467386e-01 9.01986287e-01 -1.60197693e-02 2.58396277e+01] [ 3.84871060e-02 -6.63019292e-04 9.99258877e-01 4.06961465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.248040942 meters 0.020494367947035446 Centerline is valid? [True, True] Translation: X:128.97, Y:25.86, Z:4.07 [[ 8.99584855e-01 -4.35386533e-01 -3.44333564e-02 1.28973661e+02] [ 4.35101560e-01 9.00243264e-01 -1.57701706e-02 2.58612110e+01] [ 3.78645170e-02 -7.95400492e-04 9.99282565e-01 4.07300755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.308040942 meters 0.021646030574531353 Centerline is valid? [True, True] Translation: X:129.03, Y:25.88, Z:4.07 [[ 8.97995914e-01 -4.38618504e-01 -3.48876201e-02 1.29027949e+02] [ 4.38328041e-01 8.98672873e-01 -1.59873515e-02 2.58821752e+01] [ 3.83649059e-02 -9.35645848e-04 9.99263358e-01 4.07384482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.368040942 meters 0.022366074042998604 Centerline is valid? [True, True] Translation: X:129.08, Y:25.91, Z:4.07 [[ 8.97243931e-01 -4.40106942e-01 -3.54853205e-02 1.29082334e+02] [ 4.39807421e-01 8.97944795e-01 -1.62658508e-02 2.59053350e+01] [ 3.90225727e-02 -1.01227141e-03 9.99237817e-01 4.07478567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.428040942 meters 0.021692504723313983 Centerline is valid? [True, True] Translation: X:129.14, Y:25.93, Z:4.08 [[ 8.97212725e-01 -4.40204001e-01 -3.50679887e-02 1.29135136e+02] [ 4.39911157e-01 8.97897236e-01 -1.60850008e-02 2.59305570e+01] [ 3.85681318e-02 -9.95132023e-04 9.99255477e-01 4.07755049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.488040942 meters 0.02170562944198019 Centerline is valid? [True, True] Translation: X:129.19, Y:25.96, Z:4.08 [[ 8.97433551e-01 -4.39781810e-01 -3.47128463e-02 1.29188527e+02] [ 4.39494114e-01 8.98104139e-01 -1.59335862e-02 2.59557086e+01] [ 3.81830523e-02 -9.56756794e-04 9.99270303e-01 4.08017156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54804094199997 meters 0.021689115551131455 Centerline is valid? [True, True] Translation: X:129.24, Y:25.98, Z:4.08 [[ 8.97696098e-01 -4.39245822e-01 -3.47105679e-02 1.29241561e+02] [ 4.38957371e-01 8.98366436e-01 -1.59428301e-02 2.59805381e+01] [ 3.81856307e-02 -9.24643229e-04 9.99270235e-01 4.08219678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60804094199997 meters 0.021590633240668736 Centerline is valid? [True, True] Translation: X:129.29, Y:26.00, Z:4.08 [[ 8.97727102e-01 -4.39197501e-01 -3.45196406e-02 1.29294110e+02] [ 4.38911785e-01 8.98390077e-01 -1.58655216e-02 2.60042324e+01] [ 3.79802001e-02 -9.08168345e-04 9.99278079e-01 4.08483328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66804094199998 meters 0.021293985701768152 Centerline is valid? [True, True] Translation: X:129.35, Y:26.03, Z:4.09 [[ 8.97412711e-01 -4.39848412e-01 -3.44064093e-02 1.29347597e+02] [ 4.39564616e-01 8.98071558e-01 -1.58248098e-02 2.60299663e+01] [ 3.78599351e-02 -9.22454595e-04 9.99282630e-01 4.08677230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72804094199998 meters 0.021141052449285675 Centerline is valid? [True, True] Translation: X:129.40, Y:26.06, Z:4.09 [[ 8.97625703e-01 -4.39442998e-01 -3.40286482e-02 1.29401084e+02] [ 4.39164731e-01 8.98270041e-01 -1.56612069e-02 2.60555870e+01] [ 3.74491229e-02 -8.86280229e-04 9.99298143e-01 4.08909660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78804094199998 meters 0.02061482231385656 Centerline is valid? [True, True] Translation: X:129.45, Y:26.08, Z:4.09 [[ 8.98376016e-01 -4.38087525e-01 -3.16204678e-02 1.29454025e+02] [ 4.37846108e-01 8.98931999e-01 -1.45618440e-02 2.60816172e+01] [ 3.48040125e-02 -7.62887367e-04 9.99393866e-01 4.09284471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84804094199998 meters 0.021601563999224995 Centerline is valid? [True, True] Translation: X:129.51, Y:26.10, Z:4.10 [[ 8.99148672e-01 -4.36572551e-01 -3.05953236e-02 1.29507847e+02] [ 4.36345374e-01 8.99668802e-01 -1.40982696e-02 2.61039172e+01] [ 3.36805757e-02 -6.73687510e-04 9.99432421e-01 4.09557286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90804094199999 meters 0.02005082533898352 Centerline is valid? [True, True] Translation: X:129.56, Y:26.13, Z:4.10 [[ 8.99512363e-01 -4.35856678e-01 -3.01075672e-02 1.29558699e+02] [ 4.35636169e-01 9.00015864e-01 -1.38770715e-02 2.61339704e+01] [ 3.31457024e-02 -6.33347820e-04 9.99450330e-01 4.09775525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.968040942 meters 0.02021733161797657 Centerline is valid? [True, True] Translation: X:129.61, Y:26.16, Z:4.10 [[ 8.99298264e-01 -4.36332591e-01 -2.96057762e-02 1.29611019e+02] [ 4.36119339e-01 8.99785236e-01 -1.36547375e-02 2.61589028e+01] [ 3.25968473e-02 -6.31969826e-04 9.99468382e-01 4.09925134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.028040942 meters 0.020600442414722135 Centerline is valid? [True, True] Translation: X:129.66, Y:26.18, Z:4.10 [[ 8.98630857e-01 -4.37705745e-01 -2.96017620e-02 1.29663678e+02] [ 4.37492962e-01 8.99118028e-01 -1.36630545e-02 2.61845903e+01] [ 3.25958753e-02 -6.72520158e-04 9.99468387e-01 4.10040581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.088040942 meters 0.020885150291605228 Centerline is valid? [True, True] Translation: X:129.72, Y:26.21, Z:4.10 [[ 8.98512998e-01 -4.37868882e-01 -3.07446540e-02 1.29715604e+02] [ 4.37639116e-01 8.99038574e-01 -1.42002130e-02 2.62101570e+01] [ 3.38584613e-02 -6.95987303e-04 9.99426396e-01 4.10120484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.148040942 meters 0.021176699377312796 Centerline is valid? [True, True] Translation: X:129.77, Y:26.24, Z:4.10 [[ 8.98660199e-01 -4.37504999e-01 -3.16104791e-02 1.29766982e+02] [ 4.37261500e-01 8.99215712e-01 -1.46110476e-02 2.62364805e+01] [ 3.48170459e-02 -6.91678563e-04 9.99393464e-01 4.10128009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.208040942 meters 0.02169781744558602 Centerline is valid? [True, True] Translation: X:129.82, Y:26.26, Z:4.10 [[ 8.98088089e-01 -4.38657289e-01 -3.18993176e-02 1.29818937e+02] [ 4.38409700e-01 8.98654129e-01 -1.47543775e-02 2.62626808e+01] [ 3.51385687e-02 -7.34239600e-04 9.99382180e-01 4.10245679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.268040942 meters 0.022393675561065276 Centerline is valid? [True, True] Translation: X:129.87, Y:26.29, Z:4.10 [[ 8.97100051e-01 -4.40635534e-01 -3.24318387e-02 1.29872523e+02] [ 4.40380748e-01 8.97685720e-01 -1.50048480e-02 2.62868559e+01] [ 3.57252676e-02 -8.21507497e-04 9.99361311e-01 4.10455334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32804094199997 meters 0.023667791948211767 Centerline is valid? [True, True] Translation: X:129.93, Y:26.31, Z:4.11 [[ 8.95513037e-01 -4.43903009e-01 -3.17256798e-02 1.29926701e+02] [ 4.43660937e-01 8.96074364e-01 -1.46869622e-02 2.63102813e+01] [ 3.49481551e-02 -9.23078704e-04 9.99388700e-01 4.10762517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38804094199998 meters 0.02342236046401084 Centerline is valid? [True, True] Translation: X:129.98, Y:26.34, Z:4.11 [[ 8.92961641e-01 -4.49131168e-01 -3.00117040e-02 1.29979142e+02] [ 4.48917241e-01 8.93465204e-01 -1.39010767e-02 2.63383820e+01] [ 3.30578200e-02 -1.05964310e-03 9.99452879e-01 4.11158887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44804094199998 meters 0.02496858067471119 Centerline is valid? [True, True] Translation: X:130.03, Y:26.36, Z:4.11 [[ 8.91478231e-01 -4.52165354e-01 -2.85141444e-02 1.30032370e+02] [ 4.51973741e-01 8.91933437e-01 -1.32091389e-02 2.63629508e+01] [ 3.14054338e-02 -1.11198477e-03 9.99506109e-01 4.11493542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50804094199998 meters 0.025201071086166905 Centerline is valid? [True, True] Translation: X:130.08, Y:26.39, Z:4.12 [[ 8.91457602e-01 -4.52176529e-01 -2.89780892e-02 1.30083837e+02] [ 4.51978544e-01 8.91927752e-01 -1.34269100e-02 2.63892909e+01] [ 3.19176955e-02 -1.12795353e-03 9.99489864e-01 4.11666584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56804094199998 meters 0.02422561809947904 Centerline is valid? [True, True] Translation: X:130.13, Y:26.42, Z:4.12 [[ 8.93557108e-01 -4.47973155e-01 -2.95930198e-02 1.30133696e+02] [ 4.47764054e-01 8.94046460e-01 -1.37214830e-02 2.64206355e+01] [ 3.26043906e-02 -9.89761828e-04 9.99467845e-01 4.11785586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62804094199998 meters 0.022425944281455248 Centerline is valid? [True, True] Translation: X:130.18, Y:26.45, Z:4.12 [[ 8.96586580e-01 -4.41791658e-01 -3.08647821e-02 1.30182323e+02] [ 4.41560442e-01 8.97117327e-01 -1.43135616e-02 2.64547104e+01] [ 3.40129429e-02 -7.95319599e-04 9.99421076e-01 4.11775116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.688040942 meters 0.02029919065849527 Centerline is valid? [True, True] Translation: X:130.23, Y:26.49, Z:4.12 [[ 8.98207255e-01 -4.38495467e-01 -3.07482291e-02 1.30231838e+02] [ 4.38263984e-01 8.98733154e-01 -1.42617790e-02 2.64869826e+01] [ 3.38881784e-02 -6.65808028e-04 9.99425409e-01 4.11999137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.748040942 meters 0.02014681334728117 Centerline is valid? [True, True] Translation: X:130.28, Y:26.51, Z:4.12 [[ 8.98405155e-01 -4.38146403e-01 -2.99317042e-02 1.30283401e+02] [ 4.37926763e-01 8.98903404e-01 -1.38859823e-02 2.65148704e+01] [ 3.29898040e-02 -6.32656270e-04 9.99455488e-01 4.12278471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.808040942 meters 0.020099902615007204 Centerline is valid? [True, True] Translation: X:130.33, Y:26.54, Z:4.12 [[ 8.98476450e-01 -4.38069565e-01 -2.88985302e-02 1.30334671e+02] [ 4.37864518e-01 8.98940875e-01 -1.34152099e-02 2.65417641e+01] [ 3.18548652e-02 -6.00390873e-04 9.99492325e-01 4.12490260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.868040942 meters 0.0219738595475614 Centerline is valid? [True, True] Translation: X:130.39, Y:26.56, Z:4.13 [[ 8.98393627e-01 -4.38308439e-01 -2.78317072e-02 1.30387550e+02] [ 4.38118082e-01 8.98824443e-01 -1.29293254e-02 2.65638072e+01] [ 3.06828511e-02 -5.77950679e-04 9.99529003e-01 4.12797259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.928040942 meters 0.020029592080307676 Centerline is valid? [True, True] Translation: X:130.44, Y:26.60, Z:4.13 [[ 8.98127987e-01 -4.38835779e-01 -2.80940715e-02 1.30436495e+02] [ 4.38641943e-01 8.98567082e-01 -1.30554486e-02 2.65963309e+01] [ 3.09736058e-02 -5.97774364e-04 9.99520024e-01 4.12816649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.988040942 meters 0.020155477567534746 Centerline is valid? [True, True] Translation: X:130.49, Y:26.62, Z:4.13 [[ 8.97952517e-01 -4.39140761e-01 -2.89252340e-02 1.30488033e+02] [ 4.38935105e-01 8.98418061e-01 -1.34522044e-02 2.66220871e+01] [ 3.18943639e-02 -6.16859775e-04 9.99491055e-01 4.12887455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04804094199997 meters 0.020786642445364517 Centerline is valid? [True, True] Translation: X:130.54, Y:26.65, Z:4.13 [[ 8.97077028e-01 -4.40915516e-01 -2.90914668e-02 1.30541204e+02] [ 4.40708096e-01 8.97548357e-01 -1.35396498e-02 2.66466750e+01] [ 3.20808399e-02 -6.74736101e-04 9.99485050e-01 4.12959726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10804094199997 meters 0.020796455151997486 Centerline is valid? [True, True] Translation: X:130.59, Y:26.67, Z:4.13 [[ 8.96184176e-01 -4.42726599e-01 -2.91046509e-02 1.30594330e+02] [ 4.42519662e-01 8.96656357e-01 -1.35545547e-02 2.66711208e+01] [ 3.20978321e-02 -7.32002856e-04 9.99484464e-01 4.13124957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16804094199998 meters 0.021170067615209974 Centerline is valid? [True, True] Translation: X:130.65, Y:26.69, Z:4.13 [[ 8.95497861e-01 -4.44102244e-01 -2.92707568e-02 1.30648501e+02] [ 4.43893378e-01 8.95975777e-01 -1.36410041e-02 2.66936477e+01] [ 3.22838896e-02 -7.77605088e-04 9.99478437e-01 4.13318637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22804094199998 meters 0.020992488427535608 Centerline is valid? [True, True] Translation: X:130.70, Y:26.72, Z:4.13 [[ 8.96545076e-01 -4.41988269e-01 -2.92112489e-02 1.30700934e+02] [ 4.41778850e-01 8.97020563e-01 -1.36219371e-02 2.67177602e+01] [ 3.22238274e-02 -6.92231304e-04 9.99480438e-01 4.13459027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28804094199998 meters 0.020203326932438346 Centerline is valid? [True, True] Translation: X:130.75, Y:26.74, Z:4.14 [[ 8.98405520e-01 -4.38256353e-01 -2.82646556e-02 1.30753464e+02] [ 4.38058348e-01 8.98849865e-01 -1.31834417e-02 2.67445016e+01] [ 3.11834090e-02 -5.37491578e-04 9.99513535e-01 4.13608702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34804094199998 meters 0.019980604437574066 Centerline is valid? [True, True] Translation: X:130.81, Y:26.77, Z:4.14 [[ 8.99057105e-01 -4.36926931e-01 -2.81279096e-02 1.30806492e+02] [ 4.36730114e-01 8.99496871e-01 -1.31220349e-02 2.67680697e+01] [ 3.10343371e-02 -4.86846394e-04 9.99518200e-01 4.13823199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40804094199999 meters 0.019843020184091762 Centerline is valid? [True, True] Translation: X:130.86, Y:26.79, Z:4.14 [[ 8.99387405e-01 -4.36266571e-01 -2.78168023e-02 1.30860708e+02] [ 4.36073682e-01 8.99817354e-01 -1.29797309e-02 2.67909825e+01] [ 3.06926642e-02 -4.56368920e-04 9.99528765e-01 4.14053855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.468040942 meters 0.019336934056033164 Centerline is valid? [True, True] Translation: X:130.91, Y:26.82, Z:4.14 [[ 8.99421333e-01 -4.36267083e-01 -2.66889234e-02 1.30912995e+02] [ 4.36089304e-01 8.99817118e-01 -1.24608489e-02 2.68156067e+01] [ 2.94514083e-02 -4.31200650e-04 9.99566120e-01 4.14245357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.528040942 meters 0.01921050373447527 Centerline is valid? [True, True] Translation: X:130.97, Y:26.84, Z:4.14 [[ 8.99532663e-01 -4.35990130e-01 -2.74516666e-02 1.30966700e+02] [ 4.35801613e-01 8.99951346e-01 -1.28268810e-02 2.68385032e+01] [ 3.02975579e-02 -4.25282109e-04 9.99540833e-01 4.14260983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.588040942 meters 0.02028006966279688 Centerline is valid? [True, True] Translation: X:131.02, Y:26.86, Z:4.14 [[ 8.99302087e-01 -4.36394481e-01 -2.85589435e-02 1.31021940e+02] [ 4.36190324e-01 8.99755332e-01 -1.33545702e-02 2.68565495e+01] [ 3.15239224e-02 -4.47341960e-04 9.99502898e-01 4.14438244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.648040942 meters 0.019728948118153903 Centerline is valid? [True, True] Translation: X:131.08, Y:26.88, Z:4.15 [[ 8.98759988e-01 -4.37412437e-01 -3.00140796e-02 1.31076509e+02] [ 4.37187381e-01 8.99260866e-01 -1.40387901e-02 2.68791810e+01] [ 3.31312286e-02 -5.04274090e-04 9.99450883e-01 4.14552732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.708040942 meters 0.020130089847836534 Centerline is valid? [True, True] Translation: X:131.13, Y:26.90, Z:4.15 [[ 8.98097732e-01 -4.38792559e-01 -2.96909638e-02 1.31131686e+02] [ 4.38572788e-01 8.98588224e-01 -1.38964968e-02 2.69006393e+01] [ 3.27776299e-02 -5.41236521e-04 9.99462523e-01 4.14727067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76804094199997 meters 0.0211320140424257 Centerline is valid? [True, True] Translation: X:131.19, Y:26.92, Z:4.15 [[ 8.96588557e-01 -4.41948794e-01 -2.84644181e-02 1.31185938e+02] [ 4.41748142e-01 8.97040064e-01 -1.33305182e-02 2.69197157e+01] [ 3.14251299e-02 -6.22113693e-04 9.99505915e-01 4.15028450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82804094199997 meters 0.022795523998328092 Centerline is valid? [True, True] Translation: X:131.24, Y:26.94, Z:4.15 [[ 8.94705378e-01 -4.45772778e-01 -2.80876475e-02 1.31242014e+02] [ 4.45579125e-01 8.95145843e-01 -1.31591592e-02 2.69373903e+01] [ 3.10085359e-02 -7.41698864e-04 9.99518845e-01 4.15329596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88804094199998 meters 0.02348234129713195 Centerline is valid? [True, True] Translation: X:131.30, Y:26.96, Z:4.16 [[ 8.94037273e-01 -4.47156526e-01 -2.73568037e-02 1.31296819e+02] [ 4.46973406e-01 8.94455394e-01 -1.28188143e-02 2.69594992e+01] [ 3.02014571e-02 -7.67265940e-04 9.99543537e-01 4.15539879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94804094199998 meters 0.022205171210856637 Centerline is valid? [True, True] Translation: X:131.35, Y:26.99, Z:4.16 [[ 8.94342944e-01 -4.46478275e-01 -2.84226679e-02 1.31349498e+02] [ 4.46279999e-01 8.94794146e-01 -1.33266123e-02 2.69864613e+01] [ 3.13824797e-02 -7.65906512e-04 9.99507155e-01 4.15628256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00804094199998 meters 0.021058378952220052 Centerline is valid? [True, True] Translation: X:131.40, Y:27.01, Z:4.16 [[ 8.95247384e-01 -4.44593460e-01 -2.94750209e-02 1.31401878e+02] [ 4.44378910e-01 8.95732181e-01 -1.38291106e-02 2.70127685e+01] [ 3.25500568e-02 -7.17602566e-04 9.99469849e-01 4.15621899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06804094199998 meters 0.021330425221505415 Centerline is valid? [True, True] Translation: X:131.46, Y:27.04, Z:4.16 [[ 8.95366686e-01 -4.44326851e-01 -2.98688149e-02 1.31455616e+02] [ 4.44106080e-01 8.95864469e-01 -1.40229592e-02 2.70352267e+01] [ 3.29891873e-02 -7.09231810e-04 9.99455457e-01 4.15807874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12804094199998 meters 0.021230520977290473 Centerline is valid? [True, True] Translation: X:131.51, Y:27.06, Z:4.16 [[ 8.95515169e-01 -4.44061136e-01 -2.93647615e-02 1.31509815e+02] [ 4.43847460e-01 8.95996228e-01 -1.37910024e-02 2.70576103e+01] [ 3.24347637e-02 -6.83422990e-04 9.99473621e-01 4.16102143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.188040942 meters 0.02089096503291865 Centerline is valid? [True, True] Translation: X:131.56, Y:27.08, Z:4.17 [[ 8.95311963e-01 -4.44580513e-01 -2.76524129e-02 1.31563444e+02] [ 4.44391045e-01 8.95738656e-01 -1.29945955e-02 2.70806339e+01] [ 3.05464791e-02 -6.54267840e-04 9.99533133e-01 4.16505450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.248040942 meters 0.02094511235283687 Centerline is valid? [True, True] Translation: X:131.62, Y:27.11, Z:4.17 [[ 8.94980830e-01 -4.45304233e-01 -2.67105482e-02 1.31617153e+02] [ 4.45127509e-01 8.95379093e-01 -1.25610824e-02 2.71050844e+01] [ 2.95095696e-02 -6.47671844e-04 9.99564288e-01 4.16775965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.308040942 meters 0.021616592988830827 Centerline is valid? [True, True] Translation: X:131.67, Y:27.13, Z:4.17 [[ 8.94273143e-01 -4.46751594e-01 -2.62404214e-02 1.31671086e+02] [ 4.46581418e-01 8.94657788e-01 -1.23482804e-02 2.71255797e+01] [ 2.89928113e-02 -6.75749070e-04 9.99579392e-01 4.16987248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.368040942 meters 0.021581788014866238 Centerline is valid? [True, True] Translation: X:131.73, Y:27.15, Z:4.17 [[ 8.94690963e-01 -4.45891815e-01 -2.66189916e-02 1.31725973e+02] [ 4.45716234e-01 8.95086622e-01 -1.25291180e-02 2.71484632e+01] [ 2.94129345e-02 -6.54828051e-04 9.99567132e-01 4.17175476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.428040942 meters 0.02107435212451819 Centerline is valid? [True, True] Translation: X:131.78, Y:27.17, Z:4.17 [[ 8.96193993e-01 -4.42839647e-01 -2.70069203e-02 1.31778620e+02] [ 4.42657295e-01 8.96600657e-01 -1.27193139e-02 2.71735424e+01] [ 2.98470390e-02 -5.55837560e-04 9.99554323e-01 4.17246124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.488040942 meters 0.020373811998480408 Centerline is valid? [True, True] Translation: X:131.83, Y:27.20, Z:4.17 [[ 8.97201119e-01 -4.40770260e-01 -2.74176924e-02 1.31831545e+02] [ 4.40581110e-01 8.97619819e-01 -1.29207222e-02 2.72000705e+01] [ 3.03057342e-02 -4.87230951e-04 9.99540557e-01 4.17273673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54804094199997 meters 0.019536707615364586 Centerline is valid? [True, True] Translation: X:131.89, Y:27.22, Z:4.17 [[ 8.98431754e-01 -4.38149475e-01 -2.90761245e-02 1.31885035e+02] [ 4.37935079e-01 8.98902033e-01 -1.37113547e-02 2.72246295e+01] [ 3.21442103e-02 -4.14738395e-04 9.99483155e-01 4.17339248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60804094199997 meters 0.019409914662948526 Centerline is valid? [True, True] Translation: X:131.94, Y:27.25, Z:4.18 [[ 8.99177738e-01 -4.36654655e-01 -2.84975068e-02 1.31939142e+02] [ 4.36447686e-01 8.99629141e-01 -1.34471429e-02 2.72478210e+01] [ 3.15089451e-02 -3.46299362e-04 9.99503410e-01 4.17623738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66804094199998 meters 0.019459554499271267 Centerline is valid? [True, True] Translation: X:131.99, Y:27.27, Z:4.18 [[ 8.99060623e-01 -4.36929495e-01 -2.79752232e-02 1.31993009e+02] [ 4.36729915e-01 8.99495692e-01 -1.32091537e-02 2.72703101e+01] [ 3.09350616e-02 -3.41786922e-04 9.99521338e-01 4.17804861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72804094199998 meters 0.019727160692916586 Centerline is valid? [True, True] Translation: X:132.05, Y:27.29, Z:4.18 [[ 8.98428268e-01 -4.38256522e-01 -2.75293890e-02 1.32048446e+02] [ 4.38063585e-01 8.98849866e-01 -1.30081992e-02 2.72905781e+01] [ 3.04457157e-02 -3.72688976e-04 9.99536352e-01 4.17992518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78804094199998 meters 0.019763375493919693 Centerline is valid? [True, True] Translation: X:132.10, Y:27.31, Z:4.18 [[ 8.98091370e-01 -4.38930894e-01 -2.77769858e-02 1.32101528e+02] [ 4.38734529e-01 8.98520738e-01 -1.31337672e-02 2.73139685e+01] [ 3.07230139e-02 -3.91399759e-04 9.99527860e-01 4.18081833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84804094199998 meters 0.01989531981641404 Centerline is valid? [True, True] Translation: X:132.15, Y:27.34, Z:4.18 [[ 8.98908229e-01 -4.37290718e-01 -2.72180857e-02 1.32153446e+02] [ 4.37101134e-01 8.99320146e-01 -1.28791713e-02 2.73399965e+01] [ 3.01097149e-02 -3.19863115e-04 9.99546549e-01 4.18253400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90804094199999 meters 0.019644761653256834 Centerline is valid? [True, True] Translation: X:132.21, Y:27.37, Z:4.18 [[ 8.99527093e-01 -4.36023149e-01 -2.71076233e-02 1.32205324e+02] [ 4.35834442e-01 8.99935408e-01 -1.28296821e-02 2.73677714e+01] [ 2.99891484e-02 -2.73789227e-04 9.99550187e-01 4.18381298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.968040942 meters 0.019685212587991736 Centerline is valid? [True, True] Translation: X:132.26, Y:27.39, Z:4.19 [[ 8.99685642e-01 -4.35721949e-01 -2.66857588e-02 1.32256776e+02] [ 4.35538703e-01 9.00081285e-01 -1.26379663e-02 2.73938019e+01] [ 2.95259913e-02 -2.52483974e-04 9.99563981e-01 4.18507554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.028040942 meters 0.020027830247174423 Centerline is valid? [True, True] Translation: X:132.31, Y:27.42, Z:4.19 [[ 8.98438954e-01 -4.38214924e-01 -2.78411027e-02 1.32309262e+02] [ 4.38016351e-01 8.98870160e-01 -1.31951137e-02 2.74186553e+01] [ 3.08078322e-02 -3.39854101e-04 9.99525268e-01 4.18623073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.088040942 meters 0.020705759031174515 Centerline is valid? [True, True] Translation: X:132.36, Y:27.44, Z:4.19 [[ 8.96939500e-01 -4.41325322e-01 -2.70461469e-02 1.32362949e+02] [ 4.41139263e-01 8.97347075e-01 -1.28209452e-02 2.74437288e+01] [ 2.99279886e-02 -4.31505148e-04 9.99551964e-01 4.18921776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.148040942 meters 0.02070343152946687 Centerline is valid? [True, True] Translation: X:132.42, Y:27.47, Z:4.19 [[ 8.96186914e-01 -4.42876316e-01 -2.66380290e-02 1.32415459e+02] [ 4.42696290e-01 8.96582595e-01 -1.26351185e-02 2.74707983e+01] [ 2.94789879e-02 -4.69128713e-04 9.99565290e-01 4.19217224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.208040942 meters 0.02126248432687846 Centerline is valid? [True, True] Translation: X:132.47, Y:27.50, Z:4.19 [[ 8.95460918e-01 -4.44337911e-01 -2.67126528e-02 1.32467927e+02] [ 4.44157283e-01 8.95859118e-01 -1.26786528e-02 2.74976658e+01] [ 2.95643796e-02 -5.11381202e-04 9.99562747e-01 4.19371093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26804094199997 meters 0.021668847887644446 Centerline is valid? [True, True] Translation: X:132.52, Y:27.52, Z:4.19 [[ 8.94109891e-01 -4.47022626e-01 -2.71712139e-02 1.32520361e+02] [ 4.46836731e-01 8.94522447e-01 -1.29045565e-02 2.75239064e+01] [ 3.00738894e-02 -6.03004804e-04 9.99547496e-01 4.19478818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32804094199997 meters 0.021941715079642144 Centerline is valid? [True, True] Translation: X:132.57, Y:27.55, Z:4.20 [[ 8.93139928e-01 -4.48914846e-01 -2.78662982e-02 1.32572894e+02] [ 4.48719964e-01 8.93574286e-01 -1.32434705e-02 2.75507851e+01] [ 3.08457980e-02 -6.75892006e-04 9.99523927e-01 4.19609403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38804094199998 meters 0.021963061745204314 Centerline is valid? [True, True] Translation: X:132.62, Y:27.58, Z:4.20 [[ 8.93461256e-01 -4.48290504e-01 -2.76153612e-02 1.32624716e+02] [ 4.48098557e-01 8.93887696e-01 -1.31327814e-02 2.75786638e+01] [ 3.05723328e-02 -6.40772144e-04 9.99532352e-01 4.19789775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44804094199998 meters 0.021712241775038194 Centerline is valid? [True, True] Translation: X:132.68, Y:27.61, Z:4.20 [[ 8.94238040e-01 -4.46738873e-01 -2.76171352e-02 1.32677516e+02] [ 4.46545897e-01 8.94664207e-01 -1.31422787e-02 2.76053360e+01] [ 3.05792291e-02 -5.79992813e-04 9.99532178e-01 4.19967841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50804094199998 meters 0.021513134935773743 Centerline is valid? [True, True] Translation: X:132.73, Y:27.63, Z:4.20 [[ 8.94705361e-01 -4.45783723e-01 -2.79139691e-02 1.32730532e+02] [ 4.45585839e-01 8.95140534e-01 -1.32922985e-02 2.76315615e+01] [ 3.09124155e-02 -5.45378610e-04 9.99521948e-01 4.20183042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56804094199998 meters 0.02130818342318469 Centerline is valid? [True, True] Translation: X:132.78, Y:27.66, Z:4.20 [[ 8.95282002e-01 -4.44552378e-01 -2.90399662e-02 1.32782479e+02] [ 4.44337263e-01 8.95752710e-01 -1.38375928e-02 2.76564692e+01] [ 3.21641632e-02 -5.14991320e-04 9.99482467e-01 4.20327410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62804094199998 meters 0.02118895931647464 Centerline is valid? [True, True] Translation: X:132.84, Y:27.68, Z:4.21 [[ 8.95304787e-01 -4.44549509e-01 -2.83737935e-02 1.32835185e+02] [ 4.44344008e-01 8.95754143e-01 -1.35247007e-02 2.76806592e+01] [ 3.14283422e-02 -4.98995842e-04 9.99505883e-01 4.20588407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.688040942 meters 0.02110674917007093 Centerline is valid? [True, True] Translation: X:132.89, Y:27.71, Z:4.21 [[ 8.94587338e-01 -4.45915490e-01 -2.95443666e-02 1.32888047e+02] [ 4.45693084e-01 8.95074892e-01 -1.40930343e-02 2.77063930e+01] [ 3.27287230e-02 -5.60269844e-04 9.99464115e-01 4.20558649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.748040942 meters 0.02105144235358501 Centerline is valid? [True, True] Translation: X:132.94, Y:27.73, Z:4.21 [[ 8.94080639e-01 -4.46899965e-01 -3.00038663e-02 1.32941513e+02] [ 4.46670827e-01 8.94583738e-01 -1.43215655e-02 2.77305699e+01] [ 3.32412780e-02 -5.97217304e-04 9.99447178e-01 4.20685795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.808040942 meters 0.02171598586868407 Centerline is valid? [True, True] Translation: X:132.99, Y:27.75, Z:4.21 [[ 8.93905420e-01 -4.47246144e-01 -3.00663681e-02 1.32994328e+02] [ 4.47015941e-01 8.94410713e-01 -1.43605444e-02 2.77511981e+01] [ 3.33143798e-02 -6.03177385e-04 9.99444740e-01 4.20923703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.868040942 meters 0.020902875961963715 Centerline is valid? [True, True] Translation: X:133.05, Y:27.78, Z:4.21 [[ 8.94369326e-01 -4.46289820e-01 -3.04779490e-02 1.33046327e+02] [ 4.46052461e-01 8.94888302e-01 -1.45646355e-02 2.77788540e+01] [ 3.37744086e-02 -5.68600889e-04 9.99429320e-01 4.20964699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.928040942 meters 0.020619085358570436 Centerline is valid? [True, True] Translation: X:133.10, Y:27.80, Z:4.21 [[ 8.94494776e-01 -4.46054176e-01 -3.02451166e-02 1.33098296e+02] [ 4.45819987e-01 8.95005795e-01 -1.44625797e-02 2.78047971e+01] [ 3.35206487e-02 -5.47175517e-04 9.99437875e-01 4.21145435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.988040942 meters 0.020516229506198445 Centerline is valid? [True, True] Translation: X:133.15, Y:27.83, Z:4.21 [[ 8.94094886e-01 -4.46876373e-01 -2.99306250e-02 1.33151853e+02] [ 4.46647151e-01 8.94595546e-01 -1.43224354e-02 2.78299331e+01] [ 3.31761618e-02 -5.62812159e-04 9.99449361e-01 4.21343134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04804094199997 meters 0.020742812141939036 Centerline is valid? [True, True] Translation: X:133.20, Y:27.86, Z:4.22 [[ 8.93804989e-01 -4.47447851e-01 -3.00509863e-02 1.33204104e+02] [ 4.47216807e-01 8.94309838e-01 -1.43889308e-02 2.78551158e+01] [ 3.33131888e-02 -5.78407962e-04 9.99444794e-01 4.21537608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10804094199997 meters 0.020478204414533713 Centerline is valid? [True, True] Translation: X:133.26, Y:27.88, Z:4.22 [[ 8.93873829e-01 -4.47302630e-01 -3.01651335e-02 1.33255888e+02] [ 4.47069616e-01 8.94382485e-01 -1.44474274e-02 2.78817029e+01] [ 3.34415393e-02 -5.71737396e-04 9.99440512e-01 4.21633595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16804094199998 meters 0.02049072095521155 Centerline is valid? [True, True] Translation: X:133.31, Y:27.91, Z:4.22 [[ 8.94020529e-01 -4.47032004e-01 -2.98275233e-02 1.33307312e+02] [ 4.46803683e-01 8.94517797e-01 -1.42961298e-02 2.79078030e+01] [ 3.30720780e-02 -5.46013757e-04 9.99452820e-01 4.21786120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22804094199998 meters 0.02035908069933204 Centerline is valid? [True, True] Translation: X:133.36, Y:27.93, Z:4.22 [[ 8.93968996e-01 -4.47144569e-01 -2.96844918e-02 1.33358861e+02] [ 4.46918155e-01 8.94461539e-01 -1.42379160e-02 2.79340765e+01] [ 3.29180431e-02 -5.38282865e-04 9.99457909e-01 4.21983201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28804094199998 meters 0.02026188176703706 Centerline is valid? [True, True] Translation: X:133.41, Y:27.96, Z:4.22 [[ 8.94109359e-01 -4.46835074e-01 -3.01143138e-02 1.33410715e+02] [ 4.46601521e-01 8.94616198e-01 -1.44547455e-02 2.79605503e+01] [ 3.33996402e-02 -5.24975124e-04 9.99441939e-01 4.22131251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34804094199998 meters 0.019842281702420004 Centerline is valid? [True, True] Translation: X:133.46, Y:27.99, Z:4.22 [[ 8.94599239e-01 -4.45882960e-01 -2.96746918e-02 1.33462259e+02] [ 4.45655323e-01 8.95091147e-01 -1.42538276e-02 2.79903974e+01] [ 3.29170928e-02 -4.73221058e-04 9.99457974e-01 4.22186698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40804094199999 meters 0.019946834724440705 Centerline is valid? [True, True] Translation: X:133.52, Y:28.02, Z:4.22 [[ 8.94123881e-01 -4.46805483e-01 -3.01221727e-02 1.33515058e+02] [ 4.46571158e-01 8.94630987e-01 -1.44774767e-02 2.80160444e+01] [ 3.34168450e-02 -5.07035896e-04 9.99441373e-01 4.22254021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.468040942 meters 0.020189844493910206 Centerline is valid? [True, True] Translation: X:133.57, Y:28.04, Z:4.22 [[ 8.92463938e-01 -4.50048522e-01 -3.10555641e-02 1.33568804e+02] [ 4.49801068e-01 8.93003874e-01 -1.49358428e-02 2.80408365e+01] [ 3.44545930e-02 -6.39124844e-04 9.99406060e-01 4.22380626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.528040942 meters 0.020909771413612537 Centerline is valid? [True, True] Translation: X:133.62, Y:28.07, Z:4.22 [[ 8.90592809e-01 -4.53717847e-01 -3.13777590e-02 1.33622311e+02] [ 4.53467160e-01 8.91145053e-01 -1.51006317e-02 2.80656747e+01] [ 3.48135608e-02 -7.80269216e-04 9.99393520e-01 4.22454916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.588040942 meters 0.021231000797250807 Centerline is valid? [True, True] Translation: X:133.67, Y:28.09, Z:4.23 [[ 8.89554286e-01 -4.55768987e-01 -3.11095467e-02 1.33674784e+02] [ 4.55523490e-01 8.90097701e-01 -1.49810745e-02 2.80926308e+01] [ 3.45184451e-02 -8.44650283e-04 9.99403704e-01 4.22693365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.648040942 meters 0.021141808202419468 Centerline is valid? [True, True] Translation: X:133.73, Y:28.12, Z:4.23 [[ 8.89970453e-01 -4.54950554e-01 -3.11863228e-02 1.33727627e+02] [ 4.54703010e-01 8.90516335e-01 -1.50276156e-02 2.81197668e+01] [ 3.46087520e-02 -8.06380986e-04 9.99400612e-01 4.22822041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.708040942 meters 0.020060407617581735 Centerline is valid? [True, True] Translation: X:133.78, Y:28.15, Z:4.23 [[ 8.91358668e-01 -4.52178814e-01 -3.18440682e-02 1.33779027e+02] [ 4.51918617e-01 8.91927028e-01 -1.53538417e-02 2.81498812e+01] [ 3.53452671e-02 -7.05147383e-04 9.99374912e-01 4.22895383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76804094199997 meters 0.019712137394579294 Centerline is valid? [True, True] Translation: X:133.83, Y:28.18, Z:4.23 [[ 8.92884176e-01 -4.49076833e-01 -3.29825249e-02 1.33830423e+02] [ 4.48795205e-01 8.93492946e-01 -1.59128377e-02 2.81780181e+01] [ 3.66157401e-02 -5.94078090e-04 9.99329242e-01 4.22851058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82804094199997 meters 0.019408992118975527 Centerline is valid? [True, True] Translation: X:133.88, Y:28.21, Z:4.23 [[ 8.93776126e-01 -4.47285999e-01 -3.31582999e-02 1.33882875e+02] [ 4.46999750e-01 8.94390838e-01 -1.60078821e-02 2.82058333e+01] [ 3.68165811e-02 -5.14288871e-04 9.99321908e-01 4.23042708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88804094199998 meters 0.019410775032439927 Centerline is valid? [True, True] Translation: X:133.94, Y:28.23, Z:4.23 [[ 8.92840013e-01 -4.49165410e-01 -3.29719013e-02 1.33936220e+02] [ 4.48883305e-01 8.93448431e-01 -1.59273594e-02 2.82318148e+01] [ 3.66127124e-02 -5.79952294e-04 9.99329362e-01 4.23228121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94804094199998 meters 0.019873574345475438 Centerline is valid? [True, True] Translation: X:133.99, Y:28.25, Z:4.23 [[ 8.91781328e-01 -4.51333126e-01 -3.20073718e-02 1.33989761e+02] [ 4.51068366e-01 8.92355309e-01 -1.54703326e-02 2.82549711e+01] [ 3.55442218e-02 -6.41359172e-04 9.99367899e-01 4.23457920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00804094199998 meters 0.020496757413300953 Centerline is valid? [True, True] Translation: X:134.04, Y:28.28, Z:4.24 [[ 8.89978661e-01 -4.54857934e-01 -3.22837699e-02 1.34043402e+02] [ 4.54590733e-01 8.90563666e-01 -1.56083960e-02 2.82797330e+01] [ 3.58503552e-02 -7.84763280e-04 9.99356861e-01 4.23512652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06804094199998 meters 0.021021895021491186 Centerline is valid? [True, True] Translation: X:134.10, Y:28.31, Z:4.24 [[ 8.89161338e-01 -4.56390814e-01 -3.31593129e-02 1.34096819e+02] [ 4.56109593e-01 8.89779009e-01 -1.60422413e-02 2.83052954e+01] [ 3.68259921e-02 -8.60140006e-04 9.99321323e-01 4.23520206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12804094199998 meters 0.020737700749665505 Centerline is valid? [True, True] Translation: X:134.15, Y:28.33, Z:4.24 [[ 8.89330052e-01 -4.56081196e-01 -3.28937707e-02 1.34149958e+02] [ 4.55803883e-01 8.89937779e-01 -1.59238732e-02 2.83312217e+01] [ 3.65359884e-02 -8.31529442e-04 9.99331992e-01 4.23793672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.188040942 meters 0.02038201068678036 Centerline is valid? [True, True] Translation: X:134.20, Y:28.36, Z:4.24 [[ 8.90361693e-01 -4.53983515e-01 -3.39856397e-02 1.34201455e+02] [ 4.53685540e-01 8.91009758e-01 -1.64633149e-02 2.83597831e+01] [ 3.77556102e-02 -7.60488410e-04 9.99286713e-01 4.23782376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.248040942 meters 0.020269259822867793 Centerline is valid? [True, True] Translation: X:134.25, Y:28.39, Z:4.24 [[ 8.91019923e-01 -4.52617591e-01 -3.49401449e-02 1.34253106e+02] [ 4.52301212e-01 8.91704439e-01 -1.69353614e-02 2.83859770e+01] [ 3.88215248e-02 -7.13725456e-04 9.99245906e-01 4.23832402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.308040942 meters 0.019754549945080056 Centerline is valid? [True, True] Translation: X:134.31, Y:28.41, Z:4.24 [[ 8.91568661e-01 -4.51542467e-01 -3.48528944e-02 1.34305525e+02] [ 4.51226644e-01 8.92249385e-01 -1.68982614e-02 2.84128794e+01] [ 3.87277562e-02 -6.60594313e-04 9.99249581e-01 4.24021326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.368040942 meters 0.019938534642583706 Centerline is valid? [True, True] Translation: X:134.36, Y:28.44, Z:4.24 [[ 8.91165396e-01 -4.52405495e-01 -3.39632953e-02 1.34357553e+02] [ 4.52105825e-01 8.91812098e-01 -1.64774237e-02 2.84379902e+01] [ 3.77433547e-02 -6.70893843e-04 9.99287241e-01 4.24286065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.428040942 meters 0.020193618849902104 Centerline is valid? [True, True] Translation: X:134.41, Y:28.46, Z:4.25 [[ 8.90113581e-01 -4.54587698e-01 -3.23703340e-02 1.34410225e+02] [ 4.54316546e-01 8.90701695e-01 -1.57151823e-02 2.84641361e+01] [ 3.59762399e-02 -7.18081165e-04 9.99352388e-01 4.24581675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.488040942 meters 0.020986789624368903 Centerline is valid? [True, True] Translation: X:134.46, Y:28.49, Z:4.25 [[ 8.88580502e-01 -4.57650769e-01 -3.13123738e-02 1.34462989e+02] [ 4.57398631e-01 8.89131668e-01 -1.52108183e-02 2.84904951e+01] [ 3.48020658e-02 -8.06200374e-04 9.99393899e-01 4.24797032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54804094199997 meters 0.021319763281304673 Centerline is valid? [True, True] Translation: X:134.51, Y:28.52, Z:4.25 [[ 8.88469369e-01 -4.57941443e-01 -3.01962930e-02 1.34513136e+02] [ 4.57706847e-01 8.88982016e-01 -1.46770945e-02 2.85173202e+01] [ 3.35652112e-02 -7.80901184e-04 9.99436224e-01 4.24967367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60804094199997 meters 0.020371960603214636 Centerline is valid? [True, True] Translation: X:134.56, Y:28.55, Z:4.25 [[ 8.89028749e-01 -4.56804455e-01 -3.09446978e-02 1.34562757e+02] [ 4.56557216e-01 8.89566819e-01 -1.50460412e-02 2.85506594e+01] [ 3.44004750e-02 -7.51661873e-04 9.99407846e-01 4.25000369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66804094199998 meters 0.01975343800721105 Centerline is valid? [True, True] Translation: X:134.61, Y:28.58, Z:4.25 [[ 8.89705795e-01 -4.55507840e-01 -3.05974793e-02 1.34613770e+02] [ 4.55265039e-01 8.90231508e-01 -1.48864705e-02 2.85812268e+01] [ 3.40197442e-02 -6.85383521e-04 9.99420926e-01 4.25158783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72804094199998 meters 0.020831047548846047 Centerline is valid? [True, True] Translation: X:134.67, Y:28.61, Z:4.25 [[ 8.90038009e-01 -4.54913590e-01 -2.97652078e-02 1.34666115e+02] [ 4.54683191e-01 8.90535356e-01 -1.44905380e-02 2.86069907e+01] [ 3.30989126e-02 -6.36610031e-04 9.99451878e-01 4.25337829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78804094199998 meters 0.020959530920454543 Centerline is valid? [True, True] Translation: X:134.72, Y:28.64, Z:4.26 [[ 8.90222290e-01 -4.54640040e-01 -2.84026034e-02 1.34716619e+02] [ 4.54429860e-01 8.90675073e-01 -1.38353454e-02 2.86360108e+01] [ 3.15875929e-02 -5.90458272e-04 9.99500813e-01 4.25518222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84804094199998 meters 0.020941600430807453 Centerline is valid? [True, True] Translation: X:134.77, Y:28.66, Z:4.26 [[ 8.90288960e-01 -4.54637899e-01 -2.62668690e-02 1.34767901e+02] [ 4.54458083e-01 8.90676195e-01 -1.27970765e-02 2.86638446e+01] [ 2.92133109e-02 -5.44095043e-04 9.99573052e-01 4.25901657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90804094199999 meters 0.020952717303209724 Centerline is valid? [True, True] Translation: X:134.82, Y:28.69, Z:4.26 [[ 8.90716617e-01 -4.53915574e-01 -2.41776493e-02 1.34818117e+02] [ 4.53762761e-01 8.91044571e-01 -1.17868043e-02 2.86920656e+01] [ 2.68935772e-02 -4.72214450e-04 9.99638191e-01 4.26242211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.968040942 meters 0.020854114659722926 Centerline is valid? [True, True] Translation: X:134.87, Y:28.72, Z:4.26 [[ 8.90804453e-01 -4.53774370e-01 -2.35848927e-02 1.34869302e+02] [ 4.53628839e-01 8.91116499e-01 -1.15005126e-02 2.87205979e+01] [ 2.62355248e-02 -4.54079612e-04 9.99655686e-01 4.26418840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.028040942 meters 0.01981766857015636 Centerline is valid? [True, True] Translation: X:134.92, Y:28.75, Z:4.26 [[ 8.90648540e-01 -4.54108328e-01 -2.30392027e-02 1.34917779e+02] [ 4.53969392e-01 8.90946366e-01 -1.12412069e-02 2.87529413e+01] [ 2.56314195e-02 -4.47128340e-04 9.99671361e-01 4.26447719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.088040942 meters 0.01974283962859576 Centerline is valid? [True, True] Translation: X:134.97, Y:28.78, Z:4.27 [[ 8.90177820e-01 -4.55048787e-01 -2.26726566e-02 1.34968958e+02] [ 4.54914351e-01 8.90466389e-01 -1.10699288e-02 2.87820065e+01] [ 2.52265963e-02 -4.59911748e-04 9.99681653e-01 4.26517115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.148040942 meters 0.019251873267226077 Centerline is valid? [True, True] Translation: X:135.02, Y:28.81, Z:4.27 [[ 8.90214569e-01 -4.54968058e-01 -2.28492442e-02 1.35018528e+02] [ 4.54831325e-01 8.90507641e-01 -1.11627193e-02 2.88139165e+01] [ 2.54261073e-02 -4.55336713e-04 9.99676601e-01 4.26521581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.208040942 meters 0.019534143002267912 Centerline is valid? [True, True] Translation: X:135.07, Y:28.84, Z:4.27 [[ 8.90385504e-01 -4.54628639e-01 -2.29446133e-02 1.35069509e+02] [ 4.54490413e-01 8.90680980e-01 -1.12185784e-02 2.88423234e+01] [ 2.55366177e-02 -4.39247233e-04 9.99673791e-01 4.26628038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26804094199997 meters 0.019327627041807287 Centerline is valid? [True, True] Translation: X:135.12, Y:28.87, Z:4.27 [[ 8.89975584e-01 -4.55401010e-01 -2.35240445e-02 1.35118990e+02] [ 4.55255941e-01 8.90286301e-01 -1.15034814e-02 2.88738173e+01] [ 2.61818316e-02 -4.71643453e-04 9.99657086e-01 4.26618089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32804094199997 meters 0.01981912507861443 Centerline is valid? [True, True] Translation: X:135.17, Y:28.90, Z:4.27 [[ 8.89715949e-01 -4.55983249e-01 -2.20183198e-02 1.35169374e+02] [ 4.55856132e-01 8.89988244e-01 -1.07755462e-02 2.89027021e+01] [ 2.45095143e-02 -4.50010744e-04 9.99699495e-01 4.26854321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38804094199998 meters 0.020267036697548802 Centerline is valid? [True, True] Translation: X:135.22, Y:28.93, Z:4.27 [[ 8.89206457e-01 -4.56997991e-01 -2.15571987e-02 1.35219782e+02] [ 4.56876416e-01 8.89467604e-01 -1.05509485e-02 2.89337248e+01] [ 2.39961922e-02 -4.67004134e-04 9.99711941e-01 4.26978318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44804094199998 meters 0.020800499916427132 Centerline is valid? [True, True] Translation: X:135.27, Y:28.96, Z:4.27 [[ 8.88748924e-01 -4.57912671e-01 -2.10079808e-02 1.35268491e+02] [ 4.57797307e-01 8.88997054e-01 -1.02890051e-02 2.89649956e+01] [ 2.33874989e-02 -4.73054793e-04 9.99726363e-01 4.27176425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50804094199998 meters 0.0201148746415288 Centerline is valid? [True, True] Translation: X:135.32, Y:29.00, Z:4.27 [[ 8.87956733e-01 -4.59474631e-01 -2.03937186e-02 1.35317920e+02] [ 4.59366285e-01 8.88190754e-01 -9.99002057e-03 2.89978073e+01] [ 2.27036734e-02 -4.97480740e-04 9.99742115e-01 4.27258600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56804094199998 meters 0.020123020970615444 Centerline is valid? [True, True] Translation: X:135.37, Y:29.03, Z:4.27 [[ 8.86994985e-01 -4.61402601e-01 -1.86423063e-02 1.35367926e+02] [ 4.61312390e-01 8.87190732e-01 -9.13699480e-03 2.90301450e+01] [ 2.07551145e-02 -4.95458299e-04 9.99784467e-01 4.27356776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62804094199998 meters 0.02034526700668071 Centerline is valid? [True, True] Translation: X:135.42, Y:29.06, Z:4.27 [[ 8.87195519e-01 -4.61030916e-01 -1.82922304e-02 1.35417407e+02] [ 4.60943868e-01 8.87383948e-01 -8.97107428e-03 2.90638513e+01] [ 2.03681742e-02 -4.72594526e-04 9.99792436e-01 4.27417217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.688040942 meters 0.02020596430649199 Centerline is valid? [True, True] Translation: X:135.47, Y:29.10, Z:4.27 [[ 8.87708747e-01 -4.59978735e-01 -1.98177578e-02 1.35466592e+02] [ 4.59876143e-01 8.87929802e-01 -9.72621201e-03 2.90982467e+01] [ 2.20706285e-02 -4.79670551e-04 9.99756299e-01 4.27346742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.748040942 meters 0.020207442539137532 Centerline is valid? [True, True] Translation: X:135.52, Y:29.13, Z:4.27 [[ 8.87766777e-01 -4.59860552e-01 -1.99605286e-02 1.35515615e+02] [ 4.59756315e-01 8.87991018e-01 -9.80222943e-03 2.91300467e+01] [ 2.22324288e-02 -4.74885450e-04 9.99752716e-01 4.27439442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.808040942 meters 0.02036425788936465 Centerline is valid? [True, True] Translation: X:135.57, Y:29.16, Z:4.28 [[ 8.87489680e-01 -4.60425518e-01 -1.92460601e-02 1.35565381e+02] [ 4.60328594e-01 8.87698218e-01 -9.45832150e-03 2.91623251e+01] [ 2.14395458e-02 -4.65349068e-04 9.99770038e-01 4.27674779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.868040942 meters 0.021545603881667597 Centerline is valid? [True, True] Translation: X:135.61, Y:29.19, Z:4.28 [[ 8.87268653e-01 -4.60781044e-01 -2.08606675e-02 1.35614327e+02] [ 4.60667068e-01 8.87513703e-01 -1.02605495e-02 2.91933421e+01] [ 2.32419950e-02 -5.05958575e-04 9.99729740e-01 4.27719395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.928040942 meters 0.021180226790033882 Centerline is valid? [True, True] Translation: X:135.66, Y:29.22, Z:4.28 [[ 8.87068138e-01 -4.61145048e-01 -2.13392288e-02 1.35664078e+02] [ 4.61025866e-01 8.87324612e-01 -1.04968224e-02 2.92238035e+01] [ 2.37753805e-02 -5.26539730e-04 9.99717187e-01 4.27806254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.988040942 meters 0.02168225239803984 Centerline is valid? [True, True] Translation: X:135.71, Y:29.26, Z:4.28 [[ 8.86699513e-01 -4.61867166e-01 -2.10403001e-02 1.35713914e+02] [ 4.61751326e-01 8.86948949e-01 -1.03573581e-02 2.92561049e+01] [ 2.34453956e-02 -5.31522108e-04 9.99724978e-01 4.28053328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04804094199997 meters 0.022635538872516466 Centerline is valid? [True, True] Translation: X:135.76, Y:29.29, Z:4.28 [[ 8.86234689e-01 -4.62736523e-01 -2.15171348e-02 1.35763461e+02] [ 4.62615436e-01 8.86495684e-01 -1.06000576e-02 2.92863533e+01] [ 2.39798809e-02 -5.60019947e-04 9.99712284e-01 4.28186711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10804094199997 meters 0.022212198435742528 Centerline is valid? [True, True] Translation: X:135.81, Y:29.32, Z:4.28 [[ 8.86325039e-01 -4.62549234e-01 -2.18204582e-02 1.35812647e+02] [ 4.62424623e-01 8.86593419e-01 -1.07506942e-02 2.93191050e+01] [ 2.43186000e-02 -5.61707732e-04 9.99704101e-01 4.28361705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16804094199998 meters 0.022219003381779748 Centerline is valid? [True, True] Translation: X:135.86, Y:29.35, Z:4.29 [[ 8.87111875e-01 -4.61023749e-01 -2.21274778e-02 1.35861739e+02] [ 4.60894962e-01 8.87387645e-01 -1.09088233e-02 2.93518990e+01] [ 2.46648770e-02 -5.21096326e-04 9.99695640e-01 4.28580437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22804094199998 meters 0.022850994692300692 Centerline is valid? [True, True] Translation: X:135.91, Y:29.38, Z:4.29 [[ 8.87376246e-01 -4.60543236e-01 -2.15249979e-02 1.35911663e+02] [ 4.60421048e-01 8.87637139e-01 -1.06192260e-02 2.93802382e+01] [ 2.39970002e-02 -4.87313175e-04 9.99711912e-01 4.28840956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28804094199998 meters 0.023045469859426675 Centerline is valid? [True, True] Translation: X:135.96, Y:29.41, Z:4.29 [[ 8.87844319e-01 -4.59673690e-01 -2.07981632e-02 1.35962729e+02] [ 4.59559355e-01 8.88087776e-01 -1.02616271e-02 2.94106738e+01] [ 2.31875945e-02 -4.47263113e-04 9.99731032e-01 4.29213547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34804094199998 meters 0.022537528355898166 Centerline is valid? [True, True] Translation: X:136.01, Y:29.44, Z:4.29 [[ 8.88407048e-01 -4.58516810e-01 -2.22542697e-02 1.36011984e+02] [ 4.58385385e-01 8.88685625e-01 -1.09862741e-02 2.94448472e+01] [ 2.48144409e-02 -4.40748680e-04 9.99691977e-01 4.29202386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40804094199999 meters 0.022683946903485644 Centerline is valid? [True, True] Translation: X:136.06, Y:29.47, Z:4.29 [[ 8.89104292e-01 -4.57158209e-01 -2.23591342e-02 1.36061885e+02] [ 4.57024918e-01 8.89385301e-01 -1.10458525e-02 2.94747669e+01] [ 2.49355875e-02 -3.97766601e-04 9.99688981e-01 4.29455077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.468040942 meters 0.022732389036559372 Centerline is valid? [True, True] Translation: X:136.11, Y:29.50, Z:4.30 [[ 8.89636673e-01 -4.56077845e-01 -2.32290640e-02 1.36113095e+02] [ 4.55933566e-01 8.89939804e-01 -1.14773436e-02 2.95045885e+01] [ 2.59070308e-02 -3.80244213e-04 9.99664284e-01 4.29603253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.528040942 meters 0.022532262356056657 Centerline is valid? [True, True] Translation: X:136.16, Y:29.54, Z:4.30 [[ 8.90889545e-01 -4.53640754e-01 -2.29321593e-02 1.36163727e+02] [ 4.53499164e-01 8.91184592e-01 -1.13372045e-02 2.95350211e+01] [ 2.55798050e-02 -2.99518113e-04 9.99672738e-01 4.29869720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.588040942 meters 0.02263713274919983 Centerline is valid? [True, True] Translation: X:136.21, Y:29.56, Z:4.30 [[ 8.92179111e-01 -4.51107631e-01 -2.27670518e-02 1.36213872e+02] [ 4.50967051e-01 8.92469527e-01 -1.12632828e-02 2.95633671e+01] [ 2.53998528e-02 -2.18324619e-04 9.99677348e-01 4.30130904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.648040942 meters 0.022700468827013317 Centerline is valid? [True, True] Translation: X:136.26, Y:29.59, Z:4.30 [[ 8.93698429e-01 -4.48015481e-01 -2.41918725e-02 1.36264417e+02] [ 4.47855499e-01 8.94025788e-01 -1.19725377e-02 2.95922001e+01] [ 2.69920401e-02 -1.34625010e-04 9.99635639e-01 4.30305150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.708040942 meters 0.022879445981096307 Centerline is valid? [True, True] Translation: X:136.32, Y:29.62, Z:4.31 [[ 8.94668753e-01 -4.46012971e-01 -2.53032145e-02 1.36315965e+02] [ 4.45837082e-01 8.95026494e-01 -1.25248439e-02 2.96196584e+01] [ 2.82332901e-02 -7.55248666e-05 9.99601358e-01 4.30525162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76804094199997 meters 0.023108338107537926 Centerline is valid? [True, True] Translation: X:136.37, Y:29.64, Z:4.31 [[ 8.94878101e-01 -4.45538312e-01 -2.62449514e-02 1.36367372e+02] [ 4.45348621e-01 8.95262872e-01 -1.29998536e-02 2.96442598e+01] [ 2.92880634e-02 -5.48685819e-05 9.99571011e-01 4.30781170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82804094199997 meters 0.02344021619030795 Centerline is valid? [True, True] Translation: X:136.42, Y:29.67, Z:4.31 [[ 8.93806306e-01 -4.47694237e-01 -2.60798328e-02 1.36421304e+02] [ 4.47507735e-01 8.94186701e-01 -1.29217614e-02 2.96667575e+01] [ 2.91052378e-02 -1.21375045e-04 9.99576345e-01 4.31163784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88804094199998 meters 0.02434333027811377 Centerline is valid? [True, True] Translation: X:136.48, Y:29.69, Z:4.31 [[ 8.92647910e-01 -4.49932427e-01 -2.72124853e-02 1.36475869e+02] [ 4.49730103e-01 8.93062581e-01 -1.34930052e-02 2.96896623e+01] [ 3.03733930e-02 -1.93770925e-04 9.99538603e-01 4.31240853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94804094199998 meters 0.023758256660249128 Centerline is valid? [True, True] Translation: X:136.53, Y:29.71, Z:4.32 [[ 8.92226673e-01 -4.50762860e-01 -2.72838374e-02 1.36527964e+02] [ 4.50559597e-01 8.92643713e-01 -1.35370443e-02 2.97147102e+01] [ 3.04567427e-02 -2.14882750e-04 9.99536063e-01 4.31501658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00804094199998 meters 0.025710588236877507 Centerline is valid? [True, True] Translation: X:136.58, Y:29.74, Z:4.31 [[ 8.92105225e-01 -4.50870198e-01 -2.93995348e-02 1.36580776e+02] [ 4.50633862e-01 8.92589499e-01 -1.45982427e-02 2.97391965e+01] [ 3.28236287e-02 -2.25257313e-04 9.99461134e-01 4.31257781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06804094199998 meters 0.02500917867737621 Centerline is valid? [True, True] Translation: X:136.63, Y:29.76, Z:4.32 [[ 8.91553220e-01 -4.51899309e-01 -3.03293636e-02 1.36634901e+02] [ 4.51648001e-01 8.92068913e-01 -1.50710634e-02 2.97616340e+01] [ 3.38664855e-02 -2.61541368e-04 9.99426332e-01 4.31569749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12804094199998 meters 0.024110039342864407 Centerline is valid? [True, True] Translation: X:136.69, Y:29.79, Z:4.32 [[ 8.92651867e-01 -4.49773895e-01 -2.95987686e-02 1.36687234e+02] [ 4.49533089e-01 8.93142438e-01 -1.47169165e-02 2.97853933e+01] [ 3.30552012e-02 -1.68542840e-04 9.99453513e-01 4.31955469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.188040942 meters 0.024113879974716434 Centerline is valid? [True, True] Translation: X:136.74, Y:29.81, Z:4.32 [[ 8.94737758e-01 -4.45680572e-01 -2.85161701e-02 1.36739560e+02] [ 4.45454876e-01 8.95192062e-01 -1.41818883e-02 2.98115689e+01] [ 3.18480412e-02 -1.35961290e-05 9.99492722e-01 4.32320416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.248040942 meters 0.02425229272920741 Centerline is valid? [True, True] Translation: X:136.79, Y:29.84, Z:4.33 [[ 8.96679747e-01 -4.41706975e-01 -2.93322244e-02 1.36793459e+02] [ 4.41465739e-01 8.97159366e-01 -1.45969961e-02 2.98362305e+01] [ 3.27632749e-02 1.39658624e-04 9.99463130e-01 4.32528496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.308040942 meters 0.024322271774256537 Centerline is valid? [True, True] Translation: X:136.85, Y:29.86, Z:4.33 [[ 8.97178613e-01 -4.40655979e-01 -2.98805231e-02 1.36847959e+02] [ 4.40404732e-01 8.97676040e-01 -1.48795143e-02 2.98597761e+01] [ 3.33797765e-02 1.90058237e-04 9.99442722e-01 4.32678130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.368040942 meters 0.024555626915951707 Centerline is valid? [True, True] Translation: X:136.90, Y:29.88, Z:4.33 [[ 8.97732298e-01 -4.39431537e-01 -3.12513300e-02 1.36902403e+02] [ 4.39155615e-01 8.98276048e-01 -1.55719857e-02 2.98800023e+01] [ 3.49151428e-02 2.55277413e-04 9.99390248e-01 4.32791124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.428040942 meters 0.02467501284559243 Centerline is valid? [True, True] Translation: X:136.96, Y:29.90, Z:4.33 [[ 8.98645876e-01 -4.37518144e-01 -3.18349333e-02 1.36957807e+02] [ 4.37230454e-01 8.99209518e-01 -1.58673208e-02 2.99007202e+01] [ 3.55685159e-02 3.39900075e-04 9.99367182e-01 4.33073096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.488040942 meters 0.024973374278979835 Centerline is valid? [True, True] Translation: X:137.01, Y:29.92, Z:4.33 [[ 8.99824809e-01 -4.35151922e-01 -3.09534723e-02 1.37012539e+02] [ 4.34878239e-01 9.00356940e-01 -1.54368663e-02 2.99214665e+01] [ 3.45865557e-02 4.29483762e-04 9.99401614e-01 4.33461737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54804094199997 meters 0.024889042836104117 Centerline is valid? [True, True] Translation: X:137.07, Y:29.94, Z:4.34 [[ 8.99146392e-01 -4.36628573e-01 -2.98538898e-02 1.37069240e+02] [ 4.36374684e-01 8.99641794e-01 -1.48922050e-02 2.99401095e+01] [ 3.33601692e-02 3.62790664e-04 9.99443329e-01 4.33738542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60804094199997 meters 0.024906603534171227 Centerline is valid? [True, True] Translation: X:137.12, Y:29.96, Z:4.34 [[ 8.98150345e-01 -4.38636199e-01 -3.04013560e-02 1.37124638e+02] [ 4.38373743e-01 8.98664673e-01 -1.51745701e-02 2.99581465e+01] [ 3.39767404e-02 3.01889186e-04 9.99422578e-01 4.33943492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66804094199998 meters 0.024917132451332372 Centerline is valid? [True, True] Translation: X:137.18, Y:29.98, Z:4.34 [[ 8.97717051e-01 -4.39527828e-01 -3.03213530e-02 1.37178630e+02] [ 4.39267124e-01 8.98228932e-01 -1.51386444e-02 2.99799592e+01] [ 3.38893721e-02 2.71045706e-04 9.99425554e-01 4.34074632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72804094199998 meters 0.02476032541466205 Centerline is valid? [True, True] Translation: X:137.24, Y:30.00, Z:4.34 [[ 8.97164468e-01 -4.40625628e-01 -3.07404090e-02 1.37235785e+02] [ 4.40357933e-01 8.97690925e-01 -1.53588445e-02 2.99962830e+01] [ 3.43628867e-02 2.42626542e-04 9.99409392e-01 4.34379466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78804094199998 meters 0.02473032695588193 Centerline is valid? [True, True] Translation: X:137.29, Y:30.02, Z:4.35 [[ 8.96723773e-01 -4.41471056e-01 -3.14607956e-02 1.37290320e+02] [ 4.41190772e-01 8.97275462e-01 -1.57304659e-02 3.00179149e+01] [ 3.51735453e-02 2.25670016e-04 9.99381194e-01 4.34500808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84804094199998 meters 0.024539610429898367 Centerline is valid? [True, True] Translation: X:137.35, Y:30.04, Z:4.35 [[ 8.95986180e-01 -4.42994305e-01 -3.10614159e-02 1.37345280e+02] [ 4.42721647e-01 8.96524409e-01 -1.55411755e-02 3.00372181e+01] [ 3.47319698e-02 1.73117258e-04 9.99396648e-01 4.34778724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90804094199999 meters 0.024404820927260932 Centerline is valid? [True, True] Translation: X:137.40, Y:30.05, Z:4.35 [[ 8.94207340e-01 -4.46501577e-01 -3.20869905e-02 1.37401093e+02] [ 4.46212730e-01 8.94782845e-01 -1.60580111e-02 3.00543000e+01] [ 3.58808160e-02 4.15677650e-05 9.99356075e-01 4.34897978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.968040942 meters 0.024500775651638367 Centerline is valid? [True, True] Translation: X:137.46, Y:30.07, Z:4.35 [[ 8.92848777e-01 -4.49026737e-01 -3.45839749e-02 1.37457237e+02] [ 4.48692902e-01 8.93518318e-01 -1.73116839e-02 3.00724677e+01] [ 3.86748240e-02 -6.08682113e-05 9.99251847e-01 4.34956268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.028040942 meters 0.024377768730731626 Centerline is valid? [True, True] Translation: X:137.51, Y:30.09, Z:4.35 [[ 8.92421094e-01 -4.49854723e-01 -3.48614379e-02 1.37512384e+02] [ 4.49515921e-01 8.93101741e-01 -1.74561380e-02 3.00912643e+01] [ 3.89875371e-02 -9.25455752e-05 9.99239693e-01 4.35168877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.088040942 meters 0.024301489385438392 Centerline is valid? [True, True] Translation: X:137.57, Y:30.11, Z:4.35 [[ 8.91914476e-01 -4.50873265e-01 -3.46679455e-02 1.37567309e+02] [ 4.50538517e-01 8.92587969e-01 -1.73712909e-02 3.01103092e+01] [ 3.87764417e-02 -1.25538898e-04 9.99247903e-01 4.35454687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.148040942 meters 0.02414545634118449 Centerline is valid? [True, True] Translation: X:137.62, Y:30.13, Z:4.36 [[ 8.91679371e-01 -4.51360356e-01 -3.43762686e-02 1.37622078e+02] [ 4.51031178e-01 8.92341757e-01 -1.72355996e-02 3.01277295e+01] [ 3.84548463e-02 -1.36140267e-04 9.99260330e-01 4.35811830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.208040942 meters 0.023931722152907002 Centerline is valid? [True, True] Translation: X:137.68, Y:30.15, Z:4.36 [[ 8.91716456e-01 -4.51296206e-01 -3.42563482e-02 1.37677767e+02] [ 4.50969032e-01 8.92374203e-01 -1.71817822e-02 3.01469160e+01] [ 3.83235546e-02 -1.27274253e-04 9.99265375e-01 4.36135833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26804094199997 meters 0.023717162160532056 Centerline is valid? [True, True] Translation: X:137.73, Y:30.17, Z:4.36 [[ 8.92188241e-01 -4.50306021e-01 -3.49947309e-02 1.37731123e+02] [ 4.49963350e-01 8.92874281e-01 -1.75642123e-02 3.01699339e+01] [ 3.91551658e-02 -7.57626456e-05 9.99233140e-01 4.36336345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32804094199997 meters 0.024348540956111456 Centerline is valid? [True, True] Translation: X:137.79, Y:30.19, Z:4.36 [[ 8.94278011e-01 -4.46100137e-01 -3.55176948e-02 1.37785053e+02] [ 4.45743330e-01 8.94983046e-01 -1.78390241e-02 3.01935491e+01] [ 3.97457258e-02 1.21271498e-04 9.99209819e-01 4.36384926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38804094199998 meters 0.023362536528602595 Centerline is valid? [True, True] Translation: X:137.84, Y:30.21, Z:4.37 [[ 8.95506800e-01 -4.43529683e-01 -3.67286077e-02 1.37839881e+02] [ 4.43145552e-01 8.96259648e-01 -1.84570661e-02 3.02140949e+01] [ 4.11046256e-02 2.52309082e-04 9.99154816e-01 4.36781420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44804094199998 meters 0.023199902317745668 Centerline is valid? [True, True] Translation: X:137.90, Y:30.23, Z:4.37 [[ 8.94911279e-01 -4.44772222e-01 -3.62142705e-02 1.37896020e+02] [ 4.44399565e-01 8.95643697e-01 -1.82042596e-02 3.02329098e+01] [ 4.05318321e-02 1.97591186e-04 9.99178228e-01 4.37174375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50804094199998 meters 0.02305634445635169 Centerline is valid? [True, True] Translation: X:137.95, Y:30.25, Z:4.37 [[ 8.93374757e-01 -4.47789983e-01 -3.69550454e-02 1.37950402e+02] [ 4.47404068e-01 8.94138762e-01 -1.85869283e-02 3.02508172e+01] [ 4.13659788e-02 7.12549024e-05 9.99144059e-01 4.37492394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56804094199998 meters 0.02291980561601054 Centerline is valid? [True, True] Translation: X:138.01, Y:30.27, Z:4.38 [[ 8.91294040e-01 -4.51883103e-01 -3.73710418e-02 1.38005986e+02] [ 4.51491707e-01 8.92077154e-01 -1.88039828e-02 3.02685278e+01] [ 4.18350547e-02 -1.12837658e-04 9.99124525e-01 4.37814321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62804094199998 meters 0.022985979883526825 Centerline is valid? [True, True] Translation: X:138.06, Y:30.29, Z:4.38 [[ 8.89651600e-01 -4.55084889e-01 -3.76533413e-02 1.38061950e+02] [ 4.54689859e-01 8.90448022e-01 -1.89592161e-02 3.02884874e+01] [ 4.21563960e-02 -2.53495553e-04 9.99110992e-01 4.38034124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.688040942 meters 0.023149159742405986 Centerline is valid? [True, True] Translation: X:138.12, Y:30.31, Z:4.38 [[ 8.88926387e-01 -4.56364053e-01 -3.92648711e-02 1.38117515e+02] [ 4.55935233e-01 8.89793094e-01 -1.97816264e-02 3.03073454e+01] [ 4.39652344e-02 -3.17828535e-04 9.99033011e-01 4.38230491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.748040942 meters 0.022886304609416205 Centerline is valid? [True, True] Translation: X:138.17, Y:30.33, Z:4.39 [[ 8.88819701e-01 -4.56524540e-01 -3.98106007e-02 1.38170898e+02] [ 4.56083474e-01 8.89710762e-01 -2.00655065e-02 3.03313642e+01] [ 4.45803161e-02 -3.22339573e-04 9.99005751e-01 4.38558600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.808040942 meters 0.022861119244739454 Centerline is valid? [True, True] Translation: X:138.23, Y:30.35, Z:4.39 [[ 8.89078087e-01 -4.55940154e-01 -4.07275178e-02 1.38226420e+02] [ 4.55477270e-01 8.90010389e-01 -2.05417519e-02 3.03515875e+01] [ 4.56137235e-02 -2.87237164e-04 9.98959111e-01 4.38849451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.868040942 meters 0.024449106144718076 Centerline is valid? [True, True] Translation: X:138.28, Y:30.38, Z:4.39 [[ 8.89100831e-01 -4.55866049e-01 -4.10591951e-02 1.38278497e+02] [ 4.55394887e-01 8.90048353e-01 -2.07225978e-02 3.03773777e+01] [ 4.59913977e-02 -2.73668569e-04 9.98941798e-01 4.38947472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.928040942 meters 0.024430363297192427 Centerline is valid? [True, True] Translation: X:138.33, Y:30.40, Z:4.39 [[ 8.89836391e-01 -4.54325115e-01 -4.21886979e-02 1.38332013e+02] [ 4.53825319e-01 8.90835930e-01 -2.13055161e-02 3.04000352e+01] [ 4.72628390e-02 -1.87875792e-04 9.98882470e-01 4.39105627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.988040942 meters 0.022475605886772124 Centerline is valid? [True, True] Translation: X:138.39, Y:30.43, Z:4.40 [[ 8.91220831e-01 -4.51650562e-01 -4.16797284e-02 1.38385064e+02] [ 4.51159416e-01 8.92194916e-01 -2.10573750e-02 3.04260570e+01] [ 4.66970171e-02 -3.74306711e-05 9.98909099e-01 4.39620867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04804094199997 meters 0.02322661597040936 Centerline is valid? [True, True] Translation: X:138.44, Y:30.45, Z:4.40 [[ 8.91963142e-01 -4.50225594e-01 -4.12148939e-02 1.38435526e+02] [ 4.49743217e-01 8.92914840e-01 -2.08356992e-02 3.04540026e+01] [ 4.61821555e-02 4.85566917e-05 9.98933034e-01 4.39902313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10804094199997 meters 0.02239488223738398 Centerline is valid? [True, True] Translation: X:138.49, Y:30.48, Z:4.40 [[ 8.92704874e-01 -4.48705537e-01 -4.17294806e-02 1.38486026e+02] [ 4.48208834e-01 8.93679653e-01 -2.11073367e-02 3.04816795e+01] [ 4.67637666e-02 1.39100494e-04 9.98905967e-01 4.40268365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16804094199998 meters 0.022518775672552588 Centerline is valid? [True, True] Translation: X:138.54, Y:30.51, Z:4.41 [[ 8.91516671e-01 -4.50907567e-01 -4.33634844e-02 1.38538392e+02] [ 4.50373397e-01 8.92570650e-01 -2.19417143e-02 3.05079944e+01] [ 4.85986585e-02 3.16443081e-05 9.98818387e-01 4.40523060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22804094199998 meters 0.025019853150257055 Centerline is valid? [True, True] Translation: X:138.59, Y:30.53, Z:4.41 [[ 8.88974630e-01 -4.55818600e-01 -4.41985401e-02 1.38591559e+02] [ 4.55269188e-01 8.90072665e-01 -2.23744646e-02 3.05322728e+01] [ 4.95386095e-02 -2.31902053e-04 9.98772182e-01 4.40639380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28804094199998 meters 0.02327544458785206 Centerline is valid? [True, True] Translation: X:138.64, Y:30.56, Z:4.41 [[ 8.86545496e-01 -4.60547884e-01 -4.39628394e-02 1.38644633e+02] [ 4.60009721e-01 8.87634728e-01 -2.22631166e-02 3.05570290e+01] [ 4.92761742e-02 -4.86067702e-04 9.98785073e-01 4.41335205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34804094199998 meters 0.023604000317864797 Centerline is valid? [True, True] Translation: X:138.70, Y:30.58, Z:4.42 [[ 8.84659559e-01 -4.64172877e-01 -4.38292716e-02 1.38697309e+02] [ 4.63641750e-01 8.85744369e-01 -2.22090204e-02 3.05831419e+01] [ 4.91303554e-02 -6.73658019e-04 9.98792148e-01 4.41514116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40804094199999 meters 0.024031126924634064 Centerline is valid? [True, True] Translation: X:138.75, Y:30.61, Z:4.42 [[ 8.83424107e-01 -4.66551869e-01 -4.34879317e-02 1.38749734e+02] [ 4.66031213e-01 8.84493489e-01 -2.20493912e-02 3.06103109e+01] [ 4.87519771e-02 -7.87769840e-04 9.98810605e-01 4.41657098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.468040942 meters 0.023972863339056592 Centerline is valid? [True, True] Translation: X:138.80, Y:30.64, Z:4.42 [[ 8.83214008e-01 -4.67043272e-01 -4.24687807e-02 1.38801675e+02] [ 4.66546702e-01 8.84234113e-01 -2.15454931e-02 3.06386211e+01] [ 4.76150222e-02 -7.84388262e-04 9.98865454e-01 4.41833151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.528040942 meters 0.02363016948666571 Centerline is valid? [True, True] Translation: X:138.85, Y:30.67, Z:4.42 [[ 8.84038552e-01 -4.65646215e-01 -4.06132990e-02 1.38853101e+02] [ 4.65190093e-01 8.84970709e-01 -2.06160346e-02 3.06687280e+01] [ 4.55413585e-02 -6.67534976e-04 9.98962231e-01 4.41873525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.588040942 meters 0.023348069142851893 Centerline is valid? [True, True] Translation: X:138.90, Y:30.70, Z:4.42 [[ 8.84863887e-01 -4.64267209e-01 -3.83648174e-02 1.38904753e+02] [ 4.63858464e-01 8.85695010e-01 -1.94852280e-02 3.06980680e+01] [ 4.30258797e-02 -5.54070704e-04 9.99073804e-01 4.41942673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.648040942 meters 0.023731816083427223 Centerline is valid? [True, True] Translation: X:138.96, Y:30.72, Z:4.42 [[ 8.84951020e-01 -4.64227748e-01 -3.68006727e-02 1.38957158e+02] [ 4.63851275e-01 8.85715714e-01 -1.86994291e-02 3.07237166e+01] [ 4.12757280e-02 -5.21960088e-04 9.99147658e-01 4.41798571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.708040942 meters 0.023100380716989378 Centerline is valid? [True, True] Translation: X:139.01, Y:30.75, Z:4.42 [[ 8.84771994e-01 -4.64735743e-01 -3.46295790e-02 1.39009034e+02] [ 4.64402596e-01 8.85449281e-01 -1.76011051e-02 3.07527063e+01] [ 3.88425985e-02 -5.09101528e-04 9.99245212e-01 4.41981817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76804094199997 meters 0.02315509228869647 Centerline is valid? [True, True] Translation: X:139.06, Y:30.78, Z:4.42 [[ 8.83944596e-01 -4.66423435e-01 -3.30322603e-02 1.39061726e+02] [ 4.66121153e-01 8.84561405e-01 -1.67985710e-02 3.07783778e+01] [ 3.70543097e-02 -5.48029225e-04 9.99313103e-01 4.41962572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82804094199997 meters 0.023223282706211195 Centerline is valid? [True, True] Translation: X:139.11, Y:30.80, Z:4.42 [[ 8.83299212e-01 -4.67701422e-01 -3.22161833e-02 1.39114680e+02] [ 4.67414387e-01 8.83886331e-01 -1.63934558e-02 3.08032377e+01] [ 3.61426866e-02 -5.77980977e-04 9.99346473e-01 4.42080495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88804094199998 meters 0.023339616152760156 Centerline is valid? [True, True] Translation: X:139.17, Y:30.83, Z:4.42 [[ 8.82627951e-01 -4.69128267e-01 -2.97753047e-02 1.39167585e+02] [ 4.68883625e-01 8.83129850e-01 -1.51596162e-02 3.08265275e+01] [ 3.34072648e-02 -5.80851823e-04 9.99441653e-01 4.42139525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94804094199998 meters 0.022887306932376266 Centerline is valid? [True, True] Translation: X:139.22, Y:30.85, Z:4.42 [[ 8.82691113e-01 -4.69090390e-01 -2.84711075e-02 1.39218567e+02] [ 4.68866593e-01 8.83149988e-01 -1.44988329e-02 3.08539114e+01] [ 3.19455214e-02 -5.51160214e-04 9.99489460e-01 4.42280889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00804094199998 meters 0.02247423178550018 Centerline is valid? [True, True] Translation: X:139.27, Y:30.88, Z:4.42 [[ 8.83919457e-01 -4.66854217e-01 -2.70838249e-02 1.39269458e+02] [ 4.66650365e-01 8.84334183e-01 -1.38017914e-02 3.08811774e+01] [ 3.03945767e-02 -4.39004859e-04 9.99537882e-01 4.42274401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06804094199998 meters 0.02171130647896938 Centerline is valid? [True, True] Translation: X:139.32, Y:30.91, Z:4.42 [[ 8.86065256e-01 -4.62836516e-01 -2.58983000e-02 1.39320957e+02] [ 4.62648333e-01 8.86443612e-01 -1.32000882e-02 3.09111229e+01] [ 2.90668654e-02 -2.85665748e-04 9.99577429e-01 4.42356896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12804094199998 meters 0.021377987017604495 Centerline is valid? [True, True] Translation: X:139.37, Y:30.94, Z:4.42 [[ 8.87963372e-01 -4.59220533e-01 -2.52498105e-02 1.39372024e+02] [ 4.59039976e-01 8.88322283e-01 -1.28772228e-02 3.09391979e+01] [ 2.83434545e-02 -1.56170252e-04 9.99598231e-01 4.42458115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.188040942 meters 0.02102328188703648 Centerline is valid? [True, True] Translation: X:139.42, Y:30.97, Z:4.43 [[ 8.88514648e-01 -4.58217745e-01 -2.40461848e-02 1.39423005e+02] [ 4.58053583e-01 8.88839966e-01 -1.22650306e-02 3.09680883e+01] [ 2.69932648e-02 -1.16781790e-04 9.99635609e-01 4.42565193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.248040942 meters 0.020977165884234216 Centerline is valid? [True, True] Translation: X:139.47, Y:30.99, Z:4.43 [[ 8.88557835e-01 -4.58238238e-01 -2.19702388e-02 1.39474498e+02] [ 4.58101004e-01 8.88829403e-01 -1.12143861e-02 3.09946900e+01] [ 2.46666548e-02 -9.99577987e-05 9.99695727e-01 4.42680791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.308040942 meters 0.02115946509615841 Centerline is valid? [True, True] Translation: X:139.53, Y:31.02, Z:4.43 [[ 8.87149933e-01 -4.61000148e-01 -2.10679799e-02 1.39528141e+02] [ 4.60874677e-01 8.87400043e-01 -1.07562253e-02 3.10201563e+01] [ 2.36543477e-02 -1.67313843e-04 9.99720183e-01 4.42718080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.368040942 meters 0.021385748421339997 Centerline is valid? [True, True] Translation: X:139.58, Y:31.04, Z:4.43 [[ 8.85111252e-01 -4.64919812e-01 -2.06794610e-02 1.39581962e+02] [ 4.64799846e-01 8.85352754e-01 -1.05642296e-02 3.10445136e+01] [ 2.32201374e-02 -2.61291841e-04 9.99730342e-01 4.42783883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.428040942 meters 0.02152053736442348 Centerline is valid? [True, True] Translation: X:139.63, Y:31.07, Z:4.43 [[ 8.83562114e-01 -4.67909002e-01 -1.94719451e-02 1.39634837e+02] [ 4.67803243e-01 8.83776593e-01 -9.95288201e-03 3.10699923e+01] [ 2.18658924e-02 -3.15049592e-04 9.99760863e-01 4.42918546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.488040942 meters 0.022578626556965044 Centerline is valid? [True, True] Translation: X:139.69, Y:31.09, Z:4.43 [[ 8.80434327e-01 -4.73811801e-01 -1.83786073e-02 1.39689801e+02] [ 4.73718742e-01 8.80626023e-01 -9.40007372e-03 3.10941866e+01] [ 2.06385457e-02 -4.30143140e-04 9.99786910e-01 4.43122479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54804094199997 meters 0.023776740745470017 Centerline is valid? [True, True] Translation: X:139.74, Y:31.12, Z:4.43 [[ 8.77962278e-01 -4.78390665e-01 -1.80169112e-02 1.39744724e+02] [ 4.78302087e-01 8.78146969e-01 -9.22037853e-03 3.11171042e+01] [ 2.02324390e-02 -5.22381693e-04 9.99795167e-01 4.43314690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60804094199997 meters 0.02385730081777644 Centerline is valid? [True, True] Translation: X:139.80, Y:31.15, Z:4.43 [[ 8.77075225e-01 -4.80053672e-01 -1.69564654e-02 1.39795867e+02] [ 4.79975536e-01 8.77238960e-01 -8.67710053e-03 3.11457227e+01] [ 1.90403460e-02 -5.28218643e-04 9.99818577e-01 4.43428336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66804094199998 meters 0.023785473587567323 Centerline is valid? [True, True] Translation: X:139.85, Y:31.18, Z:4.43 [[ 8.77264311e-01 -4.79719685e-01 -1.66238477e-02 1.39846766e+02] [ 4.79644431e-01 8.77421659e-01 -8.51190163e-03 3.11761097e+01] [ 1.86694508e-02 -5.06348446e-04 9.99825582e-01 4.43495847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72804094199998 meters 0.023437813990579686 Centerline is valid? [True, True] Translation: X:139.90, Y:31.21, Z:4.44 [[ 8.77696063e-01 -4.78989241e-01 -1.47962178e-02 1.39896467e+02] [ 4.78929471e-01 8.77820664e-01 -7.57914334e-03 3.12052760e+01] [ 1.66187538e-02 -4.34160482e-04 9.99861805e-01 4.43886510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78804094199998 meters 0.023350030317862196 Centerline is valid? [True, True] Translation: X:139.95, Y:31.23, Z:4.44 [[ 8.77829215e-01 -4.78740733e-01 -1.49392181e-02 1.39948121e+02] [ 4.78679666e-01 8.77956222e-01 -7.65831303e-03 3.12333625e+01] [ 1.67823259e-02 -4.28409015e-04 9.99859075e-01 4.44051728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84804094199998 meters 0.02271767975751369 Centerline is valid? [True, True] Translation: X:140.00, Y:31.27, Z:4.44 [[ 8.78000825e-01 -4.78438223e-01 -1.45402147e-02 1.39997098e+02] [ 4.78380275e-01 8.78121119e-01 -7.45737248e-03 3.12650797e+01] [ 1.63359616e-02 -4.08172693e-04 9.99866476e-01 4.44120490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90804094199999 meters 0.02355570055195263 Centerline is valid? [True, True] Translation: X:140.05, Y:31.29, Z:4.44 [[ 8.77130610e-01 -4.80050572e-01 -1.39047438e-02 1.40046983e+02] [ 4.79997668e-01 8.77240718e-01 -7.13868747e-03 3.12945229e+01] [ 1.56247385e-02 -4.12683319e-04 9.99877841e-01 4.44357148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.968040942 meters 0.023396304830150927 Centerline is valid? [True, True] Translation: X:140.10, Y:31.33, Z:4.44 [[ 8.75986610e-01 -4.82133652e-01 -1.39499194e-02 1.40096720e+02] [ 4.82080619e-01 8.76097563e-01 -7.16493227e-03 3.13255463e+01] [ 1.56759453e-02 -4.48601030e-04 9.99877024e-01 4.44488703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.028040942 meters 0.0245340363016926 Centerline is valid? [True, True] Translation: X:140.15, Y:31.35, Z:4.45 [[ 8.75316530e-01 -4.83342688e-01 -1.41710551e-02 1.40146355e+02] [ 4.83288092e-01 8.75431105e-01 -7.28019726e-03 3.13548819e+01] [ 1.59246125e-02 -4.76225183e-04 9.99873082e-01 4.44629741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.088040942 meters 0.024155147774094117 Centerline is valid? [True, True] Translation: X:140.20, Y:31.39, Z:4.45 [[ 8.75723093e-01 -4.82558031e-01 -1.57102192e-02 1.40195861e+02] [ 4.82490808e-01 8.75863850e-01 -8.07065225e-03 3.13871752e+01] [ 1.76545711e-02 -5.12379785e-04 9.99844015e-01 4.44555422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.148040942 meters 0.0241239098210388 Centerline is valid? [True, True] Translation: X:140.25, Y:31.42, Z:4.45 [[ 8.76440723e-01 -4.81247108e-01 -1.59022128e-02 1.40246823e+02] [ 4.81177925e-01 8.76584841e-01 -8.17438837e-03 3.14171238e+01] [ 1.78735394e-02 -4.87426889e-04 9.99840137e-01 4.44775939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.208040942 meters 0.02322034833428624 Centerline is valid? [True, True] Translation: X:140.30, Y:31.45, Z:4.45 [[ 8.78181880e-01 -4.78047085e-01 -1.63575604e-02 1.40295719e+02] [ 4.77973186e-01 8.78334106e-01 -8.41620273e-03 3.14506402e+01] [ 1.83907444e-02 -4.27518536e-04 9.99830785e-01 4.44916641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26804094199997 meters 0.022567973118758286 Centerline is valid? [True, True] Translation: X:140.34, Y:31.48, Z:4.45 [[ 8.79430978e-01 -4.75701548e-01 -1.75838605e-02 1.40344454e+02] [ 4.75615648e-01 8.79606658e-01 -9.04887576e-03 3.14837554e+01] [ 1.97714450e-02 -4.05297563e-04 9.99804444e-01 4.44973575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32804094199997 meters 0.022103217891633806 Centerline is valid? [True, True] Translation: X:140.39, Y:31.52, Z:4.45 [[ 8.79979377e-01 -4.74644788e-01 -1.86713934e-02 1.40394103e+02] [ 4.74547699e-01 8.80177346e-01 -9.60835000e-03 3.15165771e+01] [ 2.09946908e-02 -4.05316941e-04 9.99779505e-01 4.44926561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38804094199998 meters 0.022134312088948966 Centerline is valid? [True, True] Translation: X:140.45, Y:31.55, Z:4.45 [[ 8.80181462e-01 -4.74245491e-01 -1.92823191e-02 1.40445059e+02] [ 4.74141712e-01 8.80392556e-01 -9.92900104e-03 3.15460710e+01] [ 2.16847942e-02 -4.03229143e-04 9.99764776e-01 4.45108371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44804094199998 meters 0.021852204837523544 Centerline is valid? [True, True] Translation: X:140.49, Y:31.58, Z:4.45 [[ 8.80856180e-01 -4.72992649e-01 -1.92443350e-02 1.40494880e+02] [ 4.72888848e-01 8.81066297e-01 -9.91552564e-03 3.15789059e+01] [ 2.16455057e-02 -3.66279361e-04 9.99765642e-01 4.45306369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50804094199998 meters 0.021657120908326537 Centerline is valid? [True, True] Translation: X:140.54, Y:31.61, Z:4.46 [[ 8.81965588e-01 -4.70916693e-01 -1.93434914e-02 1.40544650e+02] [ 4.70811173e-01 8.82177631e-01 -9.97336529e-03 3.16078135e+01] [ 2.17610196e-02 -3.10966899e-04 9.99763153e-01 4.45555971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56804094199998 meters 0.020909447311230556 Centerline is valid? [True, True] Translation: X:140.59, Y:31.64, Z:4.46 [[ 8.84311645e-01 -4.66390267e-01 -2.17493197e-02 1.40593892e+02] [ 4.66255381e-01 8.84579036e-01 -1.12182468e-02 3.16401125e+01] [ 2.44710734e-02 -2.20311026e-04 9.99700514e-01 4.45578235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62804094199998 meters 0.020839198372898698 Centerline is valid? [True, True] Translation: X:140.64, Y:31.67, Z:4.46 [[ 8.85187448e-01 -4.64652779e-01 -2.32589134e-02 1.40644702e+02] [ 4.64497859e-01 8.85492949e-01 -1.19990353e-02 3.16681537e+01] [ 2.61709889e-02 -1.82320083e-04 9.99657464e-01 4.45613619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.688040942 meters 0.020580449452128086 Centerline is valid? [True, True] Translation: X:140.70, Y:31.70, Z:4.46 [[ 8.85709338e-01 -4.63636162e-01 -2.36743934e-02 1.40695515e+02] [ 4.63475249e-01 8.86025669e-01 -1.22150549e-02 3.16967223e+01] [ 2.66394614e-02 -1.53507188e-04 9.99645095e-01 4.45767979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.748040942 meters 0.02047814904970889 Centerline is valid? [True, True] Translation: X:140.75, Y:31.72, Z:4.46 [[ 8.86238972e-01 -4.62613528e-01 -2.38580849e-02 1.40746887e+02] [ 4.62449479e-01 8.86560043e-01 -1.23194603e-02 3.17232454e+01] [ 2.68507738e-02 -1.15173093e-04 9.99639446e-01 4.46014866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.808040942 meters 0.020530315151704177 Centerline is valid? [True, True] Translation: X:140.80, Y:31.75, Z:4.46 [[ 8.85609100e-01 -4.63816349e-01 -2.38938599e-02 1.40799474e+02] [ 4.63652173e-01 8.85931358e-01 -1.23406229e-02 3.17468932e+01] [ 2.68921024e-02 -1.49472152e-04 9.99638331e-01 4.46269647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.868040942 meters 0.020769372831177187 Centerline is valid? [True, True] Translation: X:140.85, Y:31.77, Z:4.47 [[ 8.83693857e-01 -4.67519860e-01 -2.25908529e-02 1.40853320e+02] [ 4.67374282e-01 8.83982533e-01 -1.16688150e-02 3.17706041e+01] [ 2.54253222e-02 -2.46723493e-04 9.99676694e-01 4.46539607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.928040942 meters 0.021307529915568217 Centerline is valid? [True, True] Translation: X:140.91, Y:31.79, Z:4.47 [[ 8.81926480e-01 -4.70839746e-01 -2.27072027e-02 1.40908213e+02] [ 4.70693575e-01 8.82218691e-01 -1.17362073e-02 3.17933423e+01] [ 2.55585915e-02 -3.37662459e-04 9.99673269e-01 4.46775212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.988040942 meters 0.021472649407947048 Centerline is valid? [True, True] Translation: X:140.96, Y:31.82, Z:4.47 [[ 8.81649877e-01 -4.71330502e-01 -2.32605348e-02 1.40961618e+02] [ 4.71177098e-01 8.81956593e-01 -1.20295280e-02 3.18169257e+01] [ 2.61846655e-02 -3.53999441e-04 9.99657060e-01 4.46965367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04804094199997 meters 0.021114312094110396 Centerline is valid? [True, True] Translation: X:141.01, Y:31.84, Z:4.47 [[ 8.82213724e-01 -4.70253838e-01 -2.36700650e-02 1.41014122e+02] [ 4.70094365e-01 8.82531147e-01 -1.22500083e-02 3.18436812e+01] [ 2.66501831e-02 -3.20038698e-04 9.99644770e-01 4.47029686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10804094199997 meters 0.021074716472155038 Centerline is valid? [True, True] Translation: X:141.07, Y:31.87, Z:4.47 [[ 8.82254091e-01 -4.70173606e-01 -2.37591812e-02 1.41065991e+02] [ 4.70012703e-01 8.82573897e-01 -1.23034844e-02 3.18702163e+01] [ 2.67540068e-02 -3.12317555e-04 9.99641999e-01 4.47129580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16804094199998 meters 0.021326493500873785 Centerline is valid? [True, True] Translation: X:141.12, Y:31.89, Z:4.47 [[ 8.81329215e-01 -4.71910500e-01 -2.36493965e-02 1.41119414e+02] [ 4.71751453e-01 8.81646388e-01 -1.22561430e-02 3.18916720e+01] [ 2.66342076e-02 -3.54940308e-04 9.99645184e-01 4.47406942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22804094199998 meters 0.021086042106494167 Centerline is valid? [True, True] Translation: X:141.17, Y:31.92, Z:4.48 [[ 8.80838954e-01 -4.72834557e-01 -2.34567514e-02 1.41171753e+02] [ 4.72678355e-01 8.81151144e-01 -1.21586967e-02 3.19177448e+01] [ 2.64179953e-02 -3.77644968e-04 9.99650913e-01 4.47640805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28804094199998 meters 0.021165633069283655 Centerline is valid? [True, True] Translation: X:141.23, Y:31.94, Z:4.48 [[ 8.79892953e-01 -4.74603022e-01 -2.32457264e-02 1.41225594e+02] [ 4.74450041e-01 8.80199861e-01 -1.20566829e-02 3.19423693e+01] [ 2.61830232e-02 -4.20345516e-04 9.99657078e-01 4.47831004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34804094199998 meters 0.021594607485981177 Centerline is valid? [True, True] Translation: X:141.28, Y:31.97, Z:4.48 [[ 8.79025453e-01 -4.76199741e-01 -2.34106821e-02 1.41278373e+02] [ 4.76044929e-01 8.79337018e-01 -1.21504590e-02 3.19672054e+01] [ 2.63719248e-02 -4.63973723e-04 9.99652093e-01 4.47963391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40804094199999 meters 0.021846398866935367 Centerline is valid? [True, True] Translation: X:141.33, Y:31.99, Z:4.48 [[ 8.78519514e-01 -4.77075751e-01 -2.45396041e-02 1.41330882e+02] [ 4.76905862e-01 8.78862030e-01 -1.27409195e-02 3.19916259e+01] [ 2.76453100e-02 -5.09934641e-04 9.99617665e-01 4.48060571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.468040942 meters 0.021752404381727788 Centerline is valid? [True, True] Translation: X:141.38, Y:32.02, Z:4.48 [[ 8.78555426e-01 -4.76986235e-01 -2.49898819e-02 1.41382211e+02] [ 4.76809954e-01 8.78910614e-01 -1.29769361e-02 3.20187467e+01] [ 2.81536923e-02 -5.14466796e-04 9.99603474e-01 4.48185901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.528040942 meters 0.021856884813554765 Centerline is valid? [True, True] Translation: X:141.43, Y:32.05, Z:4.48 [[ 8.78376541e-01 -4.77266583e-01 -2.59087019e-02 1.41433818e+02] [ 4.77076942e-01 8.78758399e-01 -1.34635835e-02 3.20455817e+01] [ 2.91932079e-02 -5.34348394e-04 9.99573645e-01 4.48256899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.588040942 meters 0.0217573700666684 Centerline is valid? [True, True] Translation: X:141.49, Y:32.07, Z:4.48 [[ 8.78141294e-01 -4.77704566e-01 -2.58111343e-02 1.41485553e+02] [ 4.77516278e-01 8.78520379e-01 -1.34218896e-02 3.20713936e+01] [ 2.90873054e-02 -5.38921304e-04 9.99576730e-01 4.48419059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.648040942 meters 0.02169610486126663 Centerline is valid? [True, True] Translation: X:141.54, Y:32.10, Z:4.49 [[ 8.77948596e-01 -4.78037405e-01 -2.62011928e-02 1.41537143e+02] [ 4.77843251e-01 8.78339306e-01 -1.36341638e-02 3.20985201e+01] [ 2.95311778e-02 -5.49968229e-04 9.99563708e-01 4.48519826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.708040942 meters 0.021700598272873354 Centerline is valid? [True, True] Translation: X:141.59, Y:32.13, Z:4.49 [[ 8.77851567e-01 -4.78208939e-01 -2.63217896e-02 1.41588673e+02] [ 4.78012790e-01 8.78245927e-01 -1.37063691e-02 3.21251115e+01] [ 2.96715127e-02 -5.49994484e-04 9.99559552e-01 4.48672699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76804094199997 meters 0.021767552261778303 Centerline is valid? [True, True] Translation: X:141.64, Y:32.15, Z:4.49 [[ 8.78346536e-01 -4.77282799e-01 -2.66175025e-02 1.41640889e+02] [ 4.77081497e-01 8.78749602e-01 -1.38701890e-02 3.21500188e+01] [ 3.00101224e-02 -5.15885496e-04 9.99549462e-01 4.48912625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82804094199997 meters 0.020927183463168558 Centerline is valid? [True, True] Translation: X:141.69, Y:32.18, Z:4.49 [[ 8.79924878e-01 -4.74341456e-01 -2.70627440e-02 1.41692167e+02] [ 4.74131878e-01 8.80340847e-01 -1.41051498e-02 3.21788059e+01] [ 3.05150962e-02 -4.19837427e-04 9.99534218e-01 4.49014576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88804094199998 meters 0.02040550572464769 Centerline is valid? [True, True] Translation: X:141.74, Y:32.21, Z:4.49 [[ 8.80952908e-01 -4.72388328e-01 -2.77712238e-02 1.41744415e+02] [ 4.72166384e-01 8.81390460e-01 -1.44832212e-02 3.22069694e+01] [ 3.13189964e-02 -3.53602488e-04 9.99509377e-01 4.49147456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94804094199998 meters 0.020090971739168843 Centerline is valid? [True, True] Translation: X:141.80, Y:32.23, Z:4.49 [[ 8.82456163e-01 -4.69570775e-01 -2.78281715e-02 1.41796195e+02] [ 4.69346256e-01 8.82894799e-01 -1.45212112e-02 3.22339392e+01] [ 3.13880842e-02 -2.46715788e-04 9.99507242e-01 4.49250044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00804094199998 meters 0.019800408935613276 Centerline is valid? [True, True] Translation: X:141.85, Y:32.26, Z:4.49 [[ 8.83383341e-01 -4.67820100e-01 -2.78967000e-02 1.41848330e+02] [ 4.67593323e-01 8.83823694e-01 -1.45657841e-02 3.22604559e+01] [ 3.14699310e-02 -1.77139634e-04 9.99504683e-01 4.49346452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06804094199998 meters 0.019886452096515777 Centerline is valid? [True, True] Translation: X:141.90, Y:32.28, Z:4.49 [[ 8.83524284e-01 -4.67557229e-01 -2.78401860e-02 1.41901078e+02] [ 4.67330961e-01 8.83962789e-01 -1.45451471e-02 3.22830728e+01] [ 3.14103772e-02 -1.59590222e-04 9.99506560e-01 4.49489395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12804094199998 meters 0.019700183763822113 Centerline is valid? [True, True] Translation: X:141.95, Y:32.31, Z:4.50 [[ 8.83183783e-01 -4.68164845e-01 -2.84267964e-02 1.41954618e+02] [ 4.67929099e-01 8.83641129e-01 -1.48564190e-02 3.23069382e+01] [ 3.20743395e-02 -1.80776878e-04 9.99485470e-01 4.49675322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.188040942 meters 0.019818226463984227 Centerline is valid? [True, True] Translation: X:142.01, Y:32.33, Z:4.50 [[ 8.83313501e-01 -4.67900873e-01 -2.87407708e-02 1.42007722e+02] [ 4.67659409e-01 8.83780938e-01 -1.50309935e-02 3.23292604e+01] [ 3.24335604e-02 -1.63812423e-04 9.99473880e-01 4.49843014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.248040942 meters 0.019672765268677908 Centerline is valid? [True, True] Translation: X:142.06, Y:32.35, Z:4.50 [[ 8.82952250e-01 -4.68562371e-01 -2.90625028e-02 1.42061250e+02] [ 4.68315584e-01 8.83430399e-01 -1.52066771e-02 3.23531639e+01] [ 3.27999751e-02 -1.83653207e-04 9.99461919e-01 4.50032242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.308040942 meters 0.01980425126869031 Centerline is valid? [True, True] Translation: X:142.11, Y:32.38, Z:4.50 [[ 8.82768985e-01 -4.68891074e-01 -2.93271075e-02 1.42113921e+02] [ 4.68639611e-01 8.83255979e-01 -1.53554564e-02 3.23773778e+01] [ 3.31033795e-02 -1.88523530e-04 9.99451915e-01 4.50235919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.368040942 meters 0.019802780308457 Centerline is valid? [True, True] Translation: X:142.17, Y:32.41, Z:4.50 [[ 8.82719768e-01 -4.68939267e-01 -3.00295590e-02 1.42165102e+02] [ 4.68675275e-01 8.83230394e-01 -1.57339577e-02 3.24050026e+01] [ 3.39012898e-02 -1.85436288e-04 9.99425169e-01 4.50368283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.428040942 meters 0.020991155235299645 Centerline is valid? [True, True] Translation: X:142.21, Y:32.44, Z:4.50 [[ 8.83537887e-01 -4.67379419e-01 -3.02866422e-02 1.42212823e+02] [ 4.67109590e-01 8.84056822e-01 -1.58797089e-02 3.24383717e+01] [ 3.41969618e-02 -1.16856610e-04 9.99415106e-01 4.50163482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.488040942 meters 0.019700033757140037 Centerline is valid? [True, True] Translation: X:142.26, Y:32.47, Z:4.51 [[ 8.83448807e-01 -4.67533910e-01 -3.04999635e-02 1.42263595e+02] [ 4.67259964e-01 8.83975130e-01 -1.60029905e-02 3.24663516e+01] [ 3.44431499e-02 -1.13589002e-04 9.99406652e-01 4.50587631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54804094199997 meters 0.019888801953169735 Centerline is valid? [True, True] Translation: X:142.32, Y:32.49, Z:4.51 [[ 8.82383576e-01 -4.69458283e-01 -3.17512960e-02 1.42315643e+02] [ 4.69162239e-01 8.82954634e-01 -1.66705521e-02 3.24928161e+01] [ 3.58610827e-02 -1.86687764e-04 9.99356767e-01 4.50677633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60804094199997 meters 0.020170178627710648 Centerline is valid? [True, True] Translation: X:142.37, Y:32.52, Z:4.51 [[ 8.80507666e-01 -4.72799754e-01 -3.41561537e-02 1.42368689e+02] [ 4.72459445e-01 8.81169834e-01 -1.79387086e-02 3.25180841e+01] [ 3.85787893e-02 -3.42226989e-04 9.99255503e-01 4.50662323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66804094199998 meters 0.020743290780552648 Centerline is valid? [True, True] Translation: X:142.42, Y:32.55, Z:4.51 [[ 8.78864021e-01 -4.75804770e-01 -3.47541909e-02 1.42420753e+02] [ 4.75454341e-01 8.79550793e-01 -1.82639471e-02 3.25454339e+01] [ 3.92581493e-02 -4.72504889e-04 9.99228990e-01 4.50678546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72804094199998 meters 0.02113347402346216 Centerline is valid? [True, True] Translation: X:142.47, Y:32.57, Z:4.51 [[ 8.77793000e-01 -4.77848529e-01 -3.37673425e-02 1.42472771e+02] [ 4.77518840e-01 8.78442083e-01 -1.77556802e-02 3.25722819e+01] [ 3.81471803e-02 -5.38730380e-04 9.99271986e-01 4.51055464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78804094199998 meters 0.02130995785832798 Centerline is valid? [True, True] Translation: X:142.52, Y:32.60, Z:4.51 [[ 8.78512009e-01 -4.76595739e-01 -3.27589881e-02 1.42523523e+02] [ 4.76284254e-01 8.79122454e-01 -1.72343015e-02 3.26005101e+01] [ 3.70129567e-02 -4.62049401e-04 9.99314679e-01 4.51254415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84804094199998 meters 0.02089634040888147 Centerline is valid? [True, True] Translation: X:142.57, Y:32.63, Z:4.51 [[ 8.79228510e-01 -4.75236493e-01 -3.32791715e-02 1.42573929e+02] [ 4.74913878e-01 8.79858006e-01 -1.75127995e-02 3.26313364e+01] [ 3.76036669e-02 -4.06987740e-04 9.99292649e-01 4.51365958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90804094199999 meters 0.020543537369321126 Centerline is valid? [True, True] Translation: X:142.62, Y:32.66, Z:4.52 [[ 8.79741184e-01 -4.74250294e-01 -3.37950893e-02 1.42624080e+02] [ 4.73916459e-01 8.80389987e-01 -1.77949929e-02 3.26617822e+01] [ 3.81921388e-02 -3.61060912e-04 9.99270349e-01 4.51519675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.968040942 meters 0.02051288500987156 Centerline is valid? [True, True] Translation: X:142.68, Y:32.69, Z:4.52 [[ 8.79989959e-01 -4.73771231e-01 -3.40366496e-02 1.42675606e+02] [ 4.73431783e-01 8.80647892e-01 -1.79342148e-02 3.26894964e+01] [ 3.84710187e-02 -3.32102754e-04 9.99259661e-01 4.51772247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.028040942 meters 0.020234078941593615 Centerline is valid? [True, True] Translation: X:142.73, Y:32.72, Z:4.52 [[ 8.82016464e-01 -4.69980518e-01 -3.41360678e-02 1.42726459e+02] [ 4.69635764e-01 8.82676775e-01 -1.79988942e-02 3.27185970e+01] [ 3.85902438e-02 -1.56197267e-04 9.99255107e-01 4.51892344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.088040942 meters 0.020096818994745826 Centerline is valid? [True, True] Translation: X:142.78, Y:32.75, Z:4.52 [[ 8.84942147e-01 -4.64436832e-01 -3.42903250e-02 1.42776322e+02] [ 4.64084340e-01 8.85606244e-01 -1.80915718e-02 3.27480846e+01] [ 3.87701183e-02 9.63915169e-05 9.99248152e-01 4.52127717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.148040942 meters 0.02024237766921329 Centerline is valid? [True, True] Translation: X:142.83, Y:32.77, Z:4.52 [[ 8.86243061e-01 -4.61899872e-01 -3.49534597e-02 1.42828946e+02] [ 4.61531129e-01 8.86932048e-01 -1.84542399e-02 3.27741659e+01] [ 3.95253547e-02 2.22832380e-04 9.99218543e-01 4.52259777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.208040942 meters 0.02040378924789583 Centerline is valid? [True, True] Translation: X:142.88, Y:32.80, Z:4.52 [[ 8.86442479e-01 -4.61461864e-01 -3.56746425e-02 1.42882466e+02] [ 4.61076915e-01 8.87160009e-01 -1.88466543e-02 3.27992664e+01] [ 4.03461284e-02 2.57720817e-04 9.99185730e-01 4.52384444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26804094199997 meters 0.020451357667039923 Centerline is valid? [True, True] Translation: X:142.94, Y:32.82, Z:4.53 [[ 8.85741598e-01 -4.62901208e-01 -3.44135583e-02 1.42935352e+02] [ 4.62543673e-01 8.86409856e-01 -1.81911244e-02 3.28244380e+01] [ 3.89252107e-02 1.94861897e-04 9.99242108e-01 4.52719739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32804094199997 meters 0.020520764900273207 Centerline is valid? [True, True] Translation: X:142.99, Y:32.85, Z:4.53 [[ 8.83897224e-01 -4.66499728e-01 -3.32220051e-02 1.42987397e+02] [ 4.66168726e-01 8.84521340e-01 -1.75703567e-02 3.28488131e+01] [ 3.75821391e-02 4.33297531e-05 9.99293541e-01 4.52964671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38804094199998 meters 0.020815833640596394 Centerline is valid? [True, True] Translation: X:143.04, Y:32.87, Z:4.53 [[ 8.80686083e-01 -4.72632377e-01 -3.17908588e-02 1.43040096e+02] [ 4.72333103e-01 8.81259663e-01 -1.68180151e-02 3.28722900e+01] [ 3.59647400e-02 -2.04483109e-04 9.99353039e-01 4.53289828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44804094199998 meters 0.021615815248481596 Centerline is valid? [True, True] Translation: X:143.09, Y:32.90, Z:4.53 [[ 8.77314832e-01 -4.78863971e-01 -3.17487430e-02 1.43092567e+02] [ 4.78569162e-01 8.77889000e-01 -1.68065855e-02 3.28956036e+01] [ 3.59199405e-02 -4.49302620e-04 9.99354570e-01 4.53479062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50804094199998 meters 0.02184114267205287 Centerline is valid? [True, True] Translation: X:143.14, Y:32.92, Z:4.54 [[ 8.75814653e-01 -4.81547698e-01 -3.25654249e-02 1.43144797e+02] [ 4.81239107e-01 8.76419701e-01 -1.72461455e-02 3.29235655e+01] [ 3.68458216e-02 -5.67329043e-04 9.99320801e-01 4.53545554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56804094199998 meters 0.02239655570371185 Centerline is valid? [True, True] Translation: X:143.20, Y:32.95, Z:4.54 [[ 8.75528326e-01 -4.82061172e-01 -3.26676884e-02 1.43196482e+02] [ 4.81750643e-01 8.76137368e-01 -1.73098242e-02 3.29495958e+01] [ 3.69657767e-02 -5.82438466e-04 9.99316362e-01 4.53673364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62804094199998 meters 0.021843760365871746 Centerline is valid? [True, True] Translation: X:143.25, Y:32.98, Z:4.54 [[ 8.75961801e-01 -4.81276517e-01 -3.26165321e-02 1.43246379e+02] [ 4.80966239e-01 8.76568661e-01 -1.72875411e-02 3.29820731e+01] [ 3.69107174e-02 -5.44225177e-04 9.99318419e-01 4.53878773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.688040942 meters 0.021353591239958645 Centerline is valid? [True, True] Translation: X:143.30, Y:33.01, Z:4.54 [[ 8.77821506e-01 -4.77827160e-01 -3.33257902e-02 1.43296235e+02] [ 4.77500337e-01 8.78453782e-01 -1.76743039e-02 3.30146568e+01] [ 3.77204289e-02 -3.98191955e-04 9.99288252e-01 4.54070171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.748040942 meters 0.02110001420609249 Centerline is valid? [True, True] Translation: X:143.35, Y:33.04, Z:4.54 [[ 8.79064221e-01 -4.75576881e-01 -3.27524922e-02 1.43346194e+02] [ 4.75259327e-01 8.79674114e-01 -1.73788594e-02 3.30432093e+01] [ 3.70765033e-02 -2.88793854e-04 9.99312388e-01 4.54318718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.808040942 meters 0.020767865773868802 Centerline is valid? [True, True] Translation: X:143.40, Y:33.07, Z:4.55 [[ 8.80368457e-01 -4.73181777e-01 -3.24096656e-02 1.43396892e+02] [ 4.72869044e-01 8.80964796e-01 -1.72015975e-02 3.30738887e+01] [ 3.66912569e-02 -1.81783764e-04 9.99326633e-01 4.54558642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.868040942 meters 0.02040459437684124 Centerline is valid? [True, True] Translation: X:143.45, Y:33.10, Z:4.55 [[ 8.81541082e-01 -4.71101525e-01 -3.08005486e-02 1.43447335e+02] [ 4.70817488e-01 8.82078991e-01 -1.63568670e-02 3.31038406e+01] [ 3.48742618e-02 -8.21867260e-05 9.99391705e-01 4.55110586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.928040942 meters 0.020133804468825355 Centerline is valid? [True, True] Translation: X:143.50, Y:33.13, Z:4.55 [[ 8.81912626e-01 -4.70463275e-01 -2.99069789e-02 1.43497290e+02] [ 4.70194791e-01 8.82419574e-01 -1.58919383e-02 3.31328195e+01] [ 3.38670769e-02 -4.68046533e-05 9.99426345e-01 4.55467562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.988040942 meters 0.02004601946406269 Centerline is valid? [True, True] Translation: X:143.55, Y:33.16, Z:4.55 [[ 8.81696532e-01 -4.70775702e-01 -3.13283136e-02 1.43546899e+02] [ 4.70480885e-01 8.82252932e-01 -1.66583649e-02 3.31630105e+01] [ 3.54818500e-02 -5.17501110e-05 9.99370320e-01 4.55446344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04804094199997 meters 0.020039956169307732 Centerline is valid? [True, True] Translation: X:143.60, Y:33.19, Z:4.56 [[ 8.80259892e-01 -4.73382439e-01 -3.24282143e-02 1.43598654e+02] [ 4.73068136e-01 8.80856993e-01 -1.72481044e-02 3.31903653e+01] [ 3.67295691e-02 -1.57940391e-04 9.99325229e-01 4.55558380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10804094199997 meters 0.02034189787532734 Centerline is valid? [True, True] Translation: X:143.65, Y:33.22, Z:4.56 [[ 8.77758909e-01 -4.77992120e-01 -3.26010735e-02 1.43652329e+02] [ 4.77677236e-01 8.78364056e-01 -1.73505921e-02 3.32154961e+01] [ 3.69290575e-02 -3.43153881e-04 9.99317831e-01 4.55836538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16804094199998 meters 0.020775691823423613 Centerline is valid? [True, True] Translation: X:143.70, Y:33.24, Z:4.56 [[ 8.76525405e-01 -4.80141796e-01 -3.41624023e-02 1.43703259e+02] [ 4.79797260e-01 8.77190776e-01 -1.81915299e-02 3.32425751e+01] [ 3.87014581e-02 -4.45688917e-04 9.99250719e-01 4.55824983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22804094199998 meters 0.020771004139243168 Centerline is valid? [True, True] Translation: X:143.75, Y:33.27, Z:4.56 [[ 8.75465306e-01 -4.82112021e-01 -3.35931083e-02 1.43753356e+02] [ 4.81780133e-01 8.76109428e-01 -1.78934054e-02 3.32728814e+01] [ 3.80578648e-02 -5.19436583e-04 9.99275402e-01 4.55997827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28804094199998 meters 0.02063451802275633 Centerline is valid? [True, True] Translation: X:143.80, Y:33.30, Z:4.56 [[ 8.75395644e-01 -4.82352621e-01 -3.19126239e-02 1.43804458e+02] [ 4.82052927e-01 8.75977000e-01 -1.70079804e-02 3.33027754e+01] [ 3.61585685e-02 -4.94861786e-04 9.99345943e-01 4.56390780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34804094199998 meters 0.020157658436838765 Centerline is valid? [True, True] Translation: X:143.85, Y:33.33, Z:4.57 [[ 8.75228936e-01 -4.82740123e-01 -3.05987365e-02 1.43853980e+02] [ 4.82464515e-01 8.75763519e-01 -1.63171658e-02 3.33332655e+01] [ 3.46742078e-02 -4.81548899e-04 9.99398553e-01 4.56780228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40804094199999 meters 0.020511955162308405 Centerline is valid? [True, True] Translation: X:143.90, Y:33.36, Z:4.57 [[ 8.75446363e-01 -4.82431691e-01 -2.92118014e-02 1.43904105e+02] [ 4.82180008e-01 8.75933485e-01 -1.55874753e-02 3.33616206e+01] [ 3.31074871e-02 -4.39348012e-04 9.99451700e-01 4.57086366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.468040942 meters 0.01998811535981142 Centerline is valid? [True, True] Translation: X:143.95, Y:33.40, Z:4.57 [[ 8.76066905e-01 -4.81293294e-01 -2.93861103e-02 1.43953057e+02] [ 4.81037830e-01 8.76559530e-01 -1.56842749e-02 3.33951252e+01] [ 3.33074113e-02 -3.95356610e-04 9.99445076e-01 4.57210617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.528040942 meters 0.019709932622685278 Centerline is valid? [True, True] Translation: X:144.00, Y:33.43, Z:4.57 [[ 8.76217874e-01 -4.80945118e-01 -3.05619116e-02 1.44001542e+02] [ 4.80668234e-01 8.76750616e-01 -1.63219576e-02 3.34268928e+01] [ 3.46451407e-02 -3.88549091e-04 9.99399601e-01 4.57254667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.588040942 meters 0.01986089442872784 Centerline is valid? [True, True] Translation: X:144.05, Y:33.46, Z:4.57 [[ 8.75101392e-01 -4.82870413e-01 -3.21514862e-02 1.44051281e+02] [ 4.82564852e-01 8.75691689e-01 -1.71822161e-02 3.34563292e+01] [ 3.64515730e-02 -4.78995946e-04 9.99335306e-01 4.57234431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.648040942 meters 0.022049528408754373 Centerline is valid? [True, True] Translation: X:144.10, Y:33.48, Z:4.57 [[ 8.71630832e-01 -4.89041438e-01 -3.31385724e-02 1.44103812e+02] [ 4.88721118e-01 8.72260225e-01 -1.77134904e-02 3.34812317e+01] [ 3.75680894e-02 -7.55895782e-04 9.99293784e-01 4.57196393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.708040942 meters 0.024377783135012085 Centerline is valid? [True, True] Translation: X:144.16, Y:33.51, Z:4.57 [[ 8.68148299e-01 -4.95196235e-01 -3.31544793e-02 1.44156782e+02] [ 4.94879926e-01 8.68780554e-01 -1.77259238e-02 3.35087183e+01] [ 3.75817776e-02 -1.01875565e-03 9.99293036e-01 4.57363873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76804094199997 meters 0.022390958042202678 Centerline is valid? [True, True] Translation: X:144.21, Y:33.54, Z:4.58 [[ 8.66454861e-01 -4.98220668e-01 -3.21269380e-02 1.44205239e+02] [ 4.97925439e-01 8.67049561e-01 -1.71847958e-02 3.35430916e+01] [ 3.64174679e-02 -1.10696989e-03 9.99336051e-01 4.57836578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82804094199997 meters 0.022861190433161614 Centerline is valid? [True, True] Translation: X:144.25, Y:33.57, Z:4.58 [[ 8.66816731e-01 -4.97640305e-01 -3.13509545e-02 1.44253964e+02] [ 4.97358464e-01 8.67382861e-01 -1.67788640e-02 3.35740517e+01] [ 3.55431196e-02 -1.04846253e-03 9.99367594e-01 4.58021755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88804094199998 meters 0.022771980368623945 Centerline is valid? [True, True] Translation: X:144.30, Y:33.61, Z:4.58 [[ 8.68391786e-01 -4.94892365e-01 -3.12610353e-02 1.44302919e+02] [ 4.94610235e-01 8.68953786e-01 -1.67342087e-02 3.36079877e+01] [ 3.54460272e-02 -9.30178624e-04 9.99371159e-01 4.57986556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94804094199998 meters 0.022293805185477307 Centerline is valid? [True, True] Translation: X:144.35, Y:33.64, Z:4.58 [[ 8.70502407e-01 -4.91245259e-01 -3.00608665e-02 1.44351440e+02] [ 4.90982095e-01 8.71020973e-01 -1.60949462e-02 3.36427705e+01] [ 3.40902111e-02 -7.48657811e-04 9.99418479e-01 4.58096421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00804094199998 meters 0.02184563326720663 Centerline is valid? [True, True] Translation: X:144.40, Y:33.68, Z:4.58 [[ 8.73268285e-01 -4.86335925e-01 -2.96626319e-02 1.44400233e+02] [ 4.86076575e-01 8.73771752e-01 -1.58898957e-02 3.36752046e+01] [ 3.36461970e-02 -5.42168596e-04 9.99433659e-01 4.58219317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06804094199998 meters 0.020533445670247303 Centerline is valid? [True, True] Translation: X:144.45, Y:33.71, Z:4.58 [[ 8.76392794e-01 -4.80725488e-01 -2.89599044e-02 1.44447846e+02] [ 4.80475117e-01 8.76871088e-01 -1.55163379e-02 3.37122395e+01] [ 3.28532020e-02 -3.16106691e-04 9.99460138e-01 4.58444685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12804094199998 meters 0.020206192753716837 Centerline is valid? [True, True] Translation: X:144.50, Y:33.74, Z:4.59 [[ 8.77698737e-01 -4.78309574e-01 -2.94088180e-02 1.44498184e+02] [ 4.78049720e-01 8.78191268e-01 -1.57658620e-02 3.37432319e+01] [ 3.33675299e-02 -2.21200041e-04 9.99443124e-01 4.58538264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.188040942 meters 0.020071422478225548 Centerline is valid? [True, True] Translation: X:144.55, Y:33.77, Z:4.59 [[ 8.78529156e-01 -4.76750540e-01 -2.99239926e-02 1.44548103e+02] [ 4.76480258e-01 8.79038622e-01 -1.60519489e-02 3.37722377e+01] [ 3.39571205e-02 -1.56086596e-04 9.99423279e-01 4.58742920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.248040942 meters 0.020221918508116207 Centerline is valid? [True, True] Translation: X:144.60, Y:33.80, Z:4.59 [[ 8.78102563e-01 -4.77526021e-01 -3.00797081e-02 1.44598646e+02] [ 4.77253015e-01 8.78617589e-01 -1.61459718e-02 3.38000813e+01] [ 3.41386823e-02 -1.77812150e-04 9.99417089e-01 4.58894601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.308040942 meters 0.02040166355962525 Centerline is valid? [True, True] Translation: X:144.65, Y:33.83, Z:4.59 [[ 8.76649998e-01 -4.80169942e-01 -3.03579865e-02 1.44651558e+02] [ 4.79893298e-01 8.77175438e-01 -1.62995122e-02 3.38266965e+01] [ 3.44558159e-02 -2.79626921e-04 9.99406183e-01 4.59039688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.368040942 meters 0.0207229620400577 Centerline is valid? [True, True] Translation: X:144.71, Y:33.85, Z:4.59 [[ 8.75017811e-01 -4.83082302e-01 -3.12301268e-02 1.44705505e+02] [ 4.82791006e-01 8.75574859e-01 -1.67783187e-02 3.38508798e+01] [ 3.54496227e-02 -3.96296640e-04 9.99371386e-01 4.59138964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.428040942 meters 0.021205826915081608 Centerline is valid? [True, True] Translation: X:144.76, Y:33.88, Z:4.59 [[ 8.73738276e-01 -4.85328504e-01 -3.22128687e-02 1.44758283e+02] [ 4.85019749e-01 8.74331744e-01 -1.73160199e-02 3.38759652e+01] [ 3.65686917e-02 -4.94208143e-04 9.99331020e-01 4.59231354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.488040942 meters 0.02148553262113186 Centerline is valid? [True, True] Translation: X:144.81, Y:33.90, Z:4.59 [[ 8.72403358e-01 -4.87734783e-01 -3.20493854e-02 1.44810829e+02] [ 4.87430606e-01 8.72991658e-01 -1.72327836e-02 3.39016863e+01] [ 3.63838741e-02 -5.87913067e-04 9.99337715e-01 4.59374111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54804094199997 meters 0.021933832874184708 Centerline is valid? [True, True] Translation: X:144.86, Y:33.93, Z:4.60 [[ 8.71224772e-01 -4.89891464e-01 -3.12049524e-02 1.44864415e+02] [ 4.89604144e-01 8.71783189e-01 -1.67885037e-02 3.39267271e+01] [ 3.54284976e-02 -6.51513680e-04 9.99372001e-01 4.59601805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60804094199997 meters 0.022089552621099764 Centerline is valid? [True, True] Translation: X:144.92, Y:33.95, Z:4.60 [[ 8.70932213e-01 -4.90435969e-01 -3.08162343e-02 1.44917105e+02] [ 4.90155760e-01 8.71476982e-01 -1.65892088e-02 3.39506438e+01] [ 3.49915835e-02 -6.56678359e-04 9.99387391e-01 4.59874310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66804094199998 meters 0.021615612883899866 Centerline is valid? [True, True] Translation: X:144.97, Y:33.98, Z:4.60 [[ 8.71612997e-01 -4.89222299e-01 -3.08597601e-02 1.44968278e+02] [ 4.88940149e-01 8.72158921e-01 -1.66237157e-02 3.39788354e+01] [ 3.50473074e-02 -5.99129033e-04 9.99385475e-01 4.59996074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72804094199998 meters 0.021328451067947812 Centerline is valid? [True, True] Translation: X:145.02, Y:34.00, Z:4.60 [[ 8.74620538e-01 -4.83778450e-01 -3.15804536e-02 1.45021308e+02] [ 4.83479064e-01 8.75190417e-01 -1.70214253e-02 3.40033116e+01] [ 3.58735091e-02 -3.81199969e-04 9.99356266e-01 4.60072539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78804094199998 meters 0.02078830237876735 Centerline is valid? [True, True] Translation: X:145.07, Y:34.03, Z:4.60 [[ 8.76369969e-01 -4.80627270e-01 -3.11946167e-02 1.45072957e+02] [ 4.80333025e-01 8.76924950e-01 -1.68171978e-02 3.40307704e+01] [ 3.54381416e-02 -2.45717464e-04 9.99371842e-01 4.60356240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84804094199998 meters 0.020595839496740685 Centerline is valid? [True, True] Translation: X:145.13, Y:34.05, Z:4.61 [[ 8.79064540e-01 -4.75684672e-01 -3.11388218e-02 1.45126621e+02] [ 4.75388046e-01 8.79615877e-01 -1.67962718e-02 3.40538995e+01] [ 3.53799311e-02 -3.80166355e-05 9.99373934e-01 4.60553767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90804094199999 meters 0.020638038650223078 Centerline is valid? [True, True] Translation: X:145.18, Y:34.08, Z:4.61 [[ 8.79917094e-01 -4.74062325e-01 -3.17933874e-02 1.45178907e+02] [ 4.73751858e-01 8.80491289e-01 -1.71541879e-02 3.40789128e+01] [ 3.61259549e-02 3.20868287e-05 9.99347244e-01 4.60720648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.968040942 meters 0.020689531193049414 Centerline is valid? [True, True] Translation: X:145.23, Y:34.10, Z:4.61 [[ 8.80225222e-01 -4.73491521e-01 -3.17700818e-02 1.45231829e+02] [ 4.73180743e-01 8.80798374e-01 -1.71525206e-02 3.41004551e+01] [ 3.61046095e-02 6.50902942e-05 9.99348014e-01 4.60905016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.028040942 meters 0.020629383358956106 Centerline is valid? [True, True] Translation: X:145.29, Y:34.12, Z:4.61 [[ 8.78675319e-01 -4.76401329e-01 -3.11682173e-02 1.45287617e+02] [ 4.76103841e-01 8.79227940e-01 -1.68333458e-02 3.41198760e+01] [ 3.54233958e-02 -4.82625233e-05 9.99372393e-01 4.61224407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.088040942 meters 0.020857563627079384 Centerline is valid? [True, True] Translation: X:145.34, Y:34.14, Z:4.61 [[ 8.76702911e-01 -4.79960605e-01 -3.20908753e-02 1.45344053e+02] [ 4.79647173e-01 8.77290022e-01 -1.73437645e-02 3.41400429e+01] [ 3.64773284e-02 -1.86968792e-04 9.99334463e-01 4.61321886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.148040942 meters 0.02119732848689174 Centerline is valid? [True, True] Translation: X:145.40, Y:34.16, Z:4.61 [[ 8.75481699e-01 -4.82087228e-01 -3.35216095e-02 1.45399858e+02] [ 4.81746390e-01 8.76123180e-01 -1.81270247e-02 3.41586609e+01] [ 3.81078662e-02 -2.79035960e-04 9.99273593e-01 4.61322073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.208040942 meters 0.02278392595247874 Centerline is valid? [True, True] Translation: X:145.46, Y:34.18, Z:4.61 [[ 8.74204452e-01 -4.84214824e-01 -3.60912666e-02 1.45455733e+02] [ 4.83821260e-01 8.74949055e-01 -1.95228107e-02 3.41789780e+01] [ 4.10312540e-02 -3.94794070e-04 9.99157786e-01 4.61192083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26804094199997 meters 0.021705558583731042 Centerline is valid? [True, True] Translation: X:145.51, Y:34.20, Z:4.61 [[ 8.73141240e-01 -4.85992572e-01 -3.78892517e-02 1.45511449e+02] [ 4.85560021e-01 8.73962801e-01 -2.05058369e-02 3.41973159e+01] [ 4.30794810e-02 -4.93014005e-04 9.99071527e-01 4.61362687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32804094199997 meters 0.021822341265497446 Centerline is valid? [True, True] Translation: X:145.57, Y:34.22, Z:4.62 [[ 8.73094845e-01 -4.86050743e-01 -3.82108090e-02 1.45565218e+02] [ 4.85610562e-01 8.73930450e-01 -2.06869815e-02 3.42200595e+01] [ 4.34485123e-02 -4.93875480e-04 9.99055545e-01 4.61619495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38804094199998 meters 0.0212812153411666 Centerline is valid? [True, True] Translation: X:145.62, Y:34.25, Z:4.62 [[ 8.74675733e-01 -4.83278392e-01 -3.72069710e-02 1.45615511e+02] [ 4.82857987e-01 8.75466666e-01 -2.01564209e-02 3.42500796e+01] [ 4.23146255e-02 -3.35350861e-04 9.99104279e-01 4.61969696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44804094199998 meters 0.02088686629033678 Centerline is valid? [True, True] Translation: X:145.67, Y:34.28, Z:4.62 [[ 8.77431966e-01 -4.78330284e-01 -3.62392685e-02 1.45665449e+02] [ 4.77926817e-01 8.78180011e-01 -1.96424402e-02 3.42822712e+01] [ 4.12201752e-02 -8.48132818e-05 9.99150084e-01 4.62283441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50804094199998 meters 0.02079720214601725 Centerline is valid? [True, True] Translation: X:145.72, Y:34.31, Z:4.63 [[ 8.79078815e-01 -4.75359446e-01 -3.54095180e-02 1.45715551e+02] [ 4.74971590e-01 8.79791676e-01 -1.91988242e-02 3.43112244e+01] [ 4.02793416e-02 5.87645701e-05 9.99188456e-01 4.62644498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56804094199998 meters 0.02086604730690602 Centerline is valid? [True, True] Translation: X:145.77, Y:34.34, Z:4.63 [[ 8.79048790e-01 -4.75403139e-01 -3.55679632e-02 1.45766031e+02] [ 4.75011517e-01 8.79768067e-01 -1.92926705e-02 3.43394423e+01] [ 4.04633544e-02 6.40065123e-05 9.99181021e-01 4.62887567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62804094199998 meters 0.02088029564472353 Centerline is valid? [True, True] Translation: X:145.82, Y:34.37, Z:4.63 [[ 8.79060698e-01 -4.75343756e-01 -3.60638645e-02 1.45817564e+02] [ 4.74940615e-01 8.79800152e-01 -1.95730438e-02 3.43653154e+01] [ 4.10329176e-02 7.76995317e-05 9.99157792e-01 4.63060385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.688040942 meters 0.020831540325520103 Centerline is valid? [True, True] Translation: X:145.87, Y:34.39, Z:4.63 [[ 8.78401677e-01 -4.76500128e-01 -3.68527109e-02 1.45870809e+02] [ 4.76079898e-01 8.79174401e-01 -2.00075784e-02 3.43913292e+01] [ 4.19335737e-02 2.98556106e-05 9.99120400e-01 4.63304445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.748040942 meters 0.02085314882394216 Centerline is valid? [True, True] Translation: X:145.92, Y:34.42, Z:4.63 [[ 8.77746059e-01 -4.77691794e-01 -3.70460030e-02 1.45922106e+02] [ 4.77267754e-01 8.78527489e-01 -2.01231640e-02 3.44168829e+01] [ 4.21586023e-02 -1.78347925e-05 9.99110931e-01 4.63442435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.808040942 meters 0.02196226890235081 Centerline is valid? [True, True] Translation: X:145.97, Y:34.44, Z:4.64 [[ 8.76717395e-01 -4.79595179e-01 -3.68113160e-02 1.45973359e+02] [ 4.79177840e-01 8.77489860e-01 -2.00035784e-02 3.44435211e+01] [ 4.18951762e-02 -1.01681733e-04 9.99122007e-01 4.63501250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.868040942 meters 0.022954315000127873 Centerline is valid? [True, True] Translation: X:146.02, Y:34.47, Z:4.64 [[ 8.75549652e-01 -4.81879593e-01 -3.47111703e-02 1.46024714e+02] [ 4.81509859e-01 8.76237424e-01 -1.88741270e-02 3.44717714e+01] [ 3.95102831e-02 -1.88535430e-04 9.99219146e-01 4.63817552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.928040942 meters 0.021293504129780552 Centerline is valid? [True, True] Translation: X:146.08, Y:34.50, Z:4.64 [[ 8.74697700e-01 -4.83481278e-01 -3.39085284e-02 1.46076043e+02] [ 4.83129223e-01 8.75354668e-01 -1.84488538e-02 3.44994590e+01] [ 3.86016640e-02 -2.45031004e-04 9.99254648e-01 4.64441775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.988040942 meters 0.021388363283518595 Centerline is valid? [True, True] Translation: X:146.13, Y:34.53, Z:4.65 [[ 8.73920369e-01 -4.84838963e-01 -3.45596340e-02 1.46126648e+02] [ 4.84473805e-01 8.74603390e-01 -1.88159931e-02 3.45287711e+01] [ 3.93486996e-02 -2.99557764e-04 9.99225495e-01 4.64574160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04804094199997 meters 0.023927858391091378 Centerline is valid? [True, True] Translation: X:146.18, Y:34.56, Z:4.64 [[ 8.72081744e-01 -4.88070552e-01 -3.55044952e-02 1.46177391e+02] [ 4.87687404e-01 8.72804065e-01 -1.93406389e-02 3.45568046e+01] [ 4.04280641e-02 -4.48476995e-04 9.99182351e-01 4.64390439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10804094199997 meters 0.022906114260293826 Centerline is valid? [True, True] Translation: X:146.23, Y:34.58, Z:4.65 [[ 8.68530415e-01 -4.94392701e-01 -3.50824049e-02 1.46231411e+02] [ 4.94023532e-01 8.69238360e-01 -1.91160423e-02 3.45817046e+01] [ 3.99458039e-02 -7.28669441e-04 9.99201582e-01 4.64920236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16804094199998 meters 0.023636883143872064 Centerline is valid? [True, True] Translation: X:146.28, Y:34.61, Z:4.65 [[ 8.66682991e-01 -4.97606574e-01 -3.53311705e-02 1.46284357e+02] [ 4.97234398e-01 8.67402406e-01 -1.92618756e-02 3.46070876e+01] [ 4.02311783e-02 -8.73933354e-04 9.99190016e-01 4.65078001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22804094199998 meters 0.023997002329748822 Centerline is valid? [True, True] Translation: X:146.34, Y:34.63, Z:4.65 [[ 8.66087802e-01 -4.98620062e-01 -3.56364010e-02 1.46337667e+02] [ 4.98241813e-01 8.66820160e-01 -1.94398219e-02 3.46330120e+01] [ 4.05834360e-02 -9.18952386e-04 9.99175730e-01 4.65328683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28804094199998 meters 0.02416088406303861 Centerline is valid? [True, True] Translation: X:146.39, Y:34.66, Z:4.65 [[ 8.66354108e-01 -4.98069933e-01 -3.68361297e-02 1.46387914e+02] [ 4.97664759e-01 8.67136384e-01 -2.01067004e-02 3.46615235e+01] [ 4.19564912e-02 -9.12521045e-04 9.99119022e-01 4.65358425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34804094199998 meters 0.024000601273811435 Centerline is valid? [True, True] Translation: X:146.44, Y:34.69, Z:4.66 [[ 8.66940242e-01 -4.97043748e-01 -3.69070484e-02 1.46438002e+02] [ 4.96635536e-01 8.67725063e-01 -2.01583587e-02 3.46917873e+01] [ 4.20447571e-02 -8.53259395e-04 9.99115364e-01 4.65500202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40804094199999 meters 0.023740707348683228 Centerline is valid? [True, True] Translation: X:146.49, Y:34.72, Z:4.66 [[ 8.67638152e-01 -4.95852794e-01 -3.65245758e-02 1.46489371e+02] [ 4.95451543e-01 8.68406242e-01 -1.99591731e-02 3.47190299e+01] [ 4.16149813e-02 -7.78817376e-04 9.99133418e-01 4.65815295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.468040942 meters 0.022934795598444482 Centerline is valid? [True, True] Translation: X:146.54, Y:34.75, Z:4.66 [[ 8.69150994e-01 -4.93192902e-01 -3.65692745e-02 1.46538197e+02] [ 4.92788056e-01 8.69919734e-01 -1.99897140e-02 3.47528799e+01] [ 4.16711186e-02 -6.46821907e-04 9.99131172e-01 4.66068641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.528040942 meters 0.023121475388148374 Centerline is valid? [True, True] Translation: X:146.59, Y:34.78, Z:4.66 [[ 8.69639325e-01 -4.92353424e-01 -3.62705159e-02 1.46587856e+02] [ 4.91954015e-01 8.70395171e-01 -1.98366514e-02 3.47834056e+01] [ 4.13363251e-02 -5.92693744e-04 9.99145113e-01 4.66139045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.588040942 meters 0.024487985321013487 Centerline is valid? [True, True] Translation: X:146.64, Y:34.81, Z:4.66 [[ 8.68894435e-01 -4.93614867e-01 -3.69705971e-02 1.46640283e+02] [ 4.93200696e-01 8.69680361e-01 -2.02273011e-02 3.48112144e+01] [ 4.21370988e-02 -6.58534845e-04 9.99111621e-01 4.66181779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.648040942 meters 0.024027642245274802 Centerline is valid? [True, True] Translation: X:146.69, Y:34.84, Z:4.66 [[ 8.68394168e-01 -4.94473445e-01 -3.72502502e-02 1.46691672e+02] [ 4.94053274e-01 8.69192458e-01 -2.03919938e-02 3.48393591e+01] [ 4.24609360e-02 -6.95319611e-04 9.99097886e-01 4.66445264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.708040942 meters 0.023543551690837182 Centerline is valid? [True, True] Translation: X:146.74, Y:34.87, Z:4.67 [[ 8.68651209e-01 -4.93955822e-01 -3.81145999e-02 1.46741757e+02] [ 4.93514870e-01 8.69486740e-01 -2.08777799e-02 3.48685571e+01] [ 4.34528401e-02 -6.74613060e-04 9.99055252e-01 4.66724943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76804094199997 meters 0.024193419125969978 Centerline is valid? [True, True] Translation: X:146.79, Y:34.89, Z:4.67 [[ 8.68701452e-01 -4.93843190e-01 -3.84277377e-02 1.46792839e+02] [ 4.93394330e-01 8.69550725e-01 -2.10611494e-02 3.48943870e+01] [ 4.38157724e-02 -6.64176808e-04 9.99039407e-01 4.66754452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82804094199997 meters 0.024334847706190023 Centerline is valid? [True, True] Translation: X:146.84, Y:34.93, Z:4.67 [[ 8.68460063e-01 -4.94278286e-01 -3.82896068e-02 1.46841591e+02] [ 4.93832705e-01 8.69303467e-01 -2.09938434e-02 3.49259098e+01] [ 4.36620889e-02 -6.76345483e-04 9.99046127e-01 4.66890905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88804094199998 meters 0.02341467105034426 Centerline is valid? [True, True] Translation: X:146.89, Y:34.95, Z:4.67 [[ 8.68719401e-01 -4.93931280e-01 -3.68577483e-02 1.46892931e+02] [ 4.93517650e-01 8.69500719e-01 -2.02195247e-02 3.49530176e+01] [ 4.20348944e-02 -6.24855881e-04 9.99115948e-01 4.67326978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94804094199998 meters 0.02299157916923772 Centerline is valid? [True, True] Translation: X:146.94, Y:34.98, Z:4.68 [[ 8.69572272e-01 -4.92497453e-01 -3.59210633e-02 1.46943974e+02] [ 4.92103125e-01 8.70313720e-01 -1.97115062e-02 3.49822590e+01] [ 4.09704608e-02 -5.36288267e-04 9.99160214e-01 4.67662049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00804094199998 meters 0.022405773230832 Centerline is valid? [True, True] Translation: X:146.99, Y:35.01, Z:4.68 [[ 8.71399311e-01 -4.89352850e-01 -3.45981096e-02 1.46993960e+02] [ 4.88984133e-01 8.72085808e-01 -1.89963584e-02 3.50130662e+01] [ 3.94684425e-02 -3.64513060e-04 9.99220751e-01 4.67955438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06804094199998 meters 0.02213146413386649 Centerline is valid? [True, True] Translation: X:147.04, Y:35.04, Z:4.68 [[ 8.73639484e-01 -4.85428777e-01 -3.33609650e-02 1.47044442e+02] [ 4.85082704e-01 8.74276200e-01 -1.83274914e-02 3.50434144e+01] [ 3.80633894e-02 -1.71206964e-04 9.99275312e-01 4.68104093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12804094199998 meters 0.021965372294733037 Centerline is valid? [True, True] Translation: X:147.09, Y:35.07, Z:4.68 [[ 8.74506773e-01 -4.83885968e-01 -3.30495572e-02 1.47093910e+02] [ 4.83544820e-01 8.75131054e-01 -1.81671649e-02 3.50732090e+01] [ 3.77135300e-02 -9.36334305e-05 9.99288587e-01 4.68244690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.188040942 meters 0.021826305756307448 Centerline is valid? [True, True] Translation: X:147.14, Y:35.10, Z:4.68 [[ 8.75578373e-01 -4.82142118e-01 -3.00248231e-02 1.47142352e+02] [ 4.81859221e-01 8.76093019e-01 -1.65140535e-02 3.51044743e+01] [ 3.42666586e-02 -8.38973075e-06 9.99412726e-01 4.68497385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.248040942 meters 0.02171609507474672 Centerline is valid? [True, True] Translation: X:147.19, Y:35.13, Z:4.69 [[ 8.76116638e-01 -4.81341124e-01 -2.70251447e-02 1.47191840e+02] [ 4.81111475e-01 8.76533355e-01 -1.48669696e-02 3.51348141e+01] [ 3.08445246e-02 2.30922286e-05 9.99524194e-01 4.68842039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.308040942 meters 0.021834686862956445 Centerline is valid? [True, True] Translation: X:147.24, Y:35.17, Z:4.69 [[ 8.77271603e-01 -4.79375898e-01 -2.43573809e-02 1.47242659e+02] [ 4.79188367e-01 8.77609674e-01 -1.34078149e-02 3.51653732e+01] [ 2.78036564e-02 9.05217040e-05 9.99613400e-01 4.69239321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.368040942 meters 0.021848862806343763 Centerline is valid? [True, True] Translation: X:147.29, Y:35.20, Z:4.70 [[ 8.78006177e-01 -4.78126739e-01 -2.23601014e-02 1.47291324e+02] [ 4.77968106e-01 8.78290843e-01 -1.23160218e-02 3.51978188e+01] [ 2.55272916e-02 1.26127895e-04 9.99674118e-01 4.69585654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.428040942 meters 0.02166967164625094 Centerline is valid? [True, True] Translation: X:147.34, Y:35.23, Z:4.70 [[ 8.77534428e-01 -4.78975886e-01 -2.27030426e-02 1.47338588e+02] [ 4.78812593e-01 8.77828053e-01 -1.25064380e-02 3.52316617e+01] [ 2.59196499e-02 1.04327279e-04 9.99664024e-01 4.69523965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.488040942 meters 0.021517618824822185 Centerline is valid? [True, True] Translation: X:147.39, Y:35.26, Z:4.70 [[ 8.75412898e-01 -4.82835420e-01 -2.28520555e-02 1.47387843e+02] [ 4.82671059e-01 8.75711115e-01 -1.25972842e-02 3.52623751e+01] [ 2.60942140e-02 -2.20071515e-06 9.99659488e-01 4.69605638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54804094199997 meters 0.021610002912717842 Centerline is valid? [True, True] Translation: X:147.44, Y:35.29, Z:4.70 [[ 8.73569811e-01 -4.86194488e-01 -2.21518617e-02 1.47437877e+02] [ 4.86040884e-01 8.73850623e-01 -1.22207837e-02 3.52918971e+01] [ 2.52990959e-02 -9.10027661e-05 9.99679923e-01 4.69820931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60804094199997 meters 0.021889141882582838 Centerline is valid? [True, True] Translation: X:147.48, Y:35.33, Z:4.70 [[ 8.70704256e-01 -4.91273082e-01 -2.29097844e-02 1.47484997e+02] [ 4.91110487e-01 8.71005568e-01 -1.26408244e-02 3.53285445e+01] [ 2.61646465e-02 -2.44815759e-04 9.99657617e-01 4.69668390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66804094199998 meters 0.022118384619814333 Centerline is valid? [True, True] Translation: X:147.54, Y:35.36, Z:4.70 [[ 8.69404152e-01 -4.93580805e-01 -2.26806169e-02 1.47536044e+02] [ 4.93422039e-01 8.69699889e-01 -1.25217735e-02 3.53586182e+01] [ 2.59058371e-02 -3.04634394e-04 9.99664341e-01 4.69875354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72804094199998 meters 0.022772841135739054 Centerline is valid? [True, True] Translation: X:147.58, Y:35.39, Z:4.70 [[ 8.67580696e-01 -4.96803168e-01 -2.21438140e-02 1.47584525e+02] [ 4.96652668e-01 8.67863160e-01 -1.22336577e-02 3.53899676e+01] [ 2.52955203e-02 -3.84099062e-04 9.99679943e-01 4.70059436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78804094199998 meters 0.02372056738984096 Centerline is valid? [True, True] Translation: X:147.63, Y:35.42, Z:4.70 [[ 8.65585901e-01 -5.00219490e-01 -2.32703686e-02 1.47632510e+02] [ 5.00054445e-01 8.65898496e-01 -1.28587087e-02 3.54235735e+01] [ 2.65819539e-02 -5.06134280e-04 9.99646509e-01 4.70039353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84804094199998 meters 0.0241399789846194 Centerline is valid? [True, True] Translation: X:147.68, Y:35.46, Z:4.70 [[ 8.63206377e-01 -5.04347529e-01 -2.25459827e-02 1.47682638e+02] [ 5.04193921e-01 8.63500548e-01 -1.24616729e-02 3.54564592e+01] [ 2.57534824e-02 -6.10551933e-04 9.99668138e-01 4.70197990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90804094199999 meters 0.024898513443351297 Centerline is valid? [True, True] Translation: X:147.73, Y:35.49, Z:4.70 [[ 8.62106922e-01 -5.06281216e-01 -2.12364058e-02 1.47730549e+02] [ 5.06145363e-01 8.62368217e-01 -1.17443725e-02 3.54904067e+01] [ 2.42595566e-02 -6.23803479e-04 9.99705499e-01 4.70493540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.968040942 meters 0.026095719945435327 Centerline is valid? [True, True] Translation: X:147.78, Y:35.52, Z:4.71 [[ 8.62354595e-01 -5.05855806e-01 -2.13179641e-02 1.47777565e+02] [ 5.05718717e-01 8.62617835e-01 -1.17919824e-02 3.55240349e+01] [ 2.43542988e-02 -6.12023240e-04 9.99703203e-01 4.70669242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.028040942 meters 0.024822499503005857 Centerline is valid? [True, True] Translation: X:147.83, Y:35.56, Z:4.71 [[ 8.62663324e-01 -5.05326291e-01 -2.13852573e-02 1.47825417e+02] [ 5.05188141e-01 8.62928144e-01 -1.18304737e-02 3.55596865e+01] [ 2.44321897e-02 -5.97862605e-04 9.99701311e-01 4.70792053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.088040942 meters 0.02476360692303093 Centerline is valid? [True, True] Translation: X:147.87, Y:35.59, Z:4.71 [[ 8.63328791e-01 -5.04115573e-01 -2.30410202e-02 1.47873890e+02] [ 5.03954550e-01 8.63635993e-01 -1.27547034e-02 3.55948262e+01] [ 2.63288989e-02 -6.00124318e-04 9.99653154e-01 4.70891732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.148040942 meters 0.024238707544875136 Centerline is valid? [True, True] Translation: X:147.92, Y:35.63, Z:4.71 [[ 8.64397447e-01 -5.02250195e-01 -2.37022469e-02 1.47921537e+02] [ 5.02078900e-01 8.64722173e-01 -1.31279076e-02 3.56308928e+01] [ 2.70893526e-02 -5.52668214e-04 9.99632863e-01 4.70966222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.208040942 meters 0.02349403118002028 Centerline is valid? [True, True] Translation: X:147.97, Y:35.67, Z:4.71 [[ 8.65974568e-01 -4.99533714e-01 -2.35396710e-02 1.47968981e+02] [ 4.99363556e-01 8.66294326e-01 -1.30453292e-02 3.56670237e+01] [ 2.69088652e-02 -4.57930523e-04 9.99637786e-01 4.71245595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26804094199997 meters 0.023034425904854754 Centerline is valid? [True, True] Translation: X:148.02, Y:35.70, Z:4.72 [[ 8.68321312e-01 -4.95426972e-01 -2.38791676e-02 1.48016644e+02] [ 4.95250094e-01 8.68649531e-01 -1.32414873e-02 3.57014999e+01] [ 2.73028177e-02 -3.28294379e-04 9.99627155e-01 4.71531783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32804094199997 meters 0.022773961986612155 Centerline is valid? [True, True] Translation: X:148.07, Y:35.73, Z:4.72 [[ 8.68942537e-01 -4.94339545e-01 -2.38176848e-02 1.48067019e+02] [ 4.94162957e-01 8.69268849e-01 -1.32151324e-02 3.57321582e+01] [ 2.72367340e-02 -2.86626857e-04 9.99628970e-01 4.71670913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38804094199998 meters 0.02261652680563995 Centerline is valid? [True, True] Translation: X:148.12, Y:35.76, Z:4.72 [[ 8.69103984e-01 -4.94013780e-01 -2.46708483e-02 1.48116568e+02] [ 4.93823956e-01 8.69454028e-01 -1.36964755e-02 3.57619839e+01] [ 2.82164160e-02 -2.79394531e-04 9.99601799e-01 4.71813706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44804094199998 meters 0.0223174227137172 Centerline is valid? [True, True] Translation: X:148.17, Y:35.79, Z:4.72 [[ 8.69124403e-01 -4.93965531e-01 -2.49163808e-02 1.48166610e+02] [ 4.93771628e-01 8.69481443e-01 -1.38419394e-02 3.57906147e+01] [ 2.85017717e-02 -2.72634604e-04 9.99593705e-01 4.72059575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50804094199998 meters 0.022052207947335076 Centerline is valid? [True, True] Translation: X:148.22, Y:35.82, Z:4.72 [[ 8.69601016e-01 -4.93062507e-01 -2.61426431e-02 1.48218637e+02] [ 4.92848325e-01 8.69993853e-01 -1.45335837e-02 3.58189630e+01] [ 2.99099040e-02 -2.45938694e-04 9.99552568e-01 4.72209535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56804094199998 meters 0.021924550691272814 Centerline is valid? [True, True] Translation: X:148.27, Y:35.85, Z:4.72 [[ 8.69417473e-01 -4.93314028e-01 -2.74686496e-02 1.48269432e+02] [ 4.93077388e-01 8.69851253e-01 -1.52802785e-02 3.58465542e+01] [ 3.14316150e-02 -2.59228851e-04 9.99505871e-01 4.72357741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62804094199998 meters 0.021997002602978336 Centerline is valid? [True, True] Translation: X:148.32, Y:35.87, Z:4.73 [[ 8.68356933e-01 -4.95164330e-01 -2.77222448e-02 1.48323162e+02] [ 4.94923905e-01 8.68799277e-01 -1.54319340e-02 3.58711359e+01] [ 3.17264095e-02 -3.19974819e-04 9.99496540e-01 4.72746660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.688040942 meters 0.0226542580789654 Centerline is valid? [True, True] Translation: X:148.38, Y:35.89, Z:4.73 [[ 8.66391681e-01 -4.98656629e-01 -2.65898672e-02 1.48377360e+02] [ 4.98436830e-01 8.66799509e-01 -1.48100847e-02 3.58928436e+01] [ 3.04332308e-02 -4.22034924e-04 9.99536713e-01 4.73105812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.748040942 meters 0.02258957721340262 Centerline is valid? [True, True] Translation: X:148.43, Y:35.92, Z:4.73 [[ 8.65116216e-01 -5.00854990e-01 -2.67994908e-02 1.48430838e+02] [ 5.00632620e-01 8.65531068e-01 -1.49315026e-02 3.59181935e+01] [ 3.06743095e-02 -4.99214332e-04 9.99529308e-01 4.73341176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.808040942 meters 0.022471352859233355 Centerline is valid? [True, True] Translation: X:148.48, Y:35.94, Z:4.74 [[ 8.65912079e-01 -4.99520597e-01 -2.59893105e-02 1.48483389e+02] [ 4.99310611e-01 8.66301904e-01 -1.44888197e-02 3.59427953e+01] [ 2.97520530e-02 -4.30694493e-04 9.99557217e-01 4.73595013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.868040942 meters 0.022226856928466637 Centerline is valid? [True, True] Translation: X:148.54, Y:35.97, Z:4.74 [[ 8.67243731e-01 -4.97224929e-01 -2.56062806e-02 1.48536531e+02] [ 4.97020008e-01 8.67621606e-01 -1.42779687e-02 3.59689696e+01] [ 2.93159243e-02 -3.44354987e-04 9.99570137e-01 4.73902833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.928040942 meters 0.02221198950847187 Centerline is valid? [True, True] Translation: X:148.59, Y:35.99, Z:4.74 [[ 8.67479047e-01 -4.96817441e-01 -2.55447409e-02 1.48588809e+02] [ 4.96613085e-01 8.67855015e-01 -1.42519038e-02 3.59934576e+01] [ 2.92497259e-02 -3.22624646e-04 9.99572083e-01 4.74041876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.988040942 meters 0.022378688760017043 Centerline is valid? [True, True] Translation: X:148.64, Y:36.02, Z:4.74 [[ 8.66661845e-01 -4.98238360e-01 -2.56082585e-02 1.48641651e+02] [ 4.98033307e-01 8.67040025e-01 -1.42975808e-02 3.60174372e+01] [ 2.93269883e-02 -3.62597868e-04 9.99569806e-01 4.74260993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04804094199997 meters 0.02263531856904483 Centerline is valid? [True, True] Translation: X:148.70, Y:36.04, Z:4.74 [[ 8.65547744e-01 -5.00129518e-01 -2.64115073e-02 1.48695390e+02] [ 4.99912182e-01 8.65950503e-01 -1.47491397e-02 3.60411326e+01] [ 3.02475382e-02 -4.37349637e-04 9.99542343e-01 4.74494101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10804094199997 meters 0.022678506647664992 Centerline is valid? [True, True] Translation: X:148.75, Y:36.06, Z:4.75 [[ 8.65227513e-01 -5.00618098e-01 -2.76201010e-02 1.48748505e+02] [ 5.00380358e-01 8.65668124e-01 -1.54335736e-02 3.60644202e+01] [ 3.16361672e-02 -4.67003520e-04 9.99499342e-01 4.74636084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16804094199998 meters 0.022501516327221496 Centerline is valid? [True, True] Translation: X:148.80, Y:36.09, Z:4.75 [[ 8.65593817e-01 -4.99886859e-01 -2.93338071e-02 1.48802384e+02] [ 4.99617891e-01 8.66090595e-01 -1.64025611e-02 3.60880006e+01] [ 3.36051592e-02 -4.57739434e-04 9.99435082e-01 4.74688070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22804094199998 meters 0.02202687200461584 Centerline is valid? [True, True] Translation: X:148.86, Y:36.11, Z:4.75 [[ 8.66652929e-01 -4.97948300e-01 -3.09869635e-02 1.48856060e+02] [ 4.97646541e-01 8.67206627e-01 -1.73373973e-02 3.61133774e+01] [ 3.55052276e-02 -3.95049077e-04 9.99369413e-01 4.74924858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28804094199998 meters 0.021715865793502636 Centerline is valid? [True, True] Translation: X:148.91, Y:36.14, Z:4.75 [[ 8.67458277e-01 -4.96532550e-01 -3.11699204e-02 1.48909554e+02] [ 4.96225938e-01 8.68018040e-01 -1.74499586e-02 3.61384779e+01] [ 3.57205257e-02 -3.30212021e-04 9.99361764e-01 4.75267109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34804094199998 meters 0.021756828653733823 Centerline is valid? [True, True] Translation: X:148.96, Y:36.16, Z:4.76 [[ 8.67689732e-01 -4.96160012e-01 -3.06556923e-02 1.48962109e+02] [ 4.95862880e-01 8.68231047e-01 -1.71712676e-02 3.61628364e+01] [ 3.51359201e-02 -3.01687275e-04 9.99382497e-01 4.75577734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40804094199999 meters 0.02177925403982324 Centerline is valid? [True, True] Translation: X:149.02, Y:36.19, Z:4.76 [[ 8.66586427e-01 -4.98095684e-01 -3.04738210e-02 1.49017033e+02] [ 4.97803114e-01 8.67121992e-01 -1.70736579e-02 3.61854970e+01] [ 3.49288357e-02 -3.74162847e-04 9.99389732e-01 4.75939461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.468040942 meters 0.022281174535732272 Centerline is valid? [True, True] Translation: X:149.07, Y:36.21, Z:4.76 [[ 8.64825643e-01 -5.01143899e-01 -3.05188477e-02 1.49072935e+02] [ 5.00852004e-01 8.65363827e-01 -1.71089782e-02 3.62055829e+01] [ 3.49839669e-02 -4.89142899e-04 9.99387754e-01 4.76247998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.528040942 meters 0.022837673119691544 Centerline is valid? [True, True] Translation: X:149.13, Y:36.23, Z:4.77 [[ 8.63748412e-01 -5.03034742e-01 -2.99120297e-02 1.49127902e+02] [ 5.02755160e-01 8.64266018e-01 -1.67779449e-02 3.62261382e+01] [ 3.42918400e-02 -5.46503984e-04 9.99411712e-01 4.76578279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.588040942 meters 0.022407411296124877 Centerline is valid? [True, True] Translation: X:149.18, Y:36.25, Z:4.77 [[ 8.63612324e-01 -5.03227525e-01 -3.05910324e-02 1.49181055e+02] [ 5.02935009e-01 8.64153773e-01 -1.71648995e-02 3.62493613e+01] [ 3.50732059e-02 -5.61482398e-04 9.99384588e-01 4.76787869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.648040942 meters 0.021989241686819195 Centerline is valid? [True, True] Translation: X:149.24, Y:36.27, Z:4.77 [[ 8.64651982e-01 -5.01373885e-01 -3.16413800e-02 1.49235558e+02] [ 5.01059252e-01 8.65230596e-01 -1.77662957e-02 3.62731624e+01] [ 3.62846468e-02 -4.92543358e-04 9.99341374e-01 4.76939356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.708040942 meters 0.021773025494681346 Centerline is valid? [True, True] Translation: X:149.29, Y:36.30, Z:4.77 [[ 8.65462962e-01 -4.99958026e-01 -3.18721422e-02 1.49288394e+02] [ 4.99637437e-01 8.66049531e-01 -1.79064785e-02 3.62992227e+01] [ 3.65553414e-02 -4.27121487e-04 9.99331539e-01 4.77017943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76804094199997 meters 0.021596261530761655 Centerline is valid? [True, True] Translation: X:149.34, Y:36.32, Z:4.77 [[ 8.65955119e-01 -4.99041814e-01 -3.28481221e-02 1.49341469e+02] [ 4.98700196e-01 8.66577818e-01 -1.84661699e-02 3.63231343e+01] [ 3.76808449e-02 -3.90490603e-04 9.99289748e-01 4.77252064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82804094199997 meters 0.021684180564588384 Centerline is valid? [True, True] Translation: X:149.40, Y:36.35, Z:4.78 [[ 8.66183149e-01 -4.98673831e-01 -3.24216465e-02 1.49395204e+02] [ 4.98340369e-01 8.66789640e-01 -1.82372241e-02 3.63450032e+01] [ 3.71971737e-02 -3.60239128e-04 9.99307881e-01 4.77541867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88804094199998 meters 0.021527855597151205 Centerline is valid? [True, True] Translation: X:149.45, Y:36.37, Z:4.78 [[ 8.66246650e-01 -4.98535316e-01 -3.28523935e-02 1.49447763e+02] [ 4.98192626e-01 8.66869317e-01 -1.84849843e-02 3.63690289e+01] [ 3.76941494e-02 -3.54264485e-04 9.99289260e-01 4.77766345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94804094199998 meters 0.021617398746924452 Centerline is valid? [True, True] Translation: X:149.50, Y:36.39, Z:4.78 [[ 8.66236438e-01 -4.98517897e-01 -3.33817212e-02 1.49500473e+02] [ 4.98163613e-01 8.66879337e-01 -1.87944038e-02 3.63925444e+01] [ 3.83072710e-02 -3.49161407e-04 9.99265946e-01 4.77984756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00804094199998 meters 0.021612782632380447 Centerline is valid? [True, True] Translation: X:149.55, Y:36.42, Z:4.78 [[ 8.66090734e-01 -4.98816844e-01 -3.26893958e-02 1.49553311e+02] [ 4.98477078e-01 8.66707352e-01 -1.84110957e-02 3.64172555e+01] [ 3.75159043e-02 -3.49235140e-04 9.99295970e-01 4.78181433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06804094199998 meters 0.021727711512490595 Centerline is valid? [True, True] Translation: X:149.61, Y:36.44, Z:4.78 [[ 8.65486184e-01 -4.99769019e-01 -3.41261405e-02 1.49607436e+02] [ 4.99398958e-01 8.66158629e-01 -1.92330511e-02 3.64402672e+01] [ 3.91707342e-02 -3.96619046e-04 9.99232454e-01 4.78420205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12804094199998 meters 0.021898978093652738 Centerline is valid? [True, True] Translation: X:149.66, Y:36.46, Z:4.79 [[ 8.64721958e-01 -5.01128770e-01 -3.35543114e-02 1.49661778e+02] [ 5.00771616e-01 8.65372614e-01 -1.89216126e-02 3.64631457e+01] [ 3.85191466e-02 -4.41112824e-04 9.99257765e-01 4.78685695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.188040942 meters 0.02197309221646713 Centerline is valid? [True, True] Translation: X:149.71, Y:36.49, Z:4.79 [[ 8.63899785e-01 -5.02532066e-01 -3.37443963e-02 1.49713961e+02] [ 5.02171491e-01 8.64558428e-01 -1.90398931e-02 3.64897157e+01] [ 3.87421591e-02 -4.96914237e-04 9.99249117e-01 4.78956375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.248040942 meters 0.0223184111558369 Centerline is valid? [True, True] Translation: X:149.77, Y:36.51, Z:4.79 [[ 8.62529579e-01 -5.04890927e-01 -3.35838707e-02 1.49768964e+02] [ 5.04535138e-01 8.63182949e-01 -1.89602721e-02 3.65124556e+01] [ 3.85618939e-02 -5.90447296e-04 9.99256039e-01 4.79225285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.308040942 meters 0.022679077155129936 Centerline is valid? [True, True] Translation: X:149.82, Y:36.54, Z:4.79 [[ 8.61938238e-01 -5.05980109e-01 -3.23512566e-02 1.49822076e+02] [ 5.05650341e-01 8.62544933e-01 -1.82748739e-02 3.65363125e+01] [ 3.71511351e-02 -6.06611344e-04 9.99309474e-01 4.79491088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.368040942 meters 0.022852608425934087 Centerline is valid? [True, True] Translation: X:149.87, Y:36.56, Z:4.80 [[ 8.62290834e-01 -5.05353531e-01 -3.27463973e-02 1.49874006e+02] [ 5.05014801e-01 8.62912206e-01 -1.85087953e-02 3.65612744e+01] [ 3.76107510e-02 -5.77450793e-04 9.99292299e-01 4.79638696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.428040942 meters 0.022345707853814522 Centerline is valid? [True, True] Translation: X:149.93, Y:36.59, Z:4.80 [[ 8.63010811e-01 -5.04112274e-01 -3.29113287e-02 1.49926560e+02] [ 5.03769029e-01 8.63637970e-01 -1.86070462e-02 3.65886870e+01] [ 3.78035135e-02 -5.21626101e-04 9.99285056e-01 4.79970519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.488040942 meters 0.02200715337963487 Centerline is valid? [True, True] Translation: X:149.98, Y:36.62, Z:4.80 [[ 8.63955993e-01 -5.02481164e-01 -3.30563496e-02 1.49978228e+02] [ 5.02133278e-01 8.64588043e-01 -1.86999171e-02 3.66175169e+01] [ 3.79764807e-02 -4.42787740e-04 9.99278535e-01 4.80178720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54804094199997 meters 0.021783040181167838 Centerline is valid? [True, True] Translation: X:150.03, Y:36.65, Z:4.80 [[ 8.64857897e-01 -5.00883400e-01 -3.37140697e-02 1.50029654e+02] [ 5.00519880e-01 8.65514692e-01 -1.90831536e-02 3.66458261e+01] [ 3.87384575e-02 -3.70346081e-04 9.99249316e-01 4.80226154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60804094199997 meters 0.021824353503516022 Centerline is valid? [True, True] Translation: X:150.08, Y:36.67, Z:4.80 [[ 8.64755747e-01 -5.01001591e-01 -3.45673936e-02 1.50081941e+02] [ 5.00619051e-01 8.65446281e-01 -1.95780525e-02 3.66721558e+01] [ 3.97248577e-02 -3.74862408e-04 9.99210586e-01 4.80351895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66804094199998 meters 0.02280971722286384 Centerline is valid? [True, True] Translation: X:150.13, Y:36.70, Z:4.80 [[ 8.63561706e-01 -5.03022866e-01 -3.50596188e-02 1.50134490e+02] [ 5.02630567e-01 8.64272978e-01 -1.98678851e-02 3.66961795e+01] [ 4.02950817e-02 -4.64891298e-04 9.99187715e-01 4.80308699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72804094199998 meters 0.022215734763346384 Centerline is valid? [True, True] Translation: X:150.18, Y:36.73, Z:4.81 [[ 8.62423035e-01 -5.04993301e-01 -3.47602484e-02 1.50184879e+02] [ 5.04609050e-01 8.63123089e-01 -1.97038298e-02 3.67262439e+01] [ 3.99526750e-02 -5.47299234e-04 9.99201423e-01 4.80777139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78804094199998 meters 0.022534954063609447 Centerline is valid? [True, True] Translation: X:150.24, Y:36.75, Z:4.81 [[ 8.60681119e-01 -5.07993989e-01 -3.42069967e-02 1.50236494e+02] [ 5.07623805e-01 8.61360357e-01 -1.94012677e-02 3.67544726e+01] [ 3.93202783e-02 -6.65980980e-04 9.99226437e-01 4.81094021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84804094199998 meters 0.023049826688450882 Centerline is valid? [True, True] Translation: X:150.29, Y:36.78, Z:4.81 [[ 8.58851171e-01 -5.11069584e-01 -3.43881586e-02 1.50287869e+02] [ 5.10697475e-01 8.59538968e-01 -1.95154015e-02 3.67825813e+01] [ 3.95316905e-02 -8.01120349e-04 9.99217996e-01 4.81265493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90804094199999 meters 0.023224577233952753 Centerline is valid? [True, True] Translation: X:150.34, Y:36.81, Z:4.81 [[ 8.57332202e-01 -5.13600190e-01 -3.45881463e-02 1.50338737e+02] [ 5.13225339e-01 8.58029144e-01 -1.96402770e-02 3.68127655e+01] [ 3.97648875e-02 -9.13271182e-04 9.99208647e-01 4.81433038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.968040942 meters 0.023500208117881165 Centerline is valid? [True, True] Translation: X:150.39, Y:36.84, Z:4.82 [[ 8.56522026e-01 -5.14956481e-01 -3.44940707e-02 1.50389181e+02] [ 5.14584315e-01 8.57215780e-01 -1.95981935e-02 3.68425383e+01] [ 3.96610784e-02 -9.63823351e-04 9.99212725e-01 4.81658118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.028040942 meters 0.023041843194461925 Centerline is valid? [True, True] Translation: X:150.44, Y:36.88, Z:4.82 [[ 8.57080937e-01 -5.14016701e-01 -3.46280045e-02 1.50437954e+02] [ 5.13640421e-01 8.57779689e-01 -1.96855992e-02 3.68754505e+01] [ 3.98219257e-02 -9.14191073e-04 9.99206374e-01 4.81830463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.088040942 meters 0.022440024499753082 Centerline is valid? [True, True] Translation: X:150.49, Y:36.91, Z:4.82 [[ 8.58156747e-01 -5.12235688e-01 -3.43743665e-02 1.50486730e+02] [ 5.11863030e-01 8.58844535e-01 -1.95525922e-02 3.69082281e+01] [ 3.95377723e-02 -8.15778406e-04 9.99217744e-01 4.82072779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.148040942 meters 0.022314829325424352 Centerline is valid? [True, True] Translation: X:150.54, Y:36.94, Z:4.82 [[ 8.58571534e-01 -5.11519960e-01 -3.46734994e-02 1.50537190e+02] [ 5.11139742e-01 8.59271042e-01 -1.97342775e-02 3.69389178e+01] [ 3.98884108e-02 -7.79714620e-04 9.99203836e-01 4.82192128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.208040942 meters 0.02208133871439799 Centerline is valid? [True, True] Translation: X:150.59, Y:36.97, Z:4.82 [[ 8.59443898e-01 -5.10044701e-01 -3.47935176e-02 1.50587300e+02] [ 5.09660175e-01 8.60147608e-01 -1.98140805e-02 3.69702759e+01] [ 4.00336278e-02 -7.03779685e-04 9.99198085e-01 4.82308951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26804094199997 meters 0.021729478503464714 Centerline is valid? [True, True] Translation: X:150.64, Y:37.00, Z:4.83 [[ 8.60479434e-01 -5.08339018e-01 -3.41553404e-02 1.50638247e+02] [ 5.07966705e-01 8.61156826e-01 -1.94614408e-02 3.70007408e+01] [ 3.93061142e-02 -6.03606128e-04 9.99227034e-01 4.82581900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32804094199997 meters 0.021657943199226044 Centerline is valid? [True, True] Translation: X:150.69, Y:37.03, Z:4.83 [[ 8.61194969e-01 -5.07179899e-01 -3.33432849e-02 1.50687551e+02] [ 5.06823887e-01 8.61840048e-01 -1.90073415e-02 3.70302817e+01] [ 3.83767198e-02 -5.30146326e-04 9.99263202e-01 4.82801368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38804094199998 meters 0.021679743069431736 Centerline is valid? [True, True] Translation: X:150.74, Y:37.06, Z:4.83 [[ 8.61071939e-01 -5.07448117e-01 -3.24272313e-02 1.50738670e+02] [ 5.07111408e-01 8.61682154e-01 -1.84901140e-02 3.70572130e+01] [ 3.73247401e-02 -5.22900589e-04 9.99303052e-01 4.83062871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44804094199998 meters 0.021415378132049235 Centerline is valid? [True, True] Translation: X:150.79, Y:37.09, Z:4.83 [[ 8.60918665e-01 -5.07733698e-01 -3.20241199e-02 1.50789239e+02] [ 5.07405081e-01 8.61513913e-01 -1.82718562e-02 3.70860510e+01] [ 3.68664620e-02 -5.18619140e-04 9.99320066e-01 4.83386527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50804094199998 meters 0.021905413881313333 Centerline is valid? [True, True] Translation: X:150.84, Y:37.11, Z:4.83 [[ 8.60706062e-01 -5.08145805e-01 -3.11915870e-02 1.50840054e+02] [ 5.07833942e-01 8.61270908e-01 -1.78075887e-02 3.71116941e+01] [ 3.59132580e-02 -5.13046984e-04 9.99354779e-01 4.83453378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56804094199998 meters 0.02173726981762326 Centerline is valid? [True, True] Translation: X:150.89, Y:37.14, Z:4.84 [[ 8.60556127e-01 -5.08398960e-01 -3.12033780e-02 1.50891311e+02] [ 5.08086808e-01 8.61121495e-01 -1.78203870e-02 3.71392022e+01] [ 3.59297657e-02 -5.18581534e-04 9.99354183e-01 4.83569726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62804094199998 meters 0.021853022331162892 Centerline is valid? [True, True] Translation: X:150.94, Y:37.17, Z:4.84 [[ 8.60152776e-01 -5.09064901e-01 -3.14663208e-02 1.50944148e+02] [ 5.08747484e-01 8.60727968e-01 -1.79823099e-02 3.71653641e+01] [ 3.62381052e-02 -5.40877733e-04 9.99343038e-01 4.83767021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.688040942 meters 0.02192440705165661 Centerline is valid? [True, True] Translation: X:150.99, Y:37.19, Z:4.84 [[ 8.60671563e-01 -5.08150714e-01 -3.20517062e-02 1.50993708e+02] [ 5.07820385e-01 8.61268018e-01 -1.83264378e-02 3.71944430e+01] [ 3.69177019e-02 -5.03465948e-04 9.99318182e-01 4.83910809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.748040942 meters 0.02153306223306087 Centerline is valid? [True, True] Translation: X:151.04, Y:37.23, Z:4.84 [[ 8.61617764e-01 -5.06520479e-01 -3.24319809e-02 1.51043691e+02] [ 5.06180922e-01 8.62227821e-01 -1.85488137e-02 3.72251169e+01] [ 3.73591103e-02 -4.34462585e-04 9.99301810e-01 4.84055427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.808040942 meters 0.0215768214372045 Centerline is valid? [True, True] Translation: X:151.09, Y:37.26, Z:4.84 [[ 8.61949273e-01 -5.05976565e-01 -3.21117967e-02 1.51093778e+02] [ 5.05642922e-01 8.62547134e-01 -1.83760028e-02 3.72555658e+01] [ 3.69957649e-02 -3.97920490e-04 9.99315343e-01 4.84282845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.868040942 meters 0.0217795731759217 Centerline is valid? [True, True] Translation: X:151.14, Y:37.28, Z:4.85 [[ 8.60665171e-01 -5.08181903e-01 -3.17272390e-02 1.51144651e+02] [ 5.07857366e-01 8.61249630e-01 -1.81651006e-02 3.72840447e+01] [ 3.65562482e-02 -4.78842648e-04 9.99331482e-01 4.84526889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.928040942 meters 0.022397235968365212 Centerline is valid? [True, True] Translation: X:151.20, Y:37.31, Z:4.85 [[ 8.58954650e-01 -5.11124818e-01 -3.07949727e-02 1.51196560e+02] [ 5.10820811e-01 8.59506301e-01 -1.76356806e-02 3.73117834e+01] [ 3.54825071e-02 -5.82463053e-04 9.99370128e-01 4.84808548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.988040942 meters 0.022607480185925184 Centerline is valid? [True, True] Translation: X:151.25, Y:37.34, Z:4.85 [[ 8.57580591e-01 -5.13416497e-01 -3.09682354e-02 1.51246647e+02] [ 5.13110219e-01 8.58139294e-01 -1.77441528e-02 3.73416334e+01] [ 3.56852004e-02 -6.73076996e-04 9.99362854e-01 4.84985164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04804094199997 meters 0.02280866146213452 Centerline is valid? [True, True] Translation: X:151.30, Y:37.37, Z:4.85 [[ 8.56881678e-01 -5.14605647e-01 -3.05748001e-02 1.51298008e+02] [ 5.14307705e-01 8.57426688e-01 -1.75231098e-02 3.73706360e+01] [ 3.52331408e-02 -7.09623555e-04 9.99378868e-01 4.85168673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10804094199997 meters 0.023299865153402495 Centerline is valid? [True, True] Translation: X:151.35, Y:37.40, Z:4.85 [[ 8.56005441e-01 -5.16057729e-01 -3.06448184e-02 1.51349387e+02] [ 5.15758989e-01 8.56553465e-01 -1.75734560e-02 3.73986938e+01] [ 3.53178432e-02 -7.62366623e-04 9.99375840e-01 4.85360817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16804094199998 meters 0.024132155113932983 Centerline is valid? [True, True] Translation: X:151.40, Y:37.43, Z:4.85 [[ 8.54751507e-01 -5.18070426e-01 -3.16685210e-02 1.51401168e+02] [ 5.17752376e-01 8.55337527e-01 -1.81711656e-02 3.74272894e+01] [ 3.65012180e-02 -8.64620878e-04 9.99333234e-01 4.85467991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22804094199998 meters 0.024440019469433395 Centerline is valid? [True, True] Translation: X:151.45, Y:37.46, Z:4.86 [[ 8.54171343e-01 -5.19031547e-01 -3.15843322e-02 1.51452334e+02] [ 5.18715471e-01 8.54754616e-01 -1.81330301e-02 3.74560972e+01] [ 3.64084684e-02 -8.94567130e-04 9.99336592e-01 4.85621253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28804094199998 meters 0.023599280666835656 Centerline is valid? [True, True] Translation: X:151.50, Y:37.49, Z:4.86 [[ 8.53882643e-01 -5.19538934e-01 -3.10439838e-02 1.51501366e+02] [ 5.19233558e-01 8.54446313e-01 -1.78328606e-02 3.74877808e+01] [ 3.57902829e-02 -8.91908023e-04 9.99358925e-01 4.85824296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34804094199998 meters 0.02412940473415282 Centerline is valid? [True, True] Translation: X:151.55, Y:37.52, Z:4.86 [[ 8.54163740e-01 -5.19091002e-01 -3.08031845e-02 1.51551438e+02] [ 5.18789677e-01 8.54718548e-01 -1.77051925e-02 3.75159745e+01] [ 3.55186592e-02 -8.57240742e-04 9.99368646e-01 4.86041923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40804094199999 meters 0.02353570390653646 Centerline is valid? [True, True] Translation: X:151.60, Y:37.55, Z:4.86 [[ 8.55200559e-01 -5.17367997e-01 -3.10219078e-02 1.51601144e+02] [ 5.17061080e-01 8.55762663e-01 -1.78354588e-02 3.75477714e+01] [ 3.57748860e-02 -7.87326778e-04 9.99359564e-01 4.86109630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.468040942 meters 0.0226182002079846 Centerline is valid? [True, True] Translation: X:151.65, Y:37.58, Z:4.86 [[ 8.57901209e-01 -5.12895575e-01 -3.07187848e-02 1.51649517e+02] [ 5.12591434e-01 8.58450805e-01 -1.76702479e-02 3.75810419e+01] [ 3.54335575e-02 -5.86858916e-04 9.99371862e-01 4.86240502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.528040942 meters 0.02188372814506076 Centerline is valid? [True, True] Translation: X:151.70, Y:37.62, Z:4.86 [[ 8.60730379e-01 -5.08093195e-01 -3.13770699e-02 1.51698438e+02] [ 5.07772533e-01 8.61302009e-01 -1.80528115e-02 3.76153068e+01] [ 3.61976440e-02 -3.93810978e-04 9.99344573e-01 4.86284143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.588040942 meters 0.021402466908677108 Centerline is valid? [True, True] Translation: X:151.75, Y:37.65, Z:4.86 [[ 8.62875968e-01 -5.04420235e-01 -3.17063100e-02 1.51747482e+02] [ 5.04089966e-01 8.63458263e-01 -1.82519675e-02 3.76489054e+01] [ 3.65837371e-02 -2.33648622e-04 9.99330564e-01 4.86474512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.648040942 meters 0.02130985595916482 Centerline is valid? [True, True] Translation: X:151.80, Y:37.68, Z:4.87 [[ 8.63984980e-01 -5.02522777e-01 -3.16356285e-02 1.51796067e+02] [ 5.02192363e-01 8.64563958e-01 -1.82206788e-02 3.76797672e+01] [ 3.65073303e-02 -1.44778230e-04 9.99333375e-01 4.86565136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.708040942 meters 0.02123237266067778 Centerline is valid? [True, True] Translation: X:151.85, Y:37.71, Z:4.87 [[ 8.64548228e-01 -5.01534973e-01 -3.19222945e-02 1.51845585e+02] [ 5.01197678e-01 8.65137365e-01 -1.83909287e-02 3.77106476e+01] [ 3.68408636e-02 -9.95350676e-05 9.99321140e-01 4.86814849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76804094199997 meters 0.021244449041654016 Centerline is valid? [True, True] Translation: X:151.90, Y:37.74, Z:4.87 [[ 8.64170865e-01 -5.02286802e-01 -3.02768168e-02 1.51896497e+02] [ 5.01983492e-01 8.64701079e-01 -1.74533094e-02 3.77379201e+01] [ 3.49469631e-02 -1.15820788e-04 9.99389162e-01 4.87211883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82804094199997 meters 0.021401408272565727 Centerline is valid? [True, True] Translation: X:151.95, Y:37.76, Z:4.87 [[ 8.63443260e-01 -5.03570327e-01 -2.97096527e-02 1.51947637e+02] [ 5.03278890e-01 8.63954223e-01 -1.71306335e-02 3.77644983e+01] [ 3.42942587e-02 -1.60911061e-04 9.99411766e-01 4.87476698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88804094199998 meters 0.021443171387646794 Centerline is valid? [True, True] Translation: X:152.00, Y:37.79, Z:4.88 [[ 8.62981783e-01 -5.04380621e-01 -2.93706044e-02 1.51998613e+02] [ 5.04095892e-01 8.63481416e-01 -1.69462473e-02 3.77925549e+01] [ 3.39083298e-02 -1.81298331e-04 9.99424931e-01 4.87651105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94804094199998 meters 0.021389249904080403 Centerline is valid? [True, True] Translation: X:152.05, Y:37.82, Z:4.88 [[ 8.62872844e-01 -5.04594354e-01 -2.88962524e-02 1.52049131e+02] [ 5.04318509e-01 8.63356535e-01 -1.66833863e-02 3.78207827e+01] [ 3.33661109e-02 -1.77273921e-04 9.99443181e-01 4.87852767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00804094199998 meters 0.0213579862484756 Centerline is valid? [True, True] Translation: X:152.10, Y:37.85, Z:4.88 [[ 8.61977638e-01 -5.06116410e-01 -2.89953589e-02 1.52100809e+02] [ 5.05839163e-01 8.62465146e-01 -1.67515238e-02 3.78481433e+01] [ 3.34857075e-02 -2.27549187e-04 9.99439171e-01 4.88091569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06804094199998 meters 0.021452384648407426 Centerline is valid? [True, True] Translation: X:152.15, Y:37.88, Z:4.88 [[ 8.60640832e-01 -5.08352768e-01 -2.95773713e-02 1.52152655e+02] [ 5.08065254e-01 8.61148864e-01 -1.70977358e-02 3.78761290e+01] [ 3.41622010e-02 -3.12225059e-04 9.99416253e-01 4.88304050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12804094199998 meters 0.021716784130072414 Centerline is valid? [True, True] Translation: X:152.20, Y:37.90, Z:4.89 [[ 8.59002266e-01 -5.11146053e-01 -2.90657705e-02 1.52204704e+02] [ 5.10869677e-01 8.59493773e-01 -1.68115275e-02 3.79029104e+01] [ 3.35749947e-02 -4.07680539e-04 9.99436118e-01 4.88560730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.188040942 meters 0.022164739908549006 Centerline is valid? [True, True] Translation: X:152.26, Y:37.93, Z:4.89 [[ 8.57113982e-01 -5.14351036e-01 -2.82600936e-02 1.52257122e+02] [ 5.14091212e-01 8.57579589e-01 -1.63546534e-02 3.79306440e+01] [ 3.26473124e-02 -5.10463618e-04 9.99466804e-01 4.88810025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.248040942 meters 0.022415088937305486 Centerline is valid? [True, True] Translation: X:152.31, Y:37.96, Z:4.89 [[ 8.56210580e-01 -5.15866449e-01 -2.80223159e-02 1.52308577e+02] [ 5.15611493e-01 8.56668838e-01 -1.62262148e-02 3.79600326e+01] [ 3.23764046e-02 -5.55571335e-04 9.99475592e-01 4.89013812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.308040942 meters 0.02283365638377651 Centerline is valid? [True, True] Translation: X:152.36, Y:37.99, Z:4.89 [[ 8.55558373e-01 -5.16992500e-01 -2.71776628e-02 1.52358400e+02] [ 5.16752986e-01 8.55989735e-01 -1.57456411e-02 3.79899427e+01] [ 3.14041787e-02 -5.72823320e-04 9.99506603e-01 4.89322568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.368040942 meters 0.022860320873033677 Centerline is valid? [True, True] Translation: X:152.41, Y:38.02, Z:4.90 [[ 8.55272140e-01 -5.17498737e-01 -2.65447652e-02 1.52408106e+02] [ 5.17270404e-01 8.55683777e-01 -1.53818811e-02 3.80200095e+01] [ 3.06740290e-02 -5.75127026e-04 9.99529276e-01 4.89581012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.428040942 meters 0.023226564566345045 Centerline is valid? [True, True] Translation: X:152.46, Y:38.05, Z:4.90 [[ 8.54244419e-01 -5.19216323e-01 -2.60937329e-02 1.52458445e+02] [ 5.18996203e-01 8.54642632e-01 -1.51298602e-02 3.80506935e+01] [ 3.01564870e-02 -6.17949672e-04 9.99544999e-01 4.89898172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.488040942 meters 0.022920117791387244 Centerline is valid? [True, True] Translation: X:152.51, Y:38.08, Z:4.90 [[ 8.53131056e-01 -5.21068684e-01 -2.55896143e-02 1.52507293e+02] [ 5.20857584e-01 8.53514491e-01 -1.48455309e-02 3.80841523e+01] [ 2.95766479e-02 -6.63361244e-04 9.99562295e-01 4.90066918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54804094199997 meters 0.023630143234909706 Centerline is valid? [True, True] Translation: X:152.56, Y:38.12, Z:4.90 [[ 8.52484767e-01 -5.22142867e-01 -2.52299172e-02 1.52555930e+02] [ 5.21937881e-01 8.52857760e-01 -1.46454577e-02 3.81157847e+01] [ 2.91645520e-02 -6.83419934e-04 9.99574390e-01 4.90221839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60804094199997 meters 0.022904476650165574 Centerline is valid? [True, True] Translation: X:152.60, Y:38.15, Z:4.90 [[ 8.52104037e-01 -5.22814729e-01 -2.41550932e-02 1.52603198e+02] [ 5.22627050e-01 8.52446071e-01 -1.40236433e-02 3.81509164e+01] [ 2.79226815e-02 -6.74502055e-04 9.99609858e-01 4.90482653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66804094199998 meters 0.023141000127828572 Centerline is valid? [True, True] Translation: X:152.65, Y:38.18, Z:4.91 [[ 8.51953175e-01 -5.23088776e-01 -2.35355116e-02 1.52651156e+02] [ 5.22910487e-01 8.52277947e-01 -1.36720155e-02 3.81814455e+01] [ 2.72104753e-02 -6.59048873e-04 9.99629509e-01 4.90734355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72804094199998 meters 0.023083426362824074 Centerline is valid? [True, True] Translation: X:152.70, Y:38.22, Z:4.91 [[ 8.53592332e-01 -5.20356230e-01 -2.46885673e-02 1.52696470e+02] [ 5.20158692e-01 8.53949086e-01 -1.43489904e-02 3.82181811e+01] [ 2.85493661e-02 -5.93784716e-04 9.99592207e-01 4.90820597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78804094199998 meters 0.022594161050606347 Centerline is valid? [True, True] Translation: X:152.74, Y:38.25, Z:4.91 [[ 8.54283730e-01 -5.19204592e-01 -2.50179890e-02 1.52743924e+02] [ 5.19001176e-01 8.54649798e-01 -1.45430779e-02 3.82533060e+01] [ 2.89324521e-02 -5.60450873e-04 9.99581212e-01 4.90868681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84804094199998 meters 0.02217244156795708 Centerline is valid? [True, True] Translation: X:152.79, Y:38.29, Z:4.91 [[ 8.54282627e-01 -5.19246359e-01 -2.41746095e-02 1.52790941e+02] [ 5.19056235e-01 8.54624438e-01 -1.40603651e-02 3.82881879e+01] [ 2.79610055e-02 -5.36456202e-04 9.99608871e-01 4.90997479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90804094199999 meters 0.022417081136247952 Centerline is valid? [True, True] Translation: X:152.84, Y:38.32, Z:4.91 [[ 8.53653349e-01 -5.20241027e-01 -2.50046608e-02 1.52839762e+02] [ 5.20037752e-01 8.54019284e-01 -1.45533290e-02 3.83212245e+01] [ 2.89257014e-02 -5.79869493e-04 9.99581396e-01 4.91105364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.968040942 meters 0.022868690555784613 Centerline is valid? [True, True] Translation: X:152.89, Y:38.35, Z:4.91 [[ 8.54170434e-01 -5.19368716e-01 -2.54755947e-02 1.52887596e+02] [ 5.19157055e-01 8.54550075e-01 -1.48364898e-02 3.83542750e+01] [ 2.94757800e-02 -5.52943739e-04 9.99565342e-01 4.91174684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.028040942 meters 0.022826206830700527 Centerline is valid? [True, True] Translation: X:152.94, Y:38.39, Z:4.91 [[ 8.54437676e-01 -5.18914710e-01 -2.57639842e-02 1.52937180e+02] [ 5.18697935e-01 8.54825849e-01 -1.50073478e-02 3.83853952e+01] [ 2.98112532e-02 -5.40882095e-04 9.99555399e-01 4.91352912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.088040942 meters 0.022018859046159193 Centerline is valid? [True, True] Translation: X:152.98, Y:38.42, Z:4.91 [[ 8.54989503e-01 -5.17930499e-01 -2.72203740e-02 1.52984678e+02] [ 5.17687734e-01 8.55422539e-01 -1.58647458e-02 3.84205618e+01] [ 3.15017571e-02 -5.27462601e-04 9.99503557e-01 4.91408884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.148040942 meters 0.021819688497458214 Centerline is valid? [True, True] Translation: X:153.03, Y:38.46, Z:4.92 [[ 8.55337379e-01 -5.17401529e-01 -2.63367969e-02 1.53033051e+02] [ 5.17173763e-01 8.55742615e-01 -1.53582361e-02 3.84552240e+01] [ 3.04838943e-02 -4.84226976e-04 9.99535141e-01 4.91583284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.208040942 meters 0.021561648442211947 Centerline is valid? [True, True] Translation: X:153.08, Y:38.49, Z:4.92 [[ 8.55830498e-01 -5.16620237e-01 -2.56454562e-02 1.53081880e+02] [ 5.16403676e-01 8.56214541e-01 -1.49634224e-02 3.84885232e+01] [ 2.96884193e-02 -4.37254611e-04 9.99559106e-01 4.91888573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26804094199997 meters 0.021612718958844163 Centerline is valid? [True, True] Translation: X:153.13, Y:38.52, Z:4.92 [[ 8.55553653e-01 -5.17098015e-01 -2.52505401e-02 1.53131237e+02] [ 5.16888037e-01 8.55926077e-01 -1.47413701e-02 3.85192717e+01] [ 2.92353289e-02 -4.39669044e-04 9.99572460e-01 4.92065264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32804094199997 meters 0.02192620691324956 Centerline is valid? [True, True] Translation: X:153.18, Y:38.55, Z:4.92 [[ 8.54220110e-01 -5.19275799e-01 -2.57030792e-02 1.53181626e+02] [ 5.19058906e-01 8.54606564e-01 -1.50157391e-02 3.85495850e+01] [ 2.97633301e-02 -5.14665792e-04 9.99556841e-01 4.92133565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38804094199998 meters 0.02294789107044124 Centerline is valid? [True, True] Translation: X:153.23, Y:38.58, Z:4.92 [[ 8.51830375e-01 -5.23143806e-01 -2.65625823e-02 1.53233692e+02] [ 5.22913753e-01 8.52244165e-01 -1.55270414e-02 3.85777016e+01] [ 3.07606813e-02 -6.63534143e-04 9.99526558e-01 4.92349087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44804094199998 meters 0.023321793217634598 Centerline is valid? [True, True] Translation: X:153.28, Y:38.61, Z:4.93 [[ 8.50409331e-01 -5.25465050e-01 -2.62764128e-02 1.53283870e+02] [ 5.25240771e-01 8.50814871e-01 -1.53684029e-02 3.86073174e+01] [ 3.04319214e-02 -7.32010051e-04 9.99536574e-01 4.92560895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50804094199998 meters 0.023513998940407472 Centerline is valid? [True, True] Translation: X:153.33, Y:38.64, Z:4.93 [[ 8.50330146e-01 -5.25617633e-01 -2.57826895e-02 1.53333045e+02] [ 5.25401691e-01 8.50720626e-01 -1.50823979e-02 3.86385055e+01] [ 2.98614400e-02 -7.21251004e-04 9.99553788e-01 4.92790087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56804094199998 meters 0.02292911346921939 Centerline is valid? [True, True] Translation: X:153.38, Y:38.67, Z:4.93 [[ 8.51575181e-01 -5.23568503e-01 -2.63767554e-02 1.53381134e+02] [ 5.23341197e-01 8.51983329e-01 -1.54401592e-02 3.86738724e+01] [ 3.05565369e-02 -6.55586446e-04 9.99532825e-01 4.92779678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62804094199998 meters 0.022990870708637527 Centerline is valid? [True, True] Translation: X:153.43, Y:38.70, Z:4.93 [[ 8.52234759e-01 -5.22470639e-01 -2.68392672e-02 1.53430379e+02] [ 5.22234484e-01 8.52657051e-01 -1.57192987e-02 3.87047754e+01] [ 3.10975625e-02 -6.19858072e-04 9.99516162e-01 4.92900717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.688040942 meters 0.022602995727542596 Centerline is valid? [True, True] Translation: X:153.48, Y:38.74, Z:4.93 [[ 8.52778174e-01 -5.21577111e-01 -2.69574354e-02 1.53479548e+02] [ 5.21338278e-01 8.53203946e-01 -1.57932313e-02 3.87373456e+01] [ 3.12375782e-02 -5.85820040e-04 9.99511816e-01 4.93125791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.748040942 meters 0.021806583272982363 Centerline is valid? [True, True] Translation: X:153.53, Y:38.77, Z:4.93 [[ 8.53958708e-01 -5.19673948e-01 -2.63346234e-02 1.53528387e+02] [ 5.19444864e-01 8.54364524e-01 -1.54367510e-02 3.87706861e+01] [ 3.05214453e-02 -4.97036926e-04 9.99533989e-01 4.93356153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.808040942 meters 0.021510616012847948 Centerline is valid? [True, True] Translation: X:153.58, Y:38.80, Z:4.94 [[ 8.55419078e-01 -5.17298369e-01 -2.57021101e-02 1.53578051e+02] [ 5.17078832e-01 8.55805026e-01 -1.50744803e-02 3.88024170e+01] [ 2.97939991e-02 -3.95018993e-04 9.99555982e-01 4.93579606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.868040942 meters 0.021107477756322424 Centerline is valid? [True, True] Translation: X:153.63, Y:38.84, Z:4.94 [[ 8.57484601e-01 -5.13911934e-01 -2.47928130e-02 1.53627096e+02] [ 5.13706011e-01 8.57842909e-01 -1.45491369e-02 3.88352894e+01] [ 2.87453139e-02 -2.60556218e-04 9.99586734e-01 4.93760679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.928040942 meters 0.020838867041882134 Centerline is valid? [True, True] Translation: X:153.68, Y:38.87, Z:4.94 [[ 8.59573947e-01 -5.10380808e-01 -2.53783300e-02 1.53675981e+02] [ 5.10163234e-01 8.59948494e-01 -1.49017913e-02 3.88667641e+01] [ 2.94296450e-02 -1.37899316e-04 9.99566845e-01 4.93918709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.988040942 meters 0.020762711530118712 Centerline is valid? [True, True] Translation: X:153.73, Y:38.90, Z:4.94 [[ 8.60658965e-01 -5.08558115e-01 -2.51950284e-02 1.53725406e+02] [ 5.08342815e-01 8.61027664e-01 -1.47967490e-02 3.88971738e+01] [ 2.92186232e-02 -7.27569442e-05 9.99573042e-01 4.94029794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04804094199997 meters 0.020689150287465742 Centerline is valid? [True, True] Translation: X:153.78, Y:38.93, Z:4.94 [[ 8.61294818e-01 -5.07484607e-01 -2.51119509e-02 1.53776097e+02] [ 5.07269999e-01 8.61660823e-01 -1.47572037e-02 3.89257392e+01] [ 2.91270380e-02 -2.82362384e-05 9.99575717e-01 4.94180698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10804094199997 meters 0.020779691726146896 Centerline is valid? [True, True] Translation: X:153.83, Y:38.95, Z:4.94 [[ 8.61741796e-01 -5.06771963e-01 -2.41506794e-02 1.53825612e+02] [ 5.06572940e-01 8.62080146e-01 -1.42013573e-02 3.89533628e+01] [ 2.80166709e-02 3.82246871e-06 9.99607456e-01 4.94420906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16804094199998 meters 0.020690382121947425 Centerline is valid? [True, True] Translation: X:153.88, Y:38.98, Z:4.94 [[ 8.61741050e-01 -5.06753977e-01 -2.45513561e-02 1.53876999e+02] [ 5.06548189e-01 8.62090718e-01 -1.44404208e-02 3.89806838e+01] [ 2.84832369e-02 7.45842575e-06 9.99594270e-01 4.94484494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22804094199998 meters 0.020575282055608272 Centerline is valid? [True, True] Translation: X:153.93, Y:39.00, Z:4.95 [[ 8.60558872e-01 -5.08714845e-01 -2.54486676e-02 1.53928767e+02] [ 5.08494273e-01 8.60935075e-01 -1.49789945e-02 3.90045509e+01] [ 2.95296874e-02 -5.01951526e-05 9.99563902e-01 4.94627327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28804094199998 meters 0.02061685609687917 Centerline is valid? [True, True] Translation: X:153.98, Y:39.03, Z:4.95 [[ 8.59040009e-01 -5.11277798e-01 -2.54022769e-02 1.53982185e+02] [ 5.11059027e-01 8.59415496e-01 -1.49558171e-02 3.90303043e+01] [ 2.94776877e-02 -1.34417648e-04 9.99565430e-01 4.94758846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34804094199998 meters 0.02095285286825139 Centerline is valid? [True, True] Translation: X:154.04, Y:39.05, Z:4.95 [[ 8.57262035e-01 -5.14179473e-01 -2.68565244e-02 1.54036824e+02] [ 5.13936053e-01 8.57682582e-01 -1.58215411e-02 3.90523195e+01] [ 3.11694849e-02 -2.39329649e-04 9.99514085e-01 4.94794860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40804094199999 meters 0.021088705835475282 Centerline is valid? [True, True] Translation: X:154.09, Y:39.08, Z:4.95 [[ 8.55594672e-01 -5.16890043e-01 -2.79721340e-02 1.54090727e+02] [ 5.16627298e-01 8.56051729e-01 -1.64824890e-02 3.90773589e+01] [ 3.24652281e-02 -3.48838179e-04 9.99472805e-01 4.94963644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.468040942 meters 0.02136352096770459 Centerline is valid? [True, True] Translation: X:154.14, Y:39.10, Z:4.95 [[ 8.54461052e-01 -5.18735084e-01 -2.84644195e-02 1.54144418e+02] [ 5.18463708e-01 8.54934932e-01 -1.67823006e-02 3.91021880e+01] [ 3.30407946e-02 -4.17946242e-04 9.99453917e-01 4.95076303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.528040942 meters 0.021636070950349272 Centerline is valid? [True, True] Translation: X:154.20, Y:39.13, Z:4.95 [[ 8.53301132e-01 -5.20526485e-01 -3.04853520e-02 1.54198365e+02] [ 5.20215955e-01 8.53845370e-01 -1.79845851e-02 3.91262061e+01] [ 3.53912296e-02 -5.12699645e-04 9.99373403e-01 4.95281863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.588040942 meters 0.021357455460465774 Centerline is valid? [True, True] Translation: X:154.25, Y:39.15, Z:4.96 [[ 8.53285306e-01 -5.20564827e-01 -3.02728755e-02 1.54250765e+02] [ 5.20258280e-01 8.53822001e-01 -1.78693325e-02 3.91509476e+01] [ 3.51497931e-02 -5.02075322e-04 9.99381929e-01 4.95619963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.648040942 meters 0.0212182355107651 Centerline is valid? [True, True] Translation: X:154.30, Y:39.18, Z:4.96 [[ 8.53836616e-01 -5.19695899e-01 -2.96514090e-02 1.54303257e+02] [ 5.19400905e-01 8.54351200e-01 -1.75136349e-02 3.91785737e+01] [ 3.44344811e-02 -4.47185910e-04 9.99406857e-01 4.95911963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.708040942 meters 0.02130890358100125 Centerline is valid? [True, True] Translation: X:154.35, Y:39.20, Z:4.96 [[ 8.53910680e-01 -5.19576172e-01 -2.96167649e-02 1.54354840e+02] [ 5.19281462e-01 8.54424025e-01 -1.75028333e-02 3.92036504e+01] [ 3.43993306e-02 -4.33580689e-04 9.99408074e-01 4.96098251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76804094199997 meters 0.02137839763985195 Centerline is valid? [True, True] Translation: X:154.41, Y:39.23, Z:4.96 [[ 8.53614673e-01 -5.20012475e-01 -3.04797577e-02 1.54407861e+02] [ 5.19700395e-01 8.54158542e-01 -1.80189906e-02 3.92277530e+01] [ 3.54046453e-02 -4.59067387e-04 9.99372954e-01 4.96312994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82804094199997 meters 0.021296464634648297 Centerline is valid? [True, True] Translation: X:154.46, Y:39.25, Z:4.96 [[ 8.54432434e-01 -5.18595029e-01 -3.16924659e-02 1.54460920e+02] [ 5.18256174e-01 8.55019901e-01 -1.87485099e-02 3.92537559e+01] [ 3.68205731e-02 -4.05481223e-04 9.99321811e-01 4.96402263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88804094199998 meters 0.021052186551950403 Centerline is valid? [True, True] Translation: X:154.51, Y:39.28, Z:4.96 [[ 8.55846748e-01 -5.16175128e-01 -3.30088186e-02 1.54514357e+02] [ 5.15805287e-01 8.56483009e-01 -1.95387085e-02 3.92801624e+01] [ 3.83568876e-02 -3.03983046e-04 9.99264058e-01 4.96481658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94804094199998 meters 0.02110203513220119 Centerline is valid? [True, True] Translation: X:154.56, Y:39.31, Z:4.97 [[ 8.56188809e-01 -5.15577530e-01 -3.34743737e-02 1.54564367e+02] [ 5.15196341e-01 8.56842889e-01 -1.98240779e-02 3.93074846e+01] [ 3.89031282e-02 -2.72721205e-04 9.99242950e-01 4.96625534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00804094199998 meters 0.021096796460166715 Centerline is valid? [True, True] Translation: X:154.61, Y:39.34, Z:4.97 [[ 8.58445223e-01 -5.11821198e-01 -3.33295582e-02 1.54614338e+02] [ 5.11440259e-01 8.59091993e-01 -1.97436010e-02 3.93374561e+01] [ 3.87383501e-02 -9.72778502e-05 9.99249384e-01 4.96843842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06804094199998 meters 0.02120429227868815 Centerline is valid? [True, True] Translation: X:154.66, Y:39.37, Z:4.97 [[ 8.60708533e-01 -5.08035274e-01 -3.28782752e-02 1.54661872e+02] [ 5.07661604e-01 8.61336261e-01 -1.94818440e-02 3.93707019e+01] [ 3.82167146e-02 7.71514458e-05 9.99269472e-01 4.97151896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12804094199998 meters 0.021350219905702492 Centerline is valid? [True, True] Translation: X:154.71, Y:39.40, Z:4.97 [[ 8.60855385e-01 -5.07650321e-01 -3.49164548e-02 1.54710933e+02] [ 5.07227985e-01 8.61563195e-01 -2.07034196e-02 3.94043540e+01] [ 4.05928299e-02 1.12047254e-04 9.99175765e-01 4.97127727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.188040942 meters 0.02132963556099278 Centerline is valid? [True, True] Translation: X:154.76, Y:39.43, Z:4.97 [[ 8.58809971e-01 -5.11032907e-01 -3.59277451e-02 1.54760857e+02] [ 5.10588176e-01 8.59561148e-01 -2.13154341e-02 3.94348492e+01] [ 4.17749821e-02 -3.83745458e-05 9.99127044e-01 4.97194244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.248040942 meters 0.021414128271368193 Centerline is valid? [True, True] Translation: X:154.81, Y:39.46, Z:4.97 [[ 8.56447166e-01 -5.15027942e-01 -3.52770479e-02 1.54811526e+02] [ 5.14602057e-01 8.57173361e-01 -2.09416192e-02 3.94627711e+01] [ 4.10240648e-02 -2.18250997e-04 9.99158135e-01 4.97415252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.308040942 meters 0.02230569662814699 Centerline is valid? [True, True] Translation: X:154.86, Y:39.49, Z:4.98 [[ 8.52170887e-01 -5.21989800e-01 -3.64887423e-02 1.54864308e+02] [ 5.21539984e-01 8.52951542e-01 -2.16728364e-02 3.94874152e+01] [ 4.24361286e-02 -5.61377831e-04 9.99099024e-01 4.97548997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.368040942 meters 0.023024309088157963 Centerline is valid? [True, True] Translation: X:154.92, Y:39.52, Z:4.98 [[ 8.49394565e-01 -5.26411985e-01 -3.76735277e-02 1.54916564e+02] [ 5.25936529e-01 8.50229251e-01 -2.23827877e-02 3.95163968e+01] [ 4.38137029e-02 -8.02066133e-04 9.99039397e-01 4.97548554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.428040942 meters 0.023088841754820975 Centerline is valid? [True, True] Translation: X:154.97, Y:39.55, Z:4.98 [[ 8.49479674e-01 -5.26250279e-01 -3.80121978e-02 1.54965033e+02] [ 5.25765516e-01 8.50329360e-01 -2.25965121e-02 3.95487601e+01] [ 4.42143086e-02 -7.90225062e-04 9.99021757e-01 4.97554575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.488040942 meters 0.02278171723924289 Centerline is valid? [True, True] Translation: X:155.01, Y:39.58, Z:4.98 [[ 8.49544022e-01 -5.26231288e-01 -3.68182930e-02 1.55014755e+02] [ 5.25775942e-01 8.50341146e-01 -2.18996653e-02 3.95812437e+01] [ 4.28323985e-02 -7.53442888e-04 9.99081988e-01 4.97928108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54804094199997 meters 0.022995884528363902 Centerline is valid? [True, True] Translation: X:155.06, Y:39.61, Z:4.98 [[ 8.48330521e-01 -5.28255798e-01 -3.57929970e-02 1.55064920e+02] [ 5.27826803e-01 8.49084882e-01 -2.13009271e-02 3.96123358e+01] [ 4.16436309e-02 -8.22276591e-04 9.99132189e-01 4.98254581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60804094199997 meters 0.02337886947032431 Centerline is valid? [True, True] Translation: X:155.12, Y:39.64, Z:4.98 [[ 8.48058591e-01 -5.28749072e-01 -3.49434554e-02 1.55115087e+02] [ 5.28340140e-01 8.48777799e-01 -2.08073112e-02 3.96421845e+01] [ 4.06610757e-02 -8.16211110e-04 9.99172663e-01 4.98353498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66804094199998 meters 0.024187587847591233 Centerline is valid? [True, True] Translation: X:155.17, Y:39.67, Z:4.98 [[ 8.48906271e-01 -5.27309594e-01 -3.60934143e-02 1.55165666e+02] [ 5.26871482e-01 8.49672885e-01 -2.15041751e-02 3.96697532e+01] [ 4.20069533e-02 -7.61561596e-04 9.99117028e-01 4.98309013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72804094199998 meters 0.022840587084145204 Centerline is valid? [True, True] Translation: X:155.21, Y:39.71, Z:4.98 [[ 8.51459287e-01 -5.23110091e-01 -3.70528724e-02 1.55213575e+02] [ 5.22644101e-01 8.52264933e-01 -2.20822951e-02 3.97051677e+01] [ 4.31303352e-02 -5.63289950e-04 9.99069295e-01 4.98464067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78804094199998 meters 0.0226022370490941 Centerline is valid? [True, True] Translation: X:155.26, Y:39.74, Z:4.99 [[ 8.52919024e-01 -5.20761794e-01 -3.65553407e-02 1.55262091e+02] [ 5.20305765e-01 8.53701920e-01 -2.17932046e-02 3.97397171e+01] [ 4.25564329e-02 -4.32115675e-04 9.99093971e-01 4.98615052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84804094199998 meters 0.02309833677009453 Centerline is valid? [True, True] Translation: X:155.31, Y:39.77, Z:4.99 [[ 8.52186569e-01 -5.21987136e-01 -3.61591170e-02 1.55312465e+02] [ 5.21541653e-01 8.52953222e-01 -2.15662920e-02 3.97681060e+01] [ 4.20993623e-02 -4.79981261e-04 9.99113314e-01 4.98804594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90804094199999 meters 0.024061920371806014 Centerline is valid? [True, True] Translation: X:155.37, Y:39.79, Z:4.99 [[ 8.48671968e-01 -5.27747158e-01 -3.51969751e-02 1.55365745e+02] [ 5.27329763e-01 8.49401195e-01 -2.09983617e-02 3.97943119e+01] [ 4.09781784e-02 -7.39691610e-04 9.99159768e-01 4.99169031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.968040942 meters 0.025068174965995012 Centerline is valid? [True, True] Translation: X:155.42, Y:39.83, Z:4.99 [[ 8.44504751e-01 -5.34509239e-01 -3.33406681e-02 1.55416909e+02] [ 5.34139559e-01 8.45162038e-01 -1.99012791e-02 3.98250974e+01] [ 3.88156845e-02 -1.00184505e-03 9.99245885e-01 4.99258097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.028040942 meters 0.027016463380965826 Centerline is valid? [True, True] Translation: X:155.47, Y:39.85, Z:4.99 [[ 8.41277793e-01 -5.39669366e-01 -3.17592552e-02 1.55468692e+02] [ 5.39337302e-01 8.41876236e-01 -1.89651757e-02 3.98528995e+01] [ 3.69722866e-02 -1.17396987e-03 9.99315602e-01 4.99348608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.088040942 meters 0.027477685666296197 Centerline is valid? [True, True] Translation: X:155.52, Y:39.88, Z:5.00 [[ 8.39602351e-01 -5.42316416e-01 -3.09967404e-02 1.55519918e+02] [ 5.42001789e-01 8.40173390e-01 -1.85131102e-02 3.98831338e+01] [ 3.60826000e-02 -1.25663791e-03 9.99348021e-01 4.99637558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.148040942 meters 0.02827813971886471 Centerline is valid? [True, True] Translation: X:155.57, Y:39.91, Z:5.00 [[ 8.38566480e-01 -5.43952744e-01 -3.03590285e-02 1.55569878e+02] [ 5.43651668e-01 8.39114857e-01 -1.81416679e-02 3.99141047e+01] [ 3.53429219e-02 -1.29174193e-03 9.99374409e-01 4.99686117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.208040942 meters 0.028247966706299574 Centerline is valid? [True, True] Translation: X:155.62, Y:39.95, Z:5.00 [[ 8.40982247e-01 -5.40273358e-01 -2.92157509e-02 1.55618103e+02] [ 5.39992017e-01 8.41488870e-01 -1.74672082e-02 3.99471074e+01] [ 3.40217964e-02 -1.08666026e-03 9.99420500e-01 4.99826512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26804094199997 meters 0.025616827777919057 Centerline is valid? [True, True] Translation: X:155.66, Y:39.99, Z:5.00 [[ 8.44343246e-01 -5.35081943e-01 -2.77812314e-02 1.55663596e+02] [ 5.34824662e-01 8.44799753e-01 -1.66119929e-02 3.99857706e+01] [ 3.23583549e-02 -8.31863647e-04 9.99475985e-01 5.00061155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32804094199997 meters 0.024682980284628862 Centerline is valid? [True, True] Translation: X:155.71, Y:40.02, Z:5.00 [[ 8.46539207e-01 -5.31694868e-01 -2.59217718e-02 1.55712188e+02] [ 5.31469227e-01 8.46935735e-01 -1.55022680e-02 4.00200268e+01] [ 3.01965512e-02 -6.53346353e-04 9.99543767e-01 5.00282122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38804094199998 meters 0.024523044508734188 Centerline is valid? [True, True] Translation: X:155.76, Y:40.05, Z:5.01 [[ 8.47543141e-01 -5.30121938e-01 -2.53249667e-02 1.55762132e+02] [ 5.29905639e-01 8.47921221e-01 -1.51530828e-02 4.00506003e+01] [ 2.95065583e-02 -5.76951257e-04 9.99564420e-01 5.00630723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44804094199998 meters 0.02418828769503006 Centerline is valid? [True, True] Translation: X:155.81, Y:40.08, Z:5.01 [[ 8.48301939e-01 -5.28974058e-01 -2.38802592e-02 1.55810347e+02] [ 5.28781075e-01 8.48637848e-01 -1.42961082e-02 4.00843103e+01] [ 2.78279621e-02 -5.00012877e-04 9.99612602e-01 5.00771135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50804094199998 meters 0.024282866438626923 Centerline is valid? [True, True] Translation: X:155.86, Y:40.12, Z:5.01 [[ 8.47071227e-01 -5.30907057e-01 -2.46583217e-02 1.55860645e+02] [ 5.30701862e-01 8.47429859e-01 -1.47704977e-02 4.01155315e+01] [ 2.87379595e-02 -5.74553621e-04 9.99586814e-01 5.00816379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56804094199998 meters 0.02536122025706213 Centerline is valid? [True, True] Translation: X:155.91, Y:40.14, Z:5.01 [[ 8.44659682e-01 -5.34738586e-01 -2.45899603e-02 1.55912401e+02] [ 5.34535891e-01 8.45017255e-01 -1.47383817e-02 4.01423257e+01] [ 2.86601221e-02 -6.95299571e-04 9.99588973e-01 5.01039229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62804094199998 meters 0.026432630537071657 Centerline is valid? [True, True] Translation: X:155.96, Y:40.17, Z:5.01 [[ 8.41859406e-01 -5.39132584e-01 -2.46738053e-02 1.55964337e+02] [ 5.38930323e-01 8.42220483e-01 -1.47907327e-02 4.01720356e+01] [ 2.87549502e-02 -8.45744446e-04 9.99586133e-01 5.01194626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.688040942 meters 0.027036921802508898 Centerline is valid? [True, True] Translation: X:156.02, Y:40.20, Z:5.01 [[ 8.39865414e-01 -5.42218584e-01 -2.50018733e-02 1.56015640e+02] [ 5.42012049e-01 8.40236925e-01 -1.49949400e-02 4.02015646e+01] [ 2.91380323e-02 -9.57585067e-04 9.99574939e-01 5.01376247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.748040942 meters 0.027404355347206814 Centerline is valid? [True, True] Translation: X:156.07, Y:40.23, Z:5.02 [[ 8.38970655e-01 -5.43610819e-01 -2.48096186e-02 1.56065599e+02] [ 5.43408019e-01 8.39336811e-01 -1.48809423e-02 4.02328715e+01] [ 2.89130674e-02 -9.97071800e-04 9.99581433e-01 5.01566083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.808040942 meters 0.026941637032440697 Centerline is valid? [True, True] Translation: X:156.11, Y:40.26, Z:5.02 [[ 8.38803478e-01 -5.43882755e-01 -2.45004847e-02 1.56114316e+02] [ 5.43684866e-01 8.39160637e-01 -1.47034514e-02 4.02645854e+01] [ 2.85567960e-02 -9.87236636e-04 9.99591684e-01 5.01753176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.868040942 meters 0.026996802590909103 Centerline is valid? [True, True] Translation: X:156.16, Y:40.30, Z:5.02 [[ 8.38958649e-01 -5.43658166e-01 -2.41698789e-02 1.56162888e+02] [ 5.43465227e-01 8.39306190e-01 -1.45143833e-02 4.02981888e+01] [ 2.81767920e-02 -9.58521298e-04 9.99602496e-01 5.01978058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.928040942 meters 0.02709496233367146 Centerline is valid? [True, True] Translation: X:156.21, Y:40.33, Z:5.02 [[ 8.39605215e-01 -5.42646029e-01 -2.44615818e-02 1.56210754e+02] [ 5.42447725e-01 8.39960966e-01 -1.46983283e-02 4.03308262e+01] [ 2.85227634e-02 -9.28336267e-04 9.99592712e-01 5.02176785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98804094199997 meters 0.02612467837970123 Centerline is valid? [True, True] Translation: X:156.26, Y:40.37, Z:5.02 [[ 8.40726729e-01 -5.40882747e-01 -2.49884160e-02 1.56258407e+02] [ 5.40674950e-01 8.41097540e-01 -1.50175716e-02 4.03656854e+01] [ 2.91404406e-02 -8.84936666e-04 9.99574935e-01 5.02252588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04804094199997 meters 0.02495293854078679 Centerline is valid? [True, True] Translation: X:156.31, Y:40.40, Z:5.02 [[ 8.43020725e-01 -5.37252924e-01 -2.59875493e-02 1.56305279e+02] [ 5.37026174e-01 8.43420823e-01 -1.56270351e-02 4.04033155e+01] [ 3.03141105e-02 -7.82079699e-04 9.99540116e-01 5.02434573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10804094199997 meters 0.02432790678009445 Centerline is valid? [True, True] Translation: X:156.35, Y:40.44, Z:5.02 [[ 8.45933423e-01 -5.32627377e-01 -2.65465853e-02 1.56351819e+02] [ 5.32388222e-01 8.46349627e-01 -1.59715637e-02 4.04405154e+01] [ 3.09745846e-02 -6.22209775e-04 9.99519979e-01 5.02469441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16804094199998 meters 0.0237350794530607 Centerline is valid? [True, True] Translation: X:156.40, Y:40.48, Z:5.03 [[ 8.47312128e-01 -5.30423193e-01 -2.67094415e-02 1.56398865e+02] [ 5.30179919e-01 8.47732825e-01 -1.60720730e-02 4.04761257e+01] [ 3.11674706e-02 -5.42747208e-04 9.99514029e-01 5.02679745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22804094199998 meters 0.023884987969398537 Centerline is valid? [True, True] Translation: X:156.45, Y:40.51, Z:5.03 [[ 8.46906170e-01 -5.31047193e-01 -2.71812257e-02 1.56447771e+02] [ 5.30795273e-01 8.47342054e-01 -1.63652586e-02 4.05092053e+01] [ 3.17225203e-02 -5.67827627e-04 9.99496553e-01 5.02814075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28804094199998 meters 0.024481190920096103 Centerline is valid? [True, True] Translation: X:156.50, Y:40.54, Z:5.03 [[ 8.45854728e-01 -5.32708822e-01 -2.74060373e-02 1.56497188e+02] [ 5.32453292e-01 8.46298362e-01 -1.65098277e-02 4.05407782e+01] [ 3.19886154e-02 -6.27518975e-04 9.99488036e-01 5.02905370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34804094199998 meters 0.02440100053202988 Centerline is valid? [True, True] Translation: X:156.55, Y:40.57, Z:5.03 [[ 8.44693342e-01 -5.34546042e-01 -2.74533568e-02 1.56546665e+02] [ 5.34290307e-01 8.45139073e-01 -1.65473773e-02 4.05723990e+01] [ 3.20472396e-02 -6.90603014e-04 9.99486117e-01 5.03132382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40804094199999 meters 0.024457685413613612 Centerline is valid? [True, True] Translation: X:156.60, Y:40.60, Z:5.03 [[ 8.44242027e-01 -5.35219434e-01 -2.82056345e-02 1.56595553e+02] [ 5.34949541e-01 8.44712749e-01 -1.70105741e-02 4.06049493e+01] [ 3.29300489e-02 -7.27549671e-04 9.99457394e-01 5.03201618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.468040942 meters 0.02409306072119477 Centerline is valid? [True, True] Translation: X:156.64, Y:40.64, Z:5.03 [[ 8.45327155e-01 -5.33506741e-01 -2.81524249e-02 1.56644404e+02] [ 5.33236605e-01 8.45795562e-01 -1.69879583e-02 4.06387852e+01] [ 3.28743863e-02 -6.51521021e-04 9.99459279e-01 5.03284994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.528040942 meters 0.024093921012625752 Centerline is valid? [True, True] Translation: X:156.69, Y:40.67, Z:5.03 [[ 8.46119328e-01 -5.32198722e-01 -2.90964380e-02 1.56692501e+02] [ 5.31909085e-01 8.46619244e-01 -1.75664956e-02 4.06711005e+01] [ 3.39824709e-02 -6.13308270e-04 9.99422241e-01 5.03338665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.588040942 meters 0.023796963116153456 Centerline is valid? [True, True] Translation: X:156.74, Y:40.70, Z:5.04 [[ 8.44931316e-01 -5.34078893e-01 -2.91686051e-02 1.56741925e+02] [ 5.33788796e-01 8.45434364e-01 -1.76141353e-02 4.07038156e+01] [ 3.40674790e-02 -6.87140078e-04 9.99419299e-01 5.03500031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.648040942 meters 0.02427521189606929 Centerline is valid? [True, True] Translation: X:156.79, Y:40.73, Z:5.04 [[ 8.42720407e-01 -5.37546581e-01 -2.94276805e-02 1.56793270e+02] [ 5.37253087e-01 8.43233651e-01 -1.77800601e-02 4.07336092e+01] [ 3.43720210e-02 -8.26492653e-04 9.99408766e-01 5.03627734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.708040942 meters 0.024427371786135903 Centerline is valid? [True, True] Translation: X:156.84, Y:40.76, Z:5.04 [[ 8.42653168e-01 -5.37577283e-01 -3.07620306e-02 1.56841845e+02] [ 5.37256450e-01 8.43214042e-01 -1.85899293e-02 4.07643126e+01] [ 3.59324999e-02 -8.62236574e-04 9.99353847e-01 5.03713376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76804094199997 meters 0.023524870121742498 Centerline is valid? [True, True] Translation: X:156.89, Y:40.80, Z:5.04 [[ 8.44612018e-01 -5.34472113e-01 -3.11464183e-02 1.56890280e+02] [ 5.34140925e-01 8.45185790e-01 -1.88269230e-02 4.07987665e+01] [ 3.63869755e-02 -7.35131270e-04 9.99337504e-01 5.03864161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82804094199997 meters 0.025087359418215865 Centerline is valid? [True, True] Translation: X:156.94, Y:40.83, Z:5.04 [[ 8.46445357e-01 -5.31565150e-01 -3.11247241e-02 1.56938858e+02] [ 5.31232133e-01 8.47017195e-01 -1.88226512e-02 4.08308656e+01] [ 3.63686419e-02 -6.02107861e-04 9.99338261e-01 5.03967483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88804094199998 meters 0.02231933817060416 Centerline is valid? [True, True] Translation: X:156.99, Y:40.86, Z:5.04 [[ 8.47189579e-01 -5.30353316e-01 -3.15464421e-02 1.56987386e+02] [ 5.30010188e-01 8.47776536e-01 -1.90826252e-02 4.08642822e+01] [ 3.68648669e-02 -5.53334542e-04 9.99320107e-01 5.04335517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94804094199998 meters 0.022253054625824158 Centerline is valid? [True, True] Translation: X:157.04, Y:40.90, Z:5.05 [[ 8.48861644e-01 -5.27705266e-01 -3.10009999e-02 1.57036572e+02] [ 5.27371754e-01 8.49427439e-01 -1.87632422e-02 4.08957182e+01] [ 3.62345617e-02 -4.21655077e-04 9.99343224e-01 5.04544868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00804094199998 meters 0.021707683768658573 Centerline is valid? [True, True] Translation: X:157.09, Y:40.93, Z:5.05 [[ 8.50331855e-01 -5.25333604e-01 -3.09893535e-02 1.57085988e+02] [ 5.24998385e-01 8.50896296e-01 -1.87666821e-02 4.09283600e+01] [ 3.62274949e-02 -3.11452906e-04 9.99343520e-01 5.04767019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06804094199998 meters 0.021121630196336078 Centerline is valid? [True, True] Translation: X:157.13, Y:40.96, Z:5.05 [[ 8.52768406e-01 -5.21328440e-01 -3.16654944e-02 1.57134401e+02] [ 5.20975271e-01 8.53356103e-01 -1.91866571e-02 4.09622520e+01] [ 3.70244929e-02 -1.35164547e-04 9.99314349e-01 5.04889477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12804094199998 meters 0.020736895616969977 Centerline is valid? [True, True] Translation: X:157.18, Y:40.99, Z:5.05 [[ 8.54310686e-01 -5.18790280e-01 -3.17788767e-02 1.57183882e+02] [ 5.18432414e-01 8.54901541e-01 -1.92662312e-02 4.09919831e+01] [ 3.71629442e-02 -1.58525664e-05 9.99309219e-01 5.05113847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.188040942 meters 0.0204408050032765 Centerline is valid? [True, True] Translation: X:157.23, Y:41.02, Z:5.05 [[ 8.54844667e-01 -5.17845252e-01 -3.28159926e-02 1.57234489e+02] [ 5.17462514e-01 8.55474309e-01 -1.99061169e-02 4.10200798e+01] [ 3.83815267e-02 3.55919038e-05 9.99263157e-01 5.05151815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.248040942 meters 0.020199661221585806 Centerline is valid? [True, True] Translation: X:157.29, Y:41.05, Z:5.05 [[ 8.54540940e-01 -5.18268848e-01 -3.40173912e-02 1.57287443e+02] [ 5.17857672e-01 8.55217750e-01 -2.06405176e-02 4.10458910e+01] [ 3.97896140e-02 2.20003451e-05 9.99208079e-01 5.05324608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.308040942 meters 0.020108447452454523 Centerline is valid? [True, True] Translation: X:157.34, Y:41.07, Z:5.06 [[ 8.53979300e-01 -5.19175484e-01 -3.42953614e-02 1.57338674e+02] [ 5.18757894e-01 8.54667664e-01 -2.08189934e-02 4.10708842e+01] [ 4.01198474e-02 -1.20000327e-05 9.99194875e-01 5.05563825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.368040942 meters 0.019808487039819744 Centerline is valid? [True, True] Translation: X:157.39, Y:41.10, Z:5.06 [[ 8.53184303e-01 -5.20446631e-01 -3.48116366e-02 1.57389946e+02] [ 5.20017121e-01 8.53894197e-01 -2.11398655e-02 4.10986176e+01] [ 4.07276263e-02 -6.64456243e-05 9.99170284e-01 5.05872664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.428040942 meters 0.019763767619473568 Centerline is valid? [True, True] Translation: X:157.44, Y:41.12, Z:5.06 [[ 8.51562508e-01 -5.22989064e-01 -3.63831507e-02 1.57444329e+02] [ 5.22521600e-01 8.52339372e-01 -2.21082065e-02 4.11227992e+01] [ 4.25731420e-02 -1.84462361e-04 9.99093336e-01 5.06043137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48804094199997 meters 0.019810114292569354 Centerline is valid? [True, True] Translation: X:157.50, Y:41.15, Z:5.06 [[ 8.50053134e-01 -5.25371256e-01 -3.73458589e-02 1.57498343e+02] [ 5.24880547e-01 8.50873053e-01 -2.27037421e-02 4.11462698e+01] [ 4.37044785e-02 -3.02727683e-04 9.99044457e-01 5.06298293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54804094199997 meters 0.01964930255193533 Centerline is valid? [True, True] Translation: X:157.55, Y:41.17, Z:5.06 [[ 8.49190693e-01 -5.26707530e-01 -3.81358676e-02 1.57551270e+02] [ 5.26196848e-01 8.50046492e-01 -2.31913406e-02 4.11720128e+01] [ 4.46323142e-02 -3.73102746e-04 9.99003412e-01 5.06478359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60804094199997 meters 0.019438508505779505 Centerline is valid? [True, True] Translation: X:157.60, Y:41.20, Z:5.07 [[ 8.49184980e-01 -5.26729307e-01 -3.79619175e-02 1.57604219e+02] [ 5.26222691e-01 8.50033003e-01 -2.30991821e-02 4.11967285e+01] [ 4.44358989e-02 -3.60943940e-04 9.99012172e-01 5.06730224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66804094199998 meters 0.019309454103217726 Centerline is valid? [True, True] Translation: X:157.66, Y:41.22, Z:5.07 [[ 8.49402504e-01 -5.26313878e-01 -3.88469701e-02 1.57658329e+02] [ 5.25782239e-01 8.50290297e-01 -2.36526415e-02 4.12217197e+01] [ 4.54799152e-02 -3.34433990e-04 9.98965197e-01 5.06878301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72804094199998 meters 0.01923115663065481 Centerline is valid? [True, True] Translation: X:157.71, Y:41.25, Z:5.07 [[ 8.49312203e-01 -5.26431973e-01 -3.92193852e-02 1.57708781e+02] [ 5.25889558e-01 8.50217188e-01 -2.38936187e-02 4.12496454e+01] [ 4.59233602e-02 -3.31923235e-04 9.98944911e-01 5.07030626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78804094199998 meters 0.01902588712333188 Centerline is valid? [True, True] Translation: X:157.76, Y:41.27, Z:5.07 [[ 8.49398792e-01 -5.26377864e-01 -3.80530634e-02 1.57762450e+02] [ 5.25866562e-01 8.50250698e-01 -2.31971758e-02 4.12738630e+01] [ 4.45651236e-02 -3.07180512e-04 9.99006434e-01 5.07416489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84804094199998 meters 0.018946781560064956 Centerline is valid? [True, True] Translation: X:157.82, Y:41.30, Z:5.08 [[ 8.48825307e-01 -5.27404917e-01 -3.66012512e-02 1.57816778e+02] [ 5.26932423e-01 8.49613994e-01 -2.23222402e-02 4.12951773e+01] [ 4.28697945e-02 -3.38703648e-04 9.99080610e-01 5.07793582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90804094199999 meters 0.0193022302401633 Centerline is valid? [True, True] Translation: X:157.87, Y:41.32, Z:5.08 [[ 8.47260527e-01 -5.29950940e-01 -3.60776971e-02 1.57872394e+02] [ 5.29493992e-01 8.48028179e-01 -2.20072838e-02 4.13155181e+01] [ 4.22576845e-02 -4.57021009e-04 9.99106641e-01 5.08051876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.968040942 meters 0.01930003042470548 Centerline is valid? [True, True] Translation: X:157.93, Y:41.34, Z:5.08 [[ 8.45952965e-01 -5.32049329e-01 -3.58760694e-02 1.57927197e+02] [ 5.31599089e-01 8.46713178e-01 -2.18906950e-02 4.13380046e+01] [ 4.20236703e-02 -5.53187528e-04 9.99116462e-01 5.08278159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.028040942 meters 0.01918372338766003 Centerline is valid? [True, True] Translation: X:157.98, Y:41.36, Z:5.08 [[ 8.46416205e-01 -5.31300161e-01 -3.60519985e-02 1.57981228e+02] [ 5.30844291e-01 8.47183499e-01 -2.20104085e-02 4.13620261e+01] [ 4.22367918e-02 -5.08031124e-04 9.99107499e-01 5.08382370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.088040942 meters 0.018858035099470923 Centerline is valid? [True, True] Translation: X:158.03, Y:41.39, Z:5.09 [[ 8.47348058e-01 -5.29879928e-01 -3.50504044e-02 1.58032504e+02] [ 5.29447354e-01 8.48072573e-01 -2.14105008e-02 4.13908877e+01] [ 4.10702813e-02 -4.15197655e-04 9.99156174e-01 5.08647283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.148040942 meters 0.018209313211038997 Centerline is valid? [True, True] Translation: X:158.08, Y:41.42, Z:5.09 [[ 8.49883055e-01 -5.25857222e-01 -3.42487097e-02 1.58081276e+02] [ 5.25440493e-01 8.50572830e-01 -2.09320000e-02 4.14248157e+01] [ 4.01382653e-02 -2.05906794e-04 9.99194114e-01 5.08871617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.208040942 meters 0.018171408471617002 Centerline is valid? [True, True] Translation: X:158.13, Y:41.46, Z:5.09 [[ 8.50951964e-01 -5.24066148e-01 -3.51486456e-02 1.58129735e+02] [ 5.23625274e-01 8.51677556e-01 -2.14921689e-02 4.14551333e+01] [ 4.11986307e-02 -1.15915858e-04 9.99150969e-01 5.08883836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26804094199997 meters 0.018471968337209804 Centerline is valid? [True, True] Translation: X:158.18, Y:41.48, Z:5.09 [[ 8.50032791e-01 -5.25507577e-01 -3.58614082e-02 1.58179566e+02] [ 5.25049677e-01 8.50788900e-01 -2.19336370e-02 4.14839853e+01] [ 4.20367804e-02 -1.84710135e-04 9.99116047e-01 5.09004400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32804094199997 meters 0.019238735359626804 Centerline is valid? [True, True] Translation: X:158.23, Y:41.51, Z:5.09 [[ 8.47404303e-01 -5.29738622e-01 -3.58181532e-02 1.58229166e+02] [ 5.29285422e-01 8.48160857e-01 -2.19112461e-02 4.15136114e+01] [ 4.19867888e-02 -3.90342055e-04 9.99118090e-01 5.09073400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38804094199998 meters 0.020612500314879722 Centerline is valid? [True, True] Translation: X:158.28, Y:41.54, Z:5.09 [[ 8.44303766e-01 -5.34705849e-01 -3.52250883e-02 1.58279985e+02] [ 5.34271651e-01 8.45038028e-01 -2.15530779e-02 4.15404600e+01] [ 4.12910960e-02 -6.22421229e-04 9.99146965e-01 5.09413476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44804094199998 meters 0.01986168242032256 Centerline is valid? [True, True] Translation: X:158.33, Y:41.57, Z:5.10 [[ 8.42314916e-01 -5.37891339e-01 -3.43291487e-02 1.58329911e+02] [ 5.37481282e-01 8.43013845e-01 -2.10126034e-02 4.15720600e+01] [ 4.02424450e-02 -7.52045588e-04 9.99189662e-01 5.09998403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50804094199998 meters 0.020599880731566215 Centerline is valid? [True, True] Translation: X:158.38, Y:41.60, Z:5.10 [[ 8.40847456e-01 -5.40288316e-01 -3.26204028e-02 1.58379294e+02] [ 5.39919519e-01 8.41479572e-01 -1.99760586e-02 4.16024228e+01] [ 3.82422336e-02 -8.15574152e-04 9.99268165e-01 5.10300902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56804094199998 meters 0.020332189711590665 Centerline is valid? [True, True] Translation: X:158.43, Y:41.63, Z:5.10 [[ 8.41606127e-01 -5.39156364e-01 -3.17732897e-02 1.58428717e+02] [ 5.38805490e-01 8.42205359e-01 -1.94621890e-02 4.16348872e+01] [ 3.72527979e-02 -7.40125421e-04 9.99305600e-01 5.10440496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62804094199998 meters 0.019508520442108452 Centerline is valid? [True, True] Translation: X:158.48, Y:41.67, Z:5.11 [[ 8.43081412e-01 -5.36846917e-01 -3.17666532e-02 1.58477937e+02] [ 5.36494155e-01 8.43679437e-01 -1.94686758e-02 4.16666627e+01] [ 3.72525706e-02 -6.28945117e-04 9.99305684e-01 5.10775676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.688040942 meters 0.0187374361778061 Centerline is valid? [True, True] Translation: X:158.53, Y:41.70, Z:5.11 [[ 8.44454001e-01 -5.34720686e-01 -3.11645423e-02 1.58526755e+02] [ 5.34379347e-01 8.45028711e-01 -1.91099755e-02 4.17003233e+01] [ 3.65534322e-02 -5.16192478e-04 9.99331567e-01 5.10895712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.748040942 meters 0.018498176709786922 Centerline is valid? [True, True] Translation: X:158.58, Y:41.73, Z:5.11 [[ 8.45247075e-01 -5.33489009e-01 -3.07710885e-02 1.58576734e+02] [ 5.33155044e-01 8.45806879e-01 -1.88791488e-02 4.17310463e+01] [ 3.60982167e-02 -4.48215755e-04 9.99348146e-01 5.11057931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.808040942 meters 0.018544771781208422 Centerline is valid? [True, True] Translation: X:158.63, Y:41.76, Z:5.11 [[ 8.44626262e-01 -5.34490055e-01 -3.04443470e-02 1.58628405e+02] [ 5.34163427e-01 8.45174629e-01 -1.86890191e-02 4.17602533e+01] [ 3.57198845e-02 -4.77020387e-04 9.99361727e-01 5.11272953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.868040942 meters 0.01905134574421187 Centerline is valid? [True, True] Translation: X:158.68, Y:41.79, Z:5.11 [[ 8.43842671e-01 -5.35727472e-01 -3.04240618e-02 1.58679237e+02] [ 5.35401738e-01 8.44390789e-01 -1.86861969e-02 4.17882534e+01] [ 3.57005066e-02 -5.20885226e-04 9.99362398e-01 5.11409776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.928040942 meters 0.018625660126455983 Centerline is valid? [True, True] Translation: X:158.73, Y:41.82, Z:5.12 [[ 8.44262032e-01 -5.35139234e-01 -2.91139333e-02 1.58730356e+02] [ 5.34840471e-01 8.44763741e-01 -1.78855412e-02 4.18181676e+01] [ 3.41656500e-02 -4.71226473e-04 9.99416073e-01 5.11747658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98804094199997 meters 0.018605623251757155 Centerline is valid? [True, True] Translation: X:158.78, Y:41.85, Z:5.12 [[ 8.44514953e-01 -5.34720471e-01 -2.94705297e-02 1.58780669e+02] [ 5.34413756e-01 8.45028883e-01 -1.81141748e-02 4.18467281e+01] [ 3.45894689e-02 -4.51765034e-04 9.99401503e-01 5.11872146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04804094199997 meters 0.01869863545963872 Centerline is valid? [True, True] Translation: X:158.83, Y:41.88, Z:5.12 [[ 8.43984958e-01 -5.35569427e-01 -2.92366100e-02 1.58831556e+02] [ 5.35267930e-01 8.44491065e-01 -1.79745334e-02 4.18757571e+01] [ 3.43166664e-02 -4.79183904e-04 9.99410895e-01 5.12139726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10804094199997 meters 0.018451966860127133 Centerline is valid? [True, True] Translation: X:158.88, Y:41.91, Z:5.12 [[ 8.43464711e-01 -5.36465730e-01 -2.77813301e-02 1.58880777e+02] [ 5.36193698e-01 8.43921968e-01 -1.70888991e-02 4.19061911e+01] [ 3.26128835e-02 -4.82290833e-04 9.99467942e-01 5.12423487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16804094199998 meters 0.018618442850797428 Centerline is valid? [True, True] Translation: X:158.93, Y:41.94, Z:5.13 [[ 8.43800610e-01 -5.35913205e-01 -2.82412300e-02 1.58930489e+02] [ 5.35631414e-01 8.44272957e-01 -1.73828206e-02 4.19355427e+01] [ 3.31589899e-02 -4.59255312e-04 9.99449984e-01 5.12590056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22804094199998 meters 0.01849469113585161 Centerline is valid? [True, True] Translation: X:158.98, Y:41.97, Z:5.13 [[ 8.44627409e-01 -5.34649021e-01 -2.74766235e-02 1.58979965e+02] [ 5.34381502e-01 8.45074120e-01 -1.69157537e-02 4.19668111e+01] [ 3.22637745e-02 -3.95490108e-04 9.99479311e-01 5.12876163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28804094199998 meters 0.01835726318572399 Centerline is valid? [True, True] Translation: X:159.03, Y:42.00, Z:5.13 [[ 8.45158940e-01 -5.33849127e-01 -2.66735119e-02 1.59029178e+02] [ 5.33596345e-01 8.45579677e-01 -1.64302066e-02 4.19986917e+01] [ 3.13258310e-02 -3.46752414e-04 9.99509166e-01 5.13227651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34804094199998 meters 0.01829870729312528 Centerline is valid? [True, True] Translation: X:159.08, Y:42.03, Z:5.14 [[ 8.45143158e-01 -5.33923186e-01 -2.56724325e-02 1.59077521e+02] [ 5.33688807e-01 8.45532922e-01 -1.58219775e-02 4.20304302e+01] [ 3.01546075e-02 -3.29253871e-04 9.99545192e-01 5.13597259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40804094199999 meters 0.019051895421079806 Centerline is valid? [True, True] Translation: X:159.13, Y:42.06, Z:5.14 [[ 8.43073077e-01 -5.37217338e-01 -2.50063741e-02 1.59128160e+02] [ 5.36996119e-01 8.43443744e-01 -1.54213817e-02 4.20608783e+01] [ 2.93761035e-02 -4.26974123e-04 9.99568338e-01 5.13848673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.468040942 meters 0.019808917473355503 Centerline is valid? [True, True] Translation: X:159.18, Y:42.09, Z:5.14 [[ 8.40858664e-01 -5.40652931e-01 -2.55169703e-02 1.59178880e+02] [ 5.40423888e-01 8.41245568e-01 -1.57453344e-02 4.20908793e+01] [ 2.99787993e-02 -5.50379436e-04 9.99550383e-01 5.14034331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.528040942 meters 0.021029555993295847 Centerline is valid? [True, True] Translation: X:159.23, Y:42.12, Z:5.14 [[ 8.37923389e-01 -5.45195085e-01 -2.54305854e-02 1.59229545e+02] [ 5.44969412e-01 8.38308908e-01 -1.57007825e-02 4.21219367e+01] [ 2.98786758e-02 -7.02838286e-04 9.99553286e-01 5.14342159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.588040942 meters 0.02264183868522753 Centerline is valid? [True, True] Translation: X:159.28, Y:42.15, Z:5.15 [[ 8.35837537e-01 -5.48392412e-01 -2.53253643e-02 1.59278064e+02] [ 5.48169841e-01 8.36220731e-01 -1.56433626e-02 4.21530618e+01] [ 2.97562960e-02 -8.07291264e-04 9.99556857e-01 5.14655554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.648040942 meters 0.022220548412478284 Centerline is valid? [True, True] Translation: X:159.33, Y:42.19, Z:5.15 [[ 8.35327935e-01 -5.49135065e-01 -2.60369173e-02 1.59325362e+02] [ 5.48900020e-01 8.35733183e-01 -1.60877599e-02 4.21878852e+01] [ 3.05942688e-02 -8.53109210e-04 9.99531522e-01 5.14789540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.708040942 meters 0.021473344224443705 Centerline is valid? [True, True] Translation: X:159.37, Y:42.22, Z:5.15 [[ 8.35474811e-01 -5.48890715e-01 -2.64730700e-02 1.59371960e+02] [ 5.48647320e-01 8.35893689e-01 -1.63663966e-02 4.22239551e+01] [ 3.11120353e-02 -8.50666873e-04 9.99515541e-01 5.14872443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76804094199997 meters 0.020926545598737925 Centerline is valid? [True, True] Translation: X:159.42, Y:42.26, Z:5.15 [[ 8.37331714e-01 -5.46073906e-01 -2.60555194e-02 1.59417192e+02] [ 5.45836488e-01 8.37736689e-01 -1.61173022e-02 4.22621793e+01] [ 3.06289028e-02 -7.26524917e-04 9.99530561e-01 5.14991072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82804094199997 meters 0.020720397617197742 Centerline is valid? [True, True] Translation: X:159.46, Y:42.30, Z:5.15 [[ 8.39098982e-01 -5.43387250e-01 -2.53612941e-02 1.59463499e+02] [ 5.43161017e-01 8.39481939e-01 -1.56902490e-02 4.22998758e+01] [ 2.98162296e-02 -6.09594351e-04 9.99555212e-01 5.15176629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88804094199998 meters 0.020507992537494416 Centerline is valid? [True, True] Translation: X:159.51, Y:42.34, Z:5.15 [[ 8.40630954e-01 -5.41067622e-01 -2.41955886e-02 1.59508899e+02] [ 5.40860648e-01 8.40978940e-01 -1.49726684e-02 4.23374158e+01] [ 2.84492066e-02 -4.99953193e-04 9.99595114e-01 5.15339961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94804094199998 meters 0.020123878897542136 Centerline is valid? [True, True] Translation: X:159.56, Y:42.37, Z:5.15 [[ 8.41035638e-01 -5.40449287e-01 -2.39504418e-02 1.59555265e+02] [ 5.40246011e-01 8.41376461e-01 -1.48289644e-02 4.23747045e+01] [ 2.81656412e-02 -4.67443077e-04 9.99603160e-01 5.15409308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00804094199998 meters 0.020182977944483465 Centerline is valid? [True, True] Translation: X:159.60, Y:42.41, Z:5.16 [[ 8.40693029e-01 -5.41039683e-01 -2.26117826e-02 1.59602745e+02] [ 5.40858518e-01 8.40996941e-01 -1.40074108e-02 4.24104243e+01] [ 2.65950051e-02 -4.53842628e-04 9.99646187e-01 5.15595028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06804094199998 meters 0.020777982617304975 Centerline is valid? [True, True] Translation: X:159.65, Y:42.44, Z:5.16 [[ 8.38491578e-01 -5.44445634e-01 -2.26014485e-02 1.59651904e+02] [ 5.44265660e-01 8.38795949e-01 -1.40088274e-02 4.24431788e+01] [ 2.65850483e-02 -5.54908466e-04 9.99646401e-01 5.15679089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12804094199998 meters 0.02236364809819371 Centerline is valid? [True, True] Translation: X:159.70, Y:42.47, Z:5.16 [[ 8.35154215e-01 -5.49536502e-01 -2.29579934e-02 1.59701916e+02] [ 5.49352474e-01 8.35469397e-01 -1.42388611e-02 4.24729774e+01] [ 2.70054748e-02 -7.20385621e-04 9.99635026e-01 5.15632190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.188040942 meters 0.023019884858391463 Centerline is valid? [True, True] Translation: X:159.75, Y:42.50, Z:5.16 [[ 8.33088311e-01 -5.52616995e-01 -2.40483527e-02 1.59751671e+02] [ 5.52416279e-01 8.33434894e-01 -1.49175382e-02 4.25045870e+01] [ 2.82864214e-02 -8.57074809e-04 9.99599492e-01 5.15626390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.248040942 meters 0.024775551092562107 Centerline is valid? [True, True] Translation: X:159.80, Y:42.54, Z:5.16 [[ 8.31219021e-01 -5.55358155e-01 -2.55393557e-02 1.59800650e+02] [ 5.55132956e-01 8.31610670e-01 -1.58459516e-02 4.25357918e+01] [ 3.00389792e-02 -1.00628166e-03 9.99548222e-01 5.15543276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.308040942 meters 0.024540087443891974 Centerline is valid? [True, True] Translation: X:159.85, Y:42.57, Z:5.16 [[ 8.31542633e-01 -5.54913602e-01 -2.46524810e-02 1.59849018e+02] [ 5.54703523e-01 8.31907437e-01 -1.52976391e-02 4.25693701e+01] [ 2.89974503e-02 -9.54178966e-04 9.99579030e-01 5.15783934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.368040942 meters 0.023263983876788824 Centerline is valid? [True, True] Translation: X:159.90, Y:42.61, Z:5.16 [[ 8.33121224e-01 -5.52556186e-01 -2.43040600e-02 1.59895274e+02] [ 5.52350756e-01 8.33475215e-01 -1.50900076e-02 4.26057788e+01] [ 2.85949087e-02 -8.52560333e-04 9.99590718e-01 5.15918533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.428040942 meters 0.02317606531676081 Centerline is valid? [True, True] Translation: X:159.94, Y:42.64, Z:5.16 [[ 8.33679628e-01 -5.51708964e-01 -2.44027996e-02 1.59943590e+02] [ 5.51501442e-01 8.34036293e-01 -1.51532730e-02 4.26390191e+01] [ 2.87130171e-02 -8.25204110e-04 9.99587356e-01 5.16098734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48804094199997 meters 0.022410198207914775 Centerline is valid? [True, True] Translation: X:159.99, Y:42.67, Z:5.16 [[ 8.34431831e-01 -5.50582688e-01 -2.41292971e-02 1.59991570e+02] [ 5.50379090e-01 8.34780276e-01 -1.49915692e-02 4.26738103e+01] [ 2.83967598e-02 -7.70818094e-04 9.99596434e-01 5.16312732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54804094199997 meters 0.021389625391661053 Centerline is valid? [True, True] Translation: X:160.04, Y:42.71, Z:5.17 [[ 8.36851107e-01 -5.46898901e-01 -2.41208988e-02 1.60039339e+02] [ 5.46693659e-01 8.37198415e-01 -1.49952666e-02 4.27082533e+01] [ 2.83948731e-02 -6.37936959e-04 9.99596581e-01 5.16533118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60804094199997 meters 0.02158644954877677 Centerline is valid? [True, True] Translation: X:160.09, Y:42.74, Z:5.17 [[ 8.39255780e-01 -5.43239606e-01 -2.32479472e-02 1.60088706e+02] [ 5.43047488e-01 8.39577565e-01 -1.44547175e-02 4.27386100e+01] [ 2.73708299e-02 -4.93534108e-04 9.99625227e-01 5.16876827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66804094199998 meters 0.01922264536354617 Centerline is valid? [True, True] Translation: X:160.13, Y:42.78, Z:5.17 [[ 8.43821414e-01 -5.36115094e-01 -2.33672385e-02 1.60134336e+02] [ 5.35918173e-01 8.44144856e-01 -1.45318195e-02 4.27765692e+01] [ 2.75160619e-02 -2.60667298e-04 9.99621328e-01 5.16858641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72804094199998 meters 0.01912880222286378 Centerline is valid? [True, True] Translation: X:160.18, Y:42.81, Z:5.17 [[ 8.44305629e-01 -5.35352593e-01 -2.33582156e-02 1.60182952e+02] [ 5.35155492e-01 8.44628644e-01 -1.45276722e-02 4.28076375e+01] [ 2.75064449e-02 -2.34481986e-04 9.99621599e-01 5.17014274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78804094199998 meters 0.01917212983601895 Centerline is valid? [True, True] Translation: X:160.23, Y:42.83, Z:5.17 [[ 8.43314965e-01 -5.36953341e-01 -2.23825903e-02 1.60234773e+02] [ 5.36772699e-01 8.43611900e-01 -1.39295245e-02 4.28348864e+01] [ 2.63617243e-02 -2.67386957e-04 9.99652434e-01 5.17272501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84804094199998 meters 0.0198809373048997 Centerline is valid? [True, True] Translation: X:160.29, Y:42.86, Z:5.17 [[ 8.40799256e-01 -5.40942353e-01 -2.09279976e-02 1.60286615e+02] [ 5.40785467e-01 8.41059594e-01 -1.30321608e-02 4.28601882e+01] [ 2.46513409e-02 -3.60125864e-04 9.99696045e-01 5.17479737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90804094199999 meters 0.020806060791285035 Centerline is valid? [True, True] Translation: X:160.34, Y:42.89, Z:5.18 [[ 8.37885502e-01 -5.45457141e-01 -2.06007973e-02 1.60339798e+02] [ 5.45306402e-01 8.38138577e-01 -1.28317215e-02 4.28860288e+01] [ 2.42654771e-02 -4.82233248e-04 9.99705434e-01 5.17553203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.968040942 meters 0.021252681057292003 Centerline is valid? [True, True] Translation: X:160.39, Y:42.91, Z:5.18 [[ 8.35951365e-01 -5.48402909e-01 -2.09657943e-02 1.60391639e+02] [ 5.48247688e-01 8.36214037e-01 -1.30597287e-02 4.29140815e+01] [ 2.46938847e-02 -5.77150266e-04 9.99694893e-01 5.17650718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.028040942 meters 0.021483176244753367 Centerline is valid? [True, True] Translation: X:160.44, Y:42.94, Z:5.18 [[ 8.35871787e-01 -5.48535992e-01 -2.06548186e-02 1.60441673e+02] [ 5.48385216e-01 8.36126752e-01 -1.28728482e-02 4.29438343e+01] [ 2.43312669e-02 -5.66746524e-04 9.99703790e-01 5.17780534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.088040942 meters 0.02086009257368715 Centerline is valid? [True, True] Translation: X:160.49, Y:42.98, Z:5.18 [[ 8.37064382e-01 -5.46691085e-01 -2.12621073e-02 1.60490783e+02] [ 5.46530493e-01 8.37334214e-01 -1.32602632e-02 4.29758985e+01] [ 2.50527576e-02 -5.20695972e-04 9.99685995e-01 5.17795770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.148040942 meters 0.020289415627648053 Centerline is valid? [True, True] Translation: X:160.54, Y:43.01, Z:5.18 [[ 8.37828951e-01 -5.45496492e-01 -2.18226082e-02 1.60540621e+02] [ 5.45326714e-01 8.38112962e-01 -1.36175873e-02 4.30077504e+01] [ 2.57181569e-02 -4.91242327e-04 9.99669113e-01 5.17905702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.208040942 meters 0.020141097103701384 Centerline is valid? [True, True] Translation: X:160.59, Y:43.04, Z:5.18 [[ 8.38655317e-01 -5.44263143e-01 -2.08540152e-02 1.60590895e+02] [ 5.44107552e-01 8.38914447e-01 -1.30201074e-02 4.30381241e+01] [ 2.45810992e-02 -4.27444870e-04 9.99697748e-01 5.18202428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26804094199997 meters 0.019312279266412137 Centerline is valid? [True, True] Translation: X:160.64, Y:43.07, Z:5.18 [[ 8.40101537e-01 -5.42007566e-01 -2.13823790e-02 1.60639580e+02] [ 5.41843068e-01 8.40373528e-01 -1.33575540e-02 4.30706072e+01] [ 2.52090806e-02 -3.64192230e-04 9.99682134e-01 5.18281206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32804094199997 meters 0.019051851638492403 Centerline is valid? [True, True] Translation: X:160.69, Y:43.10, Z:5.18 [[ 8.41345109e-01 -5.40062833e-01 -2.16920255e-02 1.60689594e+02] [ 5.39892688e-01 8.41624646e-01 -1.35588186e-02 4.31016231e+01] [ 2.55791572e-02 -3.03720212e-04 9.99672754e-01 5.18446405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38804094199998 meters 0.019042796876137625 Centerline is valid? [True, True] Translation: X:160.74, Y:43.13, Z:5.19 [[ 8.40841656e-01 -5.40857762e-01 -2.14053995e-02 1.60740992e+02] [ 5.40692156e-01 8.41114011e-01 -1.33870312e-02 4.31305719e+01] [ 2.52448612e-02 -3.17358165e-04 9.99681247e-01 5.18732056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44804094199998 meters 0.019268632927254264 Centerline is valid? [True, True] Translation: X:160.79, Y:43.16, Z:5.19 [[ 8.39757384e-01 -5.42530482e-01 -2.16382250e-02 1.60792579e+02] [ 5.42361611e-01 8.40036037e-01 -1.35403289e-02 4.31586272e+01] [ 2.55229299e-02 -3.65151400e-04 9.99674170e-01 5.18851153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50804094199998 meters 0.01986865307332751 Centerline is valid? [True, True] Translation: X:160.84, Y:43.19, Z:5.19 [[ 8.38555201e-01 -5.44415156e-01 -2.09120464e-02 1.60843523e+02] [ 5.44257823e-01 8.38815818e-01 -1.30936924e-02 4.31868230e+01] [ 2.46697599e-02 -4.01761004e-04 9.99695574e-01 5.19174715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56804094199998 meters 0.020027564900291166 Centerline is valid? [True, True] Translation: X:160.89, Y:43.22, Z:5.19 [[ 8.37988967e-01 -5.45291862e-01 -2.07672025e-02 1.60893984e+02] [ 5.45136901e-01 8.38246149e-01 -1.30058722e-02 4.32171742e+01] [ 2.45000238e-02 -4.22190983e-04 9.99699740e-01 5.19353332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62804094199998 meters 0.020248834054724787 Centerline is valid? [True, True] Translation: X:160.94, Y:43.25, Z:5.19 [[ 8.36808672e-01 -5.47119741e-01 -2.02789207e-02 1.60944769e+02] [ 5.46972359e-01 8.37054226e-01 -1.27067081e-02 4.32470036e+01] [ 2.39266471e-02 -4.58925597e-04 9.99713611e-01 5.19462202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.688040942 meters 0.021006486570076432 Centerline is valid? [True, True] Translation: X:160.99, Y:43.28, Z:5.20 [[ 8.36956016e-01 -5.46895330e-01 -2.02515479e-02 1.60994744e+02] [ 5.46748080e-01 8.37200872e-01 -1.26979219e-02 4.32754236e+01] [ 2.38990477e-02 -4.44892829e-04 9.99714278e-01 5.19676487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.748040942 meters 0.020680391855817475 Centerline is valid? [True, True] Translation: X:161.04, Y:43.31, Z:5.20 [[ 8.38415731e-01 -5.44641432e-01 -2.06100364e-02 1.61044699e+02] [ 5.44488201e-01 8.38668923e-01 -1.29242663e-02 4.33073650e+01] [ 2.43240879e-02 -3.86013440e-04 9.99704051e-01 5.19845267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.808040942 meters 0.020285445216191477 Centerline is valid? [True, True] Translation: X:161.09, Y:43.34, Z:5.20 [[ 8.39897809e-01 -5.42337980e-01 -2.10044297e-02 1.61093913e+02] [ 5.42177946e-01 8.40160350e-01 -1.31780638e-02 4.33406520e+01] [ 2.47940535e-02 -3.19911577e-04 9.99692529e-01 5.19980128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.868040942 meters 0.02047637968047729 Centerline is valid? [True, True] Translation: X:161.14, Y:43.37, Z:5.20 [[ 8.40124393e-01 -5.41950661e-01 -2.19199526e-02 1.61144024e+02] [ 5.41776064e-01 8.40410246e-01 -1.37592191e-02 4.33715759e+01] [ 2.58785706e-02 -3.16250038e-04 9.99665044e-01 5.20067517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.928040942 meters 0.021558365031524085 Centerline is valid? [True, True] Translation: X:161.20, Y:43.40, Z:5.20 [[ 8.38462696e-01 -5.44476841e-01 -2.29189209e-02 1.61195091e+02] [ 5.44286682e-01 8.38775778e-01 -1.43945459e-02 4.33989786e+01] [ 2.70613326e-02 -4.05173647e-04 9.99633693e-01 5.20133422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98804094199997 meters 0.02241993452392021 Centerline is valid? [True, True] Translation: X:161.25, Y:43.43, Z:5.20 [[ 8.37284982e-01 -5.46263860e-01 -2.34447119e-02 1.61246589e+02] [ 5.46065514e-01 8.37613021e-01 -1.47269054e-02 4.34281835e+01] [ 2.76823722e-02 -4.71731933e-04 9.99616658e-01 5.20294339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04804094199997 meters 0.02315516308535834 Centerline is valid? [True, True] Translation: X:161.30, Y:43.46, Z:5.20 [[ 8.36508875e-01 -5.47407115e-01 -2.44612271e-02 1.61296696e+02] [ 5.47191445e-01 8.36866282e-01 -1.53735935e-02 4.34572553e+01] [ 2.88863907e-02 -5.24826772e-04 9.99582563e-01 5.20422175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10804094199997 meters 0.02300881569625561 Centerline is valid? [True, True] Translation: X:161.35, Y:43.49, Z:5.21 [[ 8.37272739e-01 -5.46249314e-01 -2.42084268e-02 1.61345573e+02] [ 5.46037533e-01 8.37622504e-01 -1.52169084e-02 4.34898925e+01] [ 2.85897488e-02 -4.78007063e-04 9.99591115e-01 5.20647223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16804094199998 meters 0.02085683398480319 Centerline is valid? [True, True] Translation: X:161.39, Y:43.53, Z:5.21 [[ 8.39051190e-01 -5.43486244e-01 -2.48153601e-02 1.61391343e+02] [ 5.43262278e-01 8.39417984e-01 -1.56059067e-02 4.35270626e+01] [ 2.93120552e-02 -3.87094483e-04 9.99570234e-01 5.20711234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22804094199998 meters 0.02045912065036653 Centerline is valid? [True, True] Translation: X:161.44, Y:43.56, Z:5.21 [[ 8.40696825e-01 -5.40939645e-01 -2.47618345e-02 1.61440277e+02] [ 5.40715288e-01 8.41061363e-01 -1.55807867e-02 4.35592777e+01] [ 2.92544875e-02 -2.90384626e-04 9.99571954e-01 5.20896675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28804094199998 meters 0.020155094919466435 Centerline is valid? [True, True] Translation: X:161.49, Y:43.59, Z:5.21 [[ 8.41593578e-01 -5.39599438e-01 -2.35094904e-02 1.61489946e+02] [ 5.39396470e-01 8.41921847e-01 -1.48004138e-02 4.35907423e+01] [ 2.77794485e-02 -2.25002949e-04 9.99614051e-01 5.21122935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34804094199998 meters 0.020285494029197753 Centerline is valid? [True, True] Translation: X:161.54, Y:43.62, Z:5.21 [[ 8.41871110e-01 -5.39219274e-01 -2.22622662e-02 1.61539318e+02] [ 5.39036940e-01 8.42165386e-01 -1.40228646e-02 4.36200634e+01] [ 2.63099089e-02 -1.94739295e-04 9.99653815e-01 5.21423154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40804094199999 meters 0.020262303326875945 Centerline is valid? [True, True] Translation: X:161.59, Y:43.65, Z:5.21 [[ 8.41427506e-01 -5.39946893e-01 -2.13799931e-02 1.61589473e+02] [ 5.39778831e-01 8.41699062e-01 -1.34723008e-02 4.36502552e+01] [ 2.52698471e-02 -2.04503167e-04 9.99680646e-01 5.21481312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.468040942 meters 0.0204474177159038 Centerline is valid? [True, True] Translation: X:161.64, Y:43.68, Z:5.22 [[ 8.39322825e-01 -5.43240034e-01 -2.06751228e-02 1.61641841e+02] [ 5.43083706e-01 8.39577383e-01 -1.30347985e-02 4.36780224e+01] [ 2.44393898e-02 -2.87918408e-04 9.99701272e-01 5.21597582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.528040942 meters 0.0207152007866794 Centerline is valid? [True, True] Translation: X:161.69, Y:43.71, Z:5.22 [[ 8.37325255e-01 -5.46344990e-01 -1.98386081e-02 1.61693684e+02] [ 5.46201776e-01 8.37560162e-01 -1.25138106e-02 4.37061403e+01] [ 2.34528855e-02 -3.57753307e-04 9.99724879e-01 5.21679887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.588040942 meters 0.021132403203517097 Centerline is valid? [True, True] Translation: X:161.75, Y:43.73, Z:5.22 [[ 8.35826410e-01 -5.48657140e-01 -1.92238498e-02 1.61745252e+02] [ 5.48523103e-01 8.36047356e-01 -1.21336210e-02 4.37339931e+01] [ 2.27292466e-02 -4.03124831e-04 9.99741576e-01 5.21696509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.648040942 meters 0.020813246827893192 Centerline is valid? [True, True] Translation: X:161.80, Y:43.76, Z:5.22 [[ 8.36171647e-01 -5.48148046e-01 -1.87268677e-02 1.61795364e+02] [ 5.48020685e-01 8.36381239e-01 -1.18216754e-02 4.37627714e+01] [ 2.21428291e-02 -3.77761055e-04 9.99754746e-01 5.21800050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.708040942 meters 0.020392271138929854 Centerline is valid? [True, True] Translation: X:161.85, Y:43.79, Z:5.22 [[ 8.36960720e-01 -5.46954333e-01 -1.83769222e-02 1.61845107e+02] [ 5.46831235e-01 8.37162378e-01 -1.16083781e-02 4.37937926e+01] [ 2.17337206e-02 -3.33318575e-04 9.99763739e-01 5.21810551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76804094199997 meters 0.020239897770267076 Centerline is valid? [True, True] Translation: X:161.89, Y:43.82, Z:5.22 [[ 8.36917870e-01 -5.47024190e-01 -1.82486828e-02 1.61894586e+02] [ 5.46902654e-01 8.37116735e-01 -1.15350747e-02 4.38217611e+01] [ 2.15862427e-02 -3.26342922e-04 9.99766937e-01 5.21905387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82804094199997 meters 0.020342446020941627 Centerline is valid? [True, True] Translation: X:161.94, Y:43.85, Z:5.22 [[ 8.36664919e-01 -5.47398399e-01 -1.86227205e-02 1.61944486e+02] [ 5.47271849e-01 8.36872079e-01 -1.17748164e-02 4.38504614e+01] [ 2.20303505e-02 -3.40114842e-04 9.99757245e-01 5.21994367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88804094199998 meters 0.020373132905411078 Centerline is valid? [True, True] Translation: X:162.00, Y:43.88, Z:5.22 [[ 8.36362222e-01 -5.47843627e-01 -1.91205169e-02 1.61995253e+02] [ 5.47710294e-01 8.36580678e-01 -1.20914307e-02 4.38786966e+01] [ 2.26200683e-02 -3.59688057e-04 9.99744069e-01 5.21962286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94804094199998 meters 0.019633243343855206 Centerline is valid? [True, True] Translation: X:162.04, Y:43.91, Z:5.22 [[ 8.36064316e-01 -5.48282057e-01 -1.95766702e-02 1.62044312e+02] [ 5.48142232e-01 8.36293397e-01 -1.23873617e-02 4.39091796e+01] [ 2.31636082e-02 -3.74168646e-04 9.99731618e-01 5.21970561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00804094199998 meters 0.019274735069287164 Centerline is valid? [True, True] Translation: X:162.09, Y:43.94, Z:5.22 [[ 8.36816362e-01 -5.47149504e-01 -1.91258250e-02 1.62094744e+02] [ 5.47015572e-01 8.37034833e-01 -1.21099723e-02 4.39390354e+01] [ 2.26349471e-02 -3.28301151e-04 9.99743743e-01 5.22044199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06804094199998 meters 0.01902377265093717 Centerline is valid? [True, True] Translation: X:162.14, Y:43.97, Z:5.22 [[ 8.38347528e-01 -5.44841193e-01 -1.79303025e-02 1.62143573e+02] [ 5.44722792e-01 8.38539215e-01 -1.13606965e-02 4.39707580e+01] [ 2.12250373e-02 -2.42832582e-04 9.99774694e-01 5.22283995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12804094199998 meters 0.0185111304514137 Centerline is valid? [True, True] Translation: X:162.19, Y:44.01, Z:5.22 [[ 8.39830865e-01 -5.42553461e-01 -1.78846393e-02 1.62191435e+02] [ 5.42435135e-01 8.40021254e-01 -1.13320881e-02 4.40051836e+01] [ 2.11717407e-02 -1.84219370e-04 9.99775837e-01 5.22310524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.188040942 meters 0.01817934189093387 Centerline is valid? [True, True] Translation: X:162.24, Y:44.04, Z:5.22 [[ 8.41576696e-01 -5.39844229e-01 -1.78009564e-02 1.62239472e+02] [ 5.39726268e-01 8.41764930e-01 -1.12853441e-02 4.40389060e+01] [ 2.10765487e-02 -1.10161133e-04 9.99777859e-01 5.22369107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.248040942 meters 0.018093846317368305 Centerline is valid? [True, True] Translation: X:162.29, Y:44.07, Z:5.22 [[ 8.42772934e-01 -5.37957008e-01 -1.83313525e-02 1.62287447e+02] [ 5.37831280e-01 8.42972274e-01 -1.16301612e-02 4.40714976e+01] [ 2.17093486e-02 -5.75896905e-05 9.99764323e-01 5.22482701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.308040942 meters 0.018041402813517366 Centerline is valid? [True, True] Translation: X:162.33, Y:44.11, Z:5.22 [[ 8.44084226e-01 -5.35899560e-01 -1.82614524e-02 1.62333872e+02] [ 5.35774306e-01 8.44281743e-01 -1.15858459e-02 4.41067907e+01] [ 2.16266605e-02 -4.58719408e-06 9.99766116e-01 5.22372241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.368040942 meters 0.018031539454095215 Centerline is valid? [True, True] Translation: X:162.38, Y:44.14, Z:5.23 [[ 8.43842352e-01 -5.36298021e-01 -1.77346320e-02 1.62382505e+02] [ 5.36179794e-01 8.44028692e-01 -1.12603688e-02 4.41386214e+01] [ 2.10074518e-02 -6.97526863e-06 9.99779319e-01 5.22598142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.428040942 meters 0.017966821907890167 Centerline is valid? [True, True] Translation: X:162.43, Y:44.17, Z:5.23 [[ 8.42844817e-01 -5.37876433e-01 -1.73654101e-02 1.62431582e+02] [ 5.37763385e-01 8.43023690e-01 -1.10272643e-02 4.41690144e+01] [ 2.05707576e-02 -4.42091677e-05 9.99788399e-01 5.22718363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48804094199997 meters 0.01821787104256123 Centerline is valid? [True, True] Translation: X:162.48, Y:44.20, Z:5.23 [[ 8.39707949e-01 -5.42771298e-01 -1.70258276e-02 1.62483103e+02] [ 5.42663488e-01 8.39880524e-01 -1.08187522e-02 4.41971263e+01] [ 2.01717692e-02 -1.54702790e-04 9.99796517e-01 5.22922341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54804094199997 meters 0.01865752317090027 Centerline is valid? [True, True] Translation: X:162.53, Y:44.23, Z:5.23 [[ 8.37315475e-01 -5.46423795e-01 -1.79953462e-02 1.62534183e+02] [ 5.46304048e-01 8.37508790e-01 -1.14417327e-02 4.42267300e+01] [ 2.13232956e-02 -2.50590597e-04 9.99772601e-01 5.22972316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60804094199997 meters 0.01943160602422623 Centerline is valid? [True, True] Translation: X:162.58, Y:44.26, Z:5.23 [[ 8.35515804e-01 -5.49144551e-01 -1.88043422e-02 1.62583873e+02] [ 5.49014290e-01 8.35727321e-01 -1.19646913e-02 4.42574970e+01] [ 2.22856476e-02 -3.27163922e-04 9.99751591e-01 5.22911104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66804094199998 meters 0.019512564174277332 Centerline is valid? [True, True] Translation: X:162.63, Y:44.29, Z:5.23 [[ 8.35508355e-01 -5.49083476e-01 -2.08116474e-02 1.62632699e+02] [ 5.48923855e-01 8.35767436e-01 -1.32436449e-02 4.42906937e+01] [ 2.46655638e-02 -3.58833739e-04 9.99695694e-01 5.22876782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72804094199998 meters 0.01929182978342388 Centerline is valid? [True, True] Translation: X:162.68, Y:44.32, Z:5.23 [[ 8.36358986e-01 -5.47717901e-01 -2.25554577e-02 1.62680540e+02] [ 5.47529677e-01 8.36663007e-01 -1.43619480e-02 4.43246202e+01] [ 2.67376130e-02 -3.38038170e-04 9.99642429e-01 5.22925524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78804094199998 meters 0.01920114647786132 Centerline is valid? [True, True] Translation: X:162.73, Y:44.36, Z:5.23 [[ 8.37300412e-01 -5.46215401e-01 -2.40157478e-02 1.62727723e+02] [ 5.46001141e-01 8.37644701e-01 -1.53006329e-02 4.43602511e+01] [ 2.84741052e-02 -3.01399452e-04 9.99594485e-01 5.22987631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84804094199998 meters 0.019105712452593158 Centerline is valid? [True, True] Translation: X:162.78, Y:44.39, Z:5.23 [[ 8.37463061e-01 -5.45884749e-01 -2.57965559e-02 1.62775701e+02] [ 5.45637080e-01 8.37860220e-01 -1.64447244e-02 4.43937644e+01] [ 3.05908323e-02 -3.03708176e-04 9.99531945e-01 5.23052729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90804094199999 meters 0.019226443247603975 Centerline is valid? [True, True] Translation: X:162.82, Y:44.42, Z:5.23 [[ 8.37137259e-01 -5.46360195e-01 -2.63010822e-02 1.62823870e+02] [ 5.46102638e-01 8.37550259e-01 -1.67771650e-02 4.44241492e+01] [ 3.11948533e-02 -3.18300465e-04 9.99513271e-01 5.23135125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.968040942 meters 0.01923661745143073 Centerline is valid? [True, True] Translation: X:162.87, Y:44.45, Z:5.23 [[ 8.37072419e-01 -5.46399172e-01 -2.75265431e-02 1.62872924e+02] [ 5.46116807e-01 8.37524828e-01 -1.75668930e-02 4.44546685e+01] [ 3.26526991e-02 -3.27946222e-04 9.99466705e-01 5.23250139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.028040942 meters 0.01917330855832071 Centerline is valid? [True, True] Translation: X:162.92, Y:44.48, Z:5.23 [[ 8.37673978e-01 -5.45470997e-01 -2.76350874e-02 1.62922312e+02] [ 5.45185544e-01 8.38129650e-01 -1.76468768e-02 4.44840860e+01] [ 3.27876456e-02 -2.83920662e-04 9.99462300e-01 5.23493404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.088040942 meters 0.019002280551678657 Centerline is valid? [True, True] Translation: X:162.97, Y:44.52, Z:5.24 [[ 8.39215143e-01 -5.43101644e-01 -2.75417500e-02 1.62971466e+02] [ 5.42816717e-01 8.39666940e-01 -1.75909789e-02 4.45158532e+01] [ 3.26795865e-02 -1.87506409e-04 9.99465862e-01 5.23788485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.148040942 meters 0.01873627072124526 Centerline is valid? [True, True] Translation: X:163.02, Y:44.55, Z:5.24 [[ 8.41704022e-01 -5.39162126e-01 -2.89575616e-02 1.63018270e+02] [ 5.38844466e-01 8.42201995e-01 -1.85051578e-02 4.45496618e+01] [ 3.43653964e-02 -2.77560216e-05 9.99409335e-01 5.23897675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.208040942 meters 0.018783790029200675 Centerline is valid? [True, True] Translation: X:163.06, Y:44.58, Z:5.24 [[ 8.42722383e-01 -5.37529640e-01 -2.96794730e-02 1.63064807e+02] [ 5.37194706e-01 8.43244854e-01 -1.89726906e-02 4.45846034e+01] [ 3.52254464e-02 4.50552309e-05 9.99379390e-01 5.23969054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26804094199997 meters 0.018843568361369814 Centerline is valid? [True, True] Translation: X:163.11, Y:44.62, Z:5.24 [[ 8.41447443e-01 -5.39531510e-01 -2.95288131e-02 1.63114057e+02] [ 5.39200813e-01 8.41965409e-01 -1.88874148e-02 4.46159201e+01] [ 3.50525946e-02 -2.91931330e-05 9.99385469e-01 5.24122090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32804094199997 meters 0.019781978098759413 Centerline is valid? [True, True] Translation: X:163.17, Y:44.64, Z:5.24 [[ 8.37589981e-01 -5.45428542e-01 -3.08338935e-02 1.63166473e+02] [ 5.45071507e-01 8.38157282e-01 -1.97338226e-02 4.46436390e+01] [ 3.66070424e-02 -2.77824656e-04 9.99329699e-01 5.24255011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38804094199998 meters 0.020594113657964205 Centerline is valid? [True, True] Translation: X:163.22, Y:44.67, Z:5.24 [[ 8.33661156e-01 -5.51275204e-01 -3.32374314e-02 1.63217241e+02] [ 5.50864545e-01 8.34323275e-01 -2.12820394e-02 4.46739778e+01] [ 3.94630233e-02 -5.67312948e-04 9.99220870e-01 5.24445036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44804094199998 meters 0.022033847369509703 Centerline is valid? [True, True] Translation: X:163.27, Y:44.70, Z:5.24 [[ 8.30683517e-01 -5.55562717e-01 -3.62623902e-02 1.63267737e+02] [ 5.55077751e-01 8.31474213e-01 -2.32233594e-02 4.47047563e+01] [ 4.30532750e-02 -8.37184144e-04 9.99072427e-01 5.24467760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50804094199998 meters 0.022666415598633336 Centerline is valid? [True, True] Translation: X:163.32, Y:44.74, Z:5.25 [[ 8.29207681e-01 -5.57679584e-01 -3.75247080e-02 1.63315195e+02] [ 5.57162260e-01 8.30055737e-01 -2.40351854e-02 4.47388520e+01] [ 4.45515313e-02 -9.77190772e-04 9.99006610e-01 5.24790592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56804094199998 meters 0.02302082248996044 Centerline is valid? [True, True] Translation: X:163.36, Y:44.77, Z:5.25 [[ 8.28955112e-01 -5.58020837e-01 -3.80285065e-02 1.63364017e+02] [ 5.57489545e-01 8.29826331e-01 -2.43652986e-02 4.47724944e+01] [ 4.51534003e-02 -1.00275589e-03 9.98979562e-01 5.25065747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62804094199998 meters 0.02337329099394291 Centerline is valid? [True, True] Translation: X:163.41, Y:44.81, Z:5.25 [[ 8.29312231e-01 -5.57450471e-01 -3.86030540e-02 1.63410829e+02] [ 5.56901889e-01 8.30209622e-01 -2.47440791e-02 4.48062124e+01] [ 4.58422254e-02 -9.77546223e-04 9.98948214e-01 5.25272919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.688040942 meters 0.023525551335372933 Centerline is valid? [True, True] Translation: X:163.46, Y:44.84, Z:5.26 [[ 8.29282222e-01 -5.57461843e-01 -3.90805645e-02 1.63458820e+02] [ 5.56899229e-01 8.30201979e-01 -2.50583777e-02 4.48388362e+01] [ 4.64138514e-02 -9.83469069e-04 9.98921812e-01 5.25600325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.748040942 meters 0.022385657854806902 Centerline is valid? [True, True] Translation: X:163.51, Y:44.88, Z:5.26 [[ 8.30688173e-01 -5.55346749e-01 -3.93337843e-02 1.63505852e+02] [ 5.54773770e-01 8.31618453e-01 -2.52351557e-02 4.48750838e+01] [ 4.67249626e-02 -8.58806441e-04 9.98907423e-01 5.26118227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.808040942 meters 0.022825877300519687 Centerline is valid? [True, True] Translation: X:163.55, Y:44.91, Z:5.26 [[ 8.31891468e-01 -5.53505860e-01 -3.98478036e-02 1.63553621e+02] [ 5.52915056e-01 8.32844940e-01 -2.55782607e-02 4.49086759e+01] [ 4.73447588e-02 -7.54113688e-04 9.98878323e-01 5.26196557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.868040942 meters 0.02188478863560645 Centerline is valid? [True, True] Translation: X:163.60, Y:44.94, Z:5.27 [[ 8.32329390e-01 -5.52861439e-01 -3.96486507e-02 1.63600648e+02] [ 5.52275152e-01 8.33272906e-01 -2.54641038e-02 4.49448890e+01] [ 4.71162674e-02 -7.02442573e-04 9.98889165e-01 5.26671718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.928040942 meters 0.02192652000309842 Centerline is valid? [True, True] Translation: X:163.65, Y:44.98, Z:5.27 [[ 8.31925870e-01 -5.53568180e-01 -3.82310998e-02 1.63648697e+02] [ 5.53023239e-01 8.32803562e-01 -2.45667185e-02 4.49780370e+01] [ 4.54383498e-02 -7.04998021e-04 9.98966896e-01 5.27087417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98804094199997 meters 0.022018928132957295 Centerline is valid? [True, True] Translation: X:163.70, Y:45.01, Z:5.28 [[ 8.31545756e-01 -5.54223973e-01 -3.69789507e-02 1.63697361e+02] [ 5.53714250e-01 8.32367280e-01 -2.37747651e-02 4.50104989e+01] [ 4.39566133e-02 -7.05966941e-04 9.99033192e-01 5.27514695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04804094199997 meters 0.021748671337082814 Centerline is valid? [True, True] Translation: X:163.74, Y:45.05, Z:5.28 [[ 8.33075379e-01 -5.52000092e-01 -3.57954125e-02 1.63744286e+02] [ 5.51519911e-01 8.33843862e-01 -2.30261245e-02 4.50464299e+01] [ 4.25582078e-02 -5.59385355e-04 9.99093832e-01 5.27824686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10804094199997 meters 0.021125282115517705 Centerline is valid? [True, True] Translation: X:163.79, Y:45.09, Z:5.28 [[ 8.35561956e-01 -5.48285208e-01 -3.49220324e-02 1.63789337e+02] [ 5.47824429e-01 8.36291341e-01 -2.24763867e-02 4.50855879e+01] [ 4.15284637e-02 -3.50728830e-04 9.99137260e-01 5.28095975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16804094199998 meters 0.020967681312813465 Centerline is valid? [True, True] Translation: X:163.84, Y:45.12, Z:5.28 [[ 8.36229957e-01 -5.47263475e-01 -3.49592255e-02 1.63836397e+02] [ 5.46800277e-01 8.36960337e-01 -2.25133790e-02 4.51194515e+01] [ 4.15802352e-02 -2.89352230e-04 9.99135126e-01 5.28220790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22804094199998 meters 0.021244877842238385 Centerline is valid? [True, True] Translation: X:163.88, Y:45.15, Z:5.28 [[ 8.34983433e-01 -5.49258609e-01 -3.34312285e-02 1.63884609e+02] [ 5.48836169e-01 8.35652350e-01 -2.15408854e-02 4.51496004e+01] [ 3.97684014e-02 -3.61984898e-04 9.99208859e-01 5.28470001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28804094199998 meters 0.02133184600213457 Centerline is valid? [True, True] Translation: X:163.93, Y:45.18, Z:5.29 [[ 8.33571096e-01 -5.51393370e-01 -3.35347486e-02 1.63933391e+02] [ 5.50969743e-01 8.34245252e-01 -2.16148472e-02 4.51828187e+01] [ 3.98944882e-02 -4.59119947e-04 9.99203793e-01 5.28616048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34804094199998 meters 0.02131804528137156 Centerline is valid? [True, True] Translation: X:163.98, Y:45.22, Z:5.29 [[ 8.33074814e-01 -5.52123600e-01 -3.38509250e-02 1.63982764e+02] [ 5.51692059e-01 8.33762131e-01 -2.18307365e-02 4.52155401e+01] [ 4.02768842e-02 -4.88649734e-04 9.99188438e-01 5.28839657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40804094199999 meters 0.02140016991068846 Centerline is valid? [True, True] Translation: X:164.03, Y:45.25, Z:5.29 [[ 8.32303084e-01 -5.53231102e-01 -3.47408083e-02 1.64031415e+02] [ 5.52777001e-01 8.33027641e-01 -2.24173397e-02 4.52490362e+01] [ 4.13420231e-02 -5.45898832e-04 9.99144904e-01 5.28911028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.468040942 meters 0.021743259151185346 Centerline is valid? [True, True] Translation: X:164.08, Y:45.28, Z:5.29 [[ 8.31218814e-01 -5.54710403e-01 -3.70358092e-02 1.64080163e+02] [ 5.54195156e-01 8.32043237e-01 -2.39119578e-02 4.52821811e+01] [ 4.40796063e-02 -6.48996860e-04 9.99027811e-01 5.28846675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.528040942 meters 0.022102590799608975 Centerline is valid? [True, True] Translation: X:164.13, Y:45.31, Z:5.29 [[ 8.29301403e-01 -5.57518854e-01 -3.78405898e-02 1.64128576e+02] [ 5.56983388e-01 8.30163886e-01 -2.44423336e-02 4.53149008e+01] [ 4.50409529e-02 -8.06518334e-04 9.98984816e-01 5.28939926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.588040942 meters 0.022650506406395304 Centerline is valid? [True, True] Translation: X:164.18, Y:45.35, Z:5.29 [[ 8.27252987e-01 -5.60549260e-01 -3.79080801e-02 1.64177463e+02] [ 5.60014717e-01 8.28120518e-01 -2.44933428e-02 4.53474246e+01] [ 4.51221841e-02 -9.66891752e-04 9.98981008e-01 5.29178436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.648040942 meters 0.022162496909297887 Centerline is valid? [True, True] Translation: X:164.23, Y:45.38, Z:5.30 [[ 8.27364296e-01 -5.60503217e-01 -3.61173946e-02 1.64225318e+02] [ 5.60017432e-01 8.28151749e-01 -2.33486100e-02 4.53818267e+01] [ 4.29976545e-02 -9.08564290e-04 9.99074760e-01 5.29579524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.708040942 meters 0.021607357613955023 Centerline is valid? [True, True] Translation: X:164.27, Y:45.42, Z:5.30 [[ 8.29838096e-01 -5.56828406e-01 -3.62058164e-02 1.64271153e+02] [ 5.56336279e-01 8.30627245e-01 -2.34163244e-02 4.54182860e+01] [ 4.31124122e-02 -7.10851068e-04 9.99069975e-01 5.29755330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76804094199997 meters 0.021017444222692905 Centerline is valid? [True, True] Translation: X:164.32, Y:45.45, Z:5.30 [[ 8.31785140e-01 -5.53982539e-01 -3.51685508e-02 1.64317523e+02] [ 5.53515404e-01 8.32528110e-01 -2.27517839e-02 4.54544881e+01] [ 4.18828982e-02 -5.41738850e-04 9.99122380e-01 5.29953478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82804094199997 meters 0.020481299260333152 Centerline is valid? [True, True] Translation: X:164.36, Y:45.49, Z:5.30 [[ 8.33308940e-01 -5.51805974e-01 -3.32622620e-02 1.64364554e+02] [ 5.51386001e-01 8.33972426e-01 -2.15283700e-02 4.54910194e+01] [ 3.96192925e-02 -4.00562504e-04 9.99214767e-01 5.30321147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88804094199998 meters 0.020684917726000205 Centerline is valid? [True, True] Translation: X:164.41, Y:45.52, Z:5.31 [[ 8.32583131e-01 -5.52966512e-01 -3.21460262e-02 1.64411394e+02] [ 5.52574855e-01 8.33203365e-01 -2.08130328e-02 4.55249896e+01] [ 3.82930873e-02 -4.34505730e-04 9.99266456e-01 5.30565830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94804094199998 meters 0.0208690283826264 Centerline is valid? [True, True] Translation: X:164.46, Y:45.56, Z:5.31 [[ 8.31514651e-01 -5.54597790e-01 -3.16966362e-02 1.64459266e+02] [ 5.54217719e-01 8.32118411e-01 -2.05346321e-02 4.55597147e+01] [ 3.77638161e-02 -4.91989984e-04 9.99286572e-01 5.30662738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00804094199998 meters 0.020833590149577867 Centerline is valid? [True, True] Translation: X:164.51, Y:45.59, Z:5.31 [[ 8.31094836e-01 -5.55204067e-01 -3.20907847e-02 1.64508155e+02] [ 5.54814489e-01 8.31714000e-01 -2.08015581e-02 4.55925657e+01] [ 3.82394646e-02 -5.16364863e-04 9.99268471e-01 5.30814311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06804094199998 meters 0.020905338855585428 Centerline is valid? [True, True] Translation: X:164.56, Y:45.62, Z:5.31 [[ 8.30504241e-01 -5.56034871e-01 -3.29837533e-02 1.64555782e+02] [ 5.55623551e-01 8.31158774e-01 -2.13907168e-02 4.56246305e+01] [ 3.93087204e-02 -5.61469045e-04 9.99226956e-01 5.30932463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12804094199998 meters 0.02119471450336309 Centerline is valid? [True, True] Translation: X:164.60, Y:45.66, Z:5.31 [[ 8.30820322e-01 -5.55594734e-01 -3.24358310e-02 1.64602768e+02] [ 5.55196427e-01 8.31453073e-01 -2.10407746e-02 4.56594395e+01] [ 3.86590149e-02 -5.27154369e-04 9.99252322e-01 5.31041292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.188040942 meters 0.02000199929036689 Centerline is valid? [True, True] Translation: X:164.65, Y:45.69, Z:5.31 [[ 8.31574394e-01 -5.54483599e-01 -3.21242237e-02 1.64650229e+02] [ 5.54091663e-01 8.32194524e-01 -2.08495588e-02 4.56940037e+01] [ 3.82943414e-02 -4.61805310e-04 9.99266396e-01 5.31383864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.248040942 meters 0.01954971187291762 Centerline is valid? [True, True] Translation: X:164.70, Y:45.73, Z:5.32 [[ 8.31917635e-01 -5.54002373e-01 -3.15344077e-02 1.64699807e+02] [ 5.53623988e-01 8.32514980e-01 -2.04765339e-02 4.57266049e+01] [ 3.75969152e-02 -4.23414917e-04 9.99292896e-01 5.31603297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.308040942 meters 0.02072276914388304 Centerline is valid? [True, True] Translation: X:164.75, Y:45.76, Z:5.32 [[ 8.31604471e-01 -5.54431761e-01 -3.22401381e-02 1.64749234e+02] [ 5.54036345e-01 8.32229068e-01 -2.09405486e-02 4.57574034e+01] [ 3.84412853e-02 -4.47954460e-04 9.99260760e-01 5.31664178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.368040942 meters 0.019282571064542117 Centerline is valid? [True, True] Translation: X:164.80, Y:45.79, Z:5.32 [[ 8.31837539e-01 -5.54072313e-01 -3.24064798e-02 1.64798271e+02] [ 5.53672313e-01 8.32468431e-01 -2.10542566e-02 4.57889922e+01] [ 3.86429520e-02 -4.28849637e-04 9.99252990e-01 5.31966155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.428040942 meters 0.01920651765165816 Centerline is valid? [True, True] Translation: X:164.85, Y:45.82, Z:5.32 [[ 8.31786968e-01 -5.54147392e-01 -3.24208055e-02 1.64847951e+02] [ 5.53746607e-01 8.32418458e-01 -2.10761867e-02 4.58197695e+01] [ 3.86669908e-02 -4.22013607e-04 9.99252063e-01 5.32214462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48804094199997 meters 0.019064111986913414 Centerline is valid? [True, True] Translation: X:164.90, Y:45.85, Z:5.32 [[ 8.32256482e-01 -5.53429982e-01 -3.26251969e-02 1.64896553e+02] [ 5.53023151e-01 8.32895617e-01 -2.12199317e-02 4.58511013e+01] [ 3.89171299e-02 -3.82063529e-04 9.99242369e-01 5.32318164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54804094199997 meters 0.01902687815186693 Centerline is valid? [True, True] Translation: X:164.95, Y:45.88, Z:5.33 [[ 8.32030693e-01 -5.53801721e-01 -3.20714776e-02 1.64945144e+02] [ 5.53408709e-01 8.32648487e-01 -2.08638065e-02 4.58804612e+01] [ 3.82586792e-02 -3.89307631e-04 9.99267793e-01 5.32550635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60804094199997 meters 0.01910984264454215 Centerline is valid? [True, True] Translation: X:165.00, Y:45.91, Z:5.33 [[ 8.31702996e-01 -5.54298449e-01 -3.19899334e-02 1.64995506e+02] [ 5.53907613e-01 8.32317886e-01 -2.08156622e-02 4.59099303e+01] [ 3.81638830e-02 -4.07019053e-04 9.99271411e-01 5.32722617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66804094199998 meters 0.01948829870760145 Centerline is valid? [True, True] Translation: X:165.04, Y:45.94, Z:5.33 [[ 8.31559648e-01 -5.54473418e-01 -3.26768962e-02 1.65044366e+02] [ 5.54065526e-01 8.32201329e-01 -2.12682898e-02 4.59407353e+01] [ 3.89864579e-02 -4.19290085e-04 9.99239651e-01 5.32873234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72804094199998 meters 0.018052320476096 Centerline is valid? [True, True] Translation: X:165.09, Y:45.97, Z:5.33 [[ 8.34609853e-01 -5.49877848e-01 -3.25690831e-02 1.65093789e+02] [ 5.49468717e-01 8.35245062e-01 -2.12088315e-02 4.59710312e+01] [ 3.88654325e-02 -1.94592617e-04 9.99244435e-01 5.33090490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78804094199998 meters 0.017454623914738034 Centerline is valid? [True, True] Translation: X:165.14, Y:46.00, Z:5.33 [[ 8.37040456e-01 -5.46137735e-01 -3.31187157e-02 1.65141591e+02] [ 5.45711499e-01 8.37695395e-01 -2.15727795e-02 4.60044886e+01] [ 3.95251046e-02 -1.59747816e-05 9.99218578e-01 5.33451485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84804094199998 meters 0.017563957658424834 Centerline is valid? [True, True] Translation: X:165.19, Y:46.04, Z:5.34 [[ 8.40716016e-01 -5.40485181e-01 -3.27467538e-02 1.65190337e+02] [ 5.40063664e-01 8.41353494e-01 -2.13433046e-02 4.60370992e+01] [ 3.90873356e-02 2.58326187e-04 9.99235765e-01 5.33623956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90804094199999 meters 0.017843875571389 Centerline is valid? [True, True] Translation: X:165.24, Y:46.07, Z:5.34 [[ 8.42463730e-01 -5.37783031e-01 -3.23152572e-02 1.65239310e+02] [ 5.37370182e-01 8.43083188e-01 -2.10719321e-02 4.60685168e+01] [ 3.85765776e-02 3.87082851e-04 9.99255572e-01 5.33749018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.968040942 meters 0.01777190258545374 Centerline is valid? [True, True] Translation: X:165.29, Y:46.09, Z:5.34 [[ 8.42571791e-01 -5.37606329e-01 -3.24378240e-02 1.65292473e+02] [ 5.37189981e-01 8.43195869e-01 -2.11577510e-02 4.60935930e+01] [ 3.87259800e-02 4.01650048e-04 9.99249787e-01 5.34054689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.028040942 meters 0.017429042786577194 Centerline is valid? [True, True] Translation: X:165.35, Y:46.12, Z:5.34 [[ 8.41019829e-01 -5.40008158e-01 -3.28151896e-02 1.65345984e+02] [ 5.39583371e-01 8.41659727e-01 -2.14170436e-02 4.61193175e+01] [ 3.91846018e-02 3.05627678e-04 9.99231942e-01 5.34173792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.088040942 meters 0.017174979639895293 Centerline is valid? [True, True] Translation: X:165.40, Y:46.15, Z:5.34 [[ 8.39499454e-01 -5.42340845e-01 -3.32727265e-02 1.65398191e+02] [ 5.41905472e-01 8.40158535e-01 -2.17277600e-02 4.61464346e+01] [ 3.97382169e-02 2.09770093e-04 9.99210103e-01 5.34263276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.148040942 meters 0.01683331725455249 Centerline is valid? [True, True] Translation: X:165.45, Y:46.17, Z:5.34 [[ 8.36364871e-01 -5.47140154e-01 -3.36370987e-02 1.65453711e+02] [ 5.46698549e-01 8.37041009e-01 -2.19782830e-02 4.61670478e+01] [ 4.01808322e-02 -7.48923854e-06 9.99192424e-01 5.34446855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.208040942 meters 0.016767227285505018 Centerline is valid? [True, True] Translation: X:165.51, Y:46.19, Z:5.35 [[ 8.34316486e-01 -5.50303789e-01 -3.28898350e-02 1.65508101e+02] [ 5.49883525e-01 8.34964502e-01 -2.15032424e-02 4.61906083e+01] [ 3.92951604e-02 -1.45068809e-04 9.99227636e-01 5.34657251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26804094199997 meters 0.016742167908353724 Centerline is valid? [True, True] Translation: X:165.56, Y:46.22, Z:5.35 [[ 8.33555854e-01 -5.51438972e-01 -3.31617068e-02 1.65559482e+02] [ 5.51012083e-01 8.34215215e-01 -2.16946931e-02 4.62183866e+01] [ 3.96272996e-02 -1.88762709e-04 9.99214512e-01 5.34680635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32804094199997 meters 0.016801638678232384 Centerline is valid? [True, True] Translation: X:165.61, Y:46.24, Z:5.35 [[ 8.32227890e-01 -5.53415748e-01 -3.35819627e-02 1.65613052e+02] [ 5.52979033e-01 8.32905117e-01 -2.19830627e-02 4.62447900e+01] [ 4.01363616e-02 -2.75203376e-04 9.99194174e-01 5.34764072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38804094199998 meters 0.016755920401645023 Centerline is valid? [True, True] Translation: X:165.67, Y:46.27, Z:5.35 [[ 8.30815470e-01 -5.55549740e-01 -3.33187839e-02 1.65668017e+02] [ 5.55121090e-01 8.31483225e-01 -2.18225167e-02 4.62688511e+01] [ 3.98275033e-02 -3.65475162e-04 9.99206503e-01 5.34924037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44804094199998 meters 0.016684449821951837 Centerline is valid? [True, True] Translation: X:165.72, Y:46.29, Z:5.35 [[ 8.30879986e-01 -5.55407825e-01 -3.40675390e-02 1.65720463e+02] [ 5.54959041e-01 8.31578031e-01 -2.23258009e-02 4.62944709e+01] [ 4.07297416e-02 -3.56027617e-04 9.99170136e-01 5.34970303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50804094199998 meters 0.01613704395733863 Centerline is valid? [True, True] Translation: X:165.77, Y:46.33, Z:5.35 [[ 8.33909180e-01 -5.50919439e-01 -3.29127944e-02 1.65766477e+02] [ 5.50496631e-01 8.34558420e-01 -2.15801341e-02 4.63291060e+01] [ 3.93565651e-02 -1.22510542e-04 9.99225223e-01 5.35017614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56804094199998 meters 0.015889568892321314 Centerline is valid? [True, True] Translation: X:165.81, Y:46.37, Z:5.35 [[ 8.37624916e-01 -5.45251117e-01 -3.29502624e-02 1.65810464e+02] [ 5.44822767e-01 8.38272747e-01 -2.16091504e-02 4.63664340e+01] [ 3.94037204e-02 1.48309684e-04 9.99223361e-01 5.35096665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62804094199998 meters 0.016101118953689795 Centerline is valid? [True, True] Translation: X:165.86, Y:46.40, Z:5.35 [[ 8.38254505e-01 -5.44338656e-01 -3.20127051e-02 1.65857865e+02] [ 5.43933475e-01 8.38865538e-01 -2.09996008e-02 4.63986646e+01] [ 3.82852495e-02 1.90228071e-04 9.99266833e-01 5.35346046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.688040942 meters 0.01594590072019009 Centerline is valid? [True, True] Translation: X:165.91, Y:46.43, Z:5.35 [[ 8.35839078e-01 -5.48057883e-01 -3.17110683e-02 1.65908563e+02] [ 5.47662734e-01 8.36440408e-01 -2.08080081e-02 4.64295235e+01] [ 3.79284118e-02 2.51759378e-05 9.99280459e-01 5.35420171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.748040942 meters 0.016037839063372656 Centerline is valid? [True, True] Translation: X:165.96, Y:46.46, Z:5.36 [[ 8.33687551e-01 -5.51319626e-01 -3.18078296e-02 1.65958347e+02] [ 5.50924015e-01 8.34294107e-01 -2.08823533e-02 4.64586652e+01] [ 3.80499360e-02 -1.14339187e-04 9.99275832e-01 5.35512627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.808040942 meters 0.016725669779510437 Centerline is valid? [True, True] Translation: X:166.01, Y:46.49, Z:5.36 [[ 8.31109128e-01 -5.55166680e-01 -3.23662434e-02 1.66009555e+02] [ 5.54759546e-01 8.31739067e-01 -2.12596161e-02 4.64860315e+01] [ 3.87228995e-02 -2.86421501e-04 9.99249946e-01 5.35554478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.868040942 meters 0.01737940318805594 Centerline is valid? [True, True] Translation: X:166.06, Y:46.51, Z:5.36 [[ 8.29253861e-01 -5.57895693e-01 -3.30216505e-02 1.66059945e+02] [ 5.57473886e-01 8.29910971e-01 -2.16943922e-02 4.65147928e+01] [ 3.95082380e-02 -4.18549327e-04 9.99219157e-01 5.35597446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.928040942 meters 0.01754091648428857 Centerline is valid? [True, True] Translation: X:166.11, Y:46.55, Z:5.36 [[ 8.29128681e-01 -5.58102602e-01 -3.26667536e-02 1.66106419e+02] [ 5.57689763e-01 8.29771842e-01 -2.14666720e-02 4.65483502e+01] [ 3.90865578e-02 -4.19280656e-04 9.99235741e-01 5.35658890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98804094199997 meters 0.017896794708065843 Centerline is valid? [True, True] Translation: X:166.16, Y:46.58, Z:5.36 [[ 8.27967432e-01 -5.59926629e-01 -3.08561507e-02 1.66156781e+02] [ 5.59559365e-01 8.28542061e-01 -2.02822498e-02 4.65789834e+01] [ 3.69221905e-02 -4.72805799e-04 9.99318032e-01 5.36085113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04804094199997 meters 0.019226227547791953 Centerline is valid? [True, True] Translation: X:166.21, Y:46.61, Z:5.36 [[ 8.26676791e-01 -5.61849997e-01 -3.04969586e-02 1.66206282e+02] [ 5.61492229e-01 8.27238952e-01 -2.00547567e-02 4.66081584e+01] [ 3.64960371e-02 -5.45003308e-04 9.99333649e-01 5.36288363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10804094199997 meters 0.01705512104406959 Centerline is valid? [True, True] Translation: X:166.25, Y:46.65, Z:5.37 [[ 8.26477696e-01 -5.62140748e-01 -3.05351763e-02 1.66250975e+02] [ 5.61782085e-01 8.27041397e-01 -2.00852424e-02 4.66460387e+01] [ 3.65445881e-02 -5.54110106e-04 9.99331870e-01 5.36553096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16804094199998 meters 0.01698979039011369 Centerline is valid? [True, True] Translation: X:166.30, Y:46.68, Z:5.37 [[ 8.27638226e-01 -5.60410726e-01 -3.08996084e-02 1.66298283e+02] [ 5.60041805e-01 8.28214703e-01 -2.03367280e-02 4.66787170e+01] [ 3.69884305e-02 -4.73618980e-04 9.99315582e-01 5.36652632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22804094199998 meters 0.0162085260914505 Centerline is valid? [True, True] Translation: X:166.35, Y:46.71, Z:5.37 [[ 8.30476730e-01 -5.56192634e-01 -3.09540766e-02 1.66346998e+02] [ 5.55819229e-01 8.31053353e-01 -2.03791442e-02 4.67127481e+01] [ 3.70592190e-02 -2.80465973e-04 9.99313032e-01 5.36906607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28804094199998 meters 0.01585562635989804 Centerline is valid? [True, True] Translation: X:166.40, Y:46.75, Z:5.37 [[ 8.33440604e-01 -5.51703903e-01 -3.16158788e-02 1.66396052e+02] [ 5.51310703e-01 8.34040046e-01 -2.08257120e-02 4.67459205e+01] [ 3.78585356e-02 -7.31783450e-05 9.99283106e-01 5.37068650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34804094199998 meters 0.015981714994238422 Centerline is valid? [True, True] Translation: X:166.44, Y:46.78, Z:5.37 [[ 8.35818992e-01 -5.48113075e-01 -3.12836869e-02 1.66443329e+02] [ 5.47725191e-01 8.36404237e-01 -2.06171814e-02 4.67777575e+01] [ 3.74663550e-02 9.73683731e-05 9.99297885e-01 5.37246302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40804094199999 meters 0.016322454088135773 Centerline is valid? [True, True] Translation: X:166.49, Y:46.81, Z:5.38 [[ 8.36521104e-01 -5.47085671e-01 -3.04911823e-02 1.66493681e+02] [ 5.46716278e-01 8.37076608e-01 -2.01013139e-02 4.68062058e+01] [ 3.65205962e-02 1.45147589e-04 9.99332890e-01 5.37699820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.468040942 meters 0.01644121755684119 Centerline is valid? [True, True] Translation: X:166.54, Y:46.84, Z:5.38 [[ 8.35942574e-01 -5.47985154e-01 -3.02040411e-02 1.66542783e+02] [ 5.47622829e-01 8.36488050e-01 -1.99243235e-02 4.68376178e+01] [ 3.61835529e-02 1.15167809e-04 9.99345154e-01 5.37910046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.528040942 meters 0.016773573659637116 Centerline is valid? [True, True] Translation: X:166.59, Y:46.87, Z:5.38 [[ 8.33857790e-01 -5.51231166e-01 -2.87295668e-02 1.66592017e+02] [ 5.50904902e-01 8.34352564e-01 -1.89627973e-02 4.68693871e+01] [ 3.44234726e-02 -1.49829652e-05 9.99407337e-01 5.38193176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.588040942 meters 0.017067429802222252 Centerline is valid? [True, True] Translation: X:166.64, Y:46.90, Z:5.38 [[ 8.31215509e-01 -5.55176794e-01 -2.93173140e-02 1.66641635e+02] [ 5.54839111e-01 8.31732348e-01 -1.93613750e-02 4.69002520e+01] [ 3.51331445e-02 -1.72917274e-04 9.99382626e-01 5.38466291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.648040942 meters 0.017407280051272477 Centerline is valid? [True, True] Translation: X:166.69, Y:46.93, Z:5.39 [[ 8.29132137e-01 -5.58249759e-01 -2.99517338e-02 1.66690782e+02] [ 5.57898900e-01 8.29672897e-01 -1.97914440e-02 4.69333444e+01] [ 3.58987106e-02 -3.00317049e-04 9.99355388e-01 5.38701377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.708040942 meters 0.01769762744060409 Centerline is valid? [True, True] Translation: X:166.74, Y:46.97, Z:5.39 [[ 8.27918703e-01 -5.59947385e-01 -3.17733742e-02 1.66738062e+02] [ 5.59553322e-01 8.28528079e-01 -2.10072046e-02 4.69685865e+01] [ 3.80880619e-02 -3.86639546e-04 9.99274312e-01 5.38704914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76804094199997 meters 0.018157920176026222 Centerline is valid? [True, True] Translation: X:166.79, Y:47.00, Z:5.39 [[ 8.26806276e-01 -5.61493962e-01 -3.34052812e-02 1.66785563e+02] [ 5.61059189e-01 8.27480699e-01 -2.20970228e-02 4.70009422e+01] [ 4.00495703e-02 -4.72382889e-04 9.99197582e-01 5.38788421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82804094199997 meters 0.018623041529630225 Centerline is valid? [True, True] Translation: X:166.83, Y:47.03, Z:5.39 [[ 8.25206957e-01 -5.63835704e-01 -3.35078593e-02 1.66833636e+02] [ 5.63399936e-01 8.25886772e-01 -2.21709734e-02 4.70346564e+01] [ 4.01744841e-02 -5.82684282e-04 9.99192510e-01 5.39079592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88804094199998 meters 0.01887967630405387 Centerline is valid? [True, True] Translation: X:166.88, Y:47.07, Z:5.39 [[ 8.24329666e-01 -5.65098836e-01 -3.38216791e-02 1.66881908e+02] [ 5.64655427e-01 8.25022967e-01 -2.23909144e-02 4.70682498e+01] [ 4.05567417e-02 -6.40099666e-04 9.99177032e-01 5.39353254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94804094199998 meters 0.019746224081165314 Centerline is valid? [True, True] Translation: X:166.93, Y:47.10, Z:5.40 [[ 8.21925989e-01 -5.68664155e-01 -3.25384073e-02 1.66931290e+02] [ 5.68256107e-01 8.22569436e-01 -2.15527017e-02 4.71006399e+01] [ 3.90213483e-02 -7.75423043e-04 9.99238076e-01 5.39932381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00804094199998 meters 0.019959894357805215 Centerline is valid? [True, True] Translation: X:166.98, Y:47.13, Z:5.40 [[ 8.20458583e-01 -5.70784653e-01 -3.24437002e-02 1.66979145e+02] [ 5.70380178e-01 8.21099344e-01 -2.15016032e-02 4.71342918e+01] [ 3.89122860e-02 -8.64068636e-04 9.99242257e-01 5.40174375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06804094199998 meters 0.02027278494680304 Centerline is valid? [True, True] Translation: X:167.03, Y:47.17, Z:5.40 [[ 8.19541699e-01 -5.72067946e-01 -3.30101305e-02 1.67026201e+02] [ 5.71649774e-01 8.20205705e-01 -2.18891918e-02 4.71694373e+01] [ 3.95972024e-02 -9.31128227e-04 9.99215289e-01 5.40246567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12804094199998 meters 0.020406437708852025 Centerline is valid? [True, True] Translation: X:167.07, Y:47.20, Z:5.40 [[ 8.20391850e-01 -5.70857187e-01 -3.28524709e-02 1.67072541e+02] [ 5.70441627e-01 8.21048922e-01 -2.17949147e-02 4.72037721e+01] [ 3.94152695e-02 -8.60046529e-04 9.99222546e-01 5.40411240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.188040942 meters 0.02036241426799056 Centerline is valid? [True, True] Translation: X:167.12, Y:47.24, Z:5.41 [[ 8.20781038e-01 -5.70290766e-01 -3.29686032e-02 1.67120535e+02] [ 5.69871573e-01 8.21442482e-01 -2.18778274e-02 4.72372747e+01] [ 3.95585342e-02 -8.30963891e-04 9.99216909e-01 5.40574315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.248040942 meters 0.019752191516010528 Centerline is valid? [True, True] Translation: X:167.17, Y:47.27, Z:5.41 [[ 8.22508548e-01 -5.67731378e-01 -3.40700962e-02 1.67167027e+02] [ 5.67280988e-01 8.23213558e-01 -2.26211862e-02 4.72735276e+01] [ 4.08897224e-02 -7.21198815e-04 9.99163405e-01 5.40648945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.308040942 meters 0.01936196941132156 Centerline is valid? [True, True] Translation: X:167.21, Y:47.31, Z:5.41 [[ 8.23445186e-01 -5.66362590e-01 -3.42263423e-02 1.67213603e+02] [ 5.65906372e-01 8.24155931e-01 -2.27371659e-02 4.73090749e+01] [ 4.10853232e-02 -6.46095412e-04 9.99155433e-01 5.40878358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.368040942 meters 0.01922976341162033 Centerline is valid? [True, True] Translation: X:167.26, Y:47.34, Z:5.41 [[ 8.24018787e-01 -5.65577868e-01 -3.33873394e-02 1.67260879e+02] [ 5.65142633e-01 8.24694693e-01 -2.21916107e-02 4.73440745e+01] [ 4.00854454e-02 -5.82304766e-04 9.99196086e-01 5.41165329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.428040942 meters 0.018694299387049834 Centerline is valid? [True, True] Translation: X:167.31, Y:47.38, Z:5.41 [[ 8.26006350e-01 -5.62790475e-01 -3.13112028e-02 1.67307190e+02] [ 5.62405294e-01 8.26599488e-01 -2.08224013e-02 4.73800675e+01] [ 3.76004733e-02 -4.10150556e-04 9.99292768e-01 5.41449262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48804094199997 meters 0.018489300230783535 Centerline is valid? [True, True] Translation: X:167.35, Y:47.41, Z:5.42 [[ 8.27712390e-01 -5.60352858e-01 -2.99478601e-02 1.67354369e+02] [ 5.59998547e-01 8.28253945e-01 -1.99256048e-02 4.74129957e+01] [ 3.59698028e-02 -2.78088202e-04 9.99352839e-01 5.41697354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54804094199997 meters 0.018348262126314564 Centerline is valid? [True, True] Translation: X:167.40, Y:47.45, Z:5.42 [[ 8.33556533e-01 -5.51738401e-01 -2.77172174e-02 1.67399520e+02] [ 5.51429949e-01 8.34017223e-01 -1.84467343e-02 4.74504967e+01] [ 3.32944084e-02 9.22921176e-05 9.99445583e-01 5.42065806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60804094199997 meters 0.01893881983819771 Centerline is valid? [True, True] Translation: X:167.44, Y:47.49, Z:5.42 [[ 8.36881209e-01 -5.46725863e-01 -2.68453293e-02 1.67444714e+02] [ 5.46433631e-01 8.37311618e-01 -1.78757141e-02 4.74878656e+01] [ 3.22510214e-02 2.90658467e-04 9.99479758e-01 5.42205685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66804094199998 meters 0.01993911326567278 Centerline is valid? [True, True] Translation: X:167.49, Y:47.53, Z:5.42 [[ 8.39909293e-01 -5.42130717e-01 -2.54296178e-02 1.67490145e+02] [ 5.41866294e-01 8.40294048e-01 -1.69361272e-02 4.75251227e+01] [ 3.05499513e-02 4.45357850e-04 9.99533142e-01 5.42341248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72804094199998 meters 0.020314958753330423 Centerline is valid? [True, True] Translation: X:167.54, Y:47.56, Z:5.43 [[ 8.40626512e-01 -5.41048115e-01 -2.47791355e-02 1.67538565e+02] [ 5.40796493e-01 8.40991506e-01 -1.65057744e-02 4.75585340e+01] [ 2.97694606e-02 4.74722031e-04 9.99556679e-01 5.42593739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78804094199998 meters 0.020234492058227107 Centerline is valid? [True, True] Translation: X:167.59, Y:47.59, Z:5.43 [[ 8.39634343e-01 -5.42580966e-01 -2.49011334e-02 1.67587755e+02] [ 5.42327263e-01 8.40003399e-01 -1.65960597e-02 4.75912275e+01] [ 2.99217428e-02 4.30058200e-04 9.99552152e-01 5.42783460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84804094199998 meters 0.01958008401305783 Centerline is valid? [True, True] Translation: X:167.64, Y:47.62, Z:5.43 [[ 8.36478166e-01 -5.47478888e-01 -2.38986485e-02 1.67638621e+02] [ 5.47246962e-01 8.36819457e-01 -1.59360741e-02 4.76204961e+01] [ 2.87235182e-02 2.51715235e-04 9.99587363e-01 5.43059558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90804094199999 meters 0.019393845827556704 Centerline is valid? [True, True] Translation: X:167.69, Y:47.65, Z:5.43 [[ 8.34139292e-01 -5.51044100e-01 -2.37074027e-02 1.67687993e+02] [ 5.50817055e-01 8.34476112e-01 -1.58173892e-02 4.76510428e+01] [ 2.84993402e-02 1.35464089e-04 9.99593802e-01 5.43203953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.968040942 meters 0.01922761354097038 Centerline is valid? [True, True] Translation: X:167.74, Y:47.68, Z:5.43 [[ 8.29541912e-01 -5.57939017e-01 -2.37543404e-02 1.67739328e+02] [ 5.57713768e-01 8.29881946e-01 -1.58527488e-02 4.76795472e+01] [ 2.85581653e-02 -9.76031189e-05 9.99592128e-01 5.43328804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.028040942 meters 0.020342157386801365 Centerline is valid? [True, True] Translation: X:167.79, Y:47.71, Z:5.43 [[ 8.24614935e-01 -5.65209857e-01 -2.34099676e-02 1.67789838e+02] [ 5.64993720e-01 8.24947092e-01 -1.56330324e-02 4.77086818e+01] [ 2.81479287e-02 -3.35252683e-04 9.99603712e-01 5.43365115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.088040942 meters 0.021167144382676705 Centerline is valid? [True, True] Translation: X:167.84, Y:47.74, Z:5.44 [[ 8.19934353e-01 -5.71967195e-01 -2.36893378e-02 1.67839982e+02] [ 5.71748581e-01 8.20276296e-01 -1.58227040e-02 4.77401297e+01] [ 2.84818699e-02 -5.70766639e-04 9.99594146e-01 5.43511379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.148040942 meters 0.022095857208037462 Centerline is valid? [True, True] Translation: X:167.89, Y:47.77, Z:5.44 [[ 8.16700175e-01 -5.76547900e-01 -2.43586491e-02 1.67889682e+02] [ 5.76318736e-01 8.17063007e-01 -1.62713583e-02 4.77738069e+01] [ 2.92837686e-02 -7.49524663e-04 9.99570857e-01 5.43597123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.208040942 meters 0.022751020938631617 Centerline is valid? [True, True] Translation: X:167.94, Y:47.81, Z:5.44 [[ 8.15498662e-01 -5.78195562e-01 -2.55308561e-02 1.67937046e+02] [ 5.77944356e-01 8.15897778e-01 -1.70627181e-02 4.78088585e+01] [ 3.06961567e-02 -8.40790406e-04 9.99528408e-01 5.43662772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26804094199997 meters 0.023018425474288163 Centerline is valid? [True, True] Translation: X:167.98, Y:47.84, Z:5.44 [[ 8.15357679e-01 -5.78388754e-01 -2.56574457e-02 1.67984514e+02] [ 5.78134859e-01 8.15760832e-01 -1.71566201e-02 4.78427775e+01] [ 3.08535354e-02 -8.44681795e-04 9.99523559e-01 5.43784449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32804094199997 meters 0.02251550003872471 Centerline is valid? [True, True] Translation: X:168.03, Y:47.88, Z:5.44 [[ 8.15437237e-01 -5.78298190e-01 -2.51657720e-02 1.68030000e+02] [ 5.78053588e-01 8.15825064e-01 -1.68378758e-02 4.78794678e+01] [ 3.02681807e-02 -8.16933933e-04 9.99541480e-01 5.43956839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38804094199998 meters 0.022069287775177967 Centerline is valid? [True, True] Translation: X:168.08, Y:47.92, Z:5.44 [[ 8.16788943e-01 -5.76459067e-01 -2.34684281e-02 1.68075798e+02] [ 5.76245335e-01 8.17125735e-01 -1.57113705e-02 4.79161249e+01] [ 2.82336186e-02 -6.90698482e-04 9.99601113e-01 5.44315368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44804094199998 meters 0.022249927836780915 Centerline is valid? [True, True] Translation: X:168.12, Y:47.95, Z:5.45 [[ 8.17993099e-01 -5.74792201e-01 -2.23878246e-02 1.68122160e+02] [ 5.74596853e-01 8.18299193e-01 -1.49962427e-02 4.79512191e+01] [ 2.69396622e-02 -5.97150567e-04 9.99636883e-01 5.44594125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50804094199998 meters 0.02125751124404373 Centerline is valid? [True, True] Translation: X:168.17, Y:47.99, Z:5.45 [[ 8.19585777e-01 -5.72553042e-01 -2.14980799e-02 1.68167302e+02] [ 5.72372061e-01 8.19867528e-01 -1.44034693e-02 4.79904266e+01] [ 2.58723278e-02 -5.00021694e-04 9.99665130e-01 5.44751704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56804094199998 meters 0.02103985236409284 Centerline is valid? [True, True] Translation: X:168.21, Y:48.03, Z:5.45 [[ 8.20591730e-01 -5.71089833e-01 -2.20366934e-02 1.68214318e+02] [ 5.70898936e-01 8.20887442e-01 -1.47720160e-02 4.80263148e+01] [ 2.65257930e-02 -4.58930673e-04 9.99648024e-01 5.44913443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62804094199998 meters 0.021191608567597473 Centerline is valid? [True, True] Translation: X:168.26, Y:48.06, Z:5.45 [[ 8.21498890e-01 -5.69757817e-01 -2.27069006e-02 1.68260929e+02] [ 5.69554385e-01 8.21812541e-01 -1.52299308e-02 4.80618727e+01] [ 2.73381878e-02 -4.21443599e-04 9.99626153e-01 5.45087013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.688040942 meters 0.02140005775127937 Centerline is valid? [True, True] Translation: X:168.31, Y:48.09, Z:5.45 [[ 8.20850637e-01 -5.70677050e-01 -2.30637316e-02 1.68309085e+02] [ 5.70467297e-01 8.21174464e-01 -1.54778158e-02 4.80949810e+01] [ 2.77721817e-02 -4.52129669e-04 9.99614176e-01 5.45250607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.748040942 meters 0.021610575913035727 Centerline is valid? [True, True] Translation: X:168.36, Y:48.13, Z:5.45 [[ 8.20175066e-01 -5.71602880e-01 -2.41455602e-02 1.68357197e+02] [ 5.71373109e-01 8.20530255e-01 -1.62132977e-02 4.81279942e+01] [ 2.90797303e-02 -4.98381336e-04 9.99576971e-01 5.45439907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.808040942 meters 0.02141543448499735 Centerline is valid? [True, True] Translation: X:168.41, Y:48.16, Z:5.46 [[ 8.20445504e-01 -5.71157700e-01 -2.54569646e-02 1.68405921e+02] [ 5.70901915e-01 8.20840196e-01 -1.70990182e-02 4.81606795e+01] [ 3.06623357e-02 -5.04617254e-04 9.99529673e-01 5.45738846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.868040942 meters 0.021297769239068537 Centerline is valid? [True, True] Translation: X:168.45, Y:48.19, Z:5.46 [[ 8.22235050e-01 -5.68542935e-01 -2.62383929e-02 1.68454054e+02] [ 5.68269553e-01 8.22653488e-01 -1.76338765e-02 4.81936827e+01] [ 3.16107213e-02 -4.11288416e-04 9.99500172e-01 5.45956131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.928040942 meters 0.02085593781257776 Centerline is valid? [True, True] Translation: X:168.50, Y:48.23, Z:5.46 [[ 8.24393332e-01 -5.65381857e-01 -2.68139920e-02 1.68502522e+02] [ 5.65094349e-01 8.24829238e-01 -1.80306434e-02 4.82279247e+01] [ 3.23111633e-02 -2.88093196e-04 9.99477817e-01 5.46254695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98804094199997 meters 0.020662371012524904 Centerline is valid? [True, True] Translation: X:168.55, Y:48.26, Z:5.47 [[ 8.25738300e-01 -5.63381576e-01 -2.75219825e-02 1.68552167e+02] [ 5.63077245e-01 8.26196803e-01 -1.85164623e-02 4.82599013e+01] [ 3.31704076e-02 -2.07249928e-04 9.99449689e-01 5.46568467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04804094199997 meters 0.02059020986840276 Centerline is valid? [True, True] Translation: X:168.60, Y:48.29, Z:5.47 [[ 8.27106507e-01 -5.61323204e-01 -2.84795739e-02 1.68600529e+02] [ 5.60995723e-01 8.27596669e-01 -1.91716632e-02 4.82920948e+01] [ 3.43310999e-02 -1.19911776e-04 9.99410507e-01 5.46784973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10804094199997 meters 0.020605615170281023 Centerline is valid? [True, True] Translation: X:168.65, Y:48.32, Z:5.47 [[ 8.29165241e-01 -5.58164085e-01 -3.06244570e-02 1.68649586e+02] [ 5.57782794e-01 8.29730591e-01 -2.06276749e-02 4.83233254e+01] [ 3.69236761e-02 2.19558178e-05 9.99318088e-01 5.46883517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16804094199998 meters 0.02062224828895966 Centerline is valid? [True, True] Translation: X:168.70, Y:48.35, Z:5.47 [[ 8.29763067e-01 -5.57206093e-01 -3.18531364e-02 1.68700313e+02] [ 5.56792655e-01 8.30374232e-01 -2.14609893e-02 4.83525781e+01] [ 3.84082176e-02 7.19438768e-05 9.99262130e-01 5.47226113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22804094199998 meters 0.020550559303576674 Centerline is valid? [True, True] Translation: X:168.75, Y:48.38, Z:5.48 [[ 8.28376037e-01 -5.59253686e-01 -3.20695534e-02 1.68753020e+02] [ 5.58835664e-01 8.28996571e-01 -2.16191292e-02 4.83783829e+01] [ 3.86761274e-02 -1.28415929e-05 9.99251799e-01 5.47672424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28804094199998 meters 0.020469496055367138 Centerline is valid? [True, True] Translation: X:168.81, Y:48.40, Z:5.48 [[ 8.26908278e-01 -5.61433580e-01 -3.18595985e-02 1.68805776e+02] [ 5.61022111e-01 8.27521797e-01 -2.14910972e-02 4.84043679e+01] [ 3.84303359e-02 -1.02773022e-04 9.99261277e-01 5.48051330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34804094199998 meters 0.020600400769142217 Centerline is valid? [True, True] Translation: X:168.86, Y:48.43, Z:5.48 [[ 8.25545780e-01 -5.63447627e-01 -3.16375704e-02 1.68859443e+02] [ 5.63042905e-01 8.26151764e-01 -2.13529923e-02 4.84282856e+01] [ 3.81687274e-02 -1.85436839e-04 9.99271291e-01 5.48423001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40804094199999 meters 0.02270910838647689 Centerline is valid? [True, True] Translation: X:168.91, Y:48.45, Z:5.48 [[ 8.22716763e-01 -5.67492109e-01 -3.30126247e-02 1.68913639e+02] [ 5.67054425e-01 8.23378746e-01 -2.22872216e-02 4.84540087e+01] [ 3.98297159e-02 -3.83884107e-04 9.99206408e-01 5.48391071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.468040942 meters 0.021077532686716485 Centerline is valid? [True, True] Translation: X:168.97, Y:48.48, Z:5.49 [[ 8.21097159e-01 -5.69834410e-01 -3.29879006e-02 1.68968034e+02] [ 5.69398789e-01 8.21759398e-01 -2.22825132e-02 4.84786840e+01] [ 3.98054600e-02 -4.87162402e-04 9.99207330e-01 5.49137177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.528040942 meters 0.02088438406354816 Centerline is valid? [True, True] Translation: X:169.02, Y:48.51, Z:5.50 [[ 8.21534149e-01 -5.69182414e-01 -3.33619634e-02 1.69019280e+02] [ 5.68735798e-01 8.22211151e-01 -2.25480789e-02 4.85058778e+01] [ 4.02645483e-02 -4.50126075e-04 9.99188953e-01 5.49522507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.588040942 meters 0.020778892247718346 Centerline is valid? [True, True] Translation: X:169.07, Y:48.54, Z:5.50 [[ 8.22419993e-01 -5.67841288e-01 -3.43748089e-02 1.69069053e+02] [ 5.67365337e-01 8.23137974e-01 -2.32475745e-02 4.85353565e+01] [ 4.14961433e-02 -3.83804988e-04 9.99138590e-01 5.49637260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.648040942 meters 0.02042265349008469 Centerline is valid? [True, True] Translation: X:169.12, Y:48.56, Z:5.50 [[ 8.23779683e-01 -5.65786304e-01 -3.56776073e-02 1.69119643e+02] [ 5.65270982e-01 8.24551866e-01 -2.41440877e-02 4.85646689e+01] [ 4.30784318e-02 -2.78107196e-04 9.99071655e-01 5.49782851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.708040942 meters 0.02040263070609981 Centerline is valid? [True, True] Translation: X:169.17, Y:48.59, Z:5.50 [[ 8.23793962e-01 -5.65754561e-01 -3.58508713e-02 1.69171799e+02] [ 5.65233532e-01 8.24573651e-01 -2.42765023e-02 4.85914167e+01] [ 4.32962257e-02 -2.65278608e-04 9.99062244e-01 5.50090569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76804094199997 meters 0.0204113478231121 Centerline is valid? [True, True] Translation: X:169.22, Y:48.62, Z:5.50 [[ 8.23147019e-01 -5.66683793e-01 -3.60342055e-02 1.69224392e+02] [ 5.66157778e-01 8.23935304e-01 -2.44128116e-02 4.86166031e+01] [ 4.35241987e-02 -3.05712568e-04 9.99052326e-01 5.50263873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82804094199997 meters 0.020363366849371147 Centerline is valid? [True, True] Translation: X:169.28, Y:48.64, Z:5.51 [[ 8.23064777e-01 -5.66809199e-01 -3.59402823e-02 1.69276664e+02] [ 5.66285710e-01 8.23849039e-01 -2.43568629e-02 4.86432684e+01] [ 4.34150609e-02 -3.05192336e-04 9.99057075e-01 5.50720605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88804094199998 meters 0.023210668036023847 Centerline is valid? [True, True] Translation: X:169.33, Y:48.67, Z:5.51 [[ 8.24034198e-01 -5.65345928e-01 -3.67644194e-02 1.69325931e+02] [ 5.64796102e-01 8.24853885e-01 -2.49285271e-02 4.86727400e+01] [ 4.44185155e-02 -2.22441948e-04 9.99012986e-01 5.50603082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94804094199998 meters 0.02015481329587536 Centerline is valid? [True, True] Translation: X:169.37, Y:48.71, Z:5.51 [[ 8.25644651e-01 -5.63086613e-01 -3.52757343e-02 1.69374570e+02] [ 5.62578024e-01 8.26397881e-01 -2.39271453e-02 4.87055800e+01] [ 4.26248472e-02 -9.00334028e-05 9.99091144e-01 5.51232003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00804094199998 meters 0.020111524788400358 Centerline is valid? [True, True] Translation: X:169.42, Y:48.74, Z:5.52 [[ 8.25993783e-01 -5.62585493e-01 -3.50974733e-02 1.69422215e+02] [ 5.62081014e-01 8.26739113e-01 -2.38196072e-02 4.87379773e+01] [ 4.24170193e-02 -5.27758893e-05 9.99099992e-01 5.51530158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06804094199998 meters 0.020453742241830768 Centerline is valid? [True, True] Translation: X:169.47, Y:48.77, Z:5.52 [[ 8.23552848e-01 -5.66154627e-01 -3.50662931e-02 1.69471702e+02] [ 5.65653663e-01 8.24299028e-01 -2.38127094e-02 4.87692666e+01] [ 4.23867869e-02 -2.24352492e-04 9.99101251e-01 5.51706685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12804094199998 meters 0.020896195382107036 Centerline is valid? [True, True] Translation: X:169.52, Y:48.80, Z:5.52 [[ 8.21052257e-01 -5.69741712e-01 -3.56029972e-02 1.69521315e+02] [ 5.69228073e-01 8.21823715e-01 -2.41905496e-02 4.88008309e+01] [ 4.30417525e-02 -4.04520149e-04 9.99073192e-01 5.51832123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.188040942 meters 0.02191827134156849 Centerline is valid? [True, True] Translation: X:169.57, Y:48.83, Z:5.52 [[ 8.16984745e-01 -5.75530272e-01 -3.60670498e-02 1.69570893e+02] [ 5.75008288e-01 8.17780168e-01 -2.45166236e-02 4.88307422e+01] [ 4.36049771e-02 -7.09145059e-04 9.99048599e-01 5.51911630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.248040942 meters 0.023584856056627548 Centerline is valid? [True, True] Translation: X:169.62, Y:48.86, Z:5.52 [[ 8.14789569e-01 -5.78626017e-01 -3.61924003e-02 1.69619279e+02] [ 5.78103142e-01 8.15592528e-01 -2.46086447e-02 4.88637359e+01] [ 4.37574533e-02 -8.72073316e-04 9.99041803e-01 5.52036625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.308040942 meters 0.022921241979624023 Centerline is valid? [True, True] Translation: X:169.67, Y:48.90, Z:5.52 [[ 8.14473119e-01 -5.79119678e-01 -3.54109622e-02 1.69667800e+02] [ 5.78619052e-01 8.15242077e-01 -2.40904237e-02 4.88960127e+01] [ 4.28197448e-02 -8.68454867e-04 9.99082437e-01 5.52285734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.368040942 meters 0.022580210397955578 Centerline is valid? [True, True] Translation: X:169.72, Y:48.93, Z:5.53 [[ 8.15316541e-01 -5.78033618e-01 -3.37057096e-02 1.69715236e+02] [ 5.77578612e-01 8.16012596e-01 -2.29432136e-02 4.89304702e+01] [ 4.07662324e-02 -7.61715470e-04 9.99168421e-01 5.52582819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.428040942 meters 0.02181741891386634 Centerline is valid? [True, True] Translation: X:169.76, Y:48.97, Z:5.53 [[ 8.16214286e-01 -5.76775805e-01 -3.35247710e-02 1.69762508e+02] [ 5.76324127e-01 8.16902198e-01 -2.28319667e-02 4.89654387e+01] [ 4.05553851e-02 -6.85356944e-04 9.99177057e-01 5.52915636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48804094199997 meters 0.021077941497258078 Centerline is valid? [True, True] Translation: X:169.81, Y:49.00, Z:5.53 [[ 8.18016490e-01 -5.74272872e-01 -3.25528760e-02 1.69810472e+02] [ 5.73844574e-01 8.18663778e-01 -2.21816075e-02 4.89994993e+01] [ 3.93881559e-02 -5.35370557e-04 9.99223842e-01 5.53409163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54804094199997 meters 0.0206930933031493 Centerline is valid? [True, True] Translation: X:169.86, Y:49.03, Z:5.54 [[ 8.19230380e-01 -5.72536718e-01 -3.26081575e-02 1.69858438e+02] [ 5.72105115e-01 8.19878961e-01 -2.22312058e-02 4.90340957e+01] [ 3.94629239e-02 -4.42814588e-04 9.99220937e-01 5.53701149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60804094199997 meters 0.02111618187541837 Centerline is valid? [True, True] Translation: X:169.91, Y:49.07, Z:5.54 [[ 8.19206810e-01 -5.72530665e-01 -3.32992464e-02 1.69906294e+02] [ 5.72080121e-01 8.19883187e-01 -2.27133056e-02 4.90651973e+01] [ 4.03055562e-02 -4.42942308e-04 9.99187303e-01 5.53682291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66804094199998 meters 0.020978785343077386 Centerline is valid? [True, True] Translation: X:169.96, Y:49.10, Z:5.54 [[ 8.17590540e-01 -5.74835616e-01 -3.33125215e-02 1.69955262e+02] [ 5.74386330e-01 8.18268728e-01 -2.27295345e-02 4.90979743e+01] [ 4.03243405e-02 -5.50804598e-04 9.99186491e-01 5.54090187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72804094199998 meters 0.021838505031962725 Centerline is valid? [True, True] Translation: X:170.01, Y:49.13, Z:5.54 [[ 8.15603572e-01 -5.77594928e-01 -3.42769905e-02 1.70005351e+02] [ 5.77121208e-01 8.16323227e-01 -2.33987202e-02 4.91276271e+01] [ 4.14960856e-02 -6.97898369e-04 9.99138423e-01 5.54212249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78804094199998 meters 0.021507426449074024 Centerline is valid? [True, True] Translation: X:170.05, Y:49.16, Z:5.55 [[ 8.14188357e-01 -5.79641852e-01 -3.33562997e-02 1.70053713e+02] [ 5.79194654e-01 8.14870986e-01 -2.27778300e-02 4.91615911e+01] [ 4.03840644e-02 -7.74346436e-04 9.99183931e-01 5.54596547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84804094199998 meters 0.022479762385393818 Centerline is valid? [True, True] Translation: X:170.10, Y:49.19, Z:5.55 [[ 8.14195867e-01 -5.79603195e-01 -3.38411989e-02 1.70102318e+02] [ 5.79142326e-01 8.14898484e-01 -2.31220002e-02 4.91937448e+01] [ 4.09787269e-02 -7.73033647e-04 9.99159720e-01 5.54711825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90804094199999 meters 0.02360802080730332 Centerline is valid? [True, True] Translation: X:170.15, Y:49.22, Z:5.55 [[ 8.15294330e-01 -5.78013962e-01 -3.45689830e-02 1.70152587e+02] [ 5.77531115e-01 8.16026576e-01 -2.36313056e-02 4.92225198e+01] [ 4.18684334e-02 -6.98193851e-04 9.99122889e-01 5.54566300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.968040942 meters 0.023633447643271074 Centerline is valid? [True, True] Translation: X:170.20, Y:49.26, Z:5.55 [[ 8.16786415e-01 -5.75960239e-01 -3.36118399e-02 1.70197139e+02] [ 5.75501776e-01 8.17477509e-01 -2.29832413e-02 4.92616204e+01] [ 4.07143563e-02 -5.71274216e-04 9.99170664e-01 5.55045242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.028040942 meters 0.020622939063499875 Centerline is valid? [True, True] Translation: X:170.24, Y:49.29, Z:5.55 [[ 8.17329414e-01 -5.75139101e-01 -3.44621889e-02 1.70244824e+02] [ 5.74655884e-01 8.18055456e-01 -2.35772158e-02 4.92936200e+01] [ 4.17521603e-02 -5.33547654e-04 9.99127856e-01 5.55331047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.088040942 meters 0.02042500152359546 Centerline is valid? [True, True] Translation: X:170.29, Y:49.33, Z:5.56 [[ 8.17545879e-01 -5.74902017e-01 -3.32626746e-02 1.70293770e+02] [ 5.74451266e-01 8.18222112e-01 -2.27665936e-02 4.93270050e+01] [ 4.03048165e-02 -4.95050691e-04 9.99187308e-01 5.55614983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.148040942 meters 0.02018924139731567 Centerline is valid? [True, True] Translation: X:170.34, Y:49.36, Z:5.56 [[ 8.17607069e-01 -5.74915928e-01 -3.14699235e-02 1.70342107e+02] [ 5.74512101e-01 8.18212358e-01 -2.15495297e-02 4.93593782e+01] [ 3.81382482e-02 -4.60804073e-04 9.99272366e-01 5.55890009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.208040942 meters 0.019944629965390207 Centerline is valid? [True, True] Translation: X:170.39, Y:49.39, Z:5.56 [[ 8.17106096e-01 -5.75660374e-01 -3.08668452e-02 1.70389347e+02] [ 5.75272148e-01 8.17688757e-01 -2.11436206e-02 4.93935373e+01] [ 3.74110169e-02 -4.80255050e-04 9.99299847e-01 5.56104580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26804094199997 meters 0.020131030785772604 Centerline is valid? [True, True] Translation: X:170.44, Y:49.43, Z:5.56 [[ 8.16381879e-01 -5.76766050e-01 -2.93521825e-02 1.70436797e+02] [ 5.76415327e-01 8.16909222e-01 -2.01169847e-02 4.94254852e+01] [ 3.55808624e-02 -4.95906054e-04 9.99366678e-01 5.56297030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32804094199997 meters 0.0203098251956239 Centerline is valid? [True, True] Translation: X:170.49, Y:49.46, Z:5.56 [[ 8.14389168e-01 -5.79608904e-01 -2.87019378e-02 1.70485088e+02] [ 5.79275123e-01 8.14894568e-01 -1.96767773e-02 4.94585649e+01] [ 3.47938886e-02 -6.01764236e-04 9.99394328e-01 5.56426611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38804094199998 meters 0.020567654603333606 Centerline is valid? [True, True] Translation: X:170.53, Y:49.49, Z:5.57 [[ 8.13295618e-01 -5.81165461e-01 -2.82302034e-02 1.70534295e+02] [ 5.80843148e-01 8.13785160e-01 -1.93636671e-02 4.94902083e+01] [ 3.42268151e-02 -6.48934576e-04 9.99413880e-01 5.56692933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44804094199998 meters 0.020693867238208274 Centerline is valid? [True, True] Translation: X:170.58, Y:49.52, Z:5.57 [[ 8.12566743e-01 -5.82211762e-01 -2.76541769e-02 1.70582741e+02] [ 5.81902737e-01 8.13036909e-01 -1.89786530e-02 4.95241144e+01] [ 3.35334614e-02 -6.70618979e-04 9.99437370e-01 5.56813603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50804094199998 meters 0.020946434378772007 Centerline is valid? [True, True] Translation: X:170.63, Y:49.56, Z:5.57 [[ 8.12583885e-01 -5.82215077e-01 -2.70745802e-02 1.70630241e+02] [ 5.81918563e-01 8.13034552e-01 -1.85904313e-02 4.95558886e+01] [ 3.28361986e-02 -6.48915930e-04 9.99460536e-01 5.56932374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56804094199998 meters 0.020452479107437863 Centerline is valid? [True, True] Translation: X:170.68, Y:49.59, Z:5.57 [[ 8.13669438e-01 -5.80750390e-01 -2.59042573e-02 1.70678084e+02] [ 5.80478074e-01 8.14081489e-01 -1.77914259e-02 4.95909205e+01] [ 3.14205538e-02 -5.60513899e-04 9.99506095e-01 5.57233218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62804094199998 meters 0.019933008700218895 Centerline is valid? [True, True] Translation: X:170.72, Y:49.63, Z:5.57 [[ 8.15884940e-01 -5.77666597e-01 -2.51608257e-02 1.70724163e+02] [ 5.77407965e-01 8.16272702e-01 -1.72892281e-02 4.96273142e+01] [ 3.05255047e-02 -4.22040317e-04 9.99533899e-01 5.57419682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.688040942 meters 0.019613282933379463 Centerline is valid? [True, True] Translation: X:170.77, Y:49.66, Z:5.57 [[ 8.17917984e-01 -5.74813289e-01 -2.44919272e-02 1.70770523e+02] [ 5.74566681e-01 8.18284543e-01 -1.68385294e-02 4.96644647e+01] [ 2.97203759e-02 -2.99709280e-04 9.99558207e-01 5.57438626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.748040942 meters 0.019810529605555554 Centerline is valid? [True, True] Translation: X:170.82, Y:49.70, Z:5.58 [[ 8.18752011e-01 -5.73665322e-01 -2.35211151e-02 1.70818645e+02] [ 5.73437168e-01 8.19089764e-01 -1.61794375e-02 4.96986076e+01] [ 2.85474869e-02 -2.40934594e-04 9.99592408e-01 5.57586416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.808040942 meters 0.019779334233266596 Centerline is valid? [True, True] Translation: X:170.87, Y:49.73, Z:5.58 [[ 8.18442168e-01 -5.74099660e-01 -2.37064952e-02 1.70866454e+02] [ 5.73867827e-01 8.18785392e-01 -1.63156234e-02 4.97313797e+01] [ 2.87773257e-02 -2.51000699e-04 9.99585815e-01 5.57737798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.868040942 meters 0.019848996139955204 Centerline is valid? [True, True] Translation: X:170.91, Y:49.76, Z:5.58 [[ 8.18442576e-01 -5.74057130e-01 -2.47014498e-02 1.70913729e+02] [ 5.73805084e-01 8.18815210e-01 -1.70110634e-02 4.97648453e+01] [ 2.99912451e-02 -2.51238914e-04 9.99550130e-01 5.57610794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.928040942 meters 0.019873146432822227 Centerline is valid? [True, True] Translation: X:170.96, Y:49.80, Z:5.58 [[ 8.18734861e-01 -5.73650910e-01 -2.44512003e-02 1.70960987e+02] [ 5.73403467e-01 8.19099861e-01 -1.68487704e-02 4.97973174e+01] [ 2.96932872e-02 -2.25727366e-04 9.99559032e-01 5.57609055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98804094199997 meters 0.019838849568815223 Centerline is valid? [True, True] Translation: X:171.01, Y:49.83, Z:5.58 [[ 8.18415714e-01 -5.74116194e-01 -2.42139440e-02 1.71007934e+02] [ 5.73873536e-01 8.18773803e-01 -1.66920340e-02 4.98298209e+01] [ 2.94089100e-02 -2.34718772e-04 9.99567437e-01 5.57599542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04804094199997 meters 0.019794514114166325 Centerline is valid? [True, True] Translation: X:171.06, Y:49.86, Z:5.58 [[ 8.18333386e-01 -5.74256664e-01 -2.36590921e-02 1.71055010e+02] [ 5.74024946e-01 8.18675290e-01 -1.63135282e-02 4.98623289e+01] [ 2.87372663e-02 -2.31004276e-04 9.99586973e-01 5.57549280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10804094199997 meters 0.019689678914711656 Centerline is valid? [True, True] Translation: X:171.10, Y:49.90, Z:5.58 [[ 8.18515008e-01 -5.74008595e-01 -2.33947572e-02 1.71102990e+02] [ 5.73781827e-01 8.18849245e-01 -1.61347311e-02 4.98950743e+01] [ 2.84182536e-02 -2.16966976e-04 9.99596096e-01 5.57599935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16804094199998 meters 0.01955350551533571 Centerline is valid? [True, True] Translation: X:171.15, Y:49.93, Z:5.57 [[ 8.18580892e-01 -5.73940668e-01 -2.27471451e-02 1.71149238e+02] [ 5.73726014e-01 8.18896861e-01 -1.56968648e-02 4.99278468e+01] [ 2.76366348e-02 -2.01475295e-04 9.99618015e-01 5.57476380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22804094199998 meters 0.019363511869142737 Centerline is valid? [True, True] Translation: X:171.19, Y:49.96, Z:5.57 [[ 8.19066016e-01 -5.73266560e-01 -2.22780735e-02 1.71194232e+02] [ 5.73060268e-01 8.19368917e-01 -1.53788149e-02 4.99630382e+01] [ 2.70701212e-02 -1.70414131e-04 9.99633523e-01 5.57313411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28804094199998 meters 0.01906266470978939 Centerline is valid? [True, True] Translation: X:171.24, Y:50.00, Z:5.57 [[ 8.19807854e-01 -5.72267287e-01 -2.06212244e-02 1.71239610e+02] [ 5.72090120e-01 8.20067154e-01 -1.42392930e-02 4.99989928e+01] [ 2.50594704e-02 -1.23714519e-04 9.99685955e-01 5.57433904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34804094199998 meters 0.019250867049162238 Centerline is valid? [True, True] Translation: X:171.29, Y:50.03, Z:5.57 [[ 8.19381843e-01 -5.72944971e-01 -1.86401587e-02 1.71286791e+02] [ 5.72800216e-01 8.19593829e-01 -1.28789724e-02 5.00322224e+01] [ 2.26563015e-02 -1.24290812e-04 9.99743305e-01 5.57456021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40804094199999 meters 0.0197621690041711 Centerline is valid? [True, True] Translation: X:171.34, Y:50.06, Z:5.58 [[ 8.17436783e-01 -5.75762765e-01 -1.71564598e-02 1.71335868e+02] [ 5.75640722e-01 8.17616783e-01 -1.18555623e-02 5.00629607e+01] [ 2.08534008e-02 -1.84784226e-04 9.99782527e-01 5.57508899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.468040942 meters 0.018948142227047417 Centerline is valid? [True, True] Translation: X:171.38, Y:50.10, Z:5.57 [[ 8.15876984e-01 -5.77990914e-01 -1.64696585e-02 1.71382701e+02] [ 5.77878913e-01 8.16043166e-01 -1.13804046e-02 5.00987372e+01] [ 2.00177227e-02 -2.32458141e-04 9.99799598e-01 5.57053783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.528040942 meters 0.0188990750946708 Centerline is valid? [True, True] Translation: X:171.43, Y:50.13, Z:5.57 [[ 8.14678280e-01 -5.79677128e-01 -1.65447156e-02 1.71431138e+02] [ 5.79564329e-01 8.14846215e-01 -1.14382990e-02 5.01316555e+01] [ 2.01119192e-02 -2.70193227e-04 9.99797698e-01 5.57072619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.588040942 meters 0.01904576926780971 Centerline is valid? [True, True] Translation: X:171.48, Y:50.16, Z:5.57 [[ 8.12736409e-01 -5.82387689e-01 -1.68555039e-02 1.71480226e+02] [ 5.82271063e-01 8.12911105e-01 -1.16595226e-02 5.01638852e+01] [ 2.04923888e-02 -3.38353649e-04 9.99789952e-01 5.57094829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.648040942 meters 0.019127230843778733 Centerline is valid? [True, True] Translation: X:171.53, Y:50.20, Z:5.57 [[ 8.11778863e-01 -5.83713651e-01 -1.71304355e-02 1.71528367e+02] [ 5.83593349e-01 8.11959503e-01 -1.18561678e-02 5.01980769e+01] [ 2.08298269e-02 -3.72621752e-04 9.99782966e-01 5.57174582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.708040942 meters 0.019308162536300782 Centerline is valid? [True, True] Translation: X:171.57, Y:50.23, Z:5.57 [[ 8.11802613e-01 -5.83682720e-01 -1.70587015e-02 1.71574184e+02] [ 5.83563272e-01 8.11981742e-01 -1.18134869e-02 5.02325606e+01] [ 2.07466823e-02 -3.64612128e-04 9.99784698e-01 5.57244919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76804094199997 meters 0.018663161987420337 Centerline is valid? [True, True] Translation: X:171.62, Y:50.27, Z:5.57 [[ 8.12586131e-01 -5.82603620e-01 -1.66373814e-02 1.71620272e+02] [ 5.82489696e-01 8.12756370e-01 -1.15255127e-02 5.02702759e+01] [ 2.02369431e-02 -3.25631462e-04 9.99795159e-01 5.57219839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82804094199997 meters 0.018301774411469764 Centerline is valid? [True, True] Translation: X:171.67, Y:50.31, Z:5.57 [[ 8.13742247e-01 -5.80980671e-01 -1.68823888e-02 1.71666666e+02] [ 5.80862844e-01 8.13917305e-01 -1.17036953e-02 5.03052996e+01] [ 2.05404892e-02 -2.82561050e-04 9.99788982e-01 5.57303141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88804094199998 meters 0.018072357314196555 Centerline is valid? [True, True] Translation: X:171.71, Y:50.34, Z:5.58 [[ 8.14300112e-01 -5.80219084e-01 -1.61598948e-02 1.71713145e+02] [ 5.80110992e-01 8.14460404e-01 -1.12020581e-02 5.03399581e+01] [ 1.96612423e-02 -2.52695463e-04 9.99806667e-01 5.57514694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94804094199998 meters 0.018088392038796162 Centerline is valid? [True, True] Translation: X:171.76, Y:50.38, Z:5.58 [[ 8.14862919e-01 -5.79433037e-01 -1.59930559e-02 1.71760754e+02] [ 5.79326874e-01 8.15019818e-01 -1.10936517e-02 5.03753260e+01] [ 1.94626858e-02 -2.25401715e-04 9.99810559e-01 5.57726874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00804094199998 meters 0.018053012771254578 Centerline is valid? [True, True] Translation: X:171.81, Y:50.41, Z:5.58 [[ 8.15147763e-01 -5.79033854e-01 -1.59348936e-02 1.71806542e+02] [ 5.78928281e-01 8.15303472e-01 -1.10586666e-02 5.04113747e+01] [ 1.93951165e-02 -2.10713220e-04 9.99811875e-01 5.57821095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06804094199998 meters 0.018032593684907477 Centerline is valid? [True, True] Translation: X:171.85, Y:50.45, Z:5.58 [[ 8.15387585e-01 -5.78690923e-01 -1.61214434e-02 1.71853756e+02] [ 5.78582663e-01 8.15546918e-01 -1.11949335e-02 5.04451604e+01] [ 1.96261999e-02 -1.99377893e-04 9.99807368e-01 5.58027974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12804094199998 meters 0.017846874314388406 Centerline is valid? [True, True] Translation: X:171.90, Y:50.48, Z:5.58 [[ 8.15144218e-01 -5.79040233e-01 -1.58843298e-02 1.71900808e+02] [ 5.78935077e-01 8.15298944e-01 -1.10366429e-02 5.04798688e+01] [ 1.93411376e-02 -1.99540011e-04 9.99812923e-01 5.58249742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.188040942 meters 0.018353746131399735 Centerline is valid? [True, True] Translation: X:171.95, Y:50.51, Z:5.58 [[ 8.13386400e-01 -5.81522769e-01 -1.52915940e-02 1.71948217e+02] [ 5.81425632e-01 8.13530091e-01 -1.06313295e-02 5.05147497e+01] [ 1.86225320e-02 -2.43545863e-04 9.99826556e-01 5.58398873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.248040942 meters 0.018881008449697572 Centerline is valid? [True, True] Translation: X:172.00, Y:50.55, Z:5.59 [[ 8.10277433e-01 -5.85847650e-01 -1.52647567e-02 1.71995729e+02] [ 5.85751517e-01 8.10421135e-01 -1.06180864e-02 5.05492411e+01] [ 1.85914624e-02 -3.37758647e-04 9.99827107e-01 5.58544176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.308040942 meters 0.01925021366068632 Centerline is valid? [True, True] Translation: X:172.04, Y:50.58, Z:5.59 [[ 8.07867321e-01 -5.89166406e-01 -1.52754264e-02 1.72043509e+02] [ 5.89070626e-01 8.08011620e-01 -1.06310701e-02 5.05841297e+01] [ 1.86061914e-02 -4.09810909e-04 9.99826806e-01 5.58800059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.368040942 meters 0.02012381906924167 Centerline is valid? [True, True] Translation: X:172.09, Y:50.62, Z:5.59 [[ 8.05853391e-01 -5.91905207e-01 -1.57650621e-02 1.72089762e+02] [ 5.91803590e-01 8.06007439e-01 -1.09781244e-02 5.06205537e+01] [ 1.92047663e-02 -4.83061570e-04 9.99815455e-01 5.58988714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.428040942 meters 0.02088088069449116 Centerline is valid? [True, True] Translation: X:172.13, Y:50.66, Z:5.59 [[ 8.05463285e-01 -5.92364383e-01 -1.82574520e-02 1.72134772e+02] [ 5.92227995e-01 8.05669981e-01 -1.27233256e-02 5.06563955e+01] [ 2.22463260e-02 -5.64402533e-04 9.99752361e-01 5.59239604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48804094199997 meters 0.021012283697687303 Centerline is valid? [True, True] Translation: X:172.18, Y:50.69, Z:5.60 [[ 8.06182747e-01 -5.91354367e-01 -1.92195432e-02 1.72181404e+02] [ 5.91202868e-01 8.06411617e-01 -1.33967518e-02 5.06928846e+01] [ 2.34210906e-02 -5.62418880e-04 9.99725530e-01 5.59598226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54804094199997 meters 0.021048266344744073 Centerline is valid? [True, True] Translation: X:172.23, Y:50.73, Z:5.60 [[ 8.08860974e-01 -5.87631229e-01 -2.08197919e-02 1.72225985e+02] [ 5.87451992e-01 8.09128731e-01 -1.45208141e-02 5.07322403e+01] [ 2.53787756e-02 -4.85308368e-04 9.99677789e-01 5.60001806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60804094199997 meters 0.022264924570156632 Centerline is valid? [True, True] Translation: X:172.27, Y:50.77, Z:5.60 [[ 8.10875712e-01 -5.84766509e-01 -2.29936817e-02 1.72271923e+02] [ 5.84546468e-01 8.11201544e-01 -1.60462354e-02 5.07701839e+01] [ 2.80358112e-02 -4.29372842e-04 9.99606827e-01 5.60108260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66804094199998 meters 0.02157409970062889 Centerline is valid? [True, True] Translation: X:172.32, Y:50.81, Z:5.61 [[ 8.12711303e-01 -5.82138577e-01 -2.47994878e-02 1.72316673e+02] [ 5.81881237e-01 8.13089507e-01 -1.73112573e-02 5.08085579e+01] [ 3.02417541e-02 -3.61302130e-04 9.99542548e-01 5.60639528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72804094199998 meters 0.02221718428565641 Centerline is valid? [True, True] Translation: X:172.36, Y:50.84, Z:5.61 [[ 8.13575418e-01 -5.80903898e-01 -2.54106415e-02 1.72364068e+02] [ 5.80632800e-01 8.13972089e-01 -1.77479381e-02 5.08441675e+01] [ 3.09933994e-02 -3.14965825e-04 9.99519540e-01 5.61031910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78804094199998 meters 0.025404351109489163 Centerline is valid? [True, True] Translation: X:172.41, Y:50.88, Z:5.61 [[ 8.12893771e-01 -5.81913309e-01 -2.40960184e-02 1.72411723e+02] [ 5.81669720e-01 8.13250756e-01 -1.68387705e-02 5.08776614e+01] [ 2.93948099e-02 -3.27792636e-04 9.99567825e-01 5.60899197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84804094199998 meters 0.026918491902374286 Centerline is valid? [True, True] Translation: X:172.46, Y:50.91, Z:5.61 [[ 8.11968535e-01 -5.83113887e-01 -2.61781148e-02 1.72459171e+02] [ 5.82826866e-01 8.12390322e-01 -1.82977802e-02 5.09130045e+01] [ 3.19365368e-02 -4.00086804e-04 9.99489819e-01 5.61086044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90804094199999 meters 0.02574613995661489 Centerline is valid? [True, True] Translation: X:172.51, Y:50.95, Z:5.61 [[ 8.13286647e-01 -5.81142106e-01 -2.89600183e-02 1.72505808e+02] [ 5.80789188e-01 8.13802022e-01 -2.02531017e-02 5.09467371e+01] [ 3.53376516e-02 -3.48088290e-04 9.99375370e-01 5.61487713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.968040942 meters 0.02619461823186323 Centerline is valid? [True, True] Translation: X:172.55, Y:50.98, Z:5.62 [[ 8.14361992e-01 -5.79530458e-01 -3.09676353e-02 1.72551546e+02] [ 5.79125502e-01 8.14950528e-01 -2.16631023e-02 5.09834253e+01] [ 3.77915183e-02 -2.92540201e-04 9.99285603e-01 5.61645316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.028040942 meters 0.028177697628944343 Centerline is valid? [True, True] Translation: X:172.60, Y:51.02, Z:5.61 [[ 8.12205479e-01 -5.82431949e-01 -3.30950821e-02 1.72598337e+02] [ 5.81971222e-01 8.12879344e-01 -2.31661264e-02 5.10188296e+01] [ 4.03950007e-02 -4.44730583e-04 9.99183690e-01 5.61410133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.088040942 meters 0.02810599524412961 Centerline is valid? [True, True] Translation: X:172.65, Y:51.05, Z:5.62 [[ 8.10156827e-01 -5.85194376e-01 -3.45464686e-02 1.72646541e+02] [ 5.84694366e-01 8.10892831e-01 -2.41932728e-02 5.10513708e+01] [ 4.21712509e-02 -5.98780466e-04 9.99110218e-01 5.61762327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.148040942 meters 0.029168201623654584 Centerline is valid? [True, True] Translation: X:172.69, Y:51.09, Z:5.62 [[ 8.07174619e-01 -5.89280265e-01 -3.48984787e-02 1.72694967e+02] [ 5.88773518e-01 8.07928280e-01 -2.44466587e-02 5.10851105e+01] [ 4.26014014e-02 -8.14577697e-04 9.99091816e-01 5.62150893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.208040942 meters 0.030960432851231512 Centerline is valid? [True, True] Translation: X:172.74, Y:51.12, Z:5.62 [[ 8.04321579e-01 -5.93239038e-01 -3.36785051e-02 1.72742226e+02] [ 5.92770079e-01 8.05025768e-01 -2.36039493e-02 5.11201279e+01] [ 4.11148486e-02 -9.78444365e-04 9.99153948e-01 5.62232229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26804094199997 meters 0.03133174357790903 Centerline is valid? [True, True] Translation: X:172.79, Y:51.16, Z:5.62 [[ 8.03501135e-01 -5.94477454e-01 -3.13445996e-02 1.72787967e+02] [ 5.94071834e-01 8.04111704e-01 -2.19777961e-02 5.11555142e+01] [ 3.82698637e-02 -9.61759741e-04 9.99266978e-01 5.62474881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32804094199997 meters 0.03126424060054103 Centerline is valid? [True, True] Translation: X:172.83, Y:51.19, Z:5.63 [[ 8.04187611e-01 -5.93689039e-01 -2.85589048e-02 1.72832402e+02] [ 5.93351663e-01 8.04694117e-01 -2.00295243e-02 5.11935204e+01] [ 3.48724917e-02 -8.37978314e-04 9.99391418e-01 5.62598535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38804094199998 meters 0.03087444151162605 Centerline is valid? [True, True] Translation: X:172.88, Y:51.23, Z:5.63 [[ 8.05433227e-01 -5.92108379e-01 -2.61721930e-02 1.72878145e+02] [ 5.91824070e-01 8.05858037e-01 -1.83601474e-02 5.12308584e+01] [ 3.19622692e-02 -7.01461006e-04 9.99488830e-01 5.62808654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44804094199998 meters 0.028906127474171383 Centerline is valid? [True, True] Translation: X:172.92, Y:51.27, Z:5.63 [[ 8.07004237e-01 -5.90094301e-01 -2.30841546e-02 1.72922382e+02] [ 5.89872104e-01 8.07334145e-01 -1.62012032e-02 5.12682858e+01] [ 2.81968639e-02 -5.42259239e-04 9.99602242e-01 5.63354374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50804094199998 meters 0.028053410848796374 Centerline is valid? [True, True] Translation: X:172.97, Y:51.31, Z:5.63 [[ 8.07723008e-01 -5.89199801e-01 -2.06673138e-02 1.72966414e+02] [ 5.89021382e-01 8.07987244e-01 -1.45060401e-02 5.13081032e+01] [ 2.52458818e-02 -4.56627347e-04 9.99681168e-01 5.63402408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56804094199998 meters 0.026761683013716432 Centerline is valid? [True, True] Translation: X:173.01, Y:51.34, Z:5.64 [[ 8.06509712e-01 -5.90945322e-01 -1.80474791e-02 1.73013322e+02] [ 5.90809594e-01 8.06711492e-01 -1.26725193e-02 5.13432042e+01] [ 2.20478748e-02 -4.42113958e-04 9.99756818e-01 5.63898915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62804094199998 meters 0.02657945205628388 Centerline is valid? [True, True] Translation: X:173.06, Y:51.38, Z:5.64 [[ 8.04789205e-01 -5.93330704e-01 -1.65230634e-02 1.73061231e+02] [ 5.93217337e-01 8.04958672e-01 -1.16072078e-02 5.13772882e+01] [ 2.01872960e-02 -4.60412100e-04 9.99796110e-01 5.63965314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.688040942 meters 0.026770705659985627 Centerline is valid? [True, True] Translation: X:173.11, Y:51.41, Z:5.64 [[ 8.03953959e-01 -5.94561396e-01 -1.24409869e-02 1.73109955e+02] [ 5.94497231e-01 8.04050130e-01 -8.74245333e-03 5.14108150e+01] [ 1.52011024e-02 -3.67602318e-04 9.99884389e-01 5.64174167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.748040942 meters 0.02678583126546291 Centerline is valid? [True, True] Translation: X:173.16, Y:51.44, Z:5.64 [[ 8.05154321e-01 -5.92965666e-01 -1.08737637e-02 1.73157368e+02] [ 5.92916431e-01 8.05227691e-01 -7.64662454e-03 5.14446985e+01] [ 1.32900414e-02 -2.90520378e-04 9.99911641e-01 5.64381355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.808040942 meters 0.026794380168391474 Centerline is valid? [True, True] Translation: X:173.20, Y:51.48, Z:5.65 [[ 8.06018554e-01 -5.91795634e-01 -1.05838659e-02 1.73204524e+02] [ 5.91748872e-01 8.06087997e-01 -7.44410424e-03 5.14783297e+01] [ 1.29369156e-02 -2.62904541e-04 9.99916280e-01 5.64555550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.868040942 meters 0.02482222295280487 Centerline is valid? [True, True] Translation: X:173.25, Y:51.52, Z:5.64 [[ 8.10079583e-01 -5.86237587e-01 -9.82659050e-03 1.73248803e+02] [ 5.86196850e-01 8.10139165e-01 -6.91282267e-03 5.15174720e+01] [ 1.20134623e-02 -1.60379894e-04 9.99927823e-01 5.64316810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.928040942 meters 0.024047541237574663 Centerline is valid? [True, True] Translation: X:173.30, Y:51.55, Z:5.64 [[ 8.11487680e-01 -5.84293979e-01 -9.39634994e-03 1.73295895e+02] [ 5.84256641e-01 8.11542069e-01 -6.60667061e-03 5.15526674e+01] [ 1.14857711e-02 -1.28648045e-04 9.99934028e-01 5.64239700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98804094199997 meters 0.02397481312232131 Centerline is valid? [True, True] Translation: X:173.34, Y:51.58, Z:5.64 [[ 8.10952368e-01 -5.85062651e-01 -7.61254690e-03 1.73344285e+02] [ 5.85038132e-01 8.10988090e-01 -5.35736916e-03 5.15834809e+01] [ 9.30808148e-03 -1.09059008e-04 9.99956673e-01 5.64467055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04804094199997 meters 0.02427852934067559 Centerline is valid? [True, True] Translation: X:173.40, Y:51.61, Z:5.65 [[ 8.08949496e-01 -5.87818398e-01 -8.38118419e-03 1.73395498e+02] [ 5.87788803e-01 8.08992897e-01 -5.90052711e-03 5.16118892e+01] [ 1.02487569e-02 -1.53137790e-04 9.99947468e-01 5.64522517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10804094199997 meters 0.0248028384211549 Centerline is valid? [True, True] Translation: X:173.45, Y:51.64, Z:5.64 [[ 8.06701817e-01 -5.90883083e-01 -9.45305835e-03 1.73447474e+02] [ 5.90845665e-01 8.06757172e-01 -6.65319918e-03 5.16408255e+01] [ 1.15575855e-02 -2.18150678e-04 9.99933185e-01 5.64481132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16804094199998 meters 0.02567743664189515 Centerline is valid? [True, True] Translation: X:173.50, Y:51.67, Z:5.65 [[ 8.04495159e-01 -5.93898418e-01 -8.49753311e-03 1.73499800e+02] [ 5.93868325e-01 8.04540002e-01 -5.98313408e-03 5.16686309e+01] [ 1.03899792e-02 -2.33013348e-04 9.99945996e-01 5.64730535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22804094199998 meters 0.025544030136195196 Centerline is valid? [True, True] Translation: X:173.55, Y:51.70, Z:5.65 [[ 8.03553373e-01 -5.95176818e-01 -8.15669697e-03 1.73550490e+02] [ 5.95149096e-01 8.03594736e-01 -5.74916620e-03 5.16981539e+01] [ 9.97644920e-03 -2.34688938e-04 9.99950206e-01 5.64765575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28804094199998 meters 0.02403758736669006 Centerline is valid? [True, True] Translation: X:173.60, Y:51.73, Z:5.65 [[ 8.04435991e-01 -5.93988533e-01 -7.76917413e-03 1.73599655e+02] [ 5.93963360e-01 8.04473479e-01 -5.47252645e-03 5.17307982e+01] [ 9.50071250e-03 -2.12307535e-04 9.99954845e-01 5.64748014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34804094199998 meters 0.024918545919838605 Centerline is valid? [True, True] Translation: X:173.65, Y:51.76, Z:5.65 [[ 8.05336847e-01 -5.92761238e-01 -8.16561744e-03 1.73649814e+02] [ 5.92733332e-01 8.05378217e-01 -5.75540827e-03 5.17608437e+01] [ 9.98799335e-03 -2.04991282e-04 9.99950098e-01 5.65226893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40804094199999 meters 0.024597694388796377 Centerline is valid? [True, True] Translation: X:173.70, Y:51.79, Z:5.65 [[ 8.06066618e-01 -5.91761652e-01 -8.64611591e-03 1.73699390e+02] [ 5.91730234e-01 8.06112962e-01 -6.10093555e-03 5.17914221e+01] [ 1.05800458e-02 -1.98407708e-04 9.99944010e-01 5.65465365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.468040942 meters 0.022750012169094638 Centerline is valid? [True, True] Translation: X:173.75, Y:51.82, Z:5.65 [[ 8.04879315e-01 -5.93372991e-01 -8.81943656e-03 1.73748624e+02] [ 5.93340417e-01 8.04927601e-01 -6.22147258e-03 5.18246596e+01] [ 1.07906617e-02 -2.25393574e-04 9.99941754e-01 5.65296007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.528040942 meters 0.022889222285089054 Centerline is valid? [True, True] Translation: X:173.80, Y:51.85, Z:5.66 [[ 8.04207224e-01 -5.94290171e-01 -8.36263865e-03 1.73798848e+02] [ 5.94260905e-01 8.04250671e-01 -5.90205386e-03 5.18548025e+01] [ 1.02331904e-02 -2.23114865e-04 9.99947615e-01 5.65661571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.588040942 meters 0.02277773485793832 Centerline is valid? [True, True] Translation: X:173.85, Y:51.89, Z:5.66 [[ 8.05347779e-01 -5.92751911e-01 -7.75408539e-03 1.73846363e+02] [ 5.92726626e-01 8.05385086e-01 -5.47805464e-03 5.18873496e+01] [ 9.49215209e-03 -1.84313731e-04 9.99954932e-01 5.65913932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.648040942 meters 0.023792725217945253 Centerline is valid? [True, True] Translation: X:173.90, Y:51.92, Z:5.67 [[ 8.06508556e-01 -5.91167498e-01 -8.05843860e-03 1.73895462e+02] [ 5.91140080e-01 8.06548796e-01 -5.69606394e-03 5.19172021e+01] [ 9.86685182e-03 -1.69741734e-04 9.99951307e-01 5.66526002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.708040942 meters 0.021791392529959732 Centerline is valid? [True, True] Translation: X:173.94, Y:51.95, Z:5.66 [[ 8.07900076e-01 -5.89255307e-01 -8.69772948e-03 1.73942364e+02] [ 5.89223279e-01 8.07946878e-01 -6.14573507e-03 5.19539984e+01] [ 1.06487104e-02 -1.59764853e-04 9.99943288e-01 5.66285842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76804094199997 meters 0.021359286954864037 Centerline is valid? [True, True] Translation: X:173.99, Y:51.99, Z:5.66 [[ 8.09321959e-01 -5.87258051e-01 -1.12226920e-02 1.73989814e+02] [ 5.87204403e-01 8.09399750e-01 -7.93942176e-03 5.19868684e+01] [ 1.37461335e-02 -1.64465803e-04 9.99905504e-01 5.66353215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82804094199997 meters 0.020991730490986776 Centerline is valid? [True, True] Translation: X:174.04, Y:52.02, Z:5.66 [[ 8.09661845e-01 -5.86760005e-01 -1.26646545e-02 1.74038871e+02] [ 5.86691638e-01 8.09760869e-01 -8.95862272e-03 5.20201585e+01] [ 1.55119032e-02 -1.76791914e-04 9.99879668e-01 5.66399038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88804094199998 meters 0.02111866754510882 Centerline is valid? [True, True] Translation: X:174.09, Y:52.05, Z:5.66 [[ 8.09028468e-01 -5.87604928e-01 -1.39063272e-02 1.74088174e+02] [ 5.87522471e-01 8.09147951e-01 -9.84578646e-03 5.20512153e+01] [ 1.70377088e-02 -2.04758194e-04 9.99854827e-01 5.66481382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94804094199998 meters 0.020958553765087973 Centerline is valid? [True, True] Translation: X:174.14, Y:52.08, Z:5.67 [[ 8.08813878e-01 -5.87855314e-01 -1.56920347e-02 1.74137227e+02] [ 5.87750360e-01 8.08966052e-01 -1.11103845e-02 5.20843014e+01] [ 1.92256219e-02 -2.36765857e-04 9.99815143e-01 5.66526972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00804094199998 meters 0.020543070269317752 Centerline is valid? [True, True] Translation: X:174.19, Y:52.12, Z:5.67 [[ 8.09062941e-01 -5.87465179e-01 -1.73730006e-02 1.74185516e+02] [ 5.87336291e-01 8.09249407e-01 -1.23076406e-02 5.21176216e+01] [ 2.12894007e-02 -2.46137896e-04 9.99773325e-01 5.66508043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06804094199998 meters 0.02066315973832386 Centerline is valid? [True, True] Translation: X:174.23, Y:52.15, Z:5.67 [[ 8.09544219e-01 -5.86775333e-01 -1.82445960e-02 1.74234412e+02] [ 5.86632849e-01 8.09749748e-01 -1.29323716e-02 5.21495437e+01] [ 2.23619537e-02 -2.33552692e-04 9.99749913e-01 5.66714815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12804094199998 meters 0.020178310312260198 Centerline is valid? [True, True] Translation: X:174.28, Y:52.18, Z:5.67 [[ 8.09824465e-01 -5.86352858e-01 -1.93561677e-02 1.74282225e+02] [ 5.86192181e-01 8.10055722e-01 -1.37278403e-02 5.21836741e+01] [ 2.37289328e-02 -2.29293237e-04 9.99718403e-01 5.66745354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.188040942 meters 0.01994954976191607 Centerline is valid? [True, True] Translation: X:174.33, Y:52.22, Z:5.67 [[ 8.09749845e-01 -5.86428727e-01 -2.01627556e-02 1.74330520e+02] [ 5.86254175e-01 8.10000798e-01 -1.43090618e-02 5.22152829e+01] [ 2.47230930e-02 -2.33739016e-04 9.99694310e-01 5.66922523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.248040942 meters 0.01997584526123465 Centerline is valid? [True, True] Translation: X:174.38, Y:52.25, Z:5.67 [[ 8.08796235e-01 -5.87743959e-01 -2.01417325e-02 1.74380108e+02] [ 5.87570143e-01 8.09046948e-01 -1.42955627e-02 5.22479711e+01] [ 2.46977378e-02 -2.72483371e-04 9.99694927e-01 5.67051983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.308040942 meters 0.020137847445584067 Centerline is valid? [True, True] Translation: X:174.43, Y:52.28, Z:5.67 [[ 8.07067162e-01 -5.90057516e-01 -2.17881478e-02 1.74429431e+02] [ 5.89854721e-01 8.07361131e-01 -1.54729687e-02 5.22809180e+01] [ 2.67208451e-02 -3.64116949e-04 9.99642868e-01 5.67113619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.368040942 meters 0.02050956161296101 Centerline is valid? [True, True] Translation: X:174.48, Y:52.31, Z:5.67 [[ 8.05786554e-01 -5.91807749e-01 -2.17167720e-02 1.74477898e+02] [ 5.91606700e-01 8.06079039e-01 -1.54303496e-02 5.23143065e+01] [ 2.66372352e-02 -4.14219579e-04 9.99645080e-01 5.67297532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.428040942 meters 0.02111345712864473 Centerline is valid? [True, True] Translation: X:174.53, Y:52.35, Z:5.68 [[ 8.04706906e-01 -5.93287005e-01 -2.13851356e-02 1.74525463e+02] [ 5.93092343e-01 8.04990887e-01 -1.52034643e-02 5.23469494e+01] [ 2.62348571e-02 -4.49027437e-04 9.99655706e-01 5.67505874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48804094199997 meters 0.02095467639274792 Centerline is valid? [True, True] Translation: X:174.57, Y:52.38, Z:5.68 [[ 8.05054479e-01 -5.92816283e-01 -2.13574366e-02 1.74572180e+02] [ 5.92621909e-01 8.05337611e-01 -1.51856642e-02 5.23835747e+01] [ 2.62022560e-02 -4.31597867e-04 9.99656569e-01 5.67691478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54804094199997 meters 0.020685536777353183 Centerline is valid? [True, True] Translation: X:174.62, Y:52.42, Z:5.68 [[ 8.06731688e-01 -5.90579464e-01 -1.99970181e-02 1.74616895e+02] [ 5.90408214e-01 8.06979422e-01 -1.42250812e-02 5.24216206e+01] [ 2.45382230e-02 -3.30579937e-04 9.99698838e-01 5.67952328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60804094199997 meters 0.0202705931527293 Centerline is valid? [True, True] Translation: X:174.66, Y:52.46, Z:5.68 [[ 8.07818606e-01 -5.89090237e-01 -2.00447783e-02 1.74662061e+02] [ 5.88917531e-01 8.08067209e-01 -1.42663028e-02 5.24588912e+01] [ 2.46016677e-02 -2.80136526e-04 9.99697294e-01 5.68155979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66804094199998 meters 0.020333739663582977 Centerline is valid? [True, True] Translation: X:174.71, Y:52.49, Z:5.68 [[ 8.07819703e-01 -5.89097840e-01 -1.97753045e-02 1.74709201e+02] [ 5.88929588e-01 8.08061669e-01 -1.40811587e-02 5.24930771e+01] [ 2.42748457e-02 -2.71224496e-04 9.99705286e-01 5.68310594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72804094199998 meters 0.020851031330593912 Centerline is valid? [True, True] Translation: X:174.76, Y:52.53, Z:5.68 [[ 8.06164840e-01 -5.91366422e-01 -1.95960786e-02 1.74757922e+02] [ 5.91201649e-01 8.06402906e-01 -1.39629288e-02 5.25251738e+01] [ 2.40595420e-02 -3.28811676e-04 9.99710473e-01 5.68458347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78804094199998 meters 0.022113996837483527 Centerline is valid? [True, True] Translation: X:174.81, Y:52.56, Z:5.69 [[ 8.03503135e-01 -5.94986265e-01 -1.93405346e-02 1.74808056e+02] [ 5.94826759e-01 8.03735753e-01 -1.37828512e-02 5.25550544e+01] [ 2.37452863e-02 -4.29703361e-04 9.99717949e-01 5.68589292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84804094199998 meters 0.022892132453984224 Centerline is valid? [True, True] Translation: X:174.86, Y:52.59, Z:5.69 [[ 8.02393191e-01 -5.96486846e-01 -1.91992263e-02 1.74856869e+02] [ 5.96330030e-01 8.02622715e-01 -1.36847565e-02 5.25881019e+01] [ 2.35725124e-02 -4.68519777e-04 9.99722020e-01 5.68759302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90804094199999 meters 0.023147360309859394 Centerline is valid? [True, True] Translation: X:174.90, Y:52.62, Z:5.69 [[ 8.02460729e-01 -5.96437397e-01 -1.78664682e-02 1.74903899e+02] [ 5.96301467e-01 8.02659484e-01 -1.27402353e-02 5.26231500e+01] [ 2.19394429e-02 -4.30262636e-04 9.99759209e-01 5.68970324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.968040942 meters 0.020888855125876828 Centerline is valid? [True, True] Translation: X:174.95, Y:52.66, Z:5.69 [[ 8.03833682e-01 -5.94608261e-01 -1.71005141e-02 1.74946843e+02] [ 5.94483220e-01 8.04015476e-01 -1.21989741e-02 5.26641264e+01] [ 2.10026888e-02 -3.60022452e-04 9.99779354e-01 5.68850215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.028040942 meters 0.02086417267545885 Centerline is valid? [True, True] Translation: X:174.99, Y:52.70, Z:5.69 [[ 8.04316149e-01 -5.93976650e-01 -1.63484417e-02 1.74992488e+02] [ 5.93862085e-01 8.04482215e-01 -1.16699864e-02 5.26990775e+01] [ 2.00837300e-02 -3.22361178e-04 9.99798250e-01 5.69018362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.088040942 meters 0.02121796394190256 Centerline is valid? [True, True] Translation: X:175.04, Y:52.73, Z:5.69 [[ 8.03151854e-01 -5.95573023e-01 -1.54878932e-02 1.75040026e+02] [ 5.95470437e-01 8.03301101e-01 -1.10589361e-02 5.27320971e+01] [ 1.90278457e-02 -3.40577524e-04 9.99818896e-01 5.69222489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.148040942 meters 0.02089266053614615 Centerline is valid? [True, True] Translation: X:175.09, Y:52.77, Z:5.69 [[ 8.02313946e-01 -5.96692446e-01 -1.58258081e-02 1.75087756e+02] [ 5.96585556e-01 8.02469927e-01 -1.13000246e-02 5.27663043e+01] [ 1.94423743e-02 -3.75281213e-04 9.99810909e-01 5.69265863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.208040942 meters 0.020650428682642167 Centerline is valid? [True, True] Translation: X:175.13, Y:52.80, Z:5.69 [[ 8.02500232e-01 -5.96452306e-01 -1.54280417e-02 1.75134173e+02] [ 5.96350583e-01 8.02648441e-01 -1.10210032e-02 5.28017924e+01] [ 1.89567964e-02 -3.56164052e-04 9.99820240e-01 5.69254368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26804094199997 meters 0.02069599532850164 Centerline is valid? [True, True] Translation: X:175.18, Y:52.84, Z:5.69 [[ 8.03197419e-01 -5.95529520e-01 -1.47816769e-02 1.75180014e+02] [ 5.95435819e-01 8.03333364e-01 -1.05684211e-02 5.28364163e+01] [ 1.81684209e-02 -3.13011315e-04 9.99834892e-01 5.69396093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32804094199997 meters 0.020490955931506984 Centerline is valid? [True, True] Translation: X:175.23, Y:52.87, Z:5.70 [[ 8.04010300e-01 -5.94441656e-01 -1.43720457e-02 1.75225545e+02] [ 5.94352916e-01 8.04138694e-01 -1.02748483e-02 5.28737658e+01] [ 1.76649159e-02 -2.80983446e-04 9.99843924e-01 5.69642096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38804094199998 meters 0.020127803687491785 Centerline is valid? [True, True] Translation: X:175.27, Y:52.91, Z:5.70 [[ 8.04938436e-01 -5.93170999e-01 -1.49090858e-02 1.75271827e+02] [ 5.93075177e-01 8.05076456e-01 -1.06646360e-02 5.29104302e+01] [ 1.83289067e-02 -2.57833331e-04 9.99831978e-01 5.69695585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44804094199998 meters 0.020215949130926496 Centerline is valid? [True, True] Translation: X:175.32, Y:52.94, Z:5.70 [[ 8.04711234e-01 -5.93474056e-01 -1.51120889e-02 1.75318872e+02] [ 5.93375564e-01 8.04853077e-01 -1.08150734e-02 5.29445761e+01] [ 1.85814768e-02 -2.64133208e-04 9.99827315e-01 5.69858693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50804094199998 meters 0.020510543845299982 Centerline is valid? [True, True] Translation: X:175.37, Y:52.98, Z:5.70 [[ 8.03168937e-01 -5.95564500e-01 -1.49193013e-02 1.75367587e+02] [ 5.95468743e-01 8.03307435e-01 -1.06837319e-02 5.29784246e+01] [ 1.83476370e-02 -3.03136013e-04 9.99831622e-01 5.69966893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56804094199998 meters 0.021586653895355936 Centerline is valid? [True, True] Translation: X:175.42, Y:53.01, Z:5.70 [[ 8.00641845e-01 -5.98957633e-01 -1.49127376e-02 1.75415666e+02] [ 5.98862420e-01 8.00780627e-01 -1.06859024e-02 5.30099561e+01] [ 1.83422342e-02 -3.75097547e-04 9.99831697e-01 5.70159401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62804094199998 meters 0.022879534119132166 Centerline is valid? [True, True] Translation: X:175.46, Y:53.04, Z:5.70 [[ 7.98221239e-01 -6.02152401e-01 -1.59793444e-02 1.75464094e+02] [ 6.02043661e-01 7.98381023e-01 -1.14530552e-02 5.30432611e+01] [ 1.96540900e-02 -4.78191109e-04 9.99806725e-01 5.70227655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.688040942 meters 0.022082185478159228 Centerline is valid? [True, True] Translation: X:175.51, Y:53.08, Z:5.70 [[ 7.98177243e-01 -6.02247856e-01 -1.45123314e-02 1.75510030e+02] [ 6.02158109e-01 7.98309045e-01 -1.04057313e-02 5.30809930e+01] [ 1.78521548e-02 -4.33100107e-04 9.99840544e-01 5.70415755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.748040942 meters 0.020971921348025155 Centerline is valid? [True, True] Translation: X:175.55, Y:53.12, Z:5.71 [[ 7.99380135e-01 -6.00669412e-01 -1.36987707e-02 1.75553373e+02] [ 6.00589141e-01 7.99497416e-01 -9.82674582e-03 5.31218886e+01] [ 1.68547574e-02 -3.72027504e-04 9.99857879e-01 5.70576535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.808040942 meters 0.02117231478726726 Centerline is valid? [True, True] Translation: X:175.60, Y:53.16, Z:5.71 [[ 8.00068831e-01 -5.99771687e-01 -1.27979714e-02 1.75598457e+02] [ 5.99701398e-01 8.00171118e-01 -9.18777761e-03 5.31586486e+01] [ 1.57511359e-02 -3.24106827e-04 9.99875891e-01 5.70873406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.868040942 meters 0.021760139323519456 Centerline is valid? [True, True] Translation: X:175.65, Y:53.19, Z:5.71 [[ 7.99091681e-01 -6.01052150e-01 -1.37403564e-02 1.75645427e+02] [ 6.00971326e-01 7.99209717e-01 -9.86372803e-03 5.31945048e+01] [ 1.69100413e-02 -3.75537182e-04 9.99856945e-01 5.70989311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.928040942 meters 0.023776053957869043 Centerline is valid? [True, True] Translation: X:175.69, Y:53.23, Z:5.71 [[ 7.96705695e-01 -6.04198871e-01 -1.42744135e-02 1.75692303e+02] [ 6.04112001e-01 7.96833432e-01 -1.02553005e-02 5.32289157e+01] [ 1.75705709e-02 -4.52888229e-04 9.99845523e-01 5.71217102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98804094199997 meters 0.024384747034612894 Centerline is valid? [True, True] Translation: X:175.74, Y:53.27, Z:5.71 [[ 7.94765377e-01 -6.06705784e-01 -1.60027017e-02 1.75736254e+02] [ 6.06597104e-01 7.94926265e-01 -1.14972460e-02 5.32688659e+01] [ 1.96964135e-02 -5.69579398e-04 9.99805845e-01 5.71138242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04804094199997 meters 0.02310138969902642 Centerline is valid? [True, True] Translation: X:175.78, Y:53.31, Z:5.71 [[ 7.94305331e-01 -6.07316770e-01 -1.56646657e-02 1.75777187e+02] [ 6.07212653e-01 7.94459576e-01 -1.12595199e-02 5.33126328e+01] [ 1.92830389e-02 -5.68286529e-04 9.99813903e-01 5.71148538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10804094199997 meters 0.023297598953515342 Centerline is valid? [True, True] Translation: X:175.82, Y:53.35, Z:5.72 [[ 7.95728367e-01 -6.05464162e-01 -1.51497411e-02 1.75821224e+02] [ 6.05366341e-01 7.95872412e-01 -1.08948046e-02 5.33511077e+01] [ 1.86536747e-02 -5.01838258e-04 9.99825879e-01 5.71534665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16804094199998 meters 0.021868033124182163 Centerline is valid? [True, True] Translation: X:175.86, Y:53.40, Z:5.72 [[ 7.98972575e-01 -6.01176401e-01 -1.51577877e-02 1.75860775e+02] [ 6.01077591e-01 7.99116248e-01 -1.09065242e-02 5.33976224e+01] [ 1.86695794e-02 -3.96992750e-04 9.99825629e-01 5.71735972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22804094199998 meters 0.021093245359014374 Centerline is valid? [True, True] Translation: X:175.90, Y:53.44, Z:5.72 [[ 8.00429149e-01 -5.99219080e-01 -1.58009852e-02 1.75900410e+02] [ 5.99111222e-01 8.00585013e-01 -1.13745802e-02 5.34429421e+01] [ 1.94658975e-02 -3.62002021e-04 9.99810456e-01 5.71557289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28804094199998 meters 0.02131058215304304 Centerline is valid? [True, True] Translation: X:175.94, Y:53.48, Z:5.71 [[ 7.99645690e-01 -6.00209915e-01 -1.77434242e-02 1.75942479e+02] [ 6.00073987e-01 7.99842407e-01 -1.27802497e-02 5.34837231e+01] [ 2.18627757e-02 -4.27695772e-04 9.99760889e-01 5.71393664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34804094199998 meters 0.021941132436936045 Centerline is valid? [True, True] Translation: X:175.99, Y:53.52, Z:5.71 [[ 7.98204811e-01 -6.02087095e-01 -1.89792156e-02 1.75987736e+02] [ 6.01931887e-01 7.98430257e-01 -1.36795033e-02 5.35221518e+01] [ 2.33898324e-02 -5.05149685e-04 9.99726293e-01 5.71314298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40804094199999 meters 0.022282140098213648 Centerline is valid? [True, True] Translation: X:176.03, Y:53.56, Z:5.71 [[ 7.97778639e-01 -6.02634426e-01 -1.95190270e-02 1.76030581e+02] [ 6.02470253e-01 7.98017210e-01 -1.40757691e-02 5.35617809e+01] [ 2.40590625e-02 -5.30285188e-04 9.99710398e-01 5.71311153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.468040942 meters 0.021880589844712018 Centerline is valid? [True, True] Translation: X:176.07, Y:53.60, Z:5.71 [[ 7.99179386e-01 -6.00771832e-01 -1.96345234e-02 1.76073733e+02] [ 6.00604938e-01 7.99420406e-01 -1.41676772e-02 5.36029990e+01] [ 2.42077800e-02 -4.70076123e-04 9.99706838e-01 5.71330332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.528040942 meters 0.02104390565517576 Centerline is valid? [True, True] Translation: X:176.12, Y:53.65, Z:5.71 [[ 8.00998450e-01 -5.98346227e-01 -1.95774015e-02 1.76115860e+02] [ 5.98179401e-01 8.01237568e-01 -1.41337667e-02 5.36459445e+01] [ 2.41430355e-02 -3.89673100e-04 9.99708438e-01 5.71324271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.588040942 meters 0.021046646524042884 Centerline is valid? [True, True] Translation: X:176.16, Y:53.68, Z:5.71 [[ 8.00997283e-01 -5.98350513e-01 -1.94939829e-02 1.76161654e+02] [ 5.98184954e-01 8.01234370e-01 -1.40799323e-02 5.36811763e+01] [ 2.40439838e-02 -3.83019744e-04 9.99710828e-01 5.71489101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.648040942 meters 0.020898479548038508 Centerline is valid? [True, True] Translation: X:176.21, Y:53.72, Z:5.71 [[ 8.01236470e-01 -5.98038480e-01 -1.92378417e-02 1.76206474e+02] [ 5.97876961e-01 8.01467307e-01 -1.39030236e-02 5.37175060e+01] [ 2.37330443e-02 -3.62252815e-04 9.99718266e-01 5.71460004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.708040942 meters 0.020543862919571138 Centerline is valid? [True, True] Translation: X:176.25, Y:53.76, Z:5.71 [[ 8.02813075e-01 -5.95933012e-01 -1.88417646e-02 1.76252423e+02] [ 5.95777300e-01 8.03034098e-01 -1.36251770e-02 5.37552568e+01] [ 2.32502722e-02 -2.87025354e-04 9.99729635e-01 5.71422196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76804094199997 meters 0.020234891273617106 Centerline is valid? [True, True] Translation: X:176.30, Y:53.79, Z:5.71 [[ 8.04882242e-01 -5.93153324e-01 -1.82677392e-02 1.76298264e+02] [ 5.93006077e-01 8.05089496e-01 -1.32172518e-02 5.37901466e+01] [ 2.25470218e-02 -1.94549125e-04 9.99745765e-01 5.71487509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82804094199997 meters 0.020114660850117733 Centerline is valid? [True, True] Translation: X:176.35, Y:53.82, Z:5.72 [[ 8.05947469e-01 -5.91697768e-01 -1.85048218e-02 1.76345899e+02] [ 5.91546231e-01 8.06159865e-01 -1.33913844e-02 5.38242353e+01] [ 2.28414969e-02 -1.53705234e-04 9.99739087e-01 5.71627635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88804094199998 meters 0.020041560966540906 Centerline is valid? [True, True] Translation: X:176.39, Y:53.86, Z:5.72 [[ 8.07153782e-01 -5.90072148e-01 -1.78222531e-02 1.76393610e+02] [ 5.89931060e-01 8.07350512e-01 -1.29032512e-02 5.38572231e+01] [ 2.20026543e-02 -9.89926313e-05 9.99757907e-01 5.71750874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94804094199998 meters 0.019877219634983987 Centerline is valid? [True, True] Translation: X:176.44, Y:53.89, Z:5.72 [[ 8.07545944e-01 -5.89538147e-01 -1.77290906e-02 1.76442779e+02] [ 5.89398243e-01 8.07740532e-01 -1.28430854e-02 5.38889483e+01] [ 2.18919938e-02 -7.81133400e-05 9.99760339e-01 5.71911977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00804094199998 meters 0.020054690786406596 Centerline is valid? [True, True] Translation: X:176.50, Y:53.92, Z:5.72 [[ 8.05633846e-01 -5.92142967e-01 -1.79112653e-02 1.76495767e+02] [ 5.92000642e-01 8.05832915e-01 -1.29828158e-02 5.39158571e+01] [ 2.21211702e-02 -1.44084792e-04 9.99755287e-01 5.72004145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06804094199998 meters 0.020431733906542845 Centerline is valid? [True, True] Translation: X:176.55, Y:53.94, Z:5.72 [[ 8.03428068e-01 -5.95131472e-01 -1.79407642e-02 1.76547921e+02] [ 5.94989281e-01 8.03628323e-01 -1.30105262e-02 5.39448689e+01] [ 2.21606799e-02 -2.21540520e-04 9.99754397e-01 5.72242307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12804094199998 meters 0.020723203115159888 Centerline is valid? [True, True] Translation: X:176.60, Y:53.98, Z:5.72 [[ 8.02050585e-01 -5.96971519e-01 -1.84354132e-02 1.76597822e+02] [ 5.96821712e-01 8.02262382e-01 -1.33758680e-02 5.39756214e+01] [ 2.27750507e-02 -2.74532160e-04 9.99740577e-01 5.72333023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.188040942 meters 0.01987269107281822 Centerline is valid? [True, True] Translation: X:176.65, Y:54.01, Z:5.73 [[ 8.03030903e-01 -5.95690532e-01 -1.71510577e-02 1.76645585e+02] [ 5.95560485e-01 8.03214008e-01 -1.24485297e-02 5.40081465e+01] [ 2.11914411e-02 -2.17938183e-04 9.99775412e-01 5.72580718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.248040942 meters 0.01954119629767705 Centerline is valid? [True, True] Translation: X:176.69, Y:54.04, Z:5.73 [[ 8.04692919e-01 -5.93436202e-01 -1.74005915e-02 1.76694523e+02] [ 5.93301641e-01 8.04881016e-01 -1.26377412e-02 5.40412137e+01] [ 2.15050989e-02 -1.54298618e-04 9.99768727e-01 5.72788284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.308040942 meters 0.019339086814269154 Centerline is valid? [True, True] Translation: X:176.74, Y:54.08, Z:5.73 [[ 8.06930520e-01 -5.90361360e-01 -1.83466810e-02 1.76741281e+02] [ 5.90210764e-01 8.07139059e-01 -1.33339382e-02 5.40751036e+01] [ 2.26801647e-02 -6.88469613e-05 9.99742770e-01 5.72969264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.368040942 meters 0.0192384396359343 Centerline is valid? [True, True] Translation: X:176.79, Y:54.11, Z:5.73 [[ 8.09751527e-01 -5.86453564e-01 -1.93567174e-02 1.76790630e+02] [ 5.86284775e-01 8.09982849e-01 -1.40693394e-02 5.41068621e+01] [ 2.39296234e-02 4.41203590e-05 9.99713645e-01 5.73045792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.428040942 meters 0.01925330926880394 Centerline is valid? [True, True] Translation: X:176.84, Y:54.13, Z:5.73 [[ 8.08795766e-01 -5.87778960e-01 -1.91128828e-02 1.76841742e+02] [ 5.87614605e-01 8.09021566e-01 -1.38989806e-02 5.41346617e+01] [ 2.36322627e-02 1.04276223e-05 9.99720719e-01 5.73302058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48804094199997 meters 0.019247867587474685 Centerline is valid? [True, True] Translation: X:176.89, Y:54.16, Z:5.74 [[ 8.06591463e-01 -5.90819896e-01 -1.84949035e-02 1.76893526e+02] [ 5.90666610e-01 8.06803474e-01 -1.34577215e-02 5.41632821e+01] [ 2.28728420e-02 -6.94386906e-05 9.99738380e-01 5.73578605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54804094199997 meters 0.0192301177402479 Centerline is valid? [True, True] Translation: X:176.95, Y:54.19, Z:5.74 [[ 8.05362192e-01 -5.92463489e-01 -1.94616063e-02 1.76945117e+02] [ 5.92294058e-01 8.05597294e-01 -1.41685643e-02 5.41906820e+01] [ 2.40725745e-02 -1.16167756e-04 9.99710207e-01 5.73813052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60804094199997 meters 0.01939555607865054 Centerline is valid? [True, True] Translation: X:176.99, Y:54.22, Z:5.74 [[ 8.04671892e-01 -5.93359817e-01 -2.06705998e-02 1.76993900e+02] [ 5.93168690e-01 8.04937331e-01 -1.50598192e-02 5.42209173e+01] [ 2.55744290e-02 -1.42939371e-04 9.99672911e-01 5.73945589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66804094199998 meters 0.019345677190132672 Centerline is valid? [True, True] Translation: X:177.04, Y:54.25, Z:5.74 [[ 8.04136829e-01 -5.93960458e-01 -2.39778194e-02 1.77044745e+02] [ 5.93703379e-01 8.04494214e-01 -1.74744657e-02 5.42492758e+01] [ 2.96691586e-02 -1.83850990e-04 9.99559757e-01 5.73879358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72804094199998 meters 0.019251752542788506 Centerline is valid? [True, True] Translation: X:177.10, Y:54.28, Z:5.74 [[ 8.04137166e-01 -5.93890477e-01 -2.56421233e-02 1.77095044e+02] [ 5.93596050e-01 8.04545876e-01 -1.86992732e-02 5.42787125e+01] [ 3.17355849e-02 -1.84282502e-04 9.99496282e-01 5.73909733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78804094199998 meters 0.019456950200379523 Centerline is valid? [True, True] Translation: X:177.15, Y:54.31, Z:5.74 [[ 8.03567325e-01 -5.94636050e-01 -2.62206467e-02 1.77145188e+02] [ 5.94328213e-01 8.03994978e-01 -1.91324492e-02 5.43077239e+01] [ 3.24581123e-02 -2.09459057e-04 9.99473075e-01 5.74122229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84804094199998 meters 0.019343906800835652 Centerline is valid? [True, True] Translation: X:177.20, Y:54.33, Z:5.74 [[ 8.02459865e-01 -5.96053024e-01 -2.79098228e-02 1.77199714e+02] [ 5.95704929e-01 8.02945026e-01 -2.03696559e-02 5.43324308e+01] [ 3.45514484e-02 -2.80187661e-04 9.99402881e-01 5.74425060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90804094199999 meters 0.019560479090419962 Centerline is valid? [True, True] Translation: X:177.25, Y:54.36, Z:5.75 [[ 8.01732083e-01 -5.96980909e-01 -2.89734723e-02 1.77249717e+02] [ 5.96606001e-01 8.02255377e-01 -2.11563249e-02 5.43618959e+01] [ 3.58740460e-02 -3.24042997e-04 9.99356267e-01 5.74550867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.968040942 meters 0.02012273805636285 Centerline is valid? [True, True] Translation: X:177.30, Y:54.39, Z:5.75 [[ 7.98904392e-01 -6.00785800e-01 -2.84287691e-02 1.77303477e+02] [ 6.00427100e-01 7.99409901e-01 -2.07631296e-02 5.43883257e+01] [ 3.52004329e-02 -4.81647969e-04 9.99380157e-01 5.74971868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.028040942 meters 0.021445347474855787 Centerline is valid? [True, True] Translation: X:177.35, Y:54.42, Z:5.75 [[ 7.95994087e-01 -6.04672315e-01 -2.76551010e-02 1.77354895e+02] [ 6.04334892e-01 7.96474103e-01 -2.02074311e-02 5.44164823e+01] [ 3.42454459e-02 -6.27946845e-04 9.99413255e-01 5.75356375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.088040942 meters 0.021173867060214676 Centerline is valid? [True, True] Translation: X:177.40, Y:54.45, Z:5.76 [[ 7.94777683e-01 -6.06307973e-01 -2.68156022e-02 1.77400591e+02] [ 6.05991532e-01 7.95229644e-01 -1.95978584e-02 5.44533012e+01] [ 3.32068996e-02 -6.74087309e-04 9.99448272e-01 5.75678249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.148040942 meters 0.02135453988137326 Centerline is valid? [True, True] Translation: X:177.45, Y:54.49, Z:5.76 [[ 7.93833440e-01 -6.07608001e-01 -2.53177155e-02 1.77445873e+02] [ 6.07326308e-01 7.94236775e-01 -1.85121976e-02 5.44912874e+01] [ 3.13564200e-02 -6.80513175e-04 9.99508035e-01 5.76121337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.208040942 meters 0.02191697139800336 Centerline is valid? [True, True] Translation: X:177.49, Y:54.53, Z:5.76 [[ 7.92705129e-01 -6.09075468e-01 -2.54097063e-02 1.77493542e+02] [ 6.08792169e-01 7.93111932e-01 -1.85892049e-02 5.45263576e+01] [ 3.14749699e-02 -7.33472125e-04 9.99504271e-01 5.76434386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26804094199997 meters 0.02182454681390091 Centerline is valid? [True, True] Translation: X:177.54, Y:54.56, Z:5.77 [[ 7.91847974e-01 -6.10128345e-01 -2.68363356e-02 1.77539095e+02] [ 6.09812578e-01 7.92302181e-01 -1.96436781e-02 5.45643095e+01] [ 3.32476521e-02 -8.10328309e-04 9.99446815e-01 5.76533756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32804094199997 meters 0.02236971825214216 Centerline is valid? [True, True] Translation: X:177.58, Y:54.60, Z:5.77 [[ 7.90999689e-01 -6.11226993e-01 -2.68524662e-02 1.77584934e+02] [ 6.10911145e-01 7.91454889e-01 -1.96654799e-02 5.46001474e+01] [ 3.32725878e-02 -8.49082338e-04 9.99445953e-01 5.76692580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38804094199998 meters 0.02247080474135278 Centerline is valid? [True, True] Translation: X:177.63, Y:54.64, Z:5.77 [[ 7.89674436e-01 -6.12953432e-01 -2.65023567e-02 1.77629645e+02] [ 6.12646620e-01 7.90118515e-01 -1.94126562e-02 5.46376893e+01] [ 3.28390570e-02 -9.06900936e-04 9.99460241e-01 5.77034214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44804094199998 meters 0.023152514128627115 Centerline is valid? [True, True] Translation: X:177.68, Y:54.67, Z:5.78 [[ 7.89232371e-01 -6.13561301e-01 -2.55889485e-02 1.77675370e+02] [ 6.13275488e-01 7.89646583e-01 -1.87470070e-02 5.46727693e+01] [ 3.17086638e-02 -8.97330081e-04 9.99496751e-01 5.77503249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50804094199998 meters 0.02280928496342467 Centerline is valid? [True, True] Translation: X:177.72, Y:54.71, Z:5.78 [[ 7.89714712e-01 -6.12978355e-01 -2.46619094e-02 1.77720228e+02] [ 6.12712500e-01 7.90099254e-01 -1.80709890e-02 5.47102899e+01] [ 3.05624813e-02 -8.39734266e-04 9.99532506e-01 5.77834940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56804094199998 meters 0.021922226237751925 Centerline is valid? [True, True] Translation: X:177.76, Y:54.75, Z:5.78 [[ 7.90879059e-01 -6.11518800e-01 -2.35599576e-02 1.77763955e+02] [ 6.11275281e-01 7.91229555e-01 -1.72720381e-02 5.47496682e+01] [ 2.92035108e-02 -7.41526425e-04 9.99573211e-01 5.78166085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62804094199998 meters 0.02261352646451058 Centerline is valid? [True, True] Translation: X:177.81, Y:54.79, Z:5.79 [[ 7.91641691e-01 -6.10589928e-01 -2.19857630e-02 1.77808448e+02] [ 6.10377276e-01 7.91946661e-01 -1.61266022e-02 5.47864434e+01] [ 2.72582925e-02 -6.53119560e-04 9.99628210e-01 5.78637745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.688040942 meters 0.02169518990560726 Centerline is valid? [True, True] Translation: X:177.85, Y:54.83, Z:5.79 [[ 7.91589220e-01 -6.10729972e-01 -1.98848907e-02 1.77851695e+02] [ 6.10556041e-01 7.91838714e-01 -1.45867044e-02 5.48269545e+01] [ 2.46541639e-02 -5.94162198e-04 9.99695863e-01 5.78982052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.748040942 meters 0.02336333749423065 Centerline is valid? [True, True] Translation: X:177.90, Y:54.86, Z:5.79 [[ 7.91684271e-01 -6.10656721e-01 -1.82861847e-02 1.77898582e+02] [ 6.10509445e-01 7.91895246e-01 -1.34215466e-02 5.48609977e+01] [ 2.26767004e-02 -5.38261167e-04 9.99742706e-01 5.79377966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.808040942 meters 0.021533348591760457 Centerline is valid? [True, True] Translation: X:177.94, Y:54.91, Z:5.79 [[ 7.93073990e-01 -6.08827356e-01 -1.90498881e-02 1.77938827e+02] [ 6.08666918e-01 7.93302589e-01 -1.39851825e-02 5.49056222e+01] [ 2.36268872e-02 -5.03752220e-04 9.99720719e-01 5.79339833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.868040942 meters 0.021632511196788266 Centerline is valid? [True, True] Translation: X:177.98, Y:54.95, Z:5.79 [[ 7.93985363e-01 -6.07607815e-01 -1.99996560e-02 1.77980718e+02] [ 6.07430358e-01 7.94237062e-01 -1.46918291e-02 5.49461479e+01] [ 2.48113382e-02 -4.83300922e-04 9.99692035e-01 5.79348127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.928040942 meters 0.022739472806467854 Centerline is valid? [True, True] Translation: X:178.03, Y:54.98, Z:5.79 [[ 7.91901866e-01 -6.10281376e-01 -2.11678290e-02 1.78025250e+02] [ 6.10083452e-01 7.92184502e-01 -1.55530363e-02 5.49835215e+01] [ 2.62605544e-02 -5.97663741e-04 9.99654954e-01 5.79263881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98804094199997 meters 0.02425933256410132 Centerline is valid? [True, True] Translation: X:178.07, Y:55.02, Z:5.80 [[ 7.89562648e-01 -6.13331001e-01 -2.03938384e-02 1.78070787e+02] [ 6.13148236e-01 7.89825698e-01 -1.49869138e-02 5.50187710e+01] [ 2.52995165e-02 -6.71338654e-04 9.99679691e-01 5.79512670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04804094199997 meters 0.02405292543532118 Centerline is valid? [True, True] Translation: X:178.12, Y:55.06, Z:5.80 [[ 7.88004357e-01 -6.15363717e-01 -1.94069189e-02 1.78115385e+02] [ 6.15198804e-01 7.88242986e-01 -1.42627498e-02 5.50570520e+01] [ 2.40741464e-02 -7.00004288e-04 9.99709931e-01 5.79680332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10804094199997 meters 0.024918135330198356 Centerline is valid? [True, True] Translation: X:178.16, Y:55.09, Z:5.80 [[ 7.87353447e-01 -6.16260648e-01 -1.72442270e-02 1.78159099e+02] [ 6.16130504e-01 7.87542001e-01 -1.26806560e-02 5.50944855e+01] [ 2.13951423e-02 -6.40536012e-04 9.99770893e-01 5.80007267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16804094199998 meters 0.023992571027287565 Centerline is valid? [True, True] Translation: X:178.20, Y:55.14, Z:5.80 [[ 7.89137120e-01 -6.13969994e-01 -1.74198755e-02 1.78201523e+02] [ 6.13836571e-01 7.89329150e-01 -1.28123525e-02 5.51356004e+01] [ 2.16164155e-02 -5.82253716e-04 9.99766168e-01 5.80140841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22804094199998 meters 0.02384650799510906 Centerline is valid? [True, True] Translation: X:178.25, Y:55.17, Z:5.80 [[ 7.91138155e-01 -6.11427223e-01 -1.60365283e-02 1.78245624e+02] [ 6.11313645e-01 7.91300529e-01 -1.17940715e-02 5.51738091e+01] [ 1.99009298e-02 -4.72608594e-04 9.99801845e-01 5.80462360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28804094199998 meters 0.02347232765105807 Centerline is valid? [True, True] Translation: X:178.29, Y:55.21, Z:5.81 [[ 7.92418630e-01 -6.09811934e-01 -1.42168942e-02 1.78290651e+02] [ 6.09722330e-01 7.92546062e-01 -1.04603872e-02 5.52126474e+01] [ 1.76464124e-02 -3.79352179e-04 9.99844218e-01 5.80767873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34804094199998 meters 0.02276136012609677 Centerline is valid? [True, True] Translation: X:178.34, Y:55.25, Z:5.81 [[ 7.93506966e-01 -6.08427133e-01 -1.27717539e-02 1.78336358e+02] [ 6.08354592e-01 7.93609682e-01 -9.40016541e-03 5.52503882e+01] [ 1.58551032e-02 -3.10658391e-04 9.99874252e-01 5.81025676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40804094199999 meters 0.022329897906208034 Centerline is valid? [True, True] Translation: X:178.38, Y:55.29, Z:5.81 [[ 7.94842202e-01 -6.06697844e-01 -1.19833360e-02 1.78382047e+02] [ 6.06633728e-01 7.94932488e-01 -8.82380320e-03 5.52875251e+01] [ 1.48793255e-02 -2.55964609e-04 9.99889264e-01 5.81164091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.468040942 meters 0.021983139488368903 Centerline is valid? [True, True] Translation: X:178.43, Y:55.32, Z:5.81 [[ 7.95197855e-01 -6.06277073e-01 -9.40654334e-03 1.78428486e+02] [ 6.06237521e-01 7.95253465e-01 -6.92782271e-03 5.53232596e+01] [ 1.16807663e-02 -1.93609753e-04 9.99931759e-01 5.81460368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.528040942 meters 0.02233110036309852 Centerline is valid? [True, True] Translation: X:178.48, Y:55.36, Z:5.82 [[ 7.94892161e-01 -6.06702472e-01 -7.65260171e-03 1.78476151e+02] [ 6.06676304e-01 7.94928981e-01 -5.63722236e-03 5.53572141e+01] [ 9.50339162e-03 -1.61668255e-04 9.99954829e-01 5.81790772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.588040942 meters 0.022439877409070167 Centerline is valid? [True, True] Translation: X:178.52, Y:55.39, Z:5.82 [[ 7.95419270e-01 -6.06037526e-01 -5.16743035e-03 1.78523521e+02] [ 6.06025586e-01 7.95436048e-01 -3.80555233e-03 5.53913668e+01] [ 6.41666789e-03 -1.04585347e-04 9.99979408e-01 5.82222371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.648040942 meters 0.022346135256377173 Centerline is valid? [True, True] Translation: X:178.57, Y:55.43, Z:5.83 [[ 7.96309281e-01 -6.04884784e-01 -2.43445114e-03 1.78570652e+02] [ 6.04882141e-01 7.96313001e-01 -1.78893572e-03 5.54261479e+01] [ 3.02068508e-03 -4.80098995e-05 9.99995437e-01 5.82622043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.708040942 meters 0.022159283009020987 Centerline is valid? [True, True] Translation: X:178.62, Y:55.46, Z:5.83 [[ 7.96935117e-01 -6.04064873e-01 -2.19218698e-04 1.78618501e+02] [ 6.04064853e-01 7.96935147e-01 -1.58617761e-04 5.54595466e+01] [ 2.70518503e-04 -6.01424631e-06 9.99999963e-01 5.82834000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76804094199997 meters 0.021842901171663466 Centerline is valid? [True, True] Translation: X:178.67, Y:55.49, Z:5.83 [[ 7.97380782e-01 -6.03474107e-01 1.70009901e-03 1.78666167e+02] [ 6.03472779e-01 7.97382595e-01 1.26611785e-03 5.54947088e+01] [-2.11969869e-03 1.63854329e-05 9.99997753e-01 5.82963376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82804094199997 meters 0.02236649952504986 Centerline is valid? [True, True] Translation: X:178.71, Y:55.53, Z:5.83 [[ 7.98006363e-01 -6.02635120e-01 4.09362071e-03 1.78713935e+02] [ 6.02627501e-01 7.98016861e-01 3.03061153e-03 5.55273700e+01] [-5.09313129e-03 4.84811391e-05 9.99987029e-01 5.83413520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88804094199998 meters 0.022813221983188893 Centerline is valid? [True, True] Translation: X:178.76, Y:55.56, Z:5.84 [[ 7.97174125e-01 -6.03698789e-01 7.82223394e-03 1.78764827e+02] [ 6.03671061e-01 7.97212494e-01 5.78704892e-03 5.55584912e+01] [-9.72961705e-03 1.08770607e-04 9.99952660e-01 5.83839304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94804094199998 meters 0.022793074339116995 Centerline is valid? [True, True] Translation: X:178.82, Y:55.59, Z:5.84 [[ 7.95939185e-01 -6.05282669e-01 1.06631808e-02 1.78815267e+02] [ 6.05231280e-01 7.96010590e-01 7.88907722e-03 5.55898937e+01] [-1.32631266e-02 1.74464897e-04 9.99912026e-01 5.83920119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00804094199998 meters 0.023554612912705362 Centerline is valid? [True, True] Translation: X:178.87, Y:55.62, Z:5.84 [[ 7.94815886e-01 -6.06728526e-01 1.21738574e-02 1.78865737e+02] [ 6.06661724e-01 7.94909079e-01 9.00598887e-03 5.56204280e+01] [-1.51413001e-02 2.27310277e-04 9.99885338e-01 5.84253844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06804094199998 meters 0.02495255969099556 Centerline is valid? [True, True] Translation: X:178.92, Y:55.65, Z:5.85 [[ 7.92447974e-01 -6.09706204e-01 1.68686763e-02 1.78918942e+02] [ 6.09578368e-01 7.92627401e-01 1.24906538e-02 5.56487964e+01] [-2.09862042e-02 3.84586807e-04 9.99779691e-01 5.84927695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12804094199998 meters 0.025549180065999873 Centerline is valid? [True, True] Translation: X:178.97, Y:55.68, Z:5.85 [[ 7.90450003e-01 -6.12178859e-01 2.06358020e-02 1.78969727e+02] [ 6.11988499e-01 7.90719126e-01 1.52754869e-02 5.56800190e+01] [-2.56684535e-02 5.54364777e-04 9.99670357e-01 5.85169904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.188040942 meters 0.025878308449055455 Centerline is valid? [True, True] Translation: X:179.02, Y:55.71, Z:5.85 [[ 7.90539765e-01 -6.11984471e-01 2.28448413e-02 1.79018467e+02] [ 6.11751073e-01 7.90869546e-01 1.69111044e-02 5.57140314e+01] [-2.84166225e-02 6.06455672e-04 9.99595982e-01 5.85430843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.248040942 meters 0.02647336998096992 Centerline is valid? [True, True] Translation: X:179.07, Y:55.75, Z:5.86 [[ 7.89973183e-01 -6.12556481e-01 2.67755152e-02 1.79066529e+02] [ 6.12235635e-01 7.90426490e-01 1.98366098e-02 5.57491457e+01] [-3.33151203e-02 7.22534739e-04 9.99444636e-01 5.85717957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.308040942 meters 0.02778540960204155 Centerline is valid? [True, True] Translation: X:179.12, Y:55.78, Z:5.86 [[ 7.87448574e-01 -6.15618260e-01 3.06415085e-02 1.79115172e+02] [ 6.15200005e-01 7.88043921e-01 2.27097491e-02 5.57835044e+01] [-3.81273908e-02 9.67896643e-04 9.99272418e-01 5.86106150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.368040942 meters 0.028403203198957328 Centerline is valid? [True, True] Translation: X:179.16, Y:55.82, Z:5.86 [[ 7.86135896e-01 -6.17125573e-01 3.38582330e-02 1.79161028e+02] [ 6.16616332e-01 7.86863838e-01 2.50918116e-02 5.58208001e+01] [-4.21266178e-02 1.15196564e-03 9.99111616e-01 5.86385568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.428040942 meters 0.0289780258493568 Centerline is valid? [True, True] Translation: X:179.21, Y:55.86, Z:5.87 [[ 7.86197997e-01 -6.16982309e-01 3.50077101e-02 1.79208131e+02] [ 6.16436966e-01 7.86976152e-01 2.59615764e-02 5.58567283e+01] [-4.35680664e-02 1.16910719e-03 9.99049777e-01 5.86793411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48804094199997 meters 0.029058179104026825 Centerline is valid? [True, True] Translation: X:179.25, Y:55.90, Z:5.87 [[ 7.88324577e-01 -6.14147278e-01 3.69794776e-02 1.79251113e+02] [ 6.13535756e-01 7.89190707e-01 2.74208623e-02 5.58977284e+01] [-4.60243080e-02 1.07169204e-03 9.98939745e-01 5.87080868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54804094199997 meters 0.028846858333580347 Centerline is valid? [True, True] Translation: X:179.29, Y:55.94, Z:5.87 [[ 7.90996460e-01 -6.10620524e-01 3.83037411e-02 1.79294620e+02] [ 6.09959211e-01 7.91922851e-01 2.84246299e-02 5.59375003e+01] [-4.76902703e-02 8.79938050e-04 9.98861784e-01 5.87233942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60804094199997 meters 0.02863537023642593 Centerline is valid? [True, True] Translation: X:179.34, Y:55.98, Z:5.87 [[ 7.92863656e-01 -6.08187733e-01 3.84044831e-02 1.79340190e+02] [ 6.07519361e-01 7.93792893e-01 2.85143505e-02 5.59751755e+01] [-4.78272840e-02 7.23474881e-04 9.98855359e-01 5.87275234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66804094199998 meters 0.029785139055972933 Centerline is valid? [True, True] Translation: X:179.39, Y:56.01, Z:5.88 [[ 7.94125661e-01 -6.06540318e-01 3.83833047e-02 1.79387080e+02] [ 6.05870804e-01 7.95052484e-01 2.84976409e-02 5.60095333e+01] [-4.78017099e-02 6.24615746e-04 9.98856650e-01 5.87716606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72804094199998 meters 0.03126974864831252 Centerline is valid? [True, True] Translation: X:179.43, Y:56.05, Z:5.88 [[ 7.95227891e-01 -6.05254683e-01 3.57682848e-02 1.79432473e+02] [ 6.04671882e-01 7.96031727e-01 2.65594323e-02 5.60459950e+01] [-4.45479103e-02 5.07274832e-04 9.99007120e-01 5.87945698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78804094199998 meters 0.030331255026807134 Centerline is valid? [True, True] Translation: X:179.48, Y:56.08, Z:5.87 [[ 7.94505065e-01 -6.06317393e-01 3.37775164e-02 1.79480088e+02] [ 6.05798487e-01 7.95222570e-01 2.50849990e-02 5.60810466e+01] [-4.20701146e-02 5.32209613e-04 9.99114519e-01 5.87391481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84804094199998 meters 0.03071008063616335 Centerline is valid? [True, True] Translation: X:179.53, Y:56.12, Z:5.87 [[ 7.93789484e-01 -6.07428870e-01 3.04700300e-02 1.79527125e+02] [ 6.07007273e-01 7.94373897e-01 2.26336649e-02 5.61172655e+01] [-3.79529379e-02 5.29164577e-04 9.99279388e-01 5.87253740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90804094199999 meters 0.02964506181271119 Centerline is valid? [True, True] Translation: X:179.57, Y:56.16, Z:5.86 [[ 7.91231072e-01 -6.11066385e-01 2.34789974e-02 1.79573274e+02] [ 6.10817268e-01 7.91579176e-01 1.74549048e-02 5.61551280e+01] [-2.92515910e-02 5.30513941e-04 9.99571940e-01 5.86424574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.968040942 meters 0.029174623181117774 Centerline is valid? [True, True] Translation: X:179.62, Y:56.20, Z:5.86 [[ 7.91115140e-01 -6.11417437e-01 1.74800615e-02 1.79617690e+02] [ 6.11279279e-01 7.91308132e-01 1.30032162e-02 5.61950459e+01] [-2.17825079e-02 3.98158207e-04 9.99762654e-01 5.86052606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.028040942 meters 0.029544454714800515 Centerline is valid? [True, True] Translation: X:179.66, Y:56.23, Z:5.86 [[ 7.93147611e-01 -6.08851823e-01 1.47079703e-02 1.79660796e+02] [ 6.08753626e-01 7.93283922e-01 1.09380964e-02 5.62346014e+01] [-1.83272763e-02 2.78005243e-04 9.99832003e-01 5.86276751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.088040942 meters 0.02778611534055985 Centerline is valid? [True, True] Translation: X:179.70, Y:56.28, Z:5.85 [[ 7.93812207e-01 -6.08115638e-01 7.58614364e-03 1.79701796e+02] [ 6.08089450e-01 7.93848445e-01 5.64513836e-03 5.62793847e+01] [-9.45514525e-03 1.31874170e-04 9.99955290e-01 5.85454559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.148040942 meters 0.027257132522408682 Centerline is valid? [True, True] Translation: X:179.75, Y:56.32, Z:5.85 [[ 7.92573139e-01 -6.09767778e-01 3.32827360e-03 1.79745573e+02] [ 6.09762746e-01 7.92580124e-01 2.47806009e-03 5.63191443e+01] [-4.14896470e-03 6.54133826e-05 9.99991391e-01 5.85149884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.208040942 meters 0.027595423233964033 Centerline is valid? [True, True] Translation: X:179.79, Y:56.35, Z:5.86 [[ 7.91514333e-01 -6.11146352e-01 2.27956699e-03 1.79793234e+02] [ 6.11143975e-01 7.91517614e-01 1.70539774e-03 5.63538604e+01] [-2.84656503e-03 4.32968721e-05 9.99995948e-01 5.85698443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26804094199997 meters 0.027912944325597353 Centerline is valid? [True, True] Translation: X:179.84, Y:56.39, Z:5.86 [[ 7.91364787e-01 -6.11339880e-01 2.30759529e-03 1.79837334e+02] [ 6.11337439e-01 7.91368150e-01 1.72839893e-03 5.63923589e+01] [-2.88279661e-03 4.29253375e-05 9.99995844e-01 5.86148176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32804094199997 meters 0.029067326124304762 Centerline is valid? [True, True] Translation: X:179.88, Y:56.43, Z:5.87 [[ 7.93123178e-01 -6.09036723e-01 5.46753559e-03 1.79878903e+02] [ 6.09023109e-01 7.93142017e-01 4.07337691e-03 5.64339099e+01] [-6.81736834e-03 9.91658870e-05 9.99976757e-01 5.87079959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38804094199998 meters 0.02851297950748828 Centerline is valid? [True, True] Translation: X:179.92, Y:56.47, Z:5.87 [[ 7.94472475e-01 -6.07262017e-01 6.80654949e-03 1.79922682e+02] [ 6.07240779e-01 7.94501626e-01 5.07965802e-03 5.64736831e+01] [-8.49249801e-03 9.75659384e-05 9.99963933e-01 5.87373083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44804094199998 meters 0.02790053780625264 Centerline is valid? [True, True] Translation: X:179.97, Y:56.51, Z:5.88 [[ 7.94944731e-01 -6.06662459e-01 4.85141911e-03 1.79965725e+02] [ 6.06651678e-01 7.94959531e-01 3.61727217e-03 5.65138825e+01] [-6.05114510e-03 6.75900941e-05 9.99981689e-01 5.87604157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50804094199998 meters 0.025815201729643737 Centerline is valid? [True, True] Translation: X:180.01, Y:56.55, Z:5.87 [[ 7.93937383e-01 -6.07997324e-01 1.63901142e-03 1.80010342e+02] [ 6.07996078e-01 7.93939074e-01 1.23084777e-03 5.65536330e+01] [-2.04962735e-03 1.92964591e-05 9.99997899e-01 5.87012994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56804094199998 meters 0.025632957625848614 Centerline is valid? [True, True] Translation: X:180.06, Y:56.59, Z:5.87 [[ 7.94153044e-01 -6.07717266e-01 -8.16768311e-04 1.80055642e+02] [ 6.07716963e-01 7.94153464e-01 -6.06179531e-04 5.65913775e+01] [ 1.01702515e-03 -1.49646382e-05 9.99999483e-01 5.87166732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62804094199998 meters 0.024917624286224464 Centerline is valid? [True, True] Translation: X:180.10, Y:56.63, Z:5.87 [[ 7.92970915e-01 -6.09230020e-01 -5.99255201e-03 1.80100583e+02] [ 6.09213661e-01 7.92993551e-01 -4.46592854e-03 5.66295871e+01] [ 7.47283283e-03 -1.09393103e-04 9.99972072e-01 5.87050635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.688040942 meters 0.024528566126936737 Centerline is valid? [True, True] Translation: X:180.14, Y:56.67, Z:5.87 [[ 7.91934201e-01 -6.10523968e-01 -1.00352730e-02 1.80144043e+02] [ 6.10478162e-01 7.91997755e-01 -7.48127355e-03 5.66700809e+01] [ 1.25154105e-02 -2.01638620e-04 9.99921659e-01 5.86839006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.748040942 meters 0.024265997477938075 Centerline is valid? [True, True] Translation: X:180.19, Y:56.71, Z:5.87 [[ 7.92934933e-01 -6.09160564e-01 -1.33266551e-02 1.80186172e+02] [ 6.09079548e-01 7.93046878e-01 -9.93746479e-03 5.67121537e+01] [ 1.66221739e-02 -2.37230110e-04 9.99861814e-01 5.86893648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.808040942 meters 0.024177375131898597 Centerline is valid? [True, True] Translation: X:180.23, Y:56.75, Z:5.87 [[ 7.93665553e-01 -6.08202763e-01 -1.35790051e-02 1.80229912e+02] [ 6.08118488e-01 7.93781677e-01 -1.01269212e-02 5.67509590e+01] [ 1.69379869e-02 -2.20255539e-04 9.99856518e-01 5.87064935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.868040942 meters 0.023394034596088627 Centerline is valid? [True, True] Translation: X:180.27, Y:56.79, Z:5.87 [[ 7.93248109e-01 -6.08685789e-01 -1.60949703e-02 1.80272044e+02] [ 6.08567475e-01 7.93411328e-01 -1.20038341e-02 5.67935791e+01] [ 2.00764949e-02 -2.72856749e-04 9.99798410e-01 5.86872252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.928040942 meters 0.023573184901244968 Centerline is valid? [True, True] Translation: X:180.31, Y:56.83, Z:5.87 [[ 7.92654022e-01 -6.09392000e-01 -1.84659816e-02 1.80313314e+02] [ 6.09236205e-01 7.92869021e-01 -1.37826714e-02 5.68348340e+01] [ 2.30401545e-02 -3.25254681e-04 9.99734488e-01 5.86626661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98804094199997 meters 0.02552452364089032 Centerline is valid? [True, True] Translation: X:180.36, Y:56.88, Z:5.86 [[ 7.86660119e-01 -6.17030353e-01 -2.09618806e-02 1.80355542e+02] [ 6.16832183e-01 7.86939108e-01 -1.56492096e-02 5.68778184e+01] [ 2.61517610e-02 -6.19353487e-04 9.99657792e-01 5.86314433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04804094199997 meters 0.02784838460774838 Centerline is valid? [True, True] Translation: X:180.40, Y:56.91, Z:5.87 [[ 7.82414650e-01 -6.22483648e-01 -1.84776617e-02 1.80403605e+02] [ 6.22331174e-01 7.82632487e-01 -1.37949478e-02 5.69120249e+01] [ 2.30483478e-02 -7.05855696e-04 9.99734102e-01 5.86667386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10804094199997 meters 0.02828316061034134 Centerline is valid? [True, True] Translation: X:180.44, Y:56.96, Z:5.87 [[ 7.79229133e-01 -6.26539165e-01 -1.58314081e-02 1.80443057e+02] [ 6.26427989e-01 7.79389620e-01 -1.18234935e-02 5.69578440e+01] [ 1.97467169e-02 -7.04026587e-04 9.99804767e-01 5.87130657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16804094199998 meters 0.05302625022765007 Centerline is valid? [True, True] Translation: X:180.39, Y:57.12, Z:5.89 [[ 7.64455496e-01 -6.44675370e-01 -1.20937876e-03 1.80391196e+02] [ 6.44674746e-01 7.64456447e-01 -9.01503111e-04 5.71240116e+01] [ 1.50569424e-03 -9.04969391e-05 9.99998862e-01 5.89191559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1502.59 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%| | 0/6640 [00:00