+ python -m lidar_slam --no-model /working/b5e78cd0-870a-49fe-a261-60ab695c9636 Lidar SLAM 0.0.11 ===================================================== The recording path: /working/b5e78cd0-870a-49fe-a261-60ab695c9636 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 0.010888479 Adjusted end_distance from 9.223372036854776e+18 to 173.900888479 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.010888479 meters 0.0712866071469888 Centerline is valid? [0, True] SLAMing on 0.070888479 meters 0.07580468389276265 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.01, Z:-0.01 [[ 9.99977889e-01 -6.56025524e-03 1.08834347e-03 6.22456825e-02] [ 6.56019151e-03 9.99978480e-01 6.21096453e-05 -1.17546712e-02] [-1.08872750e-03 -5.49685305e-05 9.99999406e-01 -1.08626942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.130888479 meters 0.09339463335587828 Centerline is valid? [True, True] Translation: X:0.12, Y:0.01, Z:-0.00 [[ 9.99979936e-01 -4.10497539e-03 4.82463725e-03 1.20703257e-01] [ 4.10369317e-03 9.99991542e-01 2.75635323e-04 6.53786307e-03] [-4.82572792e-03 -2.55830962e-04 9.99988323e-01 -5.39649353e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19088847900000003 meters 0.09532307500852759 Centerline is valid? [True, True] Translation: X:0.18, Y:0.02, Z:-0.00 [[ 9.99982048e-01 2.41351203e-03 5.48445707e-03 1.80695785e-01] [-2.41526162e-03 9.99997034e-01 3.12408967e-04 2.09798750e-02] [-5.48368680e-03 -3.25649757e-04 9.99984911e-01 -1.11270807e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.250888479 meters 0.10732663137787433 Centerline is valid? [True, False] Translation: X:0.19, Y:0.03, Z:-0.01 [[ 0.99997343 0.00588586 0.00430088 0.18602013] [-0.00589302 0.99998127 0.00165433 0.03042555] [-0.00429106 -0.00167963 0.99998938 -0.00571472] [ 0. 0. 0. 1. ]] SLAMing on 0.31088847900000005 meters 0.1139280276485693 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.01 [[ 0.99995038 0.00961509 0.00260538 0.19143367] [-0.0096209 0.99995124 0.00222596 0.04386598] [-0.00258385 -0.00225091 0.99999413 -0.00911864] [ 0. 0. 0. 1. ]] SLAMing on 0.37088847900000005 meters 0.11527094742342626 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.01 [[ 0.99991602 0.01290305 0.00121164 0.19582873] [-0.01290697 0.9999113 0.0032853 0.05511746] [-0.00116914 -0.00330067 0.99999387 -0.0114097 ] [ 0. 0. 0. 1. ]] SLAMing on 0.43088847900000005 meters 0.11997923833093295 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.01 [[ 9.99922371e-01 1.24432212e-02 6.47289606e-04 1.97963186e-01] [-1.24442534e-02 9.99921262e-01 1.61583954e-03 6.12892803e-02] [-6.27132391e-04 -1.62376914e-03 9.99998485e-01 -1.26322380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.49088847900000004 meters 0.12914931016909537 Centerline is valid? [False, False] Translation: X:0.20, Y:0.06, Z:-0.01 [[ 9.99932810e-01 1.15822907e-02 4.76451096e-04 1.96684803e-01] [-1.15826361e-02 9.99932654e-01 7.28667376e-04 6.22123506e-02] [-4.67979372e-04 -7.34136977e-04 9.99999621e-01 -1.02903128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.550888479 meters 0.1305429730677107 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.01 [[ 9.99946715e-01 1.03195749e-02 -2.69803891e-04 1.97331026e-01] [-1.03199397e-02 9.99945785e-01 -1.38759995e-03 6.83863379e-02] [ 2.55469822e-04 1.39031037e-03 9.99999001e-01 -8.89563578e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6108884790000001 meters 0.1356910543866526 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.01 [[ 9.99974893e-01 7.06122504e-03 -5.93906077e-04 1.99301323e-01] [-7.06404540e-03 9.99963098e-01 -4.88895239e-03 6.94142975e-02] [ 5.59362168e-04 4.89302502e-03 9.99987873e-01 -1.07227174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.670888479 meters 0.14602965256210967 Centerline is valid? [False, False] Translation: X:0.20, Y:0.07, Z:-0.01 [[ 9.99974980e-01 7.04095663e-03 -6.82123737e-04 1.99428589e-01] [-7.04368262e-03 9.99966870e-01 -4.07992593e-03 6.63107396e-02] [ 6.53374557e-04 4.08462851e-03 9.99991444e-01 -1.08630872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7308884790000001 meters 0.14456247114014079 Centerline is valid? [False, False] Translation: X:0.21, Y:0.07, Z:-0.01 [[ 0.99998731 0.00181069 -0.00470038 0.20676442] [-0.00180194 0.99999664 0.00186457 0.06509374] [ 0.00470374 -0.00185607 0.99998721 -0.00682521] [ 0. 0. 0. 1. ]] SLAMing on 0.790888479 meters 0.15158731086464386 Centerline is valid? [False, False] Translation: X:0.21, Y:0.07, Z:-0.01 [[ 0.9999791 -0.00310902 -0.00566826 0.20806468] [ 0.00309536 0.99999229 -0.00241727 0.06547289] [ 0.00567573 0.00239967 0.99998101 -0.00615085] [ 0. 0. 0. 1. ]] SLAMing on 0.8508884790000001 meters 0.15683895919849455 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.01 [[ 0.99995585 -0.00663508 -0.00665412 0.21310648] [ 0.00660594 0.99996854 -0.00439067 0.06133759] [ 0.00668304 0.00434652 0.99996822 -0.01132853] [ 0. 0. 0. 1. ]] SLAMing on 0.910888479 meters 0.1450506648083418 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.01 [[ 0.99995484 -0.00675676 -0.00668238 0.21255818] [ 0.00673032 0.99996947 -0.00397045 0.06016746] [ 0.00670901 0.0039253 0.99996979 -0.01048781] [ 0. 0. 0. 1. ]] SLAMing on 0.9708884790000001 meters 0.14086248485565628 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.01 [[ 9.99970999e-01 -3.35936333e-03 -6.83483789e-03 2.10917639e-01] [ 3.35452479e-03 9.99994115e-01 -7.19263815e-04 6.21671598e-02] [ 6.83721393e-03 6.96315323e-04 9.99976384e-01 -7.66283390e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.030888479 meters 0.1412988049419376 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.01 [[ 9.99969177e-01 -3.51846936e-03 -7.01893988e-03 2.11811196e-01] [ 3.52004011e-03 9.99993782e-01 2.11446544e-04 5.85869359e-02] [ 7.01815227e-03 -2.36146976e-04 9.99975345e-01 -8.72745861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.090888479 meters 0.1335172840252308 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.01 [[ 0.99996928 -0.00374135 -0.00688808 0.21238964] [ 0.0037491 0.99999235 0.00111269 0.05520311] [ 0.00688387 -0.00113848 0.99997566 -0.01018365] [ 0. 0. 0. 1. ]] SLAMing on 1.150888479 meters 0.12785837588420157 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.01 [[ 9.99966426e-01 -4.28272285e-03 -6.98603293e-03 2.11892222e-01] [ 4.28345466e-03 9.99990822e-01 8.97940679e-05 5.80874937e-02] [ 6.98558425e-03 -1.19715409e-04 9.99975593e-01 -9.02240166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.210888479 meters 0.12698276492610316 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.01 [[ 9.99963990e-01 -4.77930701e-03 -7.01266183e-03 2.10652868e-01] [ 4.77510307e-03 9.99988409e-01 -6.16099739e-04 6.02872993e-02] [ 7.01552508e-03 5.82591370e-04 9.99975221e-01 -6.93540209e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.270888479 meters 0.10845973847850142 Centerline is valid? [False, False] Translation: X:0.21, Y:0.06, Z:-0.01 [[ 9.99961777e-01 -4.81398306e-03 -7.29860580e-03 2.11578010e-01] [ 4.80849499e-03 9.99988143e-01 -7.69296526e-04 6.07285528e-02] [ 7.30222264e-03 7.34171811e-04 9.99973069e-01 -7.63156907e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.330888479 meters 0.09995545208176203 Centerline is valid? [False, True] Translation: X:0.21, Y:0.06, Z:-0.01 [[ 9.99971896e-01 1.05314222e-04 -7.49634999e-03 2.12986573e-01] [-8.47718159e-05 9.99996241e-01 2.74058611e-03 6.39022178e-02] [ 7.49661043e-03 -2.73987361e-03 9.99968146e-01 -9.27956664e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.390888479 meters 0.09984976370020981 Centerline is valid? [True, True] Translation: X:0.27, Y:0.09, Z:-0.00 [[ 9.99758636e-01 1.91909218e-02 -1.06948167e-02 2.72260119e-01] [-1.91992669e-02 9.99815447e-01 -6.78171280e-04 8.57064446e-02] [ 1.06798282e-02 8.83340235e-04 9.99942579e-01 -4.04759803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.450888479 meters 0.09626289551760343 Centerline is valid? [True, True] Translation: X:0.33, Y:0.09, Z:-0.00 [[ 0.99948493 0.02766058 -0.01627167 0.33212366] [-0.02768102 0.99961627 -0.00103183 0.09332871] [ 0.01623688 0.00148172 0.99986708 -0.00297501] [ 0. 0. 0. 1. ]] SLAMing on 1.5108884790000001 meters 0.08920386104797912 Centerline is valid? [True, True] Translation: X:0.39, Y:0.09, Z:-0.00 [[ 0.99925716 0.03087145 -0.02306703 0.39328464] [-0.03091337 0.999521 -0.0014627 0.08693618] [ 0.02301082 0.0021747 0.99973285 -0.00299257] [ 0. 0. 0. 1. ]] SLAMing on 1.570888479 meters 0.08417571250582107 Centerline is valid? [True, True] Translation: X:0.45, Y:0.08, Z:-0.00 [[ 0.9992673 0.02958118 -0.02428596 0.4526998 ] [-0.02962731 0.99955983 -0.00154146 0.08360698] [ 0.02422967 0.00225985 0.99970386 -0.00298509] [ 0. 0. 0. 1. ]] SLAMing on 1.630888479 meters 0.08159957392550801 Centerline is valid? [True, True] Translation: X:0.51, Y:0.08, Z:0.00 [[ 9.99495581e-01 2.47532675e-02 -1.98962195e-02 5.12583286e-01] [-2.47832818e-02 9.99692049e-01 -1.26335561e-03 8.04924090e-02] [ 1.98588203e-02 1.75581197e-03 9.99801252e-01 9.48045444e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.690888479 meters 0.0789078090889194 Centerline is valid? [True, True] Translation: X:0.57, Y:0.08, Z:0.00 [[ 0.99956427 0.02158913 -0.02012911 0.57335511] [-0.02161922 0.99976546 -0.00127826 0.07607853] [ 0.02009679 0.00171288 0.99979657 0.00463063] [ 0. 0. 0. 1. ]] SLAMing on 1.750888479 meters 0.07562657967037595 Centerline is valid? [True, True] Translation: X:0.63, Y:0.07, Z:0.01 [[ 0.99960755 0.01831132 -0.02120023 0.63392021] [-0.01834396 0.99983083 -0.00134634 0.06863569] [ 0.021172 0.00173471 0.99977434 0.00818363] [ 0. 0. 0. 1. ]] SLAMing on 1.810888479 meters 0.0702621390214688 Centerline is valid? [True, True] Translation: X:0.69, Y:0.06, Z:0.01 [[ 0.99959727 0.01742042 -0.02240143 0.6935627 ] [-0.01745675 0.9998466 -0.00142722 0.05510107] [ 0.02237313 0.0018177 0.99974804 0.00841776] [ 0. 0. 0. 1. ]] SLAMing on 1.870888479 meters 0.06374667517838432 Centerline is valid? [True, True] Translation: X:0.76, Y:0.04, Z:0.01 [[ 0.99948646 0.02008459 -0.02496842 0.75571581] [-0.02013057 0.99979609 -0.00159152 0.03802201] [ 0.02493136 0.00209333 0.99968697 0.0076558 ] [ 0. 0. 0. 1. ]] SLAMing on 1.930888479 meters 0.0643178152036912 Centerline is valid? [True, True] Translation: X:0.82, Y:0.03, Z:0.01 [[ 0.99924012 0.0272523 -0.02786582 0.81524864] [-0.02731236 0.99962537 -0.00177698 0.03099152] [ 0.02780696 0.00253671 0.99961009 0.00644403] [ 0. 0. 0. 1. ]] SLAMing on 1.990888479 meters 0.0669471366359728 Centerline is valid? [True, True] Translation: X:0.88, Y:0.03, Z:0.00 [[ 0.99887006 0.03483534 -0.03232802 0.87577159] [-0.03492013 0.99938798 -0.00206182 0.03019744] [ 0.03223641 0.00318839 0.99947519 0.00296653] [ 0. 0. 0. 1. ]] SLAMing on 2.050888479 meters 0.07203783326180747 Centerline is valid? [True, True] Translation: X:0.93, Y:0.03, Z:0.01 [[ 0.99873819 0.04224864 -0.02714922 0.93489808] [-0.04231116 0.99910298 -0.00173228 0.02809983] [ 0.02705168 0.00287881 0.99962989 0.00643057] [ 0. 0. 0. 1. ]] SLAMing on 2.110888479 meters 0.07270575914414429 Centerline is valid? [True, True] Translation: X:1.00, Y:0.01, Z:0.01 [[ 0.99876638 0.04074461 -0.02838316 0.99556501] [-0.04081237 0.99916519 -0.0018119 0.01237142] [ 0.02828564 0.00296805 0.99959547 0.00838235] [ 0. 0. 0. 1. ]] SLAMing on 2.1708884790000003 meters 0.0712797001902176 Centerline is valid? [True, True] Translation: X:1.06, Y:0.00, Z:0.01 [[ 9.98934821e-01 3.74815296e-02 -2.69139219e-02 1.05677070e+00] [-3.75412915e-02 9.99293600e-01 -1.71846491e-03 4.68960186e-04] [ 2.68304992e-02 2.72701782e-03 9.99636278e-01 9.71756055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2308884790000003 meters 0.06660138197934815 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.02, Z:0.01 [[ 0.99916349 0.03436313 -0.0221698 1.11793318] [-0.03440293 0.99940704 -0.00141588 -0.01899426] [ 0.022108 0.0021774 0.99975322 0.01249211] [ 0. 0. 0. 1. ]] SLAMing on 2.2908884790000004 meters 0.06766773360417079 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.02, Z:0.01 [[ 0.99922878 0.03250836 -0.02202402 1.17744143] [-0.0325472 0.99946921 -0.00140721 -0.02192722] [ 0.02196659 0.00212295 0.99975645 0.00995142] [ 0. 0. 0. 1. ]] SLAMing on 2.3508884790000004 meters 0.05746860245431809 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.05, Z:0.01 [[ 0.99938769 0.02842838 -0.02039767 1.24005512] [-0.02846086 0.99959406 -0.0013037 -0.05022231] [ 0.02035233 0.00188344 0.9997911 0.00983281] [ 0. 0. 0. 1. ]] SLAMing on 2.4108884790000005 meters 0.055575240393182915 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.06, Z:0.01 [[ 9.99498034e-01 2.48218054e-02 -1.96864926e-02 1.30097566e+00] [-2.48513686e-02 9.99690365e-01 -1.25844340e-03 -5.57166909e-02] [ 1.96491601e-02 1.74704798e-03 9.99805410e-01 1.07754384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4708884790000005 meters 0.05108947199791459 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.06, Z:0.02 [[ 9.99757241e-01 2.10764708e-02 -6.42200159e-03 1.36151648e+00] [-2.10795395e-02 9.99777718e-01 -4.10535675e-04 -6.09188721e-02] [ 6.41192145e-03 5.45808851e-04 9.99979294e-01 1.73903891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.530888479 meters 0.046545970559096955 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.07, Z:0.01 [[ 9.99927882e-01 1.16204917e-02 -3.03240522e-03 1.42239537e+00] [-1.16211327e-02 9.99932454e-01 -1.93854642e-04 -6.90083336e-02] [ 3.02994770e-03 2.29080644e-04 9.99995383e-01 1.27856481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.590888479 meters 0.04091982374426209 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.08, Z:0.01 [[ 9.99984268e-01 -1.05342322e-03 5.50946469e-03 1.48297988e+00] [ 1.05149843e-03 9.99999385e-01 3.52245769e-04 -7.51406911e-02] [-5.50983237e-03 -3.46447034e-04 9.99984761e-01 1.45049991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6508884790000002 meters 0.042302740287806034 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.07, Z:0.02 [[ 9.99949198e-01 -8.87919197e-03 4.77085402e-03 1.54371490e+00] [ 8.87783787e-03 9.99960545e-01 3.04930944e-04 -7.37946347e-02] [-4.77337333e-03 -2.62560584e-04 9.99988573e-01 1.95584693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7108884790000003 meters 0.031135593427701214 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.07, Z:0.02 [[ 9.99588384e-01 -2.46608667e-02 1.46596365e-02 1.60416748e+00] [ 2.46497736e-02 9.99695709e-01 9.36944240e-04 -7.44824482e-02] [-1.46782816e-02 -5.75201857e-04 9.99892103e-01 2.02413877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7708884790000003 meters 0.030233782268159266 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.07, Z:0.02 [[ 9.99282174e-01 -3.29534266e-02 1.86871302e-02 1.66435356e+00] [ 3.29368471e-02 9.99456721e-01 1.19438158e-03 -7.31678965e-02] [-1.87163369e-02 -5.78029067e-04 9.99824667e-01 2.41414984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8308884790000004 meters 0.029454347603548953 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.06, Z:0.04 [[ 9.98939369e-01 -3.49077263e-02 3.00264454e-02 1.72440043e+00] [ 3.48657961e-02 9.99390161e-01 1.91903580e-03 -6.20006109e-02] [-3.00751233e-02 -8.70104493e-04 9.99547262e-01 3.55597366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8908884790000005 meters 0.030005102332713546 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.03, Z:0.03 [[ 9.99269104e-01 -2.89646565e-02 2.49460569e-02 1.78443962e+00] [ 2.89340143e-02 9.99580062e-01 1.58849025e-03 -3.42361366e-02] [-2.49815911e-02 -8.65539660e-04 9.99687537e-01 3.21799544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9508884790000005 meters 0.03265335694441323 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.01, Z:0.03 [[ 9.99474427e-01 -2.09538115e-02 2.47347268e-02 1.84392432e+00] [ 2.09212252e-02 9.99779886e-01 1.57550463e-03 -1.16684105e-02] [-2.47622951e-02 -1.05719579e-03 9.99692808e-01 2.97976623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0108884790000006 meters 0.03839326211319719 Centerline is valid? [True, True] Translation: X:1.90, Y:0.02, Z:0.04 [[ 9.99549007e-01 -8.23678027e-03 2.88779733e-02 1.90277606e+00] [ 8.18706731e-03 9.99964794e-01 1.83930090e-03 1.91587505e-02] [-2.88921065e-02 -1.60204548e-03 9.99581252e-01 3.55508465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.070888479 meters 0.04048573658810559 Centerline is valid? [True, True] Translation: X:1.96, Y:0.04, Z:0.04 [[ 9.99646281e-01 -4.43487154e-03 2.62229799e-02 1.96210815e+00] [ 4.39259033e-03 9.99988958e-01 1.66975637e-03 4.12923516e-02] [-2.62300955e-02 -1.55397894e-03 9.99654724e-01 3.56309014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1308884790000002 meters 0.04095110805849128 Centerline is valid? [True, True] Translation: X:2.02, Y:0.06, Z:0.04 [[ 9.99720210e-01 -5.94141547e-03 2.28954347e-02 2.02097401e+00] [ 5.90957932e-03 9.99981476e-01 1.45791194e-03 5.60711620e-02] [-2.29036726e-02 -1.32220164e-03 9.99736802e-01 3.69620653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1908884790000003 meters 0.036244160372959466 Centerline is valid? [True, True] Translation: X:2.08, Y:0.06, Z:0.03 [[ 9.99816695e-01 -7.85006519e-03 1.74628840e-02 2.08136267e+00] [ 7.83183832e-03 9.99968713e-01 1.11189419e-03 6.21880226e-02] [-1.74710661e-02 -9.74923890e-04 9.99846894e-01 3.28995147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2508884790000003 meters 0.034323188334638405 Centerline is valid? [True, True] Translation: X:2.14, Y:0.07, Z:0.04 [[ 9.99814362e-01 -6.13888526e-03 1.82634955e-02 2.14265688e+00] [ 6.11870494e-03 9.99980607e-01 1.16062833e-03 6.90100180e-02] [-1.82702663e-02 -1.04866393e-03 9.99832535e-01 3.58515734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3108884790000004 meters 0.03329312003324761 Centerline is valid? [True, True] Translation: X:2.20, Y:0.08, Z:0.04 [[ 9.99929408e-01 -8.54224830e-04 1.18510910e-02 2.20340008e+00] [ 8.45362205e-04 9.99999359e-01 7.52821289e-04 8.03417125e-02] [-1.18517265e-02 -7.42749682e-04 9.99929490e-01 3.54110090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3708884790000004 meters 0.03595426534246312 Centerline is valid? [True, True] Translation: X:2.26, Y:0.09, Z:0.03 [[ 9.99971979e-01 4.84624887e-03 5.70564022e-03 2.26331117e+00] [-4.84839554e-03 9.99988181e-01 3.62464336e-04 9.04011938e-02] [-5.70381619e-03 -3.90117380e-04 9.99983657e-01 3.19676240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4308884790000005 meters 0.04012636004047105 Centerline is valid? [True, True] Translation: X:2.32, Y:0.10, Z:0.03 [[ 9.99896696e-01 1.37786406e-02 4.09226292e-03 2.32276967e+00] [-1.37798194e-02 9.99905020e-01 2.60001316e-04 1.04477179e-01] [-4.08829177e-03 -3.16365101e-04 9.99991593e-01 3.34197195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4908884790000005 meters 0.042614126327925474 Centerline is valid? [True, True] Translation: X:2.38, Y:0.11, Z:0.04 [[ 9.99880626e-01 1.53339869e-02 1.89783219e-03 2.38088099e+00] [-1.53342437e-02 9.99882416e-01 1.20803926e-04 1.12490967e-01] [-1.89575663e-03 -1.49891326e-04 9.99998192e-01 3.55546686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5508884790000006 meters 0.042588220167679054 Centerline is valid? [True, True] Translation: X:2.44, Y:0.11, Z:0.04 [[ 9.99923247e-01 1.23366512e-02 1.14324833e-03 2.44129983e+00] [-1.23367423e-02 9.99923897e-01 7.27015977e-05 1.07509201e-01] [-1.14226444e-03 -8.67999777e-05 9.99999344e-01 3.71177624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.610888479 meters 0.051654060149782265 Centerline is valid? [True, True] Translation: X:2.50, Y:0.11, Z:0.04 [[ 9.99990839e-01 4.15306724e-03 -1.03631098e-03 2.50064354e+00] [-4.15313771e-03 9.99991374e-01 -6.58579501e-05 1.08933959e-01] [ 1.03602853e-03 7.01612890e-05 9.99999461e-01 4.12573885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6708884790000003 meters 0.04172552030430113 Centerline is valid? [True, True] Translation: X:2.56, Y:0.09, Z:0.04 [[ 9.99988962e-01 7.36341215e-04 -4.64051099e-03 2.56212198e+00] [-7.37718834e-04 9.99999684e-01 -2.95163344e-04 8.96794392e-02] [ 4.64029218e-03 2.98583478e-04 9.99989189e-01 4.15895577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7308884790000003 meters 0.04245131511863018 Centerline is valid? [True, True] Translation: X:2.62, Y:0.08, Z:0.04 [[ 9.99989066e-01 -3.79470352e-04 -4.66083244e-03 2.62187577e+00] [ 3.78092138e-04 9.99999885e-01 -2.96578818e-04 8.11015095e-02] [ 4.66094445e-03 2.94813351e-04 9.99989094e-01 4.20518517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7908884790000004 meters 0.04421840866089258 Centerline is valid? [True, True] Translation: X:2.68, Y:0.07, Z:0.04 [[ 9.99947597e-01 -4.42719421e-03 -9.23050576e-03 2.68191193e+00] [ 4.42195607e-03 9.99990050e-01 -5.87813549e-04 7.21754680e-02] [ 9.23301629e-03 5.46965856e-04 9.99957225e-01 3.96778821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8508884790000004 meters 0.03998393032823289 Centerline is valid? [True, True] Translation: X:2.74, Y:0.06, Z:0.04 [[ 9.99903977e-01 -8.46504002e-03 -1.09718089e-02 2.74273998e+00] [ 8.45788036e-03 9.99963987e-01 -6.98787619e-04 6.36117148e-02] [ 1.09773290e-02 6.05922272e-04 9.99939564e-01 4.26640838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9108884790000005 meters 0.03747545755737899 Centerline is valid? [True, True] Translation: X:2.80, Y:0.05, Z:0.04 [[ 9.99783070e-01 -1.58309228e-02 -1.35349576e-02 2.80283329e+00] [ 1.58206962e-02 9.99874473e-01 -8.62317794e-04 5.01417949e-02] [ 1.35469099e-02 6.47998279e-04 9.99908026e-01 4.29042746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9708884790000005 meters 0.03527720335199853 Centerline is valid? [True, True] Translation: X:2.86, Y:0.04, Z:0.04 [[ 9.99712616e-01 -1.96279569e-02 -1.37633304e-02 2.86322494e+00] [ 1.96177352e-02 9.99807169e-01 -8.77302420e-04 4.26664310e-02] [ 1.37778961e-02 6.07044925e-04 9.99904896e-01 4.32070593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.030888479000001 meters 0.03354793906977107 Centerline is valid? [True, True] Translation: X:2.92, Y:0.04, Z:0.05 [[ 9.99676396e-01 -2.19440826e-02 -1.28670009e-02 2.92346155e+00] [ 2.19353375e-02 9.99759055e-01 -8.20407225e-04 4.04439826e-02] [ 1.28819037e-02 5.37899732e-04 9.99916880e-01 4.52914397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.090888479 meters 0.03750863547053121 Centerline is valid? [True, True] Translation: X:2.98, Y:0.05, Z:0.05 [[ 9.99763713e-01 -1.99633697e-02 -8.60129710e-03 2.98150239e+00] [ 1.99593863e-02 9.99800641e-01 -5.48711900e-04 4.64509621e-02] [ 8.61053650e-03 3.76905635e-04 9.99962858e-01 5.41327449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.150888479000001 meters 0.039943605704587354 Centerline is valid? [True, True] Translation: X:3.04, Y:0.05, Z:0.06 [[ 9.99876910e-01 -1.43695912e-02 -6.29910548e-03 3.04142655e+00] [ 1.43673435e-02 9.99896704e-01 -4.01939017e-04 5.09222126e-02] [ 6.30423051e-03 3.11388130e-04 9.99980080e-01 5.95540442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.210888479 meters 0.03313546826619683 Centerline is valid? [True, True] Translation: X:3.10, Y:0.04, Z:0.06 [[ 9.99942159e-01 -4.34946431e-03 -9.83675740e-03 3.10280176e+00] [ 4.34349940e-03 9.99990370e-01 -6.27673025e-04 4.36699648e-02] [ 9.83939271e-03 5.84910770e-04 9.99951421e-01 6.17675152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.270888479000001 meters 0.03396361533030899 Centerline is valid? [True, True] Translation: X:3.16, Y:0.05, Z:0.06 [[ 9.99930288e-01 2.15716936e-04 -1.18056035e-02 3.16316527e+00] [-2.24626213e-04 9.99999691e-01 -7.53344400e-04 4.60840543e-02] [ 1.18054373e-02 7.55943731e-04 9.99930028e-01 5.91219865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.330888479 meters 0.03358224582865768 Centerline is valid? [True, True] Translation: X:3.22, Y:0.04, Z:0.06 [[ 9.99939585e-01 1.59719655e-03 -1.08754662e-02 3.22277474e+00] [-1.60484321e-03 9.99998471e-01 -6.94420327e-04 3.95037908e-02] [ 1.08743405e-02 7.11831791e-04 9.99940619e-01 6.01327326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.390888479000001 meters 0.032548487321740746 Centerline is valid? [True, True] Translation: X:3.28, Y:0.04, Z:0.06 [[ 9.99892630e-01 3.64536887e-03 -1.41929214e-02 3.28291524e+00] [-3.65860362e-03 9.99992896e-01 -9.06636503e-04 3.99751098e-02] [ 1.41895156e-02 9.58465431e-04 9.99898864e-01 5.88968969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4508884790000005 meters 0.035779400841408744 Centerline is valid? [True, True] Translation: X:3.34, Y:0.04, Z:0.06 [[ 9.99912502e-01 4.77025824e-03 -1.23382805e-02 3.34043228e+00] [-4.78035580e-03 9.99988263e-01 -7.89030207e-04 4.24941715e-02] [ 1.23343718e-02 8.47942540e-04 9.99923569e-01 5.86248298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.510888479 meters 0.034073499317360756 Centerline is valid? [True, True] Translation: X:3.40, Y:0.03, Z:0.06 [[ 9.99958903e-01 3.53798403e-03 -8.34717224e-03 3.40013964e+00] [-3.54256719e-03 9.99993582e-01 -5.34346247e-04 3.21362606e-02] [ 8.34522816e-03 5.63894705e-04 9.99965019e-01 6.06029797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.570888479000001 meters 0.03571265295791452 Centerline is valid? [True, True] Translation: X:3.46, Y:0.04, Z:0.06 [[ 9.99949738e-01 4.20332546e-03 -9.10243082e-03 3.45815626e+00] [-4.20880980e-03 9.99990973e-01 -5.83442454e-04 3.83110875e-02] [ 9.09989625e-03 6.21723529e-04 9.99958402e-01 5.99488431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.630888479 meters 0.03679392844787869 Centerline is valid? [True, True] Translation: X:3.52, Y:0.05, Z:0.06 [[ 9.99920329e-01 7.58594790e-03 -1.00890407e-02 3.51788646e+00] [-7.59286011e-03 9.99970965e-01 -6.46993409e-04 4.55747385e-02] [ 1.00838397e-02 7.23546537e-04 9.99948895e-01 6.09173578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.690888479000001 meters 0.03492215793515234 Centerline is valid? [True, True] Translation: X:3.58, Y:0.04, Z:0.05 [[ 9.99856242e-01 7.64729103e-03 -1.51332203e-02 3.57696959e+00] [-7.66286745e-03 9.99970168e-01 -9.71567898e-04 3.61992043e-02] [ 1.51253389e-02 1.08739209e-03 9.99885014e-01 5.31817814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.750888479 meters 0.03476336233316867 Centerline is valid? [True, True] Translation: X:3.64, Y:0.03, Z:0.06 [[ 9.99973378e-01 2.15383372e-03 -6.97165175e-03 3.63716703e+00] [-2.15700758e-03 9.99997573e-01 -4.47764389e-04 2.77626286e-02] [ 6.97067043e-03 4.62790374e-04 9.99975597e-01 6.09021518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.810888479000001 meters 0.03240263671088256 Centerline is valid? [True, True] Translation: X:3.70, Y:0.02, Z:0.06 [[ 9.99968464e-01 -6.54086133e-03 -4.50417283e-03 3.69752413e+00] [ 6.53962427e-03 9.99978575e-01 -2.89321600e-04 2.34607340e-02] [ 4.50596874e-03 2.59856878e-04 9.99989814e-01 6.27885895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.870888479 meters 0.031043923655085643 Centerline is valid? [True, True] Translation: X:3.76, Y:0.02, Z:0.06 [[ 9.99927924e-01 -1.06603108e-02 -5.52304668e-03 3.75873296e+00] [ 1.06585132e-02 9.99943133e-01 -3.54794729e-04 1.61320975e-02] [ 5.52651482e-03 2.95901691e-04 9.99984685e-01 5.96765206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.930888479000001 meters 0.02944418352523661 Centerline is valid? [True, True] Translation: X:3.82, Y:0.01, Z:0.06 [[ 9.99837669e-01 -1.65884924e-02 -7.03260343e-03 3.81971111e+00] [ 1.65857240e-02 9.99862345e-01 -4.51796726e-04 7.80334979e-03] [ 7.03912999e-03 3.35082566e-04 9.99975169e-01 5.73561329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9908884790000005 meters 0.027740450475852736 Centerline is valid? [True, True] Translation: X:3.88, Y:0.01, Z:0.06 [[ 9.99744975e-01 -2.14337667e-02 -7.11188508e-03 3.87993273e+00] [ 2.14310568e-02 9.99770224e-01 -4.57034134e-04 9.78620195e-03] [ 7.12004691e-03 3.04502366e-04 9.99974606e-01 6.05858607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.050888479 meters 0.024963721984193797 Centerline is valid? [True, True] Translation: X:3.94, Y:0.01, Z:0.06 [[ 9.99663037e-01 -2.56559624e-02 -3.94775754e-03 3.94002378e+00] [ 2.56551600e-02 9.99670820e-01 -2.53765820e-04 9.03879926e-03] [ 3.95296863e-03 1.52399959e-04 9.99992175e-01 6.37599638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.110888479000001 meters 0.02325041731863658 Centerline is valid? [True, True] Translation: X:4.00, Y:0.01, Z:0.07 [[ 9.99514341e-01 -3.11503271e-02 8.59309536e-04 4.00123248e+00] [ 3.11502912e-02 9.99514710e-01 5.51833459e-05 9.17541920e-03] [-8.60611502e-04 -2.83888033e-05 9.99999629e-01 6.63490039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.170888479 meters 0.022715207264768004 Centerline is valid? [True, True] Translation: X:4.06, Y:0.02, Z:0.07 [[ 9.99371326e-01 -3.47842310e-02 6.85636134e-03 4.06333621e+00] [ 3.47820300e-02 9.99394825e-01 4.40035008e-04 1.67819777e-02] [-6.86751833e-03 -2.01280204e-04 9.99976398e-01 7.31046253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.230888479000001 meters 0.023832964797675427 Centerline is valid? [True, True] Translation: X:4.12, Y:0.03, Z:0.07 [[ 9.99640057e-01 -2.63557332e-02 5.01324282e-03 4.12325879e+00] [ 2.63544500e-02 9.99652609e-01 3.21861267e-04 3.46432360e-02] [-5.01998415e-03 -1.89624158e-04 9.99987382e-01 7.14739484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.290888479 meters 0.028485673039293082 Centerline is valid? [True, True] Translation: X:4.18, Y:0.05, Z:0.07 [[ 9.99912303e-01 -1.24318155e-02 4.56459558e-03 4.18159991e+00] [ 1.24306084e-02 9.99922694e-01 2.92723833e-04 5.16106999e-02] [-4.56788180e-03 -2.35957462e-04 9.99989539e-01 6.91108868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.350888479000001 meters 0.03379397271109045 Centerline is valid? [True, True] Translation: X:4.24, Y:0.07, Z:0.07 [[ 9.99945852e-01 5.11592179e-03 9.06201781e-03 4.24116056e+00] [-5.12139940e-03 9.99986717e-01 5.81355755e-04 6.78087960e-02] [-9.05892326e-03 -6.27734489e-04 9.99958770e-01 7.35705769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4108884790000005 meters 0.03336433318293441 Centerline is valid? [True, True] Translation: X:4.30, Y:0.08, Z:0.07 [[ 9.99904446e-01 1.11833421e-02 8.12602787e-03 4.30085964e+00] [-1.11879461e-02 9.99937277e-01 5.21336532e-04 7.56657318e-02] [-8.11968790e-03 -6.12200278e-04 9.99966847e-01 7.26755191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.470888479000001 meters 0.03313284994431048 Centerline is valid? [True, True] Translation: X:4.36, Y:0.08, Z:0.07 [[ 9.99919009e-01 1.19234498e-02 4.45046152e-03 4.36311311e+00] [-1.19248301e-02 9.99928856e-01 2.83743762e-04 7.61502078e-02] [-4.44676169e-03 -3.36791779e-04 9.99990056e-01 6.64140473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.530888479000001 meters 0.03505818964596022 Centerline is valid? [True, True] Translation: X:4.42, Y:0.07, Z:0.06 [[ 9.99986035e-01 5.23846472e-03 6.98156485e-04 4.42369638e+00] [-5.23849717e-03 9.99986278e-01 4.46588850e-05 7.04728096e-02] [-6.97912961e-04 -4.83155521e-05 9.99999755e-01 6.03443336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.590888479 meters 0.03277200792311928 Centerline is valid? [True, True] Translation: X:4.48, Y:0.07, Z:0.07 [[ 9.99976611e-01 -9.65487184e-04 6.77085822e-03 4.48405017e+00] [ 9.62578588e-04 9.99999443e-01 4.32821266e-04 7.01303960e-02] [-6.77127233e-03 -4.26293659e-04 9.99976984e-01 6.71634831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.650888479000001 meters 0.028379486021163348 Centerline is valid? [True, True] Translation: X:4.55, Y:0.06, Z:0.07 [[ 9.99895850e-01 -1.37405782e-02 4.41435128e-03 4.54584240e+00] [ 1.37394662e-02 9.99905569e-01 2.82131554e-04 5.71568553e-02] [-4.41781108e-03 -2.21451340e-04 9.99990217e-01 6.77165323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.710888479 meters 0.025244063096873087 Centerline is valid? [True, True] Translation: X:4.61, Y:0.04, Z:0.07 [[ 9.99772582e-01 -2.11660049e-02 2.60462679e-03 4.60701155e+00] [ 2.11656429e-02 9.99775969e-01 1.66484788e-04 4.49428370e-02] [-2.60756709e-03 -1.11318326e-04 9.99996594e-01 6.84049853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.770888479000001 meters 0.02401348943398924 Centerline is valid? [True, True] Translation: X:4.67, Y:0.04, Z:0.07 [[ 9.99593953e-01 -2.83506922e-02 2.85796928e-03 4.66679881e+00] [ 2.83502854e-02 9.99598033e-01 1.82765100e-04 4.34042604e-02] [-2.86200199e-03 -1.01666644e-04 9.99995899e-01 6.99630030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.830888479 meters 0.022369244081568408 Centerline is valid? [True, True] Translation: X:4.73, Y:0.04, Z:0.07 [[ 9.99588520e-01 -2.78247086e-02 6.96965376e-03 4.72902602e+00] [ 2.78222820e-02 9.99612786e-01 4.44900087e-04 4.30061896e-02] [-6.97933423e-03 -2.50805347e-04 9.99975613e-01 7.25573231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.890888479000001 meters 0.022423509970803397 Centerline is valid? [True, True] Translation: X:4.79, Y:0.04, Z:0.07 [[ 9.99650308e-01 -2.62142705e-02 3.47466097e-03 4.79174542e+00] [ 2.62136589e-02 9.99656338e-01 2.21448113e-04 3.97783428e-02] [-3.47927197e-03 -1.30287097e-04 9.99993939e-01 7.11091776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9508884790000005 meters 0.023212762139197943 Centerline is valid? [True, True] Translation: X:4.85, Y:0.05, Z:0.07 [[ 9.99688368e-01 -2.47996360e-02 -2.85393660e-03 4.85381950e+00] [ 2.47992172e-02 9.99692436e-01 -1.82049425e-04 4.99089586e-02] [ 2.85757359e-03 1.11217299e-04 9.99995911e-01 6.62668100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.010888479000001 meters 0.024561155706634332 Centerline is valid? [True, True] Translation: X:4.91, Y:0.06, Z:0.07 [[ 9.99771169e-01 -2.11676348e-02 3.08867188e-03 4.91332282e+00] [ 2.11671287e-02 9.99775932e-01 1.96459850e-04 5.95656027e-02] [-3.09213840e-03 -1.31036579e-04 9.99995211e-01 7.05567773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.070888479000001 meters 0.024572544107086057 Centerline is valid? [True, True] Translation: X:4.98, Y:0.06, Z:0.07 [[ 9.99770168e-01 -2.12860549e-02 2.55227571e-03 4.97587434e+00] [ 2.12857103e-02 9.99773420e-01 1.62102716e-04 6.28448947e-02] [-2.55514794e-03 -1.07738459e-04 9.99996730e-01 7.22089012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.130888479 meters 0.025375277453828882 Centerline is valid? [True, True] Translation: X:5.04, Y:0.07, Z:0.08 [[ 9.99728729e-01 -2.26617323e-02 5.37714867e-03 5.03673810e+00] [ 2.26602227e-02 9.99743166e-01 3.41508348e-04 6.91495903e-02] [-5.38350680e-03 -2.19568320e-04 9.99985485e-01 7.59702150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.190888479000001 meters 0.026205171740442835 Centerline is valid? [True, True] Translation: X:5.10, Y:0.08, Z:0.07 [[ 9.99768435e-01 -2.11806336e-02 3.80218939e-03 5.09872652e+00] [ 2.11798694e-02 9.99775652e-01 2.41136966e-04 7.94380580e-02] [-3.80644381e-03 -1.60551252e-04 9.99992743e-01 7.31313164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.250888479 meters 0.027611736795847133 Centerline is valid? [True, True] Translation: X:5.16, Y:0.09, Z:0.08 [[ 9.99819937e-01 -1.79857055e-02 6.05045508e-03 5.15959900e+00] [ 1.79837120e-02 9.99838206e-01 3.83729588e-04 8.98518617e-02] [-6.05637780e-03 -2.74850851e-04 9.99981622e-01 7.55316239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.310888479000001 meters 0.030061950606911365 Centerline is valid? [True, True] Translation: X:5.22, Y:0.10, Z:0.08 [[ 9.99882478e-01 -1.40894379e-02 6.04295934e-03 5.22047805e+00] [ 1.40873795e-02 9.99900695e-01 3.83057447e-04 1.01147475e-01] [-6.04775631e-03 -2.97882968e-04 9.99981668e-01 7.73790499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.370888479 meters 0.027224889791767508 Centerline is valid? [True, True] Translation: X:5.28, Y:0.10, Z:0.07 [[ 9.99940400e-01 -1.08883406e-02 -8.00052000e-04 5.28225581e+00] [ 1.08883034e-02 9.99940719e-01 -5.07962196e-05 1.00097825e-01] [ 8.00557659e-04 4.20819832e-05 9.99999679e-01 7.17509373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.430888479000001 meters 0.02793980162656275 Centerline is valid? [True, True] Translation: X:5.34, Y:0.11, Z:0.07 [[ 9.99969854e-01 -7.12679752e-03 -3.08230767e-03 5.34304825e+00] [ 7.12622922e-03 9.99974589e-01 -1.95317588e-04 1.08672179e-01] [ 3.08362133e-03 1.73346469e-04 9.99995231e-01 7.07999965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4908884790000005 meters 0.038284591624253905 Centerline is valid? [True, True] Translation: X:5.40, Y:0.13, Z:0.06 [[ 9.99956273e-01 -1.55372924e-03 -9.22165826e-03 5.40146880e+00] [ 1.54840688e-03 9.99998631e-01 -5.84270500e-04 1.25735415e-01] [ 9.22255343e-03 5.69966072e-04 9.99957309e-01 6.25878168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.550888479000001 meters 0.03847491296000198 Centerline is valid? [True, True] Translation: X:5.46, Y:0.13, Z:0.06 [[ 9.99966945e-01 2.53199707e-03 -7.72640358e-03 5.46152003e+00] [-2.53585458e-03 9.99996665e-01 -4.89508306e-04 1.26041066e-01] [ 7.72513838e-03 5.09085162e-04 9.99970031e-01 6.33151451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.610888479000001 meters 0.037365034844078035 Centerline is valid? [True, True] Translation: X:5.52, Y:0.12, Z:0.07 [[ 9.99958223e-01 8.02851382e-03 -4.36978429e-03 5.52217139e+00] [-8.02979987e-03 9.99967722e-01 -2.76838671e-04 1.19998886e-01] [ 4.36742064e-03 3.11915598e-04 9.99990414e-01 6.68956063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.670888479 meters 0.03895276708649188 Centerline is valid? [True, True] Translation: X:5.58, Y:0.12, Z:0.07 [[ 9.99934414e-01 1.06955308e-02 -4.09541488e-03 5.58179319e+00] [-1.06966829e-02 9.99942755e-01 -2.59496403e-04 1.23358156e-01] [ 4.09240499e-03 3.03286738e-04 9.99991580e-01 6.99192167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.730888479000001 meters 0.040906244073436855 Centerline is valid? [True, True] Translation: X:5.64, Y:0.12, Z:0.07 [[ 9.99948191e-01 9.92298558e-03 -2.26913463e-03 5.64008197e+00] [-9.92333722e-03 9.99950752e-01 -1.43759930e-04 1.16344553e-01] [ 2.26759636e-03 1.66269870e-04 9.99997415e-01 7.19369951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.790888479 meters 0.04065638657101914 Centerline is valid? [True, True] Translation: X:5.70, Y:0.10, Z:0.08 [[ 9.99990757e-01 3.93365094e-03 1.73544561e-03 5.70018819e+00] [-3.93384820e-03 9.99992256e-01 1.10267040e-04 1.03941169e-01] [-1.73499842e-03 -1.17093001e-04 9.99998488e-01 7.81627435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.850888479000001 meters 0.037615672668490585 Centerline is valid? [True, True] Translation: X:5.76, Y:0.10, Z:0.08 [[ 9.99986913e-01 3.15988160e-03 4.02343346e-03 5.76118423e+00] [-3.16093487e-03 9.99994972e-01 2.55452631e-04 1.01595727e-01] [-4.02260603e-03 -2.68167099e-04 9.99991873e-01 8.09349719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9108884790000005 meters 0.0428931756957689 Centerline is valid? [True, True] Translation: X:5.82, Y:0.10, Z:0.08 [[ 9.99934708e-01 1.10260626e-02 -3.00088301e-03 5.82041127e+00] [-1.10266838e-02 9.99939186e-01 -1.90526631e-04 1.03077590e-01] [ 2.99859976e-03 2.23603979e-04 9.99995479e-01 7.52003965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.970888479000001 meters 0.0471251400755346 Centerline is valid? [True, True] Translation: X:5.88, Y:0.10, Z:0.07 [[ 9.99823404e-01 1.71612662e-02 -7.65845117e-03 5.88053392e+00] [-1.71654903e-02 9.99852544e-01 -4.86166498e-04 1.03318575e-01] [ 7.64897865e-03 6.17541712e-04 9.99970555e-01 6.81046818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.030888479000001 meters 0.05230461663758227 Centerline is valid? [True, True] Translation: X:5.94, Y:0.11, Z:0.07 [[ 9.99710887e-01 2.35533023e-02 -4.83565010e-03 5.94100272e+00] [-2.35550607e-02 9.99722494e-01 -3.06996546e-04 1.08024799e-01] [ 4.82707740e-03 4.20811821e-04 9.99988261e-01 7.16033786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.090888479000001 meters 0.05396150584772978 Centerline is valid? [True, True] Translation: X:6.00, Y:0.10, Z:0.07 [[ 9.99709261e-01 2.32793853e-02 -6.28196995e-03 6.00087240e+00] [-2.32823491e-02 9.99728850e-01 -3.99069144e-04 9.89026886e-02] [ 6.27097651e-03 5.45212137e-04 9.99980189e-01 7.39228342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.150888479000001 meters 0.04316955594172053 Centerline is valid? [True, True] Translation: X:6.06, Y:0.07, Z:0.07 [[ 9.99759416e-01 2.04669287e-02 -7.88766527e-03 6.06313871e+00] [-2.04715175e-02 9.99790311e-01 -5.01453107e-04 7.18027348e-02] [ 7.87574811e-03 6.62804943e-04 9.99968766e-01 7.18218672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.210888479 meters 0.0405698212854983 Centerline is valid? [True, True] Translation: X:6.12, Y:0.06, Z:0.07 [[ 9.99872481e-01 1.57574271e-02 -2.59332838e-03 6.12448160e+00] [-1.57579075e-02 9.99875823e-01 -1.64893415e-04 5.85698557e-02] [ 2.59040806e-03 2.05737817e-04 9.99996624e-01 7.39884197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.270888479000001 meters 0.038020103054389555 Centerline is valid? [True, True] Translation: X:6.19, Y:0.04, Z:0.08 [[ 9.99938886e-01 1.08832339e-02 -1.94424117e-03 6.18638685e+00] [-1.08834948e-02 9.99940765e-01 -1.23643654e-04 4.01797131e-02] [ 1.94278036e-03 1.44796236e-04 9.99998102e-01 7.60519613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.330888479 meters 0.039221631583069794 Centerline is valid? [True, True] Translation: X:6.25, Y:0.03, Z:0.08 [[ 9.99940468e-01 9.69246201e-03 -5.01156329e-03 6.24731012e+00] [-9.69418072e-03 9.99952960e-01 -3.18771307e-04 3.05890886e-02] [ 5.00823786e-03 3.67335330e-04 9.99987391e-01 7.52577285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.390888479000001 meters 0.04090388553676436 Centerline is valid? [True, True] Translation: X:6.31, Y:0.03, Z:0.07 [[ 9.99896045e-01 1.27406769e-02 -6.75090207e-03 6.30720592e+00] [-1.27438659e-02 9.99918701e-01 -4.29571482e-04 2.99269586e-02] [ 6.74488020e-03 5.15559417e-04 9.99977120e-01 7.31955735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4508884790000005 meters 0.04301088592050514 Centerline is valid? [True, True] Translation: X:6.37, Y:0.03, Z:0.07 [[ 9.99839541e-01 1.67406650e-02 -6.37510874e-03 6.36800620e+00] [-1.67435902e-02 9.99859734e-01 -4.05744559e-04 3.19872013e-02] [ 6.36742209e-03 5.12421661e-04 9.99979596e-01 7.22087592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.510888479000001 meters 0.04674531726772518 Centerline is valid? [True, True] Translation: X:6.43, Y:0.03, Z:0.07 [[ 9.99676065e-01 2.51454532e-02 -3.93333318e-03 6.42848254e+00] [-2.51466313e-02 9.99683742e-01 -2.50361042e-04 3.06559798e-02] [ 3.92579379e-03 3.49190021e-04 9.99992233e-01 7.32735623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.570888479000001 meters 0.04779709536443801 Centerline is valid? [True, True] Translation: X:6.49, Y:0.03, Z:0.07 [[ 9.99552207e-01 2.97112700e-02 -3.55321098e-03 6.48870642e+00] [-2.97122602e-02 9.99558468e-01 -2.26209679e-04 2.90563247e-02] [ 3.54492114e-03 3.31682313e-04 9.99993662e-01 7.20400493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.630888479000001 meters 0.049110798584163125 Centerline is valid? [True, True] Translation: X:6.55, Y:0.03, Z:0.07 [[ 9.99599144e-01 2.81936717e-02 -2.58242740e-03 6.54897756e+00] [-2.81941898e-02 9.99602451e-01 -1.64434739e-04 2.61936534e-02] [ 2.57676474e-03 2.37178272e-04 9.99996652e-01 7.28760192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.690888479000001 meters 0.04782017342513012 Centerline is valid? [True, True] Translation: X:6.61, Y:0.01, Z:0.07 [[ 9.99715901e-01 2.37308219e-02 -2.22853141e-03 6.61055523e+00] [-2.37311969e-02 9.99718365e-01 -1.41963481e-04 1.39408389e-02] [ 2.22453487e-03 1.94808867e-04 9.99997507e-01 7.19962220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.750888479 meters 0.04571586819679733 Centerline is valid? [True, True] Translation: X:6.67, Y:0.00, Z:0.08 [[ 9.99741940e-01 2.09647108e-02 8.74836575e-03 6.67232218e+00] [-2.09703812e-02 9.99779942e-01 5.56938181e-04 2.83201766e-03] [-8.73476455e-03 -7.40251022e-04 9.99961577e-01 8.36063079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.810888479000001 meters 0.05067659969191033 Centerline is valid? [True, True] Translation: X:6.73, Y:0.00, Z:0.08 [[ 9.99788137e-01 2.03449969e-02 3.12452710e-03 6.73273385e+00] [-2.03457169e-02 9.99792985e-01 1.98825805e-04 2.80514013e-03] [-3.11983517e-03 -2.62354425e-04 9.99995099e-01 7.82117933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.870888479 meters 0.05073590527676178 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.00, Z:0.07 [[ 9.99818834e-01 1.90137133e-02 -8.81950149e-04 6.79487898e+00] [-1.90137703e-02 9.99819220e-01 -5.62337817e-05 -2.22813409e-03] [ 8.80721497e-04 7.29927916e-05 9.99999610e-01 7.26506506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.930888479000001 meters 0.045230618089006726 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.01, Z:0.08 [[ 9.99818525e-01 1.83307439e-02 5.18668957e-03 6.85640290e+00] [-1.83326986e-02 9.99831888e-01 3.29582999e-04 -9.11812425e-03] [-5.17977612e-03 -4.24609205e-04 9.99986495e-01 7.83347286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9908884790000005 meters 0.046006269092539465 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.01, Z:0.08 [[ 9.99792901e-01 1.98287098e-02 4.58007033e-03 6.91928412e+00] [-1.98302477e-02 9.99803319e-01 2.90600247e-04 -1.42926969e-02] [-4.57340729e-03 -3.81363994e-04 9.99989469e-01 8.17436386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.050888479000001 meters 0.049442564310147256 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.01, Z:0.08 [[ 9.99724691e-01 2.29177192e-02 5.03198312e-03 6.97852686e+00] [-2.29196161e-02 9.99737260e-01 3.19602735e-04 -7.79613751e-03] [-5.02333646e-03 -4.34845866e-04 9.99987288e-01 8.23490529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.110888479000002 meters 0.05708272451104625 Centerline is valid? [True, True] Translation: X:7.04, Y:0.01, Z:0.08 [[ 9.99581299e-01 2.72565030e-02 9.71135436e-03 7.03700507e+00] [-2.72637669e-02 9.99628084e-01 6.16359880e-04 8.80773494e-03] [-9.69094274e-03 -8.80869912e-04 9.99952654e-01 8.44369040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.170888479 meters 0.048195334689143596 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.01, Z:0.09 [[ 9.99608515e-01 2.50983469e-02 1.23648270e-02 7.09940735e+00] [-2.51099540e-02 9.99684388e-01 7.84342111e-04 -9.69099189e-03] [-1.23412388e-02 -1.09451529e-03 9.99923245e-01 8.74999293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.230888479 meters 0.04808637845864594 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.01, Z:0.09 [[ 9.99686167e-01 2.32286386e-02 9.38074294e-03 7.16012232e+00] [-2.32352380e-02 9.99729848e-01 5.95126513e-04 -1.39736013e-02] [-9.36438474e-03 -8.12903538e-04 9.99955823e-01 8.68548369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.290888479000001 meters 0.045186030887496155 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.01, Z:0.08 [[ 9.99674548e-01 2.42050935e-02 8.05673568e-03 7.22248206e+00] [-2.42099706e-02 9.99706766e-01 5.08360785e-04 -1.21095427e-02] [-8.04206825e-03 -7.03248672e-04 9.99967415e-01 8.45699659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.350888479 meters 0.04656587269737939 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.01, Z:0.08 [[ 9.99653864e-01 2.50419192e-02 8.06567583e-03 7.28458200e+00] [-2.50468179e-02 9.99686151e-01 5.06894532e-04 -5.08964771e-03] [-8.05045081e-03 -7.08738591e-04 9.99967343e-01 8.38158295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.410888479 meters 0.04901621115254809 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.00, Z:0.08 [[ 9.99634626e-01 2.67923925e-02 3.57531625e-03 7.34620612e+00] [-2.67933620e-02 9.99640968e-01 2.23534996e-04 -5.74709335e-04] [-3.56804356e-03 -3.19248065e-04 9.99993584e-01 7.90609769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.470888479000001 meters 0.04746248347686768 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.00, Z:0.08 [[ 9.99663195e-01 2.54865228e-02 4.89216833e-03 7.40738615e+00] [-2.54883255e-02 9.99675073e-01 3.06473911e-04 -1.46635392e-03] [-4.88276778e-03 -4.31063868e-04 9.99987986e-01 8.22541184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.530888479000001 meters 0.04972130722513557 Centerline is valid? [True, True] Translation: X:7.47, Y:0.01, Z:0.08 [[ 9.99697262e-01 2.35907050e-02 6.99015762e-03 7.46764236e+00] [-2.35943379e-02 9.99721519e-01 4.37700973e-04 9.30093173e-03] [-6.97788532e-03 -6.02496605e-04 9.99975473e-01 8.38221110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.590888479 meters 0.04505553634990351 Centerline is valid? [True, True] Translation: X:7.53, Y:0.01, Z:0.08 [[ 9.99738928e-01 2.22509114e-02 5.19348716e-03 7.52905679e+00] [-2.22528977e-02 9.99752321e-01 3.24983569e-04 6.06260630e-03] [-5.18496966e-03 -4.40468863e-04 9.99986461e-01 8.23670637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.650888479 meters 0.0444230860888052 Centerline is valid? [True, True] Translation: X:7.59, Y:0.00, Z:0.08 [[ 9.99772590e-01 2.06147124e-02 5.45912953e-03 7.59123978e+00] [-2.06168811e-02 9.99787391e-01 3.41265325e-04 4.66879011e-03] [-5.45093378e-03 -4.53737942e-04 9.99985041e-01 8.27762744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.710888479000001 meters 0.043985273994311715 Centerline is valid? [True, True] Translation: X:7.65, Y:0.00, Z:0.08 [[ 9.99851977e-01 1.60087797e-02 6.30416669e-03 7.65164497e+00] [-1.60115819e-02 9.99871729e-01 3.94276948e-04 4.45725421e-03] [-6.29704616e-03 -4.95158267e-04 9.99980051e-01 8.47407582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.770888479000002 meters 0.04177223198308286 Centerline is valid? [True, True] Translation: X:7.71, Y:0.01, Z:0.08 [[ 9.99895101e-01 1.38257826e-02 4.31673187e-03 7.71191842e+00] [-1.38270762e-02 9.99904365e-01 2.69975927e-04 7.10184516e-03] [-4.31258641e-03 -3.29635388e-04 9.99990646e-01 8.16902229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.830888479 meters 0.04668727250773473 Centerline is valid? [True, True] Translation: X:7.77, Y:0.02, Z:0.08 [[ 9.99855128e-01 1.66936133e-02 3.32368680e-03 7.77162474e+00] [-1.66943960e-02 9.99860617e-01 2.07870255e-04 1.65309251e-02] [-3.31975343e-03 -2.63327084e-04 9.99994455e-01 8.23320430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.890888479000001 meters 0.050109484751272325 Centerline is valid? [True, True] Translation: X:7.83, Y:0.03, Z:0.08 [[ 9.99695078e-01 2.44746700e-02 3.27742003e-03 7.83189875e+00] [-2.44754725e-02 9.99700410e-01 2.04946716e-04 2.69617223e-02] [-3.27142214e-03 -2.85100627e-04 9.99994608e-01 8.17669425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.950888479000001 meters 0.0481042501283579 Centerline is valid? [True, True] Translation: X:7.89, Y:0.03, Z:0.08 [[ 9.99580532e-01 2.88332247e-02 2.72137011e-03 7.89277255e+00] [-2.88337936e-02 9.99584205e-01 1.70029201e-04 3.11593301e-02] [-2.71533609e-03 -2.48425303e-04 9.99996283e-01 8.08537858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.010888479 meters 0.05267368160291195 Centerline is valid? [True, True] Translation: X:7.95, Y:0.04, Z:0.08 [[ 9.99525217e-01 3.08074502e-02 4.91678458e-04 7.95283428e+00] [-3.08074689e-02 9.99525337e-01 3.05948771e-05 3.64238775e-02] [-4.90502526e-04 -4.57277200e-05 9.99999879e-01 8.30627326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.070888479 meters 0.04816686006673185 Centerline is valid? [True, True] Translation: X:8.01, Y:0.04, Z:0.08 [[ 9.99609907e-01 2.78995992e-02 -1.28310924e-03 8.01366891e+00] [-2.78997249e-02 9.99610724e-01 -8.01598347e-05 3.85703600e-02] [ 1.28037333e-03 1.15926960e-04 9.99999174e-01 8.25355264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.130888479000001 meters 0.04844185351305918 Centerline is valid? [True, True] Translation: X:8.08, Y:0.05, Z:0.08 [[ 9.99603539e-01 2.78901199e-02 -3.86074059e-03 8.07542243e+00] [-2.78912566e-02 9.99610934e-01 -2.40878025e-04 4.78358690e-02] [ 3.85252039e-03 3.48463432e-04 9.99992518e-01 7.57646928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.190888479000002 meters 0.049959404636489464 Centerline is valid? [True, True] Translation: X:8.14, Y:0.05, Z:0.08 [[ 9.99524554e-01 3.07330815e-02 -2.47850033e-03 8.13611320e+00] [-3.07335575e-02 9.99527601e-01 -1.54191493e-04 5.12925608e-02] [ 2.47259071e-03 2.30291315e-04 9.99996917e-01 8.12072662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.250888479 meters 0.050634628527839946 Centerline is valid? [True, True] Translation: X:8.20, Y:0.06, Z:0.08 [[ 9.99457923e-01 3.23600825e-02 -6.05688775e-03 8.19678690e+00] [-3.23629545e-02 9.99476111e-01 -3.76725487e-04 5.62356939e-02] [ 6.04152375e-03 5.72540055e-04 9.99981586e-01 7.93975122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.310888479 meters 0.05138293255851771 Centerline is valid? [True, True] Translation: X:8.26, Y:0.06, Z:0.08 [[ 9.99395495e-01 3.39096819e-02 -7.66673707e-03 8.25730666e+00] [-3.39143275e-02 9.99424630e-01 -4.76705060e-04 6.25308162e-02] [ 7.64616094e-03 7.36429121e-04 9.99970497e-01 7.73735780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.370888479000001 meters 0.048381783762839886 Centerline is valid? [True, True] Translation: X:8.32, Y:0.06, Z:0.08 [[ 9.99540632e-01 3.01245898e-02 -3.32185767e-03 8.31894265e+00] [-3.01254411e-02 9.99546105e-01 -2.06517149e-04 5.58540994e-02] [ 3.31412865e-03 3.06494709e-04 9.99994461e-01 8.34590972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.430888479 meters 0.046527252155775856 Centerline is valid? [True, True] Translation: X:8.38, Y:0.05, Z:0.08 [[ 9.99640449e-01 2.65669262e-02 -3.62915903e-03 8.37983289e+00] [-2.65679189e-02 9.99646985e-01 -2.25569853e-04 5.49535415e-02] [ 3.62188518e-03 3.21907952e-04 9.99993389e-01 8.36153638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.490888479 meters 0.04618293114915657 Centerline is valid? [True, True] Translation: X:8.44, Y:0.05, Z:0.08 [[ 9.99643053e-01 2.64119675e-02 -4.02177806e-03 8.44196852e+00] [-2.64131841e-02 9.99651080e-01 -2.49665289e-04 5.27676410e-02] [ 4.01378063e-03 3.55804136e-04 9.99991881e-01 8.42470154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.550888479000001 meters 0.04604200246412598 Centerline is valid? [True, True] Translation: X:8.50, Y:0.05, Z:0.09 [[ 9.99596010e-01 2.76065686e-02 -6.75976730e-03 8.50326657e+00] [-2.76100236e-02 9.99618683e-01 -4.18312156e-04 5.27757071e-02] [ 6.74564152e-03 6.04780497e-04 9.99977065e-01 8.58099370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.610888479000002 meters 0.04671597635134075 Centerline is valid? [True, True] Translation: X:8.56, Y:0.06, Z:0.09 [[ 9.99579487e-01 2.83938978e-02 -5.88529576e-03 8.56331809e+00] [-2.83965297e-02 9.99596671e-01 -3.64109882e-04 5.97474972e-02] [ 5.87258356e-03 5.31078745e-04 9.99982615e-01 8.67165255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.670888479 meters 0.04689831057409562 Centerline is valid? [True, True] Translation: X:8.62, Y:0.06, Z:0.09 [[ 9.99515997e-01 3.02141433e-02 -7.40795789e-03 8.62444501e+00] [-3.02183623e-02 9.99543216e-01 -4.58230361e-04 5.85819328e-02] [ 7.39072901e-03 6.81864932e-04 9.99972456e-01 8.98242553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.730888479 meters 0.0470946532789196 Centerline is valid? [True, True] Translation: X:8.69, Y:0.06, Z:0.09 [[ 9.99531447e-01 2.97350654e-02 -7.26036389e-03 8.68590962e+00] [-2.97391039e-02 9.99557594e-01 -4.48890823e-04 6.10106058e-02] [ 7.24380406e-03 6.64597210e-04 9.99973542e-01 9.13414457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.790888479000001 meters 0.04871277320241063 Centerline is valid? [True, True] Translation: X:8.74, Y:0.07, Z:0.08 [[ 9.99580948e-01 2.74213659e-02 -9.27345242e-03 8.74468846e+00] [-2.74278557e-02 9.99623621e-01 -5.73341531e-04 7.39343065e-02] [ 9.25424028e-03 8.27452185e-04 9.99956836e-01 8.48739837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.850888479000002 meters 0.04663560583217604 Centerline is valid? [True, True] Translation: X:8.81, Y:0.06, Z:0.09 [[ 9.99627213e-01 2.49824075e-02 -1.10143061e-02 8.80587438e+00] [-2.49914164e-02 9.99687434e-01 -6.81030565e-04 6.30890943e-02] [ 1.09938496e-02 9.56039796e-04 9.99939109e-01 8.51060341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.910888479 meters 0.04456309504176736 Centerline is valid? [True, True] Translation: X:8.87, Y:0.06, Z:0.09 [[ 9.99691530e-01 2.36704594e-02 -7.52021627e-03 8.86601013e+00] [-2.36746234e-02 9.99719609e-01 -4.65155448e-04 5.91813466e-02] [ 7.50709722e-03 6.43050250e-04 9.99971615e-01 9.00389107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.970888479000001 meters 0.045593350408936674 Centerline is valid? [True, True] Translation: X:8.93, Y:0.07, Z:0.09 [[ 9.99742729e-01 2.26215566e-02 -1.65557380e-03 8.92646992e+00] [-2.26217570e-02 9.99744090e-01 -1.02446167e-04 7.13255792e-02] [ 1.65283263e-03 1.39871799e-04 9.99998624e-01 9.21605613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.030888479000001 meters 0.044702037111403616 Centerline is valid? [True, True] Translation: X:8.99, Y:0.07, Z:0.08 [[ 9.99697662e-01 2.15578590e-02 -1.18255726e-02 8.98888071e+00] [-2.15679823e-02 9.99767118e-01 -7.29173809e-04 6.53251951e-02] [ 1.18070993e-02 9.84007093e-04 9.99929810e-01 8.48194972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.090888479 meters 0.04569936794189065 Centerline is valid? [True, True] Translation: X:9.05, Y:0.06, Z:0.09 [[ 9.99697063e-01 2.14716926e-02 -1.20311651e-02 9.04784758e+00] [-2.14821641e-02 9.99768956e-01 -7.41794009e-04 6.26021190e-02] [ 1.20124578e-02 1.00002475e-03 9.99927348e-01 8.84236999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.150888479 meters 0.04907406120082801 Centerline is valid? [True, True] Translation: X:9.11, Y:0.08, Z:0.09 [[ 9.99756672e-01 2.09371553e-02 -6.94490589e-03 9.10585929e+00] [-2.09406337e-02 9.99780629e-01 -4.28522969e-04 7.71279734e-02] [ 6.93441032e-03 5.73849428e-04 9.99975792e-01 9.21281148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.210888479000001 meters 0.05065225238729043 Centerline is valid? [True, True] Translation: X:9.17, Y:0.09, Z:0.09 [[ 9.99736281e-01 2.16063335e-02 -7.78036080e-03 9.16582867e+00] [-2.16107207e-02 9.99766346e-01 -4.80235195e-04 8.65907744e-02] [ 7.76816676e-03 6.48247752e-04 9.99969617e-01 8.96273593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.270888479000002 meters 0.052783656331637535 Centerline is valid? [True, True] Translation: X:9.23, Y:0.09, Z:0.09 [[ 9.99716155e-01 2.19053244e-02 -9.36836921e-03 9.22512811e+00] [-2.19116993e-02 9.99759743e-01 -5.78362532e-04 8.92642784e-02] [ 9.35344918e-03 7.83475256e-04 9.99955949e-01 8.89430190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.330888479 meters 0.05406945253016989 Centerline is valid? [True, True] Translation: X:9.28, Y:0.09, Z:0.09 [[ 9.99727615e-01 2.14503273e-02 -9.19672158e-03 9.28474171e+00] [-2.14564540e-02 9.99769622e-01 -5.68021175e-04 9.00005796e-02] [ 9.18241862e-03 7.65195488e-04 9.99957548e-01 9.16183250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.390888479000001 meters 0.05497199903295728 Centerline is valid? [True, True] Translation: X:9.34, Y:0.10, Z:0.09 [[ 9.99757850e-01 1.99690598e-02 -9.24546297e-03 9.34471911e+00] [-1.99751905e-02 9.99800313e-01 -5.71227943e-04 9.54376476e-02] [ 9.23220988e-03 7.55769505e-04 9.99957097e-01 8.93747263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.450888479000001 meters 0.04526763384594973 Centerline is valid? [True, True] Translation: X:9.41, Y:0.08, Z:0.10 [[ 9.99762716e-01 2.13555631e-02 -4.29558047e-03 9.40569162e+00] [-2.13568994e-02 9.99771880e-01 -2.65448528e-04 8.30349365e-02] [ 4.28893176e-03 3.57125822e-04 9.99990739e-01 9.63592223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.510888479 meters 0.04308082416600527 Centerline is valid? [True, True] Translation: X:9.47, Y:0.08, Z:0.10 [[ 9.99753504e-01 2.14365816e-02 -5.77969471e-03 9.46830895e+00] [-2.14389982e-02 9.99770095e-01 -3.56476754e-04 7.96924232e-02] [ 5.77072429e-03 4.80299749e-04 9.99983234e-01 9.66089565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.570888479 meters 0.046467228996234025 Centerline is valid? [True, True] Translation: X:9.53, Y:0.09, Z:0.09 [[ 9.99720940e-01 2.23526457e-02 -7.64208762e-03 9.52875905e+00] [-2.23568855e-02 9.99749943e-01 -4.69814578e-04 8.54079820e-02] [ 7.62967506e-03 6.40536750e-04 9.99970688e-01 9.40732566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.630888479000001 meters 0.04383267871255661 Centerline is valid? [True, True] Translation: X:9.59, Y:0.08, Z:0.09 [[ 9.99734365e-01 2.22607437e-02 -5.97150666e-03 9.58987952e+00] [-2.22633292e-02 9.99752074e-01 -3.66841303e-04 8.47251363e-02] [ 5.96186000e-03 4.99689476e-04 9.99982103e-01 9.31147361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.690888479000002 meters 0.047622420826545504 Centerline is valid? [True, True] Translation: X:9.65, Y:0.10, Z:0.09 [[ 9.99669188e-01 2.47521714e-02 -6.98894155e-03 9.64906845e+00] [-2.47557715e-02 9.99693437e-01 -4.29058614e-04 9.62295654e-02] [ 6.97617887e-03 6.01933316e-04 9.99975485e-01 9.18935594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.750888479 meters 0.04735273505410055 Centerline is valid? [True, True] Translation: X:9.71, Y:0.10, Z:0.09 [[ 9.99593951e-01 2.54370289e-02 -1.28409995e-02 9.70989906e+00] [-2.54492320e-02 9.99675805e-01 -7.87796088e-04 1.00145162e-01] [ 1.28167973e-02 1.11426978e-03 9.99917241e-01 8.67963818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.810888479 meters 0.04591444463498222 Centerline is valid? [True, True] Translation: X:9.77, Y:0.10, Z:0.09 [[ 9.99676324e-01 2.21297938e-02 -1.25506754e-02 9.77075706e+00] [-2.21411923e-02 9.99754557e-01 -7.69965647e-04 9.99458197e-02] [ 1.25305557e-02 1.04760335e-03 9.99920941e-01 8.90326562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.870888479000001 meters 0.042503179440528255 Centerline is valid? [True, True] Translation: X:9.83, Y:0.10, Z:0.09 [[ 9.99790691e-01 1.86047763e-02 -8.51098160e-03 9.83196380e+00] [-1.86098911e-02 9.99826685e-01 -5.22160396e-04 9.51985810e-02] [ 8.49979184e-03 6.80439544e-04 9.99963645e-01 9.28539619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.930888479000002 meters 0.04204124614880147 Centerline is valid? [True, True] Translation: X:9.89, Y:0.10, Z:0.09 [[ 9.99845198e-01 1.69108983e-02 -4.85810383e-03 9.89236580e+00] [-1.69125449e-02 9.99856928e-01 -2.98056486e-04 9.96366827e-02] [ 4.85236837e-03 3.80173246e-04 9.99988155e-01 9.27532887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.990888479 meters 0.0417192946517847 Centerline is valid? [True, True] Translation: X:9.95, Y:0.10, Z:0.10 [[ 9.99885209e-01 1.49898859e-02 -2.20714819e-03 9.95369441e+00] [-1.49902212e-02 9.99887631e-01 -1.35424323e-04 9.72571437e-02] [ 2.20487018e-03 1.68494417e-04 9.99997555e-01 9.63239840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.050888479000001 meters 0.03900977328273546 Centerline is valid? [True, True] Translation: X:10.01, Y:0.09, Z:0.10 [[ 9.99951212e-01 8.51388723e-03 -5.00882344e-03 1.00148204e+01] [-8.51553216e-03 9.99963695e-01 -3.07171401e-04 9.08760695e-02] [ 5.00602637e-03 3.49809211e-04 9.99987409e-01 9.69797046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.110888479000002 meters 0.03756439430144447 Centerline is valid? [True, True] Translation: X:10.08, Y:0.09, Z:0.10 [[ 9.99989141e-01 3.80725534e-03 -2.68734654e-03 1.00757089e+01] [-3.80771185e-03 9.99992737e-01 -1.64776385e-04 9.21685145e-02] [ 2.68669967e-03 1.75007237e-04 9.99996376e-01 9.86479042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.170888479 meters 0.038697498703905896 Centerline is valid? [True, True] Translation: X:10.14, Y:0.10, Z:0.10 [[ 9.99995903e-01 -1.68114892e-04 -2.85744639e-03 1.01352124e+01] [ 1.67615054e-04 9.99999971e-01 -1.75163288e-04 1.00374228e-01] [ 2.85747575e-03 1.74683619e-04 9.99995902e-01 9.62460926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.230888479 meters 0.03238746613479967 Centerline is valid? [True, True] Translation: X:10.20, Y:0.10, Z:0.10 [[ 9.99983538e-01 -5.72566927e-03 -3.75235540e-04 1.01957428e+01] [ 5.72566105e-03 9.99983608e-01 -2.29990276e-05 9.54856720e-02] [ 3.75361074e-04 2.08501774e-05 9.99999929e-01 1.00484570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.290888479000001 meters 0.03162824126524553 Centerline is valid? [True, True] Translation: X:10.26, Y:0.10, Z:0.10 [[ 9.99977695e-01 -6.52120626e-03 1.44367292e-03 1.02551498e+01] [ 6.52108502e-03 9.99978734e-01 8.86709253e-05 1.00780128e-01] [-1.44422046e-03 -7.92546337e-05 9.99998954e-01 1.03595736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.350888479000002 meters 0.032948429835509295 Centerline is valid? [True, True] Translation: X:10.31, Y:0.11, Z:0.10 [[ 9.99982492e-01 -4.12767733e-03 -4.24004976e-03 1.03149816e+01] [ 4.12661122e-03 9.99991452e-01 -2.60156765e-04 1.05892846e-01] [ 4.24108736e-03 2.42655174e-04 9.99990977e-01 9.90126409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.410888479 meters 0.03654991394401964 Centerline is valid? [True, True] Translation: X:10.37, Y:0.12, Z:0.10 [[ 9.99986693e-01 1.03344066e-03 -5.05429324e-03 1.03735902e+01] [-1.03502195e-03 9.99999416e-01 -3.10254869e-04 1.15620828e-01] [ 5.05396966e-03 3.15482045e-04 9.99987179e-01 9.66556163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.470888479000001 meters 0.03592752982778866 Centerline is valid? [True, True] Translation: X:10.43, Y:0.12, Z:0.10 [[ 9.99997165e-01 2.37762477e-03 -1.32986428e-04 1.04328027e+01] [-2.37762585e-03 9.99997173e-01 -8.02369830e-06 1.15417142e-01] [ 1.32966975e-04 8.33986752e-06 9.99999991e-01 1.04073513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.530888479000001 meters 0.03921015945292373 Centerline is valid? [True, True] Translation: X:10.49, Y:0.13, Z:0.10 [[ 9.99972908e-01 6.74892121e-03 -2.93845927e-03 1.04921117e+01] [-6.74948089e-03 9.99977206e-01 -1.80591677e-04 1.26387338e-01] [ 2.93717349e-03 2.00419859e-04 9.99995666e-01 1.00612410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.590888479 meters 0.040506788270226 Centerline is valid? [True, True] Translation: X:10.55, Y:0.13, Z:0.10 [[ 9.99936433e-01 1.01155821e-02 -4.98040238e-03 1.05527303e+01] [-1.01172318e-02 9.99948773e-01 -3.06160926e-04 1.28735137e-01] [ 4.97705025e-03 3.56529350e-04 9.99987551e-01 1.00787070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.650888479 meters 0.04176189612848513 Centerline is valid? [True, True] Translation: X:10.61, Y:0.14, Z:0.10 [[ 9.99919977e-01 1.25443636e-02 -1.63636698e-03 1.06124856e+01] [-1.25445449e-02 9.99921309e-01 -1.00575377e-04 1.36307436e-01] [ 1.63497656e-03 1.21094808e-04 9.99998656e-01 1.04040099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.710888479000001 meters 0.0400972805359233 Centerline is valid? [True, True] Translation: X:10.67, Y:0.14, Z:0.11 [[ 9.99899520e-01 1.38747153e-02 2.90547152e-03 1.06740114e+01] [-1.38752888e-02 9.99903718e-01 1.77328646e-04 1.41339352e-01] [-2.90273139e-03 -2.17625085e-04 9.99995763e-01 1.07370792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.770888479000002 meters 0.04017542309581795 Centerline is valid? [True, True] Translation: X:10.74, Y:0.15, Z:0.10 [[ 9.99895641e-01 1.43606054e-02 1.57502880e-03 1.07369437e+01] [-1.43607731e-02 9.99896874e-01 9.52234079e-05 1.46291488e-01] [-1.57349890e-03 -1.17832102e-04 9.99998755e-01 1.04860949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.830888479 meters 0.04108332176173458 Centerline is valid? [True, True] Translation: X:10.80, Y:0.15, Z:0.10 [[ 9.99908860e-01 1.34949075e-02 -3.99975423e-04 1.07995487e+01] [-1.34949184e-02 9.99908939e-01 -2.46019994e-05 1.50551222e-01] [ 3.99606999e-04 2.99973928e-05 9.99999920e-01 1.00915653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.890888479000001 meters 0.037431977348500664 Centerline is valid? [True, True] Translation: X:10.86, Y:0.15, Z:0.10 [[ 9.99916893e-01 1.27712046e-02 1.76173900e-03 1.08620399e+01] [-1.27714125e-02 9.99918436e-01 1.06834248e-04 1.54666622e-01] [-1.76023090e-03 -1.29325265e-04 9.99998442e-01 1.04876188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.950888479000001 meters 0.040869678879989275 Centerline is valid? [True, True] Translation: X:10.92, Y:0.17, Z:0.10 [[ 9.99894974e-01 1.40836429e-02 -3.41926416e-03 1.09229321e+01] [-1.40844351e-02 9.99900788e-01 -2.07703107e-04 1.65027560e-01] [ 3.41599971e-03 2.55839697e-04 9.99994133e-01 1.02658307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.010888479000002 meters 0.042132542220447856 Centerline is valid? [True, True] Translation: X:10.98, Y:0.17, Z:0.10 [[ 9.99876412e-01 1.36275412e-02 -7.83905594e-03 1.09843165e+01] [-1.36316778e-02 9.99906972e-01 -4.74493969e-04 1.65039961e-01] [ 7.83186050e-03 5.81294812e-04 9.99969162e-01 9.92275717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.070888479 meters 0.04041239416744601 Centerline is valid? [True, True] Translation: X:11.04, Y:0.17, Z:0.10 [[ 9.99910097e-01 1.25433764e-02 -4.73931862e-03 1.10435039e+01] [-1.25448763e-02 9.99921269e-01 -2.86877724e-04 1.72164471e-01] [ 4.73534707e-03 3.46306099e-04 9.99988728e-01 9.84092108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.130888479000001 meters 0.03961660424602292 Centerline is valid? [True, True] Translation: X:11.10, Y:0.18, Z:0.10 [[ 9.99919380e-01 1.25615974e-02 -1.85462407e-03 1.11040185e+01] [-1.25618271e-02 9.99921091e-01 -1.12302196e-04 1.75668654e-01] [ 1.85306703e-03 1.35590609e-04 9.99998274e-01 1.03191683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.190888479000002 meters 0.03940024161569238 Centerline is valid? [True, True] Translation: X:11.17, Y:0.18, Z:0.10 [[ 9.99906333e-01 1.29990810e-02 -4.28357129e-03 1.11654220e+01] [-1.30003105e-02 9.99915459e-01 -2.59327708e-04 1.76828382e-01] [ 4.27983813e-03 3.14991174e-04 9.99990792e-01 1.03180058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.250888479 meters 0.041118555608624215 Centerline is valid? [True, True] Translation: X:11.23, Y:0.18, Z:0.11 [[ 9.99846798e-01 1.73228425e-02 -2.50987907e-03 1.12253568e+01] [-1.73232780e-02 9.99849929e-01 -1.51890224e-04 1.84040613e-01] [ 2.50687124e-03 1.95346287e-04 9.99996839e-01 1.07164998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.310888479 meters 0.0446334120381806 Centerline is valid? [True, True] Translation: X:11.28, Y:0.20, Z:0.11 [[ 9.99767223e-01 2.15742921e-02 2.23007327e-04 1.12849599e+01] [-2.15742956e-02 9.99767248e-01 1.34863291e-05 1.98280991e-01] [-2.22664464e-04 -1.82944158e-05 9.99999975e-01 1.08168412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.370888479000001 meters 0.04352907605379183 Centerline is valid? [True, True] Translation: X:11.35, Y:0.20, Z:0.11 [[ 9.99734206e-01 2.30483428e-02 5.39758210e-04 1.13466541e+01] [-2.30483637e-02 9.99734351e-01 3.25408608e-05 1.98749619e-01] [-5.38864810e-04 -4.49727551e-05 9.99999854e-01 1.08038936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.430888479000002 meters 0.04445361484354184 Centerline is valid? [True, True] Translation: X:11.41, Y:0.20, Z:0.11 [[ 9.99772678e-01 2.02359095e-02 6.71562161e-03 1.14070886e+01] [-2.02390911e-02 9.99795086e-01 4.06125635e-04 2.01617502e-01] [-6.70602716e-03 -5.41951391e-04 9.99977367e-01 1.14872558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.490888479 meters 0.0424431679434147 Centerline is valid? [True, True] Translation: X:11.47, Y:0.21, Z:0.11 [[ 9.99833035e-01 1.74944585e-02 5.27699511e-03 1.14678072e+01] [-1.74963842e-02 9.99846876e-01 3.18981083e-04 2.07141036e-01] [-5.27060667e-03 -4.11256158e-04 9.99986026e-01 1.12791568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.550888479000001 meters 0.042515737281977585 Centerline is valid? [True, True] Translation: X:11.53, Y:0.21, Z:0.11 [[ 9.99904016e-01 1.38222988e-02 9.50174617e-04 1.15286786e+01] [-1.38223596e-02 9.99904465e-01 5.74426640e-05 2.10506230e-01] [-9.49289853e-04 -7.05708056e-05 9.99999547e-01 1.05701455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.610888479000002 meters 0.04358872602310465 Centerline is valid? [True, True] Translation: X:11.59, Y:0.21, Z:0.10 [[ 9.99879264e-01 1.50908400e-02 -3.70465049e-03 1.15904982e+01] [-1.50917726e-02 9.99886088e-01 -2.23905089e-04 2.14945646e-01] [ 3.70084957e-03 2.79787799e-04 9.99993113e-01 1.01829475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.670888479 meters 0.04123142007182289 Centerline is valid? [True, True] Translation: X:11.65, Y:0.22, Z:0.10 [[ 9.99904043e-01 1.34146467e-02 -3.45707194e-03 1.16516748e+01] [-1.34154482e-02 9.99909987e-01 -2.08743720e-04 2.15082429e-01] [ 3.45396054e-03 2.55101859e-04 9.99994003e-01 1.01822816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.730888479 meters 0.03866459966904549 Centerline is valid? [True, True] Translation: X:11.71, Y:0.21, Z:0.10 [[ 9.99974706e-01 7.10942110e-03 2.06772072e-04 1.17123181e+01] [-7.10942382e-03 9.99974728e-01 1.24464196e-05 2.11866231e-01] [-2.06678359e-04 -1.39161351e-05 9.99999979e-01 1.04934718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.790888479000001 meters 0.03767299692396172 Centerline is valid? [True, True] Translation: X:11.77, Y:0.22, Z:0.11 [[ 9.99956050e-01 9.30213647e-03 1.16994348e-03 1.17732025e+01] [-9.30222533e-03 9.99956731e-01 7.05409790e-05 2.17295473e-01] [-1.16923668e-03 -8.14209566e-05 9.99999313e-01 1.06801342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.850888479000002 meters 0.03991543019580734 Centerline is valid? [True, True] Translation: X:11.83, Y:0.22, Z:0.10 [[ 9.99906042e-01 1.36241504e-02 -1.51293756e-03 1.18338458e+01] [-1.36243041e-02 9.99907181e-01 -9.12891410e-05 2.22765178e-01] [ 1.51155339e-03 1.11893285e-04 9.99998851e-01 1.03507550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.910888479 meters 0.041937831942173494 Centerline is valid? [True, True] Translation: X:11.89, Y:0.23, Z:0.10 [[ 9.99853888e-01 1.65563748e-02 -4.25324642e-03 1.18941989e+01] [-1.65576152e-02 9.99862880e-01 -2.56594872e-04 2.28918351e-01] [ 4.24841494e-03 3.26980998e-04 9.99990922e-01 9.95368122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.970888479000001 meters 0.042345554352783824 Centerline is valid? [True, True] Translation: X:11.96, Y:0.23, Z:0.10 [[ 9.99818689e-01 1.86180583e-02 -3.99471671e-03 1.19554444e+01] [-1.86191685e-02 9.99826619e-01 -2.40908447e-04 2.32313851e-01] [ 3.98953886e-03 3.15243072e-04 9.99991992e-01 1.01990055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.030888479000001 meters 0.04270631494919681 Centerline is valid? [True, True] Translation: X:12.02, Y:0.23, Z:0.11 [[ 9.99854713e-01 1.70454643e-02 7.61988478e-05 1.20169359e+01] [-1.70454647e-02 9.99854716e-01 4.49142740e-06 2.33808121e-01] [-7.61112188e-05 -5.78961962e-06 9.99999997e-01 1.06888867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.090888479000002 meters 0.04078783872523654 Centerline is valid? [True, True] Translation: X:12.08, Y:0.23, Z:0.11 [[ 9.99927635e-01 1.19646870e-02 1.25309070e-03 1.20776341e+01] [-1.19647910e-02 9.99928416e-01 7.54998320e-05 2.34287797e-01] [-1.25209767e-03 -9.04873368e-05 9.99999212e-01 1.05329131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.150888479 meters 0.03602614910906463 Centerline is valid? [True, True] Translation: X:12.14, Y:0.23, Z:0.11 [[ 9.99966388e-01 7.58086535e-03 3.12300147e-03 1.21384392e+01] [-7.58148976e-03 9.99971242e-01 1.88147372e-04 2.26961975e-01] [-3.12148534e-03 -2.11818052e-04 9.99995106e-01 1.09924948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.210888479000001 meters 0.036926976571987714 Centerline is valid? [True, True] Translation: X:12.20, Y:0.23, Z:0.11 [[ 9.99979052e-01 6.40077181e-03 -9.61642585e-04 1.22000092e+01] [-6.40083056e-03 9.99979513e-01 -5.80343622e-05 2.32830667e-01] [ 9.61251419e-04 6.41884578e-05 9.99999536e-01 1.06350757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.270888479000002 meters 0.03650569934541383 Centerline is valid? [True, True] Translation: X:12.26, Y:0.24, Z:0.10 [[ 9.99976199e-01 6.72054960e-03 -1.56052551e-03 1.22606711e+01] [-6.72070437e-03 9.99977411e-01 -9.39547801e-05 2.37113358e-01] [ 1.55985883e-03 1.04440375e-04 9.99998778e-01 1.04934535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.330888479 meters 0.04088227012792512 Centerline is valid? [True, True] Translation: X:12.32, Y:0.24, Z:0.10 [[ 9.99985943e-01 5.11956428e-03 -1.37973367e-03 1.23209006e+01] [-5.11968373e-03 9.99986891e-01 -8.30507720e-05 2.42251342e-01] [ 1.37929040e-03 9.01134046e-05 9.99999045e-01 1.03693024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.390888479000001 meters 0.036833537020868105 Centerline is valid? [True, True] Translation: X:12.38, Y:0.25, Z:0.11 [[ 9.99950784e-01 9.90272116e-03 -6.04309087e-04 1.23814735e+01] [-9.90274493e-03 9.99950966e-01 -3.63576848e-05 2.46843271e-01] [ 6.03919415e-04 4.23402142e-05 9.99999817e-01 1.05303275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.450888479000001 meters 0.03781761103942518 Centerline is valid? [True, True] Translation: X:12.44, Y:0.25, Z:0.10 [[ 9.99905234e-01 1.32090132e-02 -3.87891141e-03 1.24424034e+01] [-1.32100172e-02 9.99912717e-01 -2.33323228e-04 2.52621128e-01] [ 3.87549088e-03 2.84541603e-04 9.99992450e-01 1.00571563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.510888479000002 meters 0.04285938192643466 Centerline is valid? [True, True] Translation: X:12.50, Y:0.26, Z:0.10 [[ 9.99830559e-01 1.64606650e-02 -8.24008358e-03 1.25014769e+01] [-1.64653040e-02 9.99864315e-01 -4.95456280e-04 2.55412749e-01] [ 8.23080998e-03 6.31047811e-04 9.99965927e-01 9.92998746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.570888479 meters 0.039263117286487834 Centerline is valid? [True, True] Translation: X:12.56, Y:0.25, Z:0.11 [[ 9.99839761e-01 1.73526723e-02 -4.39745594e-03 1.25614097e+01] [-1.73540021e-02 9.99849373e-01 -2.64432813e-04 2.54294038e-01] [ 4.39220495e-03 3.40703900e-04 9.99990296e-01 1.05239822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.630888479000001 meters 0.04251963757116977 Centerline is valid? [True, True] Translation: X:12.62, Y:0.27, Z:0.10 [[ 9.99812905e-01 1.90549013e-02 -3.32662591e-03 1.26207763e+01] [-1.90556720e-02 9.99818404e-01 -2.00117709e-04 2.65621692e-01] [ 3.32220859e-03 2.63471360e-04 9.99994447e-01 1.03135687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.690888479000002 meters 0.04338014188631981 Centerline is valid? [True, True] Translation: X:12.68, Y:0.27, Z:0.11 [[ 9.99740634e-01 2.26415617e-02 -2.45426718e-03 1.26813867e+01] [-2.26419919e-02 9.99743626e-01 -1.47641148e-04 2.65401936e-01] [ 2.45029514e-03 2.03172353e-04 9.99996977e-01 1.06580910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.750888479 meters 0.042794775003692595 Centerline is valid? [True, True] Translation: X:12.74, Y:0.26, Z:0.11 [[ 9.99687818e-01 2.42581711e-02 -5.98397018e-03 1.27435595e+01] [-2.42607527e-02 9.99705600e-01 -3.59197814e-04 2.62408168e-01] [ 5.97349502e-03 5.04261300e-04 9.99982031e-01 1.07303992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.810888479 meters 0.04530582297549565 Centerline is valid? [True, True] Translation: X:12.80, Y:0.27, Z:0.10 [[ 9.99660983e-01 2.48650852e-02 -7.72313547e-03 1.28041126e+01] [-2.48693955e-02 9.99690602e-01 -4.62563854e-04 2.71206727e-01] [ 7.70924425e-03 6.54476747e-04 9.99970069e-01 1.03641316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.870888479000001 meters 0.04573036746583615 Centerline is valid? [True, True] Translation: X:12.87, Y:0.27, Z:0.10 [[ 9.99670408e-01 2.52348117e-02 -4.72010477e-03 1.28654376e+01] [-2.52364251e-02 9.99681471e-01 -2.82571429e-04 2.74683727e-01] [ 4.71147064e-03 4.01596866e-04 9.99988820e-01 1.04088110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.930888479000002 meters 0.04428297855398235 Centerline is valid? [True, True] Translation: X:12.93, Y:0.27, Z:0.11 [[ 9.99726979e-01 2.27777228e-02 -5.20982203e-03 1.29269307e+01] [-2.27796545e-02 9.99740461e-01 -3.11734107e-04 2.65038993e-01] [ 5.20136929e-03 4.30326943e-04 9.99986380e-01 1.10056058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.990888479 meters 0.04421469050746771 Centerline is valid? [True, True] Translation: X:12.99, Y:0.28, Z:0.10 [[ 9.99756982e-01 2.12113588e-02 -6.00453665e-03 1.29875552e+01] [-2.12138957e-02 9.99774895e-01 -3.59112510e-04 2.76727256e-01] [ 5.99556774e-03 4.86404854e-04 9.99981908e-01 1.03517715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.050888479000001 meters 0.04448121850907965 Centerline is valid? [True, True] Translation: X:13.05, Y:0.28, Z:0.10 [[ 9.99709550e-01 2.20724972e-02 -9.67580930e-03 1.30492846e+01] [-2.20791210e-02 9.99756059e-01 -5.78270794e-04 2.75516061e-01] [ 9.66068509e-03 7.91736199e-04 9.99953021e-01 1.04721908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.110888479000002 meters 0.04367506545528786 Centerline is valid? [True, True] Translation: X:13.11, Y:0.27, Z:0.11 [[ 9.99708039e-01 2.17411930e-02 -1.05431244e-02 1.31103824e+01] [-2.17490381e-02 9.99763263e-01 -6.29996556e-04 2.73694631e-01] [ 1.05269316e-02 8.59115436e-04 9.99944221e-01 1.07616233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.170888479000002 meters 0.04329716799478109 Centerline is valid? [True, True] Translation: X:13.17, Y:0.28, Z:0.11 [[ 9.99685972e-01 2.16355239e-02 -1.26436708e-02 1.31713290e+01] [-2.16467983e-02 9.99765395e-01 -7.55513145e-04 2.75660361e-01] [ 1.26243586e-02 1.02897088e-03 9.99919780e-01 1.07654786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.230888479 meters 0.043016725314202905 Centerline is valid? [True, True] Translation: X:13.23, Y:0.28, Z:0.11 [[ 9.99700154e-01 2.26094274e-02 -9.40296167e-03 1.32310194e+01] [-2.26157077e-02 9.99744074e-01 -5.62103699e-04 2.83843610e-01] [ 9.38784637e-03 7.74589788e-04 9.99955633e-01 1.06625090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.290888479000001 meters 0.045506636269710014 Centerline is valid? [True, True] Translation: X:13.29, Y:0.29, Z:0.11 [[ 9.99760298e-01 2.16677991e-02 -3.13888007e-03 1.32915724e+01] [-2.16684944e-02 9.99765193e-01 -1.87673921e-04 2.86768298e-01] [ 3.13407656e-03 2.55643740e-04 9.99995056e-01 1.13733528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.350888479000002 meters 0.045087928779326485 Centerline is valid? [True, True] Translation: X:13.35, Y:0.29, Z:0.12 [[ 9.99781750e-01 2.05663119e-02 -3.67135929e-03 1.33528517e+01] [-2.05672556e-02 9.99788448e-01 -2.19479948e-04 2.87154829e-01] [ 3.66606871e-03 2.94941832e-04 9.99993236e-01 1.18209175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.410888479 meters 0.04631523372661973 Centerline is valid? [True, True] Translation: X:13.41, Y:0.29, Z:0.11 [[ 9.99831030e-01 1.77724442e-02 -4.69585612e-03 1.34120091e+01] [-1.77739571e-02 9.99841991e-01 -2.80632283e-04 2.94994983e-01] [ 4.69012661e-03 3.64048809e-04 9.99988935e-01 1.14637949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.470888479000001 meters 0.04147494917884796 Centerline is valid? [True, True] Translation: X:13.47, Y:0.29, Z:0.11 [[ 9.99894152e-01 1.39239088e-02 -4.22004116e-03 1.34726885e+01] [-1.39250967e-02 9.99903009e-01 -2.52238593e-04 2.89096034e-01] [ 4.21611970e-03 3.10976375e-04 9.99991064e-01 1.13735566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.530888479000001 meters 0.03980313084135378 Centerline is valid? [True, True] Translation: X:13.53, Y:0.28, Z:0.12 [[ 9.99926923e-01 1.09121846e-02 -5.20322729e-03 1.35338669e+01] [-1.09139497e-02 9.99940393e-01 -3.10957593e-04 2.84004139e-01] [ 5.19952391e-03 3.67722630e-04 9.99986415e-01 1.15605581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.590888479000002 meters 0.04127307325952027 Centerline is valid? [True, True] Translation: X:13.59, Y:0.29, Z:0.11 [[ 9.99909521e-01 1.08255465e-02 -7.98476930e-03 1.35932445e+01] [-1.08297006e-02 9.99941243e-01 -4.77204043e-04 2.91838614e-01] [ 7.97913415e-03 5.63633527e-04 9.99968007e-01 1.11649793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.650888479 meters 0.043965661333521526 Centerline is valid? [True, True] Translation: X:13.65, Y:0.30, Z:0.11 [[ 9.99865604e-01 1.32954548e-02 -9.59187609e-03 1.36536662e+01] [-1.33015632e-02 9.99911366e-01 -5.73311485e-04 2.98033597e-01] [ 9.58340349e-03 7.00821380e-04 9.99953833e-01 1.08016418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.710888479000001 meters 0.04214656011710101 Centerline is valid? [True, True] Translation: X:13.71, Y:0.30, Z:0.11 [[ 9.99841261e-01 1.48993998e-02 -9.77038984e-03 1.37135150e+01] [-1.49058163e-02 9.99888731e-01 -5.84231152e-04 2.95572869e-01] [ 9.76059801e-03 7.29774047e-04 9.99952098e-01 1.10601679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.770888479000002 meters 0.042756848529873125 Centerline is valid? [True, True] Translation: X:13.77, Y:0.30, Z:0.11 [[ 9.99753477e-01 1.96415639e-02 -1.03534733e-02 1.37732237e+01] [-1.96490235e-02 9.99806748e-01 -6.19255941e-04 3.04913614e-01] [ 1.03393093e-02 8.22538919e-04 9.99946210e-01 1.10739073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.830888479 meters 0.044975774591492955 Centerline is valid? [True, True] Translation: X:13.83, Y:0.32, Z:0.11 [[ 9.99662681e-01 2.29066488e-02 -1.22397030e-02 1.38328858e+01] [-2.29173180e-02 9.99737096e-01 -7.32119150e-04 3.15598755e-01] [ 1.22197148e-02 1.01237336e-03 9.99924824e-01 1.05787166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.890888479000001 meters 0.04613820938581716 Centerline is valid? [True, True] Translation: X:13.89, Y:0.32, Z:0.11 [[ 9.99576212e-01 2.74590821e-02 -9.66415847e-03 1.38935812e+01] [-2.74659450e-02 9.99622573e-01 -5.78115931e-04 3.20218329e-01] [ 9.64463642e-03 8.43306177e-04 9.99953134e-01 1.12226689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.950888479000001 meters 0.04641209290862723 Centerline is valid? [True, True] Translation: X:13.96, Y:0.32, Z:0.11 [[ 9.99596087e-01 2.58328819e-02 -1.18459089e-02 1.39555484e+01] [-2.58430747e-02 9.99665761e-01 -7.08159324e-04 3.18361953e-01] [ 1.18236558e-02 1.01400800e-03 9.99929584e-01 1.11618551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.010888479000002 meters 0.04600866422799906 Centerline is valid? [True, True] Translation: X:14.02, Y:0.32, Z:0.11 [[ 9.99643660e-01 2.34299973e-02 -1.27901845e-02 1.40159388e+01] [-2.34416803e-02 9.99724914e-01 -7.64265861e-04 3.24791516e-01] [ 1.27687593e-02 1.06381694e-03 9.99917910e-01 1.07550112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.070888479 meters 0.04800740214132905 Centerline is valid? [True, True] Translation: X:14.08, Y:0.33, Z:0.11 [[ 9.99691750e-01 2.03862941e-02 -1.41705651e-02 1.40756443e+01] [-2.04003334e-02 9.99791533e-01 -8.46873910e-04 3.29254936e-01] [ 1.41503464e-02 1.13569711e-03 9.99899234e-01 1.05428984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.130888479000001 meters 0.04931567634694249 Centerline is valid? [True, True] Translation: X:14.14, Y:0.33, Z:0.10 [[ 9.99673001e-01 1.89121344e-02 -1.72111254e-02 1.41359666e+01] [-1.89326338e-02 9.99820232e-01 -1.02888644e-03 3.27647507e-01] [ 1.71885730e-02 1.35440193e-03 9.99851348e-01 1.04185597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.190888479000002 meters 0.042242344745630885 Centerline is valid? [True, True] Translation: X:14.20, Y:0.32, Z:0.11 [[ 9.99816332e-01 1.61680341e-02 -1.02906143e-02 1.41969346e+01] [-1.61752177e-02 9.99868983e-01 -6.15227300e-04 3.24230055e-01] [ 1.02793191e-02 7.81567230e-04 9.99946861e-01 1.13148621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.250888479000002 meters 0.044237542629437944 Centerline is valid? [True, True] Translation: X:14.26, Y:0.33, Z:0.11 [[ 9.99872149e-01 1.39309408e-02 -7.84949158e-03 1.42556323e+01] [-1.39350529e-02 9.99902792e-01 -4.69422026e-04 3.34433728e-01] [ 7.84218906e-03 5.78745091e-04 9.99969082e-01 1.11677114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.310888479 meters 0.0461961298424388 Centerline is valid? [True, True] Translation: X:14.32, Y:0.33, Z:0.11 [[ 9.99719063e-01 1.71943054e-02 -1.63141483e-02 1.43162621e+01] [-1.72125058e-02 9.99851378e-01 -9.75852190e-04 3.32313343e-01] [ 1.62949445e-02 1.25638541e-03 9.99866439e-01 1.06884893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.370888479000001 meters 0.04745405117088488 Centerline is valid? [True, True] Translation: X:14.38, Y:0.34, Z:0.11 [[ 9.99677765e-01 2.02367023e-02 -1.53245455e-02 1.43766098e+01] [-2.02531167e-02 9.99794464e-01 -9.16667927e-04 3.38468255e-01] [ 1.53028455e-02 1.22674235e-03 9.99882152e-01 1.10270154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.430888479000002 meters 0.04254679569393754 Centerline is valid? [True, True] Translation: X:14.44, Y:0.35, Z:0.11 [[ 9.99681474e-01 2.25401003e-02 -1.13531930e-02 1.44360000e+01] [-2.25492600e-02 9.99745502e-01 -6.79420988e-04 3.45960388e-01] [ 1.13349894e-02 9.35210675e-04 9.99935320e-01 1.10124298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.490888479 meters 0.0439545010823709 Centerline is valid? [True, True] Translation: X:14.50, Y:0.35, Z:0.11 [[ 9.99696985e-01 2.21190430e-02 -1.08021059e-02 1.44969030e+01] [-2.21273116e-02 9.99754952e-01 -6.46537458e-04 3.45696153e-01] [ 1.07851581e-02 8.85363112e-04 9.99941447e-01 1.09821585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.550888479000001 meters 0.0412655801165055 Centerline is valid? [True, True] Translation: X:14.56, Y:0.34, Z:0.12 [[ 9.99774843e-01 1.93710311e-02 -8.66174099e-03 1.45581865e+01] [-1.93762441e-02 9.99812129e-01 -5.18326262e-04 3.37483388e-01] [ 8.65007319e-03 6.86041565e-04 9.99962352e-01 1.17173306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.610888479000002 meters 0.04290561243109672 Centerline is valid? [True, True] Translation: X:14.62, Y:0.35, Z:0.11 [[ 9.99770738e-01 1.58086469e-02 -1.44415440e-02 1.46179692e+01] [-1.58227686e-02 9.99874439e-01 -8.64112004e-04 3.47955091e-01] [ 1.44260702e-02 1.09241910e-03 9.99895342e-01 1.06831097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.670888479000002 meters 0.04282553564983961 Centerline is valid? [True, True] Translation: X:14.68, Y:0.35, Z:0.11 [[ 9.99786769e-01 1.52932508e-02 -1.38756082e-02 1.46759361e+01] [-1.53062513e-02 9.99882507e-01 -8.31212062e-04 3.53420977e-01] [ 1.38612660e-02 1.04341837e-03 9.99903384e-01 1.08063445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.730888479 meters 0.04172165008520489 Centerline is valid? [True, True] Translation: X:14.73, Y:0.35, Z:0.11 [[ 9.99826567e-01 1.50096593e-02 -1.10247670e-02 1.47346600e+01] [-1.50178576e-02 9.99887007e-01 -6.61210971e-04 3.50122521e-01] [ 1.10135967e-02 8.26664677e-04 9.99939007e-01 1.12895190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.790888479000001 meters 0.04020229770887738 Centerline is valid? [True, True] Translation: X:14.79, Y:0.35, Z:0.12 [[ 9.99846569e-01 1.63308111e-02 -6.33586395e-03 1.47936530e+01] [-1.63335469e-02 9.99866526e-01 -3.80297881e-04 3.53637417e-01] [ 6.32880771e-03 4.83726663e-04 9.99979856e-01 1.18186888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.850888479000002 meters 0.043142739518614984 Centerline is valid? [True, True] Translation: X:14.85, Y:0.36, Z:0.12 [[ 9.99835031e-01 1.74443478e-02 -5.06010834e-03 1.48547413e+01] [-1.74461072e-02 9.99847759e-01 -3.03762890e-04 3.62921189e-01] [ 5.05403904e-03 3.91991971e-04 9.99987151e-01 1.15757263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.910888479000002 meters 0.04016264027708371 Centerline is valid? [True, True] Translation: X:14.92, Y:0.36, Z:0.11 [[ 9.99791984e-01 1.87270259e-02 -8.08003013e-03 1.49166408e+01] [-1.87315508e-02 9.99824432e-01 -4.84700121e-04 3.57146079e-01] [ 8.06953454e-03 6.35950791e-04 9.99967239e-01 1.14457137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.970888479000001 meters 0.04250772857672982 Centerline is valid? [True, True] Translation: X:14.98, Y:0.36, Z:0.11 [[ 9.99805497e-01 1.76175841e-02 -8.86505213e-03 1.49765885e+01] [-1.76229858e-02 9.99844562e-01 -5.31570125e-04 3.61223484e-01] [ 8.85430918e-03 6.87695421e-04 9.99960563e-01 1.13186554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.030888478999998 meters 0.0396584741978378 Centerline is valid? [True, True] Translation: X:15.04, Y:0.36, Z:0.11 [[ 9.99869550e-01 1.46548006e-02 -6.79119512e-03 1.50377253e+01] [-1.46579020e-02 9.99892484e-01 -4.07121013e-04 3.62338532e-01] [ 6.78449868e-03 5.06612577e-04 9.99976857e-01 1.14832924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.090888479 meters 0.03924077659366692 Centerline is valid? [True, True] Translation: X:15.10, Y:0.37, Z:0.11 [[ 9.99888686e-01 1.34410701e-02 -6.47707461e-03 1.50979577e+01] [-1.34438656e-02 9.99909552e-01 -3.88251918e-04 3.65370141e-01] [ 6.47127025e-03 4.75285621e-04 9.99978948e-01 1.14273174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.150888479 meters 0.04161011086388286 Centerline is valid? [True, True] Translation: X:15.16, Y:0.37, Z:0.12 [[ 9.99877800e-01 1.30526842e-02 -8.60305403e-03 1.51585047e+01] [-1.30576009e-02 9.99914613e-01 -5.15586179e-04 3.66648174e-01] [ 8.59558966e-03 6.27858421e-04 9.99962860e-01 1.15179664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.210888479 meters 0.036564998128373716 Centerline is valid? [True, True] Translation: X:15.22, Y:0.36, Z:0.11 [[ 9.99901460e-01 1.09322067e-02 -8.80666590e-03 1.52187369e+01] [-1.09372776e-02 9.99940047e-01 -5.27848726e-04 3.64716091e-01] [ 8.80036736e-03 6.24117661e-04 9.99961081e-01 1.14099355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.270888479 meters 0.04089162538719387 Centerline is valid? [True, True] Translation: X:15.28, Y:0.38, Z:0.11 [[ 9.99921853e-01 9.56347326e-03 -8.05154831e-03 1.52765141e+01] [-9.56767036e-03 9.99954112e-01 -4.82920969e-04 3.75640321e-01] [ 8.04656044e-03 5.59917790e-04 9.99967469e-01 1.12951738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.330888479 meters 0.03666294166913239 Centerline is valid? [True, True] Translation: X:15.34, Y:0.38, Z:0.11 [[ 9.99909773e-01 1.10514503e-02 -7.63614263e-03 1.53364097e+01] [-1.10552711e-02 9.99938784e-01 -4.58324823e-04 3.77200172e-01] [ 7.63061002e-03 5.42703096e-04 9.99970739e-01 1.14880160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.390888479 meters 0.04107017536799422 Centerline is valid? [True, True] Translation: X:15.40, Y:0.39, Z:0.11 [[ 9.99868779e-01 1.18426655e-02 -1.10533471e-02 1.53950827e+01] [-1.18507226e-02 9.99929557e-01 -6.63721133e-04 3.90175262e-01] [ 1.10447082e-02 7.94624189e-04 9.99938690e-01 1.08874332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.450888479 meters 0.03653388118150639 Centerline is valid? [True, True] Translation: X:15.45, Y:0.39, Z:0.12 [[ 9.99928241e-01 1.04074386e-02 -5.93280469e-03 1.54548006e+01] [-1.04097354e-02 9.99945754e-01 -3.56388237e-04 3.85930084e-01] [ 5.92877376e-03 4.18121590e-04 9.99982337e-01 1.17662719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.510888479 meters 0.03683268807822053 Centerline is valid? [True, True] Translation: X:15.52, Y:0.38, Z:0.12 [[ 9.99970432e-01 1.70240150e-03 -7.49909624e-03 1.55157664e+01] [-1.70582838e-03 9.99998444e-01 -4.50599169e-04 3.84044177e-01] [ 7.49831746e-03 4.63378017e-04 9.99971780e-01 1.17478376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.570888479 meters 0.034160603694038234 Centerline is valid? [True, True] Translation: X:15.58, Y:0.39, Z:0.12 [[ 9.99987710e-01 -6.93474648e-04 -4.90903176e-03 1.55757458e+01] [ 6.92034770e-04 9.99999717e-01 -2.95004490e-04 3.90990989e-01] [ 4.90923495e-03 2.91603643e-04 9.99987907e-01 1.16634553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.630888479 meters 0.03530240494891363 Centerline is valid? [True, True] Translation: X:15.63, Y:0.40, Z:0.12 [[ 9.99992109e-01 -1.15287917e-03 -3.80164498e-03 1.56329870e+01] [ 1.15201848e-03 9.99999310e-01 -2.28582029e-04 3.96750032e-01] [ 3.80190589e-03 2.24200660e-04 9.99992748e-01 1.16440703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.690888478999998 meters 0.03396248135206459 Centerline is valid? [True, True] Translation: X:15.69, Y:0.40, Z:0.12 [[ 9.99971279e-01 -6.67251204e-04 -7.54960662e-03 1.56916236e+01] [ 6.63830330e-04 9.99999676e-01 -4.55616261e-04 3.96426291e-01] [ 7.54990818e-03 4.50591517e-04 9.99971398e-01 1.17797086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.750888479 meters 0.04050604561323214 Centerline is valid? [True, True] Translation: X:15.75, Y:0.42, Z:0.12 [[ 9.99959611e-01 4.09268177e-03 -8.00166011e-03 1.57499763e+01] [-4.09668233e-03 9.99991492e-01 -4.83640649e-04 4.15554156e-01] [ 7.99961264e-03 5.16401375e-04 9.99967869e-01 1.16668331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.810888479 meters 0.03774790906620934 Centerline is valid? [True, True] Translation: X:15.81, Y:0.43, Z:0.12 [[ 9.99938699e-01 1.10712562e-02 -1.60510269e-04 1.58096589e+01] [-1.10712579e-02 9.99938712e-01 -9.65887663e-06 4.25201729e-01] [ 1.60393496e-04 1.14353351e-05 9.99999987e-01 1.23230278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.870888479 meters 0.04021381875211614 Centerline is valid? [True, True] Translation: X:15.87, Y:0.43, Z:0.12 [[ 9.99911127e-01 1.32339111e-02 -1.61313854e-03 1.58696317e+01] [-1.32340856e-02 9.99912421e-01 -9.75487144e-05 4.34798476e-01] [ 1.61170631e-03 1.18888458e-04 9.99998694e-01 1.21584307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.930888479 meters 0.03717430288682853 Centerline is valid? [True, True] Translation: X:15.93, Y:0.43, Z:0.12 [[ 9.99920075e-01 1.23765901e-02 -2.58138817e-03 1.59321497e+01] [-1.23770340e-02 9.99923389e-01 -1.56075759e-04 4.32451015e-01] [ 2.57925873e-03 1.88013214e-04 9.99996656e-01 1.24626359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.990888479 meters 0.0362481932074241 Centerline is valid? [True, True] Translation: X:15.99, Y:0.44, Z:0.12 [[ 9.99957425e-01 7.05746307e-03 -5.94476159e-03 1.59919860e+01] [-7.05971436e-03 9.99975016e-01 -3.57800938e-04 4.41643786e-01] [ 5.94208790e-03 3.99754023e-04 9.99982266e-01 1.19350693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.050888479 meters 0.03709336796490883 Centerline is valid? [True, True] Translation: X:16.05, Y:0.45, Z:0.12 [[ 9.99965518e-01 6.54484106e-03 -5.11150211e-03 1.60509933e+01] [-6.54649922e-03 9.99978524e-01 -3.07732879e-04 4.47848071e-01] [ 5.10937828e-03 3.41184712e-04 9.99986889e-01 1.21854985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.110888479 meters 0.03439434528826485 Centerline is valid? [True, True] Translation: X:16.11, Y:0.45, Z:0.12 [[ 9.99971004e-01 6.82714707e-03 -3.37355680e-03 1.61108187e+01] [-6.82787124e-03 9.99976669e-01 -2.03187570e-04 4.49939436e-01] [ 3.37209090e-03 2.26215890e-04 9.99994289e-01 1.23539594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.170888479 meters 0.0369424927186642 Centerline is valid? [True, True] Translation: X:16.17, Y:0.46, Z:0.12 [[ 9.99975400e-01 5.74600679e-03 -4.02275752e-03 1.61704246e+01] [-5.74702835e-03 9.99983456e-01 -2.42432051e-04 4.59356122e-01] [ 4.02129795e-03 2.65544989e-04 9.99991879e-01 1.24095980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.230888479 meters 0.03891235965689848 Centerline is valid? [True, True] Translation: X:16.23, Y:0.47, Z:0.12 [[ 9.99966814e-01 7.00746007e-03 -4.15533841e-03 1.62287757e+01] [-7.00856087e-03 9.99975408e-01 -2.50410238e-04 4.73750485e-01] [ 4.15348148e-03 2.79524870e-04 9.99991335e-01 1.23798306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.290888479 meters 0.03647668487464089 Centerline is valid? [True, True] Translation: X:16.29, Y:0.48, Z:0.12 [[ 9.99886820e-01 1.18189453e-02 -9.30915914e-03 1.62885302e+01] [-1.18246761e-02 9.99929929e-01 -5.60808677e-04 4.79557308e-01] [ 9.30187867e-03 6.70822997e-04 9.99956512e-01 1.17777001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.350888478999998 meters 0.03960064641944047 Centerline is valid? [True, True] Translation: X:16.35, Y:0.49, Z:0.12 [[ 9.99841400e-01 1.68671640e-02 -5.71600474e-03 1.63486606e+01] [-1.68694068e-02 9.99857642e-01 -3.44373881e-04 4.91788986e-01] [ 5.70938241e-03 4.40744873e-04 9.99983604e-01 1.20782903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.410888479 meters 0.03992370714728423 Centerline is valid? [True, True] Translation: X:16.41, Y:0.50, Z:0.12 [[ 9.99838362e-01 1.77630217e-02 -2.77949796e-03 1.64087855e+01] [-1.77635554e-02 9.99842202e-01 -1.67455795e-04 5.00052959e-01] [ 2.77608484e-03 2.16802494e-04 9.99996123e-01 1.23714467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.470888479 meters 0.039708101199351246 Centerline is valid? [True, True] Translation: X:16.47, Y:0.50, Z:0.12 [[ 9.99902062e-01 1.37443378e-02 -2.63804620e-03 1.64696861e+01] [-1.37448047e-02 9.99905523e-01 -1.58933871e-04 4.99688657e-01] [ 2.63561253e-03 1.95177735e-04 9.99996508e-01 1.24678277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.530888479 meters 0.037460625567039704 Centerline is valid? [True, True] Translation: X:16.53, Y:0.50, Z:0.12 [[ 9.99948726e-01 9.54251944e-03 -3.38899278e-03 1.65307028e+01] [-9.54326595e-03 9.99954441e-01 -2.04173457e-04 4.95990358e-01] [ 3.38689005e-03 2.36505047e-04 9.99994237e-01 1.24206408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.590888479 meters 0.035872116281548884 Centerline is valid? [True, True] Translation: X:16.59, Y:0.50, Z:0.12 [[ 9.99963133e-01 7.70929445e-03 -3.78155294e-03 1.65910484e+01] [-7.71021087e-03 9.99970250e-01 -2.27820727e-04 4.99254962e-01] [ 3.77968410e-03 2.56968898e-04 9.99992824e-01 1.20780357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.650888479 meters 0.03630390435156344 Centerline is valid? [True, True] Translation: X:16.65, Y:0.50, Z:0.12 [[ 9.99960741e-01 8.46591766e-03 -2.61608272e-03 1.66515543e+01] [-8.46635882e-03 9.99964147e-01 -1.57606643e-04 5.02917953e-01] [ 2.61465464e-03 1.79749151e-04 9.99996566e-01 1.22226033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.710888479 meters 0.04086414361434814 Centerline is valid? [True, True] Translation: X:16.71, Y:0.51, Z:0.12 [[ 9.99927666e-01 1.17805427e-02 -2.42501415e-03 1.67119892e+01] [-1.17809315e-02 9.99930592e-01 -1.46099128e-04 5.10761238e-01] [ 2.42312471e-03 1.74657486e-04 9.99997049e-01 1.21999062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.770888479 meters 0.04029306008837259 Centerline is valid? [True, True] Translation: X:16.77, Y:0.51, Z:0.12 [[ 9.99900517e-01 1.40588276e-02 -1.14232195e-03 1.67729533e+01] [-1.40589154e-02 9.99901166e-01 -6.88387815e-05 5.14676511e-01] [ 1.14124125e-03 8.48917408e-05 9.99999345e-01 1.22579273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.830888479 meters 0.04059351613980332 Centerline is valid? [True, True] Translation: X:16.83, Y:0.52, Z:0.12 [[ 9.99844653e-01 1.71570339e-02 -4.03806324e-03 1.68341016e+01] [-1.71581549e-02 9.99852758e-01 -2.43119362e-04 5.19743108e-01] [ 4.03329747e-03 3.12367308e-04 9.99991817e-01 1.17896682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.890888479 meters 0.043008396697906966 Centerline is valid? [True, True] Translation: X:16.90, Y:0.53, Z:0.12 [[ 9.99822834e-01 1.80733176e-02 -5.25887370e-03 1.68952708e+01] [-1.80752303e-02 9.99836580e-01 -3.16403022e-04 5.28031277e-01] [ 5.25229584e-03 4.11402319e-04 9.99986122e-01 1.15412694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.950888479 meters 0.04410269193446913 Centerline is valid? [True, True] Translation: X:16.96, Y:0.53, Z:0.12 [[ 9.99740425e-01 2.23326371e-02 -4.50958609e-03 1.69550136e+01] [-2.23340862e-02 9.99750526e-01 -2.71229705e-04 5.33593067e-01] [ 4.50240379e-03 3.71876785e-04 9.99989795e-01 1.17206149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.010888479 meters 0.042527663918613456 Centerline is valid? [True, True] Translation: X:17.02, Y:0.53, Z:0.12 [[ 9.99751590e-01 2.07542992e-02 -8.12511238e-03 1.70170467e+01] [-2.07589500e-02 9.99784390e-01 -4.88471624e-04 5.25842231e-01] [ 8.11322264e-03 6.57019084e-04 9.99966871e-01 1.17148074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.070888479 meters 0.041003145397461575 Centerline is valid? [True, True] Translation: X:17.08, Y:0.52, Z:0.12 [[ 9.99865785e-01 1.49595930e-02 -6.68007539e-03 1.70775459e+01] [-1.49626076e-02 9.99887973e-01 -4.01520619e-04 5.24714174e-01] [ 6.67332046e-03 5.01418075e-04 9.99977607e-01 1.17451857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.130888479 meters 0.03680565085008857 Centerline is valid? [True, True] Translation: X:17.14, Y:0.52, Z:0.12 [[ 9.99975732e-01 6.81154533e-03 -1.46198331e-03 1.71385980e+01] [-6.81168105e-03 9.99976796e-01 -8.78777755e-05 5.22015105e-01] [ 1.46135081e-03 9.78342070e-05 9.99998927e-01 1.19384681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.190888478999998 meters 0.03485704251153295 Centerline is valid? [True, True] Translation: X:17.20, Y:0.52, Z:0.11 [[ 9.99969275e-01 2.28970250e-03 -7.49704194e-03 1.71990852e+01] [-2.29314499e-03 9.99997269e-01 -4.50614647e-04 5.19620534e-01] [ 7.49598969e-03 4.67792606e-04 9.99971795e-01 1.12846383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.250888479 meters 0.03514075016336274 Centerline is valid? [True, True] Translation: X:17.26, Y:0.52, Z:0.12 [[ 9.99970905e-01 5.71412661e-04 -7.60677159e-03 1.72585238e+01] [-5.74909031e-04 9.99999730e-01 -4.57460385e-04 5.18874916e-01] [ 7.60650814e-03 4.61820277e-04 9.99970963e-01 1.15142123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.310888479 meters 0.040531028346703475 Centerline is valid? [True, True] Translation: X:17.32, Y:0.53, Z:0.12 [[ 9.99985628e-01 -6.19418278e-04 -5.32551321e-03 1.73156671e+01] [ 6.17719669e-04 9.99999758e-01 -3.20595723e-04 5.27160323e-01] [ 5.32571050e-03 3.17301441e-04 9.99985768e-01 1.19452791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.370888479 meters 0.03360692891261903 Centerline is valid? [True, True] Translation: X:17.38, Y:0.53, Z:0.12 [[ 9.99974227e-01 3.03961572e-03 -6.50426564e-03 1.73757475e+01] [-3.04222900e-03 9.99995296e-01 -3.91923800e-04 5.29359269e-01] [ 6.50304375e-03 4.11701165e-04 9.99978770e-01 1.17909448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.430888479 meters 0.038707312452242945 Centerline is valid? [True, True] Translation: X:17.44, Y:0.53, Z:0.12 [[ 9.99960384e-01 7.94740354e-03 -4.00872636e-03 1.74356611e+01] [-7.94843567e-03 9.99968381e-01 -2.41604608e-04 5.32753710e-01] [ 4.00667948e-03 2.73458141e-04 9.99991936e-01 1.20299003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.490888479 meters 0.0417179253976194 Centerline is valid? [True, True] Translation: X:17.50, Y:0.54, Z:0.12 [[ 9.99961379e-01 8.51112356e-03 -2.19114139e-03 1.74950901e+01] [-8.51143331e-03 9.99963768e-01 -1.32076289e-04 5.39592078e-01] [ 2.18993789e-03 1.50720942e-04 9.99997591e-01 1.21761818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.550888479 meters 0.043895496066741375 Centerline is valid? [True, True] Translation: X:17.56, Y:0.55, Z:0.12 [[ 9.99928023e-01 1.05312064e-02 -5.74823673e-03 1.75556367e+01] [-1.05333718e-02 9.99944462e-01 -3.46566949e-04 5.47164781e-01] [ 5.74426772e-03 4.07090319e-04 9.99983419e-01 1.17198098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.610888479 meters 0.04278894263864947 Centerline is valid? [True, True] Translation: X:17.62, Y:0.55, Z:0.12 [[ 9.99873018e-01 1.49747932e-02 -5.45013219e-03 1.76156611e+01] [-1.49768054e-02 9.99887787e-01 -3.28570707e-04 5.48648220e-01] [ 5.44460034e-03 4.10154554e-04 9.99985094e-01 1.19170176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.670888479 meters 0.041377355347136484 Centerline is valid? [True, True] Translation: X:17.68, Y:0.55, Z:0.12 [[ 9.99926070e-01 1.17733441e-02 -3.04023360e-03 1.76767062e+01] [-1.17739555e-02 9.99930668e-01 -1.83294959e-04 5.47338220e-01] [ 3.03786482e-03 2.19076983e-04 9.99995362e-01 1.23270653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.730888479 meters 0.04003354598300279 Centerline is valid? [True, True] Translation: X:17.74, Y:0.55, Z:0.12 [[ 9.99960527e-01 8.75317976e-03 -1.52519255e-03 1.77370468e+01] [-8.75333014e-03 9.99961685e-01 -9.19525602e-05 5.52543232e-01] [ 1.52432923e-03 1.05299444e-04 9.99998833e-01 1.23272401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.790888479 meters 0.03873350304766863 Centerline is valid? [True, True] Translation: X:17.80, Y:0.56, Z:0.12 [[ 9.99970401e-01 6.70831487e-03 -3.76760373e-03 1.77976511e+01] [-6.70921756e-03 9.99977467e-01 -2.27003334e-04 5.57447947e-01] [ 3.76599602e-03 2.52274288e-04 9.99992877e-01 1.18718977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.850888478999998 meters 0.03584533935461854 Centerline is valid? [True, True] Translation: X:17.86, Y:0.56, Z:0.12 [[ 9.99949989e-01 8.45346268e-03 -5.34407093e-03 1.78579584e+01] [-8.45530347e-03 9.99964201e-01 -3.21954490e-04 5.58490807e-01] [ 5.34115799e-03 3.67124131e-04 9.99985669e-01 1.18723700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.910888479 meters 0.03889090984649718 Centerline is valid? [True, True] Translation: X:17.92, Y:0.57, Z:0.12 [[ 9.99932928e-01 9.50518817e-03 -6.61743470e-03 1.79177154e+01] [-9.50803450e-03 9.99954718e-01 -3.98799786e-04 5.66067771e-01] [ 6.61334439e-03 4.61691835e-04 9.99978025e-01 1.17028085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.970888479 meters 0.04166403576322382 Centerline is valid? [True, True] Translation: X:17.98, Y:0.57, Z:0.12 [[ 9.99918843e-01 1.26819494e-02 -1.21474976e-03 1.79774859e+01] [-1.26820477e-02 9.99919577e-01 -7.31876901e-05 5.71558077e-01] [ 1.21372391e-03 8.85872648e-05 9.99999260e-01 1.21801943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.030888479 meters 0.0419151374867606 Centerline is valid? [True, True] Translation: X:18.04, Y:0.58, Z:0.12 [[ 9.99881460e-01 1.53843272e-02 6.22587026e-04 1.80384007e+01] [-1.53843535e-02 9.99881653e-01 3.74754520e-05 5.75699241e-01] [-6.21936810e-04 -4.70491085e-05 9.99999805e-01 1.24420255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.090888479 meters 0.04278521565070091 Centerline is valid? [True, True] Translation: X:18.10, Y:0.58, Z:0.12 [[ 9.99878349e-01 1.55623123e-02 1.04963885e-03 1.81013942e+01] [-1.55623861e-02 9.99878897e-01 6.21757677e-05 5.79314407e-01] [-1.04854414e-03 -7.85030891e-05 9.99999447e-01 1.23160587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.150888479 meters 0.04116803373749183 Centerline is valid? [True, True] Translation: X:18.16, Y:0.58, Z:0.12 [[ 9.99902064e-01 1.39925830e-02 -2.63394449e-04 1.81628583e+01] [-1.39925877e-02 9.99902099e-01 -1.58926531e-05 5.76371483e-01] [ 2.63146283e-04 1.95766666e-05 9.99999965e-01 1.20926390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.210888479 meters 0.039253298847320275 Centerline is valid? [True, True] Translation: X:18.22, Y:0.58, Z:0.12 [[ 9.99883601e-01 1.51594148e-02 1.72508885e-03 1.82248306e+01] [-1.51596137e-02 9.99885081e-01 1.02292290e-04 5.79234494e-01] [-1.72333991e-03 -1.28432064e-04 9.99998507e-01 1.23326665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.270888479 meters 0.04630900868330914 Centerline is valid? [True, True] Translation: X:18.28, Y:0.59, Z:0.13 [[ 9.99847078e-01 1.73091494e-02 2.49273821e-03 1.82844556e+01] [-1.73095739e-02 9.99850167e-01 1.48823936e-04 5.88928924e-01] [-2.48978870e-03 -1.91949414e-04 9.99996882e-01 1.26637261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.330888479 meters 0.04831713690184301 Centerline is valid? [True, True] Translation: X:18.35, Y:0.60, Z:0.12 [[ 9.99782418e-01 2.08592135e-02 -9.98253798e-05 1.83450861e+01] [-2.08592142e-02 9.99782423e-01 -5.96851258e-06 5.98267401e-01] [ 9.96791616e-05 8.04949292e-06 9.99999995e-01 1.21794799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.390888479 meters 0.044928150157955406 Centerline is valid? [True, True] Translation: X:18.41, Y:0.60, Z:0.12 [[ 9.99735299e-01 2.29687064e-02 -1.33061801e-03 1.84066490e+01] [-2.29688324e-02 9.99736178e-01 -7.94905301e-05 5.95179767e-01] [ 1.32844117e-03 1.10032231e-04 9.99999112e-01 1.20547650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.450888479 meters 0.0449370869859449 Centerline is valid? [True, True] Translation: X:18.47, Y:0.59, Z:0.12 [[ 9.99724505e-01 2.32628644e-02 -3.12314625e-03 1.84700014e+01] [-2.32635590e-02 9.99729349e-01 -1.86244262e-04 5.94623916e-01] [ 3.11796839e-03 2.58848450e-04 9.99995106e-01 1.21094985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.510888479 meters 0.04550248683990206 Centerline is valid? [True, True] Translation: X:18.53, Y:0.60, Z:0.12 [[ 9.99755291e-01 2.14256845e-02 -5.50446148e-03 1.85312445e+01] [-2.14278053e-02 9.99770345e-01 -3.26597966e-04 6.01571788e-01] [ 5.49619977e-03 4.44466573e-04 9.99984797e-01 1.18210772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.570888479 meters 0.04664653970321879 Centerline is valid? [True, True] Translation: X:18.59, Y:0.61, Z:0.12 [[ 9.99698826e-01 2.31512823e-02 -8.14101596e-03 1.85920098e+01] [-2.31559747e-02 9.99731748e-01 -4.82589126e-04 6.05908129e-01] [ 8.12765956e-03 6.70956942e-04 9.99966745e-01 1.15441539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.630888479 meters 0.04907794969802342 Centerline is valid? [True, True] Translation: X:18.65, Y:0.60, Z:0.12 [[ 9.99735268e-01 2.22652211e-02 -5.80123337e-03 1.86524787e+01] [-2.22675885e-02 9.99751987e-01 -3.43801846e-04 6.03606874e-01] [ 5.79213976e-03 4.72890308e-04 9.99983114e-01 1.22208514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.690888479 meters 0.04756058182609725 Centerline is valid? [True, True] Translation: X:18.71, Y:0.61, Z:0.12 [[ 9.99771468e-01 1.98820204e-02 -7.85598466e-03 1.87134543e+01] [-1.98862875e-02 9.99802140e-01 -4.65419603e-04 6.08562228e-01] [ 7.84517679e-03 6.21539609e-04 9.99969033e-01 1.17141338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.750888479 meters 0.04432858173981808 Centerline is valid? [True, True] Translation: X:18.77, Y:0.61, Z:0.12 [[ 9.99746908e-01 2.15208856e-02 -6.55527877e-03 1.87740900e+01] [-2.15238914e-02 9.99768259e-01 -3.88320077e-04 6.11256940e-01] [ 6.54540265e-03 5.29316905e-04 9.99978439e-01 1.17969997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.810888479 meters 0.04650236424375455 Centerline is valid? [True, True] Translation: X:18.84, Y:0.61, Z:0.12 [[ 9.99702652e-01 2.25893867e-02 -9.18294094e-03 1.88352129e+01] [-2.25953280e-02 9.99744545e-01 -5.43752164e-04 6.14047074e-01] [ 9.16831208e-03 7.51082044e-04 9.99957688e-01 1.17278470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.870888479 meters 0.04671361449765753 Centerline is valid? [True, True] Translation: X:18.90, Y:0.61, Z:0.12 [[ 9.99695895e-01 2.32015727e-02 -8.35493077e-03 1.88958388e+01] [-2.32065113e-02 9.99730570e-01 -4.94633394e-04 6.13078877e-01] [ 8.34120343e-03 6.88371769e-04 9.99964975e-01 1.21710222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.930888479 meters 0.047571758399850554 Centerline is valid? [True, True] Translation: X:18.96, Y:0.62, Z:0.12 [[ 9.99701573e-01 2.32011366e-02 -7.64671568e-03 1.89564988e+01] [-2.32052722e-02 9.99730619e-01 -4.52535082e-04 6.18590187e-01] [ 7.63415647e-03 6.29844152e-04 9.99970661e-01 1.22408842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.990888479 meters 0.049973163013617844 Centerline is valid? [True, True] Translation: X:19.02, Y:0.63, Z:0.12 [[ 9.99647839e-01 2.56249504e-02 -6.89635216e-03 1.90171327e+01] [-2.56283703e-02 9.99671456e-01 -4.07968839e-04 6.26814996e-01] [ 6.88363222e-03 5.84567435e-04 9.99976137e-01 1.22279462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.050888479 meters 0.05128205596823336 Centerline is valid? [True, True] Translation: X:19.08, Y:0.63, Z:0.12 [[ 9.99625345e-01 2.60444005e-02 -8.41776852e-03 1.90794127e+01] [-2.60494987e-02 9.99660531e-01 -4.96557706e-04 6.25654790e-01] [ 8.40197840e-03 7.15650318e-04 9.99964447e-01 1.22520258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.110888479 meters 0.04614497976183489 Centerline is valid? [True, True] Translation: X:19.14, Y:0.62, Z:0.12 [[ 9.99652431e-01 2.50093452e-02 -8.33962664e-03 1.91418274e+01] [-2.50143054e-02 9.99686973e-01 -4.90982103e-04 6.19881066e-01] [ 8.32473697e-03 6.99421420e-04 9.99965104e-01 1.23016080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.170888479 meters 0.044880086466866885 Centerline is valid? [True, True] Translation: X:19.20, Y:0.62, Z:0.12 [[ 9.99744155e-01 2.07289909e-02 -9.05166311e-03 1.92026360e+01] [-2.07346585e-02 9.99784872e-01 -5.32743317e-04 6.21649263e-01] [ 9.03867261e-03 7.20290161e-04 9.99958891e-01 1.20299949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.230888479 meters 0.04314864496063348 Centerline is valid? [True, True] Translation: X:19.26, Y:0.62, Z:0.12 [[ 9.99791097e-01 1.85475026e-02 -8.58791805e-03 1.92632605e+01] [-1.85525244e-02 9.99827759e-01 -5.05451135e-04 6.23321043e-01] [ 8.57706400e-03 6.64673104e-04 9.99962995e-01 1.21792910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.290888479 meters 0.04484915546654716 Centerline is valid? [True, True] Translation: X:19.32, Y:0.63, Z:0.12 [[ 9.99816432e-01 1.68680961e-02 -9.08683767e-03 1.93231377e+01] [-1.68736494e-02 9.99857487e-01 -5.34815584e-04 6.26465468e-01] [ 9.07652135e-03 6.88045522e-04 9.99958571e-01 1.23552224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.350888478999998 meters 0.04083282651028827 Centerline is valid? [True, True] Translation: X:19.38, Y:0.62, Z:0.12 [[ 9.99851537e-01 1.53815544e-02 -7.76601813e-03 1.93839160e+01] [-1.53855660e-02 9.99881531e-01 -4.57077333e-04 6.22840942e-01] [ 7.75806754e-03 5.76494059e-04 9.99969740e-01 1.24708938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.410888479 meters 0.042138951732705855 Centerline is valid? [True, True] Translation: X:19.44, Y:0.63, Z:0.12 [[ 9.99833354e-01 1.60474742e-02 -8.70308574e-03 1.94434576e+01] [-1.60525371e-02 9.99871019e-01 -5.12187813e-04 6.31700722e-01] [ 8.69374388e-03 6.51809065e-04 9.99961996e-01 1.20399486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.470888479 meters 0.04497098517015212 Centerline is valid? [True, True] Translation: X:19.50, Y:0.64, Z:0.12 [[ 9.99707572e-01 2.11502487e-02 -1.17234035e-02 1.95038285e+01] [-2.11597852e-02 9.99775869e-01 -6.90004257e-04 6.37496575e-01] [ 1.17061822e-02 9.37867180e-04 9.99931040e-01 1.19268241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.530888479 meters 0.04686736631899712 Centerline is valid? [True, True] Translation: X:19.56, Y:0.64, Z:0.12 [[ 9.99625721e-01 2.42995501e-02 -1.25678223e-02 1.95639558e+01] [-2.43107580e-02 9.99704176e-01 -7.39773759e-04 6.43505075e-01] [ 1.25461283e-02 1.04503016e-03 9.99920748e-01 1.19434700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.590888479 meters 0.051025297313742835 Centerline is valid? [True, True] Translation: X:19.62, Y:0.65, Z:0.12 [[ 9.99621348e-01 2.62035975e-02 -8.39828074e-03 1.96233889e+01] [-2.62086697e-02 9.99656372e-01 -4.94449183e-04 6.49680482e-01] [ 8.38243851e-03 7.14369725e-04 9.99964612e-01 1.24792778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.650888479 meters 0.05095327796122395 Centerline is valid? [True, True] Translation: X:19.69, Y:0.65, Z:0.12 [[ 9.99613317e-01 2.62717702e-02 -9.11100703e-03 1.96854383e+01] [-2.62777293e-02 9.99654538e-01 -5.34941899e-04 6.53384271e-01] [ 9.09380565e-03 7.74151623e-04 9.99958351e-01 1.22714541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.710888479 meters 0.05221098684300399 Centerline is valid? [True, True] Translation: X:19.75, Y:0.66, Z:0.12 [[ 9.99648316e-01 2.48119956e-02 -9.35995669e-03 1.97458779e+01] [-2.48182127e-02 9.99691830e-01 -5.48642150e-04 6.58240154e-01] [ 9.34345932e-03 7.80746598e-04 9.99956044e-01 1.20665406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.770888479 meters 0.04609211440225361 Centerline is valid? [True, True] Translation: X:19.81, Y:0.65, Z:0.12 [[ 9.99696953e-01 2.15361848e-02 -1.19245146e-02 1.98067782e+01] [-2.15460420e-02 9.99767613e-01 -6.98767754e-04 6.49014275e-01] [ 1.19066947e-02 9.55482088e-04 9.99928656e-01 1.17787792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.830888479 meters 0.04627010531440307 Centerline is valid? [True, True] Translation: X:19.87, Y:0.65, Z:0.12 [[ 9.99813488e-01 1.78991561e-02 -7.25326381e-03 1.98659464e+01] [-1.79027083e-02 9.99839643e-01 -4.25099469e-04 6.51680735e-01] [ 7.24449178e-03 5.54873249e-04 9.99973604e-01 1.23999319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.890888479 meters 0.042271545433790136 Centerline is valid? [True, True] Translation: X:19.93, Y:0.65, Z:0.13 [[ 9.99858220e-01 1.58309682e-02 -5.73756924e-03 1.99267963e+01] [-1.58331572e-02 9.99874591e-01 -3.36306262e-04 6.48521481e-01] [ 5.73152564e-03 4.27102417e-04 9.99983483e-01 1.25523846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.950888479 meters 0.042238077984771444 Centerline is valid? [True, True] Translation: X:19.99, Y:0.65, Z:0.12 [[ 9.99826801e-01 1.71877332e-02 -7.13785281e-03 1.99881874e+01] [-1.71911545e-02 9.99852134e-01 -4.18229137e-04 6.50531305e-01] [ 7.12960895e-03 5.40864631e-04 9.99974438e-01 1.24057377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.010888479 meters 0.04393734586567764 Centerline is valid? [True, True] Translation: X:20.05, Y:0.66, Z:0.12 [[ 9.99770249e-01 2.01770245e-02 -7.23441379e-03 2.00490237e+01] [-2.01806155e-02 9.99796261e-01 -4.23714660e-04 6.57681872e-01] [ 7.22439056e-03 5.69612234e-04 9.99973742e-01 1.21637161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.070888479 meters 0.04662426094072345 Centerline is valid? [True, True] Translation: X:20.11, Y:0.66, Z:0.12 [[ 9.99657379e-01 2.38566240e-02 -1.07696867e-02 2.01092968e+01] [-2.38647936e-02 9.99714996e-01 -6.30680481e-04 6.63999468e-01] [ 1.07515713e-02 8.87480746e-04 9.99941806e-01 1.17959429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.130888479 meters 0.04949722949730872 Centerline is valid? [True, True] Translation: X:20.17, Y:0.67, Z:0.12 [[ 9.99641529e-01 2.45223044e-02 -1.07456582e-02 2.01697216e+01] [-2.45304742e-02 9.99698885e-01 -6.29125965e-04 6.67381175e-01] [ 1.07269949e-02 8.92496534e-04 9.99942066e-01 1.19044278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.190888479 meters 0.0485933484974436 Centerline is valid? [True, True] Translation: X:20.23, Y:0.66, Z:0.12 [[ 9.99714079e-01 2.32581253e-02 -5.55151296e-03 2.02310141e+01] [-2.32602857e-02 9.99729390e-01 -3.24903579e-04 6.64872476e-01] [ 5.54245402e-03 4.53940460e-04 9.99984537e-01 1.24709654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.250888479 meters 0.047148479321245225 Centerline is valid? [True, True] Translation: X:20.29, Y:0.67, Z:0.13 [[ 9.99725203e-01 2.29998907e-02 -4.53029264e-03 2.02932358e+01] [-2.30013245e-02 9.99735400e-01 -2.64638460e-04 6.68834782e-01] [ 4.52300727e-03 3.68768469e-04 9.99989703e-01 1.25799188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.310888479 meters 0.04433972694813231 Centerline is valid? [True, True] Translation: X:20.36, Y:0.66, Z:0.12 [[ 9.99737390e-01 2.08618565e-02 -9.48335741e-03 2.03552252e+01] [-2.08680284e-02 9.99782086e-01 -5.52318662e-04 6.55979779e-01] [ 9.46976846e-03 7.50072589e-04 9.99954879e-01 1.22495264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.370888479 meters 0.044356709920066545 Centerline is valid? [True, True] Translation: X:20.42, Y:0.66, Z:0.12 [[ 9.99703089e-01 2.30372370e-02 -7.93846807e-03 2.04159536e+01] [-2.30416285e-02 9.99734400e-01 -4.62167603e-04 6.61812240e-01] [ 7.92571254e-03 6.44945613e-04 9.99968383e-01 1.21001613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.430888479 meters 0.04818941966960877 Centerline is valid? [True, True] Translation: X:20.48, Y:0.67, Z:0.12 [[ 9.99648449e-01 2.57035516e-02 -6.50428493e-03 2.04769629e+01] [-2.57065546e-02 9.99669460e-01 -3.78500312e-04 6.71134850e-01] [ 6.49240620e-03 5.45570006e-04 9.99978775e-01 1.20800935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.490888479 meters 0.05119245683337473 Centerline is valid? [True, True] Translation: X:20.54, Y:0.67, Z:0.13 [[ 9.99528766e-01 3.03288584e-02 -4.73354042e-03 2.05364753e+01] [-3.03305000e-02 9.99539887e-01 -2.75396482e-04 6.73019466e-01] [ 4.72300999e-03 4.18837353e-04 9.99988759e-01 1.28308419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.550888479 meters 0.054416666399391404 Centerline is valid? [True, True] Translation: X:20.60, Y:0.68, Z:0.13 [[ 9.99503790e-01 3.12567707e-02 -3.89707017e-03 2.05987660e+01] [-3.12578902e-02 9.99511327e-01 -2.26669322e-04 6.77513938e-01] [ 3.88808082e-03 3.48371038e-04 9.99992381e-01 1.29934577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.610888479 meters 0.04743068144272541 Centerline is valid? [True, True] Translation: X:20.66, Y:0.68, Z:0.12 [[ 9.99473543e-01 3.19986013e-02 -5.35967829e-03 2.06605128e+01] [-3.20007261e-02 9.99487797e-01 -3.11136855e-04 6.77455615e-01] [ 5.34697711e-03 4.82486652e-04 9.99985588e-01 1.23961916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.670888479 meters 0.05023564444790299 Centerline is valid? [True, True] Translation: X:20.72, Y:0.68, Z:0.12 [[ 9.99485381e-01 3.14852634e-02 -6.13609855e-03 2.07212344e+01] [-3.14880316e-02 9.99504066e-01 -3.55015036e-04 6.84199968e-01] [ 6.12187771e-03 5.48046004e-04 9.99981111e-01 1.22500597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.730888479 meters 0.04482837281648815 Centerline is valid? [True, True] Translation: X:20.78, Y:0.67, Z:0.12 [[ 9.99636750e-01 2.61586904e-02 -6.48773348e-03 2.07830060e+01] [-2.61616687e-02 9.99657655e-01 -3.74616110e-04 6.74413671e-01] [ 6.47571297e-03 5.44209965e-04 9.99978884e-01 1.24185767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.790888479 meters 0.04548716123342524 Centerline is valid? [True, True] Translation: X:20.84, Y:0.67, Z:0.12 [[ 9.99745789e-01 2.13099265e-02 -7.36506897e-03 2.08434801e+01] [-2.13136338e-02 9.99772748e-01 -4.25229110e-04 6.73884379e-01] [ 7.35433364e-03 5.82097395e-04 9.99972787e-01 1.24224407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.850888479 meters 0.04392061818020663 Centerline is valid? [True, True] Translation: X:20.91, Y:0.68, Z:0.13 [[ 9.99782727e-01 2.03236787e-02 -4.63103979e-03 2.09051196e+01] [-2.03251334e-02 9.99793387e-01 -2.67283430e-04 6.77014690e-01] [ 4.62465077e-03 3.61351859e-04 9.99989241e-01 1.27512994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.910888479 meters 0.04362975796017775 Centerline is valid? [True, True] Translation: X:20.97, Y:0.68, Z:0.12 [[ 9.99789903e-01 1.96466683e-02 -5.84452416e-03 2.09670942e+01] [-1.96489683e-02 9.99806884e-01 -3.36372076e-04 6.77741910e-01] [ 5.83678690e-03 4.51140275e-04 9.99982864e-01 1.23841597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.970888479 meters 0.045006720734902826 Centerline is valid? [True, True] Translation: X:21.03, Y:0.68, Z:0.12 [[ 9.99751717e-01 2.13048597e-02 -6.52748554e-03 2.10287321e+01] [-2.13077531e-02 9.99772894e-01 -3.74039844e-04 6.83514581e-01] [ 6.51803424e-03 5.13033027e-04 9.99978626e-01 1.24282679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.030888479 meters 0.047437363628977616 Centerline is valid? [True, True] Translation: X:21.09, Y:0.69, Z:0.12 [[ 9.99692576e-01 2.36031700e-02 -7.59232011e-03 2.10880565e+01] [-2.36071446e-02 9.99721218e-01 -4.34309270e-04 6.90656237e-01] [ 7.57995243e-03 6.13408752e-04 9.99971084e-01 1.24992439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.090888479 meters 0.04558640384635723 Centerline is valid? [True, True] Translation: X:21.15, Y:0.69, Z:0.12 [[ 9.99654506e-01 2.53075345e-02 -7.09905354e-03 2.11487899e+01] [-2.53110507e-02 9.99679542e-01 -4.05878128e-04 6.92551384e-01] [ 7.08650681e-03 5.85422403e-04 9.99974719e-01 1.24861785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.150888479 meters 0.052505658956891625 Centerline is valid? [True, True] Translation: X:21.21, Y:0.70, Z:0.12 [[ 9.99607270e-01 2.65266271e-02 -9.03564568e-03 2.12091307e+01] [-2.65323584e-02 9.99647822e-01 -5.14991564e-04 7.02952589e-01] [ 9.01880254e-03 7.54526301e-04 9.99959045e-01 1.23709435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.210888479 meters 0.04624755142847414 Centerline is valid? [True, True] Translation: X:21.27, Y:0.70, Z:0.12 [[ 9.99582148e-01 2.66220990e-02 -1.12602860e-02 2.12722154e+01] [-2.66309698e-02 9.99645129e-01 -6.38567381e-04 6.97166697e-01] [ 1.12392900e-02 9.38172890e-04 9.99936397e-01 1.22750769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.270888479 meters 0.04891772326740458 Centerline is valid? [True, True] Translation: X:21.33, Y:0.71, Z:0.12 [[ 9.99647655e-01 2.47251809e-02 -9.65559747e-03 2.13317731e+01] [-2.47316089e-02 9.99693977e-01 -5.46880326e-04 7.05558376e-01] [ 9.63912093e-03 7.85486096e-04 9.99953234e-01 1.21971552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.330888479 meters 0.0452668101359496 Centerline is valid? [True, True] Translation: X:21.39, Y:0.70, Z:0.13 [[ 9.99748461e-01 2.06859065e-02 -8.66645051e-03 2.13923959e+01] [-2.06909341e-02 9.99785799e-01 -4.90859736e-04 6.97646058e-01] [ 8.65444027e-03 6.70053223e-04 9.99962325e-01 1.26574745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.390888479 meters 0.04417723846744048 Centerline is valid? [True, True] Translation: X:21.45, Y:0.69, Z:0.13 [[ 9.99755117e-01 1.89889331e-02 -1.13634129e-02 2.14541714e+01] [-1.89974647e-02 9.99819325e-01 -6.43312768e-04 6.94304188e-01] [ 1.13491440e-02 8.59031267e-04 9.99935227e-01 1.26944280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.450888479 meters 0.04753627418842594 Centerline is valid? [True, True] Translation: X:21.51, Y:0.71, Z:0.13 [[ 9.99753701e-01 1.93749606e-02 -1.08234607e-02 2.15134318e+01] [-1.93827220e-02 9.99811950e-01 -6.12650548e-04 7.06441391e-01] [ 1.08095553e-02 8.22287783e-04 9.99941237e-01 1.26284273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.510888479 meters 0.042798862528622104 Centerline is valid? [True, True] Translation: X:21.57, Y:0.70, Z:0.13 [[ 9.99732636e-01 2.00588974e-02 -1.15020077e-02 2.15741450e+01] [-2.00677076e-02 9.99798411e-01 -6.51058984e-04 7.00793597e-01] [ 1.14866295e-02 8.81703843e-04 9.99933638e-01 1.26867669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.570888479 meters 0.04909097231085706 Centerline is valid? [True, True] Translation: X:21.63, Y:0.71, Z:0.12 [[ 9.99705644e-01 1.92905850e-02 -1.47139113e-02 2.16343012e+01] [-1.93049176e-02 9.99813296e-01 -8.32657730e-04 7.09351055e-01] [ 1.46951017e-02 1.11646348e-03 9.99891398e-01 1.24076037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.630888479 meters 0.04928834582367024 Centerline is valid? [True, True] Translation: X:21.69, Y:0.71, Z:0.12 [[ 9.99709493e-01 1.71007413e-02 -1.69851048e-02 2.16945398e+01] [-1.71195295e-02 9.99852988e-01 -9.61362175e-04 7.10473333e-01] [ 1.69661678e-02 1.25185990e-03 9.99855281e-01 1.21225675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.690888479 meters 0.049242737236610615 Centerline is valid? [True, True] Translation: X:21.75, Y:0.71, Z:0.12 [[ 9.99742464e-01 1.58164822e-02 -1.62740203e-02 2.17547416e+01] [-1.58335650e-02 9.99874217e-01 -9.21379947e-04 7.10543570e-01] [ 1.62574003e-02 1.17881842e-03 9.99867145e-01 1.23019899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.750888479 meters 0.043331870100348294 Centerline is valid? [True, True] Translation: X:21.81, Y:0.70, Z:0.13 [[ 9.99761673e-01 1.65545354e-02 -1.42317941e-02 2.18136649e+01] [-1.65676855e-02 9.99862421e-01 -8.06578116e-04 7.04113839e-01] [ 1.42164836e-02 1.04217378e-03 9.99898398e-01 1.27746125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.810888479 meters 0.04570662344740724 Centerline is valid? [True, True] Translation: X:21.87, Y:0.71, Z:0.13 [[ 9.99678601e-01 1.82514293e-02 -1.75948690e-02 2.18739364e+01] [-1.82717996e-02 9.99832559e-01 -9.97666794e-04 7.07110440e-01] [ 1.75737140e-02 1.31883606e-03 9.99844701e-01 1.25846452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.870888479 meters 0.047698441422268804 Centerline is valid? [True, True] Translation: X:21.93, Y:0.71, Z:0.13 [[ 9.99655633e-01 2.00671203e-02 -1.69093470e-02 2.19330425e+01] [-2.00862053e-02 9.99797791e-01 -9.59571155e-04 7.13173896e-01] [ 1.68866720e-02 1.29888533e-03 9.99856566e-01 1.25451242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.930888479 meters 0.04220146437632358 Centerline is valid? [True, True] Translation: X:21.99, Y:0.70, Z:0.13 [[ 9.99731465e-01 1.71851376e-02 -1.55456967e-02 2.19935156e+01] [-1.72009287e-02 9.99851664e-01 -8.82637060e-04 7.04487281e-01] [ 1.55282225e-02 1.14980046e-03 9.99878769e-01 1.29964037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.990888479 meters 0.04180884742683726 Centerline is valid? [True, True] Translation: X:22.05, Y:0.70, Z:0.13 [[ 9.99749868e-01 1.30922531e-02 -1.81327022e-02 2.20535705e+01] [-1.31130758e-02 9.99913490e-01 -1.02992450e-03 7.03713470e-01] [ 1.81176495e-02 1.26744238e-03 9.99835059e-01 1.28919911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.050888479 meters 0.039537756527743474 Centerline is valid? [True, True] Translation: X:22.11, Y:0.71, Z:0.12 [[ 9.99720189e-01 9.97904461e-03 -2.14467349e-02 2.21125643e+01] [-1.00074784e-02 9.99949181e-01 -1.21886618e-03 7.06662064e-01] [ 2.14334819e-02 1.43315287e-03 9.99769249e-01 1.23586451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.110888479 meters 0.04232003246012133 Centerline is valid? [True, True] Translation: X:22.17, Y:0.71, Z:0.12 [[ 9.99734976e-01 8.60733909e-03 -2.13516253e-02 2.21714294e+01] [-8.63523854e-03 9.99961978e-01 -1.21481023e-03 7.09736091e-01] [ 2.13403572e-02 1.39886466e-03 9.99771290e-01 1.24553288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.170888479 meters 0.04246603466052398 Centerline is valid? [True, True] Translation: X:22.23, Y:0.71, Z:0.13 [[ 9.99856388e-01 5.92238246e-03 -1.58785784e-02 2.22308586e+01] [-5.93747979e-03 9.99981965e-01 -9.03824244e-04 7.13232391e-01] [ 1.58729392e-02 9.97973181e-04 9.99873519e-01 1.31099444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.230888479 meters 0.03574843452351434 Centerline is valid? [True, True] Translation: X:22.29, Y:0.71, Z:0.13 [[ 9.99858730e-01 3.87539392e-03 -1.63554795e-02 2.22916576e+01] [-3.89114395e-03 9.99991996e-01 -9.31268966e-04 7.05737025e-01] [ 1.63517396e-02 9.94778930e-04 9.99865807e-01 1.32118011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.290888479 meters 0.03941727561481403 Centerline is valid? [True, True] Translation: X:22.35, Y:0.71, Z:0.13 [[ 9.99867470e-01 2.14984264e-03 -1.61375476e-02 2.23489232e+01] [-2.16497135e-03 9.99997233e-01 -9.20073848e-04 7.13334558e-01] [ 1.61355249e-02 9.54889238e-04 9.99869358e-01 1.31677464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.350888479 meters 0.03523120872786543 Centerline is valid? [True, True] Translation: X:22.41, Y:0.71, Z:0.13 [[ 9.99836098e-01 1.74336170e-04 -1.81037744e-02 2.24082066e+01] [-1.93078626e-04 9.99999447e-01 -1.03353618e-03 7.08185145e-01] [ 1.81035842e-02 1.03686223e-03 9.99835579e-01 1.30485184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.410888479 meters 0.03405880288254288 Centerline is valid? [True, True] Translation: X:22.47, Y:0.71, Z:0.13 [[ 9.99839894e-01 1.63516780e-03 -1.78188693e-02 2.24671101e+01] [-1.65357369e-03 9.99998114e-01 -1.01825907e-03 7.14000517e-01] [ 1.78171707e-02 1.04756085e-03 9.99840713e-01 1.29333210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.470888479 meters 0.038383759719920155 Centerline is valid? [True, True] Translation: X:22.53, Y:0.72, Z:0.13 [[ 9.99862972e-01 4.39264857e-03 -1.59606162e-02 2.25259617e+01] [-4.40777832e-03 9.99989869e-01 -9.12888299e-04 7.23419155e-01] [ 1.59564445e-02 9.83114066e-04 9.99872205e-01 1.30232446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.530888479 meters 0.03757262427731268 Centerline is valid? [True, True] Translation: X:22.59, Y:0.73, Z:0.13 [[ 9.99863427e-01 6.75949590e-03 -1.50810067e-02 2.25852465e+01] [-6.77328380e-03 9.99976688e-01 -8.63366155e-04 7.28175512e-01] [ 1.50748193e-02 9.65396181e-04 9.99885902e-01 1.30118893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.590888479 meters 0.03935050089166104 Centerline is valid? [True, True] Translation: X:22.64, Y:0.73, Z:0.13 [[ 9.99866181e-01 7.53954209e-03 -1.45180811e-02 2.26424929e+01] [-7.55241851e-03 9.99971134e-01 -8.32299924e-04 7.34875679e-01] [ 1.45113869e-02 9.41835172e-04 9.99894261e-01 1.30865437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.650888479 meters 0.03765252929717559 Centerline is valid? [True, True] Translation: X:22.70, Y:0.74, Z:0.13 [[ 9.99836301e-01 8.85530561e-03 -1.57783258e-02 2.27023260e+01] [-8.87068930e-03 9.99960245e-01 -9.05267394e-04 7.36018521e-01] [ 1.57696822e-02 1.04508383e-03 9.99875105e-01 1.30875577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.710888479 meters 0.037653125427298845 Centerline is valid? [True, True] Translation: X:22.76, Y:0.74, Z:0.13 [[ 9.99866177e-01 9.67144834e-03 -1.31943785e-02 2.27604769e+01] [-9.68228704e-03 9.99952838e-01 -7.57830835e-04 7.43399591e-01] [ 1.31864269e-02 8.85481180e-04 9.99912663e-01 1.30804793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.770888479 meters 0.03919946490188217 Centerline is valid? [True, True] Translation: X:22.82, Y:0.74, Z:0.13 [[ 9.99871352e-01 1.00891595e-02 -1.24694843e-02 2.28191892e+01] [-1.00988830e-02 9.99948748e-01 -7.17067817e-04 7.42761292e-01] [ 1.24616106e-02 8.42903431e-04 9.99921996e-01 1.32736908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.830888479 meters 0.03801382400088712 Centerline is valid? [True, True] Translation: X:22.88, Y:0.75, Z:0.13 [[ 9.99881511e-01 1.05383691e-02 -1.12208076e-02 2.28780155e+01] [-1.05462795e-02 9.99944178e-01 -6.46037163e-04 7.45041403e-01] [ 1.12133730e-02 7.64298388e-04 9.99936836e-01 1.34833234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.890888479 meters 0.04123620495579198 Centerline is valid? [True, True] Translation: X:22.94, Y:0.76, Z:0.13 [[ 9.99849318e-01 1.01157051e-02 -1.41072452e-02 2.29358001e+01] [-1.01281791e-02 9.99948378e-01 -8.13064558e-04 7.56573241e-01] [ 1.40982922e-02 9.55822750e-04 9.99900157e-01 1.26503386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.950888479 meters 0.04057553105770746 Centerline is valid? [True, True] Translation: X:23.00, Y:0.75, Z:0.13 [[ 9.99774162e-01 1.16822179e-02 -1.77524985e-02 2.29952760e+01] [-1.17022379e-02 9.99931002e-01 -1.02426634e-03 7.53641913e-01] [ 1.77393079e-02 1.23177898e-03 9.99841887e-01 1.27183477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.010888479000002 meters 0.039442100559897914 Centerline is valid? [True, True] Translation: X:23.05, Y:0.76, Z:0.13 [[ 9.99768284e-01 1.18213156e-02 -1.79898736e-02 2.30538002e+01] [-1.18419195e-02 9.99929342e-01 -1.03921114e-03 7.55603754e-01] [ 1.79763176e-02 1.25200498e-03 9.99837629e-01 1.30090607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.070888479 meters 0.0362715759470785 Centerline is valid? [True, True] Translation: X:23.11, Y:0.76, Z:0.13 [[ 9.99824314e-01 9.66245620e-03 -1.60617231e-02 2.31140778e+01] [-9.67860901e-03 9.99952730e-01 -9.28240716e-04 7.58085886e-01] [ 1.60519948e-02 1.08353277e-03 9.99870571e-01 1.29194204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.130888479 meters 0.039694135513142485 Centerline is valid? [True, True] Translation: X:23.17, Y:0.76, Z:0.13 [[ 9.99846352e-01 7.29567009e-03 -1.59387902e-02 2.31726726e+01] [-7.31128892e-03 9.99972847e-01 -9.21874510e-04 7.63175214e-01] [ 1.59316317e-02 1.03826597e-03 9.99872544e-01 1.27406032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.190888479 meters 0.03566540402293335 Centerline is valid? [True, True] Translation: X:23.23, Y:0.76, Z:0.13 [[ 9.99898837e-01 6.07145205e-03 -1.28628305e-02 2.32324611e+01] [-6.08153715e-03 9.99981230e-01 -7.45080124e-04 7.60096928e-01] [ 1.28580653e-02 8.23230531e-04 9.99916993e-01 1.31861156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.250888479 meters 0.03755514004028354 Centerline is valid? [True, True] Translation: X:23.29, Y:0.76, Z:0.13 [[ 9.99861224e-01 5.36127602e-03 -1.57730698e-02 2.32916653e+01] [-5.37637334e-03 9.99985129e-01 -9.14909793e-04 7.62050718e-01] [ 1.57679301e-02 9.99584738e-04 9.99875179e-01 1.31589191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.310888479 meters 0.0367353108854741 Centerline is valid? [True, True] Translation: X:23.35, Y:0.77, Z:0.13 [[ 9.99866092e-01 9.01590994e-03 -1.36569038e-02 2.33513075e+01] [-9.02757203e-03 9.99958937e-01 -7.92525414e-04 7.67502204e-01] [ 1.36491977e-02 9.15707972e-04 9.99906426e-01 1.33186961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.370888479 meters 0.039629942258735736 Centerline is valid? [True, True] Translation: X:23.41, Y:0.77, Z:0.13 [[ 9.99848314e-01 1.05806266e-02 -1.38347127e-02 2.34106104e+01] [-1.05927496e-02 9.99943573e-01 -8.03283118e-04 7.74382445e-01] [ 1.38254328e-02 9.49708918e-04 9.99903973e-01 1.30078820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.430888479 meters 0.036899086699862346 Centerline is valid? [True, True] Translation: X:23.47, Y:0.77, Z:0.13 [[ 9.99801598e-01 1.29269893e-02 -1.51544754e-02 2.34708600e+01] [-1.29418089e-02 9.99915864e-01 -8.80242020e-04 7.72159684e-01] [ 1.51418215e-02 1.07619370e-03 9.99884777e-01 1.30816533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.490888479 meters 0.03640049302242864 Centerline is valid? [True, True] Translation: X:23.53, Y:0.77, Z:0.14 [[ 9.99849347e-01 1.21656811e-02 -1.23805710e-02 2.35301533e+01] [-1.21755226e-02 9.99925616e-01 -7.19851135e-04 7.71582930e-01] [ 1.23708927e-02 8.70482611e-04 9.99923099e-01 1.36447081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.550888479 meters 0.038694828846123505 Centerline is valid? [True, True] Translation: X:23.59, Y:0.77, Z:0.14 [[ 9.99876394e-01 9.26420003e-03 -1.27032111e-02 2.35901374e+01] [-9.27433302e-03 9.99956719e-01 -7.38993172e-04 7.73234328e-01] [ 1.26958151e-02 8.56715639e-04 9.99919038e-01 1.36249789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.610888479 meters 0.03688180290160804 Centerline is valid? [True, True] Translation: X:23.65, Y:0.78, Z:0.13 [[ 9.99928272e-01 8.17031838e-03 -8.75767578e-03 2.36490393e+01] [-8.17509556e-03 9.99966453e-01 -5.09825089e-04 7.80009417e-01] [ 8.75321656e-03 5.81383357e-04 9.99961521e-01 1.32676224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.670888479000002 meters 0.03772387030563612 Centerline is valid? [True, True] Translation: X:23.71, Y:0.78, Z:0.13 [[ 9.99880540e-01 9.21932271e-03 -1.24060379e-02 2.37082458e+01] [-9.22899690e-03 9.99957151e-01 -7.22771316e-04 7.80076977e-01] [ 1.23988429e-02 8.37180259e-04 9.99922781e-01 1.33065585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.730888479 meters 0.03732697094150334 Centerline is valid? [True, True] Translation: X:23.77, Y:0.78, Z:0.13 [[ 9.99831464e-01 9.17321211e-03 -1.59027041e-02 2.37669686e+01] [-9.18911992e-03 9.99957349e-01 -9.27537761e-04 7.80534050e-01] [ 1.58935173e-02 1.07351329e-03 9.99873114e-01 1.32737666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.790888479 meters 0.042380046193704037 Centerline is valid? [True, True] Translation: X:23.82, Y:0.80, Z:0.13 [[ 9.99899993e-01 1.04611744e-02 -9.51668780e-03 2.38239361e+01] [-1.04669363e-02 9.99945066e-01 -5.55842817e-04 7.96823986e-01] [ 9.51035024e-03 6.55397793e-04 9.99954561e-01 1.34537982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.850888479 meters 0.046912846901524426 Centerline is valid? [True, True] Translation: X:23.88, Y:0.80, Z:0.13 [[ 9.99903566e-01 1.06265726e-02 -8.94059105e-03 2.38836637e+01] [-1.06316686e-02 9.99943346e-01 -5.22653384e-04 8.03558170e-01] [ 8.93453051e-03 6.17656384e-04 9.99959896e-01 1.32862223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.910888479 meters 0.037209315584337904 Centerline is valid? [True, True] Translation: X:23.95, Y:0.79, Z:0.13 [[ 9.99887459e-01 1.04435430e-02 -1.07703859e-02 2.39452571e+01] [-1.04509292e-02 9.99945189e-01 -6.29731218e-04 7.90778732e-01] [ 1.07632189e-02 7.42220888e-04 9.99941799e-01 1.34378780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.970888479 meters 0.03994542458864417 Centerline is valid? [True, True] Translation: X:24.00, Y:0.79, Z:0.13 [[ 9.99854228e-01 8.43888663e-03 -1.48427935e-02 2.40034809e+01] [-8.45270475e-03 9.99963898e-01 -8.68476096e-04 7.94465717e-01] [ 1.48349287e-02 9.93811248e-04 9.99889463e-01 1.30475933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.030888479 meters 0.04096442297742963 Centerline is valid? [True, True] Translation: X:24.06, Y:0.80, Z:0.13 [[ 9.99884935e-01 7.04973462e-03 -1.34319691e-02 2.40614729e+01] [-7.06093728e-03 9.99974762e-01 -7.86788827e-04 8.03287141e-01] [ 1.34260835e-02 8.81540587e-04 9.99909477e-01 1.28541772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.090888479 meters 0.03348234220386291 Centerline is valid? [True, True] Translation: X:24.12, Y:0.79, Z:0.13 [[ 9.99923178e-01 4.04139654e-03 -1.17176938e-02 2.41223154e+01] [-4.04972011e-03 9.99991564e-01 -6.86701916e-04 7.90988539e-01] [ 1.17148198e-02 7.34102543e-04 9.99931110e-01 1.33897188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.150888479 meters 0.033852937884163596 Centerline is valid? [True, True] Translation: X:24.18, Y:0.79, Z:0.14 [[ 9.99935492e-01 2.07673916e-03 -1.11668535e-02 2.41828377e+01] [-2.08417868e-03 9.99997614e-01 -6.54618112e-04 7.88382200e-01] [ 1.11654674e-02 6.77849602e-04 9.99937434e-01 1.36674363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.210888479 meters 0.03589415518487747 Centerline is valid? [True, True] Translation: X:24.24, Y:0.80, Z:0.13 [[ 9.99949744e-01 1.40197073e-03 -9.92688422e-03 2.42412589e+01] [-1.40782205e-03 9.99998839e-01 -5.82477655e-04 7.96021155e-01] [ 9.92605608e-03 5.96423668e-04 9.99950558e-01 1.33158103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.270888479 meters 0.036631223562091426 Centerline is valid? [True, True] Translation: X:24.30, Y:0.79, Z:0.14 [[ 9.99937724e-01 8.80598189e-04 -1.11253249e-02 2.43003647e+01] [-8.87924472e-04 9.99999392e-01 -6.53600884e-04 7.94996385e-01] [ 1.11247426e-02 6.63438629e-04 9.99937898e-01 1.35741943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.330888479 meters 0.03523611982503097 Centerline is valid? [True, True] Translation: X:24.36, Y:0.79, Z:0.14 [[ 9.99905548e-01 2.86970342e-03 -1.34410034e-02 2.43602114e+01] [-2.88058451e-03 9.99995539e-01 -7.90254458e-04 7.94896488e-01] [ 1.34386756e-02 8.28897763e-04 9.99909353e-01 1.36635636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.390888479 meters 0.04293547807560513 Centerline is valid? [True, True] Translation: X:24.42, Y:0.81, Z:0.14 [[ 9.99915193e-01 8.45125821e-03 -9.90870015e-03 2.44186232e+01] [-8.45744624e-03 9.99964065e-01 -5.82768419e-04 8.10689533e-01] [ 9.90341896e-03 6.66521295e-04 9.99950738e-01 1.35790623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.450888479 meters 0.036333160250451746 Centerline is valid? [True, True] Translation: X:24.48, Y:0.80, Z:0.14 [[ 9.99913271e-01 1.08328505e-02 -7.49002756e-03 2.44783130e+01] [-1.08364549e-02 9.99941187e-01 -4.40805243e-04 8.03072106e-01] [ 7.48481187e-03 5.21932358e-04 9.99971852e-01 1.43276890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.510888479000002 meters 0.03866916002055908 Centerline is valid? [True, True] Translation: X:24.54, Y:0.81, Z:0.14 [[ 9.99931119e-01 9.06602375e-03 -7.45415626e-03 2.45388265e+01] [-9.06954593e-03 9.99958775e-01 -4.38843769e-04 8.06260879e-01] [ 7.44987039e-03 5.06419354e-04 9.99972121e-01 1.40119204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.570888479 meters 0.03917345138382647 Centerline is valid? [True, True] Translation: X:24.60, Y:0.81, Z:0.14 [[ 9.99950021e-01 6.70574274e-03 -7.41548385e-03 2.45994642e+01] [-6.70916385e-03 9.99977398e-01 -4.36567033e-04 8.08237462e-01] [ 7.41238874e-03 4.86296910e-04 9.99972410e-01 1.38617383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.630888479 meters 0.03540312712941969 Centerline is valid? [True, True] Translation: X:24.66, Y:0.80, Z:0.14 [[ 9.99931984e-01 6.17965890e-03 -9.89137231e-03 2.46599716e+01] [-6.18572164e-03 9.99980699e-01 -5.82455677e-04 8.04319688e-01] [ 9.88758202e-03 6.43601336e-04 9.99950910e-01 1.41001895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.690888479 meters 0.04196793716068859 Centerline is valid? [True, True] Translation: X:24.72, Y:0.81, Z:0.14 [[ 9.99898291e-01 7.08867353e-03 -1.23756806e-02 2.47180338e+01] [-7.09824075e-03 9.99974541e-01 -7.29312749e-04 8.14027332e-01] [ 1.23701957e-02 8.17084132e-04 9.99923152e-01 1.36017000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.750888479 meters 0.037623288054499236 Centerline is valid? [True, True] Translation: X:24.78, Y:0.81, Z:0.14 [[ 9.99910860e-01 7.11326433e-03 -1.12992931e-02 2.47775464e+01] [-7.12124944e-03 9.99974421e-01 -6.66613969e-04 8.09774367e-01] [ 1.12942622e-02 7.47019631e-04 9.99935939e-01 1.38713567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.810888479 meters 0.037583869399839445 Centerline is valid? [True, True] Translation: X:24.84, Y:0.81, Z:0.14 [[ 9.99937766e-01 2.72336881e-03 -1.08188743e-02 2.48369384e+01] [-2.73043722e-03 9.99996068e-01 -6.38624309e-04 8.10726439e-01] [ 1.08170926e-02 6.68124822e-04 9.99941270e-01 1.38193509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.870888479 meters 0.031232984981736562 Centerline is valid? [True, True] Translation: X:24.90, Y:0.80, Z:0.14 [[ 9.99953219e-01 -4.80527469e-03 -8.39454153e-03 2.48980883e+01] [ 4.80128368e-03 9.99988351e-01 -4.95516964e-04 8.00892130e-01] [ 8.39682484e-03 4.55189208e-04 9.99964642e-01 1.42687266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.930888479 meters 0.033245135988514675 Centerline is valid? [True, True] Translation: X:24.96, Y:0.80, Z:0.14 [[ 9.99916603e-01 -8.75581099e-03 -9.49330614e-03 2.49565631e+01] [ 8.75088122e-03 9.99961553e-01 -5.60704466e-04 8.04606249e-01] [ 9.49785057e-03 4.77582910e-04 9.99954780e-01 1.44180350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.990888479 meters 0.030434571425572484 Centerline is valid? [True, True] Translation: X:25.02, Y:0.80, Z:0.14 [[ 9.99876035e-01 -1.09372566e-02 -1.13265399e-02 2.50156564e+01] [ 1.09303697e-02 9.99940037e-01 -6.69755548e-04 8.01669397e-01] [ 1.13331861e-02 5.45869252e-04 9.99935628e-01 1.42471996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.050888479 meters 0.030955808195053724 Centerline is valid? [True, True] Translation: X:25.07, Y:0.81, Z:0.14 [[ 9.99902303e-01 -1.01600781e-02 -9.59982419e-03 2.50745122e+01] [ 1.01550776e-02 9.99948274e-01 -5.69502240e-04 8.06494062e-01] [ 9.60511382e-03 4.71959642e-04 9.99953758e-01 1.41623840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.110888479 meters 0.03234564874633817 Centerline is valid? [True, True] Translation: X:25.13, Y:0.81, Z:0.14 [[ 9.99862188e-01 -9.65057183e-03 -1.35081935e-02 2.51337931e+01] [ 9.64057516e-03 9.99953205e-01 -8.04967268e-04 8.07385947e-01] [ 1.35153298e-02 6.74629579e-04 9.99908436e-01 1.41821239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.170888479000002 meters 0.031081309654148806 Centerline is valid? [True, True] Translation: X:25.19, Y:0.81, Z:0.14 [[ 9.99851738e-01 -8.58692835e-03 -1.49253982e-02 2.51931555e+01] [ 8.57454888e-03 9.99962839e-01 -8.93219376e-04 8.07704547e-01] [ 1.49325136e-02 7.65108388e-04 9.99888211e-01 1.43169077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.230888479 meters 0.03216147773048469 Centerline is valid? [True, True] Translation: X:25.25, Y:0.81, Z:0.14 [[ 9.99880435e-01 -9.63635730e-03 -1.20936297e-02 2.52506126e+01] [ 9.62828975e-03 9.99953384e-01 -7.25137829e-04 8.14278855e-01] [ 1.21000536e-02 6.08610157e-04 9.99926606e-01 1.43573877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.290888479 meters 0.027351221347642524 Centerline is valid? [True, True] Translation: X:25.31, Y:0.81, Z:0.15 [[ 9.99876604e-01 -1.28074159e-02 -9.09655241e-03 2.53103832e+01] [ 1.28029789e-02 9.99917890e-01 -5.45845333e-04 8.10827695e-01] [ 9.10279636e-03 4.29315009e-04 9.99958477e-01 1.49077654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.350888479 meters 0.029640096279236163 Centerline is valid? [True, True] Translation: X:25.37, Y:0.81, Z:0.15 [[ 9.99835914e-01 -1.47280171e-02 -1.05465706e-02 2.53695330e+01] [ 1.47221374e-02 9.99891422e-01 -6.34921657e-04 8.11331884e-01] [ 1.05547766e-02 4.79549414e-04 9.99944182e-01 1.49940035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.410888479 meters 0.0296132741313103 Centerline is valid? [True, True] Translation: X:25.43, Y:0.82, Z:0.15 [[ 9.99863568e-01 -1.39159966e-02 -8.89892401e-03 2.54274424e+01] [ 1.39117683e-02 9.99903083e-01 -5.36865543e-04 8.20738982e-01] [ 8.90553257e-03 4.12992528e-04 9.99960260e-01 1.49590116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.470888479 meters 0.029837297700597017 Centerline is valid? [True, True] Translation: X:25.49, Y:0.83, Z:0.15 [[ 9.99903380e-01 -9.11549416e-03 -1.04946520e-02 2.54871814e+01] [ 9.10934562e-03 9.99958308e-01 -6.33526528e-04 8.29746635e-01] [ 1.04999893e-02 5.37865905e-04 9.99944729e-01 1.48495211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.530888479 meters 0.03304518773658418 Centerline is valid? [True, True] Translation: X:25.55, Y:0.84, Z:0.15 [[ 9.99913290e-01 -4.88118720e-03 -1.22305207e-02 2.55470015e+01] [ 4.87251814e-03 9.99987857e-01 -7.38503697e-04 8.36897074e-01] [ 1.22339770e-02 6.78846228e-04 9.99924932e-01 1.47318789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.590888479 meters 0.03400581036139334 Centerline is valid? [True, True] Translation: X:25.61, Y:0.85, Z:0.15 [[ 9.99929096e-01 -9.10805264e-04 -1.18732231e-02 2.56067039e+01] [ 9.02353977e-04 9.99999336e-01 -7.17131567e-04 8.46672666e-01] [ 1.18738684e-02 7.06366870e-04 9.99929254e-01 1.47547010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.650888479 meters 0.033776492663515394 Centerline is valid? [True, True] Translation: X:25.67, Y:0.85, Z:0.15 [[ 9.99948697e-01 -4.97188850e-04 -1.01171221e-02 2.56658778e+01] [ 4.91012553e-04 9.99999692e-01 -6.12954326e-04 8.49957807e-01] [ 1.01174237e-02 6.07955246e-04 9.99948633e-01 1.46877822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.710888479 meters 0.0353351999022923 Centerline is valid? [True, True] Translation: X:25.72, Y:0.85, Z:0.15 [[ 9.99949004e-01 -1.16555372e-04 -1.00983293e-02 2.57235719e+01] [ 1.10369010e-04 9.99999806e-01 -6.13167505e-04 8.52982725e-01] [ 1.00983988e-02 6.12021693e-04 9.99948823e-01 1.49326534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.770888479 meters 0.03567890802972848 Centerline is valid? [True, True] Translation: X:25.78, Y:0.86, Z:0.15 [[ 9.99928794e-01 2.63647308e-03 -1.16385415e-02 2.57832747e+01] [-2.64488153e-03 9.99996252e-01 -7.07133180e-04 8.57815861e-01] [ 1.16366336e-02 7.37865392e-04 9.99932020e-01 1.48668007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.830888479000002 meters 0.03651059827664558 Centerline is valid? [True, True] Translation: X:25.84, Y:0.86, Z:0.15 [[ 9.99917182e-01 4.04023586e-03 -1.22190484e-02 2.58422830e+01] [-4.04961530e-03 9.99991524e-01 -7.42963785e-04 8.63469594e-01] [ 1.22159431e-02 7.92384700e-04 9.99925069e-01 1.47799761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.890888479 meters 0.03649259724960329 Centerline is valid? [True, True] Translation: X:25.90, Y:0.86, Z:0.15 [[ 9.99851114e-01 3.05995203e-03 -1.69819366e-02 2.59016583e+01] [-3.07794992e-03 9.99994729e-01 -1.03378995e-03 8.62562795e-01] [ 1.69786837e-02 1.08590558e-03 9.99855262e-01 1.46614608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.950888479 meters 0.04141330824027986 Centerline is valid? [True, True] Translation: X:25.96, Y:0.88, Z:0.14 [[ 9.99856161e-01 2.32293412e-04 -1.69588501e-02 2.59600777e+01] [-2.49849119e-04 9.99999435e-01 -1.03308300e-03 8.78500110e-01] [ 1.69586005e-02 1.03717156e-03 9.99855655e-01 1.40055526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.010888479000002 meters 0.0338018960094645 Centerline is valid? [True, True] Translation: X:26.02, Y:0.87, Z:0.15 [[ 9.99908195e-01 -9.33537326e-04 -1.35177365e-02 2.60193354e+01] [ 9.22478554e-04 9.99999235e-01 -8.24305489e-04 8.71046505e-01] [ 1.35184957e-02 8.11759992e-04 9.99908291e-01 1.45275739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.070888479 meters 0.03245733139213559 Centerline is valid? [True, True] Translation: X:26.08, Y:0.86, Z:0.15 [[ 9.99911112e-01 -5.63072156e-03 -1.20856843e-02 2.60803619e+01] [ 5.62222140e-03 9.99983923e-01 -7.37185211e-04 8.63668825e-01] [ 1.20896408e-02 6.69171291e-04 9.99926694e-01 1.52234435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.130888479 meters 0.03197670493147275 Centerline is valid? [True, True] Translation: X:26.14, Y:0.87, Z:0.15 [[ 9.99884667e-01 -7.63763494e-03 -1.31270611e-02 2.61393738e+01] [ 7.62776938e-03 9.99970587e-01 -8.01447900e-04 8.66635366e-01] [ 1.31327961e-02 7.01225272e-04 9.99913515e-01 1.48416607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.190888479 meters 0.03382217911629857 Centerline is valid? [True, True] Translation: X:26.20, Y:0.87, Z:0.15 [[ 9.99886948e-01 -6.20724527e-03 -1.36953189e-02 2.61972628e+01] [ 6.19635996e-03 9.99980452e-01 -8.37109910e-04 8.72713231e-01] [ 1.37002473e-02 7.52154148e-04 9.99905864e-01 1.46931240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.250888479 meters 0.032134010732443555 Centerline is valid? [True, True] Translation: X:26.26, Y:0.87, Z:0.15 [[ 9.99900242e-01 -4.19906552e-03 -1.34860823e-02 2.62571949e+01] [ 4.18832047e-03 9.99990889e-01 -8.24895473e-04 8.70760932e-01] [ 1.34894232e-02 7.68329148e-04 9.99908718e-01 1.51382130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.310888479 meters 0.03195154495367487 Centerline is valid? [True, True] Translation: X:26.32, Y:0.88, Z:0.15 [[ 9.99914611e-01 -4.10994742e-03 -1.24047723e-02 2.63155371e+01] [ 4.10081905e-03 9.99991302e-01 -7.61221350e-04 8.75835135e-01] [ 1.24077930e-02 7.10286624e-04 9.99922768e-01 1.53196079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.370888479 meters 0.03318539496177073 Centerline is valid? [True, True] Translation: X:26.38, Y:0.88, Z:0.15 [[ 9.99871802e-01 -6.64638075e-03 -1.45672506e-02 2.63750338e+01] [ 6.63404248e-03 9.99977594e-01 -8.95146666e-04 8.80100029e-01] [ 1.45728737e-02 7.98392151e-04 9.99893491e-01 1.48846915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.430888479 meters 0.02933402263044013 Centerline is valid? [True, True] Translation: X:26.44, Y:0.88, Z:0.15 [[ 9.99891980e-01 -9.79023501e-03 -1.09626250e-02 2.64353596e+01] [ 9.78343373e-03 9.99951914e-01 -6.73863254e-04 8.81711850e-01] [ 1.09686951e-02 5.66538348e-04 9.99939682e-01 1.51826188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.490888479 meters 0.027799745905098042 Centerline is valid? [True, True] Translation: X:26.49, Y:0.88, Z:0.16 [[ 9.99824242e-01 -1.69358071e-02 -8.04137875e-03 2.64946838e+01] [ 1.69323761e-02 9.99856515e-01 -4.94566037e-04 8.78099454e-01] [ 8.04860080e-03 3.58319464e-04 9.99967545e-01 1.58247873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.550888479 meters 0.026756906404208552 Centerline is valid? [True, True] Translation: X:26.55, Y:0.88, Z:0.15 [[ 9.99755374e-01 -1.96275786e-02 -1.01956304e-02 2.65535338e+01] [ 1.96221956e-02 9.99807269e-01 -6.27739799e-04 8.81680214e-01] [ 1.02059864e-02 4.27525583e-04 9.99947826e-01 1.52325713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.610888479 meters 0.026055876190447837 Centerline is valid? [True, True] Translation: X:26.61, Y:0.89, Z:0.15 [[ 9.99806540e-01 -1.60722602e-02 -1.13386281e-02 2.66138780e+01] [ 1.60653719e-02 9.99870700e-01 -6.98333854e-04 8.89776865e-01] [ 1.13483858e-02 5.16039477e-04 9.99935472e-01 1.49541337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.670888479000002 meters 0.029465644776887512 Centerline is valid? [True, True] Translation: X:26.67, Y:0.89, Z:0.15 [[ 9.99812954e-01 -1.37717518e-02 -1.35792250e-02 2.66722235e+01] [ 1.37616500e-02 9.99904954e-01 -8.37080009e-04 8.93425396e-01] [ 1.35894625e-02 6.50050895e-04 9.99907448e-01 1.49218151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.730888479 meters 0.02903996342780364 Centerline is valid? [True, True] Translation: X:26.73, Y:0.90, Z:0.15 [[ 9.99788630e-01 -1.60606568e-02 -1.28355484e-02 2.67309623e+01] [ 1.60518080e-02 9.99870848e-01 -7.92127531e-04 8.95291569e-01] [ 1.28466128e-02 5.85926340e-04 9.99917307e-01 1.50212195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.790888479 meters 0.02540758216724125 Centerline is valid? [True, True] Translation: X:26.79, Y:0.90, Z:0.15 [[ 9.99782991e-01 -1.73821853e-02 -1.14817337e-02 2.67899500e+01] [ 1.73751650e-02 9.99848788e-01 -7.10911378e-04 8.99178458e-01] [ 1.14923548e-02 5.11260086e-04 9.99933830e-01 1.50759933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.850888479 meters 0.024676479604939634 Centerline is valid? [True, True] Translation: X:26.85, Y:0.90, Z:0.15 [[ 9.99679011e-01 -2.06383773e-02 -1.46946546e-02 2.68494330e+01] [ 2.06272036e-02 9.99786821e-01 -9.11566177e-04 8.95273006e-01] [ 1.47103353e-02 6.08163941e-04 9.99891612e-01 1.48995614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.910888479 meters 0.02316833501937227 Centerline is valid? [True, True] Translation: X:26.91, Y:0.90, Z:0.15 [[ 9.99588934e-01 -2.35577312e-02 -1.63400278e-02 2.69090023e+01] [ 2.35442496e-02 9.99722278e-01 -1.01697138e-03 8.95508881e-01] [ 1.63594473e-02 6.31839649e-04 9.99865976e-01 1.48019404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.970888479 meters 0.023006199463048053 Centerline is valid? [True, True] Translation: X:26.97, Y:0.90, Z:0.15 [[ 9.99498762e-01 -2.79674089e-02 -1.48340270e-02 2.69674618e+01] [ 2.79567650e-02 9.99608706e-01 -9.24453829e-04 9.00727620e-01] [ 1.48540771e-02 5.09279052e-04 9.99889542e-01 1.46158861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.030888479 meters 0.021720472599702608 Centerline is valid? [True, True] Translation: X:27.03, Y:0.90, Z:0.15 [[ 9.99409856e-01 -3.09477369e-02 -1.49056228e-02 2.70267674e+01] [ 3.09373065e-02 9.99520894e-01 -9.29893191e-04 8.97407709e-01] [ 1.49272595e-02 4.68204598e-04 9.99888473e-01 1.50269314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.090888479 meters 0.022465128626993524 Centerline is valid? [True, True] Translation: X:27.09, Y:0.90, Z:0.15 [[ 9.99323546e-01 -3.35376365e-02 -1.50890003e-02 2.70858429e+01] [ 3.35271956e-02 9.99437359e-01 -9.44460441e-04 9.00875713e-01] [ 1.51121856e-02 4.37929693e-04 9.99885709e-01 1.48145028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.150888479 meters 0.021374250057024247 Centerline is valid? [True, True] Translation: X:27.14, Y:0.91, Z:0.15 [[ 9.99312342e-01 -3.48590416e-02 -1.26368589e-02 2.71449390e+01] [ 3.48518013e-02 9.99392177e-01 -7.92779728e-04 9.05090992e-01] [ 1.26568134e-02 3.51817272e-04 9.99919837e-01 1.48246911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.210888479 meters 0.022278533225319558 Centerline is valid? [True, True] Translation: X:27.20, Y:0.91, Z:0.15 [[ 9.99295460e-01 -3.43961263e-02 -1.50162980e-02 2.72024492e+01] [ 3.43858279e-02 9.99408187e-01 -9.43540288e-04 9.09549411e-01] [ 1.50398653e-02 4.26527687e-04 9.99886804e-01 1.46089938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.270888479 meters 0.022614136577061354 Centerline is valid? [True, True] Translation: X:27.26, Y:0.92, Z:0.15 [[ 9.99469594e-01 -2.83806906e-02 -1.59708330e-02 2.72626314e+01] [ 2.83682697e-02 9.99597036e-01 -1.00377695e-03 9.16148673e-01] [ 1.59928852e-02 5.50179646e-04 9.99871954e-01 1.47531785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.330888479000002 meters 0.026273480846259727 Centerline is valid? [True, True] Translation: X:27.32, Y:0.92, Z:0.15 [[ 9.99596315e-01 -2.62500041e-02 -1.08694568e-02 2.73215667e+01] [ 2.62441043e-02 9.99655329e-01 -6.85088998e-04 9.23606230e-01] [ 1.08836940e-02 3.99553280e-04 9.99940691e-01 1.51777226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.390888479 meters 0.02443860142527107 Centerline is valid? [True, True] Translation: X:27.38, Y:0.93, Z:0.15 [[ 9.99609412e-01 -2.70478945e-02 -7.03094876e-03 2.73804654e+01] [ 2.70454354e-02 9.99634106e-01 -4.44607790e-04 9.29363256e-01] [ 7.04040188e-03 2.54279061e-04 9.99975184e-01 1.54147811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.450888479 meters 0.02417193647173359 Centerline is valid? [True, True] Translation: X:27.44, Y:0.93, Z:0.15 [[ 9.99535924e-01 -2.80368658e-02 -1.19109243e-02 2.74370944e+01] [ 2.80298519e-02 9.99606801e-01 -7.55421687e-04 9.33685907e-01] [ 1.19274206e-02 4.21209670e-04 9.99928777e-01 1.48188200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.510888479000002 meters 0.022596505343294562 Centerline is valid? [True, True] Translation: X:27.50, Y:0.93, Z:0.15 [[ 9.99439431e-01 -2.87272065e-02 -1.71921620e-02 2.74964810e+01] [ 2.87126267e-02 9.99587109e-01 -1.09433400e-03 9.34418717e-01] [ 1.72165006e-02 6.00088422e-04 9.99851605e-01 1.45916801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.570888479 meters 0.023023046965475746 Centerline is valid? [True, True] Translation: X:27.56, Y:0.95, Z:0.14 [[ 9.99459433e-01 -2.88684526e-02 -1.57306847e-02 2.75550475e+01] [ 2.88562057e-02 9.99583068e-01 -1.00500679e-03 9.45216573e-01] [ 1.57531391e-02 5.50535644e-04 9.99875760e-01 1.43815974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.630888479 meters 0.024342004600822715 Centerline is valid? [True, True] Translation: X:27.61, Y:0.95, Z:0.15 [[ 9.99456296e-01 -3.00275108e-02 -1.36183819e-02 2.76141493e+01] [ 3.00183964e-02 9.99548965e-01 -8.73232576e-04 9.47133302e-01] [ 1.36384605e-02 4.63955811e-04 9.99906884e-01 1.46845157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.690888479 meters 0.025908109240682455 Centerline is valid? [True, True] Translation: X:27.67, Y:0.95, Z:0.15 [[ 9.99347004e-01 -3.23140931e-02 -1.61667904e-02 2.76728158e+01] [ 3.23014818e-02 9.99477629e-01 -1.04065419e-03 9.46710056e-01] [ 1.61919732e-02 5.17763362e-04 9.99868767e-01 1.46664826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.750888479 meters 0.024540204814019383 Centerline is valid? [True, True] Translation: X:27.73, Y:0.96, Z:0.14 [[ 9.99385884e-01 -3.11782898e-02 -1.59928084e-02 2.77310495e+01] [ 3.11657423e-02 9.99513696e-01 -1.03326157e-03 9.59838413e-01] [ 1.60172463e-02 5.34199278e-04 9.99871573e-01 1.42228501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.810888479 meters 0.02726045836760445 Centerline is valid? [True, True] Translation: X:27.79, Y:0.96, Z:0.15 [[ 9.99536192e-01 -2.66525396e-02 -1.47323976e-02 2.77903464e+01] [ 2.66413787e-02 9.99644601e-01 -9.53348657e-04 9.64746080e-01] [ 1.47525709e-02 5.60415101e-04 9.99891018e-01 1.45346686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.870888479 meters 0.026066429145256302 Centerline is valid? [True, True] Translation: X:27.85, Y:0.97, Z:0.15 [[ 9.99636021e-01 -2.36279678e-02 -1.30208934e-02 2.78488573e+01] [ 2.36189812e-02 9.99720677e-01 -8.43532403e-04 9.71903380e-01] [ 1.30371873e-02 5.35685138e-04 9.99914869e-01 1.50298524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.930888479 meters 0.02928200760867283 Centerline is valid? [True, True] Translation: X:27.91, Y:0.98, Z:0.15 [[ 9.99694310e-01 -2.16384641e-02 -1.19609138e-02 2.79074616e+01] [ 2.16307108e-02 9.99765727e-01 -7.77221840e-04 9.83655113e-01] [ 1.19749295e-02 5.18261185e-04 9.99928164e-01 1.47042323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.990888479000002 meters 0.02687521590814867 Centerline is valid? [True, True] Translation: X:27.97, Y:0.99, Z:0.15 [[ 9.99679004e-01 -2.22615953e-02 -1.20959058e-02 2.79659887e+01] [ 2.22536762e-02 9.99752045e-01 -7.88910902e-04 9.86374358e-01] [ 1.21104690e-02 5.19479293e-04 9.99926531e-01 1.49087863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.050888479 meters 0.02680699520513643 Centerline is valid? [True, True] Translation: X:28.03, Y:0.99, Z:0.15 [[ 9.99600115e-01 -2.54331344e-02 -1.23598331e-02 2.80253117e+01] [ 2.54250731e-02 9.99676403e-01 -8.08938958e-04 9.86333792e-01] [ 1.23764073e-02 4.94365817e-04 9.99923287e-01 1.51421320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.110888479 meters 0.025004219710362003 Centerline is valid? [True, True] Translation: X:28.08, Y:0.99, Z:0.15 [[ 9.99517522e-01 -2.87758693e-02 -1.16906971e-02 2.80844573e+01] [ 2.87688751e-02 9.99585797e-01 -7.66034772e-04 9.93708856e-01] [ 1.17078981e-02 4.29336972e-04 9.99931368e-01 1.50333940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.170888479000002 meters 0.025402115152182034 Centerline is valid? [True, True] Translation: X:28.14, Y:1.00, Z:0.15 [[ 9.99480393e-01 -2.87804477e-02 -1.45130832e-02 2.81426126e+01] [ 2.87696525e-02 9.99585614e-01 -9.52094746e-04 9.99544185e-01] [ 1.45344709e-02 5.34063671e-04 9.99894226e-01 1.46089526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.230888479 meters 0.027055854879070126 Centerline is valid? [True, True] Translation: X:28.20, Y:1.01, Z:0.15 [[ 9.99495472e-01 -2.83395278e-02 -1.43412855e-02 2.82009859e+01] [ 2.83288985e-02 9.99598211e-01 -9.43813472e-04 1.00585532e+00] [ 1.43622705e-02 5.37064471e-04 9.99896713e-01 1.46448486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.290888479 meters 0.02711991095992113 Centerline is valid? [True, True] Translation: X:28.26, Y:1.01, Z:0.15 [[ 9.99500115e-01 -2.82031324e-02 -1.42864891e-02 2.82600041e+01] [ 2.81925212e-02 9.99602066e-01 -9.43632511e-04 1.01026328e+00] [ 1.43074174e-02 5.40388655e-04 9.99897498e-01 1.47197965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.350888479 meters 0.024754734600832592 Centerline is valid? [True, True] Translation: X:28.32, Y:1.01, Z:0.15 [[ 9.99568398e-01 -2.67434054e-02 -1.21576189e-02 2.83185969e+01] [ 2.67355784e-02 9.99642216e-01 -8.05894843e-04 1.01181906e+00] [ 1.21748215e-02 4.80506044e-04 9.99925769e-01 1.51695549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.410888479 meters 0.029797900825684325 Centerline is valid? [True, True] Translation: X:28.38, Y:1.02, Z:0.15 [[ 9.99654519e-01 -2.45908710e-02 -9.28068545e-03 2.83759247e+01] [ 2.45862048e-02 9.99697523e-01 -6.16561916e-04 1.02365309e+00] [ 9.29304005e-03 3.88172073e-04 9.99956743e-01 1.50296405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.470888479 meters 0.028933699041149768 Centerline is valid? [True, True] Translation: X:28.44, Y:1.03, Z:0.15 [[ 9.99741446e-01 -2.06445975e-02 -9.53107099e-03 2.84364485e+01] [ 2.06394936e-02 9.99786782e-01 -6.33570738e-04 1.02864297e+00] [ 9.54211861e-03 4.36690447e-04 9.99954378e-01 1.50196102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.530888479 meters 0.02836024310597388 Centerline is valid? [True, True] Translation: X:28.50, Y:1.03, Z:0.15 [[ 9.99789281e-01 -1.41189765e-02 -1.49012619e-02 2.84967576e+01] [ 1.41057770e-02 9.99900018e-01 -9.90535243e-04 1.02969940e+00] [ 1.49137574e-02 7.80132642e-04 9.99888479e-01 1.50827914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.590888479 meters 0.034016660816990195 Centerline is valid? [True, True] Translation: X:28.55, Y:1.04, Z:0.15 [[ 9.99861004e-01 -1.08106870e-02 -1.26925708e-02 2.85541410e+01] [ 1.08008362e-02 9.99941313e-01 -8.44403244e-04 1.04308544e+00] [ 1.27009545e-02 7.07195498e-04 9.99919090e-01 1.50011903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.650888479 meters 0.03276536477305721 Centerline is valid? [True, True] Translation: X:28.61, Y:1.04, Z:0.15 [[ 9.99877932e-01 -1.13561147e-02 -1.07312670e-02 2.86128732e+01] [ 1.13490815e-02 9.99935341e-01 -7.16067159e-04 1.04425879e+00] [ 1.07387049e-02 5.94189726e-04 9.99942162e-01 1.50040446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.710888479 meters 0.030012399657173387 Centerline is valid? [True, True] Translation: X:28.67, Y:1.04, Z:0.15 [[ 9.99849230e-01 -1.38902409e-02 -1.04201233e-02 2.86727245e+01] [ 1.38837369e-02 9.99903374e-01 -6.96254088e-04 1.04337665e+00] [ 1.04287876e-02 5.51478863e-04 9.99945467e-01 1.51816876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.770888479 meters 0.029696032556743898 Centerline is valid? [True, True] Translation: X:28.73, Y:1.05, Z:0.15 [[ 9.99804044e-01 -1.46377119e-02 -1.33271071e-02 2.87308733e+01] [ 1.46270971e-02 9.99892619e-01 -8.93610987e-04 1.04739782e+00] [ 1.33387565e-02 6.98498988e-04 9.99910791e-01 1.48672921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.830888479000002 meters 0.031018591731122223 Centerline is valid? [True, True] Translation: X:28.79, Y:1.06, Z:0.15 [[ 9.99807311e-01 -1.34842462e-02 -1.42658687e-02 2.87881176e+01] [ 1.34719323e-02 9.99908790e-01 -9.58923984e-04 1.05599409e+00] [ 1.42774979e-02 7.66550392e-04 9.99897778e-01 1.47914456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.890888479 meters 0.030555205171188253 Centerline is valid? [True, True] Translation: X:28.85, Y:1.05, Z:0.15 [[ 9.99790494e-01 -1.36605982e-02 -1.52432511e-02 2.88477871e+01] [ 1.36465067e-02 9.99906354e-01 -1.02807667e-03 1.05333508e+00] [ 1.52558678e-02 8.19844155e-04 9.99883286e-01 1.50533441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.950888479 meters 0.03032535750136472 Centerline is valid? [True, True] Translation: X:28.91, Y:1.05, Z:0.15 [[ 9.99740638e-01 -1.50115295e-02 -1.71263278e-02 2.89074339e+01] [ 1.49938685e-02 9.99886914e-01 -1.15916287e-03 1.05240879e+00] [ 1.71417919e-02 9.02072320e-04 9.99852662e-01 1.48582855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.010888479000002 meters 0.02963880915129621 Centerline is valid? [True, True] Translation: X:28.96, Y:1.06, Z:0.15 [[ 9.99761718e-01 -1.51230317e-02 -1.57417127e-02 2.89648734e+01] [ 1.51080581e-02 9.99885295e-01 -1.06969777e-03 1.05714080e+00] [ 1.57560841e-02 8.31616168e-04 9.99875519e-01 1.47462103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.070888479 meters 0.03153841589700293 Centerline is valid? [True, True] Translation: X:29.02, Y:1.06, Z:0.14 [[ 9.99739533e-01 -1.69218793e-02 -1.53139093e-02 2.90237639e+01] [ 1.69078939e-02 9.99856508e-01 -1.04226614e-03 1.06170352e+00] [ 1.53293490e-02 7.83068707e-04 9.99882192e-01 1.44346118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.130888479 meters 0.028393436378222725 Centerline is valid? [True, True] Translation: X:29.08, Y:1.06, Z:0.15 [[ 9.99726629e-01 -1.86942362e-02 -1.40425567e-02 2.90829523e+01] [ 1.86826373e-02 9.99825007e-01 -9.56723790e-04 1.05729289e+00] [ 1.40579846e-02 6.94110255e-04 9.99900941e-01 1.49930344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.190888479 meters 0.029622267949306114 Centerline is valid? [True, True] Translation: X:29.14, Y:1.06, Z:0.15 [[ 9.99719208e-01 -2.07742570e-02 -1.13989265e-02 2.91414743e+01] [ 2.07667423e-02 9.99784046e-01 -7.77231565e-04 1.05935515e+00] [ 1.14126113e-02 5.40294756e-04 9.99934728e-01 1.53790969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.250888479 meters 0.028593322034855605 Centerline is valid? [True, True] Translation: X:29.20, Y:1.06, Z:0.15 [[ 9.99655777e-01 -2.51374005e-02 -7.51255507e-03 2.92013270e+01] [ 2.51342581e-02 9.99683953e-01 -5.12417950e-04 1.06405232e+00] [ 7.52306161e-03 3.23419066e-04 9.99971649e-01 1.52250656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.310888479 meters 0.02575842059173823 Centerline is valid? [True, True] Translation: X:29.26, Y:1.06, Z:0.15 [[ 9.99543434e-01 -2.89788191e-02 -8.55290023e-03 2.92621301e+01] [ 2.89748852e-02 9.99579970e-01 -5.83535155e-04 1.05965197e+00] [ 8.56621792e-03 3.35449430e-04 9.99963253e-01 1.53774211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.370888479 meters 0.026538696676129504 Centerline is valid? [True, True] Translation: X:29.32, Y:1.06, Z:0.15 [[ 9.99465389e-01 -3.10621151e-02 -1.02020405e-02 2.93210744e+01] [ 3.10566066e-02 9.99517384e-01 -6.97962923e-04 1.06117339e+00] [ 1.02187971e-02 3.80749024e-04 9.99947714e-01 1.53123038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.430888479 meters 0.0259374403382264 Centerline is valid? [True, True] Translation: X:29.38, Y:1.07, Z:0.15 [[ 9.99503333e-01 -2.95140129e-02 -1.10458579e-02 2.93792550e+01] [ 2.95074302e-02 9.99564273e-01 -7.58475060e-04 1.07044366e+00] [ 1.10634305e-02 4.32163469e-04 9.99938705e-01 1.52434516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.490888479000002 meters 0.028123431275720888 Centerline is valid? [True, True] Translation: X:29.44, Y:1.07, Z:0.15 [[ 9.99527753e-01 -2.82708723e-02 -1.20427754e-02 2.94379268e+01] [ 2.82629212e-02 9.99600179e-01 -8.29948382e-04 1.07252705e+00] [ 1.20614238e-02 4.89192430e-04 9.99927139e-01 1.50826732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.550888479 meters 0.027745684548448078 Centerline is valid? [True, True] Translation: X:29.50, Y:1.07, Z:0.15 [[ 9.99497260e-01 -2.99456103e-02 -1.04157778e-02 2.94973578e+01] [ 2.99397292e-02 9.99551446e-01 -7.20138884e-04 1.07302976e+00] [ 1.04326708e-02 4.07931273e-04 9.99945495e-01 1.53127523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.610888479 meters 0.02665795601413662 Centerline is valid? [True, True] Translation: X:29.56, Y:1.08, Z:0.15 [[ 9.99443123e-01 -3.26759406e-02 -6.76213646e-03 2.95566211e+01] [ 3.26735153e-02 9.99465968e-01 -4.68858421e-04 1.07724716e+00] [ 6.77384566e-03 2.47654555e-04 9.99977027e-01 1.52580897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.670888479000002 meters 0.024939374380760132 Centerline is valid? [True, True] Translation: X:29.62, Y:1.07, Z:0.16 [[ 9.99337206e-01 -3.60857341e-02 -4.79256238e-03 2.96163490e+01] [ 3.60845506e-02 9.99348685e-01 -3.33219918e-04 1.07374595e+00] [ 4.80146540e-03 1.60061603e-04 9.99988460e-01 1.57523897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.730888479 meters 0.02575219161201216 Centerline is valid? [True, True] Translation: X:29.67, Y:1.08, Z:0.16 [[ 9.99315985e-01 -3.64226987e-02 -6.39922146e-03 2.96730206e+01] [ 3.64205870e-02 9.99336451e-01 -4.46240285e-04 1.07582716e+00] [ 6.41122854e-03 2.12871648e-04 9.99979425e-01 1.57865981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.790888479 meters 0.025077885043367085 Centerline is valid? [True, True] Translation: X:29.73, Y:1.08, Z:0.16 [[ 9.99449629e-01 -3.22709289e-02 -7.68287702e-03 2.97319090e+01] [ 3.22677575e-02 9.99479116e-01 -5.36430447e-04 1.08421387e+00] [ 7.69618624e-03 2.88225999e-04 9.99970342e-01 1.55065552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.850888479 meters 0.028462941906031915 Centerline is valid? [True, True] Translation: X:29.79, Y:1.09, Z:0.15 [[ 9.99608776e-01 -2.70707333e-02 -7.03354816e-03 2.97903430e+01] [ 2.70679447e-02 9.99633475e-01 -4.91381206e-04 1.09476502e+00] [ 7.04427224e-03 3.00805274e-04 9.99975144e-01 1.54657093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.910888479 meters 0.0292813584033854 Centerline is valid? [True, True] Translation: X:29.85, Y:1.10, Z:0.15 [[ 9.99601576e-01 -2.73535846e-02 -6.96204938e-03 2.98480046e+01] [ 2.73508504e-02 9.99625777e-01 -4.87649988e-04 1.09830810e+00] [ 6.97278299e-03 2.97037725e-04 9.99975646e-01 1.54822617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.970888479 meters 0.026820464449682068 Centerline is valid? [True, True] Translation: X:29.91, Y:1.10, Z:0.16 [[ 9.99492031e-01 -3.09785037e-02 -7.48416582e-03 2.99081253e+01] [ 3.09754386e-02 9.99520008e-01 -5.25143678e-04 1.09909897e+00] [ 7.49684164e-03 2.93051602e-04 9.99971855e-01 1.56271020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.030888479 meters 0.025853277481985206 Centerline is valid? [True, True] Translation: X:29.97, Y:1.10, Z:0.15 [[ 9.99240302e-01 -3.82839022e-02 -7.29118406e-03 2.99690575e+01] [ 3.82811868e-02 9.99266876e-01 -5.11664575e-04 1.09836155e+00] [ 7.30542724e-03 2.32160685e-04 9.99973288e-01 1.53979306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.090888479 meters 0.026410714683556755 Centerline is valid? [True, True] Translation: X:30.03, Y:1.10, Z:0.16 [[ 9.99110968e-01 -4.17676982e-02 -5.72128161e-03 3.00267000e+01] [ 4.17660813e-02 9.99127336e-01 -4.01854871e-04 1.09993960e+00] [ 5.73307340e-03 1.62542097e-04 9.99983553e-01 1.56232015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.150888479000002 meters 0.02439796848728306 Centerline is valid? [True, True] Translation: X:30.09, Y:1.10, Z:0.16 [[ 9.98987114e-01 -4.45788119e-02 -6.12179952e-03 3.00860445e+01] [ 4.45770066e-02 9.99005858e-01 -4.31096743e-04 1.10208849e+00] [ 6.13493136e-03 1.57768593e-04 9.99981169e-01 1.56761154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.210888479 meters 0.021413333928440068 Centerline is valid? [True, True] Translation: X:30.14, Y:1.11, Z:0.16 [[ 9.98967244e-01 -4.50329514e-02 -6.03980121e-03 3.01443690e+01] [ 4.50311931e-02 9.98985490e-01 -4.26864484e-04 1.10621124e+00] [ 6.05289674e-03 1.54444182e-04 9.99981669e-01 1.58191104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.270888479 meters 0.023079744830703453 Centerline is valid? [True, True] Translation: X:30.20, Y:1.11, Z:0.16 [[ 9.98878441e-01 -4.69655687e-02 -6.00795816e-03 3.02022692e+01] [ 4.69638574e-02 9.98896499e-01 -4.25683170e-04 1.10933548e+00] [ 6.02132082e-03 1.43048851e-04 9.99981861e-01 1.57788309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.330888479000002 meters 0.022793458211754346 Centerline is valid? [True, True] Translation: X:30.26, Y:1.11, Z:0.16 [[ 9.98863159e-01 -4.73422864e-02 -5.57643531e-03 3.02604122e+01] [ 4.73408125e-02 9.98878717e-01 -3.96088068e-04 1.11317582e+00] [ 5.58893426e-03 1.31644801e-04 9.99984373e-01 1.59556033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.390888479 meters 0.026843609924909997 Centerline is valid? [True, True] Translation: X:30.32, Y:1.12, Z:0.16 [[ 9.99057977e-01 -4.28381770e-02 -6.93170482e-03 3.03191829e+01] [ 4.28357832e-02 9.99082005e-01 -4.93504696e-04 1.12381124e+00] [ 6.94648239e-03 1.96114799e-04 9.99975854e-01 1.55532531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.450888479 meters 0.026212776576723062 Centerline is valid? [True, True] Translation: X:30.38, Y:1.13, Z:0.16 [[ 9.99284599e-01 -3.72330916e-02 -6.63229599e-03 3.03793825e+01] [ 3.72307759e-02 9.99306583e-01 -4.72325613e-04 1.13299631e+00] [ 6.64528318e-03 2.25062185e-04 9.99977895e-01 1.56466317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.510888479000002 meters 0.02658570110194142 Centerline is valid? [True, True] Translation: X:30.44, Y:1.14, Z:0.16 [[ 9.99420678e-01 -3.36484520e-02 -5.10788783e-03 3.04392287e+01] [ 3.36470313e-02 9.99433712e-01 -3.63845804e-04 1.13606543e+00] [ 5.11723815e-03 1.91769758e-04 9.99986888e-01 1.57963138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.570888479 meters 0.0269292662728264 Centerline is valid? [True, True] Translation: X:30.50, Y:1.14, Z:0.16 [[ 9.99431926e-01 -3.36685923e-02 -1.50040744e-03 3.04958305e+01] [ 3.36684700e-02 9.99433051e-01 -1.06747215e-04 1.14472810e+00] [ 1.50315082e-03 5.61701519e-05 9.99998869e-01 1.60446473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.630888479 meters 0.028606549064373488 Centerline is valid? [True, True] Translation: X:30.56, Y:1.15, Z:0.16 [[ 9.99473973e-01 -3.22204468e-02 -3.69058897e-03 3.05550402e+01] [ 3.22196927e-02 9.99480776e-01 -2.63632730e-04 1.14755015e+00] [ 3.69716709e-03 1.44584410e-04 9.99993155e-01 1.58935037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.690888479 meters 0.0300435786328033 Centerline is valid? [True, True] Translation: X:30.61, Y:1.15, Z:0.16 [[ 9.99577920e-01 -2.86216698e-02 -4.97810224e-03 3.06141527e+01] [ 2.86202477e-02 9.99590293e-01 -3.56686505e-04 1.15322751e+00] [ 4.98627164e-03 2.14061436e-04 9.99987546e-01 1.58949647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.750888479 meters 0.029836510770793155 Centerline is valid? [True, True] Translation: X:30.67, Y:1.16, Z:0.16 [[ 9.99646842e-01 -2.64342152e-02 -2.72462475e-03 3.06734936e+01] [ 2.64337807e-02 9.99650547e-01 -1.95334940e-04 1.15835589e+00] [ 2.72883615e-03 1.23243823e-04 9.99996269e-01 1.57894380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.810888479000003 meters 0.030093849613931963 Centerline is valid? [True, True] Translation: X:30.73, Y:1.16, Z:0.16 [[ 9.99642829e-01 -2.66847727e-02 -1.46172177e-03 3.07312076e+01] [ 2.66846484e-02 9.99643896e-01 -1.04469655e-04 1.16176247e+00] [ 1.46398899e-03 6.54268096e-05 9.99998926e-01 1.59378121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.870888479 meters 0.029129151730503334 Centerline is valid? [True, True] Translation: X:30.79, Y:1.16, Z:0.16 [[ 9.99589648e-01 -2.84675139e-02 -3.18381757e-03 3.07900112e+01] [ 2.84669276e-02 9.99594709e-01 -2.29302189e-04 1.16040459e+00] [ 3.18905486e-03 1.38574590e-04 9.99994905e-01 1.60067346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.930888479 meters 0.029696965229205518 Centerline is valid? [True, True] Translation: X:30.85, Y:1.17, Z:0.16 [[ 9.99608029e-01 -2.73687534e-02 -5.89410297e-03 3.08473487e+01] [ 2.73667215e-02 9.99625371e-01 -4.25138138e-04 1.16743683e+00] [ 5.90353037e-03 2.63669221e-04 9.99982539e-01 1.56900671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.990888479000002 meters 0.027684143551161763 Centerline is valid? [True, True] Translation: X:30.91, Y:1.17, Z:0.16 [[ 9.99629852e-01 -2.65715954e-02 -5.84034359e-03 3.09061326e+01] [ 2.65695809e-02 9.99646877e-01 -4.22251139e-04 1.16856504e+00] [ 5.84950111e-03 2.66919362e-04 9.99982856e-01 1.60873513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.050888479 meters 0.030119606914721365 Centerline is valid? [True, True] Translation: X:30.96, Y:1.17, Z:0.16 [[ 9.99588994e-01 -2.72883102e-02 -8.78589830e-03 3.09637799e+01] [ 2.72837552e-02 9.99627526e-01 -6.37916256e-04 1.17100232e+00] [ 8.80003343e-03 3.97941770e-04 9.99961200e-01 1.55872566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.110888479 meters 0.028545969220474792 Centerline is valid? [True, True] Translation: X:31.02, Y:1.17, Z:0.16 [[ 9.99536279e-01 -2.91720970e-02 -8.73017158e-03 3.10226494e+01] [ 2.91676608e-02 9.99574332e-01 -6.35068935e-04 1.16971065e+00] [ 8.74498171e-03 3.80135757e-04 9.99961690e-01 1.55806666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.170888479000006 meters 0.02743403319633045 Centerline is valid? [True, True] Translation: X:31.08, Y:1.17, Z:0.16 [[ 9.99450389e-01 -3.17283284e-02 -9.60381973e-03 3.10805193e+01] [ 3.17230697e-02 9.99496452e-01 -6.99442004e-04 1.16918405e+00] [ 9.62117587e-03 3.94394940e-04 9.99953638e-01 1.58422830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.23088847900001 meters 0.026447074268092872 Centerline is valid? [True, True] Translation: X:31.14, Y:1.17, Z:0.16 [[ 9.99405181e-01 -3.33089512e-02 -8.93300259e-03 3.11387239e+01] [ 3.33044578e-02 9.99445040e-01 -6.51340438e-04 1.16974602e+00] [ 8.94974060e-03 3.53444200e-04 9.99959888e-01 1.60174441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.290888479 meters 0.02924988121393742 Centerline is valid? [True, True] Translation: X:31.20, Y:1.17, Z:0.16 [[ 9.99390090e-01 -3.27520985e-02 -1.21139863e-02 3.11970214e+01] [ 3.27437757e-02 9.99463387e-01 -8.84792726e-04 1.17229347e+00] [ 1.21364646e-02 4.87595433e-04 9.99926232e-01 1.57224056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.350888479000005 meters 0.02843028952766632 Centerline is valid? [True, True] Translation: X:31.26, Y:1.18, Z:0.16 [[ 9.99505924e-01 -2.92999599e-02 -1.13763452e-02 3.12559924e+01] [ 2.92923877e-02 9.99570540e-01 -8.31703902e-04 1.17623953e+00] [ 1.13958284e-02 4.98052663e-04 9.99934941e-01 1.57560284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.41088847900001 meters 0.030214186964070452 Centerline is valid? [True, True] Translation: X:31.32, Y:1.18, Z:0.16 [[ 9.99556716e-01 -2.71545799e-02 -1.22065404e-02 3.13154310e+01] [ 2.71456964e-02 9.99631089e-01 -8.92884547e-04 1.18159232e+00] [ 1.22262832e-02 5.61133705e-04 9.99925099e-01 1.57213644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.470888479 meters 0.030864370754895905 Centerline is valid? [True, True] Translation: X:31.37, Y:1.18, Z:0.16 [[ 9.99540543e-01 -2.67174802e-02 -1.43135952e-02 3.13736548e+01] [ 2.67051971e-02 9.99642803e-01 -1.04862050e-03 1.18465550e+00] [ 1.43364989e-02 6.65891325e-04 9.99897005e-01 1.57405601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.530888479000005 meters 0.027348480621696425 Centerline is valid? [True, True] Translation: X:31.43, Y:1.19, Z:0.16 [[ 9.99498480e-01 -2.87485827e-02 -1.32780838e-02 3.14327026e+01] [ 2.87381775e-02 9.99586499e-01 -9.73820199e-04 1.18527873e+00] [ 1.33005892e-02 5.91743881e-04 9.99911368e-01 1.59202853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.59088847900001 meters 0.028769991430602816 Centerline is valid? [True, True] Translation: X:31.49, Y:1.19, Z:0.15 [[ 9.99398600e-01 -2.97294630e-02 -1.78493095e-02 3.14912672e+01] [ 2.97107455e-02 9.99557676e-01 -1.31296210e-03 1.18902202e+00] [ 1.78804480e-02 7.81856192e-04 9.99839826e-01 1.54675053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.650888479 meters 0.02946839882238233 Centerline is valid? [True, True] Translation: X:31.55, Y:1.19, Z:0.15 [[ 9.99334734e-01 -2.95967366e-02 -2.13101674e-02 3.15504903e+01] [ 2.95699118e-02 9.99561477e-01 -1.57285522e-03 1.19183611e+00] [ 2.13473738e-02 9.41669082e-04 9.99771675e-01 1.50991100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.710888479000005 meters 0.02767600504813742 Centerline is valid? [True, True] Translation: X:31.61, Y:1.19, Z:0.15 [[ 9.99243424e-01 -3.26549655e-02 -2.11242315e-02 3.16107709e+01] [ 3.26292678e-02 9.99466306e-01 -1.56012847e-03 1.19319362e+00] [ 2.11639036e-02 8.69679908e-04 9.99775641e-01 1.50737692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.77088847900001 meters 0.026337929283440403 Centerline is valid? [True, True] Translation: X:31.67, Y:1.19, Z:0.15 [[ 9.99166349e-01 -3.58700905e-02 -1.94921478e-02 3.16708046e+01] [ 3.58488151e-02 9.99356187e-01 -1.43992428e-03 1.19489699e+00] [ 1.95312487e-02 7.39953487e-04 9.99808973e-01 1.52863715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.830888479 meters 0.02539203546093698 Centerline is valid? [True, True] Translation: X:31.73, Y:1.19, Z:0.15 [[ 9.98919006e-01 -4.21137392e-02 -1.96787125e-02 3.17310928e+01] [ 4.20932575e-02 9.99112628e-01 -1.45404300e-03 1.19158615e+00] [ 1.97224854e-02 6.24130071e-04 9.99805298e-01 1.54147074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.890888479000004 meters 0.024662397255522935 Centerline is valid? [True, True] Translation: X:31.79, Y:1.19, Z:0.15 [[ 9.98810989e-01 -4.47069156e-02 -1.94396594e-02 3.17895240e+01] [ 4.46873958e-02 9.98999985e-01 -1.43757806e-03 1.19460035e+00] [ 1.94844891e-02 5.67161010e-04 9.99809998e-01 1.52903538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.95088847900001 meters 0.023889700285110154 Centerline is valid? [True, True] Translation: X:31.85, Y:1.20, Z:0.15 [[ 9.98733287e-01 -4.60633843e-02 -2.02481114e-02 3.18485213e+01] [ 4.60423965e-02 9.98938358e-01 -1.50174413e-03 1.19685731e+00] [ 2.02957905e-02 5.67570284e-04 9.99793858e-01 1.53350360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.010888479 meters 0.024365211158383263 Centerline is valid? [True, True] Translation: X:31.91, Y:1.20, Z:0.15 [[ 9.98729462e-01 -4.49009199e-02 -2.28772490e-02 3.19064418e+01] [ 4.48737737e-02 9.98991220e-01 -1.69884464e-03 1.20295349e+00] [ 2.29304505e-02 6.70097700e-04 9.99736838e-01 1.50973504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.070888479000004 meters 0.024037182040691156 Centerline is valid? [True, True] Translation: X:31.97, Y:1.21, Z:0.15 [[ 9.98745640e-01 -4.49640707e-02 -2.20313268e-02 3.19652134e+01] [ 4.49388049e-02 9.98988394e-01 -1.64081227e-03 1.20760056e+00] [ 2.20828174e-02 6.48692604e-04 9.99755934e-01 1.51762644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.130888479000006 meters 0.024021182668592485 Centerline is valid? [True, True] Translation: X:32.02, Y:1.22, Z:0.15 [[ 9.98777543e-01 -4.56249715e-02 -1.90205350e-02 3.20224734e+01] [ 4.56062231e-02 9.98958488e-01 -1.41852239e-03 1.21581506e+00] [ 1.90654450e-02 5.49333548e-04 9.99818087e-01 1.51470962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.190888479 meters 0.02304785461185773 Centerline is valid? [True, True] Translation: X:32.08, Y:1.22, Z:0.15 [[ 9.98729695e-01 -4.67845876e-02 -1.87135827e-02 3.20811515e+01] [ 4.67665649e-02 9.98904865e-01 -1.39979033e-03 1.21721178e+00] [ 1.87585774e-02 5.22842189e-04 9.99823906e-01 1.54153346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.250888479000004 meters 0.024845795219606337 Centerline is valid? [True, True] Translation: X:32.14, Y:1.22, Z:0.16 [[ 9.98719624e-01 -4.64682416e-02 -1.99953702e-02 3.21383914e+01] [ 4.64475570e-02 9.98919607e-01 -1.49789513e-03 1.22213317e+00] [ 2.00433719e-02 5.67241164e-04 9.99798951e-01 1.55096729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.310888479000006 meters 0.023041756279417694 Centerline is valid? [True, True] Translation: X:32.20, Y:1.23, Z:0.15 [[ 9.98786495e-01 -4.48422083e-02 -2.03645201e-02 3.21966526e+01] [ 4.48203247e-02 9.98993893e-01 -1.52997487e-03 1.23365338e+00] [ 2.04126386e-02 6.15373840e-04 9.99791451e-01 1.52630024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.370888479 meters 0.02412202893790676 Centerline is valid? [True, True] Translation: X:32.25, Y:1.24, Z:0.15 [[ 9.98838933e-01 -4.38239235e-02 -2.00062272e-02 3.22544719e+01] [ 4.38025567e-02 9.99039074e-01 -1.50517739e-03 1.24364120e+00] [ 2.00529655e-02 6.27105878e-04 9.99798722e-01 1.48769560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.430888479000004 meters 0.026105905435325993 Centerline is valid? [True, True] Translation: X:32.31, Y:1.25, Z:0.15 [[ 9.98875754e-01 -4.34883997e-02 -1.88676003e-02 3.23109823e+01] [ 4.34692964e-02 9.99053752e-01 -1.42162605e-03 1.24787945e+00] [ 1.89115711e-02 5.99866482e-04 9.99820980e-01 1.52000657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.490888479000006 meters 0.02531964920708924 Centerline is valid? [True, True] Translation: X:32.37, Y:1.25, Z:0.15 [[ 9.98880281e-01 -4.42053868e-02 -1.68543004e-02 3.23699253e+01] [ 4.41902117e-02 9.99022326e-01 -1.27191227e-03 1.25442845e+00] [ 1.68940477e-02 5.25692981e-04 9.99857147e-01 1.54237823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.550888479 meters 0.02511528152716077 Centerline is valid? [True, True] Translation: X:32.43, Y:1.26, Z:0.15 [[ 9.98882661e-01 -4.43023998e-02 -1.64538098e-02 3.24277349e+01] [ 4.42878826e-02 9.99018034e-01 -1.24581207e-03 1.25948691e+00] [ 1.64928452e-02 5.15715681e-04 9.99863851e-01 1.53854281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.610888479 meters 0.022321497529491967 Centerline is valid? [True, True] Translation: X:32.49, Y:1.26, Z:0.16 [[ 9.98909198e-01 -4.42971669e-02 -1.47707837e-02 3.24866716e+01] [ 4.42854142e-02 9.99018290e-01 -1.12196832e-03 1.26260291e+00] [ 1.48059831e-02 4.66614198e-04 9.99890277e-01 1.59216174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.670888479000006 meters 0.024533877813799503 Centerline is valid? [True, True] Translation: X:32.54, Y:1.27, Z:0.15 [[ 9.98885012e-01 -4.48850193e-02 -1.46310426e-02 3.25440821e+01] [ 4.48735191e-02 9.98992056e-01 -1.11352538e-03 1.27259519e+00] [ 1.46662759e-02 4.55737439e-04 9.99892341e-01 1.53874193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.73088847900001 meters 0.025233720839014165 Centerline is valid? [True, True] Translation: X:32.60, Y:1.28, Z:0.15 [[ 9.98874081e-01 -4.53087187e-02 -1.40602734e-02 3.26026626e+01] [ 4.52980970e-02 9.98972938e-01 -1.07315307e-03 1.27857642e+00] [ 1.40944558e-02 4.35041158e-04 9.99900574e-01 1.52044362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.790888479 meters 0.024696655042608703 Centerline is valid? [True, True] Translation: X:32.66, Y:1.28, Z:0.16 [[ 9.98848822e-01 -4.68242207e-02 -1.04174057e-02 3.26614761e+01] [ 4.68184488e-02 9.98903097e-01 -7.97383811e-04 1.28316315e+00] [ 1.04433157e-02 3.08739105e-04 9.99945419e-01 1.56041951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.850888479000005 meters 0.024453128023831365 Centerline is valid? [True, True] Translation: X:32.72, Y:1.29, Z:0.16 [[ 9.98867172e-01 -4.68317592e-02 -8.43560000e-03 3.27195165e+01] [ 4.68279573e-02 9.98902759e-01 -6.47755241e-04 1.29032139e+00] [ 8.45667963e-03 2.51999529e-04 9.99964210e-01 1.57166802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.91088847900001 meters 0.02369890909661321 Centerline is valid? [True, True] Translation: X:32.78, Y:1.30, Z:0.15 [[ 9.98872026e-01 -4.60456322e-02 -1.15963278e-02 3.27778726e+01] [ 4.60383576e-02 9.98939273e-01 -8.93626074e-04 1.29890672e+00] [ 1.16251748e-02 3.58742203e-04 9.99932361e-01 1.50835918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.970888479 meters 0.024832090289190843 Centerline is valid? [True, True] Translation: X:32.84, Y:1.31, Z:0.15 [[ 9.98871826e-01 -4.52904260e-02 -1.42777287e-02 3.28364968e+01] [ 4.52792699e-02 9.98973758e-01 -1.10382082e-03 1.30578552e+00] [ 1.43130688e-02 4.56090390e-04 9.99897459e-01 1.45565745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.030888479000005 meters 0.024125594006187995 Centerline is valid? [True, True] Translation: X:32.89, Y:1.31, Z:0.15 [[ 9.98910976e-01 -4.49259515e-02 -1.25904849e-02 3.28942841e+01] [ 4.49172050e-02 9.98990236e-01 -9.76747087e-04 1.30557168e+00] [ 1.26216528e-02 4.10153994e-04 9.99920260e-01 1.50582170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.09088847900001 meters 0.02507841168909924 Centerline is valid? [True, True] Translation: X:32.95, Y:1.31, Z:0.15 [[ 9.98872579e-01 -4.64221710e-02 -9.92741737e-03 3.29513911e+01] [ 4.64167919e-02 9.98921862e-01 -7.71686198e-04 1.31379687e+00] [ 9.95253760e-03 3.10017316e-04 9.99950424e-01 1.50922207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.150888479 meters 0.023663623237166143 Centerline is valid? [True, True] Translation: X:33.01, Y:1.32, Z:0.15 [[ 9.98811482e-01 -4.79681945e-02 -8.64155786e-03 3.30103616e+01] [ 4.79641611e-02 9.98848830e-01 -6.73505960e-04 1.31549317e+00] [ 8.66391682e-03 2.58220412e-04 9.99962434e-01 1.51227460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.210888479000005 meters 0.02106473731161704 Centerline is valid? [True, True] Translation: X:33.07, Y:1.31, Z:0.16 [[ 9.98642651e-01 -5.13919612e-02 -8.46891133e-03 3.30687985e+01] [ 5.13882003e-02 9.98678535e-01 -6.61232718e-04 1.31394018e+00] [ 8.49170200e-03 2.25133083e-04 9.99963920e-01 1.55529550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.27088847900001 meters 0.023631422140401148 Centerline is valid? [True, True] Translation: X:33.13, Y:1.32, Z:0.15 [[ 9.98597277e-01 -5.25846251e-02 -6.19153814e-03 3.31271810e+01] [ 5.25826316e-02 9.98616459e-01 -4.84424838e-04 1.31937238e+00] [ 6.20844519e-03 1.58177956e-04 9.99980715e-01 1.53410059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.330888479 meters 0.02280561868005507 Centerline is valid? [True, True] Translation: X:33.19, Y:1.33, Z:0.16 [[ 9.98694960e-01 -5.10317469e-02 -2.03416539e-03 3.31859173e+01] [ 5.10315284e-02 9.98697030e-01 -1.59187341e-04 1.32934004e+00] [ 2.03963854e-03 5.51730262e-05 9.99997918e-01 1.55956239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.390888479000004 meters 0.023649573093736043 Centerline is valid? [True, True] Translation: X:33.24, Y:1.33, Z:0.16 [[ 9.98705908e-01 -5.08216505e-02 -1.91529450e-03 3.32437295e+01] [ 5.08214554e-02 9.98707744e-01 -1.50422107e-04 1.33486560e+00] [ 1.92046415e-03 5.28893929e-05 9.99998155e-01 1.57867725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.45088847900001 meters 0.023152719741921925 Centerline is valid? [True, True] Translation: X:33.30, Y:1.34, Z:0.16 [[ 9.98660507e-01 -5.16394997e-02 -3.24872557e-03 3.33023942e+01] [ 5.16389404e-02 9.98665787e-01 -2.55874535e-04 1.34006443e+00] [ 3.25760431e-03 8.77710471e-05 9.99994690e-01 1.57799330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.510888479 meters 0.022254966922542977 Centerline is valid? [True, True] Translation: X:33.36, Y:1.35, Z:0.15 [[ 9.98471754e-01 -5.48846495e-02 -6.46771782e-03 3.33607100e+01] [ 5.48824861e-02 9.98492689e-01 -5.11627547e-04 1.34575239e+00] [ 6.48604946e-03 1.55881220e-04 9.99978953e-01 1.52497756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.570888479000004 meters 0.020738989123453528 Centerline is valid? [True, True] Translation: X:33.42, Y:1.35, Z:0.15 [[ 9.98302156e-01 -5.77772343e-02 -7.38896472e-03 3.34199651e+01] [ 5.77744765e-02 9.98329488e-01 -5.86314814e-04 1.35051692e+00] [ 7.41049701e-03 1.58425774e-04 9.99972529e-01 1.52350320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.630888479000006 meters 0.02264292187951467 Centerline is valid? [True, True] Translation: X:33.48, Y:1.36, Z:0.15 [[ 9.98164750e-01 -5.97357470e-02 -9.93845915e-03 3.34785944e+01] [ 5.97308288e-02 9.98214206e-01 -7.91222365e-04 1.35594403e+00] [ 9.96797537e-03 1.96137871e-04 9.99950299e-01 1.47886942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.690888479 meters 0.0216677425450816 Centerline is valid? [True, True] Translation: X:33.54, Y:1.36, Z:0.15 [[ 9.98048449e-01 -6.16626370e-02 -9.84953622e-03 3.35364155e+01] [ 6.16578874e-02 9.98097033e-01 -7.85433492e-04 1.36409765e+00] [ 9.87922478e-03 1.76599083e-04 9.99951184e-01 1.46467004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.750888479000004 meters 0.022545149519008163 Centerline is valid? [True, True] Translation: X:33.60, Y:1.37, Z:0.15 [[ 9.97968043e-01 -6.32458259e-02 -7.72991062e-03 3.35953981e+01] [ 6.32429371e-02 9.97997971e-01 -6.17822715e-04 1.36751748e+00] [ 7.75350982e-03 1.27705074e-04 9.99969933e-01 1.49872674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.810888479000006 meters 0.022359904523594713 Centerline is valid? [True, True] Translation: X:33.65, Y:1.38, Z:0.15 [[ 9.97878601e-01 -6.47222347e-02 -7.02350525e-03 3.36526974e+01] [ 6.47198793e-02 9.97903312e-01 -5.62361115e-04 1.37769853e+00] [ 7.04517643e-03 1.06607711e-04 9.99975177e-01 1.51303260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.870888479 meters 0.022303671279138893 Centerline is valid? [True, True] Translation: X:33.71, Y:1.38, Z:0.15 [[ 9.97844077e-01 -6.48566368e-02 -1.00406741e-02 3.37110014e+01] [ 6.48518080e-02 9.97894580e-01 -8.06103947e-04 1.38415735e+00] [ 1.00718155e-02 1.53210177e-04 9.99949266e-01 1.47125111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.930888479000004 meters 0.022759810641586973 Centerline is valid? [True, True] Translation: X:33.77, Y:1.39, Z:0.14 [[ 9.97895471e-01 -6.38423793e-02 -1.13480668e-02 3.37681549e+01] [ 6.38361280e-02 9.97959977e-01 -9.12608215e-04 1.39438053e+00] [ 1.13831796e-02 1.86270960e-04 9.99935192e-01 1.44596317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.990888479000006 meters 0.023780363997711728 Centerline is valid? [True, True] Translation: X:33.83, Y:1.40, Z:0.14 [[ 9.97874395e-01 -6.38474208e-02 -1.30460252e-02 3.38251309e+01] [ 6.38391442e-02 9.97959649e-01 -1.05029802e-03 1.40332719e+00] [ 1.30864656e-02 2.15218412e-04 9.99914345e-01 1.43399903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.05088847900001 meters 0.022123713484748377 Centerline is valid? [True, True] Translation: X:33.88, Y:1.41, Z:0.15 [[ 9.97874201e-01 -6.38736834e-02 -1.29318116e-02 3.38833520e+01] [ 6.38655142e-02 9.97957968e-01 -1.04412012e-03 1.40720082e+00] [ 1.29720962e-02 2.16003733e-04 9.99915835e-01 1.46549387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.110888479 meters 0.022498119495425673 Centerline is valid? [True, True] Translation: X:33.94, Y:1.42, Z:0.15 [[ 9.97970574e-01 -6.26196253e-02 -1.15548966e-02 3.39405979e+01] [ 6.26130026e-02 9.98037444e-01 -9.34373491e-04 1.41842540e+00] [ 1.15907296e-02 2.08990477e-04 9.99932803e-01 1.48069235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.170888479000006 meters 0.02344670462647914 Centerline is valid? [True, True] Translation: X:34.00, Y:1.43, Z:0.15 [[ 9.97988766e-01 -6.21389440e-02 -1.25368975e-02 3.39987872e+01] [ 6.21310774e-02 9.98067481e-01 -1.01636147e-03 1.42693676e+00] [ 1.25758253e-02 2.35386382e-04 9.99920893e-01 1.45610990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.23088847900001 meters 0.0235853065868169 Centerline is valid? [True, True] Translation: X:34.06, Y:1.43, Z:0.14 [[ 9.97956752e-01 -6.22765980e-02 -1.42810010e-02 3.40577602e+01] [ 6.22663542e-02 9.98058892e-01 -1.16125039e-03 1.43123929e+00] [ 1.43255988e-02 2.69651796e-04 9.99897347e-01 1.44944750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.290888479 meters 0.01932951300471107 Centerline is valid? [True, True] Translation: X:34.12, Y:1.43, Z:0.15 [[ 9.97873424e-01 -6.41608150e-02 -1.14900117e-02 3.41167092e+01] [ 6.41542780e-02 9.97939553e-01 -9.36983324e-04 1.43297115e+00] [ 1.15264548e-02 1.97857352e-04 9.99933549e-01 1.51051868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.350888479000005 meters 0.021897587163226928 Centerline is valid? [True, True] Translation: X:34.17, Y:1.44, Z:0.15 [[ 9.97794103e-01 -6.51372882e-02 -1.28086543e-02 3.41727623e+01] [ 6.51292196e-02 9.97876290e-01 -1.04649580e-03 1.44236604e+00] [ 1.28496184e-02 2.09969673e-04 9.99917418e-01 1.45770890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.41088847900001 meters 0.02385973092864916 Centerline is valid? [True, True] Translation: X:34.23, Y:1.45, Z:0.15 [[ 9.97971102e-01 -6.22995024e-02 -1.31320595e-02 3.42308275e+01] [ 6.22907591e-02 9.98057467e-01 -1.07416352e-03 1.44943272e+00] [ 1.31734699e-02 2.53978196e-04 9.99913194e-01 1.46345697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.470888479 meters 0.023893110012972004 Centerline is valid? [True, True] Translation: X:34.29, Y:1.45, Z:0.15 [[ 9.98101175e-01 -5.99017887e-02 -1.43464592e-02 3.42890761e+01] [ 5.98910877e-02 9.98204226e-01 -1.17476436e-03 1.45198471e+00] [ 1.43910667e-02 3.13308638e-04 9.99896394e-01 1.49311307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.530888479000005 meters 0.02197180273196084 Centerline is valid? [True, True] Translation: X:34.35, Y:1.46, Z:0.15 [[ 9.98207636e-01 -5.82923500e-02 -1.35468853e-02 3.43471362e+01] [ 5.82826211e-02 9.98299504e-01 -1.11219205e-03 1.46258447e+00] [ 1.35886811e-02 3.20650611e-04 9.99907618e-01 1.47428789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.59088847900001 meters 0.023141110734823996 Centerline is valid? [True, True] Translation: X:34.41, Y:1.47, Z:0.15 [[ 9.98247886e-01 -5.81048524e-02 -1.11796156e-02 3.44055660e+01] [ 5.80981851e-02 9.98310449e-01 -9.20503065e-04 1.46793157e+00] [ 1.12142128e-02 2.69374864e-04 9.99937082e-01 1.47599231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.650888479 meters 0.02322091879148915 Centerline is valid? [True, True] Translation: X:34.46, Y:1.47, Z:0.15 [[ 9.98125494e-01 -5.99231141e-02 -1.24385970e-02 3.44635804e+01] [ 5.99149814e-02 9.98202957e-01 -1.02578470e-03 1.46622211e+00] [ 1.24777125e-02 2.78603547e-04 9.99922112e-01 1.51346232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.710888479000005 meters 0.02386703882302811 Centerline is valid? [True, True] Translation: X:34.52, Y:1.47, Z:0.15 [[ 9.97937456e-01 -6.27811994e-02 -1.33923791e-02 3.45209398e+01] [ 6.27720131e-02 9.98027280e-01 -1.10560018e-03 1.47169811e+00] [ 1.34353706e-02 2.62653229e-04 9.99909707e-01 1.46760658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.77088847900001 meters 0.02070844381995384 Centerline is valid? [True, True] Translation: X:34.58, Y:1.47, Z:0.15 [[ 9.97956975e-01 -6.26775639e-02 -1.23854524e-02 3.45793072e+01] [ 6.26696630e-02 9.98033798e-01 -1.02538935e-03 1.47297431e+00] [ 1.24253690e-02 2.47102322e-04 9.99922772e-01 1.49140543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.830888479 meters 0.024433858092067072 Centerline is valid? [True, True] Translation: X:34.64, Y:1.48, Z:0.15 [[ 9.97982724e-01 -6.19621725e-02 -1.38264835e-02 3.46370220e+01] [ 6.19522319e-02 9.98078457e-01 -1.14652136e-03 1.47746567e+00] [ 1.38709563e-02 2.87626997e-04 9.99903752e-01 1.46404771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.890888479000004 meters 0.021060516122580853 Centerline is valid? [True, True] Translation: X:34.70, Y:1.48, Z:0.15 [[ 9.97967848e-01 -6.18712533e-02 -1.52355363e-02 3.46956514e+01] [ 6.18591212e-02 9.98084087e-01 -1.26672770e-03 1.47861214e+00] [ 1.52847203e-02 3.21696629e-04 9.99883130e-01 1.48334959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.95088847900001 meters 0.022241101536852388 Centerline is valid? [True, True] Translation: X:34.75, Y:1.48, Z:0.14 [[ 9.97785282e-01 -6.40642419e-02 -1.78970116e-02 3.47522781e+01] [ 6.40478049e-02 9.97945718e-01 -1.49068054e-03 1.48205983e+00] [ 1.79557454e-02 3.41114795e-04 9.99838724e-01 1.43843099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.010888479 meters 0.019849935286158967 Centerline is valid? [True, True] Translation: X:34.81, Y:1.48, Z:0.15 [[ 9.97630037e-01 -6.69763086e-02 -1.57633544e-02 3.48115047e+01] [ 6.69639017e-02 9.97754533e-01 -1.31417818e-03 1.48006822e+00] [ 1.58159771e-02 2.55487915e-04 9.99874887e-01 1.48041308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.070888479000004 meters 0.019938875848297916 Centerline is valid? [True, True] Translation: X:34.87, Y:1.48, Z:0.15 [[ 9.97308508e-01 -7.21914199e-02 -1.28116539e-02 3.48706170e+01] [ 7.21836437e-02 9.97390785e-01 -1.06895072e-03 1.48137625e+00] [ 1.28553946e-02 1.41281788e-04 9.99917356e-01 1.48854939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.130888479000006 meters 0.018628068085665552 Centerline is valid? [True, True] Translation: X:34.93, Y:1.48, Z:0.15 [[ 9.97262562e-01 -7.29980894e-02 -1.17754615e-02 3.49300086e+01] [ 7.29915604e-02 9.97332073e-01 -9.83851265e-04 1.48363389e+00] [ 1.18158647e-02 1.21648725e-04 9.99930183e-01 1.51986747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.190888479 meters 0.02023557958583632 Centerline is valid? [True, True] Translation: X:34.99, Y:1.49, Z:0.15 [[ 9.97491279e-01 -6.92888968e-02 -1.44981995e-02 3.49886061e+01] [ 6.92785585e-02 9.97596615e-01 -1.21470663e-03 1.48795402e+00] [ 1.45475204e-02 2.07244914e-04 9.99894158e-01 1.50501401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.250888479000004 meters 0.021860573029104696 Centerline is valid? [True, True] Translation: X:35.05, Y:1.50, Z:0.15 [[ 9.97848506e-01 -6.36996881e-02 -1.55147711e-02 3.50467225e+01] [ 6.36871470e-02 9.97969064e-01 -1.30157128e-03 1.49935345e+00] [ 1.55661713e-02 3.10679454e-04 9.99878792e-01 1.46586367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.310888479000006 meters 0.023127294680718318 Centerline is valid? [True, True] Translation: X:35.11, Y:1.51, Z:0.15 [[ 9.98315363e-01 -5.62125997e-02 -1.43728745e-02 3.51062461e+01] [ 5.62010554e-02 9.98418743e-01 -1.20616771e-03 1.51032123e+00] [ 1.44179491e-02 3.96365043e-04 9.99895977e-01 1.45990888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.370888479 meters 0.024496376659551018 Centerline is valid? [True, True] Translation: X:35.17, Y:1.52, Z:0.15 [[ 9.98599216e-01 -5.15059602e-02 -1.21136935e-02 3.51651708e+01] [ 5.14974076e-02 9.98672610e-01 -1.01710500e-03 1.51671465e+00] [ 1.21500009e-02 3.91856441e-04 9.99926109e-01 1.49109982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.430888479000004 meters 0.02532425863225059 Centerline is valid? [True, True] Translation: X:35.22, Y:1.52, Z:0.15 [[ 9.98753347e-01 -4.90045163e-02 -9.50311129e-03 3.52223928e+01] [ 4.89991304e-02 9.98798502e-01 -7.98892518e-04 1.52492094e+00] [ 9.53084266e-03 3.32252388e-04 9.99954525e-01 1.53536064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.490888479000006 meters 0.025936195438497543 Centerline is valid? [True, True] Translation: X:35.28, Y:1.53, Z:0.15 [[ 9.98822240e-01 -4.74003778e-02 -1.03603638e-02 3.52815931e+01] [ 4.73938671e-02 9.98875898e-01 -8.73170091e-04 1.52716562e+00] [ 1.03901063e-02 3.81124000e-04 9.99945949e-01 1.52053886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.55088847900001 meters 0.0252629376370427 Centerline is valid? [True, True] Translation: X:35.34, Y:1.53, Z:0.15 [[ 9.98927073e-01 -4.55594801e-02 -8.30880257e-03 3.53398050e+01] [ 4.55552134e-02 9.98961576e-01 -7.02146254e-04 1.53497379e+00] [ 8.33216393e-03 3.22883628e-04 9.99965235e-01 1.53148355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.610888479 meters 0.024536486153669948 Centerline is valid? [True, True] Translation: X:35.40, Y:1.54, Z:0.15 [[ 9.98874861e-01 -4.65042348e-02 -9.29342024e-03 3.53986015e+01] [ 4.64989158e-02 9.98918030e-01 -7.87711184e-04 1.53565609e+00] [ 9.31999694e-03 3.54690934e-04 9.99956505e-01 1.53369658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.670888479000006 meters 0.025096762272893848 Centerline is valid? [True, True] Translation: X:35.46, Y:1.54, Z:0.15 [[ 9.98861342e-01 -4.61318417e-02 -1.21603263e-02 3.54576527e+01] [ 4.61226680e-02 9.98935248e-01 -1.03391582e-03 1.53722439e+00] [ 1.21950750e-02 4.71871849e-04 9.99925526e-01 1.51476953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.73088847900001 meters 0.024453006562286717 Centerline is valid? [True, True] Translation: X:35.52, Y:1.54, Z:0.15 [[ 9.98860284e-01 -4.59882138e-02 -1.27756268e-02 3.55164462e+01] [ 4.59780353e-02 9.98941857e-01 -1.08943345e-03 1.54068017e+00] [ 1.28122094e-02 5.00793583e-04 9.99917795e-01 1.51990827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.790888479 meters 0.023510116197613177 Centerline is valid? [True, True] Translation: X:35.58, Y:1.54, Z:0.15 [[ 9.98660671e-01 -4.98176307e-02 -1.39666928e-02 3.55768267e+01] [ 4.98058263e-02 9.98758208e-01 -1.19195552e-03 1.53744124e+00] [ 1.40087294e-02 4.94736421e-04 9.99901751e-01 1.54007260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.850888479000005 meters 0.022337076923253974 Centerline is valid? [True, True] Translation: X:35.64, Y:1.54, Z:0.16 [[ 9.98393987e-01 -5.50215671e-02 -1.34934556e-02 3.56365751e+01] [ 5.50110181e-02 9.98485083e-01 -1.15198575e-03 1.53601681e+00] [ 1.35363982e-02 4.07846913e-04 9.99908296e-01 1.55830025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.91088847900001 meters 0.021218637822036715 Centerline is valid? [True, True] Translation: X:35.70, Y:1.54, Z:0.15 [[ 9.98307536e-01 -5.66458549e-02 -1.31647177e-02 3.56957162e+01] [ 5.66359197e-02 9.98394263e-01 -1.12657579e-03 1.53845934e+00] [ 1.32073945e-02 3.79073201e-04 9.99912707e-01 1.54963051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.970888479 meters 0.02300394092379942 Centerline is valid? [True, True] Translation: X:35.76, Y:1.54, Z:0.15 [[ 9.98193217e-01 -5.84955896e-02 -1.37320092e-02 3.57551456e+01] [ 5.84849078e-02 9.98287597e-01 -1.17851282e-03 1.53897919e+00] [ 1.37774323e-02 3.73268215e-04 9.99905017e-01 1.54148880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.030888479000005 meters 0.02098349707265307 Centerline is valid? [True, True] Translation: X:35.81, Y:1.54, Z:0.16 [[ 9.98139802e-01 -5.96351483e-02 -1.26721944e-02 3.58143440e+01] [ 5.96261051e-02 9.98220185e-01 -1.09057767e-03 1.53774999e+00] [ 1.27146770e-02 3.32955387e-04 9.99919110e-01 1.60844916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09088847900001 meters 0.021319387994204072 Centerline is valid? [True, True] Translation: X:35.87, Y:1.54, Z:0.16 [[ 9.98097794e-01 -6.06120864e-02 -1.12680136e-02 3.58735042e+01] [ 6.06049689e-02 9.98161356e-01 -9.72355808e-04 1.54217164e+00] [ 1.13062323e-02 2.87608572e-04 9.99936041e-01 1.62054080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.150888479 meters 0.021340708841226113 Centerline is valid? [True, True] Translation: X:35.93, Y:1.55, Z:0.16 [[ 9.98186469e-01 -5.94763601e-02 -9.29174420e-03 3.59320729e+01] [ 5.94714513e-02 9.98229683e-01 -8.03948242e-04 1.54859963e+00] [ 9.32311079e-03 2.49896744e-04 9.99956508e-01 1.62459224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.210888479000005 meters 0.022240569481853996 Centerline is valid? [True, True] Translation: X:35.99, Y:1.55, Z:0.16 [[ 9.98231043e-01 -5.81231575e-02 -1.25093316e-02 3.59909048e+01] [ 5.81141136e-02 9.98309357e-01 -1.08557193e-03 1.55171249e+00] [ 1.25512797e-02 3.56682882e-04 9.99921166e-01 1.60685652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27088847900001 meters 0.021106099322346535 Centerline is valid? [True, True] Translation: X:36.05, Y:1.55, Z:0.16 [[ 9.98222975e-01 -5.79576084e-02 -1.38494752e-02 3.60495318e+01] [ 5.79464581e-02 9.98318965e-01 -1.20537066e-03 1.55370366e+00] [ 1.38960542e-02 4.00700649e-04 9.99903365e-01 1.60664344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.330888479 meters 0.021562483619372307 Centerline is valid? [True, True] Translation: X:36.11, Y:1.56, Z:0.16 [[ 9.98279442e-01 -5.76998653e-02 -1.04345948e-02 3.61081863e+01] [ 5.76934966e-02 9.98333928e-01 -9.10576713e-04 1.56146096e+00] [ 1.04697502e-02 3.07001751e-04 9.99945144e-01 1.62652482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.390888479000004 meters 0.022088530889449103 Centerline is valid? [True, True] Translation: X:36.17, Y:1.57, Z:0.16 [[ 9.98306931e-01 -5.76626291e-02 -7.63497817e-03 3.61660140e+01] [ 5.76592042e-02 9.98336101e-01 -6.68126999e-04 1.56850202e+00] [ 7.66080029e-03 2.26769049e-04 9.99970630e-01 1.64318987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.45088847900001 meters 0.0226910170392234 Centerline is valid? [True, True] Translation: X:36.22, Y:1.57, Z:0.17 [[ 9.98303099e-01 -5.77522158e-02 -7.45686555e-03 3.62242651e+01] [ 5.77489360e-02 9.98330923e-01 -6.54588342e-04 1.57199158e+00] [ 7.48222339e-03 2.22851519e-04 9.99971983e-01 1.66386643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.510888479 meters 0.02382834610328184 Centerline is valid? [True, True] Translation: X:36.28, Y:1.58, Z:0.16 [[ 9.98349792e-01 -5.67483983e-02 -8.79270181e-03 3.62815253e+01] [ 5.67437867e-02 9.98388474e-01 -7.73266699e-04 1.58060612e+00] [ 8.82241379e-03 2.73059452e-04 9.99961044e-01 1.63827089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.570888479000004 meters 0.023805150865376594 Centerline is valid? [True, True] Translation: X:36.34, Y:1.59, Z:0.16 [[ 9.98432793e-01 -5.53686605e-02 -8.14058449e-03 3.63397457e+01] [ 5.53646496e-02 9.98465944e-01 -7.17412368e-04 1.58863719e+00] [ 8.16781854e-03 2.65587427e-04 9.99966608e-01 1.64457426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.630888479000006 meters 0.024392206906067828 Centerline is valid? [True, True] Translation: X:36.40, Y:1.60, Z:0.16 [[ 9.98534270e-01 -5.33945903e-02 -8.85042832e-03 3.63982391e+01] [ 5.33897525e-02 9.98573444e-01 -7.82158773e-04 1.59888442e+00] [ 8.87956573e-03 3.08490162e-04 9.99960528e-01 1.62615113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.690888479 meters 0.025768361154867237 Centerline is valid? [True, True] Translation: X:36.46, Y:1.61, Z:0.16 [[ 9.98738966e-01 -4.86073136e-02 -1.25621281e-02 3.64578674e+01] [ 4.85971743e-02 9.98817841e-01 -1.11130896e-03 1.60801296e+00] [ 1.26012954e-02 4.99423628e-04 9.99920476e-01 1.60200865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.750888479000004 meters 0.02672149606494034 Centerline is valid? [True, True] Translation: X:36.52, Y:1.62, Z:0.16 [[ 9.98793310e-01 -4.73178396e-02 -1.31508713e-02 3.65158322e+01] [ 4.73066035e-02 9.98879737e-01 -1.16433425e-03 1.61523770e+00] [ 1.31912327e-02 5.40806206e-04 9.99912846e-01 1.60682386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.810888479000006 meters 0.02628395232042347 Centerline is valid? [True, True] Translation: X:36.57, Y:1.62, Z:0.16 [[ 9.98768145e-01 -4.82629024e-02 -1.15275389e-02 3.65741433e+01] [ 4.82543052e-02 9.98834559e-01 -1.02293353e-03 1.62383770e+00] [ 1.15634739e-02 4.65420051e-04 9.99933032e-01 1.61898022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.870888479 meters 0.025806512801211316 Centerline is valid? [True, True] Translation: X:36.63, Y:1.63, Z:0.16 [[ 9.98744868e-01 -4.83609581e-02 -1.30347944e-02 3.66323097e+01] [ 4.83499312e-02 9.98829785e-01 -1.15994953e-03 1.63302312e+00] [ 1.30756372e-02 5.28262230e-04 9.99914371e-01 1.59356604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.930888479000004 meters 0.026843353388159522 Centerline is valid? [True, True] Translation: X:36.69, Y:1.64, Z:0.16 [[ 9.98731076e-01 -4.81666503e-02 -1.47041066e-02 3.66896095e+01] [ 4.81525705e-02 9.98839133e-01 -1.31029015e-03 1.63975101e+00] [ 1.47501494e-02 6.00586964e-04 9.99891030e-01 1.59575052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.990888479000006 meters 0.02519449048196047 Centerline is valid? [True, True] Translation: X:36.75, Y:1.65, Z:0.16 [[ 9.98599658e-01 -5.11604144e-02 -1.34660510e-02 3.67494190e+01] [ 5.11488723e-02 9.98690318e-01 -1.20036984e-03 1.64515677e+00] [ 1.35098261e-02 5.09915591e-04 9.99908608e-01 1.61484145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.05088847900001 meters 0.024135579238394836 Centerline is valid? [True, True] Translation: X:36.81, Y:1.65, Z:0.16 [[ 9.98422432e-01 -5.43556483e-02 -1.40752184e-02 3.68085352e+01] [ 5.43433186e-02 9.98521519e-01 -1.25725614e-03 1.65039807e+00] [ 1.41227474e-02 4.90378655e-04 9.99900149e-01 1.60707403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.110888479 meters 0.022167222374455786 Centerline is valid? [True, True] Translation: X:36.87, Y:1.65, Z:0.16 [[ 9.98274391e-01 -5.70082660e-02 -1.40818467e-02 3.68680402e+01] [ 5.69961603e-02 9.98373603e-01 -1.25982615e-03 1.65126092e+00] [ 1.41307645e-02 4.55040994e-04 9.99900052e-01 1.63924947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.170888479000006 meters 0.022960801920593094 Centerline is valid? [True, True] Translation: X:36.93, Y:1.66, Z:0.16 [[ 9.98143017e-01 -5.87567220e-02 -1.60674915e-02 3.69252792e+01] [ 5.87411535e-02 9.98272210e-01 -1.43958516e-03 1.65921926e+00] [ 1.61243155e-02 4.93088894e-04 9.99869873e-01 1.61815159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.23088847900001 meters 0.020962104101961723 Centerline is valid? [True, True] Translation: X:36.98, Y:1.66, Z:0.16 [[ 9.97960443e-01 -6.14942758e-02 -1.71291545e-02 3.69843605e+01] [ 6.14769162e-02 9.98107320e-01 -1.53867597e-03 1.66199073e+00] [ 1.71913542e-02 4.82490155e-04 9.99852101e-01 1.61325566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.290888479 meters 0.02151439175836546 Centerline is valid? [True, True] Translation: X:37.04, Y:1.67, Z:0.16 [[ 9.97885164e-01 -6.30445448e-02 -1.58298622e-02 3.70423291e+01] [ 6.30298531e-02 9.98010624e-01 -1.42579910e-03 1.66828616e+00] [ 1.58882595e-02 4.25029884e-04 9.99873683e-01 1.62018568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.350888479000005 meters 0.021147722123729513 Centerline is valid? [True, True] Translation: X:37.10, Y:1.67, Z:0.17 [[ 9.97817240e-01 -6.42315783e-02 -1.53316712e-02 3.71013412e+01] [ 6.42178806e-02 9.97934941e-01 -1.38458426e-03 1.67202880e+00] [ 1.53889445e-02 3.96994610e-04 9.99881504e-01 1.65818254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.41088847900001 meters 0.020993181593770262 Centerline is valid? [True, True] Translation: X:37.16, Y:1.68, Z:0.16 [[ 9.97921655e-01 -6.22894166e-02 -1.65045366e-02 3.71591661e+01] [ 6.22732455e-02 9.98058022e-01 -1.49242240e-03 1.68141495e+00] [ 1.65654472e-02 4.61529577e-04 9.99862677e-01 1.63518193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.470888479 meters 0.021996164013455895 Centerline is valid? [True, True] Translation: X:37.22, Y:1.69, Z:0.16 [[ 9.98013647e-01 -6.06421045e-02 -1.70673850e-02 3.72176597e+01] [ 6.06245074e-02 9.98159444e-01 -1.54701988e-03 1.69060878e+00] [ 1.71297861e-02 5.09245140e-04 9.99853145e-01 1.62705048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.530888479000005 meters 0.02241166765946015 Centerline is valid? [True, True] Translation: X:37.28, Y:1.70, Z:0.16 [[ 9.98216716e-01 -5.73838326e-02 -1.64463764e-02 3.72770843e+01] [ 5.73670324e-02 9.98352041e-01 -1.49186016e-03 1.69891473e+00] [ 1.65048821e-02 5.45719938e-04 9.99863636e-01 1.64340566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59088847900001 meters 0.023836119435788422 Centerline is valid? [True, True] Translation: X:37.33, Y:1.71, Z:0.16 [[ 9.98365500e-01 -5.45395424e-02 -1.70811627e-02 3.73347445e+01] [ 5.45209898e-02 9.98511421e-01 -1.55028724e-03 1.71043853e+00] [ 1.71402880e-02 6.16471399e-04 9.99852904e-01 1.64231697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.650888479 meters 0.02724474408623012 Centerline is valid? [True, True] Translation: X:37.39, Y:1.72, Z:0.16 [[ 9.98544892e-01 -5.06193494e-02 -1.85951521e-02 3.73930025e+01] [ 5.05966699e-02 9.98717741e-01 -1.68839390e-03 1.72380040e+00] [ 1.86567737e-02 7.45084333e-04 9.99825670e-01 1.63873422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.710888479000005 meters 0.02538829665455569 Centerline is valid? [True, True] Translation: X:37.45, Y:1.73, Z:0.16 [[ 9.98527827e-01 -5.01994446e-02 -2.05473791e-02 3.74517341e+01] [ 5.01715717e-02 9.98738863e-01 -1.87010558e-03 1.72723265e+00] [ 2.06153443e-02 8.36458158e-04 9.99787131e-01 1.63690588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77088847900001 meters 0.02556111431016935 Centerline is valid? [True, True] Translation: X:37.51, Y:1.74, Z:0.16 [[ 9.98564746e-01 -4.97993085e-02 -1.97098256e-02 3.75100578e+01] [ 4.97734891e-02 9.98758912e-01 -1.79867960e-03 1.73811002e+00] [ 1.97749370e-02 8.15071244e-04 9.99804125e-01 1.62556614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.830888479 meters 0.025409021248785586 Centerline is valid? [True, True] Translation: X:37.57, Y:1.74, Z:0.16 [[ 9.98570154e-01 -4.96982495e-02 -1.96909226e-02 3.75687022e+01] [ 4.96723642e-02 9.98763941e-01 -1.80180434e-03 1.74360762e+00] [ 1.97561300e-02 8.21133357e-04 9.99804491e-01 1.63596962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.890888479000004 meters 0.02529896781393786 Centerline is valid? [True, True] Translation: X:37.63, Y:1.75, Z:0.16 [[ 9.98466005e-01 -5.14124457e-02 -2.05523188e-02 3.76274506e+01] [ 5.13845040e-02 9.98677164e-01 -1.88567937e-03 1.75134987e+00] [ 2.06220788e-02 8.26716042e-04 9.99787001e-01 1.63401030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95088847900001 meters 0.024259754421168202 Centerline is valid? [True, True] Translation: X:37.69, Y:1.76, Z:0.16 [[ 9.98350999e-01 -5.35242902e-02 -2.07468868e-02 3.76856453e+01] [ 5.34961658e-02 9.98566231e-01 -1.90862805e-03 1.75823901e+00] [ 2.08192986e-02 7.95601817e-04 9.99782938e-01 1.62920149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.010888479 meters 0.021839492703858265 Centerline is valid? [True, True] Translation: X:37.75, Y:1.76, Z:0.17 [[ 9.98105716e-01 -5.76160165e-02 -2.15725299e-02 3.77453090e+01] [ 5.75864521e-02 9.98338541e-01 -1.98969720e-03 1.75687457e+00] [ 2.16513265e-02 7.43642684e-04 9.99765306e-01 1.65755324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.070888479000004 meters 0.021728241952456515 Centerline is valid? [True, True] Translation: X:37.80, Y:1.76, Z:0.17 [[ 9.97966377e-01 -6.08134750e-02 -1.91005840e-02 3.78036654e+01] [ 6.07908559e-02 9.98148968e-01 -1.76314854e-03 1.76190943e+00] [ 1.91724514e-02 5.98422113e-04 9.99816013e-01 1.68350272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.130888479000006 meters 0.022116492346589606 Centerline is valid? [True, True] Translation: X:37.86, Y:1.77, Z:0.16 [[ 9.97937777e-01 -6.10183718e-02 -1.99236353e-02 3.78613005e+01] [ 6.09937691e-02 9.98136449e-01 -1.84076396e-03 1.77094395e+00] [ 1.99988271e-02 6.21750277e-04 9.99799810e-01 1.64798710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.190888479 meters 0.022840866157042217 Centerline is valid? [True, True] Translation: X:37.92, Y:1.78, Z:0.17 [[ 9.97969183e-01 -6.02331078e-02 -2.07239364e-02 3.79197808e+01] [ 6.02062246e-02 9.98184115e-01 -1.91925780e-03 1.77524066e+00] [ 2.08019069e-02 6.67650170e-04 9.99783394e-01 1.65182417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.250888479000004 meters 0.02367993583161083 Centerline is valid? [True, True] Translation: X:37.98, Y:1.78, Z:0.17 [[ 9.97962006e-01 -6.03234746e-02 -2.08065825e-02 3.79769770e+01] [ 6.02963125e-02 9.98178654e-01 -1.93091778e-03 1.78022958e+00] [ 2.08851662e-02 6.72422383e-04 9.99781655e-01 1.66477437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.310888479000006 meters 0.0216343323364654 Centerline is valid? [True, True] Translation: X:38.04, Y:1.78, Z:0.17 [[ 9.97947443e-01 -6.15323280e-02 -1.77390314e-02 3.80355826e+01] [ 6.15127498e-02 9.98104938e-01 -1.64772753e-03 1.78337785e+00] [ 1.78068033e-02 5.53168872e-04 9.99841293e-01 1.71071671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.37088847900001 meters 0.02067350101618809 Centerline is valid? [True, True] Translation: X:38.09, Y:1.79, Z:0.17 [[ 9.97907287e-01 -6.28521260e-02 -1.51874058e-02 3.80948703e+01] [ 6.28378815e-02 9.98022746e-01 -1.41376979e-03 1.78672779e+00] [ 1.52462349e-02 4.56466767e-04 9.99883665e-01 1.73885991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.430888479000004 meters 0.02111813351251438 Centerline is valid? [True, True] Translation: X:38.15, Y:1.79, Z:0.17 [[ 9.97871669e-01 -6.33364296e-02 -1.55122004e-02 3.81522185e+01] [ 6.33216000e-02 9.97992127e-01 -1.44578735e-03 1.79440125e+00] [ 1.55726249e-02 4.60452883e-04 9.99878633e-01 1.71736060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.490888479000006 meters 0.02104822525681429 Centerline is valid? [True, True] Translation: X:38.21, Y:1.80, Z:0.17 [[ 9.97737573e-01 -6.47222452e-02 -1.81869834e-02 3.82103236e+01] [ 6.47020068e-02 9.97903182e-01 -1.69963489e-03 1.79988638e+00] [ 1.82588528e-02 5.19055266e-04 9.99833159e-01 1.69839213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.55088847900001 meters 0.02123335537747398 Centerline is valid? [True, True] Translation: X:38.27, Y:1.80, Z:0.17 [[ 9.97609676e-01 -6.61416232e-02 -2.00054845e-02 3.82670477e+01] [ 6.61173381e-02 9.97810096e-01 -1.87364180e-03 1.80492655e+00] [ 2.00856001e-02 5.46453809e-04 9.99798115e-01 1.68318154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.610888479 meters 0.020949346225421252 Centerline is valid? [True, True] Translation: X:38.33, Y:1.81, Z:0.17 [[ 9.97539312e-01 -6.72315218e-02 -1.98807084e-02 3.83259482e+01] [ 6.72076633e-02 9.97737263e-01 -1.86654959e-03 1.80835368e+00] [ 1.99612146e-02 5.25820637e-04 9.99800617e-01 1.69769137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.670888479000006 meters 0.021011912007812078 Centerline is valid? [True, True] Translation: X:38.38, Y:1.81, Z:0.17 [[ 9.97558530e-01 -6.74118067e-02 -1.82380792e-02 3.83845638e+01] [ 6.73916801e-02 9.97725120e-01 -1.71660521e-03 1.81304331e+00] [ 1.83123092e-02 4.83319367e-04 9.99832199e-01 1.71832299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.73088847900001 meters 0.021166103924738167 Centerline is valid? [True, True] Translation: X:38.44, Y:1.82, Z:0.17 [[ 9.97772579e-01 -6.50833623e-02 -1.46300218e-02 3.84432952e+01] [ 6.50701115e-02 9.97879740e-01 -1.38043029e-03 1.81995759e+00] [ 1.46888454e-02 4.25378337e-04 9.99892023e-01 1.73930928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.790888479 meters 0.02150543049251287 Centerline is valid? [True, True] Translation: X:38.50, Y:1.83, Z:0.17 [[ 9.97918910e-01 -6.22478320e-02 -1.68242832e-02 3.85029707e+01] [ 6.22298836e-02 9.98060578e-01 -1.58875196e-03 1.82574993e+00] [ 1.68905501e-02 5.38472437e-04 9.99857199e-01 1.72946274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.850888479000005 meters 0.023757487691436544 Centerline is valid? [True, True] Translation: X:38.56, Y:1.83, Z:0.18 [[ 9.98180182e-01 -5.78918375e-02 -1.68777958e-02 3.85606601e+01] [ 5.78731343e-02 9.98322672e-01 -1.59488648e-03 1.83129393e+00] [ 1.69418171e-02 6.15213135e-04 9.99856288e-01 1.75420438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.91088847900001 meters 0.02575761505021292 Centerline is valid? [True, True] Translation: X:38.62, Y:1.84, Z:0.17 [[ 9.98315098e-01 -5.50469155e-02 -1.83521500e-02 3.86185404e+01] [ 5.50242945e-02 9.98483507e-01 -1.73567039e-03 1.83898494e+00] [ 1.84198624e-02 7.22931849e-04 9.99830079e-01 1.73775932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.970888479 meters 0.025138259165151455 Centerline is valid? [True, True] Translation: X:38.68, Y:1.85, Z:0.17 [[ 9.98349961e-01 -5.52104731e-02 -1.57847622e-02 3.86767177e+01] [ 5.51937067e-02 9.98474545e-01 -1.49619250e-03 1.84548455e+00] [ 1.58432888e-02 6.22504184e-04 9.99874293e-01 1.74192934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.030888479000005 meters 0.024261231080932064 Centerline is valid? [True, True] Translation: X:38.74, Y:1.85, Z:0.18 [[ 9.98308750e-01 -5.63073914e-02 -1.44609134e-02 3.87360801e+01] [ 5.62934042e-02 9.98413325e-01 -1.37279710e-03 1.84734308e+00] [ 1.45152673e-02 5.56421313e-04 9.99894493e-01 1.75614724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09088847900001 meters 0.023544690852004113 Centerline is valid? [True, True] Translation: X:38.80, Y:1.85, Z:0.18 [[ 9.98196575e-01 -5.84475249e-02 -1.36925099e-02 3.87959515e+01] [ 5.84351473e-02 9.98290357e-01 -1.30265076e-03 1.84643163e+00] [ 1.37452373e-02 5.00177691e-04 9.99905405e-01 1.79726786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.150888479 meters 0.02370211315112271 Centerline is valid? [True, True] Translation: X:38.85, Y:1.85, Z:0.18 [[ 9.98116028e-01 -5.96964683e-02 -1.41678241e-02 3.88547092e+01] [ 5.96832939e-02 9.98216449e-01 -1.35125437e-03 1.85328331e+00] [ 1.42232202e-02 5.03126233e-04 9.99898718e-01 1.77285990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.210888479000005 meters 0.023194091659564358 Centerline is valid? [True, True] Translation: X:38.91, Y:1.86, Z:0.18 [[ 9.98139933e-01 -5.92349099e-02 -1.44187335e-02 3.89130133e+01] [ 5.92211921e-02 9.98243935e-01 -1.37687889e-03 1.85667330e+00] [ 1.44749726e-02 5.20423217e-04 9.99895097e-01 1.77021638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.27088847900001 meters 0.024474512129586772 Centerline is valid? [True, True] Translation: X:38.97, Y:1.86, Z:0.18 [[ 9.98244605e-01 -5.69849678e-02 -1.61375764e-02 3.89720727e+01] [ 5.69674750e-02 9.98374844e-01 -1.54197905e-03 1.86159603e+00] [ 1.61992199e-02 6.19955295e-04 9.99868592e-01 1.75370998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.330888479 meters 0.02715341891056299 Centerline is valid? [True, True] Translation: X:39.03, Y:1.87, Z:0.17 [[ 9.98308060e-01 -5.55533982e-02 -1.71708022e-02 3.90288992e+01] [ 5.55333474e-02 9.98455482e-01 -1.64271169e-03 1.87220300e+00] [ 1.72355398e-02 6.86380199e-04 9.99851221e-01 1.72181730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.390888479000004 meters 0.025416700595328103 Centerline is valid? [True, True] Translation: X:39.09, Y:1.87, Z:0.18 [[ 9.98414265e-01 -5.41273445e-02 -1.54656323e-02 3.90884383e+01] [ 5.41108548e-02 9.98533833e-01 -1.48299602e-03 1.87252037e+00] [ 1.55232278e-02 6.43785797e-04 9.99879300e-01 1.76088228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45088847900001 meters 0.027187662563792587 Centerline is valid? [True, True] Translation: X:39.15, Y:1.88, Z:0.18 [[ 9.98454146e-01 -5.38616598e-02 -1.37200786e-02 3.91458493e+01] [ 5.38486363e-02 9.98548241e-01 -1.31715725e-03 1.87587661e+00] [ 1.37711046e-02 5.76313597e-04 9.99905008e-01 1.80495009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.510888479 meters 0.025228715248781227 Centerline is valid? [True, True] Translation: X:39.20, Y:1.88, Z:0.18 [[ 9.98511116e-01 -5.29720307e-02 -1.30198179e-02 3.92046353e+01] [ 5.29601912e-02 9.98595839e-01 -1.25268903e-03 1.87878618e+00] [ 1.30678934e-02 5.61291876e-04 9.99914454e-01 1.80704871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.570888479000004 meters 0.029159233998302794 Centerline is valid? [True, True] Translation: X:39.26, Y:1.89, Z:0.18 [[ 9.98699840e-01 -4.97222830e-02 -1.12394068e-02 3.92624450e+01] [ 4.97132432e-02 9.98762946e-01 -1.08242556e-03 1.89020700e+00] [ 1.12793237e-02 5.22270869e-04 9.99936250e-01 1.79826653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.630888479000006 meters 0.02738147717574804 Centerline is valid? [True, True] Translation: X:39.32, Y:1.89, Z:0.18 [[ 9.98776389e-01 -4.82219398e-02 -1.09713189e-02 3.93214578e+01] [ 4.82132119e-02 9.98836506e-01 -1.05877140e-03 1.89193390e+00] [ 1.10096099e-02 5.28513355e-04 9.99939253e-01 1.80908007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.690888479 meters 0.030079034569378108 Centerline is valid? [True, True] Translation: X:39.38, Y:1.90, Z:0.18 [[ 9.98788197e-01 -4.77954880e-02 -1.17357597e-02 3.93789026e+01] [ 4.77854543e-02 9.98856979e-01 -1.13405514e-03 1.89987551e+00] [ 1.17765482e-02 5.71882281e-04 9.99930491e-01 1.80314846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.750888479000004 meters 0.02774876553429889 Centerline is valid? [True, True] Translation: X:39.44, Y:1.90, Z:0.18 [[ 9.98765340e-01 -4.81756566e-02 -1.21202965e-02 3.94367331e+01] [ 4.81649475e-02 9.98838705e-01 -1.17409180e-03 1.90160258e+00] [ 1.21627840e-02 5.88868749e-04 9.99925857e-01 1.80482037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.810888479000006 meters 0.029229118508321345 Centerline is valid? [True, True] Translation: X:39.49, Y:1.91, Z:0.18 [[ 9.98684339e-01 -4.96527088e-02 -1.28140444e-02 3.94944257e+01] [ 4.96408380e-02 9.98766360e-01 -1.24299085e-03 1.90750655e+00] [ 1.28599543e-02 6.05255590e-04 9.99917124e-01 1.79539756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.87088847900001 meters 0.028147772215733922 Centerline is valid? [True, True] Translation: X:39.55, Y:1.91, Z:0.18 [[ 9.98602955e-01 -5.12967902e-02 -1.26797986e-02 3.95528841e+01] [ 5.12852660e-02 9.98683284e-01 -1.23257113e-03 1.91111759e+00] [ 1.27263298e-02 5.80562330e-04 9.99918848e-01 1.78999320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.930888479000004 meters 0.028177668620851682 Centerline is valid? [True, True] Translation: X:39.61, Y:1.91, Z:0.18 [[ 9.98437279e-01 -5.37692512e-02 -1.52271786e-02 3.96112928e+01] [ 5.37528621e-02 9.98553167e-01 -1.48384467e-03 1.91382535e+00] [ 1.52849326e-02 6.63021404e-04 9.99882959e-01 1.76634669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.990888479000006 meters 0.024835763873435897 Centerline is valid? [True, True] Translation: X:39.67, Y:1.91, Z:0.18 [[ 9.98267158e-01 -5.70714136e-02 -1.43364599e-02 3.96719814e+01] [ 5.70572142e-02 9.98369932e-01 -1.39784859e-03 1.91329756e+00] [ 1.43928677e-02 5.77427878e-04 9.99896251e-01 1.77635688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.05088847900001 meters 0.02417672474519387 Centerline is valid? [True, True] Translation: X:39.73, Y:1.92, Z:0.18 [[ 9.98122942e-01 -5.99878724e-02 -1.23307548e-02 3.97319666e+01] [ 5.99775844e-02 9.98199000e-01 -1.20278414e-03 1.91528826e+00] [ 1.23806995e-02 4.60957564e-04 9.99923250e-01 1.80494580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.110888479 meters 0.022458782426373478 Centerline is valid? [True, True] Translation: X:39.79, Y:1.92, Z:0.18 [[ 9.97889421e-01 -6.44401128e-02 -8.01099603e-03 3.97922043e+01] [ 6.44359124e-02 9.97921541e-01 -7.81596764e-04 1.91610268e+00] [ 8.04471169e-03 2.63751303e-04 9.99967606e-01 1.84717336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.170888479000006 meters 0.02160232933352929 Centerline is valid? [True, True] Translation: X:39.85, Y:1.92, Z:0.18 [[ 9.97839486e-01 -6.49942417e-02 -9.59735812e-03 3.98504163e+01] [ 6.49882195e-02 9.97885590e-01 -9.38344177e-04 1.92024433e+00] [ 9.63805234e-03 3.12601655e-04 9.99953504e-01 1.83247596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.23088847900001 meters 0.023453744632630648 Centerline is valid? [True, True] Translation: X:39.91, Y:1.93, Z:0.18 [[ 9.97848141e-01 -6.44833241e-02 -1.18738219e-02 3.99078467e+01] [ 6.44740443e-02 9.97918707e-01 -1.16306375e-03 1.92661861e+00] [ 1.19241072e-02 3.95007684e-04 9.99928827e-01 1.83148256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.290888479 meters 0.022005926175111948 Centerline is valid? [True, True] Translation: X:39.97, Y:1.93, Z:0.18 [[ 9.97774419e-01 -6.57153549e-02 -1.13004470e-02 3.99666161e+01] [ 6.57070015e-02 9.97838343e-01 -1.10930543e-03 1.93089826e+00] [ 1.13489177e-02 3.64318095e-04 9.99935533e-01 1.83788391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.350888479000005 meters 0.021528399595258003 Centerline is valid? [True, True] Translation: X:40.02, Y:1.94, Z:0.18 [[ 9.97549752e-01 -6.90957274e-02 -1.09669072e-02 4.00245301e+01] [ 6.90880505e-02 9.97609984e-01 -1.07777497e-03 1.93639589e+00] [ 1.10151657e-02 3.17451917e-04 9.99939281e-01 1.82567486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.41088847900001 meters 0.018473741471153684 Centerline is valid? [True, True] Translation: X:40.09, Y:1.93, Z:0.19 [[ 9.97060522e-01 -7.55926729e-02 -1.24925625e-02 4.00858749e+01] [ 7.55832126e-02 9.97138741e-01 -1.22836348e-03 1.92891256e+00] [ 1.25496734e-02 2.80524725e-04 9.99921210e-01 1.87430598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.470888479 meters 0.018116894975624187 Centerline is valid? [True, True] Translation: X:40.14, Y:1.94, Z:0.19 [[ 9.96757415e-01 -7.99107541e-02 -9.43010170e-03 4.01439283e+01] [ 7.99055514e-02 9.96802007e-01 -9.27792401e-04 1.93506353e+00] [ 9.47408490e-03 1.71266479e-04 9.99955105e-01 1.88604916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.530888479000005 meters 0.017946795335076225 Centerline is valid? [True, True] Translation: X:40.20, Y:1.94, Z:0.19 [[ 9.96722327e-01 -8.06113781e-02 -6.81234478e-03 4.02020103e+01] [ 8.06086719e-02 9.96745600e-01 -6.71336999e-04 1.94170078e+00] [ 6.84429208e-03 1.20002512e-04 9.99976570e-01 1.90591558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59088847900001 meters 0.017742092060107597 Centerline is valid? [True, True] Translation: X:40.26, Y:1.95, Z:0.19 [[ 9.96844064e-01 -7.91116735e-02 -6.57694162e-03 4.02605722e+01] [ 7.91091080e-02 9.96865752e-01 -6.49721296e-04 1.94753268e+00] [ 6.60772839e-03 1.27374832e-04 9.99978161e-01 1.92343977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.650888479 meters 0.018014668813962294 Centerline is valid? [True, True] Translation: X:40.32, Y:1.96, Z:0.19 [[ 9.96947153e-01 -7.76730661e-02 -7.95420667e-03 4.03184566e+01] [ 7.76692574e-02 9.96978870e-01 -7.87077159e-04 1.95513887e+00] [ 7.99131067e-03 1.66877007e-04 9.99968055e-01 1.91748402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.710888479000005 meters 0.018657908284924682 Centerline is valid? [True, True] Translation: X:40.38, Y:1.97, Z:0.19 [[ 9.97109216e-01 -7.54943909e-02 -8.59115126e-03 4.03768883e+01] [ 7.54898523e-02 9.97146206e-01 -8.51802130e-04 1.96619934e+00] [ 8.63094017e-03 2.00795014e-04 9.99962733e-01 1.90985719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.77088847900001 meters 0.020936675387758993 Centerline is valid? [True, True] Translation: X:40.43, Y:1.98, Z:0.19 [[ 9.97157774e-01 -7.48631254e-02 -8.47855022e-03 4.04340107e+01] [ 7.48586723e-02 9.97193798e-01 -8.41808365e-04 1.97832615e+00] [ 8.51777810e-03 2.04722743e-04 9.99963702e-01 1.90797627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.830888479 meters 0.018818200431999412 Centerline is valid? [True, True] Translation: X:40.49, Y:1.98, Z:0.19 [[ 9.97167104e-01 -7.47381572e-02 -8.48373836e-03 4.04925589e+01] [ 7.47336800e-02 9.97203171e-01 -8.43983647e-04 1.98140559e+00] [ 8.52308858e-03 2.07571742e-04 9.99963656e-01 1.92487234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.890888479000004 meters 0.018745741251591595 Centerline is valid? [True, True] Translation: X:40.55, Y:1.99, Z:0.19 [[ 9.97089333e-01 -7.60135308e-02 -5.89955135e-03 4.05507303e+01] [ 7.60113806e-02 9.97106777e-01 -5.88157755e-04 1.99020356e+00] [ 5.92719058e-03 1.38012781e-04 9.99982425e-01 1.93701186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95088847900001 meters 0.018839085056137603 Centerline is valid? [True, True] Translation: X:40.61, Y:2.00, Z:0.19 [[ 9.96985878e-01 -7.74934144e-02 -3.73226244e-03 4.06083338e+01] [ 7.74925621e-02 9.96992861e-01 -3.72648563e-04 1.99814272e+00] [ 3.74991681e-03 8.23027763e-05 9.99992966e-01 1.94968443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.010888479 meters 0.018622316510428442 Centerline is valid? [True, True] Translation: X:40.67, Y:2.00, Z:0.20 [[ 9.96933031e-01 -7.81880577e-02 -3.34050653e-03 4.06663275e+01] [ 7.81873772e-02 9.96938625e-01 -3.34010474e-04 2.00417487e+00] [ 3.35639562e-03 7.18006297e-05 9.99994365e-01 1.96556512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.070888479000004 meters 0.018947729346089022 Centerline is valid? [True, True] Translation: X:40.72, Y:2.01, Z:0.19 [[ 9.96974196e-01 -7.75977382e-02 -4.58740121e-03 4.07245477e+01] [ 7.75964417e-02 9.96984744e-01 -4.60208679e-04 2.01236276e+00] [ 4.60928017e-03 1.02850167e-04 9.99989372e-01 1.94854863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.130888479000006 meters 0.02001161151666463 Centerline is valid? [True, True] Translation: X:40.78, Y:2.02, Z:0.19 [[ 9.97090829e-01 -7.58302002e-02 -7.72396245e-03 4.07818619e+01] [ 7.58264592e-02 9.97120727e-01 -7.76453485e-04 2.02241812e+00] [ 7.76060168e-03 1.88513925e-04 9.99969868e-01 1.93124760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.19088847900001 meters 0.02063565348933894 Centerline is valid? [True, True] Translation: X:40.84, Y:2.03, Z:0.19 [[ 9.97204666e-01 -7.42131651e-02 -8.67522209e-03 4.08393316e+01] [ 7.42083758e-02 9.97242375e-01 -8.73105885e-04 2.03482984e+00] [ 8.71609503e-03 2.26891122e-04 9.99961988e-01 1.88446300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.250888479000004 meters 0.021191950506301804 Centerline is valid? [True, True] Translation: X:40.90, Y:2.04, Z:0.19 [[ 9.97347934e-01 -7.22643422e-02 -8.65819148e-03 4.08972145e+01] [ 7.22594908e-02 9.97385485e-01 -8.72255347e-04 2.04215333e+00] [ 8.69858746e-03 2.44305561e-04 9.99962137e-01 1.89298268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.310888479000006 meters 0.022521437395879935 Centerline is valid? [True, True] Translation: X:40.96, Y:2.05, Z:0.19 [[ 9.97564686e-01 -6.92352620e-02 -8.43662314e-03 4.09562288e+01] [ 6.92305438e-02 9.97600325e-01 -8.50361106e-04 2.04978747e+00] [ 8.47525296e-03 2.64218201e-04 9.99964049e-01 1.91567812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.37088847900001 meters 0.025420073322770544 Centerline is valid? [True, True] Translation: X:41.01, Y:2.06, Z:0.19 [[ 9.97925989e-01 -6.41018860e-02 -5.88800830e-03 4.10142327e+01] [ 6.40994981e-02 9.97943336e-01 -5.93561180e-04 2.06364475e+00] [ 5.91394703e-03 2.14911750e-04 9.99982489e-01 1.92208259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.430888479000004 meters 0.02720496895947227 Centerline is valid? [True, True] Translation: X:41.07, Y:2.07, Z:0.19 [[ 9.98107100e-01 -6.10941776e-02 -7.05115834e-03 4.10732847e+01] [ 6.10906770e-02 9.98131967e-01 -7.10979073e-04 2.07183725e+00] [ 7.08142322e-03 2.78873223e-04 9.99974888e-01 1.90383508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.490888479000006 meters 0.02474829456313426 Centerline is valid? [True, True] Translation: X:41.13, Y:2.07, Z:0.19 [[ 9.98118858e-01 -6.07380011e-02 -8.34506507e-03 4.11323148e+01] [ 6.07330729e-02 9.98153687e-01 -8.42937850e-04 2.07249618e+00] [ 8.38085583e-03 3.34530720e-04 9.99964824e-01 1.89631233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.55088847900001 meters 0.027461003621066373 Centerline is valid? [True, True] Translation: X:41.19, Y:2.08, Z:0.19 [[ 9.98157562e-01 -6.01852189e-02 -7.69557060e-03 4.11890581e+01] [ 6.01810009e-02 9.98187177e-01 -7.78723923e-04 2.08156044e+00] [ 7.72848756e-03 3.14162031e-04 9.99970085e-01 1.89039563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.610888479 meters 0.026849164988940046 Centerline is valid? [True, True] Translation: X:41.25, Y:2.09, Z:0.19 [[ 9.98233916e-01 -5.89059464e-02 -7.69015375e-03 4.12471605e+01] [ 5.89016881e-02 9.98263484e-01 -7.79239277e-04 2.08665641e+00] [ 7.72270150e-03 3.24900037e-04 9.99970127e-01 1.89274502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.670888479000006 meters 0.02781182672214144 Centerline is valid? [True, True] Translation: X:41.31, Y:2.09, Z:0.19 [[ 9.98292150e-01 -5.76677006e-02 -9.33915998e-03 4.13054883e+01] [ 5.76613473e-02 9.98335750e-01 -9.48347871e-04 2.09269669e+00] [ 9.37830632e-03 4.08219689e-04 9.99955939e-01 1.89147936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.73088847900001 meters 0.027268812484687224 Centerline is valid? [True, True] Translation: X:41.36, Y:2.10, Z:0.19 [[ 9.98328827e-01 -5.69705333e-02 -9.69081372e-03 4.13639125e+01] [ 5.69636471e-02 9.98375767e-01 -9.85356019e-04 2.09520775e+00] [ 9.73120984e-03 4.31685226e-04 9.99952557e-01 1.89880548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.790888479 meters 0.028983712043444555 Centerline is valid? [True, True] Translation: X:41.42, Y:2.10, Z:0.19 [[ 9.98253106e-01 -5.85854831e-02 -7.64711008e-03 4.14213197e+01] [ 5.85812378e-02 9.98282341e-01 -7.78163086e-04 2.10204947e+00] [ 7.67956402e-03 3.28826543e-04 9.99970458e-01 1.90790845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.850888479000005 meters 0.027895659043888625 Centerline is valid? [True, True] Translation: X:41.48, Y:2.10, Z:0.19 [[ 9.98150836e-01 -6.03255762e-02 -7.46552913e-03 4.14801261e+01] [ 6.03215686e-02 9.98178706e-01 -7.61028229e-04 2.10327694e+00] [ 7.49784168e-03 3.09288535e-04 9.99971843e-01 1.91871798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.91088847900001 meters 0.025411036738390198 Centerline is valid? [True, True] Translation: X:41.54, Y:2.10, Z:0.19 [[ 9.98082045e-01 -6.11224462e-02 -9.81210498e-03 4.15384948e+01] [ 6.11155335e-02 9.98130195e-01 -1.00310090e-03 2.10211070e+00] [ 9.85507023e-03 4.01504966e-04 9.99951357e-01 1.91345754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.970888479 meters 0.028569910702251348 Centerline is valid? [True, True] Translation: X:41.60, Y:2.11, Z:0.19 [[ 9.98161075e-01 -5.94613033e-02 -1.17822240e-02 4.15966931e+01] [ 5.94512033e-02 9.98230484e-01 -1.20592962e-03 2.11284517e+00] [ 1.18330813e-02 5.03244616e-04 9.99929860e-01 1.87863960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.030888479000005 meters 0.028417848772747396 Centerline is valid? [True, True] Translation: X:41.66, Y:2.11, Z:0.19 [[ 9.98233097e-01 -5.82746218e-02 -1.16082930e-02 4.16557251e+01] [ 5.82647114e-02 9.98300459e-01 -1.19038724e-03 2.11471897e+00] [ 1.16579336e-02 5.11930096e-04 9.99931913e-01 1.91745454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09088847900001 meters 0.029701732695839103 Centerline is valid? [True, True] Translation: X:41.71, Y:2.12, Z:0.19 [[ 9.98323122e-01 -5.70295846e-02 -9.92823063e-03 4.17138507e+01] [ 5.70222513e-02 9.98372386e-01 -1.02037388e-03 2.12174663e+00] [ 9.97026281e-03 4.52532778e-04 9.99950193e-01 1.93289460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.150888479 meters 0.029641312124476727 Centerline is valid? [True, True] Translation: X:41.77, Y:2.13, Z:0.19 [[ 9.98407274e-01 -5.59608395e-02 -7.16235111e-03 4.17724610e+01] [ 5.59569846e-02 9.98432908e-01 -7.37641421e-04 2.12804488e+00] [ 7.19240608e-03 3.35682990e-04 9.99974078e-01 1.94661021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.210888479000005 meters 0.031350422870414216 Centerline is valid? [True, True] Translation: X:41.83, Y:2.13, Z:0.20 [[ 9.98371712e-01 -5.64883468e-02 -7.93673932e-03 4.18299528e+01] [ 5.64836205e-02 9.98403190e-01 -8.18572229e-04 2.13263191e+00] [ 7.97030565e-03 3.68943587e-04 9.99968169e-01 1.96409344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27088847900001 meters 0.029065584428393017 Centerline is valid? [True, True] Translation: X:41.89, Y:2.14, Z:0.20 [[ 9.98312445e-01 -5.73912946e-02 -8.86014644e-03 4.18889065e+01] [ 5.73854246e-02 9.98351679e-01 -9.15527948e-04 2.13543404e+00] [ 8.89808541e-03 4.05539678e-04 9.99960329e-01 1.95506367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.330888479 meters 0.028688208796816606 Centerline is valid? [True, True] Translation: X:41.95, Y:2.14, Z:0.19 [[ 9.98323919e-01 -5.69570467e-02 -1.02590689e-02 4.19471931e+01] [ 5.69491273e-02 9.98376516e-01 -1.06266246e-03 2.14120564e+00] [ 1.03029395e-02 4.76636332e-04 9.99946810e-01 1.93821097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.390888479000004 meters 0.029063887527205574 Centerline is valid? [True, True] Translation: X:42.01, Y:2.14, Z:0.20 [[ 9.98249263e-01 -5.80891308e-02 -1.11383427e-02 4.20060617e+01] [ 5.80798355e-02 9.98311272e-01 -1.15646459e-03 2.14452851e+00] [ 1.11867111e-02 5.07526810e-04 9.99937298e-01 1.95883380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45088847900001 meters 0.028097266830417373 Centerline is valid? [True, True] Translation: X:42.06, Y:2.15, Z:0.20 [[ 9.98137173e-01 -6.02288868e-02 -9.72956850e-03 4.20644483e+01] [ 6.02218853e-02 9.98184503e-01 -1.01125266e-03 2.14922610e+00] [ 9.77281111e-03 4.23435912e-04 9.99952155e-01 1.95738172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.510888479 meters 0.028110840300548206 Centerline is valid? [True, True] Translation: X:42.12, Y:2.16, Z:0.20 [[ 9.98117304e-01 -6.05834524e-02 -9.56519813e-03 4.21222099e+01] [ 6.05766821e-02 9.98163049e-01 -9.96214777e-04 2.15615630e+00] [ 9.60798146e-03 4.14911241e-04 9.99953756e-01 1.95961364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.570888479000004 meters 0.029842582704644703 Centerline is valid? [True, True] Translation: X:42.18, Y:2.16, Z:0.20 [[ 9.98168480e-01 -5.97369821e-02 -9.54877447e-03 4.21798427e+01] [ 5.97301809e-02 9.98214062e-01 -9.96115563e-04 2.16341997e+00] [ 9.59122589e-03 4.23941131e-04 9.99953913e-01 1.97160166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.630888479000006 meters 0.030621932542320415 Centerline is valid? [True, True] Translation: X:42.24, Y:2.17, Z:0.20 [[ 9.98223943e-01 -5.88642181e-02 -9.16319714e-03 4.22384469e+01] [ 5.88579016e-02 9.98265912e-01 -9.57716541e-04 2.17174601e+00] [ 9.20368258e-03 4.16689026e-04 9.99957558e-01 1.97244949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.69088847900001 meters 0.031917865599585635 Centerline is valid? [True, True] Translation: X:42.30, Y:2.18, Z:0.19 [[ 9.98238671e-01 -5.84874184e-02 -9.93872341e-03 4.22958190e+01] [ 5.84799559e-02 9.98288041e-01 -1.04006483e-03 2.18226823e+00] [ 9.98253943e-03 4.57016825e-04 9.99950069e-01 1.94395592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.750888479000004 meters 0.02756223125536424 Centerline is valid? [True, True] Translation: X:42.36, Y:2.18, Z:0.19 [[ 9.98136984e-01 -5.98285209e-02 -1.19628422e-02 4.23551479e+01] [ 5.98177750e-02 9.98208525e-01 -1.25439315e-03 2.18077682e+00] [ 1.20164596e-02 5.36465592e-04 9.99927656e-01 1.94796633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.810888479000006 meters 0.026625664001145063 Centerline is valid? [True, True] Translation: X:42.41, Y:2.19, Z:0.19 [[ 9.98066458e-01 -6.05429286e-02 -1.40676780e-02 4.24134939e+01] [ 6.05280828e-02 9.98165399e-01 -1.47908368e-03 2.18581121e+00] [ 1.41314175e-02 6.24734233e-04 9.99899951e-01 1.93594109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.87088847900001 meters 0.027725865203222764 Centerline is valid? [True, True] Translation: X:42.47, Y:2.19, Z:0.19 [[ 9.97908991e-01 -6.34923200e-02 -1.20983646e-02 4.24717356e+01] [ 6.34815422e-02 9.97982201e-01 -1.27319026e-03 2.19281053e+00] [ 1.21547903e-02 5.02505161e-04 9.99926002e-01 1.94933915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.930888479000004 meters 0.024805695679254853 Centerline is valid? [True, True] Translation: X:42.53, Y:2.19, Z:0.20 [[ 9.97697898e-01 -6.71707228e-02 -9.32731330e-03 4.25320071e+01] [ 6.71644752e-02 9.97741434e-01 -9.81799539e-04 2.19293107e+00] [ 9.37219514e-03 3.53075232e-04 9.99956018e-01 1.99390751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.990888479000006 meters 0.023357470315215047 Centerline is valid? [True, True] Translation: X:42.59, Y:2.20, Z:0.20 [[ 9.97632604e-01 -6.82299496e-02 -8.59421654e-03 4.25908946e+01] [ 6.82246719e-02 9.97669571e-01 -9.06129220e-04 2.19618321e+00] [ 8.63601348e-03 3.17646450e-04 9.99962658e-01 2.00571445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.05088847900001 meters 0.025614792701264568 Centerline is valid? [True, True] Translation: X:42.65, Y:2.21, Z:0.20 [[ 9.97734223e-01 -6.67704244e-02 -8.25416716e-03 4.26481172e+01] [ 6.67654947e-02 9.97768314e-01 -8.71664237e-04 2.20767505e+00] [ 8.29394785e-03 3.18595686e-04 9.99965554e-01 2.00486006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.110888479 meters 0.026680987833451686 Centerline is valid? [True, True] Translation: X:42.71, Y:2.22, Z:0.20 [[ 9.97884611e-01 -6.44446398e-02 -8.55519572e-03 4.27065696e+01] [ 6.44392528e-02 9.97921222e-01 -9.04128635e-04 2.21801557e+00] [ 8.59567761e-03 3.50925632e-04 9.99962995e-01 1.99092792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.170888479000006 meters 0.029037842661015126 Centerline is valid? [True, True] Translation: X:42.77, Y:2.23, Z:0.20 [[ 9.98152055e-01 -5.98089092e-02 -1.07410294e-02 4.27652844e+01] [ 5.98001463e-02 9.98209724e-01 -1.13544544e-03 2.23051302e+00] [ 1.07897097e-02 4.91032072e-04 9.99941669e-01 1.97393639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.23088847900001 meters 0.028189035293437158 Centerline is valid? [True, True] Translation: X:42.82, Y:2.24, Z:0.19 [[ 9.98346148e-01 -5.59369058e-02 -1.32676934e-02 4.28246715e+01] [ 5.59231905e-02 9.98434088e-01 -1.40278577e-03 2.24175227e+00] [ 1.33253848e-02 6.58494022e-04 9.99910996e-01 1.93795412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.290888479 meters 0.030192103829955276 Centerline is valid? [True, True] Translation: X:42.88, Y:2.25, Z:0.19 [[ 9.98294583e-01 -5.63359858e-02 -1.53029917e-02 4.28815666e+01] [ 5.63177686e-02 9.98411582e-01 -1.61912211e-03 2.25182710e+00] [ 1.53698990e-02 7.54530486e-04 9.99881591e-01 1.93938453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.350888479000005 meters 0.027821639065964424 Centerline is valid? [True, True] Translation: X:42.94, Y:2.26, Z:0.20 [[ 9.98134938e-01 -5.93384633e-02 -1.43384914e-02 4.29413008e+01] [ 5.93227702e-02 9.98237700e-01 -1.51770302e-03 2.25532675e+00] [ 1.44032808e-02 6.64273386e-04 9.99896047e-01 1.96665142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.41088847900001 meters 0.025231141222232085 Centerline is valid? [True, True] Translation: X:43.00, Y:2.26, Z:0.20 [[ 9.97802378e-01 -6.52543380e-02 -1.15015745e-02 4.30012156e+01] [ 6.52446311e-02 9.97868556e-01 -1.21756664e-03 2.26124999e+00] [ 1.15565111e-02 4.64474902e-04 9.99933113e-01 1.97680045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.470888479 meters 0.02225058883493794 Centerline is valid? [True, True] Translation: X:43.06, Y:2.26, Z:0.20 [[ 9.97479466e-01 -7.01096313e-02 -1.09249120e-02 4.30613134e+01] [ 7.01011623e-02 9.97539217e-01 -1.15668702e-03 2.26353288e+00] [ 1.09791230e-02 3.87922525e-04 9.99939652e-01 1.98147796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.530888479000005 meters 0.02055662728589032 Centerline is valid? [True, True] Translation: X:43.12, Y:2.26, Z:0.20 [[ 9.96883837e-01 -7.82646621e-02 -9.86194111e-03 4.31214142e+01] [ 7.82581573e-02 9.96932581e-01 -1.04436325e-03 2.26291214e+00] [ 9.91342714e-03 2.69331500e-04 9.99950825e-01 2.01201796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59088847900001 meters 0.019953515633353222 Centerline is valid? [True, True] Translation: X:43.18, Y:2.27, Z:0.20 [[ 9.96660444e-01 -8.11261056e-02 -9.30132777e-03 4.31799846e+01] [ 8.11204391e-02 9.96703819e-01 -9.85509277e-04 2.26711912e+00] [ 9.35061944e-03 2.27690321e-04 9.99956256e-01 2.01841882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.650888479 meters 0.01792318990789683 Centerline is valid? [True, True] Translation: X:43.24, Y:2.27, Z:0.20 [[ 9.96077233e-01 -8.81350106e-02 -7.89717263e-03 4.32395123e+01] [ 8.81311431e-02 9.96108529e-01 -8.37077147e-04 2.27131219e+00] [ 7.94021681e-03 1.37806638e-04 9.99968466e-01 2.00583784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.710888479000005 meters 0.016950928512386516 Centerline is valid? [True, True] Translation: X:43.30, Y:2.27, Z:0.20 [[ 9.95536327e-01 -9.39162676e-02 -9.33577294e-03 4.32992667e+01] [ 9.39111079e-02 9.95580094e-01 -9.90496280e-04 2.27162672e+00] [ 9.38753341e-03 1.09342249e-04 9.99955930e-01 1.99873325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77088847900001 meters 0.016662104910861786 Centerline is valid? [True, True] Translation: X:43.36, Y:2.28, Z:0.20 [[ 9.95100539e-01 -9.82678568e-02 -1.08786962e-02 4.33574812e+01] [ 9.82610984e-02 9.95159998e-01 -1.15530340e-03 2.27522464e+00] [ 1.09395725e-02 8.06903991e-05 9.99940158e-01 1.98378374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.830888479 meters 0.01621635055909622 Centerline is valid? [True, True] Translation: X:43.42, Y:2.28, Z:0.20 [[ 9.94749634e-01 -1.01706111e-01 -1.13592665e-02 4.34158425e+01] [ 1.01698939e-01 9.94814488e-01 -1.20867075e-03 2.28097747e+00] [ 1.14232920e-02 4.70994367e-05 9.99934751e-01 1.97126735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.890888479000004 meters 0.0161979632273804 Centerline is valid? [True, True] Translation: X:43.47, Y:2.28, Z:0.20 [[ 9.94538098e-01 -1.04031282e-01 -8.45365047e-03 4.34747879e+01] [ 1.04027379e-01 9.94574025e-01 -9.01359982e-04 2.28389315e+00] [ 8.50155081e-03 1.70257414e-05 9.99963861e-01 2.02349207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95088847900001 meters 0.016080987913705394 Centerline is valid? [True, True] Translation: X:43.53, Y:2.29, Z:0.20 [[ 9.94497938e-01 -1.04588344e-01 -5.92696250e-03 4.35325169e+01] [ 1.04586428e-01 9.94515600e-01 -6.33183788e-04 2.29360452e+00] [ 5.96068031e-03 9.82013626e-06 9.99982235e-01 2.04552838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.010888479 meters 0.016210806387819073 Centerline is valid? [True, True] Translation: X:43.59, Y:2.30, Z:0.20 [[ 9.94555409e-01 -1.04041388e-01 -5.91002541e-03 4.35892992e+01] [ 1.04039467e-01 9.94572968e-01 -6.32420609e-04 2.30372198e+00] [ 5.94374943e-03 1.41014440e-05 9.99982336e-01 2.01860914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.070888479000004 meters 0.01612674098745924 Centerline is valid? [True, True] Translation: X:43.65, Y:2.31, Z:0.20 [[ 9.94604329e-01 -1.03317275e-01 -9.36856289e-03 4.36482456e+01] [ 1.03312395e-01 9.94648450e-01 -1.00466419e-03 2.31056260e+00] [ 9.42222573e-03 3.13546840e-05 9.99955609e-01 2.01558310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.130888479000006 meters 0.016262902456007564 Centerline is valid? [True, True] Translation: X:43.71, Y:2.32, Z:0.20 [[ 9.94640188e-01 -1.03095071e-01 -7.89322495e-03 4.37052367e+01] [ 1.03091584e-01 9.94671506e-01 -8.48461950e-04 2.32157229e+00] [ 7.93863819e-03 3.01892902e-05 9.99968488e-01 2.01692382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.19088847900001 meters 0.01632519861349813 Centerline is valid? [True, True] Translation: X:43.76, Y:2.33, Z:0.20 [[ 9.94760529e-01 -1.01951748e-01 -7.57172592e-03 4.37620882e+01] [ 1.01948491e-01 9.94789344e-01 -8.15999363e-04 2.33384024e+00] [ 7.61546482e-03 3.97979302e-05 9.99971001e-01 2.01751995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.250888479000004 meters 0.016150891153605372 Centerline is valid? [True, True] Translation: X:43.82, Y:2.34, Z:0.20 [[ 9.94731892e-01 -1.02116783e-01 -8.97913660e-03 4.38207430e+01] [ 1.02112186e-01 9.94772416e-01 -9.70141582e-04 2.33942299e+00] [ 9.03126515e-03 4.81515033e-05 9.99959216e-01 2.01939730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.310888479000006 meters 0.016125452130189753 Centerline is valid? [True, True] Translation: X:43.88, Y:2.35, Z:0.20 [[ 9.94617139e-01 -1.03233971e-01 -8.91596362e-03 4.38775575e+01] [ 1.03229472e-01 9.94657100e-01 -9.64536271e-04 2.35086136e+00] [ 8.96789942e-03 3.89540866e-05 9.99959787e-01 1.98108020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.37088847900001 meters 0.01625296031681033 Centerline is valid? [True, True] Translation: X:43.94, Y:2.36, Z:0.20 [[ 9.94630534e-01 -1.03153570e-01 -8.33320943e-03 4.39351232e+01] [ 1.03149623e-01 9.94665441e-01 -9.03282705e-04 2.35948714e+00] [ 8.38193227e-03 3.88651495e-05 9.99964870e-01 1.98680700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.430888479000004 meters 0.016529051671497402 Centerline is valid? [True, True] Translation: X:43.99, Y:2.37, Z:0.20 [[ 9.95029496e-01 -9.92745598e-02 -7.80146750e-03 4.39928111e+01] [ 9.92709653e-02 9.95060077e-01 -8.47606405e-04 2.37180187e+00] [ 7.84707461e-03 6.89341650e-05 9.99969209e-01 1.99905427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.490888479000006 meters 0.017555521757550187 Centerline is valid? [True, True] Translation: X:44.05, Y:2.38, Z:0.20 [[ 9.95507973e-01 -9.42892263e-02 -8.56844820e-03 4.40494822e+01] [ 9.42846926e-02 9.95544839e-01 -9.32434645e-04 2.38387035e+00] [ 8.61819292e-03 1.20372619e-04 9.99962855e-01 1.99630876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.55088847900001 meters 0.019249817013277604 Centerline is valid? [True, True] Translation: X:44.11, Y:2.40, Z:0.19 [[ 9.96203300e-01 -8.64022724e-02 -1.06598066e-02 4.41078279e+01] [ 8.63947972e-02 9.96260303e-01 -1.16061925e-03 2.40104119e+00] [ 1.07202223e-02 2.35260891e-04 9.99942509e-01 1.94460640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.610888479 meters 0.020417062042014114 Centerline is valid? [True, True] Translation: X:44.17, Y:2.41, Z:0.19 [[ 9.96759693e-01 -7.97595913e-02 -1.04173537e-02 4.41670524e+01] [ 7.97520876e-02 9.96814084e-01 -1.13440947e-03 2.41392002e+00] [ 1.04746449e-02 2.99927925e-04 9.99945094e-01 1.92919486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.670888479000006 meters 0.02134787198470925 Centerline is valid? [True, True] Translation: X:44.23, Y:2.42, Z:0.19 [[ 9.97077995e-01 -7.56376753e-02 -1.06964406e-02 4.42257254e+01] [ 7.56295200e-02 9.97135305e-01 -1.16546550e-03 2.42414801e+00] [ 1.07539516e-02 3.53093344e-04 9.99942112e-01 1.92470303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.73088847900001 meters 0.024749575345901182 Centerline is valid? [True, True] Translation: X:44.28, Y:2.43, Z:0.19 [[ 9.97361202e-01 -7.18490937e-02 -1.04086669e-02 4.42831761e+01] [ 7.18411564e-02 9.97415440e-01 -1.13495862e-03 2.43459972e+00] [ 1.04633108e-02 3.84193027e-04 9.99945184e-01 1.94308713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.790888479 meters 0.025010896183145743 Centerline is valid? [True, True] Translation: X:44.34, Y:2.44, Z:0.19 [[ 9.97389967e-01 -7.18786611e-02 -6.83460032e-03 4.43412470e+01] [ 7.18752319e-02 9.97413352e-01 -7.46364316e-04 2.44384653e+00] [ 6.87056928e-03 2.53177798e-04 9.99976365e-01 1.94892462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.850888479000005 meters 0.023524407351427738 Centerline is valid? [True, True] Translation: X:44.40, Y:2.45, Z:0.19 [[ 9.97294694e-01 -7.31597018e-02 -7.13797617e-03 4.43999928e+01] [ 7.31559815e-02 9.97320205e-01 -7.81256429e-04 2.44900375e+00] [ 7.17600435e-03 2.56957239e-04 9.99974219e-01 1.93195616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.91088847900001 meters 0.022957153026266244 Centerline is valid? [True, True] Translation: X:44.46, Y:2.45, Z:0.20 [[ 9.97218165e-01 -7.41154429e-02 -7.92667698e-03 4.44595003e+01] [ 7.41108691e-02 9.97249629e-01 -8.69602959e-04 2.44852213e+00] [ 7.96932669e-03 2.79730947e-04 9.99968205e-01 1.95724555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.970888479 meters 0.02301522587938308 Centerline is valid? [True, True] Translation: X:44.52, Y:2.45, Z:0.20 [[ 9.97175838e-01 -7.47739713e-02 -7.01433061e-03 4.45185690e+01] [ 7.47703945e-02 9.97200478e-01 -7.71155682e-04 2.45426578e+00] [ 7.05235621e-03 2.44513547e-04 9.99975102e-01 1.96114520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.030888479000005 meters 0.02377946846669066 Centerline is valid? [True, True] Translation: X:44.58, Y:2.47, Z:0.19 [[ 9.97202730e-01 -7.45674642e-02 -5.13901842e-03 4.45765567e+01] [ 7.45655360e-02 9.97215955e-01 -5.66052262e-04 2.46528914e+00] [ 5.16692024e-03 1.81275197e-04 9.99986635e-01 1.93469792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.09088847900001 meters 0.023126300708699324 Centerline is valid? [True, True] Translation: X:44.64, Y:2.47, Z:0.19 [[ 9.97119211e-01 -7.57092479e-02 -4.62485945e-03 4.46357938e+01] [ 7.57076936e-02 9.97129924e-01 -5.10472197e-04 2.46630874e+00] [ 4.65023322e-03 1.58864192e-04 9.99989175e-01 1.94634505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.150888479 meters 0.02124347779317384 Centerline is valid? [True, True] Translation: X:44.70, Y:2.47, Z:0.20 [[ 9.96895713e-01 -7.86601372e-02 -3.39402887e-03 4.46950581e+01] [ 7.86593154e-02 9.96901485e-01 -3.75159788e-04 2.46745890e+00] [ 3.41302254e-03 1.07023198e-04 9.99994170e-01 1.96200008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.210888479000005 meters 0.02031778652634315 Centerline is valid? [True, True] Translation: X:44.75, Y:2.48, Z:0.19 [[ 9.96705686e-01 -8.10779373e-02 -2.03540996e-03 4.47537817e+01] [ 8.10776470e-02 9.96707763e-01 -2.24914655e-04 2.47527201e+00] [ 2.04694452e-03 5.91474654e-05 9.99997903e-01 1.94075816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27088847900001 meters 0.02265199097458236 Centerline is valid? [True, True] Translation: X:44.81, Y:2.48, Z:0.20 [[ 9.96676018e-01 -8.14397633e-02 -2.11684465e-03 4.48115285e+01] [ 8.14394486e-02 9.96678264e-01 -2.34585050e-04 2.48306100e+00] [ 2.12891760e-03 6.14106323e-05 9.99997732e-01 1.96256656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.330888479 meters 0.020737122243657796 Centerline is valid? [True, True] Translation: X:44.87, Y:2.48, Z:0.20 [[ 9.96571589e-01 -8.26815954e-02 -2.97015257e-03 4.48706656e+01] [ 8.26809801e-02 9.96576012e-01 -3.29538331e-04 2.48394436e+00] [ 2.98722955e-03 8.28334128e-05 9.99995535e-01 1.97615631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.390888479000004 meters 0.019381163205953282 Centerline is valid? [True, True] Translation: X:44.93, Y:2.49, Z:0.20 [[ 9.96370649e-01 -8.51016378e-02 -1.80036255e-03 4.49292386e+01] [ 8.51014154e-02 9.96372274e-01 -1.99917089e-04 2.48991068e+00] [ 1.81084460e-03 4.59781182e-05 9.99998359e-01 1.97143728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45088847900001 meters 0.01957510139155952 Centerline is valid? [True, True] Translation: X:44.99, Y:2.50, Z:0.20 [[ 9.96338826e-01 -8.54915672e-02 -3.68003801e-04 4.49865839e+01] [ 8.54915582e-02 9.96338894e-01 -4.03271503e-05 2.49683727e+00] [ 3.70104131e-04 8.71828725e-06 9.99999931e-01 1.98193488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.51088847900001 meters 0.01847361554690237 Centerline is valid? [True, True] Translation: X:45.05, Y:2.50, Z:0.20 [[ 9.96078549e-01 -8.84694832e-02 8.21219128e-04 4.50456720e+01] [ 8.84694369e-02 9.96078888e-01 9.26363612e-05 2.50064699e+00] [-8.26194526e-04 -1.96202985e-05 9.99999659e-01 2.00730753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.570888479000004 meters 0.017937584755618546 Centerline is valid? [True, True] Translation: X:45.10, Y:2.51, Z:0.20 [[ 9.95836504e-01 -9.11494397e-02 1.19866180e-03 4.51046560e+01] [ 9.11493430e-02 9.95837225e-01 1.35118280e-04 2.50698723e+00] [-1.20598799e-03 -2.52984809e-05 9.99999272e-01 2.01035826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.630888479000006 meters 0.018576795316249447 Centerline is valid? [True, True] Translation: X:45.16, Y:2.51, Z:0.20 [[ 9.95893008e-01 -9.05136706e-02 2.09589455e-03 4.51615956e+01] [ 9.05133752e-02 9.95895212e-01 2.35561511e-04 2.51462852e+00] [-2.10861289e-03 -4.48875717e-05 9.99997776e-01 2.02081222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.69088847900001 meters 0.020042024938925648 Centerline is valid? [True, True] Translation: X:45.22, Y:2.53, Z:0.20 [[ 9.96326536e-01 -8.55166634e-02 4.50922754e-03 4.52199174e+01] [ 8.55152462e-02 9.96336733e-01 5.06534139e-04 2.52910189e+00] [-4.53602614e-03 -1.19065701e-04 9.99989705e-01 2.00650254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.750888479000004 meters 0.0234467233739723 Centerline is valid? [True, True] Translation: X:45.28, Y:2.55, Z:0.20 [[ 9.96840498e-01 -7.93728116e-02 2.99654675e-03 4.52779755e+01] [ 7.93721579e-02 9.96844997e-01 3.36645580e-04 2.54515027e+00] [-3.01381314e-03 -9.77395657e-05 9.99995454e-01 1.99117389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.810888479000006 meters 0.02214024076919608 Centerline is valid? [True, True] Translation: X:45.34, Y:2.55, Z:0.20 [[ 9.96967098e-01 -7.77824692e-02 2.54809980e-03 4.53365847e+01] [ 7.77819880e-02 9.96970350e-01 2.87559393e-04 2.55101735e+00] [-2.56274704e-03 -8.84909856e-05 9.99996712e-01 1.97683284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.87088847900001 meters 0.02094021277236257 Centerline is valid? [True, True] Translation: X:45.40, Y:2.56, Z:0.19 [[ 9.96610908e-01 -8.22462525e-02 -1.50071423e-03 4.53962085e+01] [ 8.22460913e-02 9.96612037e-01 -1.68926012e-04 2.55691996e+00] [ 1.50952340e-03 4.49256264e-05 9.99998860e-01 1.93418744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.930888479000004 meters 0.018566148191678643 Centerline is valid? [True, True] Translation: X:45.46, Y:2.56, Z:0.19 [[ 9.95944593e-01 -8.99294308e-02 -2.65797258e-03 4.54564174e+01] [ 8.99289522e-02 9.95948138e-01 -2.99276197e-04 2.55727272e+00] [ 2.67411658e-03 5.90338213e-05 9.99996423e-01 1.92463669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.990888479000006 meters 0.01722272193665964 Centerline is valid? [True, True] Translation: X:45.52, Y:2.56, Z:0.19 [[ 9.95484338e-01 -9.49013393e-02 -2.16082266e-03 4.55155010e+01] [ 9.49010347e-02 9.95486682e-01 -2.43294509e-04 2.56027237e+00] [ 2.17415916e-03 3.71315666e-05 9.99997636e-01 1.92365964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.05088847900001 meters 0.016313712669406028 Centerline is valid? [True, True] Translation: X:45.57, Y:2.56, Z:0.19 [[ 9.94807565e-01 -1.01773373e-01 3.00197109e-04 4.55735941e+01] [ 1.01773367e-01 9.94807610e-01 3.41042836e-05 2.56195530e+00] [-3.02109276e-04 -3.37512873e-06 9.99999954e-01 1.93255953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.110888479 meters 0.015911181207062863 Centerline is valid? [True, True] Translation: X:45.63, Y:2.57, Z:0.19 [[ 9.94519506e-01 -1.04550499e-01 3.80014878e-04 4.56311965e+01] [ 1.04550490e-01 9.94519579e-01 4.31352120e-05 2.56524095e+00] [-3.82442045e-04 -3.16806782e-06 9.99999927e-01 1.94055340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.170888479000006 meters 0.016051517797455755 Centerline is valid? [True, True] Translation: X:45.69, Y:2.57, Z:0.19 [[ 9.94731570e-01 -1.02511578e-01 6.93411348e-04 4.56896522e+01] [ 1.02511548e-01 9.94731811e-01 7.91112121e-05 2.57309636e+00] [-6.97868142e-04 -7.61174942e-06 9.99999756e-01 1.92749584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.23088847900001 meters 0.017692756705473375 Centerline is valid? [True, True] Translation: X:45.75, Y:2.58, Z:0.19 [[ 9.95558555e-01 -9.41341555e-02 -1.38754584e-03 4.57487408e+01] [ 9.41340282e-02 9.95559521e-01 -1.56895961e-04 2.58389085e+00] [ 1.39615374e-03 2.55838372e-05 9.99999025e-01 1.91696780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.290888479 meters 0.019469826378466656 Centerline is valid? [True, True] Translation: X:45.81, Y:2.59, Z:0.19 [[ 9.96138197e-01 -8.77600314e-02 -2.62103464e-03 4.58077272e+01] [ 8.77595548e-02 9.96141643e-01 -2.96546959e-04 2.59330427e+00] [ 2.63694672e-03 6.53809201e-05 9.99996521e-01 1.90656941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.350888479000005 meters 0.022399777901311767 Centerline is valid? [True, True] Translation: X:45.87, Y:2.60, Z:0.19 [[ 9.96649348e-01 -8.17762949e-02 -1.64793031e-03 4.58658495e+01] [ 8.17760982e-02 9.96650709e-01 -1.86498192e-04 2.60496850e+00] [ 1.65766205e-03 5.11119908e-05 9.99998625e-01 1.90631390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.41088847900001 meters 0.020539185346825844 Centerline is valid? [True, True] Translation: X:45.93, Y:2.60, Z:0.19 [[ 9.96359854e-01 -8.51966219e-02 -2.92852530e-03 4.59256898e+01] [ 8.51960152e-02 9.96364155e-01 -3.31505848e-04 2.60431046e+00] [ 2.94612082e-03 8.08004322e-05 9.99995657e-01 1.90750636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.470888479 meters 0.018721031743051987 Centerline is valid? [True, True] Translation: X:45.99, Y:2.60, Z:0.19 [[ 9.95959779e-01 -8.97847951e-02 -1.67618258e-03 4.59857307e+01] [ 8.97846023e-02 9.95961189e-01 -1.90060548e-04 2.60287115e+00] [ 1.68647734e-03 3.87972749e-05 9.99998577e-01 1.93288229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.530888479000005 meters 0.01701305650208826 Centerline is valid? [True, True] Translation: X:46.05, Y:2.60, Z:0.20 [[ 9.95429475e-01 -9.54975967e-02 -6.07976180e-04 4.60460033e+01] [ 9.54975726e-02 9.95429660e-01 -6.87210800e-05 2.59973485e+00] [ 6.11760220e-04 1.03467392e-05 9.99999813e-01 1.96429225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59088847900001 meters 0.017505451276079602 Centerline is valid? [True, True] Translation: X:46.10, Y:2.61, Z:0.19 [[ 9.95493102e-01 -9.47970788e-02 -2.64525620e-03 4.61037705e+01] [ 9.47966151e-02 9.95496616e-01 -3.00383566e-04 2.60521801e+00] [ 2.66181908e-03 4.82684338e-05 9.99996456e-01 1.93479813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.650888479 meters 0.018503344749626758 Centerline is valid? [True, True] Translation: X:46.16, Y:2.61, Z:0.19 [[ 9.95758845e-01 -9.19341372e-02 -3.52648941e-03 4.61622446e+01] [ 9.19332929e-02 9.95765087e-01 -4.01121669e-04 2.60934594e+00] [ 3.54843181e-03 7.52186660e-05 9.99993701e-01 1.94733037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.710888479000005 meters 0.020912661014934723 Centerline is valid? [True, True] Translation: X:46.22, Y:2.62, Z:0.19 [[ 9.96411162e-01 -8.45246455e-02 -4.51456021e-03 4.62217752e+01] [ 8.45231816e-02 9.96421380e-01 -5.14414543e-04 2.62038601e+00] [ 4.54188503e-03 1.30983399e-04 9.99989677e-01 1.94027586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77088847900001 meters 0.025147821215801513 Centerline is valid? [True, True] Translation: X:46.28, Y:2.63, Z:0.19 [[ 9.97138040e-01 -7.53246960e-02 -6.47457170e-03 4.62797832e+01] [ 7.53214898e-02 9.97159029e-01 -7.37967305e-04 2.63150432e+00] [ 6.51176479e-03 2.48180885e-04 9.99978767e-01 1.93796598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.830888479 meters 0.02537762552786081 Centerline is valid? [True, True] Translation: X:46.34, Y:2.63, Z:0.19 [[ 9.97348467e-01 -7.23737992e-02 -7.62026417e-03 4.63393436e+01] [ 7.23692697e-02 9.97377528e-01 -8.68837035e-04 2.63495228e+00] [ 7.66316128e-03 3.15060331e-04 9.99970588e-01 1.94240383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.890888479000004 meters 0.026019086162857002 Centerline is valid? [True, True] Translation: X:46.40, Y:2.64, Z:0.19 [[ 9.97497766e-01 -7.03327786e-02 -7.17679025e-03 4.63979371e+01] [ 7.03287053e-02 9.97523535e-01 -8.18679900e-04 2.64371007e+00] [ 7.21659721e-03 3.11897005e-04 9.99973911e-01 1.91911278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95088847900001 meters 0.027020306083566363 Centerline is valid? [True, True] Translation: X:46.46, Y:2.65, Z:0.19 [[ 9.97508902e-01 -7.00833978e-02 -8.01920125e-03 4.64558765e+01] [ 7.00782986e-02 9.97541074e-01 -9.15451627e-04 2.64833711e+00] [ 8.06364058e-03 3.51199168e-04 9.99967427e-01 1.92264056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.01088847900001 meters 0.02692496892478698 Centerline is valid? [True, True] Translation: X:46.52, Y:2.65, Z:0.20 [[ 9.97276921e-01 -7.33567620e-02 -7.58475962e-03 4.65152304e+01] [ 7.33522919e-02 9.97305716e-01 -8.66247250e-04 2.64808579e+00] [ 7.62786921e-03 3.07528889e-04 9.99970860e-01 1.96804660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.070888479000004 meters 0.024558649668377168 Centerline is valid? [True, True] Translation: X:46.57, Y:2.65, Z:0.20 [[ 9.97098820e-01 -7.58672649e-02 -6.17269426e-03 4.65737287e+01] [ 7.58643504e-02 9.97117898e-01 -7.05288948e-04 2.65243016e+00] [ 6.20841227e-03 2.34955338e-04 9.99980700e-01 1.95268790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.130888479000006 meters 0.023800547597623962 Centerline is valid? [True, True] Translation: X:46.63, Y:2.65, Z:0.20 [[ 9.96844601e-01 -7.91050096e-02 -6.57557990e-03 4.66328763e+01] [ 7.91017698e-02 9.96866262e-01 -7.51723180e-04 2.65331544e+00] [ 6.61443883e-03 2.29211186e-04 9.99978098e-01 1.96649592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.19088847900001 meters 0.021353585574547963 Centerline is valid? [True, True] Translation: X:46.69, Y:2.65, Z:0.20 [[ 9.96552773e-01 -8.26659360e-02 -6.99375923e-03 4.66920617e+01] [ 8.26623555e-02 9.96577290e-01 -7.99976731e-04 2.65225354e+00] [ 7.03595244e-03 2.19098418e-04 9.99975223e-01 1.99144709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.250888479000004 meters 0.020490795823652687 Centerline is valid? [True, True] Translation: X:46.75, Y:2.66, Z:0.20 [[ 9.96088996e-01 -8.80376299e-02 -7.48915115e-03 4.67505676e+01] [ 8.80336730e-02 9.96117131e-01 -8.57014417e-04 2.66011225e+00] [ 7.53552127e-03 1.94365148e-04 9.99971589e-01 1.96126652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.310888479000006 meters 0.017971496935483184 Centerline is valid? [True, True] Translation: X:46.81, Y:2.66, Z:0.20 [[ 9.95457103e-01 -9.47849430e-02 -8.99836383e-03 4.68105000e+01] [ 9.47795029e-02 9.95497757e-01 -1.03005568e-03 2.65932619e+00] [ 9.05548478e-03 1.72515794e-04 9.99958983e-01 1.96383473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.37088847900001 meters 0.0174936991479328 Centerline is valid? [True, True] Translation: X:46.87, Y:2.66, Z:0.20 [[ 9.95165634e-01 -9.76711079e-02 -1.02817655e-02 4.68695793e+01] [ 9.76641389e-02 9.95218733e-01 -1.17892779e-03 2.66374704e+00] [ 1.03477529e-02 1.69068646e-04 9.99946446e-01 1.96650255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.430888479000004 meters 0.016313012193414127 Centerline is valid? [True, True] Translation: X:46.93, Y:2.67, Z:0.20 [[ 9.94240467e-01 -1.06762869e-01 -9.35862633e-03 4.69290546e+01] [ 1.06757478e-01 9.94284509e-01 -1.07518702e-03 2.66594626e+00] [ 9.41992724e-03 6.98911040e-05 9.99955629e-01 1.97183392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.490888479000006 meters 0.015933379481007457 Centerline is valid? [True, True] Translation: X:46.99, Y:2.67, Z:0.20 [[ 9.93482261e-01 -1.13672680e-01 -8.45691030e-03 4.69867040e+01] [ 1.13668517e-01 9.93518254e-01 -9.72875155e-04 2.66850927e+00] [ 8.51268409e-03 5.24975405e-06 9.99963766e-01 1.97605784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.55088847900001 meters 0.016226128652062036 Centerline is valid? [True, True] Translation: X:47.05, Y:2.67, Z:0.20 [[ 9.92616336e-01 -1.21176244e-01 -5.39701164e-03 4.70456368e+01] [ 1.21174655e-01 9.92631007e-01 -6.21743802e-04 2.66910257e+00] [ 5.43258168e-03 -3.68279664e-05 9.99985243e-01 2.04021609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.610888479 meters 0.016604063880163302 Centerline is valid? [True, True] Translation: X:47.10, Y:2.68, Z:0.21 [[ 9.92215597e-01 -1.24484976e-01 -3.42059358e-03 4.71039491e+01] [ 1.24484355e-01 9.92221492e-01 -3.94657939e-04 2.67737384e+00] [ 3.44311545e-03 -3.42246235e-05 9.99994072e-01 2.06967560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.670888479000006 meters 0.018421022657161074 Centerline is valid? [True, True] Translation: X:47.16, Y:2.69, Z:0.20 [[ 9.92097786e-01 -1.25365762e-01 -5.04065975e-03 4.71613649e+01] [ 1.25364416e-01 9.92110590e-01 -5.83170106e-04 2.69035899e+00] [ 5.07400148e-03 -5.33575968e-05 9.99987126e-01 2.01712292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.73088847900001 meters 0.017048482075119394 Centerline is valid? [True, True] Translation: X:47.22, Y:2.70, Z:0.20 [[ 9.91899915e-01 -1.26836488e-01 -6.86024758e-03 4.72196596e+01] [ 1.26834018e-01 9.91923636e-01 -7.95646018e-04 2.70122595e+00] [ 6.90575867e-03 -8.09115481e-05 9.99976152e-01 2.04828045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.790888479 meters 0.017359677297759047 Centerline is valid? [True, True] Translation: X:47.28, Y:2.71, Z:0.20 [[ 9.91790358e-01 -1.27520458e-01 -9.50881729e-03 4.72774395e+01] [ 1.27515719e-01 9.91835934e-01 -1.10545599e-03 2.71297734e+00] [ 9.57215493e-03 -1.16143083e-04 9.99954179e-01 2.01914362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.850888479000005 meters 0.017643248156993304 Centerline is valid? [True, True] Translation: X:47.33, Y:2.73, Z:0.20 [[ 9.91770425e-01 -1.27601803e-01 -1.04500413e-02 4.73337178e+01] [ 1.27596069e-01 9.91825470e-01 -1.21630654e-03 2.73030799e+00] [ 1.05198201e-02 -1.27087335e-04 9.99944657e-01 1.97535895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.91088847900001 meters 0.018040279305471477 Centerline is valid? [True, True] Translation: X:47.39, Y:2.74, Z:0.20 [[ 9.91612890e-01 -1.28871374e-01 -9.80032181e-03 4.73915520e+01] [ 1.28866374e-01 9.91661309e-01 -1.14260543e-03 2.74365917e+00] [ 9.86584909e-03 -1.29909660e-04 9.99951323e-01 1.98726398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.970888479 meters 0.018328694344956226 Centerline is valid? [True, True] Translation: X:47.45, Y:2.76, Z:0.20 [[ 9.91728331e-01 -1.28089079e-01 -8.25264203e-03 4.74479976e+01] [ 1.28085491e-01 9.91762662e-01 -9.64029542e-04 2.76346695e+00] [ 8.30814388e-03 -1.00988301e-04 9.99965482e-01 1.98084261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.030888479000005 meters 0.017876978144297187 Centerline is valid? [True, True] Translation: X:47.51, Y:2.78, Z:0.20 [[ 9.92320608e-01 -1.23521272e-01 -6.50426821e-03 4.75051078e+01] [ 1.23518936e-01 9.92341923e-01 -7.61231202e-04 2.78348474e+00] [ 6.54848628e-03 -4.80148793e-05 9.99978557e-01 1.99759628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09088847900001 meters 0.01802991372373316 Centerline is valid? [True, True] Translation: X:47.56, Y:2.80, Z:0.20 [[ 9.92653836e-01 -1.20885257e-01 -5.01157754e-03 4.75623632e+01] [ 1.20883831e-01 9.92666487e-01 -5.87605702e-04 2.79924315e+00] [ 5.04585794e-03 -2.25296398e-05 9.99987269e-01 1.99886694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.150888479 meters 0.019944794503813024 Centerline is valid? [True, True] Translation: X:47.62, Y:2.82, Z:0.20 [[ 9.93082680e-01 -1.17284710e-01 -5.57554606e-03 4.76183248e+01] [ 1.17282880e-01 9.93098332e-01 -6.55263720e-04 2.82008013e+00] [ 5.61391791e-03 -3.18504587e-06 9.99984242e-01 1.95840425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.210888479000005 meters 0.020649502155425225 Centerline is valid? [True, True] Translation: X:47.67, Y:2.84, Z:0.19 [[ 9.93523040e-01 -1.13460637e-01 -6.21713698e-03 4.76746931e+01] [ 1.13458279e-01 9.93542492e-01 -7.31822114e-04 2.83626900e+00] [ 6.26002277e-03 2.16964689e-05 9.99980406e-01 1.94681570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27088847900001 meters 0.023006055232861772 Centerline is valid? [True, True] Translation: X:47.73, Y:2.85, Z:0.19 [[ 9.94159486e-01 -1.07439395e-01 -1.01830100e-02 4.77313768e+01] [ 1.07432743e-01 9.94211631e-01 -1.19966484e-03 2.85330651e+00] [ 1.02529583e-02 9.86694881e-05 9.99947432e-01 1.91775780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.33088847900001 meters 0.023399522353114745 Centerline is valid? [True, True] Translation: X:47.79, Y:2.87, Z:0.19 [[ 9.94799240e-01 -1.01318129e-01 -1.04455236e-02 4.77880436e+01] [ 1.01310785e-01 9.94854064e-01 -1.23121938e-03 2.87474339e+00] [ 1.05165165e-02 1.66571908e-04 9.99944686e-01 1.88868214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.390888479000004 meters 0.02515175316641073 Centerline is valid? [True, True] Translation: X:47.85, Y:2.89, Z:0.19 [[ 9.95270971e-01 -9.67940701e-02 -8.16104303e-03 4.78463278e+01] [ 9.67894231e-02 9.95304415e-01 -9.63386895e-04 2.88504820e+00] [ 8.21597230e-03 1.68928363e-04 9.99966234e-01 1.93355319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45088847900001 meters 0.02369250370424526 Centerline is valid? [True, True] Translation: X:47.90, Y:2.90, Z:0.20 [[ 9.95632099e-01 -9.31408846e-02 -6.44201010e-03 4.79045713e+01] [ 9.31379033e-02 9.95652927e-01 -7.61910967e-04 2.89712387e+00] [ 6.48497127e-03 1.58587702e-04 9.99978960e-01 1.95661334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.51088847900001 meters 0.027669493267635258 Centerline is valid? [True, True] Translation: X:47.96, Y:2.91, Z:0.19 [[ 9.96152124e-01 -8.74673325e-02 -5.51475917e-03 4.79625692e+01] [ 8.74650566e-02 9.96167374e-01 -6.52979111e-04 2.91274388e+00] [ 5.55073751e-03 1.68117805e-04 9.99984580e-01 1.94263708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.570888479000004 meters 0.027793316323488408 Centerline is valid? [True, True] Translation: X:48.02, Y:2.92, Z:0.20 [[ 9.96688440e-01 -8.12451669e-02 -3.37281066e-03 4.80214850e+01] [ 8.12442797e-02 9.96694139e-01 -3.99461226e-04 2.92401694e+00] [ 3.39411491e-03 1.24116814e-04 9.99994232e-01 1.98425560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.630888479000006 meters 0.030178170532207654 Centerline is valid? [True, True] Translation: X:48.08, Y:2.93, Z:0.20 [[ 9.96999320e-01 -7.73137894e-02 -3.86449081e-03 4.80803122e+01] [ 7.73125947e-02 9.97006797e-01 -4.57787916e-04 2.93435192e+00] [ 3.88831692e-03 1.57640429e-04 9.99992428e-01 1.97454780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.69088847900001 meters 0.03233484294077699 Centerline is valid? [True, True] Translation: X:48.14, Y:2.95, Z:0.19 [[ 9.97544588e-01 -6.97116228e-02 -6.71450826e-03 4.81397976e+01] [ 6.97078432e-02 9.97567132e-01 -7.95568617e-04 2.94929516e+00] [ 6.75363313e-03 3.25561279e-04 9.99977141e-01 1.93021902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.750888479000004 meters 0.033924482113324 Centerline is valid? [True, True] Translation: X:48.20, Y:2.95, Z:0.19 [[ 9.97815810e-01 -6.54733049e-02 -8.76678162e-03 4.81993394e+01] [ 6.54666976e-02 9.97854214e-01 -1.03883632e-03 2.95459887e+00] [ 8.81598603e-03 4.62635060e-04 9.99961031e-01 1.92371515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.810888479000006 meters 0.034387260005658594 Centerline is valid? [True, True] Translation: X:48.26, Y:2.97, Z:0.19 [[ 9.97879282e-01 -6.46174892e-02 -7.84334636e-03 4.82559612e+01] [ 6.46121704e-02 9.97910017e-01 -9.29903910e-04 2.96563855e+00] [ 7.88704195e-03 4.21156215e-04 9.99968808e-01 1.93666608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.87088847900001 meters 0.035322247431547306 Centerline is valid? [True, True] Translation: X:48.32, Y:2.97, Z:0.19 [[ 9.97704289e-01 -6.69280584e-02 -1.03337714e-02 4.83150541e+01] [ 6.69189404e-02 9.97757662e-01 -1.22600664e-03 2.96705741e+00] [ 1.03926538e-02 5.31667049e-04 9.99945854e-01 1.90520812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.930888479000004 meters 0.03196725030838325 Centerline is valid? [True, True] Translation: X:48.38, Y:2.96, Z:0.19 [[ 9.97551380e-01 -6.93792204e-02 -8.81858799e-03 4.83757944e+01] [ 6.93726617e-02 9.97590265e-01 -1.04783269e-03 2.96037858e+00] [ 8.87003534e-03 4.33498029e-04 9.99960566e-01 1.92278876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.990888479000006 meters 0.0310368028038006 Centerline is valid? [True, True] Translation: X:48.44, Y:2.96, Z:0.19 [[ 9.97370357e-01 -7.20518798e-02 -7.80364367e-03 4.84355832e+01] [ 7.20468118e-02 9.97400819e-01 -9.28992888e-04 2.95980210e+00] [ 7.85029627e-03 3.64322322e-04 9.99969120e-01 1.94609345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.05088847900001 meters 0.03259008840950934 Centerline is valid? [True, True] Translation: X:48.49, Y:2.96, Z:0.19 [[ 9.97382039e-01 -7.19147112e-02 -7.57247447e-03 4.84935446e+01] [ 7.19099270e-02 9.97410722e-01 -9.02529283e-04 2.96494410e+00] [ 7.61777236e-03 3.55630410e-04 9.99970921e-01 1.94796199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.110888479 meters 0.031676903864212125 Centerline is valid? [True, True] Translation: X:48.55, Y:2.97, Z:0.19 [[ 9.97646677e-01 -6.80405597e-02 -8.46107375e-03 4.85536152e+01] [ 6.80344443e-02 9.97682463e-01 -1.00884088e-03 2.96783303e+00] [ 8.51010700e-03 4.30822305e-04 9.99963696e-01 1.94024682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.170888479000006 meters 0.03376859314494649 Centerline is valid? [True, True] Translation: X:48.61, Y:2.97, Z:0.19 [[ 9.97685568e-01 -6.72718398e-02 -9.89986956e-03 4.86131771e+01] [ 6.72634119e-02 9.97734552e-01 -1.18220132e-03 2.96804908e+00] [ 9.95697077e-03 5.13566191e-04 9.99950296e-01 1.92896036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.23088847900001 meters 0.03009425820203588 Centerline is valid? [True, True] Translation: X:48.67, Y:2.97, Z:0.20 [[ 9.97697260e-01 -6.71500870e-02 -9.54170085e-03 4.86720597e+01] [ 6.71422296e-02 9.97742761e-01 -1.14180097e-03 2.96860022e+00] [ 9.59683499e-03 4.98520629e-04 9.99953825e-01 1.95318117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.290888479 meters 0.035243892081996124 Centerline is valid? [True, True] Translation: X:48.73, Y:2.98, Z:0.19 [[ 9.97727809e-01 -6.68920881e-02 -8.04159697e-03 4.87292106e+01] [ 6.68864902e-02 9.97760126e-01 -9.63356110e-04 2.97735831e+00] [ 8.08802571e-03 4.23292984e-04 9.99967202e-01 1.94680497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.350888479000005 meters 0.03512478377763826 Centerline is valid? [True, True] Translation: X:48.79, Y:2.98, Z:0.19 [[ 9.97883304e-01 -6.44217070e-02 -8.87440485e-03 4.87879488e+01] [ 6.44147869e-02 9.97922644e-01 -1.06371279e-03 2.98309441e+00] [ 8.92449575e-03 4.89818332e-04 9.99960056e-01 1.94099211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.41088847900001 meters 0.03807238677661394 Centerline is valid? [True, True] Translation: X:48.85, Y:2.99, Z:0.19 [[ 9.98043854e-01 -6.13519069e-02 -1.20170711e-02 4.88483950e+01] [ 6.13389932e-02 9.98115951e-01 -1.44059739e-03 2.98739281e+00] [ 1.20828138e-02 7.00664325e-04 9.99926755e-01 1.89562859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.470888479 meters 0.03711423455691619 Centerline is valid? [True, True] Translation: X:48.91, Y:2.99, Z:0.19 [[ 9.98008786e-01 -6.22084952e-02 -1.04195539e-02 4.89079401e+01] [ 6.21988142e-02 9.98062995e-01 -1.25092084e-03 2.98565839e+00] [ 1.04771891e-02 6.00346096e-04 9.99944933e-01 1.92490317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.530888479000005 meters 0.031674815106717394 Centerline is valid? [True, True] Translation: X:48.97, Y:2.98, Z:0.20 [[ 9.97831543e-01 -6.54058909e-02 -7.36758302e-03 4.89686569e+01] [ 6.54011328e-02 9.97858661e-01 -8.85155962e-04 2.98072847e+00] [ 7.40970094e-03 4.01388264e-04 9.99972467e-01 1.95517149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59088847900001 meters 0.03111700327523448 Centerline is valid? [True, True] Translation: X:49.03, Y:2.98, Z:0.20 [[ 9.97686730e-01 -6.75509272e-02 -7.61981470e-03 4.90266842e+01] [ 6.75458959e-02 9.97715748e-01 -9.16000495e-04 2.98236104e+00] [ 7.66428581e-03 3.99194327e-04 9.99970549e-01 1.97552649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.650888479 meters 0.03159908239169135 Centerline is valid? [True, True] Translation: X:49.09, Y:2.98, Z:0.19 [[ 9.97352844e-01 -7.21347266e-02 -9.15896825e-03 4.90869429e+01] [ 7.21276464e-02 9.97394801e-01 -1.10143738e-03 2.98198485e+00] [ 9.21455920e-03 4.37906876e-04 9.99957449e-01 1.94609411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.710888479000005 meters 0.026547989817174017 Centerline is valid? [True, True] Translation: X:49.15, Y:2.98, Z:0.20 [[ 9.96895624e-01 -7.80576320e-02 -1.03015446e-02 4.91481457e+01] [ 7.80489894e-02 9.96948755e-01 -1.23895080e-03 2.97695340e+00] [ 1.03668216e-02 4.31079491e-04 9.99946170e-01 1.96912910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77088847900001 meters 0.02402410586206309 Centerline is valid? [True, True] Translation: X:49.21, Y:2.98, Z:0.20 [[ 9.96486149e-01 -8.32102195e-02 -9.56103887e-03 4.92090285e+01] [ 8.32030089e-02 9.96531955e-01 -1.15016072e-03 2.97616713e+00] [ 9.62358588e-03 3.50612029e-04 9.99953631e-01 2.00513393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.83088847900001 meters 0.023637090006944042 Centerline is valid? [True, True] Translation: X:49.27, Y:2.97, Z:0.20 [[ 9.95678695e-01 -9.25017334e-02 -8.20767120e-03 4.92685397e+01] [ 9.24967328e-02 9.95712498e-01 -9.87594375e-04 2.97499686e+00] [ 8.26383498e-03 2.24143909e-04 9.99965829e-01 2.00291509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.890888479000004 meters 0.019405227951572176 Centerline is valid? [True, True] Translation: X:49.33, Y:2.97, Z:0.20 [[ 9.94856816e-01 -1.00983429e-01 -7.89066243e-03 4.93298992e+01] [ 1.00979072e-01 9.94888097e-01 -9.49715839e-04 2.97086555e+00] [ 7.94623169e-03 1.48039507e-04 9.99968417e-01 2.03670619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95088847900001 meters 0.019056098679008638 Centerline is valid? [True, True] Translation: X:49.39, Y:2.97, Z:0.20 [[ 9.94227324e-01 -1.07056025e-01 -7.14390321e-03 4.93894330e+01] [ 1.07052602e-01 9.94252986e-01 -8.60948290e-04 2.97255552e+00] [ 7.19501679e-03 9.12048886e-05 9.99974111e-01 2.03468290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.01088847900001 meters 0.019214575656427414 Centerline is valid? [True, True] Translation: X:49.45, Y:2.98, Z:0.20 [[ 9.93426473e-01 -1.14398553e-01 -4.10057615e-03 4.94479905e+01] [ 1.14397485e-01 9.93434935e-01 -4.94881692e-04 2.97729796e+00] [ 4.13026935e-03 2.25329752e-05 9.99991470e-01 2.04015855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.070888479000004 meters 0.018688487279772428 Centerline is valid? [True, True] Translation: X:49.51, Y:2.98, Z:0.21 [[ 9.92830881e-01 -1.19470883e-01 -3.68110730e-03 4.95071494e+01] [ 1.19470054e-01 9.92837705e-01 -4.45102087e-04 2.97992169e+00] [ 3.70791887e-03 2.12900992e-06 9.99993126e-01 2.07759725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.130888479000006 meters 0.017119205438492293 Centerline is valid? [True, True] Translation: X:49.56, Y:2.99, Z:0.21 [[ 9.92659357e-01 -1.20836154e-01 -5.10150411e-03 4.95645713e+01] [ 1.20834572e-01 9.92672466e-01 -6.18464918e-04 2.98828508e+00] [ 5.13885559e-03 -2.51307717e-06 9.99986796e-01 2.08056181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.19088847900001 meters 0.01937890971142212 Centerline is valid? [True, True] Translation: X:49.62, Y:3.00, Z:0.20 [[ 9.92489043e-01 -1.22114044e-01 -7.32528950e-03 4.96217209e+01] [ 1.22110804e-01 9.92516075e-01 -8.89583354e-04 3.00148691e+00] [ 7.37909821e-03 -1.15952625e-05 9.99972774e-01 2.00401110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.250888479000004 meters 0.01808860214418523 Centerline is valid? [True, True] Translation: X:49.68, Y:3.01, Z:0.20 [[ 9.92788803e-01 -1.19532464e-01 -9.07649759e-03 4.96795863e+01] [ 1.19527365e-01 9.92830293e-01 -1.10408638e-03 3.01495186e+00] [ 9.14339592e-03 1.12347487e-05 9.99958198e-01 2.00150188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.310888479000006 meters 0.01939062125562785 Centerline is valid? [True, True] Translation: X:49.74, Y:3.03, Z:0.20 [[ 9.93052414e-01 -1.17263393e-01 -9.80812045e-03 4.97374596e+01] [ 1.17257304e-01 9.93100849e-01 -1.19551825e-03 3.02656311e+00] [ 9.88064327e-03 3.71385241e-05 9.99951185e-01 1.99288969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.37088847900001 meters 0.01989361988817622 Centerline is valid? [True, True] Translation: X:49.80, Y:3.04, Z:0.20 [[ 9.93572492e-01 -1.12708394e-01 -1.05129461e-02 4.97951495e+01] [ 1.12701116e-01 9.93628104e-01 -1.28402495e-03 3.04318456e+00] [ 1.05906791e-02 9.09511062e-05 9.99943913e-01 1.99633454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.430888479000004 meters 0.018907669687160292 Centerline is valid? [True, True] Translation: X:49.85, Y:3.06, Z:0.20 [[ 9.94225620e-01 -1.06960394e-01 -8.65390299e-03 4.98527335e+01] [ 1.06955227e-01 9.94263274e-01 -1.05900601e-03 3.05861438e+00] [ 8.71752962e-03 1.27310746e-04 9.99961994e-01 2.02117800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.490888479000006 meters 0.022799341188113848 Centerline is valid? [True, True] Translation: X:49.91, Y:3.07, Z:0.20 [[ 9.94559274e-01 -1.03806749e-01 -8.71836031e-03 4.99103086e+01] [ 1.03801364e-01 9.94597473e-01 -1.06909578e-03 3.07220169e+00] [ 8.78223849e-03 1.58301430e-04 9.99961423e-01 1.99659898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.55088847900001 meters 0.021187368222755864 Centerline is valid? [True, True] Translation: X:49.97, Y:3.09, Z:0.20 [[ 9.95541029e-01 -9.40037396e-02 -7.83309804e-03 4.99688758e+01] [ 9.39990834e-02 9.95571820e-01 -9.61291701e-04 3.09064217e+00] [ 7.88877669e-03 2.20701293e-04 9.99968859e-01 2.03708312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.610888479 meters 0.02611057024809919 Centerline is valid? [True, True] Translation: X:50.03, Y:3.11, Z:0.20 [[ 9.95991403e-01 -8.87988232e-02 -1.07654517e-02 5.00262831e+01] [ 8.87897225e-02 9.96049516e-01 -1.32132791e-03 3.10667224e+00] [ 1.08402553e-02 3.60169772e-04 9.99941178e-01 1.99601793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.670888479000006 meters 0.025781161226692707 Centerline is valid? [True, True] Translation: X:50.09, Y:3.12, Z:0.20 [[ 9.96599965e-01 -8.16628650e-02 -1.09401508e-02 5.00856659e+01] [ 8.16530358e-02 9.96659911e-01 -1.34286991e-03 3.11870541e+00] [ 1.10132723e-02 4.45007587e-04 9.99939253e-01 2.02338651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.73088847900001 meters 0.027320107204191674 Centerline is valid? [True, True] Translation: X:50.14, Y:3.13, Z:0.20 [[ 9.96855456e-01 -7.83548382e-02 -1.18202526e-02 5.01435203e+01] [ 7.83431255e-02 9.96925397e-01 -1.45141167e-03 3.13343098e+00] [ 1.18976351e-02 5.20812108e-04 9.99929085e-01 1.99636964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.790888479 meters 0.029335933854154117 Centerline is valid? [True, True] Translation: X:50.20, Y:3.14, Z:0.20 [[ 9.96749874e-01 -7.94402693e-02 -1.33765226e-02 5.02020895e+01] [ 7.94253290e-02 9.96839461e-01 -1.64530797e-03 3.14084161e+00] [ 1.34649492e-02 5.77525809e-04 9.99909177e-01 1.98531760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.850888479000005 meters 0.027287903921333033 Centerline is valid? [True, True] Translation: X:50.26, Y:3.15, Z:0.20 [[ 9.96452989e-01 -8.29804861e-02 -1.39885635e-02 5.02614163e+01] [ 8.29644795e-02 9.96551018e-01 -1.72171215e-03 3.14620833e+00] [ 1.40831857e-02 5.55051328e-04 9.99900673e-01 1.98933865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.91088847900001 meters 0.025811358080622095 Centerline is valid? [True, True] Translation: X:50.32, Y:3.15, Z:0.20 [[ 9.96259940e-01 -8.50961391e-02 -1.49926343e-02 5.03203799e+01] [ 8.50779432e-02 9.96372584e-01 -1.84847232e-03 3.15198788e+00] [ 1.50955477e-02 5.66016433e-04 9.99885896e-01 1.99260684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.970888479 meters 0.02649910251569092 Centerline is valid? [True, True] Translation: X:50.38, Y:3.16, Z:0.20 [[ 9.96047664e-01 -8.76971617e-02 -1.40804473e-02 5.03783047e+01] [ 8.76813515e-02 9.96147058e-01 -1.73746264e-03 3.15935327e+00] [ 1.41785667e-02 4.96002956e-04 9.99899356e-01 2.00892556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.030888479000005 meters 0.02507833263330048 Centerline is valid? [True, True] Translation: X:50.44, Y:3.17, Z:0.20 [[ 9.95963457e-01 -8.84314495e-02 -1.53841017e-02 5.04357844e+01] [ 8.84126039e-02 9.96082122e-01 -1.90216887e-03 3.16603410e+00] [ 1.54920402e-02 5.34342200e-04 9.99879848e-01 1.99498096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09088847900001 meters 0.026835271703991116 Centerline is valid? [True, True] Translation: X:50.49, Y:3.17, Z:0.20 [[ 9.95917158e-01 -8.88097186e-02 -1.61817309e-02 5.04924441e+01] [ 8.87888771e-02 9.96048454e-01 -2.00328975e-03 3.17327755e+00] [ 1.62956996e-02 5.58352920e-04 9.99867060e-01 1.99422618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.150888479 meters 0.02564961032068188 Centerline is valid? [True, True] Translation: X:50.55, Y:3.18, Z:0.20 [[ 9.95952841e-01 -8.81534348e-02 -1.75188646e-02 5.05516013e+01] [ 8.81288328e-02 9.96106715e-01 -2.17291221e-03 3.17608074e+00] [ 1.76422083e-02 6.20200997e-04 9.99844172e-01 2.00102569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.210888479000005 meters 0.025641375915052413 Centerline is valid? [True, True] Translation: X:50.61, Y:3.18, Z:0.20 [[ 9.95965157e-01 -8.80371634e-02 -1.74030128e-02 5.06100310e+01] [ 8.80127908e-02 9.96116996e-01 -2.16294641e-03 3.18305069e+00] [ 1.75258565e-02 6.22531528e-04 9.99846217e-01 2.00704459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27088847900001 meters 0.027133094652284896 Centerline is valid? [True, True] Translation: X:50.67, Y:3.19, Z:0.20 [[ 9.96117490e-01 -8.64862830e-02 -1.64337505e-02 5.06669059e+01] [ 8.64643039e-02 9.96252851e-01 -2.04460748e-03 3.18996672e+00] [ 1.65490013e-02 6.15736475e-04 9.99862866e-01 2.01492033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.33088847900001 meters 0.02644498828960702 Centerline is valid? [True, True] Translation: X:50.73, Y:3.19, Z:0.20 [[ 9.96176179e-01 -8.62623922e-02 -1.38499318e-02 5.07262252e+01] [ 8.62467359e-02 9.96272315e-01 -1.72487039e-03 3.19415510e+00] [ 1.39470951e-02 5.23763381e-04 9.99902597e-01 2.04356447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.390888479000004 meters 0.02536377292579303 Centerline is valid? [True, True] Translation: X:50.78, Y:3.20, Z:0.21 [[ 9.96272370e-01 -8.53511201e-02 -1.25120349e-02 5.07846884e+01] [ 8.53382361e-02 9.96350816e-01 -1.56101063e-03 3.19994029e+00] [ 1.25996102e-02 4.87436769e-04 9.99920503e-01 2.06720948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45088847900001 meters 0.028985854399948784 Centerline is valid? [True, True] Translation: X:50.84, Y:3.21, Z:0.21 [[ 9.96447176e-01 -8.32753457e-02 -1.25794362e-02 5.08424242e+01] [ 8.32621396e-02 9.96526442e-01 -1.57082085e-03 3.21033777e+00] [ 1.26665514e-02 5.17849225e-04 9.99919642e-01 2.05347463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.51088847900001 meters 0.025157734490256916 Centerline is valid? [True, True] Translation: X:50.90, Y:3.21, Z:0.21 [[ 9.96691226e-01 -8.04757273e-02 -1.14130252e-02 5.09024433e+01] [ 8.04646679e-02 9.96756442e-01 -1.42565713e-03 3.21263999e+00] [ 1.14907372e-02 5.02594668e-04 9.99933853e-01 2.09396924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.570888479000004 meters 0.029856275687137033 Centerline is valid? [True, True] Translation: X:50.96, Y:3.22, Z:0.20 [[ 9.96693826e-01 -8.00982084e-02 -1.36269803e-02 5.09601320e+01] [ 8.00823919e-02 9.96786792e-01 -1.70329168e-03 3.22223579e+00] [ 1.37196246e-02 6.06379127e-04 9.99905698e-01 2.01992020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.630888479000006 meters 0.02774895456986058 Centerline is valid? [True, True] Translation: X:51.02, Y:3.23, Z:0.20 [[ 9.96850827e-01 -7.82768959e-02 -1.26947085e-02 5.10186437e+01] [ 7.82629876e-02 9.96931481e-01 -1.58947205e-03 3.22947830e+00] [ 1.27801735e-02 5.90940710e-04 9.99918156e-01 2.03083624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.69088847900001 meters 0.02628866207430713 Centerline is valid? [True, True] Translation: X:51.08, Y:3.23, Z:0.21 [[ 9.97018219e-01 -7.61822710e-02 -1.22854637e-02 5.10782935e+01] [ 7.61690738e-02 9.97093728e-01 -1.53924805e-03 3.23432658e+00] [ 1.23670222e-02 5.98885954e-04 9.99923346e-01 2.05347128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.750888479000004 meters 0.02773565421333576 Centerline is valid? [True, True] Translation: X:51.14, Y:3.24, Z:0.20 [[ 9.96982116e-01 -7.64131431e-02 -1.37000774e-02 5.11363320e+01] [ 7.63967142e-02 9.97076018e-01 -1.71931090e-03 3.24204732e+00] [ 1.37913966e-02 6.67481321e-04 9.99904671e-01 2.03064919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.810888479000006 meters 0.02859182545310961 Centerline is valid? [True, True] Translation: X:51.19, Y:3.25, Z:0.20 [[ 9.96886462e-01 -7.74068882e-02 -1.50184747e-02 5.11934495e+01] [ 7.73872298e-02 9.96999327e-01 -1.88659093e-03 3.24808639e+00] [ 1.51194443e-02 7.18478803e-04 9.99885437e-01 2.01851260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.87088847900001 meters 0.02960661146148547 Centerline is valid? [True, True] Translation: X:51.25, Y:3.25, Z:0.20 [[ 9.96785344e-01 -7.87732229e-02 -1.46204720e-02 5.12522507e+01] [ 7.87546933e-02 9.96892328e-01 -1.83972072e-03 3.25232665e+00] [ 1.47199571e-02 6.82375862e-04 9.99891423e-01 2.00329627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.930888479000004 meters 0.0290011949694918 Centerline is valid? [True, True] Translation: X:51.31, Y:3.26, Z:0.20 [[ 9.96618960e-01 -8.11057739e-02 -1.31340130e-02 5.13104240e+01] [ 8.10910101e-02 9.96705329e-01 -1.65364530e-03 3.25823108e+00] [ 1.32248610e-02 5.83003873e-04 9.99912378e-01 2.02272591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.990888479000006 meters 0.02276983284321755 Centerline is valid? [True, True] Translation: X:51.37, Y:3.25, Z:0.21 [[ 9.96357771e-01 -8.43648739e-02 -1.24000452e-02 5.13715906e+01] [ 8.43519603e-02 9.96434799e-01 -1.56168629e-03 3.25064197e+00] [ 1.24875880e-02 5.10030146e-04 9.99921897e-01 2.06008761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.05088847900001 meters 0.02511886134303667 Centerline is valid? [True, True] Translation: X:51.43, Y:3.26, Z:0.21 [[ 9.96196113e-01 -8.63246216e-02 -1.18896492e-02 5.14295182e+01] [ 8.63128604e-02 9.96266953e-01 -1.49976256e-03 3.25795492e+00] [ 1.19747310e-02 4.67827999e-04 9.99928191e-01 2.06327680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.110888479 meters 0.022975974482137916 Centerline is valid? [True, True] Translation: X:51.49, Y:3.26, Z:0.21 [[ 9.96083212e-01 -8.78477743e-02 -1.00500458e-02 5.14891451e+01] [ 8.78394335e-02 9.96133838e-01 -1.26920665e-03 3.25955179e+00] [ 1.01226877e-02 3.81445100e-04 9.99948692e-01 2.06924063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.170888479000006 meters 0.02486122850211077 Centerline is valid? [True, True] Translation: X:51.55, Y:3.27, Z:0.21 [[ 9.96177094e-01 -8.68337567e-02 -9.54438669e-03 5.15464758e+01] [ 8.68261787e-02 9.96222746e-01 -1.20626600e-03 3.26529155e+00] [ 9.61307973e-03 3.72951937e-04 9.99953724e-01 2.06955683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.23088847900001 meters 0.027192099584503693 Centerline is valid? [True, True] Translation: X:51.61, Y:3.27, Z:0.21 [[ 9.96367574e-01 -8.45244560e-02 -1.03573121e-02 5.16059307e+01] [ 8.45154021e-02 9.96421312e-01 -1.30952866e-03 3.27317851e+00] [ 1.04309337e-02 4.29419504e-04 9.99945504e-01 2.05166959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.290888479 meters 0.02971692337398292 Centerline is valid? [True, True] Translation: X:51.67, Y:3.28, Z:0.21 [[ 9.96772953e-01 -7.97685057e-02 -8.98135160e-03 5.16655891e+01] [ 7.97615042e-02 9.96813329e-01 -1.13564124e-03 3.28341627e+00] [ 9.04331940e-03 4.15610362e-04 9.99959022e-01 2.05550380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.350888479000005 meters 0.026975262707557467 Centerline is valid? [True, True] Translation: X:51.73, Y:3.28, Z:0.21 [[ 9.96920186e-01 -7.78844871e-02 -9.17332080e-03 5.17255039e+01] [ 7.78771013e-02 9.96962292e-01 -1.16014348e-03 3.28397384e+00] [ 9.23581211e-03 4.42178825e-04 9.99957251e-01 2.07681271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.41088847900001 meters 0.031129598378057205 Centerline is valid? [True, True] Translation: X:51.78, Y:3.30, Z:0.21 [[ 9.96791442e-01 -7.95096399e-02 -9.22161697e-03 5.17821274e+01] [ 7.95022370e-02 9.96834004e-01 -1.16718184e-03 3.29557894e+00] [ 9.28522358e-03 4.30297695e-04 9.99956799e-01 2.07180924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.470888479 meters 0.02438497498274138 Centerline is valid? [True, True] Translation: X:51.84, Y:3.29, Z:0.21 [[ 9.96529756e-01 -8.27279746e-02 -9.19393883e-03 5.18430670e+01] [ 8.27207483e-02 9.96572086e-01 -1.16415128e-03 3.29374248e+00] [ 9.25873068e-03 3.99581891e-04 9.99957057e-01 2.05219928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.530888479000005 meters 0.02330351020329095 Centerline is valid? [True, True] Translation: X:51.90, Y:3.30, Z:0.21 [[ 9.96235872e-01 -8.62296840e-02 -8.86168115e-03 5.19033538e+01] [ 8.62231059e-02 9.96275221e-01 -1.12241500e-03 3.29612210e+00] [ 8.92545883e-03 3.54108416e-04 9.99960105e-01 2.05682671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59088847900001 meters 0.022956632321896722 Centerline is valid? [True, True] Translation: X:51.96, Y:3.30, Z:0.21 [[ 9.96000051e-01 -8.91194048e-02 -6.45210461e-03 5.19626923e+01] [ 8.91159721e-02 9.96020921e-01 -8.18160742e-04 3.30043301e+00] [ 6.49934517e-03 2.39902568e-04 9.99978850e-01 2.08804258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.65088847900001 meters 0.022131087518107814 Centerline is valid? [True, True] Translation: X:52.02, Y:3.31, Z:0.21 [[ 9.95846982e-01 -9.08409894e-02 -6.05830633e-03 5.20209332e+01] [ 9.08379860e-02 9.95865386e-01 -7.69648406e-04 3.30808697e+00] [ 6.10317320e-03 2.16127697e-04 9.99981352e-01 2.07390899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.710888479000005 meters 0.024430625885990903 Centerline is valid? [True, True] Translation: X:52.08, Y:3.32, Z:0.20 [[ 9.95911859e-01 -8.98225082e-02 -9.56486561e-03 5.20777951e+01] [ 8.98149586e-02 9.95957726e-01 -1.21682000e-03 3.31935283e+00] [ 9.63549963e-03 3.52777455e-04 9.99953515e-01 2.03203459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77088847900001 meters 0.02414477827804807 Centerline is valid? [True, True] Translation: X:52.14, Y:3.33, Z:0.20 [[ 9.95961544e-01 -8.90719593e-02 -1.12600236e-02 5.21357827e+01] [ 8.90614369e-02 9.96025103e-01 -1.43350211e-03 3.32629996e+00] [ 1.13429510e-02 4.24879101e-04 9.99935576e-01 2.01176895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.83088847900001 meters 0.024681743224006385 Centerline is valid? [True, True] Translation: X:52.19, Y:3.34, Z:0.20 [[ 9.95819555e-01 -9.07901138e-02 -1.00283973e-02 5.21936056e+01] [ 9.07818346e-02 9.95869983e-01 -1.27866284e-03 3.33533471e+00] [ 1.01030698e-02 3.62921148e-04 9.99948897e-01 2.01087203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.890888479000004 meters 0.024176944892320217 Centerline is valid? [True, True] Translation: X:52.25, Y:3.34, Z:0.20 [[ 9.95651065e-01 -9.26738873e-02 -9.51353476e-03 5.22523163e+01] [ 9.26665007e-02 9.95696461e-01 -1.21526533e-03 3.34008874e+00] [ 9.58521626e-03 3.28394242e-04 9.99954007e-01 2.02927937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95088847900001 meters 0.02295466641258888 Centerline is valid? [True, True] Translation: X:52.31, Y:3.34, Z:0.21 [[ 9.95488512e-01 -9.46409756e-02 -6.76080095e-03 5.23112361e+01] [ 9.46372855e-02 9.95511445e-01 -8.64379933e-04 3.34490860e+00] [ 6.81226049e-03 2.20656444e-04 9.99976772e-01 2.07065647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.01088847900001 meters 0.021828392668432693 Centerline is valid? [True, True] Translation: X:52.37, Y:3.35, Z:0.21 [[ 9.95349698e-01 -9.61739708e-02 -5.43556696e-03 5.23703245e+01] [ 9.61716056e-02 9.95364526e-01 -6.95447133e-04 3.35039429e+00] [ 5.47725444e-03 1.69465892e-04 9.99984985e-01 2.07869500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.070888479000004 meters 0.021808046989270545 Centerline is valid? [True, True] Translation: X:52.43, Y:3.36, Z:0.21 [[ 9.95269369e-01 -9.70502875e-02 -4.48599233e-03 5.24285906e+01] [ 9.70486822e-02 9.95279470e-01 -5.74675116e-04 3.35802730e+00] [ 4.52058845e-03 1.36596896e-04 9.99989773e-01 2.07887049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.130888479000006 meters 0.020564284139024887 Centerline is valid? [True, True] Translation: X:52.49, Y:3.36, Z:0.21 [[ 9.95008992e-01 -9.97547240e-02 -2.46997787e-03 5.24872222e+01] [ 9.97542448e-02 9.95012055e-01 -3.16771017e-04 3.36198546e+00] [ 2.48925716e-03 6.87992332e-05 9.99996899e-01 2.10636658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.19088847900001 meters 0.021890175438219774 Centerline is valid? [True, True] Translation: X:52.54, Y:3.37, Z:0.21 [[ 9.94883314e-01 -1.00933992e-01 -4.41827369e-03 5.25440696e+01] [ 1.00932468e-01 9.94893117e-01 -5.67139347e-04 3.37094378e+00] [ 4.45295372e-03 1.18290205e-04 9.99990079e-01 2.08944421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.250888479000004 meters 0.020788690888546978 Centerline is valid? [True, True] Translation: X:52.60, Y:3.38, Z:0.21 [[ 9.94834669e-01 -1.01334923e-01 -5.93424425e-03 5.26015941e+01] [ 1.01332173e-01 9.94852355e-01 -7.62967775e-04 3.37721171e+00] [ 5.98101215e-03 1.57696930e-04 9.99982101e-01 2.06344767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.310888479000006 meters 0.020525085463677626 Centerline is valid? [True, True] Translation: X:52.66, Y:3.38, Z:0.21 [[ 9.94722579e-01 -1.02331481e-01 -7.43359811e-03 5.26602202e+01] [ 1.02327178e-01 9.94750336e-01 -9.57908116e-04 3.38344359e+00] [ 7.49259838e-03 1.92193712e-04 9.99971912e-01 2.05159480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.37088847900001 meters 0.021503308204692054 Centerline is valid? [True, True] Translation: X:52.72, Y:3.39, Z:0.21 [[ 9.94651445e-01 -1.03015872e-01 -7.49887565e-03 5.27176592e+01] [ 1.03011504e-01 9.94679694e-01 -9.67438571e-04 3.39206749e+00] [ 7.55864086e-03 1.89793714e-04 9.99971415e-01 2.05412294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.430888479000004 meters 0.020757608271642625 Centerline is valid? [True, True] Translation: X:52.78, Y:3.40, Z:0.21 [[ 9.94491073e-01 -1.04557859e-01 -7.42698810e-03 5.27761384e+01] [ 1.04553607e-01 9.94518789e-01 -9.59538309e-04 3.39645025e+00] [ 7.48660648e-03 1.77733890e-04 9.99971959e-01 2.07420893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.490888479000006 meters 0.021117204485814157 Centerline is valid? [True, True] Translation: X:52.83, Y:3.41, Z:0.21 [[ 9.94476786e-01 -1.04733197e-01 -6.84680477e-03 5.28334492e+01] [ 1.04729575e-01 9.94500342e-01 -8.86322112e-04 3.40679266e+00] [ 6.90197703e-03 1.64363811e-04 9.99976168e-01 2.05116554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.55088847900001 meters 0.021101798078235548 Centerline is valid? [True, True] Translation: X:52.89, Y:3.41, Z:0.21 [[ 9.94464423e-01 -1.04875030e-01 -6.46063295e-03 5.28913464e+01] [ 1.04871798e-01 9.94485396e-01 -8.38065273e-04 3.41318472e+00] [ 6.51289725e-03 1.55887906e-04 9.99978779e-01 2.06084335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.610888479 meters 0.020478872975338645 Centerline is valid? [True, True] Translation: X:52.95, Y:3.42, Z:0.21 [[ 9.94434416e-01 -1.05237287e-01 -5.03051414e-03 5.29491473e+01] [ 1.05235326e-01 9.94447132e-01 -6.53783123e-04 3.41779006e+00] [ 5.07138273e-03 1.20756644e-04 9.99987133e-01 2.09222743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.670888479000006 meters 0.020543775734569756 Centerline is valid? [True, True] Translation: X:53.01, Y:3.43, Z:0.21 [[ 9.94532716e-01 -1.04299703e-01 -5.12329821e-03 5.30075491e+01] [ 1.04297649e-01 9.94545904e-01 -6.67227317e-04 3.42639165e+00] [ 5.16494686e-03 1.29231438e-04 9.99986653e-01 2.09126954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.73088847900001 meters 0.022502549948320422 Centerline is valid? [True, True] Translation: X:53.06, Y:3.44, Z:0.20 [[ 9.94891091e-01 -1.00663631e-01 -7.65184991e-03 5.30644055e+01] [ 1.00658930e-01 9.94920491e-01 -9.97911867e-04 3.44069503e+00] [ 7.71343570e-03 2.22586599e-04 9.99970226e-01 2.04421042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.790888479 meters 0.02166048401035343 Centerline is valid? [True, True] Translation: X:53.12, Y:3.45, Z:0.20 [[ 9.94935312e-01 -1.00184812e-01 -8.16869036e-03 5.31227256e+01] [ 1.00179426e-01 9.94968816e-01 -1.06687680e-03 3.44599971e+00] [ 8.23447702e-03 2.43138684e-04 9.99966067e-01 2.04345116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.850888479000005 meters 0.02132033115411463 Centerline is valid? [True, True] Translation: X:53.18, Y:3.45, Z:0.21 [[ 9.94791519e-01 -1.01735834e-01 -6.29705958e-03 5.31816026e+01] [ 1.01732656e-01 9.94811433e-01 -8.23790619e-04 3.45318889e+00] [ 6.34819589e-03 1.78883328e-04 9.99979834e-01 2.05813570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.91088847900001 meters 0.02182795300464729 Centerline is valid? [True, True] Translation: X:53.24, Y:3.46, Z:0.21 [[ 9.94708739e-01 -1.02602650e-01 -5.21727577e-03 5.32384601e+01] [ 1.02600476e-01 9.94722411e-01 -6.83284117e-04 3.46130664e+00] [ 5.25984789e-03 1.44373705e-04 9.99986156e-01 2.07345843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.970888479 meters 0.021925293722591326 Centerline is valid? [True, True] Translation: X:53.30, Y:3.47, Z:0.21 [[ 9.94789221e-01 -1.01794703e-01 -5.67841020e-03 5.32962654e+01] [ 1.01792109e-01 9.94805414e-01 -7.44665318e-04 3.47164429e+00] [ 5.72471619e-03 1.62767679e-04 9.99983600e-01 2.05045473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.030888479000005 meters 0.02340805482642233 Centerline is valid? [True, True] Translation: X:53.35, Y:3.48, Z:0.20 [[ 9.95055572e-01 -9.89990761e-02 -7.97446832e-03 5.33540759e+01] [ 9.89938611e-02 9.95087493e-01 -1.04701172e-03 3.48430719e+00] [ 8.03894689e-03 2.52411440e-04 9.99967655e-01 2.02452316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09088847900001 meters 0.024845938175556633 Centerline is valid? [True, True] Translation: X:53.41, Y:3.50, Z:0.20 [[ 9.95211583e-01 -9.73400201e-02 -8.87843060e-03 5.34110210e+01] [ 9.73334838e-02 9.95251140e-01 -1.16637892e-03 3.49594021e+00] [ 8.94980353e-03 2.96625229e-04 9.99959906e-01 2.02080109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.15088847900001 meters 0.022857007954279317 Centerline is valid? [True, True] Translation: X:53.47, Y:3.50, Z:0.20 [[ 9.95165943e-01 -9.75667594e-02 -1.12014747e-02 5.34696360e+01] [ 9.75563419e-02 9.95228912e-01 -1.47398393e-03 3.50192128e+00] [ 1.12918434e-02 3.74083711e-04 9.99936175e-01 2.01567129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.210888479000005 meters 0.025022261576341867 Centerline is valid? [True, True] Translation: X:53.53, Y:3.51, Z:0.20 [[ 9.95138805e-01 -9.76203118e-02 -1.30012558e-02 5.35259623e+01] [ 9.76062572e-02 9.95223636e-01 -1.71271492e-03 3.51381006e+00] [ 1.31063528e-02 4.35385165e-04 9.99914013e-01 1.99078914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27088847900001 meters 0.023525957048182666 Centerline is valid? [True, True] Translation: X:53.58, Y:3.52, Z:0.20 [[ 9.94940539e-01 -9.96064520e-02 -1.31102786e-02 5.35848359e+01] [ 9.95922960e-02 9.95026825e-01 -1.72986490e-03 3.51836560e+00] [ 1.32173846e-02 4.15429961e-04 9.99912560e-01 2.01505391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.33088847900001 meters 0.02200262798925298 Centerline is valid? [True, True] Translation: X:53.64, Y:3.52, Z:0.20 [[ 9.94754220e-01 -1.01543260e-01 -1.23696390e-02 5.36433005e+01] [ 1.01530770e-01 9.94831055e-01 -1.63516238e-03 3.52317027e+00] [ 1.24717407e-02 3.70685701e-04 9.99922156e-01 2.04134153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.390888479000004 meters 0.022204096021868697 Centerline is valid? [True, True] Translation: X:53.70, Y:3.53, Z:0.21 [[ 9.94675256e-01 -1.02426866e-01 -1.13961355e-02 5.37007172e+01] [ 1.02416303e-01 9.94740482e-01 -1.50823321e-03 3.53134569e+00] [ 1.14906809e-02 3.33052195e-04 9.99933924e-01 2.07080553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45088847900001 meters 0.02114862978654356 Centerline is valid? [True, True] Translation: X:53.76, Y:3.54, Z:0.21 [[ 9.94608826e-01 -1.03055959e-01 -1.15218598e-02 5.37582543e+01] [ 1.03045170e-01 9.94675504e-01 -1.52774483e-03 3.53689820e+00] [ 1.16179549e-02 3.32236482e-04 9.99932454e-01 2.08344163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.51088847900001 meters 0.02223352554116474 Centerline is valid? [True, True] Translation: X:53.82, Y:3.55, Z:0.21 [[ 9.94630394e-01 -1.02797289e-01 -1.19622993e-02 5.38152280e+01] [ 1.02785621e-01 9.94702265e-01 -1.58777805e-03 3.55001689e+00] [ 1.20621454e-02 3.49699944e-04 9.99927189e-01 2.06990282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.570888479000004 meters 0.021961746604031815 Centerline is valid? [True, True] Translation: X:53.87, Y:3.56, Z:0.21 [[ 9.94748981e-01 -1.01503756e-01 -1.30939972e-02 5.38734873e+01] [ 1.01489627e-01 9.94835074e-01 -1.74080363e-03 3.55943689e+00] [ 1.32030658e-02 4.02757747e-04 9.99912755e-01 2.06914413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.630888479000006 meters 0.02380674051526868 Centerline is valid? [True, True] Translation: X:53.93, Y:3.57, Z:0.21 [[ 9.95030783e-01 -9.82082990e-02 -1.63972542e-02 5.39306383e+01] [ 9.81856637e-02 9.95165723e-01 -2.18176489e-03 3.57084931e+00] [ 1.65322528e-02 5.60947943e-04 9.99863176e-01 2.06289080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.69088847900001 meters 0.024461281685617873 Centerline is valid? [True, True] Translation: X:53.99, Y:3.58, Z:0.20 [[ 9.95413292e-01 -9.36553907e-02 -1.95204032e-02 5.39892005e+01] [ 9.36224254e-02 9.95604386e-01 -2.59784936e-03 3.58381939e+00] [ 1.96779016e-02 7.58386290e-04 9.99806084e-01 2.03438781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.750888479000004 meters 0.025858290113572865 Centerline is valid? [True, True] Translation: X:54.05, Y:3.60, Z:0.20 [[ 9.95722250e-01 -9.04778413e-02 -1.87339453e-02 5.40472317e+01] [ 9.04469060e-02 9.95898157e-01 -2.49379689e-03 3.59889151e+00] [ 1.88827350e-02 7.88701655e-04 9.99821394e-01 2.01363285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.810888479000006 meters 0.026952206022408123 Centerline is valid? [True, True] Translation: X:54.10, Y:3.61, Z:0.20 [[ 9.95760637e-01 -9.01549044e-02 -1.82440989e-02 5.41040715e+01] [ 9.01254853e-02 9.95927453e-01 -2.43002898e-03 3.60729653e+00] [ 1.83888779e-02 7.75468946e-04 9.99830610e-01 2.03606344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.87088847900001 meters 0.027141596660252044 Centerline is valid? [True, True] Translation: X:54.16, Y:3.62, Z:0.21 [[ 9.95628735e-01 -9.17377511e-02 -1.75387300e-02 5.41619106e+01] [ 9.17107864e-02 9.95782943e-01 -2.33731209e-03 3.61578510e+00] [ 1.76791880e-02 7.18604359e-04 9.99843453e-01 2.06284974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.930888479000004 meters 0.02680070975139102 Centerline is valid? [True, True] Translation: X:54.22, Y:3.63, Z:0.20 [[ 9.95564001e-01 -9.24184518e-02 -1.76394418e-02 5.42198125e+01] [ 9.23912167e-02 9.95720001e-01 -2.35447087e-03 3.62725655e+00] [ 1.77815415e-02 7.14296951e-04 9.99841641e-01 2.04167019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.990888479000006 meters 0.02595521762809284 Centerline is valid? [True, True] Translation: X:54.28, Y:3.63, Z:0.20 [[ 9.95533434e-01 -9.28067867e-02 -1.73228662e-02 5.42784079e+01] [ 9.27805060e-02 9.95683892e-01 -2.31640396e-03 3.63418710e+00] [ 1.74630768e-02 6.98833299e-04 9.99847265e-01 2.04762385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.05088847900001 meters 0.024066047785379758 Centerline is valid? [True, True] Translation: X:54.34, Y:3.64, Z:0.21 [[ 9.95310967e-01 -9.50545753e-02 -1.79082939e-02 5.43373765e+01] [ 9.50267755e-02 9.95471826e-01 -2.39888002e-03 3.64020368e+00] [ 1.80552266e-02 6.85864163e-04 9.99836756e-01 2.06217948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.110888479 meters 0.024688744996570453 Centerline is valid? [True, True] Translation: X:54.39, Y:3.65, Z:0.20 [[ 9.94989243e-01 -9.80743612e-02 -1.94377340e-02 5.43941648e+01] [ 9.80421316e-02 9.95178852e-01 -2.60646682e-03 3.65211726e+00] [ 1.95996494e-02 6.87689567e-04 9.99807672e-01 2.03686662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.170888479000006 meters 0.02393930985344867 Centerline is valid? [True, True] Translation: X:54.45, Y:3.66, Z:0.20 [[ 9.94765298e-01 -1.00003460e-01 -2.10073868e-02 5.44527142e+01] [ 9.99661444e-02 9.94986838e-01 -2.82162179e-03 3.66049373e+00] [ 2.11842453e-02 7.06823975e-04 9.99775339e-01 2.04310419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.23088847900001 meters 0.022602569104857695 Centerline is valid? [True, True] Translation: X:54.51, Y:3.67, Z:0.20 [[ 9.94504018e-01 -1.01969083e-01 -2.37500581e-02 5.45108023e+01] [ 1.01921789e-01 9.94787279e-01 -3.19654449e-03 3.66746213e+00] [ 2.39522044e-02 7.58327927e-04 9.99712817e-01 2.02770520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.290888479 meters 0.020672090787891423 Centerline is valid? [True, True] Translation: X:54.57, Y:3.67, Z:0.20 [[ 9.93982126e-01 -1.06859776e-01 -2.40940222e-02 5.45702605e+01] [ 1.06812500e-01 9.94273888e-01 -3.24435895e-03 3.67171434e+00] [ 2.43027486e-02 6.51292064e-04 9.99704432e-01 2.04379768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.350888479000005 meters 0.02032622887161557 Centerline is valid? [True, True] Translation: X:54.63, Y:3.68, Z:0.21 [[ 9.93652274e-01 -1.09553738e-01 -2.55565416e-02 5.46280302e+01] [ 1.09501384e-01 9.93980679e-01 -3.44334418e-03 3.67648300e+00] [ 2.57799398e-02 6.23010117e-04 9.99667448e-01 2.06357042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.41088847900001 meters 0.018542944240698418 Centerline is valid? [True, True] Translation: X:54.69, Y:3.68, Z:0.21 [[ 9.93320138e-01 -1.12705795e-01 -2.47488918e-02 5.46872497e+01] [ 1.12657605e-01 9.93628264e-01 -3.33733927e-03 3.68192213e+00] [ 2.49673359e-02 5.26895429e-04 9.99688129e-01 2.09956636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.47088847900001 meters 0.018574163497039806 Centerline is valid? [True, True] Translation: X:54.75, Y:3.69, Z:0.21 [[ 9.93175115e-01 -1.14266417e-01 -2.33746859e-02 5.47452765e+01] [ 1.14223738e-01 9.93450033e-01 -3.15734601e-03 3.68990469e+00] [ 2.35823611e-02 4.65853494e-04 9.99721789e-01 2.09377869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.530888479000005 meters 0.01822158144972243 Centerline is valid? [True, True] Translation: X:54.80, Y:3.69, Z:0.21 [[ 9.92818049e-01 -1.16878158e-01 -2.55307063e-02 5.48032418e+01] [ 1.16827924e-01 9.93146160e-01 -3.45553828e-03 3.69298622e+00] [ 2.57595999e-02 4.48021370e-04 9.99668066e-01 2.08952745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59088847900001 meters 0.017596247356176122 Centerline is valid? [True, True] Translation: X:54.86, Y:3.70, Z:0.21 [[ 9.92612449e-01 -1.18370095e-01 -2.66279292e-02 5.48608645e+01] [ 1.18315784e-01 9.92969452e-01 -3.61156757e-03 3.69724061e+00] [ 2.68682219e-02 4.34382610e-04 9.99638890e-01 2.10185952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.65088847900001 meters 0.017513672458371193 Centerline is valid? [True, True] Translation: X:54.92, Y:3.71, Z:0.21 [[ 9.92727729e-01 -1.17892898e-01 -2.43499654e-02 5.49194163e+01] [ 1.17847192e-01 9.93026229e-01 -3.30860983e-03 3.70503498e+00] [ 2.45702159e-02 4.14973669e-04 9.99698021e-01 2.12565365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.710888479000005 meters 0.017293471259448995 Centerline is valid? [True, True] Translation: X:54.98, Y:3.71, Z:0.21 [[ 9.92825057e-01 -1.17209275e-01 -2.36725929e-02 5.49775123e+01] [ 1.17165726e-01 9.93107146e-01 -3.22312810e-03 3.71106622e+00] [ 2.38872017e-02 4.26385802e-04 9.99714569e-01 2.12685804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77088847900001 meters 0.01751677547595748 Centerline is valid? [True, True] Translation: X:55.04, Y:3.72, Z:0.21 [[ 9.93087318e-01 -1.15094997e-01 -2.30373846e-02 5.50364853e+01] [ 1.15053050e-01 9.93354378e-01 -3.14245063e-03 3.71588599e+00] [ 2.32459672e-02 4.70206495e-04 9.99729665e-01 2.13259533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.83088847900001 meters 0.018891745326394867 Centerline is valid? [True, True] Translation: X:55.09, Y:3.73, Z:0.21 [[ 9.93471675e-01 -1.11900069e-01 -2.21902353e-02 5.50936251e+01] [ 1.11860301e-01 9.93719325e-01 -3.02925681e-03 3.72583047e+00] [ 2.23898397e-02 5.27274434e-04 9.99749177e-01 2.12272461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.890888479000004 meters 0.021123640649951404 Centerline is valid? [True, True] Translation: X:55.15, Y:3.74, Z:0.21 [[ 9.94110418e-01 -1.06732613e-01 -1.87783194e-02 5.51514712e+01] [ 1.06703138e-01 9.94287608e-01 -2.56749367e-03 3.73555151e+00] [ 1.89450856e-02 5.48666586e-04 9.99820375e-01 2.14306368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95088847900001 meters 0.024226465814006858 Centerline is valid? [True, True] Translation: X:55.21, Y:3.75, Z:0.21 [[ 9.94792828e-01 -1.00452436e-01 -1.72202626e-02 5.52091956e+01] [ 1.00426696e-01 9.94941672e-01 -2.35526762e-03 3.74734180e+00] [ 1.73697492e-02 6.13629260e-04 9.99848946e-01 2.12549597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.01088847900001 meters 0.023946759497869084 Centerline is valid? [True, True] Translation: X:55.27, Y:3.75, Z:0.21 [[ 9.95034493e-01 -9.85207436e-02 -1.41428788e-02 5.52679011e+01] [ 9.85031472e-02 9.95134854e-01 -1.93713466e-03 3.75371245e+00] [ 1.42649196e-02 5.34397730e-04 9.99898108e-01 2.12996011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.070888479000004 meters 0.02244812739947461 Centerline is valid? [True, True] Translation: X:55.33, Y:3.76, Z:0.21 [[ 9.95115450e-01 -9.77213671e-02 -1.39920005e-02 5.53262261e+01] [ 9.77040346e-02 9.95213666e-01 -1.91863726e-03 3.75806345e+00] [ 1.41125220e-02 5.42190674e-04 9.99900266e-01 2.13078510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.130888479000006 meters 0.02531525778491612 Centerline is valid? [True, True] Translation: X:55.38, Y:3.77, Z:0.21 [[ 9.95257566e-01 -9.62759501e-02 -1.39039005e-02 5.53828142e+01] [ 9.62586726e-02 9.95354523e-01 -1.90810796e-03 3.76847365e+00] [ 1.40230152e-02 5.60687873e-04 9.99901515e-01 2.11964356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.19088847900001 meters 0.02503900276695876 Centerline is valid? [True, True] Translation: X:55.44, Y:3.77, Z:0.21 [[ 9.95225449e-01 -9.63170463e-02 -1.57902358e-02 5.54415429e+01] [ 9.62947115e-02 9.95350500e-01 -2.17049555e-03 3.77378859e+00] [ 1.59258748e-02 6.39616214e-04 9.99872971e-01 2.09293468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.250888479000004 meters 0.023096052974672435 Centerline is valid? [True, True] Translation: X:55.50, Y:3.78, Z:0.21 [[ 9.94992657e-01 -9.87302245e-02 -1.55549313e-02 5.55002659e+01] [ 9.87088202e-02 9.95114059e-01 -2.13972310e-03 3.77973193e+00] [ 1.56901862e-02 5.93599847e-04 9.99876725e-01 2.06354527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.310888479000006 meters 0.02212950809294355 Centerline is valid? [True, True] Translation: X:55.56, Y:3.78, Z:0.21 [[ 9.94479820e-01 -1.03895100e-01 -1.46865830e-02 5.55594242e+01] [ 1.03876572e-01 9.94588143e-01 -2.02087280e-03 3.78173578e+00] [ 1.48170601e-02 4.84125324e-04 9.99890104e-01 2.06548067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.37088847900001 meters 0.019656949991855757 Centerline is valid? [True, True] Translation: X:55.62, Y:3.78, Z:0.21 [[ 9.93841025e-01 -1.09934682e-01 -1.39421530e-02 5.56204246e+01] [ 1.09918575e-01 9.93938743e-01 -1.91872514e-03 3.78150244e+00] [ 1.40685805e-02 3.74406175e-04 9.99900963e-01 2.08125226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.430888479000004 meters 0.01751725265478223 Centerline is valid? [True, True] Translation: X:55.68, Y:3.78, Z:0.21 [[ 9.93279843e-01 -1.15172375e-01 -1.14226729e-02 5.56806404e+01] [ 1.15161907e-01 9.93345490e-01 -1.57218821e-03 3.78377577e+00] [ 1.15277333e-02 2.46166058e-04 9.99933523e-01 2.10526270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.490888479000006 meters 0.016563475191244906 Centerline is valid? [True, True] Translation: X:55.74, Y:3.79, Z:0.21 [[ 9.92308740e-01 -1.23463269e-01 -8.95466608e-03 5.57395092e+01] [ 1.23457169e-01 9.92349136e-01 -1.23286530e-03 3.78640235e+00] [ 9.03836873e-03 1.17865287e-04 9.99959146e-01 2.11317353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.55088847900001 meters 0.015196942832229164 Centerline is valid? [True, True] Translation: X:55.80, Y:3.79, Z:0.21 [[ 9.91430234e-01 -1.30390060e-01 -8.03265912e-03 5.57990575e+01] [ 1.30385367e-01 9.91462773e-01 -1.10734567e-03 3.78710950e+00] [ 8.10846935e-03 5.05147657e-05 9.99967125e-01 2.11693705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.610888479 meters 0.014853508111023025 Centerline is valid? [True, True] Translation: X:55.86, Y:3.79, Z:0.21 [[ 9.91022804e-01 -1.33495448e-01 -7.26407581e-03 5.58579341e+01] [ 1.33491682e-01 9.91049426e-01 -1.00309962e-03 3.79362935e+00] [ 7.33296740e-03 2.44009067e-05 9.99973113e-01 2.11091785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.670888479000006 meters 0.014727683878844697 Centerline is valid? [True, True] Translation: X:55.92, Y:3.80, Z:0.21 [[ 9.90525848e-01 -1.37179196e-01 -6.35709353e-03 5.59159553e+01] [ 1.37176382e-01 9.90546247e-01 -8.78751611e-04 3.79916397e+00] [ 6.41754158e-03 -1.61690335e-06 9.99979407e-01 2.13755527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.73088847900001 meters 0.014756634930031124 Centerline is valid? [True, True] Translation: X:55.97, Y:3.81, Z:0.21 [[ 9.90111116e-01 -1.40092534e-01 -7.35250852e-03 5.59739669e+01] [ 1.40088839e-01 9.90138415e-01 -1.01771039e-03 3.80678764e+00] [ 7.42257476e-03 -2.23580111e-05 9.99972452e-01 2.13112449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.790888479 meters 0.014653855808709955 Centerline is valid? [True, True] Translation: X:56.03, Y:3.81, Z:0.21 [[ 9.89929448e-01 -1.41316482e-01 -8.32710208e-03 5.60317539e+01] [ 1.41311776e-01 9.89964469e-01 -1.15382630e-03 3.81497147e+00] [ 8.40658987e-03 -3.45109538e-05 9.99964663e-01 2.11893549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.850888479000005 meters 0.014444828767491057 Centerline is valid? [True, True] Translation: X:56.09, Y:3.83, Z:0.21 [[ 9.89802149e-01 -1.42321581e-01 -6.02270514e-03 5.60885999e+01] [ 1.42319131e-01 9.89820472e-01 -8.35566164e-04 3.82713404e+00] [ 6.08031594e-03 -3.01009797e-05 9.99981514e-01 2.11366425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.91088847900001 meters 0.014196354735241898 Centerline is valid? [True, True] Translation: X:56.15, Y:3.84, Z:0.21 [[ 9.89684235e-01 -1.43230629e-01 -3.17826524e-03 5.61463426e+01] [ 1.43229950e-01 9.89689338e-01 -4.41444949e-04 3.83580792e+00] [ 3.20872366e-03 -1.83316655e-05 9.99994852e-01 2.14848292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.97088847900001 meters 0.01404463953445814 Centerline is valid? [True, True] Translation: X:56.20, Y:3.84, Z:0.22 [[ 9.89657108e-01 -1.43434775e-01 -2.29646660e-03 5.62041023e+01] [ 1.43434420e-01 9.89659772e-01 -3.19387108e-04 3.84445792e+00] [ 2.31853183e-03 -1.33086338e-05 9.99997312e-01 2.17644425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.030888479000005 meters 0.0138458026969512 Centerline is valid? [True, True] Translation: X:56.26, Y:3.86, Z:0.22 [[ 9.90602911e-01 -1.36748293e-01 -2.40361425e-03 5.62601949e+01] [ 1.36747882e-01 9.90605827e-01 -3.35049449e-04 3.86169260e+00] [ 2.42685173e-03 3.21180024e-06 9.99997055e-01 2.16561034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.09088847900001 meters 0.014342706574310093 Centerline is valid? [True, True] Translation: X:56.32, Y:3.88, Z:0.21 [[ 9.91569636e-01 -1.29542413e-01 -2.90160788e-03 5.63169843e+01] [ 1.29541782e-01 9.91573882e-01 -4.04928127e-04 3.87916098e+00] [ 2.92961395e-03 2.56349797e-05 9.99995708e-01 2.14526205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.15088847900001 meters 0.016581085057253975 Centerline is valid? [True, True] Translation: X:56.37, Y:3.90, Z:0.21 [[ 9.92804791e-01 -1.19624203e-01 -5.35686220e-03 5.63727898e+01] [ 1.19621903e-01 9.92819238e-01 -7.49022007e-04 3.89995904e+00] [ 5.40799700e-03 1.02834590e-04 9.99985371e-01 2.12464018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.210888479000005 meters 0.018151268161208284 Centerline is valid? [True, True] Translation: X:56.43, Y:3.92, Z:0.21 [[ 9.93472175e-01 -1.13819079e-01 -7.63246381e-03 5.64309443e+01] [ 1.13814234e-01 9.93501475e-01 -1.06765412e-03 3.91635563e+00] [ 7.70438346e-03 1.92001642e-04 9.99970302e-01 2.11045587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27088847900001 meters 0.02000751811243435 Centerline is valid? [True, True] Translation: X:56.49, Y:3.93, Z:0.21 [[ 9.93827692e-01 -1.10638807e-01 -8.09771882e-03 5.64881958e+01] [ 1.10633244e-01 9.93860655e-01 -1.13311270e-03 3.93130621e+00] [ 8.17337037e-03 2.30241876e-04 9.99966571e-01 2.10834208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.33088847900001 meters 0.019870755663687536 Centerline is valid? [True, True] Translation: X:56.55, Y:3.94, Z:0.21 [[ 9.93902387e-01 -1.10011676e-01 -7.44818147e-03 5.65467204e+01] [ 1.10006942e-01 9.93930271e-01 -1.04348701e-03 3.94102268e+00] [ 7.51776878e-03 2.17772564e-04 9.99971717e-01 2.12335808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.390888479000004 meters 0.020992653974504692 Centerline is valid? [True, True] Translation: X:56.60, Y:3.95, Z:0.21 [[ 9.93825801e-01 -1.10684272e-01 -7.69863787e-03 5.66032710e+01] [ 1.10679227e-01 9.93855595e-01 -1.07968998e-03 3.95239298e+00] [ 7.77083902e-03 2.20944476e-04 9.99969782e-01 2.11429015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45088847900001 meters 0.01852302819797615 Centerline is valid? [True, True] Translation: X:56.66, Y:3.96, Z:0.21 [[ 9.93627316e-01 -1.12385357e-01 -8.61909952e-03 5.66619179e+01] [ 1.12379082e-01 9.93664670e-01 -1.21050025e-03 3.95543409e+00] [ 8.70053719e-03 2.34179630e-04 9.99962122e-01 2.11807398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.51088847900001 meters 0.01839875784421735 Centerline is valid? [True, True] Translation: X:56.72, Y:3.96, Z:0.21 [[ 9.93506117e-01 -1.13474241e-01 -8.31818133e-03 5.67204174e+01] [ 1.13468417e-01 9.93540915e-01 -1.17027683e-03 3.96324767e+00] [ 8.39724976e-03 2.18826325e-04 9.99964719e-01 2.12728257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.570888479000004 meters 0.018993138829292003 Centerline is valid? [True, True] Translation: X:56.78, Y:3.97, Z:0.21 [[ 9.93514416e-01 -1.13471301e-01 -7.30536284e-03 5.67779456e+01] [ 1.13466796e-01 9.93541255e-01 -1.02965471e-03 3.97248968e+00] [ 7.37501562e-03 1.94060684e-04 9.99972785e-01 2.13812814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.630888479000006 meters 0.01963727683250546 Centerline is valid? [True, True] Translation: X:56.84, Y:3.98, Z:0.21 [[ 9.93600364e-01 -1.12678186e-01 -7.87032974e-03 5.68361194e+01] [ 1.12672915e-01 9.93631511e-01 -1.11134853e-03 3.98142644e+00] [ 7.94543236e-03 2.17463308e-04 9.99968411e-01 2.14158702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.69088847900001 meters 0.019844706595725015 Centerline is valid? [True, True] Translation: X:56.89, Y:3.99, Z:0.21 [[ 9.93496774e-01 -1.13593540e-01 -7.78889635e-03 5.68948538e+01] [ 1.13588395e-01 9.93527284e-01 -1.10115878e-03 3.99002048e+00] [ 7.86356556e-03 2.09269458e-04 9.99969060e-01 2.14699604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.750888479000004 meters 0.01764385778963254 Centerline is valid? [True, True] Translation: X:56.95, Y:3.99, Z:0.22 [[ 9.93120760e-01 -1.16850704e-01 -7.55436014e-03 5.69535058e+01] [ 1.16845953e-01 9.93149476e-01 -1.06868991e-03 3.99480734e+00] [ 7.62748598e-03 1.78641721e-04 9.99970894e-01 2.15247738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.810888479000006 meters 0.01660245140283737 Centerline is valid? [True, True] Translation: X:57.01, Y:4.00, Z:0.22 [[ 9.92596176e-01 -1.21347095e-01 -5.26430315e-03 5.70120364e+01] [ 1.21344850e-01 9.92610131e-01 -7.45037678e-04 4.00176179e+00] [ 5.31580880e-03 1.00725475e-04 9.99985866e-01 2.16743968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.87088847900001 meters 0.014951693535913264 Centerline is valid? [True, True] Translation: X:57.07, Y:4.00, Z:0.22 [[ 9.91696467e-01 -1.28431904e-01 -6.58515751e-03 5.70709640e+01] [ 1.28428543e-01 9.91718327e-01 -9.32490638e-04 4.00434703e+00] [ 6.65038294e-03 7.90254874e-05 9.99977883e-01 2.17781838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.930888479000004 meters 0.014530390240089936 Centerline is valid? [True, True] Translation: X:57.13, Y:4.01, Z:0.22 [[ 9.91152834e-01 -1.32547595e-01 -6.86981509e-03 5.71291409e+01] [ 1.32544027e-01 9.91176640e-01 -9.74023054e-04 4.01151456e+00] [ 6.93830466e-03 5.48527528e-05 9.99975928e-01 2.17351336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.990888479000006 meters 0.014351346876682259 Centerline is valid? [True, True] Translation: X:57.19, Y:4.02, Z:0.22 [[ 9.90723405e-01 -1.35795618e-01 -5.16578512e-03 5.71860745e+01] [ 1.35793641e-01 9.90736872e-01 -7.33147462e-04 4.01951946e+00] [ 5.21749200e-03 2.48655768e-05 9.99986388e-01 2.17944414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.05088847900001 meters 0.014421961671670673 Centerline is valid? [True, True] Translation: X:57.24, Y:4.03, Z:0.22 [[ 9.90876676e-01 -1.34582348e-01 -7.14174420e-03 5.72428047e+01] [ 1.34578532e-01 9.90902412e-01 -1.01447465e-03 4.03002360e+00] [ 7.21330193e-03 4.40938231e-05 9.99973983e-01 2.16615881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.110888479 meters 0.014699200326086187 Centerline is valid? [True, True] Translation: X:57.30, Y:4.04, Z:0.22 [[ 9.91217149e-01 -1.31967036e-01 -8.55951512e-03 5.73005917e+01] [ 1.31961441e-01 9.91254102e-01 -1.21771506e-03 4.04159568e+00] [ 8.64535273e-03 7.74941053e-05 9.99962625e-01 2.15716811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.170888479000006 meters 0.015399377365025195 Centerline is valid? [True, True] Translation: X:57.36, Y:4.06, Z:0.21 [[ 9.91887972e-01 -1.26748066e-01 -9.65292054e-03 5.73577305e+01] [ 1.26740688e-01 9.91934931e-01 -1.37466620e-03 4.05534292e+00] [ 9.74930535e-03 1.40097077e-04 9.99952465e-01 2.14479144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.23088847900001 meters 0.016516270125005148 Centerline is valid? [True, True] Translation: X:57.41, Y:4.07, Z:0.22 [[ 9.92408302e-01 -1.22658294e-01 -8.98362420e-03 5.74141585e+01] [ 1.22651729e-01 9.92448948e-01 -1.28014678e-03 4.06753005e+00] [ 9.07280900e-03 1.68571248e-04 9.99958827e-01 2.15034860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.290888479 meters 0.018951963104685964 Centerline is valid? [True, True] Translation: X:57.47, Y:4.08, Z:0.22 [[ 9.93323596e-01 -1.15042559e-01 -8.56991369e-03 5.74730307e+01] [ 1.15036298e-01 9.93360538e-01 -1.22153355e-03 4.08199892e+00] [ 8.65354241e-03 2.27526956e-04 9.99962532e-01 2.16215785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.350888479000005 meters 0.02198736670068282 Centerline is valid? [True, True] Translation: X:57.53, Y:4.10, Z:0.22 [[ 9.94025656e-01 -1.08866778e-01 -7.81158682e-03 5.75302310e+01] [ 1.08861384e-01 9.94056316e-01 -1.11366184e-03 4.09683506e+00] [ 7.88639800e-03 2.56628290e-04 9.99968869e-01 2.16437176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.41088847900001 meters 0.024325801228095918 Centerline is valid? [True, True] Translation: X:57.59, Y:4.11, Z:0.22 [[ 9.94446918e-01 -1.04784713e-01 -9.77198781e-03 5.75889390e+01] [ 1.04776073e-01 9.94494863e-01 -1.39338573e-03 4.10651660e+00] [ 9.86419721e-03 3.61777641e-04 9.99951282e-01 2.15978274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.47088847900001 meters 0.024865825169275765 Centerline is valid? [True, True] Translation: X:57.65, Y:4.11, Z:0.22 [[ 9.94566432e-01 -1.03690351e-01 -9.26953530e-03 5.76476137e+01] [ 1.03682514e-01 9.94609564e-01 -1.32333424e-03 4.11467891e+00] [ 9.35678545e-03 3.55055088e-04 9.99956161e-01 2.16555156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.530888479000005 meters 0.02572376023585732 Centerline is valid? [True, True] Translation: X:57.71, Y:4.12, Z:0.22 [[ 9.94644391e-01 -1.02890852e-01 -9.79839130e-03 5.77053550e+01] [ 1.02882043e-01 9.94692578e-01 -1.40012581e-03 4.12309162e+00] [ 9.89044724e-03 3.84548764e-04 9.99951014e-01 2.15499214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.59088847900001 meters 0.02749034793748728 Centerline is valid? [True, True] Translation: X:57.76, Y:4.13, Z:0.21 [[ 9.94873155e-01 -1.00458762e-01 -1.16379851e-02 5.77643616e+01] [ 1.00446163e-01 9.94941104e-01 -1.66356479e-03 4.13104186e+00] [ 1.17462294e-02 4.86044997e-04 9.99930893e-01 2.14659527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.65088847900001 meters 0.029620636181042884 Centerline is valid? [True, True] Translation: X:57.82, Y:4.14, Z:0.21 [[ 9.94975834e-01 -9.91688763e-02 -1.37340200e-02 5.78223063e+01] [ 9.91511954e-02 9.95070441e-01 -1.96403230e-03 4.13946961e+00] [ 1.38610882e-02 5.92420171e-04 9.99903755e-01 2.10853167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.710888479000005 meters 0.02972816128498768 Centerline is valid? [True, True] Translation: X:57.88, Y:4.15, Z:0.21 [[ 9.94906177e-01 -9.98900725e-02 -1.35525696e-02 5.78809623e+01] [ 9.98728865e-02 9.94998312e-01 -1.94072424e-03 4.14544228e+00] [ 1.36786429e-02 5.77304291e-04 9.99906276e-01 2.11050137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77088847900001 meters 0.03049928038729439 Centerline is valid? [True, True] Translation: X:57.94, Y:4.15, Z:0.21 [[ 9.94874134e-01 -1.00135276e-01 -1.40848572e-02 5.79388316e+01] [ 1.00116687e-01 9.94973651e-01 -2.02050798e-03 4.14847091e+00] [ 1.42163859e-02 6.00021888e-04 9.99898762e-01 2.13037306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.83088847900001 meters 0.03068621752888679 Centerline is valid? [True, True] Translation: X:58.00, Y:4.16, Z:0.21 [[ 9.94837213e-01 -1.00478797e-01 -1.42454014e-02 5.79966972e+01] [ 1.00459764e-01 9.94939016e-01 -2.04719771e-03 4.15501426e+00] [ 1.43790056e-02 6.05538799e-04 9.99896433e-01 2.13607604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.890888479000004 meters 0.03156956701038429 Centerline is valid? [True, True] Translation: X:58.05, Y:4.16, Z:0.21 [[ 9.94853623e-01 -1.00454537e-01 -1.32345715e-02 5.80546998e+01] [ 1.00438064e-01 9.94941488e-01 -1.90524010e-03 4.16060432e+00] [ 1.33590143e-02 5.66180281e-04 9.99910604e-01 2.14410071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95088847900001 meters 0.025269962675392117 Centerline is valid? [True, True] Translation: X:58.11, Y:4.16, Z:0.22 [[ 9.94878275e-01 -1.00170109e-01 -1.35339075e-02 5.81145158e+01] [ 1.00152810e-01 9.94970153e-01 -1.95172195e-03 4.15664574e+00] [ 1.36613382e-02 5.86266899e-04 9.99906508e-01 2.15588794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.01088847900001 meters 0.024823635298791467 Centerline is valid? [True, True] Translation: X:58.17, Y:4.16, Z:0.22 [[ 9.94815295e-01 -1.00631184e-01 -1.46932990e-02 5.81728737e+01] [ 1.00610782e-01 9.94923597e-01 -2.12308237e-03 4.16133911e+00] [ 1.48323582e-02 6.33770513e-04 9.99889794e-01 2.15633282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.070888479000004 meters 0.024365251959299082 Centerline is valid? [True, True] Translation: X:58.23, Y:4.16, Z:0.22 [[ 9.94269535e-01 -1.06036725e-01 -1.35758917e-02 5.82324079e+01] [ 1.06019796e-01 9.94362082e-01 -1.96269150e-03 4.16022897e+00] [ 1.37074693e-02 5.12131101e-04 9.99905917e-01 2.18279873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.130888479000006 meters 0.02188177081354424 Centerline is valid? [True, True] Translation: X:58.29, Y:4.16, Z:0.22 [[ 9.93721028e-01 -1.11205483e-01 -1.23230790e-02 5.82926938e+01] [ 1.11191926e-01 9.93797354e-01 -1.78197894e-03 4.16039891e+00] [ 1.24448091e-02 4.00563052e-04 9.99922480e-01 2.19730230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.19088847900001 meters 0.019506290787732982 Centerline is valid? [True, True] Translation: X:58.35, Y:4.16, Z:0.22 [[ 9.93221933e-01 -1.15883753e-01 -9.00821676e-03 5.83534765e+01] [ 1.15876699e-01 9.93262751e-01 -1.30281431e-03 4.15978026e+00] [ 9.09850117e-03 2.50141322e-04 9.99958576e-01 2.23711454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.250888479000004 meters 0.018211686298611425 Centerline is valid? [True, True] Translation: X:58.41, Y:4.16, Z:0.23 [[ 9.92684626e-01 -1.20455768e-01 -8.22438973e-03 5.84140519e+01] [ 1.20450042e-01 9.92718677e-01 -1.18978527e-03 4.16051588e+00] [ 8.30782179e-03 1.90453454e-04 9.99965471e-01 2.25493987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.310888479000006 meters 0.01868765977424763 Centerline is valid? [True, True] Translation: X:58.47, Y:4.17, Z:0.22 [[ 9.92652262e-01 -1.20454542e-01 -1.14973679e-02 5.84714218e+01] [ 1.20443341e-01 9.92718808e-01 -1.66424705e-03 4.16534793e+00] [ 1.16141195e-02 2.67237198e-04 9.99932518e-01 2.22651635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.37088847900001 meters 0.0194655496664385 Centerline is valid? [True, True] Translation: X:58.53, Y:4.17, Z:0.22 [[ 9.92661109e-01 -1.20282056e-01 -1.24960043e-02 5.85291435e+01] [ 1.20268792e-01 9.92739714e-01 -1.81031453e-03 4.17318222e+00] [ 1.26230281e-02 2.94149488e-04 9.99920283e-01 2.19998906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.430888479000004 meters 0.01848763009604533 Centerline is valid? [True, True] Translation: X:58.59, Y:4.18, Z:0.22 [[ 9.92602425e-01 -1.20770864e-01 -1.24428070e-02 5.85866381e+01] [ 1.20757712e-01 9.92680369e-01 -1.80571147e-03 4.17879877e+00] [ 1.25698075e-02 2.89788688e-04 9.99920955e-01 2.20431657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.490888479000006 meters 0.018396684104511167 Centerline is valid? [True, True] Translation: X:58.64, Y:4.18, Z:0.22 [[ 9.92625027e-01 -1.20766307e-01 -1.05382543e-02 5.86445935e+01] [ 1.20756842e-01 9.92680934e-01 -1.53220900e-03 4.18214569e+00] [ 1.06461633e-02 2.48342686e-04 9.99943297e-01 2.24358438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.55088847900001 meters 0.018634003191267783 Centerline is valid? [True, True] Translation: X:58.70, Y:4.19, Z:0.22 [[ 9.92508091e-01 -1.21727967e-01 -1.04876568e-02 5.87020342e+01] [ 1.21718631e-01 9.92563472e-01 -1.52631711e-03 4.19214928e+00] [ 1.05954606e-02 2.38338850e-04 9.99943838e-01 2.23546280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.610888479 meters 0.01838817083174341 Centerline is valid? [True, True] Translation: X:58.76, Y:4.20, Z:0.22 [[ 9.92490319e-01 -1.21564981e-01 -1.35986383e-02 5.87602441e+01] [ 1.21549228e-01 9.92583426e-01 -1.98206191e-03 4.20231387e+00] [ 1.37387324e-02 3.14273265e-04 9.99905570e-01 2.19204143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.670888479000006 meters 0.01803351940081355 Centerline is valid? [True, True] Translation: X:58.82, Y:4.21, Z:0.22 [[ 9.92419337e-01 -1.21800590e-01 -1.63852395e-02 5.88189173e+01] [ 1.21777680e-01 9.92554519e-01 -2.39245926e-03 4.20825681e+00] [ 1.65546465e-02 3.78966373e-04 9.99862891e-01 2.18740599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.73088847900001 meters 0.017836187206587268 Centerline is valid? [True, True] Translation: X:58.88, Y:4.21, Z:0.22 [[ 9.92240118e-01 -1.23358620e-01 -1.55627215e-02 5.88778315e+01] [ 1.23338084e-01 9.92362099e-01 -2.27620702e-03 4.21414897e+00] [ 1.57246448e-02 3.39067668e-04 9.99876303e-01 2.21825609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.79088847900001 meters 0.017392847319717155 Centerline is valid? [True, True] Translation: X:58.94, Y:4.22, Z:0.22 [[ 9.91949831e-01 -1.26066516e-01 -1.19484959e-02 5.89353686e+01] [ 1.26054593e-01 9.92021765e-01 -1.74876114e-03 4.22331805e+00] [ 1.20736282e-02 2.28520526e-04 9.99927085e-01 2.23425040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.850888479000005 meters 0.01646455207677637 Centerline is valid? [True, True] Translation: X:58.99, Y:4.23, Z:0.22 [[ 9.91633819e-01 -1.28494345e-01 -1.23114701e-02 5.89942140e+01] [ 1.28481842e-01 9.91710220e-01 -1.80443642e-03 4.22856554e+00] [ 1.24412706e-02 2.07539820e-04 9.99922583e-01 2.24398125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.91088847900001 meters 0.015706684857019006 Centerline is valid? [True, True] Translation: X:59.05, Y:4.23, Z:0.23 [[ 9.90979689e-01 -1.33411800e-01 -1.26707767e-02 5.90525194e+01] [ 1.33398919e-01 9.91060678e-01 -1.86019863e-03 4.23330281e+00] [ 1.28056810e-02 1.53151149e-04 9.99917992e-01 2.26275756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.97088847900001 meters 0.015097647009112918 Centerline is valid? [True, True] Translation: X:59.11, Y:4.24, Z:0.23 [[ 9.90442366e-01 -1.37439237e-01 -1.15920617e-02 5.91105079e+01] [ 1.37428699e-01 9.90510195e-01 -1.70455242e-03 4.24108303e+00] [ 1.17163277e-02 9.51789765e-05 9.99931357e-01 2.25867216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.030888479000005 meters 0.014424363768758735 Centerline is valid? [True, True] Translation: X:59.17, Y:4.25, Z:0.23 [[ 9.89581999e-01 -1.43616299e-01 -1.00909073e-02 5.91691180e+01] [ 1.43608610e-01 9.89633446e-01 -1.48620166e-03 4.24535951e+00] [ 1.01997422e-02 2.15772316e-05 9.99947981e-01 2.28303462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09088847900001 meters 0.01429490938974031 Centerline is valid? [True, True] Translation: X:59.23, Y:4.25, Z:0.23 [[ 9.89256894e-01 -1.45943292e-01 -8.44706282e-03 5.92275670e+01] [ 1.45937972e-01 9.89292957e-01 -1.24606913e-03 4.25446343e+00] [ 8.53847519e-03 -6.47477510e-08 9.99963547e-01 2.30155452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.15088847900001 meters 0.014277633453446549 Centerline is valid? [True, True] Translation: X:59.28, Y:4.27, Z:0.23 [[ 9.89395899e-01 -1.45024614e-01 -7.97602722e-03 5.92840176e+01] [ 1.45019824e-01 9.89428048e-01 -1.17868567e-03 4.26713370e+00] [ 8.06264347e-03 9.50470094e-06 9.99967496e-01 2.29853176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.210888479000005 meters 0.014763683536041858 Centerline is valid? [True, True] Translation: X:59.34, Y:4.28, Z:0.23 [[ 9.90219487e-01 -1.39230518e-01 -8.95713130e-03 5.93404833e+01] [ 1.39224227e-01 9.90259995e-01 -1.32507480e-03 4.28331072e+00] [ 9.05437966e-03 6.50652072e-05 9.99959006e-01 2.29964988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27088847900001 meters 0.015565360392743302 Centerline is valid? [True, True] Translation: X:59.40, Y:4.30, Z:0.23 [[ 9.91059033e-01 -1.33026422e-01 -1.02938842e-02 5.93975958e+01] [ 1.33017757e-01 9.91112481e-01 -1.52495892e-03 4.29945224e+00] [ 1.04052569e-02 1.42054935e-04 9.99945854e-01 2.28828167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.33088847900001 meters 0.016368363065235515 Centerline is valid? [True, True] Translation: X:59.46, Y:4.31, Z:0.23 [[ 9.91463437e-01 -1.30086987e-01 -8.81068894e-03 5.94552838e+01] [ 1.30080504e-01 9.91502574e-01 -1.30730785e-03 4.31428070e+00] [ 8.90588450e-03 1.50049072e-04 9.99960331e-01 2.28403208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.390888479000004 meters 0.01641652705238451 Centerline is valid? [True, True] Translation: X:59.51, Y:4.32, Z:0.23 [[ 9.91502815e-01 -1.29911244e-01 -6.72574702e-03 5.95128313e+01] [ 1.29907452e-01 9.91525620e-01 -9.99603006e-04 4.32335437e+00] [ 6.79861015e-03 1.17384540e-04 9.99976882e-01 2.30659361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.45088847900001 meters 0.01660468407725112 Centerline is valid? [True, True] Translation: X:59.57, Y:4.33, Z:0.23 [[ 9.91400741e-01 -1.30730600e-01 -5.83789966e-03 5.95704798e+01] [ 1.30727748e-01 9.91417924e-01 -8.69100131e-04 4.33377037e+00] [ 5.90141635e-03 9.84510356e-05 9.99982582e-01 2.30609368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.51088847900001 meters 0.0167401271805038 Centerline is valid? [True, True] Translation: X:59.63, Y:4.34, Z:0.23 [[ 9.91354587e-01 -1.31094237e-01 -5.51222806e-03 5.96265372e+01] [ 1.31091694e-01 9.91369907e-01 -8.21602883e-04 4.34396119e+00] [ 5.57236443e-03 9.18924691e-05 9.99984470e-01 2.30926064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.570888479000004 meters 0.01660843385040392 Centerline is valid? [True, True] Translation: X:59.68, Y:4.35, Z:0.23 [[ 9.91038705e-01 -1.33476284e-01 -5.13494392e-03 5.96842908e+01] [ 1.33474105e-01 9.91052005e-01 -7.66254040e-04 4.35264094e+00] [ 5.19127321e-03 7.40053688e-05 9.99986523e-01 2.28938508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.630888479000006 meters 0.015846384042360443 Centerline is valid? [True, True] Translation: X:59.74, Y:4.36, Z:0.23 [[ 9.90731931e-01 -1.35744990e-01 -4.85164757e-03 5.97433765e+01] [ 1.35743067e-01 9.90743808e-01 -7.25125941e-04 4.35840552e+00] [ 4.90517200e-03 5.98279047e-05 9.99987968e-01 2.29048579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.69088847900001 meters 0.015719932931272173 Centerline is valid? [True, True] Translation: X:59.80, Y:4.37, Z:0.23 [[ 9.90570006e-01 -1.36977048e-01 -2.89002508e-03 5.98018667e+01] [ 1.36976370e-01 9.90574221e-01 -4.32380372e-04 4.36617816e+00] [ 2.92201053e-03 3.24378832e-05 9.99995730e-01 2.30809507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.750888479000004 meters 0.01585564352642349 Centerline is valid? [True, True] Translation: X:59.86, Y:4.38, Z:0.23 [[ 9.90519107e-01 -1.37369716e-01 -1.20785048e-03 5.98597039e+01] [ 1.37369598e-01 9.90519844e-01 -1.80557000e-04 4.37511601e+00] [ 1.22120293e-03 1.29232238e-05 9.99999254e-01 2.32260016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.810888479000006 meters 0.016106003708964773 Centerline is valid? [True, True] Translation: X:59.92, Y:4.39, Z:0.23 [[ 9.90704342e-01 -1.36007696e-01 -2.61042197e-03 5.99180116e+01] [ 1.36007135e-01 9.90707780e-01 -3.91861916e-04 4.38557909e+00] [ 2.63946159e-03 3.31832872e-05 9.99996516e-01 2.30272491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.87088847900001 meters 0.016661562358496577 Centerline is valid? [True, True] Translation: X:59.98, Y:4.40, Z:0.23 [[ 9.91035817e-01 -1.33510499e-01 -4.79115740e-03 5.99763609e+01] [ 1.33508573e-01 9.91047396e-01 -7.20956342e-04 4.39594407e+00] [ 4.84451931e-03 7.48329677e-05 9.99988262e-01 2.27792753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.930888479000004 meters 0.01724059700351565 Centerline is valid? [True, True] Translation: X:60.03, Y:4.41, Z:0.23 [[ 9.91232849e-01 -1.32052236e-01 -4.43231853e-03 6.00339779e+01] [ 1.32050569e-01 9.91242756e-01 -6.67980536e-04 4.40676939e+00] [ 4.48171196e-03 7.68340668e-05 9.99989954e-01 2.26600252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.990888479000006 meters 0.01749191960857807 Centerline is valid? [True, True] Translation: X:60.09, Y:4.41, Z:0.23 [[ 9.91254337e-01 -1.31945847e-01 -2.26560319e-03 6.00902803e+01] [ 1.31945411e-01 9.91256925e-01 -3.41721887e-04 4.41469779e+00] [ 2.29088364e-03 3.97973586e-05 9.99997375e-01 2.29240504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.05088847900001 meters 0.01692079867993883 Centerline is valid? [True, True] Translation: X:60.15, Y:4.42, Z:0.23 [[ 9.90975365e-01 -1.34041216e-01 -8.82235801e-04 6.01484903e+01] [ 1.34041150e-01 9.90975758e-01 -1.32752866e-04 4.42084595e+00] [ 8.92068646e-04 1.32989182e-05 9.99999602e-01 2.30630587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.110888479 meters 0.0154668213209985 Centerline is valid? [True, True] Translation: X:60.21, Y:4.42, Z:0.23 [[ 9.90529510e-01 -1.37298824e-01 -5.68857318e-04 6.02079157e+01] [ 1.37298797e-01 9.90529673e-01 -8.54607678e-05 4.42404804e+00] [ 5.75203716e-04 6.54798682e-06 9.99999835e-01 2.30594313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.170888479000006 meters 0.015830801733109804 Centerline is valid? [True, True] Translation: X:60.27, Y:4.43, Z:0.23 [[ 9.90412192e-01 -1.38123852e-01 -2.34346280e-03 6.02652103e+01] [ 1.38123399e-01 9.90414964e-01 -3.54906507e-04 4.43355408e+00] [ 2.37002168e-03 2.78166842e-05 9.99997191e-01 2.27443760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.23088847900001 meters 0.015653643229847337 Centerline is valid? [True, True] Translation: X:60.32, Y:4.44, Z:0.22 [[ 9.90478073e-01 -1.37613918e-01 -3.94914545e-03 6.03233032e+01] [ 1.37612625e-01 9.90485945e-01 -5.98599385e-04 4.43981565e+00] [ 3.99394866e-03 4.94472948e-05 9.99992023e-01 2.24649835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.29088847900001 meters 0.015719889198044214 Centerline is valid? [True, True] Translation: X:60.38, Y:4.45, Z:0.22 [[ 9.90384385e-01 -1.38281362e-01 -4.12736712e-03 6.03802254e+01] [ 1.38279953e-01 9.90392984e-01 -6.25995178e-04 4.44744467e+00] [ 4.17427890e-03 4.92437172e-05 9.99991286e-01 2.24832481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.350888479000005 meters 0.01577790381319526 Centerline is valid? [True, True] Translation: X:60.44, Y:4.45, Z:0.23 [[ 9.90336093e-01 -1.38603855e-01 -4.83679810e-03 6.04379047e+01] [ 1.38601921e-01 9.90347903e-01 -7.34465289e-04 4.45394890e+00] [ 4.89191257e-03 5.69779793e-05 9.99988033e-01 2.25701511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.41088847900001 meters 0.016234644400476672 Centerline is valid? [True, True] Translation: X:60.49, Y:4.46, Z:0.23 [[ 9.90414129e-01 -1.38084366e-01 -3.54410701e-03 6.04949575e+01] [ 1.38083322e-01 9.90420469e-01 -5.38845244e-04 4.46343615e+00] [ 3.58456223e-03 4.42978757e-05 9.99993574e-01 2.25810140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.47088847900001 meters 0.017013913492660855 Centerline is valid? [True, True] Translation: X:60.55, Y:4.48, Z:0.23 [[ 9.90802799e-01 -1.35256072e-01 -3.95084838e-03 6.05520173e+01] [ 1.35254750e-01 9.90810674e-01 -6.01190571e-04 4.47585625e+00] [ 3.99585742e-03 6.12902914e-05 9.99992015e-01 2.25145089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.530888479000005 meters 0.017839910739731405 Centerline is valid? [True, True] Translation: X:60.61, Y:4.49, Z:0.23 [[ 9.91168841e-01 -1.32559147e-01 -3.52165232e-03 6.06103794e+01] [ 1.32558078e-01 9.91175095e-01 -5.36267187e-04 4.48556901e+00] [ 3.56166119e-03 6.47078638e-05 9.99993655e-01 2.25957849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.59088847900001 meters 0.01808089624034674 Centerline is valid? [True, True] Translation: X:60.67, Y:4.49, Z:0.23 [[ 9.91743944e-01 -1.28214223e-01 -2.24988883e-03 6.06689619e+01] [ 1.28213775e-01 9.91746495e-01 -3.42996164e-04 4.49392120e+00] [ 2.27529635e-03 5.16976276e-05 9.99997410e-01 2.28552380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.65088847900001 meters 0.02042371153329203 Centerline is valid? [True, True] Translation: X:60.73, Y:4.51, Z:0.23 [[ 9.92256330e-01 -1.24133497e-01 -4.27215977e-03 6.07261997e+01] [ 1.24131841e-01 9.92265520e-01 -6.51652858e-04 4.50982056e+00] [ 4.32000878e-03 1.16295614e-04 9.99990662e-01 2.25106186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.710888479000005 meters 0.01984870179962534 Centerline is valid? [True, True] Translation: X:60.78, Y:4.52, Z:0.22 [[ 9.92523231e-01 -1.21803618e-01 -7.84315686e-03 6.07844440e+01] [ 1.21797952e-01 9.92554192e-01 -1.19789218e-03 4.51809200e+00] [ 7.93066582e-03 2.33655373e-04 9.99968524e-01 2.22490392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.77088847900001 meters 0.022651037494532605 Centerline is valid? [True, True] Translation: X:60.84, Y:4.53, Z:0.22 [[ 9.92609482e-01 -1.20926992e-01 -1.01527916e-02 6.08409250e+01] [ 1.20917435e-01 9.92661354e-01 -1.55219291e-03 4.52913163e+00] [ 1.02659858e-02 3.13071887e-04 9.99947254e-01 2.20401187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.83088847900001 meters 0.019674694090495153 Centerline is valid? [True, True] Translation: X:60.90, Y:4.53, Z:0.22 [[ 9.92284016e-01 -1.23646620e-01 -9.16212289e-03 6.09001794e+01] [ 1.23638947e-01 9.92326280e-01 -1.40141081e-03 4.53147425e+00] [ 9.26509504e-03 2.57802316e-04 9.99957045e-01 2.23633981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.890888479000004 meters 0.02133785416064483 Centerline is valid? [True, True] Translation: X:60.96, Y:4.54, Z:0.22 [[ 9.91960950e-01 -1.26309330e-01 -7.70889895e-03 6.09573481e+01] [ 1.26303973e-01 9.91990884e-01 -1.17972792e-03 4.54230723e+00] [ 7.79616813e-03 1.96579466e-04 9.99969590e-01 2.24192627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.95088847900001 meters 0.017857680982074842 Centerline is valid? [True, True] Translation: X:61.02, Y:4.54, Z:0.23 [[ 9.91534093e-01 -1.29729444e-01 -5.51478691e-03 6.10167440e+01] [ 1.29726754e-01 9.91549422e-01 -8.44321860e-04 4.54179870e+00] [ 5.57771718e-03 1.21758506e-04 9.99984437e-01 2.28497055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.01088847900001 meters 0.0188884887736012 Centerline is valid? [True, True] Translation: X:61.07, Y:4.55, Z:0.23 [[ 9.91456265e-01 -1.30303988e-01 -5.94512034e-03 6.10735815e+01] [ 1.30300865e-01 9.91474081e-01 -9.11316251e-04 4.55119611e+00] [ 6.01318087e-03 1.28875882e-04 9.99981912e-01 2.28805160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.070888479000004 meters 0.01779640622825139 Centerline is valid? [True, True] Translation: X:61.13, Y:4.56, Z:0.23 [[ 9.91614828e-01 -1.29064510e-01 -6.51031404e-03 6.11317004e+01] [ 1.29060726e-01 9.91636188e-01 -9.99750391e-04 4.56007055e+00] [ 6.58489529e-03 1.51141454e-04 9.99978308e-01 2.28915702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.130888479000006 meters 0.01931791019010595 Centerline is valid? [True, True] Translation: X:61.19, Y:4.57, Z:0.23 [[ 9.91844705e-01 -1.27221687e-01 -7.66310550e-03 6.11879615e+01] [ 1.27216379e-01 9.91874289e-01 -1.17824388e-03 4.57311244e+00] [ 7.75073550e-03 1.93762422e-04 9.99969944e-01 2.28197140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.19088847900001 meters 0.019367971904740034 Centerline is valid? [True, True] Translation: X:61.25, Y:4.58, Z:0.23 [[ 9.92185963e-01 -1.24367789e-01 -9.98334587e-03 6.12467275e+01] [ 1.24358627e-01 9.92236148e-01 -1.53572874e-03 4.58480731e+00] [ 1.00968318e-02 2.82213319e-04 9.99948986e-01 2.26961766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.250888479000004 meters 0.019885648916379107 Centerline is valid? [True, True] Translation: X:61.30, Y:4.60, Z:0.23 [[ 9.92381847e-01 -1.22675304e-01 -1.13595159e-02 6.13039573e+01] [ 1.22663317e-01 9.92446801e-01 -1.74868554e-03 4.59701703e+00] [ 1.14882358e-02 3.41967888e-04 9.99933950e-01 2.25634571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.310888479000006 meters 0.02217212716514077 Centerline is valid? [True, True] Translation: X:61.36, Y:4.61, Z:0.23 [[ 9.92375857e-01 -1.22744069e-01 -1.11378425e-02 6.13588185e+01] [ 1.22732527e-01 9.92438300e-01 -1.71652975e-03 4.61257135e+00] [ 1.12643154e-02 3.36467121e-04 9.99936499e-01 2.25151181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.37088847900001 meters 0.02147037428200445 Centerline is valid? [True, True] Translation: X:61.42, Y:4.62, Z:0.23 [[ 9.92008013e-01 -1.25864882e-01 -8.83931053e-03 6.14162534e+01] [ 1.25857728e-01 9.92047365e-01 -1.36310350e-03 4.62344349e+00] [ 8.94058158e-03 2.39714053e-04 9.99960003e-01 2.27616255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.430888479000004 meters 0.017239011024135255 Centerline is valid? [True, True] Translation: X:61.48, Y:4.63, Z:0.23 [[ 9.91339142e-01 -1.31075043e-01 -8.12636903e-03 6.14759049e+01] [ 1.31069169e-01 9.91372433e-01 -1.25352055e-03 4.62621165e+00] [ 8.22056350e-03 1.77547546e-04 9.99966195e-01 2.29993684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.490888479000006 meters 0.01654713164872473 Centerline is valid? [True, True] Translation: X:61.53, Y:4.64, Z:0.23 [[ 9.90846375e-01 -1.34750133e-01 -8.11558082e-03 6.15346699e+01] [ 1.34744387e-01 9.90879599e-01 -1.25320814e-03 4.63561265e+00] [ 8.21043343e-03 1.48207784e-04 9.99966283e-01 2.29513670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.55088847900001 meters 0.015740712734938336 Centerline is valid? [True, True] Translation: X:61.59, Y:4.65, Z:0.23 [[ 9.90069380e-01 -1.40348348e-01 -8.06004601e-03 6.15921871e+01] [ 1.40342857e-01 9.90102182e-01 -1.24564985e-03 4.64524441e+00] [ 8.15509404e-03 1.02109894e-04 9.99966741e-01 2.28895575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61088847900001 meters 0.015347957614944643 Centerline is valid? [True, True] Translation: X:61.65, Y:4.65, Z:0.23 [[ 9.89774985e-01 -1.42393900e-01 -8.33400485e-03 6.16500770e+01] [ 1.42388089e-01 9.89810067e-01 -1.28958408e-03 4.65353441e+00] [ 8.43271081e-03 8.97350387e-05 9.99964440e-01 2.29335308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.670888479000006 meters 0.015016158822067778 Centerline is valid? [True, True] Translation: X:61.71, Y:4.66, Z:0.23 [[ 9.88941883e-01 -1.47987361e-01 -9.67953902e-03 6.17071553e+01] [ 1.47979773e-01 9.88989251e-01 -1.49949112e-03 4.66195495e+00] [ 9.79486578e-03 5.05335894e-05 9.99952028e-01 2.28523816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.73088847900001 meters 0.014917750125191542 Centerline is valid? [True, True] Translation: X:61.77, Y:4.67, Z:0.23 [[ 9.87984436e-01 -1.54192251e-01 -1.05594991e-02 6.17650075e+01] [ 1.54183547e-01 9.88040864e-01 -1.63836446e-03 4.67111304e+00] [ 1.06858397e-02 -9.42243199e-06 9.99942905e-01 2.26610456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.79088847900001 meters 0.015193921647497886 Centerline is valid? [True, True] Translation: X:61.82, Y:4.68, Z:0.23 [[ 9.87487833e-01 -1.57266697e-01 -1.16175131e-02 6.18236910e+01] [ 1.57256338e-01 9.87556168e-01 -1.80551113e-03 4.68011378e+00] [ 1.17568935e-02 -4.40072922e-05 9.99930884e-01 2.26036743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.850888479000005 meters 0.015553240825543938 Centerline is valid? [True, True] Translation: X:61.88, Y:4.69, Z:0.23 [[ 9.86990757e-01 -1.60481384e-01 -9.74530019e-03 6.18801153e+01] [ 1.60474238e-01 9.87038865e-01 -1.51593800e-03 4.69081233e+00] [ 9.86226987e-03 -6.76528230e-05 9.99951364e-01 2.27472491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.91088847900001 meters 0.015412233350669128 Centerline is valid? [True, True] Translation: X:61.94, Y:4.71, Z:0.23 [[ 9.87014287e-01 -1.60449189e-01 -7.67164874e-03 6.19370897e+01] [ 1.60444748e-01 9.87044100e-01 -1.19483671e-03 4.70627589e+00] [ 7.76396620e-03 -5.15548428e-05 9.99969859e-01 2.28704200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.97088847900001 meters 0.015390966327843002 Centerline is valid? [True, True] Translation: X:61.99, Y:4.72, Z:0.23 [[ 9.87278621e-01 -1.58784228e-01 -8.27604838e-03 6.19935923e+01] [ 1.58778982e-01 9.87313308e-01 -1.29124248e-03 4.71955008e+00] [ 8.37608164e-03 -3.92464381e-05 9.99964919e-01 2.27926837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03088847900001 meters 0.015588482693531676 Centerline is valid? [True, True] Translation: X:62.05, Y:4.74, Z:0.22 [[ 9.87964140e-01 -1.54314551e-01 -1.06713444e-02 6.20496505e+01] [ 1.54305534e-01 9.88021771e-01 -1.66819171e-03 4.73905139e+00] [ 1.08009468e-02 1.46609817e-06 9.99941668e-01 2.24649903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.090888479 meters 0.015827794296153358 Centerline is valid? [True, True] Translation: X:62.11, Y:4.75, Z:0.22 [[ 9.88370432e-01 -1.51525518e-01 -1.28026221e-02 6.21054313e+01] [ 1.51512273e-01 9.88453345e-01 -2.00382911e-03 4.75388225e+00] [ 1.29584259e-02 4.07710646e-05 9.99916035e-01 2.22018123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.150888479 meters 0.016076062260162408 Centerline is valid? [True, True] Translation: X:62.16, Y:4.77, Z:0.22 [[ 9.88659771e-01 -1.49653665e-01 -1.24755034e-02 6.21620527e+01] [ 1.49640899e-01 9.88738477e-01 -1.95582485e-03 4.76873493e+00] [ 1.26277066e-02 6.67997967e-05 9.99920265e-01 2.24362361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.210888479 meters 0.016121795592042295 Centerline is valid? [True, True] Translation: X:62.22, Y:4.78, Z:0.23 [[ 9.88672239e-01 -1.49749959e-01 -1.01070709e-02 6.22201322e+01] [ 1.49741561e-01 9.88723898e-01 -1.58690516e-03 4.78181396e+00] [ 1.02307415e-02 5.54805065e-05 9.99947663e-01 2.25878781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.270888479 meters 0.016603054912421512 Centerline is valid? [True, True] Translation: X:62.28, Y:4.80, Z:0.23 [[ 9.88969026e-01 -1.47860339e-01 -8.80825134e-03 6.22765180e+01] [ 1.47853876e-01 9.89008248e-01 -1.38409443e-03 4.79563398e+00] [ 8.91608590e-03 6.64924169e-05 9.99960249e-01 2.27199570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33088847900001 meters 0.01726813167226652 Centerline is valid? [True, True] Translation: X:62.33, Y:4.81, Z:0.23 [[ 9.89646360e-01 -1.43335166e-01 -7.42375804e-03 6.23334156e+01] [ 1.43330437e-01 9.89674200e-01 -1.16792846e-03 4.81295417e+00] [ 7.51450701e-03 9.17856631e-05 9.99971761e-01 2.27491831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39088847900001 meters 0.01852273984907772 Centerline is valid? [True, True] Translation: X:62.39, Y:4.83, Z:0.22 [[ 9.90512642e-01 -1.37045823e-01 -1.01562518e-02 6.23909565e+01] [ 1.37036628e-01 9.90564690e-01 -1.59903527e-03 4.83136629e+00] [ 1.02795655e-02 1.92086148e-04 9.99947145e-01 2.24600986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45088847900001 meters 0.019526388082225794 Centerline is valid? [True, True] Translation: X:62.45, Y:4.84, Z:0.22 [[ 9.91060032e-01 -1.32945672e-01 -1.12009346e-02 6.24493524e+01] [ 1.32934222e-01 9.91123293e-01 -1.76392449e-03 4.84475039e+00] [ 1.13360134e-02 2.59167527e-04 9.99935712e-01 2.24111963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.510888479 meters 0.021665428593327388 Centerline is valid? [True, True] Translation: X:62.51, Y:4.86, Z:0.22 [[ 9.91628004e-01 -1.28618534e-01 -1.14531419e-02 6.25059795e+01] [ 1.28606265e-01 9.91694092e-01 -1.80439507e-03 4.86293475e+00] [ 1.15900918e-02 3.16342885e-04 9.99932783e-01 2.23410814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.570888479 meters 0.02164538683542883 Centerline is valid? [True, True] Translation: X:62.56, Y:4.88, Z:0.22 [[ 9.91912324e-01 -1.26352407e-01 -1.20420365e-02 6.25630601e+01] [ 1.26338665e-01 9.91985352e-01 -1.89821300e-03 4.87523850e+00] [ 1.21853676e-02 3.61486048e-04 9.99925690e-01 2.21479814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.630888479 meters 0.021316751710384538 Centerline is valid? [True, True] Translation: X:62.62, Y:4.88, Z:0.22 [[ 9.91926936e-01 -1.26371603e-01 -1.05437566e-02 6.26199640e+01] [ 1.26361043e-01 9.91982921e-01 -1.66447743e-03 4.88455149e+00] [ 1.06695692e-02 3.18719916e-04 9.99943028e-01 2.24328398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69088847900001 meters 0.02161297442223127 Centerline is valid? [True, True] Translation: X:62.68, Y:4.90, Z:0.23 [[ 9.91721307e-01 -1.28013084e-01 -1.00747030e-02 6.26769368e+01] [ 1.28003513e-01 9.91772437e-01 -1.59182943e-03 4.89559009e+00] [ 1.01955877e-02 2.89053790e-04 9.99947982e-01 2.25009209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75088847900001 meters 0.021777716134834594 Centerline is valid? [True, True] Translation: X:62.73, Y:4.91, Z:0.22 [[ 9.91621425e-01 -1.28829965e-01 -9.47579217e-03 6.27339544e+01] [ 1.28821527e-01 9.91666663e-01 -1.49800230e-03 4.90598125e+00] [ 9.58981479e-03 2.64765159e-04 9.99953982e-01 2.24697037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81088847900001 meters 0.01996622976160702 Centerline is valid? [True, True] Translation: X:62.79, Y:4.91, Z:0.23 [[ 9.91489674e-01 -1.29845779e-01 -9.39675866e-03 6.27931041e+01] [ 1.29837510e-01 9.91534169e-01 -1.48742706e-03 4.91091484e+00] [ 9.51034341e-03 2.54716832e-04 9.99954743e-01 2.25571449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.870888479 meters 0.02119753461303694 Centerline is valid? [True, True] Translation: X:62.85, Y:4.92, Z:0.22 [[ 9.91459094e-01 -1.30133598e-01 -8.60885376e-03 6.28489469e+01] [ 1.30126653e-01 9.91496441e-01 -1.36449721e-03 4.92470177e+00] [ 8.71321480e-03 2.32601845e-04 9.99962012e-01 2.23965849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.930888479 meters 0.02147816335614811 Centerline is valid? [True, True] Translation: X:62.91, Y:4.93, Z:0.22 [[ 9.91392702e-01 -1.30477066e-01 -1.07816870e-02 6.29075587e+01] [ 1.30466163e-01 9.91451285e-01 -1.71147866e-03 4.93325768e+00] [ 1.09128262e-02 2.90102114e-04 9.99940411e-01 2.21705086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.990888479 meters 0.02244670692449713 Centerline is valid? [True, True] Translation: X:62.97, Y:4.94, Z:0.22 [[ 9.91331755e-01 -1.30721570e-01 -1.31614164e-02 6.29650655e+01] [ 1.30705322e-01 9.91419057e-01 -2.09091215e-03 4.94181342e+00] [ 1.33218064e-02 3.52520445e-04 9.99911199e-01 2.20456538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05088847900001 meters 0.02053374552794375 Centerline is valid? [True, True] Translation: X:63.02, Y:4.95, Z:0.22 [[ 9.91219863e-01 -1.31647111e-01 -1.23378156e-02 6.30234474e+01] [ 1.31632873e-01 9.91296593e-01 -1.96260396e-03 4.94686762e+00] [ 1.24888057e-02 3.21309914e-04 9.99921960e-01 2.22248354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11088847900001 meters 0.02232370785906498 Centerline is valid? [True, True] Translation: X:63.08, Y:4.96, Z:0.22 [[ 9.91075696e-01 -1.32904305e-01 -1.02669437e-02 6.30803562e+01] [ 1.32894501e-01 9.91128842e-01 -1.63438101e-03 4.95722166e+00] [ 1.03930803e-02 2.55374936e-04 9.99945958e-01 2.22743578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17088847900001 meters 0.019174214668815946 Centerline is valid? [True, True] Translation: X:63.14, Y:4.96, Z:0.23 [[ 9.90709870e-01 -1.35671916e-01 -9.33190853e-03 6.31407988e+01] [ 1.35663923e-01 9.90753798e-01 -1.48722085e-03 4.95583097e+00] [ 9.44739792e-03 2.07401047e-04 9.99955351e-01 2.25981418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.230888479 meters 0.018111373495895918 Centerline is valid? [True, True] Translation: X:63.20, Y:4.96, Z:0.23 [[ 9.90613479e-01 -1.36347584e-01 -9.70937483e-03 6.31990941e+01] [ 1.36338938e-01 9.90661038e-01 -1.55003463e-03 4.96186872e+00] [ 9.83004282e-03 2.11719341e-04 9.99951662e-01 2.25536123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.290888479 meters 0.018674302480356106 Centerline is valid? [True, True] Translation: X:63.26, Y:4.97, Z:0.23 [[ 9.90767156e-01 -1.35278437e-01 -8.95474304e-03 6.32573253e+01] [ 1.35271018e-01 9.90807601e-01 -1.43184644e-03 4.96959875e+00] [ 9.06612542e-03 2.07309216e-04 9.99958880e-01 2.27183529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.350888479 meters 0.019095744683235313 Centerline is valid? [True, True] Translation: X:63.32, Y:4.98, Z:0.23 [[ 9.90984020e-01 -1.33632050e-01 -9.65129173e-03 6.33150358e+01] [ 1.33623340e-01 9.91030987e-01 -1.54458441e-03 4.97788881e+00] [ 9.77113515e-03 2.41020627e-04 9.99952232e-01 2.26741945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41088847900001 meters 0.01976702252010362 Centerline is valid? [True, True] Translation: X:63.37, Y:4.99, Z:0.22 [[ 9.91153834e-01 -1.32160294e-01 -1.21546220e-02 6.33735016e+01] [ 1.32146337e-01 9.91228304e-01 -1.94786958e-03 4.98745753e+00] [ 1.23054364e-02 3.24449626e-04 9.99924233e-01 2.22579393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47088847900001 meters 0.019957787713997435 Centerline is valid? [True, True] Translation: X:63.43, Y:4.99, Z:0.22 [[ 9.91182825e-01 -1.31931566e-01 -1.22747713e-02 6.34316887e+01] [ 1.31917277e-01 9.91258771e-01 -1.97017446e-03 4.99474326e+00] [ 1.24274029e-02 3.33548684e-04 9.99922721e-01 2.22268958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53088847900001 meters 0.0202611367793412 Centerline is valid? [True, True] Translation: X:63.49, Y:5.00, Z:0.22 [[ 9.91116092e-01 -1.32441124e-01 -1.21754321e-02 6.34895024e+01] [ 1.32427063e-01 9.91190820e-01 -1.95753438e-03 5.00329687e+00] [ 1.23274346e-02 3.27787123e-04 9.99923961e-01 2.22796645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.590888479 meters 0.02065498182988941 Centerline is valid? [True, True] Translation: X:63.55, Y:5.01, Z:0.22 [[ 9.91051582e-01 -1.32964404e-01 -1.17144857e-02 6.35466391e+01] [ 1.32951406e-01 9.91120765e-01 -1.88493584e-03 5.01119023e+00] [ 1.18610994e-02 3.10611309e-04 9.99929606e-01 2.23907438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.650888479 meters 0.020693762654106097 Centerline is valid? [True, True] Translation: X:63.61, Y:5.02, Z:0.23 [[ 9.91233426e-01 -1.31792575e-01 -9.32806652e-03 6.36050676e+01] [ 1.31784265e-01 9.91277282e-01 -1.50271842e-03 5.01944252e+00] [ 9.44474755e-03 2.60252340e-04 9.99955364e-01 2.25846601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.710888479 meters 0.02146595451863861 Centerline is valid? [True, True] Translation: X:63.66, Y:5.03, Z:0.23 [[ 9.91508054e-01 -1.29669069e-01 -9.88493386e-03 6.36637551e+01] [ 1.29659607e-01 9.91557282e-01 -1.59485546e-03 5.02737002e+00] [ 1.00082816e-02 2.99635396e-04 9.99949871e-01 2.25172324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.770888479 meters 0.022200135936535546 Centerline is valid? [True, True] Translation: X:63.72, Y:5.04, Z:0.22 [[ 9.91724652e-01 -1.27940830e-01 -1.06470058e-02 6.37218157e+01] [ 1.27929725e-01 9.91781743e-01 -1.72043226e-03 5.03654021e+00] [ 1.07796195e-02 3.44126555e-04 9.99941839e-01 2.24063390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83088847900001 meters 0.023220533848871915 Centerline is valid? [True, True] Translation: X:63.78, Y:5.04, Z:0.23 [[ 9.92111300e-01 -1.24996231e-01 -9.54523011e-03 6.37804916e+01] [ 1.24987159e-01 9.92157159e-01 -1.54346711e-03 5.04420014e+00] [ 9.66329596e-03 3.38259968e-04 9.99953252e-01 2.25577591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89088847900001 meters 0.023588374658070756 Centerline is valid? [True, True] Translation: X:63.84, Y:5.05, Z:0.23 [[ 9.92240120e-01 -1.24033589e-01 -8.67256821e-03 6.38385892e+01] [ 1.24026049e-01 9.92277969e-01 -1.40397074e-03 5.05262404e+00] [ 8.77973790e-03 3.17451727e-04 9.99961407e-01 2.26317154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95088847900001 meters 0.023160092716740237 Centerline is valid? [True, True] Translation: X:63.90, Y:5.06, Z:0.23 [[ 9.92124898e-01 -1.24938950e-01 -8.85691641e-03 6.38975033e+01] [ 1.24931102e-01 9.92164380e-01 -1.43598997e-03 5.05697002e+00] [ 8.96692806e-03 3.18177076e-04 9.99959746e-01 2.26042004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.010888479 meters 0.02389180700243167 Centerline is valid? [True, True] Translation: X:63.96, Y:5.06, Z:0.23 [[ 9.91903403e-01 -1.26688786e-01 -8.80855033e-03 6.39553450e+01] [ 1.26681074e-01 9.91942468e-01 -1.43027180e-03 5.06451433e+00] [ 8.91877455e-03 3.02814850e-04 9.99960181e-01 2.25556567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.070888479 meters 0.02110001048653538 Centerline is valid? [True, True] Translation: X:64.02, Y:5.06, Z:0.23 [[ 9.91416552e-01 -1.30421718e-01 -9.13213397e-03 6.40156788e+01] [ 1.30413567e-01 9.91458570e-01 -1.48494230e-03 5.06335102e+00] [ 9.24780121e-03 2.81242214e-04 9.99957199e-01 2.28061502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.130888479 meters 0.02163282847006266 Centerline is valid? [True, True] Translation: X:64.07, Y:5.07, Z:0.23 [[ 9.91125662e-01 -1.32701138e-01 -7.76729912e-03 6.40730878e+01] [ 1.32695304e-01 9.91156072e-01 -1.26397089e-03 5.07040402e+00] [ 7.86633606e-03 2.22069870e-04 9.99969035e-01 2.29099307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19088847900001 meters 0.02131921260311582 Centerline is valid? [True, True] Translation: X:64.13, Y:5.07, Z:0.23 [[ 9.90974589e-01 -1.33817739e-01 -7.88523111e-03 6.41323078e+01] [ 1.33811751e-01 9.91005936e-01 -1.28459601e-03 5.07423145e+00] [ 7.98621257e-03 2.17865420e-04 9.99968086e-01 2.30766232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25088847900001 meters 0.01908452622565132 Centerline is valid? [True, True] Translation: X:64.19, Y:5.08, Z:0.23 [[ 9.90812233e-01 -1.35007582e-01 -8.00452744e-03 6.41915732e+01] [ 1.35001434e-01 9.90844542e-01 -1.30597397e-03 5.07512460e+00] [ 8.10755871e-03 2.13352298e-04 9.99967110e-01 2.33537760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31088847900001 meters 0.01828319698055639 Centerline is valid? [True, True] Translation: X:64.25, Y:5.08, Z:0.23 [[ 9.90633893e-01 -1.36164505e-01 -1.01842026e-02 6.42501187e+01] [ 1.36154583e-01 9.90686206e-01 -1.66459503e-03 5.07985842e+00] [ 1.03160078e-02 2.62378399e-04 9.99946754e-01 2.33108421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.370888479 meters 0.020040797708090023 Centerline is valid? [True, True] Translation: X:64.31, Y:5.09, Z:0.23 [[ 9.90201281e-01 -1.39170729e-01 -1.15296057e-02 6.43069653e+01] [ 1.39158196e-01 9.90268367e-01 -1.88617648e-03 5.08854825e+00] [ 1.16799043e-02 2.63255239e-04 9.99931753e-01 2.30404603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.430888479 meters 0.01641635451836668 Centerline is valid? [True, True] Translation: X:64.37, Y:5.08, Z:0.24 [[ 9.89643922e-01 -1.43086547e-01 -1.14519990e-02 6.43670541e+01] [ 1.43074434e-01 9.89710156e-01 -1.87434776e-03 5.08495452e+00] [ 1.16023537e-02 2.16448594e-04 9.99932667e-01 2.36183161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.490888479 meters 0.015676392259311552 Centerline is valid? [True, True] Translation: X:64.43, Y:5.09, Z:0.24 [[ 9.89158663e-01 -1.46447223e-01 -1.08789105e-02 6.44255439e+01] [ 1.46436470e-01 9.89218470e-01 -1.78276110e-03 5.09071514e+00] [ 1.10226996e-02 1.70364322e-04 9.99939234e-01 2.37971534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55088847900001 meters 0.015013880236056688 Centerline is valid? [True, True] Translation: X:64.49, Y:5.09, Z:0.24 [[ 9.88520907e-01 -1.50760058e-01 -9.89044964e-03 6.44851257e+01] [ 1.50751364e-01 9.88570378e-01 -1.62303160e-03 5.09436361e+00] [ 1.00220939e-02 1.13401898e-04 9.99949771e-01 2.40648386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61088847900001 meters 0.014986784747215168 Centerline is valid? [True, True] Translation: X:64.54, Y:5.10, Z:0.24 [[ 9.88294967e-01 -1.52245201e-01 -9.71888296e-03 6.45425590e+01] [ 1.52236866e-01 9.88342749e-01 -1.59609789e-03 5.10144745e+00] [ 9.84858574e-03 9.78432285e-05 9.99951497e-01 2.41488825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67088847900001 meters 0.014703508797199625 Centerline is valid? [True, True] Translation: X:64.60, Y:5.11, Z:0.24 [[ 9.88055114e-01 -1.53756972e-01 -1.02900740e-02 6.46005135e+01] [ 1.53747685e-01 9.88108691e-01 -1.69227305e-03 5.10730958e+00] [ 1.04279103e-02 8.99839835e-05 9.99945624e-01 2.42036047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.730888479 meters 0.014559296346714464 Centerline is valid? [True, True] Translation: X:64.66, Y:5.12, Z:0.24 [[ 9.87954212e-01 -1.54370656e-01 -1.07784884e-02 6.46584374e+01] [ 1.54360470e-01 9.88013002e-01 -1.77565876e-03 5.11535898e+00] [ 1.09233963e-02 9.04970243e-05 9.99940334e-01 2.41750482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.790888479 meters 0.014743814958455373 Centerline is valid? [True, True] Translation: X:64.72, Y:5.12, Z:0.24 [[ 9.87942053e-01 -1.54398814e-01 -1.14676451e-02 6.47169112e+01] [ 1.54387251e-01 9.88008601e-01 -1.89214079e-03 5.12329348e+00] [ 1.16222763e-02 9.88672479e-05 9.99932454e-01 2.41951597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.850888479 meters 0.014919601999394932 Centerline is valid? [True, True] Translation: X:64.77, Y:5.13, Z:0.24 [[ 9.88022459e-01 -1.53850609e-01 -1.19000260e-02 6.47735737e+01] [ 1.53838100e-01 9.88094114e-01 -1.96497767e-03 5.13338100e+00] [ 1.20606587e-02 1.10764680e-04 9.99927261e-01 2.41827802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91088847900001 meters 0.014962699905927499 Centerline is valid? [True, True] Translation: X:64.83, Y:5.14, Z:0.24 [[ 9.88212077e-01 -1.52583369e-01 -1.24582073e-02 6.48316580e+01] [ 1.52569525e-01 9.88290594e-01 -2.05978269e-03 5.14359890e+00] [ 1.26266177e-02 1.34759366e-04 9.99920272e-01 2.43533548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97088847900001 meters 0.01500928408588109 Centerline is valid? [True, True] Translation: X:64.89, Y:5.15, Z:0.25 [[ 9.88235828e-01 -1.52470042e-01 -1.19513262e-02 6.48885620e+01] [ 1.52457254e-01 9.88308084e-01 -1.97921926e-03 5.15267461e+00] [ 1.21133640e-02 1.33869008e-04 9.99926622e-01 2.45331052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03088847900001 meters 0.014955400208683453 Centerline is valid? [True, True] Translation: X:64.95, Y:5.16, Z:0.25 [[ 9.88040667e-01 -1.53782145e-01 -1.12557846e-02 6.49458465e+01] [ 1.53770867e-01 9.88104771e-01 -1.86585928e-03 5.16233385e+00] [ 1.14088303e-02 1.12733100e-04 9.99934911e-01 2.45323036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.090888479 meters 0.014845237224161974 Centerline is valid? [True, True] Translation: X:65.00, Y:5.17, Z:0.25 [[ 9.87952303e-01 -1.54380550e-01 -1.08117091e-02 6.50029847e+01] [ 1.54370151e-01 9.88011455e-01 -1.79485146e-03 5.17150345e+00] [ 1.09591826e-02 1.04222471e-04 9.99939941e-01 2.46898573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.150888479 meters 0.015114618449541602 Centerline is valid? [True, True] Translation: X:65.06, Y:5.18, Z:0.25 [[ 9.88120781e-01 -1.53197278e-01 -1.21620782e-02 6.50614049e+01] [ 1.53183991e-01 9.88195616e-01 -2.02222453e-03 5.18178234e+00] [ 1.23283117e-02 1.35166410e-04 9.99923994e-01 2.46831916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.210888479 meters 0.015362433088420795 Centerline is valid? [True, True] Translation: X:65.12, Y:5.19, Z:0.25 [[ 9.88248017e-01 -1.52316852e-01 -1.28621241e-02 6.51190733e+01] [ 1.52301874e-01 9.88331701e-01 -2.14183224e-03 5.19280821e+00] [ 1.30382822e-02 1.57735859e-04 9.99914986e-01 2.46546393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.270888479 meters 0.015902687855111362 Centerline is valid? [True, True] Translation: X:65.18, Y:5.21, Z:0.24 [[ 9.88347306e-01 -1.51522242e-01 -1.45125404e-02 6.51763636e+01] [ 1.51503034e-01 9.88453829e-01 -2.42029385e-03 5.20580166e+00] [ 1.47117045e-02 1.93397005e-04 9.99891758e-01 2.42926735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33088847900001 meters 0.015975105303654626 Centerline is valid? [True, True] Translation: X:65.23, Y:5.21, Z:0.24 [[ 9.88275612e-01 -1.51840470e-01 -1.59933239e-02 6.52349434e+01] [ 1.51817120e-01 9.88404991e-01 -2.67121349e-03 5.21493136e+00] [ 1.62134795e-02 2.11834773e-04 9.99868530e-01 2.42561069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39088847900001 meters 0.015462166406638165 Centerline is valid? [True, True] Translation: X:65.29, Y:5.22, Z:0.25 [[ 9.88161083e-01 -1.52815464e-01 -1.36054033e-02 6.52930923e+01] [ 1.52798613e-01 9.88254727e-01 -2.27567562e-03 5.22336076e+00] [ 1.37933626e-02 1.69847327e-04 9.99904853e-01 2.45461517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45088847900001 meters 0.01537692053927614 Centerline is valid? [True, True] Translation: X:65.35, Y:5.23, Z:0.25 [[ 9.88074502e-01 -1.53414003e-01 -1.31499672e-02 6.53501106e+01] [ 1.53398265e-01 9.88161990e-01 -2.20320150e-03 5.23207758e+00] [ 1.33322998e-02 1.59745066e-04 9.99911108e-01 2.46690088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.510888479 meters 0.015456157515033157 Centerline is valid? [True, True] Translation: X:65.41, Y:5.24, Z:0.25 [[ 9.87830950e-01 -1.55100228e-01 -1.15729340e-02 6.54077841e+01] [ 1.55088137e-01 9.87898732e-01 -1.94047173e-03 5.24030831e+00] [ 1.17338544e-02 1.22033260e-04 9.99931149e-01 2.47732489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.570888479 meters 0.0155363184799803 Centerline is valid? [True, True] Translation: X:65.46, Y:5.25, Z:0.25 [[ 9.87769678e-01 -1.55483867e-01 -1.16546352e-02 6.54648095e+01] [ 1.55471599e-01 9.87838424e-01 -1.95690801e-03 5.24956113e+00] [ 1.18171641e-02 1.21009622e-04 9.99930168e-01 2.46404338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.630888479 meters 0.01567659457369613 Centerline is valid? [True, True] Translation: X:65.52, Y:5.26, Z:0.25 [[ 9.88053186e-01 -1.53568660e-01 -1.29448199e-02 6.55223590e+01] [ 1.53553332e-01 9.88137966e-01 -2.17574639e-03 5.25953749e+00] [ 1.31253945e-02 1.62032931e-04 9.99913845e-01 2.45516620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69088847900001 meters 0.016169560640211265 Centerline is valid? [True, True] Translation: X:65.58, Y:5.27, Z:0.24 [[ 9.88430384e-01 -1.51096957e-01 -1.32319648e-02 6.55801426e+01] [ 1.51080679e-01 9.88518927e-01 -2.22698746e-03 5.27034727e+00] [ 1.34165387e-02 2.02127834e-04 9.99909974e-01 2.44971589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75088847900001 meters 0.016532829020730142 Centerline is valid? [True, True] Translation: X:65.64, Y:5.28, Z:0.24 [[ 9.88582458e-01 -1.50092700e-01 -1.33005833e-02 6.56372227e+01] [ 1.50076135e-01 9.88671904e-01 -2.24060523e-03 5.28120313e+00] [ 1.34862115e-02 2.18922888e-04 9.99909033e-01 2.43559108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81088847900001 meters 0.016959481291662633 Centerline is valid? [True, True] Translation: X:65.69, Y:5.29, Z:0.25 [[ 9.88977232e-01 -1.47648635e-01 -1.11316798e-02 6.56948308e+01] [ 1.47636866e-01 9.89039855e-01 -1.87627639e-03 5.29051666e+00] [ 1.12867046e-02 2.12148317e-04 9.99936281e-01 2.45830205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.870888479 meters 0.018307922980335477 Centerline is valid? [True, True] Translation: X:65.75, Y:5.30, Z:0.25 [[ 9.89278507e-01 -1.45713649e-01 -9.77585161e-03 6.57512589e+01] [ 1.45704469e-01 9.89326786e-01 -1.64857299e-03 5.30212387e+00] [ 9.91173144e-03 2.06512561e-04 9.99950856e-01 2.47122220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.930888479 meters 0.017811554148792593 Centerline is valid? [True, True] Translation: X:65.81, Y:5.31, Z:0.25 [[ 9.89135788e-01 -1.46698629e-01 -9.48187320e-03 6.58096383e+01] [ 1.46690020e-01 9.89181214e-01 -1.60087939e-03 5.31127763e+00] [ 9.61413766e-03 1.92590925e-04 9.99953765e-01 2.45680564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.990888479 meters 0.01727996753833311 Centerline is valid? [True, True] Translation: X:65.87, Y:5.32, Z:0.24 [[ 9.88791279e-01 -1.48939613e-01 -1.04306528e-02 6.58685434e+01] [ 1.48929301e-01 9.88846275e-01 -1.76281841e-03 5.31866482e+00] [ 1.05768656e-02 1.89629647e-04 9.99944045e-01 2.44976164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05088847900001 meters 0.01666868350514905 Centerline is valid? [True, True] Translation: X:65.93, Y:5.33, Z:0.25 [[ 9.88571447e-01 -1.50419172e-01 -1.00283453e-02 6.59268978e+01] [ 1.50409694e-01 9.88622296e-01 -1.69700479e-03 5.32566996e+00] [ 1.01695078e-02 1.69250135e-04 9.99948275e-01 2.46280078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11088847900001 meters 0.016517769708708597 Centerline is valid? [True, True] Translation: X:65.98, Y:5.33, Z:0.25 [[ 9.88316018e-01 -1.52133921e-01 -9.31234150e-03 6.59845718e+01] [ 1.52125803e-01 9.88359879e-01 -1.57810405e-03 5.33471644e+00] [ 9.44402787e-03 1.43018080e-04 9.99955394e-01 2.46257532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17088847900001 meters 0.016256695030766894 Centerline is valid? [True, True] Translation: X:66.04, Y:5.34, Z:0.25 [[ 9.88183548e-01 -1.53022449e-01 -8.79807928e-03 6.60429078e+01] [ 1.53015219e-01 9.88222704e-01 -1.49313469e-03 5.34470259e+00] [ 8.92294483e-03 1.29251111e-04 9.99960181e-01 2.45625451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.230888479 meters 0.01628205732098625 Centerline is valid? [True, True] Translation: X:66.10, Y:5.36, Z:0.25 [[ 9.88040675e-01 -1.53949765e-01 -8.66576432e-03 6.60999742e+01] [ 1.53942775e-01 9.88078669e-01 -1.47190007e-03 5.35511909e+00] [ 8.78905554e-03 1.20265330e-04 9.99961368e-01 2.45278839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.290888479 meters 0.015591307189039559 Centerline is valid? [True, True] Translation: X:66.16, Y:5.36, Z:0.25 [[ 9.87435879e-01 -1.57842597e-01 -7.48994869e-03 6.61585008e+01] [ 1.57837477e-01 9.87464282e-01 -1.27356650e-03 5.36244228e+00] [ 7.59707985e-03 7.53706540e-05 9.99971139e-01 2.46236437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.350888479 meters 0.015424531837554588 Centerline is valid? [True, True] Translation: X:66.22, Y:5.37, Z:0.25 [[ 9.86689915e-01 -1.62525072e-01 -5.34903951e-03 6.62169128e+01] [ 1.62522523e-01 9.86704414e-01 -9.10653534e-04 5.37097811e+00] [ 5.42592493e-03 2.91932589e-05 9.99985279e-01 2.47517382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41088847900001 meters 0.015337633039806134 Centerline is valid? [True, True] Translation: X:66.27, Y:5.38, Z:0.25 [[ 9.86310923e-01 -1.64828176e-01 -4.73672999e-03 6.62746888e+01] [ 1.64826198e-01 9.86322296e-01 -8.07494942e-04 5.38111970e+00] [ 4.80504032e-03 1.57038834e-05 9.99988456e-01 2.46939116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47088847900001 meters 0.015391128364802265 Centerline is valid? [True, True] Translation: X:66.33, Y:5.39, Z:0.25 [[ 9.85907599e-01 -1.67226724e-01 -4.62915663e-03 6.63317897e+01] [ 1.67224857e-01 9.85918467e-01 -7.90347224e-04 5.39078173e+00] [ 4.69613818e-03 5.09928012e-06 9.99988973e-01 2.46341202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53088847900001 meters 0.015402358555267752 Centerline is valid? [True, True] Translation: X:66.39, Y:5.40, Z:0.25 [[ 9.85773927e-01 -1.68048925e-01 -3.05338928e-03 6.63873419e+01] [ 1.68048114e-01 9.85778656e-01 -5.21861270e-04 5.40404892e+00] [ 3.09766421e-03 1.32092124e-06 9.99995202e-01 2.45357120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.590888479 meters 0.015392313598341983 Centerline is valid? [True, True] Translation: X:66.44, Y:5.42, Z:0.25 [[ 9.85722211e-01 -1.68371870e-01 -1.62337134e-03 6.64441607e+01] [ 1.68371641e-01 9.85723548e-01 -2.77325225e-04 5.41678022e+00] [ 1.64688913e-03 3.59365493e-08 9.99998644e-01 2.46392675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.650888479 meters 0.015535155487970504 Centerline is valid? [True, True] Translation: X:66.50, Y:5.43, Z:0.25 [[ 9.85665322e-01 -1.68712294e-01 -1.88650486e-04 6.65015784e+01] [ 1.68712291e-01 9.85665340e-01 -3.16049352e-05 5.42829061e+00] [ 1.91278387e-04 -6.75767138e-07 9.99999982e-01 2.47773008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.710888479 meters 0.015645364494605445 Centerline is valid? [True, True] Translation: X:66.56, Y:5.44, Z:0.25 [[ 9.85733490e-01 -1.68313560e-01 1.80200704e-04 6.65579353e+01] [ 1.68313557e-01 9.85733506e-01 3.17199936e-05 5.44293366e+00] [-1.82968776e-04 -9.37238489e-07 9.99999983e-01 2.46778410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.770888479 meters 0.015725189666197112 Centerline is valid? [True, True] Translation: X:66.61, Y:5.46, Z:0.25 [[ 9.85866296e-01 -1.67523431e-01 1.88322147e-03 6.66148600e+01] [ 1.67523118e-01 9.85868095e-01 3.24028461e-04 5.45639512e+00] [-1.91089032e-03 -3.96560667e-06 9.99998174e-01 2.46042304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83088847900001 meters 0.01597424348847129 Centerline is valid? [True, True] Translation: X:66.67, Y:5.47, Z:0.25 [[ 9.86193737e-01 -1.65578490e-01 2.38275808e-03 6.66718355e+01] [ 1.65577982e-01 9.86196615e-01 4.10350883e-04 5.46918704e+00] [-2.41781324e-03 -1.01531956e-05 9.99997077e-01 2.47051862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89088847900001 meters 0.016287614863204142 Centerline is valid? [True, True] Translation: X:66.73, Y:5.48, Z:0.24 [[ 9.86815000e-01 -1.61850471e-01 7.62659591e-04 6.67287661e+01] [ 1.61850418e-01 9.86815294e-01 1.32110224e-04 5.48380473e+00] [-7.73986251e-04 -6.93157726e-06 9.99999700e-01 2.44532873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95088847900001 meters 0.01675799612044035 Centerline is valid? [True, True] Translation: X:66.79, Y:5.50, Z:0.24 [[ 9.87301196e-01 -1.58859518e-01 -3.35088231e-05 6.67864229e+01] [ 1.58859518e-01 9.87301197e-01 -5.08579755e-06 5.49806793e+00] [ 3.38912285e-05 -3.01981477e-07 9.99999999e-01 2.44014869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.010888479 meters 0.017678831172485185 Centerline is valid? [True, True] Translation: X:66.84, Y:5.51, Z:0.24 [[ 9.87892716e-01 -1.55131878e-01 -1.44280348e-03 6.68426244e+01] [ 1.55131680e-01 9.87893770e-01 -2.48861035e-04 5.51372958e+00] [ 1.46394285e-03 2.20234758e-05 9.99998928e-01 2.42493096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.070888479 meters 0.01759449668716667 Centerline is valid? [True, True] Translation: X:66.90, Y:5.53, Z:0.24 [[ 9.87916842e-01 -1.54960835e-01 -2.72980983e-03 6.68997367e+01] [ 1.54960125e-01 9.87920613e-01 -4.71305973e-04 5.52514130e+00] [ 2.76986937e-03 4.25994367e-05 9.99996163e-01 2.40969277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.130888479 meters 0.017339999942554796 Centerline is valid? [True, True] Translation: X:66.96, Y:5.53, Z:0.24 [[ 9.87558895e-01 -1.57239659e-01 -1.76600452e-03 6.69578018e+01] [ 1.57239365e-01 9.87560474e-01 -3.05168051e-04 5.53476705e+00] [ 1.79202078e-03 2.36859947e-05 9.99998394e-01 2.41420531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19088847900001 meters 0.017201830101716536 Centerline is valid? [True, True] Translation: X:67.02, Y:5.54, Z:0.24 [[ 9.87122261e-01 -1.59955775e-01 -1.94734615e-03 6.70150880e+01] [ 1.59955421e-01 9.87124182e-01 -3.37198169e-04 5.54299667e+00] [ 1.97620927e-03 2.13672466e-05 9.99998047e-01 2.43365753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25088847900001 meters 0.016846987436163943 Centerline is valid? [True, True] Translation: X:67.07, Y:5.55, Z:0.24 [[ 9.86856464e-01 -1.61590098e-01 -1.72008875e-03 6.70728422e+01] [ 1.61589824e-01 9.86857963e-01 -2.97800722e-04 5.55253415e+00] [ 1.74560493e-03 1.59377291e-05 9.99998476e-01 2.43718216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31088847900001 meters 0.01696937605062392 Centerline is valid? [True, True] Translation: X:67.13, Y:5.56, Z:0.24 [[ 9.86899365e-01 -1.61329023e-01 -1.60951982e-03 6.71300482e+01] [ 1.61328782e-01 9.86900677e-01 -2.79204284e-04 5.56388373e+00] [ 1.63347995e-03 1.58846587e-05 9.99998666e-01 2.44088853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.370888479 meters 0.017054895388002922 Centerline is valid? [True, True] Translation: X:67.19, Y:5.58, Z:0.24 [[ 9.86875979e-01 -1.61473601e-01 -1.44152130e-03 6.71870070e+01] [ 1.61473408e-01 9.86877032e-01 -2.49906547e-04 5.57542610e+00] [ 1.46295758e-03 1.38594111e-05 9.99998930e-01 2.44495887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.430888479 meters 0.016960123528939972 Centerline is valid? [True, True] Translation: X:67.24, Y:5.58, Z:0.24 [[ 9.86746845e-01 -1.62249006e-01 -2.43393426e-03 6.72439713e+01] [ 1.62248455e-01 9.86749847e-01 -4.23243656e-04 5.58472678e+00] [ 2.47035512e-03 2.27322689e-05 9.99996948e-01 2.43816645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.490888479 meters 0.01669432883992908 Centerline is valid? [True, True] Translation: X:67.30, Y:5.59, Z:0.25 [[ 9.86189941e-01 -1.65601952e-01 -2.32231090e-03 6.73025283e+01] [ 1.65601460e-01 9.86192676e-01 -4.03954840e-04 5.59123865e+00] [ 2.35714171e-03 1.37981241e-05 9.99997222e-01 2.45217379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55088847900001 meters 0.016472606336920905 Centerline is valid? [True, True] Translation: X:67.36, Y:5.60, Z:0.24 [[ 9.85674779e-01 -1.68652577e-01 -1.24046404e-03 6.73604924e+01] [ 1.68652439e-01 9.85675559e-01 -2.15751981e-04 5.60202951e+00] [ 1.25908222e-03 3.45399911e-06 9.99999207e-01 2.44868236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61088847900001 meters 0.016363376071498455 Centerline is valid? [True, True] Translation: X:67.42, Y:5.61, Z:0.25 [[ 9.85428517e-01 -1.70079174e-01 -1.92666749e-03 6.74171597e+01] [ 1.70078842e-01 9.85430401e-01 -3.36078729e-04 5.61157336e+00] [ 1.95575670e-03 3.49618907e-06 9.99998088e-01 2.45003433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67088847900001 meters 0.016390878069783787 Centerline is valid? [True, True] Translation: X:67.47, Y:5.62, Z:0.25 [[ 9.84993875e-01 -1.72576123e-01 -2.13255488e-03 6.74747383e+01] [ 1.72575722e-01 9.84996184e-01 -3.72191578e-04 5.61942730e+00] [ 2.16478980e-03 -1.42077361e-06 9.99997657e-01 2.46660354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.730888479 meters 0.01640801452333201 Centerline is valid? [True, True] Translation: X:67.53, Y:5.63, Z:0.25 [[ 9.84853280e-01 -1.73379677e-01 -1.87193449e-03 6.75321326e+01] [ 1.73379369e-01 9.84855059e-01 -3.27146739e-04 5.63128463e+00] [ 1.90030475e-03 -2.36328207e-06 9.99998194e-01 2.46152512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.790888479 meters 0.01648592586111478 Centerline is valid? [True, True] Translation: X:67.59, Y:5.65, Z:0.24 [[ 9.85213606e-01 -1.71318617e-01 -2.02022430e-03 6.75881224e+01] [ 1.71318252e-01 9.85215678e-01 -3.53699628e-04 5.64628046e+00] [ 2.05095198e-03 2.36839058e-06 9.99997897e-01 2.44925999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.850888479 meters 0.01665658685429768 Centerline is valid? [True, True] Translation: X:67.64, Y:5.66, Z:0.25 [[ 9.85574555e-01 -1.69236353e-01 -1.36147654e-03 6.76444523e+01] [ 1.69236185e-01 9.85575495e-01 -2.38497200e-04 5.66003027e+00] [ 1.38220031e-03 4.64567563e-06 9.99999045e-01 2.47204567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91088847900001 meters 0.016961809349552676 Centerline is valid? [True, True] Translation: X:67.70, Y:5.67, Z:0.25 [[ 9.85909401e-01 -1.67273235e-01 -1.52256457e-03 6.77007599e+01] [ 1.67273022e-01 9.85910576e-01 -2.67502048e-04 5.67422459e+00] [ 1.54585844e-03 9.04880820e-06 9.99998805e-01 2.46995722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97088847900001 meters 0.017215366926008255 Centerline is valid? [True, True] Translation: X:67.76, Y:5.69, Z:0.25 [[ 9.86258091e-01 -1.65197699e-01 -2.16761698e-03 6.77578632e+01] [ 1.65197261e-01 9.86260473e-01 -3.81037611e-04 5.68936113e+00] [ 2.20078148e-03 1.77170401e-05 9.99997578e-01 2.47025003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03088847900001 meters 0.01700841340900629 Centerline is valid? [True, True] Translation: X:67.81, Y:5.70, Z:0.25 [[ 9.86030313e-01 -1.66544008e-01 -2.70464033e-03 6.78149313e+01] [ 1.66543328e-01 9.86034022e-01 -4.76268945e-04 5.70020100e+00] [ 2.74618712e-03 1.91758148e-05 9.99996229e-01 2.46952652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09088847900001 meters 0.016825792873837463 Centerline is valid? [True, True] Translation: X:67.87, Y:5.71, Z:0.25 [[ 9.85155664e-01 -1.71635661e-01 -3.08495939e-03 6.78718049e+01] [ 1.71634799e-01 9.85160494e-01 -5.44195957e-04 5.71147349e+00] [ 3.13258355e-03 6.63134449e-06 9.99995093e-01 2.45839180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.150888479 meters 0.016794476375538908 Centerline is valid? [True, True] Translation: X:67.93, Y:5.72, Z:0.24 [[ 9.83865767e-01 -1.78871231e-01 -3.63789386e-03 6.79298901e+01] [ 1.78870079e-01 9.83872493e-01 -6.42241728e-04 5.71907163e+00] [ 3.69410227e-03 -1.88307118e-05 9.99993177e-01 2.44676497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.210888479 meters 0.017208481407100757 Centerline is valid? [True, True] Translation: X:67.99, Y:5.73, Z:0.25 [[ 9.82948967e-01 -1.83830632e-01 -4.19840002e-03 6.79879190e+01] [ 1.83829138e-01 9.82957933e-01 -7.42325259e-04 5.72828625e+00] [ 4.26331272e-03 -4.21204081e-05 9.99990911e-01 2.45318044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.270888479 meters 0.017690840925761772 Centerline is valid? [True, True] Translation: X:68.05, Y:5.74, Z:0.24 [[ 9.82072379e-01 -1.88465837e-01 -3.80405349e-03 6.80454859e+01] [ 1.88464642e-01 9.82079745e-01 -6.73486962e-04 5.74168012e+00] [ 3.86281317e-03 -5.55166355e-05 9.99992538e-01 2.44863750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33088847900001 meters 0.01813420085708331 Centerline is valid? [True, True] Translation: X:68.10, Y:5.75, Z:0.24 [[ 9.81824392e-01 -1.89743363e-01 -4.28016683e-03 6.81016980e+01] [ 1.89741858e-01 9.81833719e-01 -7.58799374e-04 5.75347537e+00] [ 4.34638926e-03 -6.71190719e-05 9.99990552e-01 2.44314822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39088847900001 meters 0.01823125605131398 Centerline is valid? [True, True] Translation: X:68.16, Y:5.77, Z:0.24 [[ 9.82135226e-01 -1.88105983e-01 -5.15142370e-03 6.81575503e+01] [ 1.88103776e-01 9.82148733e-01 -9.13981521e-04 5.76812328e+00] [ 5.23138965e-03 -7.13488015e-05 9.99986314e-01 2.43738460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45088847900001 meters 0.017770351289487427 Centerline is valid? [True, True] Translation: X:68.21, Y:5.78, Z:0.24 [[ 9.82540271e-01 -1.85973989e-01 -5.31885687e-03 6.82147371e+01] [ 1.85971601e-01 9.82554666e-01 -9.44573369e-04 5.78354347e+00] [ 5.40173371e-03 -6.10749513e-05 9.99985409e-01 2.44311272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.510888479 meters 0.017545651384194356 Centerline is valid? [True, True] Translation: X:68.27, Y:5.80, Z:0.24 [[ 9.83667749e-01 -1.79909554e-01 -5.50570103e-03 6.82710067e+01] [ 1.79906891e-01 9.83683156e-01 -9.79171783e-04 5.80394226e+00] [ 5.59202773e-03 -2.73338539e-05 9.99984364e-01 2.43626861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.570888479 meters 0.01742959180909642 Centerline is valid? [True, True] Translation: X:68.33, Y:5.82, Z:0.24 [[ 9.84597105e-01 -1.74725244e-01 -6.29523459e-03 6.83267327e+01] [ 1.74721646e-01 9.84617230e-01 -1.12142574e-03 5.82008525e+00] [ 6.39433783e-03 4.23879469e-06 9.99979556e-01 2.43659045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.630888479 meters 0.01774907356546144 Centerline is valid? [True, True] Translation: X:68.38, Y:5.84, Z:0.24 [[ 9.85941474e-01 -1.66999178e-01 -5.53932649e-03 6.83817206e+01] [ 1.66996263e-01 9.85957034e-01 -9.87847798e-04 5.84013966e+00] [ 5.62650769e-03 4.89132879e-05 9.99984170e-01 2.44402099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69088847900001 meters 0.018274273917111686 Centerline is valid? [True, True] Translation: X:68.44, Y:5.86, Z:0.24 [[ 9.86777760e-01 -1.61989333e-01 -5.39531005e-03 6.84384403e+01] [ 1.61986487e-01 9.86792506e-01 -9.63193304e-04 5.85905970e+00] [ 5.48007857e-03 7.64904068e-05 9.99984981e-01 2.43584019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75088847900001 meters 0.018477029358503694 Centerline is valid? [True, True] Translation: X:68.50, Y:5.87, Z:0.24 [[ 9.87012562e-01 -1.60562545e-01 -5.08634874e-03 6.84957204e+01] [ 1.60559991e-01 9.87025665e-01 -9.09288277e-04 5.87265392e+00] [ 5.16635439e-03 8.08148445e-05 9.99986651e-01 2.43867074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81088847900001 meters 0.019028059779978526 Centerline is valid? [True, True] Translation: X:68.55, Y:5.89, Z:0.25 [[ 9.87157448e-01 -1.59698202e-01 -4.08132852e-03 6.85518249e+01] [ 1.59696547e-01 9.87165882e-01 -7.30302056e-04 5.88732208e+00] [ 4.14557620e-03 6.91490405e-05 9.99991405e-01 2.45045522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.870888479 meters 0.01909830931239133 Centerline is valid? [True, True] Translation: X:68.61, Y:5.90, Z:0.25 [[ 9.87136016e-01 -1.59858421e-01 -2.78762978e-03 6.86087258e+01] [ 1.59857649e-01 9.87139951e-01 -4.98987660e-04 5.90099208e+00] [ 2.83154811e-03 4.69447469e-05 9.99995990e-01 2.45536367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.930888479 meters 0.018442190392208898 Centerline is valid? [True, True] Translation: X:68.67, Y:5.91, Z:0.25 [[ 9.86842235e-01 -1.61658897e-01 -2.96712264e-03 6.86665831e+01] [ 1.61658028e-01 9.86846695e-01 -5.31979167e-04 5.91046742e+00] [ 3.01409434e-03 4.53203147e-05 9.99995457e-01 2.45585233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.990888479 meters 0.0178607664477275 Centerline is valid? [True, True] Translation: X:68.72, Y:5.92, Z:0.24 [[ 9.86569709e-01 -1.63264856e-01 -4.97959722e-03 6.87247613e+01] [ 1.63262420e-01 9.86582273e-01 -8.94490096e-04 5.92043202e+00] [ 5.05882114e-03 6.94957410e-05 9.99987202e-01 2.43687718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05088847900001 meters 0.01773496142874939 Centerline is valid? [True, True] Translation: X:68.78, Y:5.93, Z:0.24 [[ 9.86514586e-01 -1.63572250e-01 -5.75247689e-03 6.87819647e+01] [ 1.63568995e-01 9.86531354e-01 -1.03498427e-03 5.93225952e+00] [ 5.84429352e-03 8.01002094e-05 9.99982919e-01 2.42185102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11088847900001 meters 0.01748489687917059 Centerline is valid? [True, True] Translation: X:68.84, Y:5.94, Z:0.24 [[ 9.86542854e-01 -1.63428464e-01 -4.93303218e-03 6.88389840e+01] [ 1.63426062e-01 9.86555185e-01 -8.88866042e-04 5.94086937e+00] [ 5.01197448e-03 7.07184203e-05 9.99987437e-01 2.44511659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17088847900001 meters 0.018049707861940746 Centerline is valid? [True, True] Translation: X:68.90, Y:5.95, Z:0.25 [[ 9.86665486e-01 -1.62704239e-01 -4.30690327e-03 6.88953899e+01] [ 1.62702398e-01 9.86674884e-01 -7.76889165e-04 5.95162329e+00] [ 4.37591645e-03 6.57862354e-05 9.99990423e-01 2.45696777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.230888479 meters 0.01865306598684598 Centerline is valid? [True, True] Translation: X:68.95, Y:5.96, Z:0.25 [[ 9.86973361e-01 -1.60833081e-01 -4.03780486e-03 6.89524188e+01] [ 1.60831445e-01 9.86981619e-01 -7.28751393e-04 5.96463419e+00] [ 4.10244650e-03 6.98522230e-05 9.99991582e-01 2.45143992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.290888479 meters 0.019328145951417935 Centerline is valid? [True, True] Translation: X:69.01, Y:5.98, Z:0.24 [[ 9.87390775e-01 -1.58239228e-01 -4.45025232e-03 6.90097549e+01] [ 1.58237211e-01 9.87400799e-01 -8.04014059e-04 5.97782604e+00] [ 4.52140926e-03 8.96805491e-05 9.99989774e-01 2.44326896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.350888479 meters 0.02092973981060358 Centerline is valid? [True, True] Translation: X:69.07, Y:5.99, Z:0.25 [[ 9.88176398e-01 -1.53236166e-01 -5.10715157e-03 6.90675143e+01] [ 1.53233438e-01 9.88189587e-01 -9.23598426e-04 5.98920811e+00] [ 5.18836269e-03 1.30091775e-04 9.99986532e-01 2.46660319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41088847900001 meters 0.021453449569725676 Centerline is valid? [True, True] Translation: X:69.12, Y:6.00, Z:0.25 [[ 9.88610680e-01 -1.50412768e-01 -4.99232082e-03 6.91247097e+01] [ 1.50410121e-01 9.88623275e-01 -9.03524005e-04 6.00332190e+00] [ 5.07142611e-03 1.42337899e-04 9.99987130e-01 2.45098246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47088847900001 meters 0.022351107915711307 Centerline is valid? [True, True] Translation: X:69.18, Y:6.01, Z:0.24 [[ 9.88807081e-01 -1.49062052e-01 -6.40786483e-03 6.91817044e+01] [ 1.49057656e-01 9.88827825e-01 -1.16090357e-03 6.01432530e+00] [ 6.50932171e-03 1.92768356e-04 9.99978796e-01 2.43603070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53088847900001 meters 0.022958022585135126 Centerline is valid? [True, True] Translation: X:69.24, Y:6.02, Z:0.24 [[ 9.88910174e-01 -1.48269386e-01 -8.53561145e-03 6.92399773e+01] [ 1.48261542e-01 9.88946975e-01 -1.54808899e-03 6.02271133e+00] [ 8.67080133e-03 2.65418038e-04 9.99962373e-01 2.44077623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59088847900001 meters 0.023216538728802933 Centerline is valid? [True, True] Translation: X:69.30, Y:6.03, Z:0.24 [[ 9.88868799e-01 -1.48550485e-01 -8.44101296e-03 6.92964102e+01] [ 1.48542805e-01 9.88904790e-01 -1.53313241e-03 6.03465179e+00] [ 8.57510572e-03 2.62215062e-04 9.99963199e-01 2.43363568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.650888479 meters 0.022708820993245685 Centerline is valid? [True, True] Translation: X:69.36, Y:6.04, Z:0.25 [[ 9.88533693e-01 -1.50839926e-01 -6.96094845e-03 6.93550266e+01] [ 1.50834748e-01 9.88558180e-01 -1.26591673e-03 6.04207705e+00] [ 7.07225332e-03 2.01448436e-04 9.99974971e-01 2.45873824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.710888479 meters 0.019954922117573257 Centerline is valid? [True, True] Translation: X:69.41, Y:6.05, Z:0.25 [[ 9.88064452e-01 -1.53903680e-01 -6.50349675e-03 6.94138526e+01] [ 1.53899221e-01 9.88085841e-01 -1.18359635e-03 6.04577502e+00] [ 6.60817289e-03 1.68586400e-04 9.99978152e-01 2.47078027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.770888479 meters 0.01816856129896862 Centerline is valid? [True, True] Translation: X:69.47, Y:6.05, Z:0.24 [[ 9.87185036e-01 -1.59347181e-01 -8.61282784e-03 6.94727165e+01] [ 1.59339561e-01 9.87222591e-01 -1.56815634e-03 6.05177995e+00] [ 8.75265951e-03 1.75696266e-04 9.99961679e-01 2.44800160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83088847900001 meters 0.01696504840948444 Centerline is valid? [True, True] Translation: X:69.53, Y:6.06, Z:0.24 [[ 9.86159137e-01 -1.65428531e-01 -1.11156536e-02 6.95320377e+01] [ 1.65416216e-01 9.86221768e-01 -2.02470555e-03 6.05593904e+00] [ 1.12974437e-02 1.57972514e-04 9.99936169e-01 2.43419057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89088847900001 meters 0.01647387346257761 Centerline is valid? [True, True] Translation: X:69.59, Y:6.06, Z:0.24 [[ 9.85533901e-01 -1.69112398e-01 -1.11322028e-02 6.95902961e+01] [ 1.69100255e-01 9.85596765e-01 -2.03002376e-03 6.06288392e+00] [ 1.13151653e-02 1.18198898e-04 9.99935974e-01 2.44263484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95088847900001 meters 0.015972620906534733 Centerline is valid? [True, True] Translation: X:69.65, Y:6.07, Z:0.24 [[ 9.84549710e-01 -1.74689492e-01 -1.20602374e-02 6.96496537e+01] [ 1.74675622e-01 9.84623571e-01 -2.20221726e-03 6.06822508e+00] [ 1.22594982e-02 6.15629020e-05 9.99924848e-01 2.44411475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.010888479 meters 0.015919563675357587 Centerline is valid? [True, True] Translation: X:69.71, Y:6.08, Z:0.24 [[ 9.84026818e-01 -1.77627334e-01 -1.18216388e-02 6.97069998e+01] [ 1.77614201e-01 9.84097825e-01 -2.16010380e-03 6.07574274e+00] [ 1.20173425e-02 2.59091341e-05 9.99927789e-01 2.44375375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.070888479 meters 0.015627006468484354 Centerline is valid? [True, True] Translation: X:69.76, Y:6.08, Z:0.25 [[ 9.83536045e-01 -1.80364209e-01 -1.12071617e-02 6.97648615e+01] [ 1.80352553e-01 9.83599894e-01 -2.05049439e-03 6.08385161e+00] [ 1.13931989e-02 -4.50508854e-06 9.99935095e-01 2.45348940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.130888479 meters 0.01552005620995636 Centerline is valid? [True, True] Translation: X:69.82, Y:6.09, Z:0.25 [[ 9.83594047e-01 -1.80032758e-01 -1.14436618e-02 6.98205947e+01] [ 1.80020554e-01 9.83660615e-01 -2.09626304e-03 6.09384715e+00] [ 1.16340754e-02 1.77751683e-06 9.99932322e-01 2.45248585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19088847900001 meters 0.01556151905173058 Centerline is valid? [True, True] Translation: X:69.88, Y:6.11, Z:0.25 [[ 9.84195260e-01 -1.76794613e-01 -1.01664128e-02 6.98777196e+01] [ 1.76784781e-01 9.84247765e-01 -1.86487627e-03 6.10641819e+00] [ 1.03359692e-02 3.81353172e-05 9.99946582e-01 2.46735212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25088847900001 meters 0.015466506412020681 Centerline is valid? [True, True] Translation: X:69.94, Y:6.12, Z:0.25 [[ 9.84707861e-01 -1.73964313e-01 -9.31912793e-03 6.99353329e+01] [ 1.73955903e-01 9.84751955e-01 -1.71183520e-03 6.12097876e+00] [ 9.47482768e-03 6.45402688e-05 9.99955111e-01 2.47229174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31088847900001 meters 0.015992066103242216 Centerline is valid? [True, True] Translation: X:69.99, Y:6.14, Z:0.25 [[ 9.85691794e-01 -1.68291407e-01 -9.47051382e-03 6.99928009e+01] [ 1.68282435e-01 9.85737281e-01 -1.74207686e-03 6.13531395e+00] [ 9.62861510e-03 1.23429735e-04 9.99953636e-01 2.47607797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.370888479 meters 0.0164700579179811 Centerline is valid? [True, True] Translation: X:70.05, Y:6.15, Z:0.25 [[ 9.86441874e-01 -1.63809099e-01 -9.95027503e-03 7.00495276e+01] [ 1.63798949e-01 9.86492041e-01 -1.83206864e-03 6.14992509e+00] [ 1.01159766e-02 1.77384628e-04 9.99948816e-01 2.46632767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.430888479 meters 0.017431432423910043 Centerline is valid? [True, True] Translation: X:70.11, Y:6.16, Z:0.25 [[ 9.86948582e-01 -1.60756699e-01 -9.47520678e-03 7.01059991e+01] [ 1.60747346e-01 9.86994044e-01 -1.74557014e-03 6.16477665e+00] [ 9.63258475e-03 1.99673635e-04 9.99953586e-01 2.45973196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.490888479 meters 0.019648181235022336 Centerline is valid? [True, True] Translation: X:70.16, Y:6.18, Z:0.25 [[ 9.87788357e-01 -1.55491436e-01 -9.82728978e-03 7.01627668e+01] [ 1.55481108e-01 9.87837206e-01 -1.81106489e-03 6.17967956e+00] [ 9.98936755e-03 2.60990918e-04 9.99950071e-01 2.46059481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55088847900001 meters 0.020841720999134988 Centerline is valid? [True, True] Translation: X:70.22, Y:6.19, Z:0.25 [[ 9.88120964e-01 -1.53290153e-01 -1.09128033e-02 7.02201076e+01] [ 1.53277259e-01 9.88181172e-01 -2.01324316e-03 6.19222814e+00] [ 1.10924371e-02 3.16643195e-04 9.99938427e-01 2.45339988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61088847900001 meters 0.02132719788607069 Centerline is valid? [True, True] Translation: X:70.28, Y:6.20, Z:0.24 [[ 9.88447397e-01 -1.51167612e-01 -1.09588688e-02 7.02772756e+01] [ 1.51154463e-01 9.88508086e-01 -2.02312327e-03 6.20363188e+00] [ 1.11387611e-02 3.43269000e-04 9.99937903e-01 2.44189830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67088847900001 meters 0.02023943317524857 Centerline is valid? [True, True] Translation: X:70.34, Y:6.21, Z:0.25 [[ 9.88564432e-01 -1.50405744e-01 -1.08846897e-02 7.03362813e+01] [ 1.50392701e-01 9.88624291e-01 -2.01174151e-03 6.21072786e+00] [ 1.10634461e-02 3.51758226e-04 9.99938736e-01 2.45367256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.730888479 meters 0.022302067506767186 Centerline is valid? [True, True] Translation: X:70.39, Y:6.22, Z:0.25 [[ 9.88592847e-01 -1.50204754e-01 -1.10776586e-02 7.03930692e+01] [ 1.50191216e-01 9.88654844e-01 -2.04886780e-03 6.22012439e+00] [ 1.12597306e-02 3.61729037e-04 9.99936542e-01 2.45570652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.790888479 meters 0.0205639205406933 Centerline is valid? [True, True] Translation: X:70.45, Y:6.22, Z:0.25 [[ 9.88526093e-01 -1.50606540e-01 -1.15686565e-02 7.04509437e+01] [ 1.50591769e-01 9.88593713e-01 -2.14249672e-03 6.22451280e+00] [ 1.17593751e-02 3.75769471e-04 9.99930786e-01 2.45799638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.850888479 meters 0.021281928079366633 Centerline is valid? [True, True] Translation: X:70.51, Y:6.23, Z:0.25 [[ 9.88393091e-01 -1.51567344e-01 -1.03168343e-02 7.05088403e+01] [ 1.51555622e-01 9.88446879e-01 -1.91326285e-03 6.23261617e+00] [ 1.04876308e-02 3.27481548e-04 9.99944950e-01 2.48070845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91088847900001 meters 0.021954263995099605 Centerline is valid? [True, True] Translation: X:70.57, Y:6.24, Z:0.25 [[ 9.88289386e-01 -1.52321999e-01 -9.06080857e-03 7.05660122e+01] [ 1.52312978e-01 9.88330880e-01 -1.68148180e-03 6.23922045e+00] [ 9.21120358e-03 2.81711875e-04 9.99957536e-01 2.49352502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97088847900001 meters 0.02105436765583397 Centerline is valid? [True, True] Translation: X:70.62, Y:6.24, Z:0.25 [[ 9.88263924e-01 -1.52492644e-01 -8.96710517e-03 7.06243736e+01] [ 1.52483798e-01 9.88304566e-01 -1.66608286e-03 6.24450285e+00] [ 9.11629637e-03 2.79191331e-04 9.99958407e-01 2.50368773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03088847900001 meters 0.01944183387134659 Centerline is valid? [True, True] Translation: X:70.68, Y:6.25, Z:0.25 [[ 9.88217303e-01 -1.52789101e-01 -9.05829120e-03 7.06827426e+01] [ 1.52780062e-01 9.88258777e-01 -1.68568739e-03 6.24907133e+00] [ 9.20949045e-03 2.81899155e-04 9.99957552e-01 2.50567766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09088847900001 meters 0.020241151695730333 Centerline is valid? [True, True] Translation: X:70.74, Y:6.26, Z:0.25 [[ 9.88201749e-01 -1.52841087e-01 -9.84405910e-03 7.07400122e+01] [ 1.52830398e-01 9.88250731e-01 -1.83345388e-03 6.25505709e+00] [ 1.00086257e-02 3.07350854e-04 9.99949865e-01 2.49949873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.150888479 meters 0.021376215287692697 Centerline is valid? [True, True] Translation: X:70.80, Y:6.27, Z:0.25 [[ 9.88150758e-01 -1.53140952e-01 -1.02921227e-02 7.07965480e+01] [ 1.53129272e-01 9.88204304e-01 -1.91810590e-03 6.26564220e+00] [ 1.04644605e-02 3.19352545e-04 9.99945195e-01 2.49616978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.210888479 meters 0.019921253150636364 Centerline is valid? [True, True] Translation: X:70.86, Y:6.27, Z:0.25 [[ 9.88007865e-01 -1.54057900e-01 -1.03258286e-02 7.08559065e+01] [ 1.54046170e-01 9.88061772e-01 -1.92664638e-03 6.26735954e+00] [ 1.04993716e-02 3.12887416e-04 9.99944831e-01 2.50371992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.270888479 meters 0.019922709905697163 Centerline is valid? [True, True] Translation: X:70.91, Y:6.27, Z:0.25 [[ 9.88055801e-01 -1.53768526e-01 -1.00485800e-02 7.09148146e+01] [ 1.53757377e-01 9.88106849e-01 -1.87744655e-03 6.27373220e+00] [ 1.02177629e-02 3.09978643e-04 9.99947749e-01 2.50846673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33088847900001 meters 0.021900675763812515 Centerline is valid? [True, True] Translation: X:70.97, Y:6.28, Z:0.25 [[ 9.88240060e-01 -1.52686230e-01 -8.27641670e-03 7.09724337e+01] [ 1.52678620e-01 9.88274681e-01 -1.54741045e-03 6.28269645e+00] [ 8.41564134e-03 2.65581122e-04 9.99964553e-01 2.51300697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39088847900001 meters 0.021203501087663067 Centerline is valid? [True, True] Translation: X:71.03, Y:6.29, Z:0.25 [[ 9.88278414e-01 -1.52458076e-01 -7.89378633e-03 7.10315582e+01] [ 1.52451134e-01 9.88309905e-01 -1.47738487e-03 6.28915202e+00] [ 8.02674647e-03 2.56650903e-04 9.99967752e-01 2.51657093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45088847900001 meters 0.020724287922046305 Centerline is valid? [True, True] Translation: X:71.09, Y:6.29, Z:0.25 [[ 9.88352535e-01 -1.51937815e-01 -8.61199039e-03 7.10911965e+01] [ 1.51929513e-01 9.88390013e-01 -1.61404071e-03 6.29313566e+00] [ 8.75723912e-03 2.86825728e-04 9.99961614e-01 2.51966814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.510888479 meters 0.02361228397295775 Centerline is valid? [True, True] Translation: X:71.15, Y:6.31, Z:0.25 [[ 9.88489174e-01 -1.51015395e-01 -9.13806028e-03 7.11475945e+01] [ 1.51005995e-01 9.88531361e-01 -1.71395158e-03 6.30597535e+00] [ 9.29209224e-03 3.14320690e-04 9.99956778e-01 2.50837926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.570888479 meters 0.022029226134437127 Centerline is valid? [True, True] Translation: X:71.21, Y:6.31, Z:0.25 [[ 9.88598117e-01 -1.50344389e-01 -8.38619108e-03 7.12062029e+01] [ 1.50336435e-01 9.88633642e-01 -1.57457224e-03 6.31095410e+00] [ 8.52759872e-03 2.95869086e-04 9.99963596e-01 2.51268180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.630888479 meters 0.022082648431759153 Centerline is valid? [True, True] Translation: X:71.26, Y:6.32, Z:0.25 [[ 9.88395334e-01 -1.51674250e-01 -8.34176210e-03 7.12645589e+01] [ 1.51666410e-01 9.88430494e-01 -1.56830968e-03 6.31915768e+00] [ 8.48312423e-03 2.84944857e-04 9.99963977e-01 2.50592536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69088847900001 meters 0.02081595347333148 Centerline is valid? [True, True] Translation: X:71.32, Y:6.32, Z:0.25 [[ 9.88176243e-01 -1.53079838e-01 -8.61836328e-03 7.13238253e+01] [ 1.53071503e-01 9.88213784e-01 -1.62251657e-03 6.32450598e+00] [ 8.76515996e-03 2.84106505e-04 9.99961545e-01 2.51200265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75088847900001 meters 0.019656363603051036 Centerline is valid? [True, True] Translation: X:71.38, Y:6.33, Z:0.25 [[ 9.87478249e-01 -1.57467238e-01 -9.52771615e-03 7.13827029e+01] [ 1.57457245e-01 9.87524174e-01 -1.79473208e-03 6.33194339e+00] [ 9.69146153e-03 2.72050956e-04 9.99953000e-01 2.48839673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81088847900001 meters 0.01926810106924309 Centerline is valid? [True, True] Translation: X:71.44, Y:6.34, Z:0.25 [[ 9.87056308e-01 -1.60118148e-01 -9.05672818e-03 7.14398559e+01] [ 1.60109224e-01 9.87097829e-01 -1.70665661e-03 6.33930845e+00] [ 9.21314342e-03 2.34500448e-04 9.99957531e-01 2.49778382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.870888479 meters 0.01919056459055532 Centerline is valid? [True, True] Translation: X:71.50, Y:6.35, Z:0.25 [[ 9.86875851e-01 -1.61262577e-01 -8.39257426e-03 7.14981855e+01] [ 1.61254941e-01 9.86911515e-01 -1.58310550e-03 6.34827478e+00] [ 8.53802385e-03 2.08984520e-04 9.99963529e-01 2.50848709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.930888479 meters 0.018422977029995014 Centerline is valid? [True, True] Translation: X:71.56, Y:6.36, Z:0.25 [[ 9.86739425e-01 -1.61979517e-01 -1.03895875e-02 7.15554831e+01] [ 1.61967823e-01 9.86794088e-01 -1.96285140e-03 6.35780925e+00] [ 1.05703252e-02 2.54043990e-04 9.99944100e-01 2.49906359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.990888479 meters 0.018161120649167375 Centerline is valid? [True, True] Translation: X:71.61, Y:6.37, Z:0.25 [[ 9.86702816e-01 -1.62213906e-01 -1.02079510e-02 7.16124961e+01] [ 1.62202599e-01 9.86755586e-01 -1.93150774e-03 6.36763714e+00] [ 1.03860701e-02 2.50067947e-04 9.99946032e-01 2.49958544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05088847900001 meters 0.01875033607109803 Centerline is valid? [True, True] Translation: X:71.67, Y:6.38, Z:0.25 [[ 9.86505392e-01 -1.63449897e-01 -9.55211414e-03 7.16695645e+01] [ 1.63440041e-01 9.86551611e-01 -1.80877798e-03 6.37891179e+00] [ 9.71929817e-03 2.23171306e-04 9.99952742e-01 2.51196226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11088847900001 meters 0.01792431747480507 Centerline is valid? [True, True] Translation: X:71.73, Y:6.39, Z:0.25 [[ 9.86078051e-01 -1.66033681e-01 -9.10462622e-03 7.17278519e+01] [ 1.66024820e-01 9.86120064e-01 -1.72584498e-03 6.38809077e+00] [ 9.26480298e-03 1.90223919e-04 9.99957063e-01 2.51241537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17088847900001 meters 0.01713442524758799 Centerline is valid? [True, True] Translation: X:71.79, Y:6.40, Z:0.25 [[ 9.85814494e-01 -1.67594773e-01 -9.04296365e-03 7.17864835e+01] [ 1.67586076e-01 9.85855953e-01 -1.71642666e-03 6.39722710e+00] [ 9.20272368e-03 1.76603482e-04 9.99957638e-01 2.51881660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.230888479 meters 0.017565275908248638 Centerline is valid? [True, True] Translation: X:71.84, Y:6.41, Z:0.25 [[ 9.85636712e-01 -1.68652857e-01 -8.74567226e-03 7.18429179e+01] [ 1.68644754e-01 9.85675498e-01 -1.66120543e-03 6.41025545e+00] [ 8.90056190e-03 1.62433315e-04 9.99960376e-01 2.51184860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.290888479 meters 0.017170960845309755 Centerline is valid? [True, True] Translation: X:71.90, Y:6.42, Z:0.25 [[ 9.85497933e-01 -1.69449153e-01 -8.98931090e-03 7.19005149e+01] [ 1.69440606e-01 9.85538918e-01 -1.70951320e-03 6.41933803e+00] [ 9.14899130e-03 1.61567442e-04 9.99958134e-01 2.53063056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.350888479 meters 0.017028811261564376 Centerline is valid? [True, True] Translation: X:71.96, Y:6.43, Z:0.25 [[ 9.85234630e-01 -1.70950421e-01 -9.41690213e-03 7.19585781e+01] [ 1.70941087e-01 9.85279620e-01 -1.79330042e-03 6.43029681e+00] [ 9.58484721e-03 1.57086185e-04 9.99954052e-01 2.53454064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41088847900001 meters 0.01672633185992296 Centerline is valid? [True, True] Translation: X:72.02, Y:6.44, Z:0.25 [[ 9.84715356e-01 -1.73987639e-01 -7.99805007e-03 7.20159955e+01] [ 1.73980991e-01 9.84747830e-01 -1.52495720e-03 6.44116064e+00] [ 8.14138616e-03 1.10140095e-04 9.99966852e-01 2.52504967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47088847900001 meters 0.015885109109221692 Centerline is valid? [True, True] Translation: X:72.07, Y:6.45, Z:0.25 [[ 9.83919046e-01 -1.78460217e-01 -7.43386411e-03 7.20744388e+01] [ 1.78454587e-01 9.83947126e-01 -1.41918505e-03 6.44724706e+00] [ 7.56779729e-03 6.97560510e-05 9.99971361e-01 2.54795375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53088847900001 meters 0.015579619799030182 Centerline is valid? [True, True] Translation: X:72.13, Y:6.46, Z:0.26 [[ 9.83459143e-01 -1.80993889e-01 -7.02331823e-03 7.21325787e+01] [ 1.80988917e-01 9.83484219e-01 -1.34253389e-03 6.45680098e+00] [ 7.15031308e-03 4.91844667e-05 9.99974435e-01 2.56329049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59088847900001 meters 0.0155663128052803 Centerline is valid? [True, True] Translation: X:72.19, Y:6.47, Z:0.26 [[ 9.83212560e-01 -1.82344172e-01 -6.60794926e-03 7.21892839e+01] [ 1.82339789e-01 9.83234764e-01 -1.26489494e-03 6.46891882e+00] [ 6.72781165e-03 3.87685213e-05 9.99977367e-01 2.55774425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.650888479 meters 0.015623065768159064 Centerline is valid? [True, True] Translation: X:72.25, Y:6.48, Z:0.26 [[ 9.83276815e-01 -1.81991745e-01 -6.76084196e-03 7.22464378e+01] [ 1.81987135e-01 9.83300057e-01 -1.29611478e-03 6.48102128e+00] [ 6.88381848e-03 4.40533545e-05 9.99976305e-01 2.56026535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.710888479 meters 0.016200316553749608 Centerline is valid? [True, True] Translation: X:72.30, Y:6.49, Z:0.26 [[ 9.83512343e-01 -1.80714719e-01 -6.75735326e-03 7.23027528e+01] [ 1.80710076e-01 9.83535555e-01 -1.29658203e-03 6.49490340e+00] [ 6.88040864e-03 5.40826097e-05 9.99976328e-01 2.55746381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.770888479 meters 0.016530298003843185 Centerline is valid? [True, True] Translation: X:72.36, Y:6.51, Z:0.26 [[ 9.83798832e-01 -1.79108779e-01 -7.73975353e-03 7.23596269e+01] [ 1.79102632e-01 9.83829274e-01 -1.48578747e-03 6.50826782e+00] [ 7.88071367e-03 7.55057438e-05 9.99968944e-01 2.55026841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83088847900001 meters 0.01661318381299596 Centerline is valid? [True, True] Translation: X:72.42, Y:6.52, Z:0.26 [[ 9.83869105e-01 -1.78754683e-01 -6.95328542e-03 7.24164628e+01] [ 1.78749703e-01 9.83893672e-01 -1.33620985e-03 6.51985975e+00] [ 7.08014730e-03 7.17578884e-05 9.99974933e-01 2.55972873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89088847900001 meters 0.01685116663667586 Centerline is valid? [True, True] Translation: X:72.47, Y:6.53, Z:0.26 [[ 9.83870490e-01 -1.78802766e-01 -5.33187950e-03 7.24734610e+01] [ 1.78799832e-01 9.83884936e-01 -1.02594403e-03 6.53325221e+00] [ 5.42939756e-03 5.60569001e-05 9.99985259e-01 2.57219950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95088847900001 meters 0.016668621772345127 Centerline is valid? [True, True] Translation: X:72.53, Y:6.55, Z:0.26 [[ 9.83666361e-01 -1.79953349e-01 -4.15712304e-03 7.25308152e+01] [ 1.79951572e-01 9.83675145e-01 -8.00848629e-04 6.54572226e+00] [ 4.23337400e-03 3.96870337e-05 9.99991038e-01 2.57375347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.010888479 meters 0.01656965611626562 Centerline is valid? [True, True] Translation: X:72.59, Y:6.56, Z:0.26 [[ 9.83336238e-01 -1.81748252e-01 -4.17325798e-03 7.25889531e+01] [ 1.81746473e-01 9.83345093e-01 -8.04995532e-04 6.55618817e+00] [ 4.25005929e-03 3.31063603e-05 9.99990968e-01 2.58246741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.070888479 meters 0.0164912432650571 Centerline is valid? [True, True] Translation: X:72.65, Y:6.57, Z:0.26 [[ 9.83025278e-01 -1.83428733e-01 -3.89915638e-03 7.26468784e+01] [ 1.83427189e-01 9.83033010e-01 -7.53060977e-04 6.56769011e+00] [ 3.97113245e-03 2.50666834e-05 9.99992115e-01 2.59088574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.130888479 meters 0.016500735960891657 Centerline is valid? [True, True] Translation: X:72.70, Y:6.58, Z:0.26 [[ 9.82440635e-01 -1.86526879e-01 -4.25707788e-03 7.27032398e+01] [ 1.86525064e-01 9.82449858e-01 -8.23086501e-04 6.58127050e+00] [ 4.33589332e-03 1.45818996e-05 9.99990600e-01 2.58158892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19088847900001 meters 0.016471438878266114 Centerline is valid? [True, True] Translation: X:72.76, Y:6.59, Z:0.26 [[ 9.81971599e-01 -1.88992108e-01 -3.70962670e-03 7.27596123e+01] [ 1.88990746e-01 9.81978606e-01 -7.17729063e-04 6.59352872e+00] [ 3.77841918e-03 3.70444067e-06 9.99992862e-01 2.58433314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25088847900001 meters 0.016461136399861482 Centerline is valid? [True, True] Translation: X:72.82, Y:6.61, Z:0.26 [[ 9.81340143e-01 -1.92245484e-01 -3.63296515e-03 7.28165600e+01] [ 1.92244195e-01 9.81346867e-01 -7.03921662e-04 6.60613205e+00] [ 3.70052473e-03 -7.62987641e-06 9.99993153e-01 2.59006130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31088847900001 meters 0.016411336598335373 Centerline is valid? [True, True] Translation: X:72.87, Y:6.62, Z:0.26 [[ 9.81255923e-01 -1.92667550e-01 -4.00373819e-03 7.28726663e+01] [ 1.92665983e-01 9.81264090e-01 -7.76987131e-04 6.61983681e+00] [ 4.07842472e-03 -8.96092936e-06 9.99991683e-01 2.59331171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.370888479 meters 0.016460574576907173 Centerline is valid? [True, True] Translation: X:72.93, Y:6.64, Z:0.26 [[ 9.81786869e-01 -1.89952132e-01 -3.56810815e-03 7.29283084e+01] [ 1.89950867e-01 9.81793353e-01 -6.93391759e-04 6.63779530e+00] [ 3.63485611e-03 2.99768727e-06 9.99993394e-01 2.60074580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.430888479 meters 0.016840014981542036 Centerline is valid? [True, True] Translation: X:72.98, Y:6.66, Z:0.26 [[ 9.82861238e-01 -1.84334176e-01 -2.16746723e-03 7.29845513e+01] [ 1.84333694e-01 9.82863628e-01 -4.21540638e-04 6.65733776e+00] [ 2.20802906e-03 1.47787111e-05 9.99997562e-01 2.61592437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.490888479 meters 0.017891208054676987 Centerline is valid? [True, True] Translation: X:73.04, Y:6.68, Z:0.26 [[ 9.84273478e-01 -1.76618598e-01 -3.40454739e-03 7.30408368e+01] [ 1.76617360e-01 9.84279365e-01 -6.63261473e-04 6.67804933e+00] [ 3.46817006e-03 5.15285026e-05 9.99993985e-01 2.61038071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55088847900001 meters 0.01845204470378984 Centerline is valid? [True, True] Translation: X:73.10, Y:6.70, Z:0.26 [[ 9.84950351e-01 -1.72813122e-01 -2.90356663e-03 7.30970746e+01] [ 1.72812204e-01 9.84954629e-01 -5.65802750e-04 6.69514797e+00] [ 2.95765953e-03 5.55158676e-05 9.99995625e-01 2.61366165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61088847900001 meters 0.020244661927059194 Centerline is valid? [True, True] Translation: X:73.15, Y:6.71, Z:0.26 [[ 9.85612919e-01 -1.69007814e-01 -1.87964711e-03 7.31533834e+01] [ 1.69007422e-01 9.85614710e-01 -3.66393121e-04 6.71400486e+00] [ 1.91453114e-03 4.34474813e-05 9.99998166e-01 2.63986132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67088847900001 meters 0.020886350657829813 Centerline is valid? [True, True] Translation: X:73.21, Y:6.73, Z:0.26 [[ 9.85867996e-01 -1.67517252e-01 -1.50479723e-03 7.32095882e+01] [ 1.67516999e-01 9.85869144e-01 -2.93138635e-04 6.73184952e+00] [ 1.53263894e-03 3.69168828e-05 9.99998825e-01 2.64357620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.730888479 meters 0.020763080927797155 Centerline is valid? [True, True] Translation: X:73.27, Y:6.75, Z:0.26 [[ 9.85715898e-01 -1.68412736e-01 -1.14854259e-03 7.32669756e+01] [ 1.68412590e-01 9.85716567e-01 -2.23860975e-04 6.74528797e+00] [ 1.16983849e-03 2.72342904e-05 9.99999315e-01 2.63712644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.790888479 meters 0.02043382261937544 Centerline is valid? [True, True] Translation: X:73.32, Y:6.76, Z:0.26 [[ 9.85447033e-01 -1.69966493e-01 -2.35313911e-03 7.33247337e+01] [ 1.69965879e-01 9.85449841e-01 -4.59934826e-04 6.75718868e+00] [ 2.39707407e-03 5.32880523e-05 9.99997126e-01 2.62157680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.850888479 meters 0.019798425016963748 Centerline is valid? [True, True] Translation: X:73.38, Y:6.77, Z:0.26 [[ 9.84935997e-01 -1.72897463e-01 -2.74762162e-03 7.33823789e+01] [ 1.72896635e-01 9.84939828e-01 -5.37827968e-04 6.77031874e+00] [ 2.79923106e-03 5.46715937e-05 9.99996081e-01 2.61828848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91088847900001 meters 0.018412006728396622 Centerline is valid? [True, True] Translation: X:73.44, Y:6.78, Z:0.26 [[ 9.84367398e-01 -1.76072230e-01 -4.40411748e-03 7.34402720e+01] [ 1.76070128e-01 9.84377247e-01 -8.63578924e-04 6.78034406e+00] [ 4.48736531e-03 7.46454099e-05 9.99989929e-01 2.61709248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97088847900001 meters 0.018103278490693465 Centerline is valid? [True, True] Translation: X:73.50, Y:6.79, Z:0.26 [[ 9.83741968e-01 -1.79490364e-01 -5.91180932e-03 7.34968014e+01] [ 1.79486631e-01 9.83759728e-01 -1.16045355e-03 6.79315926e+00] [ 6.02409016e-03 8.04961217e-05 9.99981852e-01 2.60703936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03088847900001 meters 0.017527437708881252 Centerline is valid? [True, True] Translation: X:73.55, Y:6.80, Z:0.26 [[ 9.83192258e-01 -1.82451327e-01 -6.67059720e-03 7.35542832e+01] [ 1.82446633e-01 9.83214884e-01 -1.31068918e-03 6.80424817e+00] [ 6.79776744e-03 7.16314535e-05 9.99976892e-01 2.60609446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09088847900001 meters 0.017411759136924256 Centerline is valid? [True, True] Translation: X:73.61, Y:6.82, Z:0.26 [[ 9.82613244e-01 -1.85564719e-01 -6.07839810e-03 7.36116837e+01] [ 1.85560872e-01 9.82632043e-01 -1.19582760e-03 6.81642281e+00] [ 6.19473216e-03 4.71231891e-05 9.99980811e-01 2.61837767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.150888479 meters 0.017329627086455367 Centerline is valid? [True, True] Translation: X:73.67, Y:6.83, Z:0.26 [[ 9.82399687e-01 -1.86717314e-01 -5.24409819e-03 7.36680763e+01] [ 1.86714459e-01 9.82413682e-01 -1.03302479e-03 6.82956985e+00] [ 5.34475743e-03 3.56942705e-05 9.99985716e-01 2.64222711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.210888479 meters 0.017491700635054903 Centerline is valid? [True, True] Translation: X:73.73, Y:6.84, Z:0.26 [[ 9.82643904e-01 -1.85391834e-01 -6.38955584e-03 7.37257882e+01] [ 1.85387556e-01 9.82664676e-01 -1.26054888e-03 6.84351335e+00] [ 6.51248628e-03 5.41265311e-05 9.99978792e-01 2.64560055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.270888479 meters 0.017843430347225454 Centerline is valid? [True, True] Translation: X:73.78, Y:6.86, Z:0.26 [[ 9.83364890e-01 -1.81443500e-01 -8.47051955e-03 7.37822071e+01] [ 1.81435815e-01 9.83401365e-01 -1.67344046e-03 6.86161590e+00] [ 8.63355538e-03 1.08746970e-04 9.99962724e-01 2.62237552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33088847900001 meters 0.018071854968247935 Centerline is valid? [True, True] Translation: X:73.84, Y:6.88, Z:0.26 [[ 9.84023514e-01 -1.77728839e-01 -1.04968900e-02 7.38393292e+01] [ 1.77716796e-01 9.84079483e-01 -2.07662088e-03 6.87680705e+00] [ 1.06988495e-02 1.77970119e-04 9.99942750e-01 2.61013037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39088847900001 meters 0.01956491269491298 Centerline is valid? [True, True] Translation: X:73.90, Y:6.89, Z:0.26 [[ 9.84764832e-01 -1.73373707e-01 -1.34083619e-02 7.38950976e+01] [ 1.73353628e-01 9.84856068e-01 -2.65439787e-03 6.89418866e+00] [ 1.36655094e-02 2.89569485e-04 9.99906581e-01 2.58940839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45088847900001 meters 0.0192966308095555 Centerline is valid? [True, True] Translation: X:73.95, Y:6.90, Z:0.26 [[ 9.84883117e-01 -1.72783450e-01 -1.22933329e-02 7.39520939e+01] [ 1.72766489e-01 9.84959798e-01 -2.43664430e-03 6.90487348e+00] [ 1.25294505e-02 2.75933870e-04 9.99921465e-01 2.61536095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.510888479 meters 0.018945873967350535 Centerline is valid? [True, True] Translation: X:74.01, Y:6.92, Z:0.26 [[ 9.84652960e-01 -1.74106919e-01 -1.20552321e-02 7.40101355e+01] [ 1.74090668e-01 9.84726721e-01 -2.39260181e-03 6.91628956e+00] [ 1.22876777e-02 2.57179039e-04 9.99924471e-01 2.62988432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.570888479 meters 0.018804867452835217 Centerline is valid? [True, True] Translation: X:74.07, Y:6.93, Z:0.26 [[ 9.84198051e-01 -1.76644311e-01 -1.22875192e-02 7.40676735e+01] [ 1.76627587e-01 9.84274724e-01 -2.44180523e-03 6.92592645e+00] [ 1.25256256e-02 2.32905079e-04 9.99921524e-01 2.62948910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.630888479 meters 0.017989087801415653 Centerline is valid? [True, True] Translation: X:74.12, Y:6.93, Z:0.26 [[ 9.84058044e-01 -1.77402904e-01 -1.25688417e-02 7.41249594e+01] [ 1.77385420e-01 9.84138281e-01 -2.50135545e-03 6.93404819e+00] [ 1.28132260e-02 2.31949688e-04 9.99917880e-01 2.64548425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69088847900001 meters 0.018263667874147675 Centerline is valid? [True, True] Translation: X:74.18, Y:6.95, Z:0.26 [[ 9.84032805e-01 -1.77433374e-01 -1.40298720e-02 7.41810638e+01] [ 1.77411564e-01 9.84132781e-01 -2.79407453e-03 6.94675110e+00] [ 1.43030191e-02 2.60399455e-04 9.99897673e-01 2.62245313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75088847900001 meters 0.019012480351212308 Centerline is valid? [True, True] Translation: X:74.24, Y:6.96, Z:0.26 [[ 9.84153678e-01 -1.76600903e-01 -1.59266880e-02 7.42382804e+01] [ 1.76572664e-01 9.84282492e-01 -3.17330338e-03 6.95778621e+00] [ 1.62367684e-02 3.10800474e-04 9.99868127e-01 2.61068560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81088847900001 meters 0.01850075097810624 Centerline is valid? [True, True] Translation: X:74.30, Y:6.97, Z:0.26 [[ 9.84236740e-01 -1.76114165e-01 -1.61814975e-02 7.42966017e+01] [ 1.76084889e-01 9.84369694e-01 -3.22773243e-03 6.96609547e+00] [ 1.64970251e-02 3.27535647e-04 9.99863861e-01 2.62240161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.870888479 meters 0.01874697873830329 Centerline is valid? [True, True] Translation: X:74.35, Y:6.98, Z:0.26 [[ 9.84394507e-01 -1.75291722e-01 -1.55005341e-02 7.43543082e+01] [ 1.75264695e-01 9.84516482e-01 -3.09580220e-03 6.97552267e+00] [ 1.58031998e-02 3.30794304e-04 9.99875067e-01 2.62678001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.930888479 meters 0.018947714824466992 Centerline is valid? [True, True] Translation: X:74.41, Y:6.99, Z:0.26 [[ 9.84352735e-01 -1.75556600e-01 -1.51516911e-02 7.44108304e+01] [ 1.75530742e-01 9.84469286e-01 -3.03035176e-03 6.98669000e+00] [ 1.54483728e-02 3.23347462e-04 9.99880614e-01 2.62549925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.990888479 meters 0.018521126879818293 Centerline is valid? [True, True] Translation: X:74.47, Y:6.99, Z:0.26 [[ 9.84257247e-01 -1.76138499e-01 -1.45910994e-02 7.44699175e+01] [ 1.76114527e-01 9.84365346e-01 -2.92199561e-03 6.99326326e+00] [ 1.48776485e-02 3.06290788e-04 9.99889275e-01 2.64125726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05088847900001 meters 0.0190809795102943 Centerline is valid? [True, True] Translation: X:74.53, Y:7.00, Z:0.26 [[ 9.84300344e-01 -1.76012047e-01 -1.31374506e-02 7.45268067e+01] [ 1.75992582e-01 9.84387973e-01 -2.63244192e-03 7.00318691e+00] [ 1.33956898e-02 2.79019642e-04 9.99910235e-01 2.64617507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11088847900001 meters 0.01921863066663214 Centerline is valid? [True, True] Translation: X:74.58, Y:7.01, Z:0.26 [[ 9.84329702e-01 -1.75839526e-01 -1.32476287e-02 7.45847170e+01] [ 1.75819679e-01 9.84418803e-01 -2.65733362e-03 7.01245019e+00] [ 1.35084791e-02 2.86498586e-04 9.99908715e-01 2.64712472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17088847900001 meters 0.018513346763430822 Centerline is valid? [True, True] Translation: X:74.64, Y:7.02, Z:0.27 [[ 9.84376533e-01 -1.75593215e-01 -1.30331644e-02 7.46425294e+01] [ 1.75573962e-01 9.84462768e-01 -2.61590784e-03 7.02101123e+00] [ 1.32900007e-02 2.86753977e-04 9.99911643e-01 2.65549258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23088847900001 meters 0.01852317270766756 Centerline is valid? [True, True] Translation: X:74.70, Y:7.03, Z:0.27 [[ 9.84324357e-01 -1.75915053e-01 -1.26275452e-02 7.46995983e+01] [ 1.75896967e-01 9.84405312e-01 -2.53760577e-03 7.02950978e+00] [ 1.28770256e-02 2.76680278e-04 9.99917049e-01 2.66445426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.290888479 meters 0.018333204815380942 Centerline is valid? [True, True] Translation: X:74.76, Y:7.04, Z:0.27 [[ 9.83990031e-01 -1.77804036e-01 -1.22206271e-02 7.47580559e+01] [ 1.77787203e-01 9.84065884e-01 -2.45897050e-03 7.03832543e+00] [ 1.24631170e-02 2.46931346e-04 9.99922302e-01 2.66649828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.350888479 meters 0.017370992106510226 Centerline is valid? [True, True] Translation: X:74.82, Y:7.05, Z:0.27 [[ 9.83273029e-01 -1.81743416e-01 -1.19783973e-02 7.48172604e+01] [ 1.81727501e-01 9.83345968e-01 -2.41304560e-03 7.04530980e+00] [ 1.22174638e-02 1.95878444e-04 9.99925345e-01 2.66286359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41088847900001 meters 0.016565097228509282 Centerline is valid? [True, True] Translation: X:74.88, Y:7.05, Z:0.27 [[ 9.82380691e-01 -1.86560757e-01 -1.11023708e-02 7.48765963e+01] [ 1.86547380e-01 9.82443417e-01 -2.23775031e-03 7.05026352e+00] [ 1.13249275e-02 1.27204511e-04 9.99935863e-01 2.67950423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47088847900001 meters 0.016146226063649235 Centerline is valid? [True, True] Translation: X:74.93, Y:7.06, Z:0.27 [[ 9.81693262e-01 -1.90222450e-01 -9.68292088e-03 7.49348340e+01] [ 1.90212434e-01 9.81741011e-01 -1.95354797e-03 7.05745139e+00] [ 9.87772922e-03 7.59729308e-05 9.99951211e-01 2.68610148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53088847900001 meters 0.01627443969296902 Centerline is valid? [True, True] Translation: X:74.99, Y:7.07, Z:0.27 [[ 9.81516120e-01 -1.91148214e-01 -9.40571980e-03 7.49918494e+01] [ 1.91138791e-01 9.81561183e-01 -1.89911125e-03 7.06843554e+00] [ 9.59530117e-03 6.62103988e-05 9.99953962e-01 2.67672754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59088847900001 meters 0.01602507786708699 Centerline is valid? [True, True] Translation: X:75.05, Y:7.08, Z:0.27 [[ 9.81514447e-01 -1.91206502e-01 -8.33453561e-03 7.50487657e+01] [ 1.91199089e-01 9.81549831e-01 -1.68475559e-03 7.07803943e+00] [ 8.50289824e-03 6.00563408e-05 9.99963848e-01 2.68486965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.650888479 meters 0.01612129499739618 Centerline is valid? [True, True] Translation: X:75.10, Y:7.09, Z:0.27 [[ 9.81488788e-01 -1.91357920e-01 -7.86794481e-03 7.51049221e+01] [ 1.91351308e-01 9.81520322e-01 -1.59183369e-03 7.08803639e+00] [ 8.02715771e-03 5.68253942e-05 9.99967780e-01 2.68289085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.710888479 meters 0.016280791785160183 Centerline is valid? [True, True] Translation: X:75.16, Y:7.10, Z:0.27 [[ 9.81717403e-01 -1.90227946e-01 -6.65347582e-03 7.51616099e+01] [ 1.90223182e-01 9.81739948e-01 -1.34755914e-03 7.09895862e+00] [ 6.78832642e-03 5.72769232e-05 9.99976957e-01 2.68971858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.770888479 meters 0.01684605665808261 Centerline is valid? [True, True] Translation: X:75.22, Y:7.11, Z:0.27 [[ 9.82235692e-01 -1.87551419e-01 -6.12458421e-03 7.52179038e+01] [ 1.87547323e-01 9.82254784e-01 -1.24148457e-03 7.11131645e+00] [ 6.24874433e-03 7.07810809e-05 9.99980474e-01 2.68406534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83088847900001 meters 0.017614777456795468 Centerline is valid? [True, True] Translation: X:75.27, Y:7.12, Z:0.27 [[ 9.82530796e-01 -1.85999739e-01 -6.10992791e-03 7.52744703e+01] [ 1.85995629e-01 9.82549790e-01 -1.23919956e-03 7.12475197e+00] [ 6.23379918e-03 8.11318415e-05 9.99980566e-01 2.67512999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89088847900001 meters 0.017422810540587648 Centerline is valid? [True, True] Translation: X:75.33, Y:7.13, Z:0.27 [[ 9.82660552e-01 -1.85331243e-01 -5.52892621e-03 7.53325291e+01] [ 1.85327861e-01 9.82676103e-01 -1.12238866e-03 7.13454661e+00] [ 5.64115735e-03 7.82629933e-05 9.99984085e-01 2.67352750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95088847900001 meters 0.01754145644313906 Centerline is valid? [True, True] Translation: X:75.39, Y:7.15, Z:0.27 [[ 9.82631119e-01 -1.85494441e-01 -5.28179434e-03 7.53894802e+01] [ 1.85491349e-01 9.82645311e-01 -1.07360502e-03 7.14530352e+00] [ 5.38927821e-03 7.52305428e-05 9.99985475e-01 2.66478602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.010888479 meters 0.017718437971710112 Centerline is valid? [True, True] Translation: X:75.45, Y:7.15, Z:0.27 [[ 9.82615974e-01 -1.85591739e-01 -4.64275195e-03 7.54460552e+01] [ 1.85589346e-01 9.82626939e-01 -9.44763220e-04 7.15473382e+00] [ 4.73743338e-03 6.66941341e-05 9.99988776e-01 2.67714040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.070888479 meters 0.018204825972117075 Centerline is valid? [True, True] Translation: X:75.50, Y:7.17, Z:0.27 [[ 9.82571832e-01 -1.85827035e-01 -4.57261910e-03 7.55023307e+01] [ 1.85824713e-01 9.82582469e-01 -9.31354670e-04 7.16636414e+00] [ 4.66604624e-03 6.54172315e-05 9.99989112e-01 2.68022820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.130888479 meters 0.01779253591534475 Centerline is valid? [True, True] Translation: X:75.56, Y:7.17, Z:0.27 [[ 9.82524740e-01 -1.86072075e-01 -4.72420841e-03 7.55595736e+01] [ 1.86069594e-01 9.82536095e-01 -9.63329066e-04 7.17441592e+00] [ 4.82095392e-03 6.74631004e-05 9.99988377e-01 2.67926856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19088847900001 meters 0.017517700068657688 Centerline is valid? [True, True] Translation: X:75.62, Y:7.18, Z:0.27 [[ 9.82239136e-01 -1.87530061e-01 -6.22543801e-03 7.56183403e+01] [ 1.87525769e-01 9.82258861e-01 -1.27136834e-03 7.18330471e+00] [ 6.35341143e-03 8.13576900e-05 9.99979814e-01 2.66725648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25088847900001 meters 0.01743241437328434 Centerline is valid? [True, True] Translation: X:75.67, Y:7.19, Z:0.27 [[ 9.82190180e-01 -1.87794717e-01 -5.96612461e-03 7.56749533e+01] [ 1.87790770e-01 9.82208297e-01 -1.21999982e-03 7.19466577e+00] [ 6.08908661e-03 7.78887040e-05 9.99981458e-01 2.67443245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31088847900001 meters 0.017721365686929995 Centerline is valid? [True, True] Translation: X:75.73, Y:7.20, Z:0.27 [[ 9.82280890e-01 -1.87299865e-01 -6.55843752e-03 7.57320657e+01] [ 1.87295076e-01 9.82302780e-01 -1.34231688e-03 7.20474625e+00] [ 6.69378718e-03 9.01691651e-05 9.99977592e-01 2.67914843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.370888479 meters 0.01684724752958518 Centerline is valid? [True, True] Translation: X:75.79, Y:7.21, Z:0.27 [[ 9.81869495e-01 -1.89421742e-01 -7.19012160e-03 7.57903674e+01] [ 1.89416033e-01 9.81895818e-01 -1.47299968e-03 7.21392902e+00] [ 7.33896850e-03 8.43691422e-05 9.99973066e-01 2.68068722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.430888479 meters 0.016592659896363438 Centerline is valid? [True, True] Translation: X:75.85, Y:7.22, Z:0.27 [[ 9.81419330e-01 -1.91737565e-01 -7.26666711e-03 7.58488439e+01] [ 1.91731784e-01 9.81446229e-01 -1.49052916e-03 7.22344361e+00] [ 7.41763347e-03 6.95830759e-05 9.99972487e-01 2.68057337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.490888479 meters 0.016080788537310958 Centerline is valid? [True, True] Translation: X:75.91, Y:7.23, Z:0.27 [[ 9.80592484e-01 -1.95901490e-01 -7.80939149e-03 7.59076932e+01] [ 1.95894930e-01 9.80623579e-01 -1.60386173e-03 7.23026487e+00] [ 7.97227233e-03 4.29145622e-05 9.99968220e-01 2.69403429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55088847900001 meters 0.015760812929765573 Centerline is valid? [True, True] Translation: X:75.97, Y:7.24, Z:0.27 [[ 9.79682880e-01 -2.00420788e-01 -7.27760262e-03 7.59662071e+01] [ 2.00415201e-01 9.79709910e-01 -1.49643113e-03 7.23791903e+00] [ 7.42985531e-03 7.48576835e-06 9.99972398e-01 2.70336505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61088847900001 meters 0.015837785428514325 Centerline is valid? [True, True] Translation: X:76.02, Y:7.25, Z:0.27 [[ 9.79365864e-01 -2.01939192e-01 -7.94149806e-03 7.60233079e+01] [ 2.01932571e-01 9.79398061e-01 -1.63519669e-03 7.24938870e+00] [ 8.10809810e-03 -2.19130311e-06 9.99967129e-01 2.69308734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67088847900001 meters 0.01577541907754455 Centerline is valid? [True, True] Translation: X:76.08, Y:7.26, Z:0.27 [[ 9.79083207e-01 -2.03286840e-01 -8.39843383e-03 7.60801708e+01] [ 2.03279474e-01 9.79119227e-01 -1.73061689e-03 7.25852967e+00] [ 8.57487968e-03 -1.28112731e-05 9.99963235e-01 2.69680713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73088847900001 meters 0.015953766221849703 Centerline is valid? [True, True] Translation: X:76.14, Y:7.27, Z:0.27 [[ 9.78720527e-01 -2.04969301e-01 -9.68072497e-03 7.61385399e+01] [ 2.04959576e-01 9.78768402e-01 -1.99682924e-03 7.26887047e+00] [ 9.88447640e-03 -2.98195168e-05 9.99951147e-01 2.69013167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.790888479 meters 0.01589885276908863 Centerline is valid? [True, True] Translation: X:76.20, Y:7.28, Z:0.27 [[ 9.78853348e-01 -2.04256917e-01 -1.11908497e-02 7.61962495e+01] [ 2.04243842e-01 9.78917316e-01 -2.31118599e-03 7.28265085e+00] [ 1.14269923e-02 -2.33499974e-05 9.99934710e-01 2.67336658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.850888479 meters 0.0158834679953726 Centerline is valid? [True, True] Translation: X:76.25, Y:7.30, Z:0.27 [[ 9.79101819e-01 -2.03044018e-01 -1.15219220e-02 7.62532494e+01] [ 2.03030036e-01 9.79169611e-01 -2.38274559e-03 7.29560102e+00] [ 1.17657181e-02 -6.34570689e-06 9.99930782e-01 2.67013352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91088847900001 meters 0.01594102720885645 Centerline is valid? [True, True] Translation: X:76.31, Y:7.31, Z:0.27 [[ 9.79644302e-01 -2.00330685e-01 -1.28319016e-02 7.63101520e+01] [ 2.00313067e-01 9.79728338e-01 -2.65701721e-03 7.30944118e+00] [ 1.31040597e-02 3.25342052e-05 9.99914138e-01 2.66756771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97088847900001 meters 0.015959545290329058 Centerline is valid? [True, True] Translation: X:76.37, Y:7.32, Z:0.27 [[ 9.79843371e-01 -1.99420644e-01 -1.17632958e-02 7.63670409e+01] [ 1.99405735e-01 9.79913978e-01 -2.43890609e-03 7.32284434e+00] [ 1.20133862e-02 4.40773256e-05 9.99927836e-01 2.67690485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03088847900001 meters 0.01597023794069447 Centerline is valid? [True, True] Translation: X:76.42, Y:7.34, Z:0.27 [[ 9.80264864e-01 -1.97462707e-01 -9.44853912e-03 7.64237174e+01] [ 1.97452974e-01 9.80310398e-01 -1.96145904e-03 7.33611427e+00] [ 9.64981615e-03 5.71072323e-05 9.99953438e-01 2.69402530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09088847900001 meters 0.01637873254241293 Centerline is valid? [True, True] Translation: X:76.48, Y:7.35, Z:0.27 [[ 9.80637584e-01 -1.95606298e-01 -9.38641977e-03 7.64811866e+01] [ 1.95596584e-01 9.80682502e-01 -1.95094328e-03 7.34977035e+00] [ 9.58671442e-03 7.72166595e-05 9.99954043e-01 2.69990715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.150888479 meters 0.01655751902467648 Centerline is valid? [True, True] Translation: X:76.54, Y:7.36, Z:0.27 [[ 9.80875965e-01 -1.94356286e-01 -1.03910782e-02 7.65384897e+01] [ 1.94344283e-01 9.80930998e-01 -2.16241562e-03 7.36286797e+00] [ 1.06132098e-02 1.01614861e-04 9.99943673e-01 2.68499473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.210888479 meters 0.01719793969458023 Centerline is valid? [True, True] Translation: X:76.60, Y:7.38, Z:0.27 [[ 9.81358484e-01 -1.91814009e-01 -1.19546078e-02 7.65951407e+01] [ 1.91797913e-01 9.81431283e-01 -2.48938841e-03 7.37641673e+00] [ 1.22101257e-02 1.50113600e-04 9.99925442e-01 2.66048196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.270888479 meters 0.017294536140023083 Centerline is valid? [True, True] Translation: X:76.65, Y:7.39, Z:0.27 [[ 9.81855485e-01 -1.89147846e-01 -1.35239792e-02 7.66521924e+01] [ 1.89126977e-01 9.81948598e-01 -2.81743368e-03 7.38918517e+00] [ 1.38127639e-02 2.08563419e-04 9.99904577e-01 2.65546149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33088847900001 meters 0.0173686917327695 Centerline is valid? [True, True] Translation: X:76.71, Y:7.40, Z:0.27 [[ 9.82077393e-01 -1.88010118e-01 -1.32736312e-02 7.67091386e+01] [ 1.87989894e-01 9.82167066e-01 -2.76648441e-03 7.40199195e+00] [ 1.35570505e-02 2.21593276e-04 9.99908074e-01 2.65991745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39088847900001 meters 0.0183873554657234 Centerline is valid? [True, True] Translation: X:76.77, Y:7.41, Z:0.27 [[ 9.82180470e-01 -1.87477278e-01 -1.31831018e-02 7.67653931e+01] [ 1.87457265e-01 9.82268913e-01 -2.74880344e-03 7.41394592e+00] [ 1.34646893e-02 2.28552844e-04 9.99909321e-01 2.66120207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45088847900001 meters 0.017838881767738263 Centerline is valid? [True, True] Translation: X:76.82, Y:7.42, Z:0.27 [[ 9.82047179e-01 -1.88253593e-01 -1.19968048e-02 7.68230120e+01] [ 1.88237046e-01 9.82120433e-01 -2.50398095e-03 7.42485340e+00] [ 1.22536905e-02 2.00784329e-04 9.99924901e-01 2.67578013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.510888479 meters 0.01777788439155339 Centerline is valid? [True, True] Translation: X:76.88, Y:7.44, Z:0.27 [[ 9.81634154e-01 -1.90429020e-01 -1.14531670e-02 7.68799958e+01] [ 1.90414071e-01 9.81700953e-01 -2.39193203e-03 7.43556817e+00] [ 1.16990782e-02 1.67158023e-04 9.99931549e-01 2.67281508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.570888479 meters 0.016928358506233615 Centerline is valid? [True, True] Translation: X:76.94, Y:7.44, Z:0.27 [[ 9.81144589e-01 -1.92905256e-01 -1.19523426e-02 7.69386773e+01] [ 1.92889127e-01 9.81217377e-01 -2.49876791e-03 7.44284358e+00] [ 1.22098717e-02 1.46175687e-04 9.99925446e-01 2.68495064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.630888479 meters 0.016784885822187803 Centerline is valid? [True, True] Translation: X:77.00, Y:7.45, Z:0.27 [[ 9.80670915e-01 -1.95208769e-01 -1.33451373e-02 7.69961721e+01] [ 1.95188823e-01 9.80761703e-01 -2.79376148e-03 7.45305375e+00] [ 1.36337664e-02 1.34938989e-04 9.99907047e-01 2.67548126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69088847900001 meters 0.01651595289703182 Centerline is valid? [True, True] Translation: X:77.05, Y:7.46, Z:0.27 [[ 9.79940768e-01 -1.98771050e-01 -1.43582858e-02 7.70542299e+01] [ 1.98748287e-01 9.80045948e-01 -3.00960591e-03 7.46391870e+00] [ 1.46700024e-02 9.55508205e-05 9.99892385e-01 2.65092657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75088847900001 meters 0.016345872295456594 Centerline is valid? [True, True] Translation: X:77.11, Y:7.47, Z:0.27 [[ 9.78993995e-01 -2.03421899e-01 -1.37945234e-02 7.71119691e+01] [ 2.03401321e-01 9.79091176e-01 -2.89353450e-03 7.47150099e+00] [ 1.40947045e-02 2.69286168e-05 9.99900664e-01 2.65727366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81088847900001 meters 0.016341001168989247 Centerline is valid? [True, True] Translation: X:77.17, Y:7.48, Z:0.27 [[ 9.77692856e-01 -2.09701056e-01 -1.19225460e-02 7.71701961e+01] [ 2.09686118e-01 9.77765547e-01 -2.50344463e-03 7.47867207e+00] [ 1.21824297e-02 -5.23924519e-05 9.99925790e-01 2.68610087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.870888479 meters 0.01696921929707346 Centerline is valid? [True, True] Translation: X:77.23, Y:7.49, Z:0.27 [[ 9.76835019e-01 -2.13742010e-01 -1.03778208e-02 7.72269888e+01] [ 2.13730907e-01 9.76890140e-01 -2.18034167e-03 7.48755861e+00] [ 1.06040214e-02 -8.82269580e-05 9.99943772e-01 2.68996393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.930888479 meters 0.017840001046815247 Centerline is valid? [True, True] Translation: X:77.29, Y:7.50, Z:0.27 [[ 9.75933505e-01 -2.17850149e-01 -9.75226110e-03 7.72853165e+01] [ 2.17840531e-01 9.75982222e-01 -2.05073458e-03 7.49835341e+00] [ 9.96478629e-03 -1.23057150e-04 9.99950343e-01 2.67908315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.990888479 meters 0.017465050088875427 Centerline is valid? [True, True] Translation: X:77.34, Y:7.51, Z:0.27 [[ 9.75534662e-01 -2.19634455e-01 -9.63483179e-03 7.73421380e+01] [ 2.19625132e-01 9.75582230e-01 -2.02837919e-03 7.51231960e+00] [ 9.84507264e-03 -1.37296991e-04 9.99951527e-01 2.69193726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05088847900001 meters 0.01755674232260006 Centerline is valid? [True, True] Translation: X:77.40, Y:7.53, Z:0.27 [[ 9.75461691e-01 -2.19978740e-01 -9.15657310e-03 7.73984865e+01] [ 2.19970311e-01 9.75504657e-01 -1.93018988e-03 7.52584459e+00] [ 9.35688044e-03 -1.31347950e-04 9.99956215e-01 2.69973228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11088847900001 meters 0.01766512619495531 Centerline is valid? [True, True] Translation: X:77.46, Y:7.54, Z:0.27 [[ 9.75731347e-01 -2.18769867e-01 -9.38527882e-03 7.74550391e+01] [ 2.18760932e-01 9.75776476e-01 -1.98086142e-03 7.54138277e+00] [ 9.59128708e-03 -1.20343759e-04 9.99953995e-01 2.69852157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17088847900001 meters 0.01730689774127553 Centerline is valid? [True, True] Translation: X:77.51, Y:7.56, Z:0.27 [[ 9.76442012e-01 -2.15621221e-01 -8.27559017e-03 7.75116869e+01] [ 2.15614144e-01 9.76477078e-01 -1.74863590e-03 7.55966522e+00] [ 8.45796711e-03 -7.68927386e-05 9.99964228e-01 2.70386135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23088847900001 meters 0.01705565524572704 Centerline is valid? [True, True] Translation: X:77.57, Y:7.58, Z:0.27 [[ 9.77361938e-01 -2.11446914e-01 -7.33784080e-03 7.75676359e+01] [ 2.11441219e-01 9.77389483e-01 -1.55224401e-03 7.57832159e+00] [ 7.50014563e-03 -3.44177903e-05 9.99971873e-01 2.72293415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.290888479 meters 0.016948430257937755 Centerline is valid? [True, True] Translation: X:77.62, Y:7.60, Z:0.27 [[ 9.78007155e-01 -2.08454812e-01 -6.97108648e-03 7.76236722e+01] [ 2.08449583e-01 9.78031999e-01 -1.47638117e-03 7.59664472e+00] [ 7.12570440e-03 -9.20872620e-06 9.99974612e-01 2.73064522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.350888479 meters 0.01703173098989287 Centerline is valid? [True, True] Translation: X:77.68, Y:7.62, Z:0.27 [[ 9.79281854e-01 -2.02312163e-01 -8.76574412e-03 7.76788862e+01] [ 2.02303629e-01 9.79321084e-01 -1.85885275e-03 7.61869287e+00] [ 8.96054656e-03 4.69989256e-05 9.99959852e-01 2.73070244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41088847900001 meters 0.01752628994497822 Centerline is valid? [True, True] Translation: X:77.73, Y:7.64, Z:0.27 [[ 9.80457032e-01 -1.96474805e-01 -1.00826485e-02 7.77343582e+01] [ 1.96463177e-01 9.80508866e-01 -2.14076646e-03 7.64095178e+00] [ 1.03067330e-02 1.18060366e-04 9.99946877e-01 2.72819160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47088847900001 meters 0.017668699908750248 Centerline is valid? [True, True] Translation: X:77.79, Y:7.66, Z:0.27 [[ 9.80745409e-01 -1.94964069e-01 -1.12896142e-02 7.77911138e+01] [ 1.94949356e-01 9.80810373e-01 -2.40000074e-03 7.65762337e+00] [ 1.15408846e-02 1.52886696e-04 9.99933390e-01 2.72699455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53088847900001 meters 0.017491612174506024 Centerline is valid? [True, True] Translation: X:77.85, Y:7.67, Z:0.27 [[ 9.80556758e-01 -1.95805995e-01 -1.29790730e-02 7.78465844e+01] [ 1.95786600e-01 9.80642639e-01 -2.76088453e-03 7.67293401e+00] [ 1.32684301e-02 1.66075419e-04 9.99911957e-01 2.73677890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59088847900001 meters 0.01759247689964196 Centerline is valid? [True, True] Translation: X:77.90, Y:7.69, Z:0.27 [[ 9.80395902e-01 -1.96625668e-01 -1.27366653e-02 7.79023682e+01] [ 1.96607039e-01 9.80478619e-01 -2.71089226e-03 7.68908129e+00] [ 1.30210591e-02 1.53629604e-04 9.99915211e-01 2.74955907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.650888479 meters 0.017016910438363494 Centerline is valid? [True, True] Translation: X:77.96, Y:7.70, Z:0.28 [[ 9.79979816e-01 -1.98689656e-01 -1.27272127e-02 7.79601147e+01] [ 1.98671191e-01 9.80062449e-01 -2.71179647e-03 7.70040096e+00] [ 1.30122692e-02 1.28975290e-04 9.99915329e-01 2.77599795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.710888479 meters 0.016600026410625312 Centerline is valid? [True, True] Translation: X:78.02, Y:7.71, Z:0.28 [[ 9.79050104e-01 -2.03213009e-01 -1.28595219e-02 7.80173283e+01] [ 2.03194505e-01 9.79134550e-01 -2.74327018e-03 7.71263995e+00] [ 1.31486703e-02 7.28147811e-05 9.99913550e-01 2.77521075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.770888479 meters 0.016616784625015642 Centerline is valid? [True, True] Translation: X:78.07, Y:7.72, Z:0.28 [[ 9.78703553e-01 -2.04842448e-01 -1.33763896e-02 7.80745575e+01] [ 2.04822527e-01 9.78794957e-01 -2.85733048e-03 7.72498555e+00] [ 1.36780453e-02 5.66935717e-05 9.99906450e-01 2.76935206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83088847900001 meters 0.016469417063317653 Centerline is valid? [True, True] Translation: X:78.13, Y:7.74, Z:0.28 [[ 9.78307134e-01 -2.06729400e-01 -1.33456874e-02 7.81307780e+01] [ 2.06709693e-01 9.78398157e-01 -2.85463248e-03 7.73807216e+00] [ 1.36475324e-02 3.40243849e-05 9.99906868e-01 2.76908957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89088847900001 meters 0.016319051390178484 Centerline is valid? [True, True] Translation: X:78.19, Y:7.75, Z:0.28 [[ 9.78139374e-01 -2.07567846e-01 -1.26077057e-02 7.81872943e+01] [ 2.07550281e-01 9.78220624e-01 -2.70035729e-03 7.75198865e+00] [ 1.28936251e-02 2.45929173e-05 9.99916873e-01 2.77501044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95088847900001 meters 0.016308543901871315 Centerline is valid? [True, True] Translation: X:78.24, Y:7.77, Z:0.28 [[ 9.78279126e-01 -2.06885727e-01 -1.29710326e-02 7.82436781e+01] [ 2.06867025e-01 9.78365113e-01 -2.78198697e-03 7.76718482e+00] [ 1.32659592e-02 3.82808584e-05 9.99912003e-01 2.77194438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.010888479 meters 0.016397016771655105 Centerline is valid? [True, True] Translation: X:78.30, Y:7.79, Z:0.28 [[ 9.78495235e-01 -2.05941301e-01 -1.16298965e-02 7.82994974e+01] [ 2.05926161e-01 9.78564345e-01 -2.49764328e-03 7.78528408e+00] [ 1.18949700e-02 4.90321019e-05 9.99929251e-01 2.75356374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.070888479 meters 0.01620297319060198 Centerline is valid? [True, True] Translation: X:78.36, Y:7.80, Z:0.28 [[ 9.78745689e-01 -2.04825354e-01 -1.01710332e-02 7.83554467e+01] [ 2.04813684e-01 9.78798534e-01 -2.18722232e-03 7.80080638e+00] [ 1.04033909e-02 5.75676521e-05 9.99945882e-01 2.76232121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.130888479 meters 0.016135341557419476 Centerline is valid? [True, True] Translation: X:78.41, Y:7.82, Z:0.28 [[ 9.79213670e-01 -2.02648212e-01 -8.61920623e-03 7.84110399e+01] [ 2.02639736e-01 9.79251601e-01 -1.85472700e-03 7.81751166e+00] [ 8.81622861e-03 6.95803568e-05 9.99961134e-01 2.77056819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19088847900001 meters 0.01641795663933104 Centerline is valid? [True, True] Translation: X:78.47, Y:7.83, Z:0.28 [[ 9.79669815e-01 -2.00489893e-01 -7.13141321e-03 7.84677221e+01] [ 2.00484024e-01 9.79695768e-01 -1.53591469e-03 7.83273790e+00] [ 7.29455071e-03 7.49548433e-05 9.99973392e-01 2.78028702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25088847900001 meters 0.016926815644154953 Centerline is valid? [True, True] Translation: X:78.52, Y:7.85, Z:0.28 [[ 9.80579984e-01 -1.95968082e-01 -7.70758226e-03 7.85239251e+01] [ 1.95961070e-01 9.80610267e-01 -1.66204235e-03 7.85174309e+00] [ 7.88384155e-03 1.19379399e-04 9.99968915e-01 2.75857246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31088847900001 meters 0.01860747076382236 Centerline is valid? [True, True] Translation: X:78.58, Y:7.87, Z:0.27 [[ 9.82046649e-01 -1.88453641e-01 -8.34294214e-03 7.85811398e+01] [ 1.88445145e-01 9.82082067e-01 -1.80001438e-03 7.87015890e+00] [ 8.53267312e-03 1.95511147e-04 9.99963577e-01 2.74173766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.370888479 meters 0.020048708409493198 Centerline is valid? [True, True] Translation: X:78.64, Y:7.89, Z:0.27 [[ 9.82759899e-01 -1.84725286e-01 -7.71679022e-03 7.86372487e+01] [ 1.84717900e-01 9.82790173e-01 -1.66537601e-03 7.88701400e+00] [ 7.89162266e-03 2.11235470e-04 9.99968838e-01 2.74055531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.430888479 meters 0.020447094203297246 Centerline is valid? [True, True] Translation: X:78.70, Y:7.90, Z:0.27 [[ 9.83528906e-01 -1.80682586e-01 -4.96935605e-03 7.86950325e+01] [ 1.80679470e-01 9.83541447e-01 -1.07265819e-03 7.90158898e+00] [ 5.08137830e-03 1.57129714e-04 9.99987077e-01 2.74719764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.490888479 meters 0.021790457681932034 Centerline is valid? [True, True] Translation: X:78.75, Y:7.91, Z:0.28 [[ 9.83785541e-01 -1.79313596e-01 -3.55585193e-03 7.87509554e+01] [ 1.79311991e-01 9.83791960e-01 -7.67750954e-04 7.91455204e+00] [ 3.63588672e-03 1.17695399e-04 9.99993383e-01 2.75437922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55088847900001 meters 0.02093353803830578 Centerline is valid? [True, True] Translation: X:78.81, Y:7.92, Z:0.28 [[ 9.83612927e-01 -1.80279566e-01 -2.21092107e-03 7.88090231e+01] [ 1.80278948e-01 9.83615409e-01 -4.77500184e-04 7.92440194e+00] [ 2.26077956e-03 7.10928287e-05 9.99997442e-01 2.75967361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61088847900001 meters 0.02125751734691742 Centerline is valid? [True, True] Translation: X:78.87, Y:7.93, Z:0.28 [[ 9.83392427e-01 -1.81470583e-01 -2.78592770e-03 7.88659412e+01] [ 1.81469604e-01 9.83396370e-01 -6.02592257e-04 7.93440812e+00] [ 2.84902396e-03 8.70234661e-05 9.99995938e-01 2.75259595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67088847900001 meters 0.0205658687419775 Centerline is valid? [True, True] Translation: X:78.92, Y:7.94, Z:0.28 [[ 9.83240272e-01 -1.82290723e-01 -2.94263716e-03 7.89241385e+01] [ 1.82289632e-01 9.83244672e-01 -6.36932108e-04 7.94466302e+00] [ 3.00943912e-03 8.98450549e-05 9.99995468e-01 2.75459634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73088847900001 meters 0.020504282046287074 Centerline is valid? [True, True] Translation: X:78.98, Y:7.95, Z:0.28 [[ 9.83046164e-01 -1.83355708e-01 -9.61132078e-04 7.89819758e+01] [ 1.83355592e-01 9.83046633e-01 -2.07812301e-04 7.95449395e+00] [ 9.82941226e-04 2.80601437e-05 9.99999517e-01 2.76734351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.790888479 meters 0.019498201867365964 Centerline is valid? [True, True] Translation: X:79.04, Y:7.96, Z:0.28 [[ 9.82529476e-01 -1.86096117e-01 -2.01598536e-03 7.90406660e+01] [ 1.86095611e-01 9.82531543e-01 -4.37172806e-04 7.96178476e+00] [ 2.06212537e-03 5.43691394e-05 9.99997872e-01 2.75585070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.850888479 meters 0.018200433273297605 Centerline is valid? [True, True] Translation: X:79.10, Y:7.97, Z:0.28 [[ 9.81882573e-01 -1.89478728e-01 -2.10358369e-03 7.90993985e+01] [ 1.89478184e-01 9.81884825e-01 -4.56861017e-04 7.96920504e+00] [ 2.15204234e-03 5.00006540e-05 9.99997683e-01 2.75283663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91088847900001 meters 0.01699756814727291 Centerline is valid? [True, True] Translation: X:79.16, Y:7.98, Z:0.27 [[ 9.80788318e-01 -1.95069870e-01 -1.42158205e-03 7.91578270e+01] [ 1.95069627e-01 9.80789348e-01 -3.08784668e-04 7.97639674e+00] [ 1.45450712e-03 2.55449150e-05 9.99998942e-01 2.74706077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97088847900001 meters 0.017246078706228404 Centerline is valid? [True, True] Translation: X:79.21, Y:7.99, Z:0.28 [[ 9.80202396e-01 -1.97996954e-01 -6.84416418e-04 7.92146132e+01] [ 1.97996898e-01 9.80202635e-01 -1.48573322e-04 7.98819356e+00] [ 7.00283842e-04 1.01195980e-05 9.99999755e-01 2.75306660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03088847900001 meters 0.015683757337799746 Centerline is valid? [True, True] Translation: X:79.27, Y:7.99, Z:0.27 [[ 9.79437714e-01 -2.01746505e-01 -3.33953676e-04 7.92738829e+01] [ 2.01746492e-01 9.79437771e-01 -7.20009047e-05 7.99339894e+00] [ 3.41612775e-04 3.14641873e-06 9.99999942e-01 2.74106537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09088847900001 meters 0.015207956919883516 Centerline is valid? [True, True] Translation: X:79.33, Y:8.00, Z:0.27 [[ 9.78773263e-01 -2.04945953e-01 -2.37481930e-04 7.93315032e+01] [ 2.04945947e-01 9.78773292e-01 -5.10685311e-05 8.00339411e+00] [ 2.42907259e-04 1.31355384e-06 9.99999970e-01 2.71963305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.150888479 meters 0.014766428568877103 Centerline is valid? [True, True] Translation: X:79.39, Y:8.01, Z:0.27 [[ 9.78265408e-01 -2.07355394e-01 7.30049197e-04 7.93896804e+01] [ 2.07355332e-01 9.78265680e-01 1.59993364e-04 8.01189724e+00] [-7.47357561e-04 -5.13637936e-06 9.99999721e-01 2.73079777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.210888479 meters 0.014617931545787858 Centerline is valid? [True, True] Translation: X:79.45, Y:8.02, Z:0.27 [[ 9.77762694e-01 -2.09713396e-01 6.36987314e-04 7.94486251e+01] [ 2.09713350e-01 9.77762901e-01 1.39866248e-04 8.02032522e+00] [-6.52154390e-04 -3.17125605e-06 9.99999787e-01 2.73140252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.270888479 meters 0.014654952991504454 Centerline is valid? [True, True] Translation: X:79.51, Y:8.03, Z:0.27 [[ 9.78084592e-01 -2.08207757e-01 2.46519260e-04 7.95058244e+01] [ 2.08207749e-01 9.78084623e-01 5.47515384e-05 8.03194173e+00] [-2.52516393e-04 -2.22441582e-06 9.99999968e-01 2.73044793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33088847900001 meters 0.014984456823101835 Centerline is valid? [True, True] Translation: X:79.56, Y:8.05, Z:0.27 [[ 9.78632115e-01 -2.05612925e-01 1.58378702e-03 7.95632081e+01] [ 2.05612632e-01 9.78633397e-01 3.47596805e-04 8.04641066e+00] [-1.62141727e-03 -1.45227795e-05 9.99998685e-01 2.74310137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39088847900001 meters 0.01538382382315324 Centerline is valid? [True, True] Translation: X:79.62, Y:8.06, Z:0.28 [[ 9.79293658e-01 -2.02444091e-01 5.67236016e-04 7.96205546e+01] [ 2.02444052e-01 9.79293822e-01 1.25081223e-04 8.05972265e+00] [-5.80812680e-04 -7.65769061e-06 9.99999831e-01 2.75739806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45088847900001 meters 0.016160724860708783 Centerline is valid? [True, True] Translation: X:79.68, Y:8.08, Z:0.27 [[ 9.79995575e-01 -1.99018773e-01 -4.47736595e-04 7.96771038e+01] [ 1.99018749e-01 9.79995677e-01 -9.75988042e-05 8.07543442e+00] [ 4.58203922e-04 6.53841898e-06 9.99999895e-01 2.73708469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.510888479 meters 0.016753828475054824 Centerline is valid? [True, True] Translation: X:79.73, Y:8.09, Z:0.27 [[ 9.80276228e-01 -1.97631907e-01 -3.81295118e-04 7.97341788e+01] [ 1.97631889e-01 9.80276303e-01 -8.31171761e-05 8.08987154e+00] [ 3.90201174e-04 6.12171739e-06 9.99999924e-01 2.73282239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.570888479 meters 0.017052148305882094 Centerline is valid? [True, True] Translation: X:79.79, Y:8.10, Z:0.27 [[ 9.80434177e-01 -1.96846189e-01 -6.34739243e-04 7.97918010e+01] [ 1.96846140e-01 9.80434382e-01 -1.38982188e-04 8.10331894e+00] [ 6.49678291e-04 1.13169172e-05 9.99999789e-01 2.72504483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.630888479 meters 0.017225042096970376 Centerline is valid? [True, True] Translation: X:79.85, Y:8.11, Z:0.27 [[ 9.80255000e-01 -1.97720914e-01 -2.56412330e-03 7.98490547e+01] [ 1.97720114e-01 9.80258353e-01 -5.64173701e-04 8.11452004e+00] [ 2.62505223e-03 4.60553389e-05 9.99996553e-01 2.70756478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69088847900001 meters 0.01602291284673563 Centerline is valid? [True, True] Translation: X:79.91, Y:8.12, Z:0.27 [[ 9.79976026e-01 -1.99087395e-01 -3.34631334e-03 7.99077250e+01] [ 1.99086040e-01 9.79981738e-01 -7.36735358e-04 8.12428596e+00] [ 3.42600069e-03 5.57787160e-05 9.99994130e-01 2.70432831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75088847900001 meters 0.016294847327797787 Centerline is valid? [True, True] Translation: X:79.96, Y:8.14, Z:0.27 [[ 9.79396994e-01 -2.01922648e-01 -2.96176454e-03 7.99644237e+01] [ 2.01921597e-01 9.79401472e-01 -6.52678769e-04 8.13707229e+00] [ 3.03254718e-03 4.11873977e-05 9.99995401e-01 2.71100315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81088847900001 meters 0.014866060022608353 Centerline is valid? [True, True] Translation: X:80.02, Y:8.14, Z:0.27 [[ 9.78283636e-01 -2.07258350e-01 -2.25914743e-03 8.00230139e+01] [ 2.07257752e-01 9.78286245e-01 -4.97911527e-04 8.14319268e+00] [ 2.31328917e-03 1.88728813e-05 9.99997324e-01 2.72632292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.870888479 meters 0.014530128782578262 Centerline is valid? [True, True] Translation: X:80.08, Y:8.15, Z:0.27 [[ 9.77571265e-01 -2.10591710e-01 -2.35674259e-03 8.00805217e+01] [ 2.10591069e-01 9.77574105e-01 -5.20063169e-04 8.15441663e+00] [ 2.41341152e-03 1.20898697e-05 9.99997088e-01 2.71989278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.930888479 meters 0.014498129188276206 Centerline is valid? [True, True] Translation: X:80.14, Y:8.16, Z:0.27 [[ 9.76573119e-01 -2.15151181e-01 -3.86169799e-03 8.01376825e+01] [ 2.15149489e-01 9.76580754e-01 -8.53409853e-04 8.16266936e+00] [ 3.95487208e-03 2.57477217e-06 9.99992179e-01 2.70728331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.990888479 meters 0.014560568262054976 Centerline is valid? [True, True] Translation: X:80.19, Y:8.17, Z:0.27 [[ 9.75617376e-01 -2.19435070e-01 -4.35715821e-03 8.01946893e+01] [ 2.19432954e-01 9.75627106e-01 -9.63647977e-04 8.17167004e+00] [ 4.46241982e-03 -1.59523887e-05 9.99990043e-01 2.71006982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05088847900001 meters 0.014661269977919162 Centerline is valid? [True, True] Translation: X:80.25, Y:8.18, Z:0.27 [[ 9.75458663e-01 -2.20124690e-01 -5.05154505e-03 8.02517936e+01] [ 2.20121847e-01 9.75471743e-01 -1.11881531e-03 8.18459108e+00] [ 5.17391832e-03 -2.05973392e-05 9.99986615e-01 2.70328117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11088847900001 meters 0.014794165587305438 Centerline is valid? [True, True] Translation: X:80.31, Y:8.20, Z:0.27 [[ 9.76085974e-01 -2.17319223e-01 -5.34112856e-03 8.03076867e+01] [ 2.17315994e-01 9.76100587e-01 -1.18455963e-03 8.19871039e+00] [ 5.47090630e-03 -4.48062176e-06 9.99985034e-01 2.70536626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17088847900001 meters 0.014935625601781289 Centerline is valid? [True, True] Translation: X:80.36, Y:8.21, Z:0.27 [[ 9.76727218e-01 -2.14426307e-01 -5.02993851e-03 8.03644106e+01] [ 2.14423399e-01 9.76740169e-01 -1.11695506e-03 8.21312316e+00] [ 5.15244754e-03 1.24238987e-05 9.99986726e-01 2.71236741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23088847900001 meters 0.015276446757715246 Centerline is valid? [True, True] Translation: X:80.42, Y:8.23, Z:0.27 [[ 9.77496789e-01 -2.10888470e-01 -5.10688842e-03 8.04208829e+01] [ 2.10885416e-01 9.77510129e-01 -1.13544771e-03 8.22848505e+00] [ 5.23148799e-03 3.29282054e-05 9.99986315e-01 2.72079761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.290888479 meters 0.0158429112648216 Centerline is valid? [True, True] Translation: X:80.48, Y:8.24, Z:0.27 [[ 9.78196260e-01 -2.07563292e-01 -7.03965460e-03 8.04785748e+01] [ 2.07557388e-01 9.78221588e-01 -1.56722633e-03 8.24097036e+00] [ 7.21164076e-03 7.19226180e-05 9.99973993e-01 2.72566988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.350888479 meters 0.01595079812186651 Centerline is valid? [True, True] Translation: X:80.54, Y:8.25, Z:0.27 [[ 9.78578228e-01 -2.05714235e-01 -8.14284365e-03 8.05357008e+01] [ 2.05706253e-01 9.78612101e-01 -1.81503728e-03 8.25376311e+00] [ 8.34206433e-03 1.01122114e-04 9.99965199e-01 2.73000007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41088847900001 meters 0.016240020200501158 Centerline is valid? [True, True] Translation: X:80.59, Y:8.27, Z:0.27 [[ 9.78929690e-01 -2.04015507e-01 -8.62177751e-03 8.05925088e+01] [ 2.04006472e-01 9.78967649e-01 -1.92407773e-03 8.26774810e+00] [ 8.83298295e-03 1.24638406e-04 9.99960981e-01 2.72186254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47088847900001 meters 0.016231358738810493 Centerline is valid? [True, True] Translation: X:80.65, Y:8.28, Z:0.27 [[ 9.78703682e-01 -2.05096347e-01 -8.63666888e-03 8.06497453e+01] [ 2.05087311e-01 9.78741782e-01 -1.92865399e-03 8.27700818e+00] [ 8.84862857e-03 1.16309558e-04 9.99960843e-01 2.74232415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53088847900001 meters 0.015804067512341695 Centerline is valid? [True, True] Translation: X:80.71, Y:8.29, Z:0.28 [[ 9.77979653e-01 -2.08539001e-01 -8.20262151e-03 8.07078396e+01] [ 2.08530958e-01 9.78014048e-01 -1.83335430e-03 8.28525346e+00] [ 8.40460494e-03 8.24826791e-05 9.99964677e-01 2.75916653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59088847900001 meters 0.015370025913283385 Centerline is valid? [True, True] Translation: X:80.77, Y:8.29, Z:0.28 [[ 9.76901429e-01 -2.13596254e-01 -6.34335023e-03 8.07653996e+01] [ 2.13591544e-01 9.76922023e-01 -1.41880483e-03 8.29345560e+00] [ 6.50000994e-03 3.11464995e-05 9.99978874e-01 2.78205303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.650888479 meters 0.015201526627160906 Centerline is valid? [True, True] Translation: X:80.82, Y:8.30, Z:0.28 [[ 9.76352567e-01 -2.16077743e-01 -6.78780856e-03 8.08225199e+01] [ 2.16072399e-01 9.76376161e-01 -1.51977407e-03 8.30277322e+00] [ 6.95584382e-03 1.71772277e-05 9.99975808e-01 2.78718909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.710888479 meters 0.015334776228282958 Centerline is valid? [True, True] Translation: X:80.88, Y:8.31, Z:0.28 [[ 9.76312403e-01 -2.16176339e-01 -9.04890689e-03 8.08805414e+01] [ 2.16166821e-01 9.76354336e-01 -2.02866458e-03 8.31337838e+00] [ 9.27348876e-03 2.45369555e-05 9.99957000e-01 2.77942168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.770888479 meters 0.0156332335276752 Centerline is valid? [True, True] Translation: X:80.94, Y:8.33, Z:0.28 [[ 9.76854023e-01 -2.13685598e-01 -9.73051602e-03 8.09377165e+01] [ 2.13674444e-01 9.76902484e-01 -2.18394213e-03 8.32734782e+00] [ 9.97244225e-03 5.42300555e-05 9.99950272e-01 2.77836070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83088847900001 meters 0.015873184404570445 Centerline is valid? [True, True] Translation: X:80.99, Y:8.34, Z:0.28 [[ 9.77378161e-01 -2.11245699e-01 -1.03530484e-02 8.09948945e+01] [ 2.11232906e-01 9.77432989e-01 -2.32635178e-03 8.34122055e+00] [ 1.06108428e-02 8.68209274e-05 9.99943700e-01 2.78031399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89088847900001 meters 0.016813407131309105 Centerline is valid? [True, True] Translation: X:81.05, Y:8.36, Z:0.28 [[ 9.78250837e-01 -2.07218146e-01 -9.27040412e-03 8.10504217e+01] [ 2.07207696e-01 9.78294754e-01 -2.08442493e-03 8.35564068e+00] [ 9.50111839e-03 1.18191353e-04 9.99954856e-01 2.78811610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95088847900001 meters 0.017064891835809462 Centerline is valid? [True, True] Translation: X:81.11, Y:8.37, Z:0.28 [[ 9.78586158e-01 -2.05679393e-01 -8.06957854e-03 8.11076995e+01] [ 2.05671409e-01 9.78619422e-01 -1.81605056e-03 8.36969040e+00] [ 8.27057047e-03 1.17480350e-04 9.99965791e-01 2.79790413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.010888479 meters 0.017292320183156656 Centerline is valid? [True, True] Translation: X:81.17, Y:8.38, Z:0.28 [[ 9.78827362e-01 -2.04589388e-01 -6.33854966e-03 8.11651575e+01] [ 2.04584430e-01 9.78847880e-01 -1.42797152e-03 8.38235763e+00] [ 6.49662372e-03 1.00969026e-04 9.99978892e-01 2.81482713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.070888479 meters 0.017465203216084555 Centerline is valid? [True, True] Translation: X:81.22, Y:8.39, Z:0.28 [[ 9.78750879e-01 -2.04953657e-01 -6.38080601e-03 8.12223920e+01] [ 2.04948628e-01 9.78771673e-01 -1.43929130e-03 8.39360080e+00] [ 6.54034019e-03 1.00970188e-04 9.99978607e-01 2.81366841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.130888479 meters 0.017378381063568687 Centerline is valid? [True, True] Translation: X:81.28, Y:8.40, Z:0.28 [[ 9.78522190e-01 -2.06046790e-01 -6.24861247e-03 8.12803127e+01] [ 2.06041978e-01 9.78542136e-01 -1.41118048e-03 8.40462029e+00] [ 6.40529980e-03 9.33949406e-05 9.99979481e-01 2.82118774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19088847900001 meters 0.017377202649437342 Centerline is valid? [True, True] Translation: X:81.34, Y:8.42, Z:0.28 [[ 9.78118216e-01 -2.07973526e-01 -5.63625820e-03 8.13371073e+01] [ 2.07969638e-01 9.78134452e-01 -1.27378956e-03 8.41761279e+00] [ 5.77793283e-03 7.37461987e-05 9.99983305e-01 2.82265171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25088847900001 meters 0.016770479711193644 Centerline is valid? [True, True] Translation: X:81.40, Y:8.43, Z:0.28 [[ 9.77046422e-01 -2.12968123e-01 -4.98683458e-03 8.13950531e+01] [ 2.12965140e-01 9.77059147e-01 -1.12782146e-03 8.42698475e+00] [ 5.11262236e-03 3.99119971e-05 9.99986930e-01 2.83546945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31088847900001 meters 0.016526572114175412 Centerline is valid? [True, True] Translation: X:81.45, Y:8.44, Z:0.28 [[ 9.75609023e-01 -2.19408676e-01 -6.84591825e-03 8.14540224e+01] [ 2.19403200e-01 9.75633042e-01 -1.55021187e-03 8.43559354e+00] [ 7.01923399e-03 1.03843163e-05 9.99975365e-01 2.83625639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37088847900002 meters 0.01672273918972137 Centerline is valid? [True, True] Translation: X:81.51, Y:8.45, Z:0.28 [[ 9.74477573e-01 -2.24366366e-01 -7.29334503e-03 8.15112605e+01] [ 2.24360281e-01 9.74504866e-01 -1.65262426e-03 8.44523259e+00] [ 7.47819352e-03 -2.58916620e-05 9.99972038e-01 2.83688357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.430888479 meters 0.017155700710608946 Centerline is valid? [True, True] Translation: X:81.57, Y:8.46, Z:0.28 [[ 9.73092839e-01 -2.30308933e-01 -6.93705657e-03 8.15693046e+01] [ 2.30303570e-01 9.73117563e-01 -1.57316272e-03 8.45585152e+00] [ 7.11288501e-03 -6.67955164e-05 9.99974701e-01 2.84468920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.490888479 meters 0.01758657394928635 Centerline is valid? [True, True] Translation: X:81.63, Y:8.47, Z:0.28 [[ 9.72693778e-01 -2.31994395e-01 -6.73904120e-03 8.16254272e+01] [ 2.31989367e-01 9.72717120e-01 -1.52926092e-03 8.46911846e+00] [ 6.90996071e-03 -7.58833143e-05 9.99976123e-01 2.84984805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55088847900001 meters 0.017254933362856266 Centerline is valid? [True, True] Translation: X:81.68, Y:8.48, Z:0.29 [[ 9.72869313e-01 -2.31243364e-01 -7.19765343e-03 8.16816399e+01] [ 2.31237596e-01 9.72895936e-01 -1.63486955e-03 8.48383286e+00] [ 7.38062050e-03 -7.38536636e-05 9.99972760e-01 2.85475157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61088847900001 meters 0.017099873220185417 Centerline is valid? [True, True] Translation: X:81.74, Y:8.50, Z:0.28 [[ 9.73456171e-01 -2.28734327e-01 -7.98067275e-03 8.17386061e+01] [ 2.28727134e-01 9.73488882e-01 -1.81490431e-03 8.50092098e+00] [ 8.18422711e-03 -5.86666051e-05 9.99966507e-01 2.84984185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67088847900001 meters 0.016822038511496426 Centerline is valid? [True, True] Translation: X:81.79, Y:8.52, Z:0.29 [[ 9.75202677e-01 -2.21166424e-01 -8.07164414e-03 8.17942279e+01] [ 2.21158790e-01 9.75236080e-01 -1.83765630e-03 8.52006037e+00] [ 8.27818646e-03 6.97229039e-06 9.99965735e-01 2.86208927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73088847900001 meters 0.017532528590074963 Centerline is valid? [True, True] Translation: X:81.85, Y:8.54, Z:0.29 [[ 9.77286909e-01 -2.11809019e-01 -6.87293679e-03 8.18495795e+01] [ 2.11803240e-01 9.77311073e-01 -1.56640410e-03 8.54268633e+00] [ 7.04877575e-03 7.51159396e-05 9.99975154e-01 2.87820606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.790888479 meters 0.0185112344909184 Centerline is valid? [True, True] Translation: X:81.91, Y:8.56, Z:0.29 [[ 9.78386930e-01 -2.06683279e-01 -6.40606901e-03 8.19062051e+01] [ 2.06678138e-01 9.78407896e-01 -1.46158265e-03 8.56077952e+00] [ 6.56983319e-03 1.05998947e-04 9.99978413e-01 2.89350174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.850888479 meters 0.019697542541791072 Centerline is valid? [True, True] Translation: X:81.96, Y:8.58, Z:0.29 [[ 9.79470089e-01 -2.01489309e-01 -6.35639240e-03 8.19626421e+01] [ 2.01484132e-01 9.79490704e-01 -1.45113430e-03 8.57979644e+00] [ 6.51841531e-03 1.40630432e-04 9.99978745e-01 2.90090743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91088847900001 meters 0.020689348754617615 Centerline is valid? [True, True] Translation: X:82.02, Y:8.60, Z:0.29 [[ 9.79768070e-01 -2.00005657e-01 -7.22950106e-03 8.20178902e+01] [ 1.99998914e-01 9.79794727e-01 -1.65133705e-03 8.59535961e+00] [ 7.41370377e-03 1.72034961e-04 9.99972503e-01 2.89123225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97088847900001 meters 0.021407695093465805 Centerline is valid? [True, True] Translation: X:82.07, Y:8.61, Z:0.29 [[ 9.80206355e-01 -1.97797886e-01 -8.45563137e-03 8.20736995e+01] [ 1.97788570e-01 9.80242800e-01 -1.93241726e-03 8.61273837e+00] [ 8.67079982e-03 2.21740436e-04 9.99962383e-01 2.86960652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03088847900001 meters 0.02149686522753829 Centerline is valid? [True, True] Translation: X:82.13, Y:8.63, Z:0.29 [[ 9.80305174e-01 -1.97270160e-01 -9.28713444e-03 8.21311888e+01] [ 1.97258880e-01 9.80349132e-01 -2.12436830e-03 8.62592056e+00] [ 9.52370867e-03 2.50559499e-04 9.99954617e-01 2.85383131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09088847900001 meters 0.020482748720392345 Centerline is valid? [True, True] Translation: X:82.19, Y:8.64, Z:0.29 [[ 9.80128160e-01 -1.98048960e-01 -1.11982150e-02 8.21890030e+01] [ 1.98032572e-01 9.80192084e-01 -2.56489260e-03 8.63503461e+00] [ 1.14843760e-02 2.96312143e-04 9.99934008e-01 2.86229277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.150888479 meters 0.022312023103274813 Centerline is valid? [True, True] Translation: X:82.25, Y:8.65, Z:0.29 [[ 9.80201702e-01 -1.97626596e-01 -1.21799651e-02 8.22452930e+01] [ 1.97607154e-01 9.80277318e-01 -2.79152193e-03 8.64979736e+00] [ 1.24914225e-02 3.29406313e-04 9.99921925e-01 2.85728854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.210888479 meters 0.023125511136121324 Centerline is valid? [True, True] Translation: X:82.30, Y:8.66, Z:0.28 [[ 9.80606912e-01 -1.95442914e-01 -1.45654300e-02 8.23034387e+01] [ 1.95414858e-01 9.80714986e-01 -3.33895864e-03 8.66384787e+00] [ 1.49371113e-02 4.27904477e-04 9.99888344e-01 2.83773960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.270888479 meters 0.02360376428128718 Centerline is valid? [True, True] Translation: X:82.36, Y:8.68, Z:0.28 [[ 9.80770830e-01 -1.94493103e-01 -1.61558875e-02 8.23610956e+01] [ 1.94458401e-01 9.80903761e-01 -3.70690720e-03 8.67528927e+00] [ 1.65683387e-02 4.93978403e-04 9.99862614e-01 2.84050535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33088847900001 meters 0.021744315277393234 Centerline is valid? [True, True] Translation: X:82.42, Y:8.68, Z:0.29 [[ 9.80816997e-01 -1.94255427e-01 -1.62125534e-02 8.24199913e+01] [ 1.94220381e-01 9.80950853e-01 -3.72404202e-03 8.68081883e+00] [ 1.66271335e-02 5.03795408e-04 9.99861633e-01 2.87646138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39088847900001 meters 0.021477788907469108 Centerline is valid? [True, True] Translation: X:82.48, Y:8.69, Z:0.29 [[ 9.80955071e-01 -1.93707133e-01 -1.43071400e-02 8.24768307e+01] [ 1.93679723e-01 9.81059294e-01 -3.29044390e-03 8.69153156e+00] [ 1.46735352e-02 4.56774712e-04 9.99892234e-01 2.91091845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45088847900001 meters 0.023193592366123318 Centerline is valid? [True, True] Translation: X:82.53, Y:8.71, Z:0.29 [[ 9.81259108e-01 -1.92255404e-01 -1.29777618e-02 8.25329135e+01] [ 1.92232702e-01 9.81344827e-01 -2.98638445e-03 8.70599053e+00] [ 1.33098080e-02 4.35666721e-04 9.99911326e-01 2.92254702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.510888479 meters 0.023434604580669437 Centerline is valid? [True, True] Translation: X:82.59, Y:8.72, Z:0.29 [[ 9.82013471e-01 -1.88287184e-01 -1.40527448e-02 8.25907692e+01] [ 1.88260146e-01 9.82113870e-01 -3.23465215e-03 8.71894146e+00] [ 1.44104391e-02 5.30900192e-04 9.99896023e-01 2.92850382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.570888479 meters 0.02558860486661514 Centerline is valid? [True, True] Translation: X:82.65, Y:8.74, Z:0.29 [[ 9.82595734e-01 -1.85118263e-01 -1.53900081e-02 8.26473351e+01] [ 1.85085432e-01 9.82716046e-01 -3.54331794e-03 8.73582047e+00] [ 1.57799407e-02 6.33182799e-04 9.99875288e-01 2.90509765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.630888479 meters 0.027849222276893477 Centerline is valid? [True, True] Translation: X:82.70, Y:8.75, Z:0.29 [[ 9.83090126e-01 -1.82477199e-01 -1.53582555e-02 8.27040161e+01] [ 1.82444169e-01 9.83209854e-01 -3.53682901e-03 8.75246004e+00] [ 1.57457788e-02 6.74997522e-04 9.99875800e-01 2.89217441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69088847900001 meters 0.027814388502774852 Centerline is valid? [True, True] Translation: X:82.76, Y:8.76, Z:0.29 [[ 9.83044177e-01 -1.82759433e-01 -1.49377022e-02 8.27607967e+01] [ 1.82728164e-01 9.83157444e-01 -3.44357677e-03 8.76288968e+00] [ 1.53154593e-02 6.55649183e-04 9.99882497e-01 2.91015918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75088847900001 meters 0.025849886794653623 Centerline is valid? [True, True] Translation: X:82.82, Y:8.77, Z:0.29 [[ 9.82704181e-01 -1.84555741e-01 -1.52207765e-02 8.28198305e+01] [ 1.84523432e-01 9.82821838e-01 -3.51256597e-03 8.77119984e+00] [ 1.56075757e-02 6.43223349e-04 9.99877987e-01 2.91978849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81088847900001 meters 0.02412893892571462 Centerline is valid? [True, True] Translation: X:82.88, Y:8.78, Z:0.29 [[ 9.82114852e-01 -1.87676396e-01 -1.50992575e-02 8.28790570e+01] [ 1.87644952e-01 9.82230738e-01 -3.48561410e-03 8.77906162e+00] [ 1.54851223e-02 5.89973922e-04 9.99879924e-01 2.92224528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87088847900002 meters 0.023026920869592068 Centerline is valid? [True, True] Translation: X:82.94, Y:8.79, Z:0.29 [[ 9.81673551e-01 -1.90022478e-01 -1.44394212e-02 8.29377301e+01] [ 1.89993953e-01 9.81779597e-01 -3.33483412e-03 8.78804921e+00] [ 1.48100226e-02 5.30315733e-04 9.99890185e-01 2.91299440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.930888479 meters 0.02348220375227293 Centerline is valid? [True, True] Translation: X:82.99, Y:8.80, Z:0.29 [[ 9.81481504e-01 -1.91072737e-01 -1.36112785e-02 8.29944887e+01] [ 1.91047473e-01 9.81575760e-01 -3.14488031e-03 8.79951832e+00] [ 1.39614019e-02 4.86241499e-04 9.99902417e-01 2.91154249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.990888479 meters 0.024144990310746163 Centerline is valid? [True, True] Translation: X:83.05, Y:8.81, Z:0.29 [[ 9.81586304e-01 -1.90628486e-01 -1.22110027e-02 8.30517217e+01] [ 1.90608086e-01 9.81662153e-01 -2.82396728e-03 8.81249258e+00] [ 1.25254078e-02 4.44451749e-04 9.99921455e-01 2.91104675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05088847900001 meters 0.025998371371830684 Centerline is valid? [True, True] Translation: X:83.11, Y:8.83, Z:0.29 [[ 9.81950008e-01 -1.88649303e-01 -1.36242980e-02 8.31084038e+01] [ 1.88623698e-01 9.82044380e-01 -3.15216340e-03 8.82859699e+00] [ 1.39743187e-02 5.25401403e-04 9.99902216e-01 2.86251799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11088847900001 meters 0.02604766437443717 Centerline is valid? [True, True] Translation: X:83.17, Y:8.84, Z:0.28 [[ 9.82261343e-01 -1.86862441e-01 -1.56550844e-02 8.31662545e+01] [ 1.86828393e-01 9.82385885e-01 -3.62287386e-03 8.84078287e+00] [ 1.60563130e-02 6.33794676e-04 9.99870888e-01 2.84924853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17088847900001 meters 0.02616235003011338 Centerline is valid? [True, True] Translation: X:83.22, Y:8.85, Z:0.28 [[ 9.82478103e-01 -1.85612196e-01 -1.68786910e-02 8.32236929e+01] [ 1.85572367e-01 9.82622822e-01 -3.90978246e-03 8.85427698e+00] [ 1.73110903e-02 7.09057008e-04 9.99849900e-01 2.83250569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23088847900001 meters 0.027092868487509556 Centerline is valid? [True, True] Translation: X:83.28, Y:8.87, Z:0.28 [[ 9.82237981e-01 -1.86898830e-01 -1.66545893e-02 8.32801395e+01] [ 1.86860204e-01 9.82378932e-01 -3.85979469e-03 8.86868538e+00] [ 1.70825088e-02 6.79156990e-04 9.99853853e-01 2.82009063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.290888479 meters 0.02502821959440084 Centerline is valid? [True, True] Translation: X:83.34, Y:8.88, Z:0.28 [[ 9.81256577e-01 -1.92235205e-01 -1.34594042e-02 8.33397669e+01] [ 1.92210474e-01 9.81348766e-01 -3.11968928e-03 8.87837451e+00] [ 1.38080838e-02 4.74177164e-04 9.99904551e-01 2.82698908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.350888479 meters 0.02116826687901256 Centerline is valid? [True, True] Translation: X:83.40, Y:8.88, Z:0.29 [[ 9.79861022e-01 -1.99496551e-01 -8.57337720e-03 8.34002135e+01] [ 1.99486793e-01 9.79898500e-01 -1.98734443e-03 8.88336474e+00] [ 8.79750781e-03 2.37045822e-04 9.99961273e-01 2.87249026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41088847900001 meters 0.01859630490526799 Centerline is valid? [True, True] Translation: X:83.46, Y:8.89, Z:0.29 [[ 9.79277699e-01 -2.02441182e-01 -5.72324695e-03 8.34588253e+01] [ 2.02436882e-01 9.79294413e-01 -1.32693876e-03 8.89057983e+00] [ 5.87337081e-03 1.40845266e-04 9.99982742e-01 2.90147397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47088847900001 meters 0.017991762127903488 Centerline is valid? [True, True] Translation: X:83.52, Y:8.90, Z:0.29 [[ 9.78713460e-01 -2.05174014e-01 -4.85669958e-03 8.35170338e+01] [ 2.05170947e-01 9.78725504e-01 -1.12671904e-03 8.90212597e+00] [ 4.98454921e-03 1.06281440e-04 9.99987571e-01 2.90639131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53088847900001 meters 0.017855576425442634 Centerline is valid? [True, True] Translation: X:83.57, Y:8.92, Z:0.29 [[ 9.78343627e-01 -2.06905499e-01 -5.81917639e-03 8.35735940e+01] [ 2.06901121e-01 9.78360926e-01 -1.35108282e-03 8.91534034e+00] [ 5.97280127e-03 1.17829145e-04 9.99982156e-01 2.88585418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59088847900001 meters 0.017423502173694174 Centerline is valid? [True, True] Translation: X:83.63, Y:8.93, Z:0.29 [[ 9.77909699e-01 -2.08902811e-01 -7.22746264e-03 8.36315078e+01] [ 2.08896101e-01 9.77936398e-01 -1.67951212e-03 8.92674074e+00] [ 7.41885358e-03 1.32622420e-04 9.99972471e-01 2.85356196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.650888479 meters 0.017308860429665434 Centerline is valid? [True, True] Translation: X:83.69, Y:8.94, Z:0.28 [[ 9.77707180e-01 -2.09785424e-01 -8.87391507e-03 8.36878774e+01] [ 2.09775321e-01 9.77747437e-01 -2.06476029e-03 8.93900990e+00] [ 9.10960433e-03 1.57202576e-04 9.99958494e-01 2.82697885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.710888479 meters 0.017150066381279493 Centerline is valid? [True, True] Translation: X:83.74, Y:8.95, Z:0.28 [[ 9.77475169e-01 -2.10807987e-01 -1.01136794e-02 8.37441191e+01] [ 2.10794888e-01 9.77527474e-01 -2.35629837e-03 8.95318625e+00] [ 1.03831260e-02 1.71311227e-04 9.99946079e-01 2.79735225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.770888479 meters 0.016913701076627194 Centerline is valid? [True, True] Translation: X:83.80, Y:8.97, Z:0.28 [[ 9.77315873e-01 -2.11647659e-01 -7.67802209e-03 8.38010786e+01] [ 2.11640121e-01 9.77346025e-01 -1.79072541e-03 8.96645406e+00] [ 7.88308721e-03 1.25126845e-04 9.99968920e-01 2.81332996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83088847900001 meters 0.01731820874791583 Centerline is valid? [True, True] Translation: X:83.86, Y:8.98, Z:0.28 [[ 9.76942150e-01 -2.13459747e-01 -4.35563793e-03 8.38574075e+01] [ 2.13457336e-01 9.76951858e-01 -1.01647273e-03 8.98051782e+00] [ 4.47222458e-03 6.32921875e-05 9.99989998e-01 2.83381929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89088847900001 meters 0.01705862634607743 Centerline is valid? [True, True] Translation: X:83.91, Y:8.99, Z:0.28 [[ 9.76718546e-01 -2.14494451e-01 -3.60736527e-03 8.39148019e+01] [ 2.14492802e-01 9.76725206e-01 -8.42373329e-04 8.99285843e+00] [ 3.70408899e-03 4.90077672e-05 9.99993139e-01 2.83949866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95088847900001 meters 0.01713252583391303 Centerline is valid? [True, True] Translation: X:83.97, Y:9.01, Z:0.28 [[ 9.76766652e-01 -2.14286206e-01 -2.88602799e-03 8.39708494e+01] [ 2.14285148e-01 9.76770915e-01 -6.74530090e-04 9.00730050e+00] [ 2.96353069e-03 4.04255629e-05 9.99995608e-01 2.83884252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.010888479 meters 0.017523139153102763 Centerline is valid? [True, True] Translation: X:84.03, Y:9.02, Z:0.28 [[ 9.76632629e-01 -2.14908328e-01 -1.76617758e-03 8.40262746e+01] [ 2.14907932e-01 9.76634225e-01 -4.13203621e-04 9.02230115e+00] [ 1.81371037e-03 2.39825674e-05 9.99998355e-01 2.83553488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.070888479 meters 0.017788754291324052 Centerline is valid? [True, True] Translation: X:84.08, Y:9.04, Z:0.28 [[ 9.76407749e-01 -2.15931386e-01 -1.24257822e-03 8.40826472e+01] [ 2.15931191e-01 9.76408540e-01 -2.90680849e-04 9.03683672e+00] [ 1.27603111e-03 1.55116382e-05 9.99999186e-01 2.84296147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.130888479 meters 0.01775114553841869 Centerline is valid? [True, True] Translation: X:84.14, Y:9.05, Z:0.28 [[ 9.76150789e-01 -2.17083729e-01 -2.07177955e-03 8.41399402e+01] [ 2.17083188e-01 9.76152987e-01 -4.85100996e-04 9.05009775e+00] [ 2.12768133e-03 2.37832113e-05 9.99997736e-01 2.83379503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19088847900001 meters 0.017950155627224264 Centerline is valid? [True, True] Translation: X:84.20, Y:9.07, Z:0.28 [[ 9.76129906e-01 -2.17183470e-01 -1.32196798e-03 8.41954680e+01] [ 2.17183250e-01 9.76130801e-01 -3.09572611e-04 9.06596301e+00] [ 1.35764772e-03 1.50737810e-05 9.99999078e-01 2.83699300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25088847900001 meters 0.018157850839930868 Centerline is valid? [True, True] Translation: X:84.25, Y:9.08, Z:0.28 [[ 9.76106334e-01 -2.17293082e-01 -3.76155782e-04 8.42516571e+01] [ 2.17293064e-01 9.76106406e-01 -8.76184173e-05 9.08014349e+00] [ 3.86206944e-04 3.78884959e-06 9.99999925e-01 2.84464776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31088847900001 meters 0.01852727452667292 Centerline is valid? [True, True] Translation: X:84.31, Y:9.10, Z:0.29 [[ 9.76264698e-01 -2.16574677e-01 1.62732276e-03 8.43078259e+01] [ 2.16574339e-01 9.76266054e-01 3.83641871e-04 9.09704445e+00] [-1.67178709e-03 -2.20996635e-05 9.99998602e-01 2.86100186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37088847900002 meters 0.018959604853171358 Centerline is valid? [True, True] Translation: X:84.36, Y:9.11, Z:0.29 [[ 9.76614895e-01 -2.14985448e-01 2.14572479e-03 8.43636990e+01] [ 2.14984857e-01 9.76617251e-01 5.05378018e-04 9.11423640e+00] [-2.20420077e-03 -3.22613635e-05 9.99997570e-01 2.86142099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.430888479 meters 0.019278711093148035 Centerline is valid? [True, True] Translation: X:84.42, Y:9.13, Z:0.29 [[ 9.76846123e-01 -2.13929292e-01 2.43117819e-03 8.44201232e+01] [ 2.13928527e-01 9.76849147e-01 5.73653771e-04 9.13082829e+00] [-2.49761569e-03 -4.02730925e-05 9.99996880e-01 2.85639152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.490888479 meters 0.01996939205928526 Centerline is valid? [True, True] Translation: X:84.48, Y:9.15, Z:0.28 [[ 9.77266906e-01 -2.12012594e-01 2.35290796e-04 8.44750877e+01] [ 2.12012587e-01 9.77266934e-01 5.57178944e-05 9.14926892e+00] [-2.41754810e-04 -4.56664405e-06 9.99999971e-01 2.84050991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55088847900001 meters 0.019810571655649898 Centerline is valid? [True, True] Translation: X:84.53, Y:9.16, Z:0.28 [[ 9.77546810e-01 -2.10715703e-01 -1.06155066e-03 8.45318924e+01] [ 2.10715556e-01 9.77547386e-01 -2.49831798e-04 9.16478161e+00] [ 1.09035956e-03 2.05370398e-05 9.99999405e-01 2.82639942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61088847900001 meters 0.020311559522807263 Centerline is valid? [True, True] Translation: X:84.59, Y:9.18, Z:0.28 [[ 9.77295688e-01 -2.11870781e-01 -1.97719899e-03 8.45871825e+01] [ 2.11870271e-01 9.77297688e-01 -4.66593658e-04 9.18172542e+00] [ 2.03116956e-03 3.70902842e-05 9.99997936e-01 2.82342517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67088847900001 meters 0.018942794437808493 Centerline is valid? [True, True] Translation: X:84.64, Y:9.19, Z:0.28 [[ 9.75793481e-01 -2.18687903e-01 -1.63831191e-03 8.46444071e+01] [ 2.18687561e-01 9.75794856e-01 -3.86752469e-04 9.19274294e+00] [ 1.68323442e-03 1.91121014e-05 9.99998583e-01 2.82960088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73088847900001 meters 0.01805116219563105 Centerline is valid? [True, True] Translation: X:84.70, Y:9.20, Z:0.29 [[ 9.74496914e-01 -2.24400469e-01 -4.40685782e-04 8.47031563e+01] [ 2.24400445e-01 9.74497014e-01 -1.03503966e-04 9.20145273e+00] [ 4.52673317e-04 1.97420934e-06 9.99999898e-01 2.85799488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.790888479 meters 0.017864294481920215 Centerline is valid? [True, True] Translation: X:84.76, Y:9.21, Z:0.29 [[ 9.72711442e-01 -2.32013950e-01 1.40645579e-03 8.47605031e+01] [ 2.32013710e-01 9.72712459e-01 3.33744158e-04 9.21192478e+00] [-1.44551037e-03 1.68026464e-06 9.99998955e-01 2.87697713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.850888479 meters 0.017843384026081918 Centerline is valid? [True, True] Translation: X:84.82, Y:9.23, Z:0.29 [[ 9.72398136e-01 -2.33312009e-01 2.71512897e-03 8.48171800e+01] [ 2.33311120e-01 9.72401926e-01 6.44151289e-04 9.22985369e+00] [-2.79048487e-03 7.09826867e-06 9.99996107e-01 2.88330785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91088847900001 meters 0.01794120658674437 Centerline is valid? [True, True] Translation: X:84.87, Y:9.25, Z:0.29 [[ 9.72727255e-01 -2.31933143e-01 2.95034661e-03 8.48728138e+01] [ 2.31932084e-01 9.72731729e-01 7.00843975e-04 9.24609680e+00] [-3.03244470e-03 2.55000097e-06 9.99995402e-01 2.90188825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97088847900001 meters 0.018241939712602292 Centerline is valid? [True, True] Translation: X:84.93, Y:9.27, Z:0.29 [[ 9.73868069e-01 -2.27100650e-01 2.50593940e-03 8.49273872e+01] [ 2.27099868e-01 9.73871293e-01 5.96139655e-04 9.26929335e+00] [-2.57584615e-03 -1.14628678e-05 9.99996682e-01 2.90620396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03088847900001 meters 0.018537035773381786 Centerline is valid? [True, True] Translation: X:84.98, Y:9.29, Z:0.29 [[ 9.74791699e-01 -2.23099511e-01 2.78417501e-03 8.49831996e+01] [ 2.23098527e-01 9.74795675e-01 6.62847928e-04 9.29090707e+00] [-2.86188281e-03 -2.49933119e-05 9.99995904e-01 2.91623479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09088847900001 meters 0.019121387896252708 Centerline is valid? [True, True] Translation: X:85.04, Y:9.31, Z:0.29 [[ 9.75896101e-01 -2.18227692e-01 1.86393024e-03 8.50380739e+01] [ 2.18227241e-01 9.75897881e-01 4.44495954e-04 9.31423437e+00] [-1.91600690e-03 -2.70215138e-05 9.99998164e-01 2.91810250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.150888479 meters 0.019796724120105125 Centerline is valid? [True, True] Translation: X:85.09, Y:9.34, Z:0.29 [[ 9.76220011e-01 -2.16781877e-01 -3.27039124e-04 8.50922331e+01] [ 2.16781864e-01 9.76220066e-01 -7.76432708e-05 9.33594846e+00] [ 3.36093809e-04 4.90076402e-06 9.99999944e-01 2.89185661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.210888479 meters 0.019639988062383092 Centerline is valid? [True, True] Translation: X:85.15, Y:9.35, Z:0.29 [[ 9.75838659e-01 -2.18477579e-01 -2.54162283e-03 8.51488696e+01] [ 2.18476743e-01 9.75841968e-01 -6.05320222e-04 9.35298011e+00] [ 2.61247112e-03 3.54093953e-05 9.99996587e-01 2.85624948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.270888479 meters 0.019157125020168326 Centerline is valid? [True, True] Translation: X:85.21, Y:9.37, Z:0.28 [[ 9.75048813e-01 -2.21972206e-01 -2.85505127e-03 8.52061950e+01] [ 2.21971164e-01 9.75052993e-01 -6.80776009e-04 9.36817743e+00] [ 2.93493964e-03 3.00507855e-05 9.99995693e-01 2.84802267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33088847900001 meters 0.01914828766266912 Centerline is valid? [True, True] Translation: X:85.26, Y:9.39, Z:0.28 [[ 9.74767104e-01 -2.23197637e-01 -3.45082636e-03 8.52619815e+01] [ 2.23196119e-01 9.74773211e-01 -8.23896500e-04 9.38531160e+00] [ 3.54766484e-03 3.28961549e-05 9.99993706e-01 2.84621289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39088847900001 meters 0.0191492594172615 Centerline is valid? [True, True] Translation: X:85.32, Y:9.40, Z:0.28 [[ 9.74666094e-01 -2.23633165e-01 -3.76993145e-03 8.53186321e+01] [ 2.23631351e-01 9.74673384e-01 -9.01277933e-04 9.40004899e+00] [ 3.87600748e-03 3.53701780e-05 9.99992488e-01 2.84444477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45088847900001 meters 0.019184071905823826 Centerline is valid? [True, True] Translation: X:85.37, Y:9.42, Z:0.29 [[ 9.74738354e-01 -2.23323323e-01 -3.44026018e-03 8.53745936e+01] [ 2.23321808e-01 9.74744424e-01 -8.23415019e-04 9.41732423e+00] [ 3.53726220e-03 3.43290782e-05 9.99993743e-01 2.85668383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.510888479 meters 0.019366714133244197 Centerline is valid? [True, True] Translation: X:85.43, Y:9.43, Z:0.29 [[ 9.75058278e-01 -2.21932694e-01 -2.68960607e-03 8.54308240e+01] [ 2.21931761e-01 9.75061987e-01 -6.44369952e-04 9.43494656e+00] [ 2.76553940e-03 3.13892440e-05 9.99996175e-01 2.86677216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.570888479 meters 0.01996467737655207 Centerline is valid? [True, True] Translation: X:85.49, Y:9.45, Z:0.29 [[ 9.75792376e-01 -2.18646063e-01 -4.81022318e-03 8.54863005e+01] [ 2.18643029e-01 9.75804229e-01 -1.15420460e-03 9.45473638e+00] [ 4.94619841e-03 7.45422794e-05 9.99987765e-01 2.85670740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.630888479 meters 0.020487019124521638 Centerline is valid? [True, True] Translation: X:85.54, Y:9.47, Z:0.29 [[ 9.76273619e-01 -2.16456764e-01 -6.02406767e-03 8.55430832e+01] [ 2.16451954e-01 9.76292199e-01 -1.44717250e-03 9.47109362e+00] [ 6.19450055e-03 1.08915112e-04 9.99980808e-01 2.85187327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69088847900001 meters 0.021822792024299122 Centerline is valid? [True, True] Translation: X:85.60, Y:9.49, Z:0.28 [[ 9.76910661e-01 -2.13520557e-01 -7.38458366e-03 8.55981788e+01] [ 2.13513235e-01 9.76938558e-01 -1.77527446e-03 9.48902738e+00] [ 7.59334210e-03 1.57578207e-04 9.99971158e-01 2.84587494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75088847900001 meters 0.02213922846105029 Centerline is valid? [True, True] Translation: X:85.66, Y:9.50, Z:0.29 [[ 9.77354000e-01 -2.11489167e-01 -7.17566791e-03 8.56551507e+01] [ 2.11482188e-01 9.77380327e-01 -1.72638944e-03 9.50291279e+00] [ 7.37846931e-03 1.69767675e-04 9.99972764e-01 2.85072293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81088847900001 meters 0.02294342565594977 Centerline is valid? [True, True] Translation: X:85.71, Y:9.52, Z:0.29 [[ 9.77695592e-01 -2.09900470e-01 -7.28850269e-03 8.57122733e+01] [ 2.09893213e-01 9.77722741e-01 -1.75533940e-03 9.51591795e+00] [ 7.49458139e-03 1.86380352e-04 9.99971898e-01 2.85425519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87088847900002 meters 0.02488541266223098 Centerline is valid? [True, True] Translation: X:85.77, Y:9.53, Z:0.29 [[ 9.78576482e-01 -2.05774144e-01 -6.71349632e-03 8.57696124e+01] [ 2.05767884e-01 9.78599490e-01 -1.61767770e-03 9.52999934e+00] [ 6.90270032e-03 2.01599420e-04 9.99976156e-01 2.85307516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.930888479 meters 0.02302362736775369 Centerline is valid? [True, True] Translation: X:85.83, Y:9.54, Z:0.29 [[ 9.79037471e-01 -2.03606122e-01 -5.49335689e-03 8.58276032e+01] [ 2.03601894e-01 9.79052867e-01 -1.32405043e-03 9.53806705e+00] [ 5.64787159e-03 1.77837119e-04 9.99984035e-01 2.86297420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.990888479 meters 0.02345866206610921 Centerline is valid? [True, True] Translation: X:85.89, Y:9.55, Z:0.29 [[ 9.79394273e-01 -2.01923831e-01 -3.69108372e-03 8.58857296e+01] [ 2.01921909e-01 9.79401220e-01 -8.90080405e-04 9.54748395e+00] [ 3.79478034e-03 1.26428980e-04 9.99992792e-01 2.88756788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05088847900001 meters 0.022894376552459107 Centerline is valid? [True, True] Translation: X:85.95, Y:9.55, Z:0.29 [[ 9.78739417e-01 -2.05054150e-01 -4.68496864e-03 8.59455203e+01] [ 2.05051083e-01 9.78750619e-01 -1.13113640e-03 9.55211475e+00] [ 4.81736017e-03 1.46429888e-04 9.99988386e-01 2.90295241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11088847900001 meters 0.02133146046470283 Centerline is valid? [True, True] Translation: X:86.01, Y:9.56, Z:0.29 [[ 9.77595058e-01 -2.10434241e-01 -5.03315735e-03 8.60056409e+01] [ 2.10430767e-01 9.77608006e-01 -1.21599886e-03 9.55653358e+00] [ 5.17634272e-03 1.29623315e-04 9.99986594e-01 2.89039855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17088847900001 meters 0.02068571301046543 Centerline is valid? [True, True] Translation: X:86.06, Y:9.56, Z:0.29 [[ 9.76462578e-01 -2.15647958e-01 -4.09784553e-03 8.60644241e+01] [ 2.15645700e-01 9.76471173e-01 -9.90163266e-04 9.56408533e+00] [ 4.21495472e-03 8.31746060e-05 9.99991114e-01 2.89166554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23088847900001 meters 0.018771943130273378 Centerline is valid? [True, True] Translation: X:86.13, Y:9.57, Z:0.29 [[ 9.74485284e-01 -2.24442015e-01 -2.05251067e-03 8.61251629e+01] [ 2.24441468e-01 9.74487446e-01 -4.95974227e-04 9.56586765e+00] [ 2.11146334e-03 2.26510775e-05 9.99997771e-01 2.90132042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.290888479 meters 0.018143797397453785 Centerline is valid? [True, True] Translation: X:86.18, Y:9.57, Z:0.29 [[ 9.73372705e-01 -2.29202419e-01 -3.43921787e-03 8.61834603e+01] [ 2.29200912e-01 9.73378781e-01 -8.31412551e-04 9.57370973e+00] [ 3.53822346e-03 2.10024126e-05 9.99993740e-01 2.88734206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.350888479 meters 0.01772060296134521 Centerline is valid? [True, True] Translation: X:86.24, Y:9.58, Z:0.29 [[ 9.72340602e-01 -2.33500650e-01 -5.58572388e-03 8.62432106e+01] [ 2.33496735e-01 9.72356646e-01 -1.35219752e-03 9.57817635e+00] [ 5.74705474e-03 1.05482620e-05 9.99983485e-01 2.86776278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41088847900001 meters 0.017665558888772054 Centerline is valid? [True, True] Translation: X:86.30, Y:9.59, Z:0.29 [[ 9.72471873e-01 -2.32937862e-01 -6.19744203e-03 8.62994755e+01] [ 2.32933024e-01 9.72491621e-01 -1.50138245e-03 9.59052562e+00] [ 6.37668926e-03 1.64632865e-05 9.99979669e-01 2.85569425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47088847900001 meters 0.017932331374881073 Centerline is valid? [True, True] Translation: X:86.36, Y:9.60, Z:0.28 [[ 9.73506261e-01 -2.28555082e-01 -6.93782526e-03 8.63568284e+01] [ 2.28548898e-01 9.73530981e-01 -1.68209222e-03 9.60466413e+00] [ 7.13863856e-03 5.18949955e-05 9.99974518e-01 2.83047204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53088847900001 meters 0.018913842788992448 Centerline is valid? [True, True] Translation: X:86.41, Y:9.62, Z:0.29 [[ 9.75015771e-01 -2.22057490e-01 -5.89223965e-03 8.64126144e+01] [ 2.22052905e-01 9.75033571e-01 -1.42951149e-03 9.61857476e+00] [ 6.06256519e-03 8.54073163e-05 9.99981619e-01 2.86528423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59088847900001 meters 0.020181461096480495 Centerline is valid? [True, True] Translation: X:86.47, Y:9.63, Z:0.29 [[ 9.76917158e-01 -2.13556311e-01 -5.15441222e-03 8.64703414e+01] [ 2.13552682e-01 9.76930748e-01 -1.25084040e-03 9.63377081e+00] [ 5.30262865e-03 1.21228899e-04 9.99985934e-01 2.88120486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.650888479 meters 0.02146839276742977 Centerline is valid? [True, True] Translation: X:86.53, Y:9.65, Z:0.29 [[ 9.78092633e-01 -2.08067882e-01 -6.52367323e-03 8.65276215e+01] [ 2.08061944e-01 9.78114370e-01 -1.58344789e-03 9.64829290e+00] [ 6.71036318e-03 1.91430574e-04 9.99977467e-01 2.86922022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.710888479 meters 0.024587278271212182 Centerline is valid? [True, True] Translation: X:86.58, Y:9.66, Z:0.28 [[ 9.79427390e-01 -2.01663720e-01 -7.33016807e-03 8.65849282e+01] [ 2.01656042e-01 9.79454784e-01 -1.77950478e-03 9.66399539e+00] [ 7.53842974e-03 2.64723041e-04 9.99971551e-01 2.84833305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.770888479 meters 0.02461358689709009 Centerline is valid? [True, True] Translation: X:86.64, Y:9.68, Z:0.29 [[ 9.79963489e-01 -1.99073429e-01 -6.42887763e-03 8.66438038e+01] [ 1.99067466e-01 9.79984545e-01 -1.56090922e-03 9.67524208e+00] [ 6.61093626e-03 2.49853670e-04 9.99978116e-01 2.85632855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83088847900001 meters 0.026802903746544315 Centerline is valid? [True, True] Translation: X:86.70, Y:9.69, Z:0.29 [[ 9.80136816e-01 -1.98238597e-01 -5.76896469e-03 8.67004830e+01] [ 1.98233779e-01 9.80153767e-01 -1.40105478e-03 9.68808825e+00] [ 5.93221561e-03 2.29621705e-04 9.99982378e-01 2.85831577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89088847900001 meters 0.023296442442621818 Centerline is valid? [True, True] Translation: X:86.76, Y:9.69, Z:0.28 [[ 9.79221579e-01 -2.02581436e-01 -9.26614589e-03 8.67614247e+01] [ 2.02569193e-01 9.79265365e-01 -2.25102654e-03 9.69002567e+00] [ 9.53003193e-03 3.27218066e-04 9.99954535e-01 2.84117910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95088847900001 meters 0.021715470252380367 Centerline is valid? [True, True] Translation: X:86.82, Y:9.70, Z:0.28 [[ 9.78261899e-01 -2.07112417e-01 -1.03972944e-02 8.68210946e+01] [ 2.07097254e-01 9.78317099e-01 -2.52621479e-03 9.69668785e+00] [ 1.06950613e-02 3.18048569e-04 9.99942756e-01 2.83189072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.010888479 meters 0.019520063305025342 Centerline is valid? [True, True] Translation: X:86.88, Y:9.70, Z:0.28 [[ 9.76400077e-01 -2.15604965e-01 -1.25454890e-02 8.68805474e+01] [ 2.15583581e-01 9.76480632e-01 -3.04863771e-03 9.70121186e+00] [ 1.29077284e-02 2.72088658e-04 9.99916655e-01 2.81870887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.070888479 meters 0.017573032723032057 Centerline is valid? [True, True] Translation: X:86.94, Y:9.71, Z:0.28 [[ 9.74468896e-01 -2.24230187e-01 -1.14540319e-02 8.69405676e+01] [ 2.24212952e-01 9.74536199e-01 -2.78381655e-03 9.70590797e+00] [ 1.17865844e-02 1.44600340e-04 9.99930525e-01 2.84655417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.130888479 meters 0.016941324059711087 Centerline is valid? [True, True] Translation: X:87.00, Y:9.72, Z:0.29 [[ 9.73503832e-01 -2.28385509e-01 -1.14170075e-02 8.69986537e+01] [ 2.28368645e-01 9.73570773e-01 -2.77710599e-03 9.71601103e+00] [ 1.17495156e-02 9.62368037e-05 9.99930967e-01 2.87030505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19088847900001 meters 0.01637968980710411 Centerline is valid? [True, True] Translation: X:87.06, Y:9.73, Z:0.29 [[ 9.72682480e-01 -2.31921287e-01 -1.00652432e-02 8.70561550e+01] [ 2.31908343e-01 9.72734555e-01 -2.45077881e-03 9.73054577e+00] [ 1.03591976e-02 4.96157325e-05 9.99946341e-01 2.87392396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25088847900001 meters 0.015917630758273585 Centerline is valid? [True, True] Translation: X:87.11, Y:9.75, Z:0.29 [[ 9.72245237e-01 -2.33835995e-01 -7.74118294e-03 8.71119521e+01] [ 2.33828391e-01 9.72276055e-01 -1.88588121e-03 9.74590725e+00] [ 7.96755371e-03 2.34306685e-05 9.99968258e-01 2.89705768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31088847900001 meters 0.015788541418776635 Centerline is valid? [True, True] Translation: X:87.17, Y:9.76, Z:0.29 [[ 9.72024505e-01 -2.34759349e-01 -7.51066084e-03 8.71684960e+01] [ 2.34752206e-01 9.72053521e-01 -1.83135739e-03 9.75963925e+00] [ 7.73069258e-03 1.69800527e-05 9.99970118e-01 2.90344771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37088847900002 meters 0.015520674264727499 Centerline is valid? [True, True] Translation: X:87.22, Y:9.77, Z:0.29 [[ 9.71746981e-01 -2.35851772e-01 -9.04135288e-03 8.72248264e+01] [ 2.35841442e-01 9.71789042e-01 -2.20740294e-03 9.77396596e+00] [ 9.30690754e-03 1.27114387e-05 9.99956690e-01 2.89681609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.430888479 meters 0.015485492531057115 Centerline is valid? [True, True] Translation: X:87.28, Y:9.79, Z:0.29 [[ 9.71900881e-01 -2.35152034e-01 -1.05923752e-02 8.72800126e+01] [ 2.35137796e-01 9.71958600e-01 -2.58772183e-03 9.79184921e+00] [ 1.09038583e-02 2.43413574e-05 9.99940551e-01 2.87709000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.490888479 meters 0.015500679790016758 Centerline is valid? [True, True] Translation: X:87.34, Y:9.81, Z:0.29 [[ 9.72139073e-01 -2.34245930e-01 -8.62946948e-03 8.73366093e+01] [ 2.34236430e-01 9.72177372e-01 -2.10984421e-03 9.80917177e+00] [ 8.88359739e-03 2.97258742e-05 9.99960540e-01 2.87803077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55088847900001 meters 0.015435760095393127 Centerline is valid? [True, True] Translation: X:87.39, Y:9.82, Z:0.29 [[ 9.72396794e-01 -2.33280338e-01 -4.97572788e-03 8.73936274e+01] [ 2.33277162e-01 9.72409524e-01 -1.21749638e-03 9.82397755e+00] [ 5.12246315e-03 2.31658935e-05 9.99986880e-01 2.91196100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61088847900001 meters 0.01531178914459535 Centerline is valid? [True, True] Translation: X:87.45, Y:9.84, Z:0.29 [[ 9.72547957e-01 -2.32671798e-01 -3.78226584e-03 8.74497712e+01] [ 2.32669955e-01 9.72555311e-01 -9.26313141e-04 9.83928179e+00] [ 3.89398968e-03 2.08643282e-05 9.99992418e-01 2.91476341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67088847900001 meters 0.015325031014605611 Centerline is valid? [True, True] Translation: X:87.51, Y:9.85, Z:0.29 [[ 9.72894048e-01 -2.31241008e-01 -2.18353927e-03 8.75071593e+01] [ 2.31240389e-01 9.72896498e-01 -5.35092772e-04 9.85460193e+00] [ 2.24809310e-03 1.56661006e-05 9.99997473e-01 2.92427101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73088847900001 meters 0.015261305411046484 Centerline is valid? [True, True] Translation: X:87.56, Y:9.87, Z:0.29 [[ 9.72796120e-01 -2.31660297e-01 -1.10226793e-03 8.75626316e+01] [ 2.31660140e-01 9.72796745e-01 -2.70267207e-04 9.86897862e+00] [ 1.13489283e-03 7.56334799e-06 9.99999356e-01 2.92954696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.790888479 meters 0.015318479482549661 Centerline is valid? [True, True] Translation: X:87.62, Y:9.88, Z:0.29 [[ 9.72791256e-01 -2.31670343e-01 -2.45446522e-03 8.76193086e+01] [ 2.31669560e-01 9.72794352e-01 -6.02501415e-04 9.88372177e+00] [ 2.52727162e-03 1.74832290e-05 9.99996806e-01 2.91810800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.850888479 meters 0.015177147168786072 Centerline is valid? [True, True] Translation: X:87.68, Y:9.90, Z:0.29 [[ 9.72666885e-01 -2.32167548e-01 -4.16656144e-03 8.76753008e+01] [ 2.32165289e-01 9.72675809e-01 -1.02449320e-03 9.89879587e+00] [ 4.29056759e-03 2.91596655e-05 9.99990795e-01 2.88616583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91088847900001 meters 0.014764458185139481 Centerline is valid? [True, True] Translation: X:87.73, Y:9.91, Z:0.28 [[ 9.71951476e-01 -2.35108166e-01 -5.87182209e-03 8.77330058e+01] [ 2.35103722e-01 9.71969212e-01 -1.44566696e-03 9.91234176e+00] [ 6.04711840e-03 2.46309100e-05 9.99981716e-01 2.84747464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97088847900001 meters 0.014574914109023465 Centerline is valid? [True, True] Translation: X:87.79, Y:9.93, Z:0.28 [[ 9.71182801e-01 -2.38264699e-01 -5.82242990e-03 8.77899712e+01] [ 2.38260377e-01 9.71200254e-01 -1.43508866e-03 9.92516617e+00] [ 5.99667637e-03 6.47907753e-06 9.99982020e-01 2.84541118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03088847900001 meters 0.014492024167955041 Centerline is valid? [True, True] Translation: X:87.85, Y:9.94, Z:0.29 [[ 9.70642300e-01 -2.40448990e-01 -6.14886291e-03 8.78464024e+01] [ 2.40444203e-01 9.70661776e-01 -1.51736412e-03 9.93764701e+00] [ 6.33331486e-03 -5.64064259e-06 9.99979944e-01 2.85286293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09088847900001 meters 0.014506686495596546 Centerline is valid? [True, True] Translation: X:87.90, Y:9.95, Z:0.28 [[ 9.69605172e-01 -2.44560705e-01 -7.47480898e-03 8.79043297e+01] [ 2.44553735e-01 9.69633983e-01 -1.84673085e-03 9.94954329e+00] [ 7.69946660e-03 -3.73926709e-05 9.99970358e-01 2.84586106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.150888479 meters 0.014659875154527637 Centerline is valid? [True, True] Translation: X:87.96, Y:9.96, Z:0.28 [[ 9.68768070e-01 -2.47837208e-01 -8.07118962e-03 8.79620380e+01] [ 2.47829177e-01 9.68801690e-01 -1.99620687e-03 9.96250861e+00] [ 8.31411648e-03 -6.64148070e-05 9.99965435e-01 2.83957017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.210888479 meters 0.014834010616685978 Centerline is valid? [True, True] Translation: X:88.02, Y:9.98, Z:0.28 [[ 9.68573825e-01 -2.48599548e-01 -7.93788032e-03 8.80184428e+01] [ 2.48591796e-01 9.68606349e-01 -1.96440335e-03 9.97706601e+00] [ 8.17703106e-03 -7.06222617e-05 9.99966565e-01 2.83747038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.270888479 meters 0.014495958905792397 Centerline is valid? [True, True] Translation: X:88.07, Y:9.99, Z:0.29 [[ 9.69362083e-01 -2.45518512e-01 -7.60350828e-03 8.80745541e+01] [ 2.45511293e-01 9.69391902e-01 -1.88311636e-03 9.99364204e+00] [ 7.83311928e-03 -4.13255604e-05 9.99969320e-01 2.85074749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33088847900001 meters 0.014307659513024278 Centerline is valid? [True, True] Translation: X:88.13, Y:10.01, Z:0.29 [[ 9.70752948e-01 -2.39934190e-01 -8.38440156e-03 8.81293713e+01] [ 2.39925184e-01 9.70789155e-01 -2.07887118e-03 1.00131217e+01] [ 8.63827838e-03 6.44123656e-06 9.99962689e-01 2.85165679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39088847900001 meters 0.014353352850096054 Centerline is valid? [True, True] Translation: X:88.19, Y:10.03, Z:0.28 [[ 9.71526694e-01 -2.36728903e-01 -9.76263144e-03 8.81852071e+01] [ 2.36716504e-01 9.71575743e-01 -2.42331763e-03 1.00315354e+01] [ 1.00588052e-02 4.33417898e-05 9.99949408e-01 2.83073189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45088847900001 meters 0.014519190617395398 Centerline is valid? [True, True] Translation: X:88.24, Y:10.05, Z:0.28 [[ 9.72406478e-01 -2.33178697e-01 -7.30325763e-03 8.82416749e+01] [ 2.33171645e-01 9.72433901e-01 -1.81456219e-03 1.00480928e+01] [ 7.52505255e-03 6.15794338e-05 9.99971684e-01 2.84923546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51088847900002 meters 0.014803278412033903 Centerline is valid? [True, True] Translation: X:88.30, Y:10.06, Z:0.29 [[ 9.72789539e-01 -2.31648571e-01 -4.41042169e-03 8.82973500e+01] [ 2.31645979e-01 9.72799536e-01 -1.09673615e-03 1.00629251e+01] [ 4.54451353e-03 4.52369994e-05 9.99989673e-01 2.88143277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.570888479 meters 0.01502789700791571 Centerline is valid? [True, True] Translation: X:88.35, Y:10.08, Z:0.29 [[ 9.73077497e-01 -2.30468703e-01 -2.08852189e-03 8.83538193e+01] [ 2.30468119e-01 9.73079738e-01 -5.19568634e-04 1.00786317e+01] [ 2.15204264e-03 2.42428347e-05 9.99997684e-01 2.90037810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.630888479 meters 0.01515724960984838 Centerline is valid? [True, True] Translation: X:88.41, Y:10.09, Z:0.29 [[ 9.72998827e-01 -2.30803349e-01 -1.76001194e-03 8.84091727e+01] [ 2.30802934e-01 9.73000418e-01 -4.38312017e-04 1.00916071e+01] [ 1.81365623e-03 2.02611599e-05 9.99998355e-01 2.89988084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69088847900001 meters 0.014976738559381007 Centerline is valid? [True, True] Translation: X:88.47, Y:10.10, Z:0.29 [[ 9.72541277e-01 -2.32711081e-01 -3.00285006e-03 8.84665015e+01] [ 2.32709879e-01 9.72545912e-01 -7.48485056e-04 1.01040913e+01] [ 3.09459032e-03 2.91397366e-05 9.99995211e-01 2.89148322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75088847900001 meters 0.014403633035114724 Centerline is valid? [True, True] Translation: X:88.52, Y:10.12, Z:0.29 [[ 9.71612202e-01 -2.36511158e-01 -5.67458820e-03 8.85246565e+01] [ 2.36506919e-01 9.71628772e-01 -1.41647662e-03 1.01156017e+01] [ 5.84860570e-03 3.41865969e-05 9.99982896e-01 2.86899543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81088847900001 meters 0.014208701720315894 Centerline is valid? [True, True] Translation: X:88.58, Y:10.13, Z:0.28 [[ 9.70188008e-01 -2.42236100e-01 -7.54325122e-03 8.85822716e+01] [ 2.42228764e-01 9.70217332e-01 -1.88524044e-03 1.01258989e+01] [ 7.77526636e-03 1.84524656e-06 9.99969772e-01 2.84919469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87088847900002 meters 0.014277853661803463 Centerline is valid? [True, True] Translation: X:88.64, Y:10.14, Z:0.29 [[ 9.69038827e-01 -2.46802161e-01 -7.24187656e-03 8.86391892e+01] [ 2.46795512e-01 9.69065886e-01 -1.81199542e-03 1.01370011e+01] [ 7.46505991e-03 -3.13687127e-05 9.99972136e-01 2.86368969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.930888479 meters 0.014579128101806374 Centerline is valid? [True, True] Translation: X:88.70, Y:10.15, Z:0.29 [[ 9.68146102e-01 -2.50313250e-01 -6.03347430e-03 8.86960406e+01] [ 2.50308696e-01 9.68164901e-01 -1.51059959e-03 1.01499134e+01] [ 6.21952114e-03 -4.77499791e-05 9.99980657e-01 2.87579917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.990888479 meters 0.014578718749015833 Centerline is valid? [True, True] Translation: X:88.75, Y:10.17, Z:0.29 [[ 9.68034016e-01 -2.50773747e-01 -4.76153934e-03 8.87518223e+01] [ 2.50770912e-01 9.68045725e-01 -1.19293302e-03 1.01656984e+01] [ 4.90854409e-03 -3.92558173e-05 9.99987952e-01 2.88880803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05088847900001 meters 0.014204218973385306 Centerline is valid? [True, True] Translation: X:88.81, Y:10.18, Z:0.29 [[ 9.69017667e-01 -2.46926541e-01 -5.66072658e-03 8.88073660e+01] [ 2.46922460e-01 9.69034201e-01 -1.41989567e-03 1.01849255e+01] [ 5.83604758e-03 -2.18565391e-05 9.99982970e-01 2.89003275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11088847900001 meters 0.014170008114528381 Centerline is valid? [True, True] Translation: X:88.86, Y:10.21, Z:0.29 [[ 9.70468792e-01 -2.41180461e-01 -4.72327757e-03 8.88616277e+01] [ 2.41177546e-01 9.70480286e-01 -1.18589784e-03 1.02074130e+01] [ 4.86986315e-03 1.17283532e-05 9.99988142e-01 2.88907091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17088847900001 meters 0.014192790528413725 Centerline is valid? [True, True] Translation: X:88.92, Y:10.22, Z:0.29 [[ 9.70812458e-01 -2.39804003e-01 -4.14874499e-03 8.89174132e+01] [ 2.39801737e-01 9.70821322e-01 -1.04274356e-03 1.02235877e+01] [ 4.27774418e-03 1.74321813e-05 9.99990850e-01 2.89927806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23088847900001 meters 0.014673310071684133 Centerline is valid? [True, True] Translation: X:88.97, Y:10.24, Z:0.29 [[ 9.71772721e-01 -2.35896686e-01 -3.24541794e-03 8.89736339e+01] [ 2.35895274e-01 9.71778140e-01 -8.16453714e-04 1.02426096e+01] [ 3.34642493e-03 2.78286922e-05 9.99994400e-01 2.92561305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.290888479 meters 0.014983797378764745 Centerline is valid? [True, True] Translation: X:89.03, Y:10.26, Z:0.29 [[ 9.72331548e-01 -2.33589207e-01 -2.72813270e-03 8.90301380e+01] [ 2.33588199e-01 9.72335375e-01 -6.86905394e-04 1.02613602e+01] [ 2.81311362e-03 3.06401818e-05 9.99996043e-01 2.92342363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.350888479 meters 0.015278543224230197 Centerline is valid? [True, True] Translation: X:89.09, Y:10.28, Z:0.29 [[ 9.72641923e-01 -2.32297430e-01 -2.36513677e-03 8.90865526e+01] [ 2.32296667e-01 9.72644798e-01 -5.96023233e-04 1.02793753e+01] [ 2.43889264e-03 3.03037938e-05 9.99997025e-01 2.91720954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41088847900001 meters 0.015222996161161852 Centerline is valid? [True, True] Translation: X:89.14, Y:10.30, Z:0.29 [[ 9.72422269e-01 -2.33226734e-01 -4.70706299e-04 8.91423795e+01] [ 2.33226705e-01 9.72422383e-01 -1.18087858e-04 1.02952513e+01] [ 4.85266587e-04 5.04998357e-06 9.99999882e-01 2.93471620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47088847900001 meters 0.015247253677726433 Centerline is valid? [True, True] Translation: X:89.20, Y:10.31, Z:0.29 [[ 9.72123120e-01 -2.34470959e-01 -9.45954673e-05 8.91991818e+01] [ 2.34470958e-01 9.72123125e-01 -2.32180219e-05 1.03108634e+01] [ 9.74023931e-05 3.90886089e-07 9.99999995e-01 2.94651792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53088847900001 meters 0.01520238135847728 Centerline is valid? [True, True] Translation: X:89.25, Y:10.33, Z:0.29 [[ 9.71814538e-01 -2.35742039e-01 -1.48167419e-03 8.92548559e+01] [ 2.35741742e-01 9.71815667e-01 -3.74488740e-04 1.03282387e+01] [ 1.52819694e-03 1.46411462e-05 9.99998832e-01 2.92665983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59088847900001 meters 0.014688218650485767 Centerline is valid? [True, True] Translation: X:89.31, Y:10.34, Z:0.29 [[ 9.70785034e-01 -2.39927754e-01 -3.33032838e-03 8.93120225e+01] [ 2.39926275e-01 9.70790746e-01 -8.42717403e-04 1.03422265e+01] [ 3.43524327e-03 1.90641609e-05 9.99994099e-01 2.91074435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.650888479 meters 0.01432556138206222 Centerline is valid? [True, True] Translation: X:89.37, Y:10.35, Z:0.29 [[ 9.69707859e-01 -2.44228845e-01 -4.35197284e-03 8.93681296e+01] [ 2.44226357e-01 9.69717625e-01 -1.10229330e-03 1.03548135e+01] [ 4.48939659e-03 6.03599848e-06 9.99989923e-01 2.90527700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.710888479 meters 0.01447364306941265 Centerline is valid? [True, True] Translation: X:89.43, Y:10.37, Z:0.29 [[ 9.68584549e-01 -2.48563726e-01 -7.74886047e-03 8.94253029e+01] [ 2.48555965e-01 9.68615545e-01 -1.96438407e-03 1.03695889e+01] [ 7.99394133e-03 -2.33534296e-05 9.99968048e-01 2.87274521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.770888479 meters 0.014553712522469097 Centerline is valid? [True, True] Translation: X:89.48, Y:10.39, Z:0.29 [[ 9.68092581e-01 -2.50414294e-01 -9.45709137e-03 8.94814583e+01] [ 2.50402804e-01 9.68138771e-01 -2.39919262e-03 1.03856025e+01] [ 9.75656893e-03 -4.54416235e-05 9.99952403e-01 2.85643356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83088847900001 meters 0.014978109295880011 Centerline is valid? [True, True] Translation: X:89.54, Y:10.40, Z:0.28 [[ 9.67174804e-01 -2.53919933e-01 -9.87753199e-03 8.95382067e+01] [ 2.53907560e-01 9.67225238e-01 -2.50806548e-03 1.04022188e+01] [ 1.01906460e-02 -8.22422990e-05 9.99948071e-01 2.84217672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89088847900001 meters 0.015477084016899833 Centerline is valid? [True, True] Translation: X:89.59, Y:10.42, Z:0.28 [[ 9.66608080e-01 -2.56082685e-01 -9.51196864e-03 8.95947718e+01] [ 2.56071292e-01 9.66654876e-01 -2.41761084e-03 1.04175688e+01] [ 9.81389913e-03 -9.88599279e-05 9.99951838e-01 2.84913569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95088847900001 meters 0.015508558578125362 Centerline is valid? [True, True] Translation: X:89.65, Y:10.44, Z:0.29 [[ 9.66601046e-01 -2.56187589e-01 -7.09480831e-03 8.96509026e+01] [ 2.56181242e-01 9.66627081e-01 -1.80484073e-03 1.04373578e+01] [ 7.32041164e-03 -7.29958615e-05 9.99973203e-01 2.87280277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01088847900002 meters 0.0150065022746067 Centerline is valid? [True, True] Translation: X:89.71, Y:10.46, Z:0.29 [[ 9.67675763e-01 -2.52033452e-01 -9.09703232e-03 8.97061231e+01] [ 2.52022809e-01 9.67718521e-01 -2.31671921e-03 1.04599769e+01] [ 9.38725740e-03 -5.08266116e-05 9.99955937e-01 2.87835337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.070888479 meters 0.014851031555764406 Centerline is valid? [True, True] Translation: X:89.76, Y:10.48, Z:0.29 [[ 9.68663238e-01 -2.48203252e-01 -9.31003312e-03 8.97619023e+01] [ 2.48191904e-01 9.68707977e-01 -2.37340738e-03 1.04809171e+01] [ 9.60779079e-03 -1.16423706e-05 9.99953844e-01 2.86479697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.130888479 meters 0.015112494452952535 Centerline is valid? [True, True] Translation: X:89.82, Y:10.50, Z:0.29 [[ 9.70335357e-01 -2.41632435e-01 -7.94106143e-03 8.98157877e+01] [ 2.41623948e-01 9.70367850e-01 -2.02573808e-03 1.05037419e+01] [ 8.19523473e-03 4.68946726e-05 9.99966417e-01 2.87016632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19088847900001 meters 0.015603066730843152 Centerline is valid? [True, True] Translation: X:89.87, Y:10.52, Z:0.29 [[ 9.71360264e-01 -2.37473585e-01 -8.09525481e-03 8.98713256e+01] [ 2.37464606e-01 9.71393993e-01 -2.06680965e-03 1.05230331e+01] [ 8.35449459e-03 8.52802779e-05 9.99965097e-01 2.87160983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25088847900001 meters 0.016689122132536902 Centerline is valid? [True, True] Translation: X:89.93, Y:10.54, Z:0.29 [[ 9.72464387e-01 -2.32917581e-01 -7.90044894e-03 8.99271833e+01] [ 2.32908863e-01 9.72496471e-01 -2.01902923e-03 1.05438720e+01] [ 8.15342611e-03 1.23349443e-04 9.99966753e-01 2.87432902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31088847900001 meters 0.017133627015620843 Centerline is valid? [True, True] Translation: X:89.98, Y:10.56, Z:0.29 [[ 9.72632989e-01 -2.32295136e-01 -4.90295901e-03 8.99821661e+01] [ 2.32291767e-01 9.72645343e-01 -1.25368049e-03 1.05604943e+01] [ 5.06006412e-03 8.04539978e-05 9.99987195e-01 2.90376419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37088847900002 meters 0.01593753199544477 Centerline is valid? [True, True] Translation: X:90.04, Y:10.57, Z:0.29 [[ 9.72459822e-01 -2.33023234e-01 -4.69759492e-03 9.00394077e+01] [ 2.33020145e-01 9.72471165e-01 -1.20209408e-03 1.05728847e+01] [ 4.84839145e-03 7.43539409e-05 9.99988244e-01 2.90656768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.430888479 meters 0.015520488340977315 Centerline is valid? [True, True] Translation: X:90.10, Y:10.58, Z:0.29 [[ 9.71491636e-01 -2.36942240e-01 -7.89780285e-03 9.00967989e+01] [ 2.36933623e-01 9.71523734e-01 -2.02289661e-03 1.05824438e+01] [ 8.15221257e-03 9.39720974e-05 9.99966766e-01 2.89441151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.490888479 meters 0.015249248657032519 Centerline is valid? [True, True] Translation: X:90.16, Y:10.59, Z:0.29 [[ 9.70527904e-01 -2.40824845e-01 -8.88714246e-03 9.01552908e+01] [ 2.40814080e-01 9.70568590e-01 -2.27816802e-03 1.05925773e+01] [ 9.17422079e-03 7.08765963e-05 9.99957913e-01 2.87171636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55088847900001 meters 0.01529297988992256 Centerline is valid? [True, True] Translation: X:90.21, Y:10.60, Z:0.29 [[ 9.70254216e-01 -2.41914234e-01 -9.17928832e-03 9.02123836e+01] [ 2.41902774e-01 9.70297634e-01 -2.35566741e-03 1.06034280e+01] [ 9.47651122e-03 6.51009318e-05 9.99955095e-01 2.88114821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61088847900001 meters 0.015520376631099885 Centerline is valid? [True, True] Translation: X:90.27, Y:10.61, Z:0.29 [[ 9.70318109e-01 -2.41589131e-01 -1.08378932e-02 9.02703762e+01] [ 2.41573100e-01 9.70378630e-01 -2.78436230e-03 1.06146861e+01] [ 1.11895316e-02 8.35737141e-05 9.99937392e-01 2.87032329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67088847900001 meters 0.015752692958336065 Centerline is valid? [True, True] Translation: X:90.33, Y:10.63, Z:0.29 [[ 9.70741373e-01 -2.39829185e-01 -1.19644573e-02 9.03283551e+01] [ 2.39809474e-01 9.70815095e-01 -3.07696449e-03 1.06269478e+01] [ 1.23532217e-02 1.17746512e-04 9.99923689e-01 2.86504701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73088847900001 meters 0.016334325493654014 Centerline is valid? [True, True] Translation: X:90.39, Y:10.64, Z:0.29 [[ 9.71430443e-01 -2.37048041e-01 -1.14508113e-02 9.03864645e+01] [ 2.37029758e-01 9.71497918e-01 -2.94779856e-03 1.06377703e+01] [ 1.18232093e-02 1.49398212e-04 9.99930092e-01 2.88638688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.790888479 meters 0.01652618066714941 Centerline is valid? [True, True] Translation: X:90.44, Y:10.65, Z:0.29 [[ 9.71635578e-01 -2.36117971e-01 -1.31379818e-02 9.04437743e+01] [ 2.36093795e-01 9.71724379e-01 -3.38388765e-03 1.06491384e+01] [ 1.35654939e-02 1.86109660e-04 9.99907967e-01 2.85956343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.850888479 meters 0.0164451557054706 Centerline is valid? [True, True] Translation: X:90.50, Y:10.66, Z:0.29 [[ 9.71425343e-01 -2.36959786e-01 -1.35226909e-02 9.05016046e+01] [ 2.36934207e-01 9.71519442e-01 -3.48641949e-03 1.06590728e+01] [ 1.39636983e-02 1.82808215e-04 9.99902486e-01 2.86370319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91088847900001 meters 0.01619757465995888 Centerline is valid? [True, True] Translation: X:90.56, Y:10.67, Z:0.29 [[ 9.70633735e-01 -2.40216095e-01 -1.28988625e-02 9.05592105e+01] [ 2.40193086e-01 9.70719429e-01 -3.32727083e-03 1.06671224e+01] [ 1.33204404e-02 1.31343719e-04 9.99911270e-01 2.85684668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97088847900001 meters 0.015550767967687635 Centerline is valid? [True, True] Translation: X:90.62, Y:10.67, Z:0.29 [[ 9.69729678e-01 -2.43908659e-01 -1.15289969e-02 9.06186118e+01] [ 2.43890509e-01 9.69798206e-01 -2.97639751e-03 1.06738279e+01] [ 1.19067696e-02 7.44880812e-05 9.99929109e-01 2.89442114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03088847900001 meters 0.015569331974609848 Centerline is valid? [True, True] Translation: X:90.68, Y:10.68, Z:0.29 [[ 9.68238942e-01 -2.49833307e-01 -9.83212945e-03 9.06774228e+01] [ 2.49820388e-01 9.68288861e-01 -2.54071827e-03 1.06799256e+01] [ 1.01550975e-02 3.75597962e-06 9.99948436e-01 2.93197028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09088847900001 meters 0.015574623563486495 Centerline is valid? [True, True] Translation: X:90.73, Y:10.69, Z:0.29 [[ 9.67787795e-01 -2.51580857e-01 -9.68791025e-03 9.07337079e+01] [ 2.51568381e-01 9.67836284e-01 -2.50548726e-03 1.06917891e+01] [ 1.00066437e-02 -1.23918999e-05 9.99949932e-01 2.92803202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.150888479 meters 0.015813331874740034 Centerline is valid? [True, True] Translation: X:90.79, Y:10.70, Z:0.29 [[ 9.66580863e-01 -2.56097153e-01 -1.16483399e-02 9.07922419e+01] [ 2.56079409e-01 9.66651045e-01 -3.01541756e-03 1.06994764e+01] [ 1.20321198e-02 -6.82551009e-05 9.99927609e-01 2.93217302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.210888479 meters 0.015937878858981014 Centerline is valid? [True, True] Translation: X:90.85, Y:10.71, Z:0.29 [[ 9.65913285e-01 -2.58593427e-01 -1.18728935e-02 9.08507968e+01] [ 2.58575143e-01 9.65986247e-01 -3.07660083e-03 1.07083868e+01] [ 1.22646406e-02 -9.83055138e-05 9.99924782e-01 2.92789303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.270888479 meters 0.016351735828564574 Centerline is valid? [True, True] Translation: X:90.91, Y:10.72, Z:0.29 [[ 9.66192425e-01 -2.57554696e-01 -1.17378308e-02 9.09079216e+01] [ 2.57536731e-01 9.66263718e-01 -3.04309723e-03 1.07195258e+01] [ 1.21256040e-02 -8.27050819e-05 9.99926479e-01 2.90707148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33088847900001 meters 0.015597915892395415 Centerline is valid? [True, True] Translation: X:90.96, Y:10.74, Z:0.29 [[ 9.67796366e-01 -2.51436900e-01 -1.22343162e-02 9.09642982e+01] [ 2.51416859e-01 9.67873693e-01 -3.17456335e-03 1.07384906e+01] [ 1.26394752e-02 -3.58247220e-06 9.99920119e-01 2.91534575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39088847900001 meters 0.016066055345662616 Centerline is valid? [True, True] Translation: X:91.02, Y:10.76, Z:0.29 [[ 9.69216539e-01 -2.45894388e-01 -1.24599718e-02 9.10194219e+01] [ 2.45873122e-01 9.69296624e-01 -3.23473889e-03 1.07564077e+01] [ 1.28728127e-02 7.15902703e-05 9.99917139e-01 2.89210052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45088847900001 meters 0.016724961831885526 Centerline is valid? [True, True] Translation: X:91.08, Y:10.77, Z:0.29 [[ 9.70547478e-01 -2.40635358e-01 -1.14985902e-02 9.10758843e+01] [ 2.40616848e-01 9.70615582e-01 -2.98756496e-03 1.07721075e+01] [ 1.18796246e-02 1.32819118e-04 9.99929426e-01 2.92071270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51088847900002 meters 0.01679930806226402 Centerline is valid? [True, True] Translation: X:91.13, Y:10.79, Z:0.29 [[ 9.70840322e-01 -2.39410581e-01 -1.23143685e-02 9.11333655e+01] [ 2.39389212e-01 9.70918404e-01 -3.20274422e-03 1.07858105e+01] [ 1.27230179e-02 1.61426261e-04 9.99919046e-01 2.93320533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.570888479 meters 0.017297129449071417 Centerline is valid? [True, True] Translation: X:91.19, Y:10.80, Z:0.29 [[ 9.71076933e-01 -2.38411481e-01 -1.30213449e-02 9.11897460e+01] [ 2.38387475e-01 9.71164214e-01 -3.38831456e-03 1.08009623e+01] [ 1.34536773e-02 1.86188589e-04 9.99909478e-01 2.92131139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.630888479 meters 0.017404130918503416 Centerline is valid? [True, True] Translation: X:91.25, Y:10.81, Z:0.29 [[ 9.70951521e-01 -2.38832271e-01 -1.45701911e-02 9.12471496e+01] [ 2.38802210e-01 9.71060814e-01 -3.79475747e-03 1.08132547e+01] [ 1.50548521e-02 2.05131711e-04 9.99886648e-01 2.92273844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69088847900001 meters 0.017411954640042627 Centerline is valid? [True, True] Translation: X:91.30, Y:10.83, Z:0.29 [[ 9.70572039e-01 -2.40431171e-01 -1.35192053e-02 9.13028239e+01] [ 2.40405423e-01 9.70666175e-01 -3.52269883e-03 1.08282509e+01] [ 1.39696019e-02 1.68942722e-04 9.99902406e-01 2.92572938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75088847900001 meters 0.01714810548628913 Centerline is valid? [True, True] Translation: X:91.36, Y:10.84, Z:0.29 [[ 9.69648883e-01 -2.44173615e-01 -1.26605602e-02 9.13595145e+01] [ 2.44151331e-01 9.69731527e-01 -3.30053870e-03 1.08407162e+01] [ 1.30832488e-02 1.09271027e-04 9.99914405e-01 2.94867643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81088847900001 meters 0.017138212609997906 Centerline is valid? [True, True] Translation: X:91.42, Y:10.85, Z:0.30 [[ 9.68735747e-01 -2.47722155e-01 -1.35935922e-02 9.14171560e+01] [ 2.47696771e-01 9.68831115e-01 -3.54693527e-03 1.08531882e+01] [ 1.40485495e-02 6.89541085e-05 9.99901312e-01 2.96478831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87088847900002 meters 0.017197545468909756 Centerline is valid? [True, True] Translation: X:91.48, Y:10.87, Z:0.30 [[ 9.67745851e-01 -2.51470233e-01 -1.51884707e-02 9.14753696e+01] [ 2.51438941e-01 9.67865033e-01 -3.96703258e-03 1.08650839e+01] [ 1.56979803e-02 2.01063177e-05 9.99876779e-01 2.96149247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.930888479 meters 0.017870158015135668 Centerline is valid? [True, True] Translation: X:91.53, Y:10.87, Z:0.29 [[ 9.65810824e-01 -2.58652604e-01 -1.75579910e-02 9.15323897e+01] [ 2.58611913e-01 9.65970403e-01 -4.58904982e-03 1.08740995e+01] [ 1.81474693e-02 -1.08551659e-04 9.99835315e-01 2.94442132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.990888479 meters 0.01850575149635347 Centerline is valid? [True, True] Translation: X:91.59, Y:10.89, Z:0.30 [[ 9.63917932e-01 -2.65603224e-01 -1.78086612e-02 9.15896093e+01] [ 2.65562514e-01 9.64082397e-01 -4.65640092e-03 1.08862287e+01] [ 1.84057719e-02 -2.40924501e-04 9.99830570e-01 2.96336530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05088847900001 meters 0.01908207849290217 Centerline is valid? [True, True] Translation: X:91.65, Y:10.90, Z:0.30 [[ 9.63103540e-01 -2.68568906e-01 -1.73871781e-02 9.16470774e+01] [ 2.68530510e-01 9.63260432e-01 -4.55021324e-03 1.08995684e+01] [ 1.79704265e-02 -2.86661331e-04 9.99838478e-01 2.97205173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11088847900001 meters 0.01955766023156848 Centerline is valid? [True, True] Translation: X:91.70, Y:10.91, Z:0.30 [[ 9.63026066e-01 -2.69069918e-01 -1.34972344e-02 9.17027609e+01] [ 2.69046809e-01 9.63120619e-01 -3.53373053e-03 1.09137220e+01] [ 1.39502853e-02 -2.28313233e-04 9.99902664e-01 3.02448269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17088847900001 meters 0.018932562670399493 Centerline is valid? [True, True] Translation: X:91.76, Y:10.93, Z:0.30 [[ 9.63626394e-01 -2.66953044e-01 -1.26587772e-02 9.17589071e+01] [ 2.66932498e-01 9.63709520e-01 -3.31699066e-03 1.09332035e+01] [ 1.30848648e-02 -1.82699274e-04 9.99914373e-01 3.04904049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23088847900001 meters 0.018335552304991582 Centerline is valid? [True, True] Translation: X:91.81, Y:10.96, Z:0.31 [[ 9.65685217e-01 -2.59340747e-01 -1.39440850e-02 9.18139424e+01] [ 2.59314970e-01 9.65785882e-01 -3.65739440e-03 1.09554139e+01] [ 1.44155118e-02 -8.40182809e-05 9.99896088e-01 3.05309269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.290888479 meters 0.01839103656828201 Centerline is valid? [True, True] Translation: X:91.87, Y:10.98, Z:0.30 [[ 9.68510333e-01 -2.48604473e-01 -1.35480768e-02 9.18673277e+01] [ 2.48579031e-01 9.68605085e-01 -3.55739407e-03 1.09811624e+01] [ 1.40071201e-02 7.76051055e-05 9.99901892e-01 3.04866943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.350888479 meters 0.01925574593299593 Centerline is valid? [True, True] Translation: X:91.92, Y:11.00, Z:0.30 [[ 9.70206984e-01 -2.41957696e-01 -1.24451190e-02 9.19207439e+01] [ 2.41935651e-01 9.70286786e-01 -3.27007243e-03 1.10038761e+01] [ 1.28665537e-02 1.61729142e-04 9.99917209e-01 3.04286769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41088847900001 meters 0.020152822055849035 Centerline is valid? [True, True] Translation: X:91.98, Y:11.02, Z:0.31 [[ 9.71742838e-01 -2.35919800e-01 -7.59635025e-03 9.19761763e+01] [ 2.35911395e-01 9.71772518e-01 -1.99695136e-03 1.10225544e+01] [ 7.85304477e-03 1.48457600e-04 9.99969153e-01 3.11624690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47088847900001 meters 0.021336238092143384 Centerline is valid? [True, True] Translation: X:92.03, Y:11.04, Z:0.31 [[ 9.72636234e-01 -2.32258552e-01 -5.89247184e-03 9.20308042e+01] [ 2.32253424e-01 9.72654073e-01 -1.54960944e-03 1.10422138e+01] [ 6.09124678e-03 1.38659533e-04 9.99981439e-01 3.12718831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53088847900001 meters 0.02120156906513899 Centerline is valid? [True, True] Translation: X:92.09, Y:11.06, Z:0.31 [[ 9.72939742e-01 -2.31014749e-01 -4.52162479e-03 9.20880267e+01] [ 2.31011713e-01 9.72950242e-01 -1.18976697e-03 1.10579449e+01] [ 4.67416966e-03 1.13023279e-04 9.99989070e-01 3.12412371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59088847900001 meters 0.020163084010492046 Centerline is valid? [True, True] Translation: X:92.15, Y:11.07, Z:0.31 [[ 9.71807639e-01 -2.35714918e-01 -5.32816788e-03 9.21456884e+01] [ 2.35710767e-01 9.71822240e-01 -1.40302564e-03 1.10708021e+01] [ 5.50874612e-03 1.07564500e-04 9.99984821e-01 3.08648694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.650888479 meters 0.01853731527264494 Centerline is valid? [True, True] Translation: X:92.21, Y:11.08, Z:0.31 [[ 9.69805240e-01 -2.43867847e-01 -2.50385374e-03 9.22052091e+01] [ 2.43866957e-01 9.69808472e-01 -6.59404496e-04 1.10800823e+01] [ 2.58906613e-03 2.88867415e-05 9.99996648e-01 3.11109042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.710888479 meters 0.018016431099589045 Centerline is valid? [True, True] Translation: X:92.26, Y:11.09, Z:0.31 [[ 9.68574798e-01 -2.48713601e-01 -2.09904444e-03 9.22610134e+01] [ 2.48712987e-01 9.68577072e-01 -5.52862013e-04 1.10937218e+01] [ 2.17059062e-03 1.34285984e-05 9.99997644e-01 3.11227791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.770888479 meters 0.017670453671159932 Centerline is valid? [True, True] Translation: X:92.32, Y:11.11, Z:0.31 [[ 9.66919423e-01 -2.55029675e-01 -5.16665483e-03 9.23191314e+01] [ 2.55026038e-01 9.66933227e-01 -1.36209825e-03 1.11055809e+01] [ 5.34318570e-03 -5.92255416e-07 9.99985725e-01 3.08377325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83088847900001 meters 0.017800186862303183 Centerline is valid? [True, True] Translation: X:92.38, Y:11.12, Z:0.31 [[ 9.65385057e-01 -2.60767058e-01 -5.67741396e-03 9.23770243e+01] [ 2.60762756e-01 9.65401751e-01 -1.49829863e-03 1.11186398e+01] [ 5.87169230e-03 -3.40230032e-05 9.99982761e-01 3.05752103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89088847900001 meters 0.01862037967827209 Centerline is valid? [True, True] Translation: X:92.43, Y:11.13, Z:0.31 [[ 9.63648312e-01 -2.67137547e-01 -4.41153620e-03 9.24332040e+01] [ 2.67135013e-01 9.63658408e-01 -1.16504458e-03 1.11309727e+01] [ 4.56244110e-03 -5.57825392e-05 9.99989590e-01 3.05270631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95088847900001 meters 0.018721542552520815 Centerline is valid? [True, True] Translation: X:92.49, Y:11.15, Z:0.31 [[ 9.62958831e-01 -2.69634366e-01 -2.75661709e-03 9.24900592e+01] [ 2.69633386e-01 9.62962775e-01 -7.28279060e-04 1.11462024e+01] [ 2.85088871e-03 -4.19732486e-05 9.99995935e-01 3.08062030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01088847900002 meters 0.01876849149879301 Centerline is valid? [True, True] Translation: X:92.55, Y:11.16, Z:0.31 [[ 9.63049154e-01 -2.69306748e-01 -3.19420873e-03 9.25465297e+01] [ 2.69305427e-01 9.63054450e-01 -8.44831413e-04 1.11616217e+01] [ 3.30371573e-03 -4.66035689e-05 9.99994542e-01 3.08594889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.070888479 meters 0.018270191051827134 Centerline is valid? [True, True] Translation: X:92.60, Y:11.18, Z:0.31 [[ 9.63997012e-01 -2.65905294e-01 -2.03362270e-03 9.26017717e+01] [ 2.65904751e-01 9.63999157e-01 -5.38197237e-04 1.11815665e+01] [ 2.10352006e-03 -2.19294070e-05 9.99997787e-01 3.08243375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.130888479 meters 0.01757626905785657 Centerline is valid? [True, True] Translation: X:92.66, Y:11.21, Z:0.31 [[ 9.66358333e-01 -2.57198145e-01 -8.29107273e-04 9.26560248e+01] [ 2.57198051e-01 9.66358688e-01 -2.19224648e-04 1.12073969e+01] [ 8.57599189e-04 -1.39520982e-06 9.99999632e-01 3.08060706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19088847900001 meters 0.01764096507993178 Centerline is valid? [True, True] Translation: X:92.71, Y:11.23, Z:0.31 [[ 9.67653987e-01 -2.52280461e-01 5.75295232e-04 9.27110954e+01] [ 2.52280415e-01 9.67654158e-01 1.53445613e-04 1.12279310e+01] [-5.95398153e-04 -3.34653922e-06 9.99999823e-01 3.08110573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25088847900001 meters 0.018264926379924728 Centerline is valid? [True, True] Translation: X:92.77, Y:11.25, Z:0.31 [[ 9.68858792e-01 -2.47595882e-01 2.98678713e-03 9.27653911e+01] [ 2.47594612e-01 9.68863395e-01 7.93516542e-04 1.12490267e+01] [-3.09026014e-03 -2.92930783e-05 9.99995225e-01 3.11323187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31088847900001 meters 0.018667513871385537 Centerline is valid? [True, True] Translation: X:92.82, Y:11.27, Z:0.31 [[ 9.69348282e-01 -2.45633147e-01 5.31650677e-03 9.28191312e+01] [ 2.45629092e-01 9.69362859e-01 1.41272435e-03 1.12705939e+01] [-5.50063613e-03 -6.35331935e-05 9.99984869e-01 3.11789458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37088847900002 meters 0.01851622948024498 Centerline is valid? [True, True] Translation: X:92.88, Y:11.29, Z:0.31 [[ 9.69058895e-01 -2.46735937e-01 6.79964264e-03 9.28751499e+01] [ 2.46729316e-01 9.69082748e-01 1.80916269e-03 1.12876292e+01] [-7.03580182e-03 -7.55140230e-05 9.99975246e-01 3.12088369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.430888479 meters 0.017678785376044087 Centerline is valid? [True, True] Translation: X:92.93, Y:11.30, Z:0.31 [[ 9.67953930e-01 -2.51046578e-01 6.38790825e-03 9.29320648e+01] [ 2.51040817e-01 9.67975007e-01 1.70129033e-03 1.13039869e+01] [-6.61043865e-03 -4.31449495e-05 9.99978150e-01 3.06936656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.490888479 meters 0.017768790765650896 Centerline is valid? [True, True] Translation: X:92.99, Y:11.32, Z:0.31 [[ 9.67212952e-01 -2.53904972e-01 5.60094810e-03 9.29875382e+01] [ 2.53900590e-01 9.67229169e-01 1.49184185e-03 1.13211269e+01] [-5.79618644e-03 -2.08447272e-05 9.99983202e-01 3.05370918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55088847900001 meters 0.017517714908321384 Centerline is valid? [True, True] Translation: X:93.04, Y:11.34, Z:0.30 [[ 9.66528033e-01 -2.56530500e-01 3.95764604e-03 9.30431153e+01] [ 2.56528333e-01 9.66536136e-01 1.05452909e-03 1.13374786e+01] [-4.09572679e-03 -3.98358477e-06 9.99991612e-01 3.03123414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61088847900001 meters 0.01715672817249684 Centerline is valid? [True, True] Translation: X:93.10, Y:11.36, Z:0.30 [[ 9.66044823e-01 -2.58372680e-01 9.78796560e-04 9.30994561e+01] [ 2.58372548e-01 9.66045319e-01 2.61642873e-04 1.13566783e+01] [-1.01316320e-03 1.35417792e-07 9.99999487e-01 2.98394509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67088847900001 meters 0.017300788392535547 Centerline is valid? [True, True] Translation: X:93.15, Y:11.37, Z:0.30 [[ 9.65956834e-01 -2.58700300e-01 -1.24513518e-03 9.31536432e+01] [ 2.58700087e-01 9.65957636e-01 -3.31706567e-04 1.13734151e+01] [ 1.28856042e-03 -1.70235391e-06 9.99999170e-01 2.96867754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73088847900001 meters 0.01707913331075057 Centerline is valid? [True, True] Translation: X:93.21, Y:11.39, Z:0.30 [[ 9.65784484e-01 -2.59340826e-01 -1.63318991e-03 9.32089622e+01] [ 2.59340460e-01 9.65785864e-01 -4.35480272e-04 1.13906972e+01] [ 1.69024955e-03 -2.97213400e-06 9.99998572e-01 2.98172828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.790888479 meters 0.01727906117342758 Centerline is valid? [True, True] Translation: X:93.26, Y:11.41, Z:0.30 [[ 9.66032092e-01 -2.58422019e-01 2.38391139e-04 9.32628897e+01] [ 2.58422011e-01 9.66032122e-01 6.39527410e-05 1.14119011e+01] [-2.46820294e-04 -1.74882589e-07 9.99999970e-01 2.99784034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.850888479 meters 0.017287004674858324 Centerline is valid? [True, True] Translation: X:93.32, Y:11.43, Z:0.30 [[ 9.66026966e-01 -2.58440215e-01 -7.46152652e-04 9.33181445e+01] [ 2.58440139e-01 9.66027254e-01 -1.98811939e-04 1.14313175e+01] [ 7.72184797e-04 -7.78100893e-07 9.99999702e-01 2.98395615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91088847900001 meters 0.017126118930320865 Centerline is valid? [True, True] Translation: X:93.37, Y:11.45, Z:0.30 [[ 9.65618229e-01 -2.59956401e-01 -2.02645459e-03 9.33730834e+01] [ 2.59955836e-01 9.65620355e-01 -5.41930650e-04 1.14488800e+01] [ 2.09766414e-03 -3.49058292e-06 9.99997800e-01 2.99758878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97088847900001 meters 0.017229491814850006 Centerline is valid? [True, True] Translation: X:93.43, Y:11.47, Z:0.30 [[ 9.65251943e-01 -2.61300668e-01 -3.26309018e-03 9.34282699e+01] [ 2.61299206e-01 9.65257458e-01 -8.74084079e-04 1.14674616e+01] [ 3.37812089e-03 -8.93151841e-06 9.99994294e-01 2.98972921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03088847900001 meters 0.01700060243579597 Centerline is valid? [True, True] Translation: X:93.48, Y:11.49, Z:0.30 [[ 9.65067290e-01 -2.61979183e-01 -3.46888032e-03 9.34824604e+01] [ 2.61977532e-01 9.65073524e-01 -9.30276050e-04 1.14887825e+01] [ 3.59143751e-03 -1.09897175e-05 9.99993551e-01 2.99135608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09088847900001 meters 0.01698895048878186 Centerline is valid? [True, True] Translation: X:93.54, Y:11.51, Z:0.30 [[ 9.64876791e-01 -2.62695313e-01 -1.98739756e-03 9.35382272e+01] [ 2.62694772e-01 9.64878838e-01 -5.33220900e-04 1.15066655e+01] [ 2.05767248e-03 -7.58647704e-06 9.99997883e-01 3.02135632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.150888479 meters 0.01715150477497933 Centerline is valid? [True, True] Translation: X:93.59, Y:11.53, Z:0.30 [[ 9.64904647e-01 -2.62535157e-01 -5.85776076e-03 9.35927354e+01] [ 2.62530437e-01 9.64922427e-01 -1.57435093e-03 1.15252517e+01] [ 6.06560720e-03 -1.87419675e-05 9.99981604e-01 3.01166755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.210888479 meters 0.017222071305001353 Centerline is valid? [True, True] Translation: X:93.65, Y:11.55, Z:0.30 [[ 9.65772159e-01 -2.59297767e-01 -6.98611496e-03 9.36463602e+01] [ 2.59290963e-01 9.65797426e-01 -1.87845213e-03 1.15470108e+01] [ 7.23425029e-03 2.72029395e-06 9.99973832e-01 3.02529487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.270888479 meters 0.017168755351773313 Centerline is valid? [True, True] Translation: X:93.70, Y:11.57, Z:0.30 [[ 9.66511316e-01 -2.56523913e-01 -7.16639145e-03 9.37018316e+01] [ 2.56516665e-01 9.66537884e-01 -1.92857276e-03 1.15658614e+01] [ 7.42131386e-03 2.56885640e-05 9.99972461e-01 3.04553793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33088847900001 meters 0.017386051459480082 Centerline is valid? [True, True] Translation: X:93.76, Y:11.59, Z:0.30 [[ 9.67853553e-01 -2.51331694e-01 -9.58536761e-03 9.37579711e+01] [ 2.51318442e-01 9.67901013e-01 -2.58244837e-03 1.15853292e+01] [ 9.92673815e-03 9.04521779e-05 9.99950725e-01 3.03726441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39088847900001 meters 0.017970949000687724 Centerline is valid? [True, True] Translation: X:93.81, Y:11.61, Z:0.30 [[ 9.68759461e-01 -2.47785811e-01 -1.03584789e-02 9.38119515e+01] [ 2.47770113e-01 9.68814829e-01 -2.79259994e-03 1.16061098e+01] [ 1.07274146e-02 1.38836128e-04 9.99942450e-01 3.01700221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45088847900001 meters 0.019730101192259025 Centerline is valid? [True, True] Translation: X:93.87, Y:11.63, Z:0.30 [[ 9.70279994e-01 -2.41718365e-01 -1.13562417e-02 9.38669827e+01] [ 2.41699070e-01 9.70346423e-01 -3.06248883e-03 1.16269801e+01] [ 1.17597483e-02 2.26678572e-04 9.99930826e-01 3.00521553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51088847900002 meters 0.02007554873147176 Centerline is valid? [True, True] Translation: X:93.92, Y:11.64, Z:0.30 [[ 9.71646154e-01 -2.36128804e-01 -1.21218395e-02 9.39245490e+01] [ 2.36106376e-01 9.71721714e-01 -3.26964234e-03 1.16414129e+01] [ 1.25511114e-02 3.14891810e-04 9.99921182e-01 3.03334006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.570888479 meters 0.02258585491997276 Centerline is valid? [True, True] Translation: X:93.98, Y:11.66, Z:0.30 [[ 9.73574318e-01 -2.27975913e-01 -1.34175787e-02 9.39803192e+01] [ 2.27947652e-01 9.73666661e-01 -3.61953941e-03 1.16641440e+01] [ 1.38894168e-02 4.65385057e-04 9.99903429e-01 3.02201890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.630888479 meters 0.024505990427658317 Centerline is valid? [True, True] Translation: X:94.04, Y:11.68, Z:0.30 [[ 9.74373588e-01 -2.24442022e-01 -1.48959603e-02 9.40371180e+01] [ 2.24406767e-01 9.74487275e-01 -4.01908412e-03 1.16791939e+01] [ 1.54179751e-02 5.73335129e-04 9.99880972e-01 3.01819615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69088847900001 meters 0.025318110133612105 Centerline is valid? [True, True] Translation: X:94.09, Y:11.69, Z:0.30 [[ 9.74194213e-01 -2.25092475e-01 -1.67036708e-02 9.40941692e+01] [ 2.25048213e-01 9.74337199e-01 -4.50825405e-03 1.16883941e+01] [ 1.72897819e-02 6.32783733e-04 9.99850320e-01 3.00749154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75088847900001 meters 0.025806000363787586 Centerline is valid? [True, True] Translation: X:94.15, Y:11.70, Z:0.30 [[ 9.73988780e-01 -2.25918217e-01 -1.75161563e-02 9.41508604e+01] [ 2.25869638e-01 9.74146055e-01 -4.72975166e-03 1.16989910e+01] [ 1.81318316e-02 6.50357171e-04 9.99835393e-01 2.98477959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81088847900001 meters 0.025558855685080484 Centerline is valid? [True, True] Translation: X:94.21, Y:11.71, Z:0.30 [[ 9.74294062e-01 -2.24716418e-01 -1.59252005e-02 9.42085885e+01] [ 2.24676042e-01 9.74424011e-01 -4.30380037e-03 1.17117919e+01] [ 1.64850324e-02 6.15156124e-04 9.99863923e-01 3.00117743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87088847900002 meters 0.02773578398569192 Centerline is valid? [True, True] Translation: X:94.27, Y:11.72, Z:0.30 [[ 9.74942759e-01 -2.21820247e-01 -1.68046101e-02 9.42657379e+01] [ 2.21774826e-01 9.75087321e-01 -4.54335523e-03 1.17237098e+01] [ 1.73937704e-02 7.02671801e-04 9.99848470e-01 3.00415200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.930888479 meters 0.027398055698319608 Centerline is valid? [True, True] Translation: X:94.32, Y:11.74, Z:0.30 [[ 9.74927158e-01 -2.21772894e-01 -1.82707468e-02 9.43238875e+01] [ 2.21719115e-01 9.75098042e-01 -4.94386229e-03 1.17354459e+01] [ 1.89121840e-02 7.68931803e-04 9.99820853e-01 3.00510129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.990888479 meters 0.028625615903856264 Centerline is valid? [True, True] Translation: X:94.38, Y:11.74, Z:0.30 [[ 9.74694443e-01 -2.22514462e-01 -2.14022480e-02 9.43814576e+01] [ 2.22440790e-01 9.74928987e-01 -5.79363745e-03 1.17443416e+01] [ 2.21548401e-02 8.86293271e-04 9.99754159e-01 2.97450543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05088847900001 meters 0.02582289968627787 Centerline is valid? [True, True] Translation: X:94.44, Y:11.75, Z:0.30 [[ 9.74227342e-01 -2.24609157e-01 -2.07800843e-02 9.44413307e+01] [ 2.24540087e-01 9.74448591e-01 -5.62965749e-03 1.17501129e+01] [ 2.15135965e-02 8.18604311e-04 9.99768221e-01 2.99512107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11088847900001 meters 0.02285783762250811 Centerline is valid? [True, True] Translation: X:94.50, Y:11.75, Z:0.30 [[ 9.73330330e-01 -2.28579293e-01 -1.94827111e-02 9.45034103e+01] [ 2.28519354e-01 9.73525057e-01 -5.27907860e-03 1.17513002e+01] [ 2.01735954e-02 6.86110761e-04 9.99796257e-01 3.04166543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17088847900001 meters 0.025697219778784364 Centerline is valid? [True, True] Translation: X:94.56, Y:11.76, Z:0.30 [[ 9.72458675e-01 -2.32413406e-01 -1.75537743e-02 9.45620208e+01] [ 2.32365362e-01 9.72616939e-01 -4.75699428e-03 1.17613393e+01] [ 1.81786874e-02 5.47091236e-04 9.99834604e-01 3.04214884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23088847900001 meters 0.020057310629226773 Centerline is valid? [True, True] Translation: X:94.62, Y:11.76, Z:0.31 [[ 9.71882462e-01 -2.34918428e-01 -1.60565455e-02 9.46227379e+01] [ 2.34878554e-01 9.72014980e-01 -4.35234995e-03 1.17610012e+01] [ 1.66296500e-02 4.58634392e-04 9.99861613e-01 3.09801589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.290888479 meters 0.021639526789651062 Centerline is valid? [True, True] Translation: X:94.68, Y:11.77, Z:0.31 [[ 9.72143936e-01 -2.33705594e-01 -1.78287320e-02 9.46786392e+01] [ 2.33656197e-01 9.72307261e-01 -4.83435614e-03 1.17746115e+01] [ 1.84648216e-02 5.33896284e-04 9.99829368e-01 3.07672384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.350888479 meters 0.021488173616808014 Centerline is valid? [True, True] Translation: X:94.74, Y:11.78, Z:0.31 [[ 9.72736777e-01 -2.31077164e-01 -1.96597922e-02 9.47376897e+01] [ 2.31016538e-01 9.72935213e-01 -5.33209446e-03 1.17834689e+01] [ 2.03598294e-02 6.44987249e-04 9.99792509e-01 3.08739384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41088847900001 meters 0.021744392603965983 Centerline is valid? [True, True] Translation: X:94.80, Y:11.80, Z:0.31 [[ 9.72923904e-01 -2.30269985e-01 -1.98698594e-02 9.47956231e+01] [ 2.30207791e-01 9.73126549e-01 -5.39377559e-03 1.17952502e+01] [ 2.05779124e-02 6.73536759e-04 9.99788025e-01 3.10111216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47088847900001 meters 0.023700677265586882 Centerline is valid? [True, True] Translation: X:94.85, Y:11.81, Z:0.31 [[ 9.73243150e-01 -2.28932948e-01 -1.96844155e-02 9.48520919e+01] [ 2.28871589e-01 9.73441944e-01 -5.34571898e-03 1.18094389e+01] [ 2.03854469e-02 6.97480939e-04 9.99791952e-01 3.09084599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53088847900001 meters 0.023316007928598198 Centerline is valid? [True, True] Translation: X:94.91, Y:11.82, Z:0.31 [[ 9.72674803e-01 -2.31544738e-01 -1.70517562e-02 9.49105224e+01] [ 2.31499079e-01 9.72824097e-01 -4.63175328e-03 1.18188390e+01] [ 1.76608174e-02 5.57723855e-04 9.99843880e-01 3.10618505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59088847900001 meters 0.01994435769629607 Centerline is valid? [True, True] Translation: X:94.97, Y:11.82, Z:0.31 [[ 9.71499261e-01 -2.36535129e-01 -1.55022258e-02 9.49714831e+01] [ 2.36498014e-01 9.71622845e-01 -4.21157523e-03 1.18238761e+01] [ 1.60585022e-02 4.25296618e-04 9.99870963e-01 3.14803571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65088847900002 meters 0.018490453105677273 Centerline is valid? [True, True] Translation: X:95.03, Y:11.83, Z:0.32 [[ 9.70213595e-01 -2.41929298e-01 -1.24817882e-02 9.50311335e+01] [ 2.41905677e-01 9.70293843e-01 -3.39146533e-03 1.18315311e+01] [ 1.29314970e-02 2.71030346e-04 9.99916348e-01 3.19305539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.710888479 meters 0.017581179198641203 Centerline is valid? [True, True] Translation: X:95.09, Y:11.84, Z:0.32 [[ 9.68816990e-01 -2.47549543e-01 -1.06236987e-02 9.50903779e+01] [ 2.47532747e-01 9.68875222e-01 -2.88858990e-03 1.18403384e+01] [ 1.10081075e-02 1.68801656e-04 9.99939395e-01 3.22439179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.770888479 meters 0.017530323423405332 Centerline is valid? [True, True] Translation: X:95.15, Y:11.85, Z:0.32 [[ 9.68294038e-01 -2.49376847e-01 -1.47595396e-02 9.51479476e+01] [ 2.49344577e-01 9.68406497e-01 -4.01716321e-03 1.18523749e+01] [ 1.52950215e-02 2.09584031e-04 9.99883002e-01 3.17905616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83088847900001 meters 0.017174022379231057 Centerline is valid? [True, True] Translation: X:95.21, Y:11.87, Z:0.32 [[ 9.67811715e-01 -2.51123866e-01 -1.66519487e-02 9.52050900e+01] [ 2.51082962e-01 9.67954937e-01 -4.53721007e-03 1.18651452e+01] [ 1.72577377e-02 2.10144461e-04 9.99851052e-01 3.15617393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89088847900001 meters 0.017428152157719774 Centerline is valid? [True, True] Translation: X:95.26, Y:11.88, Z:0.31 [[ 9.67044782e-01 -2.54083902e-01 -1.63021409e-02 9.52616929e+01] [ 2.54045085e-01 9.67182168e-01 -4.44394485e-03 1.18773557e+01] [ 1.68962748e-02 1.56014912e-04 9.99857236e-01 3.14184661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95088847900001 meters 0.0168090488323927 Centerline is valid? [True, True] Translation: X:95.32, Y:11.89, Z:0.32 [[ 9.66363311e-01 -2.56753047e-01 -1.48264274e-02 9.53196474e+01] [ 2.56721202e-01 9.66477037e-01 -4.04500806e-03 1.18889763e+01] [ 1.53679698e-02 1.02689099e-04 9.99881901e-01 3.17264580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01088847900002 meters 0.01687871528817971 Centerline is valid? [True, True] Translation: X:95.38, Y:11.90, Z:0.32 [[ 9.65459109e-01 -2.59969568e-01 -1.74508287e-02 9.53773813e+01] [ 2.59925937e-01 9.65616808e-01 -4.76315329e-03 1.18988239e+01] [ 1.80890885e-02 6.27067197e-05 9.99836377e-01 3.16602633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.070888479 meters 0.016942623333702656 Centerline is valid? [True, True] Translation: X:95.43, Y:11.91, Z:0.32 [[ 9.64941728e-01 -2.61899655e-01 -1.72056082e-02 9.54340832e+01] [ 2.61857470e-01 9.65095109e-01 -4.70059890e-03 1.19124441e+01] [ 1.78361335e-02 3.03869850e-05 9.99840923e-01 3.16176446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.130888479 meters 0.016970745955743792 Centerline is valid? [True, True] Translation: X:95.49, Y:11.92, Z:0.32 [[ 9.63594840e-01 -2.66924860e-01 -1.53656774e-02 9.54926327e+01] [ 2.66891793e-01 9.63717343e-01 -4.20174979e-03 1.19229928e+01] [ 1.59297212e-02 -5.21887597e-05 9.99873113e-01 3.18443884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19088847900001 meters 0.017267946235087733 Centerline is valid? [True, True] Translation: X:95.55, Y:11.94, Z:0.32 [[ 9.62887793e-01 -2.69416887e-01 -1.61752586e-02 9.55504559e+01] [ 2.69380526e-01 9.63023641e-01 -4.42720240e-03 1.19362108e+01] [ 1.67699195e-02 -9.44005104e-05 9.99859371e-01 3.19405982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25088847900001 meters 0.017288717131841103 Centerline is valid? [True, True] Translation: X:95.61, Y:11.95, Z:0.32 [[ 9.62819709e-01 -2.69641758e-01 -1.64781775e-02 9.56058972e+01] [ 2.69603976e-01 9.62960702e-01 -4.51472143e-03 1.19520617e+01] [ 1.70851948e-02 -9.57193962e-05 9.99854033e-01 3.19455132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31088847900001 meters 0.016975970644858153 Centerline is valid? [True, True] Translation: X:95.66, Y:11.97, Z:0.32 [[ 9.63177370e-01 -2.68310721e-01 -1.72832507e-02 9.56610066e+01] [ 2.68268852e-01 9.63332420e-01 -4.74040599e-03 1.19709551e+01] [ 1.79214175e-02 -7.07060436e-05 9.99839396e-01 3.19404841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37088847900002 meters 0.016778941071316424 Centerline is valid? [True, True] Translation: X:95.72, Y:11.99, Z:0.32 [[ 9.63637760e-01 -2.66747868e-01 -1.57429943e-02 9.57167395e+01] [ 2.66712854e-01 9.63766348e-01 -4.32200960e-03 1.19895600e+01] [ 1.63254550e-02 -3.40072899e-05 9.99866730e-01 3.20838836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.430888479 meters 0.016755270302641814 Centerline is valid? [True, True] Translation: X:95.77, Y:12.01, Z:0.33 [[ 9.64967281e-01 -2.62016499e-01 -1.36198377e-02 9.57707410e+01] [ 2.61989799e-01 9.65063393e-01 -3.74070370e-03 1.20096511e+01] [ 1.41241329e-02 4.13981316e-05 9.99900249e-01 3.25570436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.490888479 meters 0.01701286101713429 Centerline is valid? [True, True] Translation: X:95.83, Y:12.03, Z:0.33 [[ 9.66065902e-01 -2.57882230e-01 -1.46092014e-02 9.58255452e+01] [ 2.57851016e-01 9.66176352e-01 -4.01375135e-03 1.20302886e+01] [ 1.51501400e-02 1.10550900e-04 9.99885224e-01 3.25961443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55088847900001 meters 0.017528492837677646 Centerline is valid? [True, True] Translation: X:95.88, Y:12.05, Z:0.33 [[ 9.67348929e-01 -2.52990030e-01 -1.52346486e-02 9.58810929e+01] [ 2.52955423e-01 9.67468865e-01 -4.18908233e-03 1.20499786e+01] [ 1.57988442e-02 1.98617324e-04 9.99875171e-01 3.26972360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61088847900001 meters 0.017881717745991288 Centerline is valid? [True, True] Translation: X:95.94, Y:12.07, Z:0.33 [[ 9.67773349e-01 -2.51317886e-01 -1.59394404e-02 9.59374321e+01] [ 2.51279708e-01 9.67904573e-01 -4.38704077e-03 1.20679525e+01] [ 1.65303991e-02 2.40403198e-04 9.99863335e-01 3.27591533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67088847900001 meters 0.01926770388393537 Centerline is valid? [True, True] Translation: X:95.99, Y:12.09, Z:0.33 [[ 9.68247578e-01 -2.49480503e-01 -1.60032915e-02 9.59916493e+01] [ 2.49441736e-01 9.68379782e-01 -4.40652882e-03 1.20880932e+01] [ 1.65966069e-02 2.74722059e-04 9.99862229e-01 3.25346420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73088847900001 meters 0.018295557357958108 Centerline is valid? [True, True] Translation: X:96.05, Y:12.10, Z:0.33 [[ 9.68337488e-01 -2.49021847e-01 -1.76246951e-02 9.60490597e+01] [ 2.48974674e-01 9.68497816e-01 -4.85712423e-03 1.21024513e+01] [ 1.82790088e-02 3.15232770e-04 9.99832875e-01 3.26463316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.790888479 meters 0.018186200664307074 Centerline is valid? [True, True] Translation: X:96.11, Y:12.12, Z:0.33 [[ 9.68248004e-01 -2.49374811e-01 -1.75501391e-02 9.61051831e+01] [ 2.49328000e-01 9.68406994e-01 -4.84172186e-03 1.21189984e+01] [ 1.82030809e-02 3.12246448e-04 9.99834261e-01 3.25342995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.850888479 meters 0.017813280901136676 Centerline is valid? [True, True] Translation: X:96.16, Y:12.13, Z:0.33 [[ 9.67753140e-01 -2.51352593e-01 -1.66052209e-02 9.61621584e+01] [ 2.51310903e-01 9.67895554e-01 -4.58538958e-03 1.21332192e+01] [ 1.72246691e-02 2.64452098e-04 9.99851609e-01 3.27942326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91088847900001 meters 0.01696996069386916 Centerline is valid? [True, True] Translation: X:96.22, Y:12.14, Z:0.33 [[ 9.66663760e-01 -2.55599327e-01 -1.51709887e-02 9.62201296e+01] [ 2.55565026e-01 9.66782785e-01 -4.19088832e-03 1.21443312e+01] [ 1.57382389e-02 1.74005748e-04 9.99876131e-01 3.32512335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97088847900001 meters 0.016600699004629713 Centerline is valid? [True, True] Translation: X:96.28, Y:12.16, Z:0.33 [[ 9.66180039e-01 -2.57377401e-01 -1.59061240e-02 9.62761546e+01] [ 2.57339869e-01 9.66310948e-01 -4.39808144e-03 1.21597008e+01] [ 1.65022286e-02 1.56058632e-04 9.99863817e-01 3.30916172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03088847900001 meters 0.016398592254391844 Centerline is valid? [True, True] Translation: X:96.33, Y:12.17, Z:0.33 [[ 9.65602575e-01 -2.59497331e-01 -1.65167228e-02 9.63324014e+01] [ 2.59457136e-01 9.65743816e-01 -4.56900169e-03 1.21726449e+01] [ 1.71365666e-02 1.26458225e-04 9.99853150e-01 3.30042709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09088847900001 meters 0.016065239062172297 Centerline is valid? [True, True] Translation: X:96.39, Y:12.18, Z:0.33 [[ 9.64868871e-01 -2.62188691e-01 -1.68864333e-02 9.63889891e+01] [ 2.62147010e-01 9.65016623e-01 -4.67565755e-03 1.21846209e+01] [ 1.75215933e-02 8.46684328e-05 9.99846482e-01 3.31158007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15088847900002 meters 0.015863301095293852 Centerline is valid? [True, True] Translation: X:96.45, Y:12.20, Z:0.33 [[ 9.64625633e-01 -2.63188800e-01 -1.51341813e-02 9.64464400e+01] [ 2.63155387e-01 9.64744345e-01 -4.19412070e-03 1.21999438e+01] [ 1.57044614e-02 6.31150042e-05 9.99876675e-01 3.33019460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.210888479 meters 0.015607792200510737 Centerline is valid? [True, True] Translation: X:96.50, Y:12.22, Z:0.33 [[ 9.64560317e-01 -2.63427878e-01 -1.51376124e-02 9.65026361e+01] [ 2.63394412e-01 9.64679091e-01 -4.19937169e-03 1.22156946e+01] [ 1.57091698e-02 6.33847580e-05 9.99876601e-01 3.33619884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.270888479 meters 0.015397938818816445 Centerline is valid? [True, True] Translation: X:96.56, Y:12.23, Z:0.34 [[ 9.64364979e-01 -2.64130114e-01 -1.53450387e-02 9.65585747e+01] [ 2.64095740e-01 9.64487055e-01 -4.26151779e-03 1.22303540e+01] [ 1.59256864e-02 5.70991654e-05 9.99873177e-01 3.35292956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33088847900001 meters 0.015325179553719719 Centerline is valid? [True, True] Translation: X:96.62, Y:12.24, Z:0.34 [[ 9.63655104e-01 -2.66731920e-01 -1.49306123e-02 9.66158385e+01] [ 2.66699628e-01 9.63770763e-01 -4.15040708e-03 1.22440827e+01] [ 1.54967336e-02 1.75722287e-05 9.99879918e-01 3.35066290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39088847900001 meters 0.015136145237879277 Centerline is valid? [True, True] Translation: X:96.67, Y:12.26, Z:0.34 [[ 9.63577123e-01 -2.67057575e-01 -1.41201872e-02 9.66721817e+01] [ 2.67028669e-01 9.63680575e-01 -3.92918456e-03 1.22594094e+01] [ 1.46566686e-02 1.55775652e-05 9.99892585e-01 3.35904418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45088847900001 meters 0.015237437870643585 Centerline is valid? [True, True] Translation: X:96.73, Y:12.28, Z:0.34 [[ 9.64254211e-01 -2.64661745e-01 -1.29605977e-02 9.67272389e+01] [ 2.64637124e-01 9.64341308e-01 -3.61028664e-03 1.22765928e+01] [ 1.34539445e-02 5.13787868e-05 9.99909490e-01 3.38279993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51088847900002 meters 0.015427860517972538 Centerline is valid? [True, True] Translation: X:96.78, Y:12.30, Z:0.34 [[ 9.64862877e-01 -2.62353271e-01 -1.45048376e-02 9.67831851e+01] [ 2.62322113e-01 9.64971892e-01 -4.04438439e-03 1.22956235e+01] [ 1.50578181e-02 9.73366888e-05 9.99886620e-01 3.35247179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.570888479 meters 0.016165821100321165 Centerline is valid? [True, True] Translation: X:96.84, Y:12.31, Z:0.33 [[ 9.65462692e-01 -2.60058897e-01 -1.58480568e-02 9.68377123e+01] [ 2.60021345e-01 9.65592744e-01 -4.42176105e-03 1.23137549e+01] [ 1.64526869e-02 1.48212278e-04 9.99864634e-01 3.30520629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.630888479 meters 0.015667307969253357 Centerline is valid? [True, True] Translation: X:96.90, Y:12.33, Z:0.33 [[ 9.65670906e-01 -2.59205477e-01 -1.70944946e-02 9.68950782e+01] [ 2.59161577e-01 9.65822183e-01 -4.77371397e-03 1.23281390e+01] [ 1.77476149e-02 1.79600513e-04 9.99842483e-01 3.32885454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69088847900001 meters 0.01566546985212391 Centerline is valid? [True, True] Translation: X:96.95, Y:12.35, Z:0.33 [[ 9.66201911e-01 -2.57231469e-01 -1.69067293e-02 9.69513109e+01] [ 2.57188149e-01 9.66349794e-01 -4.72572725e-03 1.23453875e+01] [ 1.75534201e-02 2.17796293e-04 9.99845903e-01 3.34292613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75088847900001 meters 0.016091127275559183 Centerline is valid? [True, True] Translation: X:97.01, Y:12.36, Z:0.34 [[ 9.66668509e-01 -2.55572680e-01 -1.53166354e-02 9.70059580e+01] [ 2.55536866e-01 9.66789819e-01 -4.28447627e-03 1.23620827e+01] [ 1.59029623e-02 2.27703284e-04 9.99873514e-01 3.35304274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81088847900001 meters 0.015335738547573063 Centerline is valid? [True, True] Translation: X:97.06, Y:12.37, Z:0.34 [[ 9.65607514e-01 -2.59451945e-01 -1.69356882e-02 9.70637914e+01] [ 2.59408679e-01 9.65756001e-01 -4.74169268e-03 1.23731652e+01] [ 1.75859839e-02 1.85349580e-04 9.99845337e-01 3.35544979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87088847900002 meters 0.014694448244450965 Centerline is valid? [True, True] Translation: X:97.12, Y:12.39, Z:0.34 [[ 9.64469460e-01 -2.63748955e-01 -1.53345752e-02 9.71214333e+01] [ 2.63713967e-01 9.64591353e-01 -4.29707220e-03 1.23871867e+01] [ 1.59249469e-02 1.00453252e-04 9.99873185e-01 3.35743061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.930888479 meters 0.014269865812026964 Centerline is valid? [True, True] Translation: X:97.18, Y:12.40, Z:0.34 [[ 9.62673654e-01 -2.70309110e-01 -1.38716084e-02 9.71795515e+01] [ 2.70281109e-01 9.62773590e-01 -3.89058024e-03 1.23977030e+01] [ 1.44068775e-02 -3.87461309e-06 9.99896216e-01 3.39989108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.990888479 meters 0.014813537645354249 Centerline is valid? [True, True] Translation: X:97.24, Y:12.41, Z:0.34 [[ 9.60575951e-01 -2.77592616e-01 -1.53682158e-02 9.72370456e+01] [ 2.77559114e-01 9.60698873e-01 -4.31437870e-03 1.24115741e+01] [ 1.59618673e-02 -1.21299944e-04 9.99872594e-01 3.38271331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05088847900001 meters 0.015935430621207426 Centerline is valid? [True, True] Translation: X:97.30, Y:12.42, Z:0.34 [[ 9.58592553e-01 -2.84291255e-01 -1.66972745e-02 9.72950369e+01] [ 2.84252698e-01 9.58737930e-01 -4.68876228e-03 1.24248632e+01] [ 1.73412845e-02 -2.51632711e-04 9.99849597e-01 3.36153732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11088847900001 meters 0.01819011407946324 Centerline is valid? [True, True] Translation: X:97.35, Y:12.44, Z:0.34 [[ 9.55938840e-01 -2.93126713e-01 -1.60519406e-02 9.73539513e+01] [ 2.93092312e-01 9.56073519e-01 -4.50802739e-03 1.24372449e+01] [ 1.66682586e-02 -3.95301925e-04 9.99860997e-01 3.38696492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17088847900001 meters 0.01989889810028019 Centerline is valid? [True, True] Translation: X:97.41, Y:12.45, Z:0.34 [[ 9.54857956e-01 -2.96635334e-01 -1.59299162e-02 9.74103191e+01] [ 2.96601929e-01 9.54990719e-01 -4.47454315e-03 1.24542426e+01] [ 1.65402297e-02 -4.52290735e-04 9.99863099e-01 3.39235490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23088847900001 meters 0.017849502953399453 Centerline is valid? [True, True] Translation: X:97.46, Y:12.48, Z:0.34 [[ 9.54557416e-01 -2.97589860e-01 -1.61373497e-02 9.74640171e+01] [ 2.97555653e-01 9.54693696e-01 -4.53652034e-03 1.24804361e+01] [ 1.67562485e-02 -4.71390507e-04 9.99859493e-01 3.42119756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.290888479 meters 0.017965966189769526 Centerline is valid? [True, True] Translation: X:97.52, Y:12.50, Z:0.34 [[ 9.54794419e-01 -2.96897600e-01 -1.48132458e-02 9.75196337e+01] [ 2.96868635e-01 9.54909232e-01 -4.16811154e-03 1.25003078e+01] [ 1.53828075e-02 -4.17898434e-04 9.99881590e-01 3.44136051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.350888479 meters 0.016679879700778503 Centerline is valid? [True, True] Translation: X:97.57, Y:12.53, Z:0.34 [[ 9.56117532e-01 -2.92609197e-01 -1.48027848e-02 9.75721277e+01] [ 2.92579734e-01 9.56232052e-01 -4.16677203e-03 1.25308995e+01] [ 1.53741331e-02 -3.47071038e-04 9.99881751e-01 3.42046237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41088847900001 meters 0.015213738756515029 Centerline is valid? [True, True] Translation: X:97.63, Y:12.56, Z:0.34 [[ 9.58203410e-01 -2.85838809e-01 -1.19331196e-02 9.76258494e+01] [ 2.85819110e-01 9.58277694e-01 -3.36115842e-03 1.25612344e+01] [ 1.23959919e-02 -1.90040173e-04 9.99923149e-01 3.43819212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47088847900001 meters 0.014405213366962528 Centerline is valid? [True, True] Translation: X:97.68, Y:12.59, Z:0.35 [[ 9.59730775e-01 -2.80692350e-01 -1.13421233e-02 9.76791769e+01] [ 2.80674173e-01 9.59797787e-01 -3.19641829e-03 1.25852003e+01] [ 1.17833550e-02 -1.15740083e-04 9.99930567e-01 3.45351770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53088847900001 meters 0.013697860927136632 Centerline is valid? [True, True] Translation: X:97.73, Y:12.62, Z:0.34 [[ 9.62131546e-01 -2.72366278e-01 -1.09315844e-02 9.77306365e+01] [ 2.72348827e-01 9.62193645e-01 -3.08320760e-03 1.26187895e+01] [ 1.13580629e-02 -1.07529013e-05 9.99935495e-01 3.44693750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59088847900001 meters 0.013711508840189766 Centerline is valid? [True, True] Translation: X:97.78, Y:12.65, Z:0.34 [[ 9.63608005e-01 -2.67064042e-01 -1.16794437e-02 9.77842638e+01] [ 2.67043694e-01 9.63678781e-01 -3.29721733e-03 1.26450398e+01] [ 1.21358002e-02 5.83032278e-05 9.99926357e-01 3.43591118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65088847900002 meters 0.014309606943817924 Centerline is valid? [True, True] Translation: X:97.84, Y:12.67, Z:0.34 [[ 9.65038724e-01 -2.61751400e-01 -1.36552318e-02 9.78378635e+01] [ 2.61722999e-01 9.65135318e-01 -3.85868642e-03 1.26713032e+01] [ 1.41891630e-02 1.49893606e-04 9.99899318e-01 3.41666892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.710888479 meters 0.014560567015625397 Centerline is valid? [True, True] Translation: X:97.89, Y:12.69, Z:0.34 [[ 9.65314436e-01 -2.60746566e-01 -1.33891171e-02 9.78932881e+01] [ 2.60719117e-01 9.65407272e-01 -3.78697913e-03 1.26909699e+01] [ 1.39133928e-02 1.64826837e-04 9.99903190e-01 3.41353040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.770888479 meters 0.01486422950691856 Centerline is valid? [True, True] Translation: X:97.95, Y:12.72, Z:0.34 [[ 9.65920796e-01 -2.58475501e-01 -1.36905773e-02 9.79475258e+01] [ 2.58446521e-01 9.66017791e-01 -3.87589200e-03 1.27152368e+01] [ 1.42271643e-02 2.05522616e-04 9.99898768e-01 3.40421101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83088847900001 meters 0.015534601188974985 Centerline is valid? [True, True] Translation: X:98.00, Y:12.74, Z:0.34 [[ 9.66789246e-01 -2.55175232e-01 -1.42882849e-02 9.80023302e+01] [ 2.55143249e-01 9.66894787e-01 -4.04894968e-03 1.27386208e+01] [ 1.48484598e-02 2.68921578e-04 9.99889719e-01 3.40797482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89088847900001 meters 0.017311881201013585 Centerline is valid? [True, True] Translation: X:98.06, Y:12.76, Z:0.34 [[ 9.67237407e-01 -2.53437664e-01 -1.48710750e-02 9.80554946e+01] [ 2.53402780e-01 9.67351671e-01 -4.21621692e-03 1.27617203e+01] [ 1.54541074e-02 3.09710988e-04 9.99880530e-01 3.37977987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95088847900001 meters 0.01768477970930395 Centerline is valid? [True, True] Translation: X:98.11, Y:12.78, Z:0.34 [[ 9.67320250e-01 -2.53022617e-01 -1.64647835e-02 9.81111171e+01] [ 2.52979731e-01 9.67460299e-01 -4.67179969e-03 1.27830795e+01] [ 1.71110953e-02 3.53869944e-04 9.99853532e-01 3.35770598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01088847900002 meters 0.017311887613070145 Centerline is valid? [True, True] Translation: X:98.17, Y:12.80, Z:0.34 [[ 9.66928742e-01 -2.54615658e-01 -1.48214491e-02 9.81673178e+01] [ 2.54581038e-01 9.67042284e-01 -4.20907558e-03 1.27994528e+01] [ 1.54046645e-02 2.96616263e-04 9.99881297e-01 3.37555518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.070888479 meters 0.015419701241092041 Centerline is valid? [True, True] Translation: X:98.23, Y:12.81, Z:0.34 [[ 9.66369871e-01 -2.56846249e-01 -1.26204989e-02 9.82250295e+01] [ 2.56821297e-01 9.66452251e-01 -3.58720683e-03 1.28126214e+01] [ 1.31184702e-02 2.25355704e-04 9.99913924e-01 3.43120263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.130888479 meters 0.01535245805128991 Centerline is valid? [True, True] Translation: X:98.28, Y:12.83, Z:0.35 [[ 9.66101507e-01 -2.57953673e-01 -1.03817196e-02 9.82807447e+01] [ 2.57936825e-01 9.66157271e-01 -2.95345061e-03 1.28313978e+01] [ 1.07922273e-02 1.75505296e-04 9.99941747e-01 3.45581436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19088847900001 meters 0.014777952801576278 Centerline is valid? [True, True] Translation: X:98.34, Y:12.85, Z:0.34 [[ 9.65813358e-01 -2.58961858e-01 -1.19713932e-02 9.83365870e+01] [ 2.58939486e-01 9.65887529e-01 -3.40935192e-03 1.28471926e+01] [ 1.24459115e-02 1.92931216e-04 9.99922528e-01 3.44744598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25088847900001 meters 0.014834783252236652 Centerline is valid? [True, True] Translation: X:98.39, Y:12.86, Z:0.34 [[ 9.65412324e-01 -2.60272967e-01 -1.53956683e-02 9.83923790e+01] [ 2.60236096e-01 9.65535049e-01 -4.38682072e-03 1.28636924e+01] [ 1.60068282e-02 2.28582176e-04 9.99871856e-01 3.41246981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31088847900001 meters 0.014681371834838516 Centerline is valid? [True, True] Translation: X:98.45, Y:12.88, Z:0.34 [[ 9.65019584e-01 -2.61783884e-01 -1.43666282e-02 9.84488438e+01] [ 2.61751894e-01 9.65126500e-01 -4.09699546e-03 1.28799083e+01] [ 1.49381409e-02 1.93188732e-04 9.99888401e-01 3.40701215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37088847900002 meters 0.013973705777436325 Centerline is valid? [True, True] Translation: X:98.51, Y:12.89, Z:0.34 [[ 9.64090452e-01 -2.65304769e-01 -1.19574409e-02 9.85064063e+01] [ 2.65282840e-01 9.64164595e-01 -3.41308872e-03 1.28931319e+01] [ 1.24344499e-02 1.18422371e-04 9.99922682e-01 3.43951439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.430888479 meters 0.01395525697301929 Centerline is valid? [True, True] Translation: X:98.56, Y:12.91, Z:0.35 [[ 9.63369296e-01 -2.67987075e-01 -1.01255665e-02 9.85636772e+01] [ 2.67971471e-01 9.63422505e-01 -2.89283536e-03 1.29073540e+01] [ 1.05304412e-02 7.35058050e-05 9.99944551e-01 3.46008831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.490888479 meters 0.01383064533017674 Centerline is valid? [True, True] Translation: X:98.62, Y:12.92, Z:0.35 [[ 9.62778550e-01 -2.70041562e-01 -1.16197258e-02 9.86196634e+01] [ 2.70021119e-01 9.62848665e-01 -3.32329561e-03 1.29217190e+01] [ 1.20854654e-02 6.20263526e-05 9.99926966e-01 3.45638094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55088847900001 meters 0.013903658326243412 Centerline is valid? [True, True] Translation: X:98.68, Y:12.94, Z:0.34 [[ 9.62658383e-01 -2.70409515e-01 -1.29434298e-02 9.86765870e+01] [ 2.70384133e-01 9.62745392e-01 -3.70553782e-03 1.29375001e+01] [ 1.34632401e-02 6.74689972e-05 9.99909364e-01 3.44671367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61088847900001 meters 0.014028607506544163 Centerline is valid? [True, True] Translation: X:98.73, Y:12.95, Z:0.34 [[ 9.62929848e-01 -2.69451706e-01 -1.27234286e-02 9.87323671e+01] [ 2.69427046e-01 9.63013900e-01 -3.64628878e-03 1.29545074e+01] [ 1.32353373e-02 8.30845066e-05 9.99912406e-01 3.43694543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67088847900001 meters 0.014099016109468785 Centerline is valid? [True, True] Translation: X:98.79, Y:12.97, Z:0.35 [[ 9.62901426e-01 -2.69614037e-01 -1.13628480e-02 9.87892226e+01] [ 2.69594345e-01 9.62968466e-01 -3.25937314e-03 1.29698724e+01] [ 1.18208371e-02 7.50954757e-05 9.99930129e-01 3.45244108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73088847900001 meters 0.014126239756965921 Centerline is valid? [True, True] Translation: X:98.85, Y:12.98, Z:0.35 [[ 9.63112580e-01 -2.68836491e-01 -1.18785146e-02 9.88467287e+01] [ 2.68814873e-01 9.63185825e-01 -3.41045701e-03 1.29846359e+01] [ 1.23580722e-02 9.15326352e-05 9.99923632e-01 3.46230190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.790888479 meters 0.01441312794687343 Centerline is valid? [True, True] Translation: X:98.90, Y:13.00, Z:0.34 [[ 9.63731566e-01 -2.66579681e-01 -1.25196925e-02 9.89028348e+01] [ 2.66555432e-01 9.63812874e-01 -3.59791770e-03 1.30030729e+01] [ 1.30257726e-02 1.30234811e-04 9.99915153e-01 3.44171758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.850888479 meters 0.015503788142468044 Centerline is valid? [True, True] Translation: X:98.96, Y:13.02, Z:0.34 [[ 9.65159708e-01 -2.61345844e-01 -1.28486790e-02 9.89570794e+01] [ 2.61319816e-01 9.65245206e-01 -3.69415128e-03 1.30228781e+01] [ 1.33675769e-02 2.07831542e-04 9.99910628e-01 3.43129431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91088847900001 meters 0.01625205417863294 Centerline is valid? [True, True] Translation: X:99.01, Y:13.04, Z:0.34 [[ 9.65697761e-01 -2.59266250e-01 -1.44515173e-02 9.90145952e+01] [ 2.59233040e-01 9.65805850e-01 -4.15830519e-03 1.30371649e+01] [ 1.50354681e-02 2.69355246e-04 9.99886925e-01 3.43963179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97088847900001 meters 0.016020790683508198 Centerline is valid? [True, True] Translation: X:99.07, Y:13.05, Z:0.35 [[ 9.65833139e-01 -2.58779835e-01 -1.41189490e-02 9.90720070e+01] [ 2.58748031e-01 9.65936293e-01 -4.06629601e-03 1.30497796e+01] [ 1.46902807e-02 2.74113183e-04 9.99892054e-01 3.45363292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03088847900001 meters 0.01593900771523752 Centerline is valid? [True, True] Translation: X:99.13, Y:13.06, Z:0.35 [[ 9.65943747e-01 -2.58489630e-01 -1.16528380e-02 9.91290550e+01] [ 2.58467909e-01 9.66014004e-01 -3.35902879e-03 1.30630677e+01] [ 1.21250788e-02 2.32748183e-04 9.99926461e-01 3.46940247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09088847900001 meters 0.016353528133662653 Centerline is valid? [True, True] Translation: X:99.19, Y:13.07, Z:0.35 [[ 9.66192992e-01 -2.57575294e-01 -1.12281049e-02 9.91861192e+01] [ 2.57555048e-01 9.66258202e-01 -3.23809031e-03 1.30748673e+01] [ 1.16833005e-02 2.36765068e-04 9.99931720e-01 3.47552908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15088847900002 meters 0.017531093565977564 Centerline is valid? [True, True] Translation: X:99.24, Y:13.09, Z:0.35 [[ 9.66858934e-01 -2.55068851e-01 -1.11212900e-02 9.92421793e+01] [ 2.55048810e-01 9.66922857e-01 -3.20831341e-03 1.30900925e+01] [ 1.15717703e-02 2.65514691e-04 9.99933010e-01 3.45895351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.210888479 meters 0.018391919881199495 Centerline is valid? [True, True] Translation: X:99.30, Y:13.10, Z:0.34 [[ 9.67255139e-01 -2.53524900e-01 -1.19424309e-02 9.92996794e+01] [ 2.53501641e-01 9.67328812e-01 -3.44783734e-03 1.31038501e+01] [ 1.24263701e-02 3.07512566e-04 9.99922742e-01 3.44681749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.270888479 meters 0.01773212307947572 Centerline is valid? [True, True] Translation: X:99.36, Y:13.11, Z:0.35 [[ 9.67491765e-01 -2.52561608e-01 -1.31270109e-02 9.93583651e+01] [ 2.52533386e-01 9.67580751e-01 -3.79207634e-03 1.31108840e+01] [ 1.36591759e-02 3.53794132e-04 9.99906647e-01 3.45612360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33088847900001 meters 0.018330391480566477 Centerline is valid? [True, True] Translation: X:99.41, Y:13.12, Z:0.35 [[ 9.67504974e-01 -2.52526427e-01 -1.28268779e-02 9.94143280e+01] [ 2.52499455e-01 9.67589935e-01 -3.70707730e-03 1.31238413e+01] [ 1.33472929e-02 3.47836048e-04 9.99910860e-01 3.45116140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39088847900001 meters 0.018054698725723975 Centerline is valid? [True, True] Translation: X:99.47, Y:13.14, Z:0.35 [[ 9.67336571e-01 -2.53197756e-01 -1.22822636e-02 9.94727676e+01] [ 2.53173043e-01 9.67414487e-01 -3.55254398e-03 1.31354558e+01] [ 1.27815359e-02 3.26967675e-04 9.99918259e-01 3.45690075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45088847900001 meters 0.01768766267467761 Centerline is valid? [True, True] Translation: X:99.53, Y:13.14, Z:0.35 [[ 9.66548866e-01 -2.56216139e-01 -1.16867310e-02 9.95316348e+01] [ 2.56193969e-01 9.66619478e-01 -3.38163102e-03 1.31413933e+01] [ 1.21630503e-02 2.74441623e-04 9.99925990e-01 3.47267419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51088847900002 meters 0.01615799605133606 Centerline is valid? [True, True] Translation: X:99.59, Y:13.14, Z:0.35 [[ 9.64877548e-01 -2.62548686e-01 -8.91656932e-03 9.95931029e+01] [ 2.62536047e-01 9.64918735e-01 -2.58052767e-03 1.31447702e+01] [ 9.28127894e-03 1.48972351e-04 9.99956917e-01 3.51075784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.570888479 meters 0.014840139430050761 Centerline is valid? [True, True] Translation: X:99.65, Y:13.15, Z:0.35 [[ 9.63652840e-01 -2.67014534e-01 -8.74314428e-03 9.96526086e+01] [ 2.67002549e-01 9.63692496e-01 -2.53206915e-03 1.31523461e+01] [ 9.10180180e-03 1.05593813e-04 9.99958572e-01 3.51189788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.630888479 meters 0.014588915216115182 Centerline is valid? [True, True] Translation: X:99.71, Y:13.16, Z:0.35 [[ 9.62736458e-01 -2.70340554e-01 -7.38225946e-03 9.97106762e+01] [ 2.70332093e-01 9.62764759e-01 -2.13977727e-03 1.31639388e+01] [ 7.68584783e-03 6.43799414e-05 9.99970461e-01 3.50955792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69088847900001 meters 0.014441581367912472 Centerline is valid? [True, True] Translation: X:99.77, Y:13.17, Z:0.35 [[ 9.61840698e-01 -2.73535756e-01 -6.37663205e-03 9.97699079e+01] [ 2.73529503e-01 9.61861835e-01 -1.84985573e-03 1.31720468e+01] [ 6.63944069e-03 3.50695274e-05 9.99977958e-01 3.52003059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75088847900001 meters 0.014520756857482277 Centerline is valid? [True, True] Translation: X:99.83, Y:13.18, Z:0.35 [[ 9.61151176e-01 -2.75922433e-01 -7.43148584e-03 9.98269455e+01] [ 2.75913995e-01 9.61179905e-01 -2.15809110e-03 1.31830930e+01] [ 7.73846061e-03 2.38008533e-05 9.99970057e-01 3.51229755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81088847900001 meters 0.014590576896504446 Centerline is valid? [True, True] Translation: X:99.88, Y:13.19, Z:0.35 [[ 9.59880749e-01 -2.80308778e-01 -7.47915124e-03 9.98841468e+01] [ 2.80300346e-01 9.59909886e-01 -2.17415389e-03 1.31940869e+01] [ 7.78874563e-03 -9.48021455e-06 9.99969667e-01 3.50851826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87088847900002 meters 0.01496186173922764 Centerline is valid? [True, True] Translation: X:99.94, Y:13.20, Z:0.35 [[ 9.58606112e-01 -2.84650880e-01 -6.94257867e-03 9.99426661e+01] [ 2.84643715e-01 9.58631251e-01 -2.02001475e-03 1.32047998e+01] [ 7.23037185e-03 -3.97628938e-05 9.99973860e-01 3.51697956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.930888479 meters 0.01578577733321935 Centerline is valid? [True, True] Translation: X:100.00, Y:13.21, Z:0.35 [[ 9.56768544e-01 -2.90763003e-01 -7.12941905e-03 1.00001907e+02] [ 2.90755603e-01 9.56795103e-01 -2.07624827e-03 1.32129118e+01] [ 7.42508942e-03 -8.64294981e-05 9.99972430e-01 3.52532029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.990888479 meters 0.015781701223884906 Centerline is valid? [True, True] Translation: X:100.06, Y:13.23, Z:0.35 [[ 9.56669264e-01 -2.91145828e-01 -4.24584455e-03 1.00057706e+02] [ 2.91143203e-01 9.56678684e-01 -1.23736635e-03 1.32294623e+01] [ 4.42216303e-03 -5.23984240e-05 9.99990221e-01 3.54223738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05088847900001 meters 0.01547849010864718 Centerline is valid? [True, True] Translation: X:100.11, Y:13.25, Z:0.35 [[ 9.57528383e-01 -2.88305930e-01 -4.36869385e-03 1.00112968e+02] [ 2.88303118e-01 9.57538349e-01 -1.27414682e-03 1.32462906e+01] [ 4.55053598e-03 -3.94763081e-05 9.99989645e-01 3.54724844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11088847900001 meters 0.015083388181987555 Centerline is valid? [True, True] Translation: X:100.17, Y:13.27, Z:0.35 [[ 9.59116332e-01 -2.82935781e-01 -6.57309806e-03 1.00167943e+02] [ 2.82929277e-01 9.59138855e-01 -1.91845124e-03 1.32677382e+01] [ 6.84731224e-03 -1.97039645e-05 9.99976557e-01 3.51675000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17088847900001 meters 0.015247019178687874 Centerline is valid? [True, True] Translation: X:100.22, Y:13.29, Z:0.35 [[ 9.60979877e-01 -2.76544032e-01 -6.40899766e-03 1.00221915e+02] [ 2.76537695e-01 9.61001247e-01 -1.87238010e-03 1.32892557e+01] [ 6.67685029e-03 2.69901595e-05 9.99977709e-01 3.50974849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23088847900001 meters 0.015460392529360654 Centerline is valid? [True, True] Translation: X:100.28, Y:13.31, Z:0.35 [[ 9.61707681e-01 -2.74034805e-01 -4.82300745e-03 1.00277368e+02] [ 2.74031179e-01 9.61719774e-01 -1.41022210e-03 1.33085043e+01] [ 5.02483157e-03 3.45670041e-05 9.99987375e-01 3.53020121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.290888479 meters 0.01586254502122934 Centerline is valid? [True, True] Translation: X:100.33, Y:13.33, Z:0.35 [[ 9.62311069e-01 -2.71911207e-01 -4.65845311e-03 1.00332751e+02] [ 2.71907793e-01 9.62322344e-01 -1.36331176e-03 1.33300223e+01] [ 4.85363326e-03 4.52602918e-05 9.99988220e-01 3.51852428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.350888479 meters 0.015917206263574745 Centerline is valid? [True, True] Translation: X:100.39, Y:13.35, Z:0.35 [[ 9.62398111e-01 -2.71610726e-01 -4.18213108e-03 1.00388146e+02] [ 2.71607967e-01 9.62407196e-01 -1.22499805e-03 1.33460452e+01] [ 4.35763566e-03 4.30356896e-05 9.99990505e-01 3.52459220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41088847900001 meters 0.015912993755544603 Centerline is valid? [True, True] Translation: X:100.45, Y:13.36, Z:0.35 [[ 9.61822436e-01 -2.73650347e-01 -3.61799003e-03 1.00445385e+02] [ 2.73648293e-01 9.61829240e-01 -1.06070179e-03 1.33608634e+01] [ 3.77015002e-03 3.01499867e-05 9.99992893e-01 3.54398034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47088847900001 meters 0.015977119920974815 Centerline is valid? [True, True] Translation: X:100.50, Y:13.38, Z:0.35 [[ 9.61532771e-01 -2.74668966e-01 -3.41900999e-03 1.00499890e+02] [ 2.74667135e-01 9.61538849e-01 -1.00318200e-03 1.33770320e+01] [ 3.56305389e-03 2.55026873e-05 9.99993652e-01 3.53497439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53088847900001 meters 0.01609375056619932 Centerline is valid? [True, True] Translation: X:100.56, Y:13.39, Z:0.35 [[ 9.61855383e-01 -2.73525990e-01 -4.21362801e-03 1.00556690e+02] [ 2.73523194e-01 9.61864612e-01 -1.23740818e-03 1.33934557e+01] [ 4.39140297e-03 3.76827255e-05 9.99990357e-01 3.54118320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59088847900001 meters 0.016211742941320717 Centerline is valid? [True, True] Translation: X:100.61, Y:13.41, Z:0.35 [[ 9.62109314e-01 -2.72610599e-01 -5.39710821e-03 1.00613329e+02] [ 2.72605988e-01 9.62124450e-01 -1.58658350e-03 1.34111644e+01] [ 5.62520925e-03 5.51827488e-05 9.99984177e-01 3.53532317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65088847900002 meters 0.01655843308526229 Centerline is valid? [True, True] Translation: X:100.67, Y:13.43, Z:0.35 [[ 9.62440165e-01 -2.71423517e-01 -6.18090261e-03 1.00669088e+02] [ 2.71417433e-01 9.62460009e-01 -1.81872121e-03 1.34299984e+01] [ 6.44251529e-03 7.28056172e-05 9.99979244e-01 3.51547606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.710888479 meters 0.016537900833737348 Centerline is valid? [True, True] Translation: X:100.73, Y:13.45, Z:0.35 [[ 9.62548904e-01 -2.71054086e-01 -5.41208343e-03 1.00725010e+02] [ 2.71049407e-01 9.62564116e-01 -1.59393856e-03 1.34462563e+01] [ 5.64152086e-03 6.73018037e-05 9.99984084e-01 3.52515544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.770888479 meters 0.01677689284508046 Centerline is valid? [True, True] Translation: X:100.78, Y:13.46, Z:0.36 [[ 9.62565840e-01 -2.71029351e-01 -3.17713509e-03 1.00779650e+02] [ 2.71027737e-01 9.62571083e-01 -9.36254417e-04 1.34610027e+01] [ 3.31197079e-03 4.01147866e-05 9.99994515e-01 3.57783922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83088847900001 meters 0.01673235353185099 Centerline is valid? [True, True] Translation: X:100.83, Y:13.48, Z:0.36 [[ 9.62384460e-01 -2.71669835e-01 -3.41340813e-03 1.00834402e+02] [ 2.71667975e-01 9.62390513e-01 -1.00632200e-03 1.34790815e+01] [ 3.55841893e-03 4.11549781e-05 9.99993668e-01 3.57019019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89088847900001 meters 0.01636825100853512 Centerline is valid? [True, True] Translation: X:100.89, Y:13.49, Z:0.36 [[ 9.62329093e-01 -2.71863262e-01 -3.61719446e-03 1.00890539e+02] [ 2.71861172e-01 9.62335890e-01 -1.06693831e-03 1.34943305e+01] [ 3.77101737e-03 4.33710498e-05 9.99992889e-01 3.56929895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95088847900001 meters 0.01595274088555064 Centerline is valid? [True, True] Translation: X:100.95, Y:13.51, Z:0.36 [[ 9.61772330e-01 -2.73807610e-01 -4.83517303e-03 1.00948079e+02] [ 2.73803891e-01 9.61784482e-01 -1.42784520e-03 1.35074288e+01] [ 5.04134927e-03 4.93728156e-05 9.99987291e-01 3.58583540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01088847900002 meters 0.015687905486230048 Centerline is valid? [True, True] Translation: X:101.00, Y:13.53, Z:0.36 [[ 9.61095439e-01 -2.76182242e-01 -4.35038860e-03 1.01003140e+02] [ 2.76179252e-01 9.61105285e-01 -1.28547887e-03 1.35261901e+01] [ 4.53620791e-03 3.39808073e-05 9.99989711e-01 3.57164155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.070888479 meters 0.015475344089212405 Centerline is valid? [True, True] Translation: X:101.06, Y:13.54, Z:0.36 [[ 9.60853613e-01 -2.77041424e-01 -2.89541363e-03 1.01058600e+02] [ 2.77040102e-01 9.60857976e-01 -8.55781822e-04 1.35419107e+01] [ 3.01916829e-03 2.01353668e-05 9.99995442e-01 3.59229168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.130888479 meters 0.0151886410350558 Centerline is valid? [True, True] Translation: X:101.12, Y:13.56, Z:0.36 [[ 9.60249991e-01 -2.79118278e-01 -3.59744168e-03 1.01115751e+02] [ 2.79116248e-01 9.60256730e-01 -1.06450908e-03 1.35565260e+01] [ 3.75159153e-03 1.80904118e-05 9.99992963e-01 3.61154985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19088847900001 meters 0.01494762478615179 Centerline is valid? [True, True] Translation: X:101.17, Y:13.58, Z:0.36 [[ 9.59859474e-01 -2.80430434e-01 -5.34440901e-03 1.01171052e+02] [ 2.80425965e-01 9.59874352e-01 -1.58329324e-03 1.35752977e+01] [ 5.57396474e-03 2.10279619e-05 9.99984465e-01 3.58339255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25088847900001 meters 0.015002084939296046 Centerline is valid? [True, True] Translation: X:101.23, Y:13.59, Z:0.36 [[ 9.60082317e-01 -2.79602976e-01 -8.00756686e-03 1.01226628e+02] [ 2.79592893e-01 9.60115709e-01 -2.37483533e-03 1.35940982e+01] [ 8.35220175e-03 4.11786223e-05 9.99965119e-01 3.55240249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31088847900001 meters 0.014940521040069644 Centerline is valid? [True, True] Translation: X:101.28, Y:13.61, Z:0.36 [[ 9.60342386e-01 -2.78657376e-01 -9.62121935e-03 1.01283331e+02] [ 2.78642747e-01 9.60390578e-01 -2.85605634e-03 1.36105990e+01] [ 1.00359896e-02 6.19089752e-05 9.99949636e-01 3.56471316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37088847900002 meters 0.014906831201855642 Centerline is valid? [True, True] Translation: X:101.34, Y:13.63, Z:0.35 [[ 9.60358430e-01 -2.78589145e-01 -9.98875677e-03 1.01338353e+02] [ 2.78573342e-01 9.60410373e-01 -2.96808676e-03 1.36290463e+01] [ 1.04201824e-02 6.78257848e-05 9.99945706e-01 3.54767002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.430888479 meters 0.01513318323604948 Centerline is valid? [True, True] Translation: X:101.39, Y:13.65, Z:0.36 [[ 9.60784117e-01 -2.77127261e-01 -9.71398125e-03 1.01394283e+02] [ 2.77112214e-01 9.60833219e-01 -2.88905057e-03 1.36464645e+01] [ 1.01341505e-02 8.38910494e-05 9.99948645e-01 3.55541676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.490888479 meters 0.015417516732985163 Centerline is valid? [True, True] Translation: X:101.45, Y:13.67, Z:0.36 [[ 9.61792936e-01 -2.73647484e-01 -8.45000591e-03 1.01449469e+02] [ 2.73635954e-01 9.61830049e-01 -2.51428169e-03 1.36657737e+01] [ 8.81549646e-03 1.05992944e-04 9.99961137e-01 3.57248559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55088847900001 meters 0.01561518449051002 Centerline is valid? [True, True] Translation: X:101.51, Y:13.68, Z:0.36 [[ 9.62132664e-01 -2.72428652e-01 -9.13051982e-03 1.01505700e+02] [ 2.72415116e-01 9.62175978e-01 -2.71875237e-03 1.36843363e+01] [ 9.52583289e-03 1.28508848e-04 9.99954620e-01 3.56524171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61088847900001 meters 0.016039253799462416 Centerline is valid? [True, True] Translation: X:101.56, Y:13.70, Z:0.36 [[ 9.63073391e-01 -2.69095738e-01 -8.78227388e-03 1.01561220e+02] [ 2.69083055e-01 9.63113420e-01 -2.61736720e-03 1.37041142e+01] [ 9.16264819e-03 1.57555616e-04 9.99958010e-01 3.56814391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67088847900001 meters 0.01602416872961695 Centerline is valid? [True, True] Translation: X:101.62, Y:13.72, Z:0.36 [[ 9.63362328e-01 -2.68002818e-01 -1.03688939e-02 1.01618223e+02] [ 2.67985043e-01 9.63418107e-01 -3.09313625e-03 1.37201660e+01] [ 1.08185494e-02 2.01102446e-04 9.99941458e-01 3.58073714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73088847900001 meters 0.016355734371466736 Centerline is valid? [True, True] Translation: X:101.67, Y:13.74, Z:0.35 [[ 9.63439693e-01 -2.67479484e-01 -1.54494065e-02 1.01674419e+02] [ 2.67439883e-01 9.63563505e-01 -4.61317219e-03 1.37390445e+01] [ 1.61204132e-02 3.12725727e-04 9.99870009e-01 3.51834109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79088847900002 meters 0.01612477170293597 Centerline is valid? [True, True] Translation: X:101.73, Y:13.75, Z:0.35 [[ 9.63254042e-01 -2.68077866e-01 -1.66104636e-02 1.01730664e+02] [ 2.68032129e-01 9.63397192e-01 -4.96261930e-03 1.37547915e+01] [ 1.73328424e-02 3.28125176e-04 9.99849721e-01 3.50105852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.850888479 meters 0.01547847325757231 Centerline is valid? [True, True] Translation: X:101.79, Y:13.77, Z:0.35 [[ 9.62346984e-01 -2.71324296e-01 -1.64745099e-02 1.01788089e+02] [ 2.71279711e-01 9.62487949e-01 -4.92601850e-03 1.37671786e+01] [ 1.71930657e-02 2.71338768e-04 9.99852152e-01 3.51481104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91088847900001 meters 0.014225843220387455 Centerline is valid? [True, True] Translation: X:101.85, Y:13.78, Z:0.35 [[ 9.61034520e-01 -2.76115419e-01 -1.31501884e-02 1.01845777e+02] [ 2.76087441e-01 9.61124473e-01 -3.93337575e-03 1.37788103e+01] [ 1.37250336e-02 1.49508007e-04 9.99905796e-01 3.54841983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97088847900001 meters 0.014192455965291962 Centerline is valid? [True, True] Translation: X:101.90, Y:13.79, Z:0.36 [[ 9.60644347e-01 -2.77562055e-01 -1.10337957e-02 1.01902060e+02] [ 2.77542443e-01 9.60707705e-01 -3.30128726e-03 1.37939682e+01] [ 1.15165646e-02 1.09016324e-04 9.99933676e-01 3.56224781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03088847900001 meters 0.013899531146734187 Centerline is valid? [True, True] Translation: X:101.96, Y:13.81, Z:0.36 [[ 9.60523183e-01 -2.77933478e-01 -1.21736002e-02 1.01959416e+02] [ 2.77909600e-01 9.60600316e-01 -3.64506179e-03 1.38069379e+01] [ 1.27070489e-02 1.18005987e-04 9.99919255e-01 3.57194690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09088847900001 meters 0.013978301915310848 Centerline is valid? [True, True] Translation: X:102.02, Y:13.82, Z:0.36 [[ 9.60494139e-01 -2.77930241e-01 -1.43453815e-02 1.02016748e+02] [ 2.77897025e-01 9.60601250e-01 -4.29920123e-03 1.38211695e+01] [ 1.49750694e-02 1.42818759e-04 9.99887857e-01 3.55611932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15088847900002 meters 0.01404540976585265 Centerline is valid? [True, True] Translation: X:102.07, Y:13.84, Z:0.35 [[ 9.60622052e-01 -2.77397737e-01 -1.59927506e-02 1.02073635e+02] [ 2.77356308e-01 9.60755154e-01 -4.79717708e-03 1.38365086e+01] [ 1.66958436e-02 1.72583826e-04 9.99860600e-01 3.52587499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.210888479 meters 0.01390643177232594 Centerline is valid? [True, True] Translation: X:102.13, Y:13.85, Z:0.35 [[ 9.60897433e-01 -2.76494482e-01 -1.50640030e-02 1.02129466e+02] [ 2.76457544e-01 9.61015488e-01 -4.52306575e-03 1.38534017e+01] [ 1.57273429e-02 1.81644997e-04 9.99876301e-01 3.53456700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.270888479 meters 0.01373356719148477 Centerline is valid? [True, True] Translation: X:102.19, Y:13.87, Z:0.36 [[ 9.60479933e-01 -2.78023404e-01 -1.34642570e-02 1.02185992e+02] [ 2.77994020e-01 9.60574290e-01 -4.04448923e-03 1.38656825e+01] [ 1.40578818e-02 1.41667807e-04 9.99901173e-01 3.57538638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33088847900001 meters 0.01348250419400256 Centerline is valid? [True, True] Translation: X:102.24, Y:13.88, Z:0.36 [[ 9.59445898e-01 -2.81563802e-01 -1.36159706e-02 1.02242507e+02] [ 2.81534083e-01 9.59542504e-01 -4.09182386e-03 1.38785894e+01] [ 1.42172120e-02 9.25238139e-05 9.99898926e-01 3.56746968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39088847900001 meters 0.013013861154571102 Centerline is valid? [True, True] Translation: X:102.30, Y:13.89, Z:0.36 [[ 9.58584907e-01 -2.84492921e-01 -1.33698754e-02 1.02300002e+02] [ 2.84464508e-01 9.58678140e-01 -4.02098434e-03 1.38931437e+01] [ 1.39613488e-02 5.11998775e-05 9.99902534e-01 3.56018205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45088847900001 meters 0.012699140596419498 Centerline is valid? [True, True] Translation: X:102.36, Y:13.91, Z:0.36 [[ 9.57906080e-01 -2.86793390e-01 -1.28644446e-02 1.02356797e+02] [ 2.86767247e-01 9.57992459e-01 -3.87235179e-03 1.39078966e+01] [ 1.34346058e-02 2.02479516e-05 9.99909751e-01 3.56477430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51088847900002 meters 0.012527965650053827 Centerline is valid? [True, True] Translation: X:102.41, Y:13.92, Z:0.36 [[ 9.57331020e-01 -2.88751335e-01 -1.18314924e-02 1.02414316e+02] [ 2.88729334e-01 9.57404129e-01 -3.56447201e-03 1.39219130e+01] [ 1.23567657e-02 -3.71928156e-06 9.99923652e-01 3.58556629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.570888479 meters 0.012423290671130155 Centerline is valid? [True, True] Translation: X:102.47, Y:13.94, Z:0.36 [[ 9.57673194e-01 -2.87566162e-01 -1.29520355e-02 1.02471165e+02] [ 2.87539640e-01 9.57760775e-01 -3.90552218e-03 1.39386858e+01] [ 1.35280476e-02 1.59902823e-05 9.99908492e-01 3.59204038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.630888479 meters 0.012506271970271448 Centerline is valid? [True, True] Translation: X:102.53, Y:13.96, Z:0.36 [[ 9.58264117e-01 -2.85549697e-01 -1.38293772e-02 1.02525881e+02] [ 2.85519225e-01 9.58363902e-01 -4.17185218e-03 1.39589977e+01] [ 1.44448470e-02 4.91831969e-05 9.99895667e-01 3.56226095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69088847900001 meters 0.012297070057241755 Centerline is valid? [True, True] Translation: X:102.58, Y:13.98, Z:0.36 [[ 9.58797655e-01 -2.83733773e-01 -1.42198045e-02 1.02582040e+02] [ 2.83701307e-01 9.58903092e-01 -4.29290018e-03 1.39779893e+01] [ 1.48534553e-02 8.18455034e-05 9.99889678e-01 3.56630562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75088847900001 meters 0.011961886350867871 Centerline is valid? [True, True] Translation: X:102.64, Y:13.99, Z:0.36 [[ 9.58269597e-01 -2.85606223e-01 -1.21846064e-02 1.02639208e+02] [ 2.85582497e-01 9.58347058e-01 -3.68157002e-03 1.39929294e+01] [ 1.27285610e-02 4.82262887e-05 9.99918987e-01 3.59275247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81088847900001 meters 0.011816961206020386 Centerline is valid? [True, True] Translation: X:102.70, Y:14.01, Z:0.36 [[ 9.58048778e-01 -2.86449975e-01 -9.43137253e-03 1.02695109e+02] [ 2.86435778e-01 9.58095199e-01 -2.85198559e-03 1.40103846e+01] [ 9.85310395e-03 3.08587807e-05 9.99951457e-01 3.62352367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87088847900002 meters 0.01193907903043047 Centerline is valid? [True, True] Translation: X:102.75, Y:14.03, Z:0.36 [[ 9.58243949e-01 -2.85746294e-01 -1.08438804e-02 1.02749089e+02] [ 2.85727464e-01 9.58305303e-01 -3.28066840e-03 1.40306464e+01] [ 1.13291869e-02 4.52861939e-05 9.99935822e-01 3.60175607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.930888479 meters 0.011976852339568673 Centerline is valid? [True, True] Translation: X:102.80, Y:14.05, Z:0.36 [[ 9.58417041e-01 -2.85075936e-01 -1.29802383e-02 1.02804735e+02] [ 2.85048871e-01 9.58504933e-01 -3.92873344e-03 1.40482342e+01] [ 1.35616098e-02 6.53628138e-05 9.99908035e-01 3.59144642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.990888479 meters 0.012073960741012111 Centerline is valid? [True, True] Translation: X:102.86, Y:14.07, Z:0.36 [[ 9.57974336e-01 -2.86454689e-01 -1.51288455e-02 1.02860845e+02] [ 2.86418035e-01 9.58093789e-01 -4.58273555e-03 1.40654714e+01] [ 1.58075990e-02 5.69688500e-05 9.99875050e-01 3.55972428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05088847900001 meters 0.011694125098394917 Centerline is valid? [True, True] Translation: X:102.92, Y:14.08, Z:0.36 [[ 9.56875272e-01 -2.90226502e-01 -1.25813853e-02 1.02917260e+02] [ 2.90201437e-01 9.56957981e-01 -3.81430154e-03 1.40814185e+01] [ 1.31468685e-02 -1.32526966e-06 9.99913576e-01 3.58923160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11088847900001 meters 0.011650122597208679 Centerline is valid? [True, True] Translation: X:102.97, Y:14.10, Z:0.36 [[ 9.56157323e-01 -2.92719959e-01 -8.84303605e-03 1.02973570e+02] [ 2.92707672e-01 9.56198214e-01 -2.68202708e-03 1.40964134e+01] [ 9.24077813e-03 -2.39846621e-05 9.99957303e-01 3.62781216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17088847900001 meters 0.011701482012179564 Centerline is valid? [True, True] Translation: X:103.03, Y:14.11, Z:0.36 [[ 9.55796069e-01 -2.93829123e-01 -1.08775093e-02 1.03029180e+02] [ 2.93810576e-01 9.55857963e-01 -3.30158068e-03 1.41149373e+01] [ 1.13674544e-02 -4.02894170e-05 9.99935388e-01 3.62685847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23088847900001 meters 0.011803284958278265 Centerline is valid? [True, True] Translation: X:103.08, Y:14.14, Z:0.36 [[ 9.56050086e-01 -2.92909824e-01 -1.31174864e-02 1.03083395e+02] [ 2.92882733e-01 9.56140070e-01 -3.98380828e-03 1.41367008e+01] [ 1.37090509e-02 -3.31650081e-05 9.99906026e-01 3.58552608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29088847900002 meters 0.01190648732699508 Centerline is valid? [True, True] Translation: X:103.14, Y:14.15, Z:0.36 [[ 9.56295646e-01 -2.92025344e-01 -1.48268690e-02 1.03139809e+02] [ 2.91990570e-01 9.56410580e-01 -4.50651855e-03 1.41549415e+01] [ 1.54965920e-02 -1.97418635e-05 9.99879920e-01 3.58629304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.350888479 meters 0.011785454441231658 Centerline is valid? [True, True] Translation: X:103.19, Y:14.17, Z:0.36 [[ 9.56576994e-01 -2.91123385e-01 -1.44093502e-02 1.03194673e+02] [ 2.91090376e-01 9.56685515e-01 -4.38387328e-03 1.41747660e+01] [ 1.50614646e-02 -9.10838271e-07 9.99886570e-01 3.60351329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41088847900001 meters 0.011718129532328527 Centerline is valid? [True, True] Translation: X:103.25, Y:14.19, Z:0.36 [[ 9.56663243e-01 -2.90879353e-01 -1.35882929e-02 1.03249800e+02] [ 2.90849915e-01 9.56759741e-01 -4.13822411e-03 1.41931630e+01] [ 1.42044555e-02 6.73306088e-06 9.99899112e-01 3.61298701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47088847900001 meters 0.011790283337020719 Centerline is valid? [True, True] Translation: X:103.31, Y:14.21, Z:0.36 [[ 9.56761319e-01 -2.90621856e-01 -1.21126378e-02 1.03305900e+02] [ 2.90598405e-01 9.56837989e-01 -3.69192714e-03 1.42129153e+01] [ 1.26627867e-02 1.23798638e-05 9.99919824e-01 3.63491769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53088847900001 meters 0.011967186593942788 Centerline is valid? [True, True] Translation: X:103.36, Y:14.23, Z:0.36 [[ 9.56849374e-01 -2.90273776e-01 -1.34317127e-02 1.03360539e+02] [ 2.90244877e-01 9.56943642e-01 -4.09595025e-03 1.42304656e+01] [ 1.40423390e-02 2.07216337e-05 9.99901401e-01 3.63869118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59088847900001 meters 0.01203115137387017 Centerline is valid? [True, True] Translation: X:103.42, Y:14.25, Z:0.36 [[ 9.56781548e-01 -2.90487701e-01 -1.36368938e-02 1.03416115e+02] [ 2.90457883e-01 9.56878725e-01 -4.16210925e-03 1.42471607e+01] [ 1.42578951e-02 2.12860176e-05 9.99898351e-01 3.63982836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65088847900002 meters 0.01198533473835183 Centerline is valid? [True, True] Translation: X:103.47, Y:14.27, Z:0.36 [[ 9.56875473e-01 -2.90224361e-01 -1.26154701e-02 1.03472566e+02] [ 2.90198779e-01 9.56958630e-01 -3.85348777e-03 1.42657804e+01] [ 1.31908590e-02 2.63139081e-05 9.99912996e-01 3.64368092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.710888479 meters 0.012187936849863936 Centerline is valid? [True, True] Translation: X:103.53, Y:14.28, Z:0.37 [[ 9.57780378e-01 -2.87178890e-01 -1.36026330e-02 1.03528941e+02] [ 2.87148788e-01 9.57876964e-01 -4.15870782e-03 1.42832392e+01] [ 1.42239419e-02 7.71491822e-05 9.99898832e-01 3.66052145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.770888479 meters 0.01261237830719538 Centerline is valid? [True, True] Translation: X:103.58, Y:14.30, Z:0.36 [[ 9.58619041e-01 -2.84324052e-01 -1.44695181e-02 1.03583937e+02] [ 2.84289636e-01 9.58728229e-01 -4.42565192e-03 1.43026224e+01] [ 1.51306547e-02 1.28980168e-04 9.99885517e-01 3.64874443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83088847900001 meters 0.013484957285260177 Centerline is valid? [True, True] Translation: X:103.64, Y:14.32, Z:0.36 [[ 9.59500875e-01 -2.81233011e-01 -1.63114903e-02 1.03638947e+02] [ 2.81188759e-01 9.59639491e-01 -4.99295715e-03 1.43230000e+01] [ 1.70573346e-02 2.04139034e-04 9.99854492e-01 3.62277055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89088847900001 meters 0.01379490323769975 Centerline is valid? [True, True] Translation: X:103.70, Y:14.34, Z:0.37 [[ 9.60239033e-01 -2.78642826e-01 -1.72966874e-02 1.03695757e+02] [ 2.78592561e-01 9.60394764e-01 -5.29927075e-03 1.43377520e+01] [ 1.80882518e-02 2.69838174e-04 9.99836358e-01 3.65964865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95088847900001 meters 0.015784819270722915 Centerline is valid? [True, True] Translation: X:103.75, Y:14.36, Z:0.36 [[ 9.60377955e-01 -2.78280364e-01 -1.53043489e-02 1.03749292e+02] [ 2.78240936e-01 9.60499859e-01 -4.69072545e-03 1.43608222e+01] [ 1.60051618e-02 2.46572929e-04 9.99871879e-01 3.61825742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01088847900002 meters 0.014081481607840271 Centerline is valid? [True, True] Translation: X:103.81, Y:14.37, Z:0.37 [[ 9.60144402e-01 -2.79217614e-01 -1.26590130e-02 1.03806577e+02] [ 2.79190682e-01 9.60227831e-01 -3.88282476e-03 1.43746896e+01] [ 1.32396897e-02 1.93793983e-04 9.99912333e-01 3.65032206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.070888479 meters 0.013666942788474502 Centerline is valid? [True, True] Translation: X:103.87, Y:14.39, Z:0.37 [[ 9.59329961e-01 -2.82058373e-01 -1.13622695e-02 1.03865226e+02] [ 2.82036840e-01 9.59397235e-01 -3.48806357e-03 1.43852996e+01] [ 1.18847675e-02 1.41625304e-04 9.99929364e-01 3.68872384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.130888479 meters 0.013580590535024606 Centerline is valid? [True, True] Translation: X:103.92, Y:14.40, Z:0.37 [[ 9.58719703e-01 -2.84053153e-01 -1.30513286e-02 1.03921078e+02] [ 2.84024873e-01 9.58808525e-01 -4.01055588e-03 1.44013913e+01] [ 1.36529362e-02 1.38096987e-04 9.99906785e-01 3.66486510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19088847900001 meters 0.013783413374882574 Centerline is valid? [True, True] Translation: X:103.98, Y:14.42, Z:0.36 [[ 9.58380893e-01 -2.85045450e-01 -1.59735828e-02 1.03977948e+02] [ 2.85003149e-01 9.58513989e-01 -4.91303261e-03 1.44176440e+01] [ 1.67113401e-02 1.56035186e-04 9.99860344e-01 3.63084586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25088847900001 meters 0.01401469068309415 Centerline is valid? [True, True] Translation: X:104.03, Y:14.43, Z:0.36 [[ 9.58363595e-01 -2.85097859e-01 -1.60757718e-02 1.04034297e+02] [ 2.85054942e-01 9.58498401e-01 -4.94921028e-03 1.44315270e+01] [ 1.68196108e-02 1.60664763e-04 9.99858527e-01 3.63934075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31088847900001 meters 0.014034138457433641 Centerline is valid? [True, True] Translation: X:104.09, Y:14.45, Z:0.36 [[ 9.58540973e-01 -2.84559947e-01 -1.49946439e-02 1.04090167e+02] [ 2.84522476e-01 9.58658234e-01 -4.62063339e-03 1.44492341e+01] [ 1.56895861e-02 1.62753201e-04 9.99876898e-01 3.63976183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37088847900002 meters 0.014387237041464704 Centerline is valid? [True, True] Translation: X:104.15, Y:14.47, Z:0.37 [[ 9.59090177e-01 -2.82835531e-01 -1.22513404e-02 1.04145177e+02] [ 2.82810331e-01 9.59168409e-01 -3.77881016e-03 1.44666843e+01] [ 1.28198804e-02 1.59414071e-04 9.99917809e-01 3.65711979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.430888479 meters 0.0148499189795989 Centerline is valid? [True, True] Translation: X:104.20, Y:14.48, Z:0.37 [[ 9.59539103e-01 -2.81290904e-01 -1.26545324e-02 1.04202099e+02] [ 2.81263838e-01 9.59622525e-01 -3.90663924e-03 1.44824261e+01] [ 1.32424765e-02 1.89310741e-04 9.99912297e-01 3.67582717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.490888479 meters 0.01491244946652888 Centerline is valid? [True, True] Translation: X:104.26, Y:14.50, Z:0.37 [[ 9.59771199e-01 -2.80549008e-01 -1.14673147e-02 1.04257285e+02] [ 2.80526690e-01 9.59839685e-01 -3.54344870e-03 1.45007439e+01] [ 1.20008947e-02 1.84012181e-04 9.99927970e-01 3.66957671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55088847900001 meters 0.015826825139691327 Centerline is valid? [True, True] Translation: X:104.31, Y:14.52, Z:0.36 [[ 9.60366020e-01 -2.78426865e-01 -1.32509928e-02 1.04312001e+02] [ 2.78396832e-01 9.60457402e-01 -4.09674952e-03 1.45183067e+01] [ 1.38676593e-02 2.45344601e-04 9.99903809e-01 3.64506551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61088847900001 meters 0.01571858031799781 Centerline is valid? [True, True] Translation: X:104.37, Y:14.53, Z:0.36 [[ 9.60486146e-01 -2.77956289e-01 -1.43758504e-02 1.04368948e+02] [ 2.77920836e-01 9.60593683e-01 -4.44796084e-03 1.45349575e+01] [ 1.50456898e-02 2.76856396e-04 9.99886769e-01 3.63712361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67088847900001 meters 0.015286717565743672 Centerline is valid? [True, True] Translation: X:104.43, Y:14.55, Z:0.36 [[ 9.59842763e-01 -2.80152944e-01 -1.47036877e-02 1.04425866e+02] [ 2.80116052e-01 9.59955345e-01 -4.55332345e-03 1.45503836e+01] [ 1.53905106e-02 2.51735603e-04 9.99881527e-01 3.62916796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73088847900001 meters 0.014570722759352858 Centerline is valid? [True, True] Translation: X:104.48, Y:14.56, Z:0.37 [[ 9.58093237e-01 -2.86161419e-01 -1.29997034e-02 1.04482924e+02] [ 2.86133113e-01 9.58181415e-01 -4.02724033e-03 1.45616464e+01] [ 1.36085150e-02 1.38826116e-04 9.99907390e-01 3.65282590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79088847900002 meters 0.013711876939673958 Centerline is valid? [True, True] Translation: X:104.54, Y:14.57, Z:0.37 [[ 9.56230484e-01 -2.92406348e-01 -1.10358512e-02 1.04540740e+02] [ 2.92386336e-01 9.56294163e-01 -3.42122912e-03 1.45732526e+01] [ 1.15539092e-02 4.47514774e-05 9.99933250e-01 3.67988584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.850888479 meters 0.013630661835250444 Centerline is valid? [True, True] Translation: X:104.60, Y:14.59, Z:0.37 [[ 9.53634984e-01 -3.00835420e-01 -8.85254072e-03 1.04599036e+02] [ 3.00822892e-01 9.53676071e-01 -2.74584595e-03 1.45857678e+01] [ 9.26850397e-03 -4.45121444e-05 9.99957046e-01 3.68313646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91088847900001 meters 0.014394690353263734 Centerline is valid? [True, True] Translation: X:104.66, Y:14.60, Z:0.37 [[ 9.51765033e-01 -3.06680854e-01 -9.49606278e-03 1.04657118e+02] [ 3.06666706e-01 9.51812399e-01 -2.94767873e-03 1.45982083e+01] [ 9.94246692e-03 -1.06628743e-04 9.99950567e-01 3.68306816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97088847900001 meters 0.015088351942077574 Centerline is valid? [True, True] Translation: X:104.71, Y:14.61, Z:0.37 [[ 9.50692259e-01 -3.09938393e-01 -1.10644108e-02 1.04712392e+02] [ 3.09919380e-01 9.50756629e-01 -3.43670389e-03 1.46136754e+01] [ 1.15847284e-02 -1.61827561e-04 9.99932882e-01 3.66230279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03088847900001 meters 0.015002274802505735 Centerline is valid? [True, True] Translation: X:104.77, Y:14.63, Z:0.36 [[ 9.50789991e-01 -3.09635311e-01 -1.11520168e-02 1.04767403e+02] [ 3.09615941e-01 9.50855378e-01 -3.46688380e-03 1.46337196e+01] [ 1.16774248e-02 -1.56563744e-04 9.99931804e-01 3.64891583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09088847900001 meters 0.014531327710243704 Centerline is valid? [True, True] Translation: X:104.82, Y:14.66, Z:0.36 [[ 9.51833706e-01 -3.06381577e-01 -1.19551547e-02 1.04822302e+02] [ 3.06359019e-01 9.51908774e-01 -3.71983607e-03 1.46564736e+01] [ 1.25199059e-02 -1.21904111e-04 9.99921615e-01 3.62935041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15088847900002 meters 0.01373680122063699 Centerline is valid? [True, True] Translation: X:104.88, Y:14.68, Z:0.37 [[ 9.53208633e-01 -3.02180996e-01 -8.94136740e-03 1.04877215e+02] [ 3.02168172e-01 9.53250567e-01 -2.78427800e-03 1.46792057e+01] [ 9.36471944e-03 -4.77988147e-05 9.99956149e-01 3.68065832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.210888479 meters 0.013580388304753992 Centerline is valid? [True, True] Translation: X:104.93, Y:14.70, Z:0.37 [[ 9.54312551e-01 -2.98684901e-01 -8.65364839e-03 1.04931822e+02] [ 2.98672725e-01 9.54351785e-01 -2.69695158e-03 1.47020241e+01] [ 9.06416351e-03 -1.08740073e-05 9.99958920e-01 3.68654891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.270888479 meters 0.013619526749755242 Centerline is valid? [True, True] Translation: X:104.99, Y:14.73, Z:0.37 [[ 9.55978331e-01 -2.93286295e-01 -9.41164565e-03 1.04985301e+02] [ 2.93271617e-01 9.56024658e-01 -2.93458500e-03 1.47266554e+01] [ 9.85843887e-03 4.52311391e-05 9.99951403e-01 3.67186810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33088847900001 meters 0.013793543964598328 Centerline is valid? [True, True] Translation: X:105.04, Y:14.75, Z:0.37 [[ 9.56485211e-01 -2.91629345e-01 -9.40032369e-03 1.05040511e+02] [ 2.91614602e-01 9.56531401e-01 -2.93308743e-03 1.47469145e+01] [ 9.84707915e-03 6.41830958e-05 9.99951514e-01 3.66747691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39088847900001 meters 0.013750584820818913 Centerline is valid? [True, True] Translation: X:105.10, Y:14.77, Z:0.37 [[ 9.56469241e-01 -2.91717856e-01 -8.20266232e-03 1.05095487e+02] [ 2.91706613e-01 9.56504412e-01 -2.56171228e-03 1.47664908e+01] [ 8.59317991e-03 5.74281546e-05 9.99963076e-01 3.67317044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45088847900001 meters 0.013890645927682542 Centerline is valid? [True, True] Translation: X:105.15, Y:14.79, Z:0.37 [[ 9.56532024e-01 -2.91571423e-01 -5.70903700e-03 1.05149957e+02] [ 2.91565965e-01 9.56549060e-01 -1.78444930e-03 1.47855985e+01] [ 5.98126839e-03 4.23220149e-05 9.99982111e-01 3.72157386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51088847900002 meters 0.014104639580814506 Centerline is valid? [True, True] Translation: X:105.21, Y:14.81, Z:0.37 [[ 9.56848478e-01 -2.90505645e-01 -6.88906189e-03 1.05205355e+02] [ 2.90497656e-01 9.56873276e-01 -2.15539995e-03 1.48070302e+01] [ 7.21811507e-03 6.11348337e-05 9.99973947e-01 3.73111019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.570888479 meters 0.014207310910648361 Centerline is valid? [True, True] Translation: X:105.26, Y:14.83, Z:0.37 [[ 9.56763499e-01 -2.90726772e-01 -9.03052783e-03 1.05259948e+02] [ 2.90713028e-01 9.56806113e-01 -2.82803557e-03 1.48292609e+01] [ 9.46264988e-03 8.04691151e-05 9.99955225e-01 3.69257909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.630888479 meters 0.013956476918846156 Centerline is valid? [True, True] Translation: X:105.32, Y:14.85, Z:0.37 [[ 9.55593369e-01 -2.94492504e-01 -1.07460868e-02 1.05316645e+02] [ 2.94473246e-01 9.55653788e-01 -3.36829601e-03 1.48465185e+01] [ 1.12614764e-02 5.42862789e-05 9.99936586e-01 3.67770189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69088847900001 meters 0.01391072439092041 Centerline is valid? [True, True] Translation: X:105.37, Y:14.86, Z:0.37 [[ 9.54082386e-01 -2.99384173e-01 -9.79379649e-03 1.05374470e+02] [ 2.99368410e-01 9.54132652e-01 -3.07220359e-03 1.48606052e+01] [ 1.02643501e-02 -8.17951274e-07 9.99947320e-01 3.71191926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75088847900001 meters 0.014525248268424657 Centerline is valid? [True, True] Translation: X:105.43, Y:14.88, Z:0.37 [[ 9.51995121e-01 -3.05984796e-01 -8.86527630e-03 1.05430446e+02] [ 3.05972155e-01 9.52036396e-01 -2.78212264e-03 1.48772505e+01] [ 9.29135293e-03 -6.39605160e-05 9.99956832e-01 3.73301128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81088847900001 meters 0.01522705772718907 Centerline is valid? [True, True] Translation: X:105.49, Y:14.89, Z:0.37 [[ 9.50873849e-01 -3.09409224e-01 -1.02399211e-02 1.05485319e+02] [ 3.09392544e-01 9.50928977e-01 -3.21466618e-03 1.48939726e+01] [ 1.07320851e-02 -1.11413232e-04 9.99942403e-01 3.73533612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87088847900002 meters 0.015513119757689958 Centerline is valid? [True, True] Translation: X:105.54, Y:14.91, Z:0.37 [[ 9.50664601e-01 -3.10027654e-01 -1.09393735e-02 1.05540824e+02] [ 3.10008630e-01 9.50727531e-01 -3.43672542e-03 1.49137682e+01] [ 1.14658435e-02 -1.24126987e-04 9.99934257e-01 3.73273164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.930888479 meters 0.01521948954001003 Centerline is valid? [True, True] Translation: X:105.60, Y:14.93, Z:0.37 [[ 9.50887250e-01 -3.09379934e-01 -9.87391872e-03 1.05595553e+02] [ 3.09364374e-01 9.50938508e-01 -3.10455581e-03 1.49349197e+01] [ 1.03499768e-02 -1.02556148e-04 9.99946432e-01 3.74493017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.990888479 meters 0.015204599651303236 Centerline is valid? [True, True] Translation: X:105.65, Y:14.96, Z:0.38 [[ 9.51342481e-01 -3.08017259e-01 -8.53536424e-03 1.05651046e+02] [ 3.08005557e-01 9.51380767e-01 -2.68585100e-03 1.49553536e+01] [ 8.94766983e-03 -7.37754698e-05 9.99959966e-01 3.77365574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05088847900001 meters 0.014657819873711212 Centerline is valid? [True, True] Translation: X:105.71, Y:14.98, Z:0.38 [[ 9.52622526e-01 -3.04054714e-01 -7.81375022e-03 1.05705275e+02] [ 3.04044757e-01 9.52654570e-01 -2.46081692e-03 1.49794480e+01] [ 8.19202784e-03 -3.15001581e-05 9.99966444e-01 3.77536796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11088847900001 meters 0.01465302609570928 Centerline is valid? [True, True] Translation: X:105.76, Y:15.01, Z:0.38 [[ 9.54218642e-01 -2.98997471e-01 -8.20341770e-03 1.05757731e+02] [ 2.98986288e-01 9.54253903e-01 -2.58602233e-03 1.50062849e+01] [ 8.60135749e-03 1.49213016e-05 9.99963008e-01 3.76539017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17088847900001 meters 0.014807268132400478 Centerline is valid? [True, True] Translation: X:105.81, Y:15.03, Z:0.38 [[ 9.55204094e-01 -2.95804067e-01 -9.22455920e-03 1.05812246e+02] [ 2.95789751e-01 9.55248633e-01 -2.91065875e-03 1.50278106e+01] [ 9.67273226e-03 5.17430851e-05 9.99953217e-01 3.76024968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23088847900001 meters 0.015395928014543111 Centerline is valid? [True, True] Translation: X:105.86, Y:15.05, Z:0.38 [[ 9.56695286e-01 -2.90963878e-01 -8.61114783e-03 1.05864841e+02] [ 2.90951195e-01 9.56734034e-01 -2.71836370e-03 1.50525568e+01] [ 9.02952385e-03 9.52219882e-05 9.99959228e-01 3.76234746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29088847900002 meters 0.015676351791269146 Centerline is valid? [True, True] Translation: X:105.92, Y:15.07, Z:0.38 [[ 9.57577679e-01 -2.88081477e-01 -7.35189602e-03 1.05920005e+02] [ 2.88072136e-01 9.57605896e-01 -2.32233573e-03 1.50738987e+01] [ 7.70924088e-03 1.05940476e-04 9.99970278e-01 3.76943568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.350888479 meters 0.018110494439108032 Centerline is valid? [True, True] Translation: X:105.97, Y:15.10, Z:0.38 [[ 9.58812184e-01 -2.83941049e-01 -7.52838013e-03 1.05972149e+02] [ 2.83931115e-01 9.58841728e-01 -2.37952630e-03 1.51007352e+01] [ 7.89417021e-03 1.43977444e-04 9.99968830e-01 3.75373412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41088847900001 meters 0.0179550421053998 Centerline is valid? [True, True] Translation: X:106.03, Y:15.12, Z:0.37 [[ 9.59940929e-01 -2.80069227e-01 -8.63948040e-03 1.06028227e+02] [ 2.80055981e-01 9.59979785e-01 -2.73137994e-03 1.51206618e+01] [ 9.05870200e-03 2.02425240e-04 9.99958949e-01 3.74978545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47088847900001 meters 0.0172828349383519 Centerline is valid? [True, True] Translation: X:106.08, Y:15.14, Z:0.38 [[ 9.60025522e-01 -2.79758864e-01 -9.27224233e-03 1.06084774e+02] [ 2.79743574e-01 9.60070273e-01 -2.93334170e-03 1.51375231e+01] [ 9.72263256e-03 2.22232692e-04 9.99952709e-01 3.76366039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53088847900001 meters 0.0172271726481351 Centerline is valid? [True, True] Translation: X:106.14, Y:15.16, Z:0.37 [[ 9.60027552e-01 -2.79718866e-01 -1.02202920e-02 1.06140076e+02] [ 2.79700256e-01 9.60081921e-01 -3.23614820e-03 1.51576976e+01] [ 1.07175293e-02 2.48173146e-04 9.99942535e-01 3.74095189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59088847900001 meters 0.017046558559985818 Centerline is valid? [True, True] Translation: X:106.20, Y:15.18, Z:0.37 [[ 9.59944308e-01 -2.80002664e-01 -1.02680825e-02 1.06195483e+02] [ 2.79983862e-01 9.59999191e-01 -3.25442775e-03 1.51760023e+01] [ 1.07685993e-02 2.49172014e-04 9.99941986e-01 3.73118248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65088847900002 meters 0.018006463057229603 Centerline is valid? [True, True] Translation: X:106.25, Y:15.20, Z:0.37 [[ 9.59705459e-01 -2.80900734e-01 -7.75947042e-03 1.06250192e+02] [ 2.80890017e-01 9.59736810e-01 -2.46046835e-03 1.51960023e+01] [ 8.13819675e-03 1.81767124e-04 9.99966868e-01 3.72896706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.710888479 meters 0.01694469210174507 Centerline is valid? [True, True] Translation: X:106.31, Y:15.21, Z:0.37 [[ 9.59434781e-01 -2.81866071e-01 -6.03488029e-03 1.06306837e+02] [ 2.81859600e-01 9.59453751e-01 -1.91474485e-03 1.52119118e+01] [ 6.32989013e-03 1.36083861e-04 9.99979957e-01 3.74399277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.770888479 meters 0.016924909281824392 Centerline is valid? [True, True] Translation: X:106.36, Y:15.23, Z:0.37 [[ 9.58614492e-01 -2.84659073e-01 -5.24104911e-03 1.06362807e+02] [ 2.84654227e-01 9.58628813e-01 -1.66421456e-03 1.52285727e+01] [ 5.49795446e-03 1.03453407e-04 9.99984881e-01 3.74078218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83088847900001 meters 0.015876904251512156 Centerline is valid? [True, True] Translation: X:106.42, Y:15.24, Z:0.37 [[ 9.57890946e-01 -2.87098151e-01 -4.42570968e-03 1.06419478e+02] [ 2.87094716e-01 9.57901167e-01 -1.40640824e-03 1.52435673e+01] [ 4.64316968e-03 7.65878561e-05 9.99989217e-01 3.72658324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89088847900001 meters 0.015713510150123077 Centerline is valid? [True, True] Translation: X:106.48, Y:15.26, Z:0.37 [[ 9.57651346e-01 -2.87920086e-01 -2.43377046e-03 1.06475626e+02] [ 2.87919049e-01 9.57654438e-01 -7.73744715e-04 1.52618317e+01] [ 2.55348773e-03 4.02487903e-05 9.99996739e-01 3.72692384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95088847900001 meters 0.016150143240833994 Centerline is valid? [True, True] Translation: X:106.53, Y:15.28, Z:0.37 [[ 9.57781133e-01 -2.87490509e-01 -2.12329513e-03 1.06530783e+02] [ 2.87489717e-01 9.57783486e-01 -6.75627813e-04 1.52792441e+01] [ 2.22789360e-03 3.66780553e-05 9.99997518e-01 3.73058316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01088847900002 meters 0.015867682205191833 Centerline is valid? [True, True] Translation: X:106.59, Y:15.29, Z:0.37 [[ 9.57603253e-01 -2.88087796e-01 -1.19615064e-03 1.06587330e+02] [ 2.88087546e-01 9.57604000e-01 -3.80298121e-04 1.52945792e+01] [ 1.25499788e-03 1.95786166e-05 9.99999212e-01 3.72762355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.070888479 meters 0.01609733363154763 Centerline is valid? [True, True] Translation: X:106.64, Y:15.31, Z:0.37 [[ 9.57615406e-01 -2.88046937e-01 -1.30280771e-03 1.06642292e+02] [ 2.88046639e-01 9.57616291e-01 -4.14693692e-04 1.53147575e+01] [ 1.36704113e-03 2.18476862e-05 9.99999065e-01 3.67818164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.130888479 meters 0.016222580718578725 Centerline is valid? [True, True] Translation: X:106.70, Y:15.33, Z:0.37 [[ 9.57812253e-01 -2.87393274e-01 -8.91192670e-04 1.06699173e+02] [ 2.87393134e-01 9.57812667e-01 -2.83754633e-04 1.53305168e+01] [ 9.35144801e-04 1.56610100e-05 9.99999563e-01 3.68168202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19088847900001 meters 0.01723018192178559 Centerline is valid? [True, True] Translation: X:106.75, Y:15.35, Z:0.37 [[ 9.58324824e-01 -2.85678271e-01 -1.20706241e-03 1.06753993e+02] [ 2.85678012e-01 9.58325584e-01 -3.85098871e-04 1.53483391e+01] [ 1.26677317e-03 2.42186173e-05 9.99999197e-01 3.68528019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25088847900001 meters 0.016318881839386148 Centerline is valid? [True, True] Translation: X:106.81, Y:15.37, Z:0.37 [[ 9.58363883e-01 -2.85543317e-01 -1.91892583e-03 1.06810006e+02] [ 2.85542663e-01 9.58365803e-01 -6.12574179e-04 1.53651985e+01] [ 2.01394936e-03 3.91337778e-05 9.99997971e-01 3.66547068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31088847900001 meters 0.016505735566526725 Centerline is valid? [True, True] Translation: X:106.86, Y:15.38, Z:0.36 [[ 9.58044795e-01 -2.86616491e-01 -1.07607525e-03 1.06864674e+02] [ 2.86616286e-01 9.58045399e-01 -3.43836607e-04 1.53828658e+01] [ 1.12947818e-03 2.09901806e-05 9.99999362e-01 3.64224953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37088847900002 meters 0.01650696943087439 Centerline is valid? [True, True] Translation: X:106.92, Y:15.40, Z:0.37 [[ 9.56953585e-01 -2.90240070e-01 7.33775478e-04 1.06921339e+02] [ 2.90239975e-01 9.56953866e-01 2.34967436e-04 1.53955371e+01] [-7.70386246e-04 -1.18819539e-05 9.99999703e-01 3.67346301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.430888479 meters 0.015383731781340575 Centerline is valid? [True, True] Translation: X:106.98, Y:15.41, Z:0.37 [[ 9.56351816e-01 -2.92206086e-01 2.60899636e-03 1.06977766e+02] [ 2.92204893e-01 9.56355374e-01 8.35991786e-04 1.54113858e+01] [-2.73940958e-03 -3.71407611e-05 9.99996247e-01 3.67335529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.490888479 meters 0.015109712369150144 Centerline is valid? [True, True] Translation: X:107.03, Y:15.43, Z:0.37 [[ 9.55756058e-01 -2.94143416e-01 3.16359533e-03 1.07033600e+02] [ 2.94141670e-01 9.55761293e-01 1.01440651e-03 1.54295875e+01] [-3.32202296e-03 -3.89799592e-05 9.99994481e-01 3.66121578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55088847900001 meters 0.01450066064532541 Centerline is valid? [True, True] Translation: X:107.09, Y:15.44, Z:0.37 [[ 9.54684498e-01 -2.97619702e-01 1.48276218e-04 1.07091376e+02] [ 2.97619698e-01 9.54684510e-01 4.82842358e-05 1.54411410e+01] [-1.55927349e-04 -1.96628810e-06 9.99999988e-01 3.65548094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61088847900001 meters 0.014179987820052656 Centerline is valid? [True, True] Translation: X:107.15, Y:15.46, Z:0.36 [[ 9.53430782e-01 -3.01611581e-01 4.45735276e-04 1.07147254e+02] [ 3.01611546e-01 9.53430886e-01 1.43789557e-04 1.54586637e+01] [-4.68346375e-04 -2.65448400e-06 9.99999890e-01 3.62786453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67088847900001 meters 0.014195349326286017 Centerline is valid? [True, True] Translation: X:107.20, Y:15.48, Z:0.36 [[ 9.52862560e-01 -3.03394961e-01 2.10682376e-03 1.07203191e+02] [ 3.03394204e-01 9.52864889e-01 6.77679204e-04 1.54756023e+01] [-2.21312285e-03 -6.53702340e-06 9.99997551e-01 3.64585628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73088847900001 meters 0.014225071133680527 Centerline is valid? [True, True] Translation: X:107.26, Y:15.49, Z:0.37 [[ 9.52427737e-01 -3.04753609e-01 2.57763078e-03 1.07259371e+02] [ 3.04752479e-01 9.52431225e-01 8.29758203e-04 1.54896767e+01] [-2.70788785e-03 -4.74535561e-06 9.99996334e-01 3.66328549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79088847900002 meters 0.014519676897490489 Centerline is valid? [True, True] Translation: X:107.31, Y:15.51, Z:0.37 [[ 9.52772170e-01 -3.03675609e-01 2.51318634e-03 1.07314958e+02] [ 3.03674529e-01 9.52775485e-01 8.09796826e-04 1.55078265e+01] [-2.64041788e-03 -8.36119808e-06 9.99996514e-01 3.67252422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.850888479 meters 0.015163077227019948 Centerline is valid? [True, True] Translation: X:107.37, Y:15.53, Z:0.37 [[ 9.54323397e-01 -2.98750489e-01 3.87299106e-03 1.07369216e+02] [ 2.98747883e-01 9.54331255e-01 1.24842302e-03 1.55318539e+01] [-4.06908341e-03 -3.43514196e-05 9.99991721e-01 3.66316481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91088847900001 meters 0.015562997261938792 Centerline is valid? [True, True] Translation: X:107.42, Y:15.55, Z:0.37 [[ 9.55493459e-01 -2.95003605e-01 2.26349739e-03 1.07424918e+02] [ 2.95002702e-01 9.55496139e-01 7.30551280e-04 1.55507634e+01] [-2.37827828e-03 -3.02991235e-05 9.99997171e-01 3.65349064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97088847900001 meters 0.01664804039332633 Centerline is valid? [True, True] Translation: X:107.48, Y:15.57, Z:0.36 [[ 9.56717869e-01 -2.91016753e-01 -4.11028952e-04 1.07479268e+02] [ 2.91016723e-01 9.56717957e-01 -1.32202886e-04 1.55703762e+01] [ 4.31712034e-04 6.86456474e-06 9.99999907e-01 3.63466601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03088847900001 meters 0.0168843727054901 Centerline is valid? [True, True] Translation: X:107.53, Y:15.59, Z:0.36 [[ 9.57249560e-01 -2.89263300e-01 1.49154207e-04 1.07534817e+02] [ 2.89263296e-01 9.57249572e-01 4.88803952e-05 1.55892702e+01] [-1.56917105e-04 -3.64589931e-06 9.99999988e-01 3.62879280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09088847900001 meters 0.01819131706117598 Centerline is valid? [True, True] Translation: X:107.59, Y:15.61, Z:0.36 [[ 9.58201950e-01 -2.86092561e-01 2.61957466e-04 1.07589289e+02] [ 2.86092549e-01 9.58201986e-01 8.48533260e-05 1.56090251e+01] [-2.75284070e-04 -6.36254325e-06 9.99999962e-01 3.64227102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15088847900002 meters 0.01731216109086304 Centerline is valid? [True, True] Translation: X:107.65, Y:15.62, Z:0.37 [[ 9.57914019e-01 -2.87054993e-01 -4.03044793e-04 1.07646919e+02] [ 2.87054964e-01 9.57914104e-01 -1.29536023e-04 1.56231187e+01] [ 4.23266254e-04 8.38836437e-06 9.99999910e-01 3.65051008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.210888479 meters 0.016799770817393648 Centerline is valid? [True, True] Translation: X:107.70, Y:15.64, Z:0.36 [[ 9.57036421e-01 -2.89965241e-01 -1.20358468e-03 1.07703679e+02] [ 2.89964982e-01 9.57037177e-01 -3.88619217e-04 1.56380520e+01] [ 1.26456135e-03 2.29253332e-05 9.99999200e-01 3.63266417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.270888479 meters 0.016144058175554372 Centerline is valid? [True, True] Translation: X:107.76, Y:15.65, Z:0.36 [[ 9.55681480e-01 -2.94395042e-01 -2.11368243e-03 1.07761871e+02] [ 2.94394250e-01 9.55683817e-01 -6.83618121e-04 1.56503674e+01] [ 2.22126588e-03 3.10652221e-05 9.99997533e-01 3.62633944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33088847900001 meters 0.015723457454098772 Centerline is valid? [True, True] Translation: X:107.82, Y:15.66, Z:0.36 [[ 9.54585676e-01 -2.97930971e-01 -1.82322758e-03 1.07819867e+02] [ 2.97930388e-01 9.54587417e-01 -5.90086100e-04 1.56639333e+01] [ 1.91623503e-03 2.00928397e-05 9.99998164e-01 3.63231194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39088847900001 meters 0.015639728016532368 Centerline is valid? [True, True] Translation: X:107.88, Y:15.68, Z:0.36 [[ 9.54030340e-01 -2.99698642e-01 -2.61435938e-03 1.07877475e+02] [ 2.99697446e-01 9.54033921e-01 -8.47086975e-04 1.56783241e+01] [ 2.74805835e-03 2.46298457e-05 9.99996224e-01 3.63578141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45088847900001 meters 0.015616660995888931 Centerline is valid? [True, True] Translation: X:107.93, Y:15.69, Z:0.36 [[ 9.53608676e-01 -3.00991603e-01 -5.87780318e-03 1.07932319e+02] [ 3.00985568e-01 9.53626789e-01 -1.90656593e-03 1.56928633e+01] [ 6.17909091e-03 4.89838782e-05 9.99980908e-01 3.61172265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51088847900002 meters 0.015409394974602674 Centerline is valid? [True, True] Translation: X:107.99, Y:15.71, Z:0.36 [[ 9.53096590e-01 -3.02605050e-01 -6.08883291e-03 1.07987581e+02] [ 3.02598598e-01 9.53116038e-01 -1.97642739e-03 1.57100989e+01] [ 6.40144121e-03 4.12539023e-05 9.99979510e-01 3.60569827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.570888479 meters 0.015207398798139675 Centerline is valid? [True, True] Translation: X:108.04, Y:15.73, Z:0.36 [[ 9.52295508e-01 -3.05149636e-01 -4.11893240e-03 1.08044951e+02] [ 3.05146703e-01 9.52304415e-01 -1.33790534e-03 1.57256406e+01] [ 4.33073884e-03 1.72026066e-05 9.99990622e-01 3.63085347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.630888479 meters 0.015310434467688278 Centerline is valid? [True, True] Translation: X:108.10, Y:15.74, Z:0.37 [[ 9.51759849e-01 -3.06802008e-01 -5.07117548e-03 1.08101951e+02] [ 3.06797578e-01 9.51773359e-01 -1.64878876e-03 1.57381456e+01] [ 5.33246143e-03 1.34265896e-05 9.99985782e-01 3.66060475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69088847900001 meters 0.015520651698851678 Centerline is valid? [True, True] Translation: X:108.16, Y:15.76, Z:0.36 [[ 9.52129766e-01 -3.05622690e-01 -6.60908319e-03 1.08157336e+02] [ 3.05615127e-01 9.52152703e-01 -2.15030278e-03 1.57562672e+01] [ 6.95003774e-03 2.75314823e-05 9.99975848e-01 3.63774363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75088847900001 meters 0.015841575538064437 Centerline is valid? [True, True] Translation: X:108.21, Y:15.78, Z:0.36 [[ 9.52904005e-01 -3.03211382e-01 -6.06755820e-03 1.08211369e+02] [ 3.03204955e-01 9.52923321e-01 -1.97466961e-03 1.57761469e+01] [ 6.38066002e-03 4.19568671e-05 9.99979643e-01 3.62631287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81088847900001 meters 0.016146100448460862 Centerline is valid? [True, True] Translation: X:108.27, Y:15.79, Z:0.36 [[ 9.53340623e-01 -3.01808166e-01 -7.31350612e-03 1.08268116e+02] [ 3.01798775e-01 9.53368673e-01 -2.38169939e-03 1.57909064e+01] [ 7.69128395e-03 6.33635860e-05 9.99970420e-01 3.64638370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87088847900002 meters 0.016373846057536303 Centerline is valid? [True, True] Translation: X:108.32, Y:15.81, Z:0.37 [[ 9.53658296e-01 -3.00778710e-01 -8.24753384e-03 1.08324294e+02] [ 3.00766709e-01 9.53693956e-01 -2.68815134e-03 1.58074056e+01] [ 8.67416187e-03 8.29942162e-05 9.99962375e-01 3.65097700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93088847900002 meters 0.016927086382212967 Centerline is valid? [True, True] Translation: X:108.38, Y:15.82, Z:0.37 [[ 9.54040775e-01 -2.99619682e-01 -5.85206085e-03 1.08378217e+02] [ 2.99613612e-01 9.54058720e-01 -1.90829999e-03 1.58245356e+01] [ 6.15497393e-03 6.72389083e-05 9.99981056e-01 3.67655210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.990888479 meters 0.016469790882775073 Centerline is valid? [True, True] Translation: X:108.43, Y:15.84, Z:0.37 [[ 9.53933259e-01 -2.99967636e-01 -5.54569166e-03 1.08434647e+02] [ 2.99962184e-01 9.53949377e-01 -1.80965395e-03 1.58392371e+01] [ 5.83314672e-03 6.27913127e-05 9.99982985e-01 3.68536844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05088847900001 meters 0.017234117839399717 Centerline is valid? [True, True] Translation: X:108.49, Y:15.86, Z:0.37 [[ 9.54183398e-01 -2.99142344e-01 -6.92111954e-03 1.08489515e+02] [ 2.99133819e-01 9.54208494e-01 -2.25996693e-03 1.58576534e+01] [ 7.28024286e-03 8.60819991e-05 9.99973495e-01 3.67298908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11088847900001 meters 0.01670436633772443 Centerline is valid? [True, True] Translation: X:108.55, Y:15.87, Z:0.37 [[ 9.54016670e-01 -2.99635551e-01 -8.41013235e-03 1.08545871e+02] [ 2.99622964e-01 9.54053733e-01 -2.74829165e-03 1.58722983e+01] [ 8.84720405e-03 1.02047265e-04 9.99960858e-01 3.67050455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17088847900001 meters 0.016503165293229177 Centerline is valid? [True, True] Translation: X:108.60, Y:15.89, Z:0.37 [[ 9.53517211e-01 -3.01214075e-01 -8.66074675e-03 1.08601919e+02] [ 3.01200770e-01 9.53556539e-01 -2.83270567e-03 1.58893532e+01] [ 9.11176251e-03 9.24100249e-05 9.99958483e-01 3.67060618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23088847900001 meters 0.01611785821829981 Centerline is valid? [True, True] Translation: X:108.66, Y:15.90, Z:0.36 [[ 9.51837124e-01 -3.06430132e-01 -1.03277599e-02 1.08657780e+02] [ 3.06411500e-01 9.51893151e-01 -3.37956754e-03 1.59037956e+01] [ 1.08665252e-02 5.22534554e-05 9.99940956e-01 3.62703525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29088847900002 meters 0.015615483211172248 Centerline is valid? [True, True] Translation: X:108.72, Y:15.92, Z:0.37 [[ 9.49664703e-01 -3.13170201e-01 -7.83433834e-03 1.08715734e+02] [ 3.13159695e-01 9.49697017e-01 -2.56524488e-03 1.59159892e+01] [ 8.24360601e-03 -1.72764865e-05 9.99966021e-01 3.67212616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.350888479 meters 0.015935448873866567 Centerline is valid? [True, True] Translation: X:108.77, Y:15.93, Z:0.37 [[ 9.47470974e-01 -3.19808222e-01 -4.63181483e-03 1.08772970e+02] [ 3.19804624e-01 9.47482295e-01 -1.51758660e-03 1.59298383e+01] [ 4.87389922e-03 -4.34065517e-05 9.99988122e-01 3.69646403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41088847900001 meters 0.01633764297932174 Centerline is valid? [True, True] Translation: X:108.83, Y:15.95, Z:0.37 [[ 9.46206781e-01 -3.23536677e-01 -4.09225403e-03 1.08829302e+02] [ 3.23533899e-01 9.46215629e-01 -1.34183138e-03 1.59469153e+01] [ 4.30628639e-03 -5.43329512e-05 9.99990726e-01 3.70132079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47088847900001 meters 0.0165106633994997 Centerline is valid? [True, True] Translation: X:108.89, Y:15.96, Z:0.37 [[ 9.45805793e-01 -3.24700769e-01 -4.56210602e-03 1.08885331e+02] [ 3.24697323e-01 9.45816793e-01 -1.49721213e-03 1.59648349e+01] [ 4.80106241e-03 -6.52317090e-05 9.99988473e-01 3.70737655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53088847900001 meters 0.016472535518530014 Centerline is valid? [True, True] Translation: X:108.94, Y:15.99, Z:0.37 [[ 9.45965721e-01 -3.24232615e-01 -4.69752438e-03 1.08938493e+02] [ 3.24228952e-01 9.45977382e-01 -1.54258296e-03 1.59875696e+01] [ 4.94390752e-03 -6.38428014e-05 9.99987777e-01 3.68126431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59088847900001 meters 0.016229545689038675 Centerline is valid? [True, True] Translation: X:108.99, Y:16.01, Z:0.37 [[ 9.45959246e-01 -3.24200196e-01 -7.43897809e-03 1.08992333e+02] [ 3.24190994e-01 9.45988490e-01 -2.44471728e-03 1.60100456e+01] [ 7.82976547e-03 -9.90467868e-05 9.99969342e-01 3.66152628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65088847900002 meters 0.01629121698902494 Centerline is valid? [True, True] Translation: X:109.05, Y:16.03, Z:0.37 [[ 9.46004334e-01 -3.24081068e-01 -6.87471354e-03 1.09046835e+02] [ 3.24073197e-01 9.46029309e-01 -2.26045200e-03 1.60300567e+01] [ 7.23625020e-03 -8.95130150e-05 9.99973814e-01 3.65914494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.710888479 meters 0.01586542698308231 Centerline is valid? [True, True] Translation: X:109.10, Y:16.06, Z:0.37 [[ 9.46648877e-01 -3.22230759e-01 -4.82105468e-03 1.09100882e+02] [ 3.22226860e-01 9.46661151e-01 -1.58595401e-03 1.60556268e+01] [ 5.07494834e-03 -5.21317303e-05 9.99987121e-01 3.67504153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.770888479 meters 0.015497781474261804 Centerline is valid? [True, True] Translation: X:109.16, Y:16.08, Z:0.37 [[ 9.47278645e-01 -3.20387005e-01 -3.91621768e-03 1.09155445e+02] [ 3.20384413e-01 9.47286739e-01 -1.28922148e-03 1.60792392e+01] [ 4.12283088e-03 -3.34431274e-05 9.99991501e-01 3.68944401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83088847900001 meters 0.015317699065925703 Centerline is valid? [True, True] Translation: X:109.21, Y:16.10, Z:0.37 [[ 9.48527071e-01 -3.16669080e-01 -4.13401032e-03 1.09209468e+02] [ 3.16666151e-01 9.48536079e-01 -1.36210105e-03 1.61036240e+01] [ 4.35259323e-03 -1.71114176e-05 9.99990527e-01 3.69734128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89088847900001 meters 0.015235805833687444 Centerline is valid? [True, True] Translation: X:109.26, Y:16.13, Z:0.37 [[ 9.49857386e-01 -3.12645816e-01 -4.85170490e-03 1.09261804e+02] [ 3.12641724e-01 9.49869777e-01 -1.59964932e-03 1.61281377e+01] [ 5.10861152e-03 2.59334297e-06 9.99986951e-01 3.68377175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95088847900001 meters 0.015336124234732898 Centerline is valid? [True, True] Translation: X:109.32, Y:16.15, Z:0.37 [[ 9.51055950e-01 -3.08982229e-01 -4.74996091e-03 1.09315576e+02] [ 3.08978257e-01 9.51067811e-01 -1.56692901e-03 1.61540731e+01] [ 5.00168814e-03 2.26025167e-05 9.99987491e-01 3.68963420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01088847900002 meters 0.015606206142238609 Centerline is valid? [True, True] Translation: X:109.37, Y:16.18, Z:0.37 [[ 9.51822350e-01 -3.06605081e-01 -5.24764284e-03 1.09370320e+02] [ 3.06600188e-01 9.51836815e-01 -1.73262068e-03 1.61771496e+01] [ 5.52612995e-03 4.02188091e-05 9.99984730e-01 3.68318658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.070888479 meters 0.015804445768997893 Centerline is valid? [True, True] Translation: X:109.42, Y:16.20, Z:0.37 [[ 9.52161694e-01 -3.05559912e-01 -4.60953334e-03 1.09423244e+02] [ 3.05556120e-01 9.52172851e-01 -1.52288200e-03 1.61998342e+01] [ 4.85440420e-03 4.15587825e-05 9.99988216e-01 3.68816339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.130888479 meters 0.015345170608022934 Centerline is valid? [True, True] Translation: X:109.48, Y:16.22, Z:0.37 [[ 9.50695478e-01 -3.10096915e-01 -4.24397508e-03 1.09478333e+02] [ 3.10093742e-01 9.50704951e-01 -1.40290521e-03 1.62194243e+01] [ 4.46980469e-03 1.77055291e-05 9.99990010e-01 3.69742073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19088847900001 meters 0.015050787368305977 Centerline is valid? [True, True] Translation: X:109.53, Y:16.24, Z:0.37 [[ 9.49245356e-01 -3.14509987e-01 -4.08930381e-03 1.09533564e+02] [ 3.14507077e-01 9.49254164e-01 -1.35289648e-03 1.62367440e+01] [ 4.30728813e-03 -1.88428626e-06 9.99990724e-01 3.69670617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25088847900001 meters 0.015227763010121702 Centerline is valid? [True, True] Translation: X:109.59, Y:16.25, Z:0.37 [[ 9.47261717e-01 -3.20426025e-01 -4.73307194e-03 1.09590520e+02] [ 3.20422193e-01 9.47273541e-01 -1.56742672e-03 1.62529627e+01] [ 4.98575812e-03 -3.18179662e-05 9.99987571e-01 3.70833118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31088847900001 meters 0.015746330470523897 Centerline is valid? [True, True] Translation: X:109.65, Y:16.27, Z:0.37 [[ 9.45548840e-01 -3.25421011e-01 -6.20947926e-03 1.09645757e+02] [ 3.25414510e-01 9.45569226e-01 -2.05827817e-03 1.62737192e+01] [ 6.54129945e-03 -7.44521129e-05 9.99978603e-01 3.68678223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37088847900002 meters 0.015674217996228416 Centerline is valid? [True, True] Translation: X:109.70, Y:16.30, Z:0.37 [[ 9.44908043e-01 -3.27298447e-01 -4.95148076e-03 1.09700781e+02] [ 3.27294333e-01 9.44921013e-01 -1.64249882e-03 1.62955905e+01] [ 5.21634553e-03 -6.85812524e-05 9.99986392e-01 3.70701232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43088847900002 meters 0.015508484018393772 Centerline is valid? [True, True] Translation: X:109.75, Y:16.32, Z:0.37 [[ 9.45537179e-01 -3.25482303e-01 -4.55119498e-03 1.09753788e+02] [ 3.25478801e-01 9.45548131e-01 -1.51091882e-03 1.63224371e+01] [ 4.79515124e-03 -5.26875686e-05 9.99988502e-01 3.70434593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.490888479 meters 0.01522442036013624 Centerline is valid? [True, True] Translation: X:109.81, Y:16.35, Z:0.37 [[ 9.46455636e-01 -3.22795988e-01 -4.94772527e-03 1.09807686e+02] [ 3.22791804e-01 9.46468567e-01 -1.64399368e-03 1.63463192e+01] [ 5.21354101e-03 -4.11180843e-05 9.99986409e-01 3.70990758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55088847900001 meters 0.015122225195566424 Centerline is valid? [True, True] Translation: X:109.86, Y:16.37, Z:0.37 [[ 9.47603214e-01 -3.19420388e-01 -4.33181421e-03 1.09860740e+02] [ 3.19417142e-01 9.47613115e-01 -1.44023771e-03 1.63710644e+01] [ 4.56492525e-03 -1.88818374e-05 9.99989580e-01 3.72216943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61088847900001 meters 0.014876918457908542 Centerline is valid? [True, True] Translation: X:109.91, Y:16.40, Z:0.37 [[ 9.48916565e-01 -3.15524538e-01 -1.27258847e-03 1.09912890e+02] [ 3.15524254e-01 9.48917418e-01 -4.22784807e-04 1.63987997e+01] [ 1.34098034e-03 -3.45020864e-07 9.99999101e-01 3.73494041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67088847900001 meters 0.014894856292980338 Centerline is valid? [True, True] Translation: X:109.97, Y:16.42, Z:0.37 [[ 9.50184547e-01 -3.11685864e-01 -1.11735026e-03 1.09966116e+02] [ 3.11685642e-01 9.50185204e-01 -3.71799206e-04 1.64233708e+01] [ 1.17757424e-03 5.01582694e-06 9.99999307e-01 3.72779924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73088847900001 meters 0.015341916206037826 Centerline is valid? [True, True] Translation: X:110.02, Y:16.45, Z:0.37 [[ 9.51638498e-01 -3.07212145e-01 -2.20622403e-03 1.10021158e+02] [ 3.07211267e-01 9.51641055e-01 -7.34505884e-04 1.64457729e+01] [ 2.32518249e-03 2.12071960e-05 9.99997297e-01 3.72628979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79088847900002 meters 0.015569133635684166 Centerline is valid? [True, True] Translation: X:110.08, Y:16.47, Z:0.37 [[ 9.52009664e-01 -3.06058655e-01 -2.38720340e-03 1.10075051e+02] [ 3.06057623e-01 9.52012657e-01 -7.95538739e-04 1.64664985e+01] [ 2.51612937e-03 2.67387688e-05 9.99996834e-01 3.72381193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.850888479 meters 0.016197866995711973 Centerline is valid? [True, True] Translation: X:110.13, Y:16.49, Z:0.37 [[ 9.52761539e-01 -3.03711429e-01 -2.19494845e-03 1.10128236e+02] [ 3.03710550e-01 9.52764067e-01 -7.31665717e-04 1.64885837e+01] [ 2.31348326e-03 3.04739531e-05 9.99997323e-01 3.70785279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91088847900001 meters 0.01657133041604929 Centerline is valid? [True, True] Translation: X:110.19, Y:16.51, Z:0.37 [[ 9.53225665e-01 -3.02258189e-01 -9.04652792e-04 1.10185046e+02] [ 3.02258040e-01 9.53226094e-01 -3.01184504e-04 1.65054375e+01] [ 9.53374130e-04 1.36582202e-05 9.99999545e-01 3.71014024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97088847900001 meters 0.0169400260877644 Centerline is valid? [True, True] Translation: X:110.24, Y:16.52, Z:0.37 [[ 9.53457405e-01 -3.01523898e-01 -1.52189075e-03 1.10240449e+02] [ 3.01523472e-01 9.53458619e-01 -5.07792850e-04 1.65223853e+01] [ 1.60417153e-03 2.52730710e-05 9.99998713e-01 3.70075587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03088847900001 meters 0.016472533025083603 Centerline is valid? [True, True] Translation: X:110.30, Y:16.54, Z:0.37 [[ 9.53611911e-01 -3.01032212e-01 -1.98270098e-03 1.10296685e+02] [ 3.01031487e-01 9.53613971e-01 -6.61690498e-04 1.65393493e+01] [ 2.08992151e-03 3.41405163e-05 9.99997816e-01 3.69846699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09088847900001 meters 0.017598693334782194 Centerline is valid? [True, True] Translation: X:110.35, Y:16.56, Z:0.37 [[ 9.54526233e-01 -2.98106735e-01 -3.47064876e-03 1.10352415e+02] [ 2.98104488e-01 9.54532540e-01 -1.15964247e-03 1.65557298e+01] [ 3.65854441e-03 7.22931882e-05 9.99993305e-01 3.67749209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15088847900002 meters 0.019403971801959234 Centerline is valid? [True, True] Translation: X:110.41, Y:16.57, Z:0.37 [[ 9.55493069e-01 -2.94978561e-01 -4.54365589e-03 1.10407033e+02] [ 2.94974672e-01 9.55503865e-01 -1.51877747e-03 1.65742842e+01] [ 4.78948755e-03 1.10917942e-04 9.99988524e-01 3.65795454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.210888479 meters 0.018879159915641285 Centerline is valid? [True, True] Translation: X:110.46, Y:16.59, Z:0.37 [[ 9.55706744e-01 -2.94286066e-01 -4.50900399e-03 1.10464214e+02] [ 2.94282224e-01 9.55717374e-01 -1.50807645e-03 1.65887108e+01] [ 4.75313934e-03 1.14359111e-04 9.99988697e-01 3.65506670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.270888479 meters 0.017910933595018233 Centerline is valid? [True, True] Translation: X:110.52, Y:16.60, Z:0.37 [[ 9.54846597e-01 -2.97074473e-01 -3.83838469e-03 1.10523679e+02] [ 2.97071708e-01 9.54854308e-01 -1.28456096e-03 1.65978402e+01] [ 4.04670843e-03 8.62831618e-05 9.99991808e-01 3.66916657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33088847900001 meters 0.01698050484411175 Centerline is valid? [True, True] Translation: X:110.58, Y:16.61, Z:0.37 [[ 9.53162897e-01 -3.02435519e-01 -3.63978504e-03 1.10583239e+02] [ 3.02433069e-01 9.53169845e-01 -1.21870694e-03 1.66073127e+01] [ 3.83791361e-03 6.08348765e-05 9.99992633e-01 3.67272297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39088847900001 meters 0.015945455047559596 Centerline is valid? [True, True] Translation: X:110.64, Y:16.61, Z:0.37 [[ 9.49860814e-01 -3.12667431e-01 -1.87390139e-03 1.10643643e+02] [ 3.12666801e-01 9.49862662e-01 -6.27729899e-04 1.66103788e+01] [ 1.97621966e-03 1.03492795e-05 9.99998047e-01 3.68076354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45088847900001 meters 0.015754501225175223 Centerline is valid? [True, True] Translation: X:110.70, Y:16.62, Z:0.37 [[ 9.49038545e-01 -3.15157647e-01 -1.22362620e-03 1.10700552e+02] [ 3.15157381e-01 9.49039334e-01 -4.09583362e-04 1.66226991e+01] [ 1.29035272e-03 3.07557093e-06 9.99999167e-01 3.68572083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51088847900002 meters 0.015806126224776597 Centerline is valid? [True, True] Translation: X:110.76, Y:16.63, Z:0.37 [[ 9.48091959e-01 -3.17996270e-01 1.00693072e-04 1.10757742e+02] [ 3.17996268e-01 9.48091964e-01 3.46381139e-05 1.66341919e+01] [-1.06481083e-04 -8.20096117e-07 9.99999994e-01 3.70860381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.570888479 meters 0.015712354817503226 Centerline is valid? [True, True] Translation: X:110.81, Y:16.65, Z:0.37 [[ 9.47629703e-01 -3.19371154e-01 1.09681696e-04 1.10814273e+02] [ 3.19371152e-01 9.47629709e-01 3.76847821e-05 1.66492164e+01] [-1.15973066e-04 -6.82049393e-07 9.99999993e-01 3.71006016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.630888479 meters 0.01581631868295714 Centerline is valid? [True, True] Translation: X:110.87, Y:16.66, Z:0.37 [[ 9.47656079e-01 -3.19291271e-01 -1.01959368e-03 1.10869389e+02] [ 3.19291087e-01 9.47656628e-01 -3.42397917e-04 1.66637321e+01] [ 1.07554938e-03 -1.07170856e-06 9.99999422e-01 3.68842675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69088847900001 meters 0.015878793431248473 Centerline is valid? [True, True] Translation: X:110.92, Y:16.68, Z:0.37 [[ 9.47406434e-01 -3.20026666e-01 -1.99538396e-03 1.10924438e+02] [ 3.20025963e-01 9.47408535e-01 -6.70694727e-04 1.66784544e+01] [ 2.10508400e-03 -3.15417503e-06 9.99997784e-01 3.66451139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75088847900001 meters 0.01599268767079544 Centerline is valid? [True, True] Translation: X:110.98, Y:16.69, Z:0.37 [[ 9.47140297e-01 -3.20819640e-01 -1.23436509e-04 1.10979740e+02] [ 3.20819638e-01 9.47140306e-01 -4.12774137e-05 1.66941299e+01] [ 1.30154298e-04 -5.05354326e-07 9.99999992e-01 3.67763490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81088847900001 meters 0.015992700794148638 Centerline is valid? [True, True] Translation: X:111.03, Y:16.71, Z:0.37 [[ 9.47234022e-01 -3.20542829e-01 -4.39681744e-05 1.11034740e+02] [ 3.20542829e-01 9.47234023e-01 -1.40283769e-05 1.67116262e+01] [ 4.61448463e-05 -8.05527115e-07 9.99999999e-01 3.68388636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87088847900002 meters 0.01607307216586276 Centerline is valid? [True, True] Translation: X:111.09, Y:16.73, Z:0.37 [[ 9.47956156e-01 -3.18399782e-01 -8.39482597e-04 1.11088810e+02] [ 3.18399657e-01 9.47956528e-01 -2.82282414e-04 1.67313561e+01] [ 8.85671667e-04 3.00380616e-07 9.99999608e-01 3.67821929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93088847900002 meters 0.01631063163862819 Centerline is valid? [True, True] Translation: X:111.14, Y:16.75, Z:0.37 [[ 9.48767041e-01 -3.15974136e-01 1.20330630e-03 1.11142647e+02] [ 3.15973876e-01 9.48767804e-01 4.05708629e-04 1.67533519e+01] [-1.26985171e-03 -4.70961786e-06 9.99999194e-01 3.68552064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.990888479 meters 0.01640857709507087 Centerline is valid? [True, True] Translation: X:111.20, Y:16.77, Z:0.37 [[ 9.48850826e-01 -3.15719706e-01 1.78250379e-03 1.11197123e+02] [ 3.15719133e-01 9.48852500e-01 6.01879506e-04 1.67722925e+01] [-1.88135840e-03 -8.32331548e-06 9.99998230e-01 3.68397454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05088847900001 meters 0.016167734173780687 Centerline is valid? [True, True] Translation: X:111.25, Y:16.79, Z:0.36 [[ 9.48401379e-01 -3.17069649e-01 1.28943013e-03 1.11253044e+02] [ 3.17069349e-01 9.48402255e-01 4.36121189e-04 1.67894102e+01] [-1.36117923e-03 -4.77916622e-06 9.99999074e-01 3.64739953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11088847900001 meters 0.01634810166844055 Centerline is valid? [True, True] Translation: X:111.31, Y:16.81, Z:0.37 [[ 9.48172245e-01 -3.17748458e-01 2.30479804e-03 1.11308175e+02] [ 3.17747504e-01 9.48175046e-01 7.78509627e-04 1.68077104e+01] [-2.43272222e-03 -5.81739600e-06 9.99997041e-01 3.67128561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17088847900001 meters 0.01664882077906752 Centerline is valid? [True, True] Translation: X:111.36, Y:16.83, Z:0.37 [[ 9.48191694e-01 -3.17698400e-01 4.88419491e-04 1.11362542e+02] [ 3.17698357e-01 9.48191820e-01 1.65218608e-04 1.68286315e+01] [-5.15605053e-04 -1.48884242e-06 9.99999867e-01 3.66542291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23088847900001 meters 0.016536557456214913 Centerline is valid? [True, True] Translation: X:111.42, Y:16.85, Z:0.36 [[ 9.48057885e-01 -3.18096447e-01 9.46796317e-04 1.11418081e+02] [ 3.18096285e-01 9.48058358e-01 3.20894045e-04 1.68469124e+01] [-9.99693418e-04 -3.05373887e-06 9.99999500e-01 3.63628616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29088847900002 meters 0.016555734788831062 Centerline is valid? [True, True] Translation: X:111.47, Y:16.86, Z:0.36 [[ 9.47425048e-01 -3.19977701e-01 2.23362615e-04 1.11473161e+02] [ 3.19977692e-01 9.47425074e-01 7.63865377e-05 1.68639748e+01] [-2.36061331e-04 -8.99465083e-07 9.99999972e-01 3.62793154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.350888479 meters 0.016392100709001118 Centerline is valid? [True, True] Translation: X:111.53, Y:16.88, Z:0.36 [[ 9.46555086e-01 -3.22541946e-01 -4.03060533e-04 1.11527620e+02] [ 3.22541917e-01 9.46555172e-01 -1.36089674e-04 1.68822934e+01] [ 4.25413660e-04 -1.18754431e-06 9.99999910e-01 3.60619296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41088847900001 meters 0.016467943612981213 Centerline is valid? [True, True] Translation: X:111.58, Y:16.90, Z:0.36 [[ 9.46249111e-01 -3.23436620e-01 1.17141706e-03 1.11583682e+02] [ 3.23436375e-01 9.46249836e-01 3.97722610e-04 1.68990900e+01] [-1.23709126e-03 2.53422195e-06 9.99999235e-01 3.64127461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47088847900001 meters 0.01660411618039122 Centerline is valid? [True, True] Translation: X:111.64, Y:16.92, Z:0.36 [[ 9.46701425e-01 -3.22112358e-01 -2.01230206e-04 1.11637727e+02] [ 3.22112351e-01 9.46701447e-01 -6.79440067e-05 1.69193820e+01] [ 2.12390531e-04 -4.96046707e-07 9.99999977e-01 3.62422874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53088847900001 meters 0.0166259095100402 Centerline is valid? [True, True] Translation: X:111.69, Y:16.94, Z:0.36 [[ 9.47394452e-01 -3.20066779e-01 -1.00513114e-03 1.11691578e+02] [ 3.20066598e-01 9.47394985e-01 -3.40131827e-04 1.69407899e+01] [ 1.06112110e-03 5.30101298e-07 9.99999437e-01 3.60874920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59088847900001 meters 0.016695738777874756 Centerline is valid? [True, True] Translation: X:111.75, Y:16.96, Z:0.36 [[ 9.47544737e-01 -3.19622613e-01 -5.97198260e-04 1.11746581e+02] [ 3.19622549e-01 9.47544925e-01 -2.01939044e-04 1.69596631e+01] [ 6.30416465e-04 4.68247870e-07 9.99999801e-01 3.61389691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65088847900002 meters 0.0166151353188676 Centerline is valid? [True, True] Translation: X:111.80, Y:16.98, Z:0.36 [[ 9.47272281e-01 -3.20428011e-01 -1.05661219e-03 1.11801703e+02] [ 3.20427811e-01 9.47272870e-01 -3.58253318e-04 1.69779036e+01] [ 1.11569446e-03 7.95505561e-07 9.99999378e-01 3.61804526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.710888479 meters 0.016635957895011655 Centerline is valid? [True, True] Translation: X:111.86, Y:16.99, Z:0.36 [[ 9.46579318e-01 -3.22467414e-01 -1.53668647e-03 1.11856962e+02] [ 3.22466992e-01 9.46580565e-01 -5.21899472e-04 1.69948260e+01] [ 1.62289312e-03 -1.51141519e-06 9.99998683e-01 3.60386539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.770888479 meters 0.01659977596050095 Centerline is valid? [True, True] Translation: X:111.91, Y:17.01, Z:0.36 [[ 9.46499715e-01 -3.22703215e-01 -9.61114496e-04 1.11911930e+02] [ 3.22703050e-01 9.46500203e-01 -3.26406973e-04 1.70144770e+01] [ 1.01502765e-03 -1.21047277e-06 9.99999485e-01 3.60404726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83088847900001 meters 0.016702185048293815 Centerline is valid? [True, True] Translation: X:111.97, Y:17.03, Z:0.36 [[ 9.46830016e-01 -3.21733012e-01 -8.88664792e-04 1.11966770e+02] [ 3.21732871e-01 9.46830433e-01 -3.02018400e-04 1.70340279e+01] [ 9.38584159e-04 4.74123181e-08 9.99999560e-01 3.61155719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89088847900001 meters 0.016772945874653205 Centerline is valid? [True, True] Translation: X:112.02, Y:17.05, Z:0.36 [[ 9.47349480e-01 -3.20193973e-01 -2.18695776e-03 1.12020225e+02] [ 3.20193106e-01 9.47352004e-01 -7.45235820e-04 1.70534160e+01] [ 2.31043884e-03 5.74996826e-06 9.99997331e-01 3.61052887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95088847900001 meters 0.01671502981342336 Centerline is valid? [True, True] Translation: X:112.08, Y:17.07, Z:0.36 [[ 9.47275648e-01 -3.20414880e-01 -1.77498147e-03 1.12075167e+02] [ 3.20414309e-01 9.47277311e-01 -6.04874856e-04 1.70725317e+01] [ 1.87521058e-03 4.25375926e-06 9.99998242e-01 3.61349791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01088847900002 meters 0.016690187732954984 Centerline is valid? [True, True] Translation: X:112.13, Y:17.09, Z:0.36 [[ 9.46650971e-01 -3.22260429e-01 -3.92359207e-04 1.12130078e+02] [ 3.22260402e-01 9.46651053e-01 -1.33184809e-04 1.70925755e+01] [ 4.14347450e-04 -3.62306380e-07 9.99999914e-01 3.60976192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.070888479 meters 0.01656397065382629 Centerline is valid? [True, True] Translation: X:112.18, Y:17.11, Z:0.36 [[ 9.46358622e-01 -3.23117657e-01 -5.82128747e-04 1.12184481e+02] [ 3.23117596e-01 9.46358801e-01 -1.98176418e-04 1.71120317e+01] [ 6.14936963e-04 -5.50079525e-07 9.99999811e-01 3.60437242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.130888479 meters 0.016531974384085883 Centerline is valid? [True, True] Translation: X:112.24, Y:17.13, Z:0.36 [[ 9.46345520e-01 -3.23155211e-01 -9.31285612e-04 1.12239532e+02] [ 3.23155054e-01 9.46345978e-01 -3.17817868e-04 1.71315754e+01] [ 9.84022894e-04 -1.84137456e-07 9.99999516e-01 3.62001028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19088847900001 meters 0.016514167706381835 Centerline is valid? [True, True] Translation: X:112.29, Y:17.16, Z:0.36 [[ 9.46467204e-01 -3.22795562e-01 -1.69052520e-03 1.12293103e+02] [ 3.22795044e-01 9.46468713e-01 -5.78135681e-04 1.71552677e+01] [ 1.78664884e-03 1.49330469e-06 9.99998404e-01 3.59110610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25088847900001 meters 0.016435819437870144 Centerline is valid? [True, True] Translation: X:112.35, Y:17.18, Z:0.36 [[ 9.46723441e-01 -3.22036209e-01 -2.72152686e-03 1.12346907e+02] [ 3.22034860e-01 9.46727353e-01 -9.32075080e-04 1.71773112e+01] [ 2.87670584e-03 5.99080660e-06 9.99995862e-01 3.58538258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31088847900001 meters 0.016454721410304976 Centerline is valid? [True, True] Translation: X:112.40, Y:17.20, Z:0.36 [[ 9.46791623e-01 -3.21831859e-01 -3.14276161e-03 1.12401633e+02] [ 3.21830056e-01 9.46796839e-01 -1.07744784e-03 1.71973699e+01] [ 3.32231380e-03 8.68344827e-06 9.99994481e-01 3.59664177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37088847900002 meters 0.016486801940408462 Centerline is valid? [True, True] Translation: X:112.46, Y:17.22, Z:0.36 [[ 9.47014433e-01 -3.21158999e-01 -4.53445202e-03 1.12455630e+02] [ 3.21155229e-01 9.47025288e-01 -1.55634167e-03 1.72198656e+01] [ 4.79407387e-03 1.76150464e-05 9.99988508e-01 3.59982535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43088847900002 meters 0.01656881042042239 Centerline is valid? [True, True] Translation: X:112.51, Y:17.24, Z:0.36 [[ 9.47355711e-01 -3.20140893e-01 -5.19277023e-03 1.12509476e+02] [ 3.20135923e-01 9.47369942e-01 -1.78403348e-03 1.72418612e+01] [ 5.49061650e-03 2.77220112e-05 9.99984926e-01 3.58332310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.490888479 meters 0.016485619567079158 Centerline is valid? [True, True] Translation: X:112.56, Y:17.26, Z:0.36 [[ 9.47612015e-01 -3.19375343e-01 -5.55507580e-03 1.12564293e+02] [ 3.19369632e-01 9.47628297e-01 -1.91030323e-03 1.72618214e+01] [ 5.87425077e-03 3.61037791e-05 9.99982746e-01 3.58420231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55088847900001 meters 0.016538964836655883 Centerline is valid? [True, True] Translation: X:112.62, Y:17.28, Z:0.36 [[ 9.47624736e-01 -3.19351780e-01 -4.66909996e-03 1.12618408e+02] [ 3.19347739e-01 9.47636238e-01 -1.60696234e-03 1.72838143e+01] [ 4.93779461e-03 3.17307531e-05 9.99987809e-01 3.58942941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61088847900001 meters 0.016377121111948324 Centerline is valid? [True, True] Translation: X:112.67, Y:17.30, Z:0.36 [[ 9.47444825e-01 -3.19866510e-01 -5.80685877e-03 1.12672749e+02] [ 3.19860256e-01 9.47462619e-01 -2.00055183e-03 1.73036363e+01] [ 6.14169115e-03 3.80291490e-05 9.99981139e-01 3.58808288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67088847900001 meters 0.016345404200823345 Centerline is valid? [True, True] Translation: X:112.73, Y:17.32, Z:0.36 [[ 9.47122321e-01 -3.20797362e-01 -6.95426761e-03 1.12727467e+02] [ 3.20788400e-01 9.47147851e-01 -2.39816466e-03 1.73224862e+01] [ 7.35604452e-03 4.05068944e-05 9.99972943e-01 3.58967139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73088847900001 meters 0.015935203429030736 Centerline is valid? [True, True] Translation: X:112.78, Y:17.34, Z:0.36 [[ 9.45785162e-01 -3.24699908e-01 -7.77158100e-03 1.12782914e+02] [ 3.24688836e-01 9.45817091e-01 -2.68141253e-03 1.73403678e+01] [ 8.22114854e-03 1.26945972e-05 9.99966206e-01 3.57123740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79088847900002 meters 0.01622061118034396 Centerline is valid? [True, True] Translation: X:112.84, Y:17.35, Z:0.36 [[ 9.43962550e-01 -3.29987719e-01 -6.54291374e-03 1.12838597e+02] [ 3.29979993e-01 9.43985225e-01 -2.25819860e-03 1.73529462e+01] [ 6.92159170e-03 -2.73757186e-05 9.99976045e-01 3.56819802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.850888479 meters 0.015873393109445893 Centerline is valid? [True, True] Translation: X:112.89, Y:17.37, Z:0.36 [[ 9.43341443e-01 -3.31714706e-01 -8.50145553e-03 1.12893930e+02] [ 3.31701715e-01 9.43379749e-01 -2.93620314e-03 1.73726732e+01] [ 8.99408274e-03 -5.01052723e-05 9.99959551e-01 3.59315940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91088847900001 meters 0.015688810463115054 Centerline is valid? [True, True] Translation: X:112.95, Y:17.39, Z:0.36 [[ 9.43878621e-01 -3.30214784e-01 -7.16561137e-03 1.12948789e+02] [ 3.30205497e-01 9.43905819e-01 -2.47670969e-03 1.73937658e+01] [ 7.58150843e-03 -2.84109355e-05 9.99971260e-01 3.62177217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97088847900001 meters 0.01556151088343452 Centerline is valid? [True, True] Translation: X:113.00, Y:17.41, Z:0.36 [[ 9.44029638e-01 -3.29786585e-01 -6.98931749e-03 1.13003896e+02] [ 3.29777722e-01 9.44055511e-01 -2.41788402e-03 1.74131727e+01] [ 7.39568941e-03 -2.23670214e-05 9.99972651e-01 3.63335964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03088847900001 meters 0.015452186883492121 Centerline is valid? [True, True] Translation: X:113.06, Y:17.43, Z:0.36 [[ 9.44923700e-01 -3.27230926e-01 -6.25478353e-03 1.13057855e+02] [ 3.27223765e-01 9.44944401e-01 -2.16488797e-03 1.74340704e+01] [ 6.61884097e-03 -1.05986744e-06 9.99978095e-01 3.63152616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09088847900001 meters 0.015419223318279628 Centerline is valid? [True, True] Translation: X:113.11, Y:17.46, Z:0.36 [[ 9.46090129e-01 -3.23837261e-01 -6.54956563e-03 1.13112359e+02] [ 3.23829318e-01 9.46112799e-01 -2.26825409e-03 1.74553482e+01] [ 6.93117306e-03 2.50314314e-05 9.99975979e-01 3.64337869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15088847900002 meters 0.015431741492642724 Centerline is valid? [True, True] Translation: X:113.17, Y:17.48, Z:0.37 [[ 9.46851485e-01 -3.21601270e-01 -6.69990110e-03 1.13167646e+02] [ 3.21592889e-01 9.46875188e-01 -2.32217193e-03 1.74755456e+01] [ 7.09078355e-03 4.41113918e-05 9.99974859e-01 3.65387718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.210888479 meters 0.01603677828479649 Centerline is valid? [True, True] Translation: X:113.22, Y:17.50, Z:0.37 [[ 9.48471027e-01 -3.16800842e-01 -6.31961532e-03 1.13221547e+02] [ 3.16793272e-01 9.48492077e-01 -2.19141285e-03 1.74982798e+01] [ 6.68834650e-03 7.64799870e-05 9.99977630e-01 3.65696061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.270888479 meters 0.016240975664866996 Centerline is valid? [True, True] Translation: X:113.28, Y:17.52, Z:0.36 [[ 9.49254217e-01 -3.14418581e-01 -7.57547257e-03 1.13276894e+02] [ 3.14407613e-01 9.49284437e-01 -2.62859538e-03 1.75189557e+01] [ 8.01775744e-03 1.13418999e-04 9.99967851e-01 3.64565754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33088847900001 meters 0.01584409442142251 Centerline is valid? [True, True] Translation: X:113.33, Y:17.54, Z:0.36 [[ 9.48625212e-01 -3.16272890e-01 -9.03688349e-03 1.13333389e+02] [ 3.16257342e-01 9.48668248e-01 -3.13834382e-03 1.75363337e+01] [ 9.56557750e-03 1.19131322e-04 9.99954242e-01 3.63464917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39088847900001 meters 0.014820878982361792 Centerline is valid? [True, True] Translation: X:113.39, Y:17.55, Z:0.36 [[ 9.46036690e-01 -3.23967554e-01 -7.72037273e-03 1.13391795e+02] [ 3.23956446e-01 9.46068191e-01 -2.68307434e-03 1.75495685e+01] [ 8.17322809e-03 3.72222567e-05 9.99966598e-01 3.64826773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45088847900001 meters 0.014668000687332256 Centerline is valid? [True, True] Translation: X:113.45, Y:17.56, Z:0.37 [[ 9.44006448e-01 -3.29846004e-01 -7.31020080e-03 1.13449512e+02] [ 3.29836206e-01 9.44034752e-01 -2.54245379e-03 1.75638557e+01] [ 7.73970182e-03 -1.10761246e-05 9.99970048e-01 3.66288468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51088847900002 meters 0.01508234166512496 Centerline is valid? [True, True] Translation: X:113.51, Y:17.58, Z:0.37 [[ 9.41361126e-01 -3.37301360e-01 -8.18674689e-03 1.13507292e+02] [ 3.37289331e-01 9.41396721e-01 -2.84965964e-03 1.75782572e+01] [ 8.66817075e-03 -7.87435734e-05 9.99962428e-01 3.65135917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.570888479 meters 0.01564213490441548 Centerline is valid? [True, True] Translation: X:113.56, Y:17.59, Z:0.36 [[ 9.39308912e-01 -3.42970130e-01 -8.38196908e-03 1.13564117e+02] [ 3.42957725e-01 9.39346301e-01 -2.91996050e-03 1.75939316e+01] [ 8.87503087e-03 -1.31916131e-04 9.99960607e-01 3.64346955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.630888479 meters 0.015864355668974185 Centerline is valid? [True, True] Translation: X:113.62, Y:17.61, Z:0.36 [[ 9.38375638e-01 -3.45473895e-01 -9.94738822e-03 1.13620768e+02] [ 3.45456534e-01 9.38428343e-01 -3.46821164e-03 1.76104483e+01] [ 1.05330876e-02 -1.81904944e-04 9.99944509e-01 3.64766889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69088847900001 meters 0.015487203937464505 Centerline is valid? [True, True] Translation: X:113.68, Y:17.63, Z:0.36 [[ 9.39477686e-01 -3.42492577e-01 -8.97287659e-03 1.13675731e+02] [ 3.42478292e-01 9.39520525e-01 -3.13085517e-03 1.76326006e+01] [ 9.50249638e-03 -1.31646880e-04 9.99954842e-01 3.64720905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75088847900001 meters 0.014668754194612377 Centerline is valid? [True, True] Translation: X:113.73, Y:17.66, Z:0.36 [[ 9.41109270e-01 -3.37958621e-01 -9.86467616e-03 1.13730488e+02] [ 3.37941076e-01 9.41160965e-01 -3.44483051e-03 1.76551718e+01] [ 1.04484583e-02 -9.17173440e-05 9.99945409e-01 3.63131350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81088847900001 meters 0.014206488956774243 Centerline is valid? [True, True] Translation: X:113.78, Y:17.68, Z:0.36 [[ 9.44148011e-01 -3.29427462e-01 -7.87915730e-03 1.13784998e+02] [ 3.29415954e-01 9.44180887e-01 -2.75349983e-03 1.76776492e+01] [ 8.34642819e-03 4.19126751e-06 9.99965168e-01 3.64329259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87088847900002 meters 0.014303879737253314 Centerline is valid? [True, True] Translation: X:113.84, Y:17.70, Z:0.37 [[ 9.45009169e-01 -3.26978801e-01 -6.52178938e-03 1.13839347e+02] [ 3.26970845e-01 9.45031673e-01 -2.28099367e-03 1.76976546e+01] [ 6.90913411e-03 2.31249492e-05 9.99976131e-01 3.65928965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93088847900002 meters 0.01569265154804363 Centerline is valid? [True, True] Translation: X:113.89, Y:17.72, Z:0.36 [[ 9.47959093e-01 -3.18317864e-01 -6.87721664e-03 1.13891694e+02] [ 3.18308779e-01 9.47984034e-01 -2.40669998e-03 1.77220908e+01] [ 7.28558718e-03 9.23747023e-05 9.99973455e-01 3.64686723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.990888479 meters 0.01731618499927455 Centerline is valid? [True, True] Translation: X:113.95, Y:17.74, Z:0.37 [[ 9.49516430e-01 -3.13663880e-01 -5.78956632e-03 1.13946676e+02] [ 3.13657348e-01 9.49534074e-01 -2.02713921e-03 1.77437510e+01] [ 6.13323085e-03 1.08861964e-04 9.99981186e-01 3.65244742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05088847900001 meters 0.016788775197371937 Centerline is valid? [True, True] Translation: X:114.00, Y:17.76, Z:0.37 [[ 9.51012669e-01 -3.09132110e-01 -3.49881392e-03 1.14004383e+02] [ 3.09129692e-01 9.51019102e-01 -1.22552210e-03 1.77579513e+01] [ 3.70628710e-03 8.38997751e-05 9.99993128e-01 3.68476455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11088847900001 meters 0.017406167325858327 Centerline is valid? [True, True] Translation: X:114.06, Y:17.77, Z:0.37 [[ 9.51369368e-01 -3.08026810e-01 -3.97622009e-03 1.14061259e+02] [ 3.08023676e-01 9.51377672e-01 -1.39329545e-03 1.77747595e+01] [ 4.21205936e-03 1.00768682e-04 9.99991124e-01 3.68472552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17088847900001 meters 0.016688020118825902 Centerline is valid? [True, True] Translation: X:114.12, Y:17.79, Z:0.37 [[ 9.50709935e-01 -3.10041820e-01 -4.96884190e-03 1.14118429e+02] [ 3.10036944e-01 9.50722913e-01 -1.74269698e-03 1.77890329e+01] [ 5.26430078e-03 1.16274775e-04 9.99986137e-01 3.66708906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23088847900001 meters 0.015723244909505767 Centerline is valid? [True, True] Translation: X:114.18, Y:17.80, Z:0.37 [[ 9.49302642e-01 -3.14294865e-01 -6.57514629e-03 1.14176755e+02] [ 3.14286420e-01 9.49325404e-01 -2.30737636e-03 1.77995606e+01] [ 6.96714995e-03 1.23919288e-04 9.99975721e-01 3.65806416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29088847900002 meters 0.014960464276088176 Centerline is valid? [True, True] Translation: X:114.23, Y:17.81, Z:0.37 [[ 9.47912534e-01 -3.18445492e-01 -7.36869204e-03 1.14234555e+02] [ 3.18434997e-01 9.47941168e-01 -2.58742670e-03 1.78137679e+01] [ 7.80904090e-03 1.06204771e-04 9.99969503e-01 3.65056748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.350888479 meters 0.014427034755241331 Centerline is valid? [True, True] Translation: X:114.29, Y:17.83, Z:0.36 [[ 9.46204016e-01 -3.23420269e-01 -9.86356211e-03 1.14291987e+02] [ 3.23401717e-01 9.46255421e-01 -3.46518671e-03 1.78250008e+01] [ 1.04541607e-02 8.88806560e-05 9.99945350e-01 3.63439231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41088847900001 meters 0.014056505071514408 Centerline is valid? [True, True] Translation: X:114.35, Y:17.84, Z:0.36 [[ 9.45136181e-01 -3.26488902e-01 -1.10723253e-02 1.14348356e+02] [ 3.26465700e-01 9.45201033e-01 -3.89282574e-03 1.78384947e+01] [ 1.17365377e-02 6.45160261e-05 9.99931122e-01 3.64741828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47088847900001 meters 0.014092591369942531 Centerline is valid? [True, True] Translation: X:114.40, Y:17.86, Z:0.36 [[ 9.45023589e-01 -3.26782168e-01 -1.19929361e-02 1.14403833e+02] [ 3.26754926e-01 9.45099682e-01 -4.22000528e-03 1.78593461e+01] [ 1.27135426e-02 6.92535764e-05 9.99919177e-01 3.63549068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53088847900001 meters 0.014032446063208701 Centerline is valid? [True, True] Translation: X:114.46, Y:17.88, Z:0.36 [[ 9.45239501e-01 -3.26177630e-01 -1.14210319e-02 1.14457487e+02] [ 3.26152838e-01 9.45308493e-01 -4.02227324e-03 1.78820166e+01] [ 1.21083740e-02 7.70096010e-05 9.99926688e-01 3.63055490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59088847900001 meters 0.013977457272782347 Centerline is valid? [True, True] Translation: X:114.51, Y:17.90, Z:0.36 [[ 9.44820235e-01 -3.27360105e-01 -1.22509000e-02 1.14511407e+02] [ 3.27331649e-01 9.44899655e-01 -4.31674959e-03 1.79007984e+01] [ 1.29890027e-02 6.84450703e-05 9.99915637e-01 3.64167537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65088847900002 meters 0.013861383759558116 Centerline is valid? [True, True] Translation: X:114.57, Y:17.92, Z:0.36 [[ 9.43913591e-01 -3.29980847e-01 -1.18225515e-02 1.14566263e+02] [ 3.29954517e-01 9.43987627e-01 -4.16864217e-03 1.79209949e+01] [ 1.25359144e-02 3.39337425e-05 9.99921422e-01 3.63851404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.710888479 meters 0.013811116722199075 Centerline is valid? [True, True] Translation: X:114.62, Y:17.94, Z:0.36 [[ 9.42715757e-01 -3.33417861e-01 -1.09330910e-02 1.14620142e+02] [ 3.33395557e-01 9.42779152e-01 -3.85646381e-03 1.79435836e+01] [ 1.15933042e-02 -9.49475735e-06 9.99932795e-01 3.60876220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.770888479 meters 0.013953395679061694 Centerline is valid? [True, True] Translation: X:114.67, Y:17.96, Z:0.36 [[ 9.41518447e-01 -3.36818234e-01 -9.82297208e-03 1.14674875e+02] [ 3.36800389e-01 9.41569687e-01 -3.46732580e-03 1.79619068e+01] [ 1.04168713e-02 -4.38296171e-05 9.99945742e-01 3.62491709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83088847900001 meters 0.0142215563865474 Centerline is valid? [True, True] Translation: X:114.73, Y:17.98, Z:0.37 [[ 9.39653568e-01 -3.42023176e-01 -8.44499837e-03 1.14731186e+02] [ 3.42010176e-01 9.39691513e-01 -2.98326061e-03 1.79795711e+01] [ 8.95603757e-03 -8.50439024e-05 9.99959890e-01 3.65355500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89088847900001 meters 0.014653104315284065 Centerline is valid? [True, True] Translation: X:114.79, Y:18.00, Z:0.36 [[ 9.37902789e-01 -3.46834205e-01 -6.66277656e-03 1.14785887e+02] [ 3.46826222e-01 9.37926449e-01 -2.35540249e-03 1.80006487e+01] [ 7.06612851e-03 -1.01687059e-04 9.99975029e-01 3.63567863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95088847900001 meters 0.01570531257302962 Centerline is valid? [True, True] Translation: X:114.84, Y:18.02, Z:0.36 [[ 9.36548390e-01 -3.50476344e-01 -6.59134400e-03 1.14841226e+02] [ 3.50468613e-01 9.36571576e-01 -2.33128286e-03 1.80167108e+01] [ 6.99032493e-03 -1.26699981e-04 9.99975559e-01 3.64342122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01088847900002 meters 0.016408172089608743 Centerline is valid? [True, True] Translation: X:114.90, Y:18.04, Z:0.36 [[ 9.35637561e-01 -3.52899811e-01 -6.63906677e-03 1.14896845e+02] [ 3.52892019e-01 9.35661104e-01 -2.34950355e-03 1.80363810e+01] [ 7.04105590e-03 -1.44589910e-04 9.99975201e-01 3.63448393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07088847900002 meters 0.01669019140426402 Centerline is valid? [True, True] Translation: X:114.95, Y:18.06, Z:0.36 [[ 9.34633898e-01 -3.55546742e-01 -6.78163764e-03 1.14951539e+02] [ 3.55538668e-01 9.34658487e-01 -2.40182490e-03 1.80583354e+01] [ 7.19247619e-03 -1.66307444e-04 9.99974120e-01 3.62514072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.130888479 meters 0.01668142785228819 Centerline is valid? [True, True] Translation: X:115.01, Y:18.08, Z:0.36 [[ 9.34232552e-01 -3.56626136e-01 -5.22862593e-03 1.15005996e+02] [ 3.56621347e-01 9.34247173e-01 -1.85307830e-03 1.80802593e+01] [ 5.54568515e-03 -1.33433554e-04 9.99984614e-01 3.63646478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19088847900001 meters 0.017575905916437908 Centerline is valid? [True, True] Translation: X:115.06, Y:18.10, Z:0.36 [[ 9.33305189e-01 -3.59044315e-01 -5.34836392e-03 1.15061297e+02] [ 3.59039336e-01 9.33320501e-01 -1.89666101e-03 1.80993489e+01] [ 5.67272304e-03 -1.50109470e-04 9.99983899e-01 3.63837394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25088847900001 meters 0.018602448806552388 Centerline is valid? [True, True] Translation: X:115.12, Y:18.12, Z:0.36 [[ 9.31144326e-01 -3.64593406e-01 -6.47243364e-03 1.15116186e+02] [ 3.64586244e-01 9.31166794e-01 -2.29596148e-03 1.81222011e+01] [ 6.86400770e-03 -2.21888771e-04 9.99976418e-01 3.60526333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31088847900001 meters 0.02092421090437447 Centerline is valid? [True, True] Translation: X:115.17, Y:18.14, Z:0.36 [[ 9.28844717e-01 -3.70418362e-01 -6.14239297e-03 1.15172207e+02] [ 3.70412036e-01 9.28864992e-01 -2.17929847e-03 1.81398236e+01] [ 6.51270597e-03 -2.50986419e-04 9.99978761e-01 3.59021415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37088847900002 meters 0.02159311835046318 Centerline is valid? [True, True] Translation: X:115.23, Y:18.16, Z:0.36 [[ 9.27251583e-01 -3.74402610e-01 -5.21415462e-03 1.15227754e+02] [ 3.74398112e-01 9.27266213e-01 -1.85028063e-03 1.81604704e+01] [ 5.52765930e-03 -2.36494008e-04 9.99984694e-01 3.59981883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43088847900002 meters 0.0210179244574507 Centerline is valid? [True, True] Translation: X:115.28, Y:18.19, Z:0.36 [[ 9.25293757e-01 -3.79213451e-01 -5.34996791e-03 1.15281466e+02] [ 3.79208794e-01 9.25309183e-01 -1.89875366e-03 1.81862837e+01] [ 5.67040737e-03 -2.71849976e-04 9.99983886e-01 3.59915766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.490888479 meters 0.022724253659436134 Centerline is valid? [True, True] Translation: X:115.34, Y:18.21, Z:0.36 [[ 9.24420339e-01 -3.81365310e-01 -2.74547204e-03 1.15335064e+02] [ 3.81364093e-01 9.24424404e-01 -9.74465247e-04 1.82109505e+01] [ 2.90960859e-03 -1.46208958e-04 9.99995756e-01 3.59901972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55088847900001 meters 0.02427634366783923 Centerline is valid? [True, True] Translation: X:115.39, Y:18.23, Z:0.36 [[ 9.24533446e-01 -3.81093280e-01 -2.41231454e-03 1.15389063e+02] [ 3.81092340e-01 9.24536584e-01 -8.56333366e-04 1.82316937e+01] [ 2.55661594e-03 -1.27605754e-04 9.99996724e-01 3.60906650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61088847900001 meters 0.024853727980738625 Centerline is valid? [True, True] Translation: X:115.44, Y:18.26, Z:0.36 [[ 9.24577638e-01 -3.80991713e-01 -1.22733412e-03 1.15441481e+02] [ 3.80991470e-01 9.24578450e-01 -4.35434501e-04 1.82603404e+01] [ 1.30066361e-03 -6.50108266e-05 9.99999152e-01 3.60674760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67088847900001 meters 0.023606939426386527 Centerline is valid? [True, True] Translation: X:115.49, Y:18.29, Z:0.36 [[ 9.24676136e-01 -3.80753852e-01 -7.39332657e-04 1.15494453e+02] [ 3.80753764e-01 9.24676431e-01 -2.62208763e-04 1.82870942e+01] [ 7.83480479e-04 -3.90455058e-05 9.99999692e-01 3.60674813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73088847900001 meters 0.024009351502454646 Centerline is valid? [True, True] Translation: X:115.55, Y:18.31, Z:0.36 [[ 9.25654943e-01 -3.78368292e-01 -6.02140138e-04 1.15546825e+02] [ 3.78368233e-01 9.25655138e-01 -2.14027091e-04 1.83144821e+01] [ 6.38355177e-04 -2.97154654e-05 9.99999796e-01 3.58965978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79088847900002 meters 0.022871978484546484 Centerline is valid? [True, True] Translation: X:115.60, Y:18.34, Z:0.36 [[ 9.27036592e-01 -3.74969102e-01 -1.15321803e-03 1.15600787e+02] [ 3.74968881e-01 9.27037308e-01 -4.09840191e-04 1.83414311e+01] [ 1.22275355e-03 -5.24840211e-05 9.99999251e-01 3.57604114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.850888479 meters 0.02066523351828141 Centerline is valid? [True, True] Translation: X:115.65, Y:18.37, Z:0.36 [[ 9.29000106e-01 -3.70073615e-01 -2.07932064e-03 1.15653336e+02] [ 3.70072884e-01 9.29002429e-01 -7.39960866e-04 1.83711881e+01] [ 2.20553392e-03 -8.20764648e-05 9.99997564e-01 3.55846320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91088847900001 meters 0.017938967375939485 Centerline is valid? [True, True] Translation: X:115.70, Y:18.41, Z:0.35 [[ 9.32569098e-01 -3.60979558e-01 -2.93859052e-03 1.15704642e+02] [ 3.60978051e-01 9.32573724e-01 -1.04663698e-03 1.84059568e+01] [ 3.11826686e-03 -8.47053775e-05 9.99995135e-01 3.53656896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97088847900001 meters 0.015293115273458373 Centerline is valid? [True, True] Translation: X:115.76, Y:18.44, Z:0.35 [[ 9.36792393e-01 -3.49868375e-01 -3.48311392e-03 1.15755888e+02] [ 3.49866179e-01 9.36798867e-01 -1.24089072e-03 1.84403869e+01] [ 3.69712559e-03 -5.61667731e-05 9.99993164e-01 3.52142700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03088847900001 meters 0.014478413666540164 Centerline is valid? [True, True] Translation: X:115.81, Y:18.47, Z:0.35 [[ 9.39052189e-01 -3.43769659e-01 -1.84620453e-03 1.15808543e+02] [ 3.43769030e-01 9.39054003e-01 -6.57967579e-04 1.84681491e+01] [ 1.95987505e-03 -1.68020457e-05 9.99998079e-01 3.53118078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09088847900001 meters 0.014090714728733543 Centerline is valid? [True, True] Translation: X:115.86, Y:18.50, Z:0.36 [[ 9.40991478e-01 -3.38428614e-01 1.05425199e-03 1.15860196e+02] [ 3.38428405e-01 9.40992069e-01 3.76195181e-04 1.84952450e+01] [-1.11935797e-03 2.79235916e-06 9.99999374e-01 3.55414269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15088847900002 meters 0.014372608893415562 Centerline is valid? [True, True] Translation: X:115.91, Y:18.52, Z:0.36 [[ 9.41839915e-01 -3.36054935e-01 2.15759001e-03 1.15913129e+02] [ 3.36054051e-01 9.41842386e-01 7.70930726e-04 1.85190867e+01] [-2.29118480e-03 -1.02646570e-06 9.99997375e-01 3.55654983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.210888479 meters 0.01468323402491911 Centerline is valid? [True, True] Translation: X:115.97, Y:18.54, Z:0.36 [[ 9.43159467e-01 -3.32328966e-01 2.77076423e-03 1.15965623e+02] [ 3.32327493e-01 9.43163537e-01 9.89469121e-04 1.85439449e+01] [-2.94211304e-03 -1.24260371e-05 9.99995672e-01 3.57081428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.270888479 meters 0.014798253291464225 Centerline is valid? [True, True] Translation: X:116.02, Y:18.56, Z:0.36 [[ 9.43275268e-01 -3.31994669e-01 3.36292716e-03 1.16020069e+02] [ 3.31992491e-01 9.43281262e-01 1.20249287e-03 1.85648147e+01] [-3.57140740e-03 -1.78152215e-05 9.99993622e-01 3.57389679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33088847900001 meters 0.014832934243668954 Centerline is valid? [True, True] Translation: X:116.08, Y:18.58, Z:0.36 [[ 9.42769874e-01 -3.33435763e-01 2.35722070e-03 1.16075627e+02] [ 3.33434696e-01 9.42772821e-01 8.43711484e-04 1.85829544e+01] [-2.50364719e-03 -9.44660334e-06 9.99996866e-01 3.56072397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39088847900001 meters 0.014603750756513451 Centerline is valid? [True, True] Translation: X:116.13, Y:18.60, Z:0.35 [[ 9.41238318e-01 -3.37742639e-01 -5.81800834e-04 1.16131946e+02] [ 3.37742575e-01 9.41238498e-01 -2.07486737e-04 1.85988334e+01] [ 6.17690461e-04 -1.20444484e-06 9.99999809e-01 3.52935925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45088847900001 meters 0.014865489430080075 Centerline is valid? [True, True] Translation: X:116.19, Y:18.61, Z:0.35 [[ 9.39274500e-01 -3.43162638e-01 -1.67884806e-03 1.16189154e+02] [ 3.43162112e-01 9.39276000e-01 -6.00569021e-04 1.86144063e+01] [ 1.78299454e-03 -1.20178795e-05 9.99998410e-01 3.52844712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51088847900002 meters 0.015120138601212392 Centerline is valid? [True, True] Translation: X:116.25, Y:18.63, Z:0.35 [[ 9.38054502e-01 -3.46477483e-01 -2.66542613e-03 1.16245305e+02] [ 3.46476169e-01 9.38058289e-01 -9.54682187e-04 1.86295125e+01] [ 2.83110096e-03 -2.79627101e-05 9.99995992e-01 3.53313770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57088847900002 meters 0.01591860791122472 Centerline is valid? [True, True] Translation: X:116.30, Y:18.64, Z:0.35 [[ 9.36578286e-01 -3.50429762e-01 -4.48286690e-03 1.16302063e+02] [ 3.50426087e-01 9.36589012e-01 -1.60625875e-03 1.86431738e+01] [ 4.76148475e-03 -6.65264370e-05 9.99988662e-01 3.53695097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.630888479 meters 0.016085209509957694 Centerline is valid? [True, True] Translation: X:116.36, Y:18.66, Z:0.35 [[ 9.36102237e-01 -3.51689444e-01 -5.20935032e-03 1.16358480e+02] [ 3.51684496e-01 9.36116728e-01 -1.86756395e-03 1.86615230e+01] [ 5.53336251e-03 -8.38169487e-05 9.99984687e-01 3.53709971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69088847900001 meters 0.01595114595624082 Centerline is valid? [True, True] Translation: X:116.41, Y:18.68, Z:0.35 [[ 9.36473235e-01 -3.50708838e-01 -4.60332929e-03 1.16413856e+02] [ 3.50704956e-01 9.36484547e-01 -1.65147760e-03 1.86821328e+01] [ 4.89013454e-03 -6.78458248e-05 9.99988041e-01 3.54279807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75088847900001 meters 0.01542219027205147 Centerline is valid? [True, True] Translation: X:116.47, Y:18.70, Z:0.36 [[ 9.37120406e-01 -3.48985424e-01 -3.81021585e-03 1.16469424e+02] [ 3.48982747e-01 9.37128151e-01 -1.36786334e-03 1.87017351e+01] [ 4.04802490e-03 -4.78469420e-05 9.99991806e-01 3.56852446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81088847900001 meters 0.014924981206484552 Centerline is valid? [True, True] Translation: X:116.52, Y:18.72, Z:0.36 [[ 9.38457538e-01 -3.45366750e-01 -4.38830109e-03 1.16524567e+02] [ 3.45363152e-01 9.38467797e-01 -1.57672214e-03 1.87231011e+01] [ 4.66282666e-03 -3.58707244e-05 9.99989128e-01 3.57700740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87088847900002 meters 0.014539374957198656 Centerline is valid? [True, True] Translation: X:116.58, Y:18.74, Z:0.36 [[ 9.39418092e-01 -3.42750346e-01 -3.98113501e-03 1.16579207e+02] [ 3.42747357e-01 9.39426527e-01 -1.43147082e-03 1.87438835e+01] [ 4.23062095e-03 -1.97739206e-05 9.99991051e-01 3.59377034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93088847900002 meters 0.014568583520285361 Centerline is valid? [True, True] Translation: X:116.63, Y:18.76, Z:0.36 [[ 9.41251427e-01 -3.37664714e-01 -5.31899152e-03 1.16633847e+02] [ 3.37659287e-01 9.41266456e-01 -1.91435264e-03 1.87646214e+01] [ 5.65299763e-03 5.88026935e-06 9.99984022e-01 3.58888483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.990888479 meters 0.01489816895099715 Centerline is valid? [True, True] Translation: X:116.69, Y:18.78, Z:0.36 [[ 9.42992940e-01 -3.32745943e-01 -6.66732110e-03 1.16688373e+02] [ 3.32737283e-01 9.43016509e-01 -2.40108251e-03 1.87840353e+01] [ 7.08634432e-03 4.57375474e-05 9.99974891e-01 3.59077497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05088847900001 meters 0.015174349288081377 Centerline is valid? [True, True] Translation: X:116.74, Y:18.80, Z:0.36 [[ 9.43995718e-01 -3.29897112e-01 -6.32295076e-03 1.16744161e+02] [ 3.29889251e-01 9.44016891e-01 -2.27834083e-03 1.88042593e+01] [ 6.72059038e-03 6.48704997e-05 9.99977414e-01 3.60269560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11088847900001 meters 0.016745194586707965 Centerline is valid? [True, True] Translation: X:116.80, Y:18.83, Z:0.36 [[ 9.45736811e-01 -3.24849487e-01 -7.39557343e-03 1.16797575e+02] [ 3.24838567e-01 9.45765720e-01 -2.66625954e-03 1.88256487e+01] [ 7.86061287e-03 1.19212322e-04 9.99969098e-01 3.59813514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17088847900001 meters 0.01702367651757019 Centerline is valid? [True, True] Translation: X:116.85, Y:18.84, Z:0.36 [[ 9.46977741e-01 -3.21229477e-01 -6.69182793e-03 1.16853754e+02] [ 3.21220436e-01 9.47001375e-01 -2.41393904e-03 1.88436079e+01] [ 7.11259863e-03 1.36394653e-04 9.99974696e-01 3.62164376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23088847900001 meters 0.01849327835643253 Centerline is valid? [True, True] Translation: X:116.91, Y:18.86, Z:0.36 [[ 9.48350908e-01 -3.17094049e-01 -9.05092159e-03 1.16910321e+02] [ 3.17077309e-01 9.48394070e-01 -3.26616018e-03 1.88632642e+01] [ 9.61952032e-03 2.27624121e-04 9.99953705e-01 3.60441060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29088847900002 meters 0.020843745211695068 Centerline is valid? [True, True] Translation: X:116.97, Y:18.88, Z:0.36 [[ 9.49119159e-01 -3.14673892e-01 -1.23759498e-02 1.16965472e+02] [ 3.14642378e-01 9.49199780e-01 -4.46674266e-03 1.88837923e+01] [ 1.31528162e-02 3.45472749e-04 9.99913438e-01 3.55722461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.350888479 meters 0.019775660810650814 Centerline is valid? [True, True] Translation: X:117.02, Y:18.90, Z:0.36 [[ 9.49362051e-01 -3.13855831e-01 -1.43601522e-02 1.17023664e+02] [ 3.13813256e-01 9.49470560e-01 -5.18623834e-03 1.88961742e+01] [ 1.52622729e-02 4.17211751e-04 9.99883438e-01 3.56600817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41088847900001 meters 0.019934080337580016 Centerline is valid? [True, True] Translation: X:117.08, Y:18.91, Z:0.36 [[ 9.49122788e-01 -3.14471943e-01 -1.65326991e-02 1.17081792e+02] [ 3.14415554e-01 9.49266651e-01 -5.97368331e-03 1.89071054e+01] [ 1.75724957e-02 4.71621199e-04 9.99845481e-01 3.57133568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47088847900001 meters 0.02119076320157865 Centerline is valid? [True, True] Translation: X:117.14, Y:18.92, Z:0.36 [[ 9.49266627e-01 -3.14036244e-01 -1.65561974e-02 1.17137455e+02] [ 3.13979599e-01 9.49410873e-01 -5.98386672e-03 1.89221915e+01] [ 1.75977848e-02 4.81976778e-04 9.99845031e-01 3.55736706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53088847900001 meters 0.0210918920521913 Centerline is valid? [True, True] Translation: X:117.19, Y:18.94, Z:0.36 [[ 9.49383352e-01 -3.13717504e-01 -1.58927011e-02 1.17194099e+02] [ 3.13665191e-01 9.49516248e-01 -5.74830444e-03 1.89357440e+01] [ 1.68937216e-02 4.72357420e-04 9.99857179e-01 3.57198128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59088847900001 meters 0.018884077279626214 Centerline is valid? [True, True] Translation: X:117.25, Y:18.94, Z:0.36 [[ 9.49451220e-01 -3.13613442e-01 -1.37473675e-02 1.17254785e+02] [ 3.13574233e-01 9.49550650e-01 -4.97621085e-03 1.89420655e+01] [ 1.46144283e-02 4.13849253e-04 9.99893118e-01 3.63563184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65088847900002 meters 0.020224346853682525 Centerline is valid? [True, True] Translation: X:117.31, Y:18.96, Z:0.36 [[ 9.49331186e-01 -3.14010367e-01 -1.29533390e-02 1.17309159e+02] [ 3.13975570e-01 9.49419475e-01 -4.69053315e-03 1.89617323e+01] [ 1.37710284e-02 3.85837392e-04 9.99905100e-01 3.63345563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.710888479 meters 0.019666287959006514 Centerline is valid? [True, True] Translation: X:117.37, Y:18.97, Z:0.37 [[ 9.49085274e-01 -3.14857277e-01 -1.01013325e-02 1.17367863e+02] [ 3.14836140e-01 9.49138983e-01 -3.66005785e-03 1.89732849e+01] [ 1.07399643e-02 2.93442457e-04 9.99942282e-01 3.67047962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.770888479 meters 0.02090919646778536 Centerline is valid? [True, True] Translation: X:117.42, Y:18.99, Z:0.37 [[ 9.49091657e-01 -3.14855553e-01 -9.53979474e-03 1.17421920e+02] [ 3.14836679e-01 9.49139559e-01 -3.45874896e-03 1.89914090e+01] [ 1.01436029e-02 2.79192493e-04 9.99948513e-01 3.67470747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83088847900001 meters 0.01957631708384133 Centerline is valid? [True, True] Translation: X:117.48, Y:19.00, Z:0.36 [[ 9.49435546e-01 -3.13697780e-01 -1.28781817e-02 1.17479070e+02] [ 3.13663246e-01 9.49522799e-01 -4.67142047e-03 1.90048862e+01] [ 1.36935414e-02 3.95800367e-04 9.99906161e-01 3.64814630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89088847900001 meters 0.022084298635698357 Centerline is valid? [True, True] Translation: X:117.53, Y:19.02, Z:0.36 [[ 9.48995819e-01 -3.14941440e-01 -1.47927561e-02 1.17533138e+02] [ 3.14895988e-01 9.49111005e-01 -5.36818448e-03 1.90242852e+01] [ 1.57306313e-02 4.36205079e-04 9.99876171e-01 3.62318873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95088847900001 meters 0.01816406416846917 Centerline is valid? [True, True] Translation: X:117.59, Y:19.03, Z:0.36 [[ 9.47095000e-01 -3.20586235e-01 -1.53468553e-02 1.17593907e+02] [ 3.20538034e-01 9.47219266e-01 -5.57043343e-03 1.90333626e+01] [ 1.63226413e-02 3.56478811e-04 9.99866713e-01 3.63584101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01088847900002 meters 0.016168825429163973 Centerline is valid? [True, True] Translation: X:117.65, Y:19.04, Z:0.36 [[ 9.44059119e-01 -3.29397834e-01 -1.57938556e-02 1.17653198e+02] [ 3.29347961e-01 9.44191200e-01 -5.73578562e-03 1.90449291e+01] [ 1.68017748e-02 2.13246585e-04 9.99858817e-01 3.64885069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07088847900002 meters 0.015099730981092952 Centerline is valid? [True, True] Translation: X:117.71, Y:19.05, Z:0.36 [[ 9.40101559e-01 -3.40516767e-01 -1.60433893e-02 1.17711908e+02] [ 3.40466877e-01 9.40238444e-01 -5.82877716e-03 1.90537472e+01] [ 1.70694078e-02 1.73998385e-05 9.99854307e-01 3.64873411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.130888479 meters 0.01562705078886938 Centerline is valid? [True, True] Translation: X:117.77, Y:19.07, Z:0.37 [[ 9.36411081e-01 -3.50724076e-01 -1.12654355e-02 1.17769616e+02] [ 3.50700183e-01 9.36478835e-01 -4.09541992e-03 1.90674619e+01] [ 1.19862042e-02 -1.15793679e-04 9.99928156e-01 3.68728649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19088847900001 meters 0.01693703475002934 Centerline is valid? [True, True] Translation: X:117.82, Y:19.08, Z:0.37 [[ 9.34220061e-01 -3.56556937e-01 -1.00014601e-02 1.17824752e+02] [ 3.56538424e-01 9.34273580e-01 -3.63722358e-03 1.90845552e+01] [ 1.06409772e-02 -1.67937577e-04 9.99943369e-01 3.69158813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25088847900001 meters 0.017743762690114174 Centerline is valid? [True, True] Translation: X:117.88, Y:19.10, Z:0.37 [[ 9.31440473e-01 -3.63732626e-01 -1.08269032e-02 1.17881191e+02] [ 3.63711401e-01 9.31503357e-01 -3.93858607e-03 1.91046134e+01] [ 1.15178889e-02 -2.69309648e-04 9.99933631e-01 3.70617112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31088847900001 meters 0.020007131778741194 Centerline is valid? [True, True] Translation: X:117.94, Y:19.12, Z:0.37 [[ 9.30384187e-01 -3.66359024e-01 -1.28969402e-02 1.17937090e+02] [ 3.66329145e-01 9.30473502e-01 -4.69256534e-03 1.91228710e+01] [ 1.37194247e-02 -3.58636479e-04 9.99905820e-01 3.66926616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37088847900002 meters 0.019484404253695884 Centerline is valid? [True, True] Translation: X:117.99, Y:19.15, Z:0.36 [[ 9.29800279e-01 -3.67781278e-01 -1.44351137e-02 1.17989383e+02] [ 3.67743967e-01 9.29912229e-01 -5.25559218e-03 1.91514379e+01] [ 1.53562971e-02 -4.21774885e-04 9.99881996e-01 3.63815469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43088847900002 meters 0.018828288415902353 Centerline is valid? [True, True] Translation: X:118.04, Y:19.18, Z:0.37 [[ 9.29669876e-01 -3.68142325e-01 -1.36069754e-02 1.18042319e+02] [ 3.68109151e-01 9.29769363e-01 -4.95823247e-03 1.91754907e+01] [ 1.44766840e-02 -3.99332784e-04 9.99895128e-01 3.65203223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.490888479 meters 0.019824056409494296 Centerline is valid? [True, True] Translation: X:118.10, Y:19.20, Z:0.36 [[ 9.29855187e-01 -3.67691496e-01 -1.31260887e-02 1.18095175e+02] [ 3.67660555e-01 9.29947752e-01 -4.78482969e-03 1.91984523e+01] [ 1.39659178e-02 -3.76746326e-04 9.99902401e-01 3.64027746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55088847900001 meters 0.018668489556981582 Centerline is valid? [True, True] Translation: X:118.15, Y:19.23, Z:0.36 [[ 9.30537000e-01 -3.65985912e-01 -1.24581085e-02 1.18147591e+02] [ 3.65957848e-01 9.30620332e-01 -4.54426647e-03 1.92267841e+01] [ 1.32569066e-02 -3.30534494e-04 9.99912069e-01 3.63490860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61088847900001 meters 0.01820508860220616 Centerline is valid? [True, True] Translation: X:118.20, Y:19.25, Z:0.36 [[ 9.31132213e-01 -3.64494886e-01 -1.16738845e-02 1.18201251e+02] [ 3.64470088e-01 9.31205346e-01 -4.26138608e-03 1.92517416e+01] [ 1.24240371e-02 -2.86867853e-04 9.99922778e-01 3.63867147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67088847900001 meters 0.017290575036244024 Centerline is valid? [True, True] Translation: X:118.25, Y:19.28, Z:0.37 [[ 9.32539286e-01 -3.60963970e-01 -8.68857577e-03 1.18254098e+02] [ 3.60950071e-01 9.32579745e-01 -3.17266210e-03 1.92783765e+01] [ 9.24800648e-03 -1.77509992e-04 9.99957221e-01 3.66030409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73088847900001 meters 0.016727656725788177 Centerline is valid? [True, True] Translation: X:118.31, Y:19.30, Z:0.37 [[ 9.33985347e-01 -3.57202135e-01 -8.83216930e-03 1.18308176e+02] [ 3.57187587e-01 9.34027095e-01 -3.22689615e-03 1.93036479e+01] [ 9.40213963e-03 -1.40867524e-04 9.99955789e-01 3.65673809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79088847900002 meters 0.016110361296285177 Centerline is valid? [True, True] Translation: X:118.36, Y:19.33, Z:0.37 [[ 9.37105320e-01 -3.48920733e-01 -9.37773649e-03 1.18359501e+02] [ 3.48903902e-01 9.37152239e-01 -3.42759356e-03 1.93308386e+01] [ 9.98432520e-03 -5.99126924e-05 9.99950154e-01 3.65010954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.850888479 meters 0.016020730793251056 Centerline is valid? [True, True] Translation: X:118.41, Y:19.36, Z:0.36 [[ 9.39132272e-01 -3.43414270e-01 -9.85976351e-03 1.18412804e+02] [ 3.43395336e-01 9.39184029e-01 -3.60609630e-03 1.93572801e+01] [ 1.04985173e-02 8.04607395e-07 9.99944889e-01 3.64530338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91088847900001 meters 0.01627571822183197 Centerline is valid? [True, True] Translation: X:118.47, Y:19.38, Z:0.36 [[ 9.40549569e-01 -3.39521543e-01 -9.57236974e-03 1.18467243e+02] [ 3.39503467e-01 9.40598278e-01 -3.50365725e-03 1.93811336e+01] [ 1.01933216e-02 4.55105947e-05 9.99948046e-01 3.63948248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97088847900001 meters 0.01631743817143157 Centerline is valid? [True, True] Translation: X:118.52, Y:19.40, Z:0.37 [[ 9.39413819e-01 -3.42693059e-01 -7.94630725e-03 1.18524375e+02] [ 3.42680700e-01 9.39447426e-01 -2.91048490e-03 1.93977994e+01] [ 8.46254087e-03 1.11036083e-05 9.99964192e-01 3.65872344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03088847900001 meters 0.016556144914144096 Centerline is valid? [True, True] Translation: X:118.58, Y:19.41, Z:0.37 [[ 9.36981122e-01 -3.49318119e-01 -6.57487636e-03 1.18580823e+02] [ 3.49309808e-01 9.37004189e-01 -2.41000241e-03 1.94128094e+01] [ 7.00254420e-03 -3.85420365e-05 9.99975481e-01 3.66646849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09088847900001 meters 0.01724152338839773 Centerline is valid? [True, True] Translation: X:118.64, Y:19.43, Z:0.37 [[ 9.35104686e-01 -3.54325693e-01 -5.70343477e-03 1.18637986e+02] [ 3.54319522e-01 9.35122077e-01 -2.09216909e-03 1.94286383e+01] [ 6.07471703e-03 -6.44411627e-05 9.99981547e-01 3.66715488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15088847900002 meters 0.018184687488805924 Centerline is valid? [True, True] Translation: X:118.70, Y:19.44, Z:0.37 [[ 9.32243977e-01 -3.61778258e-01 -6.13674116e-03 1.18696259e+02] [ 3.61771269e-01 9.32264167e-01 -2.25210844e-03 1.94431898e+01] [ 6.53582776e-03 -1.20582103e-04 9.99978634e-01 3.67055826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.210888479 meters 0.018985685366886162 Centerline is valid? [True, True] Translation: X:118.75, Y:19.46, Z:0.37 [[ 9.30768588e-01 -3.65573819e-01 -5.06138517e-03 1.18752319e+02] [ 3.65569119e-01 9.30782342e-01 -1.85782886e-03 1.94598009e+01] [ 5.39022153e-03 -1.21077368e-04 9.99985465e-01 3.67234861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.270888479 meters 0.020092440294709635 Centerline is valid? [True, True] Translation: X:118.81, Y:19.48, Z:0.37 [[ 9.29610358e-01 -3.68534597e-01 -2.61407888e-03 1.18807050e+02] [ 3.68533354e-01 9.29614031e-01 -9.59654497e-04 1.94779837e+01] [ 2.78375029e-03 -7.12704979e-05 9.99996123e-01 3.68925157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33088847900001 meters 0.020739178034842255 Centerline is valid? [True, True] Translation: X:118.86, Y:19.50, Z:0.37 [[ 9.29178721e-01 -3.69621045e-01 -2.68115667e-03 1.18862399e+02] [ 3.69619741e-01 9.29182586e-01 -9.84554809e-04 1.94971004e+01] [ 2.85519626e-03 -7.61810557e-05 9.99995921e-01 3.69213838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39088847900001 meters 0.019748059176645988 Centerline is valid? [True, True] Translation: X:118.92, Y:19.52, Z:0.37 [[ 9.29884615e-01 -3.67832882e-01 -3.68426077e-03 1.18916086e+02] [ 3.67830402e-01 9.29891908e-01 -1.35416311e-03 1.95226816e+01] [ 3.92407000e-03 -9.59676788e-05 9.99992296e-01 3.68260861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45088847900001 meters 0.018943797749529596 Centerline is valid? [True, True] Translation: X:118.97, Y:19.55, Z:0.37 [[ 9.31202060e-01 -3.64497190e-01 -2.12646611e-03 1.18970390e+02] [ 3.64496354e-01 9.31204487e-01 -7.81880573e-04 1.95473090e+01] [ 2.26516806e-03 -4.70003458e-05 9.99997433e-01 3.69795669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51088847900002 meters 0.017830883060669767 Centerline is valid? [True, True] Translation: X:119.02, Y:19.58, Z:0.37 [[ 9.33749616e-01 -3.57926878e-01 -7.57757684e-05 1.19022480e+02] [ 3.57926877e-01 9.33749619e-01 -2.76936935e-05 1.95771228e+01] [ 8.06679121e-05 -1.26320846e-06 9.99999997e-01 3.71166163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57088847900002 meters 0.01770285280106685 Centerline is valid? [True, True] Translation: X:119.08, Y:19.60, Z:0.37 [[ 9.34857674e-01 -3.55022712e-01 6.16442981e-05 1.19075552e+02] [ 3.55022711e-01 9.34857676e-01 2.30800797e-05 1.95992263e+01] [-6.58225977e-05 3.08536236e-07 9.99999998e-01 3.71657327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.630888479 meters 0.017407788453912595 Centerline is valid? [True, True] Translation: X:119.13, Y:19.63, Z:0.37 [[ 9.38578947e-01 -3.45064515e-01 2.00074341e-04 1.19126212e+02] [ 3.45064507e-01 9.38578969e-01 7.44585366e-05 1.96310929e+01] [-2.13478567e-04 -8.46661145e-07 9.99999977e-01 3.71139481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69088847900001 meters 0.01812100364463719 Centerline is valid? [True, True] Translation: X:119.18, Y:19.66, Z:0.37 [[ 9.41631261e-01 -3.36646057e-01 2.76021363e-05 1.19177157e+02] [ 3.36646057e-01 9.41631261e-01 1.04311465e-05 1.96612236e+01] [-2.95026388e-05 -5.30143316e-07 1.00000000e+00 3.70763454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75088847900001 meters 0.01871876676745174 Centerline is valid? [True, True] Translation: X:119.23, Y:19.69, Z:0.37 [[ 9.43184494e-01 -3.32269405e-01 2.31364207e-04 1.19230538e+02] [ 3.32269394e-01 9.43184522e-01 8.55694706e-05 1.96852444e+01] [-2.46651256e-04 -3.83255280e-06 9.99999970e-01 3.70730549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81088847900001 meters 0.019695903381716538 Centerline is valid? [True, True] Translation: X:119.28, Y:19.71, Z:0.37 [[ 9.44702469e-01 -3.27928357e-01 4.87589019e-04 1.19283141e+02] [ 3.27928307e-01 9.44702595e-01 1.80653466e-04 1.97120413e+01] [-5.19868006e-04 -1.07695334e-05 9.99999865e-01 3.70599649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87088847900002 meters 0.020705553597491974 Centerline is valid? [True, True] Translation: X:119.34, Y:19.74, Z:0.37 [[ 9.46094078e-01 -3.23891374e-01 -6.10709670e-04 1.19336723e+02] [ 3.23891296e-01 9.46094275e-01 -2.25222473e-04 1.97374368e+01] [ 6.50736539e-04 1.52781014e-05 9.99999788e-01 3.68819099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93088847900002 meters 0.020742016040388587 Centerline is valid? [True, True] Translation: X:119.39, Y:19.76, Z:0.37 [[ 9.46490804e-01 -3.22721034e-01 -2.50827712e-03 1.19392278e+02] [ 3.22719713e-01 9.46494126e-01 -9.25633888e-04 1.97582843e+01] [ 2.67279109e-03 6.66334886e-05 9.99996426e-01 3.68388674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.990888479 meters 0.02293117483402449 Centerline is valid? [True, True] Translation: X:119.44, Y:19.78, Z:0.37 [[ 9.46839760e-01 -3.21669787e-01 -4.79768117e-03 1.19444668e+02] [ 3.21664933e-01 9.46851905e-01 -1.77213152e-03 1.97831749e+01] [ 5.11273472e-03 1.34678795e-04 9.99986921e-01 3.66283910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05088847900001 meters 0.0221629355863953 Centerline is valid? [True, True] Translation: X:119.50, Y:19.80, Z:0.37 [[ 9.46465608e-01 -3.22754499e-01 -5.69084699e-03 1.19500688e+02] [ 3.22747683e-01 9.46482704e-01 -2.10316617e-03 1.98013238e+01] [ 6.06509459e-03 1.53866765e-04 9.99981595e-01 3.65306776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11088847900001 meters 0.020929180006656747 Centerline is valid? [True, True] Translation: X:119.56, Y:19.82, Z:0.37 [[ 9.45284367e-01 -3.26178262e-01 -6.72364120e-03 1.19558597e+02] [ 3.26168821e-01 9.45308265e-01 -2.48670452e-03 1.98157674e+01] [ 7.16702256e-03 1.57600783e-04 9.99974304e-01 3.65838692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17088847900001 meters 0.01953248072638328 Centerline is valid? [True, True] Translation: X:119.62, Y:19.83, Z:0.37 [[ 9.44193923e-01 -3.29324010e-01 -6.59795766e-03 1.19616278e+02] [ 3.29314983e-01 9.44216966e-01 -2.44198078e-03 1.98306507e+01] [ 7.03410647e-03 1.32897097e-04 9.99975252e-01 3.66764850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23088847900001 meters 0.01861592788897763 Centerline is valid? [True, True] Translation: X:119.67, Y:19.85, Z:0.37 [[ 9.42901768e-01 -3.33011561e-01 -6.28937120e-03 1.19673674e+02] [ 3.33003429e-01 9.42922738e-01 -2.32944111e-03 1.98465198e+01] [ 6.70612193e-03 1.02051965e-04 9.99977509e-01 3.66560833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29088847900002 meters 0.01815329971111984 Centerline is valid? [True, True] Translation: X:119.73, Y:19.86, Z:0.37 [[ 9.41641062e-01 -3.36577932e-01 -5.23515331e-03 1.19731276e+02] [ 3.36572345e-01 9.41655612e-01 -1.94030963e-03 1.98601053e+01] [ 5.58277690e-03 6.50673887e-05 9.99984414e-01 3.69438478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.350888479 meters 0.01790164095890267 Centerline is valid? [True, True] Translation: X:119.79, Y:19.88, Z:0.37 [[ 9.40638498e-01 -3.39374102e-01 -4.94318277e-03 1.19786835e+02] [ 3.39369155e-01 9.40651485e-01 -1.83304274e-03 1.98760567e+01] [ 5.27189945e-03 4.66668106e-05 9.99986102e-01 3.71220511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41088847900001 meters 0.01764978434757958 Centerline is valid? [True, True] Translation: X:119.84, Y:19.89, Z:0.37 [[ 9.39342549e-01 -3.42921266e-01 -6.37037477e-03 1.19844138e+02] [ 3.42913122e-01 9.39364149e-01 -2.36367492e-03 1.98918388e+01] [ 6.79465607e-03 3.58153264e-05 9.99976915e-01 3.70854643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47088847900001 meters 0.01748863618813248 Centerline is valid? [True, True] Translation: X:119.90, Y:19.91, Z:0.37 [[ 9.38733187e-01 -3.44576011e-01 -6.88309151e-03 1.19900052e+02] [ 3.44566531e-01 9.38758420e-01 -2.55610116e-03 1.99094203e+01] [ 7.34233125e-03 2.78140219e-05 9.99973044e-01 3.70826575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53088847900001 meters 0.0173479136042625 Centerline is valid? [True, True] Translation: X:119.96, Y:19.93, Z:0.37 [[ 9.38199594e-01 -3.46026346e-01 -6.87666253e-03 1.19955742e+02] [ 3.46016907e-01 9.38224796e-01 -2.55595113e-03 1.99252856e+01] [ 7.33628172e-03 1.85508156e-05 9.99973089e-01 3.71565034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59088847900001 meters 0.01750196505865912 Centerline is valid? [True, True] Translation: X:120.01, Y:19.94, Z:0.37 [[ 9.37806475e-01 -3.47101778e-01 -6.27469846e-03 1.20010849e+02] [ 3.47093930e-01 9.37827466e-01 -2.33415868e-03 1.99440720e+01] [ 6.69477518e-03 1.10793732e-05 9.99977590e-01 3.71459493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65088847900002 meters 0.01730675493786831 Centerline is valid? [True, True] Translation: X:120.07, Y:19.96, Z:0.37 [[ 9.37280487e-01 -3.48509060e-01 -6.83544578e-03 1.20066236e+02] [ 3.48499767e-01 9.37305412e-01 -2.54501025e-03 1.99610120e+01] [ 7.29385945e-03 3.23718138e-06 9.99973399e-01 3.70519821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.710888479 meters 0.017309476082158746 Centerline is valid? [True, True] Translation: X:120.12, Y:19.98, Z:0.37 [[ 9.36745563e-01 -3.49937434e-01 -7.17926795e-03 1.20121678e+02] [ 3.49927207e-01 9.36773074e-01 -2.67537229e-03 1.99793323e+01] [ 7.66155782e-03 -6.07805805e-06 9.99970650e-01 3.69683202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.770888479 meters 0.0171545426975199 Centerline is valid? [True, True] Translation: X:120.18, Y:20.00, Z:0.37 [[ 9.36598903e-01 -3.50332690e-01 -7.03577368e-03 1.20176408e+02] [ 3.50322865e-01 9.36625329e-01 -2.62368822e-03 1.99961501e+01] [ 7.50904758e-03 -7.44888973e-06 9.99971807e-01 3.69552778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83088847900001 meters 0.01719763087598582 Centerline is valid? [True, True] Translation: X:120.23, Y:20.02, Z:0.37 [[ 9.36902637e-01 -3.49520619e-01 -6.98465417e-03 1.20231267e+02] [ 3.49510899e-01 9.36928672e-01 -2.60660508e-03 2.00157476e+01] [ 7.45518497e-03 9.22411030e-07 9.99972210e-01 3.70246517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89088847900001 meters 0.01721621441144559 Centerline is valid? [True, True] Translation: X:120.29, Y:20.04, Z:0.37 [[ 9.38040254e-01 -3.46437744e-01 -7.83391396e-03 1.20287214e+02] [ 3.46425390e-01 9.38072965e-01 -2.92595827e-03 2.00354490e+01] [ 8.36244528e-03 3.07999455e-05 9.99965034e-01 3.69396070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95088847900001 meters 0.017465781051602226 Centerline is valid? [True, True] Translation: X:120.34, Y:20.06, Z:0.37 [[ 9.39314683e-01 -3.42974519e-01 -7.51033579e-03 1.20340828e+02] [ 3.42963042e-01 9.39344705e-01 -2.80653268e-03 2.00563938e+01] [ 8.01736336e-03 6.04497504e-05 9.99967859e-01 3.69154141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01088847900002 meters 0.01761585626719662 Centerline is valid? [True, True] Translation: X:120.40, Y:20.08, Z:0.37 [[ 9.39839515e-01 -3.41556297e-01 -6.40172549e-03 1.20396496e+02] [ 3.41547916e-01 9.39861315e-01 -2.39362617e-03 2.00764766e+01] [ 6.83429223e-03 6.31284584e-05 9.99976644e-01 3.70039974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07088847900002 meters 0.01780952321017983 Centerline is valid? [True, True] Translation: X:120.45, Y:20.10, Z:0.37 [[ 9.40536076e-01 -3.39593764e-01 -8.24409708e-03 1.20451952e+02] [ 3.39579766e-01 9.40572201e-01 -3.08501949e-03 2.00956906e+01] [ 8.80182191e-03 1.02043562e-04 9.99961258e-01 3.69426296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.130888479 meters 0.01798160527313057 Centerline is valid? [True, True] Translation: X:120.51, Y:20.12, Z:0.37 [[ 9.40824972e-01 -3.38767596e-01 -9.21343227e-03 1.20507215e+02] [ 3.38750047e-01 9.40870076e-01 -3.45045385e-03 2.01159747e+01] [ 9.83754468e-03 1.25222537e-04 9.99951602e-01 3.68301891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19088847900001 meters 0.01789663626330678 Centerline is valid? [True, True] Translation: X:120.56, Y:20.14, Z:0.37 [[ 9.40671439e-01 -3.39198868e-01 -9.02068157e-03 1.20562232e+02] [ 3.39182038e-01 9.40714682e-01 -3.38107169e-03 2.01357258e+01] [ 9.63274328e-03 1.20824408e-04 9.99953597e-01 3.67384548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25088847900001 meters 0.017829780459377186 Centerline is valid? [True, True] Translation: X:120.62, Y:20.15, Z:0.37 [[ 9.40198468e-01 -3.40464948e-01 -1.05100071e-02 1.20617820e+02] [ 3.40442141e-01 9.40257200e-01 -3.94281224e-03 2.01526238e+01] [ 1.12244992e-02 1.28976719e-04 9.99936995e-01 3.66919363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31088847900001 meters 0.01777949446442224 Centerline is valid? [True, True] Translation: X:120.67, Y:20.17, Z:0.37 [[ 9.39470210e-01 -3.42417783e-01 -1.20742452e-02 1.20673548e+02] [ 3.42387819e-01 9.39547788e-01 -4.53153168e-03 2.01696057e+01] [ 1.28960074e-02 1.23164552e-04 9.99916835e-01 3.65241442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37088847900002 meters 0.017497093371528896 Centerline is valid? [True, True] Translation: X:120.73, Y:20.19, Z:0.37 [[ 9.39014601e-01 -3.43676438e-01 -1.17509624e-02 1.20730263e+02] [ 3.43648122e-01 9.39088119e-01 -4.41292967e-03 2.01856156e+01] [ 1.25518091e-02 1.05609240e-04 9.99921217e-01 3.67309703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43088847900002 meters 0.01736475752769235 Centerline is valid? [True, True] Translation: X:120.79, Y:20.20, Z:0.37 [[ 9.38651336e-01 -3.44637897e-01 -1.25852697e-02 1.20785513e+02] [ 3.44605450e-01 9.38735697e-01 -4.73018825e-03 2.02039630e+01] [ 1.34444440e-02 1.03045005e-04 9.99909614e-01 3.67880200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.490888479 meters 0.017552095362509755 Centerline is valid? [True, True] Translation: X:120.84, Y:20.22, Z:0.37 [[ 9.38461254e-01 -3.45142171e-01 -1.29366326e-02 1.20839000e+02] [ 3.45107903e-01 9.38550410e-01 -4.86452524e-03 2.02226458e+01] [ 1.38206346e-02 1.00634305e-04 9.99904485e-01 3.66529552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55088847900001 meters 0.01727857355389022 Centerline is valid? [True, True] Translation: X:120.89, Y:20.24, Z:0.37 [[ 9.38041168e-01 -3.46288147e-01 -1.27783860e-02 1.20894594e+02] [ 3.46254770e-01 9.38128196e-01 -4.80857336e-03 2.02397383e+01] [ 1.36529162e-02 8.60626562e-05 9.99906791e-01 3.68365817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61088847900001 meters 0.016979193040680976 Centerline is valid? [True, True] Translation: X:120.95, Y:20.26, Z:0.37 [[ 9.36820907e-01 -3.49595078e-01 -1.22421129e-02 1.20951077e+02] [ 3.49564681e-01 9.36900891e-01 -4.61020150e-03 2.02557391e+01] [ 1.30813502e-02 3.95228580e-05 9.99914435e-01 3.70799672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67088847900001 meters 0.0168964189425325 Centerline is valid? [True, True] Translation: X:121.01, Y:20.28, Z:0.37 [[ 9.36321945e-01 -3.50919445e-01 -1.25203148e-02 1.21005807e+02] [ 3.50887717e-01 9.36405650e-01 -4.71885084e-03 2.02763162e+01] [ 1.33800301e-02 2.51388987e-05 9.99910483e-01 3.71624977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73088847900001 meters 0.016891402942177874 Centerline is valid? [True, True] Translation: X:121.06, Y:20.30, Z:0.37 [[ 9.36169303e-01 -3.51317425e-01 -1.27712255e-02 1.21058603e+02] [ 3.51284419e-01 9.36256411e-01 -4.81565538e-03 2.02968059e+01] [ 1.36489654e-02 2.19362030e-05 9.99906848e-01 3.71922488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79088847900002 meters 0.016818168081406668 Centerline is valid? [True, True] Translation: X:121.11, Y:20.32, Z:0.37 [[ 9.36451282e-01 -3.50572822e-01 -1.25575622e-02 1.21112864e+02] [ 3.50540797e-01 9.36535475e-01 -4.73860041e-03 2.03180912e+01] [ 1.34218270e-02 3.55305537e-05 9.99909923e-01 3.73104674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.850888479 meters 0.016803166781444494 Centerline is valid? [True, True] Translation: X:121.17, Y:20.34, Z:0.37 [[ 9.37017415e-01 -3.49039737e-01 -1.30240744e-02 1.21165488e+02] [ 3.49005114e-01 9.37107922e-01 -4.91652274e-03 2.03416874e+01] [ 1.39210251e-02 6.13988547e-05 9.99903096e-01 3.72321759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91088847900001 meters 0.016686138918080573 Centerline is valid? [True, True] Translation: X:121.22, Y:20.37, Z:0.37 [[ 9.37462032e-01 -3.47829526e-01 -1.34000124e-02 1.21219226e+02] [ 3.47792704e-01 9.37557792e-01 -5.06172963e-03 2.03670478e+01] [ 1.43239050e-02 8.47528006e-05 9.99897404e-01 3.71160114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97088847900001 meters 0.016960906615197544 Centerline is valid? [True, True] Translation: X:121.27, Y:20.39, Z:0.37 [[ 9.37888175e-01 -3.46706480e-01 -1.26644478e-02 1.21271930e+02] [ 3.46673449e-01 9.37973671e-01 -4.78674688e-03 2.03890134e+01] [ 1.35385147e-02 9.90055120e-05 9.99908345e-01 3.70986646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03088847900001 meters 0.017146274142792264 Centerline is valid? [True, True] Translation: X:121.33, Y:20.41, Z:0.37 [[ 9.38410986e-01 -3.45357202e-01 -1.06407085e-02 1.21325737e+02] [ 3.45333763e-01 9.38471306e-01 -4.02481181e-03 2.04117369e+01] [ 1.13759974e-02 1.02331692e-04 9.99935286e-01 3.73261009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09088847900001 meters 0.017446788757077378 Centerline is valid? [True, True] Translation: X:121.38, Y:20.43, Z:0.37 [[ 9.38527628e-01 -3.45073017e-01 -9.51336726e-03 1.21378826e+02] [ 3.45054253e-01 9.38575838e-01 -3.59978726e-03 2.04344479e+01] [ 1.01712061e-02 9.58719603e-05 9.99948267e-01 3.73048438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15088847900002 meters 0.01737826373545077 Centerline is valid? [True, True] Translation: X:121.43, Y:20.46, Z:0.37 [[ 9.38493014e-01 -3.45187379e-01 -8.74848693e-03 1.21432163e+02] [ 3.45171497e-01 9.38533785e-01 -3.31243540e-03 2.04569592e+01] [ 9.35416145e-03 8.89691504e-05 9.99956245e-01 3.72168307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21088847900002 meters 0.017180305982793857 Centerline is valid? [True, True] Translation: X:121.49, Y:20.48, Z:0.37 [[ 9.37816246e-01 -3.47022358e-01 -8.72762311e-03 1.21488072e+02] [ 3.47006609e-01 9.37856853e-01 -3.30695413e-03 2.04764067e+01] [ 9.33284817e-03 7.27724085e-05 9.99956445e-01 3.72970085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.270888479 meters 0.016832031157567665 Centerline is valid? [True, True] Translation: X:121.54, Y:20.50, Z:0.37 [[ 9.36907673e-01 -3.49463162e-01 -8.91684352e-03 1.21543623e+02] [ 3.49446809e-01 9.36950103e-01 -3.38108705e-03 2.04950432e+01] [ 9.53620282e-03 5.18038861e-05 9.99954528e-01 3.73285552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33088847900001 meters 0.016679929582309565 Centerline is valid? [True, True] Translation: X:121.60, Y:20.51, Z:0.37 [[ 9.35982774e-01 -3.51934481e-01 -8.85259166e-03 1.21598863e+02] [ 3.51918448e-01 9.36024637e-01 -3.35941542e-03 2.05138186e+01] [ 9.46853802e-03 2.89646422e-05 9.99955172e-01 3.74277582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39088847900001 meters 0.01668082493831827 Centerline is valid? [True, True] Translation: X:121.65, Y:20.53, Z:0.37 [[ 9.35837750e-01 -3.52340633e-01 -7.98652801e-03 1.21653082e+02] [ 3.52327587e-01 9.35871828e-01 -3.03203053e-03 2.05349729e+01] [ 8.54267412e-03 2.36144880e-05 9.99963510e-01 3.74754624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45088847900001 meters 0.016801403544332953 Centerline is valid? [True, True] Translation: X:121.71, Y:20.56, Z:0.37 [[ 9.35779987e-01 -3.52434297e-01 -1.02898614e-02 1.21706968e+02] [ 3.52412636e-01 9.35836559e-01 -3.90752180e-03 2.05562931e+01] [ 1.10067731e-02 3.03035347e-05 9.99939423e-01 3.72545281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51088847900002 meters 0.016817761635463755 Centerline is valid? [True, True] Translation: X:121.76, Y:20.58, Z:0.37 [[ 9.35589293e-01 -3.52905640e-01 -1.14142231e-02 1.21762319e+02] [ 3.52878989e-01 9.35658917e-01 -4.33707905e-03 2.05763462e+01] [ 1.22103993e-02 2.98852042e-05 9.99925450e-01 3.72467815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57088847900002 meters 0.01669403192037363 Centerline is valid? [True, True] Translation: X:121.82, Y:20.59, Z:0.37 [[ 9.34630540e-01 -3.55444685e-01 -1.11727625e-02 1.21817887e+02] [ 3.55419291e-01 9.34697318e-01 -4.24868180e-03 2.05943047e+01] [ 1.19533225e-02 -6.75818343e-08 9.99928556e-01 3.74547261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.630888479 meters 0.01700259515669922 Centerline is valid? [True, True] Translation: X:121.87, Y:20.61, Z:0.38 [[ 9.32823204e-01 -3.60211991e-01 -9.39100033e-03 1.21872316e+02] [ 3.60194277e-01 9.32870473e-01 -3.57272991e-03 2.06115736e+01] [ 1.00475271e-02 -4.98592059e-05 9.99949521e-01 3.76605964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69088847900001 meters 0.01734242051749878 Centerline is valid? [True, True] Translation: X:121.93, Y:20.63, Z:0.38 [[ 9.31986969e-01 -3.62379588e-01 -9.01792315e-03 1.21926642e+02] [ 3.62363345e-01 9.32030595e-01 -3.43173661e-03 2.06301947e+01] [ 9.64857158e-03 -6.94309943e-05 9.99953449e-01 3.76989510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75088847900001 meters 0.017413157965155534 Centerline is valid? [True, True] Translation: X:121.98, Y:20.65, Z:0.38 [[ 9.31524765e-01 -3.63545459e-01 -9.81383231e-03 1.21981914e+02] [ 3.63526263e-01 9.31576455e-01 -3.73684328e-03 2.06511427e+01] [ 1.05008475e-02 -8.66237288e-05 9.99944861e-01 3.77903454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81088847900001 meters 0.01753320007439837 Centerline is valid? [True, True] Translation: X:122.04, Y:20.67, Z:0.38 [[ 9.31255571e-01 -3.64204650e-01 -1.08643666e-02 1.22036031e+02] [ 3.64181134e-01 9.31318937e-01 -4.13993724e-03 2.06745817e+01] [ 1.16259748e-02 -1.01257736e-04 9.99932411e-01 3.77983447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87088847900002 meters 0.01753929685682949 Centerline is valid? [True, True] Translation: X:122.09, Y:20.70, Z:0.38 [[ 9.31051186e-01 -3.64724927e-01 -1.09277910e-02 1.22089454e+02] [ 3.64701133e-01 9.31115308e-01 -4.16742842e-03 2.06975015e+01] [ 1.16949985e-02 -1.05288589e-04 9.99931606e-01 3.78595871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93088847900002 meters 0.017436140441476903 Centerline is valid? [True, True] Translation: X:122.14, Y:20.72, Z:0.38 [[ 9.31478789e-01 -3.63632487e-01 -1.08940408e-02 1.22142242e+02] [ 3.63608729e-01 9.31542488e-01 -4.15759685e-03 2.07234379e+01] [ 1.16600992e-02 -8.84550522e-05 9.99932015e-01 3.78715539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.990888479 meters 0.017251248078019626 Centerline is valid? [True, True] Translation: X:122.20, Y:20.75, Z:0.38 [[ 9.31967486e-01 -3.62401751e-01 -1.00784939e-02 1.22195558e+02] [ 3.62381316e-01 9.32021977e-01 -3.84908432e-03 2.07484441e+01] [ 1.07882927e-02 -6.50364499e-05 9.99941803e-01 3.80737329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.050888479 meters 0.01714644352420324 Centerline is valid? [True, True] Translation: X:122.25, Y:20.78, Z:0.38 [[ 9.32758697e-01 -3.60362226e-01 -1.00139191e-02 1.22247929e+02] [ 3.60341904e-01 9.32812449e-01 -3.82724037e-03 2.07751676e+01] [ 1.07203013e-02 -3.85429345e-05 9.99942535e-01 3.82808751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.110888479 meters 0.01729534786181048 Centerline is valid? [True, True] Translation: X:122.30, Y:20.80, Z:0.38 [[ 9.34380874e-01 -3.56143629e-01 -9.70038323e-03 1.22298688e+02] [ 3.56124300e-01 9.34431226e-01 -3.71040755e-03 2.08039324e+01] [ 1.03857790e-02 1.23916635e-05 9.99946066e-01 3.83878497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17088847899998 meters 0.017531608875673066 Centerline is valid? [True, True] Translation: X:122.35, Y:20.83, Z:0.38 [[ 9.35582079e-01 -3.52968051e-01 -9.98642920e-03 1.22350845e+02] [ 3.52947353e-01 9.35635374e-01 -3.82274181e-03 2.08315056e+01] [ 1.06929621e-02 5.18049731e-05 9.99942827e-01 3.83467563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.230888479 meters 0.017935142958796346 Centerline is valid? [True, True] Translation: X:122.40, Y:20.86, Z:0.38 [[ 9.37264814e-01 -3.48441590e-01 -1.10962785e-02 1.22402077e+02] [ 3.48415681e-01 9.37330488e-01 -4.25079237e-03 2.08617702e+01] [ 1.18820330e-02 1.18000674e-04 9.99929399e-01 3.83246501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.290888479 meters 0.018184809991912052 Centerline is valid? [True, True] Translation: X:122.45, Y:20.89, Z:0.38 [[ 9.37580997e-01 -3.47590753e-01 -1.10698802e-02 1.22454528e+02] [ 3.47564883e-01 9.37646336e-01 -4.24267865e-03 2.08871702e+01] [ 1.18543484e-02 1.30353273e-04 9.99929726e-01 3.83547002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.350888479 meters 0.018015129922360328 Centerline is valid? [True, True] Translation: X:122.51, Y:20.91, Z:0.38 [[ 9.37509360e-01 -3.47775723e-01 -1.13246290e-02 1.22508864e+02] [ 3.47748623e-01 9.37577745e-01 -4.34356660e-03 2.09087874e+01] [ 1.21283071e-02 1.34010204e-04 9.99926440e-01 3.84819525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.410888479 meters 0.018103958174420273 Centerline is valid? [True, True] Translation: X:122.56, Y:20.93, Z:0.39 [[ 9.37706482e-01 -3.47218158e-01 -1.20873442e-02 1.22561150e+02] [ 3.47187214e-01 9.37784372e-01 -4.63797168e-03 2.09349504e+01] [ 1.29457105e-02 1.52484758e-04 9.99916189e-01 3.85312188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.470888479 meters 0.01809128291432495 Centerline is valid? [True, True] Translation: X:122.61, Y:20.96, Z:0.39 [[ 9.37643660e-01 -3.47365454e-01 -1.27125422e-02 1.22614680e+02] [ 3.47331197e-01 9.37729820e-01 -4.88099692e-03 2.09606746e+01] [ 1.36164197e-02 1.61173296e-04 9.99907279e-01 3.85791025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.530888479 meters 0.01776751463069056 Centerline is valid? [True, True] Translation: X:122.67, Y:20.98, Z:0.39 [[ 9.37115052e-01 -3.48774382e-01 -1.31076390e-02 1.22668311e+02] [ 3.48738041e-01 9.37206705e-01 -5.03693390e-03 2.09835653e+01] [ 1.40413206e-02 1.49054242e-04 9.99901405e-01 3.86025652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.590888479 meters 0.017694234562673803 Centerline is valid? [True, True] Translation: X:122.72, Y:21.01, Z:0.39 [[ 9.36702420e-01 -3.49891294e-01 -1.28319459e-02 1.22720962e+02] [ 3.49856537e-01 9.36790300e-01 -4.93339736e-03 2.10068909e+01] [ 1.37469953e-02 1.31785083e-04 9.99905497e-01 3.86825658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.650888479 meters 0.017505665400585933 Centerline is valid? [True, True] Translation: X:122.78, Y:21.03, Z:0.39 [[ 9.36309590e-01 -3.50989281e-01 -1.14401170e-02 1.22775683e+02] [ 3.50961702e-01 9.36379471e-01 -4.40113998e-03 2.10292826e+01] [ 1.22570436e-02 1.05786648e-04 9.99924874e-01 3.89971431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.710888479 meters 0.017408685061324456 Centerline is valid? [True, True] Translation: X:122.83, Y:21.05, Z:0.39 [[ 9.35783983e-01 -3.52397666e-01 -1.11454513e-02 1.22830531e+02] [ 3.52371552e-01 9.35850350e-01 -4.29095927e-03 2.10518919e+01] [ 1.19425986e-02 8.80709769e-05 9.99928681e-01 3.91864551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.770888479 meters 0.017794269521625973 Centerline is valid? [True, True] Translation: X:122.88, Y:21.07, Z:0.39 [[ 9.35315110e-01 -3.53594349e-01 -1.25172763e-02 1.22884040e+02] [ 3.53561492e-01 9.35398861e-01 -4.82095619e-03 2.10749258e+01] [ 1.34133088e-02 8.34862834e-05 9.99910034e-01 3.90337305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.830888479 meters 0.017749130359135987 Centerline is valid? [True, True] Translation: X:122.94, Y:21.10, Z:0.39 [[ 9.33762328e-01 -3.57556248e-01 -1.55384655e-02 1.22938134e+02] [ 3.57506099e-01 9.33891604e-01 -5.98841485e-03 2.10981127e+01] [ 1.66524376e-02 3.66599937e-05 9.99861338e-01 3.87322543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.890888479 meters 0.01780480723538176 Centerline is valid? [True, True] Translation: X:122.99, Y:21.12, Z:0.39 [[ 9.31894538e-01 -3.62345988e-01 -1.66719902e-02 1.22993372e+02] [ 3.62288934e-01 9.32043659e-01 -6.43004155e-03 2.11190730e+01] [ 1.78689225e-02 -4.79569720e-05 9.99840337e-01 3.87878502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95088847899999 meters 0.01797762870147387 Centerline is valid? [True, True] Translation: X:123.05, Y:21.14, Z:0.39 [[ 9.28621442e-01 -3.70618208e-01 -1.74459396e-02 1.23048679e+02] [ 3.70557094e-01 9.28785282e-01 -6.73357243e-03 2.11393373e+01] [ 1.86991164e-02 -2.11776922e-04 9.99825134e-01 3.91010564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.010888479 meters 0.01871773753890786 Centerline is valid? [True, True] Translation: X:123.10, Y:21.16, Z:0.39 [[ 9.27180310e-01 -3.74222944e-01 -1.71423691e-02 1.23102089e+02] [ 3.74164500e-01 9.27338725e-01 -6.61932796e-03 2.11610374e+01] [ 1.83738871e-02 -2.76755405e-04 9.99831148e-01 3.91877595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.070888479 meters 0.018605467904821687 Centerline is valid? [True, True] Translation: X:123.15, Y:21.19, Z:0.39 [[ 9.26327068e-01 -3.76320336e-01 -1.73541590e-02 1.23154547e+02] [ 3.76260771e-01 9.26489558e-01 -6.70299181e-03 2.11871941e+01] [ 1.86009192e-02 -3.20526492e-04 9.99826937e-01 3.93648630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.130888479 meters 0.018646623011862234 Centerline is valid? [True, True] Translation: X:123.20, Y:21.21, Z:0.39 [[ 9.26518769e-01 -3.75809327e-01 -1.81747037e-02 1.23204809e+02] [ 3.75743850e-01 9.26696954e-01 -7.02235950e-03 2.12140135e+01] [ 1.94815108e-02 -3.22685264e-04 9.99810165e-01 3.93516823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.190888479 meters 0.018151470587936976 Centerline is valid? [True, True] Translation: X:123.26, Y:21.24, Z:0.39 [[ 9.27101101e-01 -3.74334052e-01 -1.89094104e-02 1.23257537e+02] [ 3.74262767e-01 9.27293874e-01 -7.31119179e-03 2.12412620e+01] [ 2.02714084e-02 -2.98874286e-04 9.99794469e-01 3.94224913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.250888479 meters 0.017932736186357625 Centerline is valid? [True, True] Translation: X:123.31, Y:21.27, Z:0.39 [[ 9.29213557e-01 -3.68943023e-01 -2.10525664e-02 1.23309507e+02] [ 3.68853194e-01 9.29451992e-01 -8.14342453e-03 2.12713432e+01] [ 2.25718095e-02 -1.98325876e-04 9.99745205e-01 3.94480116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.310888479 meters 0.01714628286151228 Centerline is valid? [True, True] Translation: X:123.36, Y:21.30, Z:0.40 [[ 9.31915713e-01 -3.61987232e-01 -2.23236819e-02 1.23359484e+02] [ 3.61884063e-01 9.32183052e-01 -8.64185601e-03 2.13028556e+01] [ 2.39379995e-02 -2.51033218e-05 9.99713445e-01 3.95043434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.370888479 meters 0.01736161947121338 Centerline is valid? [True, True] Translation: X:123.41, Y:21.33, Z:0.40 [[ 9.33802811e-01 -3.57048400e-01 -2.29945556e-02 1.23411790e+02] [ 3.56937275e-01 9.34085878e-01 -8.90809478e-03 2.13312720e+01] [ 2.46595106e-02 1.10789943e-04 9.99695902e-01 3.95279176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.430888479 meters 0.017348399671968873 Centerline is valid? [True, True] Translation: X:123.46, Y:21.36, Z:0.40 [[ 9.35761460e-01 -3.51900778e-01 -2.27229620e-02 1.23464884e+02] [ 3.51790588e-01 9.36037275e-01 -8.80918547e-03 2.13584072e+01] [ 2.43694986e-02 2.49572100e-04 9.99702989e-01 3.97524782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.490888479 meters 0.01777592772511606 Centerline is valid? [True, True] Translation: X:123.52, Y:21.38, Z:0.40 [[ 9.36864620e-01 -3.48997593e-01 -2.20309671e-02 1.23517549e+02] [ 3.48893149e-01 9.37123567e-01 -8.54351348e-03 2.13831465e+01] [ 2.36274041e-02 3.17662019e-04 9.99720783e-01 3.98803277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.550888479 meters 0.01820549857066389 Centerline is valid? [True, True] Translation: X:123.57, Y:21.41, Z:0.40 [[ 9.37477384e-01 -3.47299939e-01 -2.27795280e-02 1.23571397e+02] [ 3.47187698e-01 9.37754025e-01 -8.83694658e-03 2.14055046e+01] [ 2.44306651e-02 3.75665670e-04 9.99701456e-01 3.98479459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.610888479 meters 0.018641564878834102 Centerline is valid? [True, True] Translation: X:123.63, Y:21.43, Z:0.40 [[ 9.38788862e-01 -3.43705435e-01 -2.32819027e-02 1.23626167e+02] [ 3.43587042e-01 9.39077389e-01 -9.03341775e-03 2.14276976e+01] [ 2.49683432e-02 4.81111901e-04 9.99688127e-01 3.98333903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67088847899998 meters 0.01825113661533819 Centerline is valid? [True, True] Translation: X:123.68, Y:21.45, Z:0.40 [[ 9.39967916e-01 -3.40397876e-01 -2.42817532e-02 1.23682561e+02] [ 3.40267961e-01 9.40281305e-01 -9.42241344e-03 2.14471839e+01] [ 2.60390481e-02 5.94463663e-04 9.99660750e-01 4.00603108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.730888479 meters 0.021494670560722236 Centerline is valid? [True, True] Translation: X:123.73, Y:21.47, Z:0.40 [[ 9.41577665e-01 -3.35885025e-01 -2.47538219e-02 1.23734841e+02] [ 3.35748397e-01 9.41902707e-01 -9.60750711e-03 2.14728291e+01] [ 2.65427096e-02 7.35158089e-04 9.99647410e-01 3.95303559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.790888479 meters 0.02004758579571821 Centerline is valid? [True, True] Translation: X:123.79, Y:21.49, Z:0.40 [[ 9.42035046e-01 -3.34635781e-01 -2.42665688e-02 1.23791428e+02] [ 3.34503901e-01 9.42347237e-01 -9.42471839e-03 2.14891227e+01] [ 2.60213820e-02 7.61153088e-04 9.99661097e-01 3.99292216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.850888479 meters 0.020435809397203145 Centerline is valid? [True, True] Translation: X:123.85, Y:21.51, Z:0.40 [[ 9.42205919e-01 -3.34178858e-01 -2.39269029e-02 1.23847453e+02] [ 3.34050325e-01 9.42509363e-01 -9.29951935e-03 2.15066653e+01] [ 2.56590327e-02 7.69272505e-04 9.99670457e-01 4.00675823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.910888479 meters 0.020172811714505638 Centerline is valid? [True, True] Translation: X:123.90, Y:21.52, Z:0.40 [[ 9.41534126e-01 -3.36126101e-01 -2.30810380e-02 1.23902931e+02] [ 3.36007014e-01 9.41816735e-01 -8.97349179e-03 2.15235456e+01] [ 2.47543327e-02 6.93458096e-04 9.99693324e-01 4.00276129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.970888479 meters 0.017094098416380862 Centerline is valid? [True, True] Translation: X:123.96, Y:21.53, Z:0.40 [[ 9.40128643e-01 -3.40147978e-01 -2.13889359e-02 1.23963430e+02] [ 3.40046695e-01 9.40371764e-01 -8.31812685e-03 2.15343539e+01] [ 2.29429454e-02 5.46872322e-04 9.99736626e-01 4.04731904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.030888479 meters 0.017541539780218676 Centerline is valid? [True, True] Translation: X:124.02, Y:21.55, Z:0.40 [[ 9.38722238e-01 -3.44048380e-01 -2.07670856e-02 1.24018060e+02] [ 3.43953805e-01 9.38951819e-01 -8.07848409e-03 2.15534476e+01] [ 2.22786822e-02 4.40534546e-04 9.99751702e-01 4.01849873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.090888479 meters 0.014854943614450852 Centerline is valid? [True, True] Translation: X:124.08, Y:21.56, Z:0.41 [[ 9.36121531e-01 -3.51132585e-01 -1.95547269e-02 1.24078223e+02] [ 3.51050252e-01 9.36325713e-01 -7.60784412e-03 2.15630325e+01] [ 2.09809555e-02 2.57174898e-04 9.99779842e-01 4.05687541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.150888479 meters 0.015442781051635173 Centerline is valid? [True, True] Translation: X:124.13, Y:21.58, Z:0.40 [[ 9.34526628e-01 -3.55356849e-01 -1.95317813e-02 1.24133279e+02] [ 3.55275591e-01 9.34730701e-01 -7.60078611e-03 2.15799836e+01] [ 2.09579470e-02 1.63971888e-04 9.99780345e-01 4.01143041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.210888479 meters 0.014083929154403173 Centerline is valid? [True, True] Translation: X:124.19, Y:21.59, Z:0.40 [[ 9.32490036e-01 -3.60678264e-01 -1.93267440e-02 1.24191546e+02] [ 3.60599738e-01 9.32690296e-01 -7.52607759e-03 2.15938106e+01] [ 2.07403591e-02 4.87735608e-05 9.99784894e-01 4.03894297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.270888479 meters 0.014240284419379136 Centerline is valid? [True, True] Translation: X:124.25, Y:21.61, Z:0.40 [[ 9.31773816e-01 -3.62553249e-01 -1.87802377e-02 1.24245923e+02] [ 3.62479418e-01 9.31963058e-01 -7.31644239e-03 2.16124311e+01] [ 2.01550877e-02 9.81981816e-06 9.99796866e-01 4.02407172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.330888479 meters 0.014111370805811508 Centerline is valid? [True, True] Translation: X:124.30, Y:21.62, Z:0.40 [[ 9.29738443e-01 -3.67786421e-01 -1.78766780e-02 1.24303303e+02] [ 3.67720386e-01 9.29910286e-01 -6.96977773e-03 2.16249914e+01] [ 1.91870964e-02 -9.35486445e-05 9.99815906e-01 4.03289617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.390888479 meters 0.014016709764506316 Centerline is valid? [True, True] Translation: X:124.36, Y:21.64, Z:0.40 [[ 9.28633059e-01 -3.70640935e-01 -1.63076395e-02 1.24358755e+02] [ 3.70586330e-01 9.28776227e-01 -6.36342743e-03 2.16419640e+01] [ 1.75046945e-02 -1.34099173e-04 9.99846772e-01 4.04610262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45088847899999 meters 0.013913404078776536 Centerline is valid? [True, True] Translation: X:124.41, Y:21.66, Z:0.40 [[ 9.28939612e-01 -3.69968236e-01 -1.39535705e-02 1.24413940e+02] [ 3.69928154e-01 9.29044398e-01 -5.44676575e-03 2.16593733e+01] [ 1.49786169e-02 -1.02102135e-04 9.99887809e-01 4.04866713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.510888479 meters 0.013215977905242652 Centerline is valid? [True, True] Translation: X:124.47, Y:21.68, Z:0.41 [[ 9.30712790e-01 -3.65498903e-01 -1.35740521e-02 1.24468484e+02] [ 3.65460446e-01 9.30811770e-01 -5.30201205e-03 2.16809910e+01] [ 1.45727671e-02 -2.61287254e-05 9.99893811e-01 4.05225855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.570888479 meters 0.013123750403749836 Centerline is valid? [True, True] Translation: X:124.52, Y:21.70, Z:0.40 [[ 9.32376567e-01 -3.61234784e-01 -1.35413629e-02 1.24521973e+02] [ 3.61195999e-01 9.32474895e-01 -5.29351426e-03 2.17040476e+01] [ 1.45391824e-02 4.44625513e-05 9.99894300e-01 4.03610050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.630888479 meters 0.013288593427054525 Centerline is valid? [True, True] Translation: X:124.58, Y:21.73, Z:0.40 [[ 9.34973901e-01 -3.54529297e-01 -1.15231288e-02 1.24576433e+02] [ 3.54500661e-01 9.35044898e-01 -4.50782403e-03 2.17277743e+01] [ 1.23727985e-02 1.29741033e-04 9.99923446e-01 4.03455303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.690888479 meters 0.013769504764964588 Centerline is valid? [True, True] Translation: X:124.63, Y:21.75, Z:0.40 [[ 9.36286908e-01 -3.51082745e-01 -1.03793871e-02 1.24630371e+02] [ 3.51059283e-01 9.36344424e-01 -4.06185520e-03 2.17502986e+01] [ 1.11447285e-02 1.59281651e-04 9.99937883e-01 4.03430667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.750888479 meters 0.014541372556993807 Centerline is valid? [True, True] Translation: X:124.69, Y:21.77, Z:0.40 [[ 9.37447987e-01 -3.48018052e-01 -8.64337757e-03 1.24686144e+02] [ 3.48001634e-01 9.37487818e-01 -3.38440448e-03 2.17701649e+01] [ 9.28089503e-03 1.64793643e-04 9.99956918e-01 4.04383904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.810888479 meters 0.015684197837813194 Centerline is valid? [True, True] Translation: X:124.74, Y:21.79, Z:0.40 [[ 9.38147135e-01 -3.46144968e-01 -7.97586839e-03 1.24741271e+02] [ 3.46130910e-01 9.38181023e-01 -3.12424146e-03 2.17890477e+01] [ 8.56424883e-03 1.70303590e-04 9.99963312e-01 4.04556018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.870888479 meters 0.014432962831897891 Centerline is valid? [True, True] Translation: X:124.80, Y:21.80, Z:0.40 [[ 9.38417846e-01 -3.45398660e-01 -8.46828153e-03 1.24797880e+02] [ 3.45382764e-01 9.38456035e-01 -3.31911109e-03 2.18048591e+01] [ 9.09352643e-03 1.89914595e-04 9.99958635e-01 4.04818405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.930888479 meters 0.014904106065542178 Centerline is valid? [True, True] Translation: X:124.85, Y:21.82, Z:0.40 [[ 9.38601456e-01 -3.44848693e-01 -1.03288805e-02 1.24853168e+02] [ 3.44824988e-01 9.38658256e-01 -4.05047934e-03 2.18225240e+01] [ 1.10920915e-02 2.40129698e-04 9.99938452e-01 4.02204183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.990888479 meters 0.014520089778450323 Centerline is valid? [True, True] Translation: X:124.91, Y:21.84, Z:0.40 [[ 9.37843817e-01 -3.46908705e-01 -1.01648621e-02 1.24911020e+02] [ 3.46885840e-01 9.37898877e-01 -3.98868954e-03 2.18356962e+01] [ 1.09173239e-02 2.14721092e-04 9.99940381e-01 4.03482329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.050888479 meters 0.013602441535012338 Centerline is valid? [True, True] Translation: X:124.97, Y:21.85, Z:0.40 [[ 9.36569526e-01 -3.50366822e-01 -8.97852875e-03 1.24968060e+02] [ 3.50349118e-01 9.36612548e-01 -3.52562113e-03 2.18511578e+01] [ 9.64466336e-03 1.56369688e-04 9.99953477e-01 4.04467313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.110888479 meters 0.012502057607785617 Centerline is valid? [True, True] Translation: X:125.03, Y:21.86, Z:0.41 [[ 9.34517285e-01 -3.55825963e-01 -8.08259753e-03 1.25026394e+02] [ 3.55811810e-01 9.34552233e-01 -3.17490993e-03 2.18636557e+01] [ 8.68332495e-03 9.11245529e-05 9.99962295e-01 4.05844393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17088847899998 meters 0.011725089723050634 Centerline is valid? [True, True] Translation: X:125.09, Y:21.88, Z:0.41 [[ 9.32540615e-01 -3.60966074e-01 -8.45548488e-03 1.25085306e+02] [ 3.60950779e-01 9.32578946e-01 -3.32323923e-03 2.18750368e+01] [ 9.08498380e-03 4.70416966e-05 9.99958730e-01 4.07137178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.230888479 meters 0.011651699773139047 Centerline is valid? [True, True] Translation: X:125.14, Y:21.89, Z:0.41 [[ 9.31539935e-01 -3.63538074e-01 -8.56840842e-03 1.25141471e+02] [ 3.63522452e-01 9.31579341e-01 -3.37025959e-03 2.18917882e+01] [ 9.20736994e-03 2.47225642e-05 9.99957611e-01 4.07450012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.290888479 meters 0.011541742835009952 Centerline is valid? [True, True] Translation: X:125.20, Y:21.91, Z:0.41 [[ 9.31048428e-01 -3.64807851e-01 -8.00351348e-03 1.25197825e+02] [ 3.64794246e-01 9.31082828e-01 -3.15061264e-03 2.19079325e+01] [ 8.60130218e-03 1.37372776e-05 9.99963008e-01 4.08767937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.350888479 meters 0.011660248832144327 Centerline is valid? [True, True] Translation: X:125.25, Y:21.93, Z:0.41 [[ 9.31250935e-01 -3.64266127e-01 -9.04902214e-03 1.25253005e+02] [ 3.64248691e-01 9.31294899e-01 -3.56412597e-03 2.19257164e+01] [ 9.72559851e-03 2.30011675e-05 9.99952705e-01 4.08058122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.410888479 meters 0.011785120733311614 Centerline is valid? [True, True] Translation: X:125.31, Y:21.95, Z:0.41 [[ 9.31802562e-01 -3.62835036e-01 -9.73257490e-03 1.25308693e+02] [ 3.62814763e-01 9.31853387e-01 -3.83574640e-03 2.19456437e+01] [ 1.04610761e-02 4.30364618e-05 9.99945281e-01 4.08229031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.470888479 meters 0.011959402135118318 Centerline is valid? [True, True] Translation: X:125.36, Y:21.96, Z:0.41 [[ 9.32472733e-01 -3.61119381e-01 -9.34847058e-03 1.25364194e+02] [ 3.61100565e-01 9.32519592e-01 -3.68690255e-03 2.19649786e+01] [ 1.00490439e-02 6.21980912e-05 9.99949505e-01 4.09807622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.530888479 meters 0.01234657172766414 Centerline is valid? [True, True] Translation: X:125.42, Y:21.99, Z:0.41 [[ 9.33116942e-01 -3.59483255e-01 -8.03502798e-03 1.25418188e+02] [ 3.59469284e-01 9.33151534e-01 -3.17003628e-03 2.19859810e+01] [ 8.63747364e-03 6.96688054e-05 9.99962694e-01 4.11799858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.590888479 meters 0.012571962800363906 Centerline is valid? [True, True] Translation: X:125.47, Y:22.01, Z:0.41 [[ 9.33855362e-01 -3.57575592e-01 -7.33889008e-03 1.25473492e+02] [ 3.57563866e-01 9.33884195e-01 -2.89697237e-03 2.20059610e+01] [ 7.88956007e-03 8.12312639e-05 9.99968874e-01 4.13622866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.650888479 meters 0.012478721193491592 Centerline is valid? [True, True] Translation: X:125.53, Y:22.02, Z:0.41 [[ 9.33403413e-01 -3.58726560e-01 -8.56291577e-03 1.25529106e+02] [ 3.58710618e-01 9.33442686e-01 -3.38293202e-03 2.20237861e+01] [ 9.20653866e-03 8.60314863e-05 9.99957615e-01 4.13840778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.710888479 meters 0.01233620284478506 Centerline is valid? [True, True] Translation: X:125.58, Y:22.04, Z:0.41 [[ 9.32663846e-01 -3.60617004e-01 -9.67088677e-03 1.25583775e+02] [ 3.60596738e-01 9.32713981e-01 -3.82386603e-03 2.20425967e+01] [ 1.03991224e-02 7.90913761e-05 9.99945925e-01 4.13010344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.770888479 meters 0.012292927580475217 Centerline is valid? [True, True] Translation: X:125.64, Y:22.06, Z:0.41 [[ 9.32083760e-01 -3.62119901e-01 -9.43614071e-03 1.25639838e+02] [ 3.62100657e-01 9.32131521e-01 -3.73374780e-03 2.20622994e+01] [ 1.01477886e-02 6.33329339e-05 9.99948508e-01 4.13221780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.830888479 meters 0.012420807000930359 Centerline is valid? [True, True] Translation: X:125.69, Y:22.08, Z:0.41 [[ 9.31723353e-01 -3.63025265e-01 -1.02103164e-02 1.25694825e+02] [ 3.63002753e-01 9.31779294e-01 -4.04327763e-03 2.20819967e+01] [ 1.09815733e-02 6.08432388e-05 9.99939699e-01 4.11964333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.890888479 meters 0.012455523122585726 Centerline is valid? [True, True] Translation: X:125.75, Y:22.10, Z:0.41 [[ 9.31396456e-01 -3.63840337e-01 -1.09932356e-02 1.25749603e+02] [ 3.63814254e-01 9.31461328e-01 -4.35693819e-03 2.21005624e+01] [ 1.18250037e-02 5.85409862e-05 9.99930080e-01 4.12330968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95088847899999 meters 0.012392551763870517 Centerline is valid? [True, True] Translation: X:125.81, Y:22.12, Z:0.42 [[ 9.30620256e-01 -3.65843646e-01 -1.02159752e-02 1.25806573e+02] [ 3.65821209e-01 9.30676327e-01 -4.05182540e-03 2.21175871e+01] [ 1.09901008e-02 3.34904067e-05 9.99939606e-01 4.15123170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.010888479 meters 0.012621616422592198 Centerline is valid? [True, True] Translation: X:125.86, Y:22.14, Z:0.42 [[ 9.30777361e-01 -3.65470660e-01 -9.20328255e-03 1.25861407e+02] [ 3.65452405e-01 9.30822859e-01 -3.65296650e-03 2.21379519e+01] [ 9.90167786e-03 3.67367844e-05 9.99950977e-01 4.16627749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.070888479 meters 0.012899024547998668 Centerline is valid? [True, True] Translation: X:125.92, Y:22.16, Z:0.42 [[ 9.31499628e-01 -3.63619537e-01 -9.44855241e-03 1.25915621e+02] [ 3.63600173e-01 9.31547545e-01 -3.75308385e-03 2.21604746e+01] [ 1.01664704e-02 6.05009282e-05 9.99948318e-01 4.17183917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.130888479 meters 0.01335881432181839 Centerline is valid? [True, True] Translation: X:125.97, Y:22.18, Z:0.42 [[ 9.32312028e-01 -3.61481168e-01 -1.12092283e-02 1.25970076e+02] [ 3.61453721e-01 9.32379405e-01 -4.45568768e-03 2.21839428e+01] [ 1.20619008e-02 1.02473937e-04 9.99927247e-01 4.15025319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.190888479 meters 0.01326509900512739 Centerline is valid? [True, True] Translation: X:126.02, Y:22.21, Z:0.41 [[ 9.32255465e-01 -3.61598090e-01 -1.21066045e-02 1.26024939e+02] [ 3.61566037e-01 9.32334065e-01 -4.81582329e-03 2.22054155e+01] [ 1.30287923e-02 1.12240573e-04 9.99915115e-01 4.14648602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.250888479 meters 0.01344941012602538 Centerline is valid? [True, True] Translation: X:126.08, Y:22.22, Z:0.42 [[ 9.32192185e-01 -3.61753795e-01 -1.23256791e-02 1.26080307e+02] [ 3.61720533e-01 9.32273661e-01 -4.90686088e-03 2.22239632e+01] [ 1.32659815e-02 1.15686134e-04 9.99911996e-01 4.16791360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.310888479 meters 0.01361901775050852 Centerline is valid? [True, True] Translation: X:126.13, Y:22.25, Z:0.42 [[ 9.32331909e-01 -3.61393717e-01 -1.23204452e-02 1.26134236e+02] [ 3.61360399e-01 9.32413302e-01 -4.90877490e-03 2.22454503e+01] [ 1.32617474e-02 1.24486477e-04 9.99912051e-01 4.18592740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.370888479 meters 0.014083091799543906 Centerline is valid? [True, True] Translation: X:126.19, Y:22.27, Z:0.42 [[ 9.32615043e-01 -3.60669064e-01 -1.21247032e-02 1.26187115e+02] [ 3.60636712e-01 9.32693845e-01 -4.83256660e-03 2.22701307e+01] [ 1.30515933e-02 1.34311207e-04 9.99914815e-01 4.18388165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.430888479 meters 0.014092278752313326 Centerline is valid? [True, True] Translation: X:126.24, Y:22.29, Z:0.42 [[ 9.32163078e-01 -3.61834515e-01 -1.21564466e-02 1.26240481e+02] [ 3.61802070e-01 9.32242334e-01 -4.84688059e-03 2.22918162e+01] [ 1.30865228e-02 1.19855601e-04 9.99914361e-01 4.17661892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.490888479 meters 0.013749429159693233 Centerline is valid? [True, True] Translation: X:126.30, Y:22.31, Z:0.42 [[ 9.31091226e-01 -3.64616081e-01 -1.11464287e-02 1.26296751e+02] [ 3.64588971e-01 9.31157939e-01 -4.44683468e-03 2.23105852e+01] [ 1.20004730e-02 7.65437776e-05 9.99927989e-01 4.20633270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.550888479 meters 0.013180831538279269 Centerline is valid? [True, True] Translation: X:126.35, Y:22.33, Z:0.42 [[ 9.29157063e-01 -3.69541399e-01 -1.03105147e-02 1.26353584e+02] [ 3.69518485e-01 9.29214267e-01 -4.11519001e-03 2.23282508e+01] [ 1.11014104e-02 1.37321063e-05 9.99938377e-01 4.24374750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.610888479 meters 0.013201557990230255 Centerline is valid? [True, True] Translation: X:126.41, Y:22.35, Z:0.42 [[ 9.27933858e-01 -3.72599205e-01 -1.04205175e-02 1.26406780e+02] [ 3.72575975e-01 9.27992366e-01 -4.16059741e-03 2.23495781e+01] [ 1.12203959e-02 -2.16752430e-05 9.99937049e-01 4.22370599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67088847899998 meters 0.013362519206163064 Centerline is valid? [True, True] Translation: X:126.46, Y:22.37, Z:0.42 [[ 9.27028336e-01 -3.74858420e-01 -9.98138874e-03 1.26461157e+02] [ 3.74837208e-01 9.27082069e-01 -3.98805259e-03 2.23695453e+01] [ 1.07485216e-02 -4.43581270e-05 9.99942232e-01 4.23367096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.730888479 meters 0.01413910481056477 Centerline is valid? [True, True] Translation: X:126.52, Y:22.39, Z:0.42 [[ 9.25061684e-01 -3.79729052e-01 -8.16875432e-03 1.26516309e+02] [ 3.79715020e-01 9.25097747e-01 -3.26536254e-03 2.23869055e+01] [ 8.79684924e-03 -8.11369415e-05 9.99961304e-01 4.24741130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.790888479 meters 0.014246703788211001 Centerline is valid? [True, True] Translation: X:126.57, Y:22.41, Z:0.43 [[ 9.23838401e-01 -3.82723002e-01 -6.76109262e-03 1.26570818e+02] [ 3.82713458e-01 9.23863137e-01 -2.70419400e-03 2.24085562e+01] [ 7.28128149e-03 -8.93228757e-05 9.99973487e-01 4.26306480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.850888479 meters 0.014855907689360532 Centerline is valid? [True, True] Translation: X:126.63, Y:22.43, Z:0.43 [[ 9.22804420e-01 -3.85232743e-01 -5.26659987e-03 1.26625361e+02] [ 3.85226988e-01 9.22819444e-01 -2.10730580e-03 2.24285729e+01] [ 5.67192396e-03 -8.42053048e-05 9.99983911e-01 4.27582100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.910888479 meters 0.014713966250423144 Centerline is valid? [True, True] Translation: X:126.68, Y:22.45, Z:0.43 [[ 9.22472819e-01 -3.86023936e-01 -5.42400814e-03 1.26680161e+02] [ 3.86017840e-01 9.22488760e-01 -2.17136756e-03 2.24509176e+01] [ 5.84178640e-03 -9.07363563e-05 9.99982933e-01 4.27467674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.970888479 meters 0.014696611908077887 Centerline is valid? [True, True] Translation: X:126.73, Y:22.48, Z:0.43 [[ 9.22950822e-01 -3.84885307e-01 -5.00813036e-03 1.26733084e+02] [ 3.84880088e-01 9.22964406e-01 -2.00581044e-03 2.24755524e+01] [ 5.39433302e-03 -7.62652601e-05 9.99985448e-01 4.26197091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.030888479 meters 0.013951833015848491 Centerline is valid? [True, True] Translation: X:126.79, Y:22.50, Z:0.43 [[ 9.24225912e-01 -3.81818030e-01 -4.63196261e-03 1.26786340e+02] [ 3.81813523e-01 9.24237518e-01 -1.85593456e-03 2.25025306e+01] [ 4.98966290e-03 -5.32431501e-05 9.99987550e-01 4.25976027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.090888479 meters 0.013752234534854873 Centerline is valid? [True, True] Translation: X:126.84, Y:22.53, Z:0.43 [[ 9.25107417e-01 -3.79680880e-01 -4.32400820e-03 1.26840291e+02] [ 3.79676923e-01 9.25117521e-01 -1.73368740e-03 2.25268679e+01] [ 4.65846371e-03 -3.78790628e-05 9.99989149e-01 4.26339759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.150888479 meters 0.013530286204190849 Centerline is valid? [True, True] Translation: X:126.89, Y:22.55, Z:0.43 [[ 9.26397426e-01 -3.76528956e-01 -3.70868566e-03 1.26893589e+02] [ 3.76526017e-01 9.26404849e-01 -1.48793677e-03 2.25525240e+01] [ 3.99599566e-03 -1.79958452e-05 9.99992016e-01 4.26181494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.210888479 meters 0.01338674512229376 Centerline is valid? [True, True] Translation: X:126.95, Y:22.58, Z:0.43 [[ 9.27655212e-01 -3.73433779e-01 -1.73779522e-03 1.26945996e+02] [ 3.73433128e-01 9.27656840e-01 -6.97279085e-04 2.25774736e+01] [ 1.87246519e-03 -2.11572651e-06 9.99998247e-01 4.26470561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.270888479 meters 0.01349780506021993 Centerline is valid? [True, True] Translation: X:127.00, Y:22.60, Z:0.43 [[ 9.28243464e-01 -3.71971764e-01 -1.03831522e-03 1.26999786e+02] [ 3.71971531e-01 9.28244045e-01 -4.16603945e-04 2.25994273e+01] [ 1.11877483e-03 4.86185469e-07 9.99999374e-01 4.27336888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.330888479 meters 0.013513580150713305 Centerline is valid? [True, True] Translation: X:127.05, Y:22.62, Z:0.43 [[ 9.28835366e-01 -3.70491996e-01 -7.37058768e-04 1.27053496e+02] [ 3.70491878e-01 9.28835659e-01 -2.95726908e-04 2.26217726e+01] [ 7.94170919e-04 1.60732382e-06 9.99999685e-01 4.26981169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.390888479 meters 0.01365621958582348 Centerline is valid? [True, True] Translation: X:127.11, Y:22.64, Z:0.43 [[ 9.29382305e-01 -3.69114803e-01 1.67116898e-03 1.27107387e+02] [ 3.69114189e-01 9.29383808e-01 6.73661990e-04 2.26447727e+01] [-1.80181600e-03 -9.23735092e-06 9.99998377e-01 4.28381869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45088847899999 meters 0.013721938918473101 Centerline is valid? [True, True] Translation: X:127.16, Y:22.67, Z:0.43 [[ 9.29409767e-01 -3.69031452e-01 3.64312765e-03 1.27161281e+02] [ 3.69028535e-01 9.29416907e-01 1.46759188e-03 2.26654409e+01] [-3.92757199e-03 -1.95761671e-05 9.99992287e-01 4.30721527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.510888479 meters 0.01363825622447748 Centerline is valid? [True, True] Translation: X:127.22, Y:22.68, Z:0.43 [[ 9.28689487e-01 -3.70839168e-01 3.76147163e-03 1.27216311e+02] [ 3.70836065e-01 9.28697104e-01 1.51704085e-03 2.26836568e+01] [-4.05584598e-03 -1.39705483e-05 9.99991775e-01 4.31570986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.570888479 meters 0.013703683114282933 Centerline is valid? [True, True] Translation: X:127.27, Y:22.70, Z:0.43 [[ 9.27805673e-01 -3.73040123e-01 4.20711448e-03 1.27271570e+02] [ 3.73036258e-01 9.27815211e-01 1.69808920e-03 2.27018823e+01] [-4.53688022e-03 -6.09054508e-06 9.99989708e-01 4.31036304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.630888479 meters 0.013804122478836098 Centerline is valid? [True, True] Translation: X:127.33, Y:22.72, Z:0.43 [[ 9.26214352e-01 -3.76975078e-01 4.09461061e-03 1.27326421e+02] [ 3.76971455e-01 9.26223402e-01 1.65279440e-03 2.27197350e+01] [-4.41558647e-03 1.27094260e-05 9.99990251e-01 4.29552091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.690888479 meters 0.014026282362348185 Centerline is valid? [True, True] Translation: X:127.38, Y:22.74, Z:0.43 [[ 9.24800471e-01 -3.80422278e-01 4.79372022e-03 1.27382739e+02] [ 3.80417350e-01 9.24812894e-01 1.93664142e-03 2.27379306e+01] [-5.17003581e-03 3.26074427e-05 9.99986635e-01 4.30891599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.750888479 meters 0.01433588637741668 Centerline is valid? [True, True] Translation: X:127.44, Y:22.76, Z:0.43 [[ 9.23515305e-01 -3.83522137e-01 5.50013032e-03 1.27438358e+02] [ 3.83515696e-01 9.23531682e-01 2.22346409e-03 2.27566066e+01] [-5.93229230e-03 5.59831852e-05 9.99982402e-01 4.32352249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.810888479 meters 0.01469867714213744 Centerline is valid? [True, True] Translation: X:127.49, Y:22.78, Z:0.43 [[ 9.21897598e-01 -3.87415980e-01 3.69815297e-03 1.27493938e+02] [ 3.87413094e-01 9.21905014e-01 1.49631345e-03 2.27769669e+01] [-3.98904151e-03 5.32651138e-05 9.99992042e-01 4.29176490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.870888479 meters 0.015110976919167275 Centerline is valid? [True, True] Translation: X:127.55, Y:22.80, Z:0.43 [[ 9.20502798e-01 -3.90723378e-01 3.13683373e-03 1.27548793e+02] [ 3.90721318e-01 9.20508141e-01 1.27020526e-03 2.27988563e+01] [-3.38377988e-03 5.64003168e-05 9.99994273e-01 4.26927056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.930888479 meters 0.015062811458131781 Centerline is valid? [True, True] Translation: X:127.60, Y:22.82, Z:0.43 [[ 9.19938684e-01 -3.92050246e-01 3.06950133e-03 1.27602457e+02] [ 3.92048277e-01 9.19943803e-01 1.24385384e-03 2.28222769e+01] [-3.31142193e-03 5.91234430e-05 9.99994515e-01 4.25983184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.990888479 meters 0.015669919235821592 Centerline is valid? [True, True] Translation: X:127.66, Y:22.85, Z:0.43 [[ 9.20081877e-01 -3.91717855e-01 2.54207014e-03 1.27655229e+02] [ 3.91716504e-01 9.20085387e-01 1.03002273e-03 2.28469882e+01] [-2.74239989e-03 4.80655829e-05 9.99996238e-01 4.25365019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.050888479 meters 0.014830299493653493 Centerline is valid? [True, True] Translation: X:127.71, Y:22.88, Z:0.42 [[ 9.20737351e-01 -3.90179843e-01 1.55576666e-03 1.27706959e+02] [ 3.90179333e-01 9.20738665e-01 6.31398671e-04 2.28765152e+01] [-1.67881355e-03 2.56756576e-05 9.99998590e-01 4.23248917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.110888479 meters 0.014633939255053328 Centerline is valid? [True, True] Translation: X:127.76, Y:22.90, Z:0.42 [[ 9.21171708e-01 -3.89154700e-01 1.14217113e-03 1.27760785e+02] [ 3.89154424e-01 9.21172416e-01 4.64050934e-04 2.29010381e+01] [-1.23272414e-03 1.70103582e-05 9.99999240e-01 4.23361789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17088847899998 meters 0.013682598997471972 Centerline is valid? [True, True] Translation: X:127.81, Y:22.93, Z:0.42 [[ 9.23336065e-01 -3.83992419e-01 5.76556904e-04 1.27810785e+02] [ 3.83992347e-01 9.23336245e-01 2.34797928e-04 2.29348961e+01] [-6.22516511e-04 4.59604414e-06 9.99999806e-01 4.21412910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.230888479 meters 0.01339464453866524 Centerline is valid? [True, True] Translation: X:127.86, Y:22.96, Z:0.42 [[ 9.25067231e-01 -3.79800040e-01 -1.59624452e-03 1.27860795e+02] [ 3.79799488e-01 9.25068608e-01 -6.47877249e-04 2.29648191e+01] [ 1.72269950e-03 -6.92283899e-06 9.99998516e-01 4.19320826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.290888479 meters 0.013273353220591425 Centerline is valid? [True, True] Translation: X:127.91, Y:23.00, Z:0.42 [[ 9.27436892e-01 -3.73955105e-01 -4.28846827e-03 1.27909501e+02] [ 3.73951048e-01 9.27446807e-01 -1.74185882e-03 2.29993070e+01] [ 4.62870320e-03 1.17869250e-05 9.99989287e-01 4.15512518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.350888479 meters 0.013767479671754162 Centerline is valid? [True, True] Translation: X:127.96, Y:23.03, Z:0.41 [[ 9.29270063e-01 -3.69349177e-01 -6.19149389e-03 1.27958009e+02] [ 3.69340608e-01 9.29290688e-01 -2.51642205e-03 2.30345138e+01] [ 6.68313603e-03 5.16655559e-05 9.99977666e-01 4.11592927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.410888479 meters 0.013827341155976454 Centerline is valid? [True, True] Translation: X:128.01, Y:23.06, Z:0.41 [[ 9.30008517e-01 -3.67473193e-01 -6.90002678e-03 1.28010005e+02] [ 3.67462488e-01 9.30034111e-01 -2.80595356e-03 2.30621314e+01] [ 7.44837298e-03 7.40597082e-05 9.99972258e-01 4.10977582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.470888479 meters 0.014354251789826309 Centerline is valid? [True, True] Translation: X:128.06, Y:23.09, Z:0.41 [[ 9.30996680e-01 -3.64954038e-01 -7.33023999e-03 1.28059273e+02] [ 3.64941868e-01 9.31025531e-01 -2.98220480e-03 2.30946913e+01] [ 7.91300826e-03 1.01311298e-04 9.99968687e-01 4.09141413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.530888479 meters 0.014293778669848897 Centerline is valid? [True, True] Translation: X:128.11, Y:23.12, Z:0.41 [[ 9.30794593e-01 -3.65419682e-01 -9.48059084e-03 1.28110476e+02] [ 3.65399337e-01 9.30842865e-01 -3.85811354e-03 2.31237475e+01] [ 1.02347710e-02 1.26909617e-04 9.99947615e-01 4.08278389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.590888479 meters 0.014070456367358453 Centerline is valid? [True, True] Translation: X:128.16, Y:23.15, Z:0.41 [[ 9.29496839e-01 -3.68642708e-01 -1.17549956e-02 1.28163631e+02] [ 3.68611648e-01 9.29571160e-01 -4.78667991e-03 2.31483744e+01] [ 1.26916795e-02 1.16175559e-04 9.99919451e-01 4.06771459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.650888479 meters 0.013866794463582707 Centerline is valid? [True, True] Translation: X:128.22, Y:23.17, Z:0.40 [[ 9.26810956e-01 -3.75303766e-01 -1.29821239e-02 1.28217642e+02] [ 3.75266480e-01 9.26901873e-01 -5.29020030e-03 2.31725369e+01] [ 1.40185870e-02 3.12596584e-05 9.99901734e-01 4.04849207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.710888479 meters 0.013969170610074497 Centerline is valid? [True, True] Translation: X:128.27, Y:23.19, Z:0.40 [[ 9.24736305e-01 -3.80386540e-01 -1.29940586e-02 1.28271275e+02] [ 3.80349629e-01 9.24827594e-01 -5.29919427e-03 2.31944733e+01] [ 1.40330061e-02 -4.19280416e-05 9.99901532e-01 4.04840816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.770888479 meters 0.014626227363115743 Centerline is valid? [True, True] Translation: X:128.33, Y:23.21, Z:0.41 [[ 9.22216213e-01 -3.86407453e-01 -1.43714265e-02 1.28326833e+02] [ 3.86362963e-01 9.22328174e-01 -5.86520862e-03 2.32140971e+01] [ 1.55215319e-02 -1.43596439e-04 9.99879523e-01 4.06781581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.830888479 meters 0.01519120429811456 Centerline is valid? [True, True] Translation: X:128.38, Y:23.24, Z:0.41 [[ 9.21222426e-01 -3.88688447e-01 -1.64478558e-02 1.28381162e+02] [ 3.88630451e-01 9.21369225e-01 -6.71738724e-03 2.32361091e+01] [ 1.77655190e-02 -2.03929865e-04 9.99842160e-01 4.05097920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.890888479 meters 0.014773446072831972 Centerline is valid? [True, True] Translation: X:128.43, Y:23.26, Z:0.41 [[ 9.22344497e-01 -3.86058082e-01 -1.54850392e-02 1.28434830e+02] [ 3.86006235e-01 9.22474465e-01 -6.32844343e-03 2.32596204e+01] [ 1.67277000e-02 -1.40316696e-04 9.99860072e-01 4.06286471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95088847899999 meters 0.014014029447420816 Centerline is valid? [True, True] Translation: X:128.49, Y:23.28, Z:0.41 [[ 9.23472853e-01 -3.83385038e-01 -1.46219603e-02 1.28489722e+02] [ 3.83338413e-01 9.23588602e-01 -5.97960892e-03 2.32823061e+01] [ 1.57971684e-02 -8.31525285e-05 9.99875213e-01 4.09671238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.010888479 meters 0.014067006461067328 Centerline is valid? [True, True] Translation: X:128.54, Y:23.30, Z:0.41 [[ 9.25380145e-01 -3.78816113e-01 -1.30361293e-02 1.28542708e+02] [ 3.78778568e-01 9.25471962e-01 -5.33326671e-03 2.33047638e+01] [ 1.40848995e-02 -2.50727970e-06 9.99900803e-01 4.09863405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.070888479 meters 0.01374990887295277 Centerline is valid? [True, True] Translation: X:128.60, Y:23.33, Z:0.41 [[ 9.27206167e-01 -3.74367277e-01 -1.17416463e-02 1.28596453e+02] [ 3.74336419e-01 9.27280507e-01 -4.80705594e-03 2.33265095e+01] [ 1.26874042e-02 6.18060829e-05 9.99919510e-01 4.13445367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.130888479 meters 0.013889757530973478 Centerline is valid? [True, True] Translation: X:128.65, Y:23.35, Z:0.41 [[ 9.28179333e-01 -3.71990602e-01 -1.03014008e-02 1.28650645e+02] [ 3.71966666e-01 9.28236492e-01 -4.22071387e-03 2.33474217e+01] [ 1.11322021e-02 8.58016664e-05 9.99938031e-01 4.14628071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.190888479 meters 0.014582422403000823 Centerline is valid? [True, True] Translation: X:128.70, Y:23.37, Z:0.42 [[ 9.29984923e-01 -3.67496238e-01 -8.63465581e-03 1.28704861e+02] [ 3.67479215e-01 9.30025000e-01 -3.53914170e-03 2.33683943e+01] [ 9.33106703e-03 1.18291882e-04 9.99956458e-01 4.16372414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.250888479 meters 0.015395181547687695 Centerline is valid? [True, True] Translation: X:128.76, Y:23.39, Z:0.42 [[ 9.30997491e-01 -3.64906034e-01 -9.34118890e-03 1.28758602e+02] [ 3.64885971e-01 9.31044339e-01 -3.82968817e-03 2.33899061e+01] [ 1.00945374e-02 1.56961302e-04 9.99949037e-01 4.15626443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.310888479 meters 0.015331267120822127 Centerline is valid? [True, True] Translation: X:128.82, Y:23.41, Z:0.42 [[ 9.31961964e-01 -3.62393449e-01 -1.08575529e-02 1.28815205e+02] [ 3.62366140e-01 9.32025183e-01 -4.45409148e-03 2.34072444e+01] [ 1.17336463e-02 2.16634300e-04 9.99931135e-01 4.16118409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.370888479 meters 0.015537772605280489 Centerline is valid? [True, True] Translation: X:128.87, Y:23.43, Z:0.42 [[ 9.31950764e-01 -3.62424170e-01 -1.07932196e-02 1.28869519e+02] [ 3.62397164e-01 9.32013237e-01 -4.42964308e-03 2.34256982e+01] [ 1.16648332e-02 2.16777096e-04 9.99931940e-01 4.16323228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.430888479 meters 0.015241986667925995 Centerline is valid? [True, True] Translation: X:128.93, Y:23.44, Z:0.42 [[ 9.31356315e-01 -3.63973074e-01 -9.95069236e-03 1.28926427e+02] [ 3.63950182e-01 9.31409452e-01 -4.08632431e-03 2.34432918e+01] [ 1.07554809e-02 1.84267659e-04 9.99942141e-01 4.18519715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.490888479 meters 0.014598614780503378 Centerline is valid? [True, True] Translation: X:128.98, Y:23.46, Z:0.42 [[ 9.30071578e-01 -3.67277891e-01 -8.59125527e-03 1.28984972e+02] [ 3.67260945e-01 9.30111248e-01 -3.53045673e-03 2.34561310e+01] [ 9.28748186e-03 1.28344939e-04 9.99956862e-01 4.21509927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.550888479 meters 0.014345725856899815 Centerline is valid? [True, True] Translation: X:129.04, Y:23.47, Z:0.42 [[ 9.29106573e-01 -3.69712196e-01 -8.59463687e-03 1.29040948e+02] [ 3.69695328e-01 9.29146318e-01 -3.53321804e-03 2.34720871e+01] [ 9.29194901e-03 1.05339012e-04 9.99956823e-01 4.20262123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.610888479 meters 0.014146282859768364 Centerline is valid? [True, True] Translation: X:129.10, Y:23.49, Z:0.42 [[ 9.28335711e-01 -3.71644977e-01 -8.53340127e-03 1.29098238e+02] [ 3.71628412e-01 9.28374926e-01 -3.51000140e-03 2.34884825e+01] [ 9.22667016e-03 8.72052897e-05 9.99957430e-01 4.20832908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67088847899998 meters 0.014140886673334801 Centerline is valid? [True, True] Translation: X:129.16, Y:23.50, Z:0.42 [[ 9.27642506e-01 -3.73373323e-01 -8.47014027e-03 1.29156478e+02] [ 3.73357052e-01 9.27681172e-01 -3.48643813e-03 2.35014996e+01] [ 9.15933264e-03 7.17816036e-05 9.99958050e-01 4.22390602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.730888479 meters 0.014106805443541818 Centerline is valid? [True, True] Translation: X:129.21, Y:23.52, Z:0.42 [[ 9.26869125e-01 -3.75281627e-01 -8.79345081e-03 1.29212178e+02] [ 3.75264162e-01 9.26910836e-01 -3.62094388e-03 2.35174689e+01] [ 9.50961855e-03 5.62741383e-05 9.99954781e-01 4.22042296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.790888479 meters 0.014037690118999413 Centerline is valid? [True, True] Translation: X:129.27, Y:23.53, Z:0.42 [[ 9.26629377e-01 -3.75843137e-01 -9.99667084e-03 1.29267603e+02] [ 3.75820569e-01 9.26683297e-01 -4.11916191e-03 2.35344650e+01] [ 1.08119066e-02 5.99819149e-05 9.99941548e-01 4.22603786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.850888479 meters 0.014009291412122989 Centerline is valid? [True, True] Translation: X:129.32, Y:23.55, Z:0.42 [[ 9.26468254e-01 -3.76282712e-01 -8.23985325e-03 1.29322765e+02] [ 3.76267385e-01 9.26504894e-01 -3.39654279e-03 2.35513926e+01] [ 8.91232470e-03 4.64010260e-05 9.99960283e-01 4.23256477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.910888479 meters 0.013832559809459483 Centerline is valid? [True, True] Translation: X:129.38, Y:23.57, Z:0.42 [[ 9.25246760e-01 -3.79309272e-01 -6.55054879e-03 1.29380357e+02] [ 3.79299651e-01 9.25269948e-01 -2.70154898e-03 2.35673790e+01] [ 7.08574851e-03 1.49785649e-05 9.99974896e-01 4.24930147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.970888479 meters 0.013837761464150607 Centerline is valid? [True, True] Translation: X:129.43, Y:23.59, Z:0.43 [[ 9.24758001e-01 -3.80506944e-01 -6.09136698e-03 1.29434685e+02] [ 3.80498638e-01 9.24778063e-01 -2.51403924e-03 2.35869272e+01] [ 6.58977195e-03 7.12105613e-06 9.99978287e-01 4.25856301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.030888479 meters 0.01395420191979636 Centerline is valid? [True, True] Translation: X:129.49, Y:23.60, Z:0.43 [[ 9.24409201e-01 -3.81345662e-01 -6.56625835e-03 1.29490099e+02] [ 3.81336020e-01 9.24432521e-01 -2.71186686e-03 2.36035301e+01] [ 7.10422142e-03 2.92385258e-06 9.99974765e-01 4.26799182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.090888479 meters 0.014045954594492203 Centerline is valid? [True, True] Translation: X:129.54, Y:23.63, Z:0.42 [[ 9.24660820e-01 -3.80709305e-01 -7.92417042e-03 1.29543914e+02] [ 3.80695220e-01 9.24694774e-01 -3.27490940e-03 2.36263724e+01] [ 8.57422746e-03 1.14866081e-05 9.99963241e-01 4.24449094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.150888479 meters 0.014212453086809585 Centerline is valid? [True, True] Translation: X:129.60, Y:23.65, Z:0.42 [[ 9.25536741e-01 -3.78542679e-01 -9.33711367e-03 1.29596887e+02] [ 3.78522984e-01 9.25583837e-01 -3.86161675e-03 2.36529505e+01] [ 1.01040682e-02 3.97560513e-05 9.99948952e-01 4.21364501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.210888479 meters 0.0141936645653883 Centerline is valid? [True, True] Translation: X:129.65, Y:23.67, Z:0.42 [[ 9.24953745e-01 -3.79977101e-01 -8.83022249e-03 1.29651176e+02] [ 3.79959525e-01 9.24995893e-01 -3.65472022e-03 2.36743196e+01] [ 9.55662954e-03 2.53200123e-05 9.99954334e-01 4.24078107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.270888479 meters 0.014192033248188577 Centerline is valid? [True, True] Translation: X:129.71, Y:23.69, Z:0.43 [[ 9.23588798e-01 -3.83307310e-01 -7.69665286e-03 1.29706087e+02] [ 3.83294063e-01 9.23620867e-01 -3.18680809e-03 2.36938195e+01] [ 8.33031603e-03 -6.78108753e-06 9.99965302e-01 4.25961831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.330888479 meters 0.014628670850364867 Centerline is valid? [True, True] Translation: X:129.76, Y:23.71, Z:0.43 [[ 9.21277815e-01 -3.88848934e-01 -6.61016496e-03 1.29760998e+02] [ 3.88839295e-01 9.21301527e-01 -2.73831928e-03 2.37146665e+01] [ 7.15474760e-03 -4.75390852e-05 9.99974403e-01 4.25753572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.390888479 meters 0.015071448057534251 Centerline is valid? [True, True] Translation: X:129.81, Y:23.74, Z:0.42 [[ 9.20030756e-01 -3.91786790e-01 -6.82053324e-03 1.29814606e+02] [ 3.91776593e-01 9.20056034e-01 -2.82748117e-03 2.37382960e+01] [ 7.38304253e-03 -7.07556423e-05 9.99972742e-01 4.24431689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45088847899999 meters 0.015303505611092656 Centerline is valid? [True, True] Translation: X:129.87, Y:23.76, Z:0.42 [[ 9.19633837e-01 -3.92708720e-01 -7.31208796e-03 1.29869307e+02] [ 3.92697012e-01 9.19662903e-01 -3.03345156e-03 2.37612626e+01] [ 7.91591892e-03 -8.17704006e-05 9.99968665e-01 4.24826818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.510888479 meters 0.015610457464191749 Centerline is valid? [True, True] Translation: X:129.92, Y:23.79, Z:0.43 [[ 9.19750776e-01 -3.92447278e-01 -6.60631714e-03 1.29921863e+02] [ 3.92437707e-01 9.19774499e-01 -2.74174983e-03 2.37851645e+01] [ 7.15231429e-03 -7.08414161e-05 9.99974419e-01 4.26426693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.570888479 meters 0.015519505107241118 Centerline is valid? [True, True] Translation: X:129.97, Y:23.81, Z:0.43 [[ 9.20322880e-01 -3.91111555e-01 -6.12759598e-03 1.29974633e+02] [ 3.91103283e-01 9.20343278e-01 -2.54432179e-03 2.38106437e+01] [ 6.63460542e-03 -5.49253464e-05 9.99977989e-01 4.26351150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.630888479 meters 0.01527537642852519 Centerline is valid? [True, True] Translation: X:130.03, Y:23.84, Z:0.43 [[ 9.22094295e-01 -3.86915597e-01 -6.19934693e-03 1.30025472e+02] [ 3.86907027e-01 9.22115134e-01 -2.57521850e-03 2.38390163e+01] [ 6.71290383e-03 -2.39766063e-05 9.99977468e-01 4.25711696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.690888479 meters 0.01540830431750668 Centerline is valid? [True, True] Translation: X:130.08, Y:23.87, Z:0.43 [[ 9.23462801e-01 -3.83643519e-01 -5.83997449e-03 1.30076762e+02] [ 3.83635841e-01 9.23481267e-01 -2.42721339e-03 2.38673241e+01] [ 6.32429173e-03 1.01775011e-06 9.99980001e-01 4.25000684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.750888479 meters 0.015525919591769048 Centerline is valid? [True, True] Translation: X:130.13, Y:23.89, Z:0.42 [[ 9.23482829e-01 -3.83595340e-01 -5.83771863e-03 1.30129591e+02] [ 3.83587655e-01 9.23501281e-01 -2.42813070e-03 2.38917296e+01] [ 6.32256025e-03 3.06020450e-06 9.99980012e-01 4.24747332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.810888479 meters 0.015656846443336554 Centerline is valid? [True, True] Translation: X:130.18, Y:23.91, Z:0.42 [[ 9.22970089e-01 -3.84820643e-01 -6.26794918e-03 1.30183402e+02] [ 3.84811798e-01 9.22991372e-01 -2.60912637e-03 2.39144742e+01] [ 6.78930870e-03 -3.83518972e-06 9.99976952e-01 4.23896656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.870888479 meters 0.015901999430000827 Centerline is valid? [True, True] Translation: X:130.24, Y:23.94, Z:0.43 [[ 9.21886928e-01 -3.87426347e-01 -5.03171438e-03 1.30237369e+02] [ 3.87420678e-01 9.21900659e-01 -2.09599316e-03 2.39361755e+01] [ 5.45078378e-03 -1.71215052e-05 9.99985144e-01 4.25284206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.930888479 meters 0.016117891050186715 Centerline is valid? [True, True] Translation: X:130.29, Y:23.96, Z:0.43 [[ 9.20898763e-01 -3.89771990e-01 -4.82333820e-03 1.30291891e+02] [ 3.89766807e-01 9.20911394e-01 -2.01024485e-03 2.39570814e+01] [ 5.22540424e-03 -2.87451353e-05 9.99986347e-01 4.25685725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.990888479 meters 0.016423093696584755 Centerline is valid? [True, True] Translation: X:130.35, Y:23.98, Z:0.43 [[ 9.19909899e-01 -3.92093974e-01 -5.30028376e-03 1.30346914e+02] [ 3.92087747e-01 9.19925168e-01 -2.21009562e-03 2.39782737e+01] [ 5.74242960e-03 -4.50874763e-05 9.99983511e-01 4.26401898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.050888479 meters 0.016636958229183967 Centerline is valid? [True, True] Translation: X:130.40, Y:24.00, Z:0.43 [[ 9.19358649e-01 -3.93381133e-01 -5.56411005e-03 1.30400679e+02] [ 3.93374285e-01 9.19375485e-01 -2.32174381e-03 2.40012237e+01] [ 6.02883658e-03 -5.42625577e-05 9.99981825e-01 4.25775945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.110888479 meters 0.01664513321209255 Centerline is valid? [True, True] Translation: X:130.45, Y:24.02, Z:0.43 [[ 9.18847155e-01 -3.94564933e-01 -6.19835569e-03 1.30454484e+02] [ 3.94556450e-01 9.18868058e-01 -2.58827413e-03 2.40245489e+01] [ 6.71671327e-03 -6.73728960e-05 9.99977440e-01 4.25252139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17088847899998 meters 0.016728186199403618 Centerline is valid? [True, True] Translation: X:130.51, Y:24.05, Z:0.43 [[ 9.18771008e-01 -3.94759243e-01 -4.99741273e-03 1.30506994e+02] [ 3.94753727e-01 9.18784598e-01 -2.08773945e-03 2.40473257e+01] [ 5.41570029e-03 -5.45928211e-05 9.99985333e-01 4.25578869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.230888479 meters 0.016407665478600345 Centerline is valid? [True, True] Translation: X:130.56, Y:24.07, Z:0.43 [[ 9.19417632e-01 -3.93268673e-01 -3.31206773e-03 1.30560298e+02] [ 3.93266238e-01 9.19423597e-01 -1.38411592e-03 2.40734069e+01] [ 3.58952266e-03 -2.99438362e-05 9.99993557e-01 4.28559145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.290888479 meters 0.016199664979766437 Centerline is valid? [True, True] Translation: X:130.61, Y:24.10, Z:0.43 [[ 9.20214767e-01 -3.91404944e-01 -2.63681784e-03 1.30612649e+02] [ 3.91403391e-01 9.20218544e-01 -1.10253390e-03 2.40997692e+01] [ 2.85798589e-03 -1.74914652e-05 9.99995916e-01 4.28308719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.350888479 meters 0.015983408571938605 Centerline is valid? [True, True] Translation: X:130.66, Y:24.13, Z:0.43 [[ 9.21449920e-01 -3.88487922e-01 -2.67965603e-03 1.30664164e+02] [ 3.88486304e-01 9.21453816e-01 -1.12122183e-03 2.41286260e+01] [ 2.90476041e-03 -7.85990055e-06 9.99995781e-01 4.27245506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.410888479 meters 0.015953813443558715 Centerline is valid? [True, True] Translation: X:130.72, Y:24.15, Z:0.43 [[ 9.22079433e-01 -3.86997996e-01 -1.43902553e-03 1.30715710e+02] [ 3.86997527e-01 9.22080556e-01 -6.02127067e-04 2.41546797e+01] [ 1.55991943e-03 -1.69033571e-06 9.99998783e-01 4.28443424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.470888479 meters 0.01587896216219527 Centerline is valid? [True, True] Translation: X:130.77, Y:24.18, Z:0.43 [[ 9.23008685e-01 -3.84777631e-01 -1.06909142e-03 1.30767140e+02] [ 3.84777371e-01 9.23009304e-01 -4.47472981e-04 2.41829541e+01] [ 1.15895892e-03 1.65926061e-06 9.99999328e-01 4.28116321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.530888479 meters 0.015870486614120844 Centerline is valid? [True, True] Translation: X:130.82, Y:24.21, Z:0.43 [[ 9.23833799e-01 -3.82791218e-01 -1.41265245e-03 1.30818815e+02] [ 3.82790760e-01 9.23834879e-01 -5.92007397e-04 2.42110151e+01] [ 1.53167284e-03 6.16613806e-06 9.99998827e-01 4.27014990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.590888479 meters 0.01585673103315737 Centerline is valid? [True, True] Translation: X:130.87, Y:24.24, Z:0.43 [[ 9.23881240e-01 -3.82668778e-01 -2.83917255e-03 1.30870379e+02] [ 3.82666923e-01 9.23885602e-01 -1.19166268e-03 2.42373432e+01] [ 3.07908274e-03 1.44973720e-05 9.99995260e-01 4.25115847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.650888479 meters 0.015922400486983086 Centerline is valid? [True, True] Translation: X:130.92, Y:24.26, Z:0.42 [[ 9.23615616e-01 -3.83305988e-01 -3.27322184e-03 1.30921969e+02] [ 3.83303522e-01 9.23621416e-01 -1.37494593e-03 2.42624675e+01] [ 3.55024279e-03 1.52840695e-05 9.99993698e-01 4.23699517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.710888479 meters 0.01588646467937358 Centerline is valid? [True, True] Translation: X:130.97, Y:24.29, Z:0.42 [[ 9.23391016e-01 -3.83839562e-01 -4.02779391e-03 1.30973811e+02] [ 3.83835829e-01 9.23399800e-01 -1.69285430e-03 2.42879774e+01] [ 4.36904855e-03 1.71548396e-05 9.99990456e-01 4.22415178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.770888479 meters 0.015861810687312707 Centerline is valid? [True, True] Translation: X:131.03, Y:24.31, Z:0.42 [[ 9.23294126e-01 -3.84073638e-01 -3.92396085e-03 1.31025978e+02] [ 3.84070092e-01 9.23302464e-01 -1.65050713e-03 2.43129786e+01] [ 4.25691901e-03 1.68275358e-05 9.99990939e-01 4.23367886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.830888479 meters 0.01592490632223379 Centerline is valid? [True, True] Translation: X:131.08, Y:24.34, Z:0.43 [[ 9.23012670e-01 -3.84761751e-01 -2.45089516e-03 1.31078447e+02] [ 3.84760369e-01 9.23015923e-01 -1.03140183e-03 2.43392352e+01] [ 2.65905924e-03 8.98962772e-06 9.99996465e-01 4.25134736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.890888479 meters 0.015747190165734424 Centerline is valid? [True, True] Translation: X:131.13, Y:24.36, Z:0.42 [[ 9.22688688e-01 -3.85533857e-01 -3.03815058e-03 1.31130842e+02] [ 3.85531733e-01 9.22693690e-01 -1.27974650e-03 2.43641705e+01] [ 3.29666798e-03 9.50415952e-06 9.99994566e-01 4.24481942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95088847899999 meters 0.015781885411489845 Centerline is valid? [True, True] Translation: X:131.18, Y:24.39, Z:0.42 [[ 9.22555498e-01 -3.85849522e-01 -3.39092588e-03 1.31183340e+02] [ 3.85846874e-01 9.22561730e-01 -1.42956169e-03 2.43901296e+01] [ 3.67993414e-03 1.04718417e-05 9.99993229e-01 4.23300612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.010888479 meters 0.015614071253160215 Centerline is valid? [True, True] Translation: X:131.23, Y:24.42, Z:0.42 [[ 9.21995188e-01 -3.87189410e-01 -3.03879818e-03 1.31234776e+02] [ 3.87187287e-01 9.22000196e-01 -1.28203954e-03 2.44176009e+01] [ 3.29816465e-03 5.45026595e-06 9.99994561e-01 4.21427722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.070888479 meters 0.015608335848605232 Centerline is valid? [True, True] Translation: X:131.29, Y:24.44, Z:0.42 [[ 9.21182213e-01 -3.89107500e-01 -4.32260204e-03 1.31286963e+02] [ 3.89103218e-01 9.21192354e-01 -1.82533646e-03 2.44413489e+01] [ 4.69220006e-03 -4.70886013e-07 9.99988992e-01 4.21112099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.130888479 meters 0.01536100555768073 Centerline is valid? [True, True] Translation: X:131.34, Y:24.47, Z:0.42 [[ 9.20926907e-01 -3.89700534e-01 -5.20823783e-03 1.31339541e+02] [ 3.89694319e-01 9.20941634e-01 -2.20091329e-03 2.44656363e+01] [ 5.65418014e-03 -2.74042486e-06 9.99984015e-01 4.20808774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.190888479 meters 0.015430428035140992 Centerline is valid? [True, True] Translation: X:131.39, Y:24.49, Z:0.42 [[ 9.21296525e-01 -3.88816231e-01 -5.88659646e-03 1.31391238e+02] [ 3.88808260e-01 9.21315331e-01 -2.48964686e-03 2.44922903e+01] [ 6.39142667e-03 4.94567228e-06 9.99979575e-01 4.20184300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.250888479 meters 0.015372632506771684 Centerline is valid? [True, True] Translation: X:131.44, Y:24.52, Z:0.42 [[ 9.21595949e-01 -3.88113481e-01 -5.36963644e-03 1.31443305e+02] [ 3.88106827e-01 9.21611591e-01 -2.27271500e-03 2.45177686e+01] [ 5.83079052e-03 1.05323711e-05 9.99983001e-01 4.19513649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.310888479 meters 0.01535458654988258 Centerline is valid? [True, True] Translation: X:131.50, Y:24.54, Z:0.42 [[ 9.22464338e-01 -3.86041732e-01 -5.59704296e-03 1.31497120e+02] [ 3.86034453e-01 9.22481317e-01 -2.37073556e-03 2.45429190e+01] [ 6.07837042e-03 2.62675871e-05 9.99981526e-01 4.20047054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.370888479 meters 0.01596115813156774 Centerline is valid? [True, True] Translation: X:131.55, Y:24.57, Z:0.42 [[ 9.24017963e-01 -3.82308871e-01 -5.54356875e-03 1.31549237e+02] [ 3.82301653e-01 9.24034591e-01 -2.34968573e-03 2.45697957e+01] [ 6.02075498e-03 5.18363216e-05 9.99981874e-01 4.20555495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.430888479 meters 0.016331065660092292 Centerline is valid? [True, True] Translation: X:131.60, Y:24.60, Z:0.42 [[ 9.25402544e-01 -3.78956824e-01 -4.67505483e-03 1.31601245e+02] [ 3.78951644e-01 9.25414351e-01 -1.98240577e-03 2.45965630e+01] [ 5.07760903e-03 6.29036292e-05 9.99987107e-01 4.21209439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.490888479 meters 0.016247646055005584 Centerline is valid? [True, True] Translation: X:131.66, Y:24.62, Z:0.42 [[ 9.25366140e-01 -3.79052142e-01 -4.12070407e-03 1.31655060e+02] [ 3.79048115e-01 9.25375313e-01 -1.74809838e-03 2.46191886e+01] [ 4.47581826e-03 5.56859411e-05 9.99989982e-01 4.21668349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.550888479 meters 0.016250933477576366 Centerline is valid? [True, True] Translation: X:131.71, Y:24.64, Z:0.42 [[ 9.24941671e-01 -3.80071854e-01 -5.31886575e-03 1.31708353e+02] [ 3.80065153e-01 9.24956962e-01 -2.25794281e-03 2.46419535e+01] [ 5.77790241e-03 6.69498703e-05 9.99983306e-01 4.20035415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.610888479 meters 0.016089254065815455 Centerline is valid? [True, True] Translation: X:131.76, Y:24.66, Z:0.42 [[ 9.24132274e-01 -3.82027983e-01 -5.84459457e-03 1.31762040e+02] [ 3.82019925e-01 9.24150754e-01 -2.48206579e-03 2.46627320e+01] [ 6.34950507e-03 6.10055205e-05 9.99979840e-01 4.19246962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.670888479 meters 0.015566977746327454 Centerline is valid? [True, True] Translation: X:131.82, Y:24.68, Z:0.42 [[ 9.23000230e-01 -3.84752470e-01 -6.00940425e-03 1.31818614e+02] [ 3.84743999e-01 9.23019791e-01 -2.55347258e-03 2.46807927e+01] [ 6.52925394e-03 4.47735557e-05 9.99978683e-01 4.19427863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.730888479 meters 0.015334542263157065 Centerline is valid? [True, True] Translation: X:131.87, Y:24.70, Z:0.42 [[ 9.22196341e-01 -3.86677585e-01 -5.86131704e-03 1.31874075e+02] [ 3.86669554e-01 9.22214967e-01 -2.49224828e-03 2.47001998e+01] [ 6.36909085e-03 3.19493923e-05 9.99979717e-01 4.19327711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.790888479 meters 0.01526582198905641 Centerline is valid? [True, True] Translation: X:131.93, Y:24.72, Z:0.42 [[ 9.21725982e-01 -3.87805958e-01 -5.26816046e-03 1.31928632e+02] [ 3.87799480e-01 9.21741036e-01 -2.24162669e-03 2.47197278e+01] [ 5.72519586e-03 2.31756710e-05 9.99983611e-01 4.19261077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.850888479 meters 0.015101335156024631 Centerline is valid? [True, True] Translation: X:131.98, Y:24.74, Z:0.42 [[ 9.21018342e-01 -3.89489182e-01 -4.83637573e-03 1.31983946e+02] [ 3.89483740e-01 9.21031040e-01 -2.05894067e-03 2.47378861e+01] [ 5.25638729e-03 1.26324124e-05 9.99986185e-01 4.20313008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.910888479 meters 0.014946198687504311 Centerline is valid? [True, True] Translation: X:132.04, Y:24.76, Z:0.42 [[ 9.20686100e-01 -3.90285282e-01 -3.80825705e-03 1.32039558e+02] [ 3.90281912e-01 9.20693977e-01 -1.62186994e-03 2.47566637e+01] [ 4.13923129e-03 6.93926906e-06 9.99991433e-01 4.21423650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.970888479 meters 0.015095424136515703 Centerline is valid? [True, True] Translation: X:132.09, Y:24.78, Z:0.42 [[ 9.21209519e-01 -3.89050720e-01 -3.54389323e-03 1.32093857e+02] [ 3.89047788e-01 9.21216336e-01 -1.51040194e-03 2.47771083e+01] [ 3.85231530e-03 1.26528211e-05 9.99992580e-01 4.22392670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.030888479 meters 0.015311752018119813 Centerline is valid? [True, True] Translation: X:132.15, Y:24.80, Z:0.42 [[ 9.22583229e-01 -3.85785423e-01 -3.12942151e-03 1.32148440e+02] [ 3.85783115e-01 9.22588536e-01 -1.33468304e-03 2.47997385e+01] [ 3.40206966e-03 2.40782103e-05 9.99994213e-01 4.22957943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.090888479 meters 0.015802850317546205 Centerline is valid? [True, True] Translation: X:132.20, Y:24.82, Z:0.42 [[ 9.23949049e-01 -3.82492274e-01 -4.22080533e-03 1.32202617e+02] [ 3.82488034e-01 9.23958688e-01 -1.80164982e-03 2.48225800e+01] [ 4.58896690e-03 5.02251035e-05 9.99989469e-01 4.21002106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.150888479 meters 0.016473474246226933 Centerline is valid? [True, True] Translation: X:132.26, Y:24.84, Z:0.42 [[ 9.24933935e-01 -3.80107544e-01 -3.93328013e-03 1.32256895e+02] [ 3.80103837e-01 9.24942296e-01 -1.67975845e-03 2.48432533e+01] [ 4.27654602e-03 5.86107261e-05 9.99990854e-01 4.22751782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.210888479 meters 0.016450825198262544 Centerline is valid? [True, True] Translation: X:132.31, Y:24.86, Z:0.42 [[ 9.25099301e-01 -3.79691388e-01 -5.07270431e-03 1.32312103e+02] [ 3.79685210e-01 9.25113206e-01 -2.16742124e-03 2.48648338e+01] [ 5.51577693e-03 7.90490699e-05 9.99984785e-01 4.21163106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.270888479 meters 0.016040244474992835 Centerline is valid? [True, True] Translation: X:132.37, Y:24.88, Z:0.42 [[ 9.24760495e-01 -3.80517619e-01 -4.93644953e-03 1.32367003e+02] [ 3.80511772e-01 9.24773667e-01 -2.11072307e-03 2.48830114e+01] [ 5.36826586e-03 7.35361517e-05 9.99985588e-01 4.20738977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.330888479 meters 0.015609031239255486 Centerline is valid? [True, True] Translation: X:132.42, Y:24.90, Z:0.42 [[ 9.23424327e-01 -3.83751026e-01 -4.76045332e-03 1.32422905e+02] [ 3.83745624e-01 9.23436596e-01 -2.03695076e-03 2.49011313e+01] [ 5.17765875e-03 5.41667535e-05 9.99986594e-01 4.21118021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.390888479 meters 0.015248743260070318 Centerline is valid? [True, True] Translation: X:132.48, Y:24.92, Z:0.42 [[ 9.22229706e-01 -3.86604739e-01 -5.39850647e-03 1.32477867e+02] [ 3.86597834e-01 9.22245506e-01 -2.31110988e-03 2.49205211e+01] [ 5.87223436e-03 4.43232782e-05 9.99982757e-01 4.21243305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45088847899999 meters 0.014777187411797047 Centerline is valid? [True, True] Translation: X:132.53, Y:24.94, Z:0.42 [[ 9.19864125e-01 -3.92203355e-01 -5.14981743e-03 1.32534123e+02] [ 3.92197153e-01 9.19878540e-01 -2.20565157e-03 2.49380606e+01] [ 5.60227048e-03 9.15602205e-06 9.99984307e-01 4.21875240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.510888479 meters 0.01493520004417538 Centerline is valid? [True, True] Translation: X:132.59, Y:24.95, Z:0.42 [[ 9.17010856e-01 -3.98822168e-01 -5.65407984e-03 1.32590505e+02] [ 3.98814810e-01 9.17028286e-01 -2.42277078e-03 2.49539834e+01] [ 6.15120584e-03 -3.32236736e-05 9.99981081e-01 4.21970915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.570888479 meters 0.015259796973734481 Centerline is valid? [True, True] Translation: X:132.65, Y:24.97, Z:0.42 [[ 9.15055288e-01 -4.03266040e-01 -7.09369526e-03 1.32646324e+02] [ 4.03254579e-01 9.15082780e-01 -3.04129067e-03 2.49737376e+01] [ 7.71776763e-03 -7.76159845e-05 9.99970215e-01 4.21476577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.630888479 meters 0.01566747546003713 Centerline is valid? [True, True] Translation: X:132.70, Y:24.99, Z:0.42 [[ 9.13108316e-01 -4.07637009e-01 -8.07907644e-03 1.32701687e+02] [ 4.07622292e-01 9.13144048e-01 -3.46621789e-03 2.49935832e+01] [ 8.79031926e-03 -1.28179274e-04 9.99961356e-01 4.20680844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.690888479 meters 0.015759362104550798 Centerline is valid? [True, True] Translation: X:132.76, Y:25.02, Z:0.42 [[ 9.12770495e-01 -4.08388345e-01 -8.30566172e-03 1.32756364e+02] [ 4.08372799e-01 9.12808272e-01 -3.56588089e-03 2.50150285e+01] [ 9.03774091e-03 -1.36975461e-04 9.99959149e-01 4.21286764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.750888479 meters 0.015525670617558258 Centerline is valid? [True, True] Translation: X:132.81, Y:25.04, Z:0.42 [[ 9.13689800e-01 -4.06323657e-01 -8.48731401e-03 1.32809716e+02] [ 4.06307323e-01 9.13729211e-01 -3.64524594e-03 2.50382777e+01] [ 9.23625640e-03 -1.17833797e-04 9.99957338e-01 4.21940539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.810888479 meters 0.015012141503157866 Centerline is valid? [True, True] Translation: X:132.86, Y:25.06, Z:0.42 [[ 9.14256434e-01 -4.05051017e-01 -8.29736471e-03 1.32863284e+02] [ 4.05035335e-01 9.14294079e-01 -3.56560340e-03 2.50630584e+01] [ 9.03048271e-03 -1.00850049e-04 9.99959219e-01 4.22528422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.870888479 meters 0.014397792215469024 Centerline is valid? [True, True] Translation: X:132.92, Y:25.09, Z:0.42 [[ 9.16543679e-01 -3.99869188e-01 -7.23302360e-03 1.32915933e+02] [ 3.99857094e-01 9.16572218e-01 -3.11026089e-03 2.50889894e+01] [ 7.87328598e-03 -4.14858448e-05 9.99969004e-01 4.24490897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.930888479 meters 0.01434036593888441 Centerline is valid? [True, True] Translation: X:132.97, Y:25.11, Z:0.42 [[ 9.18390102e-01 -3.95612067e-01 -7.12127152e-03 1.32968782e+02] [ 3.95600206e-01 9.18417711e-01 -3.06342370e-03 2.51135452e+01] [ 7.75222928e-03 -3.75848036e-06 9.99969951e-01 4.24982444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.990888479 meters 0.014438266607537146 Centerline is valid? [True, True] Translation: X:133.02, Y:25.14, Z:0.42 [[ 9.19713032e-01 -3.92515635e-01 -7.70810928e-03 1.33022249e+02] [ 3.92501615e-01 9.19745332e-01 -3.31766561e-03 2.51389651e+01] [ 8.39173315e-03 2.58549608e-05 9.99964788e-01 4.24161542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.050888479 meters 0.014602333509731063 Centerline is valid? [True, True] Translation: X:133.08, Y:25.16, Z:0.42 [[ 9.20468903e-01 -3.90727363e-01 -8.31421156e-03 1.33076342e+02] [ 3.90710955e-01 9.20506450e-01 -3.58105084e-03 2.51629999e+01] [ 9.05249992e-03 4.77924003e-05 9.99959024e-01 4.24332622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.110888479 meters 0.014939776791117517 Centerline is valid? [True, True] Translation: X:133.13, Y:25.19, Z:0.42 [[ 9.21407384e-01 -3.88506944e-01 -8.41348841e-03 1.33129944e+02] [ 3.88490027e-01 9.21445793e-01 -3.62631343e-03 2.51882004e+01] [ 9.16142145e-03 7.27556395e-05 9.99958031e-01 4.23856671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.170888479 meters 0.015031075946658184 Centerline is valid? [True, True] Translation: X:133.18, Y:25.21, Z:0.42 [[ 9.21769333e-01 -3.87651396e-01 -8.22745620e-03 1.33183848e+02] [ 3.87635163e-01 9.21806047e-01 -3.54854104e-03 2.52130708e+01] [ 8.95971576e-03 8.16849833e-05 9.99959858e-01 4.23979704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.230888479 meters 0.014971744986772612 Centerline is valid? [True, True] Translation: X:133.24, Y:25.24, Z:0.42 [[ 9.21515535e-01 -3.88257847e-01 -8.05993249e-03 1.33237255e+02] [ 3.88242268e-01 9.21550779e-01 -3.47884184e-03 2.52366513e+01] [ 8.77832470e-03 7.66003273e-05 9.99961467e-01 4.22999936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.290888479 meters 0.014796175471361812 Centerline is valid? [True, True] Translation: X:133.29, Y:25.26, Z:0.42 [[ 9.20462249e-01 -3.90707547e-01 -9.84176162e-03 1.33292606e+02] [ 3.90684422e-01 9.20514860e-01 -4.25136625e-03 2.52558309e+01] [ 1.07205287e-02 6.81991858e-05 9.99942531e-01 4.22950834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.350888479 meters 0.014633104398924604 Centerline is valid? [True, True] Translation: X:133.35, Y:25.28, Z:0.42 [[ 9.19224577e-01 -3.93598329e-01 -1.03214586e-02 1.33347533e+02] [ 3.93573058e-01 9.19282521e-01 -4.46026477e-03 2.52753868e+01] [ 1.12438893e-02 3.77369649e-05 9.99936785e-01 4.21783911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.410888479 meters 0.014512357000564583 Centerline is valid? [True, True] Translation: X:133.40, Y:25.29, Z:0.42 [[ 9.18015545e-01 -3.96395961e-01 -1.08490764e-02 1.33402529e+02] [ 3.96368199e-01 9.18079649e-01 -4.69134081e-03 2.52946225e+01] [ 1.18199448e-02 6.49490388e-06 9.99930142e-01 4.23053824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.470888479 meters 0.014535986807841931 Centerline is valid? [True, True] Translation: X:133.46, Y:25.31, Z:0.42 [[ 9.16747455e-01 -3.99320524e-01 -1.08269816e-02 1.33457416e+02] [ 3.99293035e-01 9.16811387e-01 -4.68545871e-03 2.53133882e+01] [ 1.17972998e-02 -2.77559932e-05 9.99930409e-01 4.23754530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.530888479 meters 0.014563685594464451 Centerline is valid? [True, True] Translation: X:133.51, Y:25.33, Z:0.42 [[ 9.16327894e-01 -4.00281634e-01 -1.08537440e-02 1.33510752e+02] [ 4.00254052e-01 9.16392172e-01 -4.69912385e-03 2.53349087e+01] [ 1.18272590e-02 -3.83167469e-05 9.99930055e-01 4.22968252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.590888479 meters 0.014524753775585333 Centerline is valid? [True, True] Translation: X:133.57, Y:25.36, Z:0.42 [[ 9.15750014e-01 -4.01590106e-01 -1.12826538e-02 1.33565490e+02] [ 4.01560385e-01 9.15819515e-01 -4.88611138e-03 2.53554043e+01] [ 1.22950885e-02 -5.62102367e-05 9.99924411e-01 4.23764896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.650888479 meters 0.014732290648803372 Centerline is valid? [True, True] Translation: X:133.62, Y:25.38, Z:0.43 [[ 9.14163265e-01 -4.05214777e-01 -1.03203431e-02 1.33621037e+02] [ 4.05190112e-01 9.14221513e-01 -4.47188959e-03 2.53750200e+01] [ 1.12471554e-02 -9.36637802e-05 9.99936744e-01 4.25654825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.710888479 meters 0.014798665558861543 Centerline is valid? [True, True] Translation: X:133.68, Y:25.40, Z:0.43 [[ 9.13112144e-01 -4.07614471e-01 -8.75534499e-03 1.33675565e+02] [ 4.07596806e-01 9.13154112e-01 -3.79624137e-03 2.53962065e+01] [ 9.54238220e-03 -1.02256553e-04 9.99954465e-01 4.27781069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.770888479 meters 0.014893808463354167 Centerline is valid? [True, True] Translation: X:133.73, Y:25.42, Z:0.43 [[ 9.12972664e-01 -4.07937483e-01 -8.24159886e-03 1.33729150e+02] [ 4.07921820e-01 9.13009858e-01 -3.57611804e-03 2.54184815e+01] [ 8.98349360e-03 -9.70299909e-05 9.99959643e-01 4.29046055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.830888479 meters 0.014480947269787594 Centerline is valid? [True, True] Translation: X:133.78, Y:25.44, Z:0.43 [[ 9.14650474e-01 -4.04115800e-01 -1.02435981e-02 1.33782836e+02] [ 4.04091325e-01 9.14707830e-01 -4.44812355e-03 2.54436774e+01] [ 1.11674564e-02 -7.08708060e-05 9.99937640e-01 4.27936655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.890888479 meters 0.014268532304047914 Centerline is valid? [True, True] Translation: X:133.83, Y:25.47, Z:0.43 [[ 9.16800209e-01 -3.99165740e-01 -1.20037132e-02 1.33833864e+02] [ 3.99131677e-01 9.16878788e-01 -5.21465795e-03 2.54704899e+01] [ 1.30874629e-02 -1.02627039e-05 9.99914355e-01 4.25647045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95088847899999 meters 0.014238725497945939 Centerline is valid? [True, True] Translation: X:133.89, Y:25.50, Z:0.42 [[ 9.18026178e-01 -3.96321817e-01 -1.25281509e-02 1.33886508e+02] [ 3.96284403e-01 9.18111658e-01 -5.44567979e-03 2.54970449e+01] [ 1.36604831e-02 3.45658111e-05 9.99906691e-01 4.24629982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.010888479 meters 0.014328614044983815 Centerline is valid? [True, True] Translation: X:133.94, Y:25.52, Z:0.43 [[ 9.18806037e-01 -3.94514490e-01 -1.24009869e-02 1.33938797e+02] [ 3.94477615e-01 9.18889718e-01 -5.39426771e-03 2.55224493e+01] [ 1.35232561e-02 6.43740084e-05 9.99908555e-01 4.25806522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.070888479 meters 0.014306514407360136 Centerline is valid? [True, True] Translation: X:133.99, Y:25.55, Z:0.43 [[ 9.18808539e-01 -3.94527805e-01 -1.17762146e-02 1.33992035e+02] [ 3.94494506e-01 9.18884001e-01 -5.12622163e-03 2.55465769e+01] [ 1.28434121e-02 6.43642589e-05 9.99917518e-01 4.26342805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.130888479 meters 0.014223225165961986 Centerline is valid? [True, True] Translation: X:134.05, Y:25.57, Z:0.43 [[ 9.18500934e-01 -3.95301101e-01 -9.64747844e-03 1.34045110e+02] [ 3.95278780e-01 9.18551598e-01 -4.20094307e-03 2.55689828e+01] [ 1.05223442e-02 4.51266245e-05 9.99944638e-01 4.28265195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.190888479 meters 0.014060487815040722 Centerline is valid? [True, True] Translation: X:134.10, Y:25.59, Z:0.43 [[ 9.17997103e-01 -3.96479514e-01 -9.23655859e-03 1.34098989e+02] [ 3.96459090e-01 9.18043568e-01 -4.02445935e-03 2.55910643e+01] [ 1.00751789e-02 3.25244135e-05 9.99949244e-01 4.30064301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.250888479 meters 0.014106215936413724 Centerline is valid? [True, True] Translation: X:134.15, Y:25.62, Z:0.43 [[ 9.18378680e-01 -3.95567950e-01 -1.03246017e-02 1.34153013e+02] [ 3.95542337e-01 9.18436712e-01 -4.50169887e-03 2.56155348e+01] [ 1.12632211e-02 5.04471730e-05 9.99936567e-01 4.29278915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.310888479 meters 0.014385985725949926 Centerline is valid? [True, True] Translation: X:134.21, Y:25.64, Z:0.43 [[ 9.19718334e-01 -3.92420164e-01 -1.11624744e-02 1.34206210e+02] [ 3.92389953e-01 9.19786065e-01 -4.87034960e-03 2.56415899e+01] [ 1.21783118e-02 9.93070046e-05 9.99925837e-01 4.28996638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.370888479 meters 0.014596181136140734 Centerline is valid? [True, True] Translation: X:134.26, Y:25.67, Z:0.43 [[ 9.20184234e-01 -3.91308043e-01 -1.17894697e-02 1.34259494e+02] [ 3.91274205e-01 9.20259746e-01 -5.14742471e-03 2.56673522e+01] [ 1.28636031e-02 1.23663671e-04 9.99917253e-01 4.26878935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.430888479 meters 0.014701134233825968 Centerline is valid? [True, True] Translation: X:134.31, Y:25.69, Z:0.43 [[ 9.20084992e-01 -3.91502584e-01 -1.30128794e-02 1.34313842e+02] [ 3.91461323e-01 9.20176998e-01 -5.68548665e-03 2.56908379e+01] [ 1.42000350e-02 1.37091960e-04 9.99899165e-01 4.25804920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.490888479 meters 0.01472408397900594 Centerline is valid? [True, True] Translation: X:134.37, Y:25.71, Z:0.43 [[ 9.19899990e-01 -3.91904993e-01 -1.39458293e-02 1.34368312e+02] [ 3.91857585e-01 9.20005683e-01 -6.09726276e-03 2.57125936e+01] [ 1.52197899e-02 1.44092949e-04 9.99884162e-01 4.26499097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.550888479 meters 0.014635390095864327 Centerline is valid? [True, True] Translation: X:134.42, Y:25.74, Z:0.43 [[ 9.19381919e-01 -3.93140977e-01 -1.33063676e-02 1.34422633e+02] [ 3.93097891e-01 9.19478199e-01 -5.82153578e-03 2.57363154e+01] [ 1.45235992e-02 1.21509689e-04 9.99894520e-01 4.26942845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.610888479 meters 0.014238810186150325 Centerline is valid? [True, True] Translation: X:134.48, Y:25.76, Z:0.43 [[ 9.18084588e-01 -3.96214159e-01 -1.16201816e-02 1.34475942e+02] [ 3.96181528e-01 9.18158121e-01 -5.08541061e-03 2.57597390e+01] [ 1.26840758e-02 6.51358267e-05 9.99919552e-01 4.25852979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.670888479 meters 0.013948776180346073 Centerline is valid? [True, True] Translation: X:134.53, Y:25.78, Z:0.43 [[ 9.16620999e-01 -3.99599877e-01 -1.12197329e-02 1.34531477e+02] [ 3.99569675e-01 9.16689663e-01 -4.91295001e-03 2.57793740e+01] [ 1.22482274e-02 2.02481037e-05 9.99924987e-01 4.28050674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.730888479 meters 0.013889399003404055 Centerline is valid? [True, True] Translation: X:134.59, Y:25.80, Z:0.43 [[ 9.16283737e-01 -4.00368440e-01 -1.13677764e-02 1.34585302e+02] [ 4.00337448e-01 9.16354250e-01 -4.98152209e-03 2.58018666e+01] [ 1.24113545e-02 1.35410654e-05 9.99922976e-01 4.29076906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.790888479 meters 0.013942530956408435 Centerline is valid? [True, True] Translation: X:134.64, Y:25.82, Z:0.43 [[ 9.16249765e-01 -4.00438087e-01 -1.16492986e-02 1.34637176e+02] [ 4.00405518e-01 9.16323817e-01 -5.10710213e-03 2.58247423e+01] [ 1.27196079e-02 1.49377022e-05 9.99919102e-01 4.28542701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.850888479 meters 0.013912765118068252 Centerline is valid? [True, True] Translation: X:134.69, Y:25.85, Z:0.43 [[ 9.17330070e-01 -3.97937988e-01 -1.22841999e-02 1.34689196e+02] [ 3.97901504e-01 9.17412315e-01 -5.38871440e-03 2.58531893e+01] [ 1.34140504e-02 5.53281378e-05 9.99910026e-01 4.27747179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.910888479 meters 0.013987055267027152 Centerline is valid? [True, True] Translation: X:134.74, Y:25.88, Z:0.43 [[ 9.18099325e-01 -3.96134413e-01 -1.30826396e-02 1.34743288e+02] [ 3.96092793e-01 9.18192528e-01 -5.74291020e-03 2.58770303e+01] [ 1.42873463e-02 9.06227124e-05 9.99897927e-01 4.28493131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.970888479 meters 0.014113666665602424 Centerline is valid? [True, True] Translation: X:134.80, Y:25.90, Z:0.43 [[ 9.18313164e-01 -3.95663016e-01 -1.23170795e-02 1.34796285e+02] [ 3.95626028e-01 9.18395758e-01 -5.41085899e-03 2.59017486e+01] [ 1.34528303e-02 9.59058179e-05 9.99909502e-01 4.29087451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.030888479 meters 0.014206718755387912 Centerline is valid? [True, True] Translation: X:134.85, Y:25.93, Z:0.43 [[ 9.18797588e-01 -3.94567312e-01 -1.12972465e-02 1.34847377e+02] [ 3.94536088e-01 9.18867034e-01 -4.96490525e-03 2.59264363e+01] [ 1.23396567e-02 1.04571523e-04 9.99923858e-01 4.29900795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.090888479 meters 0.014057801920633686 Centerline is valid? [True, True] Translation: X:134.90, Y:25.95, Z:0.43 [[ 9.19004415e-01 -3.94108079e-01 -1.04740980e-02 1.34900184e+02] [ 3.94081174e-01 9.19064095e-01 -4.60621972e-03 2.59498122e+01] [ 1.14417158e-02 1.05491420e-04 9.99934536e-01 4.31676211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.150888479 meters 0.014232746628763341 Centerline is valid? [True, True] Translation: X:134.95, Y:25.97, Z:0.43 [[ 9.19402469e-01 -3.93195665e-01 -9.81167591e-03 1.34952529e+02] [ 3.93171968e-01 9.19454815e-01 -4.31820767e-03 2.59748977e+01] [ 1.07192932e-02 1.12494864e-04 9.99942540e-01 4.32188966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.210888479 meters 0.014673754150866743 Centerline is valid? [True, True] Translation: X:135.00, Y:26.00, Z:0.43 [[ 9.20078580e-01 -3.91613315e-01 -9.71692850e-03 1.35004034e+02] [ 3.91589968e-01 9.20129879e-01 -4.27812571e-03 2.60021405e+01] [ 1.06162072e-02 1.31160112e-04 9.99943638e-01 4.31653910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.270888479 meters 0.014555091533188923 Centerline is valid? [True, True] Translation: X:135.06, Y:26.03, Z:0.43 [[ 9.20150198e-01 -3.91434859e-01 -1.01175024e-02 1.35057811e+02] [ 3.91409509e-01 9.20205809e-01 -4.45699376e-03 2.60274098e+01] [ 1.10548072e-02 1.41017033e-04 9.99938884e-01 4.31170014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.330888479 meters 0.014544919928258312 Centerline is valid? [True, True] Translation: X:135.11, Y:26.05, Z:0.43 [[ 9.20080501e-01 -3.91587620e-01 -1.05360467e-02 1.35110138e+02] [ 3.91560100e-01 9.20140812e-01 -4.64480988e-03 2.60529402e+01] [ 1.15134966e-02 1.48103514e-04 9.99933707e-01 4.30565863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.390888479 meters 0.01450547746183256 Centerline is valid? [True, True] Translation: X:135.16, Y:26.08, Z:0.43 [[ 9.19798631e-01 -3.92265418e-01 -9.91561087e-03 1.35164103e+02] [ 3.92241051e-01 9.19852066e-01 -4.37427310e-03 2.60763056e+01] [ 1.08367712e-02 1.34140784e-04 9.99941271e-01 4.31039865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45088847899999 meters 0.014374495831233024 Centerline is valid? [True, True] Translation: X:135.22, Y:26.10, Z:0.43 [[ 9.19290186e-01 -3.93450659e-01 -1.01061200e-02 1.35216935e+02] [ 3.93425400e-01 9.19345726e-01 -4.45987929e-03 2.61004169e+01] [ 1.10457607e-02 1.23918956e-04 9.99938986e-01 4.30415657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.510888479 meters 0.014119492991246888 Centerline is valid? [True, True] Translation: X:135.27, Y:26.12, Z:0.43 [[ 9.18526395e-01 -3.95214860e-01 -1.06993413e-02 1.35270509e+02] [ 3.95186637e-01 9.18588701e-01 -4.72438801e-03 2.61240062e+01] [ 1.16954424e-02 1.11238395e-04 9.99931600e-01 4.29862294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.570888479 meters 0.013928683588390075 Centerline is valid? [True, True] Translation: X:135.33, Y:26.15, Z:0.43 [[ 9.17553721e-01 -3.97488622e-01 -9.89768373e-03 1.35325140e+02] [ 3.97464571e-01 9.17607100e-01 -4.37330182e-03 2.61471927e+01] [ 1.08205226e-02 7.87607418e-05 9.99941453e-01 4.30709857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.630888479 meters 0.013619577300894865 Centerline is valid? [True, True] Translation: X:135.38, Y:26.17, Z:0.43 [[ 9.15432452e-01 -4.02375665e-01 -8.78916602e-03 1.35378624e+02] [ 4.02356912e-01 9.15474644e-01 -3.88483136e-03 2.61692119e+01] [ 9.60942023e-03 1.99190060e-05 9.99953828e-01 4.32161007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.690888479 meters 0.013589287859233636 Centerline is valid? [True, True] Translation: X:135.43, Y:26.19, Z:0.43 [[ 9.13670643e-01 -4.06378768e-01 -7.89008495e-03 1.35431742e+02] [ 4.06363786e-01 9.13704710e-01 -3.48947566e-03 2.61916813e+01] [ 8.62725660e-03 -1.80133234e-05 9.99962784e-01 4.34382327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.750888479 meters 0.014014308378097778 Centerline is valid? [True, True] Translation: X:135.48, Y:26.21, Z:0.44 [[ 9.11219830e-01 -4.11876088e-01 -6.04236890e-03 1.35484368e+02] [ 4.11867414e-01 9.11239862e-01 -2.67359931e-03 2.62145017e+01] [ 6.60723903e-03 -5.24181463e-05 9.99978171e-01 4.36066747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.810888479 meters 0.014546618105417124 Centerline is valid? [True, True] Translation: X:135.54, Y:26.24, Z:0.44 [[ 9.09886564e-01 -4.14808215e-01 -6.37075131e-03 1.35537193e+02] [ 4.14798632e-01 9.09908863e-01 -2.82049488e-03 2.62397416e+01] [ 6.96676753e-03 -7.62485361e-05 9.99975729e-01 4.35527541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.870888479 meters 0.015224170474465195 Centerline is valid? [True, True] Translation: X:135.59, Y:26.26, Z:0.44 [[ 9.07906856e-01 -4.19118433e-01 -6.69917902e-03 1.35590201e+02] [ 4.19107946e-01 9.07931564e-01 -2.96711624e-03 2.62641370e+01] [ 7.32596920e-03 -1.13813980e-04 9.99973158e-01 4.36017357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.930888479 meters 0.016358867945650456 Centerline is valid? [True, True] Translation: X:135.64, Y:26.29, Z:0.44 [[ 9.05541038e-01 -4.24177943e-01 -8.27652574e-03 1.35644043e+02] [ 4.24162131e-01 9.05578841e-01 -3.66739995e-03 2.62901545e+01] [ 9.05067675e-03 -1.89607636e-04 9.99959024e-01 4.35313535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.990888479 meters 0.019490244129291137 Centerline is valid? [True, True] Translation: X:135.70, Y:26.31, Z:0.43 [[ 9.04143464e-01 -4.27111358e-01 -1.00242224e-02 1.35698416e+02] [ 4.27088328e-01 9.04198993e-01 -4.44316735e-03 2.63110417e+01] [ 1.09616191e-02 -2.63967684e-04 9.99939885e-01 4.33698762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.050888479 meters 0.018686122801377245 Centerline is valid? [True, True] Translation: X:135.75, Y:26.34, Z:0.44 [[ 9.02494922e-01 -4.30571429e-01 -1.05432181e-02 1.35750670e+02] [ 4.30546163e-01 9.02556448e-01 -4.67538598e-03 2.63407111e+01] [ 1.15289371e-02 -3.19829989e-04 9.99933488e-01 4.35117427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.110888479 meters 0.01864162582344067 Centerline is valid? [True, True] Translation: X:135.80, Y:26.37, Z:0.44 [[ 9.01791889e-01 -4.32066262e-01 -9.49389345e-03 1.35803060e+02] [ 4.32045831e-01 9.01841812e-01 -4.21266897e-03 2.63683478e+01] [ 1.03821422e-02 -3.02846366e-04 9.99946058e-01 4.36373934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.170888479 meters 0.018443632920995857 Centerline is valid? [True, True] Translation: X:135.85, Y:26.40, Z:0.44 [[ 9.02056077e-01 -4.31537264e-01 -8.39183590e-03 1.35854115e+02] [ 4.31521258e-01 9.02095074e-01 -3.72592093e-03 2.63996560e+01] [ 9.17810755e-03 -2.60265966e-04 9.99957846e-01 4.37636778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.230888479 meters 0.01740361967747571 Centerline is valid? [True, True] Translation: X:135.90, Y:26.43, Z:0.44 [[ 9.04265213e-01 -4.26887844e-01 -8.43763646e-03 1.35904860e+02] [ 4.26871439e-01 9.04304552e-01 -3.74847121e-03 2.64324313e+01] [ 9.23036986e-03 -2.12173898e-04 9.99957377e-01 4.38321604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.290888479 meters 0.01621269540230672 Centerline is valid? [True, True] Translation: X:135.96, Y:26.47, Z:0.44 [[ 9.06501447e-01 -4.22118471e-01 -8.43344253e-03 1.35955313e+02] [ 4.22101855e-01 9.06540661e-01 -3.74887937e-03 2.64651103e+01] [ 9.22772980e-03 -1.61407157e-04 9.99957411e-01 4.38406543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.350888479 meters 0.01509458433126704 Centerline is valid? [True, True] Translation: X:136.00, Y:26.50, Z:0.44 [[ 9.09900453e-01 -4.14717060e-01 -9.53546504e-03 1.36003706e+02] [ 4.14695395e-01 9.09950411e-01 -4.24013116e-03 2.65002107e+01] [ 1.04352551e-02 -9.62161674e-05 9.99945547e-01 4.36649821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.410888479 meters 0.014468360765612389 Centerline is valid? [True, True] Translation: X:136.05, Y:26.53, Z:0.44 [[ 9.12271328e-01 -4.09457709e-01 -1.02668696e-02 1.36054362e+02] [ 4.09432230e-01 9.12329098e-01 -4.56789928e-03 2.65305043e+01] [ 1.12371255e-02 -3.64237787e-05 9.99936861e-01 4.37320334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.470888479 meters 0.014552381910537659 Centerline is valid? [True, True] Translation: X:136.10, Y:26.56, Z:0.44 [[ 9.15163919e-01 -4.02902190e-01 -1.20344283e-02 1.36103503e+02] [ 4.02866589e-01 9.15243040e-01 -5.35620872e-03 2.65633171e+01] [ 1.31724550e-02 5.35398879e-05 9.99913238e-01 4.35734511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.530888479 meters 0.014573080435926386 Centerline is valid? [True, True] Translation: X:136.15, Y:26.59, Z:0.44 [[ 9.16844517e-01 -3.99051096e-01 -1.24239682e-02 1.36154542e+02] [ 3.99012755e-01 9.16928683e-01 -5.53277677e-03 2.65933343e+01] [ 1.35997534e-02 1.15374271e-04 9.99907512e-01 4.36137307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.590888479 meters 0.014886849749234116 Centerline is valid? [True, True] Translation: X:136.21, Y:26.62, Z:0.44 [[ 9.17179501e-01 -3.98281529e-01 -1.23930246e-02 1.36206552e+02] [ 3.98243276e-01 9.17263216e-01 -5.52140983e-03 2.66176125e+01] [ 1.35667411e-02 1.28685204e-04 9.99907959e-01 4.36672124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.650888479 meters 0.015005523428331467 Centerline is valid? [True, True] Translation: X:136.26, Y:26.64, Z:0.44 [[ 9.17618887e-01 -3.97291460e-01 -1.16221281e-02 1.36259670e+02] [ 3.97257695e-01 9.17692474e-01 -5.18141941e-03 2.66413498e+01] [ 1.27240732e-02 1.37588492e-04 9.99919036e-01 4.40496469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.710888479 meters 0.015215646629833218 Centerline is valid? [True, True] Translation: X:136.31, Y:26.67, Z:0.44 [[ 9.17712891e-01 -3.97067616e-01 -1.18472670e-02 1.36313041e+02] [ 3.97032465e-01 9.17789348e-01 -5.28541922e-03 2.66667368e+01] [ 1.29719642e-02 1.46747741e-04 9.99915850e-01 4.40375141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.770888479 meters 0.015139813942890447 Centerline is valid? [True, True] Translation: X:136.37, Y:26.69, Z:0.44 [[ 9.17714693e-01 -3.96994562e-01 -1.39663644e-02 1.36366847e+02] [ 3.96945636e-01 9.17820944e-01 -6.23509152e-03 2.66907088e+01] [ 1.52939192e-02 1.78147697e-04 9.99883025e-01 4.40183826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.830888479 meters 0.015298718079381907 Centerline is valid? [True, True] Translation: X:136.42, Y:26.71, Z:0.44 [[ 9.18051983e-01 -3.96154788e-01 -1.55544117e-02 1.36420529e+02] [ 3.96093931e-01 9.18183716e-01 -6.94700163e-03 2.67137864e+01] [ 1.70338955e-02 2.16700533e-04 9.99854889e-01 4.40389620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.890888479 meters 0.016322290033045146 Centerline is valid? [True, True] Translation: X:136.47, Y:26.74, Z:0.44 [[ 9.18638861e-01 -3.94663141e-01 -1.85377333e-02 1.36472885e+02] [ 3.94576350e-01 9.18825837e-01 -8.28162530e-03 2.67381728e+01] [ 2.03014005e-02 2.93271716e-04 9.99793862e-01 4.38577864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95088847899999 meters 0.01621921304820663 Centerline is valid? [True, True] Translation: X:136.53, Y:26.76, Z:0.44 [[ 9.18930009e-01 -3.93928501e-01 -1.96970829e-02 1.36527404e+02] [ 3.93830228e-01 9.19141025e-01 -8.80496115e-03 2.67595246e+01] [ 2.15729221e-02 3.33836372e-04 9.99767222e-01 4.41208960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.010888479 meters 0.01668322511239047 Centerline is valid? [True, True] Translation: X:136.58, Y:26.78, Z:0.44 [[ 9.18607112e-01 -3.94690400e-01 -1.95054305e-02 1.36581819e+02] [ 3.94594147e-01 9.18814121e-01 -8.72182300e-03 2.67787697e+01] [ 2.13642848e-02 3.15199931e-04 9.99771708e-01 4.42985241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.070888479 meters 0.015870018220573545 Centerline is valid? [True, True] Translation: X:136.64, Y:26.80, Z:0.45 [[ 9.17471578e-01 -3.97302398e-01 -1.99175229e-02 1.36638766e+02] [ 3.97202529e-01 9.17687711e-01 -8.91156686e-03 2.67952429e+01] [ 2.18186528e-02 2.64818846e-04 9.99761910e-01 4.46816696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.130888479 meters 0.01585803398805039 Centerline is valid? [True, True] Translation: X:136.69, Y:26.82, Z:0.45 [[ 9.16494664e-01 -3.99525818e-01 -2.04120705e-02 1.36694763e+02] [ 3.99421341e-01 9.16721916e-01 -9.13895688e-03 2.68152294e+01] [ 2.23634416e-02 2.22788638e-04 9.99749882e-01 4.47564659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.190888479 meters 0.01592815375593942 Centerline is valid? [True, True] Translation: X:136.75, Y:26.83, Z:0.45 [[ 9.15016109e-01 -4.02911490e-01 -2.01953346e-02 1.36751443e+02] [ 4.02809986e-01 9.15238937e-01 -9.04452406e-03 2.68311472e+01] [ 2.21276992e-02 1.41002755e-04 9.99755143e-01 4.48692746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.250888479 meters 0.015836699061353692 Centerline is valid? [True, True] Translation: X:136.81, Y:26.85, Z:0.45 [[ 9.14470671e-01 -4.04101113e-01 -2.11111936e-02 1.36807310e+02] [ 4.03990383e-01 9.14714314e-01 -9.46019072e-03 2.68513407e+01] [ 2.31335846e-02 1.22347765e-04 9.99732375e-01 4.49914222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.310888479 meters 0.015681002570399526 Centerline is valid? [True, True] Translation: X:136.86, Y:26.87, Z:0.45 [[ 9.14643694e-01 -4.03589149e-01 -2.32962043e-02 1.36862718e+02] [ 4.03453966e-01 9.14940312e-01 -1.04461492e-02 2.68725359e+01] [ 2.55305889e-02 1.55558422e-04 9.99674029e-01 4.50407358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.370888479 meters 0.01563064086414496 Centerline is valid? [True, True] Translation: X:136.92, Y:26.90, Z:0.45 [[ 9.15240053e-01 -4.02130161e-01 -2.50395509e-02 1.36917018e+02] [ 4.01973233e-01 9.15582485e-01 -1.12353839e-02 2.68953195e+01] [ 2.74438610e-02 2.17844103e-04 9.99623323e-01 4.50585912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.430888479 meters 0.0162244335316745 Centerline is valid? [True, True] Translation: X:136.97, Y:26.92, Z:0.45 [[ 9.16133842e-01 -4.00072660e-01 -2.53110524e-02 1.36970788e+02] [ 3.99911437e-01 9.16483380e-01 -1.13603624e-02 2.69167206e+01] [ 2.77421293e-02 2.85433100e-04 9.99615072e-01 4.49328445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.490888479 meters 0.015681451897615183 Centerline is valid? [True, True] Translation: X:137.03, Y:26.94, Z:0.45 [[ 9.15899353e-01 -4.00658801e-01 -2.45132773e-02 1.37026363e+02] [ 4.00507609e-01 9.16227294e-01 -1.10090776e-02 2.69364920e+01] [ 2.68706176e-02 2.65452971e-04 9.99638885e-01 4.51615039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.550888479 meters 0.015362978361953324 Centerline is valid? [True, True] Translation: X:137.08, Y:26.96, Z:0.45 [[ 9.15505184e-01 -4.01592791e-01 -2.39476242e-02 1.37081776e+02] [ 4.01448626e-01 9.15818308e-01 -1.07623359e-02 2.69569436e+01] [ 2.62537492e-02 2.39233475e-04 9.99655282e-01 4.54144198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.610888479 meters 0.01556773325049977 Centerline is valid? [True, True] Translation: X:137.14, Y:26.98, Z:0.45 [[ 9.14991819e-01 -4.02824026e-01 -2.28642719e-02 1.37136402e+02] [ 4.02692922e-01 9.15277425e-01 -1.02783962e-02 2.69757588e+01] [ 2.50675369e-02 1.97367943e-04 9.99685740e-01 4.54445450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.670888479 meters 0.015667193384855886 Centerline is valid? [True, True] Translation: X:137.19, Y:27.00, Z:0.45 [[ 9.14789682e-01 -4.03311017e-01 -2.23620571e-02 1.37190857e+02] [ 4.03185607e-01 9.15062943e-01 -1.00587031e-02 2.69972615e+01] [ 2.45194756e-02 1.85538208e-04 9.99699335e-01 4.53781783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.730888479 meters 0.015465254205326965 Centerline is valid? [True, True] Translation: X:137.25, Y:27.02, Z:0.45 [[ 9.14389712e-01 -4.04221720e-01 -2.22768051e-02 1.37245207e+02] [ 4.04097350e-01 9.14661016e-01 -1.00278822e-02 2.70191005e+01] [ 2.44292130e-02 1.67394414e-04 9.99701548e-01 4.54548422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.790888479 meters 0.015422694280043564 Centerline is valid? [True, True] Translation: X:137.30, Y:27.04, Z:0.45 [[ 9.12521095e-01 -4.08416852e-01 -2.23813920e-02 1.37302329e+02] [ 4.08292404e-01 9.12795525e-01 -1.00817549e-02 2.70362335e+01] [ 2.45471931e-02 6.16616566e-05 9.99698670e-01 4.54113605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.850888479 meters 0.015679549913463094 Centerline is valid? [True, True] Translation: X:137.36, Y:27.06, Z:0.45 [[ 9.10693336e-01 -4.12448709e-01 -2.28846937e-02 1.37358490e+02] [ 4.12319700e-01 9.10980823e-01 -1.03152575e-02 2.70551505e+01] [ 2.51020318e-02 -4.17737419e-05 9.99684893e-01 4.53456673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.910888479 meters 0.015933198842187524 Centerline is valid? [True, True] Translation: X:137.41, Y:27.07, Z:0.45 [[ 9.08971187e-01 -4.16279214e-01 -2.19772006e-02 1.37413369e+02] [ 4.16161176e-01 9.09236822e-01 -9.91348979e-03 2.70738473e+01] [ 2.41092598e-02 -1.34981076e-04 9.99709320e-01 4.52838690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.970888479 meters 0.015975458198411688 Centerline is valid? [True, True] Translation: X:137.47, Y:27.09, Z:0.45 [[ 9.08296662e-01 -4.17861936e-01 -1.97123491e-02 1.37469463e+02] [ 4.17767222e-01 9.08510528e-01 -8.89767402e-03 2.70930657e+01] [ 2.16268760e-02 -1.53445727e-04 9.99766100e-01 4.53897737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.030888479 meters 0.01593921159739784 Centerline is valid? [True, True] Translation: X:137.52, Y:27.12, Z:0.45 [[ 9.08619910e-01 -4.17191147e-01 -1.90106728e-02 1.37523915e+02] [ 4.17102792e-01 9.08818756e-01 -8.58659963e-03 2.71155835e+01] [ 2.08595094e-02 -1.27449337e-04 9.99782409e-01 4.54244003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.090888479 meters 0.015762860032168563 Centerline is valid? [True, True] Translation: X:137.58, Y:27.14, Z:0.45 [[ 9.10314337e-01 -4.13506930e-01 -1.84344043e-02 1.37577916e+02] [ 4.13422985e-01 9.10500970e-01 -8.33176115e-03 2.71391751e+01] [ 2.02297840e-02 -3.66848287e-05 9.99795356e-01 4.53217031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.150888479 meters 0.015546353535843329 Centerline is valid? [True, True] Translation: X:137.63, Y:27.16, Z:0.45 [[ 9.11645443e-01 -4.10639383e-01 -1.66698178e-02 1.37631575e+02] [ 4.10570172e-01 9.11797838e-01 -7.53904983e-03 2.71633844e+01] [ 1.82953346e-02 2.88104649e-05 9.99832626e-01 4.53366514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.210888479 meters 0.015551587707707388 Centerline is valid? [True, True] Translation: X:137.68, Y:27.19, Z:0.45 [[ 9.13657726e-01 -4.06219253e-01 -1.46791920e-02 1.37683944e+02] [ 4.06164937e-01 9.13775633e-01 -6.64355306e-03 2.71877177e+01] [ 1.61122271e-02 1.07760481e-04 9.99870184e-01 4.52985089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.270888479 meters 0.015711468639652715 Centerline is valid? [True, True] Translation: X:137.74, Y:27.21, Z:0.45 [[ 9.14456616e-01 -4.04479246e-01 -1.28699933e-02 1.37737766e+02] [ 4.04437262e-01 9.14547169e-01 -5.82899045e-03 2.72097921e+01] [ 1.41279216e-02 1.25254034e-04 9.99900188e-01 4.53749918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.330888479 meters 0.01586408125066332 Centerline is valid? [True, True] Translation: X:137.79, Y:27.23, Z:0.45 [[ 9.14649359e-01 -4.04057218e-01 -1.24223354e-02 1.37789988e+02] [ 4.04018035e-01 9.14733703e-01 -5.62850892e-03 2.72323051e+01] [ 1.36373685e-02 1.29264551e-04 9.99906998e-01 4.53637323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.390888479 meters 0.015560041959956512 Centerline is valid? [True, True] Translation: X:137.84, Y:27.25, Z:0.45 [[ 9.14422268e-01 -4.04586101e-01 -1.19164663e-02 1.37844669e+02] [ 4.04550043e-01 9.14499903e-01 -5.40282053e-03 2.72529402e+01] [ 1.30835133e-02 1.19652455e-04 9.99914400e-01 4.54167142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45088847899999 meters 0.015291557666238522 Centerline is valid? [True, True] Translation: X:137.90, Y:27.27, Z:0.45 [[ 9.13878927e-01 -4.05844242e-01 -1.07590873e-02 1.37899309e+02] [ 4.05814897e-01 9.13942253e-01 -4.88127273e-03 2.72745692e+01] [ 1.18142209e-02 9.46943844e-05 9.99930205e-01 4.54292357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.510888479 meters 0.015065611259347397 Centerline is valid? [True, True] Translation: X:137.95, Y:27.30, Z:0.45 [[ 9.13073566e-01 -4.07688508e-01 -9.31362653e-03 1.37954175e+02] [ 4.07666587e-01 9.13121064e-01 -4.22811752e-03 2.72960712e+01] [ 1.02282235e-02 6.37280041e-05 9.99947688e-01 4.54978738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.570888479 meters 0.014829635251127784 Centerline is valid? [True, True] Translation: X:138.01, Y:27.32, Z:0.46 [[ 9.12283206e-01 -4.09463266e-01 -8.89861793e-03 1.38008681e+02] [ 4.09443326e-01 9.12326604e-01 -4.04108150e-03 2.73169482e+01] [ 9.77312031e-03 4.31310598e-05 9.99952241e-01 4.55176443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.630888479 meters 0.014587975197271185 Centerline is valid? [True, True] Translation: X:138.06, Y:27.34, Z:0.46 [[ 9.11575467e-01 -4.11047653e-01 -8.36635454e-03 1.38063553e+02] [ 4.11030074e-01 9.11613858e-01 -3.80156670e-03 2.73360885e+01] [ 9.18950981e-03 2.65916084e-05 9.99957775e-01 4.56004685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.690888479 meters 0.014509718270247917 Centerline is valid? [True, True] Translation: X:138.12, Y:27.36, Z:0.46 [[ 9.11429216e-01 -4.11373123e-01 -8.30285574e-03 1.38117859e+02] [ 4.11355797e-01 9.11467034e-01 -3.77552747e-03 2.73582208e+01] [ 9.12092982e-03 2.56981982e-05 9.99958403e-01 4.55440246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.750888479 meters 0.014457627507733734 Centerline is valid? [True, True] Translation: X:138.17, Y:27.38, Z:0.45 [[ 9.11290561e-01 -4.11676078e-01 -8.50410970e-03 1.38169714e+02] [ 4.11657899e-01 9.11330240e-01 -3.86880677e-03 2.73809081e+01] [ 9.34274753e-03 2.48231534e-05 9.99956355e-01 4.54322885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.810888479 meters 0.014309780227416039 Centerline is valid? [True, True] Translation: X:138.22, Y:27.40, Z:0.45 [[ 9.10750143e-01 -4.12885254e-01 -7.74234361e-03 1.38223681e+02] [ 4.12870213e-01 9.10783052e-01 -3.52429511e-03 2.74024780e+01] [ 8.50672482e-03 1.31692233e-05 9.99963817e-01 4.53954824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.870888479 meters 0.013973142522963772 Centerline is valid? [True, True] Translation: X:138.28, Y:27.42, Z:0.46 [[ 9.10111559e-01 -4.14322899e-01 -5.78667450e-03 1.38278565e+02] [ 4.14314516e-01 9.10129955e-01 -2.63565851e-03 2.74239729e+01] [ 6.35863948e-03 1.24002528e-06 9.99979784e-01 4.56528061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.930888479 meters 0.013936797275839831 Centerline is valid? [True, True] Translation: X:138.33, Y:27.45, Z:0.46 [[ 9.09642485e-01 -4.15373664e-01 -3.90756554e-03 1.38331182e+02] [ 4.15369847e-01 9.09650877e-01 -1.78074982e-03 2.74483072e+01] [ 4.29419700e-03 -3.23921415e-06 9.99990780e-01 4.57475733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.990888479 meters 0.013884527118367199 Centerline is valid? [True, True] Translation: X:138.38, Y:27.47, Z:0.46 [[ 9.09406765e-01 -4.15899992e-01 -2.55572338e-03 1.38383771e+02] [ 4.15898360e-01 9.09410356e-01 -1.16525990e-03 2.74723924e+01] [ 2.80883289e-03 -3.22592938e-06 9.99996055e-01 4.58561037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.050888479 meters 0.013889799506192303 Centerline is valid? [True, True] Translation: X:138.44, Y:27.50, Z:0.46 [[ 9.09504583e-01 -4.15673675e-01 -4.09992334e-03 1.38436461e+02] [ 4.15669463e-01 9.09513824e-01 -1.87128734e-03 2.74969276e+01] [ 4.50678184e-03 -2.26852338e-06 9.99989844e-01 4.57741230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.110888479 meters 0.013917852773319136 Centerline is valid? [True, True] Translation: X:138.49, Y:27.52, Z:0.46 [[ 9.09699798e-01 -4.15214981e-01 -6.54196646e-03 1.38488622e+02] [ 4.15204226e-01 9.09723320e-01 -2.98848872e-03 2.75236390e+01] [ 7.19224474e-03 2.37546119e-06 9.99974135e-01 4.55113674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.170888479 meters 0.013755196946760535 Centerline is valid? [True, True] Translation: X:138.54, Y:27.55, Z:0.46 [[ 9.09433816e-01 -4.15804198e-01 -6.08300375e-03 1.38541348e+02] [ 4.15794899e-01 9.09454160e-01 -2.78074164e-03 2.75489227e+01] [ 6.68845711e-03 -3.81450542e-07 9.99977632e-01 4.55696176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.230888479 meters 0.013669767371854135 Centerline is valid? [True, True] Translation: X:138.59, Y:27.57, Z:0.46 [[ 9.08828015e-01 -4.17126237e-01 -6.11081326e-03 1.38593496e+02] [ 4.17116869e-01 9.08848559e-01 -2.79553517e-03 2.75736008e+01] [ 6.71989489e-03 -8.26261514e-06 9.99977421e-01 4.57198796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.290888479 meters 0.013557048795371302 Centerline is valid? [True, True] Translation: X:138.64, Y:27.60, Z:0.46 [[ 9.08573138e-01 -4.17661350e-01 -7.33822850e-03 1.38644894e+02] [ 4.17647837e-01 9.08602772e-01 -3.35972604e-03 2.75998256e+01] [ 8.07076247e-03 -1.22384258e-05 9.99967431e-01 4.55995956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.350888479 meters 0.013698982458756493 Centerline is valid? [True, True] Translation: X:138.70, Y:27.62, Z:0.46 [[ 9.08646400e-01 -4.17485119e-01 -8.23981740e-03 1.38696934e+02] [ 4.17468060e-01 9.08683760e-01 -3.77408821e-03 2.76245731e+01] [ 9.06301392e-03 -1.05489233e-05 9.99958930e-01 4.56106406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.410888479 meters 0.013569536950161764 Centerline is valid? [True, True] Translation: X:138.75, Y:27.65, Z:0.46 [[ 9.08655426e-01 -4.17477503e-01 -7.60602417e-03 1.38749583e+02] [ 4.17462951e-01 9.08687259e-01 -3.48574850e-03 2.76497903e+01] [ 8.36671883e-03 -7.88900962e-06 9.99964998e-01 4.57707724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.470888479 meters 0.013559099744191477 Centerline is valid? [True, True] Translation: X:138.80, Y:27.68, Z:0.46 [[ 9.09001991e-01 -4.16751528e-01 -5.79179582e-03 1.38801476e+02] [ 4.16743064e-01 9.09020442e-01 -2.65606728e-03 2.76756398e+01] [ 6.37178089e-03 6.79704364e-07 9.99979700e-01 4.60673803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.530888479 meters 0.013577575483974357 Centerline is valid? [True, True] Translation: X:138.85, Y:27.70, Z:0.46 [[ 9.09606809e-01 -4.15442078e-01 -4.83050472e-03 1.38853387e+02] [ 4.15436164e-01 9.09619635e-01 -2.21672126e-03 2.77027309e+01] [ 5.31484122e-03 9.57840005e-06 9.99985876e-01 4.61330797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.590888479 meters 0.013768592730910871 Centerline is valid? [True, True] Translation: X:138.91, Y:27.73, Z:0.46 [[ 9.10920775e-01 -4.12530967e-01 -6.44542366e-03 1.38905753e+02] [ 4.12520348e-01 9.10943577e-01 -2.96014045e-03 2.77298066e+01] [ 7.09256689e-03 3.75850167e-05 9.99974847e-01 4.60644560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.650888479 meters 0.013841278884947046 Centerline is valid? [True, True] Translation: X:138.96, Y:27.75, Z:0.46 [[ 9.11177011e-01 -4.11928543e-01 -8.44571168e-03 1.38958965e+02] [ 4.11910258e-01 9.11216150e-01 -3.88158871e-03 2.77544912e+01] [ 9.29480606e-03 5.79391141e-05 9.99956801e-01 4.60485366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.710888479 meters 0.013826030799981135 Centerline is valid? [True, True] Translation: X:139.01, Y:27.78, Z:0.46 [[ 9.10570499e-01 -4.13276727e-01 -7.98205084e-03 1.39012479e+02] [ 4.13260424e-01 9.10605483e-01 -3.67108469e-03 2.77780758e+01] [ 8.78567313e-03 4.41157037e-05 9.99961404e-01 4.61061008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.770888479 meters 0.013621513291234972 Centerline is valid? [True, True] Translation: X:139.07, Y:27.80, Z:0.46 [[ 9.08538199e-01 -4.17740659e-01 -7.14718863e-03 1.39067148e+02] [ 4.17727709e-01 9.08566311e-01 -3.28926373e-03 2.77997920e+01] [ 7.86775401e-03 2.84300849e-06 9.99969049e-01 4.62038526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.830888479 meters 0.0137252422185767 Centerline is valid? [True, True] Translation: X:139.12, Y:27.82, Z:0.46 [[ 9.06832832e-01 -4.21443631e-01 -6.28339872e-03 1.39121374e+02] [ 4.21433697e-01 9.06854600e-01 -2.89369152e-03 2.78208010e+01] [ 6.91765689e-03 -2.39414788e-05 9.99976072e-01 4.63872299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.890888479 meters 0.014290166381727885 Centerline is valid? [True, True] Translation: X:139.18, Y:27.84, Z:0.47 [[ 9.04270908e-01 -4.26932451e-01 -4.77563450e-03 1.39176301e+02] [ 4.26926782e-01 9.04283517e-01 -2.20066187e-03 2.78423834e+01] [ 5.25806153e-03 -4.88517550e-05 9.99986175e-01 4.65928707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95088847899999 meters 0.01498033875524049 Centerline is valid? [True, True] Translation: X:139.23, Y:27.87, Z:0.47 [[ 9.02484247e-01 -4.30700086e-01 -4.42952650e-03 1.39229969e+02] [ 4.30695248e-01 9.02495115e-01 -2.04244436e-03 2.78658137e+01] [ 4.87730699e-03 -6.45021531e-05 9.99988104e-01 4.66936422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.010888479 meters 0.015534645025099622 Centerline is valid? [True, True] Translation: X:139.28, Y:27.89, Z:0.47 [[ 9.01626069e-01 -4.32484834e-01 -5.22487241e-03 1.39282943e+02] [ 4.32478126e-01 9.01641204e-01 -2.41035551e-03 2.78895873e+01] [ 5.75340246e-03 -8.64036638e-05 9.99983445e-01 4.66551970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.070888479 meters 0.015611868830917862 Centerline is valid? [True, True] Translation: X:139.34, Y:27.92, Z:0.47 [[ 9.01166635e-01 -4.33427242e-01 -6.28657343e-03 1.39335907e+02] [ 4.33417544e-01 9.01188556e-01 -2.90157641e-03 2.79159965e+01] [ 6.92301029e-03 -1.09907366e-04 9.99976030e-01 4.65937697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.130888479 meters 0.015543896224962528 Centerline is valid? [True, True] Translation: X:139.39, Y:27.94, Z:0.47 [[ 9.01469454e-01 -4.32782062e-01 -7.24631669e-03 1.39387744e+02] [ 4.32769136e-01 9.01498570e-01 -3.34700728e-03 2.79433366e+01] [ 7.98106885e-03 -1.18757388e-04 9.99968144e-01 4.65056597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.190888479 meters 0.014939743874516598 Centerline is valid? [True, True] Translation: X:139.44, Y:27.97, Z:0.47 [[ 9.02003419e-01 -4.31668980e-01 -7.19189692e-03 1.39440647e+02] [ 4.31656194e-01 9.02032084e-01 -3.32412111e-03 2.79702405e+01] [ 7.92224174e-03 -1.06058241e-04 9.99968613e-01 4.65708016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.250888479 meters 0.01478859575236311 Centerline is valid? [True, True] Translation: X:139.49, Y:28.00, Z:0.47 [[ 9.03267535e-01 -4.29042198e-01 -5.52746765e-03 1.39492007e+02] [ 4.29034590e-01 9.03284445e-01 -2.55571736e-03 2.79960625e+01] [ 6.08938615e-03 -6.29782990e-05 9.99981458e-01 4.66760176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.310888479 meters 0.01385440616075435 Centerline is valid? [True, True] Translation: X:139.54, Y:28.03, Z:0.47 [[ 9.06153604e-01 -4.22932737e-01 -3.68052293e-03 1.39542491e+02] [ 4.22929311e-01 9.06161078e-01 -1.70227074e-03 2.80275255e+01] [ 4.05509265e-03 -1.40822644e-05 9.99991778e-01 4.67754385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.370888479 meters 0.013886744411405411 Centerline is valid? [True, True] Translation: X:139.59, Y:28.06, Z:0.47 [[ 9.08775377e-01 -4.17274268e-01 -3.08205042e-03 1.39593550e+02] [ 4.17271831e-01 9.08780603e-01 -1.42629341e-03 2.80562271e+01] [ 3.39606318e-03 1.01275107e-05 9.99994233e-01 4.68851857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.430888479 meters 0.014167318407282088 Centerline is valid? [True, True] Translation: X:139.65, Y:28.08, Z:0.47 [[ 9.10159276e-01 -4.14247117e-01 -3.06907744e-03 1.39645787e+02] [ 4.14244679e-01 9.10164450e-01 -1.42130202e-03 2.80836762e+01] [ 3.38213545e-03 2.22622168e-05 9.99994280e-01 4.68962620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.490888479 meters 0.015357960184237284 Centerline is valid? [True, True] Translation: X:139.70, Y:28.11, Z:0.47 [[ 9.14393364e-01 -4.04805284e-01 -4.17823454e-03 1.39696479e+02] [ 4.04800662e-01 9.14402907e-01 -1.93608497e-03 2.81146233e+01] [ 4.60432723e-03 7.89911368e-05 9.99989397e-01 4.68205061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.550888479 meters 0.01715657917148183 Centerline is valid? [True, True] Translation: X:139.75, Y:28.14, Z:0.47 [[ 9.17313797e-01 -3.98122046e-01 -5.85109675e-03 1.39748281e+02] [ 3.98112838e-01 9.17332443e-01 -2.71223941e-03 2.81448588e+01] [ 6.44720318e-03 1.58577894e-04 9.99979204e-01 4.66600851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.610888479 meters 0.017698421954494475 Centerline is valid? [True, True] Translation: X:139.80, Y:28.17, Z:0.47 [[ 9.18336598e-01 -3.95761842e-01 -5.51879132e-03 1.39801855e+02] [ 3.95753600e-01 9.18353165e-01 -2.55966347e-03 2.81702853e+01] [ 6.08121661e-03 1.66551112e-04 9.99981495e-01 4.66382638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.670888479 meters 0.01870627196074913 Centerline is valid? [True, True] Translation: X:139.85, Y:28.20, Z:0.47 [[ 9.18845993e-01 -3.94574828e-01 -5.72247922e-03 1.39853355e+02] [ 3.94565934e-01 9.18863794e-01 -2.65554099e-03 2.81957814e+01] [ 6.30598860e-03 1.82137843e-04 9.99980100e-01 4.65898989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.730888479 meters 0.01836913821202523 Centerline is valid? [True, True] Translation: X:139.91, Y:28.22, Z:0.47 [[ 9.18177827e-01 -3.96129668e-01 -5.54653123e-03 1.39908468e+02] [ 3.96121332e-01 9.18194565e-01 -2.57525314e-03 2.82171032e+01] [ 6.11292900e-03 1.67440994e-04 9.99981302e-01 4.66579695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.790888479 meters 0.018438573342148146 Centerline is valid? [True, True] Translation: X:139.96, Y:28.24, Z:0.47 [[ 9.17490732e-01 -3.97706937e-01 -6.32059029e-03 1.39962817e+02] [ 3.97696136e-01 9.17512485e-01 -2.93662038e-03 2.82390705e+01] [ 6.96713480e-03 1.80647642e-04 9.99975713e-01 4.66544508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.850888479 meters 0.017700762362600476 Centerline is valid? [True, True] Translation: X:140.02, Y:28.26, Z:0.47 [[ 9.16272431e-01 -4.00495996e-01 -6.91292615e-03 1.40016898e+02] [ 4.00483144e-01 9.16298492e-01 -3.21330179e-03 2.82597180e+01] [ 7.62121831e-03 1.75749448e-04 9.99970943e-01 4.65134080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.910888479 meters 0.015493624433594306 Centerline is valid? [True, True] Translation: X:140.07, Y:28.28, Z:0.46 [[ 9.14733271e-01 -4.03998465e-01 -6.94861104e-03 1.40073084e+02] [ 4.03985568e-01 9.14759650e-01 -3.23153228e-03 2.82800446e+01] [ 7.66184309e-03 1.48851510e-04 9.99970637e-01 4.64554378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.970888479 meters 0.014488018259437206 Centerline is valid? [True, True] Translation: X:140.13, Y:28.30, Z:0.47 [[ 9.12268632e-01 -4.09564452e-01 -4.78572499e-03 1.40129689e+02] [ 4.09558407e-01 9.12281182e-01 -2.22635235e-03 2.82975283e+01] [ 5.27776163e-03 7.09975118e-05 9.99986070e-01 4.67086039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.030888479 meters 0.013632230269316392 Centerline is valid? [True, True] Translation: X:140.19, Y:28.32, Z:0.47 [[ 9.09323893e-01 -4.16082697e-01 -2.29052470e-03 1.40185602e+02] [ 4.16081332e-01 9.09326778e-01 -1.06564729e-03 2.83150392e+01] [ 2.52623285e-03 1.59739747e-05 9.99996809e-01 4.69760312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.090888479 meters 0.013547601136754973 Centerline is valid? [True, True] Translation: X:140.24, Y:28.34, Z:0.47 [[ 9.07141065e-01 -4.20821105e-01 -2.16472369e-03 1.40240390e+02] [ 4.20819900e-01 9.07143648e-01 -1.00726453e-03 2.83363761e+01] [ 2.38759351e-03 2.77220914e-06 9.99997150e-01 4.68806323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.150888479 meters 0.013515369338373058 Centerline is valid? [True, True] Translation: X:140.29, Y:28.36, Z:0.47 [[ 9.04781671e-01 -4.25860805e-01 -3.56413393e-03 1.40293453e+02] [ 4.25857570e-01 9.04788691e-01 -1.65980535e-03 2.83584122e+01] [ 3.93163411e-03 -1.60519590e-05 9.99992271e-01 4.65754910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.210888479 meters 0.013780935264491862 Centerline is valid? [True, True] Translation: X:140.35, Y:28.38, Z:0.47 [[ 9.03341304e-01 -4.28902889e-01 -4.09878207e-03 1.40347445e+02] [ 4.28898640e-01 9.03350602e-01 -1.90956167e-03 2.83813746e+01] [ 4.52165377e-03 -3.29761246e-05 9.99989777e-01 4.65738617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.270888479 meters 0.014614694194364914 Centerline is valid? [True, True] Translation: X:140.40, Y:28.41, Z:0.47 [[ 9.00293211e-01 -4.35274002e-01 -2.94593290e-03 1.40401253e+02] [ 4.35271838e-01 9.00298029e-01 -1.37312828e-03 2.84053806e+01] [ 3.24990463e-03 -4.60635587e-05 9.99994718e-01 4.66078380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.330888479 meters 0.015907552954405893 Centerline is valid? [True, True] Translation: X:140.46, Y:28.43, Z:0.47 [[ 8.96601629e-01 -4.42834587e-01 -1.74600412e-03 1.40455961e+02] [ 4.42833840e-01 8.96603328e-01 -8.14101056e-04 2.84297325e+01] [ 1.92598521e-03 -4.32653764e-05 9.99998144e-01 4.66812222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.390888479 meters 0.017833045942760306 Centerline is valid? [True, True] Translation: X:140.51, Y:28.46, Z:0.47 [[ 8.93237164e-01 -4.49585560e-01 -4.38348760e-04 1.40509723e+02] [ 4.49585514e-01 8.93237272e-01 -2.04409060e-04 2.84553911e+01] [ 4.83448812e-04 -1.44894830e-05 9.99999883e-01 4.66887191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45088847899999 meters 0.0192523494499946 Centerline is valid? [True, True] Translation: X:140.56, Y:28.48, Z:0.47 [[ 8.91900443e-01 -4.52229765e-01 1.35633540e-03 1.40561940e+02] [ 4.52229324e-01 8.91901473e-01 6.33432566e-04 2.84805134e+01] [-1.49617460e-03 4.84158528e-05 9.99998880e-01 4.67554234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.510888479 meters 0.018240667711850983 Centerline is valid? [True, True] Translation: X:140.61, Y:28.51, Z:0.47 [[ 8.92059974e-01 -4.51911750e-01 2.18457622e-03 1.40611522e+02] [ 4.51910603e-01 8.92062646e-01 1.02115463e-03 2.85130272e+01] [-2.41025062e-03 7.63019824e-05 9.99997092e-01 4.66529535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.570888479 meters 0.017599836007777606 Centerline is valid? [True, True] Translation: X:140.66, Y:28.54, Z:0.47 [[ 8.93722451e-01 -4.48618231e-01 1.36481558e-03 1.40662472e+02] [ 4.48617778e-01 8.93723493e-01 6.38568931e-04 2.85442286e+01] [-1.50624141e-03 4.15771416e-05 9.99998865e-01 4.65712160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.630888479 meters 0.01647250473842323 Centerline is valid? [True, True] Translation: X:140.71, Y:28.58, Z:0.46 [[ 8.97997050e-01 -4.40001400e-01 2.57068648e-04 1.40710517e+02] [ 4.40001384e-01 8.97997087e-01 1.20353735e-04 2.85796371e+01] [-2.83802709e-04 5.03326203e-06 9.99999960e-01 4.64693043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.690888479 meters 0.014209306505410422 Centerline is valid? [True, True] Translation: X:140.76, Y:28.62, Z:0.46 [[ 9.01869257e-01 -4.32009034e-01 1.96596928e-04 1.40756915e+02] [ 4.32009024e-01 9.01869278e-01 9.21075200e-05 2.86192256e+01] [-2.17096010e-04 1.86270635e-06 9.99999976e-01 4.64454435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.750888479 meters 0.014050922040931859 Centerline is valid? [True, True] Translation: X:140.81, Y:28.65, Z:0.46 [[ 9.03549237e-01 -4.28483533e-01 7.99643269e-04 1.40806095e+02] [ 4.28483369e-01 9.03549590e-01 3.74833754e-04 2.86520790e+01] [-8.83127440e-04 3.95308897e-06 9.99999610e-01 4.64426154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.810888479 meters 0.013904521426930837 Centerline is valid? [True, True] Translation: X:140.85, Y:28.69, Z:0.47 [[ 9.05569181e-01 -4.24196690e-01 1.27516098e-03 1.40853895e+02] [ 4.24196270e-01 9.05570079e-01 5.96932209e-04 2.86864201e+01] [-1.40796430e-03 3.55120358e-07 9.99999009e-01 4.65289867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.870888479 meters 0.013930034878209097 Centerline is valid? [True, True] Translation: X:140.90, Y:28.72, Z:0.46 [[ 9.06362739e-01 -4.22498478e-01 1.27356385e-03 1.40901946e+02] [ 4.22498056e-01 9.06363633e-01 5.96773232e-04 2.87189725e+01] [-1.40644774e-03 -2.81476826e-06 9.99999011e-01 4.64809844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.930888479 meters 0.013896789922503717 Centerline is valid? [True, True] Translation: X:140.95, Y:28.75, Z:0.46 [[ 9.06773300e-01 -4.21618471e-01 -2.19295180e-04 1.40952957e+02] [ 4.21618459e-01 9.06773326e-01 -1.01856375e-04 2.87481147e+01] [ 2.41795549e-04 -9.82544228e-08 9.99999971e-01 4.63397631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.990888479 meters 0.013970401643893467 Centerline is valid? [True, True] Translation: X:141.00, Y:28.78, Z:0.46 [[ 9.07326802e-01 -4.20423545e-01 -1.45510259e-03 1.41002721e+02] [ 4.20422993e-01 9.07327969e-01 -6.81322842e-04 2.87787130e+01] [ 1.60669944e-03 6.42388723e-06 9.99998709e-01 4.62700848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.050888479 meters 0.013897288660073321 Centerline is valid? [True, True] Translation: X:141.05, Y:28.81, Z:0.46 [[ 9.07201101e-01 -4.20694139e-01 -1.61370791e-03 1.41054255e+02] [ 4.20693459e-01 9.07202536e-01 -7.56238764e-04 2.88060780e+01] [ 1.78210513e-03 7.18427390e-06 9.99998412e-01 4.63319616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.110888479 meters 0.014032466295062504 Centerline is valid? [True, True] Translation: X:141.11, Y:28.83, Z:0.46 [[ 9.05954667e-01 -4.23366860e-01 -2.57746433e-03 1.41106559e+02] [ 4.23365133e-01 9.05958333e-01 -1.20929727e-03 2.88325174e+01] [ 2.84705168e-03 4.35997467e-06 9.99995947e-01 4.62896684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.170888479 meters 0.014144050923532646 Centerline is valid? [True, True] Translation: X:141.16, Y:28.86, Z:0.46 [[ 9.03588171e-01 -4.28380355e-01 -4.32312646e-03 1.41159335e+02] [ 4.28375544e-01 9.03598512e-01 -2.03031087e-03 2.88560121e+01] [ 4.77611593e-03 -1.73567646e-05 9.99988594e-01 4.61901305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.230888479 meters 0.014666186059916845 Centerline is valid? [True, True] Translation: X:141.21, Y:28.88, Z:0.46 [[ 9.01481475e-01 -4.32799513e-01 -3.96639245e-03 1.41213374e+02] [ 4.32795500e-01 9.01490200e-01 -1.86401036e-03 2.88793492e+01] [ 4.38240669e-03 -3.62659926e-05 9.99990397e-01 4.63554250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.290888479 meters 0.015272516293362359 Centerline is valid? [True, True] Translation: X:141.27, Y:28.90, Z:0.46 [[ 9.00305833e-01 -4.35242433e-01 -3.66494711e-03 1.41266117e+02] [ 4.35239023e-01 9.00313292e-01 -1.72325485e-03 2.89020958e+01] [ 4.04963423e-03 -4.36716038e-05 9.99991799e-01 4.64340524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.350888479 meters 0.01615174657848018 Centerline is valid? [True, True] Translation: X:141.32, Y:28.93, Z:0.46 [[ 8.97225519e-01 -4.41560076e-01 -3.32665572e-03 1.41320642e+02] [ 4.41557308e-01 8.97231684e-01 -1.56481855e-03 2.89272087e+01] [ 3.67574231e-03 -6.49140037e-05 9.99993242e-01 4.64131942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.410888479 meters 0.01693009622988499 Centerline is valid? [True, True] Translation: X:141.37, Y:28.95, Z:0.46 [[ 8.96135130e-01 -4.43764570e-01 -3.85174253e-03 1.41372345e+02] [ 4.43760876e-01 8.96143403e-01 -1.81273769e-03 2.89519131e+01] [ 4.25614243e-03 -8.47947120e-05 9.99990939e-01 4.64211717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.470888479 meters 0.01687534481017444 Centerline is valid? [True, True] Translation: X:141.42, Y:28.98, Z:0.46 [[ 8.95761251e-01 -4.44520533e-01 -3.64379968e-03 1.41423612e+02] [ 4.44517231e-01 8.95768658e-01 -1.71551309e-03 2.89810497e+01] [ 4.02658234e-03 -8.30415933e-05 9.99991890e-01 4.63566422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.530888479 meters 0.01686915572547269 Centerline is valid? [True, True] Translation: X:141.48, Y:29.01, Z:0.46 [[ 8.95531853e-01 -4.44983657e-01 -3.49930006e-03 1.41475182e+02] [ 4.44980611e-01 8.95538686e-01 -1.64855409e-03 2.90086696e+01] [ 3.86733820e-03 -8.07879751e-05 9.99992519e-01 4.62807256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.590888479 meters 0.01707937351807905 Centerline is valid? [True, True] Translation: X:141.53, Y:29.03, Z:0.46 [[ 8.95617644e-01 -4.44815803e-01 -2.81741579e-03 1.41526549e+02] [ 4.44813825e-01 8.95622073e-01 -1.32805348e-03 2.90343827e+01] [ 3.11407895e-03 -6.37973590e-05 9.99995149e-01 4.63948076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.650888479 meters 0.019050822111923108 Centerline is valid? [True, True] Translation: X:141.58, Y:29.06, Z:0.46 [[ 8.95549435e-01 -4.44954918e-01 -2.51603419e-03 1.41577806e+02] [ 4.44953340e-01 8.95552968e-01 -1.18622566e-03 2.90616010e+01] [ 2.78105882e-03 -5.71940969e-05 9.99996131e-01 4.63122633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.710888479 meters 0.016752053199144235 Centerline is valid? [True, True] Translation: X:141.63, Y:29.09, Z:0.46 [[ 8.97165145e-01 -4.41691299e-01 -1.87035349e-03 1.41628019e+02] [ 4.41690419e-01 8.97167094e-01 -8.82399621e-04 2.90907171e+01] [ 2.06776784e-03 -3.44590342e-05 9.99997862e-01 4.64209523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.770888479 meters 0.01606516148894503 Centerline is valid? [True, True] Translation: X:141.68, Y:29.12, Z:0.46 [[ 8.99351415e-01 -4.37208489e-01 -3.97117011e-03 1.41679274e+02] [ 4.37204474e-01 8.99360181e-01 -1.87450227e-03 2.91210589e+01] [ 4.39106057e-03 -5.03770714e-05 9.99990358e-01 4.61444254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.830888479 meters 0.015573290015500226 Centerline is valid? [True, True] Translation: X:141.73, Y:29.15, Z:0.46 [[ 9.00736836e-01 -4.34339150e-01 -4.75969971e-03 1.41731340e+02] [ 4.34333335e-01 9.00749411e-01 -2.24789509e-03 2.91497378e+01] [ 5.26364555e-03 -4.25343342e-05 9.99986146e-01 4.60639013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.890888479 meters 0.015245084826117444 Centerline is valid? [True, True] Translation: X:141.78, Y:29.18, Z:0.46 [[ 9.03081310e-01 -4.29454130e-01 -3.64653481e-03 1.41781075e+02] [ 4.29450674e-01 9.03088673e-01 -1.72281991e-03 2.91820448e+01] [ 4.03301641e-03 -1.01603685e-05 9.99991867e-01 4.60802783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95088847899999 meters 0.015451642900203571 Centerline is valid? [True, True] Translation: X:141.83, Y:29.21, Z:0.46 [[ 9.05271389e-01 -4.24826809e-01 -2.42782697e-03 1.41830345e+02] [ 4.24825259e-01 9.05274645e-01 -1.14753381e-03 2.92107915e+01] [ 2.68535333e-03 7.42730688e-06 9.99996394e-01 4.61714142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.010888479 meters 0.015842879030783463 Centerline is valid? [True, True] Translation: X:141.88, Y:29.24, Z:0.46 [[ 9.06494903e-01 -4.22207855e-01 -2.74191632e-03 1.41882741e+02] [ 4.22205865e-01 9.06499049e-01 -1.29647716e-03 2.92383850e+01] [ 3.03292738e-03 1.75967869e-05 9.99995401e-01 4.61531512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.070888479 meters 0.016317363034917366 Centerline is valid? [True, True] Translation: X:141.94, Y:29.26, Z:0.46 [[ 9.07747396e-01 -4.19501521e-01 -3.62468185e-03 1.41935427e+02] [ 4.19498016e-01 9.07754633e-01 -1.71516620e-03 2.92639873e+01] [ 4.00983657e-03 3.63908049e-05 9.99991960e-01 4.60884443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.130888479 meters 0.01633044260534851 Centerline is valid? [True, True] Translation: X:141.99, Y:29.29, Z:0.46 [[ 9.08072295e-01 -4.18796413e-01 -3.77770216e-03 1.41988510e+02] [ 4.18792595e-01 9.08080152e-01 -1.78876862e-03 2.92900022e+01] [ 4.17958623e-03 4.22575387e-05 9.99991265e-01 4.60261913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.190888479 meters 0.01761938200976927 Centerline is valid? [True, True] Translation: X:142.04, Y:29.32, Z:0.46 [[ 9.08458674e-01 -4.17941356e-01 -5.27834337e-03 1.42040389e+02] [ 4.17933879e-01 9.08474005e-01 -2.50086110e-03 2.93155629e+01] [ 5.84045103e-03 6.59304382e-05 9.99982942e-01 4.58336909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.250888479 meters 0.0185007615144835 Centerline is valid? [True, True] Translation: X:142.09, Y:29.34, Z:0.46 [[ 9.09069384e-01 -4.16605404e-01 -5.72640922e-03 1.42092658e+02] [ 4.16596573e-01 9.09087416e-01 -2.71390028e-03 2.93398899e+01] [ 6.33643209e-03 8.15212061e-05 9.99979921e-01 4.58213045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.310888479 meters 0.017488834418302124 Centerline is valid? [True, True] Translation: X:142.15, Y:29.36, Z:0.46 [[ 9.08903020e-01 -4.16975724e-01 -5.15219074e-03 1.42147909e+02] [ 4.16968574e-01 9.08917620e-01 -2.44290130e-03 2.93597197e+01] [ 5.70154748e-03 7.20587388e-05 9.99983743e-01 4.59534867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.370888479 meters 0.017345555802641913 Centerline is valid? [True, True] Translation: X:142.20, Y:29.38, Z:0.46 [[ 9.08204212e-01 -4.18511859e-01 -3.59616620e-03 1.42203186e+02] [ 4.18508384e-01 9.08211331e-01 -1.70607171e-03 2.93808533e+01] [ 3.98009013e-03 4.44358089e-05 9.99992078e-01 4.61356353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.430888479 meters 0.017485991414641678 Centerline is valid? [True, True] Translation: X:142.26, Y:29.40, Z:0.46 [[ 9.07027725e-01 -4.21060919e-01 -2.89982540e-03 1.42256960e+02] [ 4.21058670e-01 9.07032360e-01 -1.37640035e-03 2.94022010e+01] [ 3.20978387e-03 2.74366558e-05 9.99994848e-01 4.61810952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.490888479 meters 0.017454364444945605 Centerline is valid? [True, True] Translation: X:142.31, Y:29.42, Z:0.46 [[ 9.06659502e-01 -4.21848254e-01 -3.54938076e-03 1.42310493e+02] [ 4.21844888e-01 9.06666449e-01 -1.68541306e-03 2.94246306e+01] [ 3.92909300e-03 3.08076392e-05 9.99992281e-01 4.61315102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.550888479 meters 0.017481469410303496 Centerline is valid? [True, True] Translation: X:142.36, Y:29.45, Z:0.46 [[ 9.06373042e-01 -4.22449668e-01 -4.91807011e-03 1.42363743e+02] [ 4.22443204e-01 9.06386383e-01 -2.33741408e-03 2.94478890e+01] [ 5.44511159e-03 4.09638178e-05 9.99985174e-01 4.59771006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.610888479 meters 0.017182487152723275 Centerline is valid? [True, True] Translation: X:142.42, Y:29.47, Z:0.46 [[ 9.05564434e-01 -4.24186753e-01 -4.31921686e-03 1.42418221e+02] [ 4.24181780e-01 9.05574734e-01 -2.05413020e-03 2.94711115e+01] [ 4.78270848e-03 2.80141582e-05 9.99988562e-01 4.59578911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.670888479 meters 0.01719012117139782 Centerline is valid? [True, True] Translation: X:142.47, Y:29.49, Z:0.46 [[ 9.04535470e-01 -4.26383977e-01 -3.50525069e-03 1.42473215e+02] [ 4.26380715e-01 9.04542262e-01 -1.66795487e-03 2.94924122e+01] [ 3.88183662e-03 1.41530492e-05 9.99992466e-01 4.61226768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.730888479 meters 0.01722837611810808 Centerline is valid? [True, True] Translation: X:142.53, Y:29.51, Z:0.46 [[ 9.02586537e-01 -4.30505076e-01 -1.70969111e-03 1.42527758e+02] [ 4.30504307e-01 9.02588156e-01 -8.13640448e-04 2.95138620e+01] [ 1.89342329e-03 -1.64846997e-06 9.99998207e-01 4.60622089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.790888479 meters 0.017193481179505726 Centerline is valid? [True, True] Translation: X:142.58, Y:29.54, Z:0.46 [[ 9.01746431e-01 -4.32264286e-01 -9.80845936e-04 1.42580848e+02] [ 4.32264034e-01 9.01746964e-01 -4.66753068e-04 2.95371208e+01] [ 1.08623553e-03 -3.09150728e-06 9.99999410e-01 4.60847164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.850888479 meters 0.017322155287608776 Centerline is valid? [True, True] Translation: X:142.64, Y:29.56, Z:0.46 [[ 9.00696622e-01 -4.34448570e-01 -1.86267308e-04 1.42635596e+02] [ 4.34448561e-01 9.00696642e-01 -8.80808600e-05 2.95584475e+01] [ 2.06036942e-04 -1.58943075e-06 9.99999979e-01 4.62076412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.910888479 meters 0.017179337641489097 Centerline is valid? [True, True] Translation: X:142.69, Y:29.58, Z:0.46 [[ 9.00225197e-01 -4.35424211e-01 -5.92335457e-04 1.42687989e+02] [ 4.35424120e-01 9.00225392e-01 -2.81905359e-04 2.95831562e+01] [ 6.55983837e-04 -4.13883737e-06 9.99999785e-01 4.61146360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.970888479 meters 0.017068691932638855 Centerline is valid? [True, True] Translation: X:142.74, Y:29.61, Z:0.46 [[ 9.00722212e-01 -4.34392665e-01 -1.58400150e-03 1.42740238e+02] [ 4.34392007e-01 9.00723605e-01 -7.55920746e-04 2.96087762e+01] [ 1.75511397e-03 -7.20298458e-06 9.99998460e-01 4.59601556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.030888479 meters 0.016841134580056417 Centerline is valid? [True, True] Translation: X:142.79, Y:29.63, Z:0.46 [[ 9.01427631e-01 -4.32926174e-01 -1.77585362e-03 1.42793245e+02] [ 4.32925343e-01 9.01429381e-01 -8.48223766e-04 2.96337100e+01] [ 1.96802489e-03 -4.19969500e-06 9.99998063e-01 4.59669017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.090888479 meters 0.01663385632704174 Centerline is valid? [True, True] Translation: X:142.84, Y:29.66, Z:0.46 [[ 9.02005303e-01 -4.31724003e-01 -9.04779825e-04 1.42844582e+02] [ 4.31723787e-01 9.02005757e-01 -4.32018403e-04 2.96599293e+01] [ 1.00262933e-03 -9.32082214e-07 9.99999497e-01 4.59577622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.150888479 meters 0.016562653525287404 Centerline is valid? [True, True] Translation: X:142.90, Y:29.69, Z:0.46 [[ 9.02928485e-01 -4.29790499e-01 -5.27559216e-04 1.42896807e+02] [ 4.29790425e-01 9.02928639e-01 -2.51726661e-04 2.96859651e+01] [ 5.84538052e-04 5.51273329e-07 9.99999829e-01 4.60176203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.210888479 meters 0.016657958561047452 Centerline is valid? [True, True] Translation: X:142.95, Y:29.71, Z:0.46 [[ 9.03654154e-01 -4.28262579e-01 -5.77812660e-04 1.42949224e+02] [ 4.28262490e-01 9.03654339e-01 -2.75993356e-04 2.97108386e+01] [ 6.40340543e-04 1.94705398e-06 9.99999795e-01 4.61651808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.270888479 meters 0.0167042855697905 Centerline is valid? [True, True] Translation: X:143.00, Y:29.74, Z:0.46 [[ 9.04520164e-01 -4.26430842e-01 -9.57120142e-05 1.43001406e+02] [ 4.26430840e-01 9.04520169e-01 -4.51318547e-05 2.97378141e+01] [ 1.05819062e-04 8.11800822e-09 9.99999994e-01 4.61816280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.330888479 meters 0.016915801335107387 Centerline is valid? [True, True] Translation: X:143.05, Y:29.77, Z:0.46 [[ 9.05807113e-01 -4.23690132e-01 3.81315031e-04 1.43053301e+02] [ 4.23690092e-01 9.05807194e-01 1.83710516e-04 2.97660173e+01] [-4.23234231e-04 -4.84689178e-06 9.99999910e-01 4.60122393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.390888479 meters 0.017175683174865796 Centerline is valid? [True, True] Translation: X:143.11, Y:29.79, Z:0.46 [[ 9.07460555e-01 -4.20134296e-01 -1.58581814e-03 1.43106357e+02] [ 4.20133609e-01 9.07461940e-01 -7.60508620e-04 2.97907326e+01] [ 1.75858536e-03 2.38760755e-05 9.99998453e-01 4.58755409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45088847899999 meters 0.017292997202224793 Centerline is valid? [True, True] Translation: X:143.16, Y:29.81, Z:0.46 [[ 9.07733417e-01 -4.19539049e-01 -2.65154916e-03 1.43160614e+02] [ 4.19537120e-01 9.07737288e-01 -1.27296192e-03 2.98142700e+01] [ 2.94096728e-03 4.30867791e-05 9.99995674e-01 4.58411443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.510888479 meters 0.017283289080542278 Centerline is valid? [True, True] Translation: X:143.21, Y:29.84, Z:0.46 [[ 9.07470064e-01 -4.20107241e-01 -2.82653832e-03 1.43213431e+02] [ 4.20105048e-01 9.07474465e-01 -1.35791296e-03 2.98387777e+01] [ 3.13548041e-03 4.48223395e-05 9.99995083e-01 4.57807018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.570888479 meters 0.01726128877005735 Centerline is valid? [True, True] Translation: X:143.27, Y:29.86, Z:0.46 [[ 9.07046122e-01 -4.21005150e-01 -4.69006160e-03 1.43268076e+02] [ 4.20999115e-01 9.07058244e-01 -2.25540655e-03 2.98595015e+01] [ 5.20369682e-03 7.12459767e-05 9.99986458e-01 4.56033928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.630888479 meters 0.017250669135248357 Centerline is valid? [True, True] Translation: X:143.32, Y:29.88, Z:0.46 [[ 9.07049109e-01 -4.20995293e-01 -4.98774340e-03 1.43322250e+02] [ 4.20988457e-01 9.07062819e-01 -2.40034400e-03 2.98806333e+01] [ 5.53473012e-03 7.74474869e-05 9.99984680e-01 4.55356156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.690888479 meters 0.017378486863461724 Centerline is valid? [True, True] Translation: X:143.37, Y:29.90, Z:0.46 [[ 9.07034470e-01 -4.21037085e-01 -4.03030004e-03 1.43374520e+02] [ 4.21032617e-01 9.07043422e-01 -1.94063561e-03 2.99037935e+01] [ 4.47273670e-03 6.33356159e-05 9.99989995e-01 4.56619389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.750888479 meters 0.016987733760434713 Centerline is valid? [True, True] Translation: X:143.43, Y:29.92, Z:0.46 [[ 9.06928962e-01 -4.21262548e-01 -4.20991421e-03 1.43429294e+02] [ 4.21257670e-01 9.06938731e-01 -2.02833501e-03 2.99231196e+01] [ 4.67259583e-03 6.60971112e-05 9.99989081e-01 4.58538919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.810888479 meters 0.01709141488554133 Centerline is valid? [True, True] Translation: X:143.48, Y:29.95, Z:0.46 [[ 9.06986608e-01 -4.21126040e-01 -5.30579647e-03 1.43483480e+02] [ 4.21118278e-01 9.07002123e-01 -2.55830643e-03 2.99453340e+01] [ 5.88973812e-03 8.59817928e-05 9.99982652e-01 4.58753796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.870888479 meters 0.01674772144213174 Centerline is valid? [True, True] Translation: X:143.54, Y:29.97, Z:0.46 [[ 9.06311113e-01 -4.22556838e-01 -6.77388333e-03 1.43538842e+02] [ 4.22544209e-01 9.06336421e-01 -3.26846424e-03 2.99670299e+01] [ 7.52052909e-03 9.99802901e-05 9.99971715e-01 4.57222122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.930888479 meters 0.016283447127279922 Centerline is valid? [True, True] Translation: X:143.60, Y:29.99, Z:0.46 [[ 9.04459852e-01 -4.26495837e-01 -7.32650430e-03 1.43595219e+02] [ 4.26481173e-01 9.04489522e-01 -3.53739490e-03 2.99858253e+01] [ 8.13543057e-03 7.48155202e-05 9.99966904e-01 4.57476410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.990888479 meters 0.015891206945991124 Centerline is valid? [True, True] Translation: X:143.65, Y:30.00, Z:0.46 [[ 9.02910963e-01 -4.29763857e-01 -7.40405487e-03 1.43651219e+02] [ 4.29748972e-01 9.02941319e-01 -3.57710469e-03 3.00046722e+01] [ 8.22273737e-03 4.79220692e-05 9.99966192e-01 4.59298755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.050888479 meters 0.015607270447191027 Centerline is valid? [True, True] Translation: X:143.71, Y:30.02, Z:0.46 [[ 9.00215478e-01 -4.35374670e-01 -7.80963432e-03 1.43707647e+02] [ 4.35358300e-01 9.00249352e-01 -3.77546344e-03 3.00221718e+01] [ 8.67435939e-03 -1.25849482e-06 9.99962377e-01 4.59928102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.110888479 meters 0.01566907955383982 Centerline is valid? [True, True] Translation: X:143.76, Y:30.04, Z:0.46 [[ 8.97479097e-01 -4.40979639e-01 -8.25999326e-03 1.43763591e+02] [ 4.40961540e-01 8.97517105e-01 -3.99573105e-03 3.00423114e+01] [ 9.17552128e-03 -5.62542531e-05 9.99957902e-01 4.59029939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.170888479 meters 0.01591512826626397 Centerline is valid? [True, True] Translation: X:143.82, Y:30.06, Z:0.46 [[ 8.96333965e-01 -4.43282782e-01 -9.26273934e-03 1.43818579e+02] [ 4.43260114e-01 8.96381820e-01 -4.48369061e-03 3.00637187e+01] [ 1.02904940e-02 -8.69187068e-05 9.99947048e-01 4.58860219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.230888479 meters 0.01629342388439302 Centerline is valid? [True, True] Translation: X:143.87, Y:30.08, Z:0.46 [[ 8.95651992e-01 -4.44587989e-01 -1.22077777e-02 1.43873684e+02] [ 4.44548702e-01 8.95735174e-01 -5.91179753e-03 3.00837705e+01] [ 1.35632500e-02 -1.32038493e-04 9.99908006e-01 4.59255361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.290888479 meters 0.016382321575561732 Centerline is valid? [True, True] Translation: X:143.93, Y:30.11, Z:0.46 [[ 8.95775888e-01 -4.44303956e-01 -1.33997607e-02 1.43925919e+02] [ 4.44256566e-01 8.95876094e-01 -6.49061602e-03 3.01081580e+01] [ 1.48883317e-02 -1.38794362e-04 9.99889153e-01 4.57665422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.350888479 meters 0.01625112303108063 Centerline is valid? [True, True] Translation: X:143.98, Y:30.13, Z:0.46 [[ 8.96324602e-01 -4.43180360e-01 -1.39059654e-02 1.43977781e+02] [ 4.43129124e-01 8.96432459e-01 -6.73986246e-03 3.01340691e+01] [ 1.54527334e-02 -1.21033702e-04 9.99880592e-01 4.57869493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.410888479 meters 0.015838857736641024 Centerline is valid? [True, True] Translation: X:144.03, Y:30.16, Z:0.46 [[ 8.96773939e-01 -4.42287907e-01 -1.33383030e-02 1.44031177e+02] [ 4.42240610e-01 8.96873122e-01 -6.46880159e-03 3.01582245e+01] [ 1.48238381e-02 -9.76865530e-05 9.99890116e-01 4.62694107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.470888479 meters 0.015717544195655575 Centerline is valid? [True, True] Translation: X:144.08, Y:30.18, Z:0.46 [[ 8.96939492e-01 -4.41946968e-01 -1.35064425e-02 1.44083534e+02] [ 4.41898364e-01 8.97041175e-01 -6.55489124e-03 3.01837470e+01] [ 1.50127494e-02 -8.91340359e-05 9.99887298e-01 4.63482109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.530888479 meters 0.015564126409543456 Centerline is valid? [True, True] Translation: X:144.13, Y:30.21, Z:0.46 [[ 8.98022062e-01 -4.39738396e-01 -1.36572325e-02 1.44134773e+02] [ 4.39688374e-01 8.98125905e-01 -6.63273943e-03 3.02108574e+01] [ 1.51825845e-02 -4.85800140e-05 9.99884737e-01 4.62986556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.590888479 meters 0.01528027961177975 Centerline is valid? [True, True] Translation: X:144.19, Y:30.24, Z:0.46 [[ 8.99024736e-01 -4.37670398e-01 -1.41119086e-02 1.44187030e+02] [ 4.37616658e-01 8.99135486e-01 -6.85847568e-03 3.02363510e+01] [ 1.56902696e-02 -9.66698644e-06 9.99876900e-01 4.64654472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.650888479 meters 0.015319419280820583 Centerline is valid? [True, True] Translation: X:144.24, Y:30.26, Z:0.46 [[ 9.00420790e-01 -4.34723577e-01 -1.60565547e-02 1.44238769e+02] [ 4.34653491e-01 9.00563939e-01 -7.80603268e-03 3.02631087e+01] [ 1.78534206e-02 4.96765783e-05 9.99840614e-01 4.63663790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.710888479 meters 0.015282123639927949 Centerline is valid? [True, True] Translation: X:144.29, Y:30.29, Z:0.46 [[ 9.01402788e-01 -4.32624233e-01 -1.75865761e-02 1.44291858e+02] [ 4.32539656e-01 9.01574324e-01 -8.55475601e-03 3.02895171e+01] [ 1.95566002e-02 1.04389336e-04 9.99808746e-01 4.62684831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.770888479 meters 0.015336396057336436 Centerline is valid? [True, True] Translation: X:144.34, Y:30.32, Z:0.46 [[ 9.01672482e-01 -4.32053818e-01 -1.77829355e-02 1.44343528e+02] [ 4.31967183e-01 9.01847816e-01 -8.65268560e-03 3.03152066e+01] [ 1.97759274e-02 1.20243959e-04 9.99804430e-01 4.62420637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.830888479 meters 0.015332284621448148 Centerline is valid? [True, True] Translation: X:144.40, Y:30.34, Z:0.46 [[ 9.01587548e-01 -4.32230056e-01 -1.78064975e-02 1.44396801e+02] [ 4.32143117e-01 9.01763364e-01 -8.66962370e-03 3.03395941e+01] [ 1.98045191e-02 1.21469425e-04 9.99803864e-01 4.63123769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.890888479 meters 0.015156345012539955 Centerline is valid? [True, True] Translation: X:144.45, Y:30.36, Z:0.46 [[ 9.00658230e-01 -4.34197665e-01 -1.69452359e-02 1.44450482e+02] [ 4.34119186e-01 9.00817618e-01 -8.25537659e-03 3.03631045e+01] [ 1.88490323e-02 7.90208462e-05 9.99822338e-01 4.64045365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.950888479 meters 0.014903382850212471 Centerline is valid? [True, True] Translation: X:144.50, Y:30.39, Z:0.47 [[ 8.99220231e-01 -4.37238082e-01 -1.50278425e-02 1.44504817e+02] [ 4.37176709e-01 8.99345795e-01 -7.32568925e-03 3.03865882e+01] [ 1.67182973e-02 1.75852243e-05 9.99860239e-01 4.66660940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.010888479 meters 0.015014459517418196 Centerline is valid? [True, True] Translation: X:144.56, Y:30.41, Z:0.46 [[ 8.98593659e-01 -4.38531843e-01 -1.48073559e-02 1.44556399e+02] [ 4.38472391e-01 8.98715652e-01 -7.22077353e-03 3.04110690e+01] [ 1.64741416e-02 -4.07543184e-06 9.99864292e-01 4.64632806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.070888479 meters 0.014842431856767816 Centerline is valid? [True, True] Translation: X:144.61, Y:30.44, Z:0.47 [[ 8.97404770e-01 -4.40932760e-01 -1.55877999e-02 1.44609677e+02] [ 4.40867163e-01 8.97540138e-01 -7.60567790e-03 3.04356320e+01] [ 1.73442686e-02 -4.67774633e-05 9.99849576e-01 4.65724924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.130888479 meters 0.014832417549180053 Centerline is valid? [True, True] Translation: X:144.66, Y:30.46, Z:0.47 [[ 8.96892742e-01 -4.41941498e-01 -1.64657914e-02 1.44662507e+02] [ 4.41868379e-01 8.97043872e-01 -8.03909528e-03 3.04613158e+01] [ 1.83233471e-02 -6.55063403e-05 9.99832111e-01 4.65173906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.190888479 meters 0.015082284450971914 Centerline is valid? [True, True] Translation: X:144.71, Y:30.49, Z:0.46 [[ 8.95600963e-01 -4.44521870e-01 -1.72980637e-02 1.44714822e+02] [ 4.44441607e-01 8.95767990e-01 -8.44783391e-03 3.04872462e+01] [ 1.92502986e-02 -1.22091022e-04 9.99814688e-01 4.62516023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.250888479 meters 0.01548167362828485 Centerline is valid? [True, True] Translation: X:144.77, Y:30.51, Z:0.46 [[ 8.93415742e-01 -4.48971531e-01 -1.52603096e-02 1.44767367e+02] [ 4.48909635e-01 8.93546042e-01 -7.45725520e-03 3.05118399e+01] [ 1.69838845e-02 -1.88070816e-04 9.99855746e-01 4.63058666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.310888479 meters 0.015733773252736144 Centerline is valid? [True, True] Translation: X:144.82, Y:30.54, Z:0.47 [[ 8.91721878e-01 -4.52416994e-01 -1.22864126e-02 1.44820157e+02] [ 4.52377144e-01 8.91806494e-01 -6.00803686e-03 3.05351451e+01] [ 1.36752405e-02 -2.00594315e-04 9.99906469e-01 4.66133012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.370888479 meters 0.016106057538596296 Centerline is valid? [True, True] Translation: X:144.87, Y:30.56, Z:0.47 [[ 8.90854550e-01 -4.54211680e-01 -8.36181353e-03 1.44872473e+02] [ 4.54193280e-01 8.90893780e-01 -4.09122286e-03 3.05615611e+01] [ 9.30776887e-03 -1.53195005e-04 9.99956670e-01 4.68223131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.430888479 meters 0.015244410486830798 Centerline is valid? [True, True] Translation: X:144.92, Y:30.59, Z:0.47 [[ 8.92199857e-01 -4.51572398e-01 -7.86034014e-03 1.44922177e+02] [ 4.51556016e-01 8.92234473e-01 -3.84818114e-03 3.05933578e+01] [ 8.75099883e-03 -1.16037219e-04 9.99961703e-01 4.67175439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.490888479 meters 0.014521176787538063 Centerline is valid? [True, True] Translation: X:144.97, Y:30.62, Z:0.47 [[ 8.93828064e-01 -4.48351517e-01 -7.23251461e-03 1.44972756e+02] [ 4.48337525e-01 8.93857322e-01 -3.54295182e-03 3.06233459e+01] [ 8.05332396e-03 -7.58179346e-05 9.99967569e-01 4.66426679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.550888479 meters 0.014020522105647417 Centerline is valid? [True, True] Translation: X:145.02, Y:30.66, Z:0.47 [[ 8.96617908e-01 -4.42766392e-01 -5.85222254e-03 1.45021844e+02] [ 4.42757101e-01 8.96637007e-01 -2.86843494e-03 3.06569959e+01] [ 6.51736589e-03 -1.92229463e-05 9.99978762e-01 4.66832068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.610888479 meters 0.013890167571427778 Centerline is valid? [True, True] Translation: X:145.07, Y:30.69, Z:0.47 [[ 8.98149205e-01 -4.39659087e-01 -5.28134936e-03 1.45071515e+02] [ 4.39651456e-01 8.98164733e-01 -2.59029731e-03 3.06867977e+01] [ 5.88236948e-03 4.52053350e-06 9.99982699e-01 4.67730702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.670888479 meters 0.014091497544999863 Centerline is valid? [True, True] Translation: X:145.12, Y:30.72, Z:0.47 [[ 8.99050951e-01 -4.37829578e-01 -3.55640818e-03 1.45119489e+02] [ 4.37826100e-01 8.99057985e-01 -1.74503777e-03 3.07182202e+01] [ 3.96144632e-03 1.17895405e-05 9.99992153e-01 4.67126800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.730888479 meters 0.014035408962720396 Centerline is valid? [True, True] Translation: X:145.17, Y:30.75, Z:0.47 [[ 8.98620270e-01 -4.38717024e-01 -2.99714669e-03 1.45170031e+02] [ 4.38714558e-01 8.98625268e-01 -1.47111150e-03 3.07470073e+01] [ 3.33871340e-03 7.07872890e-06 9.99994426e-01 4.65463868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.790888479 meters 0.013978027540701243 Centerline is valid? [True, True] Translation: X:145.22, Y:30.77, Z:0.47 [[ 8.97022081e-01 -4.41981207e-01 -1.99952674e-03 1.45220996e+02] [ 4.41980116e-01 8.97024310e-01 -9.81947173e-04 3.07736962e+01] [ 2.22762629e-03 -2.92276257e-06 9.99997519e-01 4.65229098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.850888479 meters 0.014456451534065322 Centerline is valid? [True, True] Translation: X:145.27, Y:30.80, Z:0.46 [[ 8.94146027e-01 -4.47772248e-01 -1.70149737e-03 1.45274765e+02] [ 4.47771469e-01 8.94147646e-01 -8.35668302e-04 3.07983558e+01] [ 1.89557894e-03 -1.46724846e-05 9.99998203e-01 4.64804510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.910888479 meters 0.014851170344487604 Centerline is valid? [True, True] Translation: X:145.33, Y:30.82, Z:0.46 [[ 8.92147135e-01 -4.51742471e-01 -1.49302964e-03 1.45327420e+02] [ 4.51741876e-01 8.92148384e-01 -7.33616383e-04 3.08240244e+01] [ 1.66340966e-03 -1.99702565e-05 9.99998616e-01 4.63184580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.970888479 meters 0.015772277797427854 Centerline is valid? [True, True] Translation: X:145.38, Y:30.85, Z:0.46 [[ 8.89748382e-01 -4.56447499e-01 -1.87000038e-03 1.45380082e+02] [ 4.56446574e-01 8.89750347e-01 -9.19725956e-04 3.08471251e+01] [ 2.08364010e-03 -3.52305847e-05 9.99997829e-01 4.62842025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.030888479 meters 0.01618358079039794 Centerline is valid? [True, True] Translation: X:145.43, Y:30.87, Z:0.46 [[ 8.87469169e-01 -4.60862378e-01 -2.08382950e-03 1.45432995e+02] [ 4.60861241e-01 8.87471614e-01 -1.02513702e-03 3.08741127e+01] [ 2.32178661e-03 -5.05787479e-05 9.99997303e-01 4.62768578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.090888479 meters 0.018218390366115004 Centerline is valid? [True, True] Translation: X:145.49, Y:30.90, Z:0.46 [[ 8.86095784e-01 -4.63497899e-01 -1.98966532e-03 1.45486270e+02] [ 4.63496867e-01 8.86098017e-01 -9.79382670e-04 3.08961476e+01] [ 2.21698030e-03 -5.43767885e-05 9.99997541e-01 4.63318655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.150888479 meters 0.019754920162785763 Centerline is valid? [True, True] Translation: X:145.54, Y:30.92, Z:0.46 [[ 8.84331972e-01 -4.66856853e-01 -1.28143050e-03 1.45538850e+02] [ 4.66856428e-01 8.84332900e-01 -6.30893648e-04 3.09209606e+01] [ 1.42774817e-03 -4.03246418e-05 9.99998980e-01 4.64183271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.210888479 meters 0.01774772038331323 Centerline is valid? [True, True] Translation: X:145.59, Y:30.95, Z:0.46 [[ 8.83213705e-01 -4.68970567e-01 3.98425902e-04 1.45588551e+02] [ 4.68970526e-01 8.83213795e-01 1.97154426e-04 3.09535722e+01] [-4.44354875e-04 1.27205141e-05 9.99999901e-01 4.63979063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.270888479 meters 0.01794957400281698 Centerline is valid? [True, True] Translation: X:145.64, Y:30.98, Z:0.47 [[ 8.83019368e-01 -4.69333848e-01 1.59232354e-03 1.45640864e+02] [ 4.69333192e-01 8.83020802e-01 7.86070099e-04 3.09802359e+01] [-1.77498411e-03 5.32151664e-05 9.99998423e-01 4.65241923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.330888479 meters 0.017238108702704546 Centerline is valid? [True, True] Translation: X:145.69, Y:31.01, Z:0.47 [[ 8.84635062e-01 -4.66280985e-01 1.68810134e-03 1.45691542e+02] [ 4.66280244e-01 8.84636672e-01 8.32900852e-04 3.10108839e+01] [-1.88172218e-03 5.03150058e-05 9.99998228e-01 4.65580217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.390888479 meters 0.016499500817750725 Centerline is valid? [True, True] Translation: X:145.74, Y:31.04, Z:0.46 [[ 8.86729089e-01 -4.62289435e-01 -2.13575440e-05 1.45742103e+02] [ 4.62289435e-01 8.86729090e-01 -1.03304419e-05 3.10414051e+01] [ 2.37140097e-05 -7.13063584e-07 1.00000000e+00 4.64601837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.450888479 meters 0.014832984029052408 Centerline is valid? [True, True] Translation: X:145.79, Y:31.08, Z:0.46 [[ 8.90432879e-01 -4.55112137e-01 -1.49340477e-03 1.45790560e+02] [ 4.55111541e-01 8.90434131e-01 -7.36683656e-04 3.10762251e+01] [ 1.66505225e-03 -2.36983971e-05 9.99998614e-01 4.62835280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.510888479 meters 0.014291390264112799 Centerline is valid? [True, True] Translation: X:145.84, Y:31.11, Z:0.46 [[ 8.92485534e-01 -4.51070396e-01 -2.25171457e-03 1.45841645e+02] [ 4.51069028e-01 8.92488374e-01 -1.11097540e-03 3.11062869e+01] [ 2.51075718e-03 -2.41492332e-05 9.99996848e-01 4.62541826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.570888479 meters 0.013927206856011766 Centerline is valid? [True, True] Translation: X:145.89, Y:31.14, Z:0.46 [[ 8.94810989e-01 -4.46439897e-01 -2.17088357e-03 1.45892327e+02] [ 4.46438611e-01 8.94813622e-01 -1.07173678e-03 3.11362180e+01] [ 2.42100225e-03 -1.01643952e-05 9.99997069e-01 4.62861184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.630888479 meters 0.013861409290368018 Centerline is valid? [True, True] Translation: X:145.94, Y:31.17, Z:0.46 [[ 8.97107062e-01 -4.41810566e-01 -1.53083629e-03 1.45941755e+02] [ 4.41809919e-01 8.97108368e-01 -7.55934554e-04 3.11669153e+01] [ 1.70730592e-03 1.81556751e-06 9.99998543e-01 4.64635254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.690888479 meters 0.0141033207296082 Centerline is valid? [True, True] Translation: X:145.99, Y:31.20, Z:0.47 [[ 8.98927758e-01 -4.38096092e-01 -8.37454109e-04 1.45992351e+02] [ 4.38095896e-01 8.98928148e-01 -4.13852500e-04 3.11961220e+01] [ 9.34118234e-04 5.13829105e-06 9.99999564e-01 4.65347733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.750888479 meters 0.014614955575488144 Centerline is valid? [True, True] Translation: X:146.04, Y:31.23, Z:0.46 [[ 9.00941649e-01 -4.33932459e-01 -2.60129345e-03 1.46042082e+02] [ 4.33930553e-01 9.00945404e-01 -1.28639045e-03 3.12256660e+01] [ 2.90182995e-03 3.01820262e-05 9.99995789e-01 4.63561220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.810888479 meters 0.015014722468080121 Centerline is valid? [True, True] Translation: X:146.09, Y:31.25, Z:0.46 [[ 9.01839971e-01 -4.32050730e-01 -4.10284649e-03 1.46093868e+02] [ 4.32045965e-01 9.01849302e-01 -2.02985833e-03 3.12540933e+01] [ 4.57715101e-03 5.79891036e-05 9.99989523e-01 4.61762531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.870888479 meters 0.014999355660122005 Centerline is valid? [True, True] Translation: X:146.15, Y:31.28, Z:0.46 [[ 9.01952141e-01 -4.31805337e-01 -5.14651417e-03 1.46146943e+02] [ 4.31797827e-01 9.01966820e-01 -2.54798990e-03 3.12796262e+01] [ 5.74222066e-03 7.59113132e-05 9.99983510e-01 4.61399010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.930888479 meters 0.014594495598465734 Centerline is valid? [True, True] Translation: X:146.20, Y:31.30, Z:0.46 [[ 9.00350977e-01 -4.35119462e-01 -6.25877601e-03 1.46201668e+02] [ 4.35108419e-01 9.00372728e-01 -3.10077580e-03 3.13024791e+01] [ 6.98443913e-03 6.85403865e-05 9.99975606e-01 4.60980455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.990888479 meters 0.014256930699224592 Centerline is valid? [True, True] Translation: X:146.26, Y:31.32, Z:0.46 [[ 8.97938762e-01 -4.40071249e-01 -6.57836170e-03 1.46256332e+02] [ 4.40059166e-01 8.97962858e-01 -3.26116998e-03 3.13241868e+01] [ 7.34227162e-03 3.34625703e-05 9.99973045e-01 4.60979733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.050888479 meters 0.01413952714887227 Centerline is valid? [True, True] Translation: X:146.31, Y:31.35, Z:0.46 [[ 8.96416131e-01 -4.43159971e-01 -6.88188616e-03 1.46309765e+02] [ 4.43146821e-01 8.96442547e-01 -3.41396220e-03 3.13476999e+01] [ 7.68214695e-03 1.06448140e-05 9.99970492e-01 4.61214068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.110888479 meters 0.014655598621389314 Centerline is valid? [True, True] Translation: X:146.37, Y:31.37, Z:0.46 [[ 8.92084986e-01 -4.51819951e-01 -6.56575612e-03 1.46367156e+02] [ 4.51808200e-01 8.92109146e-01 -3.25920573e-03 3.13652715e+01] [ 7.32994526e-03 -5.89739597e-05 9.99973134e-01 4.62572800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.170888479 meters 0.01565959701542969 Centerline is valid? [True, True] Translation: X:146.42, Y:31.39, Z:0.46 [[ 8.89037807e-01 -4.57799499e-01 -5.60327798e-03 1.46422847e+02] [ 4.57791049e-01 8.89055460e-01 -2.78303342e-03 3.13863430e+01] [ 6.25569618e-03 -9.09085784e-05 9.99980429e-01 4.63593828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.230888479 meters 0.016304415524756765 Centerline is valid? [True, True] Translation: X:146.48, Y:31.41, Z:0.46 [[ 8.87839418e-01 -4.60111324e-01 -6.22385743e-03 1.46476356e+02] [ 4.60100941e-01 8.87861225e-01 -3.09324708e-03 3.14109520e+01] [ 6.94915970e-03 -1.17295973e-04 9.99975847e-01 4.62372636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.290888479 meters 0.01650266736451108 Centerline is valid? [True, True] Translation: X:146.53, Y:31.44, Z:0.46 [[ 8.87699154e-01 -4.60356703e-01 -7.86875256e-03 1.46529406e+02] [ 4.60340103e-01 8.87734016e-01 -3.91230651e-03 3.14353317e+01] [ 8.78641584e-03 -1.49351189e-04 9.99961388e-01 4.61722129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.350888479 meters 0.016192320131952313 Centerline is valid? [True, True] Translation: X:146.58, Y:31.46, Z:0.46 [[ 8.87946225e-01 -4.59868343e-01 -8.52110265e-03 1.46580969e+02] [ 4.59848830e-01 8.87987097e-01 -4.23908935e-03 3.14621510e+01] [ 9.51605219e-03 -1.54335695e-04 9.99954709e-01 4.61848289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.410888479 meters 0.016101820476464107 Centerline is valid? [True, True] Translation: X:146.63, Y:31.49, Z:0.46 [[ 8.88832394e-01 -4.58148449e-01 -8.77349930e-03 1.46634266e+02] [ 4.58127651e-01 8.88875683e-01 -4.36749430e-03 3.14875340e+01] [ 9.79951092e-03 -1.37412220e-04 9.99951974e-01 4.62687120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.470888479 meters 0.015998096629203484 Centerline is valid? [True, True] Translation: X:146.69, Y:31.51, Z:0.46 [[ 8.89899588e-01 -4.56091826e-01 -7.67912032e-03 1.46686497e+02] [ 4.56075804e-01 8.89932714e-01 -3.82420037e-03 3.15128882e+01] [ 8.57808692e-03 -9.91066417e-05 9.99963203e-01 4.63328376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.530888479 meters 0.015701575801289308 Centerline is valid? [True, True] Translation: X:146.74, Y:31.54, Z:0.46 [[ 8.90610894e-01 -4.54713088e-01 -6.94571024e-03 1.46739032e+02] [ 4.54699925e-01 8.90637975e-01 -3.46066896e-03 3.15393629e+01] [ 7.75972477e-03 -7.61044481e-05 9.99969890e-01 4.63548642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.590888479 meters 0.0153871352418615 Centerline is valid? [True, True] Translation: X:146.79, Y:31.57, Z:0.46 [[ 8.92137182e-01 -4.51725455e-01 -5.94659485e-03 1.46792290e+02] [ 4.51715729e-01 8.92157000e-01 -2.96456132e-03 3.15654916e+01] [ 6.64446403e-03 -4.13750405e-05 9.99977924e-01 4.64937402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.650888479 meters 0.015301789274310449 Centerline is valid? [True, True] Translation: X:146.84, Y:31.59, Z:0.47 [[ 8.93362767e-01 -4.49308837e-01 -4.95339652e-03 1.46844764e+02] [ 4.49302046e-01 8.93376499e-01 -2.47031771e-03 3.15900715e+01] [ 5.53518362e-03 -1.86813313e-05 9.99984681e-01 4.66426422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.710888479 meters 0.01558173225157251 Centerline is valid? [True, True] Translation: X:146.90, Y:31.62, Z:0.47 [[ 8.96417050e-01 -4.43186708e-01 -4.69182928e-03 1.46895444e+02] [ 4.43180527e-01 8.96429329e-01 -2.34088620e-03 3.16183706e+01] [ 5.24334303e-03 1.90829338e-05 9.99986253e-01 4.66137801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.770888479 meters 0.01652451717131337 Centerline is valid? [True, True] Translation: X:146.95, Y:31.65, Z:0.46 [[ 9.00224779e-01 -4.35380111e-01 -6.28532592e-03 1.46946335e+02] [ 4.35368814e-01 9.00246717e-01 -3.13773261e-03 3.16473109e+01] [ 7.02445040e-03 8.82297562e-05 9.99975324e-01 4.63610188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.830888479 meters 0.017516598676325226 Centerline is valid? [True, True] Translation: X:147.00, Y:31.68, Z:0.46 [[ 9.02506176e-01 -4.30618079e-01 -7.11840085e-03 1.46999027e+02] [ 4.30603426e-01 9.02534237e-01 -3.55533730e-03 3.16750808e+01] [ 7.95559300e-03 1.43506085e-04 9.99968343e-01 4.62432939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.890888479 meters 0.018795857111336453 Centerline is valid? [True, True] Translation: X:147.05, Y:31.70, Z:0.46 [[ 9.04764922e-01 -4.25872007e-01 -5.78532621e-03 1.47051740e+02] [ 4.25862226e-01 9.04783405e-01 -2.89028949e-03 3.17017329e+01] [ 6.46536054e-03 1.51280649e-04 9.99979088e-01 4.63047428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.950888479 meters 0.01950235051235074 Centerline is valid? [True, True] Translation: X:147.10, Y:31.73, Z:0.46 [[ 9.05075594e-01 -4.25216353e-01 -5.40580055e-03 1.47103452e+02] [ 4.25207799e-01 9.05091726e-01 -2.70115199e-03 3.17271873e+01] [ 6.04131935e-03 1.46158186e-04 9.99981740e-01 4.62649013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.010888479 meters 0.018833117014803873 Centerline is valid? [True, True] Translation: X:147.16, Y:31.75, Z:0.46 [[ 9.04678060e-01 -4.26073866e-01 -4.32063851e-03 1.47159200e+02] [ 4.26068408e-01 9.04688371e-01 -2.15970875e-03 3.17471440e+01] [ 4.82902687e-03 1.12953550e-04 9.99988334e-01 4.64564379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.070888479 meters 0.01879013838814422 Centerline is valid? [True, True] Translation: X:147.21, Y:31.77, Z:0.46 [[ 9.03927732e-01 -4.27668816e-01 -3.74681636e-03 1.47213139e+02] [ 4.27664721e-01 9.03935493e-01 -1.87394319e-03 3.17703701e+01] [ 4.18830736e-03 9.15280510e-05 9.99991225e-01 4.64709886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.130888479 meters 0.018450936069070847 Centerline is valid? [True, True] Translation: X:147.27, Y:31.79, Z:0.46 [[ 9.02702435e-01 -4.30236771e-01 -4.96329560e-03 1.47267851e+02] [ 4.30229613e-01 9.02716074e-01 -2.48413545e-03 3.17928242e+01] [ 5.54921313e-03 1.07078381e-04 9.99984597e-01 4.62482045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.190888479 meters 0.018130991039398418 Centerline is valid? [True, True] Translation: X:147.32, Y:31.81, Z:0.46 [[ 9.01327473e-01 -4.33095028e-01 -6.12236524e-03 1.47321935e+02] [ 4.33084193e-01 9.01348259e-01 -3.06559244e-03 3.18148440e+01] [ 6.84607610e-03 1.11603073e-04 9.99976559e-01 4.59919419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.250888479 meters 0.017741290440201514 Centerline is valid? [True, True] Translation: X:147.38, Y:31.84, Z:0.46 [[ 9.00007676e-01 -4.35822168e-01 -6.72465328e-03 1.47377285e+02] [ 4.35809165e-01 9.00032792e-01 -3.36813281e-03 3.18369371e+01] [ 7.52031541e-03 1.00679850e-04 9.99971717e-01 4.59882664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.310888479 meters 0.017185984008649013 Centerline is valid? [True, True] Translation: X:147.43, Y:31.86, Z:0.46 [[ 8.97613988e-01 -4.40742677e-01 -5.91779276e-03 1.47431921e+02] [ 4.40732709e-01 8.97633494e-01 -2.96471144e-03 3.18564990e+01] [ 6.61868385e-03 5.30016252e-05 9.99978095e-01 4.60850490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.370888479 meters 0.01679325965476086 Centerline is valid? [True, True] Translation: X:147.49, Y:31.88, Z:0.46 [[ 8.95769588e-01 -4.44486577e-01 -5.34113048e-03 1.47486519e+02] [ 4.44478517e-01 8.95785511e-01 -2.67690651e-03 3.18787424e+01] [ 5.97435631e-03 2.38736889e-05 9.99982153e-01 4.61658645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.430888479 meters 0.016836689928081825 Centerline is valid? [True, True] Translation: X:147.54, Y:31.90, Z:0.46 [[ 8.93437880e-01 -4.49167216e-01 -4.19127657e-03 1.47541833e+02] [ 4.49162299e-01 8.93447711e-01 -2.10172550e-03 3.19000566e+01] [ 4.68871265e-03 -4.80225164e-06 9.99989008e-01 4.62841317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.490888479 meters 0.01688472074852307 Centerline is valid? [True, True] Translation: X:147.59, Y:31.92, Z:0.46 [[ 8.92185756e-01 -4.51655465e-01 -3.45214851e-03 1.47594064e+02] [ 4.51652144e-01 8.92192435e-01 -1.73205142e-03 3.19248060e+01] [ 3.86227128e-03 -1.38586661e-05 9.99992541e-01 4.63170249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.550888479 meters 0.017168725094700053 Centerline is valid? [True, True] Translation: X:147.65, Y:31.95, Z:0.46 [[ 8.90673474e-01 -4.54630924e-01 -3.38909526e-03 1.47646674e+02] [ 4.54627741e-01 8.90679921e-01 -1.70154023e-03 3.19503946e+01] [ 3.79217191e-03 -2.52599708e-05 9.99992809e-01 4.62765892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.610888479 meters 0.017347855830486078 Centerline is valid? [True, True] Translation: X:147.70, Y:31.98, Z:0.46 [[ 8.89892678e-01 -4.56154974e-01 -3.69617929e-03 1.47699326e+02] [ 4.56151195e-01 8.89900353e-01 -1.85691775e-03 3.19772639e+01] [ 4.13627352e-03 -3.35590924e-05 9.99991445e-01 4.62268198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.670888479 meters 0.017452509856229394 Centerline is valid? [True, True] Translation: X:147.75, Y:32.00, Z:0.46 [[ 8.89607077e-01 -4.56713121e-01 -3.51760875e-03 1.47749240e+02] [ 4.56709699e-01 8.89614031e-01 -1.76819315e-03 3.20047371e+01] [ 3.93687112e-03 -3.35288934e-05 9.99992250e-01 4.62317761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.730888479 meters 0.017550024026285145 Centerline is valid? [True, True] Translation: X:147.80, Y:32.03, Z:0.46 [[ 8.89393418e-01 -4.57130479e-01 -3.32768335e-03 1.47800801e+02] [ 4.57127417e-01 8.89399642e-01 -1.67357648e-03 3.20324101e+01] [ 3.72468320e-03 -3.27073877e-05 9.99993063e-01 4.62898616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.790888479 meters 0.01743782572220763 Centerline is valid? [True, True] Translation: X:147.85, Y:32.06, Z:0.46 [[ 8.88934386e-01 -4.58024457e-01 -3.04209096e-03 1.47851058e+02] [ 4.58021900e-01 8.88939590e-01 -1.53092426e-03 3.20624131e+01] [ 3.40543585e-03 -3.24530645e-05 9.99994201e-01 4.62990852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.850888479 meters 0.017621644556869404 Centerline is valid? [True, True] Translation: X:147.90, Y:32.09, Z:0.46 [[ 8.89008676e-01 -4.57880709e-01 -2.97175684e-03 1.47901584e+02] [ 4.57878264e-01 8.89013642e-01 -1.49647362e-03 3.20892699e+01] [ 3.32713877e-03 -3.03248346e-05 9.99994465e-01 4.63414912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.910888479 meters 0.017516395691676255 Centerline is valid? [True, True] Translation: X:147.95, Y:32.12, Z:0.46 [[ 8.88808760e-01 -4.58272867e-01 -2.22870085e-03 1.47952694e+02] [ 4.58271493e-01 8.88811554e-01 -1.12248835e-03 3.21165941e+01] [ 2.49530102e-03 -2.36725837e-05 9.99996886e-01 4.64931175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.970888479 meters 0.017685134912571617 Centerline is valid? [True, True] Translation: X:148.00, Y:32.14, Z:0.47 [[ 8.88994432e-01 -4.57914489e-01 -1.79465255e-03 1.48004175e+02] [ 4.57913597e-01 8.88996243e-01 -9.04337848e-04 3.21441217e+01] [ 2.00954878e-03 -1.78444919e-05 9.99997981e-01 4.66051746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.030888479 meters 0.017452225515699672 Centerline is valid? [True, True] Translation: X:148.05, Y:32.18, Z:0.47 [[ 8.90788920e-01 -4.54410689e-01 -2.45468603e-03 1.48053783e+02] [ 4.54409002e-01 8.90792302e-01 -1.23809352e-03 3.21770936e+01] [ 2.74921835e-03 -1.25514432e-05 9.99996221e-01 4.65127859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.090888479 meters 0.017466023601760958 Centerline is valid? [True, True] Translation: X:148.10, Y:32.21, Z:0.46 [[ 8.92422811e-01 -4.51186389e-01 -3.51704171e-03 1.48103717e+02] [ 4.51182896e-01 8.92429741e-01 -1.77537310e-03 3.22069555e+01] [ 3.93973680e-03 -2.44561075e-06 9.99992239e-01 4.63809620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.150888479 meters 0.017483604050937403 Centerline is valid? [True, True] Translation: X:148.15, Y:32.24, Z:0.46 [[ 8.93804637e-01 -4.48428627e-01 -5.00380226e-03 1.48154170e+02] [ 4.48421501e-01 8.93818643e-01 -2.52800968e-03 3.22357677e+01] [ 5.60612365e-03 1.57342480e-05 9.99984285e-01 4.62984464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.210888479 meters 0.01746953861920733 Centerline is valid? [True, True] Translation: X:148.21, Y:32.26, Z:0.46 [[ 8.93096830e-01 -4.49836351e-01 -5.03086588e-03 1.48206062e+02] [ 4.49829161e-01 8.93110999e-01 -2.54349140e-03 3.22614216e+01] [ 5.63727654e-03 8.55392843e-06 9.99984110e-01 4.63132007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.270888479 meters 0.017288837751874377 Centerline is valid? [True, True] Translation: X:148.26, Y:32.29, Z:0.46 [[ 8.91624810e-01 -4.52753367e-01 -4.42563443e-03 1.48258819e+02] [ 4.52747831e-01 8.91635794e-01 -2.23898705e-03 3.22856818e+01] [ 4.95976299e-03 -7.35998441e-06 9.99987700e-01 4.64066903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.330888479 meters 0.017441934475416993 Centerline is valid? [True, True] Translation: X:148.31, Y:32.31, Z:0.47 [[ 8.90504456e-01 -4.54955673e-01 -4.14114550e-03 1.48311671e+02] [ 4.54950843e-01 8.90514085e-01 -2.09647202e-03 3.23103572e+01] [ 4.64155024e-03 -1.70999591e-05 9.99989228e-01 4.65108800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.390888479 meters 0.017537276090472842 Centerline is valid? [True, True] Translation: X:148.36, Y:32.34, Z:0.47 [[ 8.89126049e-01 -4.57642252e-01 -4.29404180e-03 1.48364684e+02] [ 4.57637083e-01 8.89136417e-01 -2.17534904e-03 3.23351971e+01] [ 4.81352058e-03 -3.09532676e-05 9.99988414e-01 4.65023422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.450888479 meters 0.017620197995098424 Centerline is valid? [True, True] Translation: X:148.42, Y:32.36, Z:0.46 [[ 8.88415311e-01 -4.58997902e-01 -6.25794318e-03 1.48417101e+02] [ 4.58986946e-01 8.88437349e-01 -3.17181197e-03 3.23603567e+01] [ 7.01564549e-03 -5.44279094e-05 9.99975389e-01 4.64569687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.510888479 meters 0.017463995307602214 Centerline is valid? [True, True] Translation: X:148.47, Y:32.39, Z:0.46 [[ 8.88377092e-01 -4.59055260e-01 -7.37641159e-03 1.48468257e+02] [ 4.59040022e-01 8.88407713e-01 -3.74076935e-03 3.23869220e+01] [ 8.27048080e-03 -6.28543416e-05 9.99965797e-01 4.63548550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.570888479 meters 0.017374525627351815 Centerline is valid? [True, True] Translation: X:148.52, Y:32.41, Z:0.46 [[ 8.89018053e-01 -4.57791545e-01 -8.59083942e-03 1.48519229e+02] [ 4.57770794e-01 8.89059558e-01 -4.35913937e-03 3.24133035e+01] [ 9.63334505e-03 -5.72817906e-05 9.99953597e-01 4.63347053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.630888479 meters 0.017349463580373963 Centerline is valid? [True, True] Translation: X:148.57, Y:32.44, Z:0.46 [[ 8.89470725e-01 -4.56904416e-01 -8.95460037e-03 1.48570509e+02] [ 4.56881797e-01 8.89515797e-01 -4.54658548e-03 3.24412124e+01] [ 1.00426135e-02 -4.71392200e-05 9.99949571e-01 4.63521640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.690888479 meters 0.017190784361443393 Centerline is valid? [True, True] Translation: X:148.62, Y:32.47, Z:0.46 [[ 8.90149707e-01 -4.55586533e-01 -8.62609836e-03 1.48621768e+02] [ 4.55565453e-01 8.90191502e-01 -4.38273697e-03 3.24684384e+01] [ 9.67559539e-03 -2.84603715e-05 9.99953190e-01 4.64663148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.750888479 meters 0.017073981089433494 Centerline is valid? [True, True] Translation: X:148.67, Y:32.50, Z:0.47 [[ 8.90492576e-01 -4.54918998e-01 -8.46621303e-03 1.48672503e+02] [ 4.54898633e-01 8.90532821e-01 -4.30447256e-03 3.24959757e+01] [ 9.49762692e-03 -1.81678791e-05 9.99954896e-01 4.65947007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.810888479 meters 0.016928283801995674 Centerline is valid? [True, True] Translation: X:148.72, Y:32.52, Z:0.47 [[ 8.90912866e-01 -4.54109517e-01 -7.66886934e-03 1.48722550e+02] [ 4.54092760e-01 8.90945872e-01 -3.90112891e-03 3.25235125e+01] [ 8.60408724e-03 -6.81210505e-06 9.99962984e-01 4.66631744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.870888479 meters 0.01693693154596152 Centerline is valid? [True, True] Translation: X:148.77, Y:32.55, Z:0.47 [[ 8.91453356e-01 -4.53051542e-01 -7.43066918e-03 1.48773181e+02] [ 4.53035754e-01 8.91484324e-01 -3.78221433e-03 3.25523989e+01] [ 8.33786313e-03 5.30884138e-06 9.99965239e-01 4.66705927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.930888479 meters 0.01675563354874835 Centerline is valid? [True, True] Translation: X:148.82, Y:32.58, Z:0.47 [[ 8.92137054e-01 -4.51702816e-01 -7.48621597e-03 1.48824356e+02] [ 4.51686721e-01 8.92168463e-01 -3.81313296e-03 3.25799590e+01] [ 8.40136869e-03 2.04128582e-05 9.99964708e-01 4.68930156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.990888479 meters 0.016755118047855014 Centerline is valid? [True, True] Translation: X:148.88, Y:32.61, Z:0.47 [[ 8.92387351e-01 -4.51195950e-01 -8.18717005e-03 1.48875055e+02] [ 4.51176652e-01 8.92424906e-01 -4.17319290e-03 3.26091403e+01] [ 9.18936220e-03 3.02445855e-05 9.99957776e-01 4.67940304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.050888479 meters 0.01673213880252229 Centerline is valid? [True, True] Translation: X:148.93, Y:32.64, Z:0.47 [[ 8.92462397e-01 -4.51005648e-01 -1.02360080e-02 1.48925746e+02] [ 4.50975428e-01 8.92521094e-01 -5.22109129e-03 3.26387339e+01] [ 1.14905947e-02 4.34395515e-05 9.99933980e-01 4.65964127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.110888479 meters 0.016735254856167767 Centerline is valid? [True, True] Translation: X:148.98, Y:32.66, Z:0.47 [[ 8.91405995e-01 -4.53092642e-01 -1.01197698e-02 1.48977510e+02] [ 4.53063220e-01 8.91463436e-01 -5.16341679e-03 3.26642090e+01] [ 1.13609109e-02 1.78051866e-05 9.99935463e-01 4.65654571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.170888479 meters 0.016579188358871823 Centerline is valid? [True, True] Translation: X:149.03, Y:32.69, Z:0.47 [[ 8.90010389e-01 -4.55836688e-01 -9.71704436e-03 1.49029452e+02] [ 4.55809696e-01 8.90063432e-01 -4.96056058e-03 3.26894159e+01] [ 1.09099914e-02 -1.41725876e-05 9.99940484e-01 4.66293059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.230888479 meters 0.016579975685877442 Centerline is valid? [True, True] Translation: X:149.08, Y:32.71, Z:0.47 [[ 8.88090445e-01 -4.59573978e-01 -9.33387056e-03 1.49082760e+02] [ 4.59549248e-01 8.88139491e-01 -4.76782613e-03 3.27148934e+01] [ 1.04809479e-02 -5.51123727e-05 9.99945072e-01 4.68110811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.290888479 meters 0.01680397480932585 Centerline is valid? [True, True] Translation: X:149.14, Y:32.74, Z:0.47 [[ 8.86893321e-01 -4.61886341e-01 -9.01361323e-03 1.49135989e+02] [ 4.61863371e-01 8.86939120e-01 -4.60697470e-03 3.27405457e+01] [ 1.01224249e-02 -7.71627009e-05 9.99948764e-01 4.69274719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.350888479 meters 0.017135182614154774 Centerline is valid? [True, True] Translation: X:149.19, Y:32.77, Z:0.47 [[ 8.84990341e-01 -4.65517408e-01 -9.25407947e-03 1.49189607e+02] [ 4.65493365e-01 8.85038716e-01 -4.73275886e-03 3.27658257e+01] [ 1.03934002e-02 -1.19266708e-04 9.99945980e-01 4.70072888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.410888479 meters 0.017125770238091628 Centerline is valid? [True, True] Translation: X:149.24, Y:32.79, Z:0.47 [[ 8.83944440e-01 -4.67485303e-01 -9.98590528e-03 1.49241514e+02] [ 4.67457396e-01 8.84000831e-01 -5.11018310e-03 3.27937751e+01] [ 1.12164841e-02 -1.50867342e-04 9.99937082e-01 4.69263227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.470888479 meters 0.017046795219982834 Centerline is valid? [True, True] Translation: X:149.29, Y:32.82, Z:0.47 [[ 8.84302132e-01 -4.66792464e-01 -1.07020911e-02 1.49291619e+02] [ 4.66760315e-01 8.84366877e-01 -5.48042961e-03 3.28223552e+01] [ 1.20227981e-02 -1.48955809e-04 9.99927712e-01 4.69258660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.530888479 meters 0.01672568797073198 Centerline is valid? [True, True] Translation: X:149.34, Y:32.85, Z:0.47 [[ 8.85121051e-01 -4.65232348e-01 -1.09356205e-02 1.49342859e+02] [ 4.65198618e-01 8.85188594e-01 -5.60354522e-03 3.28515856e+01] [ 1.22870371e-02 -1.27419714e-04 9.99924503e-01 4.69613880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.590888479 meters 0.01625489184968993 Centerline is valid? [True, True] Translation: X:149.39, Y:32.88, Z:0.47 [[ 8.86986959e-01 -4.61697770e-01 -9.45005558e-03 1.49391779e+02] [ 4.61672366e-01 8.87037296e-01 -4.84375212e-03 3.28828097e+01] [ 1.06189013e-02 -6.64845537e-05 9.99943616e-01 4.69954172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.650888479 meters 0.016100972508237374 Centerline is valid? [True, True] Translation: X:149.44, Y:32.91, Z:0.47 [[ 8.88755474e-01 -4.58294928e-01 -8.91445145e-03 1.49443266e+02] [ 4.58272137e-01 8.88800179e-01 -4.57053580e-03 3.29124621e+01] [ 1.00178194e-02 -2.31560069e-05 9.99949820e-01 4.71229010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.710888479 meters 0.016045866023203056 Centerline is valid? [True, True] Translation: X:149.49, Y:32.94, Z:0.47 [[ 8.91857280e-01 -4.52214533e-01 -9.62325902e-03 1.49493790e+02] [ 4.52187590e-01 8.91909196e-01 -4.93661164e-03 3.29433410e+01] [ 1.08154807e-02 5.12347250e-05 9.99941510e-01 4.72405974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.770888479 meters 0.0164376158263988 Centerline is valid? [True, True] Translation: X:149.54, Y:32.97, Z:0.47 [[ 8.93381796e-01 -4.49182777e-01 -1.01881533e-02 1.49543698e+02] [ 4.49152361e-01 8.93439883e-01 -5.22805873e-03 3.29736207e+01] [ 1.14508565e-02 9.46193691e-05 9.99934432e-01 4.70719212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.830888479 meters 0.016549436661252172 Centerline is valid? [True, True] Translation: X:149.60, Y:33.00, Z:0.47 [[ 8.94979413e-01 -4.45949261e-01 -1.18788357e-02 1.49596094e+02] [ 4.45907584e-01 8.95058227e-01 -6.09890631e-03 3.30012068e+01] [ 1.33520524e-02 1.61532655e-04 9.99910844e-01 4.70377354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.890888479 meters 0.016912415976885822 Centerline is valid? [True, True] Translation: X:149.65, Y:33.03, Z:0.47 [[ 8.95329502e-01 -4.45230554e-01 -1.24433787e-02 1.49647773e+02] [ 4.45184724e-01 8.95415949e-01 -6.39067970e-03 3.30282317e+01] [ 1.39873256e-02 1.82161961e-04 9.99902156e-01 4.69784773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.950888479 meters 0.0166075386085871 Centerline is valid? [True, True] Translation: X:149.70, Y:33.05, Z:0.47 [[ 8.95528531e-01 -4.44818692e-01 -1.28444655e-02 1.49701686e+02] [ 4.44769767e-01 8.95620618e-01 -6.60021670e-03 3.30528166e+01] [ 1.44396679e-02 1.97852451e-04 9.99895723e-01 4.70938554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.010888479 meters 0.016658406906258933 Centerline is valid? [True, True] Translation: X:149.76, Y:33.08, Z:0.47 [[ 8.95335097e-01 -4.45245894e-01 -1.14524557e-02 1.49755390e+02] [ 4.45206989e-01 8.95408322e-01 -5.88841510e-03 3.30779484e+01] [ 1.28764168e-02 1.73391372e-04 9.99917080e-01 4.71846218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.070888479 meters 0.016389199152494597 Centerline is valid? [True, True] Translation: X:149.81, Y:33.10, Z:0.47 [[ 8.94649059e-01 -4.46637477e-01 -1.08639191e-02 1.49808991e+02] [ 4.46602529e-01 8.94715006e-01 -5.58914453e-03 3.31016416e+01] [ 1.22164328e-02 1.48469154e-04 9.99925366e-01 4.73056809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.130888479 meters 0.016045515930403674 Centerline is valid? [True, True] Translation: X:149.86, Y:33.13, Z:0.47 [[ 8.93399126e-01 -4.49139242e-01 -1.05803224e-02 1.49863341e+02] [ 4.49106232e-01 8.93461767e-01 -5.44647317e-03 3.31252944e+01] [ 1.18993384e-02 1.14185627e-04 9.99929194e-01 4.72800309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.190888479 meters 0.015836347213588786 Centerline is valid? [True, True] Translation: X:149.92, Y:33.15, Z:0.47 [[ 8.92680207e-01 -4.50541387e-01 -1.15977118e-02 1.49916267e+02] [ 4.50501789e-01 8.92755536e-01 -5.97423761e-03 3.31497473e+01] [ 1.30455627e-02 1.08293754e-04 9.99914897e-01 4.72575566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.250888479 meters 0.015528714722228353 Centerline is valid? [True, True] Translation: X:149.97, Y:33.17, Z:0.47 [[ 8.91394125e-01 -4.53061697e-01 -1.23130967e-02 1.49969848e+02] [ 4.53017243e-01 8.91479160e-01 -6.34708979e-03 3.31718991e+01] [ 1.38524924e-02 7.97134306e-05 9.99904046e-01 4.71942494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.310888479 meters 0.015389800331869184 Centerline is valid? [True, True] Translation: X:150.02, Y:33.19, Z:0.47 [[ 8.90375224e-01 -4.55051020e-01 -1.26700268e-02 1.50023868e+02] [ 4.55004088e-01 8.90465365e-01 -6.53560114e-03 3.31947030e+01] [ 1.42562520e-02 5.42233193e-05 9.99898373e-01 4.73159108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.370888479 meters 0.015264971168071448 Centerline is valid? [True, True] Translation: X:150.08, Y:33.22, Z:0.47 [[ 8.89404999e-01 -4.56930536e-01 -1.31618265e-02 1.50076887e+02] [ 4.56880026e-01 8.89502380e-01 -6.79396725e-03 3.32179109e+01] [ 1.48118471e-02 2.92127858e-05 9.99890298e-01 4.72255967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.430888479 meters 0.015156233660424972 Centerline is valid? [True, True] Translation: X:150.13, Y:33.24, Z:0.47 [[ 8.89057108e-01 -4.57612081e-01 -1.29861871e-02 1.50129233e+02] [ 4.57562947e-01 8.89151946e-01 -6.70575880e-03 3.32409826e+01] [ 1.46153298e-02 1.98044825e-05 9.99893190e-01 4.72051412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.490888479 meters 0.014998665606217048 Centerline is valid? [True, True] Translation: X:150.18, Y:33.27, Z:0.47 [[ 8.89036361e-01 -4.57642435e-01 -1.33323136e-02 1.50182616e+02] [ 4.57590586e-01 8.89136323e-01 -6.88870410e-03 3.32650782e+01] [ 1.50068076e-02 2.35672226e-05 9.99887391e-01 4.73377404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.550888479 meters 0.014857771765842569 Centerline is valid? [True, True] Translation: X:150.24, Y:33.29, Z:0.48 [[ 8.89551351e-01 -4.56666187e-01 -1.24252929e-02 1.50235698e+02] [ 4.56620996e-01 8.89638124e-01 -6.42447988e-03 3.32895132e+01] [ 1.39878570e-02 4.12551487e-05 9.99902164e-01 4.75560749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.610888479 meters 0.0146632510454631 Centerline is valid? [True, True] Translation: X:150.29, Y:33.31, Z:0.48 [[ 8.90295986e-01 -4.55255312e-01 -1.07544341e-02 1.50288935e+02] [ 4.55221314e-01 8.90360937e-01 -5.56396613e-03 3.33146556e+01] [ 1.21083531e-02 5.79290919e-05 9.99926690e-01 4.77341782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.670888479 meters 0.014617738018192331 Centerline is valid? [True, True] Translation: X:150.34, Y:33.34, Z:0.48 [[ 8.90511854e-01 -4.54846535e-01 -1.01620205e-02 1.50341515e+02] [ 4.54816113e-01 8.90569832e-01 -5.26100122e-03 3.33395668e+01] [ 1.14429371e-02 6.31332862e-05 9.99934525e-01 4.78155515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.730888479 meters 0.014720501471549803 Centerline is valid? [True, True] Translation: X:150.39, Y:33.36, Z:0.48 [[ 8.90383759e-01 -4.55077286e-01 -1.10192986e-02 1.50394273e+02] [ 4.55041508e-01 8.90451941e-01 -5.70675327e-03 3.33643804e+01] [ 1.24091696e-02 6.69622059e-05 9.99923001e-01 4.75727158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.790888479 meters 0.014579842060792826 Centerline is valid? [True, True] Translation: X:150.45, Y:33.39, Z:0.48 [[ 8.89905703e-01 -4.55988327e-01 -1.19366813e-02 1.50447586e+02] [ 4.55946376e-01 8.89985754e-01 -6.18549738e-03 3.33880398e+01] [ 1.34439909e-02 6.20228290e-05 9.99909624e-01 4.75811957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.850888479 meters 0.014364113225159361 Centerline is valid? [True, True] Translation: X:150.50, Y:33.41, Z:0.48 [[ 8.88900023e-01 -4.57946116e-01 -1.19207075e-02 1.50500686e+02] [ 4.57904428e-01 8.88979951e-01 -6.17911602e-03 3.34112212e+01] [ 1.34269721e-02 3.40716469e-05 9.99909854e-01 4.76082402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.910888479 meters 0.014185163024617682 Centerline is valid? [True, True] Translation: X:150.55, Y:33.44, Z:0.48 [[ 8.87690578e-01 -4.60305509e-01 -1.11479724e-02 1.50554672e+02] [ 4.60269198e-01 8.87760575e-01 -5.78158959e-03 3.34358547e+01] [ 1.25580280e-02 1.19426856e-06 9.99921145e-01 4.77665377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.970888479 meters 0.014406062420526904 Centerline is valid? [True, True] Translation: X:150.61, Y:33.46, Z:0.48 [[ 8.85698795e-01 -4.64125820e-01 -1.11744273e-02 1.50607849e+02] [ 4.64089612e-01 8.85769282e-01 -5.79757935e-03 3.34580913e+01] [ 1.25887707e-02 -5.10265838e-05 9.99920757e-01 4.76769128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.030888479 meters 0.014347448989890425 Centerline is valid? [True, True] Translation: X:150.66, Y:33.48, Z:0.48 [[ 8.84373606e-01 -4.66660959e-01 -1.05296836e-02 1.50660389e+02] [ 4.66628949e-01 8.84436285e-01 -5.46634944e-03 3.34832016e+01] [ 1.18637662e-02 -7.91600515e-05 9.99929620e-01 4.78768200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.090888479 meters 0.014653092110071415 Centerline is valid? [True, True] Translation: X:150.71, Y:33.51, Z:0.48 [[ 8.83468013e-01 -4.68347368e-01 -1.16195321e-02 1.50712140e+02] [ 4.68308508e-01 8.83544414e-01 -6.03412012e-03 3.35096213e+01] [ 1.30924369e-02 -1.10573621e-04 9.99914284e-01 4.76922702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.150888479 meters 0.014703990833667737 Centerline is valid? [True, True] Translation: X:150.76, Y:33.54, Z:0.48 [[ 8.83448012e-01 -4.68385231e-01 -1.16139966e-02 1.50763103e+02] [ 4.68346365e-01 8.83524342e-01 -6.03476138e-03 3.35378704e+01] [ 1.30878418e-02 -1.07975162e-04 9.99914345e-01 4.75788202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.210888479 meters 0.014628779581834006 Centerline is valid? [True, True] Translation: X:150.81, Y:33.57, Z:0.48 [[ 8.84463799e-01 -4.66477210e-01 -1.10815328e-02 1.50814210e+02] [ 4.66441649e-01 8.84533214e-01 -5.76032908e-03 3.35656336e+01] [ 1.24890461e-02 -7.40858784e-05 9.99922006e-01 4.76617129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.270888479 meters 0.014357762438429797 Centerline is valid? [True, True] Translation: X:150.86, Y:33.60, Z:0.48 [[ 8.85831358e-01 -4.63895233e-01 -1.01988899e-02 1.50864089e+02] [ 4.63864908e-01 8.85890067e-01 -5.30429766e-03 3.35975941e+01] [ 1.14957336e-02 -3.21939065e-05 9.99933921e-01 4.77718709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.330888479 meters 0.014377456121768651 Centerline is valid? [True, True] Translation: X:150.91, Y:33.63, Z:0.48 [[ 8.87090910e-01 -4.61494581e-01 -9.61607884e-03 1.50913921e+02] [ 4.61467465e-01 8.87143028e-01 -5.00269647e-03 3.36276381e+01] [ 1.08395546e-02 3.39038421e-07 9.99941250e-01 4.77383224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.390888479 meters 0.01440211140982721 Centerline is valid? [True, True] Translation: X:150.96, Y:33.66, Z:0.48 [[ 8.88137132e-01 -4.59492938e-01 -8.86987290e-03 1.50962992e+02] [ 4.59469749e-01 8.88181423e-01 -4.61623964e-03 3.36571216e+01] [ 9.99918584e-03 2.44155559e-05 9.99950007e-01 4.78122844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.450888479 meters 0.014325150135354429 Centerline is valid? [True, True] Translation: X:151.01, Y:33.69, Z:0.48 [[ 8.88007988e-01 -4.59759133e-01 -7.95951159e-03 1.51013898e+02] [ 4.59740461e-01 8.88043659e-01 -4.14355009e-03 3.36856080e+01] [ 8.97342879e-03 2.01960525e-05 9.99959738e-01 4.79451531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.510888479 meters 0.014317963235262335 Centerline is valid? [True, True] Translation: X:151.06, Y:33.71, Z:0.48 [[ 8.87705942e-01 -4.60348120e-01 -7.60052564e-03 1.51064769e+02] [ 4.60331098e-01 8.87738480e-01 -3.95882334e-03 3.37132837e+01] [ 8.56971595e-03 1.55126915e-05 9.99963279e-01 4.80490614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.570888479 meters 0.014326891110434753 Centerline is valid? [True, True] Translation: X:151.11, Y:33.74, Z:0.48 [[ 8.86810404e-01 -4.62077599e-01 -7.18327159e-03 1.51114956e+02] [ 4.62062438e-01 8.86839497e-01 -3.74311621e-03 3.37394858e+01] [ 8.10001911e-03 3.14420325e-07 9.99967194e-01 4.81028636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.630888479 meters 0.014513745058682304 Centerline is valid? [True, True] Translation: X:151.17, Y:33.77, Z:0.48 [[ 8.85341098e-01 -4.64874673e-01 -7.91699018e-03 1.51166281e+02] [ 4.64856356e-01 8.85376495e-01 -4.12681354e-03 3.37673209e+01] [ 8.92796811e-03 -2.66255804e-05 9.99960145e-01 4.79373345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.690888479 meters 0.014689418702813298 Centerline is valid? [True, True] Translation: X:151.22, Y:33.79, Z:0.48 [[ 8.84171108e-01 -4.67093983e-01 -8.04131758e-03 1.51218839e+02] [ 4.67075158e-01 8.84207673e-01 -4.19380539e-03 3.37944482e+01] [ 9.06909597e-03 -4.78581215e-05 9.99958874e-01 4.79934827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.750888479 meters 0.014888504020571344 Centerline is valid? [True, True] Translation: X:151.27, Y:33.82, Z:0.48 [[ 8.83369597e-01 -4.68611879e-01 -7.81418499e-03 1.51270527e+02] [ 4.68594138e-01 8.83404156e-01 -4.07801334e-03 3.38211399e+01] [ 8.81408899e-03 -5.92882814e-05 9.99961153e-01 4.80546860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.810888479 meters 0.015510305166823163 Centerline is valid? [True, True] Translation: X:151.32, Y:33.85, Z:0.48 [[ 8.80819690e-01 -4.73395418e-01 -7.31112601e-03 1.51323051e+02] [ 4.73380033e-01 8.80850026e-01 -3.81780978e-03 3.38477228e+01] [ 8.24733920e-03 -9.81390532e-05 9.99965985e-01 4.80674556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.870888479 meters 0.0167430843415393 Centerline is valid? [True, True] Translation: X:151.38, Y:33.87, Z:0.48 [[ 8.78236663e-01 -4.78166813e-01 -7.54073488e-03 1.51375171e+02] [ 4.78150610e-01 8.78269024e-01 -3.93905739e-03 3.38733076e+01] [ 8.50632037e-03 -1.46182363e-04 9.99963810e-01 4.79849329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.930888479 meters 0.017197508511425715 Centerline is valid? [True, True] Translation: X:151.43, Y:33.90, Z:0.48 [[ 8.77053908e-01 -4.80335069e-01 -7.39349515e-03 1.51427343e+02] [ 4.80319555e-01 8.77085056e-01 -3.86390283e-03 3.38998053e+01] [ 8.34069214e-03 -1.62389217e-04 9.99965203e-01 4.80901820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.990888479 meters 0.017936507336822703 Centerline is valid? [True, True] Translation: X:151.48, Y:33.93, Z:0.48 [[ 8.76723818e-01 -4.80937394e-01 -7.38720044e-03 1.51477252e+02] [ 4.80921917e-01 8.76754923e-01 -3.86189060e-03 3.39285673e+01] [ 8.33409196e-03 -1.66855129e-04 9.99965257e-01 4.79974750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.050888479 meters 0.016520170686989345 Centerline is valid? [True, True] Translation: X:151.53, Y:33.96, Z:0.48 [[ 8.77220447e-01 -4.80043919e-01 -6.49023591e-03 1.51526690e+02] [ 4.80031937e-01 8.77244446e-01 -3.39447623e-03 3.39603922e+01] [ 7.32302107e-03 -1.37816555e-04 9.99973177e-01 4.81896404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.110888479 meters 0.016120146061549115 Centerline is valid? [True, True] Translation: X:151.58, Y:33.99, Z:0.48 [[ 8.78167551e-01 -4.78322673e-01 -5.40108103e-03 1.51577659e+02] [ 4.78314334e-01 8.78184155e-01 -2.82634705e-03 3.39909328e+01] [ 6.09504966e-03 -1.01408203e-04 9.99981420e-01 4.84291711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.170888479 meters 0.015744159581675726 Centerline is valid? [True, True] Translation: X:151.63, Y:34.02, Z:0.48 [[ 8.79559509e-01 -4.75753503e-01 -5.80301458e-03 1.51626566e+02] [ 4.75743812e-01 8.79578647e-01 -3.03782950e-03 3.40225457e+01] [ 6.54946574e-03 -8.87964614e-05 9.99978548e-01 4.83668132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.230888479 meters 0.015292038568951184 Centerline is valid? [True, True] Translation: X:151.68, Y:34.05, Z:0.48 [[ 8.80805925e-01 -4.73448437e-01 -5.24410725e-03 1.51676593e+02] [ 4.73440476e-01 8.80821533e-01 -2.74637715e-03 3.40535703e+01] [ 5.91939056e-03 -6.37473654e-05 9.99982478e-01 4.84162247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.290888479 meters 0.014924755856947853 Centerline is valid? [True, True] Translation: X:151.73, Y:34.09, Z:0.48 [[ 8.83313610e-01 -4.68757196e-01 -4.87411968e-03 1.51725684e+02] [ 4.68750239e-01 8.83327057e-01 -2.55410103e-03 3.40865601e+01] [ 5.50269503e-03 -2.86725659e-05 9.99984860e-01 4.84192742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.350888479 meters 0.01475793531882107 Centerline is valid? [True, True] Translation: X:151.77, Y:34.12, Z:0.48 [[ 8.86057535e-01 -4.63532497e-01 -6.29837120e-03 1.51773559e+02] [ 4.63520730e-01 8.86079920e-01 -3.30279828e-03 3.41193552e+01] [ 7.11181459e-03 7.04368402e-06 9.99974711e-01 4.82765469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.410888479 meters 0.01490317040073756 Centerline is valid? [True, True] Translation: X:151.82, Y:34.15, Z:0.48 [[ 8.87772951e-01 -4.60222640e-01 -7.36942820e-03 1.51824082e+02] [ 4.60206395e-01 8.87803537e-01 -3.86705985e-03 3.41507606e+01] [ 8.32231292e-03 4.16131524e-05 9.99965368e-01 4.81766535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.470888479 meters 0.01496530266058202 Centerline is valid? [True, True] Translation: X:151.87, Y:34.18, Z:0.48 [[ 8.87793650e-01 -4.60175588e-01 -7.80154183e-03 1.51874854e+02] [ 4.60157367e-01 8.87827926e-01 -4.09525651e-03 3.41784287e+01] [ 8.81096378e-03 4.58057748e-05 9.99961182e-01 4.81270212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.530888479 meters 0.015008656142802695 Centerline is valid? [True, True] Translation: X:151.93, Y:34.21, Z:0.48 [[ 8.86924535e-01 -4.61857490e-01 -7.24767303e-03 1.51926824e+02] [ 4.61841805e-01 8.86954147e-01 -3.80649545e-03 3.42050262e+01] [ 8.18641208e-03 2.87958146e-05 9.99966490e-01 4.82959561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.590888479 meters 0.015057657974840908 Centerline is valid? [True, True] Translation: X:151.98, Y:34.23, Z:0.48 [[ 8.86653033e-01 -4.62370471e-01 -7.74254603e-03 1.51978030e+02] [ 4.62352565e-01 8.86686837e-01 -4.06924421e-03 3.42326838e+01] [ 8.74671201e-03 2.82216970e-05 9.99961746e-01 4.83140620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.650888479 meters 0.015086903820644067 Centerline is valid? [True, True] Translation: X:152.03, Y:34.26, Z:0.48 [[ 8.87040427e-01 -4.61627984e-01 -7.67364507e-03 1.52028494e+02] [ 4.61610344e-01 8.87073618e-01 -4.03574398e-03 3.42608127e+01] [ 8.67010045e-03 3.76341299e-05 9.99962413e-01 4.82584058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.710888479 meters 0.015184475747774323 Centerline is valid? [True, True] Translation: X:152.08, Y:34.29, Z:0.48 [[ 8.87261765e-01 -4.61208923e-01 -7.27258362e-03 1.52078633e+02] [ 4.61193048e-01 8.87291569e-01 -3.82678576e-03 3.42880560e+01] [ 8.21784987e-03 4.12956784e-05 9.99966232e-01 4.82679613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.770888479 meters 0.015136525595707067 Centerline is valid? [True, True] Translation: X:152.13, Y:34.31, Z:0.48 [[ 8.86748501e-01 -4.62187292e-01 -7.74609884e-03 1.52131114e+02] [ 4.62169299e-01 8.86782333e-01 -4.07844752e-03 3.43124352e+01] [ 8.75411022e-03 3.65481574e-05 9.99961681e-01 4.83823441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.830888479 meters 0.014955461382997118 Centerline is valid? [True, True] Translation: X:152.18, Y:34.34, Z:0.48 [[ 8.85679257e-01 -4.64235227e-01 -7.60968751e-03 1.52183206e+02] [ 4.64217914e-01 8.85711947e-01 -4.00930483e-03 3.43374706e+01] [ 8.60125168e-03 1.84048557e-05 9.99963008e-01 4.84062884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.890888479 meters 0.014975495740468333 Centerline is valid? [True, True] Translation: X:152.24, Y:34.36, Z:0.48 [[ 8.85301897e-01 -4.64950410e-01 -7.85285283e-03 1.52235720e+02] [ 4.64931976e-01 8.85336725e-01 -4.14024327e-03 3.43630793e+01] [ 8.87742681e-03 1.43228416e-05 9.99960595e-01 4.84812582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.950888479 meters 0.015064315470515946 Centerline is valid? [True, True] Translation: X:152.29, Y:34.39, Z:0.48 [[ 8.84931572e-01 -4.65653219e-01 -7.94934783e-03 1.52286451e+02] [ 4.65634342e-01 8.84967276e-01 -4.19285322e-03 3.43889058e+01] [ 8.98732829e-03 8.89884517e-06 9.99959613e-01 4.84644703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.010888479 meters 0.015046061706114543 Centerline is valid? [True, True] Translation: X:152.34, Y:34.41, Z:0.48 [[ 8.84365032e-01 -4.66715607e-01 -8.66209431e-03 1.52337948e+02] [ 4.66693234e-01 8.84407452e-01 -4.56986350e-03 3.44147639e+01] [ 9.79364739e-03 -1.11332344e-06 9.99952041e-01 4.84041418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.070888479 meters 0.015394287527452418 Centerline is valid? [True, True] Translation: X:152.39, Y:34.44, Z:0.48 [[ 8.82919537e-01 -4.69435813e-01 -9.11636633e-03 1.52392218e+02] [ 4.69411152e-01 8.82966600e-01 -4.81182306e-03 3.44391952e+01] [ 1.03082891e-02 -3.08714288e-05 9.99946868e-01 4.84603183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.130888479 meters 0.01571612090009863 Centerline is valid? [True, True] Translation: X:152.45, Y:34.46, Z:0.49 [[ 8.81357970e-01 -4.72356603e-01 -9.34712620e-03 1.52446078e+02] [ 4.72330811e-01 8.81407531e-01 -4.93656759e-03 3.44639286e+01] [ 1.05704477e-02 -6.40525127e-05 9.99944129e-01 4.85434941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.190888479 meters 0.016097866749333792 Centerline is valid? [True, True] Translation: X:152.50, Y:34.49, Z:0.49 [[ 8.80794476e-01 -4.73407561e-01 -9.29369490e-03 1.52498118e+02] [ 4.73382087e-01 8.80843503e-01 -4.91155615e-03 3.44899347e+01] [ 1.05114586e-02 -7.33971683e-05 9.99944750e-01 4.85249720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.250888479 meters 0.016510238166216586 Centerline is valid? [True, True] Translation: X:152.55, Y:34.51, Z:0.48 [[ 8.80841753e-01 -4.73306523e-01 -9.93685639e-03 1.52549969e+02] [ 4.73277376e-01 8.80897797e-01 -5.25321627e-03 3.45148852e+01] [ 1.12397364e-02 -7.56370811e-05 9.99936829e-01 4.83768652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.310888479 meters 0.016302081757715706 Centerline is valid? [True, True] Translation: X:152.60, Y:34.54, Z:0.48 [[ 8.81201655e-01 -4.72595292e-01 -1.17189188e-02 1.52602209e+02] [ 4.72554647e-01 8.81279572e-01 -6.19853602e-03 3.45414200e+01] [ 1.32570427e-02 -7.56693143e-05 9.99912119e-01 4.84494935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.370888479 meters 0.0161798101641757 Centerline is valid? [True, True] Translation: X:152.66, Y:34.57, Z:0.49 [[ 8.81747255e-01 -4.71588073e-01 -1.12458383e-02 1.52655675e+02] [ 4.71550516e-01 8.81818965e-01 -5.95184363e-03 3.45673104e+01] [ 1.27236119e-02 -5.49590556e-05 9.99919050e-01 4.85564092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.430888479 meters 0.016328482029644053 Centerline is valid? [True, True] Translation: X:152.71, Y:34.59, Z:0.49 [[ 8.83065185e-01 -4.69120010e-01 -1.10586911e-02 1.52707513e+02] [ 4.69083471e-01 8.83134427e-01 -5.85501609e-03 3.45924080e+01] [ 1.25130160e-02 -1.70883258e-05 9.99921709e-01 4.85647528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.490888479 meters 0.01646830200193346 Centerline is valid? [True, True] Translation: X:152.76, Y:34.62, Z:0.49 [[ 8.84696699e-01 -4.66021412e-01 -1.16531347e-02 1.52760311e+02] [ 4.65980527e-01 8.84773442e-01 -6.17299603e-03 3.46191659e+01] [ 1.31871324e-02 3.10953595e-05 9.99913046e-01 4.86042825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.550888479 meters 0.01657505078288134 Centerline is valid? [True, True] Translation: X:152.81, Y:34.65, Z:0.49 [[ 8.86940961e-01 -4.61739171e-01 -1.15181976e-02 1.52811266e+02] [ 4.61698843e-01 8.87015743e-01 -6.10324034e-03 3.46471990e+01] [ 1.30349277e-02 9.52753728e-05 9.99915037e-01 4.85988904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.610888479 meters 0.016748440859110432 Centerline is valid? [True, True] Translation: X:152.86, Y:34.67, Z:0.49 [[ 8.87828225e-01 -4.60023759e-01 -1.17976557e-02 1.52864234e+02] [ 4.59981257e-01 8.87906597e-01 -6.25439155e-03 3.46739854e+01] [ 1.33523851e-02 1.26124832e-04 9.99910845e-01 4.85941135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.670888479 meters 0.016480650152601185 Centerline is valid? [True, True] Translation: X:152.92, Y:34.70, Z:0.49 [[ 8.87958507e-01 -4.59768365e-01 -1.19474070e-02 1.52917184e+02] [ 4.59724698e-01 8.88038869e-01 -6.33800026e-03 3.46977640e+01] [ 1.35237738e-02 1.35363190e-04 9.99908540e-01 4.87444164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.730888479 meters 0.016495614740414253 Centerline is valid? [True, True] Translation: X:152.97, Y:34.72, Z:0.49 [[ 8.87607532e-01 -4.60443535e-01 -1.20257983e-02 1.52969774e+02] [ 4.60399327e-01 8.87688985e-01 -6.38156101e-03 3.47222490e+01] [ 1.36135172e-02 1.27652154e-04 9.99907324e-01 4.86952144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.790888479 meters 0.01632707243477832 Centerline is valid? [True, True] Translation: X:153.03, Y:34.74, Z:0.49 [[ 8.86302349e-01 -4.62953663e-01 -1.19185841e-02 1.53025622e+02] [ 4.62910424e-01 8.86382478e-01 -6.32782197e-03 3.47436257e+01] [ 1.34939125e-02 9.11266571e-05 9.99908949e-01 4.88526640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.850888479 meters 0.016045925144890394 Centerline is valid? [True, True] Translation: X:153.08, Y:34.77, Z:0.49 [[ 8.85545127e-01 -4.64420641e-01 -1.11039017e-02 1.53079856e+02] [ 4.64383185e-01 8.85614738e-01 -5.89860193e-03 3.47666891e+01] [ 1.25732115e-02 6.70129436e-05 9.99920952e-01 4.89299312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.910888479 meters 0.01583356199645993 Centerline is valid? [True, True] Translation: X:153.13, Y:34.79, Z:0.49 [[ 8.84861362e-01 -4.65727184e-01 -1.08885290e-02 1.53133059e+02] [ 4.65691220e-01 8.84928351e-01 -5.78796968e-03 3.47908230e+01] [ 1.23311828e-02 5.08583796e-05 9.99923967e-01 4.89802455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.970888479 meters 0.015660065194992898 Centerline is valid? [True, True] Translation: X:153.19, Y:34.81, Z:0.49 [[ 8.83091489e-01 -4.69048067e-01 -1.19721492e-02 1.53185534e+02] [ 4.69004860e-01 8.83172639e-01 -6.36637804e-03 3.48128817e+01] [ 1.35596119e-02 7.09811355e-06 9.99908064e-01 4.89276876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.030888479 meters 0.01550799839819753 Centerline is valid? [True, True] Translation: X:153.24, Y:34.84, Z:0.49 [[ 8.81699860e-01 -4.71671158e-01 -1.14750011e-02 1.53238068e+02] [ 4.71631639e-01 8.81774528e-01 -6.10560220e-03 3.48367928e+01] [ 1.29982002e-02 -2.86649830e-05 9.99915519e-01 4.91685035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.090888479 meters 0.015506750361345181 Centerline is valid? [True, True] Translation: X:153.29, Y:34.86, Z:0.49 [[ 8.79758976e-01 -4.75295787e-01 -1.08654449e-02 1.53291615e+02] [ 4.75260589e-01 8.79826067e-01 -5.78477766e-03 3.48623374e+01] [ 1.23091821e-02 -7.47076698e-05 9.99924236e-01 4.92697040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.150888479 meters 0.015578706328938478 Centerline is valid? [True, True] Translation: X:153.34, Y:34.89, Z:0.49 [[ 8.78462235e-01 -4.77702960e-01 -1.01972057e-02 1.53344534e+02] [ 4.77672083e-01 8.78521413e-01 -5.43219403e-03 3.48886121e+01] [ 1.15534387e-02 -9.89431790e-05 9.99933252e-01 4.93376523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.210888479 meters 0.015583725991611085 Centerline is valid? [True, True] Translation: X:153.40, Y:34.92, Z:0.49 [[ 8.78099167e-01 -4.78388111e-01 -9.30955513e-03 1.53395988e+02] [ 4.78362381e-01 8.78148510e-01 -4.96250855e-03 3.49157237e+01] [ 1.05491771e-02 -9.57663279e-05 9.99944351e-01 4.93992289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.270888479 meters 0.015191476516285364 Centerline is valid? [True, True] Translation: X:153.45, Y:34.94, Z:0.50 [[ 8.78631664e-01 -4.77432288e-01 -8.05042169e-03 1.53447268e+02] [ 4.77412984e-01 8.78668541e-01 -4.29389031e-03 3.49444018e+01] [ 9.12369416e-03 -7.06278482e-05 9.99958376e-01 4.95646353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.330888479 meters 0.015103477096772113 Centerline is valid? [True, True] Translation: X:153.50, Y:34.97, Z:0.50 [[ 8.79989543e-01 -4.74945750e-01 -6.70364034e-03 1.53497530e+02] [ 4.74932283e-01 8.80015076e-01 -3.57669524e-03 3.49737847e+01] [ 7.59804076e-03 -3.63208029e-05 9.99971134e-01 4.96693013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.390888479 meters 0.01482590013151326 Centerline is valid? [True, True] Translation: X:153.55, Y:35.00, Z:0.50 [[ 8.81321878e-01 -4.72479705e-01 -5.88857464e-03 1.53548276e+02] [ 4.72469250e-01 8.81341550e-01 -3.14313955e-03 3.50035042e+01] [ 6.67491515e-03 -1.20527969e-05 9.99977722e-01 4.97766556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.450888479 meters 0.014766354580703734 Centerline is valid? [True, True] Translation: X:153.60, Y:35.04, Z:0.50 [[ 8.83064928e-01 -4.69225172e-01 -4.90615481e-03 1.53597128e+02] [ 4.69217856e-01 8.83078557e-01 -2.62026502e-03 3.50353581e+01] [ 5.56201441e-03 1.18087011e-05 9.99984532e-01 4.97242610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.510888479 meters 0.01506812282897728 Centerline is valid? [True, True] Translation: X:153.65, Y:35.06, Z:0.50 [[ 8.84172450e-01 -4.67136723e-01 -4.72864642e-03 1.53648664e+02] [ 4.67129889e-01 8.84185094e-01 -2.52701886e-03 3.50648749e+01] [ 5.36146199e-03 2.54283838e-05 9.99985627e-01 4.96784341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.570888479 meters 0.015422287855423105 Centerline is valid? [True, True] Translation: X:153.70, Y:35.09, Z:0.50 [[ 8.84750182e-01 -4.66043894e-01 -4.49491560e-03 1.53698464e+02] [ 4.66037699e-01 8.84761600e-01 -2.40307743e-03 3.50935864e+01] [ 5.09686828e-03 3.13230751e-05 9.99987010e-01 4.95619046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.630888479 meters 0.0156718214431792 Centerline is valid? [True, True] Translation: X:153.75, Y:35.12, Z:0.50 [[ 8.84610206e-01 -4.66308421e-01 -4.60866029e-03 1.53749607e+02] [ 4.66301908e-01 8.84622210e-01 -2.46491662e-03 3.51203891e+01] [ 5.22633463e-03 3.14633102e-05 9.99986342e-01 4.95101122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.690888479 meters 0.015719835446588327 Centerline is valid? [True, True] Translation: X:153.80, Y:35.15, Z:0.50 [[ 8.84172332e-01 -4.67136881e-01 -4.73511651e-03 1.53801239e+02] [ 4.67130008e-01 8.84185011e-01 -2.53422204e-03 3.51463089e+01] [ 5.37054762e-03 2.87739950e-05 9.99985578e-01 4.95994108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.750888479 meters 0.015572043621280071 Centerline is valid? [True, True] Translation: X:153.85, Y:35.17, Z:0.50 [[ 8.82896646e-01 -4.69549916e-01 -4.04828710e-03 1.53854863e+02] [ 4.69544912e-01 8.82905927e-01 -2.16787205e-03 3.51719741e+01] [ 4.59218081e-03 1.31543485e-05 9.99989456e-01 4.96059102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.810888479 meters 0.01547259600561356 Centerline is valid? [True, True] Translation: X:153.91, Y:35.20, Z:0.50 [[ 8.81745206e-01 -4.71713596e-01 -3.41692691e-03 1.53905673e+02] [ 4.71710044e-01 8.81751826e-01 -1.83059698e-03 3.51978173e+01] [ 3.87639903e-03 2.32136252e-06 9.99992487e-01 4.95913565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.870888479 meters 0.015550770375256902 Centerline is valid? [True, True] Translation: X:153.96, Y:35.22, Z:0.50 [[ 8.79610663e-01 -4.75688080e-01 -2.43573507e-03 1.53958938e+02] [ 4.75686290e-01 8.79614035e-01 -1.30519671e-03 3.52222980e+01] [ 2.76337327e-03 -1.05808343e-05 9.99996182e-01 4.97092343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.930888479 meters 0.0157378900231601 Centerline is valid? [True, True] Translation: X:154.01, Y:35.25, Z:0.50 [[ 8.78197952e-01 -4.78285646e-01 -3.34634202e-03 1.54011388e+02] [ 4.78282280e-01 8.78204327e-01 -1.79464336e-03 3.52491817e+01] [ 3.79712420e-03 -2.44439712e-05 9.99992791e-01 4.96742175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.990888479 meters 0.01603348803532069 Centerline is valid? [True, True] Translation: X:154.06, Y:35.28, Z:0.50 [[ 8.76694278e-01 -4.81031162e-01 -4.02049976e-03 1.54063558e+02] [ 4.81026326e-01 8.76703496e-01 -2.15731579e-03 3.52754753e+01] [ 4.56252232e-03 -4.26598175e-05 9.99989591e-01 4.96660011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.050888479 meters 0.0164381574650354 Centerline is valid? [True, True] Translation: X:154.12, Y:35.30, Z:0.50 [[ 8.75618889e-01 -4.82982022e-01 -4.46416300e-03 1.54115071e+02] [ 4.82976080e-01 8.75630266e-01 -2.39632180e-03 3.53043034e+01] [ 5.06633659e-03 -5.78193188e-05 9.99987164e-01 4.97077085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.110888479 meters 0.017262967073193896 Centerline is valid? [True, True] Translation: X:154.17, Y:35.33, Z:0.50 [[ 8.74881570e-01 -4.84314377e-01 -4.67144141e-03 1.54166509e+02] [ 4.84307885e-01 8.74894039e-01 -2.50865643e-03 3.53315573e+01] [ 5.30199462e-03 -6.76386287e-05 9.99985942e-01 4.96911407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.170888479 meters 0.01782597394590709 Centerline is valid? [True, True] Translation: X:154.22, Y:35.36, Z:0.50 [[ 8.73415736e-01 -4.86932798e-01 -6.43444433e-03 1.54218480e+02] [ 4.86920545e-01 8.73439430e-01 -3.45624408e-03 3.53580078e+01] [ 7.30305599e-03 -1.14325175e-04 9.99973326e-01 4.96765539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.230888479 meters 0.01766830630294356 Centerline is valid? [True, True] Translation: X:154.27, Y:35.39, Z:0.50 [[ 8.72730364e-01 -4.88147475e-01 -7.33166954e-03 1.54268835e+02] [ 4.88131602e-01 8.72761149e-01 -3.93905492e-03 3.53877224e+01] [ 8.32163604e-03 -1.41086771e-04 9.99965365e-01 4.96824156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.290888479 meters 0.01846093438993701 Centerline is valid? [True, True] Translation: X:154.32, Y:35.42, Z:0.50 [[ 8.72694119e-01 -4.88217409e-01 -6.98115159e-03 1.54318680e+02] [ 4.88203012e-01 8.72722031e-01 -3.75171272e-03 3.54156767e+01] [ 7.92425626e-03 -1.34121612e-04 9.99968594e-01 4.97420172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.350888479 meters 0.017673406689930806 Centerline is valid? [True, True] Translation: X:154.37, Y:35.45, Z:0.50 [[ 8.73118007e-01 -4.87463447e-01 -6.65838998e-03 1.54369091e+02] [ 4.87450316e-01 8.73143386e-01 -3.57995106e-03 3.54468068e+01] [ 7.55882446e-03 -1.19914571e-04 9.99971424e-01 4.98583718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.410888479 meters 0.01715331487837582 Centerline is valid? [True, True] Translation: X:154.42, Y:35.48, Z:0.50 [[ 8.74644630e-01 -4.84708754e-01 -7.36170580e-03 1.54419055e+02] [ 4.84692584e-01 8.74675604e-01 -3.96052220e-03 3.54788617e+01] [ 8.35880425e-03 -1.04114733e-04 9.99965059e-01 5.00738886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.470888479 meters 0.016815292805892498 Centerline is valid? [True, True] Translation: X:154.47, Y:35.51, Z:0.50 [[ 8.75952880e-01 -4.82338674e-01 -7.48039637e-03 1.54467879e+02] [ 4.82321880e-01 8.75984816e-01 -4.02574408e-03 3.55103080e+01] [ 8.49448569e-03 -8.15967253e-05 9.99963918e-01 5.00856914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.530888479 meters 0.016494112823294372 Centerline is valid? [True, True] Translation: X:154.52, Y:35.54, Z:0.50 [[ 8.76916137e-01 -4.80570908e-01 -8.34805235e-03 1.54518416e+02] [ 4.80549892e-01 8.76955870e-01 -4.49486823e-03 3.55417238e+01] [ 9.48097641e-03 -7.00331693e-05 9.99955052e-01 5.00418625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.590888479 meters 0.0164596115898759 Centerline is valid? [True, True] Translation: X:154.57, Y:35.57, Z:0.50 [[ 8.77342195e-01 -4.79775652e-01 -9.27336792e-03 1.54568027e+02] [ 4.79749640e-01 8.77391201e-01 -4.99642491e-03 3.55716488e+01] [ 1.05335344e-02 -6.53205175e-05 9.99944519e-01 4.99996656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.650888479 meters 0.01652079940938787 Centerline is valid? [True, True] Translation: X:154.62, Y:35.60, Z:0.50 [[ 8.77833614e-01 -4.78869080e-01 -9.62032165e-03 1.54617181e+02] [ 4.78841007e-01 8.77886326e-01 -5.18540315e-03 3.56012448e+01] [ 1.09286781e-02 -5.46833220e-05 9.99940279e-01 5.00343288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.710888479 meters 0.0164920097097494 Centerline is valid? [True, True] Translation: X:154.67, Y:35.63, Z:0.50 [[ 8.78737400e-01 -4.77232266e-01 -8.36333497e-03 1.54666311e+02] [ 4.77210956e-01 8.78777198e-01 -4.51005772e-03 3.56334682e+01] [ 9.50185314e-03 -2.79186809e-05 9.99954856e-01 5.00862256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.770888479 meters 0.01626310179950771 Centerline is valid? [True, True] Translation: X:154.72, Y:35.67, Z:0.50 [[ 8.79566511e-01 -4.75714811e-01 -7.62697530e-03 1.54715361e+02] [ 4.75697009e-01 8.79599578e-01 -4.11550794e-03 3.56650537e+01] [ 8.66649234e-03 -8.26637285e-06 9.99962445e-01 5.00617342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.830888479 meters 0.0164907381846162 Centerline is valid? [True, True] Translation: X:154.76, Y:35.70, Z:0.50 [[ 8.81652278e-01 -4.71845607e-01 -7.14030119e-03 1.54762602e+02] [ 4.71829861e-01 8.81681191e-01 -3.85484712e-03 3.56967406e+01] [ 8.11436194e-03 2.96274244e-05 9.99967078e-01 5.00713901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.890888479 meters 0.0168219749238636 Centerline is valid? [True, True] Translation: X:154.81, Y:35.73, Z:0.50 [[ 8.82860872e-01 -4.69571031e-01 -7.72833535e-03 1.54812286e+02] [ 4.69552478e-01 8.82894696e-01 -4.17454348e-03 3.57277645e+01] [ 8.78355097e-03 5.66820833e-05 9.99961422e-01 5.00134990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.950888479 meters 0.017220944716367828 Centerline is valid? [True, True] Translation: X:154.86, Y:35.76, Z:0.50 [[ 8.83833015e-01 -4.67731558e-01 -8.14810334e-03 1.54862383e+02] [ 4.67710832e-01 8.83870569e-01 -4.40384427e-03 3.57591984e+01] [ 9.26168568e-03 8.13067671e-05 9.99957106e-01 4.99583971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.010888479 meters 0.017040401037178052 Centerline is valid? [True, True] Translation: X:154.91, Y:35.79, Z:0.50 [[ 8.82635731e-01 -4.69999206e-01 -7.41030727e-03 1.54913696e+02] [ 4.69982125e-01 8.82666836e-01 -4.00732139e-03 3.57879175e+01] [ 8.42427034e-03 5.42930905e-05 9.99964514e-01 4.99531093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.070888479 meters 0.016768069700980194 Centerline is valid? [True, True] Translation: X:154.97, Y:35.81, Z:0.50 [[ 8.81018779e-01 -4.73025279e-01 -7.27986937e-03 1.54965905e+02] [ 4.73008879e-01 8.81048855e-01 -3.93901035e-03 3.58142302e+01] [ 8.27717205e-03 2.68992356e-05 9.99965743e-01 4.99105000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.130888479 meters 0.016754958633582902 Centerline is valid? [True, True] Translation: X:155.02, Y:35.84, Z:0.50 [[ 8.78305400e-01 -4.78044461e-01 -7.28823111e-03 1.55018937e+02] [ 4.78028175e-01 8.78335638e-01 -3.94594607e-03 3.58381350e+01] [ 8.28785078e-03 -1.82340724e-05 9.99965655e-01 4.99160241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.190888479 meters 0.017200668244484407 Centerline is valid? [True, True] Translation: X:155.07, Y:35.86, Z:0.50 [[ 8.75920074e-01 -4.82403290e-01 -7.14772156e-03 1.55070230e+02] [ 4.82387761e-01 8.75949235e-01 -3.87119714e-03 3.58642665e+01] [ 8.12851947e-03 -5.71141181e-05 9.99966961e-01 4.97742170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.250888479 meters 0.017472816233708853 Centerline is valid? [True, True] Translation: X:155.12, Y:35.89, Z:0.50 [[ 8.74499866e-01 -4.84987729e-01 -6.07350474e-03 1.55123082e+02] [ 4.84976569e-01 8.74520954e-01 -3.29070931e-03 3.58910298e+01] [ 6.90736079e-03 -6.77826433e-05 9.99976142e-01 4.98580234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.310888479 meters 0.01782808168125003 Centerline is valid? [True, True] Translation: X:155.18, Y:35.92, Z:0.50 [[ 8.72255409e-01 -4.89026190e-01 -4.88740690e-03 1.55175468e+02] [ 4.89019019e-01 8.72269098e-01 -2.64942431e-03 3.59183148e+01] [ 5.55877188e-03 -7.90602413e-05 9.99984547e-01 4.99542963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.370888479 meters 0.018009880876331055 Centerline is valid? [True, True] Translation: X:155.23, Y:35.95, Z:0.50 [[ 8.71008440e-01 -4.91241320e-01 -5.12467456e-03 1.55227004e+02] [ 4.91233465e-01 8.71023511e-01 -2.77970744e-03 3.59460948e+01] [ 5.82921918e-03 -9.62630012e-05 9.99983005e-01 4.98873898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.430888479 meters 0.01855320387767688 Centerline is valid? [True, True] Translation: X:155.28, Y:35.97, Z:0.50 [[ 8.70391858e-01 -4.92324012e-01 -5.92292445e-03 1.55278059e+02] [ 4.92313534e-01 8.70412002e-01 -3.21417832e-03 3.59733410e+01] [ 6.73780170e-03 -1.18341223e-04 9.99977294e-01 4.96532445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.490888479 meters 0.017934741779127145 Centerline is valid? [True, True] Translation: X:155.33, Y:36.00, Z:0.50 [[ 8.71304030e-01 -4.90720970e-01 -4.71349703e-03 1.55327733e+02] [ 4.90714305e-01 8.71316775e-01 -2.55891223e-03 3.60049197e+01] [ 5.36266092e-03 -8.33898797e-05 9.99985617e-01 4.96930477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.550888479 meters 0.017619795675555387 Centerline is valid? [True, True] Translation: X:155.38, Y:36.04, Z:0.50 [[ 8.72316245e-01 -4.88924444e-01 -4.15411385e-03 1.55376970e+02] [ 4.88919243e-01 8.72326134e-01 -2.25611612e-03 3.60353089e+01] [ 4.72681239e-03 -6.29794531e-05 9.99988827e-01 4.96665434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.610888479 meters 0.017149255203729098 Centerline is valid? [True, True] Translation: X:155.43, Y:36.07, Z:0.50 [[ 8.74593751e-01 -4.84847050e-01 -3.01792023e-03 1.55425739e+02] [ 4.84844280e-01 8.74598958e-01 -1.63930828e-03 3.60672200e+01] [ 3.43428367e-03 -2.94925843e-05 9.99994102e-01 4.96179949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.670888479 meters 0.01692534310169994 Centerline is valid? [True, True] Translation: X:155.48, Y:36.10, Z:0.50 [[ 8.76376857e-01 -4.81619635e-01 -2.47600911e-03 1.55476051e+02] [ 4.81617757e-01 8.76380355e-01 -1.34517387e-03 3.60967679e+01] [ 2.81778789e-03 -1.36107014e-05 9.99996030e-01 4.96333268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.730888479 meters 0.016564602694772498 Centerline is valid? [True, True] Translation: X:155.52, Y:36.13, Z:0.49 [[ 8.78459783e-01 -4.77814845e-01 -1.17643075e-03 1.55523522e+02] [ 4.77814418e-01 8.78460571e-01 -6.38854604e-04 3.61316359e+01] [ 1.33870224e-03 -9.07495569e-07 9.99999104e-01 4.94917031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.790888479 meters 0.01649258796007387 Centerline is valid? [True, True] Translation: X:155.57, Y:36.16, Z:0.49 [[ 8.80359257e-01 -4.74302725e-01 -2.12213369e-03 1.55572498e+02] [ 4.74301321e-01 8.80361815e-01 -1.15397790e-03 3.61625530e+01] [ 2.41558033e-03 9.38431036e-06 9.99997082e-01 4.93502119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.850888479 meters 0.016804613131824037 Centerline is valid? [True, True] Translation: X:155.62, Y:36.19, Z:0.49 [[ 8.80961057e-01 -4.73185301e-01 -1.81295150e-03 1.55623022e+02] [ 4.73184274e-01 8.80962922e-01 -9.85972676e-04 3.61915509e+01] [ 2.06369083e-03 1.07433899e-05 9.99997871e-01 4.92882674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.910888479 meters 0.016715803090011812 Centerline is valid? [True, True] Translation: X:155.67, Y:36.22, Z:0.49 [[ 8.80803871e-01 -4.73479262e-01 -1.38930658e-03 1.55672223e+02] [ 4.73478658e-01 8.80804966e-01 -7.55993439e-04 3.62196811e+01] [ 1.58165535e-03 8.07493146e-06 9.99998749e-01 4.93228902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.970888479 meters 0.016287536468082925 Centerline is valid? [True, True] Translation: X:155.73, Y:36.25, Z:0.49 [[ 8.79195849e-01 -4.76459355e-01 -1.06910428e-03 1.55725495e+02] [ 4.76458999e-01 8.79196499e-01 -5.81779150e-04 3.62455637e+01] [ 1.21714685e-03 2.11346060e-06 9.99999259e-01 4.92086759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.030888479 meters 0.01638339054667609 Centerline is valid? [True, True] Translation: X:155.78, Y:36.27, Z:0.49 [[ 8.78215398e-01 -4.78263904e-01 -1.16289773e-03 1.55777102e+02] [ 4.78263485e-01 8.78216168e-01 -6.33458450e-04 3.62701166e+01] [ 1.32423590e-03 1.41443741e-07 9.99999123e-01 4.92797082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.090888479 meters 0.01627881750983739 Centerline is valid? [True, True] Translation: X:155.83, Y:36.30, Z:0.49 [[ 8.76753976e-01 -4.80934584e-01 -2.09577266e-03 1.55828896e+02] [ 4.80933228e-01 8.76756480e-01 -1.14217118e-03 3.62959636e+01] [ 2.38679188e-03 -6.52359184e-06 9.99997152e-01 4.90741443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.150888479 meters 0.01639946905493863 Centerline is valid? [True, True] Translation: X:155.88, Y:36.32, Z:0.49 [[ 8.76144736e-01 -4.82043328e-01 -2.15219499e-03 1.55881010e+02] [ 4.82041899e-01 8.76147379e-01 -1.17377506e-03 3.63207140e+01] [ 2.45145044e-03 -9.05132126e-06 9.99996995e-01 4.90548540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.210888479 meters 0.016473762110283757 Centerline is valid? [True, True] Translation: X:155.93, Y:36.35, Z:0.49 [[ 8.75694333e-01 -4.82860116e-01 -2.35451714e-03 1.55933273e+02] [ 4.82858407e-01 8.75697498e-01 -1.28448567e-03 3.63452609e+01] [ 2.68207166e-03 -1.20815742e-05 9.99996403e-01 4.91100962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.270888479 meters 0.01642419640907231 Centerline is valid? [True, True] Translation: X:155.98, Y:36.37, Z:0.49 [[ 8.75141809e-01 -4.83863285e-01 -1.77108689e-03 1.55984695e+02] [ 4.83862319e-01 8.75143601e-01 -9.66567288e-04 3.63718084e+01] [ 2.01764178e-03 -1.10787659e-05 9.99997964e-01 4.90095768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.330888479 meters 0.016394736617856558 Centerline is valid? [True, True] Translation: X:156.04, Y:36.40, Z:0.49 [[ 8.75145551e-01 -4.83857750e-01 -1.39345579e-03 1.56035356e+02] [ 4.83857152e-01 8.75146660e-01 -7.61019978e-04 3.63975794e+01] [ 1.58770360e-03 -8.23030225e-06 9.99998740e-01 4.90346201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.390888479 meters 0.016069920871092273 Centerline is valid? [True, True] Translation: X:156.09, Y:36.42, Z:0.49 [[ 8.75541038e-01 -4.83138362e-01 -2.28340584e-03 1.56087728e+02] [ 4.83136751e-01 8.75544015e-01 -1.24763124e-03 3.64225919e+01] [ 2.60200083e-03 -1.08449238e-05 9.99996615e-01 4.90204509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.450888479 meters 0.016017901480461123 Centerline is valid? [True, True] Translation: X:156.14, Y:36.45, Z:0.49 [[ 8.75802536e-01 -4.82653333e-01 -3.95972316e-03 1.56139150e+02] [ 4.82648475e-01 8.75811487e-01 -2.16536206e-03 3.64476566e+01] [ 4.51309024e-03 -1.47247610e-05 9.99989816e-01 4.89207784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.510888479 meters 0.016038739116670187 Centerline is valid? [True, True] Translation: X:156.19, Y:36.47, Z:0.49 [[ 8.75733291e-01 -4.82775140e-01 -4.40089773e-03 1.56190933e+02] [ 4.82769136e-01 8.75744349e-01 -2.40775679e-03 3.64748416e+01] [ 5.01646644e-03 -1.60648103e-05 9.99987417e-01 4.88756903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.570888479 meters 0.015939897742386383 Centerline is valid? [True, True] Translation: X:156.24, Y:36.50, Z:0.49 [[ 8.75243982e-01 -4.83652001e-01 -5.35860850e-03 1.56244088e+02] [ 4.83643107e-01 8.75260385e-01 -2.93313906e-03 3.64980494e+01] [ 6.10879632e-03 -2.44417537e-05 9.99981341e-01 4.88758972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.630888479 meters 0.015957310120977175 Centerline is valid? [True, True] Translation: X:156.30, Y:36.52, Z:0.49 [[ 8.74733723e-01 -4.84573273e-01 -5.44583323e-03 1.56296750e+02] [ 4.84564097e-01 8.74750674e-01 -2.98225702e-03 3.65233896e+01] [ 6.20886834e-03 -3.01744731e-05 9.99980724e-01 4.89196370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.690888479 meters 0.015901271522610415 Centerline is valid? [True, True] Translation: X:156.35, Y:36.55, Z:0.49 [[ 8.74274341e-01 -4.85386526e-01 -6.65564405e-03 1.56350334e+02] [ 4.85372825e-01 8.74299673e-01 -3.64720864e-03 3.65485336e+01] [ 7.58933335e-03 -4.18078279e-05 9.99971200e-01 4.87867462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.750888479 meters 0.015969385011913785 Centerline is valid? [True, True] Translation: X:156.40, Y:36.57, Z:0.49 [[ 8.74244526e-01 -4.85435775e-01 -6.97257829e-03 1.56402229e+02] [ 4.85420721e-01 8.74272330e-01 -3.82331207e-03 3.65740339e+01] [ 7.95190472e-03 -4.21243302e-05 9.99968382e-01 4.87764719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.810888479 meters 0.015931385167193106 Centerline is valid? [True, True] Translation: X:156.45, Y:36.60, Z:0.49 [[ 8.74063804e-01 -4.85751881e-01 -7.58784708e-03 1.56454946e+02] [ 4.85734040e-01 8.74096738e-01 -4.16348745e-03 3.65987438e+01] [ 8.65493424e-03 -4.65219330e-05 9.99962544e-01 4.87889793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.870888479 meters 0.016181951539743947 Centerline is valid? [True, True] Translation: X:156.51, Y:36.62, Z:0.49 [[ 8.73752557e-01 -4.86304790e-01 -8.00754514e-03 1.56507397e+02] [ 4.86284929e-01 8.73789247e-01 -4.39532649e-03 3.66238606e+01] [ 9.13437517e-03 -5.35207640e-05 9.99958279e-01 4.87463089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.930888479 meters 0.015994488570030514 Centerline is valid? [True, True] Translation: X:156.56, Y:36.65, Z:0.49 [[ 8.73796243e-01 -4.86224434e-01 -8.11947807e-03 1.56558864e+02] [ 4.86203990e-01 8.73833964e-01 -4.45897150e-03 3.66504021e+01] [ 9.26313660e-03 -5.14900956e-05 9.99957095e-01 4.86588018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.990888479 meters 0.016046405561309186 Centerline is valid? [True, True] Translation: X:156.61, Y:36.68, Z:0.49 [[ 8.73569957e-01 -4.86635575e-01 -7.83249078e-03 1.56610070e+02] [ 4.86616544e-01 8.73605068e-01 -4.30399551e-03 3.66769954e+01] [ 8.93698096e-03 -5.15784253e-05 9.99960063e-01 4.87449551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.050888479 meters 0.016043890468701978 Centerline is valid? [True, True] Translation: X:156.66, Y:36.70, Z:0.49 [[ 8.72954721e-01 -4.87725544e-01 -8.59353951e-03 1.56663516e+02] [ 4.87702661e-01 8.72997016e-01 -4.72498209e-03 3.67027809e+01] [ 9.80662880e-03 -6.63966609e-05 9.99951912e-01 4.88675946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.110888479 meters 0.016162192101030648 Centerline is valid? [True, True] Translation: X:156.72, Y:36.73, Z:0.49 [[ 8.72428904e-01 -4.88661469e-01 -8.81906218e-03 1.56716092e+02] [ 4.88637390e-01 8.72473474e-01 -4.85167212e-03 3.67296982e+01] [ 1.00652230e-02 -7.65845324e-05 9.99949341e-01 4.88334011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.170888479 meters 0.016046918752255737 Centerline is valid? [True, True] Translation: X:156.77, Y:36.76, Z:0.49 [[ 8.71612000e-01 -4.90112384e-01 -9.07596994e-03 1.56767730e+02] [ 4.90086944e-01 8.71659247e-01 -4.99452035e-03 3.67569446e+01] [ 1.03590294e-02 -9.47304991e-05 9.99946339e-01 4.88498078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23088847900001 meters 0.01653622726479667 Centerline is valid? [True, True] Translation: X:156.82, Y:36.78, Z:0.49 [[ 8.70496910e-01 -4.92096643e-01 -8.71917207e-03 1.56820006e+02] [ 4.92073254e-01 8.70540569e-01 -4.79914009e-03 3.67821787e+01] [ 9.95203374e-03 -1.12834754e-04 9.99950471e-01 4.89161688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.290888479 meters 0.01725801838662614 Centerline is valid? [True, True] Translation: X:156.87, Y:36.81, Z:0.49 [[ 8.68994220e-01 -4.94762556e-01 -7.68498964e-03 1.56872919e+02] [ 4.94744475e-01 8.69028191e-01 -4.23171058e-03 3.68079045e+01] [ 8.77216459e-03 -1.24774125e-04 9.99961516e-01 4.89860000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.350888479 meters 0.017278058830455075 Centerline is valid? [True, True] Translation: X:156.92, Y:36.84, Z:0.49 [[ 8.68032613e-01 -4.96448557e-01 -7.62969441e-03 1.56924527e+02] [ 4.96430780e-01 8.68066133e-01 -4.20356549e-03 3.68356950e+01] [ 8.70993334e-03 -1.38783211e-04 9.99962058e-01 4.90753486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.410888479 meters 0.017670944350570077 Centerline is valid? [True, True] Translation: X:156.98, Y:36.86, Z:0.49 [[ 8.67085280e-01 -4.98104532e-01 -7.41561143e-03 1.56976878e+02] [ 4.98087780e-01 8.67116978e-01 -4.08784916e-03 3.68637038e+01] [ 8.46637877e-03 -1.49111602e-04 9.99964148e-01 4.90673286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.470888479 meters 0.01728592244272865 Centerline is valid? [True, True] Translation: X:157.03, Y:36.89, Z:0.49 [[ 8.66819150e-01 -4.98558756e-01 -7.98301791e-03 1.57027371e+02] [ 4.98539339e-01 8.66855893e-01 -4.40317520e-03 3.68946102e+01] [ 9.11536767e-03 -1.63091887e-04 9.99958441e-01 4.90075889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.530888479 meters 0.016928283507247475 Centerline is valid? [True, True] Translation: X:157.08, Y:36.93, Z:0.49 [[ 8.67479966e-01 -4.97420235e-01 -7.18461547e-03 1.57077839e+02] [ 4.97404450e-01 8.67509707e-01 -3.96501304e-03 3.69256710e+01] [ 8.20500138e-03 -1.34090326e-04 9.99966329e-01 4.90872155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.590888479 meters 0.0165110375490952 Centerline is valid? [True, True] Translation: X:157.13, Y:36.96, Z:0.49 [[ 8.68611374e-01 -4.95449505e-01 -6.63848511e-03 1.57127570e+02] [ 4.95435955e-01 8.68636735e-01 -3.66568176e-03 3.69568911e+01] [ 7.58259224e-03 -1.04891347e-04 9.99971246e-01 4.91508721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.650888479 meters 0.015779707176273902 Centerline is valid? [True, True] Translation: X:157.18, Y:36.99, Z:0.49 [[ 8.71460855e-01 -4.90417576e-01 -6.82498295e-03 1.57175631e+02] [ 4.90403082e-01 8.71487577e-01 -3.77088409e-03 3.69917339e+01] [ 7.79719569e-03 -6.08148017e-05 9.99969600e-01 4.91043567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.710888479 meters 0.015570193514924153 Centerline is valid? [True, True] Translation: X:157.22, Y:37.03, Z:0.49 [[ 8.74316280e-01 -4.85314277e-01 -6.41052430e-03 1.57223880e+02] [ 4.85301338e-01 8.74339781e-01 -3.54389727e-03 3.70252179e+01] [ 7.32488036e-03 -1.25489432e-05 9.99973173e-01 4.91106826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.770888479 meters 0.015474461131811697 Centerline is valid? [True, True] Translation: X:157.27, Y:37.06, Z:0.49 [[ 8.75538192e-01 -4.83107553e-01 -6.32196144e-03 1.57273300e+02] [ 4.83094896e-01 8.75561016e-01 -3.49712459e-03 3.70561273e+01] [ 7.22475028e-03 7.75883846e-06 9.99973901e-01 4.91661779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.830888479 meters 0.015397268620307505 Centerline is valid? [True, True] Translation: X:157.32, Y:37.09, Z:0.49 [[ 8.76001268e-01 -4.82275018e-01 -5.70836012e-03 1.57322920e+02] [ 4.82264668e-01 8.76019867e-01 -3.15971595e-03 3.70872219e+01] [ 6.52448894e-03 1.49747775e-05 9.99978715e-01 4.92421373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.890888479 meters 0.015473184836386909 Centerline is valid? [True, True] Translation: X:157.37, Y:37.11, Z:0.49 [[ 8.75604299e-01 -4.83006545e-01 -4.66786007e-03 1.57372353e+02] [ 4.82999627e-01 8.75616741e-01 -2.58507106e-03 3.71148255e+01] [ 5.33586266e-03 8.92465792e-06 9.99985764e-01 4.94109331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.950888479 meters 0.015497723451634401 Centerline is valid? [True, True] Translation: X:157.42, Y:37.14, Z:0.49 [[ 8.73399855e-01 -4.86988184e-01 -3.89900142e-03 1.57423668e+02] [ 4.86983392e-01 8.73408558e-01 -2.16032051e-03 3.71424569e+01] [ 4.45747177e-03 -1.19253140e-05 9.99990065e-01 4.94690518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.010888479 meters 0.01567348079817676 Centerline is valid? [True, True] Translation: X:157.48, Y:37.17, Z:0.49 [[ 8.71472632e-01 -4.90419361e-01 -4.92977591e-03 1.57475505e+02] [ 4.90411745e-01 8.71486574e-01 -2.73338066e-03 3.71699186e+01] [ 5.63673632e-03 -3.55535650e-05 9.99984113e-01 4.93665111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.070888479 meters 0.01643928000617884 Centerline is valid? [True, True] Translation: X:157.53, Y:37.20, Z:0.49 [[ 8.68045590e-01 -4.96453818e-01 -5.51905461e-03 1.57527850e+02] [ 4.96444386e-01 8.68063131e-01 -3.06134610e-03 3.71960208e+01] [ 6.31070479e-03 -8.25156930e-05 9.99980084e-01 4.93036933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.130888479 meters 0.017235576523311626 Centerline is valid? [True, True] Translation: X:157.58, Y:37.22, Z:0.49 [[ 8.65499685e-01 -5.00878836e-01 -5.53950282e-03 1.57580548e+02] [ 5.00869417e-01 8.65517405e-01 -3.07394701e-03 3.72229516e+01] [ 6.33421110e-03 -1.14067378e-04 9.99979932e-01 4.93863675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.190888479 meters 0.017942907769143375 Centerline is valid? [True, True] Translation: X:157.63, Y:37.25, Z:0.50 [[ 8.62311715e-01 -5.06355309e-01 -4.77574252e-03 1.57632958e+02] [ 5.06348385e-01 8.62324929e-01 -2.65144028e-03 3.72519624e+01] [ 5.46081269e-03 -1.31821490e-04 9.99985081e-01 4.95381759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.250888479 meters 0.01964342818143608 Centerline is valid? [True, True] Translation: X:157.68, Y:37.28, Z:0.50 [[ 8.60622130e-01 -5.09228085e-01 -4.03819053e-03 1.57684931e+02] [ 5.09223162e-01 8.60631595e-01 -2.24270929e-03 3.72778290e+01] [ 4.61744491e-03 -1.26214907e-04 9.99989332e-01 4.96014350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.310888479 meters 0.02018626743380589 Centerline is valid? [True, True] Translation: X:157.74, Y:37.31, Z:0.50 [[ 8.59120198e-01 -5.11764367e-01 -3.11746414e-03 1.57736003e+02] [ 5.11761448e-01 8.59125847e-01 -1.73177871e-03 3.73069186e+01] [ 3.56455665e-03 -1.07591893e-04 9.99993641e-01 4.97899716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.370888479 meters 0.019672776789261028 Centerline is valid? [True, True] Translation: X:157.79, Y:37.34, Z:0.50 [[ 8.58996900e-01 -5.11971010e-01 -3.16385849e-03 1.57786144e+02] [ 5.11968001e-01 8.59002720e-01 -1.75859230e-03 3.73368291e+01] [ 3.61811133e-03 -1.09168971e-04 9.99993449e-01 4.98594052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.430888479 meters 0.019000884821592175 Centerline is valid? [True, True] Translation: X:157.84, Y:37.37, Z:0.50 [[ 8.59594701e-01 -5.10964872e-01 -3.44243123e-03 1.57835908e+02] [ 5.10961297e-01 8.59601586e-01 -1.91473261e-03 3.73685812e+01] [ 3.93748045e-03 -1.13055119e-04 9.99992242e-01 4.99036943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.490888479 meters 0.019058321587404344 Centerline is valid? [True, True] Translation: X:157.89, Y:37.40, Z:0.50 [[ 8.62759517e-01 -5.05594913e-01 -4.44975480e-03 1.57885111e+02] [ 5.05588861e-01 8.62770984e-01 -2.47623159e-03 3.74007123e+01] [ 5.09108942e-03 -1.13354092e-04 9.99987034e-01 4.98703913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.550888479 meters 0.01707021697371254 Centerline is valid? [True, True] Translation: X:157.93, Y:37.44, Z:0.50 [[ 8.65675662e-01 -5.00579867e-01 -5.04434067e-03 1.57932697e+02] [ 5.00571999e-01 8.65690353e-01 -2.80812988e-03 3.74376372e+01] [ 5.77253034e-03 -9.41260023e-05 9.99983334e-01 4.98878940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.610888479 meters 0.016200894103786275 Centerline is valid? [True, True] Translation: X:157.98, Y:37.47, Z:0.50 [[ 8.69791302e-01 -4.93380579e-01 -6.22057888e-03 1.57979566e+02] [ 4.93368421e-01 8.69813544e-01 -3.46416142e-03 3.74734983e+01] [ 7.11989373e-03 -5.59397053e-05 9.99974652e-01 4.97935648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.670888479 meters 0.015955634596857716 Centerline is valid? [True, True] Translation: X:158.03, Y:37.51, Z:0.50 [[ 8.72343200e-01 -4.88858002e-01 -5.93248363e-03 1.58027799e+02] [ 4.88846835e-01 8.72363372e-01 -3.30431909e-03 3.75067007e+01] [ 6.79062425e-03 -1.75755518e-05 9.99976943e-01 4.98167953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73088847900001 meters 0.01576471737618392 Centerline is valid? [True, True] Translation: X:158.08, Y:37.54, Z:0.50 [[ 8.73506926e-01 -4.86778001e-01 -5.72953805e-03 1.58076790e+02] [ 4.86767530e-01 8.73525717e-01 -3.19275057e-03 3.75378618e+01] [ 6.55905957e-03 -6.33511125e-08 9.99978489e-01 4.99530410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.790888479 meters 0.015752902916602415 Centerline is valid? [True, True] Translation: X:158.13, Y:37.57, Z:0.50 [[ 8.75297748e-01 -4.83537942e-01 -6.70155148e-03 1.58126976e+02] [ 4.83523504e-01 8.75323402e-01 -3.73682325e-03 3.75690521e+01] [ 7.67292066e-03 3.04753252e-05 9.99970562e-01 4.98933480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.850888479 meters 0.015886448145669977 Centerline is valid? [True, True] Translation: X:158.18, Y:37.60, Z:0.50 [[ 8.76181877e-01 -4.81919928e-01 -7.64863369e-03 1.58178050e+02] [ 4.81901036e-01 8.76215259e-01 -4.26750844e-03 3.75984969e+01] [ 8.75844691e-03 5.32290557e-05 9.99961643e-01 4.98816079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.910888479 meters 0.015810639755021384 Centerline is valid? [True, True] Translation: X:158.23, Y:37.63, Z:0.50 [[ 8.76819236e-01 -4.80756783e-01 -7.80658624e-03 1.58227558e+02] [ 4.80737043e-01 8.76853985e-01 -4.35705790e-03 3.76286781e+01] [ 8.93992139e-03 6.74369993e-05 9.99960036e-01 4.98966989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.970888479 meters 0.01565221123630268 Centerline is valid? [True, True] Translation: X:158.28, Y:37.66, Z:0.50 [[ 8.76552338e-01 -4.81247010e-01 -7.57065786e-03 1.58278755e+02] [ 4.81228445e-01 8.76585028e-01 -4.22756114e-03 3.76568094e+01] [ 8.67082649e-03 6.24626953e-05 9.99962406e-01 4.99113927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.030888479 meters 0.015571908885899738 Centerline is valid? [True, True] Translation: X:158.33, Y:37.68, Z:0.50 [[ 8.75346671e-01 -4.83432823e-01 -7.80454482e-03 1.58332054e+02] [ 4.83413156e-01 8.75381462e-01 -4.36086653e-03 3.76828973e+01] [ 8.94013987e-03 4.44503558e-05 9.99960035e-01 4.99993231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.090888479 meters 0.015593153556833321 Centerline is valid? [True, True] Translation: X:158.38, Y:37.71, Z:0.50 [[ 8.73768438e-01 -4.86255167e-01 -9.19944995e-03 1.58384277e+02] [ 4.86227961e-01 8.73816864e-01 -5.14373972e-03 3.77095315e+01] [ 1.05398045e-02 2.14076231e-05 9.99944454e-01 4.99187982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.150888479 meters 0.015902850645604746 Centerline is valid? [True, True] Translation: X:158.44, Y:37.73, Z:0.50 [[ 8.70863016e-01 -4.91417088e-01 -1.03369392e-02 1.58437940e+02] [ 4.91383058e-01 8.70924361e-01 -5.78331084e-03 3.77336422e+01] [ 1.18447099e-02 -4.29252558e-05 9.99929848e-01 4.97666518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.210888479 meters 0.01609540977711778 Centerline is valid? [True, True] Translation: X:158.49, Y:37.76, Z:0.50 [[ 8.68807846e-01 -4.95053805e-01 -9.72919617e-03 1.58491856e+02] [ 4.95023852e-01 8.68862315e-01 -5.44637271e-03 3.77588623e+01] [ 1.11495794e-02 -8.43328248e-05 9.99937838e-01 4.99163164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.270888479 meters 0.016755974335877232 Centerline is valid? [True, True] Translation: X:158.54, Y:37.79, Z:0.50 [[ 8.66335843e-01 -4.99372391e-01 -9.45639408e-03 1.58544875e+02] [ 4.99344317e-01 8.66387441e-01 -5.29671085e-03 3.77852608e+01] [ 1.08379322e-02 -1.33266188e-04 9.99941259e-01 4.99324913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.330888479 meters 0.017163225496478293 Centerline is valid? [True, True] Translation: X:158.60, Y:37.81, Z:0.50 [[ 8.64920545e-01 -5.01819499e-01 -9.46794688e-03 1.58596502e+02] [ 5.01791484e-01 8.64972349e-01 -5.30494509e-03 3.78105922e+01] [ 1.08516371e-02 -1.62579118e-04 9.99941106e-01 5.00118605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.390888479 meters 0.017162379426248427 Centerline is valid? [True, True] Translation: X:158.65, Y:37.84, Z:0.50 [[ 8.63628399e-01 -5.04054412e-01 -8.66820172e-03 1.58648409e+02] [ 5.04031029e-01 8.63671882e-01 -4.85823273e-03 3.78373749e+01] [ 9.93529574e-03 -1.73334876e-04 9.99950629e-01 5.01505417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.450888479 meters 0.017187615073502426 Centerline is valid? [True, True] Translation: X:158.70, Y:37.87, Z:0.50 [[ 8.63636864e-01 -5.04022858e-01 -9.60862708e-03 1.58698965e+02] [ 5.03994089e-01 8.63690294e-01 -5.38842481e-03 3.78655578e+01] [ 1.10147672e-02 -1.89048949e-04 9.99939318e-01 5.01024699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.510888479 meters 0.017010798840954737 Centerline is valid? [True, True] Translation: X:158.75, Y:37.90, Z:0.50 [[ 8.64574643e-01 -5.02418899e-01 -9.27023462e-03 1.58749498e+02] [ 5.02391996e-01 8.64624326e-01 -5.20171060e-03 3.78954862e+01] [ 1.06287081e-02 -1.60024593e-04 9.99943501e-01 5.00938877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.570888479 meters 0.016581725860659657 Centerline is valid? [True, True] Translation: X:158.80, Y:37.93, Z:0.50 [[ 8.65255026e-01 -5.01253692e-01 -8.85866140e-03 1.58799850e+02] [ 5.01229036e-01 8.65300363e-01 -4.97355048e-03 3.79256647e+01] [ 1.01584135e-02 -1.36828767e-04 9.99948393e-01 5.01652812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.630888479 meters 0.01596645140308849 Centerline is valid? [True, True] Translation: X:158.85, Y:37.96, Z:0.50 [[ 8.65925258e-01 -5.00092384e-01 -9.00303833e-03 1.58849810e+02] [ 5.00066824e-01 8.65972051e-01 -5.05754182e-03 3.79574989e+01] [ 1.03256177e-02 -1.22667579e-04 9.99946682e-01 5.02011188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.690888479 meters 0.01585178099075134 Centerline is valid? [True, True] Translation: X:158.90, Y:37.99, Z:0.50 [[ 8.66129652e-01 -4.99737386e-01 -9.05383314e-03 1.58899968e+02] [ 4.99711492e-01 8.66176963e-01 -5.08854745e-03 3.79856594e+01] [ 1.03851591e-02 -1.16962635e-04 9.99946066e-01 5.02340815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.750888479 meters 0.015627745681929796 Centerline is valid? [True, True] Translation: X:158.95, Y:38.02, Z:0.50 [[ 8.66149067e-01 -4.99703364e-01 -9.07423534e-03 1.58950038e+02] [ 4.99677319e-01 8.66196592e-01 -5.10309036e-03 3.80157961e+01] [ 1.04101031e-02 -1.14152630e-04 9.99945807e-01 5.02105242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.810888479 meters 0.016281561979787067 Centerline is valid? [True, True] Translation: X:159.00, Y:38.04, Z:0.50 [[ 8.65533473e-01 -5.00767692e-01 -9.13924888e-03 1.59002299e+02] [ 5.00741300e-01 8.65581714e-01 -5.14271067e-03 3.80440397e+01] [ 1.04860701e-02 -1.25211135e-04 9.99945012e-01 5.01909844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.870888479 meters 0.016319574886423074 Centerline is valid? [True, True] Translation: X:159.05, Y:38.07, Z:0.50 [[ 8.64622072e-01 -5.02322385e-01 -1.00446455e-02 1.59053962e+02] [ 5.02290571e-01 8.64680402e-01 -5.65551122e-03 3.80715000e+01] [ 1.15262980e-02 -1.55450881e-04 9.99933558e-01 5.02470223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.930888479 meters 0.016712829418869268 Centerline is valid? [True, True] Translation: X:159.11, Y:38.10, Z:0.50 [[ 8.63951449e-01 -5.03446628e-01 -1.13748227e-02 1.59105471e+02] [ 5.03405878e-01 8.64026306e-01 -6.40824861e-03 3.81004734e+01] [ 1.30543572e-02 -1.89736922e-04 9.99914770e-01 5.01120116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.990888479 meters 0.01627643696900589 Centerline is valid? [True, True] Translation: X:159.16, Y:38.13, Z:0.50 [[ 8.63843527e-01 -5.03643094e-01 -1.08625448e-02 1.59155628e+02] [ 5.03605898e-01 8.63911802e-01 -6.12360338e-03 3.81297990e+01] [ 1.24683912e-02 -1.80606503e-04 9.99922250e-01 5.02020132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.050888479 meters 0.016537377257604423 Centerline is valid? [True, True] Translation: X:159.21, Y:38.16, Z:0.50 [[ 8.64224563e-01 -5.02987937e-01 -1.09105548e-02 1.59206154e+02] [ 5.02950335e-01 8.64293415e-01 -6.15258812e-03 3.81585092e+01] [ 1.25245982e-02 -1.70249391e-04 9.99921550e-01 5.01390191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.110888479 meters 0.016217318905109468 Centerline is valid? [True, True] Translation: X:159.26, Y:38.19, Z:0.50 [[ 8.64899788e-01 -5.01813562e-01 -1.14675599e-02 1.59256955e+02] [ 5.01771876e-01 8.64975794e-01 -6.46999313e-03 3.81887214e+01] [ 1.31658920e-02 -1.58203358e-04 9.99913313e-01 5.01783560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.170888479 meters 0.016206310594963365 Centerline is valid? [True, True] Translation: X:159.31, Y:38.22, Z:0.50 [[ 8.65773200e-01 -5.00331724e-01 -1.02436059e-02 1.59306338e+02] [ 5.00298339e-01 8.65833790e-01 -5.78107535e-03 3.82190812e+01] [ 1.17617155e-02 -1.19758930e-04 9.99930821e-01 5.01191493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23088847900001 meters 0.0159861470571593 Centerline is valid? [True, True] Translation: X:159.36, Y:38.25, Z:0.50 [[ 8.66296067e-01 -4.99464227e-01 -8.16146767e-03 1.59357875e+02] [ 4.99442977e-01 8.66334507e-01 -4.60808753e-03 3.82483964e+01] [ 9.37213595e-03 -8.42196022e-05 9.99956077e-01 5.03310778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.290888479 meters 0.01595627000903023 Centerline is valid? [True, True] Translation: X:159.41, Y:38.28, Z:0.50 [[ 8.66302867e-01 -4.99463384e-01 -7.46127331e-03 1.59408163e+02] [ 4.99445601e-01 8.66334995e-01 -4.21533741e-03 3.82768392e+01] [ 8.56936886e-03 -7.47412442e-05 9.99963279e-01 5.04053931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.350888479 meters 0.015712740715527987 Centerline is valid? [True, True] Translation: X:159.46, Y:38.31, Z:0.51 [[ 8.67142605e-01 -4.98022310e-01 -6.12218485e-03 1.59458708e+02] [ 4.98010288e-01 8.67164216e-01 -3.46073333e-03 3.83075902e+01] [ 7.03246203e-03 -4.79617196e-05 9.99975271e-01 5.05247379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.410888479 meters 0.015410652931606067 Centerline is valid? [True, True] Translation: X:159.51, Y:38.34, Z:0.51 [[ 8.67716436e-01 -4.97025276e-01 -5.83624682e-03 1.59508576e+02] [ 4.97014315e-01 8.67736062e-01 -3.30108506e-03 3.83370800e+01] [ 6.70504454e-03 -3.62924512e-05 9.99977520e-01 5.05144686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.470888479 meters 0.015222582159748704 Centerline is valid? [True, True] Translation: X:159.56, Y:38.37, Z:0.51 [[ 8.68156350e-01 -4.96243461e-01 -6.85419369e-03 1.59559418e+02] [ 4.96228297e-01 8.68183406e-01 -3.87953665e-03 3.83661537e+01] [ 7.87589191e-03 -3.32004900e-05 9.99968984e-01 5.05174635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.530888479 meters 0.015054213652473503 Centerline is valid? [True, True] Translation: X:159.61, Y:38.39, Z:0.50 [[ 8.68464810e-01 -4.95677343e-01 -8.53495236e-03 1.59611689e+02] [ 4.95653773e-01 8.68506747e-01 -4.83398133e-03 3.83939603e+01] [ 9.80875874e-03 -3.22386660e-05 9.99951892e-01 5.04066528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.590888479 meters 0.014982960037178422 Centerline is valid? [True, True] Translation: X:159.66, Y:38.42, Z:0.50 [[ 8.67882585e-01 -4.96700010e-01 -8.30177913e-03 1.59662019e+02] [ 4.96677740e-01 8.67922288e-01 -4.70363409e-03 3.84199015e+01] [ 9.54159424e-03 -4.11067890e-05 9.99954477e-01 5.03303247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.650888479 meters 0.015142647286339761 Centerline is valid? [True, True] Translation: X:159.72, Y:38.45, Z:0.50 [[ 8.66322939e-01 -4.99431153e-01 -7.28624978e-03 1.59715544e+02] [ 4.99414079e-01 8.66353577e-01 -4.13013226e-03 3.84457601e+01] [ 8.37518527e-03 -6.08274078e-05 9.99964926e-01 5.04429922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.710888479 meters 0.015749532934754538 Centerline is valid? [True, True] Translation: X:159.77, Y:38.47, Z:0.51 [[ 8.62790162e-01 -5.05527022e-01 -5.96378324e-03 1.59769861e+02] [ 5.05515721e-01 8.62810768e-01 -3.38155547e-03 3.84682537e+01] [ 6.85508406e-03 -9.72133907e-05 9.99976499e-01 5.06363874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.770888479 meters 0.01710432730155476 Centerline is valid? [True, True] Translation: X:159.82, Y:38.49, Z:0.51 [[ 8.60444419e-01 -5.09516555e-01 -5.31799035e-03 1.59822618e+02] [ 5.09507642e-01 8.60460845e-01 -3.01603948e-03 3.84915461e+01] [ 6.11264452e-03 -1.14422385e-04 9.99981311e-01 5.06204592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.830888479 meters 0.01795431393458119 Centerline is valid? [True, True] Translation: X:159.88, Y:38.52, Z:0.51 [[ 8.57542596e-01 -5.14401004e-01 -3.50756097e-03 1.59876500e+02] [ 5.14397166e-01 8.57549764e-01 -1.98961614e-03 3.85168313e+01] [ 4.03136862e-03 -9.80988327e-05 9.99991869e-01 5.06557377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.890888479 meters 0.01857623967438547 Centerline is valid? [True, True] Translation: X:159.93, Y:38.54, Z:0.51 [[ 8.56389629e-01 -5.16323693e-01 -2.57821728e-03 1.59928864e+02] [ 5.16321627e-01 8.56393506e-01 -1.46270123e-03 3.85433442e+01] [ 2.96319583e-03 -7.85471763e-05 9.99995607e-01 5.07114177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.950888479 meters 0.018577754657727676 Centerline is valid? [True, True] Translation: X:159.98, Y:38.57, Z:0.51 [[ 8.56374947e-01 -5.16342310e-01 -3.54518985e-03 1.59979894e+02] [ 5.16338398e-01 8.56382279e-01 -2.01277303e-03 3.85706855e+01] [ 4.07531764e-03 -1.06829252e-04 9.99991690e-01 5.05392129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.010888479 meters 0.01787500038090451 Centerline is valid? [True, True] Translation: X:160.03, Y:38.60, Z:0.50 [[ 8.57757796e-01 -5.14031876e-01 -4.77428691e-03 1.60031176e+02] [ 5.14024734e-01 8.57771074e-01 -2.71254374e-03 3.86002290e+01] [ 5.48957915e-03 -1.27396018e-04 9.99984924e-01 5.03845722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.070888479 meters 0.01759069914990206 Centerline is valid? [True, True] Translation: X:160.08, Y:38.63, Z:0.50 [[ 8.58664439e-01 -5.12521971e-01 -4.07554718e-03 1.60082193e+02] [ 5.12516744e-01 8.58674105e-01 -2.31675101e-03 3.86298423e+01] [ 4.68695262e-03 -9.94744609e-05 9.99989011e-01 5.02542233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.130888479 meters 0.017319314201114877 Centerline is valid? [True, True] Translation: X:160.13, Y:38.66, Z:0.50 [[ 8.59943947e-01 -5.10382662e-01 -2.43824601e-03 1.60133981e+02] [ 5.10380782e-01 8.59947403e-01 -1.38649455e-03 3.86579385e+01] [ 2.80440610e-03 -5.21263109e-05 9.99996066e-01 5.03032342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.190888479 meters 0.017022246735382635 Centerline is valid? [True, True] Translation: X:160.19, Y:38.69, Z:0.51 [[ 8.60661363e-01 -5.09177482e-01 -5.56300369e-04 1.60186091e+02] [ 5.09177384e-01 8.60661543e-01 -3.15915289e-04 3.86861883e+01] [ 6.39643285e-04 -1.13594834e-05 9.99999795e-01 5.05199960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.250888479 meters 0.016637840565628306 Centerline is valid? [True, True] Translation: X:160.24, Y:38.72, Z:0.51 [[ 8.62813037e-01 -5.05521919e-01 1.11948360e-03 1.60236554e+02] [ 5.05521517e-01 8.62813763e-01 6.37698344e-04 3.87151666e+01] [-1.28827635e-03 1.57086040e-05 9.99999170e-01 5.06593226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.310888479 meters 0.016096174222775317 Centerline is valid? [True, True] Translation: X:160.29, Y:38.75, Z:0.51 [[ 8.64061526e-01 -5.03385769e-01 6.67843669e-04 1.60286255e+02] [ 5.03385625e-01 8.64061784e-01 3.81272238e-04 3.87461832e+01] [-7.68985211e-04 6.74023035e-06 9.99999704e-01 5.05211016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.370888479 meters 0.016155507602836267 Centerline is valid? [True, True] Translation: X:160.34, Y:38.77, Z:0.50 [[ 8.64767033e-01 -5.02173016e-01 -4.90290224e-04 1.60338003e+02] [ 5.02172939e-01 8.64767172e-01 -2.78703716e-04 3.87749717e+01] [ 5.63944376e-04 -5.19669677e-06 9.99999841e-01 5.02751284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.430888479 meters 0.01664602199386037 Centerline is valid? [True, True] Translation: X:160.39, Y:38.80, Z:0.50 [[ 8.63489087e-01 -5.04367281e-01 -4.92903172e-04 1.60389011e+02] [ 5.04367203e-01 8.63489228e-01 -2.80711612e-04 3.88013452e+01] [ 5.67198332e-04 -6.21277987e-06 9.99999839e-01 5.02836587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.490888479 meters 0.017285077483865787 Centerline is valid? [True, True] Translation: X:160.44, Y:38.83, Z:0.50 [[ 8.62161017e-01 -5.06634302e-01 -2.54145957e-04 1.60440418e+02] [ 5.06634281e-01 8.62161055e-01 -1.44234936e-04 3.88296073e+01] [ 2.92189112e-04 -4.40531474e-06 9.99999957e-01 5.01932962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.550888479 meters 0.017983380276998695 Centerline is valid? [True, True] Translation: X:160.49, Y:38.86, Z:0.50 [[ 8.60267457e-01 -5.09842935e-01 -2.88770677e-04 1.60492334e+02] [ 5.09842909e-01 8.60267506e-01 -1.64067287e-04 3.88572601e+01] [ 3.32068577e-04 -6.08593443e-06 9.99999945e-01 5.00942547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.610888479 meters 0.017905043101650243 Centerline is valid? [True, True] Translation: X:160.54, Y:38.89, Z:0.50 [[ 8.58927303e-01 -5.12097263e-01 -5.31278904e-04 1.60543175e+02] [ 5.12097173e-01 8.58927467e-01 -3.02626304e-04 3.88870456e+01] [ 6.11304145e-04 -1.21324301e-05 9.99999813e-01 5.00164844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.670888479 meters 0.01887020790253831 Centerline is valid? [True, True] Translation: X:160.59, Y:38.92, Z:0.50 [[ 8.57363859e-01 -5.14709814e-01 -1.01019011e-03 1.60593315e+02] [ 5.14709491e-01 8.57364454e-01 -5.76745087e-04 3.89151239e+01] [ 1.16295744e-03 -2.54740424e-05 9.99999323e-01 4.98857855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73088847900001 meters 0.01851697333669805 Centerline is valid? [True, True] Translation: X:160.64, Y:38.95, Z:0.50 [[ 8.57811393e-01 -5.13956878e-01 -2.81799542e-03 1.60643101e+02] [ 5.13954361e-01 8.57816019e-01 -1.60993569e-03 3.89475404e+01] [ 3.24475913e-03 -6.72998567e-05 9.99994733e-01 4.96972528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.790888479 meters 0.018473471764411328 Centerline is valid? [True, True] Translation: X:160.69, Y:38.98, Z:0.50 [[ 8.58849637e-01 -5.12207890e-01 -4.51424721e-03 1.60692489e+02] [ 5.12201398e-01 8.58861495e-01 -2.58051822e-03 3.89785782e+01] [ 5.19887490e-03 -9.59265991e-05 9.99986481e-01 4.95226598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.850888479 meters 0.01814347628356208 Centerline is valid? [True, True] Translation: X:160.74, Y:39.01, Z:0.50 [[ 8.59781306e-01 -5.10637518e-01 -5.04295068e-03 1.60742573e+02] [ 5.10629383e-01 8.59796090e-01 -2.88389691e-03 3.90101590e+01] [ 5.80853524e-03 -9.55581429e-05 9.99983126e-01 4.95341532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.910888479 meters 0.01738204880656547 Centerline is valid? [True, True] Translation: X:160.79, Y:39.04, Z:0.50 [[ 8.60759224e-01 -5.08998453e-01 -3.75943510e-03 1.60791513e+02] [ 5.08993912e-01 8.60767431e-01 -2.15091929e-03 3.90430524e+01] [ 4.33081389e-03 -6.21059626e-05 9.99990620e-01 4.97313173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.970888479 meters 0.017105734836069586 Centerline is valid? [True, True] Translation: X:160.84, Y:39.07, Z:0.50 [[ 8.61579905e-01 -5.07613911e-01 -2.86090996e-03 1.60841912e+02] [ 5.07611271e-01 8.61584654e-01 -1.63758987e-03 3.90734815e+01] [ 3.29617951e-03 -4.13156171e-05 9.99994567e-01 4.99188387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.030888479 meters 0.016788332647857805 Centerline is valid? [True, True] Translation: X:160.89, Y:39.10, Z:0.50 [[ 8.63070651e-01 -5.05071153e-01 -3.49025663e-03 1.60890116e+02] [ 5.05067199e-01 8.63077707e-01 -1.99898211e-03 3.91049971e+01] [ 4.02199089e-03 -3.75513486e-05 9.99991911e-01 4.99530753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.090888479 meters 0.016458191054350087 Centerline is valid? [True, True] Translation: X:160.94, Y:39.14, Z:0.50 [[ 8.64197664e-01 -5.03128755e-01 -4.88389917e-03 1.60939759e+02] [ 5.03120973e-01 8.64211464e-01 -2.79854503e-03 3.91367741e+01] [ 5.62875013e-03 -3.86960231e-05 9.99984158e-01 4.98747732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.150888479 meters 0.016325731473832632 Centerline is valid? [True, True] Translation: X:160.99, Y:39.17, Z:0.50 [[ 8.65261769e-01 -5.01274909e-01 -6.74804222e-03 1.60989621e+02] [ 5.01259976e-01 8.65288082e-01 -3.86942048e-03 3.91669286e+01] [ 7.77864391e-03 -3.44618661e-05 9.99969745e-01 4.98239947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.210888479 meters 0.016090612854465395 Centerline is valid? [True, True] Translation: X:161.04, Y:39.20, Z:0.50 [[ 8.66072973e-01 -4.99860498e-01 -7.55568614e-03 1.61038486e+02] [ 4.99841702e-01 8.66105930e-01 -4.33482253e-03 3.91957665e+01] [ 8.71083112e-03 -2.23743764e-05 9.99962060e-01 4.98459345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.270888479 meters 0.015930094608774124 Centerline is valid? [True, True] Translation: X:161.09, Y:39.23, Z:0.50 [[ 8.66851922e-01 -4.98518247e-01 -6.87763058e-03 1.61088092e+02] [ 4.98502614e-01 8.66879206e-01 -3.94802011e-03 3.92256591e+01] [ 7.93023500e-03 -6.16799298e-06 9.99968555e-01 5.01723579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.330888479 meters 0.015866510776433054 Centerline is valid? [True, True] Translation: X:161.14, Y:39.26, Z:0.50 [[ 8.66951172e-01 -4.98348677e-01 -6.65292672e-03 1.61138590e+02] [ 4.98334025e-01 8.66976698e-01 -3.82154261e-03 3.92552818e+01] [ 7.67239315e-03 -2.28890169e-06 9.99970567e-01 5.03511097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.390888479 meters 0.015851800329403528 Centerline is valid? [True, True] Translation: X:161.19, Y:39.28, Z:0.50 [[ 8.67245020e-01 -4.97829370e-01 -7.21064709e-03 1.61187849e+02] [ 4.97812125e-01 8.67274996e-01 -4.14370506e-03 3.92834273e+01] [ 8.31647200e-03 4.06003598e-06 9.99965418e-01 5.03864612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.450888479 meters 0.015828303599303057 Centerline is valid? [True, True] Translation: X:161.24, Y:39.31, Z:0.50 [[ 8.67267529e-01 -4.97772058e-01 -8.36726850e-03 1.61239806e+02] [ 4.97748810e-01 8.67307891e-01 -4.81078547e-03 3.93122249e+01] [ 9.65167258e-03 7.44008223e-06 9.99953421e-01 5.04271492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.510888479 meters 0.015804162154594976 Centerline is valid? [True, True] Translation: X:161.29, Y:39.34, Z:0.50 [[ 8.66401016e-01 -4.99265745e-01 -9.11014245e-03 1.61289416e+02] [ 4.99238239e-01 8.66448911e-01 -5.24070743e-03 3.93394560e+01] [ 1.05099787e-02 -7.57723077e-06 9.99944769e-01 5.04418296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.570888479 meters 0.016093080026440797 Centerline is valid? [True, True] Translation: X:161.34, Y:39.37, Z:0.50 [[ 8.65137911e-01 -5.01415039e-01 -1.09249085e-02 1.61341479e+02] [ 5.01375608e-01 8.65206887e-01 -6.28826595e-03 3.93672272e+01] [ 1.26053372e-02 -3.72653756e-05 9.99920549e-01 5.02655020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.630888479 meters 0.016524626962481807 Centerline is valid? [True, True] Translation: X:161.39, Y:39.39, Z:0.50 [[ 8.62864441e-01 -5.05280760e-01 -1.25024170e-02 1.61393834e+02] [ 5.05229494e-01 8.62955006e-01 -7.19830755e-03 3.93914712e+01] [ 1.44261896e-02 -1.05426174e-04 9.99895932e-01 5.01420198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.690888479 meters 0.017666800573229346 Centerline is valid? [True, True] Translation: X:161.45, Y:39.41, Z:0.50 [[ 8.60467467e-01 -5.09360144e-01 -1.21647612e-02 1.61446773e+02] [ 5.09311998e-01 8.60553435e-01 -7.00527269e-03 3.94144506e+01] [ 1.40366337e-02 -1.67849562e-04 9.99901468e-01 5.01914518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.750888479 meters 0.01816200867822368 Centerline is valid? [True, True] Translation: X:161.50, Y:39.44, Z:0.50 [[ 8.59263554e-01 -5.11408534e-01 -1.12896253e-02 1.61499177e+02] [ 5.11367202e-01 8.59337697e-01 -6.50441821e-03 3.94419404e+01] [ 1.30280156e-02 -1.84134582e-04 9.99915115e-01 5.03104849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.810888479 meters 0.01890337090512997 Centerline is valid? [True, True] Translation: X:161.55, Y:39.47, Z:0.51 [[ 8.58959275e-01 -5.11974397e-01 -8.43686658e-03 1.61550404e+02] [ 5.11951329e-01 8.59000697e-01 -4.86209373e-03 3.94683561e+01] [ 9.73654177e-03 -1.42924544e-04 9.99952589e-01 5.05370895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.870888479 meters 0.01866901426276641 Centerline is valid? [True, True] Translation: X:161.60, Y:39.50, Z:0.51 [[ 8.59078187e-01 -5.11814727e-01 -5.50939199e-03 1.61600096e+02] [ 5.11804882e-01 8.59095848e-01 -3.17593643e-03 3.95010738e+01] [ 6.35858682e-03 -9.13560040e-05 9.99979780e-01 5.05662972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.930888479 meters 0.019005207741099973 Centerline is valid? [True, True] Translation: X:161.65, Y:39.53, Z:0.50 [[ 8.59259955e-01 -5.11516042e-01 -4.86507925e-03 1.61649599e+02] [ 5.11508352e-01 8.59273724e-01 -2.80601888e-03 3.95321622e+01] [ 5.61575843e-03 -7.74290154e-05 9.99984229e-01 5.04629614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.990888479 meters 0.01912146175162734 Centerline is valid? [True, True] Translation: X:161.70, Y:39.57, Z:0.50 [[ 8.60362180e-01 -5.09681397e-01 -1.33912660e-03 1.61698310e+02] [ 5.09680812e-01 8.60363222e-01 -7.72249228e-04 3.95658083e+01] [ 1.54573634e-03 -1.81131056e-05 9.99998805e-01 5.04321156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.050888479 meters 0.019762491441199213 Centerline is valid? [True, True] Translation: X:161.75, Y:39.60, Z:0.50 [[ 8.61141937e-01 -5.08360361e-01 2.07550173e-03 1.61746338e+02] [ 5.08358945e-01 8.61144438e-01 1.20004715e-03 3.95994439e+01] [-2.39736317e-03 2.16889424e-05 9.99997126e-01 5.03931438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.110888479 meters 0.02076887617485875 Centerline is valid? [True, True] Translation: X:161.79, Y:39.64, Z:0.50 [[ 8.62808801e-01 -5.05486158e-01 6.68713406e-03 1.61791974e+02] [ 5.05471371e-01 8.62834713e-01 3.86657552e-03 3.96376606e+01] [-7.72439180e-03 4.40394368e-05 9.99970165e-01 5.03736242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.170888479 meters 0.02156314354691831 Centerline is valid? [True, True] Translation: X:161.84, Y:39.67, Z:0.50 [[ 8.64225036e-01 -5.03017369e-01 9.41348475e-03 1.61838149e+02] [ 5.02987917e-01 8.64276302e-01 5.44325805e-03 3.96731081e+01] [-1.08739051e-02 3.06692061e-05 9.99940877e-01 5.04841360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23088847900001 meters 0.022866424940433925 Centerline is valid? [True, True] Translation: X:161.88, Y:39.71, Z:0.50 [[ 8.65569707e-01 -5.00625804e-01 1.27626875e-02 1.61881620e+02] [ 5.00571384e-01 8.65663794e-01 7.38141511e-03 3.97145560e+01] [-1.47435233e-02 -4.93187720e-07 9.99891308e-01 5.02981047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.290888479 meters 0.02356362429240694 Centerline is valid? [True, True] Translation: X:161.93, Y:39.75, Z:0.50 [[ 8.65334707e-01 -5.01000504e-01 1.39405971e-02 1.61927994e+02] [ 5.00935534e-01 8.65446991e-01 8.06823839e-03 3.97526975e+01] [-1.61070393e-02 1.61374991e-06 9.99870273e-01 4.99570737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.350888479 meters 0.025057818052672536 Centerline is valid? [True, True] Translation: X:161.97, Y:39.79, Z:0.50 [[ 8.62559679e-01 -5.05737410e-01 1.48483271e-02 1.61972983e+02] [ 5.05664361e-01 8.62687465e-01 8.59596930e-03 3.97899611e+01] [-1.71567689e-02 9.37333118e-05 9.99852807e-01 4.96764975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.410888479 meters 0.029252085938918766 Centerline is valid? [True, True] Translation: X:162.02, Y:39.82, Z:0.50 [[ 8.56369620e-01 -5.16035420e-01 1.83988986e-02 1.62022472e+02] [ 5.15925566e-01 8.56567165e-01 1.06537235e-02 3.98215258e+01] [-2.12575911e-02 3.68937062e-04 9.99773964e-01 4.95953444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.470888479 meters 0.03160703501895191 Centerline is valid? [True, True] Translation: X:162.07, Y:39.86, Z:0.49 [[ 8.51367418e-01 -5.24064801e-01 2.30131286e-02 1.62070312e+02] [ 5.23895631e-01 8.51678101e-01 1.33334145e-02 3.98571615e+01] [-2.65873509e-02 7.04842831e-04 9.99646245e-01 4.91467156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.530888479 meters 0.0380841807083787 Centerline is valid? [True, True] Translation: X:162.12, Y:39.89, Z:0.49 [[ 8.46155484e-01 -5.32236491e-01 2.72986349e-02 1.62117806e+02] [ 5.32002405e-01 8.46594965e-01 1.58242535e-02 3.98942505e+01] [-3.15331320e-02 1.13316058e-03 9.99502065e-01 4.90024586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.590888479 meters 0.043325676982749604 Centerline is valid? [True, True] Translation: X:162.17, Y:39.93, Z:0.49 [[ 8.44130010e-01 -5.35247679e-01 3.08941533e-02 1.62165218e+02] [ 5.34949544e-01 8.44694001e-01 1.79173194e-02 3.99305175e+01] [-3.56863096e-02 1.40226618e-03 9.99362057e-01 4.91002003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.650888479 meters 0.05950559422911727 Centerline is valid? [True, True] Translation: X:162.21, Y:39.97, Z:0.49 [[ 8.44005303e-01 -5.35354614e-01 3.24112088e-02 1.62208503e+02] [ 5.35026107e-01 8.44626123e-01 1.88089444e-02 3.99715362e+01] [-3.74448088e-02 1.46599405e-03 9.99297622e-01 4.92852175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.710888479 meters 0.07346733201758929 Centerline is valid? [True, True] Translation: X:162.25, Y:40.02, Z:0.49 [[ 8.47379011e-01 -5.30054000e-01 3.14891784e-02 1.62248092e+02] [ 5.29739881e-01 8.47963057e-01 1.82842016e-02 4.00186952e+01] [-3.63932742e-02 1.18742489e-03 9.99336840e-01 4.90456819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.770888479 meters 0.08101397666129562 Centerline is valid? [True, True] Translation: X:162.29, Y:40.06, Z:0.49 [[ 8.49310080e-01 -5.26969971e-01 3.12255838e-02 1.62289935e+02] [ 5.26658913e-01 8.49883262e-01 1.81336714e-02 4.00629551e+01] [-3.60940013e-02 1.04412215e-03 9.99347854e-01 4.85881832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.830888479 meters 0.09484135436029965 Centerline is valid? [True, True] Translation: X:162.33, Y:40.11, Z:0.48 [[ 8.51206334e-01 -5.23875531e-01 3.16576217e-02 1.62328857e+02] [ 5.23553560e-01 8.51794327e-01 1.83873394e-02 4.01127989e+01] [-3.65984597e-02 9.23040768e-04 9.99329626e-01 4.79472303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.890888479 meters 0.10441936285619988 Centerline is valid? [True, False] Translation: X:162.32, Y:40.11, Z:0.49 [[ 8.62284476e-01 -5.06356285e-01 8.29428268e-03 1.62322335e+02] [ 5.05967558e-01 8.62086753e-01 2.83418471e-02 4.01128586e+01] [-2.15014636e-02 -2.02420968e-02 9.99563877e-01 4.92034754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1289.79 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%| | 0/5798 [00:00